*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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U$`,?|?C0?3ƿj{??L?i2o>I27^;0Y>mU>yB<EbDJVDJ:8y=<%X=ٔ=Q->9 I = 8Ey *@D ^E>Q 5]=4?Q 9]=4r)-?YayeٿQ Ie?A@I"JuS%,NLA2>2C?2➼ٱ2; M>2H?` x?V?`?ssƿܓ?t?@Z?i2>I2^;0Y^Cb>y^ EbDjVDj.8y%<%%H=ٔ-rQ-->9)I1=58Ey5;@D5&=E5>yQ 5=4}?Q 9=4}$u)}1?YyI׿Q I?}@@I}:i}):}q=4yɮ[BkkkzkZk[I[I"[I*[Mj@ɢ) Gi)顡izU=Imd:ԩԩIIO >bEŐ5jEp5rE>1Een EeMEeoEa"EeO]:*Ee9VEe5ZEaam@am@au@au@ A9 A= ?AB= >B9 B= DB= w>B= =B9 B= DB= ?;B= ȏEsS%, NLA2JG>2]m?253޼ٱ2Q>2HW? ? %?`l?`¿`ś? ?@?i2JG>I2_;2CY^e]>y^"EbDjjVDj8pr9 I = 8Ey L@D0<E5>9Q 5E=4=?Q 9E=4=w)=<6?YAyM#׿Q IM?=P@I=:i=:= =4yɮ^BkkkzkZk[I[I"[I*[Mk@ɢY)a e"Gia)aaaie%t\=I b:9 _'>A wAzA vAEu h Eu XEu kEq "Eu G:*Eu 9VEu u5ZEq BEu +_;a} 2Eu -_;a} JEu :a} :Eu :a I I O >a yȌS%,5NLA2}>2v?2/ٱ2=2Hz?@Ot?[?р?~??`?i2}>I2#_;2CYRn:>yREDZbSBD MO Status=0, MOMSN=4480, MT Status=0, MTMSN=0Z.No messages in MT queuebDrkVDr8yzz%z]=ٔzNQ-~>999IA=E8EyE[@DENEE>IQ 5U=4M?Q 9U=4My)M:?Yyy} ۿQ I}?M@IM;iMu;M=4yɮoBkkkzkZk[["[*[Ai@ɢa)a mEGii)iiiim\b=II>)>a:Mc}.>iIIO$>ԑ1 jS%,)yONLAEe ETEqE"E<:*E9VE5ZEa@a@a@a@>->>N?> ٱ>>=>H`? hRF.?S?`?!X@w?㒽??i>->I>^;>CYR4>yR1DTV@Aa5@a5 a5@a5 a5@a5 a5@a5 y-5^I ?RQ?T㥛 ?->->->) ))-Mb@Mb@Mb@I-i-‰--هB- -)-B-Y-GBbDU]VDU8ye?>%e)=ٔe(X9I=8Eyn@DTļE>Q 5=4r?Q 9=4|)@?Q A+:YQ E=;yۿQ I?g@Ib:i>ɚ=4y ɮ rBk!k!k!zkaZkiɢ) KGi)ij=I!B>BCBDBM>B=BDBBO;B͏E_:Q% r5>y AQ Ia Iq O >S%,iNLAR>R8?RuٱR*>RHQ?@_`?`J?)X?q¿?@7??iR>IR5^;RCYT>ykE@A1bDbVD8E g E UE sE "E C:*E P9VE X5ZE BE X;a2E X;aJE :a:E :ay =%B=ٔ-*=Q->9I=8Ey@D/<E>Q 5=4q?Q 9=4)3E?Q A% :Y!Q E%;y%ٿQ I%?\@I$Q U+Gi)顱i6>q=Il^:ԁԱ Aa Iq I O >S%,NLA2>2?2aٱ2M>2H U? ? ??lƿ ??u?Z?i2>I2 _;2CYZN>yZNDbDfWVDf8y%|=ٔQ- ?9!I!=%8Ey%@D%%<E- ?iQ 5u=4m?Q 9u=4m)m*H?Q A}9YyQ E}:y}׿Q I}?m@Im:im?mt=4yɮeBkkkzkZkB*** querying acoustic contact ***iiɢ1)1 51Gi9)999i=m[v=AAIeL]:2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.qAIIEd EVEqE"E9:*E9VE5ZEa@a@a@a@OF>ԡBq Au 4=B} >By B} DB} ,>B} =By By B} M;B} ̏E S%,ѝNLA2(DAT read: user:62> 6BDAT read: Tx time:03:44:56.8410 6$Ping request sent.6B?B9ٱB-9>BH ʐ? ͹@!???Mƿ`0?s?$r?iBl>IB<_;BCYNG>yRDbDZ^VDZ8y}}%}E=ٔ}VrQ->9I=8Ey@DE>Q 5=4?Q 9=4X)K?Q A9YQ E:yؿQ I?@I% 8Gi)iC|=I  "\:AQzAUwAAAIIOa>iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251303El E^E|E"EV:*E;9VEם5ZEBE>x;a2E@x;aJE;a :E;a 9 (FS%,欷NLA2E>2|l?2Bٱ2:u=2H{?y?`?II2w_;0Y^4<>y^rDbDjVDj?8y%%-P=ٔ-9=Q-->9-%?I5%?=59Ey5@D5g<E5>yQ 5=4}?Q 9=4})}P?Q A9YQ E:yؿQ I?}@I}:i}@}w=4yɮnBkkkzkZkɢ)(B> CGi)顡iY=I}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503565{Z:AIIO%M>9i % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754982E b E PE lE "E 1:*E ?9VE 5ZE a @a @a @a @-S%,NLA :b>:1?:k;ٱ:O4X=:Hb?w??lZ?g@mmz.?k?i:b>I:=_;:CY\y`aeae aeae aeae aeam ym!rh?jtĿQӿml>m m(i iI)>9mq= ףp??(\¿Ym=ymf>mzmyBi mB)mBmYmBbD}VD 8ٔ=Q->9I=9Ey@DU<E>!Q 5-=4i%Q Eu ;yu?Q Iu?%@I%/ i)顉i=IB->B)B-DB-M>B-=B)B)B-4;B-EBBBBBC5X: m7w>m%Cԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.012794(GyAE¿9EyAYM A % s&4>A- ?A- ?Au AIy I O >zS%,NLA,V>V?VQ|<ٱVg=VHP? Uݠ? ??1㓿@߉?@?iV>IV;_;VCYk#>y DbD]VD]>8ym %m<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258948ٔ+9c?Ic?=9Ey@Dkx=E>Q 5=4?Q 9 =4^~)4?Yy?Q I?˥@I$W:9>ԱA.AIIO >M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511012 ^S%,OLA2_l>2?2{:ٱ2=2H?<O???@ uPH?`V?i2_l>I2_;2CYNZ>yRETVAAbDZVDZC8\y% >%%P=ٔ%Q-->9- ?I- ?=-9Ey-@D5JE5>Q 5=4행?Q 9=4z)e)?Yy?Q I?n@Id:i-:=4yɮ_BkAkAkAzkIZkI[["[*[є4@ɢ) %Gi)i^=I V:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763625N>Eg ELEE"EC:*E|9VEZEa@a@a@a@A5؟AIAIQO]v>A A AAA AAB >B B DB =B B B B ';B E] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014987S%,OLA2>2F)"?2&Ǽٱ2^<>2H@?j@Ҷ???E?mĿ?r? r?i2>I2=_;2CYJv>yJEbDRVDR:8y5Ɉ=%5H=ٔ=TQ-=>9="?I="?==9Ey=@DE,<EE>IQ 5=4M閉?Q 9=4M,w)Mr!?Yyj?Q I?M@IMe%  Gi)页gGiD=IT:AA5uAzA5uAichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267246Ef EPE}E"EI@:*E?9VEs5ZEBER;a2ER;aJE:a:E:aII Ia Ou >ԙ S%,w9OLA2G>2 ?2Ǔ%ٱ2muO>2H@??=?@K3?ǿ??Q?i2G>I2^;2CYBe>yBM EbDJVDJ\8yr+%rP=ٔr'Q-v>9tIt=v9Eyv@Dz|Q 5%=4~Z斉?Q 9%=4~s)~9?Y!y%?Q I%?~@I~:i~p:~=4y1ɮ5ZB1kakikizkiZki[![!"[!*[%7@ɢY)Y ]Gia)aeWǷaie=iIi wAyAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.526997]S:IiIyO8>1 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779375Y bE%5jE%5rE%˷1E d E SE nE "E 9:*E 9VE J5ZE a @a @a @a @zS%,GWSOLAn@@>n?n7ټٱnaA>nH? $PM? "?@/?ſ@4>?`?k?in@@>In^;nCYo>yEy%X9v?#~j333333?%>%㥽%>! !9%I +I +ƿףp= ÿY%9y%94%%*B%B %B)%!1Y%.BbD]VD]s8ym<%m4=ٔu9qIq=}9Ey}AD}ԼE}>Q 5>4斉?Q 9>4u)c?Y@>Q ES;y Q I?@I;iq; >4yɮUBkkkzkZk[5;?[5;?"[5V@*[5_6n@ɢA)I Gi)(iP=IB>BCBDBw>B=BBB;BER:YIiIyO9>]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030923ԉԹ S%,2mOLAB;>B?BYԻٱBC7>BH?`?o`\?;? †?`¿%z??@~|?iB;>IBα^;@Yn~`>yn EbDxVDxy[#%e=ٔf=Q->9 I = 9Ey  AD c<E>Q 5%>4c疉?Q 9%>4 w)>Y!y%Q I%?@I::ih:$>4y)ɮ5\B1kAkIkIzkIZkI[i[i"[i*[mo@ɢy)}S> Gi)顅Fij==Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.282950IU>)U>DazDe?AԑP:IQIiOu=Eg EOEpE"EC:*E9VE5ZEBEX;a2EX;aJEK:a:EL:aԹm checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534928 S%,OLA2Z>25?22ٱ2 0>2H@*?`=@v?h?@K?ÿ?@b?y?i2Z>I2d^;2CYBX>yBEbDJVDJk8yf%fN=ٔf $Q-f>9hIh=j9Eyj0ADnEn>pQ 5v>4r疉?Q 9v>4rx)r|>YtyvQ Iv?r@Ir:ir:r%>4yz͓Bɮ~aB|kkkzkZk[1[1"[1*[5Uio@ɢA)I M'GiI)IMxIiMr=QII?)!?@O:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786967IEi ESEmE"E,K:*E9VE5ZEa@a@a@a@M>IyIO~>I B <A <B #>B CB DB M>B =B DB DB ";B ES%,POLA%=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039254(V >VN?V"y,ٱV%>VHfz?i?J?? Ŀ???iV >IV<^;VCY^L>y^DbDjVDj8yr=%rI=ٔrFQ-r>9tIt=v9Eyv@ADv,7Ez>xQ 5~>4z薉?Q 9>4zz)z>YyDQ I?zD@Iz;izD;z54>4y ɮ fBk)k)k)zk)Zk)[I[I"[I*[M&1o@ɢa)eH> e3Gia)aeiim=iIqN:QS>IIO>ychecking for new query: numPingsReceived=0, elapsed TxPingTime=4.290928Du=Du<EM c EM REM qEI "EM g5:*EM 9VEM 5ZEI BEM ?;aU 2EM ?;aU JEM ":a] :EM $:a] ԩ S%,OLA2'>2:?2Uٱ2 >2H I2͹^;2C@YBF>yBDbDJVDJ8yjd%jK=ٔj9lIl=r9EyrQADrX =Er>tQ 5z>4v-閉?Q 9z>4v|)vk>YxyzKQ I~?v@Ivq:iv;vGB>4yɮiBkkkzk!Zk![A[A"[A*[Ehr@ɢQ)Q U9GiQ)Y]Yi]G=aIa QQL:5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542862ܢS>A yAzA xAA AI) I9 OM >  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794889E= g E= OE= sE9 "E= C:*E= 9VE= X5ZE9 aE @aE @aE @aE @S%,OLA2>2 ?2c ٱ2=2H ??h?`I2"^;2CY:w2>y:yDlyMQ?Q?EԸM>M=MƽI I9M'1Z?~jt? rh?YM">yM>MC =MBMާB M|B)MBIYMBbDmVDm8yu?%}@=ٔ}WQ-}>9%?I%?=9EybADd4=E>Q 5>4a薉?Q 9>41y)>Y>Q E-;y?Q I?@Im ;iq ; Q>4yɮtBkkkzkZk[]>[]>"[,@*[tpX@ɢ) MGi)ȸiT=I yA xAMNK: kK>BU>BUCBQBQBQBQBQBU+;BUEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.046946A]؟AIaIqOY>1a S%,uOLA2'>2!?2ٱ2L=2H?- ҡ?`?:???`J?i2'>I2^;2CY>e>y>M EbDFVDF8yNN>%RY=ٔR9V"?IV"?=V9EyVrADV;EV>XQ 5^>4Z疉?Q 9b>4Z=v)Z[>Y`yb?Q Ib?Z)@IZ;iZ;ZH^>4ydɮfZBhkpktktzktZkt[ [ "[ *[ 3W@ɢ)T> Gi)!%!i%b=)I)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=5.300718%J:Ed ESEqE"E9:*E9VE5ZEBEF;a2EF;aJEj:a:Ek:aaPH>ԑAiIqIO>] checking for new query: numPingsReceived=0, elapsed TxPingTime=5.552770 T%,MPLA6ʠ>6&?6Z:m;ٱ6g.=6H>?A$4?`V?kh?.Gm`?N?i6ʠ>I6b^;6CYNs>yREbDZ!VDZ8yb =%bH=ٔb=Q-f>9dId=f9EyfADj}C=Ej>lQ 5r>4n斉?Q 9r>4ns)n>Ypyr?Q Iv?n@In;inY;nl>4yxɮzSBxk k k zk Zk [)[)"[)*[-X@ɢ9)Epa> E GiA)AEhJAiEA=IIIԙIQ)U>u}H:5׿Q>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.804232A.AIIEf EPErE"EI@:*E?9VE5ZEa@a@a@a@OC>AE @AAE @ABM ">BM CBM DBM ,>BI BI BI BM ;BM EBɀCBɀCBBɺ=BCV5) M Ge /{A ߿9 /{AY A] checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054821*T%,W@"PLA2v>2s-?2ٱ2^_=2H@G?c ??`?א?? ?i2v>I2}^;2CYj!g>ynEbDv VDv8y~%~F=ٔ~XGQ-~>9 ?I ?=9EyAD =E >Q 5>4q喉?Q 9>4o)>Yy?Q I? @I:i:z>4y%Bɮ-IB- Ek9kAkAzkAZkA[a[a"[a*[e[@ɢq)uˁW> uGiy)y}ʷyi}MV=II ?)?nManaging dock network, ignoring radio surface power offTG:-U>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307674YE EOEoE"E*E9VE5ZEBER;a2ER;aJEK:a:EM:aAI I O% >q OT%,62G1?2;ٱ2n >2H`?`d?`h?E?`#w?h?@/?i2>I2_;2CYBi>yBEbDJ.VDJ±8yR;%RQ=ٔVQ-V>9TIT=Z9EyZADZa =EZ>\Q 5b>4^䖉?Q 9b>4^l)^G>Ydyf?Q If?^@I^f;i^:^>4yhɮjHBhktktktzktZkx[["[*[w<]@ɢ) Gi)顥 iO=IYE:=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.562459ԁ8W>ԱAe ؟AIq I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811276Ee g Ee LEe iEa "Ee C:*Ee |9VEe z~5ZEa am @am @am @am @ 6T%,QUPLA::>:f2?:\NOٱ: IJ>:H?aQ? ??@Vǿ?@?`dV?i::>I: _;:CYBV>yB Ey Mb?v/Ϳ{Gz = xi #  9 /$ClǿZd;׿Y y d; ۹ 4B  B) B Y LBbD%aVD%8y5q4%5B=ٔ59Q-5>9="?I="?==9Ey=ADE*<EE>IQ 5U>4M斉?Q 9U>4Mm)MH>YUj>Q EU;yUpbQ IU?M8@IM(:iM4yɮRBkkkzkZk[= >[= >"[=01@*[=@@ɢI)I M)GiQ QQ)Q]KYi]ն=aIaԱ5D:1199B>BCBDB A>B=BBB);BE%checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062846 AM ֧AIY Ii Ou >9 \aT%,oPLA6 >6N,?6vٱ68n>6H? ކ? ?l?Ϳ X?1?`?i6 >I6^;6CY^fB>y^DbDjVVDj8yzM%zN=ٔ~TQ->9 *?I *?= 9Ey ADtE>Q 5->4薉?Q 9->4fn)=Y1y5oDQ I5?n@I7;i7;X>4yAɮM\BIkikikizkqZkqchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.315620E%c E!E%jE!"E%g5:*E!VE%ـ5ZE!BE%?;a-2E%?;a-JE%u:a-:E%v:a5[Y[Y"[Y*[]`8@ɢi)m I> u=Giq)q}|~yi}sƹ=I xAmB:AAIIOE>95 checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566799i H"T%,lPLA Y~?f>y~ E < <bDWVD8y%ܮ=%%G=ٔ%Q-->9-%?I-%?=-9Ey-AD5E5>9Q 5E>4=+떉?Q 9E>4=o)=YAyAQ IE?=@I=:i=:=>4yIɮUJBQkakikizkiZki[["[*[ɢ) Gi)顥i }=IA:qchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.819945A%؟AbE%Q5jE%95rE%ŝ0E-b E-PE-rE)"E-1:*E-?9VE-5ZE)a=@a=@a=@a=@IiIyO=>ԙ B A 4=B >B CB @EB tU>B =B DB DB 6;B E= checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070932xs(T%,?rPLA2ߘ>2&'?2\dٱ2/>2H@^?W?@y??ÿ ? T? *?i2ߘ>I2_;2CLYRL>yRDbDZfVDZ8yb߂%bP=ٔf>Q-f>9f"?Ij"?=j9EyjADj@Ej>AQ 5M>4Ej행?Q 9M>4E(p)EΏYQyU{Q IU?E4@IE:iE:E>4y]͓BɮefBe*EkqkqkyzkyZky[["[*[(JB@ɢ) d> 3Gi)页аi=I @:A?A>AAIQIaOm5>checking for new query: numPingsReceived=0, elapsed TxPingTime=8.323542E5g E5WE5nE1"E5C:*E59VE5J5ZE1BE5X;aE2E5X;aEJE5:aE:E5:aE! .T%,MPLA2;>20,?2ּٱ2=2H@?`$?`.? C? `Mš?`_P?L?i2;>I2(_;0YBDG>yB DbDJZVDJ8yrP%rI=ٔr9tIt=v9EyvADz4=Ez>|xQ 5>4z?Q 9%>4z]q)zܾY!y%zQ I%?z@Iz;iz;z>4y)ɮ5iB1kkkzkZk[["[*[JJ@ɢ1)9 =8Gi9)9=pʸ9i=(=AIAIM?)M>checking for new query: numPingsReceived=0, elapsed TxPingTime=8.5755235>:)]V>ԉA .AI I O >ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827611EE b EE MEE lEA "EE 1:*EE 9VEE 5ZEA aM @aM @aM @aM @25T%,rPLA2;>2B*?2ٱ2o>>2H?<3?{??`x ؝?Bz?@T?i2;>I2^;2CY>mU>y><EQa@a a@a a@a a@a yZd;O?i|?5?j>̼q> )Mb@Mb@Mb@Ii‰{B /B)YWBbDtVD8y<%6=ܻٔQ->9 ?I ?=%9Ey%BD%7E%>)Q 5e>4-?Q 9>4-r)-uQ A+:YQ E:yyQ I?-@I-Y-4>4yɮbBkkkzkZkBu>BqBuDBu A>Bu=BqBqBu;BuEɢ) *Gi)b帉i=Iԁ9=:b>checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079564ԱA؟AIIO> ;T%,mSPLAV >VO'?VdUٱV-=>VH_?T^M0?n?`?ƿi?{?i?iV >IV_;VCYY>yEbD%DVD%ױ8=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330924yUY:<%]W=ٔ]VwQ-]>9e"?Ie"?=e9EyeBDe=Ee>iQ 5>4m?Q 9>4ms)m@Q A :YQ E:yBlQ I?mJ@Im;imU?m>4yɮ`BԱDzD@AEk EPEtE"EmR:*E?9VE5ZEBEq;a2Eq;aJE:a:E:a 11kkkzkZkɢ!)%Z> %&Gia)imiim=qIq<: Mc>checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583202Ay I I O >1 DBT%, ! QLA2 >2'?2Rٱ2R>2H VW?Y?x?;?ȿ M? #?RH?i2 >I2^;0Y>A>yBDbDJaVDJ8yf|%fT=ٔfH:Q-f>9hIh=j9Eyj'BDj;En>1Q 5e>45/?Q 9u>45ut)5[hQ Au9YqQ Eu:yYlQ I?5@I5R4yɮlBkkkzkZkɢa)a e>Gia)am, iim=iI yAyAh::Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.835036]>El EOEnE"EV:*E9VEJ5ZEa@a@a@a@AA.AI!I1OEs>iAi Ai Bu ">Bu CBu DBu 6>Bu =Bu DBu DBu ;Bu Eԙ < 2(?2ٱ2sD>2H }G?M? =? ?BĿ`??n?i?i2T>I2^;2CY>]J>yBDbDJEVDJر8yr<%rI=ٔr=Q-r>9v ?Iv ?=v9Eyv7BDz B<Ez>xQ 5>4z?Q 9%>4zzu)zQ A%9Y!Q E%`:y%Q I%?z @Iz;iz"?z;>4y)ɮ5gB1kkkzkZkɢI)M q> M5Gqiq)y}yi}d/=yIm?9:ԡZ>Ef EREoE"EI@:*E9VE5ZEBER;a 2ER;aJE":a:E#:aI I O > NT%,?>QLA2O>2q+?2 ٱ2L>2Hl?5@#?`??q@|?8%??i2O>I2^;2CY>8>y>DbDFYVDF8ynE/%nJ=ٔn0;Q-r>9pIp=r9EyrHBDvY<Ev>xQ 5>4z4zv)zQ A9YQ E5:yJQ I%?z@Iz;iz@z'>4y)ɮ-pB)kakakazkaZkaɢ)))I->)-> -GGii)quD$qiu`=qIy7:E c>I9IIO]>a E c E TE sE "E g5:*E 9VE X5ZE a @a @a @a @cUT%,pXQLA 2>2{ ,?2 ٱ2M=2H ?? `?C???`ܸ?`?i2>I2^;2CY^TR>y^TEaa aa aa aa yS?RQ?Mbп>= 9Cl?333333?/$?Yߏ>y>,>BB ޖB)QBY3BbDQVD8y i=%:=ٔsQ->9I = 9Ey YBD n;E >Q 5?4O?Q 9?4bs)ՐQ AT:Ya>Q E;y?Q I?-@I ;ip;?4yɮcBkkkzkZkB(>BBDBM>B=BBDBj;B^EBBB”CB»= 9E/CBCŸ5iG =ګ99Y=A[mQ>[mQ>"[m,2@*[mn@ɢy)75f> -Gi)1i1m=II?)>5:ԡ m 12q>I I O >\T%,rQLA6צ>6#-?6ڼٱ6n=6H ?  ??`?F겿@B? β??i6צ>I6i_;6CLY~LZ>y~:EbD hVD 8y%<%-Y=ٔ-91I1=59Ey5hBDU\<E]>YQ 5e?4]K?Q 9e?4]p)]Yiymؑ?Q Im?]@I]S:i]:]?4yɮ_BE EPElE"E*E?9VE5ZEBE?;a2E?;aJE:a:E:akkkzkZk[Q[Q"[Q*[U=j@ɢa)a e%Gia)imw=iim(=)I1 4:k>IaIqO8>ԙ XbT%,hQLA2>2321?2YQ˻ٱ2=2H?Tz?l?~? z= jy?{G??i2>I2^;2CYBT>yBEbDJdVDJ8yrNi%rO=ٔrS=Q-r>9tIt=v9EyvxBDz=Ez>xQ 5?4z?Q 9%?4zm)z}Y!y%?Q I%?z@Izq;iz;z!?4y-Bɮ5RB5 EykkkzkZk  11[["[*[p@ɢ)u> +Gi)DJir=!I! 3:ԩEb EREoE"E1:*E9VE5ZEa@a@a@a@Me>IIO>B <A <B >B B DB #>B =B B DB ,;B 9E "iT%,QQLA2>2A5?2^kٱ2c>2H ZN?Q? ??Ҿ@k?ૺ??i2>I2E^;2CY>I>y>QDbDF^VDF8ynIҼ%nJ=ٔnsQ-r>9pIp=r9EyrBDv =Ev>xQ 5?4z ?Q 9?4zj)ziYy5?Q I%?z@Iz;iz:z/?4y)ɮ-XB)kik k zkZk[I[I"[I*[MHy@ɢY)a e6Gia)aeQaim]=iIq }xA}xAm1:Ebm>IIO$>5BDAT read: Response Not Received =*response not received=61?68ݼٱ6N>6H@?!@L?g??Bſ੯?Ƥ?@V?i6>I6+^;4YNO>yNdDbDZHVDZڱ8yvhc<%vJ=ٔvAQ-v>9xIx=z9EyzBDz$E~>Q 5?4?Q 9 ?4h)TY y u?Q I ?u@Ih:i:=?4yBɮUB=!EkykykyzkZk[["[*[@ɢ) 0Gi1)qqqiu3=yIyM0:aU?:v>ԑA ؟AI I O >bEm5jEmމ5rEm30E h E TE tE "E G:*E 9VE 5ZE a @a @a @a @Թ 0vT%,QLA2.>2.-?2XӼٱ2>2H? @?@_? ?\*˿@@j?y)?@?i2.>I2_;2CY:`>y:O Ey%kt?Q?tV?% >%(>%r>! !9%J +?V-ͿMbpY%H>y%m%%B%B %5B)%B!Y%̓BbDm'VDm8yu#=%}B=ٔ}@;Q-}>9"?I"?=9EyBDE>Q 5?4M?Q 9?4h)([Y>Q E.;y+Q I?|@I ;iT;L?4yɮLBkkkzkZk[ ?[ ?"[@*[ @ɢ) Gi)icj=II5>)5>ԑB'>BBDBw>B=BBDB&;B8E$/:AIIO > 0[|T%,_QLA2>2L.?2jGٱ2>2H?tu?"$?`'?jʿd?c?I?i2>I22_;2CY:vM>y:D @@bDFZVDF8yN8O%NY=ٔRX=Q-R>9PIP=V9EyVBDVƎ;EV>XQ 5^?4Z%?Q 9^?4Z i)ZaY`yb+Q Ib?Z@IZQ;iZ;ZY?4ydɮfVBdkpkpkpzkpZkt[ [ "[ *[ DR@Ed EJEjE"E9:*Ek9VEـ5ZEBEF;a2EF;aJE:a:E:aɢ) 2Gi)i=II ?)>--:A}AIIO=>I DT%, RLA2D>2׼2?2bUٱ28>2H?@dK ?`??F¿??@z?i2D>I2_;2CY>M?>y>ADF@AF@AbDJ?VDJұ8yR %RJ=ٔR.Q-R>9V%?IV%?=V9EyVBDZU/=EZ>XQ 5b?4Z/?Q 9b?4Zi)ZyeY`yb#Q Ib?Z@IZ:iZ:Zg?4ydɮj]BhkpktktzktZkt[)[)"[)*[- @ɢA)A E@GiA)AAIiM`=QI,:IE EOEpE"E*E9VE5ZEa@a@a@a@A=؟AIIIYOe4>yAAAAB%>BBBB=BBB@;BGEԡ $mT%,r'RLA6?6_9?6PSٱ6w=6H@?`p*`_? 2?H? i??@?i6?I6_;6C@YB->yB|DbDN*VDN8yV/%VJ=ٔV[9Q-V>9Z"?IZ"?=Z9EyZBDZC=E^>`Q 5f?4b9?Q 9f?4bj)b^gYdyfQ If?bAIbt:ib:bu?4yhɮnfBpkkkzkZk[1[1"[1*[5*@ɢI)I MRGiI)IQQiU`=QIYU3+:ԱA.AIIO#>Ec ELEmE"Eg5:*E|9VE5ZEBE?;a2E?;aJEt:a:Ev:a TT%,dARLA2ul?2*6;?2ٱ2r<2H ?`_@*v? 4^?`?vSQ?l?`;?i2ul?I2_;2CY:7>y:DbDF#VDF8yN<%NK=ٔNQ-R>9R ?IR ?=R9EyRBDV;<EV>XQ 5Z?4Z'D?Q 9^?4Zj)ZhpY\y Q I?ZAIZqe9y E e E OE nE "E <:*E 9VE J5ZE a @a @a @a @HT%,O@[RLA2?2r:?2ٱ2.=2H ?`F>@֨?@L? ? { t???i2?I2_;0Y:/@>y:XDy%X9v?y&1| ףp= ?%>%`%Q8=! !9%m?~jt?ʡEƿY%n>y%=%-2%B%;B %ŒB)%!Y%B9 5<5<bDEVDE8yU1<%U?=ٔUI9c?Ic?=9EyBDݻE>Q 5?4G?Q 9?4g)zY˜>Q E-;y7?Q I?AI;iz;n?4yɮ\BkkkzkZk[%>[%>"[% @*[%gI@ɢ9)=)> =?Gi9)AAAiE7m=AIIB] >BYB]DB]=B]=BYB]DB]p;B]^Eb(:iA.AIIO5O>ԑ T%,uRLA6?6Z9?6oBٱ609>6H@6?m?1?^}?`?ÿ'?@?@w?i6?I6tj_;6CYBQ>yBEbD^(VD^8yvK5=%vQ=ٔvDQ-v>9z ?Iz ?=z9Eyz CD~9E~>Q 5 ?4J?Q 9 ?4Je)Y y ;?Q I ?VAI:i:?4yɮSBk1k1k1zk1Zk1[Q[Q"[Q*[UdC@ɢa)i m.Gii)iiiim=qIqEi EEoE"E,K:*EVE5ZEBEoe;a2Ere;aJEK:a:EM:aԙA':A؟AI IO-,> T%,RLA2s>2D4?2 ٱ2y/>2HZ?7 ?`}?P?~̿6?$?:?i2s>I2}c_;2CYrq>yrEnManaging dock network, ignoring radio surface power offbD/VDñ8y-u=%5F=ٔ=ƼQ-=>9E"?IE"?=E9EyECDM:EM>YQ 5e?4]N?Q 9m?4]tb)]Yiyuڝ?Q Iu?]* AI]oR;i]kS;]$?4yɮCBkkkzkZk[["[*[TG>@ɢ) Gi)i=I%:Eg ENEnE"EC:*E҆9VEJ5ZEa@a@a@a@A!!I1IAOm5>BU<AU<B]>B]CB]DB]M>B]=BYB]DB];B]hEBȁCBȁCBȓCBȹ=BȺ=C5ԉ}Gɩ9YAԹ T%,ҨRLAF?Fap@?Fz㻼ٱFc>FH@^? ; I?? ?@@{?@?!?iF?IF`7_;DY~|>ytE  bD0VDı8y%<%%K=ٔ-9)I1=5:Ey5,CD5=E5>9Q 5E?4=)Q?Q 9E?4=_)=xYIyM?Q IM?= AI=:i=:=!?4yQɮU>BQkikikizkiZkq[["[*[F@ɢ) Gi)顩i3>Iԑp$:Թ/0v>A zA yAEb EYEqE"E1:*E*9VE5ZEBE9;a2E9;aJE:a:E:aAe AIq I O > !T%,6RLAB ?BXA?B&QٱB ]=BHH???` 9?O%I? 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E?ÿ[Ѩ? g?w?i.Y1?I.^;,YbLZ>yb:EbDjVDjŰ8y <% F=ٔ  Q- >9 ?I ?=!Q 5%D4%&☉?Q 9-D4%})%,Q A-9Y)Q E-:y-?Q I-?%(AI% :i%O?%D4y9ɮ]BakkkzkZk ɢI)Q U%Giq)quķqiyyI!E8AIIO>I :IW%,4)]LABV/>BVCBVDBV=BV=BVDBVDBV;BV(Ejr?j&N?jvٱjs+>jH !? q`ӹ???@6[@K3?@R?'?ijr?Ij1^;jCYK>y~DbDmVDm8y %A=ٔA=Q->9I=Q 5D4ޘ?Q 9D4y)Q A9YQ E:bE5jE5rE/Ed EVEoE"E9:*E9VE5ZEBEF;a52EF;a=JEA:a=:EB:a=y?Q I?)AIK=i?`D4yɮBk9k9k9zk9Zk9Iɢ) 4Gi)|iIyM8ԩ A AI I O >0PW%,C]LA2~?2HM?2Eʌٱ2Va>2Hx??d?z?q?n??࠮?i2~?I2^;2CyBD J9j%?Ij%?=jYQ 5eD4]4ܘ?Q 9eD4]w)]Q Am9YiQ Emi:ym?Q Im?]AI]:i]@]D4yɮBkkkzkZkɢ) 9Gi!)!%aF!i!)I)A)zA-zAԱE-g E-NE-vE)"E-C:*E-҆9VE--5ZE)a5@a5@a5@a5@A؟AIIOF> B WW%,]]LA2 o?28M?2! ٱ2k>2HA?K ??`R?@.ct?@??i2 o?I2S^;2CYB]J>yBDla5a5 a5a5 a5a aa yPn?:vq= ףpͿ$?Խk 9)\(?rh|?sh|??YG>y{>)>yB B)BYBbD VD8yj<%:=ٔ9"?I"?= Q 55E4 iᘉ?Q 9=E4 q) TQ A=T:Y=?Q E=:y=֢?Q I=? AI ;i .; E4yIɮMBIkykkzkZk[?[?"[@*[k)>@ɢq)q u5Giq)quszyiyyII>)> A.AIIAOUS>BBBDBw>BBBB;B3E1E=f E=VE=lE9"E=I@:*E=9VE=5ZE9BE=R;aE2E=R;aEJE9aM:E9aMa 6]W%,Ukw]LA6?6>P?6 =ٱ6q>6H? *?MD?8?)ݰ`??i6?I6^;6CYB\e>yB EbDJVDJ8yz=%Z=ٔA=Q-%>9% ?I% ?=%19Q 5]E45嘉?Q 9]E45m)5ۿYYy]d?Q I]?5=AI5;i5&;5! E4ymGBɮmԒBmתEkkkzkZk[Y[Y"[Y*[]<@ɢi) Gi)顕iIiAIIO*>ԑ EE c EE LEA EA "EE g5:*EE |9VEA ZEA aM @aM @aM @aM @"dW%,ZE]LA2 ?2kX?2d<ٱ2C>2HX:????ɵ[Mh? ?i2 ?I2Ʃ^;0YBS>yB%EDDbDJVDJ8y,%%G=ٔ%QCQ-%>9)I)=-1Q 5=E45gꘉ?Q 9EE45 h)5ѿYAyE#?Q IE?5תAI5w;i5;5DE4yIɮMݒBQkakakazkiZkimB*** querying acoustic contact ***iiii[["[*[\@@ԙɢ) ,Gi)顭TiIA!I1IAOM>]2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode. ZIjW%,%]LAB&5>B&CB&DB&">B$B$B&DB&;B&8En`!?nfY?nUٱn*>nH?`>@]? ??@¿? !?L?in`!?InH^;nCY~ `>y~ EbDuVDu8y]<%D=ٔ!Q->9I=Q 5E4?Q 9E4b)aſYy BDAT read: Tx time:03:45:57.1409 $Ping request sent.I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250815ԑ /qW%,]LAYn/@>yrXDbDz3VDz۰8y%٢%-Q=ٔ-Q-->91I1=59Q 5EE4=?Q 9ME4=)^)= YIyIQ IM?=AI=G:i=:=7E4yQɮUB]تEkikikizkqZkq[["[*[ɢ) ?Gi)顥ฉiIYAIIO>E c E KE lE "E g5:*E ]t9VE 5ZE a@a@a@a@ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502816Ա YwW%,]LA216"?2Y?2_:ٱ2N+!>2H^?Eʙ?@ ?C?Q? ?X?i216"?I2Κ^;0YN$>yNDEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754942y]oʡ?p= ף/$?]>]]>Y Y9]:v~jtmտY]Ty]]]{B]B ]/B)][BYY]GB mCyŽ%@=GyAٔ{9!I!=-ԱQ 5E4e?Q 9E4N^)aοY>Q E;yQ I?AI;iL;uGE4yɮBkkkzkZk[=\?[=\?"[=W@*[=ʮ=@ɢQ)Q UiGiQ)Q]YiYYIaAqzAqAIIOC>BE+>BECBEDBE,>BE=BABEDBE';BE=EBƂCBƂCBBƺ=BC%5Ek EWEpE"EmR:*E9VE5ZEBEq;a%2Eq;a%JE:a-:E:a-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006829 9 }W%,İ]LAF?FU?F&ʼٱF3iT>FHv? FTZy?@?@?oÿ`)D?tZ?`M?iF?IFй^;DYb9>ybDbDjNVDj8yrƺ=%rZ=ٔrf=Q-r>9tIt=vxQ 5E4zf?Q 9E4z\^)zݿYy.ƿQ I?z AIz;izs;zwSE4yɮBkakakizkiZki[["[*[0R<@ɢ) FGi) iII >) >Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258772AaIqIO>9i E% t E% RE% oE! "E% s:*E% 9VE% 5ZE! a- @a- @a- @a- @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510844skW%,^LA0^?^YT?^1ٱ^ >^H`?Q`:? ? ?ɿ>۠???i^?I^_;^CYfE>yfDn >n=bDrIVDr8yz4<%zI=ٔzQ-~>9|I|=~ Q 5E4 ?Q 9E4 @^) YyM@Q I? AI :i : aE4y!ɮ%B!k9k9k9zk9ZkA[Y[Y"[Y*[]J+:@ɢi)i u:Giq)quqiqIԑAE؟AIQIaOm>Թ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762768 A9 A= AABE '>BE CBE DTW%,g,^LABu">Bu=BqBqBu.;Bu>E`z?zyP?zpϏٱzm>zH? p?YI? ?ɿ?9x??iz?Izm^;zCYY>yE!%BAbD-4VD-ܰ8y=E=%=F=ٔ=V=Q-=>9E"?IE"?=EIQ 5UE4MD?Q 9]E4M(^)M.YYy]-@Q I]?M*AIM;iM;MpE4yiɮmڒBikkkzkZk[["[*[9@ɢ) &Gi)顽"iIEf ESEtE"EI@:*E9VE5ZEBER;a-2ER;a-JEj:a-:Ek:a-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015499AaIqIO>A m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266902% nManaging dock network, ignoring radio surface power offbW%,TF^LA:?:\YL?:;ٱ:>>:HU?@b?u?x?)?rr?q?i:?I: _;:CYFe>yFM EbDb9VDb8yj<%jP=ٔne=Q-n>9lIl=rtQ 5zE4v4?Q 9zE4vX^)v Yxy~ֿQ I~?v9AIvG:iv:v}E4yɮԒBkAkAkAzkAZkA[a[a"[a*[e;@ɢq)q }Giy)y}6/yiyIAAI IO% >AE%e E%OE%vE!"E%<:*E%9VE%-5ZE!a-@a-@a-@a-@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519028iԙ ǗW%,^`^LANcx?NBP?NQ<ٱN=NH?I.Q?@?3?瞿<Q??iNcx?IN~_;NCrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7706399YYN>yDAaM@aU aU@aU aU@aU aU@aU aU@a] yMMb?L7A`?n?M#?M+=MV>I I)MMb@Mb@Mb@IMiM‰MMM M)MMIMbDm!VDm˰8yF%,=ٔ9%?I%?=Q 5E4J?Q 9E4_)Q A+:YQ E:y,Q I?tAI,:i>E4yɮBkkkzkZkiɢ) 1Gi)d=i!)I1B0>BCBDBw>B=BBB';BAU.AIYIqO}>ԑbE=Q5jE=Č5rE="p1El EMEqE"EV:*E9VE5ZEBE>x;a 2E@x;a JE:a :E:a checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023053 ӝW%,y^LA:?:wV?:G'D;ٱ:=:Hui?'??g?`ZLh cޠ? ?i:?I:_;:CYB2>yFD J5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274968ԁԩD9 zD= @AEE g EE OEE nEA "EE C:*EE 9VEE J5ZEA aM @aM @aU @aU @  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527496W%,$֓^LA2 % ?2W?2%ٱ2Z=2H FF?.??5?`M'?{?s?i2 % ?I2W_;2CY>6>yBDbDJ VDJ8y-<%5B=ٔ5aQ-5>9="?I="?==AQ 5ME4Et?Q 9ME4E_)E$Q AU9YQQ EU:yUhQ IU?EˮAIE;iE̜?EE4yaɮeBakkkzkZkɢ) IGi)QiIԱA)I1IAOU>=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779035 B A 9 W%,9^LABOa#?B+[?BlٱBy>BH@9?`?*?`?.?E"?`?iBOa#?IB_;BCB^->B\B^DB^=B^=B\B^DB^;B^&EYfJ>yfhDbDr(VDrѰ8y?=%E=ٔ++Q->9I==EyJD<E>Q 5E4?Q 9E4-`)C.Q A9YQ E:yKQ I?AI:ik?E4Eh EQEqE"EG:*Ev9VE5ZEBE+_;a2E._;aJE:a :E:a y1ɮ5B1kAkIkIzkIZkIchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030824 ɢQ)Q U5GiQ)QYYiYYIaIaIqO8>9a E %=E 4=M checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283335ͱW%,^LA62 ?6W?6zٱ6Q>6H`B?`@b?k??f(Ŀ^?`?PQ?i62 ?I65_;6CYBrQ>yBEbDV#VDVͰ8yM<%UN=ٔ]Q-]>9iIi==EyJDE>Q 5E4?Q 9 E4i<`)18Q Am9YqQ EuS:yuQ Iu?AI W%,@h^LA2??2D U?2ٱ2T>2H`?@H,? ??~Ŀd?$h?`1L?i2??I2D_;0LY^|>y^tEchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.786795aa aa aa aa a a  y:v?/$ÿDl>O  9B`"? ףp= ?&1ҿYَ>yQ=吾BLB B)ďBYaBbDIVD8y=%6=ٔV;Q->9I==EyJDE>Q 5ME4?Q 9UE4\)>Q AUT:YU>Q EU;yU?Q IU?AIq'[>"[b@*[Ê7@ɢQ)Y ]Gi)iIIaIqOZ>BBBDB">B=BBDB;B!EEn EUEpE"EO]:*EP9VE5ZEBEc;a%2Ee;a%JE:a%:E:a%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038899A W%,A^LA2q!?2#X?2tٱ24">2H.?K(?#?2? fs?yBEbDJ/VDJذ8yr׼%rm=ٔrE% j E% QE% rE! "E% N:*E% v9VE% 5ZE! a- @a- @a- @a- @9  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542873 W%, _LAZ*N!?ZY?Z[9ٱZm>ZH@5%? V?{??i)??`?iZ*N!?IZ^;ZCYn `>yn EbDv6VDvް8y=%F=ٔ%Q-%>9!I)=-=Ey- KD-;E->1Q 5}E45?Q 9}E45V)5JYyn?Q I?5ٱAI5%AWG}A 쭿9 }AY Achecking for new query: numPingsReceived=0, elapsed TxPingTime=5.794901iA A ԙ B5 +>B1 B5 DB5 ,>B5 =B1 B1 B5 ;B5 2EBqBqBu̓CBu̹=Bu̹=Cu5~3W%,"._LA2&?2جP?24ٱ2Q(>2H`?`; "?;?`?:ĿB?`??|?i2&?I2^;0Yne>ynM EbDv'VDvа8y%cc<%%J=ٔ-8Q-->9)I)=5=Ey5KD5YE5>9Q 5EE4=Y?Q 9EE4=S)=PQYIyM?Q IM?=AI=:i=):=E4yQɮUԒBykkkzkZk[["[*[5@E ETEwE"E1:*E9VEɕ5ZEBE;a2E;aJE:a:E:aɢ) Gi) i  }checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046860yIIQIiOu=ԙ- checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298880 W%,H_LA5z?5,I?5pٱ5y/>5H6?@x???Ŀ ?@F?`y?i5z?I5(^;5CYT>yEbDMVD8y%3=ٔE9I==Ey0KD xE>Q 5E4?Q 9E4O)XYy?Q I?AI:i :E4y:BɮϒB%ΪEk9k9k9zk9Zk9[y[y"[y*[}[4@ɢ) +Gi)顱iIA?A?Ee EOEkE"E<:*E9VEu5ZEa@a@a@a@iyI}Achecking for new query: numPingsReceived=0, elapsed TxPingTime=6.551770A,AII)O5Q>! \EW%,ٰb_LA2>?2L?25ٱ2t!>2HM?rE]?`?`"?S??`?i2>?I2/^;0Y> I>y>;Drchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.802952y ?/$?X9v? f&? < =  9 x?Q뱿 rh?Y K7>y \ C< هB B ޖB) [B Y uB!%AAbD-VD-38yE&%Ee=ٔM=Q-M>9M>(?IM>(?=U=EyU?KDU=EU>Q 5E4& ?Q 9E46O)GXYE>Q E;yi>Q I?AI:i:E4yɮ5ՒB1kIkIkIzkIZkI[>[>"[FU@*[!@ɢ) 6Gi)iIAA]AIiIO;>B/>BBDB A>B=BBB;BqEd ETErE"E9:*E9VE5ZEBEF;a2EF;aJE:a:Eachecking for new query: numPingsReceived=0, elapsed TxPingTime=7.054855ԡ nW%,|_LA6h?6N?6Ujٱ6>6H?m??`B? l?`=??i6h?I6^;6CY>=>yBDbDFVDF-8yq% N=ٔ ^=Q- >9%?I%?==EyPKD٩<E=>9Q 5EF4=?Q 9MF4=kN)=XYIyM>Q IM?=BAI=:i=:=OF4yQyɮ}ےBykkkzkZk1[i[i"[i*[mc@ɢ) BGi)顡iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.306904 iiԡA ؟AII)O5.>E f E SE E "E I@:*E 9VE ZE a @a @a @a @!  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558947VW%,d_LA2?2JN?2udٱ25>2H` (? 9? ??s@?@ ??i2?I2w^;0YrV>yr EbDzVDz,8y%\w=%-H=ٔ-;Q-->9-"?I5"?=5=Ey5`KD5SE5>9Q 5EF4=?Q 9EF4=M)=WYIyM]>Q IM?=AI=:i=e:=mF4yQɮUΒBykkkzkZk[["[*[e@ɢ) )Gi)iIAzAA.AI I!O-->checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810872QB! A% B B DB ,>B =B B B ;B EW%,?_LA2M?2L?2qٱ25>2H`X?਻ W??@?`f`̟?`p??i2M?I2^;2CYB]J>yBDbDJVDJP8y%Q%-J=ٔ-Q-->95 ?I5 ?=5=Ey5qKD5qE]>YQ 5eF4]?Q 9mF4]L)]sWYiym>Q Im?]AI]:i]:]#F4yqɮՒBkkkzkZkbEE5jEE5rEE0Eh EREnE"EG:*E9VEJ5ZEBE+_;a2E-_;aJE":a:E$:a[ [ "[ *[  @ɢ9)A E5GiA)AAAiIIIQiQIQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063082aA]؟AIiIyԁO9>ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314929 mW%,._LAl?`6L?J(xٱ*>HfN?`׺? ??MĿ-?R3??il?I^;CY*_>y8 EԩyQ?`"?Mb?(>== 9q= ףp?{Gz?/$Yk>y#< єB)BYGBbDMVDM#8yU.=%]+=ٔ]}Q-]>9]"?I"?==EyKDJ:E>Q 5F4#?Q 9F4mJ)YYz>Q EX;yf?Q I?iAIb:i:Z4F4yɮʒBkkkzkZk[EjL>[EjL>"[Eȃ@*[Eo@ɢQ)Q U GiQ)QYYiYEd ENEqE"E9:*E҆9VE5ZEa@a@a@a@I>)>]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566801aIiAIIO> ) W%,{_LA2?2M?2LGٱ2yF/>2H+?e??@?ÿ@??~?i2?I2^;2Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.818684Yfo>yfEbDnoVDn8yE3>=%Et=ٔM=Q-M?9III=U=EyUKDU<EU?yQ 5F4}'?Q 9F4}H)}ZYyAh?Q I?} AI}:i}>:}@F4yɮ’BkkkzkZk[ [ "[ *[ u @ɢ) Gi)   i 1I9AU?AU?BE>BECBEDBE A>BABABEDBE;BEEAIIO=>9Ef EOElE"EI@:*E9VE5ZEBER;a2ER;aJEK:a:EM:achecking for new query: numPingsReceived=0, elapsed TxPingTime=9.077016i W%,_LA 2?2ZJ?2D¼ٱ2>2Ht? ??`"!?H, X?:%??i2?I2^;2CY>.[>yBEbDJuVDJ8ybM%bS=ٔb=Q-f>9dId=f=EyfKDjEj>lQ 5=F4n,?Q 9EF4nF)n\YAyEc?Q IE?nAIneԙ E g E WE jE "E C:*E 9VE ـ5ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582820ߤX%,;`LA2:?2H?26Lٱ23>2H .?h G??\t?p,q?~??i2:?I2U^;0YBX>yBiE\bDJfVDJ 8yf%fJ=ٔj!=Q-j>9hIh=n=EynKDn躼En>pQ 5vF4r1?Q 9vF4rE)r^Yxyz_?Q Iz?rAIrh:irS:r[F4y|ɮ~ΒBkkkzkZk[1[1"[1*[5@ɢ) 'Gi)iIAE.AIQIaO}> checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834812!I A A B= >B= CB= DB= w>B= =B= DB= DB= ;B= E X%,i1`LA6s?6=J?6hZٱ6n%->6H`^?4u:?@?&?[7]?҉? s?i6s?I6^;4YBO>yBdDbDJVDJ<8yR%RK=ٔVbQ-V>9V ?IV ?=V=EyVKDZ<EZ>\Q 5bF4^6?Q 9bF4^*C)^`Y`ybd?Q If?^@AI^Y;i^;^iF4yhɮjҒBhktktktzktZkt|[["[*[R@ɢ!)! %0Gi!))))i))I1Ee EOElE"E<:*E9VE5ZEBE\L;a2E^L;aJEa:EL:a]H? uL?m?`o?_ȿ>?`/??iQ?I^;Y~`>y EyU'1Z?MbX?U>Ut=Q Q9Uq= ףp?(\µV-?YQyUUh>QU`B UtB)UgBQYUǒB e9I==EyKDHE>Q 5F47A?Q 9F4B)\ԡY>Q E;;y+>Q I?PAIk8;i^7;|F4yɮʒBkkkzkZkE ENEvE"E*E҆9VE-5ZEa@a@a@a@[:>[:>"[@*[@ɢ) Gi)项iIIIO> gx> e gGy _9 Y \AX%,;e`LA2?2вG?2M"ٱ2uf>2HȺ? $?!}?`i?_ǿZ? ي?+?i2?I2^;2CYJ_>yJ~ EbDRVDRQ8yZJ%Z=ٔ^Q I%?AIG:iT:1F4y)ɮ11kAkIkIzkIZkI[a[a"[a*[e@ɢy)y } Giy)顁iII!I9OM=B>B}CBDB">B=BBDB;BEBĀCBĀCBĕCBĻ=Bĺ=Cā5I>)>E EUEmE"E*EP9VE5ZEBEa2EaJE:a :E:a 1Y X%,`LA2 ?2pG?2 ٱ2i1>2H?P@X??k? 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B??i2?I2^;0YN%?yRўEbDZNVDZ8yb+<%bH=ٔbQ-b>9dId=f@EyfSDj V;Ej>hQ 5rL4jk?Q 9rL4j-)j!Ypyr'Q Ir?jRBIjz;ij";jL4yxɮzݑBxk k k zk Zk [)[)"[)*[-@ɢ9)9 =EiA)AEķAiAIIIԹAiIqIO=I%>)%>Em EZElE"EY:*Ea9VE5ZEBE~;a2E~;aJE/;a:E0;a9 *'[%,klLA6Qw?6A@?6ٱ6=6H@?@*ƿft?+N?Կ f?̼?_?i6Qw?I6>^;4Y^ ?ybEbDjGVDjٱ8yr0=%rH=ٔrQ-r>9tIt=v@EyvSDz;Ez>xQ 5L4z}r?Q 9L4z5-)zT!YyΔQ I?zBIz3;iz;zEL4yɮ͑B}Ek)k)k)zk)Zk)5B*** querying acoustic contact ***i1i1[I[I"[I*[M3_@ɢY)a eEia)ae[aiaiIi}2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode.A.AIIO>AqE f E PE oE "E I@:*E ?9VE 5ZE a @a @a @a @- (DAT read: user:64> 5 BDAT read: Tx time:03:46:57.1409 5 $Ping request sent.5 lLA2E ?2D?2mٱ2u=2HŐ?{\ɿ ? ;X?tӿ?`*??i2E ?I2W^;2CYB?yBQEDDbDJ&VDJ8yj=%nK=ٔnMQ-n>9r ?Ir ?=r@EyrSDv=Ev>tQ 5zM4vy?Q 9~M4vY-)v Y|y~Q I~?vBIv:iv:v[M4yɮ B k!k!k!zk!Zk![A[A"[A*[E3*@ɢQ)Q UEiQ)Y]HFYiYaIaB<A<B%+>B!B%"FB%#?B!B!B!B%;B%EqAAIIO>ߍ=ߍa=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252277ԡ R=4[%,*lLAE2d E2NE2rE0"E29:*E2҆9VE25ZE0BE2F;a:2E2F;a:JE2:a::E2:a:R?R@F?RٱR=RHA?@] D˿-?@15? ӿs?۰?1?iR?IR^;PYZ ?yZwErchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503115y}Q?Mb?+?}>}<}=y y9}#~j?:v~jtY}>y}Լ}D}OB}2B }B)}ByY}BbDZVD8y5%+=ּٔQ-%>9%c?I%c?=%@Ey%SD-<E->1Q 5=M45݂?Q 9=M45*)5Y=9>Q E=!;yE4?Q IE?5BI5:i5:5M4yIɮMđBikkkzkZk[0:>[0:>"[V@*[l@ɢ) Ei)a}iI !!A}؟AIIO]>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756734) = 7x>= C WG /{A 3P9 /{AY HLAQ i:[%,lLA6:* ?6D?6,ʾٱ6q~>6H7?[7dǿ X?ʰ?ֿ?@}?bJ?i6:* ?I6f|_;6CYN)?yNEVAVAbD\VD\y% >%-p=ٔ-mQ--?95"?I="?==@Ey=SDEΗEE?IQ 5M4M݉?Q 9M4M()MYy<5?Q I?MBIMQB,>BB>FB?BBDBB;BEBBBBBC%4ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259033zOA[%,mLA,JD+ ?JD?J:վٱJ)%>JH`?wB_ƿ[?95c?I5c?=5@Ey5SD5Y%8E]>YQ 5eM4]?Q 9mM4]&)]Yiym6?Q Im?]BI]\:i]%:]7-M4yqɮ{BkkkzkZk[["[*[Y@ɢ) 7Ei)顽HiIԩAE.AIIIYOm5>E EPEtE"E*E?9VE5ZEBE\L;a2E^L;aJE:a:E:achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510908 yG[%,-ZmLA2?2F?2wݾٱ2լ>2H/?0Kɿ\?D?Iٿ?@\? `?i2?I2܌_;2CYBR@?yBEbDJTVDJ8ly  >% L=ٔ*Q->9 ?I% ?=%@Ey%SD-N<E->1Q 5eM45?Q 9mM45y$)5rYiym7?Q Im?5BI55;i5H%;5';M4yɮ_BkkkzkZk[)[)"[)*[-a@]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762940ɢ) Di )iI I%>)%>A؟AIIO>>9E  E E nE "E *E VE J5ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015036a M[%,P59mLA2 ?2VG?2Πٱ2μ=2Hw?`̿ E?e?`ؿ` ?A? ٙ?i2 ?I26_;2CYBzO?yB'E DDbDJvVDJ8yr>%rM=ٔr1Q-v>9v"?Iv"?=v@EyvTDz<Ez>9|Q 5uM4~?Q 9M4~R")~Yy|7?Q I?~BI~;i~;~HM4yɮABAAB2>BBWFBV?BBBB?;B6EkkkzkZk[9[9"[9*[=$Ƅ@ɢI)Q uDiq)qqqiyyIA->A- ?qAe.AIiIyO9>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272517ԑ ҋT[%,kSmLAE&h E&jE&rE$"E&G:*E&9VE&5ZE$BE&+_;a*2E&-_;a*JE&m<;a*:E&m<;a.B?BiG?BٱB)=BH@E?SYο`M?2`?Zٿ{?^K?K?iB?IB]*_;BCYNV?yRFipIprchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523272ԙyu\(\?/$J +?u>u1u=q q9u|?5^?/$?:vYuR>yu9E ?IE ?=M@EyMTDM.;EM>qQ 5}M4uܦ?Q 9}M4u^ )uY}Z>Q Ex;yh?Q I?uBIu:iu:uXM4yɮ2BkkkzkZk[>[>"[@*[H3@ɢ) Di)顽MiIA؟AI!I1OUS>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775037 aZ[%,_lmLAJu?J?G?JZSٱJ> >JH ?@ο@?$?Fۿ`c?`S??iJu?IJV^;JCY^|g?y^VFbDjfVDj8y|7>%`=ٔ }Q- >9 "?I "?=@Ey&TD7E>Q 5%M4?Q 9%M4)PY)y-i?Q I-?1BI:i:feM4y1ɮ5B1kikikizkiZkq[["[*[;1@ɢ) bDi)iIQDM<DM<EUk EUPEUnEQ"EUmR:*EU?9VEUJ5ZEQa]@a]@ae@ae@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027912A.AIIO (> QQԁB0>BBPuFBz?BBBB;BEԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279006 a[%,CdžmLA2?2G?2aٱ2v>2H`?@_iпǎ? +?~ܿ`ѣ?#?@?i2?I2^;0Yu?y.FbDLVDޱ8ye? >%eD=ٔm[Q-m>9m ?Im ?=u@Eyu7TDujd;Eu>Q 5M4(?Q 9M4)Yy7j?Q I?BI:iy:9tM4yɮBk k k zk Zk [I[I"[I*[M|0@Աɢ) (Di)iIAEyAzAAA}؟AIIO=>bE5jE05rEA0Eeo EeOEaEa"Ee`:*Ee9VEaZEaBEe;au2Ee;auJEeK:au:EeM:auchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.531028 1 g[%,mLAJ,?JE?JٱJj>JH *?Yп;? ?ݿ?N?qc?@?iJ,?IJg^;JCY~K?y; F 4<bD-AVD-Ա8yA>%H=ٔ+0Q->9"?I"?=@EyGTD恼E>New estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 24.21 mm (2 active estimators).Q 5M4k?Q 9M4J)Yyyi?Q I?BI:iT;bM4yɮ֐Bk1k1k1zk1Zk9]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783019[q[q"[q*[uC/@ɢ) Ci)顉i>I AIIO$>9i Di zDm @AEu l Eq Eu mEq "Eu V:*Eq VEu 5ZEq a} @a} @a} @a} @ BDAT read: Rx Time:03:47:00.6437  TRx dataTimestamp_ set to:1764906422.838856 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036067m[%,MmLA2 ?2`C?2 ٱ2X_+>2H`?Eп?`? d޿@? 7??i2 ?I2˺^;2CYNÈ?yR0(FbDZJVDZܱ8y%C>%%Q=ٔ%Q-%>9)I)=-@Ey-WTD5OE5>B]<A]<BaBaBeHFBe?BaBaBaBe;BezEQ 5M4?Q 9M4)QY y h?Q I ?4BIu:i:ÐM4y1ɮ5B1kIkIkIzkIZkq[["[*[U.@ɢ) Ci)i4>IiA9IIIYechecking for new query: numPingsReceived=0, elapsed TxPingTime=4.286993Ou6>ԙ t[%,!XmLAEb EQEE"E1:*Ev9VEZEBE9;a2E9;aJE:a:E:aLvDAT read: 03:47:00.6437 LVL= 31936, 32753, 28050, 32755, AGC= 81, IDX= 175,-0.24,-0.723,-1.525, 0.296,-0.828, PHS= 0.207,-0.653, 1.080, RAW= 180.3, -8.5, CAL= 180.9, -10.3, ROT= 329.1, 10.3 zYgot valid direction response: 03:47:00.6437 LVL= 31936, 32753, 28050, 32755, AGC= 81, IDX= 175,-0.24,-0.723,-1.525, 0.296,-0.828, PHS= 0.207,-0.653, 1.080, RAW= 180.3, -8.5, CAL= 180.9, -10.3, ROT= 329.1, 10.3 DAT read: Range 11 to 50 : 824.0 m (Round-trip 1098.7 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages. `direction in FSK: [0.844237,-0.505265,-0.178802] Fpublishing direction and range infoy`b?di."+࿖ƿYbND`b|`bm `)bQIbS>Y=Ւ?y=4Fib+'bq=?beI@bb6J@ bX8)bͷ@IbX8>``bV 6Hi?J"z? 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NB?,?i2~?I2^;2CY:qAy:tHXXbDZ;VDZα8ybH>%fJ=ٔfa9hIh=jDEyj\Dj;Ej>lQ 5rT4nߐ?Q 9vT4n)nAYtyv?Q Iv?n|BIn8:in:neT4yxɮ~_AB|k k kzkZk[1[1"[1*[5fJ@ɢA)I MiI)IIIiM>QIQfsetting unavailable, lastComms_.elapsed()=60.867424   I1AAB->B`CB,{HB;AB=B%DBDB;B Ea=AzAIAIQOeU>Ep EaE<E"Ed:*E9VE 4ZEBE;a2E;aJE;a:E;aԉԹ w^%,B ]{LA2 ޖ?2²?2J)ٱ2e=2Hł?ݲu?QUfBU`B UoB)U#BQYUGBbDm2VDmƱ8y}c>%}?=ٔMn9I=DEy\D>;E>Q 5U4;?Q 9U4)AYo%?Q E:y ?Q I?}BI ;i;PU4yKBɮ@BkkkzkZkq8pnAggregate::initialize lineCaptureHoming:MicromodemComms8 q~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn8[Zj>[Zj>"[ @*[`@ɢ) Si)  i t> Iԡ/=IYIiO >bEm5jEm[5rEm1E t E E =E "E s:*E VE |4ZE a @a @a @a @ l^%,v{LA2?2}?2ċ'ٱ2=2Hr?s??? z?*?7?i2?I2^;2CYF"AyJ]wHbDZ>VDZѱ8yf>%jV=ٔj9pIp=rDEyr]Dv;Ev>|Q 5U4~?Q 9 U4~)~AYy"?Q I?~~BI~J;i~b;~U4y!ɮ%@B)kkkzkZk[["[*[ja@ɢ )  i )i>I!!!!I)I9OER>nManaging dock network, ignoring radio surface power offI B >B [CB HB hAB =B B DB ;B Eo^%,Đ{LA:]?:B?:2%ٱ: =:HRK?`?`[#?"?`͌R?`Q ?WT?i:]?I:^;:CYNaAyNxH 9R Z%vI=ٔvw9xIx=zDEyz]Dz˻;Ez>Q 5 U4?Q 9U4)/AYyQ?Q I?BI:i:U4yGBɮ%^?B%Ek1k1k9zk9Zk9[Y[Y"[Y*[]a@ɢi)i mii)qqqiu| >yIA>A>Es E^E>E"Eso:*E;9VE4ZEBE ;a2E ;aJE;a:E;aI9IIO]=Qyԩ (^%,{LA2ŗ?2?2Џ$ٱ2!=2H ?䥒?A?rL? i@.?\?pn?i2ŗ?I2^;2CPYRAyRxzHbD^eVD^8yf|>%fL=ٔja9hIl=nDEyn(]Drv<Er>tQ 5zU4v|?Q 9~U4vG)vUAYy?Q I?v7BIv=;iv>;v+U4yɮ>Bk1k1k1zk1Zk9EB*** querying acoustic contact ***iAiA[i[i"[i*[muyb@ɢ) Wi)顉i: >IA.AII2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.O- >Er EE<E"Ek:*EVE 4ZEa@a@a@a@!  (DAT read: user:65>  BDAT read: Tx time:03:47:57.3908  $Ping request sent. %bK=ٔfOw9f ?If ?=jDEyj8]Dj]n;Ej>!Q 5U4?Q 9U40)AYy?Q I?BI:i::U4yɮ>BkkkzkZk [["[*[b@ɢQ)]A>= eiaBAB>BXCBqHBAB=B&DBDB4;B$E)ii >9IAIAyIIO^>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250794qEx ElE>E"Eˀ:*E:VE4ZEBE;a2E;aJEC;a:EC;aԡ :^%,7R{LA2:?2?2!ٱ2=2H?6?@{??`e? D%D%x[B%xB %B)%#B!Y%B9=@AbDEAVDEԱ8yM>%UB=ٔU>Jy9I=DEyI]D˜;E>Q 5U4?Q 9U4)AY?Q E:y?Q I?BIZ:i:>IU4yɮ=Bk k k zk Zk[-;>[-;>"[-f ?*[-C@ɢA)A EiA)IIIiMny >IIQchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505602ԩA 7v>4CI=̃GI9UyAiO:>V9yAYQA- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754859D zD E v E ^E <E "E Vz:*E ;9VE 4ZE a @a @a @a @! ~f^%,4{LARx?Rg]?RX ٱR`=RH? ?U? ?y?TU?`?iRx?IRC}^;RCY^zAy^+HbDfGVDfٱ8yn>%rR=ٔr[Y9tIt=vDEyvY]Dvx;Ev>xQ 5~U4z?Q 9U4zF)zƍAYy ?Q I?zqBIzI;izK:zWVU4y ɮ iIiAIIO>!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006756IB >B VCB LHB AB =B B DB ;B dEBM[CBM]CBMəCBM=BM=CMd7y L_%,S|LA2ʘ?2?2Q-ٱ2Q=2H~?`>?@? ?@e ?@jv??i2ʘ?I2g^;2CYbAybWHbDjOVDj8ipIpvchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259273yz>%zI=ٔzm89|I|=~DEy~i]D;E> Q 5U4 ?Q 9U4 ) AYy??Q I? ցBI :i ; dU4y!ɮ%4IYԉA=AIIYIiO}>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510863Ա v _%,a+|LA>s5?>C?>.ٱ>v=>H`H5?B?^?ed? ҆?A^??i>s5?I>^;>CYNAyN0H XZ<bD^ VD^8yj>%jL=ٔn19pIp=rDEyry]Dv<Ev>xQ 5mU4z?Q 9mU4z)z AYiym?Q Iu?z:BIz/IԱy=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762827D=D<Et E`E?E"Es:*E9VE^4ZEa@a@a@a@A%؟AI1IAOM1>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0149749 ^_%,E|LA2r?2A?2ٱ2D=2Hݿ?0??ص?`k? %bK=ٔb%9f"?If"?=fDEyf]Dji;Ej>lQ 5rU4nW~?Q 9rU4n݇)n'AYpyr?Q Iv?nBIn{;in:nU4yxɮz:Bxk k kzkZk[1[1"[1*[5/nD@ɢA)A EiI)IIIiMc: >QIA9A9B]>B]UCB]'HB]AB]=BYB]DB];B]WE=A-yAzA)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267166Ev E_E:E"EVz:*Er9VE(4ZEBEq;a2Er;aJE_;a:E`;aAIIaIO>i _%,ș_|LA :?:ص?:ٱ:"=:H !d?ߝ?? I?@=R???v?i:?I:J^;:CY^AybHyE$C?@5^I ¿!rh?E:?EbEl=A A9E7A`?"~j?%m@=ٔu9qIq=uDEyu]D}o;E}>Q 5U4}?Q 9U4)oAYv?Q E:y6?Q I?BI:ik:pU4yɮA:Bkkkzk1Zk9]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518939[}>[}>"[}w@*[}$T@ɢ) qi)顱i >IiԡA.AIIO> i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771088E u E cE @E "E v:*E L9VE 4ZE a @a @a @a @_%,uuy|LA2R?27?28ٱ2r=2H@۾?R??? v@8%nT=ٔ 9 ?I ?= DEy ]D ;E >Q 5=U4{?Q 9=U4})AYAyE?Q IE?bBI;i;U4yIɮM9BIkqkqkyzkyZky[["[*[ oT@ɢ) 'i)顱i٨ >IA؟AII!O- >mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023062B5 >B5 TCB5 HB5 yAB5 =B1 B1 B5 ;B5 E! $_%, P|LA2ǚ?2?2L}ٱ2=2H`.??`?x?b)? ? *?i2ǚ?I2^;0Y:Ay::HbDFVDF8yJ`>%NO=ٔN;Q-N>9R"?IR"?=RDEyR]DV<EV>XQ 5ZU4Zuz?Q 9^U4Zy)ZƔAbchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274917Y\yf?Q If?ZBIZ`;iZ`;ZU4yhɮj9BhkIkIkIzkIZkIEe~ Ee`Ee=Ea"Ee:*Ee9VEe|4ZEaBEe;am2Ee;amJEe;au:Ee;au[["[*[T@ɢ) i)i{e >IAE>AE>I1IAIOU> quchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526840 *_%,w/|LABNZ?B??B)ٱB==BH I?D@Mp?"?|?R@??`4?iBNZ?IB^;BCYN AyNڄHbDZYVDZ8yb>%bG=ٔf+;Q-f>9dId=jDEyj]Dj3<Ej>lQ 5rU4ny?Q 9rU4nt)nAYtyvh?Q Iv?n"BIn%:in:nU4yzCBɮz8Bxk k k zk Zk[)[)"[)*[-2U@ԙɢ) i)i% >Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.780312IIO>bEô4jE4rEEC0Et EnE;E"Es:*E:VE4ZEa@a@a@a@Powering down I)  BDAT read: Rx Time:03:48:00.8883  TRx dataTimestamp_ set to:1764906483.082773 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031888ʬ1_%,y|LAv?vƷ?vZٱv=vHJw?N@?@/?Jr? B ? θ?>?iv?Iv/^;vCB>BSCBHBUAB=BBDB%;BȉEYrAyH!bDFVDر8y,>%=ٔ{;Q->9!I!=%DEy%]D-+;E->1Q 55U45v?Q 9=U45lQ ==tI)5AY9y=?Q IE?5BI5P;i5m ;5DU4yM@BɮM7BMEkakakazkaZka[["[*[oU@ɢchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.282740) i)i >!I!IIO>QEy E`E@E"E:*E9VE4ZEBEؤ;a2E٤;aJEa:Eay 47_%,|LAY~Ay~HbD ]VD 8yC?%%=ٔ%Q-%6?9)I)=-DEy-]D-E-9?1Q 5=U45v?Q 9EU45i)5oAYAyAQ IE?5BI5;i5D;5U4yIɮM7BQkakakazkiZki[["[*[ɢ)  i)顡i >III)eDAT read: 03:48:00.8883 LVL= 26064, 28145, 15730, 30035, AGC= 75, IDX= 393, 0.13, 1.160, 1.664, 3.051, 1.952, PHS=-0.691,-0.244, 1.054, RAW= 224.3, -1.5, CAL= 221.9, -2.3, ROT= 288.1, 2.3 mYgot valid direction response: 03:48:00.8883 LVL= 26064, 28145, 15730, 30035, AGC= 75, IDX= 393, 0.13, 1.160, 1.664, 3.051, 1.952, PHS=-0.691,-0.244, 1.054, RAW= 224.3, -1.5, CAL= 221.9, -2.3, ROT= 288.1, 2.3 q}PDAT read: Bearing 233.6, -37.2 (Local) }~Local bearing/azimuth received: Bearing 233.6, -37.2 (Local) DAT read: Range 11 to 50 : 820.0 m (Round-trip 1093.4 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.310426,-0.949750,-0.040132]Fpublishing direction and range infoy9=?*TZd.='Y=MD9=e=m=r= =Su)=KI=`0i=#y=y?=z@=Pwּ=[w@ =l$)=@I=l$=99=f}ΌϿ[J]7?l/n =?)=z_%,|LA2*/?2?2nٱ2M=2Hc?j)?@F?%fN=ٔf;Q-f>9hIh=jDEyj]Dj<En>pQ 5vU4rmt?Q 9vU4r e)rAYtyv?Q Iv?rGBIr:ir:rU4y|ɮ~6B|kkkzkZkiIiM|LAjMMD"jMMD:jM8g>"pM>@o@DfpfXYƜu@pM?*TZd.='*jMK2jMl$=*pM{$@lnf@%ҋlC@pM M-l'?5J=?չ@?jMK7C jMGDiM bPS?iM`^jMBjM bPS?jM`^jMBrjMLDzjMg>[Q[Q"[Q*[Uk:V@ɢa)a e:ia)iiiimg >qIqI9IIO]=Ա!%%=B>BBHBEABBBB;BE OD_%,W}LA:.ܝ?:?:Eٱ:-=:H 5L? ?P?!?~"Y?? N?i:.ܝ?I: b^;:CYBAyFɇHJ@AHbDNVDN8yZM>%ZN=ٔ^G;Q-^>9\I`=bDEyb ^DbY<Eb>dQ 5jU4fr?Q 9jU4f'`)fɚAYlyn?Q In?fBIf:if;frU4ypɮr6BtkkkzkZk [A[A"[A*[EV@ɢi)i m-iq)qqqiu+ >IEu Eu_EqEq"EuO:*Eur9VEqZEqBEuɺ;a2Euʺ;aJEu_;a:Eu`;aIIO=YyԹ 9G }A) U o9U }AYU mAK_%,v.}LA2嘞?2}?2uٱ2q=2H&??Z?C?%?%zF=ٔz(;Q-z>9|I|=~DEy~^Dd<E> Q 5U4 p?Q 9U4 [) AYyk?Q I?  BI ;i ; U4y!ɮ%5B!k9k9k9zk9Zk9[Y[Y"[Y*[]W@ɢi)q uiq)qqyi}>yIiߩIߩԱAII9OM>E%y E%cE%6E!"E%:*E%L9VE%c4ZE!a-@a-@a-@a-@ Q_%,MH}LAB1n?BS?BٱB">BH ? xϰ?@ib?R??? S?iB1n?IB\^;@YZ7Ay^CHpbD VD 8yA>%>=ٔ:Q->9I=DEy/^D~u<E>1Q 5MV4B>BBHHB!AB=BBB;BEB=SCB=TCB=”CB==B==C=:45n?Q 9V45U)5QAYy6?Q I?5vBI5I AIIOA>9E-w E-eE-:E)"E-}:*E-9VE-(4ZE)BE-;a=2E-;a=JE-6*;a=:E-7*;a=a g&X_%,/b}LA2\?2A?2ٱ2>2HU5?D?i?W`? - ?A?R?i2\?I2u^;0Y:nAy:HJonly read 0 of 1 data item for BIT error. 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BE% h;Y Ob%,)LA 2f@2X@29ٱ2>2H^ ?`:?@ÿ`j???i2f@I24^;2CYNVDByR{H V%bV=ٔf|=Q-f>9dYd=jHEyjfDjR<Ej>lQ 5r]4nk?Q 9r]4nx)nW6BYtyv -@Q Iv?nBIn:inB:nqP]4yxɮz`AzEk k k zk ZkB*** querying acoustic contact ***iiɢ=P)9 EFjiE 9)AAAiEz}=IIIUl8i2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.AIIO$>ԙ E (DAT read: user:66> M BDAT read: Tx time:03:48:57.6907 M $Ping request sent.M M@>@>u䰾ٱ>>>H``??x@43¿`??@>?i>M@I>];>CYDBy%HPExceeded connect timeout, disconnecting.bD5qVD58y>%?=ٔN9Y=HEyfD7Q<E>Q 5]4fR?Q 9]4)6BYyB-@Q I?3BI9:i:_]4yɮLAk k k zkZkɢ S) GiИ9)顡ii&y=IB9A9BE~>BECBE\HBEEBBEa =BABEGDBE;BEFcEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251336#8A I I O >! U u>U C G zA 5 ؋95 zAY5 ߈A=cb%,eLA|Y5AEBy=HiMb@Mb@Mb@ 9}?5^I?zG?~jt?YMB?y >D=MAA B)^AYfAbDYVD8yg>%D=ٔQ->9Y=HEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503112yfDE> Q 5]4 :?Q 9]4 ) |7BYP?Q E:y-@Q I? 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ZZ?0?i2d@I2/^;2CY:EBy:ZHB@ABAAbDF6VDFʱ8yN>%Nb=ٔR=Q-R>9PYP=VHEyVfDV<EV>XQ 5^]4Z&&?Q 9^]4Z)Z7BY`ybP.@Q Ib?ZZBIZ;iZ;Zz]4ydɮfVAdkpkpkpzkpZktYɢq") i9)顡iq=I8A>A>ԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006944A%.AI)I9OM1>E EE*E"E;*E|:VE(N4ZEa @a @a@a@nManaging dock network, ignoring radio surface power offԱB5 s>B5 CB5 HB5 FBB5 d =B1 B5 FDB5 .;B5 bEB CB CB ɕCB ` =B ` =C 6 nsb%,r#LA2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2589846@6X@6g坾ٱ69>6H`I-]`NJ?@? i`l?j?$?i6@I6G^;4YB6FByBHiMb@Mb@Mb@ 9'1Z?zG?T㥛 ?YB?y=A&A A)tAYAbDeVD8y-U>%-A=ٔ595 ?Y5 ?=5HEy=fD=4G<E=>AQ 5M]4E ?Q 9M]4E\)E8BYUQ?Q EU:yUk.@Q IU?EBIE:iE:Ee]4ԹyGBɮA٨EkkkzkZkɢEU")I MiMa9)IIIiMXm=qIq8checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510880E  E E &E "E l;*E :VE 4ZE BE `F9 2b%,K=LA6o@6@6-×ٱ6>6H^?`??`?Ŧ?`I??i6o@I6^;6CYBFByBhHbDJxVDJ8yR0>%RT=ٔV9V"?YV"?=VHEyVgDZ]]<EZ>\Q 5b]4^c?Q 9b]4^L)^9BYdyf.@Q If?^BI^;i^E:^]4yhɮjAhktktktzktZkxɢ=) ꣾi,9)!!!i%j=!I)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762940A8AII)Oe>q% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015135ԡ E%  E! E% ,E! "E% :*E! VE% g4ZE! a- @a- @a- @a- @Ab%,'WLA2xj@2\@2ٱ2.->2H@ %y? e? 0r߶?? /Y?i2xj@I2 .^;2CY:%GBy:H B<@bDF[VDF8yN+>%NK=ٔR9PYP=VHEyVgDVHd<EV>XQ 5^]4Zߕ?Q 9]4Z)Z9BYy.@Q I%?Z,BIZeBCBHBGBBe =BBEDB;BHbEA!IAIiԡOC>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266917 {b%,_qLA6@6=@6Aٱ6C>6H`Jpr??`?Gb@.>??` s?i6@I6^;4Y>GBy>HiMb@Mb@Mb@ 9%C?"~?MbX9?YZD?y>ʡ=A`A A)YAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518930bDu`VDu8E EE-E"E:*Ez:VEt4ZEBE3%*=ٔ9Y=HEy&gDJ<E>Q 5]4Õ?Q 9]4=)':BYR?Q E:yf.@Q I?BI&%;i*$;ǵ]4y!ɮ%ٹA!kkkzkZkɢ9Ҿ) iˤ9) i Wb= II?)>8A5.AI9IIO]v>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770943b%,8ۊLA:; @:-@:ٱ:J|>:H`R`H?ع?`b``C??@Ë?i:; @I:];:CYF"HByF%HJ=J=bDNpVDN8yV>%Vx=ٔZ =Q-Z?9Z ?YZ ?=ZHEyZ3gD^˩<E^?`Q 5f]4b?Q 9f]4b)b:BYdyj.@Q Ij?bfBIb:ib:bI]4ylɮnڸAlkxkxSzzkxZk|~NCompleted lineCaptureHoming:InitialDive1S~ ~jAggregate::uninitialize lineCaptureHoming:InitialDiveqS~~Uninitialize.S Uninitialize.TdAggregate::initialize lineCaptureHoming:RepeatHack1Uɢ-4-;)) -d=i59)111i5_=9I9}8QA؟AIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023008O&>E EE(E"E;*E:VEc44ZEa@a@a@a@yBg>BCBHBHBBBBBe;BaEԩ Db%,LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2749356 @6N@6 ^ٱ6u9>6H0@u64?h?&|???i6 @I6^;4@Y~qHBy~HiMb@Mb@Mb@ 9Zd;O?x&?(\µ?Y~J?y7>=ׯAA |A)YAAAbDVD8yS6>%;=ٔ29"?Y"?=HEyEgDp<E>Q 5]4?Q 9]4) ;BYV?Q E|:y,@Q I?BI#:iM:]4yɮA>ԩAAIQIiO}7>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526990E EE*E"E&:*E~:VE(N4ZEBEh;2H bT? ُ?Ϫ s??4?i2 @I2];2CYNHByRHbDZRVDZ8ybb>%bZ=ٔb9dYd=fHEyfTgDj<Ej>llQ 5r]4nd?Q 9v]4n)n;BYtyv-@Q Iv?nBIn3;in4;n]4yzHBɮ~rA|k XUUZAggregate::initialize lineCaptureHoming:Lap:Bi)iI zAzA-*8A=zA=A=A=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778975 AIIOj>1a   = BDAT read: Rx Time:03:49:01.2110  TRx dataTimestamp_ set to:1764906543.339051 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032273bE˙T4jE˙T4rE 0E  E E +E "E %;*E :VE [4ZE a @a @a @a @b%,u؋LAr߆ @rAy@rlٱr| >rH`&L?q?<@?G?`0?ir߆ @Ir^;rCY>IByH!%AbD5<9VD5ϱ8yEt>%MB=ٔMg9MYU=UHEyQU<E]>YQ 5e]4] g?Q 9m]4])]ByB} HB}IBB}d =ByByB}!;B}aE[V?[V?"[A>*[i-@iR9)iIi}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.2861178I)I9OEs>ԑ 1b%,QMLA6 @6<@6cٱ6)d%>6HP,?M?`eK$?@?@?i6 @I6];6CY^IBy^ HiEMb@Mb@Mb@AAAA A9E> ףp=?Mb?~jt?YEQ?yE>E=EAEA EA)EAAYEA ]<]p<bDe>VDeѱ8ymч>%mH=ٔu,9yYy=}HEyy}b<E>Q 5]4M?Q 9]4);O>g@|o>K@ 㭪>)*'@I㭪iۛ[?̞?/黸? e&@)oIai㭪Ze:e*e%N@jc Q@1:q;[=\?[=\?"[=M>*[=A,@iY)YYYiYqIyI IO%> 6c%,$ LA2 @2 t@2$Yٱ2*>2H ?.?4В`?`G?^?i2 @I2^;0Y:JBy:{HbDF\VDF8yJ q>%NY=ٔN9PYP=RHEyPVߝ<EV>XQ 5Z^4Z6?Q 9^^4Z)Z=BY\y,@Q I?ZBIZWByB}HB}xJBB}e =ByB}DDB};B}{aEԁ c c%,7&LA67 @6@6nOٱ6 ->6H9U`@?` ?@?'?u?i67 @I6];6CY>eJBy>HF=Fa=i Mb@Mb@Mb@     9 Gz?Zd;?Q?Y P?y y> u= 1A  A A) /A Y QAbDu|VDu 8yW>%<=ٔβ9Y=HEys<E>Q 5^4?Q 9^4)x=BYTZ?Q Ex:y\,@Q I?MBI:i:^4yLBɮfAͨEereZe:e*e`N@eQ@;;[TZ?[TZ?"[ >*[\,@i )iIQu8}Gv|Aa9v|AY[AII1Om>ԁԩDzDAAE EE.E"E:*E:VEـ4ZEBEa2EaJEa:Ea 9c%,?LA2Dw @2i@2kjEٱ2/>2HLm7L?(?D7 \?=?xx??i2Dw @I2];0YBJByBLHHJ@AbDJVDJ8yf;H>%fW=ٔf9hYh=jHEyhnA<En>pQ 5v^4r\?Q 9v^4r")r=BYtyv,@Q Iz?rBIr:ir:rC$^4y|ɮ~гA|ereZe:e*e%WN@"e!;%=%{%Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence1>% |%Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockq>%|-Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide>- }-Initialize. }-dInitializing internal variables to default values.?--Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@5 5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqA55Initialize.A5 5Initialize.q@=D==Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E= =Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqF=EAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlFEEInitialize.FEEAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1GE EInitialize.qGEGEqEE[a[a"[a*[e^,@iq)iIԱ8IIO= E  E E (E "E ;*E :VE c44ZE a @a @a @a @9 !c%,cYLA2 @2*@2'%;ٱ21>2H˜/@x??Pb?\C?;???i2 @I2];0YnJBynHbDzVDz48yJ>%F=ٔ9Y=%HEy!%<E%>)Q 55^4-ꔉ?Q 95^4-b)-D>BY1y= -@Q I=?-BI-;i-;-2^4yEMBɮEOAĘEDeeAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1Ee eAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqEmqFmmAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlFm mUninitialize.FmmAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1GmqGmGm?mmAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@m uAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideq@uqAuuUninitialize.Au1>u }uInitialize. }udInitializing internal variables to default values.}}PDetached from dock at depth 50.737160 m.Jf}2fy:fy*fereZe:e*eN@[["[*[ -@i))项iI AA@AB[>BCBHB9KBBd =B2DBB;BXaEBCBCBCBe =Be =CQ48I!I1O==iIIIaԉ Kc%,sLA2J @21=@2 0ٱ2 D2>2H @?`?g+?? 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L?v?? ?i2-@I2];0Y^TBybIiEMb@Mb@Mb@AAAA A9EE?X9v?MbYE>yE}>EEAA E9A)E^AAYEGAbD]cVD]8ymG-=%mC=ٔuQ-u>9qYq=uKEyyyE>Q 5e4ľ?Q 9e4)=BY >Q E;yX&Q I?%CI` ;iC ;Pe4yɮ5AJf2f:f*f:e*e \@[ >[ >"[A?*[k@i))i I I9?)P? 9M@I @I@I@IIiIyO>ԡAABw>BCBeIB TBBw =BBFDB;BA_EEU  EU EU )EQ "EU 7;*EU M:VEU FA4ZEQ BEU Z2H`I:ʿV@? ¿?HuE??i2--@I2l];2CYNTByRIbDZTVDZ8ybx=%bV=ٔblQ-f>9dYd=fKEydjtEj>lQ 5re4n|Œ?Q 9re4n)n=BYpyr]&Q Ir?nHCIn;in;n]e4yxɮzܠAxJf2f:f*f:e*e@\@[["[*[k@i))iI9I)xAI@I @I@M 0@IIYIqO}>9Y z ef%,$LADD<E EE+E"E;*E':VE [4ZEa2@a2@a2@a2@-@;@=ٱ9>H+I 0ʿ H?yॿ?I?`?i-@Il];YTByI1iMb@Mb@Mb@ 9L7A`?)\(?MbP?Y+>yGa>:AA A)VAYAAAbD:VDͱ8yNw=%-=ٔ Q->9Y=KEyE>Q 5Me4`?Q 9Ue4)=BYU>Q EU;yU{*Q IU?rCI:i:lne4yYɮeAaJf2f:f*f:e*e@F\@[>[>"[_1?*[g@i))i!I)>9Y@ @@4@IIOg>ԉԹ V2kf%,ILAB"s>B B"IB"PTBB"r =B B B";B" _EB-@B;@B=ٱBYJ>BH>Iʿ?t? (T?`Y S?`?iB-@IB^;BCYJTByJIbDVVVDV8y^*=%^t=ٔ^Q-b?9`Y`=bKEy`fG_Ef?hQ 5ne4jʭ?Q 9ne4j()j=BYlyn|*Q Ir?jCIj2 ;ij ;jze4yvBɮvrAvèEJf 2f :f *f :e*e\@[1[1"[1*[5g@iI)I)IIIiIQIQ Y]zA5M9ԑbEjEY4rEn/E= E=E=*E9"E=7;*E=:VE=(N4ZE9BE9aU2E=ZRHI`ʿ/P?m??Q[?ౝ?iRC-@IRe^;RCYbUByb IbDjhVDj8yr@z=%rG=ٔv$Q-v>9tYt=vKEyxz8:Ez>|Q 5e4~C?Q 9 e4~)~=BY y w*Q I ?~CI~:i~-:~xe4yBɮ-AͨE5B*** querying acoustic contact ***i1i1Jf92f9:f9*fA:eA*eE \@[a[a"[a*[eg@iq)q)yyyiyI_9t>i>a@a @a@e4@aIqIO>ߡߡ2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.!E] E]E],EY"E];*E]k:VE]g4ZEYa@a@a@a@A U DAT read: ] BDAT read: Tx time:03:49:57.8906 ] $Ping request sent.e y5v>>5155A 1)11Y5zA e9Y=KEyE>Q 5e4?Q 9e4S)=BY>Q E;y1Q I?CI ;i;e4yɮAJfY2fa:fa*fa:ea*em}]@q[>[>"[D?*[`@i))iIB A -m9B}>BCBIBTBB} =BBB;B^E u> Ci@ @@0@ԡIIOh>X|9Y;xAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251109E=  E= E= (E9 "E= [";*E= :VE= c44ZE9 BE= z91Y1=5KEy11E5>qQ 5}e4uv?Q 9}e4u{)u=BYyyyQ I?uCIu;iu;u3e4yBɮAJf2f:f*f:e*e]@[["[*[i))iII+?)?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.50299959 @ @@3@IIO">1a  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755107E]  E] EY EY "E] ~ ;*E] :VEY ZEY am @am @am @am @gff%,7LA!-@0;@^<ٱO9>H Nʿk?TH??:%R?Þ?i-@I^;Y gUBy <IiMb@Mb@Mb@ 9㥛 ?+?y&1|Y>y>`A1A A)QAY̞AbDCVDֱ8yT>%1=ٔP̻Q->9Y=KEyی;E>Q 5e4A?Q 9e4)=BY>Q E ;y7Q I?!CI* ;i?;e4yɮAJf2f!:f!*f!:e!*e%7]@[>[>"[8>*[ [@i))i!I!I9 %checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010672@ @@00@IIOc>qԡ B k>B CB IB TBB z =B B EDB ;B ^EBCBCBBw =Bt =C˯!7f%,,0LAJ-@Jz;@Jf<ٱJ >JH O Rfʿ`p?*? `?TL?*?iJ-@IJK_;JCYVsUByVCI\^AAbDbVDb8yjC=%jq=ٔj)Q-j?9lYl=nKEylr_4;Er?tQ 5ze4v+x?Q 9ze4vh)v=BYxyz6Q Iz?v>CIv:iv:ve4yɮqAJf!2f!:f!*f!:e)*e-fM]@[I[I"[I*[M [@echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259215ia)i)iiiiiqIqy9E EE'E"E ;*E˭:VE'4ZEBEvԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511160 %xf%,h[JLA~-@~ ;@~y_<ٱ~g>~H`PPʿCt??`֡?@K X?@?i~-@I~o_;~CYUByYIbDVD8yۙ=%2=ٔ Q->9 Y=KEy:E>Q 5%e4hk?Q 9-e4)=BY)y-6Q I?fCIc1Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015116f%,5dLA2-@2;@2E5<ٱ2>2HQ<ʿUx?@ ?@J?E g??i2-@I2`;2CY:UBy>ZI@BAiMb@Mb@Mb@ 9333333?n?{GzY>yV>ף A 9A)AYAbD}-VD}8yd;%\=ٔ/Q->9Y=KEy:E>Q 5e4a?Q 9e4I)=BY>Q E ;y':Q I?CI;i=;+e4y ɮ )A 9]PExceeded connect timeout, disconnecting.Jf2f:f*f:e*eY]@[>[>"[]&>*[W@i1)1)199i99IA-9AAAAB%e>B%CB%IB%&UBB% =B%3DB%DDB%;B%^Ea@ @@!0@I IO%M>}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267524ԉE5  E5 E5 -E1 "E5 ~ ;*E5 5:VE5 t4ZE1 BE5 V2HSʿ|?`j?``?(q? o?i2.@I2+`;2CYBUByBqI J9hYh=jKEyhn+;En>pQ 5ve4rwW?Q 9ve4r )r=BYtyv:Q Iv?rCIr{:ir#:rJe4y|ɮ~ߞA|Jf2f:f*f:e!*e%`]@[A[A"[A*[EpX@iQ)Q)QYYiYaIaU9ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519445@ @@ 0@IIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771107E  E E ,E "E O;*E :VE g4ZE a- @a- @a- @a- @) Rf%,LAj.@j<@j5M<ٱjo>>jH~Uɿ9yY=KEyR;E>Q 5e4J?Q 9e4)=BYy:Q I?CIy:i:]e4yɮ՞ĄEJf2f:f*f:e*e@W]@[["[*[X@i ) )   i II*?)>%9-N>i->@ @@L2@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023264IOG>MnManaging dock network, ignoring radio surface power offA B o>B B 3IB YUBB =B B B ;B ^Epޫf%,!ȱLA2-.@2f<@2bη<ٱ28>2HW ɿ?7?@T ?Mdr? ў?i2-.@I2:_;0YBUByBIDF=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275171i5Mb@Mb@Mb@1111 195)\(?x&?Q롿Y5G>y57 >5\15A 1)5A1Y5AbD]VD]t8ymn=%m\=ٔme8Q-m>9qYq=uLEyq};;E}>Q 5f4@?Q 9f4)=BY.>Q E;y;Q I?CI":i:?f4yɮAJf2f:f*f:e*e]@[.>[.>"[ >*[ĉV@i))iIE EE*E"E ;*EVE(N4ZEBEyTychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527100ԩ Ųf%,˚LA2K7.@2)<@2_<ٱ2TD>2HUXɿރ?@??땿t? ?i2K7.@I2P_;0@YBUByB}IHHbDNzVDN8yV%VW=ٔV1Q-Z>9XYX=ZLEyX^:E^>`Q 5ff4b5?Q 9ff4bc)b=BYdyf;Q If?b CIb:ibl:bf4ylɮnAlJf|2f|:f|*f|:e*e@5]@[["[*[V@i))顱iI!9ԩ]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780296Y@Y @a@e4@aIqIO>E EE)E"E;*E:VEFA4ZEa@a@a@a@  BDAT read: Rx Time:03:50:01.4374  TRx dataTimestamp_ set to:1764906603.574751 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032147f%,嚕LAlY]UBy]Ii=Mb@Mb@Mb@9999 99=~jt?7A`?MbY=>y=>=@=\A9 =A)=A9Y=AbDMaVDM8y]<=%e2=ٔeQ-e>9aYi=mLEyimEm>qQ 5}f4u)?Q 9}f4uv)u=BY>Q E;y*8Q I?u5CIuj:iu8:u%f4yBɮAJf2f:f*f:e*e^@[>[>"[E>*[Y@i))iI zAB9BM<AIBq>BBFIBwUBBBBB;B&_E@ @@`5@IIO>>1]=]<]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283419bE(N4jEL4rE}0E  E E *E "E ;*E :VE (N4ZE BE mZH yY@$ɿ@??@E`&?`Ó ?୞?iZ??.@IZ_;ZCYfUByfIhhbDnlVDn8yv^;%ve=ٔzQ-z>9|Y|=~LEy|~:E~>Q 5 f4;?Q 9 f4K)=BYy#8Q I?TCI;i#;2f4yɮA!1JfA2fA:fA*fI:eI*eM`^@[i[i"[i*[mY@iy)y)顁iIUP9DAT read: 03:50:01.4374 LVL= 32752, 28065, 31426, 32755, AGC= 80, IDX= 209,-0.07, 0.965, 3.142, 2.107, 2.315, PHS=-1.248, 0.872,-0.252, RAW= 302.0, 6.9, CAL= 299.5, 6.2, ROT= 210.5, -6.2 Ygot valid direction response: 03:50:01.4374 LVL= 32752, 28065, 31426, 32755, AGC= 80, IDX= 209,-0.07, 0.965, 3.142, 2.107, 2.315, PHS=-1.248, 0.872,-0.252, RAW= 302.0, 6.9, CAL= 299.5, 6.2, ROT= 210.5, -6.2 8DAT read: $Error in header *Received a bad headermX#Rx 1: Read direction message, but no range.}`direction in FSK: [-0.856589,-0.504570,0.107999]y5_.i?Xo%࿄Niإ?mz )PIwid;_?%+@Ϣ=E@ k=)y!k@Ikݽs%_Bx}? 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Cz`Z?`S?i27%@I2Ԡ\;2CYND[ByRIbDZVDZ8yv%vS=ٔz޹Q-z>9xYx=~OEy|~+9E~>Q 5 n4W?Q 9 n4)DBYy#4Q I?{CI:i):n4yɮBBIBZBBs =BBB;B\EԑM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267006 bj%,7ߊLA2%@2U3@2g<ٱ2>2H>Կ? ?@k@?ƒ?@N?i2%@I2\;2CYB^[ByBIDDbDJѿVDJ8yfo=%fM=ٔfeQ-j>9hYh=jOEyhnEn>pQ 5vn4rM?Q 9vn4r)rEBYtyv%4Q Iv?rCIrl:ir:rn4y~_Bɮ]’AYJf2f:f*f:e*e oTf@[["[*[%]@i)!)!!!i!)I9Թ@ @@0@IIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518906E EE*E"E;*E:VE(N4ZEBEAr2H`<wԿ 0?=? GK?'?,?i2%@I2\;2CYRr[ByRIiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771252i5Mb@Mb@Mb@1111 195rh|?B`"?Mb`?Y5{>y15;15A 5EA)5A1Y5pA U9 Y = OEy iE>Q 5%n4B?Q 9%n47)EBY%>Q E%&;y-2Q I-?CI/:i:$n4y1ɮ5A1JfQ2fY:fY*fY:eY*e]bf@[}>[}>"[}/?*[}E_@i))顑iI @  @ @ @I)I9OU>9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023089E EE,E"Ea;*E5:VEg4ZEa@a@a@a@ԉ B B B IB [BB B B B ;B [Esnj%,LA0F%@F3@FB<ٱF9>FH@<`Կ[?*?}T?Ђ ???iF%@IF\;FCY^k[BybIbDjVDj8yr%r_=ٔrpQ-r>9tYt=vOEytzF7Ez>xQ 5 n4zN9?Q 9 n4zA)zEBYy2Q I?zCIzi;iz[;zf1n4y!ɮ-A)Jfy2fy:f*f:e*e nf@[["[*[F_@i))iIIzA)}Aԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274968- @) @)@)@)I9IIO]>Թ ߽ =߽ 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527221E  E E +E "E f;*E :VE [4ZE BE W2H;@Կx??I@{?兂d?*?i2d%@I2 \;2CY:p[By:IB=B=\iMb@Mb@Mb@ 9`"?$C?MbPYw>yZ>dAٜA AA)AYAbDVD8yF3<%<=ٔlQ->9Y=OEyWE>Q 5n4`.?Q 9n4)*EBY>Q E$;y0Q I?CIG ;i] ;@n4yɮA EJf)2f):f)*f):e)*e-{f@[M>[M>"[M{8?*[MKa@ia)a)aaaiaiIiM @I @I@I@IIqIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778923!A h{j%,JLA2+%@23@2JC<ٱ2+%>2H(;Կ?? ?@Z聿@\?0?i2+%@I2۹\;2CYN[ByRIV@AV@AbDZ VDZ8yb1=%b]=ٔf{UQ-f>9dYd=fOEyhjK7Ej>lQ 5rn4n%?Q 9rn4n)n5EBYtyv0Q Iv?n CIn:in-:nMn4yxɮz|A!}Detached at range: 820.00 m. Transitioning docking module to standby.Jf2f:f*f:e*e;f@[["[*[^}a@i))iI }checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031032E EE(E"Ex;*EZ:VEc44ZEa@a@a@a@5PExceeded connect timeout, disconnecting.@ @@@IIO=IBABBBIB$[BBt =BBB;B[Ey- checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282942ԡ j%,* LA2Ѳ%@2/3@2 <ٱ2$G>2HN9!Կ@ͥ? ?@?ੁ?@ ?i2Ѳ%@I2\;2CYN{[ByNIbDVVDV8y^nR%bJ=ٔbjQ-b>9dYd=fOEydfEf>hQ 5zn4j?Q 9n4j)jAEBYy0Q I ?jACIjk;ij0;j[n4yɮA"f5Jf12f1:f9*f9:e9*e=f@[Y[Y"[Y*[] ra@ii)i)qqqiqyyI &Changing to mode: 1>i>i@i @q@q@yԩIIO (>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534984bEEg4jEE^4rEEd/E EE,E"E%;*E:VEg4ZEBE~2H8Կ?@?[ ? ?6?i2%@I2\;2CYbu[ByfIzchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.788446|~Ai}Mb@Mb@Mb@yyyy y9}ʡE?%C?Y}o>y}Zd>}yy y)yyYybDVD8yT%==ٔQ->9Y=OEyE>Q 5n4G?Q 9n4)PEBY>Q E$;y0.Q I?eCI:i<:jn4yɮA"fJf2f:f*f:e*ePf@[>[>"[B?*[c@i))1)11iI@ @@@IIO">G}A#a9}AY^A1checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038863E EE*E"Ef;*E':VE(N4ZEa@a@a@a@- nManaging dock network, ignoring radio surface power offY B B B IB .[BB s =B B B ;B [E|9j%,BH`k6@Կ  ?t?`A?@D?B?iB%@IB];BCYR[ByV I pr<bDv&VDvϰ8yU:=%UO=ٔUQ-U>9YYY=]OEyYedEe>iQ 5mn4m?Q 9un4m)m]EBYqyu=.Q Iu?mCIm:im;mxn4yɮJA"fJf2f:f*f:e*e`f@[["[*[c@i))iI1U@Q @Q@Q@QIaIyO=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290971aԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545050D =D <E  E E E "E O;*E v:VE ZE BE .Y2H@^4@LԿp"?B!?(?=pu??i2%@I2T?];2CY^[BybIiuMb@Mb@Mb@qqqq q9uV-?m?MbP?Yum>yun>u:uhAu/A uA)uEAqYuAbD VD8y<%F=ٔQ->9Y=OEyE>Q 5n4>?Q 9n4m)kEBYY>Q E!;y,Q I?CI;i;n4yɮ;A"fJf2f:f*f:e*e`f@[Y>[Y>"[˜I?*[|e@i!)!)!))i))I19Ա@ @@@II)O5 >checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794923 9 Kj%,sLANIu%@Ng3@N;ٱN>NH@5/ տo?>?@?%?`?iNIu%@IN$];NCYZ[ByZIbDbVDb8yjd=%jX=ٔnQ-n>9lYp=rOEyprBEr>tQ 5zn4v?Q 9zn4v)vyEBY|y~,Q I~?vCIva;iv+;v/n4yɮA"f!Jf)2f):f)*f):e)*e-@f@[I[I"[I*[MY^e@iY)a)aaaiaiIi]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047461E EE)E"E;*E:VEFA4ZEa@a@a@a@"@ @@@II O=A!A%AAB)B)B-IB-C[BB-t =B)B)B-ݠ;B-[EBގCBގCBBs =Bs =C<5Ai  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.2989033j%,+nLABa%@BRT3@BX;ٱBc>BH+"տ ?@Q?? Ş??iBa%@IB߫];BCHY~[By~ I AA bD VD8y%d%%E=ٔ%Q-%>9)Y)=-OEy)5:E5>1Q 5En45腉?Q 9En45W)5EBYAyE,Q IE?5CI5:i59:5n4yUZBɮU2AUE"fqJfq2fq:fq*fq:ey*e}`~f@[["[*[Ke@i))顩iIU$@Q @Y@]0@aIԱIO= >mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.551438DzDE EE+E"Ex;*E҆:VE [4ZEBEIgBHD)e1տ`I?`?@?!~??iBQ%@IB'w];BCbchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.802910Yf[ByfIliMb@Mb@Mb@ 9 rh?e;O?y&1|?Yl>yt>`;A )AYGAbDVD8y\=%@=ٔ Q->9Y=PEyE>Q 5n4݅?Q 9n4)EBY8>Q E;y,Q I?CIQ:i:n4yɮA"fJf2f:f*f:e!*e% f@[E8>[E8>"[ECkM?*[E f@iQ)Q)YYYiYaIaIu{A)uxA -'@1 @1@50@1IAIQO]>1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.054918E EE,E"E;*EZ:VEg4ZEa@a@a@a@a B% ">B! B% IB% M[BB% v =B! B! B% Ѡ;B% [E/Fj%,_&LAR"A%@R33@RE ;ٱRf>RH`&@@տϦ? p?T?7~@?ܞ?iR"A%@IRf];PY^[By^"IbDf VDfʰ8ynP<%n[=ٔr8Q-r>9pYp=rPEypv]/Ev>xQ 5~n4zԅ?Q 9~n4z_)zEBY|y~#,Q I?z.CIz;iz;zn4y ɮ A "f)Jf)2f):f)*f):e1*e5f@9[["[*[re@i))iI)@ @@@IIO=iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.307235aԑ D =D E  E E *E "E a;*E :VE (N4ZE BE hjH#ANտ@?N~?@@f?M}@l? ֞?ij1%@IjC];jCYv[Byv(IiuMb@Mb@Mb@qqqq q9uy&1?e;O?y&1?Yu`e>yqu`e=ٔйQ->9Y=PEy E>Q 5n4ʅ?Q 9n4)EBYݧ>Q E!;y]+Q I?QCI:iQ:n4yIɮUڑAQ"fJf2f:f*f:e*ef@[5ݧ>[5ݧ>"[5OZQ?*[5f@iI)I)QQQiQYI,@ @@ 0@I)I9OM1>checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810910 Ej%,LA2!%@2J3@2,;ٱ2>2H K!Z]տ`?j?@7`?}??i2!%@I259];2CYZ[By^/IbDfVDf8yn<%rX=ٔr 9Q-r>9pYt=vPEytv)Ev>xQ 5~n4z?Q 9n4zu)zEBYym+Q I?zqCIz6:iz:zn4y ɮ đA"f)Jf12f1:f1*f1:e1*e=g@[Y[Y"[Y*[]ȱf@ii)i)iiiiiqIqE] E]E]+EY"E]O;*E]h:VE] [4ZEYae@ae@ae@ae@checking for new query: numPingsReceived=0, elapsed TxPingTime=8.076039.@ @@0@IIO=BAp<B#>BBIBa[BBx =BBBɠ;B[EIE checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326985q j%,LA2%@23@2 ;ٱ2s>2H iտ?י?BZ? qS}@{?$?i2%@I2[];0YB[ByB6IbDJVDJİ8yf<%fL=ٔfQ-f>9hYh=jPEyhjEn>pQ 5rn4r?Q 9vn4r)rEBYtyvz+Q Iv?rCIr`:irK:rn4yxɮ~Ai"fJf2f:f*f:e*e :g@[["[*[f@i))iIQO1@ @@0@II O >ԁE} E}checking for new query: numPingsReceived=0, elapsed TxPingTime=8.579047E},Ey"E};*E}:VE}g4ZEyBE}cu2H@y wտ 2?\?`?o|?!?i2M%@I29];2CYR[ByR:Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.831010i5Mb@Mb@Mb@1111 195V-?m?y5n>5t<5A5+A 1)11Y5AIIbDM+VDM԰8yP<%9=ٔQ->9Y=PEy E> Q 5n4 ?Q 9n4 ) EBY%>Q E%!;y%-Q I%? CI D;i C; On4y1ɮ5A1"faJfa2fa:fa*fi:ei*em` $g@[>[>"[˜I?*[d@Աi))iI3@ @@0@IIO>Eu EuEqEq"Eu;*Eu$:VEqZEqa}@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082978 B B B IB u[BB B B B ;B [E9 j%,kBLA:;$@:2@:;ٱ:Ձ>:HտE?{? п?|A? ?i:;$@I:)4];8YB[ByBBIbDJ.VDJװ8yR5=%Va=ٔV 8Q-V>9XYX=ZPEyXZ1EZ>`Q 5bo4b종?Q 9fo4b)bFBYdyf-Q If?bCIbl:ib6:bo4yhɮnAl"f|Jf|2f|:f|*f|:e*e}/g@[![!"[!*[%}d@i1)1)111i19IA@6@ @@ 0@IIO%=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.3348599i bE%˙T4jE%-W4rE%ˮ1/E  E E * checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590470E "E %;*E Ǚ:VE (N4ZE BE K:H 6տJT?`C?@ [?`i|?@?i:$@I::\;:CYB[ByFFIiMb@Mb@Mb@ 9v?!rh? rh?Yx>ylg>C<ΚA AA)AAYbDVD8yp<%9=ٔwQ->9Y=PEyκE>Q 5o4?Q 9o4L)(FBY!>Q E;y 0Q I ?CIJ4;igP;uo4yɮyA"fJf2f:f*f:e*eA>g@[!>[!>"[c??*[b@i))1)111i19I9i8@ @@3@IIO)>ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.838954 u> CA Y q )9 Y 2'Aj%, vLA6$@62@6;ٱ6>6H-տ k?`? O?|a?@Ξ?i6$@I6\;6CPYR\ByRKI Z9hYh=jPEyhn En>pQ 5vo4r?Q 9vo4r)r;FBYtyv+0Q Iv?rCIr$:irR:rQ!o4y|ɮ~iAY"fJf2f:f*f:e*eIg@[["[*[ga@i))iIE= E=E=,E9"E= ;*E=8:VE=g4ZE9aE@aE@aE@aE@}BuݎCBuIBu[BBuw =BqBqBu;Bu[Ei! I! ) Aj%,LA2;$@22@2K;ٱ2>>2H'տ@\??`Ƕ`?@Z|? ?i2;$@I2\;2CY:[By:CIbDFVDF8yJ!%NM=ٔN&Q-N>9PYP=RPEyPV EV>TQ 5Zo4V?Q 9^o4V)VOFBY\y^/0Q I^?V;CIV8;iV#;V8/o4y`ɮfAd}v4Docking module at standby.Jft2ft:ft*ft:et*ez5Vg@|[["[*[a@i!))))))i)1I1IEzA)EzA@ @@0@II O=1DIzDM?AEe EeEe+Ea"Ee7;*Ee:VEe [4ZEaBEeZ6H``տC?``?X@"?n|@4??i6$@I6|\;6CYB[ByBHIF=Fp=iMb@Mb@Mb@ 9\(\?)\(?yGa>t<|A A)YbD5VD58yM<%M?=ٔU>Q-U>Y9QYa=ePEyamH˹Em>qQ 5o4ux?Q 9o4u#)ueFBYר>Q E ;yW1Q I?u_CIuJ;iudI;u6>o4yɮtA=}8Undocking sequence complete.>q?:e*edg@[uר>[uר>"[uO;?*[u`@ip:)顡iII@I @I@M1@IIYIqO}>ԁԱEU EUEU-EQ"EU ;*EU:VEUt4ZEQae@ae@ae@ae@ߕ=ߕR=Bi Bi Bm IBm [BBm v =Bi Bi Bm ;Bm [EB)B-ݎCB)B-w =B-w =C-%25 j%,}ëLA2#$@22@2;ٱ2>2HKտ@5??@I?R|@?@?i2#$@I2N\;2CY^\BybWIddbDjVDj8yr=%rQ=ٔvQ-v>9tYt=vPEyxzaEz>|Q 5o4~n?Q 9o4~X)~yFBYy X1Q I ?~CI~:i~6:~Ko4yɮBAE~5HTransitioning to midcourse guidance.q?5?5:e1*e=Zpg@[Y[Y"[Y*[]`@ii)iiiiiqIqI)iԹII!O5->9Dm =Dm =E  E E )E "E ;*E :VE FA4ZE BE XQ^H@oտv?`^?`?| ,? ?i^!$@I^!z\;\Yj\ByjOIiMb@Mb@Mb@ 9e;O?$C?Mb?Yt>yZ><A )AYbDԿVD8y%9=ٔ9Q->9 Y = PEy v5E>Q 5o4c?Q 9%o4)FBY%>Q E%%;y%1Q I%?CI/:iZ:9[o4)y1ɮ5]A1ZfU@?U|]Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideq>]|]Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide|]Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:eY*e]~g@[}>[}>"[};Z:?*[}`@i)顑iII1IAOm=YԁԱ |6j%,+kLA2$$@22@2>;ٱ23>2H`@;տ儧??u?|@?@֞?i2$$@I2\;2CYB6\ByBlIbDJVDJ8yfT>%fa=ٔfQ-f>9hYh=jPEyhjƺEn>pQ 5ro4rZ?Q 9vo4r)rFBYtyv1Q Iv?rCIr:ir:rgo4yxɮ~A|?Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAInitialize.A Initialize.q@%?%A%f%f!qA%rf%L?-Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )q@-A55:Initialize WaypointComponent.=ZNavigating to waypoint: 36.779130,-121.859630:e9*e=`Iuk>uiIuA<)uJ滽 u@i:): i:IAE EE+E"EO;*E՚:VE [4ZEa%@a%@a%@a%@IYIiO=ԑBA<B>BB(IB[BBBBB;B[E- BDAT read: Response Not Received - *response not received- 2H` üտƟ?@?{?| b?~?i2$@I2{\;0YB>\ByBqI J9IYI=UPEyQUEU>Q 5o4O?Q 9o4)FBYy1Q I?CI;i ;wo4y[BɮAZNavigating to waypoint: 36.779130,-121.859630ff>fgffrfq=zAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy= {IU >IU> U>IQD)zD-@AEM EMEM,EI"EMx;*EMv:VEMg4ZEIBEMIgI G k%,+LA 2 $@2i2@2Ā;ٱ2 >2H`t`տ??K?})? 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'?i2H?I2؊^;2CY>sbBy>B Ii-Mb@Mb@Mb@)))) )9-ףp= ?L7A`?MbY->y-+>)-}A) -QA)-^bA)Y-AbDEVDE8yM=%UA=ٔU}`Q-U>Y9] ?Ye ?=eSEye`oDe,*Ee>iQ 5uv4m6}?Q 9uv4m)mVBY}G?Q E}:y}@Q I}?mN6CIm;im/;m3v4yђBɮ`AEfffgffrfereZe:e*e ̷m@rpBɢoɾ) _i)#i==yɧxfFiI I    checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259014ԉE- E-E-(E)"E-:*E-:VE-c44ZE)BE-D8i߁ I߁  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511228 Wn%,`kLA2?2ǿ?2jٱ2U?=2H`O? `?@?`2Z?`PͿL?Ţ?`$?i2?I2g^;2CYbbBybd IbD VD8y-d>%-M=ٔ-RQ-5>91Y1==SEy=poDE!@EE>IQ 5Uv4M.}?Q 9]v4M)M;M*'v4ymҒBɮmAqfffgffrfereZe:e*em@ԹpBɢ˾) ^i)i@=ɧ{HiI IAE؟AIQIaOm>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763038D54=D5R=E= E=E=*E9"E=&:*E=:VE=(N4ZE9aE@aE@aE@aE@9 [?!n%,y;LA2?2l?2 lٱ2=2H?@ g"?@\??Ϳ??7C?!?i2?I2+^;2CY:bBy: IBAA@bDF VDF8yN\=%NT=ٔRUxQ-R>9V"?YV"?=VSEyVoDVCEV>XQ 5^v4Z'}?Q 9bv4Zx)ZdVBY`ybm@Q Ib?Z6CIZb;iZ;Z4v4ydɮfAhfxfxfxgxfxfxrfxe|re|Ze|:e*em@-pBɢ-Ͼ)1 5`]i1)5,!11i569B=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023022Qmɧ~駍QLKiI IB >BCBB IBdBB =BB'DB;BUEIIAO]>Ai5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274968EE  EE EE ,EA "EE :*EE x:VEE g4ZEA BEE <ye|>ee}Ae^A eA)e_AaYepAbD}VD}8y=%<=ٔQ->9Y=SEyoD(E>Q 5v4[ }?Q 9v4d)VBY>Q E:y?Q I?6CI:i:Cv4yɮVAf9f9f9g9f9fArfAeAreAZeA:eI*eM+m@q颽pBɢ^Ǿ) ]i)$iD=,ĕɧMiI Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.527555IIOE0>ԡ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778975ߓ-n%,򸸕LAB?B۸?BtoٱB!=BHp?;?`?@?οs??b?iB?IB*^;BCY-;cBy- IbDIVDIyU#>%]N=ٔ]Q-]>9aYa=eSEyeoDe.7Em>iQ 5uv4m}?Q 9}v4m)mVBYyy}?Q I}?m7CImI;imU;mQv4yɮӄAfffgffrfereZe:e*em@pBɢRѾ) k[i)'i»F=DzDE EE(E"E;*E:VEc44ZEa @a @a @a @  ɧ EnPiI IIIO=iߑIߕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0312371 B >B CB IB dBB =B B %DB כ;B UE|4n%,ҸLA,2ǚ?24?2Aqٱ2d=2H@7?#u??'?.Vο?@l?`|?i2ǚ?I2|^;2CYNZcByN IiUMb@Mb@Mb@QQQQ Q9Un?`"?YU>yUw>UUzAUEA U^A)U^AQYUAbDmVDm8y}y=%}H=ٔQ->9Y=SEyoD +E>Q 5v4}?Q 9v4)VBYK>Q E:y?Q I?K7CIG ;i~ ;_v4yɮAfffgffrfereZe:e*e@m@ qBɢ Rξ)  w[i)ft*iH=,ɧ̃Ri!!!I! !I!A=yAzA9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282940I1IqO=E  E E 'E "E &:*E :VE '4ZE BE f;/?@ ??iF?IF_;FCYncByn IbDzVDz8y^>%R=ٔ  Q- >9 Y = SEyoD5E>Q 5%v4 }?Q 9%v4)WBY)y-{?Q I-?z7CI:iW:mv4y5ӒBɮ5)A1fffgffrfereZe:e*en@ 0qBɢ о) Yi)LF-i5K=ةɧ%@%4Ui!!!I! !I)IIO=ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.786994E EEE"ED:*E҆:VEZEa@a%@a%@a%@ An%,ILA6x?6]?62vٱ6'V =6H?逿?k?οz?@??i6x?I6^;6CYNcByR IbDZVDZ°8yb=%bO=ٔb$ĻQ-f>9dYd=fSEyfoDj*Ej>llQ 5rv4nl}?Q 9vv4n)nBWBYtyvi?Q Iv?n7CIn+;in,;n^{v4yzےBɮzA~Efffgff!rf!e!re!Ze!:e)*e-n@UNqBɢUԾmBDAT read: Rx Time:03:52:02.1022 mTRx dataTimestamp_ set to:1764906724.147597uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.040859)Q uXiy)}/yyi}bM=/xɧ駅GWiI IIYIiO}=Bu>BuCBu IBudBBu =BqBu$DBu;BufUE1 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291937a E%  E% E% (E! "E% V:*E% z:VE% c44ZE! BE% 9yet>aaeҁA eA)et]AaYe(AbD/VDذ8y|=%>=ٔgQ->9Y=SEyoDO%E>Q 5v4}?Q 9v4)rWBY>Q E:y_?Q I?7CI ;i;jv4yɮAfffgffrfereZe:e*etn@}oqBɢ}̾) Xi)2顁iO=ɧY駍(ZiI IA>A>DAT read: 03:52:02.1022 LVL= 20832, 24001, 9298, 21347, AGC= 76, IDX= 58,-0.04, 0.555, 0.766, 2.918, 1.320, PHS=-0.664,-0.509, 1.554, RAW= 213.6, -3.6, CAL= 212.5, -5.9, ROT= 297.5, 5.9 Ygot valid direction response: 03:52:02.1022 LVL= 20832, 24001, 9298, 21347, AGC= 76, IDX= 58,-0.04, 0.555, 0.766, 2.918, 1.320, PHS=-0.664,-0.509, 1.554, RAW= 213.6, -3.6, CAL= 212.5, -5.9, ROT= 297.5, 5.9 PDAT read: Bearing 233.7, -48.9 (Local)  ~Local bearing/azimuth received: Bearing 233.7, -48.9 (Local) DAT read: Range 11 to 50 : 905.7 m (Round-trip 1207.6 ms) speed -0.1 m/s R#Rx 1: Read range and direction messages.-`direction in FSK: [0.459303,-0.882312,-0.102793]5Fpublishing direction and range infoyqu` f7e?w;zBPYulbDqu`Qu]uR$ ucS)uLIu)iuMuy?un@uub]m@ uBҽAm.AIԙI)u'@IuB=qquײx8?"e u?)uv=IuWiuB=qqOuX>i 8G >9 Y Aԙ ZMn%,:@:LAF?F֭?Fu zٱFY=FHp7?Q(rY?a?O+Ͽ@'?-C?.?iF?IFz^;FCYndBynB IprAbDv VDv8y5=%5P=ٔ5yQ-=>9= ?Y= ?==SEy=oDE;EE>IQ 5Uv4M|?Q 9Uv4M[)MWBYQyU?Q I]?M 8CIM;iM;Mv4yaɮeEAaiiu)LAjaD"jaD:jH>"pWio%y@ڜ Z:Wp` f7e?w;zBP*jW2jB=*px8q@ X>Go@aS%0pǂ?e p?#Ԓj~C jXDi<_q?iUj!Bj<_q?jUj!BrjaDzjDD>fffgffrfereZe:eM@*e!?bEec44jEeA84rEea0E EE*E"Ef;*E:VE(N4ZEa@a@a@a@qBɢqվ) Wi)Χ5iQ= ɧ ҉ \iI IqA؟AIIO>ԙBe >Be CBe  IBe beBBe =Be 6DBe DBe b;Be UE Tn%,TLA2s?2'?2_{ٱ2=2H P?I3(8??]Ͽ(?`Pԡ?q?i2s?I2^;2CY:.dBy:S IiMb@Mb@Mb@ 9㥛 ?Gz?MbpY>yp>wAGA ^A)1ZAYf~AbDVD8y%)=%-K=ٔ-Q-->9-"?Y5"?=5SEy5pD5o1E5>9Q 5Ev4=:|?Q 9Mv4=)=WBYM>Q EM:yM!?Q IM?==8CI=Z:i=:=.v4yQɮUAf!f!f!g!f!f!rf)e)re)Ze):e)*e5/z?]qBɢ],Ҿ)a eWia)e8aaieT=u`ƽɧ}R}^iyyI IAIIO >E EE%E"E:*E:VE 4ZEBE+9dYd=fSEyfpDf*Ej>hQ 5nv4j|?Q 9rv4j)jWBYpyr?Q Ir?jk8CIj;ij8;jԳv4ytɮzǂAxfffgffrfereZe:e!*e% ?MqBɢM۾)U= UbWiQ)U;QQiUaLV=]*ͽɧenje?aiaaaIa aIiQAIIO=ԁE EE)E"E:*E:VEFA4ZEa@a@a@a@ԩ an%,ʇLA2?2n?2ٱ2=2H@?@@& ?5?Ͽn???i2?I2%e^;2CPYRdByR IbDZ+VDZ԰8yb=%fJ=ٔfNQ-f>9hYh=jSEyj$pDj %Ej>pQ 5rv4r|?Q 9vv4r;)r!XBYtyv?Q Iv?r8CIr>:ir:rv4yxɮ~nA|PExceeded connect timeout, disconnecting.f!f!f!g!f!f)rf)e)re)Ze):e1*e5$?eqBɢekվ)i m~Vii)mi=iiiu_X=uxqԽɧ}K};ciyyyIy yIAAAAB>BCB[ IBeBB =BBDB;BTEBºCB¹CB—CA.AIBŠ =B‹ =C]6IO>! 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BDBF"IBF(BBDBDBDBF*;BF9GEYR`ByR!IbDZ!VDZ˰8yf>%X=ٔd>9Y=WEyxDE>Q 5~4q?Q 9~4)lBYy}DQ I?MCI0;iM;#%~4yɮ@Ef)f)f1g1f1f1rf1e1reYZeY:eY*e]K@颭{BɢPsٽ) .@i)顱i8=>.ɧA|駽Ii=I IIYIiO}=)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250882Qԁ i|q%,^4ǕLA6@6瑷@6(ٱ6=6Hl?y? ֿ ޿v?Gz? ?@{޳?`I?i6@I6];4YBvByB!IbDJ VDJ8yR=%R]=ٔV@9TYT=ZWEyZxDZEZ>\Q 5b~4^O|?Q 9b~4^֍)^,mBYdyfDQ If?^MCI^\:i^:^1~4yhɮj@hfffg f f rf e re Ze:e*eL@M{BɢM)I M91@iI)UZQQiU̎=L.ɧyGi禔=I I}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503644ԁE5 E5E5(E1"E5;*E5B:VE5c44ZE1BE5pԙ- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754921 @bq%,Q1NǕLA6@6@6Oٱ6=6H{x? q?ֿ޿?n?>?Mj?@?i6@I6X];6CY^Byb!IiUMb@Mb@Mb@QQQQ Q9UCl?MbX~jtYU;>yUʽUDU@UI@ U A)U$@QYU@bDiVDiy}{>%}>=ٔ.9Y=WEyxDz8E>Q 5~4?Q 9~4C)[mBY:>Q E:yCQ I?NCI;i;@~4yՒBɮ@EfffgffrfQeYreYZeY:eY*ee RL@{Bɢ~ڽ) y7@i)\!!i%6=-p/ɧ-Lw-Ei)Mʠ=IIQ QIQIIIYOe4>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006916DzD?AE% E%E%%E!"E%;*E%:VE% 4ZE!a-@a5@a5@a5@B5>BCB#IBBBBBDB;BGEBmƅCBmƅCBmƓCBm =Bm =Cm5) q%,9 hǕLA 2@2֎@2#Ỿٱ2=2H?`r?`)qֿk߿n?ೀ??۴?n?i2@I2];2CYRՃByR&"I V%5O=ٔ=1E99YA=EWEyExDEEE>IQ 5U~4MD?Q 9U~4Mh)MmBYYy]CQ I]?MINCIM;iM@;MN~4yaɮe@mEfffgffrfereZe:e*eYL@{Bɢ2)1$ <@i)ԠiՀ=@0ɧtCiǛ=I Iq<IaIqOY>ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510872E5  E5 E5 #E1 "E5 %;*E5 P:VE5 3ZE1 BE5 Kye ׽ee@e@ eA)e@aYe@bD}'VD}а8ya`>%6=ٔ*9Y=WEyxDE>Q 5~4-?Q 9~4C)mBY>Q E%:y%_CQ I%?NCI  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014914DM =DM 4=q%,ÛǕLAB&$>B&CB&#IB&BB& =B$B&DB&͎;B&FEE2 E2E2%E0"E2~ ;*E2h:VE2 4ZE0BE2V<2E2V<JE2;:E2;R]@R@RtٱR\K=RH ?l? ֿ 4߿?@y?@Ef??`?iR]@IR];RC Y-By"IbDE VDE8yUQ>%Ua=ٔ}T9yYy=WEyyD}oE>Q 5~4?Q 9~4j)mBYyUCQ I?NCI?;i;Lk~4yɮ~@fff g f f rf e reZe:e1*e5aL@颅{Bɢ{) BF@i)*顉iy= /2ɧo駵?i=I I)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266934YIaIqO}{>ԁ q%,坵ǕLA6Ϗ@6@6uٱ60ֿ=6H`?j?MտGG߿?_??x??i6Ϗ@I6];6CYBXByB"IbDJVDJð8yVb>%VV=ٔV[9XYX=ZWEyZyDZoXE^>`Q 5b~4b?Q 9f~4b)bnBYdyfFCQ If?bNCIbG:ib:bx~4yhɮn@lYfffgffrfereZe:e*e;M@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518965颍{Bɢ`) BK@i)i'v=2ɧ3m=i5=I IE EE'E"ET;*E5:VE'4ZEBEG<2EG<JE<:E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770976 \q%,xǕLA2@2Lj@2ٱ2k=2H`g?l?տ`iX߿@V?@j?W?`ȶ?`?i2@I27];0YB~ByB"IԹi%Mb@Mb@Mb@!!!! !9%rh|?Q~jtY%>y%!%Q@%@ %;A)%Q@!Y%@bDM"VDM̰8y">%/=ٔI9Y=WEy0yDBgE>Q 5~4Z?Q 9~4)SnBY?Q E:yHQ I?OCI3;iH;ш~4yɮf@fffgffrfereZe:e*eWM@%|Bɢ%XCz)! -O@i))-K))i-1r=53ɧ5j=4;i9=G=9I9 9IAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022883IIOB>DzDAAE EEE"E;*E1:VEZEa@a@a@a@BE>BE~CBE$IBEYBBE =BABEDBE;BEFEA vq%,SǕLA2\@2@2ٱ2r-=2H`??`Qտ6s߿?ڷ?ie?@\?R?i2\@I2"^;2CYNByR0#IbDZVDZ8bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274974yf>%fl=ٔjyD~E>Q 5 ~4́?Q 9 ~4()~nBYy IQ I?AOCI:i:~4yɮ{@fffgffrf!e!re!Ze!:e)*e-OM@颕 |Bɢԛ+)  U@i)c顙ikn=u4ɧg駥H9i~=I IIQIaOu=Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526907yEe  Ee Ea Ea "Ee ;*Ee :VEa ZEa BEe O9Y=WEyQyD|E>Q 5~4ہ?Q 9~4)nBY ?Q E:yzBQ I?OCI:i:c~4y ɮ@fffgffrfchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778984ereZe:e*e$M@ |Bɢ d[)  OX@i)kiAj=I5ɧEd"6iw=!I! !I!A5>A5?IIO (>ԡ BDAT read: Rx Time:03:53:02.3317  TRx dataTimestamp_ set to:1764906784.426711 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031888 E  E E &E "E ;*E :VE 4ZE a- @a- @a- @a- @BE >BE }CBE t$IBE BBE =BA BE DBE ;BE FEr%, ȕLAbl@b@b'ٱb=bHx?ψ?Կ߿?2?@?`;?&?ibl@Ibr];bCY=By=#IE=E=bDUVDU8y/>%a=ٔV9Y=WEy`yDxE>Q 5~4K灉?Q 9~4 )nBYydBQ I?OCI%:i::~4yɮ+@fIfIfQgQfafarfaeareiZei:ei*emM@额|Bɢ) ^@i)6%顡iΙf=5ɧa駭4ir=I II1IAOU=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282943) 9 r%,6ȕLAuG.9YAD@r@ݤٱ,=H?? mԿ@^߿@?e?@?q?6?iD@I];CY$By#IbDVD8y%n">%-B=eDAT read: 03:53:02.3317 LVL= 24624, 30369, 31826, 32387, AGC= 75, IDX= 266, 0.03,-1.009,-2.519,-2.054,-2.179, PHS= 1.273,-0.294, 0.081, RAW= 103.3, -14.8, CAL= 102.5, -15.4, ROT= 47.5, 15.4 mYgot valid direction response: 03:53:02.3317 LVL= 24624, 30369, 31826, 32387, AGC= 75, IDX= 266, 0.03,-1.009,-2.519,-2.054,-2.179, PHS= 1.273,-0.294, 0.081, RAW= 103.3, -14.8, CAL= 102.5, -15.4, ROT= 47.5, 15.4 uPDAT read: Bearing 89.0, 58.8 (Local) }~Local bearing/azimuth received: Bearing 89.0, 58.8 (Local) DAT read: Range 11 to 50 : 890.4 m (Round-trip 1187.2 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.651333,0.710806,-0.265556]Fpublishing direction and range infoD=D=E EE'E"E~ ;*E:VE'4ZEBEV115H?\.>ѿL\п 54)5\>I5g;T?i5>11ٔ-t9 Y=WEysyD:E>Q 5%~4?Q 9%~4G)&oBY)y-$BQ I-?OCI;i;~4y5̒Bɮ5s@=EIi1i5;ȕLAj5]D"j5]D:j5ڌ>"p5 1`@<'%͸@\ xmp5q&?`?<п*j5g;T?2j5>*p5^Ff@|vd$n@=12@p5hK?$a?`CR?j5#qC j5UDi5O+?i5zfcj5Bj5O+?j5zfcj5Brj5]Dzj5׌>fffgffrfereZe:e@3Ӌ@*e `?u|Bɢuh"&)q ub@iy)}tyyi}tNb=6ɧt^1ik=I IԁAiIIO>ԡ i I r%,PȕLA2G@2u@2橡ٱ2=2H?1?Կ V߿ ?9??lR?,G?i2G@I2];0@YBTByB#IimMb@Mb@Mb@iiii i9m{Gz?:vYm?ymmԼm$@m@ mI@)m@iYm@bDVD8yWq>%O=ٔ9Y=WEyyD;E>Q 5~4?Q 9~4ʵ)ToBY?Q E:y0IQ I?PCI:i:~4yɮz@f1f1f1g1f9f9rf9e9re9ZeA:eA*eE?m"|Bɢu<)q ueh@iq)}3yyi}^=Y7ɧ[駅//i>g=I IAzAԩAIIO (>bEm!4jEm4rEm?/E EE&E"Ef;*E:VE4ZEa@a@a@a@B>BB$IB BB =BBB;BvFE (r%,jȕLA6P@6~@6aٱ6=6H ?~? 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YԿ?@Oѿ@Կ@??i%@I%*];%CYYByIbD VD8yl%:=ٔ[:Q->9Y=ZEy D<E>Q 54sĈ?Q 94q)7eBQ A9YQ Ew:yy Q I?jCI:iҟ?X%4y QBɮ A 9EfififgffrfereZe:e*e K@ԱyBɢ>) @i)tӄ>i-c%=ɧ%@%<>i-)IIM MIQAIIO%M>bEjE{4rEƐ'0E  E E "E "E a;*E :VE (3ZE BE hٱ6L.>6Hn? s?g?.?Կ ?ѿ Կ}?`/?i6|*@I6];6CYN!ByRIa%a% a%a- a-a- a-a- i-Mb@Mb@Mb@)))) )9-jt?ʡEL7A`?Y->y---+=-A-S-A -A)- EA)Y-!A9=@AbDEVDE8yU퐾%UT=ٔUM:Q-U>9YYY=]ZEy](Deܒ<Ee>iQ 5u4m[Ј?Q 9u4mt)meBQ AuT:Yu>Q E}:y}Q I}?mjCIm` ;im ;m,4yRBɮ AfffgffrfereZe:e*eL@颍xBɢb1>)  @i)…>项iFd}q=ɧA*>iVIV VIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.50183695*AE>AE>i A I I O >E  E E %E "E ;*E :VE 4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753677}u%,"a֕LA 2Sk@2d@2>ٱ2.>2H@??V?ӿ7?@ѿ`Կ@??i2Sk@I2];2CYbBybIbDjVDj8yrD %rR=ٔv:Q-v>9tYt=zZEyz0DzW<Ez>|Q 54~p܈?Q 94~Zv)~dBY y  Q I ?~kCI~G:i~:~24yɮ^ Af1f1f9g9f9f9rf9eAreAZeA:eA*eEpPL@uxBɢu'>)q u@iy)}ڟ>yyi}qeX=ɧA駅0I>iӄIӄ ӄIiBk>BCBIB?BB =BBDB;BEEBĊCBĊCBĔCBĶ =BĶ =C@%57Bmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006528ԙAIIYIiOu> u%,Cz֕LAPEn EnEn*El"En;*En :VEn(N4ZElBEnoٱ5s/>5H? ??aӿdK?@:п`7ԿP??i5@I5];5CYMҀByMsIiMMb@Mb@Mb@IIII I9MMbX9?ktQ?YM>yM M9yYy=}ZEy}9D8o<E>Q 54눉?Q 94-y)dBY>Q E:yL Q I?DkCI;i:l;4yɮ AfffgffrfereZe:e*eL@xBɢ>)   @i)1>if<ɧ7A%>i0kb!!I%0kb %0kbI!))11 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513736I I O >! u%,vߔ֕LA2޷@2׾@2 U>ٱ2N/>2H@l?@3?)Q ]\@iY)]k>YYi] ge3<ɧeAe>imIiiImI mIIiAyAzAxAI9IIOU=E EE(E"E1;*E':VEc44ZEa@a@a@a@!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765831Qԁ A A B t>B CB FIB BB =B B DB ;B EEE"u%,֕LA"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0176206@6&@62>ٱ6R{/>6H ??`.h?ҿ`6u?HпJտ@?!?i6@I64];6CYNByRIbDZѿVDZ8yP%E=ٔ:Q->9Y=[EyHD%w<E%>)Q 554-?Q 954-S})-/dBY1y5Q I5?-kCI-3:i-;-/H4yAɮEMAAYfififigififirfqeqreqZeq:ey*e}`lL@颥xBɢTE>) l@i)O>顩iih;ɧA駽>i'I' 'II9IIO=ԁE EE'E"E;*Ek:VE'4ZEBE]ٱ2->2H1?DY?@?'ҿ@x?cп`!տ&f??i2R@I2^];0YB_ByBIiMb@Mb@Mb@ 9{Gz?Zd;O:v?Y>yj<A5A A)NAYz(AbD-ٿVD-8yH%C=ٔC:Q->9YԹ=[EyPD <E>Q 5 45?Q 9 4)cBY  >Q E :y Q I?kCI;i;O4yMSBɮuAfffgffrfereZe:e*e%M@-xBɢ5>)1 5o@i1)5<@>19i= i=>;ɧE AEZE>iEAAIE EIIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521867IIO>D =D <E  E E &E "E O;*E :VE 4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773672Y ;?u%,$֕LA:@:@:@>ٱ:h,>:H? ?P? ѿ?@[п տ&?? g?i:@I:];:CYF9lYl=n[EynXDnT<Er>tQ 5v4v?Q 9z4v)vcBYxyzQ Iz?vkCIv:iv:v4V4y|ɮAf!f!f!g!f)f)rf)e)re)Ze1:e1*e5SM@]xBɢe>)a e"?ia)m(>iiim~juz:ɧu Au/>iuP-μqqIuP-μ }P-μIy)B}s>ByB}IB}~BByByByB}+;B}kEEQ6I)IAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025826O}X>yԡ bu%,&W֕LAEZ EZEZ#EX"EZ%;*EZk:VEZ3ZEXBEZ~ٱb4+>H?l?a?Fѿx?@w+п`%տ? ?iiθ@IV];CYe Bym{Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.280179bDVDԉyX%/=ٔ5:Q->9Y=[EybD<E>Q 5-4*?Q 9-4)}cBY)y5Q I5?"lCI;i;_^4y9ɮ=QA9fYfYfYgYfafarfaeireiZei:ei*em@M@pxBɢD>) ??i) >ikL:ɧA>i`EI`E `EIѦԹA)IAIYOuy>m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529724 Fu%, !וLA2 @2@2>ٱ2;*>2H/? ?`?п?п@L.տ ?` ?i2 @I2{];2CYNByRGIiUMb@Mb@Mb@QQQQ Q9U?~jt?YUf>yU̽U9Y=[EyiD<E>Q 54y6?Q 94)IcBYW>Q E:yQ I?JlCI;i;d4yTBɮAfffgffrfereZe:e*eؼM@-`xBɢ-^_>)) 5?i1)5%>11i=3kl=9ɧ=AE>iE@AAIE@ E@IIQQDzDE EE&E"Ea;*EǙ:VE4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781753A؟AIIO>I B A <B t>B B FIB ~BB =B B B S;B EEpu%,&/וLABDAT read: Rx Time:03:54:02.6595 TRx dataTimestamp_ set to:1764906844.754919checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034928>E@>>@>x>ٱ>*>>H ?`?@:?@mп ?Ͽ4տ ??i>E@I>];>CY^nBybIbDjVDj8yr_R%rT=ٔr:Q-r>9v"?Yv"?=v[EyvqDv<Ez>xQ 54zB?Q 94z)zcBYyQ I?zvlCIz;iz;z^k4y ɮAf!f)f)g)f)f)rf)e)re1ZeQ:eQ*eU@M@颥MxBɢ>) 1?i)T>顩i>mg9ɧAp>iBsIBs BsIQAE.AIIIYOm5>EGqԁE EE)E"EI;*Eخ:VEFA4ZEBEhjٱ2fT+>2H'?)?W?tп@?ƩϿQ8տ R? ?i2|@I2];2C@YN'ByRIi}Mb@Mb@Mb@yyyy y9}w/?:vV-?Y}>y}Խ}<}(A}7;A }p A)}WAyY}3/AbDܿVD8y%1=ٔr:Q->9 ?Y ?=[EyzDo<E>Q 54Q?Q 94a)bBYo>Q E:yQ I?lCIf:i;rs4yɮ AfffgffrfereZe:e *e <)N@5%=54=eDAT read: 03:54:02.6595 LVL= 12384, 19553, 19570, 31347, AGC= 77, IDX= 215, 0.36,-1.792, 2.248,-2.992,-2.596, PHS= 0.906,-1.394,-0.440, RAW= 114.4, 9.3, CAL= 115.7, 10.5, ROT= 34.3, -10.5 mYgot valid direction response: 03:54:02.6595 LVL= 12384, 19553, 19570, 31347, AGC= 77, IDX= 215, 0.36,-1.792, 2.248,-2.992,-2.596, PHS= 0.906,-1.394,-0.440, RAW= 114.4, 9.3, CAL= 115.7, 10.5, ROT= 34.3, -10.5 uPDAT read: Bearing 148.2, 15.6 (Local) u~Local bearing/azimuth received: Bearing 148.2, 15.6 (Local) DAT read: Range 11 to 50 : 873.8 m (Round-trip 1165.1 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.812265,0.554090,0.182236]Fpublishing direction and range infoy15ͨ?\?m~S?Y5sZD15`05aL5rL 5sz)5MI5g?i5n5Gᾩ5r?56&>5<@ 5f;>)5@?I5f;115>m?n:@v4Դ? 5Ƚ)5a&I5@?i5f;11ԩ57xBɢ5c>)1 5?i1)=#>99i= nE8ɧEAE@a>iE? 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N?IIQIiOu=aԉE EE%E"E;*EVE 4ZEa@a@a@a@Թ sHy%,$LARz>R?R|=ٱR >RH?@;B-? ?p?o`Z??iRz>IR2];RCYf>`Byf IbDrVDr8yvQ%zF=ٔz0Q-z>9|Y|=~^Ey~݅D[<E> Q 5 4 u?Q 94 e) SBYy&?Q I? CI <;i {; :4y%XBɮ%A!=B*** querying acoustic contact ***i9i9fAfIfIgIfIfIrfIeIreQԑZeQ:e*e K@%gBɢ%_)! %i!)!))i-UBɧUYAU&.?iUX?UB =YI]X? ]X?IY2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.G^A} 31=B A 4<B >B B IB _BB i =B B 5DB c;B SEE%  E% E! E! "E% %;*E% :VE! ZE! BE% K Py%,0@LA.(DAT read: user:72> 2BDAT read: Tx time:03:54:59.3902 2$Ping request sent.2>>SL?>w=ٱ>, >>Hŗ?@X?`??@b`IO?@?i>>I>];>CYJ`ByJ IQiMb@Mb@Mb@ 9S㥛?Mb?I +?Y$>y=94<fAA |A)bAYpAbDVD8yUw%U,=ٔ],Q-]>9aYa=e^EyeD;E>Q 54=?Q 94b)SBY>Q E;y;*?Q I?ځCI;i^;WC4yRBɮA!fafafagafifirfieireiZeq:eq*eu K@颽gBɢ) i)i LɧXA~6-?i~? =I~? ~?Iymٻ^A}P=ԩIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251009 f4Vy%,:ZLA27>2 e?2vr=ٱ2 >2H`τ?u ?`?`v?@ЙQ tk?E?i27>I2];2CYN`ByN IbDVVDVð8y^u%^i=ٔbfQ-b>9`Y`=b^EybDf:M<Ef?hQ 5n4j?Q 9n4jm`)jSBYlyrR+?Q Ir?jCIj;ij;jKI4ytɮvDAtf f f g fbE'4jE-4rE:0E EE)E"E;*E:VEFA4ZEa-@a-@a-@a-@frf1e1re1Ze9:e9*e=`L@egBɢm)i mii)iqqiu5 }ɧ}WA},?i}b?}j =}y|=Ib? b?I k<@@@@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502944 ԡIIO>% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755301Y 8_\y%,GsLA>X?k=ٱ >Hut?Ə??d?մ@uq}?v?i>I];CY`By)ieMb@Mb@Mb@aaaa a9eK7A?X9v?y&1|?Ye >ye9Y=^EyDY<E>Q 54?Q 94])~SBY>Q E ;yf,?Q I?CI8:i4:hQ4yQBɮ=AAEfffgffrfereZe:e*e`SL@%QgBɢ%S)! -i)))))i-:75_ɧ5VA5+?i=fG?={ =9I=fG? =fG?IAIIIIBm>BiBmm IBmx_BBmj =BiBiBm;BmSEB-ЎCB-ЎCB)B-j =B-k =C-ü6E- E-E-*E)"E- ;*E-$:VE-(N4ZE)BE-LԹ Ccy%,hLA2>2F?2a=ٱ2 >2Hd?X` n??6Q? [`ئ?>?i2>I2^;2CY:_By: I@BAbDF߿VDF8yNj%Nq=ٔRQQ-R?9PYP=R^EyVDV.<EV?XQ 5^4Z?Q 9^4Zh[)Z{SBY\ybP-?Q Ib?ZCIZ^;iZ{;ZTW4ydɮfAdftftftgxfxfxrfxexre|Ze|:e|*e~@d~L@颅,gBɢ_ ) $i)顉iz-ɧUA駽*?i7?= =I7? 7?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259035IYIiO}=ԱE= E=E=$E9"E=;*E=:VE=4ZE9aE@aE@aE@aM@  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5109709 miy%,zLA2f>2?2S=ٱ2 >2H3W?jÿ??@?+`^ ??i2f>I2];2CYB_ByB IbDJVDJi8yfy<%fG=ٔfQ-f>9hYh=j^EyjDj<En>pQ 5v4rJ?Q 9v4rX)rxSBYtyv#.?Q Iv?r&CIrl:ir:r~^4yxɮ~A|fffgf!f!rf!e!re!Ze):e)*e-۲L@UgBɢ]ɚ)Y ] iY)aaaieŲmҫɧmTAm.*?im?m =iIm? u?IqIyIO=!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763017aAi Am ?ABq Bq Bu T IBu O_BBu k =Bq Bq Bu ;Bu TEԉ EM  EM EM )EI "EM %;*EM :VEM FA4ZEI BEM K:?:B=ٱ:r >:HM?`l?`*?>4?:ĵzN]]??i:>I:^;:CY^_By^ IiMb@Mb@Mb@ 9NbX9?~jt?Mb`?Y>y<;A A)AYQA <bDVDX8y%:=ٔQ->9Y=^EyD;E>Q 54?Q 94V)rSBY>Q E ;y%N*?Q I%?;CI{;i=m;5f4y-OBɮ5͉AfffgffrfereZe:e*eL@EfBɢEM)A EiA)IIIiMA9U=ɧUSAUT)?iUF?]u=YI]F? ]F?IYԉԹ^A`T=A>A?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267739A I I O >vy%,d?LA2{'>2I]?2̉/=ٱ2s >2H@B? u? ;? &?%`勵I2];2CY:_By: IbDFVDFp8yNn%Nb=ٔNQQ-R>9PYP=R^EyRDVT;EV>XQ 5^4Zѽ?Q 9^4ZS`)ZnSBY`yb*?Q Ib?ZMCIZ2;iZ3;Zl4ydɮjAhfxfxfxgxfxfxrf|EE EEEE$EA"EE;*EE:VEE4ZEAaM@aM@aM@aM@eyreyZey:ey*e M@颭fBɢo) i)顱id ɧRA(?i?=I? ?I^Afm=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519061AIIO#>A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770943ܬ|y%,)LAfY>>?֞=ٱ{ >Hf9??dL??@ӶR>?k?ifY>Ip];Y_By IimMb@Mb@Mb@iiii i9mRQ?/$?Mb`?Ym>ym9Y=^Ey Dɢ;E>Q 54ɐ?Q 94P)iSBY>Q E ;y)?Q I?dCI:i:t4yɮAB>BBA IB1_BBBBB;BDTEfffgffrfereZe:e*e5XM@wfBɢ;9)2; ڿi )   i jpɧQA'?i?=I? ?AEM EMEM*EI"EM;*EM҆:VEM(N4ZEIBEM@y%,bLAY_By{ I)-AAbD5ݿVD58yED%Ec=ٔEQ-E>9IYI=M^EyM'DMEU>QQ 5]4UҐ?Q 9e4UN)UeSBYayaQ Ie?UvCIUM;iUY;Uz4ymNBɮuAu8EyfffgffrfereZe:e*e@M@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275129}SfBɢ}h) oؿi)顁i{BɧPA駍'?i ?=I ?  ?I@@@@ԡE} EyE}'Ey"E};*EyVE}'4ZEya@a@a@a@AIIO>u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526918 2?22H'? )||?j??F'??i2>I2Y];2CY:y_By:n IbDFɿVDFz8yNTg%NV=ٔjUռQ-j>9hYh=j^Eyn/Dn 4<En>pQ 5v4rܐ?Q 9v4rEL)rcSBYxyz*?Q Iz?rCIr:ir:ŕ4y|ɮ~GAf!f!f!g!f!f!rf!e)re)Ze):e)*e-xM@])fBɢ])Y eտia)aaaieb𼩧m ɧmOAmR&?iu?u=uƒ=Iu? u?IyA II)O5 >%=a=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779376qB B B . IB _BB B B B ;B xTEEm  Ei Em &Ei "Em T;*Ei VEm 4ZEi BEm G6(w?69<ٱ6k>6H ? !9 N?u?r?:v &@u?U?i6;[>I6^;6CYbq_Bybi IiMb@Mb@Mb@ 9RQ?y&1?MbP?Yy`e<:A A)AYbDVD8y % 5=ٔ i8Q->9Y=^Ey8Dk;E>!Q 5-4%琉?Q 9-4%I)%aSBY5>Q E5 ;y5&?Q I5?%CI% ;i%\ ;%4y9ɮ=XAAfafafagafafarfaeireiZei:ei*emkM@qeBɢ%'ٽ)! %пi!)!!)i-.|켩UɧUNAU%?iU?U"=QIU? ]?IYԡhW<AA>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283651A .AI I O > ?͖y%,Q\LA2u6>2?255<ٱ2>2H?`JS?`??޸ lƑ %??i2u6>I2t];2CY:W_By:Y I B<@bDFVDF8yN%Ne=ٔN qQ-R>9R ?YR ?=R^EyR?DV;EV>XQ 5^4Z?Q 9^4ZhG)Z_SBY\yb&'?Q Ib?ZCIZ;iZ;Z͏4yfMBɮfAdftftftgtfxfxrfxexrexZe|:e|*e~N@E% E%E%,E!"E% ;*E%:VE%g4ZE!a-@a-@a-@a-@=eBɢE)A ENϿiA)AIIiM{X鼩UiaɧUNAU$?iUWz?U2'=QIUWz? ]Wz?I8<=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535273IIO$>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787398y%,`vLA$>?I<ٱV>H?pS`m?S??\i@P?@B?j?i>I ^;CY=X_By9B>BB( IB_BBBBBD;BTEiMb@Mb@Mb@ 9K7A?y&1?Mbp?Y >y;fAԕA A)YAbDҿVD8y:% )=ٔ *Q- >9Y=^EyID/:E>Q 5%4C?Q 9-4zD)`SBY-0>Q E- ;y-'?Q I-?ǂCI;i;@4y9ɮ=A9qfffgffrfereZe:e*e@\N@E5 E5E5%E1"E5%;*E5:VE5 4ZE1BE5KOKy%,4LA2h7>2>e?2;ٱ2$I>2H@!?_????@'!~?m?i2h7>I2];2CY:B_By:L IbDFVDF8yNX%ND=ٔN:Q-N>9PYP=R^EyRQDVL;EV>TQ 5^4V?Q 9^4VA)VaSBY\y^i'?Q I^?VۂCIVL ;iV ;V4ydɮfAdfififigififirfqeqreqZeq:ey*e}tN@meBɢpܽ) oſi)id⼩]ɧKA1#?i&T?4=I&T? &T?I!:^AW^=I)I9AOM>bEc44jE14rE 0Ea EeEe+Ea"Ea*Ee:VEe [4ZEaau@au@au@au@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544527iԙ py%,"LA2*>2?2@;ٱ2Y>2H` ?si`{3???;h??i2*>I2];2CYLyPTVBAbDZVDZ8yb:%bH=ٔb9Q-f>9dYd=f_EyfZDj;Ej>lQ 5r4n2?Q 9r4nw?)ncSBYpyr'?Q Iv?nCIn ;in:n4yzLBɮzAxfffgffrfere!Ze!:e!*e%N@yAeBɢSս) ѿichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.795068)i^߼ ɧ KAp"?i;?3:=I;? ;?I ԩAAAAB>BBBBl =BBB[;BTEBBBœCBk =BC(4DqzDuAAE} E}E}&Ey"E}:*E}:VE}4ZEyBE}6! Xy%,4LA@:z>:?: ٱ:f_>:H?` w n?џ??@F廿 P!\??r?i:z>I:\];:CY^-_Byb? IiEMb@Mb@Mb@AAAA A9ENbX9?y&1?y&1|?YE>yAE`;AE1A EA)EKAAYEAbD]VD]8ymG%m@=ٔm@3Q-u>9qYq=u_EyubD}m;E}>Q 540?Q 94<)gSBY>Q E ;y'?Q I?CI4:i_:4yɮ؊AfffgffrfereZe:e*e(N@5 eBɢ5ý)1 5i1)999i=ܼEɧE JAEE  E E (E "E ;*E :VE c44ZE a @a @a @a @y {y%,LA"checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550903Rz>RJ?RTûٱR>RH?}c???={x? B??iRz>IR];RCYb,_Byf> IbDvVDv8yz%~R=ٔ~3Q-~>9Y=_EyjDV.;E > Q 5u4 <'?Q 9u4 k:) kSBYyy}'?Q I}? CI d2V?2,U!ٱ21>2Hp?`&P??@?` k *?U?}?i2>I2^;2CY:0_By:A Ii~Mb@Mb@Mb@|||| |9~K7?I +?y&1|?Y~I>y~9<||~A ~A)~A|Y~A <4=bD VD8y%b<%-G=ٔ-Q-->91Y1=5_Ey5rD59E5>EE EEEE)EA"EE:*EE:VEEFA4ZEABEE<Q Em;ym,?Q Im?]-CI]b:i](:]%4yuKBɮůAqff9f9g9f9fArfAeAreAZeA:eI*eMcO@颵dBɢ½) ڰi)项i:Gؼ%ɧHA ?ih?N=Ih? h?IAzAzA]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055775I)I9OM0>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306928Gy%,fLA2ZE>28l?2^ٱ2/>2H ?[R??`?`W`֋?`sd? Ȼ?i2ZE>I2];0Y>2_By>B IV=TbD^VD^8yfА;%fQ=ٔfQ-f>9hYh=j_EyjzDnZ:En>pQ 5v4rMEU EUEU%EQ"EU%;*EU:VEU 4ZEQa]@a]@a]@a]@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.559996yԩ yy%,sJ1LA2-{>2"?2Rٱ2>>2HE?x!?)?@?@sq?`E?Z?i2-{>I2[^;2C9TYT=Z_EyZDZ:EZ>\Q 5b4^F?Q 9b4^2)^~SBYdyf,?Q If?^UCI^~:i^S:^ɇ4yhɮjʊAhfQfYfYgYfYfYrfYeareaZea:ea*eePO@颵`dBchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.811126ɢ) ťi)iLԼhɧFA$u?iz?)]=Iz? z?IIIO=ԩBA<BBB. IB_BBBBBr;BTEE] E]E])EY"E]V:*E]҆:VE]FA4ZEYBE]92]{?2rٱ2g>2H? O? ?@ܻ?\3Q? !??i2c>I2];2CYN9_ByNF Ili-Mb@Mb@Mb@)))) )9-Fx?:v?Mb?Y->y-<-<-A-1A -KA)-?A)Y-A9=@AbDEVDE8yU<%U@=ٔ]Q-]>9YYY=]_EyeDeܹEe>iQ 5u4mQ?Q 9u4m/)mSBY}@>Q E};y}j/?Q I}?mkCIm ;imT;m]ч4yJBɮA/Ef!f!f!g!f)f)rf)e)re)ZeQ:eq*eO@颵/dBɢ)6) i)项iҼ.:ɧDA?iTF?Se=ITF? TF?IA>A>IqIO= checking for new query: numPingsReceived=0, elapsed TxPingTime=8.3148981Em  Em Em (Ei "Em ;*Em :VEm c44ZEi au @au @au @au @q y%,eLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.568122V>VW?VjٱV5>VH8?i@?.?@?`M ?? B?iV>IVL];TY^(_By^< IddbDjVDj8yr'%rR=ٔv4 Q-v>9tYt=v_EyvDz:Ez>|Q 54~\?Q 94~-)~SBYy /?Q I ?~CI~h:i~:~.؇4yɮيA9f9f9f9g9fAfArfAeAreAZeI:eI*eM@(P@}dBɢ}^̶)y }iy)y顁iмGɧCA駍!?iI?rl=II? I?II9IIO}=aԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.818938 B >B B ; IB &_BB m =B B B j;B TEJy%,^~LA &wt>&CVGv}A|E% E%E%$E!"E%O;*E%M:VE%4ZE!BE%.Y]޿?]Чڼٱ]=]H?t@???u? Խ`%T?@ݿ?@[?i]>I] ];]CYm1_BymA IԙiMb@Mb@Mb@ 9M?l?Mb`?Yn>y=;ԕA A)AYAbDVD8y-<%57=ٔE]Q-E>9IYI=_EyDg:E>!Q 5-45checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071128%zh?Q 9=4%))%SBY=I>Q E=;y=k6?Q I=?%CI%l;i%k;%v4yIɮMȊAIfffgffrfereZe:e*e5P@cBɢ K)  i ) i(sϼɧBAѬ?iB?yv=IB? %B?I!A}؟AIIO]> checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322977 y%,LA2)>2Q?2Mٱ2 =2H?(@??@Ӱ?`G0h? ¿??i2)>I2];2CYLyPbDZ6VDZް8ٔb Q-b>9f"?Yf"?=f_EyfDj:Ej?hQ 5r4jq?Q 9r4jm')jSBYpyr6?Q Ir?jCIj;ij ;j54yzIBɮzĊAxfffgffrfereZe!:e!*e%JP@cBɢP3) 莿i)i9μCɧAAx?i"y?}=I"y? "y?IE5 E5E5*E1"E5l;*E5:VE5(N4ZE1a=@a=@a=@a=@)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.574984E0::AQzAU{AQAIIO>y %y%,LA2o>2s ?2Uٱ2=2H@?B@??`}?@ ɠ??Y?i2o>I2];2CY:7_By:E IB=B=bDF@VDF8yN<%R<ٔRfQ-R>9PYT=V_EyVDV:EV>XQ 5^4Z{?Q 9^4Z$)ZSBY`yb6?Q Ib?ZCIZ:iZ:Z34ydɮfAdftfxfxgxfxfxrf|e|re|Ze|:e|*e dP@-|cBɢ-)) -i1)111i5!ͼ=7\ɧ=@AE?iE%?E=AIE%? E%?IIQϻchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.843809QA!I9IYOm>A-AAA-@AyBE>BEюCBEA IBE1_BBEl =BABABEn;BETEE5 E5E5(E1"E5;*E5:VE5c44ZE1BE5o2, ?2]ٱ2=2H? i +???־J?`w??i2>I2];2CYR1_ByRA Ii-Mb@Mb@Mb@)))) )9-@5^I ?ˡE?MbpY-b>y-'=--‚A) -A)-A)Y-(AbDEZVDE8yUh%U@=ٔUQ-U>9YYY=]_Ey]De:Ee>iQ 5u4m?Q 9u4m!)mSBYur>Q Eu;yu:?Q I}?mԃCIm;im;m4yɮĊAfffgffrfereZe:e*e`hP@KcBɢ(v) Vi)i/̼GɧD?A{?i?=n=I? ?IԹ=x/AM>AM>AIIO> bEjE34rE_0EM  EM EM ,EI "EM O;*EM 1:VEM g4ZEI a] @a] @a] @a] @9 &y%,SBLA2->2` ?2ٱ2K=2H@s?@h?I?`e?^̾`???i2->I2];2CYF0_ByDbDLVDLyV%VV=ٔVQ-V>9XYX=Z_EyZD^;E^>`Q 5f4br?Q 9f4b)bSBYdyf6:?Q If?bCIbP:ib%:bV4ynHBɮnAM0EfififqgqfqfqrfqeyreyZey:ey*e`՘P@颭cBɢG) [{i)顱id˼؎ɧ&>A駽?i?=I? ?I9AIIO>i B9 B= ЎCB= T IB= O_BB= m =B= 4DB9 B= ;B= TEBBBBl =Bl =C4 z%,=*LA V>VQ ?V~'ٱVcn=VH ? v?`? ?ƾQ?t??iV>IV];VCYb3_BybC IdfAE~ E~E~*E|"E~%;*E~:VE~(N4ZE|BE~Ky 0=#A&A VA)AYGAbDE_VDE8y]?;%]1=ٔe٧Q-e>9yYy=_EyĆD:E>Q 54?Q 94f)SBY+>Q E:y;?Q I?CIb:i ;w4yɮAf1f1f1g1f9f9rf9e9re9ZeA:eA*eE`oP@i颵bBɢSt)~ li)项i#ʼiɧԑ v2z%,LALY~:_By~G IbD tVD 8y#<%a=ٔ%Q-%>9% ?Y% ?=-_Ey-̆D-E->1Q 5=45契?Q 9=45)5SBYAyAQ IE?5CI5;i5;5 4yIɮMAIfififqgqfqfqrfqeyreyZey:ey*e}`P@%bBɢ-7)) -`i))999i=s>ʼEe\ɧE;AE$?iE?E=AIE? M?IYE  E E (E "E ;*E ?:VE c44ZE a@a@a@a@^Au=AyzA}zAAm؟AIqIO>! [ z%,3LA6>6!!?6h9ٱ6v=6Ha?>?`|??`_п+?@I6 ^;6CY>H_ByBP IbDJ{VDJ8yRr =%RS=ٔR8Q-R>9V"?YV"?=V_EyVԆDZ;EZ>\Q 5b4^?Q 9b4^)^SBY`yb/E EEE"E&:*E:VEZEBEg;2Fi!?2@ٱ2]=2H??N??$@?P4??i2z?>I2];2CYN9_ByRF IV=V=YiMb@Mb@Mb@ 9MbX?Zd;O?~jtY>yj<=DfAvA A)Y̊AbDUVD8yj %;=ٔ1Q->9Y=_Ey܆D#;E>Q 54º?Q 94)SBY5>Q E;y??Q I??CI:i:&4yGBɮAfffgffrfere Ze :e *e `iQ@]bBɢS=R)  Ii)iɼ䉾ɧ59A*?i ?ƀ=I ?  ?Iԁ BDAT read: Response Not Received  *response not receivedA >E]  E] E] 'EY "E] =;*E] :VE] '4ZEY am @am @am @am @AI IY Ii O ><z%,.jLA2ٕ>2x!?2Hٱ2u=2H?M`M?9??S@,?P?`?i2ٕ>I2^;2CY>:_By>G IDbDJLVDJ8yR: ;%RH=ٔRߖQ-V>9TYT=V_EyVDZX:EZ>\Q 5b4^đ?Q 9b4^)^SBY`yb??Q If?^TCI^M;i^;^J4yzHBɮ~A~&Ef)f)f)g1f1f1rf1e9re9Ze9:eA*eEQ@/bBɢ (ZT)  %=i )iаɼErɧE7AE1?iEf?EӀ=AIEf? 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Ev' ?IAE} E}E}(Ey"E};*E}:VE}c44ZEya@a@a@a@5C qAIIO?>ԑ H z%,?;LAY~?`By~ IbDVD8y%p<%%G=ٔ%Q-%>9)Y)=-_Ey-xD-E5>1Q 5E45n}?Q 9M45@)51TBYIyIQ IM?5ƅCI5K;i5L;5Ԛ4yQɮ]AYfyfyfygyffrfereZe:e*eR@ԙ=^Bɢ=l<)9 =>i9)AAAiE#ۼMhɧM$AM8?iM ?M:ځ=IIM ? U ?IQB}<AyB>BЎCB IBC`BBBBBܚ;BE EE+E"E ;*E:VE [4ZEBEXQ z%,ULA2C>2y ?2ٱ2#=2H?:?J??d ?@?[?i2C>I2|b;0Y:R`By: Ivonly read 2 of 4 data items for water velocity. 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Ϳ`߸??i:H>I:Mp;8YBZByB!IbDNPVDNɰ8yV%ZL=ٔZ&;Q-Z>9XY\=^bEy^D^uEb>`Q 5f4b?Q 9j4br)bPBYhyj,>Q Ij?bCIb:ib:bK4yɮԔA!fafafagafafarfaeireiZei:ei*em\@$QBɢ8>) @i){X>i_dɧ@z>ix>#=Ix> x>IA>A>AAIIO*>=6?6s>ٱ6g=6H?`s7޿j6?`?` ?P ?.ο۸?&?i6'>I6Uzo;4YJ ZByJIE EE+E"Ef;*E:VE [4ZEa@a@a@a@iMb@Mb@Mb@ 9J +?v/?Y>yxi=̓AA )۵AYAbD/VDذ8y/%8=ٔ;Q->9Y=bEyDCE>Q 54寖?Q 949)PBY >Q E ;y ?Q I ?CI:i:R4yɮA-B*** querying acoustic contact ***i)i)f9f9f9g9fAfArfAeAreAZeA:eI*eM\@uQBɢ}3>)y },@iy)}R>顁iIh`ɧ]@駍x>i>8=I> >IU2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode.)A.AIIO#>B<A<B>BێCBIBSXBBBBB ;BVEQԁ  (DAT read: user:73>  BDAT read: Tx time:03:55:59.6401  $Ping request sent. r>?rNv>ٱrD=rH ?!޿@W?`M??? ~οɸ?@?ir>Ir8o;rCY%YBy-I 5<5p;bD= VD=8Aym%mQ=ٔuE;Q-u>9u ?Yu ?=ubEy}D}naE}>Q 54K?Q 94E)OBYy?Q I?CI:i:Y4yFBɮbAڨEfffgffrfe re Ze :e *e  ]@]PBɢ]Z>)y }@iy)*>顁i9aOɧ4@駍ںv>i>L=I> >IqE EEE"E;*E:VEZEBEeMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250912ԙ u}%,=pLANy>N?Nx>ٱNF=NH4?f޿`x???@Q?FοU??iNy>INo;NCYZzYByZIi5Mb@Mb@Mb@1111 195Dl?~jt?S㥫?Y5O>y5<5/]=5(A5A 5A)5A1Y5AbDM VDM8y]r%eL=ٔe;Q-e>9aYi=mbEymDm Em>qQ 5}4uƖ?Q 94u)uOBYd>Q E;y ?Q I?uǍCIu:iu:u`4yɮ$AԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503592fffgffrfereZe:e*e[#]@PBɢo>)  @i )A>顉ia^ɧ@駕it>iN>`=IN> N>IAzAIyIO>bEc44jEFA4rE '0E EE-E"E%;*E:VEt4ZEa@a@a@a@ m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7550621 X"}%,b׉LA2>2?2{>ٱ2ͺ=2H ?޿ Y?R??? Ͽ??i2>I2[p;0BB>BB܎CBBIBBWBBBd =BB2DBB=DBB?;BBVEBMڎCBMڎCBMCBMe =BMf =CM 5YVbYByVIbD^VD^8yf%fU=ٔfü;Q-j>9hYh=jbEyjDnvEM>QQ 5]4UmҖ?Q 9]4U)UOBYYyen ?Q Ie?U܍CIU:iU;Ug4yiɮmVAmۨEfffgffrfereZe:e*e<]@PBɢ(>)  @i)c>irbp ɧR@r>i(>s=I(> (>IIYIiO=>>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007210AiEe  Ee Ee *Ea "Ee ;*Ee ą:VEe (N4ZEa BEe >CC6Ԫ?6 }}>ٱ6(=6H`?Lݿ2?`^??@VD? ]Ͽ?`;?i6—>I6Zp;6CYb1YBybIf@Af@AbDjʿVDj{8yr%rI=ٔvϾ;Q-v>9tYt=zbEyzĊDzEz>|Q 54~ݖ?Q 94~)~OBY y J ?Q I ?~CI~.:i~:~n4yɮAf1f9f9g9f9f9rfAeAreAZeA:eA*eMU]@ PBɢ>)1 5x @i1)5y>99i=ncE ɧE@Eo>iEΆ>EV=AIEΆ> MΆ>IIqII O=ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514900 .}%,)LAV>V?VV>ٱV=VH?ݿ ?{?@q??ϿY~?@?iV>IV4p;TEb EbEb'E`"EbI;*Eb~:VEb'4ZE`af@af@af@af@YjYByntIieMb@Mb@Mb@aaaa a9eCl?yet=e 0=edAe^A e‹A)eZAaYe3AbD}VD}8yܽ%@=ٔ;Q->9Y=bEẙDE>Q 54閉?Q 94')OBY>Q E;yz?Q I?CI~(;i(;u4yɮAfYfafagafafarfaeireiZei:ei*e`br]@}PBɢ<>) V@i)K[>iId  ɧ!@m>i >+=I >  >IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.767147IIO>AyA}AAB>BݎCBxIBiWBBBB>DBg;B/WE!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0189675}%,gLA 6]>6rx?6 >ٱ6i=6H ?`rݿ?`r?e?y?ϿOl?@?i6]>I6Јo;6CYbXBybVIbDj VDj8yrC%rV=ٔv;Q-v>9tYt=zbEyzԊDzUEz>Q 5 4?Q 9 4)OBY y i?Q I ?CI:i:|4yɮuAf9f9f9g9fAfArfAeAreAZeI:eI*eM ]@uePBɢ}Q>)y }@iy)}>顁idmɧ@駍tj>ih>T=Ih> h>IIIO=qE EEE"ET;*E:VEZEBEGb N?b>ٱb Q=bH`?ݿ@D?e?@"?@N ?]п ]Q??ib>Ibn;`YnXByn5IiMb@Mb@Mb@ 9K7? rh?Mb?YI>yC ==AA A)ȼAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523047YA <<bDVDư8ym%;=ٔ ;Q->9Y=bEy݊DiºE>Q 54?Q 94X)tOBY>Q E;y(?Q I?0CI:i:=4yɮAff!f!g!f!f!rf!e)re)Ze):e)*e-s]@]HPBɢ]֗>)]% e:@ia)e >aaieIgemhɧmĐ@mg>im>uƊ=qIu> u>IqԹI1IAOU2>E EE)E"E:*E:VEFA4ZEa@a@a@a@] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775119 B}%, LAB>BߎCB'IBVBBb =BB?DB;BhWEB >B?Bl!>ٱB'=BHB?ݿ$ ?#V?`V&?@ز? t6п **? ?iB >IB%l;BCYJmXByJI LLbDVVDVǰ8y^%^_=ٔ^;Q-b>9`Y`=bbEybDfEf>hQ 5n4j ?Q 9n4j9)j[OBYpyr?Q Ir?jCCIj ;ij ;j4ytɮv>At|fffgffrfereZe!:e!*e%]@U0PBɢU,>)Q U@i)N">i fɧI@Ae>i>ۊ=I> >IA=yAzA9)I1IIOU>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026922QE  E E 'E "E ;*E ą:VE '4ZE BE @B?B">ٱB:U=BH?@5ݿ;?Q?8'?.!? Uпw,??iBP>IB5k;@Yj%XByjIbDv VDv8yz0%~F=ٔ~+;Q-~>9Y=bEyDPE > Q 54 q?Q 94 ) >OBYyQ I? XCI ;i ; ֑4y!ɮ-ϘA)fIfIfIgIfIfQrfQeQreQYZeQ:ea*eeT]@颍PBɢn.>) @i)$>顙if^ۚɧ@駥b>i7>=I7> 7>II9IIO]=ԉԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.534981 cN}%,>LA2 >2?2 >ٱ2=2H@?ݿV?`M?@ (?@Se?qп@??i2 >I2Owk;2CER ERER+EP"ER&:*ER҆:VER [4ZEPaV@aV@aV@aV@YzWByzIiMb@Mb@Mb@ 9x&?Zd;O??Y7>yj<<A A)jAYAAAAAbDVD8y!,%?=ٔo;Q->9Y=bEyD E>%8G9Y鉿9YWA9Q 54="?Q 94=n)=OBY>Q E;y?Q I?=nCI=!) ?i)%>iD gɧ@k`>it> =It> t>IB<A<B%&>B%CB%IB%LVBB%_ =B!B%ADB%;B%WEA%>A%>IIO> = < checking for new query: numPingsReceived=0, elapsed TxPingTime=4.0403039 U}%,XLA2x>2?2>ٱ2|=2Hx?oݿr?[G?)?r? п@ i??i2x>I2=k;2CYNWByRIbDZVDZ8ybϽ%bZ=ٔbǏ;Q-f>9dYd=fbEyfDj$Ej>lQ 5r4n,?Q 9r4ny)nOBYpyr?Q Iv?nCIn;in;n՟4yxɮzAxfffgffrfere!Ze!:e!*e% ^@OBɢ >)  ?i!)%P'>!!i-Ig5+ɧ5@=]>i=>==9IE> E>IAIIE EE*E"E;*Eą:VE(N4ZEBEAvo?vن>ٱv=vH?@1ݿ?`/Ivfj;vCYeWByvIchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.543591iMb@Mb@Mb@ 9x&1?Mbp?{Gz?Y>y;ף<xAtA A)AYAbDVD8y 0% 5=ٔ;Q->9Y=bEyDE>!Q 5-4%8?Q 9-4%M)%NBY5>Q E5 ;y5E?Q I5?%CI%p;i%;%4y9ɮEPAEܨEQfafifigififirfieqreqZeq:eq*e} l'^@颥OBɢd>) ?i)(>顩ihLɧ[@駽[>iQ2>=4=IQ2> Q2>IԁAezAzAe|AE EEE"E%;*E:VEZEa@a@a@a@Am؟AIqIO>ԩM checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794924 B :>B CB kIB UBB Y =B B CDB ќ;B WEb}%, gLAB2ݕ>B"?B>ٱB=BH`p?4ݿĦ?/? /?? п@t??iB2ݕ>IBh;BCYNWByNHI TV<bDZҿVDZ8ybAQ%be=ٔb;Q-b>9f"?Yf"?=fbEyf DfEj>hQ 5r4joB?Q 9r4j)jNBYpyr?Q Ir?jCIj8;ijf;j4ytɮzAxfffgffrfereZe!:e!*e%7>^@MOBɢM>)Q Ux?iQ)UX*>QQiU|heuɧeN@eZ>ie{>eG=aIe{> e{>IiA.AIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046999) E  E E 'E "E ;*E ҆:VE '4ZE BE a 2E A:?:o>ٱ:>x=:H ?ߡݿ@0?w$?2?-?п~??i:2>I:yg;:CYBVByBIbDNVDN8yVWC%VL=ٔV&h;Q-V>9Z ?YZ ?=ZbEyZD^E^>!Q 5-4%M?Q 9-4%)%NBY)y-?Q I5?%CI%:i%:%,4y9ɮ=A9fYfYfagafafarfaeareiZei:ei*emX^@OBɢ?>) ?i)+>ih쑽ɧ@?&X>ix:>_=Ix:> x:>IYAm؟AIyIO>ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.550922ԩ 6p}%,?LA2+>2y_?2>ٱ2C=2H? ݿ@?0?6?@K>?п??i2+>I2ubf;2CbE FA4jE h=4rE d/EB EBEB)E@"EB&:*EB:VEBFA4ZE@aJ@aJ@aJ@aJ@LYNVByNIi}Mb@Mb@Mb@yyyy y9}T㥛 ?I +{Gz?Y}>y}94y}A}A }7A)}AyY}AbDVD8y߼%<=ٔA;Q->9"?Y"?=bEyDBE>Q 54_Y?Q 94)zNBY`>Q E ;y>Q I?͎CI:i:4yJBɮAҨEfffgffrfereZe:e*e`s^@=zOBɢ=J>)9 =?i9)EGn->AAiE'iM#ɧM @M|V>iM>Mv=IIU> U>IQAe>Ae>5checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802890ԱA.AIIO">AA@AB@>BCBIBUBBW =BBDDB;BWEBCBCBŖCB_ =B^ =CM6  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.0549201v}%,ULA2˔>2/?2r>ٱ2=2H ?@#ݿ ?l ?o9?O?ѿ? ?i2˔>I2jd;2CYNYVByNIV@AV@AbDZVDZ8ybuC%bZ=ٔbJT;Q-f>9f ?Yf ?=fbEyf%DjEj>llQ 5r4nc?Q 9v4n)nZNBYtyvd>Q Iv?nߎCIn:in:n!Ë4yxɮzuA|fffgf!f!rf!e)re)Ze1:e1*e5^@bOBɢl>)  ?i ) 3.> i}i=lɧ=#@EU>iE9>EA=AIE9> E9>IIE EE'E"E;*E|:VE'4ZEBEa2EaJEe;a:Ee;a IiIO (>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.3069251a _|}%,%LA1E>E?E >ٱE_=EH?;vݿ?`?`>? ?M ѿ(9??iE>IESc;ECY]VBy]Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.558983iMb@Mb@Mb@ 9v?X9vMb?YԸ>y=A A)XAYAbD VD 8y%0=ٔ^:Q->9Y=bEy.DYE>Q 54p?Q 94S):NBY;>Q E;y>Q I?CI:i:>ˋ4yɮAӨEfffgffrfereZe:e*e^@FOBɢz>)! %?i!)%d0>))i-i5ɧ5\@5hS>i5_a>5=1I5_a> =_a>I9aIIOD>E EE,E"E:*E:VEg4ZEa@a@a@a@ԉE checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810891Թ B D>B CB IB eTBB V =B B B ;B *XEC}%,X LA2>2B?2>ٱ29=2H`S?Zݿ?? F?@T?ѿ/?`ׯ?i2>I2c;2CYNUByRIbDZ#VDZͰ8yb?%bn=ٔbj;Q-f?9dYd=fbEyf5DjĻEj?lQ 5r4nz?Q 9r4n )n!NBYpyv>Q Iv?nCIn;in ;n?ы4yxɮzoAxfffgԙffrfereZe:e*e^@/OBɢ+>) ?i)'1>iEj%ɧ%˃@%8R>i%P>-=)I-P> -P>I)AAzAEzAIIO=߭%=߭4=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063287D =D <E  E E &E "E ;*E :VE 4ZE BE >C6Z?6O>ٱ6=6H?`sBݿJ??M?@a?3ѿ?`?i6)>I6rb;6CYBUByBcI F9TYT=VbEyZ=DZzEZ>\Q 5b4^?Q 9b4^)^NBYdyf>Q If?^CI^:i^u:^?؋4yhɮjܝAhfxfxfxg|f|f|rf|ereZe:e*e ^@5OBɢ5>)1 5?i1)=2>99i=kBjErɧE$@EQ>iE/>Mˋ=IIM/> M/>IIII)O==)checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566965Iy T}%,cdALAE6 E6E6)E4"E6:*E6:VE6FA4ZE4a:@a:@a:@a:@BU>BMt?BIދ>ٱB>=BH ?M)ݿ? 0?S?b?RDѿ??iBU>IBb;@Y^oUBybAIiEMb@Mb@Mb@AAAA A9Ed;O?I ++?YE>yE94E=EAEA EُA)EnAAYĘAbD]VD]8ym%m>=ٔu&;Q-u>9qYq=ubEy}FD}vE}>Q 54?Q 94)MBY9>Q E;y>Q I?*CI:i$:ߋ4yɮKAfffgffrfereZe:eQ*e^@颥NBɢD>) 9?i)f4>顩i/ej'ɧ@駽 Q>i5D>=I5D> 5D>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=7.818976I9IIOU=Be<Ae=BmH>BiBm3IBmSBBiBiBmEDBmf;BmyXEԁԩi I  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071188 }%,?[LA.Yw>.8?.S>ٱ.=.H?ݿ(? Պ?Z?S?qRѿ`G[??i.Yw>I.Ʊa;,Yj)UBynIbD~VD~8y1%P=ٔ\;Q->9!Y!=%bEy-ND-E5>9Q 5M4=󛗉?Q 9M4=)=MBYQyU>Q IU?=;CI=g5;i=';=4yaɮe֞AifffgffrfereZe:e*e_@NBɢ~>) h?i)5>ijɧ5@UP>iM>=IM> M>IA>A>ԱIIO=Eq EuEu*Eq"Eq*Eu1:VEu(N4ZEqBEu<]>]>checking for new query: numPingsReceived=0, elapsed TxPingTime=8.576810ٱ]=]H@1 ?>ܿ@:?'n?#b?¥?fѿ U??i]>I]æa;YYTByIi%Mb@Mb@Mb@!!!! !9%K?I +J +?Y%^>y!%H=%A%A %A)%A!Y%=A=AA=BAbD=6VD=ް8yM %U7=ٔUW7;Q-U>9QYY=]bEy]VD]ˊE]>aQ 5m4e?Q 9u4eL)eMBYud>Q Eu;yuȺ>Q Iu?ePCIe;ie;ec4yyɮ}HA f9f9f9gAfAfArfaeireiZeq:eq*e}+_@%NBɢ% >)-411i5j=ɧe@eO>ied>e$=aIed> ed>Ii1 t>CE EEE"E:pG*E:VEA=Q&99Y=m$AIAZEa@a@a@a@IO>! % R=- checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827169a B] J>BY B] IB] SBB] W =B] 1DBY B] ŝ;B] XE*}%,LA 2䕎>2(>2}>ٱ29=2H?@ܿH?S?i?@ӥ?@OvѿG?`ɢ?i2䕎>I2`;2CYNTByRIbDZDVDZ8ybi%bh=ٔbd?;Q-f>9dYd=fbEyf^DjEj>lQ 5r4nڲ?Q 9r4n)nMBYpyrݹ>Q Iv?naCIn0;iny:n4yxɮzAxfffgffrfere!Ze!:e!*e%`@_@MNBɢUxʘ>)Q U?iQ)U78>igjmɧI@}N>ih>C=Ih> h>I qI1IAOM>checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078966ԙE  E E +E "E :*E x:VE [4ZE BE a 2E a JE ;a :E ;a = checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330910}%,BҨLA: X>: >:x>ٱ:=P:H ?+ܿU?.?`0r?@#?&ѿ??i: X>I:=`;:CYZTByZIbDbWVDb8yj%jI=ٔj@;Q-n>9lYl=ncEyrfDrûEr>tQ 5z4v?Q 9z4v)vMBYxyz>Q I~?vtCIvQ;iv;v4yɮAf!f!f)g)f)f)rf)e)re1Ze1:e1*e5Z_@eNBɢe-f>)a e?ii)mkQ9>iiim[juɧuՀ@u/"N>i}q>}0=yI}q> }q>IIqIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582948! }%,*LAE& E&E&'E$"E&;*E&:VE&'4ZE$a*@a*@a*@a*@|YLTByIiMb@Mb@Mb@ 9Zd;? ףp= i|?5?Y۹>yQ8q=`AA |A)Y3A <p<bDmVD8yh%==ٔQ->9Y=cEynDE>Q 54"˗?Q 94A)vMBY>Q E;yA>Q I?CIY;i;64yɮAf f f g f f rfereZe:e*ev_@ENBɢE$>)I M?iI)M_:>IIiU*j`~ɧ^@wdM>i>E=I> >I checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837250)AAB T>B CB wIB RBB V =B B FDB &;B JYEzIAIQQOew>ԁ  J->J.>ٱJZ =JH@V(?unܿ#_?"? 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Eۿ`?uI?$?E?ѿ~?ҕ?i:mp>I:^;:CYFSByFIbDNVDN28yV)%VU=ٔZF:Q-Z>9Z"?YZ"?=ZcEyZD^PEb>lQ 5r4n?Q 9v4na)nMBYtyvc>Q Iv?nCIn;in;n-4yxɮ~A|f!f!f!g!f)f)rf)e)re)Ze1:e1*e5``@eMBɢe>)a eU?ia)m;A>iiimju#kɧuy@uwG>iu:>uԩ=qI}:> }:>IyE] E]EYEY"E]:*E]:VEYZEYBE]F8BDAT read: Response Not Received *response not receivede&>es>ٱeu=eH F??ۿ`u? R:? ??ѿS?W?ie>Ie^;aYRByI==iMb@Mb@Mb@ 9B`"?{Gztp= ף?Y>yף=vAA A)AYAbDVDD8y%%%(=ٔ%:Q-->9)Y)=-cEy5D5gE5>9Q 5E4= ?Q 9E4=#)=LBYE>Q EM;yM>Q IM?=CI=:i=H;=r54yQɮUAQfyfyfygyfyfyrfyereZe:e*eA`@ԩ颽MBɢى>) %?i)uB>itjNgɧw@F>i:>輌=I:> :>II!I1OEQ>Ee EeEaEa"Ee ;*Ee:VEaZEaam@am@am@am@ B l>B CB }IB PBB Q =B B HDB ;B \ZET-}%,LA2@>2R$>2Y>ٱ2d=2H@\H?ۿ$?@?0??@Χ? 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W?1kK@޼?@t?i69>I6Bz;4YB6>ByBHF=F=bDJVDJð8yV"%Vl=ٔV Q-V?9XYX=ZfEyZMDZF:E^?Eb EbEb)E`"Eb:*Ebxv:VEbFA4ZE`af@aj@aj@aj@hQ 5n4jͧ?Q 9r4j5)jBBYpyrU>Q Ir?jCIjv;ij?;j5R4ytɮzAxfffgffrfereZe:e!*e%le@MHBɢM=\)Q UiQ)U=QQiUce*s<ɧec@e 6>ieR^>e>=aIeR^> eR^>IiIqIO= U8Gib!9YA) vŀ%,LAN9>No>Nj<ٱNB=NHVx?@%ؿ? ?V?`9 м?c?iN9>INх;NCYZ>ByZHbDv VDvʰ8y|%E=ٔQ- >9 Y = fEy UD;8E>Q 5%4?Q 9%44)BBY!y%U>Q I%?CIh:iS:kY4y1ɮ5 A5EfQfQfQgQfYfYrfYeYreYZea:ea*eee@B>BBrHB=BBM =BBB;Bv`E颭HBɢ[ ) ci);=顱i̺B<ɧd@}6>i>0=}.=I> >II9IIO=IDzD@AE EE'E"E&:*E:VE'4ZEBEi;2k>2K<ٱ2Y=2H y?@ؿf? ?`U?`᷿(`???i2+9>I2 ;2C@YB>ByBHi Mb@Mb@Mb@     9 Mb?(\µ:vY >y  Լ A rA IA) A Y AbDuVDuɰ8yk%B=ٔ&ܻQ->9Y=fEy^D%E>Q 54?Q 94$4)oBBY>Q E ;y=>Q I?CI:i1:`4yɮAfffgffrfereZe:e*e`e@GBɢ>) i)%d=!!i%*-b<ɧ-d@-&7>i-D>-!=1I5D> 5D>I1I9IYOm=ԩE EE)E"E=;*E:VEFA4ZEa@a@a@a@ Ҁ%,(JLA29>2 S>2=<ٱ2=2H *z?ؿ?`j?+U?@RO б? ?i29>I2;2CYB >ByBHbDJVDJ8yV%VY=ٔV_Q-V>9XYX=ZfEyZfDZE^>`Q 5b4b Ν?Q 9f4br3)b^BBYdyfi=>Q If?b!CIb:ibu:bVg4yhɮn&AllzB*** querying acoustic contact ***ixixfffgf f rf e re Ze :e*e$e@=GBɢE|)A EiA)Eu=AIiMjDM,<ɧUe@US7>iU T>Uz=QIU T> U T>IYIIO= 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.9Bu<Au<B}>ByB}YHB}=BByByByB};B}j`EE  E E E "E :*E x:VE ZE BE .  BDAT read: Tx time:03:56:59.9400  $Ping request sent. xU>Y5<ٱ,=Hz?ؿ`h??@T?`@C@~?@?i9>Ix;CY >By HiMb@Mb@Mb@ 9+? ףp= yQt~A =A)AYA IM<bDU޿VDU8y3% =ٔQ->9Y=fEypD8E>Q 54qޝ?Q 942)KBBY ,>Q E  ;y +>Q I ?;CI;i:;ap4yɮ=2A9fffgffrfereZe:e*e@1f@GBɢ;v) i ) T=  i c+<ɧf@8>iNQ>=INQ> NQ>I!)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.245510^A= T=Y Am .AIy I O >y ߀%,LAE& E&E&,E$"E&&:*E&:VE&g4ZE$a*@a*@a*@a*@Zٟ9>Z c>ZӖ<ٱZY=ZHz?ؿ`H??R?`2ڒv?@?iZٟ9>IZ;ZCYf=ByfHbDnVDnq8yv%v=ٔz4Q-z ?9z ?Yz ?=zfEyzvD~y9E~?Q 5 4N蝉?Q 9 42)@BBY y,>Q I?JCI:i.:u4yɮoA9fAfAfAgAfIfIrfIeIreIZeQ:eQ*eU`f@}GBɢ%)h]O<  i)=顉iʯ/m<ɧg@駕gN9>i>=I> >I^A}BJ=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498108iAIIO >ԑia Ie Am checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749689 %,LA2E9>26>2%<ٱ2=2H |?ؿ??#S?۸D?h?i2E9>I2;2CYB>ByBHbDJVDJ8yR&=%VO=ٔV<ѻQ-V>9XYX=ZfEyZ~DZRcEZ>BBBMHB=BBBBBn;B?`EBBBBM =BM =Cn4!Q 5-4%>?Q 9-4%_1)%1BBY)y5+>Q I5?%^CI%:i%:%|4yYɮ]AYԙfffgffrfereZe:e*e@%f@GBɢac)Q;  i)گ= i O<ɧh@I:>i5>5=1I5> =>I9bE·G4jER4rEW\0E] E]E]/EY"E]:*E]:VE]J4ZEYBE]$5 %,̲LAY~=By~H%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253484i%Mb@Mb@Mb@!!!! !9%Gz?kt~jtY%p>y% %D%A%nA %-A)%A!Y%QAIIbDU̿VDU}8ym%m1=ٔuQ-}>9yYy=}fEy}DE>Q 54d?Q 940)%BBY>Q E ;yI3>Q I?tCI;i;΄4yɮaAfAfAfAgAfAfArfIeIreIZeQ:eQ*eU@4f@颵GBɢ㢽) i)#=i1'<ɧi@:>iz>ӌ=Iz> z>I@@@@!Eu EuEu(Eq"Eu;*Eu:VEuc44ZEqa}@a}@a}@a}@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506233A ؟AI I O >y %,~LA2v9>2Xv>2<<ٱ2=2Hz?ؿ? ?hN?@`y/? ?i2v9>I2{;2CY: >By:HbDFVDF8yJǗ=%Nn=ٔNOQ-N?9R"?YR"?=RfEyRDV:EV?TQ 5Z4V1?Q 9^4V/)VBBY\yb3>Q Ib?VCIV;iV/;VΊ4yfUBɮf>AfEftftfxgxfxfxrfxexre|Ze|:e|*e~`?f@-GBɢ-()) -=i1)5=11i51=_<ɧ=Qj@=t;>iE>Eƌ=AIE> E>IAQ5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757484ԁΒ{A@AAAAB B B B B B B B X;B (`EII)O5>ԩEu  Eu Eu *Eq "Eu ;*Eu xv:VEu (N4ZEq BEu D>E<ٱ,=H y?$ؿG?? J?d ɮ?]?in:>I9+{;CY=ByHAiMb@Mb@Mb@ 9V-?I +{GzY|>y9# )AYAԩbDVD8yȼ%,=ٔrQ->9Y=fEyD:E>Q 54c?Q 94)/)BBY>Q E ;y_1>Q I?CI=;i3;%4y ɮ WAf9f9fAgAfAfIrfIeIreIZeQ:eQ*eUNf@GBɢ)A EiA)E0̢=AAiMϤM<ɧMdk@U#P<>iU>U=QIU> U>IY=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262486yb];AxAzAwA I I O >1 %,^LAE EE+E"El;*E҆:VE [4ZEa@a@a@a@>;>>>>ܐ;ٱ>b=>Hw?ؿݪ?? F?㺿` R~?U?i>;>I>B{;ByFH NQ I=? CI ;i ; "4yAɮEEAAfffgffrfereZe:e*eYf@GBɢD) (i) j=  i 5<ɧ(l@5<>i5>=\=9I=> =>I9AAIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5135029IaIqOY>i U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766174@%,2:LA 2;>2>2;ٱ2p=2HDw?`ؿ@豩?|? &E? ((s>? e?i2;>I2z;2CBR>BPBPBPBPBPBPBR_;BR0`EY^ >By^HbDf VDf8ynq<%rG=ٔr*ʻQ-r>9pYt=vfEyvDv÷Ev>xQ 5~4z5?Q 94z-)zABYy(2>Q I?zCIzj;izD;z$4y ɮ 9Af1f1f1g1ffrfereZe:e*eff@-GBɢ-)) -i))5I=11i5=/<ɧ= m@==>iEW>E=AIEW> EW>IAIIO=D1zD1E= E=E='E9"E=s:*E=Z:VE='4ZE9BE=p0.7>.;ٱ.ct=.Hv? Oؿ/?`? C?!`|tc`? ?i.H;>I."x;.CY>>By>HL checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270603imMb@Mb@Mb@iiii i9mZd;?+Mb`Ym>ymmmAmhA m$A)mAiYmAbDVD8y%.%%7=ٔ%㷻Q-%>9)Y)=-fEy-D-R9E5>9Q 5E4=C?Q 9E4=,)=ABYE>Q EE ;yM[I>Q IM?=֙CI=:i=:=紐4yQɮUCAQfyfyfygyfyfrfereZe:e*entf@颵GBɢm$) i)=项iݜ<ɧm@;>>i8 >ق=I8 > 8 >IA>A>IIO>EA EEEE(EA"EA*EEz:VEEc44ZEAaM@aM@aM@aM@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521618GG >9 Y A! R%,MLA2%6<>2.>2D8ٱ20m=2Hs? ؿ?`+? ?? ? %?i2%6<>I2Cw;2CYR>ByRHZAAZAAbDZ VDZʰ8yb=%bc=ٔfNԻQ-f>9dYh=jfEyjDj%;Ej>lQ 5r4niN?Q 9r4nH,)nABYtyvOJ>Q Iv?nCIn:inu:n54yxɮz,Ax|ff!f!g!f!f!rf!e)re)Ze):e)*e-f@]GBɢ]߽)a e ia)ei=aaimJm\<ɧman@uY>>iuI>us=qIuI> uI>IyIIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774047)B>BBfHB=BBBBB`;BQDM <DM <EU  EU EU ,EQ "EU ;*EU :VEU g4ZEQ BEU ]}E>} ,ٱ}=}H@p?`ؿ@F??m:? c?@>??i}e=>I}yu;yY>ByHiMb@Mb@Mb@ 9E?x&{GztY>y7ף A)$AYbDVD8yK<%#=ٔ蟻Q->9Y=fEyDk;E>Q 54^?Q 94+)ABY>Q E;y-p>Q I?CI:i:4yɮ#AEԁfffgffrfereZe:e*e@wf@GBɢx)) i)<0=i=ɧn@?>iD>%]=!I%D> %D>I!A5zAzA5zA%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.278568AYIIO>Ա d %,ϣLAE EE*E"E:*Eg:VE(N4ZEa@a@a@a@:݅>>: >:cٱ:i=:Hl?`ٿ2?(?5?i wLs?c?@?i:݅>>I:kt;8YF>ByFHbDRVDR8yVN;%Z=ٔZQ-Z?9XY\=^fEy^ȏD^Em;Eb?`Q 5f4b`h?Q 9j4bX*)bABYhyjUq>Q Ij?bCIb:ib:bE4ypɮrApfffgf f rf e re Ze:e*ef@ԹGBɢ )^f< qi) sZ=  i 2a=ɧn@0?>i> Q=I> >I!}=}<DAT read: 03:57:03.4287 LVL= 28912, 29169, 26978, 32755, AGC= 86, IDX= 62, 0.43,-1.059,-2.599,-0.576,-1.335, PHS= 0.377,-1.220, 0.715, RAW= 159.4, 1.4, CAL= 158.0, -0.2, ROT= 352.0, 0.2 Ygot valid direction response: 03:57:03.4287 LVL= 28912, 29169, 26978, 32755, AGC= 86, IDX= 62, 0.43,-1.059,-2.599,-0.576,-1.335, PHS= 0.377,-1.220, 0.715, RAW= 159.4, 1.4, CAL= 158.0, -0.2, ROT= 352.0, 0.2 PDAT read: Bearing 177.4, -8.1 (Local) ~Local bearing/azimuth received: Bearing 177.4, -8.1 (Local) DAT read: Range 11 to 50 : 813.3 m (Round-trip 1084.5 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.990262,-0.139172,-0.003491]Fpublishing direction and range infoyy} :?Fl,`eQC1mlY}SKDy}p}q}bi })}VI}%>i}(}= 7?}/ 2@}+<}|0@ }d)} @I}d;yy}N!+0?ddLO?옰? }^0?)}*ϼI}4i}d;yyAIIO%>9 &%,kLAB$B$B&HB&=BB$B$B$B&b;B&1`ER[?>RɄ>RqٱRI=RH`h?`ٿޤ?IRN&s;RCYn>BynH v9 Y = fEy ЏDsR;E>Q 5%4u?Q 9%4U)Q =%tI)ABY)y-r>Q I-?%CIk:i:Ï4y1ɮ5A1iiՆLAjKD"jKD:j>"pp@$@rD\*^U p :?Fl,`eQC1ml*j42jd;*pA<|@0@'j@z|&%p[3!?m?;2jiVC jCDi=c?iۿH"jBj=c?jۿH"jBrjKDzj>fqfqfqgyfyfyrfyeyreZe:e`fj@*e ?颭GBɢuν) .i)*=项iC g=ɧGo@0l?>i%>@=I%> %>IԑD1zD5?AEE EEEE)EA"EE&:*EE:VEEFA4ZEABEEi; S,%,fLAR#A>R%>R]ٱR M=RHd?0ٿݣ? jN?^+?t伿?v?s?iR#A>IRq;RCYf$>ByfHiMb@Mb@Mb@ 9L7A`?J +yHt A)1AYbDVD8yg<%?=ٔQ->9Y=fEyُDS;;E>Q 54V?Q 94()ABY>Q E;yؑ>Q I?:CI8:iA:ˏ4yɮ AfffgffrfereZe:e*e%@.?MGBɢM Ͻ)U=$; UiQ)U=QQi]w ] =ɧ]o@e$@?>ieZw>e /=aIeZw> eZw>IiAAIIIYOm>E= E=E=+E9"E=:*E=xv:VE= [4ZE9aM@aM@aM@aM@A Ġ3%,7LA2kDB>2T>2:ٱ2q=2H`E`?Eٿ@$Т?@^?&?*n]?p? 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B X>B B HB NKBB B B B ~;B \E'g%,+LA}Ɉ>}>}Fٱ}V=}He?|ݿG\2?@8?]?q?{?i}Ɉ>I}b;}CY]KBy HiEMb@Mb@Mb@AAAA A9EMbX?{GztYE>yAE̼AE9A A)EߪAAYEױAbDmVDmc8y}=%}'=ٔ-;Q->9Y=iEyDUE>Q 54>ߤ?Q 94D)q@BY+>Q E;y>Q I?٤CI:i:x4yɮAfffgffrfereZe:e*eYK@)颱ɢHԜ;) {W?i)B项inR1P=ɧ5>Ld=I> >IQEu  Eu Eu *Eq "Eu ;*Eu :VEu (N4ZEq BEu 6NN%,|ELA w> > Vٱ = Hj?Fkݿ "?m=? 9U?`w??i w>I b; CYEKByEIHYbDUVDU>8ym,=%ms=ٔmJ;Q-m?9qYq=uiEyu"D}JUE}?Q 54F餉?Q 94B)YyX>Q I?CI :i~:~4yɮ|AfffgffrfereZe:e*e@ńK@ɢĴ<) _?i)?i4 +=ɧ x>  r= I  >  >IA؟AԑIIOM1>Ա %,w_LAEN ENEN'EL"EN ;*EN:VEN'4ZELa^@a^@a^@ab@e>e/>eFٱez=eH@m?^ݿR?;@?{%` &?`@??ԩie>Iec;eCYKByiHiMb@Mb@Mb@ 9|?5^?Mb`S㥛Y>y/ݼA A)AY3AbDMVDM48y]Z=%}.=ٔE\;Q->9"?Y"?=iEy+DúE>Q 54?Q 94)@)p@BYf>Q E;y>Q I?CI;i;4yɮJA B*** querying acoustic contact ***i i fffg9f9f9rf9eAreAZeA:eA*eE$K@频BABV>BBWHBKBBBBB;B\Eɢu1<)q uMf?iq)}_:駅z=I& > & >IA>A> A%.AI1IIOU> 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.1 %,6yLAY=KBy={HbDMVDM\8ye,=%er=ٔmQ-m?9m ?Ym ?=uiEyu2DuEu?Q 54i?Q 94{>)Y y Q I ?CI[  -㚍=1I5jT> 5jT>I1E EEE"E:*E:VEZEBEF8}=}4=(DAT read: user:75> BDAT read: Tx time:03:58:00.4915 $Ping request sent.VZ>VrٱVR=VHw?@p9ݿZ2|?hI?hѽX?? ?iV3|>IV%d;TY^KBybH df<bDjVDj)8yv=%vS=ٔv/!9z"?Yz"?=ziEyz:DzṻE~>!Q 5-4%j?Q 9-4%<)%o@BY)y->Q I-?%*CI%:i%%:%ē4yYɮ]AYfffgffrfereZe:e*ekL@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250781!ɢ%t<)) -q?i))-6))i-Aq(=ɧ͗>pr=I> >IA.AԡIIOI>E EE&E"E;*E:VE4ZEa@a@a@a@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502619BE T>BA BE HBE KBBE \ =BA BE DDBE ;BE \EBCBCBB[ =B[ =CʀG5 5%,LAR>R.w>RiٱRf=RH }?g%ݿmt?@dN?՚)9?ǹ?`?iR>IRd;RCYnKBynHimMb@Mb@Mb@iiii i9m@5^I ?V-Ymb>ymmmȦAi m"A)mߪAiYm AbDxVD8ys%0=ٔ;Q->9 ?Y ?=jEyCD>"E>Q 54?Q 94G:)l@BY>Q E;y">Q I?BCI:i:⛓4y1ɮ5A5EfqfqfqgyfyfyrfyeyreyZe:e*e ZL@ɢ"t<) p?i)S"3i'駥M:R Í=I >  >IiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754773AyAzAA5؟AI9IIOmx>) bEc44jEȭ54rE0E  E E ,E "E ;*E $:VE g4ZE BE YQBv>BΚaٱB.=BH`Ł?Nݿj`?R?-f`/? й??iBP[>IB-f;BCYNKByNHbDZ}VDZ 8ly~=%~l=ٔ;Q-?9"?Y"?= jEy JD HE ?Q 54 '?Q 948)j@BY!y%>Q I%?TCI+;i;ۡ4y)ɮ-A)fffgffrfQeQreQZeY:eY*e]`L@ɢ$<) Q{?i)m$*0iiimGJu]=ɧ}h>}P:}Ս=yI}}> }}>I)A=.AIAIYOeV>1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258639a ͷ%,LAE6 E6E6'E4"E6;*E6:VE6'4ZE4aJ@aJ@aN@aN@1>^>S}Xٱ =H?@ݿtL\ ?@|X?ep ??@R?i>IDg;Y LBy Hi5Mb@Mb@Mb@1111 195K7?MbPMbY5I>y555̦A5=A 5A)5AMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5106421Y5fAeAAe@AbDm|VDm 8y}:=%}(=ٔd;Q->9 ?Y ?=jEyTDOE>Q 545?Q 94>6)d@BY>Q E;y3>Q I?mCI;i;q4yɮAf1f1f1g1f9f9YrfaeareaZea:ei*em`9L@AABP>BCBHBKBBBBBB\Eɢ0<)  ?i),iOYu=ɧG?>z=Iȿ> ȿ>IԙAIIO>Ա  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7628528%,~LAF~>F >FPٱF:=FHʼn?`ܿ? 2?@~[? ü;?4?"?iF~>IFFi;DY^ LBybHbDjcVDj8yv<%v=ٔv;Q-v?9xYx=zjEyzZDz'E~?!Q 5-4%[??Q 9-4%4)%a@BY)y->Q I-?%}CI%:i%):%4yYɮ]jAYԙfffgffrfereZe:e*e[L@颱ɢ"=) O?i))项iR=ɧh$>=IF> F>IA>A?Eu EuEu*Eq"Eu;*Eu:VEu(N4ZEqBEu>Cechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014609 Ą%,YLA^}>^>^I;Gٱ^=^H?@ܿ4Y^?ӷ? _?k?5? ?i^}>I^WTk;^CYn!LBynHvAvAbDzVDz8y%Q_=%-F=ٔ-{;Q-->95"?Y5"?=5jEy5cD5 E]>aQ 5m4eK?Q 9m4e2)e[@BYiymc>Q Im?eCIe2:ie:e44yɮuc;iu8E>u+=qIu8E> }8E>Iy!A.AIIO J>E EE(E"ET;*E:VEc44ZEa@a@a@a@Qu checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518689B K>B B HB LBB ] =B B B B \Ey n˄%,9.LA}|>}>}{ >ٱ}W=}H`Ԓ? ܿ>_n??d?A ?`᧹??i}|>I}pl;}CY+LByHQiuMb@Mb@Mb@qqqq q9up= ף?{Gz rhYu>yu#uC uAuA uA)qqYuA bDsVD8y<%%=ٔ;Q->9 ?Y ?=jEylD E> Q 54 ,Z?Q 94 0) S@BY>Q E ;yV>Q I? CI ;i : Ϳ4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770377y`Bɮ*AfAfAfAgAfIfIrfIeIreIZeI:eQ*eU eM@yɢ"<) g?i)! i v[ =ɧ=e;ize>)=Ize> =ze>IYAIIO>E  E E 'E "E l;*E :VE '4ZE BE `Fet>eť4ٱeeo=eH?ܿu?`?j?@F׻ؒ?|? K?ie{>Iel;aY}]LBy}ZHbD|VD 8yu>%v=ٔ<;Q-?9Y=jEysDTE?Q 5%4&d?Q 9%4/)M@BY!y->Q I-?CI:iS:œ4yUfBɮUݰAUwEfffgffrfereZe:e*e M@!ɢ-?=)U U?iQ)]YYi]kx_e=ɧ% =-`;i-"˼>-S9=)I-"˼> -"˼>I1AAzAAAIIOe>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274686) ؄%,:bLAE* E*E*&E("E*;*E*M:VE*4ZE(a>@a>@a>@a>@)%|z>%f>%S+ٱ%=%HP?sܿ>~?0?Tn?` ŻL|??n?i%|z>I%'l;!YMdLByMbHU=U=-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526614iUMb@Mb@Mb@QQQQ Q9UNbX9?yUtUUAUĸA U;A)UAQYUAbDsVD8ym<%+=ٔ%;Q-%>9!Y!=%jEy-}D-E->1B]<AYBeG>BeCBe8HBeALBBe^ =BaBeCDBex;Be\EQ 5}45>r?Q 9}45-)5B@BY>Q E;y>Q I?5ӥCI5G)<) ?i)-e))i-Rd5=ɧ5j=5:i=f >=S=9I=f > =f >IAԁA ؟AI I O >i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778921Ա d@ބ%,v{LA:sy>:M>:N#ٱ:F =:H?ޕܿ߂? I:l;:CYbpLBybrHbDjeVDj8y !=% =ٔ ;Q- ?9"?Y"?=jEyDuE=?AQ 5M4EY{?Q 9M4E+)E:@BYIyM>Q IM?ECIE:iE:E_ӓ4y}^Bɮ}AyfffgffrfereZe:e*e`^M@ԑ颹ɢBzq=) ?i)iܵgT=ɧ%<Q:i>`=I> >IE] E]E]+EY"E]:*E]:VE] [4ZEYBE]<Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030694 J(%,LAr^x>r>r-ٱrS=rH@?`|ܿq?Pk?w? fY@`?@?`?ir^x>Irk;rCYLByHbD5<VD5ϱ8yEI=%MF=ٔM*;Q-M>9IYQ=UjEyUDU(E}>Q 54?Q 94*)0@BYy>Q I?CI:iړ4checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282579yɮnAfffgffrfereZe :e *e &N@yɢ}-+=)y }?iy) 4顁ilɧ=ɧ駍gi%>Mt=IIM%> U%>IQ!E} E}E})Ey"E}l;*E}:VE}FA4ZEya@a@a@a@ǼAA>U checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535439Y A I I O5 >Bi Bi Bm ^HBm `LBBi Bi Bi Bm ];Bm \ET%,LA %w>%q\>%Xٱ% =%H?tܿz? s`?z?)1J?<ҹ??i%w>I%R k;%CYLByHi=Mb@Mb@Mb@9999 99=Zd;?:vX9vY=>y=Լ=I=&A=A =jA)=ߪA9Y=QAbDuTVDu8yb:%+=ٔz;Q->9Y=jEyDӺE>Q 54?Q 94@()'@BY>Q E ;yD>Q I? CIF;i;4yɮkAf9f9f9g9fafarfaeareiZei:ei*em cN@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786555QɢU =)Y ː?i)֋顡ip=ɧ駭2i^L>=I^L> ^L>IyA! I) IA OM >E}  E} E} +Ey "E} ;*E} :VE} [4ZEy BE} 6N%,hLALz !v>z>z^ ٱz=zH?]ܿM??L? ?J?Ĺ??iz !v>Iz!j;zCYLByHbDaVD8y-O=%-z=ٔ-;Q-5 ?91Y1=5jEy5D=E= ?AQ 5M4E랥?Q 9M4E')E @BYIyM>Q IU?ECIE;iE;E4yYɮ]՛=I> >Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.290519AII O> c%,E/LAE EE)E"E:*EVEFA4ZEa2@a2@a2@a2@!mu>m#>moٱm=mH?Kܿ =?@=?|?L-?Ź?G?imu>Imli;mCY}LByHchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.542613i5Mb@Mb@Mb@1111 195 +?X9vL7A`堿Y5ȶ>y55+5A5ĸA 1)5A1Y5AbDUMVDU߱8ye2<%e,=ٔeB;Q-m>9iYi=mjEyuDuY Eu>yQ 54}G?Q 94}Z%)}@BY?>Q E;y>Q I?}3CI};i};}4yɮ2AfffgffrfereZe:e*exN@ɢo(=) d?i)Rix=ɧ䄽TA A @ABB>BCBHB~LBB_ =B2DBBH;B\EBCBCBB^ =B] =C5Iiw_>=Iw_> w_>IAzAzAA.AI!I1O=r>qԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794522%, LA6 t>6*>6=!ٱ6=6H?C9݈ܿ?A/??@t` #?ǹ?`?i6 t>I6j;4YBLByBHbDJqVDJ8yV =%V=ٔVc;Q-V ?9Z ?YZ ?=ZjEyZD^|VE^ ?`Q 5f4b ?Q 9f4b@$)b @BYdyfN>Q If?bACIb:ibh:bb4yn]BɮnAnxEf|ffgffrfere Ze :e *e `N@9ɢ=9z=)9 =?iA)EGCAAiE)|M=ɧM[M~iM+ >U?Î=QIU+ > U+ >yIQbE:4jE<4rE7/E= E=E=(E9"E=;*E=:VE=c44ZE9BE=>Cԡ=%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046710 3u%,GLA^~r>^i>^ܼٱ^=^H»?@$ܿM???@x?펹??i^~r>I^Tk;\YrLByrHtvAAbDzZVDz8yl;<%E=ٔ L;Q- >9 Y =jEyD=E>Q 5%4?Q 9%4")@BY)y->Q I-?TCIi:4y1ɮ5A1fQfQfYgYfYfYrfYeareaZea:ea*ee %O@checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298671颙ɢqM=) {?i)12顩i `Ç=ɧ駵i>׎=I> >IA-؟AI1IAOQEQ EUEU*EQ"EQ*EU:VEU(N4ZEQau@a}@a}@a}@15 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550473B A>B B HB LBB B B B *;B ^\Ea < %,m0LAFYq>F)@>FȼٱF=FH`R? ܿ@1?@ ?`=?ʡ`K?v??iFYq>IF m;FCY^LBy^HimMb@Mb@Mb@iiii i9mZd;O?L7A`堿/$Ymj>ym+mmSAi mA)mAiYibDTVD8yU=%A=ٔ;Q->9"?Y"?=jEyD;\E>Q 54ͥ?Q 94Q!)?BYz>Q E;y>Q I?hCIT;i;4yɮAfffgffrfereZe:e*e\O@!ɢ%%1Y=)! %̜?i))-))i-g1=x{=ɧ== i=C)>==AIEC)> EC)>IAAU>AU>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802469AIIO >YԉEM  EM EM )EI "EM %;*EM ?:VEM FA4ZEI BEM KZ>ZٱZ\==ZH?ۿ ???@ͥ`s?ڹ?6?iZp>IZUFn;ZCY~LBy~ HbD [VD 8y<%R=ٔ%/9!Y)=-jEy-ŔD-E->1Q 5=45^إ?Q 9=45)5?BYAyEE>Q IE?5{CI5;i5j;5 4yIɮMAIfifqfqgqfqfqrfyeyreyZe:e*e@O@ɢ#k=) ?i)i$nn=ɧ.λir÷>=Ir÷> r÷>IԑIIO$>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.306464 Ee  Ee Ee (Ea "Ee :*Ee :VEe c44ZEa am @am @am @am @%,dLAǓo> ]>᭚ٱ=H n?ۿ ???|hpU??|?iǓo>Ito;Y%MBy-+Hchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.558604iMb@Mb@Mb@ 9V-?y&1/$Y>y`弙"A ƯA)Y­A bDIVD۱8y-[=%-,=ٔ5;Q-5>91Y9==jEy=ΔD=E=>AQ 5M4E!楉?Q 9M4E9)E?BYUƽ>Q EU;yU>Q IU?ECIE/;iEv;E4yYɮ]gAafffgffrfeB<AB>>BBHBLBBBBBDB ;B:\EreZe:e*e iO@颙ɢN=) ?i)i҆[=ɧKJxi{7>=I{7> {7>IIIOj>1  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810554%,R~LA B m>B.>BٱB=BH?(ۿ?@6? ? ?`T͹? /?iB m>IB p;BCYRMByRBHbDZlVDZ8ybg=%f~=ٔfQ Iz?rCIr:ir::r4y|ɮ~BA|fff!g!f!f!rf!e!re)Ze):e)*e-`O@ɢ=) D?i)P?i=#N=ɧf$iiٶ>'= I ٶ> ٶ>I AzAyAIIO=E EE*E"E ;*E:VE(N4ZEBEYQ:>:aٱ:=:H`?`ۿ`h??E?¸1? ʹ??i:pl>I:ڳq;:CPYPyPbDZ_VDZ8ٔre;Q-v>9tYt=vjEyvݔDz=Ez>|Q 54~H?Q 9 4~)~?BY y K>Q I ?~CI~k:i~:~ 4yɮAAf9f9f9g9fAfArfAeAreAZeA:eI*eM P@iYI]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=8.314881颁ɢV=) i)jټ顉iѥ;=ɧ6iFd>:=IFd> Fd>IIIO=E% E%E%+E!"E% ;*E%x:VE% [4ZE!a-@a-@a-@a-@ checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567953B <>B B HB LBB ` =B B B ;B (\E! +%, LA6ڮk>6j>66ٱ6=6H?nۿ@I?`??W@Æ?׹?@?i6ڮk>I6r;6CY^@MBybrH|iUMb@Mb@Mb@QQQQ Q9UX9v?:vQYU>yUԼUuUAUA U$A)QQYUAaabDmoVDm8y}I9=%}<ٔ}l;Q->9Y=jEyDE>Q 54?Q 94 )?BY>Q E;y>Q I?ȦCI;i;B(4yɮAfffgffrfereZe:e*e/P@ ɢ M=)  ?i )ϼiA%=ɧH駽 i>\P=I> >IIQIaOu=)mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.818484YD) zD) E5  E5 E5 (E1 "E5 ;*E5 :VE5 c44ZE1 BE5 A:>: ٱ:O`=:H?Wۿy?@?`?@D`0c? w??i:j>I:js;:CYRRMByRHbDZVVDZ8ybq>=%fW=ٔjt;Q-j>9lYA=EjEyEDM*EM>YaQ 5m4e#?Q 9u4e)e?BYqyuX>Q I?eۦCIe;ie;e6/4yɮϮAyEfffgffrfereZe:e*e% }IP@iɢmB=)i uX?i)Ƽ顡iIɎ=ɧZ駭.i8o>c=I8o> 8o>IA>A>I1IIOU=ԁ}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322494Ա E=  E= E= *E9 "E= :*E= :VE= (N4ZE9 aM @aM @aM @aM @9%,ϿLAFsi>FM>F»ٱFa=FH`?@~ۿ?@Ι? ?@x?? ?iFsi>IFm]t;FCYrZMByrHbD%HVD%ڱ8ԹyR<%9=ٔz;Q-=>9AYI=MjEyUD]+Ee>checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574599Q 54! ?Q 94)?BYy>Q I?CIu:i:74yɮAAQAQfffgffrfereZe:e*e@fP@BBB?HBMBBBBB;B[E颱ɢ=) I?i)▼项i됼=ɧ0nc>i>z=I> >IA5.AI9IQO]v> checking for new query: numPingsReceived=0, elapsed TxPingTime=9.8264989 -?%,LA:g%h>:ޥ>:UtYٱ:U=:Hw?`gۿ??u?z`.k?^߹??i:g%h>I:t;:CYBcMByBHiMb@Mb@Mb@ 9L7A`?:vy&1Y+>y`eXAA XA)AYA %<%<bD-mVD-8y=y<%=V=ٔE;Q-E>9E ?YE ?=EjEyEDMbEM>QQ 5]4U+?Q 9]4U)U?BY]>Q Ee;ye>Q Ie?UCIUw:iU:UP=4yiɮmAifffgffrfereZe!:e!*e%C}P@颉ɢQ=) r?i)r顙iǒ=ɧ~駥-Kiy>=Iy> y>ID%=Da=E EE&E"E:*E:VE4ZEBE>9g>>>>Hٱ>=>H`#?Tۿ1?w??^I?`X?@?i>g>I>>]u;9b"?Yb"?=bjEybDf.Ef>dQ 5n4f6?Q 9n4f )f?BYlyn>Q Ir?fCIfB;ifO;fD4ytɮvAtf f f g ffrfereZe:e*eP@IɢU7=)Q U?iQ)Ul嬼YYi]we=ɧejeCZie*>e~=iIm*> m*>IiAyzA}zAqAIIO>ԡE EE'E"E ;*E:VE'4ZEa@a@a%@a%@4=%=Be ;>Be CBe XHBe +MBBa Ba Ba Be ;Be [EBCBCBB` =B_ =C4 ;L%, P3LA6#f>6>6x:ٱ6ĝ=6H c? BۿS&?`j??aRM1^+??i6#f>I6;u;6CYR{MByRHiUMb@Mb@Mb@QQQQ Q9UJ +?yUtU`UAQ UA)QQYUAbDmlVDm8y}bV<%}>=ٔ}&;Q->9Y=jEyD E>Q 54C?Q 94h)?BY>Q E;y3>Q I?+CIL$;ir#;K4yɮ}AfffgffrfereZe:e*ejP@ɢ|=) o?i)Eih%K=ɧ%链%Pli%e>%<=)I-e> -e>I)AAIQIaOm>bEjErEȟ/E  E E E "E :*E :VE ZE BE <^U,>^;ٱ^\=^H`?@:1ۿ@\?_\?@?h#r`?@'?i^V2e>I^qv;\YnMBynHxxbDaVD8yB<%MQ=ٔU#;Q-U>9QYY=]jEy]D]qE]>aQ 5m4eP?Q 9m4e)e?BYqyu>Q Iu?e?CIeq:ie%:eR4y}\Bɮ}dAyfffgffrfereZe:e*eP@ɢ+Y=) ?i)wEiᚘ=ɧ}iղ>ď=Iղ> ղ>I)AIIO>Yԉ E  E E %E "E ;*E x:VE 4ZE a% @a- @a- @a- @yMY%,gLA4B~d>B>B;ٱB=BH?"ۿ?#R?`b?`B|vE??iB~d>IBw;@Y^MBy^HbDfbVDf8yn [=%nN=ٔr;Q-r>9pYp=rjEyvDvzEv>xQ 54z[?Q 9 4zB)z?BYyb>Q I?zRCIz;iz;zQY4y=`BɮEHAEpEBA<fffgf!f!rf!e)re)Ze1:e1*e=@P@ԑɢN=B8>BBqHB?MBBBBB|;B[E)  ?i ) ҎiX=ɧبiG>ۏ=IG> %G>I!AU>AU>A.AIIԹOb> 5`%,TLA:c>:p>:}0<ٱ:E=:HM?&ۿ?`F??`%F?_?i:c>I:v;:CYBMByBHdi=Mb@Mb@Mb@9999 99=n?Mb{GztY=V>y==ף=XA9 9)=XA9Y=AbDUBVDUձ8yeH<%eB=ٔm;Q-m>9m ?Ym ?=mjEym'DuEu>yQ 54}i?Q 94}n )}?BYd>Q E;y>Q I?}hCI}b:i}:}`4yɮAAfffgffrfereZe:e*eP@ɢM=) "?i)is9=ɧri > = I > >I E EE-E"ET;*E҆:VEt4ZEBEG%==A _f%,LA6b>6>6e@<ٱ6=6H+? fڿ`ƿ? 5??Ԁ C?3?i6b>I6^v;6CYBMByBH J9Z"?Y^"?=^jEy^/D^HEb>`Q 5f4bt?Q 9f4b )b?BYhyjc>Q Ij?b|CIb:ib:bWg4ylɮn9ApEBDAT read: Response Not Received M*response not receivedM=I> >IAaiIqIO>E EE*E"El;*E:VE(N4ZEa@a@a@a@ԙB 7>B B HB TMBB B B B h;B [E l%,LA6a>6>6xe<ٱ6B=6H`Q? ڿ ˬ?C+?@?M`ծ`M?`?i6a>I60u;4YRMByRHi-Mb@Mb@Mb@)))) )9- rh?MbP~jthY-C>y--D)) -A)-(A)Y-\AbDEAVDEԱ8yUO=%U@=ٔ]);Q-]>9YYa=ejEye8DeQѺEe>iQ 5u4m?Q 9u4Թm )m?BYE>Q E;y>Q I?mCIm=)=I"> ">IAzAxAA%.AI)I9OM0>E EE)E"E:*EVEFA4ZEBEE8JFb>Jg<ٱJ7=JH`?ڿ`? 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G?:?iR=IRb_;RCY%FBy-KHAbDUVDU8ym2%mN=ٔmT7Q-u>9yYy=mEyDE>Q 54v?Q 944)8BYyKx=Q I?CIo;ia;'4yɮ%AfffgffrfereZe:e*e` ]@(DAT read: user:76> %BDAT read: Tx time:03:59:00.5397 %$Ping request sent.%=)A EݯiI)Mhz=IIiMǼUǵ=ɧUR>Uu]<=YI]֋> ]֋>IaIYIiOu=iԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253045 g%,!LAEV EVEV,ET"EV;*EV:VEVg4ZETaZ@aZ@aZ@aZ@b?=b>bhw=ٱb=bHg?'aҿ?`?m?`>a@f??ib?=Ib%_;bCYn}FByr HԙiMb@Mb@Mb@ 9Cl?i|?5J +?Y>yqH=rA?A A)(AYAbDVD8yߤ%C=ٔ Q->9Y=mEyD:*:E>Q 54Y?Q 94)8BY>Q E;yJ>Q I?CI/;ie;m4y ɮ jA f)f)f)g1f1f1rf1e9re9Ze9:e9*e=p]@iɢm^2=)i mii)u1%y=qqiu Ƽ}=ɧ}>}OD-=I)> )>I-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502680^A]5[=IIOg>! m%,!LABRX>BRCBR*HBREBBPBPBPBR-;BRx[EBeCBeCBaBeZ =BeY =CeVd5nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.766764]ձ=]>]~=ٱ]`,=]H`f?mҿ hξ?`6 ?j?Խ?@?i]ձ=I]!_;]CYu\FByH !%<bD%VD%İ8y}D%}@=ٔ}_Q-}>9Y=mEyD:E>Q 54?Q 94۞)8BYy>Q I?CI::ih:۳4yɮAcEf f f g ffrfereZe:e*e $9]@颡E EE+E"E:*Ex:VE [4ZEBE.8=IV> V>I^A·3=!AII1OMt>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.018741q t%,O!LAY~UFByHbD.VDװ8yE(%Ma=ٔMQ-M>9IYQ=UmEyU DeEm>Q 54?Q 94C)8BYyQ I?(CI :i:J4yɮAfffgffrfereZe:e*e2P]@Yaɢmb<). վi)3Tv=顡if¼h=ɧ?J2 =I1> 1>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.270863I@@@@ԁbEE [4jEEƼP4rEE/E EE,E"E;*E~:VEg4ZEa@a@a@a@ԱA% ؟AI9 IQ Oe > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522748 z%,D0!LA~-=~>~ =ٱ~C=~Hpc? ҿ5?]B?e? е`\ν? ?i~-=I~^_;~CY yiMb@Mb@Mb@ 9:v?yt#=fAA CA)XAYGAbDVDð8̻ٔQ->9"?Y"?=mEyDy;E>Q 54?Q 94O)Y>Q E:ydW>Q I?>CI:i:4yZBɮAfffgffrfereZe:e!*e%j]@IɢM<)Q QiQ)U, u=YYi]e=ɧe?eP.e=aIe{> e{>IiԱIIIYOm5>AABBBHBEBBBBBH;B[Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.774939 E  E E )E "E ;*E 1:VE FA4ZE BE 7N5;=ٱ5^=5Hr_?mҿI?(a?^?`8 2?@"?i5)=I5 _;5CYeRFByeHqqbDVD8y%<ٔ FQ->9Y=mEyD/;E>Q 54ݻ?Q 94`)Yy@Y>Q I?SCI:i:ȗ4yɮüAfffgffrfereZe:e*e@i]@1ɢ5S<)1 =־i9)=s=99i=E!ж=ɧEB?EgM=IIM> M>II]?]<]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027082IQIaOu>9q % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281459I؇%,\ "LAD>=D>%=EB EBEB'E@"EB&:*EBx:VEB'4ZE@aF@aF@aJ@aJ@'=3]>ǭ=ٱ7,=HOZ?ҿl??=W? @O@?&?i'=I}`;CYBFByHimMb@Mb@Mb@iiii i9m7A`?I +I +?Ym>ym94m99Y=mEy$D;E>Q 54ʬ?Q 94)8BY>Q E:y̎>Q I?kCIiD;isU;LЗ4yɮA!ifffgffrfere!Ze):e)*e-`Ȣ]@qɢ},<)y }޾iy)}dq=yyi4b=ɧ?駍ۿ2ޑ=I> >Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.531018ԡFΞAxAzAI I! O- > }%,o:"LAB&\>B$B&HB&nEBB$B$B&EDB&Z;B&[Efchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.783088d5b=5>55=ٱ5=5HT? ҿԽ?ܯ?=O?<[3? &?i5b=I5`;5CYE FByEHbD]VD]8ym%me=ٔmsQ-m>9qYq=umEyu+Du;E}>Q 54 ׬?Q 94)8BYy>Q I?~CI,:i:֗4yɮ'AfffgffrfereZe:e*e]@ɢH0<) i)ܻp=i d==ɧ ?  ґ= I > >ImIqIE EE)E"E=;*E$:VEFA4ZEBEIb5b=ٱb(=bHO? bӿ`? ?`G? 5Z?S?ib=Ib_;bCY~FBy~H  p<bDҿVD8IyU{%]K=ٔ]zUQ-]>9aYa=emEye3Dm;Em>iQ 5}4m䬉?Q 9}4m)m8BYyy}1>Q I}?mCImH;im";mݗ4yɮ@AfffgffrfereZe:e*e`]@ ɢ H<)  i )r"o=i%tt=ɧ-'?-r=Gő=9I=ܶ> Eܶ>IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.289207i}DzD@AE EE*E"E:*Ez:VE(N4ZEa@a@a@a@IIOn>ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5391921%,wn"LAY}EBy}lHԙiMb@Mb@Mb@ 9:v?Mb`Mb`?Y>y;bAA )QAYAbDVDư8y-%-==ٔ5Q-5>99Y9==mEy=AQ 5M4E?Q 9M4EA)E8BYU>Q EU:yU>Q IU?ECIE?;iE;E4yYɮeAedEfffgffrfereZe:e*e]@颹ɢǹ<) Hi)Om=i湼M=ɧ ?=I4> 4>IBe<Ae<Bm[>BiBmHBmEEBBiBiBiBml;Bm[Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.791241AIIO>E  E E )E "E ;*E :VE FA4ZE BE YQZ=ٱZj>ZHlF?@ fӿ8??R;?@jN]?ޥ?iZ=IZV`;ZCYjEByjKHbDrVDr8yz?%z`=ٔ~;Q-~>9Y=mEyCDyD<E> Q 54 '?Q 94 ) 8BYyR>Q I? CI <;i ; u4y!ɮ%ɽA)fIfIfIgIfIfIrfIeQreQZeQ:eY*e]K^@颁ɢ<)  i)^k=顉il ݷ=ɧ?駝{=Ii> i>I=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.043059AIIO>Aqi I  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.297568ԙ %%,()"LAE> E>E<E<"E>:*E>:VE<ZEJi=ٱJ>JHB?tӿ`m?`5?`S6?$賿??iJ=IJR`;JCYzEByz6Hi}Mb@Mb@Mb@yyyy y9}|?5^?MbMbY}>y}}y} A }&A)}GAyY}=ABAbDVD8y%@=ٔMqQ->9Y=mEyLD;E>Q 54 ?Q 94)8BY>Q E;yi>Q I?ԱCI:ik:4yɮAfffgffrfereZe:e*e`^@)ɢ5rmh=IhH> hH>IIIO*>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.547380ԡ BE ]>BA BE UHBE EBBA BA BA BE ;BE [EyO%,"LA>=>d>>`(=ٱ>>>H>?ӿ5?=S?0?@dP4`I??i>=I>z]a;<Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.798689YVEByV HbDbϿVDb8yjĽ%jY=ٔj Q-j>9lYl=nnEynTDr;Er>tQ 5z4v?Q 9z4vw)vv8BYxyz_>Q Iz?vCIv:iv%:v}4yyɮ5AfffgffrfereZe:e*e8^@9ɢ=p<)9 =ji9)=mg=AAiEr(MG=ɧM>MEM5=IIM(> U(>IQE} E}E}'Ey"E}:*E}xv:VE}'4ZEyBE}>U=U%=]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.051404) o6%,"LABh=B[>B7=ٱB>BH:9dYd=fnEyf\Djvb;Ej>lQ 5r4n%?Q 9r4n,)nc8BYpyr>Q Iv?nCIn:in:n4yxɮzjAxfffgffrfere!Ze!:e!*e%dQ^@QɢUx6<)Q UiQ)]5e=ix=ɧR>9BG=I> >IIIO%=Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=5.305484E EE*E"E;*EǙ:VE(N4ZEa@a@a@a@ԑԩ m checking for new query: numPingsReceived=0, elapsed TxPingTime=5.5550774a%,ܺ"LA@R=Ry>R`0=ٱR*=RH`;?5ӿ'?@r?+?@J`ӡϿ??iR=IR%d;RCY^bEBy^HiEMb@Mb@Mb@AAAA A9EFx?S㥛QYE>yE/ݼEAA EA)EQAAYA Y]=bD]VD]°8ym%m?=ٔuxQ-u>9qYy=}nEy}dD}8:E>Q 54}3?Q 94)H8BY>Q E;y>Q I?CI:i:4yɮAfffgffrfereZe:e*el^@颙ɢx1H<) Z'i)kc=顡ikбӮ=ɧ>PV|=IQ> Q>IIQIaO=ԩAAB_>BCB HBDBBW =BBB;B[EBCBCBBX =BX =Cŷ4checking for new query: numPingsReceived=0, elapsed TxPingTime=5.806630E  E E )E "E ;*E z:VE FA4ZE BE YQ:Б=ٱ:!*=:H:?`ӿsK?@?0)?@3.6ٛ?@f?i:+=I:|~e;:CYbPEBybHbDj'lVDjа8yv6%vS=ٔvRQ-z>9xYx=znEyzlD~$;E~>Q 5 4??Q 9 4)08BYy>Q I?%CI:iM:4y`Bɮ߾A[Ef9fAfAgAfAfArfAeIreIZeI:eI*eMt^@yɢ}h;)y }+i)ga=顁i5?ܸ=ɧ>駍Vr=I >  >Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.058730I)IO= 1 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.313031q sȈ%,p##LAbEeFA4jEeh=4rEe1/E& E&E&(E$"E&:*E&:VE&c44ZE$a*@a*@a*@a*@F=F">F=ٱF==FHW8? ӿ@?7?&? .@ͱ{?ӭ?iF=IF*f;FCYb$EBybxHf=f=9iMb@Mb@Mb@ 9~jt?MbX9vY>y )^AYAbDFVD8y Ƚ% 9=ٔ EmQ- >9Y=nEyuD%;E%>)Q 5=4-N?Q 9=4-*)-8BYE>Q EE;yE0>Q IE?-;CI-cM;i- M;-s4yQɮ]8AYff fgffrfereZe:e*e^@iɢm4<)y }6iy)}^=yyi}]|=ɧ>駍uCe=I-> ->Ii-checking for new query: numPingsReceived=0, elapsed TxPingTime=6.563067AI IO%M>ԑ B B B HB DBB B B B ;B \EOΈ%,0L=#LA:r=:@>:=ٱ:b =:H@7? ӿ@o??$?T5M|??i:r=I:f;:CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.814887YbEBybhHj@Aj@AbDjLVDj8yv%v_=ٔvQ-v>9xYx=znEyz}Dz}:E~>Q 54Y?Q 9 4)7BY y *1>Q I ?MCI:i%:4yɮTAf9f9f9g9f9fArfAeAreAZeA:eI*eM!^@ԙɢ() (:i)\=i^ȬH=ɧ? [= I > >I Eu EuEu*Eq"Eu;*Euą:VEu(N4ZEqBEu>C5checking for new query: numPingsReceived=0, elapsed TxPingTime=7.066733 Ո%,&W#LA>>=>>>r=ٱ>e=>HM7? Կ@?`ݤ?@"?@^@,߰f?1?i>>=I>8f;>CYbEBybOHbDjOVDj8yrPE%rJ=ٔvQ-v>9tYt=znEyzDz0:Ez>|Q 54~f?Q 94~ҍ)~7BY y 1>Q I ?~aCI~::i~:~#4yɮ{Af1f1f9g9f9f9rf9eAreAZeA:eA*eE^@qɢuC79)q u"?iy)}.Z=yyi}}=ɧZ?駅]?Q=IW> W>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=7.321306AIIO- >!Ee EeEe'Ea"Ee:*Ee:VEe'4ZEaam@am@am@am@QE checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570801y ۈ%,q#LA:=:໨>: =ٱ:C=:H` 7?Կ@â?`C?@!?-a@}`L?f?i:=I:#Qg;:CYbDByb=HdfAiMMb@Mb@Mb@IIII I9M r?kt{GzYM>yM MףMVAM"A I)MjAIYMAbDeHVDe8yuM %uA=ٔ}tgQ-}>9yYy=nEyDk:E>Q 54`t?Q 94T)7BY>Q E;y/=Q I?vCI ;i ;E+4yaBɮAfffgffrfereZe:e*e^@ɢ@W:)  Bi ) LW=  i YQ=ɧ ?駕noE=I> >IA.AIIO (>ԁB<A4=B`>BBHB[DBBBBB ;B\Echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.822747ԩEu  Eu Eu +Eq "Eu ;*Eu :VEu [4ZEq BEq a} 2Eq a} JEu ;a} :Eu ;a} %,+݊#LA6=6>6̀=ٱ6 =6H7?Կ`-3?@r?`!?U@??i6=I6g;4 Ft>JvCYJDByRHG)A U9 ?Y ?=nEyDofE>Q 54?Q 94ی)7BYy =Q I?CI\:iu:a24yɮAfffgffrfereZe:e*e_@checking for new query: numPingsReceived=0, elapsed TxPingTime=8.074877!ɢ%`L)) -Ki))-T=))i-5=ɧ=?=$=9=9I=> =>IAAU>AU>ԱIQIaOm>  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.3292049 _%,#LAE EE*E"E ;*E:VE(N4ZEa@a@a@a@B=B>By=ٱB=BHF7?#Կȸ? ?_?o1 8??iB=IBg;BCYRDByRHiMb@Mb@Mb@ 9Pn?|?5^{GztY>yҽףA A)YAbD VDʰ8y,¼%C=ٔQ->9 Y = nEy Dt:E>Q 5%4?Q 9%4)7BY%>Q E%;y%=Q I%?CI:i:94y1ɮ5A1fQfQfQgYfYfYrfYeYreYZea:ea*ee "_@颉ɢ{) Ni)!R=顙i ϥ8=ɧ?駥I-=Id> d>IIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=8.5798119i B _>B CB BHB (DBB X =B B B ޠ;B 7\Ez%,Ҿ#LA*checking for new query: numPingsReceived=0, elapsed TxPingTime=8.832476BC=B >Byr=ٱB=BH7?@(Կ*S? R?@#?ꓸO@??iBC=IBg;BCYJDByJHR=Ra=bDVVDV8y^T%b_=ٔb{Q-b>9dYd=fnEyfDfN9Ef>hQ 5n4j?Q 9r4jI)j7BYpyr=Q Ir?jCIj:ij;j@4ytɮvAz\EfffgffrfereZe:e*e%S:_@IɢM)I URiQ)UO=QQiU(]u=ɧ]!?e5=ieF\>e"=aIeF\> eF\>IiIyIO=E% E%E%.E!"E%:*E%|:VE%ـ4ZE!BE%F8=>>> l=ٱ>ю=>Hh8?.Կh?l??`u3}@+? >?i>=I>Zg;>CYJDByJHPPPbDVVDV8y^%bL=ٔbQ-b>9dYd=fnEyfDfȇ9Ej>hQ 5n4j񨭉?Q 9r4j)j7BYpyr=Q Ir?jƲCIjG:ijQ;jG4ytɮz7AxfffgffrfereZe:e!*e% S_@IɢM )Q U@ViQ)UL=QQiUk]j=ɧe(?e)=ieS6>e-=aIeS6> eS6>IiA}zAzAyIIO}=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.336796EE EEEE'EA"EE:*EE:VEE'4ZEAaM@aM@aM@aM@! % checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586739%,K#LA6=6`D>6ue=ٱ6=6H68?6Կ??@?@0ھ?S?i6=I6g;6CYrDByrH|imMb@Mb@Mb@iiii i9m r?S㥻y&1?Ym>ym/ݽm`e9Y=nEyDJ:E>Q 54W?Q 94Ë)w7BY`>Q E;yW=Q I?ܲCI&;i;N4yɮFAfffgffrfereZe:e*e@o_@)ɢ-H)) -Wi))-I=11i5=C =ɧ=/2?=>=i=p6>={=AIEp6> Ep6>IAI1IIOU=)A!A!B-^>B-CB-HB- DBB-W =B)B)B-;B-I\Echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.838789QEU  EU EU *EQ "EU ;*EU :VEU (N4ZEQ BEU 7N6B_=ٱ6=6H8?;Կ??@G?`䫿?h?i6=I66g;6CYNDByRHTVAbDZ'VDZа8yfU(%fX=ٔjzQ-j>9hYh=nnEynDnׄ9En>pQ 5v4rí?Q 9v4r)rp7BYxyzW=Q Iz?rCIr:ir:rAU4y|ɮ~fAYfffgffrfereZe:e*eʈ_@=W=9I=> E>IAIIO =ԉԱ  %,%$LAD=DR=f=f>fXY=ٱf)=fH 7?`FԿ@? 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B% HB% GBB% ] =B! B% BDB% v;B% [EBCBCBB\ =B\ =C%5B3%,:0LA2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7547326}B>64>6@ٱ6H=6H@?ٿUaG?3?xN?u?`?i6}B>I6\;6ޑCY^TGByb)HdfAbDj3VDj۰8ly%?=ٔDq:Q->9 ?Y ?=qEyǝDE>Q 54,,?Q 9 4)8BYy>Q I?*CI!;i>;ƛ4y9ɮE/AIfYfYfagafifrfereZe:e*e,'f@ɢk) 5+i ) M@ iY=ɧIiF>ʐ=IF> F>I!AyIIO^>Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006861E  E E +E "E ;*E M:VE [4ZE BE A2>29ٱ2 =2HA?.ٿ¤ vF?F?"?`?ٰ?i2)cB>I2];2CYNGByRHi-Mb@Mb@Mb@)))) )9-㥛 ?/$MbY->y--)-A ))-ίA)Y)Y <bDVD8y-\>%H=ٔ2:Q->9Y=qEyϝDքE>Q 54O9?Q 94M)!8BY>Q E:y7>Q I?@CIV:i:͛4yɮ|Afffgffrfere Ze :e *e `|2f@9ɢ="X)9 EƢiA)E4@AAiMjɿU"=ɧUyU(ϻi]ٺ>]Ґ=YI]ٺ> ]ٺ>IaAyzA}tAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258941ԉAIIO$>Ա % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510816i@%,ػ1LAbEFA4jEB4rE?/EL ENEN(EL"EL*EN҆:VENc44ZELaV@aV@aV@aV@FB>F>FFmٱF=FHB?ٿ@9sB?@?b?`? ְ?iFB>IF?8];DY^GBy^HbDjVDj8yrv<%rU=ٔrA:Q-r>9tYt=vqEyv֝DvAEz>|Q 54~E?Q 94~)~)8BYy>Q I?~TCI~:i~~:~ԛ4yɮgAf1f1f1g1f9f9rf9e9re9ZeA:eA*eE>f@ԑ ɢ T)  i)ȿ@iû'=ɧFoqi%p>%ې=!I%p> %p>I!AAAAAAABC>ԹBB HB HBBBBBr;B[EIIO]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762779 F%,B1LA6MNA>6h:>6ٱ6 =6H@E?ٿ? Y7?`? r϶???i6MNA>I68k];4Y^GBy^H ``f=diMMb@Mb@Mb@IIII I9M5^I ?~jt~jtYM>yMļMIMAA MA)IIYM3AbDe VDe8ym~=%uD=ٔu;Q-u>9yYy=}qEy}ߝDE>Q 54S?Q 943)08BY>Q E:y>Q I?kCI;i;ۛ4yɮ3A>EfffgffrfereZe:echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014923*e@Lf@ɢL) 0i)Y@iȻ}=ɧ!#8i5>=I5> 5>I E EE*E"El;*E?:VE(N4ZEBE`Fq checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266850ԙ WL%,*51LA2m@>26>2Aٱ2i=2HI? 0ٿ *?`?? ź?@ײ?i2m@>I2tE];2ݑCY:HBy:H@B@AbDFVDF8yN=%NY=ٔR+:Q-R>9R"?YR"?=VqEyVDVEV>XQ 5^4Zt`?Q 94Z)Z68BYyJ>Q I?ZCIZY=I.> .>IA>A>qA II!O5 >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518868ԡD=Da=E EEE"ET;*E՚:VEZEa@a@a@a@B D>B B JHB ?HBB ^ =B B B y;B [E S%,vN1LA"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770839>aGHTj;9lYn9A?>v>ٱ=HK?`.ٿ渣!? s ?w???i?>Iz];ޑCYuGBy}HbDVD8y`%9=ٔ:Q->9Y=qEyD%E%>YQ 54]o?Q 94])]=8BYy>Q I?]CI]2 =I,> ,>IAIIOi>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022825I E  E E )E "E :*E ~:VE FA4ZE BE <:h_>:ٱ:s=:H L? ٿ`S@k? ?`> N?@?@?i:P?>I:^;8Y^HByb#HiEMb@Mb@Mb@AAAA A9ECl?~jtI +YE>yAE9E\AEpA A)AAYEAbD]VD]Ű8ym=%mP=ٔu :Q-u>9qYq=uqEyuD}E}>Q 54{?Q 94)A8BY>Q E;yJ>Q I?CI:i:4yɮAfffgfQfQrfYeYreYZeY:ea*ee`zsf@ɢ`7) R=Inи> nи>I ]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275616iAaIiIyO9>ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527699'`%,O1LA24>>2Z>2Sٱ2h=2H O? ٿ07?@#?).???i24>>I2y^;2ߑCDLzDN?AEV EVETET"EV%;*EV:VETZETaZ@aZ@aZ@aZ@\Y~ HBy~$H  bD6VDް8y= ;%=M=ٔEE:Q-E>9AYI=MqEyMDM EM>QQ 5]4U?Q 9]4U!)UF8BYayeܳ>Q Ie?UCIUI;iU3;U4yiɮmAifffgffrfereZe:e*ef@ɢ>17)  =i)@icٻ\=ɧ]D1io> =Io> o>IA II!O5 >BuC>BqBuHBurHBBu\ =BqBqBul;Bu[EeBDAT read: Rx Time:04:00:04.2357 mTRx dataTimestamp_ set to:1764907206.250911mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.780019! 1f%,1LA20[=>2@>2hUٱ2=2H@TT?|ٿ@>?(?n??@?i20[=>I2];2CYN.HByR4H|iUMb@Mb@Mb@QQQQ Q9UM?X9vy&1YUn>yUU`U-AUA UA)UAQYU(AbDmVDm8y}=%}F=ٔ:Q->9Y=qEyDVE>Q 54checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032022U?Q 94)H8BY>Q E;y>Q I?ֽCIa;iI;%4ywBɮAf!f!f!g!f)f)rf)e1re1Ze9:e9*e=/f@颉ɢ4) $8=i)P@顑i`޻CC=ɧi駝$;iA>=IA> A>IE EE*E"E;*E:VE(N4ZEBE6NQ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284778ԁ ll%,b1LA2ف<>2,>2 ׮ٱ2=2H@sW?oٿԖ1?@*?`Ե?1??i2ف<>I2];2ޑCYNMHByRZHbDZVDZ8yb=%bW=ٔb:Q-f>9f ?Yf ?=fqEyfDjEEj>lQ 5r4n?Q 9r4nL)nI8BYpyrL>Q Iv?nCIn;in3;n4yxɮzBAxfffgffrfere!Ze!:e!*e%f@IɢU2))U U=iQ)U[@YQYi])O⻩ej,=ɧeum+ DimHͷ>m=iImHͷ> mHͷ>IqII!O- >ԉiIDAT read: 04:00:04.2357 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 458, 0.48, 2.185, 0.699, 2.692, 1.880, PHS= 0.407,-1.136, 0.768, RAW= 160.3, -0.5, CAL= 159.2, -2.2, ROT= 350.8, 2.2 %Ygot valid direction response: 04:00:04.2357 LVL= 32752, 32753, 32754, 32755, AGC= 82, IDX= 458, 0.48, 2.185, 0.699, 2.692, 1.880, PHS= 0.407,-1.136, 0.768, RAW= 160.3, -0.5, CAL= 159.2, -2.2, ROT= 350.8, 2.2 -PDAT read: Bearing 171.8, -4.5 (Local) -~Local bearing/azimuth received: Bearing 171.8, -4.5 (Local) =DAT read: Range 11 to 50 : 743.9 m (Round-trip 991.9 ms) speed 0.8 m/s MR#Rx 1: Read range and direction messages.]`direction in FSK: [0.986409,-0.159763,-0.038388]]Fpublishing direction and range infoy6٨?TU!sĿ.Y9D )RINb>ishD?3@51@ nF)v@InF=ԩNi?v?O?Ч 3?)]Bm CBm HBm HBBm ^ =Bi Bi Bm \;Bm [E s%,>1LA:.<>:>: kٱ:T=:HX?`iٿd+?`r+? ¦?yW? ?i:.<>I:C^;:ߑCYRLHByRYHXZAAbDXVDXyb %fJ=ٔf:Q-f>9hYh=jqEyjDj>MEj>lQ 5r4n?Q 9v4n)nK8BYtyv(>Q Iv?nCIn%:in:n 4yxɮzDA~?Eiit1LAj9D"j9D:j0|>"p 2@$]W#<p6٨?TU!sĿ.*jl$2jnF=*pIB끆@df@' 5@p6?*hx1?u[?j 5C j4Di/š?iAj?Bj/š?jAj?Brj9Dzj*|>f1f9f9g9f9f9rfAeAreAZeA:eE@3?@*eM`Gq?qɢu+)q }@=iy)} @yyi}&滩=ɧx駅`Miz>$=Iz> z>IԹA>A>IIO>E  E E *E "E :*E ~:VE (N4ZE BE >2 *>2ٱ2=2Hr\? 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B??Ҷ `? m?i2>I2s\;2ՑCYNNHByR\HbDZIVDZ8yb;%bY=ٔfH:Q-f>9dYh=juEyjDjWEj>lQ 5r4n?Q 9r4ncI)na7BYtyv`#>Q Iv?nwCInP:in:n#4yxɮzAxfffgffrfereZe:e*e`@nL@ɢ<) =i)Q<i a[=ɧ j> ; =IX> X>IԱIIO >E EE(E"E%;*E:VEc44ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510922 9 V%,q@LAF!f>FbƳ>Fv@=ٱFL=FH ?տv$??`?4 `Ѽ?@?iF!f>IF:];F֑CYRFHByRSHi-Mb@Mb@Mb@)))) )9-> ףp=?p= ףZd;O?Y->y--j<)-AA ))-A)Y) E9Y=uEyD#E>Q 54?Q 94~H)`7BY>Q E:y[A>Q I?CI:i:4yɮAf checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762909f fgffrfe!re!Ze!:e!*e%@ L@QɢUީ<)Q ]=iY)]vʚes+Gm=iImm> mm>Iq I1IAOM=1AAAA?AB8>BBHBGBBBBBw;BZEa D zD bE)jE-h=4rE-+/E  E E E "E ;*E VE ZE BE Q\:W³>:BA=ٱ:=:H`?`7տ? ? ?@Ƕ%B?v?i: ^>I:(];:בCY^>HBy^HHbDj@VDj8yr%rZ=ٔr2:Q-r>9tYt=vuEyvDvFEz>xQ 54z?Q 94zG)z^7BYy ZA>Q I ?zCIz;iz;zP4yaBɮAf1f1f1g9f9f9rf9eAreAZeA:eA*eEL@qɢuK<)q uy=iq)}$*駅P=I[ > [ >IA>A?IyIO=ԑ-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266796Թ d%,A@LAE2 E2E2,E0"E2;*E2:VE2g4ZE0a:@a:@a:@a:@:>:ࢳ>:@=ٱ:R=:H@j?տ@\ ??`? s??Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518790i:>I:0 ];:ӑC|Y-'HBy--HbD=LVD=8yM!X%MD=ٔU}WQ-U>9QYQ=UuEy]D]E]>aQ 5m4e+?Q 9m4eF)e]7BYqyu"A>Q Iu?eCIe":ie:e4yyɮ}5AfffgffrfereZe:e*e d M@ɢD<) \=i)Cn<iG=ɧT>¹[<=Iwk> wk>IIIO=)YG5>5%==checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771440AQB9Y@Aԁ Ҏ%,|[@LA2>2{>2jwA=ٱ2=2H7?տ ?4??,d?F?i2>I2c\;2֑CYBHByBHBTBVCBVHBVGBBV] =BTBTBVt;BVZEaimMb@Mb@Mb@iiii i9mA`"?QI +?Ym>ymum99Y=uEyD;@E>Q 549?Q 94E)[7BY>Q E:y1R>Q I?CI7;i<;4y`Bɮ]AfffgffrfereZe:e*e@]>M@!ɢ-<)) -P=`d==AIE@> E@>IAI1IAOU=Eu EuEu*Eq"Eu:*Eu:VEu(N4ZEqBEuF86 >6@=ٱ6\=6H?dտ@? ?8?`7Gb?n?i6m>I6 \;6ՑCYR HByR HbDZbVDZ8yb;%bY=ٔfoQ-f>9dYh=juEyjDja):Ej>lQ 5r4nG?Q 9r4n E)nY7BYtyvrR>Q Iv?nCIn\:in:np 4yxɮzeAxfffgffrf!e!re!Ze!:e!*e-`nM@QɢUq<)Q ][m3>lm=qIuL> uL>IqԹAE؟AIQIaOm>E EE&E"ET;*E|:VE4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526867A +#%,I@LALLj?e>jų>j>=ٱjZ=jH?@տ`?+??жϧ`??ij?e>Ijz\;jԑCYvGByvHiuMb@Mb@Mb@qqqq q9u㥛 ?J +/$?Yu>yuHu9"?Y"?=uEyâDzF:E>Q 54V?Q 94C)W7BY=>Q E:yj>Q I?CI:i:4y_BɮA$EBDAT read: Rx Time:04:01:04.2537 TRx dataTimestamp_ set to:1764907266.302945checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780031fffgf f ԉrfereZe:e*ejM@ɢ`<)! %Żi!)EUqUt=QIU1> U1>IYAԹIIOE>BBCBuHBGBB^ =BBBy;BZEE  E E *E "E *E :VE (N4ZE BE G2_J>2W==ٱ2.=2H ? տt ? ?`?, ?@?i2n >I2\;2בCYNGByRH TTbDZVDZ8yb %bZ=ٔfDLQ-f>9dYd=fuEyjʢDjg0;Ej>)Q 554-b?Q 954-C)-V7BY1y=k>Q I=?-CI-;i-;-4yAɮEAAfafifigififirfieqreqZeq:eq*eu@KM@颹ɢU<) i)Pi<i{-'=ɧ>3u=IJ\> J\>IAIIiIO>DAT read: 04:01:04.2537 LVL= 30560, 32753, 31474, 32755, AGC= 70, IDX= 115,-0.13, 2.103, 0.691, 2.498, 1.942, PHS= 0.263,-1.206, 0.511, RAW= 157.7, 5.4, CAL= 156.9, 5.1, ROT= 353.1, -5.1 Ygot valid direction response: 04:01:04.2537 LVL= 30560, 32753, 31474, 32755, AGC= 70, IDX= 115,-0.13, 2.103, 0.691, 2.498, 1.942, PHS= 0.263,-1.206, 0.511, RAW= 157.7, 5.4, CAL= 156.9, 5.1, ROT= 353.1, -5.1 PDAT read: Bearing 177.8, -9.1 (Local) ~Local bearing/azimuth received: Bearing 177.8, -9.1 (Local) %DAT read: Range 11 to 50 : 720.0 m (Round-trip 960.0 ms) speed 0.4 m/s -R#Rx 1: Read range and direction messages.5^direction in FSK: [0.988827,-0.119661,0.088894]5Fpublishing direction and range infoyx?~?Y4D`wz )FI>i5^?'0@=LB/@ K=)P5@IKZ6?x8x?m@7? lY(?)J½IiKI 0%,@LAE& E&E&'E$"E&;*E&ą:VE&'4ZE$a*@a*@a*@a*@B! >B:>B<=ٱB`=BH@L?տ ?a? ?`]+?`?iB! >IB\;B֑CPYRGByRHbDZ5VDZݰ8yv%%vH=ٔvBQ-v>9xYx=zuEyzӢDz:E~>Q 5 4 q?Q 9 4A)T7BY y l>Q I ?%CI:i=:!4y^BɮʹAiAiEP@LAjE3D"jE3D:jEd>"pEhb?8@ ЂUx/O@pEx?~?*jE2jEK*pECG64@-Ms.c@J] 4@pEj1?G)W??jE9C jE9/DiEz(?iEEeMjEBjEz(?jEEeMjEBrjE3DzjEd>f f f g f f rf ereZe1:e5@*e=?颁ɢŧ<) 0i)##<顉iWsI=ɧ>駵zrܑ=I> >IA>A>AII1O]3>! `6%,@LAB&9>B&CB&PHB&tGBB&] =B$B$B&;B&ZEF9 >F>F*;=ٱF9u=FHp?տ?!? ?ే`Dc7V?l?iF9 >IF\;FؑCYNGByNH|i-Mb@Mb@Mb@)))) )9-7A`?I +y&1?Y->y-94-`e<)) ))-XA)Y-zAbDEVDE8yUx%UD=ٔUQ-U>9YYY=]uEy]ۢDe:Ee>iQ 5u4mk?Q 9u4m@)mP7BYu>Q Eu:yu{>Q Iu?m;CIm;im;m(4yɮAfffgffrfereZe:e*eR?yɢ}w<) $]i)ǚ<顁i눩(j=ɧr>駕C}d֑=I;> ;>IE] E]E]&EY"E]=;*E]:VE]4ZEYBE]IQԁ =%,\@LA2w >2AO>29:=ٱ2@s=2H ?տ?`+?k? -*Eu? ?i2w >I2\;2֑CY:GBy:HTV@AbDZVDZ8yb%bS=ٔfQ-f>9f ?Yf ?=juEyjDjJ:En>tQ 5z4vȌ?Q 9~4v?)vK7BYyH|>Q I?vPCIvYv;ivx;v/4yɮAfQfQYfYgYfafarfaeireiZei:ei*eu{?颹ɢĹc<) i)Z<iX=ɧ>8Б=I> >IA%؟AI)IAOM>ԁEe EeEe)Ea"EeT;*Ee:VEeFA4ZEaam@am@am@au@Ա 8C%,*ALA: >{>oj9=ٱ=H?`iտ ? 0?A?6 G+?@?i: >I,\;YGByHiMb@Mb@Mb@ 9y#; )+AԱYAbDVD8ym%;=%=<ٔQ->9"?Y"?=uEyD|K:E>Q 54?Q 94>)D7BYw>Q E:y{>Q I?hCIb:i:j74y]BɮBA %Ef)f)f)g1f1f1rf1e1re9Ze9:e9*e=@b?aɢmE<) ʽi)U<i,ҧ=ɧ>Bʑ=I> >IAzAAYIaIqO8>BABABEHBEKGBBABABABE;BEZEBCBCBB] =B] =Cu!5 Em  Em Em -Ei "Em :*Em :VEm t4ZEi BEm <2[>29=ٱ2=2H?տ@? 7?6?Ǭ7@}??i2 < >I2l\;2ՑCYBGByB~HDFAbDJ VDJ8yR%R`=ٔVM9Q-V>9TYX=ZuEyZDZ:EZ>\Q 5b4^㧼?Q 9b4^=)^=7BYdyf>Q If?^{CI^:i^~:^=4yhɮjCAhfffgf f rf e reZe:e*e;?ɢ8=<) `̽i)<iz.=ɧY>Bđ=I> >IA!I1IAOM>Aqԙ Q%,P5DALAE EE(E"E~ ;*E:VEc44ZEa@a@a@a@i I Z2 >Z>ZW8=ٱZ~=ZH2?=տ@??? 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Q[?G=?஼?i> '>I>V\;>ΑCYJEByJDHbDRۿVDR8yZ[X<%Zz=ٔ^iwQ-^?9^ ?Y^ ?=bxEyb Db J;Eb?dQ 5j4fGÉ?Q 9j4f:)fN8BYlyn>Q In?fCIfj;if;f4yrXBɮrνAvEf f f g f f rf ereZe:e*eJ@AɢE )A M\ iI)MNIIiMeUh=ɧU>U]L=]=I]> ]>IaEU EUEU*EQ"EUl;*EU?:VEU(N4ZEQae@ae@ae@ae@A؟AIIO>I B M>B CB HB FBB [ =B B B 0;B q[Eiߙ Iߙ 'ދ%,1NLAJģ'>J:e>JlٱJ=JH`?_ؿڽ?`l?`sT???@?iJģ'>IJi\;J̑CYZEByZ>HbDпVD8y58%=B=ٔ=(Q-=>9E"?YE"?=ExEyEDM:EM>QQ 5U4U8UÉ?Q 9]4U)QYYy]S>Q I]?UCIU;iU;Uţ4yiɮmؽAifffgffrfereZe:e*eK@ɢҵ) i)6Oiй=ɧ>ǹ=If> f>IYA II9OU>Eu EuEu'Eq"Eu:*Euh:VEu'4ZEqBEu<2>2Emٱ2Sr=2H*?(ؿ @_?`j?@Oy?\1? ?i28(>I2 ];2ΑC@YBEByBAHi Mb@Mb@Mb@     9 /$?L7A`堿Q롿Y 1>y + \  XA A)  Y fAimAAbDuVDu8y!;%F=ٔ Q->9Y=xEyDX:E>Q 54IbÉ?Q 94S)H8BY>Q E;y5>Q I?CIZ:i:#ͣ4yɮӽAfffgffrfereZe:e*e7K@ɢ.) i)Qi虹%&=ɧ% >%%=)I-pi> -pi>I)ԱAe.AIqIO>Eu  Eu Eu )Eq "Eu T;*Eu ~:VEu FA4ZEq a} @a} @a} @a} @ '%,5}eNLA2r(>2>2Rnٱ2[=2Hg?ؿ†?j? >B??"?i2r(>I26(];2ˑCY:EBy:VHbDFVDF8yJ~8=%NZ=ٔN\Q-N>9R ?YR ?=RxEyR#DVi:EV>TQ 5Z4VnÉ?Q 9^4V&)VB8BY\y^L>Q I^?V)CIV';iVU;Vӣ4ydɮfAdlfxfxfxgxfxfxrfxe|reZe:e*egK@1ɢ5([)1 5 i1)=S99i=ME=ɧE>EM=IIMF> MF>IIBN>BBBB\ =BBBBp[E^A1AIIO>a %,SYNLAE EEE"E;*E:VEZEBED>Omٱ =H ?` ؿ?݆`g?j? ,? 1?н?i (>I];͑CY}EByNHiMb@Mb@Mb@ 9x&?V-ˡEY7>ym' A)+AYAbDVD8y-J%-'=ٔ59Q-5>91Y9==xEy=-D=9E=>AQ 5M4E~É?Q 9M4E)E58BYUy>Q EU;yU>>Q IU?EBCIE;iEn;E6ܣ4yYɮ]AYfyffgffrfereZe:e*e>K@ɢ) A i)%FU!!i%M-=ɧ-A>-{45˯=1I5e> 5e>I1aԑ^AX= A ؟AI I O >%,Q3NLAYEByLHbDVD8y-৻%-r=ٔ-Q--?95"?Y5"?=5xEy54D=E=?AQ 5M4EÉ?Q 9M4E)E-8BYIyIQ IU?ESCIEq:iES:E4yYɮ]AYuB*** querying acoustic contact ***iqiqfffgffrfereZe:e*e@K@ԙɢ=½)<  i)5Wi0r_7=ɧV>@=Iz> z>I@@@@E5 E5E5(E1"E5;*E5:VE5c44ZE1aE@aE@aE@aE@2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.AIIO>B B B B B B B B <;B ~[E  (DAT read: user:79>  BDAT read: Tx time:04:02:01.1395  $Ping request sent. zc7>zYnٱz=zH?*ؿq`?li? ƭ?ü?+?izH)>IzQ=];xYEByPHbDVDŰ8y;%B=ٔ$Q->9Y=yEyQ 54É?Q 94)#8BYy>Q I?iCI;i;{4yYBɮA Ef f f g f f rf ereZe:e*e L@AɢEc)I M iI)MYIIiM8UA=ɧU>]k]=YI]> ]>IaA.AIIO$>!EE EEEE.EA"EE;*EE:VEEـ4ZEABEAaM2EAaMJEE<;aU:EE<;aU%=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251268Qy l%,NLA2)>2Tn>2wnٱ2=2H`?1ؿ`i`T? f?`DL`ʭ? ?Լ?i2)>I2^ ];0YREByR/H TTi-Mb@Mb@Mb@)))) )9-J +?{Gz+Y->y-ף--A-A -A)-ZA)Y-AbDEVDEư8yUa%UP=ٔ]Q-]>9e ?Ye ?=eyEyeDDe:Em>iQ 5u4mÉ?Q 9}4m)m8BY}>Q E};y}7H>Q I}?m}CIm;im;mV4yɮAfffgffrfereZe:e*e`9L@ɢ´) i)3Zi:r9d=ɧ7>˒=I> >I=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503074aIIIaOm>ԁԩEQ  EU EU &EQ "EQ *EU :VEU 4ZEQ a] @a] @a] @a] @ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754910 ?>%,NLA2U)>2q>2oٱ25=2H@j?2ؿFJ?Fd?d@?@t??i2U)>I2\;0YREByRgHXXbD\VD\yfv=%fT=ٔf4Q-f>9hYh=jyEyjLDn^8En>)Q 554-ްÉ?Q 9=4-M)-8BY9y=~H>Q I=?-CI-Y;i-3;-A4yAɮMAIfififigififqrfqeqreqZeq:ey*e}XlL@颡ɢ׹) +i)&\顩i9=ɧԷ>駽&=I6> 6>IBBBHBFBB[ =BBBN;B[EB}CB}CByB}[ =B}[ =C} F5iIII]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008738] IQIiOu>) %%,OLAD=D%=E& E&E&(E$"E&;*E&M:VE&c44ZE$BE&>C~2>~oٱ~=~Hנ?+ؿU8?]e? ;?`?]?i~[=)>I~\;~̑CYEByKHbD- VD-8y-J%0=ٔ{[Q->9Y=yEyUD~E>Q 54É?Q 94^)8BYy H>Q I?CI]/A]=YI]> ]>Iae <IIOI>yechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512093ԩ :PƓ%,zOLA:(>:>:oٱ:8=:H? %ؿ``?f?4? v½?P?i:(>I:ί\;8@YbEBybtHiEMb@Mb@Mb@AAAA A9Ex&1?B`"۹y&1YE>yEνE`AEA A)EAAYE׻AbD]VD]°8ymI=%m`=ٔu7Q-u>9qYq=}yEy}\D}ؑE}>Q 54É?Q 94ߤ)7BY>Q E;y>Q I?CI:i:4yɮAfffgffrfereZe:e*e`(L@yɢ}q)y }iy)/`顁i:=ɧ>駍=Ih> h>IEU EUEU+EQ"EU ;*EU:VEU [4ZEQa]@a]@a]@a]@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763032ԹAe>Ae?IIOj>B B B HB /FBB \ =B B B h;B [E m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015945nz̓%,iV4OLA26(>2b>2‹pٱ2Y=2H`أ?ؿW@?h?Е ?*?v?i26(>I2v\;2ˑCYNEByRH TTbDZVDZ8ly<%Q=ٔϹQ->9 Y = yEy dD `ɺE>Q 5%4É?Q 9%4X)7BY!y->Q I-?CI ;i ;a 4y1ɮ5kA1fQfQfQgYfYfYrfYeareaZea:ea*ee#M@频ɢ߹) i)ha顙ip):e=ɧW>駥"F=IR> R>III)O== D9zD=AAbEjErEŋS0EE EEEAEA"EE&:*EE|:VEAZEABEEh;2Ne>2pٱ2;=2H ? ]ؿO@v? {j?7?*??i2'>I2\\;2ΑCYB#FByBHiMb@Mb@Mb@ 9V-?!rhI +Y|>yl罙94ίAXA )YYbD}VD}8y̸=%B=ٔ9Y=yEymDoE>Q 54~É?Q 94)7BY>Q E;y=Q I?CI!;i};4yɮAff%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519469f!g)f)f)rf1e1re1Ze9:e9*e=d>M@颁ɢ) i)hsc顙iCC:7=ɧ>駥ʳ=I*m> *m>Iv|AeC9v|AY@AIIO>ԱEU  EU EU (EQ "EU ;*EU :VEU c44ZEQ a] @a] @a] @a] @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771017 vٓ%, hOLA2u'>2b>2rٱ2e=2H`b?`ؿ ?j? bQ?@z??i2u'>I2=\;0YR'FByRH TTbDXVDXyb<%bX=ٔfԮQ-f>9dYd=fyEyjtDj5Ej>lQ 5r4nÉ?Q 9r4n)lYtyv =Q Iv?nCIn~:in:n]4yxɮzAz Efffgffrfe!re!Ze!:e!*e%mM@QɢU)Q U{iQ)]dYYi]QZ:ec=ɧe>eHmd=iIm> m>IiAzABuO>BqBuHBuMFBBu[ =BqBqBuk;Bu[EAe؟AIqIO>5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0238551a t%,OLA2&>2>2uٱ2=2Hl?w ؿξ?@Sl?`g??`Թ?i2&>I2];2͑CF%=F=Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277471E~ E~E~)E|"E~%;*E~:VE~FA4ZE|BE~KFByH@AbD9VD8yG=%.=ٔɺQ->9"?Y"?=yEy~DֺE> Q 554 }ĉ?Q 954 ) 7BY9y=p=Q I=? CI h:i h: "4yAɮEAAfffgffrfereZe:e*e@M@ɢ @ )  i)fih^s:=ɧ>%ӈ=!I%}> %}>I!aAIIOc>=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527329ԑԹ ^%,›OLAY~SFBy~HiMb@Mb@Mb@ 9K7A?&1{Gz?Y >yн#< )AYAbDVDȰ8ykb=%^=ٔQ->9Y=yEyDE>Q 54\ĉ?Q 94)7BY>Q E;y_=Q I? CI0;i:)4y^BɮӼAfffgffrfe re Ze :e *e M@9ɢ=w)9 E[־iA)EegAAiE:M=ɧMS?MU=ԑQI> >Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779118E EEE"E;*E:VEZEa@a@a@a@AE.AIIIYOm5>Bm P>Bi Bm $HBm FBBi Bi Bi Bm _;Bm [EM checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031909 %,OLA2\'&>2 >2*}ٱ2G=2Hs?dؿf\`9? m?@% p?н?@e?i2\'&>I2#_;0YBWFByBHbDN"VDN̰8yV><%V\=ٔVղQ-V>9Z ?YZ ?=ZyEyZDZE^>`Q 5f4bĉ?Q 9f4b>)b8BYdyf=Q If?b3CIb:ibb:b|/4ylɮnɼAlf|f|f|g|ffrfereZe :e *e  7N@颱ɢ) %Ծi)i项i7ƍ:; =ɧ ?2F~=I .>  .>IA>A>A%؟AI1IAO]>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283132E EE'E"El;*E$:VE'4ZEBE`F2i>29}ٱ2e=2H`J?`{׿mՎ`? 2n?,?̽?ַ?i2%>I2+`;2ˑCYBjFByBHi%Mb@Mb@Mb@!!!! !9%p= ף?ʡEy&1?Y%>y%%`checking for new query: numPingsReceived=0, elapsed TxPingTime=4.5348209"?Y"?=yEyD7E > Q 554  )ĉ?Q 9=4 r) 8BY=>Q E=;y=2>Q I=? ICI W;i ; K74yIɮMAIfffgffrfereZe:e*e MCN@9ɢ=)9 =ʾi9)=jAAiEQT:M#K=ɧM ?IM u2w=qIu> u>IqAyIIO=>y߭ =߭ %= checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787207Թ E  E E *E "E *E h:VE (N4ZE a @a @a @a @%,TOLA6z%>6nP>6b8ٱ6E4=6H:?׿@5?@kn?? ;Ž?`I6`a;6ΑC@Y^FBy^9tYt=vyEyvDv= Ez>xQ 54z4ĉ?Q 94zʠ)z'8BYyn2>Q I?z\CIz;iz;z=4y ɮPA Ef1f1f1g1f1f1rf9e9re9ZeA:eA*eE`pN@qɢ})y }i)k顁iU{:~=ɧ=?駕aq=Ig> g>IBBCBbHBFBBBBBR;B[EIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038952! %,4.PLA6checking for new query: numPingsReceived=0, elapsed TxPingTime=5.2910006%>6ސ>6]ٱ6x=6H` ?ؿ@*呿`?"l?@߰?@ս???i6%>I6b;6̑CEF EFEDED"EF;*EF:VEDZEDBEF7N9Y=yEyD:E>Q 5 4,Cĉ?Q 9=4);8BYIyU2>Q Iu?rCI) i=)I-> 5>I1AAzAExAIIO%M>YiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.543194ԁ %, PLA2&>2`>2Iٱ2=2Hn?ؿG?i? E?Խ? e?i2&>I2Dc;2ΑCY:FBy>eHi~Mb@Mb@Mb@|||| |9~|?5^?L7A`堿Q?Y~>y~+~\=|| ~A)~A|Y|YbDVDư8y==%L=ٔQ->9Y=yEyDv:E>Q 54Oĉ?Q 94՞)R8BYJ>Q E;y>Q I?CI:it:8L4yɮ AfffgffrfereZe:e*e@N@9ɢ=)A E?iA)EmAAiEĪ:M=ɧM9?U+)U%d=QIUt> Ut>IYII)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.794979O}=E EEE"El;*E:VEZEa@a@a@a@ԁԱBO>BCBHBFBBBBBU;B[EBBBBBC4 % checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046919 %,6PLA2'>2gU>2ٱ2=2Hݠ?8%ؿzv?`e?`14F?!??i2'>I2uc;2ˑCYVFByVHbD^VD^8yfm=%fW=ٔfȉQ-j>9hYh=jyEyjDnh;En>pQ 5v4r,\ĉ?Q 9v4r)ri8BYtyv">Q Iv?rCIrq:ir:rR4y|ɮ~A|fffg!f!f!rf!e!re!Ze):e)*e-N O@Qɢ]ϣ)Y ]iY)enaaie:m!6=ɧmF?mm\^=iIujj> ujj>IqԹI9IIO]=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298942E EE(E"E:*Exv:VEc44ZEBEF8R>R落ٱRȒ=RH U?t?ؿs?_??c`2?,? @?iR*)>IRWd;PYbFBybHimMb@Mb@Mb@iiii i9m@5^I ?{Gzt? rh?Ymb>ymף;mC =imA mpA)iiYmzAbDVD8yM=%>=ٔyQ->9Y=yEyDi;E>Q 54iĉ?Q 94)8BY >Q E;yQ>Q I?CI";iY;_Z4yɮA]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.566996fffgffrfereZe:e*e@FO@!ɢ%ܝ)) -Ǒi))-=oIIiU*":Uz=ɧ] ?]]W=YI]> ]>IaA>A>IIO>AiE  E E )E "E :*E :VE FA4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=6.818953ԙ (%,jPLA2*>2>2gٱ2@=2H?`fZؿ@喿`w?`"Z?pt@ӈ?@!?@h?i2*>I2d;2ΑCY}FBy}H <<bDVD8yO<%F=ٔaQ->9Y=yEyǧDv|;E>Q 54vĉ?Q 94Q)8BYy$>Q I?CI\:i:a4y]BɮABBBHB#GBBBBBV;B[EqfffgffrfereZe:e*e`yO@ɢ ) i ) pi:%=ɧ%?%-R=1I5={> 5={>I9II)Om>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.071841ԡ x!%,vPLAD0D2=bEijEm>4rEm(/E6 E6E6(E4"E6:*E6x:VE6c44ZE4BE6>2E6>JE6;a>:E6;a>B,>B>BٱB=BH?zؿg@m?@S? D?? ?iB,>IBnd;BˑCbchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.322918YfFByfHbDnVDn8yvX=%vZ=ٔzBQ-z>9xYx=~yEy~ϧD؛;E>AQ 5}4EÃĉ?Q 94E)E8BYy>Q I?ECIE7UM=QIU> U>IY A.AIIOd> Wu>Y}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.575692}}A#9}AY!Aa O='%,W]PLA2 .>2>27=ٱ2U=2H?ؿ@T*?@M?͂?@??i2 .>I2znd;2͑CY>GBy>HiMb@Mb@Mb@ 95^I ?y&1?Mb?Y>y`<<XA )AYQAbDVDy-=%-F=ٔ-ڟQ-5>95 ?Y5 ?==yEy=קD=`;E=>AQ 5M4Eĉ?Q 9M4Eޖ)E8BYM>Q EM:yU~>Q IU?ECIE:iE;ERo4yYɮ]YAYfffgffrfereZe:e!*e%GO@颉ɢ>8) pi)Wr顑iN_:=ɧ*>駥*:J=IQ> Q>IAzAzA)Eu EuEu'Eq"Eu ;*Eu|:VEu'4ZEqa}@a}@a}@a}@checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826973A9IAIYOe4>aBN>BB*HBUGBB\ =BBB_;B[Eԉ } checking for new query: numPingsReceived=0, elapsed TxPingTime=8.078985#e-%,.PLA06A0>6>6ٱ6 =6H@?@ؿ@@B?_H? vk?ؽ?`?i6A0>I6c;6ˑCY^ GBy^Hn@AlbDrܿVDr8yz%zN=ٔz톻Q-~>9|Y|=yEyߧD;E> Q 54 9ĉ?Q 94 ) 8BYyV>Q I? CI ;i ; ?v4y!ɮ%`A% EfIfIfIgIfIfQrfQeQreQZeQ:eY*e]@TP@颩ɢ) 7ti)Js顱irϴ:)F=ɧR>۹5G=Iܑ> ܑ>IԉIIO>DyzD}@AE EE*E"E:*E՚:VE(N4ZEBEa2EaJE;a:E;aԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.334889 M4%, PLAB1>Bn>BCٱB=BH|?ؿ@W? B?@`C? ?ޭ?iB1>IBc;B̑CYJGByNH\i}Mb@Mb@Mb@yyyy y9}(\?l?y&1|Y}z>y}=}`yy }A)}AyY}AbDVD8y&<%@=ٔ^IQ->9Y=yEyDa[;E>Q 54tĉ?Q 94˒)8BYZ>Q E:y>Q I?CI:i:}4yɮPAfffgffrfereZe:e*e"P@)=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.583050ɢ==)E!t9 EliA)E\sAAiE:M1t=ɧM>M:UD=QIUP> UP>IYIIO>E  E E )E "E =;*E :VE FA4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=8.834987A v:%,?PLA>3>>\j>>Lٱ>}=>H@u?`ؿZs?;?@fb?`3?R?i>3>I>Vd;>ʑCYJGByJHbDVVDV8ybCb%bZ=ٔfbQ-f>9dYh=jyEyjDj4;En>pQ 5v4r!ĉ?Q 9z4r)r8BYxyz>Q Iz?r.CIrf9;irM;;rG4yɮ [A BaBaBePHBetGBBaBaBaBeY;Be[EfffgffrfereZe:e*e`57L]B=YI]h> eh>IaA>A?IYIiOu=IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.087103qԡ ^A%,QLAE& E&E&+E$"E&;*E&:VE& [4ZE$BE&DN+>NOٱN/=NHo?@ٿc?`6?.?`? \?iN}05>IN'e;N͑CY GByH E9Y=yEyDAb;E>Q 54Tĉ?Q 94) 9BYy>Q I?ECI;i@;4ybBɮUAEfffgfQfYrfaeareiZe:e*e@WP@ɢ@꘽)  ei ) ~u  i><:=ɧ>?nrA=I> >I!IIO >Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.590969 G%,QLA2RX7>2?>2ZAٱ2=2Hg?(ٿNL ϧ?`.?l¿? ?ک?i2RX7>I2e;2ˑCY:&GBy:HiEMb@Mb@Mb@AAAA A9E1Zd?I +?~jtYE">yE99Y=yEyD ;E>Q 54ĉ?Q 94) 9BYI>Q E:y>Q I?\CI;i;撤4yɮ=AfAfAfAgIfIfIrfIeIreIZeQ:eq*eu@qP@颱ɢ) Yi)$v项iS:Q=ɧ,>(})A=I >  >IE] E]E])EY"E]:*E]v:VE]FA4ZEYam@am@am@am@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.843300!<BeL>BaBeuHBeGBBaBaBaBeT;Be[EIIO>Qe 2z>2Uٱ2o=2H 2c? 5=ٿ i?*?¿?r??i278>I2˻e;2ʑCYNGByRHbDZVDZ8ybT%bX=ٔb9Q-b>9dYd=fyEyfDjR;Ej>xQ 54zĉ?Q 9 4zÊ)z 9BY y 2>Q I ?zpCIzN;iz06;z{4yɮZAEf9f9f9g9f9fArfAeAreAZeA:eI*eMuP@ ɢ) Dhi)kvicҥ:%6=ɧ%$>%@mc%gA=)I-=> -=>I)Q#2:AzAIIO=ԁEe EeEe*Ea"Ee=;*Ee:VEe(N4ZEaBEeI6Ti>6ѫٱ6h=6H ^?`Oٿ̲`H?&?@)*¿n??`%?i69>I6Le;6ˑCYB"GByBHi-Mb@Mb@Mb@)))) )9-M?Qy&1Y-n>y-u-`e)-A ))))Y-GAEAAAbDEVDE8yUH<%UA=ٔ]x|Q-]>9YYa=eyEyeDe&;Ee>iQ 5u4mĉ?Q 9u4m)m9BY}>Q E}:y} >Q I}?mCImv;im;mѠ4yɮDAfffgffrfereZe:eQ*eU P@颡ɢ) 5]i)әw顩iA:Ա=ɧ>(SB=I> >I9 Aq E  E E E "E ;*E |:VE ZE a @a @a @a @I %= R=I O >9 MZ%,'1mQLAJ1:>J>J"ٱJ*=JHZ?@`ٿH~G?`#?5¿ܶ?`0ҽ?F?iJ1:>IJe;JʑCYf,GByjHbDrVDr8yzн<%zQ=ٔzQ-z>BBBHBGBBBBBd;B[EBBBB\ =BC49!Y!=%yEy%D-a;E->)Q 5=4-iĉ?Q 9=4-w)-8BY9y=>Q I=?-CI-i:i-u:-4yAɮM1AIfififigififqrfqeqreqZey:ey*e}P@颹ɢњ) Si);xiz֚:^3=ɧt>mCC=IL> L>I   9A؟AIIO>q a%,QLAE EE,E"E;*E:VEg4ZEBEDZތ>Z⼽ٱZ(=ZHT?`oxٿ`$ף ?.?G¿Γ??ѥ?iZ;>IZWc;Z͑CYf9GByfHhjAbD=VD=ɰ8yM<%ME=ٔMݻQ-M>9U"?YU"?=UyEyU DUVO;E]>aQ 5m4eʼn?Q 9m4eͅ)e8BYiym2>Q Im?eCIe:ie:e鮤4yyɮ}AyfffgffrfereZe:e*eP@ɢЗ) Fi)xi: J=ɧ e`> M3 D=̓=Ir> r>IqAIIO#>ԙ g%,/QLAPY~7GBy~HiMb@Mb@Mb@ 9|?5^?A`"MbY>yYAA pA)ίAYAbDVD8y%C=ٔQ->9Y=yEy(DE>Q 54ʼn?Q 94)8BY,>Q E;y>Q I?CIA:it:=4yɮAfffgffrfereZe!:e!*e%@P@IɢUa)Q UHiQ)]yYYi]=:eAb=ɧe[>e/eOF=iIm,> m,>IiE5 E5E5'E1"E5;*E5:VE5'4ZE1a=@aE@aE@aE@AIIO$>BM>BBHBGBBBBBm;B[E! n%,7úQLAF<>Fa>Fl"½ٱF=FHP?ٿ@ ?`? \¿;? }???iF<>IF˫a;FɑCYn9GBynHbDvVDv8|y;%W=ܻٔQ- >9 Y = yEy 0D:E>Q 5%4ʼn?Q 9%4U)8BY!y%'>Q I-?CI:i:ἤ4y1ɮ5A1fQfQfQgYfYfYrfYeYreaZea:ea*ee@ Q@颉ɢ֍) 2Fi)(zijY:x=ɧ%W>%݅,%H=!I%̤> %̤>I)!A.AIIO">bE(N4jEI4rEş/EE EEEE+EA"EEV:*EE:VEE [4ZEABEE9E>EgýٱEa=EH/P?@Xٿ??X_¿@Bp?@x?ޣ?iEn<>IEn`;EˑCYY]RGBye&H aaiMb@Mb@Mb@ 9p= ף?ʡE)\(Y>y-Ga-AA )AYpAbDVD8y]=%:=ٔQ->9 ?Y ?=yEy9D9E>Q 54,ʼn?Q 94e)8BY >Q E;y!L>Q I?CI(:i:Ĥ4yɮAfffgffrfereZe:e*e&Q@ ɢyG) -i)zi֬p:%=ɧ%c>%S,6%I=!I%]> %]>I)ԁ^A5t0=A9zA9ԱEU  EU EU )EQ "EU :*EU x:VEU FA4ZEQ a] @a] @a] @a] @Am ؟AI I O > "{%,wQLABqZ<>B>BzŽٱB(=BH\P?ٿ勵?@R? 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E? ?? %@2?~?iFC">IF^;DYNLByNHi-Mb@Mb@Mb@)))) )9-?MbI +?Y->y--9<-A-A -\A)-A)Y-GAbDE;VDE8yUK\%U@=ٔ,:Q->9"?Y"?=|EyDE>Q 54?ˉ?Q 94\)d:BY>Q E;y>Q I?_CI;i;84yɮSAff f g f f rf e reZe:e*e\@AɢEO=)A E?iI)Mc2]ѐ=YI]͍> ]͍>IaIAIIO$>yԡ E  E E *E "E :*E :VE (N4ZE a @a @a @a @h%,׾]LA>ƾ>>r>>q5=ٱ>$=>H?ֿFZ????@T @elԺ??i>ƾ>I>0^;>ÑCYZLByZHbDfVDf°8yn%nS=ٔn:Q-r>9pYp=r|EyrDvLEv>xQ 5z4zvˉ?Q 9~4z<)zf:BY|y~>Q I~?zrCIz;iz;z4y _Bɮ nA %B*** querying acoustic contact ***i!i!f)f1f1g1f1f1rf1e1re9Ze9:e9*eE\@iɢuݬ=)q u?iq)u 2?א=Ig> g>IIIO=ԡe2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.B A B B B }HB KBB B B B ;B ZE)o%,Й]LA2E>2b6>2`=ٱ2=2H?ֿ_u?8?K?`@ͺ??i2E>I2m];2đCYBLByBHi5Mb@Mb@Mb@1111 195M?Mb?Y5n>y5̼5<11 5-A)11Y5pA E9aYa=e|EyeDmEm>qQ 5}4u[(ˉ?Q 9}4u)ub:BY>Q E;y<>Q I?uCIu';iu&;u#4yɮsAfffgf(DAT read: user:80> BDAT read: Tx time:04:03:01.3894 $Ping request sent.%ސ=!I%!> %!>I)A9zA9E EE(E"ET;*E:VEc44ZEBEG1u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250809Y v%,t]LA2>2f>22=ٱ2b=2H@?ֿ?>??o:`\??i2>I2];2őCYNKByRHbDZVDZ8yb&f%bU=ٔb:Q-f>9dYd=f|EyfDj{:Ej>lQ 5r4n5ˉ?Q 9r4n)n_:BYpyrk>Q Iv?nCIn;in;n 4yxɮzAzEfffgffrfereZe!:e!*e% &(]@ɢ=) {?i)Y<iNfs=ɧ2ViF>}=IF> F>I1IIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502767aDzDE EE)E"E ;*Ez:VEFA4ZEa@a@a@a@ԉ r?|%,_]LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548756G>6Z>64 =ٱ6g=6H? ֿ@ñ?I6q];6ǑCYNKByNHbDVVDVȰ8yrO;%rH=ٔrӳ:Q-r>9tYt=v|EyvDznEz>|Q 54~Bˉ?Q 94~<)~\:BYy_>Q I?~CI~.:i~:~4yɮAf1f1f1g9f9f9rf9e9re9ZeA:eA*eESB]@iɢua=)q uP|?iq)}f)=IV> V>IԉIIO =Be6>BaBepHBeKBBaBaBaBe;BeZEB!B!B!B!B!C%5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006859E EE+E"E;*E:VE [4ZEBED2$>2AS =ٱ2=2H?ֿݱ?16?,?ֵ@@0Ѻ?@?i2">I2.x];2‘CYRKByRHi-Mb@Mb@Mb@)))) )9-Q?Mb`Y-\>y)-)-AA -\A)-A)Y)EAAAbDEOVDE8yU%UD=ٔ]k:Q-]>9YYa=e|EyeDe쀺Ee>iQ 5u4m-Pˉ?Q 9u4m)mT:BY}>Q E};y}>Q I}?mCIm;im;mN4y^BɮAfffgffrfereZe:e*e@]]@ɢ!a=) 8x?i))s<i*=ɧ6AiX>\=IX> X>IA>A>II O=5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258876I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510794E  E E *E "E l;*E :VE (N4ZE a @a @a @a @M%,p'^LA 2>2>2_ =ٱ2=2HG?`Eֿ~?4??`*ɵı ɺ??i2>I24];2ÑCYBKByBHbDJQVDJ8yfy7%fT=ٔfuP:Q-f>9hYh=j|EyjDnʄEn>)Q 554- ]ˉ?Q 954-)-L:BY1y5>Q I5?-CI-:i-;-7!4yAɮEAAfafafagififirfieireiZeq:eq*eu_v]@颡ɢ]=) w?i)5<顱iH'¼)=ɧo8fi>G=I> >IIIO=qEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762842ԙ AQ AU @ABi Bi Bm JHBm KBBi Bi Bi Bm ;Bm ZE7%,@^LA2O>2(>2-.=ٱ2͆=2HF?ֿ? )?`?C䡿??i2O>I2f ];0Y>KBy>HLi Mb@Mb@Mb@     9 B`"? rh{GzY >y C # rA A ) A Y AbD%-VD%ְ8y-%5D=ٔ5t:Q-5>99Y9==|Ey='DEݺEE>AQ 5M4Eajˉ?Q 9U4EX)EA:BYU>Q EU;yU8>Q IU?ECIE;iE;EY(4yaɮeбAafffgffrfereZe:echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014920*e]@YɢeCF=)a eu?ia)e=I> >IAI I!O=.>M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266799! } pG >9 Y `A_%,wZ^LA|YKByH <bD#VDͰ8yE %MI=ٔMQ-M>9IYQ=U|EyU0DUEU>YQ 5e4]wˉ?Q 9e4])]5:BYiyiQ Im?]CI]:i]:]t/4yu]BɮuA}EfffgffrfereZe:e*e]@ɢV=) #r?i)d<ixļx=ɧ:=5iι>Y=Iι> ι>IAyAzA)IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522822O!>DzDbE ŷG4jE mF4rE S}/E EE'E"E ;*E:VE'4ZEa@a@a@a@Qԁ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770728%,t^LA2>2ۼ>2OW=ٱ2=2H`?mֿX??u?I@?K?i2>I2"];2őCYvKByvHbD0VDٰ8yk%M=ٔ:Q->9Y=|Ey8D%E%>)Q 554-ˉ?Q 954-)-*:BY1y=V>Q I=?-CI-:i-:-k64yAɮEAAQfififigifqfqrfqeqreqZey:ey*e}]@颡ɢB=) Fl?i)W<顱iżê=ɧu;駽4ia>=Ia> a>IIIB8>BB%HBbKBBBBBDBƟ;BZEO >ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022733ԱE EE)E"E ;*E:VEFA4ZEBEOy@D )YbD=VD8Թy;%@=ٔQ->9Y=|Ey@DE>Q 54ˉ?Q 94):BY^>Q E;y>Q I?1CIZ:i:=4yɮ AfffgffrfereZe!:e!*e% ;]@IɢU~2=)Q Ul?iQ)]ce=aIet> mt>Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274796I9IIOU= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5268529 E  E E E "E ;*E :VE ZE a @a @a @a @%,rP^LAJ>J>J=ٱJ=JH@.?@ֿNF? ??@Z+??iJ>IJi];JÑCYRKByRcHXXbD^'VD^а8yf%f[=ٔfi;Q-j>9hYh=j}EyjHDnEn>pQ 5z4rTˉ?Q 9z4r)r:BY|y~!>Q I?rECIrt;irzz;r[D4yɮKAfIfIfIgQfQfQrfYeareaZea:ei*em]@AɢM=)I Me?iI)U8K=Iw> w>II1IIOQA%BDAT read: Rx Time:04:03:04.6903 %TRx dataTimestamp_ set to:1764907386.830770-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779858iB A B <>B CB HB 9KBB ^ =B 1DB B ;B ZEԡ %, )^LA6>6v>61=ٱ6`=6H?@Ύֿ\??`?y ? ?i6>I6ՠ];4YRKByRUHi-Mb@Mb@Mb@)))) )9-?p= ףMbpY->y---A) --A)-A)Y-ױAbDEVDE8yMSҼ%UB=ٔUv:Q-U>9QYY=]}Ey]QD]DEe>aQ 5m4e]ˉ?Q 9u4e)e:BYu>Q Eu;yuS>Q Iu?e[Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030933IeR:ieGc;eK4yɮbAfffgffrfereZe:e*e^@ɢ-=) Qb?i)<E] E]EYEY"E];*E]Z:VEYZEYBE]>C"=s=Ih> h>II9IIOQԡ] DAT read: 04:03:04.6903 LVL= 23584, 27937, 21778, 32755, AGC= 79, IDX= 267, 0.44, 0.403,-1.294, 0.750, 0.046, PHS= 0.460,-1.295, 0.660, RAW= 155.4, 1.9, CAL= 154.1, 1.0, ROT= 355.9, -1.0 u Ygot valid direction response: 04:03:04.6903 LVL= 23584, 27937, 21778, 32755, AGC= 79, IDX= 267, 0.44, 0.403,-1.294, 0.750, 0.046, PHS= 0.460,-1.295, 0.660, RAW= 155.4, 1.9, CAL= 154.1, 1.0, ROT= 355.9, -1.0 } PDAT read: Bearing 173.4, -6.1 (Local) } ~Local bearing/azimuth received: Bearing 173.4, -6.1 (Local)  DAT read: Range 11 to 50 : 672.5 m (Round-trip 896.7 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.997289,-0.071487,0.017452] Fpublishing direction and range infoy) - MXM?,LW7) ߑ?Y- (D) - \- !m- U ) )- OI- >i- ¥- (?- ^-@- =- !,@ - 5<)- @I- 5) ) - F?_&d5?t? 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I? ?Yx픿9?x?i2-' >I2 `;0YBADByB`Hi Mb@Mb@Mb@     9 MbX?(\µZd;OY >y  j OA (A ) A Y AbD%VD%m8y5<%5X=ٔ5;Q-5>99AYA=EEyEDEֺEM>IQ 5U4MBӉ?Q 9]4MR)My5BY]>Q E];y]>Q I]?M0CIM;iM;Mq@4yiɮmAiff f g f f rf ereZe:e*eVL@aɢe ])a eoii)mBe駕l=I?> ?>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014888iQG9A>A>v|A M脿9Mv|AYMAIYIiO}z>ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267222 E]  E] E] &EY "E] ;*E] :VE] 4ZEY BE] A9iYi=mEymDuEu>yyQ 54}PӉ?Q 94}@R)}h5BYyQ I?}ECI}\(;i});}G4yɮA٧Efffgffrf!e!re!Ze!:e)*e--M@iɢm+W)q uriq)uX駍:| =Ima> ma>Iԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521000IIIO> T`%,cdmLA2 >2>2E<ٱ2q=2H?(ֿ@?@G??&[`m( 羻?@M?i2 >I2_;0Y>+DBy>FHe>ea=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772246i}Mb@Mb@Mb@yyyy y9}E? ףp= ~jtY}>y}Q}D}CA}5A }ٽA)}AyYybDVDU8y%F=ٔTQ->9Y=EyDE>Q 54^Ӊ?Q 94Q)\5BY>Q E;y>Q I?ZCI_:i:N4yɮAf!f!f!g!f!f!rf)e)re)Ze):e)*e5`&aM@DzD@AE EE+E"ET;*E:VE [4ZEa%@a%@a%@a%@9ɢ=ωV)9 =ui9)EܔKm uڏ=qIu> u>IqIIO>!BMK>BIBMHBMCBBIBIBIBM!;BMb[EQ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022875y f%,u?mLA2 >2z >2\<ٱ2=2H`p?@>ֿë?F?Y?c둿@-??i2 >I2`;2CYRDByR2HbDZVDZa8yba+%b\=ٔbdUQ-f>9dYd=fEyfDjEj>lQ 5r4njӉ?Q 9r4n,Q)nQ5BYpyr>Q Iv?nmCIn ;in ;nZU4yxɮzAxfffgffrfereZe:e*e_M@ɢvw) xi):@<i?y=ɧʲ>KՏ=Iz> z>IAxAzAQIaIqO}=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275333ԁbEc44jE64rEōH0E% E%E%(E!"E%;*E%҆:VE%c44ZE!BE%@2/>2ڄ<ٱ2I=2HN? ֿ8?RH?]?ʸ,@? ?i2t >I2q`;2CYN DByN!HbDVVDV8yb %bJ=ٔfOQ-f>9dYd=fEyf Dj9Ej>lQ 5~4nGxӉ?Q 94nP)nF5BY y5>Q I?nCIn;int;nn\4y1ɮ=AAfIfqfygyffԹrfereZe:e*e M@9ɢEv])A E|iA)E1駕×s͏=I`> `>IAIIO J>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779907 D- =D- =E5  E5 E5 *E1 "E5 T;*E5 :VE5 (N4ZE1 a= @a= @a= @a= @BE N>BA BE HBE CBBA BA BA BE ';BE j[E1 ?s%,omLAB2 >B>Bj|u<ٱB1Z=BH? ֿ`?MG?*?踿B? ?iB2 >IBw2a;BCY^#DBy^;HiEMb@Mb@Mb@AAAA A9EL7A`?ˡEMb`?YE+>yE什E;EOAA A)AAYE¿AbD]VD]8ymG=%m@=ٔu>Q-u>9qYq=}Ey}D}4E}>Q 54]Ӊ?Q 94O)@5BY>Q E;y>Q I?CI:i:c4yQBɮAϧEfffgffrfereZe:e*eM@yɢ}6Fy)y }7wi)&<顁i\% =ɧ>駍ϟ)Ǐ=I> >Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.033645AI IO5.>9i  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283380E9  E= E= )E9 "E9 *E= ~:VE= FA4ZE9 BE= G2!>2`<ٱ2=2H@g?ֿ_?@I?1?v ?`?i2 >I2a;2CYDBy.HbDVD8yaļ%5=ٔ6Q->9Y=EyD9E>Q 54HӉ?Q 94CO):5BYy%>Q I?CI:i:k4y ɮ A ЧEf)f)f)g)f1f1rf1e1re1Ze9:e9*e=`a4N@aɢm=ai)i uyiq)uU}*Q=Ij6> j6>IA>A>Achecking for new query: numPingsReceived=0, elapsed TxPingTime=4.535310IIOK>ԡ %, nLAJTL >J9>JU"G<ٱJ=JH ?ֿZ?`sL?@#? :"䈿`?`?PiJTL >IJWb;H X)ZI~AZtX\`bE~AibCIddIdifSs@ hh)hh nE~AllpprA~AIt)tit)v&CIxxx x|pAiYYDBEchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.786878y$Hi]Mb@Mb@Mb@YYYY Y9]~jt?L7A`尿Mb?Y]>y]+]<]CA](A ]̾A)]AYY]=A m9Y=Ey$D29E>Q 54Ӊ?Q 94N)<5BY>Q E;y:>Q I?CIk:i:r4E EE(E"E=;*E:VEc44ZEa@a@a@a@y ɮ $A f)f1f1g1f1f9rf9e9re9Ze9:eA*eE 0hN@颩ɢVt) {i) <顱iYgh=ɧ>!9=I̔> ̔>IBBBBB[ =BBBA;B[EAI!IAOmV>iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.039072! ͆%,ʈnLA|Y]DBy]"HbDmVDms8y㗻%[=ٔQ->9Y=Ey+DE>Q 54Ӊ?Q 94M)=5BYyQ I?CIT:i;!y4yɮ(AfffgffrfereZe:e*eN@!ɢ%)) -N|i))-;))i- .5-=ɧ= >=m=б=9I=> =>IA)Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.290909AIIO">E EE*E"E;*Exv:VE(N4ZEBE>CJ>JHF<ٱJ=JHv?.ֿ$?/a?`? N?k?iJ?>IJd;JCY=DByE+HabDVD8y*<%H=ٔ#Q->9Y=Ey4Du T;E}>Q 54 Ӊ?Q 94M)@5BYy<>Q I?CI#=I U>  U>IA-zAzA)ԉA}.AIIO`>]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794829ԱE  E E &E "E ;*E :VE 4ZE a @a @a @a @B M>B B B B \ =B B B J;B [EBBBBBC4 ߓ%,@PnLA22~>2R>2;ٱ2=2HD?@=ֿ !k?m?h?@@M~i?)?i22~>I2e;2CYNDByN#HiMMb@Mb@Mb@IIII I9M/$?I +yM94Mt9} ?Y} ?=}EyQ 54Ӊ?Q 94L)D5BY>Q E;yuw>Q I?CID;i{;,4yɮ'AfffgffrfereZe:e*eVN@ɢc)  1|i ) 7?;  i w+=ɧ>k=I\u> \u>I!checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047317Ae؟AIqIO>1m checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298797Y E!  E% E% *E! "E! *E% :VE% (N4ZE! BE% 6N2>2;ٱ2mX=2H`?:IֿT?@u? k?@ ֹ)_v`g?V?i2>I2e;2CY>DBy>%HbDJVDJ8yR3;%RY=ٔR7Q-R>9V"?YV"?=VEyVCDV\:EZ>XQ 5^4ZӉ?Q 9b4Z,K)ZH5BY`ybw>Q Ib?ZCIZ;iZ<;Z4ydɮj#AjѧEfxfxfxgxfxfxrf|e|re|Ze:e*e-O@颹ɢ') {i)Yװ;i|3tx=ɧ>κ=I`> `>I 1A.AIIO>achecking for new query: numPingsReceived=0, elapsed TxPingTime=6.550811ԑԹ %, nLABT>B>B)j;ٱB=BH$?@Lֿ:#?@t?G?~Emޱ??iBT>IBze;BCYLyN$H%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802933i-Mb@Mb@Mb@)))) )9-J +?~jtQ?Y->y--u<-CA) ))-A)Y)bDEAVDEԱ8yU3%U?=ٔ]Q-]>9] ?Ye ?=eEyeLDeеEe>iQ 5u4mӉ?Q 94mI)mM5BY>Q E;yɜ>Q I?m%CIm駝JB=Ivv> vv>IA>A?DzDAAE EE&E"E:*E|:VE4ZEa@a@a@a@BQ>BCBBB[ =BBBS;B[EA؟AIIO(>checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054775 - Wu>- C BG d;9 Y 8A %, ͝nLAF<>F汷>F|+;ٱF[Q=FH@^?@Sֿ`r?x?`?ɹn`0??iF<>IFe;FCYTyV%HbD^LVD^ޱ8yfm:%fT=ٔfQ-j>9j"?Yj"?=jEyjTDn>:En>pQ 5v4rӉ?Q 9v4rH)rR5BYtyv>Q Iz?r9CIr:ir:r4y|ɮ~#A|fffg!f!f!rf!e!re!Ze):e)*e-`O@Qɢ]o)Y ]{iY)e@#{;aaie?&mm_|=ɧm>mbm=iIuW> uW>IqAIIO>5checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306827E EEE"El;*E:VEZEBE`F6@>6Wm9ٱ6=6HA? S\ֿ]? ~??`m3 Ի?@t?i6>I6le;4YnDByrHbDzaVDz8y%%-D=ٔ-Q-->9)Y1=5Ey5\D5v:E5>9Q 5E4=Ӊ?Q 9M4=WG)=W5BYIyM>Q IM?=NCI=h:i=S:==4yQɮU?AYfffgffrfereZe:e*e@O@ɢ񂀽)1 5.i9)E(@;AAiMGkiQD=ɧ7>駅$=IT8> T8>IAII)O5P>y=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810824D=D<E EE)E"E%;*Eą:VEFA4ZEa @a @a @a @ԩ B <A B T>B B B B B B DDB H;B [E]-%,2W>2ٱ2b?=2H ?@*lֿ?P?_?sO`W???i2/>I2/f;2C@YBDByBHi Mb@Mb@Mb@     9 |?5^?y&1|MbP?Y >y `廙 :  (A )  Y zAbDufVDu8y5;%E=ٔ䈻Q->9Y=EyeD ;E>Q 54(ԉ?Q 94E)Y>Q E;yW>Q I?cCI4:i=:4yɮ;AfffgffrfereZe:e*eP@ɢƍ) ~i);i1 f%5=ɧ%>%D%d=)I-q> -q>I)A9zA9checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063310ԱA.AIIO> M checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314867bEFA4jE:4rE0E  E E +E "E T;*E v:VE [4ZE BE GJ>JOSٱJt=JH`? sֿ@5?2? ?}Fsj?+??iJ>IJTf;HY^CBy^H ddpbDnOVDn8yz<%zT=ٔ~ٗQ-~>9 ?Y ?=Ey lD X:E >Q 5%4ԉ?Q 9%4}D)X5BY)y->Q I-?wCIy);i);C4y9ɮ=_A9fififigifqfqrfqeqreZe:e*eP@!ɢ-!)) -i))-;,:11i5vb= =ɧ=d>=.P={=9IE> E>IA A؟AIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=8.5669429a h?%,;oLA6=>6>6ٱ6?&=6H 8? كֿ`^?p?{?ȷ@3t?0?`r?i6=>I6e;4YRCByRHchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.8188889i5Mb@Mb@Mb@1111 195B`"?Mbp~jtY5>y55D15A 5A)5¿A1Y5AbDUYVDU8ye<%eC=ٔmoQ-m>9m"?Ym"?=uEyuuDu ;Eu>yQ 54}!ԉ?Q 94}B)}T5BY>Q E;y>Q I?}CI}q:i}:}4yɮGAfffgffrfereZe:e*e3P@ɢq) i):顙i)_m1=ɧ>駭Gt=IP>DzDE EEE"El;*E:VEZEa@a@a@a@ P>IB9B9B=HB=CBB9B9B9B=K;B=[EiAAIYIiO}7>ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.070875 ~iǛ%,oLA2>2>2ڻٱ2=2H`? ֿ@~?@?@?@瞺 R{?`л?`P?i2>I2e;0YNCByRHbDZOVDZ8yz%zR=ٔz]Q-z>9|Y|=~Ey~}D˖9E> Q 54 B.ԉ?Q 94 A) P5BYy>Q I? 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"E% ;*E% xv:VE% g4ZE! BE% {T2j>2c[0ٱ2 =2H@}?QؿxH`)?j?@_ ?@Q??i26->I2_;2CYVJByVH\``bDf\VDf8yjs=%jE=ٔn;Q-n>9pYp=rEyrDr)Ev>tQ 5z4v[ډ?Q 9z4v<)vX5BY|y~>Q I~?vDCIv;iv;vJ4ymBɮ A Ef)f)f)g)f)f)rf1e1re1Ze1:e1*e=T]@aɢeU<)m޼ m:?ii)m[iiimJEuR=ɧR5=I`> `>IA I)IQOm>-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258893A d%,A|LAB??B?Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511211Y~JBy~HiMb@Mb@Mb@ 97A`?Mb rhY>yC vA ^A)YQAbDVDy<%==ٔQ->9Y=EyDE>Q 54ډ?Q 94)P5BYc>Q Ee:yeJ>Q Im?[CIx9i%$פ>%E=!I%$פ> %$פ>I)IAyIIO=>q5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762908ԡ  nManaging dock network, ignoring radio surface power offŎ%,E[|LAA@AB@ABJ+>BHBJHBJKBBJa =BHBJ@DBJ;BJZEv%+>v>v()ٱv=vH? t6ؿ? ?>q? ;??x?iv%+>Iv_;vCY- KBy5HԉG ]9 Y YAbDhVD8y%0=%%C=ٔ%\v;Q-->9)Y)=-Ey-D5E]>yQ 54}ډ?Q 94})}H5BYyc>Q I?}rCI}:i}u:}Y4yɮAfffgffrfereZe:e*e .]@QɢUNR<)Q UuC?iY)]I]YYi]5fLe=ɧekePm!S=iImS> mS>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014978IԡE EEE"E;*E:VEZEBE@ iA IA E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267252%,}\u|LA2h+>2G>29&ٱ2:=2H@? ,ؿXK??@9s?@Ť? ??i2h+>I2V_;2CYRKByRHiUMb@Mb@Mb@QQQQ Q9U㥛 ? rhQ롿YU>yUC U\QUA UA)QQYUױAbDm^VDm8y}<%}V=ٔ ;Q->9"?Y"?=EyDE>Q 54oډ?Q 94)@5BY>Q E:yL>Q I?CI* ;i?;7`4ynBɮAEfffgffrfereZe:e*e]@ ɢ<) E?i)1 i`O%=ɧ%m%$>i%e >%{_=!I-e > -e >I) ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5195751AIIE EE%E"E;*EVE 4ZEa@a@a@a@O>Y נ#%,7|LA2_*>2>2R#ٱ2n<=2H?1%ؿ44Y??t? h?`?`?i2_*>I2s_;2CYB/KByBHbDJ?VDJұ8yR=%RY=ٔV:Q-V>9TYT=ZEyZDZҒEZ>\Q 5b4^ۉ?Q 9b4^^)^85BYdyf>Q If?^CI^G:i^:^f4yhɮjZAhfxfxfxg|f|f|rf|ereZe:e*e]@1ɢ5 <)1 5K?i1)=399i=vREY=ɧEoEӯ?iE£>MJl=IIM£> M£>IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771189¼9AIIO>aB)>BCBHBKBBb =BBB;BZEԉ߭ >߭ < checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023330Թ E  E E )E "E *E :VE FA4ZE BE DN>N ٱN:=NH@?@xؿ\c?P?u? ?`e6?`?iN*>IN`;NCYZ?KByZHbDbPVDb8yjT=%jG=ٔn:Q-n>9lYp=rEyrĵDr^hEr>tQ 5z4vۉ?Q 9z4v)v/5BY|y~>Q I~?vCIv;iv8;vm4yoBɮ>A f)f)f)g)f)f)rf)e1re1Ze1:e1*e5 6]@aɢe<)a mO?ii)mNiiim}Tz=yI}s> }s>Iԑ%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2783367A.AII O> Ҳ0%,|LA6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5269806)>6>6ٱ6j"=6H`N?ؿCl?@?vw?_@z?uS??i6)>I6k`;4YrLKByr HimMb@Mb@Mb@iiii i9m|?5^?+ rhYm>ymmC mAmGA mA)iiYmGAbDgVD8y9<%?=ٔ;Q->9 ?Y ?=Ey͵DʺE>Q 54,!ۉ?Q 94)%5BY>Q E:y>Q I?CI;i;pu4yɮ#Afffgf f rfereZe:e*e]@bEFA4jEŠ94rET0E EEE"E;*Eą:VEZEa@a@a@a@ɢX<) *S?i)biZ=ɧ;sڕBi0>Ӊ=I0> 0>I    i!I%A=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783114AM ؟AI IY Ii O >$6%,|LABA<B*>BCBHB9KBBa =BBB;BZE,Z(>ZM>ZmٱZ@=ZH?aؿvp?`I?`z?``+?$Q??iZ(>IZL`;ZCY=_KBy="HbDUeVDU8ye?=%eM=ٔe:Q-e>9m"?Ym"?=mEymյDua'Eu>yQ 54}z.ۉ?Q 94}U)}5BYyb>Q I?}CI}:i}:}f|4yɮAfffgffrfereZe:e*e! ^@ɢ=) W?i)f!!i%C]-z$=ɧ-t-ӱCi-{>-=)I-{> -{>I1ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.035347AIIO >E EE(E"E:*EVEc44ZEBE<2ub>2ٱ26=2Hȭ? ׿ot??@>? лKq?FE?@h?i2'>I2Ъ`;2CY>kKBy>1HLi Mb@Mb@Mb@     9 Q?:vZd;OY \>y T j A AA A) -A Y bD%VD%8y-<%5M=ٔ5Q;Q-5>99Y9==Ey=ݵDElLEE>IQ 5M4M;ۉ?Q 9U4M;)M5BYUd>Q E;yf>Q I?MCIM=Iߢ> ߢ>IAYIaIyO8>}=}=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535213E EE)E"E:*EVEFA4ZEa@a@a@a@! C%,(}LA6o&>6>6Z;ٱ6=6Hࣱ?6׿x? y?@1?` ơ?`#D?@?i6o&>I67a;6CYBKByBQHbDNVDN8yVt=%VT=ٔV>];Q-V>9XYX=ZEyZDZCE^>`Q 5f4bHۉ?Q 9f4b*)b5BYdyf΄>Q If?bCIb:ibW:b4yjoBɮnAl|f|ffgffrf e re Ze :e *e@Q=^@9ɢ==)A Ea?iA)EqQ߼AAiEdMVa=ɧM6tM_CiU Ϣ>Ua=QIU Ϣ> U Ϣ>IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.790990AIIO>)B)B)B-%HB-bKBB)B)B)B-z;B-ZEQ checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042907ԁ E  E E (E "E %;*E :VE c44ZE BE K2db>2 ٱ2<=2H`w?׿Ġ~??؅?f ?W? ?i2Ɲ%>I2a;2CY>KBy>LHbDJyVDJ8y~k%E=ٔ5n;Q- >9 Y = EyDE>!Q 5-4%rVۉ?Q 9-4%)% 5BY1y5g>Q I5?%CI%;i%=;%a4yEpBɮEAAYfffgffrfereZe:e*e X^@ɢ=) `?i)q-ټioPh O=ɧ s &CiK>D=IK> K>IA-.AIIIqԉO> checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294972Ա Q%,4D}LA6checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546969Y%KBy%dHԹiMb@Mb@Mb@ 9Cl?~jtI +Y>yD94ЦA )\AY̰AbDgVD8yq.=%;=ٔQ->9 ?Y ?=Ey D E >Q 54dۉ?Q 94ˀ) 5BY%e>Q E%;y%>Q I%?2CI2 ;i:4y)ɮ-A)fIfIfIgQfQfQrfQeYreYZeY:eY*e]s^@E} E}E}*Ey"E}=;*E}:VE}(N4ZEya@a@a@a@QɢUbR =)Q UNe?iQ)]ǧҼYYi]S7lec=ɧeseV+CimŞ>m̒=iImŞ> mŞ>IqAzAA؟AIIOF>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798837A A! A% AAB- +>B) B- JHB- KBB) B) B) B- g;B- |ZEBBBBa =Ba =C4*+W%,<^}LA2#>2>2YOٱ2(=2H`Ӽ?ڠ׿I?Ɏ??^F`?@G??i2#>I2]bb;2CYBKByBHbDJWVDJ8yR=%Rc=ٔV 9V"?YV"?=VEyZDZEZ>\Q 5b4^pۉ?Q 9b4^)^5BYdyf>Q If?^ECI^h:i^:^D4yjqBɮjRAhfxfxfxg|f|f|rf|ereZe:e*eϊ^@1ɢ5Z;=)1 5|n?iA)MzͼIQiUUo.=ɧsCi>ג=I> >Iqq}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051775II!O- >AE EE)E"E:*E:VEFA4ZEBE>J4>JlٱJM=JH?׿$s?ଇ?4? >fU?vf?`?iJc">IJc;JCYVKByZHqiMb@Mb@Mb@ 9Cl?lMbpYyA )-AYGAbD8VḎ8y<%-=ٔU;Q->9Y=EyDAE>Q 54}ۉ?Q 94Y~) 5BY>Q E;y>Q I?]CII:i1:4yɮ8Afffgffrfere!Ze!:e!*e%^@QɢU>=)Q ]q?iY)]'ƼYYi]wse=ɧete^CieQ>m=iIQ> Q>IԡIIOI>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554842 =d%,Xɑ}LAY~KBy~HbD5VD58yE[=%Ef=ٔMQ-M>9IYI=UEyUDUEU>YQ 5e4]2ۉ?Q 9e4]E})] 5BYiyiQ Im?]pCI]":i]:]4yqɮuAqfffgffrfereZe:e*eֿ^@iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.807416ɢrD=) v?i)7i(5wCb=ɧuODi&>R=I&> &>IA>AIIO=BBBpHBKBBBBBH;B\ZE  CeaGyM9YJA)  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058954E  E E +E "E ;*E :VE [4ZE BE D<2E D<JE ;:E ;gj%,}LA,Y]KBy]H m9Y=EyDE>Q 54ƙۉ?Q 94|) 5BYyQ I?CI%:i:4yrBɮAEfffgffrfereZe:e*e6^@ɢ>1=) Xu?i)i{%=ɧ%v%hmEi%>-L=)I-> ->I)II )O=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.313065Yԁ mOq%,~}LA2£ >2c>2*ٱ2G=2H@>?r׿`u? Fl?ۖ?`)麿@v?ऑ?`?i2£ >I2d;2CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.570784DYFKByJHiEMb@Mb@Mb@AAAA A9EV-?:vYEh>yEԼEEЦAA EA)EAAYE AbDVD8y<%F=ٔQ9Y=EyDE>Q 54xۉ?Q 9 4z)5BY >Q E ;y >Q I ?CI:i:<4y9ɮ=A9E] E]E])EY"E]T;*E]҆:VE]FA4ZEYae@ae@ae@ae@fyfyfygyfyfrfereZe:e*e`^@ɢ 73=) 8x?i)Ii~=ɧxGi> =I> >IIIԩO=5checking for new query: numPingsReceived=0, elapsed TxPingTime=7.822955 B A <B *>B B HB KBB B B B ,;B >ZE=yw%,X}LA> U >>>>!ذٱ>=>H@s?` k׿?g??_к???i> U >I>e;>CYZKByZHlbDv$VDv8y~M-=%~X=ٔ˛;Q->9Y= Ey 'D rRE >Q 54ۉ?Q 94hy)5BY!y%i>Q I%?CI:i0;°4y-sBɮ-A)fIfIfQgQfQfQrfQeQreYZeY:eY*ee _@颉ɢ`Q=) P|?i)m顑i)x0=ɧz駝Hi^>=I^> ^>IA1zA1IIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.074909 Em EmEm&Ei"Eml;*EmM:VEm4ZEiBEm`F2x>2ٱ2=2H?:d׿ ?d?Z?!C`???i2 >I2d;2CYBLByBH DD9iMb@Mb@Mb@ 9y rA)-AYfAbDVD8y=%<=ٔ~;Q->9Y=Ey0D#E>Q 5 4ۉ?Q 94w)5BY>Q E;yg>Q I?CI ;i ;^ʰ4y!ɮ%A!fAfAfAgAfIfIrfIeIreIZeI:eQ*e@)_@ɢ\==)! %?i!)%٥!!i%$M=ɧM}U)KiU>U$%=QIU> U>IYiAIIOA>checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578956ԑEu EuEu*Eq"Eu%;*Eu:VEu(N4ZEqa}@a}@a@a@ ,%,~LA2>2y>2bٱ2R=2H?]׿ؕ?j`?? )? 7??i2>I2e;2CYR LByRHbDZ(VDZ8yb>%f_=ٔf;Q-f>9dYh=jEyj7Dj2Ej>lQ 5r4nۉ?Q 9v4nv)n5BYtyvF>Q Iv?nCIn:in:nа4yxɮzA|ffԙfgffrfereZe:e*e#A_@ɢP`=) y?i)ٟi߄Z=ɧ\o`Mi?>0=I?> ?>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.830976Ae.AIqIO>Bm)>BmCBmHBmKBBmb =BiBiBm&;Bm6ZE checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082899 bEjE?4rE˧/E  E E )E "E ;*E :VE FA4ZE BE {Tj_>jqٱj*=jH?`U׿+? ]?֛?S3?ͺ? ?ijK>Ije;jCYLByHbD3VDDZ8yoC%-=ٔ;Q->9 ?Y ?=EyAD&޹E>Q 54ۉ?Q 94t)Yy->Q I?CI:i;ذ4ytBɮƱAEfffgffrf ereZe!:e)*e-H`_@)5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.337652Yɢ!)4=) ?i)4z顙iEԆ=ɧ#駥9Pi>~A=I> >IA>A?A؟AII O>Iy "%,F~LA:checking for new query: numPingsReceived=0, elapsed TxPingTime=9.587969Z>Zz>ZZٱZ"d=ZH?U׿@?``?o?BkT?`4ߺ??iZ>IZ:e;X t)tvĻtttxixIxxIzCizr@ x|)|| ~E~AĻI)i ) I    iYY%(LBy%HiMb@Mb@Mb@ 9"~?yt94pA )AYbD,VD8E= E=E=+E9"E= ;*E=҆:VE= [4ZE9aE@aE@aE@aE@Qyu[=%u\=ٔh;Q->9"?Y"?=EyIDV :E>Q 54ۉ?Q 94Xs)5BY>Q E;y׵>Q I?CIq;i ;߰4yɮAf!f!f!g!f!f!rf)e)re)ZeI:eQ*eU`Qx_@频ɢ2r=) ?i) e顙i7r=ɧ駭C?Sik>L=Ik> k>IԁAI!I9OEQ>checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838917ԩBm '>Bi Bm HBm KBBm a =Bi Bi Bm +;Bm :ZE 7Ǘ%,ß`~LAB >B r>B_@ٱB=BHo?`/R׿,?``??%'?IBMf;@Y=*LBy=HbDMVDM8y];%eR=ٔeW;Q-e>9iYi=mEymPDm@Em>qQ 5}4uuۉ?Q 94uq)u5BYyϵ>Q I?uCIuj;iu:uG4yuBɮAfffgffrfereZe:e*e _@ɢty=) X?i)4ki/2=ɧŅViQ&> $X= I Q&> Q&>I Ա}EM EMEM(EI"EMl;*EM:VEMc44ZEIBEM`Fy===A9 =A)99Y=AbDUVDU8ye? =%e:=ٔeQ-m>9m ?Ym ?=uEyuYDuEu>yQ 54}܉?Q 94}`p)}5BY>Q E:y>Q I?}2CI}}Sg=yI}> }>IAzAAII OL>1EM EIEIEI"EM ;*EIVEIZEIaU@aU@a]@a]@a vޤ%, l~LA6>6`>6J ٱ6$=6H?A׿@?T? s?̹?׺??i6>I6e;6CYB6LByF*HbDNVDN8yV-7%Vk=ٔVQ If?bECIb:ib;b4yn}BɮnAnEf|f|f|gffrfereZe :e *e 5_@9ɢ= =)9 =Ȇ?i9)E6{AAiEMF8=ɧMMZiMK[>wr=IK[> K[>IiA؟AI)I9OE>B*>BCBHBLBBBBB(;BBBBBBC%4ԑԹ E]  E] E] )EY "E] l;*E] :VE] FA4ZEY BEY am 2EY am JE] ;au :E] ;au @%,4~LA:>: >:Τٱ:z{=:H? >׿??XT??|? ?`~?i:>I:e;:CLY^OLBy^IHbDjVDj^8ys=%E=ٔ{;Q->9 "?Y "?= Ey hD NE>9Q 5=4=t܉?Q 9E4=m)=4BYAyE>Q IE?=[CI=:i=:=@4yIɮUWAQfqfqfqgqffrfereZe:e*e 9_@ɢ$p=) ?i)lif%Y=ɧ%.%w]i%>>-=)I->> ->>I)AII9O]3>! 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#?qJ?&@봿ι?๺?i2=I2 \;2CY^OGBy^"HiEMb@Mb@Mb@AAAA A9E&1?kt{GzYE>yE E#AA A)EpAAYEGAbD"VD̰8Թyk%;=ٔ~Q->9Y=Ey DP*E>Q 54v+?Q 9 4)@/BY>Q E:y=Q I@DIbY;iW; 4y!ɮ%A)fififigififirfqeyreyZey:e*eҰe@ɢ!a͗=I> >IA.AIIOA>E EE+E"Ef;*EM:VE [4ZEBEW6Ѧ=ٱ6M=6H@.E?ӿѻ??aL?'XԴlȹ? ?i6C=I6B];6CYBGByFHHJA HJp<bDR(VDRѰ8yZ %Z^=ٔZQ-Z>9^ ?Y^ ?=^Ey^Db Eb>dQ 5j4f8?Q 9j4f\)f-/BYhyj=Q Ij@fDIfw:if :f&4yrՒBɮrApfffgf f rf e re Ze:e*e=e@AɢE =)A E,eiA)E O=IIiMļU\=ɧU6U{]iUn>UЗ=QIUn> ]n>IYA؟AIIO=IiE  E E *E "E ;*E :VE (N4ZE a @a @a @a @ %,eLAz=z2L>z=ٱz n=zH NI?_yӿ@Ӡ??@P?߱ `-? ?iz=Izi\;zCY y iMb@Mb@Mb@ 9yƽ A)YpAbDVD8ٔt^Q->9"?Y"?=EyDbE>Q 54G?Q 94)/BY8>Q E:y5=Q I@DI:i:.4yɮf f AAB?>BB=HBFBB\ =BBBDB;BYEfԱgffrfereZe:e*e e@!ɢ%s=)) IiI)M N=QQiU@ü]W=ɧ].]D ie->eӗ=aIe-> e->IAIIOA> 1 e%,XLA2׆=2C>2kT=ٱ2=2HxL?`Aiӿw?@?S?ıΤ`? ּ?i2׆=I2\;2CYNFByRHbDZVDZŰ8yb%b<ٔbzQ-b>9dYd=fEyf%Df)KEj>hQ 5r4jT?Q 9r4j)j/BYpyvԳ=Q Iv@j DIj;ij;j54yz֒Bɮz_AzEfffgffrfereZe:e*ee@ɢo=) i)N=i¼U˗=ɧ'xi}Ҝ>֗=I}Ҝ> }Ҝ>IEe EeEe'Ea"Ee;*Ee:VEe'4ZEaBEe@9q %,@3LA 6)1=6_>69R=ٱ6Ob=6HqN?_ӿ`Z??'U?ݱ@nl?`?i6)1=I6-];6CYNGByRHbDZ VDZ8yb3<%bJ=ٔbQ-b>9dYd=fEyf-DjdӺEj>lQ 5r4nc?Q 9r4n-)n.BYpyr=Q Ir@nDIn;inU;n<4yxɮzIAxfffgffrfe!re!Ze!:e!*e%e@QɢUާ=)Q UxiQ)gXM=iO*=ɧ'i>ؗ=I> >IA=>A9qAIIO>E} E}EyEy"E} ;*E}:VEyZEya@a@a@a@ԡBB>BCBHBaFBBBBB;BYE ,%,RLA6p=6>6P=ٱ6A5=6HP?aSӿt/?@?@+W?`걿@](g?y?i6p=I6W];6C\YbFBybHiMb@Mb@Mb@ 9"~?+ηMb?Y>yv<A )AAYAbDVD8yZX%9=ٔQ->9Y=Ey6DE> Q 54 r?Q 94 ) .BYI>Q E:y=Q I@ $DI  ;i  ; C4y!ɮ%|A!fffgffrfereZe:e*e@e@ɢ)=)  Di ) WL= ix5C=ɧ55'i5QG>5ٗ=9I=QG> =QG>I9AIIOA>Dm=Dma=Eu EuEu&Eq"Eu;*Euą:VEu4ZEqBEqa2EqaJEu";a:Eu#;a! %,}̊LA2_=2q>2)=ٱ2OV=2H@R?@Lӿ` ??FX?@7k?˽?i2_=I2];0Y>FBy>HbDF)VDFҰ8yNS%Nb=ٔRFкQ-R>9PYT=VEyV>DVEV>XQ 5^4Z?Q 9^4ZW)Z.BY`yb=Q Ib@Z.DIZ:iZs;Z'J4ydɮfAdvB*** querying acoustic contact ***ititfxfxfxgxfxf|rf|9eAreAZeA:eI*eMe@qɢu&k<) 2i){K=顙iG7=ɧ駭/i>ڗ=I> >I52Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode.A IiIO>ԑ  (DAT read: user:83>  BDAT read: Tx time:04:06:01.9391  $Ping request sent. =ٱF=HDV? :ӿպ?h?@[?@0J? ?i=B5<A5<B=F>B9B=HB=/FBB=[ =B9B9B9B=YEI}];Y]FBy]}HimAi]Mb@Mb@Mb@YYYY Y9](\?K rh?Y]z>y]^]C9Y=EyHDy&E>Q 54|?Q 94).BY>Q E:yy=Q I@;DI: ;i ;R4yגBɮ˽AEfffgffrfereZe:e*e f@)ɢ5k<)1 5i1)51AJ=11i=,=˖=ɧEEk\ټiE>Eiۗ=AIE> M>IIAYzAYԹ=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250778AU.AIYIqO}Y>! &%,ßLA6=6 >6G=ٱ66=6H "X?1ӿ?`C?@\?볿D??i6=I6{p];6CY^FBybIHbDjVDj8yrW%r=ٔrRQ-v ?9v ?Yv ?=vEyvNDzEz?|Q 54~?Q 94~y)~.BYyA=Q I @~DDI~ ;i~\:~mX4yɮAf1f1f1g1f9f9rf9e9reAZeA:eA*eEf@qɢu@^<)u.@ uiq)}^I=yyi@=ɧ駍5 мiH>ۗ==IH> H>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502859D1zD1E9 E=E9E9"E9*E=$:VE9ZE9BE9aM2E9aMJE=;aM:E=;aMA II!O5 >!QU checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754736y 9PƢ%,zLA2=2<>2=ٱ2=2HZ? $ӿ:{?@?*_?@`о7??i2=I2,];2CY>FBy>VHbDFVDF8yNA<%fO=ٔjߺQ-j>9hYl=nEynVDnEr>pQ 5v4r?Q 9z4r)r.BYxyzf=Q Iz@rODIr_:irw:rr_4yɮ Af!f!f!g!f!f)rf)e)re)Ze):e1*e5`#f@Yɢe<)a eqia)eDH=aiime5un=ɧuNut>ļiuh>u>ۗ=qIuh> }h>IyQA ؟AII!O1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006772EM EMEM'EI"EMV:*EM:VEM'4ZEIaU@aU@aU@aU@ԁB=O>B=CB=HB=FBB9B9B=CDB=;B=YEBCBCBǔCB\ =B\ =CǛ5Ա ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258739c̢%,eo4LAF=F~>F#=ٱFU=FH`4\?vӿ b??_?O$ L??iF=IFɘ];FCYeFBye2HiMb@Mb@Mb@ 95^I ?333333~jt?Y>y<A )AYAbDVD8y%4=ٔ;Q->9"?Y%"?=%Ey%_D%DvE%>)Q 554-?Q 9=4-d)-.BY=>Q E=:y=7>Q I=@-[DI-:i-:-Dg4yEےBɮMVAMEfififigififqrfqeqreqZeq:ey*e}@2f@ԡQɢ]<)Y ] iY)]kF=aaiem6=ɧmImhԹim >mڗ=qIu > u >IqA>A>AIIOH>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510832DE=DE<EM EMEM)EI"EMl;*EM$:VEMFA4ZEIBEMaF2=ٱ2}=2H "\?!ӿ3B?8? ^?`DT`Hqq??i2.=I2b];2CY>FByBIHbDJVDJ8yRQ=%Rf=ٔRQ-V>9TYT=VEyVgDZ:EZ>\Q 5b4^?Q 9b4^)^.BY`ybf>Q If@^eDI^b;i^+;^vm4yhɮj1Ahfxfxfxgxf|f|rf|ereZe:e*e@v=f@1ɢ5Hx<)1 5i1)= E=99i=pE7=ɧEݾEiM| >Mٗ=IIM| > M| >IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762782Q7ƙy G ^A% =Q @9 Y >A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014957E  E E *E "E ;*E ҆:VE (N4ZE a @a @a @a @Ay I I OE >ڢ%,ljLAVf=V>Vwz=ٱV.=VH\?e ӿ@#?`נ?^? u@J>??iVf=IV];VCYbFByb%HAvAAAtBzT>BzCBzuHBzEBBzY =BxBzDDBz;BzYEiMb@Mb@Mb@ 9S?y&1:v?Y>y`e<CA(A A)YAbD%VD%o8y=o%=(=ٔ=,Q-E>9AYA=EEyEpDMO^EM>QQ 5]4U"?Q 9]4U)U.BY]>Q E]:ye=5>Q Ie@UrDIU;iU;Uu4yiɮmmAifffgffrfereZe:e*e` Mf@ ɢ S<) Zi)piD=i5ǵ=ڕ=ɧ=ԾEQiEx>Eؗ=AIEx> Ex>IIU=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268030^AMȝ=)AIIO>Q %,LA :F=:]H>:=ٱ:=:H\?`&ӿ ?@?.]?­N`~??i:F=I:^;:CYFFByF0HVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518882bDVVDV8y^)<%^h=ٔbQ-b>9`Y`=bEybxDf~:Ef>hQ 5n4j?Q 9n4j/)j.BYlyr5>Q Ir@j|DIjQ;ijM;j |4ytɮv[Atf f f gffrfereZe:e*eOXf@EE EEEE)EA"EE:*EE:VEEFA4ZEABEE6}ח=IƢ> Ƣ>Iiԙechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772076^AM qj= II IY Oe >E %,LA2#=2T>27=ٱ2 =2HO[?`6/ӿ߹??`O[?ⲿ ⲿ@?@?i2#=I24^;0Y>hFBLy>HbDb1VDbڰ8yjˢ%jH=ٔnQ-n>9lYp=rEyrDr:Er>tQ 5z4vO?Q 9z4v^)v.BY|y~#6>Q I~@vDIvM;ivY;v?4yܒBɮA f)f)f)g)f)f)rf)e1re1Ze1:e1*e5@Yef@aɢm/Q<)i m˾ii)mB=iiiu}=ɧ}ž}7Vi} >}֗=yI} >  >I@@@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022792EM EMEM*EI"EM~ ;*EM:VEM(N4ZEIa]@a]@a]@a]@5PExceeded connect timeout, disconnecting.IBU>BBOHBEBBBBB;B1ZE9I9OMt>a m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275566E6%,DjLA2=2}Ǡ>2A=ٱ21=2HZ?6ӿ?\?@Y? j飲??i2=I2ϝ^;2CYNeFByRH9iUMb@Mb@Mb@QQQQ Q9UzG?/$I +?YU >yU,U99Y=EyD:E>Q 54 ?Q 94b).BYg>Q E:yV>Q I@DI:i:4yɮAfffgffrfereZe:e*erf@ ɢ VW<) J;i)(@=i %c=ɧ%%Fi%W>%՗=!I%W> %W>I)II O=achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526787E] E]E]%EY"E]:*E]:VE] 4ZEYBE]>24T=ٱ23=2H@Y?`Aӿ ??`^W?Ouf2??i2V=I2B_;2CYn]FBynHbDvCVDv8y~%S=ٔQ->9Y = Ey D :E >Q 54?Q 9%4|).BY!y%IW>Q I%@DI;i;t4y)ɮ-A5Eԡfffg f f rfe%BDAT read: Rx Time:04:06:05.1378 -TRx dataTimestamp_ set to:1764907567.3397835checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781368re1Ze9:e9*eEJf@颉ɢ<) EѾi)A?=顙i*,;=ɧD駥ݜi>ԗ=I> >IIYIO= checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030774Eu  Eu Eu +Eq "Eu :*Eu :VEu [4ZEq a @a @a @a @- nManaging dock network, ignoring radio surface power offA }T%,S닖LABJ<AJ<-g=-E>-h_=ٱ-U=-H Y?Gӿ 9?/?U?$@M?@/?i-g=I-_;-CYMCFByUHBV>BBHBEBBBBB;;B|ZEi=Mb@Mb@Mb@9999 99=5^I ?~jt?Y=>y=̼=D<=A=A =ZA)=A9Y=AbDUJVDU8yef%e4=ٔePQ-e>9iYi=mEymDu::Eu>yQ 54}8 ?Q 94}9)}.BY>Q E:y>Q I@}DI}:i}:}^4yɮAfffgffrfereZe:e*e@ݍf@ɢ軈<) S޾i)l==i񮮼=ɧwi?> ӗ= I ?> ?>I II O >UDAT read: 04:06:05.1378 LVL= 22384, 26433, 22626, 32755, AGC= 77, IDX= 357, 0.23,-2.187, 2.448,-1.993,-2.595, PHS= 0.510,-1.195, 0.558, RAW= 151.4, 1.5, CAL= 150.2, 1.0, ROT= 359.8, -1.0 eYgot valid direction response: 04:06:05.1378 LVL= 22384, 26433, 22626, 32755, AGC= 77, IDX= 357, 0.23,-2.187, 2.448,-1.993,-2.595, PHS= 0.510,-1.195, 0.558, RAW= 151.4, 1.5, CAL= 150.2, 1.0, ROT= 359.8, -1.0 mPDAT read: Bearing 170.8, -4.4 (Local) u~Local bearing/azimuth received: Bearing 170.8, -4.4 (Local) }DAT read: Range 11 to 50 : 595.9 m (Round-trip 794.6 ms) speed 0.6 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.999842,-0.003490,0.017452]Fpublishing direction and range infoyT|ѳ?+䀗lW7) ߑ?YDpWAgbX )MI\?i?)@Pw<g'@ )B@I+F-O? ?v }? 1 ?) ԼIdiԩ 0%,LA2=2z>2}=ٱ2_=2H`[Y?~Oӿ@??BT?f @o??i2=I2v`;2CYV9FByVHbD^TVD^8ydڼ% e=ٔ VQ- >9Y=EyDŔ:E>E% E%E%*E!"E% ;*E%҆:VE%(N4ZE!BE%OQ IM@=DI=:i=;=4yQɮUAQiYi]LAj]D"j]D:j]Ş>"p]@*䈘@..$$@p]T|ѳ?+䀗lW7) ߑ?*j]d2jY*p]=@pf@|o>p]^K7n?|?W,j]_5C j] Di].|?i].Ej]Aj].|?j].Ej]Arj]Dzj]KÞ>fffgffrfereZe:e@3@*e^~?ɢ@[\<) 1i)o<=i [;=ɧ:i玣>җ=I玣> 玣>IIIO=I Y%,0LA02E=2̡>2ٽ=ٱ2=2H`|X? PZӿg?@&?Q?@VTP??i2E=I2}a;2CYN*FByRHbDZ4VDZܰ8yb%bO=ٔb^Q-f>9dYd=fEyfDjU:Ej>lQ 5-4n:?Q 9-4n )ny.BY)y-!>Q I5@nDIns7җ=I> >IAzAԙbE÷G4jEÏB4rE0E5 E5E5+E1"E5 ;*E5M:VE5 [4ZE1a=@a=@a=@a=@AaIqIO>BX>BCBHBxEBBBBBg;BZE [ %,ȱ8LA2{3=2i>2``=ٱ2YN=2H X?^ӿ0L?`?@P?f/谿U?e?i2{3=I2(b;0YBFByBH\i Mb@Mb@Mb@     9 5^I ?/$Y y   ^A \A ;A) A Y AbD%VD%Ű8y5[%5C=ٔ5Q->9Y=EyDƷ9E>Q 54H?Q 94)l.BYT>Q E:y~>Q I@DI/;iD;4yɮLA:k@P1QB*** querying acoustic contact ***iifffgffrfbf@1ACompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeereZe:e*e@?1ɢ5>J<)1 5pi1)=F9=99i=VtEm=ɧEzEbiE>ESї=IIM> M>IIAIIO>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.EE EEEE(EA"EE;*EE՚:VEEc44ZEABEE>C2 =ٱ2=2HsY?cӿ??WP?``A~[?s?i2*w=I2b;2CYNEByNHbDVVDV8y^g%^R=ٔbQ-b>9`Yd=fEyfDf9Ef>hQ 5r4jU?Q 9r4j)j`.BYtyv>Q Iv@jDIj[;ije;j4yɮzAEBk5@1Q5qQ=qL==~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalqL=DMUAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1EU UAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqF]]Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlF]]Initialize.F]]Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1G] ]Initialize.qGeGeqEeDeGmgmh7qGmgmh7FuuAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1GuqFuFujgyrg}fB}$Terminal guidance.qEGInitialize.dInitializing internal variables to default values.ZTransitioning guidance mode to: UNINITIALIZED iDRollout timeout set to 300.00 sec.(DAT read: user:84> BDAT read: Tx time:04:06:07.6891 $Ping request sent.Uninitialize WaypointComponent.eAreAZeA:eA*eEY?颵EB =) 0i)F9=项g7iIIIIO (>q checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250990EI  EM EM ,EI "EI *EM :VEM g4ZEI aU @aU @aU @aU @ԡ %,5{lLAA"@AA BZ>BBHBYEBBBBB;BZEB5CB5CB5CB5Y =B5Y =C54E=E>E=ٱE=EHS[?`ӿA|?B? EQ?@K%@??iE=IEb;ECYeEByemHqiMb@Mb@Mb@ 9M?QMbYn>y )YbDVD8y%0=ٔVQ->9Y=EyúDwE>Q 54ke?Q 94)O.BY>Q E;y{>Q I@DI:i:4yɮAJkqQrCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalqPAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal addTargetRange:: Added new target pos. range: 595.900024 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 "i*i Added new target pos. range: 595.161133 m, bearing: 17.767650 deg, lat: 36.779353 deg, lon: -121.859238 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 :iFNOT Ignoring new targets: 595.16 m."i!*i!5 ProNav pure pursuit: ac range: 595.161133 m, nav range: 593.656189 m, bearing: 17.770004 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 18.122331 deg, new cmd heading: 17.770004 deg. =HeadingCmd: 0.310145 target range: 595.161133 and range: 595.90 m.hEV˞>hEhIhIhIgIgIjgQrgQeQreQZeQ:eY*e]@c?颁ɢ4=) Ȉi)R79=顉i\ꩼiV˞>)L? (kpHeading = 0.800000I; (kiHeading = 0.004000$C=IV˞>I%Aԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503085AzAA%A%AIIO> }!%,xALA2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7549016=6p>6Tz=ٱ6^$=6H@)\?aӿ?*?`P?KE˺?`?i6=I6!c;6CYBEByB=HbDNVDN8yV%Vp=ٔVNQ-V?9ZYZ=ZEyX^8E^?`Q 5f4bp?Q 9f4b)bB.BYdyf{>Q If@bDIb:ibS:b´4ynݒBɮnAlD|zD~AAE EE*E"E=;*EM:VE(N4ZEBEIhhhhggjgrgereZe:e*e@@[>[>"[@*[j{>]EBɢeʆ(=)a eaia)e. 9=aiimpimV͞>u՗=X3=IV͞>IIYIiOu=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0070569Y Q'%,*LA2=2s>2/8p=ٱ2e=2H[^? Xӿ`Eݶ?? VM?@ ? ?i2=I2c;2CYBEByBH tv{CM GbDJ޿ezAVDJ8yx9zAYrAy%;=ٔ߸Q->9Y=EyvE>Q 54?Q 94)2.BYyz>Q I@DI;i<;Tʴ4yɮ6A:i FNOT Ignoring new targets: 595.16 m."i D8*i  ProNav pure pursuit: ac range: 595.161133 m, nav range: 593.337708 m, bearing: 17.772010 deg, approach rate: -0.425369 m/s, LOS rate: nan deg/s, cmd heading: 17.770878 deg, new cmd heading: 17.772010 deg. %HeadingCmd: 0.310180 target range: 595.161133 and range: 595.90 m.h%Ϟ>h!h!h)h)g)g)jg)rg11e9re9Ze9:e9*e='@[["[*[:z>ɢ=) i)û8=ia䨼i%Ϟ>%mڗ=%h=I%Ϟ>I!uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259136E EE(E"E:*E:VEc44ZEa-@a-@a-@a-@aBBB{HB&EBBBBB͟;B[E 4Initializing EZServoServo.ԉ% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511092 e 8Initializing DockingStepper.Թ ^A=IIO?I[0%,~LA2=2pš>2g=ٱ2;=2H]? [ӿն? ?@bG?e??i2=I2#c;2CY>EBy>HiMb@Mb@Mb@ 9n?MbYV>yLOAKA  A)AYAbDeVDe8yu%u=ٔ}Q-}>9yY=Ey|:E>Q 54?Q 94q).BY>Q E;yJ>Q I@DI:i(:QӴ4yɮMAEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 595.16 m."iԠ8*i ProNav pure pursuit: ac range: 595.161133 m, nav range: 593.131287 m, bearing: 17.774271 deg, approach rate: -0.401028 m/s, LOS rate: nan deg/s, cmd heading: 17.772010 deg, new cmd heading: 17.774271 deg. HeadingCmd: 0.310220 target range: 595.161133 and range: 595.90 m.h՞>hhhhggjgrgereZe:e*e @)[%>[%>"[%@*[%jJ>=EBɢ==)A EսiA)EM8=AAiM$KiM՞>Ma=U_=IU՞>IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763378D=D4=E EE+E"E;*E?:VE [4ZEBE@ԁ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014990ԩ J6%,LیLA2=2’>2a=ٱ2|o=2H_?YUӿQ?7?@IF? H'<? ;?i2=I2b;2CYNzEByNHbDVVDV8y^%^W=ٔb3}Q-b>9`Y`=bEydfEf>hQ 5n4jU?Q 9n4j)j .BYpyrI>Q Ir@j DIj;ij:jٴ4ytɮv~At:iFNOT Ignoring new targets: 595.16 m."i8*i- ProNav pure pursuit: ac range: 595.161133 m, nav range: 592.979065 m, bearing: 17.775943 deg, approach rate: -0.402014 m/s, LOS rate: nan deg/s, cmd heading: 17.774271 deg, new cmd heading: 17.775943 deg. -HeadingCmd: 0.310249 target range: 595.161133 and range: 595.90 m.h-؞>h1h1h1h1g1g1jg9rg9e9re9ZeA:eA*eE @[a[a"[a*[eZI>uEBɢ}=)y }iy)}7=yiΧi؞>==I؞>I1111ԉԹ?%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268084E EE&E"E%;*EM:VE4ZEa@a@a@a@B<AB X>B B IHB DBB B B B ;B =[E^A L=I) I9 OM > <%,LARH=Re>R\=ٱRVv=RHa?Qӿ ^?6?aF?)a욫?K?iRH=IRfb;RCYb[EBybHiMMb@Mb@Mb@IIII I9MNbX9?MbyMMtMfAM5A MA)Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519159IYM̾AbDmVDm8y}Ő%}?=ٔ9Y=Ey~RE>Q 540?Q 94)-BY>Q E;y] >Q I@DI;i;k4yɮA:iFNOT Ignoring new targets: 595.16 m."i8*i ProNav pure pursuit: ac range: 595.161133 m, nav range: 592.814575 m, bearing: 17.778405 deg, approach rate: -0.384157 m/s, LOS rate: nan deg/s, cmd heading: 17.775943 deg, new cmd heading: 17.778405 deg. HeadingCmd: 0.310292 target range: 595.161133 and range: 595.90 m.hޞ>hqhqhqhqgqgyjgyrgyeyreZe:e*e'G@[>[>"[@*[Z] >FBɢj =) $i)O7=i9i ޞ>J==Iޞ>I! checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770994I D zD E  E E )E "E V:*E 1:VE FA4ZE BE 9C%,LA 2o=2D>2^X=ٱ2=2Hb?7Oӿs ?? F?Ն`@!?`?i2o=I2ub;2CYNSEByRHV>V=XZ@AbDZVDZ8yb%fW=ٔf4Q-f>9dYh=jEyhj-Ej>lQ 5r4n?Q 9v4n\)n-BYtyv$ >Q Iv@nDIn::in:n4yxɮzA|:i%FNOT Ignoring new targets: 595.16 m."i%28*i!5 ProNav pure pursuit: ac range: 595.161133 m, nav range: 592.668213 m, bearing: 17.780600 deg, approach rate: -0.384608 m/s, LOS rate: nan deg/s, cmd heading: 17.778405 deg, new cmd heading: 17.780600 deg. =HeadingCmd: 0.310330 target range: 595.161133 and range: 595.90 m.h=>h9h9h9h9gAgAjgArgAeIreIZeI:eI*eM@[["[*[j$ >5FBɢ5(=)9 =.i9)=6=AAiEqiu>uN=uv=I}>Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025840ԙ^A`=II)O5> % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275076\I%,(LAE2 E2E2'E0"E2;*E2x:VE2'4ZE0a:@a:@a:@a:@: T=:(>:XT=ٱ:Y=:Hc?:Mӿ`y??`bF? ?=??i: T=I:a;:CYJ9EByJHPbDZVDZİ8yv{%E=ٔ%%Q-%>9!Y)=-Ey)-\E->1Q 5]45?Q 9]45)5-BYaye>Q Ie@5*DI5;i56;5S4yiɮmAq:iFNOT Ignoring new targets: 595.16 m."i]8*i- ProNav pure pursuit: ac range: 595.161133 m, nav range: 592.508667 m, bearing: 17.782998 deg, approach rate: -0.371504 m/s, LOS rate: nan deg/s, cmd heading: 17.780601 deg, new cmd heading: 17.782998 deg. uHeadingCmd: 0.310372 target range: 595.161133 and range: 595.90 m.h}>hyhyhhggjgrgereZe BZ>BB HBDBBBBB;B\[E:eq*e}M@[)[)"[)*[-:>=FBɢ==)9 =WJi)5=顩i!i>==I>I}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526995! ^AE =I! I1 OE >P%,BLA21=2ߠ>2r%Q=ٱ2@=2Hd?$Gӿ??H?`!`6 ??i21=I2Ca;2CY>7EBy>H|i-Mb@Mb@Mb@)))) )9-Mb?+y-)-jA--A -A)-A)Y)bDE!VDE˰8yU%UG=ٔUdQ-U>9YYY=]EyYeͰEe>iQ 5u4m?Q 9u4m:)m-BYu>Q E} ;y}=Q I}@m4DImX;im ;m4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 595.16 m."iW9*i ProNav pure pursuit: ac range: 595.161133 m, nav range: 592.354858 m, bearing: 17.785934 deg, approach rate: -0.387247 m/s, LOS rate: nan deg/s, cmd heading: 17.782997 deg, new cmd heading: 17.785934 deg. HeadingCmd: 0.310423 target range: 595.161133 and range: 595.90 m.h>hhhhggjgrgereZe:e*e @[>[>"[7@*[ԁ=FBɢ<) Mi)y5=i%4i%>%=-=I->I)@==@==checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779522Eu EuEu(Eq"Eu ;*EuM:VEuc44ZEqBEuLQ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031014ԉ QV%,\LA2f=2Jm>2M=ٱ2\=2HPg?k;ӿ`e?ೳ?@5J? N@?@/?i2f=I2 a;0YNEByRnHTVAbDZVDZȰ8yb拽%bT=ٔfQ-f>9dYd=fEyhjEj>lQ 5r4ng?Q 9r4n)n-BYpyv=Q Iv@n=DIn:in:n>4yxɮz;Ax:iFNOT Ignoring new targets: 595.16 m."i%9*i!5 ProNav pure pursuit: ac range: 595.161133 m, nav range: 592.210510 m, bearing: 17.788705 deg, approach rate: -0.375119 m/s, LOS rate: nan deg/s, cmd heading: 17.785934 deg, new cmd heading: 17.788705 deg. 5HeadingCmd: 0.310471 target range: 595.161133 and range: 595.90 m.h5>h9h9h9h9g9g9jgArgAeAreAZeI:eI*eM@Y[q[q"[q*[uԹ=%FBɢ%<)! %|ji!)-I4=))i-ai5>5w=nh=I>Iԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.283007bE c44jE <4rE 0E EE'E"E:*Eą:VE'4ZEa@a@a@a@^A=ԹIB_>BBHBDBBBBEDB%;Bv[EI9 O > \%,wivLA2=2ڟ>2wJ=ٱ21=2Hlj?`,ӿ@'?{?M?.*Q??i2=I2`;2CYnEByneH=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535077imMb@Mb@Mb@iiii i9mx?I +y&1YmK>ym9m`em^Am9A i)m~AiYmGAbDVDy v%==ٔQ->9Y=Ey)E>ԱQ 54?Q 94w)-BY>Q E;y=Q I@GDI)0;i_/;4yɮHA:iFNOT Ignoring new targets: 595.16 m."i|9*i  ProNav pure pursuit: ac range: 595.161133 m, nav range: 592.056641 m, bearing: 17.792261 deg, approach rate: -0.355707 m/s, LOS rate: nan deg/s, cmd heading: 17.788705 deg, new cmd heading: 17.792261 deg. HeadingCmd: 0.310534 target range: 595.161133 and range: 595.90 m.h@>hhhhggjgrgereZe:e*ec@[>[>"[SY@*[=FBɢ_<)! %7si!)%3=!!i%hi-@>-=5q=I5@>I1^Aul=AuyAzAuyAIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787048E  E E )E "E :*E z:VE FA4ZE BE >2G=ٱ27=2Hn?)ӿ?`^?XQ?@~??i2=I2R`;0Y>EByBQHbDJVDJð8yR/%R[=ٔRQ-R>9TYT=VEyTV EZ>\Q 5b4^.?Q 9b4^3)^-BY`yb=Q Ib@^PDI^:i^:^L 4yfܒBɮjiAjE:ix~FNOT Ignoring new targets: 595.16 m."i~R9*i  ProNav pure pursuit: ac range: 595.161133 m, nav range: 591.923706 m, bearing: 17.795355 deg, approach rate: -0.357466 m/s, LOS rate: nan deg/s, cmd heading: 17.792260 deg, new cmd heading: 17.795355 deg. HeadingCmd: 0.310588 target range: 595.161133 and range: 595.90 m.hU>hhhhggjg!rg!e!re!Ze!:e)*e-@`@[I[I"[I*[M4=] FBɢ]<)a eia)e#3=aaieڣimU>m=m=ImU>Iq &Changing to mode: 1 :@  @ @ 4@ @zA@zAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.0392369^A=IQIiOuy>iԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290959v j%,LAE6 E6E6(E4"E6l;*E6Z:VE6c44ZE4a:@a:@a:@a:@YDBy:HbD=VD=8y*%<=ٔQ->9Y=EyE>Q 54?Q 94)v-BYyQ I@ZDIT;i m;4yɮA:i15FNOT Ignoring new targets: 595.16 m."i=9*i9m ProNav pure pursuit: ac range: 595.161133 m, nav range: 591.767944 m, bearing: 17.798985 deg, approach rate: -0.351385 m/s, LOS rate: nan deg/s, cmd heading: 17.795356 deg, new cmd heading: 17.798985 deg. mHeadingCmd: 0.310651 target range: 595.161133 and range: 595.90 m.hu >qB}c>B}CB}HB}DBB}X =ByByB} ;B}t[EB}CB}CByByByC}Q5hqhhhggjgrgereZe:e*e``@[["[*[] FBɢe}<) `i)2=顡ioi >==I >Iԡ@ @@w0@echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.543598^A = A 2AI I) O= >]cq%,ōLAYjDByj+Hi}Mb@Mb@Mb@yyyy y9}d;O?EԸ~jtxY}>y}ƽ}Ļ}ZA}5A }A)}AyY} AbDVD8y%<=ٔQ->9?Y?=Ey˺DE>Q 54?Q 94)g-BYu>Q E;y8=Q I@dDIV:i:|4checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795074yɮAB*** querying acoustic contact ***ii:i  FNOT Ignoring new targets: 595.16 m."i+9*i% ProNav pure pursuit: ac range: 595.161133 m, nav range: 591.616028 m, bearing: 17.802986 deg, approach rate: -0.354672 m/s, LOS rate: nan deg/s, cmd heading: 17.798985 deg, new cmd heading: 17.802986 deg. -HeadingCmd: 0.310721 target range: 595.161133 and range: 595.90 m.h->h)h)h)h)g1g1jg1rg1e9re9Ze9:e9*e=&I@mFBɢm<)q uiq)uc1=qqi}vi}>}=ؗ=I>IDD<E EE*E"E;*EAr:VE(N4ZEBE7Nw%,[ߍLA29=2">2?=ٱ2$[=2H x?#ҿx#?@MP? U[?G `᧿`2??i29=I2A|_;2CY,HbDFVDF8yNJ:%N]=ٔRQ-R>9R?YR?=VEyVѺDV&EV>XQ 5^4Z>?Q 9^4Z)ZZ-BY`ybm)=Q Ib@ZmDIZ ;iZ ;Z 4ydɮfAd:ixzFNOT Ignoring new targets: 595.16 m."i}$-9*iG{A^9{AYZA ProNav pure pursuit: ac range: 595.161133 m, nav range: 591.486145 m, bearing: 17.806458 deg, approach rate: -0.353814 m/s, LOS rate: nan deg/s, cmd heading: 17.802985 deg, new cmd heading: 17.806458 deg. =HeadingCmd: 0.310781 target range: 595.161133 and range: 595.90 m.h=>h9h9h9h9g9gAjgArgAeAreIZeI:eI*eM`@QFBɢP<) Εi)$0=iҡi>=U=I>I1achecking for new query: numPingsReceived=0, elapsed TxPingTime=6.299171:@ @ @ 5@ @=@=ԁE EE-E"EV:*E:VEt4ZEa@a@a@a@Bd>BBHBpDBBW =BBB;BW[EԹ^A Ѧ=A] AIa Iy O > ײ}%,tLA&checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550965Bu=Bְ>B<=ٱBcq=BH {? cҿ/?B?]?<z?7?iBu=IBF_;BCYNDByRHi%Mb@Mb@Mb@!!!! !9%`"?B`"۹Mb`Y%η>y%ν%!! !)!!Y!bD=VD=8yM6%M@=ٔU齺Q-U>9U??YU??=UEyUٺD]E]>aQ 5m4e*?Q 9m4ej)eM-BYu>Q Eu;yu=Q Iu@ewDIeI:iet:ee(4yyɮ}A:iFNOT Ignoring new targets: 595.16 m."i49*i= ProNav pure pursuit: ac range: 595.161133 m, nav range: 591.333618 m, bearing: 17.810668 deg, approach rate: -0.357520 m/s, LOS rate: nan deg/s, cmd heading: 17.806459 deg, new cmd heading: 17.810668 deg. =HeadingCmd: 0.310855 target range: 595.161133 and range: 595.90 m.hE\(>hAhAhAhAgAgAjgIrgIeIreIZeQ:eq*eu:E @ԱFBɢ<) i)/=i&i \(> = я=I \(>I1:@ @@1@checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802952DzDE EE)E"E:*E$:VEFA4ZEBE<9 ܚ%,PLAR=R>R`9=ٱR.=RH ~?@ҿ饳?-?`a?p`.ؼ?`_?iR=IR^;RCYjDByjHbD~ VD~8y%N=ٔ%Q-%>9!Y!=%Ey%D-hE->1Q 5=45 7?Q 9=45J)5A-BYAyE=Q IE@5DI5;i5;5X/4yIɮMAME:iquFNOT Ignoring new targets: 595.16 m."i59*i ProNav pure pursuit: ac range: 595.161133 m, nav range: 591.191528 m, bearing: 17.814612 deg, approach rate: -0.357405 m/s, LOS rate: nan deg/s, cmd heading: 17.810668 deg, new cmd heading: 17.814612 deg. HeadingCmd: 0.310924 target range: 595.161133 and range: 595.90 m.h b1>h h h hgg1jg9rg9e9re9Ze9:eA*eE@!@FBɢ$v<) 1i).=iJ|Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.055214i]b1>]=e6=Ieb1>Ia%:@! @!@%P0@!9^AM =q  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307072A I I O >E  E E E "E ;*E :VE ZE a @a @a @a @ Ŋ%,+-LA N=Bbf>B`BbHBbeDBB`B`B`Bb;BbY[ENO>N7=ٱN=NH`-?@%ҿ`g?`7?e?@ަ?``?iN=IN%^;NCYDBy!HbDE'VDEа8yU =%UF=ٔUúQ-}>9yYy=}Ey}DJE>Q 54D?Q 94*)5-BYyhhhhggjgrgereZe:e*e`"@MFBɢU7<)Q UiY)],=YYi]Ɵie:>e{=e=Im:>IiIuyA)uxAechecking for new query: numPingsReceived=0, elapsed TxPingTime=7.559324ԙ:@ @@5@@@ ^A @= A- 0AI9 II OU >v.%,[&ILA^checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811359YzDByzHE} E}E}'Ey"E}&:*E}x:VE}'4ZEyBE}h;yĽ`;SA9A  A)AYAbD,VDհ8yaY%3=ٔQ->9?Y?=EyDE>Q 54 R?Q 94)+-BY R>Q E;y@=Q I@DIA;in?;>4yɮA!iB*** querying acoustic contact ***ii:i%FNOT Ignoring new targets: 595.16 m."i%$"9*i!5 ProNav pure pursuit: ac range: 595.161133 m, nav range: 590.883301 m, bearing: 17.823086 deg, approach rate: -0.326715 m/s, LOS rate: nan deg/s, cmd heading: 17.818753 deg, new cmd heading: 17.823086 deg. =HeadingCmd: 0.311072 target range: 595.161133 and range: 595.90 m.h=D>h9h9hyhygygjgrgereZe:e*e "@UFBɢU<) 3i)w+=顩i? iD>:ܗ=/.=ID>Iԑm :@i @q@uP0@qmchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.063017Թ ^A m= A ڗAI I O >#%,UfLA64=6>6x[/=ٱ6=6HL?φҿ@?? Vm?@饿&??i64=I64^;6CYBDByBHbDNVDN8yR%VE=ٔVQ-V>9V?YZ?=ZEyZDZE^>\Q 5b4^^?Q 9b4^)^#-BYdyf=Q If@^DI^:i^ :^E4yhɮnAl:i|FNOT Ignoring new targets: 595.16 m."i N9*i ProNav pure pursuit: ac range: 595.161133 m, nav range: 590.736511 m, bearing: 17.827114 deg, approach rate: -0.410247 m/s, LOS rate: nan deg/s, cmd heading: 17.823087 deg, new cmd heading: 17.827114 deg. HeadingCmd: 0.311142 target range: 595.161133 and range: 595.90 m.hM>hhhh!g!g!jg!rg!e)re)Ze):e)*e5@#@"FBɢ<) ɯi)Λ*=ioiM>ԗ=;=IM>I=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316200AE EE*E"E:*Exv:VE(N4ZEa@a @a @a @:@ @@@A!A%AAB5i>B5CB5HB5[DBB5X =B1B5FDB5;B5j[EY^Aԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567092AA II IY Om > %,LA2^=2k>2+-=ٱ2%j=2H@?@~ҿƚ?? n?@[>??i2^=I2S];2CY>DBy>Hi-Mb@Mb@Mb@)))) )9- +?{GzQ?Y-ȶ>y-ף-u<)) ))))Y)bDVD8y%;=ٔiyQ->9Y=EyD˺E>Q 54Nl?Q 94)-BYy>Q E;yě=Q I@DI*;i);aM4yɮA:i  FNOT Ignoring new targets: 595.16 m."i39*i% ProNav pure pursuit: ac range: 595.161133 m, nav range: 590.581116 m, bearing: 17.830725 deg, approach rate: -0.355456 m/s, LOS rate: nan deg/s, cmd heading: 17.827113 deg, new cmd heading: 17.830725 deg. -HeadingCmd: 0.311205 target range: 595.161133 and range: 595.90 m.h->V>h)h)h)h)g)g)jg1rg1e9re9Ze9:e9*e=v$@m&FBɢm<)i mᵾii)ub)=qqiui}>V>}tʗ=}=I}>V>I>i>Ա:@ @@5@@=@=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.819850E EE+E"E=;*EM:VE [4ZEBEI9 1%,fLA>=><>>8+=ٱ>^=>H ?uҿ}q??p?Ś x(?@?i>=I>^;>CYJDByJHiPIPVchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.071387bDZ׿VDZ8yb~%bZ=ٔfQQ-f>9dYd=fEyf DjOEj>lQ 5r4nw?Q 9r4nD)n-BYpyv{=Q Iv@nDIn;inu:nS4yzےBɮzAzE:iFNOT Ignoring new targets: 595.16 m."i%'9*i!5 ProNav pure pursuit: ac range: 595.161133 m, nav range: 590.448120 m, bearing: 17.833826 deg, approach rate: -0.356495 m/s, LOS rate: nan deg/s, cmd heading: 17.830725 deg, new cmd heading: 17.833826 deg. 5HeadingCmd: 0.311259 target range: 595.161133 and range: 595.90 m.h5V]>h9hqhqhqgqgyjgyrgyeyreZe:e*e iJ%@*FBɢ}<) i)4"(=i]iV]>={=I V]>I A@A @A@Eo0@A9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.323020bEFA4jEȷG4rEȁ/E  E E )E "E ;*E ҆:VE FA4ZE a- @a- @a- @a- @i ^A B p>B B tHB QDBB W =B B B ,;B [EA I I O >^%,LⳎLA %+=%ޘ>%(=ٱ%;2=%H?pҿ9?\?`q?`X@R һ?x?i%+=I%E^;%CYDByHiiMb@Mb@Mb@ 9^I +?Zd;~jt?YX>yy<CA(A A)AY=Achecking for new query: numPingsReceived=0, elapsed TxPingTime=9.575057bD޿VD8y6<%"=ٔQ->9Y=EyD.aE>Q 54E?Q 94)-BY5>Q E;y3>Q I@DIh h h h ggjgrgereZe:e*e%tE&@M.FBɢMt<)I U*iQ)UǴ&=QQiUdIi]d>]=]=Ied>Iaԙ@ @@_5@ ^A xr= checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831636Em  Em Em +Ei "Em =;*Em :VEm [4ZEi BEi a} 2Ei a JEm ;a :Em ;a AM AIQ Ia Ou >XԳ%,ЎLArR!=rۘ>rϽ&=ٱr9=rH@ ?]qҿ?&? q?@֤ ˻?@?irR!=Irf];rCY5DBy5HbDEVDE8yU+%Uc=ٔ]&ȺQ-]>9]c?Y]c?=eEyeDekEe>iQ 54mW?Q 94m5)m-BYy/>Q I@mDIm hhhhggjgrgereZe:e*e~'@%2FBɢmQ<)i m'¾ii)m%=iqiufiu@j>}=}=I}@j>Iy@ @@5@@!@!) %,鎖LAj.o=j[>j8C$=ٱj#=jH?tҿ??[q? `λ?@?ij.o=Ij];hYvDByvH2Acoustic response timeout  AAbDVD8y%ZD<%%N=ٔ-ǺQ-->91Y1=5Ey5!D=9E=>IQ 5U4M?Q 9U4M)M-BYYy]U>Q I]@MDIM4;iMD;Mi4yiɮmAq:iFNOT Ignoring new targets: 595.16 m.E EEE"E:*Eh:VEZEa@a@a@a@"i8*i ProNav pure pursuit: ac range: 595.161133 m, nav range: 589.992004 m, bearing: 17.842073 deg, approach rate: -0.380264 m/s, LOS rate: nan deg/s, cmd heading: 17.839471 deg, new cmd heading: 17.842073 deg. HeadingCmd: 0.311403 target range: 595.161133 and range: 595.90 m.h4p>hhhhggjg rg e reZe:e*e['@Bu>BCBBBU =BBGDBC;B[EBCBCB”CBW =BW =Ce57FBɢ0^<) i)R$=i  뚼iM4p>U8=UoՂ=IU4p>IQ:@ @@0@A2Acoustic response timeout^AM W^=q A I I O >%,LA0jhi=j->jW!=ٱjƑ=jH?|ҿ@ձ?*?o?> p޻??ijhi=Ijv}];jCYvDByvHiuMb@Mb@Mb@qqqq q9uV-?Q롿 rh?Yu>yu\uC9Y=Ey*DÕ:E>Q 54]?Q 94)-BY>Q E;yM>Q I@DIY;i;Bq4yɮ6A:iFNOT Ignoring new targets: 595.16 m."iޓ8*i ProNav pure pursuit: ac range: 595.161133 m, nav range: 589.838135 m, bearing: 17.843741 deg, approach rate: -0.372482 m/s, LOS rate: nan deg/s, cmd heading: 17.842073 deg, new cmd heading: 17.843741 deg. HeadingCmd: 0.311432 target range: 595.161133 and range: 595.90 m.h t>h hhhggjgrgereZe:e*e(@;FBɢ:<)  оi)"=is-it>ʓ=R=I%t>I!ԉ2Acoustic response timeoutE EE*E"E;*E:VE(N4ZEBED 2Acoustic response timeout ǣ%,eLAFU=Ft>FH=ٱF6=FH?@ҿ?? 1n?@ηޣ?@?iFU=IF];D`Y`yfHbDnVDn8yv&:%vV=ٔvQ-v>9xYx=zEyz1Dz":E~>Q 5 4?Q 9 4*)Y y M>Q I @DIq:i%:w4yڒBɮ3A:i9EFNOT Ignoring new targets: 595.16 m."iEȑ8*iIU ProNav pure pursuit: ac range: 595.161133 m, nav range: 589.697449 m, bearing: 17.845260 deg, approach rate: -0.368752 m/s, LOS rate: nan deg/s, cmd heading: 17.843741 deg, new cmd heading: 17.845260 deg. ]HeadingCmd: 0.311459 target range: 595.161133 and range: 595.90 m.h]w>hYhahahagagajgirgieireiZei:ei*euU)@=?FBɢ="<)9 =ѾiA)E%!=AAiEviMw>M=M]r=IMw> aevCIyQGI)yAZ9YVA@ @@C5@@@=2Acoustic response timeout)E EEE"E%;*E:VEZEa@a@a@a@Bv>BB[HB=DBBBBBS;B[E^Axr=I A9 IA IY Oe >.:ͣ%,z7LA]=]ҙ>]A=ٱ]c=]H]? ҿ ??l?>뷿??i]=I]];]CYuDBy}HAiMb@Mb@Mb@ 9\(\?~jtyļt<SA-A A)AY=AbDVD8y%:%%7=ٔ-ĺQ-->91Y1=5Ey5:D5:E=>9Q 5E4=n?Q 9M4=-)=-BYMW>Q EM;yMn>Q IM@=DI=;i=;=4yYɮ]1AYu2Acoustic response timeout:iFNOT Ignoring new targets: 595.16 m."iL8*i ProNav pure pursuit: ac range: 595.161133 m, nav range: 589.534851 m, bearing: 17.846511 deg, approach rate: -0.363622 m/s, LOS rate: nan deg/s, cmd heading: 17.845261 deg, new cmd heading: 17.846511 deg. HeadingCmd: 0.311480 target range: 595.161133 and range: 595.90 m.h[z>hhhhggjgrgereZe:e*e :*@eEFBɢmw7<)i m"Ծii)mLA =iqiuxiu[z>}<=}ܐ=I}[z>IyA9@9 @9@=1@9i^Ae _=% 2Acoustic response timeoutԙ D <D E  E E E "E ;*E :VE ZE BE Aԣ%,5CQLA>Ʃ=>C>>U)=ٱ>vU=>H?ҿ1N?C?k?+@$??i>Ʃ=I>];91Y1=5Ey5ADE:EE>IQ 5]4M?Q 9]4MZ)M-BYayeyn>Q Ie@MDIMWH;iMH;M74yqԁɮupA:iFNOT Ignoring new targets: 595.16 m."iH8*i ProNav pure pursuit: ac range: 595.161133 m, nav range: 589.399170 m, bearing: 17.847550 deg, approach rate: -0.358410 m/s, LOS rate: nan deg/s, cmd heading: 17.846511 deg, new cmd heading: 17.847550 deg. HeadingCmd: 0.311499 target range: 595.161133 and range: 595.90 m.h|>hhhhggjgrgereZe:e*e*@-IFBɢ-F;)1 5gi1)=顉ii|>w==I|>IԩE :@A @A@E_0@A2Acoustic response timeout^Ai  IA IQ Oe >Gڣ%,kLA B퉪=B 6>BS=ٱB^=BH ?ҿ?@5? k?,@^ɢ`k??iB퉪=IB$^;@YZDByZHvBDAT read: Response Not Received z*response not receivedz(DAT read: user:85> ~BDAT read: Tx time:04:06:20.1391 $Ping request sent.9Y=EyJDe:E>Q 54V?Q 94h)-BYy%n>Q I%@DI~;i;4y)ɮ-YA-EB]u>BYB]BHB](DBBYBYBYB]_;B][EB*** querying acoustic contact ***ii:i15FNOT Ignoring new targets: 595.16 m."i=M@8*i9E ProNav pure pursuit: ac range: 595.161133 m, nav range: 589.244141 m, bearing: 17.848732 deg, approach rate: -0.344494 m/s, LOS rate: nan deg/s, cmd heading: 17.847551 deg, new cmd heading: 17.848732 deg. mHeadingCmd: 0.311519 target range: 595.161133 and range: 595.90 m.hup>hqhqhqhqgqgqjgyrgyeyreyZe:e*eF+@5OFBɢ=<)9 EiA)E7)=顩iip>m=`=Ip>I e:@i @i@u5@q@@yA1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248136^A IA IQ Y Oe >/%,LA:"K=:W>:=ٱ:=:H ? 9ҿ??`h?hzM??i:"K=I:5^;8YF`DByJHiEMb@Mb@Mb@AAAA A9E\(\?{GztYAyE̼EףEGAA EA)AAYEAbD]VD]ð8ym2ý%mK=ٔmĺQ-u>9qYq=uEyuQD};E}>Q 54?Q 94)-BYU>Q E;yq>Q I@ DIk:i:t4yɮA:iFNOT Ignoring new targets: 595.16 m."iW8*i ProNav pure pursuit: ac range: 595.161133 m, nav range: 589.102234 m, bearing: 17.849784 deg, approach rate: -0.397611 m/s, LOS rate: nan deg/s, cmd heading: 17.848732 deg, new cmd heading: 17.849784 deg. HeadingCmd: 0.311538 target range: 595.161133 and range: 595.90 m.h؁>hhhhggjgrgereZe:e*e,@%TFBɢ%`q:)! %i!)-=))i-Qi5؁>15/g===I=؁>I9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505423E EE*E"E;*Ex:VE(N4ZEBEa2EaJE;a:E;aa^AG=IqIԉO> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756176 q%,8LA6 ~=6>6=ٱ6=6Hӆ?ҿ԰??`9\Y\=^Ey^YD^:Eb>`Q 5j4b?Q 9j4b)b,BYhyjq>Q Ij@bDIb;ib;b24ynْBɮrAp:i FNOT Ignoring new targets: 595.16 m."i aD8*i ProNav pure pursuit: ac range: 595.161133 m, nav range: 588.961609 m, bearing: 17.850820 deg, approach rate: -0.364355 m/s, LOS rate: nan deg/s, cmd heading: 17.849784 deg, new cmd heading: 17.850820 deg. %HeadingCmd: 0.311556 target range: 595.161133 and range: 595.90 m.h%6>h!h!h!h!g)g)jg1rg1e1re1Ze1:e1*e=@^-@eYFBɢeL)  i)=i5gi6>_==I6>Ia@ @@o5@ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008579^Aeff=E EE(E"EV:*E&p:VEc44ZEa@a@a@a@IIO >B-r>B)B-)HB-DBB)B)B)B-;B-[EԹ %,LAr=*>==ٱ=H`d?:ҿ??` ? f?F犻?`?ir=Im^;YXDBy|HiEMb@Mb@Mb@AAAA A9EV-?X9vZd;OYE|>yEEjAA EA)EAAYEAbD] VD]8uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260185y}\=%}3=ٔ}Q-}>9Y=EybD:E>Q 54?Q 94),BY>Q E ;ywh>Q I@DI:iI:14yɮA:iFNOT Ignoring new targets: 595.16 m."i`8*i ProNav pure pursuit: ac range: 595.161133 m, nav range: 588.791077 m, bearing: 17.852226 deg, approach rate: -0.372626 m/s, LOS rate: nan deg/s, cmd heading: 17.850819 deg, new cmd heading: 17.852226 deg. HeadingCmd: 0.311580 target range: 595.161133 and range: 595.90 m.hn>hhhhggjgrgereZe:e*e YI.@5_FBɢ5 ;)9 =i9)=/=99i={iEn>EW=M&=IMn>II:@ @@_0@@ =@ =^A% i=I I I O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512243E  E E 'E "E ;*E :VE '4ZE BE Dj&w =ٱj!=jH ?ҿ`_x? ? f?nr??ijZ=Ij^;jCY99Y9=EEyEiDE|:EE>IQ 5U4M ?Q 9U4M)M,BYQy]h>Q I]@M%DIM';iM#;M4yaɮeAa:i  FNOT Ignoring new targets: 595.16 m."iV8*i% ProNav pure pursuit: ac range: 595.161133 m, nav range: 588.656433 m, bearing: 17.853333 deg, approach rate: -0.356640 m/s, LOS rate: nan deg/s, cmd heading: 17.852226 deg, new cmd heading: 17.853333 deg. %HeadingCmd: 0.311599 target range: 595.161133 and range: 595.90 m.h->h)h)h)h)g)g)jg1rg1e1re9Ze9:e9*e=L /@meFBɢmpA)i m@ ii)mԄ=qqiu敓i}>}P=}=I}>II-:@) @)@-O0@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764165y^AIԩ A .AI I O >ߖ%,8j쏖LA@f=f>f1 =ٱfC1=fH0?ҿZ? Q$? @d?O`c%`t?!?if=Ifv'^;dvchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016842Y)DByCHbDVDư8y-<%-K=ٔ58Q-5>95 ?Y5 ?=5Ey=qD=:E=>AQ 5M4E?Q 9M4E)E,BYIyUi>Q IU@E/DIE7:iE:E4y]ےBɮ]A]EbE (N4jE rE "/E EE*E"E:*E1:VE(N4ZEa@a@a@a@:iFNOT Ignoring new targets: 595.16 m."ie8*i ProNav pure pursuit: ac range: 595.161133 m, nav range: 588.506165 m, bearing: 17.854558 deg, approach rate: -0.384756 m/s, LOS rate: nan deg/s, cmd heading: 17.853332 deg, new cmd heading: 17.854558 deg. HeadingCmd: 0.311621 target range: 595.161133 and range: 595.90 m.hČ>hhhhggjgrgereZe:e*e/@BABp>BCBHBCBBW =BBFDB;B\E额kFBɢ2) i)=顡iliČ>\J=Պ=IČ>Iԩe :@i @i@m5@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268810^AA A I I O >}%,B@LA6_=6俛>6^#=ٱ6=6H`?Gҿ,?(?@lc?@`àp?b?i6_=I6];6CYV/DByVKH|ieMb@Mb@Mb@aaaa a9eZd;?&1X9vYe۹>yePeaa eA)eAaYeAbD}VD}8y\<%*=ٔW˺Q->9Y=Ey{D:E>Q 54'?Q 94(),BYY>Q E;y2>Q I@:DI;iF;4yɮ AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 595.16 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520304"i8*i ProNav pure pursuit: ac range: 595.161133 m, nav range: 588.332458 m, bearing: 17.856903 deg, approach rate: -0.363401 m/s, LOS rate: nan deg/s, cmd heading: 17.854558 deg, new cmd heading: 17.856903 deg. E EEE"ET;*E$:VEZEBEGhhhhggjgrgereZe:e*ek0@msFBɢm 7)i uiq)uW=qqiuui}!>}B=}p=I}!>IaI}xA)y9:@ @@]0@@xA@zAa  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772863^A m=ԑ AM؟AIQIaOu>l%,$LA>U=>>>=ٱ>6=>H`D?sҿ ?4&?_d? 9x6?S?i>U=I>];>CYJDByJ,HbDPVDPyZ%ZW=ٔ^ƺQ-^>9^"?Y^"?=bEybDbmEb>dQ 5j4f)3?Q 9j4f)f,BYlyn1>Q In@fCDIf3;if;f4yrڒBɮr;Ap:i  FNOT Ignoring new targets: 595.16 m."i98*i% ProNav pure pursuit: ac range: 595.161133 m, nav range: 588.194885 m, bearing: 17.858764 deg, approach rate: -0.361865 m/s, LOS rate: nan deg/s, cmd heading: 17.856903 deg, new cmd heading: 17.858764 deg. -HeadingCmd: 0.311694 target range: 595.161133 and range: 595.90 m.h-c>h)h)h)h)g)g1jg1rg1e9re9Ze9:e9*e=0@mxFBɢmp)me uQiq)uV=qqiui}c>}==}Z=I}c>II  :@  @ @ `0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024311yE EE(E"E;*E:VEc44ZEa@a@a@a@BBBHBCBBBBBà;B)\EBCBCBœCBU =BV =Cq5^A ԩA= .AII IY Oe > %,YR>LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2761536x=6q>6s=ٱ69=6H@a?nҿ`??`Me?`ώMd6?h?i6x=I63];6CY^DBy^HiMb@Mb@Mb@ 9Zd;O?yt;A A)YbD&VDϰ8y:%;=ٔBQ->9 ?Y ?=EyD-}E>Q 54@?Q 94),BY>Q E ;y=Q I@MDI;i;;ǵ4yɮcA:iFNOT Ignoring new targets: 595.16 m."i=8*i% ProNav pure pursuit: ac range: 595.161133 m, nav range: 588.035278 m, bearing: 17.861792 deg, approach rate: -0.366019 m/s, LOS rate: nan deg/s, cmd heading: 17.858764 deg, new cmd heading: 17.861792 deg. -HeadingCmd: 0.311747 target range: 595.161133 and range: 595.90 m.h-P>h)h1h1h1g1g1jg9rg9e9re9ZeA:eA*eEu41@mFBɢuR)q u+iq)}n=yyi} iP>5==IP>IԱ:@ @@ 5@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528194E EE'E"E;*E:VE'4ZEBEA%,XLA2=2x>2_=ٱ2]=2HB?ҿ ׯ?| ?d?@R@@Ka?@?i2=I2/];2CY>CBy>HbDFVDF8yN%N`=ٔR%ZQ-R>9PYP=REyRDV9EV>XQ 5^4Z.L?Q 9^4Z)Zz,BY\yb=Q Ib@ZVDIZ:iZG:Z͵4ydɮfiAd:ixzFNOT Ignoring new targets: 595.16 m."i~88*i|  ProNav pure pursuit: ac range: 595.161133 m, nav range: 587.901367 m, bearing: 17.864332 deg, approach rate: -0.366154 m/s, LOS rate: nan deg/s, cmd heading: 17.861792 deg, new cmd heading: 17.864332 deg. HeadingCmd: 0.311791 target range: 595.161133 and range: 595.90 m.h >hhhhggjgrgereZe!:e!*e%1@UFBɢUB)Q Ut!iQ)]Y =YYi]uie >eg/=eډ=Ie >I!mBDAT read: Rx Time:04:06:23.3287 uTRx dataTimestamp_ set to:1764907585.488076}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782930:@ @@Q5@@=@=}݂G9YAY^A=AzAzAԁ A ؟AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032143E  E E )E "E :*E ą:VE FA4ZE a @a @a @a @A A @AB r>B CB HB CBB V =B B GDB Ӡ;B <\E0%,qLAPbɭ=b>b̺=ٱb4=bH~?Tҿ6??-g?`̙5??ibɭ=Ib|];bCY=CBy=HbD}VD}8yļ%==ٔnsQ->9"?Y"?=EyDE>Q 54Y?Q 94)c,BYy=Q I@aDI:i:,յ4yْBɮ{AE:iFNOT Ignoring new targets: 595.16 m."i:8*i ProNav pure pursuit: ac range: 595.161133 m, nav range: 587.743164 m, bearing: 17.867349 deg, approach rate: -0.342648 m/s, LOS rate: nan deg/s, cmd heading: 17.864332 deg, new cmd heading: 17.867349 deg. ԉHeadingCmd: 0.311844 target range: 595.161133 and range: 595.90 m.h>hhhhggjgrgere)Ze1:e9*eE2@颵FBɢc) h&i) =ix&i>$==I>IiߩIߩԹDAT read: 04:06:23.3287 LVL= 18864, 19633, 19218, 27347, AGC= 71, IDX= 311, 0.12, 1.661, 0.078, 1.879, 1.233, PHS= 0.530,-1.110, 0.602, RAW= 152.1, -0.3, CAL= 151.0, -1.1, ROT= 359.0, 1.1 Ygot valid direction response: 04:06:23.3287 LVL= 18864, 19633, 19218, 27347, AGC= 71, IDX= 311, 0.12, 1.661, 0.078, 1.879, 1.233, PHS= 0.530,-1.110, 0.602, RAW= 152.1, -0.3, CAL= 151.0, -1.1, ROT= 359.0, 1.1 PDAT read: Bearing 168.3, -2.9 (Local) ~Local bearing/azimuth received: Bearing 168.3, -2.9 (Local) DAT read: Range 11 to 50 : 589.0 m (Round-trip 785.4 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages. `direction in FSK: [0.999663,-0.017449,-0.019197]Fpublishing direction and range infoyFP*>?*@ޑ]~Y@DILK j)GI?i{?)@+(@ nF)@InF<J 7??(r ?);IinF<-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode. E v :@  @ @ `5@  u(DAT read: user:86> uBDAT read: Tx time:04:06:24.6391 }$Ping request sent.}V1<ٱVF=VH ?kҿ@v?`O? ,l?%nğ?@q?iVq =IV\;VCYbCBybHxiUMb@Mb@Mb@QQQQ Q9UGz?J +~jtYUp>yUȽUļUGAU9A Q)QQYU=AbDmVDm8y}Ǽ%}=ٔ}<-Q-}>9 ?Y ?=EyD GE>Q 54l?Q 94)G,BY[>Q E ;yH=Q I@oDI:i9:ߵ4yɮAiiLAjD"jD:j9>"po`@Uv$+v&pFP*>?*@ޑ]~*j2jnF<*pEB@>[잰d@in>p@??MmYo?Rpj%C j Di^?iA}j`AjF addTargetRange:: Added new target pos. range: 589.000000 m, deltaT: 18.153744 s, deltaX: -6.900024 m, approachRate: -0.380088 m/s, rangeRepo size: 2  Added new target pos. range: 588.300781 m, bearing: 16.363595 deg, lat: 36.779373 deg, lon: -121.859321 deg, deltaT: 18.153744 s, deltaX: -6.860352 m, approachRate: -0.377903 m/s, posRepo size: 2 :iFNOT Ignoring new targets: 588.30 m."i*iProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 16.363595 deg.HeadingCmd: 0.285599 target range: 588.300781 and range: 589.00 m.h9>hhhhggjgrgereZe!:e%h@*ee0?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250867FBɢP_) ,i)ע=iË!i%9>!-=I-9>I)Ir :@  @! @% J0@! @5 zA@1 y U %=U 4=] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503180E  E E *E "E &:*E ~:VE (N4ZE a @a @a @a @B B B HB CBB W =B B FDB ;B P\Eԩ ^Ae8=IYIiO} ?.%,sLALYmCBymHchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754936iMb@Mb@Mb@ 9Gz?"~j{GzYyS㽙#7A(A A)AYA@AbDVD8y-p%- =ٔ-Q-5>91Y1=5Ey5D=E=>AQ 5M4EM?Q 9M4E)E3,BYM>Q EM ;yMKUhAhAhAhIgIgIjgIrgQeQreQZeQ:eQ*e]@M?FBɢ') $8i)K=ip;iV>7==IV>I9AAAA! M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007196D =D E  E E (E "E ;*E :VE c44ZE BE 7N5%,אLA2Ƨ=2>2J<ٱ2G=2HԎ?@ҿӮ?`?n?zU@?@?i2Ƨ=I2\;0Y>CBy>HbDJVDJ8yN<%N_=ٔRQ-R>9TYT=VEyVDVEEZ>XQ 5^4Z0?Q 9^4Z)Z',BY`yb[Chhhhggjg!rg!e!re!Ze):e)*e-ڟ?UFBɢ]ι)Y ]K7iY)]J=YYie. ieh>m@=m=Imh>Ii=:@9 @9@=5@9=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258846^A}õ=IIO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511371EM  EM EM *EI "EM ;*EM |:VEM (N4ZEI aU @aU @aU @aU @;%,KLABA<Bq>BCBnHB|CBBBBB;BG\E0Mrs=Mn>M<ٱMÂ=MH?͈ҿ@,?[?q?Bj@T5`m??iMrs=IM\;MCYeCByeHbDVD8y%9=ٔIQ->9Y=EyûD(E>Q 54?Q 94),BYy0hhhhggjgrgereZe:e*e?MFBɢU h)Q U;iQy)U<顑iiS~>{M==IS~>Iu:@y @y@}0@@=@=ԩEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762770^Au m=A} xAzA} tA I I O >ϵB%, ^ LA6=6H>6l<ٱ6=6Hq?{ҿȮ? g?`r?` X,/??i6=I6\;6CYBCByBH`iMb@Mb@Mb@ 9x&1?zGế{Gzt?Y>y ׽ף;CA )YzAbD- VD-8y5%=V=ٔ=Q-=>9AYA=EEyE˻DMEM>IQ 5U4M*?Q 9]4M)M,BY]>Q E];y]hhhhhggjgrgereZe:e*ez@mFBɢukü)q n?i)Me<顙iDiG>V=>=IG>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014889E EE)E"E*E:VEFA4ZEBEDA m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266880xH%,m;%LA6I=6d{>68<ٱ6=6Hٓ? ryҿ@? q?q?Şn?@?i6I=I6\;6CYBCByBHbDNVDN8yV2=%VT=ٔVQ-V>9XYX=ZEyZӻD^-E^>`Q 5f4b?Q 9f4bh)b ,BYdyf~h!h!h)h)g)g)jg1rg1e1re1Ze1:e1*e= @eFBɢe/ļ)i muF_=}=I}v>Iy@ @@O0@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519307B5t>B5CB5aHB5qCBB5V =B1B5GDB5Ϡ;B59\EbEFA4jE?4rEŒ/E= E=E9E9"E=:*E=ą:VE9ZE9BE=<<2E=<<JE=";:E=#;q^A=II)O5>ԡ O%,$?LA-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772430qYCByHiuMb@Mb@Mb@qqqq q9u+?Mbyuut9Y=EyܻDE> Q 54 o?Q 94 .) ,BY>Q E ;y?=Q I@ DI 4:i |: 4y!ɮ-A)EB*** querying acoustic contact ***iAiA:iQUFNOT Ignoring new targets: 588.30 m."i]R+9*i]R+9m ProNav: ac range: 588.300781 m, nav range: 586.475220 m, bearing: 17.145186 deg, approach rate: -0.371621 m/s, LOS rate: 0.009361 deg/s, cmd heading: 16.409267 deg, new cmd heading: 16.418267 deg. im9uHeadingCmd: 0.286553 target range: 588.300781 and range: 589.00 m.hu >hqhqhqhqgqgyjgyrgyeyreZe:e*e`@颵FBɢ𸖼) ,>i) <项i=oi >j=U֩=I >Ia>i>ԡe:@a @a@eP5@a@myA@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022811^A ʞ=E%  E% E! E! "E% :*E% &p:VE! ZE! a- @a- @a- @a- @ A I I O >fU%,gXLAY~CBy~HbDVDyE%Ek=ٔAQ-M?9IYI=MEyMDQEU?YQ 5e4]?Q 9e4])],BYayaQ Ie@]DI]C:i]::]!4yqɮuAq:iFNOT Ignoring new targets: 588.30 m."i+9*i+9 ProNav: ac range: 588.300781 m, nav range: 586.346069 m, bearing: 17.148441 deg, approach rate: -0.372676 m/s, LOS rate: 0.009395 deg/s, cmd heading: 16.418267 deg, new cmd heading: 16.424779 deg. i9HeadingCmd: 0.286666 target range: 588.300781 and range: 589.00 m.hŒ>hhhhggjgrgereZe:e*e @FBɢv) Ei)`<i Oi Œ> r=Ʈ=IŒ>I@ @@`5@5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274924^A=1A% ؟AI1 IQ O] >Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526817A! A% AAB5 s>B1 B5 UHB5 gCBB1 B1 B1 B5 ;B5 O\EBBB\%,rLAB-V =B)C-5En EnEn(El"En ;*En҆:VEnc44ZElBEnYQ]Q<ٱ]:=]H@?cҿ%?Q?`!u?.`v?C?i]ⓠ=I]];]CYuCByuHbDVD8yl;%E=ٔv+Q->9"?Y"?=EyDjE>Q 54?Q 94),BYy9=Q I@DI;i};a4yՒBɮAE:i)1UFNOT Ignoring new targets: 588.30 m."iU%)9*iU%)9e ProNav: ac range: 588.300781 m, nav range: 586.191772 m, bearing: 17.152355 deg, approach rate: -0.364226 m/s, LOS rate: 0.009242 deg/s, cmd heading: 16.424780 deg, new cmd heading: 16.432610 deg. ieQ9mHeadingCmd: 0.286803 target range: 588.300781 and range: 589.00 m.hmג>hihhhggjgrgereZe:e*e@FBɢS_Ǽ) \Gi)<iꍀi ג> u{= *=I%ג>I) :@  @ @0@a=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778870ԉ^A =Թ A I I O >gc%,LAY~CBy~HiMb@Mb@Mb@ 9p= ף?lZd;O?Y>yj< ݽA)AYpAbDVD8y;%G=ٔQ->9Y=EyDE>Q 54?Q 94e),BY>Q E;y=Q I@DI]:i:"4yɮA:i!%FNOT Ignoring new targets: 588.30 m."i% 9*i- 9= ProNav: ac range: 588.300781 m, nav range: 586.033875 m, bearing: 17.155451 deg, approach rate: -0.392873 m/s, LOS rate: 0.007705 deg/s, cmd heading: 16.432610 deg, new cmd heading: 16.438804 deg. i=a9EHeadingCmd: 0.286911 target range: 588.300781 and range: 589.00 m.hE>hAhAhAhAgAgAjgIrgIeIreIZeQ:eQ*eU1@颍FBchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.0324341ɢu\)q }Hiy)}=p=I>E EEE"El;*Eą:VEZEa@a@a@a@Ie:@a @a@e@0@a@m=@m=^A =A yAzA yAM checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282766 = G A I I  O- >= 몿99 Y= "A=.i%,LAy*S?.PAJ-=J֞>J <ٱJ=JHa?cҿv?f?u?.??D?iJ-=IJ(];JCYVCByVHbD  VD 8yP%V=ٔBQ->9!Y!=%Ey%D-E->1Q 5545$?Q 9=45)5 ,BY9y=u=Q I=@5DI5s;i5o;56)4yMԒBɮMAI:iiuFNOT Ignoring new targets: 588.30 m."iug 9*iug 9 ProNav: ac range: 588.300781 m, nav range: 585.887024 m, bearing: 17.158334 deg, approach rate: -0.385115 m/s, LOS rate: 0.007563 deg/s, cmd heading: 16.438804 deg, new cmd heading: 16.444571 deg. ir]9HeadingCmd: 0.287012 target range: 588.300781 and range: 589.00 m.h:>hhhhggjgrgereZe:e*e`@FBɢ) Oi) <i5{i:>s=cg=I:>I:@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535880!Bt>BBBBBBB;Bm\EE EE)E"E;*Ex:VEFA4ZEBEA p%,"LA checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789344m=m~>mnX<ٱm1:=mH ?e`ҿE??v?%*n7?t?im=Im:];mCYCByHiMMb@Mb@Mb@IIII I9MJ +?J +~jt?YM>yMHMQ-}>9Y=EyDE>Q 54?Q 947) ,BY>Q E;y=+>Q I@DIr;i;14yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 588.30 m."i8*i8 ProNav: ac range: 588.300781 m, nav range: 585.709961 m, bearing: 17.160638 deg, approach rate: -0.391675 m/s, LOS rate: 0.005097 deg/s, cmd heading: 16.444572 deg, new cmd heading: 16.449180 deg. iB9HeadingCmd: 0.287092 target range: 588.300781 and range: 589.00 m.h>hhhhggjgrgereZe:e*e`wq@Y颭FBɢ Hۼ) %Pi)<iwi>:==I>I:@ @@o5@ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.039494E=  E= E= +E9 "E= :*E= |:VE= [4ZE9 aM @aM @aM @aM @ ^Am =Au >Au >A I I O >jv%,ۑLA$2=2|>2 <ٱ2\=2H-?`$aҿ? f?v? @[,?@?i2=I2];2CY@y@bDZ"VDZ̰8ٔbQ-b>9hYh=jEyj Dn{ En>pQ 5v4r?Q 9v4r)r ,BYtyv<+>Q Iz@rDIrq:ir:r74y~ҒBɮ~A|:i!%FNOT Ignoring new targets: 588.30 m."i-8*i-8= ProNav: ac range: 588.300781 m, nav range: 585.565247 m, bearing: 17.162523 deg, approach rate: -0.392404 m/s, LOS rate: 0.005112 deg/s, cmd heading: 16.449180 deg, new cmd heading: 16.452951 deg. i=9EHeadingCmd: 0.287158 target range: 588.300781 and range: 589.00 m.hEe>hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*eU @FBɢr!) 'Ri)<  i tie>љ=ڥ=Ie>Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=5.291702y:@ @@@ԡ^Aا= Ai Iq I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543669B! A% <B1 B1 B1 B1 B1 B1 B1 B5 ;B5 {\EE  E E .E "E %;*E ą:VE ـ4ZE BE K9)Y)=-Ey-D-E5>1Q 5E45?Q 9E45)5 ,BYAyAQ IE@5DI5b;i5 :5>4yIɮUAQ:iq}FNOT Ignoring new targets: 588.30 m."i}8*i}8 ProNav: ac range: 588.300781 m, nav range: 585.403625 m, bearing: 17.164628 deg, approach rate: -0.392202 m/s, LOS rate: 0.005111 deg/s, cmd heading: 16.452951 deg, new cmd heading: 16.457163 deg. i9HeadingCmd: 0.287232 target range: 588.300781 and range: 589.00 m.h>hhhhggjgrgereZe:e*e@@GBɢX9 ) hYi)T<iqi>=ĥ=I>I:@ @@1@i߉I߉checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798617A^AA! I) I9 A O] >%,7LAY~CBy~HAchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.047666i%Mb@Mb@Mb@!!!! !9%p= ף?Q롿~jt?Y%>y%\%D<%7A%A !)!!Y%AbDEVDE8yM<%M9=ٔQQ-U>9YYY=]Ey]DYEe>aQ 5m4e,?Q 9m4eDqzDuAAE} E}E}'Ey"E}:*E}:VE}'4ZEya@a@a@a@)e ,BY>Q E ;yQO>Q I@eDIeڪ;ie;eF4yɮA:iYeFNOT Ignoring new targets: 588.30 m."ieL8*ieL8 ProNav: ac range: 588.300781 m, nav range: 585.233154 m, bearing: 17.166254 deg, approach rate: -0.365510 m/s, LOS rate: 0.003487 deg/s, cmd heading: 16.457163 deg, new cmd heading: 16.460416 deg. i=8HeadingCmd: 0.287288 target range: 588.300781 and range: 589.00 m.hy>hhhhggjgrgereZe:e*e`w@GBɢ%ۙ)! %yYi!)%穗==Iy>I%9@! @!@%?0@!ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298718^Ae &=Ai zAm zA Au .AIy I O >%,)LA2+=2!Η>2<ٱ2U=2H?bmҿ [?Q?`u?GxZ?V?i2+=I2M/];2CYRCByRHbD^VD^8ybB%fa=ٔf&kQ-f>9j ?Yj ?=jEyj%Dn:En>pQ 5v4rf8?Q 9v4r6)r ,BYtyvO>Q Iv@r DIr:irA;rL4y~ђBɮ~A~E:i!%FNOT Ignoring new targets: 588.30 m."i-8*i-8= ProNav: ac range: 588.300781 m, nav range: 585.093262 m, bearing: 17.167581 deg, approach rate: -0.411513 m/s, LOS rate: 0.003904 deg/s, cmd heading: 16.460416 deg, new cmd heading: 16.463070 deg. iE8MHeadingCmd: 0.287335 target range: 588.300781 and range: 589.00 m.hM>hIhIhIhQgQgYjgYrgYeareaZea:ei*em}@ԑ颽GBɢ~^/) \i)i<iMki> = ۦ=I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.552089BBBHHB]CBBW =BBB+;B\EEe EeEe+Ea"Ee7;*Ee:VEe [4ZEaBEeZyґ%,GLAY CByHAiMb@Mb@Mb@ 9x&?S㥛Y7>y/ݼ ٽA)YAbDVD8yW%#=ٔQ->9Y=Ey/DE>Q 54H?Q 94 ),BY>Q E;yi>Q I@DI;i ;U4yɮ+AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 588.30 m."iB8*iB8 ProNav: ac range: 588.300781 m, nav range: 584.896851 m, bearing: 17.168957 deg, approach rate: -0.379510 m/s, LOS rate: 0.002660 deg/s, cmd heading: 16.463070 deg, new cmd heading: 16.465823 deg. iś8HeadingCmd: 0.287383 target range: 588.300781 and range: 589.00 m.h#>hhhhgg jg rg e reZe:e*e@!颅'GBɢ2) fi):<顉i5 gi#>=k=I#>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=7.055210EU EUEQEQ"EU;*EU:VEQZEQa]@a]@a]@a]@a%9y :@  @ @ ?0@ ԩ m checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306971^A =IIO?௙%,ZhLA 6IУ=6>6“<ٱ6 X=6HՔ? ҿ@Գ??q???i6IУ=I6];6CYFCByFHbDj VDj8yr%r(=ٔr49Q-v>9tYt=vEyv9Dz>;Ez>|Q 54~KX?Q 94~)~+BYy-k>Q I @~$DI~w:i~ :~^4yВBɮ,A:i9=FNOT Ignoring new targets: 588.30 m."iEL8*iEL8U ProNav: ac range: 588.300781 m, nav range: 584.705566 m, bearing: 17.170271 deg, approach rate: -0.407312 m/s, LOS rate: 0.002799 deg/s, cmd heading: 16.465822 deg, new cmd heading: 16.468451 deg. iU8]HeadingCmd: 0.287429 target range: 588.300781 and range: 589.00 m.h])>hYhYhYhYgagajgargaeireiZei:ei*em@i@额3GBɢB) Iji)E^<顡i)Dci)> ė=9=I)>IIAAB-u>B)B-^%,]LADrchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.813333au=p>1O<ٱ~~=H`e?ҿB?@?7r?# S)`-?l?iau=I‰];CYCBysHiUMb@Mb@Mb@QQQQ Q9UK7?yUtUTU+AUA Q)UAQYUpAbDmVDmȰ8y}%}4=ٔܺQ->9Y=EyBDǹE>Q 5 4g?Q 9 4)+BY >Q E ;y W>Q I@/DIA:iAEFNOT Ignoring new targets: 588.30 m."iMu8*iMu8] ProNav: ac range: 588.300781 m, nav range: 584.526855 m, bearing: 17.171839 deg, approach rate: -0.381365 m/s, LOS rate: 0.003347 deg/s, cmd heading: 16.468452 deg, new cmd heading: 16.471589 deg. i]8eHeadingCmd: 0.287483 target range: 588.300781 and range: 589.00 m.he1>hahahahagigijgirgieqreqZeq:eq*e}N @颥?GBɢ#) oi).<顩i'\_Աi1>%Η==I1>I :@ @@F5@}checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062807E  E E (E "E l;*E :VE c44ZE a% @a% @a% @a% @^A = Iq I O >%,GLA6=6>6+<ٱ6=6HG? qҿm˪??q? D̺??i6=I6g^;6CY^CBybzHbDjVDj8yr-<%rk=ٔr#Q-r?9tYt=vEyvIDz9Ez?||Q 54~lr?Q 9 4~&)~+BY y W>Q I @~8DI~+;i~},;~l4yΒBɮ-AE:iAEFNOT Ignoring new targets: 588.30 m."iM/8*iM/8U ProNav: ac range: 588.300781 m, nav range: 584.389832 m, bearing: 17.173040 deg, approach rate: -0.408814 m/s, LOS rate: 0.003584 deg/s, cmd heading: 16.471589 deg, new cmd heading: 16.473991 deg. i]8eHeadingCmd: 0.287525 target range: 588.300781 and range: 589.00 m.he6>hahahahagagijgirgieireqZeq:eq*eu 8 @颥GGBɢT) Rpi)X<顩i,\i6>b՗=0Ũ=I6>Im:@q @q@u4@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.315729)Q^AII1OE>ԁ BE t>BA BE #HBE ?CBBE W =BA BA BE ;;BE \EBABABABABACE4 checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566748D9 zD9 EE  EE EE )EA "EE V:*EE |:VEE FA4ZEA BEE 927Z<ٱ2W=2H?\ҿ]?Z?pq?j@ʼ?9?i2!=I2}s^;0YNfCByRSHbDZVDZ8ybh%bL=ٔbOQ-f>9dYd=fEyfQDj :Ej>YlQ 5e4ns?Q 9e4nG)n+BYaymW>Q Im@nBDIni%;inG:ns4yqɮumAq:iFNOT Ignoring new targets: 588.30 m."ir8*ir8 ProNav: ac range: 588.300781 m, nav range: 584.232361 m, bearing: 17.174418 deg, approach rate: -0.378811 m/s, LOS rate: 0.003315 deg/s, cmd heading: 16.473991 deg, new cmd heading: 16.476747 deg. i%8HeadingCmd: 0.287573 target range: 588.300781 and range: 589.00 m.h<>hhhhggjgrgereZe:e*e !@RGBɢE) {i)}Z<iBXi <> ޗ= =I <>I :@ @@o5@ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.821142Թ^Abި=IqIO> %,ϒLA2}=2>2y<ٱ2=2H?ҿש? 8?p?M \? ?i2}=I2l^;0Y>]CBy>HHi=Mb@Mb@Mb@9999 99=S㥛?&1/$Y=$>y=P=99 =̾A)=A9Y=AbDmVDmŰ8Թy%8=ٔvQ->9Y= Ey ZD 9E >Q 54ύ?Q 94)+BY%%>Q E%;y%q1>Q I%@MDI:i:z4y)ɮ-~A1MB*** querying acoustic contact ***iIiI]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070975:iy}FNOT Ignoring new targets: 588.30 m."iZ8*iZ8 ProNav: ac range: 588.300781 m, nav range: 584.060730 m, bearing: 17.176559 deg, approach rate: -0.397057 m/s, LOS rate: 0.004955 deg/s, cmd heading: 16.476747 deg, new cmd heading: 16.481031 deg. i9HeadingCmd: 0.287648 target range: 588.300781 and range: 589.00 m.hF>hhhhggjgrgereZe:e*en"@E EE'E"E%;*EZ:VE'4ZEa@a@a@a@e^GBɢeKC)i mii)&<顉i4TiF>=I=IF>IE:@A @A@EO0@A^Au = qG checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323518 ) ] 5n9Y Y] RjAQ A ؟AI I O >깤%,>钖LA>0=>!>>1<ٱ>d=>Hm?+ҿ??q? 緿` ?`Y?i>0=I>_;>CYJNCByJ6HbDRVDR8yZ>&%Zb=ٔ^yQ-^>9^"?Yb"?=bEybaDbc%Eb>dQ 5j4f?Q 9j4f)f+BYhyn.1>Q In@fVDIfe:if&;f34yr͒BɮrAt:i  FNOT Ignoring new targets: 588.30 m."i08*i08% ProNav: ac range: 588.300781 m, nav range: 583.920898 m, bearing: 17.178307 deg, approach rate: -0.391440 m/s, LOS rate: 0.004896 deg/s, cmd heading: 16.481031 deg, new cmd heading: 16.484529 deg. i%Z9-HeadingCmd: 0.287709 target range: 588.300781 and range: 589.00 m.h-N>h)h)h)h1g1g1jg1rg9e9re9Ze9:eA*eEc#@颍gGBɢu) 'i)7<顙iPiN>=N=IN>I:@ @@%Q0@!@-zA@)B<ABr>BB HB*CBBBBFDB';B\EAae<mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.575175E EE*E"E:*E:VE(N4ZEBE#5ԙ %,LAnchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.830094=>!<ٱx=H`?ҿV?@?p?`A`$`~??i=IxE`;YUCBy>HiiMb@Mb@Mb@ 9? rhI +Y>yC9 )AYAbDVD8ya<%-=ٔuQ->9Y=EykDoE>Q 54k?Q 94-)+BY >Q E;y >Q I@bDI:i:m4yɮA:iFNOT Ignoring new targets: 588.30 m."i8*i8 ProNav: ac range: 588.300781 m, nav range: 583.732910 m, bearing: 17.181360 deg, approach rate: -0.386080 m/s, LOS rate: 0.006272 deg/s, cmd heading: 16.484528 deg, new cmd heading: 16.490636 deg. i79HeadingCmd: 0.287816 target range: 588.300781 and range: 589.00 m.h\>hhhhggjgrgereZe:e*e ^$@vGBɢ]A) i)~<i$?Li\>=-=I-\>I1ԙ:@ @@;5@mDǤ%,|LA2b=2P>2@<ٱ2N=2H ?ҿ?? q?6 琿?~?i2b=I2h`;2CY>ICBy>/HbDJVDJ8yNa %Rh=ٔR_Q-R>9TYT=VEyVrDVEZ>XQ 5^4ZZ?Q 9b4Z)Z+BY`yb >Q Ib@ZkDIZ:iZ:Z4yf˒BɮjAjE:ix~FNOT Ignoring new targets: 588.30 m."i~8*i~8  ProNav: ac range: 588.300781 m, nav range: 583.591919 m, bearing: 17.183658 deg, approach rate: -0.418524 m/s, LOS rate: 0.006824 deg/s, cmd heading: 16.490636 deg, new cmd heading: 16.495234 deg. iG9HeadingCmd: 0.287896 target range: 588.300781 and range: 589.00 m.hg>hhhhggjg!rg!e!re)Ze):e)*e-? %@U~GBɢ]D)]T< ]iY)]<m=m=Img>IqA9@ @@;0@!M2Acoustic response timeouti^AEh=IIO>ԙBU u>BQ BU HBU CBBU V =BQ BU GDBU ;BU \E 2Acoustic response timeoutE  E E E "E :*E :VE ZE BE F82x<ٱ2=2H`c?ҿ@??#s?V(@Mq?9?i2=I2Q`;2CYB6CByBHF=F=bDJVDJ8yR8%VK=ٔVVQ-V>9TYX=ZEyZzDZiEZ>|Q 54~:?Q 94~)~+BY y  >Q I @~vDI~:i~h:~Ė4yɮA:iY]FNOT Ignoring new targets: 588.30 m."ie8*ie8u ProNav: ac range: 588.300781 m, nav range: 583.428040 m, bearing: 17.186340 deg, approach rate: -0.395424 m/s, LOS rate: 0.006471 deg/s, cmd heading: 16.495233 deg, new cmd heading: 16.500597 deg. iu~=9HeadingCmd: 0.287990 target range: 588.300781 and range: 589.00 m.hds>hhhhggjgrgereZe:e*e@T%@%GBɢ%no)! %i))-6Qs<))i-MDi=ds>E0 =E=IEds>IIԱ:@ @@o5@m2Acoustic response timeout^AiIIO> 9 SԤ%,_%RLAN7J=N%>Nha<ٱNl=NH?ҿ+??`u?6P!?n?iN7J=INea;NCYZ4CByZHi=Mb@Mb@Mb@9999 99=K7?sh|?{GzY=>y==ף9=(A 9)99Y=pAbDUѿVDU8ye%e>=ٔeXQ-e>9iYi=mEymDuEu>yQ 54}o?Q 94})}+BYh>Q E;yG=Q I@}D2Acoustic response timeoutI}:i}<}"4yʒBɮAEM EMEM'EI"EM:*EM:VEM'4ZEIa]@a]@a]@a]@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 588.30 m."ix 9*ix 9 ProNav: ac range: 588.300781 m, nav range: 583.262268 m, bearing: 17.189736 deg, approach rate: -0.371904 m/s, LOS rate: 0.007621 deg/s, cmd heading: 16.500596 deg, new cmd heading: 16.507390 deg. i'_9HeadingCmd: 0.288108 target range: 588.300781 and range: 589.00 m.h>hhhhggjgrge!re!Ze!:e!*e-@&@uGBɢuEp)q }diy)}.c<顙iu@i>==I>I5:@1 @9@=o0@9)e 2Acoustic response timeout^Aa i I I O >vڤ%,;kLA N=NVP>N8K<ٱNH=NH@>?wҿ@H? ? v?`O q #??iN=INa;LYb+CByb HbDrݿVDr8y~%~R=ٔWcQ->9 Y = Ey DۺE>!Q 5-4%?Q 954%G)%z+BY1y5=Q I5@%DI%7!;i%AQ;%4yIɮMAI:iquFNOT Ignoring new targets: 588.30 m."i}s9*i}s9 ProNav: ac range: 588.300781 m, nav range: 583.108459 m, bearing: 17.192897 deg, approach rate: -0.421091 m/s, LOS rate: 0.008658 deg/s, cmd heading: 16.507391 deg, new cmd heading: 16.513716 deg. i}9HeadingCmd: 0.288219 target range: 588.300781 and range: 589.00 m.hg>hhhhggjgrgereZe:e*e|'@GBɢ9e) Ďi))mV<i"=Vޣ=Ig>I5PExceeded connect timeout, disconnecting.qA A ?ABw>BBHBCBBW =BBB;B\E2Acoustic response timeoutEm EmEm)Ei"Em=;*Em:VEmFA4ZEiBEmIȝ%,DLA:=: >:48<ٱ:=Z=:H`?_qҿ`3??@x?  s@]? ?i:=I:XTa;:CYJCByJHLLiMb@Mb@Mb@ 9n?:vYV>y̽T ¿A)YAbD5VD5s8yE%E%=ٔEQ-E>I9IYQ=UEyUDUE]>YQ 5e4]?Q 9e4])]l+BYm>Q Em:yme=Q Im@]DI];i];]4yyɮ}Ay:iFNOT Ignoring new targets: 588.30 m."i%59*i%59 ProNav: ac range: 588.300781 m, nav range: 582.909973 m, bearing: 17.197758 deg, approach rate: -0.404030 m/s, LOS rate: 0.009898 deg/s, cmd heading: 16.513715 deg, new cmd heading: 16.523441 deg. i9HeadingCmd: 0.288388 target range: 588.300781 and range: 589.00 m.h>hhhhggjgirgieireiZei:eq*euj(@颽GBɢ3q) i )C<i7iM>Mu=Myڢ=IU>IQ]H<ԉe2Acoustic response timeout:@ @@T5@E EEE"E;*Eą:VEZEa @a @a @a @ԡ^A5 Т=A= >A= ? A I I O >\%,>LA.BDAT read: Response Not Received .*response not received2(DAT read: user:87> 2BDAT read: Tx time:04:06:37.0891 6$Ping request sent.6B "<ٱB9Y=BH,?`iҿ@j?Ǒ?@ly?% nQT?`>?iB=IB5a;BCYN CByNHbDZVDZ8ybF%bM=ٔbXQ-b>9dYd=fEyfDjsϺEj>lQ 5r4n?Q 9r4n)na+BYpyrb=Q Ir@nDInz:in :n4yzȒBɮzAzE:iFNOT Ignoring new targets: 588.30 m."i49*i%495 ProNav: ac range: 588.300781 m, nav range: 582.749573 m, bearing: 17.201698 deg, approach rate: -0.402398 m/s, LOS rate: 0.009885 deg/s, cmd heading: 16.523440 deg, new cmd heading: 16.531321 deg. i595HeadingCmd: 0.288526 target range: 588.300781 and range: 589.00 m.h=>h9h9h9h9g9g9jgArgAeAreAZeI:eII*eUD)@}GBɢ})y }iy)f3<顁iG3i>X"=Ѝ=I>IyUnManaging dock network, ignoring radio surface power offI=yA)9B=y>B9B=HB=BBB=V =B9B9B=*;B=\Eԩ@ @@`0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250116bE-:4jE-:4rE-ȷ8/E EE*E"E:*E:VE(N4ZEBE<%, ÓLAB e=Bl>B <ٱB=BH@?`bҿ@^,?`{?z?@P0 Huq??iB e=IB'b;@YR CByRHbDZVDZ8yb%b1=ٔbFQ-f>9f ?Yj ?=jEyjDnEn>pQ 5r4r ?Q 9v4rv)rT+BYtyv3`=Q Iv@rDIr^;irY;r4y|ɮ~A|:i%FNOT Ignoring new targets: 588.30 m."i%i59*i%i595 ProNav: ac range: 588.300781 m, nav range: 582.564148 m, bearing: 17.206267 deg, approach rate: -0.402095 m/s, LOS rate: 0.009913 deg/s, cmd heading: 16.531320 deg, new cmd heading: 16.540463 deg. i=!9=HeadingCmd: 0.288686 target range: 588.300781 and range: 589.00 m.h=Γ>hAhAhAhAgAgAjgIrgIeIreQZeY:ea*em1*@颥GBɢchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502460) .i)͈"<项im//iΓ>'=F\=IΓ>I)9@A @A@Ex0@AI^Ae=e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754135ԁ E  E E ,E "E =;*E VE g4ZE a @a @a @a @Au ؟AIy I O >%,ܓLA0:=:>:vP;ٱ:@3=:H@ݢ?`fXҿ{%? {?{?y@?#?i:=I:b;:CYFBByFH HHN=N=iUMb@Mb@Mb@QQQQ Q9UB`"?&1Mb`YU>yUнUU$AUA UƿA)UAQYU(Ae@AeAAbDmVDm8y}|%}@=ٔ}Q->9"?Y"?=EyDE>Q 54?Q 94=)N+BYW>Q E:yA=Q I@DI;i ; Ķ4yƒBɮFAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 588.30 m."iu;9*iu;9 ProNav: ac range: 588.300781 m, nav range: 582.392822 m, bearing: 17.210625 deg, approach rate: -0.402631 m/s, LOS rate: 0.010243 deg/s, cmd heading: 16.540462 deg, new cmd heading: 16.549180 deg. i9HeadingCmd: 0.288838 target range: 588.300781 and range: 589.00 m.h>hhhhggjgrgereZe:e *e + +@5GBɢ=G)9 =i9)=[M*=MM=IM>IIԑi@i @i@m@0@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.009080Թ^A= A .AI I O >By A} <B B CB HB BBB U =B B B );B \EBIBIBIBIBICM65^%,LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259907Eb EbEb+E`"Eb:*Eb:VEb [4ZE`BEbF8r\;ٱr[=rH ?@%Nҿo7?m?}? r? ?ir=Irac;rCY CByHbDVD8y%=%%P=ٔ-Q-->9- ?Y- ?=-Ey-D5 E5>9Q 5E4=*?Q 9E4= )=H+BYAyMA>=Q IM@=DI=:i=:=ʶ4yQɮUAQ:iFNOT Ignoring new targets: 588.30 m."i89*i89 ProNav: ac range: 588.300781 m, nav range: 582.234253 m, bearing: 17.214675 deg, approach rate: -0.395516 m/s, LOS rate: 0.010105 deg/s, cmd heading: 16.549180 deg, new cmd heading: 16.557282 deg. i9HeadingCmd: 0.288979 target range: 588.300781 and range: 589.00 m.h>hhhhggjgrgereZe:e*e5 +@}GBɢ}cݚ) 6i)<顁iW&i>M-=k=I>I9@ @@00@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513496^Aܝ=A A= ؟AIA IQ Oe >%,~LAbĖ=bD>b[6;ٱb+=bHJ?vHҿMJ? .e?@|~?@yf?`?ibĖ=Ib4d;bCY-CBy-HiMb@Mb@Mb@ 9|?5^?Mb{Gzt?Y>yף;/A"A A)YAbD#VDͰ8yF<%?=ٔHQ->9"?Y"?=EyDE>Q 54T9?Q 94)F+BYd>Q E;y}=Q I@DI ;i;`Ҷ4y ŒBɮ A :i15FNOT Ignoring new targets: 588.30 m."i=A39*i=A39M ProNav: ac range: 588.300781 m, nav range: 582.062988 m, bearing: 17.218777 deg, approach rate: -0.408845 m/s, LOS rate: 0.009795 deg/s, cmd heading: 16.557282 deg, new cmd heading: 16.565488 deg. iMg9UHeadingCmd: 0.289122 target range: 588.300781 and range: 589.00 m.hU>hQhQhQhQgYgYjgYrgYeareaZea:ea*ee,@5V?5\?=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762572=GBɢE9)A E;iA)En;AIiM !iu>uy/=ut=Iu>IqE EE(E"E;*Eą:VEc44ZEa@a@a@a@I%:@! @!@%5@)q   kC^AU r= ݂G  9 Y ~Aԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014274Iq I O > %,Y*LA6[=6>6{{:ٱ6=6H?aCҿ?`]?o?¸oO@??i6[=I6 e;4YVBByZH\\bDbVDb8yjx%j]=ٔnaQ-n>9pYp=vEyvǼDvEz>|Q 5 4~EF?Q 9 4~)~D+BYyz=Q I@~DI~0;i~;~ض4y!ɮ%!A!:iaeFNOT Ignoring new targets: 588.30 m."im>.9*im>.9ԁ ProNav: ac range: 588.300781 m, nav range: 581.913513 m, bearing: 17.222367 deg, approach rate: -0.396257 m/s, LOS rate: 0.009521 deg/s, cmd heading: 16.565488 deg, new cmd heading: 16.572671 deg. ie9HeadingCmd: 0.289248 target range: 588.300781 and range: 589.00 m.hF>hhhhggjgrgereZe:e*e q-@GBɢKC) i ) ";  i i5F>=0===I=F>IAԩB-{>B)B)B)B-V =B)B)B-;B-\EE9@A @A@Eo5@AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266197DzDE EE,E"E;*E:VEg4ZEBE>C%,5DLA65=6>6ٱ6e=6H ??Y;ҿ㋜? Q?`?Aи`Q?@jѹ?:?i65=I6S#g;6CYFCByFHbDNVDNŰ8yV<%VM=ٔVQ-Z>9XYX=ZEyZϼD^E^>`Q 5f4b T?Q 9f4b?)bB+BYdyfw=Q Ij@bDIb7:ib:b߶4ynÒBɮnArE:i FNOT Ignoring new targets: 588.30 m."i 29*i 29% ProNav: ac range: 588.300781 m, nav range: 581.754517 m, bearing: 17.226201 deg, approach rate: -0.405085 m/s, LOS rate: 0.009770 deg/s, cmd heading: 16.572672 deg, new cmd heading: 16.580342 deg. i% 9-HeadingCmd: 0.289382 target range: 588.300781 and range: 589.00 m.h-)>h)h)h)h)g)g)jg1rg1e1re1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518239Ze:e*eB.@e HBɢm) i)Q;顩i-ni)>1==v=I=)>IAE:@A @A@El0@I1U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770188E  E E -E "E &:*E Ar:VE t4ZE a @a @a @a @^A I I O5 >Y *%,,^LARL=Rf>RUXٱR=RH@@?7ҿ M?J?o?a`k?չ?"?iRL=IRX i;RCY^CBy^HiEMb@Mb@Mb@AAAA A9En?K~jt?YEV>yE^ED9qYq=uEyuؼD}E}>Q 54b?Q 94)D+BY>Q E;y)=Q I@DI:i:O4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 588.30 m."iS-9*iS-9 ProNav: ac range: 588.300781 m, nav range: 581.582153 m, bearing: 17.230260 deg, approach rate: -0.402012 m/s, LOS rate: 0.009471 deg/s, cmd heading: 16.580342 deg, new cmd heading: 16.588463 deg. i9HeadingCmd: 0.289523 target range: 588.300781 and range: 589.00 m.hf<>hhhhgg1jgrgereZe:e*e`/@HBɢW)  ri )-x;11i5Ni5f<>=1==?=I=f<>I9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0227459@ @@_0@aԑ^AԘ=Iy I O >A! A% @AB- ~>B) B- HB- BBB- U =B) B- HDB- ;B- \EԹ ] 8>] <e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274384E  E E *E "E ;*E ą:VE (N4ZE BE a 2E a JE ";a :E #;a 0%,yLAɓ=>添ٱco=H ?@?ҿG?ON?@?T v?@O?@{?iɓ=IHj;CYuCByuHbDVD8y<%:=ٔ)Q->9Y=EyD9:E>ԱQ 54*r?Q 94)F+BYy=Q I@DIm;i :4yBɮA:i!%FNOT Ignoring new targets: 588.30 m."i-*9*i-*9= ProNav: ac range: 588.300781 m, nav range: 581.406067 m, bearing: 17.234406 deg, approach rate: -0.396680 m/s, LOS rate: 0.009341 deg/s, cmd heading: 16.588463 deg, new cmd heading: 16.596756 deg. i=ˆ9EHeadingCmd: 0.289668 target range: 588.300781 and range: 589.00 m.hE_O>hAhAhAhAgAgIjgIrgIeQreQZeQ:eQ*eU/@(HBɢ">)  i) 0;  iki_O>P2=7=I_O>I:@ @@00@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526890^A 9 I I! O- > $%,DLAR=R>RٱRc=RH`? Bҿ`2?M?@@?‚?? J?iR=IRk;RCYb CBybHiMMb@Mb@Mb@IIII I9MFx?yMtMT9yYy=}Ey}DE>Q 54?Q 94')J+BY0>Q E;y=Q I@DI?;iT;4y ɮA:i19EFNOT Ignoring new targets: 588.30 m."iE 9*iE 9U ProNav: ac range: 588.300781 m, nav range: 581.244141 m, bearing: 17.237509 deg, approach rate: -0.403327 m/s, LOS rate: 0.007733 deg/s, cmd heading: 16.596757 deg, new cmd heading: 16.602966 deg. iUrb9eBDAT read: Rx Time:04:06:40.2757 eTRx dataTimestamp_ set to:1764907602.378907mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779328mHeadingCmd: 0.289776 target range: 588.300781 and range: 589.00 m.hu]>hqhqhqhqgqgyjgyrgyereZe:e*e`c0@颵5HBɢ_) Yi),:项iMj i]>2=9=I]>IIxA)E EE(E"E;*Ex:VEc44ZEa @a @a @a @5:@1 @1@9@9i^AU=ԑIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030153 *%,ﬔLAF=F>F[%ٱF=FHj?Eҿ?M?@~?`?t ??iF=IFbm;FCYnCBynHbDvVDv8y~%~T=ٔŻQ->9Y= Ey D LԷE >Q 54?Q 94)M+BY!y%=Q I%@DI:i~:4y)ɮ-A):iQUFNOT Ignoring new targets: 588.30 m."i]| 9*i]| 9m ProNav: ac range: 588.300781 m, nav range: 581.096375 m, bearing: 17.240343 deg, approach rate: -0.397335 m/s, LOS rate: 0.007622 deg/s, cmd heading: 16.602967 deg, new cmd heading: 16.608636 deg. im-_9uHeadingCmd: 0.289875 target range: 588.300781 and range: 589.00 m.huj>hqhqhqhqgygyjgyrgyereZe:e*ee0@BHBɢE) )i)=:iSij>2=t=Ij>IԱ:@ @@/0@BIBIBMHBMCBBIBIBIBM*;BM\EDAT read: 04:06:40.2757 LVL= 30576, 30625, 32754, 32755, AGC= 76, IDX= 377, 0.33,-1.386, 3.119,-1.130,-1.921, PHS= 0.637,-1.198, 0.746, RAW= 152.9, -2.0, CAL= 152.1, -3.0, ROT= 357.9, 3.0 Ygot valid direction response: 04:06:40.2757 LVL= 30576, 30625, 32754, 32755, AGC= 76, IDX= 377, 0.33,-1.386, 3.119,-1.130,-1.921, PHS= 0.637,-1.198, 0.746, RAW= 152.9, -2.0, CAL= 152.1, -3.0, ROT= 357.9, 3.0 8DAT read: $Error in header *Received a bad header-X#Rx 1: Read direction message, but no range.5`direction in FSK: [0.997959,-0.036593,-0.052336]E% E%E%-E!"E%%;*E%8:VE%t4ZE!BE%K?{*@5)@ PwV)@IPwV=(?~;Z??0ԟܰ ?) =IQ iPwV=]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse^A A% .AI) I9 OM >1 81%,*ƔLArT****** received valid address query ******rR****** received valid ping request ******rreceived new query, but waiting for acoustic response period to elapseY CByH -<-<bD5VD58yEt<%EF=ٔEQ-E>9M ?YM ?=MEyMDMEU>QQ 5m4U?Q 9u4U?)UQ+BYyQ I@UDIU;iU;U4yBɮAE:iFNOT Ignoring new targets: 588.30 m."i 9*i 9 ProNav: ac range: 588.300781 m, nav range: 580.932678 m, bearing: 17.243485 deg, approach rate: -0.392374 m/s, LOS rate: 0.007533 deg/s, cmd heading: 16.608636 deg, new cmd heading: 16.614922 deg. i\9HeadingCmd: 0.289985 target range: 588.300781 and range: 589.00 m.hx>hh!h)hQgYgYjgirgereZe:e *e @=1@USHBɢUW)Y ]ȨiY)]uYYieix>2=IH=Ix>I9E9@A @A@E1@AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE5  E5 E5 )E1 "E5 :*E5 :VE5 FA4ZE1 a= @a= @a= @a= @i ^A ԙ A I I O >l8%,W ┖LA2E,=2>2rٱ2?i=2H@n?@Pҿ? P?'}?`N_?@?@?i2E,=I2Io;2CY>CBy>HiMb@Mb@Mb@ 9B`"?y&1y&1|?Y>y`e`; A )AYbDVD8y-ʅ<%-A=ٔ5P7Q-5>91Y1==Ey=D= :E=>AQ 5M4E?Q 9M4E)EU+BYU>Q EU;yU >Q IU@E%DIE;iE;E1 4yYɮ]AYB*** querying acoustic contact ***ii:i%FNOT Ignoring new targets: 588.30 m."i-8*iE8e ProNav: ac range: 588.300781 m, nav range: 580.761841 m, bearing: 17.246023 deg, approach rate: -0.392606 m/s, LOS rate: 0.005833 deg/s, cmd heading: 16.614922 deg, new cmd heading: 16.619998 deg. im*9HeadingCmd: 0.290074 target range: 588.300781 and range: 589.00 m.h>hhhhggjgrgereZe:e*e 1@`HBɢ RŽ)  i ) 8κii>2=?=I>I!]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse:@ @@0@^A=! B} <A} <B B B HB CBB B B B C;B \E T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseAe ؟AbE˙T4jEOS4rE(0E  E E (E "E ;*E ~:VE c44ZE BE >Ci?>%,YLA06Fw=6n>6)ٱ6j==6H`ɧ?Vҿ@͉?R?@N|? )(? 5?y?i6Fw=I6fp;6CYBCByBHbDJVDJ8yb%bR=ٔfJλQ-f>9f"?Yf"?=fEyf Dj9Ej>lQ 54n'?Q 94n)nX+BYyD>Q I @n/DIn:in:n4yBɮA:iQ}FNOT Ignoring new targets: 588.30 m."i}28*i28 ProNav: ac range: 588.300781 m, nav range: 580.605164 m, bearing: 17.248350 deg, approach rate: -0.412280 m/s, LOS rate: 0.006125 deg/s, cmd heading: 16.619998 deg, new cmd heading: 16.624654 deg. i[39HeadingCmd: 0.290155 target range: 588.300781 and range: 589.00 m.h0>hhhhggjgrgereZe:e*e1@mHBɢL=н) i)a'ii0>3=v=I0>IU9@Q @Q@]0@YԑiyI}AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A=I I O > V'E%,LA6Np=6>6{|ٱ6=6HQ?#bҿ@ ףp=?:v{GztY>yTף+AA A)YfA!%@AbD-VD-8y=J%=C=ٔE@Q-E>9AYA=MEyMDM\:EM>QQ 5]4U?Q 9]4U-)UW+BYe>Q Ee;ye*>Q Ie@U:DIU] ;iUr;UP4yiɮmAq:iFNOT Ignoring new targets: 588.30 m."i8*i8 ProNav: ac range: 588.300781 m, nav range: 580.433350 m, bearing: 17.250644 deg, approach rate: -0.417336 m/s, LOS rate: 0.005574 deg/s, cmd heading: 16.624653 deg, new cmd heading: 16.629242 deg. i4#9HeadingCmd: 0.290235 target range: 588.300781 and range: 589.00 m.h>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEe EeEe,Ea"Ee:*Ee|:VEeg4ZEaam@am@am@am@hhihihigqgjgrgereZe:e*eQm2@}HBɢý) Ui){viCi>3=%_=I%>I!@ @@00@^A T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA Ii Iy O >QK%,5y/LA>Y=>*>>ٱ>ɟ=>H ?lҿ)?`?`x?rI?@??i>Y=I>Yq;>CYZCByZHbDjVDj8yv%vP=ٔzƻQ-z>9Y=EyD :E >!Q 554%:?Q 954%u)%V+BY9y=+>Q IE@%EDI%;i%Rp;%D 4yUBɮUAUE:iFNOT Ignoring new targets: 588.30 m."io8*io8% ProNav: ac range: 588.300781 m, nav range: 580.270386 m, bearing: 17.252813 deg, approach rate: -0.390832 m/s, LOS rate: 0.005203 deg/s, cmd heading: 16.629243 deg, new cmd heading: 16.633582 deg. i%Y9=HeadingCmd: 0.290311 target range: 588.300781 and range: 589.00 m.hE>hAhAhAhAgAgAjgIrgIeIreIZeQ:eQ*eUK2@颅HBɢҽ) 8i)顉ii>4=@=I>IB=}>B9B=HB= CBB=V =B9B=GDB=W;B=\EBCBCBBU =BU =CC5 @  @ @ /0@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;*EmM:VEmFA4ZEiBEmaԡ ]9R%,TILA"T****** received valid address query ******&R****** received valid ping request ******&received new query, but waiting for acoustic response period to elapseyY}CByHbDVD8yE<%M6=ٔ]Q-e>9iYq=}Ey}#DE>Q 54?Q 94)YyQ I@QDI<;i;4(4yɮ A:i-FNOT Ignoring new targets: 588.30 m."i58*i=8} ProNav: ac range: 588.300781 m, nav range: 580.084351 m, bearing: 17.255291 deg, approach rate: -0.394946 m/s, LOS rate: 0.005263 deg/s, cmd heading: 16.633582 deg, new cmd heading: 16.638540 deg. i9HeadingCmd: 0.290397 target range: 588.300781 and range: 589.00 m.h>hhhhggjgrgereZe:e*eL3@ԩHBɢn½) i)Jʻiܻi>|5=ĺ=I>Iy@y @y@}_5@yT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE} E}EyEy"E}%;*E}:VEyZEya@a@a@a@^Aa I I O > cX%,/cLAVpG`l.9YǐAYCByHiUMb@Mb@Mb@QQQQ Q9UK7?Mb:vYUI>yU@UTU AUA UzA)U̾AQYQ m9Y=Ey,DE>Q 54?Q 94޵)R+BY>Q E;yO6>Q I@[DI:i:_/4yɮAB*** querying acoustic contact ***ii:i%FNOT Ignoring new targets: 588.30 m."i%8*i%85 ProNav: ac range: 588.300781 m, nav range: 579.920715 m, bearing: 17.257292 deg, approach rate: -0.436846 m/s, LOS rate: 0.005342 deg/s, cmd heading: 16.638541 deg, new cmd heading: 16.642543 deg. i=m9=HeadingCmd: 0.290467 target range: 588.300781 and range: 589.00 m.h=>hAhAhAhAgAgAjgIrgIUT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseeYreYZeY:eY*ee`3@颍HBɢ') 貿i)x顑i{Իi>%6=ϝ=I>I :@ @@`5@1A) A) B= |>B9 B= HB= *CBB9 B9 B9 B= w;B= \E^Am =I I O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseY E  E E 'E "E ;*E :VE '4ZE BE D6M+ٱ6U=6H?+ҿ+]?Wy?@ s?@w%Vĝ?B??i6ۧ=I6p;6CY^ CBybHbDjVDj8yr%ro=ٔrצQ-v?9tYt=vEyv3Dz;Ez?|Q 54~?Q 94~8)~P+BYy7>Q I @~dDI~;i~:~Y54yBɮA:i1=FNOT Ignoring new targets: 588.30 m."iE8*iE8M ProNav: ac range: 588.300781 m, nav range: 579.784241 m, bearing: 17.258938 deg, approach rate: -0.399523 m/s, LOS rate: 0.004823 deg/s, cmd heading: 16.642543 deg, new cmd heading: 16.645838 deg. iU6 9UHeadingCmd: 0.290525 target range: 588.300781 and range: 589.00 m.hU>hYhYhYhYgYgajgargaeareiZei:ei*em4@额HBɢC) Vi)8顡i̻i>7=s=I>I15:@1 @1@1@1aeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse^A}D=II9Om>ԙԹ ue%,喕LAY~CBy~HiMb@Mb@Mb@ 9Dl?v/:vYO>yxiԼ4=%=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse+AA )¿AYAbDԿVD8y%:=ٔQ->9Y=Ey Q 54  ?Q 94 z) G+BY>Q E;y #>Q I@ pDI r;i z; =4y!ɮ%A!E= E=E=&E9"E=:*E=:VE=4ZE9aE@aE@aE@aM@:iaeFNOT Ignoring new targets: 588.30 m."im38*im38} ProNav: ac range: 588.300781 m, nav range: 579.608032 m, bearing: 17.261429 deg, approach rate: -0.398402 m/s, LOS rate: 0.005634 deg/s, cmd heading: 16.645839 deg, new cmd heading: 16.650822 deg. i}$9HeadingCmd: 0.290612 target range: 588.300781 and range: 589.00 m.h ˔>hhhhggjgrgԑereZe:e*e \r4@颅HBɢ ӽ) 㸿i)q顩i{ûi ˔>0:=9 =I ˔>IA@A @A@M_0@Im T****** received valid address query ******m R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapse^Au =A I1 IQ Om >k%,LARk=Ru>R ٱR[=RH2?ҿ+Yd0?`o?| 9xYx=zEyzCDz6.;E~>|Q 54~H?Q 9 4~س)~@+BY y $>Q I @~yDI~:i~;~C4yBɮA:i9EFNOT Ignoring new targets: 588.30 m."iE8*iE8U ProNav: ac range: 588.300781 m, nav range: 579.458374 m, bearing: 17.263530 deg, approach rate: -0.404905 m/s, LOS rate: 0.005685 deg/s, cmd heading: 16.650821 deg, new cmd heading: 16.655024 deg. iUy&9]HeadingCmd: 0.290685 target range: 588.300781 and range: 589.00 m.h]Ԕ>hYhhhggjgrgereZe:e*e4@]HBɢ]2)Y e޹ia)e-aaieimԔ>m<=mҝ=ImԔ>IqBz>BBHB4CBBBBB;B\E95:@1 @1@5J0@1T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE1 E5E5+E1"E1*E5:VE5 [4ZE1BE5>r%,(ʕLAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse6=67>6ٱ6A=6H`?ܢҿs,?p? ,{^? 4??i6=I6#q;6C@YRCByVHbD^VD^8yv+=%vK=ٔz(Q-z>9xYx=~Ey~KD~E~>Q 5 4#?Q 9 4*)9+BYyz#>Q I@DI:i:J4yɮA:iFNOT Ignoring new targets: 588.30 m."i%8*i-8Ա ProNav: ac range: 588.300781 m, nav range: 579.297119 m, bearing: 17.265805 deg, approach rate: -0.354347 m/s, LOS rate: 0.005000 deg/s, cmd heading: 16.655024 deg, new cmd heading: 16.659575 deg. ik9 HeadingCmd: 0.290764 target range: 588.300781 and range: 589.00 m.h ߔ>h h h hggjgrgereZe:e*e%M5@颍HBɢؽ) i)C顩iiߔ>M?=c=Iߔ>I=9@9 @A@E/0@AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEU EUEU(EQ"EU=;*EU:VEUc44ZEQae@ae@ae@ae@ ^A O=A I I) 1 O= >&y%,_敖LAJ=J>J#ٱJ;=JHϜ?ȡҿ`v?q?`* }?` ?`?iJ=IJ+q;JCYVCByVHieMb@Mb@Mb@aaaa a9ex&?lV-Ye7>yeee Aa a)eٽAaYefAbD}VD}8y;%4=ٔ[Q->9Y=EyUDE>Q 543?Q 94)/+BYJ>Q E;yQ=Q I@DI;i;~R4yBɮAEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 588.30 m."i9*i9 ProNav: ac range: 588.300781 m, nav range: 579.118347 m, bearing: 17.269132 deg, approach rate: -0.445108 m/s, LOS rate: 0.008287 deg/s, cmd heading: 16.659574 deg, new cmd heading: 16.666231 deg. ir9 HeadingCmd: 0.290881 target range: 588.300781 and range: 589.00 m.h M>h h h h g gjgrgereZe:e*e 5@MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseUHBɢU^)Y ]xiY)]TYYi]/niM>@=m=IM>I!@ @@1@IB<A4=B|>BB#HB?CBBBBB;B]E^A=y =  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseE  E E *E "E ;*E :VE (N4ZE BE A%,LA4F*=Fd>Fų,ٱFum=FH5?@ҿ@@8o?r?`iՔ?Ԝ?@?iF*=IFvCp;FCYbCByfHbDnVDn8yvd̼%vW=ٔvgQ-v>9xYx=zEyz\D~]E~>Q 5 4??Q 9 4')(+BY y W=Q I @DIq:iG:'Y4yɮA:iAEFNOT Ignoring new targets: 588.30 m."iM9*iM9U ProNav: ac range: 588.300781 m, nav range: 578.968323 m, bearing: 17.271934 deg, approach rate: -0.394218 m/s, LOS rate: 0.007363 deg/s, cmd heading: 16.666230 deg, new cmd heading: 16.671835 deg. i]W9eHeadingCmd: 0.290978 target range: 588.300781 and range: 589.00 m.he>hahahahagagijgirgieireqZeq:eq*eu@} 6@颥IBɢ֮) i)g顩ii>A=т=I>IQ@Q @Q@U3@QԑeT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapse^A]=A I I O > 0%,LAB6=B'>BG5ٱBP=BH?[ҿ`m?@Ir?1ջ?)??iB6=IBm;BCYRCByRHbT****** received valid address query ******bR****** received valid ping request ******breceived new query, but waiting for acoustic response period to elapsedE EEE"E*E1:VEZEa@a@a@a@i5Mb@Mb@Mb@1111 195&1?ʡEV-Y5>y5-15+A55A 5nA)5A1Y5pAbDVD8y;%8=ٔ%ʚQ-%>9!Y!=-Ey-eD-E->1Q 5=45bO?Q 9=45)5+BYE>Q EE:yE=Q IE@5DI5:i5:5`4yIɮMAI:iFNOT Ignoring new targets: 588.30 m."iu9*iu9 ProNav: ac range: 588.300781 m, nav range: 578.787231 m, bearing: 17.275768 deg, approach rate: -0.401099 m/s, LOS rate: 0.008494 deg/s, cmd heading: 16.671834 deg, new cmd heading: 16.679505 deg. ix9HeadingCmd: 0.291112 target range: 588.300781 and range: 589.00 m.h >hhhhggjgrgereZe:e*e@6@}IBɢ})y }iy)5~顁i0i >;C=[P=I >IE:@A @A@E2@Ai߁I߅A[%,3LAY%CBy%HbD5VD58ym<%mV=ٔmQ-u>9qYq=uEyumD}E}>Q 54\?Q 94T)+BYyQ I@DI:iM:g4B{>BBhhhhggjgrgereZe:e*e`6@)IBɢA&) i)܈ i `i>-D=$=I>IDAT read: 2Acoustic response timeoutIbEFA4jEÏB4rE5/E EE)E"E=;*E:VEFA4ZEBEIqG%,MLAY=(CBy=HybDVD8yM<%C=ٔQ->9Y= Ey vDE>1Q 5M45k?Q 9U45)5+BYYyaQ Ie@5DI5hhhhg g jg rg ereZe:e*e@Z7@ԡ54E=5s=I5,>I12Acoustic response timeout9@ @@/0@E EE*E"E%;*E:VE(N4ZEa@a@a@a@^A  A! I1 IA OM >%,iLA2V=2>2nLٱ2,=2H?/ҿO?v?+ ?p?/?i2V=I2h;2CYZ6CByZHh=2Acoustic response timeoutiMb@Mb@Mb@ 9 rh?EԸ{GzYC>yƽף(A zA)AY3AbDVD8y=%:=ٔTQ->9Y=EyD E >Q 5%4z?Q 9%4) +BY-~>Q E-;y-j=Q I5@DI:G;iI;v4y=BɮEZAEEeB*** querying acoustic contact ***iaia:iq}FNOT Ignoring new targets: 588.30 m."i}=A9*i}=A9 ProNav: ac range: 588.300781 m, nav range: 578.285095 m, bearing: 17.287011 deg, approach rate: -0.427322 m/s, LOS rate: 0.010559 deg/s, cmd heading: 16.693515 deg, new cmd heading: 16.701997 deg. i9HeadingCmd: 0.291505 target range: 588.300781 and range: 589.00 m.h@>hhhhggjgrgereZe!:e)*e-)7@颽MIBɢ.) ¿i)iiiv3i@>gD=`6=I@>II yA) xA@ @@@AAB}>BBUHBgCBBBBB;B]EBYBYBYB]V =B]V =C]v4) 2Acoustic response timeout^A =E  E E 'E "E &:*E x:VE '4ZE BE h;ڠ%,LA2l=2;>2Sٱ2J=2H ?~ҿ`y`=??x?`l?`L?@?i2l=I2th;2CYB=CByB!HbDJ VDJ8yR<%Rb=ٔRhQ-R>9V ?YV ?=VEyVDZ9EZ>\Q 5b4^?Q 9b4^k)^+BY`ybf=Q Ib@^DI^:i^:^|4yhɮjKAh:i|~FNOT Ignoring new targets: 588.30 m."iI69*iI69 ProNav: ac range: 588.300781 m, nav range: 578.142151 m, bearing: 17.290558 deg, approach rate: -0.401213 m/s, LOS rate: 0.009960 deg/s, cmd heading: 16.701996 deg, new cmd heading: 16.709094 deg. iԑ9HeadingCmd: 0.291629 target range: 588.300781 and range: 589.00 m.h[P>hhhhgg!jg!rg!e!)re)Ze1:e1*e598@][IBɢe )e.< eÿia)eqivui[P>B=y=I[P>Iy@y @@@i9I9E2Acoustic response timeout^AU<=iAIIOm>ԉԱ  2Acoustic response timeout%,NLAE0 E2E2*E0"E0*E2?:VE2(N4ZE0a:@a:@a:@a:@J!=Jcϓ>J$ZٱJGz=JHɡ?tҿ{c1?Yz?oW? ;?@]?iJ!=IJg;JCYVFCByV,Hi5Mb@Mb@Mb@1111 195Cl?B`"۹:vY5>y5ν5T11 5dA)11Y5A AE<bDM%VDMϰ8y],<%]@=ٔ]ىQ-e>9aYa=eEyeDmEm>qQ 5}4u?Q 9}4u0)qY}O>Q E:y/J=Q I@uDIu;iu;uS4yBɮ1Aԙ:iFNOT Ignoring new targets: 588.30 m."iE=9*iE=9 ProNav: ac range: 588.300781 m, nav range: 577.969727 m, bearing: 17.294968 deg, approach rate: -0.404313 m/s, LOS rate: 0.010342 deg/s, cmd heading: 16.709093 deg, new cmd heading: 16.717914 deg. ij9UHeadingCmd: 0.291783 target range: 588.300781 and range: 589.00 m.hUd>hQhQhqhqgqgqjgyrgyeyreyZe:e*e 8@mIBɢ) Ŀi)pرi eid>@=a=Id>I =u>9Gd9YZ`A :@  @ @ 5@ e2Acoustic response timeout^A- M=! Ay I I O >&%,(LAB&>B$B&zHB&CBB$B$B&HDB&|;B&\EYLCBy%3HbD5VD58ye6c<%eJ=ٔmQ-m>9iYi=uEyuDuEu>yQ 54}L?Q 94})}+BYyQ I@}DI}:i}2:}h4yBɮ/AE:iFNOT Ignoring new targets: 588.30 m."iG>9*iG>9 ProNav: ac range: 588.300781 m, nav range: 577.805420 m, bearing: 17.299172 deg, approach rate: -0.406215 m/s, LOS rate: 0.010397 deg/s, cmd heading: 16.717914 deg, new cmd heading: 16.726325 deg. i99HeadingCmd: 0.291929 target range: 588.300781 and range: 589.00 m.hw>hhhhggjgrgereZe:e*e 8@%~IBɢ%v)! %8ƿi!)- ))i-Ti5w>5==5_=I5w>I9BDAT read: Response Not Received *response not receivedm (DAT read: user:89> m BDAT read: Tx time:04:06:49.5391 u $Ping request sent.u /iٱ=Hn? kҿٚ`Z"?{?d!?uG??i=I)h;CQYgCByTHiMMb@Mb@Mb@IIII I9M|?5^?A`"YM>yMٽMM;AM-A MtA)MAIYM3AbDeٿVDe8yud=%u-=ٔuXQ-u>9}"?Y}"?=}Ey}D2E>Q 54д?Q 94ϯ) +BY>Q E:yhihihihigqgqjgqrgqeyreyZey:ey*e`j9@颭IBɢC) zſi)Ǽ顱i2Di>9=Hې=I>Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251061E} E}EyEy"E}:*E}:VEyZEya@a@a@a@ԩ;Y @Y  @Y @e /0@a } checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503812^A=IIO ?q%,@1LA2=2 >2pٱ2F==2HQ? bҿaҜ5?@-}?3qN? 1??i2=I2h;2CY>]CBy>HHDF@AbDJۿVDJ8yRZ%R3=ٔRЃQ-R>9TYT=VEyVDZ!պEZ>\Q 5^4^?Q 9b4^)^+BY`ybhh!h!h!g!g!jg)rg)e1re1Ze1:e1*e59@iB>BCBHBCBBU =BBBS;B\EIBɢ5m) Dɿi)MӼIIiM*^3iU>U3=U]=IU>IY%]<mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755741@ @@00@ԹD%=D%<E5 E5E1E1"E5&:*E5:VE1ZE1BE5h;  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008045Rå%, LA2=2>2dwٱ2+V=2H~? ^ҿ `?@}? 7?k4?$?i2=I2h;0YR}CByRoHbDmVDm8y=%==ٔQ->9Y=EyD<E>Q 54?Q 94)+BYyh!h)h)hQgYgYjgrgereZe:e*e@X:@颅IBɢ$!) ǿi))顑i~"i缕>.=[p=I缕>Iu?ue?}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259233E5 E5E5+E1"E5T;*E5Z:VE5 [4ZE1aE@aE@aE@aE@A! @!  @! @% ~0@! Y ^AMĎ=ԉIIO>ʥ%,"-LA*checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511571r6T=rh>r (ٱra=rH?|Wҿ.@?~?`T߯?"5?8?ir6T=Irh;rCY CBy Hi%Mb@Mb@Mb@!!!! !9%y%%;!! !)% A!Y%A 9=<bD=VD=8yM/=%M=ٔUfQ-U>9YYY=]Ey]D]Ee>aQ 5m4e ?Q 9m4e )e#+BYu>Q Eu:yu=Q Iu@eDIeo;ieRp;e#4yɮA:iFNOT Ignoring new targets: 588.30 m."i%9*i%9 ProNav: ac range: 588.300781 m, nav range: 577.050049 m, bearing: 17.318884 deg, approach rate: -0.410372 m/s, LOS rate: 0.009067 deg/s, cmd heading: 16.756542 deg, new cmd heading: 16.765761 deg. i9HeadingCmd: 0.292618 target range: 588.300781 and range: 589.00 m.hѕ>hhhhggjgrgereZe:e*e@:@IBɢHq) ǿi)%s!!i%Bi-ѕ>-'=-=I-ѕ>I1:@ @@1@BU>BUCBUHBUCBBQBQBQBU-;BU\Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762916DzD?AE EE'E"EV:*E:VE'4ZEBE9)ѥ%,FLA2ߊ=2K>2悽ٱ2=2Hϣ?`Vҿ?~?缿Y?J?@?i2ߊ=I2i;0YBCByBHbDJѿVDJ8yR@=%Rl=ٔVQ-V?9TYT=VEyVĽDZ(EZ?\Q 5b4^F?Q 9b4^)^*+BY`yf=Q If@^!DI^;i^^;^.4yjBɮjnAjE:i|~FNOT Ignoring new targets: 588.30 m."i\'9*i\'9 ProNav: ac range: 588.300781 m, nav range: 576.907959 m, bearing: 17.322028 deg, approach rate: -0.413130 m/s, LOS rate: 0.009145 deg/s, cmd heading: 16.765761 deg, new cmd heading: 16.772052 deg. i9HeadingCmd: 0.292728 target range: 588.300781 and range: 589.00 m.hb>hhhhgg!jg!rg!e!re)Ze):e)*e-@%;@]IBɢ]"o)Y ]ǿiY)emOaaie&imb>m"=m㓌=Imb>IqQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.019114@ @@1@ԁ^A@=IyIO>ԩ % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266985E  E E *E "E &:*E :VE (N4ZE a @a @a @a @Nץ%,#`LA2؊=2I>2Eˆٱ2x-=2H ߢ?Yҿ@ ɡ? }?<+Kְ?l?@?i2؊=I2Pk;2CY>CBy>H@iUMb@Mb@Mb@QQQQ Q9U"~?L7A`尿Mbp?YU>yU+U;U7AU(A UXA)UAQYU3AbDmؿVDm8yuő=%}>=ٔ}oQ-}>9Y=Ey̽DE>Q 54\?Q 94 )5+BY>Q E:y>>Q I@-DI7;i+;4yɮ/A:iFNOT Ignoring new targets: 588.30 m."i9*i9 ProNav: ac range: 588.300781 m, nav range: 576.730225 m, bearing: 17.325153 deg, approach rate: -0.411993 m/s, LOS rate: 0.007245 deg/s, cmd heading: 16.772052 deg, new cmd heading: 16.778303 deg. i&T9HeadingCmd: 0.292837 target range: 588.300781 and range: 589.00 m.h>hhhhggjgrgereZe:e*e<;@5IBɢ58 ) ~ƿi),Gii>=k=I>IIxA)zAԱ@ @@@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519573^A= A I I O% >Be >Ba Be HBe DBBe V =Ba Ba Be .;Ba ޥ%,zLA:;=:b>:%)ٱ:(=:HP?U`ҿ ?]|?pa?@犹? ?i:;=I:&l;8YFCByFHLNAAbDRٿVDR8yV;%ZV=ٔZ۶Q-Z>9XY\=^Ey^ԽD`b:Eb>dQ 5j4f?Q 9j4f)f?+BYhynk>Q In@f7DIf:if:fh4ypɮr.ApB*** querying acoustic contact ***ii:i FNOT Ignoring new targets: 588.30 m."in9*in9% ProNav: ac range: 588.300781 m, nav range: 576.572388 m, bearing: 17.327926 deg, approach rate: -0.411740 m/s, LOS rate: 0.007236 deg/s, cmd heading: 16.778303 deg, new cmd heading: 16.783851 deg. i%S9-HeadingCmd: 0.292933 target range: 588.300781 and range: 589.00 m.h-`>h)h1h1h1g1g1jg9rg9e9re9ZeA:eA*eE_;@mJBɢuG)q uȿiq)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770931iǺi%`>%j=%@=I%`>I)bE(N4jE·G4rE"/E EEE"E:*E:VEZEBE< %,fLA97=*S>ꏽٱ'=HS? aҿj룿? V|??y??i7=Im;CYCByHi}Mb@Mb@Mb@yyyy y9}M?)\({GztY}n>y}Ga}ףyy }dA)yyY}AbDԿVD8y&=%+=ٔQ->9 Y = Ey ޽D4E%>AQ 5M4E^?Q 9U4EȬ)EH+BYUR>Q EU;yU:>Q IU@EDDIE*;iE);Eȷ4y]Bɮ]Aa:iFNOT Ignoring new targets: 588.30 m."i 8*i 8 ProNav: ac range: 588.300781 m, nav range: 576.375061 m, bearing: 17.330849 deg, approach rate: -0.409446 m/s, LOS rate: 0.006067 deg/s, cmd heading: 16.783851 deg, new cmd heading: 16.789699 deg. i19HeadingCmd: 0.293036 target range: 588.300781 and range: 589.00 m.h>hhhhggjgrgereZe:e*eq<@JBɢ/ ) ȿi)Z iǧi>h=y$=I>Iachecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275454E EEE"E=;*E~:VEZEa@a@a@a@@ @@/0@ԑ^A p,= A) IA Ii O} >e%,ALA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527096Z̋=Zφ>ZٱZ =ZH@#?`lҿ錄?jz?`9սĎ?̘?I?iZ̋=IZem;ZCYnCBynHbDտVD8y<%%k=ٔ-ֻQ--?9)Y1=5Ey5D5:E5?9Q 5E4=5+?Q 9M4=5)=N+BYIyM>Q IM@=MDI=/;i= ;=η4yQɮUAYԩ:i%FNOT Ignoring new targets: 588.30 m."i%8*i%85 ProNav: ac range: 588.300781 m, nav range: 576.234436 m, bearing: 17.332928 deg, approach rate: -0.387164 m/s, LOS rate: 0.005726 deg/s, cmd heading: 16.789698 deg, new cmd heading: 16.793858 deg. i5'9=HeadingCmd: 0.293108 target range: 588.300781 and range: 589.00 m.h=D>h9hAhAhAgAgAjgIrgIeIreIZeQ:eQ*eU <@颍,JBɢV8) ɿi)x顑i(㉺iD> =ʌ=ID>Il>i>Q@Q @Y@Y@Y@]@]@e@eB>BCB[HB=DBBT =BBB7;B\EBBBBU =BU =CD5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779088 E EE.E"E:*E҆:VEـ4ZEBEF8) %,MȗLAY~CBy~H  <bDVD8y%pA<%%K=ٔ%Q-%>9)Y)=-Ey-D5E5>9Q 5E4= 9?Q 9E4=)=V+BYAyIQ IM@=WDI=;i=:=շ4yUBɮUAUE:iy}FNOT Ignoring new targets: 588.30 m."i8*i8 ProNav: ac range: 588.300781 m, nav range: 576.070129 m, bearing: 17.335358 deg, approach rate: -0.431628 m/s, LOS rate: 0.006385 deg/s, cmd heading: 16.793857 deg, new cmd heading: 16.798719 deg. i:9HeadingCmd: 0.293193 target range: 588.300781 and range: 589.00 m.hc>hhhhggjgrgereZe:e*e@'0=@颕>JBɢLD) ˿i)g顡i|Uic>/=7=Ic>IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.033143)@) @)@54@1AAyIIOa>q checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283079E  E E %E "E ;*E ]t:VE 4ZE a @a @a @a @Ա %%,t)◖LA2@=2>2%ٱ2=2H?wҿg?x?@nA߳?ຣ?`?i2@=I2Bpn;2CY>CBy>HieMb@Mb@Mb@aaaGa a9e:v?~jtMbYe>yeDee;Ae9A eOA)eAaYab9YAbDVD8y P<% <=ٔ BQ- >9Y=EyDj:E>!Q 5-4%H?Q 9-4%)%\+BY->Q E-:y-<4>Q I5@%cDI%G:i%7 ;%iݷ4y9ɮ=A9:iaeFNOT Ignoring new targets: 588.30 m."im8*im8ԩ5 ProNav: ac range: 588.300781 m, nav range: 575.889771 m, bearing: 17.337641 deg, approach rate: -0.415771 m/s, LOS rate: 0.005264 deg/s, cmd heading: 16.798719 deg, new cmd heading: 16.803286 deg. i=#9=HeadingCmd: 0.293273 target range: 588.300781 and range: 589.00 m.h='>hAhAhAhAgAgAjgIrgIeQreQZeQ:eQ*e]=@颥TJBɢK) ̿i)xi{i'>=+ƌ=I'>IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.537423Y@a @a@e+1@aAm.AIyIO>B <A <B }>B CB HB pDBB V =B B B H;B \E O%,2LA6=6>6=ٱ6=6H`? ҿ@ى`? v?@?벹?'?i6=I6n;6CYB DByF!HbDNVDN8yVX=%Vd=ٔVQ-V>9Z ?YZ ?=ZEyZD^:E^>`Q 5f4bT?Q 9f4b)b`+BYdyf4>Q Ij@bmDIb:ib:b4ynBɮnyAlzB*** querying acoustic contact ***i|i|:i FNOT Ignoring new targets: 588.30 m."i 8*i 8 ProNav: ac range: 588.300781 m, nav range: 575.740601 m, bearing: 17.339520 deg, approach rate: -0.415145 m/s, LOS rate: 0.005232 deg/s, cmd heading: 16.803286 deg, new cmd heading: 16.807047 deg. i69%HeadingCmd: 0.293338 target range: 588.300781 and range: 589.00 m.h%p0>h!h!h)h)g)g)jg1rg1e1re1Ze1:e1*e=%=@ecJBɢe6$)i mʿii)miiiuJMiup0>u=}܍=I}p0>Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=4.789414E] E]E]*EY"E]f;*E]:VE](N4ZEYBE]WyU checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039598ԩ g7%,LAP 1= >  hٱ k= H@??ҿé?`t?Ī&???i 1=I ]n; CYDBy(HiMb@Mb@Mb@ 9(\?ˡEYz>y'̼ EA)$AYbDVD8y7<%"=ٔAQ->9"?Y"?=EyD :E>Q 54e?Q 94)c+BY>Q E:yJH>Q I@zDI/;i.;x4yɮmA:i  FNOT Ignoring new targets: 588.30 m."i8*i8% ProNav: ac range: 588.300781 m, nav range: 575.531738 m, bearing: 17.341755 deg, approach rate: -0.415066 m/s, LOS rate: 0.004442 deg/s, cmd heading: 16.807046 deg, new cmd heading: 16.811517 deg. i%9-HeadingCmd: 0.293416 target range: 588.300781 and range: 589.00 m.h-:>h)h)h)h1g1g1jg1rg1e9re9Ze9:e9*eE{>@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290895|JBɢm) Ϳi ) W]%  i B i:>==I:>IEm EmEiEi"Em;*Em҆:VEiZEiau@au@au@au@9@ @@00@) ^A x=e checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543289I I1 O= >4 %,f1LA6=6 M>6Sٱ6n =6Hݒ?`ҿ謹 ?s? ̾õ? ??i6=I6*o;6CYB&DByB?HbDNVDN8yRW^=%Vu=ٔVQ-V?9XYX=ZEyZD^:E^?`Q 5b4bq?Q 9f4b6)be+BYdyfH>Q If@bDIbA;ib;bQ4ynBɮn?AnE:i|FNOT Ignoring new targets: 588.30 m."i8*i8 ProNav: ac range: 588.300781 m, nav range: 575.392761 m, bearing: 17.343238 deg, approach rate: -0.416486 m/s, LOS rate: 0.004445 deg/s, cmd heading: 16.811517 deg, new cmd heading: 16.814484 deg. i*9HeadingCmd: 0.293468 target range: 588.300781 and range: 589.00 m.hsA>h!h!h!h!g!g!jg)rg)e)re1Ze1:e1*e5w>@JBɢ>$) ̿i)'*i ܩ8isA>=N=IsA>IAB>BBHBDBBBBB`;B\E@ @@60@i%=<checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795219E EE(E"E%;*Eą:VEc44ZEBEKY%,N`KLA6=6=>6ٱ6=6H?`ҿ@s9 ?zp?Lk? ?@7?i6=I6Ro;4@YF8DByFUHbDNVDN8yV4=%VK=ٔZ_ѻQ-Z>9XYX=^Ey^D^:E^>`Q 5f4bl?Q 9f4bX)bh+BYhyjPI>Q Ij@bDIb:ibG:b\4ylɮnAp:i FNOT Ignoring new targets: 588.30 m."i Q8*i Q8 ProNav: ac range: 588.300781 m, nav range: 575.225403 m, bearing: 17.345013 deg, approach rate: -0.415253 m/s, LOS rate: 0.004407 deg/s, cmd heading: 16.814483 deg, new cmd heading: 16.818035 deg. i 9%HeadingCmd: 0.293530 target range: 588.300781 and range: 589.00 m.h%I>h!h!h)h)g)g)jg)rg1e1re1Ze1:e1*e=8?@颍JBɢt Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.047927) MͿiI)} /yyi}S9iI>:=-u=II>IIyA)yAԱI@Q @Q@U/0@Q^AW=I I! O5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298916 E  E E +E "E ;*E VE [4ZE a @a @a @a @l%,:;eLA2~=2T>2`ٱ2j=2H }?tҿ`)?#n?ׄ` ?@?X?i2~=I2hfp;2CYNJDByRkHli-Mb@Mb@Mb@)))) )9-B`"?Zd;O rhY->y-j<-C -CA-?A -XA)-7A)Y-A U9Y=Ey DU:E>!Q 5-4%?Q 9-4%u)%g+BY5>Q E5;y5=>Q I5@%DI%;i%;%44y9ɮ=AA:iaeFNOT Ignoring new targets: 588.30 m."im8*im8 ProNav: ac range: 588.300781 m, nav range: 575.043457 m, bearing: 17.347155 deg, approach rate: -0.405278 m/s, LOS rate: 0.004773 deg/s, cmd heading: 16.818036 deg, new cmd heading: 16.822321 deg. i 9HeadingCmd: 0.293605 target range: 588.300781 and range: 589.00 m.hbS>hhhhggjgrgereZe:e*e?@JBɢ) Ϳi)N4i:ibS>1=[o=IbS>I@ @@)0@@p=@=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.5520519^Am =A A B >B B HB DBB B B B T;B \EI I O >a %,aLA2cɑ=2>2ձٱ22=2H\?_ҿ&}+?@n? 3a???i2cɑ=I2p;2CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.802839YVHDByViHbDbVDb8yf8i%ja=ٔjQ-j>9hYl=nEyn'DAEe EeEe(Ea"Ee ;*Ee&p:VEec44ZEaBEe|TQ 54?Q 94)Yy=>Q I@DI:iq:4yBɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 588.30 m."i8*i8- ProNav: ac range: 588.300781 m, nav range: 574.888123 m, bearing: 17.348986 deg, approach rate: -0.398911 m/s, LOS rate: 0.004702 deg/s, cmd heading: 16.822322 deg, new cmd heading: 16.825984 deg. i- 95HeadingCmd: 0.293669 target range: 588.300781 and range: 589.00 m.h5[>h1hQhQhQgQgYjgYrgYeYreaZea:ea*ee@@JBɢ#) =пi)3I:i=:i[>R=I[>Ii@ @@4@ԙechecking for new query: numPingsReceived=0, elapsed TxPingTime=7.055976^A~4=I I) O= > r%%,.LAԱY5MDBy5oHiMb@Mb@Mb@ 9Fx?)\(ktY>yGa 0 ?A)CAY¿AbDVD8y<%-=ٔQ->91Y1=5Ey51D=E=>AQ 5M4E?Q 9M4E)Eb+BYU>Q EU;yU'>Q IU@EDIE5;iE>;E4yYɮ]AY:iFNOT Ignoring new targets: 588.30 m."i8*i8 ProNav: ac range: 588.300781 m, nav range: 574.703369 m, bearing: 17.351559 deg, approach rate: -0.405173 m/s, LOS rate: 0.005645 deg/s, cmd heading: 16.825983 deg, new cmd heading: 16.831131 deg. iI%9HeadingCmd: 0.293759 target range: 588.300781 and range: 589.00 m.hg>checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307067hhhhggjgrgereZe:e*e,B@@JBɢ ) ҿi)FJ@i y:ig>ޗ=:=Ig>I ]>iEm EmEm)Ei"EmV:*Em:VEmFA4ZEiau@au@au@au@Թ@ @@`5@^A A zA xA! ] checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559072I I O >,%,̲LAY]WDBy]|Him@AbDmVDm8yG<%d=ٔQ->9Y=Ey8DE? Q 54Ķ?Q 9%4L)^+BY!y!Q I%@DI:i:4y-Bɮ-A1:iQ]FNOT Ignoring new targets: 588.30 m."i]8*i]8m ProNav: ac range: 588.300781 m, nav range: 574.563904 m, bearing: 17.353502 deg, approach rate: -0.382228 m/s, LOS rate: 0.005326 deg/s, cmd heading: 16.831131 deg, new cmd heading: 16.835018 deg. im9}HeadingCmd: 0.293826 target range: 588.300781 and range: 589.00 m.h}mp>hyhyhyhyggjgrgereZe:e*ep@@颽JBɢA-) {ӿi)6Eiҙ:imp>kڗ=n=Imp>IBYBYB]0HB]DBB]U =BYBYB]W;B]\E:@ @@_5@@zA@zA!checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811387bEjErENU0E} E}E}*Ey"E};*E}:VE}(N4ZEyBE}Ay 3%,̘LA2f=26Г>2˽ٱ2zE=2H?ܼҿ~!?n?(`r?]? ?i2f=I2wr;2CY>bDBy>HbDJVDJð8yR<%RZ=ٔRKQ-R>9TYT=VEyV@DZEZ>XQ 5E4Zb?Q 9E4Z)ZZ+BYIyMm'>Q IU@ZDIZȠhhhhggjgrgereZe:e*e@@%KBɢ%+p')! %Կi!)-J))i-8ʵ:iu z>u՗=u.=I} z>Iy9@ @@0@ԁԱ^A) I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315029E  E E E "E :*E ~:VE ZE a @a @a @a @ 5.9%,|昖LA2Wv=22>2kнٱ2=2H@?>ҿ攱@?@o? ?G?_?i2Wv=I2pr;2CY>qDByBHi-Mb@Mb@Mb@)))) )9-HzG?+:vY-=>y--T)-KA -KA)))Y-GAbDEVDAyU =%U@=ٔUQ-U>Ա9Y=EyIDE>Q 54j?Q 94)Q+BY>Q E;y=Q I@DI@;i?;$4y5Bɮ5A5E:i FNOT Ignoring new targets: 588.30 m."i9*i9U ProNav: ac range: 588.300781 m, nav range: 574.225830 m, bearing: 17.359288 deg, approach rate: -0.405649 m/s, LOS rate: 0.007958 deg/s, cmd heading: 16.839225 deg, new cmd heading: 16.846594 deg. iU i9eHeadingCmd: 0.294029 target range: 588.300781 and range: 589.00 m.-checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567156he銖>hhhhggjgrgereZe:e*e`@@"KBɢ] ) 1ֿi) Q  i +0:i銖>З=뜎=I銖>I@ @@/0@ BI AI BQ BQ BU nHBU EBBU V =BQ BQ BU T;BU \EBBBBV =BV =Cɝ4^A =9 IA IQ Oe >@%,WyLA>checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818817^=^L>^5ٽٱ^Va=^H`9?"ҿ魲 ?p?ݿ?`W?@G?i^=I^/Oq;^CYjDByjH ln<bDr%VDrϰ8yz#J=%zO=ٔ~ 0Q-~>9|Y|=EyPD E> Q 54 @?Q 94 ) K+BYy3=Q I@ DI ;i : *4y!ɮ%gA!EB*** querying acoustic contact ***iAiAEU EUEU/EQ"EU ;*EU|:VEUJ4ZEQBEULhhhhggjgrgereZe:e*e:A@M0KBɢM6F)Q UyտiQ)UbUQQiU2:i]i>]:̗=]=Iei>Ia:@! @!@%>0@!1-checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071528^AeW=IIO>Y LF%,YiLAY DBy HiMb@Mb@Mb@ 9/$?RQ&1Y1>y½P ?A)ZAY AbD VD8y<%.=ٔQ->9Y=EyZDE>Q 5 4F?Q 94_)B+BY>Q E;y=Q I@Q}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323003DIHh hhhggjgrgereZe!:e!*e%FA@E] E]E](EY"E]:*E]z:VE]c44ZEYae@ae@ae@ae@eJKBɢm$)i mֿii)u\qqiut;i}>}ŗ=}a=I}>Iy wu>fCUGq4d9Y{`A-9@) @)@- 0@)ԉԹ ^Am =i) I) 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575212A I I O > L%,{5LA>=> В>>ٱ>~=>Hˁ?\ҿdz@?yr?QV,?_?@ݦ?i>=I>wo;>CYNDByNHbDZVDZ8y^7=%bf=ٔbDQ-b>9dYd=fEyfaDfP/Ej>hQ 5n4jb?Q 9r4j!)j<+BYpyr=Q Ir@jDIjP:ijG:jc94ymBɮmAi:iFNOT Ignoring new targets: 588.30 m."iY29*iY29 ProNav: ac range: 588.300781 m, nav range: 573.762207 m, bearing: 17.369912 deg, approach rate: -0.400204 m/s, LOS rate: 0.009745 deg/s, cmd heading: 16.861036 deg, new cmd heading: 16.867849 deg. i9HeadingCmd: 0.294399 target range: 588.300781 and range: 589.00 m.h>hhhhggjgrgereB->B-CB-HB-EEBB-U =B)B)B-E;B-\EZei:ei*emvA@颕]KBɢ^4) Qտi)&a顡ivB;i>= =I>II):@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827027)DzD@AE EE+E"E:*E~:VE [4ZEBE<S%,OLA F/=F~>FٱF=FH?ҿ"<`?r??`?`?iF/=IFNn;FCYRDByRHXXbD^ VD^8yfk&=%fJ=ٔf)Q-f>9hYh=jE]1Q 5=45 ?Q 9=45ԡ)55+BY9yEd=Q IE@5DI5\:i154A4yIɮMAq:iFNOT Ignoring new targets: 588.30 m."i/9*i/9 ProNav: ac range: 588.300781 m, nav range: 573.586060 m, bearing: 17.374208 deg, approach rate: -0.393800 m/s, LOS rate: 0.009607 deg/s, cmd heading: 16.867849 deg, new cmd heading: 16.876444 deg. i9-HeadingCmd: 0.294549 target range: 588.300781 and range: 589.00 m.h-1ϖ>h)h)h1h1g1g1jg9rg9e9re9Ze9:e9*eEA@i颵uKBɢGN,) $ֿi))g项i (;i1ϖ>B=3=I1ϖ>I=9@A @A@E&5@Aԙ 2Acoustic response timeout^A% =E  E E )E "E ;*E |:VE FA4ZE a @a @a @a @ AQ Ia Iq O} >Y%,ZiLA29=2b>2ٱ2 =2H`O?ҿ@?Hs?@1(???i29=I2 m;0Y>DBy>*HLiMb@Mb@Mb@ 9J +?y&1{GzY>y`彙#OA )fAYAbDVD8y=%:=ٔiQ->9Y=EyrDE> Q 54 ^?Q 94 ) 2+BY>Q E;y`hhhhggjgIrgIeIreQZeQ:eQ*eUA@额KBɢ2) Կi)}li);i>=!=I>Im2Acoustic response timeout@ @@_5@A1A1B=~>B=CB=HB=EBB9B9B9B=C;B=\E^A =! A I I  2Acoustic response timeoutO% >O`%,.LA2["=25>2Yٱ2$=2H?cҿV9@A?t?B@?? 7?i2["=I2Ql;2CDB4=DB<EF EFEF'ED"EF;*EF:VEF'4ZEDBEF@9Y=EyzDE>Q 54%?Q 94)0+BYyhhh!h!g!g!jg)rg)e)re)Ze):e)*e5B@KBɢP6) ӿi)qi6;i>P==I>I%p>i!i:@ @@`5@}2Acoustic response timeoutԑ^Aff=AA> A I I O% >Xf%,#LAԑO=>Ҝٱ=H@?2ҿ`%_?u?M !?.??iO=I!l;YEBy_HiMb@Mb@Mb@ 9K7?S㥻:vY>y/ݽԼfAXA KA)rAY\AbD VD8y =%:=ٔDQ->9Y=EyDE>Q 542Acoustic response timeout5?Q 94)5+BY>Q E;yhhhhggjgrgereZe:e*e5KB@mKBɢm -)i mԿiq)uwqqiu7]B;i}->};=}=I}->I=9@9 @9@=O0@9^AY  2Acoustic response timeout A I I O >Nm%, ѷLA2+ =2U>2ٱ2=2H? Xҿ 6-?`v?n?@'?@*?i2+ =I2k;2CY>%EBy>yHbD^VD^8ybi=%ff=ٔfRQ-f>9hYh=jEyjDnnEn>pQ 5r4rWA?Q 9v4rq)r9+BYtyvhAhAhAhABu}>BqBu6HBuEBBuV =BqBqBuY;Bu\EԉgAg jg rg e reZe:e*e xB@MKBɢM>)I MԿiQ)U|QQiU|N;i]!>]=]҄=I]!>IԹ@ @@@0@u2Acoustic response timeoutD)zD-?AE5 E5E5*E1"E5l;*E51:VE5(N4ZE1BE5aFR-t%,љLA>s=>>>mٱ>=>H ?ҿA@`?@w?@,@B$?5? ?i>s=I>/l;>CYJOEByJHbD^ܿVD^8yf=%fK=ٔjQ-j>9hYh=nEynDr2Acoustic response timeoutrGEv>tQ 5z4vAO?Q 9~4vW)v>+BY|y~~hQhQhQhQgQgQjgYrgYeYreaZea:ea*eeOB@颕KBɢl9) ҿi)倽顙iB7Z;ih6><= ==Ih6>IqU:@Q @Q@UO0@Qԡ^A=AzAzAzABDAT read: Response Not Received *response not received(DAT read: user:90> BDAT read: Tx time:04:07:01.9891 $Ping request sent. xWz%,J`뙖LA21=2+>2ٱ2=2H~?`ҿ7? 9w?@լf?De??i21=I2Ik;0YfhEByfHiMb@Mb@Mb@ 9/$?"~jQY1>yS㽙udA )~AYAbD1VD1yEE_=%E5=ٔEQ-M>9IYI=MEyMDUcEU>YQ 5e4]^?Q 9e4]I)]H+BYe>>Q Em;ym5hhhhggjgrgereZe:e*eM`B@颽KBɢ0.) Aҿi)ie;checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250346iN>u|=u[=IuN>Iq9@ @@ 0@@ @ QB}<A}<B}~>ByB}HB}FBB}W =ByByB}j;B}\Eԁ ^A% t0= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502626bEjEL4rE30E]  EY EY EY "E] &:*EY VEY ZEY BE] h;s%, LA^=^b>^ٱ^'=^Hq}?Nҿ%@?v? `V?Յ?`'?i^=I^!l;^CYzrEBy~H=a=bD ߿VD 8y% <%%W=ٔ%Q-%>9- ?Y- ?=-Ey-DU^EU>YQ 5e4]k?Q 9e4]>)]Q+BYaye0hhhhggjgrge re Ze:e*e NC@额LBɢ<) ӿi)yimq;i7c>u=L=I7c>I@ @@@1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754049^A=a A1 I9 II O >%,-LAMٱM=MH |?@ҿ@ ?lw?F?6??iMO=IMk;MCYeEBye"Hchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006181iMb@Mb@Mb@ 9n?~jtMbpYV>yĽAA A)AYAbD VD 8y >%;=ٔ%?Q-%>9!Y)=-Ey-DE EE)E"E*E:VEFA4ZEa@a@a@a@kE>Q 54{?Q 94)b+BY>Q E;yI=Q I@N DI:i:vz4y Bɮ A :iQUFNOT Ignoring new targets: 588.30 m."i]<9*i]<9ԁ ProNav: ac range: 588.300781 m, nav range: 572.298218 m, bearing: 17.411254 deg, approach rate: -0.396150 m/s, LOS rate: 0.010320 deg/s, cmd heading: 16.941149 deg, new cmd heading: 16.950556 deg. i9HeadingCmd: 0.295843 target range: 588.300781 and range: 589.00 m.hx>hhhhggjgrgereZe:e*emWh=m~Y=Imx>Iq1@9 @9@=#5@9Թ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258143 ^A} r=A >A >A ؟AI I O >%,:LAB"}>B B" HB"lFBB"V =B B B"v;B"\EBBBBBCqa5,FP=F'>FbٱFN=FH{?M~ҿ WB?@Jw??%?@?iFP=IFk;DYEByLHbD-VD-8y=&=%=Q=ٔE#Q-E>9E"?YE"?=EEyEDMZEM>QQ 5]4Uh?Q 9]4UΠ)Uq+BYYye^H=Q Ie@UX DIU*:iU:U4yiɮmAi:iFNOT Ignoring new targets: 588.30 m."iC9*iC9 ProNav: ac range: 588.300781 m, nav range: 572.150085 m, bearing: 17.415120 deg, approach rate: -0.408115 m/s, LOS rate: 0.010656 deg/s, cmd heading: 16.950556 deg, new cmd heading: 16.958291 deg. i9HeadingCmd: 0.295978 target range: 588.300781 and range: 589.00 m.hn>hhhhggjgrgereZe:e*e~}C@=LBɢ^(A) Ϳi)i;in>^=f6=In>I ԁ:@ @@3@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510791E= E=E=,E9"E=l;*E=:VE=g4ZE9BE=aFi1 I1 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762358锦%,WTLA2G=2>2o7ٱ2J=2H z?|ҿnøz?Jw?``? Ĺ?ď?i2G=I2@k;2CY>FBy>HDFAbDJVDJ8yRO>%VU=ٔVQ-V>9TYX=ZEyZDZNEZ>``Q 5f4b?Q 9f4b)b+BYdyfG=Q Ij@bb DIbz:ib :b4ynBɮn4AnE:iFNOT Ignoring new targets: 588.30 m."i ?9*i ?9 ProNav: ac range: 588.300781 m, nav range: 571.996765 m, bearing: 17.419131 deg, approach rate: -0.398938 m/s, LOS rate: 0.010438 deg/s, cmd heading: 16.958291 deg, new cmd heading: 16.966314 deg. iҘ9%HeadingCmd: 0.296118 target range: 588.300781 and range: 589.00 m.h%ɜ>h!h!h!h!g)g)jg)rg)e)re1Ze1:e1*e5@C@ULBɢ7) <ʿi) i ˈ;i ɜ>iQ=}=Iɜ>I9@ @@@5@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014223^A?~=E] E]E]+EY"E]:*E]:VE] [4ZEYae@ae@ae@ae@G E 9A YE aAA I I O >A %,nLAV=VA>VٱVh=VHx? ҿ m*ћ?}v?34? ,׹?@?iV=IV0 j;VCYbFBybHiUMb@Mb@Mb@QQQQ Q9U&1? rhMb`YU>yUCUUfAUdA U?A)UAQYUAbDmVDm8y}a<%}==ٔ})Q-}>9Y=EyžDzu8E>Q 54?Q 94)+BY>Q E;y=Q I@m DI8:iA:54yɮA:iFNOT Ignoring new targets: 588.30 m."i 9*i 9 ProNav: ac range: 588.300781 m, nav range: 571.822327 m, bearing: 17.422447 deg, approach rate: -0.403892 m/s, LOS rate: 0.007680 deg/s, cmd heading: 16.966315 deg, new cmd heading: 16.972949 deg. i`9HeadingCmd: 0.296234 target range: 588.300781 and range: 589.00 m.h>hhhhggjgrgereZe:e*eC@nLBɢz6) ˿i)gi;i>C=3x}=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266188I>I A@ @@2@A1A1B=|>B9B={HB=FBB9B9B9B=;B=\Ei^A|=AxAzA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518077ԡ I I O >E]  E] E] *EY "E] %;*E] :VE] (N4ZEY BE] KN? ٱN1[=NH@+w?ҿN ?@u?HI&?p?‹?iNO=INi;LYn6FBynHbDzѿVDz8y1=%S=ٔ؃Q->9 Y = Ey ;D |E>Q 54?Q 9%4)+BY!y%~=Q I%@x DIM;i;4y-Bɮ5ĽA1MB*** querying acoustic contact ***iIiI:iY]FNOT Ignoring new targets: 588.30 m."ie 9*ie 9u ProNav: ac range: 588.300781 m, nav range: 571.666138 m, bearing: 17.425420 deg, approach rate: -0.403530 m/s, LOS rate: 0.007683 deg/s, cmd heading: 16.972948 deg, new cmd heading: 16.978896 deg. iu`9y}HeadingCmd: 0.296338 target range: 588.300781 and range: 589.00 m.h}>hhhhggjgrgereZe:e*eD@=LBɢ=H?)A EɿiA)EƓAAiE;iM>M7=M|=IM>IQ9@ @@z1@@yA@ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770145^AS%}=I I O > (%,P8LA=PQ>_5 ٱ/=H`t?@ҿ-׹4?@ts?kX? ?`?i=I8g;CY-^FBy-H]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022140E EE'E"E;*E҆:VE'4ZEa%@a%@a%@a%@i%Mb@Mb@Mb@!!!! !9%V-?I +~jtxY%h>y%94%Ļ%CA%XA %nA)%A!Y%AbD=ԿVD=8yM=%M7=ٔU{dQ-U>9QYQ=]Ey]־D]5:E]>aQ 5m4e?Q 9m4e)e+BYu>Q Eu;yu`4>Q Iu@e DIe;ie;eɝ4yyɮ}tAy:iFNOT Ignoring new targets: 588.30 m."i8*i8 ProNav: ac range: 588.300781 m, nav range: 571.484558 m, bearing: 17.427762 deg, approach rate: -0.405918 m/s, LOS rate: 0.005239 deg/s, cmd heading: 16.978896 deg, new cmd heading: 16.983582 deg. id9HeadingCmd: 0.296419 target range: 588.300781 and range: 589.00 m.hJė>hhhhggjgrgereZe:e*ePD@LBɢ75)  ǿi ) \ iҗ;iJė>*=~=IJė>IA@A @A@E/0@A)i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274474^Ae |=I I O Y B= {>B9 B= HB= #GBB= W =B9 B9 B= };B= \EO%,LA2҃=2L>2 ٱ2v=2Hq?ҿ.!`ۨ?`yq?`p??-?@x?i2҃=I2f;2CYnFByr/HbDzпVDz8y=%c=ٔQ- >9 Y = Ey ݾDo:E>Q 5%4V?Q 9%4 )+BY!y%4>Q I%@ DI:ih:4y1ɮ5A1:iQ]FNOT Ignoring new targets: 588.30 m."ie8*ie8m ProNav: ac range: 588.300781 m, nav range: 571.338257 m, bearing: 17.429645 deg, approach rate: -0.405732 m/s, LOS rate: 0.005221 deg/s, cmd heading: 16.983583 deg, new cmd heading: 16.987348 deg. iu9uHeadingCmd: 0.296485 target range: 588.300781 and range: 589.00 m.h}̗>hyhyhyhygygjgrgereZe:e*e~D@颽LBɢC@) :ſi)蘽iV;i̗>=7=I̗>IԙQ@Q @Q@UO0@Qmchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526114E- E-E-*E)"E-:*E-:VE-(N4ZE)BE-<A}?IIO> BDAT read: Rx Time:04:07:05.1566 % TRx dataTimestamp_ set to:1764907627.334735% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779130) -7%,"՚LA2=2Ր>2iUٱ24c=2Hn? ҿ@[q ?n? ?`P^?@?i2=I2e;2CYBFByBNHbDJVDJh8yV=%VP=ٔV.Q-Z>9XYX=ZEyZD^\:E^>`Q 5f4b?Q 9f4bM)b+BYdyfi5>Q Ij@b DIb":ib:b4ynBɮnAl:iFNOT Ignoring new targets: 588.30 m."i 88*i 88 ProNav: ac range: 588.300781 m, nav range: 571.178894 m, bearing: 17.431687 deg, approach rate: -0.405467 m/s, LOS rate: 0.005197 deg/s, cmd heading: 16.987348 deg, new cmd heading: 16.991433 deg. i-9%HeadingCmd: 0.296556 target range: 588.300781 and range: 589.00 m.h%?֗>h!h!h!h!g!g)jg)rg)e)re1Ze1:e1*e5;D@LBɢX`:) ſi) i wJ;i ?֗>=$π=I?֗>I1@ @@00@@@=!߁߅%=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033753^AE= E=E=%E9"E=%;*E=:VE= 4ZE9aE@aE@aE@aE@IyIO>I 7a%,LA 2W=2t9>24nٱ2Jp=2H`k?ҿ\6?l? @?^?ƒ?i2W=I2cd;2CYRFByVlHiUMb@Mb@Mb@QQQQ Q9UyU\UUAUhA U9A)UAQYU(AbDm̿VDm}8y}a=%==ٔ"Q->9Y=EyD:E>Q 54Z?Q 94[)+BY_>Q E:y.P>Q I@ DIG:i7:}4yɮA:iFNOT Ignoring new targets: 588.30 m."i͘8*i͘8 ProNav: ac range: 588.300781 m, nav range: 571.001831 m, bearing: 17.433487 deg, approach rate: -0.410534 m/s, LOS rate: 0.004175 deg/s, cmd heading: 16.991433 deg, new cmd heading: 16.995034 deg. i|8HeadingCmd: 0.296619 target range: 588.300781 and range: 589.00 m.h|ޗ>hhhhggjgrgereZe :e *e rD@=LBɢ=Z;)9 ="ſi9)EAAiE;iM|ޗ>M=M=IM|ޗ>IIDAT read: 04:07:05.1566 LVL= 29520, 32753, 30450, 32755, AGC= 75, IDX= 213, 0.24,-2.224, 2.388,-2.000,-2.755, PHS= 0.632,-1.096, 0.711, RAW= 152.2, -2.8, CAL= 151.5, -3.9, ROT= 358.5, 3.9  Ygot valid direction response: 04:07:05.1566 LVL= 29520, 32753, 30450, 32755, AGC= 75, IDX= 213, 0.24,-2.224, 2.388,-2.000,-2.755, PHS= 0.632,-1.096, 0.711, RAW= 152.2, -2.8, CAL= 151.5, -3.9, ROT= 358.5, 3.9 PDAT read: Bearing 164.6, 5.9 (Local) ~Local bearing/azimuth received: Bearing 164.6, 5.9 (Local) DAT read: Range 11 to 50 : 572.4 m (Round-trip 763.3 ms) speed 0.3 m/s %R#Rx 1: Read range and direction messages.-`direction in FSK: [0.997342,-0.026116,-0.068015]-Fpublishing direction and range infoyE:?TG,::siYDPsv )KI!?iI6?P*@+H%:)@ 'g)c9@I'g=Y:O ?ܻ6 ?$x7? ?)J=Iwּi'g=ET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.i!@! @!@% 0@)B<A<Bz>BCB\HB~GBBBBBu;B\Eԙ^AM p=  (DAT read: user:91>  BDAT read: Tx time:04:07:06.4391  $Ping request sent. I¦%, LABݦ=BV}>BirٱB=BH@`i? ҿ캿 ?`k?? D??iBݦ=IBd;@PYbFBybHbDjVDj8yr =%rU=ٔrV)Q-v>9tYt=vEyvDz:Ez>Q 5%4?Q 9%4)+BY!y%P>Q I-@ DI:i:F4y5Bɮ5oA5EiiӠLAjD"jD:j<Ƈ>"p5WNс@fw-`{qCpE:?TG,::si*jwּ2j'g=*pXT2@p b@+D@pnl }?. T?qpis?jxC j DieQ!?i]L@jBj^?jA}jArjDzjڔ> addTargetRange:: Added new target pos. range: 572.400024 m, deltaT: 41.841687 s, deltaX: -16.599976 m, approachRate: -0.396733 m/s, rangeRepo size: 3  Added new target pos. range: 571.732971 m, bearing: 15.193940 deg, lat: 36.779393 deg, lon: -121.859404 deg, deltaT: 41.841687 s, deltaX: -16.567810 m, approachRate: -0.395964 m/s, posRepo size: 3 :i!%FNOT Ignoring new targets: 571.73 m."i-*i)e ProNav: ac range: 571.732971 m, nav range: 570.843811 m, bearing: 16.657740 deg, approach rate: 0.000000 m/s, LOS rate: 0.004175 deg/s, cmd heading: 16.995034 deg, new cmd heading: 16.998337 deg. iiHeadingCmd: 0.296677 target range: 571.732971 and range: 572.40 m.h >hhhhggjgrgereZe:e@3@*e?uLBɢu9)q }Ŀiy)}=۠yyi},;i >"=Ϛ=I >IIxA)xA!@! @!@!@!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250205^AM t0=AM yAzAM yA! A} .AI I OM >uȦ%,z#LA|Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502083e=7>ٱ@ =H`f?ҿ{D?`i?@l B1? (P?@?ie=I$d;CYFByHE EE&E"E;*E҆:VE4ZEa@a@a@a@i=Mb@Mb@Mb@9999 99=㥛 ?y&1MbY=>y=`弙==vA=A =A)=`A9Y=QAbDUٿVDU8yeo %e4=ٔe_Q-m>9m ?Ym ?=uEyuDuX:Eu>yQ 54} ?Q 94}e)} ,BY>Q E:yhg>Q I@} DI}:i}o;}!4yɮwA-B*** querying acoustic contact ***i1i1:i9=FNOT Ignoring new targets: 571.73 m."iE7C8*iE7C8u ProNav: ac range: 571.732971 m, nav range: 570.656067 m, bearing: 16.658962 deg, approach rate: -0.409434 m/s, LOS rate: 0.002667 deg/s, cmd heading: 16.998338 deg, new cmd heading: 17.000784 deg. iu,8}HeadingCmd: 0.296720 target range: 571.732971 and range: 572.40 m.h}>hyhyhyhyggjgrgereZe:e*ej?MBɢ>) ȿi) ,  i v;!i->5S=5<=I5>I9:@ @@?5@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753670^A= 5=E PExceeded connect timeout, disconnecting.ԁ B y>B B HB GBB B B B x;B \EA ؟AI I O >Φ%,(>LA6l=6>6myٱ6"=6H@d?_ҿ&@0?h?^?Q?S?i6l=I6kc;6CYB"GByBHbDNVDN8yV6Y>%Vc=ٔVQ-Z>9Z"?YZ"?=ZEy^D^::E^>`Q 5f4bm?Q 9f4b)b,BYdyjg>Q Ij@b DIb;ibT;bnǸ4ynBɮnѻAlx:i FNOT Ignoring new targets: 571.73 m."iO8*iO8% ProNav: ac range: 571.732971 m, nav range: 570.505615 m, bearing: 16.659937 deg, approach rate: -0.436563 m/s, LOS rate: 0.002829 deg/s, cmd heading: 17.000783 deg, new cmd heading: 17.002733 deg. i%8%HeadingCmd: 0.296754 target range: 571.732971 and range: 572.40 m.h%>h)h)h)h)g)g1jg1rg1e1re9Ze9:e9*e=@?.MBɢF) li ) ť i ;i>=̃=I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006371!]:@Y @Y@]%5@aDzDAAbE%FA4jE%<4rE%L0E EE)E"Es:*E1:VEFA4ZEBEp0 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257726զ%,WLAJĉ=J>Js|ٱJ)=JHb?ҿû%?g? ¿~? R?}?iJĉ=IJ>b;JCYV-GByVHbDbVDbɰ8yjb<%jH=ٔnQ-n>9lYp=rEyrDr 9Er>tQ 5z4vo ?Q 9z4v)v,BY|y~ h>Q I~@v DIv:iv^;vθ4yɮA:i)-FNOT Ignoring new targets: 571.73 m."i5E8*i5E8E ProNav: ac range: 571.732971 m, nav range: 570.335388 m, bearing: 16.661036 deg, approach rate: -0.418221 m/s, LOS rate: 0.002701 deg/s, cmd heading: 17.002733 deg, new cmd heading: 17.004932 deg. iE08MHeadingCmd: 0.296792 target range: 571.732971 and range: 572.40 m.hM!>hIhIhIhIgQgQjgQrgQYeareaZea:ea*ee K?颕FMBɢB) ÿi)8顙i;i!>T==I!>Ii>5:@1 @1@5 5@1ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511821^A}W^=E EE&E"E;*EVE4ZEa@a@a@a@A .AI I O > &ۦ%,qLA6U#=6s\>6ٱ6]%=6H_?ҿ> ?Xd?`+¿`? ?Z{?i6U#=I6_b;6CY^GGBybHiuMb@Mb@Mb@qqqq q9u㥛 ?+I +Yqyuu94uAuA uA)uAqYuAbD!VD˰8yv=%>=ٔJQ->9 ?Y ?=EyD:E>Q 54[/?Q 94)%,BY>Q E:yQ>Q I@ DIP;i:ָ4yɮA:iFNOT Ignoring new targets: 571.73 m."i8*i8 ProNav: ac range: 571.732971 m, nav range: 570.155212 m, bearing: 16.662600 deg, approach rate: -0.418424 m/s, LOS rate: 0.003633 deg/s, cmd heading: 17.004932 deg, new cmd heading: 17.008061 deg. i8HeadingCmd: 0.296847 target range: 571.732971 and range: 572.40 m.hI>hhhhg!g!jg!rg!e)re)Ze):e)*e- @]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761809m`MBɢm>)i m ÿii)"窽i./;iI>֖==II>InManaging dock network, ignoring radio surface power off:@ @@1@A!A%AAB-z>B)B-0HB-+HBB-V =B)B)B-};B-\EBCBCBBW =BW =C41^A = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013742E  E E (E "E ;*E :VE c44ZE BE LY %, LA^H=^p[>^5ٱ^=^H 1^?`wҿ N`?-d?3¿??y?i^H=I^ҭa;^CY yGByVHbD]VD]8yug=%M=ٔn?Q->9"?Y"?=EyDǜE>Q 5%4=?Q 9%4)*,BY!y%Q>Q I-@ DI\:i:Zݸ4y5B1ɮUAUE:iFNOT Ignoring new targets: 571.73 m."i)8*i)8 ProNav: ac range: 571.732971 m, nav range: 569.980225 m, bearing: 16.664120 deg, approach rate: -0.412443 m/s, LOS rate: 0.003583 deg/s, cmd heading: 17.008061 deg, new cmd heading: 17.011101 deg. i8HeadingCmd: 0.296900 target range: 571.732971 and range: 572.40 m.h>>hhhhggjgrgereZe:e*eA|@{MBɢKB?) Ni)Xiō;i >>̖==I>>Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265620m:@i @i@mP0@qԁԉ^A \A= ) 1 AI aG /9 Y uA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517632! I1 I O >E  E E +E "E ;*E :VE [4ZE a @a @a @a @%,LAJ:=JIb>JSٱJW=JH\?ҿ?c?`H9¿|? 㙺?`x?iJ:=IJWa;JCYVGByVvHvonly read 2 of 4 data items for water velocity. Device response is::WS,-3278,-32768,V av@av av@av av@av av@az bDz VDz8yl=% 9=ٔ ;Q- >9Y=Ey(Dk9E>Q 5%4L?Q 9-4)1,BQ A-+:Y)Q E-:y-Q>Q I-@ DI;iN>T4y1ɮ=A9UB*** querying acoustic contact ***iQiQ:iaamFNOT Ignoring new targets: 571.73 m."imӇ8*imӇ8} ProNav: ac range: 571.732971 m, nav range: 569.803162 m, bearing: 16.665659 deg, approach rate: -0.426818 m/s, LOS rate: 0.003711 deg/s, cmd heading: 17.011102 deg, new cmd heading: 17.014181 deg. i}S8HeadingCmd: 0.296953 target range: 571.732971 and range: 572.40 m.hI >hhhhggjgrgereZe:e*e Y@MBɢԅA) Ri)T顉i;iI >k–=II >Iԑ9@ @@/0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769827^A{=AxAzAzAB y>B B HB rHBB W =B B B x;B \EA I I O > %,j›LA2nv=2:q>24ٱ2K=2H [?`ҿ 伿`?]c?E¿"?]? 4w?i2nv=I2%a;0YNGByRHV@ATbDZ VDZʰ8ybW<%bP=ٔf'GQ-f>9dYd=fEyf0DjD9Ej>lQ 5r4n$Z?Q 9r4n”)n7,BQ Ar :YpQ Ev:yvQ>Q Iv@n DInT;in"Q?n4yzBɮzкAx:iFNOT Ignoring new targets: 571.73 m."iA8*iA8 ProNav: ac range: 571.732971 m, nav range: 569.638550 m, bearing: 16.667088 deg, approach rate: -0.403499 m/s, LOS rate: 0.003504 deg/s, cmd heading: 17.014181 deg, new cmd heading: 17.017040 deg. i48HeadingCmd: 0.297003 target range: 571.732971 and range: 572.40 m.h>hhhhggjgrgereZe:e*e\ @MBɢfE) ¿i)Ti;i > = =I >I]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021717E EE(E"E ;*E:VEc44ZEBEa52Ea5JE;a5:E;a5@ @@@@@@@)QA I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273670y :%,LܛLA2=2R>25ٱ2=2H`>Z?Vҿ 0@?d?`E¿B?T?@v?i2=I2`;0YNGByNHbDVVDVİ8y^T=%bJ=ٔbH2Q-b>9dYd=fEyf8DfEf>hQ 5n4j*h?Q 9r4jړ)j=,BQ Ar9YpQ Er:yrgQ>Q Ir@j DIj;ijB?j4ytɮzAx:iFNOT Ignoring new targets: 571.73 m."iH8*iH8- ProNav: ac range: 571.732971 m, nav range: 569.469238 m, bearing: 16.668564 deg, approach rate: -0.436423 m/s, LOS rate: 0.003805 deg/s, cmd heading: 17.017039 deg, new cmd heading: 17.019992 deg. i-85HeadingCmd: 0.297055 target range: 571.732971 and range: 572.40 m.h5>h1h9h9h9g9g9jgArgAeAreAZeA:eI*eM* @MBɢwF) i)8i! ;i%>%=%'=I%>I)Q!@! @)@- 0@)ԉBDAT read: Rx Time:04:07:09.6106 TRx dataTimestamp_ set to:1764907631.626148checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535462E} E}E}-Ey"E};*E}ą:VE}t4ZEya@a@a@a@A.AIIO_>ԩ %, LA6V=6()>6ٱ6zb=6HY?ҿ@h?d?E¿i?p?t?i6V=I6P_`;4bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.777533YfGByfHaUaU aUaU aUaU aUaU iUMb@Mb@Mb@QQQQ Q9U"~?p= ף)\(YU>yUUGaUAUA UA)UAQYU=AbDm"VDm̰8y} =%?=ٔU5Q->9 ?Y ?=EyADlAE>Q 54Aw?Q 94))>,BQ AT:Yg>Q E:y)>Q I@ DI:i*:4yBɮcAE:iFNOT Ignoring new targets: 571.73 m."i8*i8 ProNav: ac range: 571.732971 m, nav range: 569.290161 m, bearing: 16.671200 deg, approach rate: -0.416904 m/s, LOS rate: 0.006141 deg/s, cmd heading: 17.019991 deg, new cmd heading: 17.025267 deg. i39HeadingCmd: 0.297147 target range: 571.732971 and range: 572.40 m.h#>hhhhggjg rg e re Ze:e*e ]@ԱMBɢD)  ÿi)pѷi;i#>m=j=I#>II!)!BQAUp<BYBYB]HB]HBBYBYBYB]p;B]\E@ @@@A>A>A؟AI!I1O=r>߅=߅4=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033923 EM  EI EM )EI "EM ;*EI VEM FA4ZEI BEM R2ٱ2=2H` Y?^ҿ@ǽ?@e?lH¿@?@e? s?i29=I2 `;0YzGByzHbDVD8yE=%MN=ٔMq'Q-M>9U"?YU"?=UEyUIDU>HEU>aQ 5e4e>?Q 9m4e)e?,BYiym>Q Im@e DIe:ieS:e4yqɮuAy:iFNOT Ignoring new targets: 571.73 m."i8*i8 ProNav: ac range: 571.732971 m, nav range: 569.124146 m, bearing: 16.673652 deg, approach rate: -0.419636 m/s, LOS rate: 0.006197 deg/s, cmd heading: 17.025266 deg, new cmd heading: 17.030170 deg. ix59HeadingCmd: 0.297233 target range: 571.732971 and range: 572.40 m.h.>hhhhggjgrgereZe:e*e`e@MBɢDL) %i ) #  i .;i.>뛖=\=I.>IDAT read: 04:07:09.6106 LVL= 22816, 29921, 25234, 32099, AGC= 68, IDX= 477, 0.49, 0.869,-0.719, 1.092, 0.407, PHS= 0.564,-1.080, 0.642, RAW= 152.3, -1.5, CAL= 151.4, -2.5, ROT= 358.6, 2.5 %Ygot valid direction response: 04:07:09.6106 LVL= 22816, 29921, 25234, 32099, AGC= 68, IDX= 477, 0.49, 0.869,-0.719, 1.092, 0.407, PHS= 0.564,-1.080, 0.642, RAW= 152.3, -1.5, CAL= 151.4, -2.5, ROT= 358.6, 2.5 -8DAT read: $Error in header 5*Received a bad header9@9 @9@=O0@9X#Rx 1: Read direction message, but no range.`direction in FSK: [0.998750,-0.024409,-0.043619]y?Dя?W&GU Ytb c})DINb?iq=Z$?*@Pwּ)@ ¸2)G@I¸2=1 ?D?@ O?)ni  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsec %,)LAE EE+E"E=;*EM:VE [4ZEa@a@a@a@:;s=:q>:ٱ:==@:Hy55/]51A5tA 5-A)5IA1Y5 AbDeٿVDe8yu[=%}8=ٔ}Q-}>9Y=EyRDiE>Q 54?Q 94)@,BY>Q E:y=Q I@' DI?;i:4y|Bɮ۹AEB*** querying acoustic contact ***iAiA:iIUFNOT Ignoring new targets: 571.73 m."iU 9*iU 9e ProNav: ac range: 571.732971 m, nav range: 568.939819 m, bearing: 16.677193 deg, approach rate: -0.401069 m/s, LOS rate: 0.007708 deg/s, cmd heading: 17.030170 deg, new cmd heading: 17.037255 deg. iea9mHeadingCmd: 0.297356 target range: 571.732971 and range: 572.40 m.hm?>hqhqhqhqgqgqjgyrgyeyreyZe:e*e@ԩ颵NBɢzC) i)项i;i?> =R=I?>Ia@a @a@eP5@aiIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseBU v>BQ BU 7HBU IBBQ BQ BU GDBU i;BU \E^A = I I O >%,CLA2=2>2ٱ2=2HX?CҿS.Q?e?a¿ ? H|?\q?i2=I2A_;0Y>=HBy>GHbDJӿVDJ8yR >%Rn=ٔRQ-R?9TYT=VEyVYDZrEZ?\Q 5b4^/?Q 9b4^)\Y`ybS=Q If@^1 DI^D;i^/;^4yhɮjyAhl:i|FNOT Ignoring new targets: 571.73 m."i9*i9 ProNav: ac range: 571.732971 m, nav range: 568.796753 m, bearing: 16.679948 deg, approach rate: -0.436266 m/s, LOS rate: 0.008402 deg/s, cmd heading: 17.037255 deg, new cmd heading: 17.042765 deg. iv9HeadingCmd: 0.297452 target range: 571.732971 and range: 572.40 m.hK>hh!h!h!g!g!jg)rg)e)re)Ze):e1*e5@]0NBɢeJU)a enia)emaaimP:;imK>mE=u w=IuK>IqY>i>=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseE EE*E"E:*E҆:VE(N4ZEBE< T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԁ %,v]LA2=2J>2ٱ2X=2HW?@(ҿkf`?`Qf? p¿??o?i2=I2 _;2CYRTHByRcHZAAZAAbDZVDZ8ybje=%fH=ٔf(Q-f>9hYh=jEyjaDjzEj>pQ 5r4r?Q 9v4r))rA,BYtyv=Q Iv@r< DIr:ir.:r4yxɮzJA|Y:iFNOT Ignoring new targets: 571.73 m."i 9*i 9 ProNav: ac range: 571.732971 m, nav range: 568.626465 m, bearing: 16.683234 deg, approach rate: -0.401345 m/s, LOS rate: 0.007748 deg/s, cmd heading: 17.042765 deg, new cmd heading: 17.049340 deg. ib9]HeadingCmd: 0.297567 target range: 571.732971 and range: 572.40 m.h]Z>hYhYhYhYgYgajgargaeareiZei:ei*em @NNBɢE) :i)i[;iZ>z==IZ>Iԉ9@ @@J3@]T****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseE EEE"E%;*EM:VEZEa=@a=@a=@aE@Ա^AM R{=I I O > #6%,iwLART****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapseY~xHBy~HԹiMb@Mb@Mb@ 9M?RQMbYn>y½@`AA \A)vAYAbDVD8y%=%%6=ٔ-Q-->9)Y)=5Ey5jD5E=>9Q 5E4=?Q 9E4=͐)=E,BYMQ>Q EM:yMӒ=Q IM@=H DI=:i=:=4yUzBɮUAY:iyFNOT Ignoring new targets: 571.73 m."i09*i09 ProNav: ac range: 571.732971 m, nav range: 568.440552 m, bearing: 16.687415 deg, approach rate: -0.429517 m/s, LOS rate: 0.009662 deg/s, cmd heading: 17.049339 deg, new cmd heading: 17.057703 deg. iu9HeadingCmd: 0.297713 target range: 571.732971 and range: 572.40 m.hm>hhhhggjgrgereZe:e*e v@iNBɢK) i)8Ľi.7;AABu>BBHBQIBBBBBP;B\Eim>Eo=:g=Im>Ii@q @q@}b0@y@R=@=UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapsebEȷG4jEȷG4rEȻ0E  E E )E "E ;*E :VE FA4ZE BE @A >I I O >9 $%, DLA6݄=6ʐ>6 '!ٱ6B=6HbY?Pҿ`;ҾY?i? cv¿??n?i6݄=I6$d_;6CYRHByRHbDXVDXyb=%bd=ٔbfQ-f>9dYd=fEyfrDj]Ej>lQ 5r4n?Q 9r4n)nH,BYtyv=Q Iv@nR DIn ;in{!;n4yxɮzAx:i%FNOT Ignoring new targets: 571.73 m."i%n+9*i%n+95 ProNav: ac range: 571.732971 m, nav range: 568.292236 m, bearing: 16.690775 deg, approach rate: -0.413342 m/s, LOS rate: 0.009367 deg/s, cmd heading: 17.057702 deg, new cmd heading: 17.064425 deg. i5%9=HeadingCmd: 0.297830 target range: 571.732971 and range: 572.40 m.h=:}>h9h9hAhAgAgAjgArgIeIreIZeI:eI*eU`@}NBɢ}R) ai)'aƽ顁i;i:}>c=wz=I:}>I@ @@R1@i߱IߵAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI^A5=IIO>iu T****** received valid address query ******} R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapseԡ E9  E= E9 E9 "E9 *E= :VE9 ZE9 a] @a] @ae @ae @JT*%,RLAH=K>Z"ٱ=HnZ?ҿ?k?x¿@-?D?l?iH=I_;CYHByHiUMb@Mb@Mb@YQQQQ Q9Un?+η~jtYUV>yUvUUAQ Q)UAQYUA iibDuVDu8y=%0=ٔTQ->9Y=Ey{DE>Q 54?Q 94/)P,BY>Q E:y =Q I@^ DI:i:%4yxBɮZAEB*** querying acoustic contact ***ii:i9EFNOT Ignoring new targets: 571.73 m."iED&9*iED&9u ProNav: ac range: 571.732971 m, nav range: 568.104126 m, bearing: 16.695106 deg, approach rate: -0.394443 m/s, LOS rate: 0.009085 deg/s, cmd heading: 17.064425 deg, new cmd heading: 17.073091 deg. iu9}HeadingCmd: 0.297982 target range: 571.732971 and range: 572.40 m.h} >hyhhhggjgrgereZe:e*e N@NBɢjC) i ) Rɽ  i ;i5 >59S=59w=I= >I9ԉ:@ @@ 0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԹBr>BBHBIBBV =BBBC;B\EBBBBBCc4^A w= A I) I9 OE >41%,ŜLA2¢=2R>2"ٱ2O=2HZ?$ҿ@uI@? l?¿ H??k?i2¢=I2`_;2CY>HBy>HDDbDJVDJ8yRy=%Rp=ٔR!Q-R?9TYT=VEyVDZ]EZ?\Q 5b4^?Q 9b4^)^V,BY`ybއ=Q Ib@^g DI^:i^u:^+4yj|Bɮj?AjE:i|~FNOT Ignoring new targets: 571.73 m."i19*i19 ProNav: ac range: 571.732971 m, nav range: 567.966492 m, bearing: 16.698284 deg, approach rate: -0.420012 m/s, LOS rate: 0.009701 deg/s, cmd heading: 17.073091 deg, new cmd heading: 17.079449 deg. i9HeadingCmd: 0.298093 target range: 571.732971 and range: 572.40 m.h>hhh!h!g!g!jg)rg)e)re)Ze):e1*e5@NBɢAY) ໿i)P˽i;i>G=t=I>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseIDzD@AE EE'E"E&:*E:VE'4ZEBEh;Y7%,ޜLAY~HBy~,HbDVDy=%%C=ٔ%Q-%>9- ?Y- ?=-Ey-D-E5>1Q 5E456?Q 9E45)5],BYAyAQ IM@5r DI5U;i5;5b24yUzBɮUAUE:iy}FNOT Ignoring new targets: 571.73 m."i*9*i*9 ProNav: ac range: 571.732971 m, nav range: 567.797119 m, bearing: 16.702198 deg, approach rate: -0.404229 m/s, LOS rate: 0.009342 deg/s, cmd heading: 17.079448 deg, new cmd heading: 17.087277 deg. iLj9HeadingCmd: 0.298229 target range: 571.732971 and range: 572.40 m.h>hhhhggjgrgereZe:e*e+@NBɢNJO) i)Pͽi6*;i>I9=t=I>IIyA)yAQ݂G:@ @@ 0@%xb9!Y%^A=T****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseE EE*E"El;*Eą:VE(N4ZEa-@a5@a5@a5@ԉ^Aԩ A ؟AI I O >T=%,LA2z=2Y>2|[$ٱ2 =2H]?஑ҿ@`h?q?¿t?@v|?*j?i2z=I2׋_;2CBT****** received valid address query ******BR****** received valid ping request ******Breceived new query, but waiting for acoustic response period to elapseDYF(IByJhHiMb@Mb@Mb@ 9Q? ףp= S㥛Y\>yQ/ݼAA -A)Y\AbD5VD58yE=%EH=ٔMZQ-M>9M"?YM"?=MEyUDUEU>Q 5%4P?Q 9%4O)j,BY%>Q E%:y%=Q I%@~ DI:i:94y1ɮ5A1:iy}FNOT Ignoring new targets: 571.73 m."i'9*i'9Ba>BCBpHBIBBY =BBFDBH;B\E ProNav: ac range: 571.732971 m, nav range: 567.621948 m, bearing: 16.706205 deg, approach rate: -0.400925 m/s, LOS rate: 0.009175 deg/s, cmd heading: 17.087277 deg, new cmd heading: 17.095294 deg. iS9HeadingCmd: 0.298369 target range: 571.732971 and range: 572.40 m.hØ>hhhhggjgrgereZe:e*e@@G @=NBɢ=J)9 =Hi9)EdнAAiE@M6'=ԩmNMl=I Ø>I @ @@0@5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseE EE(E"E;*E:VEc44ZEBE@pD%,ELA:Uw=:>:;%ٱ:=:H`W^?Lҿo@[? }s?ށ¿ ?`su?`!i?i:Uw=I:F_;8YFNIByJHbDRVDR8yZ:=%ZS=ٔ^Q-^>9\Y\=^EybDbEb>dhQ 5n4f?Q 9n4f )fu,BYlynߊ=Q In@f DIfi);ifd*;fH@4yrxBɮvDAt:i FNOT Ignoring new targets: 571.73 m."i+9*i+9% ProNav: ac range: 571.732971 m, nav range: 567.475403 m, bearing: 16.709573 deg, approach rate: -0.408460 m/s, LOS rate: 0.009389 deg/s, cmd heading: 17.095294 deg, new cmd heading: 17.102031 deg. i%v9-HeadingCmd: 0.298487 target range: 571.732971 and range: 572.40 m.h-AӘ>h1h1h1h1g1g9jg9rg9e9reAZeA:eA*eE@ @u OBɢu-W)q uriq)}mҽyyi}|=i=IAӘ>I@ @@@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A m=A>A>1A I I O- >ԁ M T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapseE  E E +E "E :*E M:VE [4ZE a- @a- @a- @a5 @J%,,LAYIByHiMb@Mb@Mb@ 9|?5^?{GzZd;OY>yףj A)ԦAY̶AbD&VDϰ8y>%+=ٔQ->9Y=EyDE>Q 54#?Q 94),BY4>Q E:y=Q I@ DI;i;H4yɮĶAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 571.73 m."i9*i9% ProNav: ac range: 571.732971 m, nav range: 567.279724 m, bearing: 16.713549 deg, approach rate: -0.410488 m/s, LOS rate: 0.008345 deg/s, cmd heading: 17.102030 deg, new cmd heading: 17.109986 deg. i-Wt95HeadingCmd: 0.298626 target range: 571.732971 and range: 572.40 m.h5t>h1h1h1h1g1g1jg9rg9e9re9ZeA:eA*eE!@u+OBɢuF)q uiq)}*սyyi}U=i=It>Ix>i>IE9@A @A@E4@AeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseqBUZ>BUCBUHBUdJBBU[ =BQBUEDBUK;BU\E^AM j=ԡ A I I O >sQ%,FLA2fr=2n>2&ٱ2P+=2H^?@wҿ 3GH?u?¿?}?f?i2fr=I2*j_;0Y>IBy>HbDbVDb8yfW=%fr=ٔjQ-j?9hYl=nEynDn2aEr?pQ 5v4r/?Q 9v4r6)r,BYxyzC=Q Iz@r DIr:ir.:rN4y|ɮA:i!-FNOT Ignoring new targets: 571.73 m."i-9*i59E ProNav: ac range: 571.732971 m, nav range: 567.141052 m, bearing: 16.716385 deg, approach rate: -0.411073 m/s, LOS rate: 0.008409 deg/s, cmd heading: 17.109986 deg, new cmd heading: 17.115660 deg. iE>v9EHeadingCmd: 0.298725 target range: 571.732971 and range: 572.40 m.hMo>hIhIhIhIgIgIjgQrgQeQreQZeY:eY*e]"@颍BOBɢuY) Ci)(׽顑i7<ԙio>==d=Io>IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE EE*E"E;*Eą:VE(N4ZEBE>C! W%,cd`LA2{r=2>2'ٱ2F=2H ]?`bxҿEF?`u?¿&??`Ue?i2{r=I2=o_;0YNIByN9HbDXVDXy^4=%bK=ٔb5Q-b>9dYd=fEyfDfaMEj>hQ 5n4j=?Q 9r4j΍)j,BYpyr)=Q Ir@j DIj;ij{;jU4yvvBɮv5AzE:iFNOT Ignoring new targets: 571.73 m."i%9*i%9- ProNav: ac range: 571.732971 m, nav range: 566.975952 m, bearing: 16.719765 deg, approach rate: -0.410528 m/s, LOS rate: 0.008407 deg/s, cmd heading: 17.115660 deg, new cmd heading: 17.122422 deg. i5*v9=HeadingCmd: 0.298843 target range: 571.732971 and range: 572.40 m.h=>h9h9h9h9g9g9jgArgAeAreAZeI:eI*eMk#@}^OBɢ}O)y }iy)=ed=I>I:@ @@/5@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse!E EE(E"E ;*E$:VEc44ZEa@a@a@a@^Ac=AzAzAQA .AI I OE >y ]%,e9zLA"T****** received valid address query ******&R****** received valid ping request ******&received new query, but waiting for acoustic response period to elapseRs=R >R(ٱR =RH \?׀ҿYJ?r?¿`M?ֺ?`Oc?iRs=IRx_;PY%IBy%lHiMb@Mb@Mb@ 9> ףp=?333333~jtY>yA \A)3AYfAbD VD8yѽ=%:=ٔQ->AA@ABU>BBjHBJBB] =BBDDB=;B\EQ9] ?Y] ?=]Ey]DeE;:Ee>iQ 5m4mM?Q 94mM)m,BY>Q E:y=Q I@m DImI;im;m]4yɮA:iFNOT Ignoring new targets: 571.73 m."i9*i9 ProNav: ac range: 571.732971 m, nav range: 566.790405 m, bearing: 16.723374 deg, approach rate: -0.400255 m/s, LOS rate: 0.007786 deg/s, cmd heading: 17.122422 deg, new cmd heading: 17.129641 deg. ic9HeadingCmd: 0.298969 target range: 571.732971 and range: 572.40 m.hk>hh!h!h!g!g!jg)rg)e)re)Ze1:e1*e5`?Z$@]OBɢeI)a e}ia)e ܽaiimZ %̕=M,e=IMk>IQԁ9@ @@0@4==wd%,LA2s=2>2))ٱ2=2H@U[?@jҿBp`}G?@r?@7¿a??a?i2s=I2Jl_;0Y>#JBy>HbDF VDF8yN=%n`=ٔr5Q-r>9r"?Yr"?=rEyvĿDvEv>xQ 5~4zY?Q 9~4z)z,BYy0=Q I@z DIz7 ;izu ;zc4y tBɮ A :i15FNOT Ignoring new targets: 571.73 m."i=9*i=9M ProNav: ac range: 571.732971 m, nav range: 566.645203 m, bearing: 16.726201 deg, approach rate: -0.417622 m/s, LOS rate: 0.008133 deg/s, cmd heading: 17.129641 deg, new cmd heading: 17.135297 deg. iM%n9UHeadingCmd: 0.299067 target range: 571.732971 and range: 572.40 m.hU[>hQhQhQhQgYgYjgargaeareaZea:ei*em %@颕OBɢ$-X) i)ݽ顙i =c=I[>IԹUDAT read: ]2Acoustic response timeoutY@Y @a@e_5@a^AuJc= A I I O > 2Acoustic response timeoutI j%,LAEN ENELEL"EN;*EN:VELZELab@ab@ab@ab@~2Uq=~H>~ f*ٱ~9=~H9[?{ҿ`6@?`s?¿3?\? `?i~2Uq=I~1_;~CY]NJBy]He)>e7?iMb@Mb@Mb@ 9:v?i|?5~jtY>yqļIA/A A)`AYAbDVD8y~=%4=ٔKQ->9Y=EyͿD%7}E%>)Q 554-|i?Q 954-5)-,BY5y>Q E5:y=>Q I=@- DI-";i-(:-}k4yAɮE3AA:iimFNOT Ignoring new targets: 571.73 m."iu8*iu8 ProNav: ac range: 571.732971 m, nav range: 566.460876 m, bearing: 16.729006 deg, approach rate: -0.414524 m/s, LOS rate: 0.006311 deg/s, cmd heading: 17.135297 deg, new cmd heading: 17.140910 deg. i89HeadingCmd: 0.299165 target range: 571.732971 and range: 572.40 m.h2,>hhhhggjgrgereZe:e*e%@ImOBɢmbJ)i m>ii)u^qqiu}9=}a=I}2,>Iy=:@9 @9@=I0@9]2Acoustic response timeoutyBT>BBHB9KBBBBB);Bo\E^Aa Ae >Ae > A .AI I O >q%,dǝLA:N9q=:̺>:++ٱ:N'=:H LZ?@|ҿ`9b ?Yb ?=bEybԿDfYEf>hQ 5j4jv?Q 9n4j)j,BYlyn>Q Ir@j DIj;ij;jq4yvrBɮvմAvEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 571.73 m."i8*i8- ProNav: ac range: 571.732971 m, nav range: 566.312195 m, bearing: 16.731272 deg, approach rate: -0.413876 m/s, LOS rate: 0.006308 deg/s, cmd heading: 17.140910 deg, new cmd heading: 17.145441 deg. i-895HeadingCmd: 0.299244 target range: 571.732971 and range: 572.40 m.h56>h1h1h1h1g9g9jg9rgAeAreAZeA:eA*eM@&@uOBɢuX)q }媿iy)}cyi{C=a=I6>II)2Acoustic response timeout9@ @@0@bE:4jEFA4rET/E5 E5E5+E1"E5;*E5v:VE5 [4ZE1BE5t_1 x%,᝖LA2_p=2N>2,ٱ2Za=2H@WY?|ҿ  =?@s?¿g??a^?i2_p=I2U^;2CY>JBy>9V"?YV"?=VEyVܿDZv)EZ>\Q 5b4^ ?Q 9b4^)^,BY`yb>Q Ib@^ DI^;:i^:^x4yhɮjAh:iquFNOT Ignoring new targets: 571.73 m."i8*i8 ProNav: ac range: 571.732971 m, nav range: 566.146118 m, bearing: 16.733804 deg, approach rate: -0.398806 m/s, LOS rate: 0.006084 deg/s, cmd heading: 17.145441 deg, new cmd heading: 17.150509 deg. i&29HeadingCmd: 0.299333 target range: 571.732971 and range: 572.40 m.h(B>hhhhggjgrgereZe:e*eL|'@OBɢO) Ii)i=[`=I(B>Iq@q @q@u@0@qI2Acoustic response timeoutE  E E (E "E ;*E :VE c44ZE a5@a5@a5@a5@y^A(a=A .AI I O >ԡ /~%,=LA2Acoustic response timeoutYJBysH))yBA<BQ>BCBpHBKBBBBB!;Bc\EBCBCBCB] =B\ =CR5iMb@Mb@Mb@ 91Zd?V-Y">yL^A )3AYbD VD 8y=%5=ٔ%Q-%>9% ?Y% ?=-Ey-D-E->1Q 5=458?Q 9=45*)5-BYE >Q EE:yE:,>Q IE@5 DI5:i5t:54yMpBɮMAI:iquFNOT Ignoring new targets: 571.73 m."i}W8*i}W8 ProNav: ac range: 571.732971 m, nav range: 565.952820 m, bearing: 16.736241 deg, approach rate: -0.442766 m/s, LOS rate: 0.005583 deg/s, cmd heading: 17.150509 deg, new cmd heading: 17.155384 deg. iy#9HeadingCmd: 0.299418 target range: 571.732971 and range: 572.40 m.hOM>hhhhggjgrgereZe:e*e^[(@PBɢd|M) i)_i$oo=`=IOM>Iԩ@ @@0@2Acoustic response timeoutE  E E &E "E l;*E :VE 4ZE BE `F %,.LA2K5s=2L>2-ٱ2=2H`U?ҿD?p?!ÿs?@'?u[?i2K5s=I2S~^;0YFJByFHbDVVDV8y^=%^f=ٔ^&Q-b>9`Y`=bEybDfH:Ef>hQ 5n4j?Q 9n4j|)j-BYlyn,>Q Ir@j DIj2:ij:j䆹4ytɮvԳAt:i FNOT Ignoring new targets: 571.73 m."i8*i8- ProNav: ac range: 571.732971 m, nav range: 565.800964 m, bearing: 16.738147 deg, approach rate: -0.426721 m/s, LOS rate: 0.005358 deg/s, cmd heading: 17.155384 deg, new cmd heading: 17.159198 deg. i-9-HeadingCmd: 0.299484 target range: 571.732971 and range: 572.40 m.hV>hhhhggjgrgereZe:e*e )@+PBɢfQ) i)%i1I]=Pb=IV>I]BDAT read: Response Not Received ]*response not receivedeRDAT read: user:93>Tx time:04:07:18.8891 e^%, 1LAVBt=V>V{.ٱV =VH``T?ҿmPH?8o?@6ÿ?`B?Z?iVBt=IV^;TYbKBybHQiuMb@Mb@Mb@qqqq q9uQ?MbL7A`堿Yu(>yu@u+qq uA)uAqYuAbDVD8yĔ=%0=ٔɺQ->9Y=EyD:E>Q 54?Q 94)%-BY>Q E:y5>Q I@ DIM:i:4ynBɮA:iFNOT Ignoring new targets: 571.73 m."iO8*iO8  ProNav: ac range: 571.732971 m, nav range: 565.601685 m, bearing: 16.740470 deg, approach rate: -0.429424 m/s, LOS rate: 0.005008 deg/s, cmd heading: 17.159197 deg, new cmd heading: 17.163846 deg. i 9HeadingCmd: 0.299566 target range: 571.732971 and range: 572.40 m.h`>hhhhggjgrge!re!Ze!:e!*e% )@UJPBɢUP)Q ];iY)]G[YYi]eI=e=b=Ie`>Ii:@ @@@ԉe2Acoustic response timeoutBN>BBHBLBBBBB;BP\EԱ^A`=AY Ii Iy O > x%,JLA:v=:>l>:D/ٱ:=:HQ? ҿ=Q?l?@Tÿ@>?`j?yX?i:v=I:?^;:CYVKKByZ Hf2Acoustic response timeoutbDrVDr8y>%U=ٔQ->9 Y=EyD :E>)Q 5=4-k?Q 9=4-LJ)-3-BYAyE6>Q IE@- DI-{;i-};-4yQɮ]"AYDyzD}?AE EE(E"E;*E1:VEc44ZEBEAhhhhggjgrgereZe:e*e *@iPBɢkP) i)}i.6=cd=Iyi>I@ @@0@ u2Acoustic response timeout^A Jc=A >A >9 A] ؟AIi Iy O >2%,AdLA2y=2b>2'/ٱ2m[=2HO?`@ҿ@4Y?|j?0pÿ_??@ W?i2y=I2.^;0Y>qKBy>8HbDFVDF8yNh=%nQ=ٔn6ͺQ-n>9r"?Yr"?=rEyrDr:Ev>tQ 5z4v?Q 9~4v)vA-BY|y~$7>Q I~@v DIvm ;iv ;v4y ɮ ײA :i)5FNOT Ignoring new targets: 571.73 m."i58*i=8M ProNav: ac range: 571.732971 m, nav range: 565.265564 m, bearing: 16.744359 deg, approach rate: -0.439153 m/s, LOS rate: 0.005070 deg/s, cmd heading: 17.167696 deg, new cmd heading: 17.171626 deg. iMv9MHeadingCmd: 0.299701 target range: 571.732971 and range: 572.40 m.hUwr>hQhQhQhQgQgQjgYrgYeYreaZea:ea*ee+@颕PBɢW) fi)Lq顙i &=e=Iwr>IU9@Q @U@U0@Y2Acoustic response timeoutE EE)E"E:*E:VEFA4ZEa@a@a@a@I^AUIb=yA I I O >iy I} A 2Acoustic response timeoutԙ /%,~LA2S{=21 >2Ȗ0ٱ2=A4A4B:G>B:CB:wHB:tLBB:^ =B8B:CDB:;B:-\E2HM?`ҿb?xh?ÿ??`U?i2S{=I2#^;2CYNKByNUHi%Mb@Mb@Mb@!!!! !9%n?~jt+Y%>y%D%%rA%A %A)%A!Y%AbD=VD=8yM^=%M>=ٔM4ϺQ-M>9QYQ=UEyUDU:E]>YQ 5m4][?Q 9m4]()]N-BYmX>Q Em:ymc4>Q Im@]" DI]/;i]D;]4y}lBɮ}A}E:iIMFNOT Ignoring new targets: 571.73 m."iUH8*iUH8a ProNav: ac range: 571.732971 m, nav range: 565.089172 m, bearing: 16.746445 deg, approach rate: -0.398055 m/s, LOS rate: 0.004707 deg/s, cmd heading: 17.171627 deg, new cmd heading: 17.175798 deg. i 9HeadingCmd: 0.299774 target range: 571.732971 and range: 572.40 m.h|>hhhhggjgrgereZe:e*e`v,@-PBɢ-xN)) 5i1)5<11i5x=Xg=I|>II@I @I@MT5@Qԉ2Acoustic response timeoutD}=D}%=E EEE"E ;*E~:VEZEBER ,ӥ%,nnLA>W}=>H>>?1ٱ><=>H@K?<ҿ+@i?`f?yÿ ?ݺ?@T?i>W}=I>Q];>CYJKByJHbDV VDV8yZ=%^V=ٔ^ܺQ-^>9`Y`=bEybDb:Ef>dQ 5j4f?Q 9n4fi)fY-BYlyn4>Q In@f, DIf;if;f4ypɮvBAt:i FNOT Ignoring new targets: 571.73 m."i8*i8% ProNav: ac range: 571.732971 m, nav range: 564.928894 m, bearing: 16.748332 deg, approach rate: -0.444409 m/s, LOS rate: 0.005236 deg/s, cmd heading: 17.175798 deg, new cmd heading: 17.179575 deg. i-R9-HeadingCmd: 0.299840 target range: 571.732971 and range: 572.40 m.h->h1h1h1h1g1g1jg9rg9e9re9ZeA:eA*eE`j+-@mPBɢu[)q uiq)uyyi}P=Ͽh=I>I=2Acoustic response timeout:@ @@ 5@^A5rg=A=xAzA=wA1 Am .AIy I O > 2Acoustic response timeoutE  E E E "E ;*E ҆:VE ZE a @a @a @a @Y  %,zLAb#G=bo>b 2ٱbL=bH`I?ҿ;`7t?:d?ÿ$?׻? &S?ib#G=Ib];bCYnKBynHiMb@Mb@Mb@ 9Cl?Zd;OI +Y;>yj<94AA A)AYAbDVD8y=%:=ٔQ->9 ?Y ?=EyD:E>Q 54?Q 94w)e-BY>Q E:y@>Q I@9 DI;i<d4y jBɮԱA:i1=FNOT Ignoring new targets: 571.73 m."iE8*iE8U ProNav: ac range: 571.732971 m, nav range: 564.736938 m, bearing: 16.750381 deg, approach rate: -0.431446 m/s, LOS rate: 0.004607 deg/s, cmd heading: 17.179575 deg, new cmd heading: 17.183674 deg. iU9UHeadingCmd: 0.299912 target range: 571.732971 and range: 572.40 m.h]>hYhYhYhYgYgajgargaeareiZei:ei*em`K.@PBɢBO)! %֞i!)%!!i% -=-j=I5>I1IExA)A9@ @@1@52Acoustic response timeoutABmD>BiBmHBmLBBm_ =Bm2DBiBm;Bm\E^AXh=q A% ؟AI) IA OM >岧%,$&̞LA0V2Acoustic response timeout^%=^>^b2ٱ^1=^HF?`ҿ}H|?Ib?ÿ7?@&?` R?i^%=I^];^CYjLByjHbDVDư8y-=%-U=ٔ5#ͺQ-5>95"?Y5"?=5Ey5&D=:E=>AQ 5M4E?Q 9M4E)Ep-BYIyU@>Q IU@EC DIEP:iE\:E4Ee EeEe*Ea"Ee=;*Ee:VEe(N4ZEaBEeIhhhhggjgrgereZe:e*e@o.@-PBɢ-U)) -ڝi1)5U11i5^"=y=Eel=IE1>IAԑ:@ @@^2@Թ^Aj=iQIQ]2Acoustic response timeout A! I1 IA OU >]%,枖LA62)=6ݏ>683ٱ6:Z=6HzF?ҿY^@y? c?`#ÿ`I? λ?`Q?i62)=I6z];4YB5LByB)HbDNVDN8yV=%VS=ٔVQ-V>9XYX=ZEyZ.DZE^>``Q 5f4b?Q 9f4b˂)b{-BYhyjn@>Q Ij@bN DIbX:ib:bΌ4ynhBɮn9ArE:i FNOT Ignoring new targets: 571.73 m."i <8*i <8 ProNav: ac range: 571.732971 m, nav range: 564.399353 m, bearing: 16.753970 deg, approach rate: -0.442037 m/s, LOS rate: 0.004706 deg/s, cmd heading: 17.187244 deg, new cmd heading: 17.190855 deg. i 9%HeadingCmd: 0.300037 target range: 571.732971 and range: 572.40 m.h%t>h!h!h!h)g)g)jg)rg1e1re1Ze1:e1*e=@*/@eQBɢe,W)i mޜii)miiimQv$u]Ԕ=uk=I}t>Iy1@1 @1@= 2@92Acoustic response timeoutEu EuEu+Eq"Eu;*Eu:VEu [4ZEqa}@a}@a}@a}@!^A&lm=A>A?A .AI I O >I e 2Acoustic response timeout9%,bLABA<BB>BCBqHB?MBBBBBҠ;B\EZ =Zۏ>Z3ٱZ:)=ZH@E?ҿ/wAy? c?`~ÿ]??CQ?iZ =IZ];ZCYfPLByfJHiuMb@Mb@Mb@qqqq q9u~jt?)\(Zd;OYu>yuGauj9 ?Y ?=Ey7DWE>IQ 5U4M6&?Q 9U4M)M-BY]>Q E]:y]v*>Q I]@M[ DIM;iM;Mǹ4yaɮeAi:iFNOT Ignoring new targets: 571.73 m."i8*i8 ProNav: ac range: 571.732971 m, nav range: 564.203735 m, bearing: 16.756486 deg, approach rate: -0.430637 m/s, LOS rate: 0.005540 deg/s, cmd heading: 17.190855 deg, new cmd heading: 17.195888 deg. i6"9HeadingCmd: 0.300125 target range: 571.732971 and range: 572.40 m.h>hhhhggjgrgereZe:e*e`?0@?QBɢP) ؝i)P i'&”=j=I>Ie>i >I9@ @@/0@BDAT read: Rx Time:04:07:22.0543 TRx dataTimestamp_ set to:1764907644.2188062Acoustic response timeoutbEFA4jErE/E} E}E})Ey"E}l;*E}1:VE}FA4ZEyBE}`FP!Ƨ%,,LA2ы=2>2I}4ٱ2h=2H[D?ҿ{?`c?nÿ q?`?P?i2ы=I2];2CY>~LBy>HbDFۿVDF8yfM=%fZ=ٔjLٺQ-j>9j"?Yj"?=jEyj?Dn:En>pQ 5v4r3?Q 9v4rB)r-BYtyv*>Q Iz@re DIrC:ir:rι4y~gBɮ~A|:i!%FNOT Ignoring new targets: 571.73 m."i-8*i-8= ProNav: ac range: 571.732971 m, nav range: 564.049561 m, bearing: 16.758466 deg, approach rate: -0.431163 m/s, LOS rate: 0.005541 deg/s, cmd heading: 17.195887 deg, new cmd heading: 17.199850 deg. i=C"9EHeadingCmd: 0.300194 target range: 571.732971 and range: 572.40 m.hE>hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*eU@j0@ԡ颭ZQBɢF[) zi)项i'=_*k=I>I2Acoustic response timeout1@1 @1@5@0@9^Au`k= DAT read: 04:07:22.0543 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 382,-0.35,-1.336,-2.866,-1.109,-1.729, PHS= 0.494,-1.092, 0.576, RAW= 152.5, 0.3, CAL= 151.2, -0.5, ROT= 358.8, 0.5  Ygot valid direction response: 04:07:22.0543 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 382,-0.35,-1.336,-2.866,-1.109,-1.729, PHS= 0.494,-1.092, 0.576, RAW= 152.5, 0.3, CAL= 151.2, -0.5, ROT= 358.8, 0.5  8DAT read: $Error in header  *Received a bad headerA I) I9 OM > X#Rx 1: Read direction message, but no range. `direction in FSK: [0.999743,-0.020942,-0.008727]y  9?JqB7߁    ) EI >i Ƌ t? X*@ ; [(@ 5) Hd@I 5< Ya5ٱt?=HA?ҿ)?b?`ÿ`?i?oO?is=IM];CY]LBy]HiMb@Mb@Mb@ 9~jt?Zd;ktYyy 0GA A)xAYAbDVD8y=%!=ٔ Q->9Y=EyIDq:E>Q 54pE?Q 94a)-BY>Q E:y/>Q I@s DI;i;ֹ4y ɮ 1A :iqFNOT Ignoring new targets: 571.73 m."i8*i8 ProNav: ac range: 571.732971 m, nav range: 563.831848 m, bearing: 16.761584 deg, approach rate: -0.423143 m/s, LOS rate: 0.006062 deg/s, cmd heading: 17.199851 deg, new cmd heading: 17.206089 deg. i19HeadingCmd: 0.300303 target range: 571.732971 and range: 572.40 m.hM>hhhhggjgrgereZe:e*e@!1@2Acoustic response timeout!uQBɢuJ)y }Ùiy)}6yyi}[)랔=?l=IM>IBBBHBMBB` =BBB;B[EBCBCBœCB_ =B^ =C5I@I @M@M0@I@UzA@UzAA^A5 m=A5 yAzA5 zAy  2Acoustic response timeoutAa Ii Iy O >ӧ%,>PLAE EEE"E:*E:VEZEBE6F$6ٱF=FH0@?_ҿ@5?a?ÿ?^?O?iFXN=IFm];FCYRLByVHbD^VD^8yf=%fl=ٔfQ-f?9hYh=jEyjPDn:En?|iQ 5m4mR?Q 9u4m)m-BYqyu>Q Iu@m} DIm";ima;m@ݹ4yeBɮۯAEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 571.73 m."i58*i58 ProNav: ac range: 571.732971 m, nav range: 563.675537 m, bearing: 16.763817 deg, approach rate: -0.440165 m/s, LOS rate: 0.006289 deg/s, cmd heading: 17.206088 deg, new cmd heading: 17.210555 deg. i*89HeadingCmd: 0.300381 target range: 571.732971 and range: 572.40 m.h˙>hhhhggjgrgereZe:e*e "z1@ QBɢ ֕]) $i) i+%=%8m=I%˙>I!:@ @@ 0@)2Acoustic response timeoutq^AXh=AA Iq Ա ݂G  a9 Y AI! O- >٧%,iLA>=>%t>>6ٱ>_=>H`??Xҿ@L ?a?`͜ÿ`ڹ?*M? _N?i>=I>R];>CYJMByJ$HbDZVDZ8yn=%nK=ٔrȺQ-v>9tYt=zEyzXDzm9E~>Q 5 4`?Q 94Q =tI)-BY!y%>Q I%@ DIw;ix;4y1ɮ5A9ԙ:iFNOT Ignoring new targets: 571.73 m."i%8*i%8U2Acoustic response timeout] ProNav: ac range: 571.732971 m, nav range: 563.508545 m, bearing: 16.766204 deg, approach rate: -0.403069 m/s, LOS rate: 0.005762 deg/s, cmd heading: 17.210555 deg, new cmd heading: 17.215330 deg. ie(9eHeadingCmd: 0.300464 target range: 571.732971 and range: 572.40 m.heq֙>hihihihggjgrgereZe:e*e1@EU EUEU(EQ"EU;*EU҆:VEUc44ZEQa@a@a@a@%QBɢS) ◿i)顙iӬ,=l=Iq֙>Ie9@i @i@m*0@q^A  2Acoustic response timeoutA AAA B A>B B ^HB NBB _ =B B B ;B [E A5 .AIQ Ia Ou >%,HLA2(=2>27ٱ2=2H=? ҿ9@?C`?{ÿ?Z?M?i2(=I2"];0Y>'MBy>SHi=Mb@Mb@Mb@9999 99=l?L7A`尿+Y=>y=+==/A=pA =A)=A9Y==AbDMTVDM8y]R=%e@=ٔe.Q-e>9m ?Ym ?=mEymaDm:Em>yQ 5}4}o?Q 94}k~)}-BY>Q E:y >Q I@} DI}V:i}:}i4yɮFA:iFNOT Ignoring new targets: 571.73 m."iQ9*iQ9 ProNav: ac range: 571.732971 m, nav range: 563.330444 m, bearing: 16.769020 deg, approach rate: -0.450167 m/s, LOS rate: 0.007121 deg/s, cmd heading: 17.215330 deg, new cmd heading: 17.220964 deg. iP9HeadingCmd: 0.300563 target range: 571.732971 and range: 572.40 m.hU>hhhhggjgrgereZe:e*eI2@QBɢ%&SZ)! %i!)%e!)i-\.57s=5wn=I5U>I1@ @@0@@=@=E2Acoustic response timeoutEE EEEE)EA"EE ;*EE:VEEFA4ZEABEEOA>)A ؟AI I O >Y e%,ϝLA2`=2ȫ>27ٱ2#=2H@=?`ҿ;? `?$ÿ?D?WM?i2`=I2.!];2CY>LMBy>HbDJXVDJ8R2Acoustic response timeoutyVپ=%VW=ٔV쪺Q-V>9Z"?YZ"?=ZEyZhDZ씹E^>Q 54}?Q 94})-BYy% >Q I%@ DI;i;<4y-cBɮ-A):iQUFNOT Ignoring new targets: 571.73 m."i]8*i]8m ProNav: ac range: 571.732971 m, nav range: 563.165710 m, bearing: 16.771629 deg, approach rate: -0.421937 m/s, LOS rate: 0.006685 deg/s, cmd heading: 17.220964 deg, new cmd heading: 17.226184 deg. imC9uHeadingCmd: 0.300654 target range: 571.732971 and range: 572.40 m.huF>hqhqhqhqgqgyjgyrgyereZe:e*eb2@颵QBɢY) i)项i0ld=&dm=IF>I1u:@q @q@q@qa^Anp=]2Acoustic response timeoutԉEU  EU EU %EQ "EU =;*EU 1:VEU 4ZEQ a] @a] @a] @a] @A .AI I O > vF%,.LA2p=2گ>27ٱ2N=2HlMByBHiMb@Mb@Mb@ 9n? rhX9vY>yCAA A)ҝAYAbDmPVDm8y}=%==ٔfQ->9 ?Y ?=EyqDߖ8E>Q 54z?Q 944})-BYh>Q E:y5>Q I@ DI :i:4yɮA:iFNOT Ignoring new targets: 571.73 m."i28*i28 ProNav: ac range: 571.732971 m, nav range: 562.989868 m, bearing: 16.774566 deg, approach rate: -0.417311 m/s, LOS rate: 0.006972 deg/s, cmd heading: 17.226184 deg, new cmd heading: 17.232060 deg. i(L9HeadingCmd: 0.300756 target range: 571.732971 and range: 572.40 m.h>hhhhggjgrgereZe :e *e  ?3@=RBɢ=V)9 =*i9)EAAiE1M^T=M9m=IM>IQԑ2Acoustic response timeout@ @@5@Bu=>BqBuHBupNBBu` =BqBuBDBu;Bu[EԹ^A`k=AE ؟AII IY Ou >e 2Acoustic response timeout ,%,џLADzDE EE(E"E;*E:VEc44ZEBE6N%J=ٔQ->9"?Y"?=EyyDE>Q 54?Q 94|)-BYyQ I@ DIq:i\:4ybBɮ"AB*** querying acoustic contact ***ii:iaeFNOT Ignoring new targets: 571.73 m."im8*im8} ProNav: ac range: 571.732971 m, nav range: 562.821350 m, bearing: 16.777381 deg, approach rate: -0.400055 m/s, LOS rate: 0.006685 deg/s, cmd heading: 17.232060 deg, new cmd heading: 17.237692 deg. i}C9HeadingCmd: 0.300854 target range: 571.732971 and range: 572.40 m.h >hhhhggjgrgereZe:e*e3@?RBɢ_U) i)NiM3>D=El=I >II@I @I@MP5@Q2Acoustic response timeout^A@p=AzAwAI A I I O >Y%,'j럖LA j6=jZ!>jV8ٱj=jH9?@ҿ t ¿ ?^?ÿ 5? /?L?ij6=Ij];hYzMBy~2HbDVDǰ8y-Z=%-P=ٔ5Q-5>99Y9==Ey=DE;EE>QQ 5]4U?Q 9e4U |)U-BYaye>Q Ie@U DIUhH;iUI;U4yyɮ}έAy:iFNOT Ignoring new targets: 571.73 m."i9*i9 ProNav: ac range: 571.732971 m, nav range: 562.656250 m, bearing: 16.780128 deg, approach rate: -0.433684 m/s, LOS rate: 0.007216 deg/s, cmd heading: 17.237692 deg, new cmd heading: 17.243186 deg. iKS9HeadingCmd: 0.300950 target range: 571.732971 and range: 572.40 m.h+>hhhhggjgrgereZe:e*e3@^RBɢY)  4i ) /2Acoustic response timeout i4%96=%=o=I%+>I!E5 E5E5+E1"E5;*E5$:VE5 [4ZE1a=@a=@a=@a=@qM9@I @I@M:5@Iԙ^A 2Acoustic response timeout Be <Ae <Bm 2>Bm CBm eHBm NBBm a =Bi Bm ADBm u;Bm [EA I I O% >S?%,X;LA2*B=24d>2w9ٱ2M=2H@7?ӿ¿v?\?hÿ@?H?K?i2*B=I2<"];0Y> NBy>jHPi Mb@Mb@Mb@     9 㥛 ?p= ףQY >y    +A +A) A Y AbDuVDu8y=%E=ٔQ->9Y=EyD:E>Q 54@?Q 94k{) .BY>Q E:y >Q I@ DI:i:4y`BɮlAE:iFNOT Ignoring new targets: 571.73 m."i<8*i<8 ProNav: ac range: 571.732971 m, nav range: 562.484253 m, bearing: 16.782866 deg, approach rate: -0.418940 m/s, LOS rate: 0.006673 deg/s, cmd heading: 17.243187 deg, new cmd heading: 17.248666 deg. icC9HeadingCmd: 0.301046 target range: 571.732971 and range: 572.40 m.h">hhhhggjg rg e re Ze :e *e@O4@=RBɢ=V)A EiA)EAAiMu6M'=U"p=IU">IQ@ @@:3@-2Acoustic response timeoutEE EEEE*EA"EET;*EE:VEE(N4ZEABEEGj%,LA68=6ס>6l9ٱ6=6H 6? cӿ`¿T?I[?@ÿ?@[?`J?i68=I6\;6CB2Acoustic response timeoutYF(NByFHbDRVDR8yZ/=%ZY=ٔZQ-Z>9\Y\=^Ey^DbJ:Eb>dQ 5f4f?Q 9j4fz)f.BYhyj >Q Ij@f DIfm:ife:f_4ypɮr1Ap|:i  FNOT Ignoring new targets: 571.73 m."i8*i8% ProNav: ac range: 571.732971 m, nav range: 562.327209 m, bearing: 16.785361 deg, approach rate: -0.415834 m/s, LOS rate: 0.006606 deg/s, cmd heading: 17.248666 deg, new cmd heading: 17.253656 deg. i%rA9-HeadingCmd: 0.301133 target range: 571.732971 and range: 572.40 m.h-.>h)h)h1h1g1g1jg9rg9e9re9Ze9:eA*eE\4@mRBɢmZ)q uiq)uÛqyi}?8V=q=I.>I)@) @1@1@1)Q^Au@p=A}>A}>52Acoustic response timeoutEU  EU EQ EQ "EU ;*EU ą:VEQ ZEQ a] @a] @a] @a] @A I I O >ԉ Ǘ %,>9LA6ȉ=6>69ٱ6O=6H 4?#ӿ¿?X?ÿ@}?`?7I?i6ȉ=I6\;6CYB_NByBHi5Mb@Mb@Mb@1111 195M?V-y&1Y5n>y5m5`5A5A 1)5^A1Y5\AQbDMVDM8ye\>%e?=ٔeQ-e>9iYi=mEymDu:Eu>yQ 54}A?Q 94}"z)}+.BY>Q E:y>Q I@} DI}:i}:}4y^BɮA:iFNOT Ignoring new targets: 571.73 m."i8*i8 ProNav: ac range: 571.732971 m, nav range: 562.151978 m, bearing: 16.787877 deg, approach rate: -0.410522 m/s, LOS rate: 0.005898 deg/s, cmd heading: 17.253655 deg, new cmd heading: 17.258691 deg. i,9HeadingCmd: 0.301221 target range: 571.732971 and range: 572.40 m.h9>hhhhggjgrgereZe:e*e5@RBɢU) 9i!)% !!i%9- =-s=I-9>I12Acoustic response timeout:@ @@|0@B *>B CB HB  U 2Acoustic response timeout{%,RLAbE(N4jE#E4rE- 0E EEE"El;*E:VEZEBE`Ff:ٱf=fH2?@#ӿ¿E?W?ÿ #?@o?H?if?=If. ];fCYrNByrH z9Y=EyD:E>!Q 5-4%?Q 9-4%{y)%;.BY)y->Q I5@% DI%:i%:%#4y9ɮ=vA9UB*** querying acoustic contact ***iQiQ:iamFNOT Ignoring new targets: 571.73 m."im8*im8} ProNav: ac range: 571.732971 m, nav range: 561.991455 m, bearing: 16.790178 deg, approach rate: -0.409380 m/s, LOS rate: 0.005869 deg/s, cmd heading: 17.258691 deg, new cmd heading: 17.263293 deg. i}+9HeadingCmd: 0.301301 target range: 571.732971 and range: 572.40 m.h*D>hhhhggjgrgereZe:e*e5@ԹRBɢ/zY) ҋi)q i);]=]t=I]*D>Ia9@ @@?0@2Acoustic response timeout^Am| u=qA .AI I O >ԁ /%,lLAYENByE%HbDUVDU8ye?=%eD=ٔmQ-m>9m ?Ym ?=mEyuDuEu>yQ 54}?Q 94}x)}L.BYyQ I@} DI}:i}.:}*4y_Bɮ6A:iFNOT Ignoring new targets: 571.73 m."i8*i8 ProNav: ac range: 571.732971 m, nav range: 561.820801 m, bearing: 16.792624 deg, approach rate: -0.410720 m/s, LOS rate: 0.005888 deg/s, cmd heading: 17.263293 deg, new cmd heading: 17.268186 deg. ig,9HeadingCmd: 0.301387 target range: 571.732971 and range: 572.40 m.h[O>hhhhggjgrgereZe:e*e L5@2Acoustic response timeout%SBɢ%HX)) -i))-` ))i5h<=U==1t=I=[O>I9YE= E=E=&E9"E==;*E=҆:VE=4ZE9aE@aE@aE@aE@@ @@/0@ԉ^AuHu=AyzA}xAԩ 2Acoustic response timeoutA @AA AAB ">B CB kHB OBB d =B B @DB 6;B C[EBCBCBɔCBa =Ba =Cɘ6A I I O !%,^LA2=2p>2ѥ:ٱ2C=2HM0?E.ӿ T/¿?U?@dÿ3?@p? NH?i2=I2!o];2CY>NBy>tHi-Mb@Mb@Mb@)))) )9-S?~jtMbY->y-D-)-+A -XA)-/A)Y-AbDEVDE8yU>%UL=ٔU8Q-]>9YYY=]EyeDe:Ee>iQ 5u4m^?Q 9u4mw)m].BYu>Q E}:y}m;>Q I}@m DImP;ime;m14y]BɮAE:iFNOT Ignoring new targets: 571.73 m."i8*i8 ProNav: ac range: 571.732971 m, nav range: 561.649719 m, bearing: 16.794552 deg, approach rate: -0.426086 m/s, LOS rate: 0.004805 deg/s, cmd heading: 17.268185 deg, new cmd heading: 17.272044 deg. i 9HeadingCmd: 0.301454 target range: 571.732971 and range: 572.40 m.h/X>hhhhggjgrgereZe:e*e,S6@%$SBɢ-\X)) -Fi1Ա)A 项iK>=mv=I/X>I@ @@0@ 2Acoustic response timeoutEE EEEE)EA"EE&:*EE:VEEFA4ZEABEEh;A ɷ'%, _LA22Acoustic response timeout6=6X>60:ٱ6n=6H #.?`-:ӿ6¿? /T?@ÿ 4>? i?@G?i6=I6^];6CYBOByBHbDJοVDJ~8yRǟ=%VV=ٔVi_Q-V>9Z"?YZ"?=ZEyZDZ2;EZ>\Q 5b4^ ?Q 9f4^-w)^m.BYdyf-<>Q If@^ DI^:i^:^84yhɮjsAl:i|FNOT Ignoring new targets: 571.73 m."i8*i8 ProNav: ac range: 571.732971 m, nav range: 561.486816 m, bearing: 16.796378 deg, approach rate: -0.426493 m/s, LOS rate: 0.004780 deg/s, cmd heading: 17.272044 deg, new cmd heading: 17.275696 deg. i 9HeadingCmd: 0.301518 target range: 571.732971 and range: 572.40 m.h`>h!h!h!h!g!g!jg)rg)e)re)Ze):e1*e5ߴ6@]DSBɢew[)a eiia)eJ aiime?u ٓ=uӺx=Iu`>Iq fC]pGic9Y_Ay ? A@ @@@92Acoustic response timeout^Aew=EU  EU EQ EQ "EU O;*EU :VEQ ZEQ a] @a] @a] @a] @i A I I! O >-%,=FLA YU5OByUHiMb@Mb@Mb@ 9"~?J +lY>yHAA A)AYGAbDVD8y=%5=ٔ%Q-%>9!Y!=-Ey-D-E->1Q 5=45?Q 9=45Jv)5}.BYEI>Q EE:yE8>Q IE@5 DI5:i5:5@4yM\BɮMAQ:iq}FNOT Ignoring new targets: 571.73 m."i}c8*i}c8 ProNav: ac range: 571.732971 m, nav range: 561.299255 m, bearing: 16.798558 deg, approach rate: -0.414329 m/s, LOS rate: 0.004819 deg/s, cmd heading: 17.275697 deg, new cmd heading: 17.280060 deg. i 9HeadingCmd: 0.301594 target range: 571.732971 and range: 572.40 m.hj>hhhhggjgrgereZe:e*e(7@jSBɢ^T) i)i`A?˓=Zw=Ij>Im2Acoustic response timeoutqB>BBHBPBBe =BB?DB;B[E@ @@0@ԑ^A% w=A- >A- >  2Acoustic response timeoutAQ Ia Iq Oy )4%,ԠLAE EE*E"Ef;*E:VE(N4ZEBEW-=>>>&=<ٱ>=>H@)?NӿnY¿ 6?AQ?`|ÿe?P?gF?i>-=I>];9dYd=fEyfDf`d;Ej>hQ 5r4j&?Q 9r4ju)j.BYpyrO9>Q Ir@j DIj;ij;jF4ytɮzAxB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 571.73 m."i8*i8 ProNav: ac range: 571.732971 m, nav range: 561.150757 m, bearing: 16.800267 deg, approach rate: -0.396452 m/s, LOS rate: 0.004563 deg/s, cmd heading: 17.280059 deg, new cmd heading: 17.283477 deg. i9HeadingCmd: 0.301654 target range: 571.732971 and range: 572.40 m.hWr>h1h1h9h9g9g9jgArgAeAreAZeA:eA*eMΌ7@5SBɢ5Y)1 5i1)=99i=BE=E|=IEWr>II@ @@0@2Acoustic response timeout^A- w=! AY Ii I O >:%,LAJg=J>J=ٱJm=JH'?!Yӿn¿?O? (ÿ1~?8I?\E?iJg=IJZ];JCYZoOByZ HbDbݿVDb8yj=%jI=ٔjLQ-n>9lYl=nEyrDr:Er>tQ 5z4v 5?Q 9z4vt)v.BYxyz9>Q I~@|v+ DIv&;iv';vM4yZBɮ A E:i)5FNOT Ignoring new targets: 571.73 m."i58*i58E ProNav: ac range: 571.732971 m, nav range: 560.982056 m, bearing: 16.802199 deg, approach rate: -0.431397 m/s, LOS rate: 0.004942 deg/s, cmd heading: 17.283478 deg, new cmd heading: 17.287343 deg. iM9MHeadingCmd: 0.301721 target range: 571.732971 and range: 572.40 m.hM/{>hQhQhQhQgQgQjgYrgYeYreYZea:ea*ee`7@颍SBɢ^) i)顙iv{D<=}=I/{>I2Acoustic response timeout9@ @@0@EE EEEE(EA"EE:*EE$:VEEc44ZEAaU@aU@aU@aU@)^AU|=YIQ Ia Om > 2Acoustic response timeoutB A <B >B B ?IB PBB B B B ԟ;B ZEԡ A%,LA2~=2R3>2~=ٱ2\Y=2H)%?aӿ@z¿?]N?ÿ`G? C?`D?i2~=I2b~];2CYNOByRmHi%Mb@Mb@Mb@!!!! !9%~jt?kt/$Y%>y% 0%,%IA%A %A)%A!Y%AybDVD8y >%7=ٔ%Q-%>9)Y)=-Ey-D=:E=>IQ 5U4M E?Q 9U4Ms)M.BYU>Q EU:y]M>Q I]@M7 DIM ;iM ;MU4yaɮeAa:iFNOT Ignoring new targets: 571.73 m."i%8*i%8 ProNav: ac range: 571.732971 m, nav range: 560.789185 m, bearing: 16.804025 deg, approach rate: -0.430344 m/s, LOS rate: 0.004075 deg/s, cmd heading: 17.287344 deg, new cmd heading: 17.290996 deg. i8HeadingCmd: 0.301785 target range: 571.732971 and range: 572.40 m.h>hhhhggjgrgereZe:e*e_8@-SBɢ5^(V)1 5i1)511i=[E=l=E$=IE>IAԩ:@ @@S4@@@2Acoustic response timeoutEE EEEE'EA"EE;*EE:VEE'4ZEABEEe H%,!LA22Acoustic response timeoutYOByHbD-ۿVD-8y==%EY=ٔEQ-E>9IYI=MEyMDMEM>QQ 5]4UYR?Q 9e4Ur)U.BYayaQ Ie@UB DIUQ;iU^;UG\4ymYBɮm©Aq:iFNOT Ignoring new targets: 571.73 m."i78*i78 ProNav: ac range: 571.732971 m, nav range: 560.628845 m, bearing: 16.805543 deg, approach rate: -0.430353 m/s, LOS rate: 0.004077 deg/s, cmd heading: 17.290996 deg, new cmd heading: 17.294034 deg. i8HeadingCmd: 0.301838 target range: 571.732971 and range: 572.40 m.h}>hhhhggjgrgereZe:e*e@8@SBɢ^) i)qizG6=~=I}>I@ @@4@ =BDAT read: Response Not Received =*response not receivedEBDAT read: Tx time:04:07:31.3391 E$Ping request sent.Eԑ 3N%,;LAvh=vD|>vs>ٱva=vH"?kӿ¿g?[M? 0ÿc?h$?`C?ivh=Ivw];vCYOByHiMb@Mb@Mb@ 91Zd?:vJ +Y">yTHxA A)YQABAbDҿVD8y=%B=ٔQ->9Y=EyDI:E>Q 54wa?Q 94 r).BY+>Q E:y ;>Q I@M DIb:i:c4yɮpA:iFNOT Ignoring new targets: 571.73 m."i8*i8- ProNav: ac range: 571.732971 m, nav range: 560.447510 m, bearing: 16.807603 deg, approach rate: -0.430321 m/s, LOS rate: 0.004890 deg/s, cmd heading: 17.294034 deg, new cmd heading: 17.298155 deg. i-/95HeadingCmd: 0.301910 target range: 571.732971 and range: 572.40 m.h5듚>h1h1h9h9g9g9jgArgAeAreAZeA:eA*eM*9@ԉBU>BUߎCBU}IBUPBBQBQBQBU;BUZE颅TBɢW) i)f顑iH=4=I듚>IԹ9@ @@O5@^A% 0=I I O > EU  EU EU &EQ "EU :*EU :VEU 4ZEQ BEU >N>ٱN,=NH` ?qӿ֨¿?bL?@ÿ~?V?@C?iNdn=IN>S];NCYZ"PByZHbDfVDf`8yng=%nY=ٔnQ-n>9pYp=rEyrDv:Ev>xQ 5z4zo?Q 9~4zCq)z.BY|y~m;>Q I~@zX DIz\:izb;z;j4y ɮ A %B*** querying acoustic contact ***i!i!:i15FNOT Ignoring new targets: 571.73 m."i=j8*i=j8M ProNav: ac range: 571.732971 m, nav range: 560.285034 m, bearing: 16.809443 deg, approach rate: -0.430269 m/s, LOS rate: 0.004875 deg/s, cmd heading: 17.298156 deg, new cmd heading: 17.301837 deg. iM9UHeadingCmd: 0.301974 target range: 571.732971 and range: 572.40 m.hUW>hQhQhQhQgYgYjgYrgaeareaZea:ea*em {9@颕5TBɢqa) [i)顙iyJ;==IW>IU:@Q @Q@]4@Y@e=@e=eT****** received valid address query ******eR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapse^A~=A>A>IIO>) A[%,v7oLA2L=2>2?ٱ2G=2H`? yӿ 3¿?J?Ŀ?`'?@A?i2L=I2 k];2CYBMPByBIbDJտVDJ8yR=%RP=ٔR.ѺQ-V>9TYT=VEyVDZQ:EZ>\Q 5b4^!}?Q 9b4^qp)^.BY`yb;>Q If@^c DI^o;i^I;^q4yjWBɮjĨAjE:i|FNOT Ignoring new targets: 571.73 m."i#8*i#8 ProNav: ac range: 571.732971 m, nav range: 560.115662 m, bearing: 16.811356 deg, approach rate: -0.430880 m/s, LOS rate: 0.004867 deg/s, cmd heading: 17.301837 deg, new cmd heading: 17.305664 deg. i9HeadingCmd: 0.302041 target range: 571.732971 and range: 572.40 m.h>hhh!h!g!g!jg!rg)e)re)Ze):e)*e5 49@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseuXTBɢ}[)y }liy)}顁iK =:=I>IE EE'E"E;*E?:VE'4ZEa-@a5@a5@a5@Q 9@  @ @ O5@ԁ^AMp=IIO>Be >Ba Be IBe `QBBa Ba Ba Be ;Be ZEi߉ I߉  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԩ I*b%,LA68=6B>6?ٱ6:=6H? dӿ@¿r?jG?@c6Ŀ?{?@>@?i68=I6];4@YbPByb>IiMb@Mb@Mb@ 9On?)\(J +Y>yGaAA GA)KAYA <<bDVD8yo>%9=ٔKQ->9Y=EyDC:E>IQ 5U4MW?Q 9]4Mo)M.BY]>Q E]:y]q4>Q I]@Mo DIM;iM;My4ye\BɮmaAmE:iFNOT Ignoring new targets: 571.73 m."iƻ8*iƻ8 ProNav: ac range: 571.732971 m, nav range: 559.921570 m, bearing: 16.813694 deg, approach rate: -0.425684 m/s, LOS rate: 0.005130 deg/s, cmd heading: 17.305664 deg, new cmd heading: 17.310342 deg. i89HeadingCmd: 0.302122 target range: 571.732971 and range: 572.40 m.h̯>hhhhggjgrgereZe:e*e@d:@TBɢX) z}i)iRMy=MA=I̯>Iԩ@ @@a2@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseD=D<bE-4jEc44rEŲ/E% E%E!E!"E%T;*E%E:VE!ZE!BE%GSh%,LA"T****** received valid address query ******&R****** received valid ping request ******&received new query, but waiting for acoustic response period to elapseY=PBy=NIbDMVDM8y]^=%]Q=ٔeQ-e>9aYa=mEym DmEm>qQ 5}4u?Q 9}4un)u.BYyQ I@uz DIu;iu;u4y[Bɮ%A:iFNOT Ignoring new targets: 571.73 m."i8*i8 ProNav: ac range: 571.732971 m, nav range: 559.761536 m, bearing: 16.815624 deg, approach rate: -0.425729 m/s, LOS rate: 0.005135 deg/s, cmd heading: 17.310343 deg, new cmd heading: 17.314203 deg. i_9HeadingCmd: 0.302190 target range: 571.732971 and range: 572.40 m.h>hhhhggjgrgereZe:e*e:@TBɢO=_) ~i)iN%eq=%b=I%>I)@ @@2@@yA@wA)Q^AS=AxAzAwAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE5  E5 E5 )E1 "E5 ;*E5 :VE5 FA4ZE1 aE @aE @aE @aE @I I O >ԁ un%,^׼LA%]=% >% @ٱ%+=%H?@wӿ`¿%? uB? hĿ@!? Oƻ?`=?i%]=I%4];%CY=PBy=oIYiMb@Mb@Mb@ 9333333?Zd;MbY>yy@ԝAGA tA)YzAbD VD 8y^=%>=ٔQ-%>9!Y!=%Ey%D-+D;E->1Q 5=45?Q 9=45n)5.BY=$>Q E=:yE'>Q IE@5 DI5k:i51:5%4yIɮMAI:iquFNOT Ignoring new targets: 571.73 m."i}8*i}8 ProNav: ac range: 571.732971 m, nav range: 559.578003 m, bearing: 16.818074 deg, approach rate: -0.427363 m/s, LOS rate: 0.005706 deg/s, cmd heading: 17.314203 deg, new cmd heading: 17.319105 deg. i'9HeadingCmd: 0.302275 target range: 571.732971 and range: 572.40 m.hÚ>hhhhggjgrgereZe:e*e2;@TBɢ(ZZ) 7{i)}i;Ph=B>BގCBIBQBBf =BBBj;BaZEBߎCBߎCB“CBe =Be =C4/=I Ú>IMT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseԁ@ @@h0@ԩ^AI) I9 OM >  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseD1 zD5 @AE=  E= E= +E9 "E= ;*E= :VE= [4ZE9 BE= L2@ٱ2=2Hl?@Fӿ@ ¿3? _?? WĿ`N?J?X=?i28A=I23\;2CYN QByNITV@AbDZVDZ8y^1 >%bd=ٔbQ-b>9dYd=fEyfDfM(;Ef>hQ 5n4j?Q 9r4jVm)j.BYpyr(>Q Ir@j DIjs;ij:jj4yvZBɮvTAzEB*** querying acoustic contact ***iiԱ:iFNOT Ignoring new targets: 571.73 m."i8*i8 ProNav: ac range: 571.732971 m, nav range: 559.424561 m, bearing: 16.820108 deg, approach rate: -0.403755 m/s, LOS rate: 0.005353 deg/s, cmd heading: 17.319104 deg, new cmd heading: 17.323173 deg. i9HeadingCmd: 0.302346 target range: 571.732971 and range: 572.40 m.h&͚>hhhhggjgrgereZe:e*e@;@}TBɢ:<]) \wi)C顑iQa==I&͚>Ia@a @a@eO0@a]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse҂G 1^Au{=u룿9yY}>AII O >9 {%,ZLA2 =2>29Aٱ2=2H@W?@ӿ¿ >?/QByBIbDJVDJ8yR=%RL=ٔR*QQ-V>9TYT=VEyV%DZ:EZ>\Q 54^I?Q 94^l)^ /BYy)>Q I@^ DI^"hhhhggjgrgereZe:e*e4;@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse UBɢ^) vi)ai*SX[=Dg=Ivך>IE EE(E"E;*E:VEc44ZEa@a@a@a@@ @@P0@A^A\A=A>A>I9IIOU>qBA<B>BBLIB@RBBBB>DBB;B5ZE} T****** received valid address query ******} R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapseԙ z%,^e LAVJ=V1>VAٱV`&=VH@? ӿ%¿`^B?.;?Ŀ??Z2?@G;?iVJ=IV\;VCYjuQByjIiMb@Mb@Mb@ 97A`?X9v{GzY>y}#3AvA A)xAYpAbDؿVD8y >%:=ٔXQ->9Y=Ey.D$4:E>Q 54?Q 94k)/BY>Q E:yz#>Q I@ DIe;i;4yYBɮyA:iFNOT Ignoring new targets: 571.73 m."i 8*i 8 ProNav: ac range: 571.732971 m, nav range: 559.069275 m, bearing: 16.824907 deg, approach rate: -0.432050 m/s, LOS rate: 0.005970 deg/s, cmd heading: 17.327681 deg, new cmd heading: 17.332775 deg. i.9%HeadingCmd: 0.302514 target range: 571.732971 and range: 572.40 m.h%>h!h!h!h!g!g)jg)rg)e1re1Ze1:e1*e=`e<@e/UBɢeY)a e{nii)mcqiqiuigT}rT=}=I}>I :@  @ @ '0@ =<T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԙE EE+E"E%;*E~:VE [4ZEBEK %,P5$LABDAT read: Rx Time:04:07:34.4982 TRx dataTimestamp_ set to:1764907656.570832T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseJs=JӖ>JWAٱJ?a=JH ?@0ӿý¿ ??N;?Ŀ?9?@:?iJs=IJ\;JCYQByIbDVD8y'=%J=ٔTQ->9Y=Ey6D׸E>Q 54?Q 94k)&/BYyW#>Q I@ DI #hhhhggjgrgereZe:e*eE<@MWUBɢUX)Q UmkiY)]YYi]UL==I>I}9@y @y@}0@yT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEE  EE EE (EA "EE ;*EE :VEE c44ZEA aU @aU @aU @aU @Q ^AE `=Y Aq I I O >%%,?LAB >B B IB RBB B B B ;B ZEI=>_Bٱ#=H?ӿ¿A?{:?Ŀ&?I?9?iI=I \;CDAT read: 04:07:34.4982 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 383,-0.28, 0.781,-0.766, 1.048, 0.401, PHS= 0.482,-1.122, 0.603, RAW= 153.6, 0.5, CAL= 152.3, -0.5, ROT= 357.7, 0.5 Ygot valid direction response: 04:07:34.4982 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 383,-0.28, 0.781,-0.766, 1.048, 0.401, PHS= 0.482,-1.122, 0.603, RAW= 153.6, 0.5, CAL= 152.3, -0.5, ROT= 357.7, 0.5 PDAT read: Bearing 168.9, 8.4 (Local) ~Local bearing/azimuth received: Bearing 168.9, 8.4 (Local) DAT read: Range 11 to 50 : 566.1 m (Round-trip 754.9 ms) speed 0.3 m/s R#Rx 2: Read range and direction messages.`direction in FSK: [0.999156,-0.040130,-0.008727]Fpublishing direction and range infoyx?A#틤B7߁Y D )HI>i5^?+@5<*@ )@I0#?6dG*?tbL*? "?)IQl$iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. Y=QBy=IiMb@Mb@Mb@ 9y!+bAA )הAYAbD5$VD5ΰ8ym=%m =ٔuBQ-u>9qYq=uEy}BD}~9E}>Q 54?Q 94!j)>/BY>Q E:y>Q I@ DI:i:4yXBɮ%A%Eii4DLAjU D"jU D:jw>"pѦ@ʗ˯6YĻpx?A#틤B7߁*jQl$2j5<*p^-Ԁ@_a@O`X@pQ؊{?(-ӣ?E"y?j C jDi;?ijCj<q?jj?YBrj Dzj> addTargetRange:: Added new target pos. range: 566.099976 m, deltaT: 29.236168 s, deltaX: -6.300049 m, approachRate: -0.215488 m/s, rangeRepo size: 4  Added new target pos. range: 565.329407 m, bearing: 14.622271 deg, lat: 36.779409 deg, lon: -121.859484 deg, deltaT: 29.236168 s, deltaX: -6.403564 m, approachRate: -0.219029 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 565.33 m."i*i ProNav: ac range: 565.329407 m, nav range: 558.317566 m, bearing: 16.083006 deg, approach rate: 0.000000 m/s, LOS rate: 0.005705 deg/s, cmd heading: 17.337476 deg, new cmd heading: 17.344355 deg. i%HeadingCmd: 0.302716 target range: 565.329407 and range: 566.10 m.h%>h!h!h!h!g)g)jg)rg)e1re1Ze1:e5̰@*e] 8?UBɢsQ) ;oi)ziVB=+=I>IQ Iy )y = DAT read: E BDAT read: Tx time:04:07:35.6891 E $Ping request sent.M 6Bٱ6@=6H?Qӿ`¿sE? 99?Ŀ0?a? 8?i6ӝ=I6\;6CYBRByB&IbDNVDN8yVg>%VR=ٔViUQ-V>9Z ?YZ ?=ZEyZJD^b1:E^>`Q 5f4b?Q 9f4bi)bM/BYdyfM>Q If@b DIb:ibU;b4ylɮn[Ap~B*** querying acoustic contact ***i|i|:i FNOT Ignoring new targets: 565.33 m.9"i 8*i8 ProNav: ac range: 565.329407 m, nav range: 558.161255 m, bearing: 16.085136 deg, approach rate: -0.432012 m/s, LOS rate: 0.005889 deg/s, cmd heading: 17.344355 deg, new cmd heading: 17.348617 deg. io,9HeadingCmd: 0.302790 target range: 565.329407 and range: 566.10 m.h[>hhhhggjgrgereZe:e*e F?UUBɢU`)Q UjiQ)]yYYi]79Xe==e€=Ie[>Ia9@ @@4@ԉ%=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502810^A=E-  E- E- &E) "E- ;*E- :VE- 4ZE) a= @a= @a= @a= @Թ A I I) O= >۞%,Q~LAԡ˝=p>gCٱ+*=H?ӿ ¿D?`8?ĿG?@n? 7?i˝=I ];CY5%RBy5;IAABBBIB*SBBBBB;BYEiMb@Mb@Mb@ 9A`"?V-V-Y>ym )YbDVD8y-N=%-)=ٔ-Q-5>91Y1=5Ey5TD=E=>AQ 5M4E?Q 9M4checking for new query: numPingsReceived=0, elapsed TxPingTime=0.769475Eh)Ed/BY>Q E:y5+>Q I@E DIE_hahahihigigijgqrgqeqreqZeq:ey*e}H?颥UBɢ|X) mi)Af顩iY5=<=I]>Iy@y @y@}?0@^A b$=!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.021398Ee  Ee Ee +Ea "Ee %;*Ee 1:VEe [4ZEa BEe K%,rLA2=29>2aCٱ2r=2H?ӿ`O¿@EJ?6?Ŀ@Q? ?6?i2=I2];2CY>}RByBqIbDJVDJð8yR>%Ro=ٔR|Q-V?9TYT=VEyVZDZc:EZ?\Q 5b4^&"?Q 9b4^g)^t/BY`yb+>Q If@^ DI^:i^.:^º4yhɮbAy:iFNOT Ignoring new targets: 565.33 m."i8*i8 ProNav: ac range: 565.329407 m, nav range: 557.810852 m, bearing: 16.089234 deg, approach rate: -0.431803 m/s, LOS rate: 0.005042 deg/s, cmd heading: 17.353429 deg, new cmd heading: 17.356817 deg. i9HeadingCmd: 0.302934 target range: 565.329407 and range: 566.10 m.h>hhhhggjgrgereZe:e*e/.?-UBɢ-@^)1 5_i1)5H11i=Z=/=E=IE>Iaԡ:@ @@G0@@=@==checking for new query: numPingsReceived=0, elapsed TxPingTime=1.273484^A% [=A- >A- ? Aq Iy I O >;%,OLA:G[=:|*>:/ Dٱ:=:H8?`@ӿ¿*H?@6?Ŀ]?`?5?i:G[=I:\;:CYFRByJIbDR VDR8yZQ=%ZJ=ٔ^cqQ-^>9`Y`=bEybbDbEb>dQ 5j4f0?Q 9n4f6g)f/BYlyn+>Q In@f DIf;if;fɺ4yvVBɮvAvE:i FNOT Ignoring new targets: 565.33 m."i8*i8% ProNav: ac range: 565.329407 m, nav range: 557.639160 m, bearing: 16.091241 deg, approach rate: -0.443768 m/s, LOS rate: 0.005189 deg/s, cmd heading: 17.356817 deg, new cmd heading: 17.360832 deg. i-9-HeadingCmd: 0.303004 target range: 565.329407 and range: 566.10 m.h-M#>h1h1h1h1g1g1jg9rg9e9re9ZeA:eA*eEGL?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526156E] E]E]*EY"E];*E]:VE](N4ZEYae@ae@ae@ae@颵VBɢ ]) \i)项i\(=f=IM#>I9@ @@?0@B >BB-IBSBBBBB;BYE1^A 8=U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.777756A= ؟AIY a Iy O >#%,9+͢LA2k=28>2nDٱ2U=2H ?Bӿ¿I? 6?p ſHg?? 5?i2k=I2\;2CY>RBy>Ii=Mb@Mb@Mb@9999 99=5^I ?S㥫:vY=>y=/]=Լ=A=үA =A)=A9Y=pA M9m"?Ym"?=mEymlDm$y9Eu>Q 54@?Q 94Qf)/BY;>Q E:y3>Q I@ DI;i;Ѻ4yɮA:iFNOT Ignoring new targets: 565.33 m."i̧8*i̧8 ProNav: ac range: 565.329407 m, nav range: 557.445190 m, bearing: 16.093352 deg, approach rate: -0.421184 m/s, LOS rate: 0.004584 deg/s, cmd heading: 17.360833 deg, new cmd heading: 17.365056 deg. i<9HeadingCmd: 0.303077 target range: 565.329407 and range: 566.10 m.h,>hhhhggjgrgereZe:e*eg@-FVBɢ-xW)) 5aXi1)5V{11i5 ]=!==|=I=,>IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.030143@ @@"0@abEķG4jE#E4rE/Eu EuEqEq"EuT;*Eu:VEqZEqBEuG] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281377S%,碖LA2&=22:>2Dٱ2]!=2HJ ?hӿ¿I?`5? ſk?ɼ?4?i2&=I2\;0Y>SBy>IbDF"VDF̰8yN>%Rk=ٔRѹQ-R?9PYT=VEyVsDV8EV?XQ 5^4ZL?Q 9b4Ze)Z/BY`yb3>Q Ib@Z DIZe:iZ:Z׺4ydɮf1A5B*** querying acoustic contact ***i1i1:i9EFNOT Ignoring new targets: 565.33 m."iE8*iE8] ProNav: ac range: 565.329407 m, nav range: 557.299561 m, bearing: 16.094937 deg, approach rate: -0.375551 m/s, LOS rate: 0.004089 deg/s, cmd heading: 17.365056 deg, new cmd heading: 17.368227 deg. i]z8eHeadingCmd: 0.303133 target range: 565.329407 and range: 566.10 m.ԉhe74>hhhhggjgrgereZe:e*en@mlVBɢmZ)i u;Viq)u.qqi}F^>=^=I74>I]:@Y @Y@]0@Y@a@ezAԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.533425Em EmEm+Ei"Eml;*Em҆:VEm [4ZEiau@au@au@au@^A] {=Ay zA} xAA I I O > 8%,LAPExceeded connect timeout, disconnecting.B<A<B >BݎCBxIB(TBBg =BBBٞ;BYEB]ގCB]ގCBYB]f =B]f =C]7j4U͞=U G>UJEٱUD=UH`D ?ӿ¿J?@4?$ſ|?Hڼ?3?iU͞=IU\;UCY;SByIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.785492i]Mb@Mb@Mb@YYYY Y9]ףp= ?~jtZd;OY]>y]D]j]A]A ]^A)]bAYY]AbDu VDu8y=%$=ٔ$Q->9Y=Ey}DO9E>Q 54^?Q 94d)/BYa>Q E:yED>Q I@ DI;i;p4yUBɮݢA:iFNOT Ignoring new targets: 565.33 m."ieS8*ieS8} ProNav: ac range: 565.329407 m, nav range: 557.083862 m, bearing: 16.096922 deg, approach rate: -0.472816 m/s, LOS rate: 0.004353 deg/s, cmd heading: 17.368227 deg, new cmd heading: 17.372198 deg. i}8HeadingCmd: 0.303202 target range: 565.329407 and range: 566.10 m.hM=>hhhhggjgrgereZe:e*e`@eVBɢenW)a mWii)m*iiimb_u=qIuM=>Iy9@ @@0@A  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037871^AU ff=E  E E )E "E ;*E :VE FA4ZE BE >CCPǨ%,CLA2ڞ=2gJ>2eiEٱ2=2H ?ӿ$ÿ@J?4? )ſ?ܼ?`3?i2ڞ=I2a\;2CYBSByBIDDbDJ׿VDJ8yR:>%R\=ٔVUMQ-V>9TYT=ZEyZDZa8EZ>\Q 5b4^l?Q 9b4^c)^/BYdyfKD>Q If@^ DI^~:i^:^4yhɮjSAl:i|FNOT Ignoring new targets: 565.33 m."i8*i8i ProNav: ac range: 565.329407 m, nav range: 556.923279 m, bearing: 16.098401 deg, approach rate: -0.433056 m/s, LOS rate: 0.003989 deg/s, cmd heading: 17.372199 deg, new cmd heading: 17.375157 deg. i8HeadingCmd: 0.303254 target range: 565.329407 and range: 566.10 m.hD>hhhhggjgrgereZe:e*e @VBɢj]) >Ni)k i`~`% =%NS=I-D>I)@ @@@ aCUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.291111UaGqԡ9YA^Aه=A I I O >  BDAT read: Rx Time:04:07:38.8388  TRx dataTimestamp_ set to:1764907660.870879 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542551ktͨ%,n8LAE6 E6E6+E4"E6:*E6:VE6 [4ZE4a:@a:@a:@a:@Y-SBy-(IbD=տVD=8yM=%MA=ٔUQ-U>9QYQ=UEy]D]E]>aQ 5m4eU{?Q 9m4eb)e/BYqyqQ Iu@e' DIek:ieb:eR4y}TBɮ}A}E:iFNOT Ignoring new targets: 565.33 m."i 8*i 8 ProNav: ac range: 565.329407 m, nav range: 556.739807 m, bearing: 16.100091 deg, approach rate: -0.432895 m/s, LOS rate: 0.003990 deg/s, cmd heading: 17.375156 deg, new cmd heading: 17.378538 deg. i8HeadingCmd: 0.303313 target range: 565.329407 and range: 566.10 m.hK>hhhhggjgrgereZe:e*e@@MVBɢMaZ)I MUNiI)MQB!QQiua}=} 2=I}K>I1@1 @9@9@9UnManaging dock network, ignoring radio surface power off@u=@u=IB >BBIBTBBf =BBB̞;BYE]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.793425q^A{=A>A>A I! I9 OE >ԙ ;\Ԩ%,IRLA2^=2.k>2!Eٱ2͛=2H ?ӿ ÿ=N? 3?+ſ5?@ּ?t2?i2^=I2t\;2CYBSByB[Ii5Mb@Mb@Mb@1111 195ʡE?/$S㥛Y5>y5,5/ݼ5A51A 1)11Y1bDMVDM^8y]J>%]I=ٔeyQ-e>9aYa=eEyeDm!:Em>qQ 5}4uЉ?Q 9}4ua)u0BY*>Q E:yRS>Q I@u2 DIu\ ;iu ;ui4yɮ_A:iFNOT Ignoring new targets: 565.33 m."i3s8*i3s8  ProNav: ac range: 565.329407 m, nav range: 556.564697 m, bearing: 16.101439 deg, approach rate: -0.431525 m/s, LOS rate: 0.003322 deg/s, cmd heading: 17.378539 deg, new cmd heading: 17.381235 deg. i 8-HeadingCmd: 0.303360 target range: 565.329407 and range: 566.10 m.h-Q>h1h9h9hAgAgIjgargayeqrechecking for new query: numPingsReceived=0, elapsed TxPingTime=4.048784ZeI:eQ*e]@,I@E EE&E"EV:*EVE4ZEBE9=*=IQ>I ԡ:@ @@l4@^A ii Ii  DAT read: 04:07:38.8388 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 351,-0.22,-1.999, 2.700,-1.815,-2.357, PHS= 0.460,-1.181, 0.498, RAW= 151.1, 2.7, CAL= 150.1, 2.5, ROT= 359.9, -2.5  Ygot valid direction response: 04:07:38.8388 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 351,-0.22,-1.999, 2.700,-1.815,-2.357, PHS= 0.460,-1.181, 0.498, RAW= 151.1, 2.7, CAL= 150.1, 2.5, ROT= 359.9, -2.5  PDAT read: Bearing 171.8, 11.2 (Local)  ~Local bearing/azimuth received: Bearing 171.8, 11.2 (Local)  DAT read: Range 11 to 50 : 559.2 m (Round-trip 745.6 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.999047,-0.001744,0.043619] Fpublishing direction and range infoyi m 0?qK\GU?Ym Di i i i i )m JIm >im +m >m (@m A=m ϩ'@ m ¸2=)m @Im ¸2i i m '@\? ?ZnI? m  ?1 )m g[BIm "im ¸2i i 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 I I O >]ڨ%,9mLA%=%w>%|Eٱ%ԧ=%H9 ?ӿ@ÿO?3?@-ſԕ?@@ؼ?N2?i%=I%;\;!Y%TByvI <<bDVDq8y =% 8=ٔ5>Q-5>91Y1=5Ey=D=Wb9E=>AQ 5M4iEʙ?Q 9u4E`)E&0BYqyulS>Q Iu@E> DIE;iE;E;4ySBɮAiihLAj D"j D:j>"p3(:o@֩)w[8@p0?qK\GU?*j"2j¸2*pRY9C@Uc@nuqY`@ptޥ?? G?jC jDi)皊?i|j7Cj^?j|jBrj Dzj>5 addTargetRange:: Added new target pos. range: 559.200012 m, deltaT: 4.552654 s, deltaX: -6.899963 m, approachRate: -1.515591 m/s, rangeRepo size: 4 = Added new target pos. range: 558.435730 m, bearing: 16.552918 deg, lat: 36.779393 deg, lon: -121.859480 deg, deltaT: 4.552654 s, deltaX: -6.893677 m, approachRate: -1.514211 m/s, posRepo size: 4 :iAEFNOT Ignoring new targets: 558.44 m."im*ii} ProNav: ac range: 558.435730 m, nav range: 554.793640 m, bearing: 16.187223 deg, approach rate: 0.000000 m/s, LOS rate: 0.003322 deg/s, cmd heading: 17.381235 deg, new cmd heading: 17.384320 deg. iy}HeadingCmd: 0.303414 target range: 558.435730 and range: 559.20 m.hY>hhhhggjgrgereZe:ey@*e ȳ?3WBɢ%W)! %Ci!)-"))i-7zc5 =1I5Y>I1M(DAT read: user:95> UBDAT read: Tx time:04:07:40.2891 U$Ping request sent.]B B IB &UBB g =B B B ;B YEA  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249292A .AI I O >p%,VEٱV&=VH` ?ӿÿR?@2? @6ſ}??` 2?iV=IVl\;TYbWTBybIiMMb@Mb@Mb@IIII I9M{Gz?y&1 rhYM>yM`弙MC MAM`A MA)MAIYMAbDeϿVDe8yu?=%u<=ٔ}HQ-}>9} ?Y} ?=EyD:ԉE>Q 54u?Q 94_)<0BY>Q E:yx>Q I@K DIk:it:4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 558.44 m."i 8*i 8 ProNav: ac range: 558.435730 m, nav range: 554.602295 m, bearing: 16.188020 deg, approach rate: -0.461384 m/s, LOS rate: 0.001922 deg/s, cmd heading: 17.384320 deg, new cmd heading: 17.385915 deg. ia8HeadingCmd: 0.303441 target range: 558.435730 and range: 559.20 m.h\>hhhhggjgrgere Ze :e *e [3?[WBɢUX) Ai)-H#itd = =I \>I Ա@ @@O5@@zA@yAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501261E EE,E"E*Ev:VEg4ZEBE`F%,LA2Y=2>2Fٱ2=2H? 0ӿÿX?1?8ſ`9??@1?i2Y=I2\;0YVzTByVIbDbӿVDb8yj=%jU=ٔj&Q-j>9lYl=nEynDnk:Er>pQ 5z4rW?Q 9z4r^)rO0BYxyzix>Q Iz@rU DIr<;ir;ro 4y~RBɮWA:i!-FNOT Ignoring new targets: 558.44 m."i-8*i58= ProNav: ac range: 558.435730 m, nav range: 554.432739 m, bearing: 16.188721 deg, approach rate: -0.444827 m/s, LOS rate: 0.001839 deg/s, cmd heading: 17.385915 deg, new cmd heading: 17.387317 deg. i=_W8EHeadingCmd: 0.303466 target range: 558.435730 and range: 559.20 m.hE_>hAhIhIhIgIgIjgQrgQeQreQZeY:eY*e] d?-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7535195}WBɢ5\)1 5@i1)5#99i=ee=epn=Ie_>Iiy@y @y@y@yA^A[= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005293E  E E (E "E ;*E VE c44ZE a @a @a @a @A ؟AI I O >i |%,νLA2ˇ=2>2G9Fٱ2\=2H?@ӿ4ÿV?@Q2?3ſ@?@ټ?`1?i2ˇ=I2Gi\;0Y>TBy>IDFAAbDJVDJ8yN=%RO=ٔR㋹Q-R>9V"?YV"?=VEyVDVdpEZ>XQ 5^4Z?Q 9b4Zs])Zc0BY`ybMx>Q Ib@Za DIZ;:iZu:ZY4ydɮfAh:ix~FNOT Ignoring new targets: 558.44 m."i~8*i~8  ProNav: ac range: 558.435730 m, nav range: 554.257019 m, bearing: 16.189449 deg, approach rate: -0.444215 m/s, LOS rate: 0.001841 deg/s, cmd heading: 17.387317 deg, new cmd heading: 17.388774 deg. i W8HeadingCmd: 0.303491 target range: 558.435730 and range: 559.20 m.h8c>hhhhgygyjgyrgyereZe:e*e7?Y颵WBɢfX) @i) }$if<B>BB_IBUBBBBB;BkYEi8c>==I8c>I9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258468ԉ@ @@0@ԩ^A L= Aq Iy I O >`%,%AأLA.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509287R.!=Rۗ>RFٱR=RH@?ӿÿ@Z?@S1? ;ſ@{? |?A1?iR.!=IRpZ\;PY^TBy^ID%=DE EE'E"E&:*E:VE'4ZEBEg;yee 0exAeA eA)eAaYe(AbD}VD}8y=%8=ٔ"Q->9Y=EyD,:E>Q 54?Q 940\)v0BYf>Q E:y)y>Q I@m DI;i<;4yɮAE:iFNOT Ignoring new targets: 558.44 m.i"im#8*iu#8} ProNav: ac range: 558.435730 m, nav range: 554.058350 m, bearing: 16.190256 deg, approach rate: -0.447593 m/s, LOS rate: 0.001819 deg/s, cmd heading: 17.388774 deg, new cmd heading: 17.390388 deg. iU8HeadingCmd: 0.303520 target range: 558.435730 and range: 559.20 m.hf>hhhhggjgrgereZe:e*e@f?-WBɢ-nLX)) -?i1)5*%11i5Sg=v===I=f>IA@ @@@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762382^A] =A I I O > %,WLA2`U=2>2Fٱ2~=2H?`/ӿZ,ÿ[?0?@ſ?`?0?i2`U=I2p\;2CY>UBy>IbDJVDJ8yNx>%R[=ٔRQ-R>9TYT=VEyVDVg9EZ>XQ 5^4Z?Q 9b4Z![)Z0BY`ybCy>Q Ib@Zx DIZP:iZ&:Z 4ydɮfEAh:iquFNOT Ignoring new targets: 558.44 m."i7*i7 ProNav: ac range: 558.435730 m, nav range: 553.891663 m, bearing: 16.190932 deg, approach rate: -0.429430 m/s, LOS rate: 0.001741 deg/s, cmd heading: 17.390389 deg, new cmd heading: 17.391741 deg. iK8HeadingCmd: 0.303543 target range: 558.435730 and range: 559.20 m.hj>hhhhggjgrgereZe:e*e`@WBɢѻ\)  8ے=5=Ij>I}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014332@ @@31@E= E=E9E9"E=;*E=$:VE9ZE9aE@aE@aM@aM@^AI=B9 A= <BU >BU ܎CBU IBU VBBU h =BQ BU =DBU w;BU PYE) A I 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266979IQ Om >%,; LA0Yv0UByvIiMb@Mb@Mb@ 9+? rh ףp= Y>yC Q8KAA A)AYAbDVDǰ8y|=%7=ٔQ->9Y=EyDE>Q 54?Q 94Y)0BY >Q E :y m>Q I @ DI:i:e(4yQBɮA5B*** querying acoustic contact ***i1i1:iAEFNOT Ignoring new targets: 558.44 m."iE/8*iM/8] ProNav: ac range: 558.435730 m, nav range: 553.696167 m, bearing: 16.191966 deg, approach rate: -0.454196 m/s, LOS rate: 0.002404 deg/s, cmd heading: 17.391741 deg, new cmd heading: 17.393811 deg. i]ƌ8eHeadingCmd: 0.303579 target range: 558.435730 and range: 559.20 m.hen>hahahahagagajgirgieireiZeq:eq*eu @颥XBɢ3KY) K;i)B\&顩ii5Ւ=5a=I5n>I1ԉ@ @@?0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517311ԹbEFA4jEFA4rET0E= E=E=)E9"E=T;*E=M:VE=FA4ZE9BE=G%,%LA2P=2>2Gٱ2$=2H?ӿ=ÿ`$`? 0? Eſ@A?ݼ?/?i2P=I2+\;2CY>_UBy>7IbDFVDF8yN<>%Rb=ٔRҺQ-R>9TYT=VEyVDV\:EV>X|Q 5%4Z?Q 9%4ZX)Z0BY!y%`m>Q I%@Z DIZ0ohyhyhyhygygjgrgereZe:e*e@ @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770746 CXBɢ \[) 9i)&!i%އj-ϒ=5=I5r>I9):@ @@/0@Q^A= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021426E}  E} E} (Ey "E} ;*E} Ǚ:VE} c44ZEy a @a @a @a @ԩ A9 IA IY Oe >)%,?LA2$J=25&>2iGٱ2v=2H]?`5ӿDÿnb? /?Bſ?PѼ?`/?i2$J=I2\;2CY>UBy>QIbDFVDF8yNv=%NJ=ٔR Q-R>9PYT=VEyVDV9EV>XQ 5^4ZD?Q 9^4ZW)Z0BY`ybm>Q Ib@Z DIZ;iZ+;Z54ydɮf2Ad:ixzFNOT Ignoring new targets: 558.44 m."i~.8*i~.8  ProNav: ac range: 558.435730 m, nav range: 553.360291 m, bearing: 16.193732 deg, approach rate: -0.452429 m/s, LOS rate: 0.002377 deg/s, cmd heading: 17.395483 deg, new cmd heading: 17.397343 deg. i 58HeadingCmd: 0.303641 target range: 558.435730 and range: 559.20 m.hv>hhhhyggjgrgereZe:e*eo @B>BBIBVBBi =B3DBBr;BIYEBݎCB܎CBBg =Bg =CkH5erXBɢe/WԱ) @:i)e'i{kchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273955ɒ= C6=I v>I9@ @@0@ ^A z=ߙ ߝ R= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526114E]  E] E] *EY "E] =;*E] :VE] (N4ZEY BE] I%,Y\LAHv6=vb!>vHٱv=vH ? rӿ`Nÿa?90?=ſ`?`?^/?iv6=Iv\;vCYUBygIiMb@Mb@Mb@ 9ʡE?I +~jtY>y94DהA GA)AYAbD VD8y_=%*=ٔQ->9Y=EyDE>Q 5=4 ?Q 9E4V)0BYE0>Q EE:yEV>Q IE@ DIp4yUPBɮUAUE:iq}FNOT Ignoring new targets: 558.44 m."i}k8*ik8 ProNav: ac range: 558.435730 m, nav range: 553.150940 m, bearing: 16.195320 deg, approach rate: -0.423071 m/s, LOS rate: 0.003212 deg/s, cmd heading: 17.397344 deg, new cmd heading: 17.400522 deg. i8HeadingCmd: 0.303696 target range: 558.435730 and range: 559.20 m.h~>hhhhggjgrgereZe:e*e`2@XBɢ\) A;i)<(ilÒ==I~>I}9@ @@0@BG뢿9YBABDAT read: Rx Time:04:07:43.4363 TRx dataTimestamp_ set to:1764907665.660423checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780040^Aff= A I I O >'%,uLA2t=2KP>2Gٱ2?X=2HQ? Lӿ|Iÿ0g? /?@Cſ ,?`˼?M/?i2t=I2\;2CY>UByBIbDJVDJ°8yf .>%j[=ٔjU 9Q-j>9lYl=nEynDrz:Er>tQ 5v4v.?Q 9z4vU)v0BYxyzV>Q Iz@v DIv:iv:vD4|yɮhA:i)-FNOT Ignoring new targets: 558.44 m."i5-z8*i5-z8E ProNav: ac range: 558.435730 m, nav range: 552.988037 m, bearing: 16.196551 deg, approach rate: -0.452205 m/s, LOS rate: 0.003418 deg/s, cmd heading: 17.400522 deg, new cmd heading: 17.402984 deg. iE$8MHeadingCmd: 0.303739 target range: 558.435730 and range: 559.20 m.hM>hIhIhIhIgQgQjgQrgQeYreYZeY:ea*ee @颍XBɢr]) 3i)(顑iӌm=ږ=I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.029410E EE+E"E*E:VE [4ZEa@a@a@a@U9@Y @Y@e0@a1Y^Ai=AAB>BێCB3IBVBBh =BBB;BVYEA>A?I  DAT read: 04:07:43.4363 LVL= 31904, 32753, 32722, 32755, AGC= 70, IDX= 421, 0.35,-1.383,-3.022,-1.183,-1.822, PHS= 0.541,-1.156, 0.595, RAW= 151.6, 0.2, CAL= 150.3, -0.4, ROT= 359.7, 0.4 % Ygot valid direction response: 04:07:43.4363 LVL= 31904, 32753, 32722, 32755, AGC= 70, IDX= 421, 0.35,-1.383,-3.022,-1.183,-1.822, PHS= 0.541,-1.156, 0.595, RAW= 151.6, 0.2, CAL= 150.3, -0.4, ROT= 359.7, 0.4 - PDAT read: Bearing 168.7, 10.7 (Local) - ~Local bearing/azimuth received: Bearing 168.7, 10.7 (Local) 5 DAT read: Range 11 to 50 : 557.2 m (Round-trip 743.0 ms) speed 0.3 m/s = R#Rx 1: Read range and direction messages.E `direction in FSK: [0.999962,-0.005236,-0.006981]E Fpublishing direction and range infoy  Z%?Fd(rua|Y L D |  ) FI ~ ?i Q? V)@ d; '@ ) @I ; j4D?O!վ?*p? ?) nYI i ; ] T****** received valid address query ******] R****** received valid ping request ******e Querying Benthos address 50 with one ping in standard two-way mode.Iy ԁ O >#%,͏LA2z=2br>2)Hٱ2W#=2H i?hԿOÿ k?`.?@Cſj?ļ?/?i2z=I2؏\;2CYRVByRIQiMb@Mb@Mb@ 9On?)\(MbY>yGa@ArA rA)IAY AbDVD8y=%%6=ٔ%CQ-%>9!Y)=-Ey-D-(:E5>1Q 5=45=?Q 9E45T)50BYE>Q EE:yE:>Q IE@5 DI5:i5:5L4yQɮUAQiivLAj D"j D:j'>"p²};c@RNy_ԎpZ%?Fd(rua|*j2j;*p,QZ@4AScc@o (Y@pV9ml(?n,?c?jC jDi93s~?iigjzCjjjCrj3 Dzjf> addTargetRange:: Added new target pos. range: 557.200012 m, deltaT: 4.536724 s, deltaX: -2.000000 m, approachRate: -0.440847 m/s, rangeRepo size: 4  Added new target pos. range: 556.425293 m, bearing: 16.802973 deg, lat: 36.779393 deg, lon: -121.859480 deg, deltaT: 4.536724 s, deltaX: -2.010437 m, approachRate: -0.443147 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 556.43 m."i*i ProNav: ac range: 556.425293 m, nav range: 552.797241 m, bearing: 16.198541 deg, approach rate: 0.000000 m/s, LOS rate: 0.003418 deg/s, cmd heading: 17.402984 deg, new cmd heading: 17.406072 deg. iHeadingCmd: 0.303793 target range: 556.425293 and range: 557.20 m.hˊ>hhhhggjgrgereZe:ei@*e?XBɢX) &5i)j)ienP=݈=Iˊ>Iԁ%(DAT read: user:96> -BDAT read: Tx time:04:07:44.7891 -$Ping request sent.-t)%,oLAFchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251761Y]9VBy]IbD}VD}8yg=%U=ٔQ->9Y=EyDE>ԹQ 54K?Q 94+T)0BYyQ I@ DI3;iTE;KS4yɮΜA B*** querying acoustic contact ***i i :i!%FNOT Ignoring new targets: 556.43 m."i-8*i-8E ProNav: ac range: 556.425293 m, nav range: 552.632690 m, bearing: 16.200257 deg, approach rate: -0.424250 m/s, LOS rate: 0.004426 deg/s, cmd heading: 17.406073 deg, new cmd heading: 17.409506 deg. iE9 HeadingCmd: 0.303853 target range: 556.425293 and range: 557.20 m.h >h h h h ggjgrgereZe:e*e?颭YBɢ<\) 6i)u*顱io糒=U=I>I@ @@@ 5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502652DzDE EEE"E ;*E:VEZEa@a@a@a@^A I I O >9 0%,qäLA2Œ=2_8>2!1Hٱ29G=2Hh? `ӿ[ÿ,d?0?%ſ`i??/?i2Œ=I2\;2CY>kVBy>IbDFVDF8yN>%R[=ٔR?Q-R>9PYT=VEyV DVEV>XQ 5^4ZX?Q 9^4ZjS)Z0BY`yb>:>Q Ib@Z DIZ:iZQ;ZY4ydɮjhAnE:iFNOT Ignoring new targets: 556.43 m."iv8*iv8- ProNav: ac range: 556.425293 m, nav range: 552.474609 m, bearing: 16.201917 deg, approach rate: -0.427887 m/s, LOS rate: 0.004493 deg/s, cmd heading: 17.409507 deg, new cmd heading: 17.412827 deg. i-95HeadingCmd: 0.303911 target range: 556.425293 and range: 557.20 m.h5>>h1h1h1B]>BYB]rIB]_WBBYBYB]>P==I>>IIe:@a @a@i@ii^A A zA I I O- >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006653ԙ E  E E +E "E l;*E :VE [4ZE BE `F6%,nLݤLA2͢=2*G>2/+Hٱ2=2H,?zӿ\ÿ e?0?uſ?c{?!0?i2͢=I2\;2CY>VBy>IiMb@Mb@Mb@ 9S?MbZd;OY>yj<1AOA  A)AYAbDVD8y-=%-B=ٔ-a8Q-->91Y1=5Ey5D=O9E>Q 54h?Q 94R)1BYQ>Q E:y!&>Q I@ DI:i:na4yɮ$A:i9EFNOT Ignoring new targets: 556.43 m."iE8*iE8q} ProNav: ac range: 556.425293 m, nav range: 552.286316 m, bearing: 16.204283 deg, approach rate: -0.426051 m/s, LOS rate: 0.005357 deg/s, cmd heading: 17.412826 deg, new cmd heading: 17.417561 deg. i}9HeadingCmd: 0.303994 target range: 556.425293 and range: 557.20 m.h>hhhhggjgrgereZe:e*e y ?%dYBɢ%l^)) -5i))I-+顩iq=H=I>Ie9@a @a@m1@iԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261453^A I I O > 1*=%,7LA2!=26S>2FHٱ2=2H?ӿ`ÿ>g?@0?ſ ?ct?0?i2!=I2%\;2CY>VBy>IbDFVDF8yN>%NS=ٔRQ-R>9PYT=VEyVDVx9EV>XQ 5^4Zu?Q 9^4ZQ)Z1BY`yb5&>Q Ib@Z DIZS:iZ:Zg4yfOBɮfAd:ix~FNOT Ignoring new targets: 556.43 m."i~l8*i~l8  ProNav: ac range: 556.425293 m, nav range: 552.126709 m, bearing: 16.206289 deg, approach rate: -0.439994 m/s, LOS rate: 0.005530 deg/s, cmd heading: 17.417561 deg, new cmd heading: 17.421574 deg. i !9HeadingCmd: 0.304064 target range: 556.425293 and range: 557.20 m.hA>hhhhggjgrg!e!re!Ze!:e!*e-?UYBɢUa)Y ]<1iY)]+YYi]re:=aImA>Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511461E EE(E"E ;*E:VEc44ZEa@a@a@a@@ @@0@^Ab$=B5>B5َCB5IB5WBB5j =B1B5;DB5};B5CYEIQIiOuy>1  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765352I zD%, LA2=2.?>2J;Hٱ2m =2H9?ӿ@bÿd?1? ſ`? Yd?`\0?i2=I2i\;2CYNVByN)IiMMb@Mb@Mb@IIII I9MQ?V-MbYM(>yMhM@MAMA M~A)M`AIYMAbDeVDe8yu=%u>=ٔ}8Q-}>9yYy=}Ey#D繹E>Q 54?Q 942Q)1BYo>Q E:y/>Q I@ DI;i;ro4yɮmA:iFNOT Ignoring new targets: 556.43 m."i8*i8 ProNav: ac range: 556.425293 m, nav range: 551.940063 m, bearing: 16.208925 deg, approach rate: -0.432938 m/s, LOS rate: 0.006118 deg/s, cmd heading: 17.421574 deg, new cmd heading: 17.426849 deg. i!39HeadingCmd: 0.304156 target range: 556.425293 and range: 557.20 m.hR>hhhhggjgrgereZe:e*eW@-YBɢ-Hn\)1 52i1)5VH,11i5s==Ek=IER>IA)@ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014897E EE*E"E%;*E:VE(N4ZEBEKԡ A I I O >U8J%,*LA2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266683DR'=R]>RbHٱR=RH4?ӿTkÿ8h?`0?xſ?la?/?iR'=IRx\;PYb'WBybPIbDrֿVDr8y~!>%~S=ٔPQ->9 Y = Ey +D:E>!Q 5-4%ٓ?Q 9-4%P)%'1BY1y5j>Q I5@%DI%y);i%,3;%Bv4yAɮMAME:iFNOT Ignoring new targets: 556.43 m."i88*i88 ProNav: ac range: 556.425293 m, nav range: 551.771118 m, bearing: 16.211309 deg, approach rate: -0.428257 m/s, LOS rate: 0.006044 deg/s, cmd heading: 17.426849 deg, new cmd heading: 17.431617 deg. i09HeadingCmd: 0.304239 target range: 556.425293 and range: 557.20 m.h;ś>hhhhggjgrgereZe:e*e@@}YBɢ}N\) a-i)D,顁i uO==I;ś>IԱM:@I @I@M,4@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518638^A_=E EE'E"E=;*E:VE'4ZEa@a@a@a@ Aa Ii Iy O >$ Q%,DLA2=2S>2*yHٱ2n=2H ~?4ӿ jÿ%g?J1?ſ>?@Y?`"0?i2=I2e\;2CY>UWBy>lI F9TYT=VEyV3DVGEZ>XQ 5^4Z?Q 9b4ZO)Z31BY`ybR>Q Ib@Z DIZ;iZ&;Z}4yfUBɮjAjEBr>Br؎CBrIBrHXBBrl =BpBpBr~;Brhhhhggjg)rgQeareiZe:e*e@8@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773418 ZBɢ%[) t-i)|-i"v< i+Л>ّ=`=I+Л>I%9@! @!@%P5@!9^AE ff=i % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022767bEjE?4rE/E  E E &E "E T;*E ~:VE 4ZE BE GDnW%,*_LARW=Ri>RgJHٱR=RH_?zӿPdÿ`i?0?`ſ?Z?`h0?iRW=IR1\;RCYnWBynIximMb@Mb@Mb@iiii i9mzG?~jtktYm >ymm 0mґAmA mĭA)mAiYmAbDVD8y4=%8=ٔ9Q->9Y=EyQ 54?Q 947O)B1BY>Q E:y>Q I@DI;i;ք4yTBɮHA:ia}FNOT Ignoring new targets: 556.43 m."i}8*i}8 ProNav: ac range: 556.425293 m, nav range: 551.414124 m, bearing: 16.216673 deg, approach rate: -0.420805 m/s, LOS rate: 0.006664 deg/s, cmd heading: 17.436399 deg, new cmd heading: 17.442349 deg. i$C9HeadingCmd: 0.304426 target range: 556.425293 and range: 557.20 m.hݛ>hhhhggjgrgereZe:e*e@H @1ZBɢE)^( ,+i)in==Iݛ>Ia>i>!@ @@@5@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274775Q^A Ȅ=A xAzA yAy AQ IY Ii O} >]%,xLA>=>~>>9Hٱ>F=>H ?|Կ@iÿ+l?[0?ſ?]? 0?i>=I>eb\;>CYJWByJIbDVVDV8y^ >%^Z=ٔ^ Q-b>9`Y`=bEybDDf9Ef>hQ 5j4j\?Q 9n4jN)jN1BY1y5>Q I5@j"DIjRShhhhggߝC=ߝ4=BDAT read: Rx Time:04:07:47.9267 TRx dataTimestamp_ set to:1764907669.943177checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528151jgrgereZe:e*e`B@XZBɢۙB) z'i)igT==IG>IEY E]E]'EY"EY*E]Z:VE]'4ZEYae@ae@ae@ae@@ @@'5@ԉB>BBFIBXBBm =BB:DBs;B+YEBeَCBeَCBeƔCBej =Bej =CeƎ6Թ^A=u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782974A I) IA OM > {d%,͒LA2=2>2Hٱ2 =2H@b?Կgÿn?/?(ſ4?d?/?i2=I2\;2CY>WBy>IiMb@Mb@Mb@ 91Zd?~jtˡEY">y'zAA A)AY A@AbD!VD˰8y-=%-C=ٔ-뇷Q-5>91Y1=5Ey5LD,9E>ԹQ 54?Q 94M)]1BY>Q E:y >Q I@.DI-;i,;4yɮsA:iFNOT Ignoring new targets: 556.43 m."i8*i8  ProNav: ac range: 556.425293 m, nav range: 551.069092 m, bearing: 16.222086 deg, approach rate: -0.441646 m/s, LOS rate: 0.006880 deg/s, cmd heading: 17.447375 deg, new cmd heading: 17.453181 deg. i tI9HeadingCmd: 0.304615 target range: 556.425293 and range: 557.20 m.h>hhhhggjg!rg!e!re!Ze):e)*e- @]ZBɢ]g4)Y ]$iY)aaaie6P_m|=iIm>Iq :@  @ @ O5@ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034220E EE(E"El;*EM:VEc44ZEBE`F @9 Y A9  DAT read: 04:07:47.9267 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 339,-0.05, 1.418,-0.308, 1.632, 0.968, PHS= 0.552,-1.231, 0.620, RAW= 151.9, 0.7, CAL= 150.5, -0.0, ROT= 359.5, 0.0  Ygot valid direction response: 04:07:47.9267 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 339,-0.05, 1.418,-0.308, 1.632, 0.968, PHS= 0.552,-1.231, 0.620, RAW= 151.9, 0.7, CAL= 150.5, -0.0, ROT= 359.5, 0.0  PDAT read: Bearing 169.2, 10.5 (Local)  ~Local bearing/azimuth received: Bearing 169.2, 10.5 (Local)  DAT read: Range 11 to 50 : 550.0 m (Round-trip 733.4 ms) speed 0.3 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.999962,-0.008726,-0.000000] Fpublishing direction and range infoyY ] AŦ&?߁Y] DY ] Y ]  Y )] LI] O ?i] h] R?] )@] +H<] 0(@ ] )] ^@I] Y Y ] 9yYy=}Ey}VDE>Q 54?Q 94JM)n1BYyQ I@;DI:i:4yɮ)AEiiްLAjM D"jM D:j>"pS0Uv)@+pAŦ&?߁*jD2j*p@!Q#@ܰ4c@ވg,Z@pTcvQr?]ٵ?;@?jC jDi ?igkʄjU Cj93s~?jgkʄjzCrjDzjQ>- addTargetRange:: Added new target pos. range: 550.000000 m, deltaT: 4.534808 s, deltaX: -7.200012 m, approachRate: -1.587721 m/s, rangeRepo size: 4 = Added new target pos. range: 549.203674 m, bearing: 16.565870 deg, lat: 36.779325 deg, lon: -121.859483 deg, deltaT: 4.534808 s, deltaX: -7.221619 m, approachRate: -1.592486 m/s, posRepo size: 4 :i9EFNOT Ignoring new targets: 549.20 m."i*i ProNav: ac range: 549.203674 m, nav range: 543.529297 m, bearing: 16.417072 deg, approach rate: 0.000000 m/s, LOS rate: 0.006880 deg/s, cmd heading: 17.453181 deg, new cmd heading: 17.459615 deg. iHeadingCmd: 0.304728 target range: 549.203674 and range: 550.00 m.hG>hhhhgg!jg)rg)e)re)Ze):e-0@*e5,?aZBɢ#() (i)iU.z=`=IG>I(DAT read: user:97> BDAT read: Tx time:04:07:49.3407 $Ping request sent.B ׎CB IB 2YBB B B B R;B YE checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252932^Az=A>A?I IO-?ht%,~ҥLA6vĤ=6Ę>6Hٱ6=6H? Կjÿs?-?@8ſ?@W?x.?i6vĤ=I6G\;6CYBSXByFIiMMb@Mb@Mb@IIII I9MS?+{GzYM>yMM#II MlA)MAIYMfAbDe!VDe˰8yu =%u=ٔubQ-u>9yYy=}Ey}aDJ:E>Q 54?Q 94L)1BY.>Q E:y>Q I@IDI:i:C4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 549.20 m."i9*i9 ProNav: ac range: 549.203674 m, nav range: 543.302185 m, bearing: 16.420861 deg, approach rate: -0.434918 m/s, LOS rate: 0.007258 deg/s, cmd heading: 17.459615 deg, new cmd heading: 17.467195 deg. iT9HeadingCmd: 0.304860 target range: 549.203674 and range: 550.00 m.h>hhhhggjgrgereZe:e*e?-ZBɢ5()1 5%i1)119i=7KEs=EG=IE>II]2;@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502851E EE(E"E ;*Ev:VEc44ZEBEXQy dz%,%쥖LA8Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755661^K=^f>^QIٱ^=^H`?tԿ|ÿh?/?-ſ?@?<.?i^K=I^j\;^CYrXByr'IbDVDư8y>%R=ٔ%8cQ-%>9)Y)=-Ey-iD51E5>9Q 5E4=>?Q 9E4=K)=1BYAyM>Q IM@=TDI=C:i=P:=4yQɮUEAQ:iy}FNOT Ignoring new targets: 549.20 m."i9*i9 ProNav: ac range: 549.203674 m, nav range: 543.134521 m, bearing: 16.423673 deg, approach rate: -0.429652 m/s, LOS rate: 0.007208 deg/s, cmd heading: 17.467195 deg, new cmd heading: 17.472820 deg. iS9HeadingCmd: 0.304958 target range: 549.203674 and range: 550.00 m.h|#>hhhhggjgrgereZe:e*e?[Bɢ?R9) ]#i)iv{Cm=@=I|#>Iԉr!@! @!@!@)Թ5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006627D=DE EE)E"E;*E҆:VEFA4ZEa@a@a @a @^A I I O >Sn%,zLA24=2z>2aHٱ2=2H k?@_ӿ1xÿ[?B2?2#ſ@?`{?.?i24=I2|z\;2CY>XBy>MIbDFVDFȰ8yN>BV>BTBVIBVYBBTBTBTBV6;BVXE%^S=\ٔb^:Q-b>9dYd=fEyfqDfVEf>hQ 5n4jp?Q 9r4j]K)j1BYpyr#>Q Ir@j_DIj:ij0;j뱻4ytɮvɗAx:iFNOT Ignoring new targets: 549.20 m."iP8*iP8  ProNav: ac range: 549.203674 m, nav range: 542.966797 m, bearing: 16.426503 deg, approach rate: -0.405183 m/s, LOS rate: 0.006839 deg/s, cmd heading: 17.472819 deg, new cmd heading: 17.478481 deg. i @H9HeadingCmd: 0.305057 target range: 549.203674 and range: 550.00 m.hp0>hhh1h1g1g9jg9rg9e9reAZeA:eA*eE?颽A[Bɢ{+) Hi)i :Df==Ip0>I)QQYYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.262935i@q @q@uC5@qA E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510713E  E E E "E ;*E :VE ZE BE L&܇%, LAF=Fٗ>FvGٱF=FH?`ӿ@;ÿZ?2?/ſA?@?`a1?HiF=IF^\;FCYVYByV}IiUMb@Mb@Mb@QQQQ Q9U'1Z?~jt+YU>yUUUAUA UA)UMAQYUAbDmVDmư8y}+>%}5=ٔو;Q->9Y=EyzDpE>Q 54* ?Q 94J)1BY>Q E:y >Q I@lDI:i:4yɮ-AE:iFNOT Ignoring new targets: 549.20 m."i9*i9 ProNav: ac range: 549.203674 m, nav range: 542.768616 m, bearing: 16.429641 deg, approach rate: -0.468428 m/s, LOS rate: 0.007421 deg/s, cmd heading: 17.478481 deg, new cmd heading: 17.484761 deg. iKY9HeadingCmd: 0.305167 target range: 549.203674 and range: 550.00 m.h>>hhhhggjgrgereZe :e9*e= 8>}^=}i:=I}>>I@ @@0@^A{=I!I1O=/>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763215 J%,˽:LA2h=2m>2"Dٱ2=2H ?` ӿ¿ P?5?[ ſ]?`u?@5?i2h=I2\;2CYBAYByBIbDJVDJ8yf=%fW=ٔf;Q-f>9hYh=jEyjDj(En>)Q 554-.?Q 954-J)-1BY9y=[ >Q I=@-wDI-j;i-f;-4yAɮM͖AI:iiuFNOT Ignoring new targets: 549.20 m."iu9}?}=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015116*iu9 ProNav: ac range: 549.203674 m, nav range: 542.595459 m, bearing: 16.432399 deg, approach rate: -0.444657 m/s, LOS rate: 0.007085 deg/s, cmd heading: 17.484760 deg, new cmd heading: 17.490278 deg. ixO9HeadingCmd: 0.305263 target range: 549.203674 and range: 550.00 m.hmK>hhhhggjgrgereZe:e*e!2@[Bɢ*) i)i*3W=i=ImK>IE9 E=E=(E9"E9*E=Z:VE=c44ZE9aE@aE@aE@aE@@ @@0@IB%>B%ՎCB%.IB%0ZBB%n =B!B%8DB%;B%XEq^AM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269580A! IA IQ Oe >ԡ 蔩%,xTLA21=2>2mAٱ2(=2H ?ӿ ¿@H?`7?@Ŀ[?`0? 4:?i21=I2q\;2CYR~YByRIiMMb@Mb@Mb@IIII I9MCl?p= ףV-YM;>yMMMnAI MA)IIYM̘AbDe VDe8yuQ >%u@=yٔ};Q->9Y=EyDĺE>Q 54>?Q 94DI)1BY/>Q E:y>Q I@DI&;in;ǻ4yɮTAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 549.20 m."i8*i8 ProNav: ac range: 549.203674 m, nav range: 542.414001 m, bearing: 16.434936 deg, approach rate: -0.435213 m/s, LOS rate: 0.006085 deg/s, cmd heading: 17.490279 deg, new cmd heading: 17.495353 deg. i.29HeadingCmd: 0.305352 target range: 549.203674 and range: 550.00 m.h W>hhhhggjgrgereZe :e *e @u[Bɢun)q uiq)yyyi}X"lM=\=I W>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519805ԩEM EMEM&EI"EM%;*EM:VEM4ZEIBEMKE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771385%,ynLA2h/=2>2=ٱ2=2H?Oӿ6¿@;=?;?Ŀ ?`???i2h/=I2/e\;2CYBYByBIbDJ VDJ8yR~.>%RX=ٔVk9TYT=VEyVDZ"EZ>\Q 5b4^K?Q 9b4^H)^1BY`yf>Q If@^DI^:i^:^cλ4yhɮjѕAh:i|~FNOT Ignoring new targets: 549.20 m."i8*i8 ProNav: ac range: 549.203674 m, nav range: 542.249695 m, bearing: 16.437250 deg, approach rate: -0.436230 m/s, LOS rate: 0.006147 deg/s, cmd heading: 17.495354 deg, new cmd heading: 17.499984 deg. i49HeadingCmd: 0.305432 target range: 549.203674 and range: 550.00 m.ha>hhhhggjgrgereZe:e*e@3@[Bɢ##) ! i)i I E=5/"=I5a>I1@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022864^A1E EE(E"E;*E:VEc44ZEa@a@a@a@I I O- >Y B- >B- ӎCB- IB- ZBB- s =B) B- 7DB- ;B- XE%,.WLAR>=R]c>R`O:ٱR=RH? Pӿ 99?;?]Ŀ@)?@? ZC?iR>=IR\;RCYYByIbDVD8y%=%%B=ٔ- 9)Y)=5Ey5D5E5>9Q 5E4=:[?Q 9E4=G)=1BYIyM>Q IM@=DI=:i=:=ջ4yQɮUvA]E:iyFNOT Ignoring new targets: 549.20 m."it8*it8 ProNav: ac range: 549.203674 m, nav range: 542.066345 m, bearing: 16.439841 deg, approach rate: -0.435766 m/s, LOS rate: 0.006160 deg/s, cmd heading: 17.499985 deg, new cmd heading: 17.505168 deg. i]49HeadingCmd: 0.305523 target range: 549.203674 and range: 550.00 m.h}m>hhhhggjgrgereZe:e*e @\Bɢ9)  i)i;=}=I}m>I9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277634@ @@@a^A|=AyAzAzAԉI I O > BDAT read: Rx Time:04:07:52.4830  TRx dataTimestamp_ set to:1764907674.478782 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527783bEc44jEBs6ٱBS=BH%?@Bӿ@J7?yE`eAEAEԠA ESA)AAYEAbD]?VD]8ym>%mF=ٔm9qYq=uEyuD}uEE}>Q 54~j?Q 94G) 2BY>Q E:y?4>Q I@DI:i$:ܻ4yɮA:iFNOT Ignoring new targets: 549.20 m."i8*i8 ProNav: ac range: 549.203674 m, nav range: 541.883484 m, bearing: 16.441994 deg, approach rate: -0.443254 m/s, LOS rate: 0.005222 deg/s, cmd heading: 17.505169 deg, new cmd heading: 17.509477 deg. i9HeadingCmd: 0.305598 target range: 549.203674 and range: 550.00 m.hXw>hhhhggjgrgereZe:e*e2@]D\Bɢ])Y eia)aaaie me0=mD|=ImXw>Iqyԙ @  @ @ 4@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778944^A5Y=IIO> 3O%,LA2 =2>2D2ٱ2C=2H+?Cӿ!`6?i??@MsĿ`+??`N?i2 =I2Ս\;2CY>\ZBy>IIbDJdVDJ 8yj>%jU=ٔj-.9lYl=nEynDr!;Er>tQ 5z4vx?Q 9z4v7F)v2BYxyz3>Q Iz@vDIvG:iv:v4yɮA:i)-FNOT Ignoring new targets: 549.20 m."i5 8*i5 8E ProNav: ac range: 549.203674 m, nav range: 541.712952 m, bearing: 16.444009 deg, approach rate: -0.443934 m/s, LOS rate: 0.005247 deg/s, cmd heading: 17.509477 deg, new cmd heading: 17.513508 deg. iE9MHeadingCmd: 0.305668 target range: 549.203674 and range: 550.00 m.hM>hIhIhIhIgIgQjgQrgQeQechecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030815reQZea:ei*em $@颕m\BɢY:) Fi)顡inp&={=I>IE EEE"E ;*E:VEZEa@a@a@a@u:@q @y@}O4@B>BҎCBIB.[BBt =BB6DBߝ;BkXEBՎCBՎCBŕCBn =Bp =CWP6!^Au|=IIO>I  DAT read: 04:07:52.4830 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 483,-0.06, 0.166,-1.352, 0.433,-0.241, PHS= 0.509,-1.066, 0.630, RAW= 153.7, -0.9, CAL= 152.7, -1.9, ROT= 357.3, 1.9  Ygot valid direction response: 04:07:52.4830 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 483,-0.06, 0.166,-1.352, 0.433,-0.241, PHS= 0.509,-1.066, 0.630, RAW= 153.7, -0.9, CAL= 152.7, -1.9, ROT= 357.3, 1.9  8DAT read: $Error in header  *Received a bad headerm X#Rx 1: Read direction message, but no range. `direction in FSK: [0.998341,-0.047081,-0.033155]y  *h?E@xB3     ) EI M?i r G!? >+@  J*@  ) Ѝ@I =  =x7??P  k?) (2.ٱ2K=2H2?ӿ@d5?B?3-Ŀ(?Կ?DU?i2w=I2Iw\;2CYRZByRdIiuMb@Mb@Mb@qqqq q9ux&1?&1~jtYuA>yuPuļuAu&A uIA)uAqYuzAbDNVD8y=%>=ٔ9Y=EyD,E>Q 54c?Q 94NE)-2BY>Q E:y;>Q I@DIA:it:,4yɮ>AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 549.20 m."i8*i8  ProNav: ac range: 549.203674 m, nav range: 541.525024 m, bearing: 16.446074 deg, approach rate: -0.436245 m/s, LOS rate: 0.004795 deg/s, cmd heading: 17.513508 deg, new cmd heading: 17.517640 deg. ii 9%HeadingCmd: 0.305741 target range: 549.203674 and range: 550.00 m.h%>h)h)h)h)g)g)jg1rg1e1re9Ze9:e9*e=@m\BɢmF)i mii)iqqiuf;i}>}=}y=I}>II-9@) @)@-95@)mT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapseE EE*E"E7;*Eh:VE(N4ZEBEZAU>pG5 c91 Y5 AIA IY Ou >ԡ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse6a%,練LA2=2 >2T)ٱ2=2H7?@ӿ ZBy>I@bDJ^VDJ8y>%U=ٔ29 Y = Ey D :E>Q 5E4]?Q 9E4D)>2BYAyEE<>Q IE@DI?;i:4yIɮUܓAUE:iFNOT Ignoring new targets: 549.20 m."i#8*i#8 ProNav: ac range: 549.203674 m, nav range: 541.357239 m, bearing: 16.447914 deg, approach rate: -0.428899 m/s, LOS rate: 0.004703 deg/s, cmd heading: 17.517641 deg, new cmd heading: 17.521320 deg. i 9HeadingCmd: 0.305805 target range: 549.203674 and range: 550.00 m.hp>hhhhggjgrgereZe:e*e ^t@U\BɢUֶ)Q ]iY)YYYi]Y;iep>e3=eoz=Iep>IiIyA)Ա!@! @!@%M5@!@-=@-=}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseE EE&E"E ;*E҆:VE4ZEa@a@a@a@^Am w= A I B >B юCB IB [BB u =B 4DB 5DB ;B 4XEI O >pJ©%, LA:kΙ=:M>:H%ٱ:=:H@<?@?C?Jÿ`b?J?u_?i:kΙ=I:4\;:CYFZByFIbDNVDN%8yV=%VP=ٔZ$9XYX=^Ey^D^=¸E^>`Q 5f4b?Q 9f4bC)bN2BYhyjA<>Q Ij@bDIb":ibq:b4lypɮrAp:i  FNOT Ignoring new targets: 549.20 m."i8*i8% ProNav: ac range: 549.203674 m, nav range: 541.184998 m, bearing: 16.449803 deg, approach rate: -0.445374 m/s, LOS rate: 0.004887 deg/s, cmd heading: 17.521320 deg, new cmd heading: 17.525100 deg. i%9-HeadingCmd: 0.305871 target range: 549.203674 and range: 550.00 m.h->h)h)h)h)g1g1jg9rg9e9re9Ze9:eA*eE@M@\Bɢ,) Wi)aaaie;im>*=y=I>IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse!@) @)@-P5@11^Am(z=a  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA I I O >E  E E *E "E =;*E :VE (N4ZE BE I2!ٱ2I=2H@??ӿ9ҽK?|C?ÿ@ ?ۼ?4e?i2=I2w\;0Y^%[By^I9ieMb@Mb@Mb@aaaa a9e+?/$y&1Ye>ye,e`eAexA e=A)eAaYepAbD}VD};8y>%==ٔ9Y=EyDo:E>Q 54Y?Q 94B)_2BY;>Q E:yR>Q I@DI;i;R4yɮA:iFNOT Ignoring new targets: 549.20 m."i8*i8 ProNav: ac range: 549.203674 m, nav range: 540.996033 m, bearing: 16.451437 deg, approach rate: -0.437827 m/s, LOS rate: 0.003786 deg/s, cmd heading: 17.525101 deg, new cmd heading: 17.528369 deg. i8HeadingCmd: 0.305928 target range: 549.203674 and range: 550.00 m.h>hh!h!h!g!g!jg)rg)e)reiZei:eq*eu@&]Bɢ) ai)iإ;i>= |=I>Iia@i @i@m0@iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԑ^A A zA xA A I I O% >-Ω%,K=LA:==:>:uٱ:M=:HB? ӿҼ Z? C? =ÿ?q˼?j?i:==I::\;8YFC[ByJIbDRVDRC8yZw=%ZY=ٔZ49\Y\=^Ey^Db{;Eb>dQ 5j4f?Q 9j4fA)fl2BYhyjdS>Q Ij@fDIf:if:f4ypɮr˒Ap:i  FNOT Ignoring new targets: 549.20 m."i .8*i.8% ProNav: ac range: 549.203674 m, nav range: 540.831787 m, bearing: 16.452844 deg, approach rate: -0.437353 m/s, LOS rate: 0.003748 deg/s, cmd heading: 17.528369 deg, new cmd heading: 17.531184 deg. i%}8-HeadingCmd: 0.305977 target range: 549.203674 and range: 550.00 m.h->h)h)h)h1g1g1jg1rg9ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseeAreIZeI:eI*eM4@}J]Bɢ}#!)y }i)顁i;i>=s~=I>Iԙ0>iE EEE"E7;*E:VEZEa@a@a@a@@ @@O5@@!@%zABu>BuЎCBuSIBu\BBqBqBqBu;BuXE^AQ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseIa I O >! թ%,&WLA2 =2>2~kٱ2"K=2H F?\ӿݻd?`C?`Epÿ?@ż?o?i2 =I2!\;2CYN{[ByRIi%Mb@Mb@Mb@!!!! !9%+?Q롿S㥛Y!y%\%/ݼ%XA%A %A)!!Y%AbDVDt8y>%<=ٔ9Y=EyD:E>Q 54?Q 94@){2BY>Q E:yc>Q I@DI:i:|4yɮ]AB*** querying acoustic contact ***ii:i FNOT Ignoring new targets: 549.20 m."i -[8*i -[8 ProNav: ac range: 549.203674 m, nav range: 540.641724 m, bearing: 16.454149 deg, approach rate: -0.435646 m/s, LOS rate: 0.002994 deg/s, cmd heading: 17.531185 deg, new cmd heading: 17.533797 deg. iW8%HeadingCmd: 0.306022 target range: 549.203674 and range: 550.00 m.h%>h!h!h)h)g)g)jg1rg1e1re1Ze9:e9*e=@{]Bɢ) (i)i9;iu>u=u =Iu>IyUT****** received valid address query ******UR****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse!)@) @)@-0@)E EE)E"Ef;*EM:VEFA4ZEBEWy  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse۩%,qLAfp=fo>f_ٱf*D=fH@ I?pӿ غt?rA?\ÿ??t?ifp=If\;fCYv[ByvIbD~VD~d8y =% T=ٔG(9Y=EyDX;E>!Q 5-4%p?Q 9-4%?)%2BY1y5d>Q I5@%DI%:i%b:%54y=EBɮ=ƑA9:iamFNOT Ignoring new targets: 549.20 m."imfY8*imfY8} ProNav: ac range: 549.203674 m, nav range: 540.473572 m, bearing: 16.455289 deg, approach rate: -0.438216 m/s, LOS rate: 0.002970 deg/s, cmd heading: 17.533797 deg, new cmd heading: 17.536077 deg. i}8HeadingCmd: 0.306062 target range: 549.203674 and range: 550.00 m.h2>hhhhggjgrgereZe:e*e@{@]Bɢ͵) pi)i ;i2>,ߑ=;=I2>Iq@q @q@uR2@q]T****** received valid address query ******]R****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse^AX=A>A?I1IIOU>E EE'E"E;*E:VE'4ZEa@a@a@a@I Ae AAAe @ABu >Bq Bu IBu i\BBu v =Bq Bu 4DBu ;Bu WE%,@݊LA Y [By +IbDVDr8y-=%-H=ٔ-Q-5>91Y1=5Ey5D=E=>AQ 5M4E?Q 9M4E>)E2BYIyQQ IU@E DIE:iEG:EV4yYɮ]}AY:iFNOT Ignoring new targets: 549.20 m."i.Y8*i.Y8 ProNav: ac range: 549.203674 m, nav range: 540.295227 m, bearing: 16.456498 deg, approach rate: -0.437422 m/s, LOS rate: 0.002967 deg/s, cmd heading: 17.536077 deg, new cmd heading: 17.538496 deg. i8HeadingCmd: 0.306105 target range: 549.203674 and range: 550.00 m.h>hhhhggjgrgereZe:e*e`@qJTimed out from 2025-12-05T03:57:57.9Z8qfCompleted lineCaptureHoming:MicromodemComms:CheckIn8 qAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInpVCompleted lineCaptureHoming:MicromodemComms]Bɢd) qi)i;i>P֑==I>I T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseq9@ @@1@@=@ԙ^AS=I9IIOQ 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 (E "E ;*E B:VE c44ZE BE zT2 ٱ2f=2HK?`ӿ`帿?ÿ`?3? {?i2=I2/\;2CLYR[ByR=IiMb@Mb@Mb@ 9jt?/$~jtY>y,A^A tA)AYA <<bDVDw8y.=%?=ٔs9Y=EyDǪ;E>Q 54?Q 94=)2BY>Q E:yZ>Q I@DI;iu;7$4yɮBAE:iFNOT Ignoring new targets: 549.20 m."i {8*i {8= ProNav: ac range: 549.203674 m, nav range: 540.096375 m, bearing: 16.458057 deg, approach rate: -0.438617 m/s, LOS rate: 0.003440 deg/s, cmd heading: 17.538497 deg, new cmd heading: 17.541616 deg. i=w8EHeadingCmd: 0.306159 target range: 549.203674 and range: 550.00 m.hE>hAhAhAhAgIgIjgirgqeqreqZeq:eq*e} @q8pnAggregate::initialize lineCaptureHoming:MicromodemComms8 q~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn8%^BɢMAB )Q UiQ)QYYi];ie>mΑ=m=Im>IqT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@0@) ^A Pڀ=A zA IA IQ Q u T****** received valid address query ******u R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapseE EE'E"E;*E5:VE'4ZEa@a@a@a@ԁBe>BaBeIBe\BBaBaBaBeB;BeWEO}?%,~˧LAY \By[IbD%VD%r8)y==%= =ٔ=Q-=>9AYA=EEyEDMEM>Q 54>?Q 94<)2BYyQ I@(DI:i:%.4yɮߐA:iFNOT Ignoring new targets: 549.20 m."i~8*i~8 ProNav: ac range: 549.203674 m, nav range: 539.845703 m, bearing: 16.460023 deg, approach rate: -0.443041 m/s, LOS rate: 0.003477 deg/s, cmd heading: 17.541616 deg, new cmd heading: 17.545551 deg. i8HeadingCmd: 0.306228 target range: 549.203674 and range: 550.00 m.hɜ>hhhhggjgrgereZe:e*e!@-E^Bɢ5bf)1 5 i1)119i=;i=ɜ>Eđ=EM=IEɜ>IAIQ)QT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse:@ @ @ 0@aԉ^Ae{=] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapseIa Iy O >Ա bEjEA84rE5/E  E E (E "E I;*E :VE c44ZE BE kjyP 0IAA hA)=AYAbD VD 8y]=%e:=ٔaQ-e>9aYi=mEym DiEm>qQ 5}4u"?Q 9}4u+;)u2BY>Q E:y_E>Q I@u4DIu:iu:u54yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 549.20 m."im8*im8 ProNav: ac range: 549.203674 m, nav range: 539.658630 m, bearing: 16.461907 deg, approach rate: -0.432432 m/s, LOS rate: 0.004356 deg/s, cmd heading: 17.545550 deg, new cmd heading: 17.549319 deg. i8HeadingCmd: 0.306293 target range: 549.203674 and range: 550.00 m.h}Ҝ>hhhhggjgrgereZe:e*e`1!@v^Bɢ)  i!)!!!i%&*v;i-}Ҝ>-[=-*=I-}Ҝ>I19@ @@4@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A) I I ! O- >} %,LA:=:ڙ>: ٱ:P=:H5Q?nӿ9?9?@9¿L?,?~?i:=I:˵\;:CYF^\ByFIbDR-VDR8yZ=%Zj=ٔZ+dQ 5j4fV/?Q 9j4fe:)f2BYhyjG>Q Ij@f>DIf:if:f;4ypɮrWAp:i  FNOT Ignoring new targets: 549.20 m."iʛ8*iʛ8%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse- ProNav: ac range: 549.203674 m, nav range: 539.507446 m, bearing: 16.463390 deg, approach rate: -0.433790 m/s, LOS rate: 0.004256 deg/s, cmd heading: 17.549319 deg, new cmd heading: 17.552286 deg. i-D85HeadingCmd: 0.306345 target range: 549.203674 and range: 550.00 m.h5Fٜ>h1h1h1h9g9g9jgArgAeAreAZeA:eI*eM"@u^Bɢ} ,)y }iy)y顁i&pf;iFٜ>=ڈ=IFٜ>IEa EeEe#Ea"Ea*Ee :VEe3ZEaau@au@au@au@:@ @@0@BA<B>BώCBIB ]BBx =BB3DB ;ByWEBЎCBЎCBĔCBv =Bv =CS5!^AA>A>I9IQO]v>aT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԁ %,LA2=2>2Eٱ2~=2H S?Qӿ^u?7?¿@ӿ??@\?i2=I2 \;0YB\ByBIi5Mb@Mb@Mb@1111 1957A`?X9v~jtY5>y5}5D5A5VA 5bA)5AA1Y5AbDMVDM8yU=%]@=ٔ]d;Q-]>9aYa=eEyeDe:Em>iQ 5u4mf>?Q 9}4m9)m2BY}@>Q E}:y}H->Q I@mIDIm;im;m:C4yDBɮ AE:iFNOT Ignoring new targets: 549.20 m."iU8*iU8 ProNav: ac range: 549.203674 m, nav range: 539.327393 m, bearing: 16.465660 deg, approach rate: -0.423103 m/s, LOS rate: 0.005337 deg/s, cmd heading: 17.552285 deg, new cmd heading: 17.556827 deg. iD9HeadingCmd: 0.306424 target range: 549.203674 and range: 550.00 m.h>hhhhggjgrgereZe:e*eँ#@^Bɢ) i)i6dS;i%>%8=!I%>I)5>i1Y9@ @@3@@@=-%=-4=5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseEm EmEm'Ei"Em%.;*Em:VEm'4ZEiBEm;-WC^Aff=BGe9YaAI9IIOU>ԩ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse  %,2LAZN=ZY>Z-ٱZ)=ZH@T?@ռӿM?`6?¿O?Ƨ??iZN=IZ \;XYz\ByzIbD4VDȱ8y>%O=ٔ9!Y!=%Ey%"D%:E%>)Q 554-gL?Q 954-8)-2BY9y=->Q I=@-TDI-;i-;-#J4yAɮEAI:iiuFNOT Ignoring new targets: 549.20 m."iu8*iu8 ProNav: ac range: 549.203674 m, nav range: 539.159973 m, bearing: 16.467763 deg, approach rate: -0.423316 m/s, LOS rate: 0.005318 deg/s, cmd heading: 17.556827 deg, new cmd heading: 17.561033 deg. i9HeadingCmd: 0.306498 target range: 549.203674 and range: 550.00 m.hI>hhhhggjgrgereZe:e*eL$@^Bɢ#) @i)1YYi]{B;i]I>e௑=e=IeI>IaԹ @  @ @ 4@ U B >B ΎCB IB S]BB { =B B B ̜;B 1WE9 %,~LLA2'=2>2ٱ2=2H |V? ӿ@³@?5?¿KA?BϽ?v?i2'=I2/\;2CYR\ByRIbDZ`VDZ8yz5=%zM=ٔz;Q-z>9|Y|=~Ey~*D:E> Q 54 Z?Q 94 8) 2BYyq.>Q I@ _DI :i q: Q4y!ɮ%A!:iIMFNOT Ignoring new targets: 549.20 m."iU8*iU8e ProNav: ac range: 549.203674 m, nav range: 538.990845 m, bearing: 16.469877 deg, approach rate: -0.423405 m/s, LOS rate: 0.005294 deg/s, cmd heading: 17.561033 deg, new cmd heading: 17.565262 deg. ie9mHeadingCmd: 0.306572 target range: 549.203674 and range: 550.00 m.hm>hihihihigqgqjgqrgyeyreyZey:e*e%@颭)_Bɢ*) ,i)顱i9b2;i>0=D=I>IiߙIߙDAT read: 2Acoustic response timeoutu:@y @y@4@9^Ai=II)O5>i M 2Acoustic response timeoutE  E E E "E x;*E :VE ZE BE HgyAAA VA)AYAbD[VD8y&=%;=ٔQ->9Y=Ey3DE>Q 5 48j?Q 9 4l7)2BY >Q E :y  >Q I @kDI:it:X4yɮBA=B*** querying acoustic contact ***i9i9:iAMFNOT Ignoring new targets: 549.20 m."iM8*iM8] ProNav: ac range: 549.203674 m, nav range: 538.805359 m, bearing: 16.472919 deg, approach rate: -0.425436 m/s, LOS rate: 0.006981 deg/s, cmd heading: 17.565262 deg, new cmd heading: 17.571349 deg. i]hL9eHeadingCmd: 0.306678 target range: 549.203674 and range: 550.00 m.he>hahahihigigijgirgqeqreqZeq:ey*e}%@颥[_Bɢ"K() -i1)111i5 ;i=>E=E=IE>qIq%9@! @!@%P5@)@1@12Acoustic response timeoutԙ^Am m= A I I O > %,k}LA2x=2>2ٱ2R=2H@a[?ٸӿE?@5?¿@?S?;?i2x=I2V\;0Y>]By>IHbDFZVDF8yR=%Ra=ٔR9TYT=VEyV:DZ\9EZ>\Q 5b4^Ow?Q 9b4^6)^2BY`yb >Q Ib@^uDI^:i^:^_4yhɮjAjEz2Acoustic response timeout:iFNOT Ignoring new targets: 549.20 m."i 8*i 8 ProNav: ac range: 549.203674 m, nav range: 538.650391 m, bearing: 16.475458 deg, approach rate: -0.424897 m/s, LOS rate: 0.006962 deg/s, cmd heading: 17.571350 deg, new cmd heading: 17.576428 deg. iK9%HeadingCmd: 0.306767 target range: 549.203674 and range: 550.00 m.h%>h!h!h!h)g)g)jg1rg1e1re1Ze1:e9*e=&@e_Bɢe<)i m!ii)iqqiu;iu>}]=}=I}>IyE5 E5E1E1"E5;*E5Ǚ:VE1ZE1a=@a=@aE@aE@:@ @@05@A}@AA}AAB>B͎CBAIB]BB| =BB2DB;BVE^Ai=2Acoustic response timeout A9 IY I O >@&%,9LA2=2К>2%ٱ2%=2H )]?ӿi}? 5?`˞¿ ?1!?I?i2=I2+\;2CY>"]By>I|i Mb@Mb@Mb@     9 n?RQ ףp= Y >y ½ Q8 A A KA) AA Y AbD%VD%8y- =%5B=ٔ5l;Q-5>91Y9==Ey=CDE:EE>AQ 5M4E?Q 9U4Ek6)E2BYU>Q EU:yU-=Q IU@EDIE:iE:Eof4yaɮeˎAa:i!%FNOT Ignoring new targets: 549.20 m."i-;9*i-;9} ProNav: ac range: 549.203674 m, nav range: 538.472717 m, bearing: 16.479157 deg, approach rate: -0.404608 m/s, LOS rate: 0.008427 deg/s, cmd heading: 17.576428 deg, new cmd heading: 17.583829 deg. iv9HeadingCmd: 0.306896 target range: 549.203674 and range: 550.00 m.hp!>hhhhggjgrgereZe:e*e'@_Bɢ.) %i)i;ip!>=/==Ip!>I2Acoustic response timeout)9@ @@P5@EM EMEM(EI"EM;*EMk:VEMc44ZEIBEMr_ 2Acoustic response timeoutj,%,LA:א=:w>:ܽٱ:3U=:H`?Qӿ` G?`~8?Bz¿ r?@ ?`җ?i:א=I:\;:CYJF]ByJIbDRVDR8yZ=%ZS=ٔZ;Q-^>9\Y\=bEybKDbEb>dQ 5j4f?Q 9j4f6)f2BYhyj=Q In@fDIfz:if:f7m4yrCBɮrAp:i  FNOT Ignoring new targets: 549.20 m."i*9*i*9% ProNav: ac range: 549.203674 m, nav range: 538.308594 m, bearing: 16.482589 deg, approach rate: -0.445844 m/s, LOS rate: 0.009326 deg/s, cmd heading: 17.583830 deg, new cmd heading: 17.590696 deg. i%9-HeadingCmd: 0.307016 target range: 549.203674 and range: 550.00 m.h-%1>h)h)h)h)g1g1jg1rg1e9reAZeA:eA*eE)P(@Yu_Bɢu+F)}\N }0'iy)yyi:i%1>=m=I%1>I:@ @@@5@@=@=ԉ^A=%2Acoustic response timeoutԱE} E}E})Ey"E};*E}':VE}FA4ZEya@a@a@a@I) IA Oe >B >B B mIB ]BB } =B B B h;B VE S3%,oͨLA2=2>2ֽٱ2=2Hb?ӿL`)?6?@l¿κ?`|?`U?i2=I2t\;2CYnj]Byr*IbDz>VDzѱ8y*=%E=ٔQ;Q- >9 Y = Ey SDe9E>Q 5%4~?Q 9%45)2BY!y%q=Q I%@DI:iS:st4y1ɮ59A1:iQ]FNOT Ignoring new targets: 549.20 m."ie!9*ie!9m ProNav: ac range: 549.203674 m, nav range: 538.133606 m, bearing: 16.486244 deg, approach rate: -0.422933 m/s, LOS rate: 0.008838 deg/s, cmd heading: 17.590696 deg, new cmd heading: 17.598009 deg. iuc9uHeadingCmd: 0.307143 target range: 549.203674 and range: 550.00 m.h}A>hyhyhyhygygjgrgereZe:e*e#)@Թ颽`BɢT;) )*i)iف:iA>==IA>IBDAT read: Response Not Received *response not receivedRDAT read: user:99>Tx time:04:08:01.7891 - DAT read: - 2Acoustic response timeout9 Ee  Ee Ee 'Ea "Ee 7;*Ee :VEe '4ZEa BEe ZJn&ѽٱJ=JH /e?@ӿ @2_?r7?¿ -? y?G?iJ=IJ%\;JCYV]ByV=Ii]Mb@Mb@Mb@YYYY Y9](\?J + rhY]z>y]Ƚ]C ]A]KA ]A)]AYY]A qu<bD}"VD}8y=%B=ٔz;Q->9Y=Ey\DE>Q 54?Q 94.5)2BY>Q E:y=Q I@DIt:i9:{4yɮAEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 549.20 m."i *9*i *9 ProNav: ac range: 549.203674 m, nav range: 537.956909 m, bearing: 16.490170 deg, approach rate: -0.418290 m/s, LOS rate: 0.009296 deg/s, cmd heading: 17.598010 deg, new cmd heading: 17.605864 deg. i9HeadingCmd: 0.307280 target range: 549.203674 and range: 550.00 m.hS>hhhhg g jgrgere!Ze1:e9*eE@)@颍E`Bɢ<) .i)顙i$.:iS>~=e=IS>Ie9@a @a@m42@iA2Acoustic response timeout^A-i=A1zA5zAqIIO>ԙ d@%,ߥLA2#2=2=`>2J˽ٱ2*=2Hg? kӿ ⭿r?`;8?P|¿`n?ਸ਼??i2#2=I2\;0Y>]By>@IbDFOVDF8yNzP<%R[=ٔRb;Q-R>9TYT=VEyVcDVEV>XQ 5^4Z?Q 9b4Z4)Z2BY`yb=Q Ib@ZDIZ\:iZ:ZX4ydɮfAhr2Acoustic response timeout:iquFNOT Ignoring new targets: 549.20 m."i}#9*i}#9 ProNav: ac range: 549.203674 m, nav range: 537.800598 m, bearing: 16.493648 deg, approach rate: -0.402043 m/s, LOS rate: 0.008949 deg/s, cmd heading: 17.605863 deg, new cmd heading: 17.612821 deg. i9HeadingCmd: 0.307402 target range: 549.203674 and range: 550.00 m.hc>hhhhggjgrgereZe:e*e >*@E= E=E=-E9"E=;*E=:VE=t4ZE9aE@aE@aE@aE@y5v`Bɢ5BL)9 =9iA)AAAiE:imc>u?=uo҇=Iuc>IqB5<A1B=>B=̎CB=IB=^BB=| =B9B9B=E;B=VEԡq歼2Acoustic response timeout) @)  @) @- 0@) @1 @5 yA ^AU =I I O >_NG%,LA2=2X>2r9ǽٱ25=2Hh?ӿ@?7?`l¿!ݸ?`cþ?`?i2=I2\;2CYR]ByRkIi-Mb@Mb@Mb@)))) )Q9-V-?Zd;O/$Y-h>y-j--A-A -A)-=A)Y-=AbDJVDܱ8y5>%(=ٔ;Q->9Y=EymD?B:E>Q 54'?Q 94\4)2BY>Q E:y=Q I@DI:i:Ҋ4yɮbA:iFNOT Ignoring new targets: 549.20 m."iy'9*iy'9  ProNav: ac range: 549.203674 m, nav range: 537.601013 m, bearing: 16.497943 deg, approach rate: -0.425136 m/s, LOS rate: 0.009151 deg/s, cmd heading: 17.612821 deg, new cmd heading: 17.621413 deg. i 9HeadingCmd: 0.307552 target range: 549.203674 and range: 550.00 m.hjw>hhhhggjgrgere!Ze!:e!*e%``+@U`BɢUB)Q UE5iY)YYYi]:iejw>e6=eRE=Iejw>u2Acoustic response timeoutIqMjZXbE5:4jE534rE5÷0E EE%E"E7;*E:VE 4ZEBEa2EaJEtM%,eo8LAJr=JΚ>J`bٱJ=JHj?ӿ`wC ?6?Y¿੣??}?iJr=IJa\;JCYV]ByVI\\bDbRVDb8yf=%fY=ٔjP9hYl=nEynuD%V:E%>)Q 554-?Q 954-3)-2BY9y=ɶ=Q I=@-DI-;i-;-4yAɮE AI:iiuFNOT Ignoring new targets: 549.20 m."iu!9*iu!9 ProNav: ac range: 549.203674 m, nav range: 537.442078 m, bearing: 16.501354 deg, approach rate: -0.411683 m/s, LOS rate: 0.008839 deg/s, cmd heading: 17.621413 deg, new cmd heading: 17.628238 deg. ig9HeadingCmd: 0.307671 target range: 549.203674 and range: 550.00 m.h>hhhhggjgrgereZe:e*e y,@Թ`BɢR) m8i)i4:i>惑==I>I2Acoustic response timeoutDzD@A9@ @@0@E EE&E"E*E:VE4ZEa@a%@a%@a%@)B~>BˎCBIB[^BB} =BB1DB';BvVEBu͎CBu͎CBqBu| =Bu| =CuhV59 ^A ff=A >A >= 2Acoustic response timeoutA I I O >i,U%,ULABiٱB9=BH@l?ӿ`9?8? w-¿@Q? Ӿ? ?iBw=IB_\;BCYR^ByRIbDZqVDZ8ybc<%b3=ٔf;Q-f>9lYl=rEyr~Dz:E~>Q 5-4?Q 9543)2BY9yE=Q IE@DI;i;~4yɮA:i  FNOT Ignoring new targets: 549.20 m."i9*i9% ProNav: ac range: 549.203674 m, nav range: 537.255554 m, bearing: 16.505363 deg, approach rate: -0.365658 m/s, LOS rate: 0.007862 deg/s, cmd heading: 17.628238 deg, new cmd heading: 17.636259 deg. i%6f9MHeadingCmd: 0.307811 target range: 549.203674 and range: 550.00 m.hM`>hIhIhIhIgIgQjgQrgQeQreYZeY:eY*e]F-@ԡaBɢsFA) GDi)i{U:i`>}=_=I`>I!):@ @@@@=@=2Acoustic response timeoutI Ee  Ee Ee 'Ea "Ee ;*Ee k:VEe '4ZEa BEe P\e[%,poLA2>=2D>2ٱ2=2H@m?ӿ`3?7?(¿?? ?i2>=I2\;2CYRL^ByRIXi5Mb@Mb@Mb@1111 195n?sh|?y&1Y5>y55`e5A5GA 5ߓA)11Y53AbDMnVDM8y]'>%]?=ٔ];Q-e>9aYa=eEyeDm:Em>qQ 5}4u?Q 9}4u3)u2BY}O>Q E}:y}=Q I@uDIuw:iu_:uؠ4yBBɮsAEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 549.20 m."i'9*i'9 ProNav: ac range: 549.203674 m, nav range: 537.079102 m, bearing: 16.508708 deg, approach rate: -0.483826 m/s, LOS rate: 0.009175 deg/s, cmd heading: 17.636259 deg, new cmd heading: 17.642951 deg. iV9HeadingCmd: 0.307928 target range: 549.203674 and range: 550.00 m.h>hhhhggjgrgereZe:e*e 9.@52Acoustic response timeout颵BaBɢwZ) =i)项i^::i>y=5 =I>I}9@ @@@ ^A 2Acoustic response timeout9 A I I O- >E  E E )E "E ;*E :VE FA4ZE a @a @a @a @Xb%,؉LA:ؾ=:k>:Plٱ:=A@A@BFy>BDBFIBF^BBF~ =BDBDBF;BF`VE:H`l?ӿ@? P5?` ¿ ?`??i:ؾ=I:\;:CYZc^ByZI `b<bDbbVDb8yjl=%jR=ٔnP;Q-n>9pYp=rEyrDrf);Er>tQ 5z4v ?Q 9z4v2)v2B|Y|y=Q I@vDIv.;ivp/;v4y ɮ EA :i15FNOT Ignoring new targets: 549.20 m."i=9*i=9M ProNav: ac range: 549.203674 m, nav range: 536.915466 m, bearing: 16.511792 deg, approach rate: -0.419980 m/s, LOS rate: 0.007918 deg/s, cmd heading: 17.642951 deg, new cmd heading: 17.649121 deg. iMg9UHeadingCmd: 0.308035 target range: 549.203674 and range: 550.00 m.hUͶ>hQhQhQhQgQgYjgYrgYeareaZea:ea*ee~/@-qaBɢ5h])1 Ci)iC :iͶ>v="=IͶ>I)9@ @@@-2Acoustic response timeoutQ^Ag=A xAzA ԑ A9 IA IY Oe >h%,汣LA: =:3>:ٱ:T=B2Acoustic response timeout:H~j?`ӿ`SJ$?e4?  H?@V?`n?i: =I:\;8YN^ByNIi%Mb@Mb@Mb@!!!! !9%$C?V-QY%>y%h%u%A%A %A)%A!Y%AbD=VD=8aym=%mA=ٔu;Q-}>9Y=EyD,;E>Q 54?Q 941)2BYA>Q E:y>Q I@DIK;i);4yɮA:iFNOT Ignoring new targets: 549.20 m.E EE(E"E;*E:VEc44ZEBE&dhhhhggjgrgereZe:e*e@!/@MaBɢbV) Ii)顑im:iÝ>$s= T=IÝ>IIxA)ԉq@q @q@q@q@}xA@yԱ52Acoustic response timeout^A m= A I I O >¬n%,LA2f=2ל>2L}ٱ2=2Hg?ӿ`;?2?+ y)?g?@ɩ?i2f=I2\;2CYR^ByRIbDZVDZ8y~d=%~R=ٔ~;Q->9Y=EyD z;E >Q 54(?Q 94,1)2BYy%>Q I%@DI;i;ڵ4y)ɮ-ɋA):iQUFNOT Ignoring new targets: 549.20 m."i]*8*i]*8m ProNav: ac range: 549.203674 m, nav range: 536.568054 m, bearing: 16.517108 deg, approach rate: -0.454099 m/s, LOS rate: 0.006917 deg/s, cmd heading: 17.654726 deg, new cmd heading: 17.659757 deg. imJ9uHeadingCmd: 0.308221 target range: 549.203674 and range: 550.00 m.hu"ϝ>hqhqhqhqgqgyjgyrgyereZe:e*eP0@颵aBɢ_s)Թ Li)i?9i"ϝ>q==I"ϝ>I1@9 @9@9@9BDAT read: Rx Time:04:08:04.9327 TRx dataTimestamp_ set to:1764907687.0789912Acoustic response timeoutEe EeEe'Ea"EeI;*EeǙ:VEe'4ZEaam@am@am@am@Bv>BʎCB IB^BBBB0DB;BGVE^A@=AI IQ Ia Ou >E 2Acoustic response timeoutI u%,hשLANR=N>NٱN&=NHe? ӿ@ԤrP?/?Sʴ?@x?@?iNR=IN];LYn^Byn I ppbDzVD8yM=%UE=ٔ]df;Q-e>9iYq=uEy}DG;E>Q 54&8?Q 94w0)2BYys>Q I@DI;i;?49yɮtA:i!MFNOT Ignoring new targets: 549.20 m."iM8*iU8] ProNav: ac range: 549.203674 m, nav range: 536.387024 m, bearing: 16.519841 deg, approach rate: -0.364743 m/s, LOS rate: 0.005508 deg/s, cmd heading: 17.659758 deg, new cmd heading: 17.665225 deg. i]E!9eHeadingCmd: 0.308316 target range: 549.203674 and range: 550.00 m.h۝>hhhhggjgrgereZe:e*eV0@bBɢ 6O)  Qi )   i:9i۝>q=]=I۝>IaDAT read: 04:08:04.9327 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 453, 0.25,-2.105, 2.558,-1.828,-2.583, PHS= 0.580,-1.097, 0.711, RAW= 153.7, -2.3, CAL= 153.0, -3.4, ROT= 357.0, 3.4 Ygot valid direction response: 04:08:04.9327 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 453, 0.25,-2.105, 2.558,-1.828,-2.583, PHS= 0.580,-1.097, 0.711, RAW= 153.7, -2.3, CAL= 153.0, -3.4, ROT= 357.0, 3.4 8DAT read: $Error in header *Received a bad header:@ @@@=X#Rx 1: Read direction message, but no range.M`direction in FSK: [0.996872,-0.052244,-0.059306]y0¢_?7lCg] )LIz?ij6?l$*@ s)b@Is=Y&# ?6x?x l?)T =IQwVis=}2Acoustic response timeoutEq EuEu*Eq"Eq*Euy:VEu(N4ZEqBEukj@|%,dLA2[ٺ=2 J>2iٱ2#=2Hb?Lӿ ࣿ`i?:+?@g?@G?ʪ?i2[ٺ=I2];0Y>^By> I~2Acoustic response timeouti Mb@Mb@Mb@     9 y L 94 قA  A)  Y fAbD!VD!y5*=%5<=ٔ=c;Q-=>99YA=EEyEDEk;EE>ԑIQ 54MF?Q 94M/)M2BY>Q E:yUE>Q I@MDIMhhhhggjgrgereZe:e*e11@5;bBɢ5!y)1 5Wi1)999i=9iE>Eq=Ew=IE>IIԹ9@ @@@ߩ߭%=2Acoustic response timeout^A ~4=E]  E] E] (EY "E] 1;*E] خ:VE] c44ZEY ae @ae @ae @ae @ Bu <Au <B} r>By B} A IB} 1_BBy By By B} ;B} -VEA I I O >#%,k* LAJK=JE>J?ŸٱJK=JH@_? )ӿ D?'????iJK=IJ#/];JCYV^ByZ IbDb]VDb8yj=%jR=ٔj;Q-j>9lYl=nEynDr);Er>tQ 5z4v4T?Q 9z4v.)v2BYxyzF>Q Iz@vDIv:iv\:v˼4yɮ!A:i)-FNOT Ignoring new targets: 549.20 m."i5?8*i5?8E ProNav: ac range: 549.203674 m, nav range: 536.049316 m, bearing: 16.523276 deg, approach rate: -0.442007 m/s, LOS rate: 0.004460 deg/s, cmd heading: 17.668839 deg, new cmd heading: 17.672098 deg. iE9MHeadingCmd: 0.308436 target range: 549.203674 and range: 550.00 m.hM]>hIhIhIhIgIgQjgQrgQeQreYZeY:eY*e]A1@颍fbBɢ킽)2I [i)顑i'^9i]>Rs==I]>I9@ @@@2Acoustic response timeout!^A=`=QA I I O >y  2Acoustic response timeout^P%,'LAEb EbEb)E`"EbI;*Eb5:VEbFA4ZE`BE`af2E`afJEby?A )AY׋A <<bDhVD8y =%8=ٔQ->9 Y = Ey D E>Q 54c?Q 9%4-)2BY%>Q E%:y%h>Q I%@*DI:i:?Ӽ4y1ɮ5A1Q:iY]FNOT Ignoring new targets: 549.20 m."ieK8*ieK8u ProNav: ac range: 549.203674 m, nav range: 535.861267 m, bearing: 16.524507 deg, approach rate: -0.423543 m/s, LOS rate: 0.002774 deg/s, cmd heading: 17.672098 deg, new cmd heading: 17.674562 deg. i}y8HeadingCmd: 0.308479 target range: 549.203674 and range: 550.00 m.h>hhhhggjgrgereZe:e*e`t1@颅bBɢ=n) #fi)顩i$9i>u= $=I>IA@A @A@M4@I@UzA@UzAy2Acoustic response timeoutԱ^A m(=A I I O >5%,@LA2"=2bܠ>28♽ٱ2`=2H Y?.Կ@+u@? ?@p 7?c?̮?i2"=I22];2CY>_By>1 IbDJ{VDJ 8yR'=%Rd=ٔR9TYT=VEyVDV<EZ>XQ 5^4Z*p?Q 9b4Z,)Z2BY`yb,l>Q Ib@Z4DIZ:iZ;Zټ4yfCBɮjAjE:ix~FNOT Ignoring new targets: 549.20 m."i~@8*i~@8  ProNav: ac range: 549.203674 m, nav range: 535.709229 m, bearing: 16.525448 deg, approach rate: -0.425318 m/s, LOS rate: 0.002632 deg/s, cmd heading: 17.674562 deg, new cmd heading: 17.676444 deg. i 8HeadingCmd: 0.308512 target range: 549.203674 and range: 550.00 m.hN>hhhhggjg!rg!e!re!Ze!:e)*e-hZ2@bBɢR/) mi)iL8i N> y= Q=I N>I 2Acoustic response timeoutԱE EE*E"E;*E:VE(N4ZEa@a@a@a@@ @@ 0@BABABEg IBEn_BBE =BABABE;BE'VE^A = - 2Acoustic response timeoutI I O% >9 6`%,ZLAzc=z>z\ٱzr=zHU?CԿ@𚠿G?@? ]Sϲ?`hY??izc=Izm];zCYM _ByU7 IbDOVD8yA<%9=ٔxk;Q->9Y=EyD h;E%>9Q 54=?Q 94=+)=2BYym>Q I@=@DI=PhhhhggjgrgereZe:e*e k2@5cBɢ=?)9 ={xi9)99AiE?K8iE>Mp=M@=IM>II2Acoustic response timeout9bEc44jEƭ54rEƧ/E EE'E"E;*EM:VE'4ZEBEo= 2Acoustic response timeoutIIO>Z֝%, zLAxY~H_By~P IiMb@Mb@Mb@ 9(\?L7A`堿:vYz>y+Լ+AA zA)Y\A@AAAbDGVDٱ8y=%(=ٔQ-=>99Y9==Ey=DEEE>IQ 5U4M?Q 9U4M>*)IY]>Q E]:y]oz>Q I]@MMDIM:iM:M4yaɮe}AaB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 549.20 m."ix8*ix8 ProNav: ac range: 549.203674 m, nav range: 535.311951 m, bearing: 16.527570 deg, approach rate: -0.425519 m/s, LOS rate: 0.002001 deg/s, cmd heading: 17.678763 deg, new cmd heading: 17.680689 deg. iYj8HeadingCmd: 0.308586 target range: 549.203674 and range: 550.00 m.h>hhhhggjgrgereZe:e*eL3@=cBɢ)^) G}i)io6G8i> = K=I >I yb])y@y @y@}s1@y 2Acoustic response timeoutIEY E]E]*EY"EY*E]:VE](N4ZEYae@ae@ae@ae@AA?ABBB IB_BBBBBۛ;BVEBUʎCBUʎCBUȓCBU~ =BU~ =CU*5^A I! I1 OM >y %,ғLA2=2,>2퐽ٱ2V=2H BN? vԿ@Wc ?`?'? ?@w?i2=I2 ];0Y>g_By>b IbDF3VDFDZ8yN=%R^=ٔR;Q-R>9TYT=VEyVDV(<EV>XQ 5^4Z?Q 9b4ZL))XY`yb~>Q Ib@ZWDIZ~:iZT:Z&4ydɮf@Ah:ixzFNOT Ignoring new targets: 549.20 m."i~l8*i~l8  ProNav: ac range: 549.203674 m, nav range: 535.165771 m, bearing: 16.528202 deg, approach rate: -0.418216 m/s, LOS rate: 0.001809 deg/s, cmd heading: 17.680689 deg, new cmd heading: 17.681954 deg. i S8HeadingCmd: 0.308608 target range: 549.203674 and range: 550.00 m.h>hhhhiYIYe2Acoustic response timeoutaggjgrgereZe:e*e>3@-lcBɢ5Z)U UiQ)YYYi]xe\8ie>eO=eC=Ie>IiqqԉԱ@ @@0@ 2Acoustic response timeout RC ݂G- /{AA Em  Em Em &Ei "Em ;*Em k:VEm 4ZEi BEm p䪪%,)LAN'=N>NhuٱN=NHI?ÑԿN/*??@ ˱???iN'=IN*K];NCYZW_ByZY Ii=Mb@Mb@Mb@9999 99=On?Mb rhY=>y==C =&A=A =ȏA)=A9Y= AbDUVDU8ye%e>=ٔeQ8;Q-e>9iYi=mEymDu;Eu>yQ 54}?Q 94}()}2BY>Q E:y>Q I@}cDI}E:i}M:}4yɮ`Aq:iFNOT Ignoring new targets: 549.20 m."iJ7*iJ7  ProNav: ac range: 549.203674 m, nav range: 534.983215 m, bearing: 16.528837 deg, approach rate: -0.388917 m/s, LOS rate: 0.001354 deg/s, cmd heading: 17.681954 deg, new cmd heading: 17.683226 deg. i 85HeadingCmd: 0.308631 target range: 549.203674 and range: 550.00 m.h5>hahahahagigjgrgereZe:e*e@#4@EcBɢEMm2Acoustic response timeout) i)i3[8i>4==I>Iԡ@ @@=0@@@yA^A T=A yAzA yAIA IQ Ou > % 2Acoustic response timeoutѱ%,ǪLA6=6z>6;ٱ6Q=6HE?Կi\G? ?@f `??@?i6=I6&];6CYB{_ByBo IZPExceeded connect timeout, disconnecting.bD~VD~8y7=% O=ٔ 4;Q- >E EE'E"E;*ES:VE'4ZEa%@a%@a%@a%@9!Y)=-Ey-D-V;E5>1Q 5=45U?Q 9=45&)52BYAyE>Q IE@5mDI5:i5G:54yIɮUAUE:iq}FNOT Ignoring new targets: 549.20 m."i}m7*i}m7 ProNav: ac range: 549.203674 m, nav range: 534.814453 m, bearing: 16.529391 deg, approach rate: -0.473139 m/s, LOS rate: 0.001553 deg/s, cmd heading: 17.683227 deg, new cmd heading: 17.684335 deg. i58HeadingCmd: 0.308650 target range: 549.203674 and range: 550.00 m.h[>hhhhggjgrgereZe:e*e{4@cBɢ) i)i8i%[>%榑=Bun>BuɎCBu IBu_BBqBqBqBu;BuUE%=I[>I@ @@~1@m2Acoustic response timeout^Aا=! IA IQ Oe >%,ao᪖LA6o=6/>6^ڊٱ6j6=6HhB?GԿ_]?@0 ?yW???i6o=I60];6CYF_ByFq Ii Mb@Mb@Mb@     9 :v? ףp= lY >y Q8   1A vA) A Y AbD] VD]8ym7<%mE=ٔm:Q-m>9qYq=uEyuD}[;E}>Q 54?Q 94%)2BY>Q E:yi>Q I@xDI:ir;4yɮA:iAMFNOT Ignoring new targets: 549.20 m."iU>8*iU>8u ProNav: ac range: 549.203674 m, nav range: 534.641479 m, bearing: 16.530509 deg, approach rate: -0.403223 m/s, LOS rate: 0.002606 deg/s, cmd heading: 17.684335 deg, new cmd heading: 17.686570 deg. i}8HeadingCmd: 0.308689 target range: 549.203674 and range: 550.00 m.hx >hhhhggjgrgereZe2Acoustic response timeoutI:eI*eM 4@额 dBɢs) Wi)顡iX8ix >$==Ix >IE- E-E)E)"E-;*E-':VE)ZE)BE-a%%,SLA2z=2tr>2ӈٱ2 =2H`A? Կ@^Ne?@ ? ;?bx?#?i2z=I2$];2C8Yj_Byjt IbDr+VDr8yzY<%~R=ٔ~0&;Q-~>9Y=EyDi:E> Q 54 ?Q 94 $) 2BYy j>Q I@ DI ;i ;  4y!ɮ%A):iIUFNOT Ignoring new targets: 549.20 m."iUM8*iUM8e ProNav: ac range: 549.203674 m, nav range: 534.478210 m, bearing: 16.531558 deg, approach rate: -0.437161 m/s, LOS rate: 0.002811 deg/s, cmd heading: 17.686570 deg, new cmd heading: 17.688670 deg. ie8mHeadingCmd: 0.308726 target range: 549.203674 and range: 550.00 m.hmF>hihqhqhqgqgqjgyrgyeyreyZey:e*e G5@4dBɢ䵽)! - i)))))i-(89i5F>5\Ñ=5=I5F>I9ԡ2Acoustic response timeoutnManaging dock network, ignoring radio surface power offE5 E5E1E1"E5;*E5^:VE1ZE1a=@a=@a=@a=@vтBiAm<B}a>B}ȎCB} IB}_BB} =ByB}.DB};B}UE! @!  @! @% 0@! @- =@- = ) ^AE =AM >AM > 2Acoustic response timeoutA}.AIIO? ƪ%,/LA2=2Y>2kٱ2=2H_A?Կ@ Ț@h?C ?n^R?SѼ??i2=I2H];0Y>_By> IbDF'VDF8yV:=%Z"=Xٔ^:Q-^>9^ ?Y^ ?=bEybDb9Eb>dQ 5j4fT?Q 9j4f#)f2BYlynj>Q In@fDIf:if:fg4ypɮr։ApMB*** querying acoustic contact ***iIiI:iFNOT Ignoring new targets: 549.20 m."i/8*i/8 ProNav: ac range: 549.203674 m, nav range: 534.267212 m, bearing: 16.532916 deg, approach rate: -0.373121 m/s, LOS rate: 0.002402 deg/s, cmd heading: 17.688670 deg, new cmd heading: 17.691387 deg. i8HeadingCmd: 0.308773 target range: 549.203674 and range: 550.00 m.h}>hhhhggjgrgereZe:e*e`5@dBɢ `)  gi )  iIN9i}>֑=r=I}>Iߝ=ߝ<2Acoustic response timeoutE EE(E"E;*EǙ:VEc44ZEBEAr=>L>>*Յٱ>1=>HC?Կ@.Κ^a? ?@ ?@G? D?i>=I>W];>CHYN_ByN Ii%Mb@Mb@Mb@!!!! !9%> ףp=?i|?5lY%>y%q!%|A%5A %A)%A!Y%(AbD=:VD=ͱ8yMP=%M=ٔU:Q-U>9U"?Y]"?=]Ey]D]}tE]>aQ 5m4e?Q 9u4e")e2BYu>Q Eu:yuE>Q Iu@eDIe;ie;e4yyɮ}AE:iFNOT Ignoring new targets: 549.20 m."i~8*i~8 ProNav: ac range: 549.203674 m, nav range: 534.042236 m, bearing: 16.535226 deg, approach rate: -0.466899 m/s, LOS rate: 0.004795 deg/s, cmd heading: 17.691387 deg, new cmd heading: 17.696008 deg. ie 9HeadingCmd: 0.308854 target range: 549.203674 and range: 550.00 m.h">hhhhggjgrgereZe:e*e`0S6@颅dBɢ椽) bi)顩i:X9i">#==I">I2Acoustic response timeoutE] E]E])EY"E];*E]B:VE]FA4ZEYae@ae@ae@ae@B}W>B}ǎCB} IB}`BB} =ByB}-DB};B}UE @  @ @ O5@  ^AM =i߱ I߱  2Acoustic response timeoutI A}.AIIO>Y֪%,Y\LA6 =6>6qٱ6=6HxD?yԿ嚿Z? ?`п?`Z??i6 =I6];6CYB_ByF IbD^ZVD^8yf =%f0=ٔzf:Q-~>9~ ?Y~ ?=~Ey#D{E> Q 554  ?Q 954 !) 2BY9y=5E>Q I=@ DI ?;i ; '4yAɮE|AI:iaFNOT Ignoring new targets: 549.20 m."i8*i8 ProNav: ac range: 549.203674 m, nav range: 533.848511 m, bearing: 16.537228 deg, approach rate: -0.384719 m/s, LOS rate: 0.003979 deg/s, cmd heading: 17.696008 deg, new cmd heading: 17.700015 deg. i%8HeadingCmd: 0.308924 target range: 549.203674 and range: 550.00 m.h:+>hhhhggjgrgereZe:e*e6@dBɢ㢽) ¦i)i9i:+>=#=I:+>IAII)MxA2Acoustic response timeout@ @@D5@E EE%E"Ef;*E:VE 4ZEBEWܪ%, vLA6T=6>6ٱ6r=6HF? Կ(N?`[?2?>R??i6T=I6~ ^;6CYN_ByR I%2Acoustic response timeouti5Mb@Mb@Mb@1111 195:v?~jty55t15A 5nA)11Y5׉A E9"?Y"?=Ey,DE>Q 54O?Q 94 )2BYL>Q E:yQ>Q I@DI:i1:.4yBBɮ^A:i!%FNOT Ignoring new targets: 549.20 m."i-:8*i-:81E ProNav: ac range: 549.203674 m, nav range: 533.667725 m, bearing: 16.539864 deg, approach rate: -0.457446 m/s, LOS rate: 0.006672 deg/s, cmd heading: 17.700015 deg, new cmd heading: 17.705289 deg. iEaC9MHeadingCmd: 0.309016 target range: 549.203674 and range: 550.00 m.hMK7>hIhIhIhIgIgIjgQrgQeYreYZeY:eY*e]z97@颍+eBɢ)ʽ)=< i)顑iNk9iK7>==IK7>I)@) @)@-05@1a^AM벫=ԉ2Acoustic response timeoutE5  E5 E5 &E1 "E5 ;*E5 h:VE5 4ZE1 a= @a= @a= @a= @A .AI I O >AQ AU AAB] I>B] ŎCB] IB] /`BB] =B] 5DB] ,DB] m;B] UEԹ %,LAF">=FF0惽ٱF9=FH4H?`zԿ@@F??澿 y?@ ??iF">=IFO^;FCYR_ByR IbD^VD^8yf5=%f\=ٔf΀:Q-f>9j ?Yj ?=jEyj3Dn6En>pQ 5v4rm%?Q 9v4r3 )r2BYtyv>Q Iz@rDIr=:ir:r54y|ɮ~hAhAhAhAgAgIjgIrgIeIreQZeQ:eQ*eU57@颅[eBɢ(˽) vi)顉i5:iA> =!=IA>IԙQ@Q @Q@U4@Q52Acoustic response timeout^Au=A ؟AI I O > 2Acoustic response timeout 4%,ԩLA2e=2|>27,ٱ2=2HG?`Կ,I??`b???i2e=I2^;2CY>_By> IbEm'4jEm*4rEmg/Ep ErEr'Ep"Ep*Er:VEr'4ZEpBErRyԼxAvA A)AŸAbD^VD8y% <%%6=ٔ-XO:Q-->95"?Y5"?=UEyUaQ 5m4en5?Q 9m4e)e2BYm>Q Em:ym>Q Iu@eDIe4:ie;e=4yɮ"AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 549.20 m."i8*i8 ProNav: ac range: 549.203674 m, nav range: 533.322388 m, bearing: 16.545337 deg, approach rate: -0.410154 m/s, LOS rate: 0.006902 deg/s, cmd heading: 17.709868 deg, new cmd heading: 17.716239 deg. iJ9%HeadingCmd: 0.309207 target range: 549.203674 and range: 550.00 m.h%WP>h!h!h!h)g)g)jgQrgQeQreQZeQ:eY*e]`8@eBɢ-q)) -i))111i5TC!:i=WP>=(==@=I=WP>IA)]9@Y @Y@e0@a@i@m=E2Acoustic response timeoutI ^A =A >A >y A .AI I O >4%, ūLARb=R`l>RlٱR9=RH bH?`˜Կfw@bG?`@?MJ???iRb=IR^;RCYj`Byj I ttbDlVD8yep=%eL=ٔmn:Q-m>9u ?Yu ?=uEyuDDuGEu>yQ 54}mC?Q 94})}2BYyj>Q I@}DI} :i}:}C4yɮA:iFNOT Ignoring new targets: 549.20 m."i9*i9 ProNav: ac range: 549.203674 m, nav range: 533.156860 m, bearing: 16.548127 deg, approach rate: -0.427149 m/s, LOS rate: 0.007201 deg/s, cmd heading: 17.716239 deg, new cmd heading: 17.721820 deg. iR9HeadingCmd: 0.309304 target range: 549.203674 and range: 550.00 m.h]>hhhhggjgrg2Acoustic response timeoutereZe:e*e`q8@-eBɢ-sֽ)1 5i1)111i5@:i=]>=%===IE]>IAEM EMEM)EI"EM;*EMǙ:VEMFA4ZEIaU@aU@aU@aU@BM>>BMĎCBM IBMM`BBM =BIBM+DBMo;BMUEBǎCBǎCBÕCBÁ =BÁ =C6u}U%9@) @)@-0@)Q  2Acoustic response timeout^AM =ԁ AIIO>%,䫖LA\ V= p> 쁽ٱ Ȯ= HF? $Կ=AV? ? :?z??i V=I G]; CY=*`ByE IUBDAT read: Response Not Received ]*response not received]yuuDE EE(E"E ;*EVEc44ZEBEa2EaJE;a:E;aqq uA)qqYuAbDeDVDeױ8y:=% =ٔ9Q->9Y=EyPD:E>Q 54QX?Q 94)2BY>Q E:yW>Q I@DI:iI:vN4yɮAE:iY]FNOT Ignoring new targets: 549.20 m."ie8*ie8u ProNav: ac range: 549.203674 m, nav range: 532.908752 m, bearing: 16.551940 deg, approach rate: -0.406329 m/s, LOS rate: 0.006248 deg/s, cmd heading: 17.721821 deg, new cmd heading: 17.729451 deg. iu69HeadingCmd: 0.309437 target range: 549.203674 and range: 550.00 m.hn>hhhhggjgrgereZe:e*e9@=fBɢ=!)9 =ɽiA)AAAiEZ:iMn>M8=MAL=IMn>I DAT read:  BDAT read: Tx time:04:08:14.2391  $Ping request sent. B><A<BB1>BBŽCBB IBB`BB@B@BB*DBBh;BBrUE6aPٱ6+=6H`E?Կ:\??k`L'? ??i6,=I6\;4Yv4`Byv IbD~FVD~ر8y <% =ٔ5:Q-5>91Y1==Ey=[D=QN:E=>AQ 5M4EGj?Q 9M4E%)E2BYqyu>Q Iu@EDIE;iE?;EW4yyɮ}Ay:iFNOT Ignoring new targets: 549.20 m."iN8*iN8 ProNav: ac range: 549.203674 m, nav range: 532.695435 m, bearing: 16.555213 deg, approach rate: -0.411739 m/s, LOS rate: 0.006319 deg/s, cmd heading: 17.729452 deg, new cmd heading: 17.736000 deg. i 99HeadingCmd: 0.309552 target range: 549.203674 and range: 550.00 m.h}>hhhhgg jg)rg)e1re1Ze1:e1*e5ஔ9@颅\fBɢi#) ſi)顩i~|:i}>H=ª=I}>Iԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503149 @  @ @ u0@  ^A5 ʞ=  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755635AyIIO>{{ %,U+LAE2 E2E2%E0"E2;*E2:VE2 4ZE0BE25NJE2 :E2 "=|I>ٱ=H4D?*Կɚa??.?"??i"=I\;Y=7`ByE IԑiMb@Mb@Mb@ 97A`?p= ףMbpY>ỳAzA A)AYbD-fVD-8y=վ;%==ٔ=`Q-E>9AYA=EEyEeDMp%:EM>QQ 5]4Ub|?Q 9]4U))U2BYe>Q Ee:ye0>Q Ie@UDIU;iUe;U`4yiɮmAqB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 549.20 m."i8*i8 ProNav: ac range: 549.203674 m, nav range: 532.478821 m, bearing: 16.557937 deg, approach rate: -0.426940 m/s, LOS rate: 0.005371 deg/s, cmd heading: 17.736000 deg, new cmd heading: 17.741450 deg. iB9HeadingCmd: 0.309647 target range: 549.203674 and range: 550.00 m.h>hhhhggjgrgereZe:e*e :@fBɢν) ̿i)iˑ:i > X= /=I >I@ @@K1@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010729^AA  I! I1 OE >`%,ELAR=Rݕ>RQRٱR=RH@B? Կᚿj? ?yG?t??iR=IRK\;PYb[`Byb IbDjVVDj8yr=%rc=ٔr늺Q-v>9tYt=vEyvlDz:Ez>|Q 54~?Q 94~x)~2BYy b1>Q I @~DI~:i~:~f4yɮRA:iFNOT Ignoring new targets: 549.20 m."ia8*ia8 ProNav: ac range: 549.203674 m, nav range: 532.327576 m, bearing: 16.559830 deg, approach rate: -0.404508 m/s, LOS rate: 0.005065 deg/s, cmd heading: 17.741451 deg, new cmd heading: 17.745238 deg. iM9HeadingCmd: 0.309713 target range: 549.203674 and range: 550.00 m.h>hhhhggjgrgereZe:e*e 4t:@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259200%fBɢ%)) -Zοi)))))i5:i5>=d==.=I=>I9II)MuAEm EmEm*Ei"Em ;*Em:VEm(N4ZEia}@a}@a}@a}@B>BCB( I!B`BB =BB(DB`;BYUE@ @@/0@@%=@%=I checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512041^A= 벫=y Au ؟AIy I O >Ӭ%,1`LA2=2>26ٱ2=2H`@? Կw?? Ӿ c???i2=I2\;2CY>`By> IbDFLVDFޱ8yN+=%NJ=ٔRdQ-R>9R"?YV"?=VEyVuDV ;EV>XQ 5^4Z:?Q 9b4Z)Z2BY`ybE2>Q Ib@ZDIZ:iZ8:Zm4ydɮjAnE:iFNOT Ignoring new targets: 549.20 m."i8*i8 ProNav: ac range: 549.203674 m, nav range: 532.157593 m, bearing: 16.561943 deg, approach rate: -0.409877 m/s, LOS rate: 0.005097 deg/s, cmd heading: 17.745238 deg, new cmd heading: 17.749466 deg. i@9 HeadingCmd: 0.309787 target range: 549.203674 and range: 550.00 m.hZ>hhhh!g9gAjgrgereZe:e*e:@ gBɢս) Ͽi)顡i⠺:iZ>u=U=IZ>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7645509E] E]E]&EY"E];*E]ą:VE]4ZEYBE]D%,{LA2ϳ=2>2_ٱ2 =2H`*=? Կ@??4@/???i2ϳ=I2>\;0Y>`By> IiMb@Mb@Mb@ 95^I ?I +~jth?Y>y94D; A)YzAbDQVD8ԉy-[<%5=ٔZQ->9Y=Ey~D&;E>Q 54c?Q 94)2BY=>Q E:yAd>Q I@%DI:i:u4yɮއA:iFNOT Ignoring new targets: 549.20 m."ii8*ii8  ProNav: ac range: 549.203674 m, nav range: 531.961365 m, bearing: 16.563343 deg, approach rate: -0.447717 m/s, LOS rate: 0.003196 deg/s, cmd heading: 17.749466 deg, new cmd heading: 17.752267 deg. i ,8HeadingCmd: 0.309836 target range: 549.203674 and range: 550.00 m.hâ>hhhhggjgrge!re!Ze!:e!*e%@N;@U>gBɢU)Q ]0տiY)YYYi]o:ieâ>eւ=e\=Imâ>Ii9@ @@_0@Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267290^A=Dm=Dm=Eq EuEu)Eq"Eq*Eux:VEuFA4ZEqa@a@a@a@A A ?AB >B CB H IB `BB =B B %DB W;B 8UEI I O% > S'%%,LAYn`Byr' IbDz9VDzͱ8y%4=%-K=ٔ-Q-->91Y1=5Ey5D5E=>AQ 5E4E?Q 9M4E)E2BYIyIQ IM@E0DIE:iEG:E|4yUABɮUAY:iyFNOT Ignoring new targets: 549.20 m."i]8*i]8 ProNav: ac range: 549.203674 m, nav range: 531.797363 m, bearing: 16.564515 deg, approach rate: -0.422801 m/s, LOS rate: 0.003021 deg/s, cmd heading: 17.752268 deg, new cmd heading: 17.754611 deg. i8HeadingCmd: 0.309876 target range: 549.203674 and range: 550.00 m.h>hhhhggjgrgereZe:e*eб;@qgBɢfG) Tٿi)i:i>㐒=ܮ=I>I>i}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518997m9@i @i@m0@i!^Ad=AzAyAYI I O >- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771064E  E E 'E "E ;*E :VE '4ZE BE DB ٱB=BHV7?Կ7@?k ? (h?`?!?iBS=IB_^;BCYN`ByN7 Ii-Mb@Mb@Mb@)))) )9-333333?y&1{GztY->y-`弙-ף)-(A ))))Y-AbDE2VDEƱ8yUv=%UH=ٔUsQ-U>9YYY=]Ey]De;Ee>iQ 5u4m ?Q 9u4me)m2BYu>Q Eu:yu>Q Iu@m;DImhhhhggjgrgereZe:e*e`#<@-gBɢ-)) uݿiq)qqqiuи:i}5>}0=A=I5>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024428ԡ@ @@0@^A Iy I O > \92%,TɬLA2Q=2>21ٱ2X=2H`4? տn?@/?`B??˿?i2Q=I2}_;0Y>`ByB4 IbDJ[VDJ8yR&%RV=ٔV\3Q-V>9TYT=VEyZDZ9 ;EZ>\Q 5b4^B?Q 9b4^F)^2BYdyf>Q If@^EDI^;i^:^4yhɮjAnErchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275089:i FNOT Ignoring new targets: 549.20 m."i7*i7 ProNav: ac range: 549.203674 m, nav range: 531.460938 m, bearing: 16.565382 deg, approach rate: -0.446412 m/s, LOS rate: 0.001131 deg/s, cmd heading: 17.755522 deg, new cmd heading: 17.756345 deg. ii8HeadingCmd: 0.309907 target range: 549.203674 and range: 550.00 m.h>hhhhggjgrgereZe:e*e8<@-gBɢ-r)1 5BD1zD1E= E=E=+E9"E=:*E=ą:VE= [4ZE9aM@aM@aM@aM@iQ)QQYi]l ;i]>e=e%=Ie>IaB>BCBg IBaBB =BB"DB@;B UE@ @@0@BDAT read: Rx Time:04:08:17.3601 TRx dataTimestamp_ set to:1764907699.427171checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528899^A<=) I1 II OU >Q e8%,8㬖LAB=B`}>B =ٱBR=BH1?!տ@ឿ?? `"? ݺ?@u?iB=IBvJ`;BCY~`ByD IbDU@VDUӱ8yxp=%<=ٔ Q->9Y=EyD3);E>Q 54?Q 94)2BY)y->Q I@QDIxhyhyhyhyggjgrgereZe:e*e`<@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779310MhBɢMƴ)Q UiQ)YYYi];i%.>%mǒ=-?=I-.>I1bE-4jEi - %!? LB/@ ¸2= -@ Pw<) .@I Pwּ 8?$Ou1?We? $?) ;3I )+Ƚi Pwּ  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.IA IQ Oe >>%,0LA$v=vt>vFٱvhy=vH`r+?`>տi?V?O@ͱ?@??iv=Iv@`;vCY]`By]K IiuMb@Mb@Mb@qqqq q9uS?yutuDuAuzA udA)qqYu(AbDIVD۱8y-<%-2=ٔ-i!Q-->91Y1=5Ey5D5Ո;E=>IQ 5U4M&?Q 9]4yM)M2BY>Q E:y>Q I@M^DIM@"p<뀮@Fl1+JTJ@,@pD?VҭP!Κ?*j)+Ƚ2jPwּ*pd!A@/^@fF@p|?]wQ=f?xE?j~B jDiv.,?iijBjjjrjDzji>e addTargetRange:: Added new target pos. range: 537.599976 m, deltaT: 29.231663 s, deltaX: -12.400024 m, approachRate: -0.424198 m/s, rangeRepo size: 4  Added new target pos. range: 536.556702 m, bearing: 13.328416 deg, lat: 36.779325 deg, lon: -121.859483 deg, deltaT: 29.231663 s, deltaX: -12.646973 m, approachRate: -0.432646 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 536.56 m."i*i ProNav: ac range: 536.556702 m, nav range: 531.079468 m, bearing: 16.565738 deg, approach rate: 0.000000 m/s, LOS rate: 0.000961 deg/s, cmd heading: 17.757259 deg, new cmd heading: 17.758173 deg. iHeadingCmd: 0.309939 target range: 536.556702 and range: 537.60 m.hE>hhhhggjgrgereZe:è@*e ?U]hBɢUz)Y ]ciY)YYYi]#;ieE>e&ޒ=Q=IE>IԱ*DAT read: user:101> BDAT read: Tx time:04:08:18.5390 $Ping request sent.BCB IBAaBB =B6DB DB;BTEBuȼCBuȼCBuȗCBuȊ =BuȊ =Cuȡ6 ^A 箵= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250851A.AIIO->F%,LA2=2<>2'ٱ2 =2H &? WտMn?`?`yv!?`??i2=I2Qa;2CY`ByP IbDZVD8y<%)=ٔ,Q->9 ?Y ?=EyD+N;E>Q 54?Q 94)2BYyL>Q I@kDIG:i:4yɮ3A:iiuFNOT Ignoring new targets: 536.56 m."iu־*i}־ ProNav: ac range: 536.556702 m, nav range: 530.873596 m, bearing: 16.565597 deg, approach rate: -0.474455 m/s, LOS rate: -0.000326 deg/s, cmd heading: 17.758173 deg, new cmd heading: 17.757890 deg. iHeadingCmd: 0.309934 target range: 536.556702 and range: 537.60 m.h>hhhhggjgrgereZe:e*e ?? hBɢ y) xi)!!i%~0;9iE>U=Un=IU>IY WC-݂GMyAe5A9yAYA9@ @@@%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502909YE} E}E})Ey"E} ;*E}:VE}FA4ZEyBE}OvM%,28LA2=2ǫ>2иٱ2 =2H`##?iտ堿@Q??H~s?? G?i2=I24a;2C8 >3C)>A>t@@BCB~AiBtIBF@IF&CiF?A F F´F)FJC J5~AJ+JUFHNُCLIL)LiL)R CIRE~ARRF PȐCRZ~AViVFTi`b5A)d dIlYlYr`ByrX Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754843a@a a@a a@a a@a bDKVDݱ8yMT<%MC=ٔUCQ-U>9QYY=]Ey]D]%;E]>aQ 5m4e-?Q 9m4e)e2BQ Au+:YqQ Eu:yu՗>Q Iu@evDIev;ie>e4yyɮ}AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 536.56 m."iȶ*iȶ  ProNav: ac range: 536.556702 m, nav range: 530.694519 m, bearing: 16.565454 deg, approach rate: -0.428227 m/s, LOS rate: -0.000343 deg/s, cmd heading: 17.757889 deg, new cmd heading: 17.757603 deg. i  HeadingCmd: 0.309929 target range: 536.556702 and range: 537.60 m.h>hhhhggjgrgere!Zea:ea*eeR?ԡ颵hBɢ) < i)ip>;i>  = z4=I >I IyA)xA9@ @@0@@@zAE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006770^A л=A yAzA wA E  E E "E "E V:*E &p:VE (3ZE a @a @a @a @B >B CB IB jaBB =B B DB ;B hTEA I I O >,T%,wSLA4j=j[>j2sٱj=jH@?~տXr?? X`)?qw??ij=Ija;jCYUaByU^ I e9Y=EyD;;E>Q 54?Q 94<)2BQ A :YQ E:yb>Q I@DI:ihQ?4yEBɮAE:i  FNOT Ignoring new targets: 536.56 m."iC*iC붝 ProNav: ac range: 536.556702 m, nav range: 530.524902 m, bearing: 16.565298 deg, approach rate: -0.438091 m/s, LOS rate: -0.000402 deg/s, cmd heading: 17.757602 deg, new cmd heading: 17.757291 deg. i%6<-HeadingCmd: 0.309923 target range: 536.556702 and range: 537.60 m.h-A>h)h)h)h)g)g1jg1rg1e1re9Ze9:e9*e= &?miBɢmG)i m ii)qqqiu$L;i}A>}}=}/=I}A>Iԡ9@ @@0@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261089^A:=A ؟A I I9 O] > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515527Z%,2mLAlr2=r<`>rШٱr#=rH?տ@??@ ANp?E??ir2=Ira;rCE EE&E"Es:*Eą:VE4ZEBEm0yuļuԼquA q)u|AqYuGAbDkVD8y=%==ٔ#Q->9"?Y"?=EyD8E>Q 54*?Q 94 )2BQ AT:YZ>Q E:y>Q I@DI*:i:4yɮ͆A:iFNOT Ignoring new targets: 536.56 m."iv5*iv5  ProNav: ac range: 536.556702 m, nav range: 530.340637 m, bearing: 16.565342 deg, approach rate: -0.426387 m/s, LOS rate: 0.000101 deg/s, cmd heading: 17.757291 deg, new cmd heading: 17.757379 deg. i +=6HeadingCmd: 0.309925 target range: 536.556702 and range: 537.60 m.ht>hhhhggjgrg!e!re!Ze!:e!*e-`'?Ue7=eH =It>Iy@ @@/@1}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766902^A }=a A .AI I O% >Oa%,<LA>^=>^+>>TYٱ>|=>H@? {տ?@?`Ƴ?@?!?i>^=I>Y]a;>CYJ#aByLbDVUVDV8y^G%^n=ٔ^{Q-^?9b ?Yb ?=bEybDb7Ef?dQ 5n4f6?Q 9n4f )f2BYlyr>Q Ir@fDIf8;ifD;f4ytɮvΆAt:iQFNOT Ignoring new targets: 536.56 m."i56*i56 ProNav: ac range: 536.556702 m, nav range: 530.194641 m, bearing: 16.565384 deg, approach rate: -0.426124 m/s, LOS rate: 0.000123 deg/s, cmd heading: 17.757379 deg, new cmd heading: 17.757463 deg. if6HeadingCmd: 0.309926 target range: 536.556702 and range: 537.60 m.h>hhhhggjgrgereZe:e*e:@颵niBɢ,) i)项ih;i>L=V=I>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018743IE  E E E "E D:*E |:VE ZE a@a@a@a@A!A%@AB->B-CB- IB-aBB- =B)B-DB-q;B-TEԁM;UC>iU>ԩ@ @@\2@@=@p= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270708 ^A A؟AI IO->jDi%,ަLA6=6>6֠ٱ6(=6H?Kzտ` ?? ?lŹ??i6=I6Ka;6CYN1aByN| IbDVYVDV8y^<%^$=ٔb/ Q-b>9b"?Yb"?=fEyfDfEf>Q 54H?Q 94 )3BYy>Q I@DIw;i;ý4yaɮmAichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523669:i)5FNOT Ignoring new targets: 536.56 m."i=P6*i=P6u ProNav: ac range: 536.556702 m, nav range: 529.971375 m, bearing: 16.565454 deg, approach rate: -0.394596 m/s, LOS rate: 0.000124 deg/s, cmd heading: 17.757462 deg, new cmd heading: 17.757603 deg. iuh6HeadingCmd: 0.309929 target range: 536.556702 and range: 537.60 m.h>hhhhggjgrgereZe:e*ed@EE EEEE$EA"EEa:*EEi:VEE4ZEABEE(%zl=->=I->I)1a m< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7767375 :@1  @1 @5 0@1 ԑ ^AQAIIO?tr%,˭LA6{=6>6ٱ6=6H?`wտN c?? 뾿Y?O??i6{=I6`;6CYB7aByF I^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026804iuMb@Mb@Mb@qqqq q9u~jt?V-V-Yu>yuuu~AuA uA)uxAqYqbDbVD8y.<%=ٔ Q->9Y=EyDٹE>Q 54\?Q 94S )3BY>Q E:y>Q I@DI:iF:ͽ4yɮAEB*** querying acoustic contact ***iiB>BCB IBaBB =BBB;BSED zD E EEE"Es:*E n:VEZEBEm0<2En0<JE;:E;:i15FNOT Ignoring new targets: 536.56 m."i=D7*i=D7E ProNav: ac range: 536.556702 m, nav range: 529.720642 m, bearing: 16.565822 deg, approach rate: -0.458111 m/s, LOS rate: 0.000671 deg/s, cmd heading: 17.757602 deg, new cmd heading: 17.758337 deg. iM@7UHeadingCmd: 0.309941 target range: 536.556702 and range: 537.60 m.hU>hQhQhQhQgQgYjgYrgYeYreaZea:ea*ee @-jBɢ5g)1 5 i1)111i=Ӆ;i=>E=E=aIE>Iiqqqqԑuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2795559@ @@0@Թ ^A T= AII)OM?Јz%,@/쭖LAdnBDAT read: Rx Time:04:08:21.6735 rTRx dataTimestamp_ set to:1764907703.718639vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.535977E=E<>EUٱEE=EH?sտ`.w?@x?ھ`?P?.?iE=IE,ba;ECYe`aBye IiMb@Mb@Mb@ E EE(E"E:*E:VEc44ZEa@a@a@a@9On?{Gz/$Y>y#A A)AY=AbDdVD8y=%=ٔEQ->9Y=EyDiXE>Q 54o?Q 94)3BY>Q E:y|>Q I @DI;i,:^׽4yɮUA:iAmFNOT Ignoring new targets: 536.56 m."imi8*imi8} ProNav: ac range: 536.556702 m, nav range: 529.491638 m, bearing: 16.566877 deg, approach rate: -0.424896 m/s, LOS rate: 0.001959 deg/s, cmd heading: 17.758336 deg, new cmd heading: 17.760448 deg. i}ve8HeadingCmd: 0.309978 target range: 536.556702 and range: 537.60 m.hz>hhhhggjgrgereZe:e*e@-OjBɢ- )1 5i1)111i5;i=z>= ==0=IEz>Iaq@ @@2@@yA@iiIiuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.783013^A =A A1 IA IY Ou >%,iSLAb9=b">b.ٱbG=bH ?+sտ` /??*⾿`(\?5? y?ib9=Ibb;bCY]aBy IbD-aVD-8y5%=c=ٔ=Q-=>9AYA=EEyEDEEE>IQ 5U4M*|?Q 9]4M)M 3BYYy]M|>Q I] @MDIMA;iM2:Mݽ4yaɮe[Ai:iFNOT Ignoring new targets: 536.56 m."it8*it8 ProNav: ac range: 536.556702 m, nav range: 529.338684 m, bearing: 16.567586 deg, approach rate: -0.434626 m/s, LOS rate: 0.002014 deg/s, cmd heading: 17.760449 deg, new cmd heading: 17.761866 deg. ik8HeadingCmd: 0.310003 target range: 536.556702 and range: 537.60 m.h>hhhhggjgrgereZe:e*e]@~jBɢn1) i)i!;i>ֶ==I>I9@ @@0checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037580@)BA<B>BCB IBaBB =BBDD=DE EE&E"E:*E:VE4ZEBE6 DAT read: 04:08:21.6735 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 67, 0.14,-2.112, 2.597,-1.835,-2.484, PHS= 0.474,-1.157, 0.605, RAW= 153.8, 0.9, CAL= 152.5, 0.0, ROT= 357.5, -0.0  Ygot valid direction response: 04:08:21.6735 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 67, 0.14,-2.112, 2.597,-1.835,-2.484, PHS= 0.474,-1.157, 0.605, RAW= 153.8, 0.9, CAL= 152.5, 0.0, ROT= 357.5, -0.0  PDAT read: Bearing 171.8, 2.2 (Local)  ~Local bearing/azimuth received: Bearing 171.8, 2.2 (Local)  DAT read: Range 11 to 50 : 547.7 m (Round-trip 730.3 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.999048,-0.043619,0.000000] Fpublishing direction and range infoyQ U m3?$%IUYU DQ Q Q Q Q )U LIU !>iU U H?U +@U M9ٱMR=MH%?@nտ[? 7?޾j???iM`=IM.c;IYoaBy IbD`VD8ys)=%?=ٔ jQ- >9YQ=UEyUD]LwEe>iQ 54mv?Q 94m)m3BYy{>Q I @mDIm';im@;mY4yɮ6Aii8LAjD"jD:j>"p!=Do@ ^7pm3?$%IU*jѸ22j*pe}XN@RJc@3&F@p iy?`@Q?v(B@?joC jvDiR?iGjBjj|jrjODzjV> addTargetRange:: Added new target pos. range: 547.700012 m, deltaT: 4.540026 s, deltaX: 10.100037 m, approachRate: 2.224665 m/s, rangeRepo size: 4  Added new target pos. range: 546.574890 m, bearing: 16.687038 deg, lat: 36.779325 deg, lon: -121.859480 deg, deltaT: 4.540026 s, deltaX: 10.018188 m, approachRate: 2.206637 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 546.57 m."i*i ProNav: ac range: 546.574890 m, nav range: 529.238586 m, bearing: 16.600049 deg, approach rate: 0.000000 m/s, LOS rate: 0.002014 deg/s, cmd heading: 17.761866 deg, new cmd heading: 17.763748 deg. iHeadingCmd: 0.310036 target range: 546.574890 and range: 547.70 m.h>hhhhggjgrgIeIreIZeI:eM@*eU@?ԑjBɢ) 4i)in;i>Г=L=I>IIIxA)yA*DAT read: user:102>  BDAT read: Tx time:04:08:23.0890 $Ping request sent.6%,\=LABchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.241704Nkc=N,>NJٱNq=NH?kkտ ~?@n? +.a?@,?@Ÿ?iNkc=INc;NCYjyaByj IiMb@Mb@Mb@ 9l? ףp= ~jtY>yQ8|}A `A)YbDYVD8y\<%5=ٔQ->9Y=Ey D~E>Q 54?Q 94)3BY>Q E:ytn>Q I @DIhhhhggjgrgereZe:e*e@=?jBɢ2L*)! %i!)!!)i-V;;i-Fž>5=5B=I5Fž>I1q@ @@4@ԑ-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493511^A =B5 >B5 CB5 IB5 bBB5 =B1 B5 DB5 g;B5 REBȳCBȳCBȔCBȑ =Bȑ =CȤ+5Da zDa Eu  Eq Eu &Eq "Eu ;*Eq VEu 4ZEq BEu @%,&WLA2J=2b&>28ٱ2=2H`D?nտ ?V?!?@Q??i2J=I2c;2CY>aBy> IbDFQVDF8PyR=%Ra=ٔVػQ-V>9TYT=VEyVDZEZ>\Q 5b4^b?Q 9b4^)^3BY`yfnn>Q If @^DI^":i^:^f4yhɮjAhvB*** querying acoustic contact ***ixix:iy}FNOT Ignoring new targets: 546.57 m."i<@8*i<@8 ProNav: ac range: 546.574890 m, nav range: 528.898621 m, bearing: 16.602146 deg, approach rate: -0.425338 m/s, LOS rate: 0.002626 deg/s, cmd heading: 17.766043 deg, new cmd heading: 17.767943 deg. iə8HeadingCmd: 0.310109 target range: 546.574890 and range: 547.70 m.hƞ>hhhhggjgrgereZe:e*e@L?E/kBɢEx1)I MiI)IIIiMv;iUƞ>]=]@=I]ƞ>IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.746414 @  @ @ j3@ ^A1 G zA- A} ȗ9 zAY A) AA Iq I O >] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000860;%,!qLAE EE)E"E:*Ee:VEFA4ZEa@a@a@a@|YaBy IiMb@Mb@Mb@ 95^I ?/$MbY>y,A A)~AY…AbDuVD8y=%;=ٔQ->9Y=EyDE>Q 54?Q 94r)$3BYI>Q E:yu>Q I @DI:i:4yHBɮ߅A:i FNOT Ignoring new targets: 546.57 m."i ]08*i ]08 ProNav: ac range: 546.574890 m, nav range: 528.713074 m, bearing: 16.603161 deg, approach rate: -0.440049 m/s, LOS rate: 0.002409 deg/s, cmd heading: 17.767943 deg, new cmd heading: 17.769975 deg. i8%HeadingCmd: 0.310145 target range: 546.574890 and range: 547.70 m.h%E˞>h!h!h)h)g)g)jg1rg1ereZe:e*e/(?%kkBɢ-ѧ()) -i))iiqiu;iuE˞>}p=}J=I}E˞>Iy>i>)a@a @a@e25@a@i@mtAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.249490Q^A ˺=ԁ A I I O >H%,ފLA2$=2|O>2+ÿٱ2f=2H?`yտ`Y`??@`¿n?@|;? ?i2$=I2d;2CYNaByR IbDZMVDZ߱8ybL8=%bZ=ٔb!Q-f>9dYd=fEyf$Dj[:Ej>lQ 5r4n?Q 9r4nu)n,3BYpyrYu>Q Iv @nDInv;ina;n4yxɮzAx:i%FNOT Ignoring new targets: 546.57 m."i%p(8*i%p(85 ProNav: ac range: 546.574890 m, nav range: 528.554810 m, bearing: 16.604023 deg, approach rate: -0.422430 m/s, LOS rate: 0.002301 deg/s, cmd heading: 17.769975 deg, new cmd heading: 17.771699 deg. i58YHeadingCmd: 0.310175 target range: 546.574890 and range: 547.70 m.h7Ϟ>hhhhggjgrgereZe:e2?9?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501962*e 6?}kBɢ5) i)顁i#a;i7Ϟ>B>BCB IB+bBB =BBDB;BRE!= Y6=I7Ϟ>IEM EMEM&EI"EM:*EM~:VEM4ZEIBEM.z¨%,LAZ'=ZQ>ZýٱZ,=ZH\?F|տ4C? 2?@O` m? J=??iZ'=IZ[e;ZCYvaByv IbDVD8y%%2=%-D=ٔ-6Q-->95 ?Y5 ?=5Ey5-D5,8E=>AQ 5E4E ?Q 9M4EZ)E43BYIyM\u>Q IM @EDIE:iE:E4yYɮ]A]E:iyFNOT Ignoring new targets: 546.57 m."iL)8*iL)8 ProNav: ac range: 546.574890 m, nav range: 528.378052 m, bearing: 16.604986 deg, approach rate: -0.424351 m/s, LOS rate: 0.002313 deg/s, cmd heading: 17.771700 deg, new cmd heading: 17.773626 deg. ip8HeadingCmd: 0.310208 target range: 546.574890 and range: 547.70 m.hӞ>hhhhggjgrgereZe:e*eF@kBɢ18)< !i)iL;iӞ>>5=IӞ>Ii@i @q@u63@q-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009543EE EEEE+EA"EEa:*EE n:VEE [4ZEAaM@aM@aM@aM@^Ah=) A ؟AI I O >ꮫ%,OLAi0I06checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257899:Jm=:o>:ǽٱ:g=:H X?@տ$e?? Y`C?mC?`?i:Jm=I: f;:CYFaByF IiMb@Mb@Mb@ 9A`"?/$:vY>yT |A `A)|}AYAbD-VD-8y=o;=%=I=ٔEQ-E>9E"?YE"?=EEyM5DM5:EM>QQ 54U1?Q 94UF)U?3BY@>Q E:yCu>Q I @UDIUhhhhggjgrgereZe:e*e @QlBɢ`)) $i)))i-?;i5מ>5M=5f=I5מ>I9@ @@O5@@ =@ =ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509595B>BCB5 IB^bBB =BBDBژ;BDREEe  Ee Ee %Ea "Ee :*Ee $:VEe 4ZEa BEe .%,ٮLA2x=2R>2˽ٱ2{Q=2H;?oտh@?`O?`3@h?_?`?i2x=I2"h;2CY>aBy> IbDF VDF8yN<%NK=ٔRџQ-R>9PYP=REyV=DV:EV>XQ 5^4Z/?Q 9^4Z5)ZI3BY`ybu>Q Ib @Z&DIZ:iZ:Z4ydɮf]AdvB*** querying acoustic contact ***itit:ix~FNOT Ignoring new targets: 546.57 m."i~08*i~08  ProNav: ac range: 546.574890 m, nav range: 528.034790 m, bearing: 16.606850 deg, approach rate: -0.447604 m/s, LOS rate: 0.002418 deg/s, cmd heading: 17.775511 deg, new cmd heading: 17.777355 deg. i8HeadingCmd: 0.310273 target range: 546.574890 and range: 547.70 m.h'ܞ>hhhhggjg!rg!e!re!Ze!:e)*e-@JlBɢD) w&i)i|;iM'ܞ>Me`=M=IM'ܞ>IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762397)9@ @@5@I^A}=ԉ I IA  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015552OE >E  E E )E "E ;*E xv:VE FA4ZE a @a @a @a @;%,7PLA0YbBy IiMb@Mb@Mb@ 9-?~jt:vY5>yzA ) |AY3AbDVD8yJ=%9=ٔQ->9Y=EyFDE>Q 54?Q 94)U3BY(>Q E:y>Q I @2DI;iv;4yIBɮA:i)-FNOT Ignoring new targets: 546.57 m."i5 8*i5 8E ProNav: ac range: 546.574890 m, nav range: 527.842590 m, bearing: 16.607653 deg, approach rate: -0.435034 m/s, LOS rate: 0.001818 deg/s, cmd heading: 17.777355 deg, new cmd heading: 17.778961 deg. iET8MHeadingCmd: 0.310301 target range: 546.574890 and range: 547.70 m.hMߞ>hIhIhIhQgQgjgrgereZe:e*eg @MlBɢMU2ԉ)) -(i))))1i5;i5ߞ>=_y==2=I=ߞ>I9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265597Թu]B}CB}[ IB}bBB} =ByByB};B}QEE EE'E"ED:*E~:VE'4ZEBE1}=>5>>ؤӽٱ>=>H@d?`<տj@:?`g?@_h?Fb??i>}=I>Oi;9\Y\=^EybPDbc0Eb>dQ 5j4f?Q 9j4f)fc3BYhyj>Q In @fADIf:if:f'4ypɮrAp:i FNOT Ignoring new targets: 546.57 m."i 8*i 8 ProNav: ac range: 546.574890 m, nav range: 527.623474 m, bearing: 16.608571 deg, approach rate: -0.435067 m/s, LOS rate: 0.001824 deg/s, cmd heading: 17.778962 deg, new cmd heading: 17.780799 deg. iU8%HeadingCmd: 0.310333 target range: 546.574890 and range: 547.70 m.h%>h!h)h)h)g)g)jg1rg1e1re1Ze1:e9*e= L@elBɢe.)a m*ii)iiiim';iu>u=u=I}>Iymc<@ @@ /0@ iIDAT read: 04:08:26.2130 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 328,-0.18,-3.038, 1.632,-2.736, 2.837, PHS= 0.510,-1.160, 0.666, RAW= 154.4, -0.2, CAL= 153.3, -1.3, ROT= 356.7, 1.3 Ygot valid direction response: 04:08:26.2130 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 328,-0.18,-3.038, 1.632,-2.736, 2.837, PHS= 0.510,-1.160, 0.666, RAW= 154.4, -0.2, CAL= 153.3, -1.3, ROT= 356.7, 1.3 %BDAT read: Rx Time:04:08:26.2130 %TRx dataTimestamp_ set to:1764907708.510996-@DAT read: $Low SNR acquisition -2Received low SNR in chirpX#Rx 1: Read direction message, but no range.`direction in FSK: [0.998085,-0.057549,-0.022687]y!%UO?F3 wNGY;!!!! !)%II%\?i%z%~*?%iw,@%d%<+@ %޹)%8@I%޹A e˫%,W/LA&T****** received valid address query ******&R****** received valid ping request *******received new query, but waiting for acoustic response period to elapse0E} E}E}&Ey"E}&:*E}k:VE}4ZEya@a@a@a@=㋫>׽ٱ=H ?@տm??m?$Q?@?i=Ij;CY=bBy ! IiMb@Mb@Mb@ 9"~j?Q rhYS>yCzAA A)zAYbDEVDر8y =% *=ٔ Q- >9Y=EyZD#E>Q 5%4!?Q 9-4)q3BY->Q E-:y->Q I- @NDIz;i;/4y1ɮ=A=E:iaeFNOT Ignoring new targets: 546.57 m."im7*im7} ProNav: ac range: 546.574890 m, nav range: 527.409973 m, bearing: 16.608994 deg, approach rate: -0.443637 m/s, LOS rate: 0.000879 deg/s, cmd heading: 17.780799 deg, new cmd heading: 17.781645 deg. i}7ԁHeadingCmd: 0.310348 target range: 546.574890 and range: 547.70 m.h>hhhhggjgrgereZe:e*eE@ mBɢ3_0) ,i)i>;i>=.=I>IԱqiu>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseA @A  @A @E 0@I ^Aa I I O >ӫ%,vMLA66=6`a>6Fܽٱ6ϑ=6H ?nտt M??`{@_s?B??i66=I6j;6CYVZbByV3 IbD^.VD^±8yf=%fU=ٔjlQ-j>9hYh=jEyjbDn)]En>pQ 5v4r.?Q 9v4r)r|3BYtyz>Q Iz @rYDIr<;irG:r64y|ɮ~oA|:i!%FNOT Ignoring new targets: 546.57 m."i-7*i-7= ProNav: ac range: 546.574890 m, nav range: 527.239136 m, bearing: 16.609339 deg, approach rate: -0.445048 m/s, LOS rate: 0.000899 deg/s, cmd heading: 17.781646 deg, new cmd heading: 17.782336 deg. i=7EHeadingCmd: 0.310360 target range: 546.574890 and range: 547.70 m.hE>hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*eU @ߥ=ߥ<T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB-w>B)B- IB-bBB)B)B)B-c;B-QE9]AmBɢ]^G)a ef.ia)aaaie0c;im>m=md=Iu>IqE EE'E"E:*Ex:VE'4ZEBE+] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapse >>٫%,fLA2=2A>2ٱ2<=2H ?տI??@ ?5? ?i2=I25$l;0Y>hbBy>; IFAAF@AbDJ+VDJ8yj=%jK=ٔnQ-n>9lYp=rEyrjDrzEr>tQ 5z4v=?Q 9z4v)v3BY|y~Ȋ>Q I~ @veDIvq ;iv ;v=4yɮ VA %B*** querying acoustic contact ***i!i!:i15FNOT Ignoring new targets: 546.57 m."i=7*i=7M ProNav: ac range: 546.574890 m, nav range: 527.060303 m, bearing: 16.609706 deg, approach rate: -0.443605 m/s, LOS rate: 0.000909 deg/s, cmd heading: 17.782336 deg, new cmd heading: 17.783069 deg. iM7UHeadingCmd: 0.310373 target range: 546.574890 and range: 547.70 m.hU9>hQhQhQhQgQgYjgYrgYeareaZea:ea*ee@颕xmBɢyE) 1i)顙i Ҕ=B=I9>IԱY@Y @Y@]0@YT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsebE!4jE*4rE 0E EE&E"E&:*Eą:VE4ZEa@a@a@a@^AU=IIO> 9 .&%,#LAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsej=j>j/ٱj=jHp ?@kտ `??^?`}0??ij=Ijm;jCYvbByzN IiMb@Mb@Mb@ 9%C?X9v/$YZ>yA A)lyAYAbDEXVDE8yud=%u3=ٔ}DQ-}>9yY=EytD5E>Q 54N?Q 94)3BY'>Q E:y>Q I @rDI;i;E4yɮA:iFNOT Ignoring new targets: 546.57 m."i7*i7 ProNav: ac range: 546.574890 m, nav range: 526.856079 m, bearing: 16.610154 deg, approach rate: -0.447259 m/s, LOS rate: 0.000982 deg/s, cmd heading: 17.783069 deg, new cmd heading: 17.783965 deg. i7HeadingCmd: 0.310389 target range: 546.574890 and range: 547.70 m.hF>hhhhggjgrgereZe:e*e@5mBɢ=`;)9 =2i9)9AAiEZM=M˻=IMF>I@ @@ 0@@zA@yA9T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseA1A1B=s>B=CB= IB=cBB9B9B=DB=(;B=QEB%ȬCB%ȬCB!B%ș =B%ș =C%{q5EE  EE EE 'EA "EE ;*EE Ar:VEE '4ZEA BEE AP%,czLA 2Q=2٪>2 ٱ2=2H` ?`~տ (R??\ 0?"?`?i2Q=I2Lo;2CYRbByRc IbDZ@VDZӱ8yb=%bk=ٔb޻Q-b?9dYd=fEyf{DjEj?lQ 554nZ?Q 9=4n)n3BY9y=ډ>Q I= @n|DIn@WhhhhggjgrgereZe:e*e@mBɢ U) 3i)iHQ==I>IUT****** received valid address query ******UR****** received valid ping request ******]received new query, but waiting for acoustic response period to elapsei@i @i@m0q@iԡ Wu> RCupG^A}:!={Ab9 {AY КAye?eAIa Iq O >  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= :}%,ZdLA*Eexv:VEe4ZEaa@a@a@a@Lvp=vگ>v ٱv =vH F?Lտij?H?dҽ??p?ivp=Iv`p;vCYbByq IiMb@Mb@Mb@ 9%C?X9v{GzYyףhyAA `A)vAY׃AbDJVDܱ8yN=%;=ٔQ->9Y=EyD*@E>Q 54j?Q 94)3BY!>Q E:y>Q I @DI:i:_S4yɮA:iFNOT Ignoring new targets: 546.57 m."i7*i7 ProNav: ac range: 546.574890 m, nav range: 526.505676 m, bearing: 16.610954 deg, approach rate: -0.441429 m/s, LOS rate: 0.001022 deg/s, cmd heading: 17.784665 deg, new cmd heading: 17.785567 deg. iL7HeadingCmd: 0.310417 target range: 546.574890 and range: 547.70 m.h>hhhhggjgrgereZe:e*e@ 'nBɢ ;)  6i )i O==I>I@ @@ 0@=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse^A = IA IQ Oe >d%,<ίLA2.~=2Ds>2aٱ2==2H?FտKl ?@? ?@?ܝ?i2.~=I2Gr;0Y>bBy>u IbDJVDJ8yR><%R^=ٔRQ-R>9TYT=VEyVDZEZ>\Q 5b4^w?Q 9b4^)^3BY`ybQ>Q Ib @^DI^:i^:^Y4ydɮjAh|:i|FNOT Ignoring new targets: 546.57 m."iv7*iv7 ProNav: ac range: 546.574890 m, nav range: 526.341309 m, bearing: 16.611343 deg, approach rate: -0.466063 m/s, LOS rate: 0.001103 deg/s, cmd heading: 17.785567 deg, new cmd heading: 17.786345 deg. i+8HeadingCmd: 0.310430 target range: 546.574890 and range: 547.70 m.h>h!h!h!h!g!g!jg)rg)e)re)Ze):e1*e5`,*@]SnBɢe"g)a e8ia)aiiim4^u= =T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseBo>BB IBfcBBB7DBB;BCQE $ӹ=I>IDzDAAE EE(E"ET;*E:VEc44ZEBEGA>IaIqO}>M T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapseԉ V%,J 诖LA2=2>2D%ٱ2`D=2H@T?@տ?/?! 0?@ ?X?i2=I2t;2CYNbByR IbDZVDZ8yv=%vF=ٔzֻQ-z>9xYx=~Ey~D~պE>Q 5 4?Q 94<)3BYy>Q I @DI:iG:a4yɮ%\A!=B*** querying acoustic contact ***i9i9:iIMFNOT Ignoring new targets: 546.57 m."iU̟7*iU̟7Ym ProNav: ac range: 546.574890 m, nav range: 526.156860 m, bearing: 16.611794 deg, approach rate: -0.446506 m/s, LOS rate: 0.001091 deg/s, cmd heading: 17.786345 deg, new cmd heading: 17.787247 deg. im7mHeadingCmd: 0.310446 target range: 546.574890 and range: 547.70 m.hu>hqhqhqhqgqgqjgyrgyeyreZe:e*e@颵nBɢ M) @:i)项iM(3==I>Iq@q @q@u0@qԑT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE EE'E"ED:*E:VE'4ZEa @a @a@a@^Aq$=ԱII O> ] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapsey%,LA2g=2|>2ٱ2=2H ?@տ@ȵ`ð?(?!`? ?`P?i2g=I2Wv;0Y> cBy> IiUMb@Mb@Mb@QQQQ Q9Ujt?Mb~jtYU>yUUԱQQ Q)UOuAQYUAbD=VD=68yuf=%u3=ٔu̻Q-}>9yYy=}Ey}DGE>Q 541?Q 94)3BY>Q E:y>Q I @DI:iI:h4yOBɮ)AE:iFNOT Ignoring new targets: 546.57 m."i7*i7m ProNav: ac range: 546.574890 m, nav range: 525.956970 m, bearing: 16.612367 deg, approach rate: -0.434830 m/s, LOS rate: 0.001247 deg/s, cmd heading: 17.787247 deg, new cmd heading: 17.788394 deg. im8uHeadingCmd: 0.310466 target range: 546.574890 and range: 547.70 m.hug>hqhqhqhqgqgyjgyrgyeyreZe:e*e@nBɢnQ@)  H= M=I g>I @ @@0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseBj>BCB IBcBB =BBB;BPE D=D4=E  E E (E "E *E $:VE c44ZE BE 1<%,"LA2y7=2>2ٱ29=2H?Uտ@\oy? e?`FZP?'?8?i2y7=I2ɰx;0Y>-cBy> IbDJVDJD8yRW=%Rn=ٔRnQ-R?9TYT=VEyVDZ͊EZ?XQ 54Zo?Q 94Z)Z3BYy>Q I @ZDIZ(QhihihihigqgqjgqrgqeyreyZey:ey*eg @颭nBɢmi) [W=<=Ic>IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse1@1 @1@50@1@=@=@=@=AAyAzAzAqIIO> T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԩ E  E E E "E %;*E i:VE ZE a5 @a5 @a5 @a= @ %,ް5LAvFp=vɯ>vٱvu=vH@O?Ӏտå?@?f ?,?C?ivFp=Ivy;tYBcBy IiMb@Mb@Mb@ 9'1Z?:v:vY>yԼTSA A)sAYbDVDI8y?=%8=ٔpɻQ->9Y=EyD`E>Q 54U?Q 94m)3BYM>Q E:y1>Q I @DIj;i;v4yPBɮA:i!%FNOT Ignoring new targets: 546.57 m.i"iPM7*iPM7 ProNav: ac range: 546.574890 m, nav range: 525.610535 m, bearing: 16.613104 deg, approach rate: -0.452686 m/s, LOS rate: 0.000701 deg/s, cmd heading: 17.789260 deg, new cmd heading: 17.789867 deg. i@7HeadingCmd: 0.310492 target range: 546.574890 and range: 547.70 m.h>hhhhggjgrgereZe:e*e @m4oBɢmG)i u?iq)qqqiu}!}k=}6=I}>I9@9 @9@= 0@9ԙIIOD>iIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse d%,yOLA6M=6>6~ٱ6X=6H@?տ(ʢ??<`?SF?@?i6M=I6T{;6CY^YcByb IbDjVDj'8yrv=%r[=ٔrQ-v>9tYt=vEyvDz$=Ez>|Q 54~?Q 94~?)~4BYy (>Q I  @~DI~:i~:~<}4yɮA:i9=FNOT Ignoring new targets: 546.57 m."iEsI7*iEsI7U ProNav: ac range: 546.574890 m, nav range: 525.445801 m, bearing: 16.613360 deg, approach rate: -0.441949 m/s, LOS rate: 0.000688 deg/s, cmd heading: 17.789868 deg, new cmd heading: 17.790381 deg. iU)7UHeadingCmd: 0.310501 target range: 546.574890 and range: 547.70 m.h]>hYhYhYhYgYgajgargaeareiZei:ei*emע!@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseBa>BB5 IBcBBBBDB=;BPEcoBɢe) @i)i%z=yI>E EE$E"E;*EAr:VE4ZEBEA- T****** received valid address query ******5 R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapse1 Q .%,__iLA2=2">2_S ٱ2+=2H _?տZ`o?@?@\?`)Y??i2=I2{;2CYNcByN IbDVVDV8y =% G=ٔݻQ->9Y=EyD E%>!Q 5-4%e?Q 954%)%4BY1y5 >Q I5 @%DI%;i%;%h4y9ɮE5AA]B*** querying acoustic contact ***iYiY:iq}FNOT Ignoring new targets: 546.57 m."i}K7*i}K7 ProNav: ac range: 546.574890 m, nav range: 525.264465 m, bearing: 16.613647 deg, approach rate: -0.440356 m/s, LOS rate: 0.000697 deg/s, cmd heading: 17.790380 deg, new cmd heading: 17.790954 deg. i.7HeadingCmd: 0.310511 target range: 546.574890 and range: 547.70 m.hC>hhhhggjgrgereZe:e*ew"@oBɢ U)  DAi)i)%͌=%NG=I%C>I))@ @@0@A>A>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseII E EE&E"Es:*Ez:VE4ZEa@a@a@a@YOl>ԁ = T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapse] %,?LA0O= X>B1ٱ~=H`h?Ԅտ``?!??`e?`W?iO=IJT|;CY%cBy% IiMb@Mb@Mb@ 9%C?~jt~jtYZ>yDvA A);qAŶAbDLVDޱ8y=%%:=ٔ%лQ-%>9!Y)=-Ey-D5dE=>YQ 5e4]L?Q 9e4]w)]+4BYm>Q Em:ym>Q Im @]DI] ;i] ;])4yyɮ}A}E:iFNOT Ignoring new targets: 546.57 m."iI*iI ProNav: ac range: 546.574890 m, nav range: 525.067444 m, bearing: 16.613628 deg, approach rate: -0.444613 m/s, LOS rate: -0.000043 deg/s, cmd heading: 17.790954 deg, new cmd heading: 17.790916 deg. i:HeadingCmd: 0.310510 target range: 546.574890 and range: 547.70 m.h->hhhhggjgrgereZe:e*e`X#@oBɢP) Bi )   i -J==I->Iԁ:@ @@ 0@ԱBuM>BuCBug IBuOdBBu =BqBuDBu;BuPET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE EEE"E:*Ex:VEZEBE6r&%,- LA2=2q>>2^ٱ2%=2H?տ`񥹿??/?w?@?i2=I2|;2CY>cBy> IbDF2VDFƱ8yN=%Rg=ٔRQ-R>9TYT=VEyVDVEV>X`Q 5b4Z?Q 9b4ZL)Z<4BYdyfҔ>Q If @ZDIZ-;iZ.;ZB4yhɮjׁAh:i|FNOT Ignoring new targets: 546.57 m."i*i ProNav: ac range: 546.574890 m, nav range: 524.912537 m, bearing: 16.613616 deg, approach rate: -0.443770 m/s, LOS rate: -0.000033 deg/s, cmd heading: 17.790916 deg, new cmd heading: 17.790893 deg. irzHeadingCmd: 0.310510 target range: 546.574890 and range: 547.70 m.h>hhhhggjgrgereZe:e*e$@pBɢ%e)1 Di)顙i1=x=I>IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@0@^Aõ=I  -%,LA ]=]r>]ٱ]}=]H?хտiGU??`1 ¿{f?@??i]=I]$|;]CYcBy$ Ii Mb@Mb@Mb@     9 {Gz?Mb:vY >y  T OuA A ) oA Y QA9bDe VDe8yu+=%u=ٔ}Q-}>9yY=EyD%E>Q 54?Q 94a)X4BY>Q E:y_>Q I @DIP;i;4yQBɮA:iFNOT Ignoring new targets: 546.57 m."ir*ir ProNav: ac range: 546.574890 m, nav range: 524.677429 m, bearing: 16.612969 deg, approach rate: -0.437562 m/s, LOS rate: -0.001205 deg/s, cmd heading: 17.790893 deg, new cmd heading: 17.789597 deg. i( HeadingCmd: 0.310487 target range: 546.574890 and range: 547.70 m.h)>hh!h!h!g!g!jg)rg)e)re)Ze):e1*e5\%@]HpBɢeHdC)a eZFia)aaiim4u6ĕ=u=I})>IyI)xADAT read: 2Acoustic response timeout@ @@0@iԑ ^A =A zA xABm @>Bm CBm IBm dBBm =Bi Bm DBm ;Bm OEB=ͪCB=ͩCB=͕CB=͚ =B=͜ =C=z\6A I  2Acoustic response timeoutI O >Ƕ4%,ӰLA6t=6ƨ>6hٱ6=6H`w?@տ 캿@v~?t? a:¿ͻ??~?i6t=I6Su{;4 rLC)rArףttv CtivDIttIxizA zYzF)x~C ~I~A~D||E- E-E-%E)"E-l;*E-:VE- 4ZE)BE-]F9)Y)=-Ey-D-ʺE5>1Q 5E45 ?Q 9E45 )5k4BYAyE>Q IE @5DI5: ;i5 ;54yYɮe?Aa:iFNOT Ignoring new targets: 546.57 m."ii*ii ProNav: ac range: 546.574890 m, nav range: 524.512573 m, bearing: 16.612525 deg, approach rate: -0.442507 m/s, LOS rate: -0.001191 deg/s, cmd heading: 17.789598 deg, new cmd heading: 17.788711 deg. i HeadingCmd: 0.310472 target range: 546.574890 and range: 547.70 m.h!>hhhhggjgrgereZe:e*e%@1|pBɢ0R_) Gi)iv85ԕ=5=I=!>I9@ @@/@@a=@=a2Acoustic response timeoutԑ ^A- 箵= BG  5 ]91 Y5 /ZAA] .AIi I O >:;%,9LAJ=JZ>JrWٱJ=JH?Z|տ` n? "?q¿W??x?iJ=IJy;JCYedByeG I u=u4=bD},VD}8y=%O=ٔZHQ->9 ?Y ?=EyDE>Q 54?Q 94)4BYy>Q I @DI:iG:4yɮAEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 546.57 m."i*i ProNav: ac range: 546.574890 m, nav range: 524.338379 m, bearing: 16.612072 deg, approach rate: -0.448426 m/s, LOS rate: -0.001168 deg/s, cmd heading: 17.788710 deg, new cmd heading: 17.787803 deg. iHeadingCmd: 0.310456 target range: 546.574890 and range: 547.70 m.h>hhhhg g jg rg ereZe:e*e.&@EpBɢEO2m)I MHiI)IIQiU<<]9=]³=I]>Ii2Acoustic response timeoutQE EE&E"E:*E:VE4ZEa=@a=@aE@aE@9@ @@0@y^A! ԡ m 2Acoustic response timeoutI1 IA OU >A%,LAFٱFfC=FH@B? zտΩf??¿??`~u?iFM=IFVw;FCY3dByV IiMb@Mb@Mb@ 9!rh?MbytfvA`A A)YAbD&VD8yc=%F=ٔQ->9Y=EyD8|E>Q 54(?Q 94)4BY>Q E:y(>Q I @DI:i:&4yɮA:iFNOT Ignoring new targets: 546.57 m."i*i ProNav: ac range: 546.574890 m, nav range: 524.153259 m, bearing: 16.611569 deg, approach rate: -0.429163 m/s, LOS rate: -0.001165 deg/s, cmd heading: 17.787804 deg, new cmd heading: 17.786799 deg. iiHeadingCmd: 0.310438 target range: 546.574890 and range: 547.70 m.h>hhhhggjgrgereZe:e*e@'@}pBɢ}\W)y }Kiyԡ)i?s=VR=I>IBYAYBm4>BmCBm IBmdBBm =BiBmDBme;BmOE2Acoustic response timeout9@ @@[2@E EE(E"E&:*E:VEc44ZEBEe;A% >I I O >H%,!LAlY~`dBy~r I2Acoustic response timeoutbD-VD-8yM8=%MR=ٔ]Q-]>9aYa=eEyeDmEm>qQ 5}4u6?Q 9}4u)u4BYyyyQ I @u*DIuS:iuK:u4yRBɮA:iFNOT Ignoring new targets: 546.57 m."iY*iY ProNav: ac range: 546.574890 m, nav range: 523.977783 m, bearing: 16.611093 deg, approach rate: -0.473747 m/s, LOS rate: -0.001286 deg/s, cmd heading: 17.786800 deg, new cmd heading: 17.785847 deg. iHeadingCmd: 0.310422 target range: 546.574890 and range: 547.70 m.h>hhhhggjgrgereZe:e*e >(@qBɢjp) 2Ki)iUC%w=%=I%>I)@ @@0@@zA@zA9^AI1IAOU>2Acoustic response timeoutE%  E% E% 'E! "E% V:*E% ą:VE% '4ZE! aE @aE @aM @aM @a AN%,:;LAB =Bq>Bd"ٱB=BH?pտ)ѽ`UQ?x?¿;?{?o?iB =IBt;BCYntdByn~ I9ieMb@Mb@Mb@aaaa a9e'1Z?Mb`/$Ye>yeee9tAeIA e1A)elAaYepAbD}VD}8y<=%F=ٔ]8Q->9Y=EyDE)E%>!Q 5-4%E?Q 954%)%4BY5>Q E5:y5>Q I5 @%6DI%;i%;%n4yAɮEaAA:iamFNOT Ignoring new targets: 546.57 m."iu*iu} ProNav: ac range: 546.574890 m, nav range: 523.789795 m, bearing: 16.610318 deg, approach rate: -0.440138 m/s, LOS rate: -0.001815 deg/s, cmd heading: 17.785847 deg, new cmd heading: 17.784296 deg. iTHeadingCmd: 0.310395 target range: 546.574890 and range: 547.70 m.h>hhhhggjgrgereZe:e*e@L)@JqBɢO^) nMi)iF==I>I=BDAT read: Response Not Received =*response not receivedMTDAT read: user:104>Tx time:04:08:35.5390 MԹ Be ,>Be CBe IBe XeBBe =Ba Be DBe !;Be 6OE DAT read:  2Acoustic response timeout'U%,ULA2^L=2&>2B$ٱ2x=2H)?`eտ _B?@?¿?n?@6m?i2^L=I25:r;2CY>dBy> IbDJVDJ8yR=%R[=ٔRQ-R>9TYT=VEyVDVEZ>XD\zD^@AEf EfEf(Ed"Ef&:*Efh:VEfc44ZEdBEdaj2EdajJEf;aj:Ef;ajQ 5n4ZER?Q 9n4Z)Z4BYpyrK>Q Ir @Z@DIZ;iZ;Zľ4yvSBɮvAvE:iquFNOT Ignoring new targets: 546.57 m.ԙ"i*i ProNav: ac range: 546.574890 m, nav range: 523.632874 m, bearing: 16.609686 deg, approach rate: -0.421639 m/s, LOS rate: -0.001700 deg/s, cmd heading: 17.784296 deg, new cmd heading: 17.783031 deg. i!GHeadingCmd: 0.310372 target range: 546.574890 and range: 547.70 m.h#>hhhhggjgrgereZe:e*e @)@U|qBɢ]&3k)Y ]MiY)YYaie{Jm=m>=Im#>IiI@I @I@M0@I=2Acoustic response timeout^Am٦=AqzAqIIO >! {Q[%,xoLA2q=25>2&ٱ2[=2H? Zտv뾿2??@I¿>?Z?j?i2q=I2jyp;2CY>dBy> IbDFVDF8yN%NK=ٔR^Q-R>9PYP=VEyVDVEV>XQ 5^4Zw`?Q 9^4ZF)Z4BY`ybӦ>Q Ib @ZKDIZo;iZ;Z˾4ydɮf-Ad:ixzFNOT Ignoring new targets: 546.57 m."i~*i~  ProNav: ac range: 546.574890 m, nav range: 523.455200 m, bearing: 16.608987 deg, approach rate: -0.458356 m/s, LOS rate: -0.001803 deg/s, cmd heading: 17.783031 deg, new cmd heading: 17.781633 deg. i :SHeadingCmd: 0.310348 target range: 546.574890 and range: 547.70 m.h>hhhhggjgrg!e!re!Ze!:e!*e-H*@UqBɢUir)Q UQi)iNM)=ݮ=I>I2Acoustic response timeout@ @@E EE%E"E%;*E:VE 4ZEa%@a-@a-@a-@@@M=@M=)^A5ϰ=QIIO>M 2Acoustic response timeouty m9b%,XTLA6=6G>6ſ(ٱ6.=6H?@Pտ@sn%?`?¿ ?B?~h?i6=I6#o;4Y^dByb IiEMb@Mb@Mb@AAAA A9E)\(?~jtS㥛YEG>yEDE/ݼE rAEA EA)EjjAAYEAbD])VD]8ym>%m>=ٔu\Q-u>9qYq=uEy}D}BE}>Q 54o?Q 94)4BY>Q E:y>Q I @WDI:i:<Ӿ4yɮ\AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 546.57 m."iA*iAQe ProNav: ac range: 546.574890 m, nav range: 523.266235 m, bearing: 16.608701 deg, approach rate: -0.437937 m/s, LOS rate: -0.000662 deg/s, cmd heading: 17.781633 deg, new cmd heading: 17.781061 deg. ie+mHeadingCmd: 0.310338 target range: 546.574890 and range: 547.70 m.hm>hihqhqhggjgrgereZe:e*e+@qBɢ[)! %~Qi!)!!!i%.PU6=U=IU>IQ9@ @@@B&>BB< IBeBB =BBBՕ;BNEԁ2Acoustic response timeoutD=D<E EE*E"E;*E&p:VE(N4ZEBE@ uh%,zLAN=Nͥ>N?*ٱNF=NH`? pDտ翿=?C?@^¿8? 4?`Cf?iN=INm;LYZdByZ IbDf.VDf±8n2Acoustic response timeoutyr`k=%rQ=ٔrQ-r>9tYt=vEyvDzEz>|Q 54~t}?Q 94~q)~5BYy>Q I @~bDI~\:i~2:~ھ4yɮA:i9=FNOT Ignoring new targets: 546.57 m."iEO5*iEO5M ProNav: ac range: 546.574890 m, nav range: 523.094788 m, bearing: 16.608460 deg, approach rate: -0.439403 m/s, LOS rate: -0.000619 deg/s, cmd heading: 17.781060 deg, new cmd heading: 17.780577 deg. iU ]HeadingCmd: 0.310330 target range: 546.574890 and range: 547.70 m.h]>hYhYhYhYgYgajgargaeareiZei:ei*em`B,@5rBɢ=EEr)9 =Si9)9AAiEF4TMYA=M!=IM>IQԑ9@ @@0@Թ^A "=A>A>2Acoustic response timeoutE  E E %E "E *E :VE 4ZE a @a @a @a @Am ؟AI I O > n%, LAY~ eBy~ IiMb@Mb@Mb@ 9)\(?{GzX9vYyףA )=hAYAbDVVD8y=%?=ٔQ->9"?Y"?=Ey(DE>Q 54?Q 94 )5BY>Q E:y:>Q I @nDI:i:4yɮv~A:iFNOT Ignoring new targets: 546.57 m."i%r6*i%r6- ProNav: ac range: 546.574890 m, nav range: 522.906677 m, bearing: 16.608548 deg, approach rate: -0.439533 m/s, LOS rate: 0.000207 deg/s, cmd heading: 17.780577 deg, new cmd heading: 17.780754 deg. i56=HeadingCmd: 0.310333 target range: 546.574890 and range: 547.70 m.h=>h9h9h9h9g9g9jgArgAeAreAZeI:eI*eM-@}LrBɢ}cj)y }!Tiy)顁i0WL=j=I>Iԑ 2Acoustic response timeout%:@! @!@-0@)@5yA@5xAԹ^AM 벫= B ">B CB t IB fBB B B DB ;B NEAy I I  2Acoustic response timeoutO >Vu%,'ױLAEB EBEB)E@"EB;*EBą:VEBFA4ZE@BEBA/=>ߤ>>Z.Pٱ> c=>H ? ,տtB? ? m¿`g?@?a?i>/=I>k;>CYZ:eByZ IbDfLVDfޱ8yj>%nX=ٔn? Q-n>9pYp=rEyr0Dv֜Ev>xQ 5z4z?Q 9~4z)z05BY|y~D>Q I~ @zyDIz;iz;z'4y TBɮ }A E:i)5FNOT Ignoring new targets: 546.57 m."i5!6*i5!6M ProNav: ac range: 546.574890 m, nav range: 522.740417 m, bearing: 16.608660 deg, approach rate: -0.439579 m/s, LOS rate: 0.000297 deg/s, cmd heading: 17.780755 deg, new cmd heading: 17.780980 deg. iMN 7UHeadingCmd: 0.310337 target range: 546.574890 and range: 547.70 m.hUr>hQhQhQhQgQgQjgYrgYeYreaZea:ea*ee-@ ~rBɢSo) 6Ti)i Z%V=%=I%r>I!9@ @@@2Acoustic response timeout ^Aʞ=A I I O >) 1{%,LA2Q=2-h>270ٱ29=2H`v?!տ@?@V ?¿@.?!?f_?i2Q=I2zk;2CY>XeBy> IbDF@VDFӱ8yN=%RN=ٔRlQ-R>9TYT=VEyV8DVEV>XQ 5^4Z7?Q 9b4Z)ZA5BY`ybɐ>Q Ib @ZDIZ:iZ0;Z4ydɮf@}Ah:ixzFNOT Ignoring new targets: 546.57 m.|"i6*i6 ProNav: ac range: 546.574890 m, nav range: 522.566223 m, bearing: 16.608796 deg, approach rate: -0.439437 m/s, LOS rate: 0.000342 deg/s, cmd heading: 17.780980 deg, new cmd heading: 17.781252 deg. iq 7HeadingCmd: 0.310341 target range: 546.574890 and range: 547.70 m.h>hhhhggjgrgereZe:e*e1.@rBɢp) wUi)i^ _= Ƨ=I >I ]2Acoustic response timeout}9@y @@@bE=!4jE=ã#4rE=0E EE$E"E;*E:VE4ZEa@a@a@a@1Q^AU=AexAzAa 2Acoustic response timeoutԁ A I I O >%,@ LA2{=2>22ٱ2.3=2H@?տk?[ ?¿/%??\?i2{=I2k;2CY>weBy> Ii-Mb@Mb@Mb@)))) )9--?X9v rhY-5>y--C -oA-A -A)-"gA)Y-~AbDEVDE8yM9=%U@=ٔUQ-U>Y9QYY=eEye@DeݷEe>iQ 5u4m[?Q 9u4mM)mR5BY}t>Q E}:y}>Q I} @mDIm%;iml;m4yUBɮ|AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 546.57 m."i7*i7 ProNav: ac range: 546.574890 m, nav range: 522.380493 m, bearing: 16.609461 deg, approach rate: -0.433886 m/s, LOS rate: 0.001554 deg/s, cmd heading: 17.781252 deg, new cmd heading: 17.782582 deg. i68HeadingCmd: 0.310365 target range: 546.574890 and range: 547.70 m.h>hhhhggjgrgereZe:e*e`܅/@rBɢ]+m) Vi)顙i0ah==I>I-9@) @1@1@1@==@==ԉBAB>BB IBVfBB =BBB];BbNEB]ĢCB]ĢCB]ĔCB]ħ =B]Ħ =C]b5e2Acoustic response timeoutE EE%E"EV:*E:VE 4ZEBE9 I%,$LA2=2^>23ٱ2=2H?gտ5(N??ÿ _?z?CZ?i2=I2=j;2CY>eBy>1 IbDFVDF8yN=%RV=ٔRԛQ-R>9TYT=VEyVHDVo(EV>Xi`I`b2Acoustic response timeoutQ 5f4Z?Q 9f4Z3)Za5BYdyf4>Q If @ZDIZ];iZ]^;Z34ylɮnJ|Al:iyFNOT Ignoring new targets: 546.57 m."i7*i7 ProNav: ac range: 546.574890 m, nav range: 522.215149 m, bearing: 16.610072 deg, approach rate: -0.415821 m/s, LOS rate: 0.001536 deg/s, cmd heading: 17.782582 deg, new cmd heading: 17.783804 deg. i38HeadingCmd: 0.310386 target range: 546.574890 and range: 547.70 m.h>hhhhggjgrgereZe:e*e (0@Թ aa݂Gqb9YAsBɢ`) mXi)!!!i%c}q=}(=I}>I9@ @@%,4@!uBDAT read: Rx Time:04:08:38.6555 }TRx dataTimestamp_ set to:1764907720.850922}2Acoustic response timeoutE  E E E "E ;*E VE ZE a @a @a @a @^AM =A A .AI I O >%%,ۇ?LAYeByQ IԡiMb@Mb@Mb@ 9S㥛?ˡEL7A`堿Y>y'+nAxA )dAY|AbD-VD-8yEu=%M-=ٔMQ-M>9U ?YU ?=UEyURDUE]>aQ 5m4eQ Em:ymVq>Q Im @eDIeA:ie:ez4yyɮ}}{AE]2Acoustic response timeout:iFNOT Ignoring new targets: 546.57 m."i:8*i:8 ProNav: ac range: 546.574890 m, nav range: 522.003174 m, bearing: 16.611335 deg, approach rate: -0.428092 m/s, LOS rate: 0.002552 deg/s, cmd heading: 17.783803 deg, new cmd heading: 17.786330 deg. ip8HeadingCmd: 0.310430 target range: 546.574890 and range: 547.70 m.h>hhhhggjgrge!re!Ze!:e!*e%0@颕TsBɢfh) Xi)顙ify=|_=I>I)9@ @@N5@B >B CB IB fBB =B B B ;B NE %= 4=) M DAT read: 04:08:38.6555 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 363,-0.26,-1.119,-2.639,-0.821,-1.493, PHS= 0.476,-1.101, 0.628, RAW= 154.6, -0.0, CAL= 153.4, -1.1, ROT= 356.6, 1.1 U Ygot valid direction response: 04:08:38.6555 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 363,-0.26,-1.119,-2.639,-0.821,-1.493, PHS= 0.476,-1.101, 0.628, RAW= 154.6, -0.0, CAL= 153.4, -1.1, ROT= 356.6, 1.1 ] 8DAT read: $Error in header e *Received a bad header^A h=A >A > X#Rx 1: Read direction message, but no range. `direction in FSK: [0.998056,-0.059296,-0.019197]y  3?{[]~     ) KI F>i 팿 ? ,@  uY+@  nF) )@I nF<  gZ?_A&?]D  b?) ':I si nF<- 2Acoustic response timeoutEM  EM EM (EI "EM ;*EM ~:VEM c44ZEI BEM UQ%,\LA,Bw=Bq>B%N7ٱBB=BH?Կ@? ?` ÿ}??`mU?iBw=IBeej;BCY^eBy^c IbDfVDfY8y==%=A=ٔEQ-E>9AYA=EEyMZDMuEM>qQ 5}4u?Q 9}4u)u5BYyo>Q I @uDIuh:iu:u 4yɮ {A:iFNOT Ignoring new targets: 546.57 m."i2[8*i2[8% ProNav: ac range: 546.574890 m, nav range: 521.811829 m, bearing: 16.612524 deg, approach rate: -0.481664 m/s, LOS rate: 0.002994 deg/s, cmd heading: 17.786330 deg, new cmd heading: 17.788709 deg. i%[8-HeadingCmd: 0.310472 target range: 546.574890 and range: 547.70 m.h- >h)h)h1h1g1g1jg1rg9e9re9Ze9:e9*eE 1@sBɢ=p)! %Yi!)!!)i-i=}===I= >IAԉ2Acoustic response timeout:@ @@5@@zA@zAԱ^A A1 I9 IQ O] >%,!vLA2Acoustic response timeout6=6x>68ٱ6+=6H`?@ԿΎ??@6ÿ??@R?i6=I6Ik;6CYBfByB IbDJVDJ8yR>%VU=ٔV@Q-V>9XYX=ZEyZbDZoEZ>\`Q 5f4b?Q 9f4b)b5BYdyjm>Q Ij @bDIb.:ib:b4yUZBɮUbzAE EE&E"E ;*E:VE4ZEa@a@a@a@5E:iYeFNOT Ignoring new targets: 546.57 m."i18*i18 ProNav: ac range: 546.574890 m, nav range: 521.641541 m, bearing: 16.613609 deg, approach rate: -0.379651 m/s, LOS rate: 0.002419 deg/s, cmd heading: 17.788709 deg, new cmd heading: 17.790879 deg. i8HeadingCmd: 0.310509 target range: 546.574890 and range: 547.70 m.h>hhhhggjgrgere Ze :e *e 91@]sBɢ]g)Y ].ZiY)Yaaim[vl==I>I9@ @@O5@2Acoustic response timeout^A% `=I Au ؟AIy I  PExceeded connect timeout, disconnecting.O >%,%LA2ȏ=2>2l:ٱ2d=2H@?`ԿNo?N?@ÿ,??P?i2ȏ=I2wk;0Y>EfBy> IdiMb@Mb@Mb@ 9w/?/$QY>y,lAA xA)bAY {AAAAAB>BBIBgBBBBB;BMEbDVDt8y=%3=ٔLUQ->9"?Y"?=EykD\E> Q 54 ?Q 94 z) 5BYk>Q E:yLi>Q I @ DI V:i : 4y%[Bɮ%yA!=B*** querying acoustic contact ***i9i9:iIUFNOT Ignoring new targets: 546.57 m."iUL8*iUL8e ProNav: ac range: 546.574890 m, nav range: 521.436401 m, bearing: 16.615011 deg, approach rate: -0.540463 m/s, LOS rate: 0.003696 deg/s, cmd heading: 17.790879 deg, new cmd heading: 17.793685 deg. imz8mHeadingCmd: 0.310558 target range: 546.574890 and range: 547.70 m.hm>hihqhqhqgqgqjgyrgyeyreyZey:e*e ?1@2Acoustic response timeout-sBɢ-|)1 5Zi1)111i5o]=e=Ie>IaEe EeEaEa"Ee:*Ee|:VEaZEaBEe<E8%,nݪLA2=2>2]<ٱ2=2H?Կ7¿O??`[Nÿ Aa?#?M?i2=I2k;2CY>mfBy> IbDFVDF8yNZ=%jd=ٔn,Q-r>9pYp=vEyvsDvEz>9|Q 54~j?Q 94~)~5BYyJg>Q I @~DI~;i~;~!4y\Bɮ-yAE:iFNOT Ignoring new targets: 546.57 m."i\8*i\8 ProNav: ac range: 546.574890 m, nav range: 521.271057 m, bearing: 16.616178 deg, approach rate: -0.427013 m/s, LOS rate: 0.003015 deg/s, cmd heading: 17.793684 deg, new cmd heading: 17.796019 deg. i8HeadingCmd: 0.310599 target range: 546.574890 and range: 547.70 m.h>hhhhggjgrgere Ze :e *e ?D2@=tBɢ=1~)9 =ZiA)AAAiErM&=M1)=IM>IQ@ @@K4@@@=i=<2Acoustic response timeoutE EE%ԹE"E;*E:VE 4ZEa@a@a@a@^A5D=A I I O > ) %,IJLA2 p=2>2=ٱ2=2H0?Կ m¿/?F$?6_ÿ?`7?JK?i2 p=I2l;2CY>fBy> IiMb@Mb@Mb@ 9%C?MbI +YZ>y@9kAbA A)`AYyAbD5VD58yE=%E@=ٔEuQ-M>9IYI=MEyM{DUOEU>e2Acoustic response timeoutԹQ 54b"?Q 94pQ =tI)5BY>Q E:yV>Q I @DI;iS;)4yɮxA :i)-FNOT Ignoring new targets: 546.57 m."i58*i58E ProNav: ac range: 546.574890 m, nav range: 521.077942 m, bearing: 16.617886 deg, approach rate: -0.465901 m/s, LOS rate: 0.004123 deg/s, cmd heading: 17.796019 deg, new cmd heading: 17.799436 deg. iEs8MHeadingCmd: 0.310659 target range: 546.574890 and range: 547.70 m.hM>hIhIhIhQgQgQjgYrgYeYreYZea:ea*eew2@颍NtBɢGq) j[i)顙iou=!֔=I>II@I @I@M4@InManaging dock network, ignoring radio surface power offB >BCB[IB|gBBB8DBDB;BME^A= 2Acoustic response timeoutD zD AAE  E E $E "E ;*E x:VE 4ZE BE UQ9 6_3?ٱ6s=6H ?hԿ ¿?@=*?`zdÿ`?x;?@I?i6i=I6k;4Y^fBy^ IbDfVDf8yn=%rQ=ٔruQ-r>9pYt=vEyvDvwͻEv>xQ 5~4z0?Q 94z)z5BYyAT>Q I @zDIz` ;iz: ;z04y ]Bɮ xA:i1=FNOT Ignoring new targets: 546.57 m."i=T8*i=T8M ProNav: ac range: 546.574890 m, nav range: 520.912598 m, bearing: 16.619395 deg, approach rate: -0.444034 m/s, LOS rate: 0.004052 deg/s, cmd heading: 17.799437 deg, new cmd heading: 17.802455 deg. iMS8UHeadingCmd: 0.310711 target range: 546.574890 and range: 547.70 m.hU>hQhQhYhYgYgYjgargaeareaZea:ei*em 3@颥|tBɢ#}) +\i)项iex=1=I>Iym2Acoustic response timeout:@ @@4@A^Am=qAyA}>Ii Iy O >ԙ  2Acoustic response timeoutvt%,oLAYfBy IbD%/VD%ñ8EU EUEU)EQ"EU ;*EU:VEUFA4ZEQa]@a]@a]@a]@ym=%mB=ٔmQ-u>9qYq=uEyuD}E>Q 54??Q 94) 6BYyQ I @DI:iK:x74yɮLwA:i1EFNOT Ignoring new targets: 546.57 m."iMϏ8*iUϏ8y ProNav: ac range: 546.574890 m, nav range: 520.724976 m, bearing: 16.621108 deg, approach rate: -0.430105 m/s, LOS rate: 0.003929 deg/s, cmd heading: 17.802454 deg, new cmd heading: 17.805882 deg. i8]HeadingCmd: 0.310771 target range: 546.574890 and range: 547.70 m.h]i>hahahahaggjgrgereZe:e*e3@5tBɢ5`_)1 5 ]i9)999i=.zE=E=Ii>Iԡ=9@9 @A@EO5@A@I@I}2Acoustic response timeout^AE = I! I1 O= >PĬ%,*LA:ܬ=:ʚ>:Aٱ:=:H ?Կÿ$?z7?Wÿ@??xE?i:ܬ=I:*j;:CYF:gByF3Ii-Mb@Mb@Mb@)))) )9-MbX9?Zd;Oy-j<-t-SiA-IA -xA)-j^A)Y-QxAbDE6VDEʱ8yUP>%UM=ٔ]лQ-]>9YYY=]Ey]DeeTEe>iQ 5u4mN?Q 9u4m)m#6BYu4>Q E}:y}N>Q I} @mDImj;im;mj>4yɮuAB>BCBIBgBB =BB DB;BsME:iFNOT Ignoring new targets: 546.57 m."id8*id8 ProNav: ac range: 546.574890 m, nav range: 520.550964 m, bearing: 16.622798 deg, approach rate: -0.448387 m/s, LOS rate: 0.004355 deg/s, cmd heading: 17.805881 deg, new cmd heading: 17.809261 deg. i8HeadingCmd: 0.310830 target range: 546.574890 and range: 547.70 m.h$%>hihihihigigqjgqrgqeqreyZey:ey*e}3@%=2Acoustic response timeouttBɢy) Zi)i}U {=U^5=IU$%>IQEm EmEm&Ei"Em;*Em|:VEm4ZEiBEmA 2Acoustic response timeoutvʬ%,+LABz=BXt>BCٱBc=BH9?@@ӿGÿٍ?f>?@Iÿ p9Y= Ey D VڻE>Q 5-4C\?Q 9-4);6BY)y5CL>Q I5 @DI1;i9;FE4yɮuAEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 546.57 m."i8*i8 ProNav: ac range: 546.574890 m, nav range: 520.379150 m, bearing: 16.624518 deg, approach rate: -0.422945 m/s, LOS rate: 0.004235 deg/s, cmd heading: 17.809261 deg, new cmd heading: 17.812702 deg. i8HeadingCmd: 0.310890 target range: 546.574890 and range: 547.70 m.h->hh h h g g jgrgereZe:e*eH4@EuBɢM{)I M]iI)IQQiU<]Tr=]|p=I]->IaQ@ @@3@^Ab$=AzAzAI)I9OE0>2Acoustic response timeoutybEǞ4jE4rEַ/E} E}E}'Ey"E} ;*E}Z:VE}'4ZEya@a@a@a@Ա ^Ѭ%,ELA6Ѣ=6%H>6uDٱ6:h=6H?ӿCÿ@di? UD?@@ÿy A)S]AYwAbD5VD58yE=%EE=ٔMWQ-M>9IYI=UEyUDUǵEU>e2Acoustic response timeoutaQ 5m4ek?Q 9u4e)eX6BYu'>Q Eu:yuAn>Q Iu @eDIeC:ieP ;eL4yɮ.uA:iFNOT Ignoring new targets: 546.57 m."iZ8*iZ8 ProNav: ac range: 546.574890 m, nav range: 520.192261 m, bearing: 16.625702 deg, approach rate: -0.471081 m/s, LOS rate: 0.002987 deg/s, cmd heading: 17.812701 deg, new cmd heading: 17.815071 deg. i8HeadingCmd: 0.310932 target range: 546.574890 and range: 547.70 m.ho2>hhhhggjgrgereZe:e*e@U4@颭DuBɢr) I]i)idyif=b=Io2>IԱ@ @@4@@=@=B>BCBIBfhBB =BB DBu;B=MEBǟCBǝCBǖCBBǫ =C6^A8= 2Acoustic response timeoutI I) O= > E  E E &E "E :*E VE 4ZE BE <%=K=ٔEQ-M>9IYI=MEyMDUE>Q 54{?Q 94l)u6BYyQ I @)DIVT;iQY;S4y^BɮbtA:i!%FNOT Ignoring new targets: 546.57 m."i-\P8*i-\P8= ProNav: ac range: 546.574890 m, nav range: 520.004211 m, bearing: 16.626895 deg, approach rate: -0.448491 m/s, LOS rate: 0.002846 deg/s, cmd heading: 17.815071 deg, new cmd heading: 17.817458 deg. i=8EHeadingCmd: 0.310973 target range: 546.574890 and range: 547.70 m.hE7>hAhAhAhIgIgIjgIrgIeQreQZeQ:eY*e]5@颅tuBɢw) ]i)顉i)ɂ0[=&=I7>I @ @@&4@m2Acoustic response timeoutUpGid9YaA1^AUX=IIO>a  2Acoustic response timeoutݬ%,GuyLAYgByIbD5LVD5ޱ8EE EEEE'EA"EE;*EEą:VEE'4ZEAaM@aM@aM@aM@Qy] >%]H=ٔaQ-e>9aYa=eEyeDiEm>qQ 5}4u?Q 9}4uX)u6BYyyyQ I @u4DIu:iu;uZ4yɮzsA:iyFNOT Ignoring new targets: 546.57 m."iKQ8*iKQ85 ProNav: ac range: 546.574890 m, nav range: 519.826843 m, bearing: 16.628021 deg, approach rate: -0.450134 m/s, LOS rate: 0.002859 deg/s, cmd heading: 17.817459 deg, new cmd heading: 17.819712 deg. i5o8HeadingCmd: 0.311013 target range: 546.574890 and range: 547.70 m.h =>hhhhggjgrgere Ze:e*e%5@iuBɢ `)  ]i)AAAiE?UM=U%=IU =>Ia:@ @@4@}2Acoustic response timeoutԑ ^A= |=AE >AE >I9 II OU >(%,nLAAAB">B"CB"6IB"hBB" =B B"DB"L;B"MEL^ݖ=^J>^Gٱ^SX=^H ?xӿ hĿ@t ?`T?@Pÿ@?-?`=?i^ݖ=I^eKd;^CYjhBynIieMb@Mb@Mb@aaaa a9ekt?:vI +Ye >yeԼe9e"gAeA eԈA)e=\AaYevAbD}9VD}ͱ8y=%9=ٔQ->9Y=EyDWE>Q 54?Q 94)6BY>Q E:y\v>Q I @ADI;i;db4y_BɮrAE2Acoustic response timeout:iFNOT Ignoring new targets: 546.57 m."i;8*i;8 ProNav: ac range: 546.574890 m, nav range: 519.620972 m, bearing: 16.629149 deg, approach rate: -0.468229 m/s, LOS rate: 0.002566 deg/s, cmd heading: 17.819711 deg, new cmd heading: 17.821967 deg. iH8HeadingCmd: 0.311052 target range: 546.574890 and range: 547.70 m.h6B>hhhhggjgrgereZe:e*e A5@-uBɢ-g)) -_\i1)111i5n=>==i=I=6B>IAEM EMEM%EI"EM;*EM~:VEM 4ZEIBEMDA%,7LA2d=2謔>2 Iٱ2y=2HB?,hӿ8Ŀ?@V?`ÿ??0hBy>IbDF1VDFű8yRi=%R[=ٔV9Q-V>9TYT=VEyZDZSEZ>\Q 5b4^?Q 9b4^)^6BYdyf u>Q If @^LDI^:i^:^h4yhɮj8rAhzB*** querying acoustic contact ***ixix|:i FNOT Ignoring new targets: 546.57 m."i  ?8*i  ?8 ProNav: ac range: 546.574890 m, nav range: 519.447327 m, bearing: 16.630124 deg, approach rate: -0.464608 m/s, LOS rate: 0.002610 deg/s, cmd heading: 17.821968 deg, new cmd heading: 17.823919 deg. i%֘8%HeadingCmd: 0.311086 target range: 546.574890 and range: 547.70 m.h%F>h)h)h)h)g)g)jg1rg1e1re1Ze1:e9*e=N6@evBɢmՃ)i mR]ii)iqqiu3n/=g=IF>I:@ @@4@)^Amfm=II2Acoustic response timeoutO )>Ee EeEe&Ea"Ee ;*Ee:VEe4ZEaam@am@am@am@Qԁ )%,ɳLA"2Acoustic response timeout6Y(=6>6UJٱ6=6H@?@Yӿ/cĿ? X?@z)ÿ ?y?9?i6Y(=I6c;6CYfchByfIYiUMb@Mb@Mb@QQQQ Q9U/$?I +I +YU&>yU9QU fAUA UIA)UZAQYU(tAbDuSVDu8y3=%==ٔ?Q->9Y=EyD^%E>Q 54??Q 94)6BY>Q E:y|>Q I @YDI:iV:|p4yɮoqA:iFNOT Ignoring new targets: 546.57 m."i#8*i#8 ProNav: ac range: 546.574890 m, nav range: 519.245361 m, bearing: 16.631089 deg, approach rate: -0.468032 m/s, LOS rate: 0.002236 deg/s, cmd heading: 17.823918 deg, new cmd heading: 17.825848 deg. i8HeadingCmd: 0.311120 target range: 546.574890 and range: 547.70 m.hK>hhhhggjg rg e re Ze :e*e@16@颽:vBɢ4|j) o]i)iY=$d=IK>Iԉ9@ @@05@BE>BECBEIBEZiBBE =BABEDBE/;BELEԱ2Acoustic response timeout^Am=AzAyAIQ Ia Eu  Eu Eu #Eq "Eu ;*Eu :VEu 3ZEq BEu wT 3T%,ⳖLAB ԏ=B>BߗKٱB =BH?IӿĿN?\[?-ÿ`%H?֘?7?iB ԏ=IBҕc;BCYNhByNIbDZcVDZ8yb>%bW=ٔb"TQ-f>9dYd=fEyfDj|DEj>lQ 5r4n?Q 9r4n)n7BYpyr{>Q Iv @neDIno;inG:nw4yxɮz~pAx:iFNOT Ignoring new targets: 546.57 m."i%'8*i%'85 ProNav: ac range: 546.574890 m, nav range: 519.068542 m, bearing: 16.631956 deg, approach rate: -0.466767 m/s, LOS rate: 0.002291 deg/s, cmd heading: 17.825848 deg, new cmd heading: 17.827583 deg. i5&85HeadingCmd: 0.311150 target range: 546.574890 and range: 547.70 m.Թh=O>hhhhggjgrgereZe:e*ew"7@]gvBɢ]5|)Y e\ia)aaaiekm=m`=ImO>Iq]2Acoustic response timeout)@) @)@-4@)@5=@5=^AM3c=IIO> 2Acoustic response timeout9 ~%,?LAE EE&E"E%;*E҆:VE4ZEa@a@a@a@ ZU=Z>ZMٱZ0=ZH@^?=ӿ Ŀ?<]?8ÿv?=?`5?iZU=IZ.sc;ZCYfhByf"I n9Y=EyD%GE%>)Q 554-?Q 954-M)- 7BY1y5z>Q I5 @-qDI-q:i-';-X~4yE`BɮEpAEE:iFNOT Ignoring new targets: 546.57 m."i(8*i(8 ProNav: ac range: 546.574890 m, nav range: 518.875366 m, bearing: 16.632925 deg, approach rate: -0.460206 m/s, LOS rate: 0.002308 deg/s, cmd heading: 17.827583 deg, new cmd heading: 17.829520 deg. i%8HeadingCmd: 0.311184 target range: 546.574890 and range: 547.70 m.h}S>hhhhggjgrgere!Ze):e1*e=7@颽vBɢwh) ]i)iuX-=\=I}S>II@ @@N5@e2Acoustic response timeouti^A |^=I I! O- >ԙ B9 A9 BE >BE CBE IBE iBBE =BE 9DBE DBE ;BE LEIf%,LAY~hBy~II2Acoustic response timeoutiMb@Mb@Mb@ 9/$?{GzYyף̼cA ԈA)WAY\sAbDaVD8y>%==ٔQ->9Y=EyDE>Q 54?Q 9 4)>7BY >Q E :y >Q I  @~DI:i:ⅿ4yɮoA:i9EFNOT Ignoring new targets: 546.57 m."iE8*iM8] ProNav: ac range: 546.574890 m, nav range: 518.674011 m, bearing: 16.633825 deg, approach rate: -0.472568 m/s, LOS rate: 0.002113 deg/s, cmd heading: 17.829521 deg, new cmd heading: 17.831322 deg. i]w8]HeadingCmd: 0.311215 target range: 546.574890 and range: 547.70 m.heW>hahahahagagajgirgieireiqZeq:ey*e}@7@颥vBɢ)) \i)E5 E5E5)E1"E5 ;*E5:VE5FA4ZE1BE5RUݕ=U(]=IUW>IQ:@ @@25@Ա^A5[=A>A>u 2Acoustic response timeoutAY Ii Iy O >  %,g0LAYiBy\IbD-IVD-۱8y=M=%=V=ٔAQ-E>9AYI=MEyMDIEM>QQ 5]4U?Q 9]4Uռ)UX7BYayaQ Ie @UDIU<;iUj;U4yiɮmnAiB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 546.57 m."i8*i8 ProNav: ac range: 546.574890 m, nav range: 518.495605 m, bearing: 16.634623 deg, approach rate: -0.466741 m/s, LOS rate: 0.002089 deg/s, cmd heading: 17.831322 deg, new cmd heading: 17.832919 deg. it8HeadingCmd: 0.311243 target range: 546.574890 and range: 547.70 m.hC[>hhhhggjgrgereZe:e*e`_8@uvBɢuWp)q u]iq)yyyi}}ȕ="\=IC[>I2Acoustic response timeout%9@! @!@%?5@!@)@)EE EEEE%EA"EET;*EE҆:VEE 4ZEAaM@aM@aM@aM@^A H\=1 AY Ii Iy O Q *z%,cJLA2Acoustic response timeout6Oq=6p>6Pٱ6E=6H  ? @Xӿſ?` V?ÿ? {?@,?i6Oq=I6\c;6CYBiBysIi%Mb@Mb@Mb@!)!!! !9%gfffff?y%t%/ݼ%bA%~A %A)%UA!Y%pAbDEAVDEԱ8yUR=%U-=ٔUQ-]>9YYY=]Ey]De:Ee>iQ 5u4m?Q 9u4m>)mz7BYu>Q E}:y}>Q I} @mDIm:im:mӔ4yɮmA:iFNOT Ignoring new targets: 546.57 m."im7*im7 ProNav: ac range: 546.574890 m, nav range: 518.272888 m, bearing: 16.635006 deg, approach rate: -0.471026 m/s, LOS rate: 0.000811 deg/s, cmd heading: 17.832919 deg, new cmd heading: 17.833686 deg. i7eHeadingCmd: 0.311257 target range: 546.574890 and range: 547.70 m.hm]>hihihihigigijgqrgqeqreqZey:ey*e}8@颕2wBɢ!Oe) ^i)项i=-=`_=I]>IB>BCBIBNjBB =BBDBՓ;BfLEY@ @@0@BDAT read: Response Not Received *response not receivedq%,wgLA2=2>2Qٱ2k=2HH ?`#iӿ@ſb?Q?Ŀ? ?)?i2=I2Fc;2C 8)888<<>~Ai\=>>>imSٱ>S=>H?ӿſ@?H?gĿ =?`v?N$?i>\=I>c;<9YiByIbDZVD8y=% T=ٔZQ->9"?Y"?=EyD% ;E%>1Q 5=45~8?Q 9=45!)57BY9yE(>Q IE @5DI5~:i5:5"4yIɮM|kAI:iquFNOT Ignoring new targets: 546.57 m."i}C7*i}C7  ProNav: ac range: 546.574890 m, nav range: 517.683838 m, bearing: 16.636433 deg, approach rate: -0.457533 m/s, LOS rate: 0.001238 deg/s, cmd heading: 17.835576 deg, new cmd heading: 17.836541 deg. i 8HeadingCmd: 0.311306 target range: 546.574890 and range: 547.70 m.hc>hhhhggjgrgere!Ze!:e!*ee}:@wBɢ*r) ^i)iڴx=7Gg=Ic>I a u>BC@ @@30@ BGchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007544]zAyv9zAYqAԑ^A e=Թ A5 .AIA IQ O] >|-%,됸LA2=2U>2Tٱ2=2H_?`̥ӿPſ?@D?RĿkQ?ֺ?"?i2=I2c;0Y>jBy>IbDJnVDJ8yN=%Nc=ٔRQ-R>9R ?YV ?=VEyVDVQ;EZ>XQ 5^4ZE?Q 9^4Z)Z7BY`ybˆ>Q Ib @ZDIZ:iZq:Z[4ydɮfjAhvB*** querying acoustic contact ***itit:i|~FNOT Ignoring new targets: 546.57 m."i~7*i7 ProNav: ac range: 546.574890 m, nav range: 517.520813 m, bearing: 16.636853 deg, approach rate: -0.457198 m/s, LOS rate: 0.001178 deg/s, cmd heading: 17.836542 deg, new cmd heading: 17.837382 deg. i 8HeadingCmd: 0.311321 target range: 546.574890 and range: 547.70 m.hye>hhhhggjg!rg!e!re!Ze):e)*e-s:@]wBɢ]1 )Y ]^iY)aaaie <uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259424ԩiye>Rk=Qk=Iye>IE5 E5E5$E1"E5;*E5:VE54ZE1a=@a=@aE@aE@y@ @@3@^A0f=A>A>% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511701A ؟AI I) O= >) I\4%, JҴLA2;=2}>2Tٱ2;=2H@y?ӿ ,ſ8?"A?Ŀm?@b? ?i2;=I2>d;2CY>=jBy> IiMb@Mb@Mb@ 9i|?5?ytԼj^AyA )XQAYpmAbDVD8y-k>%-B=ٔ5 Q-5>95"?Y5"?==Ey="D=4';EE>AQ 5M4EU?Q 9M4E)E 8BYU>Q EU:yU'>Q IU @EDIE:iE:E4ybBɮjA:iAEFNOT Ignoring new targets: 546.57 m."iM7*iM7B]>B]CB]IB]8kBB] =BYB]DB]/;B]KE} ProNav: ac range: 546.574890 m, nav range: 517.324341 m, bearing: 16.637088 deg, approach rate: -0.442311 m/s, LOS rate: 0.000529 deg/s, cmd heading: 17.837382 deg, new cmd heading: 17.837852 deg. i}w7HeadingCmd: 0.311329 target range: 546.574890 and range: 547.70 m.hf>hhhhggjgrgereZe:e*e:@xBɢh)  ^i ) ))i5ܝ=ZY==Pn=I=f>I9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7642749@ @@0@@yA@xAIEE EEEE(EA"EE ;*EE :VEEc44ZEABEEwTԙ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015396:%,_'촖LAr=r:D>rZUٱri3=rH?ӿ6ſ?w>?Ŀ`ڀ??@X?ir=Ir[hd;rCY jjBy (IbD-yVD-8y=3=%=I=ٔ=Q-E>9AYA=EEyE*DM:EM>QQ 5]4Ue?Q 9]4U1)U)8BYYy]>Q Ie @UDIU&:iU:Uʿ4yiɮmgiAi:iFNOT Ignoring new targets: 546.57 m."i!7*i!7 ProNav: ac range: 546.574890 m, nav range: 517.134827 m, bearing: 16.637298 deg, approach rate: -0.495292 m/s, LOS rate: 0.000550 deg/s, cmd heading: 17.837852 deg, new cmd heading: 17.838273 deg. i݀7quHeadingCmd: 0.311337 target range: 546.574890 and range: 547.70 m.h}g>hyhyhyhygygyjgrgereZe:e*eM;@颭NxBɢuKr) <^i)顱idI=1wp=Ig>I9@ @@_0@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267438EU  EU EU $EQ "EU ;*EU k:VEU 4ZEQ ae @ae @ae @ae @^Ae m=I I O > |qA%, LA r= lp> ]Vٱ z= H?`ӿ`Lſ|!?=?Ŀ ?`??i r=I `\d; CY-jBy-DIiMb@Mb@Mb@ 9m?y&1|Y>y`廙̼=\AxA A)=PAYkAbDVD%8yO=%>=ٔQ->9Y=Ey3D M:E >Q 54 u?Q 94)I8BY%>Q E%:y%>Q I% @DI:i1:Mǿ4yɮhAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519572:iFNOT Ignoring new targets: 546.57 m."i6*i]6m ProNav: ac range: 546.574890 m, nav range: 516.936523 m, bearing: 16.637426 deg, approach rate: -0.440414 m/s, LOS rate: 0.000283 deg/s, cmd heading: 17.838274 deg, new cmd heading: 17.838528 deg. imt7uHeadingCmd: 0.311341 target range: 546.574890 and range: 547.70 m.huh>hqhqhqhqgqgyjgyrgyeyreZe:e*e;@颍xBɢ`n) ~^i)顑i|9=7q=Ih>Iu:@q @q@}0@yBM<AM<BUy>BUCBUIBUkBBU =BQBUDBUƒ;BU4KE! ^A} .o=A zA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772712EU  EU EU %EQ "EU ;*EU :VEU 4ZEQ BEU b7G%,` LA$Jh=Jŭ>J]lWٱJ==JH?ӿtiſ'? 9Y=Ey;Dՙ:E>Q 54?Q 94_)f8BYy>Q I @DIG:i;Bο4yɮ"hA:iFNOT Ignoring new targets: 546.57 m."i6*i6  ProNav: ac range: 546.574890 m, nav range: 516.752991 m, bearing: 16.637534 deg, approach rate: -0.487495 m/s, LOS rate: 0.000288 deg/s, cmd heading: 17.838528 deg, new cmd heading: 17.838745 deg. i 7HeadingCmd: 0.311345 target range: 546.574890 and range: 547.70 m.hh>hhhhggjgrge!re!Ze!:e!*e% <@xBɢß) ^i)iE,=r=Ih>Ii9@ @@0@@=@=iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024345ԙ^Ar=Ii I O > M%,z9:LA2 =2A>2)Xٱ2=2H?ӿO|ſ2? :?Ŀ?t?3?i2 =I2vd;2CY>jBy>sIbDFUVDF8PyR=%R\=ٔRlQ-V>9TYT=VEyVCDZ ;EZ>\Q 5b4^ő?Q 9b4^)^8BY`ybZ>Q If @^DI^P:i^G:^Կ4yjeBɮjgAjEvB*** querying acoustic contact ***itit:i| FNOT Ignoring new targets: 546.57 m.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277458"i86*i86 ProNav: ac range: 546.574890 m, nav range: 516.581299 m, bearing: 16.637621 deg, approach rate: -0.460648 m/s, LOS rate: 0.000233 deg/s, cmd heading: 17.838745 deg, new cmd heading: 17.838918 deg. i6HeadingCmd: 0.311348 target range: 546.574890 and range: 547.70 m.hh>hhhhggjgrgereZe:e*e\<@UxBɢUFy)Y ]^iY)YYYie!e=m[u=Imh>IiE EE(E"ET;*E:VEc44ZEa@a@a@a@ 9@  @@2@@%@%@%@%I9IIO]>BDAT read: Rx Time:04:08:51.1076 TRx dataTimestamp_ set to:1764907733.198849checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528555! T%,rTLA2=2O>2 Yٱ2'q=2H [?ӿ@ſ8?`::?]Ŀ?`ú?`?i2=I2ˋd;2CYNkByRIiUMb@Mb@Mb@QQQQ Q9UV-?Mbpy&1YU>yUU`UZAUfvA UxA)UNAQYUiAbDmdVDm8B>BCB7IB!lBB =BBDBG;BJEy=%==ٔE Q->9Y=EyLD:E> Q 5=4 \?Q 9=4 ) 8BY=>Q E=:y=6>Q IE @ DI ;i 4; ܿ4yIɮMfAI:iFNOT Ignoring new targets: 546.57 m."iQ/*iQ/ ProNav: ac range: 546.574890 m, nav range: 516.375671 m, bearing: 16.637553 deg, approach rate: -0.451166 m/s, LOS rate: -0.000150 deg/s, cmd heading: 17.838919 deg, new cmd heading: 17.838783 deg. i@HeadingCmd: 0.311345 target range: 546.574890 and range: 547.70 m.hh>hhhhggjgrgereZe:e*e*<@颕yBɢnn) ]_i)顙iu="v=Ih>IIxA)5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7798479e9@a @a@eq0@aAm>Am>E EE%E"E:*E:VE 4ZEBE>Qԉ % DAT read: 04:08:51.1076 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 371, 0.01, 1.492,-0.119, 1.727, 1.066, PHS= 0.528,-1.139, 0.617, RAW= 152.6, -0.1, CAL= 151.4, -0.9, ROT= 358.6, 0.9 - Ygot valid direction response: 04:08:51.1076 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 371, 0.01, 1.492,-0.119, 1.727, 1.066, PHS= 0.528,-1.139, 0.617, RAW= 152.6, -0.1, CAL= 151.4, -0.9, ROT= 358.6, 0.9 = PDAT read: Bearing 168.3, 10.5 (Local) = ~Local bearing/azimuth received: Bearing 168.3, 10.5 (Local) M DAT read: Range 11 to 50 : 535.8 m (Round-trip 714.4 ms) speed 0.4 m/s 5Z%,mLAJ=J>JxYٱJV=JH%?@ӿ ſlE?7?Ŀ@?ĺ?W?iJ=IJՈd;H=TDAT read: user:106>Tx time:04:08:52.1890 ER#Rx 1: Read range and direction messages.M`direction in FSK: [0.999578,-0.024429,-0.015707]MFpublishing direction and range infoy  n~X?_ y&Y D ) II +?i ʑ ?Y t*@ )@ ) G@I < y:? e;?"y]IT ?) J:I *ȼi < T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Y5kByIbD VD 8y=c=%=>=ٔEvQ-E>9IYI=MEyMTDM ;EU>YQ 5e4]?Q 9e4])]8BYaym>Q Im @]DI]:i]:]4yɮWfAi i (lLAj D"j D:j W>"p &3@[*T p n~X?_ y&*j *ȼ2j <*p cF_b@ܔAa@ImY@p ޼ *;?j?$Z%A?j C j kCi fM;ߟ?i d t!j "Cj fM;ߟ?j gkʄj rj |Dzj > addTargetRange:: Added new target pos. range: 535.799988 m, deltaT: 29.232418 s, deltaX: -11.900024 m, approachRate: -0.407083 m/s, rangeRepo size: 4 U Added new target pos. range: 534.375366 m, bearing: 15.661718 deg, lat: 36.779418 deg, lon: -121.859483 deg, deltaT: 29.232418 s, deltaX: -12.199524 m, approachRate: -0.417329 m/s, posRepo size: 4 :iQ]FNOT Ignoring new targets: 534.38 m."i]*iY ProNav: ac range: 534.375366 m, nav range: 525.940674 m, bearing: 16.285585 deg, approach rate: 0.000000 m/s, LOS rate: -0.000150 deg/s, cmd heading: 17.838782 deg, new cmd heading: 17.838656 deg. iHeadingCmd: 0.311343 target range: 534.375366 and range: 535.80 m.hch>hhhhggjgrgereZe:e`f@*e [?=5yBɢM2p)I M_iI)IIQiU^]=]xy=I]ch>IYԑ9@ @@?0@IIOm>=DAT read: Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.284097ԱE EE"E"E ;*EVE(3ZEa @a @a @a @ a%,LAk=>"!\ٱ=H6? Կſ^?@1?!ſ@N??@ ?ik=Id;YlkByIԙiMb@Mb@Mb@ 9q= ףp?~jtxy&1Y>yĻXAOuA bA)LAYzhAbDVD8yN>%M=ٔ͵Q->9Y=Ey\D;E> Q 54 W?Q 94 ) 8BY>Q E:y\>Q I @ )DI & ;i ~ ; 4y!ɮ-}eA):iIUFNOT Ignoring new targets: 534.38 m."i]*i]ᶝm ProNav: ac range: 534.375366 m, nav range: 525.759399 m, bearing: 16.285437 deg, approach rate: -0.474037 m/s, LOS rate: -0.000386 deg/s, cmd heading: 17.838656 deg, new cmd heading: 17.838361 deg. im4}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535693HeadingCmd: 0.311338 target range: 534.375366 and range: 535.80 m.hg>hhhhggjgrgereZe:e*e @?]yBɢr) _i)i]==Ig>Im9@i @i@m1@iAIIOh>AA@ABm>BCB{IBlBB =BBDBב;Bb]ٱb =bH C? Կƿf?`3?Ŀ`l?g5??ib=Ib\d;bCEn EnEn'El"Enl;*En҆:VEn'4ZElBEn\F9qYq=uEy}dD}:E}>Q 54d?Q 94d)8BYy>Q I @4DI:ih:u4yɮ(eA:iFNOT Ignoring new targets: 534.38 m."i*i䶝 ProNav: ac range: 534.375366 m, nav range: 525.585266 m, bearing: 16.285288 deg, approach rate: -0.455629 m/s, LOS rate: -0.000391 deg/s, cmd heading: 17.838361 deg, new cmd heading: 17.838062 deg. i6HeadingCmd: 0.311333 target range: 534.375366 and range: 535.80 m.hg>hhhhggjgrgereZe:e*eg?-yBɢ-Vۀ)) -f`i)))11i5A===΁=I=g>IAM8>iM>@ @@@5@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=5.039833^A w=AzAqA} .AI I O >ԙ 3n%,aLA~E?~ @~checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291618YkByIbDuVD8y%>%%N=ٔ-Q-->9- ?Y5 ?=5Ey5lD5E=>9Q 5E4=?Q 9E4=)=9BYIyIQ IM @=?DI9i=u:=_4yQɮU,dA]EuB*** querying acoustic contact ***iqiq:iFNOT Ignoring new targets: 534.38 m."i*iq ProNav: ac range: 534.375366 m, nav range: 525.405029 m, bearing: 16.285134 deg, approach rate: -0.455052 m/s, LOS rate: -0.000390 deg/s, cmd heading: 17.838062 deg, new cmd heading: 17.837753 deg. i6HeadingCmd: 0.311328 target range: 534.375366 and range: 535.80 m.hRf>hhhhggjgrgereZe:e*eP%?bE1jE54rE50Em EmEiEi"Emf;*Em:VEiZEia}@a}@a}@a}@yBɢY"o) z_i)i×%e=-P=I-Rf>I)ԙ@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543413^A% S= AM ؟AIY Ii Ou >+,u%,յLAV:=V >V-^ٱV=VHf?`EԿ`Bƿ@?.?Ŀ?,?@?iV:=IVc;VCYbkBybIB=^>B=CB=IB=mBB= =B9B=DB={;B=IEBCBCBCB =B =C26iuMb@Mb@Mb@qqqq q9uQ?y&1|Q롿Yu>yu`廙u\uVAu rA u3A)uIAqYuGeAbDdVD8yJ=%A=ٔ Q->9"?Y"?=EyuD=;E>Q 54\?Q 94)19BY>Q E:y>Q I @LDI :i:4yɮwcA:iFNOT Ignoring new targets: 534.38 m."i" *i"  ProNav: ac range: 534.375366 m, nav range: 525.213806 m, bearing: 16.284923 deg, approach rate: -0.431598 m/s, LOS rate: -0.000475 deg/s, cmd heading: 17.837753 deg, new cmd heading: 17.837332 deg. i^HeadingCmd: 0.311320 target range: 534.375366 and range: 535.80 m.h[e>hhhhggjgrgereZe:e*e s?UyBɢU2Pv)Y ]_iY)YYYi]|f<checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795520i[e>۔==I[e>Iy@y @y@}0@y@xA@xAEu EuEqEq"Eu:*Eu:VEqZEqBEu>y{%,!LAF̲=Fn>F^ٱF\=FH@?hԿ5ƿ@?@f'?Ŀ???iF̲=IF#c;DYR#lByR7IbD^iVD^8yb} >%fT=ٔfLQ-f>9j ?Yj ?=jEyj|Dj;En>lQ 5r4nm?Q 9r4n:)nJ9BYtyv>Q Iv @nWDIn;in;n4yxɮ~bA|:i%FNOT Ignoring new targets: 534.38 m."i%9*i%9u ProNav: ac range: 534.375366 m, nav range: 525.039307 m, bearing: 16.284692 deg, approach rate: -0.476928 m/s, LOS rate: -0.000632 deg/s, cmd heading: 17.837331 deg, new cmd heading: 17.836868 deg. iu}HeadingCmd: 0.311312 target range: 534.375366 and range: 535.80 m.h}Ld>hyhyhyhggjgrgereZe:e*e`4@zBɢځ) ^i!)!!)i-F5Ք=5=I5Ld>I1@ @@P5@ checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299474^A_=E  E E )E "E *E :VE FA4ZE a% @a% @a% @a% @A AM ؟AIY Ii Ou >]%, LA `<= բ> %_ٱ r-= H?;Կƿ?? >ſN??`=?i `<=I +d; Y%AlBy%JIiMb@Mb@Mb@ 9Zd;O?I +Q롿Y~>y94TAoA A)GAY\cAbDVD 8y=%;=ٔ՜Q->9"?Y"?=EyD9;E>Q 54y ?Q 94)f9BY?>Q E:y>Q I @dDI;i3;%4yɮ)bAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.559438:iFNOT Ignoring new targets: 534.38 m."i*i ProNav: ac range: 534.375366 m, nav range: 524.840576 m, bearing: 16.284562 deg, approach rate: -0.438872 m/s, LOS rate: -0.000287 deg/s, cmd heading: 17.836868 deg, new cmd heading: 17.836608 deg. idHeadingCmd: 0.311308 target range: 534.375366 and range: 535.80 m.hc>hh h h g gjgrgereZe:e*en@iu?zBɢu#m)y }_iy)yyyi};Д=W=Ic>I]9@Y @Y@]0@YԑB<ABY>BCBIBqmBBBBDB&;BvIE^Ae =  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811478A I I O >E  E E #E "E :*E |:VE 3ZE BE <R_ٱRxW=RH? Կſ@c? ?@'ƿ 2?J?`0 ?iR=IR0%d;RCY^wlBybkIbDjzVDj8yvg>%v[=ٔvyQ-z>9xYx=zEyzD~;E~>Q 5 40?Q 9 4q)9BY y >Q I @nDI::i:4yfBɮTaAE:iAEFNOT Ignoring new targets: 534.38 m."iM*iM] ProNav: ac range: 534.375366 m, nav range: 524.670593 m, bearing: 16.284410 deg, approach rate: -0.475491 m/s, LOS rate: -0.000427 deg/s, cmd heading: 17.836609 deg, new cmd heading: 17.836304 deg. i]GeHeadingCmd: 0.311302 target range: 534.375366 and range: 535.80 m.hec>hahahahagagijgirgieireqZeq:eq*eu8@颥ezBɢu) ^i)顩i+Δ=傏=Ic>Im9@q @q@u?5@q@}=@}=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.064023^Atn=A .AI I O >A 笎%,=LA2Ӟ=2r{>2V_ٱ2=2H?Կ@ſ?`?ƿ ? s? k?i2Ӟ=I2ʞd;2CY>lBy>IbDF{VDF 8yN>%RO=ٔR}-Q-R>9V ?YV ?=VEyVDVK;EV>Xbchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.315518Q 5f4Z&?Q 9f4Z)Z9BYdyfԖ>Q If @ZzDIZ^;iZX_;Z4ylɮn`AlzB*** querying acoustic contact ***ixix9:iFNOT Ignoring new targets: 534.38 m."i*i ProNav: ac range: 534.375366 m, nav range: 524.491333 m, bearing: 16.284207 deg, approach rate: -0.430367 m/s, LOS rate: -0.000487 deg/s, cmd heading: 17.836303 deg, new cmd heading: 17.835897 deg. i;d%HeadingCmd: 0.311295 target range: 534.375366 and range: 535.80 m.h%b>h!h!h!h!g)g)jgYrgYeYreYZeY:ea*ee @E EE'E"El;*E:VE'4ZEa@a@a@a@zBɢ(=l) ^i)qqqiu}v̔=}`=I}b>II)zAiE:@A @A@MU1@Iԩuchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.567403^AM ~4= A ؟AI I O >㔕%,/iWLA2#=2\>2_ٱ2=2H`?@ տſE"??@!ǿ x?i#??i2#=I2~Cd;2CY>lBy>IBRL>BRCBRPIBRmBBR =BPBRDBR;BR9IEi%Mb@Mb@Mb@!!!! !9%S?I +L7A`堿Y%>y%9%+%nRA%mA !)%nFA!Y%aA 15p<bD=lVD=8yM}=%M@=ٔM96Q-M>9U"?YU"?=UEyUDU-;E]>aQ 5m4e6?Q 9m4e)e9BYm>Q Em:ym>Q Im @eDIeI:ie:e#4ԙyɮ`A:iYeFNOT Ignoring new targets: 534.38 m."ie)7*ie)7 ProNav: ac range: 534.375366 m, nav range: 524.293701 m, bearing: 16.284455 deg, approach rate: -0.462041 m/s, LOS rate: 0.000580 deg/s, cmd heading: 17.835897 deg, new cmd heading: 17.836393 deg. i7HeadingCmd: 0.311304 target range: 534.375366 and range: 535.80 m.h6c>hhhhggjgrgereZe:e*e@ @zBɢhx) _i)iDAT read: 04:08:55.2960 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 330, 0.08,-1.729, 3.135,-1.425,-2.078, PHS= 0.451,-1.025, 0.609, RAW= 155.0, -0.5, CAL= 154.0, -1.6, ROT= 356.0, 1.6  Ygot valid direction response: 04:08:55.2960 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 330, 0.08,-1.729, 3.135,-1.425,-2.078, PHS= 0.451,-1.025, 0.609, RAW= 155.0, -0.5, CAL= 154.0, -1.6, ROT= 356.0, 1.6  BDAT read: Rx Time:04:08:55.2960 TRx dataTimestamp_ set to:1764907737.498498@DAT read: $Low SNR acquisition 2Received low SNR in chirp-k̔=-' =I-6c>I)X#Rx 1: Read direction message, but no range.`direction in FSK: [0.997175,-0.069729,-0.027922]y~?) ٱ|p} )GIy>i33m?"-@5,@ )@I<3?]i]?I⛭%,qLA@bg=b->b_ٱbM=bH -?#տwſ@:?X?ǿz?`?{?ibg=Ibd;bCY~ mBy~IbDVVD8y%J+>%%H=ٔ%C9Q-%>9)Y)=-Ey-DU';EU>YQ 5e4]1F?Q 9e4]P)]9BYayeq>Q Ie @]DI]h:i]:]4*4yɮ^AԱ:iFNOT Ignoring new targets: 534.38 m."i7*i7  ProNav: ac range: 534.375366 m, nav range: 524.102478 m, bearing: 16.284663 deg, approach rate: -0.482794 m/s, LOS rate: 0.000524 deg/s, cmd heading: 17.836394 deg, new cmd heading: 17.836809 deg. iu7HeadingCmd: 0.311311 target range: 534.375366 and range: 535.80 m.h)d>hhhhggjg!rg!e!re!Ze):eI*eU t@zBɢv) ^i)i?͔=ϸ=I)d>I@ @@j4@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE EE%E"E:*E|:VE 4ZEa%@a%@a%@a%@A^A<=A I I O >Y >ɢ%,LAYGmByIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse1iMMb@Mb@Mb@IIII I9Mm?S㥛YM>yM̼M/ݼM=PAI M"A)MADAIYMQ`AbDe5VDeɱ8yu>%u7=ٔ}Q-}>9yYy=}EyDE>)Q 554-W?Q 954-՜)-9BY5U>Q E5:y5@>Q I5 @-DI-<:i-:-K24yEeBɮE^AEE:iFNOT Ignoring new targets: 534.38 m."i 7*i 7 ProNav: ac range: 534.375366 m, nav range: 523.888733 m, bearing: 16.285086 deg, approach rate: -0.461647 m/s, LOS rate: 0.000915 deg/s, cmd heading: 17.836808 deg, new cmd heading: 17.837656 deg. iu7HeadingCmd: 0.311326 target range: 534.375366 and range: 535.80 m.hf>hhhhggjgrgereZe:e*e@p@ {Bɢd)  ]i )   i gAϔ=@M=If>I9M>iM>aAaAaBm0>BmCBmIBmZnBBm =Bm:DBmDBmؐ;BmIE@ @@60@ԉ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^A =A >A >E]  E] E] $EY "E] =;*E] ą:VE] 4ZEY BE] ~IsB%,b֦LA2a=23,>2p_ٱ2=2H`?@n9տſ {X? :?@ƿ?mBy>IbDFVDF8yN>%Na=ٔR:Q-R>9PYP=REyVDVڮ;EV>XQ 5^4Zzd?Q 9^4Z)Z :BY`yb'>Q Ib @ZDIZ:iZ2:ZL84ydɮf,]Ad:ixzFNOT Ignoring new targets: 534.38 m."i~x7*i~x7  ProNav: ac range: 534.375366 m, nav range: 523.730042 m, bearing: 16.285370 deg, approach rate: -0.472969 m/s, LOS rate: 0.000847 deg/s, cmd heading: 17.837655 deg, new cmd heading: 17.838224 deg. i l7HeadingCmd: 0.311336 target range: 534.375366 and range: 535.80 m.hfg>hhhhggjgrge!re!Ze!:e!*e%O@A{BɢƓ) \i)ibє==Ifg>I@ @@M5@iaIamT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapse^Am(=II I O >q % T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapse(%,LA=lx>V_ٱh=H`{?X@տſoa??պƿ`;? S)?@N?i=I$d;CE= E=E=)E9"E=V:*E=:VE=FA4ZE9aE@aM@aM@aM@YMmByM1IbDeVDe8ym>%u>=ٔuy9Q-u>9yYy=}Ey}D}:E>Q 54t?Q 94W)-:BYyn>Q I @DI;i{;?4yɮH\AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 534.38 m."i.j7*i.j7 ProNav: ac range: 534.375366 m, nav range: 523.531067 m, bearing: 16.285715 deg, approach rate: -0.461549 m/s, LOS rate: 0.000800 deg/s, cmd heading: 17.838224 deg, new cmd heading: 17.838914 deg. iX7HeadingCmd: 0.311348 target range: 534.375366 and range: 535.80 m.hh>hhhhggjgrgereZe:e*e~@-o{BQɢ-l) f[i)顱iM5Ք==Ih>IA@A @I@MB4@IԁuT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse^AmX=ԩIIO>B %>B CB IB nBB =B B DB ;B HE KP%,9{ڶLAYmByUIiMb@Mb@Mb@ 9i|?5?I +~jtY>y9NASiA {A)BAYG]AbDVD8y >%E=ٔQ->9Y=%Ey%D%E%>)Q 554-?Q 954-)-P:BY=>Q E=:y=>Q I= @-DI-y;i-q ;->G4yAɮE^[AI:iiuFNOT Ignoring new targets: 534.38 m."iu%7*iu%7 ProNav: ac range: 534.375366 m, nav range: 523.333374 m, bearing: 16.285954 deg, approach rate: -0.466020 m/s, LOS rate: 0.000564 deg/s, cmd heading: 17.838914 deg, new cmd heading: 17.839392 deg. i7HeadingCmd: 0.311356 target range: 534.375366 and range: 535.80 m.hj>hhhhggjgrgereZe:e*e80@Թ%=%=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse-{Bɢ-j)) -Zi1)199i= ;Eؔ=Ml=IMj>IQaEU EUEU'EQ"EU:*EUą:VEU'4ZEQBEU>9 z%,WLA2ne=2m>2_ٱ2c=2Hr?gSտ =ſ@}??Xƿ?@WC?7 ?i2ne=I2c;2CYb"nBybrI hj<bDjVDj8yrB=%vZ=ٔv}!Q-v>9xYx=zEyzDzl;Ez>|Q 54~?Q 9 4~)~o:BY y >Q I  @~DI~::i~:~M4yɮZAE:iAEFNOT Ignoring new targets: 534.38 m."iM| 7*iM| 7] ProNav: ac range: 534.375366 m, nav range: 523.163025 m, bearing: 16.286128 deg, approach rate: -0.465416 m/s, LOS rate: 0.000476 deg/s, cmd heading: 17.839392 deg, new cmd heading: 17.839741 deg. i]-_7eHeadingCmd: 0.311362 target range: 534.375366 and range: 535.80 m.hej>hahahahagigijgirgieqreqZeq:eq*e}˦@颥{Bɢ) Zi)顩i ݔ=Q=Ij>IU9@Q @Q@U65@QDAT read: 2Acoustic response timeoutA^AuX=bEƀ'4jE!4rEƇ 0E EE(E"E:*E:VEc44ZEa@a@a@a@II)O5>i Beí%,=LA j=j>j_ٱjq=jHl?Qտ ſ =??|ƿ`??@ ?ij=Ijc;hYvMnByvI=2Acoustic response timeoutiMb@Mb@Mb@ 9S?I +QY>y94uJA=hA zA)?AY\[AbDVD|8y=%;=ٔQ->9Y=EyDn:E>Q 54?Q 94-):BYK>Q E:y;>Q I @DI:i:@U4y ɮ YA:i1=FNOT Ignoring new targets: 534.38 m."i=@*i=@M ProNav: ac range: 534.375366 m, nav range: 522.962646 m, bearing: 16.285842 deg, approach rate: -0.459867 m/s, LOS rate: -0.000658 deg/s, cmd heading: 17.839740 deg, new cmd heading: 17.839167 deg. iUhYhYhYhYgYgYjgargaeareaZea:ei*em@)e@颕{Bɢj) 7Zi)顡iBS=Ii>Iie:@a @a@eO5@a@mzA@mzABYA]<Be>BeCBe1IBeXoBBe =BaBaBej;BeHEB5ŃCB5ńCB5ŖCB5 =B5 =C5u6ԙ^A=2Acoustic response timeout Ee  Ee Ee $Ea "Ee :*Ee :VEe 4ZEa BEa au 2Ea au JEe ;au :Ee ;au A I I O% >Yɭ%,V (LA2E=2Ģ>2*%`ٱ2B=2Hի?fTտbſ@?@?@Lſ@?>Y?~ ?i2E=I2Ec;2CY>nBy>IbDJVDJU8PyjB>%j]=ٔnblQ-n>9lYl=rEyrDr:Er>tQ 5z4vP?Q 9z4vޔ)v:BYxy~i>Q I~ @vDIv;iv;v[4yɮXA:i)-FNOT Ignoring new targets: 534.38 m."i5F*i5F Mt>I ProNav: ac range: 534.375366 m, nav range: 522.793030 m, bearing: 16.285592 deg, approach rate: -0.459457 m/s, LOS rate: -0.000676 deg/s, cmd heading: 17.839167 deg, new cmd heading: 17.838667 deg. ig݂GHeadingCmd: 0.311343 target range: 534.375366 and range: 535.80 m.hjh>hhhhzr9Y nAg gjgrgere!Ze!:e!*e%B@%|Bɢ%rl)) -Xi)))IIiU ]=]zǟ=I]jh>IYImyA)myAU2Acoustic response timeout9@ @@4@^A=) A I I O > 2Acoustic response timeoutЭ%,((BLA2`=2+>2,`ٱ2\=2H@ި?`bտ`ſ@a??1ƿj?`p? ?i2`=I2xc;0Y>nBy>IDFAAbDJVDJ#8yRR>%RL=ٔR Q-R>9TYT=VEyVDZL;EZ>XQ 5b4Z)?Q 9b4Zq)Z:BY`ybҘ>Q Ib @ZDIZ;iZ';Zb4yhɮjWAhlD|D~p=E EE%E"E;*E$:VE 4ZEa@a@a@a@:iFNOT Ignoring new targets: 534.38 m."iQ*iQ- ProNav: ac range: 534.375366 m, nav range: 522.608704 m, bearing: 16.285305 deg, approach rate: -0.458709 m/s, LOS rate: -0.000716 deg/s, cmd heading: 17.838668 deg, new cmd heading: 17.838093 deg. i-5HeadingCmd: 0.311333 target range: 534.375366 and range: 535.80 m.h5g>h1h1h1h9g9g9jgArgAeAreAZeA:eI*eM}@uB|Bɢusa) uWi)i[a5=61=Ig>I @ @@35@ M2Acoustic response timeoutQ^A=A I I! O- >a BE >BA BE IBE oBBE =BA BA BE -;BE HHEl֭%,[LA>[N=>U>>aٱ>%=>H?_oտƿ`??ſ U?F*? ?i>[N=I>Ic;>CYRoByRIi-Mb@Mb@Mb@)))) )9-bX9?MbP?~jtxY-E>y-:-Ļ-IA- fA -wA)))Y-YAbDE]VDE8yU>%UA=Yٔ]DQ-e>9aYa=eEyeDm;Em>qQ 5}4u?Q 9}4uƑ)u;BY}J>Q E}:yq>Q I @uDIu;iu;uj4yɮWAB*** querying acoustic contact ***ii:i1=FNOT Ignoring new targets: 534.38 m."i=*iE ProNav: ac range: 534.375366 m, nav range: 522.409363 m, bearing: 16.284454 deg, approach rate: -0.470292 m/s, LOS rate: -0.002007 deg/s, cmd heading: 17.838093 deg, new cmd heading: 17.836391 deg. ikHeadingCmd: 0.311304 target range: 534.375366 and range: 535.80 m.h5c>2Acoustic response timeouthhhhggjgrgereZe:e*eP@Mr|Bɢmqj`)q uViq)qqqiuX} =}آ=I5c>IE= E=E9E9"E=&:*E=:VE9ZE9BE=c;^ܭ%,NuLA2o=2Z>2Tbٱ2 =2H x?iwտ4ƿ?`\?ſ ? H? X ?i2o=I2c;2CY>GoByB&IbDJeVDJ 8yRs2>%VV=ٔV$MQ-V>9Z ?YZ ?=ZEyZDZd:EZ>`Q 5b4bo?Q 9f4bF)b+;BYdyf>Q If @b DIb:ib:bp4yjdBɮjVAl:iq}FNOT Ignoring new targets: 534.38 m."i*i ProNav: ac range: 534.375366 m, nav range: 522.230103 m, bearing: 16.283677 deg, approach rate: -0.452950 m/s, LOS rate: -0.001964 deg/s, cmd heading: 17.836392 deg, new cmd heading: 17.834837 deg. i fHeadingCmd: 0.311277 target range: 534.375366 and range: 535.80 m.h_>hhhhggjgrgereZe:e*ea @Թ|Bɢ8w|) Ti)i=4ף=I_>IG>i>u:@q @q@u5@q2Acoustic response timeoutDIzDM@AE] E]E]&EY"E];*E]?:VE]4ZEYae@ae@ae@ae@^Ae͢=Ae ؟AIq I O >A %,7LA~i@=~c>~xdٱ~B=~H?`2տYƿf??ƿR?c? ?i~i@=I~yף<D OuA)9"?Y"?=EyD:E>!Q 5-4%#?Q 9-4%J)%[;BY5>Q E5:y5`>Q I5 @%DI%P ;i%u ;%x4y=fBɮ=SUAEE:iaeFNOT Ignoring new targets: 534.38 m."im*im} ProNav: ac range: 534.375366 m, nav range: 522.018677 m, bearing: 16.281821 deg, approach rate: -0.485273 m/s, LOS rate: -0.004261 deg/s, cmd heading: 17.834838 deg, new cmd heading: 17.831125 deg. i}HeadingCmd: 0.311212 target range: 534.375366 and range: 535.80 m.h(W>hhhhggjgrgereZe:e*e`@!@|Bɢetd)a mTii)iiiimu=uc=Iu(W>IyB  >B B IB upBB  =B B B Տ;B GE9E9@A @A@EO5@Aq2Acoustic response timeout^A @=EM  EM EM 'EI "EM ;*EM x:VEM '4ZEI BEM TQԑ %,?TLA6=6 >6_Efٱ6#=6Hs?`տmƿ??`-dƿ?@̍??i6=I6jJc;6CY^oBybaIbDjyVDj8yr6=%r`=ٔrQ-v>9tYt=vEyvDzc;Ez>|Q 54~?Q 94~)~;BYy >Q I @~#DI~^;i~:~4yɮTA:i1=FNOT Ignoring new targets: 534.38 m."iEP*iEPU ProNav: ac range: 534.375366 m, nav range: 521.847717 m, bearing: 16.280295 deg, approach rate: -0.469148 m/s, LOS rate: -0.004189 deg/s, cmd heading: 17.831124 deg, new cmd heading: 17.828071 deg. iUNUHeadingCmd: 0.311159 target range: 534.375366 and range: 535.80 m.hU,P>hYhYhYhYgagajgirgieireiZeq:eq*eu,!@颽|Bɢ߼w) -Ti)iWG=9=I,P>Iq9@ @@ 5@@@52Acoustic response timeoutԡ^A&=Aa Ii Iy O > 2Acoustic response timeout ]%,8/÷LA2f=2>2KXhٱ28=2HÏ?տƿ? ?`!ƿ`g? +??i2f=I2Lc;0Y>oBy>IbDJlVDJ8yR&>%RO=ٔRQ-R>9TYT=VEyVDVN;EZ>XQ 5b4ZF ?Q 9b4Z)Z;BY`yb>Q Ib @Z/DIZ;iZ;Z4yhɮjSAhD|D~<E EE$E"E=;*E:VE4ZEa@a@a@a@:iquFNOT Ignoring new targets: 534.38 m."i*i ProNav: ac range: 534.375366 m, nav range: 521.662292 m, bearing: 16.278613 deg, approach rate: -0.450363 m/s, LOS rate: -0.004087 deg/s, cmd heading: 17.828071 deg, new cmd heading: 17.824706 deg. iW︝HeadingCmd: 0.311100 target range: 534.375366 and range: 535.80 m.hyH>hhhhggjgrgereZe:e*e "@}Bɢ@e) Ri)iA==IyH>I @ @@>5@U2Acoustic response timeout^Aا=) A I " `Failed to parse device response: 60.71,11.8621, I O >Q %,ݷLA:=:0>:jٱ:=:H@z?տ@ƿ`?%?ƿ@?y??i:=I:*Cc;:C2Acoustic response timeoutY pByI)iMb@Mb@Mb@ 9ʡE?Q?I +Y->y\=94GAaA rA);AYUAbDJVD8y*=%=ٔQ->9Y=EyDf;E>E  E E %E "E  ;*E 1:VE  4ZE Q 54?Q 9%4y);BY%>Q E%:y%f>Q I% @>DI;i;4y5eBɮ5RA5EUB*** querying acoustic contact ***iQiQ:iYeFNOT Ignoring new targets: 534.38 m."im*im⸝} ProNav: ac range: 534.375366 m, nav range: 521.426453 m, bearing: 16.275515 deg, approach rate: -0.471658 m/s, LOS rate: -0.006200 deg/s, cmd heading: 17.824705 deg, new cmd heading: 17.818505 deg. i}5}HeadingCmd: 0.310992 target range: 534.375366 and range: 535.80 m.hJ:>hhhhggjgrgereZe:e*e#@G}BɢZ)@< Si)SQiĠ'=#=IJ:>IY@ @@0@ԁ M 2Acoustic response timeout^A \=Ա A .AI I O >*y%,؂LA>Ⱦ=>n>>blٱ>=>H ~?lտǿ??0ƿY?M??i>Ⱦ=I>_Zc;>C D)FADDDHHiHIHLILiL Np]NzF)LP RE~APPPTTIT)TiT)TIXXX X^ُC\\i\\i^C\)` `I`Y`YfNpByfIbDr0VDrٰ8yzG>%zw=ٔ~Q-~?9~ ?Y~ ?=~Ey~!D;E? Q 54 (?Q 94 ) Q I @ HDI :i : 4y!ɮ%QA!:iIMFNOT Ignoring new targets: 534.38 m."iUm*iUm㸝e ProNav: ac range: 534.375366 m, nav range: 521.273926 m, bearing: 16.273479 deg, approach rate: -0.465513 m/s, LOS rate: -0.006213 deg/s, cmd heading: 17.818505 deg, new cmd heading: 17.814434 deg. ie5mHeadingCmd: 0.310921 target range: 534.375366 and range: 535.80 m.hm0>hihihihigqgqjgqrgqeyreyZey:ey*e};u$@颭h}Bɢ^)ڕ< Qi)M2顱i[3=f=I0>I9@  @ @ ?5@ @=@=2Acoustic response timeoutE] E]E]'EY"E];*E]Ǚ:VE]'4ZEY^AM=! A ؟AI I O >]%,OLA.2Acoustic response timeoutY}pByIiuMb@Mb@Mb@qqqq q9uQ?~jt? rhYu>yuD=uCuSEAq u5tA)u=8AqYuTAbDVD8y*=%3=ٔQ->9"?Y"?=Ey+DE>Q 549?Q 94)4Q E:yT>Q I @VDI:i:4yɮ2QA:iFNOT Ignoring new targets: 534.38 m."i *i  ProNav: ac range: 534.375366 m, nav range: 521.060364 m, bearing: 16.269973 deg, approach rate: -0.467430 m/s, LOS rate: -0.007679 deg/s, cmd heading: 17.814433 deg, new cmd heading: 17.807416 deg. i` HeadingCmd: 0.310798 target range: 534.375366 and range: 535.80 m.h  >hhhhggDReached init depth of 60.122616 m.jgrgere!Ze!:e!*e%@f_%@IU}Bɢ]d)Y ]QiY)]aaiexmB=m=Im >IqIy)yB.>BCBIBqBB =BBDB$;BFGE9@ @@O5@ԁ2Acoustic response timeout^A% =Eu  Eu Eu (Eq "Eu %;*Eu :VEu c44ZEq BEu Kr %,S%,LA@JU=J$)>JqٱJ(=JHh?@Pֿ ǿ@M?g?ǿ@? x??iJU=IJRc;JCY]pBy]I m%Z=ٔ=QQ->9Y=Ey2D b<E>Q 54F?Q 94)[Q I @aDI;i;84yɮPA:i  FNOT Ignoring new targets: 534.38 m."iZ*iZ% ProNav: ac range: 534.375366 m, nav range: 520.885620 m, bearing: 16.266997 deg, approach rate: -0.466285 m/s, LOS rate: -0.007942 deg/s, cmd heading: 17.807416 deg, new cmd heading: 17.801464 deg. i%h-HeadingCmd: 0.310694 target range: 534.375366 and range: 535.80 m.h-N>h)h)h)h)g1g1jg1rg9e9re9Ze9:e9*eE@&@m}Bɢm>`{)i mOiq)us0qqi}S}S===IN>IU2Acoustic response timeoutԩ<Q@Q @Q@U!0@Q@Y@Y1  2Acoustic response timeout^A5 x=bE̻ 4jE-4rE̺/E  E E $E "E ;*E :VE 4ZE a @a @a @a @Q AIIQIaOu>|%,nJLA2=2U>2tٱ2Y=2H` ^?`sֿǿNl?8? ǿ`KF?? 4?i2=I2n,d;2CY>pBy>.IDFAbDJVDJ8yR=%R:=ٔRĻQ-V>9TYT=VEyV;DZ;EZ>\Q 5b4^]V?Q 9b4^7)^Q Ib @^nDI^::i^:^4yjdBɮjPOAjE:i|~FNOT Ignoring new targets: 534.38 m."i*i ProNav: ac range: 534.375366 m, nav range: 520.681396 m, bearing: 16.263463 deg, approach rate: -0.465961 m/s, LOS rate: -0.008066 deg/s, cmd heading: 17.801464 deg, new cmd heading: 17.794393 deg. i3lHeadingCmd: 0.310571 target range: 534.375366 and range: 535.80 m.h!>hhhhgg!jg!rg!e!re)Ze):e)*e-T&@}Bɢf)?< ^Oi),ai< i!>k=%j=I%!>I)1111U2Acoustic response timeout9@ @@0@B>BCBIB rBB =BBDB;BGEiԑ ^A ˺= 2Acoustic response timeoutEm  Em Em %Ei "Em l;*Em :VEm 4ZEi BEm \F%,YgLAR|=R>>RwٱRVs=RHT? ֿ Wȿ σ? N?ƿ`ŕ?@??iR|=IRd;RCXYz!qByzJIpGiMb@Mb@Mb@1uyh9qYudA 9X9v?Dl?L7A`堿Y>yO=+&CAO]A oA)&7AYQAbDҿVD8y!=%=ٔ Q->9Y=EyFDN\;E>Q 54i?Q 94})Q I @DIL;iK;4yɮNAeB*** querying acoustic contact ***iaia:iFNOT Ignoring new targets: 534.38 m."i:*i:m ProNav: ac range: 534.375366 m, nav range: 520.425659 m, bearing: 16.257780 deg, approach rate: -0.458640 m/s, LOS rate: -0.010197 deg/s, cmd heading: 17.794393 deg, new cmd heading: 17.783021 deg. imKuHeadingCmd: 0.310372 target range: 534.375366 and range: 535.80 m.hu>hqhqhqhqgqgyjgrg4BereZe:e*e@U+(@2Acoustic response timeout"qBɢa)b i)|.aij===I>I>i >!9@ @@0@9 ^AU }=U BDAT read: Response Not Received U *response not receivedU 2yٱ=H`oK?@ֿȿ`|?`M? Oƿ`??y?i=Id;CY-aqBy-qIbDEVDE8yM>%UE=ٔeQ-e>9e ?Ye ?=mEymNDm;Em>qQ 5}4uy?Q 9}4uz)uQ I @uDIu:iu:u]4ycBɮMA:iFNOT Ignoring new targets: 534.38 m."iZU*iZU ProNav: ac range: 534.375366 m, nav range: 520.225525 m, bearing: 16.253283 deg, approach rate: -0.518628 m/s, LOS rate: -0.011658 deg/s, cmd heading: 17.783021 deg, new cmd heading: 17.774023 deg. iHeadingCmd: 0.310215 target range: 534.375366 and range: 535.80 m.hԞ>hhhhggjgrgereZe:e*e[(@ɢ) ,|=i)~`iG%➕=%=I-Ԟ>I)9@ @@ 0@ *DAT read: user:108> -BDAT read: Tx time:04:09:04.6390 5$Ping request sent.=Bm CBm 8IBm rBBm =Bi Bm DBm ͎;Bm FEB%ʁCB%ʁCB%ʔCB% =B% =C%}R6A I I O >j'%,7LAYeqByeIiMb@Mb@Mb@ 9V-?&1?{GzY>yP=#ZA pA)3AYzPAbDVD8yE >%M==]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244441ٔeQ-e>9aYa=mEymWDmEm>qQ 5}4uO?Q 9}4ux)u =BY>Q E:y>Q I @uDIu:iu:u4yɮLA:iFNOT Ignoring new targets: 534.38 m."i,$*i,$ ProNav: ac range: 534.375366 m, nav range: 520.014343 m, bearing: 16.249370 deg, approach rate: -0.483979 m/s, LOS rate: -0.008971 deg/s, cmd heading: 17.774024 deg, new cmd heading: 17.766195 deg. iVHeadingCmd: 0.310079 target range: 534.375366 and range: 535.80 m.hž>hhhhggjgrgDBereZe:e*e)@ɢ) r=i)w^i6%縕=-6U=I-ž>IE EE$E"E%;*EVE4ZEBEK|-%,=񸸖LA2l>2"ʯ>2b{ٱ2=2H9?N׿lȿ`t??ǿq)? T?>?i2l>I2v d;2CY>qBy>I@bDJ׿VDJ8yRa>%Rh=ٔV}Q-V?9TYT=VEyV^DZd<EZ?\Q 5b4^.?Q 9b4^v)^)=BY`yfi>Q If @^DI^;i^;^ 4yjbBɮjKAjE:i|FNOT Ignoring new targets: 534.38 m."i)*i) ProNav: ac range: 534.375366 m, nav range: 519.846741 m, bearing: 16.246156 deg, approach rate: -0.483128 m/s, LOS rate: -0.009268 deg/s, cmd heading: 17.766195 deg, new cmd heading: 17.759764 deg. iHeadingCmd: 0.309966 target range: 534.375366 and range: 535.80 m.h鳞>hhhhggjgrgereZe:e*e*@E#qBɢEfպ)A E'>iI)M\IIiMCUBӕ=U}=IU鳞>IYԩmchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.747998c<DD4=E EE'E"E~ ;*E1:VE'4ZEa@a@a@a@@ @@0@ ^A = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003490I I I!O->5%,ظLAYqByI1BE>BE~CBEIBE2sBBABABEDBE;BEFEiMb@Mb@Mb@ 9v?Q? rhY>y\=C ?AWA nA)2AY=NAbDVD8y=%=ٔQ->9Y=EyiDE>Q 54 ?Q 94Ns)Z=BY >Q E :y >Q I  @DI ;i/;v4yɮJKA:i9EFNOT Ignoring new targets: 534.38 m."iEc*iEc ProNav: ac range: 534.375366 m, nav range: 519.590576 m, bearing: 16.242173 deg, approach rate: -0.475569 m/s, LOS rate: -0.007398 deg/s, cmd heading: 17.759764 deg, new cmd heading: 17.751794 deg. iXHeadingCmd: 0.309827 target range: 534.375366 and range: 535.80 m.h>hhhhggjg rg 'BereZe:e!*e%`ג+@$qBɢ-)  N>i ) f)Y  i z;==I>Iavт;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252823@ @@@E= E=E=$E9"E=f;*E=:VE=4ZE9BE=W <%,ҋLABp8>B>B5xٱBu>BH0?`׿2,ǿ >?@?@3ɿ?k? ?iBp8>IBb;BCYN6rByNIbDVVDV8yn/6>%n]=ٔr9pYt=vEyvpDv[{<Ev>xiIA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504507Q 54z?Q 94z\q)z{=BYyR>Q I @zDIzhhhhggjgrge re Ze :e *e N,@=%qBɢ= ;)=SB E,>iA)EIVAAiEMoM=M=IM>IQ5@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756181^A O=Iq I O >E-  E- E) E) "E- T;*E- :VE) ZE) a5 @a5 @a5 @a5 @ B%,ff LA6>6^>6Buٱ6U>6H2? ׿ƿV?{?%ɿ]?g??i6>I6r?b;6CYFerByFIHJ@AbDNVDN8yV7=%VN=ٔV9XYX=ZEyZxD^[;E^>`Q 5f4bA?Q 9f4bBo)b=BYdyj>Q Ij @bDIb:ibu:b4yndBɮnIAn}E:iFNOT Ignoring new targets: 534.38 m."i 7*i 7 ProNav: ac range: 534.375366 m, nav range: 519.226257 m, bearing: 16.236200 deg, approach rate: -0.501406 m/s, LOS rate: -0.008263 deg/s, cmd heading: 17.746075 deg, new cmd heading: 17.739845 deg. iq%HeadingCmd: 0.309619 target range: 534.375366 and range: 535.80 m.h%X>h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e5-@e'qBɢeu<)a mC>ii)mCRiiimcu6=u-J=IuX>Iy-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011276)e @ @@@B=<A=<BE>BE{CBEIBEsBBE =BABEDBE~;BEhFEQ^A l=ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259957I I O >I%,-A&LA2/>2h>2^oٱ2ɶ=2H,I2sEb;2CY>rBy>/IDzD?AE% E%E!E!"E%7;*E%:VE!ZE!BE%Zy<̼9Y=EyD(:9E>Q 54B?Q 94m)=BY>Q E:y>Q I @DIb:i:4y=cBɮ=HA=~EQ:iFNOT Ignoring new targets: 534.38 m."i*i ProNav: ac range: 534.375366 m, nav range: 519.020203 m, bearing: 16.233072 deg, approach rate: -0.452554 m/s, LOS rate: -0.006872 deg/s, cmd heading: 17.739845 deg, new cmd heading: 17.733587 deg. i;IHeadingCmd: 0.309509 target range: 534.375366 and range: 535.80 m.hx>hhhhggjgrg6BereZe:e*e5-@](qBɢmM <)i my>ii)mhLqqiuR}a=}n=I}x>IyxAyAEBԁ9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512102ԩ^AY A ؟AI I O >P%,CLA2S>2搲>2ahٱ2o"=2H`kM?Q׿ſkO??ȿ??@?i2S>I2{b;0Y>rBy>YIbDFVDF8yN$>%NE=ٔR9R"?YV"?=VEyVDVOEV>XQ 5^4Z:?Q 9^4Zj)Z=BY`yb>Q Ib @ZDIZ6:iZ:Z4ydɮfGAh:ix~FNOT Ignoring new targets: 534.38 m."i~ *i~   ProNav: ac range: 534.375366 m, nav range: 518.827576 m, bearing: 16.230188 deg, approach rate: -0.485642 m/s, LOS rate: -0.007274 deg/s, cmd heading: 17.733587 deg, new cmd heading: 17.727817 deg. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764105iU%HeadingCmd: 0.309409 target range: 534.375366 and range: 535.80 m.h%j>h!h!h!h!g!g)jg)rg)e1re1Ze1:e1*e5.@Ie*qBɢm,<)i >i)Gi|G2=)=Ij>IE EE&E"E ;*E:VE4ZEa@a@a@a@ym9@i @i@i@iԩiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020463 ^AU O)=B >B wCB %IB &tBB =B ;DB DB n;B ?FEA I I O W%,;_LAYUsBy]IiMb@Mb@Mb@ 9Q?I +?QY>y9<uS9AVA gA)A,AYHAbD-߿VD-8y=}>%="=ٔ=Q-E>9AYA=EEyEDMEM>QQ 5]4U?Q 9]4Uh)U>BY]#>Q E]:ye@>Q Ie @UDIU:iUI:U4ymbBɮmFAi:iFNOT Ignoring new targets: 534.38 m."i۸*i۸ ProNav: ac range: 534.375366 m, nav range: 518.591858 m, bearing: 16.227163 deg, approach rate: -0.467859 m/s, LOS rate: -0.006007 deg/s, cmd heading: 17.727817 deg, new cmd heading: 17.721764 deg. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268164i/HeadingCmd: 0.309303 target range: 534.375366 and range: 535.80 m.h\>hhhhggjgrgBereZe:e*e`/@,qBɢN.<) X>i) ?  i f7=YT=I\>I%>i%>iEq EuEu'Eq"Eq*Eu:VEu'4ZEqBEuvT]%,yLAPYcsByI  AbDVD8yE<>%E\=ٔAQ-M>9IYI=MEyMDQEU>YQ 5e4]??Q 9e4]f)]B>BYayaQ Ie @]DI]:i]G:] 4yqɮuEAqB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 534.38 m."i۸*i۸ ProNav: ac range: 534.375366 m, nav range: 518.417969 m, bearing: 16.224929 deg, approach rate: -0.467617 m/s, LOS rate: -0.006008 deg/s, cmd heading: 17.721764 deg, new cmd heading: 17.717296 deg. i/HeadingCmd: 0.309225 target range: 534.375366 and range: 535.80 m.hR>hhhhggjgrgereZe:e*eB0@.qBɢm<) 2 ?i)8i* 4ǖ= =I R>Iy@y @y@}/@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.771923bEjEO4rE@o/E EE%E"E;*E:VE 4ZEa@a@a@a@^Ah=A I I ! O5 >ƫd%,pLABk=B>B>xKٱB=BH?hֿhvÿ?@?`Ŀ ED?? 7?iBk=IBmc;@Y^sBy^I=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026339bDVD8y};>%G=ٔ=Q->9!Y!=-Ey-D]E]>Q 54?Q 94d)h>BYyA>Q I @DI:;i;4yaBɮJDAE:i%FNOT Ignoring new targets: 534.38 m."i%Ǹ*i%ǸU ProNav: ac range: 534.375366 m, nav range: 518.208191 m, bearing: 16.222462 deg, approach rate: -0.462232 m/s, LOS rate: -0.005439 deg/s, cmd heading: 17.717296 deg, new cmd heading: 17.712359 deg. i]B]HeadingCmd: 0.309139 target range: 534.375366 and range: 535.80 m.h]wG>hahahahagagajgrgereZe:e*em0@0qBɢR<) ?iA A B>BtCBpIBtBB =BBDBX;BFE!)eP/aaim,m5=uZ=IuwG>Iq]9@Y @Y@]0@YQchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.276062^AE +=E  E E E "E ;*E ':VE ZE BE e[j%,u LAJ=JwT>J(AٱJe=JH@.?`#ֿ¿ ??[ÿ~?p_?`K?iJ=IJ6c;JCYVsByVI!i=Mb@Mb@Mb@9999 99=Cl? rh?y&1|Y=d>y=C<=`=7A=OQA =`A)=X-A9Y=EAbDUVDU8ye=%eF=ٔm9iYi=uEyuDuEu>yQ 54}$?Q 94}b)}>BY>Q E:y>Q I @}DI};i};}l 4yɮzCA:iFNOT Ignoring new targets: 534.38 m."i*i ProNav: ac range: 534.375366 m, nav range: 518.026245 m, bearing: 16.220651 deg, approach rate: -0.492960 m/s, LOS rate: -0.004909 deg/s, cmd heading: 17.712359 deg, new cmd heading: 17.708735 deg. iHeadingCmd: 0.309076 target range: 534.375366 and range: 535.80 m.h-?>hhYhYhYgYgajgargeBeareiZei:ei*em@1@2qBɢR=) V,?i)&iB="7=I-?>IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.528620Q9@ @@@@@=^AD%=A>A?ԁIIO>ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779973q%,OǹLA2A=2>2K7ٱ2W=2H3?@տ`@A?`?`¿7??Y?i2A=I2b;2CYN3tByR-I TTbDZVDZȰ8yb?Q>%bW=ٔfO9dYd=jEyjDjEj>lQ 5r4n2?Q 9r4n!a)n>BYtyvJ>Q Iv @n&DIn:in`:n4yz`Bɮz3BAxE EE(E"E;*Ey:VEc44ZEa @a @a @a@:i15FNOT Ignoring new targets: 534.38 m.ԙ"iv*iv ProNav: ac range: 534.375366 m, nav range: 517.842468 m, bearing: 16.218886 deg, approach rate: -0.479067 m/s, LOS rate: -0.004603 deg/s, cmd heading: 17.708736 deg, new cmd heading: 17.705204 deg. iHeadingCmd: 0.309014 target range: 534.375366 and range: 535.80 m.h7>hhhhggjgrg!e!re!Ze!:e!*e-U}1@颅5qBɢ0=) ??i)/R顉iTUt=U1=IU7>IY9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.031974Y^A =B >B rCB IB uBB =B B DB 8;B EEBwCBxCBɗCB =B =CC6y I I O >x%,zṖLA:=:O>:R-ٱ:/=:H?ѫտWI{?|?¿`? a?wd?i:=I:mb;:CYJVtByJCIbonly read 0 of 1 data item for BIT error. Device response is::TS,00061107580539,35.0, +12.5, 0.0,1498 ab@ab ab@ab ab@ab ab@ab bDdVDdyn=%nI=ٔr9pYp=vEyvDv+ۻEv>xQ 5~4z B?Q 9~4zD_)z>BQ A+:YQ E:y>Q I @z3DIz ;iz]>z4y ɮ AA :i15FNOT Ignoring new targets: 534.38 m."i=ܥ*i=ܥM ProNav: ac range: 534.375366 m, nav range: 517.645813 m, bearing: 16.217055 deg, approach rate: -0.486719 m/s, LOS rate: -0.004531 deg/s, cmd heading: 17.705204 deg, new cmd heading: 17.701543 deg. iMUHeadingCmd: 0.308950 target range: 534.375366 and range: 535.80 m.hU.>hQhQhQhQgYgYjgYrgaeareaZea:ea*emt1@颕7qBɢ#B=) G?i)顡ik;i.>b ==I.>I]=]4=echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.285132i5:@1 @1@5/@1E EE$E"E;*E:VE4ZEBEԁԱ checking for new query: numPingsReceived=0, elapsed TxPingTime=5.536021 N0~%,LA2=2>2d%ٱ2=2He?`6qտ4[??]??@`r?i2=I2pb;2CYBtByBhI DF<bDJ'VDJа8yf>%fK=ٔfv9hYh=jEyjDnһEn>pQ 5v4rmQ?Q 9v4ro])r>BQ Av :YtQ Ev:yv>Q Iz @r?DIrV:irO?rq4y~_Bɮ~@A~EB*** querying acoustic contact ***ii:i!-FNOT Ignoring new targets: 534.38 m."i-*i-= ProNav: ac range: 534.375366 m, nav range: 517.451172 m, bearing: 16.215301 deg, approach rate: -0.483792 m/s, LOS rate: -0.004362 deg/s, cmd heading: 17.701542 deg, new cmd heading: 17.698032 deg. iEyEHeadingCmd: 0.308889 target range: 534.375366 and range: 535.80 m.hE&>hAhIhIhIgIgIjgQrgQeQreQZeQ:eY*e]}E2@:qBɢ5CG=)9 =U?iA)EXKAAiEN;iu&>}1=}U=I}&>IyԱ-9@) @)@)@)mchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.788057E= E=E9E9"E=T;*E=:VE9ZE9aM@aM@aM@aM@^AmT=AqzAuxAIIO> 1 %,\LAF=F>FٱFܲ=FH?`>տ / 8F?+?? F?@?iF=IF%b;FCnchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.042597Y^tByvIbD-)VD-Ұ8y]>%eA=ٔmߘ9Y=EyDsE>Q 54 b?Q 9u4x[)?BQ A9YQ Ee:y>Q I @MDIqhAhAhAhAgIgIBqAu<B}>ByB}IB}uBB} =ByByB};B}EEjgrgereZe:e*e2@>qBɢN=) Be?i))-U))i-K;i56>5B=5}=I=6>I9@ @@0@9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.292034q ^A l=E-  E- E- &E) "E- ;*E- $:VE- 4ZE) BE- `A%,7/LA@ 6p=6>6Lٱ6=6H? տ>s-?`?h൘?[?ҍ?i6p=I6tb;4Y^uBy^Iauau auau aua} a}a} i}Mb@Mb@Mb@yyyy y9}X9v?V-?MbpY}>y}<}}4A}IA }TA)}(.AyY}Q@AbD>VD8y 2>%F=ٔ!9Y=EyDE>Q 54|q?Q 94Y)$?BQ AT:Yd>Q E:y>Q I @YDI:in:}(4y^Bɮ~>A:iFNOT Ignoring new targets: 534.38 m."iٸ*iٸ ProNav: ac range: 534.375366 m, nav range: 517.044373 m, bearing: 16.211246 deg, approach rate: -0.531001 m/s, LOS rate: -0.005954 deg/s, cmd heading: 17.694326 deg, new cmd heading: 17.689917 deg. i[.HeadingCmd: 0.308747 target range: 534.375366 and range: 535.80 m.h >hhh!h!g!g!jg!rg-Be)re)Ze):e)*e5@K3@]@qBɢ]ޅ=)a ev?ia)e޻aaie;im >mM=uY^=Iu >Iqqchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.545119-9@) @)@)@)ԙ^AIIIO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.795974)%,ILAF=F!>Fc<ٱFv=FHL?Կ ?#?ɾ ?v??iF=IFO#b;FCPYV9hYh=jEyjDn/Er ErEr%Ep"Er;*Er:VEr 4ZEpaz@az@az@az@Ez>|Q 54~?Q 94~W)~>?BY y q>Q I  @~eDI~V:i~:~ /4yɮ>A:i9=FNOT Ignoring new targets: 534.38 m."iERŸ*iERŸU ProNav: ac range: 534.375366 m, nav range: 516.858276 m, bearing: 16.209202 deg, approach rate: -0.490636 m/s, LOS rate: -0.005391 deg/s, cmd heading: 17.689917 deg, new cmd heading: 17.685827 deg. iU]HeadingCmd: 0.308676 target range: 534.375366 and range: 535.80 m.h] >hYhYhYhYgagajgargaeireiZei:ei*em`|3@额CqBɢ־=) ~?i)Tƻ顡i蟟;i >X=M,=I >Iq@q @q@q@q checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053135PExceeded connect timeout, disconnecting.^Aϰ=A>A>B >B tCB 2IB uBB B B DB ;B sEEA I I ! O= >LS%,ObLA2=2u>2yQٱ2=2H<?@Կ??`&?`J?ߴ? ?i2=I2a;0YBruByBI|i Mb@Mb@Mb@     9 Zd;?V-?Y >y    EA jLA) X-A Y 9Y=EyD"*E>Q 54%?Q 94U)[?BYK>Q E:y>Q I @rDI ;i;64y\Bɮ=AE:iFNOT Ignoring new targets: 534.38 m."ii*ii ProNav: ac range: 534.375366 m, nav range: 516.654236 m, bearing: 16.206977 deg, approach rate: -0.481984 m/s, LOS rate: -0.005257 deg/s, cmd heading: 17.685827 deg, new cmd heading: 17.681376 deg. iHeadingCmd: 0.308598 target range: 534.375366 and range: 535.80 m.h>hhhhggjgrgBereZe:e *e  3@=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.300071EGqBɢE=)I M[?iI)MgIIiMc;iU>]d=]wϫ=I]>IYE EE'E"E;*E:VE'4ZEBE1N ~%,|LA6=6j>6]ٱ6i=6H@!?Կ@>?r$?@>e ?K? ?i6=I6x*b;6CYbuBybIbDvKVDv8y=>% R=ٔ L9Y=EyD%sE%>1Q 5E45?Q 9E45S)5u?BYIyM>Q IM @5DI5v;i5/t;5^=4ayiɮm;AqB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 534.38 m."im*im ProNav: ac range: 534.375366 m, nav range: 516.465332 m, bearing: 16.204933 deg, approach rate: -0.472987 m/s, LOS rate: -0.005121 deg/s, cmd heading: 17.681376 deg, new cmd heading: 17.677285 deg. i]HeadingCmd: 0.308527 target range: 534.375366 and range: 535.80 m.h];>hYhYhYhYgagajgargaeireiZei:ei*emS4@颽KqBɢYe=) ?i)󼊻ig;i;>n==I;>I9@ @@@ԡiIIIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.804991E EE%E"E*E:VE 4ZEa @a @a @a @Ա^A벫=I I O > e%,LA2=2*ң>2ٱ2:=2H@ )?Կ,E?"?q`@l?ϟ??i2=I2a;2CVchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.056796YZuByZ'I `b<bDfNVDf8yj =%jM=ٔn9pYp=rEyrDr5Ev>tQ 54v?Q 9 4vQ)v?BYyP>Q I @vDIv;iv;vGD4MnManaging dock network, ignoring radio surface power offyɮ;AAAAAB>BwCBpIBAvBB =BBDB?;B EE:i9EFNOT Ignoring new targets: 534.38 m."iEL*iELu ProNav: ac range: 534.375366 m, nav range: 516.274414 m, bearing: 16.202878 deg, approach rate: -0.419499 m/s, LOS rate: -0.004516 deg/s, cmd heading: 17.677286 deg, new cmd heading: 17.673175 deg. iu=}HeadingCmd: 0.308455 target range: 534.375366 and range: 535.80 m.h}>hyhyhhggjgrgereZe:e*e4@uOqBɢuH=)q uK?iy)}R顁i:;i>y=5=I>I]9@Y @Y@e/@a@i@iUchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.307932E  E E #E "E ;*E S:VE 3ZE BE "dR%,CLA> =>V>> ٱ>=>H`5,?TԿc%?? L Ѽ?ᨸ??i> =I>Ѧa;>CYJ vByJPIiMb@Mb@Mb@ 9Zd;O?l?~jtxYj>y=Ļ3A IA).AYQ%EC=ٔEv9IYI=MEyMDU8;EU>YQ 5e4]?Q 9e4]O)]?BYe$>Q Em:ymV>Q Im @]DI]z:i]a:]K4yu^Bɮu:AuxE:iFNOT Ignoring new targets: 534.38 m."i*i 5 ProNav: ac range: 534.375366 m, nav range: 516.069824 m, bearing: 16.200270 deg, approach rate: -0.582036 m/s, LOS rate: -0.007423 deg/s, cmd heading: 17.673176 deg, new cmd heading: 17.667958 deg. i5YY=HeadingCmd: 0.308364 target range: 534.375366 and range: 535.80 m.h=>h9h9h9h9g9gAjgArgEBeAreIZei:ei*em "5@SqBɢt=) ?i)Zix;i>=%r=I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.5607259@ @@@9^AaiIIO>] checking for new query: numPingsReceived=0, elapsed TxPingTime=8.812040ԑ x%, [ʺLA2=26>2ڽٱ2v=2H 1?IԿ ?`??rBL?h~?@V?i2=I2a;0YB&vByB`IbDJfVDJ 8yRc=%RU=ٔV9TYT=VEyZDZ'EZ>bEIjEMw4rEM0Eb EbEb)E`"Ebf;*Eb$:VEbFA4ZE`aj@aj@aj@aj@\Q 5n4^?Q 9r4^M)^?BYpyr2>Q Ir @^DI^;i^+;^GR4ytɮz^:Ax:iFNOT Ignoring new targets: 534.38 m."i*i%ḝ- ProNav: ac range: 534.375366 m, nav range: 515.882935 m, bearing: 16.197891 deg, approach rate: -0.484378 m/s, LOS rate: -0.006167 deg/s, cmd heading: 17.667958 deg, new cmd heading: 17.663199 deg. i-45HeadingCmd: 0.308281 target range: 534.375366 and range: 535.80 m.h5ם>h1h1h9h9g9g9jgArgAeAreAZeA:eI*eMN5@WqBɢWU=) ?i).i:i%ם>%Ԍ=%=I-ם>I)q9@ @@0@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.063992^Ae=B- >B- vCB- IB- vBB- =B) B- DB- ;B- DEI I O > %,Y5亖LA2=2z>2uνٱ2O/=2Hv:?ພԿ̯@??] qù?[? v?i2=I2gma;0YR`vByRIiUMb@Mb@Mb@QQQQ Q9Ux&1?{Gz?{GztYUA?yU#=UףUl1AQ UGA)U(.AQYU ;AaeBAbDm`VDm8y}[>%}==ٔ}d9Y=EyDYE>Q 54a?Q 94K)?BY?Q E:y>Q I @DI] ;i;Y4y]Bɮk9A:iFNOT Ignoring new targets: 534.38 m."i*i︝ ProNav: ac range: 534.375366 m, nav range: 515.668640 m, bearing: 16.195087 deg, approach rate: -0.500677 m/s, LOS rate: -0.006555 deg/s, cmd heading: 17.663199 deg, new cmd heading: 17.657588 deg. i?HeadingCmd: 0.308183 target range: 534.375366 and range: 535.80 m.h+ʝ>hhhhggjgrgBereZe:e*e`5@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.316109E[qBɢE=)A E?iA)MkIIiMQ:iU+ʝ>U_=z=I+ʝ>IE EE'E"E;*EE:VE'4ZEBEn_A>) IQ Ia Om > checking for new query: numPingsReceived=0, elapsed TxPingTime=9.568198Y Ҿ%,,LAV1=V(>V,½ٱV]$=VHB?#Կ@?@? J9AYA=EEyEDEBEM>QQ 5U4U?Q 9]4UI)U?BYYy]'>Q I] @UDIU:iU%:U`4yaɮm8AiB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 534.38 m."i*i븝 ProNav: ac range: 534.375366 m, nav range: 515.471069 m, bearing: 16.192527 deg, approach rate: -0.496676 m/s, LOS rate: -0.006438 deg/s, cmd heading: 17.657588 deg, new cmd heading: 17.652466 deg. i<HeadingCmd: 0.308094 target range: 534.375366 and range: 535.80 m.hs>hhhhggjgrgereZe:e*eS6@_qBɢi=) E?i):i:is>=§=I s>I !9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.819986IE EE%E"E;*E5:VE 4ZEa@a@a@a@^Ap=I)I9OM>y nŮ%,LA06=6>68ٱ6=6H`L?oLԿ!?.?( ?@O?~?i6=I6a;6C@BR=B9xYx=zEyzD~ֻE~>Q 5 4?Q 9 4G)?BY y >Q I @DIi:g4y\Bɮ.8AyE:iYmFNOT Ignoring new targets: 534.38 m."i}+*i}+帝= ProNav: ac range: 534.375366 m, nav range: 515.275696 m, bearing: 16.190051 deg, approach rate: -0.493868 m/s, LOS rate: -0.006261 deg/s, cmd heading: 17.652465 deg, new cmd heading: 17.647511 deg. i=U7}HeadingCmd: 0.308007 target range: 534.375366 and range: 535.80 m.h}>hhhhB>BBIBvBB =BBB;BDDEB}vCB}uCB}•CB} =B} =gQgQjgYrgYeareaZeaԑ:ei*e 6@C}6eqBɢDZ=)! %?i!)E:AAiM1iM>M@=U[=IU>IQ :@  @ @0@Թ52Acoustic response timeout D zD @AE  E E 'E "E ;*E P:VE '4ZE BE ]̮%,a2LA(2U=2.>2ٱ2=2HX? Կo?>? *?`⠷??i2U=I2aa;2CYBvByBIi Mb@Mb@Mb@     9 rh|?S㥫?{GztY >y /]=  (.A lCA =DA) /A Y p9A <bD!VD!y5=%5==ٔ=c9= ?Y= ?==Ey='DEEE>IQ 5U4MK ?Q 9U4MsE)M@BY]m>Q E]:y]O>Q I] @MDIM:iMQ:Mo4yaɮe7Aa:i)5FNOT Ignoring new targets: 534.38 m."i5*i5e ProNav: ac range: 534.375366 m, nav range: 515.067261 m, bearing: 16.186786 deg, approach rate: -0.469343 m/s, LOS rate: -0.007355 deg/s, cmd heading: 17.647512 deg, new cmd heading: 17.640979 deg. ie]WmHeadingCmd: 0.307893 target range: 534.375366 and range: 535.80 m.hm,>hihqhqhqgqgqjgyrg}BeyreyZey:e*e+7@-2Acoustic response timeoutԁ颭jqBɢl=) խ?i)G@;顱iDi,>=.=I,>I}9@ @@@@@^A] =Aa zAe xA  2Acoustic response timeoutA ؟AI I E  E E %E "E ;*E :VE 4ZE a @a @a @a @! O >|Ӯ%,OLA`L=&>ٱ=H e?`ӿCe?8J?9 ?`H?`?i`L=Iwa;CYvByIbD@VD8yn>=%0=ٔcD9"?Y"?=Ey1DPE>Q 54?Q 94B)@BYy>Q I @DI:iB:3w4y[Bɮ7A :i)5FNOT Ignoring new targets: 534.38 m."i5+*i5+E ProNav: ac range: 534.375366 m, nav range: 514.840027 m, bearing: 16.183314 deg, approach rate: -0.511751 m/s, LOS rate: -0.007823 deg/s, cmd heading: 17.640978 deg, new cmd heading: 17.634031 deg. iMeMHeadingCmd: 0.307772 target range: 534.375366 and range: 535.80 m.hMG>hQhQhQhQgQgQjgYrgYeYreYZeY:ea*eeQ7@颍oqBɢ=) ?i)G ;顙i|׭iG>骗=Ř=IG>I!9@ @@/@2Acoustic response timeoutBM>BMuCBMIBMIwBBM =BIBMDBM?;BMCE^Aܝ=) A I I O >ٮ%,hLA22Acoustic response timeoutB֕=B4y>BT?ٱB&׿=BHp?;ӿ`F5? Q?NC? L?L?iB֕=IB'(c;BCYRwByRIi-Mb@Mb@Mb@)))) )9-Zd;O?:v?~jthY-j>y-T=-D-/A-BA -AA)))Y-8AbDEVDEư8yM=%UT=ٔUv9YYY=]Ey]9Dem Ee>aQ 5m4e,?Q 9u4e@)e$@BYu>Q Eu:yu{>Q Iu @eDIe(:ie:e}4yɮ\6A:iFNOT Ignoring new targets: 534.38 m.D%=D<E% E%E!E!"E%%;*E%:VE!ZE!BE%KhhhhggjgrgBereZe:e*e 8@EtqBɢE$=)A E_?iA)M;IIiMnQiׇ> =m=Iׇ>IE9@A @A@E0@IԱ2Acoustic response timeout^Am = A .AI I O >T%, LA2í=2>2;ٱ2=2H z?-^ӿj ? =\?@@@Mİ? ZI? `?i2í=I2[!c;2CdY&wByI@A@AbDVD8y|<%6=ٔU9 ?Y ?=EyBD>ϻE>Q 54=?Q 94>)4@BYy>Q I @DIi:i;Dž4yZBɮ66AzEB*** querying acoustic contact ***ii:i  FNOT Ignoring new targets: 534.38 m."ig*ig% ProNav: ac range: 534.375366 m, nav range: 514.430847 m, bearing: 16.177491 deg, approach rate: -0.491339 m/s, LOS rate: -0.006923 deg/s, cmd heading: 17.628594 deg, new cmd heading: 17.622381 deg. i%J-HeadingCmd: 0.307569 target range: 534.375366 and range: 535.80 m.h-y>h)h)h)h)g1g1jg1rg1e9re9Ze9:e9*e=`q8@mzqBu2Acoustic response timeoutɢu,=)y }?iy)}7;yyi}!iy>=)=Iy>IiE- E-E-'E)"E-;*E-':VE-'4ZE)a5@a5@a5@a5@E9@A @A@A@Aԑ^Am v=Am >Am > % 2Acoustic response timeoutA ؟AI I O %,LAAFAAADBR>BPBR8IBRwBBPBPBPBR;BRCEYB=e>zLuٱ(T=H ?(ӿusi? j?<@ޤ?#z?a?iB=Icqb;C !)!%Ļ!!))i)I))I1i5A 5j\5]F)19 9=D999AIA)AiA)AIEM~AAI IM̏CIQiQQiUCU5A)Q QIYYYYe7wByeIiMb@Mb@Mb@ 9K?T㥛 ?Y^>y=(.A@A =A)l1AY7AbDVD8y=%4=ٔL9"?Y"?=EyKD»E>Q 54N?Q 94?<)D@BY o>Q E :y ,>Q I  @DIG ;iL ;4yɮ5A:i9EFNOT Ignoring new targets: 534.38 m."iE*iEU ProNav: ac range: 534.375366 m, nav range: 514.210693 m, bearing: 16.173892 deg, approach rate: -0.486876 m/s, LOS rate: -0.007964 deg/s, cmd heading: 17.622382 deg, new cmd heading: 17.615179 deg. iU5i]HeadingCmd: 0.307443 target range: 534.375366 and range: 535.80 m.h]'i>hahahahagagajgirgmBeireiZei:eq*eu@8@ԁ%qBɢ%9=)! %ٶ?i!)-;))i-VHi5'i>5Ý=5=I5'i>IEBDAT read: Response Not Received M*response not receivedM*DAT read: user:109> UBDAT read: Tx time:04:09:17.0890 ]$Ping request sent.]C%,*LA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248152:=:G>:Ņ]ٱ:^=:H? ҿ P? Yt?BW D?&??i:=I:F+a;:CY%XwBy%IbD5ڿVD58yEH=%M^=ٔM+9M ?YU ?=UEyURDU%EU>YQ 5e4]\?Q 9e4]G:)]P@BYiym>Q Im @]DI]<;i];]4yuYBɮug5Ay:iyFNOT Ignoring new targets: 534.38 m."iQ*iQ ProNav: ac range: 534.375366 m, nav range: 514.031433 m, bearing: 16.171001 deg, approach rate: -0.451587 m/s, LOS rate: -0.007285 deg/s, cmd heading: 17.615179 deg, new cmd heading: 17.609396 deg. iOUHeadingCmd: 0.307342 target range: 534.375366 and range: 535.80 m.h[>hhhhggjgrgereZe:e*eM9@QmqBɢu5=)q C?i)A<iki[>=,=I[>I9@ @@0@ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.499999E}  E} E} #Ey "E} /;*E} B:VE} 3ZEy a @a @a @a @Ա ^A =A I I O% >%,ӻLA:G=:v>:Eٱ:=:H@?ҿ ̢?y?n?@[?@?i:G=I:%a;8PYvwBy/I -=-4=bD5VD58yE^=%EL=ٔESk9IYI=MEyMZDMEU>QQ 5]4Uk?Q 9e4U&8)U\@BYaye>Q Ie @U(DIQiU:U4yiɮu4Aq:iFNOT Ignoring new targets: 534.38 m."i*i ProNav: ac range: 534.375366 m, nav range: 513.836487 m, bearing: 16.167904 deg, approach rate: -0.525268 m/s, LOS rate: -0.008347 deg/s, cmd heading: 17.609396 deg, new cmd heading: 17.603200 deg. iftHeadingCmd: 0.307234 target range: 534.375366 and range: 535.80 m.hM>hhhhggjgrgereZe:e*e@_9@颍qBɢn=) Y?i)J$<顱iiM>=T=IM>I=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752272@ @@/@B->B-tCB-QIB-wBB- =B)B)B-;B-CE^A 8=A zAzA yA!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004083A5 ؟AIA IY Om >%,LAE EE%E"E;*E:VE 4ZEBEay=P==ף9==A =?;A)=/A9Y=5AbDUVDU8ye8C=%e8=ٔeQ-e>9m"?Ym"?=mEymcDuEu>yQ 54} }?Q 94}5)}f@BYI>Q E:yn>Q I @}6DI}:i}:}4yWBɮ4A:iFNOT Ignoring new targets: 534.38 m."i*i츝 ProNav: ac range: 534.375366 m, nav range: 513.617493 m, bearing: 16.165031 deg, approach rate: -0.492484 m/s, LOS rate: -0.006463 deg/s, cmd heading: 17.603201 deg, new cmd heading: 17.597452 deg. iB=HeadingCmd: 0.307133 target range: 534.375366 and range: 535.80 m.h@>hhhhggjgrgBereZe:e*e /:@qBɢ=) %D?i!)%9-=-$=I-@>I19@ @@0@-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2560979^Axr=i A I I! O- >%,LA2i=2>2Јٱ2=2H ? ҿ팄 w??@Kp? T??i2i=I2oc;2CY>wBy>JIbDFVDF8yN=%Rn=ٔR=Q-R?9PYT=VEyVjDV EV?XQ 5^4ZG?Q 9^4Z*4)Zl@BY`yb>Q Ib @ZADIZu:iZ;Zި4ydɮf64AhvB*** querying acoustic contact ***itit:i|~FNOT Ignoring new targets: 534.38 m."i}*i}渝 ProNav: ac range: 534.375366 m, nav range: 513.448303 m, bearing: 16.162866 deg, approach rate: -0.491893 m/s, LOS rate: -0.006297 deg/s, cmd heading: 17.597453 deg, new cmd heading: 17.593121 deg. id8Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509972HeadingCmd: 0.307058 target range: 534.375366 and range: 535.80 m.h6>hhhhggjgrgereZe:e*e{:@颍qBɢ=) L?i)L<顙iҸi6>w=~=I6>IbEjE4rE/EU EUEU"EQ"EUs!;*EU:VEU(3ZEQae@ae@ae@ae@@ @@/@ԡԱ^A_=] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761137 B <A =B- t>B- mCAY I B- jIB- wBB- =B- %,!LArd=r>rٱrlr=rH?`ҿio?`d??????ird=Irb;rCY~wBy~IIԑiMb@Mb@Mb@ 9-??Y?>yL=X-A 9A)=2AYbDVDİ8ye%6=ٔOu9Y=EysDE>Q 54 ?Q 941)u@BY>Q E:y>Q I @ODI ;i* ;4yVBɮ04A {E:i)5FNOT Ignoring new targets: 534.38 m."i5*i5ฝE ProNav: ac range: 534.375366 m, nav range: 513.234070 m, bearing: 16.160130 deg, approach rate: -0.479106 m/s, LOS rate: -0.006123 deg/s, cmd heading: 17.593121 deg, new cmd heading: 17.587646 deg. iEH3MHeadingCmd: 0.306962 target range: 534.375366 and range: 535.80 m.hM**>hIhhhggjgrgBereZe:e*e:@mqBɢmN=)i mW?iq)u'a}Dj=}~=I}**>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012803 wt>%Cq@ @@0@P9YȘA@@=EE EEEE$EA"EE%;*EE:VEE4ZEABEE~A% >! I I) = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264097OE >j*%,Hj;LAJi=J>JCٱJݷ=JHN?ҿFr?Jx?`~?`$`?T?`?iJi=IJ! b;JCYVwByZMIbDb9VDb8yj<%j^=ٔj9lYl=nEyn{Dr::Er>tQ 5z4vܨ?Q 9z4v,0)vz@BYxyz>Q I~ @vZDIv:iv3;v'4yɮ4A:iFNOT Ignoring new targets: 534.38 m."i ڸ*i ڸ ProNav: ac range: 534.375366 m, nav range: 513.057495 m, bearing: 16.157864 deg, approach rate: -0.464158 m/s, LOS rate: -0.005957 deg/s, cmd heading: 17.587645 deg, new cmd heading: 17.583112 deg. ip.HeadingCmd: 0.306883 target range: 534.375366 and range: 535.80 m.h>hhAhAhAgAgAjgIrgIeIreIZeI:eI*eU&M;@颽qBɢ=) s?i)t<iƻi>_==I>I)9@9 @9@9@9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516155ԁ^A5 0=Ee  Ee Ee (Ea "Ee a?;*Ee 8:VEe c44ZEa au @au @au @au @I1 IA OM >ԡ %,ULA2=2>2~ٱ2 =2HV?@Dҿҋ?@?v?{(bݏ?G??i2=I2a;2CY>wBy>ZIbDJVDJ8yNNW=%RO=ٔR^9TYT=VEyVDVP;EV>XQ 5^4Z?Q 9b4Z=.)Z@BY`yb>Q Ib @ZgDIZ:iZu:Z 4yfYBɮf3AjrE:iFNOT Ignoring new targets: 534.38 m."ibݸ*ibݸ ProNav: ac range: 534.375366 m, nav range: 512.868835 m, bearing: 16.155417 deg, approach rate: -0.466149 m/s, LOS rate: -0.006048 deg/s, cmd heading: 17.583113 deg, new cmd heading: 17.578217 deg. i1HeadingCmd: 0.306798 target range: 534.375366 and range: 535.80 m.h>hhhhggjgrgereZe:e*e ;@qBɢ=) Q?i)၃<iԻi > U=܂=I>Iԙ%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769060@ @@0@Bw>BBqIBwBB =BBB;BuCEBtCBrCBėCB =BCij6^APڀ=IYIiOu> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020017) m2%,nLAE EE%E"E);*E:VE 4ZEBENBٱB=BH?ҿ7?`?ui? u?s??iB =IBMa;BCYNwByNWIi%Mb@Mb@Mb@!!!! !9%rh|? ףp= ?~jth?Y%>y%Q8=%D;%+A%=A %Q6A)% 3A!Y%4A <<bD׿VD8y=%7=ٔco9Y=EyD+;E>Q 5 4?Q 9 4 ,)@BY >Q E:y>Q I @uDI:i;4yɮ3A:iAEFNOT Ignoring new targets: 534.38 m."iMLݸ*iMLݸ] ProNav: ac range: 534.375366 m, nav range: 512.649353 m, bearing: 16.152846 deg, approach rate: -0.515980 m/s, LOS rate: -0.006046 deg/s, cmd heading: 17.578218 deg, new cmd heading: 17.573074 deg. i] 1eHeadingCmd: 0.306708 target range: 534.375366 and range: 535.80 m.he>hahahahigigijgirgmׁBeqreqZeq:ey*e}<@颥qBɢ=)W ?i)v<顩i7i>K==I>II@I @I@Q@Q@]yA@Y%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272031)^Am7J=AuxAzAuxAIIO>I "%,шLA:&=:JO>:P-ٱ:fG=:Hu?ҿ?@?`^?B[e?#x? ?i:&=I:p3a;8YFwByFbIbDRVDR8yV==%Za=ٔZ9\Y\=^Ey^D^ <Eb>`Q 5f4b?Q 9j4bB*)b@BYhyjX>Q Ij @bDIb:ib:b44ynXBɮr3Ap~B*** querying acoustic contact ***i|i|:i  FNOT Ignoring new targets: 534.38 m."iظ*i%ظM ProNav: ac range: 534.375366 m, nav range: 512.470825 m, bearing: 16.150694 deg, approach rate: -0.490710 m/s, LOS rate: -0.005917 deg/s, cmd heading: 17.573074 deg, new cmd heading: 17.568769 deg. iMC-UHeadingCmd: 0.306633 target range: 534.375366 and range: 535.80 m.hU>hQhQhQhQgQgQjgYrgYeareaZea:ea*ee`{<@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524122颽qBɢW>) ?i);<i[i>&F=\=I>IEE EAEE&EA"EE*;*EAVEE4ZEAQaU@aU@aU@aU@u9@q @q@u0@qy^Ab$=II O>5 BDAT read: Rx Time:04:09:20.1910 5 TRx dataTimestamp_ set to:1764907762.438782= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777083ԩ A @AA @AB j>B lCB B B =B B DB ڋ;B [CEpI(%,LA<===s>=J<ٱ===H?`ҿ#J?`0"? N]? 乿 r?@?i==I=x`;9YuwByqiMb@Mb@Mb@ 9X9v?yt=*A@A 5A)5AY5AbDVD8y%H:%%4=ٔ-M91Y1=5Ey5D5D<E=>9Q 5E4=?Q 9E4=()=@BYM>Q EM:yMp>Q IM @=DI=;i=";= 4yQɮ]3AY:iyFNOT Ignoring new targets: 534.38 m."i'*i' ProNav: ac range: 534.375366 m, nav range: 512.246399 m, bearing: 16.148329 deg, approach rate: -0.495248 m/s, LOS rate: -0.005222 deg/s, cmd heading: 17.568770 deg, new cmd heading: 17.564036 deg. iHeadingCmd: 0.306550 target range: 534.375366 and range: 535.80 m.h(>hhhhggjgrgBereZe:e*e<@qBɢ=ԡ) 7?i)fB<顩iZi(>FC=Kl=I(>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.0294759@ @EM EMEIEI"EM ;*EM$:VEIZEIBEMRA >u DAT read: 04:09:20.1910 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 359,-0.22, 0.415,-1.277, 0.679,-0.075, PHS= 0.593,-1.156, 0.711, RAW= 153.2, -1.6, CAL= 152.4, -2.7, ROT= 357.6, 2.7 } Ygot valid direction response: 04:09:20.1910 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 359,-0.22, 0.415,-1.277, 0.679,-0.075, PHS= 0.593,-1.156, 0.711, RAW= 153.2, -1.6, CAL= 152.4, -2.7, ROT= 357.6, 2.7  PDAT read: Bearing 166.8, -2.9 (Local)  ~Local bearing/azimuth received: Bearing 166.8, -2.9 (Local)  DAT read: Range 11 to 50 : 523.3 m (Round-trip 697.8 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.998014,-0.041829,-0.047106] Fpublishing direction and range infoA] .AY Iq I O >/%,B_LAy7 i??bQjP7VYD )LI?i6?D +@;*@ A)@IA=iFN8,?Ʃ? ~?)ĤUv|<ٱU=UH ? ӿ-?D?V?@,|@î?p?iU =IU3b`;UCYmwBymhIbDVD8y<%==ٔ`9 ?Y ?=EyDզ;E>Q 54|?Q 94%)@BYy>Q I @DI;i`;4yWBɮm3A%sEiiiQLAjgD"jgD:j>"p:D@7`5f8p7 i??bQjP7V*jQ+2jA=*pwZ@ Qa@(QqApc|T?!?? j C jCim?ijAjv.,?jjBrjCzjT> addTargetRange:: Added new target pos. range: 523.299988 m, deltaT: 29.240067 s, deltaX: -12.500000 m, approachRate: -0.427496 m/s, rangeRepo size: 4  Added new target pos. range: 521.624329 m, bearing: 15.438997 deg, lat: 36.779426 deg, lon: -121.859527 deg, deltaT: 29.240067 s, deltaX: -12.751038 m, approachRate: -0.436081 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 521.62 m."i*i ProNav: ac range: 521.624329 m, nav range: 511.863007 m, bearing: 15.703897 deg, approach rate: 0.000000 m/s, LOS rate: -0.005222 deg/s, cmd heading: 17.564036 deg, new cmd heading: 17.559356 deg. iHeadingCmd: 0.306469 target range: 521.624329 and range: 523.30 m.hs>h h h h)g1g1jg9rg9e9re9Ze9:eE`fZ@*eE ?qBɢU=) @?i) ܭ<  i is>B=1Ė=Is>IE*DAT read: user:110> EBDAT read: Tx time:04:09:21.6390 M$Ping request sent.MBUiCBUdIBUwBBU =BQBUDBUЋ;BUDCEԡAIIO ?s8%,἖LAIY=>th<ٱ^=H{?#ӿK?hl?`L?=0`` >??iIY=I$`;Y=wBy=cIIiMb@Mb@Mb@ 9+?I +?Yv>y9< 3A)Q6AYp5AbD߿VD8yaN% =ٔ!9Y=EyD;E > Q 54 B?Q 94 ]#) @BY>Q E:yh>Q I @ DI w:i : 4y%VBɮ-3A):iQUFNOT Ignoring new targets: 521.62 m."i]*i]𢸝 ProNav: ac range: 521.624329 m, nav range: 511.575989 m, bearing: 15.701376 deg, approach rate: -0.506593 m/s, LOS rate: -0.004452 deg/s, cmd heading: 17.559356 deg, new cmd heading: 17.554312 deg. iYHeadingCmd: 0.306381 target range: 521.624329 and range: 523.30 m.hݜ>hhhhggjgrgBereZe:e*e0 ?uqBɢu=)q u?iy)}hͻ E==Iݜ>I-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503636yD=D<E EE&E"E;*E:VE4ZEBE@:jN<ٱ:>:Hs?2;ӿz?? =? Lɚ?@0?i::=I:P.`;:CYFwByJJIbDRVDR8yZ⫽%Z,=ٔ^,9\Y\=^Ey^Db;Eb>dQ 5j4f"?Q 9j4f6!)f|@BYhynص>Q In @fDIf0;if+;f!4ypɮr%4Ap:i  FNOT Ignoring new targets: 521.62 m."iq*iq% ProNav: ac range: 521.624329 m, nav range: 511.341217 m, bearing: 15.699237 deg, approach rate: -0.496000 m/s, LOS rate: -0.004520 deg/s, cmd heading: 17.554312 deg, new cmd heading: 17.550033 deg. i%Z-HeadingCmd: 0.306306 target range: 521.624329 and range: 523.30 m.h-Ԝ>h)h)h)h)g)g1jg1rg1e9re9Ze9:e9*e=@-?mqBɢm=q)i uʸ?iq)},iI==IԜ>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006761ԙE} E}E}(Ey"E};*E}Ar:VE}c44ZEya@a@a@a@9@ @@O0@ ^A = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259703B A <B >B oCB QIB wBB =B B DB ;B CEAa I I O > H%,(!LAvL<ٱv@ >vH i?G_ӿ1?`?`0?X@b?`(?iv7=Iv`;vCYwBy`IiMb@Mb@Mb@ 9X9v?~jth?~jtx?Y>yD;;;)AdCA )"7AY5AbDVD8y=%=ٔM9 Y = Ey D ;E>Q 547?Q 94)w@BY%>Q E%:y%[>Q I% @DI;iD;F4y-UBɮ53A5tEUB*** querying acoustic contact ***iQiQ:iYeFNOT Ignoring new targets: 521.62 m."ie7*im7u ProNav: ac range: 521.624329 m, nav range: 511.081909 m, bearing: 15.697927 deg, approach rate: -0.494622 m/s, LOS rate: -0.002500 deg/s, cmd heading: 17.550033 deg, new cmd heading: 17.547411 deg. iuh}HeadingCmd: 0.306260 target range: 521.624329 and range: 523.30 m.h} Μ>hyhhhggjgrgBereZe:e*e`E8?ԡqBɢ~=) ?i) <i i Μ> S=إ=I Μ>It>i>}9@y @y@}`0@yiߩIߩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.517059E5 E5E5"E1"E5:*E5ą:VE5(3ZE1BE5</N%,܀;LA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767332YwBy%VIbDVDf8y<%`=ٔQ->9"?Y"?=EyDE>Q 54F?Q 94)t@BYyQ I @DI:iA;4yɮ 3A :i)5FNOT Ignoring new targets: 521.62 m."i57*i=7E ProNav: ac range: 521.624329 m, nav range: 510.901093 m, bearing: 15.697013 deg, approach rate: -0.496839 m/s, LOS rate: -0.002513 deg/s, cmd heading: 17.547412 deg, new cmd heading: 17.545582 deg. iE2MHeadingCmd: 0.306228 target range: 521.624329 and range: 523.30 m.hMɜ>hIhQhQhQgQgQjgYrgYeYreYZea:ea*ee`-@qBɢL>) ڸ?i)<ii5ɜ>5Y=5A=I5ɜ>IA)%9@! @!@%1@!Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018785^A T=bEɞ4jE4rEI"0Em  Em Em (Ei "Em ;*Em :VEm c44ZEi a} @a} @a} @a} @ A I) I9 OE >U%,-\ULA2=2>2r=ٱ2k>2H e? boӿ@L&?#?N9? t`: ?n?i2=I2_`;2CY>wBy>\IbDFпVDF8yNj<%Ra=ٔRh9TYT=VEyVDVS;EV>XQ 5^4ZT?Q 9b4Z)Zo@BY`yb>Q Ib @ZDIZ:iZ:Z4yfTBɮf3Ah:ixzFNOT Ignoring new targets: 521.62 m."i~<*i~<  ProNav: ac range: 521.624329 m, nav range: 510.720886 m, bearing: 15.696074 deg, approach rate: -0.495255 m/s, LOS rate: -0.002580 deg/s, cmd heading: 17.545583 deg, new cmd heading: 17.543705 deg. i HeadingCmd: 0.306195 target range: 521.624329 and range: 523.30 m.hŜ>hhhhggjg!rg!e!re!Ze!:e)*e-Kn@ԙqBɢ\ >) T?i)DJ<i iŜ>5a=C=IŜ>I@ @@@5@?<%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272626B >B tCB ?IB wBB  =B ;DB DB ;B BE^Ah=Aa Ii Iy O >9 i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523419 9 Y EAA[%,7oLA2=2>2:(=ٱ2TB=2Hg?/Tӿ ٸ? !? i??뺿??i2=I2.`;2CYNwByRUIE EE%E"E;*E:VE 4ZEBEAy`;`e< *AEA 92A)7;AY\7AbDVD8y Ӽ% 5=ٔd;Q->9Y=EyDMZE%>!Q 5-4%$f?Q 9-4%;)%m@BY5>Q E5:y5n>Q I5 @%DI% ;i%?;% 4y9ɮE3AA:iFNOT Ignoring new targets: 521.62 m."iAI*iAI ProNav: ac range: 521.624329 m, nav range: 510.500854 m, bearing: 15.694812 deg, approach rate: -0.478855 m/s, LOS rate: -0.002749 deg/s, cmd heading: 17.543705 deg, new cmd heading: 17.541178 deg. iHeadingCmd: 0.306151 target range: 521.624329 and range: 523.30 m.hݿ>hhhhggjgrg,BereZe:e*e+@rBɢ!?=) ?i)l<i(%imݿ>m_i=m=Imݿ>I!@ @!@%0@!%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775601Q^A =y A I I O >mb%,,LA2@=2>2?*4=ٱ2=2H h?ADӿ p??A?Mκleƿ??i2@=I22%`;2CY>wBy>\IbDRVDR8yb<%bX=ٔf;Q-f>9dYd=fEyfD%wԺE%>)Q 554-Ru?Q 954-)-j@BY9y=>Q I= @-DI-T:i-;-4yESBɮE3AEuE:iiuFNOT Ignoring new targets: 521.62 m."iuN*iuN ProNav: ac range: 521.624329 m, nav range: 510.311066 m, bearing: 15.693735 deg, approach rate: -0.498136 m/s, LOS rate: -0.002826 deg/s, cmd heading: 17.541177 deg, new cmd heading: 17.539024 deg. iHeadingCmd: 0.306114 target range: 521.624329 and range: 523.30 m.h>hhhhggjgrgereZe:e*e' @rBɢ >) ?i)<il)i>n=ʣ=I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026725a@i @i@m?5@iE EE&E"EV:*E:VE4ZEa@a@a@a@^A=AzAzA)A} .AI  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279046I O >Ay A} AAB >B wCB ,IB qwBB =B B DB ;B mBEBMoCBMpCBMʙCBM =BM =CM7Q h%,fLAYwBy]I1iMb@Mb@Mb@ 9jt?I +?:v?Y?y94<T<*AdCA  3A) 9 ?Y ?=EyDE>Q 54‡?Q 94)f@BY?Q E:y>Q I @DI* ;i;4yɮ3AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 521.62 m."ig*ig ProNav: ac range: 521.624329 m, nav range: 510.079987 m, bearing: 15.692220 deg, approach rate: -0.482401 m/s, LOS rate: -0.003164 deg/s, cmd heading: 17.539024 deg, new cmd heading: 17.535993 deg. iMHeadingCmd: 0.306061 target range: 521.624329 and range: 523.30 m.h>hhhhggjgrg2BereZe:e*e; @=rBɢ=z_=)9 E?iA)E=IIiMl^.iU>Uv=U!=I]>IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.532802i @ @@0@E EE$E"Es:*E?:VE4ZEBEj09o%,ܿLA2X#Rx 1: Read direction message, but no range.6\direction in FSK: [0.991443,0.001730,0.130526]yIM<{g?BqY\? /?IIII I)MMIM>iMGMη>M0(@M5=Mp'@ M >)M:IM IMKY?\%?G>? M?)MKIM:iM BT****** received valid address query ******BR****** received valid ping request ******Breceived new query, but waiting for acoustic response period to elapseF"=Fsܞ>FdHT=ٱF[=FHZn? ӿ@? ?;T?? P? ?iF"=IF/`;FCYRwByRbI TV<bDZVDZǰ8yb<%b^=ٔfV9dYd=fEyjDjEj>!Q 5-4%?Q 9-4% )%b@BY)y-v>Q I5 @%DI%>:i%:%U!4ԙyRBɮl3A:iFNOT Ignoring new targets: 521.62 m."i~g*i~g ProNav: ac range: 521.624329 m, nav range: 509.890289 m, bearing: 15.691044 deg, approach rate: -0.509713 m/s, LOS rate: -0.003162 deg/s, cmd heading: 17.535993 deg, new cmd heading: 17.533640 deg. i1 HeadingCmd: 0.306020 target range: 521.624329 and range: 523.30 m.h >h h h h ggjg1rg9e9re9Ze9:e9*eE@Ń@rBɢ >) ˵?i)=i2i>Cz=~=I>II)yA@ @@;2@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE EEE"E:*EVEZEa@a@a@a@^Ah=A ؟AI I  O- >!v%,ٽLA2w=2 >2q\=ٱ21=2Hq?`ҿ?^j?[?@Ƕ|@8?.?i2w=I2_;2CY>wBy>^IbDJ)VDJҰ8yR턼%RM=ٔR;Q-R>9V"?YV"?=VEyVDZEZ>XQ 5b4Z?Q 9b4Z`)Z]@BY`yb>Q Ib @Z(DIZ;iZ;Z&(4yhɮj3Ah:ix~FNOT Ignoring new targets: 521.62 m."i~@f*i@f  ProNav: ac range: 521.624329 m, nav range: 509.694244 m, bearing: 15.689860 deg, approach rate: -0.520467 m/s, LOS rate: -0.003145 deg/s, cmd heading: 17.533640 deg, new cmd heading: 17.531271 deg. i3HeadingCmd: 0.305978 target range: 521.624329 and range: 523.30 m.h3>hhhhggjg!rg!e!re!Ze):e)*e-@U#rBɢ] >)a e?ia)e5 =aaiey6im3>uE|=u؅=Iu3>I!}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseB=>B=zCB=IB=]wBB= =B9B=DB=[;B=&BE9@ @@A5@!^Aȝ=A>A>Qi! I! - T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapseAy I Ia Om >y E  E E %E "E ;*E |:VE 4ZE BE @bb=ٱb3=bHr?]ҿ?]?a? ReW.??ibI=Ib<_;bCYnwBynaIiMb@Mb@Mb@ 9X9v?yt<j<,ABA )=AY8AbDVDð8y0<%9=ٔox;Q->9Y=EyDE>Q 54?Q 94v)[@BYd>Q E:y>Q I @6DI:i:/4yQBɮl3AvE:iFNOT Ignoring new targets: 521.62 m."i%1*i%1- ProNav: ac range: 521.624329 m, nav range: 509.475647 m, bearing: 15.688256 deg, approach rate: -0.495754 m/s, LOS rate: -0.003639 deg/s, cmd heading: 17.531270 deg, new cmd heading: 17.528061 deg. i5ո=HeadingCmd: 0.305922 target range: 521.624329 and range: 523.30 m.h=ܡ>h9h9h9h9g9gAjgArgEJBeAreIZeI:eI*eM`x@Y}-rBɢV>) E?i)G=顉i :iܡ>~=-=Iܡ>IM9@I @I@M@5@IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԑ^AmX=ԱA I I O > Y3%,l LA2w=21>2sg=ٱ2=2Ht?{ҿ#ѵ?`O?@Nd?S ܬ]??i2w=I2s`;2CY>wBy>SIDDbDJVDJ8yj3v%j[=ٔj2;Q-n>rT****** received valid address query ******rR****** received valid ping request ******rreceived new query, but waiting for acoustic response period to elapse9tYt=vEyvDv^Ez>xQ 5~4z?Q 94z)zZ@BYy&>Q I @zADIz;iz;zi64y VBɮ3AlE:i1=FNOT Ignoring new targets: 521.62 m."i=*i=M ProNav: ac range: 521.624329 m, nav range: 509.289642 m, bearing: 15.686907 deg, approach rate: -0.495961 m/s, LOS rate: -0.003597 deg/s, cmd heading: 17.528062 deg, new cmd heading: 17.525364 deg. iMҸUHeadingCmd: 0.305875 target range: 521.624329 and range: 523.30 m.hU>hQhQhYhYgYgYjgargaeareaZea:ei*em @@颕6rBɢS^ >) K?i)z=顡ip>i>=#=I>IE EE$E"E;*E:VE4ZEa@a@a@a@ԱQ@Q @Q@U5@Q^Au˚=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse B1 A1 B= >B= yCB= IB= SwBB= =B9 B9 B= &;B= AEA I I O >9 `%,U'LAYwByTIiMb@Mb@Mb@ 9Cl?ˡE?S㥛?Yd>y'=/<S-A h1A) @AYQ8AbD)VDҰ8y;%-=ٔQ->9Y=EyDE> Q 54?Q 94 )\@BY%>Q E%:y%>Q I% @PDI;iŊ;>4y=UBɮE3AAmB*** querying acoustic contact ***iqiq:iFNOT Ignoring new targets: 521.62 m."i۸*i۸ ProNav: ac range: 521.624329 m, nav range: 509.058075 m, bearing: 15.684025 deg, approach rate: -0.482473 m/s, LOS rate: -0.006009 deg/s, cmd heading: 17.525364 deg, new cmd heading: 17.519596 deg. i/HeadingCmd: 0.305775 target range: 521.624329 and range: 523.30 m.h~>hhhhggjgrgereZe:e*eL,@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseArBɢ؄=) C=d=I~>Iy@y @y@}53@@zA@E EE%E"E;*E:VE 4ZEBED h%,lALABx=Bq>Bhq=ٱB=BHr?;ҿ?@V?#a? `5 ,ۻ??iBx=IBR_;BCYNwByNgIbDVVDV8y^ǯ=%^o=ٔbi;Q-b?9`Yd=fEyfDf!:Ef?hQ 5n4j ?Q 9n4j )j]@BYpyr>Q Ir @j[DIj~:ij:jD4ytɮvc3At:iFNOT Ignoring new targets: 521.62 m."i*i帝 ProNav: ac range: 521.624329 m, nav range: 508.891174 m, bearing: 15.681940 deg, approach rate: -0.501967 m/s, LOS rate: -0.006271 deg/s, cmd heading: 17.519596 deg, new cmd heading: 17.515426 deg. i7HeadingCmd: 0.305702 target range: 521.624329 and range: 523.30 m.h>hhhhggjgrgereZe:e*e@JrBɢ,>) ?i)"=iFi>=[=I>I)1Yi߹I߽AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse@ @@/0@EU EUEU(EQ"EU;*EU:VEUc44ZEQae@ae@ae@am@ԁ ^A =ԩ A .AI IO >cn%,0+_LA.T****** received valid address query ******.R****** received valid ping request ******.received new query, but waiting for acoustic response period to elapse6Ӻ=6H>67w=ٱ6b=6Hdm?ҿO? o?[?z쮿/t?0?i6Ӻ=I6_;6CYZwByZQI b<`bDfVDf8BlBlBnIBnIwBBn =BlBlBn!;BnAEyz"%~/=ٔ~ D;Q-~>9 ?Y ?=Ey(De;E> Q 54 %?Q 94  ) Yyz>Q I @ jDI ;i ; L4y%TBɮ%3A-mE:iIFNOT Ignoring new targets: 521.62 m."ii*ii㸝 ProNav: ac range: 521.624329 m, nav range: 508.661804 m, bearing: 15.679035 deg, approach rate: -0.490313 m/s, LOS rate: -0.006213 deg/s, cmd heading: 17.515426 deg, new cmd heading: 17.509613 deg. i5 HeadingCmd: 0.305600 target range: 521.624329 and range: 523.30 m.h w>h)h)h)h)g)g1jg1rg1e1re9Ze9:e9*e=`;x@颵VrBɢ=) ?i)"=项iJiw>2==Iw>I @ @@0@ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse)D D =E  E E %E "E 7;*E 1:VE 4ZE BE Z%,PxLAYwBy EIiMb@Mb@Mb@ 9x&1?Q?:v?Y?yu=<$.A9DA  3A)O?AY9AbDVD8y.%@=ٔQ->9"?Y"?=Ey1DE>Q 5 4 ?Q 94=)^@BY?Q E:yU>Q I @xDI{;iy;PT4y)ɮ584A1I:iyFNOT Ignoring new targets: 521.62 m."i ^*i%^5 ProNav: ac range: 521.624329 m, nav range: 508.444275 m, bearing: 15.675408 deg, approach rate: -0.495837 m/s, LOS rate: -0.008271 deg/s, cmd heading: 17.509613 deg, new cmd heading: 17.502356 deg. i50r=HeadingCmd: 0.305474 target range: 521.624329 and range: 523.30 m.h=g>h9h9h9h9gAgAjgArgMWBeIreIZeI:eI*eU5@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsearBɢ!D>) 1?i)&=iNig>=w=Ig>I!))))yԩY @a  @a @e 0@a = T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapse bE]̻ 4jE]4rE]p/E  E E (E "E ;*E $:VE c44ZE a @a @a @a @^A ܝ=A >A ?AIIO?YI%,^LAY wByJIbD=VD=8y]x<%] =ٔYQ-]>9aY=Ey;DE>Q 54?Q 94b)_@BYyQ I @DI}f;ig;j]4ySBɮ 4A !:i15FNOT Ignoring new targets: 521.62 m."i=*i=M ProNav: ac range: 521.624329 m, nav range: 508.181305 m, bearing: 15.671019 deg, approach rate: -0.509866 m/s, LOS rate: -0.008514 deg/s, cmd heading: 17.502356 deg, new cmd heading: 17.493574 deg. iMLyUHeadingCmd: 0.305320 target range: 521.624329 and range: 523.30 m.hUR>hQhQhQhQgYgYjgYrgYeareaZea:ea*em1@颕nrBɢ$=) ?i)%+=顙iQRiR>r=gڝ=IR>IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseAAAE@ABM>BMxCBMIBM4wBBIBIBMDBM^;BM BE@ @@0@Y^Aeȝ=ԉ 7t>9 Y e9 Y bAy- ?- Aiߑ Iߕ 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 >ԩ D) zD) E5  E5 E5 "E1 "E5 =;*E5 ҆:VE5 (3ZE1 BE5 ~I2D =ٱ2Sq=2H@\?yAӿ?C?]M?>} ~?@a?i27=I2Yt_;2CYjwByj:IieMb@Mb@Mb@aaaa a9ejt?Dl?:v?Ye?yeO=aae|GA e92A)e @AaYe9AbD}ҿVD}8y%H=ٔ1"9Y=EyCDzr<E>Q 54,?Q 94)`@BY$?Q E:y>Q I @DI:i:Ld4yɮ}4AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 521.62 m."ib3*ib3 ProNav: ac range: 521.624329 m, nav range: 507.984039 m, bearing: 15.667180 deg, approach rate: -0.503447 m/s, LOS rate: -0.009802 deg/s, cmd heading: 17.493574 deg, new cmd heading: 17.485893 deg. iHeadingCmd: 0.305186 target range: 521.624329 and range: 523.30 m.heA>hhh h g g jg rghBԑereZe:e*e m@ yrBɢ >)  -?i1)5<0=11i56Vi=eA>===/=I=eA>IAIyA)9@ @@ @  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^AI I O > Y%,RξLA2Al=2n>2=ٱ2:=2HbV?@^ӿ@?`?mF? 涿а? ?i2Al=I2c>_;2CY>twBy>.IbDJVDJ8yNS%NZ=ٔRX;Q-R>9PYT=VEyVKDV;EZ>XQ 5^4ZA;?Q 9^4Z)XY`yb>Q Ib @ZDIZ:iZ~:Zj4ydɮj4AjnE:ix~FNOT Ignoring new targets: 521.62 m."i~5*i~5  ProNav: ac range: 521.624329 m, nav range: 507.795898 m, bearing: 15.663469 deg, approach rate: -0.501467 m/s, LOS rate: -0.009894 deg/s, cmd heading: 17.485894 deg, new cmd heading: 17.478470 deg. i ڐHeadingCmd: 0.305057 target range: 521.624329 and range: 523.30 m.hi0>hhhhggjg!rg!e!re!Ze!:e)*e- @UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseerBɢecy >)a eA?ia)m3=iiim!vYiui0>u=u@=Iui0>IyE EE'E"E7;*E~:VE'4ZEa@a@a@a@%:@! @!@-0@)^A=AyAzAII OK>) T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseBE >BE vCBE IBE wBBE =BA BE DBE ;BE oBEByCBxCBɔCB =B =CɌ46a |%,K羖LA 2=2=S>2=ٱ2`@=2HfQ?tӿ`o?`?@?E@@8 ??i2=I2_;2CYrfwByr%IbD~ؿVD~8y%$%-C=ٔ5, ;Q-=>9IYI=UEyUTDeM;Ee>Q 54K?Q 94x)Yyq>Q I @DI;i;Wr4yɮ5A:i%FNOT Ignoring new targets: 521.62 m."i-^%*i-^%] ProNav: ac range: 521.624329 m, nav range: 507.581573 m, bearing: 15.659199 deg, approach rate: -0.453274 m/s, LOS rate: -0.009036 deg/s, cmd heading: 17.478469 deg, new cmd heading: 17.469924 deg. i]KeHeadingCmd: 0.304908 target range: 521.624329 and range: 523.30 m.he>hahahahagigiijgrgereZe:e*e@֗!@rBɢ^F=)mT****** received valid address query ******mR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse Ԛ?iq)uJ8=qqi}\i}>Ь=q4=I>I>i>E  E E E "E  ;*E v:VE ZE BE L T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse:e%,LA2=2dD>2p=ٱ2=2HK?ӿ ?@"?:?÷zmW??i2=I2._;2CY>mwBy>)ILiuMb@Mb@Mb@qqqq q9u"~j?(\µ?9Y=Ey\D;E>Q 54[?Q 94)]@BY2?Q E:y>Q I @DIu:i":y4yRBɮ4A:iFNOT Ignoring new targets: 521.62 m."iv*iv  ProNav: ac range: 521.624329 m, nav range: 507.372498 m, bearing: 15.654260 deg, approach rate: -0.570901 m/s, LOS rate: -0.013491 deg/s, cmd heading: 17.469925 deg, new cmd heading: 17.460044 deg. i ŹHeadingCmd: 0.304735 target range: 521.624329 and range: 523.30 m.hB>hhhhggjg!rg%Be!re!Ze!:e)*e-N"@UrBɢ] >)Y ]?iY)]<=Yaie`ieB>m%=m=ImB>Iim9@i @i@mO0@i^AE6=IIOD>}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 T;*E :VE FA4ZE a @a @a @a @! eƯ%,LA>=>n;>>э=ٱ>A=>H@{F?ӿ?`?? T4?@`r`?t?i>=I>B_;|9Y=EydD ;E>Q 5-4j?Q 954p)Z@BY1y=i>Q I= @DIq;iv;>4yIɮU5AQ:iyFNOT Ignoring new targets: 521.62 m."i\*i\ ProNav: ac range: 521.624329 m, nav range: 507.176514 m, bearing: 15.649586 deg, approach rate: -0.504071 m/s, LOS rate: -0.012026 deg/s, cmd heading: 17.460043 deg, new cmd heading: 17.450692 deg. iHeadingCmd: 0.304572 target range: 521.624329 and range: 523.30 m.h>hhhhg!g!jg!rg!e!re)Ze):e)*e-#@额rBɢZ>) ?i)M?=顡i1ci>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB<AB>BwCBIBwBB =BBDB;BBEmǗ=mb=Im>Iq)9@ @@;0@Y^AE d=AM >AM >I I O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԉ E  E E %E "E V:*E :VE 4ZE BE 99Y=EynDE>QQ 5]4U~?Q 9e4UR)UR@BYeB?Q Ee:yeb>Q Ie @UDIU ;iU ;U%4yuQBɮu5AuoEԁB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 521.62 m."iJ*iJ ProNav: ac range: 521.624329 m, nav range: 506.916229 m, bearing: 15.643914 deg, approach rate: -0.508527 m/s, LOS rate: -0.011088 deg/s, cmd heading: 17.450693 deg, new cmd heading: 17.439342 deg. iXHeadingCmd: 0.304374 target range: 521.624329 and range: 523.30 m.h֛>hhhhggjgrg|BereZe:e*e@$@-rBɢ-3~=)) -4?i1)5wD=11i53^fi=֛>=ڗ===I=֛>IAI=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@0@Ա ^A 2=AU .AIY Ii O} >3ԯ%,oQLAE=>C%>>I=ٱ>=>H@?,ӿ?tZ?]3?@. 'Po??i>E=I>}h_;>C D)DDDHDLN~AiLILLIPiRA R_R@F)PP TVTTTTIX)XiX)XIX\\ \^ُC\\i^F`ibC`)d dIdYdYnwBynIbDvVDv8y~k%~f=ٔ;Q->9 ?Y ?=EyuD l;E >Q 54͋?Q 94D)L@BYy%`>Q I% @DIW:i-:4y)ɮ-K6A):iQUFNOT Ignoring new targets: 521.62 m."i]R*i]Rm ProNav: ac range: 521.624329 m, nav range: 506.745422 m, bearing: 15.640149 deg, approach rate: -0.520715 m/s, LOS rate: -0.011480 deg/s, cmd heading: 17.439341 deg, new cmd heading: 17.431810 deg. E EE$E"E ;*E҆:VE4ZEa@a@a@a@i HeadingCmd: 0.304242 target range: 521.624329 and range: 523.30 m.hś>hhhhggjgrgereZe!:e!*e%$@颍rBɢ!>) ?i) G=顑i iiś>==Iś>I=:@9 @9@EO0@ADAT read: 2Acoustic response timeoutB>ByCBIBvBB =BBDB5;BCE^A} = A ؟AI I O% >Wگ%,NakLAn)=nN>n=ٱn>=nH=?`ӿ@(?g?3?HBe?3?in)=In7o_;lYvByI iMb@Mb@Mb@ 9x&1? rh?~jtx?Y?yC=;h1AMHA 4A) EAY9"?Y"?=Ey~D:E>!Q 5-4i1I152Acoustic response timeout%?Q 9=4%|)%A@BY=?Q E=:y=>Q I= @%DI%f;i%qe;%54yaɮm6Aq:iFNOT Ignoring new targets: 521.62 m."im>*im> ProNav: ac range: 521.624329 m, nav range: 506.509674 m, bearing: 15.635191 deg, approach rate: -0.494565 m/s, LOS rate: -0.010405 deg/s, cmd heading: 17.431809 deg, new cmd heading: 17.421889 deg. iWHeadingCmd: 0.304069 target range: 521.624329 and range: 523.30 m.h>hhhhggjgrgBereZe:e*e@ %@rBɢ =) ?i)|K=iek)i>=#=I>IE EE#E"E:*E:VE3ZEBE6g%,m䅿LA2 =2ʸ>2=ٱ2=2H`p99Y9==Ey=DE7:EE>IQ 5U4M?Q 9U4Mc)M9@BYYy]>Q I] @MDIMG:iMS:Md4yeVBɮeV7AmfE:i  FNOT Ignoring new targets: 521.62 m."i<*i<% ProNav: ac range: 521.624329 m, nav range: 506.332214 m, bearing: 15.631448 deg, approach rate: -0.488341 m/s, LOS rate: -0.010305 deg/s, cmd heading: 17.421888 deg, new cmd heading: 17.414399 deg. i%ߖ-HeadingCmd: 0.303939 target range: 521.624329 and range: 523.30 m.h-ם>h)h)h)h)g1g1jg1rg1e1re9Ze9:e9*e=@q&@mrBɢmJ =)i m_?ii)uxN=qqiui/ni}ם>}S=}=I}ם>I9=9@9 @9@=0@92Acoustic response timeoutaE EE$E"E&:*E:VE4ZEa@a@a@a@^A]˺=I9 II OU >ԑ %,LA6F=6>6=ٱ6+=6HQ:?ӿ`ɺ?s?b8? ޳ S?0?i6F=I6^ _;6CYBvByBIbDJVDJ8yR%VU=ٔV2;Q-V>9XYX=ZEyZDZ5:EZ>\Q 5b4^^?Q 9f4^)^/@BYdyfq>Q If @^DI^:i^:^4yhɮj7Al:i|FNOT Ignoring new targets: 521.62 m."iK*iK ProNav: ac range: 521.624329 m, nav range: 506.139984 m, bearing: 15.627374 deg, approach rate: -0.523246 m/s, LOS rate: -0.011093 deg/s, cmd heading: 17.414399 deg, new cmd heading: 17.406248 deg. igHeadingCmd: 0.303796 target range: 521.624329 and range: 523.30 m.h2>h!h!h!h!g!g!jg)rg)e)re)Ze):e1*e5.'@e2Acoustic response timeoutAaAaBm>BmzCBmIBmvBBm =BiBiBm`;Bm3CEԁ颍rBɢ=) yu?i)[Q=顑ikpi2>= =I2>I59@1 @1@5O5@1ԩ^A}=II O> 2Acoustic response timeoutE  E E &E "E :*E VE 4ZE BE >2.N=ٱ2d!=2HX:?4ӿ@޺? Wo?:?@eú?n?i2x@=I2o:_;2CY>vBy>Ii=Mb@Mb@Mb@9999 99=V-?y&1?Mb`?Y=>y=`e==;=92A9 9)=9DA9Y9bDuܿVDu8ys%==ٔp$;Q->9Y=EyDE>Q 54?Q 94)"@BY>Q E:y?>Q I @DIV;iN;4yɮ8A:i15FNOT Ignoring new targets: 521.62 m."i=2&*i=2&M ProNav: ac range: 521.624329 m, nav range: 505.926910 m, bearing: 15.623351 deg, approach rate: -0.480723 m/s, LOS rate: -0.009081 deg/s, cmd heading: 17.406249 deg, new cmd heading: 17.398199 deg. iM􄹝UHeadingCmd: 0.303656 target range: 521.624329 and range: 523.30 m.hUx>hQhQhQhQgYgYjgYrg]TBeareaZea:ea*ee(@rBɢ>T=) n?i)oT=i3ri%x>%5=%=I%x>I!u2Acoustic response timeout9@ @@0@@=@= 1^A:=I I! O= >Y  2Acoustic response timeout%,*rӿLA2=2>>2ӝ=ٱ2==2H9?ӿ` ?nr?:;?ֲnp??i2=I2_;2CY>{vBy>IFAAFAAbDJͿVDJ~8yR%RY=ٔRqV;Q-R>9TYT=VEyVDZ!:EZ>\Q 5b4^?Q 9b4^)^@BY`yba>Q Ib @^(DI^q:i^h:^<4yjUBɮj8AjgEzB*** querying acoustic contact ***ixix:i|~FNOT Ignoring new targets: 521.62 m."i-*i- ProNav: ac range: 521.624329 m, nav range: 505.743774 m, bearing: 15.619885 deg, approach rate: -0.499482 m/s, LOS rate: -0.009457 deg/s, cmd heading: 17.398199 deg, new cmd heading: 17.391265 deg. iuHeadingCmd: 0.303535 target range: 521.624329 and range: 523.30 m.hh>hh!h!h!g!g!jg)rg)e)re)Ze1:e1*e5(@bEJ4jE4rE30EU EUEU$EQ"EU ;*EUą:VEU4ZEQae@ae@ae@ae@}rBɢ}9e=)y }`?iy)ngW=顁iti h> F= I}=I h>I)9@ @@O5@QuBDAT read: Response Not Received }*response not received}TDAT read: user:112>Tx time:04:09:34.0890 ԩ {%,1LATAh9YdAM =M8>MJʠ=ٱM=MH7?@'ӿ:?2t?9aYa=mEymDmm9Eu>qQ 5}4u?Q 9}4u)u@BQ A+:YQ E:y|>Q I @u7DIu":iu>u34yɮ9A:iFNOT Ignoring new targets: 521.62 m."i**i* ProNav: ac range: 521.624329 m, nav range: 505.503021 m, bearing: 15.615318 deg, approach rate: -0.489558 m/s, LOS rate: -0.009290 deg/s, cmd heading: 17.391265 deg, new cmd heading: 17.382128 deg. iHeadingCmd: 0.303375 target range: 521.624329 and range: 523.30 m.hT>hhhhggjgrgereZe:e*e )@Em EmEm#Ei"EmO;*Em:VEm3ZEiBEm*Y;a}:Em?;a}颵sBɢu=) W?i)Z=i8[viT>t^==IT>I]9@Y @Y@]=0@Y ^Ay ߁ ߅ %= 2Acoustic response timeout1 A I I O >%,aLA2u=2F>2Tգ=ٱ2H=2H 5?`}ӿ@u?`Ky? =?u_i?`6?i2u=I2A _;2CY>vBy>ZIbDFVDF8yN\%Nt=ٔRs;Q-R?9PYP=VEyVDV͐:EV?XQ 5^4ZO?Q 9^4Z )Z?BQ Ab :Y`Q Eb:yb>Q Ib @ZBDIZR:iZT?Z 4ydɮf7:Ad:ix~FNOT Ignoring new targets: 521.62 m."i~**i~*  ProNav: ac range: 521.624329 m, nav range: 505.339294 m, bearing: 15.612203 deg, approach rate: -0.489617 m/s, LOS rate: -0.009319 deg/s, cmd heading: 17.382128 deg, new cmd heading: 17.375895 deg. i qHeadingCmd: 0.303267 target range: 521.624329 and range: 523.30 m.hE>hhhhggjgrgereZe:e*e`{*@%sBɢ%o=)) -dB?iI)M~]=IIiU wiUE>]Xo=]=I]E>IYi=9@A @A@E2@A=2Acoustic response timeoutԙE EE&E"E:*E :VE4ZEa@a@a@a@^Ae =AY Ia Iq O} > $%,("LAB2<A2<B6>B6yCB6EIB6uBB4B4B4B6;B6\CEB1B5yCB1B1B5 =C5W6R2Acoustic response timeoutn=n{Y>n1 =ٱn=nHy4?ӿV?z?9IYI=MEyMDM9EM>QQ 5]4US?Q 9e4U)U?BQ Ae9YaQ Eeb:ye>Q Ie @UODIU;iU=?U4yiɮu:Aq:iFNOT Ignoring new targets: 521.62 m."i**i* ProNav: ac range: 521.624329 m, nav range: 505.132233 m, bearing: 15.608256 deg, approach rate: -0.489153 m/s, LOS rate: -0.009327 deg/s, cmd heading: 17.375895 deg, new cmd heading: 17.367999 deg. iHeadingCmd: 0.303129 target range: 521.624329 and range: 523.30 m.h3>hhhhggjgrgereZe:e*eO+@额 sBɢց=) B?i)݇_=顡i^#yi3>샘=t=I3>II@I @I@M?5@IiQIQ]2Acoustic response timeout^Ai) E  E E E "E ;*E h:VE ZE BE OY W%,'Nh٪=ٱNհ=NH0?`ӿ@?@ˆ?48?Ї@T?`?iN =IN^;NCYbvByfZIaa aa aa aa iMb@Mb@Mb@ 9oʡ?L7A`?I +?Y>y+=94<3A Q6A)|GAY>AbDVD8yH%A=ٔe;Q->9Y=EyD;E>Q 54?Q 94)?BQ AT:Y>Q E:y>Q I @\DI:i;:b4yɮ5:AhE:i!-FNOT Ignoring new targets: 521.62 m."i-*i-= ProNav: ac range: 521.624329 m, nav range: 504.936890 m, bearing: 15.605500 deg, approach rate: -0.459959 m/s, LOS rate: -0.006493 deg/s, cmd heading: 17.368000 deg, new cmd heading: 17.362485 deg. i=>EHeadingCmd: 0.303033 target range: 521.624329 and range: 523.30 m.hE'>hIhIhIhIgIgIjgQrgUFBeQreQZeQ:eY*e]%,@颅.sBɢ&=)A= ;?i)Y b=顉iWzi'>䘘=p=I'>I!2Acoustic response timeout@ @@@5@I^A==ԉ I! I1 O= >U 2Acoustic response timeout7%,ULA06W=6)>6 =ٱ6)q=6H`-?ӿ=??6?@oQڵQȺ??i6W=I6^;6CYBvByBLIbDJVDJȰ8ER ERER'EP"ER ;*ER:VER'4ZEPaZ@aZ@aZ@aZ@y%+{%%W=ٔ- ;Q-->9)Y1=5Ey5D5:E5>9Q 5E4=W%?Q 9E4=)=?BYIyM'>Q IM @=gDI=:i=2:=4yQɮU:AQB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 521.62 m."i*i츝 ProNav: ac range: 521.624329 m, nav range: 504.761841 m, bearing: 15.603015 deg, approach rate: -0.454110 m/s, LOS rate: -0.006448 deg/s, cmd heading: 17.362484 deg, new cmd heading: 17.357513 deg. i<HeadingCmd: 0.302946 target range: 521.624329 and range: 523.30 m.h>hhhhggjgrgereZe:e*eZ,@:sBɢ =)  2?i ) Ad=  iWZ{i>==I>Iԙ@ @@(5@@=@=Be>BaBeIBeuBBe =BaBeDBe;BeCE2Acoustic response timeout^A C=A>A>IQIiOu> f%,oLA\2Acoustic response timeoutYMuByM?IiMb@Mb@Mb@ 9ʡE?yt<u<4AIA 5A)Y>AbD VD8y/%0=ٔQ->9Y=EyD E >Q 546?Q 94)?BYy>Q E:yֹ>Q I% @uDI:i;*4y-TBɮ-:A):iQ]FNOT Ignoring new targets: 521.62 m."i]ų*i]ųE EE&E"E*E5:VE4ZEBELh1h1h1h1g1g9jg9rg=5BeAreAZeA:eA*eE-@颕KsBɢ G=) m)?i)f=项i,|i[>ǘ=%=I[>IIxA)xA 9@  @ @d0@! 2Acoustic response timeout9 ^A Iy I O >I"%,=LAYuBy-IbD%VD%°8y-%5m=ٔyQ-}?9yYy=EyDE>Q 54C?Q 94M)?BYyQ I @DI;i;T4yUBɮX;A:iFNOT Ignoring new targets: 521.62 m."im*im ProNav: ac range: 521.624329 m, nav range: 504.376495 m, bearing: 15.599038 deg, approach rate: -0.471866 m/s, LOS rate: -0.004875 deg/s, cmd heading: 17.352989 deg, new cmd heading: 17.349555 deg. iHeadingCmd: 0.302807 target range: 521.624329 and range: 523.30 m.h >hhhhggjgrgereZe:e*ew.@-VsBɢ-x=)) -d?i1)5h=11i5}i= >=$٘==0=I= >IAI%2Acoustic response timeout}JE EE$E"E:*E:VE4ZEa@a@a@a@y-9@1 @1@5=0@1ԡ ^A +W=Aa Aa Bm >Bm tCBm IBm auBBm =Bi Bm DBm ;Bm CEI I O >(%,LA2Acoustic response timeout6+=6>6㋼=ٱ6=6H`|)? ӿ@?@N?`y7? e`i??i6+=I6$_;6CYBuByB*IbDN$VDNΰ8yRrV%RN=ٔV9XYX=ZEyZDZ_E^>\Q 5b4^CR?Q 9b4^)^?BYhyn>Q In @^DI^;i^٬;^4y~TBɮ~l;AiE:i!)-FNOT Ignoring new targets: 521.62 m."i5*i5E ProNav: ac range: 521.624329 m, nav range: 504.193939 m, bearing: 15.597154 deg, approach rate: -0.464810 m/s, LOS rate: -0.004796 deg/s, cmd heading: 17.349555 deg, new cmd heading: 17.345787 deg. iEq HeadingCmd: 0.302741 target range: 521.624329 and range: 523.30 m.h>hhhhggjgrgereZe:e*e]/@edsBɢmj=)i m?ii)mGj=qqiua}iu>}=yI}>Iye~MY9@ @@?5@@yA@ԉ2Acoustic response timeout^A] /=AY zA] zAE  E E %E "E V:*E :VE 4ZE BE 9.%, ϽLA2g=2Y>2Z=ٱ2=2H+?cӿB?@u?=? H3?,?i2g=I2$_;2CY>uBy>$Ii]Mb@Mb@Mb@YYYY Y9] +?y&1?~jt?Y]>y]`e<]<]5A]KA ]"7A)]JAYY]@AbDuVDu8yd%>=ٔ;Q->9 ?Y ?=EyDdeE>ԙQ 54b?Q 94)?BY1>Q E:yy>Q I @DIV:i:4yɮ;A:iFNOT Ignoring new targets: 521.62 m."iߞ*iߞ ProNav: ac range: 521.624329 m, nav range: 503.986969 m, bearing: 15.595309 deg, approach rate: -0.486491 m/s, LOS rate: -0.004340 deg/s, cmd heading: 17.345788 deg, new cmd heading: 17.342095 deg. i1HeadingCmd: 0.302677 target range: 521.624329 and range: 523.30 m.ho>hhhhggjg rg bBe re Ze :e *e@*0@=rsBɢ==)A Ez?iA)El=AAiM}iMo>M=UI=IUo>IQQU<U2Acoustic response timeoutܪ>i >59@1 @1@5\0@1 2Acoustic response timeout! ^A5 C=E  E E $E "E :*E :VE 4ZE a @a @a @a @A)IIAIiO>D6%,LLA^=^6ۥ>^=ٱ^=^H@0?#ӿ?`E?E?Г`e ɺ?c?i^=I^ _;\YjuByjIbDvVDv8y~ м%~2=ٔ~} 9Y=EyD лE >Q 547t?Q 94)?BYy>Q I% @DI:i;4y)ɮ-;A)EB*** querying acoustic contact ***iAiA:iQ]FNOT Ignoring new targets: 521.62 m."i]%*i]%m ProNav: ac range: 521.624329 m, nav range: 503.766449 m, bearing: 15.593415 deg, approach rate: -0.480615 m/s, LOS rate: -0.004129 deg/s, cmd heading: 17.342094 deg, new cmd heading: 17.338305 deg. im񸝏uHeadingCmd: 0.302611 target range: 521.624329 and range: 523.30 m.hu>hqhqhqhygygyjgyrgyereZe:e*e0@颵sBɢbH=) w ?i)Jn=项i[}i>l=!g=I>IB>BvCBIB.uBB =BBDB ;BCE-2Acoustic response timeout9@ @@/0@I ^A= (=i I  2Acoustic response timeouty E  E E #E "E ;*E ҆:VE 3ZE BE O=%,-LAYuBy IiUMb@Mb@Mb@QQQQ Q9UX9v?I +?Q?YU>yU99"?Y"?=EyDE>Q 54 ?Q 94)?BY>Q E:y]>Q I @DIP;iz;_4yɮ9hihihhggjgrgWBereZe:e*e1@颍sBɢȼ=) Z?i)p=顑i|i>0= J=I>I 2Acoustic response timeoutE9@A @A@E0@A1^Ae ˺=a A I I O >D%,LA2Y=28*>25=ٱ2=2H7?nӿ HO??O?/J??i2Y=I2^;2CY>uBy>IbDJ/VDJذ8yRw#%Re=ٔR;Q-R>9TYT=VEyVDVEZ>\Q 5^4^?Q 9b4^)^?BY`yb>Q Ib @^DI^:i^P:^4yfZBɮfh!h!h!h!g!g!jg)rg)e)re1Ze1:e1*e5`h1@sBɢ6=) b>i))'r=  i Q|iܚ>===Iܚ>I!bE 4jEr 4rE/EU EUEU%EQ"EUD:*EU:VEU 4ZEQae@ae@ae@ae@@ @@ "2@ BAB>BxCBIBtBB =BBDB;BCE^AE`=Iߍ%=ߍ%=2Acoustic response timeoutIA IQ O] >a   CJ%,-LApG,4Zڢ9XYZ2A~=~AF>~R=ٱ~~=~H];? Wӿ???@EU?򉰿 N͹¹?}?i~=I~>^;~CYuByIbD-VD-8y=%=A=ٔ=(:Q-E>9AYA=EEyE DMEM>QQ 5]4Uy?Q 9e4U)U?BYiym>Q Iu @UDIU<;iU;U 4yɮhhhhggjgrge!qreZe:e*e1@2Acoustic response timeout%sBɢ%4=)! ->i))-ts=))i-{i5Ӛ>5M=5=I5Ӛ>I9DazDaEu EuEu$Eq"Eu:*Eu:VEu4ZEqBEu3Q%,4GLA2I=2&>2 =ٱ20=2H@?@:ӿ%?`f?`\?չ`?`}?i2I=I25^;2CY>{uBy>IiMb@Mb@Mb@ 9Zd;O?y&1?y`<t=7ANA 7A)YfBA <4=bDVD8y-%-J=ٔ539Q-5>91Y1==Ey=D="E=>AQ 5M4E;?Q 9M4E0)E?BYU~>Q EU:yUO>Q IU @EDIE:iEt:E4yYɮ]hAhAhAhAgAgIjgIrgMpBeIreQZeQ:eQ*eUA2@颥sBɢ=) y>i)7u=顩i2W{i%ʚ>X=\=I%ʚ>ԹIq@q @q@u2@q2Acoustic response timeoutE} E}E}(Ey"E};*E}:VE}c44ZEya@a@a@a@^Al=II  O >W%,ZbaLA27=2!>2=ٱ2a=2H E?{ӿ??a?T; ӹ?@?i27=I2^;0YB\uByBIbDJVDJ8yR%RU=ٔV]Q-V>9TYT=ZEyZDZEZ>\Q 5b4^*?Q 9b4^i)^?BYdyf\>Q If @^DI^2:i^:^4yhɮjc=AhzB*** querying acoustic contact ***ixix:i|FNOT Ignoring new targets: 521.62 m."iŸ*i Ÿ ProNav: ac range: 521.624329 m, nav range: 502.768768 m, bearing: 15.583211 deg, approach rate: -0.513558 m/s, LOS rate: -0.005399 deg/s, cmd heading: 17.321860 deg, new cmd heading: 17.317890 deg. iHeadingCmd: 0.302254 target range: 521.624329 and range: 523.30 m.h%>h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e542@Be>BaBeIBetBBe =BaBeDBe;BeCEB%xCB%wCB%CB% =B% =C%Fz6sBɢ:h=)! %>i!)%mv=!!i%zi->-b=-AH=I5>I1]2Acoustic response timeoutI}yA)}yAQ-:@) @)@-@5@)y^Ae=II O= >ԩ  2Acoustic response timeoutE  E E &E "E ;*E v:VE 4ZE BE AV=ٱVt=VH H? ӿ ?i?Wd?/.񩹿@?`ư?iV)=IV@^;VCY HuBy IiMb@Mb@Mb@ 9jt?y&1? rh?Y?y`e=C =8A )vPAYCAbDVD8y.%7=ٔFQ->9Y=Ey%DoE>Q 54?Q 9 4)?BY ?Q E :y >Q I  @DIX%;i$;4yɮ=AaE:iAEFNOT Ignoring new targets: 521.62 m."iMV*iMV ProNav: ac range: 521.624329 m, nav range: 502.544861 m, bearing: 15.579475 deg, approach rate: -0.501838 m/s, LOS rate: -0.008379 deg/s, cmd heading: 17.317890 deg, new cmd heading: 17.310413 deg. iWuHeadingCmd: 0.302124 target range: 521.624329 and range: 523.30 m.h>hhhhggjgrgBereZe:e*e@3@EsBɢE!ī=)E7 EǴ>ii)mw=iiim(yiu>um=u4=Iu>Iyԩ=9@9 @A@E2@Am2Acoustic response timeout^Ae 벫=I I O > e%, LA2=2C>2=ٱ2=2H K?ӿ??`(f?@ ml??i2=I2];2CY>(uBy>IDF@AbDJҿVDJ8yR%Rb=ٔRQ-R>9TYT=VEyV-DVzEZ>b2Acoustic response timeoutXQ 5f4Z?Q 9f4Z )Z?BYdyfX>Q If @ZDIZQ;iZoR;Z%4lylɮn4>Ap:i FNOT Ignoring new targets: 521.62 m."i *i  ProNav: ac range: 521.624329 m, nav range: 502.363434 m, bearing: 15.576458 deg, approach rate: -0.499693 m/s, LOS rate: -0.008310 deg/s, cmd heading: 17.310413 deg, new cmd heading: 17.304378 deg. i%Xs%HeadingCmd: 0.302018 target range: 521.624329 and range: 523.30 m.h%'>h)h)h)h)g)g)jg1rg1e1re1Ze9:e9*e=xm3@msBɢm&=)i m>ii)ux=qqiuyi}'>}qu=}tQ=I}'>IEE EEEAEA"EE:*EE:VEAZEAaM@aU@aU@aU@-9@1 @1@54@1 1^AQAiAiBu>BuyCBuvIButBBu =BqBqBu;BuCEA>A>II O=>u2Acoustic response timeouta C2k%,LA2%=2>2=ٱ2=2HL?ӿp??@g?@v^R? $?i2%=I2{];0Y>!uBy>IbDFտVDF8yNu%RK=ٔRJQ-R>9PYT=VEyV5DV>ǺEV>XQ 5^4Z?Q 9^4Z)Z?BY`yb >Q Ib @ZDIZ:iZ:Z,4ydɮfM>Ah:ixzFNOT Ignoring new targets: 521.62 m."i~*i~  ProNav: ac range: 521.624329 m, nav range: 502.160950 m, bearing: 15.573103 deg, approach rate: -0.504510 m/s, LOS rate: -0.008364 deg/s, cmd heading: 17.304378 deg, new cmd heading: 17.297664 deg. i tHeadingCmd: 0.301901 target range: 521.624329 and range: 523.30 m.h˒>hhhhggjg!rg!e!re!Ze!:e)*e--3@9sBɢإ=) >i)y=i6xi˒>~=͓=I˒>IY>i>y@y @y@4@2Acoustic response timeoutiEM EMEIEI"EM&:*EM҆:VEIZEIBEMc;  2Acoustic response timeout#r%,LA2=2kǟ>2s=ٱ2[=2H-N?ҿ@s?? h?@K ]C? ڲ?i2=I2];0Y>uBy>IbDF޿VDF8yNg%jJ=ٔnϺQ-n>9lYl=rEyr=DrVEr>tQ 5z4v?Q 9z4v)v~?BYxy~>Q I~ @vDIv);iv1;v 44yɮp>A :i)5FNOT Ignoring new targets: 521.62 m."i5*i5E ProNav: ac range: 521.624329 m, nav range: 501.954651 m, bearing: 15.569689 deg, approach rate: -0.501307 m/s, LOS rate: -0.008298 deg/s, cmd heading: 17.297664 deg, new cmd heading: 17.290834 deg. iMrMHeadingCmd: 0.301782 target range: 521.624329 and range: 523.30 m.hM+>hQhQhQhQgQgQjgYrgYeYreaZea:ea*ee=4@颕 tBɢ h=) >iԙ)Vjz=顙ivi+>.=T=I+>Iq歼2Acoustic response timeoutq@q @q@}0@yEY E]E]'EY"EY*E]:VE]'4ZEYae@ae@ae@ae@ ^A] p=Aa zAe yAB] >BY B] WIB] wtBB] =BY BY B] ̋;B] CEA I I O >y%,LA2!=2=ܟ>2=ٱ2o=2H&N? ҿj?`m?g?@e,?q?i2!=I2GB];2C8YBtByBI F9TYT=ZE^2Acoustic response timeouty^FDb9Eb>`Q 5f4b?Q 9j4b=)bz?BYhyj>Q Ij @b+DIb;ib;b;4ypɮr&?ArbE~B*** querying acoustic contact ***i|i|:i  FNOT Ignoring new targets: 521.62 m."iA*iA ProNav: ac range: 521.624329 m, nav range: 501.729462 m, bearing: 15.565957 deg, approach rate: -0.501781 m/s, LOS rate: -0.008319 deg/s, cmd heading: 17.290834 deg, new cmd heading: 17.283367 deg. isHeadingCmd: 0.301652 target range: 521.624329 and range: 523.30 m.hr>hhhhggjgrgereZe:e*e`4@EtBɢE=)i mjM>ii)m2{=iqiusuiur>}ӑ=}=I}r>Iyԡ09@9 @9@=2@9}2Acoustic response timeout^AE \=E  E E &E "E ;*E xv:VE 4ZE BE D)%,gLA2=2>2[=ٱ2C=2HqM?`ӿ^?C?`e? @;߸??i2=I2)];2CY>tBy>IDDla@a a@a a@a a@a bDVD8y,%9=ٔ=ĺQ->9 ?Y ?=EyOD:E>Q 54S%?Q 94ݼ)u?BQ A+:YQ E:y>Q I @9DI;i>4B4y ɮ ?A :i)5FNOT Ignoring new targets: 521.62 m."i=*i=E ProNav: ac range: 521.624329 m, nav range: 501.508392 m, bearing: 15.562281 deg, approach rate: -0.502383 m/s, LOS rate: -0.008358 deg/s, cmd heading: 17.283367 deg, new cmd heading: 17.276011 deg. iMtMHeadingCmd: 0.301523 target range: 521.624329 and range: 523.30 m.hMBa>hQhQhQhQgQgYjgYrgYeYreYZea:ea*ee!5@颍.tBɢ=)Q U>iQ)]Ү{=aiimTtiBa>:==IBa>I2Acoustic response timeout 1Y9@ @@0@a  2Acoustic response timeout^A p=A% >A% >ԙ EM EMEM%EI"EM;*EM:VEM 4ZEIau@au@au@au@A%؟AI)IAOM?%,X–LAJ=JI>J/=ٱJ=JH@-M? ӿ9??@d?pV ̸ ??iJ=IJI?];JCYVtByZ~IbDbVDb8rPExceeded connect timeout, disconnecting.yvü%v.=ٔvQ-v>9z"?Yz"?=zEyzYD~C:E~>Q 5 47?Q 9 4R)p?BQ A  :Y Q E :y E>Q I  @HDIH;ii?G4yɮ?A:iAEFNOT Ignoring new targets: 521.62 m."iM@*iM@] ProNav: ac range: 521.624329 m, nav range: 501.272095 m, bearing: 15.558340 deg, approach rate: -0.501850 m/s, LOS rate: -0.008374 deg/s, cmd heading: 17.276011 deg, new cmd heading: 17.268125 deg. i]4ueHeadingCmd: 0.301386 target range: 521.624329 and range: 523.30 m.he8O>hahahahagagijgiqrgieyreyZey:ey*e5@颭AtBɢ-b=)) -=i))5n|=11i5Gri=8O>=P===I=8O>IAB<AB>BB8IBDtBBBBB;BCE2Acoustic response timeout9@ @@0@ԙ^A%벫=Ay I I O >!  2Acoustic response timeout%,}9–LA:8=:>:m=ٱ:R=:H K?Nӿ`8??`?hͰ w??i:8=I:5];:CYFxtByFXIE EE'E"E~ ;*Ex:VE'4ZEBEV9)Y)=-Ey-bD-{;E5>1Q 5=45I?Q 9E45)5c?BQ AET:YEi?Q EE:yEN>Q IE @5WDI5i:i5q:5WO4yQɮU@AQ:iy}FNOT Ignoring new targets: 521.62 m."iO*iO% ProNav: ac range: 521.624329 m, nav range: 501.045929 m, bearing: 15.553314 deg, approach rate: -0.510245 m/s, LOS rate: -0.011344 deg/s, cmd heading: 17.268125 deg, new cmd heading: 17.258069 deg. iMUHeadingCmd: 0.301210 target range: 521.624329 and range: 523.30 m.hU78>hQhQhQhQgQgYjgYrg]BeYreaZea:ea*ee 6@颵UtBɢX=)  =i){A|=项iMpi78>o=Iծ=I78>I!9@ @@00@2Acoustic response timeoutI^A =y A I I) OM >/%,AS–LA2wN=2`g>2=ٱ2"=2HI?`q'ӿ Z??-\? i[*??i2wN=I2];2CY>MtBy>=IbDJ VDJ8yNg%Rg=ٔR~Q-R>9TYT=VEyViDVm;EZ>XQ 5^4ZV?Q 9b4Zr)ZX?BY`yb>Q Ib @ZcDIZ;iZ;ZU4yj[BɮjAAjcE:i FNOT Ignoring new targets: 521.62 m."i >P*i >P ProNav: ac range: 521.624329 m, nav range: 500.865509 m, bearing: 15.549276 deg, approach rate: -0.508224 m/s, LOS rate: -0.011379 deg/s, cmd heading: 17.258069 deg, new cmd heading: 17.249991 deg. i%HeadingCmd: 0.301069 target range: 521.624329 and range: 523.30 m.h%%>h)h)h)h)g)g)jg1rg1e1re1Ze1:e9*e=e6@ebtBɢm֒u=)i m@ii)m"3|=iqiu niu%>}+=}`=I}%>Iye2Acoustic response timeouta9@ @@N5@bEeÞ4jEeÞ4rEeS/E EE%E"E:*E:VE 4ZEa@a@a@a@ԉnManaging dock network, ignoring radio surface power off^AP=AzAxAB>BzCBIBsBB =B:DBDB;B{CE 2Acoustic response timeoutA I I1 OU > ö%,l–LAN݂G\h h9 Y dAm =mܡ>m̢=ٱm]=mHVH?`*5ӿ??@X?@@˷@zK??im =Im*n];mCY#tBy#IbD$VDΰ8yG%<=ٔS[Q->9Y=EyrD;E>Q 54g?Q 94Ʋ)K?BYyX>Q I @qDI::i:]4yɮLBAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 521.62 m."i R*i R ProNav: ac range: 521.624329 m, nav range: 500.643433 m, bearing: 15.544280 deg, approach rate: -0.511950 m/s, LOS rate: -0.011522 deg/s, cmd heading: 17.249991 deg, new cmd heading: 17.239995 deg. i%HeadingCmd: 0.300895 target range: 521.624329 and range: 523.30 m.h%>h!h!h!h)g)g)jg)rg)e1re1Ze1:e9*e=6@ettBɢef=)i mꢽii)m{=iiimgliu>u˙=}=I}>Iy-9@) @)@-O5@)2Acoustic response timeoutE EEE"E:*EM:VEZEBE<ڝ%,dž–LA2H=2>2퍼=ٱ2=2HH?7ӿy?D? _X?ܱ`8W? ?i2H=I2];2CYRsByR Ir2Acoustic response timeoutiEMb@Mb@Mb@AAAA A9EMb?Q?~jtx?YE?yEu=E;AA E=A)ESAAYEQHAbD]"VD]̰8ym)%mN=ٔm!(Q-m>9qYq=uEyuzD}I9E}>Q 54Ew?Q 94)=?BYo?Q E:y>Q I @~DI:i: d4yɮBA:iFNOT Ignoring new targets: 521.62 m."i'+*i'+ ProNav: ac range: 521.624329 m, nav range: 500.446198 m, bearing: 15.540584 deg, approach rate: -0.498868 m/s, LOS rate: -0.009352 deg/s, cmd heading: 17.239995 deg, new cmd heading: 17.232600 deg. i숹HeadingCmd: 0.300766 target range: 521.624329 and range: 523.30 m.h>hhhhggjgrgpBereZe:e*el:7@颥tBɢ;V=)  i)x{=i'j)i5>5ؙ==2=I=>I9!@! @!@%1@!Y2Acoustic response timeout^AM =ԉ E  E E $E "E ;*E :VE 4ZE a @a @a @a @A} .AI I O >9ǧ%,˟–LA02=2>2s=ٱ2[=2H`H?>ӿ@D?i? V? `:F}t??i2=I2ӭ];0YBsByBIbDJ)VDJҰ8yV%VW=ٔVM1Q-Z>9Z ?YZ ?=ZEyZD^|:E^>`Q 5f4b?Q 9f4bs)b0?BYdyj'>Q Ij @bDIb:ib:bj4ynaBɮnCAnZE:iFNOT Ignoring new targets: 521.62 m."i**i*e ProNav: ac range: 521.624329 m, nav range: 500.257324 m, bearing: 15.537035 deg, approach rate: -0.495715 m/s, LOS rate: -0.009320 deg/s, cmd heading: 17.232600 deg, new cmd heading: 17.225498 deg. imsmHeadingCmd: 0.300642 target range: 521.624329 and range: 523.30 m.hm>hqhqhqhqgqgqjgrgereZe:e*e֞7@tBɢA=) Fi)z=ichi%>%:=%!=I%>I)A]AAA]AABe>BaBeIBesBBaBaBaBe;BeyCEB-yCB-yCB-“CB- =B- =C-4ԉ2Acoustic response timeout@ @@H5@Թ^A*=A>A> I I O > 2Acoustic response timeoutm%,:–LA\E5 E5E5%E1"E5:*E5Z:VE5 4ZE1BE55]o=ٱ]x=]H>H?`Eӿ??OU?@8 ?`W?i]=I]^;]CYusByuIiUMb@Mb@Mb@QQQQ Q9U^I +?{Gz?Mbp?YUX>yU#=U;Uz>AUTA UK?A)UTAQYUIAbDmVDm8y}"%}0=ٔ} Q->9Y=EyDy:E>Q 54?Q 94)?BY1>Q E:y>Q I @DI ;i ;r4yɮdDA:iFNOT Ignoring new targets: 521.62 m."i*i ProNav: ac range: 521.624329 m, nav range: 500.030182 m, bearing: 15.533720 deg, approach rate: -0.484987 m/s, LOS rate: -0.007081 deg/s, cmd heading: 17.225498 deg, new cmd heading: 17.218865 deg. iXOHeadingCmd: 0.300526 target range: 521.624329 and range: 523.30 m.hޙ>hhh!h!g!g!jg)rg-tBe)re)Ze1:e1*e5`8@]tBɢe6=)a e~ia)m y=iiimeiuޙ>u=u=Iuޙ>Iq@ @@P2@2Acoustic response timeout ^A l=9 I I O >!ٴ%,U–LA2=2>2M-=ٱ2=2HJ?X=ӿC˽??V?`O@8?3?i2=I2E^;0!iYIY]2Acoustic response timeoutIEM EMEM$EI"EMf;*EM:VEM4ZEIaU@aU@aU@aU@YrsByIbDVD8y%+=ٔQ->9Y=EyDE>Q 54?Q 94ǩ)?BYy_>Q I @DI;i;{4yɮEEA:iFNOT Ignoring new targets: 521.62 m."i*i- ProNav: ac range: 521.624329 m, nav range: 499.802185 m, bearing: 15.530407 deg, approach rate: -0.483726 m/s, LOS rate: -0.007032 deg/s, cmd heading: 17.218866 deg, new cmd heading: 17.212237 deg. i-M5HeadingCmd: 0.300410 target range: 521.624329 and range: 523.30 m.h5^ϙ>h1h1h9h9g9g9jg9rgAeAreAZeI:eI*eMS8@utBɢuD#=)}Bۺ }iy)}|x=yibi^ϙ>{=Y=I^ϙ>I@ @@0@yB]>B]yCB]IB]QsBBYBYB]DB];B]CE 2Acoustic response timeoutԡ ^A D=I I O >%,6–LAF=F>F=ٱFP=FHfK?@P?ӿ퇽?n?`U?m`9?@?iF=IF_;FC L)LLLLPPiRIPPITiVA VcV+F)TT ZI~AXXXXXI\)\i\)\I\`` `b̏C``iddifCf7A)d dIdYhYnJsBynIbDzVDz8y9 %=ٔQ-?9 Y = Ey D C9E?yQ 548?Q 94a)?BYyd>Q I @DI:iW: 4ybBɮEA[EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 521.62 m."i۸*i۸ ProNav: ac range: 521.624329 m, nav range: 499.666016 m, bearing: 15.528426 deg, approach rate: -0.412490 m/s, LOS rate: -0.006002 deg/s, cmd heading: 17.212237 deg, new cmd heading: 17.208275 deg. i/HeadingCmd: 0.300341 target range: 521.624329 and range: 523.30 m.hMƙ>hhhhggjgrgereZe!:e!*e% 8@颕tBɢ ,=) i)xw=顙i}0`iMƙ>=n=IMƙ>Iԩ2Acoustic response timeout:@  @@C5@DADEp=E] E]E](EY"E];*E]:VE]c44ZEYBE]`u3%,= ÖLA2=2@С>2L=ٱ2X=2HM?@:ӿE?0?`V?@A@"@ĺ?>?i2=I2`;0bBDAT read: Response Not Received f*response not receivedfTDAT read: user:113>Tx time:04:09:46.5390 jy<94<\UA z>A)SAYpIAbDVD8y{%-=ٔQ->9Y=EyD%ME%>)Q 554-?Q 954-J)->BY5 >Q E5:y5ؼ>Q I5 @-DI-;i-;-F4yAɮE^FAA:iamFNOT Ignoring new targets: 521.62 m."iuָ*iuָ} ProNav: ac range: 521.624329 m, nav range: 499.446411 m, bearing: 15.525955 deg, approach rate: -0.519301 m/s, LOS rate: -0.005847 deg/s, cmd heading: 17.208274 deg, new cmd heading: 17.203329 deg. i3+HeadingCmd: 0.300255 target range: 521.624329 and range: 523.30 m.h>hhhhggjgrg+BereZe:e*eM9@tBɢ<) ؾi)6v=i*]i>=(=I>I e9@a @a@e/5@i1uDAT read: }2Acoustic response timeout^A D=E  E E 'E "E :*E :VE '4ZE a @a @a @a @I) I9 OM >Y Ȱ%,!ÖLAYusBy}}IbDVD8y%e=ٔQ->9Y=EyDE>Q 54?Q 94)>BYyQ I @DI;i{;4B<A<B>BBcIBrBBBBB֋;BCEyɮFA9:iiuFNOT Ignoring new targets: 521.62 m."iu*iu ProNav: ac range: 521.624329 m, nav range: 499.280396 m, bearing: 15.524084 deg, approach rate: -0.446162 m/s, LOS rate: -0.005028 deg/s, cmd heading: 17.203329 deg, new cmd heading: 17.199587 deg. i9HeadingCmd: 0.300189 target range: 521.624329 and range: 523.30 m.hn>hhhhggjgrgereZe:e*eb9@tBɢ<) yi)t=i7Zin>)='=In>I2Acoustic response timeoutaNJNԉ9@ @@0@ 2Acoustic response timeout ^A g^=D zD E5  E1 E5 %E1 "E5 :*E1 VE5 4ZE1 BE5 A8K\а%,AÖLA6s=6f?>6!=ٱ6 .=6HTW?ӿ@K?U?`\?r+`??i6s=I6%b;4YBrByBkIi=Mb@Mb@Mb@9999 99=ʡE?~jt?y&1?Y9y=D<=`e<=K?A=VA =@A)=TA9Y=JAbD] VD]8yeh%e(=ٔmQ-m>9u"?Yu"?=uEyuDuͻE}>yQ 54}?Q 94})}>BY>Q E:y>Q I @}DI};i};}4yɮ5GA:iFNOT Ignoring new targets: 521.62 m."i*i ProNav: ac range: 521.624329 m, nav range: 499.053040 m, bearing: 15.522402 deg, approach rate: -0.482311 m/s, LOS rate: -0.003572 deg/s, cmd heading: 17.199588 deg, new cmd heading: 17.196220 deg. i.ѸHeadingCmd: 0.300131 target range: 521.624329 and range: 523.30 m.h>hhhhggjgrg9BereZe:e*e %:@uBɢ%<)! %i!)-r=))i-Vi5>56=5I=I5>I9ENJκ-2Acoustic response timeout9@ @@@5@)^Al=Y A .AI I) O= > 2Acoustic response timeoutְ%,K[ÖLAbf=bc>bA=ٱb=bH5[?`"ӿ`?9 ?Y ?= Ey D TE >E EE'E"El;*Ez:VE'4ZEa%@a-@a-@a-@Q 554K?Q 954*)>BY1y=>Q I= @DI;i';ϝ4yEcBɮEGAE\E:iimFNOT Ignoring new targets: 521.62 m."iuv*iuv ProNav: ac range: 521.624329 m, nav range: 498.871368 m, bearing: 15.521082 deg, approach rate: -0.463415 m/s, LOS rate: -0.003368 deg/s, cmd heading: 17.196220 deg, new cmd heading: 17.193580 deg. i>ŸHeadingCmd: 0.300085 target range: 521.624329 and range: 523.30 m.h>hhhhggjgrgereZe:e*eh:@uBɢ<) i)p=izSi>B@==I>IiBE>BEzCBE+IBErBBABABEDBE;BECEu9}x>i}>ԙ=2Acoustic response timeout @  @ @ 0@  ^A 6= AII!O->~ݰ%,>yÖLAb2Acoustic response timeoutYrrByr8IbD%VD%8ye<%m+=ٔ}Q->9Y=EyDE>Q 54k?Q 943)>BYyQ I @Em EmEiEi"Em ;*Emą:VEiZEiBEmRhhhhggjgrgereZe:e*e@;@E/uBɢE0H<)A E"iI)Ms-n=IIiMOiU >UM=Uz=IU >IYaaaaAm2Acoustic response timeout 9@  @ @ /@ q ^A =ԡA؟AI %2Acoustic response timeoutI1OE?n{%,'0ÖLAZ =Z v>Z|=ٱZ=ZH!c?ҿ? o? d?`J k곿 ҁ??iZ =IZ e;ZCYfrByf&IiUMb@Mb@Mb@QQQQ Q9US?:v?Zd;O?YU>yUTAbE 4jE4rE5/Em EmEm%Ei"Em:*Em:VEm 4ZEiau@a}@a}@a}@UVA UAA)UVAQYUKAԁbDVD8yW%=ٔQ->9%"?Y%"?=%Ey%D-E->)Q 554-?Q 9=4-)->BY]|>Q E]:y]>Q I] @-DI-X;i-;-4yiɮmHAi:iFNOT Ignoring new targets: 521.62 m."i *i  ProNav: ac range: 521.624329 m, nav range: 498.388367 m, bearing: 15.517629 deg, approach rate: -0.500631 m/s, LOS rate: -0.003526 deg/s, cmd heading: 17.190275 deg, new cmd heading: 17.186672 deg. i|θHeadingCmd: 0.299964 target range: 521.624329 and range: 523.30 m.h┙>hhhhggjgrgBere!Ze!:e!*e%ต;@ GuBɢ :9<)1 50i1)5/k=11i=)Ji=┙>=@X=E=IE┙>IAԩAAB>BBIB>rBB =BBBً;BCE9@ @@@2Acoustic response timeout C- ÂGA Y =9 Y A^AA A I I O >%,ÖLA2S=2>2Ғ=ٱ2Y$=2H Cg?ҿ#?`a?;g?0-%?@?i2S=I2d;0Y>qrByBIbDJ VDJ8yje%jP=ٔnQ-n>9lYl=rEyrDr(Er>tQ 5z4v'?Q 9z4v)v>BY|y~>Q I~ @vDIvP:iv:vy4yɮYIA:i)-FNOT Ignoring new targets: 521.62 m."i5r*i5rE ProNav: ac range: 521.624329 m, nav range: 498.212585 m, bearing: 15.516409 deg, approach rate: -0.477114 m/s, LOS rate: -0.003314 deg/s, cmd heading: 17.186672 deg, new cmd heading: 17.184230 deg. iE¸MHeadingCmd: 0.299921 target range: 521.624329 and range: 523.30 m.hML>hIhIhIhIgQgQjgQrgQeYreYZeY:eY*e];@q颕WuBɢ:) 9i)/i=顙iyGiL>?^=D6=IL>Iu2Acoustic response timeoutI@Q @Q@]0@Y@}=@}=E% E%E%"E!"E%=;^AM=*E%:VE%(3ZE!BE%~I% 2Acoustic response timeout a%,ÖLA2d:=2`b>2c=ٱ2=2H k? ҿS?yP?j? ;"r <չ?`?i2d:=I2md;0YBSrByBIi-Mb@Mb@Mb@)))) )9- rh?Mb?X9v?Y->y-<-<-?A-VA -CA)-ZRA)Y- KAbDEVDE8yUq%UC=ٔ]PQ-]>9YYa=eEyeDe0Ee>iQ 5u4mV7?Q 9u4mљ)m>BY}7>Q E}:y}>Q I} @mDIm;im3;mͽ4ydBɮIA:iFNOT Ignoring new targets: 521.62 m."i#z*i#z ProNav: ac range: 521.624329 m, nav range: 498.018616 m, bearing: 15.514975 deg, approach rate: -0.462204 m/s, LOS rate: -0.003417 deg/s, cmd heading: 17.184230 deg, new cmd heading: 17.181362 deg. iȸHeadingCmd: 0.299871 target range: 521.624329 and range: 523.30 m.h>hhhhggjgrgBereZe:e*e \]<@kuBɢ@a;) Ei)f=iCi%>%d=%As=I->I)@ @@@!2Acoustic response timeoutE EE(E"E*E:VEc44ZEa-@a-@a-@a-@^Auا=QA .AI I O >B% >B! B% IB% rBB! B! B! B% Ӌ;B% CEBzCBzCBBBCt 5y +%,ٕÖLA2}=2<>2Q=ٱ2`u=2Hp?@ҿ`b?@FrBy>IbDFVDF8yN %RW=ٔR Q-R>9R ?YV ?=VEyVDV>fEV>XQ 5^4Z^E?Q 9^4ZM)Z>BY`ybԪ>Q Ib @Z%DIZ:iZ:Zs4ydɮf JAdrBDAT read: Rx Time:04:09:49.6219 vTRx dataTimestamp_ set to:1764907791.678876v2Acoustic response timeout:i FNOT Ignoring new targets: 521.62 m."i s*is% ProNav: ac range: 521.624329 m, nav range: 497.842743 m, bearing: 15.513702 deg, approach rate: -0.459534 m/s, LOS rate: -0.003329 deg/s, cmd heading: 17.181361 deg, new cmd heading: 17.178813 deg. i%¸%HeadingCmd: 0.299827 target range: 521.624329 and range: 523.30 m.h-肙>h)h)h)h)g)g)jg1rg1e1re1Ze9:e*e}<@~uBɢ%/)! % Ni!)-&c=))i-@Yi]肙>e+j=e1E=Ie肙>IiI@I @I@M0@Iԁ^AT=2Acoustic response timeoutԹEM  EM EM )EI "EM :*EM :VEM FA4ZEI BEM 3 %,pĖLA6Aq=6p>6`=ٱ6=6Hs?ռҿ8?5?k?`ܰ@J7?@ ?i6Aq=I6c;6CYF,rByFIi Mb@Mb@Mb@     9 bX9?X9v?Mb?Y E>y < = BA lYA EA) XUA Y MAbD%VD%8y5v%5A=ٔ=Q-=>9E"?YE"?=EEyEDEEE>IQ 5U4M|U?Q 9U4Md)M>BY]S>Q E]:y]>Q I] @M2DIMY;iM;M4yegBɮmJAm]EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 521.62 m."i*i ProNav: ac range: 521.624329 m, nav range: 497.639008 m, bearing: 15.511542 deg, approach rate: -0.483317 m/s, LOS rate: -0.005126 deg/s, cmd heading: 17.178814 deg, new cmd heading: 17.174492 deg. iHeadingCmd: 0.299751 target range: 521.624329 and range: 523.30 m.hy>hhhhg1g1jg9rg=4Be9reAZeA:eA*eEa/=@Թ颵uBɢ`ú) Yi)m`=iiim%uo=uiѣ=Iuy>IyIxADAT read: 04:09:49.6219 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 435, 0.45,-1.144,-2.699,-0.947,-1.545, PHS= 0.502,-1.110, 0.554, RAW= 151.6, 0.7, CAL= 150.3, 0.0, ROT= 359.7, -0.0 Ygot valid direction response: 04:09:49.6219 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 435, 0.45,-1.144,-2.699,-0.947,-1.545, PHS= 0.502,-1.110, 0.554, RAW= 151.6, 0.7, CAL= 150.3, 0.0, ROT= 359.7, -0.0 8DAT read: $Error in header %*Received a bad header)X#Rx 1: Read direction message, but no range.^direction in FSK: [0.999986,-0.005236,0.000000]y;@?*TJru )I?i{ ?V)@+H<'@ )@I[@,B? "?eL+܇?  ?){>Ii2Acoustic response timeout9@ @@/@@zA@ ^A% &= 2Acoustic response timeout9 A1 E=  E= E= #E9 "E= ;*E= :VE= 3ZE9 aE @aE @aE @aE @IQ Ia Om >l%,MĖLA>U(>>E=ٱ>=>Hv?xҿ%? H.? k?t `h?`%?i>c;>CYJ rByJIPPbDVVDV8y^%^?=ٔbjQ-b>9`Y`=bEybDfEf>hQ 5n4je?Q 9n4jw)j>BYpyrY>Q Ir @j@DIj ;ij ;jT4ytɮvKAt:iFNOT Ignoring new targets: 521.62 m."i˹*i˹- ProNav: ac range: 521.624329 m, nav range: 497.433167 m, bearing: 15.509372 deg, approach rate: -0.481328 m/s, LOS rate: -0.005076 deg/s, cmd heading: 17.174492 deg, new cmd heading: 17.170150 deg. i-5HeadingCmd: 0.299676 target range: 521.624329 and range: 523.30 m.h5o>h1h1h1h1g9g9jg9rgAeAreAZeA:eA*eM=@uuBɢu$)q }fiy)]=i}8io>Wt==Io>IB>BBIBqBB =BBBы;BCEQ@Q @Y@]0@Y 2Acoustic response timeout^A5=9A I I O >Y Ѳ %,t9ĖLAE2Acoustic response timeoutYIyQbD}VD}8ٔQ->9Y=EyDE>Q 54v?Q 94)>BYyQ I @MDI:i:4yhBɮ KAaE EE)E"E&:*E$:VEFA4ZEBEc;hqhyhyhygygyjgrgereZe:e*e>@uBɢg) vli)Z=iS3ԁi-e>y=T=I-e>I59@9 @9@=/@9ԩ2Acoustic response timeout^A q= AM .AIY Ii Ou >!,%,ͱUĖLAYzqByzIi}Mb@Mb@Mb@yyyy y9}rh|?y&1?l?Y}>y}`e=}=}BA}XA }HA)}TAyY}MAԑbDVD8y%<ٔQ->9 ?Y ?=Ey DE>Q 54?Q 94;)>BY<>Q E:y>Q I @[DI;i;4yɮUKA:iFNOT Ignoring new targets: 521.62 m."i*ii)I)-2Acoustic response timeoutU ProNav: ac range: 521.624329 m, nav range: 497.009125 m, bearing: 15.503677 deg, approach rate: -0.530566 m/s, LOS rate: -0.008562 deg/s, cmd heading: 17.165818 deg, new cmd heading: 17.158754 deg. iUz]HeadingCmd: 0.299477 target range: 521.624329 and range: 523.30 m.h]U>hYhYhYhYgYgajgrg!BereZe:e*e 2>@uBɢq) vi)V=i/iU>c~=T=I U>I i>i>E EE&E"E;*E:VE4ZEa@a@a@a@9@ @@@@=@= B>BBIBqBBBBBԋ;BCE^A T= 2Acoustic response timeout9 A- ؟AI1 II OU >V%,"oĖLA2+=2>2*X=ٱ2Ȍ=2H@}?`ҿ? ?l?``!`? ?i2+=I2b;0Y>qBy>I F9R"?YV"?=VEyVDV9EV>XQ 5^4ZN?Q 9b4ZO)Z>BY`ybJ>Q Ib @ZgDIZ:iZ:Z4yfoBɮfKAjTE:i|~FNOT Ignoring new targets: 521.62 m."i~*i~ ProNav: ac range: 521.624329 m, nav range: 496.827087 m, bearing: 15.500758 deg, approach rate: -0.543345 m/s, LOS rate: -0.008715 deg/s, cmd heading: 17.158753 deg, new cmd heading: 17.152914 deg. i0HeadingCmd: 0.299375 target range: 521.624329 and range: 523.30 m.hG>hhhhgg!jg!rg!e!re)Ze):e)*e->@5uBɢ50)9 =Hi9)=S=99i=s,iEG>E=E컡=IG>IE9@A @A@E0@A952Acoustic response timeoutD=D=E EE%E"El;*E:VE 4ZEBE[Fԑ W9"%,SĖLA2=2lu>2QJ=ٱ2=2H?`9ҿ ó??gm?i`P߹??i2=I2b;0Y>qBy>Ii-Mb@Mb@Mb@)))) )9-jt?L7A`? rh?Y-?y-+=-C =)-[A -pGA)))Y-=NAbDEʿVDE{8yU.%U@=ٔUQ-U>9YYY=]Ey]DeAEe>iQ 5m4m?Q 9u4m)m>BYu)?Q Eu:yuM>Q Iu @muDIm;im;mw4yɮ)LA2Acoustic response timeoutB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 521.62 m."i&*i& ProNav: ac range: 521.624329 m, nav range: 496.613525 m, bearing: 15.496888 deg, approach rate: -0.500428 m/s, LOS rate: -0.009074 deg/s, cmd heading: 17.152914 deg, new cmd heading: 17.145169 deg. i؄HeadingCmd: 0.299240 target range: 521.624329 and range: 523.30 m.h5>hhhhggjgrgBe re Ze :e *e`5E?@=uBɢ=ɭ)A E~iA)EzP=AAiE(iM5>Mn=UZ=IU5>yI-9@) @)@-00@)ԡ^AU=M 2Acoustic response timeoutA I I O >E  E E $E "E :*E :VE 4ZE a @a @a @a @ {c(%,0/ĖLA:2=:j`>:<=ٱ:e=:H`?@-ҿ@ݲ?`?m? a? ?i:2=I:b;:CYFqByFIbDR׿VDR8yV%ZU=ٔZ*Q-Z>9\Y\=^Ey^$D^,۹Eb>`Q 5f4bش?Q 9j4b׉)b>BYhyjC>Q Ij @bDIb:ib`:b*4ynpBɮrgLArUE:i FNOT Ignoring new targets: 521.62 m."i _'*i _' ProNav: ac range: 521.624329 m, nav range: 496.421051 m, bearing: 15.493398 deg, approach rate: -0.504285 m/s, LOS rate: -0.009146 deg/s, cmd heading: 17.145170 deg, new cmd heading: 17.138189 deg. i%慹%HeadingCmd: 0.299118 target range: 521.624329 and range: 523.30 m.h%%>h)h)h)h)g)g)jg1rg1e1re1Ze1:e9*e=?@e vBɢm)ܼ)i mii)mGM=qqiuo%iu%>}ވ=yI}%>IB=>B9B=IB=qBB= =B9B9B=ҋ;B9@ @@21@@@2Acoustic response timeout^A=) AM .AIQ Ii Ou >iY I] A] 2Acoustic response timeouta g.%,LĖLAF =FV>Fw.=ٱF{=FH`‚?`ҿ zݱ?}?Hn?@b@KͥA?`?iF =IFb;FCYbqBybIbDzܿVDz8y%߽%-A=ٔ5 Q-=>9M ?YM ?=UEyU,De4Ee>E EE&E"E;*EM:VE4ZEBEL\BYyQ>Q I @%DI%khhhhggjgrgereZe:e*e @@%vBɢ`ɷ) i)FH=i^ i>==ϡ=I>I9@ @@/@2Acoustic response timeouti ^A A zA ԑ A ؟AI I O >$5%,EĖLAYzqBy~IiMb@Mb@Mb@ 9K?l?:v?Y^>y=<CAXA IA)YNAbD VD 8y;%3=ٔQ->9%"?Y%"?=%Ey%6D%E%>1Q 5545?Q 9=45)5>BY=>Q E=:y=>Q I= @5DI5 :i5:54yEqBU2Acoustic response timeoutɮM"MAQ:iy}FNOT Ignoring new targets: 521.62 m."iNG*iNG ProNav: ac range: 521.624329 m, nav range: 495.985870 m, bearing: 15.484973 deg, approach rate: -0.526518 m/s, LOS rate: -0.010890 deg/s, cmd heading: 17.129935 deg, new cmd heading: 17.121330 deg. irHeadingCmd: 0.298824 target range: 521.624329 and range: 523.30 m.hh>hhhhggjgrgBereZe:e*eC@@9vBɢP )< i)*E=顑iih>\==Ih>IbEu-4jEqrEu#e0E EE%E"E;*E:VE 4ZEa@a@a@a@]9@Y @Y@]0@YBu>Bu{CBuvIBuiqBBqBqBqBuߋ;BuCE! ^A9  2Acoustic response timeout G  x^9 Y ZAA I I O >;%,0GĖLA2j=2n>2V=ٱ2TJ=2Hj?@ҿL?`??m?,崿IV?m?i2j=I2b;0YZqBy^IbDrVDr8yz'U%z`=ٔ~Q-~>9|Y=Ey=D$:E> Q 54 F?Q 94 ) >BYyE>Q I @ DI :i <;  4y!ɮ%pMA!:iIMFNOT Ignoring new targets: 521.62 m."iU9*iU9e ProNav: ac range: 521.624329 m, nav range: 495.807892 m, bearing: 15.481283 deg, approach rate: -0.488905 m/s, LOS rate: -0.010139 deg/s, cmd heading: 17.121331 deg, new cmd heading: 17.113949 deg. iermHeadingCmd: 0.298695 target range: 521.624329 and range: 523.30 m.hm>hihihihqgqgqjgqrgqeyreyZey:e*e,r@@LvBɢ$) i),nA=iIZi>㔚==I>IIyA)Q@ @@1@@=@=m2Acoustic response timeoutyE EE&E"E:*E:VE4ZEBE>SB%,W% ŖLA2,=2|>2N=ٱ2=2H`?ҿs?` ?ml?@ ?@?i2,=I2b;2CY>^qBy>oI@b2Acoustic response timeouti5Mb@Mb@Mb@1111 195`"? rh?{Gz?Y5>y5C=5ף<5-DA1 5JA)5pSA1Y5NAbDMVDM8y]%eD=ٔeOQ-e>9iYi=mEymFDm9Em>qQ 5 4u?Q 9 4u)u>BYs>Q E:y>Q I @uDIuThihihihigigijgqrguBeqreyZey:ey*e}@@颭cvBɢ1) i)<=项iAWijܘ>=w=Ijܘ>IԱI@I @I@M0@Iu2Acoustic response timeout^AuТ=E  E E %E "E :*E ą:VE 4ZE a% @a% @a- @a- @) A .AI I O >OI%,%ŖLA2=2 >2<ٱ2)=2H?@Pҿe?"?Yk?b@?@>?i2=I2Ob;2ClYvEqByv`IbDVD8y{%P=ٔzQ->9 ?B!A%<B%>B!B%cIB%JqBB!B!B!B%;B%CEBBBB =B =C4YE ?=EEyEMDM8EM>QQ 5U4U?Q 9]4Uj~)U>BYYy]>Q I] @UDIU;iU;U/4yiɮmzNAi:iFNOT Ignoring new targets: 521.62 m."i26*i26 ProNav: ac range: 521.624329 m, nav range: 495.414124 m, bearing: 15.473543 deg, approach rate: -0.506068 m/s, LOS rate: -0.009955 deg/s, cmd heading: 17.106035 deg, new cmd heading: 17.098463 deg. iHeadingCmd: 0.298424 target range: 521.624329 and range: 523.30 m.h˘>hhhhggjgrgereZe:e*e@@wvBɢUD) 6i)8=  i }i ˘>Ν=OY=I˘>I2Acoustic response timeout]99@ @@0@@@a  2Acoustic response timeout^A =E5  E5 E5 (E1 "E5 ;*E5 :VE5 c44ZE1 BE5 @9Q%,`#EŖLAZ=Z{>Zb<ٱZ=ZH چ?;ҿ?`|$?`g?vw˖ Q?@?iZ=IZ_Xb;ZCYf?qByf\IiUMb@Mb@Mb@QQQQ Q9UX9v?T㥛 ?:v?YU>yU=UT9Y=EyWD)Y9E>Q 54?Q 94{)?BY>Q E:y4>Q I @DI;i;#4yɮNA:iFNOT Ignoring new targets: 521.62 m."i$*i$ ProNav: ac range: 521.624329 m, nav range: 495.179382 m, bearing: 15.469105 deg, approach rate: -0.473854 m/s, LOS rate: -0.008962 deg/s, cmd heading: 17.098463 deg, new cmd heading: 17.089584 deg. i7HeadingCmd: 0.298270 target range: 521.624329 and range: 523.30 m.hȶ>hhhhggjgrg Be re Ze :e *e<A@=vBɢ=f#) 8i)3=iqv iȶ>£=̣=Iȶ>IX 2Acoustic response timeout ZW%,^ŖLA28-=2>2?<ٱ2=2H`? ^ҿ\?&?`g? z4?@?i28-=I2hb;2CY>'qByBNIbDJVDJ8yR%R[=ٔR Q-V>9TYT=VEyV_DZ&9EZ>\Q 5b4^"?Q 9b4^y)^?BY`yfG>Q If @^DI^ ;i^ ;^]*4yhɮjNAh:i|~FNOT Ignoring new targets: 521.62 m."iO$*iO$ ProNav: ac range: 521.624329 m, nav range: 495.002411 m, bearing: 15.465754 deg, approach rate: -0.473917 m/s, LOS rate: -0.008978 deg/s, cmd heading: 17.089584 deg, new cmd heading: 17.082879 deg. isHeadingCmd: 0.298152 target range: 521.624329 and range: 523.30 m.hq>hhhhg!g!jg!rg!e!re)Ze):e)*e-IA@E EE%E"E:*E|:VE 4ZEa@a@a@a@vBɢh) i)zT/=i iq>H=7=Iq>IQBBBPIB,qBB =BBB;BCEԁ]9@Y @Y@]/@Y2Acoustic response timeoutԩ^A} =A zAzA zA I I O >m]%,xŖLAj9=j >jj<ٱj=jHD? ҿۦ?.?d? `-`P??ij9=Ijbb;jCYqBy?IbD-VD-8yEX%EA=ٔEQ-E>9IYI=MEyMgDUН:EU>YQ 5e4]A2?Q 9e4]w)] ?BYaye>Q Ie @]DI]N:i]:]14yusBɮuYOAuWE:iFNOT Ignoring new targets: 521.62 m."i$*i$ ProNav: ac range: 521.624329 m, nav range: 494.801392 m, bearing: 15.461932 deg, approach rate: -0.473946 m/s, LOS rate: -0.009014 deg/s, cmd heading: 17.082879 deg, new cmd heading: 17.075232 deg. i=HeadingCmd: 0.298019 target range: 521.624329 and range: 523.30 m.h=>h9h9h9h9gAgAjgArgAeIreIZeI:eI*eM@VA@Ա2Acoustic response timeoutvBɢA{W) i)%(*=!!i%Gi->-K=-b=I->IqE EE$E"E;*E:VE4ZEBEA 2Acoustic response timeout9 ld%,*ŖLA2=2כ>2G<ٱ2\=2H`ۆ?{ӿ ZN?-?c?`B I`?$?i2=I2b;0YBpByB'Ii5Mb@Mb@Mb@1111 195-??Mbp?Y5?>y5L=5;15[A 5LA)5CQA1Y1bDMVDM8y]E%]I=ٔ]Q-e>9aYa=eEyepDm*KEm>qQ 5}4uqA?Q 9}4uu)u ?BY>Q E:ye>Q I @uDIu;iu!;u84yɮOAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 521.62 m."il *il  ProNav: ac range: 521.624329 m, nav range: 494.607025 m, bearing: 15.458824 deg, approach rate: -0.476288 m/s, LOS rate: -0.007618 deg/s, cmd heading: 17.075232 deg, new cmd heading: 17.069014 deg. i_HeadingCmd: 0.297911 target range: 521.624329 and range: 523.30 m.h>hhhhggjgrgЁBereZe:e*e`A@vBɢ[)! %#i!)%[v%=!!i-!i->-W=5cO=I5>IM9@I @I@M0@I2Acoustic response timeout9E EE%E"E=;*EZ:VE 4ZEa@a@a@a@^AT=II O >i B >B B 7IB qBB B B B ;B CE.j%,kŖLA V:=Vk>V <ٱV7b=VH'?yӿ?'?}b?0 `Q`??iV:=IVrb;VCYfpByf#IbDv2VDvڰ8y%P=ٔ Q- >9Y=EywDSE>!Q 5-4% P?Q 9-4%s)%?BY)y-.>Q I- @%DI% :i%:%?4=2Acoustic response timeoutyEtBɮEPAA:iimFNOT Ignoring new targets: 521.62 m."iu *iu  ProNav: ac range: 521.624329 m, nav range: 494.419067 m, bearing: 15.455827 deg, approach rate: -0.476397 m/s, LOS rate: -0.007601 deg/s, cmd heading: 17.069015 deg, new cmd heading: 17.063018 deg. i^HeadingCmd: 0.297806 target range: 521.624329 and range: 523.30 m.hz>hhhhggjgrgereZe:e*e A@颅vBɢ-) i)KM =顱i2iz>͸=&=Iz>Ii9@ @@0@@@@@ԙAu>Au>II2Acoustic response timeoutO> E  E E *E "E &:*E :VE (N4ZE BE c;^K;ٱ^[=^H@?`ҿ`Fߡ?? b?}zs ? i?i^=I^b;^CYjpByjIi]Mb@Mb@Mb@YYYY Y9](\?Q?Mbp?Y]>y]\=Y]-DAY ]MA)YYYYbDuVDuð8yQA%B=ٔsQ->9Y=EyDE>Q 54~_?Q 94q)?BY>Q E:y>Q I @DI:iy;"G4yɮkPA:iFNOT Ignoring new targets: 521.62 m."iԸ*iԸ ProNav: ac range: 521.624329 m, nav range: 494.224030 m, bearing: 15.453390 deg, approach rate: -0.464638 m/s, LOS rate: -0.005807 deg/s, cmd heading: 17.063018 deg, new cmd heading: 17.058143 deg. i *HeadingCmd: 0.297721 target range: 521.624329 and range: 523.30 m.hn>hhhhgg jg rg ÁBereZe:e*eB@wBɢ5) Hƿi)=iin>=ڥ=In>IIA)AM2Acoustic response timeout9@ @@W1@A II)O=r>9 i I A 2Acoustic response timeoutBw%,ŖLA2+=2>2x:ٱ2Q=2H ?ҿ@? ?`fc? O?`?i2+=I2b;2CYBpByBIbDJVDJ8yR%RZ=ٔVg'Q-V>9TYT=VEyVDZźEZ>\Q 5b4^(m?Q 9b4^o)^?BYdyf>Q If @^DI^:i^:^M4yj{BɮjPAjNE:i|~FNOT Ignoring new targets: 521.62 m."i<Ӹ*i<Ӹ ProNav: ac range: 521.624329 m, nav range: 494.050690 m, bearing: 15.451235 deg, approach rate: -0.463916 m/s, LOS rate: -0.005771 deg/s, cmd heading: 17.058143 deg, new cmd heading: 17.053830 deg. i(%HeadingCmd: 0.297645 target range: 521.624329 and range: 523.30 m.h%d>h!h!h!h!g!g)jg)rg)e)re)Ze1:e1*e5@LB@Ee EeEe'Ea"EeV:*Ee:VEe'4ZEaam@am@am@am@uwBɢJ) 4ʿi).q=i4id>= =I d>I @ @@@5@IBe>BaBeIBepBBaBaBeDBe ;BeCEA؟AI)IAOUS>]2Acoustic response timeoutqԡ }%,ŖLARu=Rc>Rް;ٱRB=RH?mҿۛ? ?@`d?"ʸvg?,?t?iRu=IRcb;RCY^pBy^IbDj߿VDj8yr/%rF=ٔrkQ-v>9v"?Yv"?=vEyvDzEz>|Q 54~;|?Q 94~n)~?BYy>Q I @~'DI~:i~:~T4yɮQA:i9=FNOT Ignoring new targets: 521.62 m."iEsҸ*iEsҸM ProNav: ac range: 521.624329 m, nav range: 493.859436 m, bearing: 15.448864 deg, approach rate: -0.463764 m/s, LOS rate: -0.005750 deg/s, cmd heading: 17.053830 deg, new cmd heading: 17.049087 deg. iU\(]HeadingCmd: 0.297563 target range: 521.624329 and range: 523.30 m.h]$Z>hYhYhYhYgYgajgargaeareiZei:ei*em@DB@y颥+wBɢ3) ]Ͽi)=顩i;Di$Z>_Ś=Q=I$Z>I2Acoustic response timeout59@1 @1@55@1E EE%E"E;*E:VE 4ZEBE@e 2Acoustic response timeout %,[ƖLA2'=2 X>27ۻٱ2=2Hj?ҿ ?n?`f?`ϥf{? G??i2'=I2b;2CYBpByBIi Mb@Mb@Mb@     9 q= ףp?~jt?~jtx?Y >y < ; CEA (\A OA) (PA Y (PAbDuۿVDu8y%@=ٔQ->9 ?Y ?=EyDE>Q 54?Q 94Vl)?BY>Q E:y?>Q I @3DI:i:K\4yɮQAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 521.62 m."i*i ProNav: ac range: 521.624329 m, nav range: 493.664581 m, bearing: 15.446997 deg, approach rate: -0.457499 m/s, LOS rate: -0.004386 deg/s, cmd heading: 17.049088 deg, new cmd heading: 17.045351 deg. iqHeadingCmd: 0.297498 target range: 521.624329 and range: 523.30 m.h Q>h h h h g g jgrgBereZe:e*eҷB@MCwBɢM|)I M ֿiI)U# =QYi]w#ܻi]Q>eȚ=e<=IeQ>Iii>M9@I @I@M05@I BDAT read: Response Not Received *response not receivedBDAT read: Tx time:04:09:58.9890 $Ping request sent.Y 䊱%,ͱ-ƖLA NÂGZ/{Adz$k9z/{AY~fA]=]$>]Ν)ٱ]=]H@?`ҿ`n֓?@O?h?︿3?*I??i]=I]sb;YYpByIbDVD8y%G=ٔQ->9Y=EyDQAE>Q 54?Q 94j)"?BYy>Q I @?DI;i;xc4y|BɮQAOE:i FNOT Ignoring new targets: 521.62 m."iX*iX- ProNav: ac range: 521.624329 m, nav range: 493.476074 m, bearing: 15.445215 deg, approach rate: -0.460437 m/s, LOS rate: -0.004353 deg/s, cmd heading: 17.045352 deg, new cmd heading: 17.041787 deg. i-5HeadingCmd: 0.297435 target range: 521.624329 and range: 523.30 m.1h5pI>h9h9h9h9g9g9jgArgAeAreAZeA:eI*eMJB@5[wBɢ5>)1 =ٿi9)=%=99i=ԻiEpI>Et˚=E=IEpI>Ia@a @i@i@iqԉ^A `=D zD AAE  E E $E "E :*E :VE 4ZE BE >;+%,IƖLAR;'=R]>RbٱRh0=RHy?`+ҿ@?,?i?`beP?z??iR;'=IRb;RCY^|pBy^IiMMb@Mb@Mb@IIII I9MQ?~jt?I +?YM>yM9yYy=}Ey}D}ںE>Q 54ϩ?Q 94hQ =tI)*?BY;>Q E:yh>Q I@LDI;i;j4yɮQA:iFNOT Ignoring new targets: 521.62 m."i*i ProNav: ac range: 521.624329 m, nav range: 493.285950 m, bearing: 15.443687 deg, approach rate: -0.453726 m/s, LOS rate: -0.003649 deg/s, cmd heading: 17.041786 deg, new cmd heading: 17.038729 deg. iոHeadingCmd: 0.297382 target range: 521.624329 and range: 523.30 m.hqB>hhhhggjgrgBereZe:e*e!C@Q颭swBɢu) ޿i)4u<顱i˻iqB>Q͚=/=IqB>II@I @I@M+5@Iԁ^A =ԱA ؟AI I O > T%,RbƖLA6Y=6*>6_ٱ62P=6H?`ҿ@C?? i?o0ԑ?@>?@?i6Y=I6b;6CEF EFEF)ED"EF;*EF:VEFFA4ZEDaJ@aJ@aJ@aJ@YybDVDð8y|:%5=ٔcQ->9"?Y"?=EyDdE>Q 54?Q 94,g)4?BYy8>Q I@YDI:iM:r4y }BɮQAB=>B=|CB=IB=pBB= =B9B9B=;B=CEB {CB {CB B =B =C 4:iY]FNOT Ignoring new targets: 521.62 m."ie*ieu ProNav: ac range: 521.624329 m, nav range: 493.081390 m, bearing: 15.442050 deg, approach rate: -0.449269 m/s, LOS rate: -0.003597 deg/s, cmd heading: 17.038728 deg, new cmd heading: 17.035453 deg. iuҸ}HeadingCmd: 0.297325 target range: 521.624329 and range: 523.30 m.h}:>hyhyhyhggjgrgereZe:e*e'\C@颽wBɢ9>)  i)5<iûi:>Κ==I:>Ie9@i @i@m35@i@}p=@}=) ^A ܝ=A I I O >l}%,q|ƖLA>n=>>>Fxٱ>}=>H y?\ҿ! ? ?Sm?pΔ???i>n=I>b;>C FYC)FADHHHJ~AiHIHLILiL NMbNF)PP RE~APPPTTIT)TiT)XIZI~AXX X\\\i\\i``)` `I`Y`YjnpByjIbDrVDr8yz %zp=ٔ~ Q-~?9|Y=EyDxE? Q 54 t?Q 94 e) ;?BYy۬>Q I@ cDI ;i ; x4y!ɮ%1RA):iIMFNOT Ignoring new targets: 521.62 m."iU*iUe ProNav: ac range: 521.624329 m, nav range: 492.926453 m, bearing: 15.440822 deg, approach rate: -0.460736 m/s, LOS rate: -0.003652 deg/s, cmd heading: 17.035453 deg, new cmd heading: 17.032997 deg. ieոmHeadingCmd: 0.297282 target range: 521.624329 and range: 523.30 m.hmU5>hihihihqgqgqjgqrgyeyreyZey:e*e@,C@颭wBɢO߽) 2i)'<顱iU廻i]U5>]Ϛ=]W=I]U5>IaQE EE$E"E:*Eą:VE4ZEBEA8e%,ߣƖLA6du=6!1>6ٱ6=6H?ҿUw?i?`n?0T@+? J??i6du=I6b;4@YlpByIiMb@Mb@Mb@ 9sh|?? rh?y&1?Y>yC<`e< )MAYOAbD-VD-8yE%E7=ٔELQ-E>9IYI=MEyMDM("EU>YQ 5e4]?Q 9e4]d)]G?BYeA>Q Ee:ye>Q Im@]pDI]:i]C:]m4yu~BɮuARAuPEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 521.62 m."i p*i p ProNav: ac range: 521.624329 m, nav range: 492.722870 m, bearing: 15.439356 deg, approach rate: -0.455201 m/s, LOS rate: -0.003279 deg/s, cmd heading: 17.032998 deg, new cmd heading: 17.030065 deg. iHeadingCmd: 0.297231 target range: 521.624329 and range: 523.30 m.h.>hhhhggjgrgBereZe:e*erC@wBɢ) i)w<  i >i.>Ϛ==I.>Iԩ9@ @@54@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE EEE"E;*E҆:VEZEa@a@a@a@^AmX=AuyAzAuvAA) A- @AB5 >B5 {CB5 IB5 pBB5 =B1 B1 B5 ;B5 CE I I O >%,~ƖLA"T****** received valid address query ******"R****** received valid ping request ******&received new query, but waiting for acoustic response period to elapse6Ǣ=6E>6_ۼٱ6S=6H?@ҿn?`u?`j?@j k?`?5?i6Ǣ=I6Lb;6CpY~{pBy~IbDVD8y=%S=ٔf Q->9Y=EyD9E>Q 54?Q 94b)R?BYy>Q I@{DI:i:54yɮRA:iFNOT Ignoring new targets: 521.62 m."i%q*i%q5 ProNav: ac range: 521.624329 m, nav range: 492.546021 m, bearing: 15.438081 deg, approach rate: -0.456405 m/s, LOS rate: -0.003292 deg/s, cmd heading: 17.030064 deg, new cmd heading: 17.027513 deg. i5=HeadingCmd: 0.297186 target range: 521.624329 and range: 523.30 m.h=(>h9h9h9hAgAgAjgArgAeIreIZeI:eI*eMC@}wBɢZ׽) i)<顉iqi(>Ϛ=9=I(>IU9@Q @Q@U/@Q@eyA@ezA1 T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^Aߚ=E  E E E "E :*E v:VE ZE BE 6|%,kƖLAV=VS>VٱVY=VH?\ҿBS??@5i?ֺLq? ??iV=IV`3b;TYbpByfI1iUMb@Mb@Mb@QQQQ Q9Um?Mb?Mb?YU>yU=U9Y=EyD9E>Q 54`?Q 94`)`?BYK>Q E:y>Q I@DI:i: 4yBɮQA:iFNOT Ignoring new targets: 521.62 m."iV*iV ProNav: ac range: 521.624329 m, nav range: 492.362183 m, bearing: 15.436087 deg, approach rate: -0.464241 m/s, LOS rate: -0.005036 deg/s, cmd heading: 17.027513 deg, new cmd heading: 17.023524 deg. ixHeadingCmd: 0.297117 target range: 521.624329 and range: 523.30 m.h>hhhhggjgrgBereZe:e*e $D@颵wBɢVxԽ) ui)o\<项iԦi>VК==I>IM>IMT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapsea9@ @@@ԑ^AD=I1 IA OM >  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse%,{ƖLAE" E"E E "E":*E":VE ZE a*@a*@a*@a*@Nf=Np->N`ٱN^=NH?`ҿyP Ȼ?Gh?`bP ??;?iNf=IN(b;NCYjrpByjIbDVDŰ8yE%O=ٔ=ٻQ-=>9AYA=EEyEDE@EE>IQ 5U4yM?Q 9}4M_)Mn?BYyya>Q I@MDIM;iM;M4yɮ0RA:iFNOT Ignoring new targets: 521.62 m."i*i򳸝  ProNav: ac range: 521.624329 m, nav range: 492.177429 m, bearing: 15.434089 deg, approach rate: -0.454340 m/s, LOS rate: -0.004916 deg/s, cmd heading: 17.023524 deg, new cmd heading: 17.019526 deg. i  HeadingCmd: 0.297047 target range: 521.624329 and range: 523.30 m.h>hQhQhQhQgQgYjgYrgYeYreYZea:ea*eeKZD@B>BBIBpBBBBDB/;BDEmxBɢuX-ٽ)q uiq)u"~К= =I>Iԩ%9@! @!@!@!ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapse^A A >A >Ii I O > Kܾ%,\TƖLA6K=6&>6ٱ6=6H*?=ҿATj?:g?ݡ?/?`?i6K=I6bxb;6CYBpByBIbDN!VDN˰8yVh#=%VR=ٔVջQ-V>9XYX=ZEyZDZ E^>`Q 5b4b*?Q 9f4bo])b|?BYdyfX>Q If@bDIb:ibh:bӛ4yjBɮnQAl:i|FNOT Ignoring new targets: 521.62 m."i*i ProNav: ac range: 521.624329 m, nav range: 491.998444 m, bearing: 15.432153 deg, approach rate: -0.474702 m/s, LOS rate: -0.005136 deg/s, cmd heading: 17.019525 deg, new cmd heading: 17.015652 deg. igHeadingCmd: 0.296979 target range: 521.624329 and range: 523.30 m.h >h!h!h!h!g!g!jg)rg)e)re)Ze):e1*e5D@]xBɢe)a eia)eюuК=u"=Iu >IqT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@@@=@=EU EUEU%EQ"EU;*EU:VEU 4ZEQBEU@1U BDAT read: Rx Time:04:10:02.0543 U TRx dataTimestamp_ set to:1764907804.278964U T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapseY )ű%,w/ǖLAR=R >RQٱRK=RH?ҿu!? {g?n?<??iR=IRc;RCYfpByfIiMb@Mb@Mb@ 9Gz?kt?/$?Y>y 0=<-DA?]A UA)YPAbD VD8y;%9=ٔQ->9Y=EyDE>Q 54d ?Q 94d[)?BY>Q E:yR>Q I@DI:i;4yɮQAB*** querying acoustic contact ***ii:i!-FNOT Ignoring new targets: 521.62 m."i-4*i-41E ProNav: ac range: 521.624329 m, nav range: 491.792175 m, bearing: 15.429400 deg, approach rate: -0.466895 m/s, LOS rate: -0.006235 deg/s, cmd heading: 17.015652 deg, new cmd heading: 17.010144 deg. iE6MHeadingCmd: 0.296883 target range: 521.624329 and range: 523.30 m.hM >hIhIhIhIgQgQjgYrg]ȁBeYreYZeY:ea*ee D@颍2xBɢNQ޽) i)<顑i>i >К==I >IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsei9@ @@0@E} E}E}'Ey"E}:*E}:VE}'4ZEya@a@a@a@ԉB>BBIBpBBBBB7;BDE^A Թ A5 .AIA IQ  DAT read: 04:10:02.0543 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 384, 0.11, 1.045,-0.518, 1.246, 0.658, PHS= 0.489,-1.132, 0.544, RAW= 151.7, 1.2, CAL= 150.4, 0.7, ROT= 359.6, -0.7  Ygot valid direction response: 04:10:02.0543 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 384, 0.11, 1.045,-0.518, 1.246, 0.658, PHS= 0.489,-1.132, 0.544, RAW= 151.7, 1.2, CAL= 150.4, 0.7, ROT= 359.6, -0.7  PDAT read: Bearing 169.9, 1.6 (Local)  ~Local bearing/azimuth received: Bearing 169.9, 1.6 (Local)  DAT read: Range 11 to 50 : 495.9 m (Round-trip 661.2 ms) speed 0.4 m/s  R#Rx 2: Read range and direction messages. ^direction in FSK: [0.999901,-0.006981,0.012217] Fpublishing direction and range infoyY ] 2fc0?7}|I:?Y] CY Y Y Y Y )Y I] 5^>i] `吿] C ?] Us)@] <] '@ ] +H<)] @I] +HY Y ] E ;?d9?_@f? ] o ?)] ֭I] i] +HY Y  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.O >{Ḇ%,k3ǖLAYmpByIbD'VDа8y5]%5:=ٔ5Q-=>9= ?Y= ?==Ey=DEEE>IQ 5U4M0?Q 9]4M\Y)M?BYayaQ I@MDIM"pa~@e} g)@p2fc0?7}|I:?*j2j+H*py:d}@G~^a@ i7@p7?T\N4?i͇Ϩ?j C jCi?i.Euj!BjjjBrjCzjډ> addTargetRange:: Added new target pos. range: 495.899994 m, deltaT: 41.839625 s, deltaX: -27.399994 m, approachRate: -0.654881 m/s, rangeRepo size: 4  Added new target pos. range: 494.428680 m, bearing: 16.545523 deg, lat: 36.779426 deg, lon: -121.859527 deg, deltaT: 41.839625 s, deltaX: -27.195648 m, approachRate: -0.649997 m/s, posRepo size: 4 :i=FNOT Ignoring new targets: 494.43 m."iE*iAM ProNav: ac range: 494.428680 m, nav range: 491.587036 m, bearing: 15.426659 deg, approach rate: 0.000000 m/s, LOS rate: -0.006235 deg/s, cmd heading: 17.010144 deg, new cmd heading: 17.004234 deg. iQUHeadingCmd: 0.296780 target range: 494.428680 and range: 495.90 m.hU>hyhyhyhygygyjgrgereZe:e`f~@*eo?QxBɢٽ) i)*v<i'i> К= '=I >I @ @@3@DAT read: BDAT read: Tx time:04:10:03.3890 $Ping request sent.ӱ%,KOǖLAYzpByzIQ}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250957iMb@Mb@Mb@ 9+??I +?Yv>yL=94<CEAV^A TA)YGQAbD.VDװ8yƠ=%A=ٔQ->9Y=EyDE>Q 54@?Q 949W)?BY>Q E:y>Q I@DI:i:4yɮQA :i)5FNOT Ignoring new targets: 494.43 m."i5H*i5HE ProNav: ac range: 494.428680 m, nav range: 491.377472 m, bearing: 15.423578 deg, approach rate: -0.539827 m/s, LOS rate: -0.007938 deg/s, cmd heading: 17.004234 deg, new cmd heading: 16.998071 deg. iEshMHeadingCmd: 0.296672 target range: 494.428680 and range: 495.90 m.hMn>hQhQhQhQgQgQjgYrg]ׁBeYreYZeY:ea*ee?颍gxBɢ)l< i)oހ<顙iprin>&њ=W=In>Ie9@i @m@m0@iԁ@zA@ԩ^Ar=i! I! - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503485bEe4jEe4rEeʭ<0E  E E "E "E T;*E ~:VE (3ZE a @a @a @a @ A ؟AI I O >ٱ%,iǖLA2 =24֗>2B/ٱ2=2H5?ҿ@x?e?cy?Hj??i2 =I2ag;2CYNpByRIbDZ:VDZ8Bz>BxBz IBzpBBxBxBxBz2;BzDEy w$% Y=ٔ }Q->9"?Y"?=EyDyE>!Q 5-4%O?Q 9-4%TU)%?BY)y->Q I5@%DI%:i%:%04y9ɮ= RA9:iaeFNOT Ignoring new targets: 494.43 m."im*im} ProNav: ac range: 494.428680 m, nav range: 491.191284 m, bearing: 15.420849 deg, approach rate: -0.494374 m/s, LOS rate: -0.007251 deg/s, cmd heading: 16.998070 deg, new cmd heading: 16.992608 deg. i}RTHeadingCmd: 0.296577 target range: 494.428680 and range: 495.90 m.hؗ>hhhhggjgrgereZe:e*e8?ԹxBɢ) i)h<i aiؗ>"њ=ͱ=Iؗ>IG%zAE5A9zAYA9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756001^A9g=!A! I1 IA OM >I = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006850%,ǖLA2ޫ=2>208ٱ2m=2Hے?ҿ뉿2?~e?@H ?~??i2ޫ=I2g;2CY>pBy>IbDj&VDjϰ8yr1<%vM=ٔv`Q-v>9xYx=zEyz DzEz>|Q 54~ _?Q 9 4~QS)~?BY y >Q I @~DI~.:i~:~+4yBɮQA:i9EFNOT Ignoring new targets: 494.43 m."iE*iEU ProNav: ac range: 494.428680 m, nav range: 490.993835 m, bearing: 15.417956 deg, approach rate: -0.494313 m/s, LOS rate: -0.007246 deg/s, cmd heading: 16.992607 deg, new cmd heading: 16.986819 deg. iU*T]HeadingCmd: 0.296476 target range: 494.428680 and range: 495.90 m.h]˗>hahahahagagajgirgieireiZei:eq*eu?DD4=E EE%E"E ;*E҆:VE 4ZEBEvT њ==I˗>IyI@Q @Q@Q@Qԩ^A*=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259549A .AI I1 OU > %,*ɜǖLAY~pBy~IiMb@Mb@Mb@ 9X9v?Q?~jt?Y>yu=D<(DA [A UA)KAY(PAbDVD8y\U<%==ٔQ->9 ?Y ?=EyDE>Q 54n?Q 94Q)?BY>Q E:yt>Q I@DI:iV:4yɮQA B*** querying acoustic contact ***i i :i%FNOT Ignoring new targets: 494.43 m."i%*i%5 ProNav: ac range: 494.428680 m, nav range: 490.789886 m, bearing: 15.414364 deg, approach rate: -0.471668 m/s, LOS rate: -0.008311 deg/s, cmd heading: 16.986819 deg, new cmd heading: 16.979632 deg. i5Zs=HeadingCmd: 0.296350 target range: 494.428680 and range: 495.90 m.h=@>h9h9h9hAgAgAjgArgMBeIreIZeI:eI*eU8?}xBɢ}h) i)1<顁i=i@>њ==I@>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.531046E EEE"E%;*EZ:VEZEa@a@a@a@<BBBIBpBBBBB<;BDEBBBBBC4U9@Q @Q@U4@Q@e=@e=ԩ E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.782807 ^A y=AE؟AIIIYOm?k%,ǖLA2B=2X>2KJٱ2=2H`a?`Wҿ@?!f?`F? ?n?i2B=I2`f;0Y>pBy>IbDFdVDFɰ8ynm:%n,=ٔnQ-n>9r"?Yr"?=rEyrDrﵸEv>tQ 5~4vo?Q 9~4vN)v?BY|y~}>Q I~@vDIv;iv:v4yBɮ RA HE:i)5FNOT Ignoring new targets: 494.43 m."i5*i=E ProNav: ac range: 494.428680 m, nav range: 490.564941 m, bearing: 15.410397 deg, approach rate: -0.473905 m/s, LOS rate: -0.008361 deg/s, cmd heading: 16.979632 deg, new cmd heading: 16.971694 deg. iEtMHeadingCmd: 0.296212 target range: 494.428680 and range: 495.90 m.hM>hQhQhQhQgQgQjgYrgYeYreYZeY:ea*ee@颍xBɢ/) i) <顙i+i>3њ= =I>ID-= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.286947+v%,WǖLA2[=2_>2Rٱ23=2H;?`Vҿa ͥ? 8f?ɼP???i2[=I2_f;2CY>pBy>IiMb@Mb@Mb@ 9^I +?A`"?~jth?YX>yY=D;?EA \A )JAYzPAbDVD8y:=%;=ٔQ->9Y=Ey'D%#E>Q 5%4%?Q 9%4sL)@BY%>Q E%:y%>Q I-@ DI:i:4y5Bɮ5QA5IE:iY]FNOT Ignoring new targets: 494.43 m."ie6 *ie6 u ProNav: ac range: 494.428680 m, nav range: 490.351257 m, bearing: 15.407017 deg, approach rate: -0.484172 m/s, LOS rate: -0.007661 deg/s, cmd heading: 16.971693 deg, new cmd heading: 16.964931 deg. iuW`}HeadingCmd: 0.296094 target range: 494.428680 and range: 495.90 m.h}>hyhyhyhygygjgrgɁBereZe:e*eE@颽xBɢ) ji)@;i(i>+њ=B=I>IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.539205qE EE&E"E ;*E|:VE4ZEa@a@a@a@9@  @ @ @5@ B >B B %IB pBB B B B 9;B DEԡ ^Au [= Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.790855AIIO>%,5ǖLA: =:V>:Rbٱ:9=:H`Ɛ?ҿ`_uR?f? F?&? ?i: =I:g;:CYDyDbDRVDR8yVz%Z5=ٔZE Q-Z>9\Y\=^Ey^0DbތEb>dQ 5f4f?Q 9j4f4J)f@BYlyn_>Q In@fDIf2E;if`F;f4yqɮuQAq:iFNOT Ignoring new targets: 494.43 m."i*i - ProNav: ac range: 494.428680 m, nav range: 490.135376 m, bearing: 15.403611 deg, approach rate: -0.453504 m/s, LOS rate: -0.007157 deg/s, cmd heading: 16.964931 deg, new cmd heading: 16.958118 deg. i-Q5HeadingCmd: 0.295975 target range: 494.428680 and range: 495.90 m.h5 >h1h1h1h9g9g9jg9rg9eAreAZeA:eA*eM @5 yBɢ5)1 5wi1)=6u;99i=riE >eК=e=Ie >Ii@ @@/5@9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.042928E- E-E)E)"E-;*E-:VE)ZE)BE-@%,ȖLAYYyYiMb@Mb@Mb@ 9i|?5?y&1?~jth?Y>y`e=(DA7]A VA)IAY <<bDVD8y \|:% 6=ٔ Q->9Y=Ey9DE>!Q 5-4%k?Q 9-4%G)%$@BY5]>Q E5:y5P>Q I5@%$DI%/;i%Y;%X4y9ɮ=QA9:iaeFNOT Ignoring new targets: 494.43 m."imuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.295008y*im ProNav: ac range: 494.428680 m, nav range: 489.925262 m, bearing: 15.400052 deg, approach rate: -0.503132 m/s, LOS rate: -0.008527 deg/s, cmd heading: 16.958118 deg, new cmd heading: 16.950996 deg. iyHeadingCmd: 0.295851 target range: 494.428680 and range: 495.90 m.hy>hhhhggjgrgereZe:e*e~p @'yBɢ) i)W;i@2iy>К=1h=Iy>Iԙ9@ @@<5@% BDAT read: Rx Time:04:10:06.4516 - TRx dataTimestamp_ set to:1764907808.582723- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.547892^A5 *=EE  EE EE 'EA "EE ;*EE $:VEE '4ZEA ae @ae @am @am @ A I I O >= %,*ȖLAB.<A.4=B2>B0B27IB2qBB0B0B0B25;B2DEB`=B+>BtٱBW=BH?4ҿ`Թ?`e?'v ? ~? ?iB`=IBk;@YNpByNIbD^VD^8yf %fW=ٔj,AQ-n>9lYl=rEyrADr_Ev>xQ 5~4za?Q 94zF)z3@BYy*>Q I @z0DIz!;iz";z4yɮQAEB*** querying acoustic contact ***iAiA:iFNOT Ignoring new targets: 494.43 m."i *i  ProNav: ac range: 494.428680 m, nav range: 489.746277 m, bearing: 15.397023 deg, approach rate: -0.444920 m/s, LOS rate: -0.007531 deg/s, cmd heading: 16.950996 deg, new cmd heading: 16.944937 deg. i \HeadingCmd: 0.295745 target range: 494.428680 and range: 495.90 m.hk>hhhhggjgrge!re!Ze!:e!*e%@I颽ByBɢ) ( i)X:i(Aik>К==Ik>Iy@ @@4@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.799752yԡ^A=A>AA I I) O= > %,DȖLAJDAT read: 04:10:06.4516 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 419, 0.09, 3.130, 1.589,-2.920, 2.807, PHS= 0.425,-1.174, 0.512, RAW= 152.6, 2.9, CAL= 151.5, 2.5, ROT= 358.5, -2.5 NYgot valid direction response: 04:10:06.4516 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 419, 0.09, 3.130, 1.589,-2.920, 2.807, PHS= 0.425,-1.174, 0.512, RAW= 152.6, 2.9, CAL= 151.5, 2.5, ROT= 358.5, -2.5 RPDAT read: Bearing 171.6, 1.9 (Local) R~Local bearing/azimuth received: Bearing 171.6, 1.9 (Local) ZDAT read: Range 11 to 50 : 493.8 m (Round-trip 658.4 ms) speed 0.0 m/s ZR#Rx 1: Read range and direction messages.^^direction in FSK: [0.998706,-0.026152,0.043619]^Fpublishing direction and range infoy02xf?|e\ǚGU?Y2C0000 0)2JI2>i2E2o?2t*@24QO=2%:)@ 2¸2=)2c9@I2¸2002ԥd?Ŵ5";?j*~ٱ=H?`ҿ4?e?ت`?F(?F?i=In;CY%pBy%IbD5VD58yE =%ED=ٔE|Q-M>9IYI=MEyMJDUEU>YQ 5e4]?Q 9e4]C)]C@BYaye>Q Im@]<DI]:i]h:]H4yuBɮuQAqE EEE"E;*E:VEZEBEa2EaJEg;a:Eh;ai0i2bEȖLAj2*C"j2*C:j2`>"p2I*~@CS)d?kݰy5@p2xf?|e\ǚGU?*j2wּ2j2¸2*p2H}@]@_@4N?I@p2 `?ǡ6?A?j2B j2[Ci2j?i2Kj2VBj2j?j0j0rj2 Czj2_[>Ա addTargetRange:: Added new target pos. range: 493.799988 m, deltaT: 4.303989 s, deltaX: -2.100006 m, approachRate: -0.487921 m/s, rangeRepo size: 4  Added new target pos. range: 492.335114 m, bearing: 15.149595 deg, lat: 36.779433 deg, lon: -121.859527 deg, deltaT: 4.303989 s, deltaX: -2.093567 m, approachRate: -0.486425 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 492.34 m."i*i!m ProNav: ac range: 492.335114 m, nav range: 490.256256 m, bearing: 15.371039 deg, approach rate: 0.000000 m/s, LOS rate: -0.007531 deg/s, cmd heading: 16.944938 deg, new cmd heading: 16.938360 deg. iquHeadingCmd: 0.295630 target range: 492.335114 and range: 493.80 m.hu\>hyhyhyhygygyjgrgereZe:e~@*e"j?byBɢ ) $ i)t.ii\>Ϛ=ؙ=I\>I@ @@3@%==%*DAT read: user:115> -BDAT read: Tx time:04:10:07.6890 -$Ping request sent.-&I%,bȖLA:}ٜ=:(ʖ>:Iٱ:+=:H ?xҿ!< ?Qf?޽I?+?@?i:}ٜ=I:Uq;:CYFpByJIi%Mb@Mb@Mb@!!!! !9%V-?&1?Mb`Y%>y%P=%!%YA %UA)!!Y%\OAbDU VDUʰ8ye$o%e,=ٔm᯻Q-m>}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2493719m ?Y} ?=}Ey}SDE>Q 54?Q 94A)S@BY>Q E:y>Q I@KDID;ij;4yɮQAJE:iaE EE)E"E;*E:VEFA4ZEa@a@a@a@FNOT Ignoring new targets: 492.34 m."iT *iT  ProNav: ac range: 492.335114 m, nav range: 490.036987 m, bearing: 15.367535 deg, approach rate: -0.483059 m/s, LOS rate: -0.007723 deg/s, cmd heading: 16.938360 deg, new cmd heading: 16.931350 deg. i!bHeadingCmd: 0.295508 target range: 492.335114 and range: 493.80 m.hL>hhhhggjg rg Be re Ze :e*e?]|yBɢ]vO!)aA E8 iA)ESAIiM2fiML>UΚ=U#=IUL>IQBe>BezCBe>IBe qBBe =BaBaBe,;Be DE59@1 @1@5P3@1i- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501104^A} =ԡ Iq I O >%,;}ȖLA:v=:vq>:ZXٱ:%=:H?ҿL@b~?f?2G?`I?`?i:v=I:ܒu;8YFpByFIbDR/VDRذ8yVӚ%VR=ٔZbQ-Z>9\Y\=^Ey^[D^4Eb>`Q 5f4b?Q 9f4b?)ba@BYhyn>Q In@bVDIbD;ib;bY4ypɮr1RAp:i)-FNOT Ignoring new targets: 492.34 m.1"i5 *i= E ProNav: ac range: 492.335114 m, nav range: 489.858521 m, bearing: 15.364694 deg, approach rate: -0.480667 m/s, LOS rate: -0.007653 deg/s, cmd heading: 16.931349 deg, new cmd heading: 16.925666 deg. iE`MHeadingCmd: 0.295409 target range: 492.335114 and range: 493.80 m.hM?>hIhQhQhQgQgQjgYrgYeYreYZea:ea*ee =?颍yBɢ0) i)[顙it[i?>͚=z=I?>I)@) @)@-0@1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753176aEe EeEe'Ea"Ee=;*Ee:VEe'4ZEaBEe~IԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005172u%%,ȖLA6=6>6Vaٱ6;=6H@?`ҿg`o?g?񂾿@W?d??i6=I6:w;4YRpByRIԙiMb@Mb@Mb@ 9m?{Gz?Mb`Y>y#=CA )lGAYNAbD'VDа8y]=%7=ٔ 5ػQ- >9 Y = Ey dDFE>Q 5%4?Q 9%4=)q@BY%x>Q E-:y->Q I-@cDI:i:' 4y5Bɮ5QA1:iaeFNOT Ignoring new targets: 492.34 m."imm޸*imm޸ ProNav: ac range: 492.335114 m, nav range: 489.651489 m, bearing: 15.362005 deg, approach rate: -0.467543 m/s, LOS rate: -0.006077 deg/s, cmd heading: 16.925666 deg, new cmd heading: 16.920285 deg. i1HeadingCmd: 0.295315 target range: 492.335114 and range: 493.80 m.h|3>hhhhggjg rg Be reZe:e*eX?=yBɢE)A EiA)e N̻iiim%"iu|3>u˚=u=Iu|3>Iq@ @@35@]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257069bE!4jE!4rE[/Eu EuEu&Eq"Eu:*Euh:VEu4ZEqa@a@a@a@A- @AA- ?AB5 >B1 B5 JIB5 "qBB1 B1 B5 DB5 #;B5 CE^AU =I I O >! U wt>U C pG A 9 Y Ağ+%,DȖLA2W=2>2Wܕٱ2\=2H@?@ҿ@Wd?@h?̾C?`}??i2W=I2a8x;2CY>pBy>IbDF VDF8yNa=%Rd=ٔRQ-R>9PYT=VEyVkDVxܺEV>XQ 5^4Z ?Q 9^4Z/<)Z~@BY`yb>Q Ib@ZnDIZi:iZ;Zh4ydɮfTQAdvB*** querying acoustic contact ***itit:ix FNOT Ignoring new targets: 492.34 m."i ۸*i ۸% ProNav: ac range: 492.335114 m, nav range: 489.485535 m, bearing: 15.359858 deg, approach rate: -0.463876 m/s, LOS rate: -0.006001 deg/s, cmd heading: 16.920284 deg, new cmd heading: 16.915990 deg. i%/-HeadingCmd: 0.295240 target range: 492.335114 and range: 493.80 m.h-)>h)h)h)h)g)g)jg1rg1e1re1Ze9:eA*eE-v?yBɢ:) ki)i387i)>ɚ=L֕=I)>I!߽0?߽;?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5101849@ @@/@!^AI)I9OM>Qm checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761148y D zD @AE  E E %E "E =;*E :VE 4ZE BE a 2E ~I9Y=EytDE>Q 54?Q 946:)@BYyQ I@{DI;i8;4yBɮXQAKEi:iyFNOT Ignoring new targets: 492.34 m."iCո*iCո ProNav: ac range: 492.335114 m, nav range: 489.283752 m, bearing: 15.357247 deg, approach rate: -0.450045 m/s, LOS rate: -0.005827 deg/s, cmd heading: 16.915990 deg, new cmd heading: 16.910765 deg. i*HeadingCmd: 0.295149 target range: 492.335114 and range: 493.80 m.h>hhhh ggjgrgereZe:e*e@myBɢm* )i mbiq)u-"qqiu9i}>}1ƚ=}$=I}>Iԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014113e:@a @a@e 5@aԱ^A Ks=A A >I I O > 8%,vȖLA29=27>2H_ٱ2=2H?ҿb@C?l? wF?=??i29=I2y;2CY>pBy>IiMb@Mb@Mb@ 9Gz?Q?MbP?%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265234Y>y\=: )VFAY=NAbDFVD8ygU=%I=ٔ\vQ->9Y=Ey|D>E>Q 54+?Q 94m8)@BYN>Q E:y>Q I@DI:i:!4yɮQA:iFNOT Ignoring new targets: 492.34 m."i Ǹ*i Ǹ ProNav: ac range: 492.335114 m, nav range: 489.093933 m, bearing: 15.355100 deg, approach rate: -0.482066 m/s, LOS rate: -0.005455 deg/s, cmd heading: 16.910765 deg, new cmd heading: 16.906468 deg. i%HeadingCmd: 0.295074 target range: 492.335114 and range: 493.80 m.h%>h!h!h!h!g)g)jg)rg-Be1re1E= E=E=+E9"E=V:*E=?:VE= [4ZE9aE@aE@aE@aM@ZeI:eI*eMx@颅zBɢ Q;) i)f<顉ik=":i>š=t=I>I1U9@Q @Q@U0@QB>BBiIBUqBBBBDB;BCEBzCBzCBB =B =C#C5Y^Am(=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518220ԉ A ؟AI I O >%,&RȖLA06]Y=6 >6(ᨽٱ6=6H`Ց?nҿ@~+?q?? ?@w?i6]Y=I6y;6CYnpByn&Itv@AbDzfVDz 8y =%T=ٔ Q->9"?Y"?=EyD%nE%>)Q 554-?9?Q 954-6)-@BY1y5ӹ>Q I5@-DI-:i-;-'4yEBɮEPAA:iimFNOT Ignoring new targets: 492.34 m."iuL*iuL ProNav: ac range: 492.335114 m, nav range: 488.913940 m, bearing: 15.353091 deg, approach rate: -0.468218 m/s, LOS rate: -0.005226 deg/s, cmd heading: 16.906468 deg, new cmd heading: 16.902450 deg. i HeadingCmd: 0.295003 target range: 492.335114 and range: 493.80 m.h >hhhhggjgrgereZe:e*e`@zBɢ66) Qi)%Yi4n:i >㽚=ha=I >Iԑ9@ @@/@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769866EM EMEM&EI"EM;*EM~:VEM4ZEIBEMD checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021161E%,7ɖLAR&=R>RpٱR:=RH? ҿ@B@? {u?V@ٵ?d??iR&=IRx;P\YbpBybIiMb@Mb@Mb@ 9K7A`? rh?{Gzt?Y>yC =ף; [A VA)?EAYNAbDiVD 8y%?=ٔ&Q->9Y=EyDPtE>Q 54H?Q 944)@BY>Q E:yh>Q I@DI;iH;W/4yɮQA:i!-FNOT Ignoring new targets: 492.34 m."i-괸*i5괸= ProNav: ac range: 492.335114 m, nav range: 488.718414 m, bearing: 15.350972 deg, approach rate: -0.455898 m/s, LOS rate: -0.004943 deg/s, cmd heading: 16.902451 deg, new cmd heading: 16.898211 deg. iEEHeadingCmd: 0.294929 target range: 492.335114 and range: 493.80 m.hE>hAhIhIhIgIgQjgYrg]BeYreYZeY:ea*ee` @ :zBɢ  1)  i)zi`:i>ö=؍=I>I!=9@9 @A@A@A=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273134EU EUEU'EQ"EUT;*EUh:VEU'4ZEQa]@a]@a]@a]@^A5 =B <A OK%,2ɖLA:6=:ma>:%0ٱ:y=:H ?~ҿS?6y? u? ?U?i:6=I:x;8YFqByF6IbDRVVDR8yZ#=%Z_=ٔZQ-Z>9\Y\=^Ey^DbyEb>dQ 5f4fU?Q 9j4f^3)f@BYhyj>Q Ij@fDIfe:if:f54yrBɮruPArLE~B*** querying acoustic contact ***i|i|:i  FNOT Ignoring new targets: 492.34 m."i4*i4- ProNav: ac range: 492.335114 m, nav range: 488.551300 m, bearing: 15.349187 deg, approach rate: -0.455456 m/s, LOS rate: -0.004869 deg/s, cmd heading: 16.898211 deg, new cmd heading: 16.894638 deg. i--HeadingCmd: 0.294867 target range: 492.335114 and range: 493.80 m.h5>h1h1h1h1g1g1jgIrgIeIreIZeI:eQ*eU @TzBɢCx?) %.i!)%!!i%&:i->-=-=I->I1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526986 9@  @ @ @Iԉ^Am=iA IE AM checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777348ԡ A I I O >Ee  Ee Ee &Ea "Ee ;*Ee :VEe 4ZEa BEa au 2Ea au JEe v2eܺٱ2`=2Hǔ?`etҿ@?`{?`hAS?Ǹ?K?i2n=I2wKy;2CY>pBy>1IbDF@VDF8yR%RK=ٔRQ-R>9TYT=VEyVDV EZ>XQ 5b4Z|d?Q 9b4Z1)Z@BY`ybJ>Q Ib@ZDIZ:iZ;Z<4ydɮjPAh:ix~FNOT Ignoring new targets: 492.34 m."i~*i  ProNav: ac range: 492.335114 m, nav range: 488.368164 m, bearing: 15.347246 deg, approach rate: -0.456077 m/s, LOS rate: -0.004835 deg/s, cmd heading: 16.894639 deg, new cmd heading: 16.890756 deg. i HeadingCmd: 0.294799 target range: 492.335114 and range: 493.80 m.h>hyhhyhyggjgrgereZe:e*e@̙@ qzBɢ 8) wi)=UAAiM7:i>G=q=I>Iԩ9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030828^A = AA II Ia Om >X%,eɖLA2N=2^O>2ٱ2 =2Hr?@pdҿQ `l?Y?`G?`q?`?i2N=I2ԣy;2CY>qBy>BIchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.281181iUMb@Mb@Mb@QQQQ Q9U/$?yUt=Ut9Y=EyD'9E>Q 54%t?Q 94/)ABY>Q E:yX>Q I@DI]:iM:SD4yBɮWPACE:iFNOT Ignoring new targets: 492.34 m."i*i ProNav: ac range: 492.335114 m, nav range: 488.170441 m, bearing: 15.345101 deg, approach rate: -0.457067 m/s, LOS rate: -0.004961 deg/s, cmd heading: 16.890756 deg, new cmd heading: 16.886463 deg. iCHeadingCmd: 0.294724 target range: 492.335114 and range: 493.80 m.h>hhhhggjgrg Be re Ze :e *e`qH@E EE"E"E%;*E:VE(3ZEa@a@a@a@MzBɢM6)I MiI)U笼QQiU ;i]>]=]ct=I]>IaB>BBIBqBBBBB;BCE=9@9 @9@E/@A@M=@M=1checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534129^A% =a AQ Ia Iq O >V`%, ɖLA2@=2ZՐ>2 ƽٱ2<=2H?Yҿǰ??;v*qBy>OIbDJVDJư8yN1^=%RV=ٔRܻQ-R>9TYT=VEyVDZmEZ>\Q 5^4^?Q 9b4^5.)^ABY`yb>Q Ib@^DI^o;i^{;^K4yhɮjPAh:ix~FNOT Ignoring new targets: 492.34 m."i~*i~󳸝 ProNav: ac range: 492.335114 m, nav range: 487.995514 m, bearing: 15.343221 deg, approach rate: -0.457247 m/s, LOS rate: -0.004916 deg/s, cmd heading: 16.886463 deg, new cmd heading: 16.882701 deg. i%HeadingCmd: 0.294659 target range: 492.335114 and range: 493.80 m.h%ݖ>h!h)h)h)g)g)jg1rg1e1re1Ze1:e9*e=Q@ezBɢm~LN)mR< mii)mTiqiuC;iuݖ>}̔=}* =I}ݖ>Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=4.785829U9@Q @Q@Q@Q)Eu EuEu&Eq"Eu;*Euą:VEu4ZEqBEu@ checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037260ԙ i!f%,ɖLAFV=F>F}p˽ٱFI=FH`f?XҿJdR?À?5 \c?ي? ?iFV=IF`{;FCYV2qByVTIiEMb@Mb@Mb@AAAA A9E/$?I +?y&1|?YE&>yE94=E`;EAAEVA EWA)EAAAYELAbD]&VD]ϰ8ye<%m@=ٔm'ǻQ-m>9qYq=uEyuDuME}>Q 54?Q 94H,)5ABY:>Q E:y>Q I@DI(:i:wR4yBɮOA:iFNOT Ignoring new targets: 492.34 m."iָ*iָ ProNav: ac range: 492.335114 m, nav range: 487.796387 m, bearing: 15.340715 deg, approach rate: -0.466669 m/s, LOS rate: -0.005874 deg/s, cmd heading: 16.882701 deg, new cmd heading: 16.877688 deg. i+HeadingCmd: 0.294571 target range: 492.335114 and range: 493.80 m.h Җ>hhhhggjgrgBereZeq:ey*e}ѕ@zBɢ;) 1i)˼i0;i Җ>W=Ć=I Җ>I9@ @@@Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.291535E EE%E"E&:*E:VE 4ZEa@a@a@a@^A=AQ AU AAB% >B! B% IB% qBB! B! B! B% ;B% CEAY Ia Iq O > Kl%,ɖLA2e=24->2нٱ2g=2H k? Mҿ =? Ă?@hо>?q?Ư?i2e=I2|;2CY>TqBy>iIbDF*VDFӰ8yN=%RX=ٔRQ-R>9TYT=VEyVDV;$EV>XQ 5^4Z?Q 9b4Z*)ZKABY`ybH>Q Ib@ZDIZb;iZ;ZY4ydɮf`OAhvB*** querying acoustic contact ***itit:i|~FNOT Ignoring new targets: 492.34 m."i'ո*i'ո ProNav: ac range: 492.335114 m, nav range: 487.619873 m, bearing: 15.338512 deg, approach rate: -0.466427 m/s, LOS rate: -0.005824 deg/s, cmd heading: 16.877688 deg, new cmd heading: 16.873280 deg. i*HeadingCmd: 0.294494 target range: 492.335114 and range: 493.80 m.hǖ>h)h)h)h)g)g)jg1rg1e1re1Ze9:e*e@echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.542543zBɢ3=F) i)pۼiAC;iǖ>~==Iǖ>I19@ @@@@@^A8=AzAQ  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793042A I) I9 OM >E  E E E "E ;*E خ:VE ZE BE LR}ֽٱR=RH`?cEҿȲv?`?I`&ú?`rr?w?iR€=IR)~;RCYbbqBybrIbDj)VDjҰ8yr} =%rF=ٔv7ֻQ-v>9tYt=vEyzDzEz>|Q 54~خ?Q 94~()~eABY y >Q I @~DI~6:i~:~J`4yɮ&OA:iIMFNOT Ignoring new targets: 492.34 m."iUӸ*iUӸe ProNav: ac range: 492.335114 m, nav range: 487.427155 m, bearing: 15.336123 deg, approach rate: -0.464739 m/s, LOS rate: -0.005765 deg/s, cmd heading: 16.873281 deg, new cmd heading: 16.868499 deg. ie(mHeadingCmd: 0.294411 target range: 492.335114 and range: 493.80 m.hm>hihihihqgqgqjgqrgyeyreyZey:e*e௰@颭zBɢO) hi).顱iV;i> t==I>IYm4=mR=}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047020='\z%,duɖLAbEe4jEeT4rEexE0E2 E2E2&E0"E2f;*E2$:VE24ZE0a>@a>@a>@a>@YzqByIԱB>BBIB*rBBBBB;BCE=݂GU{AAEAa9{AYAiMb@Mb@Mb@ 9i|?5?:v?~jtx?Y>yT=;UA )?AYKA %<%<bD-8VD-8y= /=%==ٔ=Q-=>9AYA=EEyEDMEM>QQ 5]4U?Q 9]4U'&)UABY]%>Q E]:y]>Q I]@UDIUo:iUn;Ui4yiɮmNAmDE:iFNOT Ignoring new targets: 492.34 m."i*i% ProNav: ac range: 492.335114 m, nav range: 487.171997 m, bearing: 15.332444 deg, approach rate: -0.469251 m/s, LOS rate: -0.006769 deg/s, cmd heading: 16.868499 deg, new cmd heading: 16.861138 deg. i-5F-HeadingCmd: 0.294282 target range: 492.335114 and range: 493.80 m.h-.>h1h1h1h1g1g1jg9rg=BeYreYZea:ea*ee@{BɢA 0) Li);mi@k;i%.>%c=-P=I-.>I)checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550858  <5 9@1  @1 @5 @5@9 9 -checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801046a^A}W^=A}>A}>E EEE"E;*EVEZEBEA6lٱ6lj=6H /? =ҿ`@?W?Dؿݼ? ?2?i6{=I61V~;4 %checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053245YUqByUIi Mb@Mb@Mb@     9 -?J +?Mbp?Y ?>y H= ; @A VA ) >A Y KAbD%VD%8y5~<%5<ٔ5QQ-=>9= ?Y= ?==Ey=DE{EE>IQ 5U4M?Q 9U4M$#)MABYU>Q EU:y]>Q I]@MDIM;iM];Mu4yeBɮeNAa:iFNOT Ignoring new targets: 492.34 m."i*i踝 ProNav: ac range: 492.335114 m, nav range: 486.866028 m, bearing: 15.328348 deg, approach rate: -0.474389 m/s, LOS rate: -0.006354 deg/s, cmd heading: 16.861138 deg, new cmd heading: 16.852942 deg. i:HeadingCmd: 0.294139 target range: 492.335114 and range: 493.80 m.hn>hhhhggjgrgBereZe:e*e@q@G{Bɢ0I)T< i) iT/~;in>O=F=In>I))y  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305813 nManaging dock network, ignoring radio surface power offm 9@i  @i @m 0@i ԩ Em  Em Em 'Ei "Em :*Em ~:VEm '4ZEi a} @a} @a} @a} @B>BBIBgrBB =BBB;BCEByByByByByC}4^A=A؟AII O% ?%,˿8ʖLA2<2=2checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557887B{=B>B%ٱB=BH?Aҿ`b.??ȓ? @??iB{=IB2;@ H)HHHHLN~AiLILLIPiRA R;_RF)PP TTTTTTIT)XiX)XIZE~AZD\ \-bBPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).i``)` dIdYjqBynIbDvVDv8y~=%~'=ٔ~iQ-~>9"?Y"?=EyD uDE >Q 547?Q 94 )ABY!y%>Q I%@&DI;i;}4y)ɮ- NA)MB*** querying acoustic contact ***iIiI:iFNOT Ignoring new targets: 492.34 m."i*iฝ ProNav: ac range: 492.335114 m, nav range: 486.634308 m, bearing: 15.325243 deg, approach rate: -0.458249 m/s, LOS rate: -0.006143 deg/s, cmd heading: 16.852942 deg, new cmd heading: 16.846729 deg. i3 HeadingCmd: 0.294031 target range: 492.335114 and range: 493.80 m.h 8>h hhhggjgrgereZe:e!*e%z@颭i{Bɢ@=4=I8>I9@ @@/@1-checking for new query: numPingsReceived=0, elapsed TxPingTime=7.812037^AS=a D zD E  E E $E "E ;*E Ǚ:VE 4ZE BE ]k%,RʖLA$Fz=F>FٱF=FH?Cҿ@,?@j? BD`P? ?ݞ?iFz=IF>;FCYMqByMIbDӿVD8y<%>=ٔۻQ->9Y=Ey D&E%>Q 54R?Q 94)ABYy>Q I@4DIhhhhggjgrgereZe:e*e` @额{Bɢ J) mi)g 顡iz;i%}>-1=-=I-}>I)ԡ9@ @@@ % checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313215^A- ߁=A5 zAzA5 zAE  E E &E "E :*E :VE 4ZE a @a @a @a @ I) IA O] >%,*nʖLAB>BB8IBrBB =BBB;BCEYqByIi5Mb@Mb@Mb@1111 195e;O?:v?~jth?Y5>y5T=5D;5>A1 5YA)5=A1Y53KAbDMVDM8y]=%]3=ٔ]Q-e>9aYa=eEymDmEm>qQ 5}4u<?Q 9}4u)u BBY}/>Q E}:yN>Q I@uADIu:iu ;u 4yɮCMA:iFNOT Ignoring new targets: 492.34 m."i*i ProNav: ac range: 492.335114 m, nav range: 486.214600 m, bearing: 15.319461 deg, approach rate: -0.488698 m/s, LOS rate: -0.006939 deg/s, cmd heading: 16.840911 deg, new cmd heading: 16.835160 deg. i0KHeadingCmd: 0.293829 target range: 492.335114 and range: 493.80 m.hp>hhhhggjgrgBereZe:e*eYy!@{BɢW[)ͥ< i!)-\,(11i=5;ip>%==Ip>IU9@Q @Y@Y@Y@e@e@e@e}checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565395 Ia Iq O >Y%,KʖLA2t=22>2_ٱ2=2H?,7ҿ@ǡh?x?rC?z?`ј?i2t=I2s^;2CYBqByBIbDJVDJ8yR-=%Vl=ٔVQ-V?9XYX=ZEyZDZEZ?\Q 5b4^?Q 9f4^)^#BBYdyf>Q If@^KDI^::i^h:^,4yhɮj MAlrchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.817163:i  FNOT Ignoring new targets: 492.34 m."i5*i5򸝏% ProNav: ac range: 492.335114 m, nav range: 486.050934 m, bearing: 15.317161 deg, approach rate: -0.470844 m/s, LOS rate: -0.006617 deg/s, cmd heading: 16.835160 deg, new cmd heading: 16.830559 deg. i%A-HeadingCmd: 0.293749 target range: 492.335114 and range: 493.80 m.h-:f>h)h)h)h)g)g1jg1rg1e1re9Ze9:e9*e=`*"@{Bɢ,d) i)r/iÁ;i:f>3=~=I:f>IE EE$E"E&:*E&p:VE4ZEBEc;ԩ $%,)ʖLA2*s=2>24ٱ2 =2H;? i7ҿg !b?E? 0`[? ?`W?i2*s=I2;2C@YBqByBIi=Mb@Mb@Mb@9999 99=X9v?A`"?~jthY=>y=Y==D=@A=SUA =9ZA)=;A9Y= KA IM<bDUVDU8ye<%e?=ٔmQ-m>9iYi=mEym DusEEu>yQ 54}*?Q 94} )}?BBY9>Q E:yX>Q I@}XDI}:i}I:}4yɮLA:iFNOT Ignoring new targets: 492.34 m."i@*i@ ProNav: ac range: 492.335114 m, nav range: 485.848999 m, bearing: 15.314241 deg, approach rate: -0.472654 m/s, LOS rate: -0.006837 deg/s, cmd heading: 16.830559 deg, new cmd heading: 16.824717 deg. i3HHeadingCmd: 0.293647 target range: 492.335114 and range: 493.80 m.hX>hhhhggjgrgÁBereZe:e*e#@%{Bɢ% \)! %i!)-7))i-cݮ;i5X>5/ =5~=I5X>I9AAAAԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.321351E EE&E"E ;*E:VE4ZEa@a@a@a@AA@AB=>B9B=cIB=rBB= =B9B9B=;B=CE9@ @@/@II)O5>  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573091)O%,hʖLAlYrrByrIbDzVDz8y=9=%=M=ٔEQ-E>9AYA=EEyMDMEM>QQ 5]4U9?Q 9]4U%)UXBBYayaQ Ie@UdDIU ;iU ;U4ymBɮm_LAmFEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 492.34 m."iv*iv ProNav: ac range: 492.335114 m, nav range: 485.661194 m, bearing: 15.311524 deg, approach rate: -0.470829 m/s, LOS rate: -0.006816 deg/s, cmd heading: 16.824718 deg, new cmd heading: 16.819281 deg. iGHeadingCmd: 0.293552 target range: 492.335114 and range: 493.80 m.hmL>hhhhggjgrgereZe:e*e#@{Bɢ1`) i)?iY;imL> = =I mL>I 9@ @@~0@ II)O5 >iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.8253341E EE%E"El;*E՚:VE 4ZEBE[F ٱ7=H?`9ҿU?@? @_.?`?`?ik[q=I;CY=rBy=I]y,=t??A$VA )+;AYJAbD VD8y%%-/=ٔ-NdQ-->91Y1=5Ey5D=eE=>9Q 5M4=KK?Q 9M4= )=uBBYM>Q EM:yU>Q IU@=sDI=;i=1;=ʩ4yYɮ]hLAY:iFNOT Ignoring new targets: 492.34 m."i~Ÿ*i-~Ÿ5 ProNav: ac range: 492.335114 m, nav range: 485.438873 m, bearing: 15.308919 deg, approach rate: -0.460212 m/s, LOS rate: -0.005396 deg/s, cmd heading: 16.819281 deg, new cmd heading: 16.814068 deg. i==HeadingCmd: 0.293461 target range: 492.335114 and range: 493.80 m.h=@>h9hAhAhAgAigijgirgmɁBeqreqZeq:eq*e}$@ |BɢʋR) )i)IiW;i@>C=T7}=I@>IU9@Q @Y@]/@Yԑ 2Acoustic response timeout ^Au W^=E  E E &E "E ;*E :VE 4ZE a @a @a @a @B= >B= yCB= IB= (sBB= =B= ;DB= DB= ;B= CEA .AI I O >!%,ʖLA(2p=2>2<^ ٱ2e=2H`}?`9ҿκN??`l??9?i2p=I29;0Y>6rByBIDFAAbDJ VDJ8yRC=%R\=ٔR)Q-V>9V ?YV ?=VEyV"D _E >Q 54Y?Q 94S)BBYy]>Q I%@~DI:i:v4yAɮMKAQ:iy}FNOT Ignoring new targets: 492.34 m."iѸ*iѸ ProNav: ac range: 492.335114 m, nav range: 485.257263 m, bearing: 15.306794 deg, approach rate: -0.490226 m/s, LOS rate: -0.005736 deg/s, cmd heading: 16.814068 deg, new cmd heading: 16.809818 deg. i'HeadingCmd: 0.293387 target range: 492.335114 and range: 493.80 m.h6>hhhhggjgrgereZe:e*e@Æ%@"|Bɢưn) i)%AQ!!i%;i56>5z==(e|=I=6>I9ԉ2Acoustic response timeout}9@y @@ 0@Ա^AE|= A ؟AI I O > 2Acoustic response timeout~ò%, ˖LA2jn=2a>2ٱ2V=2Hz?8ҿת8F??| ?A ?u?i2jn=I2);2CY>TrBy>IbDFVDF8yN=%NK=ٔR Q-R>9R"?YV"?=VEyV*DVEV>XQ 5^4`ZXh?Q 9b4Z)ZBBY`yb.>Q If@ZDIZ';iZ*(;ZJ4yhɮj~KAhEp ErEr$Ep"Ep*Er:VEr4ZEpBEr9ChhhhggjgrgereZe:e*enY&@颽;|BɢQe) xi) Yi݋;i,>;љ=+{=I,>I19@ @@(0@@a=@=2Acoustic response timeout^A- Q|=A I I O >.ɲ%, &˖LA:Bn=:"\>:Heٱ:~=:H!w?`=ҿ`sC? K?j/|?? r?i:Bn=I:;:CYFirByFI!iEMb@Mb@Mb@AAAA A9Eq= ףp? rh?MbYE>yEC =EE=ٔmQ-m>9qYq=uEyu3Du;E}>Q 54w?Q 94)BBYM>Q E:y>Q I@DI:i:ξ4yBɮAKA=E:iFNOT Ignoring new targets: 492.34 m."iY*iY ProNav: ac range: 492.335114 m, nav range: 484.875092 m, bearing: 15.302620 deg, approach rate: -0.463062 m/s, LOS rate: -0.004736 deg/s, cmd heading: 16.805482 deg, new cmd heading: 16.801465 deg. i HeadingCmd: 0.293241 target range: 492.335114 and range: 493.80 m.h#>hhhhggjgrgBereZe:eiYIY]2Acoustic response timeout*e`('@U|Bɢf) i)ubiiT;i#>~™=&Y{=I#>II9)=xAB>BBIBesBB =BBB%;BCE )-Cԁ Ge9YbA 9@  @ @ O0@ bE}-4jE}Ù4rE}î1/E EE%E"El;*EZ:VE 4ZEBE[F<2E\F<JE%;:E%;ԙ^ALz=- 2Acoustic response timeout I I O >в%,^@˖LA2m=2NR>2ٱ2=2H Ts?`@ҿ7\@? ?1C`??`~?i2m=I2t;2CY>rBy>)I F9TYT=VEyV;DVOEZ>XQ 5^4Z?Q 9b4Z3)ZBBY`yb>Q Ib@ZDIZq:iZG:Zi4ydɮfJAhB*** querying acoustic contact ***ii:i%FNOT Ignoring new targets: 492.34 m."i%*i%5 ProNav: ac range: 492.335114 m, nav range: 484.702454 m, bearing: 15.300855 deg, approach rate: -0.450211 m/s, LOS rate: -0.004605 deg/s, cmd heading: 16.801465 deg, new cmd heading: 16.797933 deg. i5=HeadingCmd: 0.293179 target range: 492.335114 and range: 493.80 m.h=>hAhAhAhAgAgAjgIrgIeIreIZeI:eQ*eU'@Թl|Bɢf%t) i);rii;i >  = ,{=I >I@ @@3@e2Acoustic response timeoutE EE'E"E ;*E҆:VE'4ZEa%@a%@a-@a-@^A\|=IYIiO>A MDֲ%,HZ˖LAn2Acoustic response timeoutYrBy5Ii]Mb@Mb@Mb@YYYY Y9]ʡE?Q?MbY]->y]\=YY]KUA ][A)]7AYY]IAbDVD8y),=%-=ٔQ->9Y=EyEDE>Q 54??Q 94+ )BBY>Q E:yQ I@DI,:i:4yBɮhJA:i  FNOT Ignoring new targets: 492.34 m."iݱ*iݱ% ProNav: ac range: 492.335114 m, nav range: 484.480438 m, bearing: 15.298583 deg, approach rate: -0.474643 m/s, LOS rate: -0.004859 deg/s, cmd heading: 16.797933 deg, new cmd heading: 16.793387 deg. i%J-HeadingCmd: 0.293100 target range: 492.335114 and range: 493.80 m.h-1>h)h)h)h)g1g1jg1rg5ځBe1re9Ze9:e9*e=S(@m|Bɢm `)i miq)urqqiuɣ;i}1>}ۤ=} Z{=I}1>I9E9@A @A@E0@A@MzA@MzAuBDAT read: Response Not Received u*response not receivedu*DAT read: user:116> }BDAT read: Tx time:04:10:20.1389 }$Ping request sent.}B B IB sBB =B B B +;B CEByCByCBB =B =CD*5I D zD ?AE%  E% E% #E! "E% T;*E% :VE% 3ZE! BE% GԱ jܲ%,t˖LAY~rBy~>IbDVD8yM=%Me=ٔQQ-U>9YYY=]EyeLDiEm>qQ 54u?Q 94u )uCBYyQ I@uDIu`hQhQhQhQgQgYjgYrgYeYreaZea:ea*ee{)@ԑ颕|Bɢv) !i)z顙is;iK >p=p{=IK >Il>ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251202u9@q @q@u05@q^A yz=I I! O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501985! R%,˖LAb܁s=b>b%ٱb$=bH` `?@(sҿ @K?`:x?-?¿??gj?ib܁s=Ib;bCYnrBEr ErEr!Ep"Erl;*ErZ:VErc3ZEpav@av@av@av@ynDIbDVD8y]<%M=ٔ# Q->9Y!=%Ey%TD%`;E%>)Q 554-M?Q 954-)-CBY9y=>Q I=@-DI-o;i-j;-4yAɮEJAM>E:iimFNOT Ignoring new targets: 492.34 m."iu*iu ProNav: ac range: 492.335114 m, nav range: 484.126862 m, bearing: 15.294925 deg, approach rate: -0.488002 m/s, LOS rate: -0.005097 deg/s, cmd heading: 16.789935 deg, new cmd heading: 16.786070 deg. i<HeadingCmd: 0.292972 target range: 492.335114 and range: 493.80 m.ht>hhhhggjgrgereZe:e*e^*@|BɢBx) i)+QQiUV;i]t>]=]Z=I]t>Ia 9@ @@ 5@! checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758707^AMO{=IIO>q |%,ʧ˖LA YvrByvdIiuMb@Mb@Mb@qqqq q9uoʡ?I +?yu99Y=Ey\DE>Q 54?Q 94H)8CBY>Q E:yo>Q I@DI:i(:;4yɮ:IA:iFNOT Ignoring new targets: 492.34 m."iw*iw ProNav: ac range: 492.335114 m, nav range: 483.933044 m, bearing: 15.293501 deg, approach rate: -0.459045 m/s, LOS rate: -0.003376 deg/s, cmd heading: 16.786071 deg, new cmd heading: 16.783220 deg. iŸHeadingCmd: 0.292922 target range: 492.335114 and range: 493.80 m.h>hhhh!g!g!jg)rg-ÁBe)re1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006696ZeA:eI*eMn8+@ |Bɢ *k)1 5_i1)=&99i=XEc|=M=IM>iIqAAAAB>BxCB IBsBB =BBB,;BCEE EE#E"EV:*E:VE3ZEBE9{d%,r˖LAF q=F>F:+ٱFr=FH`oY? wҿZ>?`Vv?)¿`c?N?`?iF q=IF݉;FCdYjsByntIbDvVDv8y~=%V=ٔhQ->9 Y = Ey dD ?κE >Q 54?Q 9%4)PCBY!y%->Q I%@DI:i;4y)ɮ-HA1MB*** querying acoustic contact ***iIiI:iQ]FNOT Ignoring new targets: 492.34 m."ie u*ie um ProNav: ac range: 492.335114 m, nav range: 483.757355 m, bearing: 15.292219 deg, approach rate: -0.458611 m/s, LOS rate: -0.003348 deg/s, cmd heading: 16.783221 deg, new cmd heading: 16.780656 deg. iu ĸuHeadingCmd: 0.292878 target range: 492.335114 and range: 493.80 m.hu>hyhyhyhygygjgrgereZe:e*e+@颽|BɢB) )i)Si 1cp=}=I>Iu9@q @u@u/@qMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510029E EE(E"E:*E:VEc44ZEa@a%@a%@a%@!^ANB{=A I I O- >A %,˖LAVchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764694Y6sByIiMMb@Mb@Mb@IIII I9MK7A`?? rhYM>yM9Y=EynDE>Q 54P?Q 94)mCBY>Q E:y>Q I@DI:i<;4yɮHA:iFNOT Ignoring new targets: 492.34 m."i*i ProNav: ac range: 492.335114 m, nav range: 483.550659 m, bearing: 15.290542 deg, approach rate: -0.455001 m/s, LOS rate: -0.003691 deg/s, cmd heading: 16.780656 deg, new cmd heading: 16.777303 deg. i-ظHeadingCmd: 0.292819 target range: 492.335114 and range: 493.80 m.he>hhhhggjgrgBereZe:e*ez,@颭}Bɢxi) i) 顱i H`=41~=Ie>I99@ @@ 5@aMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014234^Au yz=B >B yCB DIB YtBB =B B B ;B CEE%  E% E! E! "E% ;*E% :VE! ZE! BE% D͸%,\˖LAbil=b>b)2ٱb=bH@S?nҿz~&?@Hw?`¿}(?b? X?ibil=IbL;`Y=ksByEIbDeVDe8ym >%u^=ٔuQ-u>y9yYy=EyuDXE>Q 54?Q 94)CBYy>Q I@DIb;iM;N4yɮAGA:iFNOT Ignoring new targets: 492.34 m."i*i ProNav: ac range: 492.335114 m, nav range: 483.383240 m, bearing: 15.289206 deg, approach rate: -0.454069 m/s, LOS rate: -0.003625 deg/s, cmd heading: 16.777303 deg, new cmd heading: 16.774630 deg. iGԸHeadingCmd: 0.292773 target range: 492.335114 and range: 493.80 m.hH>hhhhggjgrgereZe:e*e7-@-}Bɢ-ǀ)1 5i1)519i=JtES=Ey=IEH>IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2667829@ @@/@@yA@xAԩ^A|=I I O > e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517946%,fL̖LA:Wbh=:>:5ٱ:=:H@Q?geҿ` P?@x?¿ą? Y?`S?i:Wbh=I:;:CYFsByJIbDRVDR8yZU=%ZW=ٔZ{Q-^>9\Y\=^Ey^}DbEb>dQ 5j4En EnElEl"En:*En:VElZElar@ar@ar@ar@fu?Q 9v4f)fCBYtyv>Q Iv@f DIf ;if;f4y|ɮ~FA~?E:i%FNOT Ignoring new targets: 492.34 m."i%*i- ProNav: ac range: 492.335114 m, nav range: 483.210480 m, bearing: 15.287845 deg, approach rate: -0.450862 m/s, LOS rate: -0.003554 deg/s, cmd heading: 16.774630 deg, new cmd heading: 16.771907 deg. iиHeadingCmd: 0.292725 target range: 492.335114 and range: 493.80 m.h >hhhhggjgrgereZe:e*e`n.@e1}Bɢev)a e(ia)iC=v=I >IIxA)yA9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772239Q^AEx=II IY Oe >q % %,O )̖LAYsByIiMb@Mb@Mb@ 9kt?/$?{GzY >y<#7A7QA [A)X1AYBAbDVD8checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022576Qyn=%.=ٔQ->9Y=EyDE>Q 54 ?Q 94@)CBYl>Q E:yۤ>Q I@ DI\:i:%4yɮ]FA:i  FNOT Ignoring new targets: 492.34 m."iX_*iX_% ProNav: ac range: 492.335114 m, nav range: 482.993469 m, bearing: 15.286424 deg, approach rate: -0.465704 m/s, LOS rate: -0.003051 deg/s, cmd heading: 16.771907 deg, new cmd heading: 16.769063 deg. i%B)A-<B5>B1B5IB5tBB5 =B1B1B5;B5CEMHeadingCmd: 0.292675 target range: 492.335114 and range: 493.80 m.hMٕ>hIhIhIhIgIgIjgQrgU܁BeQreQZeY:eY*e]U/@E EE&E"E:*E:VE4ZEBE5T2=`w=Iٕ>Iy=9@9 @A@E4@Aԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276930^A] pu=I I O > %,B̖LA2S^=25j>2#:ٱ2=2H-P?Bҿb¿`??¿`#? ?N?i2S^=I2/;2CY>sBy>IbDDVDDyN%>%Nt=ٔRkoQ-R?9PYT=VEyVDVEV?XQ 5 4ZA?Q 9 4Z)ZCBY y >Q I @Z DIZ=hahahahagigijgirgieqreqZeq:eq*e} 0@颭_}Bɢ) ?i)T顱i"%=%2n=IՕ>IԹ1@1 @1@5/@1@==@==-BDAT read: Rx Time:04:10:23.1916 -TRx dataTimestamp_ set to:1764907825.2148535checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527114^A| u=E EE%E"E;*E:VE 4ZEa @a @a @a @IIO> A %,i\̖LAJchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.780432j}Z=w>Ed<ٱ/V=H>O?/ҿÿ ?/?¿@j??M?ij}Z=I;YsBy Ii]Mb@Mb@Mb@YYYY Y9]/$?+?~jthY]>y]=]DY]MA ]XA)]/AYY]\CAbDuVDu8yݏ=%/=ٔKQ->9Y=EyDE>Q 54 +?Q 94)DBY>Q E:y>Q I@' DI;i/;,4yɮDA:iFNOT Ignoring new targets: 492.34 m."i*i!m ProNav: ac range: 492.335114 m, nav range: 482.626709 m, bearing: 15.283169 deg, approach rate: -0.462897 m/s, LOS rate: -0.004993 deg/s, cmd heading: 16.767119 deg, new cmd heading: 16.762552 deg. iu3uHeadingCmd: 0.292562 target range: 492.335114 and range: 493.80 m.huʕ>hyhyhyhygygyjgrgЁBereZe:e*e#|0@{}BɢLk) i) i5=%Xk=I%ʕ>I!5R>i5 >Y9@ @@@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.032502BU >BQ BU IBU 8uBBQ BQ BQ BU ;BU CEԑ G bEjE4rE@o0E%  E% E! E! "E% :*E% ~:VE! ZE! BE% 3N`%,x̖LA2QV=2^>2>ٱ2=2H`M?!ҿaÿ5??¿ࣻ?ܸ?J?i2QV=I2~;0Y>FtBy>9I DDbDFVDFð8yNH>%Na=ٔRQ-R>9xYx=zEyzD~2E~>Q 5 4o8?Q 9 4t)(DBYyx>Q I@2 DI:i:4yɮCA@E:iAMFNOT Ignoring new targets: 492.34 m."iM*iM󰸝] ProNav: ac range: 492.335114 m, nav range: 482.457733 m, bearing: 15.281366 deg, approach rate: -0.452810 m/s, LOS rate: -0.004834 deg/s, cmd heading: 16.762551 deg, new cmd heading: 16.758943 deg. i] eHeadingCmd: 0.292499 target range: 492.335114 and range: 493.80 m.hee•>hihihihigigijgqrgqeqreqZeq:ey*e}0@颥}Bɢ߂) i)T顩iKk=h=Ie•>I%DAT read: 04:10:23.1916 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 302, 0.05, 0.396,-1.032, 0.749,-0.080, PHS= 0.578,-0.907, 0.786, RAW= 156.5, -5.8, CAL= 156.5, -7.3, ROT= 353.5, 7.3 -Ygot valid direction response: 04:10:23.1916 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 302, 0.05, 0.396,-1.032, 0.749,-0.080, PHS= 0.578,-0.907, 0.786, RAW= 156.5, -5.8, CAL= 156.5, -7.3, ROT= 353.5, 7.3 5PDAT read: Bearing 161.5, 3.1 (Local) =~Local bearing/azimuth received: Bearing 161.5, 3.1 (Local) EDAT read: Range 11 to 50 : 486.4 m (Round-trip 648.6 ms) speed 0.4 m/s ER#Rx 1: Read range and direction messages.M`direction in FSK: [0.985518,-0.112286,-0.127065]UFpublishing direction and range infoy]?e"¾|?t31f?|' S"?)8=IViw>mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.ԁ9@ @@0@ԡ^AXh=A .A I I O > *DAT read: user:117>  BDAT read: Tx time:04:10:24.5889  $Ping request sent. NAٱNG=NH`sK?dҿ ÿ(?I? Ċ¿@{?8˸? F?iNPoS=IN ;L\YnatBynIIbDz#VDzͰ8y%~=%%D=ٔ%;̻Q-%>9- ?Y- ?=-Ey-D-OE5>1Q 5=45G?Q 9E45)5MDBYAyE">Q IE@5> DI5;i5R:5!4yIɮUlCAQi)i-~̖LAj-yC"j-yC:j- .>"p-jG}@P9Kb\Np-]?e"¾*p-Dܧ}@Cz}T@~3V8@p-sU?E?技?j-B j-Ci-rh?i-nj-ܪBj)j-Kj-ܪBrj-Czj-> addTargetRange:: Added new target pos. range: 486.399994 m, deltaT: 16.884541 s, deltaX: -7.399994 m, approachRate: -0.438270 m/s, rangeRepo size: 4  Added new target pos. range: 484.950165 m, bearing: 9.742926 deg, lat: 36.779433 deg, lon: -121.859549 deg, deltaT: 16.884541 s, deltaX: -7.384949 m, approachRate: -0.437379 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 484.95 m."i*i ProNav: ac range: 484.950165 m, nav range: 481.757629 m, bearing: 15.053353 deg, approach rate: 0.000000 m/s, LOS rate: -0.004834 deg/s, cmd heading: 16.758943 deg, new cmd heading: 16.754955 deg. iHeadingCmd: 0.292429 target range: 484.950165 and range: 486.40 m.hE>hhhhggjgrgereZe:e`ff~@*eU ?}Bɢws) {i){i!/=ބf=IE>I9@ @@/@@@@@%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253595!AE ؟AI IQ Ia Ou >3g*%,D̖LABQ=B҉>B DٱB!=BHH?@Wҿ-Ŀ`?? k¿]?ø? C?iBQ=IBQ_;BCYVytByVXIiaIamchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503859iMb@Mb@Mb@ 9oʡ?v/?Mb`Y>yxi=l5AQLA WA)n,AYpAAbDVD8yf=%B=ٔ Q->9"?Y"?=EyD]E>Q 54V?Q 94)tDBY>Q E:y>Q I@J DI:i:2)4yɮ CAAQAQB]>BYB]IB]uBB] =BYBYB];B]CEBBBBBCp5:iFNOT Ignoring new targets: 484.95 m."i$*i$ ProNav: ac range: 484.950165 m, nav range: 481.566223 m, bearing: 15.050348 deg, approach rate: -0.433366 m/s, LOS rate: -0.006807 deg/s, cmd heading: 16.754954 deg, new cmd heading: 16.748942 deg. iPGHeadingCmd: 0.292324 target range: 484.950165 and range: 486.40 m.h>hhhhggjg rg сBe)re1Ze1:e1*e5 ?EU EUEQEQ"EU;*EU:VEQZEQBEUAs՘=e=I>IIe9@a @i@i@iAzAqAIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754919ԡ O1%,}̖LA2eS=2>2XFٱ2=2H mD?Q#ҿAĿ`3??ൾ¿`c?߸?O??i2eS=I2h|;2CY>tBy>~IDF@AbDJVDJ8yR"%>%R]=ٔR̿Q-R>9TYT=VEyVDVf:EZ>XQ 5^4ZQ Ib@ZU DIZs;iZ^;Z/4ydɮfBAh-B*** querying acoustic contact ***i)i):i9]FNOT Ignoring new targets: 484.95 m."ie*iem ProNav: ac range: 484.950165 m, nav range: 481.398773 m, bearing: 15.047708 deg, approach rate: -0.473309 m/s, LOS rate: -0.007465 deg/s, cmd heading: 16.748942 deg, new cmd heading: 16.743660 deg. iuZuHeadingCmd: 0.292232 target range: 484.950165 and range: 486.40 m.yho>hhhhggjgrgereZe:e*eq?=}BɢE )A EiA)EIIiM6'UjĘ=Umg=I]o>Iim9@i @i@i@i}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008028ԩEa EeEaEa"Ea*Eek:VEaZEaam@am@am@am@IIOb> = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261084a~7%,Dn̖LAu4U=u4>uiWHٱua=uH@?@w.ҿ qĿ?`+?`¿? $?W;?iu4U=IuYy;qYtByIi=Mb@Mb@Mb@9999 99=I +?333333?Y=9>y====4A9 =VA)99Y=@AbD]!VD]˰8ye=%m0=ٔm܉Q-m>9qYq=uEyuDu =:E}>yQ 54}t?Q 94})}DBY9>Q E:yn>Q I@}c DI};i};}74yɮfAAAE:iFNOT Ignoring new targets: 484.95 m."i>-*i>- ProNav: ac range: 484.950165 m, nav range: 481.182739 m, bearing: 15.043400 deg, approach rate: -0.474522 m/s, LOS rate: -0.009466 deg/s, cmd heading: 16.743661 deg, new cmd heading: 16.735041 deg. iHeadingCmd: 0.292082 target range: 484.950165 and range: 486.40 m.h>hhhhggjgrgBereZe:e*e`8?}Bɢ%cv)! %i!)-))i-[)5>=5i=I5>I99@ @@@IIOuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510956!BIBIBMjIBM6vBBIBIBIBM;BMCEEe  Ee Ee (Ea "Ee ;*Ee :VEe c44ZEa BEe 9C2:Jٱ2A =2H=?`:ҿĿ`? S?S.ÿ@_?t?`Z7?i2V=I22x;2CYBuByBIbDJVDJ8yf>%fj=ٔfҬQ-f>9hYh=jEyjDn$:En>pQ 5v4r?Q 9v4r)rDBYtyv>Q Iv@rn DIr:ir:r=4y|ɮ~@A|:i!%FNOT Ignoring new targets: 484.95 m."i-~**i-~*= ProNav: ac range: 484.950165 m, nav range: 481.019806 m, bearing: 15.040141 deg, approach rate: -0.465513 m/s, LOS rate: -0.009316 deg/s, cmd heading: 16.735041 deg, new cmd heading: 16.728520 deg. i=eEHeadingCmd: 0.291968 target range: 484.950165 and range: 486.40 m.hE|>hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*eU v?%~Bɢ%Ol)! %%i!)-\))i- p,1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762994 p=Jj=I|>II!)%xA9@ @@@aԡ^Afm=I1 IA O] > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014848Թ -D%,͖LAE EE#E"E:*E$:VE3ZEa@a@a@a@R;X=RQ>R@@LٱR8=RH8?`FҿĿ@ ?s?Dÿ\? w?4?iR;X=IRtZv;RCYb,uBybI df<bDjۿVDj8yr=%rH=ٔvQ-v>9tYx=zEyzDzz:Ez>|Q 54~m?Q 94~)~EBY y >Q I @~z DI~):i~:~D4yBɮY@A7E:iYeFNOT Ignoring new targets: 484.95 m."im)*im) ProNav: ac range: 484.950165 m, nav range: 480.830109 m, bearing: 15.036327 deg, approach rate: -0.461668 m/s, LOS rate: -0.009284 deg/s, cmd heading: 16.728520 deg, new cmd heading: 16.720890 deg. iHeadingCmd: 0.291835 target range: 484.950165 and range: 486.40 m.hXk>hhhhggjgrgereZe:e*e !@m~BɢuA`{)q uiy)}$%yyi}H.<ԑiXk>=l=IXk>I9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266935^Amh=IIO> J%,,͖LAFZ=F>FmNٱFWv=FH[4?`Sҿ ſ ?@ ~?@lÿ` ?@?*0?iFZ=IF8t;FCYZcuByZI=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518920iMb@Mb@Mb@ 9X9v?I +?Y>y9=2A9HA zTA)*AY>AbDVD8y=%==ٔ Q->9Y=EyD:E>Q 54?Q 94j)DEBY>Q E:yO>Q I@ DIE:i:L4B<A=B>BxCBIBvBB =BBB֋;BCEyɮz?A8E:iAEFNOT Ignoring new targets: 484.95 m."iM\G*iM\G] ProNav: ac range: 484.950165 m, nav range: 480.629456 m, bearing: 15.031599 deg, approach rate: -0.462092 m/s, LOS rate: -0.010893 deg/s, cmd heading: 16.720890 deg, new cmd heading: 16.711430 deg. i]|eHeadingCmd: 0.291669 target range: 484.950165 and range: 486.40 m.heU>hahahahagigijgirguBeqreqZeq:eq*e}~@颥1~Bɢ>{)  i)ٿE5 E5E5%E1"E5&:*E5Ar:VE5 4ZE1BE5c;mz=un=IuU>Iq%9@! @!@%0@!><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771173I ^Ae m=I I O >Q%,F͖LA2]=2G>2Oٱ2S=2H1?7fҿ|ſ ?Cy? ÿ?1?,,?i2]=I2[}r;2CYBuByBIbDJVDJ°8yR =%R_=ٔV\Q-V>9TYT=ZEyZDZ:EZ>Q 5 4?Q 94e)kEBYy>Q I@ DI:i:R4yɮ%>A!=B*** querying acoustic contact ***i9i9:iIMFNOT Ignoring new targets: 484.95 m."iU#F*iU#Fe ProNav: ac range: 484.950165 m, nav range: 480.459442 m, bearing: 15.027575 deg, approach rate: -0.457211 m/s, LOS rate: -0.010827 deg/s, cmd heading: 16.711431 deg, new cmd heading: 16.703379 deg. iemHeadingCmd: 0.291529 target range: 484.950165 and range: 486.40 m.hmIC>hihihihigqgqjgqrgqeyreyZey:ey*eUx @颭E~Bɢ) ] i)*ý顱i3l=fhq=IIC>IQU9@Q @Q@]o0@YUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023196EE EEEE&EA"EEl;*EE҆:VEE4ZEAaM@aM@aM@aM@y^A5tr=AyAzAxAԩ A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277271sW%,"`͖LA@_=>=Qٱ;=H`,?sҿOſ`?v?ÿ ?@Y?`Q(?i_=Ia q;YuByIiEMb@Mb@Mb@AAAA A9Egfffff?Mb?~jtxYE3>yE=EĻEX1AEhGA EVA)EZ(AAYE=AQUBAbD]VD]8yma=%m1=ٔubQ-u>9qYq=}Ey}D} :E}>Q 54q?Q 94)EBY>Q E:y>Q I@ DI;iT; [4yBɮ_>A:iFNOT Ignoring new targets: 484.95 m."i\*i\ ProNav: ac range: 484.950165 m, nav range: 480.244965 m, bearing: 15.022113 deg, approach rate: -0.473011 m/s, LOS rate: -0.012050 deg/s, cmd heading: 16.703380 deg, new cmd heading: 16.692452 deg. imHeadingCmd: 0.291338 target range: 484.950165 and range: 486.40 m.hI*>hhihihigigijgqrguBeqreqZeq:ey*e}`9 @ԩ=`~BɢEo)M< Uo iQ)՜ǽ顁i5W=s=II*>I1@1 @1@50@1DAT read: 04:10:27.6283 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 309, 0.32,-1.614, 3.014,-1.460,-2.079, PHS= 0.567,-1.145, 0.575, RAW= 150.2, 0.0, CAL= 149.1, -0.5, ROT= 0.9, 0.5 Ygot valid direction response: 04:10:27.6283 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 309, 0.32,-1.614, 3.014,-1.460,-2.079, PHS= 0.567,-1.145, 0.575, RAW= 150.2, 0.0, CAL= 149.1, -0.5, ROT= 0.9, 0.5 BDAT read: Rx Time:04:10:27.6283 TRx dataTimestamp_ set to:1764907829.759924@DAT read: $Low SNR acquisition 2Received low SNR in chirpBBBIB wBBBBB΋;BCEX#Rx 1: Read direction message, but no range.^direction in FSK: [0.999839,0.015707,-0.008727]y$o?cl?B7߁ )KI&?i\33?g'@ۋ&@ 5)^%,|͖LA>I_=>v>>fSٱ>U=>Hm*?qҿڊſ@=? w?ÿI_=I> p;>CYJuByJ2IbDVVDV8y^>%^T=ٔ^=Q-^>9`Y`=bEybDbcEf>dQ 5j4f?Q 9n4f)fEBYlyn>Q In@f DIf;ifK:fa4ypɮv=At:i FNOT Ignoring new targets: 484.95 m."i@X*i@X% ProNav: ac range: 484.950165 m, nav range: 480.066742 m, bearing: 15.017574 deg, approach rate: -0.463770 m/s, LOS rate: -0.011816 deg/s, cmd heading: 16.692451 deg, new cmd heading: 16.683370 deg. i%-HeadingCmd: 0.291180 target range: 484.950165 and range: 486.40 m.h->h1h1h1h1g1g1jg9rg9e9re9ZeA:eA*eE@@us~Bɢu1)q uo iq)u:ʽyyi})8K=!s=I>IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE9@A @A@M0@I^AiE T****** received valid address query ******E R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapseQ A I! I1 O >E=  E= E= %E9 "E= l;*E= z:VE= 4ZE9 aE @aE @aE @aE @he%,͖LAFy_=F7>F OUٱFD =FH&? vҿ`ſ ?`w?@ÿ@x?`?#?iFy_=IFn;FCYVuByV?IbD^VD^8yfH=%fI=ٔfgQ-j>9hYh=nEynDnE:En>pQ 5v4r?Q 9v4rJ)rEBYtyz >Q Iz@r DIry:irN:rh4y|ɮ~B=A~9E:iaeFNOT Ignoring new targets: 484.95 m."imT*imT ProNav: ac range: 484.950165 m, nav range: 479.878754 m, bearing: 15.012776 deg, approach rate: -0.453951 m/s, LOS rate: -0.011590 deg/s, cmd heading: 16.683369 deg, new cmd heading: 16.673770 deg. iHeadingCmd: 0.291012 target range: 484.950165 and range: 486.40 m.h>hhhhggjgrgereZe:e*e@@%~Bɢ%V`|)) - i))d[ν顉iK::=Gt=I>Iie9@a @a@e?0@aT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԡ^AiAm>Am> A I I O > CE Gk%,͖LAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseA<A<BB>BByCBB2IBB|wBBB =B@B@BBҋ;BBCET9Y^Ay?A`=ݧ>Vٱ@=H$$? ruҿ3ƿ?Ty??ÿ? ~? "?i`=I1 n;CbE} 4jE} 4rE}/E EE'E"E;*E~:VE'4ZEBE9C9qYy=}Ey}D}9E>Q 54?Q 94 )"FBY?Q E:y>Q I@ DI:i;r4yɮhhhhggjgrgBereZe:e*e~@-~Bɢ-Rm)) -i))58 ӽ11i5J;=&==fu=I=>IAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse 9 Y = Ey D E>Q 54L?Q 943)PFBY!y!Q I%@ DIQ;i; {4y)ɮ-hyhyhyhyggjgrgereZe:e*e@e~Bɢevs)a mSii)mv׽iiim =u=u&u=IuȔ>IyC=p=]'<ԙT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@@ԡ^A Hu= Aa Ii  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseI O >'{%, s͖LAB>BxCBdIBwBB =BBB;BCEB}xCB}xCByByByC}#5r}oc=r>rLZٱr 1=rHk?>ҿ݃ƿ@?x?7ÿ4!?U%?V?ir}oc=Irm;paYcvByIiMb@Mb@Mb@ 9v?Q?y&1Y>y\=`.ASCA RA)E$AYf:AbDVDð8y{=%7=ٔ E Q- >9 Y = EyDz:E>E EEE"E&:*Ex:VEZEBEc;Q E=:y=>Q IE@5 DI5;i5;54yMBɮMp;AM:E:iqFNOT Ignoring new targets: 484.95 m."i+*i+ ProNav: ac range: 484.950165 m, nav range: 479.148346 m, bearing: 14.996468 deg, approach rate: -0.479219 m/s, LOS rate: -0.009349 deg/s, cmd heading: 16.649513 deg, new cmd heading: 16.641135 deg. i߈ HeadingCmd: 0.290443 target range: 484.950165 and range: 486.40 m.h 䴔>h h h1h1g1g1jg9rg=Be9re9Ze9:eA*eE@ԑ~Bɢ &{) ^i)[r۽i?V=x=I䴔>I1155ߥ%=ߥ4=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԹIyA)yAM 9@I  @I @U @5@Q ^AyUT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseIIO ?%,OΖLAMv]ٱM=MHt?@|ҿƿ&?ry?Uÿ`?`??iM `=IMi;IY vBy IAAAbD%VD%8y5]=%5=ٔ5ƻQ-=>99Y9==Ey="DEEE>IQ 5U4Mj$?Q 9U4M)MFBYQy]>Q I]@M DIM:iM:M4yaɮe:Aa:iFNOT Ignoring new targets: 484.95 m."iU**iU* ProNav: ac range: 484.950165 m, nav range: 478.899139 m, bearing: 14.991621 deg, approach rate: -0.478314 m/s, LOS rate: -0.009307 deg/s, cmd heading: 16.641134 deg, new cmd heading: 16.631436 deg. iDHeadingCmd: 0.290273 target range: 484.950165 and range: 486.40 m.h>hhhhggjgrgereZe:e*e d@m~BɢmLw)i m$ii)m߽qqiu=A}=}wv=I}>Iyԩ9@ @@5@5T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse^A] Jz= IA IY Om >%,Fy.ΖLA2^=2Ml>2'_ٱ2=2H?yҿǿ`?{y?3ÿ?@H? 8?i2^=I2h;0YVvByVIli5Mb@Mb@Mb@1111 195tV?/$?QY5>y5,=55C-A5@A 57QA)5!A1Y5Q8AbDM VDM8y]>%eY=ٔeLQ-e>9aYi=mEym*Dm=Em>qQ 5}4uR2?Q 94us)uFBY>Q E:yE>Q I@u!DIu:iu:u4yɮ9AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseBA4=B>BBIB(xBB =BBB;BCE:iFNOT Ignoring new targets: 484.95 m."i׸*i׸ ProNav: ac range: 484.950165 m, nav range: 478.723267 m, bearing: 14.989381 deg, approach rate: -0.461170 m/s, LOS rate: -0.005877 deg/s, cmd heading: 16.631435 deg, new cmd heading: 16.626953 deg. i,HeadingCmd: 0.290195 target range: 484.950165 and range: 486.40 m.hs>hhhhgg jg rg ՁBe reZe:e*e[@%Bɢƺ) i)9!顩i/%Ct=t=Is>I EM EMEM$EI"EM ;*EM:VEM4ZEIBEMR<2EMR<JEMN;:EMN;9@ @@@1M T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapse^A% w=a I I O >%,MHΖLA2s[=2+>2}`ٱ293=2H?`anҿ@#=ǿt? D{?zÿ ?]9dYd=fEyf2Djf Ej>hQ 5r4j@?Q 9r4j)jFBYpyrݻ>Q Ir@j!DIj{;ijU;jV4yxɮzT9Ax:iAFNOT Ignoring new targets: 484.95 m."i۸*i۸ ProNav: ac range: 484.950165 m, nav range: 478.544037 m, bearing: 14.987113 deg, approach rate: -0.474605 m/s, LOS rate: -0.006007 deg/s, cmd heading: 16.626953 deg, new cmd heading: 16.622416 deg. i/HeadingCmd: 0.290116 target range: 484.950165 and range: 486.40 m.h>hhhhggjgrgereZe:e*e@MBɢM<)I UiQ)'J顱i(Eҗ=Cr=I>IY>i>i9@ @@0@@zA@zAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEU EUEU"EQ"EU=;*EUą:VEU(3ZEQa]@a]@a]@a]@ԑ^Aw=II O] > ] 4=] =] T****** received valid address query ******] R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapse}+%,VDbΖLAԑ4Y=Rˊ>Jaٱx=H? mҿ @ǿ@w?y? Ŀ@yMA MOA)M- AIYM=6AbDeVDe°8yu=%u%=ٔ}GQ-}>9Y=EyQ 54PS?Q 94)GBY>Q E:yl>Q I@!DI;i;4yBɮ8A;EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 484.95 m."iN*iN ProNav: ac range: 484.950165 m, nav range: 478.309784 m, bearing: 14.985715 deg, approach rate: -0.473120 m/s, LOS rate: -0.002825 deg/s, cmd heading: 16.622416 deg, new cmd heading: 16.619619 deg. irHeadingCmd: 0.290067 target range: 484.950165 and range: 486.40 m.h>hhhhggjgrgBereZe:e*e@颭3Bɢ.z) iԹ)ViTF=#q=I>I9@ @@4@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB>BBIBxBBBBBBCEDy zDy E]  E] E] 'EY "E] :*E] Z:VE] '4ZEY BE] >vO%,|ΖLA2W=2t>2baٱ2=2H`?BiҿGǿ?`Ly?8NĿ`?@ ? ?i2W=I2f;2CYBHwByBIbDJ$VDJΰ8yRJ>%R=ٔVFQ-V?9TYT=VEyVBDZ EZ?\Q 5b4^_?Q 9b4^)^GBY`yf">Q If@^'!DI^:i^:^d4yhɮj7Ah:i|~FNOT Ignoring new targets: 484.95 m."i&M*i&M ProNav: ac range: 484.950165 m, nav range: 478.163116 m, bearing: 14.984849 deg, approach rate: -0.474345 m/s, LOS rate: -0.002802 deg/s, cmd heading: 16.619619 deg, new cmd heading: 16.617886 deg. iHeadingCmd: 0.290037 target range: 484.950165 and range: 486.40 m.h>hhhhgg!jg!rg!e!re)Ze):e)*e- @UCBɢU )Y ]biY)]&YYi]1Heβ=mn=Im>IiT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseM9@I @I@M/@I!Q^Amnp=IIO> T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsey P7%,ΖLAVHT=V>VEbٱV=VH`? dҿUǿ@?x?lzĿ@,?@`?^ ?iVHT=IVOf;VCYbnwByf*IbDn,VDnհ8yv=%vF=ٔv&Q-v>9xYx=zEyzJDzhպE~>E~ E~E~$E|"E~;*E~:VE~4ZE|a@a@a@a@ Q 54 n?Q 94 ) ?GBYy֞>Q I@ 4!DI ;i j; 4y!ɮ-<7A):iIUFNOT Ignoring new targets: 484.95 m."iU|J*iU|Je ProNav: ac range: 484.950165 m, nav range: 477.966644 m, bearing: 14.983701 deg, approach rate: -0.473514 m/s, LOS rate: -0.002766 deg/s, cmd heading: 16.617886 deg, new cmd heading: 16.615591 deg. immHeadingCmd: 0.289997 target range: 484.950165 and range: 486.40 m.hmuz>hqhqhqhqgqgqjgyrgyeyreZe:e*eB @颭WBɢ@Q) i)项icJ=՝l=Iuz>IQ9@ @@0@@=@=ԁ%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse^AUm=AezAzAeyAԱA I I O > a%,gΖLA2^P=2W>2,dٱ27=2H?JWҿ:ǿ?`{?yĿWI? ^O??i2^P=I2~xf;2CY>wBy>CIi-Mb@Mb@Mb@)))) )9-bX9?I +?~jtY-E>y-94<-ļ-'A-=A -fPA)-A)Y-4AbDE VDE8yU=%UD=AYA]@ABe>BaBe IBexBBe =BaBaBe;BeCE}T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseٔ_Q->9Y=EySD<E>Q 54~?Q 94)cGBY>Q E:y.>Q I@@!DI:iI:4yBɮ6A2E:iFNOT Ignoring new targets: 484.95 m."i*i ProNav: ac range: 484.950165 m, nav range: 477.766876 m, bearing: 14.982846 deg, approach rate: -0.474158 m/s, LOS rate: -0.002032 deg/s, cmd heading: 16.615591 deg, new cmd heading: 16.613879 deg. imHeadingCmd: 0.289967 target range: 484.950165 and range: 486.40 m.hv>hhhhggjgrgƁBereZe :e *e !@=kBɢ=>)9 =i9)ExAAiERLM=Mipi=IMv>IIԱE EE'E"EV:*EVE'4ZEBE9I%,ΖLA2GL=2>2 feٱ25=2H`?Gҿڷǿ?@}?nĿ@o?G.?=?i2GL=I22+e;2CY>wBy>uI@bDJVDJ8yV/U>%VV=ٔVOQ-V>9XYX=ZEyZ[DZ@4E^>`Q 5f4b_?Q 9f4b0)bGBYdyf>Q If@bL!DIb~:ibh:b4yhɮnd5Al:i|FNOT Ignoring new targets: 484.95 m."iS*i S ProNav: ac range: 484.950165 m, nav range: 477.588470 m, bearing: 14.982104 deg, approach rate: -0.473784 m/s, LOS rate: -0.001972 deg/s, cmd heading: 16.613878 deg, new cmd heading: 16.612394 deg. ifHeadingCmd: 0.289941 target range: 484.950165 and range: 486.40 m.h%$s>h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5o"@~Bɢ) i)diPM}=e=I$s>Iԩ9@ @@@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEe EeEe%Ea"Ee&:*Ee~:VEe 4ZEaam@am@am@am@^Ah=A I I) O5 >= T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapse`s%,qΖLA.LG=.>.6ofٱ.%=.H3? 5ҿǿ p?@0? =[Ŀҏ?@? ?i.LG=I.c;.ClYrxByrIbD}VD}8y~=%9=ٔOQ->9Y9==Ey=dDM"EM>Q 54 ?Q 94)GBYy >Q I@Z!DIyhhhhggjgrgereZe:e*ej#@ =Bɢ=u)A EiA)Er6iiim1Ne=#b=Io>II)]ÂGq9d9Y`A@ @@@@@9Be>BewCBekIBexyBBe =BaBeDBe;BeCEiߙIߙT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE  E E E "E :*E :VE ZE BE 6%,lΖLA2[D=22>2^gٱ2 =2H?`+ҿȿe? ?CRĿ? ??i2[D=I2vb;2CYb_xByfIiMMb@Mb@Mb@IIII I9M(\?~jt? rhYM>yMD%}@=ٔ}qQ-}>9} ?Y ?=EylDкE>Q 54?Q 94)GBYQ>Q E:y>Q I@f!DI:i:4yɮ3A:iFNOT Ignoring new targets: 484.95 m."i*i ProNav: ac range: 484.950165 m, nav range: 477.184326 m, bearing: 14.980455 deg, approach rate: -0.483571 m/s, LOS rate: -0.002006 deg/s, cmd heading: 16.610629 deg, new cmd heading: 16.609093 deg. ijT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseHeadingCmd: 0.289883 target range: 484.950165 and range: 486.40 m.hk>hhhhggjgrg΁Be re Ze :e *e`,$@颽BɢB) 2i)miMPR=A`=Ik>Ii}9@ @@0@ԑ^A bEJ4jEJ4rEˁ/E}  E} Ey Ey "E} l;*E} $:VEy ZEy a @a @a @a @Ƴ%,uϖLA@Y~xBy~IbDVD8y%y>%%O=ٔ%Q-%>9)Y)=-Ey-tD-E5>1Q 5=45?Q 9E45)5GBYAyAQ IE@5q!DI5;i58;54yMBɮM2AU3E:iqFNOT Ignoring new targets: 484.95 m."i *i  ProNav: ac range: 484.950165 m, nav range: 477.003723 m, bearing: 14.979705 deg, approach rate: -0.456701 m/s, LOS rate: -0.001896 deg/s, cmd heading: 16.609094 deg, new cmd heading: 16.607595 deg. i^HeadingCmd: 0.289857 target range: 484.950165 and range: 486.40 m.h*h>hhhhggjgrgereZe:e*e $@5Bɢ5ݽ)9 =Ei9)==99i=UQEG?=Es^`=IM*h>IIԱ9@ @@@DAT read: 2Acoustic response timeout^A`= A I I O >B= <A= <BE >BA BE IBE zBBE =BA BA BE ۋ;BE CEB<̳%,P3ϖLAB1B1B5 =B5 =C5{75"2Acoustic response timeoutpvTD=vM>vlhٱvU2=vH?.ҿ`,ȿ a??6Ŀ?(??ivTD=Iva;vCYxByIiMb@Mb@Mb@ 9w/?X9v?{GztY>y<ףp#A9A 5HA)rAY/AE EE(E"E:*E:VEc44ZEBE3%E9=ٔE4hQ-E>9IYI=MEyM}DM(EU>YQ 5]4]?Q 9e4])]"HBYex>Q Ee:ye>Q Ie@]~!DI]M:i]:]]4yiɮu1Aq:iFNOT Ignoring new targets: 484.95 m."i\*i\ ProNav: ac range: 484.950165 m, nav range: 476.809784 m, bearing: 14.977941 deg, approach rate: -0.439387 m/s, LOS rate: -0.003999 deg/s, cmd heading: 16.607595 deg, new cmd heading: 16.604065 deg. i-긝HeadingCmd: 0.289796 target range: 484.950165 and range: 486.40 m.h`>hhhhggjgrgʁBereZe:e*eV%@Bɢr^z) ߿i)i.R )= _=I `>IV>i 9@ @@@@@92Acoustic response timeout^A_=q A ؟AI! I9 OE >#ӳ%,*MϖLAFF=FV>FiٱF4=FH U?8ҿU:ȿg??ќĿ?Q?`?iFF=IFua;DYRyByV1IbD^VD^8yfJ>%ff=ٔfQ-f>9j"?Yj"?=jEyjDn:En>pQ 5r4rz?Q 9v4r)rGHBYtyvɬ>Q Iv@r!DIr::ir:r4yzBɮ~0A|:i%FNOT Ignoring new targets: 484.95 m."i%*i%5 ProNav: ac range: 484.950165 m, nav range: 476.653412 m, bearing: 14.976509 deg, approach rate: -0.440126 m/s, LOS rate: -0.004033 deg/s, cmd heading: 16.604065 deg, new cmd heading: 16.601200 deg. i5,yHeadingCmd: 0.289746 target range: 484.950165 and range: 486.40 m.hY>hhhhggjgrgereZe:e*e ϣ&@BɢH|) ؿi)i%ӈS-=5Ւa=I5Y>I1iaIeAm2Acoustic response timeoutԡ9@ @@/@E- E-E-%E)"E-;*E-ą:VE- 4ZE)a5@a5@a5@a5@^ABa= 2Acoustic response timeout A I) I9 OA :aٳ%,yWgϖLA=b/H==>=jٱ=`6==H`?GҿBȿn?{?Ŀo?j??i=b/H=I=Fsa;=CԹY \yBy ZIiMb@Mb@Mb@ 9Gz??~jthY>yL=D!A7A dGA)AY=.AbDVD8y >%*=ٔQ->9iYq=uEyuD}:E}>Q 54Y?Q 94r)~HBY>Q E:yi>Q I@!DI:i:>4yɮ/AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 484.95 m."i`*i`渝 ProNav: ac range: 484.950165 m, nav range: 476.426910 m, bearing: 14.973379 deg, approach rate: -0.455287 m/s, LOS rate: -0.006294 deg/s, cmd heading: 16.601200 deg, new cmd heading: 16.594937 deg. iL8HeadingCmd: 0.289636 target range: 484.950165 and range: 486.40 m.h5K>hhhhggjgrg܁BereZe:e*e'@5Bɢ5Qs)1 5Sӿi1)=Ao99i= TEY=EImc=IE5K>IIB>BvCB,IBzBBBBB؋;BCE9@ @@@E2Acoustic response timeout D zD @AE EEE"E:*E:VEZEBE+;a%:E?;a-^A c=9 A I I) O5 >y:%,AϖLA2YHI=2׼>2ckٱ2F=2H@ ? Oҿ`Vȿq?]z?3Ŀ@G.?@??i2YHI=I2Va;2CY>yBy>IbDFVDF8yN @>%N}=ٔR~1Q-R ?9PYP=VEyVDV d:EV?XQ 5^4Zr?Q 9^4Z)ZHBY`yb>Q Ib@Z!DIZ~:iZ2:Z4ydɮf.Af4E:ixzFNOT Ignoring new targets: 484.95 m."i~*i~鸝  ProNav: ac range: 484.950165 m, nav range: 476.286255 m, bearing: 14.971429 deg, approach rate: -0.459064 m/s, LOS rate: -0.006366 deg/s, cmd heading: 16.594937 deg, new cmd heading: 16.591036 deg. i i:UHeadingCmd: 0.289568 target range: 484.950165 and range: 486.40 m.hUHB>hQhQhQhQgQgYjgYrgYeYreaZea:ea*ee -(@2Acoustic response timeoutBɢi>) iͿi)zi#U%=^d=IHB>I)9@ @@20@@@Y^Aԉu 2Acoustic response timeoutA .AI I! OE >E=  E= E= 'E9 "E= :*E= ҆:VE= '4ZE9 aE @aE @aE @aE @Ա _%,oϖLAJiSM=J:>>JlٱJs=JHa ?bҿ}Yȿ?{v?g$ſ@? o#??iJiSM=IJ_`;JCYnyBynIbDzVDz8y >% D=ٔ Q->9 ?Y ?=EyD,;E>!Q 5-4%v ?Q 9-4%9)%HBY)y5>Q I5@%!DI%P:i%:%4y9ɮ=-A9:iaeFNOT Ignoring new targets: 484.95 m."im*im鸝} ProNav: ac range: 484.950165 m, nav range: 476.095856 m, bearing: 14.968764 deg, approach rate: -0.456558 m/s, LOS rate: -0.006392 deg/s, cmd heading: 16.591035 deg, new cmd heading: 16.585704 deg. i}+;HeadingCmd: 0.289475 target range: 484.950165 and range: 486.40 m.h6>hhhhggjgrgereZe:e*eL(@ Bɢ~v) ȿi)^ixU!ߖ=Ch=I6>Iԑ9@ @@0@BDAT read: Response Not Received *response not receivedTDAT read: user:119>Tx time:04:10:37.0389 A A ?AB >B B IB U{BB B B B ۋ;B 9 ċ%,ϖLAiIADAT read: 2Acoustic response timeoutYzByID=D<E EE$E"E;*E$:VE4ZEBE9Cy]ף=];] A]h5A ]EA)]AYY]z,AbDuVDu8y >%5=ٔQ->9"?Y"?=EyDE>Q 54\ ?Q 94)IBY>Q E:y>Q I@!DI#:iw:4yBɮ,A:iFNOT Ignoring new targets: 484.95 m."i5*i5) ProNav: ac range: 484.950165 m, nav range: 475.890625 m, bearing: 14.964277 deg, approach rate: -0.453520 m/s, LOS rate: -0.009921 deg/s, cmd heading: 16.585704 deg, new cmd heading: 16.576725 deg. i@HeadingCmd: 0.289318 target range: 484.950165 and range: 486.40 m.h!>hhhhggjgrgBereZe :e *e @)@uBɢ}]k)y }ÿiy)}SyyiUȖ=g=I!>I9@ @@/@2Acoustic response timeouta ^A Xh=ԑ A I I O >e%,ϖLA2 S=2L >2mٱ2p=2H?Hҿ/~ȿ? q?@s[ſy?]?@?i2 S=I2H_;0Y>PzBy>IbDFVDF8yN,>%N_=ٔR#Q-R>9PYP=REyRDV;EV>XQ 5^4Z5! ?Q 9^4Z)Z2IBY\yb>Q Ib@Z!DIZ:iZ::Z74ydɮf+Ad:ixzFNOT Ignoring new targets: 484.95 m."i~F7*i~F7  ProNav: ac range: 484.950165 m, nav range: 475.724640 m, bearing: 14.960611 deg, approach rate: -0.453276 m/s, LOS rate: -0.010014 deg/s, cmd heading: 16.576726 deg, new cmd heading: 16.569391 deg. i HeadingCmd: 0.289190 target range: 484.950165 and range: 486.40 m.h>hhhhggjgrge!re!Ze!:e!*e%*@Bɢ) i)P iSV=Nn=I>I}2Acoustic response timeoutԱe9@i @i@m1@iEM EMEM'EI"EM;*EMz:VEM'4ZEIaU@aU@aU@aU@^A A I I O > > %@% 2Acoustic response timeout1 -%,ϖLAYzByIiMb@Mb@Mb@ 9T㥛 ?1Zd?Mb`Y?y"=XA4A KCA)AY*AbDVD8yQ=%+=ٔQ->9Y=EyDE>Q 54 3 ? Q 94 )pIBY ?Q E:y>Q I@!DI1;i.; 4yBɮ*A=B*** querying acoustic contact ***i9i9:iAMFNOT Ignoring new targets: 484.95 m."iMs*iMs] ProNav: ac range: 484.950165 m, nav range: 475.491302 m, bearing: 14.954222 deg, approach rate: -0.486185 m/s, LOS rate: -0.013319 deg/s, cmd heading: 16.569392 deg, new cmd heading: 16.556608 deg. i]¹eHeadingCmd: 0.288967 target range: 484.950165 and range: 486.40 m.he>hihihihigigijgqrguBeqreqZey:ey*e}S+@颭)Bɢ(i) i)޻ 顱iV>=>n=I>IB>BBIB{BB =BBB݋;B2Acoustic response timeout99@ @@0@Ea EeEe&Ea"Ea*Ee:VEe4ZEaBEe1N/X%,ЖLA2[=2>2]nnٱ2=2H`/? Íҿ0ȿ?s?@yĿ ?? ?i2[=I2#_;2CYVzByZ?IbDb VDb8yjV:>%j`=ٔjͬQ-n>9lYl=nEynDr;Er>tQ 5z4v@ ?Q 9z4vͶ)vIBYxyz>Q I~@v!DIv:iv):v4yɮ)A:i)-FNOT Ignoring new targets: 484.95 m."i53w*i53wE ProNav: ac range: 484.950165 m, nav range: 475.313232 m, bearing: 14.949301 deg, approach rate: -0.488622 m/s, LOS rate: -0.013508 deg/s, cmd heading: 16.556607 deg, new cmd heading: 16.546762 deg. iEŹMHeadingCmd: 0.288795 target range: 484.950165 and range: 486.40 m.hMݓ>hIhIhIhIgIgQjgQrgQeQreYZeY:eY*e]R,@颍1BɢR[t) 7i) 顑iROV=Eu=Iݓ>Iԁ%9@! @!@%'3@!ԩ^AE@p=2Acoustic response timeoutI9 IQ O] >E}  E} E} $Ey "E} :*E} :VE} 4ZEy a @a @a @a @ y%,2XЖLA2^=2+d>2 \oٱ2=2H ?ҿ`PȿϽ?p?Ŀ? 6??i2^=I2dI_;2CYNzByR[IbDZVDZ8ybj=%bM=ٔbQ-b>9dYd=fEyfDjl ;Ej>hQ 5-4jO ?Q 9-4jY)jIBY1y5}>Q I5@j!DIjY?hhhhggjgrgereZe:e*eq$-@:BɢAm) i) i7Vꌖ=x=ILē>I2Acoustic response timeoutE9@I @I@M@5@I!^A}pu=A>A> t>mlG $o9 Y =kAI Iq I O >B <A B >B uCB LIB |BB =B B DB ϋ;B CE 2Acoustic response timeoutN %,39ЖLAE" E"E"%E "E";*E"ą:VE" 4ZE BE"9CB/oٱB=BH`?@ҿȿZ?l?`ſ?`L?^?iB9a=IB^;BCYN?{ByNIi%Mb@Mb@Mb@!!!! !9%Mb?"~j?~jtxY%?y%S=%Ļ%A%S1A %zBA)%EA!Y%(AbD=ڿVD=8yM=>%MB=ٔM Q-M>9QYQ=UEyUDU`;E>Q 54_ ?Q 94) JBY?Q E:y>Q I@!DIM:iw:!4yBɮ'A5E:i1=FNOT Ignoring new targets: 484.95 m."i=7*i=7M ProNav: ac range: 484.950165 m, nav range: 474.904724 m, bearing: 14.937681 deg, approach rate: -0.497012 m/s, LOS rate: -0.014449 deg/s, cmd heading: 16.535963 deg, new cmd heading: 16.523510 deg. iMӹUHeadingCmd: 0.288390 target range: 484.950165 and range: 486.40 m.hUϧ>hQhQhYhYgYgYjgYrgeBeareaZea:ea*em@.@颕CBɢXi) i)顙iU=U{=Iϧ>Iq)@) @)@-B5@)@==@==>%=%2Acoustic response timeoutԙ^Aw=IyIO> %,ASЖLA6Le=6O=>6oٱ6=6H`m?kҿɭȿ@?h?`NſZ??@?i6Le=I6y^;6CPYVa{ByVIbDjӿVDj8yz=%zP=ٔz߹Q-z>9|Y|=EyD Q ;E >Q 5%4m ?Q 9%4<)8JBY)y->Q I-@"DI@;i6;1(4y=BɮEd'AE+E2Acoustic response timeout:iFNOT Ignoring new targets: 484.95 m."i"~*i"~ ProNav: ac range: 484.950165 m, nav range: 474.723022 m, bearing: 14.932377 deg, approach rate: -0.475528 m/s, LOS rate: -0.013886 deg/s, cmd heading: 16.523510 deg, new cmd heading: 16.512898 deg. iN˹HeadingCmd: 0.288204 target range: 484.950165 and range: 486.40 m.h>hhhhggjg1rg1e9re9Ze9:e9*eE.@ MBɢ j)  i)3ifUr=%~=I%>I!bE» 4jE-4rEº/Ea EeEe$Ea"Ea*Ee:VEe4ZEaam@au@au@au@@ @@@5@^A|=5 2Acoustic response timeoutI9 II O] >! %,blЖLAMh=M>MhpٱMx=MH?`ҿȿ ?e?5rſ ??`?iMh=IM^;MCYe{BymIiMb@Mb@Mb@ 9Gz?S㥻?:vYp>y/=TrA.A =A)AY%AbD ܿVD 8yR=%8=ٔ%ûQ-%>9!Y!=-Ey-D-:E->1Q 5=45} ?Q 9=45)5lJBYE?Q EE:yE^>Q IE@5"DI5_:i5$:5/4yMBɮM&AU,EmB*** querying acoustic contact ***iiii:iFNOT Ignoring new targets: 484.95 m."i[z*i[z- ProNav: ac range: 484.950165 m, nav range: 474.510712 m, bearing: 14.926207 deg, approach rate: -0.470511 m/s, LOS rate: -0.013680 deg/s, cmd heading: 16.512898 deg, new cmd heading: 16.500552 deg. i-Iȹ5HeadingCmd: 0.287989 target range: 484.950165 and range: 486.40 m.h5Js>h1h9h9h9g9g9jgArgEBeAB>BBIB }BB =BBBË;BsCEBUvCBUvCBQBU =BU =CUÎ5reAZe:e*e@/@!2Acoustic response timeout额WBɢ=e)9 =iA)EcAAiEoTMDe=M=IMJs>IQEe EeEe(Ea"Ee:*Ee n:VEec44ZEaBEe>= BDAT read: Rx Time:04:10:40.0815 = TRx dataTimestamp_ set to:1764907842.102834= 2Acoustic response timeoutv!%,.ƆЖLA2k=2_>2oٱ2.=2H? ҿȿ?1d?nſd??`?i2k=I2;];2CY>{By>I@BAbDJVDJ8yR>%Rf=ٔR:Q-R>9TYT=VEyVDZ;EZ>\Q 5b4^Ί ?Q 9b4^M)^JBY`yb>Q Ib@^"DI^o;i^Y;^64yhɮj%Ah:ix~FNOT Ignoring new targets: 484.95 m."iz*iz  ProNav: ac range: 484.950165 m, nav range: 474.340576 m, bearing: 14.921244 deg, approach rate: -0.503635 m/s, LOS rate: -0.014696 deg/s, cmd heading: 16.500552 deg, new cmd heading: 16.490623 deg. i*׹HeadingCmd: 0.287816 target range: 484.950165 and range: 486.40 m.h\>hhhhggjg!rg!e!re!Ze):e)*e-M,0@a]Bɢ Lu) 띿i)_-i.U]=EW=I\>IIxA)zA9@ @@3@ԉ2Acoustic response timeoutԱ^A3=IYIiOu>Eu  Eu Eu $Eq "Eu ;*Eu |:VEu 4ZEq a} @a} @a} @a} @ ;'%,ӟЖLA2! m=225>2oٱ2=2Hc? ҿǧȿ?d?Iſ`u?@ʺ?H?i2! m=I2s];0Y>{By>IbDJVDJ8yR=%RJ=ٔR!:Q-R>9TYT=VEyVDVl:EZ>XQ 5^4Z ?Q 9b4Z˧)ZJBY`yb>Q Ib@Z,"DIZ:iZ;Z+=4yfBɮj%Ah:ix~FNOT Ignoring new targets: 484.95 m."i]z*i]zm ProNav: ac range: 484.950165 m, nav range: 474.146759 m, bearing: 14.915577 deg, approach rate: -0.480016 m/s, LOS rate: -0.014041 deg/s, cmd heading: 16.490623 deg, new cmd heading: 16.479284 deg. im͹uHeadingCmd: 0.287618 target range: 484.950165 and range: 486.40 m.huB>hqhqhqhggjgrgereZe:e*eʗ0@ԹfBɢyh) i!)%1!!i%T-tS=-=I-B>I1 2Acoustic response timeout9@ @@0@^AmS=A A @AB >B B IB }BB B B B ;B jCE DAT read: 04:10:40.0815 LVL= 31856, 32753, 32754, 32755, AGC= 69, IDX= 470,-0.20,-2.069, 2.589,-1.863,-2.536, PHS= 0.569,-1.114, 0.629, RAW= 151.7, -1.0, CAL= 150.7, -1.8, ROT= 359.3, 1.8  Ygot valid direction response: 04:10:40.0815 LVL= 31856, 32753, 32754, 32755, AGC= 69, IDX= 470,-0.20,-2.069, 2.589,-1.863,-2.536, PHS= 0.569,-1.114, 0.629, RAW= 151.7, -1.0, CAL= 150.7, -1.8, ROT= 359.3, 1.8  PDAT read: Bearing 167.1, 12.6 (Local)  ~Local bearing/azimuth received: Bearing 167.1, 12.6 (Local)  DAT read: Range 11 to 50 : 478.8 m (Round-trip 638.4 ms) speed 0.4 m/s A I9 IQ Q Oe > BDAT read: Tx time:04:10:41.1452  $Ping request sent. BvpٱBQ=BH@?ҿ ȿ0?`&e?>ſ`??$?iBm=IB|];@YN%|ByNIi%Mb@Mb@Mb@!!!! !9%V-?~jt?y%=%t%A%j,A %";A)%1A!Y%#AbD} VD}8y?=%/=ٔ~Q->9Y=EyDV9E>Q 54 ?Q 94)JBY?Q E:yM>Q I@:"DI;iG;iE4yɮD$AiiFЖLAjC"jC:j\>"pG =}@)LP-pIX?Y; Iz*jD+H2j=*pdȂ`1|@^@zW@pL=?C:?"+?jB jCii '?ijCjjjrj%Czj > addTargetRange:: Added new target pos. range: 478.799988 m, deltaT: 16.887486 s, deltaX: -7.600006 m, approachRate: -0.450038 m/s, rangeRepo size: 4  Added new target pos. range: 477.348541 m, bearing: 15.298470 deg, lat: 36.779433 deg, lon: -121.859532 deg, deltaT: 16.887486 s, deltaX: -7.601624 m, approachRate: -0.450134 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 477.35 m."i*i ProNav: ac range: 477.348541 m, nav range: 474.294342 m, bearing: 15.078454 deg, approach rate: 0.000000 m/s, LOS rate: -0.014041 deg/s, cmd heading: 16.479284 deg, new cmd heading: 16.465583 deg. iHeadingCmd: 0.287379 target range: 477.348541 and range: 478.80 m.hK#>h h h h g g jgrgBereZe:e}@*eL?upBɢ}r`)< i)[顩iSG==IK#>II=9@9 @A@E5@Aq^Ae c=Ae >Ae >ԙ AQ Ia I O >W4%,[ЖLA J o=Jpu>JpٱJK=JH? ҿҺȿ@?Bc?.\ſ?ٺ?`?iJ o=IJL9];JCYV9|ByVIbDbVDbð8yf_=%jf=ٔQ-%>9!Y!=%Ey%D-)h:E->1Q 5=45E ?Q 9=45ݢ)5 KBY9y=}>Q IE@5F"DI5:i5:5K4yMBɮM#AM-E:iquFNOT Ignoring new targets: 477.35 m."i}mp*i}mp ProNav: ac range: 477.348541 m, nav range: 474.120605 m, bearing: 15.073927 deg, approach rate: -0.504020 m/s, LOS rate: -0.013137 deg/s, cmd heading: 16.465583 deg, new cmd heading: 16.456526 deg. iWHeadingCmd: 0.287221 target range: 477.348541 and range: 478.80 m.h>hhhhggjgrgereZe:e*eس?wBɢBp) Ԗi)(i;Sr@=z=I>I)E EE'E"ED:*E:VE'4ZEa@a @a @a @9@ @@/@@@=Y^AW^=ԉA I I O% >Թ /;%, ЖLAESp=E>EBpٱE8 =EH@]? ҿ?ȿ`?a?/|ſC?? 1?iESp=IE5];ECYe`|Bye4IiMb@Mb@Mb@ 9v?333333?:vY>y=ԼZA)A 7A) AY!AbD-VD-8y==%=4=ٔ=WAQ-E>9AYA=EEyE DU|t:EU>iyQ 54m ?Q 94mv)mLKBY!>Q E:y>Q I@mT"DIm;im;mS4yɮO#AB>BB-IB}BBBBB;B^CEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 477.35 m."i~+*i~+T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.- ProNav: ac range: 477.348541 m, nav range: 473.908386 m, bearing: 15.069404 deg, approach rate: -0.439420 m/s, LOS rate: -0.009371 deg/s, cmd heading: 16.456526 deg, new cmd heading: 16.447475 deg. i-15HeadingCmd: 0.287063 target range: 477.348541 and range: 478.80 m.h5>h1h9h9h9g9g9jgArgEBeAreAZeA:eI*eM@=?颽Bɢ_) i)LZiwR 5= 2\=I >IԩDzDE EE%E"E:*Ez:VE 4ZEBE3  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.215763 A I I O >]B%, іLA2^o=2<>2C qٱ2?y=2H@?]ҿȿP?-a? ſ ?`*??i2^o=I2X\;2CY>|By>]IbDFVDF8yNQ1>%R]=ٔRعQ-R>9TYT=VEyVDVEV>XQ 5^4Z: ?Q 9b4Z})ZpKBY`yb>Q Ib@Z_"DIZ :iZ:ZY4yfBɮf?"Ah:iquFNOT Ignoring new targets: 477.35 m."i}D*i}D ProNav: ac range: 477.348541 m, nav range: 473.734100 m, bearing: 15.065690 deg, approach rate: -0.503839 m/s, LOS rate: -0.010739 deg/s, cmd heading: 16.447475 deg, new cmd heading: 16.440045 deg. i:5HeadingCmd: 0.286933 target range: 477.348541 and range: 478.80 m.h5>h1h1h1h1g1g9jg9rg9e9reAZeA:eA*eE ?I颵Bɢj) >i)+)项i|R-==I>Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.467683R5I%,F')іLA2s=2>2pٱ22=2H? Cҿȿ b ? ]?ſ?@}i??i2s=I2\;2CYR|ByRwI TT  AbDVD8y-E=%-"=ٔ-9Q-->91Y1=5Ey5D=:E=>AQ 5M4E ?Q 9M4Eě)EKBYIyMb>Q IU@Eo"DIE;iE;Eb4yYɮ]!AY:iFNOT Ignoring new targets: 477.35 m."iJ@*iJ@ ProNav: ac range: 477.348541 m, nav range: 473.493683 m, bearing: 15.060538 deg, approach rate: -0.490030 m/s, LOS rate: -0.010507 deg/s, cmd heading: 16.440045 deg, new cmd heading: 16.429735 deg. iՙHeadingCmd: 0.286753 target range: 477.348541 and range: 478.80 m.hIђ>hhhhggjgrgereZe:e*e?-Bɢ-R_)1 5,i1)5)599i=iQEg$=E)҆=IIђ>II<9@ @@05@B>BBkIBY~BBBBB;BSCEqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.971224DDE EE%E"E ;*E:VE 4ZEBEOP%,BіLA2.x=2>27pٱ2>z=D2H?``ӿ ȿ?`GX?ſ`?qֻ??i2.x=I2\;2CYV|ByVIieMb@Mb@Mb@aaaa a9eZd;?S㥫?Zd;OYe>ye/]=ejeAe&)A e4A)evAaYeAbD}VD}8ym=%E=ٔ@,:Q->9Y=Ey$DB;E>Q 54p ?Q 94)KBY>Q E:y~>Q I@{"DI ;i ;j4yBɮ A.E:iFNOT Ignoring new targets: 477.35 m."i *i  ProNav: ac range: 477.348541 m, nav range: 473.295105 m, bearing: 15.057331 deg, approach rate: -0.478577 m/s, LOS rate: -0.007733 deg/s, cmd heading: 16.429735 deg, new cmd heading: 16.423318 deg. ilb HeadingCmd: 0.286641 target range: 477.348541 and range: 478.80 m.h ’>h h hhggjgrgBereZe!:e!*e%`@MBɢMxc}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223185) Èi)i9P"=!=I’>I  ԩ9@ @@0@ - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475179E  E E 'E "E T;*E ҆:VE '4ZE a% @a% @a% @a% @^A 8=A >A >1 AI I!O->"IX%,bіLANl_~=N_>NpٱN#=NH q?@7ӿ@Rȿ P4? P?NQƿ? ^? ?iNl_~=IN\;NC1߭>߭=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727417Y-}ByIbD VD8y=%=ٔ:Q->9Y=Ey/D87;E>Q 54 ?Q 94)LBY y S>Q I @"DI ;i;xs4yɮ A:i9=FNOT Ignoring new targets: 477.35 m."iE *iE U ProNav: ac range: 477.348541 m, nav range: 473.036896 m, bearing: 15.053106 deg, approach rate: -0.477672 m/s, LOS rate: -0.007821 deg/s, cmd heading: 16.423318 deg, new cmd heading: 16.414863 deg. iUe]HeadingCmd: 0.286493 target range: 477.348541 and range: 478.80 m.h]C>hYhYhYhYgagajgargaeireiZei:ei*eu`T`@a Bɢ #W)  i)O9i=NMa=MY͋=IMC>IQ5GQԑu9@ @@N0@ڡ9Y6AB>BrCBIB~BB =BBDB;BNCEe checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979201Թ D1 zD5 AAE=  E= E9 E9 "E= ;*E= :VE9 ZE9 BE= L\9`%,іLA2=~=2[>2pٱ2~=2H`?`6ӿMȿ3?O?@}Uƿ@?|??i2=~=I2P\;2C :̏C):^~A:D;<<>C>v~Ai>;I>ČF@IBCiB~A B;BF)@FC FʃAFDDJfCJM~AIJף)JFiH)NCIN-~ANNcF LRCRiAPiPPiRCV~A)T TITYTY^d}By^I only read 2 of 4 data items for water velocity. Device response is::WS,-3768,-32768,V a @a  a @a  a @a  a @a  bD$VDΰ8y%Y>%%E=ٔ-݌9Q-->9)Y)=-Ey58D5桸E5>9Q 5E4=5 ?Q 9E4= )=*LBQ AM+:YIQ EM:yMO>Q IM@="DI=:i=>>=Wy4yBɮA B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 477.35 m."i%*i%5 ProNav: ac range: 477.348541 m, nav range: 472.838928 m, bearing: 15.049863 deg, approach rate: -0.455384 m/s, LOS rate: -0.007462 deg/s, cmd heading: 16.414862 deg, new cmd heading: 16.408375 deg. i5}Z=HeadingCmd: 0.286380 target range: 477.348541 and range: 478.80 m.h=l>h9h9h9h9g9gAjgArgAeAreIZeI:eQ*eU\ @ԩ颽Bɢo`) p~i)%iN==Il>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2317379@ @@A1@^A= I I O >] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.4831181 _f%, іLA2}=2M>23oٱ28=2H?!5ӿKȿc2??P?@7Tƿ@? Ű??i2}=I2\;2CbEu!4jEuT4rEun/Er ErEpEp"Erx;*ErP:VEpZEpaz@az@az@az@Y=}By=IbDM VDM8y]>%]G=ٔeF9Q-e>9aYa=mEym@DmEm>qQ 5}4u+ ?Q 9}4u )uSLBQ A :YQ E:yA>Q I@u"DIu;iuS?u ~4yɮ1A:iFNOT Ignoring new targets: 477.35 m."i*i ProNav: ac range: 477.348541 m, nav range: 472.643188 m, bearing: 15.046657 deg, approach rate: -0.501907 m/s, LOS rate: -0.008224 deg/s, cmd heading: 16.408375 deg, new cmd heading: 16.401961 deg. ipHeadingCmd: 0.286268 target range: 477.348541 and range: 478.80 m.h>hhhhggjgrgereZe:e*e@ @Bɢ4`) Xsi)iZM% =!I->I)@ @@?5@9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.735265^Am=AzAxAIYIiO}>i  PExceeded connect timeout, disconnecting.l%,іLA BBt>BBmCBBIBB/BBB =BBԅoٱ*=H? 3ӿ~Aȿ 2?`P?`Kƿ?@;? ?i}=I\;CY}ByIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.987192aeae aeae amam amam imMb@Mb@Mb@iiii i9mkt?Q?Zd;OYm >ym9Y=EyIDa[E>Q 54; ?Q 941)|LBQ AT:Y>Q E:yL>Q I@"DI :i:΅4yBɮ`A/E:iFNOT Ignoring new targets: 477.35 m."iA*iA ProNav: ac range: 477.348541 m, nav range: 472.438721 m, bearing: 15.044480 deg, approach rate: -0.459786 m/s, LOS rate: -0.004897 deg/s, cmd heading: 16.401960 deg, new cmd heading: 16.397604 deg. igiHeadingCmd: 0.286192 target range: 477.348541 and range: 478.80 m.hȇ>hhhhggjgrgBereZe:e*eYX@E EE#E"E;*E:VE3ZEBEa2EL\=鱋=Iȇ>IU9@Y @Y@]0@Yԑ = = checking for new query: numPingsReceived=0, elapsed TxPingTime=4.239369 ^A =I I O >qs%,rіLA26}=2:>2oٱ2c=2H ?`/ӿ9ȿ1?Q?;ƿ`%???i26}=I2\;0Y>~By>=IbDFVDF8PyR4>%Rq=ٔRޛ:Q-V?9TYT=VEyVPDZչEZ?\Q 5b4^;H ?Q 9b4^Ə)^LBY`yb7>Q If@^"DI^:i^:^4yjBɮj}Aj%E:i|}FNOT Ignoring new targets: 477.35 m."i}k*i}k ProNav: ac range: 477.348541 m, nav range: 472.282379 m, bearing: 15.042818 deg, approach rate: -0.460778 m/s, LOS rate: -0.004902 deg/s, cmd heading: 16.397604 deg, new cmd heading: 16.394278 deg. iHeadingCmd: 0.286134 target range: 477.348541 and range: 478.80 m.h,>hhhhggjgrgereZe:e*e`@ƀBɢTb) f_i)]inbKf==I,>Ia>i9@ @@4@-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.491283E EE'E"E;*E:VE'4ZEa @a @a @a @ ^Ap,=II O>! y%,\TіLA2~=2s>2$knٱ2'=2H#?6ӿȿa8?$P?Cƿ?`ʨ??i2~=I2G\;2CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.743234YBQ~ByFfIbDNVDN8yV%>%VI=ٔV8:Q-V>9XYX=ZEyZXDZ:E^>`Q 5b4b W ?Q 9f4b)bLBYdyfq>Q If@b"DIb:ib:bӒ4yjBɮneAn&E|:iFNOT Ignoring new targets: 477.35 m."i ﳸ*i ﳸ ProNav: ac range: 477.348541 m, nav range: 472.095886 m, bearing: 15.040823 deg, approach rate: -0.459413 m/s, LOS rate: -0.004916 deg/s, cmd heading: 16.394278 deg, new cmd heading: 16.390286 deg. i%HeadingCmd: 0.286064 target range: 477.348541 and range: 478.80 m.h% w>h!h!h!h)g)g)jg)rg)e1re1Ze1:e9*e=$?@èBɢeX)i mIRii)miiimLJu=}w=I} w>Iy-9@) @1@5/@1)unManaging dock network, ignoring radio surface power offBy>BnCB@IBBB =BBDB̋;BQCE^A=A>A?IYIiOuz>yi1I15checking for new query: numPingsReceived=0, elapsed TxPingTime=4.995403E  E E &E "E ;*E v:VE 4ZE BE vT2mٱ2=2HX?`fDӿ^ȿ@D?`M?~_ƿTx? E?,?i2F=I2u\;2CYN~ByRIiMMb@Mb@Mb@IIII I9MX9v?S㥛?{GzYM>yM/%u>=ٔ}:Q-}>9Y=EyaD:E>Q 54g ?ԙQ 94N)LBYQ>Q E:y>Q I@"DIW1;i0;V4yɮ-AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 477.35 m."i*i ProNav: ac range: 477.348541 m, nav range: 471.895355 m, bearing: 15.038853 deg, approach rate: -0.465937 m/s, LOS rate: -0.004579 deg/s, cmd heading: 16.390287 deg, new cmd heading: 16.386346 deg. iHeadingCmd: 0.285996 target range: 477.348541 and range: 478.80 m.hn>hhhhggjgrgBereZe :e *e @5ՀBɢ=JR)9 =Bi9)=OAAiE-HM =MW=IMn>IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.248121 9@  @ @ /@ ^A5@=A I I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=5.498983I U%,ҖLAFXX=F)>F$mٱF=FH`?9)Y1=5Ey5iD5:E5>9Q 5E4=u ?Q 9M4=)=MBYIyM >Q IM@="DI=:i=:=84yUBɮUeAY:iyFNOT Ignoring new targets: 477.35 m."i*i ProNav: ac range: 477.348541 m, nav range: 471.711548 m, bearing: 15.037033 deg, approach rate: -0.467828 m/s, LOS rate: -0.004633 deg/s, cmd heading: 16.386346 deg, new cmd heading: 16.382705 deg. iHeadingCmd: 0.285932 target range: 477.348541 and range: 478.80 m.he>hhhhggjgrgereZe:e*e@]܀Bɢ]S)Y ]:ia)eaGaaiexGmM=m\=Ime>Iq 9@  @ @ /@ Achecking for new query: numPingsReceived=0, elapsed TxPingTime=5.751129^A-t=qA I I O >ԡ ی%,p5ҖLAB<AB"m>B"mCB"IB" BB" =B B"DB"Ƌ;B"BCEv=vtC>vlٱv =vH ?@5Aӿǿ@!S?WQ?ſ@=?? Q?iv=Iv\;tY5By5IiMb@Mb@Mb@ 9i|?5?I +?I +Y>y94=94 AXA )A)AYAbDVD8yN.>%>=ٔ3;Q->9checking for new query: numPingsReceived=0, elapsed TxPingTime=6.003313Y=EyrDe9E>Q 54@ ?Q 94)Q E:y >Q I@"DI;i7;4y!ɮ%:A!:iAMFNOT Ignoring new targets: 477.35 m."iU*iU︝] ProNav: ac range: 477.348541 m, nav range: 471.513550 m, bearing: 15.034217 deg, approach rate: -0.459844 m/s, LOS rate: -0.006544 deg/s, cmd heading: 16.382706 deg, new cmd heading: 16.377070 deg. ie?eHeadingCmd: 0.285834 target range: 477.348541 and range: 478.80 m.heX>hahiihihqgqgqjgyrg}BeyreyZey:e*eC@mBɢmH?L)i m,iq)uqqiuӢE}=}V=I}X>IE EEE"E:*EVEZEBE6 򿓴%,MOҖLA2O=2>2'skٱ2#=2H?FӿǿZ? P?ſ@.,?@Ի??i2O=I2DZ\;2CY>VBy>IbDFVDF8yN&>%Nb=ٔj:Q-j>9lYl=nEynyDr:Er>tQ 5z4v ?Q 9z4v)vbMBYxyzG>Q Iz@v"DIv:ivh:v%4yBɮA'E:i)-FNOT Ignoring new targets: 477.35 m."i5*i5𸝏E ProNav: ac range: 477.348541 m, nav range: 471.345001 m, bearing: 15.031808 deg, approach rate: -0.459972 m/s, LOS rate: -0.006576 deg/s, cmd heading: 16.377071 deg, new cmd heading: 16.372251 deg. iE@MHeadingCmd: 0.285750 target range: 477.348541 and range: 478.80 m.hMM>hIhIhIhIgIgQjgQrgQeQreYZeY:eY*e][@颍BɢO) 0 i)W顑i`gD=T=IM>Iu9@q @q@u/@qi I A checking for new query: numPingsReceived=0, elapsed TxPingTime=6.507480E EE&E"E&:*Ez:VE4ZEa@a@a@a@^A~4=) I I O >Q ^왴%,iҖLA2checking for new query: numPingsReceived=0, elapsed TxPingTime=6.7592676Hs=6>6jٱ6=6H`?`Pӿ೻ǿ``? M?ſ`????i6Hs=I6\;6CYBByF5IbDNѿVDN8yV:>%VI=ٔV:Q-Z>9XYX=ZEyZD^3k:E^>`Q 5f4b ?Q 9f4bE)bMBYdyfx>Q Ij@b#DIb:ibW:b!4ylɮnkAl:iFNOT Ignoring new targets: 477.35 m."i *i 񸝏 ProNav: ac range: 477.348541 m, nav range: 471.161163 m, bearing: 15.029170 deg, approach rate: -0.460084 m/s, LOS rate: -0.006604 deg/s, cmd heading: 16.372252 deg, new cmd heading: 16.366974 deg. i_A%HeadingCmd: 0.285658 target range: 477.348541 and range: 478.80 m.h%A>h!h!h!h!g!g)jg)rg)e)re1Ze1:e1*ec@=Bɢ=}`G)9 =iA)ESAAiEf{BuI=u=IuA>Iy19@ @@0@@!@!YBUr>BUnCBUIBUrBBU =BQBUDBU;BUCEchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.011741^AE\=IIO>ԁ E  E E 'E "E %;*E VE '4ZE BE Ky`e=DAA &)A)IAY\AbDVD8y=%;=ٔQ->9Y=EyDE>Q 54x ?Q 944)MBY>Q E:y>Q I@#DI:i:4yBɮAB*** querying acoustic contact ***ii:i FNOT Ignoring new targets: 477.35 m."i *i  ProNav: ac range: 477.348541 m, nav range: 470.963684 m, bearing: 15.025712 deg, approach rate: -0.452345 m/s, LOS rate: -0.007924 deg/s, cmd heading: 16.366974 deg, new cmd heading: 16.360055 deg. i%h%HeadingCmd: 0.285537 target range: 477.348541 and range: 478.80 m.h%1>h!h)h)h)g)g)jg1rg5BereZe:e*e`,@u=u<}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.263528ԉmBɢD)  i)dS 顙iJ@==I1>IE9@A @I@M/@IԹ^Am H= I I O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=7.515215%,KҖLAF=F8>FiٱFʻ=FH ?gӿrǿ@r?`F?@cWƿ?@?n?iF=IF\;FCER ERER#EP"ERT;*ER:VER3ZEPaZ@aZ@aZ@aZ@\YbBybIbDjڿVDj8yrO>%vX=ٔvwT;Q-v>9xYx=zEyzDz2;Ez>|Q 54~ ?Q 9 4~f)~MBY y >Q I @~#DI~::i~:~_4yɮjA:i9EFNOT Ignoring new targets: 477.35 m."iEv*iEvU ProNav: ac range: 477.348541 m, nav range: 470.792084 m, bearing: 15.022684 deg, approach rate: -0.453272 m/s, LOS rate: -0.008003 deg/s, cmd heading: 16.360055 deg, new cmd heading: 16.353996 deg. iUVj]HeadingCmd: 0.285431 target range: 477.348541 and range: 478.80 m.h]$>hYhahahagagajgirgieireiZei:eq*eu@@额BɢE) i) 顡i >?=B=I$>Ii@q @q@q@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.767305^A~4=IIO%> = t>= C G Fg9 Y cAA 4)%,v3ҖLABh>BmCB_IBÀBBBBDBk;BBEchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.018982Y5ByIieMb@Mb@Mb@aaaa a9e +?㥛 ?Mb`Ye>ye=eaeA e%A)e@aYeAbD}VD}8yz$>%.=ٔQ->9Y=EyDE>Q 5 4 ?Q 9 4~)NBY >Q E :y(>Q I@+#DI;i;4yɮ5A:iAEFNOT Ignoring new targets: 477.35 m."iMm8*iMm8] ProNav: ac range: 477.348541 m, nav range: 470.572632 m, bearing: 15.017943 deg, approach rate: -0.466288 m/s, LOS rate: -0.010077 deg/s, cmd heading: 16.353995 deg, new cmd heading: 16.344509 deg. i]eHeadingCmd: 0.285266 target range: 477.348541 and range: 478.80 m.heR>hahahahagigijgirgmBeqreqZeq:eq*eu < @DDE EE%E"E%;*E':VE 4ZEBEa2EaJE=IR>IAE9@A @I@I@Iq^Ae = checking for new query: numPingsReceived=0, elapsed TxPingTime=8.272629! Au .AI I O >%,ҖLA:߄=:>:gٱ:}=:H?ӿ ǿ?p>?@qƿ??U?i:߄=I:y\;8YJRByJIbDRܿVDR8yZ,>%Zw=ٔZ ;Q-Z?9^ ?Y^ ?=^Ey^Db;Eb?dQ 5j4f ?Q 9j4f)})fENBYhyj>Q In@f5#DIf4:if1;f_4yzBɮzCAz(E:iAEFNOT Ignoring new targets: 477.35 m."iM6*iM6m ProNav: ac range: 477.348541 m, nav range: 470.418427 m, bearing: 15.014584 deg, approach rate: -0.456577 m/s, LOS rate: -0.009951 deg/s, cmd heading: 16.344509 deg, new cmd heading: 16.337788 deg. imuHeadingCmd: 0.285148 target range: 477.348541 and range: 478.80 m.h}>hyhyhyhggjgrgereZe:e*e @q}Bɢ;) Yi)[!顁i9=>=I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.523866U9@Q @Q@]0@YԡbEM-4jEM4rEMַ/E EE&E"E;*Eh:VE4ZEa@a@a@a@^Ai Ai zAm zAA} ؟AI I O > )8%,ҖLA"%="4=&checking for new query: numPingsReceived=0, elapsed TxPingTime=8.7755096։=6M >6=fٱ6"=6H`(?хӿƿ?`T>? ɺƿ?? ?i6։=I6r];6CYmByIbDEVDE8yU=%}@=ٔ})b;Q->9"?Y"?=EyDj9E>Q 54q ?Q 94z)wNBYy>Q I@B#DIf;if;4yɮoA:iFNOT Ignoring new targets: 477.35 m."iT<*iT<  ProNav: ac range: 477.348541 m, nav range: 470.217194 m, bearing: 15.010193 deg, approach rate: -0.471506 m/s, LOS rate: -0.010291 deg/s, cmd heading: 16.337789 deg, new cmd heading: 16.329005 deg. i HeadingCmd: 0.284995 target range: 477.348541 and range: 478.80 m.h>hhhhggjg!rg!e!re!Ze!:e)*e-!@颕Bɢn :) $i)!顙iՖ7=XZ=I>Ie9@a @a@e/@iBX>BjCBIBBB =BBDB:;BBEBmCBmCBŔCB =B =C 6checking for new query: numPingsReceived=0, elapsed TxPingTime=9.027331^AMP=) D zD @AE  E E (E "E 7;*E :VE c44ZE BE ZQ T"%,ӖLAY~By~"IiMb@Mb@Mb@ 9T㥛 ?J +?Y?y=xAA Z"A)@YAbDVD8y->%D=ٔQ->9Y=EyDE>Q 54 ?Q 94ax)NBYp?Q E:y>Q I@O#DI:i:4yBɮ>A B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 477.35 m."i%s*i%s5 ProNav: ac range: 477.348541 m, nav range: 470.017120 m, bearing: 15.004746 deg, approach rate: -0.488707 m/s, LOS rate: -0.013311 deg/s, cmd heading: 16.329005 deg, new cmd heading: 16.318106 deg. i5¹=HeadingCmd: 0.284805 target range: 477.348541 and range: 478.80 m.h=ё>h9h9h9h9gAgAjgArgEBeAreIZeI:eI*eM/"@}Bɢ}HV5)} }i)!顁i{5==Iё>I)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.279406]x/A% >Ա E  E E &E "E ;*E 1:VE 4ZE a @a @a @a @A%.AI1IAOM>'Iȴ%,"ӖLA2͈=2EǑ>2dbٱ2u=2H ?tӿGwƿ?`'B?tƿ???i2͈=I20 ];2CY>By>FIbDF޿VDF8yNJ >%N==ٔRt9R ?YR ?=VEyVDV㘺EV>XQ 5^4Z ?Q 9^4Zu)ZNBY`ybO>Q Ib@Z]#DIZ:iZ:Z4ydɮfOAd:iquFNOT Ignoring new targets: 477.35 m."i}i*i}i ProNav: ac range: 477.348541 m, nav range: 469.806885 m, bearing: 14.999035 deg, approach rate: -0.469854 m/s, LOS rate: -0.012770 deg/s, cmd heading: 16.318106 deg, new cmd heading: 16.306678 deg. iԑHeadingCmd: 0.284605 target range: 477.348541 and range: 478.80 m.hǷ>hhhhggjgrgereZe:e*emz#@$Bɢf1) ji) "iqF24==IǷ>Iq:!@! @!@!@!echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.783382^AM~=B <A 4=B T>B iCB !IB `BB =B B DB ;B kBE A! IQ I O > R`ٱR=RH`S?H`ӿEƿ?@F?&ƿ`i?`S??iRi=IR\;PYZˀBy^iIiEMb@Mb@Mb@AAAA A9EX9v?!rh?~jt?YE>yEl=ED%m?=ٔm;Q-m>9qYq=uEyuDE EE$E"El;*E:VE4ZEBE[FQ 5%4 ?Q 9%4r)OBY-D?Q E-:y-?Q I-@k#DI&:iq:}4yUBɮU_A])E:iFNOT Ignoring new targets: 477.35 m."i*i ProNav: ac range: 477.348541 m, nav range: 469.593140 m, bearing: 14.992384 deg, approach rate: -0.484676 m/s, LOS rate: -0.015089 deg/s, cmd heading: 16.306679 deg, new cmd heading: 16.293370 deg. iܹHeadingCmd: 0.284373 target range: 477.348541 and range: 478.80 m.hU>hhhhggjgrgBereZe:e*eI`$@}+Bɢ}.) J@i)8"顁ie/=@=IU>I!}2Acoustic response timeoutqI 9@  @ @ @ ԁ ^A =A zAzA ԩ52Acoustic response timeoutA؟AIIO%?e?״%,f^ӖLA6r=6qp>6+Zٱ69Z"?YZ"?=^Ey^D^(8E^>`Q 5f4b+ ?Q 9f4bo)b_OBYhEn EnEn#El"En ;*En:VEn3ZElar@ar@ar@av@yj?Q Iv@bz#DIbף;ib;;b4yzBɮz A~E:iFNOT Ignoring new targets: 477.35 m."i%'*i%'ԩ ProNav: ac range: 477.348541 m, nav range: 469.361969 m, bearing: 14.985194 deg, approach rate: -0.481731 m/s, LOS rate: -0.014989 deg/s, cmd heading: 16.293370 deg, new cmd heading: 16.278985 deg. ir۹HeadingCmd: 0.284122 target range: 477.348541 and range: 478.80 m.hlx>hhhhggjgrgereZe:e*eF\%@=3Bɢ=A+)A EZiA)E0^"AAiE'w,u=uٕ=Iulx>Iqyy2Acoustic response timeout9@ @@4@ 9 ^A =B V>B jCB rIB BB =B B DB Ԋ;B 8BEe2Acoustic response timeoutiAyIIO>~޴%,}ӖLA2=2>2Wٱ2%L=2H@1 ?Tӿ@=Sſċ?fH?Tſ?l??i2=I2];0Y>By>IiMb@Mb@Mb@ 9}?5^I?y&1?~jth?YM?y`=D;AA A)=@Y AbDVD8y->%-%=ٔ-۸;Q-->E EE&E"E;*E՚:VE4ZEBEe Q 54 ? ?Q 94 {l) OBYl?Q E:y;?Q I@ #DI rY;i ; 4yUBɮUI AU E:iFNOT Ignoring new targets: 477.35 m."i*i ProNav: ac range: 477.348541 m, nav range: 469.105225 m, bearing: 14.977412 deg, approach rate: -0.485541 m/s, LOS rate: -0.014725 deg/s, cmd heading: 16.278984 deg, new cmd heading: 16.263411 deg. i׹HeadingCmd: 0.283850 target range: 477.348541 and range: 478.80 m.hT>hhhhggjgrgBereZe:e*e@2c&@;BɢH') i)u"iG)0==IT>I9@ @@3@u2Acoustic response timeoutA ^A} l=A I I O >|%,ӖLA2'و=2ʑ>2VUٱ2g=2H ?Uӿ` ſ?-I?`ſ|y?@~,?M?i2'و=I2\;2CYB ByBIbDJVDJ8yR=%RS=ٔR;Q-V>9TYT=ZEyZDZ:EZ>\Q 5b4^L ?Q 9b4^&j)^OBY`yfX?Q If@^#DI^:i^:^g4yhɮj AhzB*** querying acoustic contact ***ixix:i|FNOT Ignoring new targets: 477.35 m."i*i  ProNav: ac range: 477.348541 m, nav range: 468.927368 m, bearing: 14.972006 deg, approach rate: -0.504937 m/s, LOS rate: -0.015354 deg/s, cmd heading: 16.263411 deg, new cmd heading: 16.252595 deg. i๝HeadingCmd: 0.283661 target range: 477.348541 and range: 478.80 m.h%<>h!h!h!h!g!g!jg)rg)e)re1Ze1:e1*e5'@e@Bɢed')a eia)m"iiimI'u=u=Iu<>IyR>i>2Acoustic response timeoutAM9@I @Q@U/@QE EE%E"E;*E:VE 4ZEa@a@a@a@q^AEÕ=Ay ԙ I I O >} 2Acoustic response timeout%,ӖLA2`t=20>2Rٱ2=2HN?@]ӿĿU?@H?@ſ)+?`*? y?i2`t=I2^\;2CY>I@bDJ-VDJְ8yR >%RK=ٔV;Q-V>9TYT=VEyZDZ:EZ>\Q 5b4^[ ?Q 9b4^g)^OBYdyf?Q If@^#DI^DA;i^;;^m4yeBɮe Aa:iFNOT Ignoring new targets: 477.35 m."i,*i, ProNav: ac range: 477.348541 m, nav range: 468.729584 m, bearing: 14.965972 deg, approach rate: -0.458915 m/s, LOS rate: -0.014007 deg/s, cmd heading: 16.252596 deg, new cmd heading: 16.240522 deg. i͹%HeadingCmd: 0.283451 target range: 477.348541 and range: 478.80 m.h%o >h!h!h!h!g!g)jg)rg)e)re)Ze1:eQ*eU'@颥GBɢ#) i)"顩i$5=5e=I5o >I9A]AAA]AABmT>BiBmIBm߁BBm =BiBiBm;BmBEԱM9@I @Q@Q@Y2Acoustic response timeoutD4=D=E EE'E"E ;*Ey:VE'4ZEBELn%,ӖLA>ߌ=>˒>>Pٱ>w=>H` ?okӿ :xĿ ? E?@։ſ?' ?@7 ?i>ߌ=I> ]; MBDAT read: Tx time:04:10:53.5889 U$Ping request sent.U=ٔmY;Q-m>9u ?Yu ?=uEyuD}o4;E}>Q 54k ?Q 94d)1PBY?Q E:y5?Q I@#DI:i:4yɮ7 A:iFNOT Ignoring new targets: 477.35 m."i0*i0 ProNav: ac range: 477.348541 m, nav range: 468.519226 m, bearing: 14.959368 deg, approach rate: -0.526059 m/s, LOS rate: -0.016522 deg/s, cmd heading: 16.240522 deg, new cmd heading: 16.227308 deg. i񹝏HeadingCmd: 0.283220 target range: 477.348541 and range: 478.80 m.h5>hhhhggjgrgBereZe:e*e(@eNBɢeH")a e];ii)mȄ"ii="=`=I5>Ie9@a @a@a@i1i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254127^A a E  E E %E "E ;*E :VE 4ZE a @a @a @a @Ay I I O >v%,BvӖLA:[=:% >:Nٱ:>=:H? lӿ`HĿ?@F?@Tſ ?` Ҽ?`{$?i:[=I:;\;8YFVByFIbDR2VDRڰ8yZ=%ZW=ٔZQ;Q-Z>9\Y\=^Ey^Db:Eb>dQ 5j4fy ?Q 9j4fDb)f^PBYhyjQ?Q Ij@f#DIf%:if>:f4yrBɮr Ar!E:i  FNOT Ignoring new targets: 477.35 m."i 8*i8% ProNav: ac range: 477.348541 m, nav range: 468.332855 m, bearing: 14.953501 deg, approach rate: -0.490019 m/s, LOS rate: -0.015433 deg/s, cmd heading: 16.227309 deg, new cmd heading: 16.215569 deg. i%ṝ-HeadingCmd: 0.283015 target range: 477.348541 and range: 478.80 m.h-Z>h)h)h)h)g)g)jg1rg1e1re19Ze9:eA*eE6)@mSBɢu ")q u;iq)u"qyi}# ==IZ>I9@ @@@]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502909iEG]GyAq5n9GyAYgA^A]D=ԙB] V>BY B] IB] BB] =BY BY B] ;B] AEA I IQ O} >  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753997%,RӖLA2 =2[>2Lٱ2=2H w?)uӿ@Ŀ`?D?`Qfſm? ?&?i2 =I2];2CYN_ByR IiuMb@Mb@Mb@qqqDyzDyE EE&E"E;*E1:VE4ZEBE"d9Y=EyDų:E>Q 54 ?Q 94h_)PBY?Q E:y.>Q I@#DIw:i:>%4yɮ A:iFNOT Ignoring new targets: 477.35 m."i؇*i؇- ProNav: ac range: 477.348541 m, nav range: 468.111145 m, bearing: 14.946991 deg, approach rate: -0.505375 m/s, LOS rate: -0.014846 deg/s, cmd heading: 16.215569 deg, new cmd heading: 16.202543 deg. i-Zٹ5HeadingCmd: 0.282788 target range: 477.348541 and range: 478.80 m.h=ɐ>h9h9h9h9g9g9jgArgEBeAreAZeI:eI*eM`ua*@5YBɢ5̭!)9 =@EE=E^=IEɐ>II%9@) @)@)@)]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006005^Aܝ= A9 IA IY Oe >x%,,ԖLA:O=:>:QKٱ:3r=:H1?ӿÿ ?A?݁ſv??e?'?i:O=I:,\;:CYJByJLIbDRVDR8yZE>%Z]=ٔZs;Q-^>9\Y\=^Eyb Db:Eb>dQ 5j4f٘ ?Q 9j4f])fPBYhyj>Q In@f#DIf:if%:f+4yrBɮrvApB*** querying acoustic contact ***ii:i FNOT Ignoring new targets: 477.35 m."i>*i>% ProNav: ac range: 477.348541 m, nav range: 467.924316 m, bearing: 14.941486 deg, approach rate: -0.505079 m/s, LOS rate: -0.014889 deg/s, cmd heading: 16.202544 deg, new cmd heading: 16.191529 deg. i%ٹ-HeadingCmd: 0.282595 target range: 477.348541 and range: 478.80 m.h-[>h)h)h1h1g1g1jg1rg9e9re9ZeA:eA*eE+@m^Bɢm)q u<=iq)ur"qqi}=2ٟ=I[>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2593159@ @@0@bEĞ4jE 4rEĖ/E EE(E"E;*E:VEc44ZEa@a@a@a@!^A=QA ؟AI! I1 OE >m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510508y %,2ԖLAV+=V>VIIٱV=VH?ӿ@kÿ?`9%"?Y%"?=-Ey-D-:E->1Q 5=45 ?Q 9=45EZ)5PBYAyE>Q IE@5#DI5^;i5{;524yIɮMAI:iFNOT Ignoring new targets: 477.35 m."i*i ProNav: ac range: 477.348541 m, nav range: 467.713226 m, bearing: 14.935242 deg, approach rate: -0.487889 m/s, LOS rate: -0.014438 deg/s, cmd heading: 16.191529 deg, new cmd heading: 16.179035 deg. iaӹ HeadingCmd: 0.282377 target range: 477.348541 and range: 478.80 m.h Ǔ>h h hhggjgrgereZe:e!*e%@z+@QUeBɢ]_)Y ]=iY)]["aaiemT=mbh=ImǓ>IiIy)}wABU<AU<BeT>BaBe. IBe;BBe =BaBaBeX;BeAEBjCBjCB“CB =B =C59@ @@@!@9@=xAԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764796E EE%E"E;*E8:VE 4ZEBEe %,?KԖLA6=6:>6Gٱ6V=6H6?@ӿ?ÿ?@|=?ſ?Q?*?i6=I6F];6CYbByf|I%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014172imMb@Mb@Mb@iiii i9m"~j?{Gz?:vYmS?ymף=mTm@m A mA)mS@iYmAbD1VDڰ8yj=%C=ٔa;Q->9 ?Y ?=EyD[E>Q 54' ?Q 94W)QBY?Q E:y>Q I@#DI;iL;P:4yBɮ/A"E:iaeFNOT Ignoring new targets: 477.35 m."imZU*imZU} ProNav: ac range: 477.348541 m, nav range: 467.503296 m, bearing: 14.930356 deg, approach rate: -0.500702 m/s, LOS rate: -0.011658 deg/s, cmd heading: 16.179036 deg, new cmd heading: 16.169260 deg. i}HeadingCmd: 0.282207 target range: 477.348541 and range: 478.80 m.hj}>hhhhggjgԱrgBereZe:e*e,@EkBɢE<)A E=iI)uZ?"qqiulk}=+=Ij}>Ie9@a @a@e/@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268755 ^A ͢=E  E E 'E "E ;*E Ǚ:VE '4ZE a @a @a @a @9 A= ؟AIQ Ia Om > %,oeԖLA2>Đ=2ē>2kFٱ2=2H 5?|ӿ(ÿ?A?Nxſ`ӥ?c?U.?i2>Đ=I2l<];0Y>By>IbDF,VDFհ8yNAy=%NY=ٔRl;Q-R>9V"?YV"?=VEyV"DV΍EV>XQ 5^4Z ?Q 9^4ZU)Z-QBY`ybR>Q Ib@Z$DIZ ;iZI;Z@4ydɮfAh:ix~FNOT Ignoring new targets: 477.35 m."i~^*i~^  ProNav: ac range: 477.348541 m, nav range: 467.314606 m, bearing: 14.925971 deg, approach rate: -0.523975 m/s, LOS rate: -0.012181 deg/s, cmd heading: 16.169261 deg, new cmd heading: 16.160487 deg. i WHeadingCmd: 0.282054 target range: 477.348541 and range: 478.80 m.hXi>hhhhggjgrg!e!re!Ze):e)*e- -@pBɢغ) ` >i)7%"iB= ܵ=I Xi>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5184301@1 @1@50@1)^AU`=B= N>B= iCB= Z IB= ^BB= =B9 B= DB= ;B= tAEY A I I O5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772327)%,ԖLA,Jf=J*S>JDٱJ=JH ?fӿ$ÿ ?@eF?@&ſ@q?`;3? 2?iJf=IJT]];JCYZByZIi=Mb@Mb@Mb@9999 99=Zd;?y&1?QY=>y=`e==u=@=^ A =A)=&@9Y=A IIbDUEe EeEe&Ea"Ee;*Ee:VEe4ZEaBEe"d;au:Ee>;auVDUȰ8y;=%>=ٔ;w;Q->9Y=Ey*DGE>Q 541 ?Q 94sS)SQBYY?Q E:y>Q I@$DI:i:fH4yBɮA:iQ]FNOT Ignoring new targets: 477.35 m."i]*i]m ProNav: ac range: 477.348541 m, nav range: 467.104462 m, bearing: 14.922243 deg, approach rate: -0.470994 m/s, LOS rate: -0.008361 deg/s, cmd heading: 16.160487 deg, new cmd heading: 16.153026 deg. imtHeadingCmd: 0.281924 target range: 477.348541 and range: 478.80 m.hGX>hhhhggjgrgBereZe:e*eq.@%vBɢ%C)! %>i))-"))iMU =Ui=I]GX>IYq9@ @@ 0@ ԙ=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022000^AI IA IQ Oe >&%,tԖLA2)=2>ޒ>2Cٱ2 O=2H@#?Tӿ`¿ ?I?ſ>?@?5?i2)=I2fK];0Y>ցBy>IbDJVDJİ8PyR>=%RY=ٔV;Q-V>9TYT=ZEyZ2DZEZ>Q 5 4 ?Q 9 4Q)tQBYyu>Q I@$DI:i:N4yɮ%A!=B*** querying acoustic contact ***i9i9:iIMFNOT Ignoring new targets: 477.35 m."iU~ *iU~ e ProNav: ac range: 477.348541 m, nav range: 466.920807 m, bearing: 14.919003 deg, approach rate: -0.496931 m/s, LOS rate: -0.008770 deg/s, cmd heading: 16.153027 deg, new cmd heading: 16.146545 deg. ieemHeadingCmd: 0.281810 target range: 477.348541 and range: 478.80 m.hmsI>hihihihigigqjgqrgqeqreyZey:ey*e}$-/@颭zBɢY) 7>i)|!顱i>=q=IsI>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274602M9@I @I@M2@QEu EuEu'Eq"Eu;*Eu:VEu'4ZEqa}@a}@a}@a}@^AqIy I O >! M BDAT read: Rx Time:04:10:56.6217 M TRx dataTimestamp_ set to:1764907858.734833U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5271404>,%,YԖLAJ=J8|>JBsAٱJ=JH -'?`mCӿ¿?M?Ŀ ?ʼ?R9?iJ=IJ5{];JCYVByVIbD^VD^8yf=%fG=ٔj`;Q-j>9hYl=nEyn:DnEn>pQ 5v4rG ?Q 9v4rsO)rQBYxyz >Q Iz@r'$DIr:|irq:r!V4yBɮAE:i)-FNOT Ignoring new targets: 477.35 m."i5 *i5 E ProNav: ac range: 477.348541 m, nav range: 466.720276 m, bearing: 14.915483 deg, approach rate: -0.500565 m/s, LOS rate: -0.008790 deg/s, cmd heading: 16.146545 deg, new cmd heading: 16.139502 deg. iEMHeadingCmd: 0.281687 target range: 477.348541 and range: 478.80 m.hMV9>hIhIhIhIgQgQjgQrgQeYreYZeY:eY*ee>/@颍Bɢ;) >_>i)!顙i, e= *=IV9>IA@AA@ABBB IBBB =BBB;BLAE9@ @@@5@!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780079QE} EyE}&Ey"E};*EyVE}4ZEyBE}]ԁ #3%,+ԖLA2?=2>2?ٱ2e=2H`O,?'ӿ@¿?T?@YĿ?% ?>?i2?=I2vi];2CYNByRI-DAT read: 04:10:56.6217 LVL= 32752, 32753, 30834, 32755, AGC= 69, IDX= 50,-0.14, 1.311,-0.308, 1.543, 0.950, PHS= 0.464,-1.213, 0.549, RAW= 152.5, 2.4, CAL= 151.3, 1.9, ROT= 358.7, -1.9 5Ygot valid direction response: 04:10:56.6217 LVL= 32752, 32753, 30834, 32755, AGC= 69, IDX= 50,-0.14, 1.311,-0.308, 1.543, 0.950, PHS= 0.464,-1.213, 0.549, RAW= 152.5, 2.4, CAL= 151.3, 1.9, ROT= 358.7, -1.9 YePDAT read: Bearing 171.3, 9.7 (Local) e~Local bearing/azimuth received: Bearing 171.3, 9.7 (Local) uDAT read: Range 11 to 50 : 471.5 m (Round-trip 628.7 ms) speed 0.7 m/s uR#Rx 1: Read range and direction messages.}^direction in FSK: [0.999193,-0.022675,0.033155]Fpublishing direction and range infoy#߱c?,Β 8B3?YCrx )Ih>iCD ?X*@+=)@ =)U@I3?sv'?//? x?)0(I޹i]T****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.iMb@Mb@Mb@ 9?ˡE?~jtY?y'=D@A A)@YA@AbDVD8ys=%#=ٔ];Q->9Y=EyEDE>iQ 5u4mk ?Q 9u4mM)mQBYuw?Q Eu:yu>Q Iu@m8$DIm:imA:m0_4yɮAԉii)?ԖLAjC"jC:jK">"py Y}@-=<^@P%F+*/@p#߱c?,Β 8B3?*j޹2j*p05G{@G]@:\Y@p5?3`?N@o?j=B jCi?inDjs&Cj?jKjVBrjvCzj> addTargetRange:: Added new target pos. range: 471.500000 m, deltaT: 16.380120 s, deltaX: -7.299988 m, approachRate: -0.445661 m/s, rangeRepo size: 4  Added new target pos. range: 469.982788 m, bearing: 14.786559 deg, lat: 36.779422 deg, lon: -121.859549 deg, deltaT: 16.380120 s, deltaX: -7.365753 m, approachRate: -0.449676 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 469.98 m."i*i ProNav: ac range: 469.982788 m, nav range: 464.928375 m, bearing: 14.778047 deg, approach rate: 0.000000 m/s, LOS rate: -0.008790 deg/s, cmd heading: 16.139501 deg, new cmd heading: 16.129897 deg. iHeadingCmd: 0.281520 target range: 469.982788 and range: 471.50 m.h^#>hhhh g g jg rgBereZe:ex}@*eX?颥Bɢ}l) o>i)n!顩i {=I=I^#>IԱu9@q @q@u0@q*DAT read: user:122> BDAT read: Tx time:04:10:57.8889 $Ping request sent.ޯ9%,QԖLA24=2ZB>2X=ٱ2-=2H 1? ӿ¿? \?`eÿ?@->?@]D?i24=I2ki];0Y>By> IbDJݿVDJ8yR >%R|=ٔRq;Q-R ?9TYT=VEyVKDVxEZ ?\Q 5b4^g ?Q 9b4^K)^QBY`ybټ>Q Ib@^B$DI^G:i^:^d4yfBɮjAxh:iyFNOT Ignoring new targets: 469.98 m."i-*i- ProNav: ac range: 469.982788 m, nav range: 464.776855 m, bearing: 14.775967 deg, approach rate: -0.509967 m/s, LOS rate: -0.007004 deg/s, cmd heading: 16.129898 deg, new cmd heading: 16.125736 deg. iMHeadingCmd: 0.281447 target range: 469.982788 and range: 471.50 m.h>hhhhggjgrgereZe:e*e/?BɢIN ) >i)F! i =r=I>IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2516769@ @@?5@!^AX=I)IAOM1>YB5Z>B5jCB5 IB5BB5 =B1B5DB5ʉ;B5,AEԁ i I % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506582@%,mՖLA2=23>2Ȗ<ٱ2=2H4?`ҿĂ¿ Ó?`v^?ÿ@p? 2?KF?i2=I2G];2CEB EBEB%E@"EB&:*EB]t:VEB 4ZE@BEBb;ye9Y=EyUDE>Q 54) ?Q 94fI) RBYk>Q E:y>Q I@Q$DIH;i;Im4yɮ%A:iFNOT Ignoring new targets: 469.98 m."ilȸ*ilȸ ProNav: ac range: 469.982788 m, nav range: 464.534821 m, bearing: 14.773332 deg, approach rate: -0.502815 m/s, LOS rate: -0.005476 deg/s, cmd heading: 16.125737 deg, new cmd heading: 16.120465 deg. iV HeadingCmd: 0.281355 target range: 469.982788 and range: 471.50 m.h >hhh h g g jgrgvBereZe:e*e ?EBɢMRm )I Mޘ>iI)M IIiU2U=]j=I] >IYԡechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755051m9@i @i@m0@i^A D= A I I O >G%,^cՖLA2=2>2VT;ٱ2u=2H 7?$ҿ`SR¿9?^?ÿ`)I?@?F?i2=I2 ];2C :C):V~A:C8<>C>r~Ai>`eI<%nu=ٔn(r;Q-r?9pYp=rEyr\DvEv?xQ 5~4z6 ?Q 9~4zG)z*RBY|y~>Q I~@z\$DIz:iz2:zs4y Bɮ A E%B*** querying acoustic contact ***i!i!=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006878:i9EFNOT Ignoring new targets: 469.98 m."iEÿ*iMÿԉ  ProNav: ac range: 469.982788 m, nav range: 464.373108 m, bearing: 14.771579 deg, approach rate: -0.483023 m/s, LOS rate: -0.005239 deg/s, cmd heading: 16.120466 deg, new cmd heading: 16.116958 deg. i hHeadingCmd: 0.281294 target range: 469.982788 and range: 471.50 m.h>hhhhggjgrgere!Ze!:e!*e%?颕Bɢʏ) >i)Q 顙i=IE  E E )E "E :*E k:VE FA4ZE a@a@a@a@]9@a @a@e/5@aԹ^A=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259494 i m C pG% zAA b9 zAY AA .AI  I O% >&M%,(7ՖLA2ʸ=2>2>9ٱ2V=2H@8?9ӿ¿@a?`vY?7Ŀ?`I?@F?i2ʸ=I2d*^;2CYXByR IbD-VD-8y=7=%EE=ٔEQz;Q-E>9M ?YM ?=MEyMeDMП:EM>BYAYBe\>BekCBe IBeBBe =BaBeDBe;BeAEQQ 5}4UF ?Q 9}4U%F)UNRBYy)>Q I@Ui$DIU;iU\;U]z4yɮA:iFNOT Ignoring new targets: 469.98 m."i*i ProNav: ac range: 469.982788 m, nav range: 464.171417 m, bearing: 14.769377 deg, approach rate: -0.483147 m/s, LOS rate: -0.005275 deg/s, cmd heading: 16.116958 deg, new cmd heading: 16.112554 deg. iyHeadingCmd: 0.281217 target range: 469.982788 and range: 471.50 m.h>hhhhggjgrgereZe:e*eq?%Bɢ-c)) -I>i))-j )1i5|=t=I>Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513102)@ @@?5@D%=D!E- E-E-'E)"E-:*E-~:VE-'4ZE)BE-3eT%,fPՖLAZ=ZpB>Ze8ٱZcG=ZH8?ӿҟ?MR?-Ŀ@R?`z?C?iZ=IZ<^;XYBy IiMb@Mb@Mb@ 9Mb?y&1?Y?y`<=@^A ^ A)S@Y@bD5VD58yE3>%M<=ٔM;Q-M>9U"?YU"?=UEyUmDU:EU>YQ 5e4i]W ?Q 9u4]BD)]xRBYu?Q Eu:yu>Q Iu@]v$DI]O;i]O;]4y}BɮXA:iFNOT Ignoring new targets: 469.98 m."i*i ProNav: ac range: 469.982788 m, nav range: 463.957123 m, bearing: 14.767196 deg, approach rate: -0.495344 m/s, LOS rate: -0.005044 deg/s, cmd heading: 16.112555 deg, new cmd heading: 16.108190 deg. iHeadingCmd: 0.281141 target range: 469.982788 and range: 471.50 m.h>hhhhggjgrgBereZe:e*e@Bɢt) >i) i;i>!=y=I>Iԑ9@ @@75@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014788bE!4jE{4rE5/EA  EE EE $EA "EA *EE e:VEE 4ZEA aU @aU @aU @aU @^AU =A] >A] > A I I O >_Z%,kՖLA65=6A>678ٱ6=6H 7? )ӿGv`?@J?UIſ@%?? ?@?i65=I6p^;6CYFByJ IbDTVDTyb1>%b_=ٔf:Q-f>9hYh=jEyjuDn;En>tQ 5z4v#f ?Q 9z4vB)vRBY|y~r>Q I~@v$DIv);iv6;vj4y ɮ@:iIMFNOT Ignoring new targets: 469.98 m."iU*iU- ProNav: ac range: 469.982788 m, nav range: 463.775543 m, bearing: 14.765331 deg, approach rate: -0.488481 m/s, LOS rate: -0.005020 deg/s, cmd heading: 16.108190 deg, new cmd heading: 16.104458 deg. i-5HeadingCmd: 0.281076 target range: 469.982788 and range: 471.50 m.h5+>h1h1h1h1g1g1jg9rg9e9re9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266992qZeA:eq*eu,@Bɢ(h) >iA)EɞAIiM`;iM+>U$=Uܛ=IU+>IauJ>iqԑ9@ @@#5@B `>B lCB A!IB BB  =B B B ;B @EBBBƔCB =B =CƦ&6Թ^A >=5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521722 D zD ?AE  E E 'E "E %;*E :VE '4ZE BE KTa%,JՖLAF6=Fr>F7ٱF=FH 7?5ӿ 5I `?@F?@%ſ?&>?M>?iF6=IFM^;FCYRByR Ii-Mb@Mb@Mb@)))) )9-+? ףp= ?Y-v>y-Q8=)-@-A -A)-=@)Y-@bDE VDE8yz=%7=ٔ:Q->9Y=Ey~D ߏ:E >Q 54Cw ?Q 94@)RBY>Q E%:y%>Q I%@$DIE:i :44y-Bɮ-@-E:iQUFNOT Ignoring new targets: 469.98 m."i]I*i]Im ProNav: ac range: 469.982788 m, nav range: 463.558624 m, bearing: 14.762141 deg, approach rate: -0.491188 m/s, LOS rate: -0.007228 deg/s, cmd heading: 16.104457 deg, new cmd heading: 16.098073 deg. imSuHeadingCmd: 0.280964 target range: 469.982788 and range: 471.50 m.huڏ>hqhqhqhygygyjgyrg}BereZe:e*e`:t@ԩ颽Bɢs) M?i)y1i";iڏ>'=lȜ=Iڏ>I}9@y @@/@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770921^A= A I I O% >) Myg%,XՖLAbchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022822YւBy IbD)VD)y=M>%=X=ٔEQ-E>9AYA=MEyMDMEM>QQ 5]4Uȅ ?Q 9]4U>)URBYayaQ Ie@U$DIU;iU;Uϖ4yiɮm#@iE EE%E"E;*E:VE 4ZEa@a@a@a@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 469.98 m."i*i ProNav: ac range: 469.982788 m, nav range: 463.374664 m, bearing: 14.759432 deg, approach rate: -0.437026 m/s, LOS rate: -0.006436 deg/s, cmd heading: 16.098073 deg, new cmd heading: 16.092655 deg. i%t<%HeadingCmd: 0.280870 target range: 469.982788 and range: 471.50 m.h%+Ώ>h)h)h)h)gIgIjgQrgQeQreQZeY:eY*e]@ @EBɢE`M) 5?i) i!;i+Ώ>+=՜=I+Ώ>IA}9@y @y@4@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274756i ^A A xAzA ԑ A I I A A AAB B B !IB \BB =B B B h;B @EO >n%,_ѺՖLAJ"<=J">J6ٱJA=JH7?@;ӿ#?@D?@ſj?@F???iJ"<=IJ];HYVByZ!IbDbVDb8yj=%nD=ٔn!,;Q-n>9pYp=rEyrDr":Er>tQ 5z4vĕ ?Q 9~4v<)vSBY|y~>Q I~@v$DIv;iv;v4yBɮ@ :i)5FNOT Ignoring new targets: 469.98 m."i= *i= M ProNav: ac range: 469.982788 m, nav range: 463.172150 m, bearing: 14.756436 deg, approach rate: -0.542866 m/s, LOS rate: -0.008035 deg/s, cmd heading: 16.092655 deg, new cmd heading: 16.086660 deg. iMHkUHeadingCmd: 0.280765 target range: 469.982788 and range: 471.50 m.hUt>hQhQhQhYgYgYjgYrgYeareaZea:ea*ee r @颕Bɢݽ),  ?i);顙i;it>.==It>IԱ-BDAT read: Rx Time:04:11:00.9190 =TRx dataTimestamp_ set to:1764907863.023238Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.534476e9@a @i@m/@q@=@E EE'E"ET;*E:VE'4ZEBEG;a:E>;a^A= A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778835) t%,ՖLA2A=23$>25ٱ2$I=2H 8?9ӿB?E?ſ؛?4? A?i2A=I2IJ];2CY>By> !IiMb@Mb@Mb@ 9Mb?333333?~jtx?Y?y=;@1A -A)@Y(@bDݿVD8y=%==ٔ:Q->9Y=EyD.7E>Q 54 ?Q 94a:)ASBYz?Q E:y>Q I@$DI;i;4yɮj@:i FNOT Ignoring new targets: 469.98 m."i{F*i{F% ProNav: ac range: 469.982788 m, nav range: 462.956787 m, bearing: 14.751757 deg, approach rate: -0.498912 m/s, LOS rate: -0.010845 deg/s, cmd heading: 16.086660 deg, new cmd heading: 16.077297 deg. i-ɞ-HeadingCmd: 0.280602 target range: 469.982788 and range: 471.50 m.h- >h1h1h1h1g1g1jg9rg=Be9re9ZeA:eA*eE@uBɢu&w)q u$?iy)}yyi}M;i >C3='=I >I9@ @@@9UDAT read: 04:11:00.9190 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 406, 0.36, 2.520, 0.917, 2.751, 2.087, PHS= 0.535,-1.124, 0.620, RAW= 152.5, -0.4, CAL= 151.4, -1.2, ROT= 358.6, 1.2 ]Ygot valid direction response: 04:11:00.9190 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 406, 0.36, 2.520, 0.917, 2.751, 2.087, PHS= 0.535,-1.124, 0.620, RAW= 152.5, -0.4, CAL= 151.4, -1.2, ROT= 358.6, 1.2 ePDAT read: Bearing 168.6, 8.6 (Local) e~Local bearing/azimuth received: Bearing 168.6, 8.6 (Local) uDAT read: Range 11 to 50 : 469.4 m (Round-trip 625.9 ms) speed 0.4 m/s uR#Rx 1: Read range and direction messages.`direction in FSK: [0.999482,-0.024427,-0.020942]Fpublishing direction and range infoy!%/?I_2qY%C!!!% !)%GI%?i%;ߏ%R?!%%)@ %)%G@I%{%,)yՖLAY]*By]S!I*DAT read: user:123> BDAT read: Tx time:04:11:02.1389 $Ping request sent.%6=ٔQ->9Y=EyD%E%>)Q 554- ?Q 954-7)-qSBY1y9Q I=@-$DI-:i-:-w4yEBɮE@EEiiIiMkՖLAjMC"jMC:jM>"pMH(:}@a&m 6#pM/?I_2q*jM*ȼ2jM<*pM{@^@p|Q@pMj‚?PTKy?.?jMB jM7CiM뫟?iM jM9 CjM뫟?jIjM9 CrjMCzjM> addTargetRange:: Added new target pos. range: 469.399994 m, deltaT: 4.283979 s, deltaX: -2.100006 m, approachRate: -0.490200 m/s, rangeRepo size: 4  Added new target pos. range: 467.913452 m, bearing: 15.099010 deg, lat: 36.779412 deg, lon: -121.859549 deg, deltaT: 4.283979 s, deltaX: -2.069336 m, approachRate: -0.483041 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 467.91 m."i*i- ProNav: ac range: 467.913452 m, nav range: 461.711487 m, bearing: 14.780246 deg, approach rate: 0.000000 m/s, LOS rate: -0.010845 deg/s, cmd heading: 16.077297 deg, new cmd heading: 16.067352 deg. i)5HeadingCmd: 0.280428 target range: 467.913452 and range: 469.40 m.h5I>h1h1h1h1g1g9jg9rg9e9reAZeA:ee`fV}@*ee@1@?Bɢfܽ) 7?i)=i|;iI>[8=t=II>IIB^>BkCB!IBBB =BBBR;B@Eԙ9@ @@/@U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251283 ^A ܝ=A >A ?E-  E- E- %E) "E- V:*E- :VE- 4ZE) BE- 9˭%,m< ֖LA^d=^+D>^c4ٱ^4=^H`9?<ӿ`;?D?4ſ@?R?A?i^d=I^Ͱ];^CYz?Byzn!IiMb@Mb@Mb@ 9MbX9?Mb?91Y1=5Ey5D5:E5>9Q 5E4= ?Q 9M4=^5)=SBYM?Q EM:yMj>Q IM@=$DI=;i=;=ɴ4yQɮUN@Yi:iFNOT Ignoring new targets: 467.91 m."iu*iu ProNav: ac range: 467.913452 m, nav range: 461.505066 m, bearing: 14.774741 deg, approach rate: -0.503278 m/s, LOS rate: -0.013426 deg/s, cmd heading: 16.067352 deg, new cmd heading: 16.056339 deg. iĹHeadingCmd: 0.280236 target range: 467.913452 and range: 469.40 m.h{>hhhhggjgrgBereZe:e*e?Bɢ~˽) @?i)\  i 4;i{>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.519063<=B=I{>Iԑ% ;I))-yA 9@  @ @ 2@ @ @ zAi I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751745 E  E E &E "E l;*E h:VE 4ZE a @a @a @a @^A }=9AIIO-?Ŋ%,b3ٱbi=bH:?b=ӿ@? F??ſ Z?þ?E?ibƋ=Ib];`YnZByn!IbDvVDv8y=B=%=#=ٔ=;Q-E>9AYA=EEyEDM:EM>QQ 5]4U ?Q 9]4U\2)USBYYy]>Q Ie@U$DIU2:iUQ;U4ymBɮm@iB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 467.91 m."iq*iq ProNav: ac range: 467.913452 m, nav range: 461.258545 m, bearing: 14.768144 deg, approach rate: -0.493241 m/s, LOS rate: -0.013207 deg/s, cmd heading: 16.056339 deg, new cmd heading: 16.043137 deg. i\HeadingCmd: 0.280006 target range: 467.913452 and range: 469.40 m.h\>hhhhggjgrgereZe:e*e?9echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004312ŁBɢԽ) J?i)oi*;i\>C==I\>I a@ @@35@BA<BW>BjCB5"IBBB =BBBW;Bԉ^A =% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258178 E  E E %E "E &:*E :VE 4ZE BE b;%,F֖LAYE|ByE!IiMb@Mb@Mb@ 9x&1?y&1?Q?YA?y`=u<@ GA)@Y@bDVD8y!>%@=ٔQ->9Y=EyDE> Q 54 t ?Q 94 /)  TBYz?Q E:y?Q I@ $DI :i F: 4y%Bɮ%@-E:iFNOT Ignoring new targets: 467.91 m."i$*i$  ProNav: ac range: 467.913452 m, nav range: 461.051697 m, bearing: 14.761617 deg, approach rate: -0.467837 m/s, LOS rate: -0.014769 deg/s, cmd heading: 16.043138 deg, new cmd heading: 16.030078 deg. i :ع HeadingCmd: 0.279778 target range: 467.913452 and range: 469.40 m.h?>hhhhggjg9rg=Be9reAZeA:eA*eE@?颭ɁBɢL) Y?i)itp;i%?>%I=%Ҡ=I%?>I)}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508573)0Y M 9@Q  @Q @U 0@Q @] =@] =ԁ % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759518^A=AzAvAE EEE"E;*E:VEZEa@a@a@a@ԩAIIO?0%,@j֖LA2&=2>2v1ٱ2=2H0=? 3)ӿ7&?@Q?LĿ z??O?i2&=I2];2CY>By>!IbDFVDF8yN=%N=ٔR;Q-R>9PYP=VEyVDVEV>\Q 5b4^} ?Q 9b4^W,)^GTBYdyf?Q Ij@^%DI^I;i^@;^4ynBɮr@p:i%FNOT Ignoring new targets: 467.91 m."i-*i-E ProNav: ac range: 467.913452 m, nav range: 460.801331 m, bearing: 14.753702 deg, approach rate: -0.496322 m/s, LOS rate: -0.015699 deg/s, cmd heading: 16.030078 deg, new cmd heading: 16.014240 deg. iE幝UHeadingCmd: 0.279501 target range: 467.913452 and range: 469.40 m.hU>hQhQhYhYgYgYjgargaeare Ze :e *e N@]΁Bɢ]& ý)Y ]>d?iY)顁i:;i>P=&>=I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012381BG-{AA}9}{AY}աA9@ @@/@BV>BB"IBBBBBB_;B@E!Q iy Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267587^A ͢=DI zDM @AEU  EQ EU "EQ "EU :*EQ VEU (3ZEQ BEU >%,֖LA 6=6yO>6/ٱ6u_=6H@?ӿ~?@S?@Ŀ\?? S?i6=I6];6CYBByB!Ii Mb@Mb@Mb@     9 w/?Q?~jth?Y ?y = D; @ @ A) \@ Y @bD% VD%8yM=%M&=ٔfD;Q->9Y=EyDmCE>Q 54= ?Q 94()~TBY^ ?Q E:y?Q I@%DI,:i:4yBɮ9@E:iFNOT Ignoring new targets: 467.91 m."iS*iS- ProNav: ac range: 467.913452 m, nav range: 460.541138 m, bearing: 14.745281 deg, approach rate: -0.517436 m/s, LOS rate: -0.016756 deg/s, cmd heading: 16.014239 deg, new cmd heading: 15.997388 deg. i-R5HeadingCmd: 0.279207 target range: 467.913452 and range: 469.40 m.h5;>h1h1h1h9g9g9jg9rg=āBeAreAZeA:eA*eM(@uӁBɢu-T)y }En?iy)}yyi}Ǧ;i;>W=t=I;>II9@ @@ 0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517603q^AM=ԙ Aq I I O >6D%,֖LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767524:Y=:痒>:.ٱ:K=:H@?&ӿ@?`Q?z(Ŀ?޼? S?i:Y=I:9^;:C@Y~ǃBy~"IbD  VD 8yC=%N=ٔ%X;Q-%>9!Y!=-Ey-D-Z:E->1Q 5U45 ?Q 9]45D&)5TBYYy]4?Q I]@5%DI5A;i5Ǹ;54yiɮm@i:iFNOT Ignoring new targets: 467.91 m."i*i ProNav: ac range: 467.913452 m, nav range: 460.345093 m, bearing: 14.738917 deg, approach rate: -0.508124 m/s, LOS rate: -0.016503 deg/s, cmd heading: 15.997387 deg, new cmd heading: 15.984653 deg. i񹝏HeadingCmd: 0.278985 target range: 467.913452 and range: 469.40 m.h׎>hhhhggjgrgereZe:e*e͞@bE-4jE-4rEQ/E EE'E"E&:*E:VE'4ZEa @a @a @a @ցBɢҗ) x?i).$ic;i%׎>%]=%d=I%׎>I)ԩ9@ @@0@@xA@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020056^A`=A>A> Aa Iq I O A A @AB R>B B "IB UBB B B DB r;B @EBBkCB˓CB =B =CJ5n%,쇼֖LAlYrByr8"IbDz VDz8y% >%-J=ٔ-Q-->91Y1=5Ey5D5E5>Q 54L0 ?Q 94l#)TBYyQ I@.%DI%;ie&;4yBɮ@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 467.91 m."i*i ProNav: ac range: 467.913452 m, nav range: 460.131927 m, bearing: 14.731990 deg, approach rate: -0.516246 m/s, LOS rate: -0.016783 deg/s, cmd heading: 15.984654 deg, new cmd heading: 15.970794 deg. iHeadingCmd: 0.278743 target range: 467.913452 and range: 469.40 m.he>hhhhggjgrgereZe:e *e @& @5ځBɢ5)9 =[?i9)=H99iEM;iEe>Mc=M ۢ=IMe>IIMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2739219@ @@i1@E- E-E-%E)"E-s!;*E-ą:VE- 4ZE)BE-x X#Rx 1: Read direction message, but no range. `direction in FSK: [0.999572,-0.008723,-0.027922]y! % ~?j:Q݁|p}! % V% i% c % cy)% EI% D ?i% H኿% #?% V)@% d% 0(@ % )% ^@I% `;@5@ @)@Y@bDVDð8y2=%3=ٔQ->9Y=EyDE>Q 54>A ?Q 94Z )UBY?Q E:y?Q I@<%DI;i;4yɮ4@:i!%FNOT Ignoring new targets: 467.91 m."i%*i-= ProNav: ac range: 467.913452 m, nav range: 459.907776 m, bearing: 14.724296 deg, approach rate: -0.501999 m/s, LOS rate: -0.017239 deg/s, cmd heading: 15.970794 deg, new cmd heading: 15.955399 deg. i=dEHeadingCmd: 0.278474 target range: 467.913452 and range: 469.40 m.hE->hAhAhAhAgAgAjgIrgMBeIreQZeQ:eQ*eU}@颅ށBɢm䠽) ?i)V顉i0};i->j=ZS=I->Ii9@ @@n0@ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseԑE EE#E"E;*EM:VE3ZEa%@a%@a%@a%@^A A I I O >L%,G=֖LAY%By%c"IbDEVDEŰ8yu >%uc=ٔyQ-}>9yYy=EyDE>Q 54N ?Q 94).UBT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԩYyQ I@H%DI;i;4yɮ@:iFNOT Ignoring new targets: 467.91 m."ii*ii ProNav: ac range: 467.913452 m, nav range: 459.727325 m, bearing: 14.718096 deg, approach rate: -0.497294 m/s, LOS rate: -0.017093 deg/s, cmd heading: 15.955399 deg, new cmd heading: 15.942994 deg. iAHeadingCmd: 0.278258 target range: 467.913452 and range: 469.40 m.hw>hhhhggjg rg e re Ze:e*es2@EBɢEx)Eu ES?iA)MIIiM3Co;iUw>Up=U0=IUw>IYIa)a9@ @@?5@@=@=BM>BiCB"IBBB =BBB;B@E^A5=M T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapseAI Ii I O >! EM  EM EM %EI "EM ;*EM 5:VEM 4ZEI BEM 8C2 L(ٱ2 =2HD?`5ӿ m?MO?@ÿ@K?N?z\?i2=I2.`;2CYNByR`"IiUMb@Mb@Mb@QQQQ Q9U/$?"~j?y&1|YU1?yUS=U`Ur@U@ Ux@)U@QYU@ u9Y=EyDt;E>Q 54 _ ?Q 94%)UUBY" ?Q E:yp>Q I@V%DI4:i:4yBɮ@E:iFNOT Ignoring new targets: 467.91 m."iG*iG ProNav: ac range: 467.913452 m, nav range: 459.515472 m, bearing: 14.711631 deg, approach rate: -0.523562 m/s, LOS rate: -0.015986 deg/s, cmd heading: 15.942993 deg, new cmd heading: 15.930057 deg. i 깝 HeadingCmd: 0.278032 target range: 467.913452 and range: 469.40 m.h 4Z>h h h h ggjgrgBereZe:e*e%@@MBɢMt)I U?iQ)UQQi]~[;i]4Z>]y=ejY=Ie4Z>Ia@ @@@5@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse!Q^AТ=A I I O y ȵ%,$זLA T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse:c=:쾓>:&ٱ:M=:H`tE?;ӿ9)?1N?ÿ`Ͼ??d^?i:c=I:+a;8YFByFz"IbDN VDN8yV?=%VX=ٔZE;Q-Z>9XY\=^Ey^D^ٸ:E^>`Q 5j4bn ?Q 9j4b)byUBYhyj>Q Ij@bc%DIbo;ibZ;b4ylɮr\@p:i FNOT Ignoring new targets: 467.91 m."i *i ProNav: ac range: 467.913452 m, nav range: 459.319122 m, bearing: 14.705621 deg, approach rate: -0.519885 m/s, LOS rate: -0.015920 deg/s, cmd heading: 15.930057 deg, new cmd heading: 15.918031 deg. i%鹝%HeadingCmd: 0.277822 target range: 467.913452 and range: 469.40 m.h%>>h!h)h)h)g)g)jg1rg1e1re1Ze9:e9*e=S@uBɢu5)y }c?iy)}&yyi})H;E EE$E"E;*E҆:VE4ZEa@a@a@a@i>>%=%O=I%>>I)I9@ @@4@qT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^AT=ԡA I I O >Bi Am 4=Bu K>Bq Bu (#IBu BBq Bq Bu DBu ;Bu @E ε%,x=זLA2=2>281%ٱ2=2H`DG? 9ӿȾS?,N?ÿA?@m ?`?i2=I2b;2CY>)By>"IbDF!VDF˰8yNӣ=%NL=ٔRq;Q-R>9PYT=VEyV DVUg8EV>XQ 5^4Z} ?Q 9^4Z)ZUBY`yb>Q Ib@Zq%DIZi:iZ0;Z4yf}Bɮf8@d:ixzFNOT Ignoring new targets: 467.91 m."i*i ProNav: ac range: 467.913452 m, nav range: 459.111053 m, bearing: 14.699246 deg, approach rate: -0.520877 m/s, LOS rate: -0.015964 deg/s, cmd heading: 15.918031 deg, new cmd heading: 15.905277 deg. i鹝HeadingCmd: 0.277599 target range: 467.913452 and range: 469.40 m.h!>hhhhgg!jg!rg!e!re)Ze):e)*e-@@UBɢz) ?i)i3;i!>{==I!>IԱ5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseE  E E E "E T;*E :VE ZE BE Gi9@ @@0@@zA@  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^AI I AIIO> ֵ%,o\זLA2F=2䀓>2\#ٱ2ɤ=2H`XJ?9Y=EyD%~E>Q 54 ?Q 94)UBY ?Q E:y>Q I@%DI:i;4y{Bɮ^@EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 467.91 m."i w*i w ProNav: ac range: 467.913452 m, nav range: 458.838989 m, bearing: 14.692346 deg, approach rate: -0.531936 m/s, LOS rate: -0.013499 deg/s, cmd heading: 15.905277 deg, new cmd heading: 15.891469 deg. iŹHeadingCmd: 0.277358 target range: 467.913452 and range: 469.40 m.h>hhhhggjgrgBereZe:e*e@Bɢϕ) ?i))  i ;i >B=1 =I>IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseq歼}9@y @y@}^2@yE EE'E"E ;*EM:VE'4ZEa@a@a@a@ ^A A  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA% .AIq I O >ݵ%,wזLA6;=6$4>6!ٱ6=@=6H@M?"ӿ ?@R?`1ÿ$??d?i6;=I6Yrd;6CYBLByB"IbDJ VDJ8yR=%RU=ٔVA;Q-V>9Z ?YZ ?=ZEyZDZǺEZ>\lQ 5z4^ ?Q 9z4^G)^UBYxyz>Q I~@^%DI^;i^g;^@4yɮ@:iFNOT Ignoring new targets: 467.91 m."ii*ii ProNav: ac range: 467.913452 m, nav range: 458.634369 m, bearing: 14.687169 deg, approach rate: -0.505067 m/s, LOS rate: -0.012785 deg/s, cmd heading: 15.891470 deg, new cmd heading: 15.881110 deg. i0HeadingCmd: 0.277178 target range: 467.913452 and range: 469.40 m.h;>hhhhggjgrgereZe:e*e`(@Bɢ kk)  p?i ) i1;i;>=p=I;>IBH>BhCBN#IBńBBBBB;B@EmT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse1 9@ @@0@DizDiE EE%E"E;*E:VE 4ZEBEb<%,זLA6ٽ=6KC>6ٱ6=6H&W?ҿ 1+@x?@YX?@"ÿ`؝?ۼ?cj?i6ٽ=I6 g;6CYB`ByB"Ii}Mb@Mb@Mb@yyyy y9}HzG?MbX9?~jtxY}= ?y}ʡ=}Ļ}@}&@ }@)}@yY}(@bDVDŰ8y=%=ٔ89Y=Ey%DHiE>Q 54 ?Q 945 )VBY ?Q E:y>Q I@%DIu;i;E 4y~Bɮ@ E:iFNOT Ignoring new targets: 467.91 m."i a*i a ProNav: ac range: 467.913452 m, nav range: 458.360474 m, bearing: 14.681055 deg, approach rate: -0.552814 m/s, LOS rate: -0.012348 deg/s, cmd heading: 15.881110 deg, new cmd heading: 15.868874 deg. iʴ%HeadingCmd: 0.276964 target range: 467.913452 and range: 469.40 m.h%=΍>h!h!h!h!g)g)jg1rg5Be1re1Ze1:e1*e=@eBɢe{) ?i)4i:i=΍>٨=ڙ=I=΍>IAAUT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseA@ @@0@E  E E (E "E O;*E :VE c44ZE a @a @a @a @q ^A A yAzA wA 9 E C ݂G Mo9IYUkAIIO[%,זLA "T****** received valid address query ******"R****** received valid ping request ******"received new query, but waiting for acoustic response period to elapse^Ɉ=^=Ƒ>^ٱ^=^H{]?ҿs?`]?8ÿ,??o?i^Ɉ=I^h;^CY=nBy="IbDMVDM8y]n=%],=ٔe;Q-e>9aYa=mEym/DmEm>qQ 5}4u ?Q 9}4uc )uEVBYy5>Q I@u%DIu:iu:u(4yɮ@:iFNOT Ignoring new targets: 467.91 m."iQX*iQX ProNav: ac range: 467.913452 m, nav range: 458.108521 m, bearing: 14.675457 deg, approach rate: -0.531750 m/s, LOS rate: -0.011820 deg/s, cmd heading: 15.868874 deg, new cmd heading: 15.857673 deg. iHeadingCmd: 0.276769 target range: 467.913452 and range: 469.40 m.h>hhhhggjgrgereZe:e*e`}w@uBɢu x)y }@?iy)}Kyyi}::i>= =I>IIBE>BBz#IBBB =B=DBB;B@EA@A @A@E?0@Aԁ T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^Ah=ԩ D D <E  E E &E "E ;*E :VE 4ZE BE n_%,lזLA:i=:6>:ٱ:=:HYd?@#ҿ޳`?b?¿`?2?`u?i:i=I:h;:C@Y^Byb"IiMb@Mb@Mb@ 9?Mb?Mb`Yf?y=@@ S@)\@YG@bDɿVDz8y=%C=ٔ 9Y=Ey7D*E>aQ 5m4e ?Q 9m4e )eiVBYue?Q Eu:yu>Q Iu@e%DIe ;ie ;e$04y}|Bɮ@:iFNOT Ignoring new targets: 467.91 m."i2*i2 ProNav: ac range: 467.913452 m, nav range: 457.884430 m, bearing: 14.671221 deg, approach rate: -0.516559 m/s, LOS rate: -0.009769 deg/s, cmd heading: 15.857672 deg, new cmd heading: 15.849196 deg. iHeadingCmd: 0.276621 target range: 467.913452 and range: 469.40 m.h9>hhhhggjgrgBereZe:e*e4@ Bɢ T)  ?i)0 i:i9>߶=k=I9>I!]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseԱ@ @@V0@^AТ=I1 IA OM >  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse%,͏זLAbE} 4jE}4rE}ַ/E6 E6^E6$E4"E6;*E6 ;VE64ZE4a:@a:@a:@a:@>=>R>>uٱ>=>H`j?`qҿ  Q?Uh?Oy¿`>? g?{?i>=I>S/h;9)Y)=-Ey5?D5"E5>YQ 5e4] ?Q 9e4])]VBYiymf>Q Im@]%DI]2:i]:]64yqɮuZ@qB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 467.91 m."i/*i/ ProNav: ac range: 467.913452 m, nav range: 457.693085 m, bearing: 14.667626 deg, approach rate: -0.510778 m/s, LOS rate: -0.009601 deg/s, cmd heading: 15.849196 deg, new cmd heading: 15.842002 deg. iHeadingCmd: 0.276495 target range: 467.913452 and range: 469.40 m.hĐ>hh1hQhQgYgYjgYrgaeareaZei:ei*em a @Bɢ j<) ?i) it@:iĐ>%=%=I%Đ>I!I5yA)1Q@ @@0@eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseq^A ͢=Iq I O >B B>B B #IB BB =B B B ;B @EB}hCB}hCByB} =B} =C}H^5ԡ %,jؖLA6b.=6k_>6-ٱ6T=6H@p?`ҿ/ ɢ?Jk?K¿?S? u?i6b.=I6g;4YBByB #IbDN VDN8yVO?=%VR=ٔZ 9XYX=ZEyZGD^E^>`Q 5f4b ?Q 9f4b)bVBYhyj>Q Ij@b%DIb):ib:bS=4yn{Bɮn@nE:iFNOT Ignoring new targets: 467.91 m."i s3*i s3 ProNav: ac range: 467.913452 m, nav range: 457.494141 m, bearing: 14.663904 deg, approach rate: -0.523849 m/s, LOS rate: -0.009805 deg/s, cmd heading: 15.842002 deg, new cmd heading: 15.834555 deg. i%HeadingCmd: 0.276365 target range: 467.913452 and range: 469.40 m.h%>h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e5 !@eBɢe8 )a m֧?ii)m{, iiimw9iu>u;=u̟=yI}>I%T****** received valid address query ******%R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseE9@A @I@U'5@QDqzDu?AE EE%E"E;*E:VE 4ZEBE` T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse %,FؖLA6=6K>6% ٱ6*u=6Ht?"ҿ`ܢ?9j?g¿ I?!??i6=I69qg;6CYBByB:#IiMb@Mb@Mb@ 9S㥛?p= ף?MbP?Y$?y=:r@@ @)E@Y @bD-VD-8y=I=%=B=ٔ=U9AYA=EEyEODM EM>QQ 5]4U ?Q 9]4U)UVBY],?Q Ee:ye>Q Ie@U%DIU;iU;UD4yiɮmU@i:iFNOT Ignoring new targets: 467.91 m."i2*i2 ProNav: ac range: 467.913452 m, nav range: 457.276306 m, bearing: 14.659787 deg, approach rate: -0.515997 m/s, LOS rate: -0.009757 deg/s, cmd heading: 15.834554 deg, new cmd heading: 15.826316 deg. iڎHeadingCmd: 0.276221 target range: 467.913452 and range: 469.40 m.hl>hhhhggjgrgBereZe:e*ed!@颍Bɢt8) u?i) i`9i%l>%Ŗ=%=I%l>I)9@ @@@5@@=@=-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseaE EE'E"E;*E:VE'4ZEa@a@a@a@ԑ^Ai=A ؟AI I O >Թ %, 6ؖLA2=2D>2ٱ2=2Hzy?`=ҿ > N?i?¿@Y?`˼?n?i2=I2v=g;2CBT****** received valid address query ******BR****** received valid ping request ******Breceived new query, but waiting for acoustic response period to elapseY^ƄBybN#IbDjVDj8yuM=%uG=ٔu<9}"?Y}"?=}Ey}XDE>Q 54W?Q 94o)VBYym>Q I@%DI';if;K4yyBɮ3@:iFNOT Ignoring new targets: 467.91 m."iY2*iY2 ProNav: ac range: 467.913452 m, nav range: 457.063904 m, bearing: 14.655783 deg, approach rate: -0.516722 m/s, LOS rate: -0.009745 deg/s, cmd heading: 15.826315 deg, new cmd heading: 15.818303 deg. iHeadingCmd: 0.276081 target range: 467.913452 and range: 469.40 m.hZ>hhhhggjgrgereZe:e*e"@-Bɢ-)) -?i))5-11i52i=Z>=ɖ==~m=I=Z>IAM?>iM>ԑB]<AYBe?>BegCBe#IBe&BBe =BaBeDBe;Be@E@ @@4@^A`==T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseE  E E %E "E ;*E :VE 4ZE BE  %,OؖLARρ=R>R5ٱR=RHz}? ҿ H`$?&g?`¿([?@"t??iRρ=IRg;RCYj܄Byji#IiMb@Mb@Mb@ 9T㥛 ??Mb?Y?yL=<E@S@ @)@Y@bD VD8y^=%D=ٔ9Y=Ey`D[E>Q 54-?Q 94h) WBY?Q E:y>Q I@&DI?;ie;)S4yɮ@:i)-FNOT Ignoring new targets: 467.91 m."i5 *i5 E ProNav: ac range: 467.913452 m, nav range: 456.857117 m, bearing: 14.652576 deg, approach rate: -0.496658 m/s, LOS rate: -0.007705 deg/s, cmd heading: 15.818303 deg, new cmd heading: 15.811887 deg. iEaMHeadingCmd: 0.275970 target range: 467.913452 and range: 469.40 m.hMK>hIhIhIhIgIgQjgQrgUkBeYreYZeY:eY*e] #@颍Bɢʒ) Ӵ?i)˥顑ieiK>xΖ=؏=IK>IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@4@^Aܝ=I A! I) I9 OM >E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapse%,^iؖLA E6 E6E6$E4"E6;*E6Ǚ:VE64ZE4a:@a:@a:@a:@>e=>mO>>Zٱ>=>H?ȑҿC? e?w¿`???i>e=I>Zf;>CYBy#IbDVD8y-=%-U=ٔ5$99Y9=EEyEhDEh:EM>QQ 5]4U<?Q 9e4U)U(WBYaye4>Q Im@U&DIU.;iUB;UY4yuwBɮ}@}EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 467.91 m."i *i  ProNav: ac range: 467.913452 m, nav range: 456.666016 m, bearing: 14.649599 deg, approach rate: -0.489965 m/s, LOS rate: -0.007637 deg/s, cmd heading: 15.811888 deg, new cmd heading: 15.805931 deg. i_HeadingCmd: 0.275866 target range: 467.913452 and range: 469.40 m.h?>>hhhhggjgrgereZe :e *e ue$@M BɢUe) ?i)y!i%B-Lqi?>>Ӗ=Р=I?>>I9@ @@5@@@BY B] #IB] DBB] =BY BY B] y;B] @E ^A ȝ=A I! I1 O= > %,ؖLA>A=>Pd>>ٱ>=>HD?ҿYJo?Rj?@8¿@Aʾ?ݼ? ?i>A=I>Kf;>CYJByJ#IRAARAAbDVVDVư8Xy^=%bS=ٔb'9`Yd=fEyfpDf9Ef>hQ 5n4jK?Q 9r4j)jEWBYpyrM>Q Ir@j&DIj:iju:j`4ytɮv@x:iFNOT Ignoring new targets: 467.91 m."iI*iI- ProNav: ac range: 467.913452 m, nav range: 456.474274 m, bearing: 14.646604 deg, approach rate: -0.504563 m/s, LOS rate: -0.007884 deg/s, cmd heading: 15.805930 deg, new cmd heading: 15.799938 deg. i-f5HeadingCmd: 0.275761 target range: 467.913452 and range: 469.40 m.h50>h9h9h9h9g9g9jgArgAeAreAZeA:eI*eM,&%@} Bɢ}T^¼)y }q?i)X顁ii0>Vؖ=Q*=I0>IDAT read: 2Acoustic response timeout9@ @!@%/@)E EE&E"E*E:VE4ZEBEK\ 2Acoustic response timeout9 &%,IؖLA2=2W>2jٱ2=2Hਆ?ҿ @?`l?O?b?@+?i2=I2mf;2CY} By}#IiMb@Mb@Mb@ 9y&1?Zd;?~jth?Y`?yy=D;@ @)Y@bDE VDE8yUAa=%U(=ٔ];Q-]>9YYY=]Ey]zDeQEe>iQ 5u4m_?Q 9u4m)miWBY}J?Q E}:y}>Q I}@m,&DIm ;im:m i4yuBɮ@:iFNOT Ignoring new targets: 467.91 m."i)*i) ProNav: ac range: 467.913452 m, nav range: 456.223724 m, bearing: 14.642090 deg, approach rate: -0.514385 m/s, LOS rate: -0.009273 deg/s, cmd heading: 15.799939 deg, new cmd heading: 15.790905 deg. ićHeadingCmd: 0.275603 target range: 467.913452 and range: 469.40 m.h>hhhhggjgrgBereZe:e*e&@ Bɢ  ) >?i)bi$i>ޖ=:=I%>I!Q-2Acoustic response timeout@ @@/@E EE%E"E;*E:VE 4ZEa@a@a@a@y^A =ԩ A I I O >&-%,)ؖLA23Ã=2>2ٱ2)=2H?gҿ@? }k?+?&ݼ??i23Ã=I2 Bf;2C 8):Z~A:Ļ8<B2Acoustic response timeoutBCFn~AiFIDDIF̏CiF~A JtH)HH JʃAJHLlnM~AIl)lip)r3CIrA~App ptttittixx)x xIxYxY%#By%#IbD5VD5ð8ye>%ep=ٔmAQ I@7&DI`:i6:o4yɮ*@:iFNOT Ignoring new targets: 467.91 m."i;(*i;( ProNav: ac range: 467.913452 m, nav range: 456.047821 m, bearing: 14.638911 deg, approach rate: -0.508537 m/s, LOS rate: -0.009193 deg/s, cmd heading: 15.790906 deg, new cmd heading: 15.784546 deg. i%HeadingCmd: 0.275492 target range: 467.913452 and range: 469.40 m.h%T >h!h!h!h!g!g)jg)rg)e)re1ZeQ:eQ*eU&@颥Bɢf) }?i)M顩ii)ܺiT >==IT >IAAB9>BfCB$IBmBB =BBBS;B@Ei@i @i@m/@i@u=@u=ԡ52Acoustic response timeout^AD =D <E  E E +E "E x;*E ^:VE [4ZE BE Dg4%, ؖLAJ(=J>JٱJ=JH`c?Kҿr?Wk??@W??iJ(=IJkmf;JCY=:By=#IiMb@Mb@Mb@ 9NbX9?Q?~jtx?Y?y\=;@@ @)@Y@ <bD VD 8y1=%?=ٔ%{;Q-%>9!Y!=%Ey%D-9E->1Q 5=45~?Q 9=45)5WBY=?Q EE:yEc>Q IE@5F&DI5,:i5:5v4yMtBɮM@ME:iquFNOT Ignoring new targets: 467.91 m."i}^@*i}^@ ProNav: ac range: 467.913452 m, nav range: 455.827881 m, bearing: 14.634469 deg, approach rate: -0.520225 m/s, LOS rate: -0.010511 deg/s, cmd heading: 15.784547 deg, new cmd heading: 15.775659 deg. i䙹HeadingCmd: 0.275337 target range: 467.913452 and range: 469.40 m.h>hhhhggjgrg|BereZe:e*e`#'@Bɢx") ?i)hiM[i>=;=I>I2Acoustic response timeoutm9@i @i@m/@i1^AAzAxAIi Iy O >E 2Acoustic response timeoutY @8:%,YؖLA2 =2>2ٱ2 =2H`:?@|ҿ 11?k?y? ??i2 =I26Zg;2CY>DBy>#IEB EBEB&E@"EBO6;*EB:VEB4ZE@aJ@aJ@aJ@aJ@bDV VDV8y5Y=%5d=ٔ=A;Q-=>9AYA=EEyMDMEM>YQ 5e4]?Q 9m4])]WBYiymW>Q Im@]R&DI]4;i]5;] }4yyɮ@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 467.91 m."i<*i< ProNav: ac range: 467.913452 m, nav range: 455.634186 m, bearing: 14.630557 deg, approach rate: -0.508610 m/s, LOS rate: -0.010279 deg/s, cmd heading: 15.775659 deg, new cmd heading: 15.767830 deg. i|HeadingCmd: 0.275201 target range: 467.913452 and range: 469.40 m.h>hhhhggjgrgereZe:e*el(@-Bɢ-6)) -?i11)=)99i=iE>E=E5¢=IE>II GEm9IYMjA9@ @@/@aߙߙ2Acoustic response timeout^AТ=ԑII B 8>B B H$IB BB =B B B -;B n@EOM >Թ I#A%,ٖLA2(=2>2۽ٱ2^9=2HT?wҿ@?Ll?Tl? ?`?i2(=I2i;2CY[By$IbD-VD-8y==%=B=ٔ=};Q-=>9AYA=EEyEDE׸EM>IQ 5]4Mޝ?Q 9]4M)MWBYYy]K>Q I]@M`&DIM;iM;M-4yexBɮm@mE:iBDAT read: Response Not Received *response not receivedTDAT read: user:125>Tx time:04:11:14.5889 hYhYhYhYgagajgargaeireiԉZe:e*e`E)@-Bɢ-W)1 5@?i1)5t11i5;+i=ӌ>=x==e=IEӌ>IADzD@AE EE(E"Ex;*EP:VEc44ZEBEa2EaJEs DAT read:  2Acoustic response timeout GJG%,ٖLA6!=66>6hֽٱ6l=6HV?tҿV>?l??3?``?i6!=I6k;6CY^dByb$IiEMb@Mb@Mb@AAAA A9E?Q?y&1|?YEf?yAE`;E@E@ E@)E@AYE@Y]@AbDeVDe8ym,=%uG=ٔu;Q-u>9yYy=}Ey}DN9E>Q 54~?Q 94N)WBY?Q E:y>Q I@n&DI-;i;Y4yɮ:@:iFNOT Ignoring new targets: 467.91 m."i>*i> ProNav: ac range: 467.913452 m, nav range: 455.213501 m, bearing: 14.622076 deg, approach rate: -0.518059 m/s, LOS rate: -0.010423 deg/s, cmd heading: 15.759424 deg, new cmd heading: 15.750862 deg. iHeadingCmd: 0.274904 target range: 467.913452 and range: 469.40 m.hE>hhhhggjgrguBeqreqZey:ey*e}*@Bɢ)  ?i)i ?i E>-=51e=I5E>I19@ @@@ 2Acoustic response timeoutbEEƞ4jEE!4rEES)0E EEE"E;*EǙ:VEZEa@a@a@a@^AТ=A>A>IQ Ia Oi q NuM%,r8ٖLA 22Acoustic response timeout:0=:_>:нٱ:b=:H ?`.uҿ`? j? #?3? Ν?i:0=I:m;:CYvpByv$IbD~VD~8y of=% Q=ٔC;Q->9Y=EyD :E%>!Q 5-4%^?Q 9-4%!)%XBY1y5>Q I5@%{&DI%7:i%:%14y=vBɮ=l@A:iamFNOT Ignoring new targets: 467.91 m."imj?*imj?} ProNav: ac range: 467.913452 m, nav range: 455.010315 m, bearing: 14.617984 deg, approach rate: -0.519032 m/s, LOS rate: -0.010459 deg/s, cmd heading: 15.750862 deg, new cmd heading: 15.742673 deg. i"HeadingCmd: 0.274761 target range: 467.913452 and range: 469.40 m.h>hhhhggjgrgereZe:e*e`*@Bɢ@L) ?i)M7i'Si>=1=I>IB<A<B6>BBt$IBBB =BBDB;BS@EB}fCB}fCByB} =B} =C}-5U9@Q @Q@U0@Qqԙ^AqIIO>2Acoustic response timeoutE  E E #E "E x;*E k:VE 3ZE BE a 2E a JE E2˽ٱ2_=2H`?`e{ҿ?1h?@t?@?ٞ?i2#҅=I2m;2CLYRByR5$Ii-Mb@Mb@Mb@)))) )9-MbX?{Gz?{Gzt?Y- ?y-ף=-ף;-r@-@ -S@)-@)Y-G@bDEVDE8yU8=%UF=ٔU&;Q-]>9YYY=eEyeDe-:Ee>iQ 5u4m?Q 9u4m)m.XBYB ?Q E:y>Q I@m&DImhhhhggjgrg|BereZe:e*e@+@Bɢ̻) e?i))iiii,> =.s=I,>Iu>u<}2Acoustic response timeout9@ @@0@@=@=^A&=) A I I O >% 2Acoustic response timeout_Z%,%lٖLAE6 E6E6%E4"E6;*E6y:VE6 4ZE4a>@a>@a>@a>@ $"= \> Pǽٱ = H?yҿP?`h??Q?e?i $"=I m; CY5By5L$I AE<bDEVDE8yU`=%UJ=ٔ]¸;Q-]>9aYa=eEyeDe9Em>iQ 5u4mi?Q 9}4mE)mJXBYyy}>Q I}@m&DIm;im;mx4yuBɮ @EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 467.91 m."id*idm ProNav: ac range: 467.913452 m, nav range: 454.572784 m, bearing: 14.608306 deg, approach rate: -0.562592 m/s, LOS rate: -0.012460 deg/s, cmd heading: 15.732897 deg, new cmd heading: 15.723307 deg. immHeadingCmd: 0.274423 target range: 467.913452 and range: 469.40 m.h<>hhhhggjgrgereZe:e*eS,@EBɢE:)A M?iI)M2ii$z~i<>=&=I<>I)9@ @@/@MPExceeded connect timeout, disconnecting.2Acoustic response timeoutQB5>BB$IB݅BB =BBB;B8@E^A X=A xAzA zAԉ I I O >na%,ٖLA2_=26>2½ٱ2A^=2H)?`!yҿ6q?g?@ZP???i2_=I2m;2CY>By>p$IbDFVDF8yN>%jW=ٔnh;Q-n>9lYp=rEyrDr :Er>tQ 5z4v?Q 9z4v)vdXBY|y~>Q I~@v&DIv:iv;v=4ysBɮ!@:i)-FNOT Ignoring new targets: 467.91 m."i5Z*i5ZM ProNav: ac range: 467.913452 m, nav range: 454.365265 m, bearing: 14.603702 deg, approach rate: -0.536802 m/s, LOS rate: -0.011913 deg/s, cmd heading: 15.723307 deg, new cmd heading: 15.714097 deg. iMiMHeadingCmd: 0.274263 target range: 467.913452 and range: 469.40 m.hU*l>hQhQhQhQgQgQYjgargaeareaZea:ei*em<-@颕Bɢ@O<)] ?i)֤顙i}i*l>z==I*l>IiI2Acoustic response timeout]9@Y @a@e1@aEu EuEu*Eq"Eux;*Eu5:VEu(N4ZEqBEqa2EqaJEu Vg%,#ٖ۟LA2^=2>289ٱ2v5=2H?ҿ@x0?c?)¿C޷???i2^=I2 n;2CY>By>v$IiMb@Mb@Mb@ 9/$?I +?I +?Y ?y9=94<@ )Y@bDVD8y} <%==ٔ;Q->9Y=EyD:E>Q 54^?Q 94VQ =tI)XBY ?Q E:y>Q I@&DIh;i;4yɮ@Թ:iFNOT Ignoring new targets: 467.91 m."ik*ik ProNav: ac range: 467.913452 m, nav range: 454.135559 m, bearing: 14.598227 deg, approach rate: -0.538516 m/s, LOS rate: -0.012842 deg/s, cmd heading: 15.714097 deg, new cmd heading: 15.703141 deg. iHeadingCmd: 0.274072 target range: 467.913452 and range: 469.40 m.hS>hhhhggjgrgBe re Ze :e *e .@=Bɢ=;)A E?iA)E?AAiE՜iMS>M"=M:=IUS>IQ @  @ @ 1@ 2Acoustic response timeoutE EE%E"E;*E':VE 4ZEa@a@a@a@^A5c=II O >9 = nManaging dock network, ignoring radio surface power offm%,HܹٖLA2Acoustic response timeout6=6̑>6Żٱ6!=6H?ҿH |? c?¿`Pp?˾?ء?i6=I6m;6CYBͅByB$IJ@AJAAbDNVDN8yR=%VX=ٔV;Q-V>9XYX=ZEyZD^:E^>\Q 5b4^<?Q 9f4^)^XBYdyfI>Q If@^&DI^;i^U;^L4ynrBɮnI@n E:iFNOT Ignoring new targets: 467.91 m."i l*i l ProNav: ac range: 467.913452 m, nav range: 453.930908 m, bearing: 14.593335 deg, approach rate: -0.541039 m/s, LOS rate: -0.012938 deg/s, cmd heading: 15.703141 deg, new cmd heading: 15.693353 deg. in%HeadingCmd: 0.273901 target range: 467.913452 and range: 469.40 m.h%<>h!h!h!h)g)g)jg)rg1e1re1Ze1:e1*e= .@e Bɢeo<)i mA?ii)mJiiiu惟iu<>uK+=}P =I}<>IyAAAEAABM4>BIBM$IBMBBM =BIBIBM׈;BM@E9@ @@@5@12Acoustic response timeout^A\=A>A?aIiIyO>E}  E} E} &Ey "E} ;*E} :VE} 4ZEy BE} m:`ٱ:ޑ=:H T?ҿ 㺪?e?@K?`??i:ш=I:ޛm;:CYZՅByZ$IieMb@Mb@Mb@aaaa a9eK7A`?K?{Gz?Ye ?ye^=e#9Y=EyDME>Q 54($?Q 94M)XBY ?Q E:y>Q I@&DI ;i ;ټ4yɮ@:iFNOT Ignoring new targets: 467.91 m."iOs*iOs ProNav: ac range: 467.913452 m, nav range: 453.699280 m, bearing: 14.587590 deg, approach rate: -0.535670 m/s, LOS rate: -0.013295 deg/s, cmd heading: 15.693353 deg, new cmd heading: 15.681856 deg. i¹HeadingCmd: 0.273700 target range: 467.913452 and range: 469.40 m.hi">h h h h g gjgrgBereZe:e*e/@M!BɢME<)I M?iI)UcQQiU{i]i">]J5=]Q=I]i">IaiM2Acoustic response timeoutԑԅE9@A @I@M0@I@U=@U= BDAT read: Rx Time:04:11:17.5962  TRx dataTimestamp_ set to:1764907879.666768 2Acoustic response timeout ^A- .=E  E E 'E "E ;*E :VE '4ZE a @a @a @a @I I O >K!{%,ٖͮLAN=>ٱ k=H?؁ҿ`奔@?`f??9Y=EyD:E>Q 545?Q 94)XBYy>Q I@&DI:i:J4ypBɮ@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 467.91 m."i t*i t ProNav: ac range: 467.913452 m, nav range: 453.470886 m, bearing: 14.581912 deg, approach rate: -0.536087 m/s, LOS rate: -0.013333 deg/s, cmd heading: 15.681856 deg, new cmd heading: 15.670495 deg. i6ù%HeadingCmd: 0.273502 target range: 467.913452 and range: 469.40 m.h%l>h!h!h!h!g)g)jg)rg)e1re1Ze19:e1*e=@G0@m#Bɢmv<)i m?ii)u:qqiuͶi}l>}?=}X$=I}l>IU#9@ @@@5@i2Acoustic response timeoutBBB$IBBB =BBB;B?Eԙ^A) Ay I I O >%,YږLAuDAT read: 04:11:17.5962 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 350,-0.40, 1.411,-0.240, 1.620, 1.030, PHS= 0.483,-1.225, 0.546, RAW= 151.8, 2.3, CAL= 150.7, 1.9, ROT= 359.3, -1.9 }Ygot valid direction response: 04:11:17.5962 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 350,-0.40, 1.411,-0.240, 1.620, 1.030, PHS= 0.483,-1.225, 0.546, RAW= 151.8, 2.3, CAL= 150.7, 1.9, ROT= 359.3, -1.9 PDAT read: Bearing 171.6, 4.5 (Local) ~Local bearing/azimuth received: Bearing 171.6, 4.5 (Local) DAT read: Range 11 to 50 : 452.4 m (Round-trip 603.2 ms) speed 0.4 m/s TDAT read: user:126>Tx time:04:11:18.6889 R#Rx 1: Read range and direction messages.^direction in FSK: [0.999376,-0.012210,0.033155]Fpublishing direction and range infoyAE.З?b <B3?YE3CAEEE E)ECIEK>iE̜E ?E)@El$=EaU(@ E=)Eū@IEAAEЍh-?Ж?# ^? Ep?)E#IED+HiEAA2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ԩDzDAAE EE&E"E[";*E՚:VE4ZEBEz%FCٱ%hQ=%H@"? ?vҿH`N?Oj?VY@T!?~?#?i%v=I%[l;!YBy$IiMb@Mb@Mb@ 9|?5^?~jt?:v?Y ?y=T<7@\@ @)@Yf@ <bDVD8y599=%5 =ٔ=?;Q-=>99Y9==Ey=DES9EE>IQ 5u4MqN?Q 9u4M)MYBYu?Q Eu:y}=>Q I}@M&DIM;iMd;My4yɮ@iAiE ږLAjEvC"jEvC:jEt>"pErDW*|@mr3Z 8-@pE.З?b <B3?*jED+H2jE*pEz@*ȱ]@/.J@pE,H?{b?VP'?jEB jECiE$ l?iEjE-BjEi '?jEjArjECzjE!'>5 addTargetRange:: Added new target pos. range: 452.399994 m, deltaT: 16.648811 s, deltaX: -17.000000 m, approachRate: -1.021094 m/s, rangeRepo size: 4 E Added new target pos. range: 450.927856 m, bearing: 15.382056 deg, lat: 36.779371 deg, lon: -121.859532 deg, deltaT: 16.648811 s, deltaX: -16.985596 m, approachRate: -1.020229 m/s, posRepo size: 4 :iAEFNOT Ignoring new targets: 450.93 m."im*ii} ProNav: ac range: 450.927856 m, nav range: 449.057343 m, bearing: 14.900578 deg, approach rate: 0.000000 m/s, LOS rate: -0.013333 deg/s, cmd heading: 15.670496 deg, new cmd heading: 15.654543 deg. iyHeadingCmd: 0.273223 target range: 450.927856 and range: 452.40 m.h>hhhhggjgrgBereZe:e`fF|@*e H?DAT read: 2Acoustic response timeout  $Bɢ <)  ?i ) F޽  i ĻiE >E EN=E b٩=IM >II 1 y%9@! @!@%/@!a2Acoustic response timeoutE= E=E=%E9"E=;*E=*:VE= 4ZE9aE@aE@aM@aM@ԑ^AMp=AUyAzAQ CQeyA5AR9yAY4AAԹIIO7?%,6?6ږLAN=NZ>NIٱN =NH!?+cҿM]?`o?@{-???iN=INzk;LY^By^$IbDfVDf8yn|P=%n =ٔr;Q-r>9pYp=rEyrDvEv>xQ 5~4zc?Q 9~4z)z+YBY|y>Q I@z'DIzq:iz%:z`4y oBɮ @  E:i15FNOT Ignoring new targets: 450.93 m."i=%*i=%M ProNav: ac range: 450.927856 m, nav range: 448.778290 m, bearing: 14.893620 deg, approach rate: -0.565667 m/s, LOS rate: -0.014114 deg/s, cmd heading: 15.654543 deg, new cmd heading: 15.640618 deg. iMιUHeadingCmd: 0.272980 target range: 450.927856 and range: 452.40 m.hUċ>hQhQhQhQgYgYjgYrgYeareaZea:ea*ee$?颕%Bɢ-<) ?i)ڽ顙iѻiċ>Y=&=Iċ>Im2Acoustic response timeoutB=<A9BE3>BEeCBE%IBE=BBABABABE;BE?E19@ @@/@Y i) I) E 2Acoustic response timeout^A d=E  E E "E "E *;*E B:VE (3ZE BE %,KRږLA!b=\,>f}ٱ=H?HVҿ~?Ru?[T?\?\?i!b=I>j;CY By$I i=Mb@Mb@Mb@9999 99=K7?:v?:v?Y=I ?y==9=@=@ =@)=E@9Y=3@bDUVDU8ye=%e$=ٔm*;Q-m>9m ?Ym ?=mEyuDu9Eu>yQ 54}x?Q 94}Z)}NYBY?Q E:y>Q I@}'DI}NhYhYhYhYgYgajgargeBeireiZei:ei*eu ?额&Bɢ@{<) ?i)uֽ顡ifݻi>d==I>IM2Acoustic response timeout9@! @!@%/@!Ia^A= .=Am ؟AIy I ԑ O > 2Acoustic response timeout$%,lږLAR'1=R>RٱR=RH`[? =Gҿ@? y?Bڿ` ?@S?0?iR'1=IRj;RCYbByb$IhhnAAlbDrٿVDr8yvʩ=%zc=ٔz;Q-z>bE-4jE-4rE:0E EE&E"E1;*E:VE4ZEa @a @a @a@9"?Y"?=Ey% D-<ѺE->9Q 5M4=?Q 9U4=)=gYBYYy]>Q I]@=%'DI=;i=;=y4yiɮm@q:iAEFNOT Ignoring new targets: 450.93 m."iM΂*iM΂Q} ProNav: ac range: 450.927856 m, nav range: 448.310150 m, bearing: 14.880961 deg, approach rate: -0.528823 m/s, LOS rate: -0.014295 deg/s, cmd heading: 15.626021 deg, new cmd heading: 15.615286 deg. i}JѹHeadingCmd: 0.272538 target range: 450.927856 and range: 452.40 m.h>hhhhggjgrgereZe:e*e ?ɢZ-=) ?i )-Sӽ))i-i5>5Im=5&c=I=>I9A9@ @@/@@=@=ԁ5?5B?=2Acoustic response timeoutԩB2>BB5%IBRBB =BBB;B?EBBeCBB =B =CW5^A A)=A >A >I I O% > %,zĆږLAY$By$IbD5VD58yEh^=%EE=ٔEQ-E>9IYI=MEyMDMEU>QQ 5]4U?Q 9e4UE)UYBYayaQ Ie@U3'DIU<;iU;U4ymsBɮm@qB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 450.93 m."i*i񎹝 ProNav: ac range: 450.927856 m, nav range: 448.089722 m, bearing: 14.875000 deg, approach rate: -0.577352 m/s, LOS rate: -0.015621 deg/s, cmd heading: 15.615286 deg, new cmd heading: 15.603358 deg. i九HeadingCmd: 0.272330 target range: 450.927856 and range: 452.40 m.hn>hhhhggjgrgereZe:e*ee?2Acoustic response timeoutԱ'BɢX=)1 5P?i1)5 н99i=iEn>EPv=EG=IEn>IADzD@A@ @@/@EM EMEM$EI"EM;*EM:VEM4ZEIBEM9 Yǧ%,QږLAYy$IiMb@Mb@Mb@ 9V-?ʡE?I +?Y ?y-=94<@@ @)\@YbD VD8y:%?=ٔQ->9 Y = Ey DE>Q 5%4!?Q 9%4)YBY%V?Q E%:y%>Q I%@B'DIE:i:4y1ɮ5@1:iY]FNOT Ignoring new targets: 450.93 m."ief*iefu ProNav: ac range: 450.927856 m, nav range: 447.854797 m, bearing: 14.869615 deg, approach rate: -0.548208 m/s, LOS rate: -0.012573 deg/s, cmd heading: 15.603357 deg, new cmd heading: 15.592581 deg. iu}HeadingCmd: 0.272142 target range: 450.927856 and range: 452.40 m.h}.V>hyhyhyhygygjgrgBereZe:e*e `@颹ɢ#=) B?i)g̽ii.V>#=0E=I.V>Im9@i @i@i@i2Acoustic response timeout9E5 E5E5#E1"E5O6;*E5˭:VE53ZE1a=@a=@a=@a=@^A=I I! O5 >i Q%,zږLA 2H=2>2ٱ2=2H`? Bҿ7?@x? ӿ-?{л? ?i2H=I2Rl;2CYV0ByV %IbD^VD^8yf=%f`=ٔfM9hYh=jEyj$Dn6:En>pQ 5v4r?Q 9v4r[)rYBYtyv>Q Iv@rO'DIr%:ir:rp4y~rB2Acoustic response timeoutɮ~@E:i)-FNOT Ignoring new targets: 450.93 m."i5e*i5eE ProNav: ac range: 450.927856 m, nav range: 447.655243 m, bearing: 14.865031 deg, approach rate: -0.546171 m/s, LOS rate: -0.012550 deg/s, cmd heading: 15.592581 deg, new cmd heading: 15.583410 deg. iEMHeadingCmd: 0.271982 target range: 450.927856 and range: 452.40 m.hM3A>hIhIhIhQgQgQjgQrgQeYreYZeY:ea*eeL@颍(BɢzI=) @i)wɽ顑ii3A>Շ=B=I3A>IIxA)xAAyAyB3>BBN%IBfBB =BBBo;B?E59@1 @1@1@1@=xA@9qԡ^Au.=II O>2Acoustic response timeout D- =D) E  E E &E "E m+;*E :VE 4ZE BE ߄nLٱ=H@A?+<ҿס`G?y?򮿿 ?@ܻ??iϩ=IPp;CYy %IimMb@Mb@Mb@iiii i9mn?#~j?y&1|?YmV?ym=m`;mԴ@m@ mr@)iiYm@bDVD8yC6%0=ٔ\;Q->9Y=Ey-DE>Q 54?Q 94)YBY?Q E:y?>Q I@`'DI:i:4yɮ!@:iFNOT Ignoring new targets: 450.93 m."i[Z*i[Z ProNav: ac range: 450.927856 m, nav range: 447.399567 m, bearing: 14.859518 deg, approach rate: -0.553005 m/s, LOS rate: -0.011931 deg/s, cmd heading: 15.583410 deg, new cmd heading: 15.572377 deg. i HeadingCmd: 0.271789 target range: 450.927856 and range: 452.40 m.h '>hhhhggjgrgBereZe:e!*e%@ @ɢ=) @i)Ži, i'>\=I'> 2Acoustic response timeoutIA9@ @@@^A \=! Ia Iq O > 2Acoustic response timeout%,;ږLAFE=F<>F̆ٱF=FH?4ҿ?z?σuְ?@?`b?iFE=IFt;FCY^9By^%IbD]VD]8ymT=%m`=ٔm;Q-u>9yYy=}Ey}5DE>Q 54:?Q 94E EEE"E+$;*E:VEZEa@a@a@a@O)YBYy!>Q I@m'DI;i; 4yqBɮs@:iFNOT Ignoring new targets: 450.93 m."i`X*i`X ProNav: ac range: 450.927856 m, nav range: 447.197510 m, bearing: 14.855163 deg, approach rate: -0.548324 m/s, LOS rate: -0.011823 deg/s, cmd heading: 15.572377 deg, new cmd heading: 15.563664 deg. iHeadingCmd: 0.271637 target range: 450.927856 and range: 452.40 m.h>hhhhggjgrgereZe :e *e  @9ɢ=sg=)9 =/@i9)E3½AAiE"iM>M=M6=IM>IQ@ @@0@A2Acoustic response timeouty^A Bu0>BqBu[%IBupBBqBqBqBu`;Bu?EIIO>ԙ %,ۖLA2A=2eؐ>2}ٱ2C=2H@ê?Q.ҿJf?`{?/V?? Ⱦ?i2A=I2y;2CY>?By>%IF@ADbDFVDF8yN!<%RX=ٔR,;Q-R>9PYT=VEyVXQ 5^4Zh?Q 9b4Z)ZYBY`yb>Q Ib@Zz'DIZY;iZU;Z4ydɮf@h:ix~FNOT Ignoring new targets: 450.93 m."i~'[*i~'[  ProNav: ac range: 450.927856 m, nav range: 446.989594 m, bearing: 14.850681 deg, approach rate: -0.555267 m/s, LOS rate: -0.011975 deg/s, cmd heading: 15.563663 deg, new cmd heading: 15.554696 deg. i SHeadingCmd: 0.271481 target range: 450.927856 and range: 452.40 m.h>hhhhggjg!rg!e!re!Ze!:e!*e-@@QɢU=^=)Y ]@iY)]tĿYYieie>e=m^=Im>Iiy}2Acoustic response timeout9@ @@0@D)zD-?AE EE%E"E ;*E:VE 4ZEBEv% 2Acoustic response timeout ȶ%, !ۖLA2=2Ґ>25tٱ2i=2H}?(ҿ |V ?@&z??@-?b?i2=I2<};2CY>CBy>$%Ii-Mb@Mb@Mb@)))) )9-Fx?p= ף?y&1|?Y- ?y-=))-@ -/@)-@)Y-\@bDEVDE8yU<%U?=ٔU9] ?Y] ?=]Ey]EDe۸Ee>iQ 5u4m?Q 9u4m)m ZBYu ?Q E}:y}>Q I}@m'DIm;im ;m4ypBɮ@EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 450.93 m."i3*i3 ProNav: ac range: 450.927856 m, nav range: 446.757874 m, bearing: 14.846482 deg, approach rate: -0.541831 m/s, LOS rate: -0.009824 deg/s, cmd heading: 15.554695 deg, new cmd heading: 15.546293 deg. iԏHeadingCmd: 0.271334 target range: 450.927856 and range: 452.40 m.hJ>hhhhggjgrgBereZe:e*e@X@ɢX!@=) [@i))i%Ƀi%J>-=-=I-J>I)9@ @@0@2Acoustic response timeoutEE EEEE$EA"EEC#;*EE8:VEE4ZEAaM@aM@aM@aM@^Ap=9A= ؟AII IY Oe >Y r?ζ%,;ۖLA:k=:®>:gٱ: =:H{?pҿW`&?,{?؈?V?@w?i:k=I:~;:CYJAByJ!%IbDRVDR8yZ%ZU=ٔZ9^"?Y^"?=^EybMDb:Eb>dQ 5j4f?Q 9j4fy)fZBYhyjm>Q In@f'DIf :if:r=r<r2Acoustic response timeoutf4yvoBɮv@x:iFNOT Ignoring new targets: 450.93 m."il3*il3- ProNav: ac range: 450.927856 m, nav range: 446.549866 m, bearing: 14.842717 deg, approach rate: -0.541446 m/s, LOS rate: -0.009804 deg/s, cmd heading: 15.546293 deg, new cmd heading: 15.538760 deg. i-5HeadingCmd: 0.271203 target range: 450.927856 and range: 452.40 m.h5ۊ>h1h1h9h9g9g9jgArgAeAreAZeA:eI*eM 7@qɢuLaf=)y }$@iy)}yi.$iۊ>#=S=Iۊ>IBAB%.>B!B%a%IB%uBB% =B!B!B%R;B%?EA59@1 @1@5@5@1a^AQ2Acoustic response timeoutԡA I I O >DA DE %=EM  EM EM #EI "EM +$;*EM :VEM 3ZEI BEM 5}9Y=EyWDE>!Q 5-4%%?Q 954%ɵ)%0ZBY5 ?Q E5:y5>Q I5@%'DI%:i%:%'4y9ɮ= @A:iamFNOT Ignoring new targets: 450.93 m."imJ7*imJ7} ProNav: ac range: 450.927856 m, nav range: 446.292084 m, bearing: 14.837907 deg, approach rate: -0.536417 m/s, LOS rate: -0.010015 deg/s, cmd heading: 15.538761 deg, new cmd heading: 15.529135 deg. i}HeadingCmd: 0.271035 target range: 450.927856 and range: 452.40 m.h Ŋ>hhhhggjgrgBereZe:e*e #@ɢ4=) @i)Mݴi*i Ŋ>×=׸=I Ŋ>I2Acoustic response timeout9@ @@0@^A A xAzA  2Acoustic response timeoutA .AI I! ) OE >M۶%,ioۖLAn=n͐>nOٱnƚ=nHl?@ҿЛL?x?@￿?x? ?in=Inbv|;nCYzRByz6%IE  E E %E "E C#;*E :VE  4ZE a@a@a@a@bDVD8y-P<%-j=ٔ595 ?Y5 ?==Ey=]D=5:E=?AQ 5M4EY3?Q 9M4E)E>ZBYQyU>Q IU@E'DIE:iEB:E-4y]nBɮ]@]EÂG{A-AUb9U{AYUA:iFNOT Ignoring new targets: 450.93 m."i$*i$ ProNav: ac range: 450.927856 m, nav range: 446.109802 m, bearing: 14.834500 deg, approach rate: -0.481487 m/s, LOS rate: -0.009003 deg/s, cmd heading: 15.529135 deg, new cmd heading: 15.522318 deg. iЃHeadingCmd: 0.270916 target range: 450.927856 and range: 452.40 m.hr>hhhhggjgrgereZe:e*e%ܯ@iɢm 'y=)i uK@iq)顑i>0ir>͗=h=Ir>I9@ @@0@!2Acoustic response timeoutB%,>B%dCB%g%IB%zBB% =B!B!B%:;B%l?EY ^A \=A= ؟AII IY Oe >C>%,hۖLA 21\=2j>2:? Mҿ? k}?`X4` ?`??i21\=I2h/{;2CYBTByB9%IbDf̿VDf}8ynm2<%nN=ٔr);Q-r>9r"?Yr"?=rEyreDvEv>xQ 5~4zC?Q 9~4z)zMZBY|y:>Q I@z'DIz:iz:z34y ɮ @ :i15FNOT Ignoring new targets: 450.93 m."i=I*i=IM ProNav: ac range: 450.927856 m, nav range: 445.898010 m, bearing: 14.830558 deg, approach rate: -0.591849 m/s, LOS rate: -0.011023 deg/s, cmd heading: 15.522319 deg, new cmd heading: 15.514430 deg. iMaUHeadingCmd: 0.270778 target range: 450.927856 and range: 452.40 m.hUf>hQhQhQhQgQgYjgYrgYeYreaZea:ea*ee@颕'Bɢ3m=)& @i)顙iЬ5if>՗=,=If>IU2Acoustic response timeoutIU9@Q @Q@U4@YE  E E $E "E [";*E y:VE 4ZE BE z 2Acoustic response timeoutc%,/ۖLA67=6!>6(8ٱ6=6H? ѿ ᇿ ?? ?$?R?i67=I63z;4@YFWByF<%I HHiMb@Mb@Mb@ 9p= ף?i|?5?~jth?Y?yq=D;@@ @)@Y@bD-VD-8y=s;<%EE=ٔE;Q-E>9AYI=MEyMnDM_EM>QQ 5]4UT?Q 9e4U})U[ZBYe?Q Ee:yeb>Q Ie@U'DIUp;iU;U;;4ymtBɮu@uEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 450.93 m."ib$*ib$ ProNav: ac range: 450.927856 m, nav range: 445.683075 m, bearing: 14.826819 deg, approach rate: -0.516211 m/s, LOS rate: -0.008982 deg/s, cmd heading: 15.514430 deg, new cmd heading: 15.506950 deg. i=HeadingCmd: 0.270647 target range: 450.927856 and range: 452.40 m.h=J>h9h9h9h9g9gAjgArgEBeAreIZeI:eI*eM@ɢh=) @i)ժiށ;iJ>ߗ=Ў=IJ>IԩIyA)yAM9@I @I@M05@Im2Acoustic response timeoutbEJ4jEƔ4rE$Z/E EE&E"E';*E:VE4ZEa-@a-@a-@a-@^A .= A I I O% >%,B ۖLA2v=2pϏ>2\-ٱ2=2H?ѿ迂? ց?` ⯥? 3ݼ?]?i2v=I2.|x;0Y>]By>C%IbDJӿVDJ8yR%=%RU=ٔR;Q-R>9TYT=VEyVvDVֺEZ>Xb2Acoustic response timeoutQ 5f4Zmd?Q 9f4Zy)ZgZBYhyj>Q Ij@Z'DIZe;iZf;ZA4y9ɮ=m@9:iFNOT Ignoring new targets: 450.93 m."i*i ProNav: ac range: 450.927856 m, nav range: 445.484406 m, bearing: 14.823378 deg, approach rate: -0.491911 m/s, LOS rate: -0.008525 deg/s, cmd heading: 15.506951 deg, new cmd heading: 15.500065 deg. iyAA@AB+>BBn%IBBBBBDB;BE?EBeCBBB =B =Cv5HeadingCmd: 0.270527 target range: 450.927856 and range: 452.40 m.h>hhhhggjgrgereZe:e*eJc@!ɢ%6=)) -@i))-Jz))i-Ai5>====I=>I99@ @@/@Iԁ^A5=iqIq2Acoustic response timeoutE-  E- E- %E) "E- );*E- #:VE- 4ZE) BE- Nu%,ۖLAI=}>I$ٱ3=H? ѿv3}? ?񈾿?м?N?iI=Iqu;CyYbByJ%IiMb@Mb@Mb@ 9K7?&1?~jtx?Y ?yP=;z@r@ @)E@YbDԿVD8y<%)=ٔ);Q->9Y=EyD?E%>!Q 5-4%x?Q 954%)%xZBY5Z ?Q E5:y5>Q I5@%'DI%H;i%];%dJ4y=sBɮE @A:iamFNOT Ignoring new targets: 450.93 m."iu*iu} ProNav: ac range: 450.927856 m, nav range: 445.225128 m, bearing: 14.819546 deg, approach rate: -0.560323 m/s, LOS rate: -0.008286 deg/s, cmd heading: 15.500064 deg, new cmd heading: 15.492396 deg. irHeadingCmd: 0.270393 target range: 450.927856 and range: 452.40 m.hp>hhhhggjgrgBereZe:e*e`7@&B2Acoustic response timeoutɢp=) @i)䁣iT Gip>==Ip>Iԩuq @  @ @ /0@  2Acoustic response timeoutԡ E]  E] EY EY "E] C#;*E] Z:VEY ZEY a} @a} @a} @a} @^A p=I IO%?%,fۖLA2.}=29>2*ٱ2F=2H ʻ? ѿxY?@?`)@˙?T??i2.}=I2 u;0Y>qByB\%IbD^˿VD^|8yb=%b4=ٔf;Q-f>9dYh=jEyjDjeEn>lQ 5r4n$?Q 9r4n)nZBYtyvľ>Q Iv@n'DInC:in:nTR4yiɮm @i:iFNOT Ignoring new targets: 450.93 m."i *i  ProNav: ac range: 450.927856 m, nav range: 444.981659 m, bearing: 14.815959 deg, approach rate: -0.518959 m/s, LOS rate: -0.007650 deg/s, cmd heading: 15.492396 deg, new cmd heading: 15.485217 deg. i`HeadingCmd: 0.270268 target range: 450.927856 and range: 452.40 m.h`>hhhhggjgrgereZe:e*e`@%Bɢ0y=) v @i)^i)Mi `>=g=I`>IHo2Acoustic response timeoutB)>BBt%IBBBBBB;B-?EU9@Q @Q@U?5@Q)^Ae==IA IQ Ou > 2Acoustic response timeoutY k%,nܖLADzDAAE EE&E"E;*E:VE4ZEBE_uf= ٱf9=fHv?ѿl\0?@? `V?&o??if4z=If{q;fCYnByY%IbD5ڿVD58ye8%eA=ٔe]+9iYi=mEymDmºEu>qQ 54u ?Q 94ur)uZBYym>Q I@u (DIu:iu:uY4yrBɮ:@E:i)-FNOT Ignoring new targets: 450.93 m."i5 *i5 1 ProNav: ac range: 450.927856 m, nav range: 444.755127 m, bearing: 14.812638 deg, approach rate: -0.536584 m/s, LOS rate: -0.007871 deg/s, cmd heading: 15.485217 deg, new cmd heading: 15.478571 deg. iwfHeadingCmd: 0.270152 target range: 450.927856 and range: 452.40 m.h^Q>hhhhg!g)jgrgereZe:e*e  @颕$Bɢv=) E @i)顙i-Si^Q>="=I-^Q>IAMp=Ma=q%2Acoustic response timeoutԉ t'  9@  @! @% /@! Թ  2Acoustic response timeout^AE2=E EE$E"E*;*E:VE4ZEa@a@a@a@IIO?P %,צ3ܖLAYUByUw%IiMb@Mb@Mb@ 9HzG?V-?Mbp?Y= ?ym=;\@ @)/@Yz@bDVD8y:=%=ٔQ- >9 Y =EyDE>Q 5%4ٴ?Q 9%4)ZBY% ?Q E-:y->Q I-@(DIT ;i ;c4y5qBɮ5@9I]B*** querying acoustic contact ***iYiY:iaFNOT Ignoring new targets: 450.93 m."iN%*iN% ProNav: ac range: 450.927856 m, nav range: 444.465424 m, bearing: 14.807899 deg, approach rate: -0.551834 m/s, LOS rate: -0.009033 deg/s, cmd heading: 15.478571 deg, new cmd heading: 15.469087 deg. i>HeadingCmd: 0.269987 target range: 450.927856 and range: 452.40 m.h;>hAhAhAhAgIgIjgIrgMBeQreQZeQ:eQ*eUj}!@#Bɢd=) k @i)iІYi;>u ==I;>Iq2Acoustic response timeoutBu<AqB}&>ByB}%IB}BB} =ByByB};B}?Eԩ 9@  @ @ @ u 2Acoustic response timeout^A T=IaIyO>P%,"RܖLA2y=2ˎ>2ٱ2=2H ?ѿ^>b? v? A??? ?i2y=I2n;2C<DN=DN<ER ERER(EP"ER%;*ER:VERc44ZEPBER+9Y=EyD ׹E>!Q 5-4%o?Q 9-4%֠)%ZBY1y5>Q I5@%/(DI%;i%:%l4y9ɮ=e@9:iq}FNOT Ignoring new targets: 450.93 m."i *i Ա ProNav: ac range: 450.927856 m, nav range: 444.191284 m, bearing: 14.803418 deg, approach rate: -0.537504 m/s, LOS rate: -0.008791 deg/s, cmd heading: 15.469088 deg, new cmd heading: 15.460120 deg. iHeadingCmd: 0.269830 target range: 450.927856 and range: 452.40 m.h('>h h hhggjgrgereZe :e *e!"@颽"Bɢi|=) " @i)Ցi `i('>==I('>Iߝ4=ߝ%=2Acoustic response timeoutm9@q @q@q@q ^A ا=I I O% >v%,.kܖLA>d{=>>>ٱ>=>Hb?ѿxs? ? ?G?q,?j?i>d{=I> m;< H)J^~ALLLPRr~AiPIPTITiV~A ZX)X\ \\```fE~AId)did)hIj=~Ahh hppriApittitx)x xIxYxY By %I2Acoustic response timeoutiMb@Mb@Mb@ 9K7A`?l?{Gzt?Y ?y=ף; @)Y(@bDVD8y=%L=ٔ;Q->9Y=EyDU:E>Q 5%4n?Q 9%4)ZBY-L ?Q E-:y-w>Q I-@=(DI;i; s4yQɮ] @]E:iFNOT Ignoring new targets: 450.93 m."iD*iDE EE&E"E/;*E:VE4ZEa@a@a@a@ ProNav: ac range: 450.927856 m, nav range: 443.973694 m, bearing: 14.799041 deg, approach rate: -0.532411 m/s, LOS rate: -0.010715 deg/s, cmd heading: 15.460120 deg, new cmd heading: 15.451361 deg. iHeadingCmd: 0.269677 target range: 450.927856 and range: 452.40 m.h>hhhhgg jg rg ɁBereZe:e*eK#@e!Bɢe=)i m@ii)mS}iiiukeiu>u=}=I}>IyI)=9@9 @A@A@A1 2Acoustic response timeoutBU (>BQ BU %IBU BBU =BQ BQ BU Ї;BU >Ei ^A =A .AI I O >!%,ܖLA2/z{=2>2uҼٱ2T=2H? ѿ|?`?݈?ƽB??6?i2/z{=I2*m;2CHYBy%IbD%VD%8y5e%5]=ٔ54;Q-=>9= ?Y= ?==Ey=DE]EE>IQ 54M?Q 94Mf)MZBYyt>Q I@MJ(DIMVhhhhggjg rg e reZe:e*e $@E BɢEK-=)A E@iA)M8IIiMƯkiU>UN&=U86=IU>IY@ @@o0@m2Acoustic response timeoutDzDE% E%E%'E!"E%1;*E%خ:VE%'4ZE!BE%k 2Acoustic response timeout'%,ܖLA2{=2W>2lٱ2=2H@F?6ѿs?A? ?@@ ?`{.? T?i2{=I2m;0|YBy%IiMb@Mb@Mb@ 9Dl?MbX9?I +?YO ?yʡ=94<r@ r@)E@Y׻@bDѿVD8y\S=%C=ٔ;Q->9"?Y"?=EyDv8E>Q 54?Q 94)ZBY?Q E:yF>Q I@Y(DIr;i;4ypBɮx@:i  FNOT Ignoring new targets: 450.93 m."iW*iW% ProNav: ac range: 450.927856 m, nav range: 443.545868 m, bearing: 14.790255 deg, approach rate: -0.564446 m/s, LOS rate: -0.011793 deg/s, cmd heading: 15.443399 deg, new cmd heading: 15.433780 deg. i%-HeadingCmd: 0.269370 target range: 450.927856 and range: 452.40 m.h->h)h)h)h)g)g1jg1rg5́Be9re9Ze9:e9*e=$@颍Bɢ]=) 9@i)顑i"qi>/=ْ=I>I)e9@a @a@e/0@aY}2Acoustic response timeout }t>y GE5  E5 E5 %E1 "E5 ;*E5 :VE5 4ZE1 a= @a= @a= @a= @A Y j9 Y AfA^A ا=y ? nAԁ A .AI! I1 O= >p-%,GܖLA6jV|=6>6ٱ6%=6HB?ѿkM?g?@?@X3? R?9j ?Yj ?=jEyjDn:En>pQ 5v4r ?Q 9v4r)rZBYtyvZ>Q Iv@rf(DIr:ir:r?4y|ɮ~@|B*** querying acoustic contact ***ii:i!%FNOT Ignoring new targets: 450.93 m."i-hR*i-hR= ProNav: ac range: 450.927856 m, nav range: 443.341583 m, bearing: 14.785981 deg, approach rate: -0.549319 m/s, LOS rate: -0.011497 deg/s, cmd heading: 15.433781 deg, new cmd heading: 15.425229 deg. i=SEHeadingCmd: 0.269221 target range: 450.927856 and range: 452.40 m.hEW׉>hAhAhAhAgIgIjgIrgQeQreQZeQ:eQ*e]B%@q颍Bɢ~=) @i)顑i˵wiW׉>6=3=IW׉>IY>i>2Acoustic response timeoutAaAaBm*>BiBm%IBmBBm =BiBiBmć;Bm>E9@ @@?5@@=@ԙ^A=A ؟AI I O > 2Acoustic response timeout 4%,GTܖLAE EE'E"E[";*E:VE'4ZEBEzД=>p>>ԏٱ>Y=>H? ѿЍ?0??`\? ??i>Д=I>70r;9b"?Yb"?=fEyfDfy;Ef>hQ 5n4j?Q 9n4jM)jZBYpyr>Q Ir@jt(DIj;ij;jA4yvoBɮvһ@vE:iFNOT Ignoring new targets: 450.93 m."i T*i T- ProNav: ac range: 450.927856 m, nav range: 443.121216 m, bearing: 14.781342 deg, approach rate: -0.550107 m/s, LOS rate: -0.011586 deg/s, cmd heading: 15.425229 deg, new cmd heading: 15.415947 deg. i-5HeadingCmd: 0.269059 target range: 450.927856 and range: 452.40 m.h5‰>h1h1h1h1g9g9jgArgAeAreAZeA:eA*eM@_`&@uBɢu9=)q @i)7i}i%‰>%@=%=I%‰>I)9@ @@/5@ 2Acoustic response timeout^AC=9AA I I O >Y U;%,=ܖLAb0~=bY>bbٱb=bH??ѿ"!??? `(_??@?ib0~=Ibs;bCYzByz%I]2Acoustic response timeoutiMb@Mb@Mb@ 9oʡ?#~j?:v?Y ?y=T<E@ )\@Y@bD޿VD8y;%;=ٔC 9Y=EyD*LE>Q 540?Q 94)ZBY?Q E:yW>Q I@(DI2;iy;ޕ4yɮ@:i FNOT Ignoring new targets: 450.93 m.1"i W*iW ProNav: ac range: 450.927856 m, nav range: 442.882111 m, bearing: 14.776206 deg, approach rate: -0.548603 m/s, LOS rate: -0.011791 deg/s, cmd heading: 15.415947 deg, new cmd heading: 15.405669 deg. iHeadingCmd: 0.268880 target range: 450.927856 and range: 452.40 m.h>hhhhggjgrgҁBereZe:e*eK'@bEž4jET4rEb/E5 E5E5&E1"E5;*E5k:VE54ZE1a=@aE@aE@aE@}Bɢ=) @i)*w顉ii>OK=qr=I>IY9@ @@+3@ԉ 2Acoustic response timeoutB (>B B %IB BB =B B B ;B >EB5dCB5dCB1B5 =B5 =C535^A 벫=Թ A I I) OE >A%,DݖLA2=2>2J.ٱ2+=2H ?`ѿ ?`? ˊ?`>Ʌ?'??i2=I2t;2CY>By>%IbDJVDJ8yRa=%R^=ٔRC9TYT=VEyVDZ:EZ>\Q 5b4^N@?Q 9b4^z)^[BY`yf>Q If@^(DI^;i^ ;^M4yhɮj@h:i|~FNOT Ignoring new targets: 450.93 m."iX*iX ProNav: ac range: 450.927856 m, nav range: 442.680084 m, bearing: 14.771853 deg, approach rate: -0.548950 m/s, LOS rate: -0.011835 deg/s, cmd heading: 15.405669 deg, new cmd heading: 15.396958 deg. iGHeadingCmd: 0.268728 target range: 450.927856 and range: 452.40 m.h>hhhhgg!jg!rg!e)re)Ze):e)*e-'@]Bɢ]=)Y e@ia)empS=m=Iu>Iqyԩ}9@y @y@2@@zA@u2Acoustic response timeoutEM EMEIEI"EM+$;*EM:VEIZEIBEM5}% %=% R=% 2Acoustic response timeout) H%,!ݖLABO=B>BٱBB=BHZ?@ѿbE?v?@?x`}?`??iBO=IBv;BCYf†Byf%IiMb@Mb@Mb@ 9Gz?ʡE? rh?Y?y=C< )/@Y3@bDVDy<%;=ٔk9Y=EyD:E>Q 54S?Q 94܍)[BY ?Q E:y>Q I@(DIe;iz;4yvBɮ6@E:i FNOT Ignoring new targets: 450.93 m."iO*i%OE ProNav: ac range: 450.927856 m, nav range: 442.434509 m, bearing: 14.766900 deg, approach rate: -0.562961 m/s, LOS rate: -0.011361 deg/s, cmd heading: 15.396957 deg, new cmd heading: 15.387046 deg. iEUMHeadingCmd: 0.268555 target range: 450.927856 and range: 452.40 m.hM>hIhIhIhIgIgQjgQrgU܁BeYreYZeY:eY*e]6(@颍Bɢ=) c@i) h顑i5臼i>^=?=I>I 9@ @@/@ABDAT read: Response Not Received *response not receivedTDAT read: user:127>Tx time:04:11:31.1388 /N%,;ݖLA Y~By~%IbDVDð8y%ܼ%%T=ٔ%Q-%>9- ?Y- ?=-Ey-D-E5>1Q 5E45jd?Q 9E45)5[BYIyIQ IM@5(DI5,;i5-;54yQɮU@QuB*** querying acoustic contact ***iqiq:iyFNOT Ignoring new targets: 450.93 m."ixO*ixO ProNav: ac range: 450.927856 m, nav range: 442.217957 m, bearing: 14.762527 deg, approach rate: -0.561201 m/s, LOS rate: -0.011336 deg/s, cmd heading: 15.387045 deg, new cmd heading: 15.378296 deg. iHeadingCmd: 0.268402 target range: 450.927856 and range: 452.40 m.hk>hhhhggjgrgereZe:e*e)@Bɢ=) @i)ދaiik>i=2=Ik>IDAT read: 2Acoustic response timeoutB1A1BE'>BABE%IBEBBABABABE;BE>Equ9@q @y@}/@yԙ^A=A I I O > 2Acoustic response timeoutU%,1\UݖLAE EE*E"E[";*E:VE(N4ZEBEz^9ٱ^@=^H@i?ѿ J?u?@? ̻`:`$? a?i^CV=I^6y;\YjByj%IbDvVDv8yzcü%zM=ٔ~9Y=EyD:E > Q 54 u?Q 94 &) )[BYy[>Q I@ (DI +;i I; 4y%uBɮ-һ@-E:iIUFNOT Ignoring new targets: 450.93 m."iUQ*iUQe ProNav: ac range: 450.927856 m, nav range: 441.993408 m, bearing: 14.757975 deg, approach rate: -0.564833 m/s, LOS rate: -0.011457 deg/s, cmd heading: 15.378296 deg, new cmd heading: 15.369186 deg. iemHeadingCmd: 0.268243 target range: 450.927856 and range: 452.40 m.hm"W>hihihqhqgqgqjgyrgyeyreyZe:e*edl*@颭Bɢ =) @i)Y项iBi"W>;t=s=I"W>II)@ @@@@=@=2Acoustic response timeout^A"=A% ؟A) I1 IA OU >C[%,?oݖLA|Y~ɆBy~%I]2Acoustic response timeoutiMb@Mb@Mb@ 9V-?+?:v?Y ?y=T<d@/@ \@)E@Y@bD&VDϰ8y=%>=ٔQ->9"?Y"?=EyDE>Q 54o?Q 94)2[BY?Q E:y>Q I@(DIs:ib:4yvBɮź@:iFNOT Ignoring new targets: 450.93 m."iS*iS- ProNav: ac range: 450.927856 m, nav range: 441.756592 m, bearing: 14.752999 deg, approach rate: -0.550943 m/s, LOS rate: -0.011582 deg/s, cmd heading: 15.369186 deg, new cmd heading: 15.359229 deg. i-5HeadingCmd: 0.268069 target range: 450.927856 and range: 452.40 m.h5[@>h1h1h1h9g9g9jg9rg=فBeAreAZeA:eA*eMmH+@BɢC=) @i)Qii[@>ڀ==I[@>E5 E5E5'E1"E51;*E5:VE5'4ZE1a=@a=@a=@a=@I )9@ @@/@Q^A s? ]? 2Acoustic response timeoutB5 $>B5 cCB1 B1 B5 =B1 B1 B5 ;B5 >Ey A .AI! I1 OE >)b%,^ݖLA:H=:(>:;ٱ:=:H F?ѿ@?@??`db;|??i:H=I:_{;:CYJByJ%IbDRVDR8yZM%Z]=ٔZ9^ ?Yb ?=bEybDb;Eb>dQ 5j4fU?Q 9j4fa)f9[BYlyn>Q In@f(DIf:if;f4yruBɮrW@t:i  FNOT Ignoring new targets: 450.93 m."iRU*iRU% ProNav: ac range: 450.927856 m, nav range: 441.552765 m, bearing: 14.748690 deg, approach rate: -0.551152 m/s, LOS rate: -0.011656 deg/s, cmd heading: 15.359229 deg, new cmd heading: 15.350608 deg. i%-HeadingCmd: 0.267919 target range: 450.927856 and range: 452.40 m.h-,>h)h)h)h1g1g1jg1rg1e9re9Ze9:eA*eE`,@YuBɢu=)q u@iq)}ґJyyi}̆i,>=Ք=I,>I9@ @@0@m2Acoustic response timeoutԉD9zD=@AEE EEEE$EA"EE(;*EE :VEE4ZEABEE  2Acoustic response timeoutSh%,ݖLA2Ƀ=28>2w*<ٱ2ő=2H_?Zѿ? \??cU@b?@ ?i2Ƀ=I2s{;0YR̆ByR%Ii-Mb@Mb@Mb@)))) )9-gfffff?ˡE?y&1|?Y-3?y-=-`;-M@-\@ -E@)-\@)Y-@bDԿVD8yg=%<=ٔ;Q->9"?ԹY"?=EyDE>Q 54ϫ?Q 94)=[BY?Q E:y>Q I@(DIP;iD;54yɮ@:i  FNOT Ignoring new targets: 450.93 m."ia*ia% ProNav: ac range: 450.927856 m, nav range: 441.302856 m, bearing: 14.743312 deg, approach rate: -0.572767 m/s, LOS rate: -0.012335 deg/s, cmd heading: 15.350608 deg, new cmd heading: 15.339844 deg. i%-HeadingCmd: 0.267731 target range: 450.927856 and range: 452.40 m.h->h)h)h)h)g)g)jg1rg5Be9re9Ze9:e9*e=B,@mBɢmѶ=)i m@ii)uBqqiuki}>}옘=}jo=I}>I 9@  @ @ @ }2Acoustic response timeout^AM٦=AUxAzAUwAEe  Ee Ee (Ea "Ee a;*Ee B:VEe c44ZEa am @am @am @am @AA II IY Om >9 }n%,ȼݖLA6r=6\p>6]<ٱ6ͼ=6H u?ѿ`F?@?@ ?麹`Ȼ?@?i6r=I6#{;6CYFɆByF%IbDNʿVDN{8yV%V\=ٔZV 9XYX=ZEyZD^E^>`Q 5f4b\?Q 9f4bU)bA[BYdyj>Q Ij@b(DIb:ib:b4ylɮr@rE~B*** querying acoustic contact ***ii:i  FNOT Ignoring new targets: 450.93 m."iGa*iGa% ProNav: ac range: 450.927856 m, nav range: 441.090485 m, bearing: 14.738739 deg, approach rate: -0.571470 m/s, LOS rate: -0.012310 deg/s, cmd heading: 15.339843 deg, new cmd heading: 15.330694 deg. i%8-HeadingCmd: 0.267571 target range: 450.927856 and range: 452.40 m.h->h)h)h)h)g1g1jg1rg1e9re9Ze9:eA*eE~-@m Bɢmy>)i u@iq)u4:qqiu:+i}>}?=I>I2Acoustic response timeoutAABBdCBBB =BBB~;B>E9@ @@/@A^A==qIQ Ia Om > 2Acoustic response timeoutԙ DU =DQ Ee  Ee Ee &Ea "Ee 1;*Ee 1:VEe 4ZEa BEe k2<ٱ2&y=2H?ѿiH?@??eS i??i2=I2х{;2CY>ΆBy>%IbDJпVDJ8yRy<%RI=ٔR;Q-R>9TYT=VEyV DVc{EZ>XQ 5^4Z?Q 9b4Z|)ZC[BY`yb>Q Ib@Z)DIZ:iZ;Z4ydɮjr@h:ix~FNOT Ignoring new targets: 450.93 m."i~Eb*iEb  ProNav: ac range: 450.927856 m, nav range: 440.857727 m, bearing: 14.733735 deg, approach rate: -0.574720 m/s, LOS rate: -0.012364 deg/s, cmd heading: 15.330694 deg, new cmd heading: 15.320680 deg. i HeadingCmd: 0.267396 target range: 450.927856 and range: 452.40 m.h+>hhhhggjgrgereZe:e*e{.@ BɢV=) @i)w2ii+>=d=I +>I Y@ @@0@ԉ2Acoustic response timeout^A5٦=ԱI I! O- > u{%,|ݖLAY~ĆBy~%IE2Acoustic response timeoutG?9YǔAimMb@Mb@Mb@iiii i9mm?#~j?9Y=Ey*DE>Q 54?Q 94y)G[BY?Q E:y>Q I@)DI ;i;4yɮ @:iFNOT Ignoring new targets: 450.93 m."i]*i]E EE%E"E(;*E:VE 4ZEa%@a%@a%@a%@% ProNav: ac range: 450.927856 m, nav range: 440.600372 m, bearing: 14.728115 deg, approach rate: -0.554117 m/s, LOS rate: -0.012107 deg/s, cmd heading: 15.320680 deg, new cmd heading: 15.309433 deg. i-B5HeadingCmd: 0.267200 target range: 450.927856 and range: 452.40 m.h5qΈ>h1h1h1h1g1g9jg9rg=Be9reAZeA:eA*eE`b/@uBɢuT"=)q }@iy)}t)yyi}ꞼiqΈ>=4=IqΈ>IE9@A @A@I@I@U=@U=2Acoustic response timeoutBBB%IBBB =BBB;B>E) ^A} =I I O >Y 5z%,d ޖLA:f׃=:>:f[<ٱ:!=:H?@ѿ?`?`%?࿗3?`J?i:f׃=I:*{;:CY^By^%IfAAdbDfVDf8ynJ%nj=ٔrh9pYt=vEyv1Dv:Ev?xQ 5~4z?Q 9~4zw)zJ[BYy>Q I@z$)DIz;iz):z4y tBɮ @ E:i1=FNOT Ignoring new targets: 450.93 m."i=L_*i=L_M ProNav: ac range: 450.927856 m, nav range: 440.406677 m, bearing: 14.723868 deg, approach rate: -0.556232 m/s, LOS rate: -0.012201 deg/s, cmd heading: 15.309434 deg, new cmd heading: 15.300936 deg. iMUHeadingCmd: 0.267052 target range: 450.927856 and range: 452.40 m.hU>hQhQhQhYgYgYjgYrgYeareaZea:ea*emo 0@颭Bɢ5/ >)1 5@i9)=x6#99i=iM>uVʘ=u=Iu>Iy)%9@) @)@-0@)]BDAT read: Rx Time:04:11:34.1592 ]TRx dataTimestamp_ set to:1764907896.304671e2Acoustic response timeoutDzDAAE% E%E%&E!"E%C#;*E%5:VE%4ZE!BE%{ԁ  2Acoustic response timeout%,5$ޖLA06 =6>63<ٱ6y=6H@?ѿYZ??_?`t%'^?A?i6 =I6z;6CYBByB%Ii Mb@Mb@Mb@     9 ʡE?sh|??~jtx?Y ?y = ; r@ j@ ) @ Y @bD%VD%8y5%5E=ٔ=;Q->9Y=Ey9Dg:E>Q 542?Q 946u)Y/?Q E:y>Q I@4)DI~ ;i;p4yɮ@:iFNOT Ignoring new targets: 450.93 m."i6e*i6e ProNav: ac range: 450.927856 m, nav range: 440.168182 m, bearing: 14.718525 deg, approach rate: -0.558757 m/s, LOS rate: -0.012525 deg/s, cmd heading: 15.300935 deg, new cmd heading: 15.290243 deg. i_ HeadingCmd: 0.266865 target range: 450.927856 and range: 452.40 m.h >h h h h g gjgrgBereZe:e*ev0@MBɢM^=)I M@iQ)UQQiULi]>]ט=]+=Ie>Iaԑ@ @@V0@ԹDAT read: 04:11:34.1592 LVL= 25584, 25249, 24930, 26019, AGC= 77, IDX= 35, 0.19, 2.552, 0.934, 2.752, 2.048, PHS= 0.606,-1.069, 0.660, RAW= 151.6, -2.3, CAL= 150.8, -3.3, ROT= 359.2, 3.3 Ygot valid direction response: 04:11:34.1592 LVL= 25584, 25249, 24930, 26019, AGC= 77, IDX= 35, 0.19, 2.552, 0.934, 2.752, 2.048, PHS= 0.606,-1.069, 0.660, RAW= 151.6, -2.3, CAL= 150.8, -3.3, ROT= 359.2, 3.3 PDAT read: Bearing 166.5, -2.5 (Local) ~Local bearing/azimuth received: Bearing 166.5, -2.5 (Local) DAT read: Range 11 to 50 : 462.2 m (Round-trip 616.3 ms) speed 0.4 m/s TDAT read: user:128>Tx time:04:11:35.2388 R#Rx 1: Read range and direction messages.`direction in FSK: [0.998245,-0.013939,-0.057564]Fpublishing direction and range infoyaeBt?ID`8.yYeCaecebeba ee)eMIe"?ieԈe(?eV)@el$eq(@ ek)ey@Iek=aaeNx=?PVֺ?H e ?)e7v'=IeDdiek=aa2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.^Am=IIO>bEjErEȭ<0E  E E "E "E ;*E :VE (3ZE a @a @a @a @ o̎%,>ޖLAlYrByr%IbDzVDz8y%ϯ;%-K=ٔ-Q-->9)Y1=5Ey5AD5E5>9Q 5E4=,?Q 9E4=r)=K[BYIyIQ IM@=B)DI=:i=:=B4yQɮU@Qii73ޖLAjWC"jWC:jP>"p ;|@"&EɄ:pBt?ID`8.y*jDd2jk=*p{@o0_@-Bpr?oIT?)7jB jCi=?iAbjAjj jrj!Czj,ׄ> addTargetRange:: Added new target pos. range: 462.200012 m, deltaT: 16.636244 s, deltaX: 9.800018 m, approachRate: 0.589076 m/s, rangeRepo size: 4  Added new target pos. range: 460.681915 m, bearing: 15.766618 deg, lat: 36.779371 deg, lon: -121.859519 deg, deltaT: 16.636244 s, deltaX: 9.754059 m, approachRate: 0.586314 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 460.68 m."i*i ProNav: ac range: 460.681915 m, nav range: 440.258270 m, bearing: 14.865627 deg, approach rate: 0.000000 m/s, LOS rate: -0.012525 deg/s, cmd heading: 15.290244 deg, new cmd heading: 15.280377 deg. iHeadingCmd: 0.266693 target range: 460.681915 and range: 462.20 m.h>hhhhggjgrgereZe:e@3|@*e ?BqAu<ByByB}%IB}BB} =ByByB};B}>EBQBQBQBU =BU =CUE5DAT read: 2Acoustic response timeoutBɢ>) C@i)ii>=!=I>IIxA)xA @ @@0@@@1^A*=I I! O- >m 2Acoustic response timeouti %,WޖLAE& E&E&(E$"E&f;*E&P:VE&c44ZE$BE&WBǀ<ٱB9=BH?mѿ +???m? &`+??iBf=IBKw;BCYRByR%IbDZ߿VDZ8ybqf%bQ=ٔfU49dYd=jEyjIDjȊ;Ej>lQ 5r4n0&?Q 9r4n^p)lYtyv>Q Iv@nP)DIn:in%:n4yxɮzP@x9B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 460.68 m."iZ*iZ ProNav: ac range: 460.681915 m, nav range: 440.039429 m, bearing: 14.860748 deg, approach rate: -0.536037 m/s, LOS rate: -0.011956 deg/s, cmd heading: 15.280378 deg, new cmd heading: 15.270616 deg. i HeadingCmd: 0.266523 target range: 460.681915 and range: 462.20 m.hu>hhhhggjgrgereZe:e*e%?}Bɢ} >) @i)M 顁iǩiu>=]=Iu>IQq9@ @@1@2Acoustic response timeoutԑ^A) AY Ia Iq O >ޛ%,TqޖLA%2Acoustic response timeoutY%By%%IԙiMb@Mb@Mb@ 9q= ףp?V-?~jt?Y ?yh=D<@@ )Y@bDVD8y3<%:=ٔQ->9Y=EyRDE>Q 5e48?Q 9e4m)M[BYe ?Q Ee:ye.>Q Im@`)DIxhhhhggjgrgBereZe:e*eu?BɢH>) @i)r-ii _> p= =I_>IEU EUEU$EQ"EU ;*EU':VEU4ZEQae@ae@ae@ae@9@ @@@5@ByByB}%IB}BB} =ByByB};B}>E^Aõ=2Acoustic response timeout A9 IA IY Oe >Ţ%,ϡޖLAY~By%IbD%VD%ð8yEF%EU=ٔIQ-M>9QYQ=UEyUZDaEe>iQ 5}4mEI?Q 94mk)mO[BYyQ I@mm)DImSd;imS;m4yɮ@:iFNOT Ignoring new targets: 460.68 m."i8I*i8I ProNav: ac range: 460.681915 m, nav range: 439.590546 m, bearing: 14.851839 deg, approach rate: -0.553433 m/s, LOS rate: -0.010995 deg/s, cmd heading: 15.261137 deg, new cmd heading: 15.252787 deg. iHeadingCmd: 0.266211 target range: 460.681915 and range: 462.20 m.hL>hhhhgg jg rg e reZe:e*e?EBɢE*y >)A E@iA)MZIIiMqQiUL>U=Uζ=IUL>IYeG>ia9@!=2Acoustic response timeout @!@=5@9@E=@E=!Ee EeEaEa"Ee~ ;*Ee5:VEaZEaBEeVB*_=ٱBY=BH`í?ѿ]ְ?`a?@?湿`ʡ ?!?iB=IB>$t;BCY^Byb%IiMMb@Mb@Mb@IIII I9M#~j?333333?/$?YM?yM=M9yYy=}Ey}bD;E>Q 54Y?Q 94Fi)T[BY]?Q E:y>Q I@{)DI/;i; 4yɮ2@:iFNOT Ignoring new targets: 460.68 m."i(Q*i(QQe ProNav: ac range: 460.681915 m, nav range: 439.377777 m, bearing: 14.847252 deg, approach rate: -0.529829 m/s, LOS rate: -0.011429 deg/s, cmd heading: 15.252787 deg, new cmd heading: 15.243608 deg. ieSmHeadingCmd: 0.266051 target range: 460.681915 and range: 462.20 m.hm7>hihihihiggjgrgBereZe:e*e@U?-Bɢ-n>) @i)顙iqi7>%=<=Im7>Iiԁ9@ @!@%?5@!=2Acoustic response timeoutԩEu  Eu Eu &Eq "Eu ;*Eu :VEu 4ZEq a} @a} @a} @a} @^AE ǚ= Aq I I O >A%,ޖLA2>ڌ=2kʒ>2=ٱ2 =2H@7?fѿD?`?@؅?^v?M?i2>ڌ=I2&Ls;2CY>By>%IbDJVDJ8yN&I%NS=ٔRT;Q-R>9PYT=VEyVjDV):EZ>XQ 5^4Zi?Q 9^4Zg)ZX[BY`yb>Q Ib@Z)DIZ:iZ:Zm4yhɮjν@h:i|~FNOT Ignoring new targets: 460.68 m."iGN*iGN ProNav: ac range: 460.681915 m, nav range: 439.175903 m, bearing: 14.842887 deg, approach rate: -0.521110 m/s, LOS rate: -0.011271 deg/s, cmd heading: 15.243608 deg, new cmd heading: 15.234875 deg. iHeadingCmd: 0.265899 target range: 460.681915 and range: 462.20 m.h#>hhhhgg!jg!rg!e!re!Ze):e)*e-@AAB&>BBz%IBBB =BBB;B>EBɢ>) @i)ټiZi-#>-5=-o=I-#>I1]2Acoustic response timeouta9@ @@/@ԑ^A=Թi I  2Acoustic response timeoutA I I) OE > E-  E- E- %E) "E- ;*E- y:VE- 4ZE) BE- 2X=!=ٱ2HQ=2H?ѿ&?^??Y&U&`2?`l?i2=I23r;0Y>By>%IbDFVDF8yN %NL=ٔR;Q-R>9PYP=REyVrDVn:EV>XQ 5^4Zy?Q 9^4Zd)Z\[BY`yb>Q Ib@Z)DIZ;iZ8;Zq4ydɮf?@fEvB*** querying acoustic contact ***itit:ix~FNOT Ignoring new targets: 460.68 m."i O*i O ProNav: ac range: 460.681915 m, nav range: 438.966492 m, bearing: 14.838347 deg, approach rate: -0.521593 m/s, LOS rate: -0.011313 deg/s, cmd heading: 15.234875 deg, new cmd heading: 15.225791 deg. iHeadingCmd: 0.265740 target range: 460.681915 and range: 462.20 m.h>hhhhgg!jg!rg!e!re)Ze):e)*e-@@BɢX>) d@i)EʼiK#i>tG=Z=I>IQ@Q @Q@Q@Y@exA@a}2Acoustic response timeout^A=˺=1 A I I O >Q M%,EޖLA2"^=2d+>21*=ٱ2Q=2H ?ѿi?` ?@?QS0Q?@1?i2"^=I2fr;0Y>By>%I^2Acoustic response timeouti Mb@Mb@Mb@     9 /$?ˡE? rh?Y  ?y = C< @ @ /@)  Y ½@bD-տVD-8yy<%:=ٔ;Q->9Y=Ey{DF_:E>Q 54z?Q 94b)][BY ?Q E:y>Q I@)DI;iT;#4yɮ@:iFNOT Ignoring new targets: 460.68 m."i 0c*i 0c ProNav: ac range: 460.681915 m, nav range: 438.727051 m, bearing: 14.832901 deg, approach rate: -0.545468 m/s, LOS rate: -0.012414 deg/s, cmd heading: 15.225791 deg, new cmd heading: 15.214893 deg. i%HeadingCmd: 0.265550 target range: 460.681915 and range: 462.20 m.h%*>h!h!h!h!g)g)jg)rg-Be1re1Ze1:e1*e=@eBɢeFn>)a m?@ii)m=iiiu6Źiu*>uZ=}Z=I}*>IyE EEE"E;*E^:VEZEa@a@a@a@)@ @@/@YB#>BBa%IBuBBBBB;B^A-=uG>u<}2Acoustic response timeoutԁ A I) I9 OU >&4÷%,o ߖLA0bŒ=bcĒ>bR3=ٱbC=bH%?[ѿV?@??ZJ`P{?`?ibŒ=IbVq;bCYvByv|%IbD~VD~8y % U=ٔ&;Q->9Y=%Ey%D5{E=>AQ 5M4E?Q 9M4E_)E^[BYQyU>Q IU@E)DIE:iEh:E)4yYɮ]@]E:iFNOT Ignoring new targets: 460.68 m."i|b*i|b ProNav: ac range: 460.681915 m, nav range: 438.515717 m, bearing: 14.828108 deg, approach rate: -0.545419 m/s, LOS rate: -0.012375 deg/s, cmd heading: 15.214892 deg, new cmd heading: 15.205302 deg. i0HeadingCmd: 0.265383 target range: 460.681915 and range: 462.20 m.h:>hhhhggjgrgereZe:e*en @Bɢ >) -@i)@ꪼiFGi:>!l=/=I:>Im9@i @i@m/@qԙBDAT read: Rx Time:04:11:38.2440 TRx dataTimestamp_ set to:1764907900.3349882Acoustic response timeoutDzD@AE EEE"Es!;*E:VEZEBEx  2Acoustic response timeout]ɷ%,=I'ߖLA2Ë=2>2j==ٱ2ߩ=2Hr?ѿ`N^? ?@s?`)'??i2Ë=I23q;2CYNByRt%I\i-Mb@Mb@Mb@)))) )9-uV?/$?{Gz?Y-r?y-=-ף<-@-@ -E@)-@)Y- @bDEVDEɰ8yU,%UF=ٔU;;Q-U>9YYa=eEyeDe뚺Ee>iQ 5u4m­?Q 9u4mG])m`[BY: ?Q E:y>Q I@m)DImhhhhggjgrg܁BereZe:e*e@=o@Bɢ`u>) @i )ȘAiEؾi]ȇ>=_ƻ=Iȇ> ݑC5 GI!Yq9YmA DAT read: 04:11:38.2440 LVL= 32544, 32753, 32754, 32755, AGC= 76, IDX= 148, 0.11,-2.138, 2.498,-1.821,-2.327, PHS= 0.291,-1.413, 0.462, RAW= 154.7, 7.4, CAL= 154.2, 7.7, ROT= 355.8, -7.7 Ygot valid direction response: 04:11:38.2440 LVL= 32544, 32753, 32754, 32755, AGC= 76, IDX= 148, 0.11,-2.138, 2.498,-1.821,-2.327, PHS= 0.291,-1.413, 0.462, RAW= 154.7, 7.4, CAL= 154.2, 7.7, ROT= 355.8, -7.7 %8DAT read: $Error in header %*Received a bad headeruX#Rx 1: Read direction message, but no range.}^direction in FSK: [0.988322,-0.072578,0.133986]yR4U?8íxL`u&?  )LI>i/ݴD>3,@ A>9>,@  >)Y@I XC\?q;?~? -?)wTIi i 2Acoustic response timeout9@ @@5@@=@=E  E E *E "E ;*E ՚:VE (N4ZE a @a @a @a @q ^A A >A >ԑ B <A B !>B cCB N%IB fBB =B B B ;B >E2Acoustic response timeoutIIO>ѷ%,FߖLAJ怈=J>J#$P=ٱJT=JH`_?ѿ??@˖?Y?`?iJ怈=IJjr;HYVByTbD^GVD^8yjRp:%j,=ٔj9lYl=nEynDnF\Er>tQ 5v4vN?Q 9z4vpZ)va[BYxyz3>Q Iz@v)DIv:iv:vQ94y|ɮy@:i!-FNOT Ignoring new targets: 460.68 m."i-n*i-n= ProNav: ac range: 460.681915 m, nav range: 438.046509 m, bearing: 14.817086 deg, approach rate: -0.555146 m/s, LOS rate: -0.013011 deg/s, cmd heading: 15.195054 deg, new cmd heading: 15.183246 deg. i=HeadingCmd: 0.264998 target range: 460.681915 and range: 462.20 m.hŭ>hhhhggjgrgereZe:e*en@mBɢm >)i m@iq)uCqqiuPiŭ>=\=Iŭ>Iu9@q @q@u/@qE2Acoustic response timeout^A=IY Ii E}  E} E} %Ey "E} 3;*E} Ǚ:VE} 4ZEy BE} A ׷%,^`ߖLAF6=Fa>F:Y=ٱF:=FHڬ?G|ѿ담?q?`? ^6@??iF6=IFLr;FCYb{Bybi%IbDj1VDjڰ8yr7%vJ=ٔvA;Q-v>9xYx=zEyzDz)̺E~>Q 54?Q 9 4X)Y y >Q I @)DI:i%:a@4yɮ@E5B*** querying acoustic contact ***i1i1:iAEFNOT Ignoring new targets: 460.68 m."iM0c*iM0c] ProNav: ac range: 460.681915 m, nav range: 437.831696 m, bearing: 14.812066 deg, approach rate: -0.531022 m/s, LOS rate: -0.012414 deg/s, cmd heading: 15.183246 deg, new cmd heading: 15.173202 deg. i]eHeadingCmd: 0.264822 target range: 460.681915 and range: 462.20 m.he˖>hahahahagigijgirgieireqZeq:eq*eu@@BɢCU>) @i)(uixüi˖>J=:۸=I˖>I%=%=2Acoustic response timeout]9@Y @Y@e/@a^AII)O5>) m 2Acoustic response timeoutMݷ%,7zߖLAbEU 4jEU-4rEUS)0E6 E6E6#E4"E6;*E6B:VE63ZE4a:@a:@a:@a>@R=Ru>R7b=ٱR=RH ?&zѿ? V??#`UL t!?E?iR=IRq;RCYboBybY%IiMb@Mb@Mb@ 9/$?333333?y&1?Y ?y=`e<@@ @)=@Y\@bD3VD۰8ym%==ٔ!;Q->9Y=EyD9E>Q 54Z?Q 94zU)][BYc ?Q E:yl>Q I@)DI;:i:G4yɮ@:i%FNOT Ignoring new targets: 460.68 m."i%P*i%P5 ProNav: ac range: 460.681915 m, nav range: 437.596191 m, bearing: 14.807144 deg, approach rate: -0.545429 m/s, LOS rate: -0.011407 deg/s, cmd heading: 15.173202 deg, new cmd heading: 15.163351 deg. i5=HeadingCmd: 0.264650 target range: 460.681915 and range: 462.20 m.h=B>h9h9hAhAgAgAjgArgMˁBeIreIZeI:eI*eU@}Bɢ}6>) @i)E6U顁iƼiB>= =QIB>IQB>BB/%IBLBB =BBDB;B>EBBBB =B =C5 9@  @ @ /@@zA@2Acoustic response timeouty^A2=AyAzAzAIy I O >Ա %,ߖLA@F=F`>Fj=ٱFc=FH`2?xѿ?^??={Pb? z?iF=IFp;FCYRhByRR%IbD^VD^8yf1%f\=ٔf;Q-f>9hYh=jEyjDn+:En>pQ 5v4r0?Q 9v4rIS)rZ[BYtyv>Q Iv@r)DIr:ir:rmN4y~}Bɮ~C@|%2Acoustic response timeout:i)-FNOT Ignoring new targets: 460.68 m."i5P*i5PE ProNav: ac range: 460.681915 m, nav range: 437.393280 m, bearing: 14.802893 deg, approach rate: -0.543822 m/s, LOS rate: -0.011398 deg/s, cmd heading: 15.163351 deg, new cmd heading: 15.154845 deg. iEᦹMHeadingCmd: 0.264502 target range: 460.681915 and range: 462.20 m.hMl>hIhIhIhIgQgQjgQrgQeYreYZeY:eY*eeH4@ Bɢ %>)  $@i )G~8ieȼil>ę=Y=Il>IE] E]E]'EY"E];*E]S:VE]'4ZEYBE]_u%,%ߖLAhYUYByU>%IiMb@Mb@Mb@ 9Zd;O? rh?Mb?Y~ ?yC=<@@ \@)j@Y@bDVDɰ8y(%8=ٔQ->9 Y =]Ey]D]E]>aQ 5m4ef?Q 9m4eP)eV[BYu ?Q Eu:yu>Q Iu@e *DIeT;ien;e`V4yyɮ};@:iFNOT Ignoring new targets: 460.68 m."iV@*iV@ ProNav: ac range: 460.681915 m, nav range: 437.147858 m, bearing: 14.798128 deg, approach rate: -0.541012 m/s, LOS rate: -0.010510 deg/s, cmd heading: 15.154846 deg, new cmd heading: 15.145311 deg. iޙHeadingCmd: 0.264336 target range: 460.681915 and range: 462.20 m.hV>hhhhggjgrgفBereZe:e*e@@ Bɢ >)  v@i )uiʼiV>F֙==IV>I-2Acoustic response timeout9@ @@@E] E]EYEY"E]7;*E]՚:VEYZEYae@ae@ae@ae@)^A =Y A A B B B %IB 3BB =B B B ;B >EA1 I9 II O] > 2Acoustic response timeout%,ߖLA699=6*>6v=ٱ6]=6H?@vѿe? V??@l`֮Q?C?i699=I6ln;4YZ]ByZC%IbDbVDb8yj <%j_=ٔnx9lYp=rEyrDr=9Er>t1Q 5E4vm?Q 9E4vN)vS[BYIyM>Q IM@v*DIvHhhhhggjgrgereZe:e*e>|@Bɢ>) +@i)@eiͼiE>==IE>I9@ @@/@@@=aM2Acoustic response timeoutԡ^A=Em  Ei Em %Ei "Em 2;*Ei VEm 4ZEi BEm $ %,ߖLA25=2O>2G}=ٱ2+=2H4? iѿ@Ŷ?? ?`ѵ yDE?`?i25=I28m;2CYNOByN2%IPRATTbDZVDZ8yb %bL=ٔb;Q-b>9dYd=fEyfDjRͺEj>lQ 5r4n\'?Q 9r4noL)nO[BYpyrU>Q Ir@n&*DInG:in:nc4yxɮzc@x B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 460.68 m."i%D*i%D5 ProNav: ac range: 460.681915 m, nav range: 436.739563 m, bearing: 14.790200 deg, approach rate: -0.553953 m/s, LOS rate: -0.010745 deg/s, cmd heading: 15.137840 deg, new cmd heading: 15.129449 deg. i5O=HeadingCmd: 0.264059 target range: 460.681915 and range: 462.20 m.h=2>h9h9h9hAgAgAjgArgAeIreIZeI:eI*eU @}Bɢ}>)  @i)K»顁i^Uϼi2>=34=I2>ԱI12Acoustic response timeout9@ @@0@^A˺=I I O iA IE AE 2Acoustic response timeout9 /%,bߖLAE EE'E"EI;*E:VE'4ZEa@a@a@a@>=>B>>+.=ٱ>X=>H ݨ?cѿ+?$?˙?)#@'?@}?i>=I>tl;>CYKBy.%IiEMb@Mb@Mb@AAAA A9EQ?333333?y&1?YE\?yE=E`e9qYq=uEyuD}RE}>Q 54<?Q 94I)H[BY?Q E:y>Q I@8*DI!;iy;*l4yɮ@:iFNOT Ignoring new targets: 460.68 m."i R*i R ProNav: ac range: 460.681915 m, nav range: 436.465942 m, bearing: 14.784581 deg, approach rate: -0.558456 m/s, LOS rate: -0.011477 deg/s, cmd heading: 15.129450 deg, new cmd heading: 15.118203 deg. iHeadingCmd: 0.263862 target range: 460.681915 and range: 462.20 m.h>hhhhggjgrgBereZe:e*e @%Bɢ%/0 >)!BBB$IBBB =BBB;B>E %j @i)֚wiѼi>< ==I>II2Acoustic response timeout@ @@/@q^A =I I O >ԙ m%,)_LA6ӆ=6H>6ss=ٱ6c=6H? `ѿ@?@Y?T?@O z}?ಽ?i6ӆ=I6k;6C @)@@@@@Fn~AiF`IDDIDiF~A HH)HH HHHLLLIL)LiP)PIPRףP PTViATiTTiXX)X XIXYXYb>Byb%IbDhVDhyr%r~=ٔrɢ;Q-v ?9tYt=vEyvDz 9Ez ?2Acoustic response timeoutQ 5 4J?Q 9 4G)C[BY yQ I@D*DI:iK:q4yɮq@:iAEFNOT Ignoring new targets: 460.68 m."iM[Q*iM[Q] ProNav: ac range: 460.681915 m, nav range: 436.286560 m, bearing: 14.780892 deg, approach rate: -0.556167 m/s, LOS rate: -0.011440 deg/s, cmd heading: 15.118204 deg, new cmd heading: 15.110824 deg. i]|eHeadingCmd: 0.263734 target range: 460.681915 and range: 462.20 m.he>hahahahagigijgirgieqreqZeq:eq*e}@L@颥߁Bɢ1,>)R  @i)1顩iUӼi>==I>IIyA)yAqE5 E5E5&E1"E5%;*E5:VE54ZE1BE5~ gA %,z5/LA2Ɔ=2E>2t=ٱ2=2H ? [ѿ`s??@{?A˰a?@?i2Ɔ=I2j;0Y=9By=%IiMb@Mb@Mb@ 9Fx?p= ף?Q?Y ?y=u< )@Y(@bDVD8ypҼ%;=ٔ;Q->9Y=EyDfbE>Q 5 4s]?Q 9 4"E)=[BY  ?Q E:y>Q I@S*DI:i:ny4yBɮ@%E:iAEFNOT Ignoring new targets: 460.68 m."iM9*iM9] ProNav: ac range: 460.681915 m, nav range: 436.048157 m, bearing: 14.776464 deg, approach rate: -0.545966 m/s, LOS rate: -0.010147 deg/s, cmd heading: 15.110824 deg, new cmd heading: 15.101962 deg. i]eHeadingCmd: 0.263579 target range: 460.681915 and range: 462.20 m.he>hahihihigigijgqrguBereZe:e*e @e݁Bɢe>)a mu @ii)m滹顩i(ּi>+=j8=I>I2Acoustic response timeout9@ @@0@ EE EEEE'EA"EEf;*EE:VEE'4ZEAaU@aU@aU@aU@1 ^A л=II IY Om >B A p<B B B $IB BB =B B B ;B >E 2Acoustic response timeoutY F,%,.ILA2o=2|>2I=ٱ21"=2H`?@\ѿ@c?? ?+ ??i2o=I2i;0Y2By%IbD-VD-8y=z%=V=ٔ=Q;Q-E>9AYA=EEyEDM:EM>QQ 54Um?Q 94UB)U8[BYy(>Q I@Ua*DIUhihqhqhqgygyjgrgereZe:e*e @܁Bɢ!>)  @i):ijؼi> <=?Q=I>I)y@y @y@}+0@Y2Acoustic response timeoutEU  EU EU &EQ "EU /;*EU خ:VEU 4ZEQ BEU ʈgT%,bLA0Bܝ=BP{>B=ٱBe=BH`}?Wѿ̸?~?? Sy?@?iBܝ=IB%i;BCY^/By^ %IbDfVDf8ynX%rQ=ٔr/E;Q-r>9v ?Yv ?=vEyvDvEv>xQ 5~4z|~?Q 94z@)z2[BYy>Q I@zn*DIz^;izI;z4y fBɮ k@-B*** querying acoustic contact ***i)i):i9=FNOT Ignoring new targets: 460.68 m."iE!C*iE!CU ProNav: ac range: 460.681915 m, nav range: 435.626923 m, bearing: 14.768612 deg, approach rate: -0.571616 m/s, LOS rate: -0.010662 deg/s, cmd heading: 15.094208 deg, new cmd heading: 15.086250 deg. iU]HeadingCmd: 0.263305 target range: 460.681915 and range: 462.20 m.h]φ>hYhYhYhYgYgajgargaeareiZei:ei*emϑ!@额ځBɢ%>)  @i)lX=;顡i ڼiφ>L=y=Iφ>I}2Acoustic response timeoutԙ>V>i>M{Gayhe9YaA@ @@/@@=@= - 2Acoustic response timeoutEe  Ee Ee %Ea "Ee 1;*Ee :VEe 4ZEa am @am @am @am @^A =1 IIO> %,:LA2g=2p|>2=ٱ2=2H ?Uѿ@v$?`1?`5?@sw}? ǵ?i2g=I2yi;2CY>#By>$IiMb@Mb@Mb@ 9B`"?333333?Zd;O?Y?y=j<E@5@ @)@Y@bDVD8y-OC%-$=ٔ-5;Q-->qB>BB$IBBBBBBƇ;B>E9Y=EyDΊ7E>Q 54?Q 94=).[BY@?Q E:y>Q I@*DI ;i ;4yɮ,@E:i9EFNOT Ignoring new targets: 460.68 m."iEO*iEOu ProNav: ac range: 460.681915 m, nav range: 435.338104 m, bearing: 14.762703 deg, approach rate: -0.552696 m/s, LOS rate: -0.011316 deg/s, cmd heading: 15.086250 deg, new cmd heading: 15.074424 deg. i}}HeadingCmd: 0.263098 target range: 460.681915 and range: 462.20 m.h}Ӵ>hyhhhggjgrgBereZe:e*e"@=%=2Acoustic response timeoutفBɢ >) C @i);iܼiӴ>d==IӴ>IԡXRq@q @q@u0@q^A=  = 2Acoustic response timeout I I) O5 >&%,ԛLA6=6γ>6=ٱ6T=6H`?`V^ѿ J9pYp=rEyvDv:Ev>xQ 5~4z&?Q 9~4z;)z+[BY|y@>Q I@z*DIz:iz:z{4y ɮ @ :i15FNOT Ignoring new targets: 460.68 m."i=-T*i=-TM ProNav: ac range: 460.681915 m, nav range: 435.132111 m, bearing: 14.758467 deg, approach rate: -0.563537 m/s, LOS rate: -0.011594 deg/s, cmd heading: 15.074424 deg, new cmd heading: 15.065948 deg. iMUHeadingCmd: 0.262950 target range: 460.681915 and range: 462.20 m.hUo>hQhQhQhQgYgYjgYrgYeareaZea:ea*eeX#@颕؁Bɢ(>) @i)P;顙i6'߼io>s=n =Io>I-2Acoustic response timeoutU9@Q @Y@]/@Yqԑ ^A I I) O1 ,%,LA2gʇ=2q>26=ٱ2=2H%?<[ѿZ???@ԵSn??i2gʇ=I2 i;2CY>By>$Ii=Mb@Mb@Mb@9999 99=L7A`?9iYi=mEym DuWEu>2Acoustic response timeoutQ 54}?Q 94#9))[BY?Q E:y>Q I@*DI:i:؝4yɮ{@E:iFNOT Ignoring new targets: 460.68 m."iG*iG ProNav: ac range: 460.681915 m, nav range: 434.910126 m, bearing: 14.753867 deg, approach rate: -0.526500 m/s, LOS rate: -0.010915 deg/s, cmd heading: 15.065948 deg, new cmd heading: 15.056743 deg. iϟHeadingCmd: 0.262790 target range: 460.681915 and range: 462.20 m.ha>hhhhggjgrgBereZe:e*ez0$@%ׁBɢ%[>)) -@i))- <))i-`i5a>===5=I=a>I9IqbE5Þ4jE54rE55/E EE#E"E;*E:VE3ZEa@a@a@a@9@ @@@5@@@ԡAAB>BB$IB؅BBBBB;B>EBcCBcCBBBCǚk5^AO=AzAIqIO>5 2Acoustic response timeout 3%,wLAmׇ=m>m=ٱm)U=mH-?`3Zѿ?@n?ۚ?8& ]ɻ??imׇ=Im+i;mCY By$IbDVD8yM%F=ٔ@~;Q->9Y=EyD~8E>Q 54m?Q 946)&[BYy>Q I@*DI :i~:4yɮ@:iiuFNOT Ignoring new targets: 460.68 m."iuA*i}A ProNav: ac range: 460.681915 m, nav range: 434.693298 m, bearing: 14.749367 deg, approach rate: -0.509516 m/s, LOS rate: -0.010579 deg/s, cmd heading: 15.056744 deg, new cmd heading: 15.047740 deg. iᚹHeadingCmd: 0.262633 target range: 460.681915 and range: 462.20 m.hw>hhhhggjgrgereZe:e*e[ %@ցBɢ>) @i)'<iǚiw>==Iw>I2Acoustic response timeout9@ @@@E EE%E"E;*E:VE 4ZEBE_u= 2Acoustic response timeout9%,RLAF.^=Fe>Fp~=ٱF$<=FH?Yѿ@w,???ž 5+?`?iF.^=IFygi;FCYBy$IbD-#VD-Ͱ8y %;=ٔz;Q->9Y=EyDx:E>Q 54^?Q 94[4)#[BYy>Q I@*DI:i`:4yɮ@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 460.68 m."i:O*i:O ProNav: ac range: 460.681915 m, nav range: 434.463623 m, bearing: 14.744590 deg, approach rate: -0.544061 m/s, LOS rate: -0.011323 deg/s, cmd heading: 15.047740 deg, new cmd heading: 15.038180 deg. iȥHeadingCmd: 0.262466 target range: 460.681915 and range: 462.20 m.ha>hhhhg!g!jg!rg!e)re)Ze):e)*e5%@QeՁBɢe >)a e@ia)mDux=u=Iua>Iy%9@! @)@-?5@)y2Acoustic response timeout^A:=IQ Ia O} >ԩ E  E E $E "E x;*E n:VE 4ZE a @a @a @a @@%,1LA6A=6O>6J=ٱ6`X=6Hi?Xѿw???N2ϭ tż?@?i6A=I6i;6C@Y^By^$IiEMb@Mb@Mb@AAAA A9Ekt?EbD}VD}8y嬽%^=ٔñ;Q->9Y=Ey"De:E>Q 54?Q 94,2)YZ?Q E:y>Q I@*DI:i:4yɮ@:iYeFNOT Ignoring new targets: 460.68 m."ieE*ieE ProNav: ac range: 460.681915 m, nav range: 434.256958 m, bearing: 14.740441 deg, approach rate: -0.538053 m/s, LOS rate: -0.010807 deg/s, cmd heading: 15.038179 deg, new cmd heading: 15.029878 deg. i8HeadingCmd: 0.262321 target range: 460.681915 and range: 462.20 m.hN>hhhhggjgrgBereZe:e*eH&@2Acoustic response timeout=ԁBɢ=!>)A E@iA)E_mk=u=IuN>IqI)ԩ-9@) @)@-5@)@==@==^A O= i I A 2Acoustic response timeoutA ؟AI I O >>F%,S LA2'[=2>2H=ٱ2O0=2H2?Tѿ@0a??>?kI # ??i2'[=I2uj;2CY>By>$IEF EFEF!ED"EF;*EF:VEFc3ZEDBEF!d9b"?Yb"?=bEyb*Df>9Ef>hQ 5n4j?Q 9n4j/l)j[BYpyr>Q Ir@j*DIj(;iji);j4yvkBɮv@zE:iFNOT Ignoring new targets: 460.68 m."iFW*iFW- ProNav: ac range: 460.681915 m, nav range: 434.045319 m, bearing: 14.736188 deg, approach rate: -0.585017 m/s, LOS rate: -0.011763 deg/s, cmd heading: 15.029877 deg, new cmd heading: 15.021366 deg. i-85HeadingCmd: 0.262172 target range: 460.681915 and range: 462.20 m.h5s;>h1h1h1h9g9g9jgArgAeAreAZeA:eI*eM`R`'@uӁBɢuo->) 1@i)t"w<ixis;>њ=C=Is;>I 9@ @@/@ 2Acoustic response timeoutA^AAE .AII IY a Om >bM%,6LAY~By~$I9]2Acoustic response timeoutiMb@Mb@Mb@ 9!rh?#~j?:v?Yl?y=<@@ @)j@Y@bDVDy%;=ٔQ->9 ?Y ?=Ey2DE>Q 54 ?Q 94^-)[BY) ?Q E:yC>Q I@*DI ;i& ;Q4yɮP@:iFNOT Ignoring new targets: 460.68 m."iA_*iA_ ProNav: ac range: 460.681915 m, nav range: 433.814697 m, bearing: 14.730865 deg, approach rate: -0.528271 m/s, LOS rate: -0.012199 deg/s, cmd heading: 15.021367 deg, new cmd heading: 15.010716 deg. iHeadingCmd: 0.261986 target range: 460.681915 and range: 462.20 m.h#>hhhhggjgrgBereZe:e*e8J(@E EE(E"E*E:VEc44ZEa@a@a@a@颩ɢw>) s@i)<项i"i#>=V=I#>IiePExceeded connect timeout, disconnecting.9@ @@3@BU<AU<B]>BYB]a$IB]BBYBYBYB];B]>Eԑ BDAT read: Response Not Received  *response not received BDAT read: Tx time:04:11:47.6888  $Ping request sent. S%,PLA>Έ=>Ǒ>>o=ٱ>-=>HJ?Hѿ]?`l??@'x?@ͮ?i>Έ=I>)i;9\Y\=^Ey^:DbA?Eb>dQ 5j4f?Q 9j4f6+)f [BYhyn>Q In@f*DIf;if;f4ypɮr@p:i  FNOT Ignoring new targets: 460.68 m."i^*i^% ProNav: ac range: 460.681915 m, nav range: 433.620850 m, bearing: 14.726394 deg, approach rate: -0.527752 m/s, LOS rate: -0.012176 deg/s, cmd heading: 15.010715 deg, new cmd heading: 15.001770 deg. i%E-HeadingCmd: 0.261830 target range: 460.681915 and range: 462.20 m.h->h)h)h)h)g)g1jg1rg1e9re9Ze9:e9*e=(@mҁBɢm/>)i m@iq)u]}=}s=I}>IG>iԱ9@ @@/@@@E EE)E"E;*E:VEFA4ZEBE]1 HZ%,u[jLA2È=2đ>2I#=ٱ2R=2H &?Dѿ]μ?g? $?`k@Н@??i2È=I2i;0Y>ׅBy>$IbDVVDV8ybD%bJ=ٔfU;Q-f>9hYh=nEynBDrbTEv>YQ 54]+?Q 94]()] [BYy>Q I@]*DI]Bj<i]Rj<]4yaɮe=@i-B*** querying acoustic contact ***i)i):i9=FNOT Ignoring new targets: 460.68 m."iE@*iE@u ProNav: ac range: 460.681915 m, nav range: 433.405029 m, bearing: 14.721413 deg, approach rate: -0.454624 m/s, LOS rate: -0.010498 deg/s, cmd heading: 15.001771 deg, new cmd heading: 14.991804 deg. iu}HeadingCmd: 0.261656 target range: 460.681915 and range: 462.20 m.h}>hyhyhyhyggjgrgereZe:e*e`)@)ɢ-6>)) 5@i1)5mz<11i5(i=>====I=>IAI@ @@/@iߑIߕAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiE  E E &E "E 7;*E :VE 4ZE a @a @a @a @^A% O= nManaging dock network, ignoring radio surface power offԙ A ؟AI I O >,a%,LA2&=2z>21=ٱ2{=2Hq?;ѿX ??ޛ? ~=?@?i2&=I2~Fi;0Y>By>}$IBf>BdBf;$IBfBBdBdBdBf;Bf>Ei%Mb@Mb@Mb@!!!! !9%m?~jt?~jt?Y%?y%=%D<%@%@ %@)%@!Y%@bD=VD=İ8yM%M==ٔM"b;Q-M>9U"?YU"?=UEyUKD]E]>Q 54:??Q 94#&)ZBY?Q E:yK>Q I@+DI;iz;4y ɮ @ E:i9=FNOT Ignoring new targets: 460.68 m."iE}*iE}U ProNav: ac range: 460.681915 m, nav range: 433.157104 m, bearing: 14.716133 deg, approach rate: -0.649050 m/s, LOS rate: -0.013831 deg/s, cmd heading: 14.991804 deg, new cmd heading: 14.981238 deg. iU~ʹ]HeadingCmd: 0.261472 target range: 460.681915 and range: 462.20 m.h]߅>hYhYhYhYgagajgargeBeireiZei:ei*em *@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse颭сBɢ(>) ?i)J<顱iOi߅> =/=I߅>Ii@q @q@u/@qIy^AM T****** received valid address query ******M R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapseA I I O >Թ jJg%,OLAD zD"@AE& E&E&%E$"E& ;*E&:VE& 4ZE$BE&Orԇ=>>>|R=ٱ>΀=>H'? =ѿP?? ?`W b NE?`Q?i>rԇ=I>"h;>CYJByJy$IbDVVDV8y^#%^V=ٔ^;Q-^>9`Y`=bEybRDf/9Ef>hQ 5j4jN?Q 9n4j#)jZBYlynb>Q In@j+DIj;ij;j 4ytɮv1@t:iIUFNOT Ignoring new targets: 460.68 m."iUeT*iUeTe ProNav: ac range: 460.681915 m, nav range: 432.955536 m, bearing: 14.711831 deg, approach rate: -0.543504 m/s, LOS rate: -0.011606 deg/s, cmd heading: 14.981238 deg, new cmd heading: 14.972630 deg. ie꩹mHeadingCmd: 0.261322 target range: 460.681915 and range: 462.20 m.hm˅>hihqhqhqgqgqjgrgereZe:e*e`}r+@ɢ'>) ?i)Wd<ii˅>%23=%=I%˅>I!1ԑ9@ @@/@@>@)>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A:=   AQ Iy I O > G  k9 Y ,gA tm%,HoLA2C=2d>24=ٱ2 =2H ?`6ѿϻ? ?@H?Դض7?4?i2C=I2h;2CYNByRr$IMT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapsei]Mb@Mb@Mb@YYYY Y9]J +?#~j?=ٔv;Q->9Y=Ey[D(E>Q 54`?Q 94k!)ZBYX ?Q E:y>Q I@*+DI:i:4yɮ@:iFNOT Ignoring new targets: 460.68 m."ie*ie ProNav: ac range: 460.681915 m, nav range: 432.726715 m, bearing: 14.706534 deg, approach rate: -0.541870 m/s, LOS rate: -0.012551 deg/s, cmd heading: 14.972630 deg, new cmd heading: 14.962030 deg. iHeadingCmd: 0.261137 target range: 460.681915 and range: 462.20 m.h>hhhhggjg rg Be re Ze :e*e@H,@9ɢE">)A E_?iA)EdUF=U߫=IU>IYEY E]E]#EY"EY*E]:VE]3ZEYam@am@am@am@9@ @@@AAB>BB$IBmBBBBB;B>E^AO=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI Aa Ii Iy O >\t%,KLA2^=21D>2=ٱ2=2H —?@.ѿ 6?R??\ʴIT`pL?`?i2^=I28h;2CY>ByBW$IbDJVDJ8yR%RZ=ٔRN;Q-V>9TYT=VEyVcDZ-EZ>\Q 5b4^Dp?Q 9b4^3)^ZBY`yf>Q If@^7+DI^;i^:^4yjlBɮj@jE:i|~FNOT Ignoring new targets: 460.68 m."ima*ima ProNav: ac range: 460.681915 m, nav range: 432.527283 m, bearing: 14.701919 deg, approach rate: -0.532074 m/s, LOS rate: -0.012318 deg/s, cmd heading: 14.962030 deg, new cmd heading: 14.952796 deg. iWHeadingCmd: 0.260976 target range: 460.681915 and range: 462.20 m.h>hhhhg!g!jg!rg!e)re)Ze):e)*e--@Yɢ]~'>)Y e?ia)e9mX=m=Im>IqI9@ @@0@iIIMAUT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseD]=D]R=Ee EeEe%Ea"Ee;*Ee:VEe 4ZEaBEe8C T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse߇z%,N+LADUW=Ui>U j=ٱUv"=UH ܕ?@//ѿ??s?@Ѵ}ķju??iUW=IU&g;QYByi}Mb@Mb@Mb@yyyy y9}ˡE?kt?~jt?Y}?ԩy} =}<}@}5@ }=@)}5@yY}G@bD VD8yc% =ٔ\;Q->9Y=EymD :E>Q 54@?Q 94!)ZBY  ?Q E :y z>Q I @I+DI?;iD; 4yɮ@5B*** querying acoustic contact ***i1i1:i9EFNOT Ignoring new targets: 460.68 m."iMk*iMkU ProNav: ac range: 460.681915 m, nav range: 432.256775 m, bearing: 14.695327 deg, approach rate: -0.528728 m/s, LOS rate: -0.012893 deg/s, cmd heading: 14.952795 deg, new cmd heading: 14.939602 deg. i]ļ]HeadingCmd: 0.260745 target range: 460.681915 and range: 462.20 m.h]g>hahahahagagajgirgmBeireiZeq:eq*eu .@颙ɢ2>) ?i)!<顩i\ig>q=)=Ig>I9@9 @9@=/@A@EyA@EyAuT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapsebEȻ 4jEȻ 4rES0Em  Em Em $Ei "Em ;*Em :VEm 4ZEi a} @a} @a} @a} @ ^A] :=IY Ii O} >%,eSLAB0B0B2#IB2NBB0B0B0B2;B2>EB!B!B!B!B!C%4FV=FZ>Fʱ=ٱF=FH ?C2ѿ@ $?? 7?紿,? ?iFV=IFg;FCYRByRD$IXbD^VD^ð8yfɽ%f=ٔf;Q-f?9hYh=jEyjtDn!:En?pQ 5v4rۑ?Q 9v4rH)rZBYtyv>Q Iv@rT+DIr.:ir:ri4y|ɮ~@~E:i!%FNOT Ignoring new targets: 460.68 m."i-dm*i-dm= ProNav: ac range: 460.681915 m, nav range: 432.094299 m, bearing: 14.691354 deg, approach rate: -0.530249 m/s, LOS rate: -0.012971 deg/s, cmd heading: 14.939603 deg, new cmd heading: 14.931653 deg. i=齹EHeadingCmd: 0.260607 target range: 460.681915 and range: 462.20 m.hE8n>hAhAhAhAgAgIjgIrgIeIreZe:e*e.@ɢ%,I2>)! %?i!)%] 5 =5<=I58n>I1T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@/0@^A% C=I I O% >9 e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapse%, LAE EE(E"E;*E?:VEc44ZEBE!dB=ٱB#=BH?@-ѿ`G?M?}?`䴿% ż??iB4=IB1g;@YN}ByN0$IbDV.VDVװ8y^%^L=ٔb};Q-b>9`Yd=fEyf|Dfg)Ef>hQ 5n4jS?Q 9n4j)jZBYpyr>Q Ir@ja+DIj:ij;jk4ytɮv@t:iFNOT Ignoring new targets: 460.68 m."i% m*i% m5 ProNav: ac range: 460.681915 m, nav range: 431.881958 m, bearing: 14.686159 deg, approach rate: -0.529235 m/s, LOS rate: -0.012953 deg/s, cmd heading: 14.931654 deg, new cmd heading: 14.921260 deg. i5=HeadingCmd: 0.260425 target range: 460.681915 and range: 462.20 m.h=qV>h9h9h9h9gAgAjgArgAeAreIZeI:eI*eM#y/@ɢ#>) ?i)%-G=-g=I-qV>I)Ii@i @i@m?0@iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԁ^A]/=IIO>ԡ 'ҍ%,9LA2 =2Α>2#=ٱ2f=2H`? 2ѿXܿ???@H}`Az?@ҥ?i2 =I2Gf;2CY>rByB"$I%BDAT read: Rx Time:04:11:50.6848 %TRx dataTimestamp_ set to:1764907912.942848-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseiEMb@Mb@Mb@AAAA A9EMbX?#~j?y&1?YE ?yE=E`e9qYq=uEyy}DkW:E>Q 54>?Q 94O)ZBYV ?Q E:y>Q I@p+DI;iT;4yɮ@:iFNOT Ignoring new targets: 460.68 m."i e*i e ProNav: ac range: 460.681915 m, nav range: 431.651611 m, bearing: 14.680812 deg, approach rate: -0.539012 m/s, LOS rate: -0.012520 deg/s, cmd heading: 14.921260 deg, new cmd heading: 14.910560 deg. iLHeadingCmd: 0.260238 target range: 460.681915 and range: 462.20 m.h=>hhhhggjgrg*BereZe:e*e)0@)ɢ-~!>)) 5:?i1)5=11i5Ui==>=7=E=IE=>IAE5 E5E5$E1"E5;*E5:VE54ZE1aE@aE@aE@aE@@ @@0@ԱBYAYBaBaBe#IBe+BBe =BaBaBe;Be>E^A=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseA >A >I I O > %,$SLA2==2>2=ٱ2:=2H`b?2ѿ@??@?@nѳn@q?h?i2==I2>f;0Y>[By>$IbDJVDJ+8yRh%RX=ٔR;Q-R>9TYT=VEyVDZYEZ>\Q 5b4^?Q 9b4^ )^ZBY`yb>Q Ib@^~+DI^i:i^A;^z4yhɮj @h:ix~FNOT Ignoring new targets: 460.68 m."i~e*ie  ProNav: ac range: 460.681915 m, nav range: 431.448242 m, bearing: 14.676086 deg, approach rate: -0.539383 m/s, LOS rate: -0.012540 deg/s, cmd heading: 14.910559 deg, new cmd heading: 14.901103 deg. iHeadingCmd: 0.260073 target range: 460.681915 and range: 462.20 m.hT(>hhhhggjgrgereZe:e*em0@颱ɢ!>) g?i)h =项iiT(>=>=IT(>ImDAT read: 04:11:50.6848 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 345,-0.20, 0.462,-1.207, 0.678, 0.003, PHS= 0.561,-1.165, 0.631, RAW= 152.0, -0.3, CAL= 150.8, -1.1, ROT= 359.2, 1.1 uYgot valid direction response: 04:11:50.6848 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 345,-0.20, 0.462,-1.207, 0.678, 0.003, PHS= 0.561,-1.165, 0.631, RAW= 152.0, -0.3, CAL= 150.8, -1.1, ROT= 359.2, 1.1 }PDAT read: Bearing 168.1, -6.6 (Local) ~Local bearing/azimuth received: Bearing 168.1, -6.6 (Local) DAT read: Range 11 to 50 : 443.8 m (Round-trip 591.8 ms) speed 0.4 m/s R#Rx 2: Read range and direction messages.`direction in FSK: [0.999718,-0.013960,-0.019197]Fpublishing direction and range infoy15H#?8 KҖ]~Y5C1511 1)5MI5?9@ @@2@i557!?5)@55q(@ 5nF)5y@I5nF<115U($B%?&?5؞0v 5?)50;I5Ddi5nF<11T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.EE EEEE'EA"EEa;*EE$:VEE'4ZEABEEha %=  DAT read:  BDAT read: Tx time:04:11:52.0888  $Ping request sent. %^==ٱ%X=%H?@/ѿ E???૳[ܹ߻?#?i%Z=I%3:f;%CYZBy$IiMb@Mb@Mb@ 9!rh?kt?9)Y)=-Ey-D5XTE5>9Q 5E4=k?Q 9E4=)=ZBYEG ?Q EM:yM>Q IM@=+DI=; ;i=a;=4yUrBɮU@UݦEiAiE|\LAjE*C"jE*C:jE>"pEZ ]{@CT`O pEH#?8 KҖ]~*jA2jEnF<*pEt0*mz@#i]@-JpEޟ?9@y?0AFjEB jEiCiEd?iEjENAjE뫟?jEjE-BrjECzjE> addTargetRange:: Added new target pos. range: 443.799988 m, deltaT: 16.639665 s, deltaX: -18.400024 m, approachRate: -1.105793 m/s, rangeRepo size: 4  Added new target pos. range: 442.335022 m, bearing: 15.629903 deg, lat: 36.779412 deg, lon: -121.859495 deg, deltaT: 16.639665 s, deltaX: -18.346893 m, approachRate: -1.102600 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 442.34 m."i*i ProNav: ac range: 442.335022 m, nav range: 436.167877 m, bearing: 14.781628 deg, approach rate: 0.000000 m/s, LOS rate: -0.012540 deg/s, cmd heading: 14.901103 deg, new cmd heading: 14.887875 deg. iHeadingCmd: 0.259842 target range: 442.335022 and range: 443.80 m.h >hhhhggjgrg!B9eYreaZea:ee̼{@*ee?颵ҁBɢ)* ?i)=项iާi >ۛ==I >I%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2492179@ @@0@qE5  E5 E5 $E1 "E5 ;*E5 1:VE5 4ZE1 a= @a= @a= @a= @ԙ ^A =BE >BA BE #IBE BBA BA BA BE ;BE >EA-.AIAIYOm>ꢸ%,6^=ٱ^ =^Hύ? D%ѿy?R? ? MLܻ??i^G=I^hf;^CY%@By%#IbD5QVD58yE %EW=ٔE;Q-M>9M ?YM ?=UEyUDUEU>YQ 5e4]?Q 9e4] )]ZBYaym>Q Im@]+DI]:i]:]?4yqɮu@qB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 442.34 m."iql*iql ProNav: ac range: 442.335022 m, nav range: 435.968262 m, bearing: 14.776780 deg, approach rate: -0.531677 m/s, LOS rate: -0.012920 deg/s, cmd heading: 14.887874 deg, new cmd heading: 14.878173 deg. i'HeadingCmd: 0.259673 target range: 442.335022 and range: 443.80 m.h>hhhhggjgrgereZe:e*e?ɢ(>) {?i)= i ^i>f==I>Iԁ9@ @@T3@Ա^A2=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752919 A I I E%  E% E% %E! "E% ;*E% $:VE% 4ZE! BE% K\X%,LA:-B=:g>:O=ٱ:=:H` ? {ѿ??Q?`@y??i:-B=I:(g;:C\Yb9tYx=zEyzDzGEz>|Q 54~?Q 9 4~G )~ZBY y >Q I @~+DI~:i~:~%4yɮj@:i9EFNOT Ignoring new targets: 442.34 m."iEi*iEiU ProNav: ac range: 442.335022 m, nav range: 435.762482 m, bearing: 14.771809 deg, approach rate: -0.527063 m/s, LOS rate: -0.012738 deg/s, cmd heading: 14.878174 deg, new cmd heading: 14.868227 deg. iUeHeadingCmd: 0.259500 target range: 442.335022 and range: 443.80 m.he݄>hahahahagagajgirgieireiZeq:eq*eu?颥ӁBɢ">) /?i)x=顩ii݄>=:=I݄>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0061699@ @@.5@!^A+W=A ؟AI I O >A % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256420x9%,+ۿLAFL=F>F=ٱF=FH?`ѿ?;??gE{.w??iFL=IF4ng;DEr ErEr"Ep"Er ;*Er:VEr(3ZEpav@av@av@av@Yz$Byz#IiMb@Mb@Mb@ 9K7A`?l?:v?Y ?y=T<@@ )@YQ@@AbDVDư8yڽ%>=ٔy;Q->9"?Y"?=EyDcE>Q 54 ?Q 94)~ZBYU ?Q E:yn>Q I@+DI:i:,4yQɮ]@Y:iFNOT Ignoring new targets: 442.34 m."iD*iD ProNav: ac range: 442.335022 m, nav range: 435.530762 m, bearing: 14.766981 deg, approach rate: -0.516190 m/s, LOS rate: -0.010760 deg/s, cmd heading: 14.868227 deg, new cmd heading: 14.858567 deg. iHeadingCmd: 0.259331 target range: 442.335022 and range: 443.80 m.hDŽ>hhhhggjgrgBereZe:e*ej?额ԁBɢ_>) "?i)-"=顡iAAAAB>BBs#IBBB =BBBB>EiDŽ>=IDŽ>IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508781qU-B 9@  @ @ /@ ԡ ^A (= A >A >=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761347EE EEEE&EA"EEl;*EE:VEE4ZEABEEZFZG=ٱZ=ZHE?пP? ?`Ѫ?@貿 /? ?iZ-=IZ1Nh;XYv!Byv#IbDVD8y-S%-=ٔ5];Q-5>91Y1==EyDO#E>Q 54"?Q 94)hZBYy>Q I@+DI:i:%64yɮ@ަE:iFNOT Ignoring new targets: 442.34 m."iS*iS  ProNav: ac range: 442.335022 m, nav range: 435.234680 m, bearing: 14.760857 deg, approach rate: -0.558871 m/s, LOS rate: -0.011568 deg/s, cmd heading: 14.858568 deg, new cmd heading: 14.846310 deg. i ^HeadingCmd: 0.259117 target range: 442.335022 and range: 443.80 m.h>hhhhggjgrge!re!Ze!:e!*e%`b@UՁBɢU:>)Y ];?iY)])=YYi]>ie>e=Ie>IiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013112y%) G5 .91 Y= A= 9@9  @9 @= /@A ԩ i߹ I߹  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265610 ^A1 E EEE"E ;*E:VEZEa@a@a@a@AaIiIyO?[%,.LAR=ٱRг=RHŽ?cп@Yv??خ?@6`?@u?iRd=IRT>h;RCY^ By^#Ia-@a- a-@a- a-@a- a-@a- 5<54<bD5пVD58yE%E=ٔM*{;Q-M>9QYQ=UEyUDU2E]>YQ 5e4]-7?Q 9e4])]SZBQ Am+:YiQ Em:ymQ>Q Im@]+DI]:i]?]:=4yusBɮ}@y:iFNOT Ignoring new targets: 442.34 m."iYL*iYL ProNav: ac range: 442.335022 m, nav range: 434.964447 m, bearing: 14.755291 deg, approach rate: -0.541847 m/s, LOS rate: -0.011166 deg/s, cmd heading: 14.846311 deg, new cmd heading: 14.835173 deg. izHeadingCmd: 0.258923 target range: 442.335022 and range: 443.80 m.h>hhhhggjgrgB>BBH#IBBB =BBB|;B>EeireiZei:ei*eu@'@颽ցBɢ>) ?i)0=ii>F==I>Iԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516603)@) @)@-/@) ^AM = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768851) AyIIE EE%E"E%;*Ev:VE 4ZEBEKGȸ%,"LANKz=NUݎ>N=ٱNڐ=NH ?п`? 9pYt=vEyvDvU-Ev>xQ 5~4z K?Q 9~4z)z@ZBQ A :YQ E~:y>Q I@z+DIz:izx?zB4y ɮ @-B*** querying acoustic contact ***i)i):i9=FNOT Ignoring new targets: 442.34 m."iEKJ*iEKJU ProNav: ac range: 442.335022 m, nav range: 434.710297 m, bearing: 14.750089 deg, approach rate: -0.539714 m/s, LOS rate: -0.011054 deg/s, cmd heading: 14.835173 deg, new cmd heading: 14.824762 deg. iUա]HeadingCmd: 0.258741 target range: 442.335022 and range: 443.80 m.h]y>hYhYhYhYgYgajgargaeareiZei:ei*em" @ԑ颥ׁBɢ>) Y?i)T6=顩iA=iy>Y=]=Iy>IM9@I @I@M/@I߅>߅4=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021528^Au}=A I I O > mθ%,I2=ٱ2=2H@-?@п@?`z?H?>3A&??i2ax=I2h;0Y>By>{#Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272579aa aa aa aa iMb@Mb@Mb@ 9v/?I +?{Gz?Yx ?y9=ף<@-@ @)p@Y@bD-VD-8y=O%=E=ٔE;Q-E>9AYA=MEyMDMEM>QQ 54UB\?Q 94U)U1ZBQ AT:Yf ?Q E:y{>Q I@U+DIUnhqhyhyhygygyjgrg2BereZe:e*e @bE}-4jE}-4rE}0E EE(E"E ;*EM:VEc44ZEa@a @a @a @5؁Bɢ5>)1 5?i1)=;=99i=iEta>El=E]"=IEta>II)-9@) @1@5/@1B>BbCB#IBBBBBDB;B>EBiBiBiBm =Bm =CmŲ4Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524625^A~=A .AI) I9 OE >y GVո%,bVLA>zv=>V>>Ⱦ=ٱ>w=>H`?пK?@cq?@?8 &@?@?i>zv=I>vh;>CYJ߄ByJm#IPRAAbDVʿVDV{8y^m%^S=ٔbEt;Q-b>9b ?Yb ?=bEybDfԼEf>hQ 5n4jXl?Q 9n4j/)j$ZBYlyr1>Q Ir@j ,DIj;ij;jP4ytɮvE@t:iFNOT Ignoring new targets: 442.34 m."iv*iv- ProNav: ac range: 442.335022 m, nav range: 434.281219 m, bearing: 14.739860 deg, approach rate: -0.565476 m/s, LOS rate: -0.013471 deg/s, cmd heading: 14.814168 deg, new cmd heading: 14.804294 deg. i-:Ź5HeadingCmd: 0.258384 target range: 442.335022 and range: 443.80 m.h5J>h1h1h1h1g1g9jg9rg9eAreAZeA:eA*eE`|@uفBɢu">)q ut?iq)}U@=yyi}/iJ>{=و=IJ>IQ9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776626ԁE  E E &E "E ;*E :VE 4ZE BE D checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028593 u۸%,=pLA2)3u=2A:>2V=ٱ2=2H2?п t*?,m?b?!@gY@? ?i2)3u=I2&g;2CY>̄By>V#IbDFVDF8yN%RL=ٔRGt;Q-R>9V"?YV"?=VEyVDV+EV>XQ 5^4Z|?Q 9b4Z)ZZBY`yb>Q Ib@Z,DIZb;iZo;ZW4ydɮft@jE:ix~FNOT Ignoring new targets: 442.34 m."i~i*i~i  ProNav: ac range: 442.335022 m, nav range: 434.067078 m, bearing: 14.734762 deg, approach rate: -0.534754 m/s, LOS rate: -0.012737 deg/s, cmd heading: 14.804293 deg, new cmd heading: 14.794092 deg. i zHeadingCmd: 0.258206 target range: 442.335022 and range: 443.80 m.h3>hhhhggjgrgereZe:e*eJq@ԹځBɢnO>)I Uz?iY)]E=aaimi3>h==I3>I@ @@@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280450 E  E E %E "E =;*E Z:VE 4ZE a% @a% @a% @a% @^Am ~=Am >Am >Ia Iy O >B B B "IB oBB B B B ;B >E9 _h%,?LA2X&s=2>2M=ٱ2l=2H?Vп]?ld??@־ f7??i2X&s=I2f;2C]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532508YByB#IiMb@Mb@Mb@ 9x&?ˡE?Q?Y7 ?y=u<5@p@ @)@YQ@bDVD8y!%!=ٔ ];Q-->91Y1=5Ey5D=Q|E=>AQ 5M4E?Q 9M4E)EYBYM ?Q EM:yM>Q IU@E*,DIE;iE;E`4y]tBɮ]@Y:iFNOT Ignoring new targets: 442.34 m."iv[*iv[ ProNav: ac range: 442.335022 m, nav range: 433.789764 m, bearing: 14.728528 deg, approach rate: -0.533099 m/s, LOS rate: -0.011992 deg/s, cmd heading: 14.794092 deg, new cmd heading: 14.781616 deg. iHeadingCmd: 0.257988 target range: 442.335022 and range: 443.80 m.h>hhhhggjgrg'BereZe:e*eu@܁Bɢ>) ?i)yMK=ini>=2=I>IAy@ @@@i - checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787931^A =D zD E%  E% E% )E! "E% ;*E% :VE% FA4ZE! BE% 1N;a5 :E% >;a= ԑ I I O >%,NLA2gs=2>2 =ٱ2e=2H`I?`!п?d??@N`-`m??i2gs=I2Ie;2C :C)8:ף8<<>b~Ai>C I<Q I]@U5,DIU/:iU:Uyf4yiɮms@iB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 442.34 m."i$V*i$V ProNav: ac range: 442.335022 m, nav range: 433.614410 m, bearing: 14.724581 deg, approach rate: -0.519652 m/s, LOS rate: -0.011701 deg/s, cmd heading: 14.781617 deg, new cmd heading: 14.773720 deg. i PHeadingCmd: 0.257850 target range: 442.335022 and range: 443.80 m.h>hhhhggjgrge!re!Ze!:e!*e%@u݁Bɢu8 >)q }?iy)}xGO=yyi}Li>==I>IIxA)xA@ @@ 0@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039039^A! Ia Iy O > %,fLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.288377:Nr=:ݍ>:~=ٱ:VI=:H?п ?`_?*?`@?@?i:Nr=I:Ǎe;8Y]By]#IiMb@Mb@Mb@ 9Zd;O?bX9ȶ?Mb?Y~ ?yE=<@ 5@)@Y@bDVD°8y P% >=ٔE;Q->E= E9E=(E9"E=T;*E9VE=c44ZE9aE@aE@aM@aM@9Y=EyDuE>Q 54ײ?Q 94)YBYj ?Q E:yu>Q I@E,DIm ;i;En4yɮ@E:iFNOT Ignoring new targets: 442.34 m."ip*ip ProNav: ac range: 442.335022 m, nav range: 433.374329 m, bearing: 14.718824 deg, approach rate: -0.548579 m/s, LOS rate: -0.013164 deg/s, cmd heading: 14.773720 deg, new cmd heading: 14.762198 deg. i HeadingCmd: 0.257649 target range: 442.335022 and range: 443.80 m.h >h h h hggjgrg(BereZe:e*e%@MށBQɢUD2>)Q Uu?iY)]T=YYi]ie>eC=e=Ie>IiB>BcCB"IBFBBBBB;B>E9@ @@0@@zA@zAԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.540590^A- }=A1 zA1 I ԩ I O >v%,LA6@r=6ۍ>6=ٱ6 =6H@(? п ?^?@з?@ױ1濿`Z? ?i6@r=I6_Oe;4@YBy#IbD-!VD-˰8y=̀%EX=ٔE;Q-E>9IYI=MEyMDM@EM>QQ 5]4U?Q 9e4U)UYBYayem>Q Ie@UQ,DIU;iU;Ut4ymzBɮm@uצE:iFNOT Ignoring new targets: 442.34 m."il*il ProNav: ac range: 442.335022 m, nav range: 433.179901 m, bearing: 14.714158 deg, approach rate: -0.538369 m/s, LOS rate: -0.012924 deg/s, cmd heading: 14.762197 deg, new cmd heading: 14.752863 deg. i6HeadingCmd: 0.257486 target range: 442.335022 and range: 443.80 m.h5Ճ>hhhhggjgrgereZe:e*e`@}Bɢ}>)y }?iy) X=顁i,i5Ճ>Ϝ==I5Ճ>I=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793406Աi@i @i@m0@iEM EMEM'EI"EM7;*EM$:VEM'4ZEIBEMZ 4=  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044733%,pLA2r=2 >2>ٱ2,=2H c?@п@;?!_?@·?*ױ"'v?َ?i2r=I2$e;2CY>{By>"IbDHVDHyR%RU=ٔR;Q-R>9TYT=VEyVDVg9EZ>X|Q 554Z?Q 954Z)ZYBY1y5x>Q I=@Z_,DIZhhhhggjgrg ereZe!:e)*e-`@额Bɢ^>) J?i)\=顡ii>=s=I>Ii>i>)a@a @a@e_0@aEchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.296993QEU EUEU#EQ"EU:*EU҆:VEU3ZEQae@ae@ae@ae@^A I I O- >ԁ B >B bCB y"IB BB =B B B ;B >E%, LA2Wp=2О>2l>ٱ2=2HY?@#п`]?U??ˤ*P` S?`?i2Wp=I2Ve;2CYBoByB"IiMb@Mb@Mb@ 9MbX?~jt? rh?Y ?y=C<@@ S@)Z@Yp@bDVDİ8y-]%-A=ٔ5C;Q-5>qchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.5485219Y=EyDTE>Q 54?Q 94)YBY- ?Q E:y>Q I@n,DI4:i:4ytBɮF@:i!%FNOT Ignoring new targets: 442.34 m."i-S*i-S= ProNav: ac range: 442.335022 m, nav range: 432.735016 m, bearing: 14.704253 deg, approach rate: -0.557337 m/s, LOS rate: -0.011564 deg/s, cmd heading: 14.742938 deg, new cmd heading: 14.733041 deg. i=OEHeadingCmd: 0.257140 target range: 442.335022 and range: 443.80 m.hEݧ>hAhAhAhAgIgIjgIrgM-BeQreQZeQ:eQ*e]O@颅Bɢ(>) ?i)7`=顉i~Riݧ>#=Ŀ=Iݧ>I%9@) @)@-@5@)@5=@5=ԡ^AM =iQ IQ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802012A} .AI I O > E]  E] E] 'EY "E] =;*E] ;:VE] '4ZEY BE] }IGk=>%>>b>ٱ>=>H`?yп@k?C? .?N$ `r@պ??i>Gk=I>=d;>CY^YBy^"I`bAbDjVDj8yr޽%rP=ٔrC/;Q-r>9v ?Yv ?=vEyv DvkAEz>xQ 54z[?Q 94z)zYBYy|>Q I@z{,DIzI;iz;z4y sBɮ@ئE-B*** querying acoustic contact ***i)i):i9=FNOT Ignoring new targets: 442.34 m."iEK*iEKU ProNav: ac range: 442.335022 m, nav range: 432.533386 m, bearing: 14.700094 deg, approach rate: -0.539373 m/s, LOS rate: -0.011129 deg/s, cmd heading: 14.733041 deg, new cmd heading: 14.724720 deg. iU𢹝]HeadingCmd: 0.256995 target range: 442.335022 and range: 443.80 m.h]Ԕ>hYhYhahagagajgargieireiZei:ei*eu_@额Bɢ\>) ?i)6d=顡i iԔ>=x =IԔ>I9@ @@5@checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052709 t>ؑCÂG!Y9Y~A^A}=1AE ؟AII IY Om >Y ] checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304403%,u@LAFzh=F<>F>>ٱFn=FH;? mп?t6?ؿ?ʰ`ϛo? C?iFzh=IFd;FCYRSByR"Ijonly read 0 of 1 data item for BIT error. Device response is::TS,00061108005488,35.0, +1.0,1496.8, 0 aj@aj aj@an an@an an@an bDrVDr8yz%zH=ٔzM;Q-z>9~"?Y~"?=~Ey~(D#E> Q 54 ?Q 94 ) YBQ A+:YQ E:y>Q I@ ,DI  ;i > Q4y!ɮ%@!:iIMFNOT Ignoring new targets: 442.34 m."iUJ*iUJe ProNav: ac range: 442.335022 m, nav range: 432.313568 m, bearing: 14.695579 deg, approach rate: -0.539583 m/s, LOS rate: -0.011089 deg/s, cmd heading: 14.724720 deg, new cmd heading: 14.715685 deg. ieYmHeadingCmd: 0.256837 target range: 442.335022 and range: 443.80 m.hm)>hihihihigigqjgqrgqeqreyZey:ey*e}5o@颭BɢI>) *?i)h=顱iܨi)>=!=I)>IE EE%E"E ;*E?:VE 4ZEa@a@a@a@)E9@I @I@M]2@IBAAABM>BMcCBMG"IBMBBIBIBMDBM;BM>EQ^A-=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556910ԁA} .AI I O >Ա @%,\9ZLA2I;e=2G;>2>ٱ2A=2H?aп`3?`<)? f?vhA??i2I;e=I2Dd;2CY>=By>"IbDF VDF8yN%NQ=ٔRMl;Q-R>9R ?YR ?=REyR0DVEV>XQ 5^4Z?Q 9^4ZH)ZsYBQ A~ :Y|Q E~:y>Q I@Z,DIZ%hhhhggjgrgereZe:e*e) @5Bɢ} >)y }?i)l=顁iԑibl>e='"=Ibl>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=7.808777e9@i @i@mc3@i@q@qE EE#E"E ;*E:VE3ZEBEO checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060489 j%,tLA6}^=6c>6i>ٱ6=6H?`Hпල? ?`?/ Rj?f?i6}^=I6c;6CYF(ByF"IbDNVDN8yrIɽ%rF=ٔr#.;Q-r>9tYt=vEyv9DzEz>|Q 54~{'?Q 94~)~_YBQ A9YQ EN:y>Q I @~,DI~;i~l?~4yɮ@:i9EFNOT Ignoring new targets: 442.34 m."iEO*iEOe ProNav: ac range: 442.335022 m, nav range: 431.879761 m, bearing: 14.686744 deg, approach rate: -0.559235 m/s, LOS rate: -0.011343 deg/s, cmd heading: 14.707040 deg, new cmd heading: 14.698007 deg. ie}HeadingCmd: 0.256529 target range: 442.335022 and range: 443.80 m.h}W>hyhhhggjgrgereZe:e*e @UBɢ}rm >) S?i)0 p=项ii W>5+===I=W>IAu9@q @q@u23@q-checking for new query: numPingsReceived=0, elapsed TxPingTime=8.3129861bEjEw4rEz:0Eu EuEqEq"Eu;*Eu~:VEqZEqa@a@a@a@Q ^A =BU >BU dCBU "IBU ƒBBU =BQ BQ BQ BU >EB B B B B C ʢ5I I O >R#%,LA2gZ=2>23" >ٱ2=2H Ѝ?b8п I?@?L?+`չ?s?i2gZ=I27/c;2CYB$ByB"Iaa  a a  a a  a a  i Mb@Mb@Mb@     9 L7A`?ʡE?/$?Y +?y = < 5@ Z@ @) @ Y @bD%VD%8y5#%5E=ٔ5K;Q-5>99Y9==EyEADEEE>IQ 5U4M8?Q 9U4M)MMYBQ AUT:checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564516YU?Q E:y>Q I@M,DIMqhhhhggjgrg9BereZe:e*e!@QBɢ̓>)+ ?i) }t=ii%B>E9=Mc=IMB>III]yA)]yA9@ @@2@yM checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819893ԩ ^A ȶ=I) I9 OM >D zD AAE  E E E "E *E :VE ZE BE D2ٱ2M=2Hό?&4п???=`?@?i2EY=I2=Cb;2CY> By>k"I@bDJVDJ8yR%RT=ٔRI;Q-R>9TYT=VEyVIDVJEZ>XQ 54Z[H?Q 94Zs)ZQ I%@Z,DIZdhYhYhYhagagajgirgieireqZe:e*e"@EBɢE: >)A EA?iI)Mw=Iii/>E=Ա=I/>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=9.068650@ @@/@@@=^A 箵= II IY Om >= checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320513d0%,;LAFX=F֬>FJ >ٱFƦ=FHo?-п"#? ?f? Fﯿ@[ E?Չ?iFX=IF1`a;FClYrByrW"IimMb@Mb@Mb@iiii i9mv/?MbX9?Zd;O?Ymx ?ymʡ=mj9Y=EyQD(E>Q 54Z?Q 94)*YBY ?Q E:y>Q I@,DI;i;74yqBɮB@ڦEE9 E=E=%E9"E9*E=Z:VE= 4ZE9aE@aE@aE@aE@:iFNOT Ignoring new targets: 442.34 m."iP*iP ProNav: ac range: 442.335022 m, nav range: 431.226471 m, bearing: 14.673148 deg, approach rate: -0.546151 m/s, LOS rate: -0.011409 deg/s, cmd heading: 14.680527 deg, new cmd heading: 14.670802 deg. i HeadingCmd: 0.256054 target range: 442.335022 and range: 443.80 m.h|>hhhhggjgrg?BereZe:e*e@LZ#@mBɢm'>AAAAB#>BB!IBBB =BBDB;B>E )i u?iq)u4,{=qqiui|>tS==I|>I}9@y @y@}/@y@@@@1checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572461a I I O >6%,$LA2V=2f>2 >ٱ2^=2HŒ?9#п?=?5??t3??i2V=I2M"a;2CY>By>E"IbDFVDF8yNP%R[=ٔR< ;Q-R>9TYT=VEyVYDVbEV>XQ 54Z$j?Q 9 4Z)ZYBY y >Q I @Z,DIZ8hahihihigigijgqrgqeqreqZeq:ey*e}$@颥Bɢ >) |?i)}=顩iix>\=mݴ=Ix>IiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.824714iEU EUEU(EQ"EU;*EU:VEUc44ZEQBEUeiE>ԑ9@ @@@IYIqO> 2 >ٱ2=2H`3?YпXX??? ??i2S=I2Ty`;2CYR܃ByR/"IbDZVDZ8yb %bH=ٔfL ;Q-f>9dYd=jEyjaDjXκEj>lQ 5r4nC{?Q 9r4n)nYBYtyv_>Q Iv@n,DIn2:in:n4yzpBɮzE@x:iFNOT Ignoring new targets: 442.34 m.ԙ"i0I*i0I ProNav: ac range: 442.335022 m, nav range: 430.808044 m, bearing: 14.664448 deg, approach rate: -0.529282 m/s, LOS rate: -0.010993 deg/s, cmd heading: 14.662490 deg, new cmd heading: 14.653394 deg. i󠹝HeadingCmd: 0.255750 target range: 442.335022 and range: 443.80 m.h>hhhhggjgrgereZe:e*e$@Bɢ>)! -r?i))5P=99iE}i]>eAi=ec=Im>IyC e9@a @a@e/@a 2Acoustic response timeoutA؟AIIO>Em EmEm$Ei"Em;*Em1:VEm4ZEiau@au@au@au@B >B B !IB qBB =B B DB ;B >E C%,e7LA2Q=2ȉ>2 >ٱ2=2H`? п@Kq?b?*?{ ƪ??i2Q=I2Q`;0YNʃByR"IiMMb@Mb@Mb@IIII I9MK7?ʡE? rh?YMI ?yM-=MC<]%=]=e2Acoustic response timeoutM@M@ M@)MAIYMG@bDuVDu8y\%?=ٔS:Q->9"?Y"?=EyjDwE>Q 54q?Q 94)XBY?Q E:y>Q I@,DI:iR:\4yɮ`@:iFNOT Ignoring new targets: 442.34 m."ig*ig ProNav: ac range: 442.335022 m, nav range: 430.574707 m, bearing: 14.659211 deg, approach rate: -0.564294 m/s, LOS rate: -0.012673 deg/s, cmd heading: 14.653394 deg, new cmd heading: 14.642913 deg. iHeadingCmd: 0.255567 target range: 442.335022 and range: 443.80 m.hق>hhhhggjg rg EBe re Ze:e*eࣷ%@EBɢEz>)A Eh?iA)MZ#=IIiM8jiUق>t==Iق>I1vQ@ @@/@ 2Acoustic response timeoutEe  Ee Ee %Ea "Ee &:*Ee $:VEe 4ZEa BEe b;I%,)LA2jP=2 >2>ٱ2=2Hk?п@?4??4@H? ?i2jP=I2K`;2CY>By>"IbDRVDR8yf"%fW=ٔj:Q-j>9hYl=nEyrqDrOEv>tQ 54v?Q 94v)vXBY y r>Q I @v-DIvk;ivf;v 4y!ɮ%R@%ۦEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 442.34 m."iR*iRY] ProNav: ac range: 442.335022 m, nav range: 430.366394 m, bearing: 14.654539 deg, approach rate: -0.512786 m/s, LOS rate: -0.011504 deg/s, cmd heading: 14.642913 deg, new cmd heading: 14.633566 deg. i]omHeadingCmd: 0.255404 target range: 442.335022 and range: 443.80 m.hmMĂ>hihihihiggjgrgereZe:e*e@1&@=Bɢ==)A Eo_?iA)E2=AAiE1iMĂ>=k=IMĂ>Im2Acoustic response timeoutԁԱ@ @@@  2Acoustic response timeout^A õ=A >A >E EE'E"E;*Eą:VE'4ZEa@a@a@a@A II!O5>R!R%,=HLAN M=N7>Nx^>ٱN=NH.?Ͽ ????@v`Q?Ӂ?iN M=IN:^`;NCBxAz4=B B B y!IB HBB  =B B B ;B >EYmByu!IieMb@Mb@Mb@aaaa a9e~jt?K?S㥛?Ye?ye^=e/9Y=Ey}DuE>Q 54?Q 94s)XBY?Q E:y >Q I@-DI:i:4yuBɮ@ѦE:iFNOT Ignoring new targets: 442.34 m."io*io ProNav: ac range: 442.335022 m, nav range: 430.079865 m, bearing: 14.647599 deg, approach rate: -0.540423 m/s, LOS rate: -0.013099 deg/s, cmd heading: 14.633566 deg, new cmd heading: 14.619676 deg. i ɿ HeadingCmd: 0.255161 target range: 442.335022 and range: 443.80 m.h >hhhhggjgrgQBereZe!:e!*e%'@UBɢUj=)Q UT?iQ)Ue=YYi]ie>ez=e~=Ie>Ii2Acoustic response timeout@ @@/@1^A= ·=a A .AI I O >RGX%,bLA"2Acoustic response timeoutR.|M=ReC>R>ٱRM=RHl?CϿ`)??`Y?\ ¿P׺??iR.|M=IRL_;RCY^By^!IbDf̿VDf}8yn'%rk=ٔr:Q-r?9r ?Yv ?=vEyvDv9Ev?|Q 54~?Q 94~l)~XBYy>Q I@~&-DI~:i~:~4yɮ@:i9=FNOT Ignoring new targets: 442.34 m."iEe*iEeU ProNav: ac range: 442.335022 m, nav range: 429.900055 m, bearing: 14.643238 deg, approach rate: -0.516957 m/s, LOS rate: -0.012544 deg/s, cmd heading: 14.619675 deg, new cmd heading: 14.610949 deg. iU]HeadingCmd: 0.255009 target range: 442.335022 and range: 443.80 m.h]>hYhYhYhYgYgajgargaeareiZei:ei*em H(@额BɢF>) M?i)=顡i|i>==I>D]=D]<Ee EeEe$Ea"Ee ;*Ee:VEe4ZEaBEeuT3s^%,|LALYUBy]!Ionly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 72.16, 82.39, 84.41 a@a a@a a@a a@a bDٿVD8yѽ%0=ٔQ->9"?Y"?=EyDE>Q 54?Q 94)XBQ A+:YQ E:yQ I@6-DI:ik>^4ytBɮ @ҦE:i  FNOT Ignoring new targets: 442.34 m."ie*ie% ProNav: ac range: 442.335022 m, nav range: 429.660309 m, bearing: 14.637417 deg, approach rate: -0.516820 m/s, LOS rate: -0.012555 deg/s, cmd heading: 14.610949 deg, new cmd heading: 14.599301 deg. i%з-HeadingCmd: 0.254806 target range: 442.335022 and range: 443.80 m.h-u>h)h)h)h)g1g1jg1rg1e9re9Ze9:e9*e=66)@MBDAT read: Response Not Received U*response not receivedU*DAT read: user:130> ]BDAT read: Tx time:04:12:04.5388 ]$Ping request sent.]uХ=}Ku=I}u>IyEm EmEm%Ei"Ema;*Em:VEm 4ZEia}@a}@a}@a}@59@1 @9@=/@9B#>BBG!IB BB =BBB;B>E)9 ^A} _ڲ=A zA xA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250412I I O >e%,hzLA2 E=25>29>ٱ25.=2H`x?@xϿ?)??¿5?D?i2 E=I2bM_;2CY>rBy>!IbDFVDF8HyRɽ%Rh=ٔRs:Q-R>9TYT=VEyVDVEZ>\Q 5b4^?Q 9b4^)^XBQ Ab :YdQ Ef:yf>Q If@^B-DI^:i^vQ?^i4yIɮM(@Q:iy}FNOT Ignoring new targets: 442.34 m."iY*iY ProNav: ac range: 442.335022 m, nav range: 429.478088 m, bearing: 14.633035 deg, approach rate: -0.494195 m/s, LOS rate: -0.011888 deg/s, cmd heading: 14.599301 deg, new cmd heading: 14.590534 deg. i HeadingCmd: 0.254653 target range: 442.335022 and range: 443.80 m.ha>hhhhggjgrgereZe:e*e@))@Bɢ=) 5?i)S=iia>䭝=į=Ia>I9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501879^A*=DzD@AE EE&E"EV:*Eą:VE4ZEBE9 ׾k%,CLA2WA=2¾>2L>ٱ2=2H@?`~Ͽ?ޙ??@xC ¿0??i2WA=I2,^;2CY>XBy>!IbDFVDFȰ8yN%RK=ٔR,:Q-R>9TYT=VEyVDVEV>XQ 5^4Z?Q 9^4ZW)ZXBQ Ab9Y`Q EbV:yb>Q Ib@ZO-DIZ;iZ7?Z$4ydɮf@jӦEvB*** querying acoustic contact ***ixix|:iFNOT Ignoring new targets: 442.34 m."i k*i k ProNav: ac range: 442.335022 m, nav range: 429.270233 m, bearing: 14.628059 deg, approach rate: -0.536316 m/s, LOS rate: -0.012847 deg/s, cmd heading: 14.590534 deg, new cmd heading: 14.580576 deg. i%HeadingCmd: 0.254479 target range: 442.335022 and range: 443.80 m.h%K>h!h!h!h!g!g)jg)rg)e)re1Ze1:e1*e5@N*@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754098= Bɢ=^=)A E&?iA)E=AAiEiMK>M =U=IUK>IQ@ @@/0@)Y^A5d=IIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006009ԉ bEʻ 4jEO4rEg/E  E E %E "E =;*E :VE 4ZE a @a @a @a @r%,. LAA@AA@AB%>BB!IBBB =BBB;B>EBdCBdCBB =B =Cn5Z?=Z>ZU>ٱZ*=ZHq?~Ͽ@?H?^?1`G+¿VO? :?iZ?=IZb'^;ZCY5IBy5z!IYaa aa aa aa iMb@Mb@Mb@ 9%C??:v?YZ?y=<C@lA @)AY@bDVDɰ8y % 5=ٔ E:Q->9Y=EyDGE>!Q 5-4%?Q 9-4%)%|XBQ A-T:Y-?Q E5:y5P>Q I5@%^-DI%;i%;%4y9ɮ=@A:iFNOT Ignoring new targets: 442.34 m."ip*ip ProNav: ac range: 442.335022 m, nav range: 429.037598 m, bearing: 14.621939 deg, approach rate: -0.499704 m/s, LOS rate: -0.013152 deg/s, cmd heading: 14.580576 deg, new cmd heading: 14.568330 deg. i%HeadingCmd: 0.254265 target range: 442.335022 and range: 443.80 m.h%/>h!h!h!h!g)g)jgqrgu]BeqreqZey:ey*e}_+@BUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258096ɢU=)Q U4?iQ)]nL=YYi]ie/>e=aIm/>ԉI=9@9 @9@=/@AԱ^Ae "=Ae >Ae >I I O > 1? ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510246x%,=LA>4==>a:>>P>ٱ>=>H W?@GhϿ e???@2@+:¿@P?ી?i>4==I>];>CYJ=ByJk!IbDVVDV8yZ%^`=ٔ^ۤ:Q-^>9`Y`=bEybDfjEf>hQ 5j4j_?Q 9n4jp)jnXBYlyn>Q In@jk-DIjA;ij^;je4yvsBɮve@t:iFNOT Ignoring new targets: 442.34 m."i*i- ProNav: ac range: 442.335022 m, nav range: 428.849396 m, bearing: 14.617000 deg, approach rate: -0.539670 m/s, LOS rate: -0.014170 deg/s, cmd heading: 14.568329 deg, new cmd heading: 14.558446 deg. i-uϹ5HeadingCmd: 0.254093 target range: 442.335022 and range: 443.80 m.h5t>h1h1h1h1g9gAjgArgAeAreIZeI:eI*eMZ,@ԙE EE E"EO;*E:VE3ZEBE)Yȝ==It>I@ @@~0@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761962^Ax=IQ Ia Om >) %,>%LAeu6<=e>eHd>ٱe=eHē?daϿ`??d?(@<¿ D??ieu6<=IeP];eCY}+By}U!IiMb@Mb@Mb@ 9K7A`?A`"?/$?Y ?y=<@A @); AYp@bD5 VD58y=%E4=ٔE},9Q-E>9IYI=MEyMDUh EU>QQ 5]4Ue&?Q 9e4U)UXXBYe ?Q Ee:ye|>Q Ie@U{-DIU:iU:UW4yqɮu@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014042:iFNOT Ignoring new targets: 442.34 m."i-ك*iEكU ProNav: ac range: 442.335022 m, nav range: 428.603302 m, bearing: 14.610434 deg, approach rate: -0.539761 m/s, LOS rate: -0.014409 deg/s, cmd heading: 14.558446 deg, new cmd heading: 14.545307 deg. iUҹ]HeadingCmd: 0.253863 target range: 442.335022 and range: 443.80 m.h]e>hYhYhahagagajgirgmiBeireiZeq:eq*euM-@Bɢ=)1  ?i)&=iie>Rҝ=9=Ie>I!E EE$E"E;*E:VE4ZEa@a@a@a@)9@ @@@@yA@yAB +>B eCB  IB ɂBB  =B i%,sLA28=2>2'd>ٱ2NI=2Hu?`(IϿ@v?3y? ?$ <¿@7??i28=I2\;2CY>By>6!IbDFVDF°8yN9%Nj=ٔRܼQ-R>9PYP=REyVDVJEV>XQ 5^4Z5?Q 9^4ZW)ZHXBY`yb>Q Ib@Z-DIZ;iZ;Zr4ydɮf@fԦE:ixzFNOT Ignoring new targets: 442.34 m."i~W*i~W  ProNav: ac range: 442.335022 m, nav range: 428.414307 m, bearing: 14.605407 deg, approach rate: -0.543535 m/s, LOS rate: -0.014463 deg/s, cmd heading: 14.545306 deg, new cmd heading: 14.535248 deg. i ӹHeadingCmd: 0.253688 target range: 442.335022 and range: 443.80 m.hc>hhhhggjg!rg!e!re!Ze!:e)*e--@Bɢ=)) -5>i))5nԍ=11QiƦic>cٝ= =Ic>Im9@i @i@m?5@iԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518155E EE%E"E;*E:VE 4ZEBE8C %,62LA:^7=: >:Q^>ٱ:$=:H?T?Ͽ(?t??@N7@;¿G?຀?i:^7=I: ];:CYFByF&!IbDNVDN8yVs%VI=ٔZeQ-Z>9XYX=ZEy^D^/E^>`Q 5f4bF?Q 9f4bŷ)b5XBYhyj>Q Ij@b-DIbh:ib>:b 4ylɮn@p~B*** querying acoustic contact ***checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770048i|i|:iFNOT Ignoring new targets: 442.34 m."i*i- ProNav: ac range: 442.335022 m, nav range: 428.194397 m, bearing: 14.599562 deg, approach rate: -0.538757 m/s, LOS rate: -0.014328 deg/s, cmd heading: 14.535249 deg, new cmd heading: 14.523552 deg. i-ѹ5HeadingCmd: 0.253484 target range: 442.335022 and range: 443.80 m.h5ȁ>h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eM.@uBɢuF=)q }y>iy)ˍ=顁i!iȁ>="=Iȁ>IԱU9@Q @Q@U.3@Q^Aρ=II O>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021968 E  E E $E "E :*E :VE 4ZE a @a @a @a @B A <B .>B fCB IB BB =B B B ڇ;B ?E9 %,ҩLLA2m6=2o>2V>ٱ2Y=2H?z6Ͽ?`Eq??K`:¿ QY?`?i2m6=I2\;2CY^By^ !IiEMb@Mb@Mb@AAAA A9EK7?|?5^?/$?YE ?yE=AAE$A EZ@)EQ AAYE(AbDVDİ8y̽%;=ٔQ->9Y=EyD E>Q 54X?Q 94)!XBYU ?Q E:y>Q I@-DI:i:+4yrBɮ>@:iFNOT Ignoring new targets: 442.34 m."i r*i r ProNav: ac range: 442.335022 m, nav range: 427.960419 m, bearing: 14.593463 deg, approach rate: -0.538166 m/s, LOS rate: -0.014037 deg/s, cmd heading: 14.523552 deg, new cmd heading: 14.511346 deg. i͹%HeadingCmd: 0.253271 target range: 442.335022 and range: 443.80 m.h%>h!h!h!h!g)g)jg)rg-ZBe1reaZea:ea*em/@颕Bɢ̖=) k>i)/I=顙iwi>0=I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2742759rIxA)xAM9@Q @Q@U{0@Q@]=@]=i  BDAT read: Rx Time:04:12:07.5351  TRx dataTimestamp_ set to:1764907929.582704 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526946^A N1=Թ A A >I9 II OU >򯙹%,hLA22=2U>2Z >ٱ2m=2H@?Ͽ?@a? ?nJ X1¿LH??i22=I2I\;2CYZ˂By IE EE)E"E;*E:VEFA4ZEBEa2EaJEN;a:EN;abD!VD˰8y=6%E3=ٔEP)Q-E>ԉ9Y=EyD E>Q 5-4k?Q 9-4) XBY)y-l>Q I-@-DI"h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e54S0@]#Bɢ]=)Y ]>ia)e=aaieim~>m=mT=Im~>Iq%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779332 dy @y  @ @ /@  MDAT read: 04:12:07.5351 LVL= 30768, 30769, 31906, 32755, AGC= 69, IDX= 412, 0.08,-2.460, 2.191,-2.322,-2.928, PHS= 0.570,-1.120, 0.562, RAW= 149.8, -0.1, CAL= 148.7, -0.7, ROT= 1.3, 0.7 UYgot valid direction response: 04:12:07.5351 LVL= 30768, 30769, 31906, 32755, AGC= 69, IDX= 412, 0.08,-2.460, 2.191,-2.322,-2.928, PHS= 0.570,-1.120, 0.562, RAW= 149.8, -0.1, CAL= 148.7, -0.7, ROT= 1.3, 0.7 ]PDAT read: Bearing 167.1, -7.2 (Local) ~Local bearing/azimuth received: Bearing 167.1, -7.2 (Local) DAT read: Range 11 to 50 : 444.0 m (Round-trip 592.1 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.999668,0.022686,-0.012217]Fpublishing direction and range infoy  -G?V{:?I:Y C 0x 1x | ) EI ?i )\ ;? T'@ x&@ +H) ޹BB` IBdBBBBDBՇ;B?E%,jgLAY}JY/=} >}>ٱ}=}H!?*Ͽ@a?T??W &¿sG?@?i}JY/=I}\;}CYBy I !!!%Ai%Mb@Mb@Mb@!!!! !9%n?Mb?Mb?Y%V?y%=%<%@%A %p@)% A!Y%A ]<]<bD]8VD]8yM%=ٔQ->9Y=EyDKE>Q 54?Q 94)WBYi?Q E:y>Q I@-DI;i?;$4yxBɮ@˦EiAiEՑLAjEFC"jEFC:jEGב>"pE޾xm{@:9$@ D`pE-G?V{:?I:*jE޹<2jE+H<*pEQ=z@/=u=^@ϻPpE75[?ɂZE?3VbÿjEB jECiE?iEu jEcԿjEd?jEjEArjE CzjE>m*DAT read: user:131> uBDAT read: Tx time:04:12:08.7388 u$Ping request sent.uh)h)h)h)g)g1jg1rg5UBe1re9Ze9:e={@*e= :?颭(Bɢxβ=) >i)=顱i֊itj>!=i=Itj>IԱ  9@  @! @% /@!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250803D5?AzD1E EE"E"E ;*E$:VE(3ZEBEO(=6>6V>>ٱ6=6HU?@οv?:? ?Qƹ?Є?i6>(=I6\\;6CYBByB IbDN'VDNа8yVS*%V+=ٔVBQ-V>9XYX=ZEyZD^mE^>`Q 5f4b?Q 9f4b)bWBYdyf>Q If@b-DIb:ib:b-4ynwBɮnE@n̦E:iFNOT Ignoring new targets: 442.55 m."i Y*i Y ProNav: ac range: 442.548645 m, nav range: 429.985352 m, bearing: 15.440113 deg, approach rate: -0.574142 m/s, LOS rate: -0.011862 deg/s, cmd heading: 14.482385 deg, new cmd heading: 14.471416 deg. i%HeadingCmd: 0.252574 target range: 442.548645 and range: 444.00 m.h%\Q>h!h!h!h!g!g)jg)rg)e)re1Ze1:e1*e5@? u>G5/{AUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503134Y/9/{AY'A颵+Bɢ=) O>i) =项iXi\Q>=5=I\Q>I9@ @@/@^A\=A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754756I I O >䣲% ,LAE2 E2E2&E0"E2:*E2?:VE24ZE0a:@a:@a:@a:@ATATBV.>BTBV! IBV1BBTBTBVDBV;BV(?EYBy IiUMb@Mb@Mb@QQQQ Q9UCl?9Y=EyDE>Q 54(?Q 94)WBY?Q E:y>Q I@-DIr;i;&54yɮ+@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 442.55 m."i*i ProNav: ac range: 442.548645 m, nav range: 429.724304 m, bearing: 15.436145 deg, approach rate: -0.560244 m/s, LOS rate: -0.008521 deg/s, cmd heading: 14.471415 deg, new cmd heading: 14.463475 deg. iyHeadingCmd: 0.252435 target range: 442.548645 and range: 444.00 m.h2?>hhhhggjgrg\Bere Ze :e *e @?1E/BɢEC=)A EX,>iA)MZ=IIiM iU2?>Ub=UҨ=IU2?>IY9@ @@@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006990a^A ħ=Iq I ԉ O >¸%,LA2d =2y>2b>ٱ2|=2H;?ඣοw? ??\ͯ@aۈ??i2d =I2e\;2CQ In@f-DIff;ifa;f$;4ypɮrAp:i  FNOT Ignoring new targets: 442.55 m."i*i% ProNav: ac range: 442.548645 m, nav range: 429.531952 m, bearing: 15.433268 deg, approach rate: -0.561506 m/s, LOS rate: -0.008404 deg/s, cmd heading: 14.463475 deg, new cmd heading: 14.457718 deg. i%v-HeadingCmd: 0.252335 target range: 442.548645 and range: 444.00 m.h-2>h)h)h)h)g1g1jg9rg9e9re9Ze9:eA*eEq?m1Bɢm=)q ux=iq)u{=qyi}Ki}2> =H=I2>IE EEE"E:*Ei:VEZEBE@8A 쾹%,lLA6^9=6 [>6ϳ>ٱ6=6H?οb??? }?L?i6^9=I6U\;4YBSByFL IbDNVDN8yV%VJ=ٔVغQ-Z>9XYX=ZEyZD^ëE^>`Q 5f4b?Q 9f4b)bWBYdyf>Q Ij@b.DIb:ib:b.B4ylɮnAl:i)-FNOT Ignoring new targets: 442.55 m."i5<*i5<E ProNav: ac range: 442.548645 m, nav range: 429.306091 m, bearing: 15.429902 deg, approach rate: -0.554220 m/s, LOS rate: -0.008264 deg/s, cmd heading: 14.457718 deg, new cmd heading: 14.450982 deg. iEqMHeadingCmd: 0.252217 target range: 442.548645 and range: 444.00 m.hM">hIhIhIhIgIgQjgQrgQeQreYZeY:ea*een?4Bɢ,=) Xz=i) 旑= 1i5pim">u=uN=Iu">Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762905I-9@) @)@50@1bE9jE= 4rE=m0E] E]EYEY"E]:*E]|:VEYZEYam@am@am@am@B,>BBIBBB =BBB;B6?EBfCBfCBB =B =Cƿ4q^Ae &=I I O >ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015614bŹ%,PoLA2q-=2>2Q >ٱ2=2H`w?brοC?`<??Bƭ`s??i2q-=I2];0yYuEByu; Ii Mb@Mb@Mb@     9 K7?~jt?Mb?Y  ?y = < Q@ ~ A @) 7A Y zAbD-VD-8y=Ch%=(=ٔ=ֺQ-=>9AYA=EEyEDE%EM>QQ 5]4U?Q 9]4UP)UuWBY]' ?Q E]:y]>Q I]@U.DIUM:iU:UJ4yiɮmAmͦE:iFNOT Ignoring new targets: 442.55 m."i=$*i=$ ProNav: ac range: 442.548645 m, nav range: 429.044220 m, bearing: 15.425572 deg, approach rate: -0.542444 m/s, LOS rate: -0.008974 deg/s, cmd heading: 14.450981 deg, new cmd heading: 14.442316 deg. idHeadingCmd: 0.252066 target range: 442.548645 and range: 444.00 m.h>hhhhggjgrg;BereZe:e*e[@7Bɢ\=) p=/=I>Iԡ@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266840Em  Em Em $Ei "Em :*Em ]t:VEm 4ZEi BEm >˹%,C2LA \)\^Ļ\\`bn~Aib`I``I`if~A fd)dd djhhhjE~AIjף)lil)lIn=~All ppprippitt)t tItYtY5+By5 IbDEVDE8yU5%Uq=ٔ]Q-]?9YYY=]Ey]DeEe?iQ 5u4m?Q 9u4mw)mcWBYqyqQ I}@m$.DIms;im;mP4yvBɮ[A:iFNOT Ignoring new targets: 442.55 m."i"*i" ProNav: ac range: 442.548645 m, nav range: 428.862183 m, bearing: 15.422559 deg, approach rate: -0.537334 m/s, LOS rate: -0.008898 deg/s, cmd heading: 14.442315 deg, new cmd heading: 14.436287 deg. iEHeadingCmd: 0.251961 target range: 442.548645 and range: 444.00 m.h>hhhhggjgrgereZe:e*e` @ 9Bɢ2=)jP Pi)욑=ii>%M=%I=I%>I!Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5188459@ @@0@I^A=% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774758A1 Ia y I O >E  E E &E "E D:*E ҆:VE 4ZE a% @a% @a% @a% @ҹ%,KLABB<AB<BDBFeCBFIBFˁBBF =BDBDBF ;BFM?Ebfe=b>b% >ٱb'=bH?5οQ?@ ??v\?`?ibfe=Ib[];`Y}By}Ii Mb@Mb@Mb@     9 K7A`?x&?:v?Y  ?y 7= T< @  A $@) dA Y AbD%VD%8y5%5==ٔ=ˀQ-=>99YA=EEyE DEEE>IQQ 5]4MY?Q 9]4M6)MKWBY] ?Q E]:ye;>Q Ie@M3.DIM.;iMW-;M*X4yiɮm(AiB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 442.55 m."iX *iX  ProNav: ac range: 442.548645 m, nav range: 428.628387 m, bearing: 15.419287 deg, approach rate: -0.539885 m/s, LOS rate: -0.007559 deg/s, cmd heading: 14.436286 deg, new cmd heading: 14.429739 deg. iY]HeadingCmd: 0.251846 target range: 442.548645 and range: 444.00 m.h>hhhhggjgrg:BereZe:e*e`j @ = ɟ=I >I9@ @@2@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023311ԁ^A=ԱI I O > ع%,eLA2 =2,>2y1 >ٱ2=2H }?ο`L?@@?@i?DzX`v?o?i2 =I2kh^;0b4>bR=bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275045YEByEIbDUVDU8yL%V=ٔQ->9Y=Ey(D%E>Q 54?Q 947)6WBYyľ>Q I@@.DI;iϝ;^4yɮAΦE:i)5FNOT Ignoring new targets: 442.55 m."i=&*i=&] ProNav: ac range: 442.548645 m, nav range: 428.421021 m, bearing: 15.416407 deg, approach rate: -0.531570 m/s, LOS rate: -0.007385 deg/s, cmd heading: 14.429739 deg, new cmd heading: 14.423978 deg. ie=XmHeadingCmd: 0.251746 target range: 442.548645 and range: 444.00 m.hm>hiԱE EE%E"E;*E:VE 4ZEBE@=VŞ=I>I=9@9 @9@E0@AuBDAT read: Rx Time:04:12:11.7324 }TRx dataTimestamp_ set to:1764907933.866858}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527906i ^Ae =IA IQ Oe >/߹%,LA2 =2!>2x >ٱ25=2H9? ο'? ә??uAe?@̋?i2 =I2A^;2CYZByZI`b@AbDbVDb8yj%nU=ٔnQ-n>9pYp=rEyr0DrdEr>tQ 5z4v %?Q 9~4v:)v!WBY|y~>Q I~@vM.DIvS:ivu:ve4yɮ@A :i)5FNOT Ignoring new targets: 442.55 m."i5Y *i=Y E ProNav: ac range: 442.548645 m, nav range: 428.214203 m, bearing: 15.413547 deg, approach rate: -0.554220 m/s, LOS rate: -0.007669 deg/s, cmd heading: 14.423978 deg, new cmd heading: 14.418255 deg. iE`]HeadingCmd: 0.251646 target range: 442.548645 and range: 444.00 m.he׀>hahihihggjg)rg)e1re9ZeA:eq*eu @ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781079ABɢs=) &i ) T=  i i׀>)=8A=I׀>IE EE!E"E:*E:VEc3ZEa@a@a@a@B}/>B}fCB}fIB}BB} =ByByB}";B}g?EԑE0:ļԹ 9@  @ @ /@  DAT read: 04:12:11.7324 LVL= 32640, 32753, 32754, 32755, AGC= 77, IDX= 288, 0.14,-0.177,-1.975,-0.219,-0.477, PHS= 0.402,-1.452, 0.214, RAW= 144.7, 9.5, CAL= 144.3, 10.3, ROT= 5.7, -10.3  Ygot valid direction response: 04:12:11.7324 LVL= 32640, 32753, 32754, 32755, AGC= 77, IDX= 288, 0.14,-0.177,-1.975,-0.219,-0.477, PHS= 0.402,-1.452, 0.214, RAW= 144.7, 9.5, CAL= 144.3, 10.3, ROT= 5.7, -10.3  PDAT read: Bearing 177.7, -1.3 (Local)  ~Local bearing/azimuth received: Bearing 177.7, -1.3 (Local)  DAT read: Range 11 to 50 : 442.0 m (Round-trip 589.4 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.979020,0.097719,0.178802] Fpublishing direction and range infoyq u (3Y"T? 8\ ??Yu Cq u u u  q )u MIu >iu #۹u "[>u !@u )>u E/!@ u X8>)u %=Iu X8q q u Z#w?)u ת)Iu %=iu X8q q  T****** received valid address query ****** R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode. ^A!IIO>,?%,(eLA2s=2Ҫ>2~ >ٱ2=2H ?Ϳ`]??@?˝+)?Q?i2s=I2^;2CYRByRIi5Mb@Mb@Mb@1111 195?Zd;?I +?Y5f?y5y=59<5A5MA 5;@)5~A1Y5AbDMVDM8y]q%]$=ٔ]ƺQ-e>9aYa=eEye:DmEm>Q 541:?Q 94) WBYk?Q E:y>Q I@_.DI:i:ln4yɮAiQiUqLAjUFC"jUFC:jUF>"pU7z@,vE@T,fS@pU(3Y"T? 8\ ??*jU%=2jUX8*pUKz@rڝa@Pj'8@pUJD8?Fit?qq7?jUC jUCiUF/?iULjU4BjUF/?jUAbjQrjUCzjU> addTargetRange:: Added new target pos. range: 442.000000 m, deltaT: 4.282996 s, deltaX: -2.000000 m, approachRate: -0.466963 m/s, rangeRepo size: 4  Added new target pos. range: 440.553040 m, bearing: 18.943008 deg, lat: 36.779454 deg, lon: -121.859386 deg, deltaT: 4.282996 s, deltaX: -1.995605 m, approachRate: -0.465937 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 440.55 m."i*im ProNav: ac range: 440.553040 m, nav range: 432.047516 m, bearing: 15.631720 deg, approach rate: 0.000000 m/s, LOS rate: -0.007669 deg/s, cmd heading: 14.418254 deg, new cmd heading: 14.410067 deg. iiuHeadingCmd: 0.251503 target range: 440.553040 and range: 442.00 m.huŀ>hqhqhqhygygyjgyrgBBereZe:e{@*e`e?UDBɢUq=)Q ]=iY)]ٗ=*DAT read: user:132> BDAT read: Tx time:04:12:12.9888 $Ping request sent.==Iŀ>I w\D@AzD?AE EE&E"EO;*E:VE4ZEBE)Y^%,LANZ=Nm>Nh>ٱN]=NH`?Ϳ@??b?@`찿 m ??iNZ=INu_;NCY^ƁBy^IbDfVDf8ynf$%nT=ٔnQ-r>9pYp=rEyrBDv<Ez>xQ 5~4zI?Q 94z)zVBYy`>Q I@zk.DIzV:iz;zt4yɮ~A:i1=FNOT Ignoring new targets: 440.55 m."i=-*iE-U ProNav: ac range: 440.553040 m, nav range: 431.851654 m, bearing: 15.629396 deg, approach rate: -0.561849 m/s, LOS rate: -0.006671 deg/s, cmd heading: 14.410067 deg, new cmd heading: 14.405416 deg. iUWC]HeadingCmd: 0.251422 target range: 440.553040 and range: 442.00 m.h]`>hYhYhYhYgYgYjgargaeareiZei:ei*emj?!uFBɢuR=)q } iy)}>=yyii`>=!d=I`>IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5033349@ @@0@ԙE  E E E "E &:*E h:VE ZE a @a @a @a @A1 A1 B= .>B9 B= .IB= kBB9 B9 B9 B= 6;B= {?E ^A II IY Om >P%,*LA2=21>2t>ٱ2=2H@?@Ϳ?o? 5?A ??i2=I2%_;2CYbBybIiUMb@Mb@Mb@QQQQ Q9U#~j?Q?Zd;O?YU?yU\=Uj9Y=EyKDYE> Q 54 [?Q 94 ) VBY5?Q E:y>Q I@ z.DI :i : |4y%uBɮ%A-ϦEԉB*** querying acoustic contact ***iichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754665:i FNOT Ignoring new targets: 440.55 m."i*i% ProNav: ac range: 440.553040 m, nav range: 431.619995 m, bearing: 15.626135 deg, approach rate: -0.496385 m/s, LOS rate: -0.006992 deg/s, cmd heading: 14.405415 deg, new cmd heading: 14.398890 deg. iLHeadingCmd: 0.251308 target range: 440.553040 and range: 442.00 m.hr>hhhhggjgrg@BereZe:e*e@~? HBɢ TU=)  i)=i"ir>=p=Ir>IaiԹ9@ @@@5@^A d=A% yAzA% wA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007219 Ai Iy I O >%,:LADD <E EEE "ED:*E:VEـ3ZE BE1;a:E>;ab=bn>b>ٱbt=bH!? Ϳo?_??@O;I(??ib=Ibd`;bCYvByvsIbDVD8y%T=ٔYQ->9Y=%Ey%RDE>Q 54zl?Q 94)VBYyx>Q I@.DI:ih:4yɮA:i  FNOT Ignoring new targets: 440.55 m."i *i E ProNav: ac range: 440.553040 m, nav range: 431.409912 m, bearing: 15.623191 deg, approach rate: -0.552169 m/s, LOS rate: -0.007741 deg/s, cmd heading: 14.398889 deg, new cmd heading: 14.392998 deg. iEbMHeadingCmd: 0.251205 target range: 440.553040 and range: 442.00 m.hM>hIhIhIhIgIgQjgQrgQeQreYZeY:eY*e}e?ԡJBɢX==) Oi)9=iMi>==I>I3GzAQ9zAYA9@ @@4@i߱IߵAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259637^A D=Aa I I O >) ݁%,nRLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513450uu +>ٱu=uH`?$Ϳ A?@e??h?`G}` 5?h?iu9aYa=eEye\DmEm>qQ 5u4u?Q 9}4u])uVBY}?Q E}:y}7>Q I}@u.DIu:iu:u4B->BBIB=BBBBBB;B?Ey%{Bɮ%KA%ƦE:iimFNOT Ignoring new targets: 440.55 m."iuڸ*iuڸ ProNav: ac range: 440.553040 m, nav range: 431.174194 m, bearing: 15.620332 deg, approach rate: -0.490896 m/s, LOS rate: -0.005957 deg/s, cmd heading: 14.392998 deg, new cmd heading: 14.387278 deg. ik.HeadingCmd: 0.251105 target range: 440.553040 and range: 442.00 m.h␀>hhhhggjgrgereZe:e*e4?MBɢ.?=) ƺi)x=iMi␀>:=%=I%␀>I!19@ @@@5@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762527a ^A ԑ AaIiIyO>m%,1$LA2><2}>2ke>ٱ2=2H`?ҞͿ ?(??@~&a??i2>}By>DIbDFVDF8yNKٽ%NS=ٔRQ-R>9PYP=VEyVdDV7EV>\Q 5b4^ώ?Q 9b4^)^VBY`ybչ>Q Ib@^.DI^:i^:^}4ydɮjAh1:iq}FNOT Ignoring new targets: 440.55 m."i}*i}渝 ProNav: ac range: 440.553040 m, nav range: 430.975800 m, bearing: 15.617943 deg, approach rate: -0.522890 m/s, LOS rate: -0.006298 deg/s, cmd heading: 14.387278 deg, new cmd heading: 14.382498 deg. im8HeadingCmd: 0.251022 target range: 440.553040 and range: 442.00 m.h>hhhhggjgrgereZe:e*eE@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016130 NBɢ["=) Ѿi)3؍=i i>=%"=I%>IaIq)qE  E E (E "E :*E :VE c44ZE BE 5A%,>LA2<2|>2C\>ٱ2,=2H?Ϳ?X ?@{? ٓ ??i2jBy>-IbDJVDJ8yjc%nG=ٔr㞻Q-r>9pYp=rEyrlDvrEv>xQ 5~4zn?Q 9~4z)zVBYyR>Q I@z.DIz;iz;z4y ɮ A :i15FNOT Ignoring new targets: 440.55 m."i=*i=踝M ProNav: ac range: 440.553040 m, nav range: 430.765747 m, bearing: 15.615440 deg, approach rate: -0.533042 m/s, LOS rate: -0.006355 deg/s, cmd heading: 14.382498 deg, new cmd heading: 14.377490 deg. iM:UHeadingCmd: 0.250935 target range: 440.553040 and range: 442.00 m.hU~z>hQhQhQhQgYgYjgYrgaeareaZea:ea*em 9@颕PBɢ =ԙ) i)-=顡ii~z> =0[=I~z>I]9@Y @a@e/@a5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522629bE-4jEƔ4rEƝ0E EE%E"E*E:VE 4ZEa-@a-@a-@a-@B}<AyB.>BBIBBB =BBB>;B?EB!B!B!B!B% =C%t5^AԘ=A I I O > @%,nXLA6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7706736*<6+x|>6D=ٱ6=6H@?W}Ϳ@߉??`?ѱƿ@ ??i6*9Y=EyuDOE>Q 54A?Q 947)VBY?Q E:ys>Q I@.DI0;i0;D4y ɮ  A ǦE%B*** querying acoustic contact ***i!i!:i1=FNOT Ignoring new targets: 440.55 m."i=*i=M ProNav: ac range: 440.553040 m, nav range: 430.538269 m, bearing: 15.611702 deg, approach rate: -0.520691 m/s, LOS rate: -0.008561 deg/s, cmd heading: 14.377490 deg, new cmd heading: 14.370010 deg. iMzUHeadingCmd: 0.250804 target range: 440.553040 and range: 442.00 m.hUai>hQhQhQhYgYgYjgYrgaeareaZea:ea*em@x@颕RBɢq=) &i)O=顙ir޼iai>=n=Iai>I-9@) @)@-/@)@1@5zA!%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023728^Au=ԁAxAzAzAE5  E5 E5 #E1 "E5 ;*E5 &p:VE5 3ZE1 BE5 8Cԙ b%,IrLA2)<2k|>2=ٱ2i:=2H?pvͿ4K??@?<`~H?*?i2)9|Y|=~Ey~}DqE> Q 5 4 ?Q 94 8) VBYy>>Q I@ .DI q:i %: ҧ4y!ɮ% A!:iIMFNOT Ignoring new targets: 440.55 m."iU*iUe ProNav: ac range: 440.553040 m, nav range: 430.342468 m, bearing: 15.608493 deg, approach rate: -0.523090 m/s, LOS rate: -0.008578 deg/s, cmd heading: 14.370009 deg, new cmd heading: 14.363587 deg. ie0{mHeadingCmd: 0.250692 target range: 440.553040 and range: 442.00 m.hmZ>hihihihigqgqjgqrgqeyreyZey:ey*e4 @颭SBɢ<) i)瀋=顱i>/ܼiZ>x==IZ>IC>iyuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274713y@y @y@}/@yԡ^AM=A I I O >5 =5 <M BDAT read: Rx Time:04:12:15.9794  TRx dataTimestamp_ set to:1764907938.156631 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.550423 "%,'LA2P<2ڑ{>2:=ٱ2B=2H ?rqͿ@?n?@t?C@?W?i2PB!B%IB%BB!B!B!B%B;B%?EiMb@Mb@Mb@ 9w/?333333??Y?y=VA7A ?A)dAY AbD1VDڰ8y %9=ٔ5wQ-5>99Y9==Ey=D=֜EE>AQ 5M4E?Q 9U4E)EVBYuk?Q Eu:yuS>Q Iu@E.DIE;iEO;E4yyɮ? A:iFNOT Ignoring new targets: 440.55 m."i *i  ProNav: ac range: 440.553040 m, nav range: 430.107178 m, bearing: 15.605061 deg, approach rate: -0.519788 m/s, LOS rate: -0.007586 deg/s, cmd heading: 14.363587 deg, new cmd heading: 14.356720 deg. i^ HeadingCmd: 0.250572 target range: 440.553040 and range: 442.00 m.h J>h)h)h)h1g1g1jg1rg5=Be9re9Ze9:e9*eE0h@-UBɢ-<)) -2i))5d=11i5#jټi=J>={===I=J>IA@ @@@1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779162Q ^A% <=Aq ԁ I I O >8)%,KLA2z<2{>2f=ٱ2V=2H?@nrͿѓ? ? ?߱ 꽿@?`5?i2z9hYh=jEyjDnYEn>xQ 54z?Q 94z)z{VBYy >Q I@z.DIzA;iz4;z4y)ɮ- A1DAT read: 04:12:15.9794 LVL= 32752, 32753, 31858, 32755, AGC= 71, IDX= 418, 0.17, 0.827,-0.790, 0.994, 0.356, PHS= 0.573,-1.101, 0.594, RAW= 150.6, -0.8, CAL= 149.6, -1.5, ROT= 0.4, 1.5 Ygot valid direction response: 04:12:15.9794 LVL= 32752, 32753, 31858, 32755, AGC= 71, IDX= 418, 0.17, 0.827,-0.790, 0.994, 0.356, PHS= 0.573,-1.101, 0.594, RAW= 150.6, -0.8, CAL= 149.6, -1.5, ROT= 0.4, 1.5 PDAT read: Bearing 166.5, -6.8 (Local) ~Local bearing/azimuth received: Bearing 166.5, -6.8 (Local) DAT read: Range 11 to 50 : 439.8 m (Round-trip 586.5 ms) speed 0.6 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.999633,0.006979,-0.026177] Fpublishing direction and range infoyE?ߕ|?P!ΚYCr| )GI!?i팿b?8(@d'@ Pwּ);IPw<D+?ƼK?meGg] ?)wbhhhhggjgrgereZe:e|{@*e`?E EE%E"E:*E:VE 4ZEBE5M=M?=IM=>II)I@I @I@M/@I@Q@U=i9 I= A= *DAT read: user:133> E BDAT read: Tx time:04:12:17.2888 E $Ping request sent.E *b0%,LA2f<24z>2==ٱ2=2H-?^Ϳ+M???_? b?i2fBy>IDDbDJVDJð8yNA%NE=ٔRŨQ-V>9V ?YV ?=VEyVDZJEZ>\Q 5b4^?Q 9b4^Ӏ)^oVBY`yf>Q If@^.DI^:i^s;^M4yhɮjW AjȦEi9i=LAj=-C"j=-C:j=>"p=/|&c{@ehSy@:L"&p=E?ߕ|?P!Κ*j=;2j=Pw<*p=jAz@ڿiD[@'@ Np=ᒣ,?GU?mr<j=&B j=Ci='h>?i=Kj=M@j=?j9j=NArj=Czj==>:iFNOT Ignoring new targets: 440.55 m."i%*i%5 ProNav: ac range: 440.553040 m, nav range: 429.692230 m, bearing: 15.599047 deg, approach rate: -0.584991 m/s, LOS rate: -0.008454 deg/s, cmd heading: 14.351011 deg, new cmd heading: 14.344686 deg. i5w=HeadingCmd: 0.250362 target range: 440.553040 and range: 439.80 m.h=s/>h9h9h9h9gAgAjgArgAeIreIZeI:eI*eMi?}XBɢ}|<) $i)Vu=iԼi s/> = =I s/>I 9@ @@/@=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254525E- E-E-&E)"E-=;*E-e:VE-4ZE)a5@a5@a5@a5@BM0>BIBMfIBMȀBBM =BIBIBMD;BM?E^AU=1 A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502546/6%,?LAYfByfIiUMb@Mb@Mb@QQQQ Q9Uy&1?+η?Zd;O?YU`?yUv=Uj=ٔQ->9Y=EyDE>Q 54>?Q 94j~)cVBY?Q E:y>Q I@/DI;i;4yɮ& AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 440.55 m."i=:*i=: ProNav: ac range: 440.553040 m, nav range: 429.467834 m, bearing: 15.594723 deg, approach rate: -0.527918 m/s, LOS rate: -0.010176 deg/s, cmd heading: 14.344686 deg, new cmd heading: 14.336035 deg. iHeadingCmd: 0.250211 target range: 440.553040 and range: 439.80 m.h>hhhhggjgrgBereZe :e *e ?YBɢ~<) 1i)K4=iѼi>+= b]=I >I Y9@ @@/@ԁE >E;?Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756326^A̓=EU  EU EU $EQ "EU &:*EU :VEU 4ZEQ BEU b;<%,9LA2<2^y>2d=ٱ2j=2H`?LͿ??|?g@v}ع??i29V"?YV"?=VEyZDZR E^>\Q 5b4^?Q 9b4^K|)^YVBYdyfa>Q If@^/DI^;i^;^g4yjzBɮn| Al:iFNOT Ignoring new targets: 440.55 m."i 7*i 7 ProNav: ac range: 440.553040 m, nav range: 429.269623 m, bearing: 15.590925 deg, approach rate: -0.524004 m/s, LOS rate: -0.010047 deg/s, cmd heading: 14.336036 deg, new cmd heading: 14.328435 deg. i%HeadingCmd: 0.250078 target range: 440.553040 and range: 439.80 m.h%F >h!h!h!h!g!g)jg)rg)e1re1Ze1:e1*e5`u?eZBɢeP<)a e7ia)m#=iiimϼiuF >uL=u =IuF >Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006772ԡ cE9@I @I@M/@I@UzA@UxA e PExceeded connect timeout, disconnecting.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261013^Au IҔ=EU  EU EU (EQ "EU =;*EU x:VEU c44ZEQ a] @a] @a] @a] @Bm 2>Bi Bm 4IBm BBi Bi Bi Bm M;Bm ?E! A IIO%>eD%,~LA>F<>x>>H=ٱ>2=>H?]DͿ@? ?@?z軿ù?@S?i>Fe;9IYI=MEyMDUEU>YQ 5e4]'?Q 9e4]y)]PVBYe?Q Ee:ye>Q Im@]!/DI]:i]_:]4yqɮu Aq:iFNOT Ignoring new targets: 440.55 m."i2*i2 ProNav: ac range: 440.553040 m, nav range: 429.023376 m, bearing: 15.586227 deg, approach rate: -0.509866 m/s, LOS rate: -0.009732 deg/s, cmd heading: 14.328436 deg, new cmd heading: 14.319035 deg. i|HeadingCmd: 0.249914 target range: 440.553040 and range: 439.80 m.h>hhhhggjgrg#Bere)Zei:ei*em?颵\Bɢt<) {=i)=i ̼i>=u=I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510853yb]Y@Y @Y@]/@Yԁԁ^A bb=} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762982Ա A I I O >aJ%,u,LAb~b=ٱb g=bH?(ͿY?|??@:p``??ib~9Y=EyD%0E%>)Q 5-4-7?Q 954-w)-JVBY1D9zD=AAEE EEEE'EA"EEV:*EE|:VEE'4ZEABEE9Q IU@-./DI-;i-a;-4yYɮe AeɦE:i 5FNOT Ignoring new targets: 440.55 m."i5'*i='E ProNav: ac range: 440.553040 m, nav range: 428.821198 m, bearing: 15.582395 deg, approach rate: -0.483545 m/s, LOS rate: -0.009170 deg/s, cmd heading: 14.319035 deg, new cmd heading: 14.311367 deg. iE@MHeadingCmd: 0.249780 target range: 440.553040 and range: 439.80 m.hMt>hihqhqhqgqgqjgyrgyeyreyZey:e*e @ԑ]Bɢ\<) aJi)lI=iʼit>)ߝ=t=It>I   ͑CuG{Aq9{AY7AԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016631a@a @a@e/@a@=@p= ^A v=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269406AnManaging dock network, ignoring radio surface power offI)IIqO?5S%, wMLABr7>BrgCBrIBr|BBr =BpBrDBrS;Br?EE EEE"ET;*Ex:VEZEBEG<2EG<JE;:E;YUByURIiMb@Mb@Mb@ 9L7A`?sh|??~jt?Y+?y=<AA $A)AYAbDVD8ym%=ٔ Q- >9 Y =EyDE>Q 5%4BN?Q 9%4t)Q I-@A/DIw:iF:H4yɮA:iFNOT Ignoring new targets: 440.55 m."i*i5 ProNav: ac range: 440.553040 m, nav range: 428.532806 m, bearing: 15.577728 deg, approach rate: -0.531895 m/s, LOS rate: -0.008613 deg/s, cmd heading: 14.311367 deg, new cmd heading: 14.302027 deg. i57|=HeadingCmd: 0.249617 target range: 440.553040 and range: 439.80 m.h=>h9h9h9h9g9gAjgArgE3BeAreiZei:ei*euW@颽^Bɢ_<) Si)Ot=iưƼi>֝=r==I>I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519448) ^A] =Y A I I O >Y%,=hLARVRx=ٱRrS=RH-?̿?;?@.? 貿 Թ?@ݬ?iRV9)Y1=5Ey5D5E5>9Q 5E4=^?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770666Q 9U4=ur)=3VBYQyU>Q IU@=O/DI=]^;i=i_;=84yaɮeAa}B*** querying acoustic contact ***iyiy:iFNOT Ignoring new targets: 440.55 m."i!*i! ProNav: ac range: 440.553040 m, nav range: 428.322052 m, bearing: 15.574377 deg, approach rate: -0.556101 m/s, LOS rate: -0.008847 deg/s, cmd heading: 14.302027 deg, new cmd heading: 14.295321 deg. iHeadingCmd: 0.249500 target range: 440.553040 and range: 439.80 m.h }>hhhhggjgrgereZe:e*eP@_Bɢ<8) .\i)%=!!i%1<ļi- }>5Ν=54=I5 }>I9De=DaEm EmEiEi"Em:*Emg:VEiZEia}@a}@a@a@9@ @@/@)^A_ = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026375Y I I) O= >o`%,bjLA 2Wn<25t>2=ٱ2{=2Hs?̿@n?@5?2?z5`?/?i2Wn9dYd=fEyjDjKEj>lQ 5r4no?Q 9r4nbp)n+VBYtyv->Q Iv@n\/DIn2:inu:n4yxɮz&Ax:iFNOT Ignoring new targets: 440.55 m."i%*i%5 ProNav: ac range: 440.553040 m, nav range: 428.115479 m, bearing: 15.571122 deg, approach rate: -0.533873 m/s, LOS rate: -0.008415 deg/s, cmd heading: 14.295321 deg, new cmd heading: 14.288809 deg. i5iv=HeadingCmd: 0.249387 target range: 440.553040 and range: 439.80 m.h=>_>h9h9h9h9gAgAjgArgAeAreIZeI:eI*eM`f @yɢ} ) )y }di)<~}=顁ii>_>7Ɲ=G=I>_>I59@1 @1@5/@1@ExA@EyAqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277713BM>>BMhCBMIBMSBBM =BIBMDBMV;BM?EBBgCBƔCBB =C5bEƞ4jEw4rE/E EE&E"E:*E:VE4ZEBE6 % BDAT read: Rx Time:04:12:20.2762 % TRx dataTimestamp_ set to:1764907942.434773- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527644f%,JFLA2ED<2Rs>2)=ٱ2^d=2H?`̿?@w ?`b?[@??i2EDBy>IPiMb@Mb@Mb@ 9?/$??Yf?y=<; AA A)AYpAbD$VDΰ8y-!%-D=ٔ5Q-5>91Y1==Ey=DTgE>Q 54*?Q 94 n)$VBYB?Q E:y0>Q I@k/DI:i:4yBɮAE:iaeFNOT Ignoring new targets: 440.55 m."imL*imL ProNav: ac range: 440.553040 m, nav range: 427.884216 m, bearing: 15.567413 deg, approach rate: -0.518575 m/s, LOS rate: -0.008322 deg/s, cmd heading: 14.288809 deg, new cmd heading: 14.281386 deg. isHeadingCmd: 0.249257 target range: 440.553040 and range: 439.80 m.hH=>hhhhggjgrg"BereZe:e*e @E`BɢE:)A EiiA)M z=IIiM:߾iH=>6=\c=IH=>I%9@! @!@%/@)}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778657^AM 0=D zD ?AE  E E E "E ;*E :VE ZE a @a @a @a @I I O >! l%,)LA2[`<2ss>2'=ٱ2=2HF?@̿#? ?g?@ų5 ?R?i2[`9pYt=vEyvDv|xQ 54z?Q 94zl)zVBYy>Q I @zx/DIz%);iz:z44yɮAE:i9=FNOT Ignoring new targets: 440.55 m."iE*iEU ProNav: ac range: 440.553040 m, nav range: 427.686615 m, bearing: 15.564250 deg, approach rate: -0.538658 m/s, LOS rate: -0.008625 deg/s, cmd heading: 14.281386 deg, new cmd heading: 14.275058 deg. iU|]HeadingCmd: 0.249147 target range: 440.553040 and range: 439.80 m.h]T >hYhYhYhYgagajgargaeireiZei:ei*em@5aBɢvH) zxi)@w=项iuiT >-==IT >IDAT read: 04:12:20.2762 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 401, 0.08,-2.772, 1.911,-2.583, 3.094, PHS= 0.519,-1.138, 0.562, RAW= 151.3, 0.7, CAL= 150.0, 0.1, ROT= 0.0, -0.1  Ygot valid direction response: 04:12:20.2762 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 401, 0.08,-2.772, 1.911,-2.583, 3.094, PHS= 0.519,-1.138, 0.562, RAW= 151.3, 0.7, CAL= 150.0, 0.1, ROT= 0.0, -0.1 8DAT read: $Error in header *Received a bad headermX#Rx 1: Read direction message, but no range.u\direction in FSK: [0.999998,0.000000,0.001745]y9L?n p\? )LI/?i;?)@+H<6'@ :)I亩XaY?0 ?O? O ?)0DIi亝T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse)Q3M 9@I  @I @M /@I @e =@e = T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse A1 A1 B= B>B9 B= IB= 0BB9 B9 B9 B= a;B= ?EE  E E E "E l;*E e:VE ZE BE [F-t%,jLA2Z<2\r>2=ٱ2N=2H#?̿`k? ?1?/Գչ??i2ZfBy>Ii=Mb@Mb@Mb@9999 99=#~j?#~j?Zd;O?Y=?y===j<= A=A = A)=bA9Y=AbDUGVDU8ye<$%e,=ٔeQ-e>9iYi=mEymDu:Eu>yQ 54}H?Q 94}i)}VBY?Q E:y >Q I@}/DI}:i};}}4yɮA:iFNOT Ignoring new targets: 440.55 m."i*i ProNav: ac range: 440.553040 m, nav range: 427.437134 m, bearing: 15.560444 deg, approach rate: -0.526419 m/s, LOS rate: -0.008037 deg/s, cmd heading: 14.275058 deg, new cmd heading: 14.267440 deg. iVkHeadingCmd: 0.249014 target range: 440.553040 and range: 439.80 m.hy~>hhhhggjgrgBereZe:e*e3@ɢ%)! %}i!)-hgs=))i-Äi5y~>5Ԧ=59?=I5y~>I9!M"iAIAMT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse9@ @@/@I^A=Ii Iy ԁ O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsez%,^/LAPr$r=ٱr>=rH ?̿û?@?`? r`t`ù? ?ir$9Y=EyD E>Q 54?Q 94vg)VBYy>Q I@/DI;i;4yɮAE EE$E"ED:*E:VE4ZEa@a@a@a@%B*** querying acoustic contact ***i!i!:i)5FNOT Ignoring new targets: 440.55 m."i= *i= E ProNav: ac range: 440.553040 m, nav range: 427.223724 m, bearing: 15.557210 deg, approach rate: -0.511573 m/s, LOS rate: -0.007756 deg/s, cmd heading: 14.267440 deg, new cmd heading: 14.260969 deg. iMcMHeadingCmd: 0.248901 target range: 440.553040 and range: 439.80 m.hM~>hqhqhqhqgqgqjgyrgyeyreyZe:e*e Q@bBɢ@D) i)o=i绶i~>=  =I ~>IyԉԹ]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse- 9@)  @) @- /@)  ^AM ff=A] >A] > T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseaBJ>BiCBIBBBBBDBh;B?EE= E=E=&E9"E=:*E= n:VE=4ZE9BE=5r=ٱr=rH ?`̿t???@m tɵ@͹?g?ir9Y=EyDE>Q 54?Q 94ld)VBYV?Q E:y>Q I@/DI%;i$;4yɮ=A:iY]FNOT Ignoring new targets: 440.55 m."i*iḝ ProNav: ac range: 440.553040 m, nav range: 426.896057 m, bearing: 15.553371 deg, approach rate: -0.525601 m/s, LOS rate: -0.006162 deg/s, cmd heading: 14.260969 deg, new cmd heading: 14.253285 deg. iq4HeadingCmd: 0.248767 target range: 440.553040 and range: 439.80 m.h~>hhhhggjgrgBereZe:e*e @9ɢ} D)y }1i)2j=顁i$i~>G==I~>IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse@ @@3@^A} L=1  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA I I O >J%,u-LA><>p>>=ٱ>?=>H?@̿&[?Ͼ?B?@:촿%??i>(u;>CYJ ByNIbD-VD-8iy}I%U=ٔQ->9Y=Ey DE>E EE%E"E:*E]t:VE 4ZEa@a@a@a@Q 54?Q 94b)VBYy>Q I@/DI;io;T!4yɮA¦E:iFNOT Ignoring new targets: 440.55 m."i*i丝  ProNav: ac range: 440.553040 m, nav range: 426.692810 m, bearing: 15.550993 deg, approach rate: -0.534294 m/s, LOS rate: -0.006255 deg/s, cmd heading: 14.253286 deg, new cmd heading: 14.248527 deg. i&7HeadingCmd: 0.248684 target range: 440.553040 and range: 439.80 m.h~>hhhhggjg!rg!e!re!Ze):e)*e-@-@ɢʼ) i)+f=i&ni~> ~= *=I ~>I ԉ9@ @@/@ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseԹ^A8=I I O > #̑%,GLAYByIbD-VD-8y%I=ٔQ->9Y=EyDE>Q 54?Q 94`)UBYyQ I@/DI:i:X(4yɮrA:iFNOT Ignoring new targets: 440.55 m."i ߸*i ߸ ProNav: ac range: 440.553040 m, nav range: 426.482971 m, bearing: 15.548535 deg, approach rate: -0.521632 m/s, LOS rate: -0.006113 deg/s, cmd heading: 14.248527 deg, new cmd heading: 14.243609 deg. i%2EHeadingCmd: 0.248598 target range: 440.553040 and range: 439.80 m.hEq~>hAhAhIhIgIgIjgIrgQeQreQZeY:eY*e]`(@颁ɢ؀ؼ) ⓿i)b=顉iѨT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiq~>s=)=Iq~>Ii>i>B9A=<B]N>B]jCB]YIB]BB] =BYBYB]r;B]?EE EE$E"Es:*E:VE4ZEBEj0%,VdaLA:J<:&Qp>:6=ٱ:(=:H@z?̿?`ɭ??>k@b? ?i:J9qYq=uEyuDuֺE}>Q 54Q?Q 94^)UBYr?Q E:yY>Q I@/DI:i(:D/4yɮA:iFNOT Ignoring new targets: 440.55 m."i*i1u ProNav: ac range: 440.553040 m, nav range: 426.272949 m, bearing: 15.545747 deg, approach rate: -0.531221 m/s, LOS rate: -0.007055 deg/s, cmd heading: 14.243609 deg, new cmd heading: 14.238031 deg. iuN}HeadingCmd: 0.248501 target range: 440.553040 and range: 439.80 m.h}v~>hyhyhyhggjgrgBereZe:e*eC@颁ɢż) ӕi)^=iͪi-v~>-f=5ܞ=I5v~>I1a9@ @@@%==T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE EE#E"E ;*E|:VE3ZEa@a@a@a@ԉ G ^A ff=) ] 9Y Y] AI I O >Թ G %,?{LA2<2&p>2pM=ٱ2%f=2H ?`̿`9?G?@?rO?`?i2By>bIbDF)VDFҰ8yNy%NV=ٔRQ-R>9PYT=VEyV"DVEV>XQ 5^4Z&?Q 9^4Z\)ZUBY`yb>>Q Ib@Z/DIZ:iZ;Z54ydɮfbAfæEvB*** querying acoustic contact ***itit:ix~FNOT Ignoring new targets: 440.55 m."i*i  ProNav: ac range: 440.553040 m, nav range: 426.072449 m, bearing: 15.543089 deg, approach rate: -0.529990 m/s, LOS rate: -0.007030 deg/s, cmd heading: 14.238030 deg, new cmd heading: 14.232711 deg. iMHeadingCmd: 0.248408 target range: 440.553040 and range: 439.80 m.h^~>hh%T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseh9hggjgrgereZe:e*e`X@ԑ颙ɢĴ) Wi)+[=顡ii5i^~>z\=I^~>I9@ @@/@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A8= IQ Iq O >BM J>BI BM 3IBM BBI BI BI BM ;BM ?EE  E E &E "E T;*E ą:VE 4ZE BE G2S=ٱ2=2H` ?T̿? ԟ??3۵汿?`S?i2ׄ9Y=Ey+DbE>Q 54!?Q 94Z)UBYR?Q E:y>Q I@/DI:i:=4yɮA:iFNOT Ignoring new targets: 440.55 m."iE*iE ProNav: ac range: 440.553040 m, nav range: 425.849060 m, bearing: 15.540023 deg, approach rate: -0.510340 m/s, LOS rate: -0.007009 deg/s, cmd heading: 14.232711 deg, new cmd heading: 14.226575 deg. ih!h!h!h!g!g!jg)rg-ځBe)re)Ze):e1*e5`\@Yɢe)a e.ia)e3W=iiimuimB~>P=Y=IB~>I5T****** received valid address query ******5R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse@ @@/@^AA>A>I Ia Iy O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseq zD%,_BLAV́V_6=ٱV=VHL?g̿@Uʶ?? ?` #@㾺?`?iV́9QYQ=UEyU4DURE]>YQ 5m4]b4?Q 9m4]AX)]UBYiym¾>Q Im@]/DI];i];]E4yqɮ}Ay:iFNOT Ignoring new targets: 440.55 m."i*i ProNav: ac range: 440.553040 m, nav range: 425.613129 m, bearing: 15.536793 deg, approach rate: -0.510306 m/s, LOS rate: -0.006989 deg/s, cmd heading: 14.226575 deg, new cmd heading: 14.220113 deg. iLHeadingCmd: 0.248188 target range: 440.553040 and range: 439.80 m.h$~>hhhhggjgrgereZe:e*ej @ɢ) i ) TR=  i Ei$~>B==I$~>I9@ @@/@YT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԉ ^A I! I9 OE >%,LAF=ٱFu=FH@?@٘̿ ? y?`?WiA];ٺ??iF|9Y=Ey;DJE>Q 54xB?Q 94V)Yy>Q I@0DI\:i2:K4yɮAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse:iFNOT Ignoring new targets: 440.55 m."iU!*iU!ԩAABG>BiCBIBlBB =BBDB;B@EBiCBiCBÓCB =B =CY5 ProNav: ac range: 440.553040 m, nav range: 425.434601 m, bearing: 15.534358 deg, approach rate: -0.472784 m/s, LOS rate: -0.006451 deg/s, cmd heading: 14.220113 deg, new cmd heading: 14.215241 deg. bE5Ļ 4jE5r 4rE5?/E EE%E"E;*E~:VE 4ZEBEphh h h g g jgrgereZe:e*eL!@颅aBɢ#) i)ܗM=顉iٜi~>4==I~>IU9@Q @Q@U/@Q E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapse^Au _=1 A .AI I O >&%,wLABmB*l=ٱB۽=BHs? B̿j?o??-`, >?@?iBm9U ?YU ?=]Ey]ED]QE]>aQ 5m4eVU?Q 9m4e7T)eUBYu?Q Eu:yu}>Q Iu@e0DIeX ;ie:eS4yyɮ}A}ĦEԁ:iFNOT Ignoring new targets: 440.55 m."i *i  ProNav: ac range: 440.553040 m, nav range: 425.195190 m, bearing: 15.530964 deg, approach rate: -0.539705 m/s, LOS rate: -0.007655 deg/s, cmd heading: 14.215241 deg, new cmd heading: 14.208449 deg. i&`HeadingCmd: 0.247984 target range: 440.553040 and range: 439.80 m.h}>hhhhggjgrgBereZe:e*ea"@ ɢ :) (i)I=ii-}>-(=-=I5}>I1IMyA)MyA%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse@ @@/@ԱE= E=E=&E9"E=T;*E=:VE=4ZE9aE@aE@aE@aE@^A= {=Ai I I O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse5*%,(LA,RiR^=ٱR>=RHX?@Ӎ̿@ѳ?:i?@?Vܫc?W?iRi9Y=EyMD$E>Q 54d?Q 94MR)UBYyU>Q I@%0DI;i;Z4y ɮ DA %B*** querying acoustic contact ***i!i!:i1=FNOT Ignoring new targets: 440.55 m."i=*i=M ProNav: ac range: 440.553040 m, nav range: 424.998230 m, bearing: 15.528177 deg, approach rate: -0.508587 m/s, LOS rate: -0.007200 deg/s, cmd heading: 14.208449 deg, new cmd heading: 14.202872 deg. iMRUHeadingCmd: 0.247887 target range: 440.553040 and range: 439.80 m.hU}>hQhQhQhYgYgYjgYrgYeareaZea:ea*em"@频ɢTm=) ꩿi)zhE=顙ii}>=\=I}>Iq@ @@0@ԙ=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse^AUxr=B}J>ByB}IB}9BB} =ByB}DB}و;B}8@EEu  Eu Eu $Eq "Eu f;*Eu :VEu 4ZEq BEu Wƺ%,tLA2_<2&m>2$R=ٱ2}8=2H ? ̿@ ?NW?6?ݷA??i2_MBy>IPi Mb@Mb@Mb@     9 MbX9?㥛 ?~jt?Y ?y = < O A A )  Y AbD% VD%8y-n½%5V=ٔ5{Q-5>95"?Y="?=EyTDYǺE>Q 54t?Q 94aP)UBYF?Q E:y>Q I@20DIz;i;a4yBɮA:iFNOT Ignoring new targets: 440.55 m."i*i ProNav: ac range: 440.553040 m, nav range: 424.796234 m, bearing: 15.525513 deg, approach rate: -0.511252 m/s, LOS rate: -0.006746 deg/s, cmd heading: 14.202872 deg, new cmd heading: 14.197542 deg. i E HeadingCmd: 0.247794 target range: 440.553040 and range: 439.80 m.h }>h hhhggjgrgŁBe!re!Ze!:e!*e%F#@U`BɢUXG)Y ]liY)]@=YYi]lie}>e~=ea=Im}>IiT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse 9@  @ @0@^AuW^=! M T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapseA I I O >E]  E] E] %EY "E] ;*E] x:VE] 4ZEY am @am @am @am @K̺%,)3LABדYBtE=ٱB=BH@?̿F?@L?`?+@?@?iBדY9tYx=zEyz\Dz%Ez>|Q 54~]?Q 94~N)~UBY y y>Q I @~>0DI~:i~::~\h4yBɮ:AE:i9EFNOT Ignoring new targets: 440.55 m."iE*iEU ProNav: ac range: 440.553040 m, nav range: 424.599457 m, bearing: 15.522926 deg, approach rate: -0.510452 m/s, LOS rate: -0.006714 deg/s, cmd heading: 14.197541 deg, new cmd heading: 14.192364 deg. iUD]HeadingCmd: 0.247703 target range: 440.553040 and range: 439.80 m.h]}>hYhahahagagajgirgieireiZei:eq*eu`He$@%_Bɢ%=K)! %yi))-z<=))i-^i}>= =I}>I?>i 9@  @ @ 1@ @zA@zA)h3Ӻ%,lMLA:VP<:)l>:-8=ٱ:=:H ?`z̿?`:?n?`V#Ԫ?@?i:VP9|Y|=~Ey~eDպE> Q 5 4 ?Q 94 L) VBYy->Q I@ K0DI :i h: qo4y!ɮ%A)A:iiuFNOT Ignoring new targets: 440.55 m."iu*iu񸝏 ProNav: ac range: 440.553040 m, nav range: 424.392700 m, bearing: 15.520222 deg, approach rate: -0.504228 m/s, LOS rate: -0.006599 deg/s, cmd heading: 14.192365 deg, new cmd heading: 14.186953 deg. i8AHeadingCmd: 0.247609 target range: 440.553040 and range: 439.80 m.h:}>hhhhggjgrgereZe:e*e`8%@B<A<BBjCBIBBE  E E $E "E :*E :VE 4ZE B =BBB;BK@E^BɢKU<) ڲi)-&7=))i-i5:}>5=5=I5:}>I9i9@! @!@%?0@!ԑiߑIߕA2Acoustic response timeout^AE t0= I! I1 O= >)Rٺ%,HgLAVؖMV,=ٱV=VH Q ?̿+ʰ?6?? qλ? 9?iVؖM=ٔwQ->9Y=EymDE>Q 54(?Q 94sJ)VBY?Q E:y>Q I@Z0DI:i(:v4yɮA :i)5FNOT Ignoring new targets: 440.55 m."i5*i5E ProNav: ac range: 440.553040 m, nav range: 424.171753 m, bearing: 15.517344 deg, approach rate: -0.518980 m/s, LOS rate: -0.006762 deg/s, cmd heading: 14.186953 deg, new cmd heading: 14.181196 deg. iEFMHeadingCmd: 0.247509 target range: 440.553040 and range: 439.80 m.hMr}>hQhQhQhQgQgQjgYrgYeYreYZeY:ea*ee:&@颡ɢ9y) Fi)j 3=顱i0ir}>C=Ir}>II 2Acoustic response timeout9@ @@@5@E EE%E"E ;*E:VE 4ZEBEL1  2Acoustic response timeout5%,mLA2UG<2#k>2=ٱ2~=2H@"?;~̿@?+??¸i? ?i2UG9xYx=~Ey~uD~ E~>Q 5 4J?Q 9 4H)VBYy>Q I@f0DI :i:|}4yɮ=A%E:iAMFNOT Ignoring new targets: 440.55 m."iM *iM ] ProNav: ac range: 440.553040 m, nav range: 423.980286 m, bearing: 15.514858 deg, approach rate: -0.513241 m/s, LOS rate: -0.006668 deg/s, cmd heading: 14.181196 deg, new cmd heading: 14.176221 deg. i]=CeHeadingCmd: 0.247422 target range: 440.553040 and range: 439.80 m.he\}>hahahihigigijgirgqeqreqZeq:eq*e}U&@颥]Bɢz) նi) .=顩ii\}>՜=j\=I\}>I}9@y @y@}2@yA2Acoustic response timeout^Ap=BBBIB~BBBBB;Bh@EԙIIEE  EE EE $EA "EE :*EE ҆:VEE 4ZEA BEE 6<2EE 6<JEE ;:EE ;O >Թ _%,LA2%=<2(j>2=ٱ2C=2H`$?u̿q?@??`ʸ@y?@?i2%=9QYQ=]Ey]~D]úEe>aQ 5m4e?Q 9u4eF)e VBYu?Q Eu:yuŽ>Q Iu@et0DIe:ieShhhhggjgrgЁBereZe:e*e@a'@\BɢP) i) )=iiA}>Ü=~=IA}>I)9@ @@!5@ ^A X=I I O >- 2Acoustic response timeout E=  E= E= (E9 "E= ;*E= :VE= c44ZE9 aM @aM @aM @aM @R%,LA2&2<24Jj>2=ٱ2N+=2H&?@j̿?`??`lǓ?@?i2&2~By>I DD  G!9eV`9aYm\AbD]VD]8y?Ay!%@=ٔQ->9Y=EyD κE >Q 5=4K?Q 9=4D)VBY9y=n>Q IE@0DI:iG:44yMBɮMAI:iFNOT Ignoring new targets: 440.55 m."i*i ProNav: ac range: 440.553040 m, nav range: 423.549591 m, bearing: 15.509041 deg, approach rate: -0.526770 m/s, LOS rate: -0.007099 deg/s, cmd heading: 14.170449 deg, new cmd heading: 14.164581 deg. iOHeadingCmd: 0.247219 target range: 440.553040 and range: 439.80 m.h&}>hhhhggjgrgereZe:e*e (@u[Bɢuԅ)y }ܼiy)}/g$=yyi}i&}>洜=Q|=I&}>I)2Acoustic response timeout9@ @@4@Q ^A 0=II IY Ou >Yq%,pLA6t1%<6zi>68<ٱ6=6H Q(?[̿z?@d??? ?i6t1%9XYX=ZEyZD^E^>`Q 5f4b?Q 9f4bB)bVBYdyj >Q Ij@b0DIb\:ib:b4ylɮnAvBDAT read: Response Not Received v*response not receivedvTDAT read: user:135>Tx time:04:12:29.7387 zBBIB~BBBBB;Bt@E ProNav: ac range: 440.553040 m, nav range: 423.365021 m, bearing: 15.506573 deg, approach rate: -0.514839 m/s, LOS rate: -0.006889 deg/s, cmd heading: 14.164580 deg, new cmd heading: 14.159641 deg. iI HeadingCmd: 0.247132 target range: 440.553040 and range: 439.80 m.h D}>h hhhg!g!jg1rgQeareiZei:e*e`O)@E EE&E"El;*E&p:VE4ZEBE[F"=2z=ID}>Iy9@ @@4@DAT read: 2Acoustic response timeout ^A |=A >A > A5 .AI9 II O] >%,]nLA2q<2h>2Vf<ٱ2=2H ,*?P̿@ ?` ? e?y<+`&?o?i2q~By>IieMb@Mb@Mb@aaaa a9eRQ?p= ף?Zd;O?Ye?ye=ej9 ?Y ?=EyDE>Q 54?Q 94@)VBY?Q E:yj>Q I@0DIK;iI;4yɮcAE:iFNOT Ignoring new targets: 440.55 m."i%DǸ*i%DǸ5 ProNav: ac range: 440.553040 m, nav range: 423.123871 m, bearing: 15.504027 deg, approach rate: -0.515357 m/s, LOS rate: -0.005444 deg/s, cmd heading: 14.159641 deg, new cmd heading: 14.154546 deg. i5j=HeadingCmd: 0.247043 target range: 440.553040 and range: 439.80 m.h=|>h9h9h9hAgAgAjgArgMBeIreIZeI:eQ*eU**@颅XBɢ) i)1=顉ii|>=dx=I|>I=%=2Acoustic response timeout9@ @@/@E EE'E"ET;*Ez:VE'4ZEa @a @a@a@^APz=I  2Acoustic response timeoutA ؟AI I O >%,&5LA(><>sAh>>s3<ٱ>H]=>H+?`H̿?Z??f^e`{?@?i>;9^"?Y^"?=bEybDb\Eb>dQ 5j4f$?Q 9j4f>)f%VBYhyn&>Q In@f0DIf.:if;f64ypɮrAp:i  FNOT Ignoring new targets: 440.55 m."iƸ*iƸ% ProNav: ac range: 440.553040 m, nav range: 422.933594 m, bearing: 15.502029 deg, approach rate: -0.517147 m/s, LOS rate: -0.005431 deg/s, cmd heading: 14.154546 deg, new cmd heading: 14.150549 deg. i%-HeadingCmd: 0.246974 target range: 440.553040 and range: 439.80 m.h-|>h)h)h)h1g1g1jg1rg1e9re9Ze9:eA*eE`;*@额WBɢ ) 1ÿi)=顩i3'i|>"=/v=I|>IqM9@I @I@I@I2Acoustic response timeoutBI>BBIB~BB =BBB;B~@EBejCBejCBaBaBaCe5bE-4jEw4rE١/E- E-E)E)"E-l;*E-xv:VE)ZE)BE)ae2E)am^Auw=JE-;a:E-;a A .AI I O >*%,fLA`Y~~By~Ie2Acoustic response timeoutiMb@Mb@Mb@ 9%C?9 ?Y ?=EyDE>Q 54@?Q 94<)-VBY?Q E:y>Q I@0DI:i:4yɮAB*** querying acoustic contact ***ii:i!%FNOT Ignoring new targets: 440.55 m."i-*i-帝= ProNav: ac range: 440.553040 m, nav range: 422.704987 m, bearing: 15.499278 deg, approach rate: -0.519705 m/s, LOS rate: -0.006258 deg/s, cmd heading: 14.150549 deg, new cmd heading: 14.145044 deg. i=A7EHeadingCmd: 0.246878 target range: 440.553040 and range: 439.80 m.hEz|>hAhAhAhIgIgIjgIrgUBeQreQZeY:eY*e] +@颅VBɢzs) B¿i)]z=顉i}iz|>q=a/w=Iz|>I 9@  @@/@^A1A5xAzA5tA 2Acoustic response timeoutA A ؟AI I O >E%  E% E% $E! "E% :*E% ą:VE% 4ZE! a- @a- @a- @a5 @U %,7LA22_;2"g>23<ٱ2uc=2H.? y8̿`?G?I?R &]?w?i22_;I2;2CYN~ByRIbDZVDZ8yb4'%b]=ٔbbQ-f>9f"?Yf"?=fEyfDjAEj>lQ 5r4n)?Q 9r4n:)n6VBYpyrX>Q Iv@n0DIn<;in:n\4yxɮz,Ax9:iFNOT Ignoring new targets: 440.55 m."iٸ*iٸ ProNav: ac range: 440.553040 m, nav range: 422.512451 m, bearing: 15.496986 deg, approach rate: -0.499429 m/s, LOS rate: -0.005948 deg/s, cmd heading: 14.145043 deg, new cmd heading: 14.140458 deg. i).HeadingCmd: 0.246798 target range: 440.553040 and range: 439.80 m.h|>hhhhggjgrgereZe:e*e ΍,@TBɢ) ÿi)` =iKPxi|>`= qs=I |>I 9@ @@/@u2Acoustic response timeoutqԑ^AHu=Aa Ii Iy O > % 2Acoustic response timeout=%,*QLAB A"<B$B&iCB&IB&~BB& =B$B&DB& ;B&@EB;Buf>B_<ٱB=BH@<0?,̿Ы?? U?Ƌ9B?7?iB;IBU}};@YN~ByNIbDTVDTy^֦%^K=ٔbλQ-b>9`Y`=bEybDfֺEf>hQ 5n4j:?Q 9n4j9)j@VBYlyr>Q Ir@j0DIj;ij<;jg4yzBɮ~QAE:i15FNOT Ignoring new targets: 440.55 m."i= *i= 踝M ProNav: ac range: 440.553040 m, nav range: 422.302795 m, bearing: 15.494505 deg, approach rate: -0.535521 m/s, LOS rate: -0.006339 deg/s, cmd heading: 14.140458 deg, new cmd heading: 14.135494 deg. iM9UHeadingCmd: 0.246711 target range: 440.553040 and range: 439.80 m.hUɡ|>hQhQhQhQԡE EE%E"E;*EVE 4ZEBE@yK=Vq=Iɡ|>I=9@9 @9@E/@A}2Acoustic response timeout^A% r= Aq Iy I O >%, ElLAFf;FXf>Fo<ٱF]=FH`0?` 2̿@d?H???@32??iFf;IF{;FCYTyXb=bp=iMb@Mb@Mb@ 9Pn?MbX9?~jt?Y?yʡ=< A A)3AԩYAAAbDVD8ٔeQ->9Y=EyDKE>Q 54zL?Q 946)IVBY?Q E:y>Q I@0DI3;iH;;4yɮ:i%FNOT Ignoring new targets: 440.55 m."i%*i%5 ProNav: ac range: 440.553040 m, nav range: 422.070129 m, bearing: 15.491284 deg, approach rate: -0.524059 m/s, LOS rate: -0.007261 deg/s, cmd heading: 14.135494 deg, new cmd heading: 14.129047 deg. i5T=HeadingCmd: 0.246598 target range: 440.553040 and range: 439.80 m.h=J|>h9h9h9hAgAgAjgIrgMBeIreIZeI:eQ*eU 9.@2Acoustic response timeoutQBɢC)9 EĿiA)ES=AAiE~niMJ|>M9=Mq=IUJ|>IQE EE)E"ED:*E$:VEFA4ZEa@a@a@a@9@ @@/@^Anp== 2Acoustic response timeoutA- .A1 I9 II O] >?v!%,!LAFi0;FQf>F§H<ٱF=FHs1?@2̿,? τ?@e?Ĺ $?3?iFi0;IFBz;DYZg~By^sIbDlVDlyz%~<ٔ~λQ->9  ?Y  ?= Ey D&E>!Q 554%\?Q 9=4%4)%QVBY9yEg>Q IE@%0DI%i;i%h1h1h1h1g9g9jg9rg9eAreAZe:e*e/@5OBɢ5O)1 5ƿi1)= r<99i=7iie@k|>eA'=ep=Ie@k|>Ii@ @@@92Acoustic response timeoutBBBrIBd~BB =BBB$;B@EE EE%E"E=;*E:VE 4ZEBE}I9'%,ڟLA2Acoustic response timeoutY[~BylIiMb@Mb@Mb@ 9~jt?ʡE?~jt?Y?y=dA MA)bAYbDVD8y׼%@=ٔQ->9"?Y"?=EyDE>Q 54m?Q 942)ZVBY'?Q E:y1>Q I@0DI;i;G4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 440.55 m."i*i- ProNav: ac range: 440.553040 m, nav range: 421.651917 m, bearing: 15.485627 deg, approach rate: -0.522764 m/s, LOS rate: -0.006932 deg/s, cmd heading: 14.123574 deg, new cmd heading: 14.117728 deg. i-J-HeadingCmd: 0.246401 target range: 440.553040 and range: 439.80 m.h5P|>h1h1qh1hggjgrgBereZe:e*e`/@ MBɢ->S)-5< -ǿi)E<顙i7diP|>=?q=IP|>I@ @@0@ԩBDAT read: Rx Time:04:12:32.7179 TRx dataTimestamp_ set to:1764907954.7827992Acoustic response timeout^A np=E  E E (E "E :*E &p:VE c44ZE a @a @a @a @A I I O >b-%,LA2b;2`f>2c;ٱ2y=2H@ 1?@JO̿ ?? M?,@j} F?%?i2b;I2=ix;0Y>Q~By>fIbDFVDFȰ8yNӼ%n^=ٔnNWQ-r>9pYp=rEyrDv:Ev>xQ 5~4z|?Q 9~4z0)zcVBY|y~e>Q I@z1DIz;izU;z4y Bɮ A E:i15FNOT Ignoring new targets: 440.55 m."i=*i=M ProNav: ac range: 440.553040 m, nav range: 421.455994 m, bearing: 15.483017 deg, approach rate: -0.521888 m/s, LOS rate: -0.006954 deg/s, cmd heading: 14.117728 deg, new cmd heading: 14.112506 deg. iMKUHeadingCmd: 0.246310 target range: 440.553040 and range: 439.80 m.hU8|>hQhQhQhYgYgYjgargaeareaZea:ei*em J0@颕KBɢ^) ȿi)!<顙ib`i8|>=or=I8|>IIxA)m9@q @q@u1@q@y@}=2Acoustic response timeout^A| u=1 A I I9 O >A @AA B H>B B eIB O~BB B B B ';B @E DAT read: 04:12:32.7179 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 365, 0.28,-2.558, 2.139,-2.382,-2.919, PHS= 0.463,-1.181, 0.493, RAW= 150.9, 2.7, CAL= 149.9, 2.5, ROT= 0.1, -2.5 % Ygot valid direction response: 04:12:32.7179 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 365, 0.28,-2.558, 2.139,-2.382,-2.919, PHS= 0.463,-1.181, 0.493, RAW= 150.9, 2.7, CAL= 149.9, 2.5, ROT= 0.1, -2.5 - PDAT read: Bearing 170.3, -0.2 (Local) 5 ~Local bearing/azimuth received: Bearing 170.3, -0.2 (Local) z4%,LABDAT read: Range 11 to 50 : 431.2 m (Round-trip 575.0 ms) speed 0.4 m/s FTDAT read: user:136>Tx time:04:12:33.7887 JR#Rx 1: Read range and direction messages.N\direction in FSK: [0.999047,0.001744,0.043619]NFpublishing direction and range infoy0?dbx\?GU?YC )FIV>i+j>(@A=p'@ ¸2=):I¸2w`Phm?/i?O? ?):DI:i¸2Z2Acoustic response timeoutZQuerying Benthos address 50 with one ping in standard two-way mode.E EE&E"E;*E:VE4ZEBEDU;ٱU!=UH20?i̿Fg??B?@vt p??iU֧;IUtw;UCYYA~By\IiMb@Mb@Mb@ 9'1Z?9)Y)=-Ey-D-:E5>1Q 5e45?Q 9e45V.)5qVBYe7?Q Em:ym>Q Im@51DI5b;i5;5[4yuBɮuAuEiiaLAjC"jC:jid>"pVz@fkf?4t2@p0?dbx\?GU?*j:2j¸2*p-).z@gs<}W@!0@p(J/? q@? 4Mͣ?jB jpCit?iS5oj_BjjjrjCzj!>y addTargetRange:: Added new target pos. range: 431.200012 m, deltaT: 16.632440 s, deltaX: -8.599976 m, approachRate: -0.517060 m/s, rangeRepo size: 4  Added new target pos. range: 429.805939 m, bearing: 12.761069 deg, lat: 36.779468 deg, lon: -121.859417 deg, deltaT: 20.917195 s, deltaX: -10.747101 m, approachRate: -0.513793 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 429.81 m."i*i ProNav: ac range: 429.805939 m, nav range: 422.008362 m, bearing: 15.068437 deg, approach rate: 0.000000 m/s, LOS rate: -0.006954 deg/s, cmd heading: 14.112506 deg, new cmd heading: 14.104535 deg. iHeadingCmd: 0.246171 target range: 429.805939 and range: 431.20 m.h$|>hhhhggjgrgBereZe :e @3z@*e ?iIDAT read: %2Acoustic response timeout}HBɢ} )y }ʿiy)<顁iZi$|>=t=I$|>IM 9@Q  @Q @U /@Q Ա ^A np=2Acoustic response timeoutA.AIIO?q<%,,(LAJBJ%;fÂGٱJ=DlDn%=Er ErEpEp"Er:*ErAr:VEpZEpav@av@av@av@JH/?@y̿`??9?dCv??~/{AiJB9 ?Y ?=EyD):E>Q 54?Q 94V,)}VBYy>Q I@(1DIG:i:4y ɮ A :i15FNOT Ignoring new targets: 429.81 m."i=*i=M ProNav: ac range: 429.805939 m, nav range: 421.793976 m, bearing: 15.065581 deg, approach rate: -0.551755 m/s, LOS rate: -0.007355 deg/s, cmd heading: 14.104535 deg, new cmd heading: 14.098820 deg. iM[WUHeadingCmd: 0.246071 target range: 429.805939 and range: 431.20 m.hU{>hQhQhQhQgYgYjgYrgYeYreaZea:ea*ee?颕FBɢz) '̿i)+<顙imVi{>pܛ=u=I{>I)Q}2Acoustic response timeoutNJκI@Q @Q@U/@Qԁ ^A fm=Թ -2Acoustic response timeoutBIBIBMYIBM;~BBIBIBIBM ;BM@EAIIO>D%,rLA2<2݄g>29ٱ2 Q=2H/?@̿@[˘??c?HǺ~#|??i2+~By>OIbDF&VDFϰ8yV6%V0=ٔZQ-Z>9XYX=ZEy^D^9E^>`Q 5f4bc?Q 9f4b.*)bVBxEU EUEU#EQ"EU%;*EU:VEU3ZEQBEUKQ Im@b71DIb+h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5,?ECBɢE)A E˿iI)M}"ujě=ucv=Iu{>Iy2Acoustic response timeoutQ < a>i >ԉ M 9@Q  @Q @U &5@Q @Y @] xAԡ 2Acoustic response timeout^Auw=E EE$E"E:*EZ:VE4ZEa@a@a@a@AIIO?OM%,9LA6i<6k~g>6YTٱ6H=6Hy/?̿6?ʰ?g?jr??r?i6i9iYi=uEyuDu)Eu>yQ 54}z?Q 94}'Q =tI)}VBY?Q E:y;>Q I@}K1DI};i}[;}!4yɮNAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 429.81 m."i,"*i," ProNav: ac range: 429.805939 m, nav range: 421.245117 m, bearing: 15.057694 deg, approach rate: -0.586285 m/s, LOS rate: -0.008862 deg/s, cmd heading: 14.092645 deg, new cmd heading: 14.083036 deg. iHeadingCmd: 0.245795 target range: 429.805939 and range: 431.20 m.hƱ{>hhhhggjgrgBereZe:e*e^?%ABɢ%I)) Ϳi)-w<iTPLiƱ{>|=v=IƱ{>I!!2Acoustic response timeoutԁԩ 9@  @ @ 0@ B1 A5 <B= F>B9 B= RIB= 1~BB9 B9 B9 B= ;B= t@EBiCBiCBBBC4] 2Acoustic response timeout^A! bEjErEͳ0E] E]E]&EY"E]:*E]:VE]4ZEYBE]3]߻ٱ]=]H g/? ̿@&?@%?@?@<{?{?91Y1=5Ey5 D=E=>AQ 5M4E?Q 9M4E$)EVBYM^?Q EM:yMk>Q IU@E]1DIE:iE:E4y]Bɮ]6A]E:iFNOT Ignoring new targets: 429.81 m."i3*i3Թ ProNav: ac range: 429.805939 m, nav range: 420.963593 m, bearing: 15.054102 deg, approach rate: -0.522565 m/s, LOS rate: -0.006672 deg/s, cmd heading: 14.083036 deg, new cmd heading: 14.075847 deg. i\C%HeadingCmd: 0.245670 target range: 429.805939 and range: 431.20 m.h%{>h!h!h!h!g!g)jg)rg-Be)re1ZeQ:eQ*eU@=Bɢt) ˿i)<iQGi{>)=Bv=I{>I52Acoustic response timeout9@ @@A5@ ^A r=I I O > 2Acoustic response timeouty\%,.TtLA2+<2jg>2*ٱ2?=2H\/?8̿=?`#??\@4?P? ?i2+9TYT=VEyZDZ2/EZ>\Q 5b4^R?Q 9b4^")^VBYdyfe>Q If@^i1DI^I;i^;^4yhɮjAh:i|FNOT Ignoring new targets: 429.81 m."i*i ProNav: ac range: 429.805939 m, nav range: 420.780670 m, bearing: 15.051766 deg, approach rate: -0.522149 m/s, LOS rate: -0.006669 deg/s, cmd heading: 14.075847 deg, new cmd heading: 14.071174 deg. iHCHeadingCmd: 0.245588 target range: 429.805939 and range: 431.20 m.h{{>hhhhggD=D4=E EE'E"El;*E҆:VE'4ZEa@a@a@a@jgrgereZe:e*e@ ;Bɢ tҽ)  Ϳi )<i]Ci{{>=I{{>I!Q9@ @@T2@y]\?]<]2Acoustic response timeout^A5w=IIO>ԩ ac%,.LA2#<2g>2$<ٱ2=2H .?̿ ??@?8@b?@0??i2#~By>4I@bDJVDJ8yR%RJ=ٔVyQ-V>9TYT=VEyVDZ#9EZ>\Q 5b4^ ?Q 9b4^ )^VBYdyf~>Q If@^w1DI^;i^;^ 4yjBɮjAh:i|~FNOT Ignoring new targets: 429.81 m."i*i ProNav: ac range: 429.805939 m, nav range: 420.569855 m, bearing: 15.049067 deg, approach rate: -0.521897 m/s, LOS rate: -0.006685 deg/s, cmd heading: 14.071174 deg, new cmd heading: 14.065773 deg. iC%HeadingCmd: 0.245494 target range: 429.805939 and range: 431.20 m.h%b{>h!h!h!h!g)g)jg)rg)e)re1Ze1:e1*e5@8BɢȽ) =οi)<i>ib{>z=fw=Ib{>IBE>B2Acoustic response timeoutBLIB'~BB =BBB;Bz@E9@ @@/@E EEE"E;*E:VEZEBE8C m 2Acoustic response timeouti%,nLA6 <6 g>6J}fٱ6M=6HC.?'̿Ƨ?`߸??Xkό?9yYy=}Ey}#Dj9E>Q 54?Q 94)VBY>?Q E:yt>Q I@1DI;i;F4yBɮAE:iFNOT Ignoring new targets: 429.81 m."i*i ProNav: ac range: 429.805939 m, nav range: 420.348633 m, bearing: 15.045936 deg, approach rate: -0.512755 m/s, LOS rate: -0.007261 deg/s, cmd heading: 14.065773 deg, new cmd heading: 14.059508 deg. iTHeadingCmd: 0.245385 target range: 429.805939 and range: 431.20 m.h!F{>hhhhggjgrgBereZe:e*e< @5Bɢp)  _Ϳi )<iC:i!F{>%*i=%Kx=I%!F{>I!}9@y @y@!2@BDAT read: Rx Time:04:12:36.7655 TRx dataTimestamp_ set to:1764907958.8149002Acoustic response timeout1DzDE EE%E"E:*EVE 4ZEa@a@a@a@^Ae | u=I I O >Y >tp%,LA27<2=g>2Cٱ2:=2HZ.?(̿@OU?f??@ٻ ???i27}By>)IbDJ.VDJװ8yfyB%fV=ٔjJQ-j>9hYh=jEyj+Dn1En>pQ 5v4r &?Q 9v4r)rVBYxyzZ>Q Iz@r1DIrV:ir,:r4y|ɮ~A|B*** querying acoustic contact ***%2Acoustic response timeoutii:i15FNOT Ignoring new targets: 429.81 m.9"i=)*iE)M ProNav: ac range: 429.805939 m, nav range: 420.152679 m, bearing: 15.043166 deg, approach rate: -0.510545 m/s, LOS rate: -0.007222 deg/s, cmd heading: 14.059508 deg, new cmd heading: 14.053965 deg. iMvSUHeadingCmd: 0.245288 target range: 429.805939 and range: 431.20 m.hU,{>hQhYhYhYgYgYjgargaeareaZei:ei*em`N@颕3BɢIֽ) Ͽi)p<顡i6i,{>Z=ww=I,{>IQ@Q @Q@U/@Qi^AuEx=ԹII!OM>AA@A} DAT read: 04:12:36.7655 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 420,-0.17,-0.188,-1.834, 0.018,-0.627, PHS= 0.541,-1.162, 0.600, RAW= 151.7, 0.3, CAL= 150.5, -0.4, ROT= 359.5, 0.4  Ygot valid direction response: 04:12:36.7655 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 420,-0.17,-0.188,-1.834, 0.018,-0.627, PHS= 0.541,-1.162, 0.600, RAW= 151.7, 0.3, CAL= 150.5, -0.4, ROT= 359.5, 0.4 BB>BhCBFIB~BB =BB PDAT read: Bearing 167.6, 0.2 (Local)  ~Local bearing/azimuth received: Bearing 167.6, 0.2 (Local)  DAT read: Range 11 to 50 : 429.4 m (Round-trip 572.6 ms) speed 0.4 m/s  TDAT read: user:137>Tx time:04:12:37.8387  R#Rx 1: Read range and direction messages. `direction in FSK: [0.999938,-0.008726,-0.006981] Fpublishing direction and range infoy }?j7+ ށa|YC )I~ ?ij?Us)@;0(@ )^@I;B,;B@E E  E E E "E s:*E |:VE ZE BE j091Y1=5Ey54D5E=>9Q 5E4=9?Q 9M4=)=VBYM?Q EM:yM>Q IM@=1DI=e ;i= ;=b#4yYɮ]A]EiitLAjC"jC:jGn_>"pwPz@] ;Dvp }?j7+ ށa|*jD2j;*p5vz@ xŝO)W@x9a@@po.t=?-dL?k ?jJB jCiB/ĥ?iܕjBj'h>?jKjBrjCzj> addTargetRange:: Added new target pos. range: 429.399994 m, deltaT: 4.032417 s, deltaX: -1.800018 m, approachRate: -0.446387 m/s, rangeRepo size: 4  Added new target pos. range: 428.005798 m, bearing: 12.501602 deg, lat: 36.779510 deg, lon: -121.859459 deg, deltaT: 4.032417 s, deltaX: -1.800140 m, approachRate: -0.446417 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 428.01 m."i*i ProNav: ac range: 428.005798 m, nav range: 423.449982 m, bearing: 14.382467 deg, approach rate: 0.000000 m/s, LOS rate: -0.007222 deg/s, cmd heading: 14.053965 deg, new cmd heading: 14.046950 deg. iHeadingCmd: 0.245166 target range: 428.005798 and range: 429.40 m.h {>hhhhggjgrgBereZe:e`fz@*efF?%DAT read: -2Acoustic response timeoutM0BɢMm)I Uq̿iQ)UzxVG=/x=I {>I@ @@/@^A w=  2Acoustic response timeoutA I I O >,}%,p?LA2b<2eg>2_Cٱ2=2H-?`̿9f?@ ?r?Bǖ???i2b9tYt=vEyv|Q 54~G?Q 94~)~VBYy>Q I @~1DI~~:i~2:~)4yɮA1:i9EFNOT Ignoring new targets: 428.01 m."iM&*iM&] ProNav: ac range: 428.005798 m, nav range: 423.269104 m, bearing: 14.379485 deg, approach rate: -0.517340 m/s, LOS rate: -0.008532 deg/s, cmd heading: 14.046950 deg, new cmd heading: 14.040984 deg. i]yeHeadingCmd: 0.245061 target range: 428.005798 and range: 429.40 m.he`z>hahahahagagijgirgieqreqZeq:eq*eu@?颥-Bɢ޽) ̿i)TID<顩iK-i`z>|9=w=I`z>I%9@) @)@-/@)Yu2Acoustic response timeout^AMw=ԉAy I I O >Ա %,~LA2;2Zg>2μٱ2v=2H`-?̿%ע?`n?Oi?@/?d?i2;I2z;0YB}ByB"IbDJVDJ8yR1%RM=ٔVQ-V>9TYT=ZEyZCDZ4EZ>\Q 5b4^W?Q 9b4^)^VBYdyft>Q If@^1DI^:i^:^u04yjBɮj;Al:i|FNOT Ignoring new targets: 428.01 m."iM*iM ProNav: ac range: 428.005798 m, nav range: 423.067566 m, bearing: 14.376166 deg, approach rate: -0.511801 m/s, LOS rate: -0.008431 deg/s, cmd heading: 14.040984 deg, new cmd heading: 14.034344 deg. ivHeadingCmd: 0.244945 target range: 428.005798 and range: 429.40 m.hz>hh!h!h!g!g!jg)rg)e)re)Ze):e)*e5j?]*Bɢ]ӽ)a eeοia)e~/m)=u/w=Iuz>IqԹB@>BBBB =BBDB?;B@E2Acoustic response timeout9@ @@/@E EE%E"EO;*Ex:VE 4ZEBE)Y9 e8%,*LA2<2Cg>2ٱ2=2H@,?̿GHh࿦? ? )z??@?i29Y=EyLD֥9E>Q 54i?Q 94)WBY3?Q E:y>Q I@1DI/;iv;384yɮ>A :i15FNOT Ignoring new targets: 428.01 m."i=} *i=} M ProNav: ac range: 428.005798 m, nav range: 422.839111 m, bearing: 14.372761 deg, approach rate: -0.514770 m/s, LOS rate: -0.007677 deg/s, cmd heading: 14.034343 deg, new cmd heading: 14.027529 deg. iM`UHeadingCmd: 0.244827 target range: 428.005798 and range: 429.40 m.hUѳz>hQhQhQhQgYgYjgYrg]BeareaZea:ea*ees?额'Bɢ֤ǽ) Ϳi) <顡iH%iѳz>=x=Iѳz>I9@ @@/@2Acoustic response timeoutI quȑCGzAE?9EzAYEAE EEE"E:*E҆:VEZEa @a @a @a @q^Aw=A I) I9 OE >ԙ  %,NDLA"2Acoustic response timeoutRz;;Rf>RٱRiv=RH@,?̿ w`4??ܰ7????iRz;;IR};RCqY}By"IbD-VD-8yex;%e4=ٔeлQ-m>9iYy=}Ey}UDV2E>Q 54|?Q 94)$WBYyl>Q I@1DI;ii;.@4yBɮ=AEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 428.01 m."i *i  ProNav: ac range: 428.005798 m, nav range: 422.603638 m, bearing: 14.369257 deg, approach rate: -0.509335 m/s, LOS rate: -0.007584 deg/s, cmd heading: 14.027529 deg, new cmd heading: 14.020517 deg. i^HeadingCmd: 0.244704 target range: 428.005798 and range: 429.40 m.hz>hhhhg!g!jg!rg!e)re)Ze):e)*e5@A?]#Bɢ]TŽ)Y e̿ia)e;aaie!imz>mV=uo!w=Iuz>Iqԡ9@ @@/@BA4=BBBBB =BBBM;B@E2Acoustic response timeout^A E  E E E "E =;*E h:VE ZE BE }I4W%,^LANb<-g> ٱ=H+? 2̿z΁ע??@⼿C_?`T?_?iNb9%"?Y-"?=-Ey-]D-%:E->1Q 5=45k?Q 9E45)54WBYE?Q EE:yE5>Q IE@51DI5;i5;5F4yIɮMAQ:iqԹFNOT Ignoring new targets: 428.01 m."i0*i0=2Acoustic response timeoutM ProNav: ac range: 428.005798 m, nav range: 422.415588 m, bearing: 14.365809 deg, approach rate: -0.525825 m/s, LOS rate: -0.009646 deg/s, cmd heading: 14.020517 deg, new cmd heading: 14.013618 deg. iM:MHeadingCmd: 0.244584 target range: 428.005798 and range: 429.40 m.h+tz>hhhhggjgrgBereZe:e*e \@颕 BɢZѽ) Zɿi)g;顙ii+tz>=lx=I+tz>Ie9@a @i@i@i ^A w=A >A > 2Acoustic response timeoutA A E  E E &E "E :*E :VE 4ZE a @a @a @a @I! I1 OE >%,ѕzLA2`0;2Tg>2vٱ2=2H`*? ̿? Q?R v?`C??i2`0;I25 ;2CY }By*IbD!VD!y5gu%5J=ٔ5.Q-5>99Y9==Ey=eDEULEE>AQ 54Eݛ?Q 94E)EFWBYy0>Q I@E1DIEhQhYhYhYgYgYjgargaeareZe:e*e|z@BɢS۽) Sɿi)<;igiQz>= Qx=IQz>Ie2Acoustic response timeoutq9@ @@/@ԁ^A |=ԩ A I I O >0٤%,ULAB4B4B6RIB61~BB6 =B4B4B6?;B6@EB-hCB-hCB)B- =B- =C-#5Rls;Rkg>R"ٱR[=RH*?Ϳ@ ?? &`]?7? ?iRls;IRܭ;RCb2Acoustic response timeoutY]}By]+I im<bDm(VDmѰ8y;%F=ٔQ->9Y=EymDnTE>Q 54?Q 94x )YWBYy+>Q I@1DI:iS:T4yɮCAԱbEe» 4jEeO4rEe@o/E EE#E"E:*EZ:VE3ZEBE<hhhhggjgrgereZe:e*e@]BɢeEͽ)  ȿi);i%Wi=G-z>`Ӛ= I G-z>I2Acoustic response timeout@ @@/@ 9 ^A | u=A xAzA zAAII!O5>&q%,{/LA6<6'g>69ٱ6=6H '?@Ϳ[Tƞ??@Jn`g7? ??i69YYY=]Ey]xDeC9Ee>iQ 5-4mV?Q 9-4m )mrWBY5X?Q E5:y5L>Q I5@m2DImhhhhggjgrgyBereZe:e*e @E  E E $E "E :*E xv:VE 4ZE a@a@a@a@aBɢ=[ý)9 E*ȿiA)E~;AAiEiMy>MQ=MWy=IMy>IQI)59@1 @1@1@1@==@==ԉ2Acoustic response timeout ^Aq A .AI I O >%,ULA2 <2g>2Dٱ2=2H%?`m8Ϳǖ q??``l?Ğ??i2 }By>$IbDF&VDFϰ8yNԻ%NL=ٔRCٻQ-R>9R ?YR ?=REyRDV:EV>XQ 5^4Zb?Q 9^4Z)ZWBY\yb>Q Ib@Z2DIZ :iZ:Zhd4yfBɮfgAfEvB*** querying acoustic contact ***itit:ix~FNOT Ignoring new targets: 428.01 m."i~,E*i,E ProNav: ac range: 428.005798 m, nav range: 421.539185 m, bearing: 14.349054 deg, approach rate: -0.541266 m/s, LOS rate: -0.010774 deg/s, cmd heading: 13.988222 deg, new cmd heading: 13.980091 deg. iHeadingCmd: 0.243999 target range: 428.005798 and range: 429.40 m.hy>hhhhggjgrgereZe:e*e8@Bɢ) ǿi):iiEy>MQ=M6t|=IMy>II)BBBYIB;~BB =BBB9;B@EiiIi}2Acoustic response timeout 9@ @Y@]/@YE} E}EyEy"E}:*E}':VEyZEyBEya2EyaJE}Tx time:04:12:41.8887 % R#Rx 1: Read range and direction messages.I) I9 OM >̹%,LA0J`direction in FSK: [0.999851,-0.012216,-0.012217]JFpublishing direction and range infoyQU?ԕm]I:YUCQQQQ Q)UGIUˡ?iUَU?U)@U:UaU(@ U+H)Uū@IU+H%SHOٱ%m=%H`#?`KͿ`@ಾ?y%=%9Y=EyD%:E>Q 54(?Q 94D)WBYE+?Q EM:yM>Q IM@-2DIc"pU z@j[W%f~pU?ԕm]I:*jUD+H2jU+H<*pUy@V@Rݣ/@pUr .% addTargetRange:: Added new target pos. range: 427.500000 m, deltaT: 4.282966 s, deltaX: -1.899994 m, approachRate: -0.443616 m/s, rangeRepo size: 4 5 Added new target pos. range: 426.109650 m, bearing: 12.374003 deg, lat: 36.779570 deg, lon: -121.859583 deg, deltaT: 4.282966 s, deltaX: -1.896149 m, approachRate: -0.442719 m/s, posRepo size: 4 :i9=FNOT Ignoring new targets: 426.11 m."ie*iau ProNav: ac range: 426.109650 m, nav range: 425.238403 m, bearing: 12.674285 deg, approach rate: 0.000000 m/s, LOS rate: -0.010774 deg/s, cmd heading: 13.980091 deg, new cmd heading: 13.968657 deg. iquHeadingCmd: 0.243799 target range: 426.109650 and range: 427.50 m.h}uy>hyhyhyhyggjgrgBereZe:ez@*e? Bɢ?)! %3¿i!)%V!!i% i-uy>-C=-}=I-uy>I1}DAT read: 2Acoustic response timeout59@1 @1@5/@1D=DE EE&E"E=;*Ex:VE4ZEa@a@a@a@ ^Au |= E2Acoustic response timeoutA؟AIIO>o%,LA.F <.h>.`Yٱ.@3=.H`a#? LͿ"ӛ ȶ?`?}콿(?? ?i.F 9b"?Yb"?=bEybDfEf>hQ 5n4j3?Q 9n4jT)jWBYlyr>Q Ir@j92DIj:ij:js4ytɮvAtq:iFNOT Ignoring new targets: 426.11 m."i=U*i=U ProNav: ac range: 426.109650 m, nav range: 425.048065 m, bearing: 12.669868 deg, approach rate: -0.501895 m/s, LOS rate: -0.011652 deg/s, cmd heading: 13.968656 deg, new cmd heading: 13.959819 deg. iHeadingCmd: 0.243645 target range: 426.109650 and range: 427.50 m.h~y>hhhhggjgrgereZe:e*e`k? Bɢ )  (ɿi )i? i~y>=5}=I~y>I!@ @@0@ԙB}?>ByB}eIB}O~BByByByB}0;B}@E52Acoustic response timeout^A|=E-  E- E- (E) "E- :*E- xv:VE- c44ZE) BE) a5 2E) a5 JE- ;a5 :E- ;a= A] .AIa Iq O > Ȼ%,3!LA=<=g>=Ncٱ= ==H"?lIͿ$g??@`o?|??i=yE=Et9 ?Y ?=EyDOE>Q 54?Q 94)WBYI?Q E:yR>Q I@H2DIa;i;"|4yɮBA:iyFNOT Ignoring new targets: 426.11 m."iK*iK ProNav: ac range: 426.109650 m, nav range: 424.816803 m, bearing: 12.664698 deg, approach rate: -0.498199 m/s, LOS rate: -0.011143 deg/s, cmd heading: 13.959819 deg, new cmd heading: 13.949474 deg. i$HeadingCmd: 0.243464 target range: 426.109650 and range: 427.50 m.hNy>hhhhggjgrgBereZe:e*ei?BɢLmν) [ÿi)?iiNy>=b|=INy>IAQ@ @@/@)E 2Acoustic response timeout^A |=Y EQ  EU EU %EQ "EQ *EU ą:VEU 4ZEQ ae @ae @ae @ae @AE ؟AIQ Ia Om >λ%,$>LA2 <2g>2Tmٱ2-=2H`H!?S\ͿZ]??3@h???i2 }By>&IbDFVDF8yNHc%N[=ٔR}ԻQ-R>9R"?YR"?=VEyVDVe:EV>XQ 5^4Z%?Q 9^4Z')ZWBY`yb>Q Ib@ZT2DIZ:iZ{:Z4ydɮfUAfE:i15FNOT Ignoring new targets: 426.11 m."i= P*i= PM ProNav: ac range: 426.109650 m, nav range: 424.631805 m, bearing: 12.660550 deg, approach rate: -0.506744 m/s, LOS rate: -0.011368 deg/s, cmd heading: 13.949474 deg, new cmd heading: 13.941174 deg. iMouHeadingCmd: 0.243319 target range: 426.109650 and range: 427.50 m.hu(y>hqhqhqhqgqgyjgyrgyeyreZe:e*e?BɢS~) !ÿi)ڃii(y>v=`0~=I(y>I 9@ @@0@A2Acoustic response timeouti^A|=AQ Ia Iq O} >ԙ B] >>BY B] rIB] d~BBY BY BY B] );B] @E5 2Acoustic response timeoutAջ%,WLAF@ FsvٱFX=FH`: ?`cͿ,x@ ?0?` Z&֮?`?j?iF@ 9 Y = Ey DϷE>Q 5%4n$?Q 9%4)WBY!y%>Q I-@b2DI:i:4y1ɮ5A1MB*** querying acoustic contact ***iIiI:iYeFNOT Ignoring new targets: 426.11 m."ie/O*ie/Ou ProNav: ac range: 426.109650 m, nav range: 424.426086 m, bearing: 12.655931 deg, approach rate: -0.504000 m/s, LOS rate: -0.011321 deg/s, cmd heading: 13.941173 deg, new cmd heading: 13.931932 deg. iuyHeadingCmd: 0.243158 target range: 426.109650 and range: 427.50 m.hnx>hhhhggjgrgereZe:e*e@*?Bɢp) i)FLib\inx>E EEE"E=;*EAr:VEZEBE}II@ @@@ԩ2Acoustic response timeout^A0= A I! I9 OE >\ۻ%,qLA2^<2g>2Z-ٱ2#=2H?=dͿQl?`F?@t?Έ?`X?i2^~By>?IiMb@Mb@Mb@ 9MbX9?sh|??~jt?Y?y=D< A)AYAbDVD8y-i=%-H=ٔ-Q-->91Y1=5Ey5D5`E>Q 54Q5?Q 94)XBY?Q E:y>Q I@p2DID;ij;Q4yBɮA:iFNOT Ignoring new targets: 426.11 m."iO*iO  ProNav: ac range: 426.109650 m, nav range: 424.212738 m, bearing: 12.651135 deg, approach rate: -0.504150 m/s, LOS rate: -0.011340 deg/s, cmd heading: 13.931931 deg, new cmd heading: 13.922333 deg. i HeadingCmd: 0.242991 target range: 426.109650 and range: 427.50 m.hx>hhhhggjg!rg%Be!re!Ze!:e)*e-@{A2Acoustic response timeout1u鎿9u{AYuA颽BɢϽ) ѻi)hXػiix>TX=}=Ix>IE5 E5E5$E1"E5:*E5:VE54ZE1a=@a=@a=@a=@9@ @@ 0@@xA@yA1^A X=A >A > 2Acoustic response timeoutY I I O >$%,迋LA2G;2f>2ٱ2=2H?8RͿأk?`?o@_?c?`?i2G;I2Eu;2CY>~By>7IbDFVDF8yN%NS=ٔR*Q-R>9PYP=VEyVDVfEV>XQ 5^4Z>D?Q 9^4Z)Z*XBY`yb/>Q Ib@Z|2DIZh:iZ:Zڗ4ydɮfAh:ix~FNOT Ignoring new targets: 426.11 m."i~O*i~O  ProNav: ac range: 426.109650 m, nav range: 424.024170 m, bearing: 12.646910 deg, approach rate: -0.504893 m/s, LOS rate: -0.011317 deg/s, cmd heading: 13.922333 deg, new cmd heading: 13.913880 deg. iHeadingCmd: 0.242843 target range: 426.109650 and range: 427.50 m.h׫x>hhhhggjg!rg!e!re!Ze!:e)*e-@UBɢ]x)Y ]iY)]Yaieie׫x>mkL=ms{=Im׫x>Ii)%9@! @!@%@5@!B=>BB~IBx~BB =BBB;Bm@EQiI2Acoustic response timeout^A-~=E- E-E-#E)"E-:*E-x:VE-3ZE)BE-@8Ա %,~LAr;rͣf>rTٱrG=rH#?JQͿȅ??F'?KX??ir;Ir ]s;pY~ ~By~<I]2Acoustic response timeoutiMb@Mb@Mb@ 9K7A?333333?~jt?Y ?y=A A )AY(AbD"VD̰8y<%:=ٔꩻQ->9Y=EyDE>Q 54U?Q 94)BXBY~?Q E:y>Q I@2DIA:it:4yɮAE:i FNOT Ignoring new targets: 426.11 m."i;*i;% ProNav: ac range: 426.109650 m, nav range: 423.802460 m, bearing: 12.642427 deg, approach rate: -0.505366 m/s, LOS rate: -0.010223 deg/s, cmd heading: 13.913880 deg, new cmd heading: 13.904910 deg. i-5HeadingCmd: 0.242686 target range: 426.109650 and range: 427.50 m.h5͂x>h1h1h1h1g1g9jg9rg=qBe9reAZeA:eA*eE`v@ԉ Bɢս) hi)ii͂x>%;=%9{=I%͂x>II9@ @@1@Թ BDAT read: Rx Time:04:12:44.8474  TRx dataTimestamp_ set to:1764907966.884082 2Acoustic response timeout^A% (z=I I O >EE  EE EE "EA "EE ;*EE ~:VEE (3ZEA aM @aM @aM @aM @ H%,\XLA2;2f>2ٱ2=2H?WͿh .??`?@W?Z?i2;I2p;0Yb~BybBIbDj;VDj8yr<%rY=ٔvĻQ-v>9tYt=zEyzDzEz>|Q 54~d?Q 94~)~WXBY y >Q I @~2DI~:i~:~4yɮA:i9=FNOT Ignoring new targets: 426.11 m."iE0;*iE0;U ProNav: ac range: 426.109650 m, nav range: 423.612305 m, bearing: 12.638580 deg, approach rate: -0.505253 m/s, LOS rate: -0.010228 deg/s, cmd heading: 13.904910 deg, new cmd heading: 13.897211 deg. iU]HeadingCmd: 0.242552 target range: 426.109650 and range: 427.50 m.h]_x>hYhYhYhYgagajgargaeireiZei:ei*emw @额Bɢ) =i)&"顡iI0i_x>.={=I_x>I9@ @!@%4@!@5=@5=m2Acoustic response timeout!^AUPz=AYzA]xAIIO>I B ;>B B IB ~BB =B B B ;B c@EBBBBBC}45 2Acoustic response timeoutf%,%pٱ%K=%H?OͿCs?Y?`O !J?)J?D?i%g;I%m;%CY=(~ByEMIbDU8VDU8ye](=%eB=ٔeQ-e>9iYi=mEymDu1Eu>Q 54+v?Q 94)pXBYyμ>Q I@2DIA:i:4yɮSAB*** querying acoustic contact ***iibE}4jE}J4rE}/E EE$E"E=;*E:VE4ZEBE}IhyhyhyhyggjgrgereZe:e*e@Bɢս) ϴi)Az7iMi57x>5=5#z=I57x>I1i@ @@5@ԙDAT read: 04:12:44.8474 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 283,-0.07,-0.742,-2.406,-0.606,-1.147, PHS= 0.508,-1.214, 0.497, RAW= 149.7, 2.5, CAL= 148.8, 2.3, ROT= 1.2, -2.3 Ygot valid direction response: 04:12:44.8474 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 283,-0.07,-0.742,-2.406,-0.606,-1.147, PHS= 0.508,-1.214, 0.497, RAW= 149.7, 2.5, CAL= 148.8, 2.3, ROT= 1.2, -2.3 PDAT read: Bearing 170.1, 5.4 (Local) ~Local bearing/azimuth received: Bearing 170.1, 5.4 (Local) DAT read: Range 11 to 50 : 415.8 m (Round-trip 554.5 ms) speed 0.4 m/s TDAT read: user:139>Tx time:04:12:45.9387 R#Rx 1: Read range and direction messages.\direction in FSK: [0.998975,0.020926,0.040132]Fpublishing direction and range infoyquT?+m?.='?YuCqqqq q)uJIuJ ?iuZduv>um7'@u¸2=u6&@ ul$=)u,%,LA2;2ǘe>2䂖ٱ2+=2Hb?*FͿuPb?@9?$̲?C4? `?i2;I2Ak;2CYB ~ByBHILi5Mb@Mb@Mb@1111 195x&1?Q?{Gz?Y5?y5\=5#<15!A 1)55A1Y1bDU.VDUװ8ye%eK=ٔesQ-e>9iYi=mEymDmEu>qQ 5}4u?Q 94u-)uXBY?Q E:y>Q I@u2DIu:iu:u~4yɮsAiiLAj8C"j8C:jgv>"p]OPy@ZNX!@0@pT?+m?.='?*j<2jl$*pyx@bƌX@bY# addTargetRange:: Added new target pos. range: 415.799988 m, deltaT: 4.035394 s, deltaX: -11.700012 m, approachRate: -2.899348 m/s, rangeRepo size: 4  Added new target pos. range: 414.444305 m, bearing: 13.800130 deg, lat: 36.779570 deg, lon: -121.859583 deg, deltaT: 4.035394 s, deltaX: -11.665344 m, approachRate: -2.890757 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 414.44 m."i*i  ProNav: ac range: 414.444305 m, nav range: 423.197174 m, bearing: 12.630444 deg, approach rate: 0.000000 m/s, LOS rate: -0.010002 deg/s, cmd heading: 13.888466 deg, new cmd heading: 13.880640 deg. i HeadingCmd: 0.242263 target range: 414.444305 and range: 415.80 m.hx>hhhhggjgrg{Be!re!Ze!:e%y@*e%]m?UBɢU])Y ]ʴiY)]'IYYi]Miex>e=e9x=Iex>IiDAT read: 2Acoustic response timeout@ @@4@E EE&E"E:*E:VE4ZEa%@a%@a%@a%@^Aw=)  2Acoustic response timeoutA9 IA IY Oe >i%,1 LA2g;2e>23ٱ2|Y=2H Z?'9ͿPN??sA?w ?Ժ?i2g;I2i;0Y> ~By><IbDF9VDF8yNG%NW=ٔR#Q-R>9PYP=REyRDVĺEV>XQ 5^4ZD?Q 9^4Zc)ZXBY`ybѷ>Q Ib@Z2DIZ:iZ:Z&4yfBɮfAfEx:i|~FNOT Ignoring new targets: 414.44 m."i/*i/ ProNav: ac range: 414.444305 m, nav range: 423.005524 m, bearing: 12.626824 deg, approach rate: -0.508200 m/s, LOS rate: -0.009603 deg/s, cmd heading: 13.880640 deg, new cmd heading: 13.873397 deg. iHeadingCmd: 0.242136 target range: 414.444305 and range: 415.80 m.hw>hhh!h!g!g!jg!rg)e)re)Ze):e1*e5@V?]߁Bɢ] A)a e1ia)eZaaievFimw>u=u,w=Iuw>Iq!@! @!@%/@!@-zA@-zAB9>BgCBIB~BB =BBB;BW@E2Acoustic response timeout^AHu=IE- E-E-%E)"E-:*E-z:VE- 4ZE)BE-5q B %,&LA=2Acoustic response timeoutQY4~ByTIiMb@Mb@Mb@ 9E?i|?5?{Gz?Y?yq=ACA A)AY A)-AAbD5<VD58yES=%E3=ٔEQ-E>9M ?YM ?=MEyMDUEU>YQ 5e4]l?Q 9e4]Q)]XBYe?Q Ee:ye>Q Ie@]2DI]:i]Γ<]"4yɮOA:iquFNOT Ignoring new targets: 414.44 m."i} *i}  ProNav: ac range: 414.444305 m, nav range: 422.766449 m, bearing: 12.623151 deg, approach rate: -0.494047 m/s, LOS rate: -0.007596 deg/s, cmd heading: 13.873397 deg, new cmd heading: 13.866046 deg. ij^HeadingCmd: 0.242008 target range: 414.444305 and range: 415.80 m.hw>hhhhggjg rg bBe re Ze:e*ec?ԁځBɢdͽ)1 믿i)dqi iw>7=պw=Iw>Iu9@q @q@u3@qԩ2Acoustic response timeout^A D zD AAE%  E% E! E! "E% :*E% Ar:VE! ZE! a- @a5 @a5 @a5 @A ؟AI I O > y%,ALA>5;>k>ٱ>fR=>H[? .Ϳ!C4? B?`;便@w5;I>h;>CYZ<~ByZYIbDf+VDf԰8yn<%nX=ٔn@&Q-n>9r"?Yr"?=rEyrDrlEv>tQ 5~4vB?Q 9~4v)vXBY|y~G>Q I~@v2DIv;iv;v4yBɮ -A E:i15FNOT Ignoring new targets: 414.44 m."i=*i=M ProNav: ac range: 414.444305 m, nav range: 422.568909 m, bearing: 12.620131 deg, approach rate: -0.562976 m/s, LOS rate: -0.008609 deg/s, cmd heading: 13.866046 deg, new cmd heading: 13.860005 deg. iM|UHeadingCmd: 0.241903 target range: 414.444305 and range: 415.80 m.hUYw>hYhYhYhYgYgYjgargaeireqZey:ey*e`?MցBɢU)] ]iY)eR/aaiehh߻iuYw>udߙ=uu=IuYw>Iy2Acoustic response timeoutAM9@I @I@M/@Ii^AB <A <B 8>B B IB ~BB B B B ;B \@Eԙ A I I O >] 2Acoustic response timeoutb%,[LA:^;:d>:ٱ:I=:H?C.Ϳw#.?E?[??Y?i:^;I:h;:CYFX~ByJkIbDR/VDRذ8yZV=%ZM=ٔZQ-Z>9\Y\=^Ey^DbvEb>dQ 5j4f?Q 9j4f)fXBYhyj4>Q Ij@f2DIfP:if:f4ypɮrAp~B*** querying acoustic contact ***ii:i  FNOT Ignoring new targets: 414.44 m."ij*ij% ProNav: ac range: 414.444305 m, nav range: 422.360809 m, bearing: 12.616952 deg, approach rate: -0.523368 m/s, LOS rate: -0.008000 deg/s, cmd heading: 13.860005 deg, new cmd heading: 13.853643 deg. i-Dj-HeadingCmd: 0.241792 target range: 414.444305 and range: 415.80 m.h-=w>h)h1h1h1g1g1EE EEEE&EA"EEs:*EE~:VEE4ZEABEEj0WЙ=I=w>I1@1 @1@9@9@E=@E=Ա2Acoustic response timeout^A5r=A9zA=yAAm .AIq I O > p%,uLAYfU~ByfiIieMb@Mb@Mb@aaaa a9ejt?X9v?:v?Ye?ye}=eT9 ?Y ?=EyDE>Q 540?Q 94)XBY?Q E:y{>Q I@2DI:i=:<4yɮA:iFNOT Ignoring new targets: 414.44 m."i*i ProNav: ac range: 414.444305 m, nav range: 422.145111 m, bearing: 12.613347 deg, approach rate: -0.499325 m/s, LOS rate: -0.008349 deg/s, cmd heading: 13.853643 deg, new cmd heading: 13.846430 deg. iwtHeadingCmd: 0.241666 target range: 414.444305 and range: 415.80 m.h =ww>h h h h g g jg2Acoustic response timeoutrgmBe!re!Ze!:e!*e%``(@ÚBɢUcڽ)Q ]iY)]#YYi]vٻie=ww>eL=e_uu=Ie=ww>IiEU EUEU%EQ"EU:*EUz:VEU 4ZEQa]@a]@a]@a]@<99@ @@M2@ >  2Acoustic response timeoutY ^A ur=ԉA؟AIIO > %%,/LA>%;>_'c>>ٱ><=>H`?Ϳ?\?a@{?A?@`?i>%;I>ah;9b"?Yb"?=bEybDfEf>hQ 5n4j?Q 9n4j)jYBYlyn>Q In@j3DIj:ij:jb4ytɮvmAtB~5>B|B~IB~~BB~ =B|B~DB~ ;B~_@E:i)5FNOT Ignoring new targets: 414.44 m."i5*i=E ProNav: ac range: 414.444305 m, nav range: 421.912170 m, bearing: 12.609478 deg, approach rate: -0.496208 m/s, LOS rate: -0.008246 deg/s, cmd heading: 13.846430 deg, new cmd heading: 13.838688 deg. iMsqMHeadingCmd: 0.241531 target range: 414.444305 and range: 415.80 m.hUSw>hQhQhQhQgQgQjgYrgYeYreYZea:ea*eeY@颕ȁBɢq]ѽ) i)<ܛ顙i:׻iSw>=@ur=ISw>Iu2Acoustic response timeoutu9ԩ@ @@/@E EE$E"E%;*E:VE4ZEBEK) :+%,LA2A);2ic>2Yٱ2m =2H?`,Ϳ@^?`1?XY?`Y??i2A);I25h;0Y>s~By>{IiMb@Mb@Mb@ 9X9v?Q?~jt?Y>yu=D<K ArA A)AYAbDVD8y-<%5C=ٔ5ZzQ-5>91Y9==Ey=D=:E=>AQ 5M4E]?Q 9M4E)E6YBYU>Q EU:yU>Q IU@E3DIE;iE3;E4yYɮ]KAeE:iFNOT Ignoring new targets: 414.44 m."i *i  ProNav: ac range: 414.444305 m, nav range: 421.705414 m, bearing: 12.606093 deg, approach rate: -0.496814 m/s, LOS rate: -0.008139 deg/s, cmd heading: 13.838688 deg, new cmd heading: 13.831914 deg. iOnEHeadingCmd: 0.241412 target range: 414.444305 and range: 415.80 m.hE4w>hAhAhAhAgIgIjgIrgM]BeQreQZeQ:eQ*eUd @ÁBɢ.ֽ) ui)iջi4w>=Vt=I4w>I Gu>1Ib9YA}BDAT read: Rx Time:04:12:48.8944 }TRx dataTimestamp_ set to:1764907970.914836}2Acoustic response timeout)N>i>E EE'E"ET;*Eą:VE'4ZEa@a@a@a@@! @!@%p4@!@-yA@)Y ^AA ԉ % 2Acoustic response timeoutAqIIO>G3%,PLA6:{;6c>6bٱ6|=6H? .Ϳ:ӯ ?`{?@鿿`? ?!?i6:{;I6oh;4YV~ByVIbD^VD^8yf~=%f/=ٔjy׻Q-j>9lYl=nEyn!Dn4Er>pQ 5v4r?Q 9z4r)rTYBYxyz>Q Iz@r 3DIra;ir ;r4yɮA:i)-FNOT Ignoring new targets: 414.44 m."i5)*i=)E ProNav: ac range: 414.444305 m, nav range: 421.475464 m, bearing: 12.602334 deg, approach rate: -0.491664 m/s, LOS rate: -0.008041 deg/s, cmd heading: 13.831914 deg, new cmd heading: 13.824393 deg. iEukMHeadingCmd: 0.241281 target range: 414.444305 and range: 415.80 m.hMiw>hQhQhQhQgQgQjgYrgYeYreYZea:ea*ee @颕Bɢӽ) i)m顙iVӻiiw>釙=s=Iiw>I PExceeded connect timeout, disconnecting.-9@) @)@-/@)AB4>BBIBBBBBB;BU2Acoustic response timeout^Auur=ԉEm EmEm&Ei"Em:*Em:VEm4ZEiBEm@8ԙ p9%,LAqDAT read: 04:12:48.8944 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 412,-0.03,-2.474, 2.101,-2.374,-2.905, PHS= 0.533,-1.232, 0.487, RAW= 148.7, 2.5, CAL= 147.8, 2.4, ROT= 2.2, -2.4 Ygot valid direction response: 04:12:48.8944 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 412,-0.03,-2.474, 2.101,-2.374,-2.905, PHS= 0.533,-1.232, 0.487, RAW= 148.7, 2.5, CAL= 147.8, 2.4, ROT= 2.2, -2.4 PDAT read: Bearing 169.9, 7.2 (Local) ~Local bearing/azimuth received: Bearing 169.9, 7.2 (Local) DAT read: Range 11 to 50 : 413.6 m (Round-trip 551.5 ms) speed 0.4 m/s TDAT read: user:140>Tx time:04:12:49.9887 R#Rx 1: Read range and direction messages.\direction in FSK: [0.998386,0.038354,0.041876]Fpublishing direction and range infoyB?fP'? ۷p?YC )Ir?i-X>x&@%@ +=)nF=I+fL ?b1?+? 0?)0InF=i+2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.Y~ByIԡiMb@Mb@Mb@ 9}?5^I?Zd;?y&1?YM?yy=`e<CA )YAbD%VD%8y5I<%5=ٔ5Q-5>9] ?Y] ?=]Ey],DeEe>iQ 5u4m&?Q 9u4m)myYBYuI?Q Eu:yu3>Q I}@m23DIm2;imy;m4yɮAiiLAjC"jC:j>"pm`Gy@\Id/@RVC1@pB?fP'? ۷p?*jnF=2j+*pSx@a]Y@K@p/?]>5 ?0֔'?jB jCiy@?iRWBjBjjj_BrjCzj&a>- addTargetRange:: Added new target pos. range: 413.600006 m, deltaT: 4.031990 s, deltaX: -2.199982 m, approachRate: -0.545632 m/s, rangeRepo size: 4 e Added new target pos. range: 412.245270 m, bearing: 14.649465 deg, lat: 36.779570 deg, lon: -121.859583 deg, deltaT: 4.031990 s, deltaX: -2.199036 m, approachRate: -0.545397 m/s, posRepo size: 4 :iaeFNOT Ignoring new targets: 412.25 m."im*ii ProNav: ac range: 412.245270 m, nav range: 421.196930 m, bearing: 12.597830 deg, approach rate: 0.000000 m/s, LOS rate: -0.008041 deg/s, cmd heading: 13.824393 deg, new cmd heading: 13.815276 deg. iHeadingCmd: 0.241122 target range: 412.245270 and range: 413.60 m.hv>hhhhggjgrgyBereZe:ey@*e)?EBɢE)I M}o=}zs=I}v>Iy! @)  @) @- 05@) @5 =@5 =] DAT read: ] 2Acoustic response timeout D D E  E E %E "E ;*E :VE 4ZE a @a @a @a @^AM r=AU yAzAU xA)A}؟AIIO?A%,$cLAY~ByIbD% VD%8y5X޼%5V=ٔ9Q-=>9="?Y="?=EEyE4DAEE>IQ 5U4MS5?Q 9U4M)MYBYYyYQ I]@M?3DIMe;iM;M4yeBɮeAeEu2Acoustic response timeoutB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 412.25 m."i*iԱ ProNav: ac range: 412.245270 m, nav range: 421.006317 m, bearing: 12.594745 deg, approach rate: -0.524871 m/s, LOS rate: -0.008501 deg/s, cmd heading: 13.815276 deg, new cmd heading: 13.809101 deg. ixHeadingCmd: 0.241014 target range: 412.245270 and range: 413.60 m.hsv>hhhhggjgrgereZe:e*e`?Bɢ=)! %i!)-U))i-лi5sv>5`=5s=I5sv>I9=9@9 @9@=3@9nManaging dock network, ignoring radio surface power offBU2>BUfCBUIBU/BBQBQBQBU;BUP@EBgCBgCBB =B =Cb4% 2Acoustic response timeout^A} @p=a bE-4jEw4rE/Eu  Eu Eu 'Eq "Eu :*Eu :VEu '4ZEq BEu 3$H%,("LA2RC;26b>2ӽٱ2=2H`?`I#ͿⰿO?z?y(ű?C?}?i2RC;I2d;0Y>~By>IbDFVDF8yNH=%RU=ٔR*Q-R>9TYT=VEyVXQ 5^4ZD?Q 9b4Z%)ZYBY`ybȬ>Q Ib@ZK3DIZA;iZo;Z4ydɮf*Ah:iFNOT Ignoring new targets: 412.25 m."i*i ProNav: ac range: 412.245270 m, nav range: 420.812653 m, bearing: 12.591629 deg, approach rate: -0.484100 m/s, LOS rate: -0.007792 deg/s, cmd heading: 13.809101 deg, new cmd heading: 13.802867 deg. i*dHeadingCmd: 0.240905 target range: 412.245270 and range: 413.60 m.hv>h h h h g9gQjgargaeireiZei:ei*eu y.?BɢԽ)I U&iQ)]ȼ2Acoustic response timeoutaiUϻi-v>-M=-7p=I-v>I1i@ @@4@ԉ^A= Hu= E 2Acoustic response timeoutA I I O>.O%,?LAD(zD*@AE. E.E,E,"E.~ ;*E.:VE,ZE,a6@a6@a6@a6@>L=;>b>>ٱ>U=>H? $Ϳ #`v? V?z3`;? D??i>L=;I>?c;9Y=EyFDQE>Q 54X?Q 94)YBY?Q E:y>Q I@[3DI;i!;v4yɮA:iFNOT Ignoring new targets: 412.25 m."i'<*i '< ProNav: ac range: 412.245270 m, nav range: 420.562866 m, bearing: 12.586729 deg, approach rate: -0.523829 m/s, LOS rate: -0.010281 deg/s, cmd heading: 13.802867 deg, new cmd heading: 13.793062 deg. i%HeadingCmd: 0.240734 target range: 412.245270 and range: 413.60 m.h%v>h!h!h!h!g!g)jg)rg-tBe1re1Ze1:e1*e5@)Z?-Bɢ-*ν)) 5Ii1)=AVѼ99i=yλiev>mK<=m=q=Imv>Ii!9@ @@/@2Acoustic response timeoutI^A= @p=y Aq Iy I B A <B />B B IB bBB B B B ;B D@EO >V%,2rYLAN^p/;Na>NӘٱN"x=NH ?8 ͿiV 2?`?@:)??`?iN^p/;INb;NCYZByZIbDbVDb8yj>%jY=ٔn Q-n>9lYl=rEyrNDrEr>tQ 5z4vg?Q 9z4v)vYBYxy~>Q I~@vg3DIv:iv;v4yɮA:i)-FNOT Ignoring new targets: 412.25 m."i5E5*i5E5E2Acoustic response timeoutU ProNav: ac range: 412.245270 m, nav range: 420.373169 m, bearing: 12.583010 deg, approach rate: -0.504930 m/s, LOS rate: -0.009905 deg/s, cmd heading: 13.793062 deg, new cmd heading: 13.785620 deg. iU]HeadingCmd: 0.240604 target range: 412.245270 and range: 413.60 m.Yh]av>hahahahagagajgirgieireiZei:eq*eu;d?额Bɢٽ) i)i׼顩i`ͻiav>-=p=Iav>I9@ @@/@!E} E}E}#Ey"E};*E}xv:VE}3ZEyBE}@ ;\%,PsLA2C:2Ya>2 @ýٱ2Zo=2H?e Ϳ@1`? ?(>^?V?P?i2C:I2a;0Y>By>Ii Mb@Mb@Mb@     9 Cl?㥛 ?y = t<  A A) z A Y AbD%VD%8y-;%5E=ٔ5xQ-5>91Y9=EyVDE>ԹQ 54mx?Q 94) ZBYR>Q E:y_>Q I@u3DI2;i1;4yBɮAE:iFNOT Ignoring new targets: 412.25 m."i0*i0 ProNav: ac range: 412.245270 m, nav range: 420.164368 m, bearing: 12.578870 deg, approach rate: -0.484987 m/s, LOS rate: -0.009620 deg/s, cmd heading: 13.785620 deg, new cmd heading: 13.777337 deg. i،HeadingCmd: 0.240460 target range: 412.245270 and range: 413.60 m.h;v>hhhhg!g!jg!rg%Be)re)Ze):e)*e-@]Bɢ](̽)Y eia)e7(߼aaie̻im;v>m<=moMn=Im;v>Iq @  @ @ /@ iIIMAU2Acoustic response timeoutE EE&E"E&:*E:VE4ZEa@a@a@a@^A5rZq=A I I O >9  2Acoustic response timeout#c%,+LA:Ų;:Ba>:Ľٱ:=:H`?Ϳ𰱿]?@?\Ս?y? ?i:Ų;I:$a;8YJ$ByJIbDRVDR8yZ0=%ZR=ٔ^Q-^>9`Y`=bEyb^Df9Ef>hQ 5j4j?Q 9n4jL)j&ZBYlynp>Q In@j3DIj';ij;j$4ytɮvAtB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 412.25 m."i.1*i.1- ProNav: ac range: 412.245270 m, nav range: 419.981873 m, bearing: 12.575246 deg, approach rate: -0.487277 m/s, LOS rate: -0.009682 deg/s, cmd heading: 13.777337 deg, new cmd heading: 13.770085 deg. i-5HeadingCmd: 0.240333 target range: 412.245270 and range: 413.60 m.h5v>h1h1h1h1g9g9jg9rgAeAreAZeA:eA*eMt@uBɢurҽ)y }diy)}2yyi}d:̻iv>? =o=Iv>I9@ @@/@BIBIBM-IBMBBM =BIBIBM;BM=@Ea^AUm=}2Acoustic response timeoutiA E  E E E "E ;*E L;VE ZE BE ]ԡ Mi%,LA2T;2Ka>2/ƽٱ2=2H? ͿM౿?? s@Ƹ? ??i2T;I2p+a;2CY9PYT=VEyVfDV[8EV>XQ 5^4Zp?Q 9^4Zt)ZDZBY`ybs>Q Ib@Z3DIZ:iZ;Z+4ydɮfzAd:iYeFNOT Ignoring new targets: 412.25 m.y"i*i2Acoustic response timeoutM ProNav: ac range: 412.245270 m, nav range: 419.787231 m, bearing: 12.571375 deg, approach rate: -0.436781 m/s, LOS rate: -0.008689 deg/s, cmd heading: 13.770085 deg, new cmd heading: 13.762340 deg. ip~HeadingCmd: 0.240198 target range: 412.245270 and range: 413.60 m.hu>hhhhggjgrgereZe:e*e؃@颥Bɢ\) Fi) 顩i̻iu>=o=Iu>IԱY@Y @Y@]/@Y^AE @p= BDAT read: Rx Time:04:12:52.9421  TRx dataTimestamp_ set to:1764907974.953878 2Acoustic response timeout A I I E  E E (E "E :*E :VE c44ZE a @a @a @a @O >tp%,LA2:2(`>2.Ƚٱ2=2H?`0Ϳ@q ??`?C$??i2:I2`;2CY>KBy>Ii Mb@Mb@Mb@     9 T㥛 ?ʡE?{Gz?Y ?y = #<  A A A)  Y AbDVDyj=%1=ٔ0Q->9Y=EypDTGE>Q 5%4?Q 9%48)dZBY%?Q E%:y%'>Q I%@3DI:i:934y1ɮ5AQY:iFNOT Ignoring new targets: 412.25 m."i#M*i#M ProNav: ac range: 412.245270 m, nav range: 419.554535 m, bearing: 12.566572 deg, approach rate: -0.542758 m/s, LOS rate: -0.011209 deg/s, cmd heading: 13.762340 deg, new cmd heading: 13.752729 deg. iHeadingCmd: 0.240030 target range: 412.245270 and range: 413.60 m.hu>hhhhggjg rgBereZe:e*e` @颅Bɢ=̽) ${i)4i%̻iu>=n=Iu>IM2Acoustic response timeoutԁ9@ @@@ԩ^A B 1>B B LIB BB =B B B ;B 3@E A5 .AIA IQ O} >v%,LAJ2Acoustic response timeout:u::a`>:vɽٱ:P=:H@?)Ϳ5X?@? w$?@??i:u:I:`;:CԉE EE$E"E:*E:VE4ZEBE<9  ?Y  ?= Ey zDI˹E>Q 5%4?Q 9%4)ZBY!y% >Q I-@3DI:i:<4y5Bɮ5A5E:iY]FNOT Ignoring new targets: 412.25 m."ie5@*ie5@u ProNav: ac range: 412.245270 m, nav range: 419.300781 m, bearing: 12.561335 deg, approach rate: -0.508555 m/s, LOS rate: -0.010503 deg/s, cmd heading: 13.752728 deg, new cmd heading: 13.742247 deg. iuę}HeadingCmd: 0.239847 target range: 412.245270 and range: 413.60 m.h}u>hyhyhyhygygjgrgereZe:e*ea@Ա颽Bɢǽ) vxi)i}Hͻiu>И=1n=Iu>I@ @@@DAT read: 04:12:52.9421 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 421, 0.03, 0.031,-1.597, 0.153,-0.302, PHS= 0.436,-1.250, 0.411, RAW= 149.3, 4.9, CAL= 148.6, 5.1, ROT= 1.4, -5.1 Ygot valid direction response: 04:12:52.9421 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 421, 0.03, 0.031,-1.597, 0.153,-0.302, PHS= 0.436,-1.250, 0.411, RAW= 149.3, 4.9, CAL= 148.6, 5.1, ROT= 1.4, -5.1 PDAT read: Bearing 172.6, 7.5 (Local) ~Local bearing/azimuth received: Bearing 172.6, 7.5 (Local) - DAT read: Range 11 to 50 : 411.9 m (Round-trip 549.3 ms) speed 0.5 m/s = TDAT read: user:141>Tx time:04:12:54.0387 = R#Rx 1: Read range and direction messages.E \direction in FSK: [0.995744,0.024335,0.088894]E Fpublishing direction and range infoy9=<[!?̓d??Y=C9999 9)=DI=d;>i==n>= &@=%==%@ =K=)=+A > m G b9 Y AI IO%>S}%,zLAR :R`>RE˽ٱRd=RH`'?Ϳfdɺ? ?@> ]?@d?`?iR :IR_;RC X)ZZ~AZĻ\\\\i^I``I`ib~A b`)`d făAfddhj1~AI)i)I1~At! !!!!i!!i)))) )I)Y)Y}tBy}IDAT read: 2Acoustic response timeoutiMb@Mb@Mb@ 9S㥛?kt?I +?Y$?y =94</A ) AY\AbDVD8y =% L=ٔQ->9Y=EyD6E>!Q 5m4%?Q 9m4%)%ZBYu?Q Eu:yu>Q Iu@%3DI%E:i%A:%C4yyɮ}dAyiiTLAjFC"jFC:j+o>"p|rҌy@S=U#@lj?B@p<[!?̓d??*j+<2jK*p:M@x@ gp^W@ch+mS@pP?lZ$?,:?jB jCi p⟊?id11j Cj,?jd11jBrjeCzjim>E  E E E "E :*E ]t:VE ZE a@a@a@a@- addTargetRange:: Added new target pos. range: 411.899994 m, deltaT: 4.038304 s, deltaX: -1.700012 m, approachRate: -0.420972 m/s, rangeRepo size: 4 = Added new target pos. range: 410.548767 m, bearing: 13.407534 deg, lat: 36.779452 deg, lon: -121.859557 deg, deltaT: 4.038304 s, deltaX: -1.696503 m, approachRate: -0.420103 m/s, posRepo size: 4 :i9AeFNOT Ignoring new targets: 410.55 m."ie*iiu ProNav: ac range: 410.548767 m, nav range: 406.791260 m, bearing: 13.283942 deg, approach rate: 0.000000 m/s, LOS rate: -0.010503 deg/s, cmd heading: 13.742248 deg, new cmd heading: 13.733338 deg. iqHeadingCmd: 0.239692 target range: 410.548767 and range: 411.90 m.hqu>hhhhggjgrgBereZe:e`fy@*eC?]BɢeNo)a esmii)mTiiimλiqu>=HGo=Iqu>Iiq@q @q@y@ye =e %=m 2Acoustic response timeoutԙ ^A m=Iq I O >K%,6LA2q@:2R~`>2a̽ٱ2/=2H? Ϳő ò? ? _?G|??i2q@:I29_;0YcByI==bD%VD%8B=.>B9B=lIB=BB= =B9B9B=;B=/@EyUM-%US=ٔ]Q-]>9YYY=eEyeDeEe>iQ 54m?Q 94m)mZBYy>Q I@m3DIm;im';mI4yɮAEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 410.55 m."iR*iR ProNav: ac range: 410.548767 m, nav range: 406.589386 m, bearing: 13.279697 deg, approach rate: -0.547220 m/s, LOS rate: -0.011514 deg/s, cmd heading: 13.733338 deg, new cmd heading: 13.724843 deg. iHeadingCmd: 0.239544 target range: 410.548767 and range: 411.90 m.hJu>hhhhggjgrgereZe:e *e ?颵BɢtϽ) Kpi)7项iͻiJu>e=n=IJu>Ia2Acoustic response timeouty@y @@/@E} E}E}'Ey"E}:*E}:VE}'4ZEyBE}@8Թ M 2Acoustic response timeoutq%,/LA:_::`>:8νٱ:X=:H9?Ϳ ޣ?`z?`?`?J?i:_:I:^;:CLYyByIiMb@Mb@Mb@ 9 r?Zd;O?~jt?Y?yj=D< AA ) AY3AbDVD8yrQ=%A=ٔM[ϺQ-M>9QYQ=UEyUD]E]>aQ 5m4e?Q 9m4ey)eZBYm?Q Em:ym>Q Im@e3DIe&;ie;eqQ4yyɮ}KAy:iFNOT Ignoring new targets: 410.55 m."i6Z*i6Z ProNav: ac range: 410.548767 m, nav range: 406.367828 m, bearing: 13.274588 deg, approach rate: -0.516818 m/s, LOS rate: -0.011924 deg/s, cmd heading: 13.724843 deg, new cmd heading: 13.714620 deg. iHeadingCmd: 0.239365 target range: 410.548767 and range: 411.90 m.h,u>hhhhggjgrgBereZe:e*ej&?Bɢ(Ľ) Bii ) G2  i mλi,u>=m=I,u>I9@ @@/@2Acoustic response timeout^Afm=AxAzAI1 IA OM >I E  E E E "E ;*E ?:VE ZE a @a @a @a @X%,ILA2 4:2_>2Ͻٱ2e=2H(?̿^۲Z?? ع?`炼? ?i2 4:I2@^;2CYBByB2IbDJ#VDJͰ8yR=%Rb=ٔVQ-V>9TYX=ZEyZDZEZ>\Q 5b4^?Q 9b4^)^ZBYdyf>Q If@^3DI^.:i^~:^W4yjBɮjAh:iYmFNOT Ignoring new targets: 410.55 m."iuW*iW ProNav: ac range: 410.548767 m, nav range: 406.189178 m, bearing: 13.270469 deg, approach rate: -0.510790 m/s, LOS rate: -0.011782 deg/s, cmd heading: 13.714620 deg, new cmd heading: 13.706379 deg. iHeadingCmd: 0.239221 target range: 410.548767 and range: 411.90 m.hwt>hhhhggjgrgereZe:e*e@Y?2Acoustic response timeout-Bɢ5Ž)1 _i)e 顑iλiwt>Ë=όm=Iwt>IIm9@i @i@m/@i@u@u@}@}B9B9B=IB=BB9B9B9B=ӈ;B=@EB fCB fCB B =B =C 5qIIO> 2Acoustic response timeoutԡ Ȃ%,ycLAbS9bG_>bϽٱb=bH@k?̿`?@F?=`? }?ୢ?ibS9IbD];`YvByvFIbD!VD˰8y-=%5B=ٔEfQ-M>bE4jE4rE 0E] E]E]"EY"E]l;*E]:VE](3ZEYBE][FQ 54]?Q 94h)[BYyn>Q I@3DI:i\:_4yBɮSA:iFNOT Ignoring new targets: 410.55 m."i W*i W ProNav: ac range: 410.548767 m, nav range: 405.969971 m, bearing: 13.265419 deg, approach rate: -0.509829 m/s, LOS rate: -0.011751 deg/s, cmd heading: 13.706379 deg, new cmd heading: 13.696274 deg. i HeadingCmd: 0.239045 target range: 410.548767 and range: 411.90 m.hhhhhggjgrgereqZeq:eq*e}`?颥Bɢf;)q Ui)D 顩iϻiz=Ml=IIE9@I @I@M%0@Qԩ9?-2Acoustic response timeoutIIO\> ׬%,T}LA22Acoustic response timeout6@6_>6_ѽٱ6=6H?t̿@-@v?`h? ؾN ?` h?_?i6@I6];6CYBByBJIieMb@Mb@Mb@aaaa a9e}?5^I?(\µ?~jt?YeM?ye=aefAe^A eA)e AaYepAbD}ѿVD}8y<%D=ٔqQ->9Y=EyDE>Q 54?Q 94^)<[BY$?Q E:y.>Q I@3DI:i:1f4yɮ2AE:iFNOT Ignoring new targets: 410.55 m."iD*iD ProNav: ac range: 410.548767 m, nav range: 405.763947 m, bearing: 13.261032 deg, approach rate: -0.504347 m/s, LOS rate: -0.010745 deg/s, cmd heading: 13.696274 deg, new cmd heading: 13.687496 deg. iP HeadingCmd: 0.238892 target range: 410.548767 and range: 411.90 m.h t>h h h h g gjgrgvBereZe:e*e% @BɢR) kRi)iyѻi%t>-g=-k=DQDUp=I-t>IaE5 E1E5)E1"E5 ;*E1VE5FA4ZE1aE@aE@aE@aE@ 9@ @@0@AII 2Acoustic response timeoutO%>1Y 㔥%,/iLA2 @2 ^>2ҽٱ2d=2H ?̿et? f? ܺQ?@V?@?i2 @I2 ];2CYRByRPIbDZVDZ8yb<%bX=ٔbQ-f>9dYd=fEyfDj"Ej>Br,>BpBrIBr0BBpBpBpBpBr@ElQ 5%4n-?Q 9%4n{)nY[BY)y->Q I-@n 4DIn.hhhhggjg rg e re Ze :e*eF@1额Bɢ)) Ni)9#顡i3һizt>V=Kj=Izt>Iu2Acoustic response timeout@ @@M1@aA؟AIIO>ԉ= 2Acoustic response timeout ë%,\ULAY5By5^IiMb@Mb@Mb@ 9%C?K?y&1|?YZ?y^=`;A )fAYAbDVD8yXP=%9=ٔQ->9"?Y"?=EyDE>Q 54??Q 94-)y[BYf?Q E:y>Q I@4DI:i:t4yBɮAE:i9=FNOT Ignoring new targets: 410.55 m."iEY*iEYU ProNav: ac range: 410.548767 m, nav range: 405.345795 m, bearing: 13.251821 deg, approach rate: -0.524649 m/s, LOS rate: -0.011907 deg/s, cmd heading: 13.679372 deg, new cmd heading: 13.669064 deg. iUS]HeadingCmd: 0.238570 target range: 410.548767 and range: 411.90 m.h]Kt>hYhYhYhagagajgargerBԉere Ze :e *e `+L @]Bɢ]v)Y ]GiY)ea!i%+ӻi%Kt>-A=-j=I-Kt>I)Ա}BDAT read: Rx Time:04:12:56.9760 }TRx dataTimestamp_ set to:1764907978.9827682Acoustic response timeout*:Da zDe ?AE  E E &E "E &:*E :VE 4ZE  @  @ @ /@!  -2Acoustic response timeout^Ar=QAIIO?%,vLA6@6 ]>61eֽٱ6=6H?`̿`᳿9W?\?`ׯ ?l+?!?i6@I6-];4YBByBkIbDRοVDR~8yZ#=%Z=ٔZUQ-Z>9\Y\=^Ey^Db3ۺEb>`Q 5j4bT?Q 9j4b})b[BYhyj>Q Ij@b)4DIb;ib;b}4ylɮrVAp:i FNOT Ignoring new targets: 410.55 m."iT*iT% ProNav: ac range: 410.548767 m, nav range: 405.079865 m, bearing: 13.245812 deg, approach rate: -0.513750 m/s, LOS rate: -0.011616 deg/s, cmd heading: 13.669064 deg, new cmd heading: 13.657038 deg. i%iHeadingCmd: 0.238360 target range: 410.548767 and range: 411.90 m.ht>hhhhggjgrgereZe:e*e`q @A)A)B5*>B5eCB5IB5DBB5 =B1B5DB5ш;B5@Em~BɢmBZ)i m@ii)uqqiu=ֻi}t>}*=}Rh=I}t>Iԙ2Acoustic response timeout@ @@ @ E% E%E%'E!"E%:*E%xv:VE%'4ZE!BE%>%%,3LADAT read: 04:12:56.9760 LVL= 28464, 32753, 29938, 32755, AGC= 72, IDX= 407, 0.42, 0.064,-1.449, 0.312,-0.420, PHS= 0.586,-0.984, 0.688, RAW= 153.1, -3.6, CAL= 152.6, -4.9, ROT= 357.4, 4.9 Ygot valid direction response: 04:12:56.9760 LVL= 28464, 32753, 29938, 32755, AGC= 72, IDX= 407, 0.42, 0.064,-1.449, 0.312,-0.420, PHS= 0.586,-0.984, 0.688, RAW= 153.1, -3.6, CAL= 152.6, -4.9, ROT= 357.4, 4.9 PDAT read: Bearing 162.7, 2.7 (Local) ~Local bearing/azimuth received: Bearing 162.7, 2.7 (Local) DAT read: Range 11 to 50 : 399.9 m (Round-trip 533.2 ms) speed 0.0 m/s BDAT read: Tx time:04:12:58.0387 $Ping request sent.5׽ٱ5Y\=5H?̿.@?@?l? ?@ՠ?i5@I5xC];5CYMByMnI)B,=IB9iB%=@@U:publishing transmit ping timeUFpublishing direction and range infoy@B׍?$b$ݵY@@@@@ @)@I@i@@@@@ @)@I@@@B՛v;s?X6n|s?h'" @)@I@i@@@imMb@Mb@Mb@iiii i9m{Gz?ʡE?{Gzt?Ym?ym=mף;m Am/A mA)m AiYmAbDVD8y\+<%=ٔOQ->9 ?Y ?=EyDE>!Q 5-4%j?Q 9-4%ڷ)%[BY-O?Q E5:y5>Q I5@%;4DI%:i%:%4yYɮ]?AYi@iB LAjBJC"jBJC:jB8>"pB4B=xx@S2o ApB׍?$b$ݵ*jB92jB%=*pB#qZEx@5xQ@piR9o@pBh0Xz??*c?jBB jB CiBs~z?iB7`jB7BjBs~z?j@j@rjBrCzjBCm> addTargetRange:: Added new target pos. range: 399.899994 m, deltaT: 4.038968 s, deltaX: -12.000000 m, approachRate: -2.971056 m/s, rangeRepo size: 4  Added new target pos. range: 398.582458 m, bearing: 10.327151 deg, lat: 36.779434 deg, lon: -121.859557 deg, deltaT: 4.038968 s, deltaX: -11.966309 m, approachRate: -2.962714 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 398.58 m."i%*i!U ProNav: ac range: 398.582458 m, nav range: 402.893097 m, bearing: 13.304392 deg, approach rate: 0.000000 m/s, LOS rate: -0.011616 deg/s, cmd heading: 13.657038 deg, new cmd heading: 13.643984 deg. iQ]HeadingCmd: 0.238132 target range: 398.582458 and range: 399.90 m.h]s>hYhahahagagajgirgmzBeireiZei:eu`fx@*eu V?{Bɢ") =i)bwiڻis>=f=Is>I!!!!YE  E E $E "E ;*E Ar:VE 4ZE a @a @a @a @y Q @Q  @Q @U /@Q @] zA@] zAԡ^AuXh=A؟AIIO?XKż%,4LA>@>D\>>Pؽٱ>=>Hx?̿@:++? 5?`8?\??i>@I>H];>CYJByNIbDVVDV8y^2u=%^)=ٔbSQ-b>9b"?Yb"?=fEyfDfxEf>hQ 5n4j8~?Q 9n4j)j[BYpyr>Q Ir@jK4DIj:ijd:ji4yvBɮvAvE:iFNOT Ignoring new targets: 398.58 m."iZ5*iZ5- ProNav: ac range: 398.582458 m, nav range: 402.649780 m, bearing: 13.299845 deg, approach rate: -0.529978 m/s, LOS rate: -0.009910 deg/s, cmd heading: 13.643983 deg, new cmd heading: 13.634884 deg. i-5HeadingCmd: 0.237974 target range: 398.582458 and range: 399.90 m.h5\s>h1h9h9h9g9g9jgArgAeAreAZeA:eI*eM?uxBɢ}$ﯽ)y }S5iy)}v顁iZܻi\s>=;d=I\s>IB)>BBIBXBBBBBΈ;B@E)9@ @@/@YEu EuEu*Eq"Eu:*Eux:VEu(N4ZEqBEqa2EqaJEu;a:Eu;a^A0f=ԡA .AI I O > s˼%,0LA>9= ?Y= ?==Ey=DEEE>IQ 5U4MF?Q 9U4M_)M\BYUa?Q E]:y]d>Q I]@M[4DIM:iM:Mߗ4yaɮe%Ai qyÂGyAɤ9yAYߠAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 398.58 m."iB*iB ProNav: ac range: 398.582458 m, nav range: 402.398987 m, bearing: 13.296097 deg, approach rate: -0.476046 m/s, LOS rate: -0.007118 deg/s, cmd heading: 13.634885 deg, new cmd heading: 13.627385 deg. iiPHeadingCmd: 0.237843 target range: 398.582458 and range: 399.90 m.h s>hhhhggjgrg}Be re Ze :e *e ?=vBɢ=È)9 ET*iA)E AAiE&߻iM s>M=MnOe=IM s>IQ9@ @@/@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. Dy zD} @AE  E E %E "E ;*E |:VE 4ZE a @a @a @a @^A Jc=9 A- ؟AI1 IA OU >Ҽ%,~KLAYz)ByzI||bDVD8y(=%^=ٔQ->9"?Y"?=Ey%D!E%>)Q 554-z?Q 954-)-\BY9y9Q I=@-g4DI-;i-:-I4yAɮEAA:iimFNOT Ignoring new targets: 398.58 m."iu *iu  ProNav: ac range: 398.582458 m, nav range: 402.208893 m, bearing: 13.293254 deg, approach rate: -0.585947 m/s, LOS rate: -0.008770 deg/s, cmd heading: 13.627385 deg, new cmd heading: 13.621695 deg. igHeadingCmd: 0.237743 target range: 398.582458 and range: 399.90 m.hss>hhhhggjgrgereZe:e*e?tBɢ~T) %i)"iGiss>|ӗ=e=Iss>I-*DAT read: user:142> 5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470246A@I @I@M/@I1BAB%>BBIBrBBBBBˈ;B @E^A0f=aA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722106I I O >ԑ ټ%,ۿeLAE" E"E E "E"l;*E"$:VE ZE BE"[F:E";a>Za@ZXY>ZZ?ؽٱZ:0=ZH?`?̿OL@??`3@?v?.?iZa@IZц\;ZCYf9xYx=zEy~D~E~>Q 5 4?Q 9 4)9\BYy>Q I@u4DI:i2:<4yBɮuA%E:iAEFNOT Ignoring new targets: 398.58 m."iM* *iM*  ProNav: ac range: 398.582458 m, nav range: 402.002869 m, bearing: 13.290253 deg, approach rate: -0.518096 m/s, LOS rate: -0.007550 deg/s, cmd heading: 13.621695 deg, new cmd heading: 13.615690 deg. i]HeadingCmd: 0.237639 target range: 398.582458 and range: 399.90 m.hWs>hhhhggjgrgereZe:e*e?q颅rBɢ3m) i);$顉iiWs>ɼ=Z=IWs>IM9@Q @Q@U/@Yechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.976008ԡ^AM?e=A .AI I O > )߼%,LAFf@F@Y>FZ׽ٱF?=FH X?@6̿S2$?T?@޺???iFf@IFm\;FCRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.225689YXyXiMb@Mb@Mb@ 9/$?V-?{Gzt?Y1?ym=ף; A) AY3AbD#VDͰ8y%?=ٔo:Q->9 ?Y ?=EyDE>Q 54'?Q 94 )W\BY ?Q E:y>Q I@4DI8;i';4yɮyA:iAMFNOT Ignoring new targets: 398.58 m."iMa*iMa ProNav: ac range: 398.582458 m, nav range: 401.776367 m, bearing: 13.287410 deg, approach rate: -0.518639 m/s, LOS rate: -0.006513 deg/s, cmd heading: 13.615690 deg, new cmd heading: 13.610002 deg. i>HeadingCmd: 0.237539 target range: 398.582458 and range: 399.90 m.h=s>hhh hggjgrgBereZe:e*e%`@DM=DM<E] E]EYEY"E]:*E]:VEYZEYae@ae@ae@ae@颥pBɢ) 1i)&ici=s>=[=I=s>Ie9@a @a@e/@a Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.477609) ^A -tY=A ؟AI I O >Q %,~LAB6#>B6dCB6IB6BB4B4B4B6ш;B6@EB5eCB5eCB1B5 =B5 =C5~-5z@z}X>z1ֽٱz!=zH?!̿ F?@?U?m??iz@IzP\;zCY JBy I <<bD%VD%8y-=%-R=ٔ5#:Q-5>9="?Y="?==Ey=D=ȺEE>AQ 5M4E?Q 9M4EW)Eq\BYQyUi>Q IU@E4DIE;iE;E4y]BɮeAeE:iFNOT Ignoring new targets: 398.58 m."i#*i# ProNav: ac range: 398.582458 m, nav range: 401.570801 m, bearing: 13.284845 deg, approach rate: -0.540731 m/s, LOS rate: -0.006752 deg/s, cmd heading: 13.610001 deg, new cmd heading: 13.604868 deg. iEHeadingCmd: 0.237450 target range: 398.582458 and range: 399.90 m.h&s>hhhhggjgrgereZe:e*e@nBɢ) <i)(ii&s>4=fY=I&s>I)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730600!@! @)@-0@)YEa EeEe&Ea"Ea*Eex:VEe4ZEaBEe<e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981640V%,LAE@EoX>EԽٱE@ =EHj?̿6鳿[?N? =z?`z ?)?iE@IE\;AY]VBy]IiMb@Mb@Mb@ 9x&1? rh?~jt?YA?yC=D<AA A)AYAbDVD8y Q=%:=ٔ%:Q->9 ?Y ?=Ey DE%>!Q 5-4%?Q 954%d)%\BY5w?Q E5:y5.>Q I5@%4DI%(:i%:%.4y9ɮEAA:iamFNOT Ignoring new targets: 398.58 m."im*im ProNav: ac range: 398.582458 m, nav range: 401.352386 m, bearing: 13.281331 deg, approach rate: -0.497459 m/s, LOS rate: -0.008007 deg/s, cmd heading: 13.604868 deg, new cmd heading: 13.597836 deg. iyjHeadingCmd: 0.237327 target range: 398.582458 and range: 399.90 m.hs>hhhh g g jg rg ~BereZe:e1*e=T @Y颥mBɢ˜)  i)I*顩iis>x=Y=Is>I@ @@/@i߁I߅ABDAT read: Rx Time:04:13:00.9733 TRx dataTimestamp_ set to:1764907983.023046checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234987ԡD1 zD1 bEjE{4rE- 0E=  E= E9 E9 "E= T;*E= 1:VE9 ZE9 aM @aM @aM @aM @^A Y=Թ A ؟AI I O >3%,YmLA:@:@W>:42Խٱ:=:H? ֳ̿"?`?"z???i:@I:E\;:CYJ^ByJIPbDV׿VDV8y^@=%^d=ٔb\:Q-b>9b"?Yb"?=fEyfDfEf>hQ 5n4jP?Q 9n4jΨ)j\BYpyrݯ>Q Ir@j4DIj2:ij;jn4yvBɮvZAt B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 398.58 m."i%*i%- ProNav: ac range: 398.582458 m, nav range: 401.174377 m, bearing: 13.278480 deg, approach rate: -0.497167 m/s, LOS rate: -0.007965 deg/s, cmd heading: 13.597836 deg, new cmd heading: 13.592132 deg. i5:i5HeadingCmd: 0.237227 target range: 398.582458 and range: 399.90 m.h5r>h9h9h9h9g9gAjgArgAeAreAZeI:eI*eMN @}kBɢ})y }iy),顁ihir>vf=zW=Ir>Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.498904@ @@0@A9A9BE>BABE:IBEBBE =BABEDBEۈ;BE@E^AUmY=A I m DAT read: 04:13:00.9733 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 420, 0.14,-1.591, 2.970,-1.513,-2.084, PHS= 0.595,-1.184, 0.527, RAW= 148.0, 0.7, CAL= 147.2, 0.5, ROT= 2.8, -0.5 ԁ  Ygot valid direction response: 04:13:00.9733 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 420, 0.14,-1.591, 2.970,-1.513,-2.084, PHS= 0.595,-1.184, 0.527, RAW= 148.0, 0.7, CAL= 147.2, 0.5, ROT= 2.8, -0.5  PDAT read: Bearing 167.0, 8.5 (Local)  ~Local bearing/azimuth received: Bearing 167.0, 8.5 (Local)  DAT read: Range 11 to 50 : 397.8 m (Round-trip 530.4 ms) speed 0.5 m/s  BDAT read: Tx time:04:13:02.0387  $Ping request sent. u \direction in FSK: [0.998768,0.048848,0.008727]u :publishing transmit ping time } Fpublishing direction and range infoy  ?Smڗ?B7߁?Y C      ) GI Q?i P y? MQ%@ +H< l$@  5<) +H=I 5    ) 1MI +H=i 5   :publishing transmit ping time  Fpublishing direction and range infoy  ?Smڗ?B7߁?Y      ) I i      ) I      @>mW>>- ӽٱ>t=>H ?˿ ?5?@`sU???i> @I>\;>CYnwBynIbDzVDz8y}=%>=ٔ:Q->9Y=EyDZcE>Q 54[ ?Q 94)\BYy>Q I@4DIy:i:4yɮAiAiELAjE=C"jE=C:jEA>"pEMmdGݿx@[^3@9ޭ @pE?Smڗ?B7߁?*jE+H=2jE5*pE9Iw@ F%Y@#G@pE+W?wnfe addTargetRange:: Added new target pos. range: 397.799988 m, deltaT: 3.792278 s, deltaX: -2.100006 m, approachRate: -0.553759 m/s, rangeRepo size: 4  Added new target pos. range: 396.479950 m, bearing: 14.800324 deg, lat: 36.779428 deg, lon: -121.859520 deg, deltaT: 3.792278 s, deltaX: -2.102509 m, approachRate: -0.554418 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 396.48 m."i*iE ProNav: ac range: 396.479950 m, nav range: 401.062836 m, bearing: 13.756526 deg, approach rate: 0.000000 m/s, LOS rate: -0.007965 deg/s, cmd heading: 13.592132 deg, new cmd heading: 13.585040 deg. iAuHeadingCmd: 0.237104 target range: 396.479950 and range: 397.80 m.huNr>hqhqhqhqgygyjgrgereZe:ex@*e@?iBɢ) ui)i-iAiNr>->K=-V=I-Nr>I)Q9@ @)@50@1q^Ae gW=ԡ A .AI I O >x%,DLA65@6 3W>6fѽٱ6/=6H`!?˿ ??`Y(?p?z?i65@I6c];6CYfvByjIiMb@Mb@Mb@ 9'1Z?Mb? rh?Y?y=C<A3A A)hAY AbDVD8ya%?=ٔ/:Q->9 ?Y ?=Ey%D E>Q 54 ?Q 94 )\BY?Q E:yƩ>Q I@4DI/;i;f4yɮAE:iFNOT Ignoring new targets: 396.48 m.E EEE"E;*E:VEZEa@a@a@a@"i*i ProNav: ac range: 396.479950 m, nav range: 400.845764 m, bearing: 13.753679 deg, approach rate: -0.508294 m/s, LOS rate: -0.006669 deg/s, cmd heading: 13.585040 deg, new cmd heading: 13.579344 deg. iDCHeadingCmd: 0.237004 target range: 396.479950 and range: 397.80 m.h?r>hhhhggjgrgvBe re Ze :e *e  ?=hBɢ=Y!)9 =*i9)E)o/AAiEbiM?r>M5=M bV=IM?r>IQA9@ @@0@i^A&V=ԙ A I I O >B >B cCB YIB BB =B B B ҈;B @Ep%,LA2@2W>27Ͻٱ2^=2H`"?˿,LH??w? "? ?i2@I28];2CY>By>IbDJ$VDJΰ8yR=%Ra=ٔR);Q-V>9TYT=VEyV,DZ2ǹEZ>\Q 5b4^% ?Q 9b4^s)^]BY`yb>Q If@^4DI^;i^Y;^4yhɮjAh:ixy}FNOT Ignoring new targets: 396.48 m."i*i ProNav: ac range: 396.479950 m, nav range: 400.661011 m, bearing: 13.751259 deg, approach rate: -0.531099 m/s, LOS rate: -0.006961 deg/s, cmd heading: 13.579344 deg, new cmd heading: 13.574501 deg. iKHeadingCmd: 0.236920 target range: 396.479950 and range: 397.80 m.hr>hhhhggjgrgereZe:e*e*]?gBɢnW) %"i!)%m0!!i%i-r>-u =-V=I-r>I19@ @@/5@@!@!E EE!E"E;*E:VEc3ZEBE]A>AA II IY Om >!  %,95LA@OW>Sͽٱ!=HX#?@˿@??@ؘv?3]?`+?i@I];CY5By5IiMb@Mb@Mb@ 9T㥛 ?333333?99Y9==Ey=5DE :EE>IQ 5U4M7 ?Q 9U4MX)M,]BYU?Q E]:y]>Q I]@M4DIMb:iM:M4yeBɮeAa:iFNOT Ignoring new targets: 396.48 m."i*i ProNav: ac range: 396.479950 m, nav range: 400.432037 m, bearing: 13.747487 deg, approach rate: -0.500610 m/s, LOS rate: -0.008252 deg/s, cmd heading: 13.574501 deg, new cmd heading: 13.566952 deg. iqHeadingCmd: 0.236788 target range: 396.479950 and range: 397.80 m.hxr>hhhhggjgrgzBereZe:e*eJ=?eBɢ$) ܾi)xE2i~ixr>c=*TW=Ixr>I }9@y @@@A^Ae`T=E E E(E"E;*E:VEc44ZEa@a@a@a@Au ؟AIy I O >q %,c{OLA2@2W>2);̽ٱ2=2H"?A̿U²?`?|?W??i2@I2K+];2CY>By>/IbDFVDF8yN=%Ri=ٔR:Q-R>9V"?YV"?=VEyVXQ 5b4ZE ?Q 9b4Z)ZG]BY`ybյ>Q If@Z4DIZ;iZ;Z4yhɮjeAheB*** querying acoustic contact ***iaia:iiuFNOT Ignoring new targets: 396.48 m."i}h*i}h ProNav: ac range: 396.479950 m, nav range: 400.256531 m, bearing: 13.744580 deg, approach rate: -0.479472 m/s, LOS rate: -0.007945 deg/s, cmd heading: 13.566952 deg, new cmd heading: 13.561136 deg. ihHeadingCmd: 0.236686 target range: 396.479950 and range: 397.80 m.h]r>hhhhggjgrgereZe:e*e?dBɢ1>?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.) Ⱦi)er3ii]r>R=QY=I]r>IQ9@ @@/@B>BBxIB׀BB =BBB;B?Eԩ^Au&V= *DAT read: user:143>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987759A I I O > E  E E &E "E ;*E :VE 4ZE BE @2Lʽٱ2%=2H`&#?6 ̿@}`?6?>?`?9dYd=fEyfEDj9&:Ej>lQ 5r4nU ?Q 9r4n؝)ng]BYtyv>Q Iv@n4DIn;in;n4yzBɮzAzE:i%FNOT Ignoring new targets: 396.48 m."i% *i% 5 ProNav: ac range: 396.479950 m, nav range: 400.052032 m, bearing: 13.741183 deg, approach rate: -0.519926 m/s, LOS rate: -0.008640 deg/s, cmd heading: 13.561136 deg, new cmd heading: 13.554339 deg. i5}=HeadingCmd: 0.236568 target range: 396.479950 and range: 397.80 m.hE>r>hAhAhAhAgAgAjgIrgIeIreIZeQ:eQ*eUu1@5cBɢ]L})Y ]iY)e4aaieim>r>uݖ=m_Z=I>r>I)@) @)@)@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240242 5lGM{Aa@9{AYA^AM5[=AQzAUwA) A I I O >Y %,Y3LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490527fg@f`9X>fcɽٱfo=fHZ#? ̿`N\ల??`"? ¼?O?ifg@Ifb];dYvByvMIa@a iMb@Mb@Mb@ 9jt?/$?Mb?Y?y=<AA A)AIbD#VDͰ8yJ=%9=ٔ:Q->9Y=EyNDK9E>Q 54qg ?Q 94)]BY ?Q E :y O>Q I @5DI:i:4yɮA:i9EFNOT Ignoring new targets: 396.48 m."iE0*iE0U ProNav: ac range: 396.479950 m, nav range: 399.831024 m, bearing: 13.736920 deg, approach rate: -0.500891 m/s, LOS rate: -0.009667 deg/s, cmd heading: 13.554339 deg, new cmd heading: 13.545808 deg. i]]HeadingCmd: 0.236419 target range: 396.479950 and range: 397.80 m.h]r>hahahahagagajgirgieireiZei:eq*eu`@E EE$E"E:*Ek:VE4ZEa@a@a@a@=bBɢ=:)A EIiA)E5AAiEIir> ǖ=Z=Ir>I9@ @@@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.741826^Aԡ A .AI I O- >B >B B IB BB B =DB ߺDB ;B ?E&%, LA:@:X><:Xǽٱ::=:H"? ̿u?`"? 4?@z? ?i:@I:t];:CYZByZOIbDfVDfȰ8yn<%n]=ٔn0;Q-r>9r ?Yr ?=rEyrUDv;Ev>xQ 5~4zv ?Q 9~4z)z]BY|y~>Q I@z5DIzG:izu:z04y ɮ A :i15FNOT Ignoring new targets: 396.48 m."i=1*i=1M ProNav: ac range: 396.479950 m, nav range: 399.646179 m, bearing: 13.733331 deg, approach rate: -0.500268 m/s, LOS rate: -0.009717 deg/s, cmd heading: 13.545808 deg, new cmd heading: 13.538627 deg. iMDUHeadingCmd: 0.236294 target range: 396.479950 and range: 397.80 m.hUq>hQhQhQhQgYgYjgargaeareaZei:ei*em@@额aBɢӎ) i)6顡i iq>&=^=Iq>I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994742Ա@ @@@E EEE"E;*E҆:VEZEBEa2EaJE;a:E;a^A5u \= A} ؟AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245807+-%,fLAp@Y>VŽٱN=Hw"?@q1̿ϱ _??@ݨ? ? ?i@Is];CYByYIa=a= i=Mb@Mb@Mb@9999 99=!rh?&1?{Gz?Y=l?y===#<=A=A =`A)=MA9Y= AbDUVDU8y]=%e4=ٔeV:Q-e>9m"?Ym"?=mEym^Duخ:Eu>yQ 54} ?Q 94}j)}]BY ?Q E:yw>Q I@}"5DI};i};}"4yBɮgA:iFNOT Ignoring new targets: 396.48 m."i_*i_m ProNav: ac range: 396.479950 m, nav range: 399.406555 m, bearing: 13.727728 deg, approach rate: -0.522389 m/s, LOS rate: -0.012223 deg/s, cmd heading: 13.538627 deg, new cmd heading: 13.527413 deg. imuHeadingCmd: 0.236098 target range: 396.479950 and range: 397.80 m.huq>hqhyhyhygygyjgrgBereZe:e*e @`Bɢ8) Cia)e8aaie[ imq>m=mHP`=Imq>IqI)eBDAT read: Rx Time:04:13:04.9706 mTRx dataTimestamp_ set to:1764907987.067924uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5004249@ @@@9E EE&E"E ;*E]t:VE4ZEa@a@a@a@Y ^A <|^=A >A >A) I1 IA OU >D4%,LA,2@2Y>2Žٱ2=2H`"?`1̿D? ?v J?y?`\?i2@I2?];0YBĀByBaIbDJ VDJ8yRy=%RW=ٔV9:Q-V>9TYX=ZE^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749839yZfDb29Eb>dQ 5j4f ?Q 9j4fS)f]BYhyn}>Q In@f/5DIf;if;f4yrBɮr/ArEB*** querying acoustic contact ***ii:i  FNOT Ignoring new targets: 396.48 m."id*id ProNav: ac range: 396.479950 m, nav range: 399.205627 m, bearing: 13.723022 deg, approach rate: -0.532008 m/s, LOS rate: -0.012465 deg/s, cmd heading: 13.527413 deg, new cmd heading: 13.517998 deg. iHeadingCmd: 0.235934 target range: 396.479950 and range: 397.80 m.hq>hhhhggjgrgereZe:e*e@m_BɢmX)i mYiq)up 9qqiu{i}q>}e=}`=I}q>IԁB->B)B-IB-BB- =B)B)B-;B-?EBcCBcCBB =B =Cö#59@ @@@ԹiiIiDAT read: 04:13:04.9706 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 408, 0.02,-0.086,-1.833, 0.047,-0.552, PHS= 0.568,-1.235, 0.556, RAW= 149.7, 1.3, CAL= 148.6, 0.9, ROT= 1.4, -0.9 Ygot valid direction response: 04:13:04.9706 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 408, 0.02,-0.086,-1.833, 0.047,-0.552, PHS= 0.568,-1.235, 0.556, RAW= 149.7, 1.3, CAL= 148.6, 0.9, ROT= 1.4, -0.9 PDAT read: Bearing 167.6, 6.8 (Local) ~Local bearing/azimuth received: Bearing 167.6, 6.8 (Local) DAT read: Range 11 to 50 : 395.7 m (Round-trip 527.7 ms) speed 0.4 m/s TDAT read: user:144>Tx time:04:13:06.0387 R#Rx 1: Read range and direction messages.\direction in FSK: [0.999578,0.024429,0.015707]Fpublishing direction and range infoyquhU?un?y&?YuCqqqq q)uFIush?iu{uV?um7'@u޹ŧ:%,LA`~@~!Z>~ýٱ~M=~H`H"?>̿>?&?-o?@??i~@I~z];~CYрByqIbD-VD-8yr=%==ٔ׺:Q->9Y=EyoD%:E>Q 54+ ?Q 9%4)^BY!y%>Q I%@?5DI:i:4y)ɮUAQiiLAj0C"j0C:jOq>"pPcix@SD#@˳Q@phU?un?y&?*j+<2j*p~Mw@a]eV@yLjkF@p`E$?ٲB? at?jB jCi?i,jBj p⟊?j,jBrjCzjm> addTargetRange:: Added new target pos. range: 395.700012 m, deltaT: 4.031809 s, deltaX: -2.099976 m, approachRate: -0.520852 m/s, rangeRepo size: 4  Added new target pos. range: 394.379608 m, bearing: 13.501921 deg, lat: 36.779418 deg, lon: -121.859555 deg, deltaT: 4.031809 s, deltaX: -2.100342 m, approachRate: -0.520943 m/s, posRepo size: 4 :i FNOT Ignoring new targets: 394.38 m."i*i% ProNav: ac range: 394.379608 m, nav range: 397.152161 m, bearing: 13.316733 deg, approach rate: 0.000000 m/s, LOS rate: -0.012465 deg/s, cmd heading: 13.517998 deg, new cmd heading: 13.506489 deg. i!MHeadingCmd: 0.235733 target range: 394.379608 and range: 395.70 m.hMcq>hIhQhQhQgQgQjgYrgYeYreYZeY:ee@3x@*ee@_^?DAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=4.254831ɢ p%)  i ) :iIficq>t==%b=Icq>IA9@ @@@I ^A Ba= checking for new query: numPingsReceived=0, elapsed TxPingTime=4.506190Am .Aq Iy I O >1B%,1 LAbEe-4jEe4rEe'0E. E.E.&E,"E.:*E.:VE.4ZE,a2@a2@a2@a2@>E@> Z>>½ٱ>=>H`"?@f:̿`??`U??`_?i>E@I>p];>CYNրByNwIi%Mb@Mb@Mb@!!!! !9%S㥛?#~j?Mb?Y%?y%=%<% A%A !)%A!Y% AbD=+VD=԰8yE<%M;=ٔH_:Q->9 ?Y ?=EyxDڸE>Q 54A ?Q 94)"^BY|?Q E:y>Q I@M5DI;ie;K4y BɮA:i1=FNOT Ignoring new targets: 394.38 m."iE>*iE>U ProNav: ac range: 394.379608 m, nav range: 396.924347 m, bearing: 13.312306 deg, approach rate: -0.535838 m/s, LOS rate: -0.010420 deg/s, cmd heading: 13.506489 deg, new cmd heading: 13.497629 deg. iU]HeadingCmd: 0.235578 target range: 394.379608 and range: 395.70 m.h]a;q>hYhYhYhYgYgajgargeBeireiZei:ei*eu5?额^BɢQ) i):顡i ia;q>a=Ia;q>I]9@Y @Y@a@a@m=@m=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.757855I^AAyAzAzAB>BbCBIB#BBBBB;B?Ey A ؟AI I O >UH%,{"LA0j@j0Z>jdٱjR=jH#?@:̿Sj? ?@k#?ʼ? M?ij@Ijy];hYzByzIchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.009893bD VD8y%=%%M=ٔ%;Q-%>9-"?Y-"?=-Ey-D-9E5>9Q 5E4= ?Q 9E4=ڎ)=;^BYAyE>Q IE@=Z5DI=:i=:=4yMBɮUGAUE:iy}FNOT Ignoring new targets: 394.38 m."i68*i68 ProNav: ac range: 394.379608 m, nav range: 396.728851 m, bearing: 13.308500 deg, approach rate: -0.516800 m/s, LOS rate: -0.010066 deg/s, cmd heading: 13.497629 deg, new cmd heading: 13.490014 deg. i_HeadingCmd: 0.235445 target range: 394.379608 and range: 395.70 m.hq>hhhhggjgrgereZe:e*e4x?Qɢ]A)Y ]niY)];Yaie ieq>mHO=moc=Imq>IԩE EE"E"E*Eh:VE(3ZEBE>2Vٱ2be=2H\"?L̿)??@{ ?ܼ? r?i2P@I2uR];2CYNByNIli-Mb@Mb@Mb@)))) )9-~jt?~jt?~jtx?Y-?y-=-;-A-A -A)-A)Y-G AbDE VDAyU =%UG=ٔU:Q-]>9] ?Y] ?=]Ey]De:Ee>iQ 5u4m ?Q 9u4m)mV^BYu ?Q E}:y}c>Q I}@mh5DIm;im;m&4yBɮA:i!-FNOT Ignoring new targets: 394.38 m."i-&*iU&] ProNav: ac range: 394.379608 m, nav range: 396.517365 m, bearing: 13.304633 deg, approach rate: -0.496107 m/s, LOS rate: -0.009077 deg/s, cmd heading: 13.490014 deg, new cmd heading: 13.482275 deg. ie儹eHeadingCmd: 0.235310 target range: 394.379608 and range: 395.70 m.he!p>hihihihigigjgrg}BereZe:e*e?颥]Bɢv checking for new query: numPingsReceived=0, elapsed TxPingTime=5.513803) _i)<iڦ i%!p>Ej:=E f=IE!p>II@ @@/@E EE#E"E%;*EVE3ZEa@a@a@a@1^A a  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.766155A ؟AI I) OU >EhU%, VLA1B<A<B>BBIB8BB =BBB;B?EYByIbDVD8yj<%3=ٔQ->9"?Y"?=EyDE>YQ 5e4][ ?Q 9e4])]s^BYayaQ Iu@]w5DI]p;i]q;].4y}Bɮ AEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 394.38 m."i6.*i6. ProNav: ac range: 394.379608 m, nav range: 396.281586 m, bearing: 13.300316 deg, approach rate: -0.519607 m/s, LOS rate: -0.009519 deg/s, cmd heading: 13.482275 deg, new cmd heading: 13.473636 deg. i^HeadingCmd: 0.235159 target range: 394.379608 and range: 395.70 m.hp>hhhhggjgrgereZe:e*e}? ɢ w) Ui)g8=ir|ip>C(=I%p>I!a9@ @@/@@yA@xAchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.017894ԑE  E E &E "E ;*E :VE 4ZE BE OA% >Թ AQ IY Ii O} >[%,pLA2^@2@8[>2I/ٱ2=2H@#"?W̿@ B??`ݷ?@z?@Ƨ?i2^@I2];2C 8):M~A:88<>f~Ai>CI<9yYy=EyD:E>Q 54# ?Q 94)^BYy>Q I@5DI::ih:]44yɮ A:iFNOT Ignoring new targets: 394.38 m."i3*i3 ProNav: ac range: 394.379608 m, nav range: 396.095734 m, bearing: 13.296899 deg, approach rate: -0.534374 m/s, LOS rate: -0.009827 deg/s, cmd heading: 13.473636 deg, new cmd heading: 13.466800 deg. iᏹHeadingCmd: 0.235040 target range: 394.379608 and range: 395.70 m.hTp>hhhhggjgrgereZe:e*eV@)ɢ-x)1 5Di1)5=11i5i=Tp>===4g=I=Tp>IAMM?M%=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.2701069@ @@0@ԡ^A0f= checking for new query: numPingsReceived=0, elapsed TxPingTime=6.525327 A) I9 II O] >b%,LAD&=D&<E. E.E."E,"E.O;*E. :VE.(3ZE,a2@a2@a2@a2@>@>[>>:ٱ>U"=>H"?O̿V ? ?ӧ ȷ?VԼ?:?i>@I>b\;>CY-By-IiMb@Mb@Mb@ 9"~j?L7A`?{Gzt?YS?y+=ף;AdA A)AY AbDVD8y-;%5?=ٔ5Y>:Q-5>91Y9==Ey=D=9ݹE=>AQ 5M4E!?Q 9M4E)E^BYUj?Q EU:yUz>Q IU@E5DIEV:iE=:E;4yYɮ] Aa:iFNOT Ignoring new targets: 394.38 m."i*i ProNav: ac range: 394.379608 m, nav range: 395.876984 m, bearing: 13.293445 deg, approach rate: -0.510599 m/s, LOS rate: -0.008068 deg/s, cmd heading: 13.466801 deg, new cmd heading: 13.459887 deg. i?lHeadingCmd: 0.234919 target range: 394.379608 and range: 395.70 m.hp>hhhhggjgrgBereZe:e*eJ|@\BɢDr) Ai)m>iip>=]%g=Ip>I@ @@?0@]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.774432)Be>BaBeIBeGBBe =BaBaBep;Be?E^AXh=A) I1 II Y O >ұh%,wLA2m@2 Z>2ٱ2=2HJ#?@7H̿ 0ܰE?`6?PQ? ˼?ਨ?i2m@I2\;2Cvchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.030816Y ByIbDVD8y%=%%^=ٔ-O:Q-->9)Y)=-Ey-D5@E5>9Q 5E4=!?Q 9E4=_)=^BYAyMc>Q IM@=5DI=:i=:=FB4yQɮU AQ:iy}FNOT Ignoring new targets: 394.38 m."i*i ProNav: ac range: 394.379608 m, nav range: 395.689178 m, bearing: 13.290480 deg, approach rate: -0.510876 m/s, LOS rate: -0.008068 deg/s, cmd heading: 13.459888 deg, new cmd heading: 13.453956 deg. i=lHeadingCmd: 0.234816 target range: 394.379608 and range: 395.70 m.hsp>hhhhggjgrgereZe:e*em@ɢ-m)\ di)>iisp>=f=Isp>I1Eu EuEu&Eq"Eu=;*Eu:VEu4ZEqBEu}I;a:Eu>;a@ @@@5@@@=a^A0f=AxAzAwAchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.281813ԙ I U ÑC G  Aa I P9 Y ЖAI O= > n%,QLA2L@2Z>28ٱ2k=2H#?@B̿0а??~y?@??i2L@I2\;2CYNByRIiMMb@Mb@Mb@IIII I9ML7A`?T㥛 ?{Gzt?YM+?yM=IM@I MA)MAIYMAbDeVDeȰ8yu;%uE=ٔ}x:Q-}>9Y=EyD6E>Q 541!?Q 94)^BY!?Q E:y>Q I@5DI;i ;I4yBɮ AE:iFNOT Ignoring new targets: 394.38 m."i *i  ProNav: ac range: 394.379608 m, nav range: 395.471283 m, bearing: 13.287335 deg, approach rate: -0.525328 m/s, LOS rate: -0.007587 deg/s, cmd heading: 13.453956 deg, new cmd heading: 13.447662 deg. i'^ HeadingCmd: 0.234706 target range: 394.379608 and range: 395.70 m.h Vp>h hhhgg!jg!rg-uBe)re)Ze1:e1*e= @颁ɢai)ԑ Hi)k?顙iiVp>=5-f=I5Vp>I1BDAT read: Rx Time:04:13:08.9677 TRx dataTimestamp_ set to:1764907991.102821checking for new query: numPingsReceived=0, elapsed TxPingTime=7.5348479@ @@0@E EE%E"Ef;*E?:VE 4ZEa@a@a@a@^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.785801A  I! I9 OE >Su%,g LAY-By-IbDEVDE8yU4=%UN=ٔUQ-U>9YYY=]Ey]D]Ee>aQ 5m4eA!?Q 9u4e)e^BYqyqQ Iu@e5DIe^;ie;esP4yyɮ A:iFNOT Ignoring new targets: 394.38 m."i2 *i2  ProNav: ac range: 394.379608 m, nav range: 395.262695 m, bearing: 13.284321 deg, approach rate: -0.526067 m/s, LOS rate: -0.007606 deg/s, cmd heading: 13.447661 deg, new cmd heading: 13.441630 deg. i^HeadingCmd: 0.234601 target range: 394.379608 and range: 395.70 m.h*;p>hhhhggjgrgereZe:e*e@ɢ ld)  i ) ?i~]i*;p>ѕ=f=I*;p>IB- >B)B-IB-VBB- =B)B)B-\;B-?E %9@! @!@%45@!)]DAT read: 04:13:08.9677 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 411,-0.10,-1.735, 2.764,-1.606,-2.217, PHS= 0.585,-1.256, 0.568, RAW= 149.5, 1.2, CAL= 148.5, 0.8, ROT= 1.5, -0.8 mYgot valid direction response: 04:13:08.9677 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 411,-0.10,-1.735, 2.764,-1.606,-2.217, PHS= 0.585,-1.256, 0.568, RAW= 149.5, 1.2, CAL= 148.5, 0.8, ROT= 1.5, -0.8 uPDAT read: Bearing 167.4, 6.7 (Local) u~Local bearing/azimuth received: Bearing 167.4, 6.7 (Local) }DAT read: Range 11 to 50 : 393.6 m (Round-trip 524.9 ms) speed 0.1 m/s TDAT read: user:145>Tx time:04:13:10.0387 R#Rx 1: Read range and direction messages.\direction in FSK: [0.999560,0.026174,0.013962]Fpublishing direction and range infoy  Ze?tv͚?4?Y C     ) II ?i Ġ sh? <&@ < H%@ d<) Pw"{%,LA :v@:@;Z>:8!ٱ:=:H$?_1̿ q??്{?`ѳ??i:v@I:\;:CYb(BybIbDjVDj8yr܁=%rR=ٔvܳ:Q-v>9tYt=zEyzDzEz>|Q 54~$R!?Q 94~)~_BY y _>Q I @~5DI~f:i~:~>W4yBɮ AiIiMLAjM$C"jM$C:jMgs>"pMLFx@ $@jЎ@pMZe?tv͚?4?*jMPw<2jMd*pM{!e w@4$HV@7BEE@pM9?(NnO?E»?jMB jMCiMo?iM\jMm addTargetRange:: Added new target pos. range: 393.600006 m, deltaT: 4.034669 s, deltaX: -2.100006 m, approachRate: -0.520490 m/s, rangeRepo size: 4 } Added new target pos. range: 392.281677 m, bearing: 13.619206 deg, lat: 36.779369 deg, lon: -121.859555 deg, deltaT: 4.034669 s, deltaX: -2.097931 m, approachRate: -0.519976 m/s, posRepo size: 4 :iyFNOT Ignoring new targets: 392.28 m."i*i ProNav: ac range: 392.281677 m, nav range: 389.726807 m, bearing: 13.466477 deg, approach rate: 0.000000 m/s, LOS rate: -0.007606 deg/s, cmd heading: 13.441630 deg, new cmd heading: 13.435644 deg. iHeadingCmd: 0.234496 target range: 392.281677 and range: 393.60 m.hp>hhhhggjgrgereZe:ex@*e ?}DAT read: }checking for new query: numPingsReceived=0, elapsed TxPingTime=8.290335颍]Bɢ]) ѽi)9+@顱izjip>=A=e=Ip>IAr @  @ @ 0@ @ zA@ zA- checking for new query: numPingsReceived=0, elapsed TxPingTime=8.541754a E  E E (E "E ;*E :VE c44ZE a @a @a @a @^A5 Jc=A5 >A5 ?ԑ A.AIIO?p%,ULA6@6`EZ>6+ٱ6%=6H %?@1̿??aj? ??i6@I6 \;6CYF.ByFIiMb@Mb@Mb@ 9S㥛?A`"?Mb?Y?yY=<3A  A)@YAbD5VD58yEr<%E=ٔMW:Q-M>9M ?YM ?=EyD8E>Q 54h!?Q 94})(_BY?Q E:y^>Q I@5DI{:ib:`4yBɮ AB*** querying acoustic contact ***ii:i  FNOT Ignoring new targets: 392.28 m."i۸*i۸% ProNav: ac range: 392.281677 m, nav range: 389.448090 m, bearing: 13.463265 deg, approach rate: -0.520890 m/s, LOS rate: -0.006007 deg/s, cmd heading: 13.435644 deg, new cmd heading: 13.429215 deg. i%/5checking for new query: numPingsReceived=0, elapsed TxPingTime=8.793826=HeadingCmd: 0.234384 target range: 392.281677 and range: 393.60 m.h=]p>h9h9h9h9g9gAjgArgEfBeAreAZeI:eI*eM`R?yɢ}W)y }iy)L@顁i i]p>p=Ee=I]p>IUeAB>BaCB.IBkBBBB޺DBO;Bx?EBbCBbCBB =B =CČ4@ @@'3@q^A% c= checking for new query: numPingsReceived=0, elapsed TxPingTime=9.046069ԙ AU ؟AIY Ii O} >~%,l,LAEf EfEdEd"Ef;*Ef:VEdZEdBEf0Ne;Gٱe=eH`%?)̿?? `?@??ie@Ie\;eCY3ByIbDVDy<%@=ٔK9Q->9"?Y"?=EyDYE> Q 54 y!?Q 94 {) B_BYyA>Q I@ 5DI ';i #; g4y%Bɮ% A-E:iIUFNOT Ignoring new targets: 392.28 m."iUٸ*i]ٸe ProNav: ac range: 392.281677 m, nav range: 389.235474 m, bearing: 13.460819 deg, approach rate: -0.516882 m/s, LOS rate: -0.005950 deg/s, cmd heading: 13.429215 deg, new cmd heading: 13.424320 deg. im:.mHeadingCmd: 0.234299 target range: 392.281677 and range: 393.60 m.huo>hqhqhqhqgqgqjgyrgyeyreyZe:e*ec?)ɢ5W)1 5di1)5@19i=3i=o>EW=Eke=IEo>IAԡE?ER=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.298143 9@  @ @ 0@   checking for new query: numPingsReceived=0, elapsed TxPingTime=9.550632^Am Qf=Aq zAq )A.AIIO?W%,NLAbE 4jEr 4rE<0E EE%E "El;*E:VE 4ZE a@a@a@a@F@FX>F깽ٱF=FH`0(?%˿@?[?n15?_??iF@IF<\;DYRAByRIQiMb@Mb@Mb@ 9J +?~jt?~jtx?Y?yD=;@A )@Y=AbDVD8yM=%=ٔ:Q->9 ?Y ?=EyD E>Q 54ҏ!?Q 94y)a_BYC ?Q E:y>Q I@5DI:i:p4yɮm A:i FNOT Ignoring new targets: 392.28 m."i*i- ProNav: ac range: 392.281677 m, nav range: 388.960632 m, bearing: 13.458180 deg, approach rate: -0.531630 m/s, LOS rate: -0.005108 deg/s, cmd heading: 13.424320 deg, new cmd heading: 13.419039 deg. i-5HeadingCmd: 0.234206 target range: 392.281677 and range: 393.60 m.h5o>h1h1h1h1g1g9jg9rg=oBe9reAZeA:eA*eE?^BɢXO) `ii)cAi!io>%|=%`=Ieo>Iiԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.8028639@ @@70@B5>B5`CB5MIB5BB5 =B1B1B5>;B5c?Eԩ^A- Da= Aq Iy I O >iI II U f̦ٱf=fH(?#˿ V Z?? }| ?z?@?if@If-\;fCYrUByvIbD~VD~ǰ8y =% T=ٔ :Q- >9Y=EyD,9E>!Q 5-4%U!?Q 9-4%9x)%y_BY)y->Q I-@%6DI%P:i%:%w4y=Bɮ= A=E:iaeFNOT Ignoring new targets: 392.28 m."imk*imk} ProNav: ac range: 392.281677 m, nav range: 388.756012 m, bearing: 13.456211 deg, approach rate: -0.531926 m/s, LOS rate: -0.005120 deg/s, cmd heading: 13.419039 deg, new cmd heading: 13.415099 deg. i}HeadingCmd: 0.234138 target range: 392.281677 and range: 393.60 m.ho>hhhhggjgrgereZe:e*e@)ɢ=-dF)9 =i9)Ew$AAAiEI$iMo>Uj=U|a=IUo>IYE EE&E"E;*E:VE4ZEBE]Y 3v%,LAj@j`X>jTٱjw=jH )?h˿\1?+?4q??@?ij@Ij];hYdBy%IiMb@Mb@Mb@ 9K7?v/?:v?Y ?yxi=T<`@ A  A)YAbD`VD8y=%@=ٔ :Q->9"?Y"?=EyDE>1Q 5U4!?Q 9U4\v)_BYU ?Q EU:yU>Q I]@6DI/hhhhggjgrgBereZe:e*e2@2Acoustic response timeout_Bɢ>) V= I *o>I 9@ @@@5@aE% E%E!E!"E%%;*E%:VE!ZE!a-@a-@a-@a-@ԉ^A Jc=A >A  2Acoustic response timeoutAa Iq I O > S%,›LA2@2@X>2s>ٱ2 =2H`*?w˿d?(?@NV?u?`?i2@I20K];0Bb>B`BblIBbBBb =B`BbݺDBb&;BbI?EYkBy .IbDOVD8y-c=%-T=ٔ-:Q-->91Y1=5Ey5D=ܺE=>AQ 5M4EE!?Q 9M4Et)E_BYIyMƠ>Q IM@E 6DIEC:iE:E΅4y]Bɮ] AYuB*** querying acoustic contact ***iqiq:iFNOT Ignoring new targets: 392.28 m."i<*i<︝ ProNav: ac range: 392.281677 m, nav range: 388.321411 m, bearing: 13.451104 deg, approach rate: -0.557909 m/s, LOS rate: -0.006536 deg/s, cmd heading: 13.409719 deg, new cmd heading: 13.404879 deg. ic?HeadingCmd: 0.233959 target range: 392.281677 and range: 393.60 m.ho>hhhhggjgrgereZe:e*e@`Bɢ|Z:) E=._=Io>Iԑ9@ @@4@2Acoustic response timeout^AE5  E5 E5 #E1 "E5 ;*E5 k:VE5 3ZE1 BE5 A Ȭ%,LA6f@6@X>69ٱ6i=6HL*?˿4˯?`J?@cW`?m??i6f@I6 m];6CYByIIbD$VDΰ8y%=%%K=ٔ%;Q-->9)Y)=-Ey-D5:E5>9Q 5E4=!?Q 9E4=r)=_BYAyE>Q IM@=.6DI=:i=%:=ٌ4yUBɮUU AUEe2Acoustic response timeout:iFNOT Ignoring new targets: 392.28 m."i*i渝 ProNav: ac range: 392.281677 m, nav range: 388.105591 m, bearing: 13.448560 deg, approach rate: -0.534277 m/s, LOS rate: -0.006303 deg/s, cmd heading: 13.404880 deg, new cmd heading: 13.399788 deg. i8HeadingCmd: 0.233870 target range: 392.281677 and range: 393.60 m.h{o>hhhhggjgrgereZe:e*eM @aɢe'/)a e`=ii)m@iiim+i{o>l1=oa=I{o>IQ@Y @Y@e4@a^AMu \= BDAT read: Rx Time:04:13:12.9650  TRx dataTimestamp_ set to:1764907995.134761 2Acoustic response timeoutI A I I O >E=  E= E= %E9 "E= ;*E= ?:VE= 4ZE9 aM @aM @aM @aM @%,[zLA6w@6`X>6rٱ6;=6H`/*?˿^_ A??`Z Z?.?`\?i6w@I6];6C >YC)>I~A><\bfCbE~Aib#I``If Cifz@ fD9QYQ=]Ey]D]]:E]>aQ 5m4e-!?Q 9m4ep)e_BYm?Q Eu:yu>Q Iu@e=6DIe";iej;e4yyɮ} Ay:iFNOT Ignoring new targets: 392.28 m."i*i ProNav: ac range: 392.281677 m, nav range: 387.872955 m, bearing: 13.444731 deg, approach rate: -0.527546 m/s, LOS rate: -0.008687 deg/s, cmd heading: 13.399788 deg, new cmd heading: 13.392126 deg. i`~HeadingCmd: 0.233737 target range: 392.281677 and range: 393.60 m.hXo>hhhhggjgrgBereZe:e*e} @aBɢE*)  =i ) ӌ@ i -iXo>=b=IXo>IQu2Acoustic response timeout@ @@/@@=@=yAAAAB>BBIBBBBB޺DB;B8?E^A Jc=A) zA- xAԩ A} .AI I O >M DAT read: 04:13:12.9650 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 416, 0.18, 2.248, 0.576, 2.384, 1.801, PHS= 0.549,-1.180, 0.539, RAW= 149.7, 1.1, CAL= 148.6, 0.7, ROT= 1.4, -0.7 0ڹ%,RLAYgot valid direction response: 04:13:12.9650 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 416, 0.18, 2.248, 0.576, 2.384, 1.801, PHS= 0.549,-1.180, 0.539, RAW= 149.7, 1.1, CAL= 148.6, 0.7, ROT= 1.4, -0.7 PDAT read: Bearing 167.4, 6.3 (Local) ~Local bearing/azimuth received: Bearing 167.4, 6.3 (Local) DAT read: Range 11 to 50 : 391.6 m (Round-trip 522.2 ms) speed 0.4 m/s *DAT read: user:146> "BDAT read: Tx time:04:13:14.0386 "$Ping request sent.&j{:ٱjX=jHA*?̿ᮿ?`? \< ?@?ǭ?ij@IjK];jCY%By%nIE EE(E"E;*EZ:VEc44ZEBE]9E ?YE ?=EEyEDMA:EM>Q 54!?Q 94n) `BYy%>Q I@L6DIS:i:N4yBԩɮAEiIiMLAjM#C"jM#C:jMbp>"pM}W&bx@n[#@CQ {@pMϦ?,WE?I:?*jM+<2jM+H*pMoKMw@g0V@bgC@pM~u?pG|K?d,?jMB jMʼCiMKC?iMs~"jMBjIjMs~"jM] addTargetRange:: Added new target pos. range: 391.600006 m, deltaT: 4.031981 s, deltaX: -2.000000 m, approachRate: -0.496034 m/s, rangeRepo size: 4  Added new target pos. range: 390.279968 m, bearing: 13.478397 deg, lat: 36.779369 deg, lon: -121.859551 deg, deltaT: 4.031981 s, deltaX: -2.001709 m, approachRate: -0.496458 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 390.28 m."i*i ProNav: ac range: 390.279968 m, nav range: 387.731110 m, bearing: 13.497067 deg, approach rate: 0.000000 m/s, LOS rate: -0.008687 deg/s, cmd heading: 13.392126 deg, new cmd heading: 13.384151 deg. iHeadingCmd: 0.233598 target range: 390.279968 and range: 391.60 m.h/4o>hhhhggjgrgereZe:eyx@*ef?mcBɢmR!)q u\=iq)u@qqiu0i}/4o>}S=7d=I/4o>IE9@A @A@E5@A}Gߕ=ߕ</{AQ9/{AY,A ^AE Ba=1 A I I O >%,ULAY]By]gIiMb@Mb@Mb@ 9HzG?MbX9?9Y=EyDE>Q 5%4 "?Q 9-4ԉl)+`BY ?Q E:yD>Q I@Z6DI]hhhhggjgrgBereZe:e*e?5dBɢ5!)1 5x=i9)=j?99i=2iE o>Eb=Ebd=IE o>IIDD<E EE"E"E ;*Ek:VE(3ZEa@a@a@a@9@ @@/@Ա^Ac=I I O >B= >B9 B= IB= ՁBB9 B9 B9 B= ;B= ?E ǽ%, LA2@2@Z>2ٱ2,=2H1*?̿_쭿h?|?T^/? [??i2@I2^;2CY>ByB~IbDJVDJŰ8yR=%Re=ٔR];Q-V>9TYT=VEyV DZT;EZ>`Q 5j4bm"?Q 9j4bj)bE`BYpyr>Q Ir@bf6DIb;ib;b4y~Bɮ~%AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 390.28 m."ia)*ia) ProNav: ac range: 390.279968 m, nav range: 387.320618 m, bearing: 13.489821 deg, approach rate: -0.522132 m/s, LOS rate: -0.009255 deg/s, cmd heading: 13.376471 deg, new cmd heading: 13.369651 deg. iHeadingCmd: 0.233344 target range: 390.279968 and range: 391.60 m.hn>hhhhg g jg rg ereZe1:e1*e=Q?颅eBɢe) 4>i)S?顉iMV5in>=rtg=In>ImT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.9@ @@/@@@!E EE!E"E;*E:VEc3ZEBE0NA>I Ii Iy O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244103<ͽ%,n9LAJ;@JZ>JիٱJ_o=JH~)?(̿h] ? ?3m/t??@?iJ;@IJ_;JCYnBynIbDvVDv8y~P=%D=ٔ ;Q->9 Y = Ey )D e:E >Q 54*,"?Q 9%4h)d`BY!y%>Q I%@t6DIM;i;4y)ɮ-A1:iQ]FNOT Ignoring new targets: 390.28 m."i]:*i]:m ProNav: ac range: 390.279968 m, nav range: 387.097748 m, bearing: 13.485844 deg, approach rate: -0.571790 m/s, LOS rate: -0.010208 deg/s, cmd heading: 13.369651 deg, new cmd heading: 13.361694 deg. imsuHeadingCmd: 0.233206 target range: 390.279968 and range: 391.60 m.hupn>hqhqhyhygygyjgrgereZe:e*e:?颵fBɢ|B) !>i)>项i 7ipn>ה=5j=Ipn>IY@ @@/@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499843^Ah=IqIO>ԩ D zD E  E E %E "E l;*E $:VE 4ZE a @a @a @a @Խ%, SLA23@2[>2ٱ2=2H`(?=̿ Ь$??`iǁBy>I@i5Mb@Mb@Mb@1111 195 rh? ףp= ?Q?Y5C ?y5Q=5u<5@5v A 1)5@1Y5AbDM)VDMҰ8y]=%]D=ٔe;Q-e>9aYa=eEym1Dm:Em>qQ 5}4u>"?Q 9}4uf)u`BY5 ?Q E:y7>Q I@u6DIu;iu?;u+4yBɮ@AE:iFNOT Ignoring new targets: 390.28 m."iO*iO ProNav: ac range: 390.279968 m, nav range: 386.872467 m, bearing: 13.481141 deg, approach rate: -0.541508 m/s, LOS rate: -0.011312 deg/s, cmd heading: 13.361694 deg, new cmd heading: 13.352282 deg. iHeadingCmd: 0.233041 target range: 390.279968 and range: 391.60 m.h`n>hhhhggjgrgBereZe:e*e?gBɢ8[ ) @>i)k2>!!i%s:i%`n>-eǔ=-m=I-`n>I)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748602ԩ@ @@/@B>BBIBBB =BBB;B ?EB`CB`CBB =B =Cğ*5^Ah=IQIiOu>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000089Iڽ%,mLAF@F\>FWٱFP=FH'? c̿JlJ?x? u$?_??iF@IFH _;FCYRƁByVIbD^CVD^8yf4ܻ%fT=ٔjy:Q-j>9hYh=nElyn9DrE;Er>tQ 5z4vN"?Q 9z4vd)v`BYxyz>Q Iz@v6DIv:ivM;v4yɮJA:i)-FNOT Ignoring new targets: 390.28 m."i5Q*i5QE ProNav: ac range: 390.279968 m, nav range: 386.662903 m, bearing: 13.476726 deg, approach rate: -0.541864 m/s, LOS rate: -0.011422 deg/s, cmd heading: 13.352282 deg, new cmd heading: 13.343447 deg. iE9MHeadingCmd: 0.232887 target range: 390.279968 and range: 391.60 m.hMyn>hIhIhIhIgIgQjgQrgQEe EeEe'Ea"Ee~ ;*EeZ:VEe'4ZEaBEeV;>i)̜=顱i6?=zq=Iyn>Iu9@q @q@u/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2520001^Afm=AzAzAIIO>a %,;LA2p@2]>2ܧٱ2N=2H@&?@{̿@@xd?`?5}? V?`?i2p@I2x]_;2CY>ӁBy>Ii-Mb@Mb@Mb@)))) )9-(\? ףp= ?y&1?Y-?y)-`e<-@- A -3 AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504159I)))Y-\AbDUIVDU8ye {=%eA=ٔmS:Q-m>9iYi=mEymADuU:Eu>yQ 54}6`"?Q 94}vb)}`BY ?Q E:ym>Q I@}6DI}:i}I:}O4yBɮA:iFNOT Ignoring new targets: 390.28 m."iBS*iBS ProNav: ac range: 390.279968 m, nav range: 386.439972 m, bearing: 13.471850 deg, approach rate: -0.527495 m/s, LOS rate: -0.011544 deg/s, cmd heading: 13.343447 deg, new cmd heading: 13.333690 deg. iHeadingCmd: 0.232717 target range: 390.279968 and range: 391.60 m.hPMn>hhhhggjgrgBereZe:e*e@W@jBɢ%9)! %R>i!)%-=5at=I5PMn>I19@ @@@ibEjE 4rEA0E} E}E}$Ey"E}x;*E}v:VE}4ZEya@a@a@a@ԑ^A| u=I9IIOU> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758289 B >B B IB BB =B B ݺDB ч;B >E%,oLAV@V E^>VjٱV=VH %? ̿Kuy??`?m2?੯?iV@IV'_;VCYdyhbD~$VD~ΰ8y BX% P=ٔ F;Q- >9Y=EyID:E>!Q 5-4%p"?Q 9-4%g`)%`BY1y5>Q I5@%6DI%:i%;%/4y=Bɮ=AEEԱB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 390.28 m."i8L*i8L ProNav: ac range: 390.279968 m, nav range: 386.232239 m, bearing: 13.467281 deg, approach rate: -0.506995 m/s, LOS rate: -0.011159 deg/s, cmd heading: 13.333690 deg, new cmd heading: 13.324546 deg. i`HeadingCmd: 0.232557 target range: 390.279968 and range: 391.60 m.hz#n>hh h h g g jgrgereZe:e*e`@ElBɢE.)I MFN>iI)M:]=]v=I]z#n>IY9@ @@0@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012780Eu EqEqEq"Eu;*EqVEqZEqBEuD9  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264035\ %,@LAV @V^>VLXٱV=VH`%?3̿Y䪿݆? ?@e?I??iV @IV\_;VCYbׁBybIbDn5VDnݰ8yvM<%vM=ٔv&;Q-v>9xYx=zEyzQDzY:E~>Q 5 4C"?Q 9 4P^)`BY y >Q I @6DI:iu:'4yɮA:iAEFNOT Ignoring new targets: 390.28 m."iMK^*iMK^] ProNav: ac range: 390.279968 m, nav range: 386.021790 m, bearing: 13.462635 deg, approach rate: -0.549888 m/s, LOS rate: -0.012147 deg/s, cmd heading: 13.324546 deg, new cmd heading: 13.315249 deg. i]ֱeHeadingCmd: 0.232395 target range: 390.279968 and range: 391.60 m.hem>hahihihigigijgqrgqeqreqZeq:ey*e}ů @颥mBɢ) zT>i)T;顩iDim>=rx=Im>I-9@1 @1@=0@9ABDAT read: Rx Time:04:13:16.9760 TRx dataTimestamp_ set to:1764907999.174486checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520809^A-Hu=A5?A5?qA ؟AI I O >E  E E &E "E ;*E h:VE 4ZE a @a @a @a @ԙ >%,HLA2g @2`^>2Seٱ2 =2H)&?`ݑ̿@d)??u@R'?`#Y?@e?i2g @I2ʎ_;0YNہByRIi%Mb@Mb@Mb@!!!! !9%ˡE?333333?y&1|?Y%?y%=%`;!% A %A)%I@!Y%=AbD= VD=ʰ8yMN<%MD=ٔU;Q-U>9U"?YU"?=UEyUYD9E>Q 54e"?Q 945\) aBYL ?Q E:yY>Q I@6DI;i;4yBɮA:iFNOT Ignoring new targets: 390.28 m."it/*it/- ProNav: ac range: 390.279968 m, nav range: 385.793854 m, bearing: 13.458512 deg, approach rate: -0.529791 m/s, LOS rate: -0.009587 deg/s, cmd heading: 13.315249 deg, new cmd heading: 13.306999 deg. i-\5HeadingCmd: 0.232251 target range: 390.279968 and range: 391.60 m.h52m>h1h1h1h1g9g9jg9rg=BeAreAZeA:eA*eEZ @q}oBɢ}(k)y }TX>iy)}:顁itGi2m>J=4x=I2m>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.768082 @  @ @0@B>B_CB IBBB =BBB;B>Eԡ^Amw=i߁ I߅ A DAT read: 04:13:16.9760 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 190,-0.09, 2.448, 0.863, 2.719, 1.963, PHS= 0.587,-1.055, 0.711, RAW= 153.6, -2.9, CAL= 153.0, -4.1, ROT= 357.0, 4.1  Ygot valid direction response: 04:13:16.9760 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 190,-0.09, 2.448, 0.863, 2.719, 1.963, PHS= 0.587,-1.055, 0.711, RAW= 153.6, -2.9, CAL= 153.0, -4.1, ROT= 357.0, 4.1  PDAT read: Bearing 163.2, 0.9 (Local)  ~Local bearing/azimuth received: Bearing 163.2, 0.9 (Local)  DAT read: Range 11 to 50 : 399.9 m (Round-trip 533.3 ms) speed 0.4 m/s  BDAT read: Tx time:04:13:18.0386  $Ping request sent.  R#Rx 1: Read range and direction messages. `direction in FSK: [0.996074,-0.052202,-0.071497] :publishing transmit ping time  Fpublishing direction and range infoy  6?br79 MY C A I I! OM > ) LI E?i = 6? +@ 4QO *@ C) b@I C= &&0?_?޻F <'?) M=I QwVi C= u :publishing transmit ping time  Fpublishing direction and range infoy  6?br79 MY ) I i ) I &&0?_?޻F ) I i 2%,LA2@2 ^>2Fٱ2@;=2H s&?̿@uکF? ? ? _?`?i2@I2_;0YRByRIbDZTVDZ8yE=%EK=ٔMt(;Q-M>9IYI=MEyMbDU+ :EU>Ee EeEe%Ea"Ee ;*Ee^:VEe 4ZEaBEeLQ I@}6DI}G:i}:}4yɮMAiiV*LAjEC"jEC:j?2>"p_Ԗx@ 4x4;~<p6?br79 M*jQwV2jC=*pjuuYx@žgAQ@j?pxv3?0 +?xOC?j B jBCiأ?i:Bj[BjjjrjCzj#wp>E addTargetRange:: Added new target pos. range: 399.899994 m, deltaT: 4.036466 s, deltaX: 8.299988 m, approachRate: 2.056251 m/s, rangeRepo size: 4 u Added new target pos. range: 398.544647 m, bearing: 9.973410 deg, lat: 36.779369 deg, lon: -121.859551 deg, deltaT: 4.036466 s, deltaX: 8.264679 m, approachRate: 2.047504 m/s, posRepo size: 4 :iq}FNOT Ignoring new targets: 398.54 m."i}*iy ProNav: ac range: 398.544647 m, nav range: 385.585693 m, bearing: 13.454738 deg, approach rate: 0.000000 m/s, LOS rate: -0.009587 deg/s, cmd heading: 13.307000 deg, new cmd heading: 13.299143 deg. iHeadingCmd: 0.232114 target range: 398.544647 and range: 399.90 m.h?m>hhhhggjgrgereZe:e`fx@*e IF?UqBɢUEs)Y ]c>iY)] :YYi]$Jie?m>e9w=my=Im?m>I%9@! @!@%0@!1 ^Am w=A .AI I O >Q ?%,LAÝByIiMb@Mb@Mb@ 9sh|??Dl?Mb`Y ?yO=@ A zA)`@YpAbD^VD8y˽%B=ٔQ->9 ?Y ?=EyjDE>Q 54"?Q 94EX)5aBY ?Q E:y>Q I@6DI ;iP;4yBɮAE:i!-FNOT Ignoring new targets: 398.54 m."i-(*i-(= ProNav: ac range: 398.544647 m, nav range: 385.360931 m, bearing: 13.451038 deg, approach rate: -0.560121 m/s, LOS rate: -0.009226 deg/s, cmd heading: 13.299142 deg, new cmd heading: 13.291738 deg. i=EHeadingCmd: 0.231985 target range: 398.544647 and range: 399.90 m.hE_m>hAhAhAhIgIgIjgQrgUbBeQreQZeQ:eY*e]K?颅rBɢ) 5>i) ~9  i bLi_m>nk= z=I_m>I)De=DaEu EuEqEq"Eu;*Eu8:VEqZEqa@a@a@a@9@ @@45@Y^A Pz=ԁ B >B B  IB !BB B B B ;B >EAU ؟AIY Iq O} >F%,"LA,N9Nk_>N9ٱN=NH&?ܝ̿@c? M? tb?@N?@i?iN9INQ_;LYZByZI``bDbrVDb8yj=%n[=ٔn;Q-n>9r"?Yr"?=rEyrrDr0:Er>tQ 5z4v"?Q 9~4vyV)vGaBY|y~>Q I~@v6DIv;ivM;v[4yɮ^A :i)5FNOT Ignoring new targets: 398.54 m."i5"*i5"E ProNav: ac range: 398.544647 m, nav range: 385.160522 m, bearing: 13.447722 deg, approach rate: -0.538050 m/s, LOS rate: -0.008906 deg/s, cmd heading: 13.291739 deg, new cmd heading: 13.285104 deg. iEeMHeadingCmd: 0.231869 target range: 398.544647 and range: 399.90 m.hMom>hIhIhQhQgQgQjgYrgYeYreYZea:ea*ee`6?颍tBɢ9) tW>i)8顙iNiom>4a=>|=Iom>IM9@I @I@M0@IԉԹE} E}E}&Ey"E}=;*E}Ǚ:VE}4ZEyBE}}I M Wu>M C lG yA  9 yAY (Afn%,n2ٱ2=2HM&?`7̿D?}?`]?@zɽ? ^?i2s:I2j_;2CYNByRIbDZfVDZ 8\yb<%fL=ٔf6;Q-f>9hYh=jEyjzDj_:Ej>lQ 5r4n"?Q 9v4nT)nZaBYtyvA>Q Iv@n6DIn:in:n_4yzBɮz+A|B*** querying acoustic contact ***ii:i!%FNOT Ignoring new targets: 398.54 m."i-$*i-$5 ProNav: ac range: 398.544647 m, nav range: 384.944458 m, bearing: 13.444122 deg, approach rate: -0.537715 m/s, LOS rate: -0.008964 deg/s, cmd heading: 13.285104 deg, new cmd heading: 13.277900 deg. i>HeadingCmd: 0.231743 target range: 398.544647 and range: 399.90 m.hNm>hhhhggjgrgereZe:e*eDI?mvBɢm) ^>i)Z8顩i!QiNm>ZU=~=INm>I-9@) @)@-4@)}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.^Am |=A D zD AAE  E E E "E ;*E :VE ZE a @a @a @a @IA IQ Oe >5V%,JbVLA2а:2`>2ٱ2=2H &?@غ̿~b?G?.R۲??`_?i2а:I2_;2CY>By>Ii5Mb@Mb@Mb@1111 195K7?~jt?MbpY5 ?y5D=5153 A 5A)5I@1Y5AbDMWVDM8y]/=%]A=ٔe;Q-e>9aYa=eEymDm:Em>qQ 5}4ue"?Q 9}4uR)ulaBYG ?Q E:y>Q I@u7DIu3;iuH;u4yɮA:iFNOT Ignoring new targets: 398.54 m."iٸ*iٸ ProNav: ac range: 398.544647 m, nav range: 384.717346 m, bearing: 13.441611 deg, approach rate: -0.537505 m/s, LOS rate: -0.005947 deg/s, cmd heading: 13.277900 deg, new cmd heading: 13.272874 deg. i'.HeadingCmd: 0.231655 target range: 398.544647 and range: 399.90 m.h7m>hhhhggjgrgsBereZe:e*e?wBɢ ;) ln>i)U7!i%bzSi%7m>-SK=-Y"=I-7m>I)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756753@ @@/@B1A5<B=>B=^CB= IB=,BB9B9B=ܺDB=;B=>EQy^A5~=IIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009096ԡ {%, >pLA6:62`>6ٱ6=6H J'? ̿]?? ˚?`f?ȱ?i6:I6"#_;6CYBByBIbDJUVDJ8yR<%RW=ٔV*;Q-V>9TYT=ZEyZDZncEZ>\Q 5b4^"?Q 9b4^Q)^|aBYdyf>Q If@^7DI^:i^:^i4yjBɮjAjE:i|~FNOT Ignoring new targets: 398.54 m."iظ*iظ ProNav: ac range: 398.544647 m, nav range: 384.512909 m, bearing: 13.439358 deg, approach rate: -0.537287 m/s, LOS rate: -0.005924 deg/s, cmd heading: 13.272874 deg, new cmd heading: 13.268365 deg. iz-HeadingCmd: 0.231577 target range: 398.544647 and range: 399.90 m.hn"m>hhh!h!g!g!jg!rg)e)re)Ze):e)*e5;@EE EEEE%EA"EE=;*EE:VEE 4ZEABEAaM2EAaUJEE ;aU:EE ;aUy}xBɢ_) t>i)Y6顁i&Uin"m>#A=~=In"m>I9@ @@@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260424^APڀ=IyIOm > Fh"%,LA2w:2`>2hȒٱ2=2H@ (?̿t??U?e?&?i2w:I2^;0YNByRIEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512461i}Mb@Mb@Mb@yyyy y9}w/?Q?Y}?y}<}}@}A }MA)yyY}QAbDYVD8y<%;=ٔ ;Q->9Y=EyD/E>yQ 54} #?Q 94}WO)}aBY!?Q E:y>Q I@}+7DI}o:i}w:}y 4yBɮAE:iFNOT Ignoring new targets: 398.54 m."i Y*i Y ProNav: ac range: 398.544647 m, nav range: 384.270386 m, bearing: 13.437876 deg, approach rate: -0.485124 m/s, LOS rate: -0.002965 deg/s, cmd heading: 13.268365 deg, new cmd heading: 13.265400 deg. i HeadingCmd: 0.231525 target range: 398.544647 and range: 399.90 m.h m>h h hhggjgrggBereZe:e*e%@E EE&E"E[";*Eą:VE4ZEa @a @a @a @zBɢ<) x>i)85iXi%m>%O3=!I%m>I)@ @@/@9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764352PExceeded connect timeout, disconnecting.B1 B1 B1 B1 B1 B1 B1 B5 u;B5 >EB_CB_CBB =B =C5B5^A Pz=Ia Iy O >ԙ (%,LA2":2_>2:ٱ2Y=2H )?@̿@??حr#?C?w?i2":I24^;2CYVByZIbDb[VDb8yjɞ<%jX=ٔjI;Q-n>9lYl=nEynDr`Er>tQ 5z4v#?Q 9z4vN)vaBYxyz>Q I~@v77DIv;iv#;v4yBɮAE:i!-FNOT Ignoring new targets: 398.54 m."i5*i5E ProNav: ac range: 398.544647 m, nav range: 384.084015 m, bearing: 13.436746 deg, approach rate: -0.590179 m/s, LOS rate: -0.003581 deg/s, cmd heading: 13.265400 deg, new cmd heading: 13.263139 deg. iEѸMHeadingCmd: 0.231485 target range: 398.544647 and range: 399.90 m.hM m>hIhIhIhQgQgQjgQrgQeYreYZeY:eY*e]`i )4iqZi m>*=8}=I m>I!I@ @@@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.017100qE EE'E"E;*E:VE'4ZEBE`  BDAT read: Rx Time:04:13:20.9592  TRx dataTimestamp_ set to:1764908002.954873 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269579.%, ϽLAV9VP_>VBٱV~=VH)?`R̿O@Ԧ?@?@f?\3? ?iV9IVq^;VCYnBynIbDzoVDz8y% =%%F=ٔ%;Q-%>9)Y)=-Ey-D-#E5>1Q 5]45B.#?Q 9e45uL)5aBYayeŒ>Q Ie@5D7DI5G;i5k:54yiɮuAAqB*** querying acoustic contact ***ii:i)-FNOT Ignoring new targets: 398.54 m."i]5\*i]5\ ProNav: ac range: 398.544647 m, nav range: 383.867279 m, bearing: 13.435439 deg, approach rate: -0.498409 m/s, LOS rate: -0.003008 deg/s, cmd heading: 13.263139 deg, new cmd heading: 13.260523 deg. i*HeadingCmd: 0.231440 target range: 398.544647 and range: 399.90 m.hl>hhhhggjgrgereZeԱ:e*e  @m|Bɢռ) %w>i!)M3QQi]]il>]=}=Il>I19@9 @9@9@9]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520497 bE-4jEO4rEϚ/E  E E "E "E ;*E Z:VE (3ZE a @a @a @a @^A} 0=9 A I I O >Le6%,RLA2:2_>2ٱ2=2H*?̿@D??Z`?^Z?`|?i2:I2^;2CY> By>IiMb@Mb@Mb@ 9J +?y&1?~jtx?Y?y`<;@ A)@nManaging dock network, ignoring radio surface power offY\@bD%[VD%8=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772678y=h<%E3=ٔE;Q-E>9AYI=MEyMDԑY9E>Q 54B#?Q 94J)aBBm>BiBm( IBm6BBm =BiBiBm`;Bmu>EY%?Q E:y >Q I@U7DIu*=i$)="#4yUBɮ]AY:iFNOT Ignoring new targets: 398.54 m."i ;*i ;= ProNav: ac range: 398.544647 m, nav range: 383.615356 m, bearing: 13.434126 deg, approach rate: -0.490045 m/s, LOS rate: -0.002555 deg/s, cmd heading: 13.260523 deg, new cmd heading: 13.257896 deg. i=EHeadingCmd: 0.231394 target range: 398.544647 and range: 399.90 m.hEl>hAhAhIhIgIgIjgIrgQeQreQZeQ:eQ*e]@颥~BɢK׼) >i)2顩i_il>K=D~=ԹIl>Iq@q @q@q@q- DAT read: 04:13:20.9592 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 164, 0.17,-1.497,-3.059,-1.285,-1.990, PHS= 0.596,-1.023, 0.661, RAW= 152.0, -2.9, CAL= 151.3, -3.9, ROT= 358.7, 3.9 5 Ygot valid direction response: 04:13:20.9592 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 164, 0.17,-1.497,-3.059,-1.285,-1.990, PHS= 0.596,-1.023, 0.661, RAW= 152.0, -2.9, CAL= 151.3, -3.9, ROT= 358.7, 3.9 E PDAT read: Bearing 163.5, 2.0 (Local) M ~Local bearing/azimuth received: Bearing 163.5, 2.0 (Local) ] DAT read: Range 11 to 50 : 387.3 m (Round-trip 516.5 ms) speed 0.4 m/s e *DAT read: user:148> m BDAT read: Tx time:04:13:22.0386 u $Ping request sent.u =%,LABL:B_>B_ٱBCf=BH@*?@%̿`{?@p? @t? N??iBL:IBc^;BCY^By^ ItbD~JVD~8y=% >=ٔ-:Q-->95 ?Y5 ?=5Ey5D=9E=>9Q 5M4=T#?Q 9m4="I)=aBYiym>Q Iu@=c7DI=;i=;=o*4y}Bɮ}A}Eii2wLAjC"jC:jMQ>"pۗ- addTargetRange:: Added new target pos. range: 387.299988 m, deltaT: 4.035941 s, deltaX: -12.600006 m, approachRate: -3.121950 m/s, rangeRepo size: 4 = Added new target pos. range: 385.980804 m, bearing: 11.711196 deg, lat: 36.779374 deg, lon: -121.859555 deg, deltaT: 4.035941 s, deltaX: -12.563843 m, approachRate: -3.112990 m/s, posRepo size: 4 :i9=FNOT Ignoring new targets: 385.98 m."ie*iau ProNav: ac range: 385.980804 m, nav range: 383.846313 m, bearing: 13.356813 deg, approach rate: 0.000000 m/s, LOS rate: -0.002555 deg/s, cmd heading: 13.257896 deg, new cmd heading: 13.256001 deg. iq}HeadingCmd: 0.231361 target range: 385.980804 and range: 387.30 m.h}l>hyhyhyhyggjgrgereZe:e4x@*e`3N?ɢʮ)! %؝>i!)%1!!i%?bi-l>- =-Գ~=I5l>I1!@ @@@I^A|=q A ؟AI I) OE >C%,~LA2Y:2X`>2=ٱ2c=2H)? ̿`KR?@V?`}Od? ƾ??i2Y:I2^;0Y>#By> Ii-Mb@Mb@Mb@)))) )9-v/?9e"?Ye"?=eEyeDmft:Em>qQ 5}4uf#?Q 9}4uG)uaBY} ?Q E}:y}L>Q I@uq7DIu;iu;u14yɮUA:iFNOT Ignoring new targets: 385.98 m."i*i ProNav: ac range: 385.980804 m, nav range: 383.627747 m, bearing: 13.355158 deg, approach rate: -0.557751 m/s, LOS rate: -0.004226 deg/s, cmd heading: 13.256001 deg, new cmd heading: 13.252689 deg. izHeadingCmd: 0.231303 target range: 385.980804 and range: 387.30 m.hl>hhhhggjgrgBereZe:e*eT?E] E]E]%EY"E] ;*E] :VE] 4ZEYae@ae@ae@ae@Bɢ]) >i)0顙idil>2='=Il>IIyA)i@i @i@m/@i@u=@u=ԑBYBYB]: IB]EBB] =BYBYB]O;B]e>EԱ^AX= A I I O% >2J%,[*LA2::21`>2@ٱ2=2H@i*? =̿ݣ`?z?l.?پ? ?i2::I2Nm^;0Y>)By> I @@bDJVDJ8yR<%RV=ٔR, ;Q-R>9TYT=VEyVDZ˹EZ>\Q 5b4^w#?Q 9b4^F)^bBY`yb7>Q If@^~7DI^;i^n;^884yjBɮjAh:i FNOT Ignoring new targets: 385.98 m."i1*i15 ProNav: ac range: 385.980804 m, nav range: 383.424072 m, bearing: 13.353619 deg, approach rate: -0.531930 m/s, LOS rate: -0.004021 deg/s, cmd heading: 13.252689 deg, new cmd heading: 13.249610 deg. i5븝=HeadingCmd: 0.231249 target range: 385.980804 and range: 387.30 m.hEl>hAhAhAhAgIgIjgIrgQeQreQZeY:eY*ee_?Թ=Bɢ==)9 =Ҩ>i9)E/AAiEgiMl>M=M.=IMl>IQ 9@  @ @ /@ Eu EuEu!Eq"Eu ;*Eu՚:VEuc3ZEqBEuOA Q%,e5DLA2W@:29_>2zٱ2 =2H0+?ё̿(`J??5# ?1??i2W@:I2^;0Y>@By>5 IbDFVDF8yN=%RJ=ٔR:Q-V>9\Y\=bEyfDjd4Ej>lQ 5r4n#?Q 9r4niD)nbBYpyr>Q Iv@n7DIn;inY;nY?4yxɮzeAxB*** querying acoustic contact ***ii:ii}FNOT Ignoring new targets: 385.98 m."i*i- ProNav: ac range: 385.980804 m, nav range: 383.205597 m, bearing: 13.351976 deg, approach rate: -0.486317 m/s, LOS rate: -0.003659 deg/s, cmd heading: 13.249610 deg, new cmd heading: 13.246322 deg. iMMָUHeadingCmd: 0.231192 target range: 385.980804 and range: 387.30 m.hUl>hQhYhYhYgYgYjgargaeareaZea:ei*emew?Bɢ疼) m>i)%Y.is jil>=-5~=I-l>I)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.A@ @@@Eu EuEu(Eq"Eu;*Eu:VEuc44ZEqa}@a}@a}@a@ԁ^A ԙ A I! I9 OU >++W%,A^LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7466816b:6~ `>6Qٱ6{=6Hv+?@̿?9?~ΰ?@ ??i6b:I6e*^;6CYBJByB@ IB>BBS IBYBBBBB<;BP>Ei-Mb@Mb@Mb@)))) )9-Q?)\(?I +?Y-?y-Ga=-9<-I@-A -7A)-@)Y-@bDmVDm8y%'=%%4=ٔ- ;Q-5>9YYY=]Ey]D]9E]>aQ 5m4e1#?Q 9m4emBq)e3bBYQ E:yԡ>Q I@e7DIeq;ie;eLG4yBɮAE:iFNOT Ignoring new targets: 385.98 m."i *i ProNav: ac range: 385.980804 m, nav range: 382.963287 m, bearing: 13.348959 deg, approach rate: -0.577650 m/s, LOS rate: -0.007197 deg/s, cmd heading: 13.246322 deg, new cmd heading: 13.240284 deg. i%R%HeadingCmd: 0.231087 target range: 385.980804 and range: 387.30 m.h%l>h)h)h)h)g)gIjgQrgUBeQreQZeY:eY*e]?%Bɢ%|)muܼ m>ii)m -iiimliul>u(ܓ=}=I}l>IyR>i>ԡ9@! @!@%0@!@-yA@-xAiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.000002^Aa E  E E &E "E l;*E :VE 4ZE BE ZF 9 {AY A]%,zLA2at:2`>2 섽ٱ2=2H+? ̿ z?`??`|??i2at:I2^;2CY>XByBR IbDj޿VDj8yr=%rJ=ٔv:Q-v>9tYx=zEyzDz59Ez>|Q 54~K#?Q 94~@)~MbBY y ۡ>Q I @~7DI~ :i~~:~GN4yɮA:i9EFNOT Ignoring new targets: 385.98 m."iEY*iEY] ProNav: ac range: 385.980804 m, nav range: 382.750519 m, bearing: 13.346305 deg, approach rate: -0.543715 m/s, LOS rate: -0.006785 deg/s, cmd heading: 13.240284 deg, new cmd heading: 13.234974 deg. i]F]HeadingCmd: 0.230994 target range: 385.980804 and range: 387.30 m.hel>hahahahagagajgirgieireqZeq:eq*eu @ԉ颥Bɢ=) >i) +顩iGoil>ӓ=x=Il>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252053A@I @I@M0@QԹ^A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502659A I I O > >d%,&VLAD~=D~4=E EE%E"Ef;*E5:VE 4ZEa @a @a @a @Y\ByW IiMb@Mb@Mb@ 9E?x&?/$?Y?y7=<3@A A)Y@bDVD8y<%>=ٔQ->9Y=EyDE]>YQ 5e4]#?Q 9e4]>)]jbBYm?Q Em:ymX>Q Im@]7DI]:i]:]V4y}Bɮ}xA}E:iFNOT Ignoring new targets: 385.98 m."i)*i) ProNav: ac range: 385.980804 m, nav range: 382.516022 m, bearing: 13.342512 deg, approach rate: -0.523844 m/s, LOS rate: -0.008478 deg/s, cmd heading: 13.234974 deg, new cmd heading: 13.227383 deg. iBxHeadingCmd: 0.230861 target range: 385.980804 and range: 387.30 m.hfl>hhhhggjgrgBereZe:e*e @BɢX^c) >i) H*  i Drifl>Ǔ=z%=Ifl>I9@ @@0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754777)B>BBy IBxBB =BBB';B8>EQ^AA I I O >ԁ k%,6LA2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006646B@:Bda>BOٱB=BH*?̿$w??`% O?2;?` ?iB@:IB];@YNkByNi IbDVVDV8y^=%b\=ٔbI;Q-b>9`Yd=fEyfDf;Ef>hQ 5n4j#?Q 9r4j<)jbBYpyrǮ>Q Ir@j7DIj;ij;jI\4ytɮvAx:iFNOT Ignoring new targets: 385.98 m."i*i%- ProNav: ac range: 385.980804 m, nav range: 382.330597 m, bearing: 13.339485 deg, approach rate: -0.524099 m/s, LOS rate: -0.008558 deg/s, cmd heading: 13.227383 deg, new cmd heading: 13.221327 deg. i-z5HeadingCmd: 0.230756 target range: 385.980804 and range: 387.30 m.h58Kl>h9h9h9h9g9g9jgArgAeAreAZeI:eI*eMm@5Bɢ5 )9 =I>i9)=(99i=tiE8Kl>E"=E=IM8Kl>IIQE EEE"E;*E1:VEZEBEm_+s%,LA$6';6Ua>6eٱ6[E=6H)?@̿4`8??Q`)??+?i6';I6C];6CYVuByVv I checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510693iEMb@Mb@Mb@AAAA A9E(\?+η?~jt?YE?yEv=E9Y=EyD9:E>Q 54#?Q 94:)bBY ?Q E:y>Q I@7DI:i:e4yUBɮ]AYuB*** querying acoustic contact ***yiqiq:iFNOT Ignoring new targets: 385.98 m."iY*iY5 ProNav: ac range: 385.980804 m, nav range: 382.042694 m, bearing: 13.332705 deg, approach rate: -0.505048 m/s, LOS rate: -0.011904 deg/s, cmd heading: 13.221327 deg, new cmd heading: 13.207756 deg. i=G=HeadingCmd: 0.230519 target range: 385.980804 and range: 387.30 m.h= l>hAhAhAhAgAgAjgIrgMBeIreIZe:e*e& @E EE&E"E*En:VE4ZEa@a@a@a@Bɢc) >i)&顉ixi l>=-q=I l>Iԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.764585Ai Ai B >B B IB BB B B B ;B $>EB^CB^CBB =B =CQ:5 ߼A @A  @A @E /@A  ^A-S=)DAT read: 04:13:24.9565 LVL= 26672, 29761, 26850, 32755, AGC= 72, IDX= 409, 0.43,-0.379,-2.010,-0.221,-0.761, PHS= 0.483,-1.205, 0.496, RAW= 150.4, 2.7, CAL= 149.4, 2.5, ROT= 0.6, -2.5 Ygot valid direction response: 04:13:24.9565 LVL= 26672, 29761, 26850, 32755, AGC= 72, IDX= 409, 0.43,-0.379,-2.010,-0.221,-0.761, PHS= 0.483,-1.205, 0.496, RAW= 150.4, 2.7, CAL= 149.4, 2.5, ROT= 0.6, -2.5 PDAT read: Bearing 170.0, 4.3 (Local) ~Local bearing/azimuth received: Bearing 170.0, 4.3 (Local) -DAT read: Range 11 to 50 : 385.2 m (Round-trip 513.7 ms) speed 0.5 m/s M*DAT read: user:149> UBDAT read: Tx time:04:13:26.0386 U$Ping request sent.Uimq=m>m'@mA=m&@ m¸2=)m+D?jXDr*?ߞ? m?)m?@Im+D?jXDr*?ߞ? i)iIiiiiiA=.AIAIQO?|%,zLA@;cPc>Q}ٱ=H'?h̿: ?G?07?~??i;I];CEM EMEM$EI"EM ;*EM:VEM4ZEIBEMuT9 ?Y ?=EyD%;E>Q 54#?Q 946)bBYy>Q I@7DIi;i;p4y!ɮ%]A%Ei!i%ILAj%C"j%C:j%xh>"p%w@ *@RN0@p%?kvm?GU?*j%+<2j%¸2*p%f>w@@c~U@t6iD@p%X2>?!(?> 9?j%B j%Ci% Zi?i%aj%#Bj% Zi?j%aj!rj%ھCzj%h> addTargetRange:: Added new target pos. range: 385.200012 m, deltaT: 4.032110 s, deltaX: -2.099976 m, approachRate: -0.520813 m/s, rangeRepo size: 4  Added new target pos. range: 383.885162 m, bearing: 13.016804 deg, lat: 36.779378 deg, lon: -121.859578 deg, deltaT: 4.032110 s, deltaX: -2.095642 m, approachRate: -0.519738 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 383.89 m."i*i ProNav: ac range: 383.885162 m, nav range: 381.708099 m, bearing: 13.016241 deg, approach rate: 0.000000 m/s, LOS rate: -0.011904 deg/s, cmd heading: 13.207755 deg, new cmd heading: 13.193932 deg. i%HeadingCmd: 0.230278 target range: 383.885162 and range: 385.20 m.h%k>h!h!h!h!g)g)jg)rg)e1reQZeQ:e]@3x@*e]` ?颥Bɢ+O) f>i)w$顩ib|Աik> =a=Ik>IIxA)@ @@4@1 ^A W^=Y AM؟AIQIaOu??%,)LA2U;2d>2ryٱ2A=2H %? ͿcJ??@@T)?@ޗ? ?i2U;I2>^;0bE 4jE 4rE- 0E9 E=E9E9"E9*E=Ǚ:VE9ZE9aM@aM@aM@aM@YeBye IiEMb@Mb@Mb@AAAA A9EˡE?A`"?9}"?Y}"?=}Ey}D};E}>Q 54F$?Q 943)bBY ?Q E:y>Q I@7DIw:i:y4yBɮA:iFNOT Ignoring new targets: 383.89 m."i*i ProNav: ac range: 383.885162 m, nav range: 381.412781 m, bearing: 13.007763 deg, approach rate: -0.544154 m/s, LOS rate: -0.015634 deg/s, cmd heading: 13.193932 deg, new cmd heading: 13.176963 deg. i九HeadingCmd: 0.229981 target range: 383.885162 and range: 385.20 m.h>k>hhhhggjgrgBereZe:eA*eĠ?B>B]CB IBBB =BBB ;B>EmBɢ֘E) >i)`."顙ii>k>=B=I>k>IiE9@I @I@M15@Iԙ ^A- b$= I)I9OE> %,2LA2;2e>2Ѵtٱ2J=2H$?/Ϳ 㟿r? ??R?@?i2;I2^;2C :fC):5~A:8<<>5~Ai>'I<9lYl=nEynDr.V;Er>tQ 5z4v%$?Q 9z4v1)v cBYxy~>Q I~@v 8DIvQ;iv^;v4yɮA :iFNOT Ignoring new targets: 383.89 m."iv*iv ProNav: ac range: 383.885162 m, nav range: 381.210846 m, bearing: 13.001919 deg, approach rate: -0.496160 m/s, LOS rate: -0.014367 deg/s, cmd heading: 13.176963 deg, new cmd heading: 13.165269 deg. iWҹEU EUEU(EQ"EU;*EU5:VEUc44ZEQBEU]hihqhqhqgqgqjgyrgyeyreyZey:e*e q$?ԩBɢ) A>i) iHkiJk>͜=rk=IJk>I 9@ @@/@^AW= I I O >1 %,LLAY%By% IiMb@Mb@Mb@ 9Q?EԸ?I +?Y?y=94<3@MA )@Y@bD!VD˰8y$;%.=ٔQ->9Y=Ey#DE>Q 548$?Q 94.)&cBY8 ?Q E:yN>Q I@8DI:i:ň4 y Bɮ  AE:i1=FNOT Ignoring new targets: 383.89 m."i=*i=M ProNav: ac range: 383.885162 m, nav range: 380.960144 m, bearing: 12.995288 deg, approach rate: -0.562017 m/s, LOS rate: -0.014873 deg/s, cmd heading: 13.165269 deg, new cmd heading: 13.152000 deg. iMٹUHeadingCmd: 0.229546 target range: 383.885162 and range: 385.20 m.hUk>hQhQhYhYgYgYjgYrgeBeareZe:e*e 2W?UBɢUuԻ)Q U>iQ)] YYi]1ik>=Ik>IEe EeEe%Ea"Ee%;*Ee:VEe 4ZEaau@au@au@au@19@9 @9@=&4@9@A@Ep=q B A <B >B B IB BB =B B B ;B >E^Ae p,=Ai zAm uAI I O >.%,fLA Y]By] IbDm VDm8y}XJ=%d=ٔQ->9Y=Ey*DE>Q 54G$?Q 94,):cBYyQ I@(8DIb;io;4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 383.89 m."i.*i. ProNav: ac range: 383.885162 m, nav range: 380.769196 m, bearing: 12.990233 deg, approach rate: -0.532948 m/s, LOS rate: -0.014117 deg/s, cmd heading: 13.152001 deg, new cmd heading: 13.141885 deg. iιHeadingCmd: 0.229369 target range: 383.885162 and range: 385.20 m.hj>hhhhggjgrgere Ze :e *e ?]Bɢ]&8)a e?ia)e8aaieuSimj>m=mE=Iuj>Iqq)@) @)@-/@)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԙ^AM=E} E}E}'Ey"E} ;*E}M:VE}'4ZEyBE}L %,#gLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.238722P%H<%;k>%F^ٱ%)=%H`?@Ϳz ')?@?``ګ??h?i%H9iYi=mEym2Duf<Eu>yQ 54}X$?Q 94}*)}PcBYy>Q I@}68DI}:i}:} 4yBɮAE:iFNOT Ignoring new targets: 383.89 m."i*i ProNav: ac range: 383.885162 m, nav range: 380.555542 m, bearing: 12.984388 deg, approach rate: -0.533455 m/s, LOS rate: -0.014602 deg/s, cmd heading: 13.141884 deg, new cmd heading: 13.130188 deg. iչHeadingCmd: 0.229165 target range: 383.885162 and range: 385.20 m.h;j>hhhhggjgrgereZe:e*e`Ӝ@颽Bɢ0) ">i)uiBi;j>~=澖=I;j>I9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490513^Ap,=I I! O- >! E  E E &E "E ;*E :VE 4ZE a @a @a @a @@%,9LA|YBy IiMb@Mb@Mb@ 9E?Mb?~jt?Y?y=D<@A ~A)@Y@bDVD8yw<%D=ٔQ->9Y=Ey;DE>Q 54i$?Q 94_()fcBY?Q E:y>Q I@D8DI:i:Q4yɮA:i1=FNOT Ignoring new targets: 383.89 m."iEk*iEkU ProNav: ac range: 383.885162 m, nav range: 380.337555 m, bearing: 12.978511 deg, approach rate: -0.520264 m/s, LOS rate: -0.014034 deg/s, cmd heading: 13.130187 deg, new cmd heading: 13.118427 deg. i]y͹]HeadingCmd: 0.228960 target range: 383.885162 and range: 385.20 m.heltj>hahahahagagajgirgmBeireiZeq:eq*eu~@颥Bɢ@-) ?i)E8顩iiltj>=@=Iltj>IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.743905ByByB} IB}ɂBByByB}ۺDB};B}=E) 9@  @ @ @ @xA@zAQ^A- =A5 >A5 >I I O >ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994507Wl%,PLA2NOW<2ۜl>2Xٱ2=2H`!?Ϳ`sڗ@E?`?@?`?&?i2NOW9hYh=jEyjBDnv;En>pQ 5v4r7y$?Q 9v4rS&)rycBYtyv%>Q Iz@rQ8DIre:ir:rң4YyqɮuAq:iFNOT Ignoring new targets: 383.89 m."iV{*iV{ ProNav: ac range: 383.885162 m, nav range: 380.142670 m, bearing: 12.973225 deg, approach rate: -0.506078 m/s, LOS rate: -0.013734 deg/s, cmd heading: 13.118427 deg, new cmd heading: 13.107849 deg. iɹHeadingCmd: 0.228775 target range: 383.885162 and range: 385.20 m.hDj>hhhhggjgrgereZe:e*e@& @Bɢ\) e?i)Ği\i Dj> ]= =I Dj>I!E= E=E='E9"E=~ ;*E=M:VE='4ZE9BE=V V%,LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.498607ԱYBy IiMb@Mb@Mb@ 9!rh?~jt?y&1|?Yl?y=`;@MA @)Y@bDVD8yT%-=ٔQ->9 ?Y ?=EyLDE>Q 54$?Q 94#)cBY?Q E:y=>Q I@a8DI:i: 4yɮA:i)-FNOT Ignoring new targets: 383.89 m."i5[*i5[E ProNav: ac range: 383.885162 m, nav range: 379.894440 m, bearing: 12.967754 deg, approach rate: -0.544994 m/s, LOS rate: -0.012021 deg/s, cmd heading: 13.107849 deg, new cmd heading: 13.096899 deg. iEMHeadingCmd: 0.228584 target range: 383.885162 and range: 385.20 m.hMj>hIhIhIhIgQgQjgQrgUBeYreYZeY:eY*e]` @ Bɢ hՋ)  >i ) iTЉij>Қ==Ij>IAD9zD=@AEM EMEIEI"EM=;*EM?:VEIZEIa]@a]@a]@a]@9@ @@/@ Aq Aq B B B B B =B B B ;B =E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753284^A =9 A ؟AI I O >p߹%,hLA2*<2o>2KCٱ2fk=2H?@&ο `@V?? Gi q? ,Ѿ?@?i2*By> I F9r"?Yr"?=rEyrSDv(;Ev>tQ 5~4v$?Q 9~4v")vcBY|y~w>Q I~@vm8DIv :iv:vg4y Bɮ A E%B*** querying acoustic contact ***i!i!:i1=FNOT Ignoring new targets: 383.89 m."i=X*i=XM ProNav: ac range: 383.885162 m, nav range: 379.702850 m, bearing: 12.963455 deg, approach rate: -0.525957 m/s, LOS rate: -0.011807 deg/s, cmd heading: 13.096899 deg, new cmd heading: 13.088297 deg. iMެQmHeadingCmd: 0.228434 target range: 383.885162 and range: 385.20 m.hmi>hqhqhqhqgygyjgyrgereZe:e*eȥ@Bɢ8) ?i)<iii>==Ii>Ii@i @i@m0@i-DAT read: 04:13:28.9821 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 191,-0.29, 0.316,-1.307, 0.549,-0.122, PHS= 0.540,-1.140, 0.627, RAW= 152.5, -0.3, CAL= 151.4, -1.2, ROT= 358.6, 1.2 =Ygot valid direction response: 04:13:28.9821 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 191,-0.29, 0.316,-1.307, 0.549,-0.122, PHS= 0.540,-1.140, 0.627, RAW= 152.5, -0.3, CAL= 151.4, -1.2, ROT= 358.6, 1.2 EPDAT read: Bearing 167.1, 0.9 (Local) E~Local bearing/azimuth received: Bearing 167.1, 0.9 (Local) MDAT read: Range 11 to 50 : 404.4 m (Round-trip 539.3 ms) speed 0.0 m/s UBDAT read: Tx time:04:13:30.0402 U$Ping request sent.] eR#Rx 1: Read range and direction messages.m`direction in FSK: [0.999482,-0.024427,-0.020942]m:publishing transmit ping timeQmFpublishing direction and range infoy/?I_2qY3C )IIq= ?i둿 ?X*@)@ y)G@I<6C?]1?,v 9?)#Q;I*ȼi<:publishing transmit ping timeQFpublishing direction and range infoy/?I_2qY )Ii )I6C?]1?,v )IiE EE&E"E*E:VE4ZEBE}I ]%,8/LA2I<2Lo>2;ٱ2=2H?02οn ̱??`Ow?`? ?i2IBy> IbDFVDF8yNo!<%fO=ٔf:;Q-j>9hYh=jEyj[Dn;En>pQ 5v4r$?Q 9v4r )rcBYtyz>Q Iz@r{8DIr:ir:ri4y|ɮ~wA|i!i%tLAj%C"j%C:j%/Y>"p%k,y@l-O#ga^ p%/?I_2q*j%*ȼ2j%<*p%ܴޅx@ bAU@6V!@p%] E?xKr?h?j%B j%Ci%cQ?i%cj%qBj%{?j%cj%qBrj%Czj%d>M addTargetRange:: Added new target pos. range: 404.399994 m, deltaT: 4.032298 s, deltaX: 19.199982 m, approachRate: 4.761549 m/s, rangeRepo size: 4 m Added new target pos. range: 403.017914 m, bearing: 12.182912 deg, lat: 36.779414 deg, lon: -121.859579 deg, deltaT: 4.032298 s, deltaX: 19.132751 m, approachRate: 4.744875 m/s, posRepo size: 4 :iimFNOT Ignoring new targets: 403.02 m."iu*iq ProNav: ac range: 403.017914 m, nav range: 383.409393 m, bearing: 12.812551 deg, approach rate: 0.000000 m/s, LOS rate: -0.011807 deg/s, cmd heading: 13.088297 deg, new cmd heading: 13.078742 deg. iHeadingCmd: 0.228267 target range: 403.017914 and range: 404.40 m.hھi>hhhhggjgrgereZe:e`fFy@*e ?ԹBɢc) '?i)i\+iھi>ã=h=Iھi>IQ@Q @Q@]O0@Y^A5=Aa Iq I O >E  E E )E "E %;*E k:VE FA4ZE a @a @a @a @9 ƾ%, LA6<6q>6U4ٱ6F=6H`n?yJοג`U??;~? D??i69Y=EydD;E>B]>BYBYBYBYBYBYB]׆;B]=EB%]CB%]CB!B% =B% =C%}[4}>}?@Q 54$?Q 94)cBYn ?Q E:y6>Q I@8DIhihqhqhqgqgqjgyrg}BeyreyZey:e*eb?颍Bɢpv]) >i)顑iiii>==)͟=Ii>IAY@Y @Y@]/@Yq^A =A >A ԩ A .AI I O >Y;%,7LA>h<>q>>,ٱ>=>H?\οA??*`?1?@?i>h8g;9^ ?Yb ?=bEyblDb;Eb>dEv EvEv(Et"Evx;*EvB:VEvc44ZEtBEvCgQ I@f8DIf ;if;f4y ɮ jA:i9=FNOT Ignoring new targets: 403.02 m."iE0*iE0U ProNav: ac range: 403.017914 m, nav range: 382.971680 m, bearing: 12.805113 deg, approach rate: -0.565421 m/s, LOS rate: -0.009653 deg/s, cmd heading: 13.070845 deg, new cmd heading: 13.063858 deg. i]U]HeadingCmd: 0.228007 target range: 403.017914 and range: 404.40 m.h]zi>hahahahagagajgirgieireiZeq:eq*eu][?额Bɢ@;) ?i)9顡iooizi>ϰ=M=Izi>IV>i>iE9@A @I@M@5@Iԙ^Ami=A ؟AI I O > AԾ%,QLAi,I.ARR:Q%ٱR=RH?_ο2~?? ?@Ç?о?iR9M"?YM"?=EytDA:E>Q 54a$?Q 94()cBQ A+:YQ E:yƬ>Q I@8DI:i>4yBɮNAE:iFNOT Ignoring new targets: 403.02 m."i[)*i[)  ProNav: ac range: 403.017914 m, nav range: 382.740936 m, bearing: 12.801160 deg, approach rate: -0.539866 m/s, LOS rate: -0.009254 deg/s, cmd heading: 13.063859 deg, new cmd heading: 13.055948 deg. i |HeadingCmd: 0.227869 target range: 403.017914 and range: 404.40 m.hVi>hhhhggjg!rg!e!re!Ze!:e)*e-@l0?UBɢU)Y ]?iY)]tYYi]ieVi>e=e4=ImVi>IibEuÀ'4jEu$4rEu8/E EE%E"E;*E:VE 4ZEa@a@a@a@@ @@?5@ B>BB IBĂBBBBB;B=E^A-L=! AY Ia Iq O >fھ%,ßkLABnB9ٱB=BH@?@Pο@񗃿e?? uſţ?@K?I?iBn9Y = Ey |D v*E>Q 5-4$?Q 954_)cBQ A5 :Y1Q E=:y=>Q I=@8DIxL;i=R?N4yIɮIIuB*** querying acoustic contact ***iqiq:iFNOT Ignoring new targets: 403.02 m."i$*i$ ProNav: ac range: 403.017914 m, nav range: 382.536957 m, bearing: 12.797669 deg, approach rate: -0.525144 m/s, LOS rate: -0.008993 deg/s, cmd heading: 13.055948 deg, new cmd heading: 13.048962 deg. iHeadingCmd: 0.227747 target range: 403.017914 and range: 404.40 m.h6i>hhhhggjgrgereZe:e*eh?ɢ :) ?i) ii6i>p=3=I6i>IQ}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.M9@I @I@M.5@IyE EEE"Ea;*E:VEZEBEh% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257649O%,LA@J8J]ٱJ=JH`Z?@Uο1??ཅʢ?'?`h?iJ89lYt=vEyvDv:Ez>xQ 5~4z%?Q 94z)zcBQ A9YQ ER:yڬ>Q I@z8DIz;iz?z4yɮA:i9EFNOT Ignoring new targets: 403.02 m."iE)*iE)U ProNav: ac range: 403.017914 m, nav range: 382.324127 m, bearing: 12.794010 deg, approach rate: -0.538617 m/s, LOS rate: -0.009265 deg/s, cmd heading: 13.048962 deg, new cmd heading: 13.041640 deg. iUHeadingCmd: 0.227620 target range: 403.017914 and range: 404.40 m.hi>hhhhggjgrgereZe:e*e@]Bɢ]!:)Y ]?ia)e aaie=imi>m\Ǔ=mD=Imi>IԱ9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509671^AL=E-  E- E- $E) "E- ;*E- :VE- 4ZE) a5 @a5 @a5 @a= @9 A9 IA IQ Oe >x%,ULAff)ٱf=fH@?`TοF,y?`q? J`Wݡ? ?k?ifBBBB =BBB;B=Eaa aa aa aa iMb@Mb@Mb@ 9w/?+?y&1?Y?y=`e<@7A `@)@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761696Y@bDVDW8y}o<%}2=ٔ};Q-}>9Y=EyD9E>Q 54%?Q 94)dBQ AT:YT?Q E:yI>Q I@8DI;i\:4yBɮ@E:iFNOT Ignoring new targets: 403.02 m."i*i- ProNav: ac range: 403.017914 m, nav range: 382.084412 m, bearing: 12.790987 deg, approach rate: -0.516945 m/s, LOS rate: -0.006523 deg/s, cmd heading: 13.041640 deg, new cmd heading: 13.035591 deg. i->UHeadingCmd: 0.227514 target range: 403.017914 and range: 404.40 m.hUmh>hQhQhQhQgQgYjgYrg]pBeYreaZea:ea*ee@Bɢht:) ?i)* iͪimh>+Г=@=Imh>I A@A @A@E%5@A9 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013615^Aa q A I I O >%,DLAE. E.E."E,"E.;*E.:VE.(3ZE,BE.!dRٱR=RH? Pοޠr? 7?5??i?iRCb9xYx=zEyzD~D_9E~>Q 54&%?Q 9 4 )dBY y U>Q I @8DI;i;f4yɮ@:iYeFNOT Ignoring new targets: 403.02 m."iea*ieau ProNav: ac range: 403.017914 m, nav range: 381.891693 m, bearing: 12.788552 deg, approach rate: -0.532401 m/s, LOS rate: -0.006731 deg/s, cmd heading: 13.035591 deg, new cmd heading: 13.030718 deg. iuE}HeadingCmd: 0.227429 target range: 403.017914 and range: 404.40 m.h}!h>hyhyhhggjgrgereZe:e*e3x @颹ɢh;) K?i)iim!h>mד=md=Im!h>Iq9@ @@%/@!BDAT read: Rx Time:04:13:32.9523 TRx dataTimestamp_ set to:1764908015.054988checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267111)^AE`=AE>AE>Q Ay I I O >M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5204377%,LA)YMByM IiMb@Mb@Mb@ 9w/?9Y=EyD E >Q 54B9%?Q 94@)&dBYW?Q E%:y%>Q I%@8DI& ;i;4y-Bɮ-C@):iQUFNOT Ignoring new targets: 403.02 m."i]߸*i]߸m ProNav: ac range: 403.017914 m, nav range: 381.660583 m, bearing: 12.785886 deg, approach rate: -0.529642 m/s, LOS rate: -0.006114 deg/s, cmd heading: 13.030718 deg, new cmd heading: 13.025382 deg. im3uHeadingCmd: 0.227336 target range: 403.017914 and range: 404.40 m.huh>hqhqhqhygygyjgrgyBereZe:e*eB @颵Bɢ0];)  ?i)项i!ih>ߓ={=Ih>IIE] E]E]'EY"E]x;*E]:VE]'4ZEYam@am@am@am@)Q9@ @@%/@!AA@AB >B B  IB ɂBB  =B B B ;B =EDAT read: 04:13:32.9523 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 382, 0.17,-2.772, 1.846,-2.495,-3.043, PHS= 0.372,-1.350, 0.503, RAW= 153.6, 5.3, CAL= 152.8, 5.3, ROT= 357.2, -5.3 Ygot valid direction response: 04:13:32.9523 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 382, 0.17,-2.772, 1.846,-2.495,-3.043, PHS= 0.372,-1.350, 0.503, RAW= 153.6, 5.3, CAL= 152.8, 5.3, ROT= 357.2, -5.3 8DAT read: $Error in header *Received a bad headerX#Rx 1: Read direction message, but no range.%^direction in FSK: [0.994536,-0.048641,0.092371]yp=?m稿{]U? )FIv>i̬?+@q=*@ q=)@Iqi-?T?? rD?)MwI*Hiq=T****** received valid address query ******=R****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapse^AU t= A I I O >%,_LAf{fٱf#=fH@? cοdG/&??A_?`n?@?if{9Y=EyD.;E>!Q 5-4%I%?Q 9-4%)%6dBY)y5>Q I5@%8DI%:i%:%4y=Bɮ=@=E]B*** querying acoustic contact ***iYiY:iamFNOT Ignoring new targets: 403.02 m."im*imฝ} ProNav: ac range: 403.017914 m, nav range: 381.465607 m, bearing: 12.783608 deg, approach rate: -0.525075 m/s, LOS rate: -0.006137 deg/s, cmd heading: 13.025382 deg, new cmd heading: 13.020824 deg. i3HeadingCmd: 0.227256 target range: 403.017914 and range: 404.40 m.hݵh>hhhhggjgrgereZe:e*e@ɢ;)  ?i)iiݵh>"=g=Iݵh>IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@@!-9)Y- AE EEE"E;*E:VEZEBEK\ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsey %,LA:%<:s>:.ٱ:*=:H?cοxH?-?k?F(֜?O??i:%9qY=EyDm9E>Q 54Z%?Q 94)GdBYy>Q I@9DI\:i2:4yɮ@:i!%FNOT Ignoring new targets: 403.02 m."i-ݸ*i-ݸQe ProNav: ac range: 403.017914 m, nav range: 381.244659 m, bearing: 12.781017 deg, approach rate: -0.516225 m/s, LOS rate: -0.006057 deg/s, cmd heading: 13.020824 deg, new cmd heading: 13.015639 deg. ie[1eHeadingCmd: 0.227166 target range: 403.017914 and range: 404.40 m.hm$h>hihihihigigijgrgereZe:e*ey@Bɢ;) ?i)4iPi$h>==I$h>IԉT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@9 @9@=/@AԩD D <E  E E %E "E *E ':VE 4ZE a @a @a @a @^A ܪ=A zA xA B >B \CB IB ΂BB B B B ;B =EAi Iq I  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseO>%, %LAVݜVbټٱV.`=VH?gο+b? 6??;?`17? ?iVݜ9Y=EyD*:E>Q 54o%?Q 94 )XdBY& ?Q E:y>Q I@9DI:i:4yɮ@:iFNOT Ignoring new targets: 403.02 m."i*i ProNav: ac range: 403.017914 m, nav range: 380.992584 m, bearing: 12.777089 deg, approach rate: -0.552818 m/s, LOS rate: -0.008621 deg/s, cmd heading: 13.015639 deg, new cmd heading: 13.007777 deg. ip|HeadingCmd: 0.227029 target range: 403.017914 and range: 404.40 m.h+zh>hhh!h!g!g!jg)rg-Be)re)Ze1:e1*e5 @Yɢe;)a eF?ia)eiiim4uiu+zh>u=uF=Iu+zh>Iy9@ @ @ @ 9IUT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapse^A-ۤ=Ay y I I O >E  E E &E "E %;*E :VE 4ZE BE ~LAVͨV%ϼٱV9=VH }? gοh?;?`? σm?dӽ?`?iVͨ9!Y)=-Ey-D5Y9E5>9Q 5E4=%?Q 9E4= )=edBYAyM/>Q IM@=$9DI=:i=h:=4yUBɮU0@UEY:iyFNOT Ignoring new targets: 403.02 m."ig*ig ProNav: ac range: 403.017914 m, nav range: 380.782471 m, bearing: 12.773804 deg, approach rate: -0.542890 m/s, LOS rate: -0.008492 deg/s, cmd heading: 13.007777 deg, new cmd heading: 13.001204 deg. ixHeadingCmd: 0.226914 target range: 403.017914 and range: 404.40 m.h\h>hhhhggjgrgereZe:e*e @ɢW1<) ?i)QDi_i\h>-= =I\h>I߽=߽4=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@/@ԉԱ^Aܪ=A% .AIQ } T****** received valid address query ******} R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse Ii Ou >%,XLA2E<22s>2bżٱ2=2H ?Tοo? -?@?`?@Op?B?i2E9U ?DzD?AE EE%E"E;*E:VE 4ZEa@a@a@a@ԹY] ?=EyDE>Q 5 43%?Q 9 4)sdBY ?Q E:y>Q I@39DI:i>;H4yɮ,@!:iamFNOT Ignoring new targets: 403.02 m."im-*im- ProNav: ac range: 403.017914 m, nav range: 380.541748 m, bearing: 12.769691 deg, approach rate: -0.555546 m/s, LOS rate: -0.009499 deg/s, cmd heading: 13.001204 deg, new cmd heading: 12.992972 deg. iHeadingCmd: 0.226770 target range: 403.017914 and range: 404.40 m.hn6h>hhhhggjgrgBereZe:e*e@颙ɢޠ<) {?i)aiUin6h>F=m=Imn6h>IiB>BB IB؂BB =BBںDB;B=EBB\CBB =BCA]5T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@/@^AE ا=Q A ؟AI I O >D%,\rsLA2<27Ks>2X麼ٱ2=2H?@οCts?Z?)?` \??@?i2قBy> IDDbDJ#VDJ8yN+R=%RO=ٔRS;Q-R>9V"?YV"?=VEZT****** received valid address query ******ZR****** received valid ping request ******Zreceived new query, but waiting for acoustic response period to elapseyVD^_E^>`Q 5f4b %?Q 9f4b#)bdBYhyjȫ>Q Ij@bA9DIbo;ib;b4ylɮn@l~B*** querying acoustic contact ***i|i|:i FNOT Ignoring new targets: 403.02 m."i0*i0% ProNav: ac range: 403.017914 m, nav range: 380.330383 m, bearing: 12.766089 deg, approach rate: -0.566315 m/s, LOS rate: -0.009654 deg/s, cmd heading: 12.992972 deg, new cmd heading: 12.985765 deg. i%Y%HeadingCmd: 0.226644 target range: 403.017914 and range: 404.40 m.h-uh>h)h)h)h)g)g1jg1rg1e1re9Ze9:e9*e=F@ԩAɢEz<)I M?iI)MnIIiM"6iUuh>U=U=I]uh>IY9@ @@/@EM EMEM$EI"EM ;*EM:VEM4ZEIBEMuT) ##%,+LA2<2s>2Hٱ2=2H[?6οRw??`w?@j?h?`?i2߂By> IbDF VDFɯ8yN<%RK=ٔRS;Q-R>9TYT=VEyVDVEZ>XQ 5^4Z%?Q 9b4Z/)ZdBY`yb>Q Ib@ZO9DIZQ;iZ;Z4yfBɮf"@jE:ix~FNOT Ignoring new targets: 403.02 m."i~/*i/  ProNav: ac range: 403.017914 m, nav range: 380.105988 m, bearing: 12.762267 deg, approach rate: -0.561281 m/s, LOS rate: -0.009567 deg/s, cmd heading: 12.985765 deg, new cmd heading: 12.978115 deg. iHeadingCmd: 0.226511 target range: 403.017914 and range: 404.40 m.hug>hhhhgg!jg!rg!e!re)Ze):e)*e-0@ɢTsa<) ?i),fi"i%ug>%"=%N=I%ug>I)T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsei@i @i@m0@iADU=DU<bEƻ 4jE4rEַ/E] E]E]&EY"E];*E]:VE]4ZEYam@am@am@am@i^Aا=B B B IB BB B B B ;B =EA I) I9 OE > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԙ M)%,KLAnÞnEٱn=nH?/οƻ{?? ?@`kÔ?ॱ? ?inÞ9Y=EyDㆹE>Q 54%?Q 94)dBY?Q E:y>Q I@_9DI,:i:%4yɮU@Qq:iFNOT Ignoring new targets: 403.02 m."iS*iS ProNav: ac range: 403.017914 m, nav range: 379.861206 m, bearing: 12.757001 deg, approach rate: -0.537770 m/s, LOS rate: -0.011576 deg/s, cmd heading: 12.978115 deg, new cmd heading: 12.967577 deg. i|HeadingCmd: 0.226327 target range: 403.017914 and range: 404.40 m.h>g>hhhhggjgrgBe reQZeQ:eQ*e]@ ɢ .K1<)  +?i)wiXi>g>-=.=I>g>I!ԡ@ @@/@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A% =Eu  Eu Eu %Eq "Eu ~ ;*Eu :VEu 4ZEq BEu Vl0%,LA2<2ws>2dٱ20=2H ? 99ο@A?_$?{?] ??!?i2By>!IbDFVDF8yNI8=%NU=ٔRP;Q-R>9PYP=REyVDVi:EV>XQ 5^4Z%?Q 9^4Z)ZdBY`ybӺ>Q Ib@Zm9DIZ:iZ:Z:,4ydɮf`@jE:ix~FNOT Ignoring new targets: 403.02 m."i~g*i~g  ProNav: ac range: 403.017914 m, nav range: 379.646301 m, bearing: 12.752356 deg, approach rate: -0.585800 m/s, LOS rate: -0.012667 deg/s, cmd heading: 12.967577 deg, new cmd heading: 12.958283 deg. i uHeadingCmd: 0.226165 target range: 403.017914 and range: 404.40 m.hg>hhhhggjg!rg!e!re!Ze!:e)*e-)@Qɢ] <)Y ]#?iY)]aaieT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseieg>5=a=Ig>Ia}9@ @@0@ԑ^Aا= T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA I IA O > Ď6%,ALA2Ӣ<2Ps>2Iٱ2=2H +? 7ο=?%? M?Au?`sp?@?i2Ӣ9Y=EyD8E>Q 54%?Q 94z)dBY?Q E:yܿ>Q I@}9DI;i;34yɮ@:i!-FNOT Ignoring new targets: 403.02 m."i5*h*i*h ProNav: ac range: 403.017914 m, nav range: 379.405029 m, bearing: 12.746770 deg, approach rate: -0.547529 m/s, LOS rate: -0.012686 deg/s, cmd heading: 12.958283 deg, new cmd heading: 12.947102 deg. iHeadingCmd: 0.225970 target range: 403.017914 and range: 404.40 m.hdg>hhhhggjgrgBereZe:e*e "@mBɢulX<)q u!?iq)u\qqi}|i}dg>9A=R=Idg>IB>B[CB !IBBB =BBB;B=ET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsee9@a @a@e40@a) ^A ܪ=A I I O >Y <%,dLA"T****** received valid address query ******"R****** received valid ping request ******"received new query, but waiting for acoustic response period to elapse6c<6s>6ٱ6i=6H ? 7οw?)??|ࠀ?A??i6c9\Y\=^Ey^Db 9Eb>dQ 5j4fl%?Q 9j4fo)fdBYhyj>Q Ij@f9DIf;if;f]:4ypɮr@p~B*** querying acoustic contact ***ii:i  FNOT Ignoring new targets: 403.02 m."iq*iq% ProNav: ac range: 403.017914 m, nav range: 379.195435 m, bearing: 12.741907 deg, approach rate: -0.568514 m/s, LOS rate: -0.013198 deg/s, cmd heading: 12.947103 deg, new cmd heading: 12.937371 deg. i%<-HeadingCmd: 0.225800 target range: 403.017914 and range: 404.40 m.h- 8g>h)h)h1h1g1g1jgrgereZe:e*e ? @)ɢ-<)) -"?iQ)UH߼QQiUҞi] 8g>]J=]7=I] 8g>Ia1E EE$E"E1;*EZ:VE4ZEBEkA1ԉ A} .AI I O >+C%,h=LA,2<2E\t>2SŁٱ2=2H ?`Iο8?@??W}8?G/?*?i29V ?YV ?=VEyVDZ:EZ>\Q 5b4^1&?Q 9b4^?)^dBY`yfL>Q If@^9DI^:i^:^cA4yjBɮj@jE:i|~FNOT Ignoring new targets: 403.02 m."inn*inn ProNav: ac range: 403.017914 m, nav range: 378.971436 m, bearing: 12.736678 deg, approach rate: -0.557798 m/s, LOS rate: -0.013028 deg/s, cmd heading: 12.937371 deg, new cmd heading: 12.926908 deg. iHeadingCmd: 0.225617 target range: 403.017914 and range: 404.40 m.h+g>hhhh!g!g!jg!rg!e)re)Ze):e)*e5!@Yɢ]y<)a e"?ia)e[ۼaaieGim+g>mT=m=Iu+g>Iq1@9 @9@=4@AeT****** received valid address query ******mR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseԑԱE EE&E"E ;*E:VE4ZEa@a@a@a@^AI I O >B >B YCB !IB BB =B B غDB ;B =E  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse,I%,)LA2u<2t>2pٱ24/=2H@5?`Rο,?M??V-`,?`? ?i2u9Y=Ey Dv:E>Q 54"&?Q 94)dBY?Q E:y>Q I@9DIR;i0Q;H4yɮ*@:i FNOT Ignoring new targets: 403.02 m."i *i - ProNav: ac range: 403.017914 m, nav range: 378.734314 m, bearing: 12.730072 deg, approach rate: -0.541144 m/s, LOS rate: -0.015086 deg/s, cmd heading: 12.926907 deg, new cmd heading: 12.913686 deg. i-ܹ=HeadingCmd: 0.225386 target range: 403.017914 and range: 404.40 m.h=f>h9h9hAhAgAgAjgIrgMBeQreQZeY:eY*e]Z!@颡ɢ8<) '%?i)ݧּ顩iژif>b==If>I@ @@45@iaIaeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse Gu>C)AY`9Y\A^Am \=E  E E #E "E ;*E :VE 3ZE BE RQbP%,BLA:o<:u>:"[ٱ:/=:H?,kο< ?@j? $?)`r?(??i:o9\Y\=^Ey^DbT;Eb>dQ 5f4f3&?Q 9j4f)fdBYhyj>Q Ij@f9DIf.:ifu:fO4ypɮr;@p:i FNOT Ignoring new targets: 403.02 m."i *i% ProNav: ac range: 403.017914 m, nav range: 378.528534 m, bearing: 12.724303 deg, approach rate: -0.553711 m/s, LOS rate: -0.015531 deg/s, cmd heading: 12.913687 deg, new cmd heading: 12.902143 deg. i%b㹝-HeadingCmd: 0.225185 target range: 403.017914 and range: 404.40 m.h-ݖf>h)h1h1h1g1g1jg9rg9e9re9ZeA:eA*eEٟ"@iɢmN<)q ul$?iq)}IҼyyi}miݖf>l==Iݖf>IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse@ @@/@A^AAyAzAwAqIyIO>} T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse V%,i\LA2l<2v>2Iٱ2=2H@P?οJ???S1?%? /?i2lBZCB!IBBB =BBٺDBr;Bm=EiMb@Mb@Mb@ 9Zd;O?EԸ?/$?Y~ ?y=<@A )@YbDVD֯8yG% =ٔ ;Q->9Y=EyD;E>Q 54H&?Q 9 4)eBY  ?Q E :y >Q I @9DIP;i;nX4yɮ@:iFNOT Ignoring new targets: 403.02 m.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse"iH*iH ProNav: ac range: 403.017914 m, nav range: 378.254425 m, bearing: 12.716260 deg, approach rate: -0.522116 m/s, LOS rate: -0.015331 deg/s, cmd heading: 12.902143 deg, new cmd heading: 12.886046 deg. it๝HeadingCmd: 0.224904 target range: 403.017914 and range: 404.40 m.h7Mf>hhhhg!g!jg)rg-Be)re)Ze):e1*e5#@yɢLAY<) L"?i)>;ͼ顡iSi7Mf>'=or=I7Mf>IU9@Y @Y@]05@Y9a ^A} =I I O >]%,6vLAhhhhggjgrgereZe:e*eX$@ ɢ u<) J'?i)ɼi3%if>2=<=If>I!E EEE"E ;*E:VEZEBERԱ c%,LA2uH<2x>2`ٱ2~=2H?ο@q(?`?`?`u?,?@$?i2uH9qYq=uEy}*D} ;E}>Q 54ag&?Q 94i) eBYy>Q I@9DI:i:!e4yɮG@:iFNOT Ignoring new targets: 403.02 m."i*i ProNav: ac range: 403.017914 m, nav range: 377.863037 m, bearing: 12.704700 deg, approach rate: -0.566847 m/s, LOS rate: -0.016826 deg/s, cmd heading: 12.875509 deg, new cmd heading: 12.862914 deg. iWHeadingCmd: 0.224500 target range: 403.017914 and range: 404.40 m.hbe>hhhhggjgrgereZe:e*e`h%@IɢM)i<)I M ?iQ)U7żQQiU磼i]be>]=]4=Iebe>IaԙM2Acoustic response timeout@ @@@E EE%E"E;*EVE 4ZEa%@a%@a%@a%@^A5=A5>A5>IIO>B >B \CB B B =B B ںDB `;B c=EBU[CBU[CBUɔCBU =BU =CU6 2Acoustic response timeout j%,MiLA2;}<2y>2ٱ23=2H ?qο笔?y??t ?`Խ??i2;}=ٔ=sJ;Q-=>9AYA=EEyE3DEh;EE>QQ 5U4U]y&?Q 9]4U)U/eBY] ?Q E]:y]>Q I]@U9DIU:iU:Ul4yaɮmu@mE:iFNOT Ignoring new targets: 403.02 m."i*i ProNav: ac range: 403.017914 m, nav range: 377.633972 m, bearing: 12.697752 deg, approach rate: -0.531488 m/s, LOS rate: -0.016132 deg/s, cmd heading: 12.862914 deg, new cmd heading: 12.849009 deg. i.칝HeadingCmd: 0.224258 target range: 403.017914 and range: 404.40 m.hãe>hhhhggjgrgBereZe:e*e`%@ɢp'<) *?i) ii ãe> = |=I ãe>IIyA)xA9@ @@@=2Acoustic response timeout^A*=A E  E E $E "E C#;*E B:VE 4ZE BE {q%,4LA2<2z>2Kٱ2=2H s ?οG-?@}??@qW|??`?i29Z"?YZ"?=ZEyZ:DZ; ;EZ>|Q 54~_&?Q 94~)~:eBY y >Q I @~9DI~:i~B:~r4yɮ.@:iY]FNOT Ignoring new targets: 403.02 m."ie*ieu ProNav: ac range: 403.017914 m, nav range: 377.442749 m, bearing: 12.691923 deg, approach rate: -0.525879 m/s, LOS rate: -0.016038 deg/s, cmd heading: 12.849009 deg, new cmd heading: 12.837346 deg. iu깩ߝ=ߙ2Acoustic response timeoutHeadingCmd: 0.224054 target range: 403.017914 and range: 404.40 m.hfne>hhhhggjgrgereZe:e*e &@IɢM<)I MZ!?iI)U픽QQiU`i]fne>]`=]=I]fne>IaQ9@ @@/@y^Aõ=] 2Acoustic response timeout A .AI) IQ O >*w%,=LAD@zDB@AHfJf'ٱfpr=fH ?οx? Y?@?@Pv?ܽ??ifJ9u ?Yu ?=uEyuCD}XoE}>Q 54?&?Q 94T)GeBYw ?Q E:y>Q I@ :DI:i:z4yɮ@:iFNOT Ignoring new targets: 403.02 m."iJ*iJ ProNav: ac range: 403.017914 m, nav range: 377.203430 m, bearing: 12.685379 deg, approach rate: -0.532359 m/s, LOS rate: -0.014566 deg/s, cmd heading: 12.837346 deg, new cmd heading: 12.824249 deg. iCչHeadingCmd: 0.223825 target range: 403.017914 and range: 404.40 m.hz2e>hhhhggjgrgBereZe:e*eh'@%Bɢ%z<)) -?i))-8B=>B9B=!IB=BB= =B9B9B=V;B=X=E)IiMiUz2e>UΔ=U^P=IUz2e>IYԩ2Acoustic response timeout-9@) @)@-/@)^AM 2=AQ zAQ  A ؟AI I O >] 2Acoustic response timeoutY}%,LA2%<2Lz>2Bٱ2=2H k ? οm??X?bq?? ?i2%9"?Y"?=EyKD% E%>)Q 554-J&?Q 954-Y)-QeBY1y5j>Q I=@-:DI-;i- ;-/4yAɮE9@A:iimFNOT Ignoring new targets: 403.02 m."iu*iu ProNav: ac range: 403.017914 m, nav range: 377.012756 m, bearing: 12.680171 deg, approach rate: -0.527780 m/s, LOS rate: -0.014424 deg/s, cmd heading: 12.824249 deg, new cmd heading: 12.813827 deg. i,ӹHeadingCmd: 0.223643 target range: 403.017914 and range: 404.40 m.he>hhhhggjgrgereZe:e*e -N(@ɢ5<) ?i)ձinie>+ޔ=ܶ=Ie>Ii@q @q@u0@q EE EEEE'EA"EE1;*EE:VEE'4ZEABEEk BDAT read: Tx time:04:13:42.4886 $Ping request sent.<%,~LA6]<6?y>6J\ٱ6Hm=6Hz? ο`c?R??8Lk?ݼ??i6]9Z ?YZ ?=ZEyZRDZ%-E^>`Q 5b4b&?Q 9f4b8)b\eBYdyf>Q If@b&:DIb:ib:b4yhɮnh@nEzB*** querying acoustic contact ***ixix:i FNOT Ignoring new targets: 403.02 m."i =*i = ProNav: ac range: 403.017914 m, nav range: 376.807129 m, bearing: 12.674579 deg, approach rate: -0.527053 m/s, LOS rate: -0.014342 deg/s, cmd heading: 12.813827 deg, new cmd heading: 12.802636 deg. i%ѹ%HeadingCmd: 0.223448 target range: 403.017914 and range: 404.40 m.h%d>h)h)h)h)g)g)jg1rg1e1re1Ze19:e9*eEK)@iɢml<)q u?iq)ua걼qqiuIi}d>=h=Id>I5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251030E9@I @I@U0@QiE5 E5E5%E1"E5I;*E5:VE5 4ZE1aE@aE@aE@aE@^AE =ԑB5 >B5 [CB5 IB5 BB5 =B1 B5 ٺDB5 L;B5 I=EA I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500426 bg%, +LA6 <6ix>6H ٱ67(=6H`?οLT?@s??Oỿ Ha???i6 9Y=Ey[DE>Q 54U&?Q 94)eeBY ?Q E:y>Q I@5:DI;i;4yɮ@:i FNOT Ignoring new targets: 403.02 m."i[*i[- ProNav: ac range: 403.017914 m, nav range: 376.570465 m, bearing: 12.669320 deg, approach rate: -0.540285 m/s, LOS rate: -0.012013 deg/s, cmd heading: 12.802636 deg, new cmd heading: 12.792111 deg. i-㯹5HeadingCmd: 0.223264 target range: 403.017914 and range: 404.40 m.h5pd>h1h1h1h1g9g9jg9rg=BeAreAZeA:eA*eEL)@qɢu<)q }?iy)}@֭yyi}ԧipd>C==Ipd>I9@ @@0@%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752355^Al=EE  EE EE (EA "EE ;*EE :VEE c44ZEA BEE e N%,|ELA2\<2~x>2ٱ2O=2H?ο?@??`ٻ ~V?@?@?i2\ςBy> IZAAXbDZVDZM8yb=%b[=ٔf;Q-f>9dYh=jEyjcDj,gEj>lQ 5r4nU&?Q 9r4n )nmeBYtyvW>Q Iv@nB:DIn\:in:n,4yxɮz@x:i%FNOT Ignoring new targets: 403.02 m."i%H[*i%H[5 ProNav: ac range: 403.017914 m, nav range: 376.369232 m, bearing: 12.664854 deg, approach rate: -0.539674 m/s, LOS rate: -0.011982 deg/s, cmd heading: 12.792111 deg, new cmd heading: 12.783175 deg. i5l=HeadingCmd: 0.223109 target range: 403.017914 and range: 404.40 m.h=vd>h9h9hAhAgAgAjgArgIeIreIZeI:eI*eU*@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004372颉ɢz<) <?i)BF顑icivd>O=d=Ivd>IU9@Q @Q@U/5@Q!^AqQi1 I5 AM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258902A I I O >ԁ [{%,a_LAEB EBEB E@"EB /;*EBv:VEB3ZE@aF@aF@aF@aF@R RٱR=RHI? mο:Ś? |?{?Ż|B? L??iR a;PY^̂Byb IiMb@Mb@Mb@ 9?Q?~jt?Yf?y\=<A @)3@Yf@bD̿VD}8yoR%;=ٔ:Q->9Y=EykDoE>Q 54&?Q 94)yeBY?Q E:y>Q I@Q:DI:i(:͝4yɮ@:iFNOT Ignoring new targets: 403.02 m."i%Y*i%Y5 ProNav: ac range: 403.017914 m, nav range: 376.140686 m, bearing: 12.659656 deg, approach rate: -0.523280 m/s, LOS rate: -0.011908 deg/s, cmd heading: 12.783175 deg, new cmd heading: 12.772773 deg. i5X=HeadingCmd: 0.222927 target range: 403.017914 and range: 404.40 m.h=Fd>h9h9h9h9gAgAjgArgEBeIreIZeI:eIQ*eU,+@颁ɢl<) ?i)X#顉ihB>BZCB IB݂BBBBB=;B8=Ei Fd> =sg=IFd>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5084989@ @@?5@@@@@yԱA ؟AI I O > = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760299%,4yLADP\vis9tYvpoAUŹU08ٱUoN=UH`?Oο@F!?`9"?Y"?=EytDE>Q 54'?Q 94)eBYy>Q I@^:DI#hhhhgg jg1rg1e9re9ZeA:eA*eEfs,@E EE$E"E;*E :VE4ZEBEa2EaJEe1=e<=Ied>I9@ @@@!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012588AiIqIO>) Q k%,LA2d<2tu>2 m:ٱ2P=2H?@1ο ? c??@"Q`!M d-?9?i2d9`Yd=fEyf{DfEf>hQ 5n4j'?Q 9n4j)jeBYpyr->Q Ir@jk:DIjs;ij2:jW4ytɮv@t B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 403.02 m."i%^*i%^5 ProNav: ac range: 403.017914 m, nav range: 375.734985 m, bearing: 12.650495 deg, approach rate: -0.539753 m/s, LOS rate: -0.012165 deg/s, cmd heading: 12.763318 deg, new cmd heading: 12.754442 deg. i5=HeadingCmd: 0.222607 target range: 403.017914 and range: 404.40 m.h=c>h9h9h9h9gAgAjgArgAeIreIZeI:eI*eM@!-@ɢ<) /?i)o۞iNi c> \== 8 =I c>I1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.26559219@ @@/@YE EE#E"Ex;*E:VE3ZEa@a@a@a@A.AIIOe>B>BB IB΂BB =BBB.;B%=Eԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516256%,LA4ŶBy IiMb@Mb@Mb@ 9L7A`?S㥫?{Gz?Y+?y/]=#<7A @)@Y@bDVD8y;%;=ٔQ->9 ?Y ?=EyDE>Q 547"'?Q 94)eBY?Q E:y>Q I@z:DIT:i<4yqɮ}@y:iFNOT Ignoring new targets: 403.02 m."i(*i( ProNav: ac range: 403.017914 m, nav range: 375.504150 m, bearing: 12.646315 deg, approach rate: -0.509102 m/s, LOS rate: -0.009225 deg/s, cmd heading: 12.754442 deg, new cmd heading: 12.746076 deg. iHeadingCmd: 0.222461 target range: 403.017914 and range: 404.40 m.hc>hhhhggjgrgBereZe:e*e .@ɢ<) ?i)   i ic>1M=q=Ic>I@ @@@iI checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769443AI I!O-p>E  E E &E "E I;*E :VE 4ZE BE fj2o:ٱ2xN=2H@?ͿL? /?? _ t?`?i2<9dYd=fEyfDjEj>lQ 554n1'?Q 954n=)neBY1y5>Q I=@n:DInKhhhhggjgrgereZe:e*e@H.@ɢ<) W?i)O6iic>=Y==Ic>I9@ @@@Iq^A BDAT read: Rx Time:04:13:45.3918  TRx dataTimestamp_ set to:1764908027.403390% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274322A ؟AI I O= >Թ Ƿ%,ZLAE2 E2E2%E0"E27;*E2P:VE2 4ZE0a:@a:@a:@a:@:C<:js>:}U;ٱ: =:H`G?<Ϳ?2?.?b?`?i:C9"?Y"?=EyD̺E>Q 54D'?Q 94@)eBY ?Q E:y>Q I@:DI;ii;!4y!ɮ%^@!:iimFNOT Ignoring new targets: 403.02 m."imAqAqB}>B}YCB} IB}ĂBB} =ByB}غDB}!;B}=EB=ZCB=ZCB9B= =B9C=5*i ProNav: ac range: 403.017914 m, nav range: 375.072571 m, bearing: 12.639108 deg, approach rate: -0.543961 m/s, LOS rate: -0.008562 deg/s, cmd heading: 12.739104 deg, new cmd heading: 12.731654 deg. izHeadingCmd: 0.222209 target range: 403.017914 and range: 404.40 m.hԊc>hhhhggjgrgBereZe:e*e@s/@MBɢM<)Q U?iQ)UQQiU܁i]Ԋc>]g=]=IeԊc>Iauchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524902ԩ9@ @@/@ ^A- "= I! I1 OM >= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779616%,LAQ<[r>V#;ٱA@=H?ZͿ h???> `qd??iQ9IYQ=UEyUD]EE]>aQ 54eW'?Q 94eX)eeBYy[>Q I@e:DIe;ie>/;e}4yɮ@E:iFNOT Ignoring new targets: 403.02 m."i*iEm EmEm#Ei"EmO;*Em:VEm3ZEiBEm(Y;a}:Em>;a} ProNav: ac range: 403.017914 m, nav range: 374.845490 m, bearing: 12.635542 deg, approach rate: -0.531811 m/s, LOS rate: -0.008355 deg/s, cmd heading: 12.731654 deg, new cmd heading: 12.724518 deg. itHeadingCmd: 0.222085 target range: 403.017914 and range: 404.40 m.h/jc>hhhhggjgrgereZe:e*eB0@ɢ7<) D?i)eii/jc>u=V=I/jc>I9@ @@/@@@@@DAT read: 04:13:45.3918 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 506, 0.04,-0.235,-1.773,-0.006,-0.620, PHS= 0.487,-1.108, 0.570, RAW= 152.5, 0.6, CAL= 151.2, -0.1, ROT= 358.8, 0.1 Ygot valid direction response: 04:13:45.3918 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 506, 0.04,-0.235,-1.773,-0.006,-0.620, PHS= 0.487,-1.108, 0.570, RAW= 152.5, 0.6, CAL= 151.2, -0.1, ROT= 358.8, 0.1 PDAT read: Bearing 168.6, -1.5 (Local) ~Local bearing/azimuth received: Bearing 168.6, -1.5 (Local) DAT read: Range 11 to 50 : 374.3 m (Round-trip 499.1 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.999779,-0.020942,-0.001745]Fpublishing direction and range infoyim:0?sk_qn p\Ym&Ciiii i)mHImX>imҍm?mX*@m+_Ŀ%,wgLA2<21=r>2ڟ<;ٱ2V9=2H?Ϳ ?@?@?w g??i2ǂBy> IbDFֿVDF8yN'=%Nd=ٔRۋ:Q-R>9PYP=VEyVDVEV>XQ 5^4Z(f'?Q 9^4Z)ZeBY`yb>Q Ib@Z:DIZ:iZ:Z4yf’Bɮf@fEii LAjC"jC:j]>"pkNw@#f>w62p:0?sk_qn p\*j2j:*p0v@8S@HDep̐A? FWl?/:C|jԟB j)Ci"S?iޘjC{Bjjޘj[BrjCzj]\> addTargetRange:: Added new target pos. range: 374.299988 m, deltaT: 16.383209 s, deltaX: -30.100006 m, approachRate: -1.837247 m/s, rangeRepo size: 4  Added new target pos. range: 372.995239 m, bearing: 12.372067 deg, lat: 36.779414 deg, lon: -121.859601 deg, deltaT: 16.383209 s, deltaX: -30.022675 m, approachRate: -1.832527 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 373.00 m."i*i ProNav: ac range: 372.995239 m, nav range: 374.220123 m, bearing: 12.330099 deg, approach rate: 0.000000 m/s, LOS rate: -0.008355 deg/s, cmd heading: 12.724519 deg, new cmd heading: 12.718594 deg. iHeadingCmd: 0.221981 target range: 372.995239 and range: 374.30 m.hOc>hhhhggjgrgereZe:edw@*e`8e? Bɢ Z<) <?i)iiOc>s=%F=I%Oc>I!)*DAT read: user:153> BDAT read: Tx time:04:13:46.7886 $Ping request sent.bEŻ 4jE 4rEŋS0E} E}E}&Ey"E};*E}':VE}4ZEya@a@a@a@Bu>BqBu IBuBBqBqBqBu;Bu =Eԁ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250144Ա ˿%,.8.LA6<6/q>6kX;ٱ6=6Hi?`ͿL}?`l?V?t k??i69Y=EyDk@E>Q 54x'?Q 94)eBY ?Q E:yƩ>Q I@:DI ;i;4yÒBɮ@EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 373.00 m."iZ:*iZ: ProNav: ac range: 372.995239 m, nav range: 373.985931 m, bearing: 12.325905 deg, approach rate: -0.568217 m/s, LOS rate: -0.010183 deg/s, cmd heading: 12.718594 deg, new cmd heading: 12.710201 deg. iHeadingCmd: 0.221835 target range: 372.995239 and range: 374.30 m.h(c>hhhhggjgrgBereZe:e *e -?ԑɢr<) !?i)@#i i (c> =--=I-(c>I199@ @@/@IIOԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503973E  E E E "E *E :VE ZE BE `2x;ٱ2+=2H?Ϳ?@)??`o??i2`9dYd=fEyjDj>źEj>lQ 5r4n'?Q 9r4n)neBYtyv{>Q Iv@n:DIn:inu:n4yxɮz3Ax:iFNOT Ignoring new targets: 373.00 m."i%1*i%15 ProNav: ac range: 372.995239 m, nav range: 373.779297 m, bearing: 12.322218 deg, approach rate: -0.544655 m/s, LOS rate: -0.009723 deg/s, cmd heading: 12.710201 deg, new cmd heading: 12.702823 deg. i5[=HeadingCmd: 0.221706 target range: 372.995239 and range: 374.30 m.h=c>h9hAhAhAgAgAjgIrgIeIreIZeI:eQ*eU*?echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.758486 ɢ ޸<)  W ?i )i5=i=c>===Z=I=c>IA9@ @@0@IiIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010076I ؿ%,qaLAE" E"E E "E"~ ;*E":VE ZE a*@a*@a*@a*@Y~łBy~ IiMb@Mb@Mb@ 9Fx?y&1?:v?Y ?y`e=T<@ @)I@Y @bDVD8y=%<=ٔQ->9Y=EyDE>Q 54z'?Q 94)eBY ?Q E:yZ>Q I@:DI:i:X4yɮ@:i FNOT Ignoring new targets: 373.00 m."i 7*i 7B<AB%>B!B!B!B% =B!B!B%;B%hhhhggjgrgBere1Ze1:e1*e5F?QeBɢeM<)i m?i)oY顑iQib>夕=jϬ=Ib>Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2621619@ @@/@yԩ ^A A >A >II IY O >i I % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514295?޿%,@{LA@Y%‚By% IbDEVDE8ysB%L=ٔQ->9Y=EyDE>Q 5 4w'?Q 9 4)eBY y Q I@:DI:i:4yɮA:iAEFNOT Ignoring new targets: 373.00 m."iM'8*iM'8] ProNav: ac range: 372.995239 m, nav range: 373.318451 m, bearing: 12.313718 deg, approach rate: -0.544854 m/s, LOS rate: -0.010063 deg/s, cmd heading: 12.694101 deg, new cmd heading: 12.685813 deg. i]ReHeadingCmd: 0.221409 target range: 372.995239 and range: 374.30 m.heb>hahahahigigijgirgieqreqZeq:ey*e}@?颡ɢI<) ?i)~y顩i7ib>==Ib>II)wAԱE EE"E"E;*E:VE(3ZEBE]'%,LA2!ߊ<2҃p>2A<;ٱ23=2H@?8Ϳ???@w%?0?i2!ߊ9hYh=jEyjDn En>lpQ 5v4r'?Q 9v4r9)reBYxyz>Q Iz@r:DIr.:ir~:r4y|ɮ@E:iFNOT Ignoring new targets: 373.00 m."i_/*i_/ ProNav: ac range: 372.995239 m, nav range: 373.118134 m, bearing: 12.310042 deg, approach rate: -0.521943 m/s, LOS rate: -0.009583 deg/s, cmd heading: 12.685813 deg, new cmd heading: 12.678457 deg. iLHeadingCmd: 0.221281 target range: 372.995239 and range: 374.30 m.hqb>hhhhggjgrgereZe:e*eh@ Bɢ ^<)  ?i )fri!iqb>=ӫ=Iqb>I!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018751@ @@=5@E EE(E"E /;*E:VEc44ZEa@a@a@a@Q^A=B>BBBB =BBB;BQ%,-yLAY~By~ IiMb@Mb@Mb@ 9S㥛?Zd;?{Gz?Y?yy=ף<@ @)v@Y@ԙbDVDy%<=ٔQ->9Y=EyDE > Q 54 '?Q 94 )) eBY?Q E:y>Q I@ ;DI a;i z; 4y!ɮ-A)EB*** querying acoustic contact ***iAiA:iQUFNOT Ignoring new targets: 373.00 m."i]H*i]Hm ProNav: ac range: 372.995239 m, nav range: 372.889282 m, bearing: 12.305370 deg, approach rate: -0.537009 m/s, LOS rate: -0.010969 deg/s, cmd heading: 12.678458 deg, new cmd heading: 12.669108 deg. imuHeadingCmd: 0.221118 target range: 372.995239 and range: 374.30 m.hulb>hqhqhqhqgygyjgyrg}BereZe:e*eS@颵Bɢe <) O?i)j项iilb>VǕ=\=Ilb>Ii@i @i@m05@i@up=@u= }G9Y Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522196^A벫=E  E E "E "E ~ ;*E v:VE (3ZE BE V! R9%,SLA6V<6rp>6k;ٱ6=6H ?@Ϳ¹? ??`Om}rM??i6V9tYt=vEyvDz9Ez>|Q 54~'?Q 94~p)~eBYy>Q I @~;DI~;i~:~ 4yɮ@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774132:i9MFNOT Ignoring new targets: 373.00 m."iMA*iMAe ProNav: ac range: 372.995239 m, nav range: 372.698456 m, bearing: 12.301473 deg, approach rate: -0.518482 m/s, LOS rate: -0.010595 deg/s, cmd heading: 12.669108 deg, new cmd heading: 12.661309 deg. ieeHeadingCmd: 0.220982 target range: 372.995239 and range: 374.30 m.hmHb>hihihihigigijgqrgqeqreqZey:ey*e}J@颩ɢr<) ?i)c顱i-%iHb>ҕ=[=IHb>I1@1 @1@50@9!^AqQchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026943A I I O >ԁ @g%,>LAEB EBEB&E@"EB;*EB:VEB4ZE@aF@aF@aF@aF@V V;ٱVL=VHT?@݇Ϳn???-2`- o??iV BBBBBBBۅ;B9Y=EyDE:E>Q 54'?Q 94-)eBY ?Q E :y >Q I @#;DI& ;i ;4yĒBɮ@E:i9EFNOT Ignoring new targets: 373.00 m."iE]*iM]I] ProNav: ac range: 372.995239 m, nav range: 372.453125 m, bearing: 12.296159 deg, approach rate: -0.559435 m/s, LOS rate: -0.012126 deg/s, cmd heading: 12.661309 deg, new cmd heading: 12.650673 deg. i]eHeadingCmd: 0.220796 target range: 372.995239 and range: 374.30 m.heRb>hahahahigigijgqrguBeqreqZeq:ey*e}` @颡ɢ<) ?i)O[顱iniRb>;ߕ=_=IRb>Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.280506@ @@K4@yԩ^A ʞ=A1 I9 IQ O] >  BDAT read: Rx Time:04:13:49.7033  TRx dataTimestamp_ set to:1764908031.942738 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531065%, LAjjѼ<ٱj=jH?=~Ϳ{J?%??#׀@g?@%?ij9Y=EyD&E>Q 54%(?Q 94()eBYym>Q I@1;DI-:i:4yɮ@:iFNOT Ignoring new targets: 373.00 m."i]*i] ProNav: ac range: 372.995239 m, nav range: 372.234039 m, bearing: 12.291416 deg, approach rate: -0.559786 m/s, LOS rate: -0.012125 deg/s, cmd heading: 12.650673 deg, new cmd heading: 12.641182 deg. iHeadingCmd: 0.220630 target range: 372.995239 and range: 374.30 m.ha>hhh h g g jg rgereZe:e*e@EBɢE<)I M?iI)MSIIiM%iUa>]=]C=I]a>IYԱE EE)E"E ;*Ey:VEFA4ZEBEvA> A I! I9 OU >9 u%,LA2y<2o>2<ٱ2Û=2H`?iͿ`k??X?QS=`eD??i2y΂By> IbD^VD^8yf(=%fX=ٔf:Q-f>9hYh=jEyjDjbӺEn>pQ 5v4r(?Q 9v4r4)reBYtyv>Q Iv@r>;DIrq:ir:r@4yxɮ~b@|:i!%FNOT Ignoring new targets: 373.00 m."i-1]*i-1]= ProNav: ac range: 372.995239 m, nav range: 372.021851 m, bearing: 12.286837 deg, approach rate: -0.559789 m/s, LOS rate: -0.012086 deg/s, cmd heading: 12.641182 deg, new cmd heading: 12.632019 deg. i=EHeadingCmd: 0.220470 target range: 372.995239 and range: 374.30 m.hEa>hAhAhAhAgIgIjgIrgIeIreQZeQ:eQ*eU@颁ɢ`<) ?i)L顉iͬia>=w=Ia>I%DAT read: 04:13:49.7032 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 40, 0.33,-0.040,-1.610, 0.185,-0.325, PHS= 0.387,-1.240, 0.466, RAW= 152.4, 4.7, CAL= 151.5, 4.6, ROT= 358.5, -4.6 1EYgot valid direction response: 04:13:49.7032 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 40, 0.33,-0.040,-1.610, 0.185,-0.325, PHS= 0.387,-1.240, 0.466, RAW= 152.4, 4.7, CAL= 151.5, 4.6, ROT= 358.5, -4.6 ]PDAT read: Bearing 173.2, -1.6 (Local) ]~Local bearing/azimuth received: Bearing 173.2, -1.6 (Local) mDAT read: Range 11 to 50 : 382.8 m (Round-trip 510.5 ms) speed 0.0 m/s }R#Rx 1: Read range and direction messages.^direction in FSK: [0.996437,-0.026093,0.080199]Fpublishing direction and range infoy@ @@/@7{?%zꇴ?YfC )NI$>iR>;*@=%:)@ l=)c9@Il'gMS?L?1? ?)uIwּilT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.YE EE%E"E*E:VE 4ZEa@a@a@a@B>BBBB =BBB;B } BDAT read: Tx time:04:13:51.1385 } $Ping request sent.} %,0LA,2:<2p>2<ٱ2Ij=2H`?jͿܡ?d? X? 线@ 4>??i2:9Y=EyD,9E>Q 54((?Q 94̸)eBY ?Q E:y4>Q I@N;DIL ;i;4yɮ@iiLAjC"jC:jRL>"pledw@ DD,#З>@p7{?%zꇴ?*jwּ2jl*pBPw@IӦ%R@AQ9@p;DK?ܧ RP?R'T9?jB jCiO?i0jBjjjqBrjCzjy[> addTargetRange:: Added new target pos. range: 382.799988 m, deltaT: 4.288737 s, deltaX: 8.500000 m, approachRate: 1.981936 m/s, rangeRepo size: 4  Added new target pos. range: 381.464355 m, bearing: 11.432469 deg, lat: 36.779414 deg, lon: -121.859601 deg, deltaT: 4.288737 s, deltaX: 8.469116 m, approachRate: 1.974734 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 381.46 m."i*i ProNav: ac range: 381.464355 m, nav range: 371.785431 m, bearing: 12.280336 deg, approach rate: 0.000000 m/s, LOS rate: -0.012086 deg/s, cmd heading: 12.632019 deg, new cmd heading: 12.621425 deg. i%HeadingCmd: 0.220285 target range: 381.464355 and range: 382.80 m.h%a>h!h!h!h!g!g!jgIrgMӁBeIreQZeQ:eUw@*eU`#?ԉ颡ɢ~<)) -U?i))-}C))i-,i5a>5j==u6=I=a>I9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250116A@I @I@I@IE  E E $E "E 1;*E E:VE 4ZE BE ke %,LLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5018116\<6\Yp>6(<ٱ6P=6H?qͿC?V?`?溿@UI?f?i6\9Y=EyDF:E>!Q 5-4%:(?Q 9-4%~)%fBYQyU\>Q IU@%];DI%;i%!;%$4yYɮ].A]EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 381.46 m."iꇹ*iꇹ- ProNav: ac range: 381.464355 m, nav range: 371.559326 m, bearing: 12.274100 deg, approach rate: -0.538255 m/s, LOS rate: -0.014853 deg/s, cmd heading: 12.621425 deg, new cmd heading: 12.608946 deg. i-wٹ5HeadingCmd: 0.220068 target range: 381.464355 and range: 382.80 m.h5hYa>h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eE q?1ɢ=z<)9 =A?i9)=ϯ;99iEimhYa>m =m2=ImhYa>Iq9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753589^AAzAxAA AQ  PExceeded connect timeout, disconnecting.I bE=˞4jE=4rE=ˆ0E  E E )E "E +$;*E :VE FA4ZE a @a @a @a @I1 O= >s&%,`fLAB:<A8B>>B<B<B<B> =B<B<B>څ;B>ZL6<ٱZ!>=ZH?'~ͿW??@?线ӆ@gX??iZY9Y=EyDǖ:E>Q 54L(?Q 94%) fBY  ?Q E :y >Q I @k;DIv;i;+4yɮ0A:i9=FNOT Ignoring new targets: 381.46 m."iE*iEU ProNav: ac range: 381.464355 m, nav range: 371.331390 m, bearing: 12.267649 deg, approach rate: -0.543140 m/s, LOS rate: -0.015382 deg/s, cmd heading: 12.608946 deg, new cmd heading: 12.596035 deg. iU4ṝ]HeadingCmd: 0.219842 target range: 381.464355 and range: 382.80 m.h]Va>hYhYhahagagajgirgmBeireiZeq:eq*eu ?颙ɢd[<) ?i)4顩iiVa>/=x=IVa>II)yAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006190a=9@9 @9@=/@9ԑ^A]ʞ= Aq Iy I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259198D %,yLA2<2&q>2[G<ٱ2 =2H@K? ͿE? &?O?㺿R눿 d??i29hYh=jEyjDnkP:En>p1Q 5545\(?Q 9=45)5fBY9y=>Q I=@5x;DI5;i5;5(24yMŒBɮMuAI:iiuFNOT Ignoring new targets: 381.46 m."i}Z*i}Z ProNav: ac range: 381.464355 m, nav range: 371.131073 m, bearing: 12.261964 deg, approach rate: -0.532522 m/s, LOS rate: -0.015120 deg/s, cmd heading: 12.596035 deg, new cmd heading: 12.584660 deg. i^ݹHeadingCmd: 0.219644 target range: 381.464355 and range: 382.80 m.hK`>hhhhggjgrgereZe:e*e?ɢ[<)  ?i)-i,i K`> )= F=I K`>IE EE%E"E1;*Eh:VE 4ZEBEa2Ekԁ 0&%,LA2BȒ<2q>2]qX<ٱ2Y=2H?Ϳ??? )??i2BȒ9AYA=EEyE"DE::EE>QQ 5U4Uvp(?Q 9]4UzQ =]tI)UfBYYy]>Q I]@U;DIU:iU4:Un:4yeϒBɮmAmzE:iFNOT Ignoring new targets: 381.46 m."i{*i{ ProNav: ac range: 381.464355 m, nav range: 370.879028 m, bearing: 12.254788 deg, approach rate: -0.531148 m/s, LOS rate: -0.015134 deg/s, cmd heading: 12.584660 deg, new cmd heading: 12.570297 deg. iݹHeadingCmd: 0.219393 target range: 381.464355 and range: 382.80 m.h`>hh!h!h9g9gAjgQrgQeYԉreZe :e*e@UnManaging dock network, ignoring radio surface power offD=D<E EE'E"E;*E:VE'4ZEa@a@a@a@ɢn<) ?i)$  i J޳i `>T<=O=I`>IB>BZCB IBBB =BBٺDBօ;BԱ@ @@/@u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014375 ^A =A >A >A I IO>o?-%,LA6|<6wr>6Pz<ٱ6=6H ~?@Ϳ֤?`?@?tI ?N??i6|94<@@@iBDI@@IDiFSs@ DD)DH HHHHNCN9~AINף)LiN)PIPRĻP PRCVpATiTTYTY^By^ Ii=Mb@Mb@Mb@9999 99= rh?ʡE?I +?Y=C ?y=-==94<=+@9 =@)=@9Y=@QUBAbD]$VD]ΰ8yڼ%B=ٔ/;Q->9Y=Ey*D ;E>Q 54o(?Q 94()$fBY  ?Q E :y >Q I @;DI;i;A4yBɮKA:iYFNOT Ignoring new targets: 381.46 m."i?*i? ProNav: ac range: 381.464355 m, nav range: 370.651917 m, bearing: 12.248462 deg, approach rate: -0.538208 m/s, LOS rate: -0.014999 deg/s, cmd heading: 12.570297 deg, new cmd heading: 12.557639 deg. i۹HeadingCmd: 0.219172 target range: 381.464355 and range: 382.80 m.hn`>hhhhgg checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266201jgrgB!e9re9ZeA:eA*eM:@Bɢa<)  ?i) i8in`>J=co=In`>Iq@q @q@q@qIE EE*E"E ;*E:VE(N4ZEBEuT4%,CLA02P<2r>2&<ٱ2=2H>?ȟͿ5_?p? ?ヺĐJG? ?i2P9iYq=uEyu2Du]9Eu>yQ 54}(?Q 94})}(fBYy>Q I@};DI}:i}:}|H4yɮA{EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 381.46 m."iɋ*iɋ ProNav: ac range: 381.464355 m, nav range: 370.442902 m, bearing: 12.242632 deg, approach rate: -0.547320 m/s, LOS rate: -0.015277 deg/s, cmd heading: 12.557638 deg, new cmd heading: 12.545970 deg. i߹HeadingCmd: 0.218968 target range: 381.464355 and range: 382.80 m.hG9`>hhhhggjgrgereZe:e*e w@!ɢ%n<)! -?i))-|,))i-8i5G9`>5W===I=G9`>I9ԑ@ @@0@-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770745Թ^A?=I I D zD AAE-  E- E- %E) "E- f;*E- :VE- 4ZE) aU @aU @aU @aU @O} >B >B B IB BB =B B B Ӆ;B 6zR<ٱ6|;=6Hi? Ϳ`1ԥ?T?? eʑ7? ?i69QYQ=]Ey];D]E]>aQ 5m4e(?Q 9m4eʨ)e.fBYm ?Q Eu:yu>Q Iu@e;DIe ;ie;eP4yyɮ}Ay:iFNOT Ignoring new targets: 381.46 m."ij*ij ProNav: ac range: 381.464355 m, nav range: 370.207825 m, bearing: 12.237098 deg, approach rate: -0.542917 m/s, LOS rate: -0.012788 deg/s, cmd heading: 12.545971 deg, new cmd heading: 12.534897 deg. i8HeadingCmd: 0.218775 target range: 381.464355 and range: 382.80 m.h`>hhhhggjgrgBereZe:e*e @ Bɢ m<)  r?i)iǴi`> h=>³=I`>I!9@ @@@ÂG9YA5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274372^A= #=AM xAzAI I I O >A 3A%, LAEj EjEj&Eh"Ejx;*Ej:VEj4ZEhBEjCg9qYy=}Ey}CD}E}>Q 54`(?Q 94)3fBYyQ I@;DI;i*;6W4yBɮA:iFNOT Ignoring new targets: 381.46 m."if*if ProNav: ac range: 381.464355 m, nav range: 369.985748 m, bearing: 12.231865 deg, approach rate: -0.534295 m/s, LOS rate: -0.012598 deg/s, cmd heading: 12.534897 deg, new cmd heading: 12.524424 deg. isHeadingCmd: 0.218592 target range: 381.464355 and range: 382.80 m.h_>hhhhgg!jg!rg!e)re)Ze):e)*e-@ @Yɢ]xd<)Y ]>iY)eaaieim_>mw=m'=Im_>IqADAT read: 04:13:54.0504 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412, 0.06, 2.099, 0.445, 2.303, 1.661, PHS= 0.540,-1.171, 0.598, RAW= 151.7, 0.4, CAL= 150.4, -0.3, ROT= 359.6, 0.3 Ygot valid direction response: 04:13:54.0504 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412, 0.06, 2.099, 0.445, 2.303, 1.661, PHS= 0.540,-1.171, 0.598, RAW= 151.7, 0.4, CAL= 150.4, -0.3, ROT= 359.6, 0.3 BDAT read: Rx Time:04:13:54.0504 TRx dataTimestamp_ set to:1764908036.237698@DAT read: $Low SNR acquisition 2Received low SNR in chirp@ @@00@=X#Rx 1: Read direction message, but no range.E`direction in FSK: [0.999962,-0.006981,-0.005236]ysI*&?Kj'(|sNru )GIq= ?iT㕿?Us)@;'@ )@I;1}\-=?k?~s{? m ?)ۻIi;]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapsei^A% =I I O >ԙ E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapse]G%,2LA2P<2r>2L<ٱ2=2HE?qͿڦ?@4? ?YKɓJ? H?i2P9tYt=vEyvJDz:Ez>|Q 54~(?Q 94~ݤ)~7fBYy>Q I@~;DI~:i~:~b]4yɮ;A:i9=FNOT Ignoring new targets: 381.46 m."iEqo*iEqoM ProNav: ac range: 381.464355 m, nav range: 369.794098 m, bearing: 12.227330 deg, approach rate: -0.552580 m/s, LOS rate: -0.013084 deg/s, cmd heading: 12.524424 deg, new cmd heading: 12.515348 deg. iU]HeadingCmd: 0.218434 target range: 381.464355 and range: 382.80 m.h],_>hYhYhYhYgYgYjgargaeareaZei:ei*em T@Bɢ(q<)I M>iQ)]Yai0i,_>D=D%=E EE#E"E+$;*E:VE3ZEa@a@a@a@%ه=-fT=I-,_>I1Bm>BiBm IBmBBm =BiBiBmȅ;BmY M%,l8LA6<6Shr>6Q<ٱ6vn=6H`?`Ϳ`+?`??@)? C؉=?X?i699YA=EEyESDEuEE>IQ 5U4M(?Q 9U4Mɢ)M9fBY] ?Q E]:y]r>Q I]@M;DIM;iM;Md4yaɮe&Am|E:iFNOT Ignoring new targets: 381.46 m."ioY*ioY ProNav: ac range: 381.464355 m, nav range: 369.567596 m, bearing: 12.222417 deg, approach rate: -0.547400 m/s, LOS rate: -0.011881 deg/s, cmd heading: 12.515348 deg, new cmd heading: 12.505516 deg. i򭹝HeadingCmd: 0.218262 target range: 381.464355 and range: 382.80 m.h0_>hhhhg9gAjgArgEBeIreIZeq:e*e @T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ɢ5'<)1 5>i1)=99i=XiE0_>E =E.ɴ=IE0_>II9@ @ @ ?5@ aE EE%E"E0;*E՚:VE 4ZEBEAM > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA I I Թ O >kT%,RLA2y<2.r>2z@<ٱ26=2Hs?@Ϳ(?`??; g C?`?i2y9dYd=fEyf[Dj9Ej>lQ 5%4n(?Q 9-4nՠ)n:fBY)y->Q I-@n;DInR2hhhhggjgrgereZe:e*e @Bɢ(<) >i)S.i(iU_>#==IU_>Iԑ@ @@3@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^AѴ= E  E E E "E ;*E :VE ZE a% @a% @a- @a- @A) IY B >B B IB BB B B B ;B 9 zZ%,llLAF CFE<ٱF7=FH ?`CͿ ???`|%6?/?iF C9IYI=MEyMdDUcEU>YQ 5e4](?Q 9e4])]>fBYe?Q Ee:yeг>Q Ie@];DI]:i]:]Vs4yuBɮuAu}E:iFNOT Ignoring new targets: 381.46 m."iU*iU ProNav: ac range: 381.464355 m, nav range: 369.114227 m, bearing: 12.212605 deg, approach rate: -0.541081 m/s, LOS rate: -0.011667 deg/s, cmd heading: 12.496243 deg, new cmd heading: 12.485881 deg. iѪHeadingCmd: 0.217920 target range: 381.464355 and range: 382.80 m.hZ&_>hhhhggjgrgBereZe:e*eA[@Bɢ2<) >i) iIiZ&_>==IZ&_>I%9@! @!@%4@!y T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^A} g^=Ա A I I O >}a%,@LA:lI<:q>:s<ٱ:&=:H?` rͿ@"6?`?? 9??@i:lI;aZ:EV>;a^bDbVDb8yj(%je=ٔn;Q-n>9lYp=rEyrkDrEr>tQ 5z4v )?Q 9z4v)vAfBYxy~s>Q I~@vhIhIhIhQgQgQjgQrgQeYreYZeY:ea*eec@颉ɢ.x<) )>i)ջ顑ii3_>UĖ=w=I3_>I9@ @@/@ԱmT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapse^A=D=AEyAzAAA I I O >  T****** received valid address query ****** R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseg%,TLA2]-<2Mq>2H<ٱ2~a=2Hs?cͿ`p?^??ֹȗ??i2]-By> IbDFVDF8yN%NN=ٔR ;Q-R>9PYP=VEyVsDVzEV>XQ 5^4Z)?Q 9^4Z)ZEfBY`ybC>Q Ib@Zhhhhg!g!jg!rg!e)re)Ze):e)*e-@_@Bɢ<)  >i1)5Gɻ99i=i=^>EdԖ=E N=IE^>IAbE]-4jE]Þ4rE]ü 0E EEE"EI;*EB:B->B)B- IB-}BB)B)B)B-Ņ;B-m%,LA2b<2Mq>2<ٱ2 =2H?ZͿ?H?Z?Ĺ`=|??i2bBy> I@BAi-Mb@Mb@Mb@)))) )9-!rh?A`"?Mb?Y-l?y-Y=-<-`@-A -X@)))Y)bD]VD]8y}D%==ٔU:Q->9Y=Ey|D E>ԹQ 54H/)?Q 94)IfBY)?Q E:y>Q I@$iIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsehhhhggjgrgBereZe:e*eN@-Bɢ-<)) ->i))511i5i=^>= =9I=^>IA@ @@@E EE%E"E&;*Ev:VE 4ZEBE<2E<JE;:E;^A!  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA AQ Ia Iq O} >t%,+LA2IB<2=p>2<ٱ2=2H$?PͿ?`????i2IByBy>z IbDF׿VDF8yN%NW=ٔR:Q-R>9PYP=VEyVDVf3EV>XQ 5^4ZR?)?Q 9^4ZL)ZLfBY`yb>Q Ib@Z1hhhhggjgrgereZe:e*e c@Bɢ\<) >i)wni"iC^>=w=IC^>I@ @@@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^AA>A>IE  E E ,E A AAA B >B B l IB nBB B B B ;B q ,z%,LAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseY%wBy%w IiMb@Mb@Mb@ 9!rh?V-?{Gz?Yym=ף<@vA n@)Y@bD5VD58yEP*%E3=ٔEQ-M>9M ?QYM ?=UEyUD]E]>aQ 5e4eR)?Q 9m4e*)eRfBYmT?Q Em:ym٭>Q Iu@e@hhhhggjgIrgMBeIreIZeQ:eQ*eU!@颽Bɢr3<) >i) "  i i]c^>f==I]c^>Iԁ@ @@@ԩT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A ϰ= AU ؟AIY Ii O} >%,! LAE" E"E"&E "E"7;*E":VE"4ZE BE"Z<2E"Z<JE" <:E" J<ٱJ5=JH`? IͿ@<ߩ? [??@乿@Yv/?w?iJ9n"?Yn"?=nEynDrEr>tQ 5z4va)?Q 9z4v{)vWfBYxy~ͭ>Q I~@vLhIhIhIhIgIgQjgQrgQeYreYZeY:eY*e]@颉ɢ<)  >i) 顑ii@^>=t=I@^>Iԉ9@ @@0@T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԱ^A=I I O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse b%,!LA2yo<2p>2<ٱ2?=2H?DͿ%?^?v?`ךE? ?i2yovBy>w IbDFVDF8yN2%NN=ٔR9:Q-R>9PYT=VEyVDVEV>XQ 5^4Zr)?Q 9^4Z)Z\fBY`ybí>Q Ib@ZZhqhqhqhggjgrgereZe:e*eF @Bɢ!<) >i )511i=xi=^>= =E=IE^>IAB>BB` IBdBBBBBÅ;B C lG 1 @%,C;LAd9YZ`AnZn<ٱns=nH ?"4ͿVI? n? ?`C繿@7 $=??inZ=ٔm^:Q-m>9iYi=uEyuDuEu>yQ 54})?Q 94})}afBQ A+:YQ E:y>Q I@}i}4yŒBɮzAuE:iFNOT Ignoring new targets: 381.46 m."i[?*i[? ProNav: ac range: 381.464355 m, nav range: 367.416840 m, bearing: 12.178888 deg, approach rate: -0.527996 m/s, LOS rate: -0.010456 deg/s, cmd heading: 12.427399 deg, new cmd heading: 12.418407 deg. iU]HeadingCmd: 0.216742 target range: 381.464355 and range: 382.80 m.h]]>hYhYhYhYgagajgargaeareiZei:ei*em!!@}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseBɢ<) >i)χiG]i]>0=R=I]>II@ @@0@Ee EeEe$Ea"Eef;*Ee:VEe4ZEaBEeW<2EeW<JEel;:Eel;y^Ae=I9 II OU >ԡ 5 4=1 5 T****** received valid address query ******5 R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapse&%,ǛULA6<6o>6u<ٱ6=6H?b!Ϳ`U?ժ?@?`fҹt >)? R?i69XYX=ZEy^D^ȺE^>`Q 5f4b)?Q 9f4bލ)bffBQ Af :YhQ Ej:yj8>Q Ij@bv*i>% ProNav: ac range: 381.464355 m, nav range: 367.216064 m, bearing: 12.174928 deg, approach rate: -0.527672 m/s, LOS rate: -0.010413 deg/s, cmd heading: 12.418407 deg, new cmd heading: 12.410483 deg. i%s-HeadingCmd: 0.216604 target range: 381.464355 and range: 382.80 m.h-b]>h)h)h)h)g)g1jg1rg1e1re1Ze9:e9*e=!@mBɢmx<)i m>ii)u~qqiuJi}b]>}==}=I}b]>I59@1 @9@=.3@9ԱT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A}#=IIO>B >B B S IB YBB =B B B Ņ;B ;:E >;Q%,zoLA2<2{o>2 <ٱ2=2H? Ϳi? ?9?`8йԠ`5)?H?i29iYi=mEymDuEu>1Q 5=45)?Q 9=45)5lfBQ AET:YEY ?Q EE:yE)>Q IE@5hhhhggjgrgBereZe:e*e @"@}BɢS<) 5>i)[g顁ii]>5O==I]>I)@ @@ 0@ QT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A=A>A ?I1 IA OM >ԁ :%,ZLAEB EBEB#E@"EB;*EBv:VEB3ZE@aF@aF@aF@aF@YjByh IbD-VD-8y=`f<%=M=ٔ=Q-E>9AYA=EEyEDMEM>QYQ 5]4Uܸ)?Q 9e4UΉ)UqfBYayaQ Ie@UhhhhggjgrgereZe:e*e`#@uBɢu 3<)y }>iy)}I8Vyyi}iu]>\===Iu]>IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse-9@) @)@-45@)ԁԹ^AM=IIO>  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsed%,1LAY~hBy~e I==bDVD8y%B%%L=ٔ!Q-%>9)Y)=-Ey-D)E5>1Q 5u45?)?Q 9u45և)5vfBYqyqQ I}@5hhhhggjgrgereZe:e*e7T$@ Bɢ <) s>i))BiCⴼi%eK]>%tk=%=I-eK]>I)B5>B1B5G IB5OBB5 =B1B5غDB5х;B5(%,LAZϱZe<ٱZ.W=ZH`?O!Ϳ``?@??ṿty`9? ?iZϱ9Y=EyDJ9E>Q 54Q)?Q 94)|fBY9 ?Q E:y>Q I@hhhhggjgrgсBereZe:e*eJ5%@eBɢe9<)a e~>ia)!A/ii]>|=2=I]>I9@ @@#5@E EE&E"Em+;*E:VE4ZEa@a@a@a@i^A =A zAzA  2Acoustic response timeoutԙ A1 IA IQ O] >}%,LA2ye<2o>2Y<ٱ2=2H ?T(ͿO?? 8?_빿aJ7A??i2yeWBy>Q IbDFVDF8yN %NY=ٔR.Q-R>9PYP=REyRDV:EV>XQ 5^4Z)?Q 9^4Z)ZfBY`yb>Q Ib@Zhhhhggjg!rg!e!re!Ze):e)*e- %@]Bɢ];<)Y ]>iY)eH aaieEi\>=V=I\>Ii9@ @@/@U2Acoustic response timeoutԑ^AԹB% >B% YCB% A IB% JBB! B! B! B% م;B% %,LA2DŽ<2o>2<ٱ2=2H`?(Ϳ??@ ?@D??i2DŽ9Y=EyD5E>Q 54)?Q 94R)fBY??Q E:y>Q I@hhhhggjgrgBere!Ze!:e!*e%&@UBɢU<)Q U>iY)]YYi]3]ie\>ew=e$=Ie\>Ii9@ @@@^A箵=u2Acoustic response timeout1 A .AI I O >Q ˉ%,n LAE2 E2E2$E0"E2;*E2v:VE24ZE0a6@a6@a6@a6@><>7p>><ٱ>s=>H ? v5Ϳ`?:?`?@? 0ι 0 #?v?i>f\;>CY^QBy^H IbDjVDj8yrr%rV=ٔr09Q-r>9v ?Yv ?=vEyvDz:Ez>|Q 54~*?Q 94~8)~fBYy>Q I @~|\>hYhYhYhagagajgargaeireiZei:ei*euL'@额Bɢ<) >i)顡ia3i>|\>੗=ii=I>|\>I)M9@I @I@M/@I2Acoustic response timeoutY^AA>A>ԁ I I O >} 2Acoustic response timeoutɱ%,w$LA02]<2Sp>2'u<ٱ2'K=2H?Q8Ϳ@C?`?`h?⹿-@8?,?i2]9dYd=fEyfDfO9Ef>hQ 5n4j,"*?Q 9r4j})jfBYpyr>Q Ir@jh1hhhggjgrgereZe:e*e](@=Bɢ=|><)9 =>iA)EtݺAAiEiMF\>MG=M=IMF\>B>BZCB4 IB@BBBBٺDB؅;BO%,X>LAlYFBy< I%=%=iMb@Mb@Mb@ 9Zd;O?kt?9Y=EyDE>Q 544*?Q 94z)fBYO ?Q E:y{>Q I@Tx time:04:14:03.5885 ]h hhhggjgrgBereZe:e!*e%RB)@5Bɢ5!w<)1 5֏>i9)=Ĝ99i=SiE \>eΗ=}KR=I \>I9@ @@@E} E}E}"Ey"E}%;*E}:VE}(3ZEya@a@a@a@ DAT read:  2Acoustic response timeout^AE +=A I I O >%,I-XLA2u<26p>2ƞ<ٱ2fh=2H`?{7Ϳ?Ͻ?3?`qh S ??i2u9TYT=VEyVDZ^EZ>\Q 5b4^D*?Q 9b4^x)^fBY`yby>Q If@^=DI^;i^Q;^4yhɮjAhvB*** querying acoustic contact ***ixix:i|FNOT Ignoring new targets: 381.46 m."i*i ProNav: ac range: 381.464355 m, nav range: 365.009277 m, bearing: 12.120085 deg, approach rate: -0.538555 m/s, LOS rate: -0.015041 deg/s, cmd heading: 12.311738 deg, new cmd heading: 12.300731 deg. i8ܹ%HeadingCmd: 0.214688 target range: 381.464355 and range: 382.80 m.h%=[>h!h!h)h)g)g)jg)rg1e1re1Ze1:e1*e=)@UBɢUR<)Y ]>iY)ewsaaie=iu=[>ݗ=m|=I=[>IIi@i @i@m/@iM2Acoustic response timeoutq^A=B<AB>B[CB( IB6BB =BBBԅ;Bԩ %,OrLA6<6p>6_R<ٱ6=6H?WGͿ~???ǹ`o@%?R?i69aYa=eEyeDm:Em>iQ 5u4ym'W*?Q 9}4mRv)mfBYa?Q E:y>Q I@m=DIm0;im/;mm4y’BɮAyE:i=FNOT Ignoring new targets: 381.46 m."i=T*i=TM ProNav: ac range: 381.464355 m, nav range: 364.774994 m, bearing: 12.113817 deg, approach rate: -0.548276 m/s, LOS rate: -0.014680 deg/s, cmd heading: 12.300731 deg, new cmd heading: 12.288185 deg. iMֹuHeadingCmd: 0.214469 target range: 381.464355 and range: 382.80 m.huם[>hyhyhyhygygyjgrgBereZe:e*e*@Bɢa<) `>i)i)iם[> = =I ם[>I\GԩyA@ @@0@5A%Wj9%yAY%dAU2Acoustic response timeout^A =I I O > %,xLAE" E"E E "E"f;*E"$:VE ZE a&@a&@a&@a&@>K<>q>>t<ٱ>m=>H(?ZͿª??? ܛ q?;?i>K\;>CY^/By^ I`bAbDf VDf8yn<%rR=ٔre:Q-r>9pYt=vEyvDv:Ev>xQ 5~4zh*?Q 94z4t)zfBYy >Q I@z"=DIz:iz :z;4y ɮ A:i1=FNOT Ignoring new targets: 381.46 m."i=A*i=AM ProNav: ac range: 381.464355 m, nav range: 364.561523 m, bearing: 12.108075 deg, approach rate: -0.549240 m/s, LOS rate: -0.014781 deg/s, cmd heading: 12.288186 deg, new cmd heading: 12.276696 deg. iMiعUHeadingCmd: 0.214269 target range: 381.464355 and range: 382.80 m.h]Ei[>hYhYhYhYgYgYjgargaeareaZei:ei*emK+@5Bɢ5q<)9 =j>i9)=^h99i=䲼iEEi[>E=E\=IEEi[>II2Acoustic response timeout%9@! @!@%/0@))^AmMη=IIO>] 2Acoustic response timeouta %,LA2`<2q>2<ٱ2=2H%?`WͿ?-?`?`X`m?,?i2`.By<bDJVDJ8yR%RN=ٔV$:Q-V>9TYT=ZEyZDZEZ>\Q 5 4^Ny*?Q 9 4^r)^fBY y >Q I@^0=DI^:i^:^$ 4yɮAzE:iAEFNOT Ignoring new targets: 381.46 m."iM *iM e ProNav: ac range: 381.464355 m, nav range: 364.344696 m, bearing: 12.102237 deg, approach rate: -0.535600 m/s, LOS rate: -0.014429 deg/s, cmd heading: 12.276696 deg, new cmd heading: 12.265013 deg. ieBӹmHeadingCmd: 0.214065 target range: 381.464355 and range: 382.80 m.hm3[>hihihihigigqjgqrgqeqreyZey:ey*e}b,@颭Bɢ v<) g>i)j68顱ii3[>c=Wѻ=I3[>I1B>BZCB IB,BBBBB…;BA>ԑA% ؟AI) IA OM >Թ )%,LA2A<2q>2<ٱ2=2H?ZͿLh?e?B? `@??i2A)By> Ii Mb@Mb@Mb@     9 v/?~jt?:v?Y x ?y = T< @ A @)  Y GAbD%VD%8y5Ѽ%5B=ٔ5@:Q-5>9"?Y"?=EyDS9E>Q 54ҋ*?Q 94o)fBY ?Q E:y>Q I@?=DI;i7;4yɒBɮApE:iFNOT Ignoring new targets: 381.46 m."i*i ProNav: ac range: 381.464355 m, nav range: 364.111786 m, bearing: 12.096255 deg, approach rate: -0.546976 m/s, LOS rate: -0.014057 deg/s, cmd heading: 12.265013 deg, new cmd heading: 12.253041 deg. i ͹ HeadingCmd: 0.213856 target range: 381.464355 and range: 382.80 m.h  Z>h hhh2Acoustic response timeoutgg!jg!rg%Be!re)Ze):e)*e-U<-@]Bɢ]d<)]$ӓ ]Z>ia)esaaie1'im Z>m=&=m"=Im Z>Iqԙ-9@) @)@-?5@1Ee EeEe#Ea"Ee1;*EeǙ:VEe3ZEaam@am@am@am@^A = 2Acoustic response timeoutA .AI I O > %,tLA2S<2n2r>2&<ٱ2D=2H`?NfͿƫ??@?@2ţ??i2S9 ?Y ?=Ey(D{:E>Q 54*?Q 94~m)fBYy7>Q I@N=DI:i:v4yɮNAqE B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 381.46 m."i%W|*i%W|5 ProNav: ac range: 381.464355 m, nav range: 363.875336 m, bearing: 12.090157 deg, approach rate: -0.534265 m/s, LOS rate: -0.013788 deg/s, cmd heading: 12.253041 deg, new cmd heading: 12.240836 deg. i5ɹ=HeadingCmd: 0.213643 target range: 381.464355 and range: 382.80 m.h=4Z>h9h9h9h9gAgAjgArgAeIreIZeI:eI*eUH.@yɢ}8L<)y D>i)顁ii4Z>e;=߽=I4Z>I%9@! @!@)@)U2Acoustic response timeoutAAB>B[CB IBBB =BBBÅ;B<%,PLA2t<2vr>2<ٱ23=2H?jͿM? ??`$`?@?i2tI~A>t<<@BI~AiBtI@@I@iBCs@ DD)DD F=~AFtHHHJ5~AIJ`e)HiH)LR2Acoustic response timeoutIN ~AR#VEF TVCVpATiTXYXY^ BybIiMMb@Mb@Mb@IIII I9Msh|??Zd;?{Gz?YM ?yMy=M#9Y=Ey0DX2:E%>!Q 5-4% *?Q 954%k)!YU ?Q EU:yU}>Q IU@%[=DI%;i%2;%" 4yaɮeAa:iFNOT Ignoring new targets: 381.46 m."iO*iO ProNav: ac range: 381.464355 m, nav range: 363.670074 m, bearing: 12.085743 deg, approach rate: -0.527511 m/s, LOS rate: -0.011348 deg/s, cmd heading: 12.240836 deg, new cmd heading: 12.232005 deg. i&HeadingCmd: 0.213489 target range: 381.464355 and range: 382.80 m.h̜Z>hhhhggjgrgBereZe:e*e.@QmBɢu.<)q u>iy)}Jlyyi}*i̜Z>)O=8=I̜Z>I!@! @!@%)5@)y]2Acoustic response timeout^A- }=A- wAzA- xAԩ I! I9 OE >#%,* LAE EEE"E*E?:VEZEa@a@a@a@>oY<>*Sq>>^<@ٱ>=>H@? EͿ`? i??}й@ן *o?@S?i>oY];>CY y I <<bD%&VD%ϰ8y5_;%5W=ٔ5>;Q-5>99Y9==Ey=8DEAEE>IQ 5U4M2*?Q 9U4Mi)IYQyU>Q IU@Mh=DIM:iM*:M&4yeȒBɮeAa:iFNOT Ignoring new targets: 381.46 m."iV*iV ProNav: ac range: 381.464355 m, nav range: 363.468170 m, bearing: 12.081433 deg, approach rate: -0.549740 m/s, LOS rate: -0.011743 deg/s, cmd heading: 12.232005 deg, new cmd heading: 12.223379 deg. iHeadingCmd: 0.213338 target range: 381.464355 and range: 382.80 m.hUuZ>hhhhggjgrgereZe:e*e@/@Bɢ-<<) >i)ViiUuZ>_=c=IUuZ>I2Acoustic response timeoutԹ]Ǽ9@ @@1@ e BDAT read: Rx Time:04:14:06.4919 m TRx dataTimestamp_ set to:1764908048.578914m 2Acoustic response timeout^A I! I1 O= >\C %,4&LAJiOJ=ٱJg=JH@?W Ϳ`? ?x? @ ]a`tP?@?iJiO9qYq=uEyu@Du(1E}>yQ 54}*?Q 94}g)yYya>Q I@}w=DI};i};}-4yɮArE:iFNOT Ignoring new targets: 381.46 m."iP*iP ProNav: ac range: 381.464355 m, nav range: 363.248718 m, bearing: 12.076780 deg, approach rate: -0.537596 m/s, LOS rate: -0.011406 deg/s, cmd heading: 12.223379 deg, new cmd heading: 12.214067 deg. iHeadingCmd: 0.213176 target range: 381.464355 and range: 382.80 m.hJZ>hhhhggjgrgereZe:e*e`R90@ɢ%ۚ0<)! %$>i!)%pF7))i-$i5JZ>5q=5 A=I5JZ>I9Bu>Bu\CBuIBuBBu =BqBuںDBu;Bu=<2Acoustic response timeoutIy `*%,@LAau҂u=ٱuV=uH? Ϳ{?p?`,?㉹ >? y?iu҂9Y=EyID忺E>-X#Rx 1: Read direction message, but no range.5`direction in FSK: [0.995392,-0.039979,-0.087156]y15˼@?9xO1111 1)5KI5+?i5ҍ5$F?5*@5 A5*@ 5¸)5@I5¸=15o`3?K?à( 5?)5=I5Ql$i5¸=M2Acoustic response timeout!Q 5U4%*?Q 9U4%e)!YU ?Q E]:y]ȣ>Q I]@%=DI%;i%:%54yeϒBɮenAa:iFNOT Ignoring new targets: 381.46 m."i)+*i)+ ProNav: ac range: 381.464355 m, nav range: 362.998413 m, bearing: 12.072452 deg, approach rate: -0.540632 m/s, LOS rate: -0.009352 deg/s, cmd heading: 12.214067 deg, new cmd heading: 12.205407 deg. i툹HeadingCmd: 0.213025 target range: 381.464355 and range: 382.80 m.h#Z>hhhhggjgrgBereZe:e*e໯0@Bɢv <) >i) G 9ifi#Z>ԁ7=U=I#Z>IE] E]E]&EY"E];*E]:VE]4ZEYae@ae@ae@am@ԩ @  @ @ F2@  2Acoustic response timeout ^A= A >A ?IiIyO>m%,J)_LA2Yu<2xn>24 =ٱ2!=2H1?=̿R?`ȅ??`e@&?@~?i2Yu9lYl=nEynQDr %Er>tQ 5z4v*?Q 9z4vc)tYxyzD>Q I~@v=DIvo;ivI;v<4yɮAB*** querying acoustic contact ***ii:i)-FNOT Ignoring new targets: 381.46 m."i5.*i5.E ProNav: ac range: 381.464355 m, nav range: 362.777832 m, bearing: 12.068669 deg, approach rate: -0.554034 m/s, LOS rate: -0.009508 deg/s, cmd heading: 12.205407 deg, new cmd heading: 12.197836 deg. iE4MHeadingCmd: 0.212892 target range: 381.464355 and range: 382.80 m.hMwZ>hIhIhQhQgQgQjgYrgYeYreYZeY:ea*ee1@颉ɢ<) 0=i)!k9顙iXiwZ>ꖘ==IwZ>Iԩ2Acoustic response timeoutI@I @I@M/@IB5<A5<B=>B=ZCB=IB=BB= =B9B=غDB=Å;B=  2Acoustic response timeout9 D%,xLA21na<2>m>2L=ٱ2`=2H/ ?@˻̿N?x_?@K?C@ ??i21na9aYa=eEyeYDm5:Em>Q 54 +?Q 94 b)fBY N ?Q E :y >Q I@=DI;i4;D4y9ɮ=A9:iFNOT Ignoring new targets: 381.46 m."i_*i_ ProNav: ac range: 381.464355 m, nav range: 362.541016 m, bearing: 12.064926 deg, approach rate: -0.529857 m/s, LOS rate: -0.008381 deg/s, cmd heading: 12.197836 deg, new cmd heading: 12.190345 deg. ieuHeadingCmd: 0.212762 target range: 381.464355 and range: 382.80 m.h1Y>hhhhggjgrgereZe:e*ee1@颁ɢҒ;) =i)d9ijڭi1Y>=g=I1Y>I9@ @@@%2Acoustic response timeoutAi ^AE 2=EM  EM EM &EI "EM ;*EM Z:VEM 4ZEI a] @a] @a] @a] @A] yAzA] wAIa Iq O} >$%, &LA 2$M<2Tl>2=ٱ2=2H="?@]̿`?@*9??`*#W ??i2$MByBIbDJVDJ8yR6<%RS=ٔR:Q-R>9TYT=VEyVaDZAKEZ>\Q 5b4^+?Q 9b4^n`)^fBY`ybJ>Q Ib@^=DI^:i^:^J4yhɮjAjsE:i|~FNOT Ignoring new targets: 381.46 m."ib*ib ProNav: ac range: 381.464355 m, nav range: 362.341217 m, bearing: 12.061802 deg, approach rate: -0.556606 m/s, LOS rate: -0.008709 deg/s, cmd heading: 12.190345 deg, new cmd heading: 12.184093 deg. iHeadingCmd: 0.212653 target range: 381.464355 and range: 382.80 m.hY>hhhhgg!jg!rg!e!re)Ze):e)*e-1@U2Acoustic response timeoutaɢeS<)a m=ii)m<9iiw=iY>ʶ==IY>IA9@ @@@@=@q^A 2Acoustic response timeoutI I ԙ O >*%,LA@NDN[=ٱNn=NH#? ̿A? '??縿j ?@Q?iNDB~YCB~IB~ЁBB~ =B|B|B~;B~9)Y)=5Ey5jD5E5>9Q 5E4=3,+?Q 9E4=^)=fBYIyM>Q IM@==DI=::i=:=JR4yQɮ]IAa:iFNOT Ignoring new targets: 381.46 m."i*i ProNav: ac range: 381.464355 m, nav range: 362.113983 m, bearing: 12.058263 deg, approach rate: -0.536441 m/s, LOS rate: -0.008359 deg/s, cmd heading: 12.184093 deg, new cmd heading: 12.177011 deg. itHeadingCmd: 0.212529 target range: 381.464355 and range: 382.80 m.h0Y>hhhhggjgrgereZe:e*e`P2@MBɢu;)y }|=iy)49顉i\NԱi0Y>ǘ=:,=I0Y>Im2Acoustic response timeout9@ @@/@ CEGe{A}A륿9{AY6A^A r= I I! O- > 2Acoustic response timeout1%,LAlYrByrItvAimMb@Mb@Mb@iiii i9mˡE?~jt?Zd;O?Ym?ymD=mj9Y=EyrDE>Q 54>+?Q 94\)fBY?Q E:y+>Q I@=DI;i;Y4yΒBɮA:iFNOT Ignoring new targets: 381.46 m."i"*i" ProNav: ac range: 381.464355 m, nav range: 361.892273 m, bearing: 12.054588 deg, approach rate: -0.535571 m/s, LOS rate: -0.008882 deg/s, cmd heading: 12.177012 deg, new cmd heading: 12.169657 deg. i HeadingCmd: 0.212401 target range: 381.464355 and range: 382.80 m.h Y>h h h h ggjgrgBereZe:e*e%2@ɢ ;) =i) :iiY>՘==IY>IE EE%E"E;*E:VE 4 ZEBEm_I I! O- >a 87%,ǟLA6<<6gh>6U<=ٱ6=6H{(?'̿1z?@,?|?D9 q梿 R??i6<9XYX=ZEyZyD^E^>`Q 5f4bN+?Q 9f4b-[)bfBYdyj>Q Ij@b=DIb:ib6:b!`4ylɮnAl~B*** querying acoustic contact ***i|i|:i FNOT Ignoring new targets: 381.46 m."i *i % ProNav: ac range: 381.464355 m, nav range: 361.693542 m, bearing: 12.051380 deg, approach rate: -0.530255 m/s, LOS rate: -0.008564 deg/s, cmd heading: 12.169657 deg, new cmd heading: 12.163238 deg. i%z%HeadingCmd: 0.212289 target range: 381.464355 and range: 382.80 m.h-+bY>h)h)h)h)g)g)jg1rg1e1re1Ze99:eA*eE3@iɢml;)q ut=iq)ufW:qqiuɪi}+bY>}|=e =I+bY>I2Acoustic response timeout@ @@ 0@@zA@zAiA@AAAABBBIBBBBBB;B 2Acoustic response timeout p=%,N{LAFFh=ٱFy=FHy*?̿o? h?@ ? R7뢿 ??iF9Y=EyDp E>Q 5 4a+?Q 9 4Y)fBY %?Q E :y >Q I @=DI:i:g4yɮ<AtE:iAEFNOT Ignoring new targets: 381.46 m."iM8*iM8] ProNav: ac range: 381.464355 m, nav range: 361.446533 m, bearing: 12.046903 deg, approach rate: -0.556025 m/s, LOS rate: -0.010085 deg/s, cmd heading: 12.163238 deg, new cmd heading: 12.154277 deg. i]eHeadingCmd: 0.212132 target range: 381.464355 and range: 382.80 m.he,9Y>hahahahagagijgirgmBeireqZeq:eq*e}!3@颥Bɢm;) =i)b&:顩i੼iu,9Y>u=u7=I},9Y>Iy @  @ @ /@ 2Acoustic response timeout^AE d=E  E E "E "E 1;*E :VE (3ZE a @a @a @a @ A I I O >;,E%,:LA2p;2v|f>2=ٱ2C=2H`+?@˿o?`l?` ?:#?`?i2p;I2,e];0Y>ցBy>IB=Ba=N2Acoustic response timeoutbDJVDJ8yV%VU=ٔV69Q-V>9XYX=ZEyZD^bE^>`Q 5f4bs+?Q 9f4bLW)bfBYdyf>Q If@b=DIb:ib\:bn4yn͒BɮnAlQ:iFNOT Ignoring new targets: 381.46 m."i.*i. ProNav: ac range: 381.464355 m, nav range: 361.233002 m, bearing: 12.043055 deg, approach rate: -0.528937 m/s, LOS rate: -0.009537 deg/s, cmd heading: 12.154277 deg, new cmd heading: 12.146577 deg. iHeadingCmd: 0.211998 target range: 381.464355 and range: 382.80 m.hY>hhhhggjgrgereZe:e*ey3@ɢs;) 3=i)20:ii Y> a=&==IY>I@ @@00@yԩ^Ax=AzAzAU2Acoustic response timeoutA= ؟AIA IQ Oe > B >B B IB BB =B B ׺DB ;B 9"?Y%"?=%Ey-D=E=>QQ 5m4Ud+?Q 9u4U-U)UfBYyQ I@U >DIU;iU;Uv4yɮA2Acoustic response timeout:iFNOT Ignoring new targets: 381.46 m."i/*i/ ProNav: ac range: 381.464355 m, nav range: 360.980865 m, bearing: 12.038506 deg, approach rate: -0.532362 m/s, LOS rate: -0.009613 deg/s, cmd heading: 12.146577 deg, new cmd heading: 12.137472 deg. iHeadingCmd: 0.211839 target range: 381.464355 and range: 382.80 m.hHX>h)h)h1h1g1g9jg9rg9e9reAZeA:eA*eE1o4@ɢm;) $= ®=IHX>Iq@q @y@}/@y@=@=A e 2Acoustic response timeout^A "=A I I O>S%, LLA,>y;>Kd>>=ٱ>t=>H/?i˿?DH?g? `h??i>y;I>]\;>CYXyZIi=Mb@Mb@Mb@9999 99= rh?Dl??Y= ?y=O==<=n@=\ A =zA)99Y=(AbDUVDU8ye%e9=ٔe8Q-e>9iYi=mEE} E}E}!Ey"E};*E}M:VE}c3ZEya@a@a@a@yDE>Q 54+?Q 94 S)fBY ?Q E:yS>Q I@>DI:i:/~4yɮuE:iYeFNOT Ignoring new targets: 381.46 m."ie_*ie_ ProNav: ac range: 381.464355 m, nav range: 360.740997 m, bearing: 12.033436 deg, approach rate: -0.577495 m/s, LOS rate: -0.012215 deg/s, cmd heading: 12.137472 deg, new cmd heading: 12.127324 deg. iײHeadingCmd: 0.211662 target range: 381.464355 and range: 382.80 m.h۽X>hhhhggjgrgBereZe:e*e4@BɢH';) %U=U?=IU۽X>IYԁ%=2Acoustic response timeout@ @@0@Ա^A% 6= AQ IY Ii O >>Y%,7fLA22Acoustic response timeout6~;6"c>6=ٱ60=6H 2?.˿s?@3$? ?`*rF?]?i6~;I6!\;6CYBByBIDFAbDLVDLyVZ%VX=ٔVǪQ-V>9XYX=ZEyZD^uEE^>|!Q 5%4%+?Q 9-4%&Q)%fBY)y-î>Q I-@%&>DI%`:i%:%4y1ɮ=tAYuB*** querying acoustic contact ***iqiq:iFNOT Ignoring new targets: 381.46 m."iX*iX ProNav: ac range: 381.464355 m, nav range: 360.527985 m, bearing: 12.028965 deg, approach rate: -0.562306 m/s, LOS rate: -0.011808 deg/s, cmd heading: 12.127324 deg, new cmd heading: 12.118378 deg. iହHeadingCmd: 0.211506 target range: 381.464355 and range: 382.80 m.hX>hhhhggjgrgereZe:e*e@.:5@颙ɢM:) j:i)*<:顡iiEX>M=M=IMX>IB>BByIBBB =BBB;B!&`%,ퟀLA2Y^;2b>2=ٱ2!=2H/3? 7}˿8??`?`y@F??i2Y^;I2߷\;0Y>By>IiMb@Mb@Mb@ 9oʡ?~jt?:v?Y ?y=< A A)YAbD%VD%8y-X(%-B=ٔ5q޺Q-5>91Y9=EyD鑺E>Q 54>+?Q 94O)fBY?Q E:y>Q I@5>DI~ ;i;W4yӒBɮAlE:iFNOT Ignoring new targets: 381.46 m."i3k*i3k- ProNav: ac range: 381.464355 m, nav range: 360.295410 m, bearing: 12.023651 deg, approach rate: -0.562131 m/s, LOS rate: -0.012852 deg/s, cmd heading: 12.118379 deg, new cmd heading: 12.107744 deg. i-)5HeadingCmd: 0.211320 target range: 381.464355 and range: 382.80 m.h5EdX>h1h9h9h9g9g9jgArgAeAreAZeA:eI*eM-5@uBɢ}^:)y }iy)}T<:yyif*iEdX>z =[u=IEdX>Iu2Acoustic response timeout@ @@?5@@@IyE EE%E"E ;*E՚:VE 4ZEa@a@a@a@^A1Aa Ii Iy O >ԡ % 2Acoustic response timeoutEPf%, {LAf4V>;fX!b>f=ٱf}=fH@94?>o˿c?&?`_?`0ѡJ??if4V>;IfW\;fCYzByzIbDVD8y-%-J=ٔ5Q-5>91Y1=5Ey=D= E=>AQ 5M4Eq+?Q 9M4E M)EfBYQyUM>Q IU@EC>DIE":iE:E*4yYɮ]Aay:iFNOT Ignoring new targets: 381.46 m."ie*ie ProNav: ac range: 381.464355 m, nav range: 360.080139 m, bearing: 12.018745 deg, approach rate: -0.550211 m/s, LOS rate: -0.012549 deg/s, cmd heading: 12.107744 deg, new cmd heading: 12.097925 deg. iHeadingCmd: 0.211149 target range: 381.464355 and range: 382.80 m.hX7X>hhhhggjgrgereZe:e*e6@aɢm :)i m2ii)m;:iqiu CiX7X>(=)=IX7X>I 9@  @ @05@ԩ2Acoustic response timeout^A5.=B >B [CB fIB BB =B B ٺDB ׅ;B  zl%,.WLAei.;ea>er =ٱe:=eH4?pi˿@?`??%@r ʈ? ?iei.;Ie'];eCYByI2Acoustic response timeout %=%=iMb@Mb@Mb@ 9B`"?+?Q?Y?y=u<@A 3A)YAbDVD8y(%)=ٔ1Q->9Y=EyDE>Q 54 +?Q 94J)fBYI?Q E:y6>Q I@T>DI@x;iM;4yɮ AmE:i!-FNOT Ignoring new targets: 381.46 m."i-Rm*i-Rm= ProNav: ac range: 381.464355 m, nav range: 359.809601 m, bearing: 12.012405 deg, approach rate: -0.552980 m/s, LOS rate: -0.012968 deg/s, cmd heading: 12.097925 deg, new cmd heading: 12.085236 deg. i=۽EHeadingCmd: 0.210927 target range: 381.464355 and range: 382.80 m.hEJW>hIhIhIhIgIgIjgQrgUЁBeQreQZeY:eY*e]@e6@Bɢu-) Pi)Xb6:i(iJW>|2==IJW>I)9@ @@2@Q 2Acoustic response timeout^A y A I I O >s%,pLAEN ENEN&EL"ENl;*EN:VEN4ZELaR@aR@aR@aR@Y~By~|IbD]#VD]Ͱ8ym%md=ٔuQ-u>9qYq=}Ey}D}E}>Q 54+?Q 94ԑH)fBYyQ I@a>DI%);iS*;ݡ4yҒBɮ? A:iFNOT Ignoring new targets: 381.46 m."izr*izr ProNav: ac range: 381.464355 m, nav range: 359.611084 m, bearing: 12.007747 deg, approach rate: -0.564299 m/s, LOS rate: -0.013249 deg/s, cmd heading: 12.085236 deg, new cmd heading: 12.075914 deg. iHeadingCmd: 0.210764 target range: 381.464355 and range: 382.80 m.hW>hhhhggjgrgereZe:e*e^6@%Bɢ-)) - i))5J0:11i50Xi=W>=z9==^=I=W>IA@ @@3@%2Acoustic response timeout^A=A9 IA IQ Oe >  2Acoustic response timeout[y%,LAYBykIbDVDð8y%%%P=ٔ!Q-->9)Y)=-Ey-D1E5>9Q 5E4=j,?Q 9E4=F)=fBYAyIQ IM@=o>DI=[;i=F;=4yYɮ] AY B*** querying acoustic contact ***i i A9A9:iFNOT Ignoring new targets: 381.46 m."it`*it` ProNav: ac range: 381.464355 m, nav range: 359.391632 m, bearing: 12.002591 deg, approach rate: -0.521757 m/s, LOS rate: -0.012265 deg/s, cmd heading: 12.075914 deg, new cmd heading: 12.065597 deg. iB>B]CBSIBBB =BBۺDBŅ;BhhhhggjgrgereZe:e*e@GL7@E EE#E"E;*Ek:VE3ZEBE]C==IoW>I)!9@ @@4@U2Acoustic response timeoutԁG } c9y Y} M_A^A ԁ A5 .AIA IQ O] >ր%,LA>k;>pb>>=ٱ>=>H3?S˿???`?n`\&?@?i>k;I>]];>CY^By^tIlli]Mb@Mb@Mb@YYYY Y9]B`"?{Gz?9 ?Y ?=EyD;E>Q 54,?Q 94{D)fBYa?Q E:y >Q I@~>DI:i; 4yђBɮk AnEI:iYeFNOT Ignoring new targets: 381.46 m."ie|*ie|2Acoustic response timeout ProNav: ac range: 381.464355 m, nav range: 359.158813 m, bearing: 11.996973 deg, approach rate: -0.572442 m/s, LOS rate: -0.013822 deg/s, cmd heading: 12.065597 deg, new cmd heading: 12.054353 deg. i^ʹHeadingCmd: 0.210388 target range: 381.464355 and range: 382.80 m.hoW>hhhhggjgrgÁBereZe:e*e@7@ɢ#')  6i):iWioW>L=ͫ=IoW>Iy9@ @@c0@E EE'E"E=;*E:VE'4ZEa@a@a@a@ԡ^Ay = 2Acoustic response timeoutA ؟A I I O >%,+NLA2;2Dc>2w=ٱ2=2H3?`h˿ԫ?@l)??`u0 p?@`?i2;I2];2CY>By>UIbDFVDFð8yZJ%^Y=ٔbֺQ-f>9f"?Yf"?=fEyfDj|:Ej>lQ 5r4n),?Q 9r4nB)nfBYpyvP>Q Iv@n>DIn:in:n4yxɮz7 Ax:iY]FNOT Ignoring new targets: 381.46 m."iep*iepu ProNav: ac range: 381.464355 m, nav range: 358.947906 m, bearing: 11.991865 deg, approach rate: -0.583742 m/s, LOS rate: -0.014146 deg/s, cmd heading: 12.054353 deg, new cmd heading: 12.044132 deg. iuϹHeadingCmd: 0.210210 target range: 381.464355 and range: 382.80 m.h:AW>hhhhggjgrgereZe:e*e`8@9ɢ=ŧл)9 EiA)E:AAiEoiM:AW>M'U=M=IM:AW>IQԱ9@ @@/@@@2Acoustic response timeout^A벫=B>BB:IBuBB =BBB;BI )%,47LA 2Acoustic response timeoutYByGI iMb@Mb@Mb@ 9?ˡE? rh?Y ?y=C<@A )AYbD5VD58yE?%E'=ٔMQ-M>9M ?YM ?=UEyUDUEU>YQ 5e4]?,?Q 9e4]?)]fBYml?Q Em:ym=>Q Im@]>DI];i]D;]'4yqɮu Aq:iFNOT Ignoring new targets: 381.46 m."i%P}*i%P}5 ProNav: ac range: 381.464355 m, nav range: 358.680481 m, bearing: 11.985129 deg, approach rate: -0.549097 m/s, LOS rate: -0.013842 deg/s, cmd heading: 12.044132 deg, new cmd heading: 12.030649 deg. i5ʹ=HeadingCmd: 0.209974 target range: 381.464355 and range: 382.80 m.h=W>h9h9h9h9g9gjgrgBereZe:e*e@8@Bɢ޻)! %i!)%9!!i%(i-W>-a=5 =I5W>I19I@Q @Q@Q@QiߩIߩ2Acoustic response timeouta ^Au =ԙ E  E E $E "E ;*E :VE 4ZE a @a @a @a @A ؟AI I O >Δ%,*TLA2:D;28b>2<ٱ2}=2H5? Us˿ն?`?`?繿`5`K??i2:D;I2ץ];2CY>xBy>>IB=Ba=bDJVDJ8yR%R_=ٔRQ-R>9V"?YV"?=VEyVDV7EZ>\Q 5^4^%O,?Q 9b4^ >)^fBY`yb>Q Ib@^>DI^::i^:^4ydɮj Ah:i FNOT Ignoring new targets: 381.46 m."i z*i z% ProNav: ac range: 381.464355 m, nav range: 358.479340 m, bearing: 11.980095 deg, approach rate: -0.547218 m/s, LOS rate: -0.013705 deg/s, cmd heading: 12.030649 deg, new cmd heading: 12.020574 deg. i%ȹ-HeadingCmd: 0.209799 target range: 381.464355 and range: 382.80 m.h-qV>h)h)h)h)ggjgrgereZe:e*e8@ɢT)-%o -ji))-911i5>i5qV>=i==f=I=qV>I92Acoustic response timeout@ @@@^A"=IE BDAT read: Response Not Received E *response not receivedE BDAT read: Tx time:04:14:16.0385 M $Ping request sent.M q Y%,{mLAB,A.R4<ٱRK=RH6? \˿ߊ??`.?N ?@?iR];IR];RCB^>B\B^!IB^`BB^ =B\B\B^;B^9Y=EyD|E>Q 546b,?Q 94;)fBYyC>Q I@>DIW:i:'4yВBɮ AoE B*** querying acoustic contact ***i i E EE!E"E;*E:VEc3ZEBE@hqhqhyhygygyjgyrgereZe:e*eZ9@Bɢn= ) i)f<9iiϞV>us=a=IϞV>II 9@ @@@@1@5=ԁߵ=ߵ%=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԩ^A \=A .AI I O >ۡ%,ʇLA:t@::h`>:<ٱ:=:Ha8?`r>˿G?p?@?` ??i:t@:I:FL];:CYJUByJIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiUMb@Mb@Mb@QQQQ Q9UFx? rh?:v?YU ?yUC=UT9 ?Y ?=EyDE>Q 54s,?Q 949)fBY ?Q E:y>Q I@>DI:i:%4yɮ A:iFNOT Ignoring new targets: 381.46 m."i=J*i=J ProNav: ac range: 381.464355 m, nav range: 358.021729 m, bearing: 11.969535 deg, approach rate: -0.525126 m/s, LOS rate: -0.011051 deg/s, cmd heading: 12.008633 deg, new cmd heading: 11.999442 deg. iʡԱHeadingCmd: 0.209430 target range: 381.464355 and range: 382.80 m.htV>hhhhggjgrgBereZe:e*e#9@qɢ}LW)y }Fiy)}{7yiitV>|=2=ItV>IE- E-E-&E)"E-;*E-?:VE-4ZE)a5@a5@a5@a5@A@A @A@E/@AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ^A .=I I O >9 %,3LA2s@2_>2<ٱ2=2H@:?˿:? ɧ?W?`Gd?I?i2s@I2%4];2CY>SBy>IXXbDb VDb8yj!%jV=ٔjQ-j>9lYl=nEynDrvZEr>tQ 5z4vg,?Q 9z4v8)vfBYxyzC>Q Iz@v>DIv):iv:v4yɮ A:iFNOT Ignoring new targets: 381.46 m."ivP*ivP} ProNav: ac range: 381.464355 m, nav range: 357.813538 m, bearing: 11.965195 deg, approach rate: -0.546003 m/s, LOS rate: -0.011391 deg/s, cmd heading: 11.999442 deg, new cmd heading: 11.990755 deg. i}ĦHeadingCmd: 0.209278 target range: 381.464355 and range: 382.80 m.hMV>hhhhggjgrgereZe:e*e+:@MBɢc) Hi)a,顱i޹iMV>s=L=IMV> T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI99Be>Be^CBeIBeLBBe =BaBaBe;Be2+<ٱ2=2H@r9qYq=}Ey}D}E}>Q 54ɛ,?Q 945)fBY ?Q E:y>Q I@>DI" ;ii ;4yϒBɮ ApE:iFNOT Ignoring new targets: 381.46 m."i'*i' ProNav: ac range: 381.464355 m, nav range: 357.523712 m, bearing: 11.960535 deg, approach rate: -0.569427 m/s, LOS rate: -0.009162 deg/s, cmd heading: 11.990756 deg, new cmd heading: 11.981429 deg. i#HeadingCmd: 0.209115 target range: 381.464355 and range: 382.80 m.hX"V>hhhhggjgrgBereZe:e*e:@%Bɢ-B_)) -BTi))5\w11i52]i=X"V>===$=I=X"V>I9 h%AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@@I!I1O=/>qE EE(E"ET;*E:VEc44ZEa@a@a@a@ԡ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseH%,HLA2@2@\>2f@<ٱ2=2H@>?rʿY?a?? (@䆞g?B?i2@I2^\;0HYNKByNIbDVVDV8y=%=N=ٔEwQ-E>9AYI=MEyMDMGEM>QQ 5]4U7,?Q 9]4U3)UfBYaye>Q Ie@U>DIU;iUf;U4yiɮm Ai:iFNOT Ignoring new targets: 381.46 m."i*i ProNav: ac range: 381.464355 m, nav range: 357.307739 m, bearing: 11.957100 deg, approach rate: -0.544237 m/s, LOS rate: -0.008663 deg/s, cmd heading: 11.981429 deg, new cmd heading: 11.974553 deg. i}HeadingCmd: 0.208995 target range: 381.464355 and range: 382.80 m.hV>hhhhggjgrgereZe:e*e ;@Bɢy) Vi)2i1iV>=?=I V>I QQQQԩT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse}9@y @y@}/@IIO%>A A B B B IB 3BB =B B B ;B 2<ٱ2,=2H?? ʿAQ?N??(`_?x?i2@I2\;2CYLyPbDZ VDZ8ybV:%bS=ٔbQ-f>9dYd=fEyf"DjTʺEj>llQ 5r4n@,?Q 9v4nG2)nfBYtyv6>Q Iv@n?DIn(;in);n4yzΒBɮz A|uB*** querying acoustic contact ***iqiq:iFNOT Ignoring new targets: 381.46 m."i*i  ProNav: ac range: 381.464355 m, nav range: 357.096680 m, bearing: 11.953758 deg, approach rate: -0.517604 m/s, LOS rate: -0.008200 deg/s, cmd heading: 11.974554 deg, new cmd heading: 11.967866 deg. mT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapseipHeadingCmd: 0.208879 target range: 381.464355 and range: 382.80 m.hJU>hhhhg g1jgArgAeqreyZe:e*e`;@颵Bɢlic) `Si)(@8项iVԕiJU>=v=IJU>I-p>i->9@ @@/@9IaIyO{>iA IA E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapsea %,LA2@2 [>2c<ٱ2r=2H@?ʿ@? C?@e?@,y]??i2@I22\;2CY @By I9iMb@Mb@Mb@ 9|?5^?~jt?:v?Y ?yD=T<zAA A)YA <E EE"E"E ;*E:VE(3ZEa@a@a@a@bD VD8yD%9=ٔHRQ->9Y=Ey+D)ZE>Q 54,?Q 94b0)fBYd?Q E:y>Q I@?DI(:i1:4y͒Bɮg AqE:i9=FNOT Ignoring new targets: 381.46 m."iE*iEM ProNav: ac range: 381.464355 m, nav range: 356.852448 m, bearing: 11.950240 deg, approach rate: -0.579916 m/s, LOS rate: -0.008360 deg/s, cmd heading: 11.967866 deg, new cmd heading: 11.960825 deg. iUtHeadingCmd: 0.208756 target range: 381.464355 and range: 382.80 m.hU>hhhhggjgrgBereZe:e*e;@UBɢ]\)Y ](giY)]cYYieൔieU>e}=mU=ImU>Ii-9@1 @1@50@1T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԑ^A ʞ=Iq I O > %, )LA6@6Z>6R<ٱ6F=6H`B?@ʿ |??`?k` 8?=?i6@I66];4T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԙB>BBIBBB =BBB;B9YYY=eEye4De Ee>iQ 5u4mA,?Q 9u4ms.)mfBYyy}>Q I}@m#?DIm:im:mp4yԒBɮ AgE:i%FNOT Ignoring new targets: 381.46 m."i- *i- = ProNav: ac range: 381.464355 m, nav range: 356.602112 m, bearing: 11.946673 deg, approach rate: -0.536789 m/s, LOS rate: -0.007654 deg/s, cmd heading: 11.960825 deg, new cmd heading: 11.953686 deg. i=`=HeadingCmd: 0.208631 target range: 381.464355 and range: 382.80 m.hEiU>hAhAhAhAgAgIjgIrgIeIreQZeQ:eQ*eU4Y<@颅Bɢ&) wi)67顉i/aiiU>=ґ=IiU>IE EE%E"E=;*E?:VE 4ZEBE}IA >! A ؟AI I O >$%,DLA:B@:Y>:<ٱ:{=:HD? zʿ.? o??` N;??i:B@I:y];:C @)DFDDDFE~AiHIHHIHiNs@ LL)LL LNPPPR$~AIRC )PiT)TIV(~AV\T TZCXXiX\Y\Yb+BybIa@a a@a a@a a@a bD%VD%8y5%5i=ٔ=Q-=>9="?Y="?=EEyE;DE EE>IQ 5U4M,?Q 9U4M,)MfBQ A]+:YYQ E]:y]>Q I]@M0?DIM;iM޴>Mi4yeӒBɮe< AehEq:iFNOT Ignoring new targets: 381.46 m."iN*iN ProNav: ac range: 381.464355 m, nav range: 356.407501 m, bearing: 11.943920 deg, approach rate: -0.576542 m/s, LOS rate: -0.008158 deg/s, cmd heading: 11.953686 deg, new cmd heading: 11.948178 deg. inHeadingCmd: 0.208535 target range: 381.464355 and range: 382.80 m.h6U>hhhhggjgrgereZe:e*e<@mBɢuC<)q uYiq)uhqyi}Li}6U>O=K=I6U>IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse!@! @!@%0@!@)@)@)@)ԙEU EUEQEQ"EU;*EU҆:VEQZEQa]@a]@a]@a]@I I O > m T****** received valid address query ******m R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapse;Q%,^LAHH>@`Y><ٱ=HD?!|ʿ ?`??y=<E?w?i>@I~^;CY#ByIAAbDVD8y%@=ٔQ->9Y=EyCDcE>Q 54 -?Q 94"+)fBQ A :YQ Ez:y>Q I@??DI4:i?G?I 4yɮ} A :i)5FNOT Ignoring new targets: 381.46 m."i5U*i5UE ProNav: ac range: 381.464355 m, nav range: 356.171875 m, bearing: 11.940598 deg, approach rate: -0.555096 m/s, LOS rate: -0.007832 deg/s, cmd heading: 11.948178 deg, new cmd heading: 11.941529 deg. iEUeMHeadingCmd: 0.208419 target range: 381.464355 and range: 382.80 m.hMkU>hIhQhQhQgQgQjgYrgYeYreYZeY:eY*ee8=@ Bɢ ¥)  -i )OĺioikU>즙=>=IkU>I!@ @@ 1@DAT read: 04:14:18.9327 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 342, 0.29,-2.760, 1.882,-2.621, 3.082, PHS= 0.543,-1.155, 0.536, RAW= 149.8, 0.9, CAL= 148.7, 0.5, ROT= 1.3, -0.5 Ygot valid direction response: 04:14:18.9327 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 342, 0.29,-2.760, 1.882,-2.621, 3.082, PHS= 0.543,-1.155, 0.536, RAW= 149.8, 0.9, CAL= 148.7, 0.5, ROT= 1.3, -0.5 I5PDAT read: Bearing 167.0, -0.4 (Local) 5~Local bearing/azimuth received: Bearing 167.0, -0.4 (Local) EDAT read: Range 11 to 50 : 367.5 m (Round-trip 490.0 ms) speed 0.2 m/s MR#Rx 2: Read range and direction messages.U\direction in FSK: [0.999705,0.022686,0.008727]]Fpublishing direction and range infoyNa?";?B7߁?YC )GIiO}z>I  ?i דL7 ?T'@<x&@ 5<)޹;am :E] >;am q t%,pxLA64@6 sY>6<ٱ6=6H`hE?yʿ@I???` ?`t?i64@I6 ];6CY%"By%IbDEVDE8ye%mS=ٔ}KQ->9Y=EyKDE>Q 54-?Q 94v))fBQ A9YQ EJ:yh>Q I@M?DI1;i ?4yҒBɮ AiEMDAT read: eBDAT read: Tx time:04:14:20.3385 m$Ping request sent.m"p\" v@V) @6>Wq @pNa?";?B7߁?*j޹<2j5*pUGCv@+F9U@e8p"?@%?"h1jͩB jCi]#]?idrpjcmBj]#]?jcjrjCzjHV> addTargetRange:: Added new target pos. range: 367.500000 m, deltaT: 29.252074 s, deltaX: -15.299988 m, approachRate: -0.523039 m/s, rangeRepo size: 4 M Added new target pos. range: 366.241272 m, bearing: 13.405400 deg, lat: 36.779486 deg, lon: -121.859579 deg, deltaT: 29.252074 s, deltaX: -15.223083 m, approachRate: -0.520410 m/s, posRepo size: 4 :iIMFNOT Ignoring new targets: 366.24 m."iU*iQe ProNav: ac range: 366.241272 m, nav range: 364.171356 m, bearing: 11.989810 deg, approach rate: 0.000000 m/s, LOS rate: -0.007832 deg/s, cmd heading: 11.941529 deg, new cmd heading: 11.934257 deg. iaEHeadingCmd: 0.208292 target range: 366.241272 and range: 367.50 m.hEJU>hIhIhIhIgIgIjgQrgQeQreQZeQ:e]v@*e]?ԡBɢtǚ) i)WiiJU>=P=IJU>Iu9@y @y@}0@yAzAyAII)O5> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245897 [%,GLA.w@.Y>.h<ٱ."=.HHF?rʿ@? ?%? p`??i.w@I.ī];.CE% E%E%'E!"E%;*E%:VE%'4ZE!a-@a-@a-@a-@YByIaa aa aa aa iMb@Mb@Mb@ 9"~j?~jt?I +?YS?y9<AA vA) AYG AbD VD 8yϼ%2=ٔ%YQ-%>9!Y!=%Ey-UD-6@E->1Q 5=45--?Q 9=45')5fBQ AET:YE?Q EE:yE>Q IE@5\?DI5U;i5;54yIɮU AQmB*** querying acoustic contact ***iiii:iy}FNOT Ignoring new targets: 366.24 m."i*i ProNav: ac range: 366.241272 m, nav range: 363.937653 m, bearing: 11.986462 deg, approach rate: -0.608183 m/s, LOS rate: -0.008720 deg/s, cmd heading: 11.934257 deg, new cmd heading: 11.927556 deg. iSHeadingCmd: 0.208175 target range: 366.241272 and range: 367.50 m.h+U>hhhhggjgrgBereZe:e*e``?%Bɢ->)) 5^i1)5W11i=,riE+U>M=M=IM+U>IQIexA)aMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.498226]9@a @a@es2@aIIOj>) Ӆ%,"LA8Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.750705^s@^X>^~<ٱ^g=^H`F?nʿ@%J??`?q亿`]?%?i^s@I^ճ];^CYrByvI <<bD VD 8y%;%%q=ٔ%fQ--?9)Y)=5Ey5\D5LE5?9Q 5E4=;-?Q 9M4=G&)=fBYIyMx>Q IM@=g?DI=.:i=:=4yUђBɮU AY:iFNOT Ignoring new targets: 366.24 m."i*i ProNav: ac range: 366.241272 m, nav range: 363.763184 m, bearing: 11.983967 deg, approach rate: -0.513870 m/s, LOS rate: -0.007350 deg/s, cmd heading: 11.927556 deg, new cmd heading: 11.922565 deg. i:WHeadingCmd: 0.208088 target range: 366.241272 and range: 367.50 m.hU>hhhhggjgrgereZe:e*e?B>BBIBBBBBB ;B=EB^CB^CBCB =B =C'N4额Bɢ໼) i)O顡iciU>°=IU>IQԑE5 E5E5%E1"E5T;*E5:VE5 4ZE1BE1aM2E1aMJE5l;aM:E5l;aU9@ @@4@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006076^A =I I9 OE >/n%,LA2@2X>2ͤ<ٱ2=2HG?bʿ/ަ???H`+`??i2@I2˞];0Y>By>Ili5Mb@Mb@Mb@1111 195!rh?X9v?~jt?Y5l?y5}=5<15rA 1)5 A1Y5 AbDMVDM8y]g%]F=ٔe+Q-e>9aYa=eEymdDm Em>qQ 5}4u)M-?Q 94ut$)ufBY}?Q E:y>Q I@uu?DIun$;iu#;u$4yɮ A:iFNOT Ignoring new targets: 366.24 m."i[-*i[- ProNav: ac range: 366.241272 m, nav range: 363.545746 m, bearing: 11.980078 deg, approach rate: -0.529288 m/s, LOS rate: -0.009473 deg/s, cmd heading: 11.922565 deg, new cmd heading: 11.914782 deg. iHeadingCmd: 0.207952 target range: 366.241272 and range: 367.50 m.hjT>hhhhggjgrgBereZe:e*e !Q?Bɢ¼) i)%و!!i%f>i-jT>-=-S^=I-jT>I)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2542649@ @@/@ E= E=E=$E9"E=;*E=:VE=4ZE9aE@aE@aM@aM@Q^A5=A5>A5?a A I I O >e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506110`%,MLAFG@FX>FJ8<ٱF=FHH?Wʿ{???`?Fa??iFG@IF'];DYPyRIbDZVDZ8yr;%rS=ٔrߺQ-r>9tYt=vEyvlDvOEz>xQ 54z]-?Q 94z")zgBYy>Q I@z?DIz;iz;z*4y ВBɮ AjE:i19EFNOT Ignoring new targets: 366.24 m."iE--*iE--U ProNav: ac range: 366.241272 m, nav range: 363.340240 m, bearing: 11.976411 deg, approach rate: -0.530040 m/s, LOS rate: -0.009463 deg/s, cmd heading: 11.914782 deg, new cmd heading: 11.907444 deg. iU]HeadingCmd: 0.207824 target range: 366.241272 and range: 367.50 m.h]T>hYhYhYhagagajgargieireiZei:ei*eu@E?颥Bɢ~2¼) ԗi)6,顩iiT>5=ݞ=IT>Im9@q @q@q@qichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.758723ԙ^AAA@AB>BBIBBBBBB';B6=EA% .AI) IA bEjEO4rEɖ/EM  EM EM %EI "EM =;*EM :VEM 4ZEI BEM }I %,fLAR@RW>RH3<ٱR=RHYJ?@ʿ`.?`?@ ?9ź&`o?`?iR@IR];PYj ByIbDVDȰ8y%Q%-E=ٔ-e.Q-->95 ?Y5 ?=5Ey5tD=E=>AQ 5E4EVo-?Q 9M4E )EgBYIyMS>Q IM@E?DIE:iE:E24yYɮ](AY:iyFNOT Ignoring new targets: 366.24 m."i+*i+ԑ ProNav: ac range: 366.241272 m, nav range: 363.121033 m, bearing: 11.972525 deg, approach rate: -0.529482 m/s, LOS rate: -0.009394 deg/s, cmd heading: 11.907444 deg, new cmd heading: 11.899666 deg. iHeadingCmd: 0.207688 target range: 366.241272 and range: 367.50 m.hBT>hhhhggjgrgereZe:e*eu@ Bɢ mü?<%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010506)  -뜾i))5r=99iEꉼi]BT>]U=em=IeBT>I9@ @@/@@yA@wA^A = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262079 A I I O >%,\LA2@2V>2͑<ٱ2=2H@K?x2ʿa ?ʜ? ? &1u+??i2@I2p];2CY> By>IE EE(E"E+$;*E:VEc44ZEa @a @a @a @iMb@Mb@Mb@ 9!rh?333333?:v?Yy=<zA A)\ AY AbD5'VD5а8yE;%EI=ٔEQ-M>9IYI=MEyM|DUAEU>YQ 5e4]-?Q 9e4])]gBYe?Q Em:ym#>Q Im@]?DI]G:i]e:]!94yuϒBɮuAq:iQ]FNOT Ignoring new targets: 366.24 m."i]HD*i]HDm ProNav: ac range: 366.241272 m, nav range: 362.905670 m, bearing: 11.967904 deg, approach rate: -0.499634 m/s, LOS rate: -0.010725 deg/s, cmd heading: 11.899667 deg, new cmd heading: 11.890421 deg. imHeadingCmd: 0.207527 target range: 366.241272 and range: 367.50 m.hT>hhhhggjgrgBereZe:e*e@颕Bɢ&) i)N顡i8iT>*=Μ=IT>I5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5147321e9@a @a@a@aQ^A ஜ=A xAzA y A ؟AI I O >= PExceeded connect timeout, disconnecting.G %,o-LAi@IBAFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766926f@f`U>fYۑ<ٱf=fH`~L?`&&ʿ;??u ?@,;'??if@IfR^;fCYEByEIM=Mp=bDUVDUð8yeX%eH=ٔmQ-m>9m"?Ym"?=uEyuDu+Eu>B>BBIBBBBBBD;BR=EQ 54-?Q 94)$gBYy>Q I@?DI#:is:U@4yΒBɮfAkEB*** querying acoustic contact ***ii:i9=FNOT Ignoring new targets: 366.24 m."iEU*iEUQ] ProNav: ac range: 366.241272 m, nav range: 362.687317 m, bearing: 11.963231 deg, approach rate: -0.544973 m/s, LOS rate: -0.011670 deg/s, cmd heading: 11.890420 deg, new cmd heading: 11.881069 deg. i]۪eHeadingCmd: 0.207364 target range: 366.241272 and range: 367.50 m.he+WT>hahahahagagijgirgieireZe:e*eU@BɢԼ) ֣i)3^_iܒi+WT>t=M=I+WT>IE EE&E"E ;*E?:VE4ZEBEO V%,GGLA:N@:`U>:S<ٱ:=:HKM?aʿ?_? ?`~ S@.? ?i:N@I:^;:CYJByJIiMb@Mb@Mb@ 9oʡ?bX9ȶ?~jt?Y ?yE=<A A)Y AbD5 VD58yE<%EM=ٔEQ-E>9IYI=MEyMDMEU>QQ 5e4Un-?Q 9e4U)U,gBYe?Q Ee:yeW>Q Ie@U?DIU]:iU1:U=G4yuϒBɮu?Aq:iFNOT Ignoring new targets: 366.24 m."i䀹*i䀹 ProNav: ac range: 366.241272 m, nav range: 362.469421 m, bearing: 11.957845 deg, approach rate: -0.569454 m/s, LOS rate: -0.014086 deg/s, cmd heading: 11.881069 deg, new cmd heading: 11.870289 deg. i9ι5HeadingCmd: 0.207176 target range: 366.241272 and range: 367.50 m.h=%T>hQhQhQhQgYgajgyrg}BereZe:e*e< @ԱBɢ̼) i)goiui%%T>%=%=I%%T>I)BDAT read: Rx Time:04:14:23.2298 TRx dataTimestamp_ set to:1764908065.230899checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271241m9@q @q@q@qE% E%E%(E!"E%;*E%:VE%c44ZE!a-@a-@a-@a-@ ^A X=M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522886A .AI I O% >9 %,W$aLA2h@2YU>2<ٱ2Y=2HM?`5ʿ? y? ?@ZɺQz;??i2h@I2_;2CY>By>IbDF VDF8yNg%NU=ٔRK(Q-R>9R ?YR ?=VEyVDVEV>XQ 5^4ZF-?Q 9^4Z)Z3gBY`yb8>Q Ib@Z?DIZ:iZb;ZM4yfΒBɮfAd:ixzFNOT Ignoring new targets: 366.24 m."i~y*i~y  ProNav: ac range: 366.241272 m, nav range: 362.258087 m, bearing: 11.952623 deg, approach rate: -0.551602 m/s, LOS rate: -0.013638 deg/s, cmd heading: 11.870289 deg, new cmd heading: 11.859839 deg. i ǹHeadingCmd: 0.206993 target range: 366.241272 and range: 367.50 m.h S>hhhhggjgrgereZe:e*e@BɢA) i)kcihi S>=I S>I!9@ @@0@nManaging dock network, ignoring radio surface power off9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774123BA<B>BBIBBBBBB];Bj=E^A=A=>A=>q E-  E- E- &E) "E- ;*E- :VE- 4ZE) BE- 0Nr%,{LA V\G`lb9Y AU)@UT>UQt<ٱU=UHN? ʿ?ul?!?_"?@s?iU)@IU *_;UCYmBymIbD VDy/"%<=ٔEQ->9"?Y"?=EyDznE>Q 54l-?Q 94)=gBYy>Q I@?DI;i;U4yɮA:iFNOT Ignoring new targets: 366.24 m."i>y*i>yeDAT read: 04:14:23.2298 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 409,-0.34,-2.164, 2.601,-1.998,-2.503, PHS= 0.440,-1.134, 0.461, RAW= 150.7, 3.0, CAL= 149.7, 2.8, ROT= 0.3, -2.8 }Ygot valid direction response: 04:14:23.2298 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 409,-0.34,-2.164, 2.601,-1.998,-2.503, PHS= 0.440,-1.134, 0.461, RAW= 150.7, 3.0, CAL= 149.7, 2.8, ROT= 0.3, -2.8 PDAT read: Bearing 169.1, -0.3 (Local) ~Local bearing/azimuth received: Bearing 169.1, -0.3 (Local) DAT read: Range 11 to 50 : 365.4 m (Round-trip 487.2 ms) speed 0.7 m/s % ProNav: ac range: 366.241272 m, nav range: 362.017914 m, bearing: 11.946694 deg, approach rate: -0.551333 m/s, LOS rate: -0.013619 deg/s, cmd heading: 11.859839 deg, new cmd heading: 11.847973 deg. =R#Rx 1: Read range and direction messages.i%eǹq\direction in FSK: [0.998792,0.005230,0.048850]Fpublishing direction and range infoeHeadingCmd: 0.206786 target range: 366.241272 and range: 367.50 m.hS>hhhhgy15]?ݖtku?s!D?Y5C1111 1g!jg1rg1e9)5JI5G>i5&51>5aU(@5PwV=reZe:e`fv@*e ?5m7'@ 5+H=)5;I5+H115W}?;BK?&ǔ? 5?)5TI5;i5+H11T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.BɢDZʼ) i)iiS>ル==I S>III)Iԙ9@ @@/@ i I A *DAT read: user:158>  BDAT read: Tx time:04:14:24.6885  $Ping request sent. %%,x~LA2o@2:T>2wc<ٱ29=2H@O? ʿ %9?%V?$?`)`nx??i2o@I2KA_;0YbBybIiMb@Mb@Mb@ 9(\?K?:v?Y?y^=<AA  A) AY ABAbDVDð8yv9%2=ٔQ->9Y=EyDȺE>Q 54-?Q 94V)JgBY ?Q E:y>Q I@?DI:iI:]4y%͒Bɮ-A-lEi!i%4LAj%C"j%C:j%$/T>"p%/Gv@pOx?1ҳ1@p%]?ݖtku?s!D?*j%󧒫;2j%+H*p%{/#Bv@&R@X9)@p%fcĸK?Ŭ]7Q??P ?j%B j%Ci%"g?i%7'cj%Bj%O?j!j!rj%ĵCzj%YT>u addTargetRange:: Added new target pos. range: 365.399994 m, deltaT: 4.295264 s, deltaX: -2.100006 m, approachRate: -0.488912 m/s, rangeRepo size: 4 ԉ Added new target pos. range: 364.144775 m, bearing: 11.872320 deg, lat: 36.779502 deg, lon: -121.859579 deg, deltaT: 4.295264 s, deltaX: -2.096497 m, approachRate: -0.488095 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 364.14 m."i*i ProNav: ac range: 364.144775 m, nav range: 363.535980 m, bearing: 11.881686 deg, approach rate: 0.000000 m/s, LOS rate: -0.013619 deg/s, cmd heading: 11.847973 deg, new cmd heading: 11.835379 deg. iHeadingCmd: 0.206566 target range: 364.144775 and range: 365.40 m.h S>hhhhggjgrgBereZe:e*e?颭Bɢ޼) i)>iYi S>=5ƚ=I S>I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250733Թ9@ @@/@^A = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503190 B5 >B1 B5 IB5 BB5 =B1 B1 B5 n;B5 |=EAM .AIQ Ia Ou >+%,LA2f@2`S>2Q~O<ٱ26=2HvP?ɿ8Y?`JN? '?˝ٺ? (?i2f@I2_;2CYn߀BynIbDvVDv8y - % X=ٔSSQ->9 ?Y ?=EyD9,E>!Q 5-4%-?Q 9-4%f)%UgBY1y5>Q I5@%?DI%;i%;%(d4y9ɮ=oAA]B*** querying acoustic contact ***iYiY:iiuFNOT Ignoring new targets: 364.14 m."iu*iu ProNav: ac range: 364.144775 m, nav range: 363.335541 m, bearing: 11.876468 deg, approach rate: -0.535105 m/s, LOS rate: -0.013938 deg/s, cmd heading: 11.835379 deg, new cmd heading: 11.824937 deg. i̹HeadingCmd: 0.206384 target range: 364.144775 and range: 365.40 m.hYVS>hhhhggjgrgereZe:e*eS?Bɢ) i)̛iTiYVS>=IYVS>IE EE%E"E ;*E҆:VE 4ZEBEOֵ2%,)^LA:@:S>:t><ٱ:I=:HQ?ɿ֢?D?@(?>`w·i??i:@I:_;:CYFByFIi%Mb@Mb@Mb@!!!! !9%(\??I +?Y!y%=%99YYY=eEyeDeAEe>iQ 5u4m-?Q 9u4m0)m`gBYu0 ?Q E}:y}>Q I}@m@DIm3&;im%;mYk4y̒Bɮ%A:iFNOT Ignoring new targets: 364.14 m."i*i ProNav: ac range: 364.144775 m, nav range: 363.117218 m, bearing: 11.870176 deg, approach rate: -0.530806 m/s, LOS rate: -0.015307 deg/s, cmd heading: 11.824937 deg, new cmd heading: 11.812345 deg. i๝HeadingCmd: 0.206164 target range: 364.144775 and range: 365.40 m.hS>hhhhggjgrgBereZe:e*e#?]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006710颭Bɢ") i)ihπiS>w==IS>I5x>i5>Y@ @@1@E EE&E"E;*E:VE4ZEa@a@a@a@y^A=ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260912I I O >8%,ALA2<@2 TS>2/<ٱ2=2H@Q?ɿ%? ::?t)? H9`jW? ?i2<@I2 _;2C9XYX=ZEyZDZ_EZ>\Q 5b4^ .?Q 9f4^$)^jgBYdyf{>Q If@^@DI^h:i^`:^r4yjҒBɮjAncE:i|FNOT Ignoring new targets: 364.14 m."i*i  ProNav: ac range: 364.144775 m, nav range: 362.914368 m, bearing: 11.864332 deg, approach rate: -0.531108 m/s, LOS rate: -0.015309 deg/s, cmd heading: 11.812345 deg, new cmd heading: 11.800651 deg. i#๝HeadingCmd: 0.205960 target range: 364.144775 and range: 365.40 m.h%h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5`_?]Bɢe)a e+þia)eiiim7imu=ug=IuIy-9@1 @1@54@1ԩechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510588B>BBIB܀BB =BBںDB|;B=EB]CB]CBBBC=4^A5D=IIO>DzDE EEE"E;*E:VEZEBED2><ٱ2y=2HQ?pʿX?G?@'?@T`烿 ]? ?i2@I2U*_;2CYR݀ByRIbDZVDZ8bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762731yf><%fH=ٔj+#Q-j>9hYl=nEynDlr:Er>xQ 54zd.?Q 94z )zvgBYy>Q I@z@DIz4hhhhggjgrgereZe:e*e@ =Bɢ=|)9 =Li9)E'AAiEo|iR>=Θ=IR>I9@ @@%?5@!1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014534^Ae =Ae >Ae >i I I O >E  E E %E "E ;*E v:VE 4ZE a @a @a @a @|E%, LA9YրByvIi%Mb@Mb@Mb@!!!! !9%Zd;O?Mb?y&1?Y%~ ?y%=%`e<%A%A !)% A!Y% AbDu%VDuϰ8y%2=ٔQ->9Y=EyDE>Q 541.?Q 94 )~gBY ?Q E:y>Q I@.@DI:i:64yВBɮAdE:iFNOT Ignoring new targets: 364.14 m."iޖ*iޖ ProNav: ac range: 364.144775 m, nav range: 362.448700 m, bearing: 11.851384 deg, approach rate: -0.613654 m/s, LOS rate: -0.016487 deg/s, cmd heading: 11.788059 deg, new cmd heading: 11.774738 deg. ic񹝏HeadingCmd: 0.205508 target range: 364.144775 and range: 365.40 m.hpR>hhhhggjgrg Be reZe:e!*e-y@eBɢe )i mƾii)mĻiqiuziupR>}™=}U=I}pR>Iy]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.283286q@ @@4@@xA@xAԑ^A- =I I O > B >B \CB rIB ҀBB =B B B ;B =E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534630L%,h2 LA2@2@$T>2;ٱ2]=2HP? ʿ?@S?` $?Dl @~ e??i2@I21~_;0Y>ƀBy>dIDF@AbDJ'VDJа8yRU%Ro=ٔRp߻Q-R?9TYT=VEyVDZE:EZ?\Q 5b4^?.?Q 9b4^)^gBY`yb@>Q Ib@^:@DI^;i^;^04yhɮjOAhvB*** querying acoustic contact ***itit:i|~FNOT Ignoring new targets: 364.14 m."iE*iE ProNav: ac range: 364.144775 m, nav range: 362.263611 m, bearing: 11.846400 deg, approach rate: -0.540556 m/s, LOS rate: -0.014564 deg/s, cmd heading: 11.774738 deg, new cmd heading: 11.764764 deg. i;չHeadingCmd: 0.205334 target range: 364.144775 and range: 365.40 m.h CR>hhhh!g!g!jg!rg!e)re)Ze):e)*e-^@ԙBɢ)! %cԾi!)%oλ!!i% xi- CR>-?ę=- =I5 CR>I1bEž4jE24rE/E} E}E})Ey"E}:*E}:VE}FA4ZEyBE}< S%,"L LA2@2 S>2Oy;ٱ2#6=2H3Q?` ʿ?`I?>$?`z y? ?i2@I2A`;0Y>By>^Ii-Mb@Mb@Mb@)))) )9-}?5^I?+η?Q?Y-M?y-v=-u<-A-rA - A)- A)Y)bDE(VDEѰ8yU%U@=ٔUQ-U>9YYY=]Ey]De,EEe>iQ 5u4mQ.?Q 9u4m)mgBYu?Q Eu:yuP>Q I}@mH@DIm;imD;m4yϒBɮmAeE:iFNOT Ignoring new targets: 364.14 m."iȃ*iȃ ProNav: ac range: 364.144775 m, nav range: 362.046356 m, bearing: 11.840263 deg, approach rate: -0.509513 m/s, LOS rate: -0.014402 deg/s, cmd heading: 11.764764 deg, new cmd heading: 11.752483 deg. iҹHeadingCmd: 0.205120 target range: 364.144775 and range: 365.40 m.h R>hhhhggjgrgBereZe:e*e @ BɢE) &ؾi)ٻi~vi% R>%ř=%1=I% R>I!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0392129@ @@/@!E EE#E"E;*E:VE3ZEa@a@a@a@^A=AzAyAQA ؟AI I! O- >m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290649y 2Y%,f LA2@2 S>2֙;ٱ2=2HQ?`-ʿD?L?#?`C4t/?H?i2@I2`;2CYNByNTIbDVVDV°8y^ %^T=ٔ^mQ-b>9b"?Yb"?=bEybDf9Ef>hQ 5n4j`.?Q 9n4j)jgBYlyr]>Q Ir@jU@DIj{;ijU;ja4ytɮvAt:iFNOT Ignoring new targets: 364.14 m."i*i򃹝- ProNav: ac range: 364.144775 m, nav range: 361.850159 m, bearing: 11.834710 deg, approach rate: -0.509205 m/s, LOS rate: -0.014420 deg/s, cmd heading: 11.752483 deg, new cmd heading: 11.741371 deg. i-ӹ5HeadingCmd: 0.204926 target range: 364.144775 and range: 365.40 m.h5Q>h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eE2 @uBɢu)q u޾iy)}yyi}QtiQ>WǙ=|+=IQ>IQ9@ @@/@@=@=Be>BaBeYIBeBBaBaBaBe;Be=EyBDAT read: Rx Time:04:14:27.5768 TRx dataTimestamp_ set to:1764908069.790869checking for new query: numPingsReceived=0, elapsed TxPingTime=3.543736^A FΞ=E EE'E"E;*E$:VE'4ZEBED t`%,-^ LA2@2 DS>2 M};ٱ2=2H5R?]ʿj?`8?@o$? o ?@f?i2@I2`;2CY>By>EI DF4=bDJVDJ8yRn%RL=ٔRLQ-V>9TYT=VEyVDZϺEZ>\Q 54^p.?Q 94^)^gBYy >Q I@^b@D%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.794700I^6HhhhhggjgrgereZe:e*e`gC@EBɢMԹ) `i!)MPgQYi]jqieQ>ș=rE=IeQ>I9@ @@/@DAT read: 04:14:27.5768 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410,-0.03, 0.032,-1.655, 0.225,-0.430, PHS= 0.564,-1.179, 0.611, RAW= 151.3, 0.0, CAL= 150.1, -0.6, ROT= 359.9, 0.6  Ygot valid direction response: 04:14:27.5768 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410,-0.03, 0.032,-1.655, 0.225,-0.430, PHS= 0.564,-1.179, 0.611, RAW= 151.3, 0.0, CAL= 150.1, -0.6, ROT= 359.9, 0.6  PDAT read: Bearing 165.4, -0.5 (Local)  ~Local bearing/azimuth received: Bearing 165.4, -0.5 (Local) % DAT read: Range 11 to 50 : 363.0 m (Round-trip 484.1 ms) speed 0.7 m/s % R#Rx 1: Read range and direction messages.5 `direction in FSK: [0.999944,-0.001745,-0.010472]5 Fpublishing direction and range infoy].щ?>ܘ\/;rYC )FINb?iy閿j?)@ϩ'@ +)@I+<19=V?I ^V?R9J? ] ?)TQI"i+<U T****** received valid address query ******U R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode.^Am ܝ=E  E E #E "E :*E VE 3ZE a @a @a @a @A A .AI I O >xf%, " LAYvByvNIiMb@Mb@Mb@ 9'1Z?l?9 ?Y ?=EyDE> Q 54 .?Q 9-4 g) gBY=3?Q E=:yE>Q IE@ r@DI ;i N; o4yIɮMAQiiђ LAjߴC"jߴC:jR>"pHev@qy4}F Np].щ?>ܘ\/;r*j"2j+<*p5DY!v@$ YvxR@úpEFsR?+٤m$?jÓB j Ci钥?i/hj|lBjj/hjC{BrjCzjR>ԡ addTargetRange:: Added new target pos. range: 363.000000 m, deltaT: 4.299952 s, deltaX: -2.399994 m, approachRate: -0.558144 m/s, rangeRepo size: 4  Added new target pos. range: 361.748016 m, bearing: 11.786070 deg, lat: 36.779502 deg, lon: -121.859580 deg, deltaT: 4.299952 s, deltaX: -2.396759 m, approachRate: -0.557392 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 361.75 m."i*i ProNav: ac range: 361.748016 m, nav range: 361.374939 m, bearing: 11.796665 deg, approach rate: 0.000000 m/s, LOS rate: -0.013818 deg/s, cmd heading: 11.729871 deg, new cmd heading: 11.717293 deg. iHeadingCmd: 0.204505 target range: 361.748016 and range: 363.00 m.hiQ>hhhhggYjgYrgeBeareaZea:eev@*em?颕Bɢp*DAT read: user:159> BDAT read: Tx time:04:14:28.9401 $Ping request sent.ʙ=Μ=IiQ>II@I @I@Q@Q^A X=A >A ?B B B FIB BB B B B ;B =Eu checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250721) A I I O >l%,τ LA2@2P>2ќ:ٱ2=2H"V?`pɿ k? 3?>,?`=SU1??i2@I2 `;2CY>ByB>IbDJVDJ8yR瀽%RU=ٔRQ-R>9TYT=VEyVDZŻEZ>\Q 5b4^n.?Q 9b4^)^gBY`ybʰ>Q Ib@^~@DI^ :i^::^'4yj͒Bɮj%AjfEvB*** querying acoustic contact ***itit:i|~FNOT Ignoring new targets: 361.75 m."ieU*ieU ProNav: ac range: 361.748016 m, nav range: 361.178467 m, bearing: 11.792292 deg, approach rate: -0.523585 m/s, LOS rate: -0.011660 deg/s, cmd heading: 11.717293 deg, new cmd heading: 11.708542 deg. i]HeadingCmd: 0.204353 target range: 361.748016 and range: 363.00 m.h]AQ>hahahhggjgrgereZe!:e)*e-?AEe EeEaEa"Ee;*EeǙ:VEaZEaBEaam2EaauJEe;au:Ee;au wu>CGzA]9]zAYe7ABɢm') i)\顉iFYmiAQ>>ʙ=#=IAQ>Iy%?%,A@ @@/@@%zA@%zAq%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504352ԙ^A ܝ=AI IQ Ia O} > 1s%,\= LA2@2O>21ٱ2=2HIX?Cɿ??F/?AR ? ع? &?i2@I2`;2CY>By><Ii=Mb@Mb@Mb@9999 99=w/?Zd;?Mbp?Y=?y=y==;9=rA =E A)=\ A9Y= AimAAbDuVDu8checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754899y#%==ٔHQ->9Y=EyDDE>Q 54ɥ.?Q 94)gBY?Q E:y>Q I@@DI:i:4yɮ7A:iFNOT Ignoring new targets: 361.75 m."i**i* ProNav: ac range: 361.748016 m, nav range: 360.950684 m, bearing: 11.788271 deg, approach rate: -0.527516 m/s, LOS rate: -0.009318 deg/s, cmd heading: 11.708542 deg, new cmd heading: 11.700494 deg. inHeadingCmd: 0.204212 target range: 361.748016 and range: 363.00 m.hQ>h h h h g g jgrghBereZe:e!*e%@v?MBɢM()QԱ Ui)N] i9kiQ> ə==IQ>Im9@i @q@u/@qE% E%E%E!"E%;*E%:VE%ـ3ZE!a5@a5@a5@a5@^A= 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006916A I I O >9 r z%,  LA:C@:UN>:c,ٱ:i=:HAZ?ɿFp?@?U1?L eS?¹?l?i:C@I:0`;:CYJByJ1IbDRҿVDR8yZu7%ZY=ٔZ8Q-^>9\Y\=bEybDbPEb>dQ 5j4fƵ.?Q 9j4f!)fgBYhyn|>Q In@f@DIf :if0;fF4yr̒BɮrrAp:i%FNOT Ignoring new targets: 361.75 m."i5(*i5(U ProNav: ac range: 361.748016 m, nav range: 360.752319 m, bearing: 11.784802 deg, approach rate: -0.526419 m/s, LOS rate: -0.009210 deg/s, cmd heading: 11.700494 deg, new cmd heading: 11.693553 deg. iUֆeHeadingCmd: 0.204091 target range: 361.748016 and range: 363.00 m.he

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mƙ=m;=Im

IiAABBB4IBBBBBB;B=E 9@  @ @ 0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2597619^Am"=Eu EuEu'Eq"Eu;*Eu:VEu'4ZEqBEuA= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510746!%,^ LA V@VbM>V*ٱV6=VH@[?@=fɿU? B?2?S`Da??|?iV@IVh`;VCYbByb-IbDjVDj8yr`q%vG=ٔzpQ-~>9 "?Y"?=Ey%D-E5>IQ 5m4M.?Q 9u4MQ)MgBYy>Q I@M@DIMJhqhqhyhygygyjgyrgereZe:e*e ?5Bɢ5#)1 =i9)=`99i=fiEP>EÙ=e(=ImP>Ii@ @@0@@ =@ =ԙiߙIߙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763126 ^A =EE  EE EA EA "EE ;*EE ҆:VEA ZEA aU @aU @aU @aU @Aq Iy I O >?%,g LA8YuByu0IiMb@Mb@Mb@ 9RQ?+?99Y9==Ey="DEEE>IQ 5U4M$.?Q 9U4M)MgBYU?Q E]:y]>Q I]@M@DIM:iM:Mj4yeʒBɮelAegE:iFNOT Ignoring new targets: 361.75 m."i*i鸝 ProNav: ac range: 361.748016 m, nav range: 360.303101 m, bearing: 11.778450 deg, approach rate: -0.580165 m/s, LOS rate: -0.006390 deg/s, cmd heading: 11.685854 deg, new cmd heading: 11.680841 deg. i;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015004HeadingCmd: 0.203869 target range: 361.748016 and range: 363.00 m.hP>hhhhggjgrgtBereZe:e*e@-@Bɢw4) i)iƨdi P>  = _=I P>Iԡ9@ @@0@^A=B >B B B B B B B ;B =EBu\CBu\CBqBu =Bu =CuK4 e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266917A I I O >d%,M-8 LAZk@ZJ>ZlٱZ=ZH,`?ɿ ?@'?6?>Jpq?׹?`?iZk@IZ`;XtY~By~'IE= E=E="E9"E=;*E=M:VE=(3ZE9BE=D9Y=Ey)DE>Q 54.?Q 94M)gBYyA>Q I@@DI:i:"4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 361.75 m."iŸ*i Ÿ ProNav: ac range: 361.748016 m, nav range: 360.106934 m, bearing: 11.776374 deg, approach rate: -0.509750 m/s, LOS rate: -0.005397 deg/s, cmd heading: 11.680841 deg, new cmd heading: 11.676687 deg. i%HeadingCmd: 0.203797 target range: 361.748016 and range: 363.00 m.h%P>h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5>@eBɢe`7)i mii)mj$iiim6biuP>u;=}7=I}P>Iy 9@ @@?5@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5188059^AU̓=Ae>Ae>a A I I O >L%,FR LAY~By~$I%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7709689iMb@Mb@Mb@ 9NbX9?+?~jt?Y?yD<3AA E A)Y AbDVD8y$?%I=ٔQ->9Y=Ey2DE>QQ 5]4U.?Q 9]4U)UgBY] ?Q Ee:ye>Q Ie@U@DIU:iU:U4ymɒBɮmAi:iFNOT Ignoring new targets: 361.75 m."iwø*iwø ProNav: ac range: 361.748016 m, nav range: 359.886078 m, bearing: 11.774115 deg, approach rate: -0.521736 m/s, LOS rate: -0.005340 deg/s, cmd heading: 11.676687 deg, new cmd heading: 11.672166 deg. i_HeadingCmd: 0.203718 target range: 361.748016 and range: 363.00 m.haP>hhhhggjgrgVBereZe:e*e@@Bɢ2) Yi)j+ip`iaP> = z=I aP>IEM EMEM&EI"EMl;*EM:VEM4ZEIa]@a]@a]@a]@i9@ @@05@@yA@ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023476^A7= A I) I9 OE >v%,Lk LAVP@VIG>VwٱV8=VH@>e?Iȿ?`?k;?`jt?۹??iVP@IVC_;VCԙYBy1I@AbDٿVD8y<=%9=ٔQ->9Y=Ey;DE>Q 54+/?Q 945)gBYyt>Q I@@DI:i6:4yɮ\A:i1=FNOT Ignoring new targets: 361.75 m."i=u*iEuBiBiBm-IBmBBiBiBiBiBm=E ProNav: ac range: 361.748016 m, nav range: 359.663910 m, bearing: 11.771953 deg, approach rate: -0.523242 m/s, LOS rate: -0.005094 deg/s, cmd heading: 11.672166 deg, new cmd heading: 11.667840 deg. i+HeadingCmd: 0.203642 target range: 361.748016 and range: 363.00 m.hP>hhhhggjgrgereZe:e*e  @Bɢ$Z,) 'i)%E2iX^iP>Ѯ=:,=IP>I5BDAT read: Rx Time:04:14:31.8252 5TRx dataTimestamp_ set to:1764908073.822744=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2758409@ @@$5@DzDAAbEJ4jEǔ4rEǘ0Eu EuEu)Eq"Eu;*EuS:VEuFA4ZEqBEu!dS%,y LA |)~E~A~t||iIIi  )  %(~A% 0!)9= ~AIE)AiA)QI]1~A]tY auCqqiyyYyYBy.IbDտVD8y1D%N=ٔQ->9Y!=%Ey%CD-E->1Q 5=45/?Q 9=45)5gBY9y9Q I=@5@DI5C:i5\:54ymȒBɮmeAmhE:iFNOT Ignoring new targets: 361.75 m."iɶ*iɶ ProNav: ac range: 361.748016 m, nav range: 359.450439 m, bearing: 11.769874 deg, approach rate: -0.512250 m/s, LOS rate: -0.004994 deg/s, cmd heading: 11.667840 deg, new cmd heading: 11.663678 deg. i:HeadingCmd: 0.203570 target range: 361.748016 and range: 363.00 m.htP>hhhhggjgrgere!Ze!:e!*e%gm@uBɢu^/)q uiq)}8yyiA\itP>Ҧ==ItP>I9U9@Q @Q@U5@QUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778875iE%  E% E% %E! "E% 1;*E% Ǚ:VE% 4ZE! a5 @a5 @a5 @a5 @^A= i=AA zAE yAԑ I9 IQ O] >n%,{ LABA@BPE>BٱB=BHDh?tȿ2D?`?9Y=EyKDԪE>!Q 5-4%//?Q 9-4%])%gBY-7?Q E-:y-Ό>Q I5@%@DI%;i%:%4y=ΒBɮ=A=^Ea:iamFNOT Ignoring new targets: 361.75 m."imո*iuո} ProNav: ac range: 361.748016 m, nav range: 359.260254 m, bearing: 11.767760 deg, approach rate: -0.525594 m/s, LOS rate: -0.005845 deg/s, cmd heading: 11.663678 deg, new cmd heading: 11.659448 deg. i$+HeadingCmd: 0.203496 target range: 361.748016 and range: 363.00 m.h1aP>hhhhggjgrgBereZe:e*e!@DAT read: 04:14:31.8252 LVL= 31328, 32753, 32754, 32755, AGC= 73, IDX= 410,-0.24, 1.455,-0.313, 1.659, 0.889, PHS= 0.668,-1.157, 0.726, RAW= 151.6, -2.6, CAL= 150.8, -3.6, ROT= 359.2, 3.6 Ygot valid direction response: 04:14:31.8252 LVL= 31328, 32753, 32754, 32755, AGC= 73, IDX= 410,-0.24, 1.455,-0.313, 1.659, 0.889, PHS= 0.668,-1.157, 0.726, RAW= 151.6, -2.6, CAL= 150.8, -3.6, ROT= 359.2, 3.6 PDAT read: Bearing 162.1, -1.0 (Local) ~Local bearing/azimuth received: Bearing 162.1, -1.0 (Local) DAT read: Range 11 to 50 : 360.7 m (Round-trip 481.0 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.997929,-0.013935,-0.062791]Fpublishing direction and range infoyg ?ۤ͹֏ YYC`z )II +?i#9?V)@9q(@ )y@I==? D?£բ  ?),8=IDdi=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.EBɢEP2)A EjiA)MƤ>IIiMuDZiU1aP>U❙=Ue=I1aP>Iԑi@i @q@u3@q@}=@}=ԹBa Ba Be :IBe BBe =Ba Ba Be ;Be =E] *DAT read: user:160> e BDAT read: Tx time:04:14:33.2385 e $Ping request sent.e %,Ad LAE* E*E(E("E*:*E*1:VE(ZE(BE*<rྻٱrSP=rHEj?kKȿ֪?dY?J>?DJ w? }?`?ir6@Iry_;rCYBy4I bDVD8AyE%<%E?=ٔM9Q-M>9IYI=MEyUSDUEEU>YQ 5e4]@/?Q 9e4])]gBYaym >Q Im@]ADI]~:i]:] 4yu͒BɮujAu_EiQiU LAjUC"jUC:jUp<>"pUqB\kv@l@  6pUg ?ۤ͹֏ *jUDd2jU=*pU` v@{jP@=4pU h?a?`7ԼjUTB jUdCiUa?iU5.jU-BjU钥?jQjUcmBrjUCzjUR> addTargetRange:: Added new target pos. range: 360.700012 m, deltaT: 4.284113 s, deltaX: -2.299988 m, approachRate: -0.536864 m/s, rangeRepo size: 4  Added new target pos. range: 359.454285 m, bearing: 10.543750 deg, lat: 36.779505 deg, lon: -121.859580 deg, deltaT: 4.284113 s, deltaX: -2.293732 m, approachRate: -0.535404 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 359.45 m."i*i ProNav: ac range: 359.454285 m, nav range: 359.375122 m, bearing: 11.754234 deg, approach rate: 0.000000 m/s, LOS rate: -0.005845 deg/s, cmd heading: 11.659448 deg, new cmd heading: 11.654397 deg. iHeadingCmd: 0.203408 target range: 359.454285 and range: 360.70 m.hJP>hhhhggjgrgereZe :e @3v@*e `?5Bɢ573)9 =i9)=QDAAiEVXiEJP>M&=M=IMJP>II9@ @@/@5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250825qԙ^A8=IY Ii Ou > ɴ%,8 LA2(.@2B>2&ϻٱ2 T=2H k?@1,ȿ? w8?@`??Bq`y? ? o?i2(.@I2_;2CYBByB3IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502834iMb@Mb@Mb@ 9#~j?)\(?~jt?Y?yGa=<3A  A) AY AbD-VD-8y=%=^=ٔEQ-E>9AYA=MEyM[DM?6EM>QQ 5]4UP/?Q 9]4UW)UhBYe?Q Ee:yen>Q Ie@UADIU;iU";Uw4ym̒Bɮiq=B*** querying acoustic contact ***i9i9:iQ}FNOT Ignoring new targets: 359.45 m."i*iԱ ProNav: ac range: 359.454285 m, nav range: 359.182556 m, bearing: 11.751625 deg, approach rate: -0.496870 m/s, LOS rate: -0.006736 deg/s, cmd heading: 11.654397 deg, new cmd heading: 11.649176 deg. ihhhhggjg rg {Be re)Ze1:e1*e50?Eu EuEu'Eq"Eu;*Eu:VEu'4ZEqa@a@a@a@]Bɢ]M-)Y ]Xia)e JaaieDVi22P> ==I22P>I=9@9 @9@9@AUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754782 ^A Ȅ=A >A >I I O >9 ?%, LA>#@>A>>޻ٱ>=>Hm?ȿ ?@?A?Q{?`? >?i>#@I> _;>CYNByR>IbDZVDZ8ybR?=%bR=ٔbQ-b>9dYd=fEyfcDjUEj>hQ 5r4ja/?Q 9r4j)jhBYpyrǓ>Q Ir@j!ADIj:ij:j@4yxɮz Ax:i%FNOT Ignoring new targets: 359.45 m."i%0*i%05 ProNav: ac range: 359.454285 m, nav range: 358.979218 m, bearing: 11.748908 deg, approach rate: -0.556619 m/s, LOS rate: -0.007442 deg/s, cmd heading: 11.649176 deg, new cmd heading: 11.643739 deg. i=Y=HeadingCmd: 0.203222 target range: 359.454285 and range: 360.70 m.h=RP>hAhAhAhAgAgAjgIrgIeIreIZeI:eQ*eU?颅Bɢ>) ھi),O顉iťTiRP>=0=IRP>IBBB@IBBBBBB†;B=E )@) @1@5/@1@=zA@=xAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007780^A-[=IIO>9E} EyE}%Ey"E}O;*EyVE} 4ZEyBE})Y2ٱ2B=2H'o? ǿ?A?B?l`=}?? Q?i2K@I2S^;2CYbByf=IbDn$VDnΰ8y~~%G=ٔ KVQ->9!Y!=-Ey-kD=EE>YQ 54]r/?Q 94]*)]!hBYyP>Q I@]/ADI]khIhIihqhqgqgqjgyrgyeyreyZey:e*e?MBɢM%)I U7ھiQ)UUQQiURi]O>]o=]Dǀ=I]O>Ia9@ @@/@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511126E  E E 'E "E 7;*E VE '4ZE a @a @a @a @ ^Aa Aa zAe wAI I O >%,! LA6)@6?>6%ٱ6[=6H Ip? ǿ>?%?C? L2~?`? ]?i6)@I6];4YBByFUIPiMb@Mb@Mb@ 9J +?ˡE?I +?Y?y=9<AA v A) AY AbD-VD-8y==%=F=ٔE/Q-E>9AYA=EEyEsDMrEM>QQ 5]4U(/?Q 9]4UI)U/hBYek ?Q Ee:yet>Q Ie@U=ADIU ;iU ;U4yiɮmAi:iFNOT Ignoring new targets: 359.45 m."i g*i g ProNav: ac range: 359.454285 m, nav range: 358.543518 m, bearing: 11.741499 deg, approach rate: -0.604596 m/s, LOS rate: -0.012625 deg/s, cmd heading: 11.637904 deg, new cmd heading: 11.628912 deg. i׸HeadingCmd: 0.202963 target range: 359.454285 and range: 360.70 m.h{O>hhhhggjgrgBereZe:e*e z @checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762702颕Bɢ-) pži)&Z项iQPi{O>d=T=I{O>IM9@I @I@M/@I^A5Pڀ=B>BBLIBBBBBٺDBʆ;B=E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015358! A I I O >/%,; LAE& E&E&$E$"E&l;*E&$:VE&4ZE$BE&ZF@>?>>\ٱ>=>H6p?ǿh?}?$D?@Z|~?`u? ?i>@I>{];>CYJByJ^IbDVVDV8y^ =%^S=ٔ^ŹQ-b>9`Y`=bEyb{Df8Ef>hQ 5n4j̔/?Q 9n4j{)jQ Ir@jKADIj ;ij;ji4yvɒBɮv=AvaE|:iFNOT Ignoring new targets: 359.45 m."iL*iL ProNav: ac range: 359.454285 m, nav range: 358.336182 m, bearing: 11.737164 deg, approach rate: -0.534648 m/s, LOS rate: -0.011184 deg/s, cmd heading: 11.628912 deg, new cmd heading: 11.620238 deg. iHeadingCmd: 0.202811 target range: 359.454285 and range: 360.70 m.h˭O>hhhhggjgrgere!Ze!:e!*e%_@Bɢ|) Ni ) a_  i :Oiu˭O>ugV=uFG=Iu˭O>Iy)%9@! @!@%0@!5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267802@==@==a^A- =ԁ AY Iy I O >%,[U LA:@:@>:ٱ:_=Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518696:H"p?{ǿ㋇??D? [EC?`|q??i:@I:%];:CYNByNQIi%Mb@Mb@Mb@!!!! !9%Pn?&1?Q?Y%?y%=%<%IA%A !)%\ A!Y% AbD=VD=8aym>%m@=ٔuQ-u>9Y=EyDu8E>Q 54~/?Q 94L)PhBY?Q E:y>Q I@YADIY;iq;4y˒BɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 359.45 m."iBv*iBv ProNav: ac range: 359.454285 m, nav range: 358.113739 m, bearing: 11.731014 deg, approach rate: -0.486354 m/s, LOS rate: -0.013456 deg/s, cmd heading: 11.620238 deg, new cmd heading: 11.607929 deg. iŹHeadingCmd: 0.202597 target range: 359.454285 and range: 360.70 m.hzuO>hhhhggjgrgBereZe:e *e @r@EU EUEU#EQ"EU&:*EUv:VEU3ZEQa]@ae@ae@ae@颕~Bɢ$) Pƾi) d顙inMizuO>rI=K=IzuO>Iԉe9@a @a@e0@aԱ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770808^AM Pڀ=AM >AM > A .AI I O >A%, 7o LA2T@2 ?>24 ٱ2&=2H]p?`ǿL?@?OD? _Xz?m?@?i2T@I2R];0Y>By>UIbDFVDF8yNȕ<%RX=ٔRͺQ-V>9V ?YV ?=VEyVDZkEZ>\Q 54^/?Q 94^f)^ahBYyl>Q I@^fADI^NhihihihqgqgqjgqrgyeyreyZey:e*e @颭}Bɢ.) i)OiԹ顱iKi^DO>>=ő=I^DO>IB=<A9BE>BE[CBEYIBEBBE =BABABEņ;BE=EBBBB =B =C5u9@q @q@u25@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025092Ee EaEe'Ea"Ee;*EaVEe'4ZEaBEe!d9 e BDAT read: Rx Time:04:14:36.1208 m TRx dataTimestamp_ set to:1764908078.110786m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279793)%, LA:@:@>:vٱ:=:H n?ǿ?r?HB?^? B?\?i:@I: ];8YFByFMIbDNVDN8yV(%VI=ٔZQ-Z>9Z"?YZ"?=ZEyZD^ ;E^>hQ 5v4j/?Q 9v4jT)jthBYxyz>Q Iz@jsADIj^;ij6;j*4y|ɮA:i!-FNOT Ignoring new targets: 359.45 m."i-*i- ProNav: ac range: 359.454285 m, nav range: 357.709015 m, bearing: 11.719783 deg, approach rate: -0.528170 m/s, LOS rate: -0.014708 deg/s, cmd heading: 11.597195 deg, new cmd heading: 11.585455 deg. iX׹ HeadingCmd: 0.202204 target range: 359.454285 and range: 360.70 m.hO>h1h9h9hAgIgIjgargieireZe:e*e< @颅|Bɢ#) Ǿi)o顩iZJiO>0==IO>IAe9@a @a@e2@a@myA@mzAi߹I߽Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.530937q^AM 3=E}  E} E} %Ey "E} ;*E} 1:VE} 4ZEy a @a @a @a @Ay I I ԙ O >S%, LA2(@2 LB>2yٱ2=2Hl?"ȿ7"?@#?>?-躿`z??/?i2(@I2^];2CY9iYi=mEymDmb;Em>qQ 5}4uj/?Q 94u)uhBYR ?Q E:y<>Q I@uADIu;iu:u24yȒBɮAbE:iFNOT Ignoring new targets: 359.45 m."i*i ProNav: ac range: 359.454285 m, nav range: 357.484772 m, bearing: 11.712564 deg, approach rate: -0.530954 m/s, LOS rate: -0.017105 deg/s, cmd heading: 11.585455 deg, new cmd heading: 11.571006 deg. ioHeadingCmd: 0.201952 target range: 359.454285 and range: 360.70 m.hN>hhhhggjgrgBereZe:e*e@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782893q{Bɢ2)1 5ƾi9)EsIIiujHiN>&==IN>I9@ @@15@ԩB=>B9B9B9B9B9B9B=;B==E DAT read: 04:14:36.1208 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 412, 0.18, 2.217, 0.614, 2.380, 1.827, PHS= 0.492,-1.168, 0.509, RAW= 150.5, 2.0, CAL= 149.4, 1.7, ROT= 0.6, -1.7  Ygot valid direction response: 04:14:36.1208 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 412, 0.18, 2.217, 0.614, 2.380, 1.827, PHS= 0.492,-1.168, 0.509, RAW= 150.5, 2.0, CAL= 149.4, 1.7, ROT= 0.6, -1.7 % PDAT read: Bearing 166.9, 1.1 (Local) - ~Local bearing/azimuth received: Bearing 166.9, 1.1 (Local) E DAT read: Range 11 to 50 : 358.5 m (Round-trip 478.1 ms) speed 0.1 m/s M R#Rx 1: Read range and direction messages.] \direction in FSK: [0.999505,0.010467,0.029666]] Fpublishing direction and range infoy  (?o? `?Y @C ^Ae W^=Aq zAu xA ) I m>i  M? 0(@ 5= &@ <) +#%, LAR 6@RC>R5+ٱR?=RH j?@Wȿᢄ?@9W?:?M@f?7K??iR 6@IR`k];RCYnBynHIbD~VD~8y%<ٔLQ-%>9!Y!=%Ey%D-;E->QQ 5u4U/?Q 9u4U)UhBYqyu>Q Iu@UADIUf;iU;U;94yɮAii]m LAjC"jC:jZK>"p49:Qv@,^ @&XW^2%@p(?o? `?*j+<2j*pP!u@dlvQ@,]U-@p addTargetRange:: Added new target pos. range: 358.500000 m, deltaT: 4.287893 s, deltaX: -2.200012 m, approachRate: -0.513075 m/s, rangeRepo size: 4  Added new target pos. range: 357.253723 m, bearing: 11.378265 deg, lat: 36.779505 deg, lon: -121.859580 deg, deltaT: 4.287893 s, deltaX: -2.200562 m, approachRate: -0.513203 m/s, posRepo size: 4 :i!%FNOT Ignoring new targets: 357.25 m."iM*iI] ProNav: ac range: 357.253723 m, nav range: 357.310303 m, bearing: 11.704027 deg, approach rate: 0.000000 m/s, LOS rate: -0.017105 deg/s, cmd heading: 11.571006 deg, new cmd heading: 11.556505 deg. iY]HeadingCmd: 0.201699 target range: 357.253723 and range: 358.50 m.he3N>hahahahaiggjgrgereZe:ehv@*e@*7?zBɢ)) ɾi)Ey  i UFi 3N>==I3N>IA*DAT read: user:161> BDAT read: Tx time:04:14:37.5384 $Ping request sent. %,h LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250836fjE@fE>f9ٱf=fH@ g?ȿV??@5?~#? ??ifjE@If];fCY~ByBI5!>5=iMb@Mb@Mb@ 9E?X9v?y&1?Y?y=`e< v A)\ AY( AbD VD8y O̼% ==ٔ kQ->9Y=EyDލ;E>!Q 5-4%x/?Q 9-4%.)%hBY-d ?Q E-:y5p>Q I5@%ADI%I:i%;%@4y=ƒBɮ=A9]B*** querying acoustic contact ***iYiY:iamFNOT Ignoring new targets: 357.25 m."ims*ius ProNav: ac range: 357.253723 m, nav range: 357.084167 m, bearing: 11.696046 deg, approach rate: -0.539854 m/s, LOS rate: -0.019065 deg/s, cmd heading: 11.556505 deg, new cmd heading: 11.540533 deg. i HeadingCmd: 0.201420 target range: 357.253723 and range: 358.50 m.h AN>hhhhggjgrgBereZe:e*e?yBɢtk3) ξE EEE"E;*E:VEZEa@a@a@a@i) ~ioDi AN>#=(=I AN>I9@ @@/@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502583^A消=) A9 IA IY Oe >%,G LA2lQ@2 ZG>2"Iٱ2Q=2H d?ȿ`^??@1?l0$?Z??i2lQ@I2^;0YBByB/I HHbDJVDJ8yRP%Rd=ٔV2Q-V>9TYT=ZEyZDZ;EZ>\Q 5b4^V 0?Q 9b4^)^hBYdyf(>Q If@^ADI^:i^G:^F4yhɮjWAh:i|FNOT Ignoring new targets: 357.25 m."iث*iث ProNav: ac range: 357.253723 m, nav range: 356.895325 m, bearing: 11.689330 deg, approach rate: -0.527769 m/s, LOS rate: -0.018780 deg/s, cmd heading: 11.540534 deg, new cmd heading: 11.527094 deg. iz HeadingCmd: 0.201186 target range: 357.253723 and range: 358.50 m.hN>hhh!h!g!g!jg!rg)e)re)Ze):e)*e5`'?B}>B}ZCB}SIB}BB} =ByByB};B}=EɢCA) \ݾi)쁼i4CiN>='=IN>I9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.758638e9@a @a@e/@aDzD?AE EE$E"El;*EZ:VE4ZEBEZF checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006658%, LA06 Y@6MH>6(Tٱ6=6Hc?ȿ?g?a/?Ѣ儊? ?@?i6 Y@I6];6CYBByB6IbDJVDJ8yRG<%RJ=ٔVںQ-V>9TYT=ZEyZDb*;Ef>lQ 5r4n>0?Q 9r4n)nhBYtyv>Q Iv@nADIn:in:nN4yzŒBɮz AzcE:iaFNOT Ignoring new targets: 357.25 m."ih*ih= ProNav: ac range: 357.253723 m, nav range: 356.680542 m, bearing: 11.681649 deg, approach rate: -0.477647 m/s, LOS rate: -0.017093 deg/s, cmd heading: 11.527094 deg, new cmd heading: 11.511722 deg. iEAEHeadingCmd: 0.200917 target range: 357.253723 and range: 358.50 m.hENM>hAhIhIhIԉgIgjgrgereZe:e*e M?mxBɢm1)i m9׾iq)u3qqiu}PAi}NM>} =}ۤ=I}NM>IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259199U9@Q @Q@Q@Y@@xAԹE EEE"E;*E:VEZEa@a@a@a@ ^A {=A I I O ># %,V& LA2!a@2PI>2c@^ٱ2Y=2H@ua?( ɿ`Ӂ?@?,?ڼNj??|?i2!a@I2 ^;2CY>By>$I~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510684ieMb@Mb@Mb@aaaa a9ev/?y&1?Mbp?Yex ?ye`=e;eIAe+A e A)aaYez AbD}VD}8yS%4=ٔYQ->9Y=EyD;E>Q 54j.0?Q 940)hBYo ?Q E:y>Q I@ADIY;i;V4yɮA:iFNOT Ignoring new targets: 357.25 m."id*id ProNav: ac range: 357.253723 m, nav range: 356.438263 m, bearing: 11.673902 deg, approach rate: -0.592225 m/s, LOS rate: -0.018949 deg/s, cmd heading: 11.511722 deg, new cmd heading: 11.496218 deg. i HeadingCmd: 0.200647 target range: 357.253723 and range: 358.50 m.h_vM>hh h h g g jgrgBereZe:e*e ?AɢMJ)I MliI)U懼QQiU?i]_vM>] =]%=I]_vM>IYI@ @@/@qB>BBFIBBBBBغDB;B=E^A~4=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763965ԡ A9 IA IQ Oe > C= GM {AE]  E] E] %EY "E] T;*E] M:VE] 4ZEY BE] GR!iٱR=RH`a?}ɿ ??J,?#?`4˼?.?iRb@IR];RCYnByr&ItvAAbDzVDz8y7<%T=ٔ  Q- >9 Y = EyDS:E>Q 5%4>0?Q 9%4)hBY)y- >Q I-@ADIP:i:\4y5˒Bɮ5A5ZE:iY]FNOT Ignoring new targets: 357.25 m."ie̝*ie̝u ProNav: ac range: 357.253723 m, nav range: 356.231201 m, bearing: 11.667265 deg, approach rate: -0.537675 m/s, LOS rate: -0.017245 deg/s, cmd heading: 11.496218 deg, new cmd heading: 11.482936 deg. iuy}HeadingCmd: 0.200415 target range: 357.253723 and range: 358.50 m.h}9M>hyhyhyhggjgrgereZe:e*e`}@颽wBɢTF) i)i=i9M>=@=I9M>Iԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0146599@ @@@^A= AA II IY Om > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2672871%,4Y LA2Yh@27J>2uٱ2hS=2H _?`A*ɿ?D?`l*? *`r??m?i2Yh@I2];2CY>By>"I|i]Mb@Mb@Mb@YYYY Y9]%C?MbX?{GztY]Z?y]=]ף]AY Y)YYY]Q AbDu&VDuϰ8y|%C=ٔQ->9Y=EyD:E>Q 54P0?Q 94)hBY?Q E:y>Q I@ADI4:i_:d4yʒBɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 357.25 m."i㌹*i㌹ ProNav: ac range: 357.253723 m, nav range: 356.013794 m, bearing: 11.660792 deg, approach rate: -0.516801 m/s, LOS rate: -0.015397 deg/s, cmd heading: 11.482936 deg, new cmd heading: 11.469982 deg. ilṝHeadingCmd: 0.200189 target range: 357.253723 and range: 358.50 m.hUL>hhhhggjg rg Be re Ze :e*e@E EEE"E ;*Eh:VEZEa%@a-@a-@a-@ɢzC) i)ύi ==ʔ=IUL>I)9@ @@@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518655Q^Av=ԁ I I O >[%,s LA6=n@6@J>6ùٱ6=6H^?1Cɿ}?O3?g(?d`?`-??i6=n@I6^;6CBDBDBF4IBFBBDBDBDBFt;BFs=EYRByRIbDZVDZ8ybv%bW=ٔfϺQ-f>9dYd=jEyjDj*:Ej>lQ 5r4n_0?Q 9r4n)nhBYtyvM>Q Iv@nADInV:in :nj4yxɮz Ax:i%FNOT Ignoring new targets: 357.25 m."i%荹*i%荹5 ProNav: ac range: 357.253723 m, nav range: 355.817352 m, bearing: 11.654912 deg, approach rate: -0.517821 m/s, LOS rate: -0.015508 deg/s, cmd heading: 11.469982 deg, new cmd heading: 11.458215 deg. i5 㹝=HeadingCmd: 0.199984 target range: 357.253723 and range: 358.50 m.h=L>h9h9hAhAgAgAjgArgIeIreIZeI:eI*eU@Y颁ɢS) ri)顉iA:iL>=8V=IL>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771099Q@Q @Q@U0@QԉE- E-E)E)"E- ;*E-:VE)ZE)BE-R% p>% =- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022865 C#%,h LA:r@:K>:"qٱ:u=:H]?Uɿ||?@PD?&?W?`m??i:r@I:5>^;8YNByNI TV4=bDZ VDZ8yb%bJ=ٔbQ-f>9dYd=fEyfDj}:Ej>tQ 5 4vLp0?Q 94v)vhBYy>Q I%@vADIvw;iv ;vq4yMȒBɮM<AU[E:iFNOT Ignoring new targets: 357.25 m."ix*ix  ProNav: ac range: 357.253723 m, nav range: 355.607544 m, bearing: 11.648606 deg, approach rate: -0.451868 m/s, LOS rate: -0.013589 deg/s, cmd heading: 11.458215 deg, new cmd heading: 11.445596 deg. i ƹ5HeadingCmd: 0.199763 target range: 357.253723 and range: 358.50 m.h5ÎL>h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eE @颱ɢGI) 3i)o项i 88iÎL>=z~=IÎL>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279406@ @@/@E= E=E9E9"E=7;*E=v:VE9ZE9aE@aE@aE@aE@^A M=I) I9 OM >9 m)%,H LA2v@2 L>2dߊٱ2S=2H\?`iɿp{?VU?@V#?C[?`=?]?i2v@I2^;0Y>|By>IrBDAT read: Rx Time:04:14:40.4179 vTRx dataTimestamp_ set to:1764908082.646820vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527710iMb@Mb@Mb@ 9RQ?Zd;?~jthY?yy=D3A  A)Y AbDVDɰ8y%:=ٔQ->9Y=EyD:E>Q 54H0?Q 94)hBY~?Q E:y>Q I@BDIP;ie;qy4y ɮ aA :i1=FNOT Ignoring new targets: 357.25 m."iECH*iECH] ProNav: ac range: 357.253723 m, nav range: 355.384308 m, bearing: 11.644453 deg, approach rate: -0.587830 m/s, LOS rate: -0.010943 deg/s, cmd heading: 11.445596 deg, new cmd heading: 11.437285 deg. i]6eHeadingCmd: 0.199618 target range: 357.253723 and range: 358.50 m.hehL>hihihihigigqjgyrg}]BeyreZe:e*e@aɢmX)i i) 顑ilX6ihL>==IhL>IAe9@a @a@e0@a@i@mzAB>BBIBBBBBBm;Bj=EBEZCBEZCBABE =BE =CE4qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778722^Am ~=I IY O >EM  EM EM $EI "EM ;*EM :VEM 4ZEI BEM A2ٱ2;=2H@\?@Ynɿ-z?`MX?!?v?S?@ ?i2w@I2^;2CYbwBybIbDj2VDjڰ8yr%r[=ٔvϺQ-v>9tYt=vEyzDz܄9Ez>|Q 54~0?Q 94~L)~hBY y >Q I @~BDI~:i~S:~4yǒBɮA\E:i9=FNOT Ignoring new targets: 357.25 m."iE.*iE.U ProNav: ac range: 357.253723 m, nav range: 355.194153 m, bearing: 11.640909 deg, approach rate: -0.511711 m/s, LOS rate: -0.009542 deg/s, cmd heading: 11.437285 deg, new cmd heading: 11.430193 deg. iU]HeadingCmd: 0.199494 target range: 357.253723 and range: 358.50 m.h]IHL>hYhYhYhYgagajgargaeireiZei:ei*em@额vBɢOg) i)0u顡i4iIHL>u=[ט=IIHL>Iq59@1 @1@5<5@1-DAT read: 04:14:40.4179 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 416,-0.27,-2.185, 2.572,-1.988,-2.557, PHS= 0.474,-1.109, 0.525, RAW= 151.5, 1.4, CAL= 150.3, 0.9, ROT= 359.7, -0.9 5Ygot valid direction response: 04:14:40.4179 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 416,-0.27,-2.185, 2.572,-1.988,-2.557, PHS= 0.474,-1.109, 0.525, RAW= 151.5, 1.4, CAL= 150.3, 0.9, ROT= 359.7, -0.9 =PDAT read: Bearing 166.5, 0.6 (Local) =~Local bearing/azimuth received: Bearing 166.5, 0.6 (Local) MDAT read: Range 11 to 50 : 356.4 m (Round-trip 475.3 ms) speed 0.4 m/s MR#Rx 1: Read range and direction messages.U^direction in FSK: [0.999863,-0.005235,0.015707]UFpublishing direction and range infoy:??quy&?Y3C )HI!>i󍿉ff?%:)@+<'@ <)@IOWA??߳&?  ?)żIi}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.ԡ^A}=II9O> *DAT read: user:162>  BDAT read: Tx time:04:14:41.7884  $Ping request sent. ? LAYvrByvIiMb@Mb@Mb@ 9jt?Mb?Y?y=AA v A)E AY A@AbDVD8yV%==ٔQ->9Y=EyDE>Q 54S0?Q 94)hBY?Q E:ya>Q I@(BDI:i:4yɮAE EE"E"E&:*EZ:VE(3ZEa @a @a @a @i!i% LAj%C"j%C:j%ED>"p%1v@韋n 4mP@p%:??quy&?*j%2j%*p%ВϬu@DEP@Zh['@p%*gd?ppdr?v&2?j%B j%6Ci%iT?i%u6j%Bj%?j%.yj%Brj%OCzj%&$J>] addTargetRange:: Added new target pos. range: 356.399994 m, deltaT: 4.285077 s, deltaX: -2.100006 m, approachRate: -0.490074 m/s, rangeRepo size: 4 e Added new target pos. range: 355.155762 m, bearing: 11.017536 deg, lat: 36.779506 deg, lon: -121.859604 deg, deltaT: 4.285077 s, deltaX: -2.097961 m, approachRate: -0.489597 m/s, posRepo size: 4 :iimFNOT Ignoring new targets: 355.16 m."iu*iq ProNav: ac range: 355.155762 m, nav range: 354.621033 m, bearing: 11.310389 deg, approach rate: 0.000000 m/s, LOS rate: -0.009542 deg/s, cmd heading: 11.430193 deg, new cmd heading: 11.421808 deg. iHeadingCmd: 0.199348 target range: 355.155762 and range: 356.40 m.h!L>hhhhggjgrgXBereZe:e`fFv@*e ?ɢY) !i)%i-2i!L>w=: =I!L>I9@ @ @ #5@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251152^A- Ԙ=1 Ay I I O ><%,~ LAAA?AB>BYCBIBBB =BBBr;Bm=E Bo@B &K>BvkٱB=BH]?SɿRu?9?[#?&& ?`EH?`?iBo@IB3^;BCYRuByRIbDZVDZ8yb֎<%f\=ٔf7;Q-f>9hYh=jEyjDj*Ej>lQ 5r4n0?Q 9v4n)nhBYtyv>Q Iv@n4BDIn:in:n4yzŒBɮzA|B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 355.16 m."i Ǵ*i Ǵ= ProNav: ac range: 355.155762 m, nav range: 354.434021 m, bearing: 11.308449 deg, approach rate: -0.475873 m/s, LOS rate: -0.004939 deg/s, cmd heading: 11.421809 deg, new cmd heading: 11.417927 deg. i=EHeadingCmd: 0.199280 target range: 355.155762 and range: 356.40 m.hE*L>hAhAhAhAgIgIjgIrgIeIreQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503272ZeQ:eq*eu` H?颹ɢ`) Bi)Vriv0i*L>=vJ=I*L>IQm9@i @i@m5@i@u=@u=bEjE 4rEͰ/E EE(E"El;*E҆:VEc44ZEBEZFgC%,r LA2Dg@2 J>2Ϝٱ2/a=2H@_?m4ɿm{r? ?,%? ?8?4?i2Dg@I2^;2C8YBsByBIbDJVDJ8yZ%^J=ٔbtQ-f>9dYd=jEyjDj0(Ej>lQ 5r4n80?Q 9r4n')niBYpyvZ>Q Iv@nABDIn:in:n4yxɮzAx:i)=FNOT Ignoring new targets: 355.16 m."iMɸ*iMɸ  ProNav: ac range: 355.155762 m, nav range: 354.230072 m, bearing: 11.306366 deg, approach rate: -0.537275 m/s, LOS rate: -0.005492 deg/s, cmd heading: 11.417926 deg, new cmd heading: 11.413757 deg. i MHeadingCmd: 0.199208 target range: 355.155762 and range: 356.40 m.hMK>hQhQhYhYggjgrgereZe:e*e@?颅uBɢH^) i)顉i .iK>=o=IK>Iԙ1@9 @9@=4@9iaIeAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.009212E  E E )E "E ;*E Z:VE FA4ZE a@a@a@a@^A] Ԙ= A .AI I O >?I%, ( LA2y_@2I>2݇ٱ2=2H`?`[ɿLn??J'?@[r0?R ??i2y_@I2|];0Y>{By>Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.263045tiMb@Mb@Mb@ 9'1Z?Zd;O?Mbp?Y?yj<;A  A)Y\ A )-<bD5VD58y#=%:=ٔlQ->9 ?Y ?=EyDXE>Q 540?Q 94) iBY ?Q E :y u>Q I @OBDI%;iR;Ü4y%ĒBɮ%FA%]E:iYeFNOT Ignoring new targets: 355.16 m."im*im ProNav: ac range: 355.155762 m, nav range: 354.005890 m, bearing: 11.304811 deg, approach rate: -0.507581 m/s, LOS rate: -0.003523 deg/s, cmd heading: 11.413758 deg, new cmd heading: 11.410646 deg. iJθHeadingCmd: 0.199153 target range: 355.155762 and range: 356.40 m.hK>hhhhggjgrgMBereZe:e*e=2?颁ɢ^) fi)7i|,iK>=9B=IK>Ie9@a @a@eA2@aB=>B9B=IB=BB= =B9B=׺DB=o;B=j=E9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514902^Am d=a E%  E% E% $E! "E% ;*E% :VE% 4ZE! BE% K\P%,B LA>T@>G>>ٱ>=>Hc?,ȿk??*? R'#?&?`?i>T@I>}];9v"?Yz"?=zEyz DzchEz>|Q 54~$0?Q 94~)~iBY y t>Q I @~\BDI~:i~P:~B4yɮA9:iAEFNOT Ignoring new targets: 355.16 m."iM~*iM~] ProNav: ac range: 355.155762 m, nav range: 353.816040 m, bearing: 11.303533 deg, approach rate: -0.516573 m/s, LOS rate: -0.003479 deg/s, cmd heading: 11.410646 deg, new cmd heading: 11.408088 deg. i]˸eHeadingCmd: 0.199109 target range: 355.155762 and range: 356.40 m.he'K>hahahahagigijgirgieireqZeq:eq*eu?颥tBɢks) ci)顩i+i'K>=W=I'K>I9@ @@/@@@wAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.767261qԙ^A̓=A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018971CV%,b\ LAY~By~I  AiMb@Mb@Mb@ 9T㥛 ??Mb?Y?y<<AA v A) AԙYbDVD8y=%>=ٔQ->9Y=Ey)DE>Q 540?Q 94E EE#E"E ;*EM:VE3ZEa@a@a@a@5)iBY??Q E:ypv>Q I@iBDIX;i];ƪ4yÒBɮA:i!-FNOT Ignoring new targets: 355.16 m."i-׀*i-׀ ProNav: ac range: 355.155762 m, nav range: 353.599426 m, bearing: 11.302010 deg, approach rate: -0.500278 m/s, LOS rate: -0.003520 deg/s, cmd heading: 11.408088 deg, new cmd heading: 11.405040 deg. i%θHeadingCmd: 0.199056 target range: 355.155762 and range: 356.40 m.h5K>hhhhggjgrgWBereZe:e*e Q!@EsBɢE T)A Eu=uDs=Iu5K>Iy%9@! @!@-/@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270874^AM ~4=! A I I O >B% >B! B% IB% BB% =B! B! B% s;B% l=Ey\%,bv LAr L@rF>rϢٱrmv=rH d?hȿ h?@?,?Y?J?@c?ir L@Ir];pYByI9=AAbDMVDM8y]=%]P=ٔe Q-e>9aYa=mEym1Dm/Em>qQ 5}4u1?Q 9}4u)u(iBYyau>Q I@uvBDIu?;ium ;u4yɮAB*** querying acoustic contact ***ii:i1=FNOT Ignoring new targets: 355.16 m."i=e*i=eM ProNav: ac range: 355.155762 m, nav range: 353.401581 m, bearing: 11.300650 deg, approach rate: -0.507373 m/s, LOS rate: -0.003489 deg/s, cmd heading: 11.405040 deg, new cmd heading: 11.402320 deg. iMQ̸]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523062HeadingCmd: 0.199008 target range: 355.155762 and range: 356.40 m.hK>hhhhggjgrgereZe:e*eG@{GMrBɢvZ!)1 5iI)UuQQiU^'] 9YY]AieK>eo=ނ=IK>IDzDAAE EE'E"Es!;*E:VE'4ZEBEx"d%,W LA2F@2`E>2ٱ2G=2He?ȿ5\j?`)? o,? _G@???i2F@I2\;2CYFByfIbDnؿVDn8yz-<%~I=ٔw9Q- >9Y=%Ey%9D=ӺE=>QQ 5u4UT1?Q 9}4U)U4iBYyt>Q I@UBDIU;iUhhhhggjgrgereZe:e*e@ @颍qBɢ:P) i)˴顑i|%iK>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026979f=!=IK>IEu EuEu#Eq"Eu ;*Eu:VEu3ZEqa@a@a@a@)] ܪ& @  @ @ "5@ @ =@ =Q ߍ %=ߍ %= BDAT read: Rx Time:04:14:44.6493  TRx dataTimestamp_ set to:1764908086.682984 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280175ԁ^A=A)I9IIOU?Dl%,ٱ LAB">B B"'IB"BB B B B"t;B DM/G@MF>MtٱMU=MHe?`ȿTl?`?X+?ꞾB.?`)7? #?iM/G@IM*];Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.530975YuByu'I}=yԡi5Mb@Mb@Mb@1111 195#~j?ˡE?Mb?Y5?y5'=153A5+A 1)11Y5 AbDM VDM8y]s<%]<ٔe8Q-e>9aYa=mEymGDm-8Em>qQ 5}4u41?Q 9}4u8)uIiBY\?Q E:y>Q I@uBDIu;iu;u4yBɮRA:iFNOT Ignoring new targets: 355.16 m."i~*i~븝 ProNav: ac range: 355.155762 m, nav range: 352.841187 m, bearing: 11.295220 deg, approach rate: -0.561473 m/s, LOS rate: -0.006434 deg/s, cmd heading: 11.399474 deg, new cmd heading: 11.391450 deg. id<HeadingCmd: 0.198818 target range: 355.155762 and range: 356.40 m.hK>hhhhggjgrgrBereZe:e*ec@pBɢ@) ھi)!i%;X#i%K>-=-=I-K>I)E EE&E"El;*EM:VE4ZEBEZF|oE,?6e>.0ۣ?Y>@C<<<< <)>FI>>i>Hᚿ>M>>(@>nF=>6'@ >nF=)>@I>nF<<>>_?rc?(r? > ?)> #I>.;4i>nF<<zT****** received valid address query ******zR****** received valid ping request ******zQuerying Benthos address 50 with one ping in standard two-way mode. y)yyyyہۅA~Aiۅ#IہہI܉i܍r@ ܉ۉ)܉ܑ ݕ ~Aܕj<ܑܑݑݝ~AIݝ')ݙiݙ)ޙIޙݝuݡ ޡޡޡޡiޡޡYY-By-=IE EE$E"E;*EM;VE4ZEa@a@a@a@imMb@Mb@Mb@iiii i9m?Zd;?I +?Ymf?ymy=m99Y=EySDE>Q 54RN1?Q 94)biBY%k?Q E%:y%k>Q I%@BDI;i;"4y)ɮ-A1i<i> LAj>C"j>C:j>W<>"p>ajðDu@\ڶc1?K#/:@p>|oE,?6e>.0ۣ?*j>.;42j>nF*p>{>|t@@sa"O@K%Y@@p>yB j>Ci>=?i>jOj>Bj<j>u6j<rj>Czj>"D> addTargetRange:: Added new target pos. range: 342.500000 m, deltaT: 4.286908 s, deltaX: -13.899994 m, approachRate: -3.242429 m/s, rangeRepo size: 4  Added new target pos. range: 341.299042 m, bearing: 10.561405 deg, lat: 36.779506 deg, lon: -121.859623 deg, deltaT: 4.286908 s, deltaX: -13.856720 m, approachRate: -3.232334 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 341.30 m."i*i% ProNav: ac range: 341.299042 m, nav range: 352.194580 m, bearing: 11.016195 deg, approach rate: 0.000000 m/s, LOS rate: -0.006434 deg/s, cmd heading: 11.391450 deg, new cmd heading: 11.383517 deg. i!-HeadingCmd: 0.198680 target range: 341.299042 and range: 342.50 m.h-rK>h)h)h)h1gQgQjgYrg]BeYreYZeY:eehu@*eeG?颭oBɢn:7) Ǿi) i B!irK>ޘ=lJ=IrK>I 5*DAT read: user:163> =BDAT read: Tx time:04:14:46.0384 =$Ping request sent.=9Y=Ey^DE>Q 54e1?Q 94t)xiBYyQ I@BDIz:i.:4yBɮA_EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 341.30 m."i3*i3 ProNav: ac range: 341.299042 m, nav range: 351.906525 m, bearing: 11.010955 deg, approach rate: -0.539805 m/s, LOS rate: -0.009829 deg/s, cmd heading: 11.383517 deg, new cmd heading: 11.373027 deg. i叹HeadingCmd: 0.198497 target range: 341.299042 and range: 342.50 m.hBK>hhhhggjg!rg!e!re!Ze):e)*e- ?UnBɢ]T-@)Y ]c¾iY)]>aaiemieBK>mP٘=m=ImBK>Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5029179@ @@ /@ ^AAI I O >9 = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754206Y%,$LA2`D@2E>2{ٱ2=2Hf?Mȿtf??@+? yp?)?9?i2`D@I2g];0Y%By%OIiMb@Mb@Mb@ 9uV?bX9ȶ?:v?Yr?yE=<3A ) AY AbDٿVD8yB=%H=ٔںQ->9Y=EygDF[E>Q 54w1?Q 94s)iBE EE"E"E;*EǙ:VE(3ZEa @a @a @a @Y ?Q E :y @>Q I @BDID;iϝ;4yBɮ9A:iFNOT Ignoring new targets: 341.30 m."it*it ProNav: ac range: 341.299042 m, nav range: 351.688568 m, bearing: 11.005229 deg, approach rate: -0.508687 m/s, LOS rate: -0.013371 deg/s, cmd heading: 11.373027 deg, new cmd heading: 11.361569 deg. iùHeadingCmd: 0.198297 target range: 341.299042 and range: 342.50 m.hPK>hhhhggjg rg Be re ZeQ:eQ*eU`+o?ɢ:B) ⷾi)¼iMiPK>]Ԙ=@=IPK>IIa@a @a@e/@achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006953y^A ~4=I I O >ԡ B} >By B} YIB} BBy By By B} s;B} k=E%,8LA2@@2`JE>2Eٱ21=2H@f?ȿ]??P-? m ???i2@@I2\;2CY>By>VIbDFVDF8yN<%R]=ٔVQ-Z>9`Yd=fEyjnDjEj>lQ 5r4n 1?Q 9r4n)niBYtyv>Q Iv@nBDIn>:in):nm4yzŒBɮzQAzVE:iFNOT Ignoring new targets: 341.30 m."i%ņ*i%ņ5 ProNav: ac range: 341.299042 m, nav range: 351.489624 m, bearing: 11.000009 deg, approach rate: -0.560965 m/s, LOS rate: -0.014728 deg/s, cmd heading: 11.361569 deg, new cmd heading: 11.351122 deg. i5׹=HeadingCmd: 0.198114 target range: 341.299042 and range: 342.50 m.h=J>h9h9h9hAgAgAjgArgAeIreIZeI:eI*eMq?Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258236颽mBɢ91P) =i)ļi߈iJ>И=xҏ=IJ>I%N>i%>ԉ9@ @@/@@=@=bEu4jEuĔ4rEuz:0E EE%E"E:*E:VE 4ZEBE> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510240 {%,BRLA6HB@6uE>6fٱ6|@=6H`Bf?`qȿZ0R? ? a-?@XkL?Խ?9|Y=EywD9E> Q 54 1?Q 94 ) iBYy->Q I@ BDI m ;i z ; 4y-ĒBɮ5A1Թ:ieFNOT Ignoring new targets: 341.30 m."iUv*iUv ProNav: ac range: 341.299042 m, nav range: 351.271454 m, bearing: 10.994270 deg, approach rate: -0.511377 m/s, LOS rate: -0.013460 deg/s, cmd heading: 11.351122 deg, new cmd heading: 11.339637 deg. iŹUHeadingCmd: 0.197914 target range: 341.299042 and range: 342.50 m.hUJ>hQhQhQhQgQgYjgYrgYeYreaZea:ea*ee Qv?ɢD;) si)gǼiiJ>q˘=3=IJ>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763116@ @@@E EE&E"E;*E՚:VE4ZEa@a@a@a@^A ~4=II IY Om >9 Ȩ%,WlLA"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014437f>@f E>fŴٱfI=fHf? ȿOx?0?r ֗?`?@?if>@If ];fCYvՀByzvIiMb@Mb@Mb@ 9K7?y&1?:v?YI ?y`=A A)E AYQ AbDVDŰ8y=%;=ٔaQ->9Y=EyDrE>Q 5 4{1?Q 9 43)iBY W?Q E:y>Q I@BDI0;i/;54yɮ%wA!:iAMFNOT Ignoring new targets: 341.30 m."iMr*iUr] ProNav: ac range: 341.299042 m, nav range: 351.032990 m, bearing: 10.986540 deg, approach rate: -0.567491 m/s, LOS rate: -0.018408 deg/s, cmd heading: 11.339637 deg, new cmd heading: 11.324167 deg. ieeHeadingCmd: 0.197644 target range: 341.299042 and range: 342.50 m.he0cJ>hahihihigigijgqrguƁBeqreqZey:ey*e}@,@!ɢ%J ;)I UiQ)UHɼQQiU=i]0cJ>]3ǘ=]5=I]0cJ>IaBA<B>BBrIBҀBB =BBBj;Bb=E!@! @!@%/@)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266189i^A] v=Au >Au >E  E E %E "E ;*E :VE 4ZE BE On%,LA^D@^E>^żٱ^?=^H[e?ȿk`^? 0?k] ?M?`?i^D@I^18];^CYrĀByraIbDzVDz8y% Z=ٔ OQ- >9 Y=EyD:E>Q 5%41?Q 9-4)iBY)y- >Q I-@CDI:i2:4y5’Bɮ5A=WEUB*** querying acoustic contact ***iQiQ:iaeFNOT Ignoring new targets: 341.30 m."imN*imN} ProNav: ac range: 341.299042 m, nav range: 350.828400 m, bearing: 10.979872 deg, approach rate: -0.547253 m/s, LOS rate: -0.017847 deg/s, cmd heading: 11.324167 deg, new cmd heading: 11.310823 deg. i}HeadingCmd: 0.197411 target range: 341.299042 and range: 342.50 m.h#&J>hhhhggjgrgereZe:e*eD@ɢTCH) ki)GA˼  i wi #&J>Ø=?=I#&J>I!q]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519180@ @@1@@@yAԩ^A\=Ae .AIq I O >i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770393) %,_LAFM@FF>F]̼ٱF$=FH`zc?>ȿfH?s/?`;`??`?iFM@IF ];FCYRπByRoIi-Mb@Mb@Mb@)))) )9- rh?X9v?Mb?Y-C ?y-=-<-A-A - A)- A)Y-( AbDVD8yMU=%A=ٔQ->9 ?Y ?=EyD(;E>E EE"E"E;*E:VE(3ZEa@a@a@a@Q 541?Q 94)iBY?Q E:y>Q I@CDI;i;#4yɮA:i  FNOT Ignoring new targets: 341.30 m."i*i% ProNav: ac range: 341.299042 m, nav range: 350.598816 m, bearing: 10.971380 deg, approach rate: -0.539272 m/s, LOS rate: -0.019959 deg/s, cmd heading: 11.310823 deg, new cmd heading: 11.293829 deg. i%-HeadingCmd: 0.197114 target range: 341.299042 and range: 342.50 m.h-bI>h)h)h)h)g1g1jg1rg5Be9re9Ze9:e9*eE @mlBɢm<)i uiq)uZͼqqiu2i}bI>}l=}QY=IbI>I9@ @@3@echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022823^A~4=Q A ؟AI I O >B B B IB BB B B B c;B Z=E%,*:LA f{U@fG>f^Ѽٱfb=fH`a?EɿGj?-?t=?N??if{U@If];fCỲByjIbD,VDհ8yEM%EP=ٔMQ-M>9M"?YM"?=UEyUDUi;EU>YQ 5e4]1?Q 9e4]O)]jBYiym>Q Im@]$CDI]:i]`:] 4yuBɮuA CXEBDAT read: Rx Time:04:14:48.8963 TRx dataTimestamp_ set to:1764908090.967789checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276228\GQy9YyA:i iuFNOT Ignoring new targets: 341.30 m."iu@*i}@ ProNav: ac range: 341.299042 m, nav range: 350.385498 m, bearing: 10.963447 deg, approach rate: -0.488222 m/s, LOS rate: -0.018168 deg/s, cmd heading: 11.293829 deg, new cmd heading: 11.277952 deg. iHeadingCmd: 0.196837 target range: 341.299042 and range: 342.50 m.hI>hhhhggjgrgereZe:e*e`^ @qɢuK:)y }iy)};ϼyyi}RiI>ȿ=U=II>IE EE$E"E ;*Ev:VE4ZEBESQK %,w0LA 6_@6$I>6HSؼٱ66=6H_?+2ɿ9)Y1==Ey=Dm3;Eu>Q 541?Q 9-4)jBY1y=/>Q I=@I5CDIiEpEr>Eg'@EK=E<&@ Eq=)E5hhhhggjgrge re Ze :e Du@*e @G?颽mBɢ?) i)*ҼiDi9I>=\=I9I>IqIy)yE] E]EYEY"E];*E]?:VEYZEYae@am@am@am@%9@) @)@- 0@)@1@5=ԡ  *DAT read: user:164>  BDAT read: Tx time:04:14:50.0884  $Ping request sent. %,uLAY%πBy-nIB}>ByB}IB}BB} =ByByB}Z;B}P=EiEMb@Mb@Mb@AAAA A9E rh?S㥛?~jt?YAyE$>ED9u ?Yu ?=uEyuD}E}>Q 54U2?Q 94)*jBYG?Q E:y>Q I@FCDI;i:4yɮAiiLAjC"jC:jIG>"p!Lu@^`@R?@p,󵇪?^gIˁ?{]U?*j5<2jq*pyot@kVPGP@"% .D@p>8,??Ox?j:B j+Ci~`Ğ?iajBjjajBrjЮCzjh?> addTargetRange:: Added new target pos. range: 340.299988 m, deltaT: 4.032150 s, deltaX: -2.200012 m, approachRate: -0.545618 m/s, rangeRepo size: 4  Added new target pos. range: 339.106384 m, bearing: 11.150794 deg, lat: 36.779506 deg, lon: -121.859638 deg, deltaT: 4.032150 s, deltaX: -2.192657 m, approachRate: -0.543794 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 339.11 m."i*i ProNav: ac range: 339.106384 m, nav range: 349.625671 m, bearing: 10.732993 deg, approach rate: 0.000000 m/s, LOS rate: -0.020605 deg/s, cmd heading: 11.259016 deg, new cmd heading: 11.240690 deg. iHeadingCmd: 0.196187 target range: 339.106384 and range: 340.30 m.hBH>hhhhg!g!jg!rg%Be)re)Ze):e)*e-?Yɢ]c@)Y eia)e+HԼaaieimBH>m鿘=m9=ImBH>Iq9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2497079@ @@1@aDzD@AE EE&E"E%;*E:VE4ZEBEKa%,j/LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501065-@n@-J>-ٱ-=-H\?`pɿ'q 1?$?@Q@z?v}?@F?i-@n@I-a];-CԙYByLIbDVDŰ8y5u%5O=ٔUgQ-]>9YYY=uEyuD}^;E}>Q 542?Q 9m4%);jBYqyu>Q Iu@TCDIhhhhggjgrge reZe9:e9*eE΢?颉ɢE) aichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753152)׼i7iH>˜==IH>I 9@  @ @ /@ @ zA@ xAE  E E (E "E *E Z:VE c44ZE a @a @a @a @ ^A =A >A >)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005102A؟AIIO?=%,%/LA2y@2`]L>2pٱ2#J=2HZ?ɿ6s ]?>!?``>?`Խ??i2y@I2T];2CY>By>]IiUMb@Mb@Mb@QQQQ Q9Ux&?`"?Mb?YU7 ?yU=U9"?Y"?=EyD9;E>Q 54,2?ԡQ 94M)NjBY ?Q E:yn>Q I@eCDI0;i/;*4yɮA:iFNOT Ignoring new targets: 339.11 m."i*i鹝 ProNav: ac range: 339.106384 m, nav range: 349.149170 m, bearing: 10.714102 deg, approach rate: -0.659806 m/s, LOS rate: -0.025556 deg/s, cmd heading: 11.222931 deg, new cmd heading: 11.202882 deg. i;HeadingCmd: 0.195527 target range: 339.106384 and range: 340.30 m.hF8H>hhhhggjgrgBe re Ze :e *e V?=nBɢ=8]U)A EiA)EaټAAiE |iMF8H>MeŘ=M@͟=IUF8H>IQ@ @@ 1@B%>B!B%IB%BB!B!B!B%M;B%C=EBBBB =B =C*4checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257457^A=I I O >E  E E $E "E ;*E :VE 4ZE BE 0N2sٱ2=2HOX?ɿvt~??뾿?4??i2ԁ@I2;];2CY>By>CIDDbDJ VDJʰ8yRq%R[=ٔRQ-R>9TYT=VEyVDZQ2;EZ>\Q 54^<2?Q 94^)^\jBYy>Q I@^rCDI^ThihqhqhqgqgqjgyrgyeyreyZe:e*ev?颩ɢ\) ¾i);ۼ项i>ioG>ɘ=ߡ=IoG>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509667u9@q @q@u05@qA^A͢=yI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761106ԙ D%,bLA2@@2N>2mٱ2J=2HW?ɿv`@?? )y?})?I?i2@@I2.];0YNByNFIi-Mb@Mb@Mb@)))) )9-Pn?zG?~jtx?Y-?y- =-;-A-A - A)- AEe EeEe'Ea"Ee ;*Ee:VEe'4ZEaam@am@am@am@)Y- AbD VD8y?<%9=ٔ㗺Q->9Y=EyD:E>Q 54N2?Q 94)ljBY?Q E:y>Q I@CDI ;i;Q84yɮuA:iIMFNOT Ignoring new targets: 339.11 m.q"i}*i} ProNav: ac range: 339.106384 m, nav range: 348.722534 m, bearing: 10.698277 deg, approach rate: -0.521795 m/s, LOS rate: -0.018529 deg/s, cmd heading: 11.187398 deg, new cmd heading: 11.171212 deg. iHeadingCmd: 0.194974 target range: 339.106384 and range: 340.30 m.haG>hhhhggjgrgBereZe:e*e K@5oBɢ5ЩT)9 =i9)=9޼99i=iEaG>EϘ=MvO=IMaG>II9@ @@?5@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013153^A =A zA wAI I O B% <A% <B5 >B5 XCB5 xIB5 ׀BB5 =B1 B1 B5 F;B5 ;=E n%,|LAYBybD-VD-8yEF\%ET=ٔEQ-E>9IYI=MEyMDMEU>echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265200aQ 5m4e^2?Q 9m4e)eyjBYiyqQ Iu@eCDIe:ie:e?4y}Bɮ}pA}ZE:iFNOT Ignoring new targets: 339.11 m."i*i𨹝 ProNav: ac range: 339.106384 m, nav range: 348.523956 m, bearing: 10.691221 deg, approach rate: -0.519256 m/s, LOS rate: -0.018462 deg/s, cmd heading: 11.171212 deg, new cmd heading: 11.157092 deg. i&HeadingCmd: 0.194728 target range: 339.106384 and range: 340.30 m.hfG>hhhhggjgrgereZe:e*er@ɢ%Z[)! %Gi!)%!!i-ͪ imfG>u#՘=u=IufG>IqbEJ4jEû 4rEJ/Eu EuEu$Eq"Eu=;*Eu:VEu4ZEqBEu|I = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517765) ^AM &=I I O >Y 1_%,LA^@^ON>^iٱ^=^HV?ɿzB?i?྿g??@?i^@I^ )];^CYnByn9IIr>)pr=pbDzVDz8y~L%M=ٔ$Q->9Y = Ey D:E>Q 54n2?Q 9%4)jBY!y%>Q I%@CDI:i:F4y1ɮ5A1:iY]FNOT Ignoring new targets: 339.11 m."ieQ*ieQu ProNav: ac range: 339.106384 m, nav range: 348.320374 m, bearing: 10.683968 deg, approach rate: -0.512968 m/s, LOS rate: -0.018285 deg/s, cmd heading: 11.157092 deg, new cmd heading: 11.142578 deg. iu}HeadingCmd: 0.194475 target range: 339.106384 and range: 340.30 m.h}_$G>hyhyhyhyggjgrgereZe:e*eu@pBɢ_i) ̾i)iii i_$G>ژ=s=I_$G>I!9@ @@/@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769928IEm EmEm%Ei"Em ;*Em:VEm 4ZEia}@a}@a}@a}@^AТ=IIO%>q  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021098%,@LA02T@2 7N>2Sٱ2U=2HV?pɿNG|2?D?+? ]??i2T@I2\;0YBByB1Ii Mb@Mb@Mb@     9 #~j?l?~jth?Y ?y = D; A A  A) A Y  AbD%VD%8y-c%5H=ٔ5Q-5>9yYy=EyDiE>Q 5442?Q 94)jBY9?Q E:yT>Q I@CDI};i;IM4yĒBɮ7AQEB*** querying acoustic contact ***ii:i 5FNOT Ignoring new targets: 339.11 m."i5;o*i=;oE ProNav: ac range: 339.106384 m, nav range: 348.103058 m, bearing: 10.678416 deg, approach rate: -0.511324 m/s, LOS rate: -0.013072 deg/s, cmd heading: 11.142579 deg, new cmd heading: 11.131467 deg. iEbMHeadingCmd: 0.194281 target range: 339.106384 and range: 340.30 m.hMF>hIhQhYhYgYgYjgYrge`BeareaZea:ea*em @ԑ额qBɢb) ӾiB>BBfIBȀBB =BBB8;B,=E)Oz顡i iF>=ڈ=IF>IY@Y @Y@]4@YԹ}BDAT read: Rx Time:04:14:52.9753 }TRx dataTimestamp_ set to:1764908094.998780checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274172 ^AE &=AE >AE >E  E E $E "E ;*E :VE 4ZE BE 0Na%,GLA2@2hN>2Xٱ2B=2H`&V?ɿ|@6??@E+"?@1)??i2@I27];2C9TYT=ZEyZDZ:EZ>\Q 5b4^f2?Q 9b4^ˌ)^jBYdyfk>Q If@^CDI^:i^:^ T4yjÒBɮj9Al:i|FNOT Ignoring new targets: 339.11 m."iy*iy ProNav: ac range: 339.106384 m, nav range: 347.901611 m, bearing: 10.673256 deg, approach rate: -0.532854 m/s, LOS rate: -0.013657 deg/s, cmd heading: 11.131468 deg, new cmd heading: 11.121142 deg. iǹHeadingCmd: 0.194101 target range: 339.106384 and range: 340.30 m.hJF>hhh!h!g!g!jg!rg)e)re)Ze):e1*e5w @ɢr) {վi)i iJF>=#@=IJF>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5261299@ @@/@ԩ^AǤ=I  I ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779928O5 >%,wLA2l@2@M>2ٱ2=2H`W?ɿU=~@??5? ,?_?i2l@I2\;0Y>By>%I XXlE EEE"E ;*E:VEZEa @a @a @a @iMMb@Mb@Mb@IIII I9M%C? ףp= ?YMZ?yMQ8=MMAMA Mv A)MAIYM AbDeڿVDe8yu\%u>=ٔ}Q-}>9Y=EyDE>Q 54c2?Q 94")jBY?Q E:y>Q I@CDI ;i;[4yɮxA:iFNOT Ignoring new targets: 339.11 m."i*i ProNav: ac range: 339.106384 m, nav range: 347.680115 m, bearing: 10.669556 deg, approach rate: -0.515261 m/s, LOS rate: -0.008613 deg/s, cmd heading: 11.121141 deg, new cmd heading: 11.113736 deg. i4|HeadingCmd: 0.193971 target range: 339.106384 and range: 340.30 m.hiF>hhhhggjgrgQBereZe:e*em@颭rBɢm) ݾi)ip.iiF>M=c=IiF>I 9@ @@/@ߥ%=ߥ<DAT read: 04:14:52.9753 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 220, 0.17,-0.886,-2.366,-0.666,-1.263, PHS= 0.479,-1.058, 0.553, RAW= 152.3, 0.3, CAL= 151.1, -0.4, ROT= 358.9, 0.4 Ygot valid direction response: 04:14:52.9753 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 220, 0.17,-0.886,-2.366,-0.666,-1.263, PHS= 0.479,-1.058, 0.553, RAW= 152.3, 0.3, CAL= 151.1, -0.4, ROT= 358.9, 0.4 PDAT read: Bearing 165.4, 0.6 (Local) ~Local bearing/azimuth received: Bearing 165.4, 0.6 (Local) DAT read: Range 11 to 50 : 362.1 m (Round-trip 482.8 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.999791,-0.019197,-0.006981]Fpublishing direction and range infoy׊okJ?m#ea|Y C )HI}?>ilh ?*@;(@ )r@I;ؽ| ?:&?Kw? ju?)5IFi;T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.1PExceeded connect timeout, disconnecting.^Aۤ=B B B SIB BB B B B ";B =Ea I I O >e%,TLA4@HZ@Z#M>ZzٱZa=ZHX?ɿ@Ku?@?`=@yX?`?W?iZ@IZD\;ZCj@9hYjAYrByr#I*DAT read: user:165> BDAT read: Tx time:04:14:54.3884  $Ping request sent. 9)Y)=-Ey-D5VE5>99Q 5E4=2?Q 9M4=)=jBYIyM>Q IM@=CDI=:i=h:=nb4yU’Bɮ]|A]REiiFLAjiC"jiC:jr:>"pS?v@ n ۗ&p׊okJ?m#ea|*jF2j;*p0P,v@BsTP@Xh @p'ejv?JM+?pH?jB jbCiez?iYkjBjjYkjrjԭCzjdA>addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 362.100006 m, deltaT: 4.284133 s, deltaX: 21.800018 m, approachRate: 5.088549 m/s, rangeRepo size: 4:iFNOT Ignoring new targets: 339.11 m."i*i ProNav: ac range: 339.106384 m, nav range: 347.476807 m, bearing: 10.666178 deg, approach rate: -0.511531 m/s, LOS rate: -0.008502 deg/s, cmd heading: 11.113736 deg, new cmd heading: 11.106978 deg. ixHeadingCmd: 0.193853 target range: 339.106384 and range: 340.30 m.h}F>hhhhggjgrgereZe:ev@*e ܹ?ɢ r) ߾i )  )i-xi5}F>5=5h=I=}F>I9D zD AAE EE%E"E;*E:VE 4ZEBED %,s-LA2}|@2`L>2Dٱ2=2HX?%ɿ@lX h?6?t?`?@6?i2}|@I2 ];2CY>By>IbDFVDFİ8yNխ%NS=ٔRAQ-R>9PYP=REyVDVREV>XQ 5^4Z2?Q 9^4Z )ZjBY`yb>Q Ib@ZCDIZ;iZ;Z,i4ydɮfAd:ixzFNOT Ignoring new targets: 339.11 m."i] *i] m ProNav: ac range: 339.106384 m, nav range: 347.277710 m, bearing: 10.662881 deg, approach rate: -0.521074 m/s, LOS rate: -0.008636 deg/s, cmd heading: 11.106978 deg, new cmd heading: 11.100378 deg. im|uHeadingCmd: 0.193738 target range: 339.106384 and range: 340.30 m.huKcF>hqhqhqhqԙgqgjgrgereZe:e*e ?iɢux)y Zi-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505916)=99iE~0iKcF>= =IKcF>I]9@Y @Y@Y@YE% E%E%"E!"E%;*E%:VE%(3ZE!a-@a-@a-@a-@^A &=I I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755005 %,2LAJr@J~K>JiٱJ=JH Z?`?ɿWA?!????iJr@IJ\;HYnByn)IIr=)r49Y=EyD6E>Q 54x2?Q 94)jBY?Q E:y}>Q I@CDI;iL;p4yBɮQASEEnManaging dock network, ignoring radio surface power offB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 339.11 m."i"*i" ProNav: ac range: 339.106384 m, nav range: 347.053040 m, bearing: 10.660582 deg, approach rate: -0.483473 m/s, LOS rate: -0.004949 deg/s, cmd heading: 11.100378 deg, new cmd heading: 11.095779 deg. i HeadingCmd: 0.193658 target range: 339.106384 and range: 340.30 m.B=>B9B=FIB=BB9B9B=ֺDB=;B=hIhihihigqgqjgqrguOBeyreyZey:ey*e}C? ɢ q)  )ܾi)iwi@NF>==I@NF>I!)9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006971Q^A D- =D- <E5  E5 E5 %E1 "E5 T;*E5 xv:VE5 4ZE1 BE5 Gy %,KLA2g@2'J>206ٱ2+^=2H\? hɿ(6?w$?ž?@?E?i2g@I2];2CY(IbDFVDF8yNR%R[=ٔRQ-R>9TYT=VEyVDVneEV>XQ 5^4Z<2?Q 9b4Zo)ZjBY`yb|>Q Ib@ZCDIZ;iZ;ZLw4ydɮfUAh:ix~FNOT Ignoring new targets: 339.11 m."i]͸*i]͸m ProNav: ac range: 339.106384 m, nav range: 346.860474 m, bearing: 10.658652 deg, approach rate: -0.560542 m/s, LOS rate: -0.005624 deg/s, cmd heading: 11.095779 deg, new cmd heading: 11.091915 deg. im$uHeadingCmd: 0.193590 target range: 339.106384 and range: 340.30 m.huhqhqhqhqggjgrgereZe:e*ep?sBɢ>ꀽ) ܾi)$biUi%%=%=I-I)a}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259491@ @@/0@ԁ^AL=IQIyO>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512194 %,eLA2a@2NI>2pٱ2=2H@]?@Nɿ?0&? P???i2a@I2\;0YbByf.IEr ErEpEp"Er:*Erą:VEpZEpav@av@av@av@iuMb@Mb@Mb@qqqq q9uE?Mb?{Gz?Yu?yu=u#9Y=Ey D_E>Q 542?Q 94)jBY?Q E:yy>Q I@DDIT;i:~4yBɮ'A:iFNOT Ignoring new targets: 339.11 m."iڸ*iڸ  ProNav: ac range: 339.106384 m, nav range: 346.631287 m, bearing: 10.656042 deg, approach rate: -0.524925 m/s, LOS rate: -0.005982 deg/s, cmd heading: 11.091915 deg, new cmd heading: 11.086691 deg. i )/HeadingCmd: 0.193499 target range: 339.106384 and range: 340.30 m.h$F>hhhhggjgrgNBereZe:e*e ?Աɢp) ؾi!)%g!!i%iU$F>Uy=Ua=IU$F>IY9@ @ @ 0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763255 ^A5 }=B9 A= <BA BA BE LIBE BBE =BA BA BE ;BE 9 2%,LA2W@2 &H>2Oٱ2Ũ=2H_?@V+ɿ ?e(?Р?`-??i2W@I2 ];2CY>By>;I @@bDJ"VDJ̰8yRg=%R[=ٔR=Q-R>9TYT=VEyV'DZFEZ>\Q 5b4^ 3?Q 9b4^)^jBY`yb>Q Ib@^DDidIfAjchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015339I^X:i^n;^w4ylɮrAp:i FNOT Ignoring new targets: 339.11 m."i ָ*iָ ProNav: ac range: 339.106384 m, nav range: 346.434753 m, bearing: 10.653837 deg, approach rate: -0.522777 m/s, LOS rate: -0.005867 deg/s, cmd heading: 11.086691 deg, new cmd heading: 11.082280 deg. i+%HeadingCmd: 0.193422 target range: 339.106384 and range: 340.30 m.h%}F>h)h)h)h)g)g)jg1rg1e1re1Ze1:e9*e=`@@iɢmVx)i m>;ii)mqqiu>iu}F>}=}P=I}}F>IyE E2E#E"E7;*E;VE3ZEBEZ&%,tLA 2cP@29G>26ٱ2)=2Ha?`ɿM?@*??Op?@?i2cP@I2/];2CYnByn1IbDzVDz8y%E=ٔLQ->9 Y = Ey 0DJE>Q 5%43?Q 9%4.)jBY!y%p>Q I%@#DDI#;i:4y5Bɮ5 A5TE:iQ]FNOT Ignoring new targets: 339.11 m."ieո*ieոu ProNav: ac range: 339.106384 m, nav range: 346.217590 m, bearing: 10.651431 deg, approach rate: -0.526993 m/s, LOS rate: -0.005844 deg/s, cmd heading: 11.082280 deg, new cmd heading: 11.077464 deg. iu+uHeadingCmd: 0.193338 target range: 339.106384 and range: 340.30 m.h}tE>hyhyhyhygygjgrgereZe:e*e@̌@颽rBɢpu) Nվi)oi//itE>=Κ=ItE>I]9@Y @Y@e5@aqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522864ԙE EE$E"E ;*E^:VE4ZEa @a @a @a @^AX= A! I) I9 OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771353;,%,vPLA: H@:-F>:2 ٱ:=P:H@b?@/ȿ@@?+?}%?b?8?i: H@I:K];:CYZByZJIimMb@Mb@Mb@iiii i9m{Gz? rh? rh?Ym?ymC =mC9AYA=EEyE9DMEM>IQ 5]4Mo,3?Q 9]4M)MkBY]2?Q E]:y]>Q I]@M1DDIM ;iM ;Ms4yiɮmeAiB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 339.11 m."iVظ*iVظ ProNav: ac range: 339.106384 m, nav range: 345.989532 m, bearing: 10.648804 deg, approach rate: -0.512755 m/s, LOS rate: -0.005911 deg/s, cmd heading: 11.077464 deg, new cmd heading: 11.072206 deg. i-HeadingCmd: 0.193246 target range: 339.106384 and range: 340.30 m.hfE>hhhhggjgrg[BereZe:e*e3 @B>BBYIBBB =BB׺DB;B-J=-G=I-fE>I19@ @@ 5@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023220^A bEjE4rEA/E  E E 'E "E :*E :VE '4ZE BE 6#3%,s+LA2=@2@D>2 ٱ2)=2H`Td?ȿ^r?@:.?|__u?)V; XZ<bDZ^VDZ8ybA<%be=ٔf,Q-f>9dYh=jEyj@DjcEj>lQ 5r4nj;3?Q 9r4nr~)nkBYtyv >Q Iv@n=DDIn:in%:n4yzBɮz0Ax9:iFNOT Ignoring new targets: 339.11 m."iɸ*iɸ ProNav: ac range: 339.106384 m, nav range: 345.806274 m, bearing: 10.646727 deg, approach rate: -0.486332 m/s, LOS rate: -0.005514 deg/s, cmd heading: 11.072206 deg, new cmd heading: 11.068051 deg. iu!HeadingCmd: 0.193174 target range: 339.106384 and range: 340.30 m.hcE>hhhhggjgrgereZe:e*e> @!ɢ%n)! %i!)-E))i-4"i5cE>5=5t>=I5cE>I9mBDAT read: Rx Time:04:14:57.2562 uTRx dataTimestamp_ set to:1764908099.284912uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278257@ @@/@iԙ^Auϗ=- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530276 A I I O% >dV9%,*LA29@2`kD>2zٱ2/=2H d?ȿ@̈+c?.?@n`mΡ?`C? O?i29@I2];2CY>ǀBy>eIEZ EZEZ#EX"EZ:*EZ:VEZ3ZEXa^@a^@a^@a^@iMb@Mb@Mb@ 9p= ף?~jt?:v?Y?yD=<AA v A)AY= AbD5ZVD58yE=%EB=ٔMӺQ-M>9IYI=UEyUIDUEU>YQ 5e4]9M3?Q 9e4]|)]'kBYm?Q Em:ym>>Q Im@]KDDI]?;i];]4yqɮuAqԩ:i9=FNOT Ignoring new targets: 339.11 m."i=u*iEu ProNav: ac range: 339.106384 m, nav range: 345.587433 m, bearing: 10.643380 deg, approach rate: -0.519383 m/s, LOS rate: -0.007948 deg/s, cmd heading: 11.068051 deg, new cmd heading: 11.061353 deg. ihHeadingCmd: 0.193057 target range: 339.106384 and range: 340.30 m.hE>hhhhggjg rg uBe re Ze:e*e @颱ɢ\) i)'项iiE>i==IE>Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781344@ @@k3@AAAAB>BBrIBҀBB =BBֺDB;BA >1 A! I1 IA OM >:@%,^LA>5@>C>>Hٱ>-J=>H`e?ȿKHS?6/?)? T??i>5@I>v^;>CYJˀByJjIbDRkVDR8rDAT read: 04:14:57.2562 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 248, 0.03,-0.450,-2.070,-0.305,-0.871, PHS= 0.522,-1.154, 0.521, RAW= 150.0, 1.3, CAL= 148.9, 1.0, ROT= 1.1, -1.0 vYgot valid direction response: 04:14:57.2562 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 248, 0.03,-0.450,-2.070,-0.305,-0.871, PHS= 0.522,-1.154, 0.521, RAW= 150.0, 1.3, CAL= 148.9, 1.0, ROT= 1.1, -1.0 zPDAT read: Bearing 166.3, 3.2 (Local) ~~Local bearing/azimuth received: Bearing 166.3, 3.2 (Local) DAT read: Range 11 to 50 : 347.7 m (Round-trip 463.6 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.999663,0.019195,0.017452]Fpublishing direction and range infoy\^4o8,>?mb?W7) ߑ?Y^٭C\\\\ \)^JI^ˡ?i^F^B`?^6'@^޹<^R&@ ^5<)^nF9IYI=MEyMQDU֟EU>YQ 5e4]7^3?Q 9e4]Z{)]Q Ie@]YDDI]e:i]:]4yuBɮuAuUEi\i^pLAj^"p^mu@@[ew/@p^4o8,>?mb?W7) ߑ?*j^nF<2j^5*p^h}'u@VGQ@|B2@p^ѴB?[Eq?Z?j^*B j^;Ci^f9Ȣ?i^9I j^Bj^f9Ȣ?j\j^Brj^NCzj^A> addTargetRange:: Added new target pos. range: 347.700012 m, deltaT: 8.567905 s, deltaX: 7.400024 m, approachRate: 0.863691 m/s, rangeRepo size: 4  Added new target pos. range: 346.474182 m, bearing: 11.941500 deg, lat: 36.779497 deg, lon: -121.859626 deg, deltaT: 8.567905 s, deltaX: 7.367798 m, approachRate: 0.859930 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 346.47 m."i*i! ProNav: ac range: 346.474182 m, nav range: 344.610809 m, bearing: 10.834034 deg, approach rate: 0.000000 m/s, LOS rate: -0.007948 deg/s, cmd heading: 11.061353 deg, new cmd heading: 11.055210 deg. iHeadingCmd: 0.192950 target range: 346.474182 and range: 347.70 m.hE>hhhhggjgrgereZe:e@3u@*e@2?E EE%E"E:*E]t:VE 4ZEBE?8=>=IE>I99@ @@/@im%=m*DAT read: user:166> uBDAT read: Tx time:04:14:58.6384 u$Ping request sent.}F%,SLA2~.@2B>2M=ٱ2=2Hf?ȿ@fq5?0?~f?F?@?i2~.@I2Z];01YÙByUlI YYbDehVDe 8yu' <%u5=ٔ}ZѺQ-}>9} ?Y} ?=EyZDE>Q 5%4Fq3?Q 9-4y)SkBY9y=>Q I=@hDDIhhh h g g jg rgereZeY:e*e]@?颩ɢ[) ;i)@顱i|ifuE>=ܔ=IfuE>IE EE&E"E ;*E:VE4ZEa@a@a@a@9@ @@64@@@@@ԁ= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502978 IA IQ Oe >j7M%,o7LA2J(@26B>2*ٱ2=2Hg? Dȿ`h?`43?)>Ģ???i2J(@I2];2C <)>9~A>C >F<@B5~AiB+I@@IDiFr@ DD)DD F1~AJ̼HHHJ5~AIJף)HiL)LIN9~AN`P PPPPiPPYTYZπByZnIB%>B!B%IB%BB!B!B!B%;B%9)Y)=-Ey-bD-EU>YQ 5e4] 3?Q 9e4]w)]jkBYe6 ?Q Em:ymW>Q Im@]wDDI]:i]:]4yɮaAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 346.47 m."id*id u>CqzA ProNav: ac range: 346.474182 m, nav range: 344.143311 m, bearing: 10.824927 deg, approach rate: -0.619057 m/s, LOS rate: -0.015124 deg/s, cmd heading: 11.048383 deg, new cmd heading: 11.036981 deg. imݹ؉9zAYA HeadingCmd: 0.192632 target range: 346.474182 and range: 347.70 m.h h hhhggjgrg}BereZe:e!*e%?颉ɢLa) i)v顑iiԡ*=H=IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754935}9@y @y@}/@yAzAIqIE EE#E"E=;*E:VE3ZEBE|I T%,CQLA6%@6`A>6ٱ6=6Hg?`GxȿV?@{4? px/?"?@?i6%@I6];6Crchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006431Y߀ByIbD-VD-18y==%=Z=ٔE7Q-E>9AYI=MEyMjDMQQ 5]4U3?Q 9e4Uu)U~kBYaye9>Q Ie@UDDIU;iU;U4ymBɮuAuVE:iFNOT Ignoring new targets: 346.47 m."iv*iv ProNav: ac range: 346.474182 m, nav range: 343.943817 m, bearing: 10.820058 deg, approach rate: -0.551756 m/s, LOS rate: -0.013474 deg/s, cmd heading: 11.036981 deg, new cmd heading: 11.027238 deg. iCŹHeadingCmd: 0.192462 target range: 346.474182 and range: 347.70 m.hE>hhhhggjgrgereZe:e*e y5?)ɢm$^)q uiq)uĻqqiul i}E>}=ޓ=IE>I!9@9 @A@A@AIIOf>Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.264908y E  E E $E "E ;*E :VE 4ZE a @a @a @a @GZ%,kLA2!@2kA>2ٱ2^=2Hxh?@jȿ5K?5?ý@ y?@o?@Y?i2!@I2];2CY%By%IM=M=iMb@Mb@Mb@ 9sh|??RQ?S㥛?Y ?y=/<A  A)Y AbDVDA8y-=%-<=ٔ-ƩQ-->91Y1=5Ey5rD=KE=>AQ 5M4EȦ3?Q 9M4Es)EkBYMG ?Q EM:yM>Q IU@EDDQIE:iE-;E4yaɮe]Aa:iFNOT Ignoring new targets: 346.47 m."if*if ProNav: ac range: 346.474182 m, nav range: 343.710449 m, bearing: 10.813437 deg, approach rate: -0.536579 m/s, LOS rate: -0.015234 deg/s, cmd heading: 11.027238 deg, new cmd heading: 11.013987 deg. i ߹%HeadingCmd: 0.192230 target range: 346.474182 and range: 347.70 m.h%D>h!h!h!h!g)g)jgirguBeqreqZeq:eq*e} u?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510333ɢL)A MOiI)MIIiUi]D>e=e n=IeD>Iiԑ9@ @@@B!A%4=B)B)B-IB-BB- =B)B)B- ;B-ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762474 /a%,LA2"@2~A>2"ٱ2<=2H9dYd=fEyfzDjJ9Ej>lQ 5r4n,3?Q 9r4nq)nkBYpyr >Q Iv@nDDIn<;in:n4yxɮz=AzWE:iFNOT Ignoring new targets: 346.47 m."i%*i%5 ProNav: ac range: 346.474182 m, nav range: 343.518250 m, bearing: 10.807975 deg, approach rate: -0.538292 m/s, LOS rate: -0.015307 deg/s, cmd heading: 11.013987 deg, new cmd heading: 11.003056 deg. i5๝5HeadingCmd: 0.192040 target range: 346.474182 and range: 347.70 m.h5D>hhhhggjgrgereZe:e!*e%W@Ee EeEe#Ea"Ee=;*Ee:VEe3ZEaBEe}I;au:Ee>;auԱɢKX) 5wi1)5e 11i=Vi=D>E[=E=IED>IAIQ)UwA9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014410^A ~= A >A ?Iy I O >9 Yg%,k՞LA6(@6-B>6-!ٱ6=6H f?@iȿ`?`3?`c$?@ힼ?B?i6(@I6ɦ];4Y^BybIbDjfVDj 8yr =%rH=ٔr Q-r>9tYt=vEyvDv:Ez>xQ 5~4z3?Q 94zo)zkBYy_>Q I@zDDIz;izY;z4y ĒBɮTAME:i1=FNOT Ignoring new targets: 346.47 m."iEj*iEjM ProNav: ac range: 346.474182 m, nav range: 343.299286 m, bearing: 10.801720 deg, approach rate: -0.536869 m/s, LOS rate: -0.015345 deg/s, cmd heading: 11.003056 deg, new cmd heading: 10.990539 deg. iU๝uHeadingCmd: 0.191821 target range: 346.474182 and range: 347.70 m.h}lD>hhhhggjgrgereZe:e*e@@sBɢVQ) zsi) i5iaIa}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270208ilD>==IlD>I!m9@i @i@m0@iEm EmEm$Ei"Em;*Em~:VEm4ZEiau@au@au@au@9^A=i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519653A ؟AI I O >m%,LA Bb>B`BbIBbBB`B`B`Bb;Bb9E"?YE"?=EEyEDMEM>QQ 5]4U3?Q 9]4U6m)UkBY]n?Q E]:y]%>Q I]@UDDIU;iU;U4ymÒBɮm$AmNEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 346.47 m."i*i ProNav: ac range: 346.474182 m, nav range: 343.046478 m, bearing: 10.792626 deg, approach rate: -0.563227 m/s, LOS rate: -0.020277 deg/s, cmd heading: 10.990539 deg, new cmd heading: 10.972336 deg. ioHeadingCmd: 0.191503 target range: 346.474182 and range: 347.70 m.hwD>hhhhggjgrgereZe:e*e@q颱ɢvG) jji)( 项iiwD>==I wD>I uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771479@ @@/@ԙEu EuEu!Eq"Eu ;*Eu:VEuc3ZEqBEuL^t%,?ULA:A@:``E>:<((ٱ:=:Ha?@ȿ`Ց?(?`b?O(?@?i:A@I:m];8YJByJI\rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022529bD VVD 8y";%`=ٔ%;Q-%>9% ?Y- ?=-Ey-D-Q <E5>Q 543?Q 94j)kBYy>Q I@DDIb;i%c;]4yɮA:iFNOT Ignoring new targets: 346.47 m."i+*i+ ProNav: ac range: 346.474182 m, nav range: 342.835236 m, bearing: 10.784912 deg, approach rate: -0.529926 m/s, LOS rate: -0.019362 deg/s, cmd heading: 10.972336 deg, new cmd heading: 10.956900 deg. i HeadingCmd: 0.191234 target range: 346.474182 and range: 347.70 m.hC>hhhhggjgrgereZe:e*e) @EtBɢE$RN) ii) 顑iLiC>=a=IC>I?>i>=9@9 @A@ER0@A@MyA@MyABDAT read: Rx Time:04:15:01.5038 TRx dataTimestamp_ set to:1764908103.570642checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280902^A <=A E  E E #E "E ;*E :VE 3ZE a @a @a @a @A ؟AI I O >z%,mLAZP@Z>G>Z;+ٱZ@<=ZHd^?3ɿ +?s#?e??@?iZP@IZ5^;ZCYlynIiMb@Mb@Mb@ 9B`"?S㥛?{Gz?Y?y$>ף<AA A)rAYbDYVD8y;%==ٔ1Q->9"?Y"?=EyD;E>Q 543?Q 94ch)lBY ?Q E :y +>Q I @DDIe:i7:4y’BɮA:i9EFNOT Ignoring new targets: 346.47 m."iE չ*iE չ] ProNav: ac range: 346.474182 m, nav range: 342.600372 m, bearing: 10.775632 deg, approach rate: -0.588828 m/s, LOS rate: -0.023282 deg/s, cmd heading: 10.956900 deg, new cmd heading: 10.938327 deg. i]o*eHeadingCmd: 0.190910 target range: 346.474182 and range: 347.70 m.he}C>hahahahagagajgirgmBeireqZeq:eq*eu @颡ɢ O) ji)o 顩i:i}C>=|=I}C>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5267451M9@I @Q@U?5@QAAB>BWCBIBBB =BBB;B DAT read: 04:15:01.5038 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415,-0.27, 2.101, 0.575, 2.356, 1.769, PHS= 0.433,-1.149, 0.543, RAW= 153.3, 2.1, CAL= 152.1, 1.5, ROT= 357.9, -1.5  Ygot valid direction response: 04:15:01.5038 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415,-0.27, 2.101, 0.575, 2.356, 1.769, PHS= 0.433,-1.149, 0.543, RAW= 153.3, 2.1, CAL= 152.1, 1.5, ROT= 357.9, -1.5  PDAT read: Bearing 167.3, 0.4 (Local)  ~Local bearing/azimuth received: Bearing 167.3, 0.4 (Local)  DAT read: Range 11 to 50 : 345.9 m (Round-trip 461.2 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.998986,-0.036631,0.026177] Fpublishing direction and range infoyy } wa?2uQP!Κ?Y} Cy y y y y )} GI} ->i} o}  ?} <+@} Q =} )@ } Pw<)} @I} Pwּy y } "|ȷ? f?=Mб? } ?)} I} Q i} Pwּy y  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.}%,ALAabE3jE3rE/E= E=E=&E9"E=D:*E=a:VE=4ZE9BE=19!Y!=%Ey%D-E->QQ 5]4U4?Q 9]4Ue)U+lBYYyYQ I]@UDDIUS:iU:U4ymBɮm AOEii|LAjVC"jVC:j>"p@u@wb{@)iޓ "@pwa?2uQP!Κ?*jQ 2jPwּ*p=u@eJ@S5@pMRI?g?9!6?jcTB jCiI?i֙jBjjajBrjCzj*u=>] addTargetRange:: Added new target pos. range: 345.899994 m, deltaT: 4.032031 s, deltaX: -1.800018 m, approachRate: -0.446430 m/s, rangeRepo size: 4 ԉ Added new target pos. range: 344.677765 m, bearing: 8.879674 deg, lat: 36.779497 deg, lon: -121.859638 deg, deltaT: 4.032031 s, deltaX: -1.796417 m, approachRate: -0.445537 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 344.68 m."i*i ProNav: ac range: 344.677765 m, nav range: 342.166046 m, bearing: 10.600708 deg, approach rate: 0.000000 m/s, LOS rate: -0.023282 deg/s, cmd heading: 10.938327 deg, new cmd heading: 10.916337 deg. iHeadingCmd: 0.190526 target range: 344.677765 and range: 345.90 m.hBC>hhhhggjgrgereZe :e `fu@*e ๢?UuBɢUF)Y ]ciY)]5U YYiD[iBC><==IBC>I*DAT read: user:167> BDAT read: Tx time:04:15:02.6884 $Ping request sent.X%,#LA0Fj@F`J>F%2ٱF=FH`X?@ɿ?? ^? x??iFj@IF];DYRByRIzchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250329bD}^VD}8yр%F=ٔ=Q-E>9 ?Y ?=EyD;E > Q 54 &4?Q 94 b) FlBYy>Q I@ DDI  :i : E4yAɮMAIԁ:iFNOT Ignoring new targets: 344.68 m."iֹ*iֹ ProNav: ac range: 344.677765 m, nav range: 341.921814 m, bearing: 10.590757 deg, approach rate: -0.575893 m/s, LOS rate: -0.023479 deg/s, cmd heading: 10.916338 deg, new cmd heading: 10.896423 deg. i+HeadingCmd: 0.190178 target range: 344.677765 and range: 345.90 m.h$B>hhhhggjgE EE%E"E:*E1:VE 4ZEa@a@a@a@rgereZe:e*e x?UvBɢUN)Q ]DliY)]yi|i$B>=?=I$B>I9@ @@0@Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501069 ^A ȝ=A >A >B] >BY B] IB] )BBY BY BY B] ;B] ю%,$>LA2it@2K>2N4ٱ2j=2HV?ɿ T`E??俿(?s=??i2it@I2];2CY>By>Ii=Mb@Mb@Mb@9999 99=MbX?Dl?{Gz?Y= ?y=O >9=A=nA =r A)=A9Y= AbDUFVDU8yeH%eJ=ٔeQ-e>9m"?Ym"?=mEymDu%Q;Eu>yQ 54}54?Q 94}`)}]lBYE?Q E:y>Q I@} EDI}f:i}:}4yBɮ AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 344.68 m."i߹*i߹U ProNav: ac range: 344.677765 m, nav range: 341.721649 m, bearing: 10.581881 deg, approach rate: -0.549273 m/s, LOS rate: -0.024372 deg/s, cmd heading: 10.896423 deg, new cmd heading: 10.878659 deg. iUj2]HeadingCmd: 0.189868 target range: 344.677765 and range: 345.90 m.h]lB>hYhahahagagajg!rg%Be)re)Ze):e)*e-q?AUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752641额wBɢR) oi)(iilB>=Q=IlB>I@ @@45@Ee EeEe$Ea"EeV:*Eev:VEe4ZEaqBEe9%,"XLA2|@2L>2<@7ٱ2_=2HT? ]ɿ@@c?$?῿?!2??i2|@I2\];2CYBByBI DDbDJ9VDJ8yRO%RQ=ٔVpQ-V>9V ?YV ?=VEyZDZ:;EZ>\Q 5b4^`F4?Q 9b4^"^)^ulBYdyf>Q If@^EDI^:i^:^4yhɮj[Ah:iyFNOT Ignoring new targets: 344.68 m."iӹ*iӹ ProNav: ac range: 344.677765 m, nav range: 341.511017 m, bearing: 10.572493 deg, approach rate: -0.517215 m/s, LOS rate: -0.023066 deg/s, cmd heading: 10.878659 deg, new cmd heading: 10.859872 deg. i(HeadingCmd: 0.189541 target range: 344.677765 and range: 345.90 m.hB>hhhhggjgrgereZe:e*ek ?%xBɢ-B\)I MiI)UQQiUi]B>]u=]Y=I]B>IaA]9@a @a@e4@aiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259556y^Aħ=E  E E *E "E :*E :VE (N4ZE a @a @a @a @ԙ A ؟AI I O > %,rLA@Y~ByImchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508784iMb@Mb@Mb@ 9!rh?q= ףp?I +?Yl?y=94<A  A)\AYp AbD7VD߰8y2!%-=ٔQ->9"?Y"?=EyDE>Q 54 Z4?Q 94u[)lBY ?Q E:yQ>Q I@'EDI:i:4yɮAPE:i%FNOT Ignoring new targets: 344.68 m."i%s*i%s5 ProNav: ac range: 344.677765 m, nav range: 341.262909 m, bearing: 10.562905 deg, approach rate: -0.543834 m/s, LOS rate: -0.021032 deg/s, cmd heading: 10.859873 deg, new cmd heading: 10.840682 deg. i==HeadingCmd: 0.189206 target range: 344.677765 and range: 345.90 m.h=A>hAhAhAhAgAgAjgIrgMBeIreQZeQ:eQ*eU@?颅yBɢ[) i)\顉ԩB A <B>BXCBIB#BB =BBB;B-=5Ь=I5A>I19@ @@4@ %{A9u@9u{AYuA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759928 ^A% ʞ=A- xAzA- yAE%  E% E% #E! "E% ;*E% :VE% 3ZE! BE% A%,LAHR.@R`M>R;ٱR2=RHR?F ʿkB?? D\r?@K?ƽ?iR.@IRV];RCYzBy~IbD VD 8yl<%d=ٔCQ->9!Y!=%Ey%D-"5;E->Q 54i4?Q 94TY)lBYy>Q I@4EDI:i:l4yɮA:iaeFNOT Ignoring new targets: 344.68 m."imc*imc} ProNav: ac range: 344.677765 m, nav range: 341.065826 m, bearing: 10.555244 deg, approach rate: -0.506832 m/s, LOS rate: -0.019713 deg/s, cmd heading: 10.840682 deg, new cmd heading: 10.825351 deg. i}OHeadingCmd: 0.188938 target range: 344.677765 and range: 345.90 m.hxA>hhhhggjgrgereZe:e*e@zBɢMa) i)Ti]ixA>$==IxA>I5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012943M9@I @I@M/@Q^Ai! A .AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265096A%,ӦLA M@MM>M{*=ٱMy=MH \R?ʿ@Ε*??S(?|>?ս?iM@IMi];MCYByIE EE%E"E ;*E:VE 4ZEa@a@a@a@I?>)p;iMb@Mb@Mb@ 9S㥛?Mb?y&1|?!Y$?y=`;@A  A)AYbDVD8yOڻ%=ٔ:Q->9 ?Y ?=EyDi9E>Q 54~4?Q 94V)lBYL?Q E:y>Q I@EEDI-;iٮ;F4yBɮ A :i)5FNOT Ignoring new targets: 344.68 m."i5w*i5wE ProNav: ac range: 344.677765 m, nav range: 340.801941 m, bearing: 10.546617 deg, approach rate: -0.532631 m/s, LOS rate: -0.017427 deg/s, cmd heading: 10.825351 deg, new cmd heading: 10.808083 deg. iE%MHeadingCmd: 0.188637 target range: 344.677765 and range: 345.90 m.hM)A>hIhIhQhQgQgQjgYrg]BeYreYZea:ea*eeP@颍|BɢZ) %i)حQQiUi])A>]1=]=I])A>IaEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517273Q9@ @@4@B >B WCB IB BB B B B ;B 4%,LA2@2`M>2>ٱ2K=2H`S?tʿ_y?4? JؿЧ?`D?f?i2@I2pg];0>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768015YBByBIbDNVDN8yVW*%Vn=ٔV*Q-V?9Z"?YZ"?=ZEyZD^̺E^?`Q 5f4b֌4?Q 9f4bT)blBYdyfh>Q If@bQEDIb:ib~:b2$4ylɮnAlzB*** querying acoustic contact ***ixix:iFNOT Ignoring new targets: 344.68 m."i *i  ProNav: ac range: 344.677765 m, nav range: 340.625366 m, bearing: 10.540852 deg, approach rate: -0.525651 m/s, LOS rate: -0.017171 deg/s, cmd heading: 10.808084 deg, new cmd heading: 10.796548 deg. id%HeadingCmd: 0.188435 target range: 344.677765 and range: 345.90 m.h%0@>h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e=c@ɢhm) Zi)j  i-߻i50@>5,:=5i=I50@>I9ԉD=DE EE"E"E:*E:VE(3ZEBE< Y%,^LA2f~@2L>2V@ٱ2U=2HS?ɿ Bl?=??? ?i2f~@I2e_];2CY>By>IbDFVDF8yNY#=%NL=ٔRQ-R>9PYP=REyVDVꀺEV>XQ 5^4Z4?Q 9^4ZR)ZlBY`yb7>Q Ib@Z_EDIZ:iZ;Z3+4ydɮfAfQE:ixzFNOT Ignoring new targets: 344.68 m."i~ƛ*i~ƛ  ProNav: ac range: 344.677765 m, nav range: 340.416473 m, bearing: 10.534038 deg, approach rate: -0.521567 m/s, LOS rate: -0.017023 deg/s, cmd heading: 10.796548 deg, new cmd heading: 10.782912 deg. i =HeadingCmd: 0.188197 target range: 344.677765 and range: 345.90 m.h̶@>hhhhggjgrgereZe:e*e~ @}Bɢ0{e) i)ti޻i̶@> 'D= ׬=I ̶@>I BDAT read: Rx Time:04:15:05.5507 TRx dataTimestamp_ set to:1764908107.599721checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2740889@ @@@E EE&E"El;*Eą:VE4ZEa@a@a@a@^A5=Q Aa Iy I O >M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525008%,=LA6z@6~L>6P&Bٱ6)=6H ,T?ɿ@@]?Z?@vB?ֽ??i6z@I6ol];6CY^݀By^I ``iEMb@Mb@Mb@AAAA A9ES㥛?ˡE?Mbp?YE?yE=E;EvAEXA E\ AAYA]?ABe>BeVCBeIBeBBe =BaBeպDBe;Be=EB%WCB%WCB!B% =B% =C%Ok5)E\AAYEAbDVD8y%;=ٔIQ->9Y=EyDE>Q 544?Q 94P)lBY?Q E:y>Q I@mEDID;iH;24yɮA:iFNOT Ignoring new targets: 344.68 m."ix*ix ProNav: ac range: 344.677765 m, nav range: 340.191040 m, bearing: 10.527482 deg, approach rate: -0.516262 m/s, LOS rate: -0.015023 deg/s, cmd heading: 10.782912 deg, new cmd heading: 10.769792 deg. i ۹ HeadingCmd: 0.187968 target range: 344.677765 and range: 345.90 m.h z@>hhhhggjgrgXBereZe!:e!*e%@~Bɢ/l) i)Õi=ܻiz@>N=y=Iz@>II@ @@/@@@zAy%DAT read: 04:15:05.5507 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 417, 0.18, 0.482,-1.264, 0.683, 0.054, PHS= 0.531,-1.272, 0.585, RAW= 151.5, 1.7, CAL= 150.3, 1.3, ROT= 359.7, -1.3 -Ygot valid direction response: 04:15:05.5507 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 417, 0.18, 0.482,-1.264, 0.683, 0.054, PHS= 0.531,-1.272, 0.585, RAW= 151.5, 1.7, CAL= 150.3, 1.3, ROT= 359.7, -1.3 5PDAT read: Bearing 166.9, 2.4 (Local) =~Local bearing/azimuth received: Bearing 166.9, 2.4 (Local) EDAT read: Range 11 to 50 : 343.7 m (Round-trip 458.3 ms) speed 0.1 m/s ER#Rx 1: Read range and direction messages.M^direction in FSK: [0.999729,-0.005235,0.022687]UFpublishing direction and range infoyy?ntpuNGY;?Y٫C )JI?iТ?%:)@<'@ ޹<)@I޹@[[H?龍?EX֞?  ?)HIi޹mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.^Aʞ=ԡ D zD @AE  E E (E "E ;*E k:VE c44ZE BE uTBl%, LA2u@2K>28uDٱ2`|=2HT?SɿD@I?@?)>??)?i2u@I2/R];2C9)Y)=-Ey-D5ȺE=>AQ 5U4E4?Q 9U4EN)ElBYYy]`>Q I]@EzEDIEj;iEb;E94yuɒBɮuAuHEiiLAj=C"j=C:jC>"pg6fu@FYv@py?ntpuNGY;?*j2j޹*p(wt@ =T> addTargetRange:: Added new target pos. range: 343.700012 m, deltaT: 4.034105 s, deltaX: -2.199982 m, approachRate: -0.545346 m/s, rangeRepo size: 4 *DAT read: user:168> BDAT read: Tx time:04:15:06.7383 $Ping request sent.hhhhggjgrgereZe :e @3{u@*e  yY=֫=IkC@>I%9@) @)@)@)^AM  = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251666 AE .AI IY E  E E 'E "E ;*E :VE '4ZE a @a @a @a @O >%,1-LA(Jk@JJ>JSFٱJ[=JHV?˲ɿ%"?`!?@gY Ҩ? yw?ڿ?iJk@IJp];HYVـByV{Ii5Mb@Mb@Mb@1111 195T㥛 ?V-?Mb`?Y5?y5m=5;5@5A 5 A)5A1Y5zAbDVD8y^%8=ٔ8Q->9 ?Y ?=EyD3E>Q 544?Q 94.M)mBY?Q E:yz>Q I@EDI:iw:cA4yȒBɮyAIE:i)-FNOT Ignoring new targets: 342.48 m."i5H*i5HE ProNav: ac range: 342.481171 m, nav range: 341.075043 m, bearing: 10.647531 deg, approach rate: -0.516472 m/s, LOS rate: -0.010959 deg/s, cmd heading: 10.757694 deg, new cmd heading: 10.748248 deg. iErMHeadingCmd: 0.187592 target range: 342.481171 and range: 343.70 m.hM3@>hIhIhIhIgIgQjgQrgUOBeQreYZeY:eY*e]@?颍Bɢyv) i)顑iڻi3@>ba==I3@>Iy]9@Y @Y@Y@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505065ԩB>BBIBBBBBB;Bۻ%,EGLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7627506d@6I>6PHٱ6,=6H W?`5ɿ@ޙ@?#?`~3?L? K?i6d@I6Q];6CYB܀ByBIIF<)F=pbDNVDN8y<%Z=ٔQ->9 "?Y "?= Ey D (#E>Q 5%44?Q 9%4K)mBY!y%>Q I%@EDIj;i;G4y)ɮ5aA1MB*** querying acoustic contact ***iIiI:iY]FNOT Ignoring new targets: 342.48 m."ieA*ieAu ProNav: ac range: 342.481171 m, nav range: 340.886688 m, bearing: 10.643562 deg, approach rate: -0.502548 m/s, LOS rate: -0.010594 deg/s, cmd heading: 10.748248 deg, new cmd heading: 10.740306 deg. iu}HeadingCmd: 0.187454 target range: 342.481171 and range: 343.70 m.h}?>hyhyhyhyggjgrgereZe:e*e`?颹ɢw) i)hi(ٻi?>h=¨=I?>IbE» 4jE™4rEºv0E EE#E"E;*E:VE3ZEBEAa %, aLA2xX@2;H>2;Jٱ2=2H Z?jɿ`?(&?) BR?=?J?i2xX@I2];2CY>րBy>wIbDJVDJ8yR%RQ=ٔRQ-V>9TYT=VEyVDZlEZ>\Q 5b4^4?Q 9b4^J)^mBY`ybI>Q If@^EDI^3;i^/;^N4yhɮjAh:i|~FNOT Ignoring new targets: 342.48 m."i @*i @ ProNav: ac range: 342.481171 m, nav range: 340.689789 m, bearing: 10.639456 deg, approach rate: -0.502870 m/s, LOS rate: -0.010493 deg/s, cmd heading: 10.740306 deg, new cmd heading: 10.732089 deg. iHeadingCmd: 0.187310 target range: 342.481171 and range: 343.70 m.hD?>hhhhgg!jg!rg!e!re)Ze):e)*e- 9?9]Bɢeqz)a eia)e:aiim_ػimD?>uo=uB=IuD?>Iq=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2673859@ @@@0@qE  E E *E "E ;*E :VE (N4ZE a@a@a@a@ԑ^AA)=Aa Ii I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518662%,;zLA6/R@6rG>6hKٱ6P=6H@%[?Sɿ\1?'? [z? ~'?}?i6/R@I6TY];6CB@AB<BF>BDBFIBF BBDBDBDBF;BF9YYY=eEyeDeOEe>iQ 5u4m5?Q 9u4mH)m,mBY}?Q E}:y}O>Q I}@mEDIm;im;m@V4yɮ%Aԙ:iFNOT Ignoring new targets: 342.48 m."i~*i~ ProNav: ac range: 342.481171 m, nav range: 340.470795 m, bearing: 10.636337 deg, approach rate: -0.511804 m/s, LOS rate: -0.007294 deg/s, cmd heading: 10.732088 deg, new cmd heading: 10.725846 deg. iUHeadingCmd: 0.187201 target range: 342.481171 and range: 343.70 m.h?>hhhhggjgrg?BereZe:e*e?颉ɢn) i)*项ia׻i?>v==I?>Ii@i @i@m^0@iEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.770711^Ah=E%  E% E% 'E! "E% :*E% 1:VE% '4ZE! BE% <u%,vLARM@RF>R_RMٱRl=RH[?Aɿ `ի?@(?@?? ?iRM@IRx2];RCYb߀BybI dddfAbDnVDn8yr0%vQ=ٔvgQ-v>9z ?Yz ?=zEyz!Dz־E~>Q 545?Q 9 4G)8mBY y >Q I @EDI:i:]4yɮAAJE:i9EFNOT Ignoring new targets: 342.48 m."iEE*iME] ProNav: ac range: 342.481171 m, nav range: 340.270477 m, bearing: 10.633499 deg, approach rate: -0.513762 m/s, LOS rate: -0.007282 deg/s, cmd heading: 10.725846 deg, new cmd heading: 10.720167 deg. i];U]HeadingCmd: 0.187102 target range: 342.481171 and range: 343.70 m.he?>hahahahagagajgirgieireiZeq:eq*eu &@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022896颭Bɢxy) Vi)511i5 Qֻi=?>=|===I=?>IAMY>iM> 9@  @ @ 3@ !^AYU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275492A ؟AI I) O5 >ԡ E5  E5 E5 &E1 "E5 ;*E5 :VE5 4Q"%,LAZEia@a@a@a@2;E@2 E>2Nٱ2=2H`]]?~#ɿܛ3?@)?5oө?/A?`ֿ?i2;E@I2jR];2CYRByRIiuMb@Mb@Mb@qqqq q9u%C?V-?{Gzt?YuZ?yu9"?Y"?=Ey)DE>Q 54%5?Q 94E)GmBY?Q E:y}>Q I@EDIY;i;d4yɮA:iFNOT Ignoring new targets: 342.48 m."ihƸ*ihƸ  ProNav: ac range: 342.481171 m, nav range: 340.050720 m, bearing: 10.631191 deg, approach rate: -0.515661 m/s, LOS rate: -0.005421 deg/s, cmd heading: 10.720167 deg, new cmd heading: 10.715547 deg. i HeadingCmd: 0.187022 target range: 342.481171 and range: 343.70 m.h?>hhhhggjgrgMBe!re!Ze!:e!*e%>@ԑQɢ@n) ʕi)Siwuջi?>=d=I%?>I!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527397@ @@?5@BBBIBBBBBB;B ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778722u%,LAJ;@J`D>JZPٱJ =JH@^? .ɿ.;8f?*?@qw? "{?Ծ?iJ;@IJdH];JCYVByVIbDbVDb8yjC=%jW=ٔjQ-n>9lYl=nEyn1DrEEr>tQ 5z4v55?Q 9z4voD)vTmBYxyz|>Q I~@vEDIv:iv;v*k4yǒBɮA%B*** querying acoustic contact ***i!i!:i)5FNOT Ignoring new targets: 342.48 m."i5¸*i5¸E ProNav: ac range: 342.481171 m, nav range: 339.854767 m, bearing: 10.629168 deg, approach rate: -0.514898 m/s, LOS rate: -0.005318 deg/s, cmd heading: 10.715547 deg, new cmd heading: 10.711500 deg. iEMHeadingCmd: 0.186951 target range: 342.481171 and range: 343.70 m.hMp?>hQhQhQhQgQgQjgYrgYeYreYZeY:ea*ee`p@颉ɢ|n) i)顑iԻip?>慙=j=Ip?>IE EE$E"E=;*Eu:VE4ZEBE|I4%,wjLA25@2C>2ѽQٱ2>=2H`?ȿ N?+?u`4? d|??i25@I2];2CYBByBIbDJVDJ8yR?=%RN=ٔR_Q-V>9TYT=VEyV9DZEZ>\Q 5b4^E5?Q 9b4^C)^cmBY`yb{>Q If@^EDI^;i^;^r4yhɮjBAh:iquFNOT Ignoring new targets: 342.48 m."i}Թ*i}Թ ProNav: ac range: 342.481171 m, nav range: 339.650391 m, bearing: 10.627082 deg, approach rate: -0.497032 m/s, LOS rate: -0.005077 deg/s, cmd heading: 10.711500 deg, new cmd heading: 10.707324 deg. iHeadingCmd: 0.186878 target range: 342.481171 and range: 343.70 m.h\?>hhhhggjgrgereZe:e*e @ɢf) Hi)ђi*Իi\?>==I\?>I %BDAT read: Rx Time:04:15:09.5980 -TRx dataTimestamp_ set to:1764908111.6405475checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286030Y@ @@/@E EE(E"E:*E:VEc44ZEa@a@a@a@y^A=ԩ A I I! O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534708N`%,QLLAAAAAB>BBIBBBBBB;BBSٱBF=BHa?Lȿ`1_@2?^-?U`y?`(a?׾?iB.@IB؇];BCYRByRIi-Mb@Mb@Mb@)))) )9-uV?9YYY=eEyeBDeEe>iQ 5u4mfX5?Q 9u4mAQ =}tI)mumBY}?Q E}:y}>Q I}@mEDImp;im;my4yɮAKE:iIMFNOT Ignoring new targets: 342.48 m."iU *iU 㸝e ProNav: ac range: 342.481171 m, nav range: 339.423370 m, bearing: 10.624403 deg, approach rate: -0.525647 m/s, LOS rate: -0.006205 deg/s, cmd heading: 10.707325 deg, new cmd heading: 10.701965 deg. ie5mHeadingCmd: 0.186785 target range: 342.481171 and range: 343.70 m.hmqD?>hqhqhqhqgqgqjgyrg}PBeyreyZe:e*e[@ɢQd) ~i)UriӻiqD?>=c=IqD?>Iԩ9@ @@/@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789917^AL=E EE'E"E;*E:VE'4ZEBEDF%,!LA2%@2A>2IUٱ2=2Hb?ȿ5?/?LA?S?? /?i2%@I2 l];2CY> By>IbDZȿVDZy8yb[=%bT=ٔb-gQ-f>9dYd=fEyfJDjw<Ej>llQ 5v4ni5?Q 9v4nA@)nmBYtyv#>Q Iv@nFDIn:in:nH4yxɮ~ A|:i!%FNOT Ignoring new targets: 342.48 m."i%9*i-95 ProNav: ac range: 342.481171 m, nav range: 339.218811 m, bearing: 10.622025 deg, approach rate: -0.559316 m/s, LOS rate: -0.006509 deg/s, cmd heading: 10.701965 deg, new cmd heading: 10.697204 deg. i5>EHeadingCmd: 0.186701 target range: 342.481171 and range: 343.70 m.hE.?>hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*eU#@DAT read: 04:15:09.5980 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 421, 0.09, 0.093,-1.523, 0.265,-0.222, PHS= 0.417,-1.256, 0.443, RAW= 150.7, 4.7, CAL= 149.9, 4.8, ROT= 0.1, -4.8 Ygot valid direction response: 04:15:09.5980 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 421, 0.09, 0.093,-1.523, 0.265,-0.222, PHS= 0.417,-1.256, 0.443, RAW= 150.7, 4.7, CAL= 149.9, 4.8, ROT= 0.1, -4.8 PDAT read: Bearing 170.2, 3.5 (Local) ~Local bearing/azimuth received: Bearing 170.2, 3.5 (Local) DAT read: Range 11 to 50 : 341.6 m (Round-trip 455.5 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.996491,0.001739,0.083678]Fpublishing direction and range infoyy}A?~\?U]k?Y}̪Cyyyy y)}GI}>i}Ġ}>}aU(@}=}p'@ }=)}:I}yy}p>g??THP?A/? }u ?)}㩩I}:i}yyT****** received valid address query ******R****** received valid ping request ******ɢ77e) pi ) .  i Sӻi.?>uQuerying Benthos address 50 with one ping in standard two-way mode.,=柝=I.?>I 9@  @ @ @ )9^A5 =5 *DAT read: user:169> 5 BDAT read: Tx time:04:15:11.0383 = $Ping request sent.= & %,Q0LAv["@v xA>vCWٱv =vHc?`ȿav`?0?MS?`F?`޾?iv["@Ivp];vCY-ByuI iMb@Mb@Mb@ 9L7A`?~jt?Q?Y+?yD=u<@A  A)/AYAbDVDg8yB&=%+=ٔQ->9Y=EySDfbE>Q 5E4}5?Q 9E4q>)mBYM?Q EM:yMX>Q IM@FDI&"p3u@/ޤ?8{<@pA?~\?U]k?*j:2j󧒫*p:.y7t@)ZaZN@y]-G@p#l/?EVp?1 Y?jrB jݥCiI2?iNj\Bjjjrj{Czj=> addTargetRange:: Added new target pos. range: 341.600006 m, deltaT: 4.289909 s, deltaX: -2.100006 m, approachRate: -0.489522 m/s, rangeRepo size: 4  Added new target pos. range: 340.385712 m, bearing: 10.370913 deg, lat: 36.779507 deg, lon: -121.859626 deg, deltaT: 4.289909 s, deltaX: -2.095459 m, approachRate: -0.488462 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 340.39 m."iA*iAU ProNav: ac range: 340.385712 m, nav range: 338.966705 m, bearing: 10.618150 deg, approach rate: 0.000000 m/s, LOS rate: -0.006509 deg/s, cmd heading: 10.697204 deg, new cmd heading: 10.690714 deg. iQ]HeadingCmd: 0.186588 target range: 340.385712 and range: 341.60 m.h]?>hYechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250945hyhyhyggjgrgQBereZe:eYu@*eO?ɢKX) ~\i)1!iKӻi?>=/Y=I?>II)xAB>BBIB3BB =BBB;B2%,5KLAYjByjI bDvVDvf8yj%%b=ٔ%Q-%>9)Y)=-Ey-[D5E5>9Q 5=4=(5?Q 9E4==)=mBYAyAQ IE@=FDI=4:i=:=4yQɮU AQmB*** querying acoustic contact ***iiii:iy}FNOT Ignoring new targets: 340.39 m."i*i ProNav: ac range: 340.385712 m, nav range: 338.776215 m, bearing: 10.615219 deg, approach rate: -0.556439 m/s, LOS rate: -0.008568 deg/s, cmd heading: 10.690715 deg, new cmd heading: 10.684848 deg. izHeadingCmd: 0.186486 target range: 340.385712 and range: 341.60 m.h!>>hhhhggjgrgereZe:e*e ׿?ɢuf) t]i)v!iһi!>>M=Þ=I!>>ID%=D4=E- E-E-(E)"E-0;*E-:VE-c44ZE)BE-y %,dLA6V@6?>68Yٱ6=6H'e?`vȿ'o?@k2?`)F#?;?Ѿ?i6V@I6jG];6CYYM-ByMI]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006895bDmɿVDmz8y}=%}7=ٔ}닺Q-}>9Y=EydD8WE>Q 54H5?Q 94c;)mBYy>Q I@+FDI ;i;ɖ4yƒBɮ ALE:iFNOT Ignoring new targets: 340.39 m."i"*i" ProNav: ac range: 340.385712 m, nav range: 338.541321 m, bearing: 10.611658 deg, approach rate: -0.526397 m/s, LOS rate: -0.007985 deg/s, cmd heading: 10.684848 deg, new cmd heading: 10.677722 deg. iiHeadingCmd: 0.186361 target range: 340.385712 and range: 341.60 m.h>>hhhhggjgrg ereZe!:e!*e-?UBɢU8N)Y ]h)iY)]?"YYi]Fӻie>>eY=et=Im>>IIԑE= E=E=%E9"E=;*E=1:VE= 4ZE9am@am@am@am@9@ @@/@@=@=Թ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258811 ^A ȝ=B <A =B >B UCB IB LBB B B ԺDB ޅ;B %,_~LAԹ )5~A#sC=~Ai`eIIir@ ) 9~AtIĻ)i)I5~A iYY9Y=EylDE>Q 5445?Q 94z9)mBY ?Q E:ys>Q I@:FDI ;i/;4yɮP AME:iFNOT Ignoring new targets: 340.39 m."i 7s*i 7s ProNav: ac range: 340.385712 m, nav range: 338.318939 m, bearing: 10.606205 deg, approach rate: -0.541592 m/s, LOS rate: -0.013290 deg/s, cmd heading: 10.677722 deg, new cmd heading: 10.666808 deg. i¹HeadingCmd: 0.186171 target range: 340.385712 and range: 341.60 m.h>>hhhhggjgrgzBereZe:e*e`f?!ɢ%G)! % i!)M"IIiMӻiU>>U=U=IU>>IYeC>ie>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511885@ @@@D1zD5?AbE!4jE!4rE0E= E=E=&E9"E=;*E=Z:VE=4ZE9BE=A9 %%,%LA6 @6>>6ݶ\ٱ6*R=6H@f?Tȿƭ?`:4? Bp?/?@?i6 @I6];6Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762794Y@ByIbD5VD58yE.<%Ed=ٔE+Q-M>9IYI=MEyMsDUGOEU>YQ 5e4]5?Q 9e4]7)]mBYaym>Q Im@]FFDI]:i]:]74yqɮu5 Aq:iFNOT Ignoring new targets: 340.39 m."iq*iq ProNav: ac range: 340.385712 m, nav range: 338.125061 m, bearing: 10.601483 deg, approach rate: -0.541794 m/s, LOS rate: -0.013204 deg/s, cmd heading: 10.666808 deg, new cmd heading: 10.657358 deg. iQHeadingCmd: 0.186006 target range: 340.385712 and range: 341.60 m.hZx>>hhhhggjgrgereZe:e*eAg@yɢ}J)y }$iy)#顁i!ԻiZx>>ĕ=ٙ=IZx>>Ii@i @i@m/@iA}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015318ԁ^AII O >E]  E] E] #EY "E] ~ ;*E] :VE] 3ZEY a} @a @a @a @ԡ n ,%,;LA2 @2P>>2^ٱ23=2Hf?sGȿ@f@?4?@C` ۫? +?p?i2 @I2\;0Y%KBy-IiMb@Mb@Mb@ 9q= ףp?+η?:v?Y ?yv=<|@A E A)YAbD VD8yV=%?=ٔTQ- >9 Y = Ey |DKE>Q 5%4z5?Q 9%45)nBY% ?Q E%:y-ز>Q I-@UFDI:i1:4y1ɮ5 A1:iY]FNOT Ignoring new targets: 340.39 m."ie*ieq} ProNav: ac range: 340.385712 m, nav range: 337.892700 m, bearing: 10.594951 deg, approach rate: -0.541997 m/s, LOS rate: -0.015245 deg/s, cmd heading: 10.657358 deg, new cmd heading: 10.644286 deg. i}2߹HeadingCmd: 0.185778 target range: 340.385712 and range: 341.60 m.h<>>hhhhggjgrgBereZe:e*e`"@=BɢE?)A EԽiA)Er#AIiMջiU<>>U֕=Um=IU<>>IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267055B->B)B-.IB-kBB- =B->DB)B-;B-=Ai zAi  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518826A I I O > 2%,wgLAYfUByfIbDnVDn8yv\=%v^=ٔzQ-z>9xYx=~Ey~D~E~>Q 5 45?Q 9 43))nBYyQ I@bFDI:iN:%4yɮ A!=B*** querying acoustic contact ***i9i9:iAMFNOT Ignoring new targets: 340.39 m."iM*iM] ProNav: ac range: 340.385712 m, nav range: 337.692963 m, bearing: 10.589330 deg, approach rate: -0.541705 m/s, LOS rate: -0.015256 deg/s, cmd heading: 10.644286 deg, new cmd heading: 10.633036 deg. ieZ߹eHeadingCmd: 0.185581 target range: 340.385712 and range: 341.60 m.he >>hihihihigigijgqrgqeqreqZey:ey*e_@颩ɢ'=) i)#顱iջi >> = =I >>IE EEE"El;*E:VEZEBEZFR=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771756^AU=1 A .AI I O >Y "9%,LRLA2t@2@=>2bٱ2v=2H`sg?8ȿ`蠿z?5?@mG "T?4$??i2t@I2\;0YN[ByNIbDV߿VDV8y^<%^M=ٔbQ-b>9b ?Yb ?=bEybDfzEf>hQ 5n4j5?Q 9n4j1)jDnBYlyr>Q Ir@jpFDIj;ij:j4ytɮvZ AvNE:iFNOT Ignoring new targets: 340.39 m."i*i- ProNav: ac range: 340.385712 m, nav range: 337.477020 m, bearing: 10.583265 deg, approach rate: -0.542649 m/s, LOS rate: -0.015249 deg/s, cmd heading: 10.633036 deg, new cmd heading: 10.620899 deg. i-C߹-HeadingCmd: 0.185370 target range: 340.385712 and range: 341.60 m.h5=>h1h1h1h1g1g9jg9rg9e9reAZeA:eA*eE > @qɢu#8)ug uiy)}#yyi}ֻi=>=Z=I=>I5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0230191@ @@2@E EE%E"E;*E|:VE 4ZEaE@aM@aM@aM@Y^Aԁ  BDAT read: Rx Time:04:15:13.8949  TRx dataTimestamp_ set to:1764908115.922773 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275887A A B% >B% TCB% MIB% BB% =B! B! B% ;B%  /{A) @%,LA0292/{AY2lAY]hBy]*IiMb@Mb@Mb@ 9V-?1Zd?9"?Y%"?=%Ey%D%E%>)Q 5=4- 6?Q 9=4-/)-`nBY=D?Q E=:y=>Q I=@-FDI-H%;i-a#;-4yMђBɮMM AMDE:iiuFNOT Ignoring new targets: 340.39 m."i}~*i}~ ProNav: ac range: 340.385712 m, nav range: 337.230774 m, bearing: 10.575318 deg, approach rate: -0.549825 m/s, LOS rate: -0.017758 deg/s, cmd heading: 10.620900 deg, new cmd heading: 10.604994 deg. iHeadingCmd: 0.185092 target range: 340.385712 and range: 341.60 m.hƈ=>hhhhggjgrgBereZe:e*e݌ @ɢ70) x?i)$iJػiƈ=>&=(=Iƈ=>Iԉ@ @@/5@@=@=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528209ԹE5 E5E5(E1"E5;*E5:VE5c44ZE1BE5AA> A I I O% >E4F%,LAZchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781043`@K=>vgٱF=H@g?.ȿAm}?6?=? ??i@I\;CYoBy3IbDVD8yi=%J=ٔ:Q->9Y=EyD%ƉE%>!Q 554%K6?Q 954%X-)%ynBY1y5~>Q I5@%FDI%Q;i%;%4y9ɮE AEEE:iimFNOT Ignoring new targets: 340.39 m."iu*iu ProNav: ac range: 340.385712 m, nav range: 337.008331 m, bearing: 10.568143 deg, approach rate: -0.550395 m/s, LOS rate: -0.017764 deg/s, cmd heading: 10.604994 deg, new cmd heading: 10.590635 deg. i HeadingCmd: 0.184841 target range: 340.385712 and range: 341.60 m.h G=>h h h h g gjgrgereZe:e*et@颭Bɢ9-) i)^5$顱iFٻiG=>*=|=IG=>II)yAY@Y @Y@]!5@a}DAT read: 04:15:13.8949 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 405, 0.28, 0.378,-1.327, 0.508,-0.022, PHS= 0.502,-1.260, 0.486, RAW= 149.5, 3.1, CAL= 148.7, 3.1, ROT= 1.3, -3.1 Ygot valid direction response: 04:15:13.8949 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 405, 0.28, 0.378,-1.327, 0.508,-0.022, PHS= 0.502,-1.260, 0.486, RAW= 149.5, 3.1, CAL= 148.7, 3.1, ROT= 1.3, -3.1 PDAT read: Bearing 168.0, 4.8 (Local) ~Local bearing/azimuth received: Bearing 168.0, 4.8 (Local) DAT read: Range 11 to 50 : 339.3 m (Round-trip 452.4 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.998280,0.022654,0.054079]Fpublishing direction and range infoyIM-?(2?ʾ7?YMCIIII I)MFIM?iMGM>M<&@Mk]=Mx&@ Mk]=)M޹hL%,> 4LA@ =>ҍiٱ=Hf?8ȿ/¡ B?5?@T-?W?r?i@I\;CYmBy0Ii-Mb@Mb@Mb@)))) )9-K7?T㥛 ?))-A -/ A)))Y-AbDeVDe8yu%5=ߕ=ߕ<*DAT read: user:170> BDAT read: Tx time:04:15:15.2883 $Ping request sent.9Y = Ey D :E>Q 5%4/6?Q 9%4*)nBY%?Q E%:y%|>Q I%@FDIV:i_:341yQɮU% AQiiim9d+LAjm C"jm C:jmfN>"pm9&@u@.sע@%hH2@pm-?(2?ʾ7?*jm޹<2jmk]*pmbJבt@]P@OC@pm`<&?s~Hv?PK?jmB jmCimgx?imAjmBjmf9Ȣ?B>BBfIBBBBBӺDB܅;B addTargetRange:: Added new target pos. range: 339.299988 m, deltaT: 4.283857 s, deltaX: -2.300018 m, approachRate: -0.536904 m/s, rangeRepo size: 4 M Added new target pos. range: 338.085114 m, bearing: 11.548612 deg, lat: 36.779497 deg, lon: -121.859606 deg, deltaT: 4.283857 s, deltaX: -2.300598 m, approachRate: -0.537039 m/s, posRepo size: 4 :iQUFNOT Ignoring new targets: 338.09 m."i]*iY ProNav: ac range: 338.085114 m, nav range: 335.973785 m, bearing: 10.904479 deg, approach rate: 0.000000 m/s, LOS rate: -0.017764 deg/s, cmd heading: 10.590635 deg, new cmd heading: 10.573366 deg. iHeadingCmd: 0.184540 target range: 338.085114 and range: 339.30 m.h<>hhhhggjgrgBereZe!:e%4u@*e%f?uBɢu-)q uiq)}q\$yyi}ۻi<>–==I<>IYԉ  eM checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250659 @  @ @ /@ Ա E EEE"E ;*E1:VEZEBER=AyAzAzAIIO?aV%,~Q[LA"checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502626> @>>>>oٱ>ѳ=>Hd?+^ȿ=?2?`{߭?x?{?i> @I>V\;>CYZvByZ;IbDfVDf8yn=%n=ٔn*Q-n>9pYp=rEyrDrf:Ev>QtQ 5u4vE6?Q 9u4v')vnBYqyu>Q Iu@vFDIvڎhhhhggjgrgereZe:e*e? ɢ ))  ࢼi)p$iݻi̗<>= =I̗<>I! ;@ @@0@ԡԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755743^AD=II Ia Ou >E  E E *E "E *E ą:VE (N4ZE a @a @a @a% @R\%,1^uLA2a@2?>2Aqٱ20=2H@c?ȿ@\P?/? `#?^ǽ??i2a@I2'\;2CYZ}ByZDIiEMb@Mb@Mb@AAAA A9E!rh?T㥛 ?:v?YEl?yAET9qYq=uEyuDԹu ;E>Q 54W6?Q 94 %)nBY@ ?Q E:y>Q I@FDI:i:4yɮ AFE:iAEFNOT Ignoring new targets: 338.09 m."iME¹*iME¹} ProNav: ac range: 338.085114 m, nav range: 335.466705 m, bearing: 10.884917 deg, approach rate: -0.536276 m/s, LOS rate: -0.021230 deg/s, cmd heading: 10.552325 deg, new cmd heading: 10.534212 deg. i}jHeadingCmd: 0.183857 target range: 338.085114 and range: 339.30 m.hD<>hhhhggjgrgBereZe:e*e ?5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006806频ɢ&) ʻi)u$顙iiD<>=A=ID<>IB-<A-4=B5>B1B5yIB5BB5 =B1B5ԺDB5Å;B5i}> 9@  @ @ /@  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2585229 ^A =A >A ?IA IQ Oe >'d%,nLAE* E*E*)E("E*l;*E*|:VE*FA4ZE(BE*ZF@>?>>Osٱ>=>H@1b?ȿm@#?.?@.p?۽??i>@I> ];>CYJzByNAIbDVVDV8y^:%^D=ٔ^Q-^>9`Y`=bEybDfHu:Ef>hQ 5r4jh6?Q 9v4j")jnBYxyz>Q I~@jFDIjё;ij̒;j4 yɮ A:iYeFNOT Ignoring new targets: 338.09 m."i%*i% ProNav: ac range: 338.085114 m, nav range: 335.251831 m, bearing: 10.876390 deg, approach rate: -0.526083 m/s, LOS rate: -0.020889 deg/s, cmd heading: 10.534212 deg, new cmd heading: 10.517148 deg. iHeadingCmd: 0.183559 target range: 338.085114 and range: 339.30 m.h;>h h h h g g jgrgereZe:e*en?iɢm')i m =ii)u$qqiu i};>} =}>=I;>I1=9@9 @9@=A1@95checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510582a^Ae =IIO>ԉ hHj%,!LA6`@6@>65tٱ6&=6H`?ϱȿJ?|,?=1`?O?ĸ?i6`@I6\;6CYB}ByBEIIJ!>)J>Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763348bDZVDZɰ8yfu<%fJ=ٔjYQ-j>9lYl=rEyrDr;Ev>xQ 5~4zy6?Q 94zl )zoBYy>Q I @zFDIziD;izCE;z4yҒBɮ A!:iQ]FNOT Ignoring new targets: 338.09 m."ie]¹*ie]¹y ProNav: ac range: 338.085114 m, nav range: 335.038361 m, bearing: 10.867872 deg, approach rate: -0.531980 m/s, LOS rate: -0.021241 deg/s, cmd heading: 10.517147 deg, new cmd heading: 10.500101 deg. i}HeadingCmd: 0.183261 target range: 338.085114 and range: 339.30 m.hܨ;>hhhhggjgrgereZe:e*e@g@BɢY&) ̻i)$ifiܨ;>:=t=Iܨ;>IE EE$E"E ;*Eą:VE4ZEa@a@a@a@9@9 @A@E>5@IԱechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016116^A=B5 >B5 UCB5 IB5 BB5 =B1 B1 B5 ;B5  /q%,LA2!@2@hA>2$Duٱ2=2H_?vȿiE?Z+?`?ԣ?@> ?@K?i2!@I2\;2CYDIi-Mb@Mb@Mb@)))) )9-uV?1Zd?{Gzt?Y-r?y-"=-ף;-9@- A -A)))Y-zAbDE.VDEװ8yUI%UB=ٔUyQ-]>9YYY=]EyeDe„:Ee>iQ 5u4mY6?Q 9u4m.)moBYu- ?Q E}:y}F>Q I}@mFDIm/;im;m=4yɮ A:iFNOT Ignoring new targets: 338.09 m."i*i ProNav: ac range: 338.085114 m, nav range: 334.815735 m, bearing: 10.860323 deg, approach rate: -0.536819 m/s, LOS rate: -0.018215 deg/s, cmd heading: 10.500101 deg, new cmd heading: 10.484993 deg. iWHeadingCmd: 0.182998 target range: 338.085114 and range: 339.30 m.hc;>hhhhggjgrgsBereZe:e*e @ɢ&) i)$i%i%c;>%J=-~t=I-c;>I)9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266676@ @@4@bEƞ4jEƞ4rEƲd0E EE&E"E;*Eخ:VE4ZEBE!de checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518549i Yw%,LA2K'@2 B>2tٱ2R$=2H^?mȿ1Y?`;)?`]aՔ?@"d?V?i2K'@I2\;0Y>By>JIbDFVDF°8yNg<%NW=ٔRȝ9Q-R>9PYP=VEyVDVl:EV>XQ 5^4Zp6?Q 9^4Z#)Z-oBY`yb>Q Ib@ZFDIZ";iZ;Z4ydɮf AfGEvB*** querying acoustic contact ***itit:ix~FNOT Ignoring new targets: 338.09 m."ip*ip  ProNav: ac range: 338.085114 m, nav range: 334.613647 m, bearing: 10.853439 deg, approach rate: -0.530435 m/s, LOS rate: -0.018080 deg/s, cmd heading: 10.484994 deg, new cmd heading: 10.471217 deg. iYHeadingCmd: 0.182757 target range: 338.085114 and range: 339.30 m.h$;>hhhhgg!jg!rg!e!re!Ze):e)*e-˻@ɢj$) 9i)S$ii$;>뭙=e=I$;>I99@ @@/@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771036^A5c=ԉE  E E 'E "E ;*E ҆:VE '4ZE a @a @a @a @A I1 Iy O >Թ x}%,LA2c,@2 B>2sٱ2Ao=2H^?@6ȿ>$@&?'?t`y?:?Ҷ?i2c,@I2\;2CYBByBUIi5Mb@Mb@Mb@1111 195HzG?EԸ?Y5= ?y5=515 A 5/ A)5vA1Y5AbDMVDMİ8y]%=%]?=ٔeR9Q-e>9aYi=mEymDm.:Em>qQ 5}4uޭ6?Q 9}4u)uAoBYs ?Q E:y>Q I@uGDIur;iu;u`4yɮ; A:iFNOT Ignoring new targets: 338.09 m."iؗ*iؗ ProNav: ac range: 338.085114 m, nav range: 334.382996 m, bearing: 10.846340 deg, approach rate: -0.538735 m/s, LOS rate: -0.016594 deg/s, cmd heading: 10.471217 deg, new cmd heading: 10.457008 deg. i򹝏HeadingCmd: 0.182509 target range: 338.085114 and range: 339.30 m.h:>hhhhggjgrgBereZe:e*e4* @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022635-Bɢ-)) -u6=u=r=Iu:>Iy%9@! @)@-0@)^AM T= BDAT read: Rx Time:04:15:18.1423  TRx dataTimestamp_ set to:1764908120.207624 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276465Ay I I O > pl%,ʍLAE )@EMB>EjsٱEW=EH^?Pȿ?Z(?q@^?T??iE )@IE\;ECY]By]MIbDuVDu8E} E}EyEy"E} ;*E}:VEyZEyBE}R;a:E}>;ayM%G=ٔs:Q->9Y=EyDHE>Q 546?Q 94)SoBYyȻ>Q I@GDI;i; 4yɮm AHE:iFNOT Ignoring new targets: 338.09 m."i*i ProNav: ac range: 338.085114 m, nav range: 334.161407 m, bearing: 10.839527 deg, approach rate: -0.538404 m/s, LOS rate: -0.016565 deg/s, cmd heading: 10.457008 deg, new cmd heading: 10.443372 deg. i򹝏 HeadingCmd: 0.182271 target range: 338.085114 and range: 339.30 m.h O:>h h hhggjgrgereZe!:e!*e% qs @aɢm?#) ;i)Qx$顱i`iO:>==IO:>I-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527356@ @@/@@=@=9i ^A _=A >A >A IA Iq ԙ O >% DAT read: 04:15:18.1423 LVL= 28128, 32753, 31042, 32755, AGC= 65, IDX= 411, 0.48, 0.163,-1.566, 0.351,-0.236, PHS= 0.501,-1.285, 0.543, RAW= 151.1, 2.7, CAL= 150.1, 2.5, ROT= 359.9, -2.5 5 Ygot valid direction response: 04:15:18.1423 LVL= 28128, 32753, 31042, 32755, AGC= 65, IDX= 411, 0.48, 0.163,-1.566, 0.351,-0.236, PHS= 0.501,-1.285, 0.543, RAW= 151.1, 2.7, CAL= 150.1, 2.5, ROT= 359.9, -2.5 = PDAT read: Bearing 167.5, 3.5 (Local) E ~Local bearing/azimuth received: Bearing 167.5, 3.5 (Local) U DAT read: Range 11 to 50 : 337.4 m (Round-trip 449.9 ms) speed 0.4 m/s ] R#Rx 1: Read range and direction messages.e ^direction in FSK: [0.999047,-0.001744,0.043619]m Fpublishing direction and range infoy  0?qK\GU?Y C m By ) AI A?i z  ? (@ A= ϩ'@ ¸2=) @I ¸2 {Z?O>?Xe? 1 ?) p@I "i ¸2  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.C%,?/LAnO*@nvB>nkqٱn)W=nH ^?@ȿaۡ?@'?.6?2??inO*@Inn\;lY |ByDIE- E-E-%E)"E- ;*E-$:VE- 4ZE)a@a@a@a@bDE VDE8y%=ٔR:Q->9Y=EyDƕ9E>Q 5%46?Q 9%4)koBY!y%ڻ>Q I%@)GDI"p:8t@W]1|:)ET-@p0?qK\GU?*j"2j¸2*pЍt@+CjN@`7$A@p ]M?]3{(?]?jRsB jnCi?ibj Bj?jbj Brj8CzjJI;>= addTargetRange:: Added new target pos. range: 337.399994 m, deltaT: 4.033889 s, deltaX: -1.899994 m, approachRate: -0.471008 m/s, rangeRepo size: 4  Added new target pos. range: 336.194336 m, bearing: 10.479614 deg, lat: 36.779506 deg, lon: -121.859627 deg, deltaT: 4.033889 s, deltaX: -1.890778 m, approachRate: -0.468723 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 336.19 m."i*i*DAT read: user:171> BDAT read: Tx time:04:15:19.3383 $Ping request sent.hhhhggjgrg e re Ze :e `fu@*e5Wy? u>CB>BTCBBBBBBz;BSř==IM:>IA @A  @A @E 0@A ԙ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250850^AT=A.AIIO?p%,RLAD>=D>%=Zd#@Z@A>ZhjpٱZ=ZH,`?@(ȿ¡?@?)?@v`? ??iZd#@IZ\;XYtyvCII~=)~p=E5 E5E1E1"E5~ ;*E5:VE1ZE1BE5V9u ?Yu ?=uEyuD}E}>Q 54A6?Q 94)~oBY?Q E:y>Q I@:GDI;i7;4yɮ A:iFNOT Ignoring new targets: 336.19 m."i*i ProNav: ac range: 336.194336 m, nav range: 334.189850 m, bearing: 10.472500 deg, approach rate: -0.557462 m/s, LOS rate: -0.014872 deg/s, cmd heading: 10.424270 deg, new cmd heading: 10.410834 deg. iٹHeadingCmd: 0.181703 target range: 336.194336 and range: 337.40 m.hq:>hhhAhAgAgIjgIrgMNBeIreQZeQ:eQ*eU?ɢ|()  ki)z$iLiq:>̙==Iq:>IIechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5038079@ @@3@i^A] =ԙ A I I O >nњ%,_mLA*checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755702n@n`@>n>mٱn+=nH`b?\ȿ@?`t+?pe ?q??in@In\;lYzByzHIbD VD 8y-)<%5Y=ٔE<:Q-E>9IYI=MEyMDU48EU>YQ 5e4])6?Q 9e4] )]oBYaye>Q Ie@]FGDI];i];],$4yuƒBɮu. AuIEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 336.19 m."iO|*iO| ProNav: ac range: 336.194336 m, nav range: 333.992218 m, bearing: 10.467262 deg, approach rate: -0.519835 m/s, LOS rate: -0.013787 deg/s, cmd heading: 10.410835 deg, new cmd heading: 10.400352 deg. iɹHeadingCmd: 0.181520 target range: 336.194336 and range: 337.40 m.h{9>hhhhggjgrgereZe:e*e?额Bɢ&) i)$ii{9>>љ=/=I{9>IAE EEE"El;*EM:VEZEa@a@a@a@9M9@Q @Q@U05@Q@]zA@]yAYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006778BA<B>BBBB =BBӺDBo;BE%,LAY%By-NIyiMb@Mb@Mb@ 9p= ף?V-?MbP?Y?ym=:@ A)YAbD VD 8y:<%%==ٔ%Q-%>9-"?Y-"?=-Ey-D-E->1Q 5=455 7?Q 9E45P)5oBYE?Q EE:yE>Q IE@5UGDI5:i5:5+4yMВBɮM\ AU?E:iq}FNOT Ignoring new targets: 336.19 m."i}t=*i}t= ProNav: ac range: 336.194336 m, nav range: 333.769684 m, bearing: 10.462824 deg, approach rate: -0.518821 m/s, LOS rate: -0.010352 deg/s, cmd heading: 10.400352 deg, new cmd heading: 10.391472 deg. iHeadingCmd: 0.181365 target range: 336.194336 and range: 337.40 m.hٷ9>hhhhggjgrgGBereZe:e*e [?ɢg $) :i)x$iiٷ9>֙==Iٷ9>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.271527m9@i @i@mo0@i@u@u@u@uԩE EEE"E*E:VEZEBEZF  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522844֧%,LA2 @2>>2viٱ2(=2H@e?K\ȿ@HN=?00?-/? |&??i2 @I21\;2CYRByRKI TTbDZVDZ8y >-%^=ٔ%`=;Q-%>9)Y)=-Ey-D-wE5>1Q 5E457?Q 9E45 )5oBYAyEŗ>Q IE@5aGDI5;i5:5)24yMђBɮUo AU@E:iq}FNOT Ignoring new targets: 336.19 m."i}o:*io: ProNav: ac range: 336.194336 m, nav range: 333.577209 m, bearing: 10.459045 deg, approach rate: -0.518540 m/s, LOS rate: -0.010187 deg/s, cmd heading: 10.391471 deg, new cmd heading: 10.383909 deg. i%HeadingCmd: 0.181233 target range: 336.194336 and range: 337.40 m.h?9>hhhhggjgrgereZe:e*e`?ɢG^%) (i)y$ii?9>ڙ=I=I?9>I@ @@/@ IIOD>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7748581E  E E E "E ;*E :VE ZE a @a @a @a @a !%,LA2,@2@=>2Ngٱ2{=2H@/g?;ȿ@?`2? ?A?&?i2,@I2\;2CYBByB\Ii-Mb@Mb@Mb@)))) )9-{Gz?I +?Mbp?Y-?y-94=-;)-E A ))))Y-AbD$VDΰ8yz=%A=ٔҭ:Q->9Y=Ey!D>E>Q 54k.7?Q 94O )oBYS?Q E:yĉ>Q I@oGDI:i:94yɮ A:iFNOT Ignoring new targets: 336.19 m."i *i  ProNav: ac range: 336.194336 m, nav range: 333.361389 m, bearing: 10.455828 deg, approach rate: -0.513050 m/s, LOS rate: -0.007653 deg/s, cmd heading: 10.383908 deg, new cmd heading: 10.377470 deg. i`HeadingCmd: 0.181121 target range: 336.194336 and range: 337.40 m.hw9>hhhhgg!jg!rg%HBe!re)Ze):e)*e-@6@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026993Aiɢm)i mP,ޙ=:=Iw9>I@ @@/@A>A>IIO (>aԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278920Թ %, LAE& E&E&"E$"E&:*E&Z:VE&(3ZE$BE&<: eٱ:M=:HOi?!ȿ@@ ^?4? f?@8?@ֺ?i:@I:z];:CYJByJXIbDR0VDRٰ8yjq%nW=ٔn_:Q-r>9pYp=rEyv)DvVEv>xQ 5~4zj>7?Q 9~4z )zoBY|y~!>Q I@z|GDIz:iz:z-@4y ɮ  A :i15FNOT Ignoring new targets: 336.19 m."i=} *i=} M ProNav: ac range: 336.194336 m, nav range: 333.165253 m, bearing: 10.452943 deg, approach rate: -0.514080 m/s, LOS rate: -0.007567 deg/s, cmd heading: 10.377470 deg, new cmd heading: 10.371696 deg. iM]UHeadingCmd: 0.181020 target range: 336.194336 and range: 337.40 m.hU_]9>hQhQhQhYgYgYjgYrgYeareaZea:ei*em{D@ɢq) %=%@=I%_]9>I)y9@ @@@I9IIOU>5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530820ԩ %,-yLA2@2@:>25cٱ2=2Hzk?`ǿ࠿3? 77?@t￿b?`ӽ?`?i2@I2~\;2C^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.785001YfByf_IbDr+VDr԰8yz<%zI=ٔz:Q-z>9QYQ=UEyU1D]*PE]>aQ 5m4eO7?Q 9m4et )eoBYiymu>Q Iu@eGDIe:ie2:erG4yyɮ} AyB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 336.19 m."i-*i- ProNav: ac range: 336.194336 m, nav range: 332.951630 m, bearing: 10.449844 deg, approach rate: -0.512755 m/s, LOS rate: -0.007441 deg/s, cmd heading: 10.371696 deg, new cmd heading: 10.365496 deg. iYHeadingCmd: 0.180912 target range: 336.194336 and range: 337.40 m.hA9>hhhhggjgrgereZe:e*e@@1ɢ5u,)9 =pU=UG=IUA9>IYE- E-E-%E)"E- ;*E-:VE- 4ZE)a=@a=@a=@a=@9@ @@@^AMh=]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035572AYzA]zAAiAiBu>BqBuIBuBBu =BqBuԺDBu[;Bu5A %,MLA:%@:`:>:jGbٱ:'3=:Hk?@ǿ ,?H7?>E?? O?i:%@I:$];:CYByiMb@Mb@Mb@ 9/$?Q?Mbp?Y ?y<@\ A A)|@YAbDVD8yO%0=ٔG:Q->9Y=Ey:D E>Q 54 d7?Q 94)oBY? ?Q E:yq>Q I@GDI;i;\O4yҒBɮ AAE:i!%FNOT Ignoring new targets: 336.19 m."i-*i-= ProNav: ac range: 336.194336 m, nav range: 332.704437 m, bearing: 10.447560 deg, approach rate: -0.546645 m/s, LOS rate: -0.005055 deg/s, cmd heading: 10.365496 deg, new cmd heading: 10.360924 deg. i=EHeadingCmd: 0.180832 target range: 336.194336 and range: 337.40 m.hE,9>hAhAhAhIgIQgIjgQrgU;BeYreYZeY:eY*e]8 @BDAT read: Rx Time:04:15:22.1894 TRx dataTimestamp_ set to:1764908124.251231-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.3024021ɢ5)1 5E_=AIE,9>II9@ @@@bE]ƻ 4jE]O4rE]Ϛ/E% E%E%&E!"E%%;*E%:VE%4ZE!BE% K)%,="LA@Y By tIbDVD8y-=%-h=ٔ5Q-5>95 ?Y= ?==Ey=AD=E=>AQ 5M4Es7?Q 9M4E)EoBYQyQQ IU@EGDIEb;iE;EU4yYɮ]t A]BE:iFNOT Ignoring new targets: 336.19 m."i*i ProNav: ac range: 336.194336 m, nav range: 332.512299 m, bearing: 10.445783 deg, approach rate: -0.546002 m/s, LOS rate: -0.005055 deg/s, cmd heading: 10.360925 deg, new cmd heading: 10.357367 deg. iHeadingCmd: 0.180770 target range: 336.194336 and range: 337.40 m.h9>hhhhggjgrgereZe:e*e`*@ɢ,)  }=i)$$iIi9>q=Fr=I9>Iԡ9@ @@0@@a=@=DAT read: 04:15:22.1894 LVL= 30240, 32753, 32754, 32755, AGC= 70, IDX= 413,-0.18,-1.039,-2.501,-0.848,-1.503, PHS= 0.567,-0.953, 0.611, RAW= 151.4, -3.0, CAL= 150.8, -4.0, ROT= 359.2, 4.0 Ygot valid direction response: 04:15:22.1894 LVL= 30240, 32753, 32754, 32755, AGC= 70, IDX= 413,-0.18,-1.039,-2.501,-0.848,-1.503, PHS= 0.567,-0.953, 0.611, RAW= 151.4, -3.0, CAL= 150.8, -4.0, ROT= 359.2, 4.0 PDAT read: Bearing 161.1, 1.8 (Local) ~Local bearing/azimuth received: Bearing 161.1, 1.8 (Local)  DAT read: Range 11 to 50 : 335.1 m (Round-trip 446.9 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.997467,-0.013928,-0.069756]Fpublishing direction and range infoykc??#3V&k۱YC v )FI&?isj?)@PwVq(@ 5)y@I5=1GE?,&X?^ ] ?)S=IDdi5=eT****** received valid address query ******eR****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A=E-  E- E- %E) "E- ;*E- M:VE- 4ZE) a5 @a5 @a5 @a5 @ A] ؟AI I O >R%,M<LAJ@J@7>JH^ٱJ=JH}p?`~ǿ?;?@ c۫?`??iJ@IJ\;JChYzByzI ||*DAT read: user:172> BDAT read: Tx time:04:15:23.3883 $Ping request sent.B5UCB5IB5ˁBB5 =B1B1B5T;B5.9"?Y"?=EyKD!ɻE>Q 5E47?Q 9M4+)pBYM?Q EM:yMx{>Q IM@GDI;i;]4yQɮ] AYiiQ0LAjC"jC:j1>"pd\6t@0B=p,ihJ7pkc??#3V&k۱*jDd2j5=*p9t@%kL@px?E addTargetRange:: Added new target pos. range: 335.100006 m, deltaT: 4.043106 s, deltaX: -2.299988 m, approachRate: -0.568867 m/s, rangeRepo size: 4 U Added new target pos. range: 333.902283 m, bearing: 9.958453 deg, lat: 36.779506 deg, lon: -121.859627 deg, deltaT: 4.043106 s, deltaX: -2.292053 m, approachRate: -0.566904 m/s, posRepo size: 4 :iQ]FNOT Ignoring new targets: 333.90 m."i]*iYm ProNav: ac range: 333.902283 m, nav range: 332.266052 m, bearing: 10.443093 deg, approach rate: 0.000000 m/s, LOS rate: -0.005055 deg/s, cmd heading: 10.357367 deg, new cmd heading: 10.352506 deg. iquHeadingCmd: 0.180685 target range: 333.902283 and range: 335.10 m.hu9>hyhyhyhygygjgrg?BereZe:e t@*e @J?UBɢUR ) =i)$#iXi9>=oG=I9>I19@ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250899Y ^A ȝ=D1 D5 <EE  EE EE $EA "EE =;*EE :VEE 4ZEA BEE |I%,VGYLA2@2~7>2^ٱ2=2Hp?Nvǿ"v?@f;?@׫?`u??i2@I2{];2CY>By>IbDFڿVDF8yN=%RT=ٔR8Q-R>9TYT=VEyVSDVq=EV>\Q 5^4^v7?Q 9b4^)^#pBY`yb,{>Q Ib@^GDI^:i^:^9d4yfӒBɮfAh:iq}FNOT Ignoring new targets: 333.90 m."i}Ӹ*i}Ӹ ProNav: ac range: 333.902283 m, nav range: 332.065796 m, bearing: 10.440913 deg, approach rate: -0.530480 m/s, LOS rate: -0.005779 deg/s, cmd heading: 10.352507 deg, new cmd heading: 10.348143 deg. i8)HeadingCmd: 0.180609 target range: 333.902283 and range: 335.10 m.h8>hhhhggjgrgereZe:e*e5?ɢN) $=i)o#iWi8>=냗=I8>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5029989@ @@/0@^A~=) A .AI I O >= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754879"-%,4sLAHEe EeEaEa"Eel;*Ee1:VEaZEaam@am@am@am@YǁByIbDVDy=%:=ٔQ->9 ?Y ?=Ey[DE>Q 54«7?Q 94a)8pBYyQ I@GDI:i2:k4yɮ\A-B*** querying acoustic contact ***i)i):iI]FNOT Ignoring new targets: 333.90 m."imڸ*imڸ ProNav: ac range: 333.902283 m, nav range: 331.830200 m, bearing: 10.438345 deg, approach rate: -0.548351 m/s, LOS rate: -0.005981 deg/s, cmd heading: 10.348144 deg, new cmd heading: 10.343004 deg. i#/HeadingCmd: 0.180519 target range: 333.902283 and range: 335.10 m.h8>hhhhggjgrgQereZe:e*e?颁ɢ.) * >i)8"顉ii8>=ʹ=I8>IUlGmGyABA<B>BBIB߁BB =BBBC;Bߥ%=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008342ԩ@ @@/@@@@@?9GyAYoA A I I O >G%,LA,2'@27>2^ٱ2G=2Hq?Djǿ]m?@:?@7`x֫? j?ù?i2'@I2^];0YB́ByBIIF%=)F9yYy=}Ey}dDsE>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259037Q 547?Q 94)KpBY?Q E:y>Q I@GDIh;ig;s4yɮ8ACE:iFNOT Ignoring new targets: 333.90 m."i*i ProNav: ac range: 333.902283 m, nav range: 331.607422 m, bearing: 10.434830 deg, approach rate: -0.553268 m/s, LOS rate: -0.008735 deg/s, cmd heading: 10.343004 deg, new cmd heading: 10.335970 deg. iHeadingCmd: 0.180397 target range: 333.902283 and range: 335.10 m.h8>hhhhggjgrgQBereZe:e *e `l?Bɢ) N>i)]}"AAiEiM8>M{ߙ=M&=IU8>IQYԁE  E E E "E ;*E VE ZE BE @E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510845 l%,LA2j@2Z7>2B_ٱ2z=2Hq?@8tǿIM?a9? Tݫ?@? ߸?i2j@I2];0`Y-فBy-IbDU߿VDU8ymrp=%m<=ٔm(Q-u>9yYy=}Ey}lD5&:E>Q 547?Q 94)`pBYy>Q I@GDI@;i/;z4yԒBɮA:iFNOT Ignoring new targets: 333.90 m."i*i ProNav: ac range: 333.902283 m, nav range: 331.366211 m, bearing: 10.431009 deg, approach rate: -0.550750 m/s, LOS rate: -0.008731 deg/s, cmd heading: 10.335970 deg, new cmd heading: 10.328322 deg. iHeadingCmd: 0.180263 target range: 333.902283 and range: 335.10 m.h8>h!h!h!h!g!g)jg1rg1e1re1Ze9:e9*e=~?uBɢ}()y }/>iy)}!顁ii8>qޙ==I8>Ii߱I߱checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764035M9@I @Q@U1@QE% E!E%(E!"E%T;*E!VE%c44ZE!a5@a5@a5@a=@AA؟AII9O]>i % PExceeded connect timeout, disconnecting.B5 >B5 VCB5 IB5 BB5 =B5 =DB5 պDB5 *;B5 R^ٱR=RH`p?@{ǿD?8?ua|???iRl@IRg];RC X)XZ\\\^A~Ai^#I\\I`ibr@ ``)`d f5~Af94ddhhIj`)hih)lIn(~AnԼl llppippYpYzByzI1iMb@Mb@Mb@ 9Q?333333?Zd;O?Y?y=j<@ A EA)f@YbD5VD58yEл=%EL=ٔE:Q-e>9m"?Ym"?=mEymtDu<:Eu>yQ 54}7?Q 94}Q)}ypBYl ?Q E:yQ>Q I@}GDI};i};}4yɮ>A:iFNOT Ignoring new targets: 333.90 m."i`*i` ProNav: ac range: 333.902283 m, nav range: 331.151489 m, bearing: 10.426111 deg, approach rate: -0.537769 m/s, LOS rate: -0.012274 deg/s, cmd heading: 10.328322 deg, new cmd heading: 10.318520 deg. iHeadingCmd: 0.180092 target range: 333.902283 and range: 335.10 m.hj8>hhhhggjgArgEqBeAreIZeI:eI*eM@颙ɢj˼) V>Yia)eA*!aaieimj8>mݙ=mo=Imj8>Iq9@ @@s2@ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268189AIIO>E-  E- E- &E) "E- ;*E- ՚:VE- 4ZE) BE- 8C:]ٱ:R=:Hq?vǿby?8?`8f?s˾?@h?i:3@I:c\;:CYByI !!bD5VD5g8yE=%E]=ٔEī8Q-E>9IYI=MEyM|DUֹEU>YQ 5e4]7?Q 9e4])]pBYaye<>Q Ie@] HDI]~:i]:]4yuՒBɮuAuDEԙ:iFNOT Ignoring new targets: 333.90 m."i]*i] ProNav: ac range: 333.902283 m, nav range: 330.956757 m, bearing: 10.421670 deg, approach rate: -0.531551 m/s, LOS rate: -0.012129 deg/s, cmd heading: 10.318520 deg, new cmd heading: 10.309634 deg. iHeadingCmd: 0.179937 target range: 333.902283 and range: 335.10 m.hkA8>hhhhggjgrgereZe:e*e@}Bɢ}P) e>i) 顁iы ikA8>(ݙ=M=IkA8>II)><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519307M9@I @I@M4@I^Am=A I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770974O >! _%,LLA2@2k7>2^ٱ2"=2Hq? 9vǿ?`8? j?=Ծ?`A?i2@I2\;0Ev EvEv%Et"Ev=;*Evv:VEv 4ZEtaz@a~@a~@a~@Y]By]IbDuVDuI8y~<%D=ٔҸQ->9Y=EyDeE>Q 548?Q 94)pBYy8>Q I@HDI-:i:k4yɮAB*** querying acoustic contact ***ii:i!-FNOT Ignoring new targets: 333.90 m."i5g^*i=g^m ProNav: ac range: 333.902283 m, nav range: 330.732605 m, bearing: 10.416553 deg, approach rate: -0.531955 m/s, LOS rate: -0.012152 deg/s, cmd heading: 10.309634 deg, new cmd heading: 10.299392 deg. iu챹HeadingCmd: 0.179758 target range: 333.902283 and range: 335.10 m.h8>hhhhgg)jgArgAeireqZey:e*eB @uBɢ}ż)y }ln>iy)}טyiu nManaging dock network, ignoring radio surface power offi8>ܙ=e٘=I8>I)AAAAAAB>BB IBBB =BBB';B%,DLA2@2 7>2o\ٱ2i=2Hp?Ӄǿ򵟿S? 7?u@$?@)?@?i2@I2c\;2CY>By>IipIrAzBDAT read: Rx Time:04:15:26.2368 ~TRx dataTimestamp_ set to:1764908128.285241checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279432ԹiMb@Mb@Mb@ 9L7A`?Mb?Zd;O?Y+?y=@E A )@YGAbD|VD38yEn=%E8=ٔE9S:Q-E>9IYI=MEyMD%:E>Q 548?Q 94)pBYk ?Q E:yM>Q I@'HDI:i:B4yɮA:iFNOT Ignoring new targets: 333.90 m."i*i5 ProNav: ac range: 333.902283 m, nav range: 330.496765 m, bearing: 10.409603 deg, approach rate: -0.522475 m/s, LOS rate: -0.015408 deg/s, cmd heading: 10.299393 deg, new cmd heading: 10.285482 deg. i5ṝ=HeadingCmd: 0.179516 target range: 333.902283 and range: 335.10 m.h=7>h9h9h9h9g9gAjgArgEBeAEU EUEQEQ"EUO;*EU1:VEQZEQBEU)Y) N>i)Ci4 i7>ܙ= =I7>Ie9@a @a@e/@a checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526964^A Ԙ=9 A I I O >E %,L*LA2!@28>2[ٱ2i=2H lp?ǿ }r?`87? vTr?? ?i2!@I2\;2CY> By>I DF<bDJWVDJ8yR5=%Ri=ٔRq*:Q-R>9TYT=VEyVDV:EZ?XQ 5b4Z*&8?Q 9b4Z)ZpBY`ybc>Q Ib@Z3HDIZi:iZ:Z<4ydɮjPAh:iFNOT Ignoring new targets: 333.90 m."i *i  ProNav: ac range: 333.902283 m, nav range: 330.317078 m, bearing: 10.404295 deg, approach rate: -0.499266 m/s, LOS rate: -0.014758 deg/s, cmd heading: 10.285482 deg, new cmd heading: 10.274859 deg. iعHeadingCmd: 0.179330 target range: 333.902283 and range: 335.10 m.hQ7>h1h1h1h9g9g9jg9rg9eAreAZeA:eA*eM@@颵}Bɢ) >iq)}yiiQ7>ܙ=mZ=IuQ7>IDAT read: 04:15:26.2368 LVL= 32752, 32753, 29570, 32755, AGC= 69, IDX= 418, 0.13,-3.073, 1.416,-2.927, 2.784, PHS= 0.528,-1.323, 0.528, RAW= 150.0, 2.9, CAL= 149.1, 2.8, ROT= 0.9, -2.8 AMYgot valid direction response: 04:15:26.2368 LVL= 32752, 32753, 29570, 32755, AGC= 69, IDX= 418, 0.13,-3.073, 1.416,-2.927, 2.784, PHS= 0.528,-1.323, 0.528, RAW= 150.0, 2.9, CAL= 149.1, 2.8, ROT= 0.9, -2.8 MPDAT read: Bearing 167.7, 4.3 (Local) U~Local bearing/azimuth received: Bearing 167.7, 4.3 (Local) ]DAT read: Range 11 to 50 : 333.2 m (Round-trip 444.3 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.998683,0.015689,0.048850]Fpublishing direction and range infoy[5?(?s!D?YCs )EI+?iX+?6'@4QO=ۋ&@ +H=)B- UCB- ! IB- 1BB- =B- >DB- ԺDB- 1;B-  BDAT read: Tx time:04:15:27.4383  $Ping request sent. %%,DLAY)y)iMb@Mb@Mb@ 9K7?v/?{Gz?Y ?yx=ף</ A )O@YAbDVDI8yt%3=ٔQ->9Y=EyDE>Q 5498?Q 94)pBY ?Q E:yt>Q I@CHDI:iw:<4y ֒Bɮ YA EE)ii+j2LAjC"jC:jB>"pG 4t@֣ @c70@p[5?(?s!D?*j<2j+H*pZxDt@PYdO@"RZ=A@pc3A?~M"?"z"?jxB j'Ci"?iXjBj"?jjBrjݤCzj/9>] addTargetRange:: Added new target pos. range: 333.200012 m, deltaT: 4.032743 s, deltaX: -1.899994 m, approachRate: -0.471142 m/s, rangeRepo size: 4 m Added new target pos. range: 332.012634 m, bearing: 10.855468 deg, lat: 36.779503 deg, lon: -121.859627 deg, deltaT: 4.032743 s, deltaX: -1.889648 m, approachRate: -0.468576 m/s, posRepo size: 4 :iquFNOT Ignoring new targets: 332.01 m."iu*iq ProNav: ac range: 332.012634 m, nav range: 329.732117 m, bearing: 10.406407 deg, approach rate: 0.000000 m/s, LOS rate: -0.014758 deg/s, cmd heading: 10.274859 deg, new cmd heading: 10.261866 deg. iHeadingCmd: 0.179103 target range: 332.012634 and range: 333.20 m.hf7>hhhhggjgrgBereZe:e@3t@*e@u?IɢM衼)Q Ut>iQ)U*QQiU<i]f7>]|ݙ=]B=If7>I@ @@@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250623ԑbEjEȻ 4rEȲ/E  E E 'E "E ;*E ҆:VE '4ZE BE OR%,1^LA29@238>2\Zٱ2=2H]p?@7ǿ|.j?{7?h@GH? پ??i29@I2\;2CY>By> IbDFVDFH8yN|=%N`=ٔRFg:Q-R>9R ?YR ?=REyVDV79EV>XQ 5^4ZGI8?Q 9^4Z)ZqBY`yb>Q Ib@ZPHDIZ":iZ:Z4ydɮfAd:ix~FNOT Ignoring new targets: 332.01 m."i~ *i~  ProNav: ac range: 332.012634 m, nav range: 329.537048 m, bearing: 10.399454 deg, approach rate: -0.542455 m/s, LOS rate: -0.019347 deg/s, cmd heading: 10.261867 deg, new cmd heading: 10.247952 deg. i  HeadingCmd: 0.178861 target range: 332.012634 and range: 333.20 m.h5'7>hhhhggjgrg!e!re!Ze!:e!*e-`BZ?U|BɢUy)] ]s>iY)]YYi]4ie5'7>e7ޙ=mh=Im5'7>Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501273ԁ%9@! @!@!@)ԩ^AX= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753541A ؟AI) I9 OM > E  E E *E "E ;*E M:VE (N4ZE a @a @a @a @{t%,3oxLA2@28>2<Yٱ2,m=2H@o? -ǿ OԞ ?`7?bG?PϾ?@?i2@I2+\;2CY>By> IbDFwVDF.8yNv=%RK=ٔR#V:Q-R>9R"?YV"?=VEyVDV:EV>XQ 5M4ZrZ8?Q 9M4Z)Z+qBYQyU>Q IU@Z^HDIZh)h)h)h1g9gAjgIrgQereZe:e*e ?ɢ) >i)@!!i% iM6>Mߙ=M؜=IM6>IQBiAm4<BqBqBu4 IBu@BBu =BqBqBu>;BuA >y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259094A I I) O= >$%,*LANP@N9>NWٱNG=NHXo?`Dǿiv?6?[@ ?ľ?@&?iNP@IN\;LYZ'ByZ Ii=Mb@Mb@Mb@9999 99=~jt?`"?Mb?Y=?y===<=@=A =A)99Y=AbDUVDU?8ye=%e2=ٔe:Q-e>9iYi=mEymDu0:Eu>yQ 54}9m8?Q 94})}FqBY=?Q E:y>Q I@}mHDI}:i}:}4yɮA:iFNOT Ignoring new targets: 332.01 m."iHŹ*iHŹDzDAAE EE&E"E*Eh:VE4ZEBELhyhyhyhyggjgrgBereZe:e*e`"?{BɢFf) >i!)EcAAiEiM6>M=Mf$=IM6>IQ9@ @@/@ԙ-*?-?5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509513^A] ܝ=A I I O > ?*%,LA>,@>@R9>>(Vٱ>T'=>H2o?`rǿX?`7? +`?`g?`?i>,@I>,];>CYJByJ IbDnlVDn$8yv%vS=ٔvM:Q-z>9xYx=zEyzD~j:E~>Q 5 4}8?Q 9 4)]qBY y  >Q I@zHDIC:i:h4yBɮA=E:iAEFNOT Ignoring new targets: 332.01 m."iMu*iMu] ProNav: ac range: 332.012634 m, nav range: 328.885284 m, bearing: 10.374365 deg, approach rate: -0.515917 m/s, LOS rate: -0.020595 deg/s, cmd heading: 10.213712 deg, new cmd heading: 10.197741 deg. i]eHeadingCmd: 0.177984 target range: 332.012634 and range: 333.20 m.hezA6>hahahahagigijgirgieqreqZeq:eq*e}??颡ɢ\) %>i)¿顩i)izA6>M==IzA6>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762367E EE#E"E ;*Ev:VE3ZEa@a@a@a%@9@A @A@I@I uu>}C9 M Gu /{AB >B VCB G IB OBB =B B պDB 6;B 2%,LANV@N9>NUٱN}=NHUn?=ǿl=?6?3@ ?x??iNV@IN\;NCYZ$By^ Ionly read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00 +0.00, 20.00,1620.85 a@a a%@a% a%@a% a%@a% !%<bD-tVD-,8y=<%=3=ٔE9Q-E>9E ?YE ?=MEyMDM:EM>QQ 5]4Uӏ8?Q 9]4UT)UwqBQ Ae+:YaQ Ee:ye^>Q Ie@UHDIU;iU,>U4yiɮmAq:i15FNOT Ignoring new targets: 332.01 m."i=*i=M ProNav: ac range: 332.012634 m, nav range: 328.649597 m, bearing: 10.364922 deg, approach rate: -0.493652 m/s, LOS rate: -0.019793 deg/s, cmd heading: 10.197741 deg, new cmd heading: 10.178841 deg. iMUHeadingCmd: 0.177654 target range: 332.012634 and range: 333.20 m.hU5>hQhQhQhQgQgYjgyrgyereZe:e*eƬ@ɢh) >i)l顙i"i5>==I5>Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2668337ƙ e9@a @a@a@a@m=@m=E EE%E"E ;*EM:VE 4ZEBEa2EaJER;a:ER;a9^AM =AU wAzAU xAi  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517403A} ؟AI I O >8%,oLA2@2@&:>2sTٱ2=2H-n? ǿ`ȝ?s6?}1@i?Fw??i2@I2[\;0Y>+By> IbDHVDHyN =%NL=ٔR(:Q-R>9V"?YV"?=VEyVDV9EZ>XQ 5^4Z38?Q 9^4Z )ZqBQ Ab :Y`Q Eb:ybt>Q If@ZHDIZh;iZ[?Zv4yjBɮjAh:ix~FNOT Ignoring new targets: 332.01 m."iǹ*iǹ ProNav: ac range: 332.012634 m, nav range: 328.443390 m, bearing: 10.356643 deg, approach rate: -0.542828 m/s, LOS rate: -0.021809 deg/s, cmd heading: 10.178841 deg, new cmd heading: 10.162272 deg. iHeadingCmd: 0.177365 target range: 332.012634 and range: 333.20 m.h25>hhhhgg!jg!rg!e)re)Ze):e)*e-@]zBɢ]=)Y ]I>Թi)6c!i%i%25>-=-J=I-25>I)1199checking for new query: numPingsReceived=0, elapsed TxPingTime=2.76951959@9 @9@9@9Em  Em Ei Ei "Em ;*Em :VEi ZEi au @au @au @au @A ^A% =A @AA ?AB >B B B B =B =DB B ;;B XA%,CLA"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0333796L@6@v:>6Tٱ6F=6H@m?ǿ %?`5?(;??@l?i6L@I6\;6CYB$ByB Ia}a} a}a} a}a} a}a} i}Mb@Mb@Mb@yyyy y9}+?zG?{Gz?Y}v>y} =}#<}n@}A }A)}9@yY}@bDVD?8yμ%=ٔ @9Q->9Y=EyDD:E>Q 548?Q 94)qBQ AT:Y?Q E:yI>Q I@HDIa:ij:w4yBɮA>EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 332.01 m."i*i  ProNav: ac range: 332.012634 m, nav range: 328.188324 m, bearing: 10.347314 deg, approach rate: -0.494742 m/s, LOS rate: -0.018109 deg/s, cmd heading: 10.162271 deg, new cmd heading: 10.143599 deg. i%HeadingCmd: 0.177039 target range: 332.012634 and range: 333.20 m.h%I5>h!h!h!h!g!g!jg)rg-lBe)re1Ze1:e1*e5 @aɢe{F)a e>ia)mHiiimZiuI5>u.=uEY=IuI5>Iy@ @@/@BDAT read: Rx Time:04:15:30.2844 TRx dataTimestamp_ set to:1764908132.327276checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287194^A-z=I E  E E E "E ;*E $:VE ZE BE +G%,LA2@2:>2KRٱ2=2H@m?]ǿ3`4/?4?CF?`¡?E?i2@I2M\;0Y>,ByB I DDbDJVDJk8yRS'=%R]=ٔVҘ:Q-V>9TYT=VEyZDZI:EZ>\Q 5b4^#8?Q 9b4^)^qBYdyfk>Q If@^HDI^9:i^S:^4yhɮjAh:i|FNOT Ignoring new targets: 332.01 m."i!*i ! ProNav: ac range: 332.012634 m, nav range: 328.005157 m, bearing: 10.340596 deg, approach rate: -0.494744 m/s, LOS rate: -0.018155 deg/s, cmd heading: 10.143599 deg, new cmd heading: 10.130156 deg. ieHeadingCmd: 0.176805 target range: 332.012634 and range: 333.20 m.heC 5>hahahahagagijgirgieireqZeq:eq*eu @9ɢE?)A E>iA)EsAIiM:l!iMC 5>U=Uj:=I]C 5>Ia>i>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.537441Y@ @@0@y^A͢=A>A>ԩ A I I I O > DAT read: 04:15:30.2844 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 409, 0.20, 3.053, 1.594,-2.996, 2.564, PHS= 0.590,-0.925, 0.679, RAW= 152.8, -4.5, CAL= 152.5, -5.8, ROT= 357.5, 5.8  Ygot valid direction response: 04:15:30.2844 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 409, 0.20, 3.053, 1.594,-2.996, 2.564, PHS= 0.590,-0.925, 0.679, RAW= 152.8, -4.5, CAL= 152.5, -5.8, ROT= 357.5, 5.8  PDAT read: Bearing 159.6, -0.3 (Local)  ~Local bearing/azimuth received: Bearing 159.6, -0.3 (Local)  DAT read: Range 11 to 50 : 331.4 m (Round-trip 441.9 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.993934,-0.043396,-0.101056] Fpublishing direction and range infoy  )AN?xy38+hg޹Y C      ) GI = ?i l -? *@ |٠ X*@  4QϽ) i@I 4Q=    v?gK?\V`᳿  ?) 4=I Ѹ2i 4Q=  % T****** received valid address query ******% R****** received valid ping request ******% Querying Benthos address 50 with one ping in standard two-way mode./UM%,7LA2@2:>2Oٱ2W=2H'n? ^ǿF g'?"6?@+ ?x? +?i2@I2\;2C@Y@y@bDNVDNa8yV錺%VJ=ٔVz:Q-V>9XYX=ZEyZDZ!E^>E EE'E"Ef;*E:VE'4ZEa@a@a@a@!Q 5-4%8?Q 9-4%j)%qBY)y-M>Q I5@%HDI% :i%p:%4y}Bɮ}AyiAiEA5LAjEC"jEC:jE(>"pEt@n5,[^@pE)AN?xy38+hg޹*jEѸ22jE4Q=*pE _t@ H@HՉ)2pE~|?SZ:?Ȫ(jEpFB jECiEC!?iE4їjE;BjE?jAjE BrjECzjE7x8> addTargetRange:: Added new target pos. range: 331.399994 m, deltaT: 4.044423 s, deltaX: -1.800018 m, approachRate: -0.445062 m/s, rangeRepo size: 4 Ա Added new target pos. range: 330.224884 m, bearing: 8.653501 deg, lat: 36.779506 deg, lon: -121.859627 deg, deltaT: 4.044423 s, deltaX: -1.787750 m, approachRate: -0.442028 m/s, posRepo size: 4 :i1=FNOT Ignoring new targets: 330.22 m."im*iq ProNav: ac range: 330.224884 m, nav range: 328.122375 m, bearing: 10.321610 deg, approach rate: 0.000000 m/s, LOS rate: -0.018155 deg/s, cmd heading: 10.130157 deg, new cmd heading: 10.112524 deg. iB->B-UCB-M IB-TBB- =B->DB-ԺDB-N;B-)hhhhggjgrgereZe:e`ft@*ej?MyBɢMf"p)I Mr>iQ)UMQQQiU"#e*DAT read: user:174> mBDAT read: Tx time:04:15:31.4883 m$Ping request sent.m,=I4>I9@ @@/@ ^A= &=1 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250841AIIQIaOu>LU%,7VLA=a@=9>=Jٱ===H@p?ǿ͛`?9?`mX?@'?ڼ?i=a@I=\;=CYuByu IieMb@Mb@Mb@aaaa a9e%C?#~j?MbP?YeZ?ye=e:eA@eA a)e @aYe(@ }<}<bDɿVDz8yB%=ٔh;Q->9Y=EyDa'E>D=D=E EE#E"E;*E:VE3ZEBEm_Q I@HDI:i:p4yɮ8A:i FNOT Ignoring new targets: 330.22 m."i K*iK ProNav: ac range: 330.224884 m, nav range: 327.867157 m, bearing: 10.314638 deg, approach rate: -0.556816 m/s, LOS rate: -0.015223 deg/s, cmd heading: 10.112525 deg, new cmd heading: 10.098570 deg. i%޹-HeadingCmd: 0.176253 target range: 330.224884 and range: 331.40 m.h-{4>h)h)h)h)g)g)jg1rg5GBe1re1Ze9:e9*e=@?ɢAO) >i)DiM%i{4>=.=I{4>I!@ @@/@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502686A^A q A .AI I) OE >Nm[%,oLAB4@B@S8>BGٱB=BH !r?Dzǿ? ;?O濿ݨ?`$$?`I?iB4@IB,];BCYN&ByR IbDfVDf8yz+'=%~j=ٔ~T/;Q->9  ?Y  ?= Ey D E>!Q 5-4%8?Q 9-4%)%qBY1y==>Q I=@%HDI%1;i%V;%4yMBɮMAU?E:i  FNOT Ignoring new targets: 330.22 m."ir*irE ProNav: ac range: 330.224884 m, nav range: 327.687469 m, bearing: 10.309747 deg, approach rate: -0.486765 m/s, LOS rate: -0.013256 deg/s, cmd heading: 10.098570 deg, new cmd heading: 10.088783 deg. iE¹MHeadingCmd: 0.176082 target range: 330.224884 and range: 331.40 m.hMN4>hIhIhIhIgIgQjgQrgQeQYreYZey:ey*e}`k?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754952xBɢ=O*)9 Eŭ>iA)E?AAiE޳'iMN4>M=MC=IMN4>IQ9@ @@/0@ԉE EEE"E1;*E5:VEZEa@a@a@a@ԹB A <B >B TCB B B =^AU +=Am xAzAm wAB B ӺDB a;B 6,Ib%,dLAY%$By% IiMb@Mb@Mb@ 9x&1?X9v?{Gzt?Y?y}=ף; A)@Y@bDVD8y%>=ٔQ->9Y=EyDE>Q 54^ 9?Q 94)qBY?Q E:y>Q I@HDIv;i;4yBɮA%B*** querying acoustic contact ***i!i!:i)5FNOT Ignoring new targets: 330.22 m."i=VM*i=VMM ProNav: ac range: 330.224884 m, nav range: 327.472290 m, bearing: 10.305197 deg, approach rate: -0.530266 m/s, LOS rate: -0.011220 deg/s, cmd heading: 10.088783 deg, new cmd heading: 10.079677 deg. iMDMHeadingCmd: 0.175924 target range: 330.224884 and range: 331.40 m.hUM%4>hQhQhQhQgQgYjgYrg]HBeYreaZea:ea*eeT?颕wBɢ86) s>i)*顙i)iM%4>F=-=IM%4>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258841@ @!@%I0@!bEyjE}O4rE}60E EE%E"E7;*E?:VE 4ZEBEZh%,=LA2@26>2&@ٱ2c=2H u??ǿ`ð@Z?>?@w???i2@I2r];2C>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510876YB'ByB I DDHJAbDNVDN8yVM}<%VQ=ٔZ;Q-Z>9^"?Y^"?=^Ey^ D^E^>`Q 5f4bf9?Q 9f4bb)brBYhye>Q Ie@bHDIbhhhhggjgrgereZe:e*e?ɢ1) V>i)i+i 3> ==I3>I9@ @@05@^A =5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763154) A .AI I O >E=  E9 E= $E9 "E= ;*E9 VE= 4ZE9 aE @aE @aE @aE @n%,ԾLA2@2`5>2;ٱ2=2Hw?`ǿ`嘿`? A?@=`o?S?S?i2@I2];2CYB&By@bDNVDN8yV R%VK=ٔVk4;Q-V>9Z ?YZ ?=ZEyZDb&Ef>pQ 5v4r *9?Q 9v4r)rrBYtyv_>Q Iv@rIDIr:ir%:r4y|ɮ~A:i!-FNOT Ignoring new targets: 330.22 m."i5H*i=H ProNav: ac range: 330.224884 m, nav range: 327.069366 m, bearing: 10.296813 deg, approach rate: -0.528772 m/s, LOS rate: -0.010970 deg/s, cmd heading: 10.071414 deg, new cmd heading: 10.062897 deg. B>BSCBBB =BBBx;BGhhhhggjgrgere Ze:e*e%@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014853颥vBɢ@) >i) i-i3>5 =8=I3>I@ @@-5@yԩ ^A ܝ=A A >M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267663A I! I1 O= >u%, LA2@2@4>27ٱ2"=2Hx?ƿ' lq?aC?@c?‹?`?i2@I2B^;2CY>=By>1 IHi=Mb@Mb@Mb@9999 99=%C?Q?~jtx?Y=Z?y=u==;=X@=rA =@)99Y9bDUVDU8ye|=%e@=ٔe# ;Q-m>9iYi=mEyuDuEu>yQ 54};9?Q 94}%)},rBY??Q E:y>Q I@}IDI}:i}:}E4yɮA@E:iFNOT Ignoring new targets: 330.22 m."i7*i7 ProNav: ac range: 330.224884 m, nav range: 326.852173 m, bearing: 10.292593 deg, approach rate: -0.517029 m/s, LOS rate: -0.010052 deg/s, cmd heading: 10.062897 deg, new cmd heading: 10.054452 deg. i,HeadingCmd: 0.175483 target range: 330.224884 and range: 331.40 m.h3>hhhhggjgrgaBereZe:e*ea@E EE'E"E;*EM:VE'4ZEBEK\i9)Eh AAiE~u/iM3>M =Mmg=IM3>IQ@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518660^AX=A ؟A! I1 II Oe >{%,NLA|Y=:By=- IIEY>)E<bDMVDM8y]>v%eK=ٔeQ-e>9e"?Ym"?=mEym%DmEm>Q 54L9?Q 94);rBYyQ I@"IDI:i;L4yɮA:iFNOT Ignoring new targets: 330.22 m."i4*i4 ProNav: ac range: 330.224884 m, nav range: 326.644562 m, bearing: 10.288554 deg, approach rate: -0.507041 m/s, LOS rate: -0.009870 deg/s, cmd heading: 10.054452 deg, new cmd heading: 10.046369 deg. i  HeadingCmd: 0.175342 target range: 330.224884 and range: 331.40 m.h 3>h hiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771164hh!g!g!jg)rg)e)re)Ze1:e1*e5 4@etBɢe)a ep>ia)mH iiimu}1iu3>u =uۛ=Iu3>Iy))@) @1@5/@1E) E-E-&E)"E)*E-:VE-4ZE)a5@a5@a5@a5@G 5렿99YEAY^AUD=B5>B1B1B1B1B1B1B5;B5UJ%,1% LA6²@63>6/ٱ6.=6H`z?ƿ X1M?@VD?F ?`bͽ??i6²@I6^;6CYB99Y9=EEyE-DEe7EE>IQ 5U4M]9?Q 9U4M)MJrBYU?YQ E]:y]>Q Ie@M/IDIM0;iM /;MB4yiɮmAmAEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 330.22 m."i8*i8 ProNav: ac range: 330.224884 m, nav range: 326.434937 m, bearing: 10.284601 deg, approach rate: -0.534407 m/s, LOS rate: -0.010084 deg/s, cmd heading: 10.046369 deg, new cmd heading: 10.038458 deg. iHeadingCmd: 0.175204 target range: 330.224884 and range: 331.40 m.hh3>hhhhggjgrgPBereZe:e*e GS @}sBɢ}) >i) 顉if3ih3> ==Ih3>Im9@i @i@i@iԉ5BDAT read: Rx Time:04:15:34.3483 5TRx dataTimestamp_ set to:1764908136.359467=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276501ԱE= E=E='E9"E=f;*E=h:VE='4ZE9BE=W_%,&&LA2Ĭ@2@2>2}+ٱ2T =2H]|?૲ƿ1U6?E?@j6Q~?@ɽ??i2Ĭ@I2yi_;2CY>FBy>; IBchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526854bDpVDpyvM=%zO=ٔz;Q-z>9xY|=~Ey~5D~E>Q 5 4n9?Q 94t)XrBYy]>Q I@=IDIP:i:*$4yɮ%A!:iAMFNOT Ignoring new targets: 330.22 m."iM85*iM85] ProNav: ac range: 330.224884 m, nav range: 326.226929 m, bearing: 10.280700 deg, approach rate: -0.527731 m/s, LOS rate: -0.009902 deg/s, cmd heading: 10.038458 deg, new cmd heading: 10.030652 deg. ieeHeadingCmd: 0.175068 target range: 330.224884 and range: 331.40 m.heE3>hihihihigigijgqrgqeqreqZeq:ey*e}Rz@颥qBɢ}) g>i)顩i^5iE3> =C=IE3>IU9@Q @Q@Q@Q^Au=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781347iA I I! O- >Ee  Ee Ee &Ea "Ee ~ ;*Ee :VEe 4ZEa am @am @am @am @y 9%,^?LA2@2`2>2k'ٱ2=2H }?`ƿ@7c  ? F?( ?`Ƚ?t?i2@I2H_;2CY< I @@bDF VDF8yNw;%RP=ٔR,;Q-R>9TYT=VEyV=DV EV>XQ 5b4Z\9?Q 9b4Z)ZgrBYdyf>Q If@ZJIDIZ*;iZ+;Z +4yjBɮjAj8E:i|~FNOT Ignoring new targets: 330.22 m."i}3*i}3 ProNav: ac range: 330.224884 m, nav range: 326.019806 m, bearing: 10.276837 deg, approach rate: -0.525524 m/s, LOS rate: -0.009808 deg/s, cmd heading: 10.030652 deg, new cmd heading: 10.022921 deg. iHeadingCmd: 0.174933 target range: 330.224884 and range: 331.40 m.h!3>hhhhggB>BRCBZ IB^BBBBҺDB;BYi)%!!i%7YCOkW O)FIQ>ix ?)@+<8(@ )@I:%^s|,?y?" ? h?)O ID+i:]T****** received valid address query ******]R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.iu!3>}{ =},=I}!3>Iyԁ@ @@@Ա^A =M *DAT read: user:175> U BDAT read: Tx time:04:15:35.7383 U $Ping request sent.] P%,'\LA:@:1>:t#ٱ:G=:HM~?ێƿN`?F?./m?ڽ??i:@I:;^`;:CYFVByJP IDlDn<Er ErEpEp"Er ;*Er՚:VEpZEpBErR9yYy=}Ey}GD}uϹE>Q 549?Q 94ԑ+){rBY?Q E:y5>Q I@ZIDI0;i/;634yɮ>AiimGLAjHC"jHC:jl'>"p Hu@HQ  addTargetRange:: Added new target pos. range: 341.799988 m, deltaT: 4.283926 s, deltaX: 10.399994 m, approachRate: 2.427678 m/s, rangeRepo size: 4  Added new target pos. range: 340.566772 m, bearing: 9.367744 deg, lat: 36.779524 deg, lon: -121.859655 deg, deltaT: 4.283926 s, deltaX: 10.341888 m, approachRate: 2.414115 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 340.57 m."i*i ProNav: ac range: 340.566772 m, nav range: 327.378021 m, bearing: 9.778861 deg, approach rate: 0.000000 m/s, LOS rate: -0.009808 deg/s, cmd heading: 10.022921 deg, new cmd heading: 10.013355 deg. iHeadingCmd: 0.174766 target range: 340.566772 and range: 341.80 m.h2>hh h h g g jgrgVBereZe:e\u@*e`?颅oBɢp) >i){顑iJ9i2> =&K=I2>IE9@A @A@E/@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249869^Aa  A .AI I O >؜%,PuLA2_@2X1>2nٱ2q=2H V? zƿka y ?`G?`%@?`ݽ?@?i2_@I2M`;2CYBHByB> IIbDNVDNǰ8yV%VX=ٔZ>*;Q-Z>9Z ?YZ ?=ZEy^OD^E^>`Q 5f4bע9?Q 9f4b)brBYhyj>Q Ij@bfIDIbG:ib:b94rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501564ytɮvAt:i FNOT Ignoring new targets: 340.57 m."i9*i9- ProNav: ac range: 340.566772 m, nav range: 327.183289 m, bearing: 9.775214 deg, approach rate: -0.542139 m/s, LOS rate: -0.010159 deg/s, cmd heading: 10.013355 deg, new cmd heading: 10.006057 deg. i--HeadingCmd: 0.174639 target range: 340.566772 and range: 341.80 m.h5y2>h1h1h1h1g1g1jg9rg9e9reAZeA:eA*eE~?mBɢ) >i)=iG};iy2>%v=%=I%y2>I!@ @@/@E EE$E"E ;*E:VE4ZEa@a@a@a@!B>BBf IBiBB =BBB;BPy %,8LA2@2@0>2*ٱ2 !=2HӀ?``\ƿ@oj@u?`tI?Z? Lͽ?g?i2@I2`;2CYf^ByjY IIr<)r;iMb@Mb@Mb@ 9~jt? rh?~jt?Y?yC=<A @)Y@bDVD8y=%9=ٔZ%;Q->9Y=EyWD E>Q 54Q9?Q 94)rBY?Q E:y>Q I@uIDI:i:A4yɮA9EQB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 340.57 m."iM*iM ProNav: ac range: 340.566772 m, nav range: 326.955780 m, bearing: 9.770102 deg, approach rate: -0.499480 m/s, LOS rate: -0.011232 deg/s, cmd heading: 10.006057 deg, new cmd heading: 9.995825 deg. iqHeadingCmd: 0.174460 target range: 340.566772 and range: 341.80 m.h2>hhhhggjgrgmBereZe:e*e?elBɢe)a eI>ii)m|checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005694i)i-=i52>5f=5u=I52>I9IA)ExAԁ@ @@/@@=@=E EE!E"E ;*E:VEc3ZEBERQ%,-LA:}@:`/>:2Sٱ:d=:H?@Gƿi`?J?꾿Qɢ? ?@?i:}@I:-`;8YJgByJe IbDRVDR8yZI=%Z^=ٔZE;Q-^>9\Y\=bEyb_DbEb>dQ 5j4f9?Q 9j4f)frBYhynd>Q In@fIDIfu:if;fG4ypɮrAp:i  FNOT Ignoring new targets: 340.57 m."i]*i]% ProNav: ac range: 340.566772 m, nav range: 326.765503 m, bearing: 9.765838 deg, approach rate: -0.540640 m/s, LOS rate: -0.012123 deg/s, cmd heading: 9.995826 deg, new cmd heading: 9.987292 deg. i%|-HeadingCmd: 0.174311 target range: 340.566772 and range: 341.80 m.h-~2>h)h)h)h)g1g1jg1rg1e9re9Ze9:eA*eE 0?kBɢQ;)  >i ) i?i~2>%=%=I%~2>I)Ա9@ @@.0@iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509787^A= I I O >E  E E #E "E ~ ;*E E:VE 3ZE a- @a- @a- @a- @9 &Ұ%,mqLAB&>B$B&y IB&xBB$B$B$B&r;B&>RٱR.=RH?GƿV?pJ? z\? Eɽ? ?iRE@IR`;PY]kByei IbDVD8uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764128ys<%0=ٔ:Q->9Y=EyhDQ9E>Q 5 49?Q 9 4)rBYyn>Q I@IDI4;i5;IP4y!ɮ%A!:iquFNOT Ignoring new targets: 340.57 m."i}Q*i}Q ProNav: ac range: 340.566772 m, nav range: 326.519257 m, bearing: 9.760309 deg, approach rate: -0.509813 m/s, LOS rate: -0.011454 deg/s, cmd heading: 9.987292 deg, new cmd heading: 9.976227 deg. iHeadingCmd: 0.174118 target range: 340.566772 and range: 341.80 m.hK2>hhhhggjgrgereZe:e*eQ}@EiBɢE>n:)A E?i):"顩iBiK2>t=s=IK2>IA@ @@0@i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014198^A <=I I O >1%,8LLA 6w@6;0>6ٱ6=6H@?Gƿ@G?&J? /¡?۽? !?i6w@I6a;6CYN{ByR| IbEM4jEM4rEMI"0Eb EbEb'E`"Eb7;*Eb:VEb'4ZE`BEbZ9qY=EyoD9E>!Q 5-4%9?Q 9-4%)%rBY-) ?Q E-:y-(>Q I5@%IDI%:i%:%V4y9ɮ=A9:iaeFNOT Ignoring new targets: 340.57 m."im6L*im6L} ProNav: ac range: 340.566772 m, nav range: 326.320007 m, bearing: 9.756195 deg, approach rate: -0.540062 m/s, LOS rate: -0.011158 deg/s, cmd heading: 9.976227 deg, new cmd heading: 9.967994 deg. i}^HeadingCmd: 0.173974 target range: 340.566772 and range: 341.80 m.hR&2>hhhhggjgrgkBereZe:e*eh@hBɢ<) + ?i)ikDiR&2>=5=IR&2>Iy@ @@1@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265939ԙ^AI1 II O} > i&%,'LA6S@6 0>6: ٱ6+=6H? FTƿ@ĭ?I?@-Y?@??i6S@I6`;6CLYRuByRv Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517662bD^VD^°8yjܼ%jU=ٔn;Q-n>9lYl=rEyrwDry:Er>tQ 5z4v9?Q 9z4v)vrBYxy~c>Q I~@vIDIv:iv+;v6]4yɮFA:E:i)-FNOT Ignoring new targets: 340.57 m."i5I*i5IE ProNav: ac range: 340.566772 m, nav range: 326.126556 m, bearing: 9.752180 deg, approach rate: -0.531129 m/s, LOS rate: -0.011029 deg/s, cmd heading: 9.967993 deg, new cmd heading: 9.959959 deg. iEzMHeadingCmd: 0.173834 target range: 340.566772 and range: 341.80 m.hM2>hIhIhIhIgQgQjgQrgQeYreYZeY:eY*eeR@颍gBɢ<) ?i)顑ihFi2>&=q=I2>I1@1 @1@54@1E EE&E"E*E:VE4ZEa@a@a@a@AIAMAABaBaBe IBeBBe =BaBaBeT;BeA %, LAR@R`0>R~ZٱR =RH ?VVƿ܈?H??c ?@?iR@IR`;RCYf|Byf~ IiMb@Mb@Mb@ 9E?sh|??:v?Y?y=T<EA |@)@YbDVDȰ8y<%==ٔ';Q->9Y=EyD9E>Q 54 :?Q 94)rBY\?Q E:y>Q I@IDIv;i;d4yɮAB*** querying acoustic contact ***ii:i FNOT Ignoring new targets: 340.57 m."i 5*i 5 ProNav: ac range: 340.566772 m, nav range: 325.899872 m, bearing: 9.745936 deg, approach rate: -0.524161 m/s, LOS rate: -0.014448 deg/s, cmd heading: 9.959959 deg, new cmd heading: 9.947463 deg. iӹ%HeadingCmd: 0.173616 target range: 340.566772 and range: 341.80 m.h%c1>h!h!h!h)g)g)jg1rg5mBe1re1Ze1:e9*e=n @efBɢe;)i m ?ii)mqqiu[Hiuc1>}Y=}=I}c1>IyiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023102@ @@4@AE EE$E"E;*E:VE4ZEBEm_ԙ } BDAT read: Rx Time:04:15:38.5791  TRx dataTimestamp_ set to:1764908140.642827 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274605R8%,*LA2(@2q1>2ٱ2=2H1?dƿSe? G?[?&? ?i2(@I2yt`;2CY>By> IIjY>)j= r9)Y1=5Ey5D]:E]>aQ 5u4e:?Q 9u4ey)esBYy>Q I@eIDIe;ie;ek4yɮA;E:iFNOT Ignoring new targets: 340.57 m."ig*i%g- ProNav: ac range: 340.566772 m, nav range: 325.694275 m, bearing: 9.740246 deg, approach rate: -0.506710 m/s, LOS rate: -0.014032 deg/s, cmd heading: 9.947463 deg, new cmd heading: 9.936075 deg. i-r͹UHeadingCmd: 0.173417 target range: 340.566772 and range: 341.80 m.h]I1>hYhYhYhYgYgYjgargaeareaZei:ei*em. @eBɢz <) ?i){/iJi-I1>U;=U=I]I1>IaԩE9@A @A@E4@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525564^Am =E  E E %E "E ;*E 1:VE 4ZE a @a @a @a @  u> Cu $G  M 뤿9I YM ѡAA ؟AI I O >BE >BA BE IBE BBE =BA BA BE ';BE ;E!%,ADLAn9@n1>nٱnB=nH?Glƿ@@ 6?9G? ?@2?@?in9@In[`;nCYAyM IbDVD8y5I:%5-=ٔ= ;Q-=>9="?YE"?=EEyEDE,P:EE>uDAT read: 04:15:38.5791 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 244,-0.38, 2.005, 0.456, 2.230, 1.514, PHS= 0.594,-1.012, 0.672, RAW= 152.4, -3.1, CAL= 151.8, -4.3, ROT= 358.2, 4.3 }Ygot valid direction response: 04:15:38.5791 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 244,-0.38, 2.005, 0.456, 2.230, 1.514, PHS= 0.594,-1.012, 0.672, RAW= 152.4, -3.1, CAL= 151.8, -4.3, ROT= 358.2, 4.3 PDAT read: Bearing 160.7, -0.7 (Local) ~Local bearing/azimuth received: Bearing 160.7, -0.7 (Local) Q 54/:?Q 94Խ)sBYy,>Q I@IDI:i:s4yɮADAT read: Range 11 to 50 : 327.5 m (Round-trip 436.7 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.996693,-0.031322,-0.074979]Fpublishing direction and range infoyIM6[?)qu ]1YMCIMMM M)IIMb?iM7M1,?M;*@Mk]M)@ M`)M@IM`=IIM`Jղ-?_O$# ?.m⫿ M7?)M92_=IMѭiM`=IIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iIiMILAjM(C"jM(C:jM>"pM3'iSt@@2q$m|w8pM6[?)qu ]1*jMѭ2jM`=*pMNV#t@>H@*e߹.pMD?[9G?G;J.2jMDB jMCiM#@?iMyijM`GBjMC!?jMb'jMLmBrjM>CzjMB,>} addTargetRange:: Added new target pos. range: 327.500000 m, deltaT: 4.032580 s, deltaX: -14.299988 m, approachRate: -3.546114 m/s, rangeRepo size: 4  Added new target pos. range: 326.315765 m, bearing: 8.673345 deg, lat: 36.779534 deg, lon: -121.859657 deg, deltaT: 4.032580 s, deltaX: -14.251007 m, approachRate: -3.533967 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 326.32 m."i*ie ProNav: ac range: 326.315765 m, nav range: 326.488922 m, bearing: 9.664610 deg, approach rate: 0.000000 m/s, LOS rate: -0.014032 deg/s, cmd heading: 9.936075 deg, new cmd heading: 9.922558 deg. iamHeadingCmd: 0.173181 target range: 326.315765 and range: 327.50 m.hmpV1>hihihihigqgqjgqrgqeyreyZey:ext@*e@p\?额dBɢl;) }?i)*I顡iK0MipV1>=+=IpV1>I1 @  @ @ 1@  *DAT read: user:176>  BDAT read: Tx time:04:15:39.7883  $Ping request sent. 2Fٱ2ȃ=2H`?(lƿ7x{?@G?@twӞ?:??i2@I2״_;2CY>By> IiMb@Mb@Mb@ 9Pn?+η?Q?Y?yv=u<@ )@YQ@bDVD8y%3<%-<=ٔ-1;Q-->95 ?Y5 ?=5Ey5D=i9E=>AQ 5E4EkA:?Q 9M4Eջ)E)sBYMG?Q E:y>Q I@EIDIEEhahaihahggjgrguBereZe:e*eY?ɢT<)  ?i )   i [Oi1>i=Bn=I1>IU9@Y @Y@]5@Yԙ^A D= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503463A ؟AI I O >c%,~LA>L@>@2>>Fٱ>=>H!?@9ƿ@H"`7?E? !:3؝?c??i>L@I>K_;>CYJByJ IRAAPbDRVDR8yZ%ZS=ٔ^";Q-^>Eb EbEb#E`"Eb;*Eb :VEb3ZE`af@aj@aj@aj@9j"?Yj"?=jEynDn;En>pQ 5v4rQ:?Q 9v4r)r9sBYxyzy>Q Iz@rIDIr :ir::r+4y|ɮ~A~hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*eU&?颅cBɢ*od<) ?i)a顉i`Qi0>===I0>IB<A<B>BB IBBB =BBB;B;E@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758081 ^A1) Ai Iy I O >%,jlLAbchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006517YBy IiMb@Mb@Mb@ 9y&1?bX9ȶ?~jt?Y`?yE=D<@A @) @Y@bD׿VD8y=%:=ٔQ->9Y=EyDE>Q 54c:?Q 94)JsBYW?Q E:y(>Q I@JDI:i:ˉ4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 326.32 m."i特*i特 ProNav: ac range: 326.315765 m, nav range: 325.841980 m, bearing: 9.644298 deg, approach rate: -0.493906 m/s, LOS rate: -0.015071 deg/s, cmd heading: 9.895745 deg, new cmd heading: 9.881905 deg. iܹHeadingCmd: 0.172472 target range: 326.315765 and range: 327.50 m.hr0>hhhhggjgrgBereZe:e*e `N?1ɢ5bW/<)9 ="?i9)=޼99iESiEr0>E=Mm=IMr0>QIIDzD?AE EE$E"E;*E^:VE4ZEBE0Nu4=}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259346^Aܝ=ԩ A I) I9 OE >%,XLA2@2}4>2m'ٱ2=2H~?)ƿ;xo?A?8@D?uȾ?@j?i2@I2|^;2C9TYT=VEyVDZ;EZ>Q 5 4s:?Q 9 4:)XsBY y >Q I@ JDI:i`:^4yɮA:iAEFNOT Ignoring new targets: 326.32 m."iM*iM] ProNav: ac range: 326.315765 m, nav range: 325.646545 m, bearing: 9.638272 deg, approach rate: -0.552689 m/s, LOS rate: -0.017051 deg/s, cmd heading: 9.881906 deg, new cmd heading: 9.869847 deg. i]eHeadingCmd: 0.172261 target range: 326.315765 and range: 327.50 m.heFe0>hahahahagagijgirgieireqZeq:eq*eu ?颥bBɢf<) ?i)ڼ顩iUiFe0>==IFe0>Ii@i @i@i@iԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510740E EEE"E ;*E:VEZEa@a@a@a@^Aȝ=B B B IB BB B B B ڄ;B ;EBRCBRCBB =B =Cu4 A .AI I O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764676%,;LAhn@n@K5>nݼٱn=nH|? ƿv@?+B? ( ?h?`?in@InT^;lYzBy~ I==iMb@Mb@Mb@ 9? ףp= ?y&1?Yf?yQ=`e<@A )@Y@ <4=bDVD8yk%8=ٔ<:Q->9 ?Y ?=EyDJ:E>Q 5 4:?Q 94.)jsBYh?Q E:y>Q I@JDI;iݔ;4y1ɮ5A1:iy}FNOT Ignoring new targets: 326.32 m."i*i ProNav: ac range: 326.315765 m, nav range: 325.418335 m, bearing: 9.631185 deg, approach rate: -0.513746 m/s, LOS rate: -0.015965 deg/s, cmd heading: 9.869847 deg, new cmd heading: 9.855663 deg. i鹝HeadingCmd: 0.172014 target range: 326.315765 and range: 327.50 m.ha$0>hhhhggAjgArgMsBeIreIZeI:eI*eUz4@颙ɢ<<) .?i)'*ּi15Xia$0> = =Ia$0>I]9@Y @Y@Y@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.020431)^A ͢=D =D <E  E E "E "E ;*E ՚:VE (3ZE BE bU%,LA2@25>2--׼ٱ2e=2H|? ƿqs1?`B? ?W?h?i2@I2p^;2CYfByf IbDrVDr8yv<%v[=ٔzL ;Q-z>9z"?Y~"?=~Ey~D~p:E>Q 5 4:?Q 9 4n)xsBYy>Q I@)JDI:iS:{4yɮ%A%=E9:iIMFNOT Ignoring new targets: 326.32 m."iUl*iUle ProNav: ac range: 326.315765 m, nav range: 325.223907 m, bearing: 9.625126 deg, approach rate: -0.534194 m/s, LOS rate: -0.016657 deg/s, cmd heading: 9.855663 deg, new cmd heading: 9.843538 deg. ie󹝏mHeadingCmd: 0.171802 target range: 326.315765 and range: 327.50 m.hm/>hihihihigigqjgqrgqeqreyZey:ey*e}@颩ɢ}<) -?i)7Ҽ顱it6Zi/>=^=I/>Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.271366i@q @q@u/@qiԑ^A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522550AE .AII IY Om > <%,LA2@2 5>2мٱ2i!=2H@|? ƿp@`?B? fݾ? /?@,?i2@I2=S^;2CY>By> IbDFVDF8ER ERER'EP"ERO;*ER:VER'4ZEPaV@aV@aV@aV@yZ;%ZN=ٔ^};Q-^>9^ ?Y^ ?=bEybDbZpEb>dQ 5j4fv:?Q 9j4f)fsBYlyn>Q In@f6JDIf* ;ifX ;fl4ypɮrxAt:i  FNOT Ignoring new targets: 326.32 m."i*i% ProNav: ac range: 326.315765 m, nav range: 325.015961 m, bearing: 9.618641 deg, approach rate: -0.524082 m/s, LOS rate: -0.016354 deg/s, cmd heading: 9.843538 deg, new cmd heading: 9.830560 deg. i%n﹝-HeadingCmd: 0.171576 target range: 326.315765 and range: 327.50 m.h-/>h)h)h)h)g1g1jg1rg9e9re9Ze9:e9*eE@maBɢma<)i u?iq)uϼqqi}`\i}/>}^=|=I/>IԹAAB>BQCBBBBBBƄ;B;E9@ @@/@m>m<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778880^Am&=A ؟AI I O >9 R!%,5LAbchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026555Y=By= I AAIIiMb@Mb@Mb@ 9}?5^I? ףp= ?{Gz?YM?y#<@EA |@)@Y@bD߿VD8y?;%8=ٔQ->9"?Y"?=EyDE>Q 5 4:?Q 9 4)sBYY?Q E:y>Q I@EJDI/;i-;+4y%Bɮ%A%4EEB*** querying acoustic contact ***iAiA:iIUFNOT Ignoring new targets: 326.32 m."iڕ*iڕ ProNav: ac range: 326.315765 m, nav range: 324.790985 m, bearing: 9.611370 deg, approach rate: -0.506317 m/s, LOS rate: -0.016376 deg/s, cmd heading: 9.830561 deg, new cmd heading: 9.816008 deg. i﹝HeadingCmd: 0.171322 target range: 326.315765 and range: 327.50 m.hn/>hhhhggjgrgBereZe:e*e% @bE=4jE=4rE=١/E EE$E"E;*E:VE4ZEBE0Nf= =In/>II9@ @@@uBDAT read: Rx Time:04:15:42.6434 }TRx dataTimestamp_ set to:1764908144.678704}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279523ԁ^A =ԡ A .AI! I1 O= >@ %,d3LA2@25>2Vżٱ2C=2H |?@Pƿ+gl?sC?|? ?@S?i2@I2,^;2CY>By> IbDFĿVDFu8yj;%j`=ٔnt;Q-n>9n ?Yr ?=rEyrDr/:Er>tQ 5z4v~:?Q 9z4vϬ)vsBY|y~>Q I~@vQJDIvQ;iv;v4yɮA:i)-FNOT Ignoring new targets: 326.32 m."i51*i51E ProNav: ac range: 326.315765 m, nav range: 324.605652 m, bearing: 9.605357 deg, approach rate: -0.509009 m/s, LOS rate: -0.016523 deg/s, cmd heading: 9.816007 deg, new cmd heading: 9.803975 deg. iE񹝏MHeadingCmd: 0.171112 target range: 326.315765 and range: 327.50 m.hM7/>hIhIhIhIgQgQjgQrgQeYreYZeY:eY*ee2 @颉ɢ<) ?i);Ǽ顙i)`i7/>=$=I7/>Iԉa@a @i@m61@iiAIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.531562ԱE EE&E"E;*E:VE4ZEa@a@a@a@^A=B>BBBBBBѺDB;Bt;EA5 ؟AIA IQ Oe > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786432 '%,`;MLA=x@=5>=ݝٱ=[==H|?@ƿe O?D?`B(3?2? ?i=x@I=s^;=CYeBye IiUMb@Mb@Mb@QQQQ Q9U{Gz?Q?Mb`YU?yU\=UQQ UO@)U@QYU@bDeԿVDe8yuBI<%}3=ٔ}:Q-}>9}"?Y"?=EyD”E>Q 54:?Q 94)sBY ?Q E:y>Q I@`JDI8:i:4yBɮA:iiuFNOT Ignoring new targets: 326.32 m."iug*iug ProNav: ac range: 326.315765 m, nav range: 324.370575 m, bearing: 9.599309 deg, approach rate: -0.492133 m/s, LOS rate: -0.012671 deg/s, cmd heading: 9.803975 deg, new cmd heading: 9.791869 deg. iHeadingCmd: 0.170900 target range: 326.315765 and range: 327.50 m.h/>hhhhggjgrguBereZe:e*e@ɢHj<)  A?i ) z¼  i .ci/>%=I/>I9@ @@/0@%DAT read: 04:15:42.6433 LVL= 31184, 32753, 29682, 31475, AGC= 68, IDX= 70,-0.43, 0.544,-0.997, 0.782, 0.032, PHS= 0.614,-0.984, 0.706, RAW= 152.8, -4.1, CAL= 152.4, -5.4, ROT= 357.6, 5.4 -Ygot valid direction response: 04:15:42.6433 LVL= 31184, 32753, 29682, 31475, AGC= 68, IDX= 70,-0.43, 0.544,-0.997, 0.782, 0.032, PHS= 0.614,-0.984, 0.706, RAW= 152.8, -4.1, CAL= 152.4, -5.4, ROT= 357.6, 5.4 5PDAT read: Bearing 159.8, -1.9 (Local) 5~Local bearing/azimuth received: Bearing 159.8, -1.9 (Local) =DAT read: Range 11 to 50 : 338.1 m (Round-trip 450.9 ms) speed 0.5 m/s ER#Rx 1: Read range and direction messages.M`direction in FSK: [0.994689,-0.041689,-0.094108]MFpublishing direction and range infoy"e}?njhBSX|ӄ{Y Cys z)DI/?im{j4?*@C;*@ )@I=I?.ZG?Ȏm 4p?)=IQ+i=eT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.I ^A T=E  E E E "E ;*E Ǚ:VE ZE BE `B%,wfLA>@>5>>;ٱ>,=>H~?ƿle`܃? ?G?@꽿/ٗ?@S?`?i>@I>];>CYjByj In=na=bDv߿VDv8y~iD%~i=ٔ~:Q-~>9Y=EyDE > Q 54 +:?Q 94 k) sBYy>Q I@ lJDI a;i ): 4y)ɮ-A)iAiE[LAjEoC"jEoC:jE>"pEgZt@:ה,[5?pE"e}?njhBSX|ӄ{*jEQ+2jE=*pEwGzt@U uH@1CJ9pE:mI͑?!4Y?F7jECB jE+CiEN?iEǢjEBjE#@?jEǢjE`GBrjEޡCzjEQ>u addTargetRange:: Added new target pos. range: 338.100006 m, deltaT: 4.285289 s, deltaX: 10.600006 m, approachRate: 2.473580 m/s, rangeRepo size: 4  Added new target pos. range: 336.873962 m, bearing: 8.373427 deg, lat: 36.779537 deg, lon: -121.859715 deg, deltaT: 4.285289 s, deltaX: 10.558197 m, approachRate: 2.463824 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 336.87 m."i*i ProNav: ac range: 336.873962 m, nav range: 323.740784 m, bearing: 8.690588 deg, approach rate: 0.000000 m/s, LOS rate: -0.012671 deg/s, cmd heading: 9.791869 deg, new cmd heading: 9.783386 deg. iHeadingCmd: 0.170752 target range: 336.873962 and range: 338.10 m.h.>hhhhggjgrgereZe:e!u@*eY?bBɢK<u*DAT read: user:177> uBDAT read: Tx time:04:15:44.0382 }$Ping request sent.}K*==I.>Iie9@a @i@m15@iԑ^Ax,= % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251507A .AI I O >& %,kLAFMGPPEb EbEb%E`"Eb;*Eb1:VEb 4ZE`aj@aj@aj@aj@hZ@Z`4>Zʻ؎9Y(AٱZV=ZH~?Eƿ8d`t? H?@`x???iZ@IZ];ZCYBy IbD-¿VD-s8y=%EF=ٔEj:Q-E>9M ?YM ?=MEyMDM]EM>QQ 5]4UT:?Q 9e4U)UsBYayeM>Q Ie@UzJDIU';iU;U4yiɮmAu5E:i1=FNOT Ignoring new targets: 336.87 m."i=*i=M ProNav: ac range: 336.873962 m, nav range: 323.529602 m, bearing: 8.684573 deg, approach rate: -0.493633 m/s, LOS rate: -0.014068 deg/s, cmd heading: 9.783385 deg, new cmd heading: 9.771348 deg. iM͹UHeadingCmd: 0.170542 target range: 336.873962 and range: 338.10 m.hU.>hQhQhQhQgYgYjgYrgYeareaZea:ea*ee?BqAqByByByByByByByB};B}T;Eɢ&}<) m?i)Ni3Lgi.>R/="=I.>I9@ @@5@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505343^AO=) A I I O >7P&%,zLAYfByf IirAIrArchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755371|ieMb@Mb@Mb@aaaa a9e'1Z?Q?~jth?Ye?yeu=eD;e@eA e"@)e @aYe @bD}ֿVD}8yD%E=ٔQ->9Y=EyDE>Q 54 ;?Q 94)sBY?Q E:y{>Q I@JDIf:i:4yɮ A:iFNOT Ignoring new targets: 336.87 m."i4u*i4u ProNav: ac range: 336.873962 m, nav range: 323.318848 m, bearing: 8.679296 deg, approach rate: -0.534716 m/s, LOS rate: -0.013398 deg/s, cmd heading: 9.771348 deg, new cmd heading: 9.760786 deg. i*ĹHeadingCmd: 0.170358 target range: 336.873962 and range: 338.10 m.hJr.>hhhhg g jg rg \BereZeq:ey*e}?ɢ|<) ?i)8imiiJr.>y4=(=IJr.>IE EE#E"E;*E5:VE3ZEBE d6z,%,~ULA:@:3>:d-ٱ:=:Hs?}ƿlX`Q?J?1Ŗ?? >?i:@I:];8YFByF ILNAPRAAbDVҿVDV8yZ=%ZY=ٔ^:Q-^>9b"?Yb"?=bEybDbe?Ef>dQ 5j4f#;?Q 9n4f)fsBYlyn>Q In@fJDIf ;if& ;f4ytɮvAv6EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 336.87 m."ig*ig- ProNav: ac range: 336.873962 m, nav range: 323.127075 m, bearing: 8.674526 deg, approach rate: -0.508494 m/s, LOS rate: -0.012655 deg/s, cmd heading: 9.760786 deg, new cmd heading: 9.751241 deg. i-G5HeadingCmd: 0.170191 target range: 336.873962 and range: 338.10 m.h5F.>h1h1h9h9g9g9jgArgAeAreAZeI:eI*eM=?Yyɢ}ߚ<) L?i)c顁i zkiF.>O8=X=IF.>I59@1 @1@5/@1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259686ԉE EE'E"E7;*E :VE'4ZEa@a@a@a@^AU=A]>A]>B>BB IBBB =BBBt;B6;EA I I O >! ߝ /?ߝ ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511290)e3%,=LA@@3>಼ٱ=HJ?*ƿZV?`J?u[?`??i@Ir];YBy IimMb@Mb@Mb@iiii i9mMbX9?:v?~jth?Ym?ymT=iimA mO@)m@iYmf@bDVD8yE%/=ٔb:Q->9Y=Ey D9E>Q 54Y.;?Q 94)sBYy?Q E:y>Q I@JDIP;ie;4yɮA:iFNOT Ignoring new targets: 336.87 m."iN*iN ProNav: ac range: 336.873962 m, nav range: 322.891968 m, bearing: 8.669283 deg, approach rate: -0.505768 m/s, LOS rate: -0.011288 deg/s, cmd heading: 9.751241 deg, new cmd heading: 9.740747 deg. iBHeadingCmd: 0.170008 target range: 336.873962 and range: 338.10 m.h.>hhhhggjgrgWBereZe:e*e ~?ɢ&Z{<)  ?i ) )|  imi.>==A=I.>I!9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763042I^Ae 5c=E  E E E "E ;*E ՚:VE ZE BE s@9%, LA2@2`3>2wٱ22=2H@?{ƿ Q`bQ?lK?@By> IbDFVDF8yN<%Nq=ٔR/:Q-R?9R ?YV ?=VEyVDV=EV?XQ 5^4Z]<;?Q 9b4Z)ZsBY`ybp>Q Ib@ZJDIZ;iZ;Z4ydɮfAh:ixzFNOT Ignoring new targets: 336.87 m."i}ON*i}ON ProNav: ac range: 336.873962 m, nav range: 322.720459 m, bearing: 8.665459 deg, approach rate: -0.505401 m/s, LOS rate: -0.011273 deg/s, cmd heading: 9.740746 deg, new cmd heading: 9.733095 deg. i HeadingCmd: 0.169875 target range: 336.873962 and range: 338.10 m.h->hhhhggjgrgereZe:e*e@@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015422a颡ɢߺ<) ?i)$顩iloi->A==I->Ii@i @q@u/@qԁ^A&=Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267610I I O > At@%,LA2@23>2ٱ2=2H@)? Wƿ#4^?}J?@? ?`m?i2@I2)/];0ER EREPEP"ER%;*ER:VEPZEPaV@aV@aV@aZ@YnByn IbDvVDv8y~<%D=ٔ:Q->9Y = Ey D :E >Q 54M;?Q 94))sBY!y%>Q I%@JDI;i ;4y)ɮ-A):iY]FNOT Ignoring new targets: 336.87 m."ieN*ieNu ProNav: ac range: 336.873962 m, nav range: 322.510101 m, bearing: 8.660747 deg, approach rate: -0.504324 m/s, LOS rate: -0.011303 deg/s, cmd heading: 9.733096 deg, new cmd heading: 9.723666 deg. iu|}HeadingCmd: 0.169710 target range: 336.873962 and range: 338.10 m.h}u->hyhyhyhygygjgrgereZe:e*e;+@颹ɢ-<) ?i)Yiriu->F=?=Iu->IA]AAA]@ABm>BiBiBiBm =BiBiBma;Bm$;EBQCBQCBBBC5Աq@q @q@u/@q@}=@}=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521959^A]z=AmwAzAmyA I I) O5 >9 F%,HLA2i@2Y3>2Bٱ2U)=2H ? rƿ' L? K?h???i2i@I2 )];2CY>By> Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771059i Mb@Mb@Mb@     9 x&1?J +?~jtx?Y ?y H= ; @ A "@) @ Y bD-ۿVD-8y5_<%=G=ٔ=:Q-=>9AYA=EEyE$DETEM>IQ 5U4M^;?Q 94M)MsBY&?Q E:y#>Q I@MJDIMͶhIhIhIhQgQgQjgYrg]dBeYreYZeY:ea*ee@颉ɢQ<) ?i)r顑iQti1->K=|Z=I1->IDzD@AE EE%E"E;*E:VE 4ZEBEm_u4=}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023767^A=I1 IA OM >i uL%,5LA$Jǯ@J%3>JٱJˇ=JHd?jƿ ??jF?K?n^"?? ?iJǯ@IJ$];JCYVByV IbDbڿVD`yfR<%jQ=ٔj(:Q-j>9lYl=nEyn,DriEr>pQ 5v4rn;?Q 9z4rN)rsBYxyz>Q Iz@rJDIrC:ir:r 4y|ɮ_AB*** querying acoustic contact ***ii:i)-FNOT Ignoring new targets: 336.87 m."i5(N*i5(NE ProNav: ac range: 336.873962 m, nav range: 322.105499 m, bearing: 8.652176 deg, approach rate: -0.531490 m/s, LOS rate: -0.011265 deg/s, cmd heading: 9.714866 deg, new cmd heading: 9.706513 deg. iE줹MHeadingCmd: 0.169411 target range: 336.873962 and range: 338.10 m.hMy->hIhIhIhIgIgQjgQrgQeQreQZeY:eY*e]ȕ @颉ɢ<) ?i)[顑i^}viy->P=Iy->I9@ @@0@qBDAT read: Rx Time:04:15:46.8729 TRx dataTimestamp_ set to:1764908148.963863checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277148ԡE EE$E"E;*Ek:VE4ZEa@a@a@a@^A1BYBYBYBYB] =BYBYB]T;B];EIqIO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526961S%,OLAX@@2>AٱR=H`?ZƿK? 7?@L?ۉǓ?W?H?i@I$#];CYy IAiuMb@Mb@Mb@qqqq q9uRQ?v/?9Y=Ey5DOE>Q 54;?Q 94)tBYd?Q E:y>Q I@JDI:i:'4yɮ]A:iFNOT Ignoring new targets: 336.87 m."ic\*ic\ ProNav: ac range: 336.873962 m, nav range: 321.869629 m, bearing: 8.646595 deg, approach rate: -0.508555 m/s, LOS rate: -0.012042 deg/s, cmd heading: 9.706513 deg, new cmd heading: 9.695343 deg. iOHeadingCmd: 0.169216 target range: 336.873962 and range: 338.10 m.hF->hhhhggjgrgnBereZe:e*ev@yɢm<) C?i)aiyi-F->5U= =IF->I9-DAT read: 04:15:46.8729 LVL= 29680, 32753, 26930, 32755, AGC= 72, IDX= 407, 0.29,-1.676, 3.131,-1.459,-2.186, PHS= 0.612,-0.922, 0.683, RAW= 152.2, -4.8, CAL= 151.9, -6.1, ROT= 358.1, 6.1 =Ygot valid direction response: 04:15:46.8729 LVL= 29680, 32753, 26930, 32755, AGC= 72, IDX= 407, 0.29,-1.676, 3.131,-1.459,-2.186, PHS= 0.612,-0.922, 0.683, RAW= 152.2, -4.8, CAL= 151.9, -6.1, ROT= 358.1, 6.1 EPDAT read: Bearing 159.0, -1.7 (Local) M~Local bearing/azimuth received: Bearing 159.0, -1.7 (Local) ]DAT read: Range 11 to 50 : 322.8 m (Round-trip 430.5 ms) speed 0.6 m/s eR#Rx 1: Read range and direction messages.@ @@/@`direction in FSK: [0.993791,-0.032967,-0.106264]Fpublishing direction and range infoy̮_#?5ᠿO4YfCs2i )HI?i1l.?P*@)@ ^ ڽ)3@I^ =g?Ӭ C?^k ?)틫=Ii^ ==T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.bEU-4jEU-4rEU"/E  E E %E "E *E Z:VE 4ZE BE J\Y%,uiLA2@2`D2>2əٱ2g=2H ?KƿX?*?K?`a8?Z??i2@I29];2CY>By> IbDFпVDF8yN=%Rl=ٔR%:Q-R?9TYT=VEyVQ I%@JDI ;i5;l4y9ɮ=2A=8Eii]LAjРC"jРC:jm>"ps@N{24%𳈆Ap̮_#?5ᠿO4*j2j^ =*ps@1zH@`d)=pJZUh~?kc{?3V6jCB jECi£?ibjBjjj;BrjנCzjt> addTargetRange:: Added new target pos. range: 322.799988 m, deltaT: 4.032854 s, deltaX: -15.300018 m, approachRate: -3.793844 m/s, rangeRepo size: 4  Added new target pos. range: 321.627197 m, bearing: 8.791475 deg, lat: 36.779537 deg, lon: -121.859715 deg, deltaT: 4.032854 s, deltaX: -15.246765 m, approachRate: -3.780639 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 321.63 m."i*i*DAT read: user:178> BDAT read: Tx time:04:15:48.1382  $Ping request sent. h)h)h)h1g1g1jg9rg9e9reAZeA:eE,t@*eEq?Yɢ]K<)Y e ?ia)mziiimE{iu=->}Y=}=I}=->I!@! @!@%0@!I^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249459ԁ AQ IY Ii O} >y`%,LAE& E&E&&E$"E& ;*E& :VE&4ZE$a*@a*@a*@a*@Y=By= IbDMVDM8Yye%e?=ٔeQ-m>9iYi=mEymEDuEu>yQ 54} ;?Q 94})}tBYyQ I@}JDI}h:i}:}4yɮ>AB=<A=<BE>BABE IBEBBABABABEZ;BE;E:iQ]FNOT Ignoring new targets: 321.63 m."i]V*i]Vm ProNav: ac range: 321.627197 m, nav range: 321.475952 m, bearing: 8.637292 deg, approach rate: -0.496463 m/s, LOS rate: -0.011747 deg/s, cmd heading: 9.686462 deg, new cmd heading: 9.676459 deg. imuHeadingCmd: 0.168886 target range: 321.627197 and range: 322.80 m.hux,>hqhyhyhygygyjgrgereZe:e*e@?颱ɢ<) )?i)Ô项i}ix,>]==Ix,>I59@1 @1@52@1ԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501608Թ^A=A I I O >[ g%,LA2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7533656@6`1>6ٱ6=6Hd?`<ƿd??`rL?ॸ? a??i6@I6L];4Y@yB IiUMb@Mb@Mb@QQQQ Q9Uw/?Q?{Gz?YU?yUu=U#9Y=EyMD/ZE>Q 54;?Q 94 ) tBY?Q E:y>Q I@ KDIo:iw:4yBɮ:A9EԹ:iFNOT Ignoring new targets: 321.63 m."iq*iq ProNav: ac range: 321.627197 m, nav range: 321.261749 m, bearing: 8.632159 deg, approach rate: -0.551047 m/s, LOS rate: -0.013212 deg/s, cmd heading: 9.676459 deg, new cmd heading: 9.666188 deg. imHeadingCmd: 0.168707 target range: 321.627197 and range: 322.80 m.hz,>hhhhggjgrge re Ze :e *e  ?=cBɢ=<)A Ep?iA)E뜏AAiEiMz,>Ma=M=IMz,>IQaie>E] E]E]%EY"E]I;*E]:VE] 4ZEYBE]ej9 6m%,+iLA6e@6`1>6ٱ6w=6H@?`4ƿ[h?`?@L?_i? K]? ?i6e@I6J];4Y^By^ IbDjĿVDju8yr3=%rU=ٔr:Q-r>9tYt=vEyvUDzPEz>|Q 54~;?Q 94~)~*tBYyv>Q I @~KDI~o;i~:~4yɮ@-B*** querying acoustic contact ***i)i):i9=FNOT Ignoring new targets: 321.63 m."iEhf*iEhfU ProNav: ac range: 321.627197 m, nav range: 321.060364 m, bearing: 8.627336 deg, approach rate: -0.525276 m/s, LOS rate: -0.012590 deg/s, cmd heading: 9.666188 deg, new cmd heading: 9.656534 deg. iUS]HeadingCmd: 0.168538 target range: 321.627197 and range: 322.80 m.h]O,>hYhYhYhYgagajgargaeireiZei:ei*em ?颙ɢ<) #?i);顡i~ iO,>e=IO,>Ii߁I߅Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2602099@ @@$0@ Y]CGyA%ꕿ9%yAY%ZAAEe EeEe'Ea"Ee;*Ee:VEe'4ZEaam@am@am@am@^AТ=BE>BABE IBEBBE =BABABES;BE;EqA ؟AI I O- >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509435ԡ 't%,rnLA@1> ݈ٱ|d=H ?`'0ƿq=l??`M?馽@m?Z? ?i@Ie];CYBy Ii]Mb@Mb@Mb@aYYYY Y9]w/?+?y&1?YYy]=]`e9"?Y"?=Ey^DUE>Q 54;?Q 94)9tBYm?Q E:y>Q I @)KDIV:iR:%4yɮ@:iFNOT Ignoring new targets: 321.63 m."i8*i8 ProNav: ac range: 321.627197 m, nav range: 320.818604 m, bearing: 8.620101 deg, approach rate: -0.500771 m/s, LOS rate: -0.014996 deg/s, cmd heading: 9.656534 deg, new cmd heading: 9.642055 deg. i۹HeadingCmd: 0.168286 target range: 321.627197 and range: 322.80 m.hS,>hhhhggjgrgqBereZe:e*e`?颍dBɢ$<)) 59%?i1)5G11i5Cdi=S,>=k==%=I=S,>IAIԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7669089@ @@85@ԹE]  E] E] $EY "E] f;*E] :VE] 4ZEY BE] W)z%,LAF@F1>FmIٱF.=FH@Ѓ?`2ƿ$o?`?L?`Ȑ?zg??iF@IFB];FCYZByX`bAbAA`bDfVDf8yn;%nX=ٔrRZ:Q-r>9pYp=vEyvfDvl9Ev>xQ 5~4z;?Q 9~4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018885z)zEtBYy%>Q I @z5KDIzhhhhggjgrgereZe:e*e1@颹ɢ4<)h '%?i)d,i5i,>o==I,>I 9@ @@4@9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269397^A =a E  E E &E "E *E VE 4ZE a @a @a @a @A I I O% >/%,LA:@:1>:@\ٱ:=:H@?@.ƿ8p??M?Yk?a_??i:@I:a];8Y^By^ IbDfVDfɰ8ynI#=%nL=ٔrmi:Q-r>9pYp=vEyvnDvREv>xA@AAAAB>BRCB IBBB =BBҺDB;B:EQ 54z;?Q 94z&)zRtBYy%>Q I% @zCKDIz;;iz;z-34y-Bɮ-/@-:E:iQUFNOT Ignoring new targets: 321.63 m."i]⟹*i]⟹m ProNav: ac range: 321.627197 m, nav range: 320.410095 m, bearing: 8.607848 deg, approach rate: -0.581904 m/s, LOS rate: -0.017473 deg/s, cmd heading: 9.630165 deg, new cmd heading: 9.617533 deg. imuHeadingCmd: 0.167858 target range: 321.627197 and range: 322.80 m.hu+>hqhqhqhqgqgyjgyrgyereZe:e*e܁@颵eBɢ =) 5(?i9)E,|IQQiu>i}+>}5t=}N=I}+>I1@1 @1@=/@9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.528814ԉ^ArI=ԹI I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777436ILJ%, LA2=@2`1>2Dٱ2h=2H?`w6ƿr?;!?L?U?@9g??i2=@I2Q];0Y>By> IiMMb@Mb@Mb@IIII I9M{Gz?㥛 ?y&1?YM?yM=III M"@)M@IYMf@bDeVDe°8yu%uA=ٔu9j:Q-u>9yYy=}Ey}wDg0:E>Q 54b Q I @QKDI;i;:4yBɮ@0E:iFNOT Ignoring new targets: 321.63 m."i<*i< ProNav: ac range: 321.627197 m, nav range: 320.193176 m, bearing: 8.601565 deg, approach rate: -0.517415 m/s, LOS rate: -0.014997 deg/s, cmd heading: 9.617532 deg, new cmd heading: 9.604957 deg. i۹HeadingCmd: 0.167638 target range: 321.627197 and range: 322.80 m.hT+>hhhhggjgrgBereZe:e*e@E] E]E]#EY"E]x;*E] :VE]3ZEYBE]Cgmy==IT+>II)9@ @@@@=@= echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.030803^A=9 I I O >Y =%,:LA2@2`2>2xٱ2=2H`?`NƿFu?;?K?IŽ??N?i2@I2A];2CY>By> IIBt>)Bp;F=Fp=bDJVDJ8yRZ%RX=ٔR':Q-R>9TYT=VEyV~DV ;EZ>\Q 5b4^,Q Ib @^^KDI^~:i^u:^1A4yhɮjAj1E B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 321.63 m."ih*i%h5 ProNav: ac range: 321.627197 m, nav range: 319.998871 m, bearing: 8.595902 deg, approach rate: -0.507404 m/s, LOS rate: -0.014798 deg/s, cmd heading: 9.604957 deg, new cmd heading: 9.593624 deg. i5ع5HeadingCmd: 0.167440 target range: 321.627197 and range: 322.80 m.h=zu+>h9h9h9h9g9g9jgArgAeAreAZeI:eI*eMB @qɢ}=)y }%?iy)}ֲk顁i%izu+> =T=I zu+>IBDAT read: Rx Time:04:15:50.9702 TRx dataTimestamp_ set to:1764908153.004006checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284058!E] E]E]&EY"E]7;*E]՚:VE]4ZEYae@ae@ae@ae@5 YB>BQCB IBBB =BBѺDB0;B9EBBBBB =C(>59@ @@@y e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533675^A @=Ա I I O >?@%,-VLAfP@f63>fnٱfF=fH?Yƿo/x?`I?$J? ٽ ލ?妽? ?ifP@If_;];fCYrByr IiMb@Mb@Mb@ 9Mb?/$?9 Y=EyD5b:E>Q 5%4-Q I- @mKDIr;iT;{I4y1ɮ5@9:iYeFNOT Ignoring new targets: 321.63 m."ie*imu ProNav: ac range: 321.627197 m, nav range: 319.757233 m, bearing: 8.587903 deg, approach rate: -0.513676 m/s, LOS rate: -0.017017 deg/s, cmd heading: 9.593624 deg, new cmd heading: 9.577614 deg. iu&}HeadingCmd: 0.167161 target range: 321.627197 and range: 322.80 m.h}:,+>hhhhggjgrgBereZe:e*e _@gBɢ <) b)?i)~ai|i:,+>͆==I:,+>I&ּchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.789620=9@A @A@E/@ADD%=E EE%E"E*E:VE 4ZEBEZ2b%,oLAZDAT read: 04:15:50.9702 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 409, 0.03,-2.879, 1.716,-2.694, 3.022, PHS= 0.485,-1.261, 0.524, RAW= 151.1, 2.9, CAL= 150.1, 2.7, ROT= 359.9, -2.7 ^Ygot valid direction response: 04:15:50.9702 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 409, 0.03,-2.879, 1.716,-2.694, 3.022, PHS= 0.485,-1.261, 0.524, RAW= 151.1, 2.9, CAL= 150.1, 2.7, ROT= 359.9, -2.7 bPDAT read: Bearing 167.5, 1.0 (Local) b~Local bearing/azimuth received: Bearing 167.5, 1.0 (Local) fDAT read: Range 11 to 50 : 320.8 m (Round-trip 427.8 ms) speed 0.0 m/s jR#Rx 1: Read range and direction messages.-^direction in FSK: [0.998888,-0.001744,0.047106]-Fpublishing direction and range infoy02S*?o."\P7V?Y2fC0202 0)2GI2Q>i2sh2$?2(@24QO=2ϩ'@ 2A=)2@I2A002.]? l?1̩? 2( ?)2}NI2"i2A00eT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.@@4>AHcٱ?=H?pƿ{?Zb? H? Jソ`h? ƽ??i@I];CYBy IbDVD8y^j<%P=ٔ8:Q->9Y=EyD;E>QQ 5]4U>Q Ie @U{KDIU:iU:UP4ymBɮm[@ii0i2 pLAj2џC"j2џC:j2v,>"p2 s@῅3j).@p2S*?o."\P7V?*j2"2j2A*p2 {s@֔J@#DPGQ3@p2o#}?zXCo?Ho?j2VB j2CCi2eǣ?i2 kj2`Bj0j2bj2`GBrj2ҟCzj2N>Q] addTargetRange:: Added new target pos. range: 320.799988 m, deltaT: 4.291684 s, deltaX: -2.000000 m, approachRate: -0.466018 m/s, rangeRepo size: 4  Added new target pos. range: 319.636841 m, bearing: 9.658534 deg, lat: 36.779537 deg, lon: -121.859708 deg, deltaT: 4.291684 s, deltaX: -1.990356 m, approachRate: -0.463771 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 319.64 m."i*i ProNav: ac range: 319.636841 m, nav range: 319.641327 m, bearing: 8.689876 deg, approach rate: 0.000000 m/s, LOS rate: -0.017017 deg/s, cmd heading: 9.577614 deg, new cmd heading: 9.562843 deg. iHeadingCmd: 0.166903 target range: 319.636841 and range: 320.80 m.h*>hhhhggjgrgereZe:e t@*e@)Z?UiBɢU$0<)Y ]>*?iY)]WYYi]Ήi*>A=e=I*>Iy=*DAT read: user:179> =BDAT read: Tx time:04:15:52.3882 E$Ping request sent.EBA BE IBE ĂBBA BA BA BE M;BE 9E ^AMا=AM>AM?IIO>%,ƎLAr{@r <4>r5}[ٱrަ=rHീ?uƿ\}?Di?@H?潿po? ½??ir{@Ir:];pchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250611Y%By% I1bD=VD=8yM%M.=ٔM:Q-U>9QYQ=UEyUD]9Ee>yQ 54}xQQ I @}KDI}N3;i}^;}X4yɮ@2E:iFNOT Ignoring new targets: 319.64 m."i*i  ProNav: ac range: 319.636841 m, nav range: 319.408295 m, bearing: 8.682183 deg, approach rate: -0.537943 m/s, LOS rate: -0.017772 deg/s, cmd heading: 9.562843 deg, new cmd heading: 9.547445 deg. iHeadingCmd: 0.166634 target range: 319.636841 and range: 320.80 m.h2*>hhhhgg1jgArgereZe:e*eM?MjBɢM<)Q U'?iQ)U9MQQiU.(ai]2*>}Ř==I2*>Iԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502724 @  @ @ 5@ bEʻ 4jE4rEb/E]  E] E] %EY "E] a;*E] :VE] 4ZEY BE] h^)-Uٱ^J=^Hہ?[ƿm~?@\P?OJ?跽s? ?c?i^&@I^L|];^CYjByn I|ieMb@Mb@Mb@aaaa a9eMb?+η?Mb?Yayev=e9Y=EyD'E>Q 54]gQ I @KDI;i3;a4yɮ?A:iFNOT Ignoring new targets: 319.64 m."i*i ProNav: ac range: 319.636841 m, nav range: 319.137115 m, bearing: 8.672374 deg, approach rate: -0.510259 m/s, LOS rate: -0.018473 deg/s, cmd heading: 9.547445 deg, new cmd heading: 9.527810 deg. i:HeadingCmd: 0.166292 target range: 319.636841 and range: 320.80 m.h\H*>hhh h g g jg rgnBereZe:e*eh?kBɢ_a<)  ?i)^C)i-si5\H*>5=56=I5\H*>I9)9@ @@/@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006280^Aԁ E  E E E "E ;*E P:VE 3ZE a @a @a @a @I I O >B >B B B B B B B j;B $8Ew%,}ZLA2@2K3>2Lٱ2=2H ?Tƿ .?K?J?`??@?i2@I2n];0Y>By> IbDJǿVDJx8yRH=%R[=ٔR:Q-R>9TYT=VEyVDV˹EZ>XQ 5^4ZvQ Ib @ZKDIZ;iZ;Zph4yfBɮjAj3EvB*** querying acoustic contact ***itit:i|~FNOT Ignoring new targets: 319.64 m."i*i ProNav: ac range: 319.636841 m, nav range: 318.947113 m, bearing: 8.665495 deg, approach rate: -0.508851 m/s, LOS rate: -0.018433 deg/s, cmd heading: 9.527810 deg, new cmd heading: 9.514044 deg. iHeadingCmd: 0.166051 target range: 319.636841 and range: 320.80 m.h` *>YhhhhggjgrgereZe:e*e@ Q?lBɢ=) "?i)!;i՘i` *> ߨ= ^=I ` *>I A}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259334@ @@/@@@=ԉԱ^A=AxAzAIqIO> % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510317%,5LA2@23>2,Cٱ2|=2H?'`ƿQ? Y?I?@pe?`?V?i2@I2s];2CYNByR IIV=)V>iUMb@Mb@Mb@Ee EeEe'Ea"Eex;*Ee:VEe'4ZEaBEeCg9Y=EyD:E>ԹQ 54Q I @KDI.;i.;p4yɮ@:iFNOT Ignoring new targets: 319.64 m."i*i  ProNav: ac range: 319.636841 m, nav range: 318.726318 m, bearing: 8.657223 deg, approach rate: -0.506033 m/s, LOS rate: -0.018973 deg/s, cmd heading: 9.514044 deg, new cmd heading: 9.497487 deg. i HeadingCmd: 0.165762 target range: 319.636841 and range: 320.80 m.h)>hhhhggjg!rg%tBe!re!Ze):e)*e- ?]mBɢ]h]=)Y ]$?iY)ee2aaie(֎im)>mg=mܪ=Im)>Iq-9@) @1@1@1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762437^AM.=IIO>9 ,̾%,LA2@23>26ٱ2=2Hk? aƿS3?`^?I??y?_?i2@I2Ӽ];2CY>By> IbDFܿVDF8yf%fY=ٔj> ;Q-j>9hYh=jEyjDnK9En>pQ 5v4rQ Iz @rKDIr:ir~:rv4y~Bɮ~A|:i!%FNOT Ignoring new targets: 319.64 m."i-X*i-X= ProNav: ac range: 319.636841 m, nav range: 318.535065 m, bearing: 8.650043 deg, approach rate: -0.507205 m/s, LOS rate: -0.019053 deg/s, cmd heading: 9.497487 deg, new cmd heading: 9.483119 deg. i=y mHeadingCmd: 0.165512 target range: 319.636841 and range: 320.80 m.hu{)>hyhhhglGg{Ajgchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014456rgere9{AYAZe:e*e%c>@EnBɢMs=)I M*"?i) )顑ii{)>ֺ=#z=I{)>IEu EuEu$Eq"Eu;*Eu:VEu4ZEqa@a@a@a@Am9@i @i@m/@iAA?AB|>BOCB IBBB =BBкDBՀ;B7Eq^Am 벫= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266362I I O >ԡ ݷ%,LAV@V3>V%ٱVBu=VHഁ?Yƿ` #?@Z?IJ? @Z?A??iV@IV];VCYbByb IimMb@Mb@Mb@iiii i9m/$?L7A`?MbP?Ym1?ym+=m:m@mA i)iiYm@bDVD8y#<%>=ٔ;Q->9Y=EyDE>Q 54Q I @KDI:iV:0~4yɮ@:iFNOT Ignoring new targets: 319.64 m."i4*i4 ProNav: ac range: 319.636841 m, nav range: 318.306702 m, bearing: 8.643957 deg, approach rate: -0.529519 m/s, LOS rate: -0.014120 deg/s, cmd heading: 9.483118 deg, new cmd heading: 9.470939 deg. iι HeadingCmd: 0.165299 target range: 319.636841 and range: 320.80 m.h)D)>hhhhggjgrghBereZe!:e!*e%|@UoBɢU8=)Q U"?iQ)]!YYi]3ie)D)>eš=e=Ie)D)>Iai9@ @@/@ @ xA@ yAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518517ԙE} E}E}%Ey"E};*E}:VE} 4ZEyBE}`A>IIIaOm> %,1LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770386>@>` 4>>}ٱ>p=>H^?`^ƿ? c? I?eͽ@_y? ?ܽ??i>@I>W^;>CYJByJ I LLbDVſVDVv8yZǍ%^Z=ٔ^=;Q-^>9`Y`=bEybDbN:Ef>dQ 5j4fQ In @fKDIf{;if;f4ypɮvAv4E:i FNOT Ignoring new targets: 319.64 m."iꁹ*iꁹ% ProNav: ac range: 319.636841 m, nav range: 318.108154 m, bearing: 8.638649 deg, approach rate: -0.530721 m/s, LOS rate: -0.014198 deg/s, cmd heading: 9.470939 deg, new cmd heading: 9.460316 deg. i%Ϲ-HeadingCmd: 0.165114 target range: 319.636841 and range: 320.80 m.h-)>h)h1h1h1g1g1jg9rg9e9re9ZeA:eA*eE{@mpBɢmVy=)q u ?iq)uKqqi}aNi})>˚=z=I)>I@ @@70@^A5ʞ=iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022923A) I1 IA OU >Q E  E E $E "E ;*E :VE 4ZE a @a @a @a @B {>B B IB BB =B B B i;B 7E%,wKLA :ղ@:`3>:(ٱ:=:H'?4Kƿ4L?YS?@GJ?Y? fɽ? ?i:ղ@I:i^;:CY^By^ IbDjVDj8yv߉%vG=ٔvZ;Q-z>9xYx=zEyzD~E~> Q 5m4 Q I} @ KDI ghhhhg!g!jg)rg1e1re9Ze9:e9*eE @颅qBɢ=) j?i)d顉ipyi.(>Ԛ="ϫ=I.(>I]BDAT read: Rx Time:04:15:55.2177 eTRx dataTimestamp_ set to:1764908157.291800mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276723q @  @ @ >0@ԡ^A= A I I O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526279'%,5}eLA6X@62>6?ٱ6=6H?`6ƿ?A?@K?@7`'~?`c??i6X@I6#^;6CLYRByR Ii-Mb@Mb@Mb@)))) )9-/$?Mb?~jth?Y)y-=-D;-@-/A - @)-@EE EEEE%EA"EE;*EE :VEE 4ZEABEAaM2EAaMJEE9qYq=}Ey}D}E>Q 54Q I @KDI;i;C4yBɮfA:iFNOT Ignoring new targets: 319.64 m."i*i ProNav: ac range: 319.636841 m, nav range: 317.667267 m, bearing: 8.627070 deg, approach rate: -0.555801 m/s, LOS rate: -0.014382 deg/s, cmd heading: 9.448650 deg, new cmd heading: 9.437141 deg. iҹHeadingCmd: 0.164709 target range: 319.636841 and range: 320.80 m.h(>hhhhggjgrgaBeqreqZeq:ey*e}@YC@rBɢ " =) v?i)- i2i(>vݚ=$E=I(>IV>i%>@ @@0@@=@=DAT read: 04:15:55.2177 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.27, 1.936, 0.197, 2.101, 1.531, PHS= 0.506,-1.289, 0.526, RAW= 150.5, 2.9, CAL= 149.5, 2.7, ROT= 0.5, -2.7 Ygot valid direction response: 04:15:55.2177 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.27, 1.936, 0.197, 2.101, 1.531, PHS= 0.506,-1.289, 0.526, RAW= 150.5, 2.9, CAL= 149.5, 2.7, ROT= 0.5, -2.7 PDAT read: Bearing 167.3, 1.1 (Local) ~Local bearing/azimuth received: Bearing 167.3, 1.1 (Local) DAT read: Range 11 to 50 : 318.9 m (Round-trip 425.3 ms) speed 0.8 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.998852,0.008717,0.047106]Fpublishing direction and range infoyaeQp"?m|#ځ?P7V?YesCaaaa a)eFIe7?iee?e0(@ae<&@ a)e5?{? el?)eNIe5%,WLA|Y]By] IbDmڿVDm8*DAT read: user:180> BDAT read: Tx time:04:15:56.4382 $Ping request sent.9Y=EyDE>Q 54"pްs@f7(@C-@pQp"?m|#ځ?P7V?*j5<2j*p҃s@tS!/L@5 1@p Sr?R^?+] addTargetRange:: Added new target pos. range: 318.899994 m, deltaT: 4.035668 s, deltaX: -1.899994 m, approachRate: -0.470800 m/s, rangeRepo size: 4 e Added new target pos. range: 317.733826 m, bearing: 10.197307 deg, lat: 36.779524 deg, lon: -121.859708 deg, deltaT: 4.035668 s, deltaX: -1.903015 m, approachRate: -0.471549 m/s, posRepo size: 4 :iimFNOT Ignoring new targets: 317.73 m."iu*iq ProNav: ac range: 317.733826 m, nav range: 316.020447 m, bearing: 8.660528 deg, approach rate: 0.000000 m/s, LOS rate: -0.014382 deg/s, cmd heading: 9.437142 deg, new cmd heading: 9.424077 deg. iHeadingCmd: 0.164481 target range: 317.733826 and range: 318.90 m.hm(>hPExceeded connect timeout, disconnecting.hhhgg jg rg ereZe:e`fs@*e?)EU EUEQEQ"EU;*EU:VEQZEQa]@a]@a]@a]@msBɢm=)i m?ii)uqqiu/Õi}m(>}A=}:ѫ=I}m(>IBM|>BIBM IBMBBM =BIBIBM;BM6EB OCB PCB B =B =C Ū5@ @@/0@Yu checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250827ԉ ^A Ա I I O > %,oLA2@2`3>2ٱ2 =2H ?|0ƿ^? B? K? v?Ž?I?i2@I2>^;2CY>By> Ii5Mb@Mb@Mb@1111 195!rh?Zd;?Y5l?y5y=55@5A 5@)5@1Y5(@bDMVDM8y]%]9=ٔeH;Q-e>9aYa=eEyeDml8Em>qQ 5}4u=?Q 9}4ut)utBY}R?Q E:y>Q I @uLDIu :iu:uD4yɮZA:iFNOT Ignoring new targets: 317.73 m."ir*ir ProNav: ac range: 317.733826 m, nav range: 315.787689 m, bearing: 8.654676 deg, approach rate: -0.575308 m/s, LOS rate: -0.014474 deg/s, cmd heading: 9.424076 deg, new cmd heading: 9.412365 deg. iӹHeadingCmd: 0.164277 target range: 317.733826 and range: 318.90 m.h*8(>hhhhggjgrgTBereZe:e*e`=?ɢ=) ?i)iGϖi%*8(>%=-@=I-*8(>Ii)I)5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503736e9@a @a@e;4@aDzDE EE&E"E;*EP:VE4ZEBE] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754881p%,bLA6@62>6(Гٱ6tJ=6H@*?*ƿ\9TYT=ZEyZDZ0EZ>\Q 5b4^=?Q 9b4^r)^tBYdyfړ>Q If @^&LDI^:i^>:^4yhɮjAh:i|~FNOT Ignoring new targets: 317.73 m."i+s*i+s ProNav: ac range: 317.733826 m, nav range: 315.587738 m, bearing: 8.649644 deg, approach rate: -0.527666 m/s, LOS rate: -0.013287 deg/s, cmd heading: 9.412364 deg, new cmd heading: 9.402294 deg. i¹HeadingCmd: 0.164101 target range: 317.733826 and range: 318.90 m.h (>hhhhg!g!jg!rg!e)re)Ze):e)*e-u?tBɢZ =) h?i)iїi  (> = n=I  (>I9Q9@ @@5@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006815y^A?=A>A?nManaging dock network, ignoring radio surface power offIqIO>E EE)E"EO;*E5:VEFA4ZEa@a@a@a@B {>B B IB BB B B B ~;B 5E %,(DLA:@:]2>:!kٱ:`y=<:H@?7ƿ@C?.?DM? T@{m???i:@I:)^;:CY^By^ IbDfVDf8yn;%rF=ٔr.;Q-r>9pYt=vEyvDvEv>xQ 5~4z%=?Q 9~4zZq)ztBYy>Q I @z4LDIzo;izj;z4y ɮ A-B*** querying acoustic contact ***i)i):i9=FNOT Ignoring new targets: 317.73 m."iE r*iE rM ProNav: ac range: 317.733826 m, nav range: 315.370575 m, bearing: 8.644195 deg, approach rate: -0.526688 m/s, LOS rate: -0.013225 deg/s, cmd heading: 9.402294 deg, new cmd heading: 9.391388 deg. iMUHeadingCmd: 0.163911 target range: 317.733826 and range: 318.90 m.h]1'>hYhYhYhYgYgYjgargaeareaZei:ei*em@z?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258920颡ɢ=) ?i) Gһ顩iwҘi1'> =:=I1'>II@I @Q@U/@Qԩ^Au벫=IIO>M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510831 D =D bEajEe˻ 4rEeS0E  E E %E "E %;*E k:VE 4ZE BE ~Rw9ٱR=RH@?ſ.?@?N?@F1.g??Z?iR@IR^;RCY^By^ IliMb@Mb@Mb@ 9NbX9?Mb?y&1|?Y?y@=`;A @) @Y@bD VD8yM=%8=ٔ%:Q-->91YQ=]Ey] DepEe>iQ 54m8=?Q 94mo)mtBY/?Q E:y>Q I @mCLDIm6 hihihihiggjgrgcBere ZeI:eI*eM @颕uBɢ2=)  ?i)Y顡ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762899iŬ'>e = =IŬ'>I9@9 @9@E 5@A1^Aa q I I O >] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014786%,  LA2/@2R1>2ٱ2=2Hw? sſ m??O? ]q^?5r??i2/@I2P^;2CY>By> IbDFVDF8yn[%r`=ٔr1.;Q-r>9pYt=vEyvDvkEv>Q 54\H=?Q 94un)uBY!y%>Q I% @OLDI:i%:M41y)ɮMAQ:iFNOT Ignoring new targets: 317.73 m."iF*iF ProNav: ac range: 317.733826 m, nav range: 314.946991 m, bearing: 8.635670 deg, approach rate: -0.538186 m/s, LOS rate: -0.010823 deg/s, cmd heading: 9.381897 deg, new cmd heading: 9.374325 deg. iwHeadingCmd: 0.163613 target range: 317.733826 and range: 318.90 m.h '>hhhhggjgrgereZe:e*e @ɢcY(=) )?i)2䱻iޚi  '> = ,=I  '>IE EE"E"E;*E:VE(3ZEa@a@a@a@AIAMAABU|>BQBU IBUBBQBQBQBU~;BU5E9@ @@/@Yԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267505^AI)I9OM> c%, LA2@20>2"Wtٱ2B=2H 1? ſ@!B?? P?N?@ b??i2@I2j^;2CYNByR IiMMb@Mb@Mb@IIII I9M?S㥫?Mb?YMf?yM/]=M9Y=EyDiE>Q 54@Z=?ԙQ 94l) uBY?Q E:y>Q I @]LDI}0;i/;4yBɮA-E:iFNOT Ignoring new targets: 317.73 m."iY*iY ProNav: ac range: 317.733826 m, nav range: 314.728180 m, bearing: 8.630785 deg, approach rate: -0.533054 m/s, LOS rate: -0.011908 deg/s, cmd heading: 9.374325 deg, new cmd heading: 9.364549 deg. iYHeadingCmd: 0.163442 target range: 317.733826 and range: 318.90 m.he]'>hhhhggjgrgbBereZe:e*e @1ɢ5W=)9 =?i9)=99i=᛼iEe]'>E=EJ=IMe]'>IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519205@ @@/@E EE#E"E ;*E:VE3ZEBEO > %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7711389 E %,7 LA6ɞ@61>6ީMٱ6=6H?ſ; ?? hP? ;)?j?`?i6ɞ@I6w^;6CY^By^ IbDj VDj8yr@=%rT=ٔr:Q-r>9tYt=vEyv Dz:Ez>|Q 54~j=?Q 94~uk)~uBYy>Q I @~jLDI~;i~:~S4yɮuA:i1=FNOT Ignoring new targets: 317.73 m."iE'W*iE'WM ProNav: ac range: 317.733826 m, nav range: 314.526611 m, bearing: 8.626270 deg, approach rate: -0.524607 m/s, LOS rate: -0.011756 deg/s, cmd heading: 9.364549 deg, new cmd heading: 9.355515 deg. iUUHeadingCmd: 0.163285 target range: 317.733826 and range: 318.90 m.hU4'>hYhYhYhYgYgYjgargaeareaZei:ei*em,@颙ɢ"=) ?i)(顡i✼i4'>k!==I4'>I8>i>9@ @@@ q}CG-ɦ9)Y-AA%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022890^Auħ=iE EE$E"E;*E':VE4ZEa@a@a@a@BU }>BU PCBU IBU BBQ BQ BQ BU };BU 5EA I I O >ԙ q-%,Q LA2@2`~0>21:ٱ2LF=2H? ſ??`Q? ⼿/&B9dYd=fEyf(Df{Ej>hQ 5r4j{=?Q 9r4ji)juBYpyr~>Q Ir @jxLDIjM;ij;jP4yv’BɮzAz.EBDAT read: Rx Time:04:15:59.2645 TRx dataTimestamp_ set to:1764908161.322855checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275958B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 317.73 m."iL*iL ProNav: ac range: 317.733826 m, nav range: 314.317261 m, bearing: 8.621596 deg, approach rate: -0.501221 m/s, LOS rate: -0.011200 deg/s, cmd heading: 9.355514 deg, new cmd heading: 9.346158 deg. iHeadingCmd: 0.163121 target range: 317.733826 and range: 318.90 m.hA '>hhhhggjgrgereZe:e*eP @vBɢ7=) d?i ) o  i G蝼iA '>)=3=IA '>Iq9@ @@@ԩ^Aʞ== checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527325A! I) I9 OM >E  E E %E "E ;*E ՚:VE 4ZE BE dV9IYI=MEyM2DM.:EU>YQ 5e4]=?Q 9e4]2h)]!uBYe"?Q Ee:yeے>Q Ie @]LDI]:i]:]<4yqɮuAq:iFNOT Ignoring new targets: 317.73 m."ilw*ilw ProNav: ac range: 317.733826 m, nav range: 314.082123 m, bearing: 8.615711 deg, approach rate: -0.539789 m/s, LOS rate: -0.013520 deg/s, cmd heading: 9.346159 deg, new cmd heading: 9.334380 deg. iŹHeadingCmd: 0.162916 target range: 317.733826 and range: 318.90 m.h]&>hhhhggjgrgoBereZe:e*e @euBɢm6=)q }?iyDAT read: 04:15:59.2645 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 416,-0.26,-1.006,-2.595,-0.849,-1.238, PHS= 0.334,-1.311, 0.345, RAW= 150.3, 7.7, CAL= 149.8, 8.3, ROT= 0.2, -8.3 Ygot valid direction response: 04:15:59.2645 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 416,-0.26,-1.006,-2.595,-0.849,-1.238, PHS= 0.334,-1.311, 0.345, RAW= 150.3, 7.7, CAL= 149.8, 8.3, ROT= 0.2, -8.3 PDAT read: Bearing 172.9, 0.9 (Local) ~Local bearing/azimuth received: Bearing 172.9, 0.9 (Local) DAT read: Range 11 to 50 : 316.5 m (Round-trip 422.1 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.989520,0.003454,0.144356]Fpublishing direction and range infoyX%?dV7Kl?'ЌCz?Y@C) \  i 4i]&>3=F=I]&>I )II >iΧף>'@ >T'@ V>)d;IVw; ^?j\c{?ހ+? ӄ?). Id;iV5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.a9@ @@/@) ^A = *DAT read: user:181> E BDAT read: Tx time:04:16:00.4382 E $Ping request sent.E !%, LAB@B@0>B-;ٱBZ=BH@h? iſH?g?P?"` ?i?iB@IB\^;@Y^Byb IbDzڿVDz8yQ<%J=ٔ:Q->9  ?Y  ?= Ey :DuѹE>Q 5%4%=?Q 9%4f)*uBY!y%Ē>Q I% @LDI:ie:M4E= E=E9E9"E=7;*E=:VE9ZE9aE@aE@aE@aE@yMÒBɮMxAIiiDt LAjC"jC:j">"pSs@-wm?DF@pX%?dV7Kl?'ЌCz?*jd;2jV*pAfCs@cH@[F@p6ʅF?Ny?ʄg&?jEB jCi ?iJydQj Bj£?jJydQjBrjCzj!> addTargetRange:: Added new target pos. range: 316.500000 m, deltaT: 4.033682 s, deltaX: -2.399994 m, approachRate: -0.594988 m/s, rangeRepo size: 4  Added new target pos. range: 315.343781 m, bearing: 9.119150 deg, lat: 36.779524 deg, lon: -121.859680 deg, deltaT: 4.033682 s, deltaX: -2.390045 m, approachRate: -0.592522 m/s, posRepo size: 4 B<AB>BBBB =BBB};B35E:iFNOT Ignoring new targets: 315.34 m."i*i ProNav: ac range: 315.343781 m, nav range: 314.200317 m, bearing: 9.059040 deg, approach rate: 0.000000 m/s, LOS rate: -0.013520 deg/s, cmd heading: 9.334380 deg, new cmd heading: 9.323246 deg. iHeadingCmd: 0.162721 target range: 315.343781 and range: 316.50 m.hm&>hh hhggjg!rg!e!re!Ze!:es@*es?!ɢ-$=)1 5B?i1)5I\;11i5iem&>e;=iImm&>Ii!]9@Y @Y@]/@Y]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251063A^A 벫=q A I I) O5 >(%,L LA>@>0>>~9;ٱ>=>H'?ſ]&??P?`/g Ꮍ?-?i>@I>җ^;>~CYJByJ IiMb@Mb@Mb@ 9~jt?㥛 ?Zd;O?Y?y=j<@+A @)@Y@bD-VD-8y=cq%EG=ٔEJ;Q-E>9IYI=MEyMBDM9EM>QQ 5e4Ua=?Q 9e4Ud)U7uBYe ?Q Ee:ye>Q Ie @ULDIU;iUw:Uy4yuBɮu@u/E:iFNOT Ignoring new targets: 315.34 m."i*i ProNav: ac range: 315.343781 m, nav range: 313.988159 m, bearing: 9.053244 deg, approach rate: -0.526253 m/s, LOS rate: -0.014384 deg/s, cmd heading: 9.323247 deg, new cmd heading: 9.311648 deg. iҹchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503132HeadingCmd: 0.162519 target range: 315.343781 and range: 316.50 m.h\k&>hhhhggjgrgxBereZeQ:eq*eu?ɢ(=) ?i)cri!i\k&>C==I\k&>IEU EUEU$EQ"EU;*EU:VEU4ZEQBEQae2EQamJEU /.%, LA2@20>2-e;ٱ2=2H@X? ſ ȗ? ?Q?M@l?@?i2@I2˹^;2CY>By> IbDF8VDF8yN]=%NU=ٔR:Q-R>9R"?YV"?=VEyVJDV˹EV>XQ 5^4Zz=?Q 9^4ZTc)ZBuBY`yb>Q Ib @ZLDIZ;iZ;Z+4ydɮf@d:ixzFNOT Ignoring new targets: 315.34 m."i~j*i~j  ProNav: ac range: 315.343781 m, nav range: 313.789978 m, bearing: 9.047830 deg, approach rate: -0.517348 m/s, LOS rate: -0.014143 deg/s, cmd heading: 9.311648 deg, new cmd heading: 9.300813 deg. i ϹHeadingCmd: 0.162330 target range: 315.343781 and range: 316.50 m.h9&>hhhhggjg!rg!e!re!Ze!:e)*e-+;?!ɢ%%2=)! - #?i))-))i-iU9&>U$L=YI]9&>IYImyA)iԱ@ @@O0@iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007248Ee EeEe%Ea"Ee1;*Eek:VEe 4ZEaam@au@au@au@^Aʞ=B>BB IBBB =BBѺDBH|;B4EBPCBBBB =CqP5 A .AI I O >9 .5%, ^ LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2590606Y@60>6w;ٱ6s=6H?@zſ`͘? ?xP?+r??i6Y@I6G^;6CYrByr IbDz!VDz˰8y%'%-B=ٔ-;Q-->9- ?Y5 ?=5Ey5RD5;:E5>AQ 5E4E4=?Q 9M4Ea)EOuBYIyM>Q IM @ELDIEB:iE9:E4yQɮ]@YuB*** querying acoustic contact ***iqiq:iFNOT Ignoring new targets: 315.34 m."i*i ProNav: ac range: 315.343781 m, nav range: 313.571777 m, bearing: 9.041850 deg, approach rate: -0.516453 m/s, LOS rate: -0.014165 deg/s, cmd heading: 9.300813 deg, new cmd heading: 9.288843 deg. icϹHeadingCmd: 0.162121 target range: 315.343781 and range: 316.50 m.h&>hhhhggjgrgereZe:e*e? ɢ Ov/=)  !?i).Vii&>$U=U=I&>I!9@ @@2@9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511294^A벫=ԉ AE ؟AIQ Em  Em Em $Ei "Em 7;*Em :VEm 4ZEi BEm Z@C;%,:= LA,FA@F1>Fn;ٱFC3=FH઄?ſ 7ٙ??N?m'`buԽ??iFA@IF7_;FCYRÂByR IiUMb@Mb@Mb@QQQQ Q9Up= ף?Zd;O?{Gz?YU?yUj=Uף9"?Y"?=Ey[Dq;E>Q 54=?Q 94_)[uBYH?Q E:y>Q I @LDI:i.:4yɮz@:iFNOT Ignoring new targets: 315.34 m."i*i ProNav: ac range: 315.343781 m, nav range: 313.353790 m, bearing: 9.034375 deg, approach rate: -0.519035 m/s, LOS rate: -0.017810 deg/s, cmd heading: 9.288843 deg, new cmd heading: 9.273883 deg. i`HeadingCmd: 0.161860 target range: 315.343781 and range: 316.50 m.h%>hh!h!h!g!g!jg)rg-Be)re)Ze):e1*e5೵?]vBɢe.3=)a e&?ia)e[aiimim%>ui_=u=Iu%>Iq=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763301ԑ @  @ @ 65@ @yA@xAԹ^A-= A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015051)B%, !LA6@62>6D;ٱ6z=6H ?ſ@]?=3?`NM?9XYX=ZEyZbDZ:EZ>``Q 5f4b^=?Q 9f4b])beuBYhyj >Q Ij @bLDIb:ib:bb4yrBɮr@r0EE% E%E%%E!"E% ;*E%:VE% 4ZE!a-@a-@a5@a5@:iIUFNOT Ignoring new targets: 315.34 m."iUBe>BaBe IBeBBaBaBaBe{;Be4E*iU ProNav: ac range: 315.343781 m, nav range: 313.161011 m, bearing: 9.027732 deg, approach rate: -0.505678 m/s, LOS rate: -0.017434 deg/s, cmd heading: 9.273883 deg, new cmd heading: 9.260590 deg. iAHeadingCmd: 0.161628 target range: 315.343781 and range: 316.50 m.h%>hhhhggjgrgereZe:e*e@@yɢ}8=) M$?i)D顁ii%>Ej=t=I%>IV>i >@ @@ 5@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266934^A6=Q A I1 IA OU >SH%,"!LA2@23>2ţ;ٱ2g=2H?_ƿDV?V?5K?gg}q0? ?i2@I2b_;2CY>ÂBy> Ii5Mb@Mb@Mb@1111 195Zd;O?&1?Q?Y5~ ?y5=5u<15+A 1)5@1Y5f@bDMVDM8y}s<%}>=ٔ',;Q->9Y=EykD?';E>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519075Q 54>?Q 94[)ouBY ?Q E:y>Q I @LDIf;i e; 4yɮ@:iFNOT Ignoring new targets: 315.34 m."ir*ir ProNav: ac range: 315.343781 m, nav range: 312.928772 m, bearing: 9.019126 deg, approach rate: -0.549407 m/s, LOS rate: -0.020376 deg/s, cmd heading: 9.260590 deg, new cmd heading: 9.243364 deg. i(HeadingCmd: 0.161327 target range: 315.343781 and range: 316.50 m.h2%>hhhhgg jg rg Be reZe:e*e`OI@AɢEc7=)A EU&?iA)MXsT9IIiMiU2%>u==I2%>IbEJ4jEJ4rE/E5 E5E5(E1"E5;*E55:VE5c44ZE1BE5]~N%,C2<ٱ2=2H C? ƿO?g?:J?Pw J?,?i2@I2_;2CY>By> IbDFVDF8yN~%NZ=ٔR;Q-R>9PYP=VEyVsDV5:EV>XQ 5^4Z_>?Q 9^4ZY)ZxuBY`yb/>Q Ib @ZLDIZ;iZ;Zw4ydɮfE@f1E:ixzFNOT Ignoring new targets: 315.34 m."i~*i~  ProNav: ac range: 315.343781 m, nav range: 312.726410 m, bearing: 9.011597 deg, approach rate: -0.541551 m/s, LOS rate: -0.020162 deg/s, cmd heading: 9.243364 deg, new cmd heading: 9.228296 deg. i HeadingCmd: 0.161064 target range: 315.343781 and range: 316.50 m.h$>hhhhggjg!rg!e!re!Ze!:e)*e-F @ywBɢ;=) ' ?i)fQ1:ii $> N= 4=I $>I9@ @@/@@@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022905ԱE= E=E='E9"E=~ ;*E=^:VE='4ZE9aM@aM@aM@aM@Be>BaBe IBeBBaBaBeкDBeI{;BeR4E^A=A I I O > ] BDAT read: Rx Time:04:16:03.2625 e TRx dataTimestamp_ set to:1764908165.354733e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275961oU%,V!LA2k@2 4>2<ٱ2O=2H :?%1ƿK?|? H?? oւ@m?`?i2k@I25`;2CY~By|==bD=VD=8yL%;=ٔ%;Q->9Y=Ey|D4:E>Q 54V*>?Q 94W)uBYy>Q I @MDI:i&:4yɮL@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 315.34 m."i(*i( ProNav: ac range: 315.343781 m, nav range: 312.490936 m, bearing: 9.002793 deg, approach rate: -0.537923 m/s, LOS rate: -0.020125 deg/s, cmd heading: 9.228296 deg, new cmd heading: 9.210676 deg. iSEHeadingCmd: 0.160757 target range: 315.343781 and range: 316.50 m.hEc$>hAhIhIhIgIgIjgQrgQeQreQZeQ:eY*e] @ɢ-=) ?i):i8ic$>Ґ=Ƶ=Ic$>I!@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526973^AE ?=D5 =D5 <E=  E= E= &E9 "E= ;*E= :VE= 4ZE9 BE= m,[%,p!LAYBy  I9iMb@Mb@Mb@ 9Cl?1Zd?/$?Yd>y"=< @)1@Y @bD'VDа8y%%:=ٔQ->9Y=EyDE>Q 54;>?Q 94eU)uBY?Q E:y>Q I @MDI; ;iD;"4yBɮh@DAT read: 04:16:03.2625 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 426, 0.30,-2.794, 1.994,-2.630, 3.139, PHS= 0.453,-1.100, 0.471, RAW= 150.6, 2.3, CAL= 149.5, 2.0, ROT= 0.5, -2.0 Ygot valid direction response: 04:16:03.2625 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 426, 0.30,-2.794, 1.994,-2.630, 3.139, PHS= 0.453,-1.100, 0.471, RAW= 150.6, 2.3, CAL= 149.5, 2.0, ROT= 0.5, -2.0 PDAT read: Bearing 166.8, 0.0 (Local) ~Local bearing/azimuth received: Bearing 166.8, 0.0 (Local) DAT read: Range 11 to 50 : 315.1 m (Round-trip 420.2 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.999353,0.008721,0.034899]Fpublishing direction and range infoyqu$Ϊ?MPBn܁?Xޡ?YuCqqqq q)uHIu>iǔu&>u8(@ul$=u<&@ u5=)u5hhhhggjgrgBereZe:es@*el=V3=II$>IQ@Y @Y@Y@YuGԉɣ9YA- *DAT read: user:182> 5 BDAT read: Tx time:04:16:04.4882 5 $Ping request sent.5 B B IB BB B B B z;B *4EA .AI I O >+c%,M!LA)u@u 6>uV<ٱur=uH1~?Jƿh ?@Q?J? Y`݊U?,?iu@Iu{{`;uCYBy IbDVD8y%B=ٔ9 ?Y ?=EyD5;E>Q 54L>?Q 94MS)uBYy>Q I @MDI:i:#*4yɮ@i9i=w!LAj=C"j=C:j=::>"p=s@/Jx@ kS-%@p=$Ϊ?MPBn܁?Xޡ?*j=5<2j=5*p='Js@X~owL@4rVU@p={y v?l M6?U2?j=cB j=TCi=w棊?i=]yj=ؐBj9j= kj9rj=ACzj=~)>:iFNOT Ignoring new targets: 315.34 m."iǹ*iǹ ProNav: ac range: 315.343781 m, nav range: 312.069916 m, bearing: 8.984839 deg, approach rate: -0.509352 m/s, LOS rate: -0.021818 deg/s, cmd heading: 9.192369 deg, new cmd heading: 9.174743 deg. iHeadingCmd: 0.160129 target range: 315.343781 and range: 315.10 m.h#>hhhhg g jg rg e reZe:e*e` ?颥yBɢ27=) G?i);顩iթi#>==I#>IY%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2505559@ @@@@zA@zAԁ^A *=Ա A! I1 IA OM >Ri%,!LA2k@2 6>2Pi<ٱ2f=2HG}? :Xƿ??`bJ? :)`?2?i2k@I2[`;2C>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501809YBByB Ii]Mb@Mb@Mb@YYYY Y9]RQ?1Zd?~jt?Y]?yY]ԑ9Y=EyDv:E>Q 54,\>?Q 94LQ)uBY}?Q E:yL>Q I @,MDI;i;14yɮ;A2E:iFNOT Ignoring new targets: 315.34 m."i˹*i˹ ProNav: ac range: 315.343781 m, nav range: 311.869507 m, bearing: 8.976502 deg, approach rate: -0.535057 m/s, LOS rate: -0.022273 deg/s, cmd heading: 9.174743 deg, new cmd heading: 9.158058 deg. i #HeadingCmd: 0.159838 target range: 315.343781 and range: 315.10 m.h#>hhhhg g jgrgwBereZe:e*e?AɢEmX:=)I M?iI)Mz3;IQiU iU#>]=]?=I]#>IYE EE$E"E*E:VE4ZEBEJ\5p%,v!LA2@2@6>2u}<ٱ2=2H|?Xƿ/8?7?`J?W`g`? k?i2@I2 B`;2CY>By> IbDFVDF8yN%N[=ٔRW;Q-R>9PYT=VEyVDVv9EV>XQ 54ZYk>?Q 9 4ZiO)ZuBY y a>Q I  @Z9MDIZ:hahahahagagajgirgieireiZeq:eq*eu< ?颥zBɢb5=) P?i)BO;顩iOOizd#>̛=F=Izd#>IQ@Q @Q@U0@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006020!By>BOCB IBBB =BBB`z;B3EE EE#E"Ex;*E:VE3ZEBECg<2ECg<JE<:E<^A=QAI IQ Ia Ou >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257813y _v%,!LA2~@26>2n<ٱ2G=2H |?Pƿ?`Գ?K?eK?@ ?i2~@I2[`;2~CY>By> IbDF VDF8yN}u%NJ=ٔR(E;Q-R>9PYP=REyVDVEV>XQ 5^4Z{>?Q 9^4Z\M)ZuBY`ybT>Q Ib @ZFMDIZ;iZ;Z>4ydɮfAf)EvB*** querying acoustic contact ***itit:ix~FNOT Ignoring new targets: 315.34 m."i~ƹ*i~ƹ  ProNav: ac range: 315.343781 m, nav range: 311.475250 m, bearing: 8.960062 deg, approach rate: -0.519912 m/s, LOS rate: -0.021704 deg/s, cmd heading: 9.142285 deg, new cmd heading: 9.125158 deg. i HeadingCmd: 0.159264 target range: 315.343781 and range: 315.10 m.h#>hhhhggjg!rg!e!re!Ze!:e)*e-]?ɢ/=) ?i)fn;ii#>+ݛ=%=I#>IQy@y @@/@@>@>ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509841^AԱE EE$E"E;*E:VE4ZEa@a@a@a@Ae ؟AIi Iy O > |%,!LA6@6@5>66z<ٱ6 =6H`}? 7ƿ@c.?`n?WN?<OR?(?i6@I6D``;6CY\yb IiMMb@Mb@Mb@IIII I9M}?5^I?(\µ?I +?YMM?yM=M949}"?Y}"?=}Ey}DRۺE>Q 54>?Q 94hK)uBY#?Q E:yۭ>Q I @TMDI7 ;i ;!F4yɮA:iFNOT Ignoring new targets: 315.34 m."i*ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761906} ProNav: ac range: 315.343781 m, nav range: 311.256348 m, bearing: 8.952597 deg, approach rate: -0.507651 m/s, LOS rate: -0.017325 deg/s, cmd heading: 9.125157 deg, new cmd heading: 9.110216 deg. iHeadingCmd: 0.159003 target range: 315.343781 and range: 315.10 m.h">hhhhggԱjgrg~BereZe:e*e`U@ {Bɢ5/*=)1 5?i1)5n;19i=ǵi=">E=E N=IE">IA?>i>%9@! @!@!@! ^AI  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014574Ay I I O >B B B IB BB =B B B z;B 3EBBBB =B =C˯Z59 ju%,"LAEZ EZEZ#EX"EZC#;*EZ :VEZ3ZEXBEZ{j.<ٱjd=jHk?` ƿ@h?u?hQ?`Q s䛼?/?ij@Ij5`;jCYvByv IbD~VD~8y 4% P=ٔE;Q->9Y=EyD4KE>!Q 5-4%>?Q 9-4%I)%uBY1y5B>Q I5 @%aMDI%;i%;%L4y=Bɮ=A9:iFNOT Ignoring new targets: 315.34 m."i*i ProNav: ac range: 315.343781 m, nav range: 311.057373 m, bearing: 8.945847 deg, approach rate: -0.492685 m/s, LOS rate: -0.016723 deg/s, cmd heading: 9.110216 deg, new cmd heading: 9.096709 deg. iHeadingCmd: 0.158768 target range: 315.343781 and range: 315.10 m.h">hhhhgg jg rg)e1re1Ze1:e1*e5m@颁ɢUJ2=) ' ?i); ))i-Ti-">5=5=I5">I19@ @@0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2669221^Ae ˺=q Aq I I O >؛%,UM("LA 6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517991:X@:3>:<ٱ:=:Hf?ſ@?D? 1U?ٺ*?@?i:X@I:|`;:CY By  IiMb@Mb@Mb@ 9S㥛?Q?Mb`?Y$?y\=; @)t@Y@bDVDİ8yM%@=ٔ ;Q->9Y=EyDgE>Q 54>?Q 94G)uBYV?Q E:y>Q I @pMDI;i;hT4yɮA:i)-FNOT Ignoring new targets: 315.34 m."i=W*i=WU ProNav: ac range: 315.343781 m, nav range: 310.835236 m, bearing: 8.939645 deg, approach rate: -0.533280 m/s, LOS rate: -0.014900 deg/s, cmd heading: 9.096709 deg, new cmd heading: 9.084296 deg. i%ڹHeadingCmd: 0.158551 target range: 315.343781 and range: 315.10 m.h)[">hhhhggjgrglBere!Ze!:e!*e%R@q额|Bɢ:"=) ?i)w;顡iU䭼i)["> ==I)[">Ia@a @a@eO0@i@mxA@iԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769787^AM = Ay I I O >%, )B"LA2@21>2ѫ<ٱ2=2Hɂ?`ſf3?!?`_W?/ y??i2@I2tp`;0Y>yBy>z IbDF(VDFѰ8yN~P%R_=ٔR;Q-V>9TYT=VEyVDZ@EZ>\Q 5b4^I>?Q 9b4^RF)\Y`yb]>Q If @^|MDI^2:i^s;^Z4yjBɮjAj*E:ix~FNOT Ignoring new targets: 315.34 m."i+*i+ ProNav: ac range: 315.343781 m, nav range: 310.642731 m, bearing: 8.934302 deg, approach rate: -0.527894 m/s, LOS rate: -0.014662 deg/s, cmd heading: 9.084296 deg, new cmd heading: 9.073602 deg. iֹHeadingCmd: 0.158364 target range: 315.343781 and range: 315.10 m.h<*">hhhhgg!jg!rg!e!re)Ze):e)*e-" @ɢ .=) >i);i/ai<*"> C= i)=I <*">I 9iqIuA}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0229119@ @@/5@B}|>B}PCB} IB}}BB} =ByByB}z;B}3EE} E}E}(Ey"E};*E}5:VE}c44ZEyBE} d<2E}!d<JE}<:E}<^A=I I O >! 5 BDAT read: Rx Time:04:16:07.3099 5 TRx dataTimestamp_ set to:1764908169.400255= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276383%,S\"LA2 @20>2\ӱ<ٱ2H=2H@J?ſTt?`j?Y? } 9@Iٻ? q?i2 @I2]`;0YNxByRy IbDZVDZ8ybϻ%bH=ٔbq:Q-f>9dYd=fEyfDj59Ej>lQ 5r4n>?Q 9r4nD)nuBYpyrǛ>Q Iv @nMDIn;in[:na4yxɮzAz+E|B*** querying acoustic contact ***ii:i!%FNOT Ignoring new targets: 315.34 m."i-*i-= ProNav: ac range: 315.343781 m, nav range: 310.429321 m, bearing: 8.928417 deg, approach rate: -0.521227 m/s, LOS rate: -0.014382 deg/s, cmd heading: 9.073602 deg, new cmd heading: 9.061825 deg. i=ҹEHeadingCmd: 0.158159 target range: 315.343781 and range: 315.10 m.hEZ!>hAhAhAhAgAgIjgIrgIeIreQZeQ:eQ*eU @颅}Bɢ<%=) >i)-D;顉i ܮiZ!>#=M=IZ!>I9@9 @A@E 3@A1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525811Y^AaI E-  E- E- $E) "E- ;*E- :VE- 4ZE) a5 @a5 @a5 @a5 @I9 OM >ԁ ۜ%,u"LA ]@ `x/> }<ٱ = H?@cſ:ˤ?,?%\?H/-??i ]@I  _; CY%oBy-m IQDAT read: 04:16:07.3099 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415, 0.26, 0.645,-0.821, 0.897, 0.351, PHS= 0.396,-1.127, 0.502, RAW= 153.3, 2.9, CAL= 152.2, 2.5, ROT= 357.8, -2.5  Ygot valid direction response: 04:16:07.3099 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415, 0.26, 0.645,-0.821, 0.897, 0.351, PHS= 0.396,-1.127, 0.502, RAW= 153.3, 2.9, CAL= 152.2, 2.5, ROT= 357.8, -2.5 PDAT read: Bearing 167.1, -3.3 (Local) ~Local bearing/azimuth received: Bearing 167.1, -3.3 (Local) %DAT read: Range 11 to 50 : 313.1 m (Round-trip 417.5 ms) speed 0.7 m/s %R#Rx 1: Read range and direction messages.-^direction in FSK: [0.998312,-0.038352,0.043619]-Fpublishing direction and range infoy3&+?hӢGU?YC )GI>iA?<+@4QO=P*@ ¸2=)M@I¸2W5O?}/?@U9? ?)0QIFi¸2MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.i]Mb@Mb@Mb@YYYY Y9]~jt?A`"?{Gzt?Y]?y]Y=]ף;]@]A ]@)YYY]@bDVD8y.%0=ٔ_;Q->9Y=EyD/8E>Q 54E>?Q 94B)YN?Q E:y>Q I @MDI;i~:j4yɮEAiiy"LAjC"jC:j>"pvs@]'ܼW96+@p3&+?hӢGU?*jF2j¸2*ptUs@w&C@݃@ԁpC#wW?lf?(vei?jB jCi7̷?i)'jʌBjeǣ?jjrjWCzjk(>U addTargetRange:: Added new target pos. range: 313.100006 m, deltaT: 4.032168 s, deltaX: -2.000000 m, approachRate: -0.496011 m/s, rangeRepo size: 4  Added new target pos. range: 311.955536 m, bearing: 7.362320 deg, lat: 36.779524 deg, lon: -121.859649 deg, deltaT: 8.074381 s, deltaX: -3.388245 m, approachRate: -0.419629 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 311.96 m."i*i ProNav: ac range: 311.955536 m, nav range: 310.681000 m, bearing: 9.423499 deg, approach rate: 0.000000 m/s, LOS rate: -0.014382 deg/s, cmd heading: 9.061825 deg, new cmd heading: 9.046242 deg. i!%HeadingCmd: 0.157887 target range: 311.955536 and range: 313.10 m.h%!>h)h)h)h)g)g)jg1rg5PBeQreQZeY:e]s@*e]G?颉ɢ =) \>i);顑iGi!>N3=+=I!>II)yAԱm9@i @i@m0@i@u=@u= *DAT read: user:183>  BDAT read: Tx time:04:16:08.5382  $Ping request sent. Bi Bm ` IBm dBBm =Bi Bi Bm /{;Bm E4EbEajEer 4rEe/E5  E5 E5 %E1 "E5 I;*E5 ^:VE5 4ZE1 BE5 ej%,hΐ"LAB@B@->B<ٱB=BH?1,ſ='??]?k@)һ? 8?iB@IBO_;BCY^cByb_ IbDj̿VDj}8y~%^=ٔ. ;Q->9 Y = Ey D1E>19Q 5E4=>?Q 9E4=A)=uBYIyMB>Q IM!@=MDI=:i=:=p4yUBɮ]AY:iFNOT Ignoring new targets: 311.96 m."ilg*ilg ProNav: ac range: 311.955536 m, nav range: 310.487762 m, bearing: 9.419721 deg, approach rate: -0.646330 m/s, LOS rate: -0.012645 deg/s, cmd heading: 9.046242 deg, new cmd heading: 9.038681 deg. i#HeadingCmd: 0.157755 target range: 311.955536 and range: 313.10 m.hv!>hhhhggjgrgere)Ze1:e1*e5*?yɢT2=) z>i)qQ;顁iiv!>n:=t=Iv!>IE9@A @A@E/@Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252439yԉ^Am=I I1 O] >Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502685(%,4"LA2v@2,>2n<ٱ2 =2H`Z?@Ŀ^?ae?`?6T??i2v@I2K_;2CY>TBy>M IԙiMb@Mb@Mb@ 9'1Z??y&1|?Y?yL=`; @A @)@Y@DzDbDVD8yeP%e6=ٔe:Q-e>9iYi=mEymDm~Eu>Eu EuEu"Eq"Eu;*Eu?:VEu(3ZEqa}@a}@a}@a}@Q 54??Q 94?)Ys?Q E:y>Q I!@MDI ;i ;ex4yɮA:iFNOT Ignoring new targets: 311.96 m."i@-*i@- ProNav: ac range: 311.955536 m, nav range: 310.260193 m, bearing: 9.415546 deg, approach rate: -0.515580 m/s, LOS rate: -0.009467 deg/s, cmd heading: 9.038681 deg, new cmd heading: 9.030324 deg. iHeadingCmd: 0.157609 target range: 311.955536 and range: 313.10 m.h:d!>hhhhggjgrgEBereZe:e*e`?-~Bɢ-y=)) 5>i1)5;11i5 i=:d!>=C==_=I=:d!>IA@ @@@}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754784^A 6=Iq I O > C U lGm yA 9 yAY As%,v"LA2j@2 p*>2 <ٱ2I+=2H@i?Ŀq?@E3? b? WAט?@?i2j@I2s#_;2CYR[ByRV IbDZVDZ8ybx&=%bi=ٔbS:Q-b>9dYd=fEyfDj̐Ej>hQ 5r4j;??Q 9r4j>)hYpyr>Q Ir!@jMDIjo;ijI;j|~4yzBɮzAz,E:iFNOT Ignoring new targets: 311.96 m."iN)*i%N)- ProNav: ac range: 311.955536 m, nav range: 310.082031 m, bearing: 9.412325 deg, approach rate: -0.511377 m/s, LOS rate: -0.009251 deg/s, cmd heading: 9.030325 deg, new cmd heading: 9.023878 deg. i-r5HeadingCmd: 0.157496 target range: 311.955536 and range: 313.10 m.h5F!>h1h9hhggjgrgereZe:e*e >?9ɢ=*=)A E>iA)Ekw;AAiESiMF!>MJ=Ua=IUF!>IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008319 9@  @@@@%zA@%xAB>BBG IBOBBBBB{;B}4E)Ee EeEe#Ea"Ee ;*Ee:VEe3ZEaBEeRy :%,HR"LA2;c@2@)>2^<ٱ2/=2Hb?@Ŀͥ??Bc?`z`,_?h?i2;c@I2^;2CY^TBybM IbDjۿVDj8yro%rH=ٔr;Q-r>9tYt=vEyvDzEz>|Q 54~K&??Q 94~W=)|Yy>Q I !@~MDI~;i~;~4yɮ A-B*** querying acoustic contact ***i)i):i9EFNOT Ignoring new targets: 311.96 m."iE'*iE'U ProNav: ac range: 311.955536 m, nav range: 309.873413 m, bearing: 9.408580 deg, approach rate: -0.510200 m/s, LOS rate: -0.009163 deg/s, cmd heading: 9.023879 deg, new cmd heading: 9.016385 deg. iU)]HeadingCmd: 0.157366 target range: 311.955536 and range: 313.10 m.h]s$!>hYhYhYhagagajgargaeireiZei:ei*em?颙ɢ$ =) >i)";顡iis$!>RQ==Is$!>IY9@! @!@!@)ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510805^Ap=DD%=E= E=E=$E9"E=;*E=:VE=4ZE9aE@aM@aM@aM@ԩA) I1 IA OU > d%,Q-"LA2W@2,(>2<ٱ2l=2H? `sĿr??@ie?7r7??i2W@I2ޚ^;2CY>_By>Z IiMb@Mb@Mb@ 9jt?ˡE? rh?Y?y'=C<"@EA @)@Y@bDVD8y-JI=%-F=ٔ-?:Q-5>91Y1=5Ey5DEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762782EYEE>IQ 5U4Mp7??Q 9U4M<)MuBYD?Q E:y(w>Q I!@MMDIMRhIhIhIhQgQgQjgYrg]dBeYreYZeY:ea*ee`l@颍}Bɢ6=) s>i)<顑ii !>W=s=I !>IԱ 9@ @@/@^A=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015636 A A @AB >B B : IB EBB =B B ѺDB {;B 4EA I I O >E%  E% E! E! "E% 7;*E% P:VE! ZE! BE% Z6<ٱ6=6H`?BĿ)??g?KVX@dĻ??i6K@I6`^;6CY^UBy^N IbDjVDj8yr@%rO=ٔr:Q-r>9tYt=vEyvDvuEz>xQ 5~4zG??Q 94z:)zuBYyu>Q I!@zMDIz;iz;z4y ɮA:i1=FNOT Ignoring new targets: 311.96 m."i=*i=M ProNav: ac range: 311.955536 m, nav range: 309.466766 m, bearing: 9.402814 deg, approach rate: -0.531117 m/s, LOS rate: -0.007466 deg/s, cmd heading: 9.010405 deg, new cmd heading: 9.004845 deg. iMZUHeadingCmd: 0.157164 target range: 311.955536 and range: 313.10 m.hU >hQhQhQhYgYgYjgargaeareaZea:ei*emg@频ɢ6=) >i)U<顙iKi > \=C(=I >I59@1 @1@5 0@1Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2668309^AU=A>A>q A I) IQ O} > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518667v%,+#LA NA@Nd%>N<ٱNn=NH@?Ŀ9?໓?i?M@H??iNA@IND^;N~CYMVByMP IE EE%E"E;*E:VE 4ZEa@a@a@a@iMb@Mb@Mb@ 9Mb?Mb?/$?Y?y@=<9@A 1@)@Y@bDVDɰ8y%;%%8=ٔ%j:Q-%>9)Y)=-Ey-D-6E5>9Q 5E4=bZ??Q 9E4=N9)=uBYE?Q EE:yE}>Q IE!@=MDI=I:i=R:=4yUBɮUA-E:iFNOT Ignoring new targets: 311.96 m."i, *i,  ProNav: ac range: 311.955536 m, nav range: 309.238525 m, bearing: 9.399258 deg, approach rate: -0.494642 m/s, LOS rate: -0.007714 deg/s, cmd heading: 9.004845 deg, new cmd heading: 8.997727 deg. i-a5HeadingCmd: 0.157040 target range: 311.955536 and range: 313.10 m.h5 >h1h9h9h9g9g9jgArgEkBeAreAZeA:eI*eMK @q颱ɢW=) >i)2 <项ii >~`=t=I- >I)@ @@/@ԙ]>]4=]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770905 ^A 5c=A I! I1 O= >S%,6E#LA2*5@2 #>2<ٱ2=2Hu?KÿfV? b?k?R7? ?i2*5@I2X)^;2CYRXByRR IXbD^ VD^8yf <%fd=ٔj:Q-j>9lYl=nEynDnzEn>pQ 5v4rmi??Q 9v4r8)ruBYxyzk|>Q Iz!@rNDIr:ir ;rġ4y|ɮ~A:i!-FNOT Ignoring new targets: 311.96 m."i-*i-= ProNav: ac range: 311.955536 m, nav range: 309.055084 m, bearing: 9.396447 deg, approach rate: -0.536937 m/s, LOS rate: -0.008231 deg/s, cmd heading: 8.997727 deg, new cmd heading: 8.992103 deg. i=qEHeadingCmd: 0.156942 target range: 311.955536 and range: 313.10 m.hEZ >hAhAhAhIgIgIjgQrgQeQreQZeQ:eY*e]@ @颁ɢ+=) g>i)17<顉i鱼iZ >b==IZ >Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023941A@I @I@M 2@IBM~>BIBM. IBM;BBM =BIBMкDBIBM4EBBBBBCĢ5E EEE"E;*E:VEZEBEe;a^Am=A .AI I O >9  BDAT read: Rx Time:04:16:11.3566  TRx dataTimestamp_ set to:1764908173.430777 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275748y%,W_#LA64+@6`">6v<ٱ6=6H ?`¿ÿ`^?:?@m? t%͛@\? L?i64+@I6];6CY^TBybM IbDjVDj°8yr%rJ=ٔr:Q-r>9v ?Yv ?=vEyv DvDEz>xQ 54zuz??Q 94z6)zuBYy0{>Q I!@zNDIzf;iz@;zب4yBɮ8A.E5B*** querying acoustic contact ***i1i1:iAEFNOT Ignoring new targets: 311.96 m."iMz *iMz U ProNav: ac range: 311.955536 m, nav range: 308.847412 m, bearing: 9.393308 deg, approach rate: -0.511125 m/s, LOS rate: -0.007731 deg/s, cmd heading: 8.992103 deg, new cmd heading: 8.985821 deg. i]^beHeadingCmd: 0.156832 target range: 311.955536 and range: 313.10 m.he >hahahahagagijgirgieireiZeq:eq*eu @颥|Bɢ~=) >i)<顩i97i >=d=pG=I >II)xAy@y @@65@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526700y^A`=E EE&E"E;*EP:VE4ZEa%@a%@a%@a%@Ae ؟AIi Iy O >ԡ :%, Dy#LA !@ `a!> 38<ٱ ۔= Hr?Йÿre? ?`o?!@T?z?i !@I q]; }CY-XBy-R IeDAT read: 04:16:11.3565 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.10, 0.840,-0.781, 0.973, 0.590, PHS= 0.352,-1.327, 0.339, RAW= 149.6, 7.7, CAL= 149.1, 8.2, ROT= 0.9, -8.2 mYgot valid direction response: 04:16:11.3565 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.10, 0.840,-0.781, 0.973, 0.590, PHS= 0.352,-1.327, 0.339, RAW= 149.6, 7.7, CAL= 149.1, 8.2, ROT= 0.9, -8.2 q}PDAT read: Bearing 171.8, 0.0 (Local) }~Local bearing/azimuth received: Bearing 171.8, 0.0 (Local) DAT read: Range 11 to 50 : 310.6 m (Round-trip 414.2 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.989654,0.015547,0.142629]Fpublishing direction and range infoy15#r ??I֏?x0A?Y5LC1111 1)5HI5X9>i5#۩5h>5'@5 >5ۋ&@ 5C>)59}"?Y}"?=}Ey}*DbE>Q 54m??Q 945)uBYm?Q E:y>Q I!@ NDI,:i4:4yaɮeAaԡi1i5{#LAj5C"j5C:j53!>"p5k+;$s@`v쎧>@'F@p5#r ??I֏?x0A?*j5<2j5C*p5pr@TR#H@$dBB@p5C-ac??˰V1Ƚ?j5AB j5ƗCi5z?i5|H?j5YBj5c?j5|H?j1rj5 Czj5@!> addTargetRange:: Added new target pos. range: 310.600006 m, deltaT: 4.031932 s, deltaX: -2.500000 m, approachRate: -0.620050 m/s, rangeRepo size: 4 % Added new target pos. range: 309.466156 m, bearing: 9.036875 deg, lat: 36.779523 deg, lon: -121.859672 deg, deltaT: 4.031932 s, deltaX: -2.489380 m, approachRate: -0.617416 m/s, posRepo size: 4 :i!-FNOT Ignoring new targets: 309.47 m."i-*i)] ProNav: ac range: 309.466156 m, nav range: 308.085052 m, bearing: 9.015249 deg, approach rate: 0.000000 m/s, LOS rate: -0.007731 deg/s, cmd heading: 8.985821 deg, new cmd heading: 8.977702 deg. iYeHeadingCmd: 0.156690 target range: 309.466156 and range: 310.60 m.hews >hahahahagigijgirgmBeqreqZeq:euis@*eg\?ɢע=) >i)G<iiws >Ie='=Iws >I9@ @@0@*DAT read: user:184> BDAT read: Tx time:04:16:12.5381 $Ping request sent.BE OCBA BA BE =BA BE ϺDBE b{;BE Z4E EM  EM EM %EI "EM ;*EM :VEM 4ZEI BEM Rj%,o#LA 2@2 >2<ٱ2MV=2H`V?เÿM??vp? 'Z~z?@?i2@I2{O];2CYB_ByBZ IbDJVDJ8yR-=%R^=ٔVCd:Q-V>9V ?YV ?=VEyV1DZEZ>\Q 5b4^??Q 9b4^3)^uBY`yf4>Q If!@^,NDI^e:i^q:^Է4yUBɮUAQ:iy}FNOT Ignoring new targets: 309.47 m."iS4*iS4 ProNav: ac range: 309.466156 m, nav range: 307.899750 m, bearing: 9.011827 deg, approach rate: -0.533264 m/s, LOS rate: -0.009853 deg/s, cmd heading: 8.977702 deg, new cmd heading: 8.970854 deg. iCHeadingCmd: 0.156571 target range: 309.466156 and range: 310.60 m.h"T >hhhhggjgrgereZe:e*eiq?ɢ}5=) [>i)H$<iݲi"T >ye==I"T >Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251097Ie9@i @i@m/5@iq^Aȝ=ԡ A ؟AI! I1 E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503205OU >%,(#LAE" E"E"'E "E"x;*E":VE"'4ZE a*@a*@a*@a*@:B@: >:T`<ٱ:L=@:H?_ÿ??q? ˜@\n??i:B@I:`G];:CYJ]ByJX IiMb@Mb@Mb@ 9RQ?l?:v?Y?y=<n@ 9@)@YbD5 VD58yE%EA=ٔMi:Q-M>9M"?YM"?=MEyU:DUEU>Q 54??Q 942)uBY?Q E:yM>Q I!@:NDI{:i:4yBɮA/E:iY]FNOT Ignoring new targets: 309.47 m."ieOs*ieOsm ProNav: ac range: 309.466156 m, nav range: 307.675323 m, bearing: 9.006097 deg, approach rate: -0.520319 m/s, LOS rate: -0.013295 deg/s, cmd heading: 8.970854 deg, new cmd heading: 8.959385 deg. iu¹HeadingCmd: 0.156371 target range: 309.466156 and range: 310.60 m.h >hhhhggjgrgBereZe:e*eD?]{Bɢ]N!=)Y ]>ia)e*ԩd=T=I >IN>i>a@a @a@e05@a@m=@m=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754839^A =! A I I O >w%,Y#LARR @R >R4<ٱR=RHࠚ?>ÿ֦??s?`߹`U@O??iRR @IR]@];R}CY^ZBy^T IbDfVDf8iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008462ayeka%eH=ٔm:Q-u>9yYy=}Ey}BDE>Q 54S??Q 940)uBYyѕ>Q I!@GNDI l;i[;j4yɮA:i1B9B9B9B9B= =B9B9B=z;B=3EUFNOT Ignoring new targets: 309.47 m."i]jk*i]jkm ProNav: ac range: 309.466156 m, nav range: 307.473389 m, bearing: 9.000969 deg, approach rate: -0.506288 m/s, LOS rate: -0.012864 deg/s, cmd heading: 8.959385 deg, new cmd heading: 8.949124 deg. imUmHeadingCmd: 0.156192 target range: 309.466156 and range: 310.60 m.hu>hqhhhggjgrgereZe:e*eu?ɢd*=) >i).^0<i\i>%c=%=I%>I!bE» 4jE( 4rE–/E] E]EYEY"E] ;*E]:VEYZEYBEYau2EYauJE];au:E];au19@ @@w4@a^AmD=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259460Aa Ii Iy ԁ O >%,+5#LA6@6>66<ٱ6=6H@:?@+ÿm??ft? ֹŝXI?`?i6@I6];6~CY\y`bDhVDhyr/%rS=ٔr:Q-v>9tYt=vEyvJDzEz>|Q 54~L??Q 94~/)~uBYy>Q I !@~TNDI~;i~9:~4yƒBɮeA&E-B*** querying acoustic contact ***i)i)Y:iaeFNOT Ignoring new targets: 309.47 m."imr*imr} ProNav: ac range: 309.466156 m, nav range: 307.277222 m, bearing: 8.996002 deg, approach rate: -0.521971 m/s, LOS rate: -0.013225 deg/s, cmd heading: 8.949124 deg, new cmd heading: 8.939184 deg. i}HeadingCmd: 0.156018 target range: 309.466156 and range: 310.60 m.h;>hhhhggjgrgereZe:e*e@?颡ɢ&E,=) >i)5<iܳi%;>Urb=U5=I];>Ia%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512434ԉe9@a @a@e0@aEe EeEe$Ea"Ee;*EeB:VEe4ZEaam@am@am@am@Ա^Am Ԙ= A I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762852O >%,#LA2@2`!>25<ٱ2y=2H`? 7-ÿX;?`? t?9繿 %^?y?i2@I2\];0Y>]By>X IiUMb@Mb@Mb@QQQQ Q9URQ?~jt?S㥛?YQyU=U/9Y=EySDT9E>Q 54??Q 94b-)vBY.?Q E:yl>Q I!@bNDI;i ;4yɮIAԹ%G={Aa9{AYA:iFNOT Ignoring new targets: 309.47 m."ia*ia5 ProNav: ac range: 309.466156 m, nav range: 307.060608 m, bearing: 8.990359 deg, approach rate: -0.472629 m/s, LOS rate: -0.012323 deg/s, cmd heading: 8.939183 deg, new cmd heading: 8.927888 deg. i5k=HeadingCmd: 0.155821 target range: 309.466156 and range: 310.60 m.h=>h9h9hAhAgAgAjgArgMBeIreIZeq:eq*euX/@颹ɢ&=) >i)Z<<i1i>/a=)=I>I@ @@/@@xA@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018348)B=z>B9B9B9B= =B9B=кDB=y;B=3EEu  Eu Eu &Eq "Eu x;*Eu ':VEu 4ZEq BEu Cg%,F$LA2@2 >2<ٱ2=2H@S?ÿ?k?@t? ⹿؞_? K?i2@I2ST];0Y>ZBy>T IbDb VDb8yj`%jV=ٔjN:Q-n>9lYl=nEyr[DrEr>tQ 5z4v??Q 9z4v+)vvBYxyz:>Q I~!@voNDIv.:ivn:v64yǒBɮnA:i)-FNOT Ignoring new targets: 309.47 m."i52*i52E ProNav: ac range: 309.466156 m, nav range: 306.865204 m, bearing: 8.985276 deg, approach rate: -0.567609 m/s, LOS rate: -0.014775 deg/s, cmd heading: 8.927888 deg, new cmd heading: 8.917715 deg. iEPعMHeadingCmd: 0.155643 target range: 309.466156 and range: 310.60 m.hMa>hIhIhIhIgQgQjgQrgQeQreYZeY:eY*ee`{@颉ɢf8=) >i)>A<顑iia>`=@=Ia>I}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267317ԉQ@Q @Q@Q@Qԡ^A5=AI Iq I O >i) I- A5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520159 ( %,1$LADzDE EE$E"E;*E:VE4ZEa@a@a@a@>@>@>>>e<ٱ> =>H@? Lÿ? ?@t?8广\i? ?i>@I>6x];>CY^TBybM IiMb@Mb@Mb@ 9"~j?+η?I +?YS?yv=9<A 9@)AY@bDVD8y%<=ٔ:Q->9Y=EycDnE>Q 54@?Q 94))vBY?Q E:y>Q I!@}NDI:i:4yBɮDA:iFNOT Ignoring new targets: 309.47 m."i*i- ProNav: ac range: 309.466156 m, nav range: 306.642181 m, bearing: 8.978090 deg, approach rate: -0.513866 m/s, LOS rate: -0.016568 deg/s, cmd heading: 8.917715 deg, new cmd heading: 8.903334 deg. i-򹝏5HeadingCmd: 0.155392 target range: 309.466156 and range: 310.60 m.h55>h1h1h9h9g9g9jgArgEBeAreAZeA:eA*eM`X@}|Bɢ}>&=)y }>iy)G<顁iʴi5>^==I5>I)@) @)@)@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770824^AI) A I I O >x%,K$LAV@V>VO=ٱV=VH?Z ÿg?`?`s?` 6b? E?iV@IV];V~Cvchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023352YzPByzH IbDVD8y5Y%5T=ٔ5:Q-=>9AYI=MEyMkDMq:EM>QQ 5]4U@?Q 9e4U?()UvBYaye>Q Ie!@UNDIU;iU ;U4ymBɮu`Au'E:iFNOT Ignoring new targets: 309.47 m."i*i ProNav: ac range: 309.466156 m, nav range: 306.442963 m, bearing: 8.971651 deg, approach rate: -0.514003 m/s, LOS rate: -0.016624 deg/s, cmd heading: 8.903333 deg, new cmd heading: 8.890447 deg. id󹝏HeadingCmd: 0.155168 target range: 309.466156 and range: 310.60 m.h?>hhhhggjgrgereZe:e*e`q @B=~>B=PCB9B9B= =B9B9B=/y;B=C3E频ɢ?(=) 7>i)L<iF i?>^==I?>IE= E=E=%E9"E=;*E= :VE= 4ZE9BE=J\AU>BDAT read: Rx Time:04:16:15.3541 TRx dataTimestamp_ set to:1764908177.463528checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276938ԩ AA II IY Om >%,e$LA2J@2 >2=ٱ2x=2H`?Yÿ]? (?s?` :`?`?i2J@I2];09TYT=ZEyZsDZ+޹EZ>\Q 5b4^ %@?Q 9f4^&)^vBYdyfɧ>Q If!@^NDI^A:i^:^K4yhɮjAlzB*** querying acoustic contact ***ixix:iFNOT Ignoring new targets: 309.47 m."i *i  ProNav: ac range: 309.466156 m, nav range: 306.245026 m, bearing: 8.965252 deg, approach rate: -0.513431 m/s, LOS rate: -0.016609 deg/s, cmd heading: 8.890447 deg, new cmd heading: 8.877640 deg. i,󹝏%HeadingCmd: 0.154944 target range: 309.466156 and range: 310.60 m.h%>h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5@ن @aɢe{ )=)a e=>ia)eIQug]=qIu>IyԱ9@ @@0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530339EE EEEE&EA"EE ;*EE:VEE4ZEAaM@aM@aM@aM@^AMX= A I I O > DAT read: 04:16:15.3541 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 421,-0.03, 1.473,-0.121, 1.561, 1.256, PHS= 0.319,-1.332, 0.261, RAW= 148.2, 9.3, CAL= 147.8, 10.1, ROT= 2.2, -10.1  Ygot valid direction response: 04:16:15.3541 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 421,-0.03, 1.473,-0.121, 1.561, 1.256, PHS= 0.319,-1.332, 0.261, RAW= 148.2, 9.3, CAL= 147.8, 10.1, ROT= 2.2, -10.1  PDAT read: Bearing 173.2, 1.1 (Local)  ~Local bearing/azimuth received: Bearing 173.2, 1.1 (Local)  DAT read: Range 11 to 50 : 308.8 m (Round-trip 411.8 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.983778,0.037793,0.175367] Fpublishing direction and range infoy  d;{?[Y?:ujr?Y fC ) GI S>i ~ ˡ> ~%@ 6&> %@ J4>) nF=I J4 ba? %? ? s;>) J&I nF=i J4  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.c%,X$LAl@>=ٱz]=Hv?~ÿ\7?ע?s?`&˹?E?i@IgP^;}CY-LBy-C IiMMb@Mb@Mb@IIII I9MK7A?S㥻?/$?YM ?yM/=M9yYy=}Ey}DTE>Q 54^9@?Q 94,$)#vBY?Q E:y.>Q I!@NDI:i:4yɮ|A(Eii}$LAj֙C"j֙C:j1>"p|r@sA'@WMJ@pd;{?[Y?:ujr?*jnF=2jJ4*pq addTargetRange:: Added new target pos. range: 308.799988 m, deltaT: 4.031789 s, deltaX: -1.800018 m, approachRate: -0.446456 m/s, rangeRepo size: 4  Added new target pos. range: 307.672333 m, bearing: 9.904674 deg, lat: 36.779516 deg, lon: -121.859672 deg, deltaT: 4.031789 s, deltaX: -1.793823 m, approachRate: -0.444920 m/s, posRepo size: 4 :i  FNOT Ignoring new targets: 307.67 m."i*i% ProNav: ac range: 307.672333 m, nav range: 305.272308 m, bearing: 8.976924 deg, approach rate: 0.000000 m/s, LOS rate: -0.016609 deg/s, cmd heading: 8.877640 deg, new cmd heading: 8.861054 deg. i!-HeadingCmd: 0.154655 target range: 307.672333 and range: 308.80 m.h-]>h)h)h)h1g1g1jg1rg=Be9re9Ze9:e=Ls@*eE`?m}BɢmP=)q u>iq)uW}\==I]>I@ @@/@ *DAT read: user:185> BDAT read: Tx time:04:16:16.5881 $Ping request sent.B9B=! IB=1BB9B9B9B=x;B=2EBOCBOCBB =B =CǮ5EU  EU EQ EQ "EU a;*EU :VEQ ZEQ BEU h&%,$LA2@2 M>2W =ٱ2=2H?ÿ@{t??@,t? . >Rλ??i2@I2^;2CY>;By>. IbDFVDF8yN׽%N=ٔR:Q-R ?9R ?YR ?=REyRDVɺEV ?XQ 5^4ZUF@?Q 9^4Z")Z(vBY\yb>Q Ib!@ZNDIZd:iZ:Zz4ydɮfAd:ixzFNOT Ignoring new targets: 307.67 m."i~A*i~A  ProNav: ac range: 307.672333 m, nav range: 305.111450 m, bearing: 8.970781 deg, approach rate: -0.515601 m/s, LOS rate: -0.019699 deg/s, cmd heading: 8.861054 deg, new cmd heading: 8.848762 deg. i 4HeadingCmd: 0.154440 target range: 307.672333 and range: 308.80 m.h%>hhhhgg!jg!rg!e!re)Ze):e)*e-`c%?~Bɢ,=) >i):[<ii%>A\==I%>I5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248823@ @@Y1@Ai^A]=AzAxA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501085A ؟AI I O- >ԙ E5  E5 E5 $E1 "E5 ;*E5 P:VE5 4ZE1 a= @aE @aE @aE @<,%,P$LAY~&By~ IyiMb@Mb@Mb@ 9K7A?EԸ?Mb?Yy=<@A ^@)AYzAbDVD8y%:=ٔQ->9"?Y"?=EyDE>Q 54bX@?Q 94 ),vBYu?Q E:y>Q I!@NDI;i;%4yBɮA:iFNOT Ignoring new targets: 307.67 m."i*i ProNav: ac range: 307.672333 m, nav range: 304.888092 m, bearing: 8.963096 deg, approach rate: -0.491081 m/s, LOS rate: -0.016910 deg/s, cmd heading: 8.848762 deg, new cmd heading: 8.833379 deg. iHeadingCmd: 0.154172 target range: 307.672333 and range: 308.80 m.h&>hhhhggjgrgBereZe:e*e? ɢ =)  >i)`<i7i&>[==I&>I!ԩ]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7544389@ @@_0@^A = A5 .AIA IY O} >73%,~$LA>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004573F@F>F=ٱF\=FH?^¿?]?w?@n]?-?iF@IF &^;DYR%ByR IbD VD 8y%%R=ٔ%4m;Q-%>9- ?Y- ?=-Ey-D-E->1Q 5=45mh@?Q 9E45)5/vBYAyE>Q IE!@5NDI5:i5:5 4yIɮMAQ:iq}FNOT Ignoring new targets: 307.67 m."i}*i} ProNav: ac range: 307.672333 m, nav range: 304.689667 m, bearing: 8.956320 deg, approach rate: -0.531013 m/s, LOS rate: -0.018144 deg/s, cmd heading: 8.833379 deg, new cmd heading: 8.819820 deg. BBB IBBBBBBx;B3EԱiHeadingCmd: 0.153935 target range: 307.672333 and range: 308.80 m.h>hhhhggjgrgereZe:e*e?Bɢ=) >i)ed<i!i > MZ= ʘ=I >IE EE&E"E;*E:VE4ZEBEm_1 \9%,E$LA2@2>2|=ٱ2 =2H@w?¿[2?`C?Ox? ݹ6?M?i2@I2];2}CY>ByB IbDJVDJ8yR$%RS=ٔRl:Q-R>9TYT=VEyVDV EZ>XQ 5b4ZUx@?Q 9b4Z5)Z2vBY`yb>Q Ib!@ZNDIZ;iZ ;Z4yjBɮjAj)EvB*** querying acoustic contact ***itit:i|~FNOT Ignoring new targets: 307.67 m."io*io ProNav: ac range: 307.672333 m, nav range: 304.492981 m, bearing: 8.949626 deg, approach rate: -0.508409 m/s, LOS rate: -0.017314 deg/s, cmd heading: 8.819820 deg, new cmd heading: 8.806423 deg. iHeadingCmd: 0.153701 target range: 307.672333 and range: 308.80 m.hc>hhhhg!g!jg!rg!e)re)Ze):e)*e-?BɢV=) 2>i)h<iic>,X=(=Ic>I!qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5111169@ @@5@IE EE)E"E ;*E:VEFA4ZEa @a @a @a @q^A[=A>A>I I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760463ԙ pE@%,>#%LA2@2@>2E=ٱ2R=2H`? ¿^?@?z?H@|;e??i2@I2y];2CYNByR IV=V=iUMb@Mb@Mb@QQQQ Q9U"~j?/$?{Gz?YUS?yU=U#9Y=EyD)E>Q 54b@?Q 94h)3vBY?Q E:yZ>Q I!@NDI;i:D4yɮ&A:iFNOT Ignoring new targets: 307.67 m."iڈ*iڈ ProNav: ac range: 307.672333 m, nav range: 304.270752 m, bearing: 8.943170 deg, approach rate: -0.514402 m/s, LOS rate: -0.014956 deg/s, cmd heading: 8.806423 deg, new cmd heading: 8.793501 deg. iڹHeadingCmd: 0.153476 target range: 307.672333 and range: 308.80 m.h(>hhhhggjgrgBereZe:e*e @5Bɢ5 =)9 =>i9)=l<99i= iE(>E-U=M=IM(>IIy9@ @@/@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012523B|>BOCBIBBB =BBB!y;B;3E^A5Ԙ=IIO>bEu-4jEu4rEu/E EE$E"E;*E:VE4ZEBEJ\:=ٱ:=:H ?@i¿@Ʌ??`{?`ט`ɺ`C??i:@I:t];8YF ByFIbDRVDR8yZ.@%ZX=ٔZ:Q-Z>9\Y\=^Ey^DbI!Eb>dQ 5f4f(@?Q 9j4f)dYhyj>Q Ij!@fNDIfe:if:f!4ypɮriAp:i FNOT Ignoring new targets: 307.67 m."i *i  ProNav: ac range: 307.672333 m, nav range: 304.076569 m, bearing: 8.937555 deg, approach rate: -0.514036 m/s, LOS rate: -0.014873 deg/s, cmd heading: 8.793501 deg, new cmd heading: 8.782264 deg. i%ٹ%HeadingCmd: 0.153279 target range: 307.672333 and range: 308.80 m.h%H>h)h)h)h)g)g)jg1rg1e1re1Ze1:e9*e=Q@eBɢm =)i m>ii)mo}Q=}J=I}H>Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2645279@ @@/@^A=I9IQO]v>1  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518822E  E E 'E "E ;*E :VE '4ZE a @a @a @a @0L%,k4%LA6@6H>6<6=ٱ6=6H=?`=¿'?@3?~?@0g 墿` ?{?i6@I6,];6{CYFByFIimMb@Mb@Mb@iiii i9m~jt? rh?y&1|?Ym?ymC=m`;m@mA i)mAiYibDVD8y%==ٔwF:Q->9Y=EyDOE>Q 54{@?Q 948)0vBY?Q E:y\>Q I!@ODIr;i;m)4yɮA:iFNOT Ignoring new targets: 307.67 m."iX*iX ProNav: ac range: 307.672333 m, nav range: 303.852203 m, bearing: 8.932449 deg, approach rate: -0.518531 m/s, LOS rate: -0.011808 deg/s, cmd heading: 8.782264 deg, new cmd heading: 8.772046 deg. iହHeadingCmd: 0.153101 target range: 307.672333 and range: 308.80 m.h >h h h h g g jgrg{BereZe:e*e@m@MBɢM'<)I Mp>iI)UCs]M=](;=I]>IaIi)iQ9@ @@@@@zA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768599 Mu>IԁG9Y_A^A=IqIO>ԩ S%,cN%LAi0I2A6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020604@V@V>V=ٱVS=VH? ¿R?{??1@غ?`?iV@IV];V~CYbBybIbDjVDj8yvu%vV=ٔv[:Q-v>9xYx=zEyzDzLE~>Q 54@?Q 9 4).vBY y Œ>Q I !@ODI:i~:04yBɮLA*EBE>BEPCBEIBEBBABABABE#y;BE?3E:iYeFNOT Ignoring new targets: 307.67 m."ieHT*ieHTu ProNav: ac range: 307.672333 m, nav range: 303.653717 m, bearing: 8.927971 deg, approach rate: -0.513731 m/s, LOS rate: -0.011599 deg/s, cmd heading: 8.772045 deg, new cmd heading: 8.763082 deg. iuө}HeadingCmd: 0.152945 target range: 307.672333 and range: 308.80 m.h}>hyhhhggjgrgereZe:e*ec @颹ɢ<) W>i)u<ifBi>G=1=I>IE EE$E"E7;*EZ:VE4ZEBEZBDAT read: Rx Time:04:16:19.4016 TRx dataTimestamp_ set to:1764908181.494856%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273565 Y%,ih%LA2z@2 |>2=ٱ2A=2H@+?T¿ v?1??`k1@꿺?]?i2z@I2/\;2{CYNByRIbDZVDZ8ybw%fL=ٔfi*:Q-f>9hYh=jEyjDjEj>lpQ 5v4r@?Q 9v4rM)r,vBYtyzz>Q Iz!@rODIr.:ir:r74y|ɮ~eA|B*** querying acoustic contact ***ii:i!-FNOT Ignoring new targets: 307.67 m."i-W*i-W= ProNav: ac range: 307.672333 m, nav range: 303.446014 m, bearing: 8.923300 deg, approach rate: -0.523289 m/s, LOS rate: -0.011775 deg/s, cmd heading: 8.763082 deg, new cmd heading: 8.753735 deg. iEfEHeadingCmd: 0.152781 target range: 307.672333 and range: 308.80 m.hEr>hIhIhIhIgIgIjgQrgQeQreQZeY:e*e @Bɢ<)  5O>i1)=x4A=K=Ir>IiE EEE"El;*E:VEZEa@a@a@a@@ @@@9^AE @=i M DAT read: 04:16:19.4016 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411, 0.37,-1.601, 3.102,-1.465,-1.951, PHS= 0.452,-1.185, 0.441, RAW= 149.7, 3.6, CAL= 148.8, 3.6, ROT= 1.2, -3.6 U Ygot valid direction response: 04:16:19.4016 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411, 0.37,-1.601, 3.102,-1.465,-1.951, PHS= 0.452,-1.185, 0.441, RAW= 149.7, 3.6, CAL= 148.8, 3.6, ROT= 1.2, -3.6 ] PDAT read: Bearing 166.4, -0.9 (Local) e ~Local bearing/azimuth received: Bearing 166.4, -0.9 (Local) m DAT read: Range 11 to 50 : 306.9 m (Round-trip 409.3 ms) speed 0.4 m/s u R#Rx 1: Read range and direction messages.} \direction in FSK: [0.997808,0.020901,0.062791]} Fpublishing direction and range infoy! %  ?g?֏ ?Y% sC! ! ! ! ! )! I% l>i% % >% m7'@% =% 6&@ % =)% `%,˃%LAFվ@F>F"$=HٱFx4=FH? ??ā?@ZC@9?v?iFվ@IFQ\;FCYrفByrIimMb@Mb@Mb@iiii i9mMb?T㥛 ?9"?Y"?=EyDnE>Q 54!@?Q 94)*vBY?Q E:y>Q I!@.ODI:i:?4y%Bɮ%A!ii%LAjC"jC:j#>"ps@#WH@#/:33@p ?g?֏ ?*j<2j*pVgr@BNPH@"jՉ @p|6?ȯuN[?P0D4'?jBB jCi8?ijcBjw棊?jjcBrj[Czj$> addTargetRange:: Added new target pos. range: 306.899994 m, deltaT: 4.032053 s, deltaX: -1.899994 m, approachRate: -0.471222 m/s, rangeRepo size: 4  Added new target pos. range: 305.780365 m, bearing: 9.154350 deg, lat: 36.779528 deg, lon: -121.859654 deg, deltaT: 4.032053 s, deltaX: -1.891968 m, approachRate: -0.469232 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 305.78 m."i*i= ProNav: ac range: 305.780365 m, nav range: 304.711945 m, bearing: 9.183010 deg, approach rate: 0.000000 m/s, LOS rate: -0.011775 deg/s, cmd heading: 8.753734 deg, new cmd heading: 8.741779 deg. iiuHeadingCmd: 0.152573 target range: 305.780365 and range: 306.90 m.hu <>hqhqhqhqggjgrgsBereZe:e`f.s@*e py?]Bɢ]3w<)Y ].(>ia)e{m:=m4=Im <>Iq*DAT read: user:186> BDAT read: Tx time:04:16:20.6381 $Ping request sent.BQCBIBՁBB =BBѺDB!y;BC3E-9@) @)@)@1@5=@5=E- E-E-!E)"E- ;*E-:VE-c3ZE)BE-RQAU >A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250576A .AI I O >g%,ӈ%LAY%ށBy-IbD=VD=8yM8<%MK=ٔMQ-M>9U ?YU ?=UEyUD]E]>aQ 5m4e@?Q 9m4e!)e)vBYiyiQ Im!@e;ODIe ;ie;eF4y}Bɮ}A}+E:iFNOT Ignoring new targets: 305.78 m."ieD*ieD ProNav: ac range: 305.780365 m, nav range: 304.505371 m, bearing: 9.178908 deg, approach rate: -0.540009 m/s, LOS rate: -0.010731 deg/s, cmd heading: 8.741779 deg, new cmd heading: 8.733569 deg. iHeadingCmd: 0.152430 target range: 305.780365 and range: 306.90 m.h|>hhAhAhAgAgAjgIrgIeIreIZeI:eQ*eU̾?Թɢ@3<) 0>i )h}e4=e/=Ie|>Ii9@ @@@iߑIߕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.506243^A= D zD AAE  E E #E "E 7;*E :VE 3ZE a @a @a @a @AA IQ Ia Ou >/m%,"7%LA6M@6>6i=ٱ6Y=6H ?0 YԪ??2?@`<D??i6M@I6\;6}CYBǁByBIi5Mb@Mb@Mb@1111 195p= ף?I +?~jth?Y5?y594=5D;5@1 5@)5A1Y5pAbDMVDM8y]%]K=ٔ]'Q-e>9aYa=eEyeDmEm>qQ 5}4uLA?Q 9}4u)u$vBY?Q E:y,j>Q I!@uIODIu;iu;uM4yɮA:iFNOT Ignoring new targets: 305.78 m."i*i ProNav: ac range: 305.780365 m, nav range: 304.295349 m, bearing: 9.176196 deg, approach rate: -0.520334 m/s, LOS rate: -0.006724 deg/s, cmd heading: 8.733568 deg, new cmd heading: 8.728140 deg. iDHeadingCmd: 0.152335 target range: 305.780365 and range: 306.90 m.h>hhhhggjgrg\BereZe:e*e&?Bɢ<)˙ t>i):<iGi%>%@/=%(=I->I)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755174Q@ @@/@y^A~4=ԩ A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006756BM >BM RCBM IBM BBM =BI BM ҺDBM Fy;BM \3EB PCB PCB ˔CB =B =C 6t%,f%LA69@6t>6=ٱ6 =6H?@UK?? h}?I>| ?!?i69@I6\;6C@ER ERER$EP"ER ;*ER:VER4ZEPBEPaZ2EPaZJEPaZ:EPaZY^ƁBy^IbDfVDf8yn(%nR=ٔr:Q-r>9pYp=vEyvDv:Ev>xQ 5~4zA?Q 9~4z)zvBYyj>Q I!@zUODIz:izs;zT4y Bɮ A "E:i15FNOT Ignoring new targets: 305.78 m."i=*i=M ProNav: ac range: 305.780365 m, nav range: 304.093384 m, bearing: 9.173562 deg, approach rate: -0.520620 m/s, LOS rate: -0.006793 deg/s, cmd heading: 8.728140 deg, new cmd heading: 8.722870 deg. iMFUHeadingCmd: 0.152243 target range: 305.780365 and range: 306.90 m.hU>hQhQhQhQgYgYjgargaeareaZea:ei*em?频ɢ&<) =i)Yh<顙iMi>!*= =I>I@ @@Z0@@%yA@%tAԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258659^AU=A]yAzAYA I I O > Oz%,Q%LAJ @J>J=ٱJ~=JH?@@j? ?{?Fغ`w@ ?@?iJ @IJ\;J}CYVByVIpbD VD 8yE .%MD=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513264ٔUSĸQ->9Y=%Ey%D-ܕEU>qQ 54uQ(A?Q 94uA)uvBYy1j>Q I!@ueODIuhhhhggjgrgereZe:e*e (? UBɢUQ9<)Q U(=iQ)](E1#==I>I9@ @@/@1 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762633^Ae =a IY Ii O} >%,\&LA6@6m>6=ٱ6<=6H-?OG?`y?{?@# H@{Ҽ?`?i6@I6\;6CYJÁByJIi%Mb@Mb@Mb@!!!! !9%X9v?+?:v?Y%>y%=%T<%@% A %@)%A!Y%AbD=VD=8yM_<%MG=ٔMi9Q-M>9QYQ=UEyUD]E]>aQ 5m4e7A?Q 9m4e0 )evBYm>Q Eu:yu6a>Q Iu!@eqODIe;ie6;eb4yyɮ}A}#E:iQ]FNOT Ignoring new targets: 305.78 m."ie͸*ie͸ ProNav: ac range: 305.780365 m, nav range: 303.671692 m, bearing: 9.168405 deg, approach rate: -0.496336 m/s, LOS rate: -0.005617 deg/s, cmd heading: 8.716754 deg, new cmd heading: 8.712549 deg. i{$HeadingCmd: 0.152063 target range: 305.780365 and range: 306.90 m.hP>hhhhggjgrggBere Ze :e *e@Yɢ]M<)Y e\=ia)<顡i޲iP>p=X=IP>IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015317QAAAAB>BSCByIBBB =BBӺDBy;B3EE EE"E"E%;*E|:VE(3ZEBE KA > IIO?^%,T(&LA>Ӫ@>@>>v=ٱ>X=>H`H? ?w=?O~?@/@@?@x?i>Ӫ@I>\;9tYt=vEyvDzsEz>|Q 54~ LA?Q 94~ )~vBYyW_>Q I !@~ODI~:i~`:~k4yɮAQ:iiuFNOT Ignoring new targets: 305.78 m."iuθ*iuθ ProNav: ac range: 305.780365 m, nav range: 303.423889 m, bearing: 9.165685 deg, approach rate: -0.514641 m/s, LOS rate: -0.005655 deg/s, cmd heading: 8.712548 deg, new cmd heading: 8.707102 deg. i%HeadingCmd: 0.151968 target range: 305.780365 and range: 306.90 m.he>hhhhggjgrgereZe:e*e@u@颹ɢ<) =i)ɂ<ig`ie>j=F.=Ie>I-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522307ԉE] E]EYEY"E]:*E]:VEYZEYae@ae@ae@ae@7ƙԱa@i @i@m/@i ߵ x>ߵ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770925^A =I I! O- >%,ׇD&LA>H@>u>>*=ٱ>=>H?wf?`?@?&ݺ@ ?@?i>H@I>׈\;yu<@ A @)\AYAbD5VD58yE޼%E8=ٔM*Q-M>9IYI=UEyU DUE]>YQ 5e4]:^A?Q 9m4] )YYmW>Q Em:ym]>Q Im!@]ODI]:i]r;]ps4y}Bɮ}?Ay:iFNOT Ignoring new targets: 305.78 m."iŸ*iŸ ProNav: ac range: 305.780365 m, nav range: 303.203308 m, bearing: 9.163315 deg, approach rate: -0.502083 m/s, LOS rate: -0.005398 deg/s, cmd heading: 8.707102 deg, new cmd heading: 8.702359 deg. iHeadingCmd: 0.151885 target range: 305.780365 and range: 306.90 m.h>hhhhggjgIrgMmBeIreQZeQ:eQ*eU0 @颡ɢ*<) =i)q]. =e=Ie>I=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022677B>BTCB`IBBB =BBBiz;B3E1bE4jE3rE}0E EE&E"ET;*EZ:VE4ZEBEG|%,a&LA2@2>>2=ٱ2F=2H?S!? G?ρ? E{T??i2@I2Ki\;2~CY>By>IbDJVDJð8yN%R;=ٔR:Q-R>9TYT=VEyVDZ1EZ>\Q 5^4^pA?Q 9b4^M )\Y`yb\>Q Ib!@^ODI^;i^;^{4yjBɮjJAj$E:iyFNOT Ignoring new targets: 305.78 m."i*i ProNav: ac range: 305.780365 m, nav range: 302.986481 m, bearing: 9.161029 deg, approach rate: -0.481917 m/s, LOS rate: -0.005083 deg/s, cmd heading: 8.702359 deg, new cmd heading: 8.697785 deg. iHeadingCmd: 0.151805 target range: 305.780365 and range: 306.90 m.hr>hhhhggjgrgereZe:e*eO @!ɢ%<)! -X=i))-b<))i-*mi5r>5=5҉=IMr>IYԹ9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529260^AA-xAzA-zAII  O5 >E  E E %E "E :*E :VE 4ZE a @a @a @a @R/%,~{&LA Y By }IiMb@Mb@Mb@ 9T㥛 ?I +?9qYq=}Ey}D}E}>R#Rx 1: Read range and direction messages.^direction in FSK: [0.999805,0.013961,-0.013962]Fpublishing direction and range infoy!%@-g?|p}?4Y%@C!%k%`%2Y %d)!I%?i%󍿉%sh?%g'@%d%r&@ %d)%dQ I!@ODIg"p%(Ks@n@7Rp%@-g?|p}?4*j%d<2j%d<*p%A1Gms@CH@5Ih/p%qӈܑ?A?WtEɩj%\EB j%Ci%N?i%*qj%hCBj%8?j!j!rj%֗Czj%&#>E addTargetRange:: Added new target pos. range: 318.500000 m, deltaT: 4.033555 s, deltaX: 11.600006 m, approachRate: 2.875876 m/s, rangeRepo size: 4 U Added new target pos. range: 317.355896 m, bearing: 8.955690 deg, lat: 36.779536 deg, lon: -121.859654 deg, deltaT: 4.033555 s, deltaX: 11.575531 m, approachRate: 2.869809 m/s, posRepo size: 4 :iYFNOT Ignoring new targets: 317.36 m.ԡ"i*i ProNav: ac range: 317.355896 m, nav range: 303.677948 m, bearing: 9.128744 deg, approach rate: 0.000000 m/s, LOS rate: -0.005083 deg/s, cmd heading: 8.697785 deg, new cmd heading: 8.692213 deg. iHeadingCmd: 0.151708 target range: 317.355896 and range: 318.50 m.hEY>hhhhggjgrgBereZe:es@*e l?ɢ<) =i)Ȅ<iiEY>q=3=IEY>I 9@  @ @ /@  *DAT read: user:187>  BDAT read: Tx time:04:16:24.6881  $Ping request sent. B SCB YIB BB =B B B z;B 3E E  E E #E "E %;*E :VE 3ZE BE K2g=ٱ2W=2H ?@2E???闺  +?@?i2T@I2 \;2|CY>By>IDFAAbDJVDJ8yN<%R;=ٔR ںQ-R>9TYT=VEyV&DV)EV>\Q 5^4^A?Q 9b4^x)^vBY`ybc>Q Ib!@^ODI^P:i^:^4ydɮfMA5%EUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249158B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 317.36 m."i*i⸝ ProNav: ac range: 317.355896 m, nav range: 303.457092 m, bearing: 9.126115 deg, approach rate: -0.520275 m/s, LOS rate: -0.006198 deg/s, cmd heading: 8.692212 deg, new cmd heading: 8.686950 deg. i}5HeadingCmd: 0.151616 target range: 317.355896 and range: 318.50 m.h2A>hhhhggjgrgereZe:e*e?Bɢ^<) =i)C<i`i%2A>%=%B8=I%2A>)I19@ @@/@Y^A=ԉ- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504806A ؟AI II O >E]  E] E] !EY "E] T;*E] :VE] c3ZEY ae @ae @ae @ae @Ա d%,3&LA20@2>2\=ٱ2`=2H Ы?@@}@?໰? ?Gxʢ ? B?i20@I2\;2}CY>By>fIiMb@Mb@Mb@ 9"~j?Zd;?95"?Y5"?=5Ey5.D=E=>AQ 5M4EةA?Q 9M4E )EvBYMU?Q EM:yMD>Q IM!@EODIE:iE(:E:4yɮ A:i!%FNOT Ignoring new targets: 317.36 m."i-'*i-'m ProNav: ac range: 317.355896 m, nav range: 303.240814 m, bearing: 9.122296 deg, approach rate: -0.518357 m/s, LOS rate: -0.009161 deg/s, cmd heading: 8.686950 deg, new cmd heading: 8.679306 deg. imuHeadingCmd: 0.151482 target range: 317.355896 and range: 318.50 m.h}8>hyhyhyhygygyjgrgtBereZe:e*e`Y>?ԑ颹ɢV<) =i)z<i௼i8>ߛ=ʆ=I8>Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7531469@ @@/@@=@Թ^Az=A I! I9 OE >i I A% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005269! BE >BE TCBE MIBE BBE =BA BA BE .y;BE X3Eȋ%,A&LAY=By=yIbDMٿVDM8y]D=%]G=ٔeQ-e>9aYa=eEym7DmEm>qQ 5}4u(A?Q 9}4u)u!vBYyyQ I!@uODIu;iu;uf4yBɮA:iFNOT Ignoring new targets: 317.36 m."iy/*iy/ ProNav: ac range: 317.355896 m, nav range: 303.029572 m, bearing: 9.118560 deg, approach rate: -0.541824 m/s, LOS rate: -0.009588 deg/s, cmd heading: 8.679306 deg, new cmd heading: 8.671829 deg. iaHeadingCmd: 0.151352 target range: 317.355896 and range: 318.50 m.h>E EE(E"E%;*Eh:VEc44ZEBEK]oԛ=eO4=Ie>Iae9@a @a@a@a}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257115I ^A ?΅=A I I O >%,(&LAY%By%|I 15<bD=VD=8yM0<%MK=ٔIQ-M>9QYQ=UEyU?DYE]>aQ 5m4eA?Q 9m4eH)e#vBYiyiQ Im!@eODIeC:ie:en4yyɮ}Ay:iFNOT Ignoring new targets: 317.36 m."i&*i& ProNav: ac range: 317.355896 m, nav range: 302.822571 m, bearing: 9.114895 deg, approach rate: -0.514826 m/s, LOS rate: -0.009123 deg/s, cmd heading: 8.671829 deg, new cmd heading: 8.664493 deg. iHeadingCmd: 0.151224 target range: 317.355896 and range: 318.50 m.hr>hhhhggjgrgereZe:e*es?Bɢi'<) ,=i)-i<  i ir>ʛ=a=Ir>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509537I9@ @@0@D!D%<E- E-E-$E)"E-;*E-M:VE-4ZE)a5@a5@a5@a5@y^A 8=ԡ A9 II IY Oe > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761089%,X'LA9Y=EyHDE> Q 5%4 SA?Q 9%4 ) %vBY-?Q E-:y-g>Q I5!@ ODI Ӝ;i Y; ߨ4yEBɮEAM&E:iFNOT Ignoring new targets: 317.36 m."i?*i? ProNav: ac range: 317.355896 m, nav range: 302.599945 m, bearing: 9.110353 deg, approach rate: -0.511467 m/s, LOS rate: -0.010442 deg/s, cmd heading: 8.664493 deg, new cmd heading: 8.655403 deg. iᘹHeadingCmd: 0.151065 target range: 317.355896 and range: 318.50 m.h۰>hhhhggjgrgBereZe:e*e _@!ɢ-<ԩ) P~=i)'܆<顱ii۰>=9=I۰>I9@ @@O0@@@wAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013182AAB>BBBBBBB&x;B2EBTCBTCBœCB =B =CŽ5E= E=E='E9"E==;*E=:VE='4ZE9BE=|I3%, 'LA27w@2 >2 =ٱ2=2H?r?@q?@X?@Tp 7? S?i27w@I2\;2|CYtIbDFVDF8yN%jb=ٔn1Q-n>l9pYp=rEyrODvfEv>xQ 5~4zA?Q 9~4zh)z&vBY|y~k>Q I!@zODIz;izL;zI4y ɮ A %B*** querying acoustic contact ***i)i):i15FNOT Ignoring new targets: 317.36 m.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265188"iMD*iMDU ProNav: ac range: 317.355896 m, nav range: 302.408020 m, bearing: 9.106503 deg, approach rate: -0.535637 m/s, LOS rate: -0.010751 deg/s, cmd heading: 8.655403 deg, new cmd heading: 8.647698 deg. i]geHeadingCmd: 0.150931 target range: 317.355896 and range: 318.50 m.he>hahahahagagajgirgieireiZeq:eq*eu 3@颥Bɢe<) y=i)6<顩i Ni>#= =I>I]9@Y @Y@]5@Y 9^AuER=i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522042I I OE >i EE  EE EE %EA "EE l;*EE :VEE 4ZEA aM @aM @aM @aM @g%,){:'LAYBymI9iMb@Mb@Mb@ 9p= ף?kt? rh?Y?y =C<^@ A )AYAbD˿VD|8yPǼ%8=ٔ%Q-%>9!Y!=%Ey%XD-E->1Q 5=45B?Q 9=45)5*vBY=?Q EE:yE>Q IE!@5PDI5#:i5:54yIɮMAI:iq}FNOT Ignoring new targets: 317.36 m."i}ez*i}ez ProNav: ac range: 317.355896 m, nav range: 302.175507 m, bearing: 9.100419 deg, approach rate: -0.522490 m/s, LOS rate: -0.013682 deg/s, cmd heading: 8.647698 deg, new cmd heading: 8.635521 deg. iQȹHeadingCmd: 0.150718 target range: 317.355896 and range: 318.50 m.hU>hhhhggjgrgBereZe:e*e ؿ@ɢ2<) O=i)<i୼iU>-==IU>I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770010i9@ @@5@ԑ^Axr=I1 IA OM > PExceeded connect timeout, disconnecting. B >B SCB GIB BB B B B w;B 2E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021123R%,zVT'LA2{@2 >2 =ٱ2f=2H`K?H?Q??񬺿S@,??i2{@I2 ];2{CY~By~kIbD VD 8y߻%W=ٔ%EQ-%>9!Y!=-Ey-`D-C:E->1Q 5=45B?Q 9=45Q =EtI)5-vBYAyEї>Q IE"@5PDI5D;i5/;54yMBɮMAM'E:iquFNOT Ignoring new targets: 317.36 m."i}{*i}{ ProNav: ac range: 317.355896 m, nav range: 301.981537 m, bearing: 9.095320 deg, approach rate: -0.522644 m/s, LOS rate: -0.013748 deg/s, cmd heading: 8.635521 deg, new cmd heading: 8.625316 deg. iIɹHeadingCmd: 0.150540 target range: 317.355896 and range: 318.50 m.h3'>hhhԙhggjgrgereZe:e*ez @ɢj<) F=i)w<ii3'>ם=% =I3'>IE EE'E"E;*E:VE'4ZEBE`IqIO>! %,7n'LA6-|@6 >6_G =ٱ6=6H9XYX=ZEyZhD^$9E^>`Q 5f4bJ!B?Q 9f4b)b1vBYdyf>Q Ij"@b(PDIb:ibq:b^4ylɮn Al:iFNOT Ignoring new targets: 317.36 m."i |*i | ProNav: ac range: 317.355896 m, nav range: 301.777893 m, bearing: 9.089955 deg, approach rate: -0.522418 m/s, LOS rate: -0.013771 deg/s, cmd heading: 8.625316 deg, new cmd heading: 8.614579 deg. iɹ%HeadingCmd: 0.150353 target range: 317.355896 and range: 318.50 m.h%>h!h!h!h!g!g)jg)rg)e)re1Ze1:e1*e5`+ @aɢeY<)a e=ia)mTuF=uo=Iu>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5263259@ @@/@E EE(E"ET;*E:VEc44ZEa=@aE@aE@aE@a^Ab$=IIO=>ԑ DAT read: 04:16:27.4774 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 36,-0.01, 1.489,-0.296, 1.467, 1.064, PHS= 0.527,-1.315, 0.359, RAW= 145.3, 4.9, CAL= 144.8, 5.3, ROT= 5.2, -5.3  Ygot valid direction response: 04:16:27.4774 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 36,-0.01, 1.489,-0.296, 1.467, 1.064, PHS= 0.527,-1.315, 0.359, RAW= 145.3, 4.9, CAL= 144.8, 5.3, ROT= 5.2, -5.3  PDAT read: Bearing 167.4, 3.5 (Local)  ~Local bearing/azimuth received: Bearing 167.4, 3.5 (Local)  DAT read: Range 11 to 50 : 288.8 m (Round-trip 385.1 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.991627,0.090245,0.092371] Fpublishing direction and range infoya e sּg?ypM?{]U?Ye fCa e e Թ e  e )e JIe y?ie Qe η>e :M"@e %=e ?!@ e q=)e ޹=Ie qa a e ?f8?$΄?? e E>)e Ie ޹=ie qa a  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.%,'LA2+w@2@ >2=ٱ2=2H`?j?q? g?.`? ?i2+w@I2˹\;0Y>ByB^IiMb@Mb@Mb@ 9/$?bX9ȶ?Mb?Y1?yE=<t@ A A)AYpA =<9ԑbDEVDE8yq%.=ٔA&Q->9Y=EyqDE>Q 5%416B?Q 9%4)5vBY-% ?Q E-:y->Q I-"@8PDIu;i;4yUBɮU2 AYmnManaging dock network, ignoring radio surface power offii'LAjC"jC:j]>"p Zq@VP9@r:@psּg?ypM?{]U?*j޹=2jq*poq@fu~N@3@pӤ-?9iq?֘?jvB j/Ci4?ij"Bjz?j*qj"BrjCzju'>addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 288.799988 m, deltaT: 4.030449 s, deltaX: -29.700012 m, approachRate: -7.368909 m/s, rangeRepo size: 4:i FNOT Ignoring new targets: 317.36 m."i |*i | ProNav: ac range: 317.355896 m, nav range: 301.520935 m, bearing: 9.083098 deg, approach rate: -0.516803 m/s, LOS rate: -0.013803 deg/s, cmd heading: 8.614580 deg, new cmd heading: 8.600854 deg. iʹ%HeadingCmd: 0.150113 target range: 317.355896 and range: 318.50 m.h%H>h!hAhAhIgIgIjgIrgUBeQreQZeQ:eU r@*e]X?ɢ+<) ㄛ==IH>IB>BB@IBzBB =BBBy;BE3E*DAT read: user:188> BDAT read: Tx time:04:16:28.6881 $Ping request sent.%,ڧ'LA:q@:j >:P:=ٱ:=:H?@&`QY?`]? LJ?@|???i:q@I:`\;8YFByFaIbDRVDR8yV#<%Z==ٔZ48Q-Z>9^ ?Y^ ?=^Ey^zDbȺEb>dQ 5f4fwHB?Q 9j4f)f8vBY9y=[>Q I="@fGPDIfyhhhhggjgrgereZe:e*e?Qɢ]B<)Y ]`=iY)ex=pӄ=I>II9@ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505172yEm EmEm%Ei"Emf;*Em$:VEm 4ZEia}@a}@a}@a}@^A[=ԡ A5 ؟AI9 IQ O] > l%,"'LA 2u>2{C@bGnGyAx% 9%GyAY%Ap@@ >=ٱi=H?`@H?W? #?U>?]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755682ip@Is\;y~?AYByPIiMb@Mb@Mb@ 9w/?MbX?{Gz?Y?y=#<@ )YAbD%VDϰ8y(c%)=ٔ0Q->9"?Y"?=EyeDmEm>qQ 5}4u]B?Q 9}4u)u:vBY}K ?Q E:y>Q I"@uXPDIu ;iu;u4yɮ A(Eԙ:iFNOT Ignoring new targets: 317.36 m."iٚ*iٚ ProNav: ac range: 317.355896 m, nav range: 301.035767 m, bearing: 9.069116 deg, approach rate: -0.550368 m/s, LOS rate: -0.016923 deg/s, cmd heading: 8.588890 deg, new cmd heading: 8.572867 deg. iHeadingCmd: 0.149625 target range: 317.355896 and range: 318.50 m.h<7>hhhhggjgrgBereZe:e*e@o?ɢ.<) ;i)%-k=5=I5<7>I99@ @@/@BBB4IBpBB =BBBz;B 4E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006963 ^A5 =Eu  Eu Eu #Eq "Eu V:*Eu :VEu 3ZEq BEu 9;%,3'LAHVNp@V6 >Vk=ٱV =VH ? WM?V??TL ߯?`?iVNp@IV\;TYbyByb?Ihj@AbDnVDnư8yv%vp=ٔv?9Q-v?9xYx=zEyzD~;E~?Q 5 4kB?Q 9 4!);vBY y  >Q I "@cPDI2:i;4yɮ A:i9EFNOT Ignoring new targets: 317.36 m."iEx*iMx] ProNav: ac range: 317.355896 m, nav range: 300.860260 m, bearing: 9.063717 deg, approach rate: -0.530685 m/s, LOS rate: -0.016335 deg/s, cmd heading: 8.572868 deg, new cmd heading: 8.562063 deg. i]'﹝]HeadingCmd: 0.149436 target range: 317.355896 and range: 318.50 m.he>hahahahagagajgirgieireqZeq:eq*eu@?颙ɢ>t<) ඼i)!x<顩iYdi>Eb=V=I>IE9@A @I@I@I%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259122^Am[=A I I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510975X%,P'LAF7p@F3 >F< =ٱF=FHޯ? Wc? EV??`m<&??iF7p@IFv\;DYjlByj/IbD-!VD-˰8E EE$E"E ;*Eą:VE4ZEa@a@a@a@y=-j%E7=ٔM"9Q->9Y=EyD ǷE>Q 54B?Q 94):i:4y Bɮ Y A-)E:iquFNOT Ignoring new targets: 317.36 m."i}֒*i}֒ ProNav: ac range: 317.355896 m, nav range: 300.613220 m, bearing: 9.056106 deg, approach rate: -0.520421 m/s, LOS rate: -0.016047 deg/s, cmd heading: 8.562063 deg, new cmd heading: 8.546828 deg. i깝HeadingCmd: 0.149170 target range: 317.355896 and range: 318.50 m.h>hhhhggjgrgereZe:e*eq?)mBɢud]<)q u0Giq)uT==I>IY@Y @Y@Y@YEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763379Q^A =ԉ A I I O >%%,e(LA2l@2 >2 =ٱ2c=2HE?Icl?`H??`@z??i2l@I2\;2|CY0IIB>)Ba>HiMb@Mb@Mb@ 9?Mb?~jt?Yf?y=D<A )AYAbD VD8y-;%5N=ٔ5:Q-5>99Y9==Ey=D=UE=>BU>BQBU!IBU`BBQBQBQBU{;BU4EA-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026739Q 54EB?Q 94Ew)E>vBY?Q E:yK>Q I"@EPDIEK=iE<=E64yBɮ AE:i9FNOT Ignoring new targets: 317.36 m."ix*ix ProNav: ac range: 317.355896 m, nav range: 300.415466 m, bearing: 9.050363 deg, approach rate: -0.467789 m/s, LOS rate: -0.013593 deg/s, cmd heading: 8.546828 deg, new cmd heading: 8.535336 deg. iǹHeadingCmd: 0.148970 target range: 317.355896 and range: 318.50 m.Թh>hhhhggjgrgBereZe :e *e W@E% E%E%&E!"E%%;*E%:VE%4ZE!BE% KEH=1=I>Im9@i @i@m/@i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280030 ^A 8=A I I) O= >A  %,8-(LAFk@F >F =ٱFI=FHi?`W?E?໊?@ṿ :`E?@?iFk@IFR\;F{CYV_ByZ I M9iYi=mEymDuMEu>yQ 54}ϢB?Q 94})}@vBYy@>Q I"@}PDI}C:i}q:}4yɮ A EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 317.36 m."i*i ProNav: ac range: 317.355896 m, nav range: 300.182587 m, bearing: 9.043595 deg, approach rate: -0.603156 m/s, LOS rate: -0.017545 deg/s, cmd heading: 8.535336 deg, new cmd heading: 8.521788 deg. ioHeadingCmd: 0.148733 target range: 317.355896 and range: 318.50 m.hM>hhhhggjgrgereZe:e*e@Bɢ3<)! %옽i!)%K5g>=5t=I5M>I1)9@ @@@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.534362E] E]E]$EY"E]=;*E]|:yVE]4ZEYa@a@a@a@^A [=ԩ A9 IA IY Oe > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7828891%, F(LA2g@2`% >2aF =ٱ2=2H`߰? U? 4?3? J@g`?`?i2g@I2\;2}CY>WBy>IPiMb@Mb@Mb@ 9'1Z?kt?~jt?Y?y =@ )YAbDVD8y A%B=ٔ~V:Q->9!Y!=%Ey%D-E->9Q 5M4=B?Q 9M4=)=BvBYU?Q E:y>Q I"@=PDI=ZhAhAhAhAgAgIjgirgmBeqreqZeq:eq*eu GA @ɢ+<) i) ޝ<  i 屮i>71=&̈́=I>I9@ @@/@B>BTCBIBLBB =BBBY|;B4EBESCBESCBABE =BE =CE d5iyIy}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035188Eu  Eu Eu %Eq "Eu O;*Eu :VEu 4ZEq BEu (Y%,Ps`(LA2d@2 >2a =ٱ2=2HR? >? '? &?@"``5?0?i2d@I2\;2~CYRPByR I TTXXbD^VD^8yfV"%fc=ٔfQ-f>9hYh=jEyjDnEn>pQ 5v4riB?Q 9v4rt)rCvBYtyv>Q Iv"@1rPDIrRRhhhhggjgrgereZe:e*e! @ɢ<) ٽi)\<i^i>'=j=I>IBDAT read: Rx Time:04:16:31.4936 TRx dataTimestamp_ set to:1764908193.603726checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289263i@i @i@m0@iY^AW^=ԑI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538877Թ %,.9z(LAD&=D&=E6 E6E6$E4"E6V:*E6:VE64ZE4aJ@aJ@aJ@aJ@ԙb@ p >P =ٱ=H ?:?I?ێ?%@7id?@?ib@I/\;}CYJByIau@au a}@a} a}@a} a}@a} yybD VD8yּ%1=ٔ9Q->9Y=EyD(E>Q 54B?Q 94)DvBQ A+:YQ E:y]>Q I"@PDI;i> 4yBɮ A!E:i9MFNOT Ignoring new targets: 317.36 m."i}*i}e ProNav: ac range: 317.355896 m, nav range: 299.545227 m, bearing: 9.026409 deg, approach rate: -0.514312 m/s, LOS rate: -0.013867 deg/s, cmd heading: 8.500153 deg, new cmd heading: 8.487393 deg. i˹HeadingCmd: 0.148133 target range: 317.355896 and range: 318.50 m.h*>hhhhggjgrgereZe:e*e$@MBɢM<)I UiQ)U]=]IMDAT read: 04:16:31.4936 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 90,-0.17, 1.734, 0.186, 1.879, 1.344, PHS= 0.492,-1.113, 0.491, RAW= 150.0, 1.6, CAL= 148.9, 1.3, ROT= 1.1, -1.3 UYgot valid direction response: 04:16:31.4936 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 90,-0.17, 1.734, 0.186, 1.879, 1.344, PHS= 0.492,-1.113, 0.491, RAW= 150.0, 1.6, CAL= 148.9, 1.3, ROT= 1.1, -1.3 ePDAT read: Bearing 163.6, -1.2 (Local) e~Local bearing/azimuth received: Bearing 163.6, -1.2 (Local) uDAT read: Range 11 to 50 : 300.9 m (Round-trip 401.3 ms) speed 0.4 m/s }R#Rx 1: Read range and direction messages.\direction in FSK: [0.999558,0.019193,0.022687]Fpublishing direction and range infoy 4a?`3?NGY;?YsC )EIm>ivZd>6'@<R&@ ޹<)nFB UCB IB 8BB =B =DB ԺDB |;B 4EI9 II Om >V%%,d(LA"*DAT read: user:189> &BDAT read: Tx time:04:16:32.7381 *$Ping request sent.*b =ٱb1=bH@?ԏ$?@??G渿E^ F??ib_@Ib\;bClY=9 Y = Ey D@'E>E9 E=E9E9"E9*E=:VE9ZE9BE=9Q I"@uPDIub:iuxe?u4yɮ Aii-͆(LAjC"jC:jS>"pٸ r@{5t@̰dn5@p 4a?`3?NGY;?*jnF<2j޹*p Lᓆr@fpF@wGpEkȢ?YS7?F?7j 4B j4CiBz?iFj8wBj8?jjcBrjCzj %>= addTargetRange:: Added new target pos. range: 300.899994 m, deltaT: 8.074727 s, deltaX: -17.600006 m, approachRate: -2.179641 m/s, rangeRepo size: 4 M Added new target pos. range: 299.822784 m, bearing: 8.635085 deg, lat: 36.779536 deg, lon: -121.859641 deg, deltaT: 8.074727 s, deltaX: -17.533112 m, approachRate: -2.171357 m/s, posRepo size: 4 :iimFNOT Ignoring new targets: 299.82 m."iu*iq ProNav: ac range: 299.822784 m, nav range: 299.506653 m, bearing: 9.239392 deg, approach rate: 0.000000 m/s, LOS rate: -0.013867 deg/s, cmd heading: 8.487393 deg, new cmd heading: 8.475209 deg. iHeadingCmd: 0.147920 target range: 299.822784 and range: 300.90 m.hkx>hhhhggjgrgereZe:e`fr@*ej? 1ɢ5D;)1 5i1)=A<99i=ǦiEkx>E =EW%=Ikx>I@ @!@%/@!1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250721^Ae W^=i I I O% >+%,>(LAY/ByII%R=)%bD5VD589yEĄ%EW=ٔMQ-M>9IYQ=UEyUDUEU>YQ 5e4]$B?Q 9e4]i)]GvBQ Am9YiQ EmY:yiQ Im"@]PDI]V:i]ڡ?]}4yqɮuj A}"EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 299.82 m."i*i= ProNav: ac range: 299.822784 m, nav range: 299.317596 m, bearing: 9.234437 deg, approach rate: -0.536361 m/s, LOS rate: -0.014068 deg/s, cmd heading: 8.475209 deg, new cmd heading: 8.465291 deg. i=͹EHeadingCmd: 0.147747 target range: 299.822784 and range: 300.90 m.hE K>hAhAhAhIgIgIjgIrgIeQreZe:e*eȯ?)ɢ-HTh;)) - /i1)5<11i5 i= K>===kr=I= K>IAiQIUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503085iEm EmEm#Ei"Em;*Emh:VEm3ZEia@a@a@a@9@ @@b0@ԑ^A [=II IY Om >  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754809i2%,`(LA#X@@1>$ =ٱ=H?@s??`?`qc ι?`?i#X@IO];}CY!ByIԑaa aa aa aa iMb@Mb@Mb@ 9)\(?p= ף?y&1|?YG?y=`;rAA EA)A AY\A <<bD ˿VD |8yk%==ٔ8Q->9!Y!=%Ey%D%E->)Q 554- C?Q 9=4-)-FvBQ A=T:Y=[?Q E=:y=>Q I="@-PDI-K ;i- :-4yIɮM AI:iiuFNOT Ignoring new targets: 299.82 m."i}.*i}. ProNav: ac range: 299.822784 m, nav range: 299.099213 m, bearing: 9.230334 deg, approach rate: -0.507159 m/s, LOS rate: -0.009535 deg/s, cmd heading: 8.465291 deg, new cmd heading: 8.457079 deg. iHeadingCmd: 0.147604 target range: 299.822784 and range: 300.90 m.hy%>hhhhggjgrgsBereZe:e*e I4?ɢY:) TLi) <i$6iy%>=؂=Iy%>Ii@i @i@m05@iB5>B1B5IB5BB1B1B1B5{;B54Eechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006809bE4jE4rES/EU EUEU"EQ"EU:*EU҆:VEU(3ZEQBEU. 8%,(LA2^@2@ >2D; =ٱ2|=2H???f?@2f5c??i2^@I2];2|CYBByBIbDJVDJq8yR%Rf=ٔRz8Q-V>9TYT=VEyVDZ;EZ>\Q 5b4^C?Q 9b4^)^DvBY`yb>Q If"@^PDI^;i^;^<#4yjBɮj Ah:i|uFNOT Ignoring new targets: 299.82 m."iu 0*i} 0 ProNav: ac range: 299.822784 m, nav range: 298.918854 m, bearing: 9.226911 deg, approach rate: -0.506841 m/s, LOS rate: -0.009624 deg/s, cmd heading: 8.457080 deg, new cmd heading: 8.450230 deg. i挹HeadingCmd: 0.147484 target range: 299.822784 and range: 300.90 m.h#>hhhhggjgrgereZe:e*e #?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258854ɢ Q9) BWi)s<i~di#>P==I#>Ie9@a @a@eG4@a!^AS=II)O5>Qu checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510805E}  E} E} %Ey "E} ;*E} :VE} 4ԩ ZEy a @a @a @a @>%,(LA^@>L =ٱn)=H@0?1 Χ?@?@?nbL?@4?i^@I|];{CY-By-I 11iMb@Mb@Mb@ 9"~j?v/?9 Y = EyD{8E>Q 5%4+C?Q 9%4>)CvBY-(?Q E-:y-w>Q I-"@PDI:i:+4y1ɮ5H A9qG:izAFNOT Ignoring new targets: 299.82 m."ib%9mzAYmA*ib} ProNav: ac range: 299.822784 m, nav range: 298.687347 m, bearing: 9.223303 deg, approach rate: -0.502298 m/s, LOS rate: -0.007835 deg/s, cmd heading: 8.450231 deg, new cmd heading: 8.443009 deg. i}ieHeadingCmd: 0.147358 target range: 299.822784 and range: 300.90 m.h>hhhhggjgrg`BereZe:e*e?ɢn:)  :gi ) j}<  i _i>ݚ==I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762862ԡ9@ @@ 5@^A% [=B% >B! B% IB% BB% =B! B! B% |;B% 4E A I I) O= >E%,F})LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014841Bv`@B; >Bi =ٱB8=BH? ZЧ?`??ҷtQ/? ?iBv`@IB^;B|CYNByNITVAAbDV˿VDV|8y^v%bd=ٔb"Q-b>9dYd=fEyfDfY:Ef>lQ 5n4n:C?Q 9r4n)nBvBYpyr5x>Q Ir"@nQDIn:inG:n`14ytɮvd AU#E:iFNOT Ignoring new targets: 299.82 m."i*i ProNav: ac range: 299.822784 m, nav range: 298.502533 m, bearing: 9.220409 deg, approach rate: -0.507347 m/s, LOS rate: -0.007950 deg/s, cmd heading: 8.443009 deg, new cmd heading: 8.437216 deg. ihHeadingCmd: 0.147257 target range: 299.822784 and range: 300.90 m.h>hhhhggjgrgereZe:e*e@E5 E5E5'E1"E5;*E5:VE5'4ZE1BE5@Ӛ=5?=I>Ie9@a @a@e/@a checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270001^AA>A?A A I I O% >ܾK%,C1)LA>f@> >>+ =ٱ>=>H`&?`@|ܧ?/?o?P`2@%? ?i>f@I>];>{CYb BybIbDjVDj8yr%rI=ٔvQ-v>9tYt=vEyzDz:Ez>|Q 54~%LC?Q 94~)~AvBYy x>Q I "@~QDI~q:i~:~~84yɮ A5B*** querying acoustic contact ***i1i1:i9EFNOT Ignoring new targets: 299.82 m."iE*iEU ProNav: ac range: 299.822784 m, nav range: 298.292938 m, bearing: 9.217095 deg, approach rate: -0.535084 m/s, LOS rate: -0.008467 deg/s, cmd heading: 8.437217 deg, new cmd heading: 8.430583 deg. iUw]HeadingCmd: 0.147141 target range: 299.822784 and range: 300.90 m.h]?>hahahahagagajgirgieireiZei:eq*eu`@颙ɢ") @ui)*w<顡i﨡i?>>ʚ=Q=I?>IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518992Ye9@a @a@e/@aEe EeEe%Ea"Eel;*EeS:VEe 4ZEaa@a@a@a@ԉ^AU=A I I ԩ O > > %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771015R%,'K)LA<ni@Z >~ =ٱ=Hð?f`?a;?"?0@N??ini@I];|CYEByEIIUR>)UpyP=D<AA EA) AY\AbDVD8y%,=ٔ]Q->9 Y = Ey DlC:E>Q 5%4_C?Q 9%4K)Y%>Q E%:y%o>Q I%"@$QDII:iL;@4y5Bɮ5 A1ԩ:iFNOT Ignoring new targets: 299.82 m."i*i- ProNav: ac range: 299.822784 m, nav range: 298.056793 m, bearing: 9.213755 deg, approach rate: -0.478466 m/s, LOS rate: -0.006772 deg/s, cmd heading: 8.430584 deg, new cmd heading: 8.423899 deg. i-MF5HeadingCmd: 0.147025 target range: 299.822784 and range: 300.90 m.h5>h1h1h9h9g9g9jgArgEVBeareaZei:ei*em @ɢBW) B>BBIBBBBBB|;B%5Ei)%-I=-Q=I->I1echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023632@ @@/@EU EUEU$EQ"EU;*EUv:VEU4ZEQBEU8CNEY%,]f)LA>|o@>` >>s1 =ٱ>=>H? B@6?`S??@\% ??i>|o@I>];>}CjBDAT read: Rx Time:04:16:35.5406 nTRx dataTimestamp_ set to:1764908197.634674nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275699YByI bDVDɰ8yo%O=ٔ(fQ->9 ?Y ?=Ey D:E>Q 54pC?Q 9 4)Y y p>Q I "@1QDI7hhhhggjgrgere Ze :e *e  @额Bɢ̾6) ׂi)p<顡ii8r>=]ň=I8r>IQ@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526766y ^A b$=ԩ A% ؟AI1 IA OU >-`%,͂)LAYByIimMb@Mb@Mb@iiii i9mRQ?)\(?{Gz?Ym?ymGa=m#9"?Y"?=EyDE>Q 54C?Q 94)YW?Q E:y\v>Q I"@@QDIv;i;O4yɮ ADAT read: 04:16:35.5406 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.08,-2.541, 2.083,-2.384,-3.093, PHS= 0.654,-1.062, 0.666, RAW= 150.3, -3.0, CAL= 149.7, -4.0, ROT= 0.3, 4.0 Ygot valid direction response: 04:16:35.5406 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.08,-2.541, 2.083,-2.384,-3.093, PHS= 0.654,-1.062, 0.666, RAW= 150.3, -3.0, CAL= 149.7, -4.0, ROT= 0.3, 4.0 mPDAT read: Bearing 158.6, -2.4 (Local) u~Local bearing/azimuth received: Bearing 158.6, -2.4 (Local) DAT read: Range 11 to 50 : 298.7 m (Round-trip 398.3 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.:i^direction in FSK: [0.997550,0.005223,-0.069756]Fpublishing direction and range infoyf?d7du?&k۱YYC )DIl'?i~*?'@PwVm7'@FNOT Ignoring new targets: 299.82 m."i% *i% E ProNav: ac range: 299.822784 m, nav range: 297.624390 m, bearing: 9.207330 deg, approach rate: -0.500257 m/s, LOS rate: -0.007709 deg/s, cmd heading: 8.417901 deg, new cmd heading: 8.411038 deg. iEaMHeadingCmd: 0.146800 target range: 299.822784 and range: 300.90 m.hMR>hQhQhQhQ 5);I5==T ?Bg'$?e9 ?)X=I;i5=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.gQgjgrgxBereZe:e@3r@*eR?UBɢU9)Q Ue =aIeR>IiԹ @  @ @ @ B >B B IB BB =B B B };B 5EBUCBUCBB =B =C؃5 *DAT read: user:190>  BDAT read: Tx time:04:16:36.7881  $Ping request sent. }g%,j)LA:jm@: >:F:=ٱ:=:HP?|0?`6K? ?{{`i?V?i:jm@I:Ys];:|CYFByFI LLbDR VDR8yZz%ZT=ٔ^r Q-^>9\Y\=bEybDb,Eb>dQ 5j4fQ In"@fLQDIf;if;fvV4yrBɮr Apiio׈)LAjєC"jєC:j:>"pBzy}r@qB?"4pf?d7du?&k۱*j󧒫;2j5=*pUMr@ tE@Y~`V>pʩ{?㈀?j/B jjCiZ?i$vwZjBjj󖋁j8wBrjCzjB >5 addTargetRange:: Added new target pos. range: 298.700012 m, deltaT: 4.031876 s, deltaX: -2.199982 m, approachRate: -0.545647 m/s, rangeRepo size: 4 E Added new target pos. range: 297.634735 m, bearing: 8.498772 deg, lat: 36.779536 deg, lon: -121.859654 deg, deltaT: 4.031876 s, deltaX: -2.188049 m, approachRate: -0.542688 m/s, posRepo size: 4 :iAEFNOT Ignoring new targets: 297.63 m."iM*iI] ProNav: ac range: 297.634735 m, nav range: 297.244354 m, bearing: 8.983777 deg, approach rate: 0.000000 m/s, LOS rate: -0.007709 deg/s, cmd heading: 8.411038 deg, new cmd heading: 8.405508 deg. iYeHeadingCmd: 0.146704 target range: 297.634735 and range: 298.70 m.he9>hahahahagigijgirgieqreqZeq:eq*e}ൠ?ԑ颩ɢdͻ) ti))-.$i<)1i5 i59>= ==d=I=9>I9Ii)myA@ @@@ߥ=ߡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.248381Թ^A A] .AIa Iq O > U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499355m%,K)LA2m@2@ >2x=ٱ2=2H`??@?`L?`?@(`Mz??i2m@I2'];2~CY>By>IDF@AbDJ VDJ8yR%RK=ٔR9Q-R>9V ?YV ?=VEyV"DV8EZ>\Q 5b4^C?Q 9b4^)\Y`ybv>Q Ib"@^YQDI^:i^:^|]4yɮA}B*** querying acoustic contact ***iyiy:iFNOT Ignoring new targets: 297.63 m."i*iDzDE EE"E"EV:*E:VE(3ZEa5@a5@a5@a5@A} ProNav: ac range: 297.634735 m, nav range: 297.038879 m, bearing: 8.980459 deg, approach rate: -0.493613 m/s, LOS rate: -0.007976 deg/s, cmd heading: 8.405508 deg, new cmd heading: 8.398868 deg. iiHeadingCmd: 0.146588 target range: 297.634735 and range: 298.70 m.h#>hhhhggjgrg9e9reAZeA:eA*eE?颵Bɢ) Пi)tc<iEi #> = =I #>IQ9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751776ԉ^A ff=Ա A I I! O- >t%,)LA26k@2 >2V=ٱ2[=2H@?@p ?}B? ? F`??i26k@I2h<];2|CB>>B>WCB>xIB>׀BB> =B<B>ֺDB>~;B>5EYnBynIieMb@Mb@Mb@aaaa a9eK7A?V-?9Y=Ey+D2E>Q 54ԩnC?Q 94)CvBY?Q E:ysz>Q I"@iQDId.;iy-;e4yɮ/A%E:iFNOT Ignoring new targets: 297.63 m."i$*i$ ProNav: ac range: 297.634735 m, nav range: 296.803467 m, bearing: 8.976458 deg, approach rate: -0.529951 m/s, LOS rate: -0.009015 deg/s, cmd heading: 8.398868 deg, new cmd heading: 8.390858 deg. iHeadingCmd: 0.146448 target range: 297.634735 and range: 298.70 m.h~>h h h h g g jgrgZBereZe:e*e J?i)I-A5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003734Bɢ^ֻ) pi)3`<iOi~>@=M=I~>IE- E-E-%E)"E-:*E-Ar:VE- 4ZE)BE-?89 "{%,)LA:l@:@ >:=ٱ:|=:HV?@t@?YI? p?`f@_??i:l@I: 1];8Y^By^IIba=)b=bDjVDj8yr̹%rV=ٔrR9Q-v>9tYt=vEyv3Dz :Ez>|Q 54~\C?Q 94~U)~FvBYyz>Q I "@~uQDI~{;i~`:~6l4yɮRA:i1=FNOT Ignoring new targets: 297.63 m."iE*iEM ProNav: ac range: 297.634735 m, nav range: 296.609406 m, bearing: 8.973141 deg, approach rate: -0.510418 m/s, LOS rate: -0.008728 deg/s, cmd heading: 8.390858 deg, new cmd heading: 8.384221 deg. iUUHeadingCmd: 0.146332 target range: 297.634735 and range: 298.70 m.hU >hYhYhYhYgYgYjgargaeareaZei:ei*em 3?颕Bɢ|) i)9]<顡iUi >==I >IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507282QuD=%=D=R=E] E]E](EY"E]:*E]]t:VE]c44ZEYae@ae@ae@ae@9@ @@/@qԡ ^A1  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760673I1IAOU>%, *LA<:i@:\ >:n =ٱ:=:H@ð?௷? ;??YǸ-?'??i:i@I:N];:{CYHyJIiEMb@Mb@Mb@AAAA A9ES㥛?Zd;?~jt?YE?yEy=E9qYy=}Ey}Q 54)C?Q 94)JvBY?Q E:y}>Q I"@QDI ;iP;t4yBɮSA&E:iFNOT Ignoring new targets: 297.63 m."iX(*iX( ProNav: ac range: 297.634735 m, nav range: 296.355865 m, bearing: 8.968664 deg, approach rate: -0.520503 m/s, LOS rate: -0.009199 deg/s, cmd heading: 8.384221 deg, new cmd heading: 8.375260 deg. iHeadingCmd: 0.146176 target range: 297.634735 and range: 298.70 m.h >hhhhggijgqrgu~BeqreyZey:ey*e}`-"@ Bɢ )  i )}X<ii >y=!M=I >IԡAA@AB>BBrIBҀBB =BBպDB2~;B5E]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011389EU EUEU'EQ"EU;*EU:VEU'4ZEQBEUA 8%,w**LAFyc@F >F=ٱFƟ=FH? .?@#??iJ/ E?`6?iFyc@IF];F}CYRByRIbDVD8ym%;%u-=ٔuQ->9Y=EyFD~ʺE>Q 54C?Q 94)MvBYy|>Q I"@QDI;i: }4yɮGA:iFNOT Ignoring new targets: 297.63 m."i%%*i%%5 ProNav: ac range: 297.634735 m, nav range: 296.107635 m, bearing: 8.964305 deg, approach rate: -0.515306 m/s, LOS rate: -0.009058 deg/s, cmd heading: 8.375260 deg, new cmd heading: 8.366534 deg. i5=HeadingCmd: 0.146024 target range: 297.634735 and range: 298.70 m.h=3>h9h9h9h9g9gAjgArgAeAreIZeI:eI*eM @BɢTL) i)~-T<i◼i3>m=;=I3>I!iYIYechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516305Q@Q @Q@U/@QYbEȻ 4jEȻ 4rEJv0EU  EU EQ EQ "EU :*EU :VEQ ZEQ a] @a] @a] @ae @  lG % {AA ^AY m 9m {AYu 8AI I O >\r%,fF*LAYzByzI ||iMb@Mb@Mb@ 9S㥛?V-?9Y=EyODE>Q 5 4%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7692704D?Q 94)QvBYr?Q E:y>Q I"@QDI9hhhhggjgrgBereZe:e*e@ ɢ jo)  pi )aZO<iS9i$[>a=3=I$[>I-9@1 @1@1@1B>BVCBfIBȀBB =BBԺDB}~;B6Ea checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019267^AU b$=ԑ E  E E "E "E :*E Ar:VE (3ZE BE G-B%,_*LARc@R >R '=ٱR=RH? B}*?0$?? X%^?q?iRc@IR_W^;R{CY^By^IdfAAbDjVDj8yrb;%r[=ٔv>Q-v>9tYt=zEyzVDzȖ7Ez>|Q 54~'D?Q 94~()~TvBY y >Q I "@~QDI~h:i~>:~4yBɮAE:i9=FNOT Ignoring new targets: 297.63 m."iEZ*iEZU ProNav: ac range: 297.634735 m, nav range: 295.684387 m, bearing: 8.955379 deg, approach rate: -0.566045 m/s, LOS rate: -0.011956 deg/s, cmd heading: 8.356904 deg, new cmd heading: 8.348668 deg. iU ]HeadingCmd: 0.145712 target range: 297.634735 and range: 298.70 m.h]v5>hYhYhYhYgagajgargaeireiZei:ei*em]? @额~Bɢ<) i)L<顡iŕiv5>Z=ۇ=Iv5>Iq9@ @@0@5BDAT read: Rx Time:04:16:39.5881 =TRx dataTimestamp_ set to:1764908201.668077Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274072ԡ^AI!I1O=> v%,Fy*LA2oc@2 >2=ٱ2`=2H ?`ަ?#?@ؐ?P :@??i2oc@I2%^;2|CY>By>IFchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.523512bDrVDr8yz%zI=ٔzQ-~>9|Y|=~Ey^DgE> Q 54 $D?Q 94 ) WvBYyQ I"@ QDI ;i  ; 44y!ɮ%A!:iIMFNOT Ignoring new targets: 297.63 m."iUcK*iUcKe ProNav: ac range: 297.634735 m, nav range: 295.470917 m, bearing: 8.950867 deg, approach rate: -0.525422 m/s, LOS rate: -0.011113 deg/s, cmd heading: 8.348668 deg, new cmd heading: 8.339638 deg. iemHeadingCmd: 0.145554 target range: 297.634735 and range: 298.70 m.hm% >hihihihigqgqjgqrgqeyreyZey:ey*e@颩ɢR) Li)H<顱iǰi% >VQ= =I% >IE EE'E"EV:*E~:VE'4ZEa@a@a@a@]9@a @a@mn0@i ^Aff=}DAT read: 04:16:39.5881 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 418, 0.10,-2.575, 2.012,-2.538,-2.952, PHS= 0.480,-1.274, 0.370, RAW= 146.8, 5.0, CAL= 146.2, 5.4, ROT= 3.8, -5.4 Ygot valid direction response: 04:16:39.5881 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 418, 0.10,-2.575, 2.012,-2.538,-2.952, PHS= 0.480,-1.274, 0.370, RAW= 146.8, 5.0, CAL= 146.2, 5.4, ROT= 3.8, -5.4 PDAT read: Bearing 167.8, 2.2 (Local) ~Local bearing/azimuth received: Bearing 167.8, 2.2 (Local) DAT read: Range 11 to 50 : 296.8 m (Round-trip 395.8 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.993373,0.065980,0.094108]Fpublishing direction and range infoy15e?1T ?|ӄ{?Y5fC1111 1)5II5>i5o5p>5(#@5¸=5N#@ 5=)5ԇ=I5115xrt?RfV?/ w? 5g>)5I5ԇ=i511T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.1 A] ؟AIa Iy O >Y %,*LA2wg@2 >2<ٱ2,=2H?`2?4? ?@'`ι?`?i2wg@I2*^;2zCYn܀Byn~IIr=)rByA}<B}>B}WCByByB} =ByB}ֺDB}~;B}6EiMb@Mb@Mb@ 9E?V-?Q?Y?yu<A=A A)Y AbD)VDҰ8y-%-8=ٔ-YQ-M>9U"?YU"?=UEyUgD]׏:E]>aQ 5m4e7D?Q 9m4e )eZvBY?Q E:y>Q I"@eQDIe;ie;e 4yɮ&AEiaie*LAjeC"jeC:jeC>"peFZ\r@ Pu3@ǭ ;@pee?1T ?|ӄ{?*jeԇ=2je*pe(Or@q-PL@4@pe V?cC?kϐ?je@`B jeҐCieg?ieJ } jedBjeZ?je*qjarjeTCzjeE$>)M addTargetRange:: Added new target pos. range: 296.799988 m, deltaT: 4.032179 s, deltaX: -1.900024 m, approachRate: -0.471215 m/s, rangeRepo size: 4 ] Added new target pos. range: 295.750000 m, bearing: 10.954552 deg, lat: 36.779530 deg, lon: -121.859641 deg, deltaT: 4.032179 s, deltaX: -1.884735 m, approachRate: -0.467423 m/s, posRepo size: 4 :iY]FNOT Ignoring new targets: 295.75 m."ie*iai߉IߍA*DAT read: user:191> BDAT read: Tx time:04:16:40.7881 $Ping request sent.hhhhggjgrg%Be)re)Ze):e-̌r@*e5Bu?}Bɢp) ui)%GC-E=-6=I->I1E EE*E"Es:*E՚:VE(N4ZEBEi0u:%,Y*LA2j@2 >2~d<ٱ2T=2H@±?`]?A?? dҜ?p?i2j@I2^;2{CY>By>I DDbDJVDJ8yN=%RX=ٔRWQ-R>9TYT=VEyVoDZ؊:EZ>XQ 5^4Z*HD?Q 9b4Z)Z]vBY`yb>Q Ib"@ZQDIZ:iZ:Z4yhɮjAh:ix~FNOT Ignoring new targets: 295.75 m."i~8P*i8P  ProNav: ac range: 295.750000 m, nav range: 294.463959 m, bearing: 9.187494 deg, approach rate: -0.552149 m/s, LOS rate: -0.011377 deg/s, cmd heading: 8.329306 deg, new cmd heading: 8.321148 deg. iHeadingCmd: 0.145231 target range: 295.750000 and range: 296.80 m.h>hhhhggjg!rg!e!re!Ze):e)*e-O?Qɢ]jG)Y ]iY)](@?==I>I}9@y @y@a4@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502451DzD@AE EE&E"E:*E|:VE4ZEa@a@a@a@^Ai=! I I) O= >%,c*LA=>=?@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754688YMڀByM|IiMb@Mb@Mb@ 9%C?(\µ?Q?YZ?y=+AA A) AY AbD VD8y%7=ٔQ->9Y=EyxDE > Q 54 [D?Q 94 ) avBY/?Q E:y>Q I"@ QDI ;i ; a4y%Bɮ-.A-EEB*** querying acoustic contact ***iAiA:iQUFNOT Ignoring new targets: 295.75 m."i]y*i]ym ProNav: ac range: 295.750000 m, nav range: 294.232452 m, bearing: 9.181412 deg, approach rate: -0.518965 m/s, LOS rate: -0.013643 deg/s, cmd heading: 8.321148 deg, new cmd heading: 8.308976 deg. imǹuHeadingCmd: 0.145019 target range: 295.750000 and range: 296.80 m.hu>hqhqhqhqgygyjgyrg}BereZe:e*e #?Yqɢu?)q uKiy)},O;5=-H=I>I9@ @@H1@ԁB>BB_IBÀBB =BBպDBa~;B6EBWCBWCBB =B =C55 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010460^Ai Թ I I O >E  E E !E "E :*E :VE c3ZE BE <2ˡ<ٱ2±=2H ?`j_?@r??bg3?=?i2.w@I2A^;2zC@YRЀByVoIbD^VD^8yfeh%f`=ٔfZػQ-f>9hYh=jEyjDnn;En>pQ 5v4rrjD?Q 9v4rh)rdvBYtyv>Q Iv"@rQDIr:irS:rŮ4y|ɮ~A|:i!%FNOT Ignoring new targets: 295.75 m."i-X}*i-X}= ProNav: ac range: 295.750000 m, nav range: 294.042633 m, bearing: 9.176360 deg, approach rate: -0.519807 m/s, LOS rate: -0.013843 deg/s, cmd heading: 8.308975 deg, new cmd heading: 8.298865 deg. i=ʹEHeadingCmd: 0.144843 target range: 295.750000 and range: 296.80 m.hEQ>hAhAhAhAgAgIjgIrgIeIreQZeQ:eQ*eU9?颁ɢ4i) ɬi)7<顉i~iQ>-0=\y=IQ>IE9@A @A@EB3@I@m=@m=ԱUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258781^AUm=A]>A]>IIO> i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510826K~%,*LA:}@: >:<ٱ:,=:H?@f&?@S?`C?iP%™l?`?i:}@I:ay^;:|CYFπByFnILN@AbDRVDR8yŽ%ZJ=ٔZdQ-Z>9\Y\\=bEybDb:Eb>dQ 5j4f{D?Q 9j4f)fivBYlyn>Q In"@fRDIf ;if';fڵ4ypɮrAt:i FNOT Ignoring new targets: 295.75 m."i~*i~% ProNav: ac range: 295.750000 m, nav range: 293.832123 m, bearing: 9.170717 deg, approach rate: -0.519191 m/s, LOS rate: -0.013929 deg/s, cmd heading: 8.298865 deg, new cmd heading: 8.287570 deg. i%˹-HeadingCmd: 0.144645 target range: 295.750000 and range: 296.80 m.h->h)h)h)h1g1g1jg1rg1e9re9Ze9:eA*eE?iɢm24O)q uiq)uV2)=ю=I>I9@  @ @/@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762624^AuW=II O >A By<ٱB=BH/?`vL?Ь?`?` 9T #??iB@IBK^;BzCYNǀByNdI9imMb@Mb@Mb@iiii i9m)\(?ʡE?I +?YmG?ym=m9=ٔ1UQ->9Y=EyDu;E>Q 54FD?Q 94')pvBY?Q E:yґ>Q I"@RDI;iS;W4yɮA:iFNOT Ignoring new targets: 295.75 m."ic*ic ProNav: ac range: 295.750000 m, nav range: 293.614929 m, bearing: 9.165402 deg, approach rate: -0.506774 m/s, LOS rate: -0.012410 deg/s, cmd heading: 8.287570 deg, new cmd heading: 8.276933 deg. i HeadingCmd: 0.144460 target range: 295.750000 and range: 296.80 m.h @>h h hhggjgrgBereZe!:e!*e%@@IɢUTd[)Q UӵiQ)].e$=eƐ=Ie@>Iachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014662iq@q @q@u/@qE EE"E"E:*E:VE(3ZEBE>S%,d=0+LA2X@27>2ݳ<ٱ2_=2H)?[$?@F?`?`<>{ ???i2X@I2^;2~CY>By>YIIB,>)@bDFDVDF8yNB%R[=ٔRQ-R>9TYT=VEyVDV^:EV>XQ 5 4ZD?Q 9 4Z)ZwvBYy>Q I"@ZRDIZqDhahahihigigijgirgqeqreqZeq:eq*e} @ԙ颩ɢ) i)R)<顱i{i>z =c=I>I9@ @@/@@@zAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518672E EE#E"E&:*Ez:VE3ZEa@a@a@a@^A~4=A I I O > vh%,J+LANa@N9>NƦ<ٱNT=NH`R?$i?@?@?@ctؔ#?`,?iNa@INҾ^;NzCYZByZRI%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770579iMMb@Mb@Mb@IIII I9M'1Z?333333?Q?YM?yM=Mu=ٔusQ-u>9yYy=}Ey}D;E>Q 54D?Q 94)}vBYE?Q E:yU>Q I"@,RDI ;i;a4yɮ;AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 295.75 m."i/f*i/f ProNav: ac range: 295.750000 m, nav range: 293.205048 m, bearing: 9.155468 deg, approach rate: -0.524509 m/s, LOS rate: -0.012578 deg/s, cmd heading: 8.267649 deg, new cmd heading: 8.257049 deg. i%HeadingCmd: 0.144113 target range: 295.750000 and range: 296.80 m.hG>hhhhggjgrgBereZe:e*e9m@颩ɢPȀ) ľi)#<项iriG>=m=IG>I9@ @@@!Be>BeUCBeLIBeBBe =BaBeԺDBe~;Be.6EQ^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023164A I I O >E  E E E "E s!;*E x:VE ZE BE x2@y<ٱ2x=2H ?Ҡ? ?R?0].I?`??i2@I2v^;2|CY>By>UIbDFLVDF8yN&<<%NY=ٔR(Q-R>9PYP=VEyVDVf;EV>XQ 5^4ZoD?Q 9^4Z)ZvBY`yb>Q Ib"@Z8RDIZA;iZM;Z4yfBɮf&Ad:iqFNOT Ignoring new targets: 295.75 m."i9Y*i9Y ProNav: ac range: 295.750000 m, nav range: 293.011963 m, bearing: 9.150805 deg, approach rate: -0.491221 m/s, LOS rate: -0.011870 deg/s, cmd heading: 8.257049 deg, new cmd heading: 8.247718 deg. iǭHeadingCmd: 0.143950 target range: 295.750000 and range: 296.80 m.hg>hhhhggjgrgereZe:e*e~ @ɢؐ) ¾i)<iig>==Ig>IY@ @@@=BDAT read: Rx Time:04:16:43.5854 =TRx dataTimestamp_ set to:1764908205.699990Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277019ԁ^A̓=ԱAA II IY Om > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526490 p%,}+LAFG@F>F><ٱFa=FHF? ! b????@o?f?iFG@IFM^;FzCYnBynKIbDzVDz8y%D=ٔpQ->9 Y = Ey D Đ:E>Q 54D?Q 9%4)vBY!y%>Q I%"@FRDI;i;>4y)ɮ5dA1:iQ]FNOT Ignoring new targets: 295.75 m."i]Om*ieOmm ProNav: ac range: 295.750000 m, nav range: 292.798401 m, bearing: 9.145626 deg, approach rate: -0.534338 m/s, LOS rate: -0.012967 deg/s, cmd heading: 8.247718 deg, new cmd heading: 8.237353 deg. imؽuHeadingCmd: 0.143769 target range: 295.750000 and range: 296.80 m.hu*8>hqhqhyhygygyjgrgereZe:e*e`Q@bEEJ4jEE4rEE50E EE&E"E:*E:VE4ZEa@a@a@a@颵~Bɢޖ) UʾiQ)UVe=e =Ie*8>IaM\GI/9YA 9@ @@/@!eDAT read: 04:16:43.5854 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 406, 0.06,-2.217, 2.519,-2.083,-2.717, PHS= 0.602,-1.90, RAW= 149.6, -2.4, CAL= 149.0, -3.3, ROT= 1.0, 3.3 m!unknown deviceResponse_: 04:16:43.5854 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 406, 0.06,-2.217, 2.519,-2.083,-2.717, PHS= 0.602,-1.90, RAW= 149.6, -2.4, CAL= 149.0, -3.3, ROT= 1.0, 3.3 q mm(Communications Faulta u a u a u a u a u }PDAT read: Bearing 159.8, -0.8 (Local) }~Local bearing/azimuth received: Bearing 159.8, -0.8 (Local) DAT read: Range 11 to 50 : 294.8 m (Round-trip 393.1 ms) speed 0.4 m/s X#Rx 1: Read range message, but no direction.i9I=fC9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ^A% =9 AU .ABY AY Be >Ba Be @IBe BBa Ba Ba Be ~;Be 6EI & LCommunications Fault in component: DATI O >%,F+LA2@2,>2d<ٱ2Di=2H`Ŭ?D>?[? ?`Bfll ?? i?i2@I2^;2{CY>By>EIronly read 0 of 1 data item for water mass range. Device response is::WD, , +0.00, +0.00, 20.00,1 ar@ar ar@ar ar@ar ar@ar bDv VDv8yŰ%9=ٔw-Q->9 ?Y ?=EyD:E>Q 54CD?Q 94o)vBQ A+:YQ E:y,>Q I"@TRDI:i>{4yɮA!E:i)-FNOT Ignoring new targets: 295.75 m."i5d*i5dE ProNav: ac range: 295.750000 m, nav range: 292.572510 m, bearing: 9.140116 deg, approach rate: -0.512397 m/s, LOS rate: -0.012508 deg/s, cmd heading: 8.237353 deg, new cmd heading: 8.226325 deg. iE MHeadingCmd: 0.143576 target range: 295.750000 and range: 296.80 m.hM>hIhIhIhIgQgQjgQrgQeQreYZeY:eY*e]@\Aɢ5) >оi)M<ii>"=N=I>IE EE%E"E:*Exv:VE 4ZEBE?8,%,+LA28@2s>2ԡ|<ٱ2E=2H`? q?L?ˁ?G蓏@?`?i28@I2"_;0Y>ByV6IbDb VD`yf%j^=ٔj0ܺQ-j>9j"?Yn"?=nEynDnB:Er>pQ 5v4rD?Q 9v4r)rvBQ Az :YxQ Ez:yzS>Q Iz"@raRDIr:irO?r4y|ɮA"E:i!-FNOT Ignoring new targets: 295.75 m."i-e*i-e= ProNav: ac range: 295.750000 m, nav range: 292.383392 m, bearing: 9.135486 deg, approach rate: -0.512497 m/s, LOS rate: -0.012556 deg/s, cmd heading: 8.226325 deg, new cmd heading: 8.217058 deg. iEַEHeadingCmd: 0.143415 target range: 295.750000 and range: 296.80 m.hEO>hAhIhIhIgIgIjgQrgQEU UAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeEUeTransitioning to midcourse guidance. Received last range of 296.799988 m 29955895.466667 min ago.Ee1FeeareaZea:ei*ei频ɢ@) ݾi)<顙i iO>=<=IO>II9@ @@O0@yDzDE EE$E"E:*E?:VE4ZEa@a@a@a@^A=ԩ A% .AII Ii O >%,+LA69@64>6JVk<ٱ6=6HΫ?5?#6?`?Fj?9?i69@I6_;6yC@YFByF(Ia%a% a-a- a-a- a-a- i-Mb@Mb@Mb@)))) )9-'1Z?l?~jt?Y)y-=-D<-A-A - A)- A)Y- AbDEVDE8yUN%UB=ٔUd$Q-U>9] ?Y] ?=]Ey]DeB:Ee>iQ 5u4mBE?Q 9u4mo)mvBQ AuT:Yu7?Q Eu:yu >Q I}"@mnRDIm ;im ;m4yɮDAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 295.75 m."id*id ProNav: ac range: 295.750000 m, nav range: 292.167786 m, bearing: 9.130222 deg, approach rate: -0.511956 m/s, LOS rate: -0.012507 deg/s, cmd heading: 8.217058 deg, new cmd heading: 8.206523 deg. iHeadingCmd: 0.143231 target range: 295.750000 and range: 296.80 m.h>hhhhggjgrgwBRg@1FCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeereZe:e*e颍BɢV) i)SL<项ii>==I>IԹ9@ @@A0@B>BWCB-IBBB =BBֺDB~;BB6E^A= E  E E E "E :*E :VE ZE BE ']%,e+LA2Ҫ@2 >2MS<ٱ2=2H? @G?`@? ?oib-??i2Ҫ@I2,`;2CYNByNIbDVVDV8lyza"%zP=ٔ~tQ-~>9|Y|=EyDS:E> Q 54 E?Q 94 ) vBYy4>Q I"@ {RDI ;i ; 4y%Bɮ%A!qL==Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalDEMAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1EM MAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFMMAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlFM MUninitialize.qGMGMGMMZTransitioning guidance mode to: UNINITIALIZED iM?UUAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@U ]Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqA]]Initialize.Ae eInitialize.q@efifmHBrfqNavigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )q@A:Initialize WaypointComponent.ZNavigating to waypoint: 36.779130,-121.859630ereZe:e*eBɢ8x<) 9i ) L<  i =I!@ @@@5@ 9^A=A ؟AI) I9 OU >a )%,+LA2~@2<>2<<ٱ2k=2H?[¿@{? W? M}?M ?V?i2~@I2Fi`;2{CY9V"?YV"?=VEyVDZ:EZ>\Q 5b4^$E?Q 9b4^r)^vBY`yb>Q Ib"@^RDI^f;i^@;^4yhɮjAhfzfz%D>fxgxf|f|rf|e|reZe:e*eD]=D]<Ea EeEe%Ea"Ea*Ee&p:VEe 4ZEaam@am@am@am@q颩ɢ<) عi)nK<项iu=ɧIdi43'>)> (kpHeading = 0.400000I: (kiHeading = 0.001000=IȆ> Ȇ>II)iԉ^A](z=ԱIQIiOu> A A B B XCB IB BB =B B B 5;B z6EBBVCB˔CB =B =C996`%,Ts,LABG@B>B/-<ٱBP=BHR?)¿? j?{?@.@٥@uۻ??iBG@IB{,`;B|CYN|ByN Ii%Mb@Mb@Mb@!!!! !9%RQ?p= ף?{Gz?Y%?y%=%#<%EA% A % A)% A!Y% AbD9VD9yML%M@=ٔMQ-M>9QYQ=UEyUDU :E]>aQ 5m4e5E?Q 9m4e)evBYm?Q Em:ymX>Q Im"@eRDIe:ie:e94ԹyyɮA#Ef9f9f9g9f9fArfAeAreAZeA:eI*eI颡ɢa;)  i)Y<顩iT=ɧ 駵i\AW> w2=IY> Y>I@@=^A <AA>Eu EuEu'Eq"Eu;*Eu^:VEu'4ZEqBEu@9 w< %,R3,LA:@:]>:<ٱ:-=:HΩ??¿@00?z?@d}?>18?2?i:@I:p`;:zCY^By^IddbDjVDj8yrx=%rQ=ٔrDQ-v>9tYt=vEyvDz~:Ez>|Q 54~)FE?Q 94~)~vBYy>Q I "@~RDI~:i~:~4yɮAf9f9f9g9f9fArfAeAreAZeA:eI*eIuBɢ}M;)y }`iy)}ݴxذ >I^Arg:IIO=ADqzDu?AE} E}E}%Ey"E}l;*E}~:VE} 4ZEya@a@a@a@iԙ #%,=+M,LA2@2!>2<ٱ2I=2H`?@\¿? ?}? BE Rܺ??i2@I2NZ`;0Yb{BybIiMMb@Mb@Mb@IIII I9Mx&1?y&1?:v?YMA?yM`e=MT9yYy=EyDM:E>Q 54WE?Q 94)vBY?Q E:yځ>Q I#@RDI;i;p4yɮAB*** querying acoustic contact ***iifffgffrfereZe:e*eɢ ;)  Xi ) 9<i8=ɧ݀Z/Ni\>^( %k>I!qBm>BmWCBmIBm|BBm =BiBmպDBmk;Bm6Eԡ^A9AyAzAI1IAOUu>E  E E $E "E :*E &p:VE 4ZE BE '2r;ٱ26c=2H ?¿ ?g?Pv?JN~?7?i2@I2`;2{CYR~ByR IbDfVDfɰ8yvJI<%vS=ٔzQ-~>9iYi=uEyuD};E>Q 54 hE?Q 94)vBYy>Q I#@RDI.a;ia;~4yɮAfffgffrfereZe:e*e Bɢ w~;) i)%<i0=ɧ%%yi%>!!I%B> %B>I)@=zA@9^A8<IaIyO==Powering up="Initializing DAT.) /5 %,߀,LA 2#@2@1>25;ٱ2`=2H ?ÿ`JC?@S?_i? 潿w gy?@?i2#@I2`;2|CYRtByRI Z9dYd=jEyjDj<Ej>lQ 5r4nwE?Q 9r4nv)nvBYtyv>Q Iv#@nRDInh:inS:n)4yzǒBɮzAzEfff!g!f!f!rf!e!re)Ze):e)*e)D==D=4=EE EEEE(EA"EE:*EE[:VEEc44ZEAaM@aU@aU@aU@ɢҠ;) (@i)9<iu*=ɧ%7%Ƒi%μ>!!I%S> %S>I)q^A]h%<ԙAIIO> Ba Aa Bm >Bm YCBm IBm mBBi Bi Bm ׺DBm ~;Bm ?6E_&%,˼,LA>@> # >>W;ٱ>1>>H ?`]ÿ .ט? z?Z?@fr L?@:?i>@I>Ԍ`;P>{CYZpByZIi=Mb@Mb@Mb@9999 99=`"?&1?y=P==t<=+A=A =A A)= A9Y= AbDU]VDU8ye%eA=ٔmJQ-m>9iYi=mEym Duk:<Eu>yQ 54}E?Q 94})}vBY8>Q E:y.>Q I#@}RDI}I:i}:}#4yɮAf1f1f1g9f9f9rf9e9reAZeA:eA*eA颍BɢM;) `Zi){<项i*t=ɧdҽPi#>=L =IM> M>I@@@@EU EUEU!EQ"EU:*EUX:VEUc3ZEQBEU ! ,%,,LA2p>@2$>27;ٱ2>2H@?MNĿ@ތ?`?CO? nf??i2p>@I2`;2yCY>fBy>IbDZ"VDZ̰8ybO%bU=ٔfAQ-f>9dYd=jEyjDjI<Ej>lQ 5r4nҗE?Q 9r4n̬)nvBYtyv>Q Iv#@nRDInS:in>:nI*4yxɮz AzE f)f)f)g)f)f)rf)e1re1Ze1:e1*e1eBɢm;;)i mLii)mhyyI}4> 4>IAIIO>) !%qCbEƻ 4jE( 4rE 0Ee EeEe%Ea"EeO:*EeAr:VEe 4ZEaau@au@au@au@ԁG4^9YZAԩ q3%,r,LA2h@2J*>2>v:ٱ2G >2H@?Ŀ8?@E0?`E?`,@V ;?`i?i2h@I2N`;0YRjByRIiMMb@Mb@Mb@IIII I9MK7A?~jt?9Y=EyDF<E>Q 54E?Q 94V)vBY?Q E:y>Q I#@RDI:i:14yɮAB*** querying acoustic contact ***iifffgffrfereZe:e*eɢ^y;) i)l<i%'<%Z=ɧ%|-ջi->-x=)I-҃> -҃>I1AIIԡO>B >B B IB ]BB  =B B B  ~;B 5EEi  Em Ei Ei "Ei *Em i:VEi ZEi BEm NᤧٱNF >NH@?iſ@q]??@(??` ?e;?l?iN@INQ(`;N{CYfiByfIbDvVDv8y~푻%~S=ٔ~qzQ-~>9Y=Ey$D B<E >Q 54E?Q 94)vBYy>Q I#@RDI;i;84y)ɮ-A-EfffgffrfereZe:e*eBɢ%o;)! %8i!)-<))i-U=K=ɧ==-Pi=t>E'=AIEt> Et>IIAaIiIO>)Y @%,?6-LA2@2O4>2Bٱ2\ >2HP?O?ƿt?`0l?`{7?Z\?'>?Q?i2@I2N[`;2yCY>gBy>IbDF!VDF˰8yN%NP=ٔR8Q-R>9PYP=VEyV,DVX<EV>XQ 5^4ZE?Q 9^4Z)ZvBY`yb>Q Ib#@Z SDIZ;iZ:Zb?4ydɮfAdftfxfxgxfxfxrf|e|re|Ze|:e|*eE EE#E"Ea:*Eg:VE3ZEa%@a%@a%@a-@EBɢE1\;)A EiA)M$]uݙ=]4=I]. > ]. >IY1i^A &<AII O>ԉB >B WCB IB SBB =B B ֺDB };B 5EԱ F%,-LA6g@6Y9>6Cٱ6 >6H!z?5ƿ? ? .?/`yh?`f?@?i6g@I60`;6{CY^aBybIiEMb@Mb@Mb@AAAA A9E}?5^I?~jt?=ٔuBQ-u>9yYy=}Ey}5Da;<E>Q 54E?Q 94 )vBY?Q E:y'>Q I#@SDI;i;F4yɮ0AfffgffrfereZe:e*e}Bɢ}F;)/ >̙=I> >I^A<E5 E5E1E1"E5:*E5&p:VE1ZE1BE55 (L%,5-LA2~ @2\>>24ٱ29 >2Hr?bǿH?? %?`Y }q???i2~ @I2)K`;2yCYBgByBIbDJVDJȰ8yR<%RX=ٔR/eQ-V>9TYT=VEyV\Q 54^sE?Q 94^)^vBYy>Q I#@^%SDI^E=IQ$> Q$>I^A3=AIIO$>!E= E=E=$E9"E=&:*E=L_:VE=4ZE9aE@aE@aE@aM@Q S%,ǼO-LA 21@2bC>29Ļٱ2!>2H.k?$ȿ(?`F??@`x?? r?i21@I2`;2xCYNjByNIiMMb@Mb@Mb@IIII I9MK7A?J +?Mb?YM ?yMH=M=ٔ}JQ-}>9Y=EyED\:<E>Q 54AE?Q 94)vBY?Q E:y9>Q I#@3SDI;i&; U4yɮAEB*** querying acoustic contact ***iifffgffrfereZe:e*e Bɢ F;)  pRi )VG;ix=ɧIZW.i>%$=!I%> %>I!@1@1@9@9iB>BYCBIBNBB =BB׺DB};B5EBmYCBmXCBiBm =Bm =Cmē=6ԙAII O> EM  EM EM %EI "EM :*EM Z:VEM 4ZEI BEM ,:ٱ:G>:H*d?Pȿ`?\?? 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BE% 5B-ٱB>BH&?g>ͿS?8?h?@U%?91Y1=5Ey5D=<9EE>AQ 5M4EAF?Q 9U4EΎ)EwBYQyUK>Q IU#@ESDIE:iE::E4y]ҒBɮeAeEfffgffrfereZe:e*eqBɢ%<)  =i)P`;i]Í.7=ɧiKn>h=IKn> Kn>I^A@p=iA!I)I9OM1>ԑ :n%,.LA2.^<2o>2ٱ2>2Hf?]Ϳԋ??@?۳כ??1?i2.^~By> I@BAbDFVDF8yR%RN=ٔVQ-V>9XYX=ZEyZDn<En>tQ 5z4vF?Q 9~4v)vwBYyE>Q I#@vSDIv5P;ivP;vd4yɮAԡE EE$E"E%;*E:VE4ZEa@a@a@a@fffgffrfereZe!:e!*e!moBɢm<) 6iNl>h=INl> Nl>I^A"=AI IQ Ia Ou >B B [CB IB wBB =B B B ;B s7EBZCBZCBɓCB =B =CɄr5 Y%,.LA2i(<2U t>2ٱ2_>2H .?@ο?`6? ?@ 2?n?`?i2i(9QYQ=UEy]D]$<E]>aQ 5m4ekF?Q 9m4e)ewBYm ?Q Em:yu>Q Iu#@eSDIe;ieY;e4yyɮ}Ayf9f9f9g9fAfArfAeAreAZeI:eI*eI颵lBɢ <) "k=Ic/i> c/i>I@@@@E EE(E"E;*E:VEc44ZEBEn_q p­%,,.LA6_<6;w>6Փٱ6@>6Hd?@ο??@?1`z?x??i6_9^ ?Y^ ?=^Ey^Db;Eb>dQ 5f4fgF?Q 9j4f)fwBYhyj->Q Ij#@fSDIf:if:fm4ypɮrApfffgf f rf e re Ze:e*eEjBɢE+<)A E =iA)Mh;IIiMd폼U]=ɧU@UiUKf>U0n=U&u=IUKf> ]Kf>IYQAIIO>ԁE EE'E"E:*EAr:VE'4ZEa@a@a@a@ԩ %,.LANyNٱN=NH ?ο@?d?C?f?|?`n?iNy9Y=EyDB;E>Q 54F?Q 94Ԅ)wBY] ?Q E:y>Q I#@TDI ;i/;4yӒBɮAEB*** querying acoustic contact ***iifffgffrfereZe:e*e-gBɢ--40<)) -H3=i))5 <11i5g==ɧ=P=c&i=b>=5s=AIEb> Eb>IAԩB>BYCBIB|BB =BB׺DB̀;B7EA9IAIQOe4> E  E E &E "E a:*E :VE 4ZE BE (BٱB =BH ?ϿHy? ?2??|`YӒ?@H?7?iBN9 Y = Ey Ds;E>iQ 5u4mkG?Q 9u4mh)mxBYqyu>Q I}#@m TDIm;im3;m4yɮAfffgffrfereZe:e*eeBɢ4 <) x=I_> _>IA؟AIIO>9i Y%,P/LA DN=DN%=ZZ.ٱZ=ZH`?EϿQ?29??l׿? e? ?iZ9"?Y"?=EyDE EE#E"E:*E|:VE3ZEa%@a%@a%@a%@-`;E->1Q 5=45G?Q 9=45)5xBY9yEI>Q IE#@5TDI5 ;i5 ;54yIɮMIAMEfififqgqfqfrfereZe:e*eEbBɢM2<)I M ri}L\>}=yI}L\> }L\>Iiԙ^Am=uPExceeded connect timeout, disconnecting.Ae .AIq B B B IB wBB =B B B ;B 7EI O > %,#!/LA6©<6}~>6ږٱ6>6H?@Ͽ?z??@, ے?X?@?i6©9] ?Ye ?=eEyeDek;Ee>iQ 5u4m'G?Q 9u4mf})m xBY} ?Q E}:y}+>Q I}#@m)TDIm;im;m4yɮAfffgffrfereZe:e*ee_Bɢe;(<)a m( =ii)mU=IY> Y>I^Ah=E) E-E-$E)"E)*E-c:VE-4ZE)BE-'! %,:/LA2f=2$>2[zٱ2!>2H'?ϿH?L?@ȼ?J`?Y8??i2f=I2_;2yCY>_By>IHJAAbDJVDJð8yRk%VV=ٔV9Q-V>9XYX=ZEyZDZp;EZ>\Q 5b4^?7G?Q 9f4^#{)^*xBYdyf>Q If#@^6TDI^:i^:^4yhɮjAl|f|ffgff rf e re Ze :e*e颽]Bɢn<) l;i)j<i`0q=ɧ-SiHW>=T=IHW> HW>I) U7v>]{CMGER(9AYE%A^A=D@AzDbEjE-4rE/E EE%E"E;*Ek:VE 4ZEa@a@a@a@YA1IAIQO]>ԉ %,T/LAj#=j8>jYٱjS>jH? Ͽ?`=? ?3?@?]?ij#=IjA_;hYr\ByvI nManaging dock network, ignoring radio surface power offQiMb@Mb@Mb@ 9y&1?/$?~jtx?Y`?y=;OA  A)X AY AbDVD8yK%5=ٔ Q- >9 Y =EyDB:E>Q 5%4IG?Q 9%4x)6xBY-?Q E-:y->Q I-#@ETDI ;iQ;4y1ɮ5A1UB*** querying acoustic contact ***iQiQfYfYfYgYfafarfaeareiZei:ei*ei颕YBɢE<) @;i)+<顡ii=ɧ駭Н]i8T>蘙=I8T> 8T>I@p=@=DAT read: VDAT read: Teledyne Benthos DAT-900 Series ^A==BE>BEZCBEIBErBBE =BABEغDBEހ;BE7EAYAYԁIQIaOmW>ԡE  E E 'E "E :*E g:VE '4ZE BE .2ٱ2=2Hx?Ͽ ڊ?ڱ??鿿 5??c?i2fp=I2Q1_;2xCYNXByNIbDZVDZð8y%^=ٔ9Q->9 Y = Ey D oE>Q 54XG?Q 9%4v)@xBY!y%>Q I%#@RTDI;i:4y-ԒBɮ5A5EfQfQfQgQfYfYrfYeYreYZea:ea*ea颍WBɢ<) S;i)5<顙i =ɧ׏駥%figQ>=IgQ> gQ>IԹ@@@@I9IIO]v>9 %,l/LA6=6>6y:ٱ6=6H ? Ͽvq???n ?`?`?i6=I6 _;EB EBE@E@"EB:*EBxv:VE@ZE@aF@aF@aF@aF@6yCYRZByRI Z9dYd=jEyjDjEj>9Q 5E4=^iG?Q 9M4=bt)=KxBYIyMu>Q IM#@=`TDI=u:i=:=-4yqɮ}AyfffgffrfereZe:e*eESBɢE<)I M V]A=YI]YAO> ]YAO>IaII)O5=9iBA AE <BM >BI BM IBM gBBM =BI BI BM ƀ;BM 7Eԙ 4%,j/LA26<2~>24`ٱ2U=2H@?wϿć?@Bl??`ڽ???i26WBy>IiMb@Mb@Mb@ 9S㥛?L7A`?Mb`?Y?y+=;AfA  A)Y AbDVD8y-%-D=ٔ-:Q-->91Y1=5Ey5D="E>Q 54zG?Q 94Ir)SxBY?Q E:y%>Q I#@nTDI;i;z4yɮAEfffgffrfereZe:e*e=PBɢEԦ<)A EIef=aIeL> eL>IiyAzAzAI9IIE EE$E"E:*E n:VE4ZEBE3ԡ b%,~S/LAJ:DAT read: MF Frequency Band ffϊٱf+=fH@?GϿT? 9 Y=Ey DuE>Q 5%4]G?Q 9%4[p)ZxBY)y-j>Q I-#@{TDI:i::4y1ɮ52A9fYfYfYgYfYfarfaeareaZea:ei*eiMBɢb<) :i)<i%Y=ɧ%r%i%J>-=)I-J> -J>IQIIO=E EE#E"E:*Ex:VE3ZEa@a@a@a@5vDAT read: Directional Acoustic Transponder version 8.15.0 =BDAT read: Dec 5 2025 04:16:56 A J%,8//LA dd<{>ٱX=H ?@Ͽ???@@??@?i9QYY=]Ey]D] SE]>aQ 5m4eG?Q 9u4eGn)edxBYu?Q Eu:yu>Q Iu#@eTDIe ;ie ;e4y}ߒBɮbAEB*** querying acoustic contact ***iifffgffrfereZe:e*eJBɢQ'<) ˙=IH> H>IiIqB>BBIBXBB =BBBx;Bg7EBBBB =B =Cߴ5IAOM>ԑE  E E %E "E :*E z:VE 4ZE BE @82ٱ2=2H?tο@>?? ?@$A? ?w?i2DO9Y=EyDE > Q 54 ^G?Q 94 l) lxBYy>Q I#@ TDI ;i /; L 4y!ɮ-A)fIfIfIgIfQfQrfQeQreQZeQ:eY*eY颅FBɢ8<) iԙ=IbG> bG>IA>A>A%؟AI1IAOe>! X%, 0LAE6 E6E6'E4"E6%;*E6h:VE6'4ZE4a:@a:@a:@a:@> <>>w>>ٱ>[=>HS?οt?-? ??@^?Y?i> _;9^"?Y^"?=bEyb!DbEb>dQ 5j4fG?Q 9j4fj)ftxBYhyn >Q In#@fTDIf:if::f44ypɮrAp|f f f g ffrfereZe:e*eCBɢ<) Hmߙ=IE> E>IULDAT read: Features enabled [Bearing] eDAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP ecommRate: 600)AIIO>YB >B [CB IB NBB B B B +;B 7Eԁ y%,_#0LA2\<2u>2}=ٱ2.=2H?4zοc?(n?`?@G??}?i2\WBy>IiMb@Mb@Mb@ 9x&1?I +?99Y9==Ey=)D=WEE>AQ 5M4EqG?Q 9U4Ei)E}xBYU?Q EU:yU>Q IU#@YETDIEl;iEq;E4yqɮu?AfIfIfQgqfqfqrfqeyreyZey:ey*ey?Bɢ7<) C=i) <  i 홼5+Ɗ=ɧ5m5Wi5b\C>==9I=b\C> =b\C>I9E EE"E"E ;*EǙ:VE(3ZEBELԱ y%,=0LA6^<6t>6}ٱ6!=6H?[ο*u?P?`?E? R??i6^м%fQ=ٔf{:Q-f>9hYh=jEyj1Dj*Ej>pQ 5r4r G?Q 9v4r]g)rxBYtyv(>Q Iv#@rTDIr:ir:r`!4yzBɮzlA~Efffgf!f!rf!e!re!Ze):e)*e)Um=iImA> mA>IqAzAzAԹAIIO>E EE&E"Es:*E n:VE4ZEa@a@a@a@A Q%,wW0LAUlUwٱU? =UHh?`2ο`Ă?@(??@Gu?~չ?=?iUl9!Y)=-Ey-;D1E>Q 54DG?Q 94re)xBY?Q E:y)>Q I#@TDI:i:)4yɮLAB*** querying acoustic contact ***iifffgffrfereZe:e*e!]7Bɢ]aD<)Y ]w=iY)eIue=qIu?> u?>IqB>BBBBBBB;B6E9AIIOI>iE  E E 'E "E :*E |:VE '4ZE BE G-2uٱ28=2H@?@ ο:s? d?@?`ӹ?5??i28Y9dYd=fEyjBDjjEj?lQ 5r4n.G?Q 9r4nd)nxBYtyv>Q Iv#@nTDIn:in:n{/4yzBɮz,AxfffgffrfereZe:e*e4Bɢb<) =i),<i =ɧiv>> =Iv>> v>>IqAE.AIQIaOm>ԡu G 029 Y H/A ˦"%,0LAbEQjEU4rEUa0E" E"E"%E "E"T;*E"x:VE" 4ZE a*@a*@a*@a*@>D<>ݐq>>~tٱ> =>H9?Ϳ +???`场?dt?9?i>D$b^;>xCYNYByNIbDV"VDV̰8y^%^K=ٔbQ9Q-b>9b ?Yb ?=bEyfJDftEf>hQ 5n4j H?Q 9n4jjb)jxBYpyr >Q Ir#@jTDIj;ij;j64ytɮv<Atf ffgffrfereZe:e*e!M0BɢMb<)I M =iQ)U.=I'=> '=>IA%>A%>*entering command modeII!O- >) B >B ZCB B B B B B ;B  DAT read:  &DAT read: user:1>  (setting verbose to 3(%,Y0LA :A<:2%q>:4uٱ:=:H? "Ϳi???y [?@N??i:A9Y=%Ey%SD%FpE%>)Q 554-H?Q 954-@`)-xBY=L?Q E=:y=ڻ>Q I=#@-TDI-;i-;-Y>4yAɮEAEEfffgffrfereZe:e*e,BɢÁ<)ܼ =i)7<iɇ=ɧ5miP:> =IP:> P:>IyE EE&E"ED:*E&p:VE4ZEBE1-&DAT read: user:1> 5TDAT read: Verbose | 3 5 set verbose to 356setting DatVerbose to 27440ԙ .%,(վ0LAB&DAT read: user:2> FTDAT read: DatVerbose | 27440 F.set DatVerbose to 27440J6setting transmit power to 8TYniBynI v9Y=Ey[DE>Q 54v/H?Q 94\^)xBYyQ I#@TDI;i;.E4yɮAfffgffrfereZe:e*e(Bɢƌ<) H>i) ֙ <  i cQ#=ɧſ$ih8>,=Ih8> h8>I!IIO>DzDAAE EE'E"E:*EAr:VE'4ZEa@a@a@a@5&DAT read: user:3> =TDAT read: TxPower | 8 (Max) =.set transmit power to 8E6setting local address to 11) $5%,0LA m XmXkٱm=mH?Ϳ ???`y`hv? w??im X9iYi=uEyucDuOiEu>Q 54yAH?Q 94:\)xBY?Q E:yڹ>Q I#@UDI-;i+;L4y Bɮ A EB%>B%YCB%IB%XBB% =B!B%׺DB%6;B%7EEB*** querying acoustic contact ***iAiAfIfIfQgQfafarfaeareaZei:ei*ei}&DAT read: user:4> TDAT read: LocalAddr | 11 .set local address to 11ZSetting time to: 4:17:7 And date to:12/5/2025#BɢYb<) >i)g <i/m=ɧʿ O#i @J6> w9= I @J6>Q @J6>IAyAzAII)O:>yE  E E !E "E :*E :VE c3ZE BE 3 5 NDAT read: Fri Dec 5, 2025 04:17:07 5 fLocal DAT time set to Fri Dec 5, 2025 04:17:07 = 2Acoustic response timeout= 6setting remote address to 8 <%,0LAvʞvYdٱvk=vH` ?٧Ϳ:?`T?D?<3 ??`?ivʞ91Y1=5Ey5kD]nE]>aQ 5m4eOH?Q 9m4eZ)exBYiyu>Q Iu#@eUDIeG:ie:eS4ԙyɮXAfffgffrfereZe:elr@*e5@mBɢm<)i u/>i)l <顑iFQ}ׅ=ɧο駥Hil4>'D=Il4> l4>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.]IyIO~> B%,g 1LA6-<6-o>6`]ٱ6f=6H ?2Ϳ`KS?ट??a???i6-9pYp=vEyvrDvEv>xQ 5~4zt_H?Q 9~4zX)zxBYy>Q I#@z&UDIzG:iz0;zY4y Bɮ >A f1f1f1g1f1f9rf9@= =Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@EErTransitioning to terminal guidance at range 294.799988 m @E1AEeAreIZeI:eI*eM6@}Bɢ}ƶ<)y } ?>i)<顁i148=ɧҿ駍Ĩi^2>O=I^2> ^2>I &DAT read: user:7> BDAT read: Tx time:04:17:07.6679 $Ping request sent.NVٱN8=NH!?*Ϳ??s?Έۊ?[z?@[?iNk~9Y=Ey{D9E>Q 54pH?Q 94V)xBY?Q E:yr>Q I$@5UDIE:i :a4y ɮ ;AEf)f1f1g1f1f1rf1bf=@1A==Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@= =Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangee9reAZeA:eA*eE`]x6@q=Bɢ=(<)9 =dK>iA)E^={S=I/> />Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500576ԙ .ۼAA?Aa Ii Iy O > P%,@1LA2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7525486܀<6Co>6bMٱ6~=6H` ?Ϳ'?i?`X?s`?@3n??i6܀9XYX=ZEyZDZ':E^>`Q 5b4bjH?Q 9f4bT)bxBYdyf>Q If$@b@UDIbe:ib~:bg4yhɮnAlqLvv~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalD~~Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E~ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlFInitialize.FAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1G Initialize.qGG qE g h7g h7F Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1GDReached init depth of 64.253082 m.jgrgfB$Terminal guidance.qEGInitialize.dInitializing internal variables to default values.%ZTransitioning guidance mode to: UNINITIALIZED i!%DRollout 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:guideqA-5Uninitialize.A5A55>Uninitialize WaypointComponent.e1re1Ze1:e9*e6@%B%bM)% %i!)-r<)-i)-I5YYYYE EE%E"E:*E|:VE 4ZEa@a@a@a@A II)O5>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.010104I H9V%,Z1LA5͇~<5o>5Cٱ5=5H 1!?ěͿ@[ ?@?)? R`x?DT?`?i5͇~9Y=EyDE> Q 54 OH?Q 94 R) xBYyu>Q I$@ OUDI \:i 2: o4y%Bɮ%A!hMCo>hMhIhIhIgQgQjgQrgQeQreYZeY:eY*e] cH7@颉ɢ<)Xμ  ;)L? (kpHeading = 0.800000I; (kiHeading = 0.004000=ICo>IAB>BBIBmBB =BBBP;B67EAzAAAichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260557AuIyԉIO`>Ա E  E E 'E "E ;*E :VE '4ZE BE @9-Y-=-Ey)-E5>1Q 5=45>H?Q 9E45P)5yBYAyAQ IE$@5[UDI5I;i53;5Gv4yIɮMAQB*** querying acoustic contact ***iihhhhhggjgrgereZe:e*e7@[?[?"[z >*[}u>ɢ<) X;i)u6!yX=IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764604 ^Au=IIO>! Cc%,K1LA2wr<2On>2UK2ٱ2 V=2H"?~Ϳ(?`ބ??bMI?|?`'?i2wrBy>IEB EBEB!E@"EB:*EBc:VEBc3ZE@aJ@aJ@aJ@aJ@bDRVDR8yZ<%ZR=ٔZG3;Q-^>9\Y\=^Ey`bUEb>dQ 5j4fѯH?Q 9j4fO)fyBYhyj>Q In$@fhUDIf:if:f}4yEBɮE4AE EhhhhhggjgrgereZe:e*e8@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016647[["[*[>EBɢE!<)I MP$f=II 4Initializing EZServoServo.I 58Initializing DockingStepper.^AD=yIIO>B>BBIB|BBBBB;B6E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268573ԡ mi%,"1LA>4w<>Иn>>0ٱ>;=>H)"?Ϳ@B? Í?g?@?8*?@/?i>4wy];>wCYJByJIya@a a@a a@a a@a @AAAbDVD8y%7=ٔ ]9Q- >9 Y = Ey p#:E>Q 5%4H?Q 9%4L)yBQ A%+:Y)Q E-:y->Q I-$@vUDI:i>m4y5Bɮ5bA9hihihqhqhqgygyjgyrgereZe:e*e8@IɢU<)Q U!;iQ)]Vm)O=m~=E EE'E"E:*E n:VE'4ZEBE+]p%,1LA*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7725326~<6=o>6K%ٱ6t=6HP!?`mͿ`6??? @??i6~9XYX=ZEyX^H:E^>`Q 5b4bH?Q 9f4b"K)b*yBQ Af :YdQ Ef:yf>Q Ij$@bUDIb;ibO?b4ylɮnAnEhhhhhg gjg!rg)e1re1Ze9:e9*e=8@aɢm).< q}qC)i }зo=II  bEjEJ4rE}x0E EE"E"Es:*Exv:VE(3ZEa@a@a@a@^Ap=IIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024466Ai ,v%,?1LAYBy I-=-=QB}>B}XCB}IB}BByByByB};B}o6Eaa aa aa aa iMb@Mb@Mb@ 9^I +?J +?y=t<EA9A n A) AY AbDVDǰ8y>%*=ٔ Q- >9 Y=EyE>!Q 5-4%VH?Q 9-4%H)%;yBQ A-T:Y->Q E-:y5o>Q I5$@%UDI% ;i% ;%4y9ɮ=6A9hahahahahagagauBDAT read: Rx Time:04:17:10.4488 }TRx dataTimestamp_ set to:1764908231.538945}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277794jgirg-Be)re)Ze):e1*e5`K\9@[u>[u>"[uXK>*[uo>颅BɢV<) i)՘<顉ioiN==IIԁԱE  E E &E "E :*E c:VE 4ZE BE g|%,m1LAYByI p<bD%VD%8y-%%5n=ٔ1Q-5?9YYa=eEyaaEe?iQ 5u4mH?Q 9u4mF)mGyBYyyyQ I}$@mUDIme ;im ;m 4yɮ9AB*** querying acoustic contact ***iihhhhhggjgrgereZe:e*eg9@[["[*[ɢ<) i)<ii N= I I Թ^A5=IiIO >}=}4=DAT read: 04:17:10.4488 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 446, 0.37,-1.553, 3.067,-1.176,-1.847, PHS= 0.396,-1.324, 0.626, RAW= 156.2, 3.3, CAL= 155.1, 2.6, ROT= 354.9, -2.6 Ygot valid direction response: 04:17:10.4488 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 446, 0.37,-1.553, 3.067,-1.176,-1.847, PHS= 0.396,-1.324, 0.626, RAW= 156.2, 3.3, CAL= 155.1, 2.6, ROT= 354.9, -2.6 PDAT read: Bearing 169.7, -5.8 (Local) ~Local bearing/azimuth received: Bearing 169.7, -5.8 (Local) DAT read: Range 11 to 50 : 282.5 m (Round-trip 376.7 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.995016,-0.088803,0.045363]Fpublishing direction and range infoyy}'+?>ʻ99?Y}@Cyyyy y)}AI}>i}x}A ?}!z.@}k=}?-@ }9=)}6@I}9yy}y?@ ?  ~? }!?)}lI}Ki}9yyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 9 ʔ%,K2LAE2 E2E2(E0"E2:*E2:VE2c44ZE0a6@a6@a6@a6@YByIbD%̿VD%}8y5b<%=I=ٔ9Q-=>9AYA=EEyAAEE>IQ 5U4MH?Q 9]4MD)MUyBYYyYQ I]$@MUDIMT ;iM ;M 4yeBɮm*AmEi&DAT read: user:8> BDAT read: Tx time:04:17:11.7179 $Ping request sent."p^Nq@]8 8)@p'+?>ʻ99?*jK2j9*p]zgq@0i%C@OI)@pq?"h?>ړ֦?jB j>Ci??ioo>jBjjoo>jBrjCzj$>U addTargetRange:: Added new target pos. range: 282.500000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 "iU=*i]=e Added new target pos. range: 281.506226 m, bearing: 8.004993 deg, lat: 36.779530 deg, lon: -121.859672 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 :iiFNOT Ignoring new targets: 281.51 m."i*i ProNav pure pursuit: ac range: 281.506226 m, nav range: 279.127747 m, bearing: 8.065304 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 13.387583 deg, new cmd heading: 8.065304 deg. HeadingCmd: 0.140766 target range: 281.506226 and range: 282.50 m.h$>hhhhggjgrgereZe:eq@*e _B? [9[9"[9*[9QɢUU<)Q Up;iQ)]aeP=I}$>I9^AD=B>BYCBIBBB =BBB~;B;6EII O >a  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2510006%,(2LA 2:<2Oq>2 ٱ2>2Hs?Ϳ ??#?`)@Sw? r??i2:y]=]C<]AY Y)YYY] AbDuVDu8yB%F=ٔ*9Y=EyN;E>Q 54 I?Q 94WB)cyBYA>Q E:y4>Q I$@UDI%-;i&;D4yɮ6A:iFNOT Ignoring new targets: 281.51 m."i b*i b% ProNav pure pursuit: ac range: 281.506226 m, nav range: 278.940948 m, bearing: 8.053719 deg, approach rate: -0.469760 m/s, LOS rate: -0.029153 deg/s, cmd heading: 8.065304 deg, new cmd heading: 8.053719 deg. -HeadingCmd: 0.140564 target range: 281.506226 and range: 282.50 m.h->h)h)h1h1g1g9jg9rg=BeAreAZeI:eI*eM4q?[A>[A>"[jZQ>*[4>%Bɢ%ϙ<)! %i!)-͢<))i-,iU|&>QU>IU>IY@mzA@mzAyE EE%E"EV:*E&p:VE 4ZEBE9ԙ %,!B2LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7549616 <6%r>6ٱ6>6H?1Ϳ{??? bs? ??i6 9IYI=MEyIU7;EU>YQ 5m4]I?Q 9u4]F@)]oyBYqy}>Q I}$@]UDI];i]=;]-4yBɮA:iFNOT Ignoring new targets: 281.51 m."i*i ProNav pure pursuit: ac range: 281.506226 m, nav range: 278.762268 m, bearing: 8.042600 deg, approach rate: -0.446885 m/s, LOS rate: -0.027828 deg/s, cmd heading: 8.053719 deg, new cmd heading: 8.042600 deg. HeadingCmd: 0.140370 target range: 281.506226 and range: 282.50 m.h>hhhhggjgrgereZe:e*e^?[["[*[>ɢDW;)! %i!)%[9= >I=>IAE EE(E"ET;*E:VEc44ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010362^A!=I I! O5 >A Ж%,\2LAY|ByIbDVD8Bm>BiBmIBmBBm =BiBiBm~;BiBYCBYCBCB =B =C85y⓼%4=ٔQ->9Y=EyE>Q 54p,I?Q 94=)~yBYyQ I$@UDI;i; 4yɮA:i!-FNOT Ignoring new targets: 281.51 m."i-H*i-H= ProNav pure pursuit: ac range: 281.506226 m, nav range: 278.556793 m, bearing: 8.029794 deg, approach rate: -0.460067 m/s, LOS rate: -0.028694 deg/s, cmd heading: 8.042600 deg, new cmd heading: 8.029794 deg. EHeadingCmd: 0.140146 target range: 281.506226 and range: 282.50 m.hE>hAhAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259116hAhQgQgQjgYrgYeYreYZeY:ea*ee@ӱ=3#>I>I^A=II Om>iE  E E $E "E 7;*E c:VE 4ZE BE ZJDٱJ >JH?ο`?`Q??@`6c?@?৲?iJӭy5=5T<15OA 5 A)5 A1Y5p AbDMVDM8y]E<%ee=ٔeg;Q-e>9iYi=mEyim;Em>yqQ 54u8I?Q 94u<)uyBYu>Q E:y>Q I$@uUDIu1;iuw:u[4yBɮAEB*** querying acoustic contact ***ii:i9=FNOT Ignoring new targets: 281.51 m."iE*iE򹝏u ProNav pure pursuit: ac range: 281.506226 m, nav range: 278.403229 m, bearing: 8.019921 deg, approach rate: -0.411307 m/s, LOS rate: -0.026457 deg/s, cmd heading: 8.029794 deg, new cmd heading: 8.019921 deg. }HeadingCmd: 0.139974 target range: 281.506226 and range: 282.50 m.h}ZU>hyhyhyhygygjgrgBereZe:e*e )T?[u>[u>"[V>*[> ɢ 2;)  -߼i1)5<11i5ۧi=ZU>=]==!>I=ZU>IA &Changing to mode: 1ԩe9@a @e@e0@a@m=@m=^A=>echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763052IIOa> ߣ%,>2LAD&%=D&p=E6 E6E6*E4"E6 ;*E6:VE6(N4ZE4a:@a:@a:@a:@R(R_ ٱR >RH? #ͿƖ? BA??KV?g??iR(9aYa=eEyamCEm>qQ 5}4uFI?Q 9}4u:)uyBYy>Q I$@uUDIu;iu ;ui4yɮA:ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015108FNOT Ignoring new targets: 281.51 m."ig*ig ProNav pure pursuit: ac range: 281.506226 m, nav range: 278.229309 m, bearing: 8.008745 deg, approach rate: -0.450069 m/s, LOS rate: -0.028939 deg/s, cmd heading: 8.019921 deg, new cmd heading: 8.008745 deg. HeadingCmd: 0.139779 target range: 281.506226 and range: 282.50 m.h8">hhhhggjgrgereZe:e*e U4@[["[*[͊>-Bɢ-"#;)) -'i))5<11i5 i=8">=QA==>I=8">IA@ @@@^A8 >9BYA]<B}>ByB}IB}wBB} =ByByB};B}r6E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272360A AI I O >Y \ %,2LAJJ8ٱJ_>JH[? Ϳ`ß?A?@;?[/G?@ڸ?iJyE=Et9c>Yc>=EyDME>Q 54SI?Q 948)yBYq>Q E:yp>Q I$@UDI$P;iJO;4yBɮOAE1:iFNOT Ignoring new targets: 281.51 m."iڹ*iڹ ProNav pure pursuit: ac range: 281.506226 m, nav range: 278.062469 m, bearing: 7.998312 deg, approach rate: -0.380954 m/s, LOS rate: -0.023837 deg/s, cmd heading: 8.008745 deg, new cmd heading: 7.998312 deg. HeadingCmd: 0.139597 target range: 281.506226 and range: 282.50 m.h|>hhhhggjgrgzBereZe:e*e)@Bɢ%F;)! %Pi!)%S<))i- (i5|>5=54>I=|>I9E EE%E"EV:*E':VE 4ZEBE9A] (5AIa Iq O >Թ %, 2LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774882BFBl:ٱBߏ=BH ? {Ϳ?@?F?@{^YB?H?iBF9~>Y>=EyDE >Q 54`I?Q 9486)yBYy#>Q I$@UDI:i;4yBɮA:iFNOT Ignoring new targets: 281.51 m."i%*i%񹝏U ProNav pure pursuit: ac range: 281.506226 m, nav range: 277.898621 m, bearing: 7.988146 deg, approach rate: -0.425981 m/s, LOS rate: -0.026446 deg/s, cmd heading: 7.998312 deg, new cmd heading: 7.988146 deg. UHeadingCmd: 0.139419 target range: 281.506226 and range: 282.50 m.hU>hYhYhYhYgYgYjgargaeaԉreaZe:e*e@Bɢ9;)  i)=<99i=a1iE>Eh=Mvs>IM>IIIUyA)UyAԱ@ @@@@@E] E]E]"EY"E]:*E]:VE](3ZEYae@ae@ae@ae@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027038^A 1>A $EA I I9 Ou >X3%,32LA^ O<^d$l>^2K;ٱ^|{=^H'?Ϳ&?A??Iti??i^ O9>Y>=EyD*E>Q 54oI?Q 94 4)yBYyP>Q I$@VDIh:i:4%BDAT read: Rx Time:04:17:14.5162 -TRx dataTimestamp_ set to:1764908235.574848-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280127y1ɮ5A1:iFNOT Ignoring new targets: 281.51 m."iҹ*iҹ ProNav pure pursuit: ac range: 281.506226 m, nav range: 277.715057 m, bearing: 7.976889 deg, approach rate: -0.374982 m/s, LOS rate: -0.023012 deg/s, cmd heading: 7.988146 deg, new cmd heading: 7.976889 deg. HeadingCmd: 0.139223 target range: 281.506226 and range: 282.50 m.hx>hhh1h1g1g1jg9rg9e9re9Ze9:eA*eE @-Bɢ-r2;)1 5i1)5_i<11i5Z.i=x>=M==>I=x>IA@ @@O5@ EE  EE EE #EA "EE :*EE g:VEE 3ZEA BEE ?8I A=tZAIAIQOe>c%,Y2LAYrWByvIiMb@Mb@Mb@ 9Fx?ʡE?~jtx?Y>y-=;A|A n A)Y AbD5VD58yE%M&=ٔMQ-M>9U>YU>=UEyUDUEU>YQ 5e4]~I?Q 9m4]1)]yBYm>Q Em;ym>Q Im$@]VDI];i];]4yqɮ} AyB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 281.51 m."i*i ProNav pure pursuit: ac range: 281.506226 m, nav range: 277.526062 m, bearing: 7.964671 deg, approach rate: -0.428934 m/s, LOS rate: -0.027747 deg/s, cmd heading: 7.976889 deg, new cmd heading: 7.964671 deg. HeadingCmd: 0.139010 target range: 281.506226 and range: 282.50 m.hX>hhhhggjgrguBereZe:e*e=@Bɢ 0RB:}DAT read: 04:17:14.5162 LVL= 31472, 32753, 29970, 32755, AGC= 70, IDX= 112,-0.16, 0.168,-1.246, 0.535,-0.254, PHS= 0.524,-0.947, 0.745, RAW= 156.9, -4.1, CAL= 156.6, -5.6, ROT= 353.4, 5.6 ԁYgot valid direction response: 04:17:14.5162 LVL= 31472, 32753, 29970, 32755, AGC= 70, IDX= 112,-0.16, 0.168,-1.246, 0.535,-0.254, PHS= 0.524,-0.947, 0.745, RAW= 156.9, -4.1, CAL= 156.6, -5.6, ROT= 353.4, 5.6 PDAT read: Bearing 162.0, -9.0 (Local) ~Local bearing/azimuth received: Bearing 162.0, -9.0 (Local) DAT read: Range 11 to 50 : 295.5 m (Round-trip 394.1 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.988632,-0.114389,-0.097583]Fpublishing direction and range infoy)-f#ߢ? ɒHA_1Y-C)-z)-u ))-FI-$?i-nr-R>?-LB/@-C-.@ -+Ƚ)-4`@I-+=))-IS?Q**?hLD? -K$?)-=I-i-+=))GT****** received valid address query ******v|AR****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.`9v|AYA) =b>IX>I!ԩ@ @@#0@D= =D= <bEɻ 4jEO4rE١0EE  EE EE !EA "EE :*EE i:VEE c3ZEA aU @aU @aU @aU @  &DAT read: user:9>  BDAT read: Tx time:04:17:15.8179  $Ping request sent. AEeAIIIYOe>TT%,&3LABlO;Bc>B<;ٱBh=BH@5?˿- ?>=?5 ?|&y)??iBlO;IB];@YNMByNIbDVVDV8y^C%^R=ٔb^;Q-b>9b^>Yb^>=bEyfDfEf>hQ 5n4jՊI?Q 9n4j$0)jyBYlyr>Q Ir$@jVDIj%:ij:j4ytɮvUAtiAiE 3LAjE;C"jE;C:jE ="pEg!e1r@R>r@-9 <pEf#ߢ? ɒHA_1*jE2jE+=*pEb'r@XA}>A@kX@pE>? D?֛-M~jE B jE;CiEil'?iEj jEAjEBz?jEFjE8wBrjEoCzjEx5 >= addTargetRange:: Added new target pos. range: 295.500000 m, deltaT: 4.036553 s, deltaX: 13.000000 m, approachRate: 3.220570 m/s, rangeRepo size: 2 M Added new target pos. range: 294.462585 m, bearing: 6.771362 deg, lat: 36.779544 deg, lon: -121.859676 deg, deltaT: 4.036553 s, deltaX: 12.956360 m, approachRate: 3.209758 m/s, posRepo size: 2 :iIMFNOT Ignoring new targets: 294.46 m."iU*iQe ProNav: ac range: 294.462585 m, nav range: 278.870392 m, bearing: 7.845094 deg, approach rate: 0.000000 m/s, LOS rate: -0.027747 deg/s, cmd heading: 7.964672 deg, new cmd heading: 7.942947 deg. ieKmHeadingCmd: 0.138631 target range: 294.462585 and range: 295.50 m.hm- >hihihihigigqjgqrgqeyreyZey:e}xr@*e}@?颭BɢP y) T i)v( <顱iS識i- >}=">I- >IAAAAB>BBIB]BB =BBB';B7E!@! @)@-0@)Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.255012^AE7>AM=AM>! A} pjAI I O >E=  E= E= &E9 "E= :*E= g:VE= 4ZE9 BE= 5bV;ٱbD=bH@>?b˿j?`? X?Q'8S~=-??ib @Ib];bwCYnNByrIimMb@Mb@Mb@iiii i9mRQ?x&?{Gzt?Ym>ym7=mף;mEAm"A i)mAiYm AbDVD8yqD;%>=ٔD;Q->9>Y>=EyD>;E>Q 54ƗI?Q 94{.)yBY>Q E ;y>Q I$@)VDI;i?;U4yBɮAE:iFNOT Ignoring new targets: 294.46 m."i=*i=} ProNav: ac range: 294.462585 m, nav range: 278.709625 m, bearing: 7.836553 deg, approach rate: -0.376722 m/s, LOS rate: -0.020025 deg/s, cmd heading: 7.942947 deg, new cmd heading: 7.925856 deg. iHeadingCmd: 0.138332 target range: 294.462585 and range: 295.50 m.h >hhhhggjgrgSBereZe:e*e`}?Bɢ  )   i Q)U+ ]J,=e>Ie >Iaa@a @a@e0@a^A=>yEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755201AmuAIIO>ԩ c%,4N3LA9M>YM>=UEyUDUEU>YQ 5e4]I?Q 9e4],)]yBYiyiQ Im$@]3VDI]::i]2:]:4yqɮuAy:iFNOT Ignoring new targets: 294.46 m."i*i󵹝 ProNav: ac range: 294.462585 m, nav range: 278.562256 m, bearing: 7.828714 deg, approach rate: -0.373643 m/s, LOS rate: -0.019884 deg/s, cmd heading: 7.925856 deg, new cmd heading: 7.910171 deg. iHeadingCmd: 0.138059 target range: 294.462585 and range: 295.50 m.h6_ >hhhhggjgrgereZe:e*e;?E EE$E"E2:*E:VE4ZEa@a@a@a@BɢhJ) i)H<i+ri%6_ >%h=%>I%6_ >I)iߑIߕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006904ԩ@ @@0@^A0>B >B WCB IB NBB =B B ֺDB O;B -7E Ae lzAI I O >M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258666%,h3LA6ʾ@6@U>6tz#<ٱ6B=6HN?m/ʿ@?ao?@)*? R@8od.??i6ʾ@I6];6uCYFCByFIliMb@Mb@Mb@ 9^I +?:v?{Gzt?YX>yT=\AA  A)Y AbD-VD-8y=%=K=ٔE[;Q-E>9E>YE>=MEyMDM4EM>QQ 5]4UNI?Q 9]4U+)UyBYeC>Q Ee;ye>Q Ie$@UhhQhQhQgYgYjgarge>BeareaZei:ei*em8?Bɢ/)! %$i!)%5=5o'>I5$ >I9 @ @@/@E  E E "E "E :*E M:VE (3ZE BE G-A zAzA zAa A= AIA IQ Ou >=t%,3LA2@2 P>2:<ٱ2{=2HV?ɿ4n?=?@3?]Ը??i2@I2m];2wCYbFBybIbDjVDj8yrDF<%vP=ٔvn;Q-v>9z?Yz?=zEyzDzJEz>|Q 54~I?Q 9 4~]*)~yBY y  >Q I $@~EVDI~:i~:~!4yɮA E5B*** querying acoustic contact ***i1i19:iAMFNOT Ignoring new targets: 294.46 m."iM*iM] ProNav: ac range: 294.462585 m, nav range: 278.277649 m, bearing: 7.816248 deg, approach rate: -0.357068 m/s, LOS rate: -0.015468 deg/s, cmd heading: 7.897410 deg, new cmd heading: 7.885224 deg. i]w⹝eHeadingCmd: 0.137623 target range: 294.462585 and range: 295.50 m.he >hahahihigigijgirgqeqreyZe:e*e@Bɢj) "i)Z<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762483 i i >۝=>I >I!)@) @)@)@1i^A>A54AIYIqO}z>ԡE EE#E"ED:*E~:VE3ZEa%@a%@a%@a%@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013913 %,ɛ3LA2o@2(K>2T<ٱ2)=2H^?ȿ%?@:?^)Re>TV=bDZVDZL8yb!>%fL=ٔf;Q-f>9f?Yj?=jEyjDj6CEj>lQ 5r4nVI?Q 9v4n))nyBYtyv>Q Iv$@nOVDIn:in:n 4yxɮz)A|:i%FNOT Ignoring new targets: 294.46 m."i%**i%*5 ProNav: ac range: 294.462585 m, nav range: 278.134277 m, bearing: 7.810179 deg, approach rate: -0.359101 m/s, LOS rate: -0.015209 deg/s, cmd heading: 7.885225 deg, new cmd heading: 7.873080 deg. i5޹=HeadingCmd: 0.137411 target range: 294.462585 and range: 295.50 m.h= >h9h9hAhAgAgAjgArgIeIreIZeI:eI*eU.@}Bɢ}֟) 8i)<顁iCi > =g>I >IBIAIBU>BQBUIBU:BBU =BQBUպDBU?;BU7EB1B5XCB5ÔCB5 =B5 =C5ã5-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2694579@A @A@E0@IYi^A >A l>A >E-  E- E- "E) "E- l;*E- ]t:VE- (3ZE) BE- ZFW%,03LA6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517939YFByIiMb@Mb@Mb@ 9v?yt=;A A  A) AYz AbD|VD38y+=%==ٔQ->9d ?Yd ?=EyDE>Q 54I?Q 94')yBY¹>Q E;y>Q I$@YVDI;i;4yBɮA:i FNOT Ignoring new targets: 294.46 m."i Z*i Zq ProNav: ac range: 294.462585 m, nav range: 277.979095 m, bearing: 7.805018 deg, approach rate: -0.358119 m/s, LOS rate: -0.011915 deg/s, cmd heading: 7.873081 deg, new cmd heading: 7.862754 deg. irHeadingCmd: 0.137231 target range: 294.462585 and range: 295.50 m.hE >hhhhggjgrg;BereZe:e*eP@%Bɢ%WM)) -)i))-;iǥiE >aK=FF>IE >I9@ @@/@ԩ^A]=%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770942AAIIO> T%,x3LA26"@2sA>2́<ٱ2a/=2HIbDJVDJY8yNR%R]=ٔR;Q-R>9V ?YV ?=VEyVDVhҼEV>XQ 5^4ZI?Q 9b4Z&)XY`ybڒ>Q Ib$@ZaVDIZ;iZ;Z%4ydɮj+Ah:ix~FNOT Ignoring new targets: 294.46 m."i~|M*i|M  ProNav: ac range: 294.462585 m, nav range: 277.846710 m, bearing: 7.800876 deg, approach rate: -0.358657 m/s, LOS rate: -0.011228 deg/s, cmd heading: 7.862754 deg, new cmd heading: 7.854465 deg. i cHeadingCmd: 0.137086 target range: 294.462585 and range: 295.50 m.hX` >hhhhygygyjgyrgereZe:e*e @E EE!E"E:*E:VEc3ZEa@a@a@a@Bɢ;uʻ) 8@i) ;  i @iX` >p=L=IX` >I1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022031=Ǽ9@ @@o4@) BU >BQ BU IBU 0BBU =BQ BQ BU ;BU 6E- >- <E BDAT read: Rx Time:04:17:18.5947 U TRx dataTimestamp_ set to:1764908239.611367e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281397Y ^A] 4>A2AIIO>%,3LA2@2<>2%<ٱ2c=2HXt?N ǿ]t?Hn?5T?`㶿 ?`j?i2@I2Z];2xCYB?ByBI DDHHTiMb@Mb@Mb@ 9I +?/$?Q?Y9>y,=u<rA X A)AY AbD-VD-K8y=C<%=!=ٔE2;Q-E>9E?YE?=MEyMDM8EM>QQ 5]4ULI?Q 9]4U}%)UyBYe>Q Ee;ye>Q Ie$@UmVDIUw:iU:U4yɮA:i15FNOT Ignoring new targets: 294.46 m."i=P*i=PEm EmEmEi"Em2:*Em:VEmـ3ZEiBEm$*hhhhggjgrgDBereZe:e*eA @-Bɢ5Mꂻ)1 5>i1)5};19i=iE) >E=E?=IE) >IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526826 e}U9@  @ @ 0@ @ yA@ 9  DAT read: 04:17:18.5947 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 436, 0.20, 0.520,-0.966, 0.678,-0.030, PHS= 0.652,-0.891, 0.664, RAW= 150.4, -5.5, CAL= 150.2, -6.9, ROT= 359.8, 6.9  Ygot valid direction response: 04:17:18.5947 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 436, 0.20, 0.520,-0.966, 0.678,-0.030, PHS= 0.652,-0.891, 0.664, RAW= 150.4, -5.5, CAL= 150.2, -6.9, ROT= 359.8, 6.9  PDAT read: Bearing 158.0, -2.9 (Local)  ~Local bearing/azimuth received: Bearing 158.0, -2.9 (Local)  DAT read: Range 11 to 50 : 279.4 m (Round-trip 372.6 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.992751,-0.003465,-0.120137] Fpublishing direction and range infoy  r'\?!clrjƹIY C   ) JI y&?i d )? '@ Ľ g'@ Ϣ) B@I Ϣ= aty?6nt%?FX/t ??) =I di Ϣ= - T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.^AE =q Au܏AIyIO?¤%,EH4LAB@B@?8>B௙<ٱBh=BHUz?Ɣƿ~?? LZ? 5`.??iB@IB2];BuCY^ABy^IbDjVDjM8y=T <%= =ٔ=.E;Q-E>9E?YE?=EEyEDMEM>qQ 5}4uI?Q 9}4u$)uyBYyy}>Q I}$@uxVDIu:iuh:u(4yɮA Eii4LAj4C"j4C:jj@>"p =Fq@#zпl9@pr'\?!clrjƹI*jd2jϢ=*p:5>p@CjBrjCzjL- >E5 E5E5#E1"E5 ;*E5x:VE53ZE1a=@a=@a=@a=@m addTargetRange:: Added new target pos. range: 279.399994 m, deltaT: 4.032109 s, deltaX: -16.100006 m, approachRate: -3.992949 m/s, rangeRepo size: 3 } Added new target pos. range: 278.408142 m, bearing: 10.766237 deg, lat: 36.779530 deg, lon: -121.859672 deg, deltaT: 4.032109 s, deltaX: -16.054443 m, approachRate: -3.981649 m/s, posRepo size: 3 :iyFNOT Ignoring new targets: 278.41 m."i*i ProNav: ac range: 278.408142 m, nav range: 275.993103 m, bearing: 7.899260 deg, approach rate: 0.000000 m/s, LOS rate: -0.011369 deg/s, cmd heading: 7.842490 deg, new cmd heading: 7.830823 deg. iHeadingCmd: 0.136674 target range: 278.408142 and range: 279.40 m.h- >hhhhggjgrgereZe:e`fvq@*e ?%Bɢ-W)) - ?i))- n;11i5i5- >=Ҟ===I=- >I9AAIIiIA(DAT read: user:10> BDAT read: Tx time:04:17:19.7679 $Ping request sent.B B IB +BB =B B ֺDB 2;B 7Eԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253142^A =ԡ AAI IO%>R7 %,1 /4LAB]@BX0>BͰ<ٱBT=BH?ſ Y?@?(g? .W`1`??iB]@IB ^;BxCYN;ByNIi%Mb@Mb@Mb@!!!! !9%V-?Zd;O?Mb?Y%>y%j<=%<%A%A %j A)%A!Y%p A11bD=VD=S8yMԼ%M$=ٔM;Q-U>9U??YU??=UEyUD]}E]>aQ 5m4e J?Q 9m4e")eyBYm>Q Eu;yuS>Q Iu$@eVDIe;ieD;e14yyɮ}3AyB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 278.41 m.Ա"ia*ia ProNav: ac range: 278.408142 m, nav range: 275.811432 m, bearing: 7.893410 deg, approach rate: -0.381714 m/s, LOS rate: -0.012299 deg/s, cmd heading: 7.830823 deg, new cmd heading: 7.819116 deg. iHeadingCmd: 0.136469 target range: 278.408142 and range: 279.40 m.h >hhhhggjgrgOBereZe:e*eP?Eu EuEu&Eq"EuD:*Eu|:VEu4ZEqBEu1ߢi >z==I >I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5035249@ @@0@ ^A M= v> kC lG5 xA9 I A ܏AI I q9 xAY jA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754583O >%,H4LA2z@2,>2!7<ٱ2:=2H?@ſ@C]?@t?`l?`/^f 7}?K?i2z@I2u];2vCY>8By>IbDFVDFo8yN9%RW=ٔRZ;Q-R>9V?YV?=VEyVDV!EV>XQ 5=4ZJJ?Q 9=4Z!)ZyBY9yEk>Q IE$@ZVDIZhhhhggjgrgereZe:e*e%I?Bɢ ) Yi)G;i'iO >6=|=IO >Iu9@q @q@u00@q@}=@}=^AMI=AbE 3jE <3rE ŝ0E EE(E"E;*E n:VEc44ZEa@a@a@a@A}AIIO^>=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010638qԙ 9D%,b4LAB4B6XCB6IB6%BB6 =B4B4B60;B4B_@B)>B <ٱBɏ=BH`2?׬Ŀգ? ?Iq?k5 `?@?iB_@IB3];BwCYb>ByfIbDvVDv8y <% C=ٔ<;Q->9??Y??=EyDE>9yQ 54="J?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265132Q 94=g )=yBYy>Q I=$@=VDI==i= ==3@4yqɮuAq:iFNOT Ignoring new targets: 278.41 m."iLC*iLC ProNav: ac range: 278.408142 m, nav range: 275.504456 m, bearing: 7.883870 deg, approach rate: -0.346557 m/s, LOS rate: -0.010671 deg/s, cmd heading: 7.810307 deg, new cmd heading: 7.800024 deg. i=HeadingCmd: 0.136136 target range: 278.408142 and range: 279.40 m.hCg >hhhhggjgrgereZe:e*e`Y?Bɢ$mӻ) JTi);iiCg >.= @=I Cg >I ԡ59@9 @9@=/@9E EEE"E;*Ex:VEZEBEDL0%,4LA2E@2 %>2J<ٱ2 =2HH?DĿ@$?բ? ku?@`hԒ? ?i2E@I2];2uCY>JBy>IiMb@Mb@Mb@ 9Mb?V-?Q?Y>ym=u<AA )AYA p;bDտVD8y-J`=%-2=ٔ55:Q-5>95?Y5?=5Ey=D=E=>AQ 5M4IE0J?Q 9U4E)EyBYUx>Q EU ;yU>Q IU$@EVDIE /;iE.;EG4yeBɮeAa:i-FNOT Ignoring new targets: 278.41 m."i-…*i-…= ProNav: ac range: 278.408142 m, nav range: 275.344116 m, bearing: 7.878104 deg, approach rate: -0.406275 m/s, LOS rate: -0.014617 deg/s, cmd heading: 7.800024 deg, new cmd heading: 7.788486 deg. i=ֹmHeadingCmd: 0.135935 target range: 278.408142 and range: 279.40 m.hmy2 >hihihqhqgqgyjgrgsBereZe:e*e`?eBɢe0һ)i mF?ii)m;iiimgGiuy2 >uD=ur:=I}y2 >Iy-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767441ԁ9@ @@@^AL=ԩA%ڗAI)I9OM>E  E E #E "E l;*E n:VE 3ZE a- @a- @a- @a- @  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018488&%,u4LAF/@F#>F3?<ٱF]=FH`?ÿ5q?@5L?`x?۔,' ??iF/@IF];FtCYRDByRI TTTVAbD^VD^8yf5%fR=ٔf:Q-f>9j?Yj?=jEyjDnEn>pQ 5v4rQ Iv$@rVDIr:irl:rdN4y|ɮ~A|:i!%FNOT Ignoring new targets: 278.41 m."i-*i-5 ProNav: ac range: 278.408142 m, nav range: 275.195892 m, bearing: 7.872855 deg, approach rate: -0.397026 m/s, LOS rate: -0.014067 deg/s, cmd heading: 7.788486 deg, new cmd heading: 7.777983 deg. i=͹EHeadingCmd: 0.135751 target range: 278.408142 and range: 279.40 m.hEk >hAhAhAhAgAgIjgIrgIeIreIZeQ:eQ*eU@颕BɢR) Oi)f;顙izik >U= E=Ik >IԹIxA)m9@q @q@u0@qB>BWCBBB =BBB;B6E]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273274^A}+=A I I O >9 ;,%,O4LAEr EpEr"Ep"Er:*EpVEr(3ZEpBEr+yt=ף<A A X A)=AY AbDVD8y;%8=ٔQ->9Y = Ey D E >Q 5%4zIJ?Q 9%4j)yBY->Q E- ;y-)>Q I-$@VDI;iu:'V4y1ɮ5A9UB*** querying acoustic contact ***iQiQ:iaeFNOT Ignoring new targets: 278.41 m."ie*im} ProNav: ac range: 278.408142 m, nav range: 275.030701 m, bearing: 7.865641 deg, approach rate: -0.371413 m/s, LOS rate: -0.016230 deg/s, cmd heading: 7.777983 deg, new cmd heading: 7.763545 deg. i}}HeadingCmd: 0.135499 target range: 278.408142 and range: 279.40 m.h] >hhhhggjgrgeBerechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522710Ze:e*e@S@]Bɢ] )a e:Ria)e$;aaiei] >m=z=I] >IAM9@I @I@M/@Iq^A =A >A >M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774835ԙ A I I O >#3%,*4LA2@2`D>2k<ٱ2.w=2H?-ÿǤ? ?@~?Z`L??i2@I2];2vCY>IBy>IDF@AbDFVDF8yrHz<%r^=ٔrG;Q-r>9tYt=vEyvDz~Ez>|Q 54~TJ?Q 94~3)~yBYy6>Q I$@~VDI~;i~+;~\4yɮA E:i1=FNOT Ignoring new targets: 278.41 m."iE*iEM ProNav: ac range: 278.408142 m, nav range: 274.894135 m, bearing: 7.859842 deg, approach rate: -0.373136 m/s, LOS rate: -0.015853 deg/s, cmd heading: 7.763546 deg, new cmd heading: 7.751941 deg. iU蹝UHeadingCmd: 0.135297 target range: 278.408142 and range: 279.40 m.hUE >hYhYhYhYgYgajgargaeareaZei:ei*em @颥Bɢ) Pi)~;顩i&iE >Xz==IE >IqU9@Q @Q@]0@YE EE&E"Es:*Ex:VE4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026462ԩ^A}:_=A AI I O >B B B B B B B B ;B 6EBWCBWCBʓCB =B =Ca5 Q9%,4LA=BDAT read: Rx Time:04:17:22.5630 MTRx dataTimestamp_ set to:1764908243.651438echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.291006@><ٱ=H`?@¿ ?C??ڶ9ݛ`o*?`_?i@IT];tCY=ByIiMb@Mb@Mb@ 9?MbX9?Zd;O?Y>yʡ=j<AA n A)AY=AbDտVD8y4%$=ٔА:Q->9c?Yc?=Ey)D E>Q 54cJ?Q 94v)zBY>Q E ;y3>Q I$@VDI;i+;Ie4yɮA:iFNOT Ignoring new targets: 278.41 m."ie*ieu ProNav: ac range: 278.408142 m, nav range: 274.707092 m, bearing: 7.851331 deg, approach rate: -0.374478 m/s, LOS rate: -0.017050 deg/s, cmd heading: 7.751941 deg, new cmd heading: 7.734909 deg. iu}HeadingCmd: 0.135000 target range: 278.408142 and range: 279.40 m.h}X= >hyhyhyhygygjgrgkBereZe:e*e / @Bɢ( ) ni); i s{i X= >Ë==IX= >Ie>ie>E EE(E"EV:*EVEc44ZEBE9d@%,85LAE@E>>E4<ٱE=EH?x¿%? ?`?@@Exf? ?iE@IE];EuCYmDBymIbD}VD}8y>=%\=ٔm:Q->9Y=Ey0D9ٻE>Q 54nJ?Q 94.)zBYy>Q I$@VDI:i0;k4yɮA:iFNOT Ignoring new targets: 278.41 m."io*io ProNav: ac range: 278.408142 m, nav range: 274.567688 m, bearing: 7.845059 deg, approach rate: -0.374905 m/s, LOS rate: -0.016877 deg/s, cmd heading: 7.734909 deg, new cmd heading: 7.722358 deg. i HeadingCmd: 0.134781 target range: 278.408142 and range: 279.40 m.h  >h h h h ggjgrgereZe:e*e` @MBɢM>94)I MpfiQ)U0k;QQiUi] >] =]Ӽ=I] >Ia=DAT read: 04:17:22.5630 LVL= 29040, 27473, 29586, 25267, AGC= 72, IDX= 112,-0.31, 3.098, 1.598,-2.984, 2.666, PHS= 0.534,-1.023, 0.589, RAW= 151.7, -1.3, CAL= 150.8, -2.1, ROT= 359.2, 2.1 %Ygot valid direction response: 04:17:22.5630 LVL= 29040, 27473, 29586, 25267, AGC= 72, IDX= 112,-0.31, 3.098, 1.598,-2.984, 2.666, PHS= 0.534,-1.023, 0.589, RAW= 151.7, -1.3, CAL= 150.8, -2.1, ROT= 359.2, 2.1 -PDAT read: Bearing 161.3, -3.0 (Local) 5~Local bearing/azimuth received: Bearing 161.3, -3.0 (Local) =DAT read: Range 11 to 50 : 293.2 m (Round-trip 391.0 ms) speed 0.4 m/s ER#Rx 1: Read range and direction messages.M`direction in FSK: [0.999231,-0.013953,-0.036644]MFpublishing direction and range infoytA?A(א¢YCpqQks b)HI9?i񂿉?Us)@޹q(@ Q )y@IQ =x6?!??Fqb0Ֆ  ?)c  BDAT read: Tx time:04:17:23.8179  $Ping request sent. tG%,^5LAJ@@J>JI<ٱJ"=JHP?<¿3??`Y?|<D,? ?iJ@@IJ];JsCYXyX \^<bDbVDb8ٔj,:Q-j>9n?Yn?=nEyn8DrRȻEr>tQ 5z4vzJ?Q 9z4v)vzBYxyz>Q I~$@vVDIv:iv:vr4yɮAiiL 5LAjC"jC:j. >"p_d?r@NN5yoi%ptA?A(א¢*jDd2jQ =*pN r@$,sC@5ën-3pO?"ǞN?s ͰjB jlCi:?iLj3Bj??jLj3BrjgCzjY>U addTargetRange:: Added new target pos. range: 293.200012 m, deltaT: 4.039839 s, deltaX: 13.800018 m, approachRate: 3.415982 m/s, rangeRepo size: 4 e Added new target pos. range: 292.162872 m, bearing: 7.787696 deg, lat: 36.779549 deg, lon: -121.859649 deg, deltaT: 4.039839 s, deltaX: 13.754730 m, approachRate: 3.404772 m/s, posRepo size: 4 :iaeFNOT Ignoring new targets: 292.16 m."im*ii} ProNav: ac range: 292.162872 m, nav range: 276.810974 m, bearing: 8.204390 deg, approach rate: 0.000000 m/s, LOS rate: -0.016877 deg/s, cmd heading: 7.722358 deg, new cmd heading: 7.709200 deg. iyHeadingCmd: 0.134551 target range: 292.162872 and range: 293.20 m.h >hhhhggjg rg e re Ze:e@3Sr@*ef?!}Bɢ+)  li)/;顁ii >g=W=I >IB5>B5XCB1B1B1B1B1B5h;B56E9@ @@%0@!Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.253396^A=l=yAm AIq I O >ԡ E  E E &E "E :*E 1:VE 4ZE BE 'y=t<AA  A)YfAbDVDư8y8%<ٔQ->9c?Yc?=EyADE>Q 5 4J?Q 9 4)zBY>Q E;y>Q I$@VDI;i6;z4yɮA=B*** querying acoustic contact ***i9i9:iAMFNOT Ignoring new targets: 292.16 m."iMĠ*iUĠ] ProNav: ac range: 292.162872 m, nav range: 276.621887 m, bearing: 8.196199 deg, approach rate: -0.405331 m/s, LOS rate: -0.017569 deg/s, cmd heading: 7.709200 deg, new cmd heading: 7.692807 deg. i]eHeadingCmd: 0.134265 target range: 292.162872 and range: 293.20 m.he| >hahahihigigijgqrgucBeqreqZey:ey*e}Y?颥Bɢ4W) 錾i)0;顱iWi| >= }=I| >Ie9@a @a@a@a@mzA@i  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759134^A =A >A >I I O >1 T%,CQ5LAv@{>S<ٱ=Hp?cޤ?Z?Q?@/?)?iv@I];vCY56By5IbDMVDM8yU =%Uh=ٔ]0e7Q-]>9aYa=eEyeHDesEm>iQ 5u4m|J?Q 9}4m)m#zBYyy}>>Q I}$@mVDIm;im;m4yɮNA E:iFNOT Ignoring new targets: 292.16 m."i*i ProNav: ac range: 292.162872 m, nav range: 276.480072 m, bearing: 8.190206 deg, approach rate: -0.403407 m/s, LOS rate: -0.017057 deg/s, cmd heading: 7.692807 deg, new cmd heading: 7.680814 deg. iHeadingCmd: 0.134055 target range: 292.162872 and range: 293.20 m.hE >hhhhggjgrgereZe:e*e@? Bɢ Ԋv) Ii)G;iZiE >%=%ĩ=I%E >I!E} E}E} Ey"E};*E}k:VE}3ZEya@a@a@a@9@ @@@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007379I^Al=Bm >Bm YCBi Bi Bm =Bi ԉ Bm ׺DBm ?;Bm 6EI I O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261121 \Z%,l5LA@>S<ٱ=H@?K?J? ?Czo@1?*?i@IH];Y8ByIiMb@Mb@Mb@ 9> ףp=?bX9ȶ?yE=AA n A)SAY3A@AbDVD8y<%9=ٔ&lQ->9Y=EyPDիE>Q 54+J?Q 94,))zBY>Q E:yٱ>Q I$@WDIw:i:4yɮ>A:i!%FNOT Ignoring new targets: 292.16 m."i-*i-= ProNav: ac range: 292.162872 m, nav range: 276.298615 m, bearing: 8.182405 deg, approach rate: -0.410860 m/s, LOS rate: -0.017674 deg/s, cmd heading: 7.680814 deg, new cmd heading: 7.665202 deg. i=bEHeadingCmd: 0.133783 target range: 292.162872 and range: 293.20 m.hEj>hAhAhAhAgIgIjgIrgMBeQreQZeQ:eQ*eU@[?ÀBɢ%xY)! %i!)%-;))i->*i-j>5=5}l=I5j>I1E EE$E"EV:*E n:VE4ZEBE9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510876Q za%,kH5LA .G6/{Ar<ٱrt =rHZ?T ڌ?s?@Q?궿 )W?z?irHw@Ir];ruCY~(By~II=)> = =bDVD8y%/%%W=ٔ%Q-->9)Y)=-Ey-XD5E5>9Q 5E4=ҰJ?Q 9E4=)=/zBYAyEذ>Q IM$@= WDI=q:i=G:=@4yQɮUAUE:iy}FNOT Ignoring new targets: 292.16 m."iq*iq ProNav: ac range: 292.162872 m, nav range: 276.142273 m, bearing: 8.175743 deg, approach rate: -0.411224 m/s, LOS rate: -0.017534 deg/s, cmd heading: 7.665202 deg, new cmd heading: 7.651870 deg. iZHeadingCmd: 0.133550 target range: 292.162872 and range: 293.20 m.hk>hhhhggjgrgereZe:e*e@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762861颕ƀBɢx)$ li);顡iik>*==Ik>II)vAiE9@I @I@M0@IԙbE}ǻ 4jE}ǔ4rE}30E EE(E"E&:*E:VEc44ZEa @a @a @a @^AiIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014776 g%,u5LA2[f@2` >2<ٱ2 =2H? I? 0?? ѶQ?@?i2[f@I2[];2tCLYR'ByRIbDZVDZ8yb%bQ=ٔfN0Q-f>9dYh=jEyj`DjƬEj>lQ 5r4n߽J?Q 9v4nL)n5zBYtyvί>Q Iv$@nWDInw:in:n4yz BɮzA~E:iFNOT Ignoring new targets: 292.16 m."i*i ProNav: ac range: 292.162872 m, nav range: 275.981140 m, bearing: 8.168938 deg, approach rate: -0.395985 m/s, LOS rate: -0.016733 deg/s, cmd heading: 7.651870 deg, new cmd heading: 7.638252 deg. iHeadingCmd: 0.133313 target range: 292.162872 and range: 293.20 m.h>hhhhggjgrgereZe:e*exE@ɀBɢ%)! %Ki!)-;))i-ҔB=<A=4=BM>BMZCBMIBMBBM =BIBMغDBM,;BM6Eim>uY=}=I}>I 9@  @ @ /@ ^A=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269950IyIOB> ! E  E E %E "E :*E L_:VE 4ZE BE <yU=UC9Y=EyhDE>Q 54dJ?Q 94 )Q E;yv>Q I$@!WDI;i;֝4y ɮ NA %B*** querying acoustic contact ***i!i!:i15FNOT Ignoring new targets: 292.16 m."i=/*i=/M ProNav: ac range: 292.162872 m, nav range: 275.802124 m, bearing: 8.161773 deg, approach rate: -0.417966 m/s, LOS rate: -0.016741 deg/s, cmd heading: 7.638253 deg, new cmd heading: 7.623913 deg. iMUHeadingCmd: 0.133062 target range: 292.162872 and range: 293.20 m.hUA>hQhQhQhQgYgYjgYrg]rBeareaZea:ea*eeŲ@颕̀BɢH) i)T;顙iiA>κ=҈=IA>I M9@I @I@M0@I1>%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771761^A)Ae .Aa Iq I O >t%,5LA2M@2>2/<ٱ2f=2H`%?@og??w?E2?S?i2M@I2];2sCY>By>I @@DDbDJVDJɰ8yR %Rc=ٔRbQ-R>9V ?YV ?=VEyVpDZ( EZ>\Q 5b4^5J?Q 9b4^w )^AzBY`ybܨ>Q If$@^*WDI^;i^n;^"4yj BɮjAjE:ix~FNOT Ignoring new targets: 292.16 m."i *i  ProNav: ac range: 292.162872 m, nav range: 275.656464 m, bearing: 8.156034 deg, approach rate: -0.404848 m/s, LOS rate: -0.015960 deg/s, cmd heading: 7.623913 deg, new cmd heading: 7.612428 deg. i鹝HeadingCmd: 0.132862 target range: 292.162872 and range: 293.20 m.h >hhhhgg!jg!rg!e!re!Ze):e)*e- @yDzD@AE EEE"E :*Ez:VEZEa@a@a@a@-ЀBɢ-#)1 5 iq)u`2q;qqiuLi} >}ι==I >Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022970ԩ]B=>B=YCB=IB=BB9B9B=׺DB=j;B=6Em9@i @i@i@i ] BDAT read: Rx Time:04:17:26.6112 m TRx dataTimestamp_ set to:1764908247.682497} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281148^A ͢=1A!I)I9OM?_|%,d5LA2pG@2>21<ٱ2U=2H@?@9Qp??`? ~' }!??@5?i2pG@I2Vq];2vCYVByVIi5Mb@Mb@Mb@1111 195:v?{Gz?:v?Y5>y5ף=5T<15A 5 A)5A1Y1bDMVDM8yeм%e=ٔetQ-e>9iYi=mEymzDuެEu>yQ 54} J?Q 94} )}FzBY>Q E:yX>Q I$@}8WDI}:i}:}Q4yɮA:iFNOT Ignoring new targets: 292.16 m."iJ*iJE EE#E"E2:*E|:VE3ZEBE%*hhhhggjgrgeBereZe:e*eE @ ԀBɢ i) mi),W;i˱i1> ==I%1>IAMR=Mp=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527130y q@q @y@}4@yԩ DAT read: 04:17:26.6112 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 429,-0.28, 2.169, 0.652, 2.449, 1.784, PHS= 0.487,-1.087, 0.620, RAW= 154.0, -0.2, CAL= 152.9, -1.3, ROT= 357.1, 1.3  Ygot valid direction response: 04:17:26.6112 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 429,-0.28, 2.169, 0.652, 2.449, 1.784, PHS= 0.487,-1.087, 0.620, RAW= 154.0, -0.2, CAL= 152.9, -1.3, ROT= 357.1, 1.3  PDAT read: Bearing 161.1, -5.0 (Local)  ~Local bearing/azimuth received: Bearing 161.1, -5.0 (Local)  DAT read: Range 11 to 50 : 291.8 m (Round-trip 389.1 ms) speed 0.3 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.998462,-0.050580,-0.022687] Fpublishing direction and range infoyQ U 0g?:4婿NGY;YU CQ U U U  U )U AIU X>iU "U R?U ,@U dU {*@ U ޹)U 8q@IU ޹9AYA=EEyEDMEM>QQ 5]4UJ?Q 9]4U)UJzBYYyYQ I]%@UFWDIU:iU:U4yiɮmAiiyi}U 6LAj}cC"j}cC:j}N="p}ü+H%r@@j-QqJcp}0g?:4婿NGY;*j}QQO2j}޹<*p}cr@/,7@<Ҁ/p} ?cϳ?Bj}οA j}Ci}ţ:?i}yMj}ABj}il'?j}oo>jyrj};Czj}V> addTargetRange:: Added new target pos. range: 291.799988 m, deltaT: 4.031191 s, deltaX: -1.400024 m, approachRate: -0.347298 m/s, rangeRepo size: 4  Added new target pos. range: 290.777344 m, bearing: 4.736604 deg, lat: 36.779671 deg, lon: -121.859672 deg, deltaT: 4.031191 s, deltaX: -1.385529 m, approachRate: -0.343702 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 290.78 m.DDR=E EE$E"E;*E҆:VE4ZEa@a@a@a@"i*i ProNav: ac range: 290.777344 m, nav range: 288.462494 m, bearing: 7.348653 deg, approach rate: 0.000000 m/s, LOS rate: -0.015331 deg/s, cmd heading: 7.596305 deg, new cmd heading: 7.580900 deg. iHeadingCmd: 0.132312 target range: 290.777344 and range: 291.80 m.h|>hhhhgg jg rgieireiZeq:eu==I|>I(DAT read: user:12> BDAT read: Tx time:04:17:27.8679 $Ping request sent.B9B=rIB=BB= =B9B9B=;B=6EBYCBYCBB =B =C59@ @@3@! u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253264Y ^AU =yAIIO?ʮ%,256LA29@2 e>2?<ٱ2=2Hĸ?Oﳣ?\?`4?j\$'vm? ?i29@I2];2tCY>By>gIi=Mb@Mb@Mb@9999 99=5^I ?x&?Mb?Y=>y=7==<=A=OA = A)=SA9Y=AbD]VD]8ymي%m=Eu EuEu&Eq"Eu;*Eu:VEu4ZEqBEuA9Y=EyDOE>Q 54) K?Q 94?)LzBY>Q E:y>Q I%@TWDI;i;;4yɮA:iFNOT Ignoring new targets: 290.78 m."i^s*i^s ProNav: ac range: 290.777344 m, nav range: 288.240204 m, bearing: 7.341707 deg, approach rate: -0.425244 m/s, LOS rate: -0.013298 deg/s, cmd heading: 7.580900 deg, new cmd heading: 7.566997 deg. i¹HeadingCmd: 0.132069 target range: 290.777344 and range: 291.80 m.h=>hhhhggjg rg PBe reZe:e*e?E݀BɢEм)A EKiA);ibi=>==I=>IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502931}9@y @@55@^Aܝ=A A I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754824I O >#%,N6LAYByNIbD-VD-8y=̽%EN=ٔEQ-E>9IYI=MEyMDMEM>QQ 5]4UK?Q 9]4U)UMzBYayaQ Ie%@U_WDIUA;iU;U4yiɮm%AmEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 290.78 m."iUq*iUq ProNav: ac range: 290.777344 m, nav range: 288.074249 m, bearing: 7.336515 deg, approach rate: -0.421207 m/s, LOS rate: -0.013187 deg/s, cmd heading: 7.566997 deg, new cmd heading: 7.556606 deg. iHeadingCmd: 0.131888 target range: 290.777344 and range: 291.80 m.h >hhhhggjgrgereZeQ:e*eu?Bɢ) i);iᬋi  > ==c{=I >IE EE E"Es:*Exv:VE3ZEa@a@a@a@@ @@?5@echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007180y^A S=ԩ A >A >B >B XCB SIB BB =B B ֺDB d;B J7EI I O >9%,h6LA2p)@2[>2y<ٱ2E=2H!?r@?>?` ?aǷΙ mɸ?`?i2p)@I2E^;0Y>By>FI@ DDbDJVDJ8yR%RU=ٔVS`Q-V>9TYT=VEyZDZߩEZ>\Q 5b4^ (K?Q 9b4^)^OzBYdyfv>Q If%@^jWDI^I;i^>:^4yhɮjVAh:i9]FNOT Ignoring new targets: 290.78 m."iej*iej ProNav: ac range: 290.777344 m, nav range: 287.912018 m, bearing: 7.331500 deg, approach rate: -0.414762 m/s, LOS rate: -0.012828 deg/s, cmd heading: 7.556605 deg, new cmd heading: 7.546570 deg. iѻHeadingCmd: 0.131712 target range: 290.777344 and range: 291.80 m.h>hhhhgchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259634gjgrgereZe:e*e%e?ԱBɢ6 ) i)c:顑iRi>U==I>II)9@9 @9@A@AE EE(E"E(;*E$:VEc44ZEBE͗%,|6LA2'"@2q>2<ٱ25=2H*?`j@ѻ? !?`?鷿p:}?`?i2'"@I2x^;0Y>By>GI1iMb@Mb@Mb@ 9㥛 ?)\(?y&1|?Y>yGa=`; A A)AYzAbDVD8y1;%9=ٔQ->9Y=EyD2E>Q 54+7K?Q 94)PzBYb>Q E:y>Q I%@uWDI,:i:4y ɮ MA E:i15FNOT Ignoring new targets: 290.78 m."i=JF*i=JFM ProNav: ac range: 290.777344 m, nav range: 287.727936 m, bearing: 7.326808 deg, approach rate: -0.424850 m/s, LOS rate: -0.010835 deg/s, cmd heading: 7.546570 deg, new cmd heading: 7.537181 deg. iMUHeadingCmd: 0.131549 target range: 290.777344 and range: 291.80 m.hU>hQhQhQhQgYgYjgYrg]UBeareaZea:ea*ee ?5Bɢ5)1 5i1)5 :99i=i=>E}=E=IE>Iachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7637129@ @@%4@!ԉ^A=II IY Ou >E  E E $E "E D:*E :VE 4ZE a @a @a @a @ %,E6LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014898F@F H>F<ٱFL=FHo?B<q?0?_??z?iF@IF8_;FuCYbByb1IbDjVDj8y~%~Z=߲ٔQ->9Y= Ey D FE >Q 5%4DK?Q 9%4)QzBY!y%>Q I%%@WDI`+;il,;4y1ɮ5A1:iQ]FNOT Ignoring new targets: 290.78 m."ie@*ie@m ProNav: ac range: 290.777344 m, nav range: 287.571777 m, bearing: 7.322859 deg, approach rate: -0.416809 m/s, LOS rate: -0.010546 deg/s, cmd heading: 7.537181 deg, new cmd heading: 7.529279 deg. imeuHeadingCmd: 0.131411 target range: 290.777344 and range: 291.80 m.hu>hyhyhyhygygyjgrgereZe:e*e z@ԙ颽BɢY') i)|L:i4i>ꤟ= R=I>I9@ @@/@B>BYCB:IBBB =BB׺DBt;B\7Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267218^A5~=A9zA=xAIIO > %,.6LA2 @2=2'D<ٱ2I=2H R? }о@?ቿ? ? @D?@?i2 @I2Q_;2tCY>By>/IiMb@Mb@Mb@ 9333333?~jt?~jtx?Y>y=;+ AA  A)YQAbDVD8y-%-G=ٔ-ҺQ-5>91Y1==Ey=D=≻E=>AQ 5M4EuRK?Q 9M4E)AYM}>Q EU:yUW>Q IU%@EWDIED;iE;E>4yYɮ]AYE} E}E}#Ey"E}s:*E}x:VE}3ZEyBE}i0hhhhggjgrg%=%{=I-u>I)5{>i5 >!9@ @@4@@=@= y}fC$G{A E 9E{AYEdAIy?A^A =I I O% > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770733q ϳ%,+6LAY~By~*I < <bDVD8y%֌%%K=ٔ%Q-->9)Y)=-Ey-D5E5>9Q 5E4=`K?Q 9E4=)=PzBYAyAQ IE%@=WDI=":i=:=C4yQɮU AQmB*** querying acoustic contact ***iiii:iy}FNOT Ignoring new targets: 290.78 m."i *i  ProNav: ac range: 290.777344 m, nav range: 287.226135 m, bearing: 7.317117 deg, approach rate: -0.456296 m/s, LOS rate: -0.007590 deg/s, cmd heading: 7.523472 deg, new cmd heading: 7.517788 deg. i<^HeadingCmd: 0.131210 target range: 290.777344 and range: 291.80 m.h[>hhhhggjgrgereZe:e*e @Bɢ`9) Ki)'ii[>×==I[>IQ9@ @@/@DzDAAbE4jE#4rE30E EEE"ET;*Eą:VEZEa@a@a@a@ԁechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022751%PExceeded connect timeout, disconnecting.^AH=IyIO>ԩB >B XCB !IB BB =B B ֺDB l;B S7E %,\6LA2@2z=2<ٱ2X =2H@R?*?3ھ?`9?|< '_?@?i2@I2_;2uCY>By>!IbDFVDF8yN%NS=ٔRQ-R>9PYP=VEyVDVEV>XQ 5^4Z;nK?Q 9^4Z)ZQzBY`yb0U>Q Ib%@ZWDIZ;iZ{;Z 4ydɮfGAd:ixzFNOT Ignoring new targets: 290.78 m."i~*i~  ProNav: ac range: 290.777344 m, nav range: 287.061188 m, bearing: 7.314462 deg, approach rate: -0.425970 m/s, LOS rate: -0.006861 deg/s, cmd heading: 7.517788 deg, new cmd heading: 7.512474 deg. i HHeadingCmd: 0.131117 target range: 290.777344 and range: 291.80 m.hC>hhhhggjgrg!e!re!Ze):e)*e-V @uBɢub3)y }iy)}l&顁iiC>O==BDAT read: Rx Time:04:17:30.6178 TRx dataTimestamp_ set to:1764908251.711695checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277089IC>IԱ%9@! @!@!@!E EE$E"El;*Ez:VE4ZEBEZF9 %,߿7LA~@~=~a<ٱ~~=~H`4?k玠?`h?ॠ?@U@k$?`?i~@I~,`;~tCYMpByUIiMb@Mb@Mb@ 9l?S㥛?{Gz?Y>y/<#<A A)YAbDVD8yo%+=ٔQ->9Y=EyD =kE=>AQ 5M4EOK?Q 9M4E)ESzBYU>Q EU:yU8>Q IU%@EWDIE,:iE:E4yYɮ]AeE:iFNOT Ignoring new targets: 290.78 m."iꢸ*iꢸ ProNav: ac range: 290.777344 m, nav range: 286.855469 m, bearing: 7.312290 deg, approach rate: -0.421349 m/s, LOS rate: -0.004451 deg/s, cmd heading: 7.512475 deg, new cmd heading: 7.508128 deg. iUHeadingCmd: 0.131042 target range: 290.777344 and range: 291.80 m.h/>hhhhggjgrg=BereZe:e*e@)@Bɢ[)) -"i)6"i i/>'==I/>IDAT read: 04:17:30.6178 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 513, 0.20,-2.993, 2.111,-2.994,-2.783, PHS=-0.108,-1.344,-0.256, RAW= 143.7, 27.3, CAL= 150.2, 40.4, ROT= 359.8, -40.4 Ygot valid direction response: 04:17:30.6178 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 513, 0.20,-2.993, 2.111,-2.994,-2.783, PHS=-0.108,-1.344,-0.256, RAW= 143.7, 27.3, CAL= 150.2, 40.4, ROT= 359.8, -40.4 %PDAT read: Bearing 201.7, 2.4 (Local) %~Local bearing/azimuth received: Bearing 201.7, 2.4 (Local) 5DAT read: Range 11 to 50 : 259.3 m (Round-trip 345.8 ms) speed 0.3 m/s ER#Rx 1: Read range and direction messages.M^direction in FSK: [0.761534,-0.002658,0.648120]MFpublishing direction and range infoy>r\{^?jdef?YC )GI/ݽi1o @>g'@ J4?)B@IJ4aO7?[?Q?ѧ8_? >)IdiJ4uT****** received valid address query ******uR****** received valid ping request ******}9@y @}@@@yA@}Querying Benthos address 50 with one ping in standard two-way mode.9a ^A =E  E E "E "E D:*E VE (3ZE a @a @a @a @A ؟AI I O% > %,C7LA(DAT read: user:13> BDAT read: Tx time:04:17:31.9179 $Ping request sent.?l?iB@IBea;BuCYNiByNIVAAVAAbDVVDV8bnManaging dock network, ignoring radio surface power offyf)%ft=ٔf*Q-f?9j"?Yj"?=jEyjDjFEn ?pQ 5v4rK?Q 9v4r)rTzBYtyv]7>Q Iv%@rWDIr:ir/:r?4y|ɮ~A|iik 7LAj1C"j1C:jq="p妘h@Iw*z+dd@p>r\{^?jdef?*jd2jJ4*pCܢ?i@TPp@ElMOSd@pnUA?v!h? T>#?j+@ jHCiJ8?iolyUjtbCjjj jrjCzj=%addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 259.299988 m, deltaT: 4.032293 s, deltaX: -32.500000 m, approachRate: -8.059930 m/s, rangeRepo size: 4:i!-FNOT Ignoring new targets: 290.78 m."i-n*i-n] ProNav: ac range: 290.777344 m, nav range: 286.718597 m, bearing: 7.310882 deg, approach rate: -0.383278 m/s, LOS rate: -0.003946 deg/s, cmd heading: 7.508128 deg, new cmd heading: 7.505310 deg. i]縝eHeadingCmd: 0.130992 target range: 290.777344 and range: 291.80 m.he">hahahihigigijgirgqereZe:e4p@*ejJ?i颍BɢŅC) %i)H顡i|i">$x=5A=I">IB5>B1B5IB5WBB5 =B1B1B5;B5e7Eԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252220] 9@Y  @Y @e 05@a E  E E E "E :*E VE ZE BE 5gBy>IiUMb@Mb@Mb@QQQQ Q9U333333?~jt?:v?YU>yU9Y=EyDVE>Q 54BK?Q 94#)XzBY>Q E:y!>Q I%@WDI4:i:4yBɮA:iFNOT Ignoring new targets: 290.78 m."iuC*iuC ProNav: ac range: 290.777344 m, nav range: 286.483398 m, bearing: 7.309485 deg, approach rate: -0.449087 m/s, LOS rate: -0.002670 deg/s, cmd heading: 7.505310 deg, new cmd heading: 7.502513 deg. i]-HeadingCmd: 0.130944 target range: 290.777344 and range: 291.80 m.h->h)h)h)h1g1g9jgArgE>BeAreIZeI:eQ*eU@RR?Bɢ0) t(i)i%onxi%>-g=-f=I->I)I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754909?Bɹ 9@  @ @ ?0@ @% =@% =q ԩ E  E E $E "E ;*E d:VE 4ZE a @a @a @a @^A= z=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008240Am.AIyIO?Ԭ%,1`7LANh@N3=NEe<ٱN=NHR?@d`F??? !l`x`.?@^?iNh@INa;NtCYjWByjIbDvVDv8y~%~%=ٔQ->9 ?Y ?=Ey D E >Q 54˯K?Q 94I)\zBY!y%i>Q I%%@WDI:iM:4y)ɮ-A)MB*** querying acoustic contact ***iIiI:iQ]FNOT Ignoring new targets: 290.78 m."i]**ie* ProNav: ac range: 290.777344 m, nav range: 286.272858 m, bearing: 7.308342 deg, approach rate: -0.427636 m/s, LOS rate: -0.002324 deg/s, cmd heading: 7.502513 deg, new cmd heading: 7.500225 deg. iHeadingCmd: 0.130904 target range: 290.777344 and range: 291.80 m.h >hhhhggjgrgereZe:e*e@x?颅Bɢ<) .i)K顩iXgti >U=m=I >IB>BWCBIBCBB =BBBC;B$7EBXCBXCBB =B =C˜5aԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259262m9@q @q@}0@y E  E E %E "E :*E |:VE 4ZE BE ?8YBy> IXiMb@Mb@Mb@ 9ʡE?:v? rh?Y>y<C<+ AA A)YA <<bD%VD%8y5x];%5 =ٔ5Q-=>9E"?YE"?=EEyEDE>Q 54K?Q 9-4D)czBY5D>Q E5:y5 ,>Q I5%@WDI hhhhggjgrg1BereZe:e*e{>?颭 Bɢ.9) @0i)-|项ipi=g>E`@=E=IEg>IA9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763320 ^A Pڀ=9 AA IQ Ia O} >![%,7LAE EE(E"E&:*Ek:VEc44ZEa@a@a@a@:@:@=:[h<ٱ:=:H? ϻ ? S?3?'`? `6??i:@I:*b;8YJRByJI LLLNAbDVVDVq8y^%^P=ٔ^.9Q-^>9`Y`=bEybDf΋Ef>hQ 5j4jjK?Q 9n4j)jhzBYlyn*>Q In%@jWDIj:ij:j^ 4tytɮvAz E:iFNOT Ignoring new targets: 290.78 m."i*i- ProNav: ac range: 290.777344 m, nav range: 285.880554 m, bearing: 7.305204 deg, approach rate: -0.450821 m/s, LOS rate: -0.003525 deg/s, cmd heading: 7.496466 deg, new cmd heading: 7.493946 deg. i-tθ5HeadingCmd: 0.130794 target range: 290.777344 and range: 291.80 m.h5>h1h1h1h9g9g9jg9rg9eAreAZeA:eI*eM@uBɢul)y }=3iy)}yyi} lchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014822i > L2=J|=I>I9@ @@0@!BBBIB/BBBBպDB;B6EA^A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266884A I I O >i }%,d7LAEy@E@=EP<ٱE/=EH ?@Vf?`?@ڤ?ǹ@I??iEy@IE 4c;EuCQY]OBy]IiMb@Mb@Mb@ 9#~j?l? rh?Y>y= AA =A)YAbDVD8y c%7=ٔVQ->9Y=EyD)E>!Q 5-4% K?Q 954%)%ozBY5>Q E5:y5@>Q I5%@%WDI%L;i%;%'(4y9ɮ=AA:iFNOT Ignoring new targets: 290.78 m."i &*i & ProNav: ac range: 290.777344 m, nav range: 285.680115 m, bearing: 7.302785 deg, approach rate: -0.434663 m/s, LOS rate: -0.005250 deg/s, cmd heading: 7.493946 deg, new cmd heading: 7.489104 deg. i%HeadingCmd: 0.130710 target range: 290.777344 and range: 291.80 m.h%>h!h!h!h!EU EUEU'EQ"EU ;*EU՚:VEU'4ZEQBEUR5=5x=I5>I9ԁ-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5195239@ @@0@Ա^A= Pz=AE wAzAE yA Ai Iy I O >4%,7LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770919B@B=Ba8<ٱB'=BH?WXЖ? ɻ?a?ṿ`X??iB@IBc;BtCYNYByN ITV@AbDVVDV8y^<%b]=ٔbQ-b>9dYd=fEyfDf+Ef>hQ 5n4jK?Q 9r4j)juzBYpyr?>Q Ir%@jXDIj.:ij\:j.4ytɮvAx:iFNOT Ignoring new targets: 290.78 m."i̸*i̸- ProNav: ac range: 290.777344 m, nav range: 285.513824 m, bearing: 7.300809 deg, approach rate: -0.470328 m/s, LOS rate: -0.005594 deg/s, cmd heading: 7.489104 deg, new cmd heading: 7.485149 deg. i-#5HeadingCmd: 0.130640 target range: 290.777344 and range: 291.80 m.h5>h1h9h9h9g9g9jgArgAeAreAZeA:eI*eMw@q}Bɢ}"t)y }4i)顁iei>=u=I>I%9@) @)@-?5@)ԩE EE%E"E:*E:VE 4ZEa%@a%@a%@a%@^AMLz=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023331Ay I I O > B >B VCB B B =B B B %;B l6E%,7LA2u@2@7=2 <ٱ2_`=2H? 1aN? Ϙ? ϥ? _??i2u@I2 d;2vCY>aBy> IbDFܿVDF8yN <%NM=ٔRjQ-R>9PYT=VEyVDVEV>XQ 5^4ZK?Q 9b4Z)Z{zBY`ybZ>>Q Ib%@ZXDIZ; ;iZG ;Z54ydɮfAhvB*** querying acoustic contact ***itit:i|~FNOT Ignoring new targets: 290.78 m."iW*iW  ProNav: ac range: 290.777344 m, nav range: 285.334656 m, bearing: 7.298703 deg, approach rate: -0.449147 m/s, LOS rate: -0.005282 deg/s, cmd heading: 7.485149 deg, new cmd heading: 7.480935 deg. iHeadingCmd: 0.130567 target range: 290.777344 and range: 291.80 m.hW>hhhhggjgrgereZe:e*e@ @]Bɢ]LT\)Y ]=4ia)euAǻaaieKbimW>$=1s=IW>IUBDAT read: Rx Time:04:17:34.6654 ]TRx dataTimestamp_ set to:1764908255.742889]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2760259@ @ @"1@@5=@5=1E5  E5 E5 $E1 "E5 V:*E5 g:VE5 4ZE1 BE5 9%,k8LAJ)@J@=J K;ٱJ=JH&?4F?@?I?'L΄?@?iJ)@IJKd;JrCYb_Byb IiMb@Mb@Mb@ 9(\?I +?{Gz?Y>y94=ף< A|A SA)YbDVD%MG=/{AAy5%E4=IٔeQ-u>}09}/{AY}A9Y=Ey!DoE>Q 54L?Q 94)zBY\>Q EU:yUI>Q I]%@XDI%hhhhggjgrgSBereZe:e*e@UBɢU#Q)Q U6iQ)]b޻YYi]wa^aia>k=Ia>IDAT read: 04:17:34.6654 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 424,-0.11,-1.881, 2.609,-1.918,-2.422, PHS= 0.642,-1.207, 0.459, RAW= 144.9, 1.2, CAL= 144.3, 1.3, ROT= 5.7, -1.3 Ygot valid direction response: 04:17:34.6654 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 424,-0.11,-1.881, 2.609,-1.918,-2.422, PHS= 0.642,-1.207, 0.459, RAW= 144.9, 1.2, CAL= 144.3, 1.3, ROT= 5.7, -1.3 PDAT read: Bearing 162.1, 5.0 (Local) ~Local bearing/azimuth received: Bearing 162.1, 5.0 (Local) DAT read: Range 11 to 50 : 257.4 m (Round-trip 343.3 ms) speed 0.1 m/s =9@9 @9@= 0@9UR#Rx 1: Read range and direction messages.}\direction in FSK: [0.994799,0.099294,0.022687]Fpublishing direction and range infoyaee?eIWk?NGY;?YeCaaaa a)aIeZ$?ie~e >e!@e)eIe%=ie޹aaT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԑ^A} t=Թ bEjEJ4rE0EE  EE EA EA "EE :*EE :VEA ZEA aM @aM @aM @aU @A .AI I O >8%,†8LA(DAT read: user:14> BDAT read: Tx time:04:17:35.9679 $Ping request sent.9f ?Yf ?=fEyf)Dj.9Ej>hQ 5n4jL?Q 9r4j)jzBYpyrJ>Q Ir%@j)XDIje;ijr;jD4yxɮzAz Eii8LAj=C"j=C:jzQ>"p*͢to@lw9@(pF@pe?eIWk?NGY;?*j%=2j޹*p8sao@7-\ J@r >@p&HR?D?mS?jVPB j {Ciž?i0jBjQ$?jLjABrjCzj> addTargetRange:: Added new target pos. range: 257.399994 m, deltaT: 8.064549 s, deltaX: -34.399994 m, approachRate: -4.265582 m/s, rangeRepo size: 4 U Added new target pos. range: 256.484314 m, bearing: 11.720967 deg, lat: 36.779507 deg, lon: -121.859649 deg, deltaT: 8.064549 s, deltaX: -34.293030 m, approachRate: -4.252318 m/s, posRepo size: 4 :iYFNOT Ignoring new targets: 256.48 m."i*i  ProNav: ac range: 256.484314 m, nav range: 267.119659 m, bearing: 8.231880 deg, approach rate: 0.000000 m/s, LOS rate: -0.005853 deg/s, cmd heading: 7.474823 deg, new cmd heading: 7.470781 deg. i HeadingCmd: 0.130390 target range: 256.484314 and range: 257.40 m.h>hhh!h)g)g)jg)rg)e1re1Ze1:eu`fp@*e}`X?颥Bɢnj) J6i)Ԛ顩i[AAAAB>BBIB9BB =BBB~;B6Ei>Ϟ=NPt=I>I1m9@i @i@m_0@qachecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251029^A | u=ԑ A I I) O5 >U %,398LAYnZByr IieMb@Mb@Mb@aaaa a9esh|??Q?~jt?Ye>ye\=eUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5029919YYY=]Ey]2DeEe>iQ 5u4mN1L?Q 9u4mV)mzBYu>Q Eu:yu>Q I}%@m7XDIm;im];m#M4yɮA:iFNOT Ignoring new targets: 256.48 m."iI*iI ProNav: ac range: 256.484314 m, nav range: 266.896759 m, bearing: 8.226590 deg, approach rate: -0.463648 m/s, LOS rate: -0.011012 deg/s, cmd heading: 7.470782 deg, new cmd heading: 7.460194 deg. i8HeadingCmd: 0.130205 target range: 256.484314 and range: 257.40 m.hrT>hihihihigigqjgqrgu`BeqreyZey:ey*e}f?ԩU#Bɢ]B1e) ;i)йi\WirT>=۹t=I]rT>IaIi)myA9@ @@ 0@@@yA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754870 ^A A-؟AI1IAO]>%,RW8LA2P@2=2t,;ٱ2=2H?v3?կ?`e? e\к? ?i2P@I2e;2tCY>UByBIbDJVDJɰ8yR ]%RU=ٔRQ-V>9V"?YV"?=VEyZ:DZO:EZ>\Q 5b4^?L?Q 9b4^*)^zBY`yf>Q If%@^BXDI^ ;i^ ;^S4yhɮjAh:i|~FNOT Ignoring new targets: 256.48 m."idH*idH ProNav: ac range: 256.484314 m, nav range: 266.720978 m, bearing: 8.222399 deg, approach rate: -0.459001 m/s, LOS rate: -0.010950 deg/s, cmd heading: 7.460194 deg, new cmd heading: 7.451807 deg. iPHeadingCmd: 0.130059 target range: 256.484314 and range: 257.40 m.h.>hhhhg!g!jg1rg1e1re9Ze9:e9*e=?m&BɢmK)i u=iq)u qqiu+WTi}.>}ê=}v=I}.>IE EE&E"ED:*E?:VE4ZEa@a@a@a@99@ @@O2@echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007291iB>BWCBIBCBB =BBB|~;B6E^AA%xAzA%wAԑ Ai Iy I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258880Z%,q8LA2@2=2*VE:ٱ23=2H`x? ?`һ?ʡ?꺿 ŪHZ??i2@I2e;2qCY>]By> I@F@AFAAbDJVDJ8yRŞ<%RL=ٔVQQ-V>9TYT=VEyVBDZ:EZ>\Q 5b4^NL?Q 9b4^)^zBY`yf[>Q If%@^NXDI^A;i^2:^Z4yhɮjAhmB*** querying acoustic contact ***iiii:iFNOT Ignoring new targets: 256.48 m."i?*i?] ProNav: ac range: 256.484314 m, nav range: 266.536774 m, bearing: 8.217982 deg, approach rate: -0.436601 m/s, LOS rate: -0.010477 deg/s, cmd heading: 7.451807 deg, new cmd heading: 7.442967 deg. i]cHeadingCmd: 0.129904 target range: 256.484314 and range: 257.40 m.h>hhhhggjgrgere!Ze!:e)*eU ?Թ )Bɢ g) =i)i:Pi>%D=%x=I%>IIDzD?AE EE"E"E%;*E~:VE(3ZEBEKi"%,Ɋ8LAY ^By  IiMb@Mb@Mb@ 9Q?yt=`e<A )AY3AbDVD8y?;%8=ٔQ->9Y=EyKDE>Q 54d`L?Q 94)zBY>Q E:y>Q I %@\XDI%;i ;b4yɮA E:i9EFNOT Ignoring new targets: 256.48 m."iE\*iE\U ProNav: ac range: 256.484314 m, nav range: 266.322968 m, bearing: 8.212879 deg, approach rate: -0.505096 m/s, LOS rate: -0.012066 deg/s, cmd heading: 7.442967 deg, new cmd heading: 7.432752 deg. iU]HeadingCmd: 0.129726 target range: 256.484314 and range: 257.40 m.h]>hYhYhahagagajgirgm|BeireiZei:ei*eu@额,Bɢ񮄽) >i) 顡iMi>=x=I>Ia>i>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7642631=9@9 @9@=?5@9@E=@EC=a^A]w=E EE&E"E&:*Ez:VE4ZEa@a@a@a@i߉ I߉  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015126A ԙ I I O >(%,08LA6@6@!=6c0ٱ6j=6H@?ju? ??=)jf?@ @?@m?i6@I64e;6tCY^YBy^ IbDfVDf8yn1@%n^=ٔr`Q-r>9pYp=vEyvSDv6;Ev>xQ 5E4znL?Q 9E4zT)zzBYIyM>Q IM%@zgXDIz7BBIBMBB =BBB~;B$6EBeWCBeWCBaBe =Be =Ce65FNOT Ignoring new targets: 256.48 m."iN*iN ProNav: ac range: 256.484314 m, nav range: 266.145386 m, bearing: 8.208593 deg, approach rate: -0.467823 m/s, LOS rate: -0.011297 deg/s, cmd heading: 7.432752 deg, new cmd heading: 7.424176 deg. idHeadingCmd: 0.129576 target range: 256.484314 and range: 257.40 m.h>hhhhggjgrgereZe:e*e@^@/Bɢ) CAi)*iBJi%>%u=-/}=I->I)9@ @@5@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266926^A(z=A I) IQ O} > D D <E  E E $E "E :*E x:VE 4ZE BE <y==9= A=A 9)=$A9Y=fA M9Y=Ey[Dν:E>Q 54L?Q 94)zBYj>Q E:y>Q I%@uXDI* ;iw:pp4yBɮUA:iFNOT Ignoring new targets: 256.48 m."i*i ProNav: ac range: 256.484314 m, nav range: 265.941681 m, bearing: 8.202709 deg, approach rate: -0.493990 m/s, LOS rate: -0.014282 deg/s, cmd heading: 7.424176 deg, new cmd heading: 7.412397 deg. iѹHeadingCmd: 0.129371 target range: 256.484314 and range: 257.40 m.hy>hhhhggjgrgXBereZe:e*e z@颭2BɢO) Fi)b5顱i#Giy>c=w=Iy>I 9@ @@?5@1- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773793^A |=a A I I O >5%,,8LAYzRByzIbD ѿVD 8y<%Q=ٔQ->9!Y!=%Ey%cD%E->)Q 554-L?Q 954-~)-zBY9y9Q I=%@-XDI-U;i-;-Ew4yAɮM3AI:iFNOT Ignoring new targets: 256.48 m."iz*iz ProNav: ac range: 256.484314 m, nav range: 265.753937 m, bearing: 8.197276 deg, approach rate: -0.472783 m/s, LOS rate: -0.013689 deg/s, cmd heading: 7.412397 deg, new cmd heading: 7.401525 deg. ikȹHeadingCmd: 0.129181 target range: 256.484314 and range: 257.40 m.hH>hhhhggjgrgereZe:e*eӅ @5Bɢ󺌽) Fi)Ƀ>i ;Di H> GV==IH>I!IE EE"E"E ;*E҆:VE(3ZEa@a@a@a@9@ @@/@@xA@zAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023872aB>BXCBIBWBB =BBֺDB.;By6E^APڀ=ԉA! I1 II O] >Թ % BDAT read: Rx Time:04:17:38.7548 % TRx dataTimestamp_ set to:1764908259.774755% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275923;%,8LAZ@Z==Z WٱZ1=ZHa?@%fBn?X?9|Y|=~Ey~kD:E> Q 5 4 L?Q 94 ) zBYyݍ>Q I%@ XDI e:i \: >~4y!ɮ%sA%E=B*** querying acoustic contact ***i9i9:iIMFNOT Ignoring new targets: 256.48 m."iUȁ*iUȁԙ ProNav: ac range: 256.484314 m, nav range: 265.562317 m, bearing: 8.191703 deg, approach rate: -0.487239 m/s, LOS rate: -0.014183 deg/s, cmd heading: 7.401525 deg, new cmd heading: 7.390369 deg. iϹ%HeadingCmd: 0.128986 target range: 256.484314 and range: 257.40 m.h%>h)h)hqhqgygyjgrgereZe):e)*e-_ @颕9BɢO) Ki)HK顙ie@i>C=߀=I>IDzD@AE EE&E"E:*E:VE4ZEBE3yC%,9LADAT read: 04:17:38.7548 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 331, 0.37, 1.147,-0.427, 1.313, 0.455, PHS= 0.794,-0.838, 0.814, RAW= 150.6, -9.4, CAL= 151.1, -11.2, ROT= 358.9, 11.2 Ygot valid direction response: 04:17:38.7548 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 331, 0.37, 1.147,-0.427, 1.313, 0.455, PHS= 0.794,-0.838, 0.814, RAW= 150.6, -9.4, CAL= 151.1, -11.2, ROT= 358.9, 11.2 PDAT read: Bearing 150.7, -2.0 (Local) ~Local bearing/azimuth received: Bearing 150.7, -2.0 (Local) DAT read: Range 11 to 50 : 287.1 m (Round-trip 382.8 ms) speed 0.5 m/s -R#Rx 1: Read range and direction messages.5`direction in FSK: [0.980774,-0.018832,-0.194234]5Fpublishing direction and range infoyBb?"*HmVѫȿYC )ICK?i+VNbP?8(@'(@ +H)r@}q@}@v=}4ٱ}a=}H#?¼P:?@? ɡ?@坆?a?i?i}q@I+H>T;+?AF.q?gTĿ ؽ?)#<(>IFi+H>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I}ce;}qCY;ByIi-Mb@Mb@Mb@)))) )9-Zd;O?333333?Mb?Y-j>y-=-<- A) -A)))Y-AmAAm@AbDmVDm8y}U%=ٔ$Q->9Y=EywD:E>Q 54L?Q 940)zBYZ>Q E:yz>Q I%@XDI:i:%4yɮAii>9LAj C"j C:je="p` bq@&;݌9QvKpBb?"*HmVѫȿ*jF2j+H>*p`Jvq@T1?@Bk\Jp~T@?zef^?V:-O$ǿjA jCiC)?i{YjO1AjC)?j{YjrjCzjc=addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 287.100006 m, deltaT: 4.031576 s, deltaX: 29.700012 m, approachRate: 7.366849 m/s, rangeRepo size: 4:iFNOT Ignoring new targets: 256.48 m."i_*i_ ProNav: ac range: 256.484314 m, nav range: 265.281921 m, bearing: 8.184541 deg, approach rate: -0.478053 m/s, LOS rate: -0.012224 deg/s, cmd heading: 7.390370 deg, new cmd heading: 7.376031 deg. i HeadingCmd: 0.128736 target range: 256.484314 and range: 257.40 m.h`>hhhhggjgrgZBereZe!:e%q@*e%F1==I`>IEm EmEm"Ei"Em ;*Em:VEm(3ZEiau@au@au@a}@!9@ @@]0@@=@=M (DAT read: user:15> U BDAT read: Tx time:04:17:39.9679 U $Ping request sent.U BU YCBU IBU MBBU =BQ BQ BU ;BU 6E^A ߁=yA.AIIO->K%,q.9LA>@>=>Lٱ>=>H?a_ SP¼?n?`@.?@I>We;>rCYJ ByJIbDfVDf8yj%nX=ٔn }Q-v>9z ?Yz ?=zEyzD~:E~>Q 5 4L?Q 9 4)zBY y Ʌ>Q I %@XDI:i):4yɮA:iAEFNOT Ignoring new targets: 256.48 m."iE]v*iM]vU ProNav: ac range: 256.484314 m, nav range: 265.095764 m, bearing: 8.179752 deg, approach rate: -0.522928 m/s, LOS rate: -0.013462 deg/s, cmd heading: 7.376031 deg, new cmd heading: 7.366446 deg. iUŹ]HeadingCmd: 0.128569 target range: 256.484314 and range: 257.40 m.he>hahahahagagajgirgieireiZeq:eq*eu`?颥>Bɢ~) yWi)b顩i7.:i>&=*=I>%==checking for new query: numPingsReceived=0, elapsed TxPingTime=0.257946Iq9@ @@/5@ԩDD4=E EE#E"El;*EVE3ZEBEZF m Wv>m kC G GyA  5A5 95 GyAY5 AQ%, H9LA2@2Y=2Efٱ2k=2Ho? 1f@޺?`o?`? ?l?i2@I2Ce;2tCY> By>Ii=Mb@Mb@Mb@9999 99=tV?333333?{Gz?Y=>y9=#<= A=A =A)=A9Y=\AbDQVDQye?>%mC=ٔmpQ-m>9qYq=uEyuDuE}>yQ 54}!L?Q 94})}{BY>Q E:y>Q I%@}XDI}:i}:}4yɮKAE:iFNOT Ignoring new targets: 256.48 m."ij*ij ProNav: ac range: 256.484314 m, nav range: 264.897675 m, bearing: 8.174416 deg, approach rate: -0.475696 m/s, LOS rate: -0.012822 deg/s, cmd heading: 7.366446 deg, new cmd heading: 7.355767 deg. iHeadingCmd: 0.128382 target range: 256.484314 and range: 257.40 m.hv>hhhhggjgrgWBereZe:e*e'?%ABɢ%p)! %]i!)%m))i-6i-v>5=5% =I5v>I99@ @@4@-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761715^A[=I I I O >bEM3jEMʋ3rEM.0E  E E "E "E D:*E :VE (3ZE a @a @a @a @X%,Ta9LAFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.014100-@-@=-[e|ٱ-$=-H?_Spϼ?͡? JڹY? ??i-@I-d;-rCYM ByMIbD]VD]8ym[ ;%mJ=ٔm\Q-u>9qYq=uEyuD2M:E>Q 541L?Q 94)){BYy>Q I%@XDI:i:24yɮHA:iFNOT Ignoring new targets: 256.48 m."ik*i k ProNav: ac range: 256.484314 m, nav range: 264.701599 m, bearing: 8.169112 deg, approach rate: -0.475733 m/s, LOS rate: -0.012878 deg/s, cmd heading: 7.355767 deg, new cmd heading: 7.345152 deg. iHeadingCmd: 0.128197 target range: 256.484314 and range: 257.40 m.h%F>h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5+?eDBɢe`4)a e^ia)eߴyiiimt3imF>um =u=IuF>IyB=>B=XCB9B9B9B9B9B=>;B=!7Ea-9@) @)@-x4@)@5yA@5xAy=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266224^AUW^=IIO>ԩ B^%, {9LAN=VH@t?@50{v@?0?]c? ֝?`?iVh@IVkd;VsCYbByfIDqzDqE} E}E}#Ey"E}:*E}:VE}3ZEyBE}<y`e=ף;xA ) AYfAbDVD8y%E=ٔxQ->9Y=EyDZ:E>Q 54lL?Q 94){BYu>Q E:yh>Q I%@XDIt:i|:R4yɮzAE B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 256.48 m."i%"*i%"5 ProNav: ac range: 256.484314 m, nav range: 264.504639 m, bearing: 8.165491 deg, approach rate: -0.482589 m/s, LOS rate: -0.008880 deg/s, cmd heading: 7.345151 deg, new cmd heading: 7.337903 deg. i5=HeadingCmd: 0.128071 target range: 256.484314 and range: 257.40 m.h=$>h9h9h9h9g9g9jgArgE3BeAreAZeI:eI*eMj?FBɢ}p) lci)i_0i5$>5===I=$>IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.521079Ա9@ @@4@^A [=Ii Iy O > = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769639'e%,Ǟ9LAlY~ByIbD-VD-8y=[%=S=ٔEQ-E>9AYI=MEyMDMEM>QQ 5]4UM?Q 9]4U)U{BYayaQ Ie%@UXDIUs;iU;U4yiɮmAi:iFNOT Ignoring new targets: 256.48 m."iU*iU ProNav: ac range: 256.484314 m, nav range: 264.317871 m, bearing: 8.162052 deg, approach rate: -0.469558 m/s, LOS rate: -0.008652 deg/s, cmd heading: 7.337903 deg, new cmd heading: 7.331020 deg. i U} HeadingCmd: 0.127950 target range: 256.484314 and range: 257.40 m.h q>hhhhggjgrgereZe!:e!*e%@@MIBɢUZ)Q UdiQ)]}YYi]H.-ieq>eE=e=Ieq>Ia9@ @@/@ E EE'E"E:*Eą:VE'4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0223119^A_=AzAIqIO>B5 >B5 WCB5 IB5 9BB5 =B1 B5 պDB5 ;B5 s7Ea zQk%,x9LAY~~By~IbD VD 8y%(%%L=ٔ!Q-%>9)Y)=-Ey-D)E5>91Q 5E45M?Q 9E45)5&{BYIyIQ IM%@5XDI5(;i5);54yQɮUAQ:iy}FNOT Ignoring new targets: 256.48 m."i'*i' ProNav: ac range: 256.484314 m, nav range: 264.124542 m, bearing: 8.158487 deg, approach rate: -0.496728 m/s, LOS rate: -0.009166 deg/s, cmd heading: 7.331020 deg, new cmd heading: 7.323885 deg. i3HeadingCmd: 0.127826 target range: 256.484314 and range: 257.40 m.h>hhhhggjgrgereZe:e*e@V%@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273714颕KBɢj) 5ji)r顙id)i>=-܅=I>Ii9@ @@/@@@=E EEE"E%;*E:VEZEBEK9r%,2V9LA2@2@=20/ٱ2x=2H?CN b`I?@? zŕ??@&?i2@I2c;2rCY>~By>Ii=Mb@Mb@Mb@9999 99=rh|?Zd;?~jth?Y=>y=y==D;9=A =A)99Y=AbDUVDU8yeͻ%eF=ٔe)Q-m>9m"?Ym"?=mEymDu8Eu>yQ 54}%M?Q 94}y)}/{BY>Q E:y q>Q I%@}XDI}:i}:}H4yɮAԙ:iFNOT Ignoring new targets: 256.48 m."i6*i6 ProNav: ac range: 256.484314 m, nav range: 263.920868 m, bearing: 8.154364 deg, approach rate: -0.493355 m/s, LOS rate: -0.009996 deg/s, cmd heading: 7.323885 deg, new cmd heading: 7.315632 deg. iYHeadingCmd: 0.127682 target range: 256.484314 and range: 257.40 m.h >hhhhggjgrg8BereZe:e*er@MBɢ%:)! %li!)%F))i-L&i- >5ٝ=5b=I5 >I1@ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777759^A_=Ae .AIi Iy E  E E $E "E s:*E :VE 4ZE a @a @a @a @O > nx%,c_9LA*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030504Jn@J5=JyٱJ=JHF?vf`?G?'ja?Ч??iJn@IJzac;JqCYV~ByVIbD^VD^8yfz%fS=ٔjքQ-j>9j ?Yn ?=nEynDnu:En>pQ 5v4r=5M?Q 9v4rK)r7{BYxyzAq>Q Iz%@rYDIr%:ir:r4y|ɮ~A~E:i!-FNOT Ignoring new targets: 256.48 m."i-7*i-7= ProNav: ac range: 256.484314 m, nav range: 263.729645 m, bearing: 8.150477 deg, approach rate: -0.494161 m/s, LOS rate: -0.010050 deg/s, cmd heading: 7.315632 deg, new cmd heading: 7.307854 deg. i=$EHeadingCmd: 0.127546 target range: 256.484314 and range: 257.40 m.hEs>hAhAhIhIgIgIjgIrgQeQreQZeQ:eQ*e] @OBɢV) pi ) ̡  i Qe#is>͝==Is>IB>BXCBIB%BB =BBֺDBր;B7EBXCBXCBB =B =CG5@ @@@BDAT read: Rx Time:04:17:42.7312 TRx dataTimestamp_ set to:1764908263.814730 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282651^A ?΅=A>A>9A} ؟AI I O >i 1~%,%9LA@J=Ƽٱ%=H@?LrW׉@$? ?6Ԙ?@B? H?i@IMc;rCEU EUEU(EQ"EUD:*EUx:VEUc44ZEQBEU1y#=; dA)~AYbD VD 8yN%7=ٔ%?PQ-%>9-"?Y-"?=-Ey-D-ҷ8E5>1Q 5=45FGM?Q 9E4I51)5A{BYU>Q E]:y]GF>Q I]%@5YDI5;i5կ;54yqɮ}AyB*** querying acoustic contact ***ii:iAMFNOT Ignoring new targets: 256.48 m."iMټ*iMټ] ProNav: ac range: 256.484314 m, nav range: 263.511810 m, bearing: 8.148042 deg, approach rate: -0.461125 m/s, LOS rate: -0.005160 deg/s, cmd heading: 7.307854 deg, new cmd heading: 7.302979 deg. i]mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.533891HeadingCmd: 0.127461 target range: 256.484314 and range: 257.40 m.h%>hhhhggjgrg/BereZe:e*e2[@RBɢ) ri )   i .i%>=Ɔ=I%>I9IA)Ay9@ @@@@@yAԩ^A =] DAT read: 04:17:42.7312 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 416,-0.07, 0.111,-1.308, 0.270,-0.372, PHS= 0.585,-0.891, 0.598, RAW= 150.4, -4.0, CAL= 150.0, -5.1, ROT= 0.0, 5.1 e Ygot valid direction response: 04:17:42.7312 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 416,-0.07, 0.111,-1.308, 0.270,-0.372, PHS= 0.585,-0.891, 0.598, RAW= 150.4, -4.0, CAL= 150.0, -5.1, ROT= 0.0, 5.1 e PDAT read: Bearing 157.1, 0.7 (Local) m ~Local bearing/azimuth received: Bearing 157.1, 0.7 (Local) u DAT read: Range 11 to 50 : 269.3 m (Round-trip 359.1 ms) speed 0.4 m/s } R#Rx 1: Read range and direction messages. ^direction in FSK: [0.996041,0.000000,-0.088894] Fpublishing direction and range infoy  oW?Y C     ) HI ?i d ? '@ 5 6'@  K) I K=   Q?'g+?W Uȱ  @?) 6b=I i K=   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 >u%,:LAbն@b@=bZGռٱba=bH@?@u@#ލ?`?(ع%?`x??E?ibն@Ib>c;bqCYn~ByvIbDVD8yewļ%eX=ٔeQ-e>9iYi=mEymDmEu>yQ 54}VM?Q 94}A)}I{BYy5F>Q I%@}YDI} :i}{:}t4yBɮ6AiQiUFa:LAjU,C"jU,C:jUg="pU1p@E m7pUoW?*jU2jUK=*pU5Np@RO@@:0pU—?h7S?ޤ`jUzB jUCiU&פ?iU0LjU;BjU&פ?jQjQrjUԅCzjU= addTargetRange:: Added new target pos. range: 269.299988 m, deltaT: 8.071922 s, deltaX: 11.899994 m, approachRate: 1.474245 m/s, rangeRepo size: 4 Ա Added new target pos. range: 268.350220 m, bearing: 6.995688 deg, lat: 36.779554 deg, lon: -121.859717 deg, deltaT: 8.071922 s, deltaX: 11.865906 m, approachRate: 1.470022 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 268.35 m."i*i ProNav: ac range: 268.350220 m, nav range: 267.662018 m, bearing: 6.704262 deg, approach rate: 0.000000 m/s, LOS rate: -0.005160 deg/s, cmd heading: 7.302979 deg, new cmd heading: 7.299081 deg. iHeadingCmd: 0.127393 target range: 268.350220 and range: 269.30 m.hPs>hhhhg g jgIrgIeQreQZeQ:eUp@*e] 2?颥TBɢд) ui) Mi i Ps>= =IPs>IEu EuEu"Eq"Euf;*Eu:VEu(3ZEqa}@a}@a}@a}@9@ @@/@@@@@ (DAT read: user:16> BDAT read: Tx time:04:17:44.0179 $Ping request sent.BBIBBBBBB;B7E) A .AI I O >Y a%,:0:LAY~ByIbD-VD-8y=%=L=ٔEQ-E>9E ?YE ?=EEyEDMEM>QQ 5]4UfM?Q 9]4UD)US{BYYyaQ Ie%@U)YDIU:iU%:Up4yiɮmPAi:iFNOT Ignoring new targets: 268.35 m."i*i ProNav: ac range: 268.350220 m, nav range: 267.467041 m, bearing: 6.701059 deg, approach rate: -0.522037 m/s, LOS rate: -0.008582 deg/s, cmd heading: 7.299082 deg, new cmd heading: 7.292671 deg. iJ{HeadingCmd: 0.127281 target range: 268.350220 and range: 269.30 m.hU>hhhhggjgrgereZe:e*e ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250850)MUBɢM躽)I UxiQ)ULQQiUli]U>]稝=]̆=I]U>Ia9@  @ @ 0@A%yAzA%yAaAQE EE'E"E:*E:VE'4ZEBEG- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502607ԉ %,J:LA02@2=2Rٱ2'=2H?[?? ѝ?pH?u?i2@I21d;2rCYB~ByBIIF%=)Fpy=<9= A=|A =A)=A9Y=AbDUܿVDU8ye %eH=ٔmQ-m>9iYi=uEyuDuߺEu>yQ 54}vM?Q 94}c)}\{BY4>Q E:y/>Q I%@}6YDI}:i}:}4yBɮAE:iFNOT Ignoring new targets: 268.35 m."i͸*i͸ ProNav: ac range: 268.350220 m, nav range: 267.271667 m, bearing: 6.698763 deg, approach rate: -0.477434 m/s, LOS rate: -0.005616 deg/s, cmd heading: 7.292672 deg, new cmd heading: 7.288076 deg. in$HeadingCmd: 0.127201 target range: 268.350220 and range: 269.30 m.h@>hhhhggjgrgBereZe:e*eg#?WBɢ%6)! %|i!)%x!!i-<i-@>-=5D=I5@>I1AiE>ԑ@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755822A؟AIIOK>Թ E  E E "E "E ;*E h:VE (3ZE a @a @a @a @%,d:LA"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006820Y~ByIbD5VD58yer%eJ=ٔmQ-m>9m"?Ym"?=mEyuDuEu>yQ 54} M?Q 94})}f{BYyQ I%@}BYDI} :i}:}4y ɮA:i1=FNOT Ignoring new targets: 268.35 m."i=JƸ*i=JƸM ProNav: ac range: 268.350220 m, nav range: 267.078522 m, bearing: 6.696489 deg, approach rate: -0.459905 m/s, LOS rate: -0.005417 deg/s, cmd heading: 7.288076 deg, new cmd heading: 7.283525 deg. iMUHeadingCmd: 0.127121 target range: 268.350220 and range: 269.30 m.hU#,>hQhYhYhYgYgYjgargaeareaZea:ei*emI?B}>B}YCB}IB}~BB} =ByB}׺DB}!;B} 7E颵YBɢg) ~i)^项ii#,>ِ=Ѕ=I#,>IA9@ @@0@A.AIIOi>qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258591ԙ %,n~:LA>@=dUٱ&=H ?w; ɼ? e?9N`I? ??i>@IXTd;qCE5 E5E1E1"E5:*E5Z:VE1ZE1BE53y`<; hA)AYAbD!VD˰8yU4=%5=ٔûQ->9 ?Y ?=EyD9E>Q 54řM?Q 94)o{BY>Q E:y4,>Q I%@QYDI:i:4yBɮDA EB*** querying acoustic contact ***ii:i)-FNOT Ignoring new targets: 268.35 m."i5Nи*i5NиMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510804M ProNav: ac range: 268.350220 m, nav range: 266.853424 m, bearing: 6.694008 deg, approach rate: -0.515880 m/s, LOS rate: -0.005691 deg/s, cmd heading: 7.283525 deg, new cmd heading: 7.278559 deg. iM&UHeadingCmd: 0.127035 target range: 268.350220 and range: 269.30 m.hUj>hQhYhYhYgYgYjgargeBeareaZei:ei*em`,L?MÂGezA}AԙP9zAYA[Bɢ*) |zi ) (ü  i ]eij>5s=5'=I5j>I99@ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763299 ^A ff=A >A ?AE ؟AII IY Om >U%,i:LA2@2@=2Zٱ2t=2H?u@}(B??wr ?ש?+?i2@I2d;2pCY>~By>I @@DDbDJ+VDJ԰8yR/;%R^=ٔVQ-V>9V"?YV"?=VEyZDX^E^>`Q 5f4bM?Q 9f4b)bw{BYdyf,>Q If%@b\YDIbz:ib:b4ylɮnAl:iFNOT Ignoring new targets: 268.35 m."i ?ɸ*i ?ɸ ProNav: ac range: 268.350220 m, nav range: 266.669281 m, bearing: 6.691983 deg, approach rate: -0.499608 m/s, LOS rate: -0.005498 deg/s, cmd heading: 7.278559 deg, new cmd heading: 7.274506 deg. i %HeadingCmd: 0.126964 target range: 268.350220 and range: 269.30 m.h%>h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5@\Bɢν) si)ȼil i >(x=ׅ=I>I!bE» 4jE( 4rE¼k0E5 E5E5&E1"E52:*E5k:VE54ZE1aM@aM@aM@aM@9@ @@ 0@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015111 B>B\CBBB =BBٺDB;B6E^A{=9 Aq I I O >Rz%,U:LA2@2C=2 ٱ2l=2Hg?[v@Xsu?`?@}6?$Ĺ?y?i2@I2$d;2rCY>~By>IbDF.VDFװ8Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266774yV<%VJ=ٔZTQ-Z>9XYX=^Ey^D^OE^>`Q 5f4bѹM?Q 9f4b)b{BYhyj+>Q Ij%@biYDIb~:ib2:b 4!yYɮ]`AY:iFNOT Ignoring new targets: 268.35 m."i$*i$ ProNav: ac range: 268.350220 m, nav range: 266.468201 m, bearing: 6.689773 deg, approach rate: -0.474942 m/s, LOS rate: -0.005222 deg/s, cmd heading: 7.274506 deg, new cmd heading: 7.270084 deg. iHeadingCmd: 0.126887 target range: 268.350220 and range: 269.30 m.h>hhhhggjgYrgYeYreYZeY:ea*eeW@ ^Bɢ K)) -}i1)5Aϼ11i5Z# i=>=j==I=I=>IAi9@ @@0@@p=@=EY E]E]%EY"EY*E]?:VE] 4ZEYBE]%*^b%,1:LA2@2=2@ٱ2(=2H`?Q@?`g?@󕺿Eb?@?@F?i2@I2ic;2pCY>~By>IiMb@Mb@Mb@ 9bX9?Mb?y&1|?YE>y<`;MA A)YbDVD8y-=%-B=ٔ5LQ-5>91Y1=5Ey5D=׺E=>AQ 5M4EM?Q 9M4E)E{BYUo>Q EU:yU>Q IU%@EvYDIE:iE:Ea4yYɮ](AaԹ:iFNOT Ignoring new targets: 268.35 m."i K*i K ProNav: ac range: 268.350220 m, nav range: 266.266296 m, bearing: 6.688616 deg, approach rate: -0.484914 m/s, LOS rate: -0.002782 deg/s, cmd heading: 7.270084 deg, new cmd heading: 7.267767 deg. i󢸝%HeadingCmd: 0.126846 target range: 268.350220 and range: 269.30 m.h% >h!h!h!h!g!g)jg)rg-Be)re1ZeQ:eQ*eU@颥_Bɢ>ý) zi)ּii >b^=u=I >Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7715089@ @@Y0@^A[=E  E E &E "E :*E V:VE 4ZE a @a @a @a @A I! I9 A OM >ia Ia e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022973t%, :LA2V@2/=2zRٱ2=2H@?`E7q?ౠ?/ ?2??i2V@I2c;2qCYN~ByRIIV8>)V<bDZVDZ8ybk%bQ=ٔfUQ-f>9dYd=fEyj DjWEj>pQ 5r4rWM?Q 9v4r]Q =vtI)r{BYtyv>Q Iv&@rYDIr:ir:r74yxɮ~=AB >B ZCB B B  =B B غDB ;B 6E~ E:iFNOT Ignoring new targets: 268.35 m."iG*iG ProNav: ac range: 268.350220 m, nav range: 266.078369 m, bearing: 6.687549 deg, approach rate: -0.480382 m/s, LOS rate: -0.002728 deg/s, cmd heading: 7.267767 deg, new cmd heading: 7.265633 deg. iHeadingCmd: 0.126809 target range: 268.350220 and range: 269.30 m.hF>hhhhggjgrgereZe:e*e@ @额`Bɢw@Ž)  }i)xܼ顩iiF>[Q==IF>II!)%zA9@ @@0@ABDAT read: Rx Time:04:17:46.7784 TRx dataTimestamp_ set to:1764908267.846815checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275761q^Axr=I I O- >ԡ x%,;LADAAzDn,@ne=nٱn|=nH@"? 0S@Y !x?u???@?in,@Inc;nrCEz EzEz%Ex"Ez:*Ezk:VEz 4ZExBEz6y<t<|A A)AYAbDVD8checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526637y?=%6=ٔ%%Q-%>9!Y!=-Ey-D-n9E->1Q 5=45M?Q 9=45l)5{BYEW>Q EE:yE%>Q IE&@5YDI5{:i5A:54yIɮMAQiuB*** querying acoustic contact ***iqiq:iyFNOT Ignoring new targets: 268.35 m."i춸*i춸 ProNav: ac range: 268.350220 m, nav range: 265.856049 m, bearing: 6.685384 deg, approach rate: -0.512661 m/s, LOS rate: -0.004998 deg/s, cmd heading: 7.265633 deg, new cmd heading: 7.261298 deg. iWHeadingCmd: 0.126734 target range: 268.350220 and range: 269.30 m.hq>hhhhggjgrgBereZe:e*eSD=mb=Iq>I9@ @@h1@ԙ^A% {= DAT read: 04:17:46.7784 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 414,-0.03, 0.088,-1.402, 0.278,-0.580, PHS= 0.770,-0.777, 0.814, RAW= 151.4, -10.3, CAL= 152.1, -12.1, ROT= 357.9, 12.1  Ygot valid direction response: 04:17:46.7784 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 414,-0.03, 0.088,-1.402, 0.278,-0.580, PHS= 0.770,-0.777, 0.814, RAW= 151.4, -10.3, CAL= 152.1, -12.1, ROT= 357.9, 12.1  PDAT read: Bearing 150.7, -1.3 (Local)  ~Local bearing/azimuth received: Bearing 150.7, -1.3 (Local)  DAT read: Range 11 to 50 : 267.3 m (Round-trip 356.4 ms) speed 0.2 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.977127,-0.035830,-0.209619] Fpublishing direction and range infoy  ID?>AX9hʿY C ) FI E?i yF NbP? )@ X8 )@ @X) @I @X> Ef,?ϠY;f?9gƿ A ?) +%8>I Q i @X> 5 T****** received valid address query ******5 R****** received valid ping request ******5 Querying Benthos address 50 with one ping in standard two-way mode.Ia Iq O} > %,;LA2c@22=2!ٱ2=2H`?@*@ (? ?`"!? k(??i2c@I24Fc;2oCY>By>IbDVVDV8yna=%nb=ٔr]6Q-r>9pYt=vEyvDvy;Ev>xQ 5%4zM?Q 9%4z)z{BY!y%&>Q I%&@zYDIz;izZ;zb4y1ɮ5`A5 Eiig;LAj.C"j.C:jV="p+xt\Dp@aOg#)DKpID?>AX9hʿ*jQ 2j@X>*p>#Qp@9@X:Gpzk\? սP?Zm8ƿjGA jCi:룊?iM:1jAj:룊?jj;BrjqCzjr= addTargetRange:: Added new target pos. range: 267.299988 m, deltaT: 4.031636 s, deltaX: -2.000000 m, approachRate: -0.496077 m/s, rangeRepo size: 4  Added new target pos. range: 266.365265 m, bearing: 5.613578 deg, lat: 36.779528 deg, lon: -121.859717 deg, deltaT: 4.031636 s, deltaX: -1.984955 m, approachRate: -0.492345 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 266.37 m."i*i% ProNav: ac range: 266.365265 m, nav range: 262.887848 m, bearing: 6.754840 deg, approach rate: 0.000000 m/s, LOS rate: -0.004998 deg/s, cmd heading: 7.261298 deg, new cmd heading: 7.257526 deg. i!-HeadingCmd: 0.126668 target range: 266.365265 and range: 267.30 m.h-/>h)h)h)h)g1gQjgQrgYeYreYZeY:e]̴p@*ee ?cBɢ) pi)%!!i% JiU/>U 8=UU=I]/>IYE EEE"ED:*EVEZEa@a@a@a@-(DAT read: user:17> -BDAT read: Tx time:04:17:48.0178 5$Ping request sent.5B\CBIBBB =BBٺDB;B6EBZCBZCBƕCB =B =C16) ^Am W^=Am >Am >I I O >Q %,P5;LA29@2@h=2D%ٱ2=2H"?@ǽ@E׼??˻ ?ɺ?S?i29@I2}c;2qCBchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250916YFByFI HHbDRVDR8yV1%ZM=ٔZ9'Q-Z>9Y=Ey"DS:E%>!Q 5-4% N?Q 9-4%)%{BY1y5/'>Q I5&@%YDI%;i%b;%4yAɮErAA:iimFNOT Ignoring new targets: 266.37 m."iu*iu ProNav: ac range: 266.365265 m, nav range: 262.684357 m, bearing: 6.752825 deg, approach rate: -0.515442 m/s, LOS rate: -0.005108 deg/s, cmd heading: 7.257526 deg, new cmd heading: 7.253493 deg. iHeadingCmd: 0.126597 target range: 266.365265 and range: 267.30 m.h>hhhhggjgrgereZe:e*e,P?dBɢǽ) ri){ii>-= =I>IG>i>1m9@q @q@u4@qaE EEE"E:*Ec:VEZEBE.ԁ Q%,xO;LA02@2@}=25)ٱ27=2H?-@c?`?>3%?3?`?i2@I2+#c;2oCY@y@iMb@Mb@Mb@ 9Zd;O?Q?~jt?Yj>y\=D< A)AYbD!VD!ٔ5kQ-5>91Y1=5Ey5+D;E>Q 54N?Q 94){BY >Q E:yl:>Q I&@YDI;i/;#4yɮpA:iFNOT Ignoring new targets: 266.37 m."i&*i&  ProNav: ac range: 266.365265 m, nav range: 262.477020 m, bearing: 6.749915 deg, approach rate: -0.492508 m/s, LOS rate: -0.006916 deg/s, cmd heading: 7.253493 deg, new cmd heading: 7.247669 deg. i JHeadingCmd: 0.126496 target range: 266.365265 and range: 267.30 m.h>hhhhggjgrgBe!re!Ze!:e!*e%?UeBɢU)Y ]riY)]sYYi]ie>e"=e=Ie>Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756210ԡ 9@  @ @ 3@Թ^A8=IQIiO}>E  E E (E "E *E x:VE c44ZE a @a @a @a @ E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006774%,7Ti;LA:6@:'=:,ٱ:|N=:H?O@'M?5?diq?*V?`?BV>BTBVIBV/BBV =BTBVںDBV';BV6Ei:6@I:Tc;`:qCYfByjIbDrVDr8yz =%z<ٔzyQ-z>9|Y|=~Ey~3DS ;E> Q 54 -N?Q 94 ) {BYy>;>Q I&@ YDI :i : *4y!ɮ%A!:iIMFNOT Ignoring new targets: 266.37 m."iU5*iU5e ProNav: ac range: 266.365265 m, nav range: 262.288910 m, bearing: 6.747239 deg, approach rate: -0.492049 m/s, LOS rate: -0.007006 deg/s, cmd heading: 7.247669 deg, new cmd heading: 7.242313 deg. ie#MmHeadingCmd: 0.126402 target range: 266.365265 and range: 267.30 m.hmo>hqhqhqhqgqgjgrgereZe:e*e~?}fBɢ}\W½)y }ki)nj顁i3io>=)]=Io>Im9@i @i@m/@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258827^Az=AxAzAtAI I! O5 >A %,>;LAE EE#E"E:*Ega:VE3ZEBE6jK@jl=j/1ٱj=jH?@W u?7?z$?`j?@/?ijK@Ijb;jsCYv2ByvIIz=)zB?~=~=iMb@Mb@Mb@ 9?~jt?~jt?Y?yD=+ AA Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510935)YbDVD8y@=%9=ٔQ->9Y=Ey%)Q 554-?N?Q 954-)-{BY=?Q E=:y=EU>Q I=&@-YDI-U;i-:-T24yE BɮEAE EeB*** querying acoustic contact ***iaia:iquFNOT Ignoring new targets: 266.37 m."i}4*i}4 ProNav: ac range: 266.365265 m, nav range: 262.068451 m, bearing: 6.742865 deg, approach rate: -0.497943 m/s, LOS rate: -0.009888 deg/s, cmd heading: 7.242313 deg, new cmd heading: 7.233557 deg. iĐHeadingCmd: 0.126249 target range: 266.365265 and range: 267.30 m.hG>hhhhggjgrg2BereZe:e*e E?gBɢ) fi),iiG>X==IG>IA@ @!@%/@!i^Ae &= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763339ԙ Aq Iy I O >U%, ;LA2@2N=25ٱ2=2H?@㟿7?`?ণ=?`>~??i2@I2a;2rCY>;By>IbDFֿVDF8yNZ<%jf=ٔn(Q-n>9lYl=rEyrCDrN&;Er>tQ 5z4vNN?Q 9z4v)v{BYxy~5V>Q I~&@vYDIv;iv;v84yBɮAE:i)5FNOT Ignoring new targets: 266.37 m."i57*i57E ProNav: ac range: 266.365265 m, nav range: 261.887726 m, bearing: 6.739237 deg, approach rate: -0.499789 m/s, LOS rate: -0.010040 deg/s, cmd heading: 7.233557 deg, new cmd heading: 7.226296 deg. iEMHeadingCmd: 0.126123 target range: 266.365265 and range: 267.30 m.hMM&>hIhIhIhQgQgQjgQrgQeYreYZeY:ea*ee`/@y频ɢȽ) ei)顙i޻iM&>=WU=IM&>IEm EiEm%Ei"Em:*EiVEm 4ZEia}@a}@a}@a}@}9@y @y@/@ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014768B>BBIBMBBBBٺDBm;B6E^A=A I I O > %,};LA2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2667356@6@;=6&F9ٱ6 =6Hڿ?徿@u 2ν??`@&?Zo?e?i6@I6a;6pCYBMByBIbDJVDJ8yR2=%VI=ٔVz+Q-V>9XYX=ZEyZKDZ}:EZ>`Q 5f4b4_N?Q 9f4b)b |BYdyfV>Q If&@bYDIb:ib:b?4yjBɮnsAnE:i|FNOT Ignoring new targets: 266.37 m."i8*i 8 ProNav: ac range: 266.365265 m, nav range: 261.689026 m, bearing: 6.735222 deg, approach rate: -0.498854 m/s, LOS rate: -0.010088 deg/s, cmd heading: 7.226297 deg, new cmd heading: 7.218260 deg. iHeadingCmd: 0.125982 target range: 266.365265 and range: 267.30 m.h>h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5`:_@ehBɢe,)a e`ia)mgiiimxٻiu>uH=u =Iu>I9@ @@@E EE&E"E7;*E:VE4ZEBEZA> fCchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519363Q]G}{Ar9{AYAA I I O >i v%,;LA2@2=2bu=ٱ2=2H? P?P??a^?^By> I @@i5Mb@Mb@Mb@1111 195}?5^I?MbX9?~jt?Y5M?y5ʡ=15& A5xA 5A)5 A1Y5AbDMVDM8y]!=%]?=ٔeQ-e>9aYa=mEymTDmy:Em>qQ 5}4uqN?Q 9}4u)u|BY?Q E:y^>Q I&@uYDIu ;iur;uG4yɮ+A:iFNOT Ignoring new targets: 266.37 m."i*i ProNav: ac range: 266.365265 m, nav range: 261.472382 m, bearing: 6.728011 deg, approach rate: -0.507500 m/s, LOS rate: -0.016905 deg/s, cmd heading: 7.218260 deg, new cmd heading: 7.203827 deg. iHeadingCmd: 0.125730 target range: 266.365265 and range: 267.30 m.h>hhhhggjgrg4BereZe:e*e @ɢf\) \i)%l !!i%YԻi->-=-M/=I->I)qI)yAu>u<}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771987M9@I @I@I@Iԡ^Auժ=bEIjEM4rEMS}/E  E E E "E :*E :VE ZE a% @a% @a% @a% @A I I O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022820 (%,^;LAB&>B$B&!IB&BB$B$B$B&;B&7E>>@>)=>0Aٱ>B=>H8?@,/gh ?ד?h#?/S? ?i>>@I>bpa;>pCYJdByNIbDV VDV8y^-p<%^U=ٔbQ-b>9dYd=fEyf\Dj:Ej>lQ 5v4nN?Q 9v4n)n0|BYxyz>Q Iz&@nZDIn/;in0;nM4yɮA :iAMFNOT Ignoring new targets: 266.37 m."iM*iU ProNav: ac range: 266.365265 m, nav range: 261.276917 m, bearing: 6.721471 deg, approach rate: -0.501505 m/s, LOS rate: -0.016793 deg/s, cmd heading: 7.203827 deg, new cmd heading: 7.190736 deg. iHeadingCmd: 0.125502 target range: 266.365265 and range: 267.30 m.h>hh h h g g jgrge1re1Ze1:e9*e=`C @颅iBɢF{) [i)] 顉iRRϻi>=$s=I>Im9@i @i@i@i@u=@u=BDAT read: Rx Time:04:17:50.7761 TRx dataTimestamp_ set to:1764908271.878763checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275824^AĎ=) A .AI I O= >E=  E= E= %E9 "E= 7;*E= xv:q%,EٱM`=MH;?;^ ᡿ ;3?E?=X?@G??iMb@IMy=T<A A)YAbD5<VD58yESi=%E4=ٔMQ-M>9U ?YU ?=UEyUeDU :E]>YQ 5e4]N?Q 9e4])]E|BYm?Q Em:ym>Q Im&@]ZDI]7;i]7;]U4yqɮ}A}EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 266.37 m."i*i ProNav: ac range: 266.365265 m, nav range: 261.052307 m, bearing: 6.714036 deg, approach rate: -0.499946 m/s, LOS rate: -0.016562 deg/s, cmd heading: 7.190736 deg, new cmd heading: 7.175854 deg. i|򹝏HeadingCmd: 0.125242 target range: 266.365265 and range: 267.30 m.h?>hhhhggjgrg^BereZe:e*e C@ɢ) ;Ui) ;  i ʻi?>='=I?>I9@ @@@^AH= DAT read: 04:17:50.7761 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 422, 0.41, 1.363,-0.053, 1.516, 0.692, PHS= 0.773,-0.700, 0.780, RAW= 150.2, -11.6, CAL= 151.2, -13.5, ROT= 358.8, 13.5  Ygot valid direction response: 04:17:50.7761 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 422, 0.41, 1.363,-0.053, 1.516, 0.692, PHS= 0.773,-0.700, 0.780, RAW= 150.2, -11.6, CAL= 151.2, -13.5, ROT= 358.8, 13.5  PDAT read: Bearing 150.0, -0.0 (Local)  ~Local bearing/azimuth received: Bearing 150.0, -0.0 (Local)  DAT read: Range 11 to 50 : 265.5 m (Round-trip 354.1 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.972157,-0.020364,-0.233445] Fpublishing direction and range infoy  I?h6V=ڔ%EͿ) Y C ) AI TE?i 333 G? g'@ 4QO [(@ :Fq) Hd@I :Fq> `n? IgK?[uɿ ?) QN>I i :Fq> M 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 I I O >8;%,T??i2@I2Qa;2qCY^{BybIIf=)f4=bDjVDj8yr"%rd=ٔv3Q-v>9tYt=zEyzlDz7;Ez>|Q 5%4KN?Q 9%4)U|BY)y-;>Q I-&@ZDIu:i:\4y1ɮ}Aii̴*pVs9p@b/I~@@EHp5#2?#wn!?| ǿjB jCi<>S?izjviAjj0LjArjCzjLt=u addTargetRange:: Added new target pos. range: 265.500000 m, deltaT: 4.035962 s, deltaX: -1.799988 m, approachRate: -0.445987 m/s, rangeRepo size: 4  Added new target pos. range: 264.580078 m, bearing: 7.110100 deg, lat: 36.779528 deg, lon: -121.859701 deg, deltaT: 4.035962 s, deltaX: -1.785187 m, approachRate: -0.442320 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 264.58 m."i*i ProNav: ac range: 264.580078 m, nav range: 261.036438 m, bearing: 7.006823 deg, approach rate: 0.000000 m/s, LOS rate: -0.016562 deg/s, cmd heading: 7.175854 deg, new cmd heading: 7.162843 deg. iHeadingCmd: 0.125015 target range: 264.580078 and range: 265.50 m.h>hhhhggE EE#E"E:*Ez:VE3ZEa@a@a@a@jgrgereZe:ep@*eq?EjBɢE{=)A MEViI)mBiiimFŻiu>u=uo=I}>Iyi>1 (DAT read: user:18> BDAT read: Tx time:04:17:52.0678 $Ping request sent.BE[CBE3IBEBBE =BABABE;BE7EY^Am ~4=ԁ A I I O >d %,,8a;4Yf}ByfIbDnVDnŰ8yvD;%vJ=ٔzUQ-z>9xYx=~Ey~tD~7:E~>Q 5 4N?Q 9 4t)h|BYy>Q I&@+ZDI:i:c4yBɮA%E:iAMFNOT Ignoring new targets: 264.58 m."iM *iM Ye ProNav: ac range: 264.580078 m, nav range: 260.837860 m, bearing: 7.000396 deg, approach rate: -0.536604 m/s, LOS rate: -0.017381 deg/s, cmd heading: 7.162843 deg, new cmd heading: 7.149979 deg. iezmHeadingCmd: 0.124791 target range: 264.580078 and range: 265.50 m.hmA=hihihihigigqjgqrgqeqreyZey:ey*e}I?颩ɢɽ) Ui)Qv顱iXKiA=Z= =IA=I59@1 @1@50@9@EzA@EzAԉE EE&E"E*Eg:VE4ZEBE< L%,[R=2H?@?|@ʾ?`?ሼ]???i2@I2`;2pCY>oBy>IiMb@Mb@Mb@ 9?ˡE?~jt?Y?y=D<VAIA A)j AYAbDmVDmð8y}] %}B=ٔ}U$Q->9Y=Ey}DH:E>Q 54N?Q 94)||BY?Q E:y>Q I&@8ZDI;i;rj4yɮAԹ:iFNOT Ignoring new targets: 264.58 m."iʟ*iʟ ProNav: ac range: 264.580078 m, nav range: 260.627563 m, bearing: 6.993017 deg, approach rate: -0.497274 m/s, LOS rate: -0.017462 deg/s, cmd heading: 7.149979 deg, new cmd heading: 7.135209 deg. iHeadingCmd: 0.124533 target range: 264.580078 and range: 265.50 m.h =hhhhggjgrgA>E EE$E"E:*EǙ:VE4ZEa@a@a @a @I) I9 OM >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0066849 BE >BA BE LIBE BBA BA BA BE %;BE 8EB\CB\Cv%,`k9qYq=uEyuDu&;E}>yQ 54}AN?Q 94}l)}|BYy>Q I&@}EZDI}:i}>:}wq4yɮA:iFNOT Ignoring new targets: 264.58 m."iȡ*iȡ ProNav: ac range: 264.580078 m, nav range: 260.427399 m, bearing: 6.985936 deg, approach rate: -0.499424 m/s, LOS rate: -0.017680 deg/s, cmd heading: 7.135210 deg, new cmd heading: 7.121038 deg. iUm]HeadingCmd: 0.124286 target range: 264.580078 and range: 265.50 m.h]l=hYhYhYhYgagajgargaeireiZei:ei*em@?9ɢ=♾)A ESiA)Ei]AAiE~ַiul=uݜ=u =Iul=Iy@ @@0@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258742q^A=IQ Ia Ou >ԡ E  E E "E "E :*E Ar:VE (3ZE BE 6y =`;& AA A)YQAbD-VD-8y=:ݼ%===ٔEQ-E>9AYA=EEyEDMr5;EM>QQ 5]4UN?Q 9]4U)U|BY] ?Q Ee:yek>Q Ie&@USZDIU:iU:Uy4iyiɮuAq B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 264.58 m."i%l*i%lU ProNav: ac range: 264.580078 m, nav range: 260.215179 m, bearing: 6.977825 deg, approach rate: -0.472628 m/s, LOS rate: -0.018078 deg/s, cmd heading: 7.121037 deg, new cmd heading: 7.104803 deg. iUV]HeadingCmd: 0.124002 target range: 264.580078 and range: 265.50 m.h]=hYhYhYhYgagajgrg-BereZe:e*e!?ɢzD½) Vi)EHWAIiM iM=Uܜ=U~=IU=IQԙ@ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763489^A =I I O > ƈ'%,ݙBy>"IbDVVDVð8y%J<%-^=ٔ5d)Q-5>91Y1=5Ey=DET;EE>IQ 5]4M}N?Q 9]4M`)M|BYaye >Q Ie&@M_ZDIM^V;iM!E;Mx4yuBɮ}AE:iFNOT Ignoring new targets: 264.58 m."i/*i/ ProNav: ac range: 264.580078 m, nav range: 260.033630 m, bearing: 6.970827 deg, approach rate: -0.510483 m/s, LOS rate: -0.019691 deg/s, cmd heading: 7.104803 deg, new cmd heading: 7.090797 deg. i%HeadingCmd: 0.123758 target range: 264.580078 and range: 265.50 m.ht=hhhhggjgrgereZe:e*e W@ɢ@ѽ)  hTi ) %  i 殻it=ܜ==It=IE EE$E"E*Exv:VE4ZEa@a@a@a@9@ @@?5@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014767BBBYIBBB =BBB1;B)8E^Au=AyzA}wAIIO>) Q +-%,~9pYt=vEyvDv ;Ev>xQ 5~4zKO?Q 9~4z߿)z|BYyy>Q I&@zkZDIz<;iz2:zW4y ɮ A :i1=FNOT Ignoring new targets: 264.58 m."i=믹*i=믹M ProNav: ac range: 264.580078 m, nav range: 259.840546 m, bearing: 6.963335 deg, approach rate: -0.495076 m/s, LOS rate: -0.019225 deg/s, cmd heading: 7.090797 deg, new cmd heading: 7.075801 deg. iM UHeadingCmd: 0.123496 target range: 264.580078 and range: 265.50 m.hU{=hQhQhQhQgYgYjgYrgYeareaZea:ea*eeHv@QɢUmȽ)Q UWiQ)]r"YYi]Xie{=eGޜ=e=Ie{=IaIyA)zA1E9@I @I@M>5@IE EEE"EV:*Ei:VEZEBE9ԁ 4%,O=ٔQ->9Y=EyDE>Q 54O?Q 94K)|BY?Q E:y>Q I&@yZDI:i:ۍ4yɮAE:iFNOT Ignoring new targets: 264.58 m."i a*i a ProNav: ac range: 264.580078 m, nav range: 259.623688 m, bearing: 6.955849 deg, approach rate: -0.504158 m/s, LOS rate: -0.017418 deg/s, cmd heading: 7.075801 deg, new cmd heading: 7.060817 deg. i%HeadingCmd: 0.123235 target range: 264.580078 and range: 265.50 m.h%_b=h!h!h!h)g)g)jg)rg5;Be1reZe:e*e@iBɢ(dŽ) |Ti ) S_%  i 򹥻i5_b=5ߜ=5̟=I5_b=I9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773462ԉ9@ @@15@Թ^Am`=E EE%E"E ;*Exv:VE 4ZEa@a@a@a@ Ii Iy O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022651B >B ZCB _IB BB =B B غDB ;B 7E:%,w/fBFkٱf=fHа?e-@)?@ʊ?`d?? ?ifv%@If_;fsCYr~ByrIbDzVDz8y%U=ٔ 6Q- >9 Y = Ey D;E>Q 5%4%O?Q 9%4)|BY)y->Q I-&@ZDI:i:4y1ɮ5A1:iFNOT Ignoring new targets: 264.58 m."i*i ProNav: ac range: 264.580078 m, nav range: 259.430756 m, bearing: 6.949097 deg, approach rate: -0.485930 m/s, LOS rate: -0.017019 deg/s, cmd heading: 7.060817 deg, new cmd heading: 7.047302 deg. i-HeadingCmd: 0.122999 target range: 264.580078 and range: 265.50 m.h =h h h h g g jgrgereZe:e*e n @IɢMgcν)I M3UiI)U'QQiU8gi]=]=]=I]=Ia9@ @@3@eBDAT read: Rx Time:04:17:54.8234 eTRx dataTimestamp_ set to:1764908275.914782mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275744^A)A5>A5>I I1 O= >A E  E E &E "E :*E VE 4ZE BE +}oٱ=H?`@A@5N?? ???i.@IÈ^;rCYyA-only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3768,V a-@a- a-@a5 a5@a5 a5@a5 bD=VD=8yM]s:%M0=ٔM"Q-M>9QYQ=UEyUDU ;E]>aQ 5e4e9O?Q 9m4e))e|BQ Am+:YiQ Em:ym5>Q Im&@eZDIek:ie>e4y}Bɮ}AyB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 264.58 m."i*i ProNav: ac range: 264.580078 m, nav range: 259.196808 m, bearing: 6.940835 deg, approach rate: -0.519358 m/s, LOS rate: -0.018357 deg/s, cmd heading: 7.047303 deg, new cmd heading: 7.030764 deg. iaHeadingCmd: 0.122710 target range: 264.580078 and range: 265.50 m.h`O=hhhhggjgrgereZe:e*e@ɢ"Qƽ) Ti ) x+  i 뜻i`O==Х=I`O=I%R>i%>Թ9@ @@4@ DAT read: 04:17:54.8234 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 411, 0.20,-2.688, 2.275,-2.521, 2.994, PHS= 0.703,-0.674, 0.724, RAW= 150.8, -10.9, CAL= 151.6, -12.7, ROT= 358.4, 12.7  Ygot valid direction response: 04:17:54.8234 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 411, 0.20,-2.688, 2.275,-2.521, 2.994, PHS= 0.703,-0.674, 0.724, RAW= 150.8, -10.9, CAL= 151.6, -12.7, ROT= 358.4, 12.7  PDAT read: Bearing 151.3, 0.3 (Local)  ~Local bearing/azimuth received: Bearing 151.3, 0.3 (Local) % DAT read: Range 11 to 50 : 263.5 m (Round-trip 351.4 ms) speed 0.8 m/s % R#Rx 1: Read range and direction messages.- `direction in FSK: [0.975154,-0.027239,-0.219846]- Fpublishing direction and range infoyגv4? tm䛿F#̿YC )EI3?iD,X9?q(@BV)@ b)+@Ib>[z?>ؚ?j71ȿ e ?)B>Iib>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] 5c=I I O a G%, =LA @<@ > rٱ v= H@? c@զ`N?? V?U??i @<@I Q^; pCYEByE&IbD]VD]8ymx<%md=ٔu~ Q-u>9qYq=uEyuD}Y;E}>Q 54GO?Q 94ԹԱ) }BQ A :YQ E:y >Q I&@ZDIC&"pMp@!Lpגv4? tm䛿F#̿*j2jb>*pmmp@z`NF@@ݘ:nqEpMUQ?0Cǻ?&Ŀj2B jCi࣊?iҸajAjjjrjCzj=bEJ4jEJ4rE"/E EEE"E:*E:VEZEa@a@a@a@ addTargetRange:: Added new target pos. range: 263.500000 m, deltaT: 4.031932 s, deltaX: -2.000000 m, approachRate: -0.496040 m/s, rangeRepo size: 4  Added new target pos. range: 262.580933 m, bearing: 7.218074 deg, lat: 36.779528 deg, lon: -121.859701 deg, deltaT: 4.031932 s, deltaX: -1.999146 m, approachRate: -0.495828 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 262.58 m."i*i ProNav: ac range: 262.580933 m, nav range: 259.016571 m, bearing: 6.934394 deg, approach rate: 0.000000 m/s, LOS rate: -0.018357 deg/s, cmd heading: 7.030765 deg, new cmd heading: 7.016869 deg. iHeadingCmd: 0.122467 target range: 262.580933 and range: 263.50 m.h:=hhhhgg!jgArgAeIreIZeI:eMxp@*eM BDAT read: Tx time:04:17:56.1178 $Ping request sent.BBeIBBB =BB׺DB;B7E ^A% h=I I O >1 N%,j:=LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2498316?B@6t>66wٱ6Fw=6H`?p\qKƚ??VD@ ?`xt??i6?B@I6 ^;6rCYBzByBIbDJVDJ8yR%VX=ٔV8Q-V>9XYX=ZEyZDZ$:EZ>\Q 5b4^zWO?Q 9f4^j)^}BQ Af9YdQ Ef\:yfj>Q If&@^ZDI^e:i^ҙ?^4yhɮnAnE:iFNOT Ignoring new targets: 262.58 m."iC*iC ProNav: ac range: 262.580933 m, nav range: 258.826355 m, bearing: 6.927554 deg, approach rate: -0.504932 m/s, LOS rate: -0.018170 deg/s, cmd heading: 7.016869 deg, new cmd heading: 7.003180 deg. iHeadingCmd: 0.122229 target range: 262.580933 and range: 263.50 m.hR=hhhhggjgrgereZe:e*eV?gBɢ׽) hUi)_0i򄔻i R= = *~=I R=I9@ @@/@AE EE#E"E:*E&p:VE3ZEBE?8ԙ T%,5T=LA2A@2`>24zٱ2o=2Hf?\D??nJ R?2s?V?i2A@I2n^;2pCY>dBy>IIB=)Bpy @=  A KA A)  A Y  AbD%VD%8y-Q%5B=ٔ5Q-5>99Y9==Ey=DEEEE>IQ 5U4MhO?Q 9U4M0)M(}BQ AUT:YU>Q EU:yUf>Q I]&@MZDIM ;iM ;M4yaɮeAa:i  FNOT Ignoring new targets: 262.58 m."i S*iS= ProNav: ac range: 262.580933 m, nav range: 258.618683 m, bearing: 6.922739 deg, approach rate: -0.496941 m/s, LOS rate: -0.011533 deg/s, cmd heading: 7.003180 deg, new cmd heading: 6.993540 deg. iEܨEHeadingCmd: 0.122060 target range: 262.580933 and range: 263.50 m.hE=hIhIhIhIgIgIqjgQrg}BeyreyZey:ey*e?)ɢ-ͽ5>5:?=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754091) Zi)N83顑ii==j=I=Ie9@a @a@e/@aԩE EEE"EV:*E:VEZEa@a@a@a@ ^Am \= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006203A ؟AI I O- >9 A[%,xn=LAB B B B B B B B"a;B"N7E>VB@>w>>W}ٱ>=>H?bp`?`b?S?@u??i>VB@I>:];>qCYJByJ"IbDVVDV8y^k=%^R=ٔ^Q-b>9b"?Yb"?=bEybDf>t9Ef>hQ 5n4jrxO?Q 9n4j)j5}BYpyrf>Q Ir&@jZDIj ;ij ;j4yvBɮvyAt:iFNOT Ignoring new targets: 262.58 m."iO*iO ProNav: ac range: 262.580933 m, nav range: 258.427185 m, bearing: 6.918287 deg, approach rate: -0.487566 m/s, LOS rate: -0.011343 deg/s, cmd heading: 6.993540 deg, new cmd heading: 6.984630 deg. iHeadingCmd: 0.121905 target range: 262.580933 and range: 263.50 m.h8=hhhhggjgrgereZe:e*e? fBɢ ս) WRi)75i-ދi8=%=%I=I%8=I! Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258323I@ @@/@@@uAi ^A E  E E 'E "E ;*E x:VE '4ZE BE @b%,=LAi0I2A>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513762A@@`>e8ٱc=H?@a@o?@y?`T^?q??iA@I];pCY5By=-IiMb@Mb@Mb@ 9x&1?L7A`?{GztYA?y+=ףAA A) AYAbDVD8y=%)=ٔ驺Q->9 ?Y ?=EyDVBE>Q 54{O?Q 94д)D}BY ?Q E :y I>Q I &@ZDI;i;W4yɮ4A)=B*** querying acoustic contact ***i9i9:iAMFNOT Ignoring new targets: 262.58 m."iM.!*iM.!] ProNav: ac range: 262.580933 m, nav range: 258.185425 m, bearing: 6.914198 deg, approach rate: -0.520233 m/s, LOS rate: -0.008807 deg/s, cmd heading: 6.984630 deg, new cmd heading: 6.976444 deg. i]򀹝eHeadingCmd: 0.121762 target range: 262.580933 and range: 263.50 m.heQ^=hahihihigigijgqrgu+BeqreqZeq:ey*e}`gX?%eBɢ% !ǽ)) -Mi))-8))i-ѥi5Q^=5q =5=I=Q^=I99@ @@/@Q checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761738ԉ^A] H=A ؟AԱ I I O >=h%,o=LA2=@2>2eٱ2 =2H`?&T@˨ڈ?|?@K0)?H??i2=@I28];2rCY>By>"IbDJVDJ8yrD%r]=ٔr'̺Q-r>9v"?Yv"?=vEyvDzCEz>|Q 54~ěO?Q 94~ݳ)~P}BYyI>Q I&@~ZDI~;i~j;~ʿ4yɮwA E:i1EA EEEE"EA"EA*EEh:VEE(3ZEAaM@aM@aM@aM@UFNOT Ignoring new targets: 262.58 m."iU*iUe ProNav: ac range: 262.580933 m, nav range: 258.001068 m, bearing: 6.911092 deg, approach rate: -0.501277 m/s, LOS rate: -0.008450 deg/s, cmd heading: 6.976444 deg, new cmd heading: 6.970229 deg. imnwmHeadingCmd: 0.121653 target range: 262.580933 and range: 263.50 m.hmq%=hqhqhqhqgqgqjgyrgyeyreyZe:e*eལ@颭dBɢؑ׽) Qi)=;项i:iq%==P=Iq%=Iԑ}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014240}9@y @@/@B<A<B>BYCBrIBBBBBB=;B&7EBZCBZCBĔCB =B =C5^AIN=A .AI I! O- >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265744 `n%,=LAFe;@F>F ٱF3b=FH?K ~??pM?0??iFe;@IF"];FqCYrByr-IbD VD 8y%/=%%F=ٔ-/Q-5>9= ?Y= ?==Ey=DE BEE>QQ 5]4UO?Q 9e4U˲)U]}BYaymH>Q Im&@UZDIUV;iU{W;U 4yyɮ}/A:iFNOT Ignoring new targets: 262.58 m."i*i] ProNav: ac range: 262.580933 m, nav range: 257.793365 m, bearing: 6.907603 deg, approach rate: -0.492438 m/s, LOS rate: -0.008279 deg/s, cmd heading: 6.970229 deg, new cmd heading: 6.963245 deg. i]kr]HeadingCmd: 0.121532 target range: 262.580933 and range: 263.50 m.he=hahahahagagajgirgieireiZeq:e*e&@qJTimed out from 2025-12-05T04:07:58.7Z8qfCompleted lineCaptureHoming:MicromodemComms:CheckIn8 qAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInpVCompleted lineCaptureHoming:MicromodemComms颥cBɢȽ) {Li)+N>ip~i=d==I=IEU EUEU'EQ"EU;*EU~:VEU'4ZEQBEUn__u%,=LAY By >IiMb@Mb@Mb@ 9Pn??~jtxY?y<ĻXAKA |A) AYfAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769745bD߿VD8yy=%>=ٔQ->9"?Y"?=EyDE>Q 54EO?Q 94ñ)j}BYB?Q E:y=7>Q I&@ZDI] ;i;4yBɮA E:i%FNOT Ignoring new targets: 262.58 m."i*i ProNav: ac range: 262.580933 m, nav range: 257.573181 m, bearing: 6.904740 deg, approach rate: -0.522401 m/s, LOS rate: -0.006798 deg/s, cmd heading: 6.963245 deg, new cmd heading: 6.957515 deg. i GHeadingCmd: 0.121432 target range: 262.580933 and range: 263.50 m.h=hhhhggjgrg BereZe:e*e@q8pnAggregate::initialize lineCaptureHoming:MicromodemComms8 q~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn8!ebBɢeϽ)i mDii)m3@iiiuvi==Z=I=I@ @@/@IE- E-E)E)"E-~ ;*E-|:VE)ZE)a5@a=@a=@a=@e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022449^A} =ԁ A xAzA xAB >B XCB ~IB BB =B B ֺDB ;B 6EA I I ԡ BDAT read: Rx Time:04:17:58.8495 TRx dataTimestamp_ set to:1764908279.946942checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274936Ou?#%,,=LAHV/@V,>VJٱV֧=VH`?K#@@.Q?@̇? @౰??p?iV/@IV$a];VoCYjByjCIbD}VD}8y{I<% =ٔ(Q->9Y=EyDE>Q 54O?Q 94U)|}BYy5>Q I&@[DII;i:4yɮA:iFNOT Ignoring new targets: 262.58 m."i*i︝ ProNav: ac range: 262.580933 m, nav range: 257.265839 m, bearing: 6.900832 deg, approach rate: -0.514985 m/s, LOS rate: -0.006557 deg/s, cmd heading: 6.957515 deg, new cmd heading: 6.949689 deg. i?HeadingCmd: 0.121295 target range: 262.580933 and range: 263.50 m.h}i=hhhhgg jg rg e reZe:e*e " @E`BɢE-)A E1BiA)M[DIIiM'niU}i=U4'=U\=IU}i=IYmi>im>9@ @@/@E EE$E"ED:*Ec:VE4ZEBE1%,z9>LA2z1@2@\>2iٱ2=2H@2?@@+@c"V??`N0ʰ?@7?Կ?i2z1@I2];2qCY>By>RI|i Mb@Mb@Mb@     9 Zd;?~jt?{Gzt?Y >y < ף; A 5A fA)  Y AbD}ֿVD}8yv=%L=ٔqQ->9Y=E==DAT read: 04:17:58.8495 LVL= 26320, 32753, 26802, 31283, AGC= 72, IDX= 198, 0.02,-2.524, 2.110,-2.443,-2.986, PHS= 0.564,-1.142, 0.499, RAW= 148.1, 1.0, CAL= 147.2, 0.7, ROT= 2.8, -0.7 Ygot valid direction response: 04:17:58.8495 LVL= 26320, 32753, 26802, 31283, AGC= 72, IDX= 198, 0.02,-2.524, 2.110,-2.443,-2.986, PHS= 0.564,-1.142, 0.499, RAW= 148.1, 1.0, CAL= 147.2, 0.7, ROT= 2.8, -0.7 PDAT read: Bearing 164.2, 6.6 (Local) ~Local bearing/azimuth received: Bearing 164.2, 6.6 (Local) %DAT read: Range 11 to 50 : 245.6 m (Round-trip 327.5 ms) speed 0.4 m/s -R#Rx 1: Read range and direction messages.5\direction in FSK: [0.998732,0.048846,0.012217]5Fpublishing direction and range infoy#?Ȼ[?I:?YuCfh 3z)HINb?i-|>m%@5<l$@ +H<)+H=I+H *;?CJ?@? >)qI+H=i+HMT****** received valid address query ******MR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.y D(9E>Q 54O?Q 94S)}BYH>Q E:ys3>Q I&@[DIk:i:4yBɮhAEii>LAjtC"jtC:j53>"po@㕍n@1*'@-/_@p#?Ȼ[?I:?*j+H=2j+H*p\2kn@NۏQE@N#D4@pþ!f?EM?angd3?j*B j#pCi?iqMjqBj࣊?jzjArj{CzjN=)u addTargetRange:: Added new target pos. range: 245.600006 m, deltaT: 4.036375 s, deltaX: -17.899994 m, approachRate: -4.434671 m/s, rangeRepo size: 4  Added new target pos. range: 244.734970 m, bearing: 10.068509 deg, lat: 36.779527 deg, lon: -121.859698 deg, deltaT: 4.036375 s, deltaX: -17.845963 m, approachRate: -4.421285 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 244.73 m."i*i ProNav: ac range: 244.734970 m, nav range: 256.967682 m, bearing: 6.974751 deg, approach rate: 0.000000 m/s, LOS rate: -0.006557 deg/s, cmd heading: 6.949689 deg, new cmd heading: 6.943321 deg. iHeadingCmd: 0.121184 target range: 244.734970 and range: 245.60 m.h8/=hhhhggjgrgBereZe:e@3n@*eE?^Bɢܿ) !;i)7uGi&gi8/=.=^=I8/=IEE EEEE"EA"EEV:*EE:VEE(3ZEAaM@aU@Qa]@a]@e9@a @a@e75@i (DAT read: user:20>  BDAT read: Tx time:04:18:00.1178  $Ping request sent. Q%,U6>LA>e.@>>>tٱ>b=>HQ?!2g@J?U?q<`h?@?@n?i>e.@I>]J];>oCYJByNSIbDVڿVDV8y^;%^?=ٔ^̛Q-^>9b ?Yb ?=bEybDf}Ef>hQ 5n4j O?Q 9n4jq)j}BYlyn3>Q Ir&@j,[DIj";ijn$;jv4yvBɮz[Ax B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 244.73 m."i%W*i%W򸝏5 ProNav: ac range: 244.734970 m, nav range: 256.774933 m, bearing: 6.972464 deg, approach rate: -0.557541 m/s, LOS rate: -0.006621 deg/s, cmd heading: 6.943321 deg, new cmd heading: 6.938743 deg. i5A=HeadingCmd: 0.121104 target range: 244.734970 and range: 245.60 m.h=T=h9h9h9h9g9gAjgArgAeAreIZeI:eI*eMY?}]Bɢ}Vڽ)y }":i)SI顁i~`iT=b3=gE=IT=I1@9 @9@=/@9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.248040!^Ae.= )-\CGE EE#E"Es:*E:VE3ZEBEi0% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500447_ϓ%,O>LA Fa.@F >FٱF X=FH`B?"`7iJ??`"j@?m?þ?iFa.@IF];DY^BybNI ddiMMb@Mb@Mb@IIII I9MGz?y&1?y&1|?YMp>yM`9yY=EyDE>Q 54l P?Q 94p)}BY>Q E:y%;>Q I&@9[DI`fHeadingCmd: 0.121004 target range: 244.734970 and range: 245.60 m.h=hhhhggjgrgBereZe:e*eGT?qu[Bɢu/Ƚ)q uD;iy)}?Lyyi}Xi=:=q=I=I9@ @@@@@=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750319ԙ^A ܪ= I I bEe3jEe˶4rEeː'0E  E E %E "E :*E ]t:VE 4ZE a @a @a @a @O >%,i>LA2X/@2>2ٱ2=2H?X'@-QN?`c?ju?"w??i2X/@I2Gx];2pCY>By>qIbDFVDF8PyR>%RX=ٔV: Q-V>9TYT=ZEyZ$DZ9EZ>\Q 5b4^P?Q 9b4^)^}BYdyfD;>Q If&@^E[DI^h:i^:^y4yhɮjAjE:iFNOT Ignoring new targets: 244.73 m."ip*ipchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.003047 ProNav: ac range: 244.734970 m, nav range: 256.379578 m, bearing: 6.967057 deg, approach rate: -0.485089 m/s, LOS rate: -0.006651 deg/s, cmd heading: 6.933022 deg, new cmd heading: 6.927921 deg. i%B-HeadingCmd: 0.120915 target range: 244.734970 and range: 245.60 m.h-N=h)h)h)h)gQgQjgYrgYeYreYZeY:ea*ee@n?Bu>BqBuIBu0BBqBqBqBu\;Bu@7E颽ZBɢȽ) W,i)6Ni|RiN=?==IN=I9@ @@/@^A= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254255! I I O- >%,t>LA6=,@6>6ɮٱ60x=6HD?"@ƳA?N?Q ?Q?߾?i6=,@I6];6qCYRByRuIbDZVDZ8yb<%bH=ٔb7Q-f>9dYd=fEyf-DjsEj>lQ 5r4n,P?Q 9r4n)n}BYpyr:>Q Iv&@nR[DIn;inf;n4yxɮzvAx|:i!%FNOT Ignoring new targets: 244.73 m."i-*i-= ProNav: ac range: 244.734970 m, nav range: 256.178528 m, bearing: 6.964315 deg, approach rate: -0.519895 m/s, LOS rate: -0.007097 deg/s, cmd heading: 6.927921 deg, new cmd heading: 6.922433 deg. i=OEHeadingCmd: 0.120819 target range: 244.734970 and range: 245.60 m.hEp=hAhAhAhAgAgIjgIrgIeIreQZeQ:eQ*eU`ԁ %,>LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7583586(@6`A>6鈽ٱ6s=6H?@ Ъ3? 3?3? s4?`5?i6(@I6\;6nCYRByRIaiUMb@Mb@Mb@QQQQ Q9Ujt?~jt?y&1|?YU?yUD=QU\AUA UjA)UAQYUG AbDVD8y]A=%]3=ٔeQ-e>9aYa=mEym6Dmm|Em>qQ 5}4uv?P?Q 9}4uC)u}BY]?Q E:ya>Q I&@ua[DIu:iug:u4yBɮAE:iFNOT Ignoring new targets: 244.73 m."iL*iL ProNav: ac range: 244.734970 m, nav range: 255.949753 m, bearing: 6.959221 deg, approach rate: -0.502182 m/s, LOS rate: -0.011191 deg/s, cmd heading: 6.922433 deg, new cmd heading: 6.912236 deg. iأHeadingCmd: 0.120641 target range: 244.734970 and range: 245.60 m.h=hhhhggjgrgBereZe:e*e@O@uVBɢub)q }K#iy)}Ryyi} Ei=mK="=I=IuPExceeded connect timeout, disconnecting.ԉE9@A @A@E/@AE EE$E"E:*EVE4ZEa@a@a@a@Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.010587B <A <Bm>BiBmIBmIBBiBiBiBm;Bmu7E^AM =I I O > 5%,h>LA2`'@2>2oPٱ2¯=2H`?.?@?@&?=?v?i2`'@I2=\;0YRByRIbDXVDXyb=%bh=ٔfWQ-f>9dYd=jEyj=DjEj>lQ 5r4nNP?Q 9r4n>)n}BYtyva>Q Iv&@nl[DIn`:inl:n 4yxɮzAxB*** querying acoustic contact ***ii:i!%FNOT Ignoring new targets: 244.73 m."i-K*i-K= ProNav: ac range: 244.734970 m, nav range: 255.773666 m, bearing: 6.955300 deg, approach rate: -0.499501 m/s, LOS rate: -0.011131 deg/s, cmd heading: 6.912236 deg, new cmd heading: 6.904388 deg. i=EHeadingCmd: 0.120504 target range: 244.734970 and range: 245.60 m.hE=hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*eUO@颅UBɢƽ) i)QT顉i|e@i=P==I=I@ @@/@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262644^A1A=>A=>IIO>DD<E EE'E"ED:*E~:VE'4ZEBE1LA6'@6@ >6ʃٱ6A=6H?@ -??$ +-? ??i6'@I6^\;6pCYn$BynIi]Mb@Mb@Mb@YYYY Y9]Q?V-?Q?Y]>y]m=]u<]AY ]A)]AYY]( AbDVD8y<%9=ٔgQ->9Y=EyFD?ԸE>Q 54k_P?Q 94)~BY>Q E:yy>Q I&@z[DI0;i.;v4yBɮpA:i!-FNOT Ignoring new targets: 244.73 m."i5hq*i5hq= ProNav: ac range: 244.734970 m, nav range: 255.562424 m, bearing: 6.949468 deg, approach rate: -0.477408 m/s, LOS rate: -0.013191 deg/s, cmd heading: 6.904389 deg, new cmd heading: 6.892715 deg. i= EHeadingCmd: 0.120301 target range: 244.734970 and range: 245.60 m.hE%`=hAhIhIhIgIgIjgQrgUBeQreQZeY:eY*e]-@颍SBɢѻ) ^i)lvV顑iz:i%`=RV=7[=I%`=IE9@A @A@E0@A=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766490I^AaIIO>= nManaging dock network, ignoring radio surface power offq E  E E #E "E ;*E &p:VE 3ZE a @a @a @a @W%,`>LAY=0By=I IIbDeڿVDe8yu|o=%Q=ٔQ->9Y=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.018476yMDE>Q 54nP?Q 94)'~BYyQ I&@[DI:i:b4yɮAB>BBIB]BB =BBB;B7EBXCBXCBCB =B =C1O4Q:iFNOT Ignoring new targets: 244.73 m."inf*inf ProNav: ac range: 244.734970 m, nav range: 255.373306 m, bearing: 6.944239 deg, approach rate: -0.455026 m/s, LOS rate: -0.012591 deg/s, cmd heading: 6.892715 deg, new cmd heading: 6.882249 deg. iXHeadingCmd: 0.120118 target range: 244.734970 and range: 245.60 m.h_=hhhhggjgrgereZe:e*e@ @QBɢld) oi) qXiV5i_=\==I_=IU?>iU>ԉ9@ @@/@@=@=ԩU BDAT read: Rx Time:04:18:02.8901 U TRx dataTimestamp_ set to:1764908283.982702] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271276^A! I! I1 O= >;4%, ?LA2%@2>2Fٱ2=2H ?`@0'?@?輿 1=?U??i2%@I2\;0Y>6By>IbDJVDJ8yR =%RZ=ٔR,Q-R>9TYT=VEyVUDVEZ>\Q 5b4^}P?Q 9b4^)^;~BY`yby>Q Ib&@^[DI^:i^:^4yfBɮjAjE:i|FNOT Ignoring new targets: 244.73 m."i*i ProNav: ac range: 244.734970 m, nav range: 255.196960 m, bearing: 6.939361 deg, approach rate: -0.503612 m/s, LOS rate: -0.013940 deg/s, cmd heading: 6.882248 deg, new cmd heading: 6.872486 deg. i̹HeadingCmd: 0.119948 target range: 244.734970 and range: 245.60 m.h =hhh!h!g!g!jg!rg)e)re)Ze):e)*e5zN @OBɢP) 3 i);Zig0i = a= I =IDm@AzDmAAEu EuEu$Eq"Eu:*Eu]t:VEu4ZEqBEuG-[Y%,?LA.DAT read: 04:18:02.8901 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 341, 0.50, 2.285, 1.004, 2.469, 1.661, PHS= 0.726,-0.612, 0.764, RAW= 151.4, -12.9, CAL= 152.6, -14.9, ROT= 357.4, 14.9 6Ygot valid direction response: 04:18:02.8901 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 341, 0.50, 2.285, 1.004, 2.469, 1.661, PHS= 0.726,-0.612, 0.764, RAW= 151.4, -12.9, CAL= 152.6, -14.9, ROT= 357.4, 14.9 >PDAT read: Bearing 149.6, -0.3 (Local) F~Local bearing/azimuth received: Bearing 149.6, -0.3 (Local) NDAT read: Range 11 to 50 : 276.0 m (Round-trip 368.1 ms) speed 0.4 m/s RR#Rx 1: Read range and direction messages.Z`direction in FSK: [0.965381,-0.043838,-0.257133]ZFpublishing direction and range infoyB@g?x&5qFhtпYC` )DI#9?iC?)@ft*@ %)@I%><?j??y6 ̿ ? ?)7f>I9i%>-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.5)(@5 2>5ٱ5d=5HA?@ C@1?/?{9Q? 2??i5)(@I5\;5nCYMy}=#< SA)AYz AbDMVDM8y]{<%]=ٔeQ-e>9Y=Ey_D:E>Q 54P?Q 94أ)V~BY>Q E:y^>Q I&@[DI;i;*)4yBɮAii?LAjC"jC:j|="p*4p@b(<QpB@g?x&5qFhtп*j92j%>*prp@ѪH=@?~JE EEE"EV:*E:VEZEa@a@a@a@pEŤ*2?6\׸?b>8ȿjBA jCii,ը?iEjP*AjjjArj~CzjJ=addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 276.000000 m, deltaT: 4.031591 s, deltaX: 30.399994 m, approachRate: 7.540446 m/s, rangeRepo size: 4:iFNOT Ignoring new targets: 244.73 m."iz*iz ProNav: ac range: 244.734970 m, nav range: 254.936935 m, bearing: 6.931745 deg, approach rate: -0.467543 m/s, LOS rate: -0.013708 deg/s, cmd heading: 6.872486 deg, new cmd heading: 6.857238 deg. iȹHeadingCmd: 0.119681 target range: 244.734970 and range: 245.60 m.h=hhhhggjgrg%2Be!re!Ze!:e-@q@*e-:?额LBɢ䮽) i)%p\i5D+i=oj==I=I!AA@AB>BBIBwBB =BBBԀ;B7E(DAT read: user:21> BDAT read: Tx time:04:18:04.1678 $Ping request sent.%,!;?LA>h-@>>>Gٱ>=>Hl?C$@S5F? ?bae?V??i>h-@I>,\;>mCYJJByJIIN=)N;bDVVDV8y^=%^}=ٔ^tQ-b ?9`Y`=bEybfDfg;Ef ?hQ 5n4jP?Q 9n4jբ)jf~BYlyn>Q In&@j[DIj.:ij\:j.4ytɮv0AtB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 244.73 m."i΍*i΍- ProNav: ac range: 244.734970 m, nav range: 254.783539 m, bearing: 6.927222 deg, approach rate: -0.525298 m/s, LOS rate: -0.015497 deg/s, cmd heading: 6.857238 deg, new cmd heading: 6.848188 deg. i-⹝5HeadingCmd: 0.119523 target range: 244.734970 and range: 245.60 m.h5=h1h9h9h9g9g9jgArgAeAreAZeA:eI*eMs?uJBɢuĽ)y }iy)}]yyi},'i=o=<=I=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250196!=9@A @A@E1@AI^Ae=E} E}E}#Ey"E}:*E}':VE}3ZEyBE}.y  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503800%,YT?LA0Y~GBy~IiMb@Mb@Mb@ 9Zd;?Dl?~jth?Y>yO=D;+A A A)AY3 AbDVD8ys%<=ٔQ->9Y=EyoDE>Q 54LP?Q 94U)z~BY?Q E:ys>Q I&@[DI:i:F64yBɮCAE:iFNOT Ignoring new targets: 244.73 m."i%ޓ*i%ޓ- ProNav: ac range: 244.734970 m, nav range: 254.567749 m, bearing: 6.920198 deg, approach rate: -0.495988 m/s, LOS rate: -0.016159 deg/s, cmd heading: 6.848188 deg, new cmd heading: 6.834127 deg. i-칝5HeadingCmd: 0.119278 target range: 244.734970 and range: 245.60 m.h=H=h9h9h9h9g9g9jgArgEBeAreAZeI:eI*eMD?}HBɢ}ȧ)y }riy)i]_顁iD"iH=v=u=IH=IԉM9@I @I@M%1@I=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755417Թ^A벫=II O > E  E E !E "E :*E xv:VE c3ZE a @a @a @a @ #%,(n?LAB>BBIBBB =BBB̀;B7EBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005338F;/@F`>F=|ٱF=FHݩ?- ^`CM?? bg@?!V?Ƚ?iF;/@IF\;FoCYRTByRI XZ4=\bD^VD^8yf1=%f[=ٔjκQ-j>9hYh=nEynvDna:En>pQ 5v4r~P?Q 9v4r )r~BYxyz>Q Iz&@r[DIrz:ir:r<4yYɮ]AY:iFNOT Ignoring new targets: 244.73 m."i**i* ProNav: ac range: 244.734970 m, nav range: 254.382843 m, bearing: 6.914159 deg, approach rate: -0.475371 m/s, LOS rate: -0.015536 deg/s, cmd heading: 6.834126 deg, new cmd heading: 6.822040 deg. iw㹝HeadingCmd: 0.119067 target range: 244.734970 and range: 245.60 m.hn=hhhhggjgrgereZe:e*es?eEBɢe")a eii)m `iiim\in=_~=A=In=I9@ @@2@@=@=]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261170^Aʞ=A A ؟AI! I9 OU >A %,؝?LAzAA.9.zAY.uAb),@b >bٱbF =bH ?@@֫` A?2? c,???ib),@Ib\;bmCYnLBynI ppbDz#VDzͰ8y%G=ٔQ->9 "?Y "?= Ey ~D oE>Q 5%4EP?Q 9%4)~BY)y-c>Q I-&@[DIq:i:C4E= E=E=&E9"E=:*E=:VE=4ZE9BE=>ԙ E ?E ?M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7628799E%,G?LAY~gBy~IYiMb@Mb@Mb@ 9~jt?Q?Y?y\=A )AY AbDVD8y=%==ٔQ->9Y=EyDE>Q 54P?Q 94)~BY?Q E:y>Q I&@[DI:i:K4yɮ9A:i%FNOT Ignoring new targets: 244.73 m."i%*i%= ProNav: ac range: 244.734970 m, nav range: 253.955963 m, bearing: 6.900360 deg, approach rate: -0.519829 m/s, LOS rate: -0.016672 deg/s, cmd heading: 6.808708 deg, new cmd heading: 6.794420 deg. i=EHeadingCmd: 0.118585 target range: 244.734970 and range: 245.60 m.hE=hAhAhAhAgAgIjgIrgM%BeIreQZeQ:eQ*eU @颅ABɢ) پi)c顑ii==o=I=IbE4jE3rEI"0E5 E5E5!E1"E5:*E5:VE5c3ZE1a=@a=@a=@a=@M9@I @I@M5@IԉB>BWCB-IBBB =BBBҀ;B7Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013527Թ^Aʞ=A I I O >^%,F?LA2$@2 >2ƍٱ2=2H?@YS`"#??@_ α?@nٺ?@߾?i2$@I2\;2oCY>hBy>IDFAAbDJVDJ8yR;%Rb=ٔR Q-R>9TYT=VEyVDV%EZ>XQ 5b4ZP?Q 9b4Zћ)Z~BY`yb>Q Ib&@Z[DIZ ;iZ;ZQ4yf Bɮj*AhvB*** querying acoustic contact ***itit:i|~FNOT Ignoring new targets: 244.73 m."i*i ProNav: ac range: 244.734970 m, nav range: 253.769165 m, bearing: 6.894403 deg, approach rate: -0.515520 m/s, LOS rate: -0.016452 deg/s, cmd heading: 6.794420 deg, new cmd heading: 6.782498 deg. i𹝏HeadingCmd: 0.118377 target range: 244.734970 and range: 245.60 m.ho=hhhhg!g!jg!rg!e)re)Ze):e)*e-@@]?Bɢ]ر)a e־ii)m70eiqiuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265996i]o=e=eY =Ieo=Ia9@ @@2@@xA@E] E]E]&EY"E]:*E]xv:VE]4ZEYBE]3SJ%,s0?LA2q$@2 >2ٱ2U=2He?@ 6!"??@`2???i2q$@I2!\;2mC)Y]pBy]IIe!>)e=iMb@Mb@Mb@ 9(\?y&1?~jt?Y?y`e=D<AA A)XAY AbDVD8y <% )=ٔQ->9Y=EyDKgE>!Q 54%Q?Q 94%H)%~BYx?Q E:yk>Q I'@%[DI%gB B @IB BB B B պDB !;B 8EO= >6g%,?LA2#@2@>2+(ٱ2A=2HT??`?E`6? )?Z?i2#@I2`\;2oC>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021487 >3C)>ABD;@@BCB~AiBIFFDIDiFvA F|?FİF)DJC JA~AJDHLLNlAIL)LiL)R CIR5~AR9P PVCVA~AViTTiTZ5A)X Z*FIXYXYbxBybIbDuVDu8yC5=%b=ٔR^Q->9Y=EyDjE>Q 54Q?Q 94)~BY!y%j>Q I%'@ \DI:i:`4y- Bɮ-A5Eԡ:iFNOT Ignoring new targets: 244.73 m."io*io ProNav: ac range: 244.734970 m, nav range: 253.321045 m, bearing: 6.883300 deg, approach rate: -0.528282 m/s, LOS rate: -0.013104 deg/s, cmd heading: 6.769839 deg, new cmd heading: 6.760271 deg. iؿHeadingCmd: 0.117989 target range: 244.734970 and range: 245.60 m.h5=hhhhggjgrgereZe:e*e@ @ :Bɢ 쬽)  >¾i)mgiR i5=m=¼=I5=I!9@ @@/@5BDAT read: Rx Time:04:18:06.8941 =TRx dataTimestamp_ set to:1764908288.016055Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276734^Ae= A .AI I! O- >) H%, @LA2"@2>2]ٱ2=2Hc?@d앬@??@㳽? ?λ?i2"@I2o\;2qCYtByIbDVD8y-X%-W=ٔ5Q-5>95 ?Y5 ?==Ey=DEE EEEE%EA"EED:*EE:VEE 4ZEABEE1Q 54)Q?Q 94ߗ)BYyj>Q I'@\DI^;iY;g4yɮA:i FNOT Ignoring new targets: 244.73 m."i]v*i]v% ProNav: ac range: 244.734970 m, nav range: 253.113541 m, bearing: 6.878156 deg, approach rate: -0.542635 m/s, LOS rate: -0.013462 deg/s, cmd heading: 6.760271 deg, new cmd heading: 6.749975 deg. i-Ź-HeadingCmd: 0.117809 target range: 244.734970 and range: 245.60 m.h-E=h1h1h1h1g1g9jg9rg9e9reAZeA:eA*eE@ @u8BɢunĬ)q uXľiy)}R%iyyi} iE=b==IE=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5266621@1 @9@=/@A@]=@]=I^AUp=y A ؟AI I O >u DAT read: 04:18:06.8941 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 479, 0.41,-1.474,-3.125,-1.403,-1.918, PHS= 0.546,-1.161, 0.471, RAW= 147.8, 1.8, CAL= 147.0, 1.7, ROT= 3.0, -1.7 } Ygot valid direction response: 04:18:06.8941 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 479, 0.41,-1.474,-3.125,-1.403,-1.918, PHS= 0.546,-1.161, 0.471, RAW= 147.8, 1.8, CAL= 147.0, 1.7, ROT= 3.0, -1.7  PDAT read: Bearing 165.6, 7.2 (Local)  ~Local bearing/azimuth received: Bearing 165.6, 7.2 (Local)  DAT read: Range 11 to 50 : 241.5 m (Round-trip 322.1 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.998190,0.052313,0.029666] Fpublishing direction and range infoyA E E&,?gȪ? `?YE qCA A A A A )E EIE ?iE E &>E %@E =E Y3$@ E <)E PwV=IE A A E L?|A?`0? E Z,>)E IE PwV=iE A A  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.;s%,?q#@LA0YBy I i]Mb@Mb@Mb@YYYY Y9]MbX9?A`"?Y]?y]Y=]iYY ]"A)]AYY]f AbDVD8y]6=%(=ٔQ->9"?Y"?=EyDE>Q 54Q I'@'\DI&;i%;o4y BɮaAEiqiu,)!@LAjupC"jupC:ju3>"pu#Xn@յS?juҸajuArju{CzjuA= addTargetRange:: Added new target pos. range: 241.500000 m, deltaT: 8.063796 s, deltaX: -4.100006 m, approachRate: -0.508446 m/s, rangeRepo size: 4 5 Added new target pos. range: 240.644470 m, bearing: 10.059181 deg, lat: 36.779518 deg, lon: -121.859687 deg, deltaT: 8.063796 s, deltaX: -4.090500 m, approachRate: -0.507267 m/s, posRepo size: 4 :i9=FNOT Ignoring new targets: 240.64 m."ie*iau ProNav: ac range: 240.644470 m, nav range: 251.984436 m, bearing: 7.113183 deg, approach rate: 0.000000 m/s, LOS rate: -0.013462 deg/s, cmd heading: 6.749975 deg, new cmd heading: 6.736826 deg. iq}HeadingCmd: 0.117580 target range: 240.644470 and range: 241.50 m.h}=hyhyB>BBSIBBB =BBBl;BI8EBWCBWCBB =B =CŔd5hhggjg rg e re Ze:e0n@*e?e6Bɢeݡ)a eնia)mkjiiim iu=uR=uEQ=Iu=Iq(DAT read: user:22> BDAT read: Tx time:04:18:08.2177 $Ping request sent.%,@B@LA2 @2J>2fܐٱ2+=2Hw? ?|?`?л??i2 @I21\;2oCY^BybIbDj VDj8yrӀ=%rM=ٔr%Q-r>9v ?Yv ?=vEyvDz Ez>|Q 54~)MQ?Q 94~;)~,BYyk>Q I'@~4\DI~:i~:~v4yɮA-B*** querying acoustic contact ***1i)i):iAEFNOT Ignoring new targets: 240.64 m."iMk*iMk] ProNav: ac range: 240.644470 m, nav range: 251.783157 m, bearing: 7.108310 deg, approach rate: -0.531693 m/s, LOS rate: -0.012882 deg/s, cmd heading: 6.736826 deg, new cmd heading: 6.727072 deg. i]eHeadingCmd: 0.117410 target range: 240.644470 and range: 241.50 m.hemt=hahahahagagijgirgieqreqZeq:eq*euO?颥4Bɢ #) ~i)k顩iimt==:=Imt=I-9@) @)@-/@)aE EE$E"E:*E҆:VE4ZEBE>Թ _%,ׇ\@LA2@2@>2eSٱ2e=2H?9@̬h??꽿&?@̻?Ѻ?i2@I2\;2nCY>By>IiMb@Mb@Mb@ 9Zd;O?:v?~jth?Yj>yT=D;rAfA  A)AY AbD%VD%Ȱ8yE2ռ%EE=ٔMQ-M>9QYY=eEyeDeq_Em>ԹqQ 54u^Q?Q 94u)u?BY>Q E:y k>Q I '@uA\DIu+BU VCBU fIBU ȀBBQ BQ BQ BU `;BU <8E^Au h=- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006947I I O% >9 w%,bv@LA2?@2>24ٱ2=2HԪ?)䬿c?`?@1? ϻ? ?i2?@I2`u\;0Y>ByB!IbDJVDJİ8yfC=%jR=ٔj@ڹQ-j>9hYl=nEynDnEr>pQ 5v4rmQ?Q 9z4rڒ)rPBYxyzhk>Q Iz'@rM\DIr:ir%:rɄ4y|ɮA:i!-FNOT Ignoring new targets: 240.64 m."i-k*i-k= ProNav: ac range: 240.644470 m, nav range: 251.388184 m, bearing: 7.098738 deg, approach rate: -0.531586 m/s, LOS rate: -0.012890 deg/s, cmd heading: 6.717111 deg, new cmd heading: 6.707913 deg. i=EHeadingCmd: 0.117075 target range: 240.644470 and range: 241.50 m.hE=hAhIhIhIgIgIjgQrgQeQreQZeQ:eQ*e]`:?颅1Bɢ4 ) i) m顉iԓi=ɝ=I=I!U9@Q @Q@U/@QAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258836^Au+۫=A}>A}?IIO>iE  E E $E "E ;*E |:VE 4ZE BE 8C2T䑽ٱ2w=2HǪ? 謿`? ~?n8???i2@I2w\;0YNByR*IbDZAVDZ8yb=%bK=ٔblQ-f>9dYd=fEyfDj(Ej>ipIrAvchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511429lQ 54n ~Q?Q 9 4n)nbBYybk>Q I'@nZ\DIn O *%,v@LAY~By~8IE EE#E"E;*Ez:VE3ZEa@a@a@a@iMb@Mb@Mb@ 9)\(?Mb?~jth?YG?y@=A )AAYA <bD-3VD-۰8yF=%0=ٔQ->9Y=EyDE>Q 54eQ?Q 94S)wBY?Q E:y^>Q I'@i\DI#:i:4yBɮ&ABA4=B>BBxIB׀BB =BBB;B7E:i%FNOT Ignoring new targets: 240.64 m."i%BU*i%BU5 ProNav: ac range: 240.644470 m, nav range: 250.956573 m, bearing: 7.088919 deg, approach rate: -0.542031 m/s, LOS rate: -0.011653 deg/s, cmd heading: 6.698325 deg, new cmd heading: 6.688257 deg. i5=HeadingCmd: 0.116732 target range: 240.644470 and range: 241.50 m.h=>=h9hAhAhAgAgAjgIrgM#BeIreIZeQ:eQ*eU`@},Bɢ )  i)o顁iji>=Cٝ=V=I>=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014960A@A @A@E/@A) ^Ai I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2668910%,@LA2@2+>2ٱ2z=2H? ?`?@]O? ??i2@I2\;2kCYQ If'@^t\DI^;i^I;^ܙ4yjBɮjUAjEvB*** querying acoustic contact ***ixix:i|FNOT Ignoring new targets: 240.64 m."iG*iG ProNav: ac range: 240.644470 m, nav range: 250.786331 m, bearing: 7.085276 deg, approach rate: -0.509627 m/s, LOS rate: -0.010911 deg/s, cmd heading: 6.688257 deg, new cmd heading: 6.680968 deg. iHeadingCmd: 0.116605 target range: 240.644470 and range: 241.50 m.h=hhh!h!g!g!jg!rg)e)re)Ze):e)*e5@ UMGm{Aꝿ9{AYWA*Bɢ) i)pi7i=5(=5ɫ=I5=I1aE EE"E"E7;*E1:VE(3ZEBEZo7%,B@LA@:@:=:7ٱ:g:=:H?KWR??b?{??i:@I:޶\;:nCYZByZMIiMb@Mb@Mb@ 9K?y&1?~jtx?Y^>y`e=;@9A  A)AYAbDVDð8y-"=%-4=ٔ-,Q-->91Y1=5Ey5D=輺E=>AQ 5M4EQ?Q 9M4E)EBYM>Q EM:yMr>Q IM'@E\DIE:]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770998iE:E̡4ye BɮeAmE:iFNOT Ignoring new targets: 240.64 m."ig*ig ProNav: ac range: 240.644470 m, nav range: 250.565186 m, bearing: 7.079519 deg, approach rate: -0.485562 m/s, LOS rate: -0.012651 deg/s, cmd heading: 6.680967 deg, new cmd heading: 6.669443 deg. i:HeadingCmd: 0.116404 target range: 240.644470 and range: 241.50 m.he=hhhhggjgrgBereZe:e*e L@)Bɢᘽ) hi)Zqi ie==g=Ie=I Ա9@ @@0@bEEJ4jEE( 4rEE./E EE$E"E:*Eh:VE4ZEa@a@a@a@^AK=B>BBIBBBBBB;Bf7E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022883 A ؟AI! I9 OE >mF=%,@LA>v@>=>:ٱ>=>H ? %O۴?྇?Cc???i>v@I>\;9b"?Yb"?=bEybDfIEf>hQ 5n4ljQ?Q 9r4j)jBYpyrr>Q Ir'@j\DIju*;ij>+;j 4ytɮvAx:iFNOT Ignoring new targets: 240.64 m."i\*i\ ProNav: ac range: 240.644470 m, nav range: 250.391342 m, bearing: 7.074988 deg, approach rate: -0.460859 m/s, LOS rate: -0.012022 deg/s, cmd heading: 6.669443 deg, new cmd heading: 6.660373 deg. iHeadingCmd: 0.116245 target range: 240.644470 and range: 241.50 m.h=hhhhggjgrgereZe:e*eP @'Bɢ̻) Ui)%q!!i%)i-=-=-{=I-=I)9@ @@h0@eBDAT read: Rx Time:04:18:10.9415 mTRx dataTimestamp_ set to:1764908292.046820mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2760021^AM벫=a A I I O >E  E E &E "E s:*E :VE 4ZE BE i0@>@=>ٱ>=>H?`bpo 5?`އ?[r?@?@?i>@I>Ҩ\;9dYh=jEyjDjEj>lQ 5r4nNQ?Q 9v4n)nBYtyvyr>Q Iv'@n\DIn:in%:n4yz Bɮz_A|:i%FNOT Ignoring new targets: 240.64 m."i%}u*i%}u5 ProNav: ac range: 240.644470 m, nav range: 250.193924 m, bearing: 7.069843 deg, approach rate: -0.514356 m/s, LOS rate: -0.013414 deg/s, cmd heading: 6.660373 deg, new cmd heading: 6.650076 deg. Ai5dĹeHeadingCmd: 0.116066 target range: 240.644470 and range: 241.50 m.he޳=hahahahagigijgrgere Ze1:e9*eE@ @ %Bɢt) %Ji!)UrQQi]ii޳==j=I޳=I@ @@0@ԑDAT read: 04:18:10.9415 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 421,-0.09,-1.226,-3.035,-1.148,-1.712, PHS= 0.588,-1.278, 0.520, RAW= 148.2, 1.9, CAL= 147.3, 1.8, ROT= 2.7, -1.8 Ygot valid direction response: 04:18:10.9415 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 421,-0.09,-1.226,-3.035,-1.148,-1.712, PHS= 0.588,-1.278, 0.520, RAW= 148.2, 1.9, CAL= 147.3, 1.8, ROT= 2.7, -1.8 PDAT read: Bearing 166.0, 7.0 (Local) ~Local bearing/azimuth received: Bearing 166.0, 7.0 (Local) DAT read: Range 11 to 50 : 239.7 m (Round-trip 319.6 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.998397,0.047083,0.031411]Fpublishing direction and range infoyquL:?t2EEJ?Iz?YuoCqqqq q)qIu+?iuu?u~%@u=u"$@ u=)uA=Iuqqu\02?M~/?X'\#Ǡ? uF>)uCIuA=iuqq T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A ʞ=A A > A I! I1 OM >J%,(`-ALAEJ EJEHEH"EJ7;*EJ:VEHZEHaR@aR@aR@PaR@r9@r@h=rlٱrQ=rH@w?}`?? @??w?ir9@IrG\;rmCY~ŀBy~bIiMb@Mb@Mb@ 9gfffff?Zd;?yy=t<@ j A)AYAAAB>BBIBBB =BBԺDBk;B@7EbDVD8y<%.=ٔ5Q->9Y=EyD&E>aQ 5m4e+Q?Q 9m4e,)eBYm=>Q Eu:yu>Q Iu'@e\DIe0;iei:e4yɮ6A(DAT read: user:23> BDAT read: Tx time:04:18:12.2177 $Ping request sent."pezSm@}&@ilc@pL:?t2EEJ?Iz?*jA=2j*ppCm@^kC@,9@plL]?T{8GB? ׽һ?jB jjCi‹?ivjBj?jvjqBrj}mCzjr+> addTargetRange:: Added new target pos. range: 239.699997 m, deltaT: 4.031887 s, deltaX: -1.800003 m, approachRate: -0.446442 m/s, rangeRepo size: 4  Added new target pos. range: 238.846008 m, bearing: 9.617790 deg, lat: 36.779393 deg, lon: -121.859587 deg, deltaT: 4.031887 s, deltaX: -1.798462 m, approachRate: -0.446060 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 238.85 m."i*i ProNav: ac range: 238.846008 m, nav range: 237.491928 m, bearing: 9.615037 deg, approach rate: 0.000000 m/s, LOS rate: -0.013414 deg/s, cmd heading: 6.650076 deg, new cmd heading: 6.636321 deg. iHeadingCmd: 0.115826 target range: 238.846008 and range: 239.70 m.h6=hhhhggjgrg!BereZe:e`fm@*e `=?}#Bɢ}{)y }=iy)qls顁i{i6==ʫ=I6=IE9@A @A@E0@A) ^A \= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251338A .AI I O >,R%,HALA(2Q@2@n=2Xٱ2"}=2HB?YM뭿`E?`?׽@ল?®? ?i2Q@I2x\;2kCY>ҀBy>rIbDJVDJ8yR=%RR=ٔR[_Q-R>9V ?YV ?=VEyV DZ7EZ>\Q 5^4^Q?Q 9b4^)^BY`yb>Q Ib'@^\DI^:i^h:^4yjBɮj*AjEvB*** querying acoustic contact ***ixix:i|~FNOT Ignoring new targets: 238.85 m."i$:*i$: ProNav: ac range: 238.846008 m, nav range: 237.315338 m, bearing: 9.611533 deg, approach rate: -0.512269 m/s, LOS rate: -0.010171 deg/s, cmd heading: 6.636321 deg, new cmd heading: 6.629309 deg. iꔹHeadingCmd: 0.115703 target range: 238.846008 and range: 239.70 m.h=hh!h!h!g!g!jg)rg)e)re)Ze1:e1*e5?]"Bɢ]?)a eia)esaaiei = ==I=II1)1E EE#E"ED:*Ex:VE3ZEBE14X%,jbALA2o@2=2Εٱ2;=2H ݪ?>{@泿?`? ѽ ?? ?i2o@I2u\;2nCY>ɀBy>gI @@DFARchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754893`imMb@Mb@Mb@iiii i9mx&1?L7A`?Mb?YmA?ym+=m9"?Y"?=EyD,:E>Q 54lR?Q 94)BYa?Q E:y܁>Q I'@\DI;i;4yɮvA:iFNOT Ignoring new targets: 238.85 m."i?*i?  ProNav: ac range: 238.846008 m, nav range: 237.098083 m, bearing: 9.607014 deg, approach rate: -0.501269 m/s, LOS rate: -0.010437 deg/s, cmd heading: 6.629309 deg, new cmd heading: 6.620261 deg. i ИHeadingCmd: 0.115545 target range: 238.846008 and range: 239.70 m.h =hhhhggjg!rg%Be!re!Ze!:e)*e-?U Bɢ]tǑ)Y ]:/iY)]stYaieie =mz =mͬ=Im =Ii9@ @@4@E EE(E"E ;*E:VEc44ZEa @a @a @a @B->B-TCB-IB-BB- =B)B-ӺDB-C;B-7EBVCBVCBB =B =Cb5]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006928^A h=AzAzAyAA I I O >^^%,AF|ALAYۀBy}I!bD=VD=ǰ8yUz=%UO=ٔ]Q-e>9aYi=mEymDuE>Q 54CR?Q 948) BYyQ I'@\DI i;iJj;4yBɮA :i15FNOT Ignoring new targets: 238.85 m."i=\>*i=\>M ProNav: ac range: 238.846008 m, nav range: 236.892410 m, bearing: 9.602727 deg, approach rate: -0.498678 m/s, LOS rate: -0.010402 deg/s, cmd heading: 6.620261 deg, new cmd heading: 6.611681 deg. iMJUHeadingCmd: 0.115396 target range: 238.846008 and range: 239.70 m.hUT=hQhQhQhQgQgYjgYrgYeYreaZea:ea*ee,?颕Bɢ') i)t顙igiT=T=>=IT=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259787II@I @Q@U05@Q@]zA@Yq^AS=E  E E E "E ;*E :VE 3ZE BE RQe checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510814*Ke%,3ALAF @Fn>FٱFɵ=FH`?` )-`? ?ǽ β?@?` ?iF @IF0\;FlCY]ByeIybDVDɰ8yi=%@=ٔigQ->9Y=Ey%D-b;E=>Q 54%R?Q 94ʄ)BYyW>Q I'@\DI#;iQ;Y4yɮwA:iFNOT Ignoring new targets: 238.85 m."iB*iB ProNav: ac range: 238.846008 m, nav range: 236.677490 m, bearing: 9.598191 deg, approach rate: -0.503154 m/s, LOS rate: -0.010630 deg/s, cmd heading: 6.611681 deg, new cmd heading: 6.602600 deg. iHeadingCmd: 0.115237 target range: 238.846008 and range: 239.70 m.hn=hhhhggjg rg e re Ze:e*eZ?=Bɢ=.)A EֽiA)E$DuIIiMViMn=Uu=U=IUn=IQeJ>ie >ԡ9@ @!@%%5@!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762833^AE =I I O > E  E E %E "E %;*E :VE 4ZE a% @a% @a% @a% @pk%,nALA2@2>2<ٱ2Y=2H@Z?@W ?`X?럽D߲?|j?w?i2@I2o ];2oCY>By>IIB>)B>F=F=B`Ab=Bf>BfSCBfIBf)BBf =Bf>DBfҺDBf3;Bf6Ei%Mb@Mb@Mb@!!!! !9%Zd;?{Gz?~jtx?Y%>y%ף=%;!% A %= A)%A!Y%AbDVD8y 3?<% I=ٔ)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014878Q-%>9!Y!=%Ey%-D-A9E->1Q 5=45S5R?Q 9=45^)5"BY=5>Q EE:yEŒ>Q IE'@5\DI5X:i5,:5%4yMBɮMTAME:iq}FNOT Ignoring new targets: 238.85 m."i}*i} ProNav: ac range: 238.846008 m, nav range: 236.487442 m, bearing: 9.592679 deg, approach rate: -0.487611 m/s, LOS rate: -0.014152 deg/s, cmd heading: 6.602600 deg, new cmd heading: 6.591568 deg. i2ϹHeadingCmd: 0.115045 target range: 238.846008 and range: 239.70 m.h|=hhhhggjgrgBereZe:e*e K@=Bɢ=툽)9 =Xǽi9)EuAAiEHiM|=M\%=m׉=Im|=Iq 9@  @ @ 4@ 9^A 6=A >A >Iq I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266825Y Xr%,sALA6&@6>6^ٱ6|=6H@?TJ`('? i?ɽ@j?s??i6&@I6f\;6lCYFByFIbDNVDNǰ8yV<%Vd=ٔZ3Q-Z>9XYX=ZEyZ5D^j;E^>`Q 5f4bCR?Q 9f4b)b+BYdyjk>Q Ij'@b\DIb:ib :bc4ylɮn4Al~B*** querying acoustic contact ***i|i|:i FNOT Ignoring new targets: 238.85 m."i l*i l ProNav: ac range: 238.846008 m, nav range: 236.312988 m, bearing: 9.587558 deg, approach rate: -0.488855 m/s, LOS rate: -0.014363 deg/s, cmd heading: 6.591568 deg, new cmd heading: 6.581317 deg. iGҹ%HeadingCmd: 0.114866 target range: 238.846008 and range: 239.70 m.h%>=h!h)h)h)g)g)jg1rg1e1re1Ze1:e9*e= &@eBɢe")i mdii)muiiiuǬiu>=}.=}H=I}>=I1E EE"E"E;*E$:VE(3ZEBE@ԑԹ Bx%,GALA2^+@2>2ٱ2=2H7?15`9\By>IB>B4=Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771140i Mb@Mb@Mb@     9 rh|?Dl?~jth?Y >y O= D; @   A)  Y bD%VD%8y5=%5B=ٔ=2Q-=>9AYA=EEyE=DE:EM>IQ 5U4MzTR?Q 9]4M)M5BY]_>Q E]:y]/>Q Ie'@M]DIM;iM9;M4ymBɮmAmE:i)5FNOT Ignoring new targets: 238.85 m."i5N*i5NE ProNav: ac range: 238.846008 m, nav range: 236.105499 m, bearing: 9.582575 deg, approach rate: -0.469915 m/s, LOS rate: -0.011295 deg/s, cmd heading: 6.581317 deg, new cmd heading: 6.571342 deg. iE`MHeadingCmd: 0.114692 target range: 238.846008 and range: 239.70 m.hMh=hIhIhIhQgQgqjgyrg}%BeyreyZey:e*e@ʶ@ԙBɢy) (di)e vi(ih=D:=Nx=Ih=I@ @@/@E EE$E"E ;*Ey:VE4ZEa@a@a@a@B>BRCBIB8BB =BBѺDBH;B7E=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022887^A?=IQ Iq O > ~%,ALAR2@R>RhٱR=RH#?@S&AY?`;?U1?`?h?iR2@IRF\;RkCYfByfIprAbDzVDz8y ¼%M=ٔcQ->9!Y!=%Ey%ED-;E->AQ 5M4EdR?Q 9M4E;)E?BYIyM>Q IM'@E]DIE:iE:E4yYɮ]AY:iFNOT Ignoring new targets: 238.85 m."if*if ProNav: ac range: 238.846008 m, nav range: 235.907440 m, bearing: 9.577766 deg, approach rate: -0.518277 m/s, LOS rate: -0.012595 deg/s, cmd heading: 6.571342 deg, new cmd heading: 6.561716 deg. igHeadingCmd: 0.114524 target range: 238.846008 and range: 239.70 m.hR=hhhhggjgrgereZe:e*e m @Bɢr) 䀽i):vimiR=E=^=IR=IBDAT read: Rx Time:04:18:14.9386 TRx dataTimestamp_ set to:1764908296.079016checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2760669@ @@/@m\Gٙ9YVA^AAyAzAzAE  E E %E "E =;*E :VE 4ZE BE |IiA IA M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527392q %,BLAV8@V K>VtٱVה=VH ;?lPq?X?8 ?X?@>?iV8@IVo\;VmCY%By-IbD9VD9y[=%2=ٔQ->9Y=EyOD:E>Q 54wR?Q 94})JBYy>Q I'@]DI:i;4yBɮjA:iFNOT Ignoring new targets: 238.85 m."i\)*i\ ProNav: ac range: 238.846008 m, nav range: 235.682556 m, bearing: 9.572254 deg, approach rate: -0.492175 m/s, LOS rate: -0.012074 deg/s, cmd heading: 6.561716 deg, new cmd heading: 6.550682 deg. iŰHeadingCmd: 0.114331 target range: 238.846008 and range: 239.70 m.h\&=hhhhggjgrgereZe:e*e'@颭Bɢ|) i)_v顱i=" i\&=T==I\&=IYDAT read: 04:18:14.9386 LVL= 31584, 32753, 29074, 32755, AGC= 70, IDX= 408, 0.06, 0.936,-0.853, 0.973, 0.449, PHS= 0.590,-1.257, (Round-trip 316.7 ms) speed 0.4 m/s unknown deviceResponse_: 04:18:14.9386 LVL= 31584, 32753, 29074, 32755, AGC= 70, IDX= 408, 0.06, 0.936,-0.853, 0.973, 0.449, PHS= 0.590,-1.257, (Round-trip 316.7 ms) speed 0.4 m/s q (Communications Faulta  a  a  a  a  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7842189@ @@/@@yA@ԁ ^A 箵=bE]˻ 4jE]4rE]L0E  E E E "E V:*E :VE ZE a @a @a @a @A A ?AB >B QCB IB BBB =B B B I;B 7E Am .AIq & LCommunications Fault in component: DATI O >#q%,o/4BLAR:@R~>RٱR*=RH ?rX 4x?Q?, ?+?c?iR:@IR_\;RlCY^By^Ia]@ae ae@ae ae@ae ae@ae bDmڿVDm8y}j=%}H=ٔ}Q->9 ?Y ?=EyWD9E>Q 54gR?Q 94B|)TBQ A+:YQ E:y">Q I'@*]DI:i>4yɮ A:iFNOT Ignoring new targets: 238.85 m."i]*i] ProNav: ac range: 238.846008 m, nav range: 235.482025 m, bearing: 9.567321 deg, approach rate: -0.492002 m/s, LOS rate: -0.012114 deg/s, cmd heading: 6.550682 deg, new cmd heading: 6.540807 deg. i\HeadingCmd: 0.114159 target range: 238.846008 and range: 239.70 m.h=hhhhggjgrgereZe:e *e `\A5Bɢ5vy)9 =(i9)=gv99i= iE=IMH`=Mcl=IM=IQ@ @@/@]Powering downi]I]eeq^A%m=ԡAu ؟AIy I O > R%,MBLA67@6 #>6Ϙٱ6N=6H`I? f@qwl?>?/o? ?ո?i67@I6\;6nCYDyDbDNVDN8yV%VY=ٔVQ-Z>9Z"?YZ"?=ZEyZ^D^qE^>`Q 5f4bR?Q 9f4bz)b]BQ Af :YdQ Ej:yj>Q Ij'@b6]DIb:ibH?b4ynBɮnAnE~B*** querying acoustic contact ***i|i|:i FNOT Ignoring new targets: 238.85 m."i !]*i !] ProNav: ac range: 238.846008 m, nav range: 235.297241 m, bearing: 9.562783 deg, approach rate: -0.491605 m/s, LOS rate: -0.012083 deg/s, cmd heading: 6.540807 deg, new cmd heading: 6.531724 deg. i%簹%HeadingCmd: 0.114000 target range: 238.846008 and range: 239.70 m.h%x=h)h)h)h)g)g)jg1rg1E5 5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE5ETransitioning to midcourse guidance. Received last range of 239.699997 m 29955897.600000 min ago.EE1FEeAreAZeA:eI*eIEe EaEaEa"Ee:*EaVEaZEaBEe?8A> A I I O >9 |%,CgBLAY~By~Iaa aa aa aa iMb@Mb@Mb@ 9T㥛 ?S㥫?~jthY?y/]=D@ A A A)@YQAbDVD8y`<%9=ٔQ->9Y=EygDE>Q 54èR?Q 94y)fBQ AT:Y?Q E:yq>Q I'@D]DI ;iW; 4yɮA:i)5FNOT Ignoring new targets: 238.85 m."i=*i=M ProNav: ac range: 238.846008 m, nav range: 235.074860 m, bearing: 9.559025 deg, approach rate: -0.503997 m/s, LOS rate: -0.008525 deg/s, cmd heading: 6.531724 deg, new cmd heading: 6.524201 deg. iUy]HeadingCmd: 0.113869 target range: 238.846008 and range: 239.70 m.h] 4=hahahahagagijgirgmBRgu@1Fu}Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE} }Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeeyreZe:e*eBɢ+v)I M iQ)UyovQQiUi] 4=]z=]]=I] 4=Iai>E} E}E}&Ey"E};*E}:VE}4ZEya@a@a@a@B >B RCB IB QBB  =B B ҺDB =;B 6E%9@! @!@-/@)@5=@5=9^Au +=y A .AI & NClearing failed state for component DATq I O >d%,BLA 2(@2>>2ٱ2\=2H`?`"@m1???ܺ?@,?i2(@I2[\;2mCYRByRI TV<bDZVDZ8yb<%b]=ٔb5:Q-f>9f ?Yf ?=fEyfoDjEj>lQ 5r4nR?Q 9r4ntx)nnBYtyvo>Q Iv'@nP]DIn ;in:n4yzBɮzAzEqLAggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalDAggregate::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!uBɢ dv)  9i)Yov顙iIqM9@I @I@M/@IԙE} E}EyEy"E};*E}x:VEyZEyBE}@%,?BLAL@>)%ٱ- =H ?0`=?Z?A?Ղ??i@I\;kCY!ByIiMb@Mb@Mb@ 9+?~jt?Mb`Yv>y=A A A)@Y\AbDԿVD8y=%/=ٔ':Q->9Y=EyxD5E>Q 54=R?Q 94:w)wBY5>Q E:yLO>Q I'@_]DI7 ;iL ;-4yɮiAf}f}P0>fygyffrfereZe:e*eBɢq) ))-> -(kpHeading = 0.400000I-: 5(kiHeading = 0.0010005;=I5>q> 5>q>I1IE)EEiE@zA@^A> =AzAxA E  E E %E "E V:*E z:VE 4ZE a @a @a @a @I I O B <A <B B B !IB `BB =B B B ;B 6EBRCBRCBB =B =C,5%,\BLA6"@6=6#ٱ6=6H-?`i`п?_?`qβ?>??i6"@I6;\;4YR"ByRIbDZVDZ8ybw;%fp=ٔfN:Q-f?9hYh=jEyjDj6Ej?lQ 5r4n?R?Q 9v4nUv)n~BYtyvSN>Q Iv'@nj]DIn:in:n%4yz BɮzXA||f!f!f!g!f!f!rf!e)re)Ze):e)*e)Yɢ]s0p)Y equUZ=Iuq> uq>Iq^A=GgL=)IQIqO>Yԁ %,P7BLA2J @2=2N)ٱ2K=2H? $`ek?ސ?_軿? ?@^?i2J @I26\;2oCY>ABy>IFAAFBAbDJVDJ8yj>%jJ=ٔj:Q-j>9lYl=nEynDrV}Er>tQ 5z4vR?Q 9z4vHu)vBYxyzL>Q I~'@vw]DIvV:iv;v:%4yɮaAB*** querying acoustic contact ***i!i!f)f)f)g)f)f1rf1e1re1Ze1D9D=C=EE EEEE"EA"EE ;*EExv:VEE(3ZEABEERQN=  ]q>I^AΒ;II O=ԉԹ ʹ%,BLA2@2=2ٱ2*=2H ?|`00?n?`}?@s? ?i2@I2\;2lCYNMByR IiUMb@Mb@Mb@QQQQ Q9Ujt? rh?YU?yUC =UU?@U A UA)Ut@QYQbDm VDm8y}p=%}@=ٔ9Q->9Y=EyD E>Q 54R?Q 947t)BY?Q E:ybB>ԹQ I'@]DI;;i;,4y Bɮ AEfffg f f rf ereZe:e*eeBɢejX)i mt=ii)mԭuqqi}W%b=ɧ駅i>0-* )q>I1@]=@]=EU EUEU$EQ"EUT;*EUM:VEU4ZEQa]@a]@a]@a]@B>BQCB4IBpBB =BBѺDB ;B6E^Au9A}>A}>IIO>9 ò%,CLA2^@2=2ٱ2Ap=2HM? g@YT??`ּ? %?`M?i2^@I2\;2nCY>PBy> IbDJVDJ8yNN<%RZ=ٔRԗQ-R>9TYT=VEyVDV:EV>XQ 5^4Z5 S?Q 9b4ZGs)ZBY`ybB>Q Ib'@Z]DIZ:iZi:Z:34ydɮf Ahfxfxfxgxfxfxrf|e|re|Ze:e*e)ɢ-S)1 5=i1)5Xu11i5Js)=w`=ɧEƼEڞiET>AAIEp> Ep>II^A[R;II O=EPowering upE"Initializing DAT.IEe EeEaEa"Ee:*Ee:VEaZEaBEe6Dٱw=H(? Uڭ`Qؿ??`ľ@0IJ?㖼?`?i @I\;mCY]ByIqiMb@Mb@Mb@ 9)\(?Mb?Mb`?YG?y=;@ A A)YA 4<bDVD8yZ=%+=ٔ'Q->9Y=EyDË;E>Q 54%S?Q 94r)BY?Q E:y9@>Q I'@]DI/:iZ:;4y  Bɮ f A f)f)f1g1f1f1rf1e1re9Ze9:e9*e9Bɢ-P) x >i)Nti/\=ɧCʷi>P=I&p> &p>Iԩ^AU3<A]zAzA]zAEe  Ee Ea Ea "Ee :*Ee :VEa ZEa am @am @au @au @A ؟AA A B z>B PCB SIB BB =B B кDB ;B 6EI I O > F%,X6CLA20@2 A>2i˖ٱ28=2H`Ȧ?^@3LQ?ex? l{@ղ?@l?Z?i20@I25\;2lCY^gByb)IbDjVDj8yro=%rq=ٔrVGQ-v?9v"?Yv"?=vEyvDz<Ez?|Q 54~P-S?Q 94~>q)~BYy SC>Q I '@~]DI~:i~h:~A4yɮ Af1f9f9g9f9f9rf9eAreAZeA:eA*eAqɢuB)u@O u">iy)}]tyyi}3/Z=ɧ駅̺i>¨ p>I@@@@AU.AIaIqO}{>   v|A) 1 e e?9e v|AYe 2ٱ2>2Hq?h謿?l?`8 ?;??i23N@I2i\;2mCYBrByB6IbDJ VDJ8yRV=%RO=ٔVTQ-V>9V ?YV ?=ZEyZDZ}<EZ>\Q 5b4^=S?Q 9b4^;p)^BYdyfF>Q If'@^]DI^:i^:^kH4yjBɮj AjEvB*** querying acoustic contact ***ixixE% E%E%%E!"E%;*E%:VE% 4ZE!BE%Di)žsi89?V=ɧ Y )i _p>  k&=I _p> _p>IYIqIO>yԩ %,\ZjCLA@YByGIiMb@Mb@Mb@ 9'1Z?J +?~jtx?Y?yH=;@A A A)G@YA@AAAbD VD8ԩy O=%"=ٔQ->9Y=EyDE>Q 54RS?Q 94n)BYl?Q E:yf>Q I'@]DI0;i:BQBUrIBUBBU =BQBQBU,;BU6E}Bɢ[<) U>i)riA O=ɧ J  b"ipg>7=Io> o>IAe>Ae>I9IQO]w> %,/5CLA6̓@6>6{ٱ6 >6H(?ÿ@{`?`KZ?`¿`j? 9&?`T?i6̓@I6\;6oC >LC)>A>Ļ@@B CB~Ai@I@@IDiD F(Q I '@]DI:i:V4yɮ Af9fAfAgAfAfArfAeIreIZeI:eI*eI}Bɢ}f")y }2z>i)>Kr顁iF4K=ɧs駍Bi5m>I"o> "o>I Β{IIO%M>D1zD5@AE= E=E=#E9"E=:*E=:VE=3ZE9BE=<U᝽ٱUھ >UH?@ÿ .@o? xS?`¿` ?#=?Ϝ?iU&@IU\;UnCYuByucIiMb@Mb@Mb@ 9+?V-?y&1?Yv>ym=`e<|@ A )t@YbD׿VD8y<%+=ٔ% Q-%>9!Y)=-Ey-D- <E5>1Q 5=45\sS?Q 9E45(l)5ՀBYE%?Q EE:yE>Q IE'@5]DI5:i5P:5_4yU BɮU AUEfyfyfygyfyfyrfyereZe:e*e颵Bɢƙ-)  >i)Iq项iO?A=ɧamfiml>m@"=iImn> mn>IqԑmBE <AE <BM y>BI BM IBM BBI BI BI BM S;BM 7EEm  Em Em "Ei "Em &:*Em n:VEm (3ZEi BEm a;<2Em b;<JEm ;:Em ;Թ ^A :<A zA I1 II Oe >%,Q-CLA2@2">2vٱ2, >2H ?;Ŀ@-#?sM?¿ ?`;? ?i2@I2\;2mC@Y%By%vIbD5VD58yEr=%EX=ٔMzZQ-M>9IYI=MEyMDUF<EU>YQ 5e4]S?Q 9e4]j)]BYiym>Q Im'@]]DI]Y;i]w;]e4yqɮ}4 AyfffgffrfereZe:e*eBɢP) k>i)6OpiX 6=ɧ xŽ i 3m> a=I3m> 3m>I199AAԱ^A}<I IO-> EE  EE EE &EA "EE f;*EE :VEE 4ZEA aM @aM @aM @aM @%,CLA2c@2`>2Iٱ2= >2Hஅ?`Ŀ5x?F?¿@SL?L?@Ԛ?i2c@I2\;2nCYZByZwI \^AbDbVDb8yjrZ;%jR=ٔn?,Q-n>9lYl=rEyrDr7<Er>txQ 5~4zfS?Q 9~4zi)zBY|y~.>Q I~'@z]DIzP:iz:zql4y  Bɮ ! A %B*** querying acoustic contact ***i!i!f1f1f1g1f1f1rf9e9re9Ze9:e9*eAmBɢme)q u>iq)utoqqiu`}*,=ɧ}}ʻi@l>0=I@l> @l>I^A]=IIO=Ii %,CLAYByIYiMb@Mb@Mb@ 9K7A?㥛 ?:v?Y ?y=T<^@ A nA)@YAbDVD8y=%>=ٔQ->9Y=EyDE>Q 54S?Q 94g)BYm?Q E:y>Q I'@^DI;i;s4yɮ Aff f g f f rf ereZe:e*eEBɢMaU)I MA>iI)U)HnQQiUi]C=ɧ]j] i]j>],=YIej> ej>IaBs>BOCBIBځBBBBϺDBv;B'7EBPCBPCB”CD D %=E EE#E"EV:*E:VE3ZEBE9 %,DLA2lV@2'>2ٱ2Ϊ>2H-w?$ƿ? v?)2?@|wÿ7ٴ??`q?i2lV@I2 \;2lCY>By>IFAADbDFVDF8yN-<%R^=ٔRQ-R>9V"?YV"?=VEyVDV<EV>XQ 5^4Z%S?Q 9b4Zhf)ZBY`yb>Q Ib'@Z^DIZ;iZo;Zbz4yfBɮfm AjEfxfxfxgxfxfxrf|e|re|Ze:e*e- Bɢ-)1 5v>i1)5Bm11Թi0s =ɧ{)'ii>D=i Y=Ii> i>I@@@@E- E-E-'E)"E-;*E-:VE-'4ZE)a5@a5@a5@a5@AIIO>A %,!DLA%x@%.,>%KΨٱ%7>%H@ q?ƿI`PY?`4*?7ÿ ?@?'?`?i%x@I%\;%kCYuǁByIi=Mb@Mb@Mb@9999 99=%C?sh|??9iYi=uEyuDuh<Eu>yQ 54}~S?Q 94}`d)}BY?Q E:y>Q I'@}$^DI}b:i}:}4yɮ AfffgffrfereZe:e*e Bɢ ) >i)#ki =ɧ %O %i g>֝=Ig> g>I)AIIOL>QAAAAAABm>BNCBIBBB =BBB;;B6ED zD ?AE  E E !E "E T;*E Ǚ:VE c3ZE BE G2]ٱ2>2H;j? cIǿ溺`+? "?ÿ%?6?@Z?i2A@I2g\;2mCYbՁBybIbDnVDn8y~3=%~g=ٔ$JQ- >9 Y=EyD_\<E>!Q 554%BS?Q 954%b)%!BY9y=>Q I='@%/^DI%M;i%K;%4yMBɮU AUEfffgffrfereZe:e*e BɢSs) >i)Gji݃=ɧlTw=if>̝=If> f>IyA%.AI1IAOM>ԡ E=  E= E= 'E9 "E= ;*E= ?:VE= '4ZE9 aM @aM @aM @aM @h%,UDLA2@25>2ٱ2>2Hd?ǿ Rb}?4? ÿp,?`0?`?i2@I2\;2kCY>݁By>IbDFVDF8yN&=%NP=ٔRҍQ-R>9R ?YR ?=REyVDVZ5<EV>XQ 5^4ZaS?Q 9^4Za)Z.BY`yb>Q Ib'@Z<^DIZ;iZ;Z4ydɮfK AdvB*** querying acoustic contact ***ititfxfxfxgxf|f|rfyeyreyZey:e*e颭 Bɢ) >i)Si顱iw=ɧ$Xifd> Ý=Ifd> fd>IA1IAIYOu>) 1%,nDLA2X@29>2ԩٱ2>2H]?@^ȿN ?u? ÿ`4?0?k?i2X@I2&\;2mCYBByBIi Mb@Mb@Mb@     9 x&1?+η?~jtx?Y A?y v= ; 1@ = A A) @ Y AbD%VD!y5<%5A=ٔ=yQ-=>9AYA=EEyE DE(<EM>IQ 5U4MDS?Q 9U4M_)M;BYt?Q E:yŹ>Q I'@MJ^DIMhBBIBBBBBκDB;B6Eɢ)v) >i)~g项i۸U=ɧ꛾wyi@b>=2~=I@b> @b>ID=D<E EE$E"E&:*Eą:VE4ZEBEa;ԩ "%,8׈DLA6G@HLfu89dYf5A@@=> ٱ<>HW?@ȿ7竿@? ?ÿ;?Y??i@IE\;kCYByIbD52VD5ڰ8yE<%EI=ٔEیQ-E>9M"?YM"?=MEyMDM<EU>YQ 5e4]kT?Q 9e4]])]HBYaye˻>Q Ie'@]W^DI]q:i]:] 4yiɮuAqfffgffrfereZe:e*eMBɢMͼ)I u>i)d`f顁ij{=ɧG駕iP%`>&=IP%`> P%`>I^AN=ԱAIIO J>E5 E5E1E1"E5V:*E5v:VE1ZE1a=@a=@a=@a=@ F(%,DLAlY5By=IiMb@Mb@Mb@ 9Zd;?EԸ?Mb?Y>y=<@ A)@Y @@AbDTVD8y=%2=ٔQ->9Y=EyDE>Q 54T?Q 9 4Z)VBY ?Q E :y >Q I(@f^DI~ ;i;4yBɮAEf9f9f9gAfAfArfAeAreIZeI:eI*eI}Bɢ}ͼ)y }:>iy)׳d顁isN=ɧ!Ⱦ駕iF]>=IF]> F]>I1^A0=B<AB`>BMCB IB!BB =BBB;B6EAyAzAxAbE4jE4rEEC0E1  E5 E5 'E1 "E1 *E5 ҆:VE5 '4ZE1 BE5 9On.%,DLARuP@R;G>R캩ٱRh>RHI?ɿHM??ÿ`&1?@?R?iRuP@IR~\;PYfByjIbDz2VDzڰ8y 9=%o=ٔ9Q-U?9QYQ=UEYyU#De<Ee>iQ 5u4mV&T?Q 9u4m'Y)mbBYqyu>Q Iu(@mq^DIm;im;m34yɮ^AfffgffrfereZe:e*eBɢX) >i)KRci#FI'=ɧ6۾^i[>c=I[> [>Iԉ}Β@@@@Ա I I O >EM  EM EM &EI "EM :aV5%,cDLA*E}Ar:VE}4ZEya@a@a@a@2m@2J>2ٱ2 >2H@.D?jcʿq9 q?`"?Wkÿ 1??s?i2m@I2e\;2iCYBByBIbDJZVDJ8yROk<%RQ=ٔRץQ-V>9TYT=VEyV*DZ<EZ>\Q 5b4^S5T?Q 9b4^>W)^nBY`yf>Q If(@^~^DI^D;i^a;^ݲ4yjBɮj9AjEvB*** querying acoustic contact ***ititf|f|f|g|ffrfereZe:e *e 5Bɢ5Y)9 =>i9)=a99iEEB=ɧMIM:iM}Y>M=M|=IM}Y> M}Y>IQԹUmIIO=A f;%,=DLA6@6M>601ٱ6k2 >6H@??`Aʿ@C z?`?>¿?)?@ә?i6@I6\;6lCYBByFIiMb@Mb@Mb@ 9Mb?K?~jth?Y?y^=D;@A A)@Y(@ )-<bD-_VD-8y=~=%EA=ٔE2':Q-E>9IYI=MEyM3DMM;EM>QQ 5]4U'FT?Q 9e4U&U)UzBYe?Q Ee:ye>Q Ie(@U^DIU;iU;UF4yiɮuAqfffgffrfereZe:e*eBɢ^) ?iB=Z>B=LCB=( IB=6BB= =B9B=ͺDB=;B=6E)u;`qqiu?}=ɧ}v}WҼiW>q=IW> W>IE EEE"E;*E&p:VEZEBE7CA>II1O=r>qԙ 1hB%,~ ELA2٘@2 HP>2ݧٱ2>2H0By>IbDFNVDF8yfǓ<%fU=ٔj_:Q-j>9hYh=nEyn;Dn;En>pQ 5v4rUT?Q 9v4r7S)rBYxyzP>Q Iz(@r^DIre:ir:r4y~Bɮ~Af!f!f!g!f!f!rf)e)re)Ze):e)*e1]Bɢ],)a eQ?ia)e\^aaiemۆ=ɧm m-iuT>u=qIuT> uT>IyqԡIIOA>E EE%E"E:*E:VE 4ZEa @a@a@a@ H%,#ELAb@bR>bٱb>bH`18?B˿FR?\?@ڴ?`? \?ib@IbD\;biCYByIbD0VDٰ8yiP=% 5=ٔ^p:Q->9)Y)=5Ey5DDE?;EM>QQ 5]4U|gT?Q 9]4UP)UBYaye>Q Ie(@U^DIU,:iU:U4yiɮmnAifffgffrfereZe:e*e 5Bɢ5)9 =| ?i9)=E\99i=վEt==ɧESEziM{IR>M=IIM{IR> M{IR>IQ^A|=II)A5@AA5@AB=V>B9B=: IB=EBB= =B9B9B=R;B=6EBMCBMCBB =B =C&5O]>E  E E &E "E :*E :VE 4ZE BE 6BkٱB(=BH`5?:˿Bc?k?ׇ?`?`Ц?iB/@IB\;BkCYNByN Ii%Mb@Mb@Mb@!!!! !9%x&1?/$?Mbp?Y%?y%=%;!%rA %A)%|@!Y%@15AAbD=VD=8yM<%V=ٔ T;Q->9Y=EyLD;E>Q 54vT?Q 94O)BYP?Q E:y7>Q I(@^DI;i;4yBɮwAEfffgffrf e re Ze :e*eEBɢEO)I M?iI)MNZIIiMlzŻUZ=ɧUY$Ulzi](P>]=YI](P> ](P>IY!^AE@=AAzAAAqIyIO;>Iy E  E E 'E "E ;*E ҆:VE '4ZE a @a @a @a @vU%,WELA0>@>BX>>Wٱ>=>H 1? :˿@j ??@s2?&M?@ͨ?i>@I>0];>iCYjByn IbDvVDvǰ8y~;%~P=ٔ`;Q->9Y= Ey TD ;E >Q 54,T?Q 946M)BY!y%>Q I%(@^DI;i ;]4y)ɮ-jA)MB*** querying acoustic contact ***iIiIfQfQfQgQfYfYrfYeYreYZea:ea*ea颕BɢLC) ?i)X顙i%̻=ɧQ.駥Kt iN>=)=IN> N>I@R=@=ԉ^A̓=ԹAQIqIO> s[%,qELA2@2mZ>2sٱ2h=2HT.?D̿ >$ ? ?@2jγ?H?٩?i2@I2' ];2mCY>$By> I\i5Mb@Mb@Mb@1111 195x&1?ʡE?Mb`?Y1y5=5;5 @5A 5A)5O@1Y5@bDM/VDMذ8y]\=%]D=ٔerp;Q-e>9aYa=mEym\Dm;Em>qQ 5}4uT?Q 9}4u;K)uBY?Q E:y>Q I(@u^DIu3;iu;u4yBɮAEfffgffrfereZe:e*eB@>BICBM IBTBB =BBʺDBw;B7E Bɢ =)  ?i)ϷViOdӻ3h=ɧ8駝Ըi4K>=I4K> 4K>IE EE&E"E:*Eą:VE4ZEBE>A Wb%,F`ELA2 @2`N\>2^ٱ2v=2H ,?uH̿4j??`Y?g@g?`TU?`?i2 @I2\;2lCY>+By> I F9R ?YV ?=VEyVdDVL;EV>XQ 5^4ZT?Q 9^4ZjI)ZBY`yb>Q Ib(@Z^DIZu:iZ;ZE4ydɮfAdfqfqfqgyfyfyrfyeyreZe:e*e颵Bɢ) ?i)T项iWڻf=ɧ)B3TiI>=II> I>IIE EE%E"E%;*Ez:VE 4ZEa@a@a@a@^Aا=yA)IAIYOu>ԡ |h%,~;ELABs@B`[]>B(ٱB=BH&+?b̿@`?@Z?@vO` ?`4?`?iBs@IB];BiCYf=Byf0 IbDaVD8yyP=%9=ٔJ;Q->9Y = Ey mD=;E]>qQ 54uT?Q 94u4G)uǁBYy>Q I(@u^DIu~ G>α=I>G> >G>I@@@@ԡBA<BO>BJCBZ IB^BB =BB̺DBg;B6EDzD@AE EE$E"E:*EVE4ZEBE<! o%,:$ELA2@2h]>2Xٱ2<=2H+?[̿@`Qc?@?@@ަ??@ڮ?i2@I2W];2mCYN@ByN4 Ii%Mb@Mb@Mb@!!!! !9%{Gz?L7A`?~jth?Y%?y%+=%D;%@%\A %A)%f@!Y%Q@bD=DVD=8yMP<%MR=ٔM;Q-M>9U"?YU"?=UEyUuD] 9E]>aQ 5e4eT?Q 9m4eE)eсBYm?Q Em:ymi>Q Im(@e^DIe_:ie:e4yyɮ}Ayf9f9f9g9f9f9rfAeAreAZeA:eA*eI颕BɢP) 5+?i)/P顙iE黩i=ɧV駭E+ikE>a=IkE> kE>I WCAAUGIaIqO8>59Y&3Ay5?5AIq E  E E &E "E V:*E :VE 4ZE a @a @a @a @u%,ELA2@2]>2"ٱ2 =2H -? FF̿ YfY?T?5/??M?i2@I2D];2lCYb=Byb1 IbDjVDjð8yrSG%vQ=ٔv ;Q-v>9tYx=zEyz|DzcEz>|Q 54~T?Q 9 4~C)~ځBY y @>Q I (@~_DI~:i~:~4yBɮA5B*** querying acoustic contact ***i1i1f9f9fAgAfAfArfAeAreIZeI:eI*eI}Bɢ}@)y }G+?iy),N顁i!ﻩ=ɧ^駍H2iC>.=IC> C>IQAIIO>ԁԱ C|%,qELA2@2`K\>2uٱ2=2H`/?$̿@ AB?-?A˱? X? ?i2@I2];0Y>OBy>F IBDAT read: FVDAT read: Teledyne Benthos DAT-900 Series BT>BKCBl IBnBB =BBB-;B6EiMb@Mb@Mb@ 9}?5^I??{Gzt?YM?yL=ף;@A @)G@Y@bDVD8y=%;=ٔf;Q->9Y=EyDE>Q 5 4T?Q 9 4A)BY?Q E:y>Q I(@_DI ;i;C4y!ɮ%A!fAfAfAgAfIfIrfIeIreIZeQ:eQ*eQDD=bE=ž4jE=-4rE=ˆ/E EE$E"E ;*E:VE4ZEBERQUi=QIUA> UA>IYAe.AIqIO:>) B%,G FLAR@R`Z>RKٱR=RH@2?`%˿@^ӥ@? ?`p@q?9X?`z?iR@IRo];RkCY]ByX IbD VD8)y-=%7=ٔ@;Q->9 ?Y ?=EyD+AE>Q 54E EE&E"E:*E:VE4ZEa@a@a@a@T?Q 94@)BYy>Q I(@_DI^=id=t 4yMBɮUAUEYfffgffrfereZe:e*e颽BɢGW) >?i)KSHi`h[S~=ɧ>od?i?>ȝ=I?> ?>IA>A?A ؟Aԉ I I O >0%,&FLA0B|@B|Y>BٱBE=BH!6? ˿? ??c? D?iB|@IB-];BlCYR`ByR[ IbDZVDZ8yb{o<%b{=ٔb;Q-b?9f"?Yf"?=fEyfDjEj?tQ 54v: U?Q 9 4v>)vBYy:>Q I(@v)_DIv;ivq;v4y9ɮEAAfafifgffrfereZe:e*ee݀BԉɢeDU<)9 A?i)MF顙i|}=ɧtCiy>>̝=Iy>> y>>IA5.AIAIQOuW>ԱAqAuAAB}W>B}LCB} IB}BByByB}ͺDB};B}c6EE EEE"E:*E:VEZEBE?86Ʌٱ6p=6H8?~˿`*?/?@㽿 '?`q?@?i6@I6f0];4\YbqBybp IdfAiMMb@Mb@Mb@IIII I9M'1Z?y&1?{Gzt?YM?yM`e=IIM+A I)M@IYM@bDeVDe8yuݡ=%u@=ٔ}SP;Q-}>9} ?Y ?=EyDE>Q 54U?Q 94<)BY?Q E:yv>Q I(@7_DI;i;+4yBɮ[AfffgffrfereZe:e*eڀBɢ3<) 4K?i)Di6|=ɧ|AJi=<>*ҝ=I=<> =<>IAAIIIYOm5>= :DAT read: MF Frequency Band M vDAT read: Directional Acoustic Transponder version 8.15.0 I E  E E #E "E ;*E ҆:VE 3ZE a @a @a @a @@%,9ZFLA2@2 W>2!ٱ2l=2H:?q˿s? ? `xEa?n?@?i2@I2]];2hCY>rBy>r IbDJ2VDJڰ8yR<%RY=ٔRa;Q-R>9TYT=VEyVDV4 EZ>XQ 54Z*U?Q 94Zd;)ZBY y >Q I(@ZD_DIZ=mם=qIu;> u;>IAzAzAzAIA؟AIIO (>BDAT read: Dec 5 2025 04:18:28 q PExceeded connect timeout, disconnecting.ԡ :j%,stFLA2@2V>2mٱ2W=2HJqByBp Ii Mb@Mb@Mb@     9 Mb?Zd;?y&1|?Y ?y y= `;  A BMY>BIBM IBMBBM =BIBIBMm~;BM5EBKCBKCBB =B =CN5y)  Y @@A@AbD VD8y㿻%8=ٔv:Q->9"?Y"?=EyD6кE> Q 54  Q I=(@ R_DI ;i W; $4yEBɮEJAEEfffgffrfeE EE%E"E:*E:VE 4ZEBE<  i >U:{=ɧmuRAWiu9>uޝ=qIu9> u9>IyԩA I I O > ?V%,FLA2@2U>2[ٱ2a=2HI>?5˿@s.@~?@?i?`O3?@?i2@I2];0YZBy^ I`b=bDfVDf8yn5=%n[=ٔr ;Q-r>9pYp=rEyvDv&Ev>xQ 5~4zJU?Q 9~4z7)zBYy >Q I(@z^_DIz\:izG:z+4y ɮ A fAfAfAgIfIfIrfIeIreQZeQ:eQ*eQ颅рBɢh<) =Y?i)(<顉iެuz=ɧ=/]iY7>=IY7> Y7>I  AYIaIqO8>E EEE"E:*Ez:VEZEa@a@a@a@)Q  LDAT read: Features enabled [Bearing]  DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP  commRate: 600|%,˧FLAf@f mU>f{ٱf+=fH@??p#˿@ro?@ ? Dq?@!g??if@If^;dYBy IbD9VD8ym:=%4=ٔ};Q->9Y=EyDчE>Q 5M4]U?Q 9U45)%BYQyUȧ>Q IU(@m_DIP;i;J34y]BɮeUAeEnManaging dock network, ignoring radio surface power offfffgffrfereZe:e*eùBɢu"<)q u`?iq)}8yyi}XYQy=ɧ駅di+5>2=I+5> +5>IaB9A==BEW>BABE IBEBBABABABE};BE{5EԑE EE"E"ET;*E~:VE(3ZEBEGA9 IA IY Oe >Թ d%,FLA2@2@V>2wٱ2@_=2H ??t4˿ׂ??[`?߲?E?i2@I27^;2jCY>By> Ii5Mb@Mb@Mb@1111 195Mb? rh?Mb`?Y5?y5C=5;15@ 5t@)5@1Y5@ E9aYa=eEyeDm8:Em>qQ 5}4u6lU?Q 9}4uM4)u-BY}9?Q E}:y}=>Q I(@uy_DIu;iu<;ug94yɮAfffgffrfereZe:e*eɀBɢ3<) i?i)+6i]x=ɧؒSjio3>=eU=Io3> o3>I  ԑAIIO>E  E E %E "E ;*E :VE 4ZE a @a @a @a @ Ў%,sFLAJ@J`-V>JsٱJp'=JH N??`t5˿@ɇ?%?@Gl?@\??iJ@IJ=~^;JiCYbByb IhjAbDrVDrİ8y~?o=%P=ٔ);Q->9 Y = EyDż9Em>qQ 5}4u|U?Q 9}4uy2)u5BYyy}O>Q I}(@u_DIu;iu;uv@4yBɮzAB*** querying acoustic contact ***iifffgffrfereZe:e*eƀBɢ E<) p?i)3iPw=ɧOkrig1>=Ig1> g1>I AIIO">I %,\FLA2@2W>2 xnٱ2k=2H@P>?yO˿á?+? X`ʭ?` պ??i2@I2~^;2kCY@y@BvR>BvKCBv IBvĂBBtBtBv̺DBv};Bvc5Ei5Mb@Mb@Mb@1111 195V-?333333?~jtx?Y5|>y5=5;5@1 5^@)5 @1Y5=@bDMVDM8y]%eD=ٔeB;Q-e>9iYi=mEymDm;Em>qQ 54ǔU?Q 94u0)u>BY0?Q E:y$>Q I(@u_DIuW==9I=?4/> E?4/>QIQAyAzAxAA.AIIO%M>yԩ MG! 9 m 19i Ym .A%,r7GLA6@6#X>6\gٱ6=6H`[=?bk˿5?@-?崽?A@?@?i6@I6^;4@Y}By} IAAAAbDVD8y,z=%7=ٔk;Q->9 ?Y ?=EyD;E>Q 54}U?Q 94.)GBYy>Q I(@_DI:i:SO4yBɮDAEfffgffrfereZe:e*e5Bɢ54a<)1 =w{?i9)=6X,99i=G(E?mu=ɧUrU(i]>,>e =aIm>,> u>,>IqԩE EE#E"E;*E:VE3ZEa@a@a@a@^AA ؟AI  I O >%,@)GLA2m@2X>24bٱ2^H=2H~Ai>DI<9"?Y"?=EyD:E>Q 5]4U?Q 9e4,)OBYiym>Q I}(@_DIgRm=qIuƬ*> uƬ*>Iq^A2=AAAA@ADAT read: &DAT read: user:1>  (setting verbose to 3BJ>BB IB؂BB =BBB};B5E9AIIO>bEJ4jEȶ4rEȝ/E EE$E"E:*E:VE4ZEBE<9 Y = Ey DE>Q 5%4U?Q 9%4*)XBY%(?Q E%:y%>Q I-(@_DIo:i:]4y5Bɮ5A5E]&DAT read: user:1> eTDAT read: Verbose | 3 e set verbose to 3e6setting DatVerbose to 27440fffgffrfereZe:e*eBɢ=) ׃?i)G%ix;1Gs=ɧīiiP%(>=IP%(> P%(>Ii@y@y@y@yiԑA) I1 IA O] > &DAT read: user:2>  TDAT read: DatVerbose | 27440  .set DatVerbose to 27440 6setting transmit power to 8 E  E E #E "E :*E :VE 3ZE a @a @a @a @%,\GLAԑYǂBy I <bDVD8y<%N=ٔQ->9Y=EyDE> Q 54 U?Q 94 () aBYyQ I(@ _DI i:i A; d4y!ɮ%A!=B*** querying acoustic contact ***i9i9fIfIfIgIfIfIrfQeQreQZeQ:eY*eY颅BɢVG =) H?i)U"顑i5(r=ɧv駝 i%>6)=I%> %>IAI I!O-->e&DAT read: user:3> mTDAT read: TxPower | 8 (Max) m.set transmit power to 8u6setting local address to 11 %,.vGLA2@2\>2\Kٱ2=2H8?˿@Q?W?@׌`{?w??i2@I2<^;0BB,>BBGCBB!IBBBBB =BB?DBBɺDBBP~;BB5Eb&DAT read: user:4> fTDAT read: LocalAddr | 11 f.set local address to 11j\Setting time to: 4:18:37 And date to:12/5/2025YӂBy IiMMb@Mb@Mb@IIII I9MMb?~jt?~jtx?YM?yM=IM|@MrA M@)M@IYM@bD%EM EMEM%EI"EMV:*EM:VEM 4ZEIBEM99qYq=uEy}D};E}>Q 54U?Q 94>&)kBY]?Q E:y0>Q I(@_DI;i*;l4yBɮ0AEfffgff!rf!e)re)Ze):e)*e)}Bɢ} m<)y }?iy)6iP:p=ɧ9[ai">7==I"> ">I )AII)O=r>Iu&DAT read: user:5> }NDAT read: Fri Dec 5, 2025 04:18:37 }fLocal DAT time set to Fri Dec 5, 2025 04:18:37 2Acoustic response timeout6setting remote address to 8y %, GLA2@2\>2Eٱ2L=2H 9?x˿"@ Y??)]C?[?@?i2@I2^;2iCYN܂ByR IbDZVDZ8ybT=%b=ٔbї;Q-f ?9dYd=fEyfDj@:Ej ?lQ 5r4n~U?Q 9r4n$)nrBYpyrN>Q Iv(@n_DIn+;in;nq4yxɮzAxfffgffrfereZe:e*e9@BɢG=) ?i)*`iY>o=ɧ*ig >@=Ig > g >IY&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.AM.AIQIiO>ԁE} E}E}#Ey"E}:*E}L_:VE}3ZEya@a@a@a@ԩ &DAT read: user:7>  BDAT read: Tx time:04:18:37.6679  $Ping request sent. 2<ٱ2.=2H@N9?˿d? ?z@/? ɻ? ?i2U@I2_;2kCYڂBy IbD=VD=8y3%==ٔb;Q->9 ?Y ?=EyDJ:E>)Q 5m4-U?Q 9m4-/")-{BYy>Q I(@-_DԹI-#<:@UBɢ]=)Y ]Y?iY)]YaieCMn=ɧÿ駍߉iV>P=IV> V>IB<A<B3>BB!IBBB =BBB~;B5EBQBUJCBUƕCBU =BQCUƄW6iAIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251617A1I9IIO]v> E  E E $E "E :*E e:VE 4ZE BE F-y^=94<O@@ )@Y @bD VD8yt%J=ٔQ->9Y=EyDE>Q 54 V?Q 941 )BY?Q E:yq>Q I(@_DIa;i;24yɮQAfffgf f rf bf @1A  Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@  Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangee=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503030reZe:e*e :@Bɢ4=) =?i)   i H#m=ɧ;ɿi0>\=I0> %0>I!9^AurŹ=i A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754986E5  E5 E5 &E1 "E5 ;*E5 n:VE5 4ZE1 aE @aE @aE @aE @*%,GLA 6@6 ]>6+ٱ6=6H:?@˿ؕ`xd?@ ?@ٙ r?? [?i6@I6,<`;6jCYBByB !IbDJVDJ8yR)>%R]=ٔVq89TYT=VEyV DZEZ>\Q 5b4^uV?Q 9b4^O)^BY`yfu>Q If(@^ `DI^;i^;^4yjBɮjGAjEqLem~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalDuuAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1Eu uAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFuAggregate::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 65.463692 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 :@eBe+)e m ii)顑iIq^A=E=E>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007410AIIOI>ԙ U%,9GLAB%>BFCB!IBBBBBȺDB ;B6ERchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259021TY}By} ID9D9iMb@Mb@Mb@ 9jt?sh|??{Gz?Y?y=#<A@ @)@Y@ <<E EE%E"E:*EǙ:VE 4ZEBE69Y=Ey)DE>Q 54m/V?Q 94)BY?Q E:y>Q I(@`DI& ;i:4yɮA%B*** querying acoustic contact ***i!i!h5 ]>h5h1h1h1g1g1jg9rg=2Be9re9ZeA:eA*eE$n;@uBɢu@)uFd` uH9iq)uy}i}tHi}0>)L? (kpHeading = 0.800000I; (kiHeading = 0.004000=I ]>IA^Am^=AzAAAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510961! A} I I O ><%,mHLA2q@2@[>2>ٱ2 =2Ho>?Q˿@WX8? ?y?5p? ?i2q@I2%`b;2hCY>By> IbDFVDF8yN<%Rw=ٔR->Q Ib(@Z#`DIZ;iZ;Z”4yfBɮjvAjEhqhqhqhqhqgqgyjgrgereZe:e*e ;@[?[?"[ v'>*[%>>颹ɢL) @#=II@UyA@UyA^A-)2=IAIQOe=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762965IE EE$E"ET;*E:VE4ZEa@a@a@a@qԡ e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014998Fg %,+HLAYBy% IbD]VD]8yu%u>=ٔuQ-u>y9Y=EyE>Q 54MV?Q 94:)BYyQ I(@1`DI;iA;M4yɮAhhhhhggjgrgereZe:e*e@y2<@[["[*[Yɢeh)i  2=IIԩA%@AA!B!B!B%"!IB%BB!B!B!B%M;B%"6Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266968DYzDYTм 4Initializing EZServoServo.E EE%E"E:*E:VE 4ZEBE56m ٱ6V=6H@E?@˿A?@?? @,?»?`?i6@I6Dc;6iCYBByB!IhiEMb@Mb@Mb@AAAA A9Ex&1?MbX9?~jtx?YE?yEʡ=E;AEt@ E@)E@AYEp@Y]@AbDeVDe8yu<%u=ٔuU9yYy=}Eyy}ѻE>Q 54cV?Q 94)BY?Q E:yW>Q I(@C`DI;i%;4yBɮFAhhhhhggjgrg'BereZe:e*e ػ<@[?[?"[ڗ>*[UW> ߂Bɢg) % X=%=I!I!0f^Az=IIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771004E5 E5E1E1"E5:*E5]t:VE1ZE1a=@a=@a=@a=@AQ V%,J hHLA2@2V>2\ٱ2=2HhH?ʿ"Z?(?`Ԙ*?@Y?`q?i2@I2 c;2lCYnBylbDvVDv8-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028556y5;%=O=9ٔE;Q-E>9AYA=MEyIMIEM>QQ 5]4UsV?Q 9]4U)UBYaye>Q Ie(@UP`DIUQ;iUM;U4ymBɮm4AmEhhhhhggjgrgereZe:e*e!=@[["[*[Ÿ>ɢd ) @=^A=IIOe>ԑB>BECB(!IBBB =BBǺDBY;B!6EiIBDAT read: Rx Time:04:18:40.3953 TRx dataTimestamp_ set to:1764908321.915250checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280489bEAjEEm4rEE@o/EM  EM EM "EI "EM :*EM x:VEM (3ZEI BEM 62hٱ2=2HL? )ʿa|h?`?绿=? ?@?i2@I2db;2jCY~By~!IԙiMb@Mb@Mb@ 9x&1?ʡE?Mb`?Yy=;"@@ @)@Y@bDVD8y=%A=ٔO;Q->9Y=EyE>Q 54V?Q 94)BY?Q E:y4>Q I(@^`DIP;i;4yBɮ@%B*** querying acoustic contact ***i!i!h)h)h)h1h1g1g1jg9rg=3Be9re9Ze9:eA*eE=@[e?[e?"[eʣ>*[e]4>}ނBɢ})S )y }h=iy)xj顁iLHiK=Đ=II5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531090^A =I I O > - DAT read: 04:18:40.3953 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 410, 0.09,-2.976, 1.797,-2.633, 3.028, PHS= 0.381,-1.186, 0.578, RAW= 155.9, 2.7, CAL= 154.7, 1.9, ROT= 355.3, -1.9 = Ygot valid direction response: 04:18:40.3953 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 410, 0.09,-2.976, 1.797,-2.633, 3.028, PHS= 0.381,-1.186, 0.578, RAW= 155.9, 2.7, CAL= 154.7, 1.9, ROT= 355.3, -1.9 M PDAT read: Bearing 167.9, -4.1 (Local) M ~Local bearing/azimuth received: Bearing 167.9, -4.1 (Local) l&%,ǛHLA&DAT read: Range 11 to 50 : 242.4 m (Round-trip 323.2 ms) speed 0.3 m/s *R#Rx 1: Read range and direction messages.2^direction in FSK: [0.996089,-0.081894,0.033155]2Fpublishing direction and range infoy  ?3OUB3?Y frC ) I o>E] E]E]$EY"E]T;*E]Ar:VE]4ZEYae@ae@ae@ae@i Η ? X$.@ A= 3,@ =) o@I  Q{??k ? z, ?) 2DI i  ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.@`S>ٱ=HyN?}ʿpxB?`\!?{?@b?@?i@I9b;YmBym!I y}<bDVD8y 9 =% +=ٔ4Z;Q->9Y=Ey!E>!Q 5M4%V?Q 9M4%)%BYQyU>Q IU(@%m`DI%N:i%d:%g4y]Bɮ]@]Ei i 'HLAj wqC"j wqC:j ="p ,Tn@tP3D @p ?3OUB3?*j 2j *p !xlm@ rg?=@2)(pA)@p ?c?Y?5ƪ?j A j [oCi b?i 6j ;Bj j j rj ^Czj 2!>!- addTargetRange:: Added new target pos. range: 242.399994 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 "i5ۛ*i5ۛU Added new target pos. range: 241.467880 m, bearing: 6.966881 deg, lat: 36.779393 deg, lon: -121.859587 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 :iQ]FNOT Ignoring new targets: 241.47 m."i*i ProNav pure pursuit: ac range: 241.467880 m, nav range: 222.628311 m, bearing: 9.046273 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 12.368107 deg, new cmd heading: 9.046273 deg. HeadingCmd: 0.157887 target range: 241.467880 and range: 242.40 m.h2!>hhhhggjgrgereZe:eLn@*e;?[)[)"[)*[->Yɢ] )a e\=ia)e.aaieGim)7>im=Im2!>Iq=&DAT read: user:8> MBDAT read: Tx time:04:18:41.8179 M$Ping request sent.M,%,MHLAM@M_R>M _ڼٱMH=MH P?!Qʿ2Bt??$?1 K?Z??iM@IM_b;MiCYBy!IB<A<B>BB.!IB BBBBB~;B5EIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251026iMMb@Mb@Mb@IIII I9M ףp= ?yMt=Mt9Y=EyRE>Q 54-V?Q 94 )ĂBY>Q E:E EEE"Ef;*E:VEZEBEWQ I(@z`DIhhhhggjgrgBereZe:e*e:?[]>[]>"[] >*[]a>m݂Bqɢm) R=i)顑iGi!>=I!>I@zA@zA^A=IQIaOmx>ԙ= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501603 3%,ӆHLA2@2 >Q>2:UԼٱ2<=2HR? +ʿFp?P%?|䉚?Ʊ? ?i2@I2(b;2hCYzBy~ !IbD VD ɰ8y#'%=ٔ;Q- ?9!Y!=%Ey!%cE- ?)Q 5=4-zV?Q 9=4-` )-ɂBY9y=ʲ>Q I=(@-`DI-;i-I;-4yEBɮM/AME:iiuFNOT Ignoring new targets: 241.47 m."iu*iu깝 ProNav pure pursuit: ac range: 241.467880 m, nav range: 222.286362 m, bearing: 9.029144 deg, approach rate: -0.512832 m/s, LOS rate: -0.025640 deg/s, cmd heading: 9.036764 deg, new cmd heading: 9.029144 deg. HeadingCmd: 0.157588 target range: 241.467880 and range: 242.40 m.h^!>hhhhg gjgrgereZe:e*e`?[Y[Y"[Y*[]ʲ>颕܂Bɢ) !=i)顙imGi>l=b=I^!>Iԩ^AA=IIO >checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754865E EE(E"E(;*Ez:VEc44ZEa%@a%@a%@a%@ 1 9%,THLA2ț@2 P>2 ]ϼٱ2|=2HS?`ʿwh@?$??_?c?i2ț@I2TUb;2iCYfByf'!Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005725bD VD 8y=%K=ٔ=>:Q-=>9AYA=EEyAMEM>QQ 5U4UFV?Q 9}4U )UςBYyyr>Q I(@U`DIU;iUj;U4yɮ @:i FNOT Ignoring new targets: 241.47 m."i=3ӹ*i=3ӹM ProNav pure pursuit: ac range: 241.467880 m, nav range: 222.090546 m, bearing: 9.019379 deg, approach rate: -0.462453 m/s, LOS rate: -0.023081 deg/s, cmd heading: 9.029144 deg, new cmd heading: 9.019379 deg. HeadingCmd: 0.157418 target range: 241.467880 and range: 242.40 m.h&2!>hhhhggjgrgereZe:e*e@?[a[a"[a*[eer>}ۂBɢ}])y }=iy)}顁i%Gi&2!>ږ=L=I&2!>IAB>BB4!IBBB =BBB\~;B5EB]ECB]ECB]ǓCB] =B] =C]B5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258316^A=AyAzAvAy I I O >E-  E- E- $E) "E- :*E- g:VE- 4ZE) BE- F-2ȼٱ2N=2HS?@ʿ@[?!?墼@?? ?i2̜@I2jb;2kCYn Byn.!IieMb@Mb@Mb@aaaa a9eV-? rh?~jt?Ye>yeC=eD9Y=Ey9E> Q 5 4 'V?Q 94 ) ւBY/>Q E:y!>Q I(@ `DI ;i ; n4y%Bɮ%@!=B*** querying acoustic contact ***i9i9:iIMFNOT Ignoring new targets: 241.47 m."iUB׹*iUB׹e ProNav pure pursuit: ac range: 241.467880 m, nav range: 221.893799 m, bearing: 9.009686 deg, approach rate: -0.477034 m/s, LOS rate: -0.023524 deg/s, cmd heading: 9.019379 deg, new cmd heading: 9.009686 deg. mHeadingCmd: 0.157249 target range: 241.467880 and range: 242.40 m.hm!>hihihihigigqjgyrg}/BeyreyZey:e*ek?[/>[/>"[>*[m!>颵ڂBɢF) =i)T项iFi!>=6=I!>I@=@=i^A4= !? w?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510120IQIaOm>ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762906F%, ILA2h@2 P>2Xٱ2=2H :U?ɿUJ?#?Fs ?л?`@?i2h@I2 a;2iCXEr ErEr Ep"Er ;*Erk:VEr3ZEpav@av@av@av@YzByz+!IbDVD8y~%R=ٔ3;Q-%>9!Y!=%Ey!-KE->1Q 5=45V?Q 9=45:)5ۂBY9y=̰>Q IE(@5`DI5A;i5 ;54yIɮM@I:iiuFNOT Ignoring new targets: 241.47 m."i}hϹ*i}hϹ ProNav pure pursuit: ac range: 241.467880 m, nav range: 221.720825 m, bearing: 9.001179 deg, approach rate: -0.460554 m/s, LOS rate: -0.022666 deg/s, cmd heading: 9.009685 deg, new cmd heading: 9.001179 deg. HeadingCmd: 0.157100 target range: 241.467880 and range: 242.40 m.h >hhhhggjgrgereZe:e*e @[["[*[̰>قBɢL) =i) ioFi ><=N=I >I &Changing to mode: 1]9@Y @]@]4@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013771^A}zA=A ܏AI I O >! KM%,P6ILAn @n qO>nٱn=nHqV?`Xɿ*`(?@%?J<??@??in @Ina;njCxY~ By~1!IAA1A5AAB=>B=DCB=A!IB=BB= =B9B=ƺDB=};B=g5Ei%Mb@Mb@Mb@!!!! !9%V-?V-?I +?Y!y%h=%94<% @%^@ %^@)%@!Y%(@ AE<bDUVDU8uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266284y׳<%4=ٔ@:Q->9?Y?=Ey2D%E>Q 54V?Q 94L)BYf>Q E:yѳ>Q I(@`DI;i ;4yBɮX@E:iy}FNOT Ignoring new targets: 241.47 m."iι*iι ProNav pure pursuit: ac range: 241.467880 m, nav range: 221.511353 m, bearing: 8.990529 deg, approach rate: -0.443572 m/s, LOS rate: -0.022575 deg/s, cmd heading: 9.001179 deg, new cmd heading: 8.990529 deg. HeadingCmd: 0.156914 target range: 241.467880 and range: 242.40 m.h& >hhhhgE EE$E"EV:*EL_:VE4ZEBE92=B=I& >Iu9@q @q@uJ0@q@}yA@yI= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521056y ^A =A AI I O >-aT%,^RILA>@>M>>ٱ>=>H@X?ɿ07`g? !*?`գ???i>@I>[`;>hCYFByJ9!IHbDV VDVʰ8y^=%^^=ٔ^u:Q-^>9b??Yb??=bEyb8DbEf>dQ 5n4fV?Q 9n4f)fBYlyn>Q In(@f`DIfT;if:fX4ytɮv@t:i FNOT Ignoring new targets: 241.47 m."i!߹*i!߹% ProNav pure pursuit: ac range: 241.467880 m, nav range: 221.343369 m, bearing: 8.982036 deg, approach rate: -0.481939 m/s, LOS rate: -0.024384 deg/s, cmd heading: 8.990528 deg, new cmd heading: 8.982036 deg. -HeadingCmd: 0.156766 target range: 241.467880 and range: 242.40 m.h-K >h)h)h1h1g1g1jg9rg9e9re9Ze9:eA*eEG@mׂBɢm3ּ)q u=iq)uOqqi} Fi}K >}-=Hn=IK >I-9@) @)@-H1@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771202E= E=E=(E9"E=:*E=k:VE=c44ZE9aE@aE@aE@aE@ ^Amw=A I I O >) qZ%,N%lILA{><checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022663RZw@R`L>RٱR/S=RH[?)}ɿH@]V?@}/?@`7?\?`?iRZw@IR_;RjCYbByf4!IbDr+VDr԰8y~%~G=1ٔuP:Q-u>9yYy=}Ey}@D}E>Q 54aW?Q 94)BYy=>Q I(@`DI:i";4yɮ.@:iFNOT Ignoring new targets: 241.47 m."i3ӹ*i3ӹ ProNav pure pursuit: ac range: 241.467880 m, nav range: 221.147278 m, bearing: 8.972193 deg, approach rate: -0.459421 m/s, LOS rate: -0.023081 deg/s, cmd heading: 8.982036 deg, new cmd heading: 8.972193 deg. HeadingCmd: 0.156594 target range: 241.467880 and range: 242.40 m.hBZ >hhhhggjgrgereZe:e*e< @-ւBɢ-4)) -X=i))511i5Ei=BZ >=T==F=I=BZ >IAIMyA)MyA9@ @@ 0@IB>BECBG!IB BB =BBǺDB};B45EyBDAT read: Rx Time:04:18:44.5433 TRx dataTimestamp_ set to:1764908325.947449checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275328^A=E]  E] E] $EY "E] :*E] ҆:VE] 4ZEY BE] p%ԡ Jna%,TILA6pl@6 J>6Jٱ6|=6H`/^?`Pɿ0D+?2?ܐ???i6pl@I6_;4YBByB:!IF=F=i Mb@Mb@Mb@     9 -?333333?~jth?Y ?>y = D; "@ ?@ t@) @ Y @!%AAbD%@VD%8y5<%5F=ٔ=:Q-=>9=?YE?=EEyEHDE\EE>IQ 5U4MW?Q 9U4M8)MBY]=>Q E]:y]7>Q I])@M`DIMe;iM;M4yeBɮe@iyB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 241.47 m."i߹*i߹ ProNav pure pursuit: ac range: 241.467880 m, nav range: 220.958786 m, bearing: 8.962520 deg, approach rate: -0.474616 m/s, LOS rate: -0.024377 deg/s, cmd heading: 8.972193 deg, new cmd heading: 8.962520 deg. HeadingCmd: 0.156425 target range: 241.467880 and range: 242.40 m.h. >hhheMGhYygqga9YAjgrg9BereZe:e*e`s#@5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525671EԂBɢEۼ)I M>iI)mntiqiubEiu. >}z=}A=I}. >Iyԩ-9@) @)@-0@)^AM l9=% DAT read: 04:18:44.5433 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 422, 0.13, 0.316,-1.179, 0.690, 0.079, PHS= 0.339,-1.213, 0.567, RAW= 156.8, 3.7, CAL= 155.7, 3.0, ROT= 354.3, -3.0 - Ygot valid direction response: 04:18:44.5433 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 422, 0.13, 0.316,-1.179, 0.690, 0.079, PHS= 0.339,-1.213, 0.567, RAW= 156.8, 3.7, CAL= 155.7, 3.0, ROT= 354.3, -3.0 5 PDAT read: Bearing 169.1, -5.5 (Local) 5 ~Local bearing/azimuth received: Bearing 169.1, -5.5 (Local) = DAT read: Range 11 to 50 : 240.9 m (Round-trip 321.2 ms) speed 0.3 m/s E R#Rx 1: Read range and direction messages.M ^direction in FSK: [0.993692,-0.099184,0.052336]M Fpublishing direction and range infoy  |R?dyoU˪?Y pC ) FI h>i C &? %/@ A=a A I I O > '-@ PwV=) @I PwV 6 Ne?2~gK?~/? =$?) QI )˽i PwV 5 T****** received valid address query ******5 R****** received valid ping request ******5 Querying Benthos address 50 with one ping in standard two-way mode.Ee  Ee Ee &Ea "Ee :*Ee n:VEe 4ZEa am @am @am @am @ףg%,c ILAn{_@nI>nٱnk =nH``?ɿF`?@6?` 2? ?:?in{_@In1_;lYBy@!IbD-'VD-а8y=<%=H=ٔ=:Q-e>9aYa=mEymPDm{Em>qQ 5}4u_.W?Q 9}4uk)uBYyl>Q I)@u`DIu%;iu;u4yɮ~@iiLݜILAjoC"joC:jc=!"pֺm@i/7-([)Y)@p|R?dyoU˪?*j)˽2jPwV*pzYVm@Ƭ6@.bd|.@p:?oL~?̑?j0A j|nCim*?if(j4Bjb?j6j4BrjIoCzjY=e addTargetRange:: Added new target pos. range: 240.899994 m, deltaT: 4.033029 s, deltaX: -1.500000 m, approachRate: -0.371929 m/s, rangeRepo size: 2 u Added new target pos. range: 239.974091 m, bearing: 5.276118 deg, lat: 36.779568 deg, lon: -121.859651 deg, deltaT: 4.033029 s, deltaX: -1.493790 m, approachRate: -0.370389 m/s, posRepo size: 2 :iq}FNOT Ignoring new targets: 239.97 m."i*i ProNav: ac range: 239.974091 m, nav range: 239.286484 m, bearing: 6.864051 deg, approach rate: 0.000000 m/s, LOS rate: -0.024377 deg/s, cmd heading: 8.962520 deg, new cmd heading: 8.941432 deg. is2HeadingCmd: 0.156057 target range: 239.974091 and range: 240.90 m.h>hhhhggjgrgereZe:en@*e `F?UӂBɢ]&Ѽ)Y ]6 >ia)e5aaie~Ei}>}M=}Oh=I}>I59@1 @1@5/@1Y5&DAT read: user:9> =BDAT read: Tx time:04:18:45.8179 =$Ping request sent.=m%,ɹILAB A<B>BBT!IB*BB =BBB-};B 5E=S@=`G>=b¦ٱ=I==Hc?mȿ6Q? ;?`gה?ݸ?@?i=S@I=_;=iCY]#By]L!Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249651iMb@Mb@Mb@ 9!rh?MbX9?Mb?Yl>yʡ=<@ 1@)@Y3@bD} VD}8ԉy3=%8=ٔL:Q->9?Y?=EyXDQE>Q 54H>W?Q 94)BY>Q E:y<>Q I)@`DI;i: 4yBɮ@E:iFNOT Ignoring new targets: 239.97 m."i*i ProNav: ac range: 239.974091 m, nav range: 239.090408 m, bearing: 6.852258 deg, approach rate: -0.467356 m/s, LOS rate: -0.028132 deg/s, cmd heading: 8.941431 deg, new cmd heading: 8.917827 deg. iMbE4jE 4rE‹S0E  E E %E "E :*E c:VE  4ZE BE +h)h)h)h)g)g)jg1rg5=Be1re1Ze9:e9*e=?mтBɢmü)i m6$>ii)uvqqiuDi}a>}z=}=I}a>Iyp>i>9@ @@@Թ^A e=A >A >M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502086A1 I9 II O] > t%,ILA2YD@2@E>2|ٱ24=2H`/f?ȿO???a`+O?ӓ?`?i2YD@I2_;0YBByBB!I DFAbDJVDJ8yfm=%fl=ٔfI:Q-f?9hYh=jEyj_DnEn?pQ 5r4rJW?Q 9v4r )rBYtyvG>Q Iv)@r`DIr:ir:r4yxɮ~F@|:i%FNOT Ignoring new targets: 239.97 m."i%*i%󹝏5 ProNav: ac range: 239.974091 m, nav range: 238.936996 m, bearing: 6.843092 deg, approach rate: -0.445204 m/s, LOS rate: -0.026620 deg/s, cmd heading: 8.917826 deg, new cmd heading: 8.899481 deg. i5BHeadingCmd: 0.155325 target range: 239.974091 and range: 240.90 m.h >hhhhggjgrgereZe:e*e@[?}ЂBɢ}ҏƼ) >i)顁iDi >ܟ=?=I >I9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754706@zA@E% E%E%#E!"E%:*E%i:VE%3ZE!a-@a-@a-@a-@1^A^1=I A I I O% >e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006046y pz%,ILAZ%7@ZD>ZFٱZJR=ZHh?zȿ&#Z?`WA?X ? ߸??iZ%7@IZ`;XYf ByfG!IbDrVDr8yz֪<%zE=ٔz:Q-~>9|Y|=~Ey~gD~E> Q 54 YW?Q 94 D) BYyn>Q I)@  aDI G:i ; 4y%Bɮ%@%E:iAMFNOT Ignoring new targets: 239.97 m."iU*iU񹝏] ProNav: ac range: 239.974091 m, nav range: 238.752640 m, bearing: 6.832136 deg, approach rate: -0.444516 m/s, LOS rate: -0.026437 deg/s, cmd heading: 8.899480 deg, new cmd heading: 8.877552 deg. ieAeHeadingCmd: 0.154943 target range: 239.974091 and range: 240.90 m.he@>hihihihigigqjgqrgqeqreqZey:ey*e}?%΂Bɢ%6q)I M #>iI)M~QQiU'|Di]@>]=]A=I]@>IY)%9@! @!@!@!B>BDCBZ!IQB/BB =BBƺDB|;B4Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258298^Aet=D D <E  E E 'E "E :*E e:VE '4ZE BE .́%,JLA02*@2}B>2;ٱ2g=2HKk? %Gȿ??D)?B?@#? F? ?i2*@I2!`;0YB%ByBN!Ii5Mb@Mb@Mb@1111 195v/?Zd;O?y5j=5t<5 @5@ 1)5@1Y5=@bDMVDM8y]5<%]D=ٔ]:Q-e>9aYa=eEyeoDmrEm>qQ 5}4uhW?Q 9}4uZ)u BY}8>Q E}:y}>Q I)@uaDIu7;iun;u,4yɮ@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 239.97 m."i*i ProNav: ac range: 239.974091 m, nav range: 238.566284 m, bearing: 6.819888 deg, approach rate: -0.447473 m/s, LOS rate: -0.029433 deg/s, cmd heading: 8.877552 deg, new cmd heading: 8.853037 deg. ivWHeadingCmd: 0.154515 target range: 239.974091 and range: 240.90 m.h9>hhhhggjgrg/BereZe:e*e o?̂Bɢ<) 41>i)%| !!i%FDi-9>-L=-r=I-9>I1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509820ԑ9@ @@4@@@@@Թ A AI  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761659I O >EE  EE EE %EA "EE ;*EE xv:VEE 4ZEA aM @aM @aM @aM @%,f!JLAJ6@JA>JEٱJ_=JHm?Tȿ`N?`?`E?Xu(?E? ?iJ6@IJ,`;HYZ*ByZU!I\bDfVDf8yn^<%nS=ٔn;Q-r>9rc?Yrc?=rEyrwDv)iEv>xQ 5z4zvW?Q 9~4z)zBY|y~">Q I)@z"aDIzI;izD;z$4y Bɮ @ :i)5FNOT Ignoring new targets: 239.97 m."i5*i=M ProNav: ac range: 239.974091 m, nav range: 238.392502 m, bearing: 6.808508 deg, approach rate: -0.448732 m/s, LOS rate: -0.029405 deg/s, cmd heading: 8.853037 deg, new cmd heading: 8.830261 deg. iMAWMHeadingCmd: 0.154117 target range: 239.974091 and range: 240.90 m.hU>hQhQhQhQgQgjgrgereZe:e*ec@ ʂBɢx) 5?>i1)=N 99i=DiE>E5=E7]=IE>II@ @@4@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014252AڗAI)I9OMS>I A A @AB- >B- CCh$%,Q;JLABU`!IBU4BBU =BQBQBUy|;BU4EBDCBDCBB =B =CM5b@`?>Ċٱ=H o?ǿS??I?dӸbX?@/r? b?ib@ID`;jCY%%By%N!I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265712iMb@Mb@Mb@ 9#~j?/$?y=@ @)YbDVD8yZ%:=ٔ:Q->9?Y?=EyD]WE>Q 54W?Q 94)BY >Q E :y 1>Q I)@/aDIڴhyhyhyhygygyjgrg0BereZe:e*e@A额ȂBɢ繼) :>i)} 顡iCiXc>W==IXc>Iu9@q @y@}1@yqAAIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517611ԙ %%,UJLA:@:`>>>:)qٱ:=:H r?3ǿ ^??L?xM?q4?B?i:@I:\:`;:gCYF(ByFQ!IbDR VDR8yVB<%Va=ٔZq7;Q-Z>9Zc?Y^c?=^Ey^D^nEb>`Q 5f4bW?Q 9j4b)bBYhyj>Q Ij)@b9aDIb:ib.:b24yMBɮM1@ME:iquFNOT Ignoring new targets: 239.97 m.y"i*i ProNav: ac range: 239.974091 m, nav range: 238.037766 m, bearing: 6.786697 deg, approach rate: -0.465530 m/s, LOS rate: -0.028584 deg/s, cmd heading: 8.806320 deg, new cmd heading: 8.786605 deg. i@QHeadingCmd: 0.153355 target range: 239.974091 and range: 240.90 m.h% >hhhhggjgrgereZe:e*ev@ƂBɢo) &B>i)5 i"Ci% >l=*L=I% >II)zAu9@q @q@u5@q}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771176ԩIiIyO9>E EE&E"E:*E n:VE4ZEa @a @a @a @ % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0219862%,snJLA6@6<>6uٱ6=6Ht?@ǿf?z?@[N?џ? U?`?i6@I6q`;6hCYF%ByFN!IHJAbDRVDR8yZ@%ZJ=ٔZ;Q-Z>9\Y\=^Ey^Db{PEb>dQ 5j4f%W?Q 9j4f[)fBYhyjڻ>Q Ij)@fEaDIf:if:f :4ypɮrX@p:i  FNOT Ignoring new targets: 239.97 m."i*i% ProNav: ac range: 239.974091 m, nav range: 237.858871 m, bearing: 6.775765 deg, approach rate: -0.457828 m/s, LOS rate: -0.027998 deg/s, cmd heading: 8.786606 deg, new cmd heading: 8.764725 deg. i%L-HeadingCmd: 0.152973 target range: 239.974091 and range: 240.90 m.h- >h)h)h)h)g)g1jg1rg1e1re1Ze9:e9*e= @mĂBɢmP)i m^A>ii)u| qqiu]HCi >=N=I >I9@ @@05@B >BBZ!IB/BBBBB{;Bf4E}BDAT read: Rx Time:04:18:48.5410 TRx dataTimestamp_ set to:1764908329.978715checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274952^AV=AD D <E%  E% E! E! "E% s:*E% :VE! ZE! BE% h0Y %,ЈJLAY'ByP!IiMb@Mb@Mb@ 9w/?ˡE?Mb?Y>y=<(@ 1@)@Y@bDVD8y<%:=ٔQ->9Y=EyDE>Q 54 W?Q 94z)$BY>1Q Em:ym\>Q Im)@RaDIhhhhggjgrg6Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525702ereZe:e*e>@ ‚BɢEɫ) I>i)y iBi9>%O=%=I%9>I!9@ @@3@aԙ^A:=Iq I O > DAT read: 04:18:48.5410 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414,-0.24, 1.594, 0.043, 1.948, 1.351, PHS= 0.345,-1.263, 0.553, RAW= 156.0, 4.3, CAL= 155.0, 3.8, ROT= 355.0, -3.8  Ygot valid direction response: 04:18:48.5410 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414,-0.24, 1.594, 0.043, 1.948, 1.351, PHS= 0.345,-1.263, 0.553, RAW= 156.0, 4.3, CAL= 155.0, 3.8, ROT= 355.0, -3.8  PDAT read: Bearing 169.2, -4.8 (Local)  ~Local bearing/azimuth received: Bearing 169.2, -4.8 (Local)  DAT read: Range 11 to 50 : 239.1 m (Round-trip 318.9 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.994005,-0.086964,0.066274] Fpublishing direction and range infoy  G͠?mDC{S?Y oC ) DI ף>i h ? @.@ `= "-@ ԇ=) D@I ԇ ̈b?̽eh?ϒ#? ?) g=I i ԇ  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Թ E%  E% E% $E! "E% :*E% i:VE% 4ZE! a- @a- @a- @a- @D%,JLA@:>tXٱP=H uw?Dǿq?6? Q?'@?@`??i@ISQ_;gCԑY5By5E!IbDEVDE8yUk%U(=ٔUm;Q-]>9YYY=]Ey]DeԏEe>iQ 5u4mW?Q 9u4mj)m)BYqyuA>Q I})@m`aDIm:im>:mhAhIhIhIgIgQjgQrgQeYreYZea:ee@3m@*ee ??Թ(DAT read: user:10> BDAT read: Tx time:04:18:49.7679 $Ping request sent.iA)M IIiMM\BiU>UŠ=U=IU>Iy9@ @@0@@%zA@%zAB A B B B B ! B B B źD^A] ]=Ai zAm xAB |;B s4EI I O >>Ү%,5*JLAi8I:A>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251090b@b9>bKٱbW=bHx? "ǿ!t??S?`+nx?.A?@?ib@Ib^;bhC l)prĻppppirIttItivXA vXzF)xx z9~Azx||~lAI|)|i|)CI=~A94   M~A 94i  i11)1 1I1Y1YEByED!IE EE)E"E;*E&p:VEFA4ZEBE7Cyʡ=t<9@ )@Y@bDVD8y~%W=ٔ3;Q->9Y=EyD!(E> Q 5 4 `W?Q 94 ) .BYt>Q E:y#>Q I)@ laDI ,:i : P4y%Bɮ%N@%E:iFNOT Ignoring new targets: 238.17 m."i*i깝 ProNav: ac range: 238.173767 m, nav range: 237.277527 m, bearing: 6.741327 deg, approach rate: -0.441622 m/s, LOS rate: -0.025658 deg/s, cmd heading: 8.716562 deg, new cmd heading: 8.696885 deg. i;HeadingCmd: 0.151789 target range: 238.173767 and range: 239.10 m.hn>hhhhggjgrgiI)Mk IIiMAiUn>U-ܠ=U0=IUn>IYY WC@ @@0@eGyAs9yAYA-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502981ԁ^A =I I O >ԩ ߳%,%JLAY]Bye2!IbDVD8y%a=ٔQ->9Y=EyDE>Q 54}W?Q 94Q)2BYyQ I)@vaDI:;iC;VW4y!ɮ%4@!:iaeFNOT Ignoring new targets: 238.17 m."im*im깝} ProNav: ac range: 238.173767 m, nav range: 237.116287 m, bearing: 6.731952 deg, approach rate: -0.441289 m/s, LOS rate: -0.025675 deg/s, cmd heading: 8.696885 deg, new cmd heading: 8.678123 deg. i};HeadingCmd: 0.151462 target range: 238.173767 and range: 239.10 m.h>hhhhggjgrgeԑreZe:e*e`A?颅Bɢ5) (>ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755040)e顩iGAi>*==I>IE5 E5E5'E1"E5:*E5L_:VE5'4ZE1a=@a=@a=@a=@E9@A @I@M60@I^A Vo=E =E 4=M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007277A .AI I O >ݻ%,"JLA jf@j6>j8ٱj=jH`;}? ƿu?ѻ?`Y??`×??ijf@Ij^;jjCYBy6!I  AbD%VD%8y-<%5Q=ٔ5E;Q-5>9= ?Y= ?==Ey=DEEE>IQ 5M4M>W?Q 9U4M)M6BYQyU>Q IU)@MaDIM:iMG:M ^4yaɮe@a:iFNOT Ignoring new targets: 238.17 m."i*i칝 ProNav: ac range: 238.173767 m, nav range: 236.947159 m, bearing: 6.722223 deg, approach rate: -0.449737 m/s, LOS rate: -0.025888 deg/s, cmd heading: 8.678122 deg, new cmd heading: 8.658652 deg. i=HeadingCmd: 0.151122 target range: 238.173767 and range: 239.10 m.h>hhhhggjgrgere1Ze9:e9*e=?mBɢm)i mJ3>iq)Ga顑iAi>X =Y=I>IQB >BBT!IB*BB9@ @@_0@BBB|;Bi4Eԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261362D1D5<bE-4jEO4rEXQ0E= E=E=!E9"E=:*E=i:VE=c3ZE9BE=#%,ǡ KLA@Y}By}=!Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510867i}Mb@Mb@Mb@yyyy y9}uV?333333?{Gz?Y}r>y}=}#<}"@}@ y)}@yY}3@bDVD8y<%)=ԩٔQ->9Y=EyDE>Q 54W?Q 94)Q E:y>Q I)@aDID;i;f4yBɮ@uB*** querying acoustic contact ***iqiq:iFNOT Ignoring new targets: 238.17 m."ilٹ*ilٹ ProNav: ac range: 238.173767 m, nav range: 236.729599 m, bearing: 6.710317 deg, approach rate: -0.433771 m/s, LOS rate: -0.023761 deg/s, cmd heading: 8.658652 deg, new cmd heading: 8.634818 deg. i-HeadingCmd: 0.150706 target range: 238.173767 and range: 239.10 m.hR>hhhhggjgrg1BereZe:e*e`T?BɢRЫ) D>i)!!i%q@i-R>-%=-R=I-R>I1@ @@0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762861 ^A (S=EI  EM EM 'EI "EI *EM ga:VEM '4ZEI a] @a] @a] @a] @A I I O >C%,'&KLA6@6@3>6%ٱ6!=6He? Pƿ x?@J?_?`̺?mn?@1?i6@I6^;6iCYFByF:!IbDNVDN8yVm%Vz=ٔVc;Q-Z?9XYX=ZEy^D^0E^?`Q 5f4b X?Q 9f4b|)b?BYdyf">Q Ij)@baDIbdhhhhggjgrgereZe:e*e(~@Bɢpm) PD>i)i<@i%9 >%6=%=I%9 >I)i@ @@p0@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015697ԑ^A2= A A AAB >B B M!IB %BB =B B B <{;B 4EAQ I I O% > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266994M&%,@KLA2/@21>2ٱ2=2H@„?iƿz?? `?rܷ`ƒ?ʷ?(?i2/@I2];2gCLYRByR7!IIVJ>)Vpy-}=)Ee EeEe"Ea"Ee:*Eez:VEe(3ZEaBEe.%8=ٔ+:Q->9Y=EyD%coE%>)Q 5-4-X?Q 954-)-DBYUA>Q EU:yU>Q IU)@-aDI-;i-O;-t4yeBɮe@eE:iFNOT Ignoring new targets: 238.17 m."iĹ*iĹ ProNav: ac range: 238.173767 m, nav range: 236.375336 m, bearing: 6.692942 deg, approach rate: -0.470972 m/s, LOS rate: -0.021494 deg/s, cmd heading: 8.618982 deg, new cmd heading: 8.600041 deg. iXHeadingCmd: 0.150099 target range: 238.173767 and range: 239.10 m.h>hhhhggjg!rg%Be!re!Ze):e)*e- @]Bɢ]2)Y ]2E>ia)eKdaaie??im>mjL=ms2=Im>IqI}xA)}yA9@ @@0@u?u=}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519139^AM :_=! A ؟AI I O >P%,}ZKLAbK@b/>b]ٱb=bH@?ſ@{?? fb?@H`k? ?f?ibK@Ib];`YnByn8!IttbDzVDzð8|y';% Z=ٔ 9Q- >9 "?Y"?=EyDeE>Q 5%4(X?Q 9-4x)HBY)y-F>Q I-)@aDI~:i2:z4y1ɮ5@9:iYeFNOT Ignoring new targets: 238.17 m."ie+Ĺ*ie+Ĺu ProNav: ac range: 238.173767 m, nav range: 236.204041 m, bearing: 6.685188 deg, approach rate: -0.473229 m/s, LOS rate: -0.021438 deg/s, cmd heading: 8.600041 deg, new cmd heading: 8.584521 deg. iu}HeadingCmd: 0.149828 target range: 238.173767 and range: 239.10 m.h}l>hhhhggjgrgereZe:e*e@@=Bɢ=-2)9 EL>iA)EAAiE"?iMl>M`]=M=IMl>IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771650 9@  @ @ P0@ 1Em EmEm$Ei"Em;*Em:VEm4ZEia}@a}@a}@a}@Q^A)Aa Ii Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023005ԑ O >|%,(atKLA2@2 ->2:ٱ2r=2H ?@Xſ5z? ?e?`ݷu"?Xη?$?i2@I2];2jCY^By^4!IbDfVDf8y % J=ٔ ϴ9Q- >9Y=EyDџE>!Q 5-4%K8X?Q 9-4%)%LBY1y5G>Q I5)@%aDI%:i%;%4y=Bɮ=@EEQ:iimFNOT Ignoring new targets: 238.17 m."iuؽ*iuؽ ProNav: ac range: 238.173767 m, nav range: 236.016434 m, bearing: 6.676773 deg, approach rate: -0.462195 m/s, LOS rate: -0.020747 deg/s, cmd heading: 8.584521 deg, new cmd heading: 8.567678 deg. iHeadingCmd: 0.149534 target range: 238.173767 and range: 239.10 m.h~>hhhhggjgrgereZe:e*e`Q @BɢϘ) 0L>i)+'iI>i~>n=O=I~>IB>BDCBA!IBBBBBƺDBz;B3EBUCCBUCCBQBU =BU =CUI4@ @@0@ԱiIBDAT read: Rx Time:04:18:52.4888  TRx dataTimestamp_ set to:1764908334.015712%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283205E EEE"E:*EVEZEBE>8 Ab%,U1KLA66s@6+>6(4ٱ6?P=6H`?e\ſQz?X?@j? tf?L??i66s@I6];6gCYFByF6!I HHHJAiMb@Mb@Mb@ 9m?~jt?~jtx?Y>yD=;"@ )@Y@bD5 VD58Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527086yM;%MF=ٔUd:Q-U>9U ?YU ?=UEy]D]yE]>aQ 5m4eGX?Q 9m4e)eOBYu>Q Eu:yu>Q Iu)@eaDIe:iet:eΈ4yyɮ}@:iFNOT Ignoring new targets: 238.17 m."i*i] ProNav: ac range: 238.173767 m, nav range: 235.825912 m, bearing: 6.669679 deg, approach rate: -0.463512 m/s, LOS rate: -0.017274 deg/s, cmd heading: 8.567678 deg, new cmd heading: 8.553478 deg. i]eHeadingCmd: 0.149286 target range: 238.173767 and range: 239.10 m.he>hahahahagagijgirgmBeireqZey:ey*e}@Bɢw) T>i)ai >i>I=_=I>I 9@ @@/@1 DAT read: 04:18:52.4888 LVL= 32752, 32753, 31954, 32755, AGC= 70, IDX= 423, 0.16,-0.218,-1.527, 0.048,-0.737, PHS= 0.621,-0.746, 0.741, RAW= 154.2, -8.7, CAL= 154.7, -10.3, ROT= 355.3, 10.3 % Ygot valid direction response: 04:18:52.4888 LVL= 32752, 32753, 31954, 32755, AGC= 70, IDX= 423, 0.16,-0.218,-1.527, 0.048,-0.737, PHS= 0.621,-0.746, 0.741, RAW= 154.2, -8.7, CAL= 154.7, -10.3, ROT= 355.3, 10.3 - PDAT read: Bearing 154.3, -5.7 (Local) - ~Local bearing/azimuth received: Bearing 154.3, -5.7 (Local) = DAT read: Range 11 to 50 : 237.5 m (Round-trip 316.7 ms) speed 0.3 m/s = R#Rx 1: Read range and direction messages.E `direction in FSK: [0.980577,-0.080618,-0.178802]E Fpublishing direction and range infoy`-.`?x}*dƿYmC| )FI?i>-=?9>,@|3,@ X8)o@IX8> -? G?ou Cÿ ?)ͮ>IiX8>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 'E "E :*E Ar:VE '4ZE a @a @a @a @^A C= AQ IY Ii Ou >%,/kKLAR[`@R8)>RÏٱR{=RH?ſz?@=?l? ?@?@?iR[`@IR];PYnByn4!I bDVD8y5»%=;=ٔ=9Q-=>9AYA=EEyMDM竻EM>YQ 5e4]XX?Q 9m4]8)]RBYiymY>Q Im)@y]aDI];i]F;]}4yBɮ@ii;KLAjlC"jlC:j="p9l@:3S&Ep`-.`?x}*dƿ*j2jX8>*pkGsl@X7@=oqDp|;GV?zwC??SAƿjǺA jgCi'y?i#wjAjj#wj4Brj1kCzj=] addTargetRange:: Added new target pos. range: 237.500000 m, deltaT: 4.031901 s, deltaX: -1.600006 m, approachRate: -0.396837 m/s, rangeRepo size: 4  Added new target pos. range: 236.582825 m, bearing: 5.754471 deg, lat: 36.779568 deg, lon: -121.859696 deg, deltaT: 4.031901 s, deltaX: -1.590942 m, approachRate: -0.394589 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 236.58 m."i*i ProNav: ac range: 236.582825 m, nav range: 235.192902 m, bearing: 5.696916 deg, approach rate: 0.000000 m/s, LOS rate: -0.017274 deg/s, cmd heading: 8.553478 deg, new cmd heading: 8.537467 deg. iHeadingCmd: 0.149007 target range: 236.582825 and range: 237.50 m.hE>hhhhggjgrgereZe:em@*e0 ?E(DAT read: user:11> MBDAT read: Tx time:04:18:53.8179 M$Ping request sent.Ui))-,11i5=i=E>===K=I=E>IAԡ9@ @@0@BiAm<Bu>BqBu;!IBuBBqBqBqBuz;Bu3E^A }=  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250275A) I9 II Eu  Eu Eu #Eq "Eu :*Eu ~:VEu 3ZEq BEu <A%,FKLAB%N@B&>B]ٱBA=BH?@$Ŀz?`?o?@S ? ??iB%N@IBq];@Y^By^=!IQiMb@Mb@Mb@ 9I +?I +?~jtx?Y9>y94= @@ @)YbDVDİ8y =%;=ٔ7Q->9Y=EyDܦE>Q 54iX?Q 94)UBYG>Q E:yɁ>Q I)@aDIw:i:4yɮF@B*** querying acoustic contact ***ii:i%FNOT Ignoring new targets: 236.58 m."i%a*i%a5 ProNav: ac range: 236.582825 m, nav range: 234.986649 m, bearing: 5.689107 deg, approach rate: -0.500018 m/s, LOS rate: -0.018948 deg/s, cmd heading: 8.537468 deg, new cmd heading: 8.521836 deg. i5 =HeadingCmd: 0.148734 target range: 236.582825 and range: 237.50 m.h=M>h9h9h9hAgAgAjgArgMBeIreIZeI:eQ*eU`ś?}Bɢnz) n>i)-))i-Z,=i5M>5 =5=I5M>I9ԁ@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500065Ա^A= A= ؟AII IY Om >gi%,HKLA2>@2$>2= ٱ2=2H?wĿ@y??@r?6?@t?@I2 `];0Y>By>$!IZ=Z=bDb!VDb˰8yjڽ%j[=ٔj":Q-j>9n"?Yn"?=nEynDrpEr>tQ 5z4vGxX?Q 9z4v)vXBYxyzʀ>Q Iz)@vaDIv":iv\:v4yBɮu@E%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751751:i15FNOT Ignoring new targets: 236.58 m."i=ޡ*i=ޡM ProNav: ac range: 236.582825 m, nav range: 234.810333 m, bearing: 5.682506 deg, approach rate: -0.472124 m/s, LOS rate: -0.017689 deg/s, cmd heading: 8.521836 deg, new cmd heading: 8.508623 deg. iM~UHeadingCmd: 0.148503 target range: 236.582825 and range: 237.50 m.hUM>hQhQhQhQgYgYjgYrgYeareaZea:ea*em G?颕BɢR") 6L>i)A顙ii=Uµ=IM>IԹE EE%E"E:*Exv:VE 4ZEa@a@a@a@Q@Q @U@U/0@Q@Y@Y^AuG=A}xAzA}wAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004003Ae .AIq I O >A %,KLAJ3)@JS">J] ٱJl/=JH ?@U8Ŀ@Ax? 4?@w?*Z??=?iJ3)@IJ/U];JiCYbByb1!Ipr@AbDvIVDv8yN=%G=ٔ \9Q->9 ?Y ?=Ey D%hʻE->1Q 5=45sX?Q 9=45d)5[BYAyE>Q IE)@5aDI5;i5;5ץ4yIɮM@IB>BBBB =BBǺDB{;B3E:i FNOT Ignoring new targets: 236.58 m."i=*i=E ProNav: ac range: 236.582825 m, nav range: 234.614517 m, bearing: 5.675287 deg, approach rate: -0.453089 m/s, LOS rate: -0.016718 deg/s, cmd heading: 8.508624 deg, new cmd heading: 8.494173 deg. iM}HeadingCmd: 0.148251 target range: 236.582825 and range: 237.50 m.h}/>hyhyhyhggjgrgereZe:e*e o? Bɢ5)9 = i>iA)M jqqiu]C<Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258164i/>p=l=I/>I!YE EE#E"E2:*EVE3ZEBE$*\%,LLA:j@:`: >: Sٱ:)=:H?@ÿw?`:?z?K鶿 Uʀ?@7ݶ? ?i:j@I:];:gCYFByF8!IiMb@Mb@Mb@ 9Cl??{Gzt?Yd>yL=ף;"@ @)@Y@bD=<VD=8ye<%e6=ٔe6 :Q-m>9iYiq=uEyuD}ޕE}>yQ 54}mX?Q 94})}^BY>Q E:yj>Q I)@} bDI}P;i};}4yBɮ]@E:iq}FNOT Ignoring new targets: 236.58 m."i*i ProNav: ac range: 236.582825 m, nav range: 234.396729 m, bearing: 5.666825 deg, approach rate: -0.483402 m/s, LOS rate: -0.018798 deg/s, cmd heading: 8.494173 deg, new cmd heading: 8.477234 deg. i HeadingCmd: 0.147956 target range: 236.582825 and range: 237.50 m.h>hhhhggAjgIrgM(BeIreIZeQ:eQ*eUx?额Bɢy)a e|>ia)eL~aaieO;im>mǶ=uC=Iu>Iqԙ1@1 @1@1@1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760742E EE'E"E:*Ega:VE'4ZEa@a@a@a@^A= 9= Am ؟AIq I O >F %,L/LLA29 @2@t>2lٱ2/=2H؝?ÿw?&?\|? @̀?@??i29 @I2w];0Y>By>A!I@BAbDFVDF8yN =%NS=ٔRȅQ-R>9R"?YR"?=VEyVDVEV>XQ 5^4ZX?Q 9^4Z)ZaBY`yb>Q Ib)@ZbDIZ\:iZ:Zf4ydɮf@d:iFNOT Ignoring new targets: 236.58 m."i%|*i%|5 ProNav: ac range: 236.582825 m, nav range: 234.208542 m, bearing: 5.659584 deg, approach rate: -0.512180 m/s, LOS rate: -0.019724 deg/s, cmd heading: 8.477234 deg, new cmd heading: 8.462740 deg. i5c=HeadingCmd: 0.147703 target range: 236.582825 and range: 237.50 m.h=^?>h9h9h9h9gAgAjgArgAeAreIZeI:eImchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014090ԑ*eM`\#@UBɢUXA)Y ]#>iY)]`YYiem;ie^?>e໡=4=I ^?>I @ @@@B]>BYB]A!IB]BB] =BYB]ƺDB]{;B]3E^A6=M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270455D zD ?AbE%4jE%4rE% 0E  E E "E "E V:*E g:VE (3ZE BE 9X)%,ILLAY%ByM!IiMb@Mb@Mb@ 9K?i|?5?:v?Y^>yq=T< @)1@Y3@ <bDVD8yV<=%9=ٔQ->9Y)=-Ey-#D5E5>9Q 5E4= X?Q 9E4=)=fBYEE>Q EM:yME>Q IM)@=&bDI=Y;i=A;=N4yUBɮU3@QuB*** querying acoustic contact ***iqiq:iyFNOT Ignoring new targets: 236.58 m."i*i ProNav: ac range: 236.582825 m, nav range: 233.989136 m, bearing: 5.650183 deg, approach rate: -0.489452 m/s, LOS rate: -0.020991 deg/s, cmd heading: 8.462739 deg, new cmd heading: 8.443920 deg. iHeadingCmd: 0.147374 target range: 236.582825 and range: 237.50 m.hC>hhhhggjgrg>BereZe:e*e@Bɢ-2) V>i)kZiĄ;iC>^¡=q=IC>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519843@ @@0@)Y^A=I I O >y = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771600/T%,bLLA2@2>2tٱ2R=2H? Rÿ v? N? N? ζn?^¶?L?i2@I2?\;2hCY>&By>O!IbDFϿVDF8yN<%N`=ٔR:Q-V>9\Y`=fEyf+DjEj>lQ 5r4nlX?Q 9v4n)njBYtyv>Q Iv)@n1bDIn :in:n4yxɮz@Ee EeEaEa"Eea:*Ee]t:VEaZEaam@am@am@am@|:iFNOT Ignoring new targets: 236.58 m."i*i ProNav: ac range: 236.582825 m, nav range: 233.814667 m, bearing: 5.642839 deg, approach rate: -0.455424 m/s, LOS rate: -0.019185 deg/s, cmd heading: 8.443920 deg, new cmd heading: 8.429220 deg. iq %HeadingCmd: 0.147118 target range: 236.582825 and range: 237.50 m.h%>h!h!h)h)g)g)jg)rg1Qe)re1Ze1:e1*e5 @}Bɢ}h#)y }ћ>iy)j=顁ii;i>3ơ==I>I%9@! @!@-/@)ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023633^A"=IQ Ia O > }%,|LLAB>BBM!IB%BB =BBB{;B3Ej@je>jbٱjҸ=jH`/?`¿Zv??ࢃ? rLl?? p?ij@Ijt\;jgCYv(ByvQ!IIz=)zbDVDg8y ;%C=ٔ5+7Q->9Y=Ey3D%ZλE%>!Q 5-4%X?Q 954%p)%oBY1y5=>Q I5)@%>bDI%:i%:%4yEBɮE@EE:iamFNOT Ignoring new targets: 236.58 m."imù*imù} ProNav: ac range: 236.582825 m, nav range: 233.614197 m, bearing: 5.634520 deg, approach rate: -0.515260 m/s, LOS rate: -0.021399 deg/s, cmd heading: 8.429220 deg, new cmd heading: 8.412569 deg. iHeadingCmd: 0.146827 target range: 236.582825 and range: 237.50 m.hY>hhhhggjgrgereZe:e*eZ @颽Bɢ)BDAT read: Rx Time:04:18:56.5366 %TRx dataTimestamp_ set to:1764908338.0504675checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282388A M>iq)}S顁im;iY>ǡ={=IY>I>iEu EuEu!Eq"Eu:*Eu:VEuc3ZEqBEu6 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527642f%%,LLA0r)@r@>rCٱrա=rH/? ¿y?r?܂?@?b??ir)@Ir\;rhCY%ByN!IiMb@Mb@Mb@ 9(\?x&?{Gz?Y>y7=ף< @)@Y=@AAbDVD8yj)%2=ٔ0^:Q->9Y=Ey=D E>Q 54X?Q 9%4)vBY%>Q E%:y%ǒ>Q I%)@LbDI:i1:4yIɮU@Qԉ:iFNOT Ignoring new targets: 236.58 m."i*i ProNav: ac range: 236.582825 m, nav range: 233.398621 m, bearing: 5.624434 deg, approach rate: -0.452540 m/s, LOS rate: -0.021193 deg/s, cmd heading: 8.412569 deg, new cmd heading: 8.392378 deg. i$HeadingCmd: 0.146475 target range: 236.582825 and range: 237.50 m.hq>hhhhggjgrg0Be re Ze :e *e@=Bɢ=*)9 E>iA)EAAiER;iMq>MIɡ=U_9=IUq>IQ@ @@0@5DAT read: 04:18:56.5366 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 417, 0.05,-2.919, 2.137,-2.712, 2.869, PHS= 0.598,-0.686, 0.658, RAW= 152.3, -8.7, CAL= 152.7, -10.4, ROT= 357.3, 10.4 EYgot valid direction response: 04:18:56.5366 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 417, 0.05,-2.919, 2.137,-2.712, 2.869, PHS= 0.598,-0.686, 0.658, RAW= 152.3, -8.7, CAL= 152.7, -10.4, ROT= 357.3, 10.4 MPDAT read: Bearing 153.4, -3.7 (Local) U~Local bearing/azimuth received: Bearing 153.4, -3.7 (Local) eDAT read: Range 11 to 50 : 235.8 m (Round-trip 314.5 ms) speed 0.4 m/s mR#Rx 1: Read range and direction messages.u`direction in FSK: [0.982480,-0.046333,-0.180519]uFpublishing direction and range infoyxp?x[񸧿lE@ǿYkC )@I?i/r(?*@J*@ 9)Ѝ@I9>'?31j?gcÿ (?)>IQAi9>T****** received valid address query ******ԹR****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E} E}E}#Ey"E}:*E}x:VE}3ZEya@a@a@a@^A &= II Ia Ou >+%,~LLAJ@J >J*ٱJ&=JHҦ?`+¿_z???߷`@}? ۷?@ ?iJ@IJ\;JiCYV.ByVX!I`bDfۿVDf8yj?=%np=ٔn$~:Q-n?9pYp=rEyrDDr>ȺEv?tQ 5z4vUX?Q 9~4v)v{BY|y~>Q I~)@vVbDIv;iv;v4y Bɮ 1@ Ei1i55LLAj5jC"j5jC:j5="p58Ҡl@ǂ&%O=X`v3Ep5xp?x[񸧿lE@ǿ*j5QA2j59>*p5c4ul@/V';@ Dp5"2G?ON?ҐMޣƿj5iCzj5=U addTargetRange:: Added new target pos. range: 235.800003 m, deltaT: 4.036221 s, deltaX: -1.699997 m, approachRate: -0.421185 m/s, rangeRepo size: 4 e(DAT read: user:12> mBDAT read: Tx time:04:18:57.8679 m$Ping request sent.mhhhhggjgrgereZe:eym@*e~?Bɢi) U>i)i{;i>})ʡ=}ͣ=I}>Iy@ @@0@B%<A%<B)B)B-T!IB-*BB- =B)B)B-z;B-3EBDCBDCBB =B =CЈ5^A=I- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253597IQ Ou >A E  E E %E "E 2:*E VE 4ZE BE $*F7ٱFou=FH@?Ȯ¿ z??|?@Tȷ6}?ŷ?@e?iFe@IF+\;FfCY^,BybW!I ddiuMb@Mb@Mb@qqqq q9u +?#~j? rh?Yu>yu=uC=ٔ9Q->9Y=EyLD' E>Q 54( Y?Q 94)BYe>Q E:yE>Q I)@cbDI;ik:M4yɮF@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 234.89 m."i#*i#蹝 ProNav: ac range: 234.889496 m, nav range: 233.040070 m, bearing: 5.606460 deg, approach rate: -0.481112 m/s, LOS rate: -0.025369 deg/s, cmd heading: 8.378456 deg, new cmd heading: 8.356844 deg. i9HeadingCmd: 0.145854 target range: 234.889496 and range: 235.80 m.hZ>hhhhgg!jg!rg%1Be!re)Ze):e)*e- E?{Bɢlл) d>i)ik;iZ> ʡ= `=I Z>IIu=u<}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504027@ @@0@@=@=q^Aԡ A I! I9 OE >% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7547928%,5LLAZ@Z`>Z3ٱZ߾=ZHͨ?@%¿`{???7ӷd|?ҷ?A?iZ@IZ\;ZhCYf-ByfX!I n9|Y|=~Ey~TDǺE> Q 54 %Y?Q 94 z) BYy>Q I)@ obDI ;i ; 4y%Bɮ%%@%EEE EEEE&EA"EE=;*EE՚:VEE4ZEAaM@aM@aM@aM@:iaeFNOT Ignoring new targets: 234.89 m."im*imy} ProNav: ac range: 234.889496 m, nav range: 232.857529 m, bearing: 5.596856 deg, approach rate: -0.474504 m/s, LOS rate: -0.024985 deg/s, cmd heading: 8.356844 deg, new cmd heading: 8.337621 deg. i6HeadingCmd: 0.145519 target range: 234.889496 and range: 235.80 m.h>hhhhggjgrgereZe:e*e?wBɢa) >i)yi|;iU>Uʡ=UoQ=I]>IY9@ @@a0@ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.010133^A/ߡ=Ae .AIq I O > B% >B% ECB% Z!IB% /BB% =B! B% ǺDB% z;B% 3E>%,$LLA>@> >>#ӻٱ>#=>H D?¿1}?`?@DŽ?4@fdz?@C??i>@I>^\;>iCYJ*ByJT!IbDRVDR8yZw%ZN=ٔ^k:Q-^>9^ ?Yb ?=bEyb\DbvEb>dQ 5j4f(Y?Q 9j4f)fBYlyn>Q In)@f|bDIf:ifA;f4ypɮr[@p:iFNOT Ignoring new targets: 234.89 m."i޹*i޹ ProNav: ac range: 234.889496 m, nav range: 232.667816 m, bearing: 5.586878 deg, approach rate: -0.462554 m/s, LOS rate: -0.024347 deg/s, cmd heading: 8.337620 deg, new cmd heading: 8.317649 deg. i;2HeadingCmd: 0.145170 target range: 234.889496 and range: 235.80 m.h>hhhhggjg rg)e9re9Ze9:e9*eE?iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.262615Ee EeEe"Ea"Eel;*Eei:VEe(3ZEaBEeYFi),项ix;i>Yˡ= I >I 9@ @@/@! checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511623^A Т=Q Ae ؟AIy I O >ZdF%,[MLA2|@2>2лٱ2=2H@?¿@ߍ~?@΂??`Gz?L? ?i2|@I2];2hCYV/ByVZ!IZ=Z=hi=Mb@Mb@Mb@9999 99=Q?bX9ȶ?:v?Y=>y=E==T<="@=@ =@)=@9Y=@bDUпVDU8y]T<%e.=ٔe29Q-e>9e"?Ym"?=mEymfDmQEu>qQ 5}4u;Y?Q 94u)uBY >Q E:y>Q I)@ubDIu(:iu:u"4yBɮ@:iFNOT Ignoring new targets: 234.89 m."i*i ProNav: ac range: 234.889496 m, nav range: 232.444641 m, bearing: 5.574131 deg, approach rate: -0.491774 m/s, LOS rate: -0.028117 deg/s, cmd heading: 8.317649 deg, new cmd heading: 8.292129 deg. iMHeadingCmd: 0.144725 target range: 234.889496 and range: 235.80 m.h2>hhhhggjgrg>BereZe:e*e:?颕nBɢJκ) />i)t/顙i`;i2>ˡ==I2>Ia@a @a@e0@achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764546E EE)E"E:*E$:VEFA4ZEa@a@a @a @)^A=Y A I I O >5 B?1 = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015045WL%,$4MLAY.ByX!IbDۿVD8y%Aֻ%%O=ٔ-Q-->9)Y)=5Ey5nD5E5>9AQ 5M4ErJY?Q 9M4Ea)EBYIyIQ IM)@EbDIE:iE:E4yɮ @:i FNOT Ignoring new targets: 234.89 m."i*i= ProNav: ac range: 234.889496 m, nav range: 232.256439 m, bearing: 5.563361 deg, approach rate: -0.455410 m/s, LOS rate: -0.026082 deg/s, cmd heading: 8.292129 deg, new cmd heading: 8.270571 deg. iE>EHeadingCmd: 0.144349 target range: 234.889496 and range: 235.80 m.hM%>hIhIhIhIgQgYjgYrgYeareaZei:ei*em`@iBɢ@v) P>i)i*U̡=+=I%>IaAqAqB}>ByB}`!IB}4BByByByB}{;B}54E@ @@ 0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268797E  E E %E "E :*E :VE 4ZE BE F- RC U ÂGm {A `9 {AY AA I I O >qS%,`rNMLAY1By]!IiMb@Mb@Mb@ 9ʡE?MbX?~jt?Y>y=<(@ @)@Y@ԹbDVD8y;<%@=ٔQ->9!Y!=%Ey%wD)E->1Q 5=45ZY?Q 9=45)5BY=>Q EE:yE>Q IE)@5bDI5;i54:54yMBɮM@MEmB*** querying acoustic contact ***iiii:iq}FNOT Ignoring new targets: 234.89 m."i} *i}  ProNav: ac range: 234.889496 m, nav range: 232.055389 m, bearing: 5.550582 deg, approach rate: -0.480918 m/s, LOS rate: -0.030594 deg/s, cmd heading: 8.270571 deg, new cmd heading: 8.244991 deg. i_HeadingCmd: 0.143902 target range: 234.889496 and range: 235.80 m.h[>hhhhggjgrgPBereZe:e*e@@eBɢ,) >i)i|`͡==I[>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518798I@ @@00@^A=A>A? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772700A .AI) I9 A OM >E%  E% E% #E! "E% a:*E% :VE% 3ZE! a- @a- @a- @a- @Y%,bNhMLA2@2 >2!ٱ2,=2H`? G¿L? K?@?`K@.v?`Ǜ??i2@I2\;2iCYN#ByRK!IbDZ VDZ8yb %b]=ٔb[/;Q-b>9f ?Yf ?=fEyf~DjEj>lQ 5r4nhY?Q 9r4n)nBYpyrб>Q Ir)@nbDInf;in@;n 4yxɮz@x:iFNOT Ignoring new targets: 234.89 m."i&*i& ProNav: ac range: 234.889496 m, nav range: 231.888855 m, bearing: 5.540057 deg, approach rate: -0.463594 m/s, LOS rate: -0.029321 deg/s, cmd heading: 8.244991 deg, new cmd heading: 8.223926 deg. iVHeadingCmd: 0.143535 target range: 234.889496 and range: 235.80 m.h>hhhhggjgrgereZe:e*e A# @颅`Bɢ@x) {>i)顑i;K͡=:A=I>I>i>A@A @A@E0@AI checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023402q^A x,=Bu >Bq Bq Bq Bu =Bq Bq Bu {;Bu k4Eԙ A ؟AI I O >`%,(MLA2A@2@>2 ٱ2=2H?%¿+Y?*? k? c` $u?xs?`p?i2A@I2\;2fCY>!By>I!IbDFVDFŰ8yn%nI=ٔr :Q-r>9v"?Yv"?=zEyzDD#E >Q 54xY?Q 9%47)BY!y%N>Q I%)@bDII;i;!4y-Bɮ-@1:iQUFNOT Ignoring new targets: 234.89 m.uBDAT read: Rx Time:04:19:00.5838 TRx dataTimestamp_ set to:1764908342.081481checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280298"i*i ProNav: ac range: 234.889496 m, nav range: 231.698242 m, bearing: 5.528041 deg, approach rate: -0.462985 m/s, LOS rate: -0.029209 deg/s, cmd heading: 8.223926 deg, new cmd heading: 8.199875 deg. iUHeadingCmd: 0.143115 target range: 234.889496 and range: 235.80 m.h >h hhhgg!yjg1rgereZeD=D%=bE}3jE}4rE}[0E EE$E"E:*E$:VE4ZEBEa=2Ea=JE;aE:E;aM:eq*eu @颽[Bɢn) >i)iV̡=~=I>Ie9@a @a@m+0@iԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527296^A ͢=A I I1 A Om >f%,{OMLA@ >&ٱ=H@0?@¿?K??`l>>Qu?L??i@I}\;hCY=)By=S!IiMb@Mb@Mb@ 9v?+η?Mb?Y>yv=< @@ @)Y@bDVD8y H=% 7=ٔ  ʸQ->9Y=EyDE>!Q 5-4%Y?Q 9-4%\)%BY5a>Q E5:y5>Q I5)@%bDI%e;i%z;%4y9ɮ=-@9:iaeFNOT Ignoring new targets: 234.89 m."im*im} ProNav: ac range: 234.889496 m, nav range: 231.484970 m, bearing: 5.515590 deg, approach rate: -0.481174 m/s, LOS rate: -0.028118 deg/s, cmd heading: 8.199874 deg, new cmd heading: 8.174949 deg. i}MHeadingCmd: 0.142680 target range: 234.889496 and range: 235.80 m.h>hhhhggjgrg9BereZe:e*e5@WBɢ8(;) >i)(޼iK=i>ˡ=}=I>IuDAT read: 04:19:00.5838 LVL= 32496, 32753, 30098, 32755, AGC= 67, IDX= 421,-0.29,-0.516,-1.863,-0.274,-1.178, PHS= 0.765,-0.639, 0.860, RAW= 153.3, -13.5, CAL= 154.7, -15.3, ROT= 355.3, 15.3 9@ @@0@Ygot valid direction response: 04:19:00.5838 LVL= 32496, 32753, 30098, 32755, AGC= 67, IDX= 421,-0.29,-0.516,-1.863,-0.274,-1.178, PHS= 0.765,-0.639, 0.860, RAW= 153.3, -13.5, CAL= 154.7, -15.3, ROT= 355.3, 15.3 PDAT read: Bearing 148.3, -5.9 (Local) ~Local bearing/azimuth received: Bearing 148.3, -5.9 (Local) DAT read: Range 11 to 50 : 233.8 m (Round-trip 311.8 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.961314,-0.079035,-0.263873]Fpublishing direction and range infoyIMw?-4a";&KпYMiCIM~IMu I)MCIM C?iM#M(\?M<+@M:FqM3,@ Mܸ)Mo@IMܸ>IIM2Alv?CV?_RͿ M>?)Mp>IMiMܸ>IIUT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.E EE#E"EV:*Eg:VE3ZEa@a@a@a@^AL=AyAzAzAA A .AI I O% > (DAT read: user:13>  BDAT read: Tx time:04:19:01.9179  $Ping request sent. ǯٱ=H.???? ^`u? j??ii@I}\;Y!ByI!IbDVD8yK+% K=ٔ йQ- >9 ?Y ?=EyD% E%>)Q 554-Y?Q 9=4-)-BY9y=>Q I=)@-bDI- ;i- ;-4yEBɮE@MEiyi}EMLAj}hC"j}hC:j} ="p}.Wk@WCh2hnNp}w?-4a";&Kп*j}2j}ܸ>*p}G#bck@(Y3@qNp}@?Zi?ө쨉пj}tA j}_Ci}MA?i}Roj}lu@j}'y?j}f(j}YArj}dCzj}ɶ= addTargetRange:: Added new target pos. range: 233.800003 m, deltaT: 4.032236 s, deltaX: -2.000000 m, approachRate: -0.496003 m/s, rangeRepo size: 4  Added new target pos. range: 232.901810 m, bearing: 4.867908 deg, lat: 36.779547 deg, lon: -121.859725 deg, deltaT: 4.032236 s, deltaX: -1.987686 m, approachRate: -0.492949 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 232.90 m."i*i ProNav: ac range: 232.901810 m, nav range: 228.715149 m, bearing: 4.915855 deg, approach rate: 0.000000 m/s, LOS rate: -0.028118 deg/s, cmd heading: 8.174949 deg, new cmd heading: 8.151967 deg. iHeadingCmd: 0.142279 target range: 232.901810 and range: 233.80 m.h>hhhhggjgrgereZe:e9m@*et?RBɢ :)  >i I)nۼ顉i=i>ɡ===I>IB<A<B>BDCBT!IB*BB =BBƺDB{;BU4E@ @@_0@@@y}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254166E  E E &E "E :*E :VE 4ZE BE .s%,MLA:̐@:F>:{tٱ:P=@:H@Я?: 0?`?Q?@.w??~?i:̐@I:\;:fCYJ ByJ/!Ii%Mb@Mb@Mb@!!!! !9%?ʡE?MbPY%?y%-=%!%@ %@)%@!Y%=@11bD=ĿVD=u8yM'۽%MW=ٔMKQ-M>9U"?YU"?=UEyUDUnúE]>aQ 5m4eY?Q 9m4e)eBYm?Q Em:ym>Q Im)@ebDIeQ:ie{:e&4yyɮ}@y:iFNOT Ignoring new targets: 232.90 m."i*i ProNav: ac range: 232.901810 m, nav range: 228.528244 m, bearing: 4.905091 deg, approach rate: -0.499873 m/s, LOS rate: -0.028812 deg/s, cmd heading: 8.151967 deg, new cmd heading: 8.130420 deg. iRHeadingCmd: 0.141903 target range: 232.901810 and range: 233.80 m.hN>hhhhggjgrgBereZe:e*eA?}MBɢW8) >i)mټ顁i =iN>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503086sȡ={=IN>IԱ@ @@-2@^A= u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755902A I) I9 OE >E  E E %E "E s:*E ~:VE 4ZE a @a @a @a @y%,MLA2@2!>2勯ٱ2=2H? ?D??@㸿uu? b??i2@I2ۘ\;2eCYN ByR-!IbDZɿVDZz8yb%bS=ٔbL:Q-b>9dYd=fEyfDjEj>llQ 5r4nY?Q 9r4n)nBYtyvv>Q Iv)@nbDIn\(;in6);nM-4yzBɮz@zEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 232.90 m."i*i ProNav: ac range: 232.901810 m, nav range: 228.337097 m, bearing: 4.894070 deg, approach rate: -0.472966 m/s, LOS rate: -0.027291 deg/s, cmd heading: 8.130421 deg, new cmd heading: 8.108361 deg. iGHeadingCmd: 0.141518 target range: 232.901810 and range: 233.80 m.h>hhhhggjg!rg!e!re)Ze):e)*e-`G?颥HBɢt8) n>i)ּ顩i:>i>ơ=O=I>I m9@i @i@m?5@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0069529^AD-=A>A>B >B B A!IB BB B B B {;B R4EBECBBB =B =Cm5a A .AI I O >%,NLA2y@2@>2Kٱ2=2H?@\? ??m)w?f?`f?i2y@I2ɩ\;2hCY>By>+!IbDFпVDF8yR~%RL=ٔRCQ-R>9V ?YV ?=VEyVDV#EZ>XQ 5b4ZY?Q 9b4Z)ZBY`yb>Q Ib)@ZbDIZ;iZv;ZI44ydɮj@h:ix~FNOT Ignoring new targets: 232.90 m."i~7*i7  ProNav: ac range: 232.901810 m, nav range: 228.139389 m, bearing: 4.882705 deg, approach rate: -0.517455 m/s, LOS rate: -0.029773 deg/s, cmd heading: 8.108362 deg, new cmd heading: 8.085611 deg. i YEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261849AEHeadingCmd: 0.141121 target range: 232.901810 and range: 233.80 m.hM>hIhIhIhIgIgIjgQrgQeQreQZeY:eY*e]fP?UCBɢ]I:)a mM>ii)Լ顉E EE$E"E:*E:VE4ZEBE+iE>Mġ=eUƝ=Ie>IqI)tAiA@A @A@E@5@A@I@M=ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514341^Am = A ؟AI I O > %,GNLA2-@2 >2ݻٱ28=2H??@p??ొ? {w?@?o?i2-@I2\;0Y>By>'!Ii5Mb@Mb@Mb@1111 195 ףp= ?Mb?Y5Q>y5=55"@5?@ 51@)5@1Y5@ M9m"?Ym"?=mEymDuEu>qQ 54uY?Q 94us)uBYy>Q E:ye>Q I)@u cDIuk:iu:u;4yBɮ;@ԙ:iFNOT Ignoring new targets: 232.90 m."i̹*i̹ ProNav: ac range: 232.901810 m, nav range: 227.933258 m, bearing: 4.873108 deg, approach rate: -0.479822 m/s, LOS rate: -0.022359 deg/s, cmd heading: 8.085611 deg, new cmd heading: 8.066401 deg. i#HeadingCmd: 0.140785 target range: 232.901810 and range: 233.80 m.h*>hhhhggjgrg)BereZe:e*e?%>Bɢ%P:)! %>i!)-Ѽ))i-{>i5*>5¡=5_=I5*>I99@ @@4@5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763129E EE'E"E;*E~:VE'4ZEa@a@a@a@^A5ܝ=Aa Ii Iy O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014991= PExceeded connect timeout, disconnecting.5%,h7NLAJt@J >J|ٱJp=JH?h~?@k??ܸfx? ? ?iJt@IJ=\;JeCYfByf!IbDvտVDv8y o%P=ٔ ꨹Q->9Y=EyD%JOE%>1Q 5E45Y?Q 9E45)5BYIyMÈ>Q IM)@5cDI5DX;i5X;5B4yɮ@:iFNOT Ignoring new targets: 232.90 m."iXĹ*iXĹ ProNav: ac range: 232.901810 m, nav range: 227.743057 m, bearing: 4.864298 deg, approach rate: -0.462867 m/s, LOS rate: -0.021457 deg/s, cmd heading: 8.066400 deg, new cmd heading: 8.048766 deg. iHeadingCmd: 0.140477 target range: 232.901810 and range: 233.80 m.hT>hhhhg!g!jg!rg!e)re)Ze):e)*e-@]9Bɢ]`,N:)a e;>ia)eμaaie:V?imT>m"=m=ImT>IqAABBB.!IB BB =BBB/|;B4E)@) @)@-4@)!=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266875Y^AuD=AxAzAE EE#E"E&:*Ex:VE3ZEBEa;y %,CQNLA2=f@2 >2ǻٱ2J=2H@?`0{?`+1??@t ox?`x?W?i2=f@I2\;2dCQY}By}!Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519066i Mb@Mb@Mb@     9 i|?5?Mb?Mb?Y >y @= <  @ @ @) @ Y @bD%ֿVD%8y5"%5,=ٔ5Q-=>99Y9==Ey=DExEE>IQ 5]4M Y?Q 9e4MQ =etI)MBYm>Q Em:ymm>Q Iu*@M$cDIM,;iM;MJ4yBɮ@@E:iQUFNOT Ignoring new targets: 232.90 m."i]!*i]! ProNav: ac range: 232.901810 m, nav range: 227.521561 m, bearing: 4.856038 deg, approach rate: -0.459994 m/s, LOS rate: -0.017172 deg/s, cmd heading: 8.048767 deg, new cmd heading: 8.032229 deg. iiHeadingCmd: 0.140189 target range: 232.901810 and range: 233.80 m.h>hhhhggjgrgBereZe:e*e ظ@2Bɢԁ) ?>i)E˼AAiE?iM>Ml=Mpp=IM>IQ],>i]>ԁ@ @@d2@@yA@ԱM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770937^A9 E  E E "E "E :*E :VE (3ZE a @a @a @a @A I I O >%,2nNLAJY@Jg>JǻٱJ=JHF?-t{??? Nx?@6P? ?iJY@IJ}\;H T)VAV#TTXXiZףIXXIXiZlA ^C^fF)\\ bA~AbD```b lAI`)did)f CIdfףfF hhjE~Aj9ihhill)l lIlYlYvByv!I~@A~@AbDݿVD8yד;%V=ٔ@6Q->9Y=EyD%ցE%>)Q 554- Z?Q 954-)-ÃBY1y5k>Q I5*@-0cDyI-h:i-},<-Q4yɮ2@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 232.90 m."i`*i` ProNav: ac range: 232.901810 m, nav range: 227.342133 m, bearing: 4.849403 deg, approach rate: -0.485453 m/s, LOS rate: -0.017963 deg/s, cmd heading: 8.032229 deg, new cmd heading: 8.018950 deg. i HeadingCmd: 0.139957 target range: 232.901810 and range: 233.80 m.h P>h h hhgg1jg9rg9e9re9Ze9:eA*eE` @颍-Bɢx;) >i)ɼ顱i&@iP>5=M=IP>I5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023467mnManaging dock network, ignoring radio surface power offԡ@ @@05@B)B)B-!IB-BB)B)B)B-|;B-4E^A=A  I I! O- > BDAT read: Rx Time:04:19:04.6315  TRx dataTimestamp_ set to:1764908346.110758 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275980%,NLAE5 E5E5!E1"E5:*E5]t:VE5c3ZE1BE5p%8uѻٱr=H߸? dy?`?`?#5`.z?@3?#?iM@I \;fCYBy !Ionly read 2 of 4 data items for bottom velocity. Device response is::BS, +504, +1,A a@a a@a a@a a@a bD%VD%8y5m%5!=ٔ5Q-5>99Y9==Ey=D=@EE>IQ 5U4MZ?Q 9U4M:)MǃBQ AU+:YQQ EU:yUsj>Q IU*@M?cDIM:iMP?MX4yeBɮer@eE:iFNOT Ignoring new targets: 232.90 m."i*i ProNav: ac range: 232.901810 m, nav range: 227.104187 m, bearing: 4.840679 deg, approach rate: -0.481418 m/s, LOS rate: -0.017669 deg/s, cmd heading: 8.018950 deg, new cmd heading: 8.001484 deg. iX HeadingCmd: 0.139652 target range: 232.901810 and range: 233.80 m.h >h h h h ggjgrgereZe!:e!*e%@Ȳ @颍&Bɢ9) >i)wEƼ顑i5ʙ@i=>===>m=I=>IAI=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527850@ @@_0@@@=1a ^A <=A >A >AaIiIyԁO>5%,NLABDAT read: 04:19:04.6315 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 157,-0.23,-0.912,-2.555,-0.728,-1.282, PHS= 0.472,-1.229, 0.509, RAW= 151.1, 2.9, CAL= 150.0, 2.7, ROT= 360.0, -2.7 FYgot valid direction response: 04:19:04.6315 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 157,-0.23,-0.912,-2.555,-0.728,-1.282, PHS= 0.472,-1.229, 0.509, RAW= 151.1, 2.9, CAL= 150.0, 2.7, ROT= 360.0, -2.7 JPDAT read: Bearing 165.5, 0.4 (Local) J~Local bearing/azimuth received: Bearing 165.5, 0.4 (Local) NDAT read: Range 11 to 50 : 232.0 m (Round-trip 309.4 ms) speed 0.4 m/s RR#Rx 1: Read range and direction messages.V\direction in FSK: [0.998890,0.000000,0.047106]VFpublishing direction and range infoy(*$?|p>P7V?Y*hC(*(* ()*FI*>i*O*M?*(@*4QO=*6'@ *A=)*@I*A((*~ԝ_?= }?dB? * ?)*åPI*.;4i*A((bT****** received valid address query ******bR****** received valid ping request ******fQuerying Benthos address 50 with one ping in standard two-way mode.v@@vC>vٻٱvd=vH?ҝEw?U? ߕ?Z'@2{?@#?R?iv@@Iv\;vdCYBy!IbDVD8y%J%-Y=ٔb#Q->9Y=EyDE>Q 54E EE$E"EO:*EVE4ZEa@a@a@a@&.Z?Q 9 4)ʃBQ A  :Y Q E :y h>Q I *@LcDI1;iCi?\]4yɮ@i(i*INLAj*gC"j*gC:j*>"p*ål@C])? O%@p*$?|p>P7V?*j*.;42j*A*p*)-ql@d<@Hm(@p*,Mo¸?k? h?j*pA j*dCi*^Gf?i*1j*Bj(j*#wj(rj*&cCzj*= addTargetRange:: Added new target pos. range: 232.000000 m, deltaT: 4.031489 s, deltaX: -1.800003 m, approachRate: -0.446486 m/s, rangeRepo size: 4  Added new target pos. range: 231.103195 m, bearing: 7.201673 deg, lat: 36.779547 deg, lon: -121.859696 deg, deltaT: 4.031489 s, deltaX: -1.798615 m, approachRate: -0.446141 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 231.10 m.!"i*i ProNav: ac range: 231.103195 m, nav range: 227.150024 m, bearing: 5.483887 deg, approach rate: 0.000000 m/s, LOS rate: -0.017669 deg/s, cmd heading: 8.001484 deg, new cmd heading: 7.986654 deg. iHeadingCmd: 0.139393 target range: 231.103195 and range: 232.00 m.h%>hhhhggjgrgere9ZeA:eEm@*eE?颍 BɢI;) >i)fü顱i Ai%>B="=I%>I1@1 @1@5E0@1Q %= 4= (DAT read: user:14> BDAT read: Tx time:04:19:05.9179 $Ping request sent.+%,xNLA28@2 I>2ݻٱ2a=2H?Sv?G}?C?i[{? {V?@?i28@I2];2gCYxyz!I <<bD  VD ʰ8y ;%I=ٔ鑹Q->9% ?Y% ?=%Ey%D-"E->1Q 5=45(=Z?Q 9=45)5̓BQ A=9Y9Q E=m:yEg>Q IE*@5WcDI5:i5h?5`4yIɮM@I:iquFNOT Ignoring new targets: 231.10 m."i}r*i}r ProNav: ac range: 231.103195 m, nav range: 226.968826 m, bearing: 5.477874 deg, approach rate: -0.498394 m/s, LOS rate: -0.016551 deg/s, cmd heading: 7.986654 deg, new cmd heading: 7.974619 deg. iQ򹝏HeadingCmd: 0.139183 target range: 231.103195 and range: 232.00 m.h>hhhhggjgrgereZe:e*e@s?BɢR<) >i)aKiAi>= =I>IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251374]9@Y @Y@]5@YԙD?AzDbE4jErE0E  E E %E "E D:*E k:VE  4ZE BE 1 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502367O%,yNLA`Y~By~ Iaa aa aa aa iMb@Mb@Mb@ 9v?L7A`?{Gzt?Y>y+=ף;@@ @)Y=@bDVDŰ8yȼ%@=ٔQ->9"?Y"?=EyDE>Q 54@NZ?Q 94)ЃBQ AT:Yk>Q E:yhH>Q I*@dcDI:iH:\h4yBɮkAE:i%FNOT Ignoring new targets: 231.10 m."i%9a*i%9a5 ProNav: ac range: 231.103195 m, nav range: 226.763062 m, bearing: 5.472652 deg, approach rate: -0.484512 m/s, LOS rate: -0.012307 deg/s, cmd heading: 7.974619 deg, new cmd heading: 7.964166 deg. i5-=HeadingCmd: 0.139001 target range: 231.103195 and range: 232.00 m.h=BV>h9hAhAhAgAgAjgIrgMBeIreIZeI:eQ*eUD?}Bɢ8E;) >i)w顁i\BiBV>=/=IBV>I9@ @@)5@@zA@yAechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7543961E EE#E"E:*E n:VE3ZEa @a @a @a @^AAyAzAI I O- >A Tz%,UNLA2$@2>2ٱ2{=2H`?1u?w-?B?`B.4~?$?*?i2$@I2h];2dCY>By>!IIB<)BR>bDFVDF8yRD=%R_=ٔRdQ-R>9TYT=VEyVDVۻEZ>XQ 5^4Z\Z?Q 9b4Z)Z҃BY`ybE>Q Ib*@ZpcDIZ:iZu:Zn4yfBɮj@hvB*** querying acoustic contact ***itit:i|~FNOT Ignoring new targets: 231.10 m."i[*i[ ProNav: ac range: 231.103195 m, nav range: 226.585571 m, bearing: 5.468255 deg, approach rate: -0.484401 m/s, LOS rate: -0.012012 deg/s, cmd heading: 7.964166 deg, new cmd heading: 7.955364 deg. iݯHeadingCmd: 0.138847 target range: 231.103195 and range: 232.00 m.9h->hhhhggjgrgereZe:e*e &!?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008081eBɢm~ <)i m>ii)dž顙i2Ci->=] =I->II@I @I@M5@IqBm>BiBiBiBm =BiBiBmp|;Bm4Eԙ^A5~4= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260656I I O) E  E E $E "E V:*E $:VE 4ZE BE 9Z٫ٱZҌ=ZHZ? ?Ns? ?~?@B3fu?'??iZ@IZ];ZiCYfByf!Ii]Mb@Mb@Mb@YYYY Y9]^I +?Mb?{Gz?Y]X>y]=]#<]"@Y ]@)YYY]@mAAmAAbDuVDuǰ8yC%<=ٔ8Q->9Y=EyDԑK=E>Q 54nZ?Q 94)փBY>Q E:yOA>Q I*@}cDI:ig:Zv4yɮ@:iFNOT Ignoring new targets: 231.10 m."iR*iR ProNav: ac range: 231.103195 m, nav range: 226.374512 m, bearing: 5.463254 deg, approach rate: -0.486023 m/s, LOS rate: -0.011526 deg/s, cmd heading: 7.955364 deg, new cmd heading: 7.945353 deg. iHeadingCmd: 0.138673 target range: 231.103195 and range: 232.00 m.h/>hhhhggjg rg Be reZe:e*e@? Bɢ <) M>i)biDi/>~==I/>I9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514130^A@=I I O- >1 a%,x (OLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7625106[ @6=6 ٱ6=6H?@"r?`"?J?&@]? /?I?i6[ @I6a];6eCYBByB!IbDNVDN8yVy=%VZ=ٔVˏQ-V>9XYX=ZEyZ DZ E^>`Q 5f4b}Z?Q 9f4b!)bكBYdyf?>Q If*@bcDIb:ibZ:b|4ynBɮn,@nE:iFNOT Ignoring new targets: 231.10 m."i tO*i tO ProNav: ac range: 231.103195 m, nav range: 226.192413 m, bearing: 5.459006 deg, approach rate: -0.485597 m/s, LOS rate: -0.011336 deg/s, cmd heading: 7.945353 deg, new cmd heading: 7.936852 deg. i%HeadingCmd: 0.138524 target range: 231.103195 and range: 232.00 m.h%I >h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e5h@E EE#E"E&:*E:VE3ZEa@a@a@a@Bɢ_h<) P>i)ci8EiI >r= =II >I!9@ @@/@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015779^Ap,=AA>yIIO>AY A] @ABe >Ba Be !IBe BBe =Ba Ba Be |;Be y4EB-DCB)B)B- =B- =C-ˬ4ԙ gt%,:AOLA2<@2@i=2,ٱ2=2H`?f+p?`X?? 'F߀?4??i2<@I2u];0YN ByR+!I TTbDZVDZ8ybG=%bI=ٔbQ-f>9dYd=fEyfDj3Ej>lQ 5r4n"Z?Q 9r4n*)n݃BYtyv>>Q Iv*@ncDIn ;in:n4yxɮz@x:iFNOT Ignoring new targets: 231.10 m."i%tM*i%tM5 ProNav: ac range: 231.103195 m, nav range: 225.994598 m, bearing: 5.454441 deg, approach rate: -0.486026 m/s, LOS rate: -0.011226 deg/s, cmd heading: 7.936851 deg, new cmd heading: 7.927713 deg. i5]=HeadingCmd: 0.138365 target range: 231.103195 and range: 232.00 m.h=y >h9h9h9h9g9gAjgArgAeAreIZeI:eI*eM @%Bɢ%^<)! %|?i!)%\ⱼ))i-VFi-y >5Ce=5i=IEy >IQqi1I1=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266846u9@q @y@}/@yE EE%E"E:*Eh:VE 4ZEBEF- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519135 e%,[OLAYBy$!IiMb@Mb@Mb@ 9RQ?+?9Y=EyDE>Q 54Z?Q 94)BY?Q E:yI>Q I*@cDIhhhhggjgrg6BereZe:e*edL@Bɢd<) ?i) +  i 0Giz >FW=&=Iz >I9@ @@@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770542E EE'E"E:*E:VE'4ZEa@a@a@a@^A =) A9 IA IY Oe >Q %,YuOLA2@2@=2ٱ26M=2H.?@B i?T ?c?=ֹϿ?@7?!?i2@I2];2fCY>By>3!IbDJVDJ8yRl=%R_=ٔR#Q-R>9TYT=VEyV$DZREZ>\Q 5b4^"Z?Q 9b4^ )^BY`ybzH>Q If*@^cDI^%:i^S:^4yjBɮj @hvB*** querying acoustic contact ***itit:i FNOT Ignoring new targets: 231.10 m."ihhhhggjgrge re Ze :e *e `T @]Bɢ]<<)Y e?ia)eaaie/IimN >mJ==IN >I1%9@) @)@)@)B >B B .!IB  BB B B B #|;B ~4EY^AM8=AUxAzAQ] BDAT read: Rx Time:04:19:08.6290 ] TRx dataTimestamp_ set to:1764908350.144395e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277067ԉ Ay I I O >E  E E %E "E :*E ՚:VE 4ZE BE 3)M;iMb@Mb@Mb@ 9x&1?p= ף?y&1?YA?y=`e< @(@ @)@Y@bDVD8y9=%6=ٔ0Q->9Y=Ey-DdE>IQ 5U4MZ?Q 9]4M)MBY]a?Q E]:y]|>Q I]*@McDIM:iM:M 4yaɮme@i:iFNOT Ignoring new targets: 231.10 m."i*i ProNav: ac range: 231.103195 m, nav range: 225.357620 m, bearing: 5.435016 deg, approach rate: -0.496283 m/s, LOS rate: -0.019342 deg/s, cmd heading: 7.906572 deg, new cmd heading: 7.888825 deg. i HeadingCmd: 0.137686 target range: 231.103195 and range: 232.00 m.h >hhhhggjgrg.BereZe:e*e @ԁBɢ[X<)! %Y?i!)%O@!!i-`Jie >e1:=mt=Im >Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527053Q@Q @Q@U/@QԹ ^A} ?΅=iQ IQ  DAT read: 04:19:08.6290 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 419, 0.04,-1.753, 2.832,-1.586,-2.170, PHS= 0.519,-1.236, 0.540, RAW= 150.6, 2.0, CAL= 149.5, 1.7, ROT= 0.5, -1.7  Ygot valid direction response: 04:19:08.6290 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 419, 0.04,-1.753, 2.832,-1.586,-2.170, PHS= 0.519,-1.236, 0.540, RAW= 150.6, 2.0, CAL= 149.5, 1.7, ROT= 0.5, -1.7  PDAT read: Bearing 164.3, 1.2 (Local)  ~Local bearing/azimuth received: Bearing 164.3, 1.2 (Local)  DAT read: Range 11 to 50 : 230.1 m (Round-trip 306.9 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.999522,0.008723,0.029666] Fpublishing direction and range infoyQ U I$?K>4݁? `?YU fCQ Q Q Q Q )U CIU /?iU ?5U q= ?U 8(@U 5=U <&@ U <)U 5F?R@"? U ?)U IU 5I\%,~tOLAEb EbEb E`"Eb:*Ebk:VEb3ZE`af@af@af@af@UD@U@k=Uo#ٱUo=UH?9c?پ?5?`P @m?"?4?iUD@IU+];UdCYBy=!IbDVDŰ8yC%<=ٔQ->9Y=Ey6D-E->1Q 5=45Z?Q 9=45+)5BY9yEX|>Q IE*@5cDI5.:i5~:54y5Bɮ=@=Eii]OLAj6eC"j6eC:j|>"p @l@J?S3@pI$?K>4݁? `?*j5<2j*p *=fl@Mx2<@*_i"@pzP?D"?y}?jA j1cCi ?iRjBjjnjrjaCzjN = addTargetRange:: Added new target pos. range: 230.100006 m, deltaT: 4.032482 s, deltaX: -1.899994 m, approachRate: -0.471172 m/s, rangeRepo size: 4 % Added new target pos. range: 229.211182 m, bearing: 7.246664 deg, lat: 36.779547 deg, lon: -121.859648 deg, deltaT: 4.032482 s, deltaX: -1.892014 m, approachRate: -0.469193 m/s, posRepo size: 4 :i!%FNOT Ignoring new targets: 229.21 m."i-*i)= ProNav: ac range: 229.211182 m, nav range: 225.591705 m, bearing: 6.519749 deg, approach rate: 0.000000 m/s, LOS rate: -0.019342 deg/s, cmd heading: 7.888825 deg, new cmd heading: 7.870399 deg. i9eHeadingCmd: 0.137364 target range: 229.211182 and range: 230.10 m.he@ >hahahahagagijgirgieireqZeq:eu@3l@*eu?Bɢa<) R?i)@i4uLi@ >;*=a=I@ >I@ @@A4@(DAT read: user:15> BDAT read: Tx time:04:19:09.9679 $Ping request sent.B B A!IB BB B B B |;B 4E^A] 8=i A .AI I O > s%,MOLA2@2=2-ٱ2=2H ?`龿ַ]?`˾?Θ?`~O৿? ,?@?i2@I2f^;2eCY> By>H!IbDFVDF8yNL=%N[=ٔRQ-R>9R ?YR ?=REyV>DVEV>xQ 5~4zCZ?Q 9~4z)zBY|y|>Q I*@zcDIz:izA:z(4y ɮ @ :iquFNOT Ignoring new targets: 229.21 m."i}*i} ProNav: ac range: 229.211182 m, nav range: 225.404160 m, bearing: 6.513400 deg, approach rate: -0.559588 m/s, LOS rate: -0.018961 deg/s, cmd heading: 7.870400 deg, new cmd heading: 7.857690 deg. i checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248500HeadingCmd: 0.137143 target range: 229.211182 and range: 230.10 m.ho >hhhhggjgrgereZe:e*e@S? GC\G1E EE#E"E:*E:VE3ZEBEp%=Io >II@I @I@U4@Q@Y@]=A e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500377^A _=A >A >i A I I O >k%,@QOLAYfByfF!I hhiMb@Mb@Mb@ 9Zd;?+η?Mb?Y>ԩyv=<"@ @)@Y@bDVD8y%%=ٔQ->9Y=EyHDE>Q 54Z?Q 94 )BY?Q E:y6>Q I*@cDI:,;id*;4yɮ@E:i!%FNOT Ignoring new targets: 229.21 m."i-^߹*i-^߹= ProNav: ac range: 229.211182 m, nav range: 225.162064 m, bearing: 6.501711 deg, approach rate: -0.505035 m/s, LOS rate: -0.024411 deg/s, cmd heading: 7.857690 deg, new cmd heading: 7.834287 deg. i=2EHeadingCmd: 0.136734 target range: 229.211182 and range: 230.10 m.hE >hAhAhIhIgIgIjgQrgQeQreQZeQ:eQ*e]`k?颅فBɢt<) "?i)2l顉i67Pi >=ڼ=I >I-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7531509@ @@/@E EE(E"E:*E&p:VEc44ZEa@a@a@a@^A!!I! I9 OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004259I %, OLAY$ByM!I !!bD-VD-8y5*<%=U=ٔAQ-E>9AYA=EEyEODIEM>QQ 5]4U[?Q 9]4U)UBYYyaQ Ie*@UcDIU:iU:Ua4yiɮm@iB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 229.21 m."i^ܹ*i^ܹ ProNav: ac range: 229.211182 m, nav range: 224.971207 m, bearing: 6.492477 deg, approach rate: -0.497359 m/s, LOS rate: -0.024082 deg/s, cmd heading: 7.834288 deg, new cmd heading: 7.815805 deg. iK0HeadingCmd: 0.136412 target range: 229.211182 and range: 230.10 m.hw >hB>BBZ!IB/BB =BBB|;B4EhhhggjgrgereZe:e*e?ԁBɢ<`<)1 ,(?i)?!i%3Ri%w >-=-&/=I-w >I)19@ @@/@aEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256282^A8=D =D R=bE3jENj3rEu0E EE E"ED:*EM:VE3ZEBE1Թ u%,PLA5(@5@d=5>ٱ5==5H?@h<>R?`H?@?%źև?`??i5(@I5];1YU-ByUX!Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508428i=Mb@Mb@Mb@9999 99=)\(?1Zd?~jt?Y=G?y="==D<9=?@ =@)99Y=3@bDU VDU8ye=%e9=ٔmdQ-m>9iYi=mEymXDu=.;Eu>yQ 54}[?Q 94})}BY/?Q E:y>Q I*@}dDI}:i}:}4ԑyBɮ@:iFNOT Ignoring new targets: 229.21 m."iR*iR ProNav: ac range: 229.211182 m, nav range: 224.748459 m, bearing: 6.480142 deg, approach rate: -0.503359 m/s, LOS rate: -0.027902 deg/s, cmd heading: 7.815805 deg, new cmd heading: 7.791110 deg. iBLHeadingCmd: 0.135981 target range: 229.211182 and range: 230.10 m.hz> >hhhhggjgrgFBereZe:e*e`?额΁Bɢ<) /?i):%顡iƇTi-z> >-=5 =I5z> >I1@ @@/@@ yA@ U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760242^A! A) zA- vAI I O >E  E E #E "E :*E :VE 3ZE a @a @a @a @ %,0PLAYn0Byn\!IIr;>)r>bDzVDz8y%̛<%-a=ٔ-Q-->91Y1=5Ey5_D5E5>9Q 5E4=([?Q 9M4=)=BYIyIQ IM*@=dDI=:i=:=t4yQɮU@Y:iFNOT Ignoring new targets: 229.21 m."i*i ProNav: ac range: 229.211182 m, nav range: 224.565399 m, bearing: 6.469986 deg, approach rate: -0.504129 m/s, LOS rate: -0.027993 deg/s, cmd heading: 7.791110 deg, new cmd heading: 7.770780 deg. iLHeadingCmd: 0.135626 target range: 229.211182 and range: 230.10 m.hw >hhhhggjgrgereZe:e*e]@ɁBɢ=) 3?i)`(iViw >u=pT=Iuw >I߭?߭R=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013675y@ @@/@!BBBf!IB9BB =BBB3|;B4EI ^A m=I9 II OU >] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2642657%,ȳJPLA66@6=63Bٱ6=6H`&?e1P?e@?8?fغRF?? ?i66@I6S\;6gCY`y`hj@AbDnVDn8ٔv Q-v>9tYt=MEyMgDU:EU>YQ 5e4]9[?Q 9e4]9)]BYiyu٧>Q Iu*@]dDI];i]S;]4yɮ@EE EE%E"E:*E&p:VE 4ZEBE?8hihqhqhygygjgrgIeQreYZe:e*e@=ÁBɢ=<)A E6?iA)EiAAiMBYiMPx >Mvݠ=U=IUPx >IQqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516254vԡ 9 @9  @9 @= @5@9 ^A]=Ae>Ae>IIO>%,iPLA>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768370JW@J=JqFٱJ7=JH?`@pL? 'a?X?`͈?@vƺ? w?iJW@IJ\;HYV.ByVY!IiEMb@Mb@Mb@AAAA A9E%C?Cl?9Y=EyrD؄:E>Q 54N[?Q 94)BYG?Q E:y>Q I*@.dDIM;i9;M4yɮ@E5 E5E5#E1"E52:*E5g:VE53ZE1aE@aE@aE@aE@:iFNOT Ignoring new targets: 229.21 m."i-*i- ProNav: ac range: 229.211182 m, nav range: 224.102722 m, bearing: 6.444157 deg, approach rate: -0.500687 m/s, LOS rate: -0.028015 deg/s, cmd heading: 7.747798 deg, new cmd heading: 7.719070 deg. iMHeadingCmd: 0.134723 target range: 229.211182 and range: 230.10 m.h >hhhhggjg rg BBe re Ze:e*e @]Bɢe<)a S8?i)顉iJ[i >Ѡ==I >IA#21@1 @1@=4@9i-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020308^A= 0=ԡ B >B B m!IB >BB B B B {;B W4EBBBB =B =C4Am ؟AIq I O >!%,IPLA2P @2@=2Eٱ29=2H?@P?ࡈ?Z?@C ?.??i2P @I2\;2dCYR-ByRX!I TTXXbD\VD\yf]%fR=ٔf8Q-j>9j"?Yj"?=jEynyDn|:En>pQ 5v4r^[?Q 9v4rD)r BYtyz5>Q Iz*@r;dDIr;ir ;r4y|ɮ~ @|B*** querying acoustic contact ***ii:i!-FNOT Ignoring new targets: 229.21 m."i- *i- 1E ProNav: ac range: 229.211182 m, nav range: 223.903473 m, bearing: 6.432967 deg, approach rate: -0.547662 m/s, LOS rate: -0.030786 deg/s, cmd heading: 7.719070 deg, new cmd heading: 7.696669 deg. iE]aMHeadingCmd: 0.134332 target range: 229.211182 and range: 230.10 m.hMc >hIhIhIhQgQgQjgQrgQeYreYZeY:eY*ee @颍BɢD=) :?i)y顑i<^ic >ʠ=Q=Ic >IMBDAT read: Rx Time:04:19:12.6510 UTRx dataTimestamp_ set to:1764908354.174904Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273466aE EE$E"E:*Exv:VE4ZEBEp%B'%,6PLA n @n~=n#Bٱn=nH?eT?{??[^???in @Inc\;nfCY!y-W!IiMb@Mb@Mb@ 9x&1?A`"?y&1|?YA?y=`;"@(@ @)@Y <4<bD VD Ű8y X%=ٔ9Q->9% ?Y% ?=%Ey%D-5:E->1Q 5=45qt[?Q 9=45)5&BY=?Q E=:y=>Q IE*@5LdDI5I:i5t:5F4yMBɮM @MEa:iq}FNOT Ignoring new targets: 229.21 m."i}*i} ProNav: ac range: 229.211182 m, nav range: 223.639877 m, bearing: 6.418038 deg, approach rate: -0.499356 m/s, LOS rate: -0.028314 deg/s, cmd heading: 7.696670 deg, new cmd heading: 7.666777 deg. iEOHeadingCmd: 0.133811 target range: 229.211182 and range: 230.10 m.h >hhhhggjgrgABereZe:e*e @BɢD<) 9=?i)mi,ai >=u=I >I-DAT read: 04:19:12.6510 LVL= 32368, 32753, 30194, 32755, AGC= 70, IDX= 149, 0.19, 2.279, 0.590, 2.423, 1.840, PHS= 0.541,-1.205, 0.539, RAW= 149.9, 1.5, CAL= 148.9, 1.1, ROT= 1.1, -1.1 5Ygot valid direction response: 04:19:12.6510 LVL= 32368, 32753, 30194, 32755, AGC= 70, IDX= 149, 0.19, 2.279, 0.590, 2.423, 1.840, PHS= 0.541,-1.205, 0.539, RAW= 149.9, 1.5, CAL= 148.9, 1.1, ROT= 1.1, -1.1 EPDAT read: Bearing 163.5, 1.9 (Local) E~Local bearing/azimuth received: Bearing 163.5, 1.9 (Local) UDAT read: Range 11 to 50 : 209.2 m (Round-trip 279.0 ms) speed 0.3 m/s y@y @@0@R#Rx 1: Read range and direction messages.\direction in FSK: [0.999631,0.019194,0.019197]Fpublishing direction and range infoyVL?.?]~?Y3QCp~u )FI~ ?iq= ?p'@Pw<R&@ nF<)nF.%,XPLA"(DAT read: user:16> &BDAT read: Tx time:04:19:14.0179 &$Ping request sent.&@>@:=>=ٱ>=>H?GY?ѿ?@? y?_Ѻ?`_?i>@I>I\;>cCLYR&ByRO!IbDZVDZ°8yb%fz=ٔf6y:Q-f?9f"?Yj"?=jEyjDj%*;Ej?pQ 5r4rā[?Q 9v4r)r*BYtyvR>Q Iv*@rWdDIr:ir:r4yxɮ~q@|iiioPLAjdPC"jdPC:jc>"p:e j@(@mٗ@pVL?.?]~?*jnF<2jnF*p׸%i@Xj=@4X>@p~˨? ?5?jUA j1NCi%a?iҏjƐBjk ?j1jƐBrj_Czj=MaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 209.199997 m, deltaT: 4.032317 s, deltaX: -20.900009 m, approachRate: -5.183126 m/s, rangeRepo size: 4:iIMFNOT Ignoring new targets: 229.21 m."iU*iUe ProNav: ac range: 229.211182 m, nav range: 223.476715 m, bearing: 6.408741 deg, approach rate: -0.494141 m/s, LOS rate: -0.028178 deg/s, cmd heading: 7.666777 deg, new cmd heading: 7.648169 deg. ieFNmHeadingCmd: 0.133486 target range: 229.211182 and range: 230.10 m.hm{>hihihihigigijgqrgqeqreZe:e`f&j@*et?EBɢMv'=)I M%H==I{>IBA4=B >BCCBf!IB9BB =BBB{;BT4EI@I @I@M/@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252124^A{=E  E E E "E :*E :VE ZE BE 4%,PLA:@:;=:<ٱ:=:H`? Z?ѿ?@?d?Ǻ?`?i:@I:We\;:eCYFByFB!IIJR=)J4<|i=Mb@Mb@Mb@9999 99=T㥛 ?EԸ?MbP?Y=?y===:= @9 9)=@9Y==@bDmVDm8yN%?=ٔT.9Q->9 ?Y ?=EyD=_6E>Q 54t[?Q 94).BYd?Q E:y>Q I*@edDIl;i[;4yɮ@E:iFNOT Ignoring new targets: 229.21 m."i*i蹝 ProNav: ac range: 229.211182 m, nav range: 223.260513 m, bearing: 6.397393 deg, approach rate: -0.484455 m/s, LOS rate: -0.025452 deg/s, cmd heading: 7.648168 deg, new cmd heading: 7.625451 deg. iQ:HeadingCmd: 0.133089 target range: 229.211182 and range: 230.10 m.hH>hhhhggjgrg%BereZe:e*ed?MBUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503189ɢ=) 79?i);2Z顱iDfiH>r==IH>I)9@ @@/@Q^A =ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756175A I I O- >#;%,(PLAE2 E2E2%E0"E2;*E2Ar:VE2 4ZE0a:@a:@a:@a:@Zc@Z=Z8ٱZB=ZH6?`῿]?@??1⺿`?n??iZc@IZ]\;ZdCYrByr:!IxxbD~ԿVD~8y % R=ٔ ":Q- >9Y=EyD/E>!Q 5%4%W[?Q 9-4%$)%1BY)y-n>Q I-*@%rdDI%::i%:%@4y9ɮ=@9Y:iamFNOT Ignoring new targets: 229.21 m."im*im ProNav: ac range: 229.211182 m, nav range: 223.066391 m, bearing: 6.387198 deg, approach rate: -0.529453 m/s, LOS rate: -0.027831 deg/s, cmd heading: 7.625451 deg, new cmd heading: 7.605043 deg. iKHeadingCmd: 0.132733 target range: 229.211182 and range: 230.10 m.h,>hhhhggjgrgereZe:e*e?eBɢe =)a e8?ia)m_QiiimNhi,>=i=I,>Im9@i @i@m0@iԉechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006996Թ^AÞ=B >B B Z!IB /BB =B B źDB {;B S4EA I I O >} B%,zQLA24@2@=2x3ٱ2d8=2HC?ݿa?o?)?E޺n?%??i24@I2І\;2cCY> By>0!IbDZVDZ8ybJ%bO=ٔfW:Q-f>9dYd=fEyfDjmEj>lQ 5r4n[?Q 9r4n)n5BYtyvk>Q Iv*@ndDIn:inS:n&4yxɮz@xB*** querying acoustic contact ***ii:i!-FNOT Ignoring new targets: 229.21 m."i-*i=񹝏M ProNav: ac range: 229.211182 m, nav range: 222.868011 m, bearing: 6.376763 deg, approach rate: -0.501309 m/s, LOS rate: -0.026394 deg/s, cmd heading: 7.605043 deg, new cmd heading: 7.584154 deg. iM7AUHeadingCmd: 0.132368 target range: 229.211182 and range: 230.10 m.hU>hQhQhQhQgagajgirgieireiZei:eq*e  ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260022GzAک9zAY>AEu EuEu"Eq"EuD:*Eu&p:VEu(3ZEqBEu1=܏=I>I @ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514511^A v=A A5 ؟AIA IQ O] >c9H%,~"QLA2@2=2T,ٱ2=2H?ɿd?4?@?кv???i2@I2!\;2dCY> By>-!I @@iEMb@Mb@Mb@AAAA A9EMbX9?Q?{GztYE?yE\=EףAA E@)E@AYE3@bD]VD]8ymuh%m@=ٔm:Q-u>9u"?Yu"?=uEyuD}+#E}>Q 54Y[?Q 94)6BY?Q E:y>Q I*@dDI? ;i ;4yBɮ@E:iFNOT Ignoring new targets: 229.21 m."i-*i- ProNav: ac range: 229.211182 m, nav range: 222.652084 m, bearing: 6.368350 deg, approach rate: -0.507721 m/s, LOS rate: -0.019799 deg/s, cmd heading: 7.584153 deg, new cmd heading: 7.567312 deg. iHeadingCmd: 0.132075 target range: 229.211182 and range: 230.10 m.h>>hhhhggjgrg#BereZe:e*e? -Bɢ-WO*=)) -W7?i1)5K>11i5dmi=>>==9I=>>IA9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763859AE} E}E}'Ey"E}:*E}xv:VE}'4ZEya@a@a@a@^A=iA9 IQ Ii O >ԑ ^N%,E9pYp=vEyvDvEv>xQ 5~4z^[?Q 9~4z)z8BYyͅ>Q I*@zdDIz:izb;zS4y ɮ =@ E:i15FNOT Ignoring new targets: 229.21 m."i=*i=M ProNav: ac range: 229.211182 m, nav range: 222.457520 m, bearing: 6.360767 deg, approach rate: -0.506259 m/s, LOS rate: -0.019748 deg/s, cmd heading: 7.567313 deg, new cmd heading: 7.552134 deg. iMUHeadingCmd: 0.131810 target range: 229.211182 and range: 230.10 m.hU>hQhQhQhQgQgYjgYrgYeareaZea:ea*ee w@颕Bɢ{/$=) A7?i)5顙icpi>6=I>IyAAAAB>BBG!IB BBBBB{;BJ4EU9@Q @Q@U0@Qԡ^Au=AyzA}zAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267680bEjE4rE/E  E E %E "E s:*E :VE 4ZE BE h0)BU%,4VQLAYBy!!Ii Mb@Mb@Mb@     9 MbX9?:v?y&1|Y y T= ` @ @ @) @ Y @bD% VD%8y5V%57=ٔ5Q-5>99Y9==Ey=DEEE>IQ 5U4M[?Q 9U4MT)M9BYU|?Q EU:yU`h>Q IU*@MdDIM:iM:M!4yaɮe@a:iFNOT Ignoring new targets: 229.21 m."i$*i$ ProNav: ac range: 229.211182 m, nav range: 222.231400 m, bearing: 6.353980 deg, approach rate: -0.506029 m/s, LOS rate: -0.015206 deg/s, cmd heading: 7.552133 deg, new cmd heading: 7.538544 deg. i޹HeadingCmd: 0.131572 target range: 229.211182 and range: 230.10 m.h>hhhhggjgrgBeEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519116reQZeY:eY*e]S4@颭Bɢ=) 7?i)*顱i7si>==I>I@ @@/@ 9 ^A = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774835A I I O- >%a[%,oQLAE6 E6E6&E4"E6:*E6i:VE64ZE4a:@a:@a:@a:@ZT@Z@/=Z| ٱZ@=ZH?#A@ p?1??@?`|?@S?iZT@IZyp];ZbCYfByf#!IIj>)j=n=n=bDrVDr8yz/ <%zc=ٔ~p;Q-~>9Y=EyDME > Q 54 *[?Q 94 @) Yyf>Q I*@ dDI ;i ; o4y!ɮ-m@):iIUFNOT Ignoring new targets: 229.21 m."iUy*iUye ProNav: ac range: 229.211182 m, nav range: 222.048691 m, bearing: 6.348566 deg, approach rate: -0.506595 m/s, LOS rate: -0.015024 deg/s, cmd heading: 7.538544 deg, new cmd heading: 7.527707 deg. ie۹mHeadingCmd: 0.131383 target range: 229.211182 and range: 230.10 m.hmV>hihihqhqgqgqjgyrgyeyreyZe:e*e @颭Bɢ:=) O:?i)~"项iXuiV>= =IV>IY@Y @Y@]/0@ayechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022995ԙ^Af=B >B DCB 4!IB BB =B B ƺDB {;B F4EA I I O >yJb%,؛QLA2f@2=2R0ٱ2=2Hm?@] t??Y?@? s??i2f@I2d];2fCY>By>!IDDbDHVDHLyRv*%VO=ٔV;Q-V>9TYX=ZEyZDZEZ>`Q 5f4b\?Q 9f4b)b:BYdyfe>Q If*@bdDIb:ibR:bS#4yhɮn@lzB*** querying acoustic contact ***ixix:iFNOT Ignoring new targets: 229.21 m."i *i  ProNav: ac range: 229.211182 m, nav range: 221.848969 m, bearing: 6.342675 deg, approach rate: -0.505831 m/s, LOS rate: -0.014932 deg/s, cmd heading: 7.527707 deg, new cmd heading: 7.515916 deg. iڹ%HeadingCmd: 0.131177 target range: 229.211182 and range: 230.10 m.h%cS>h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e=O @eBɢe!)=)a mk8?ii)m-iiim<'xiucS>u=ug=I}cS>IyBDAT read: Rx Time:04:19:16.6984 TRx dataTimestamp_ set to:1764908358.206894checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276183@ @@0@Dm%=DiEu EuEu'Eq"Eul;*Eue:VEu'4ZEqBEuYFy\=ף;(@ @)@YbDVD8y+.%7=ٔ:Q->9Y=EyDb!E> Q 54 F\?Q 94 ) Q E:yE>Q I*@ dDI X;i ~ ; !+4y!ɮ% A%E:iIMFNOT Ignoring new targets: 229.21 m."iUE8*iUE8e ProNav: ac range: 229.211182 m, nav range: 221.636978 m, bearing: 6.338185 deg, approach rate: -0.474925 m/s, LOS rate: -0.010069 deg/s, cmd heading: 7.515915 deg, new cmd heading: 7.506927 deg. iejmHeadingCmd: 0.131021 target range: 229.211182 and range: 230.10 m.hmC*>hihihihigigqjgqrguBeqreyZey:ey*e}O@-Bɢ-i!=)) -9?i))-11i5fzi=C*>=u==a=I=C*>I9!DAT read: 04:19:16.6984 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 410, 0.15,-0.789,-2.416,-0.687,-1.182, PHS= 0.494,-1.189, 0.451, RAW= 148.7, 3.0, CAL= 147.9, 3.0, ROT= 2.1, -3.0 Ygot valid direction response: 04:19:16.6984 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 410, 0.15,-0.789,-2.416,-0.687,-1.182, PHS= 0.494,-1.189, 0.451, RAW= 148.7, 3.0, CAL= 147.9, 3.0, ROT= 2.1, -3.0 PDAT read: Bearing 165.0, 2.8 (Local) ~Local bearing/azimuth received: Bearing 165.0, 2.8 (Local) -DAT read: Range 11 to 50 : 207.2 m (Round-trip 276.3 ms) speed 0.3 m/s 5R#Rx 1: Read range and direction messages.E\direction in FSK: [0.997959,0.036593,0.052336]EFpublishing direction and range infoyZeG?8=a?yoU˪?Y3OC )EI>i'1y>x&@PwV=4%@ PwV=)Q =e9@a @a@e0@iIPwV9?X2;l?7? M?)lTIQ =iPwVT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E} E}E}&Ey"E}:*E}]t:VE}4ZEya@a@a@a@Y^AE =ԉ A I I O >3n%,KQLA=%=(DAT read: user:17> BDAT read: Tx time:04:19:18.0179 $Ping request sent.e@>=>4˻ٱ>=>H`Q?@Vx???{vy?`??i>e@I>z];>dCYYy AbDVD8y ;% J=ٔ :Q- >9Y1=5Ey5D=fE=>AQ 5M4Ep)\?Q 9M4E)E?BYIyMTD>Q IU*@EdDIE:iE;EM24Bu<Au<B}>B}ECB}"!IB}BB} =ByB}ǺDB}|;B}{4EBMCCBMCCBIBIBICMI5yɮ AiiyQLAjfNC"jfNC:je>"ps'di@ @6@. %@pZeG?8=a?yoU˪?*jQ =2jPwV*pGbui@k]0p>@Иg)@p}?Tw0?<{,4?jA jKCiæ$4?i(ZjBjMA?jRjBrjYCzj>M addTargetRange:: Added new target pos. range: 207.199997 m, deltaT: 8.064207 s, deltaX: -22.900009 m, approachRate: -2.839710 m/s, rangeRepo size: 4 ] Added new target pos. range: 206.402252 m, bearing: 8.638825 deg, lat: 36.779510 deg, lon: -121.859611 deg, deltaT: 8.064207 s, deltaX: -22.808929 m, approachRate: -2.828416 m/s, posRepo size: 4 :iaeFNOT Ignoring new targets: 206.40 m."ie*ii ProNav: ac range: 206.402252 m, nav range: 217.748383 m, bearing: 7.309642 deg, approach rate: 0.000000 m/s, LOS rate: -0.010069 deg/s, cmd heading: 7.506927 deg, new cmd heading: 7.498244 deg. iHeadingCmd: 0.130869 target range: 206.402252 and range: 207.20 m.h>hhhhggjgrgereZe:e`fi@*e ?]~Bɢ]$=)a ek=Ѝ=I>I]9@Y @a@e0@aԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250646E  E E (E "E :*E :VE c44ZE BE 'Mu%,QLA2r@26=2.ٱ2#=2H-?qQGtz?qT?J?#͹ v?й??i2r@I2ܻ];2cCY>By>!Iti=Mb@Mb@Mb@9999 99=)\(?Q?Y=G?y=<==@=@ 9)=@9Y9 QU<bD]VD]°8ymN<%mG=ٔmI:Q-m>9qYq=uEyuD}( E}>yQ 54}p:\?Q 94})}@BY?Q E:y6>Q I*@}dDI};i};}b94yɮ@:iFNOT Ignoring new targets: 206.40 m."i%*i% ProNav: ac range: 206.402252 m, nav range: 217.543640 m, bearing: 7.306932 deg, approach rate: -0.532640 m/s, LOS rate: -0.007057 deg/s, cmd heading: 7.498244 deg, new cmd heading: 7.492819 deg. iNHeadingCmd: 0.130774 target range: 206.402252 and range: 207.20 m.h>hhhhggjgrgBereZe:e*e`?%zBɢ%mE=)! %X@?i!)- \))i-@i5>59b=5=I5>I9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502640Y@Y @Y@]0@YI^A}=% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755699ԑ A .AI I O >E  E E E "E :*E xv:VE 3ZE a @a @a @a @4 |%,HQLAY|y|bD VD 8y9:%%P=ٔ%Q-%>9- ?Y- ?=-Ey-D-E->1Q 5=45J\?Q 9E45%)5ABYAyAQ IE*@5dDI5;i53;5=@4yIɮM@Qԙ:iFNOT Ignoring new targets: 206.40 m."i[*i[% ProNav: ac range: 206.402252 m, nav range: 217.345367 m, bearing: 7.304303 deg, approach rate: -0.488589 m/s, LOS rate: -0.006485 deg/s, cmd heading: 7.492819 deg, new cmd heading: 7.487556 deg. i-=-HeadingCmd: 0.130682 target range: 206.402252 and range: 207.20 m.h->h1h1h1h1g9g9jgArgAeAreIZeI:eI*eU`y?颥uBɢ 9=) B?i)顱izi>W=oӌ=I>IM9@I @I@M1@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006748B>BBBBBBBm|;B4E^A5p,=II IY Om > %,f RLA:?@:j=:vٱ:|=:H ?콿??@"? n???i:?@I:];:dCrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258565E EE'E"E*E&p:VE'4ZEBEF-9Y=EyDLBE>Q 54F^\?Q 94)BBYy4>Q I*@eDI:i:NH4y ɮF@E-B*** querying acoustic contact ***i)i):i9=FNOT Ignoring new targets: 206.40 m."iEA*iEA ProNav: ac range: 206.402252 m, nav range: 217.112167 m, bearing: 7.301290 deg, approach rate: -0.520031 m/s, LOS rate: -0.006728 deg/s, cmd heading: 7.487556 deg, new cmd heading: 7.481522 deg. iEHeadingCmd: 0.130577 target range: 206.402252 and range: 207.20 m.h>hhhhggjgrgereZe):e)*e-@W?颅pBɢ^*9=) J?i)OWȻ顩ii>J=g=I>I)@ @@0@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511133ԁ ^A5 x=II!O5>z %,)*RLA2@2_=2Hٱ2x=2H?@ ǽD? iڽ??i??c?i2@I2m];2bC 8):A<:D<<@B~AiBTI@@I@iF+A FtFPF)DD F=~AFHHHHIL)LiL)NCINE~ANL PPRM~ARףiPPiTT)T TITYTY^ By^,!Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763156i}Mb@Mb@Mb@yyyy y9}'1Z?V-?~jth?Y}?y}<}D;}@}@ }@)}@yYy@AbD VD8yU<%3=ٔ6:Q->9Y=EyD͑E>Q 54q\?Q 94)DBY?Q E:y0>Q I*@eDI* ;i ;LP4yɮ@E:iFNOT Ignoring new targets: 206.40 m."i-*i-ฝ ProNav: ac range: 206.402252 m, nav range: 216.878326 m, bearing: 7.298492 deg, approach rate: -0.511467 m/s, LOS rate: -0.006125 deg/s, cmd heading: 7.481522 deg, new cmd heading: 7.475922 deg. iW3HeadingCmd: 0.130479 target range: 206.402252 and range: 207.20 m.hg>hhhhg!g!jg)rg- Be)re)Ze):e1*e5@Hk@]kBɢ]J=)a enO?ia)miiimHriug>u>=u߉=Iug>IyԩE EE!E"E;*E:VEc3ZEa@a@a@a@@ @@_0@^Am=I) I9 OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014576 A A @AB >B FCB B B =B B ȺDB |;B 4EF%,CRLA2S@2=23ٱ2~Z=2H?`49iYq=uEyuDu Eu>yQ 54}\?Q 94}-)}EBYy0>Q I*@}eDI}:i}~:}V4yɮ@:iFNOT Ignoring new targets: 206.40 m."iݸ*iݸ ProNav: ac range: 206.402252 m, nav range: 216.693100 m, bearing: 7.296307 deg, approach rate: -0.511530 m/s, LOS rate: -0.006040 deg/s, cmd heading: 7.475921 deg, new cmd heading: 7.471547 deg. i0HeadingCmd: 0.130403 target range: 206.402252 and range: 207.20 m.hd>hhhhggjgrgereZe:e*exP@gBɢ%ef=)! %nT?i!)%!!i-ԅi-d>-3=5c=I5d>I19@ @@@5@ BC!uG{Aꜿ9{AY[Ai!I%A-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266980E EE%E"E:*E:VE 4ZEBE+i P%,]RLA2@2@=2QϺٱ2Ql=2H(?Pt*?@?? E@`iY?@a?``?i2@I2mN^;2bCBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518629YvByvB!I xxxzA9i}Mb@Mb@Mb@yyyy y9}K?+?~jt?Y}^>y}=}D<}@}(@ }@)yyY}@bDVD8yz_=%F=ٔ:Q->9Y=EyDE>Q 54̑\?Q 94))IBY<>Q E:y E>Q I*@+eDI:i:]4yɮ@:iFNOT Ignoring new targets: 206.40 m."i*i ProNav: ac range: 206.402252 m, nav range: 216.491638 m, bearing: 7.292833 deg, approach rate: -0.489313 m/s, LOS rate: -0.008447 deg/s, cmd heading: 7.471547 deg, new cmd heading: 7.464592 deg. iTwHeadingCmd: 0.130282 target range: 206.402252 and range: 207.20 m.hh>hhhhggjgrg BereZe:e*e@UbBɢUp[=)Y ]\?iY)]WYYieNiieh>ed&=msK=Imh>Iii9@ @@ 3@ ԙ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774053^Az=IQ Ia Om >E  E E #E "E :*E :VE 3ZE a @a @a @a @ *G%,!wRLABS@Bo=BaٱBUv=BHw?NZ?}?࢝?@[6>L??`?iBS@IBx^;BfCY^By^C!I ddbDjVDj8yr;%rW=ٔr":Q-r>9tYt=vEyvDv]Ez>|Q 54~5\?Q 94~9)~LBYyD>Q I*@~7eDI~:i~:~ud4yɮ@:i9=FNOT Ignoring new targets: 206.40 m."iE*iEM ProNav: ac range: 206.402252 m, nav range: 216.305756 m, bearing: 7.289638 deg, approach rate: -0.489512 m/s, LOS rate: -0.008420 deg/s, cmd heading: 7.464592 deg, new cmd heading: 7.458197 deg. iUv]HeadingCmd: 0.130170 target range: 206.402252 and range: 207.20 m.h]OK>hYhYhYhYgYgajgargaeareaZei:ei*emO @ԑ^Bɢam=)Ta W_?i)er]i/iOK>L==IOK>I I1)5yAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0226319@ @@55@B>BECB.!IB BBBBǺDBl|;B4E^AIQ Ia O > E BDAT read: Rx Time:04:19:20.7471 E TRx dataTimestamp_ set to:1764908362.238879M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275753,%,RLAbE--4jE- 4rE-0EV EVEV$ET"EV:*EVi:VEV4ZETBEV'9qYq=uEyuD}'E}>Q 54I\?Q 940)PBYyeD>Q I*@DeDI:ih:k4yBɮ@EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 206.40 m."i*iE ProNav: ac range: 206.402252 m, nav range: 216.099731 m, bearing: 7.286107 deg, approach rate: -0.488902 m/s, LOS rate: -0.008389 deg/s, cmd heading: 7.458197 deg, new cmd heading: 7.451127 deg. iEuUHeadingCmd: 0.130047 target range: 206.402252 and range: 207.20 m.h}*>hyhyhyhggjgrgereZe:e*e: @YBɢ h=)! %b?iI)U/*YYieYi*> =)=I5*>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5274119@ @@0@a^A} ER=ԉ A ؟AI I O >+%,׮RLA>DAT read: 04:19:20.7471 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 429, 0.10,-1.262,-2.562,-1.033,-1.874, PHS= 0.715,-0.643, 0.797, RAW= 152.9, -12.4, CAL= 154.1, -14.2, ROT= 355.9, 14.2 BYgot valid direction response: 04:19:20.7471 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 429, 0.10,-1.262,-2.562,-1.033,-1.874, PHS= 0.715,-0.643, 0.797, RAW= 152.9, -12.4, CAL= 154.1, -14.2, ROT= 355.9, 14.2 FPDAT read: Bearing 148.2, -5.7 (Local) J~Local bearing/azimuth received: Bearing 148.2, -5.7 (Local) NDAT read: Range 11 to 50 : 243.7 m (Round-trip 325.0 ms) speed 0.1 m/s RR#Rx 1: Read range and direction messages.V`direction in FSK: [0.966964,-0.069313,-0.245307]VFpublishing direction and range infoy(*sJ"_?Lk/;fϿY*sC(((( ()*BI*= 7?i*$*1L?*{*@*k]*!,@ *})*@I*}>((*=$>?e'?Aj#l˿ *]?)*]>I*ii*}>((bT****** received valid address query ******bR****** received valid ping request ******bQuerying Benthos address 50 with one ping in standard two-way mode.|E  E E &E "E s:*E ?:VE 4ZE a@a@a@a@YM+ByMU!IIU=)U=U=Up=iUMb@Mb@Mb@QQQQ Q9UX9v?~jt?~jt?YU>yUD=QU@U?@ U@)U@QYU3@AAAAbDVD8yM-=%M=ٔUQ-}>9}"?Y}"?=}Ey}+DE>Q 54/\?Q 94~)UBY6>Q E:yU>Q I*@VeDI=j*p*dfMm@20@V7DyNp*A?/i?bYvпj*A j*hjCi*L?i*+ij*K@j*^Gf?j(j(rj*^Czj*= addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 243.699997 m, deltaT: 4.031348 s, deltaX: 36.500000 m, approachRate: 9.054044 m/s, rangeRepo size: 4:iFNOT Ignoring new targets: 206.40 m."i=9*i=9% ProNav: ac range: 206.402252 m, nav range: 215.822922 m, bearing: 7.280107 deg, approach rate: -0.466390 m/s, LOS rate: -0.010122 deg/s, cmd heading: 7.451127 deg, new cmd heading: 7.439112 deg. i-1=HeadingCmd: 0.129837 target range: 206.402252 and range: 207.20 m.h=>h9hAhAhAgAgAjgrgDBereZe:e`fvn@*e7?TBɢ3Y=) k?i) κi i > ==I>I1 (DAT read: user:18> BDAT read: Tx time:04:19:22.0679 $Ping request sent.B B A!IB BB =B B B $|;B 4EQ ^A 8=ԁ A.AIIO>v%,RLA6[@6=6'g;ٱ6B=6H@?@뼿_e?@%?3?ܺ c R??i6[@I6E_;6aCYB1ByB]!INchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249580bDRͿVDR~8yZ=%ZX=ٔ^(;Q-^>9^ ?Y^ ?=^Ey^2DbF<Eb>dQ 5j4fz\?Q 9j4f})fXBYhynyT>Q In*@fbeDIfu:if;f|4ypɮr@rE:i  FNOT Ignoring new targets: 206.40 m."iW*iW% ProNav: ac range: 206.402252 m, nav range: 215.638046 m, bearing: 7.276148 deg, approach rate: -0.550461 m/s, LOS rate: -0.011798 deg/s, cmd heading: 7.439112 deg, new cmd heading: 7.431186 deg. i%-HeadingCmd: 0.129699 target range: 206.402252 and range: 207.20 m.h->h)h)h)h)g)ԑgjgrgereZe:e*e+s?EU EUEU$EQ"EUT;*EU|:VEU4ZEQBEUG/=#=I>I𕭼N>iMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501498e9@a @a@m/@i ^AM ff=A9IIIYOm?W+%,RLAJchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753583^`@^@=^];ٱ^=^H?iͼa?-??`; 2k?@/?i^`@I^_;^fCYz4Byz`!I |||~Ai=Mb@Mb@Mb@9EM EIEM%EI"EMD:*EIVEM 4ZEIaU@aU@aU@aU@999 99=V-?p= ף?/$?Y=|>y===<9=@ =@)=G@9Y=@bDmʿVDm{8y}<%}=ٔ:Q->9Y=Ey=D,)E>Q 54ԡ\?Q 94{)_BY?Q E:ys>Q I*@teDI/;i.;4yɮd@:iFNOT Ignoring new targets: 206.40 m."iۇ*iۇ ProNav: ac range: 206.402252 m, nav range: 215.356247 m, bearing: 7.267778 deg, approach rate: -0.499246 m/s, LOS rate: -0.014847 deg/s, cmd heading: 7.431187 deg, new cmd heading: 7.414426 deg. i_ٹHeadingCmd: 0.129406 target range: 206.402252 and range: 207.20 m.h >hhhhggjg rg HBe re Ze:e*e`q?KBɢn=) mt?i)(q8i#i >ޟ=|1=I >I!i@i @i@m0@iEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005524B >B B M!IB %BB =B B B {;B c4EBECBECBB =B =C F5^A _=) A I I O% >|%,n SLA2@2@=2~;ٱ2 =2Hi?`񩼿 Ɉ? W?(?ǂq`κ??i2@I2,_;0Y>CBy>r!IbDFVDF8yNa=%N]=ٔR-;Q-R>9PYP=VEyVEDVvEV>XQ 5^4Z\?Q 9^4Zz)ZdBY`ybss>Q Ib*@ZeDIZ:iZ:Z^4ydɮf|@d:ix~FNOT Ignoring new targets: 206.40 m."i~*i~  ProNav: ac range: 206.402252 m, nav range: 215.171494 m, bearing: 7.262300 deg, approach rate: -0.500779 m/s, LOS rate: -0.014861 deg/s, cmd heading: 7.414426 deg, new cmd heading: 7.403461 deg. i ٹHeadingCmd: 0.129215 target range: 206.402252 and range: 207.20 m.hP>hhhhggjgrg!e!re!Ze!:e!*e--V?GBɢ=) }?i)W:iśiP>џ==IP>I)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257617D=D4=E EE"E"E:*EAr:VE(3ZEBEF-%,(SLA,Y-LBy-}!IiMb@Mb@Mb@ 9~jt?9"?Y"?= Ey ODE>Q 5%48]?Q 9-4x)iBY5?Q E5:y5}>Q I5*@eDIL;iK;~4yEBɮE@EEuB*** querying acoustic contact ***iqiq:iFNOT Ignoring new targets: 206.40 m."i*i- ProNav: ac range: 206.402252 m, nav range: 214.900543 m, bearing: 7.253495 deg, approach rate: -0.513895 m/s, LOS rate: -0.016722 deg/s, cmd heading: 7.403461 deg, new cmd heading: 7.385828 deg. i--HeadingCmd: 0.128907 target range: 206.402252 and range: 207.20 m.h54>h1h1h1h1g1g1jg9rg=eBe9re9ZeA:eA*eM @ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761607BBɢ=) Z?i) ;ii4> =6=I4>IaEe EeEe&Ea"EeD:*EeV:VEe4ZEaau@au@au@au@@ @@/@Ա ^A _=e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014408A I I) O5 >n%,VBSLA2@2=2;ٱ2L=2H?-?# ?? d{]?`?i2@I29_;2cCY>HBy>x!IIB>)Bl>bDJVDJ8yR%Re=ٔR;Q-V>9TYT=VEyVWDA\A\B^>B\B^`!IB^4BB^ =B\B\B^{;B^^4EhZӒ:En>lQ 5r4n$]?Q 9v4nw)nlBYtyvX~>Q Iv+@neDIn:in:nś4yqɮu@q:iFNOT Ignoring new targets: 206.40 m."i*i ProNav: ac range: 206.402252 m, nav range: 214.714096 m, bearing: 7.247406 deg, approach rate: -0.503880 m/s, LOS rate: -0.016470 deg/s, cmd heading: 7.385828 deg, new cmd heading: 7.373640 deg. i!񹝏HeadingCmd: 0.128694 target range: 206.402252 and range: 207.20 m.hp>hhhhggjgrgereZe):e)*e-@}?Bɢ}=)y },?i)B/;顁ieip>=I=Ip>I!@! @!@%0@!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2655001^AE EE$E"E:*E҆:VE4ZEBE?8%,X\SLA%@%=%<ٱ%=%H`?Ἷ`f?,B?@?`Ⱥ`"0?g?i%@I%j_;%dCY=IByEz!IQiMb@Mb@Mb@ 9%C?(\µ?9Y=Ey`D:E> Q 54 X7]?Q 94 $v) qBY5?Q E:y>Q I+@ eDI ;i : ~4y!ɮ%@%Euchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.525520:iFNOT Ignoring new targets: 206.40 m."iͶ*iͶ- ProNav: ac range: 206.402252 m, nav range: 214.485092 m, bearing: 7.238384 deg, approach rate: -0.506512 m/s, LOS rate: -0.019977 deg/s, cmd heading: 7.373640 deg, new cmd heading: 7.355576 deg. i-=5HeadingCmd: 0.128379 target range: 206.402252 and range: 207.20 m.h5u>h1h1h1h1g9g9jg9rg=gBeAreAZeA:eI*eM%w@u;BɢuS=)y }i?iy)}zj;yyi}=iu>T=bC=Iu>Iԁ9@9 @9@=/@9ԩ^A} =A >A ?% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777547 E  E E %E "E T;*E |:VE 4ZE a @a @a @a @A I I O% >%,(vSLAV@V =V<ٱV$=VH`=?@uȼ@?0?U? ;Ǻic7?>?iV@IVn_;VaCYnRByn!I tv4<bDzVDz8yjL=%[=ٔA;Q->9 Y = Ey gD <E>iQ 5}4mG]?Q 9}4mt)muBYyy}>Q I}+@meDIm;im/;m24yɮ@:iԱFNOT Ignoring new targets: 206.40 m."iȹ*iȹ ProNav: ac range: 206.402252 m, nav range: 214.286301 m, bearing: 7.230550 deg, approach rate: -0.555853 m/s, LOS rate: -0.021923 deg/s, cmd heading: 7.355576 deg, new cmd heading: 7.339895 deg. i| HeadingCmd: 0.128105 target range: 206.402252 and range: 207.20 m.h .>hhhhggjgrgereZe:e*e@T @8Bɢ;)=) ?i);i^i% .>%=% =I- .>I)9@ @@O0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029490B>BBf!IB9BB =BBBS|;B4E^A l=A I) I9 OE > ͂G ! 9 U ȕ9Q YU VA%,SLArBDAT read: Rx Time:04:19:24.7428 vTRx dataTimestamp_ set to:1764908366.278730vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.282505YzHByzy!I ||bD >VD 8yEA%MF=ٔMQ-M>9IYQ=UEyUpDUEU>YQ 5e4]X]?Q 9e4];s)]zBYiyiQ Im+@]eDI]:i]h:]64yuBɮu@E] E]E]&EY"E]2:*E]&p:VE]4ZEYBE]$*hhhhggjgrge!re!Ze):e)*eU` @54Bɢ5i=)1 5 ?i1)=dJ;99i=㚼iE>E=Ep=IE>IA}9@ @@/@iߑߕC=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533830^A z=ԡ A) I9 II O] > }%,SLAYMKByU}!IiiMb@Mb@Mb@ 9Cl?? rh?Yd>y=C< @?@ @)t@Y@bD=VD8y8<%1=ٔ Q- >9 Y =EyyDE>Q 5%4Fk]?Q 9%4_q)BY-Y?Q E-:y->Q I-+@eDI7 ;i;G4y1ɮ5@1UB*** querying acoustic contact ***iQiQ:iYeFNOT Ignoring new targets: 206.40 m."ie*im򹝏u ProNav: ac range: 206.402252 m, nav range: 213.850952 m, bearing: 7.210978 deg, approach rate: -0.528780 m/s, LOS rate: -0.026453 deg/s, cmd heading: 7.323454 deg, new cmd heading: 7.300711 deg. iuA}HeadingCmd: 0.127421 target range: 206.402252 and range: 207.20 m.h}z>hyhhhDAT read: 04:19:24.7428 LVL= 30816, 32753, 29938, 32755, AGC= 70, IDX= 402, 0.38, 0.954,-0.760, 1.060, 0.575, PHS= 0.481,-1.290, 0.441, RAW= 148.9, 4.2, CAL= 148.1, 4.4, ROT= 1.9, -4.4 Ygot valid direction response: 04:19:24.7428 LVL= 30816, 32753, 29938, 32755, AGC= 70, IDX= 402, 0.38, 0.954,-0.760, 1.060, 0.575, PHS= 0.481,-1.290, 0.441, RAW= 148.9, 4.2, CAL= 148.1, 4.4, ROT= 1.9, -4.4 %PDAT read: Bearing 165.7, 1.5 (Local) -~Local bearing/azimuth received: Bearing 165.7, 1.5 (Local) 5DAT read: Range 11 to 50 : 203.1 m (Round-trip 270.8 ms) speed 0.2 m/s =R#Rx 1: Read range and direction messages.E\direction in FSK: [0.996505,0.033057,0.076719]EFpublishing direction and range infoy:]?\`?.0ۣ?YKC`xt )FIE>i>R&@Q =m%@ nF=)=InFd?is?rM? 4?)ޗI=inFT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ggjgrgoBereZe:e@3ci@*eޙ?0Bɢu=)! %?i!)%<;!)i-לi-z>5=51=I5z>I1Ee EeEe"Ea"Ee:*EeAr:VEe(3ZEaam@am@am@am@ԙ59@1 @9@9@9^AU i= (DAT read: user:19>  BDAT read: Tx time:04:19:26.0678  $Ping request sent. B B m!IB >BB =B B B |;B 4EA I I O >%,SLA2@2@I=2OI<ٱ2o=2H?=4JV? c??2 8@t??i2@I2I`;2cCY>EBy>v!IDF@AbDF;VDF8yN%N[=ٔR39PYP=VEyVDV;EV>XQ 5^4ZLz]?Q 9b4Zo)ZBY`yb>Q Ib+@ZeDIZ:iZ:Zп4yfBɮfz@jEii0SLAjRJC"jRJC:jV>"p:r3i@:1@B4 /@p:]?\`?.0ۣ?*j=2jnF*p!*jh@*|s[<@tW+@p)7? ?͘OnL?jA jGCijC?i&jBj%a?jҏjrj&JCzj4> addTargetRange:: Added new target pos. range: 203.100006 m, deltaT: 8.071551 s, deltaX: -4.099991 m, approachRate: -0.507956 m/s, rangeRepo size: 4 - Added new target pos. range: 202.321136 m, bearing: 8.076174 deg, lat: 36.779404 deg, lon: -121.859597 deg, deltaT: 8.071551 s, deltaX: -4.081116 m, approachRate: -0.505617 m/s, posRepo size: 4 :i)QFNOT Ignoring new targets: 202.32 m."i*i ProNav: ac range: 202.321136 m, nav range: 202.151108 m, bearing: 7.956881 deg, approach rate: 0.000000 m/s, LOS rate: -0.026453 deg/s, cmd heading: 7.300712 deg, new cmd heading: 7.280746 deg. iHeadingCmd: 0.127073 target range: 202.321136 and range: 203.10 m.hk>hhhhggjgrgereZe:e*e ?颍-Bɢ<|=) ?i)E;顑iՋik>?|=R=Ik>Iԁ9@ @@>0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250482bE}J4jE}ƶ4rE}d/E EE#E"E:*Ex:VE3ZEBE<]%,bSLA2@2^=2Z<ٱ2s=2H`r?@@ښ?1?u?`=Ȼ]R`?`?i2@I2 `;2bCY>)By>S!IIB=)B,>rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501953iMb@Mb@Mb@ 9E?Mb?{Gzt?Y?y=ף;^@ @)^@Y(@bD-bVD-8y=%=A=ٔ=P";Q-E>9E ?YE ?=EEyEDMi;EM>QԹQ 54U]?Q 94U%n)UBY?Q E:yɕ>Q I+@UeDIUIhIhQhQhQgQgQjgYrg]RBeYreYZea:ea*ee?颍*Bɢ=) g?i)h;顙i@i>t=]=I>I@ @@b1@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754425^A7=A ؟AI I O5 >E=  E= E= $E9 "E= :*E= :VE= 4ZE9 aE @aE @aE @aM @I %,SLAJu@J7=J;ll<ٱJW=JH`?`Lٽ`mH? s?ē?( DA̼?$?iJu@IJ8`;JcCYV3ByV`!IbDbdVDb 8yf U=%fQ=ٔj-3;Q-j>9j"?Yn"?=nEynDndi;Er>pQ 5v4rZ]?Q 9v4rl)rBYxyzy>Q Iz+@reDIr7:ir:r4y|ɮ@E:i!-FNOT Ignoring new targets: 202.32 m."i-*i-⹝E ProNav: ac range: 202.321136 m, nav range: 201.721756 m, bearing: 7.937910 deg, approach rate: -0.556817 m/s, LOS rate: -0.024769 deg/s, cmd heading: 7.261111 deg, new cmd heading: 7.242763 deg. iER5MHeadingCmd: 0.126410 target range: 202.321136 and range: 203.10 m.hMq>hIhIhIhIgQgQjgQrgQeYreYZeY:eY*ee[?颍'BɢL=) ?i)&N <顑i{롼iq>)o=&=Iq>I9@ @@!5@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006179B>BBZ!IB/BB =BBB};B55EA^Av=iAA II Ia Om > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257827ԡ b%,VTLAY~2By^!IbD%ZVD%8ym%mA=ٔuQ-u>9yYy=}Ey}DE>Q 54]?Q 94j)BYyQ I+@ fDIj;iw;v4yɮ@:iFNOT Ignoring new targets: 202.32 m.E EE'E"E:*E1:VE'4ZEBE+hh h h g g jgrgereZe:e*e༪?E$BɢE =)I M[?iI)M] i=]qT=I]>IYy 9@  @ @  5@ ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509901^A=A% .AI) I9 OM >  %,4.TLA:L@:@=:0<ٱ:=:H`?@=?@J? ?"]Ő b??i:L@I:;`;:bCYF$ByFM!I HHiEMb@Mb@Mb@AAAA A9E?/$?~jt?YE?yE=ED9} ?Y} ?=}Ey}D}O;E>Q 545]?Q 94Qi)BY?Q E:yG>Q I+@fDIT;i;4yBɮ@EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 202.32 m."i6*i6 ProNav: ac range: 202.321136 m, nav range: 201.295120 m, bearing: 7.919489 deg, approach rate: -0.500921 m/s, LOS rate: -0.020896 deg/s, cmd heading: 7.222739 deg, new cmd heading: 7.205881 deg. iHeadingCmd: 0.125766 target range: 202.321136 and range: 203.10 m.h>hhhhggjgrg]BereZe:e*e_ @-!Bɢ-P=)1 5À?i1)5C'<19i=ii=>Ed=E =IE>IAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763817E EE%E"E;*E]t:VE 4ZEa@a@a@a@@ @@5@^A=)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013884A A AAB B B G!IB BB =B B B };B ?5EBBBB =B =Cʳ45A] ؟AIa Iq O >%,HTLAN@N=Nk<ٱN=NH`?@ 0.?@?@d?;.`=푿:??iN@INP#`;NdCYZByZB!IbDf2VDfڰ8yn<%~T=ٔ~=;Q->9"?Y"?=EyD F9E >Q 54(]?Q 94g)BY!y%]>Q I%+@&fDI";i#;K4y9ɮ= @A:iFNOT Ignoring new targets: 202.32 m."i*i ProNav: ac range: 202.321136 m, nav range: 201.100021 m, bearing: 7.911334 deg, approach rate: -0.493779 m/s, LOS rate: -0.020661 deg/s, cmd heading: 7.205881 deg, new cmd heading: 7.189554 deg. i?HeadingCmd: 0.125481 target range: 202.321136 and range: 203.10 m.h2~>hhhhggjgrgereZe:e*eK@颕Bɢܢ=) o~?i)[5<顙ii2~>$a=H=I2~>I1M9@I @I@M44@I@Q@UzAechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265824aE EEE"E:*EVEZEBEF-u%,RaTLA,F@F=F!<ٱF|=FH8? Q2.?? ?tF` ?A?iF@IF`;FbCYRByR@!I^>^4=bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518219iMb@Mb@Mb@ 9?V-?{Gzt?Yym=ף;"@?@ @)@Y@bDRVD8y%==ٔ";Q->9Y=EyDzu:E>Q 54]?Q 94f)Y?Q E:yp>Q I+@3fDI;i;4yɮ(@:i FNOT Ignoring new targets: 202.32 m."i z*iz5 ProNav: ac range: 202.321136 m, nav range: 200.885742 m, bearing: 7.905381 deg, approach rate: -0.508840 m/s, LOS rate: -0.014150 deg/s, cmd heading: 7.189554 deg, new cmd heading: 7.177637 deg. i=*ϹMHeadingCmd: 0.125273 target range: 202.321136 and range: 203.10 m.hUG>hQhQhQhQgQgQjgYrg]=BeYreYZea:ea*ee@ԉBɢ2"=) ~?i)}/C<iʨiG>]= M=IG>II ) 9@ @@4@Աuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769900^A t= Ee  Ee Ee "Ea "Ee s:*Ee i:VEe (3ZEa au @au @au @au @I I O >>%,{TLA2 @2=2<ٱ2?=2H ?`Xbɠ?C?ѓ?`h7?}?i2 @I2|5`;0Y>By>$!IB=B=bDJ2VDJڰ8yR %R]=ٔV>;Q-V>9TYT=VEyZDZƌ:EZ>\Q 5b4^]?Q 9b4^he)^BY`yf3q>Q If+@^?fDI^;:i^:^74yhɮj@jEp:i FNOT Ignoring new targets: 202.32 m."i *i  ProNav: ac range: 202.321136 m, nav range: 200.700912 m, bearing: 7.900217 deg, approach rate: -0.499174 m/s, LOS rate: -0.013961 deg/s, cmd heading: 7.177637 deg, new cmd heading: 7.167299 deg. ih̹%HeadingCmd: 0.125093 target range: 202.321136 and range: 203.10 m.h%^>h!h!h)h)g)g)jg)rg1e1re1Ze1:e1*e=` @eBɢe<=)i mt?ii)mG"Nul[=uB=I}^>I@ @@/@BDAT read: Rx Time:04:19:28.7402 TRx dataTimestamp_ set to:1764908370.058945checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023057B>BB.!IB BB =BBBI};B5E9^A=AA?II)OM>a  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273790)%%,צTLAE EE$E"E:*E:VE4ZEBE'9Y=EyDE>Q 54*^?Q 94 d)YyQ I+@MfDIM;i;4yɮ&@ :i1=FNOT Ignoring new targets: 202.32 m."i=~*i=~M ProNav: ac range: 202.321136 m, nav range: 200.480484 m, bearing: 7.894045 deg, approach rate: -0.496875 m/s, LOS rate: -0.013927 deg/s, cmd heading: 7.167298 deg, new cmd heading: 7.154941 deg. iM˹HeadingCmd: 0.124877 target range: 202.321136 and range: 203.10 m.h=hhhhggjgrgereZe:e*e64 @Bɢ=) y?i)]<i{i=[X={=I=Ia@ @@@@ =@ =checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528291ԑ^A D=Ia Iy O >Թ Q+%,WyTLA2@2=2uS<ٱ2=2H@?N?k? ? k⻿`ɖ@Eʼ? ?i2@I2Jj`;2aCY>ByB!Ii Mb@Mb@Mb@     9 RQ?Mb?{Gzt?Y ?y @=  9@ @ @) @ Y @bD%VD%ð8y5%5T=ٔ5;Q-5>99Y9==Ey=DEJ;EE>IQ 5U4Mx^?Q 9U4Mb)IYU?Q EU:yUfZ>Q IU+@ԙMZfDIMi==7>=S$@=¸==$@ =q=)=k]=I=q99=lD?mjz?-V? =>)=ﲽI=k]=i=q99T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i9i=TLAj=SHC"j=SHC:j=Q*>"p=]Ňh@I%@V! 2@p=}mV ? 鑫?{]U?*j=k]=2j=q*p==.h@ cI&@@" aS.@p=w?!? sPn`?j=IB j=DCi=랊?i=wj=MBj=jC?j=&j=Brj=GCzj=x'> addTargetRange:: Added new target pos. range: 201.100006 m, deltaT: 4.031972 s, deltaX: -2.000000 m, approachRate: -0.496035 m/s, rangeRepo size: 4  Added new target pos. range: 200.327866 m, bearing: 9.529873 deg, lat: 36.779401 deg, lon: -121.859593 deg, deltaT: 4.031972 s, deltaX: -1.993271 m, approachRate: -0.494366 m/s, posRepo size: 4 :iE- E-E-'E)"E-:*E-Ar:VE-'4ZE)a5@a5@a5@a5@FNOT Ignoring new targets: 200.33 m."iM*iI] ProNav: ac range: 200.327866 m, nav range: 199.990158 m, bearing: 8.009893 deg, approach rate: 0.000000 m/s, LOS rate: -0.013927 deg/s, cmd heading: 7.154942 deg, new cmd heading: 7.142262 deg. iYeHeadingCmd: 0.124656 target range: 200.327866 and range: 201.10 m.heK=hahahahggjgrgABereZe:e@3#i@*eʿ?}Bɢ}Ov=)y } s?i)Ck<顡iiK=V=d=IK=Ia>i >9@9 @9@=3@9 (DAT read: user:20>  BDAT read: Tx time:04:19:30.1178  $Ping request sent. B B !IB BB B B B |;B 4E! ^A% =I I O >92%,UTLA2" @2=2S<ٱ2 =2H?`ߢ?@}?9pYp=rEyrDvt<:Ev>xQ 5z4z$^?Q 9~4za)zBYyZ>Q I+@zgfDIz;iz@;z4y ɮ L@ -B*** querying acoustic contact ***i)i):i1=FNOT Ignoring new targets: 200.33 m."i=s*iEsM ProNav: ac range: 200.327866 m, nav range: 199.789597 m, bearing: 8.005643 deg, approach rate: -0.627388 m/s, LOS rate: -0.013306 deg/s, cmd heading: 7.142262 deg, new cmd heading: 7.133755 deg. iM¹UHeadingCmd: 0.124508 target range: 200.327866 and range: 201.10 m.hU=hQhYhYhYgYgYjgargaeareaZea:ei*em o+?  {Gayb9YĝABɢҶ=y%?%9A)I Mr?iQ)Uuԁ yf8%,;TLARchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502747^ @^@=^>\<ٱ^=^H?բƈ?? X?k* ??i^ @I^`;^bCYBy IiMb@Mb@Mb@ 9)\(?9Y=EyD9E>Q 5 4n6^?Q 9 4`)BY ?Q E :y E>Q I+@ufDI ;iX ;24yBɮUA:iAEFNOT Ignoring new targets: 200.33 m."iM*iMQ] ProNav: ac range: 200.327866 m, nav range: 199.567413 m, bearing: 8.002220 deg, approach rate: -0.506316 m/s, LOS rate: -0.007810 deg/s, cmd heading: 7.133755 deg, new cmd heading: 7.126900 deg. i]deHeadingCmd: 0.124388 target range: 200.327866 and range: 201.10 m.he=hahihihiggjgrgBereZe:e*e%?eBɢS=) h?i)c%<顩i2i=KU=E=I=Iy@ @@/@@zA@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754618Թ^A ȝ=E  E E $E "E :*E ą:VE 4ZE a @a @a @a @A I I O >Ǎ>%, TLA2C@2=2.V<ٱ2}=2H?.r@m?@y^?{?~ʻ`J̼?G?i2C@I2`;0Y>ByB!IHHbDJVDJ8yR*=%Vb=ٔV>F;Q-V>9XYX=ZEyZDZE^>`Q 5f4bE^?Q 9f4b_)`YdyfUE>Q If+@bfDIb(:ib:b4yhɮnAl:iFNOT Ignoring new targets: 200.33 m."iO *i O  ProNav: ac range: 200.327866 m, nav range: 199.384262 m, bearing: 7.999426 deg, approach rate: -0.505655 m/s, LOS rate: -0.007722 deg/s, cmd heading: 7.126900 deg, new cmd heading: 7.121307 deg. ibHeadingCmd: 0.124290 target range: 200.327866 and range: 201.10 m.h%=h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5`?e Bɢee=)a mm?ii)mHB=DCB= IB=݂BB= =B9B=ƺDB={;B=h4E^A A I I O= >e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2586549 xE%,EULAD>%=D>R=bEyjE}4rE}/EB EBEB#E@"EBs:*EB$:VEB3ZE@BEBi09Y=EyDE>Q 54W^?Q 94^)BYyQ I+@fDI;i;4yɮAE:iFNOT Ignoring new targets: 200.33 m."i *i  ProNav: ac range: 200.327866 m, nav range: 199.164841 m, bearing: 7.996071 deg, approach rate: -0.505713 m/s, LOS rate: -0.007739 deg/s, cmd heading: 7.121307 deg, new cmd heading: 7.114591 deg. ibHeadingCmd: 0.124173 target range: 200.327866 and range: 201.10 m.hoN=hhhhg g jg rgereZe:e*ex?E BɢE`=)A M:n?iI)MK%,q0ULA2@2=2M<ٱ2i=2H?j@l?k??`ػ``?+?i2@I2`;2_CY\y^!IieMb@Mb@Mb@aaaa a9e+??ye9Y=Ey D%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763743 ~:E->9Q 5M4=Fi^?Q 9M4=])9YU>Q EU:y]/>Q I]+@=fDI=*^;i= ];=#4yiɮm$Aq:iFNOT Ignoring new targets: 200.33 m."i`*i` ProNav: ac range: 200.327866 m, nav range: 198.954208 m, bearing: 7.994165 deg, approach rate: -0.489656 m/s, LOS rate: -0.004436 deg/s, cmd heading: 7.114591 deg, new cmd heading: 7.110774 deg. iHeadingCmd: 0.124106 target range: 200.327866 and range: 201.10 m.h+=hhhhggjgrg4BereZe :e *e !b@iE EEE"E:*E:VEZEa@a@a@a@ Bɢ=) o?i)=<iai += -R= =I +=I }9@ @@0@ԑ^A ;= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015960 A) A) B5 >B1 B5 IB5 ΂BB5 =B1 B1 B5 |;B5 y4EA I I O >ԇR%,0JULAJ@J=J<ٱJ=JH?`RC i?J?? $߼?(?PiJ@IJ`;JaCYZ݂ByZ IbD~VD~İ8y R% T=ٔ 8;Q->9Y=EyDE>)Q 5M4-x^?Q 9U4-\)-BYQyU.>Q IU+@-fDI-;i-;-)4yaɮetAeE}B*** querying acoustic contact ***iyiy:iFNOT Ignoring new targets: 200.33 m."i*i ProNav: ac range: 200.327866 m, nav range: 198.770996 m, bearing: 7.992530 deg, approach rate: -0.500773 m/s, LOS rate: -0.004474 deg/s, cmd heading: 7.110774 deg, new cmd heading: 7.107501 deg. iHeadingCmd: 0.124049 target range: 200.327866 and range: 201.10 m.h =hhhhggjgrgereZe:e*e2F@Bɢx=) j?i)h<iC?i =&Q=М=I =I I)xAq@q @y@}L0@y5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267644E EE$E"E:*Ek:VE4ZEBEp%! sX%,dULAFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521361t-@-=-< =ٱ-=-H@?#?@r:? ?@bƼ?@?i-@I-Q`;-cCYAyA IIQUAi%Mb@Mb@Mb@!!!! !9%jt?9QYQ=]Ey]D]E]>aQ 5m4e3^?Q 9m4e[)eBYu?Q Eu:yu >Q Iu+@efDIe]:ieE:e14yyɮ}rA:iFNOT Ignoring new targets: 200.33 m."i4*i4 ProNav: ac range: 200.327866 m, nav range: 198.546326 m, bearing: 7.991439 deg, approach rate: -0.507911 m/s, LOS rate: -0.002470 deg/s, cmd heading: 7.107501 deg, new cmd heading: 7.105316 deg. iHeadingCmd: 0.124011 target range: 200.327866 and range: 201.10 m.h=hhhhggjgrgereZe:e*e@ Bɢ =)  k?i )<ii=O==I=I1@1 @1@50@1A-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771067^Au [=Ay zAy E  E E #E "E 2:*E Ar:VE 3ZE a @a @a @a @q A I I O >^%,Q~ULAYy bD-$VD-ΰ8yM%M^=ٔMQ-M>9QYQ=UEyU DY]Ee>aQ 5m4e^?Q 9m4e:[)eBYqyqQ Iu+@efDIe:ieq:e284yyɮ:iFNOT Ignoring new targets: 200.33 m."i3*i3 ProNav: ac range: 200.327866 m, nav range: 198.360565 m, bearing: 7.990534 deg, approach rate: -0.503517 m/s, LOS rate: -0.002453 deg/s, cmd heading: 7.105316 deg, new cmd heading: 7.103506 deg. iHeadingCmd: 0.123980 target range: 200.327866 and range: 201.10 m.h=hhhhggjgrgereZe:e*e@z @ Bɢ P=)  l?i )@<ii=YN==I=I!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023044@ @@2@B>BB IBBB =BBB|;Br4EBDCBDCBB =BC05ԉԹ^A5*=Aa Ii Iy O > M BDAT read: Rx Time:04:19:32.8406 U TRx dataTimestamp_ set to:1764908374.343827] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277426e%,V-ULAE6 E6E6!E4"E6V:*E6ą:VE6c3ZE4BE69Ee@E3=E9l =ٱE=EH? s*?M?Ē?@^,̽?@?iEe@IEɄ_;AY]By] IbDmVDm8y}<%}G=ٔ;Q->9Y=EyDB:E>Q 54ի^?Q 94aZ)BYye >Q I+@fDI; ;i ;[?4yɮTAԹ:i9=FNOT Ignoring new targets: 200.33 m."i=1*iE1M ProNav: ac range: 200.327866 m, nav range: 198.154343 m, bearing: 7.989510 deg, approach rate: -0.487821 m/s, LOS rate: -0.002425 deg/s, cmd heading: 7.103506 deg, new cmd heading: 7.101455 deg. iMUHeadingCmd: 0.123944 target range: 200.327866 and range: 201.10 m.h]<=hYhYhYhYgYgYjgargaeareaZei:ei*em# @Bɢ=) |o?i)ȫ<ipi<=0M=G=I<=Ii>i>@ @@2@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529347^Am=A I I O >9 k%,ULA!]DAT read: 04:19:32.8406 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 443,-0.30,-2.969, 1.957,-2.699, 2.669, PHS= 0.747,-0.667, 0.871, RAW= 154.2, -12.8, CAL= 155.5, -14.6, ROT= 354.5, 14.6 eYgot valid direction response: 04:19:32.8406 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 443,-0.30,-2.969, 1.957,-2.699, 2.669, PHS= 0.747,-0.667, 0.871, RAW= 154.2, -12.8, CAL= 155.5, -14.6, ROT= 354.5, 14.6 mPDAT read: Bearing 147.3, -9.1 (Local) m~Local bearing/azimuth received: Bearing 147.3, -9.1 (Local) }DAT read: Range 11 to 50 : 238.9 m (Round-trip 318.6 ms) speed 0.4 m/s }R#Rx 1: Read range and direction messages.`direction in FSK: [0.963254,-0.092751,-0.252069]Fpublishing direction and range infoyƻ?:!пYnC )@Id;??i*^?9>,@d-@ w)z@Iw>?Ĭ2?X2[̿ J?)2d>I)Ľiw>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E} E}E}'Ey"E}:*E}e:VE}'4ZEya@a@a@a@AYEByE!IU=U=i-Mb@Mb@Mb@)))) )9-`"?Mb?/$?Y->y-=-<-f@-@ ))-@)Y-@bDEVDE8yM<%U =ٔUQ-U>9YYY=]Ey]!DeEe>iQ 5m4m^?Q 9u4mX)mBYu>Q Eu:yu;>Q Iu+@mfDIm;im;mI4yɮ!AEii+ULAjmC"jmC:jd="p[(~l@6Wv\Mpƻ?:!п*j)Ľ2jw>*pZvel@Xd=d)@YuoQp- ?;NyP?ANuҿj!KA j-cCihh?ig jKjjjrjECzjm>addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 238.899994 m, deltaT: 4.032292 s, deltaX: 37.799988 m, approachRate: 9.374318 m/s, rangeRepo size: 4:iFNOT Ignoring new targets: 200.33 m."i*i帝 ProNav: ac range: 200.327866 m, nav range: 197.865784 m, bearing: 7.985841 deg, approach rate: -0.492359 m/s, LOS rate: -0.006270 deg/s, cmd heading: 7.101455 deg, new cmd heading: 7.094105 deg. i7HeadingCmd: 0.123815 target range: 200.327866 and range: 201.10 m.h=hhhhggjgrgMBereZe:em@*eN?qBɢ8ɜ=) s?i)#<iL!i=K=\k=I=I (DAT read: user:21>  BDAT read: Tx time:04:19:34.1678  $Ping request sent.B <A <B >B B IB BB B B B {;B D4E A.AIIO?7u%,~ULA&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250317l )AĻ  ~Ai I  I i hA E;F) TҁӁӁIӁ)ӁiӉ)ԉIԍ=~AӍCӉ ԉԑԕQ~Aԑiԑԑiՙՙ)ՙ ՙIՙYE EEE"E :*E:VEZEBEN"9 ?Y ?=Ey)DE> Q 54 <^?Q 94 X) BYyQ I+@ fDI #;i /; yP4y!ɮ%]A!eB*** querying acoustic contact ***iaia:iiuFNOT Ignoring new targets: 200.33 m."iuE*iuE⸝ ProNav: ac range: 200.327866 m, nav range: 197.679276 m, bearing: 7.983463 deg, approach rate: -0.484461 m/s, LOS rate: -0.006182 deg/s, cmd heading: 7.094105 deg, new cmd heading: 7.089345 deg. i5HeadingCmd: 0.123732 target range: 200.327866 and range: 201.10 m.hlg=hhhhggjgrgereZe:e*e &?MBɢMs=)I Up?iQ)U3 4a{%,ܺULA9YEByE IiMb@Mb@Mb@ 9+?~jt?~jt?Yv>yD=<@ @)@Y@bDǿVDx8yQ<%J=ٔQ- >9 Y = Ey 1DE>Q 5%4^?Q 9%4V)BY%>Q E%:y-[>Q I-+@fDIi:i:W4y1ɮ]GAY:iFNOT Ignoring new targets: 200.33 m."iIC*iIC ProNav: ac range: 200.327866 m, nav range: 197.477173 m, bearing: 7.979078 deg, approach rate: -0.491348 m/s, LOS rate: -0.010671 deg/s, cmd heading: 7.089345 deg, new cmd heading: 7.080567 deg. i:HeadingCmd: 0.123579 target range: 200.327866 and range: 201.10 m.h=hhhhggjgrgWBereZe:e *e `?]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754175Bɢ=) r?i)<ii = J=Н=I=I!iE EEE"E>:*E:VE(N3ZEa@a@a@a@9@ @@/@]PExceeded connect timeout, disconnecting.ԑ^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005763B% >B! B! B! B! B! B! B% {;B% 64EI I1 O= >&=%,c VLAFU@F=F=ٱF =FH \?`t?D??YM?`z?iFU@IF^;FbCY5߂By5 I 99AAbDMVDM8yu`%}U=ٔ};Q-}>9yY=Ey9D~E>ԹQ 54^?Q 94U)BYy[>Q I+@gDIuc<\Giso<A^4zA1y=BɮM_AEb9zAY٢A:iFNOT Ignoring new targets: 200.33 m."if<*if< ProNav: ac range: 200.327866 m, nav range: 197.286407 m, bearing: 7.974934 deg, approach rate: -0.473443 m/s, LOS rate: -0.010295 deg/s, cmd heading: 7.080567 deg, new cmd heading: 7.072271 deg. iHeadingCmd: 0.123434 target range: 200.327866 and range: 201.10 m.h/=hhhhggjgrgereZe:e*e@[?5Bɢ5Gy=)9 =q?i9)=<顙iYi/=@I=I/=I@ @@0@@)@)}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257409E EE%E"E:*EX:VE 4ZEBE+g%,@#VLA:A@:=:=ٱ: =:H?v2 FH?c?;?`M?X?i:A@I:^;:aCYF݂ByJ IbDRVDR8yfv%jV=ٔn:Q-n>9lYp=rEyr@Dr:Er>tQ 5~4vu_?Q 9~4vT)vBY|y~[>Q I~+@vgDIvB;iv;vd4yɮ kA :iYeFNOT Ignoring new targets: 200.33 m."iuU*i}U ProNav: ac range: 200.327866 m, nav range: 197.095276 m, bearing: 7.970748 deg, approach rate: -0.532823 m/s, LOS rate: -0.011683 deg/s, cmd heading: 7.072271 deg, new cmd heading: 7.063889 deg. i 1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511990HeadingCmd: 0.123288 target range: 200.327866 and range: 201.10 m.h|~=hhhhggjg)rg)e1re1Ze9:e9*e=/?颭Bɢ=) q?i):<顱i2i|~=I==I|~=IYy@y @y@}O0@yԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761872^A FΞ=I! I1 OE >E  E E (E "E >:*E 1]:VE c44ZE a @a @a @a @Թ %,F =VLA2Y@20=2g=ٱ2=2Hm?ttk?஫??@뢿b? ?i2Y@I2^;0Y>By>!InManaging dock network, ignoring radio surface power offi5Mb@Mb@Mb@1111 195K7A?x&?/$?Y5 ?y57=5<5|@1 51@)11Y5@IIbDUVDU8yeE=%eB=ٔe2:Q-m>9iYi=mEymIDu,;Eu>yQ 54}_?Q 94}lS)}BYH?Q E:y>Q I+@}!gDI}:i}:}Pl4yɮAE:iFNOT Ignoring new targets: 200.33 m."iј*iј ProNav: ac range: 200.327866 m, nav range: 196.880753 m, bearing: 7.963811 deg, approach rate: -0.515940 m/s, LOS rate: -0.016700 deg/s, cmd heading: 7.063889 deg, new cmd heading: 7.050002 deg. iHeadingCmd: 0.123046 target range: 200.327866 and range: 201.10 m.hg=hhhhggjgrggBereZe:e*e`\@Bɢ;=) w?i!)%|BCCBBB =BBźDB{;BX4Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013357^A=IQIiOu> u%,VVLA&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265374>@> ">>{=ٱ>bO=>H@H?F@{?q?`? K @u?x?i>@I>];>`CYJ߂ByJ IbDVVDV8yZ0%^V=ٔ^`:Q-^>9`Y`=bEybPDf-;Ef>dQ 5j4f%_?Q 9n4f%R)fBYlync>Q In+@f.gDIf+;ifj;fr4ypɮvZAt:i FNOT Ignoring new targets: 200.33 m."i*i% ProNav: ac range: 200.327866 m, nav range: 196.686035 m, bearing: 7.957445 deg, approach rate: -0.509605 m/s, LOS rate: -0.016677 deg/s, cmd heading: 7.050001 deg, new cmd heading: 7.037257 deg. i%*-HeadingCmd: 0.122823 target range: 200.327866 and range: 201.10 m.h-Ɋ=h)h1h1h1g1g1jg9rg9e9re9ZeA:eA*eEj@mBɢml=)q us?iq)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519607IyIO>I %,pVLA 6@6>6=ٱ6M=6H/?L便/^?Z?? [ L|Mu?A?i6@I6];6aCYR܂ByR Ii-Mb@Mb@Mb@)))) )9-{Gz?/$? rh?Y-?y-=-C<-f@-A -@)-^@)Y-@bDEVDE8yUi%UA=ٔU:Q-]>9YYY=]Ey]YDe ;Ee>iQ 5u4m6_?Q 9u4mP)mBYu?Q Eu:y}ِ>Q I}+@mB >B BCB B B =B B ĺDB ,|;B w4E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021300%,EVLA2(@2`/>2J=ٱ2g=2H`ط?*``?7?@?@輣??i2(@I2^;0Y>ۂBy> I DF<bDJVDJ8PyR޻%RV=ٔVF:Q-V>9TYT=ZEyZ`DZcE;EZ>\Q 5b4^G_?Q 9b4^ O)^BYdyfn>Q If+@^IgDI^:i^~:^4yjBɮjAjE:i|~FNOT Ignoring new targets: 200.33 m."iʹ*iʹ ProNav: ac range: 200.327866 m, nav range: 196.269836 m, bearing: 7.939758 deg, approach rate: -0.517641 m/s, LOS rate: -0.022138 deg/s, cmd heading: 7.018713 deg, new cmd heading: 7.001844 deg. i"HeadingCmd: 0.122205 target range: 200.327866 and range: 201.10 m.hF=hhhhg!g!jg!rg!e)re)Ze):e)*e-L @Bɢ\=) r?i)G<iǼiF= R= ʧ=I F=I =V>i=>@ @@/@eBDAT read: Rx Time:04:19:36.8611 eTRx dataTimestamp_ set to:1764908378.374761mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274267^AT=E] E]E]%EY"E]a:*E]F:VE] 4ZEYBE](%,vVLA2/@2!>2/ =ٱ2pm=2H? :a?U??`8`?`p?i2/@I2l];0YRՂByR ITTbDZVDZ8yb%м%bH=ٔf:Q-f>9f"?Yj"?=jEyjiDjg;Ej>lQ 5r4nVX_?Q 9r4nzM)nBYtyv>Q Iv+@nWgDIn:in:n34yxɮzAzE|%=%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529447:i!-FNOT Ignoring new targets: 200.33 m."imf*iuf ProNav: ac range: 200.327866 m, nav range: 196.059036 m, bearing: 7.930675 deg, approach rate: -0.477346 m/s, LOS rate: -0.020589 deg/s, cmd heading: 7.001844 deg, new cmd heading: 6.983660 deg. iMHeadingCmd: 0.121888 target range: 200.327866 and range: 201.10 m.hUW=hYhYhahagigjgrgereZe:e*eR@1=Bɢe,=)i mp?ii)mim bm sh>m 6'@m 4Q=m &@ m ^ =)m +H;%,VLA YmȂByu IiMb@Mb@Mb@ 9V-?I +?Mb?Y|>y9=<@A t@)Yz@bD VD 8y\%'=ٔ%Q-%>9!Y!=-Ey-sD-E->1Q 5=45Rl_?Q 9=45K)5BYE?Q EE:yE>Q IE+@5fgDI5:i5k:54yIɮMWAQiYi]D1VLAj]WC"j]WC:j](T>"p]"j@ޮ@j,6@p]=*.??O4?*j]+H<2j]^ ڽ*p]'lWj@{)l;@ݑiFc-@p]q: ?tZKU?aG<1k?j]sA j]UCi]!å?i]3avj]+Bj]!å?jYj]Brj]aWCzj]p> addTargetRange:: Added new target pos. range: 216.800003 m, deltaT: 8.063919 s, deltaX: 15.699997 m, approachRate: 1.946944 m/s, rangeRepo size: 4  Added new target pos. range: 215.953735 m, bearing: 7.348225 deg, lat: 36.779579 deg, lon: -121.859593 deg, deltaT: 8.063919 s, deltaX: 15.625870 m, approachRate: 1.937751 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 215.95 m."i*i ProNav: ac range: 215.953735 m, nav range: 215.380127 m, bearing: 7.195727 deg, approach rate: 0.000000 m/s, LOS rate: -0.020589 deg/s, cmd heading: 6.983660 deg, new cmd heading: 6.964683 deg. iHeadingCmd: 0.121557 target range: 215.953735 and range: 216.80 m.h=hhhhggjgrgvBereZe:ek@*e ?B!A%<B->B-ACB- IB-BB- =B)B-úDB-V|;B-4EBCCBCCB”CB =BCB5I(DAT read: user:22> BDAT read: Tx time:04:19:38.1678 $Ping request sent._%,ǼVLA29@2^>2$=ٱ2 5=2H#?@3 s?|? ?꺿`q??i29@I2];2`CY>΂By> I@bDHVDHyR=%Rg=ٔR~5;Q-V>9V ?YV ?=VEyVzDZp_;EZ>\Q 5b4^z_?Q 9b4^+J)^BY`yb">Q If+@^rgDI^M;i^;^4yjBɮj%AhEr ErEr#Ep"Er:*ErVL:VEr3ZEpBEr%,ؚVLAV@@V`E>V%=ٱV=VH?ݿի?*?`?lp7? ?iV@@IV];TYfByf Ij=j=lchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754892i]Mb@Mb@Mb@YYYY Y9]x&1?EԸ?y&1?Y]?y]=]`e<]@Y ]^@)]t@YYYbD},VD}հ8yf%/=ٔrb:Q->9"?Y"?=EyD:E>Q 542_?Q 941H)BY?Q E:y`>Q I+@gDI;i;(4yɮAE EE'E"E:*EP:VE'4ZEa@a@a@a@B*** querying acoustic contact ***i i:i%FNOT Ignoring new targets: 215.95 m."i%*i-蹝5 ProNav: ac range: 215.953735 m, nav range: 214.965302 m, bearing: 7.175293 deg, approach rate: -0.496786 m/s, LOS rate: -0.025457 deg/s, cmd heading: 6.948177 deg, new cmd heading: 6.923775 deg. i5[:=HeadingCmd: 0.120843 target range: 215.953735 and range: 216.80 m.h=\|=h9h9hAhAgAgAjgIrgMkBeIreIZeQ:eQ*eU\?}Bɢ=) e?i)F=顉i ͼi\|=m==I\|=Iy@y @y@}3@y1B5 >B1 B5 IB5 BB1 B1 B1 B5 |;B5 4E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006884a ^A =A >A >A I I O >%,pWLA2K@2`>2(=ٱ2=2Hw? <9? H?`Պ?$ `0?K?i2K@I2];0XYjByj IbDrVDr8yzw^%z[=ٔ~{:Q-~>9|Y=EyDl;E> Q 54 q_?Q 94 F) BYy >Q I+@ gDI ;i ; 4y!ɮ%A%E:iIFNOT Ignoring new targets: 215.95 m."i*i ProNav: ac range: 215.953735 m, nav range: 214.778366 m, bearing: 7.165637 deg, approach rate: -0.561999 m/s, LOS rate: -0.029055 deg/s, cmd heading: 6.923775 deg, new cmd heading: 6.904446 deg. iTUHeadingCmd: 0.120505 target range: 215.953735 and range: 216.80 m.hU~=hQhQhQhQgYgYjgargaereZe:e*ea?qɢuE=)q u`?iy)}=yyi}ϼi~=v==I~=Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259579Y@Y @Y@]/@YE] E]E]$EY"E]:*E]ą:VE]4ZEYBE]  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510966%,ץ)WLAegJ@e z>e&*=ٱeJ=eH@t?cs?4?l?4@GC/? ?iegJ@Ie ^;e_CYBy IiMb@Mb@Mb@ 9(\?kt?~jth?Y?y =D;+A )@Yf@bD-VD-8y=%=+=ٔE :Q-E>9E ?YE ?=MEyMDM@EM>QQ 5]4U._?Q 9]4UD)UBY]t ?Q Ee:yeÔ>Q Ie+@UgDIU:iU];U4yiɮmAq:iFNOT Ignoring new targets: 215.95 m."i#ع*i#ع ProNav: ac range: 215.953735 m, nav range: 214.525009 m, bearing: 7.154335 deg, approach rate: -0.528880 m/s, LOS rate: -0.023620 deg/s, cmd heading: 6.904446 deg, new cmd heading: 6.881816 deg. i,HeadingCmd: 0.120110 target range: 215.953735 and range: 216.80 m.hj=hhhhggjgrg~BereZe:e*eX?Bɢ=) _?iA)=yi[qмij=>=e=Ij=II)@ @@/@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762817yE  E E &E "E :*E ?:VE 4ZE a @a @a @a @^A =ԙ AI IY Ii Ou >m%,zCWLABxN@B@>BB,=ٱB|=BH?A@߬?4?̉?zVE? ?iBxN@IBw];B`CYNByN IbDVVDV8yzI%zu=ٔz:Q-~?9|Y|=~Ey~DI:E? Q 54 _?Q 94 YC) BYy>Q I+@ gDI :i : ˳4y!ɮ%KA!:iIMFNOT Ignoring new targets: 215.95 m.Q"iUٹ*i]ٹe ProNav: ac range: 215.953735 m, nav range: 214.348618 m, bearing: 7.146429 deg, approach rate: -0.530442 m/s, LOS rate: -0.023796 deg/s, cmd heading: 6.881816 deg, new cmd heading: 6.865990 deg. ie1.mHeadingCmd: 0.119834 target range: 215.953735 and range: 216.80 m.hmk=hqhqhqhqgqgqjgyrgyeyreyZey:e*e`@颱ɢ8&=) [?i)q=项i2Ѽik=:=k=Ik=IA A BBB IBBBBBB9|;By4Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0152319@ @@/@ qu8CԁG{AM9M{AYMCA^A=ԱAyAzAvAA ؟AI I O% >e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266781 : %,H]WLAE EE$E"E:*E[:VE4ZEBE9"?Y"?=EyDE>Q 54_?Q 94AԹ)BYyQ I+@gDIH;i J;14yɮZAE:iFNOT Ignoring new targets: 215.95 m."iCٹ*iCٹ  ProNav: ac range: 215.953735 m, nav range: 214.124405 m, bearing: 7.136360 deg, approach rate: -0.528138 m/s, LOS rate: -0.023743 deg/s, cmd heading: 6.865990 deg, new cmd heading: 6.845830 deg. i -HeadingCmd: 0.119482 target range: 215.953735 and range: 216.80 m.h =hhhhggjgrg!e!re!Ze!:e!*e-;@UBɢUۼ=)Y ] [?iY)]fj =YYi]FӼie =e/=mx=Im =Ii @  @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521248^AAa Ii Iy O >A w6%,kwWLAJU@J>J1=ٱJ0b=JH@Q?4 ? ? ?TE@G5W??iJU@IJ ];JaCYnByn I%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770965imMb@Mb@Mb@iiii i9m{Gz?~jt?Mbp?Ym?ym=m;m@i m@)iiYm\@AAbDVD8yo%J=ٔ?H;Q->9Y=EyD;E>Q 54 _?Q 94@)BYE?Q E:y >Q I+@gDI6-;i},;D4yɮA:iFNOT Ignoring new targets: 215.95 m."i*i ProNav: ac range: 215.953735 m, nav range: 213.916168 m, bearing: 7.127766 deg, approach rate: -0.485648 m/s, LOS rate: -0.020061 deg/s, cmd heading: 6.845830 deg, new cmd heading: 6.828627 deg. iHeadingCmd: 0.119182 target range: 215.953735 and range: 216.80 m.h=hhhhggjgrguBe!re!Ze!:e!*e%x@E1 E5E5&E1"E1*E5T:VE54ZE1a=@aE@aE@aE@ɢp=) HT?i)i=iwmԼi=(=i=I=I)5R>i5>A9@ @@/@B>BB IB}BBBBB{;BY4Eichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022927^A ?=ԙ A I! I1 O= >%,WLAJT@J>JW4=ٱJ=JH 7?S/`խ?@,?`?2)`ݼ?@?iJT@IJ];J_CYVByV IZ=Z=bD^VD^8yfa3%fZ=ٔj:Q-j>9lYl=nEynDnEEn>pQ 5v4r_?Q 9v4r>)rBYxyz>Q Iz+@rgDIr;ir;r4y|ɮ~ AEB*** querying acoustic contact ***ii:i)-FNOT Ignoring new targets: 215.95 m."i5Kй*i5KйE ProNav: ac range: 215.953735 m, nav range: 213.723190 m, bearing: 7.119793 deg, approach rate: -0.550433 m/s, LOS rate: -0.022763 deg/s, cmd heading: 6.828627 deg, new cmd heading: 6.812666 deg. iE&MHeadingCmd: 0.118903 target range: 215.953735 and range: 216.80 m.hM=hIhQhQhQgYgYjgargaeireqZeq:ey*e}@Y @Yɢe|E=)a e!P?ia)e=ԉ顉iռi=W=Z)=I=IMBDAT read: Rx Time:04:19:40.8859 MTRx dataTimestamp_ set to:1764908382.407351Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276489a@a @a@e/@aԱDU=DU4=bEŞ4jEř4rE x/E] E]EYEY"E]O:*E]X:VEYZEYBE]  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526905 8%,ܪWLAR@>17=ٱ=HA? $#? D? ]? >䦿ܽ?@?iR@I`];`C1Y5By5 IiMb@Mb@Mb@ 9K7A?v/?9Y=EyD E>Q 54`?Q 94=)BY ?Q E :y 'w>Q I +@gDI;i;4yɮ<A:iimFNOT Ignoring new targets: 215.95 m."iu*iu ProNav: ac range: 215.953735 m, nav range: 213.467270 m, bearing: 7.111713 deg, approach rate: -0.472000 m/s, LOS rate: -0.014920 deg/s, cmd heading: 6.812666 deg, new cmd heading: 6.796486 deg. iqڹHeadingCmd: 0.118621 target range: 215.953735 and range: 216.80 m.h=hhhhggjgrgaBereZe:e*e@)ɢ5p=)1 5L?i1)5N=19i= ׼iE=E`=AIE=IAQaDAT read: 04:19:40.8859 LVL= 18384, 19873, 17378, 19059, AGC= 68, IDX= 189,-0.13, 2.750, 1.522, 3.072, 2.300, PHS= 0.552,-0.733, 0.728, RAW= 156.4, -8.0, CAL= 156.8, -9.6, ROT= 353.2, 9.6 Ygot valid direction response: 04:19:40.8859 LVL= 18384, 19873, 17378, 19059, AGC= 68, IDX= 189,-0.13, 2.750, 1.522, 3.072, 2.300, PHS= 0.552,-0.733, 0.728, RAW= 156.4, -8.0, CAL= 156.8, -9.6, ROT= 353.2, 9.6 PDAT read: Bearing 151.3, -10.5 (Local) ~Local bearing/azimuth received: Bearing 151.3, -10.5 (Local) DAT read: Range 11 to 50 : 235.4 m (Round-trip 313.9 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.979060,-0.116746,-0.166769]Fpublishing direction and range infoyY] -uT?X^G 㽿8_XſY]fkCY]G]M]C ]sJ)]DI]O ?i];]5^:?]R.@]5]%/@ ]+)]C@I]+>YY]! ? ?v|y ];X"?)]m>I]i]+>YYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. @  @ @ /@ Eu  Eu Eq Eq "Eu a:*Eu k:VEq ZEq a} @a} @a} @a} @ԉ ^A ǚ=Ա B)A)B5>B1B5f IB5iBB5 =B1B5ĺDB5|;B5`4EAIIQIaOu>.%,'WLALN<N(DAT read: user:23> RBDAT read: Tx time:04:19:42.2178 R$Ping request sent.RZ99=ٱZ=ZH? 5?? ?h1%"??iZN@IZ>$^;Z_CqYu|Byu~ IbDſVDv8yn%K=ٔá:Q->9Y=EyD6E>Q 54`?Q 94;)BYyv>Q I+@gDI:io:4yBɮAQiqiuGWLAjuzjC"juzjC:ju="puw"4l@݇_;:UHCpu -uT?X^G 㽿8_Xſ*ju2ju+>*puOhPl@Y@HJpu핖q].?f?s̿ju@ juzdCiuY_2O?iu~ju}PAjqjqjqrjuCUCzju3= addTargetRange:: Added new target pos. range: 235.399994 m, deltaT: 4.032613 s, deltaX: 18.599991 m, approachRate: 4.612392 m/s, rangeRepo size: 4  Added new target pos. range: 234.478928 m, bearing: 1.802574 deg, lat: 36.779579 deg, lon: -121.859593 deg, deltaT: 4.032613 s, deltaX: 18.525192 m, approachRate: 4.593843 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 234.48 m."i*iE ProNav: ac range: 234.478928 m, nav range: 213.263092 m, bearing: 7.105276 deg, approach rate: 0.000000 m/s, LOS rate: -0.014920 deg/s, cmd heading: 6.796486 deg, new cmd heading: 6.784883 deg. iIMHeadingCmd: 0.118419 target range: 234.478928 and range: 235.40 m.hMm=hQhQhQhQgQgQjgYrgYeYreYZeY:eelm@*e 8?ɢ2=) F?i)M=i;ؼim=%ş=%X=I%m=I!ԙ9@ @@/@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250615^A Dm @AzDm @AEu  Eu Eu %Eq "Eu V:*Eu $:VEu 4ZEq BEu 9X%,WLA6rH@6;>6;=ٱ6=6H-?@vp???M0x?t?i6rH@I6];4YZsByZs I\^AbDfVDf8yn<%nZ=ٔn7:Q-n>9pYp=rEyrDrEv>tQ 5~4vy)`?Q 9~4v:)vBY|y~u>Q I+@vgDIv2;iv:v64y ɮ A :iFNOT Ignoring new targets: 234.48 m."in*in ProNav: ac range: 234.478928 m, nav range: 213.072678 m, bearing: 7.099299 deg, approach rate: -0.544144 m/s, LOS rate: -0.017095 deg/s, cmd heading: 6.784883 deg, new cmd heading: 6.772919 deg. iJ HeadingCmd: 0.118210 target range: 234.478928 and range: 235.40 m.h=hhh!h!gigijgirgqeqreqZeq:eq*e}`o?!ɢE℻=)A EA?iI)M-=IIiMX`ټiU=Uϟ=U´=IU=IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5044719@ @ @ 0@!I^Am 箵=Ai zAm xA] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754962q A .AI I O >}%,GWLARE@R>R4>=ٱR=RHE?@俿®?ȫ?@?F$ҧ@?L?iRE@IR];R`CY^oBy^n IE% E%E%$E!"E%:*E%L_:VE%4ZE!a-@a-@a-@a-@iUMb@Mb@Mb@QQQQ Q9UZd;?A`"?~jt?YU>yUY=UD9 ?Y ?=EyD;LE>Q 54:`?Q 94R9)BYf>Q E:yQ I+@ hDI{:ib:4yɮAEQ:iY]FNOT Ignoring new targets: 234.48 m."ie*ieu ProNav: ac range: 234.478928 m, nav range: 212.865723 m, bearing: 7.093053 deg, approach rate: -0.469315 m/s, LOS rate: -0.014179 deg/s, cmd heading: 6.772919 deg, new cmd heading: 6.760414 deg. iϹHeadingCmd: 0.117991 target range: 234.478928 and range: 235.40 m.h=hhhhggjgrg`BereZe:e*eY?Bɢ2=) M??i)W=ifڼi =-vڟ=1I5=I1IEyA)EyA@ @@0@ԁB >BCCBG IBOBB =BBźDB{;Bd4EBACBACBB =B =C@5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007373^Aõ=ԱI I O > e%,XLA2C@2>2A=ٱ2=2H =?Կ ? v?-?ݹ/ ??i2C@I2];2_CYbbByb^ IbDj VDjʰ8yr8%rU=ٔv9:Q-v>9tYt=zEyzDzEz>|Q 54~J`?Q 94~*8)~BY y  q>Q I ,@~hDI~:i~%:~V4yɮyA5B*** querying acoustic contact ***i1i1:i9EFNOT Ignoring new targets: 234.48 m."iM*iMU ProNav: ac range: 234.478928 m, nav range: 212.678192 m, bearing: 7.087391 deg, approach rate: -0.509950 m/s, LOS rate: -0.015409 deg/s, cmd heading: 6.760414 deg, new cmd heading: 6.749080 deg. iUṝeHeadingCmd: 0.117794 target range: 234.478928 and range: 235.40 m.he==hahahahagagajgirgieireiZeq:eq*eu@?颡ɢ=) 8?i)S=顩iۼi===I==Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258613Ա@ @@2@!D-=D-<E5 E5E5&E1"E5a:*E5ą:VE54ZE1BE5( checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5105869  %,/0XLAZm?@Z>ZC=ٱZXs=ZH`?௯E??@U?@{|x? D?iZm?@IZ;];XYdydiUMb@Mb@Mb@QQQQ Q9UK7A?y&1?Mb?YU ?yU`e=U9qYq=uEyuD}8E}>Q 54)]`?Q 946)BY?Q E:y(s>Q I,@$hDI;i ;V4yɮuAE:iFNOT Ignoring new targets: 234.48 m."iR*iR ProNav: ac range: 234.478928 m, nav range: 212.445755 m, bearing: 7.080230 deg, approach rate: -0.507795 m/s, LOS rate: -0.015663 deg/s, cmd heading: 6.749080 deg, new cmd heading: 6.734741 deg. iP幝HeadingCmd: 0.117543 target range: 234.478928 and range: 235.40 m.h=hhhhggjgrgXBereZe:e*e 0?颩ɢj̯=) d8?i)} =顱iSܼi=v=WA=I=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763482@ @@?0@!E% E%E%$E!"E%:*E%:VE%4ZE!a-@a-@a-@a-@Q ^A l=A >A ?I) I9 OM >A A B >B DCB . IB ;BB =B B ƺDB {;B T4Ex%,ZJXLA Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014674fw<@f >f&G=ٱfށ=fH?`Ŕ? ? *?Y⨿Z?]?ifw<@If];f]CYraByr\ IbD~VD~8y  % c=ٔ V ;Q- >9Y=EyDE>!Q 5-4%l`?Q 9-4%5)%BY)y-r>Q I-,@%0hDI%:i%b:%4y9ɮ=A9:iaeFNOT Ignoring new targets: 234.48 m."im5*im5} ProNav: ac range: 234.478928 m, nav range: 212.265533 m, bearing: 7.074683 deg, approach rate: -0.508079 m/s, LOS rate: -0.015650 deg/s, cmd heading: 6.734742 deg, new cmd heading: 6.723639 deg. i}"幝HeadingCmd: 0.117350 target range: 234.478928 and range: 235.40 m.hU=hhhhggjgrgereZe:e*ek@Bɢ=) h7?i)"=iuݼi}U=}=}W =I}U=I]>i>yI@I @I@M?5@Iԙi1I5A=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267242^AII O > DA zDE ?AEM  EM EM "EI "EM :*EM :VEM (3ZEI BEM p%;a] %,]5dXLA6<@6`>6z}I=ٱ6=6H n? ڒ` ??i?y-@lJ?Z?i6<@I6];6`CPYRYByRS IbDZVDZ8yb%fO=ٔf/:Q-f>9dYh=jEyjDj+8Ej>)Q 5-4-|`?Q 954-Q4)-BY1y5r>Q I5,@-=hDI-:i-:-4yAɮEAA:iamFNOT Ignoring new targets: 234.48 m."imx*imx} ProNav: ac range: 234.478928 m, nav range: 212.060013 m, bearing: 7.068345 deg, approach rate: -0.507902 m/s, LOS rate: -0.015679 deg/s, cmd heading: 6.723639 deg, new cmd heading: 6.710950 deg. i幝HeadingCmd: 0.117128 target range: 234.478928 and range: 235.40 m.h=hhhhggjgrgereZe:e*e@ɢS=) \3?i)$=i޼i==ʓ=I=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518857@ @@4@^AIAIQO]>! E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770571e%,T~XLA2;@2>2L=ٱ2&=2H9?` C!?˃?? pF??i2;@I2 ];0YBTByBM I DDEr ErEpEp"Er:*Er:VEpZEpav@av@av@av@xi%Mb@Mb@Mb@!!!! !9%Zd;?v/?Mb?Y%>y%xi=%<%@%A !)%A!Y%=@bD=VD=°8y]%e@=ٔm:Q->9 Y = Ey D]E>Q 5%4`?Q 9%42)Y%b?Q E%:y%u>Q I-,@KhDI:i(:I 4y1ɮ5A1:iY]FNOT Ignoring new targets: 234.48 m."ie*ieu ProNav: ac range: 234.478928 m, nav range: 211.841293 m, bearing: 7.061451 deg, approach rate: -0.497860 m/s, LOS rate: -0.015707 deg/s, cmd heading: 6.710950 deg, new cmd heading: 6.697149 deg. iu幝}HeadingCmd: 0.116887 target range: 234.478928 and range: 235.40 m.h}b=hyhyhyhygygjgrg^BereZe:e*e`+ @颽Bɢ}=) v0?i)R'=iB߼ib=h=մ=Ib=I @ @@@@yA@BU>BUECBU IBU,BBU =BQBUǺDBU{;BUO4E}>ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0229669GR9 Y A^A=i A ؟AI I O >%%,XLA2=@2>2O=ٱ25(=2H?񏿿@S?`?f?@q N?@?i2=@I2{];0Y^OBy^F IbDj6VDjް8yr~%rT=ٔr:Q-r>9v"?Yv"?=vEyvDz:Ez>xQ 54z`?Q 94z1)zBYyUu>Q I,@zWhDIz;iz:z4yBɮAE-B*** querying acoustic contact ***i)i):i9=FNOT Ignoring new targets: 234.48 m."iE*iEa} ProNav: ac range: 234.478928 m, nav range: 211.660553 m, bearing: 7.055734 deg, approach rate: -0.497470 m/s, LOS rate: -0.015750 deg/s, cmd heading: 6.697149 deg, new cmd heading: 6.685704 deg. i}湝HeadingCmd: 0.116688 target range: 234.478928 and range: 235.40 m.h=hhhhggjgrgereZe:e*e@ @Bɢȹ=) \-?i)^)=ii===I=IBDAT read: Rx Time:04:19:44.8794 TRx dataTimestamp_ set to:1764908386.458716checking for new query: numPingsReceived=0, elapsed TxPingTime=3.295989u9@q @q@u/@qD =D C=E EE$E"E=;*E&p:VE4ZEBE|I +%,yXLA]u4@]>]T=ٱ]z=]H`]?B ?4f?R?`#7??i]u4@I]];]_CYFBy< IiEMb@Mb@Mb@AAAA A9E"~j?v/?~jt?YES?yAED9qYy=}Ey}D}E}>Q 545`?Q 94[0)BY,?Q E:yq>Q I,@fhDIo:i<:4yɮNAE:iFNOT Ignoring new targets: 234.48 m."i*i ProNav: ac range: 234.478928 m, nav range: 211.426224 m, bearing: 7.048525 deg, approach rate: -0.513354 m/s, LOS rate: -0.015810 deg/s, cmd heading: 6.685704 deg, new cmd heading: 6.671271 deg. ix繝HeadingCmd: 0.116436 target range: 234.478928 and range: 235.40 m.hu=hhhhggjgrgeBereZe:e*e@颥Bɢll=) (?i)U+=顩iiu={%=3=Iu=I=DAT read: 04:19:44.8794 LVL= 25056, 29745, 30066, 32755, AGC= 68, IDX= 377,-0.26,-1.981, 2.617,-1.873,-2.273, PHS= 0.395,-1.348, 0.356, RAW= 148.9, 7.0, CAL= 148.3, 7.5, ROT= 1.7, -7.5 MYgot valid direction response: 04:19:44.8794 LVL= 25056, 29745, 30066, 32755, AGC= 68, IDX= 377,-0.26,-1.981, 2.617,-1.873,-2.273, PHS= 0.395,-1.348, 0.356, RAW= 148.9, 7.0, CAL= 148.3, 7.5, ROT= 1.7, -7.5 UPDAT read: Bearing 168.0, -0.7 (Local) U~Local bearing/azimuth received: Bearing 168.0, -0.7 (Local) eDAT read: Range 11 to 50 : 193.1 m (Round-trip 257.5 ms) speed 0.4 m/s eR#Rx 1: Read range and direction messages.m\direction in FSK: [0.991008,0.029412,0.130526]uFpublishing direction and range infoyiDE>R&@5=%@  >)B] FCB]  IB] BB] =B] >DBY B] {;B] j4EA I I O > 2%,.XLA"(DAT read: user:24> &BDAT read: Tx time:04:19:46.2678 &$Ping request sent.* IbD5VD58ye;%e[=ٔmQ-m>9iYi=uEyuDuE>Q 54"`?Q 94)/)}BYyQ I,@rhDI2:i:04yBɮAEiiTXLAj[@C"j[@C:j>"pL"g@B4@z=9@peaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 193.100006 m, deltaT: 4.032056 s, deltaX: -42.299988 m, approachRate: -10.490923 m/s, rangeRepo size: 4:iamFNOT Ignoring new targets: 234.48 m."im늹*im늹 ProNav: ac range: 234.478928 m, nav range: 211.233078 m, bearing: 7.042571 deg, approach rate: -0.492043 m/s, LOS rate: -0.015181 deg/s, cmd heading: 6.671271 deg, new cmd heading: 6.659352 deg. iD޹HeadingCmd: 0.116228 target range: 234.478928 and range: 235.40 m.h=hhhhggԱjgrgereZe:e@3#h@*e`U?%Bɢ%ܶ=)) -)?iI)M".=IQiUEiU=]/=]b=I]=IY@ @@/@A5.AI9IIO]v>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252716 bEJ4jEɔ4rE7/E  E E &E "E 2:*E x:VE 4ZE BE $*:j)W=ٱ:Z=:Hڱ?@?`N?`?@O⪿@?>?i:.@I:];:^CY^FBy^< IbDj2VDjڰ8yzٻ%~R=ٔ :Q- >9  ?Y ?=EyDE>Q 5%4`?Q 9-4-)|BY)y-$q>Q I-,@hDI::iS:%4y5Bɮ5A=E:iYeFNOT Ignoring new targets: 234.48 m."ie{*ie{u ProNav: ac range: 234.478928 m, nav range: 211.034302 m, bearing: 7.036470 deg, approach rate: -0.535315 m/s, LOS rate: -0.016445 deg/s, cmd heading: 6.659352 deg, new cmd heading: 6.647139 deg. iu𹝏}HeadingCmd: 0.116014 target range: 234.478928 and range: 235.40 m.h}=hhhhggjgrgereZe:e*e`#W?颽BɢDa=) '?i)G/=i*i=8==I=IIxA)xAu%=u%=}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507927@ @@/@IIOG>Ai % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758812*?%,[XLADEn EnEn'El"En:*Enxv:VEn'4ZElaz@az@az@az@YE.ByE IiMb@Mb@Mb@ 9'1Z?Mb?9aYa=eEye(DeEm>iQ 5u4mX`?Q 9}4mr,)m{BY}?Q E}:y}}>Q I},@mhDIm;im;m-4yɮGA:iFNOT Ignoring new targets: 234.48 m."iF*iF ProNav: ac range: 234.478928 m, nav range: 210.805771 m, bearing: 7.028651 deg, approach rate: -0.511339 m/s, LOS rate: -0.017516 deg/s, cmd heading: 6.647139 deg, new cmd heading: 6.631483 deg. i8HeadingCmd: 0.115741 target range: 234.478928 and range: 235.40 m.h =hhhhggjgrggBereZe:e*e`S?BɢF=) @?i)U%2=ii% =%D=%>J=I% =I)ԉ9@ @@@BBBIB BB =BBB{;Bi4EIAIQOeU>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010839Թ F%,SuYLA2*@2>2X[=ٱ2Ր=2H ? / ? ??і?@9Ӹ`\?`p?i2*@I2y];2`CYB1ByB" IDFAdbDJ:VDJ8yne<%r]=ٔrP&;Q-r>9tYt=vEyv/DvEv>xQ 5M4zQ`?Q 9U4zC+)xYQyU}>Q IU,@zhDIzG checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515439A q@L%,0c3YLAY)By Ii]Mb@Mb@Mb@YYYY Y9]Mb?T㥛 ?~jt?Y]?y]=]D<]@]A ]@)]+AYY]f@bDuVDu8y%2=ٔQ->9Y=Ey8DE>Q 54a?Q 94))xBY?Q E:y|>Q I,@hDIG ;ir;<4yɮpA:iFNOT Ignoring new targets: 234.48 m."i0*i0 ProNav: ac range: 234.478928 m, nav range: 210.388733 m, bearing: 7.014444 deg, approach rate: -0.524070 m/s, LOS rate: -0.017834 deg/s, cmd heading: 6.619048 deg, new cmd heading: 6.603041 deg. iHeadingCmd: 0.115245 target range: 234.478928 and range: 235.40 m.hw=hhhhggjg rg uBe re Ze:e*e ^?=BɢE,=)A ED?iA)M%6=IIiMqYiUw=UX=Uwi=IUw=IYN>i>Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.767929Y@Y @Y@]/@YE EE#E"EV:*E&p:VE3ZEa@a@a@a@i^A [=I I O% >ԙ A A B >B B IB BB B B B {;B l4EBFCBECBʓCB =B =C\5#S%,s+MYLA"f?"4=&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019150N-@N >N_=ٱN=NH? v`4?K? g?Ӹa$Ǻ? ?iN-@IN\;LyY&By IbDVD8y5\X%5@=ٔ=h2;Q-E>9AYA=MEyMADUIv:EU>YQ 5m4]a?Q 9u4]R()]vBYyy}}>Q I},@]hDI]i;i]j;]|C4yBɮAE:iFNOT Ignoring new targets: 234.48 m."iꝹ*iꝹ ProNav: ac range: 234.478928 m, nav range: 210.169846 m, bearing: 7.006964 deg, approach rate: -0.504443 m/s, LOS rate: -0.017257 deg/s, cmd heading: 6.603041 deg, new cmd heading: 6.588064 deg. iHeadingCmd: 0.114983 target range: 234.478928 and range: 235.40 m.hl|=hhhhggjgrgereZe:e*eO'@5Bɢ5iQ=)1 5?i1)=W78=99i=0iEl|=E]d=E=IEl|=IIԡ9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270783D zD @AE  E E E "E :*E ]t:VE ZE BE F-MY%,hgYLAJ+@J>JB`=ٱJv=JHS?@뾿 8? j@?@?)Ÿ`??iJ+@IJ* ];J^C P)PRDPPTTiTITTIXiX ZAZF)XX ZA~A^\\``I`)`i`)dIfE~AfĻd dhjI~Ajtihhihh)l lIlYlYrByvIz=z=bD~VD~8y % u=ٔ9Q-?9Y=EyHDHE?!Q 5-4%&a?Q 9-4%9')%uBY1y5|>Q I5,@%hDI%:i%w:%DI4y9ɮ=)A9:iaeFNOT Ignoring new targets: 234.48 m."imK*imK} ProNav: ac range: 234.478928 m, nav range: 210.000427 m, bearing: 7.001179 deg, approach rate: -0.522230 m/s, LOS rate: -0.017845 deg/s, cmd heading: 6.588064 deg, new cmd heading: 6.576486 deg. i}HeadingCmd: 0.114781 target range: 234.478928 and range: 235.40 m.hy=hhhhggjgrgereZe:e*e@BɢƲ=) B ?i)9=iPiy=m=8=Iy=I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5235669@ @@/0@ ^Au#=A}>A}>1Iq I O >i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775051Y 5`%,YLAF}&@F>F`=ٱFB=FHܱ?Ⱦ{8?4.?ޗ?`hŚ?@?iF}&@IF\;F`CEP ERER"EP"EP*ER҆:VER(3ZEPaZ@aZ@aZ@aZ@Y} By}IiMb@Mb@Mb@ 9MbX9?L7A`?~jt?Y?y+=nA @)AY@bDVD8y-%-9=ٔ-x9Q-->911Y1==Ey=PD=sE=>AQ 5M4E9a?Q 9M4E%)EsBYU?Q EU:yU>Q IU,@EhDIE;iE ;EP4yYɮeaAeE:iFNOT Ignoring new targets: 234.48 m."i*i= ProNav: ac range: 234.478928 m, nav range: 209.776794 m, bearing: 6.993131 deg, approach rate: -0.506861 m/s, LOS rate: -0.018261 deg/s, cmd heading: 6.576486 deg, new cmd heading: 6.560372 deg. i=EHeadingCmd: 0.114500 target range: 234.478928 and range: 235.40 m.hE=hAhAhAhAgIgIjgirgu\BeqreqZeq:eq*e}y @Bɢb=) ?i ) #;=  i ȣi=}y=ɴ=I=IiB>BBIBBB =BBB{;Bp4Ea9@ @@0@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027480ԑ^A% =Թ I I O >gf%,ښYLAF!@F`i>Fp`=ٱF"=FHx?@Ħ-?`??`x ~??iF!@IF\;F\CYMByMIbD]VD]8ym%uV=ٔua&Q-u>9yYy=}Ey}XD}tE}>BDAT read: Rx Time:04:19:48.9266 TRx dataTimestamp_ set to:1764908390.474837checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279880Q 5-4Ha?Q 9-4u$)qBY)y5\>Q I5,@hDIei)W@==顉iPi=c=H=I=D=D<E EEE"Es:*Ek:VEZEBEi0 *l%,`YLAY By IiMb@Mb@Mb@ 9Mb?:v?~jtx?Y?yT=;A (@)AYzAbDVD8y]<%7=ٔQ->9Y=EyaDE>Q 54[a?Q 94#)mBY?Q E:yLg>Q I,@hDIo7;i5;u_4yBɮA:i!%FNOT Ignoring new targets: 234.48 m."i-ʎ*i-ʎ= ProNav: ac range: 234.478928 m, nav range: 209.354599 m, bearing: 6.979655 deg, approach rate: -0.546007 m/s, LOS rate: -0.015605 deg/s, cmd heading: 6.546480 deg, new cmd heading: 6.533394 deg. i=w九EHeadingCmd: 0.114029 target range: 234.478928 and range: 235.40 m.hE)=hAhAhAhAgIgIjgIrgMvBeQreQZeQ:eQ*eU`@颅Bɢ=) >i)<>=顉iEi)=ԍ=Yش=I)=I DAT read: 04:19:48.9266 LVL= 30352, 32753, 27954, 32755, AGC= 70, IDX= 412,-0.40,-1.158,-2.726,-1.003,-1.439, PHS= 0.382,-1.242, 0.391, RAW= 150.3, 5.8, CAL= 149.6, 6.1, ROT= 0.4, -6.1 Ygot valid direction response: 04:19:48.9266 LVL= 30352, 32753, 27954, 32755, AGC= 70, IDX= 412,-0.40,-1.158,-2.726,-1.003,-1.439, PHS= 0.382,-1.242, 0.391, RAW= 150.3, 5.8, CAL= 149.6, 6.1, ROT= 0.4, -6.1 PDAT read: Bearing 167.5, -2.4 (Local) ~Local bearing/azimuth received: Bearing 167.5, -2.4 (Local) -DAT read: Range 11 to 50 : 190.9 m (Round-trip 254.6 ms) speed 0.2 m/s -R#Rx 1: Read range and direction messages.5\direction in FSK: [0.994314,0.006942,0.106264]=9@9 @9@=0@9@E=@E=5Fpublishing direction and range infoy&j?Cn|?O4?Y>Cv2m )FI>i'1>'@4Q='@ ^ =);I^ ڽLtg~?( ?\4? ;D?)ϽI;i^ ڽMT****** received valid address query ******MR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.E EE$E"Ea:*E:VE4ZEa@a@a@a@A ^Ae =Aa zAe yAI I O >By A} <B $>B B IB ՁBB =B B ȺDB |;B }4E E ͂Gws%,ʈYLA(DAT read: user:25> BDAT read: Tx time:04:19:50.3178 $Ping request sent.9AYA=MEyMhDIEM>yQ 5}4}ka?Q 94}")}jBYyQ I,@}hDI}:i}:}e4yɮAii*YLAj+>C"j+>C:je="pxUҢg@]&'?kHK54@p&j?Cn|?O4?*j;2j^ ڽ*pg@Ad)7@&&*#@p+?B-?JS?jKA ji)ky@=项imi(==,=I(=II)}9@y @y@}1@yԑiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251063Թ ^A E  E E E "E 2:*E n:VE ZE BE $*֜y%,~QYLA2@2 >2a=ٱ2y=2H ?-?M ??@_OL?9XYX=ZEyZpDZ஺E^>`Q 5f4b {a?Q 9f4b )bgBYdyff>Q If,@biDIb%:ibS:bYl4yhɮn^AnE:iFNOT Ignoring new targets: 234.48 m."i ͏*i ͏ ProNav: ac range: 234.478928 m, nav range: 208.977173 m, bearing: 6.968875 deg, approach rate: -0.550486 m/s, LOS rate: -0.015715 deg/s, cmd heading: 6.522895 deg, new cmd heading: 6.511814 deg. i湝%HeadingCmd: 0.113653 target range: 234.478928 and range: 235.40 m.h%=h!h!h!h!g!g)jg)rg)e)re1Ze1:e1*e5?Bɢۥ=) ,>i)A=iQBi=i==I=I=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5040879@ @@4@^A l=IyIO>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754947%,)ZLA2k@2>2 a=ٱ2J"=2H$?w2?I? ? A2@N.?`?i2k@I2\;2^CEF EFEF#ED"EF:*EF]t:VEF3ZEDaJ@aJ@aJ@aJ@YJ܁ByJIR>R=i}Mb@Mb@Mb@yyyy y9}w/?y&1?Mbp?Y}?y}`e=};}@}A }?@)yyY}AbDؿVD8ys%<=ٔ,9Q->9Y=EyxDy&E>Q 54a?Q 94|)cBY?Q E:yk>Q I,@iDI(:i:s4yɮA:iFNOT Ignoring new targets: 234.48 m."iH*iH  ProNav: ac range: 234.478928 m, nav range: 208.747894 m, bearing: 6.962017 deg, approach rate: -0.526560 m/s, LOS rate: -0.015768 deg/s, cmd heading: 6.511814 deg, new cmd heading: 6.498083 deg. i 湝HeadingCmd: 0.113413 target range: 234.478928 and range: 235.40 m.h E=hhhhggjg!rg%\Be!re!Ze):e)*e-??]Bɢ]RΛ=)Y ]>iY)e'C=aaieim E=m=mӝ=Im E=IiIB=->B=GCB=IB=BB= =B9B=ɺDB=T|;B=4Em9@i @i@m4@i@uzA@uyAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007385q^A=ԡ A ؟AI! I9 OE >%,SZLA>@>G>>šb=ٱ>B(=>H]?/c;?@?9?"P-?`?i>@I>)\;9b"?Yb"?=bEybDf]Ef>hQ 5n4j;a?Q 9n4jL)j_BYlynek>Q Ir,@jiDIj;ijj;jz4yvBɮvAvE:iFNOT Ignoring new targets: 234.48 m."i'*i'- ProNav: ac range: 234.478928 m, nav range: 208.550766 m, bearing: 6.956125 deg, approach rate: -0.526590 m/s, LOS rate: -0.015754 deg/s, cmd heading: 6.498083 deg, new cmd heading: 6.486289 deg. i-湝-HeadingCmd: 0.113207 target range: 234.478928 and range: 235.40 m.h5=h1h1h1h1g1g1jg9rg9e9reAZeA:eA*eE?u Bɢuީ=)q u>yiy)cD=顁i]i==r=I=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258983C>i>Q@Q @Q@U/@QbE3jEm4rEÈt0E EE*E"El;*Ez:VE(N4ZEBEZF! /܌%,k5ZLA@=Qc=ٱ#=Hࢳ?LC?zؿ??@<l?`)?i@I\;aCY΁ByIi-Mb@Mb@Mb@)))) )9-V-??~jt?Y-|>y-L=-D<)-A -(@)-SA)Y)bDEVDE8yU%U'=ٔU@9Q-U>9] ?Y] ?=]Ey]D]p@Ee>iQ 5u4mna?Q 9u4m)m\BYuk?Q Eu:yu$c>Q Iu,@m/iDImw:im:m4yɮ- AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 234.48 m."i}*i} ProNav: ac range: 234.478928 m, nav range: 208.306259 m, bearing: 6.949350 deg, approach rate: -0.498481 m/s, LOS rate: -0.013830 deg/s, cmd heading: 6.486289 deg, new cmd heading: 6.472722 deg. izʹHeadingCmd: 0.112970 target range: 234.478928 and range: 235.40 m.h\=hhhhggjgrgNBereZe:e*e`8?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762919颥 Bɢ͑=) >i)oF=顩iji\=+à=L=I\=IE EE$E"E:*E n:VE4ZEa@a@a@a@@ @@05@IA A B% 9>B% ICB% yIB% BB% =B! B% ʺDB% |;B% 4Eq ^A =A zA zA] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015252AII1OE>U%,ySZLA,F@F@Q=FAAd=ٱF5=FH@γ?=@kJ?@\ȿ??t䷿` ѹ?t?iF@IF\;F^CYRˁByRI TTbD^VD^8yb%fT=ٔf9Q-f>9Y=EyD%#E%>)Q 554-a?Q 954-)-ZBY1y=b>Q I=,@-i).G=idi=ˠ=I=Iԁ9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267284ԱE EE&E"E*EAr:VE4ZEBE?8%,4mZLAB@B@=BCe=ٱB3=BH?Y(`T?s?O?ķ갹??iB@IB\;B\CYNByNITV@A\bDZVDZ8yb%fK=ٔfO :Q-f>9dYh=jEyjDjY_En>lQ 5r4na?Q 9r4n)nXBYtyvb>Q Iv,@nHiDIn:in:nא4yzBɮ~ A~E><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519249:i)-FNOT Ignoring new targets: 234.48 m."i5{*i5{E ProNav: ac range: 234.478928 m, nav range: 207.912689 m, bearing: 6.938453 deg, approach rate: -0.496776 m/s, LOS rate: -0.013759 deg/s, cmd heading: 6.461797 deg, new cmd heading: 6.450907 deg. iEqɹMHeadingCmd: 0.112590 target range: 234.478928 and range: 235.40 m.hM[=hIhIhIhIgQgQjgQrgQeYreYZeY:eY*ee=@颍Bɢ=) >i)5H=ipi[=ՠ=O=I%[=I!-9@1 @1@5/@9^AAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771260A A ؟AI I E  E E "E "E *E $:VE (3ZE a @a @a @a @O >̡%,ZLA2 @2=2f=ٱ2g=2HK?^ vf?`C??రҬU?@?i2 @I2\;0Y>By>IiMb@Mb@Mb@ 9K7A??Mb?Y ?y<@ A V@)AY=AbDVDy-%-D=ٔ5]:Q-5>95"?Y="?==Ey=D= EE>AQ 5M4Ela?Q 9U4E^)ETBYU?Q EU:yUCa>Q IU,@EViDIE;:BC>BJCB`IBBB =BB˺DB|;B4EBGCBHCBCB =B =C5iEe:E4yɮ6 A:i)-FNOT Ignoring new targets: 234.48 m."i5Ws*i5Wse ProNav: ac range: 234.478928 m, nav range: 207.701263 m, bearing: 6.932667 deg, approach rate: -0.485417 m/s, LOS rate: -0.013297 deg/s, cmd heading: 6.450907 deg, new cmd heading: 6.439324 deg. ie¹mHeadingCmd: 0.112387 target range: 234.478928 and range: 235.40 m.hm^+=hihihihigigqjgrg[BereZe:e*e @Bɢy=) C>i)PI=iK3i^+=_=<=I^+=I!-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022786IY@Y @a@e2@aq^AE l=AI AM >ԩ  BDAT read: Rx Time:04:19:52.9738  TRx dataTimestamp_ set to:1764908394.507298 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276447Au .AIy I O >)%,ZLAYzBy~wIbD VD 8y%G=ٔ%Q-%>9% ?Y% ?=%Ey%D-E->1E= E=E='E9"E=&:*E=x:VE='4ZE9BE=a;i)4J=ii==B/=I=I %9@! @!@%/@!achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526911ԡ^AIA ؟AԹ I I O% >?%,»ZLA2@2H=2)i=ٱ2=2H?=ݽׁ? g?h?It!b? I?i2@I2\;2^CYxIiMb@Mb@Mb@ 9)\(?y&1?I +?YG?y`e=94< A t@)AYfA bDVD8y- ;%-J=ٔ5,:Q-5>95"?Y5"?=5Ey=D=VE=>AQ 5M4Eb?Q 9M4E)EOBYU?Q EU:yUul>Q IU,@EqiDIEV:iE:E_4ԙyɮ] A-B*** querying acoustic contact ***i)i):i9=FNOT Ignoring new targets: 234.48 m."i=*iEM ProNav: ac range: 234.478928 m, nav range: 207.288177 m, bearing: 6.920710 deg, approach rate: -0.477437 m/s, LOS rate: -0.014592 deg/s, cmd heading: 6.427757 deg, new cmd heading: 6.415385 deg. iMչDAT read: 04:19:52.9738 LVL= 32752, 32753, 32626, 32755, AGC= 70, IDX= 416,-0.05, 1.171,-0.489, 1.282, 0.863, PHS= 0.411,-1.307, 0.375, RAW= 149.0, 6.2, CAL= 148.3, 6.6, ROT= 1.7, -6.6 Ygot valid direction response: 04:19:52.9738 LVL= 32752, 32753, 32626, 32755, AGC= 70, IDX= 416,-0.05, 1.171,-0.489, 1.282, 0.863, PHS= 0.411,-1.307, 0.375, RAW= 149.0, 6.2, CAL= 148.3, 6.6, ROT= 1.7, -6.6 PDAT read: Bearing 169.7, -1.2 (Local) ~Local bearing/azimuth received: Bearing 169.7, -1.2 (Local) DAT read: Range 11 to 50 : 188.9 m (Round-trip 251.9 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.992936,0.029470,0.114937]Fpublishing direction and range infoyY]| ?s/ J-?NZl?Y]i]K]>]Bo&@]k=]%@ ]=)]ia),LK=顉iiPP==61=IPP=II)yAe9@i @i@q@qBA<BK>BKCBGIBBB =BB̺DB|;B5E (DAT read: user:26>  BDAT read: Tx time:04:19:54.3677  $Ping request sent. j%, ZLA2@2@=2Hj=ٱ2s=2H@ƴ?ͽЙ?`X?? S [`D?t?i2@I2,\;2_CY>By>vIbDFVDF8yN"%RK=ٔR-:Q-R>9V ?YV ?=VEyVDV!EV>XQ 5^4ZWb?Q 9b4Z)ZLBY`yb?l>Q Ib,@Z~iDIZ:iZ:Zj4yfBɮfh AhiiۥZLAj1"p\[g@X/@M\5@p| ?s/ J-?NZl?*j<2j*p)v?g@&Id:@¤&@p+ڈ.?1?M'̻bͮ?j A j9Ci6P?i$j_jJBjL9w?j3avjJBrj0 addTargetRange:: Added new target pos. range: 188.899994 m, deltaT: 12.099503 s, deltaX: -46.500000 m, approachRate: -3.843133 m/s, rangeRepo size: 4 - Added new target pos. range: 188.192505 m, bearing: 8.076126 deg, lat: 36.779407 deg, lon: -121.859587 deg, deltaT: 12.099503 s, deltaX: -46.286423 m, approachRate: -3.825481 m/s, posRepo size: 4 :i)5FNOT Ignoring new targets: 188.19 m."i5*i1E ProNav: ac range: 188.192505 m, nav range: 188.188309 m, bearing: 7.790095 deg, approach rate: 0.000000 m/s, LOS rate: -0.014592 deg/s, cmd heading: 6.415385 deg, new cmd heading: 6.404180 deg. iAMHeadingCmd: 0.111774 target range: 188.192505 and range: 188.90 m.hM=hIqhIhhggjgrgereZe:e*e5?EBɢ"#=) ,>i)EL=i*i==P=I=Ie9@a @a@e/@aԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251168E EE!E"E;*E:VEc3ZEBE7C%,ZLA&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5022346@6=6.l=ٱ6"=6H?`X?:? ?7>@`/? ?i6@I6Z\;6\CY^BybjIbDjVDj8y-4%==ٔM0:Q->9"?Y"?=EyDSE>Q 54t)b?Q 94_)IBYyk>Q I,@iDIpi;ik;4yɮ A:i FNOT Ignoring new targets: 188.19 m."i ԅ*i ԅ ProNav: ac range: 188.192505 m, nav range: 187.968521 m, bearing: 7.783759 deg, approach rate: -0.506735 m/s, LOS rate: -0.014625 deg/s, cmd heading: 6.404180 deg, new cmd heading: 6.391493 deg. i% ֹ%HeadingCmd: 0.111553 target range: 188.192505 and range: 188.90 m.h%u=h)h)h)h)g)g)jg1rg1e1re1Ze9:e9*e=??eBɢmŦ=)i mx}>ii)mkL=iqiukiu==p=Iu=I-9@) @)@-/@)iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7544141^A ?=E  E E %E "E :*E $:VE 4ZE a @a @a @a @a A .AI I O >w%,OZ [LA2=@2=2l=ٱ2=2H?@񧽿U?;?@v?`?`?i2=@I2\;2]CY>By>\INonly read 0 of 1 data item for BIT error. Device response is::TS72, 78.58, 85.38 aR@aR aR@aR aR@aR aR@aR bDVVDV8y^Xe%^X=BfR>BfLCBf.IBfkBBf =BdBdBfM};BfB5Eٔn:Q-r>9r ?Yr ?=rEyrDvnB8Ev>xQ 5z4zG9b?Q 9~4z7)zGBQ A~+:Y|Q E~:y~k>Q I,@ziDIz;iz>>za4y ɮ  A E:i15FNOT Ignoring new targets: 188.19 m."i5܆*i=܆{G/{A19]s9e/{AYexAm ProNav: ac range: 188.192505 m, nav range: 187.776535 m, bearing: 7.778215 deg, approach rate: -0.509799 m/s, LOS rate: -0.014738 deg/s, cmd heading: 6.391493 deg, new cmd heading: 6.380393 deg. im׹uHeadingCmd: 0.111359 target range: 188.192505 and range: 188.90 m.h=hhhhggjgrgereZe:e*e7?Bɢ=) b>i)M=i*i%=%=%e=I%=I!5t>i5>echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0076329@ @@/@aԑ^A)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258496AY Ia Iq O >Թ %,?5$[LA2h@2t=2(vm=ٱ2q=2H(?yfDZ?`+-?ਟ?@K6??i2h@I2\;2\CY>By>JIbDFVDF8DR<DPEV EVEV#ET"EV:*EVP:VEV3ZETBEV?89!Y!=%Ey%D-7E->1Q 5=45vJb?Q 9E45)5DBQ AE :YAQ EE:yEk>Q IE,@5iDI5/;i5PK?54yYɮ]| Aa:iFNOT Ignoring new targets: 188.19 m."i*i ProNav: ac range: 188.192505 m, nav range: 187.568024 m, bearing: 7.772195 deg, approach rate: -0.497776 m/s, LOS rate: -0.014388 deg/s, cmd heading: 6.380393 deg, new cmd heading: 6.368339 deg. iҹHeadingCmd: 0.111148 target range: 188.192505 and range: 188.90 m.hѡ=hhhhggjgrgereZe:e9*e=`E ?ԑu"BɢX=) X?>i){GN=iiѡ==[=Iѡ=I9@ @@@echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510199^A*=A>A>A ؟AI1 IQ O > )%,>[LA>3@>@=>n=ٱ>=>H`?@ ?H3? ?Q淿ڭܹ? ?i>3@I>\;9M"?YM"?=UEyUDUw9EU>YQ 5e4]^[b?Q 9e4])]BBQ AmT:Ymk?Q Em:ym>Q Im,@]iDI]:i]:]D4yuBɮuY A}EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 188.19 m."i~*i~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762358 ProNav: ac range: 188.192505 m, nav range: 187.362305 m, bearing: 7.764994 deg, approach rate: -0.509884 m/s, LOS rate: -0.017867 deg/s, cmd heading: 6.368339 deg, new cmd heading: 6.353921 deg. iHeadingCmd: 0.110897 target range: 188.192505 and range: 188.90 m.h=hhhhggjgQrgU]BeYreYZeY:eY*e]nK@颭%Bɢ%=) @>i)N=项ii=t#==I=IE EE$E"ET;*Ez:VE4ZEa@a@a@a@M9@I @I@M0@I!AAAABW>BBIBVBBBBͺDB};B,5E^Am?=I u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014184A I I O >%,hW[LA2D@2=2o=ٱ2-=2HŴ?`M`?@3?ƞ?w??i2D@I2V\;2]CY>}ByBEI DDbDJ&VDJϰ8ynK,%nQ=ٔn:Q-r>9pYp=rEyrDv+7Ev>xQ 5~4zykb?Q 9~4zU)zABY|y~>Q I,@ziDIz;izM;z4y Bɮ  A E:i15FNOT Ignoring new targets: 188.19 m."i5*i=M ProNav: ac range: 188.192505 m, nav range: 187.166367 m, bearing: 7.758120 deg, approach rate: -0.502926 m/s, LOS rate: -0.017662 deg/s, cmd heading: 6.353921 deg, new cmd heading: 6.340160 deg. iMJMHeadingCmd: 0.110657 target range: 188.192505 and range: 188.90 m.hU=hQhQhQhQgQgQjgYrgYeYreaZea:ea*ee@4E@颕(Bɢ=) *>i)jO=顙ii=~,=z=I=IQU9@Q @Q@]1@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266195ԁDzDAAbEM4jEM4rEMJ/E EEE"E;*E:VEZEBEA%,q[LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519609@f3@f@=fhp=ٱfW=fH 5? xm?i??ɷ`?D?if3@If\;f^CYzpByz4IbDVDy-b%-E=ٔ-ݜ9Q-5>91Y1=5Ey5DWE>Q 54}b?Q 94 )?BYy">Q I,@iDI~:iu:4yBɮ6 AE:iFNOT Ignoring new targets: 188.19 m."i*i ProNav: ac range: 188.192505 m, nav range: 186.951813 m, bearing: 7.750609 deg, approach rate: -0.502205 m/s, LOS rate: -0.017602 deg/s, cmd heading: 6.340160 deg, new cmd heading: 6.325120 deg. iHeadingCmd: 0.110394 target range: 188.192505 and range: 188.90 m.hV=hh h h g g jgrgereZe:e*e`n@E+BɢMt=)I M>iI)M`O=IIiU i]V=]6=]=I]V=IaԱ@ @@2@@@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770910^AM=AQzAUzAE  E E E "E l;*E :VE ZE a @a @a @a @ Ii Iy O >%,[LAB6X>B6MCB6IB6BBB4B4B4B6;|;B64EB@BZ=Bqq=ٱB=BH`;?l? ?؟?ʷ)¹??iB@IB\;@YNjByN-IlimMb@Mb@Mb@iiii i9mjt?㥛 ?I +?Ym?ym=m949Y=EyD-E>Q 54ԍb?Q 94 )=BY%?Q E:y>Q I,@iDI;i;4yɮ` A:iFNOT Ignoring new targets: 188.19 m."iֵ*iֵ ProNav: ac range: 188.192505 m, nav range: 186.748001 m, bearing: 7.742583 deg, approach rate: -0.504061 m/s, LOS rate: -0.019872 deg/s, cmd heading: 6.325120 deg, new cmd heading: 6.309050 deg. ix HeadingCmd: 0.110114 target range: 188.192505 and range: 188.90 m.h J=h h h h g gjgrg[BereZe:e*e @M.BɢMZq=)I MX=iI)UTFP=QQiU i]J=]@=]1\=I]J=Ia=x>=4=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024049 9@ @@?5@1^A5l=I I O- >a  BDAT read: Rx Time:04:19:57.0487  TRx dataTimestamp_ set to:1764908398.538829 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275281'%,5}[LA2@2=2Aq=ٱ2=2H`$?n@R?I?a?`?췿`l/?@?i2@I2Y\;2]CEB EBEB%E@"EBT;*EB|:VEB 4ZE@BEBG9)Y)=-Ey-D-%:9E5>91Q 5E45b?Q 9E45, )5;BYIyM>Q IM,@5iDI5(;i5:5k4yUBɮU AQ:iy}FNOT Ignoring new targets: 188.19 m."i*i ProNav: ac range: 188.192505 m, nav range: 186.551666 m, bearing: 7.734831 deg, approach rate: -0.503136 m/s, LOS rate: -0.019886 deg/s, cmd heading: 6.309050 deg, new cmd heading: 6.293530 deg. iHeadingCmd: 0.109843 target range: 188.192505 and range: 188.90 m.hF=hhhhggjgrgereZe:e*e @1Bɢn=) =i)7P=iiF=yJ==IF=IU9@Q @Q@U4@YiMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527146^A5=ԙIIO> E%,OX[LA6@6=62r=ٱ6Z=6H@?`{zT&?`0?Ӟ?w@U?#?i6@I6X\;6^CYB_ByB Ii Mb@Mb@Mb@     9 V-?X9v?Mb?Y |>y }= < @  A rA) = A Y AbD%(VD%Ѱ8y5aȼ%5I=ٔ5 >:Q-=>99Y9=EEyEDE9:EE>IQ 5U4Mb?Q 9U4M )M9BYU?Q E]:y]w>Q I],@MiDIM;iM;M4yaɮe AaB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 188.19 m.DAT read: 04:19:57.0487 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 191, 0.19, 1.665, 0.336, 1.966, 1.117, PHS= 0.650,-0.737, 0.805, RAW= 155.2, -9.8, CAL= 156.0, -11.5, ROT= 354.0, 11.5 Ygot valid direction response: 04:19:57.0487 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 191, 0.19, 1.665, 0.336, 1.966, 1.117, PHS= 0.650,-0.737, 0.805, RAW= 155.2, -9.8, CAL= 156.0, -11.5, ROT= 354.0, 11.5 PDAT read: Bearing 153.9, -10.4 (Local) ~Local bearing/azimuth received: Bearing 153.9, -10.4 (Local) DAT read: Range 11 to 50 : 207.6 m (Round-trip 276.8 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.974557,-0.102430,-0.199368]Fpublishing direction and range infoy:;/?쮪8iɿYOC )BIff&?i<{N?-\-@%/@.@ M)@IM>[%~?h\1?.Hſ p?)/>IiwֽiM>T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode."i *iu  ProNav: ac range: 188.192505 m, nav range: 186.348267 m, bearing: 7.728131 deg, approach rate: -0.500571 m/s, LOS rate: -0.016507 deg/s, cmd heading: 6.293530 deg, new cmd heading: 6.280115 deg. i񹝏HeadingCmd: 0.109609 target range: 188.192505 and range: 188.90 m.hz=hhhhggjgrgyBereZe:e@3i@*e?-4Bɢ5'h=)1 5Ю=i1)5P=99i=i=z=E+V=E޵=IEz=IAE EE&E"E=;*E5:VE4ZEa@a@a@a@9@ @@5@!BYA]<BeY>BaBeIBe3BBaBaBaBe{;Be}4EB%LCB%LCB%ƓCB% =B% =C%^!5Y^A A >A >U (DAT read: user:27> e BDAT read: Tx time:04:19:58.3677 e $Ping request sent.e y %,"3[LAYyIbD1VDڰ8y-X%-K=ٔ-Q-->91Y1=5Ey5 D5E=>AQ 5E4E=b?Q 9M4E)E7BYIyIQ IM,@EjDIE :iE:E4yQɮQ]EiiȲ[LAjNC"jNC:j/="p̂2i@3ECy/5QDp:;/?쮪8iɿ*jiwֽ2jM>*p%^h@ǿ_@입Kpo?Qyh?ڻ]Uѿj@ j:GCiIS?iYEjDAjjX-jBrj9Czj?= addTargetRange:: Added new target pos. range: 207.600006 m, deltaT: 4.032039 s, deltaX: 18.700012 m, approachRate: 4.637855 m/s, rangeRepo size: 4  Added new target pos. range: 206.828094 m, bearing: 2.137750 deg, lat: 36.779407 deg, lon: -121.859618 deg, deltaT: 4.032039 s, deltaX: 18.635590 m, approachRate: 4.621877 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 206.83 m."i*i ProNav: ac range: 206.828094 m, nav range: 185.789658 m, bearing: 6.861200 deg, approach rate: 0.000000 m/s, LOS rate: -0.016507 deg/s, cmd heading: 6.280115 deg, new cmd heading: 6.266714 deg. iHeadingCmd: 0.109375 target range: 206.828094 and range: 207.60 m.h=hhhhggjgrgereZe:e*e{?6Bɢnrh=) =i)%Q=i%i%=%_=-==I-=I)Y9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249418ԁE EE%E"E&:*Ex:VE 4ZEBEa; ] =Y m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502730f9%,E[LAB@B=Bt=ٱB=BH]?A{rP?`6.?c? V|`"??iB@IB{\;B\CYN9dYd=fEyfDj%:Ej>lQ 5n4nub?Q 9r4n\)n6BYpyrw>Q Ir,@njDIn^;in8;nq4yxɮz Ax:iFNOT Ignoring new targets: 206.83 m."i%*i%5 ProNav: ac range: 206.828094 m, nav range: 185.592926 m, bearing: 6.853748 deg, approach rate: -0.504298 m/s, LOS rate: -0.019123 deg/s, cmd heading: 6.266714 deg, new cmd heading: 6.251794 deg. i5 5HeadingCmd: 0.109114 target range: 206.828094 and range: 207.60 m.h=\w=h9h9h9h9g9gjgrgereZe:e*e@G?ԙ额9Bɢ֪R=) ;i)e*Q=顡iީi\w=k=D/=I\w=IN>i>@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753315^AE  E E E "E l;*E :VE ZE a @a @a @a @AA II Ia Om > %, \LABZ>BBIBBBBBB{;B4EB@B@[=Bu=ٱB`u=BHdz?`̊]x?H? ? /`4??iB@IBS\;B^CYN=ByNIiuMb@Mb@Mb@qqqq q9ujt?Dl? rh?Yu?yuO=uC9Y=EyD|:E>Q 542b?Q 94)5BY ?Q E:y]>Q I,@jDIH;i;4yBɮ AE:iFNOT Ignoring new targets: 206.83 m."i*i  ProNav: ac range: 206.828094 m, nav range: 185.377411 m, bearing: 6.844701 deg, approach rate: -0.503219 m/s, LOS rate: -0.021149 deg/s, cmd heading: 6.251793 deg, new cmd heading: 6.233678 deg. i  HeadingCmd: 0.108798 target range: 206.828094 and range: 207.60 m.h=hhhhggjgrgfBere!Ze!:e!*e%?=BɢTQ=) %checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006231) :iQ)U+Q=QQiUki]=]x=]ty=I]=Ia@  @ @ @ 9^A) A5 yAzA5 xAi  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257854AY Ii Iy O >K> %,&\LA E6 E6E6'E4"E6;*E6:VE6'4ZE4BE6AB@BQ=Bf@w=ٱB=BH?훲? g??U>㮿`??iB@IB];BZCY^9BybI ddbDjVDjð8yrF%rV=ٔv0:Q-v>9tYt=vEyv%DzP:Ez>qQ 5}4ub?Q 9}4u)u3BYy>Q I,@u(jDIu:iu:u4yBɮ A:iFNOT Ignoring new targets: 206.83 m."i*i ProNav: ac range: 206.828094 m, nav range: 185.185730 m, bearing: 6.836610 deg, approach rate: -0.483724 m/s, LOS rate: -0.020438 deg/s, cmd heading: 6.233678 deg, new cmd heading: 6.217480 deg. iHeadingCmd: 0.108516 target range: 206.828094 and range: 207.60 m.h`==hhhhggjgrgereZe:e*e???BɢjM=) :i)"Q=i=,i%`==%M=%ǹ=I-`==I)q9@ @@@5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510761ԙ^AG= A! I1 IA OM >.%,@\LA>?@>@=>\x=ٱ>h=>H I?1n? DR??sfr??i>?@I>];>^CDYN8ByNIi%Mb@Mb@Mb@!!!! !9%?V-?y&1?Y%?y%m=%`e<%@% A !)% A!Y%AbD=&VD=ϰ8yM%MC=ٔM&):Q-M>9QYQ=UEyU.D]FE]>auchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761354Q 5u4eEc?Q 9u4eX)e1BY}?Q E}:y}Mp>Q I},@e6jDIeb;iea;e 4yɮ AB*** querying acoustic contact ***i!i!:iIUFNOT Ignoring new targets: 206.83 m."iU¡*iU¡ ProNav: ac range: 206.828094 m, nav range: 184.976059 m, bearing: 6.829086 deg, approach rate: -0.492024 m/s, LOS rate: -0.017678 deg/s, cmd heading: 6.217480 deg, new cmd heading: 6.202414 deg. ihHeadingCmd: 0.108253 target range: 206.828094 and range: 207.60 m.h=hhhhggjgrguBereZe:e*en@5BBɢ5LK=)9 =PEe EeEe&Ea"Eef;*EeǙ:VEe4ZEaam@am@au@au@Թi9)%Q=iki=j==I=I@ @@/@AAB`>BBIB BBBBκDB#|;B4E ]wv>aG{A 5릿95{AY52A% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013446^A 2= I I O >P%,lzZ\LA|Y*ByIbDAVD8yEt%ML=ٔMQ-M>9QYQ=UEyU6DUEU>YQ 5e4]c?Q 9m4])]/BYiyiQ Im,@]CjDI]:i]S:]4yuBɮu>A}E:iFNOT Ignoring new targets: 206.83 m."i}*i} ProNav: ac range: 206.828094 m, nav range: 184.775177 m, bearing: 6.821861 deg, approach rate: -0.529628 m/s, LOS rate: -0.019069 deg/s, cmd heading: 6.202414 deg, new cmd heading: 6.187949 deg. i HeadingCmd: 0.108000 target range: 206.828094 and range: 207.60 m.h&/=hhhhggjgrgereZe:e*e r@EEBɢE6A=)A E WiA)MJP=IIiMxiu&/=u=u=Iu&/=Iy)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266037%9@! @!@%/@!@-yA@-wAE EE$E"E;*E:VE4ZEBEa2EaJEa:EaQ^AI AU >AU ?ԉ II Ia O} >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5172711{%,Yt\LA2>@2*=2z=ٱ2=2Hѳ?W`GIJ?|"?@J?tx; ?@A?i2>@I2~\;0YN!ByNIbDZ6VDZް8yb6%bS=ٔbƈ:Q-b>9dYd=fEyf>Df>Ej>hQ 5E4j"c?Q 9E4j)j-BYAyMo>Q IM,@jOjDIjpE  E E %E "E :*E :VE 4ZE a @a @a @a @ B% d>B% NCB% IB% BB! B! B! B% 7|;B% 4Eub#%,/2\LA2@2=2e{=ٱ2=2Hȳ?G?P?{?tx@6??i2@I2\;2\CY\y\iEMb@Mb@Mb@AAAA A9E'1Z?:v?I +?YE?yET=E949qYq=uEyuGD}E}>Q 544c?Q 94)*BY?Q E:ya>Q I,@]jDI6~;i};"4yBԹɮ~AE:i  FNOT Ignoring new targets: 206.83 m."i*i ProNav: ac range: 206.828094 m, nav range: 184.364334 m, bearing: 6.808050 deg, approach rate: -0.515677 m/s, LOS rate: -0.016346 deg/s, cmd heading: 6.174084 deg, new cmd heading: 6.160298 deg. iQ﹝HeadingCmd: 0.107517 target range: 206.828094 and range: 207.60 m.h2=hhhhggjgrgiBereZe:e*e`U/ @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021581-KBɢ-@:=)I MĦiQ)U[P=QQiUGi]2=]=]]=I]2=IaI)@ @ @ @ ^AM G=I I O > BDAT read: Rx Time:04:20:01.0738  TRx dataTimestamp_ set to:1764908402.570762 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2743119 r)%, \LAD"%=D"%=bEU 4jEU 4rEU- 0E& E&E& E$"E&;*E&x:VE&3ZE$BE&7C9IYI=MEyMODMUEM>QQ 5}4UEc?Q 94U})U'BYya>Q I,@UjjDIU;iUt:U)4yɮA:iFNOT Ignoring new targets: 206.83 m."i*i  ProNav: ac range: 206.828094 m, nav range: 184.160736 m, bearing: 6.801636 deg, approach rate: -0.512874 m/s, LOS rate: -0.016177 deg/s, cmd heading: 6.160297 deg, new cmd heading: 6.147454 deg. i HeadingCmd: 0.107293 target range: 206.828094 and range: 207.60 m.h=h!h!h!h!g!g)jg)rg)e1re1Ze9:e9*e=@ @MBɢ+=) i)O=i)i={=s=I=I9@ @@0@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525307^AqԉAxAzAzAI) IY O >ԡ y0%,\LAV(@V=V}=ٱV3=VH@?1?.Ҿ? _?A??iV(@IV\;V^CYbByfIDAT read: 04:20:01.0738 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 191, 0.04,-1.810, 3.053,-1.615,-2.465, PHS= 0.757,-0.720, 0.806, RAW= 151.6, -11.2, CAL= 152.5, -13.1, ROT= 357.5, 13.1 Ygot valid direction response: 04:20:01.0738 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 191, 0.04,-1.810, 3.053,-1.615,-2.465, PHS= 0.757,-0.720, 0.806, RAW= 151.6, -11.2, CAL= 152.5, -13.1, ROT= 357.5, 13.1 PDAT read: Bearing 154.1, -7.4 (Local) ~Local bearing/azimuth received: Bearing 154.1, -7.4 (Local) DAT read: Range 11 to 50 : 226.4 m (Round-trip 301.9 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.973049,-0.042484,-0.226651]Fpublishing direction and range infoyQU7#?u)+#ͿYUfbCQQQQ Q)UGIUA?iUQ8UVN?UV)@U+HUX*@ U j)Ui@IU j>QQUc7ĉ?+t?(Ayȿ U@F ?)UH>IUѸ2iU j>QQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iiMb@Mb@Mb@ 9Mb?~jt?I +?Y?yD=AA A)f AYAbD%VDϰ8y#%1=ٔK89Q->9Y=%Ey%XD-*E->1Q 5=45ZYc?Q 9=45+)5#BY=?Q E=:y=X>Q I=,@5yjDI5:EM EMEM$EI"EM=;*EM~:VEM4ZEIaU@aU@aU@aU@i5'<5:14yBɮ_AiQiU\LAjUaC"jUaC:jUԋ="pUDƺwok@[l*# IpU7#?u)+#Ϳ*jUѸ22jU j>*pUc@j@¿ED 6@,oSPpUax?aQ ?&h?4ҿjUjA jUVCiUWҧ ?iU )jUMjQjU )jQrjU7CzjU8=E addTargetRange:: Added new target pos. range: 226.399994 m, deltaT: 4.031977 s, deltaX: 18.799988 m, approachRate: 4.662722 m/s, rangeRepo size: 4 U Added new target pos. range: 225.562515 m, bearing: 5.862360 deg, lat: 36.779407 deg, lon: -121.859615 deg, deltaT: 4.031977 s, deltaX: 18.734421 m, approachRate: 4.646460 m/s, posRepo size: 4 :iQ]FNOT Ignoring new targets: 225.56 m."i}*i ProNav: ac range: 225.562515 m, nav range: 183.956772 m, bearing: 6.884746 deg, approach rate: 0.000000 m/s, LOS rate: -0.016177 deg/s, cmd heading: 6.147454 deg, new cmd heading: 6.131929 deg. iHeadingCmd: 0.107022 target range: 225.562515 and range: 226.40 m.h.=hhhhggjgrgeBereZe:eLl@*e?5PBɢ=(=)9 =i9)=]O=AAiE(iE.=Mgϡ=M=IM.=IIԑB<ABf>BBIB܀BB =BBB{;B4E-9@) @)@-/@1 (DAT read: user:28>  BDAT read: Tx time:04:20:02.3677  $Ping request sent. O7%,\LA2S@2@=2N~=ٱ2=2Hڴ?S輿??@?+`į.?@S?i2S@I2 %];2[CyYByIbDVD8yZ%;=ٔ@7:Q->9 ?Y ?=EyaDUQE>Q 54kc?Q 94) BYyEX>Q I-@jDI;i;84yɮAi I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251043B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 225.56 m."i:*i: ProNav: ac range: 225.562515 m, nav range: 183.735153 m, bearing: 6.878437 deg, approach rate: -0.514682 m/s, LOS rate: -0.014669 deg/s, cmd heading: 6.131929 deg, new cmd heading: 6.119297 deg. iֹHeadingCmd: 0.106802 target range: 225.562515 and range: 226.40 m.h=hhhhggjgrgereZe:e*e?SBɢ=) 5i)N=ii=%ۡ= d=I =I V>i>ԡDzDE  E E E "E :*E ]t:VE ZE BE >Ht=%,]n\LA2@2=2Z~=ٱ2 =2He?ü$?b?@? Ư쥻?`3?i2@I2];0 8)8:Ļ88<ĻI<9!Y!=%Ey%hD-ϺE->)Q 554-zc?Q 9=4-)-BY9y=W>Q I=-@-jDI-;i-;->4yEBɮMrAME:iiuFNOT Ignoring new targets: 225.56 m."iuƌ*iuƌ ProNav: ac range: 225.562515 m, nav range: 183.554932 m, bearing: 6.873327 deg, approach rate: -0.542041 m/s, LOS rate: -0.015384 deg/s, cmd heading: 6.119297 deg, new cmd heading: 6.109067 deg. i<ṝHeadingCmd: 0.106623 target range: 225.562515 and range: 226.40 m.hU]=hhhhggjgrgereZe:e*e࣌?UBɢU=)k jhi)&N=i8iU]==`=IU]=Iu9@y @y@ 4@%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754971E EE#E"E&:*E$:VE3ZEa-@a-@1a5@a5@^AMG=AQAU>II IY Bm _>Bm MCBm fIBm ȀBBm =Bi Bi Bm {;Bm 4EB5MCB5NCB1B1B5 =C5@5O >Y ^D%,T]LA}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006676YByIi Mb@Mb@Mb@     9 Mb?I +?I +?Y y 94=  nA A A) | A Y AbD%VD%81y5L=%59=ٔ=Q-=>99Y9=EEyEqDEEE>IQ 5U4MNc?Q 9U4M)MBY]?Q E]:y]O>Q I]-@MjDIM;iM:MF4yaɮeAa:iFNOT Ignoring new targets: 225.56 m."is*is ProNav: ac range: 225.562515 m, nav range: 183.329086 m, bearing: 6.867457 deg, approach rate: -0.512018 m/s, LOS rate: -0.013323 deg/s, cmd heading: 6.109067 deg, new cmd heading: 6.097313 deg. iùHeadingCmd: 0.106418 target range: 225.562515 and range: 226.40 m.h=hhhhggjgrgiBereZe:e*e ?mWBɢm =)i m Qiq)uiM=qqiu{i}=}=}D=I}=IA@A @A@E0@Aaԉ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259210^Aa I I O >E!  E% E% $E! "E! *E% :VE% 4ZE! BE% a;9Y=EyxD/E>Q 54qc?Q 94)BYyO>Q I-@jDIb:i:LM4yBɮYAE:iFNOT Ignoring new targets: 225.56 m."ios*ios ProNav: ac range: 225.562515 m, nav range: 183.134277 m, bearing: 6.862400 deg, approach rate: -0.511820 m/s, LOS rate: -0.013302 deg/s, cmd heading: 6.097313 deg, new cmd heading: 6.087187 deg. i¹HeadingCmd: 0.106241 target range: 225.562515 and range: 226.40 m.h =hhhhggjgrgere Ze :e *e @?=YBɢ=~=)9 =mi9)EL=AAiEKiM =M=My=IM =IQYԙ@ @@ 5@@@@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513584II O> = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762798nQ%,mF]LA>?@>@*=>=ٱ>=>H`?`󆼿 ?c?}?@ .>?Ǿ?i>?@I>A:];>]CYZڀByZ|IiEMb@Mb@Mb@AAAA A9E~jt?{Gz?9iYq=uEyuDuE}>Q 54c?Q 94)BY?Q E:yF>Q I-@jDI:i:MT4yɮAE EE%E"E;*E:VE 4ZEa@a@a@a@:i%FNOT Ignoring new targets: 225.56 m."i%pV*i%pV] ProNav: ac range: 225.562515 m, nav range: 182.926697 m, bearing: 6.857568 deg, approach rate: -0.502799 m/s, LOS rate: -0.011717 deg/s, cmd heading: 6.087188 deg, new cmd heading: 6.077513 deg. i]eHeadingCmd: 0.106073 target range: 225.562515 and range: 226.40 m.he<=hahahahagagajgirgmdBeireiZe:e*e @[Bɢpt=) i)K=i\i<==y=I<=IA A @ABBBFIBBB =BBͺDB|;B4E!uG꼝checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016133 9@  @ @ 0@ A zA wAI I I O >NW%,_]LA2@2=2]=ٱ2n=2H ?[x ?,?*Y? C?@ y!?4?i2@I2^];2\CYRрByRqITVAbDZVDZ8ybn/%bU=ٔfL;:Q-f>9dYh=jEyjDj,ٹEj>lQ 5r4nc?Q 9r4n)nBYtyvpF>Q Iv-@njDIn :in\:nZ4yzBɮzAx:i%FNOT Ignoring new targets: 225.56 m."i%d*i%d5 ProNav: ac range: 225.562515 m, nav range: 182.728287 m, bearing: 6.852950 deg, approach rate: -0.534846 m/s, LOS rate: -0.012462 deg/s, cmd heading: 6.077513 deg, new cmd heading: 6.068266 deg. i5u=HeadingCmd: 0.105911 target range: 225.562515 and range: 226.40 m.h==h9h9hAhAgAgAjgArgIeIreIZeI:eI*eUฺ@}]Bɢu<) ʋi)K=顁i&i=x=j=I=IU¼checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267559Q9@ @@/@IIO>E EEE"E:*E҆:VEZEBE>9hYh=jEyjDn En>pQ 5v4rzc?Q 9v4r)r BYtyvE>Q Iv-@rjDIr:irS:rb4y~Bɮ~A~EB*** querying acoustic contact ***ii:i!%FNOT Ignoring new targets: 225.56 m."i-Z*i-Z ProNav: ac range: 225.562515 m, nav range: 182.518784 m, bearing: 6.848119 deg, approach rate: -0.517259 m/s, LOS rate: -0.011941 deg/s, cmd heading: 6.068267 deg, new cmd heading: 6.058594 deg. iԮHeadingCmd: 0.105742 target range: 225.562515 and range: 226.40 m.hy=hhhhggjgrgereZe:e*e)@_Bɢb<) i)I= i 0iUy=]M=eBT=Iey=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770820E EE'E"E*E:VE'4ZEa @a @a @a @6B a>B B 'IB BB =B B κDB <|;B 4E1 I @Q  @Q @U /0@Q Au >Au >} G 09 Y iAA ؟AI I O >5d%,F]LA2@2F=25=ٱ2=2H?'@9???@# ??i2@I2\;2\C8Y>ÀByB_Inchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022956iMb@Mb@Mb@ 9%C?l?~jt?YZ?y=D<AA A)AYf AbD- VD-8y=B%=;=ٔ=T9Q-E>9E"?YE"?=EEyEDMLeEM>QQ 5]4U0c?Q 9]4U|)UBY]?Q E]:ye>>Q Ie-@UjDIU:iU:Ui4yiɮDA:iamFNOT Ignoring new targets: 225.56 m."ima=*iua=} ProNav: ac range: 225.562515 m, nav range: 182.293320 m, bearing: 6.843380 deg, approach rate: -0.491694 m/s, LOS rate: -0.010348 deg/s, cmd heading: 6.058593 deg, new cmd heading: 6.049103 deg. i}HeadingCmd: 0.105577 target range: 225.562515 and range: 226.40 m.h8=hhhhggjgrgvBereZe:e*e\ @ԩbBɢ<) i)[H=i1i8=(=&=I8=Ii߉I߉BDAT read: Rx Time:04:20:05.0719 TRx dataTimestamp_ set to:1764908406.604045checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2774389 @A  @A @E o1@A E}  E} E} (Ey "E} :*E} x:VE} c44ZEy BE} +^l%,]LA2e@2s=26=ٱ2R=2Hڶ?( J?' ?f?0??i2e@I2x\;2[CYJByNTIIR=)RC=V=V=bDZVDZ8yb=%b)=ٔf9Q-f>9dYd=fEyfDj:9Ej>lQ 5r4nc?Q 9r4nC)nBYpyv>>Q Iv-@njDIn%:in:n&r4~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527101yBɮAE:i15FNOT Ignoring new targets: 225.56 m."i=P*i=PM ProNav: ac range: 225.562515 m, nav range: 182.042953 m, bearing: 6.838098 deg, approach rate: -0.539452 m/s, LOS rate: -0.011396 deg/s, cmd heading: 6.049103 deg, new cmd heading: 6.038525 deg. iMئMHeadingCmd: 0.105392 target range: 225.562515 and range: 226.40 m.h=hhhhggjgrgereZe:e*ez@}dBɢp<) ʩi)ĕG=iAi]=e#5=e=Ie=Ia@ @@55@qDAT read: 04:20:05.0719 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 430,-0.15, 1.774, 0.565, 2.108, 1.299, PHS= 0.577,-0.688, 0.766, RAW= 156.8, -9.6, CAL= 157.6, -11.3, ROT= 352.4, 11.3 Ygot valid direction response: 04:20:05.0719 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 430,-0.15, 1.774, 0.565, 2.108, 1.299, PHS= 0.577,-0.688, 0.766, RAW= 156.8, -9.6, CAL= 157.6, -11.3, ROT= 352.4, 11.3 PDAT read: Bearing 158.2, -12.4 (Local) ~Local bearing/azimuth received: Bearing 158.2, -12.4 (Local) DAT read: Range 11 to 50 : 225.0 m (Round-trip 300.0 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.972000,-0.129692,-0.195946] Fpublishing direction and range infoyoɠ?5sÙ>x_ɿYaC )EIF?i 0D?%/@+x 0@ I):@II>/>>? ?^)Xſ $?)+>IiI> T****** received valid address query ****** R****** received valid ping request ******% Querying Benthos address 50 with one ping in standard two-way mode. PExceeded connect timeout, disconnecting.^A #=E  E E %E "E :*E ~:VE 4ZE a @a @a @a @ I I O >rs%,u]LAB"b>B"NCB"IB"BB" =B B B":|;B"4ErS@r@/=r=ٱr/=rH?㻿?>?AŽ?@?S- ?A?irS@IrP\;r\CY~ByEIԙiMb@Mb@Mb@ 9RQ?ˡE?Mb?Y?y'=<AA )9AY A p<bDVD8yO%+=ٔ Q- >9)Y)=-Ey5D5E5>9Q 5E4=R d?Q 9E4=)=BYM ?Q EM:yME>Q I-@=kDI=^ BDAT read: Tx time:04:20:06.4177 $Ping request sent.x_ɿ*j2jI>*p5>Qj@ܢI?q+CNpuw不?Xs?J^4qGѿjN? jWCic?ij+t@jIS?jX-jDArjpDCzjr= addTargetRange:: Added new target pos. range: 225.000000 m, deltaT: 4.032042 s, deltaX: -1.399994 m, approachRate: -0.347217 m/s, rangeRepo size: 4  Added new target pos. range: 224.166672 m, bearing: 0.286831 deg, lat: 36.779539 deg, lon: -121.859618 deg, deltaT: 4.032042 s, deltaX: -1.395844 m, approachRate: -0.346188 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 224.17 m."i*im ProNav: ac range: 224.166672 m, nav range: 196.439896 m, bearing: 6.235519 deg, approach rate: 0.000000 m/s, LOS rate: -0.011396 deg/s, cmd heading: 6.038525 deg, new cmd heading: 6.026707 deg. iiuHeadingCmd: 0.105186 target range: 224.166672 and range: 225.00 m.huk=hqhqhqhqgygyjgrgkBereZe:e l@*ee?5fBɢ5*<)1 5i9)}F=yyi}:ik=A==Ik=IQ@Q @Q@U|1@Q  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250872^A 8=A yAzA I I) O5 > z%,+]LA2u@2=2C]=ٱ2G=2H?ۻ:?i? ?(??i2u@I2\;0bEJ4jEr 4rEַ/E> E>E>$E<"E>7;*E>:VE>4ZE<BE>ZZ;aJ:E>;aJYNByN:IbDVVDV8y^x@%bd=ٔbEQ-b>9`Yd=fEyfDfEf>hQ 5n4jSd?Q 9r4j)jBYpyrE>Q Ir-@jkDIj:ij:j4yvBɮvAx:i)FNOT Ignoring new targets: 224.17 m."i*i ProNav: ac range: 224.166672 m, nav range: 196.259109 m, bearing: 6.231069 deg, approach rate: -0.570698 m/s, LOS rate: -0.014061 deg/s, cmd heading: 6.026707 deg, new cmd heading: 6.017799 deg. i͹HeadingCmd: 0.105030 target range: 224.166672 and range: 225.00 m.h.=hhhhgg jgrgereZe:e*e?颕gBɢT<) ¾i)"E=顙i*i.=:I=cf=I.=IAa@a @a@e/@a@mzA@mzA=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503401i^A=I I O% >ԙ I%,^LA])@]$=]x=ٱ][^=]Hସ? MŻ? z??` ? o?i])@I]pQ->9Y=EyD]E> Q 54 /d?Q 94 ) BY?Q E:yKC>Q I-@ kDI :i : 4y%Bɮ%A%E=B*** querying acoustic contact ***i9i9:iIUFNOT Ignoring new targets: 224.17 m."iUBd*iUBdE EE%E"E;*E:VE 4ZEa@a@a@a@ ProNav: ac range: 224.166672 m, nav range: 196.013199 m, bearing: 6.225165 deg, approach rate: -0.518809 m/s, LOS rate: -0.012472 deg/s, cmd heading: 6.017799 deg, new cmd heading: 6.005975 deg. i HeadingCmd: 0.104824 target range: 224.166672 and range: 225.00 m.h =h h h h ggjgrgNBereZe:e*ee`M?ԡ颵iBɢ6<) Fپi)dC=项ii=T=F=I=IBem>BeOCBeIBemBBaBaBeϺDBe|;Be4E@ @@4@M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006863^A] =I I O > ]%,^LA6*@6e=6l=ٱ6 =6H?`? ?v?e ` `? ?i6*@I6\;4Y^By`dfAAbDjVDj8yrV(;%rt=ٔv̋Q-v?9tYt=vEyvDzҎEz?|Q 54~ >d?Q 94~)~BYy B>Q I -@~+kDI~::i~:~4yBɮA:i9=FNOT Ignoring new targets: 224.17 m."iE5c*iE5cU ProNav: ac range: 224.166672 m, nav range: 195.839920 m, bearing: 6.221014 deg, approach rate: -0.517799 m/s, LOS rate: -0.012415 deg/s, cmd heading: 6.005975 deg, new cmd heading: 5.997666 deg. iUĵUHeadingCmd: 0.104679 target range: 224.166672 and range: 225.00 m.h]a=hYhYhYhYgYgajgargaeareiZei:ei*em~?额kBɢV<) ھi)FWB=顡iia=[=ô=Ia=Iy59@1 @1@5/@1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258947ԡDDE EE&E"E:*EVE4ZEBE?8 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510876K%,7^LA2J@2m=2=ٱ2=2H?`F?n??@?ξ?i2J@I2D\;0YZByZIbDbVDb8yj@ۼ%jJ=ٔn-Q-n>9lYl=nEyrDrEr>tQ 5z4vqOd?Q 9z4v)vBY|y~pB>Q I~-@v8kDIv;iv;v4yɮA:i)-FNOT Ignoring new targets: 224.17 m."i5a*i5aE ProNav: ac range: 224.166672 m, nav range: 195.631363 m, bearing: 6.216037 deg, approach rate: -0.516608 m/s, LOS rate: -0.012342 deg/s, cmd heading: 5.997666 deg, new cmd heading: 5.987701 deg. iEMHeadingCmd: 0.104505 target range: 224.166672 and range: 225.00 m.hM=hIhIhIhIgQgQjgQrgQeYreYZeY:eY*e]?MlBɢM<)I M iQ)Uq@=QQiUV߼i]=]e=]<=I]=Ia]9@Y @Y@]/@Y@e=@e=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767771^A! E  E E E "E ;*E :VE ZE a @a @a @a @A I I O >Bu q>Bu PCBu IBu ]BBu =Bq Bq Bu };Bu 55EBNCBB˔CBBCˡ5/%,aQ^LA V@V=V}=ٱV=VH@??m ײ?C??୯ ޻??iV@IVd\;V\CYbByfIiMMb@Mb@Mb@IIII I9Mrh|?Mb? rh?YM>yM@=MC9yY=EyD$κE>Q 54`d?Q 94)BY3>Q E:yR>Q I-@EkDI ;i ;`4yBɮ AE:iFNOT Ignoring new targets: 224.17 m."i*i ProNav: ac range: 224.166672 m, nav range: 195.422928 m, bearing: 6.210081 deg, approach rate: -0.491873 m/s, LOS rate: -0.014069 deg/s, cmd heading: 5.987701 deg, new cmd heading: 5.975777 deg. i͹HeadingCmd: 0.104297 target range: 224.166672 and range: 225.00 m.h=hhhhggjgrgqBereZe:e*e@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014922inBɢɡ<) i)z.?=i޼i=o=}=I=I9@ @@@ԙ ^A i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267179A I! I9 OE >Q%,Ek^LA2@2@J=2{{=ٱ2ɡ=2H`?Yf?*? E>E>'E<"E>;*E>:VE>'4ZE<BE>mm;aF:E>;aJ0XYVByZI f9|Y|=EyDE >Q 54|pd?Q 9%4)BY!y%0R>Q I--@RkDID;iuE;!4y=Bɮ=A=E:iFNOT Ignoring new targets: 224.17 m."iu*iu ProNav: ac range: 224.166672 m, nav range: 195.232697 m, bearing: 6.204656 deg, approach rate: -0.470393 m/s, LOS rate: -0.013427 deg/s, cmd heading: 5.975777 deg, new cmd heading: 5.964917 deg. iĹHeadingCmd: 0.104107 target range: 224.166672 and range: 225.00 m.hH6=h!h!h!h!g!g)jg)rg)e)re1Ze1:e1*e5t"@5oBɢ=[<)a eia)mr==iiimܼi}H6=Uw=]G=I]H6=IYIa)exA 9@  @ @ @ =checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519809 1 ^Am =Au xAzAu zAA I I! OE >%,/^LAVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773632z@z=zy=ٱz=zH`?@cJ??q? 9׻?@?iz@Iz\;zYCYeByeIiEMb@Mb@Mb@AAAA A9EGz?S㥫?yE/]=Et9qYq=}Ey}DE EE(E"E:*Ez:VEc44ZEa@a@a@a@}E>Q 54d?Q 94k)BY>Q E:y[_>Q I-@akDI:i4:Ƭ4yɮCA5B*** querying acoustic contact ***i1i19:iYeFNOT Ignoring new targets: 224.17 m."ie*ieu ProNav: ac range: 224.166672 m, nav range: 194.987793 m, bearing: 6.196721 deg, approach rate: -0.504841 m/s, LOS rate: -0.016379 deg/s, cmd heading: 5.964917 deg, new cmd heading: 5.949026 deg. i﹝HeadingCmd: 0.103830 target range: 224.166672 and range: 225.00 m.hޤ=hhhhggjgrgxBereZe:e*e` @Bp>BBIBIBB =BBBV};B\5E=pBɢ=JT<)A EziA)E;=AAiEnۼiMޤ=M䁢=Uc=IUޤ=I 9@ @@/@@yA@iEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022914ԑ ^Am *=A I I O >%,t ^LA2@2=2w=ٱ2S=2H޻?'Iw??`?@oZEϻ?`l?i2@I2N\;2[CY>By> IbDFVDF8yNb%Nc=ٔRQ-R>9PYP=REyRDVnEV>XQ 5^4Zd?Q 9^4Zn)ZBY\ybG_>Q Ib-@ZlkDIZ:iZ :Z޲4yfBɮfRAd:ixzFNOT Ignoring new targets: 224.17 m."i~ᖹ*i~ᖹ  ProNav: ac range: 224.166672 m, nav range: 194.815002 m, bearing: 6.191114 deg, approach rate: -0.507694 m/s, LOS rate: -0.016489 deg/s, cmd heading: 5.949026 deg, new cmd heading: 5.937802 deg. i h񹝏HeadingCmd: 0.103634 target range: 224.166672 and range: 225.00 m.h*>=hhhhggjgrgere!Ze!:e!*e%` @-qBɢ5&<)1 5i1)5~:=11i=Eڼi=*>===Eܢ=Ie*>=Ia!5BDAT read: Rx Time:04:20:09.1196 =TRx dataTimestamp_ set to:1764908410.637076Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2788789@ @@/@E EE%E"E:*EVE 4ZEBE5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526899?%,»^LA02@2=2Pu=ٱ2)=2H? F9}G?@?๡?.`լ ϊ?@?i2@I2\;2\CYRfByVIhhbDzܿVDz8yeս%u2=ٔuQ-}>9yYy=}Ey}D[E>Q 54d?Q 94)BYy^>Q I-@{kDI:i:4yɮA:iFNOT Ignoring new targets: 224.17 m."i*i% ProNav: ac range: 224.166672 m, nav range: 194.586197 m, bearing: 6.183697 deg, approach rate: -0.490504 m/s, LOS rate: -0.015919 deg/s, cmd heading: 5.937802 deg, new cmd heading: 5.922950 deg. i%鹝-HeadingCmd: 0.103375 target range: 224.166672 and range: 225.00 m.h-C=h)hAhAhAgAgAjgIrgIԉeIreIZeI:eI*eU`0@sBɢ\iUwU>U~%@U=U$@ U=)U+=IUQQU#8?G@9 ?1{h? U>)U|IU+=iUQQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E= E=E=$E9"E=;*E=:VE=4ZE9aE@aE@aE@aE@ 3Ce MGy B <A <B s>B B IB :BB B B B };B >5E 9 Y A^A l= A I I  (DAT read: user:30>  BDAT read: Tx time:04:20:10.4677  $Ping request sent. a%,A^LAYMjByMIiMb@Mb@Mb@ 9+?)\(?yGa=AA A)Y AbDVD8y<%6=ٔQ->9Y=EyD E >1qQ 5}4uԸd?Q 9}4u)uBY}?Q E}:y}`>Q I}-@ukDIu#:iuV:u4yBɮAEii`^LAja^C"ja^C:jQ>"p"X(k@Trwaa~"@cT:@p]eG,%,^LA2j@2=2hs=ٱ2d=2HB? @?ټ??J@h^??i2j@I2߹\;2[CYBYByBIbDJVDJ8yRI½%Rc=ٔVFQ-V>9V ?YZ ?=ZEyZDZvEZ>\Q 5b4^"d?Q 9b4^)^BYdyf`>Q If-@^kDI^\:i^:^4yhɮjuAh:i|FNOT Ignoring new targets: 222.38 m."i*i ProNav: ac range: 222.380859 m, nav range: 211.491867 m, bearing: 5.743111 deg, approach rate: -0.503515 m/s, LOS rate: -0.016245 deg/s, cmd heading: 5.908386 deg, new cmd heading: 5.897245 deg. i%HeadingCmd: 0.102926 target range: 222.380859 and range: 223.20 m.h% =h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5@|D?uBɢ^ ;)aB  i).5=iּi  = 줢= G=I =ԑIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504782m9@i @i@m0@i^Ae=A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757179I I OU > +%, _LAE& E&E&$E$"E&s:*E&:VE&4ZE$a*@a*@a*@a*@Vz@V=V_#r=ٱV=VH༽?@ ?@¼?E?Du?F??iVz@IVk\;TYbXBybIiUMb@Mb@Mb@QQQQ Q9Ux&1?Q?Q?YU?yUu=Uu=ٔ}9Y=EyDZE>BBBIB+BB =BBB|;B 5EQ 54*d?Q 94)BY?Q E:y`h>Q I-@kDI6TC%,&_LA29@2h=2Kp=ٱ2=2H? y?м?? r`XkB?/?i29@I2 \;2\CY>LByBIbDJVDJ8yR+%RX=ٔR;WQ-R>9V"?YV"?=VEyVDZ:EZ>\Q 5b4^d?Q 9b4^a)^BYdyfh>Q If-@^kDI^q:i^:^'4yhɮjAlUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258771:iy}FNOT Ignoring new targets: 222.38 m."i*i ProNav: ac range: 222.380859 m, nav range: 211.082748 m, bearing: 5.728955 deg, approach rate: -0.529018 m/s, LOS rate: -0.018357 deg/s, cmd heading: 5.882179 deg, new cmd heading: 5.868905 deg. iaHeadingCmd: 0.102432 target range: 222.380859 and range: 223.20 m.h=hhhhggjgrgereZe:e*e`w?=xBɢ=8)9 =i9)EzD1=AAiEӼim=m=m $=Im=IqIbEž4jEž4rE/E] E]E])EY"E]%;*E]~:VE]FA4ZEYBE] K%%,@_LA2@2=2o=ٱ2=2H?*?޼?`ߢ?tKD? J?i2@I2\;2[CY>JBy>I@DFAbDJVDJ8yR/%RK=ٔVX0Q-V>9TYT=ZEyZ!DZ:EZ>\Q 5b4^d?Q 9b4^*)^BYdyfh>Q If-@^kDI^;i^:^.4yjBɮjAh:i|FNOT Ignoring new targets: 222.38 m."i*i ProNav: ac range: 222.380859 m, nav range: 210.879364 m, bearing: 5.721878 deg, approach rate: -0.525708 m/s, LOS rate: -0.018310 deg/s, cmd heading: 5.868905 deg, new cmd heading: 5.854737 deg. i %HeadingCmd: 0.102184 target range: 222.380859 and range: 223.20 m.h%F=h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e5?yBɢoc:) i)^/=  i WѼiF===IF=IԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765006Ee EeEe#Ea"EeV:*Ee?:VEe3ZEaam@am@am@am@Bw>BBIBBBBBкDBu};Bp5EQ@Q @Y@]/@Y % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014766^A% 0=1 AiIqIO>X??i2@I2?\;0YZ;ByZIiuMb@Mb@Mb@qqqq q9u'1Z?T㥛 ?9Y=Ey+Dn:E>Q 54Te?Q 94)BY?Q E:yum>Q I-@kDI4:i:4yɮJA:iFNOT Ignoring new targets: 222.38 m."i*i  ProNav: ac range: 222.380859 m, nav range: 210.619507 m, bearing: 5.712491 deg, approach rate: -0.510607 m/s, LOS rate: -0.018468 deg/s, cmd heading: 5.854737 deg, new cmd heading: 5.835940 deg. i 1HeadingCmd: 0.101856 target range: 222.380859 and range: 223.20 m.h=hhhhggjg!rg%Be!re!Ze!:e)*e-`U@U{Bɢ]D7;)Y ]iY)]U,=YYieϼie=eˢ=m|=Im=IiE2D9@ @@@0@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267718E= E=E='E9"E=&:*E=xv:VE='4ZE9BE=a;%,kx_LA2޺@2@=2en=ٱ2=2H :?Qұ?@??್cȭ`]??i2޺@I2 }\;0Y>,By>IbDJVDJ8Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518867yV%V\=ٔVcQ-Z>9XYX=ZEyZ2D^>8E^>1Q 5545e?Q 9=45`)5BY9y=~m>Q I=-@5kDI5n;i57;54yMBɮMAME:iiuFNOT Ignoring new targets: 222.38 m."i}*i} ProNav: ac range: 222.380859 m, nav range: 210.422318 m, bearing: 5.705350 deg, approach rate: -0.511443 m/s, LOS rate: -0.018539 deg/s, cmd heading: 5.835940 deg, new cmd heading: 5.821644 deg. iHeadingCmd: 0.101607 target range: 222.380859 and range: 223.20 m.hB=hhhhggjgrgereZe:e*e k@|Bɢ) C(i)*=i6μiB=բ=~=IB=I1a9@ @@0@@%=@%p=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776713ԙEU  EU EU $EQ "EU f;*EU ]t:VEU 4ZEQ ae @ae @ae @ae @^A G=Bm ~>Bm QCBm xIBm BBm =Bi Bi Bm U~;Bm 5EB5PCB5PCB5˓CB5 =B5 =C5b55Թ A I I O >,%,ı_LA2'@2@=2m=ٱ29=2H?k,ͱ?@?p?w`m??i2'@I2\;0Y>0By>IIB,>)B=iMb@Mb@Mb@ 9"~j?V-? rh?YS?ym=C<A = A)AYAbDVDİ8y-y<%-/=ٔ-~1Q-5>99Y9==Ey=IQ 54M2e?Q 94M)MBY<?Q E:yc>Q I-@MkDIMi>a9@ @@-0@ԉ^A 箵= BDAT read: Rx Time:04:20:13.1386  TRx dataTimestamp_ set to:1764908414.668617 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278135 I E  E E %E "E V:*E ~:VE 4ZE BE 9|Q%,x_LA@~='Ml=ٱY|=H`Ҽ?`Ƹ?2? ?@s4v??i@I\;\CY-By5I E9aYi=mEymDDm6<:Em>qQ 5}4u/De?Q 9}4u)uރBYy)d>Q I-@ukDIuI;iu3;u4yɮLAԙ:iFNOT Ignoring new targets: 222.38 m."i*i%- ProNav: ac range: 222.380859 m, nav range: 209.981079 m, bearing: 5.690456 deg, approach rate: -0.522568 m/s, LOS rate: -0.017699 deg/s, cmd heading: 5.806006 deg, new cmd heading: 5.791825 deg. i-UHeadingCmd: 0.101086 target range: 222.380859 and range: 223.20 m.hUd=hYhYhYhYgYgYjgargaeareaZea:ei*em o @Bɢ) 4i)%=iʼid=9=  =I d=I %9@! @!@%1@!}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529488^Am G= IA IQ Oe ><%,Ac_LAY By|I5DAT read: 04:20:13.1386 LVL= 32752, 32753, 32754, 32403, AGC= 69, IDX= 120,-0.22, 3.125, 1.400,-3.117, 2.817, PHS= 0.410,-1.372, 0.306, RAW= 147.0, 7.6, CAL= 146.5, 8.3, ROT= 3.5, -8.3 uYgot valid direction response: 04:20:13.1386 LVL= 32752, 32753, 32754, 32403, AGC= 69, IDX= 120,-0.22, 3.125, 1.400,-3.117, 2.817, PHS= 0.410,-1.372, 0.306, RAW= 147.0, 7.6, CAL= 146.5, 8.3, ROT= 3.5, -8.3 uPDAT read: Bearing 179.1, 0.9 (Local) }~Local bearing/azimuth received: Bearing 179.1, 0.9 (Local) DAT read: Range 11 to 50 : 200.0 m (Round-trip 266.7 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.B>BSCB_IBBB =B=DBҺDB~;B,6E \direction in FSK: [0.987680,0.060409,0.144356]Fpublishing direction and range infoypr,:Y?#~2?'ЌCz?YrHCppppE% E%E%&E!"E%:*E%Z:VE%4ZE!BE%.<2E%.<JE%$;:E%$; r~)rEIr>irr>rY3$@r>r_#@ rV>)r5z=IrVpprfQMA?|jd?]F? rxs>)rIIr5z=irVppT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iMb@Mb@Mb@ 9S㥛?)\(?Q?Y?yGa=u<AxA  A)AYAbDVD8yC%=ٔ%Q-->99Y9==Ey=PD=E=>AQ 5M4E^\e?Q 9M4E")E܃BYU?Q Eu:yu]>Q Iu-@E lDIE%;iE;E4y}BɮAipir8_LAjrFGC"jrFGC:jr#>"prxr|1?h@>y(@f2 A<@pr,:Y?#~2?'ЌCz?*jr5z=2jrV*prT,|h@`w?@z.~2@pr+lu?w"5?,ğ·?jrA jrCCirwإ?ir;jrBjpjpjprjrQCzjr =-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 200.000000 m, deltaT: 4.034555 s, deltaX: -23.199997 m, approachRate: -5.750324 m/s, rangeRepo size: 4:i15FNOT Ignoring new targets: 222.38 m."i=*i=E ProNav: ac range: 222.380859 m, nav range: 209.689270 m, bearing: 5.681083 deg, approach rate: -0.515156 m/s, LOS rate: -0.016570 deg/s, cmd heading: 5.791825 deg, new cmd heading: 5.773053 deg. iM򹝏mHeadingCmd: 0.100759 target range: 222.380859 and range: 223.20 m.hZ=hhhhggjgrgBereZe:ei@*e L?-Bɢ-iG)) 5;i1)5i"=11i5Pȼi=Z====o=I=Z=IAIi(DAT read: user:31> BDAT read: Tx time:04:20:14.5677 $Ping request sent.%,'_LA2%@2=2˃g=ٱ2=2Hּ?@᰻j?W? ?u쬿??N?i2%@I2\;0Y>By>I @@bDFVDF8ybI=%b=ٔf{Q-f?9dYh=jEyjVDj:Ej?lQ 5r4ngie?Q 9r4n=)nڃBYtyv!^>Q Iv-@nlDIn:inP:n 4yqɮuAqiߑIߕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249894:iFNOT Ignoring new targets: 222.38 m."i*i ProNav: ac range: 222.380859 m, nav range: 209.531952 m, bearing: 5.675993 deg, approach rate: -0.516642 m/s, LOS rate: -0.016726 deg/s, cmd heading: 5.773053 deg, new cmd heading: 5.762867 deg. iHeadingCmd: 0.100581 target range: 222.380859 and range: 223.20 m.hi=hhhhggjgrgereZe:e*ec? BɢD ) 9i)? =i1Ƽi-i=5Y=5=I5i=I9! 9@  @ @ :5@ E EE"E"E:*E:VE(3ZEBE?8<2E@8<JE;:E;Q^AeG=IIO>E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501555ԁ At%,`LA0:H@:l=:lc=ٱ:=:Hd?@tp"?eQ?`?`;i@??i:H@I:A\;:YCY^BybaIddbDjVDj8yr%rI=ٔv!Q-v>9tYt=vEyv^Dz Ez>|Q 54~ze?Q 94~ )~كBYy ^>Q I -@~!lDI~:i~G:~4yޒBɮLAE:i9=FNOT Ignoring new targets: 222.38 m."iEà*iEàU ProNav: ac range: 222.380859 m, nav range: 209.321426 m, bearing: 5.669174 deg, approach rate: -0.541830 m/s, LOS rate: -0.017569 deg/s, cmd heading: 5.762867 deg, new cmd heading: 5.749214 deg. iU]HeadingCmd: 0.100343 target range: 222.380859 and range: 223.20 m.h]|=hYhYhYhYgagajgargaeireiZei:ei*em ?额Bɢ}) Hi)<=顡iZżi|=4= =I|=I@ @@4@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756359\GzA^A-л=U.9UzAYUABm>BiBm@IBmBBm =BiBiBm~;BmC6EIIO>E EE E"E;*E:VE3ZEBE@<2E@<JE><:E>< ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005477k%,`LA\Jg@J@4=JY=ٱJZ=JH?@ǣ~?+? %?`5-??iJg@IJ];J\CYnBynOIieMb@Mb@Mb@aaaa a9eMbX9?Zd;?y&1?Ye?yey=e`e9Y=EygD綺E>Q 54e?Q 94)׃BY?Q E:y l>Q I-@/lDI;i[;4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 222.38 m."i꧹*i꧹ ProNav: ac range: 222.380859 m, nav range: 209.105301 m, bearing: 5.661337 deg, approach rate: -0.505554 m/s, LOS rate: -0.018350 deg/s, cmd heading: 5.749214 deg, new cmd heading: 5.733525 deg. iUHeadingCmd: 0.100069 target range: 222.380859 and range: 223.20 m.h=hhh h g g jgrgzBereZe:e*e@?Bɢu) ?Pi)"H=iqüi= =%u=I=I@ @@ 5@@=@= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258015^A˺=AzAsAA E  E E "E "E a:*E ]t:VE (3ZE BE (<2E (<JE ;:E ;A1 I9 II O] >o %,5`LAY%By%FII-=)-??bD5VD58ye<%eM=ٔmQ-m>9iYq=uEyuoDuEu>yQ 54}ke?Q 94})}փBYyQ I-@}?UBɢU)Y ]nTiY)]pk=YYi]iej=eU-=m=Imj=IIE9@A @A@E4@Aq^Ai ԩ i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765242A I IQ O >%,P`LAB2>B0B2!IB2BB2 =B0B0B2~;B2#6EEF EFEF$ED"EFV:*EF|:VEF4ZEDBEF9<2EF9<JEFb;:EFb;dYBy5Ii]Mb@Mb@Mb@YYYY Y9]MbX9?I +?9Y=EyxDE>Q 54e?Q 94H)ӃBYL?Q E:yaK>Q I-@KlDI:i:)4yےBɮPA:iFNOT Ignoring new targets: 222.38 m."id*id ProNav: ac range: 222.380859 m, nav range: 208.669052 m, bearing: 5.647553 deg, approach rate: -0.506359 m/s, LOS rate: -0.013955 deg/s, cmd heading: 5.718861 deg, new cmd heading: 5.705927 deg. iP̹HeadingCmd: 0.099587 target range: 222.380859 and range: 223.20 m.ha=hhhhggjg rg [Be re Ze:e*e4@EBɢE)A E\iA)Mo=IIiM쾼iUa=Uu:=U{=IUa=IQ9@ @@Z3@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013706!^A5 =Y A I I O > (%,_j`LA:G@:@=:9Y=EyDpE>Q 54Ae?Q 94#)ЃBYyI>Q I-@YlDIq:i:<14yɮAbE4jE4rES0E EE'E"E:*Exv:VE'4ZEBE.<2E.<JE;:E;:i FNOT Ignoring new targets: 222.38 m."ihz*ihz ProNav: ac range: 222.380859 m, nav range: 208.448044 m, bearing: 5.641550 deg, approach rate: -0.503201 m/s, LOS rate: -0.013683 deg/s, cmd heading: 5.705927 deg, new cmd heading: 5.693908 deg. i%Sȹ%HeadingCmd: 0.099377 target range: 222.380859 and range: 223.20 m.h%f=h)h)h)h)g)g1jg1rg1e1re1Ze9:e9*e= B@imBɢm)q u6ciq)u==qqiuҼi}f=}F=%޸=If=I@ @@3@@ xA@ ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517536^A%  =A- >A- > AQ Ia Iq O} >$!%,`̄`LA2#@2@#=2B=ٱ2=2H?;?`݌?h?(@O g?`?i2#@I2Z^;2[C 8)8:`廩88<>~Ai>tI<Q I~-@vdlDIv;iv:v64yْBɮ $A Eq:iFNOT Ignoring new targets: 222.38 m."ihp*ihp ProNav: ac range: 222.380859 m, nav range: 208.286499 m, bearing: 5.637190 deg, approach rate: -0.486422 m/s, LOS rate: -0.013136 deg/s, cmd heading: 5.693908 deg, new cmd heading: 5.685183 deg. iSHeadingCmd: 0.099225 target range: 222.380859 and range: 223.20 m.h6=h h h h ggjgrgereZe:e*et@颍BɢZ )ug/ &ki)L=顑ii6=P=Kѷ=I6=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7731059ԡ@ @@/@BE>BETCBEIBEMBBE =BABEӺDBEy~;BE6EE EE%E"E;*EVE 4ZEBEA<2EA<JE:E^A =  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024889AA IQ Ia Ou >'%,`LA2A@2j=2,==ٱ2=2H?``? V??ݷ`M?@?i2A@I2a^;2ZCXY5`By5 IiMb@Mb@Mb@ 9}?5^I?y&1?y&1|?YM?y`<`;9 AA | A)AYfA@AbD VD8y%+=ٔ/Q->9Y=EyD E >Q 54e?Q 94B)˃BY?Q E:y%S(>Q I%-@slDI:i:'?4y)ɮ-IA)MB*** querying acoustic contact ***iIiI:iQ]FNOT Ignoring new targets: 222.38 m."i]@/*i]@/m ProNav: ac range: 222.380859 m, nav range: 208.043610 m, bearing: 5.632770 deg, approach rate: -0.525554 m/s, LOS rate: -0.009576 deg/s, cmd heading: 5.685183 deg, new cmd heading: 5.676331 deg. im3uHeadingCmd: 0.099071 target range: 222.380859 and range: 223.20 m.hu=hqhyhyhygygyjgrgcBereZe:e*e  @uBɢukѼ)q umiy)}Q =yyi}Qi=[=Զ=I=I9@ @@/@BDAT read: Rx Time:04:20:17.2362 TRx dataTimestamp_ set to:1764908418.707795checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279967D-=D-<E5 E5E5#E1"E5V:*E5:VE53ZE1BE59<2E59<JE5;:E5;^A G=I A I I! O5 >.%,伺`LA:@:=:PQ7=ٱ: =:H`?`4̺`W!?x? Ϋ?X4覿@ ??i:@I:^;:YCY%JBy%IbD5 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.529688VD58yMuh%UW=ٔUQQ-U>9YYY=]EyeDe]Ee>iQ 5u4m e?Q 9u4mn)mȃBYqy} '>Q I}-@mlDIm;im;mE4yגBɮAE:iFNOT Ignoring new targets: 222.38 m."i&*i&] ProNav: ac range: 222.380859 m, nav range: 207.849838 m, bearing: 5.629303 deg, approach rate: -0.509189 m/s, LOS rate: -0.009118 deg/s, cmd heading: 5.676331 deg, new cmd heading: 5.669391 deg. ieeHeadingCmd: 0.098950 target range: 222.380859 and range: 223.20 m.he=hahihihigigijgqrgereZe:e*e@aɢm)i msiq)u=qqiu鱶i}=}d=}ɴ=I}=II-9@) @)@5/@1q DAT read: 04:20:17.2362 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.44, 2.831, 1.173, 2.956, 2.550, PHS= 0.383,-1.332, 0.362, RAW= 149.4, 7.0, CAL= 148.8, 7.4, ROT= 1.2, -7.4 % Ygot valid direction response: 04:20:17.2362 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.44, 2.831, 1.173, 2.956, 2.550, PHS= 0.383,-1.332, 0.362, RAW= 149.4, 7.0, CAL= 148.8, 7.4, ROT= 1.2, -7.4 5 PDAT read: Bearing 179.3, -0.7 (Local) = ~Local bearing/azimuth received: Bearing 179.3, -0.7 (Local) e DAT read: Range 11 to 50 : 198.3 m (Round-trip 264.4 ms) speed 0.7 m/s u R#Rx 1: Read range and direction messages. \direction in FSK: [0.991454,0.020768,0.128796] Fpublishing direction and range infoyt ? 4D?OZ_|?YLFC )CI>i~X>&@5=6&@  A>^A =Թ A yAzA zAB1 EM  EM EM "EI "EM :*EM k:VEM (3ZEI a] @a] @a] @ae @A5 <Bm >Bi Bm IBm BBm =Bi Bi Bm ~;Bm 5EBSCBSCBB =B =CS5)R5%,T`LAPYE3ByEIiMMb@Mb@Mb@IIII I9MPn?Q?MbP?YM?yMu9Y=EyDE>Q 54\ f?Q 94)ÃBY&?Q E:y >Q I-@lDI;i>;N4yɮAiIiMo`LAjMEC"jMEC:jM{s="pM,|h@]:gi@Sr9@pMt ? 4D?OZ_|?*jM<2jM A*pMLؾPoh@u'7@;0@pM(1?u;-?е?jM=A jM}CCiMQc?}(DAT read: user:32> BDAT read: Tx time:04:20:18.5676 $Ping request sent.By>I F9TYT=VEyVDZa/EZ>\Q 5b4^f?Q 9b4^)^BY`yf~ >Q If-@^lDI^X:i^ :^V4yjےBɮjdAjE:i|~FNOT Ignoring new targets: 197.59 m."iR*iR ProNav: ac range: 197.585754 m, nav range: 207.646637 m, bearing: 6.392713 deg, approach rate: -0.542144 m/s, LOS rate: -0.003834 deg/s, cmd heading: 5.660353 deg, new cmd heading: 5.656771 deg. iฝHeadingCmd: 0.098729 target range: 197.585754 and range: 198.30 m.h2=hhhhg!g!jg!rg!e)re)Ze):e)*e5j?Bɢ) i)Y=i checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502908i2= 8y= a!=I 2=I#2?]9@a @a@e$3@a^A(׵=1  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761684I I O >B >B B IB ~BB B B B };B 5EE  E E #E "E :*E :VE 3ZE BE '<2E '<JE ;:E ;D%,~aLA23@2@=2'`&=ٱ2dw=2H?d@0?p?a?  ʤ߸?s?i23@I2xm_;2YCYB ByBIi}Mb@Mb@Mb@yyyy y9}RQ?~jt?{Gzt?Y}?y}D<}ף;} Ay }A)yyYybD VD8y%<=ٔSQ->9Y=EyDӺE>Q 54 1f?Q 94)BY?Q E:yU>Q I-@lDI(:i:=^4yْBɮA:iFNOT Ignoring new targets: 197.59 m."iG@*iG@ ProNav: ac range: 197.585754 m, nav range: 207.424759 m, bearing: 6.391570 deg, approach rate: -0.509723 m/s, LOS rate: -0.002627 deg/s, cmd heading: 5.656771 deg, new cmd heading: 5.654484 deg. iҙHeadingCmd: 0.098689 target range: 197.585754 and range: 198.30 m.h=hhhhgg!jg!rg%4Be)re)Ze):e)*e-e?9ɢ=H)9 =i9)EJRA > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259439 IIO>L%,K[2aLAE2 E2E2%E0"E2s:*E2Ar:VE2 4ZE0a6@a6@a6@a6@FȄ@F=Fc@!=ٱF=FH? I@F?@^??_ &?@?iFȄ@IF_;F[CYR~ByVIbD^VD^8yfy%f4=ٔf4Q-f>9hYh=jEyjDnEn>pQ 5v4r_Df?Q 9v4r)rBYtyv>Q Iv-@rlDIr:ir:r*f4y|ɮ~ A|B*** querying acoustic contact ***ii:i!%FNOT Ignoring new targets: 197.59 m."i- ;*i- ;= ProNav: ac range: 197.585754 m, nav range: 207.193558 m, bearing: 6.390412 deg, approach rate: -0.509584 m/s, LOS rate: -0.002555 deg/s, cmd heading: 5.654484 deg, new cmd heading: 5.652165 deg. i=EHeadingCmd: 0.098649 target range: 197.585754 and range: 198.30 m.hEo=hAhAhAhAgIgIjgIrgIQeQreYZeY:eY*e]?颍Bɢ&) ąi)S<顑i?io=[=)p=Io=IM9@I @I@M/@Iԁ߽ ?߽p?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511110^A 9=IyIO~>ԩ ]R%,%LaLA2o@2@=2|=ٱ2T=2H?5R|?D?`ܬ?  rNc;?A?i2o@I2%`;0YB~ByBIHHbDNVDN8yf =%fK=ٔf@Q-f>9hYh=jEyjDn&En>pQ 5v4rUf?Q 9v4rd)rBYtyvX>Q Iv-@rlDIrP:ir:r4m4y~גBɮ~A~E%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762988:i)-FNOT Ignoring new targets: 197.59 m."i56*i56E ProNav: ac range: 197.585754 m, nav range: 206.988083 m, bearing: 6.389405 deg, approach rate: -0.508527 m/s, LOS rate: -0.002495 deg/s, cmd heading: 5.652166 deg, new cmd heading: 5.650149 deg. iEUHeadingCmd: 0.098614 target range: 197.585754 and range: 198.30 m.Թ Wv>-CuGhm={AB=>B9B=IB=~BB= =E EE$E"E:*E:VE4ZEBEq%9 UY%,eaLAY~~By~I%only read 0 of 1 data item for BIT error. Device response is::TS,00061108091529,35.0, +13, 0 a%@a% a%@a% a%@a- a-@a- bD5ӿVD58yE %EC=ٔEQ-E>9IYI=MEyMDUEU>QQ 5]4Uggf?Q 9e4U)UBQ Ae+:YaQ Ee:yaQ Ie-@UlDIU];iU>U#s4yqɮuAq:iFNOT Ignoring new targets: 197.59 m."i/8*i/8 ProNav: ac range: 197.585754 m, nav range: 206.774414 m, bearing: 6.388356 deg, approach rate: -0.511726 m/s, LOS rate: -0.002516 deg/s, cmd heading: 5.650149 deg, new cmd heading: 5.648048 deg. iYHeadingCmd: 0.098577 target range: 197.585754 and range: 198.30 m.hU=hQhQhQhYgYgYjgYrgYeareaZea:ea*eeI@Bɢ\N) 셿i)<i(i===I=I5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267751@ @@/@AE EE&E"ED:*E:VE4ZEa@a@a@a@q^AIQ Ia Ou >ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5188729_%,QaLA. r@.=.[\ =ٱ.nY=.H@,?ι@? ˺?\?@xr` |?w?i. r@I.5`;.XCYB~ByBIIFa>)F=bDJVDJ8y~~%O=ٔQ->9 Y = Ey D E>Q 54Exf?Q 9%4)BQ A% :Y!Q E%:y%h>Q I%-@lDI;iQ?w4y-֒Bɮ5RA5E:iQ]FNOT Ignoring new targets: 197.59 m."i]E$*ieE$m ProNav: ac range: 197.585754 m, nav range: 206.572632 m, bearing: 6.387469 deg, approach rate: -0.509922 m/s, LOS rate: -0.002244 deg/s, cmd heading: 5.648048 deg, new cmd heading: 5.646272 deg. imjuHeadingCmd: 0.098546 target range: 197.585754 and range: 198.30 m.hu=hqhyhyhygygyjgrgereZe:e*eܳ@ɢO) i)E<ii=윣==I=Iq9@ @@/@ԡUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773935^AIqB- >B- UCB- IB- ~BB) B) B) B- };B- 5EE  E E E "E :*E ]t:VE ZE BE > o!f%,aLA2n@2@=22=ٱ2=2H@ ?l`q?`?? `?S?i2n@I2`;2YCYN~ByRIaUaU aUaU aUa] a]a] i]Mb@Mb@Mb@YYYY Y9] r?y&1?9Y=EyDE>Q 54f?Q 94@)BQ AT:Y?Q E:y>Q I-@lDI;i :4yɮA:iFNOT Ignoring new targets: 197.59 m."i h?*i h? ProNav: ac range: 197.585754 m, nav range: 206.354111 m, bearing: 6.386356 deg, approach rate: -0.512788 m/s, LOS rate: -0.002615 deg/s, cmd heading: 5.646272 deg, new cmd heading: 5.644044 deg. i %HeadingCmd: 0.098507 target range: 197.585754 and range: 198.30 m.h%=h!h!h!h!g!g)jg)rg-EBe)re1Ze1:e1*e=  @aɢet9)a e&ii)mKl%,ђaLAbEU 4jEU 4rEU/E& E&E$E$"E&;*E&:VE$ZE$a*@a*@a*@a*@Z0m@Z=ZE<ٱZj=ZH?`Z?@=?[?tg`޹?@0?iZ0m@IZqFa;Z^CYj~ByjIbDrVDr8yz%<%zT=ٔ~Q-~>9Y=EyD ;E > Q 54 f?Q 94 ) BYy>Q I-@ lDI  ;i ; Dž4y-ԒBɮ-LA)EB*** querying acoustic contact ***iAiA:iQUFNOT Ignoring new targets: 197.59 m."i]>*i]>m ProNav: ac range: 197.585754 m, nav range: 206.157578 m, bearing: 6.385363 deg, approach rate: -0.515200 m/s, LOS rate: -0.002605 deg/s, cmd heading: 5.644044 deg, new cmd heading: 5.642057 deg. imuHeadingCmd: 0.098472 target range: 197.585754 and range: 198.30 m.hu=hqhqhqhqggjgrgereZe:e*e@5 @ɢ XP) ki)<i٢i==u3=Iu=IqQchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526795y#1@1 @9@9@Aԩ ^Au Qҭ= iQ IQ  DAT read: 04:20:21.2335 LVL= 30704, 32753, 29490, 32755, AGC= 70, IDX= 421, 0.25,-1.023,-2.724,-0.955,-1.424, PHS= 0.503,-1.255, 0.425, RAW= 147.7, 3.8, CAL= 147.0, 4.0, ROT= 3.0, -4.0  Ygot valid direction response: 04:20:21.2335 LVL= 30704, 32753, 29490, 32755, AGC= 70, IDX= 421, 0.25,-1.023,-2.724,-0.955,-1.424, PHS= 0.503,-1.255, 0.425, RAW= 147.7, 3.8, CAL= 147.0, 4.0, ROT= 3.0, -4.0  PDAT read: Bearing 176.5, 1.6 (Local) ~Local bearing/azimuth received: Bearing 176.5, 1.6 (Local) %DAT read: Range 11 to 50 : 196.3 m (Round-trip 261.8 ms) speed 0.4 m/s 5R#Rx 1: Read range and direction messages.=\direction in FSK: [0.996197,0.052208,0.069756]EFpublishing direction and range infoyY ]  ^?'?&k۱?Y] LDCY ] wY ] 2s Y )] FI] ?i] ף] >] $@] ԇ=] Y3$@ ] 5=)] PwV=I] 5Y Y ] ]:A?dݔ_?8V*? ] ,>)] mI] PwV=i] 5Y Y uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.B%>B%TCB%IB%~BB% =B!B!B%~;B%!6EAqIE EE$E"E:*E:VE4ZEBE3y<t< AA zA)AYAbDVD8y %=ٔKQ->9Y=EyD=9EE>AQ 5M4E@f?Q 9U4EOQ =UtI)EBYU>Q EU:yU#>Q IU.@EmDIE:iE:E4yҒBɮoAEii7aLAjCC"jCC:j>"pX&4[h@q\^l$@ PEI+@p ^?'?&k۱?*jPwV=2j5*p̵Z&h@=@Da"@p+?_? ?5?jA j2ACiL?irjƑBjQc?jrjrjCCzj>  addTargetRange:: Added new target pos. range: 196.300003 m, deltaT: 4.032863 s, deltaX: -2.000000 m, approachRate: -0.495926 m/s, rangeRepo size: 4 =(DAT read: user:33> EBDAT read: Tx time:04:20:22.5676 E$Ping request sent.E9V ?YV ?=ZEyZDZ9EZ>\Q 5b4^6f?Q 9b4^@)^BYdyf#>Q If.@^"mDI^w:i^ :^4y1ɮ5}A1Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502868:iy}FNOT Ignoring new targets: 195.59 m."i*i㷝 ProNav: ac range: 195.593979 m, nav range: 195.388428 m, bearing: 8.553237 deg, approach rate: -0.488072 m/s, LOS rate: -0.001556 deg/s, cmd heading: 5.638729 deg, new cmd heading: 5.637123 deg. i46HeadingCmd: 0.098386 target range: 195.593979 and range: 196.30 m.h~=hhhhggjg rg e re Ze:e*e`D?额Bɢ:) Hi)[<ii~==KK=I~=I)Qa@a @a@e/@a checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755733ԉ Em  Em Em &Ei "Em l;*Em z:VEm 4ZEi B >B B IB ~BB B B B =;B n6EB}TCB}TCByByByC}a4Ա ^AM 6=AIIO?n1%,+bLA6-r@6=6<ٱ6X7=6H?k ?`κ?٨?ڹ!0@ژ? ?i6-r@I6Od;6[CYB~ByDzchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006817iUMb@Mb@Mb@QQQQ Q9UV-? ףp= ?yUQ8=QU AUA UA)QQYUAbDeVDe8yu%}=ٔ}<߻Q-}>9Y=Ey DJ[9E>Q 54f?Q 94)BYX?Q E:y,C>Q I.@4mDI:i:+4yВBɮsAE:iFNOT Ignoring new targets: 195.59 m."i*i帝 ProNav: ac range: 195.593979 m, nav range: 195.116547 m, bearing: 8.549936 deg, approach rate: -0.516151 m/s, LOS rate: -0.006274 deg/s, cmd heading: 5.637123 deg, new cmd heading: 5.630514 deg. i7HeadingCmd: 0.098271 target range: 195.593979 and range: 196.30 m.hOB=hhhhggjgrg\BereZe:e*eس?)ɢ5P+=)1 5Wi1)5`<99i=~i=OB=Ez=Ep=IEOB=II)yAAy@y @y@} 0@yiiߡIߥAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260001^A"=ԙ A ؟AE  E E #E "E T;*E :VE 3ZE BE G[U%,7bLA@Vr@V=V1<ٱV4=VH ?`#!@(?`Һ?t?````ࣧ??iVr@IVue;VYCY~~By~IbDVD8y%W%%Q=ٔ%1Q-%>9-"?Y-"?=-Ey-D- &9E5>1Q 5=45f?Q 9E45)5BYAyE:C>Q IE.@5@mDI5o;i5I;54yIɮUAQmB*** querying acoustic contact ***iiii:iy}FNOT Ignoring new targets: 195.59 m."i>߸*i>߸ ProNav: ac range: 195.593979 m, nav range: 194.920731 m, bearing: 8.547551 deg, approach rate: -0.500130 m/s, LOS rate: -0.006099 deg/s, cmd heading: 5.630514 deg, new cmd heading: 5.625738 deg. i2HeadingCmd: 0.098188 target range: 195.593979 and range: 196.30 m.h=hhhhggjgrgereZe:e*e`?]Bɢ]Nc)Y ]+ia)e] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766526)=%,~QbLAAlAnAABr>BpBrIBr~BBr =BpBpBr;Br6E9Y}~ByIE EEE"E;*E?:VEZEBE9 ?Y ?=EyDE> Q 5-4 +g?Q 954 ) BY1y1Q I5.@ OmDI ;i ; 4y=ΒBɮEAA:iFNOT Ignoring new targets: 195.59 m."iܸ*iܸ ProNav: ac range: 195.593979 m, nav range: 194.688583 m, bearing: 8.544716 deg, approach rate: -0.492959 m/s, LOS rate: -0.006026 deg/s, cmd heading: 5.625738 deg, new cmd heading: 5.620062 deg. iu0HeadingCmd: 0.098089 target range: 195.593979 and range: 196.30 m.h=hhhhggjgrgereZe:e*eP@I颡ɢV) ti)'<顱i0i==ʣ==I=IY@Y @Y@]0@Y%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015256q^A x=ԩ A I I O >䵚%,SlbLAVw@VD=Vѫ<ٱV([=VH!? m^??? @?Ցݺ??iVw@IVg;VZCYj~ByjIpiMb@Mb@Mb@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266951 9-?Zd;?~jt?Y?>yy=<f A )YAbDe#VDeͰ8yu߯%uA=ٔ}Q-}>9yYy=}Ey#D:E>Q 54Yg?Q 94)BYk>Q E:yh>Q I.@\mDI;i];;4y̒BɮAE:iFNOT Ignoring new targets: 195.59 m."iO*iO ProNav: ac range: 195.593979 m, nav range: 194.492111 m, bearing: 8.540178 deg, approach rate: -0.490941 m/s, LOS rate: -0.011351 deg/s, cmd heading: 5.620062 deg, new cmd heading: 5.610977 deg. i0HeadingCmd: 0.097930 target range: 195.593979 and range: 196.30 m.h=hhhhggjgrgKBereZe:e*e;t@-Bɢ-,}|)) 5xi1)5<11i53i===GУ== =I==IAM?>iM >E= E=E="E9"E=:*E=:VE=(3ZE9aM@aM@aM@aM@9@ @@1@1^A = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519150q A] ؟AIa Iq O >)%,ĆbLA2x@2=2"|<ٱ2R=2HH?%t@?]??V౞@??i2x@I2!g;0Y>~By>IbDFBVDF8yNC=%Rn=ٔRTQ-R?9V"?YV"?=VEyV*DV9EV?XQ 5^4Z g?Q 9b4Z)ZBY`ybh>Q Ib.@ZfmDIZ;iZ;Z=4ydɮfAh:ix~FNOT Ignoring new targets: 195.59 m.9"i]lL*i]lLm ProNav: ac range: 195.593979 m, nav range: 194.326599 m, bearing: 8.536342 deg, approach rate: -0.481491 m/s, LOS rate: -0.011170 deg/s, cmd heading: 5.610977 deg, new cmd heading: 5.603298 deg. imuHeadingCmd: 0.097796 target range: 195.593979 and range: 196.30 m.huDI=hqhqhqhqgqgjgrgereZe:e*e U@ɢ) 7i)J<!i%Si%DI=-h֣=-u=I-DI=I)@ @@'5@@=@=achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771865G1I}ڥ9yY}%AԙB>BUCB~IBx~BBBBB;B6E^AU=A .AI I O > Ƨ%,ǝbLA&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022894:2x@:@g=:C]<ٱ:=:H`? |@'?d?Z?i𶋿@w??i:2x@I:݅h;:XCYf~ByfIimMb@Mb@Mb@iiii i9m\(\?V-?:v?Ym>ymm=mTԙ9 ?Y ?=Ey3DE>Q 542g?Q 94_)ăBY>Q E:yPa>Q I.@tmDI;i;4yʒBɮAE:iFNOT Ignoring new targets: 195.59 m."i_=*i_= ProNav: ac range: 195.593979 m, nav range: 194.112167 m, bearing: 8.531837 deg, approach rate: -0.492064 m/s, LOS rate: -0.010348 deg/s, cmd heading: 5.603298 deg, new cmd heading: 5.594279 deg. i HeadingCmd: 0.097639 target range: 195.593979 and range: 196.30 m.h =h hhhggjgrgIBereZe:e*e @ Bɢ ln)1 5Ԑi1)5"<11i=@i===ݣ=E) =IE=IA9@ @@&5@BDAT read: Rx Time:04:20:25.2314 TRx dataTimestamp_ set to:1764908426.770711checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275741^A EU  EU EU #EQ "EU V:*EU k:VEU 3ZEQ BEU 9j%,5{bLA29z@2=2=<ٱ2`=2H?_$???@p`? ?i29z@I2cwi;0YNv~ByR}IIV;>)V=bDZVDZ°8yb%bX=ٔfBQ-f>9f"?Yf"?=fEyj;Dj,:Ej>lQ 5r4nAg?Q 9r4nM)nǃBYtyva>Q Iv.@nmDIn :in\:nq4yxɮz|AxB*** querying acoustic contact ***ii:i%FNOT Ignoring new targets: 195.59 m."i%+>*i%+>5 ProNav: ac range: 195.593979 m, nav range: 193.926575 m, bearing: 8.527918 deg, approach rate: -0.491524 m/s, LOS rate: -0.010391 deg/s, cmd heading: 5.594279 deg, new cmd heading: 5.586432 deg. i5"=HeadingCmd: 0.097502 target range: 195.593979 and range: 196.30 m.h==h9hAhAhAgAgAjgIrgIeIreIZeI:eQ*eUz @Bɢi) %i!)%#- DAT read: 04:20:25.2314 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415,-0.17,-2.008, 3.093,-1.770,-2.728, PHS= 0.822,-0.417, 0.915, RAW= 153.6, -19.9, CAL= 155.8, -21.7, ROT= 354.2, 21.7 = Ygot valid direction response: 04:20:25.2314 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415,-0.17,-2.008, 3.093,-1.770,-2.728, PHS= 0.822,-0.417, 0.915, RAW= 153.6, -19.9, CAL= 155.8, -21.7, ROT= 354.2, 21.7 E PDAT read: Bearing 151.9, -8.3 (Local) E ~Local bearing/azimuth received: Bearing 151.9, -8.3 (Local) M DAT read: Range 11 to 50 : 194.7 m (Round-trip 259.6 ms) speed 0.4 m/s U R#Rx 1: Read range and direction messages.] `direction in FSK: [0.924376,-0.093895,-0.369747]] Fpublishing direction and range infoy  [ }?Zz 3`׿Y BC      ) EI nR?i վ q=j? +@ ӱ .@  ) @I >   dG?dpy ?-&\տ  <?) >I )QϽi >  u T****** received valid address query ******u R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.ԁ B9 A= 4=BE >BA BA BA BE =BA BE ԺDBE (;BE 6Eڴ%,]bLAE% E%E%)E!"E% ;*E%:VE%FA4ZE!BE%SQ<2E%SQ<JE%;:E%;Ym~@m=m<ٱm|=mH@??ʺ6?33??@帺 $`"?z?im~@Imi;mYCYf~BysIi Mb@Mb@Mb@     9 +?Zd;?~jt?Y v>y y= D<  A ) A Y AbD%VD%8y5s%5=ٔ=Q-=>99YA=EEyEEDEs:EM>IQ 5U4M=Wg?Q 9U4MȾ)MʃBY]9?Q E]:y]f>Q I].@MmDIM:iM:M|4yȒBɮAi)i-߉bLAj-BC"j-BC:j-PC="p-8l jf@^'?72sfRQp-[ }?Zz 3`׿*j-)QϽ2j->*p-n NWf@Q@!@>RRp-~>{?<+Z?dؿj-vA j-2Ci-EuM,?i-sj-5j-L?j)j)rj-gACzj->5 addTargetRange:: Added new target pos. range: 194.699997 m, deltaT: 4.031229 s, deltaX: -1.600006 m, approachRate: -0.396903 m/s, rangeRepo size: 4 e Added new target pos. range: 194.002670 m, bearing: 2.732106 deg, lat: 36.779593 deg, lon: -121.859514 deg, deltaT: 4.031229 s, deltaX: -1.591309 m, approachRate: -0.394745 m/s, posRepo size: 4 :iamFNOT Ignoring new targets: 194.00 m."im*iiԁ ProNav: ac range: 194.002670 m, nav range: 193.405701 m, bearing: 8.533713 deg, approach rate: 0.000000 m/s, LOS rate: -0.010391 deg/s, cmd heading: 5.586432 deg, new cmd heading: 5.575267 deg. iHeadingCmd: 0.097307 target range: 194.002670 and range: 194.70 m.hH=hhhhggjgrg=BereZe:e`fVh@*e-?-Bɢ-nb)) -i))5`w<11i5](DAT read: user:34> eBDAT read: Tx time:04:20:26.5676 e$Ping request sent.mA >checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251698AIIO>P%,LbLA Nf}@N@=Nl;ٱN#'=NH?@"Ϻ` ?:)?? ]`m~??iNf}@INMcj;LYZ_~ByZoIbDbVDbư8yj%jX=ٔnQ-n>9lYp=rEyrMDrֹEr>tQ 5z4vfg?Q 9~4v)v̓BY|y~f>Q I~.@vmDIvu ;ivP ;v4yɮA :i)5FNOT Ignoring new targets: 194.00 m."i5Z*i5ZE ProNav: ac range: 194.002670 m, nav range: 193.216949 m, bearing: 8.529437 deg, approach rate: -0.527237 m/s, LOS rate: -0.011957 deg/s, cmd heading: 5.575267 deg, new cmd heading: 5.566705 deg. iEMHeadingCmd: 0.097157 target range: 194.002670 and range: 194.70 m.hMm=hIhQhQhQgQgQjgYrgYeYreYZeY:ea*eeZ}?E} E}E}%Ey"E}V:*E}|:VE} 4ZEya@a@a@a@颥Bɢ") vi)#`j<顱i0im=-==Im=II9@ @@3@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503028^A?=ԡ A .AI I O% >I3%,Ul cLA6{@6=6{;ٱ6=6H`?˺@ɐ?@E??``uպ??i6{@I6܈j;6[C@YVa~ByVpI    AbD%VD%8y=;%ED=ٔEQ-M>9U ?YU ?=UEyUUD][7E]>iQ 5}4mxg?Q 9}4mp)mуBYyy}Yf>Q I.@mmDImN;im;mj4yǒBɮAE:iFNOT Ignoring new targets: 194.00 m."iN*iN ProNav: ac range: 194.002670 m, nav range: 193.007660 m, bearing: 8.524701 deg, approach rate: -0.498989 m/s, LOS rate: -0.011303 deg/s, cmd heading: 5.566705 deg, new cmd heading: 5.557223 deg. i}HeadingCmd: 0.096992 target range: 194.002670 and range: 194.70 m.h=hhhhggjgrgereZe:e*e?BɢO) 敿i)hZ<ic7i%=% =%=I%=I)=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754950Be>BeVCBerIBed~BBe =BaBaBe%;Be7E@ @@/@ԩbE=3jE=3rE=0E EEE"E;*E҆:VEـ3ZEBE@]%,G'cLAlYrR~ByrgIi}Mb@Mb@Mb@yyyy y9}X9v?Mb?~jtx?Y}>y}@=};}7 Ay y)}AyY}AbDVD8y %D=ٔQ->9Y=Ey^DE>Q 54g?Q 94])҃BY>Q E:yxK>Q I.@mDIb:i:4yɮA:iFNOT Ignoring new targets: 194.00 m."im*im ProNav: ac range: 194.002670 m, nav range: 192.801529 m, bearing: 8.521641 deg, approach rate: -0.497942 m/s, LOS rate: -0.007400 deg/s, cmd heading: 5.557223 deg, new cmd heading: 5.551097 deg. iXHeadingCmd: 0.096885 target range: 194.002670 and range: 194.70 m.hk=h!h!h!h!g!g!jg)rg-BBe)re)Ze1:e1*e5@F?eBɢe[)i mkii)u+ZJKE%,"AcLA6+z@6=6G:ٱ6=6H@?຿`X?? ?8T??i6+z@I6Nk;6XCRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510798YV=~ByVZIbD^ VD^8yfpf%fY=ٔj1Q-j>9j"?Yj"?=nEyneDnEr>pQ 5v4rg?Q 9z4rd)rԃBYxyz]K>Q Iz.@rmDIrw:irM:r;4y~ŒBɮ4AEB*** querying acoustic contact ***ii:i)-FNOT Ignoring new targets: 194.00 m."i5#*i5#9E ProNav: ac range: 194.002670 m, nav range: 192.614334 m, bearing: 8.518862 deg, approach rate: -0.496951 m/s, LOS rate: -0.007384 deg/s, cmd heading: 5.551097 deg, new cmd heading: 5.545534 deg. iE9XMHeadingCmd: 0.096788 target range: 194.002670 and range: 194.70 m.hM8=hIhQhQhQgQgQjgYrgYeYreYZea:ea*ee@J?颍Bɢ ) ԙi);<顙iNi8=. =I8=I59@1 @1@5/@1i^AU=ԙUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762860AI IQ Ia Om >Aq Au @AB} >By B} eIB} O~BB} =By B} պDB} ;B} 6EBUCBUCBɔCBBCy5E  E E E "E ;*E ą:VE ZE BE R9Y=EynDC9E>Q 54g?Q 94^)׃BY?Q E:y7>Q I.@mDIi_:4yɮ'A:iFNOT Ignoring new targets: 194.00 m."i㨸*i㨸- ProNav: ac range: 194.002670 m, nav range: 192.395798 m, bearing: 8.516857 deg, approach rate: -0.502501 m/s, LOS rate: -0.004614 deg/s, cmd heading: 5.545533 deg, new cmd heading: 5.541520 deg. i-5HeadingCmd: 0.096718 target range: 194.002670 and range: 194.70 m.h5=h1h1h1h1g9g9jg9rg=9BeAreAZeA:eA*eE R@uBɢu;)y }iy)}{*1 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266864>%,tcLA2|@2|=21ٱ2.=2H? "'x?f"??0 f?K ??i2|@I2k;2YCY>/~ByBQIbDJοVDJ~8yR7%R_=ٔRȲQ-V>9TYT=VEyVvDZ9EZ>\Q 54^g?Q 94^)^ڃBYy7>Q I.@^mDI^yJA>iIi I O >ԙ %,cLAV4z@V=VٱV#=VH? `G{???@s? ^? ?iV4z@IVk;VXCYf~Byf?IbDnVDn8yv튽%vE=ٔzQ-z>9xYx=~Ey~~D~2E~>Q 5 4=g?Q 9 4)݃BY y7>Q I.@mDI:i:}4yɮA:iAEFNOT Ignoring new targets: 194.00 m."iM߬*iM߬ ProNav: ac range: 194.002670 m, nav range: 192.003479 m, bearing: 8.513252 deg, approach rate: -0.515035 m/s, LOS rate: -0.004723 deg/s, cmd heading: 5.538116 deg, new cmd heading: 5.534301 deg. iL HeadingCmd: 0.096592 target range: 194.002670 and range: 194.70 m.h=hhhhggjgrgechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771069reZe:e*e%4@qB>BWCBYIB;~BBBBB;B6EmBɢmᗽ)i mii)u %,TcLA2fv@2@=2ݻٱ2\y=2HP? Gr??`?`)`m{?!??i2fv@I2l;2YCYR ~ByRHI TTTVAi]Mb@Mb@Mb@YYYY Y9]y&1?~jt?Mb`?Y]`?y]<];Y]A Y)]AYY]pAqqbD}VD}8y=%A=ٔQ->9Y=EyDE>Q 54g?Q 94)߃BY?Q E:yo>Q I.@mDI4:i:4yBɮAE:iFNOT Ignoring new targets: 194.00 m."iʶ*iʶ ProNav: ac range: 194.002670 m, nav range: 191.782791 m, bearing: 8.513105 deg, approach rate: -0.518760 m/s, LOS rate: -0.000346 deg/s, cmd heading: 5.534301 deg, new cmd heading: 5.534006 deg. i"%HeadingCmd: 0.096587 target range: 194.002670 and range: 194.70 m.h%6=h!h!h)h)g)g)jg9rg=$Be9reAZeA:eA*eE x @]Bɢe⛽)a eԛii);顑ik+{i6=,=m=I6=I5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275719e9@a @a@e/@aDu4=Du4=E} E}E}&Ey"E}:*E}:VE}4ZEya@a@a@a@) ^A ٦=I I O- >Y %,cLAFchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.529330q@=ٱj=H?`Iếtc? ʺ?@?@=3?&?@y?iq@Il;Y~By?IbDVD8yZ%B=ٔQ->9Y=EyD иE >Q 54g?Q 94ɵ)BYy%>Q I%.@nDI;i;?4y)ɮ-A)EB*** querying acoustic contact ***iIiI:iQUFNOT Ignoring new targets: 194.00 m."i]*i]m ProNav: ac range: 194.002670 m, nav range: 191.563049 m, bearing: 8.512997 deg, approach rate: -0.523720 m/s, LOS rate: -0.000257 deg/s, cmd heading: 5.534006 deg, new cmd heading: 5.533791 deg. im𶝏uHeadingCmd: 0.096583 target range: 194.002670 and range: 194.70 m.hu==hqhqhqhqgygyjgyrgereZe:e*e@颵~Bɢ) 0iQ)]E;YYi]?wie==e3=eD=Ie==IiM9@I @I@U/@Q =v>9QMG =/99Y=uAyi?AMDAT read: 04:20:29.1993 LVL= 22560, 22769, 22386, 21651, AGC= 69, IDX= 118,-0.20,-2.197, 2.437,-2.067,-2.550, PHS= 0.455,-1.251, 0.439, RAW= 149.5, 4.2, CAL= 148.7, 4.3, ROT= 1.3, -4.3 UYgot valid direction response: 04:20:29.1993 LVL= 22560, 22769, 22386, 21651, AGC= 69, IDX= 118,-0.20,-2.197, 2.437,-2.067,-2.550, PHS= 0.455,-1.251, 0.439, RAW= 149.5, 4.2, CAL= 148.7, 4.3, ROT= 1.3, -4.3 ]PDAT read: Bearing 177.8, 2.0 (Local) ]~Local bearing/azimuth received: Bearing 177.8, 2.0 (Local) mDAT read: Range 11 to 50 : 170.6 m (Round-trip 227.5 ms) speed 0.2 m/s mR#Rx 1: Read range and direction messages.u\direction in FSK: [0.996928,0.022623,0.074979]uFpublishing direction and range infoyR?@6j*?]1?Y*C XXrW T)I>i ><&@Q =x&@ `=)޹E  E E $E "E :*E &p:VE 4ZE BE 59Y=EyDE%>)Q 554-h?Q 954-)-BY5/?Q E5:y5 >Q I5.@-nDI-4:i-:-4yEBɮEAEEiYi]cLAj])C"j])C:j]͡="p]ù!/e@ܯm[@D3F})@p]R?@6j*?]1?*j]޹<2j]`*p]!ݏ/e@ BDAT read: Tx time:04:20:30.6176 $Ping request sent.X%,HcLA E2 E2E2"E0"E2&:*E2g:VE2(3ZE0a6@a6@a6@a6@>e@>=>W=>H?@^`k?`-?9U@7s?`"?(?i>e@I>dj;>XCYN~ByN7IIR=)R%=bDVVDVǰ8y^B%^f=ٔb9b ?Yb ?=fEyfDf5Ef>hQ 5n4jdh?Q 9n4jS)jBYpyr >Q Ir.@j!nDIj:ij:j$4yvBɮvAt:iFNOT Ignoring new targets: 194.00 m."i8*i8 ProNav: ac range: 194.002670 m, nav range: 191.150406 m, bearing: 8.514653 deg, approach rate: -0.509281 m/s, LOS rate: 0.002171 deg/s, cmd heading: 5.535532 deg, new cmd heading: 5.537106 deg. i @~8HeadingCmd: 0.096641 target range: 194.002670 and range: 194.70 m.h=hhhhggjgrgere!Ze!:e!*e%m?UzBɢU )Q U띿iQ)]8;YYi]pie=e@=e=Ie=IiIq)uxAI!@! @!@%q0@!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502855q^AM*=ԡ A} ؟AI I O >|>%, dLA2<\@2i=2]tٱ2=2HM?bPp@ ?`E?L ? ? ;?i2<\@I2{i;2YC<%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754767B>BBFIB~BBBBBN;B/7EY~By5IbD VD8yk%,=ٔZQ->9"?Y"?=EyD E>Q 54&h?Q 94v)BYyr>Q I .@1nDI:i^;e,4yɮAE EE#E"E*Ec:VE3ZEBEb;A > I IO-> %,1dLA6V@6=6ٱ6o7=6H? Fx?`y?eR?`??i6V@I6j5i;6[C H)Hz~Ai̼II%&Ci%;A %c%ݯF)!%C !-))-fC-5~AI-`e]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258806)1iY)eCIe9~Aeףa aeCmiAiiiiimCq)q qIqYyY ~By;IiMb@Mb@Mb@ 9}?5^I?I +?Mb?YM?y94<<f A `A)AYAbD VD8y<%"=ٔQ->9Y=EyD%E%>)Q 554-cg%,`KdLA2GU@2=2_Uٱ2=2H}?@F8`? ?Pỿb*?؈??i2GU@I2Mi;2XCY~By>I ))bDUVDU8yqk<%c=ٔ.Q->9Y=EyD E>Q 5 4Kh?Q 9 4)BY y:=Q I%.@MnDIp;iI;;4y)ɮ-A)MB*** querying acoustic contact ***iIiIQ:iaeFNOT Ignoring new targets: 194.00 m."im8*im8} ProNav: ac range: 194.002670 m, nav range: 190.463409 m, bearing: 8.519407 deg, approach rate: -0.517144 m/s, LOS rate: 0.004278 deg/s, cmd heading: 5.543570 deg, new cmd heading: 5.546626 deg. i}8HeadingCmd: 0.096807 target range: 194.002670 and range: 194.70 m.hB=hhhhggjgrgereZe:e*e K?sBɢ) 隿i)":顩i3eiB=N=#ū=IB=IN>i>}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764094A AAA AAB>BBBB =BBB;Bv7Eԁ@ @@0@bEe4jEe3rEeb/EU EUEU$EQ"EUV:*EU5:VEU4ZEQBEU9  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014772%,;edLAF$P@Fc=FQٱF=FH?7+un`翹?6?`} ? "??iF$P@IFi;FYCY]~ByYiMb@Mb@Mb@ 9S㥛?Mb?Mb?Y?y<7 A 1A)AYpAbDVD8y-v;%-D=ٔ5Q-5>99Y9==EyEDEnźEE>IQ 5U4M]h?Q 9U4MS)MBY]?Q E]:y]>Q I].@M[nDIM;iM ;MB4yeBɮeAeE:iFNOT Ignoring new targets: 194.00 m.Թ"i#[8*i#[8 ProNav: ac range: 194.002670 m, nav range: 190.247910 m, bearing: 8.520635 deg, approach rate: -0.524709 m/s, LOS rate: 0.002993 deg/s, cmd heading: 5.546625 deg, new cmd heading: 5.549084 deg. iO8HeadingCmd: 0.096850 target range: 194.002670 and range: 194.70 m.h/Y=hhhhggjgrgBereZe:e*e@qBɢy;) E]  E] E] #EY "E] s:*E] |:VE] 3ZEY ae @ae @ae @ae @9 %,DdLA2nI@2@=2yٱ2=2H? <m;?̥?>q?@抻?`?i2nI@I2ñi;2XCYj~ByjCIbDrVDr8yz<%z`=ٔ~èQ-~>9Y=EyDE> Q 54 mh?Q 94 ) BYy} >Q I}.@ gnDI d9i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770729B >B B LIB '~BB =B B B ;B 7EBWCBWCBʓCB =B =C/,5%%,=dLA Yr~ByrDIbDzտVDz8E EE$E"E:*Ez:VE4ZEBEG-9)Y1==Ey=DMEM>iQ 54mh?Q 94m)mBYyQ I.@munDIm ,%,ͲdLALYv$~ByvKIEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274896i}Mb@Mb@Mb@yyyy y9} r?I +?{Gz?Y}?y}9<}#<}f Ay }A)}AyY}AbDϿVD8y<%B=ٔQ->9Y=EyDE>Q 54lh?Q 94,)BY?Q E:y>Q I.@nDI:i:W4yBɮOA:iFNOT Ignoring new targets: 194.00 m."i /7*i /7 ProNav: ac range: 194.002670 m, nav range: 189.630554 m, bearing: 8.523582 deg, approach rate: -0.588528 m/s, LOS rate: 0.001483 deg/s, cmd heading: 5.553908 deg, new cmd heading: 5.554983 deg. i-8%HeadingCmd: 0.096953 target range: 194.002670 and range: 194.70 m.h%*=h!h!h!h!g!g)jg)rg-+Be)re1Ze1:eI*e]` @-jBɢ-d鲽)) MiI)U 0QQiU Xi]*=]Y=YI]*=IaE EE&E"E*E:VE4ZEa%@a%@a%@a-@9@ @ @ 4@ A>A>AQIYIqO}z>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526775! 3%,HdLA:P8@:n=:_ٱ:=:H ?@ 3?f?? is?`?i:P8@I:"g;:YC Y=~By=HIbD]ٿVD]8yuC%uM=ٔ}~NQ-}>9yY=EyDE>Q 54{h?Q 94n)BYy >Q I.@nDIE5;i6;^4yɮcAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 194.00 m."i7*i7 ProNav: ac range: 194.002670 m, nav range: 189.426193 m, bearing: 8.524225 deg, approach rate: -0.513111 m/s, LOS rate: 0.001618 deg/s, cmd heading: 5.554983 deg, new cmd heading: 5.556272 deg. i=8uHeadingCmd: 0.096975 target range: 194.002670 and range: 194.70 m.hu=hqhqhyhygygyjgyrgereZe:e*e>@5gBɢ=)9 =핿i9)= m9AiEUiE=MZ=ME=IM=Ii1]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780165B<A<B>BBRIB1~BB =BBB;B7E@ @@/@E EE#E"Es:*E|:VE3ZEBEi0 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030806.9%,5@>@=>Wٱ>=>H?¦ w?`,?&?@f??i>5@I>f;>XCY $~By JIYiMb@Mb@Mb@ 9Pn?Zd;O?{Gzt?Y?yj<ף;7 A )AYpAbD߿VD8y-%<%-?=ٔ5pQ-5>9IYI=MEyMDMHEU>YQ 5e4]h?Q 9e4])] BYe;?Q Ee:ye2>Q Ie.@]nDI]:i]:]f4yuBɮuBAuE:iFNOT Ignoring new targets: 194.00 m."iȶ7*iȶ7 ProNav: ac range: 194.002670 m, nav range: 189.204178 m, bearing: 8.524760 deg, approach rate: -0.517318 m/s, LOS rate: 0.001248 deg/s, cmd heading: 5.556272 deg, new cmd heading: 5.557344 deg. i:8HeadingCmd: 0.096994 target range: 194.002670 and range: 194.70 m.hä=hhhhggjgrg&BereZe:e*e@%dBɢ%4)) -i))511i5Qi=ä=EZ=E*=IEä=III)yAԉ9@ @@@]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282744Թ^A =E=  E= E= "E9 "E= ;*E= :VE= (3ZE9 aM @aM @aM @aM @ A1 IA IQ O] >S@%,reLA27@2"=2ٱ2=2H *?J쓿.?`r?P`?o? -?i27@I2bf;0Y>0~By>RIbDFVDF8yz=%T=ٔaQ->9Y=EyD-9E>ԱQ 54|h?Q 94)BYya>Q I.@nDI;i+<l4yɮA:iY]FNOT Ignoring new targets: 194.00 m."ie%7*ie%7߭=߭<checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535131 ProNav: ac range: 194.002670 m, nav range: 189.006638 m, bearing: 8.525227 deg, approach rate: -0.497352 m/s, LOS rate: 0.001176 deg/s, cmd heading: 5.557344 deg, new cmd heading: 5.558278 deg. i 8HeadingCmd: 0.097010 target range: 194.002670 and range: 194.70 m.hO=hhhhgg!jgYrgYeareaZea:ea*em a@颵aBɢ) `i):iNiO=[=ב=IO=IU9@Y @Y@]/@YG%9!Y%Ae checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787563B B B _IB E~BB B B B ;B w7E^A 1 A I I! E5  E5 E1 E1 "E5 2:*E5 ]t:VE1 ZE1 BE5 %*'F%,%veLAY*~ByNIi%Mb@Mb@Mb@!!!! !9%Mb?L7A`?y&1|?Y%?y%+=%`;!! %A)!!Y%A 5=54=bD=VD=8yMV%M%=ٔUQ-U>9QYQ=]Ey]D]E]>aQ 5m4e$h?Q 9m4eի)eBYm?Q Eu:yul%>Q Iu.@enDIeM:ieq+M%,>7eLAb\/@b1=ba ٱbߗ=bH`? "@??`{`J?@??ib\/@Ibc;bVCYn)~BylxbDzVDz8y_%n=ٔ =Q- ?9 Y =EyD4E?Q 5%4h?Q 9%4)BY!y-v$>Q I-.@nDI:i:q{4y1ɮ5A1:iY]FNOT Ignoring new targets: 194.00 m."ie *ie u ProNav: ac range: 194.002670 m, nav range: 188.585648 m, bearing: 8.523645 deg, approach rate: -0.526528 m/s, LOS rate: -0.001894 deg/s, cmd heading: 5.556353 deg, new cmd heading: 5.555111 deg. iu]}HeadingCmd: 0.096955 target range: 194.002670 and range: 194.70 m.h}T=hyhyhyhyggjgrgereZe:e*en@颽\BɢEý) ꑿi)iMIVIiMT=U4\=Uɣ=IUT=IQea>ie>E EE#E"E:*Exv:VE3ZEa@a@a@a@9@ @@@!Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.542778Y^A%=AQ Ia Iq O} >ԉ )T%,\QeLABi*@B=B&ٱB"y=BH?l|萸?` ?@|C?@??iBi*@IB(c;BZCYRA~ByR\IbDZVDZ8ybm=%bO=ٔfdQ-f>9dYh=jEyj DjȺEj>lQ 5r4nh?Q 9r4nF)nBYtyv#>Q Iv.@nnDIn:in:nV4yzBɮzAxB*** querying acoustic contact ***ii:i!%FNOT Ignoring new targets: 194.00 m."i-f*i-f5 ProNav: ac range: 194.002670 m, nav range: 188.387421 m, bearing: 8.522967 deg, approach rate: -0.501726 m/s, LOS rate: -0.001717 deg/s, cmd heading: 5.555111 deg, new cmd heading: 5.553754 deg. Yi=IHeadingCmd: 0.096931 target range: 194.002670 and range: 194.70 m.h=hhhhggjgrgereZe:e*e= @eYBɢeū)i m?ii)miiimFiu=}[=}=I}=Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=5.795010A@AA@AB>BBkIBY~BBBBB;Bh7E-9@) @)@)@)ԉE EE'E"E ;*Ev:VE'4ZEBEL l=Z%, jeLA^(@^=^ٱ^i=^H?i Ƨ d? ئ?@L ۢ??ͻ??i^(@I^bc;^WCYr@~BypԱiMb@Mb@Mb@ 9T㥛 ?X9v?Y?y<f A )AYAbDVD8yiq%/=ٔ"Q->9Y=EyDUE>Q 5%4 i?Q 9%4H)$BY%D?Q E-:y- >Q I-.@nDI~ ;i;4y1ɮ5A1:iY]FNOT Ignoring new targets: 194.00 m."ie*ieu ProNav: ac range: 194.002670 m, nav range: 188.146072 m, bearing: 8.522353 deg, approach rate: -0.504770 m/s, LOS rate: -0.001287 deg/s, cmd heading: 5.553754 deg, new cmd heading: 5.552523 deg. iu}HeadingCmd: 0.096910 target range: 194.002670 and range: 194.70 m.h}x=hyhyhyhygygjgrg*BereZe:e*e`@颽VBɢ)) i)Bi+Cix=Z=Ӣ=Ix=I}9@y @y@y@y@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298965E EE)E"E:*Ei:VEFA4ZEa@a@a@a@^A ͢=1 A I I O >#a%,DŽeLA>.%@>@=>IVٱ>j=>H@?!Uf??ȫ@?`ٻ?@_?i>.%@I>0Tc;>XCYJ=~ByJZIbDVVDV8y^w&%^q=ٔbQ-b?9`Yd=fEyfDfEf?hQ 5n4ji?Q 9n4j)j(BYpyrk >Q Ir.@jnDIj:ij:jt4yvBɮtvEchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.550861:i%FNOT Ignoring new targets: 194.00 m."i%z*i-z= ProNav: ac range: 194.002670 m, nav range: 187.979904 m, bearing: 8.521952 deg, approach rate: -0.505071 m/s, LOS rate: -0.001219 deg/s, cmd heading: 5.552523 deg, new cmd heading: 5.551721 deg. i==HeadingCmd: 0.096896 target range: 194.002670 and range: 194.70 m.hEOq=hAhAhAhAgAgAjgIrgIeIreIZeQ:eQ*eUL?@颅TBɢ<½) ri)L9$顉iAiOq=Y==IOq=II@I @I@M0@I9PExceeded connect timeout, disconnecting.^A=ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.804240B>BBrIBd~BB =BBB];B;7EA .AI I O >bE3jEr 4rE0E  E E *E "E [I;*E ~:VE (N4ZE BE 9  ?Y ?=Ey&D-E=>YQ 5e4]-i?Q 9e4])]-BYiyiQ Im.@]nDI]:i]:]`4yqɮuAyԑ:iFNOT Ignoring new targets: 194.00 m."i2*i2 ProNav: ac range: 194.002670 m, nav range: 187.751190 m, bearing: 8.521399 deg, approach rate: -0.503037 m/s, LOS rate: -0.001217 deg/s, cmd heading: 5.551721 deg, new cmd heading: 5.550614 deg. iHeadingCmd: 0.096876 target range: 194.002670 and range: 194.70 m.h.g=hhhhggjgrgereZe:e*eC@-checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055003mQBɢm5A)q u*iq)u6qqiu>i}.g=}VX=}h%=I.g=IԹ=9@9 @9@=/@9^A] &=Ae yAzAa  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307203) A I I O > m%,XeLA2 @2=2%ٱ2T=2Hj?`B`PP`A??G鼿Q? ?@?i2 @I2+nc;2UCY>E~By>_IiMb@Mb@Mb@ 9T㥛 ?L7A`?MbPYy+= )KAYAbD VD8y-!%-P=ٔ5WQ-5>91Y9==Ey=.D=EE=>AQ 54E=i?Q 94Eڦ)E2BYL?Q E:y$>Q I.@EoDIE=Am ؟AIy I O >M nManaging dock network, ignoring radio surface power off @>=>:*ٱ>+=>Hc?+Z!?`?@Q??y?i>@I>Kb;9v"?Yv"?=vEyv6DzuEz>|Q 54~rNi?Q 94~)~6BYy#>Q I.@~oDI~;i~N:~4yɮ#A-B*** querying acoustic contact ***i)i):i9EFNOT Ignoring new targets: 194.00 m."iE*iEU ProNav: ac range: 194.002670 m, nav range: 187.360641 m, bearing: 8.520053 deg, approach rate: -0.529308 m/s, LOS rate: -0.001790 deg/s, cmd heading: 5.549256 deg, new cmd heading: 5.547918 deg. iUQ]HeadingCmd: 0.096829 target range: 194.002670 and range: 194.70 m.h]N=hYhYhYhagagajgargaeireiZei:ei*em @额LBɢ:) vi)5O顡i:iN=U=s_=IN=IB>BB~IBx~BBBBB;B6EBBBBBC5Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.812471Q@Q @Q@U@5@QE  E E #E "E :*E ]t:VE 3ZE BE 6z%,eLA b@b=b:.ٱb-=bH o?"A?? ť?"??ib@Ib!b;bYCYzM~ByzdIiMb@Mb@Mb@ 9x&1?Q?~jth?YA?y\=D;A A)AYAbDVD8y!%;=ٔQ->9Y=Ey?D E>Q 54`i?Q 94)=BY?Q E:y&>Q I.@"oDIe;i:4y Bɮ SA :i15FNOT Ignoring new targets: 194.00 m."i=*i=M ProNav: ac range: 194.002670 m, nav range: 187.142029 m, bearing: 8.519110 deg, approach rate: -0.502138 m/s, LOS rate: -0.002170 deg/s, cmd heading: 5.547918 deg, new cmd heading: 5.546029 deg. iM~UHeadingCmd: 0.096796 target range: 194.002670 and range: 194.70 m.hU;==hQhYhYhYgYgYjgarge!BeareaZea:ei*em` @颕IBɢhv) i)#^顙iΠ7i;==R==I;==Iqi@i @i@m?5@iMchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.315326ԙE EE&E"E:*E|:VE4ZEa%@a%@a%@a%@^A`=A>A? A I I O >%,.fLA2@2N=2b2ٱ2=2H@?Ѡ۷??=P? ,?g?i2@I2Soa;2[CY>P~ByBeI @@bDJѿVDJ8Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.566782TyZ;%Z_=ٔ^{=Q-^>9\Y\=bEybGDb[ݺEb>dQ 5j4foi?Q 9j4fP)fBBYhyn&>Q In.@f-oDIf3BBIB~BBBBB;B6E^A- =]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819902! A I I O >E%  E% E% %E! "E% %;*E% k:VE% 4ZE! BE% Ky/< A )KAY(AbDVD8yEĦ<%E'=ٔM#Q-M>9IYQ=UEyUPDU^EU>YQ 5e4]6i?Q 9e4]_)]HBYm>Q Em:ym}>Q Im.@]=oDI];i]B;]s4yuBɮ}A}E:iFNOT Ignoring new targets: 194.00 m."il6*il6checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070923 ProNav: ac range: 194.002670 m, nav range: 186.714752 m, bearing: 8.518478 deg, approach rate: -0.520307 m/s, LOS rate: 0.000274 deg/s, cmd heading: 5.544508 deg, new cmd heading: 5.544765 deg. iV7HeadingCmd: 0.096774 target range: 194.002670 and range: 194.70 m.h1=hhhhggjgrgBereZe:e*e"@ DBɢ <ک)  …i)R|i2i1=OL=W=I1=I!)5C>i5>9@ @@05@Q^A ԁ m checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323272A1 IA IQ O] >%,d:fLA2 @2@=28ٱ2j"=2H?2絡5? C??x???i2 @I2Nl`;2WCY>]~ByBmIbDJVDJ8yR<%R=ٔRQ-R ?9TYT=VEyVWDVOEZ ?\Q 5^4^xi?Q 9b4^Ģ)^MBY`ybv>Q Ib.@^GoDI^:i^::^4yfBɮjA5EQ:iq}FNOT Ignoring new targets: 194.00 m."i}6*i}6 ProNav: ac range: 194.002670 m, nav range: 186.555695 m, bearing: 8.518610 deg, approach rate: -0.475435 m/s, LOS rate: 0.000397 deg/s, cmd heading: 5.544765 deg, new cmd heading: 5.545030 deg. i:7HeadingCmd: 0.096779 target range: 194.002670 and range: 194.70 m.h4=hhhhggjgrgereZe:e*eU#@E EE$E"E:*Eą:VE4ZEa@a@a@a@uABɢ}-)y }Ƅiy)}K,顁i0i4=H=d=I4=I}9@y @y@/@ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.574741ԩ^Aܝ= I I MG A5 .Ae f9a Ye RbAIi Iy O >3ٔ%,UTfLAB@B=B=ٱB>=BH?* V3T??x`״???iB@IBQ_;BXCYNo~ByNyI V9f ?Yf ?=fEyf_DfDEf>hQ 5n4jai?Q 9r4j)jRBYpyr>Q Ir.@jToDIj:ij:j4ytɮvAx B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 194.00 m."i%$7*i%$7- ProNav: ac range: 194.002670 m, nav range: 186.352905 m, bearing: 8.518830 deg, approach rate: -0.519154 m/s, LOS rate: 0.000563 deg/s, cmd heading: 5.545031 deg, new cmd heading: 5.545471 deg. i575HeadingCmd: 0.096787 target range: 194.002670 and range: 194.70 m.h58=h9h9h9h9g9gAjgArgAeAreAZeI:eI*eM$@u?Bɢ}[ṽ)y }灿iy)R顁i.i8=D= )=I8=IB>BBIB~BB =BBB(;B7E%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.8274689@ @@@E EE*E"Es:*E&p:VE(N4ZEBEi0 9Y=EyhDGE>Q 54i?Q 94#)YBY?Q E:y>Q I.@boDI3;i;4yBɮA:iFNOT Ignoring new targets: 194.00 m."i 6*i 6% ProNav: ac range: 194.002670 m, nav range: 186.129257 m, bearing: 8.518995 deg, approach rate: -0.514121 m/s, LOS rate: 0.000378 deg/s, cmd heading: 5.545471 deg, new cmd heading: 5.545800 deg. i%G17-HeadingCmd: 0.096792 target range: 194.002670 and range: 194.70 m.h-!;=h)h)h)h)g1g1jg1rg5 Be9re9Ze9:e9*e= $@mԑ A%,x fLA:@:Y=:y?@i:??i:@I:dL_;:WCB2Acoustic response timeoutY^t~Byb|IbDjVDj8yr=%rR=ٔrcQ-r>9tYt=vEyvoDv``Ez>xQ 54z/i?Q 94ze)z_BYyy>Q I.@zooDIz<;iz;zP4y ɮA:i1=FNOT Ignoring new targets: 194.00 m."i=S6*iES6M ProNav: ac range: 194.002670 m, nav range: 185.935440 m, bearing: 8.519157 deg, approach rate: -0.514206 m/s, LOS rate: 0.000431 deg/s, cmd heading: 5.545800 deg, new cmd heading: 5.546125 deg. iMI7UHeadingCmd: 0.096798 target range: 194.002670 and range: 194.70 m.hU>=hQhQhYhYgYgYjgargaeareaZea:ei*em,%@颕9Bɢ~) i)7՗顙iN#*i>=A:=ҙ=I>=IyU9@Q @Q@U/@Yԡ^Au*=A}>A}>B>BVCBIB~BB =BBԺDB;B7EIIO>52Acoustic response timeoutE  E E &E "E s:*E :VE 4ZE BE a 2E a JE ,9iYi=uEyuxDغE>Q 54i?Q 94})fBYy>Q I/@~oDIy);i*;h4yBɮZAE:i  FNOT Ignoring new targets: 194.00 m."i!7*i!7% ProNav: ac range: 194.002670 m, nav range: 185.697449 m, bearing: 8.519412 deg, approach rate: -0.513187 m/s, LOS rate: 0.000550 deg/s, cmd heading: 5.546125 deg, new cmd heading: 5.546635 deg. i%݀7%HeadingCmd: 0.096807 target range: 194.002670 and range: 194.70 m.h-B=h)h)h)h)g)g1jg1rg1e1re9Ze9:e9*e=ࡨ&@m6Bɢm¹)q u{iq)uMqqi}(i}B=}b3=Ww=IB=I2Acoustic response timeoutM9@I @Q@Q@Q) ^Am Ԙ=I I O >E 2Acoustic response timeout ?%,fLAB@B=BHٱBS#=BH? У`Ŷ?ҩ?@D5?@ -?`T?iB@IB^^;@YNx~ByR~Ii%Mb@Mb@Mb@!!!! !9%%C?Zd;O?~jth?Y%Z?y%j9QYY=]Ey]D]'ϺEe>aQ 5m4ei?Q 9m4e؞)elBYu|?Q Eu:yu>Q Iu/@eoDIe:ieI:e4yyɮoA:iFNOT Ignoring new targets: 194.00 m."i&:8*i&:8D=D<E EE%E"E;*Ek:VE 4ZEa@a@a@a@ ProNav: ac range: 194.002670 m, nav range: 185.511993 m, bearing: 8.520323 deg, approach rate: -0.517212 m/s, LOS rate: 0.002543 deg/s, cmd heading: 5.546635 deg, new cmd heading: 5.548458 deg. i8HeadingCmd: 0.096839 target range: 194.002670 and range: 194.70 m.huS=hhhhggjgrgBereZe:e*ea'@颽3Bɢ<) {i)ui%iuS=@-=p=IuS=IQ9@ @@@y2Acoustic response timeout^A=Iq I O >ԩ p'%,fLA2]@22=2Kٱ2M=2H? ෿<?୪?:u? J? h?i2]@I2+^;0@YB~ByBIbDJVDJ8yRa4=%VV=ٔVQ-V>9TYX=ZEyZDZHEZ>\Q 5b4^i?Q 9b4^()^rBYdyfF>Q If/@^oDI^:i^\:^^4yjBɮjAjEzB*** querying acoustic contact ***ixix:iFNOT Ignoring new targets: 194.00 m."i:B8*i :B8 ProNav: ac range: 194.002670 m, nav range: 185.314362 m, bearing: 8.521337 deg, approach rate: -0.516184 m/s, LOS rate: 0.002653 deg/s, cmd heading: 5.548458 deg, new cmd heading: 5.550490 deg. ib8%HeadingCmd: 0.096874 target range: 194.002670 and range: 194.70 m.h% f=h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5`($(@BaBaBeIBe~BBaBaBaBeۀ;Be7E0BɢV̹) ui) Mi#i f=&=D1=I f=2Acoustic response timeoutIԩ@ @@0@bEUĻ 4jEUę4rEU0E EE$E"ED:*Ega:VE4ZEBE1 2Acoustic response timeout Q%,ByfLA2@2@V=2 XMٱ2< =2H ?鷿d뛶?ͩ?V@?`,I? |?i2@I2^;2TCY>~ByBIpi5Mb@Mb@Mb@1111 195NbX9?y&1?Mbp?Y5?y5`<5;15A 5A)11Y5\AbDMVDM8y]N=%e?=ٔeoQ-e>9iYi=mEymDm)9Em>qQ 5}4u j?Q 94uU)uyBY?Q E:yq>Q I/@uoDIu ;iuo:u4yɮA:iFNOT Ignoring new targets: 194.00 m."iX7*iX7 ProNav: ac range: 194.002670 m, nav range: 185.091354 m, bearing: 8.521867 deg, approach rate: -0.515410 m/s, LOS rate: 0.001225 deg/s, cmd heading: 5.550490 deg, new cmd heading: 5.551550 deg. iz8HeadingCmd: 0.096893 target range: 194.002670 and range: 194.70 m.ho=hhhhgg jg rg "Be reZe:e*e`)@E-BɢE)ܮ)A EniI)MIIiM!io=W=kt=Io=I BDAT read: Response Not Received *response not received(DAT read: user:36> %BDAT read: Tx time:04:20:43.0676 %$Ping request sent.-d9%,3T gLA6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248659:@:=:UOٱ:=:H?緿ר ?n?u@r?e??i:@I:^;:VCYF~ByFIbDR VDR8yV<%VV=ٔZ2Q-Z>9XY\=^Ey^D^}Eb>`Q 5f4b?j?Q 9j4b)bBYhyjU>Q Ij/@boDIb(:ibw:b4ynBɮrAp:i FNOT Ignoring new targets: 194.00 m."i 17*i 179 ProNav: ac range: 194.002670 m, nav range: 184.892288 m, bearing: 8.522347 deg, approach rate: -0.529309 m/s, LOS rate: 0.001279 deg/s, cmd heading: 5.551550 deg, new cmd heading: 5.552512 deg. i8HeadingCmd: 0.096910 target range: 194.002670 and range: 194.70 m.hx=hhhhggjgrgereZe:e*e%G)@+BɢY) ji)i  i5x=5=5.=I5x=I9ER>iAi9@ @@/0@B]>BYB]IB]~BBYBYBYB];B]x7EB%VCB%VCB!B% =B% =C%ǿ5ԑ5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503771^AM=I I O >E  E E #E "E :*E xv:VE 3ZE BE q%9!Y)=-Ey-D=EE>YQ 5u4ԡ].j?Q 94]ț)]BYy >Q I /@]oDI]2A- ?% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004223) I! I1 OE >&%,v~ByBI DDi Mb@Mb@Mb@     9 "~j?Q?Y S?y \=   A 1A)  Y AbD%?VD%8y5T=%5H=ٔ5Q-5>99Y9==Ey=DE EE>IE EE!E"E:*E:VEc3ZEa@a@a@a@Q 54M?j?Q 94M)MBY?Q E:y?>Q I/@MoDIMߕa=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256531i^A I I O >ԑ e%,aVgLA6@6=6Wٱ6a=6H2?@WƷ,[c? ? z?r??i6@I6͛];6VCYF~ByFIbDR;VDR8yZɼ%ZT=ٔZQ-Z>9\Y\=^Ey^DbYEb>dQ 5j4f6Pj?Q 9j4f$)fBYhyj=>Q Ij/@foDIf:if:f4yrBɮrnArEB*** querying acoustic contact ***ii:i  FNOT Ignoring new targets: 194.00 m."i_*i_A!A%AAB%>B!B%IB%~BB!B!B!B%8;B%7EE ProNav: ac range: 194.002670 m, nav range: 184.268585 m, bearing: 8.522050 deg, approach rate: -0.556382 m/s, LOS rate: -0.001170 deg/s, cmd heading: 5.552751 deg, new cmd heading: 5.551916 deg. iE MHeadingCmd: 0.096899 target range: 194.002670 and range: 194.70 m.hMs=hIhIhIhIgQgQjgQrgQeYreYZeY:eY*eeR/,@颍#BɢM) fi)oɼ顑iis===Is=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508271yU9@Q @Q@U91@QE EE E"E:*E:VE3ZEBE5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763004 %,ZpgLA2@2=2sZٱ2C=2H?`wڷp?? T???i2@I2];0YB~ByBIi Mb@Mb@Mb@     9 K7A?l?Mb`?Y  ?y = ;  A A `A)  Y =AbD%VD%ð8y5I=%5B=ٔ5LݺQ-5>9Y=EyDc:E>Q 54bj?Q 948)BYd?Q E:y#>Q I/@oDI;i7;04yɮA:iFNOT Ignoring new targets: 194.00 m."i*i ProNav: ac range: 194.002670 m, nav range: 184.048401 m, bearing: 8.521287 deg, approach rate: -0.508760 m/s, LOS rate: -0.001764 deg/s, cmd heading: 5.551916 deg, new cmd heading: 5.550390 deg. iN HeadingCmd: 0.096873 target range: 194.002670 and range: 194.70 m.h !e=h h hhggjgrgBereZe!:e!*e% -@M!BɢU,)Q U<`iQ)]5ϼYYi]tie!e=e=eT=Ie!e=Ia9@ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012322!E EE!E"E:*E n:VEc3ZEa@a@a@a@^A=AxAzAIqIO>i w%,`ZgLA 6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264393B,@B=By[ٱB=BH?ط@( m?ۨ?` u?b?@?iB,@IBא];BWCYN~ByNIbDZ#VDZͰ8yb%bR=ٔb*Q-b>9dYd=fEyfDj$Ej>hQ 5r4jtrj?Q 9r4jk)jBYtyv#>Q Iz/@joDIj^;ijj;j4yBɮ A :iQ]FNOT Ignoring new targets: 194.00 m."ie*ie} ProNav: ac range: 194.002670 m, nav range: 183.857010 m, bearing: 8.520627 deg, approach rate: -0.498178 m/s, LOS rate: -0.001721 deg/s, cmd heading: 5.550390 deg, new cmd heading: 5.549067 deg. i}IHeadingCmd: 0.096849 target range: 194.002670 and range: 194.70 m.hY=hhhhggjgrgereZe:e*eQ-@颍Bɢe) _iMGaik9YhA){ռib iY=+=+=IY=Ie9@a @a@e2@i@uxA@qԙB%>B!B%IB%BB% =B!B%պDB%;B%6Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516241^Am = I I O >E  E E #E "E :*E VE 3ZE BE .9QYy=EyDE>Q 54j?Q 9 4~)BY9y9Q IE/@pDIwmR=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768449:i FNOT Ignoring new targets: 194.00 m."i6*i6淝5 ProNav: ac range: 194.002670 m, nav range: 183.635498 m, bearing: 8.519860 deg, approach rate: -0.454001 m/s, LOS rate: -0.001572 deg/s, cmd heading: 5.549067 deg, new cmd heading: 5.547533 deg. i5+8EHeadingCmd: 0.096823 target range: 194.002670 and range: 194.70 m.hEJ=hAhhhggjgrgereZei:ei*em.@颽Bɢ) \i)%ܼiAiJ=E=IJ=II)@ @@5@! E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023861^A *_=Q I E  E E %E "E ;*E :VE 4ZE a @a @a @a @IO>h%,|gLA2@2@=2`ٱ2Г=2H? ·żNP??`M`?`ax??i2@I2Y$];2VCiY~ByIi-Mb@Mb@Mb@)))) )9-{Gz?X9v?MbpY-?y-<--" A-EA ))-A)Y-AbDEVDEǰ8yU`~=%U=ٔUQ-]>9YYY=]Ey]Dey[Ee>iQ 5u4mj?Q 9u4mw)mBYu?Q E}:y}>Q I}/@mpDIm:im:m[.4yBɮoAE:iFNOT Ignoring new targets: 194.00 m."i>6*i>6 ProNav: ac range: 194.002670 m, nav range: 183.370972 m, bearing: 8.519910 deg, approach rate: -0.582750 m/s, LOS rate: 0.000109 deg/s, cmd heading: 5.547533 deg, new cmd heading: 5.547632 deg. i0M6HeadingCmd: 0.096824 target range: 194.002670 and range: 194.70 m.hK=hhhhggjgrgBereZe:e*eऱ/@ Bɢ 7) Si),iiK=U=Z[=I%K=I!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272758ԩ9@ @@0@^A ȁ=A >A >BY A] <Ba Ba Be IBe %BBe =Ba Ba Be ~;Be E6E I I) O5 >Y%,]QgLA"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5243586@6{=6_Qbٱ6=6Hu?϶"q?? ?Z|F? 愼?m?i6@I6];6UC BُC)BV~AB`廩@@BCFn~AiFIDDIFCiF~A JJF)HJ C HJLLNsCN9~AIN94)LiP)R&CIR-~ARԼP PVCTTiTTiZCX)X XIXYXYb~BybIbDj:VDj8yr%r=ٔvߺQ-v ?9tYt=zEyzDuLGEu?yQ 54}cj?Q 94}˕)}BYye>Q I/@}pDI}.:i}:}=44yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 194.00 m."i6*i6 ProNav: ac range: 194.002670 m, nav range: 183.197510 m, bearing: 8.519956 deg, approach rate: -0.508895 m/s, LOS rate: 0.000136 deg/s, cmd heading: 5.547632 deg, new cmd heading: 5.547725 deg. iY6HeadingCmd: 0.096826 target range: 194.002670 and range: 194.70 m.hL=hhhhg!g!jg!rg!e)re)ZeI:eI*eU320@额Bɢ) Ui)顡i iL=+٣==IL=IE EE&E"E:*Ek:VE4ZEBE?8A 6%,gLAY}~By}Ii Mb@Mb@Mb@     9 Zd;?{Gz?Y >y #=   A 1A)  Y =AbD%)VD%Ұ8y5z>=%57=ٔ=Q-=>99Y9=EEyEDEEE>IQ 5U4M1j?Q 9U4M۔)MBY]>Q E]:y]*>Q I]/@M,pDIM;iM;M;4yeBɮe>AmE:iFNOT Ignoring new targets: 194.00 m."iR*iR ProNav: ac range: 194.002670 m, nav range: 182.983322 m, bearing: 8.518732 deg, approach rate: -0.503405 m/s, LOS rate: -0.002881 deg/s, cmd heading: 5.547726 deg, new cmd heading: 5.545274 deg. iHeadingCmd: 0.096783 target range: 194.002670 and range: 194.70 m.hP6=hhhhggjgrg%BereZe:e*e0@BɢfI) GOi)R{imiP6=У=y =IP6=Ia>i>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.028213Y9@ @@/@E% E%E%%E!"E%s:*E%&p:VE% 4ZE!a-@a-@a-@a-@y^A̓=I1 IA OM >ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281665%%,hLA2@2Y=2+>fٱ2=2Hi?󗷿Ƒ%?`?@ì? X?@?i2@I2\;2WC@Y~~ByII ) 4= = =bDVD8yE=%M[=ٔM&(Q-M>9IYQ=UEyUDUEU>YQ 5e4]j?Q 9m4] )]„BYiymi*>Q Im/@]8pDI]:i]:]GB4yqɮu Ay:iFNOT Ignoring new targets: 194.00 m."i4K*i4K ProNav: ac range: 194.002670 m, nav range: 182.797028 m, bearing: 8.517696 deg, approach rate: -0.498799 m/s, LOS rate: -0.002776 deg/s, cmd heading: 5.545273 deg, new cmd heading: 5.543200 deg. iHeadingCmd: 0.096747 target range: 194.002670 and range: 194.70 m.hW#=hhhhggjgrgereZe:e*e0@BɢO6) MKi)1Vii W#= ȣ=/=IW#=I9@ @@/@ԹB)B)B-IB-9BB- =B)B)B-@~;B-5Eechecking for new query: numPingsReceived=0, elapsed TxPingTime=4.532254^AII)O5>bE3jE3rET0E5  E5 E5 "E1 "E5 V:*E5 Ar:VE5 (3ZE1 BE5 99aYa=mEymDm.ǺEm>qQ 5}4uj?Q 9}4uB)uȄBY}?Q E:yl>Q I/@uGpDIu;iuH;uJ4yBɮA:iFNOT Ignoring new targets: 194.00 m."i|8*i|8 ProNav: ac range: 194.002670 m, nav range: 182.559647 m, bearing: 8.519356 deg, approach rate: -0.501368 m/s, LOS rate: 0.003510 deg/s, cmd heading: 5.543200 deg, new cmd heading: 5.546524 deg. i8HeadingCmd: 0.096805 target range: 194.002670 and range: 194.70 m.hA=hhhhggjgrgBereZe:e*e`v1@%Bɢ%٥)! %[Ji!)-Q}))i-h i5A=5=5V=I5A=I99@ @@@) checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039789^A v=Ia Iq y O >E5  E5 E5 %E1 "E5 :*E5 ~:VE5 4ZE1 aE @aE @aE @aE @n%,yBhLA2@2=2)iٱ2=2H? ne A?`c?`t@!?F?`?i2@I2T\;2WCY>By>IbDFVDF8yz]<%z=ٔz7Q-z ?9|Y|=~Ey~D˹E ? Q 54 j?Q 94 ) ̈́BYyK>Q I/@ QpDI :i : 5P4y!ɮ%A!:iIMFNOT Ignoring new targets: 194.00 m."iU8*iU8Ye ProNav: ac range: 194.002670 m, nav range: 182.397202 m, bearing: 8.520501 deg, approach rate: -0.501838 m/s, LOS rate: 0.003539 deg/s, cmd heading: 5.546524 deg, new cmd heading: 5.548816 deg. imF8mHeadingCmd: 0.096845 target range: 194.002670 and range: 194.70 m.hmV=hihqhqhqgqgqjgyrgyeyreyZe:e*e@1@颭Bɢe) Gi)项i iV=w=|=IV=Iq@q @q@u0@qԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.288873^AԹA ؟AI I O5 > A! A! B- >B) B- IB- MBB- =B) B) B- |~;B- 6EBBBB =BC>#5D%,f\hLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.5402306@6[=6iٱ6y3=6H@?x^;`u۵?c?zb4?K?b?i6@I6Ώ\;6UCYBByFI HHHJAbDN VDN8yV<%VI=ٔZvùQ-Z>9Z"?YZ"?=^Ey^D^E^>`Q 5f4bj?Q 9f4b)b҄BYhyj*>Q Ij/@b^pDIb:ib:bW4ynBɮrArE:i FNOT Ignoring new targets: 194.00 m."i r8*i r8} ProNav: ac range: 194.002670 m, nav range: 182.198990 m, bearing: 8.521908 deg, approach rate: -0.501354 m/s, LOS rate: 0.003564 deg/s, cmd heading: 5.548816 deg, new cmd heading: 5.551634 deg. i}8HeadingCmd: 0.096894 target range: 194.002670 and range: 194.70 m.hp=hhhhggjgrgereZe:eԹ*e 322@Bɢ N׫)  Ci ) i i | ip==)=Ip=IE EE"E"E:*E$:VE(3ZEBE?8A=>AE .AIQ Ia Om >9 X%,VbvhLAYnByrIiuMb@Mb@Mb@qqqq q9u ףp= ?:v?MbPYuQ>yu9 ?Y ?=Ey DE>Q 54Hk?Q 94K)لBY>Q E:y>Q I/@lpDI:i:^4yɮ{AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 194.00 m."i7*i7 ProNav: ac range: 194.002670 m, nav range: 181.988129 m, bearing: 8.522543 deg, approach rate: -0.484369 m/s, LOS rate: 0.001460 deg/s, cmd heading: 5.551634 deg, new cmd heading: 5.552904 deg. i*8HeadingCmd: 0.096916 target range: 194.002670 and range: 194.70 m.h%$|=h!h!h!h!g!g!jg)rg-Be)re)Ze1:e1*e5@2@e Bɢe")a eE@ia)miiim iu$|=uѢ=qIu$|=Iy=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045103-9@) @1@50@1AE EE&E"Es:*Ek:VE4ZEa @a @a @a @^A\=qAm ؟AIy I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296694ԙ #%, ?hLA2@2\=2ylٱ2J=2H^?u Q{?֬?i]?.?q?i2@I2%\;0YR(ByRIbDZVDZɰ8ybB=%bY=ٔfQ-f>9f"?Yf"?=jEyjDjEj>lQ 5r4nk?Q 9r4n)n߄BYtyv >Q Iv/@nwpDIn:inh:nIe4yzBɮz5AzE:iFNOT Ignoring new targets: 194.00 m."i%~7*i%~75 ProNav: ac range: 194.002670 m, nav range: 181.805801 m, bearing: 8.523177 deg, approach rate: -0.485775 m/s, LOS rate: 0.001690 deg/s, cmd heading: 5.552905 deg, new cmd heading: 5.554173 deg. i5E8=HeadingCmd: 0.096939 target range: 194.002670 and range: 194.70 m.h==h9h9h9h9gAgAjgArgAeAreIZeI:eI*eMs2@} Bɢ}Cc)y };i)h8顁i5i=ǘ=bA=I=IIyA)q9@ @@05@B>BBIBbBBBBB~;B86Eԡi9I9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.548528^AE~4=E  E E #E "E ;*E h:VE 3ZE BE A *%,hLAN*@N@%=N#lٱNp=NH? ۶`$U??C+? ? ?iN*@INX\;NSCY'ByI-<)-=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803782=a=bDE VDE8y}Wu%1=ٔ|Q->9Y=EyDE>Q 54N0k?Q 94ӏ)BYyk >Q I/@pDI:i:hm4yBɮpAE:i1=FNOT Ignoring new targets: 194.00 m."i=8*i=8m ProNav: ac range: 194.002670 m, nav range: 181.580536 m, bearing: 8.524004 deg, approach rate: -0.476080 m/s, LOS rate: 0.001750 deg/s, cmd heading: 5.554174 deg, new cmd heading: 5.555830 deg. imL8uHeadingCmd: 0.096968 target range: 194.002670 and range: 194.70 m.hu=hqhqhyhygygyjgyrgereZe:e*ew3@U BɢU)Q U2;iY)]3YYi]Iie=eϊ=es=I=I@ @@%0@!) U checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052284^AU =D =D %=E%  E% E% *E! "E% :*E% xv:VE% (N4ZE! a- @a- @a- @a- @Q A I I O >$?1%,:hLA2@2é=2{mٱ2=2H'?࿯@򿨿 )??B$.?K?@?i2@I2ah\;2WCY><By>IiMb@Mb@Mb@ 9V-?yt< AtA A) AYQAbDVD8y-Z=%-W=ٔ-zݹQ-->91Y1=5Ey5#D=E=>AQ 5M4E?k?Q 9M4E=)EBYM>Q EM:yM=Q IM/@EpDIE:iEg:Es4yBɮA:iFNOT Ignoring new targets: 194.00 m."i8*i85 ProNav: ac range: 194.002670 m, nav range: 181.393188 m, bearing: 8.525765 deg, approach rate: -0.487951 m/s, LOS rate: 0.004593 deg/s, cmd heading: 5.555830 deg, new cmd heading: 5.559356 deg. i5z9=HeadingCmd: 0.097029 target range: 194.002670 and range: 194.70 m.h=-=h9h9hAhAgAgAjgIrgMBeIreIZeI:eI*eU 3@ԑ颕 BɢΟ) _5i)op 顡ikchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.304867i-=~="=I-=I! uv>q9@ @@2@lG !um9qYuiAB1 A5 <B= >B9 B= !IB= BB9 B9 B9 B= ~;B= B6E^Aa  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556272! A I I O >7%,rhLAYzJByzIbD VD8y<%A=ٔQ->9Y=%Ey%,D%E%>)Q 554-Qk?Q 954-)-BY9y9Q I=/@-pDI-;i-j;-[{4yEBɮEAEE:iimFNOT Ignoring new targets: 194.00 m."iu8*iu8 ProNav: ac range: 194.002670 m, nav range: 181.182709 m, bearing: 8.527749 deg, approach rate: -0.518019 m/s, LOS rate: 0.004887 deg/s, cmd heading: 5.559356 deg, new cmd heading: 5.563328 deg. i9HeadingCmd: 0.097098 target range: 194.002670 and range: 194.70 m.h=hE EE$E"ED:*EZ:VE4ZEBE1 =%,9hLAY~aBy~ I iMb@Mb@Mb@ 9X9v?:v?Mbp?Y>yT<;A^A )O AYAbDVD°8yjX=%@=ٔQ->9 ?Y ?=Ey4DE>iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.060536Q 54Sck?Q 94)BY >Q E:yj=Q I/@pDI ;i;ӂ4yɮ|A%B*** querying acoustic contact ***i!i!:i)5FNOT Ignoring new targets: 194.00 m."i58*i58E ProNav: ac range: 194.002670 m, nav range: 180.971420 m, bearing: 8.530475 deg, approach rate: -0.493930 m/s, LOS rate: 0.006380 deg/s, cmd heading: 5.563327 deg, new cmd heading: 5.568786 deg. iE:9MHeadingCmd: 0.097194 target range: 194.002670 and range: 194.70 m.hMv =hIhIhQhQgQgQjgYrg] BeYreYZea:ea*eer4@颍Bɢ) !+i)p顙ihiv =3g==Iv =IԱ)@) @)@-3@)@5=@5=E EEE"E:*Ez:VEZEa@a@a@a@^Au0=  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313439A I I O >9 D%, iLA2ڹ@2@Ѩ=2 nٱ2T>=2HR?`]꨿ ?`?`B9@ҭ?@ ??i2ڹ@I2m\;2SCY>kByBIbDJ+VDJ԰8yR<%R_=ٔRPXQ-V>9TYT=VEyV\Q 5b4^urk?Q 9b4^y)^BY`ybw=Q If/@^pDI^<;i^;^34yjBɮjIAh:iiuFNOT Ignoring new targets: 194.00 m."iu8*iu8 ProNav: ac range: 194.002670 m, nav range: 180.790924 m, bearing: 8.532835 deg, approach rate: -0.475740 m/s, LOS rate: 0.006227 deg/s, cmd heading: 5.568786 deg, new cmd heading: 5.573511 deg. iV69HeadingCmd: 0.097276 target range: 194.002670 and range: 194.70 m.h8=hhhhggjgrgereZe:e*e5@Bɢ") (i)i=3i8=c[==I8=IBE>BABE3IBEBBE =BABEԺDBE~;BEO6Ee9@a @a@e/@achecking for new query: numPingsReceived=0, elapsed TxPingTime=8.5641999^A=p,=E EE&E"E ;*E]t:VE4ZEBESQJ%,-iLA&=&<2checking for new query: numPingsReceived=0, elapsed TxPingTime=8.8201978@{=-pٱ=H`C?u`? Ǯ?0J???i@IW\;UCYqByIiEMb@Mb@Mb@AAAA A9Ep= ף?/$?Mb`?YE?yE9u"?Y}"?=}Ey}ED}渹E}>Q 54k?Q 94)BY:?Q E:y=Q I/@pDIm ;i;N4yɮ1A:iFNOT Ignoring new targets: 194.00 m."i8*i8 ProNav: ac range: 194.002670 m, nav range: 180.550186 m, bearing: 8.534888 deg, approach rate: -0.536060 m/s, LOS rate: 0.004579 deg/s, cmd heading: 5.573511 deg, new cmd heading: 5.577623 deg. i9HeadingCmd: 0.097348 target range: 194.002670 and range: 194.70 m.hU^=hhhhggjgrgBereZe:e*e 5@ԁBɢ) %i)yiiU^=lL==IU^=I9@ @@/@Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.068303^A = E  E E !E "E :*E :VE c3ZE a @a @a @a @A I I) O5 >Q%,ǝGiLAhYnByn+Ir=p tv<bDvVDv8y]v=%]`=ٔeQ-e>9aYa=eEymMDmEm>qQ 5}4uxk?Q 9}4u)uBYyQ I/@upDIu:iu:u4yBɮAE:iFNOT Ignoring new targets: 194.00 m."i8*i8 ProNav: ac range: 194.002670 m, nav range: 180.360504 m, bearing: 8.536510 deg, approach rate: -0.518903 m/s, LOS rate: 0.004442 deg/s, cmd heading: 5.577623 deg, new cmd heading: 5.580871 deg. i9HeadingCmd: 0.097405 target range: 194.002670 and range: 194.70 m.h |=hhhhggjgrge reZe:e*e5@eBɢew)a mii)uBqqiuoi |=9A=o=I |=I mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.320393 @ @@/@)^AЉ=AU AAAQ B] >BY B] LIB] BBY BY B] պDB] ;B] X6Ea A I  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572354I! O- >W%,VdaiLA> @>=>\qٱ>2=>H`?TOnwĴ?ð?м5???i> @I>QY\;>SCYVByV0IbDb VDb8yj<%jT=ٔjNQ-j>9lYl=nEynTDr=Er>tQ 5z4v2k?Q 9z4vu)vBYxyz=Q Iz/@vpDIv:ivq:vk4yɮA:i)-FNOT Ignoring new targets: 194.00 m."i58*i589E ProNav: ac range: 194.002670 m, nav range: 180.160645 m, bearing: 8.538280 deg, approach rate: -0.519581 m/s, LOS rate: 0.004607 deg/s, cmd heading: 5.580871 deg, new cmd heading: 5.584415 deg. iE9MHeadingCmd: 0.097466 target range: 194.002670 and range: 194.70 m.hMz=hIhQhQhQgQgQjgYrgYeYreYZea:ea*ee B6@颉ɢr) 'i)!bE%4jE%4rE%l0E EE#E"E*E n:VE3ZEBE5 E ^%,?{iLA2@2ť=2\sٱ2 =2H ?@G6`{@?n?+@n?@??i2@I24Y\;2UCY>By>>Ii-Mb@Mb@Mb@)))) )9-K7A?Mb?y&1|?Y- ?y-=-`;-jA-^A -xA)))Y-AbDEVDEư8yM\_=%UC=ٔUQ-U>9QYY=]Ey]]D]EEe>aQ 5m4ek?Q 9u4e)eBYuQ?Q Eu:yu>Q Iu/@epDIe;ie ;e¥4yBɮAEԙ:iFNOT Ignoring new targets: 194.00 m."i7*i7 ProNav: ac range: 194.002670 m, nav range: 179.947525 m, bearing: 8.538744 deg, approach rate: -0.506434 m/s, LOS rate: 0.001103 deg/s, cmd heading: 5.584415 deg, new cmd heading: 5.585343 deg. i58HeadingCmd: 0.097483 target range: 194.002670 and range: 194.70 m.h=hhhhggBy>@I @@DDDFAAbDJVDJ°8yR);%RV=ٔReQ-V>9TYT=VEyVeDZ9EZ>\Q 5b4^"k?Q 9b4^)^&BY`yf>Q If/@^pDI^;i^t:^m4yhɮjAhvB*** querying acoustic contact ***ixix:i|FNOT Ignoring new targets: 194.00 m."i7*i7 ProNav: ac range: 194.002670 m, nav range: 179.753784 m, bearing: 8.539155 deg, approach rate: -0.507656 m/s, LOS rate: 0.001079 deg/s, cmd heading: 5.585343 deg, new cmd heading: 5.586167 deg. i7HeadingCmd: 0.097497 target range: 194.002670 and range: 194.70 m.h=hhh!h!g!g!jg!rg)e)re)Ze):e)*e5`7@]Bɢ]Lɢ)a eia)eaaie%im=m=mbN=Iu=IqB>BBeIBBB =BBԺDB(;Bi6EBBBBBCw359@ @@0@2Acoustic response timeout1^A8=E EE%E"Es:*E|:VE 4ZEBEi0ԑ b6k%,BiLA*2Acoustic response timeout@F=xٱ+=HI?+-`]? ???`][?`?i@I#\;UCYByLIqiMb@Mb@Mb@ 9~jt?{Gz?~jth?Y?y#=D;SA A)O AY AbD VD8yX =%,=ٔ~Q->9Y=EynDZfE>Q 54k?Q 94)0BY?Q E:y >Q I/@ qDI;i;4yBɮA:iFNOT Ignoring new targets: 194.00 m."i%*i%5 ProNav: ac range: 194.002670 m, nav range: 179.507797 m, bearing: 8.538537 deg, approach rate: -0.518530 m/s, LOS rate: -0.001305 deg/s, cmd heading: 5.586167 deg, new cmd heading: 5.584928 deg. i5=HeadingCmd: 0.097475 target range: 194.002670 and range: 194.70 m.h=-=h9h9h9h9gAgAjgArgM*BeIreIZeI:eI*eUt7@yɢ} ) i)顁io*i-=<=v=I-=I@ @@/@ԙ2Acoustic response timeout^A5 ff=E  E E $E "E a:*E Ar:VE 4ZE a @a @a @a @A I I O > )r%,wiLA>k@>=>3{ٱ>=>H?`% ʵ??s ra?;??i>k@I>U\;>TCYJByJ\IbDRVDR8yZ=%Zq=ٔ^WQ-^?9\Y`=bEybuDb<Eb?dQ 5j4fAk?Q 9j4f5)f6BYlyn >Q In/@fqDIf;if;f4ypɮvTAt:i)5FNOT Ignoring new targets: 194.00 m."i=¹*iE¹U ProNav: ac range: 194.002670 m, nav range: 179.331848 m, bearing: 8.538102 deg, approach rate: -0.512456 m/s, LOS rate: -0.001269 deg/s, cmd heading: 5.584928 deg, new cmd heading: 5.584057 deg. i]eHeadingCmd: 0.097460 target range: 194.002670 and range: 194.70 m.he4=hahahahigigqjgrgereZe:e*e7@UBɢj) i)ʷ顙ii4==9=I4=IԱt>i>=2Acoustic response timeouti@i @i@m/0@i^AL=B>BUCB~IB BB =BBB;B6E  2Acoustic response timeoutA I I O% >9 Tx%,WiLA2@2=24}ٱ2=2H ?`)@5?? }Xm??-?i2@I2];2SCY>By>cIIB4=)B49TYT=VEyV~DZH8EZ>\Q 5b4^k?Q 9b4^Z)^>BY`yb >Q If/@^#qDI^+;i^;^4yjBɮjAjE:i|Ee EeEe)Ea"Ee:*Eez:VEeFA4ZEaBEe+~~%,iLA 2@2=2ٱ2!=2HN?= RF?`?`8I +? ?`?i2@I27];2UCYRByRgIi-Mb@Mb@Mb@)))) )9-%C?ˡE?{Gzt?Y-Z?y-'=-ף;-jA-1A ))- A)Y-AbDEVDE8yUNG<%U@=ٔUҺQ-U>9YYY=]Ey]De:Ee>iQ 5u4ml?Q 9u4mo)mHBYu?Q Eu:yu">Q Iu/@m1qDIm;im;m 4yɮA2Acoustic response timeout:iFNOT Ignoring new targets: 194.00 m."i*i뷝 ProNav: ac range: 194.002670 m, nav range: 178.903381 m, bearing: 8.536896 deg, approach rate: -0.515261 m/s, LOS rate: -0.001609 deg/s, cmd heading: 5.583019 deg, new cmd heading: 5.581642 deg. im<HeadingCmd: 0.097418 target range: 194.002670 and range: 194.70 m.h=hhhhggjgrg1BereZe:e*e8@频ɢg) _i)"顙ii=ޢ=‡=I=IqQ@Y @Y@e?5@aDizDiEu EuEu$Eq"EuD:*Euh:VEu4ZEqa}@a}@a}@a}@ԙ^AU BDAT read: Response Not Received U *response not received] (DAT read: user:37> ] Lg%,jLA2«@2@K=2lٱ2==2H?.8`??@ !*?ݺ?`Q?i2«@I2];2TCLYRByRnIbDZտVDZ8ybL<%bT=ٔbQ-f>9dYd=fEyfDj-Ej>lQ 5r4n l?Q 9r4n)nPBYpyrs">Q Iv/@n>qDIn:inG:n4yzBɮzAzE B*** querying acoustic contact ***i i :i%FNOT Ignoring new targets: 194.00 m."i%*i%귝5 ProNav: ac range: 194.002670 m, nav range: 178.703751 m, bearing: 8.536279 deg, approach rate: -0.518272 m/s, LOS rate: -0.001604 deg/s, cmd heading: 5.581642 deg, new cmd heading: 5.580406 deg. i5;=HeadingCmd: 0.097396 target range: 194.002670 and range: 194.70 m.h=w=h9h9h9hAgAgAjgArgAeIreIZeI:eI*eM,9@}Bɢ}&) di)\#顁iiw=Ѣ=t=Iw=IB}>ByB}IB}%BB} =ByByB} ;B}6E@ @@5@BDAT read: Tx time:04:20:55.5191 $Ping request sent.! m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253316t%,0jLAl@=ٱ=H ?M@?`ϳ? @?S? ? ]?i@Iz];UCYByvI  AiMb@Mb@Mb@ 9"~j?~jt?Mb`?YS?yD=;AA A)" AY AbDVD8y<%*=ٔQ->9Y=EyD:E>Q 5 44l?Q 9 4|)ZBY ?Q E :y 1>Q I /@NqDI;i;@4yBɮA:i9EFNOT Ignoring new targets: 194.00 m."iM *iM U ProNav: ac range: 194.002670 m, nav range: 178.457626 m, bearing: 8.534330 deg, approach rate: -0.513852 m/s, LOS rate: -0.004074 deg/s, cmd heading: 5.580406 deg, new cmd heading: 5.576503 deg. i]]HeadingCmd: 0.097328 target range: 194.002670 and range: 194.70 m.h]T=hahahahagagajgirgmBeireiZeq:eq*eu 9@颡ɢW) i)И%顩iGiT=8==IT=IU9@Y @Y@]#5@Y@e=@e=)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503352^AE =I I O >DU <DU <Ea  Ee Ee (Ea "Ea *Ee z:VEe c44ZEa am @am @am @am @i %,JjLAZ@Z=ZV2ٱZ=ZH0?`a&?`? kc?`Ш?@?iZ@IZ];ZTC9Y By~IbD'VDа8y  =% [=ٔ m-Q- >9Y=EyDX:E>!Q 5-4%Dl?Q 9-4%)%aBY)y-#2>Q I-/@%ZqDI%:i% :%4y9ɮ=\A9:iYeFNOT Ignoring new targets: 194.00 m."ieS*ieSu ProNav: ac range: 194.002670 m, nav range: 178.265503 m, bearing: 8.532785 deg, approach rate: -0.513768 m/s, LOS rate: -0.004134 deg/s, cmd heading: 5.576503 deg, new cmd heading: 5.573411 deg. i}򸝏}HeadingCmd: 0.097274 target range: 194.002670 and range: 194.70 m.h}7=hhhhggjgrgereZe:e*e 9@颹ɢ) i) 'ixi7===I7=I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757594i9@ @@/@ԑB]>BYB]IB]5BB] =BYBYB];B]k7E^AER=I1 IA OU > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007423 %, wdjLA2@2D=2Xٱ2G=2H?qy };״??Aۻ`Fn? ??i2@I2u];2UCYNByRIbDZ*VDZӰ8yb=<%bb=ٔbHQ-b>9dYd=fEyfDj:Ej>hQ 554jVTl?Q 954jÂ)jiBY1y=2>Q I=/@jfqDIjR! ۞%,iR~jLA2@2=2Xٱ2~=2H 2?`b@dT??6&?Ժ??i2@I2 w];0Y>By>IIB>)B>iMb@Mb@Mb@ 9T㥛 ?A`"?~jth?Y?yY=D;SA1A KA)AYG AbDVD8y-K<%-D=ٔ-ۖQ-5>91Y1=5Ey5D=:E=>AQ 5M4Eel?Q 9M4E)EqBYM?Q EU:yU>>Q IU/@EsqDIEo:iE:Ei4echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511475yaɮmAi:i)-FNOT Ignoring new targets: 194.00 m."iuظ*iuظ ProNav: ac range: 194.002670 m, nav range: 177.868790 m, bearing: 8.528731 deg, approach rate: -0.492081 m/s, LOS rate: -0.005921 deg/s, cmd heading: 5.570370 deg, new cmd heading: 5.565294 deg. ic-HeadingCmd: 0.097133 target range: 194.002670 and range: 194.70 m.h=hhhhggjgrg#BereZe:e*e:@)ɢ-q) i)(*ii==r=I=IE= E=E=$E9"E=V:*E=x:VE=4ZE9)9@ @@@@yA@yAQ- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766578^A b$=ԁ A I I O >å%,,jLA2@2=2Єٱ2sN=2H`?ض`m`.?@? #`?`κ??i2@I2c8];2VCY>By>IbDJVDJ8yN2=%RT=ٔRpQ-R>9TYT=VEyVDVx:EV>XQ 5^4Zul?Q 9b4ZȀ)ZyBY`ybj?>Q Ib/@ZqDIZu:iZs;Z'4yfBɮfAjEvB*** querying acoustic contact ***itit:i|}FNOT Ignoring new targets: 194.00 m."i}b*i}b𸝏 ProNav: ac range: 194.002670 m, nav range: 177.674042 m, bearing: 8.526339 deg, approach rate: -0.534109 m/s, LOS rate: -0.006567 deg/s, cmd heading: 5.565294 deg, new cmd heading: 5.560505 deg. iN@HeadingCmd: 0.097049 target range: 194.002670 and range: 194.70 m.h=hhhhggjgrgereZe:e*e/ ;@B>BVCBIBIBB =BBB;B7EBɢ4h) Mi)Z|+!!i%i%=-=-Qʋ=I-=I)Q 9@  @ @ /@ mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015428ԁE= E=E=%E9"E=D:*E=:VE= 4ZE9BE=1 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269828%,x jLAU@U=UQٱUQ=UH`z?ٶԓ0?@?o?Ԩ?@?iU@IU0];USCYByIԱiMb@Mb@Mb@ 9Pn? ףp= ?MbpY?yQ8=A A) AYbDVD8y~1<%+=ٔQ->9 ?Y ?=EyDi8E>Q 54l?Q 9 4)BY ?Q E:y.>Q I/@qDIGi>59@1 @1@5/@1}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519496 bE 4jE-4rE/EM  EM EI EI "EM :*EM n:VEI ZEI aU @aU @aU @aU @^A m=A AM ؟AIY Ii Ou >(g%,EjLA2@2`=2tٱ2=2H`?` Z?J??P?`'?i2@I29];2TCY> By>I @@DFADDbDJVDJȰ8yR;%R_=ٔVCBQ-V>9V"?YV"?=VEyVDZA:EZ>\Q 5b4^Dl?Q 9b4^~)^BYdyfM/>Q If/@^qDI^:i^:^4yjBɮjAl:i|FNOT Ignoring new targets: 194.00 m."i*i ProNav: ac range: 194.002670 m, nav range: 177.236832 m, bearing: 8.523227 deg, approach rate: -0.546613 m/s, LOS rate: -0.003964 deg/s, cmd heading: 5.557023 deg, new cmd heading: 5.554273 deg. i(踝HeadingCmd: 0.096940 target range: 194.002670 and range: 194.70 m.h=hhh!h!g!g!jg!rg)e)re)Ze):e)*e5 ;@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771499ɢB) >i)P.i i =w==I=I!@ @@@B>BTCBIBSBB =BBӺDB?;B8EBUCBUCBB =B =CN5^Ap,=A >A >Am BDAT read: Rx Time:04:20:58.1310 m TRx dataTimestamp_ set to:1764908459.531354u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025041I9 II O >q E5  E5 E1 E1 "E5 :*E5 :VE1 ZE1 BE5 +??A?@??i2B@I2\;2UCYN!ByRIbDZPVDZ8ybP;%bI=ٔbQ-f>9dYd=fEyfDj:Ej>lQ 54nl?Q 94n})nBYy0>Q I/@nqDInͶwq%,kLA.DAT read: 04:20:58.1310 LVL= 30000, 32321, 28146, 32755, AGC= 67, IDX= 172, 0.18, 1.395,-0.337, 1.495, 0.937, PHS= 0.560,-1.228, 0.514, RAW= 148.7, 1.8, CAL= 147.8, 1.6, ROT= 2.2, -1.6 2Ygot valid direction response: 04:20:58.1310 LVL= 30000, 32321, 28146, 32755, AGC= 67, IDX= 172, 0.18, 1.395,-0.337, 1.495, 0.937, PHS= 0.560,-1.228, 0.514, RAW= 148.7, 1.8, CAL= 147.8, 1.6, ROT= 2.2, -1.6 6PDAT read: Bearing 180.1, 5.8 (Local) 6~Local bearing/azimuth received: Bearing 180.1, 5.8 (Local) >DAT read: Range 11 to 50 : 155.8 m (Round-trip 207.8 ms) speed 0.9 m/s B(DAT read: user:38> BBDAT read: Tx time:04:20:59.2175 F$Ping request sent.F9Y=EyD(:E>Q 54hl?Q 94|)BY9?Q E:y">Q I/@qDI:i:4yBɮiAEii-kLAj=C"j=C:j="p.-bc@$@|^V@p|-?̉?|p}?*jnF=2j*pd2^,c@q>2@y.@p=%?-?$ʵtи?jɔA jbCi.z>?iCj?BjEuM,?jCjrjW#Czj=] addTargetRange:: Added new target pos. range: 155.800003 m, deltaT: 32.760006 s, deltaX: -38.899994 m, approachRate: -1.187423 m/s, rangeRepo size: 4  Added new target pos. range: 155.240921 m, bearing: 6.913547 deg, lat: 36.779481 deg, lon: -121.859599 deg, deltaT: 32.760006 s, deltaX: -38.761749 m, approachRate: -1.183203 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 155.24 m."i*i ProNav: ac range: 155.240921 m, nav range: 163.341080 m, bearing: 6.537961 deg, approach rate: 0.000000 m/s, LOS rate: -0.003651 deg/s, cmd heading: 5.551117 deg, new cmd heading: 5.547351 deg. iHeadingCmd: 0.096820 target range: 155.240921 and range: 155.80 m.hRI=hhhhggjgrg BereZe:eyc@*e ?IɢMtݏ)I UcھiQ)U1QQiUi]RI=]_=],=I]RI=IR=9@ @@@@@zA1 ^A x=Y Ii Iy O >%,kLAB.>B.SCB.IB.]BB. =B,B.ҺDB.;B.K8EB@B=BٱB:=BHs?(m??9.@? ˺?b?iB@IB\;BUCYN)ByNIIR=)R=R=R=bDZ7VDZ߰8ybv`<%b=ٔbyQ-b ?9dYd=fEyfDE:EE?IQ 5U4Ml?Q 9U4M|)MBYYy]i#>Q I]/@MqDIM:iMS:M4yaɮeWAaB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 155.24 m."i,*i, ProNav: ac range: 155.240921 m, nav range: 163.171661 m, bearing: 6.535254 deg, approach rate: -0.589515 m/s, LOS rate: -0.009429 deg/s, cmd heading: 5.547351 deg, new cmd heading: 5.541931 deg. i HeadingCmd: 0.096725 target range: 155.240921 and range: 155.80 m.h=hhhhggjgrgereZe:e*e?Bɢ䢽) ؾi)2i%Pi%=-sY=-ʌ=I-=I) T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.!9@ @@.0@E EE$E"ET;*E&p:VE4ZEBEGY  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744323\%,(5kLA }$@}c=}0ٱ}=}H?@ e?{?D ð?@D? ?i}$@I}p\;yY-ByIiEMb@Mb@Mb@AAAA A9E%C?9qYq=uEyuD}3c:E}>Q 54l?Q 94&{)BY?Q E:y^ >Q I/@qDI;i;A4yBɮ5AE:iFNOT Ignoring new targets: 155.24 m."i *i  ProNav: ac range: 155.240921 m, nav range: 162.942902 m, bearing: 6.531830 deg, approach rate: -0.517252 m/s, LOS rate: -0.007754 deg/s, cmd heading: 5.541931 deg, new cmd heading: 5.535073 deg. i cHeadingCmd: 0.096605 target range: 155.240921 and range: 155.80 m.h=hhhhggjgrgBereZe:e*e?a颽Bɢ-) վi) c4  i i=4O=B=I=I%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997318u9@q @q@u/@yԙE EE%E"E:*Ega:VE 4ZEa@a@a@a@ ^A I9 II Oe >ӿ%,˹OkLA2@2=2fۅٱ2g=2H'? m?`?<5 `?`Ѻ?U?i2@I2(w\;2TCP XXG-zAYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.252218릿9zAY_AY3ByIbDVD8y<%6=ٔ9Q->9Y=EyD%19E>Q 54l?Q 940z)BY y q >Q I /@qDI0;i+;%'4yɮA:i9=FNOT Ignoring new targets: 155.24 m."iE{*iE{U ProNav: ac range: 155.240921 m, nav range: 162.709488 m, bearing: 6.528320 deg, approach rate: -0.516959 m/s, LOS rate: -0.007785 deg/s, cmd heading: 5.535073 deg, new cmd heading: 5.528043 deg. iUc]HeadingCmd: 0.096483 target range: 155.240921 and range: 155.80 m.h]=hYhYhYhagagajgirgieireiZei:eq*eu`?额BɢgD) оi)5顡i=i=F={=I=IIxA)zA=9@A @A@E 0@A@M=@M=Am@AAiBu>BuQCBuIBubBBu =Bu>DBuѺDBu;BuX8E5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500288^A ! Ii Iy O >E  E E &E "E :*E ^:VE 4ZE BE 6Q I=0@qDI11= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004342A%,qkLA2@2K=2텽ٱ2]=2H?` \ֵ?{?@??@?i2@I2b\;0YE;ByEIaiMb@Mb@Mb@ 9MbX9?S㥛?MbpY?y/<AbA A)=AY= AbDVD8y)=%C=ٔS[7Q->9 ?Y ?=Ey%E%4׸E%>)Q 554-m?Q 954-x)-BY=?Q E=:y=>Q I=0@-qDI-Y;i-n;-944yEBɮEAEEDzD@AE EE#E"Ea:*E:VE3ZEa@a@a@a@:i FNOT Ignoring new targets: 155.24 m."i-*i5= ProNav: ac range: 155.240921 m, nav range: 162.326920 m, bearing: 6.523855 deg, approach rate: -0.500913 m/s, LOS rate: -0.004522 deg/s, cmd heading: 5.522881 deg, new cmd heading: 5.519103 deg. iEkuHeadingCmd: 0.096327 target range: 155.240921 and range: 155.80 m.huF=hqhqhqhygygyjgrgBereZe:e*e R3@ԉ颥Bɢᑽ) Aʾi)~8i§iF=3= =IF=I}9@y @y@}2@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256273Ա^Ae = B] v>B] PCB] IB] gBB] =BY B] кDB] l;B] &8EA ؟AI I O >/%,$kLAQYU:ByUIbDmVDm8y%K=ٔQ->9"?Y"?=EyEE>Q 54&m?Q 94w)BYyQ I0@rDIt:iI:>;4yɮAB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 155.24 m."io*io  ProNav: ac range: 155.240921 m, nav range: 162.123383 m, bearing: 6.522015 deg, approach rate: -0.532638 m/s, LOS rate: -0.004820 deg/s, cmd heading: 5.519103 deg, new cmd heading: 5.515419 deg. i % HeadingCmd: 0.096262 target range: 155.240921 and range: 155.80 m.h %=hhhhggjgrge!re!Ze!:e!*e-v@UBɢU)Y ]˾iY)]n9YYieWie %=e7,=mQ=Im %=Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5103729@ @@ ,2@ @@ԁEe EeEe%Ea"Ee:*EeZ:VEe 4ZEaBEe5 [%,hkLAԩYDByII4>)=i]Mb@Mb@Mb@YYYY Y9]Mb?:v?~jthY]?y]T<]D]A]KA ]A)]jAYY]f AbDuVDu8y;=%<=ٔQ->9Y=Ey EE>Q 549m?Q 94Rw)ƅBY?Q E:yZ=Q I0@rDI* ;i;B4yɮlAE:iFNOT Ignoring new targets: 155.24 m."i6*i6 ProNav: ac range: 155.240921 m, nav range: 161.901505 m, bearing: 6.522198 deg, approach rate: -0.511612 m/s, LOS rate: 0.000423 deg/s, cmd heading: 5.515419 deg, new cmd heading: 5.515785 deg. iF7HeadingCmd: 0.096269 target range: 155.240921 and range: 155.80 m.h{(=hhhhggjgrg Be re Ze :e *ea@9ɢ=Ƒ)9 Ez¾iA)E:AAiEiM{(=M"=U=IU{(=IQY@Y @Y@] 4@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012423Em EmEm"Ei"Em:*Em&p:VEm(3ZEiau@au@au@au@^A ~4=1 I I O ><%,7kLABDAT read: Rx Time:04:21:01.8270 TRx dataTimestamp_ set to:1764908463.310640 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265241YHByIbDVD8y<%Z=ٔQ->9Y=Ey EE>Q 54Im?Q 94v)̅BYyQ I0@"rDI:i;cI4yɮHA:i FNOT Ignoring new targets: 155.24 m."i 6*i 6% ProNav: ac range: 155.240921 m, nav range: 161.709610 m, bearing: 6.522357 deg, approach rate: -0.511370 m/s, LOS rate: 0.000423 deg/s, cmd heading: 5.515785 deg, new cmd heading: 5.516103 deg. i%eF7-HeadingCmd: 0.096274 target range: 155.240921 and range: 155.80 m.h-c+=h)h)h)h)g1g1jg1rg9e9re9Ze9:e9*eE ) @mBɢm5)i uiq)u=BOCBIBrBB =BBϺDB';B7E^AIychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.517384I) I9 OM >E  E E $E "E *E :VE 4ZE BE 6=}ٱ}=}H@? [U?@?@1`?w??i}@I}\;yY\ByIbDVD8yv=%G=ٔuQ->9Y=EyEE>Q 54&[m?Q 94(v)ӅBYyJ=Q I0@0rDIb:i:P4yBɮA:iFNOT Ignoring new targets: 155.24 m."ie7*ie7% ProNav: ac range: 155.240921 m, nav range: 161.499710 m, bearing: 6.522679 deg, approach rate: -0.510917 m/s, LOS rate: 0.000784 deg/s, cmd heading: 5.516103 deg, new cmd heading: 5.516747 deg. i-7-HeadingCmd: 0.096285 target range: 155.240921 and range: 155.80 m.h5H1=h1h1h1h1g1g1jg9rg9e9re9ZeA:eA*eE @iqɢu")y }̫iy)};=yyi}iH1=-=p͌=IH1=IDAT read: 04:21:01.8270 LVL= 22768, 32497, 22514, 32755, AGC= 66, IDX= 419, 0.48,-2.394, 2.212,-2.285,-2.867, PHS= 0.575,-1.160, 0.538, RAW= 148.9, 0.6, CAL= 147.9, 0.2, ROT= 2.1, -0.2 %Ygot valid direction response: 04:21:01.8270 LVL= 22768, 32497, 22514, 32755, AGC= 66, IDX= 419, 0.48,-2.394, 2.212,-2.285,-2.867, PHS= 0.575,-1.160, 0.538, RAW= 148.9, 0.6, CAL= 147.9, 0.2, ROT= 2.1, -0.2 -PDAT read: Bearing 176.9, 5.8 (Local) 5~Local bearing/azimuth received: Bearing 176.9, 5.8 (Local) =9@9 @9@A@A@E=@E=MDAT read: Range 11 to 50 : 153.9 m (Round-trip 205.3 ms) speed 0.4 m/s U(DAT read: user:39> ]BDAT read: Tx time:04:21:02.9175 u$Ping request sent.u[?8_?f=a҃? PC?)IQ =id :publishing transmit ping timei Fpublishing direction and range infoyH$r?L¢?QC1ml?Yԑ )Ii )I>[?8_?f=a҃? )Ii^Ae=IIO> kO%,~lLAB@B=B&̊ٱB9k=BH?`Z @7^?@ ? V?Q??iB@IB];BSCYRdByRI TTiUMb@Mb@Mb@QQQQ Q9U r?I +?YU?yU949Y=EyE9E>Q 54km?Q 94u)څBY?Q E:y;=Q I0@=rDI:ie:fW4yɮjAiAiE &kLAjEUC"jEUC:jE="pEW'c@ Ky@2K ?pEH$r?L¢?QC1ml?*jEQ =2jEd*pE0xb@Li)[>顱i2 i6===I6=IA@A @A@A@I!I ^Am @=I I O >B f>B NCB IB BB B B κDB ;B 7EBePCBePCBe˕CBe =Be =Ce86y%,XlLA$N@N̫=NٱNM(=NH? #;Jf?@? .ֻ}?i?` ?iN@IN7C];NRCYb^BybIbDjƿVDjw8yrݼ%vU=ٔvʺQ-v>9tYx=zEyzEz9Ez>|Q 54~}|m?Q 9 4~u)~BY y ~=Q I 0@~IrDI~q:i~h:~^4yɮAE:i9EFNOT Ignoring new targets: 153.33 m."iE*R8*iE*R8U ProNav: ac range: 153.333359 m, nav range: 152.705475 m, bearing: 6.874003 deg, approach rate: -0.518583 m/s, LOS rate: 0.002871 deg/s, cmd heading: 5.517367 deg, new cmd heading: 5.519550 deg. iU"8]HeadingCmd: 0.096334 target range: 153.333359 and range: 153.90 m.h]J=hYhahahagagajgirgieireiZei:eq*eu(?9ɢ=ֈ)9 EԩiA)EX?AAiEiiMJ=MU=M=IMJ=Iyq 9@  @ @ /@ E] E]E]$EY"E] :*E]:VE]4ZEYBE]N" %,>9lLAP}g@}=},ٱ}=}H?@ `ӌ9Y=EyElE>Q 54Pm?Q 94Rt)BYz?Q E:y=Q I0@XrDI:i:f4yBɮAEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 153.33 m."i6*i6 ProNav: ac range: 153.333359 m, nav range: 152.468552 m, bearing: 6.874137 deg, approach rate: -0.518827 m/s, LOS rate: 0.000294 deg/s, cmd heading: 5.519550 deg, new cmd heading: 5.519818 deg. i 7HeadingCmd: 0.096339 target range: 153.333359 and range: 153.90 m.hbM=hhhhggjgrgBereZe:e*eJ?1ɢ5މ)1 = i9)=vr@99i=%iEbM=E=EŒ=IMbM=IIIY)]xA9@ @@/@@zA@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A E5  E5 E5 #E1 "E5 :*E5 c:VE5 3ZE1 aE @aM @aM @aM @) A5 .AIA IQ O] >d%,GtSlLA2@2@=2ٱ21=2H`?"&vծ\?`α?0ϱ?ġ?`?i2@I2 8];2VCY>rBy>IIB8>)B[?bDJVDJ8yR=%Rj=ٔRQ-R>9V ?Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.494648YV ?=^Ey^"E^BN:E^>`dQ 5j4bm?Q 9j4bs)bBYhyj)=Q In0@bdrDIba';ib(;b7l4ypɮrAp:i  FNOT Ignoring new targets: 153.33 m."i6*i6 ProNav: ac range: 153.333359 m, nav range: 152.286407 m, bearing: 6.874222 deg, approach rate: -0.519391 m/s, LOS rate: 0.000244 deg/s, cmd heading: 5.519818 deg, new cmd heading: 5.519989 deg. i%6%HeadingCmd: 0.096342 target range: 153.333359 and range: 153.90 m.h%N=h)h)h)h)g)g1jg1rg1e1re1Ze9:e9*e= >w? BɢV) i)JAiiN==W=IN=I9@ @@0@B]>BMCB'IBBB =BBͺDB;B7E!^Ap,=iaIeAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747476I I) O= >Q E  E E %E "E O:*E z:VE 4ZE BE 9tYt=vEyv&EvAo:Ez>|Q 5~4~/m?Q 94~s)~BYy=Q I0@~rrDI~G:i~u:~Ms4Qy ɮYA:iFNOT Ignoring new targets: 153.33 m."iA6*iA6  ProNav: ac range: 153.333359 m, nav range: 152.075699 m, bearing: 6.874292 deg, approach rate: -0.495491 m/s, LOS rate: 0.000165 deg/s, cmd heading: 5.519989 deg, new cmd heading: 5.520130 deg. i r6HeadingCmd: 0.096344 target range: 153.333359 and range: 153.90 m.h;P=hhhhggjgrge!re!Ze!:e!*e-@oU?颱ɢsD) i){9B项ii;P= ١= =I ;P=I checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999168y@ @@0@Ա^Ax=I I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250466j!%,ņlLA2h@24=2#Zٱ2=2H+?f,r@ ??`A]'?º?`a?i2h@I2o];2TCY>By>!IiMMb@Mb@Mb@IIII I9M r?Q?y&1|?YM?yM9Y=Ey*E:E>ԹQ 54em?Q 94Ir)BY?Q E:y>Q I0@rDI;i;z4yɮAE EE!E"E:*Ex:VEc3ZEa@a@a@a@:iFNOT Ignoring new targets: 153.33 m."i1*i1 ProNav: ac range: 153.333359 m, nav range: 151.857468 m, bearing: 6.872533 deg, approach rate: -0.501352 m/s, LOS rate: -0.004049 deg/s, cmd heading: 5.520129 deg, new cmd heading: 5.516605 deg. iHeadingCmd: 0.096283 target range: 153.333359 and range: 153.90 m.h/=hhhhggjgrg/BereZe:e*e@qɢu>)} }Zpiy)} Cyyi}|i/=xϡ=޿=I/=IV>i>U9@aulG{A @q/9{AY}A@?0@@A@E=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502633^A! I I O >9 BM [>BI BM LIBM BBM =BI BI BM ;BM 7E/'%,ӣlLA6!@6=69ٱ6=6H? G}@?˰?%9C?t?`?i6!@I6g];6SCYBByB7I DDbDNVDN°8yV=%VX=ٔVړQ-V>9XYX=ZEyZ.EZg:E^>`Q 5f4bgm?Q 9f4bq)bBYdyf>Q If0@brDIbk:ibb:bG4ynBɮnkAnE:iFNOT Ignoring new targets: 153.33 m."i *i  ProNav: ac range: 153.333359 m, nav range: 151.665619 m, bearing: 6.870956 deg, approach rate: -0.556769 m/s, LOS rate: -0.004580 deg/s, cmd heading: 5.516605 deg, new cmd heading: 5.513448 deg. i%HeadingCmd: 0.096228 target range: 153.333359 and range: 153.90 m.h%=h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5@M@aɢe )a eMia)mCiiim;iu=u}ǡ=uV=Iu=I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7547059@ @@05@AE EE%E"E:*Ec:VE 4ZEBE?8 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006460ԙ [-%,!lLA}@}ƭ=}ٱ}=}H@Z?<|@W໣? 5? @~m?惺??i}@I}];}RCYBy<IiiMb@Mb@Mb@ 9L7A`?ˡE?9Y=Ey2EE>Q 54m?Q 94p)BY?Q E:yZ$>Q I0@rDI;i;4yɮGAB*** querying acoustic contact ***ii:i FNOT Ignoring new targets: 153.33 m."i*i- ProNav: ac range: 153.333359 m, nav range: 151.417038 m, bearing: 6.867137 deg, approach rate: -0.525968 m/s, LOS rate: -0.008094 deg/s, cmd heading: 5.513448 deg, new cmd heading: 5.505798 deg. i-l-HeadingCmd: 0.096094 target range: 153.333359 and range: 153.90 m.h5=h1h1h1h1g1g1jg9rg=1Be9re9ZeA:eA*eE  @qɢu9w)q uEiq)ujXDyyi}i=W=I=I=9@9 @9@=?5@9mBDAT read: Rx Time:04:21:05.5243 uTRx dataTimestamp_ set to:1764908467.092746uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.261616ԑE EE(E"Es:*E:VEc44ZEa@a@a@a@^A} Ď=I I O > C4%,;VlLA:@:ծ=:<ٱ:=:H@?`砷6$3ŵ?@?``Y?`1x? d?i:@I:C];:QCYFByFYIbDNVDN8yV/ >%Vs=ٔVۺQ-Z?9XYX=ZEyZ6E^:E^?`Q 5f4bm?Q 9f4bo)b%BYdyf$>Q Ij0@brDIb:ib:bf4ynBrchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.514625ɮvAvE:i FNOT Ignoring new targets: 153.33 m."iN*iN% ProNav: ac range: 153.333359 m, nav range: 151.239960 m, bearing: 6.864374 deg, approach rate: -0.525672 m/s, LOS rate: -0.008213 deg/s, cmd heading: 5.505798 deg, new cmd heading: 5.500265 deg. i%~p-HeadingCmd: 0.095998 target range: 153.333359 and range: 153.90 m.h-u=h)h1h1h1g9gAjgIrgQeQreaZea:ei*eu^e @% Bɢ-%p)A EiA)EFDAAiEiuu=ui=uw=Iuu=IyB<A<BY>BLCBlIB̀BB =BBB ;B7EqDAT read: 04:21:05.5243 LVL= 24864, 32753, 23858, 32755, AGC= 67, IDX= 409,-0.49,-1.757, 2.878,-1.632,-2.195, PHS= 0.541,-1.165, 0.519, RAW= 149.4, 1.3, CAL= 148.4, 0.9, ROT= 1.6, -0.9 Ygot valid direction response: 04:21:05.5243 LVL= 24864, 32753, 23858, 32755, AGC= 67, IDX= 409,-0.49,-1.757, 2.878,-1.632,-2.195, PHS= 0.541,-1.165, 0.519, RAW= 149.4, 1.3, CAL= 148.4, 0.9, ROT= 1.6, -0.9 PDAT read: Bearing 176.1, 5.7 (Local)  ~Local bearing/azimuth received: Bearing 176.1, 5.7 (Local)  DAT read: Range 11 to 50 : 152.0 m (Round-trip 202.7 ms) speed 0.4 m/s  (DAT read: user:40>  BDAT read: Tx time:04:21:06.6174  $Ping request sent. =>9\Y\=^Ey^;Ebe9Eb>dQ 5f4f n?Q 9j4fn)f3BYhyj%>Q Ij0@frDIf;if;fs4ypɮrApiQiULlLAjUoC"jUoC:jU="pU|>gb@֏j;@Ggk@pUM[??F?y&?*jU<2jU*pUfb@ 0@ct~+@pUZ?U}ar?Ϥp?jUA jUCiUqa?iUCjUBjUqa?jU<jU+BrjUCzjU"1= addTargetRange:: Added new target pos. range: 152.000000 m, deltaT: 3.783600 s, deltaX: -1.899994 m, approachRate: -0.502166 m/s, rangeRepo size: 4  Added new target pos. range: 151.434067 m, bearing: 6.406920 deg, lat: 36.779404 deg, lon: -121.859605 deg, deltaT: 3.783600 s, deltaX: -1.899292 m, approachRate: -0.501980 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 151.43 m."i*i ProNav: ac range: 151.434067 m, nav range: 150.875565 m, bearing: 6.663765 deg, approach rate: 0.000000 m/s, LOS rate: -0.008213 deg/s, cmd heading: 5.500265 deg, new cmd heading: 5.491455 deg. iHeadingCmd: 0.095844 target range: 151.434067 and range: 152.00 m.hI=hhhhg!g!jg!rg!e)reIZeI:eMc@*eU`n?颙ɢ g)  i)y`E顡iLiI==3=II=IA ] 9@a  @a @e /@a D zD AAE  E E E "E ;*E :VE ZE a @a @a @a @ԉ ^A ~4=ԙA؟AIIO?}E%,xmLA>@>@=>zٱ>H=>H@>?`췿f ?@9?&۲?j??i>@I>];>UCYJҀByJrIi%Mb@Mb@Mb@!!!! !9%S㥛?V-?~jtx?Y%$?y%m=%;%@%A % A)%&A!Y%AbD}VD}8yCC=%=ٔ~Q->9"?Y"?=EyAE:E>Q 54%n?Q 94%m)ABY?Q E:yH>Q I0@rDIq+;iu*;4yBɮ)AE:iFNOT Ignoring new targets: 151.43 m."iᕹ*iᕹ ProNav: ac range: 151.434067 m, nav range: 150.586502 m, bearing: 6.655050 deg, approach rate: -0.542198 m/s, LOS rate: -0.016380 deg/s, cmd heading: 5.491455 deg, new cmd heading: 5.473990 deg. i﹝HeadingCmd: 0.095539 target range: 151.434067 and range: 152.00 m.h=hhh h g g jg rg4BereZe:e*eq?E BɢMa)I M iI)MEIQiUiU=]=]=I]=IYaaii!BS>BBIBBB =BB̺DB;B7EI@ @@@y EE  EE EE $EA "EE :*EE i:VEE 4ZEA BEE +vL%,G4mLAYByIbDVD8y-L=%-8=ٔ-Q-5>95 ?Y5 ?=5Ey5EE=E=>IQ 5U4M8n?Q 9U4Mk)MMBYQyQQ I]0@MrDIM:iM:M4yaɮe AeE:iFNOT Ignoring new targets: 151.43 m."i*i  ProNav: ac range: 151.434067 m, nav range: 150.353134 m, bearing: 6.647988 deg, approach rate: -0.508381 m/s, LOS rate: -0.015407 deg/s, cmd heading: 5.473990 deg, new cmd heading: 5.459846 deg. i ṝHeadingCmd: 0.095292 target range: 151.434067 and range: 152.00 m.h(=hhhhggjgrg!e!re!Ze!:e!*e-C?U BɢU\)Q ]iY)])FYYi]0ie(=eq=e!=Im(=IiIq)utA@ @@0@ @%=@%=^Av=9A) IA Ia O} >a bEJ4jE( 4rE).0E  E E E "E :*E VE ZE a @a @a @a @FRS%,NMmLA>@>@=>ٱ>t=>H? aPv{? ?K i?u?@y?i>@I>P];>RCYJByJI LLPRAiMb@Mb@Mb@ 9"~j?Q?y&1|?YS?y\=`;nA | A)Y(A11bD=VD=8yMω=%MJ=ٔMÒQ-M>9QYQ=UEyUIEU;E]>aQ 5e4eIn?Q 9m4ej)eXBYm?Q Em:ymc>Q Im0@erDIe:ie:e4yqɮE AB*** querying acoustic contact ***ii:iAEFNOT Ignoring new targets: 151.43 m."iEػ*iMػQ} ProNav: ac range: 151.434067 m, nav range: 150.146423 m, bearing: 6.639573 deg, approach rate: -0.503527 m/s, LOS rate: -0.020528 deg/s, cmd heading: 5.459846 deg, new cmd heading: 5.442991 deg. i}F}HeadingCmd: 0.094998 target range: 151.434067 and range: 152.00 m.h_=hhhhggjgrgZBereZe:e*ed?E BɢEV)A MpiI)M6^FIi i_=(==I_=IuT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.%PExceeded connect timeout, disconnecting.A@A @I@I@IԁB=I>B=KCB=IB=BB= =B9B=˺DB=;B=67EBLCBLCBǔCB =B =COS5Ա^A =A ؟A I I O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998782|Y%,lgmLAN@N=N@ٱN]=NH`? Xyr͸?`?@`?@w?j?iN@IN ];NQCYZByZIbDjVDj8y~BA=%~P=ٔQ- >9"?Y"?=EyME;E>)Q 554-Zn?Q 9=4-i)-bBYAyEd>Q IE0@-rDI-sp;i-^q;-4yQɮU AY:iFNOT Ignoring new targets: 151.43 m."iUȹ*iUȹ ProNav: ac range: 151.434067 m, nav range: 149.943024 m, bearing: 6.631195 deg, approach rate: -0.530816 m/s, LOS rate: -0.021893 deg/s, cmd heading: 5.442991 deg, new cmd heading: 5.426213 deg. iD HeadingCmd: 0.094705 target range: 151.434067 and range: 152.00 m.h=hhhhggjgrgereZe:e*eĮ@E EE&E"E:*EAr:VE4ZEBE#9 `%,WCmLA2"@2@c=2sӗٱ2I=2H@i?5ڸd@? ?&?|?i?i2"@I2Q\;2SCY>By91Y1==Ey=QE=;E=>AQ 5M4Eln?Q 94EIh)EnBY[?Q E:yf>Q I0@EsDIEAi >E9@A @I@M?5@I@Q@QE= E=E9E9"E=:*E=ga:VE9ZE9aE@aE@aM@aM@^AeԘ=! E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755124A I I O > nManaging dock network, ignoring radio surface power offf%,mLA6@6@X=6ٱ6=6H? b;2?f?t'Ӳ? }?@?i6@I6{\;4YRByRIIV=)V=Z=Z=bD^VD^8yf<%fT=ٔfZ:Q-j>9hYh=jEyjUEn\";En>pQ 5v4r|n?Q 9v4rg)rxBYtyzg>Q Iz0@rsDIr:ir:r4y|ɮ~ AE:i!%FNOT Ignoring new targets: 151.43 m."i-й*i-й= ProNav: ac range: 151.434067 m, nav range: 149.529526 m, bearing: 6.613721 deg, approach rate: -0.535698 m/s, LOS rate: -0.022804 deg/s, cmd heading: 5.408140 deg, new cmd heading: 5.391216 deg. i=&EHeadingCmd: 0.094094 target range: 151.434067 and range: 152.00 m.hE=hAhAhAhIgIgIjgIrgIeQreQZeQ:eQ*e]@颅BɢQ) xi)F顉iIi==Ŝ=I=IBD>BJCBIB)BBBBB ;B6E59@1 @1@5k4@1iBDAT read: Rx Time:04:21:09.2218 TRx dataTimestamp_ set to:1764908470.622765checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007738ԁ^A}D=E} E}E}"Ey"E}:*E}:VE}(3ZEyBEya2EyaJE};a:E};aA ԩ I I O >tl%,mLA2 @2K=2eٱ2L=2HV?@o*?Ǫ?`M`?e?ࢽ?i2 @I2\;2RC@YBByFIbDNVDN8yV<%VL=ٔV:Q-Z>9XYX=ZEyZYE^l;E^>`Q 5f4bn?Q 9f4be)bBYdyfh>Q Ij0@bsDIb:ib\:b4ylɮn Al:iFNOT Ignoring new targets: 151.43 m."i ˹*i ˹ ProNav: ac range: 151.434067 m, nav range: 149.323532 m, bearing: 6.604827 deg, approach rate: -0.515135 m/s, LOS rate: -0.022272 deg/s, cmd heading: 5.391216 deg, new cmd heading: 5.373404 deg. %checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258835i #HeadingCmd: 0.093784 target range: 151.434067 and range: 152.00 m.h=hhhhggjgrgereZe:e*e.[ @颍BɢcN) 0i)NFii=R=꼟=I=IԱ9@ @@4@ DAT read: 04:21:09.2218 LVL= 28960, 32753, 27826, 32755, AGC= 67, IDX= 415,-0.39, 0.686,-1.017, 0.818, 0.192, PHS= 0.596,-1.164, 0.582, RAW= 149.6, -0.2, CAL= 148.6, -0.7, ROT= 1.4, 0.7  Ygot valid direction response: 04:21:09.2218 LVL= 28960, 32753, 27826, 32755, AGC= 67, IDX= 415,-0.39, 0.686,-1.017, 0.818, 0.192, PHS= 0.596,-1.164, 0.582, RAW= 149.6, -0.2, CAL= 148.6, -0.7, ROT= 1.4, 0.7 % PDAT read: Bearing 173.1, 5.5 (Local) % ~Local bearing/azimuth received: Bearing 173.1, 5.5 (Local) - DAT read: Range 11 to 50 : 150.1 m (Round-trip 200.2 ms) speed 0.4 m/s 5 (DAT read: user:41> = BDAT read: Tx time:04:21:10.3174 = $Ping request sent.= s%,MmLAB@B=B@ٱB=BH?@9`(⯿ 'ɷ?ө?bq?Ǵ?|?iB@IB\;BQCXYb BybI pr#CEGYq9Y AiMb@Mb@Mb@ 9+?x&?Yv>y7=@| A f A)AYAbDVD8y]<%'=ٔ!9Q->9Y=Ey^EEV:EE>IQ 5M4M(n?Q 9U4Mkd)MBYUb?Q EU:yUh>Q IU0@M,sDIM:iM:M4yɮl AEii4mLAjC"jC:j="p xfWb@<9 @`:pϦ?,WE?I:*j+<2j+H<*p]مb@%_#1@$"@paNԚ?B2hO?q)?jA j.Ci;7i?iͪjBjjUjrj#Czj@=} addTargetRange:: Added new target pos. range: 150.100006 m, deltaT: 3.527567 s, deltaX: -1.899994 m, approachRate: -0.538613 m/s, rangeRepo size: 4  Added new target pos. range: 149.535217 m, bearing: 6.813800 deg, lat: 36.779404 deg, lon: -121.859599 deg, deltaT: 3.527567 s, deltaX: -1.898849 m, approachRate: -0.538289 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 149.54 m."i*i ProNav: ac range: 149.535217 m, nav range: 149.140076 m, bearing: 6.794372 deg, approach rate: 0.000000 m/s, LOS rate: -0.022272 deg/s, cmd heading: 5.373404 deg, new cmd heading: 5.350507 deg. iHeadingCmd: 0.093384 target range: 149.535217 and range: 150.10 m.h@=hhhhggjgrgABereZe:e@3b@*eL?uBɢuVfK)q u iq)}Fyyi}&i@=:==I@=I M9@I @I@M05@I@Q@U=B3>BHCBIB=BB =BBɺDB~;B5E1 ^Am `=Au >Au >a A I I O >z%,mLAEJ EJEJ&EH"EJ:*EJga:VEJ4ZEHBEJF-9iYi=uEyubEu;Eu>yQ 54}Qn?Q 94}>c)}BYyj>Q I0@}9sDI}I;i}3;}f4yɮ^ AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 149.54 m."ij͹*ij͹ ProNav: ac range: 149.535217 m, nav range: 148.944351 m, bearing: 6.786012 deg, approach rate: -0.524898 m/s, LOS rate: -0.022448 deg/s, cmd heading: 5.350507 deg, new cmd heading: 5.333766 deg. iU$HeadingCmd: 0.093092 target range: 149.535217 and range: 150.10 m.h榾=hhhhggjgrgereZe:e*el?Bɢ%K)! %i!)%{F))i-"i-榾=5ꅡ=5=I5榾=I11@1 @1@5/@1T****** 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= >댁%,ˀnLAR-@R=RٱR=RH?t~~?ȥ?˼ ??@`?iR-@IR2];PY^ By^Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.994642imMb@Mb@Mb@iiii i9mMb?Dl?Ym?ymO=iimA m A)mnAiYmAbDVDð8y,<%G=ٔ;Q->9Y=EygEL5;E>Q 54on?Q 94a)BY?Q E:ywn>Q I0@GsDI:i: 4yɮL A:iFNOT Ignoring new targets: 149.54 m."i˹*i˹ ProNav: ac range: 149.535217 m, nav range: 148.724854 m, bearing: 6.776292 deg, approach rate: -0.501904 m/s, LOS rate: -0.022257 deg/s, cmd heading: 5.333766 deg, new cmd heading: 5.314298 deg. i"HeadingCmd: 0.092752 target range: 149.535217 and range: 150.10 m.h=hhhhggjgrg6Be re Ze :e *eD5?=Bɢ=K)A EriA)EGAAiEiM=Y]k=]N)=I]=IaDzD@AE EEE"El;*Ex:VEZEa@a@a@a@9@ @@0@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.246587^A ا=ԩ I I O >B% />B! B% IB% LBB% =B! B! B% };B% b5ED%,q nLA<>4@>=><ٱ>=>H3? oظ??`ȼ??Ž?i>4@I>\];>TCYJByJIbDRVDR8y 2<% U=ٔ :Q- >9Y=EyjE;E>!Q 5-4%7n?Q 9-4%`)%BY)y-\o>Q I-0@%RsDI%;i%;%I4y9ɮ=% A=E:iaeFNOT Ignoring new targets: 149.54 m."im͹*im͹} ProNav: ac range: 149.535217 m, nav range: 148.545761 m, bearing: 6.768280 deg, approach rate: -0.501654 m/s, LOS rate: -0.022472 deg/s, cmd heading: 5.314298 deg, new cmd heading: 5.298253 deg. i}$HeadingCmd: 0.092472 target range: 149.535217 and range: 150.10 m.ha=hhhhggjgrgereZe:e*e` ?BɢgI) i) Gigia=&==Ia=I@ @@/@@@vAԱ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499520E EE"E"Es:*EL_:VE(3ZEBEi0  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750576+%,G:nLA2;@2@=2jJٱ256=2H@?`ں wԭ0?P?`Ӽű?(?@?i2;@I24];2RCYNByNIIR=)R<bDVVDVư8y^\{<%^O=ٔb:Q-b>9`Y`=bEyfnEf;Ef>lhQ 5r4jn?Q 9r4j_)jBYpyr0p>Q Ir0@j_sDIj~(;ijh:j)4yxɮz Ax:iFNOT Ignoring new targets: 149.54 m."i%/Ϲ*i%/Ϲ- ProNav: ac range: 149.535217 m, nav range: 148.348358 m, bearing: 6.759363 deg, approach rate: -0.500602 m/s, LOS rate: -0.022642 deg/s, cmd heading: 5.298253 deg, new cmd heading: 5.280396 deg. i5%HeadingCmd: 0.092160 target range: 149.535217 and range: 150.10 m.h=hhhhggjgrgereZe:e*e{?BɢNkH) i)GIQiUi==ܫ=I= IA@ @@/@iI-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0047011D =D <E  E E $E "E ;*E |:VE 4ZE a @a @a @a @^A p=Y I I O >ɔ%,TnLA2B@2=2iԌٱ2=2H`|?e$I?`B? I꼿 ?@??i2B@I2fa];2SCYNByRIi%Mb@Mb@Mb@!!!! !9%{Gz?ˡE?~jtxY%?y%'=%Ļ%V@%| A % A)!!Y%A9bDVD8y<%==ٔ:Q->9Y=EysE[;E>Q 54n?Q 94^)BYD?Q E:y7>Q I0@msDI:i:4yɮ AE:iFNOT Ignoring new targets: 149.54 m."iSa*i Sa ProNav: ac range: 149.535217 m, nav range: 148.125320 m, bearing: 6.754042 deg, approach rate: -0.515337 m/s, LOS rate: -0.012312 deg/s, cmd heading: 5.280396 deg, new cmd heading: 5.269739 deg. iBHeadingCmd: 0.091974 target range: 149.535217 and range: 150.10 m.h%]=h!h!h!h!g!g!jg)rg-!Be)re)Ze1:e1*e5@eBɢeFH)a e@ia)mGiiim^}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255179i]==Υ=I]=I@ @@/@iB.>BGCBIBQBB =BBBs|;B4Eԙ^A)IIO>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507751 F%,+mnLAEB EBEB!E@"EB:*EB&p:VEBc3ZE@BEBx9pYt=vEyvwEv:Ev>xQ 5~4z4o?Q 94z])zBYyT8>Q I0@zzsDIz;iz] ;zY4y ɮ  A-B*** querying acoustic contact ***i)i):i9=FNOT Ignoring new targets: 149.54 m."iEb*iEbM ProNav: ac range: 149.535217 m, nav range: 147.930618 m, bearing: 6.749352 deg, approach rate: -0.513726 m/s, LOS rate: -0.012393 deg/s, cmd heading: 5.269739 deg, new cmd heading: 5.260345 deg. iUr]HeadingCmd: 0.091810 target range: 149.535217 and range: 150.10 m.h]=hYhYhYhYgYgajgargaeareiZei:ei*em@L@ԑ额BɢJ"F) O;i)4G顡ii=̞=.=I=Ii@i @i@m/@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758570^A"=A>A>II O>! ۡ%,ˇnLA2uI@2=2nٱ22=2H ~?4>@)}?M?o rJ?`A[?F?i2uI@I2ci];2TCYR"ByRI XXvchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011397iMb@Mb@Mb@ 9#~j? rh?y&1|Y?yC =` A " A)@YzAbD VD 8y<%8=ٔ%:Q-%>9!Y!=%Ey%{E-aM:E->1Q 5=45o?Q 9=45\)5ƆBY=.?Q EE:yE *>Q IE0@5sDI5:i5R:54yIɮM AI:iquFNOT Ignoring new targets: 149.54 m."i}3*i}3 ProNav: ac range: 149.535217 m, nav range: 147.698441 m, bearing: 6.745002 deg, approach rate: -0.523480 m/s, LOS rate: -0.009822 deg/s, cmd heading: 5.260345 deg, new cmd heading: 5.251632 deg. i͏HeadingCmd: 0.091658 target range: 149.535217 and range: 150.10 m.hU=hhhhggjgrgBereZe:e*e/@BɢC) >y B )>B B IB VBB =B B ȺDB a{;B 04EBHCBHCBB =B =Cb5%,;nLA2G@2P=2(ٱ2=2H`?,pp? ?@!?`V?`?i2G@I2!{];2RCYN#ByRIbDZ&VDZϰ8yb<%bc=ٔb;:Q-f>9dYd=fEyfEj|Ej>lQ 5r4n+)o?Q 9r4n[)n̆BYpyr)>Q Iv0@nsDIn;in';nf 4yxɮz Ax:iFNOT Ignoring new targets: 149.54 m."i/3*i/3 ProNav: ac range: 149.535217 m, nav range: 147.510422 m, bearing: 6.741484 deg, approach rate: -0.522655 m/s, LOS rate: -0.009791 deg/s, cmd heading: 5.251632 deg, new cmd heading: 5.244588 deg. iYHeadingCmd: 0.091535 target range: 149.535217 and range: 150.10 m.hv=hhhhggjgrgereZe:e*e K @QBɢ$QC) Q  DAT read: 04:21:12.9192 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 421,-0.28, 2.124, 0.529, 2.295, 1.722, PHS= 0.504,-1.148, 0.528, RAW= 150.7, 1.4, CAL= 149.6, 1.0, ROT= 0.4, -1.0  Ygot valid direction response: 04:21:12.9192 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 421,-0.28, 2.124, 0.529, 2.295, 1.722, PHS= 0.504,-1.148, 0.528, RAW= 150.7, 1.4, CAL= 149.6, 1.0, ROT= 0.4, -1.0  PDAT read: Bearing 173.3, 4.4 (Local)  ~Local bearing/azimuth received: Bearing 173.3, 4.4 (Local)  DAT read: Range 11 to 50 : 148.2 m (Round-trip 197.6 ms) speed 0.4 m/s  (DAT read: user:42> % BDAT read: Tx time:04:21:14.0174 % $Ping request sent.% 9Y=EyE2R:E>Q 54Q I0@sDIw:i :4yɮ AEiinLAjC"jC:jp="pMusb@mO|?MҜ@p~?ZD|?W7) ߑ?*j;Ա2j5*p|?wIb@η.@nJ(@p2׳?N7Ⱥ?pZ?j%wA jKCi d?ijBj d?jjBrjPCzj= addTargetRange:: Added new target pos. range: 148.199997 m, deltaT: 3.780050 s, deltaX: -1.900009 m, approachRate: -0.502641 m/s, rangeRepo size: 4 e Added new target pos. range: 147.634232 m, bearing: 6.027248 deg, lat: 36.779405 deg, lon: -121.859599 deg, deltaT: 3.780050 s, deltaX: -1.900986 m, approachRate: -0.502900 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 147.63 m."i*iM ProNav: ac range: 147.634232 m, nav range: 147.312668 m, bearing: 6.735890 deg, approach rate: 0.000000 m/s, LOS rate: -0.009791 deg/s, cmd heading: 5.244588 deg, new cmd heading: 5.235580 deg. iQHeadingCmd: 0.091378 target range: 147.634232 and range: 148.20 m.hr$=hhhhggjgrge re Ze:e`fb@*ewK?颅BɢC)  XF׵%,nLA2 L@2]=2Sٱ2=2H`@?,G ?@ʡ?@ϰ?Xx??i2 L@I2\];0Y>,By>IIB=)Bp<%}7=ٔ}l:Q-}>9Y=EyEc9E>ԑQ 54Oo?Q 94Y)چBY?Q E:y >Q I0@sDI:i:4yɮX A:iFNOT Ignoring new targets: 147.63 m."i^*i^ ProNav: ac range: 147.634232 m, nav range: 147.077362 m, bearing: 6.733966 deg, approach rate: -0.558340 m/s, LOS rate: -0.004573 deg/s, cmd heading: 5.235580 deg, new cmd heading: 5.231726 deg. iHeadingCmd: 0.091311 target range: 147.634232 and range: 148.20 m.h.=hhhhggjgrgBereZe:e *e a?5Bɢ=]?)9 =BBIB[BB =BBB5{;B4EԹ^Ax=IqIO> EE  EE EA EA "EE ;*EE i:VEA ZEA BEE tT9Y=EyEE>Q 54!co?Q 94Y)BYy[ >Q I0@sDI:i:$4yɮ@ AEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 147.63 m."i%*i%5 ProNav: ac range: 147.634232 m, nav range: 146.844025 m, bearing: 6.732098 deg, approach rate: -0.524772 m/s, LOS rate: -0.004208 deg/s, cmd heading: 5.231726 deg, new cmd heading: 5.227984 deg. i5i=HeadingCmd: 0.091246 target range: 147.634232 and range: 148.20 m.h=޺=h9h9hAhAgAgAjgArgIeIreIZeI:eQ*eU ?颅 Bɢ?) ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244340%,p& oLA2?@2=2󊅽ٱ2=2H?@Jغ@+?j?@W?j#?T?i2?@I2[];2RC :C)8:T88<>n~Ai>`eI<ByZIi=Mb@Mb@Mb@9999 99=S㥛?{Gz?Y=?y=#<==@= A =A)=@9Y=\AE EE!E"E:*Ez:VEc3ZEa@a@a@a@bDU VDU8y==%=S=ٔ=F:Q-=>9AYA=EEyEEM6EM>QQQ 54Uso?Q 94U}X)UBY?Q E:yq=Q I0@UsDIUB ECB 'IB fBB =B B ǺDB {;B _4E^A Ia Iq O > W%,&oLA2C3@2+=2Wٱ2@=2H ? htū͸?&? B? Ѹ??i2C3@I2^];0YBBy%I ))bD5VD58yuق<%}X=ٔ9Q->9Y=EyE'xE>Q 54lo?Q 94W)BYy=Q I0@sDIAp;i9 <%,?oLA2 /@2@=2"ٱ2=2H`z?@R@g?`?EY?G?@?i2 /@I2C];2SCYHByIbD-VD-8y=<%=N=ٔ=9Q-=>9AYA=EEyEEM᪺EM>QQ 5m4Uo?Q 9m4UCW)UBYyy}p=Q I0@UsDIU;iUS;U84yɮ| AE:i!UFNOT Ignoring new targets: 147.63 m."i]*6*ie*6 ProNav: ac range: 147.634232 m, nav range: 146.242020 m, bearing: 6.732273 deg, approach rate: -0.465773 m/s, LOS rate: 0.000285 deg/s, cmd heading: 5.228085 deg, new cmd heading: 5.228335 deg. i7HeadingCmd: 0.091252 target range: 147.634232 and range: 148.20 m.h%&=h!h)h)h)g1g1jg9rg9eAreAZeI:eI*eU`@颥#BɢW3) =i)>F顱i i&=ա=1=I&=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255241959@1 @1@5 3@1E% E%E%&E!"E%:*E%g:VE%4ZE!a5@a5@a5@a5@a ^A= \=ԑ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507033A I I O >%,\oLA2,@2@=2؄ٱ2 i=2H?K???[By>IiUMb@Mb@Mb@QQQQ Q9Uw/?Q?YU?yUu9Y=EyER*E>Q 54̩o?Q 94xV)BY?Q E:y=Q I0@sDI:i:@4yɮ A:iFNOT Ignoring new targets: 147.63 m."i*i ProNav: ac range: 147.634232 m, nav range: 145.999451 m, bearing: 6.731578 deg, approach rate: -0.591838 m/s, LOS rate: -0.001698 deg/s, cmd heading: 5.228335 deg, new cmd heading: 5.226943 deg. iFHeadingCmd: 0.091227 target range: 147.634232 and range: 148.20 m.hjպ=hhhhggjgrgBere AAB>BB4IBpBB =BBBC|;B4EZe :ei*eu@颹ɢ<&) =i) Eiqijպ=١=S=Ijպ=I9@ @@4@@@zAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758965I^AAzAE  E E E "E V:*E VE ZE BE 9q %,@voLA2 *@2=2n;ٱ2=2H0?f* ?z?`j@}?@?@t?i2 *@I2\;0Y>XByBIIFJ>)F=bDJ VDJ8yRGu%RZ=ٔVQ:Q-V>9TYT=VEyZEZGXEZ>\Q 5b4^Ho?Q 9b4^U)^BYdyf=Q If0@^tDI^+;i^;^{G4yhɮj AjE:i|~FNOT Ignoring new targets: 147.63 m."iԷ*iԷ ProNav: ac range: 147.634232 m, nav range: 145.802292 m, bearing: 6.731036 deg, approach rate: -0.526109 m/s, LOS rate: -0.001449 deg/s, cmd heading: 5.226943 deg, new cmd heading: 5.225857 deg. i)HeadingCmd: 0.091208 target range: 147.634232 and range: 148.20 m.hz˺=hhhhg!g!jg!rg!e)re)Ze):e)*e- @$Bɢ&) <=i)pEixiz˺=ݡ=3ة=Iz˺=IY}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011236u9@q @q@}/@yԁ^Ap=ԹI I O >- BDAT read: Rx Time:04:21:16.6166 5 TRx dataTimestamp_ set to:1764908478.1867655 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264082 %, oLAD0zD2AAE6 E6E4E4"E6 :*E6~:VE4ZE4a:@a:@a:@a:@YfgByf*IiUMb@Mb@Mb@QQQQ Q9UPn?I +?y&1|?YU?yU99Y=EyEE>Q 54o?Q 94U)BY:?Q E:y >Q I0@tDI;i;O4yɮ AB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 147.63 m."iV*iV ProNav: ac range: 147.634232 m, nav range: 145.580139 m, bearing: 6.729311 deg, approach rate: -0.514139 m/s, LOS rate: -0.003998 deg/s, cmd heading: 5.225857 deg, new cmd heading: 5.222402 deg. i$긝HeadingCmd: 0.091148 target range: 147.634232 and range: 148.20 m.hܫ=hhhhggjgrgBereZe:e *e X @Աɢ ) >i)Diiܫ=7= =Iܫ=I9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515459B%>B!B%MIB%BB% =B%?DB!B%|;B%4E^A I I) OU >9 D %,xoLA2,@2=2}ٱ2"=2H@? zIr??6Ɍ??`Z?i2,@I2\;0YZxByZ?IbDbVDbð8DAT read: 04:21:16.6166 LVL= 29264, 32753, 28450, 31619, AGC= 66, IDX= 411,-0.39,-0.748,-2.398,-0.596,-1.149, PHS= 0.503,-1.204, 0.509, RAW= 150.2, 2.3, CAL= 149.1, 2.0, ROT= 0.9, -2.0 %Ygot valid direction response: 04:21:16.6166 LVL= 29264, 32753, 28450, 31619, AGC= 66, IDX= 411,-0.39,-0.748,-2.398,-0.596,-1.149, PHS= 0.503,-1.204, 0.509, RAW= 150.2, 2.3, CAL= 149.1, 2.0, ROT= 0.9, -2.0 -PDAT read: Bearing 171.7, 4.8 (Local) 5~Local bearing/azimuth received: Bearing 171.7, 4.8 (Local) EDAT read: Range 11 to 50 : 146.3 m (Round-trip 195.1 ms) speed 0.5 m/s M(DAT read: user:43> UBDAT read: Tx time:04:21:17.7174 ]$Ping request sent.]9Y=EyEH:E>Q 54o?Q 943T)BYy >Q I0@!tDI;iq;V4yɮAEm EmEiEi"Emm:*Em[:VEiZEiBEmUiQ)]PDYYi]Die=e=eЪ=Ie=Iiԩ)@) @)@-2@)@5=@1 ^A =A A >IQ Ii Ou >%,L4oLABd)@B=BٱB>=BH-?%.4{`?r?e`ȍ?|?g?iBd)@IBX\;BQCYR{ByRBI` llbD VD 8yP<%[=ٔ'Q- >99YY=eEymE}E>Q 541o?Q 94uS)"BYy` >Q I0@.tDI0p;ip;]4yBɮAE:iAMFNOT Ignoring new targets: 145.74 m."im ظ*im ظ} ProNav: ac range: 145.736145 m, nav range: 145.008423 m, bearing: 6.252970 deg, approach rate: -0.534387 m/s, LOS rate: -0.005903 deg/s, cmd heading: 5.218659 deg, new cmd heading: 5.214089 deg. i},HeadingCmd: 0.091003 target range: 145.736145 and range: 146.30 m.h_=hhhhggjgrgereZe:e*e@?iI5%Bɢ5O)1 5Z,>i1)=C99i=DiE_=E=E=IE_=II9@ @@/@bE-4jE4rE/E EE%E"E:*E n:VE 4ZEa@a@a@a@^AE 벫=I I I O >*%,oLA6(@6=6ٱ63=6H@k?P(@+JI|?r? L,u???i6(@I6\;6SCYBByBgIi Mb@Mb@Mb@     9 ~jt?+?I +?Y ?y = 94< @ A A) ?@ Y AbD- VD-8y5$>%=T=ٔ=:Q-=>9AYA=EEyEEMEM>IQ 5]4Mp?Q 9]4MR)M+BY]?Q E]:ye,>Q Ie0@M:tDIM[;iM;Md4yiɮmAi:iFNOT Ignoring new targets: 145.74 m."i%e*i%e ProNav: ac range: 145.736145 m, nav range: 144.823914 m, bearing: 6.248615 deg, approach rate: -0.529898 m/s, LOS rate: -0.012521 deg/s, cmd heading: 5.214090 deg, new cmd heading: 5.205370 deg. iQHeadingCmd: 0.090851 target range: 145.736145 and range: 146.30 m.h=hhhhB>BBlIBBB =BBƺDB|;B4EBECBECBCB =B =Cc55ggjgrg#BereZe:e*e? ɢ~2) 2h>i)CiHi%=%=%b=I%=I)I@ @@@ԁ^A=E  E E !E "E :*E n:VE c3ZE BE 5"U%,oLA2-@2=2˂ٱ2=2H@D?@TE@`A?`(?V?h{?@ܿ?i2-@I25\;2RCY>By>hIbDFVDF8yNS;%NU=ٔR>:Q-R>9R ?YR ?=VEyVEV׫:EV>XQ 5^4Z p?Q 9^4ZQ)Z5BY`ybG->Q Ib0@ZGtDIZ;iZ;Zj4ydɮfAfE:ixzFNOT Ignoring new targets: 145.74 m."i~b*i~b  ProNav: ac range: 145.736145 m, nav range: 144.625580 m, bearing: 6.243883 deg, approach rate: -0.516833 m/s, LOS rate: -0.012350 deg/s, cmd heading: 5.205370 deg, new cmd heading: 5.195892 deg. i ϴHeadingCmd: 0.090685 target range: 145.736145 and range: 146.30 m.hG=hhhhgygjgrgereZe:e*e@?)ɢ5$7)1 ]j>iY)]0kBaaiekieG=m-=m=ImG=Iii@i @i@m/@i@uzA@qԡ^Au벫=AyAzAA ؟AI I O > =%,CpLAE& E&E&'E$"E&:*E&c:VE&'4ZE$a*@a*@a*@a*@>Q/@>/=>ٱ> n=>HY? R`@N??`Z0? r?@J?i>Q/@I>\;iMb@Mb@Mb@ 9%C?v/?y&1?YZ?yxi=`e<@ A jA)l@YAbD5VD58yE=%E@=ٔE{:Q-E>9M"?YM"?=MEyMEU(:EU>QQ 5e4U5#p?Q 9e4UP)U@BYe3?Q Ee:yemP>Q Ie0@UUtDIU:iU:U1r4yqɮu)AqB*** querying acoustic contact ***ii:i%FNOT Ignoring new targets: 145.74 m."i%*i%U ProNav: ac range: 145.736145 m, nav range: 144.406555 m, bearing: 6.235641 deg, approach rate: -0.495095 m/s, LOS rate: -0.018659 deg/s, cmd heading: 5.195892 deg, new cmd heading: 5.179383 deg. iU]HeadingCmd: 0.090397 target range: 145.736145 and range: 146.30 m.h]6"=hYhYhahagagajgirgmSBeireiZei:ei*e \?ɢs)+ >i)hAii 6"=-=5$=I56"=I19@ @@/@mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.B>BDCBIBBBBBB|;B4E1^A ʞ=AA IY Y Iq O > g %,+pLA6.2@6@=6므ٱ6-=6H@N?>gv@=Ƹ??@aG? ?`3?i6.2@I6Ȭ\;4i`IbAfchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.999911Y-By-IbDMVDMɰ8ye6=%eH=ٔm:Q-m>9iYq=uEyuEu`:E}>Q 544p?Q 94vO)KBYyP>Q I0@btDI:i:Wy4yBɮAE:iFNOT Ignoring new targets: 145.74 m."iк*iк ProNav: ac range: 145.736145 m, nav range: 144.195724 m, bearing: 6.227655 deg, approach rate: -0.538192 m/s, LOS rate: -0.020416 deg/s, cmd heading: 5.179383 deg, new cmd heading: 5.163388 deg. isHeadingCmd: 0.090118 target range: 145.736145 and range: 146.30 m.hُ=hhhhggjgrgereZe:e*e`p@1yɢ}i) T>i)@顁iiُ==(=Iُ=IEe EeEe(Ea"Ee:*Ee~:VEec44ZEaBEe N%,|EpLA2:@2=2 ~ٱ2m=2H ?M ?`C?bԯ?`0?@By>IbDVVDV8y^ =%^U=ٔb:Q-b>9`Yd=fEyfEfZ6;Ef>hQ 5n4jEp?Q 9n4jgN)jUBYpyrQ>Q Ir1@jotDIj;ij;j4ytɮvAt:iԹFNOT Ignoring new targets: 145.74 m."i"*i"5 ProNav: ac range: 145.736145 m, nav range: 143.998871 m, bearing: 6.220101 deg, approach rate: -0.458270 m/s, LOS rate: -0.017609 deg/s, cmd heading: 5.163388 deg, new cmd heading: 5.148260 deg. i5=HeadingCmd: 0.089854 target range: 145.736145 and range: 146.30 m.h=j=h9h9h9h9gAgAjgArgAeIreIZeI:ei*emx@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503276&Bɢb) >i ) |?  i ij={==Ij=I !@) @)@-0@)@5=@5=Ee EaEe%Ea"Eem:*EaVEe 4ZEaam@am@am@am@-MGE{AY9{AY[A ^A% =A- >A- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7556229 AQ Ia Iq O} >%,_pLA2F@2 =2{ٱ2 =2H@? j4j?`ޞ? s?#?s?i2F@I2\;2OCYrāByrI ttimMb@Mb@Mb@B}>ByB}IB}ՁBByByByB};};B} 5Eiiii i9mK7A?L7A`?y&1?Ym ?ym+=im@mA mA)m?@iYmAbDVD8y\=%9=ٔ:Q->9Y=EyEAW;E>Q 54qWp?Q 94M)aBY0?Q E:yf>Q I1@}tDI;i;4yɮA:i FNOT Ignoring new targets: 145.74 m."i*i󹝏 ProNav: ac range: 145.736145 m, nav range: 143.775864 m, bearing: 6.209656 deg, approach rate: -0.567412 m/s, LOS rate: -0.026616 deg/s, cmd heading: 5.148259 deg, new cmd heading: 5.127338 deg. iBHeadingCmd: 0.089489 target range: 145.736145 and range: 146.30 m.hE=hhhhggjgrgOBereZe:e*e%.@颉ɢVɼ) M>i)q>顑i~iE===IE=I9BDAT read: Rx Time:04:21:20.3139 TRx dataTimestamp_ set to:1764908481.719674checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013172EM  EM EI EI "EM a:*EM [:VEI ZEI BEM (́By>IbDFVDFp8yN=%N$=ٔR:Q-R>9PYP=VEyVEVD;;EV>XQ 5^4Z=lp?Q 9^4ZK)ZnBY`yb_h>Q Ib1@ZtDIZ:iZ:Ze4ydɮf?Ad:iquFNOT Ignoring new targets: 145.74 m."i}չ*i}չ ProNav: ac range: 145.736145 m, nav range: 143.524353 m, bearing: 6.197698 deg, approach rate: -0.490399 m/s, LOS rate: -0.023357 deg/s, cmd heading: 5.127338 deg, new cmd heading: 5.103379 deg. i*}HeadingCmd: 0.089071 target range: 145.736145 and range: 146.30 m.h}j=hhhhggjgrgereZe:e*e] @ԩ'Bɢ ׼) q>i)n5=iX!i j===Ij=I! (DAT read: 04:21:20.3139 LVL= 26736, 32097, 24370, 32755, AGC= 68, IDX= 416,-0.39,-0.176,-1.783, 0.007,-0.550, PHS= 0.476,-1.188, 0.513, RAW= 151.1, 2.4, CAL= 150.0, 2.1, ROT= 0.0, -2.1 Ygot valid direction response: 04:21:20.3139 LVL= 26736, 32097, 24370, 32755, AGC= 68, IDX= 416,-0.39,-0.176,-1.783, 0.007,-0.550, PHS= 0.476,-1.188, 0.513, RAW= 151.1, 2.4, CAL= 150.0, 2.1, ROT= 0.0, -2.1 %PDAT read: Bearing 170.0, 3.7 (Local) %~Local bearing/azimuth received: Bearing 170.0, 3.7 (Local) 5DAT read: Range 11 to 50 : 144.3 m (Round-trip 192.4 ms) speed 0.4 m/s 5(DAT read: user:44> =BDAT read: Tx time:04:21:21.4173 =$Ping request sent.EibS?(@+=6'@ Q =)IQ a?P?D0Cc?  ?)&+IiQ m:publishing transmit ping time9mFpublishing direction and range infoy-?(א¢?Y )Ii )Ia?P?D0Cc? )Ii@ @@/@DazDaEu EuEu$Eq"Eu:*Eu~:VEu4ZEqa}@a}@a}@a}@ԁ ^A *=ԩ A .AI I O% >&%,|BpLAY܁ByIiMb@Mb@Mb@ 9)\(?/$?{Gz?YG?y=#<" A =A)(@YAbDVDd8y6u=% +=ٔ Q- >9  ?Y ?=EyEE>Q 5%4p?Q 9%4I){BY-?Q E-:y-Ԇ>Q I-1@tDI:i:4y1ɮ5A=Ei9i=pLAj=C"j=C:j=Ks="p=w a@6K@p=-?(א¢?*j=2j=Q *p=-tya@脮+@BCCBIBBB =BBźDB};B45EHeadingCmd: 0.088692 target range: 143.741684 and range: 144.30 m.h:=hhhhggjgrgWBereZe:e b@*e@Vb?颵(Bɢs) [>i)>;iU$i:=(=|=I:=I M 9@I  @Q @U /@Q @] yA@Y E  E E &E "E a:*E k:VE 4ZE BE a 2E a JE Ҽ;a :E Ҽ;a 9 ^Au 箵=A} xAzA} wAiA؟AIIO?a.%,GvpLAB]@B=B|rٱB=BH@?, "?њ?m@CT?g?Ӽ?iB]@IB\;BPCYNӁByNIIR=)R4<bDZVDZ8y^%b+=ٔbbf;Q-b>9b"?Yf"?=fEyfEfW?;Ej>hQ 5n4j“p?Q 9n4j@H)jBYpyr>Q Ir1@jtDIj:ij.:j 4ytɮzAzE B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 143.74 m."i%"*i%"5 ProNav: ac range: 143.741684 m, nav range: 143.000870 m, bearing: 6.113097 deg, approach rate: -0.507220 m/s, LOS rate: -0.032377 deg/s, cmd heading: 5.081686 deg, new cmd heading: 5.051049 deg. i5m=HeadingCmd: 0.088157 target range: 143.741684 and range: 144.30 m.h=㋴=h9h9h9h9g9gAjgArgAeIreIZeI:eI*eMఘ?yɢ}i/ļ)y }>iy)֭:顁i:&i㋴=5=) =I㋴=I@ @@/@^AM=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 >DM =DM <EU  EU EU #EQ "EU :*EU z:VEU 3ZEQ am @au @au @au @&5%,9+pLA2B^@2@=2doٱ2PC=2H@ ?@Dz +&??7? ̼??i2B^@I2\;2RCYB݁ByBIi Mb@Mb@Mb@     9 L7A`?{Gz?{Gz?Y +?y ף=  t@ A A) @ Y @bDuVDu8y:=%?=ٔ:Q->9Y=EyE9E>Q 54Kp?Q 94F)BY?Q E:y3>Q I1@tDIA:ik:4yɮA:iFNOT Ignoring new targets: 143.74 m."i# *i#  ProNav: ac range: 143.741684 m, nav range: 142.776154 m, bearing: 6.100049 deg, approach rate: -0.526692 m/s, LOS rate: -0.030630 deg/s, cmd heading: 5.051049 deg, new cmd heading: 5.024912 deg. i9`HeadingCmd: 0.087701 target range: 143.741684 and range: 144.30 m.h=hhhhgg jg rg >Be reZe:e*e?E)BɢMF)I M>iI)Mr9IQiUM(i]=]#C=]z=I]=IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247743Q9@ @@0@BE<AE<BM >BIBMIBMBBM =BIBIBM};BMW5Ey^AOo=ԩ Aa I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499186;%,]pLA2K\@2m=2L|lٱ2g=2H`?󜻿[[??`U?0??i2K\@I2)\;2QCByBIbDJVDJ8yR)=%RY=ٔR ;Q-R>9TYT=VEyVEZC'EZ>\Q 5b4^p?Q 9b4^xE)^BY`yb>Q Ib1@^tDI^~:i^:^4yhɮjAjEE~ E~E~%E|"E~:*E~x:VE~ 4ZE|BE~iy)}Q8yyi})<*iɲ=N=ݺ=Iɲ=I9@ @@W0@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751239^A`=AA>A .A I I! O- >@B%, qLAlchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0055969U@= Jjٱ =H`?V IW ޹? ?*E?Χ??i9U@I\;Y5By5I 99i Mb@Mb@Mb@     9 x&1? rh?~jth?Y A?y C= D;   A &A)  Y \@bD%VD%8y5ɭ<%5'=ٔ5:Q-5>9= ?Y= ?==Ey=EEEE>IQ 5U4Mp?Q 9U4MC)MBYUo?Q EU:y]p>Q I]1@MtDIM;iM:M4yaɮeWAa:iFNOT Ignoring new targets: 143.74 m."i*i𹝏 ProNav: ac range: 143.741684 m, nav range: 142.334152 m, bearing: 6.075796 deg, approach rate: -0.503217 m/s, LOS rate: -0.026319 deg/s, cmd heading: 5.001871 deg, new cmd heading: 4.976332 deg. i@HeadingCmd: 0.086853 target range: 143.741684 and range: 144.30 m.h.=hhhhggjgrgFBereZe:e*e@+Bɢ) >i) 6i,i.=]=g=bEû 4jE( 4rEÒ0E  E E $E "E >:*E e:VE 4ZE a@a@a@a@I.=Iu9@q @q@u/@q)% 6?% =- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255409^AE t=a B= >B= DCB= IB= BB= =B9 B= ƺDB= };B9 BDCBDCBB =B =C)N5A I I O >j3I%,S&qLA2K@2>=2>gٱ2/=2H? R_h? ?@h?@? R?i2K@I2n\;2PCY>By>IbDVٿVDV8ybb=%fs=ٔf;Q-f?l9lYp=rEyrEvcEv?yQ 54}p?Q 94}B)}BYyo>Q I1@}tDI},;i}$;}׽4yɮ A:iFNOT Ignoring new targets: 143.74 m."i*i깝 ProNav: ac range: 143.741684 m, nav range: 142.155945 m, bearing: 6.066541 deg, approach rate: -0.493186 m/s, LOS rate: -0.025645 deg/s, cmd heading: 4.976332 deg, new cmd heading: 4.957799 deg. i;%HeadingCmd: 0.086530 target range: 143.741684 and range: 144.30 m.h%6=h!h!h!h!g)gIjgIrgIeQreQZeQ:eQ*e]`@颥,Bɢ?)I Mz>iI)Mp5IQiU.i]6=]#i=]^=Ie6=Ii-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5079939@ @@0@E EE%E"E:*E:VE 4ZEBE+ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759138P%,^@qLA2@@2}=2O,dٱ2r=2HX?ۇ=P;??@2@Á? K?s?i2@@I2͕\;2OCYNByRIbDZտVDZ8ybP%bK=ٔb:Q-b>9f"?Yf"?=fEyfEf\Ej>hQ 5r4jQp?Q 9r4jA)jBYpyrn>Q Ir1@jtDIj';ij;j4ytɮz+Ax B*** querying acoustic contact ***i i 9:iFNOT Ignoring new targets: 143.74 m."i1*i1﹝ ProNav: ac range: 143.741684 m, nav range: 141.964798 m, bearing: 6.056689 deg, approach rate: -0.506435 m/s, LOS rate: -0.026140 deg/s, cmd heading: 4.957799 deg, new cmd heading: 4.938066 deg. i[?HeadingCmd: 0.086186 target range: 143.741684 and range: 144.30 m.h=hhhhggjgrge re Ze :e *e @@]-Bɢ]<)a ea>ia)eXn4aaie|0im=m s=m:=Iu=Ii9@ @@?5@@@yAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013504ԑ^A A zA xAE  E E &E "E :*E xv:VE 4ZE a @a @a @a @ Ay I I O >@V%,29ZqLA:8@:z=:pbٱ:@j=:HS?@@;`I?`?`Ź_J? z??i:8@I:}}\;:RCYJByJIIN>)N9QYQ=UEyUEUEU>aQ 5e4ep?Q 9m4e@)eBYmj?Q Em:ymP>Q Im1@etDIe :ie:e4yqɮ}A}Eԙ:iFNOT Ignoring new targets: 143.74 m."i&*i& ProNav: ac range: 143.741684 m, nav range: 141.743393 m, bearing: 6.047891 deg, approach rate: -0.524930 m/s, LOS rate: -0.020889 deg/s, cmd heading: 4.938066 deg, new cmd heading: 4.920445 deg. iHeadingCmd: 0.085878 target range: 143.741684 and range: 144.30 m.h=hhhhggjgrgi) 3i2i = }=M=IU=IQB >BB IBBB =BBB/};B5E@ @@"5@^A- d=U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516086! A} .AI I O >j\%,tqLA22@2 =2oaٱ2=2H`?l(͸?߯? L*?`ek? /?i22@I2N|\;2QCYNByRIbDZVDZ8Eb EbE`E`"Eba:*Ebk:VE`ZE`BEb(9v ?Yv ?=vEyvEzE~>Q 54 q?Q 94h?)BYyO>Q I1@ uDIi)+1i4iJ=C=wi=IJ=I)ߥ=ߥ%=DAT read: 04:21:24.0114 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 422,-0.32, 2.552, 0.949, 2.716, 2.163, PHS= 0.491,-1.169, 0.509, RAW= 150.5, 2.0, CAL= 149.5, 1.7, ROT= 0.5, -1.7 Ygot valid direction response: 04:21:24.0114 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 422,-0.32, 2.552, 0.949, 2.716, 2.163, PHS= 0.491,-1.169, 0.509, RAW= 150.5, 2.0, CAL= 149.5, 1.7, ROT= 0.5, -1.7 PDAT read: Bearing 168.1, 3.9 (Local) ~Local bearing/azimuth received: Bearing 168.1, 3.9 (Local) DAT read: Range 11 to 50 : 142.4 m (Round-trip 189.9 ms) speed 0.5 m/s (DAT read: user:45> BDAT read: Tx time:04:21:25.1173 $Ping request sent.4݁? `?YfC )AIZd>@ @!@%5@!iˡM?0(@5=<&@ <)54݁? `?Y )Ii )I(f?gàj??Z1Q? )IiQ^AE G=ԁ A ؟AI I O >c%,쇏qLAԑGYzAy%9%zAY-=AiMb@Mb@Mb@ 9L7A`?Mb?~jthY+?y@=DA )@Y@bDVD8ye:%%=ٔQ->9"?Y"?=EyEE>E EE$E"EV:*EAr:VE4ZEa@a@a@a@Q 5%4o"q?Q 9%4#>)ɇBY%?Q E-:y->>Q I-1@uDI;iΣ;`4y1ɮ5A5EiiqLAj C"j C:j!="pa@4݁? `?*j5<2j*pTP#8a@`w%-@5X-3(@pl\3ֶ?^=?i)10项iO 7iS===IS=I@ @@+5@@=@=B B B  IB 'BB =B B B |;B 4E^A õ=A >A > A .AI I! O5 >MMj%,5qLAYzByzI bDݿVD8y5<%=Y=ٔ9Q-E>9E ?YE ?=MEyMEQEU>YQ 5m4]3q?Q 9m4])=)]χBYqyqQ Iu1@])uDI]1M;i]NN;]4yɮA:iFNOT Ignoring new targets: 141.85 m."i(*i( ProNav: ac range: 141.848801 m, nav range: 141.073929 m, bearing: 5.900272 deg, approach rate: -0.532440 m/s, LOS rate: -0.018049 deg/s, cmd heading: 4.888047 deg, new cmd heading: 4.874512 deg. i HeadingCmd: 0.085076 target range: 141.848801 and range: 142.40 m.hz<=hhhhggjgrgereZe:e*e?3Bɢf~[) >i)/!i%8i%z<=iiImAn==Iz<=IAy@y @y@/@EE EEEE"EA"EE:*EEga:VEE(3ZEABEEU0q%,vqLA2#@2U=2Yٱ26=2HE?@fKJZX?ϱ?ϊ@[-?T?Q?i2#@I2D];2PCY>By>IbDJVDJ8yN8=%RU=ٔR[;Q-R>9TYT=VEyVEV,EV>XQ 5^4ZCq?Q 9b4Z0<)ZՇBY`yb<>Q Ib1@Z5uDIZ;iZM;Z4ydɮfAhvB*** querying acoustic contact ***itit:i|yFNOT Ignoring new targets: 141.85 m."iȡ*iȡ ProNav: ac range: 141.848801 m, nav range: 140.872803 m, bearing: 5.893594 deg, approach rate: -0.531757 m/s, LOS rate: -0.017680 deg/s, cmd heading: 4.874512 deg, new cmd heading: 4.861138 deg. ilHeadingCmd: 0.084843 target range: 141.848801 and range: 142.40 m.h­=hhhhggjg!rg!e!re)Ze):e)*e-lg?颽4Bɢm) >i)-i3 ;i­=ɥ=jz=I­=Iy@y @@@ԩT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Em EmEm%Ei"EmI:*EmV:VEm 4ZEiau@a}@a}@a}@^Aa  A ؟AI I O >XZw%,qLA2@2=2gVٱ2J=2H@?`@`@0?Ѳ?+`@ɪ?0??i2@I2Y/];2RCYIbonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 74.83, 82.65, 81.29, :WI,-32768,-32768,-32768,-32768,V ab@ab ab@ab ab@ab af@af bDjVDj8rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500171yvuM;%vF=ٔz:Q-z>9z"?Yz"?=zEyzE}E}>Q 54Vq?Q 94;)ۇBQ A+:YQ E:y:<>Q I1@DuDIZ:i>4yɮAE:iFNOT Ignoring new targets: 141.85 m."if*if- ProNav: ac range: 141.848801 m, nav range: 140.644394 m, bearing: 5.886046 deg, approach rate: -0.522913 m/s, LOS rate: -0.017310 deg/s, cmd heading: 4.861138 deg, new cmd heading: 4.846016 deg. i-p5HeadingCmd: 0.084579 target range: 141.848801 and range: 142.40 m.h57=h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eE`?B >BCCB! IB1BB =BBźDB|;B4E55Bɢ5k)1 5h>i1)=@O,99i=!=iE7=E=EEI=IE7=III)wA A@A @A@E/@A@I@MxA1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752132^A =Ee  Ee Ee $Ea "Ee >:*Ee T:VEe 4ZEa BEe }%,GqLAB@B =B[TٱB=BH? sإ?`?<z???iB@IB/];BQCYRByRIIT)V>bDXVDXyb>=%bM=ٔfw:Q-f>9dYd=jEyjEj #Ej>lQ 5r4ndgq?Q 9r4n :)nBQ Av :YtQ Ev:yv@;>Q Iv1@nQuDIn:inP?n#4yxɮz;Ax:i%FNOT Ignoring new targets: 141.85 m."i%*i%5 ProNav: ac range: 141.848801 m, nav range: 140.443909 m, bearing: 5.879478 deg, approach rate: -0.533339 m/s, LOS rate: -0.017497 deg/s, cmd heading: 4.846016 deg, new cmd heading: 4.832862 deg. i5=HeadingCmd: 0.084349 target range: 141.848801 and range: 142.40 m.h=Z=h9hAhAhAgAgAjgIrgIeIreIZeI:eQ*eU?16BɢU+) >i)+i?iZ===IZ=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004592@ @@/@aԉ^AZ=A I IQ Ou > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258317 q%,vrLAnI@n=nVTٱn=nH?`f?`?@޲ɇ??9?inI@InB];lYzByzIa}a} a}a} a}a} a}a} i}Mb@Mb@Mb@yyyy y9}J +?X9v?~jtx?Y}?y}<};}^@}A }@)yyY}@bDۿVD8y<%<=ٔ9Q->9Y=Ey E mE>Q 54zq?Q 9469)BQ AT:Y?Q E:y>Q I1@`uDI%;i ;4yɮAED zD E EE#E"E:*E:VE3ZEa@a@a@a@ԁ:iFNOT Ignoring new targets: 141.85 m."i45*i45 ProNav: ac range: 141.848801 m, nav range: 140.212402 m, bearing: 5.874946 deg, approach rate: -0.505000 m/s, LOS rate: -0.009901 deg/s, cmd heading: 4.832862 deg, new cmd heading: 4.823784 deg. iHeadingCmd: 0.084191 target range: 141.848801 and range: 142.40 m.hHl=hhhhgg!jg!rg-!Be)re)Ze):e)*e5 ,@7Bɢb) >i)/h)  i TpAi Hl=c=]=IHl=I@ @@@Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508065B>BB( IB6BBBBB1};B5E^A = A) I9 IQ Oe >%,,rLAZ@Z@F=ZQٱZ=ZH?H@/8?y?@//? ?@?iZ@IZE];ZPCYj Byj IbDzٿVDz8y=% T=ٔ :Q- >9Y=EyE/:E>Q 5-4ыq?Q 9-4e8)BY)y->Q I-1@muDI;i ;t4y1ɮ=A9:iYeFNOT Ignoring new targets: 141.85 m."ie_O*im_Ou ProNav: ac range: 141.848801 m, nav range: 140.007172 m, bearing: 5.870864 deg, approach rate: -0.568817 m/s, LOS rate: -0.011331 deg/s, cmd heading: 4.823784 deg, new cmd heading: 4.815607 deg. iu她}HeadingCmd: 0.084048 target range: 141.848801 and range: 142.40 m.h}v!=hyhhhggjgrgereZe:e*e@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760000颙ɢhڻ) >i) (顡iqCiv!=/Ǣ==Iv!=I C>i >u9@q @q@u/@q@}=@}=E EEE"E:*E:VEZEBE3 < BDAT read: Rx Time:04:21:27.7089  TRx dataTimestamp_ set to:1764908489.023054 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013396A! I) IA O >~%,DFrLA6r@6@7=6Pٱ6=6H`?g"錄 5?@? ? u`? ?i6r@I6W];4Yr/Byr I tt|~AbD VD 8y-5=%-I=ٔ5v:Q-5>99YA=EEyEEM:EM>YQ 5m4]q?Q 9m4]7)]BYiym.>Q Iu1@]{uDI]-;i]!.;]4yyɮ}/AyB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 141.85 m."iC*iC ProNav: ac range: 141.848801 m, nav range: 139.789551 m, bearing: 5.866483 deg, approach rate: -0.530363 m/s, LOS rate: -0.010693 deg/s, cmd heading: 4.815607 deg, new cmd heading: 4.806831 deg. iHeadingCmd: 0.083895 target range: 141.848801 and range: 142.40 m.h)ѫ=hhhhggjgrgereZe:e*e*G @8Bɢ)  6>i ) &  i Ei)ѫ=Ϣ=G=I)ѫ=IQ@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267625y^A=D9D==bEJ4jEǔ4rE/Eu EuEu(Eq"Euy:*EuP:VEuc44ZEqa@a@a@a@ԩ A I I O- >%,\`rLA2\$@2q=2Mٱ2T=2Hm?଎\?@n?ٺU??+?i2\$@I2VK];2RC@Y>.By@bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516128i%Mb@Mb@Mb@!AaAaB}>B}BCB}4 IB}@BByByB}ĺDB}};B}I5EBCCBCCBB =B =CY 5!!! !9%w/?Zd;O?91Y1=5Ey5E=::E=>AQ 5M4Edq?Q 9M4E^6)EBYUq?Q EU:yU8>Q I]1@EuDIEIS;iE^;E4yqɮu4AuEԱ:iMFNOT Ignoring new targets: 141.85 m."iU*iUe ProNav: ac range: 141.848801 m, nav range: 139.543945 m, bearing: 5.858583 deg, approach rate: -0.519022 m/s, LOS rate: -0.016724 deg/s, cmd heading: 4.806831 deg, new cmd heading: 4.791004 deg. ieHeadingCmd: 0.083619 target range: 141.848801 and range: 142.40 m.hT@=hhhhggjgrg9BereZe:e*e< @ 9Bɢ $)  >i)]$iiHiT@=fܢ=.g=IT@=IA9@ @@0@DAT read: 04:21:27.7089 LVL= 25840, 31361, 25890, 31091, AGC= 65, IDX= 412,-0.29,-0.649,-2.261,-0.484,-1.052, PHS= 0.505,-1.164, 0.524, RAW= 150.6, 1.6, CAL= 149.4, 1.3, ROT= 0.6, -1.3 Ygot valid direction response: 04:21:27.7089 LVL= 25840, 31361, 25890, 31091, AGC= 65, IDX= 412,-0.29,-0.649,-2.261,-0.484,-1.052, PHS= 0.505,-1.164, 0.524, RAW= 150.6, 1.6, CAL= 149.4, 1.3, ROT= 0.6, -1.3 PDAT read: Bearing 167.2, 3.5 (Local) ~Local bearing/azimuth received: Bearing 167.2, 3.5 (Local) DAT read: Range 11 to 50 : 140.6 m (Round-trip 187.5 ms) speed 0.3 m/s (DAT read: user:46> BDAT read: Tx time:04:21:28.8173 $Ping request sent.d%,:\|rLAB'@B@=B&KٱB==BHc?ह@y1v? ٬?@)b?ι?#?iB'@IBb:];BLCY=By0 IbDVD8y<=%:=ٔ:Q->9 ?Y ?=EyE%l:E%>)Q 554-q?Q 954-F5)- BY1y5K9>Q I=1@-uDI-:i-h:-h4yAɮEAAiyi}qrLAj} C"j} C:j}*="p}Ol?a@;'}u?] Mk @p} Aq?Ylp?NGY;?*j}+<2j}޹*p}Y]a@Ƞ`3,@8i~$@p}=?FtŅ?!?j}gA j} Ci}n5?i}{Aj}Bjyjyjyrj}P Czj}$= addTargetRange:: Added new target pos. range: 140.600006 m, deltaT: 3.779609 s, deltaX: -1.799988 m, approachRate: -0.476237 m/s, rangeRepo size: 4  Added new target pos. range: 140.051422 m, bearing: 5.957254 deg, lat: 36.779405 deg, lon: -121.859618 deg, deltaT: 3.779609 s, deltaX: -1.797379 m, approachRate: -0.475546 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 140.05 m."i*i ProNav: ac range: 140.051422 m, nav range: 139.313446 m, bearing: 5.851107 deg, approach rate: 0.000000 m/s, LOS rate: -0.016724 deg/s, cmd heading: 4.791004 deg, new cmd heading: 4.776498 deg. iHeadingCmd: 0.083366 target range: 140.051422 and range: 140.60 m.h==h9h9hAhAgAgAjgArgIeIreIZeI:eM@3a@*eU@?ɢt) ?i)"iJi==x=I=I@ @@/@A ^A =q A! E5  E5 E5 #E1 "E5 :*E5 c:VE5 3ZE1 a= @a= @a= @a= @IA IQ Oe >ӥ%,prLA2 1@2=2Iٱ21=2H@?@@ݣ¸?@?M@e1?.? ?i2 1@I2E];2PC 8):Z~A:`廩88<>j~Ai>tI<91Y11==Ey= E=8;E=>AQ 5M4Eq?Q 9M4E84)EBY ?Q E:y;>Q I1@EuDIE2'i)v!!i]9Mi4==U=I4=I߭>߭B-ACB-G IB-OBB- =B)B-úDB-~;B-a5E9@9 @A@E/@Aԉ^A% = Ay I I O >%%,rLA28@2a=2;Gٱ2#=2H"? 2(@>K? ?,?Bp?i?i28@I29];2NCYjCByj7 IbDv VDv8yz =%~Z=ٔ~:Q-~>9Y=Ey$E;E > Q 54 wq?Q 94 @3) BYy<>Q I1@ uDI h:i : &4y!ɮ-A):iIUFNOT Ignoring new targets: 140.05 m."iUG*iUGe ProNav: ac range: 140.051422 m, nav range: 138.893509 m, bearing: 5.836951 deg, approach rate: -0.553905 m/s, LOS rate: -0.018827 deg/s, cmd heading: 4.761783 deg, new cmd heading: 4.748143 deg. i HeadingCmd: 0.082871 target range: 140.051422 and range: 140.60 m.h!=hhhh!g!g!jg)rg)e)re)Ze):e1*e5o?Aaɢeh)a mc?ii)miiimOiu!=u=u`ӻ=Iu!=IyE EE$E"E2:*E?:VE4ZEBE$*Ae>ԙA ؟AI I O > k%,rLA6?@6@G=6Fٱ6v{=6H ?d}L 6??>Ψ? ??i6?@I6C];6RCYVByO IbD-VD-8y=A=%EG=ٔEU0:Q-E>9E"?YM"?=MEyM(EM;EM>QQ 5]4Uq?Q 9e4U.2)U&BYayen=>Q Ie1@UuDIU;iU;UG-4yiɮmAqB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 140.05 m."iͨ*iͨ ProNav: ac range: 140.051422 m, nav range: 138.673645 m, bearing: 5.829384 deg, approach rate: -0.535110 m/s, LOS rate: -0.018447 deg/s, cmd heading: 4.748143 deg, new cmd heading: 4.732984 deg. i eHeadingCmd: 0.082606 target range: 140.051422 and range: 140.60 m.hek-=hahihihiggjgrgԹiIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. )5CeI3G/{A-5Are1]ɤ9]/{AY]AZe9:e*e?y? AAɢEЋa)A E ?iI)M"RIIiMoRiUk-=U=U"Խ=IUk-=IYE EE&E"Em:*E:VE4ZEa@a@a@a@9@ @@/0@  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752779^A ˺=B >B @CB ` IB dBB =B B B };B >5EA A] .AIi I O >Bչ%,%>rLA2A@2=2,Dٱ2_=2H? 3k 0B??`; ??!?i2A@I2b ];0Y>PBy>H Inonly read 0 of 1 data item for water mass range. Device response is::WD, +0.00, + , 20.00,1981.12 ar@ar ar@ar ar@ar ar@ar tv@AbDvVDv8y~%~:=ٔ:Q->9 ?Y  ?= Ey ,E n9E >Q 54Br?Q 94 1)0BQ A+:Y!Q E%:y%=>Q I%1@uDI1:i>|34y)ɮ-#A1:iQUFNOT Ignoring new targets: 140.05 m."i]*i]  ProNav: ac range: 140.051422 m, nav range: 138.438812 m, bearing: 5.821258 deg, approach rate: -0.535968 m/s, LOS rate: -0.018577 deg/s, cmd heading: 4.732984 deg, new cmd heading: 4.716706 deg. i HeadingCmd: 0.082322 target range: 140.051422 and range: 140.60 m.hv=hhh9hAgAgAjgIrgIeIreQZeQ:eQ*e]8?ɢ`:)  ?i)  i Ti v==6t=Iv=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004755@ @ @ @5@ Ee EeEe!Ea"Ee:*EeL_:VEec3ZEaBEe#A%,sLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260616R6C@R(=RCqAٱRȪ=RH@?w @+S?j?@$`+?@W?`_?iR6C@IRt!];ROCYbTBybL IbDjVDj8yr]<%rM=ٔr:Q-v>9v"?Yv"?=vEyv0Ez+:Ez>|Q 54~r?Q 94~0)~9BQ A :YQ E:y=>Q I 1@~uDI~;i~V?~ 84yɮ AE:i9=FNOT Ignoring new targets: 140.05 m."iE*iEM ProNav: ac range: 140.051422 m, nav range: 138.225845 m, bearing: 5.813843 deg, approach rate: -0.535643 m/s, LOS rate: -0.018680 deg/s, cmd heading: 4.716706 deg, new cmd heading: 4.701852 deg. iUUHeadingCmd: 0.082063 target range: 140.051422 and range: 140.60 m.hU=hYhYhYhYgYgajgargaeareiZei:ei*em`@频ɢC;)  ?i) 顡i4Wi=)=a=I=I9Q@Q @Q@U3@Y@Y@]zAa^A=AwAzAxAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.514991ԙA I I O >E  E E $E "E 2:*E i:VE 4ZE a @a @a @a @Թ %,sLA2;B@2=2K?ٱ2=2H?om@[@K?,?л@)?`ʽ?3?i2;B@I2B];0YN^ByNY IIR>)Rp=a-a- a-a- a-a- a-a- i-Mb@Mb@Mb@)))) )9-uV?l?9Y=Ey5EE>Q 543r?Q 94.)BBQ AT:Y ?Q E:yp>Q I1@uDI:i;?4yBɮAE:i!%FNOT Ignoring new targets: 140.05 m."i-*i-= ProNav: ac range: 140.051422 m, nav range: 137.994934 m, bearing: 5.800975 deg, approach rate: -0.531637 m/s, LOS rate: -0.029677 deg/s, cmd heading: 4.701852 deg, new cmd heading: 4.676073 deg. i=>YEHeadingCmd: 0.081613 target range: 140.051422 and range: 140.60 m.hE$=hAhAhAhAgAgIjgargmNBeqreqZey:ey*e}o@ԑ颩ɢX[:) ?i)顱iYi$=9==I$=I5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764468)@) @1@53@1Be>BeACBes IBesBBe =BaBaBe};Be;5E^AmO=Ia Iy O > BDAT read: Rx Time:04:21:31.4062  TRx dataTimestamp_ set to:1764908492.806762 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017617 ( %, 6sLA2ZF@2=2.<ٱ2=2H?`il?@^?:?ݺ? ?i2ZF@I2{>];2NCY>_By>Z I DF<bDJVDJ8yR;%R_=ٔV:Q-V>9TYT=VEyZ9EZ:EZ>\Q 5b4^/Cr?Q 9b4^_-)^JBYdyfq>Q If1@^uDI^.:i^:^ F4yhɮjAh:i|~FNOT Ignoring new targets: 140.05 m."i*i ProNav: ac range: 140.051422 m, nav range: 137.799881 m, bearing: 5.790031 deg, approach rate: -0.532095 m/s, LOS rate: -0.029897 deg/s, cmd heading: 4.676073 deg, new cmd heading: 4.654154 deg. iZE9 E=E=%E9"E9*E=ga:VE= 4ZE9BE=#*%,PsLA DAT read: 04:21:31.4062 LVL= 30048, 32753, 29666, 32755, AGC= 70, IDX= 416, 0.32, 2.024, 0.351, 2.227, 1.643, PHS= 0.483,-1.246, 0.540, RAW= 151.6, 2.6, CAL= 150.5, 2.2, ROT= 359.5, -2.2 Ygot valid direction response: 04:21:31.4062 LVL= 30048, 32753, 29666, 32755, AGC= 70, IDX= 416, 0.32, 2.024, 0.351, 2.227, 1.643, PHS= 0.483,-1.246, 0.540, RAW= 151.6, 2.6, CAL= 150.5, 2.2, ROT= 359.5, -2.2 PDAT read: Bearing 168.3, 2.4 (Local) ~Local bearing/azimuth received: Bearing 168.3, 2.4 (Local) DAT read: Range 11 to 50 : 138.5 m (Round-trip 184.7 ms) speed 0.1 m/s M(DAT read: user:47> UBDAT read: Tx time:04:21:32.5189 U$Ping request sent.Ui|q= ?V)@9=0(@ nF=)^@InF*t#ӭ9??5B?X? : ?)7IDinF:publishing transmit ping timeQFpublishing direction and range infoyȃn? V`ہ.?Y )Ii )I*t#ӭ9??5B?X? )IiEM EMEM#EI"EM:*EM[:VEM3ZEIaU@aU@aU@aU@ԑiMb@Mb@Mb@ 9(\?Mb?Mbp?Y?y=;@&A @)Y@bD=VD=8yy*%=ٔQ->9Y=Ey?EE>Q 54'_r?Q 9 4n+)UBY ?Q E :y _>Q I 1@vDIp;i;1Q4yBɮAEiiSsLAj C"j C:j@ձ="pн|z4;a@݉H\?󿃋A.@pȃn? V`ہ.?*jD2jnF*pa@۝3d'@G&@pB?k'?:(L?j>A jCiBM DCBM  IBM }BBM =BI BM ƺDBM M};BM 5E @  @ @ 0@ @ =@ > ^A]*=Ae>Ae?IIO?}%,qsLA6J@6=64ٱ6.=6H`+?@P0?`?o`~?`k??i6J@I6];6QCYB^ByBY IbDJ VDJ8yR܀<%R=ٔR;Q-V?9TYT=VEyVBEZ :EZ?\Q 5b4^kr?Q 9b4^*)^ZBY`yf[`>Q If1@^vDI^:i^:^0V4yhɮjAB*** querying acoustic contact ***ii:i FNOT Ignoring new targets: 137.96 m."i*i繝 ProNav: ac range: 137.957092 m, nav range: 137.369156 m, bearing: 5.763461 deg, approach rate: -0.510194 m/s, LOS rate: -0.025336 deg/s, cmd heading: 4.615003 deg, new cmd heading: 4.599979 deg. i%x9%HeadingCmd: 0.080285 target range: 137.957092 and range: 138.50 m.h%Yl=h)h)h)h)g)g)jg1rg1e1re1Ze9:e9*e=oC?M %, sLA2fG@24=20ٱ20i=2H?gu?? }?`]?E?i2fG@I2J];2RCYNWByRP ITVAAbDZVDZ8`yfp%fH=ٔf8:Q-f>9hYh=jEyjFEnUEn>pQ 5v4r}r?Q 9v4rR))raBYtyv`>Q Iv1@r(vDIr:ir:rQ]4y|ɮ~ A~E:i!%FNOT Ignoring new targets: 137.96 m."i-*i-5 ProNav: ac range: 137.957092 m, nav range: 137.153305 m, bearing: 5.752746 deg, approach rate: -0.566477 m/s, LOS rate: -0.028165 deg/s, cmd heading: 4.599979 deg, new cmd heading: 4.578515 deg. i=.NHeadingCmd: 0.079910 target range: 137.957092 and range: 138.50 m.h=hhhhg!g!jg!rg!e)re)Ze):e)*e-@?颙ɢQW;)  ?i) 顡i~di=O=.=I=IQ5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.951648)@1 @1@=^2@9bEu4jEum4rEu./E EE'E"E>:*E H:VE'4ZEa@a@a@a@^Am =I I O A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.203154,%,J}sLAB6>B6ECB6 IB6BB6 =B6>DB6ǺDB6|;B64EBEACBEBCBECBE =BE =CEÂ6b H@b^=b-ٱb"=bH?`akՠ {?@?@Q? V??ib H@Ib];bQCYvZByvT I!I5p=)5i>5=5=iMb@Mb@Mb@ 9(\?Mb?Yy@ @)@YQ@bDVDɰ8y=c<%/=ٔ:Q->9Y=EyKE19E>Q 54r?Q 94')hBY?Q E:y`>Q I1@8vDI] ;i;ye4yɮA:i FNOT Ignoring new targets: 137.96 m."iC*iC󹝏% ProNav: ac range: 137.957092 m, nav range: 136.906235 m, bearing: 5.740360 deg, approach rate: -0.529348 m/s, LOS rate: -0.026584 deg/s, cmd heading: 4.578515 deg, new cmd heading: 4.553699 deg. i%B-HeadingCmd: 0.079477 target range: 137.957092 and range: 138.50 m.h-Ģ=h1h1h1h1g9g9jg9rg=FBeAreAZeI:eI*eUp?颙ɢV(;) ?i)%顩i_giĢ===IĢ=II@ @@/@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.455101qE  E E $E "E ,:*E ;J:VE 4ZE BE ?%,+sLA@2D@2@=2*ٱ2%y=2Hy?@C(b?඲? 7[X?A?@?i2D@I2];2OCY>bBy>_ IbDF#VDFͰ8yN==%Rm=ٔR:Q-R?9R ?YV ?=VEyVNEVےEV?XQ 5^4Z-r?Q 9^4Z&)ZmBY`yb`>Q Ib1@ZDvDIZ:iZ :Zk4ydɮfAh:i%FNOT Ignoring new targets: 137.96 m."i%*i%1= ProNav: ac range: 137.957092 m, nav range: 136.723404 m, bearing: 5.731195 deg, approach rate: -0.521764 m/s, LOS rate: -0.026190 deg/s, cmd heading: 4.553699 deg, new cmd heading: 4.535344 deg. i=?EHeadingCmd: 0.079157 target range: 137.957092 and range: 138.50 m.hE=hAhAhAhAgAgIjgIrgIeQreQZeQ:eQ*eU ?=Bɢ@<) ?iUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.707259)UT QQiUpii]=]=]=I]=IaYuԉ!@! @!@%4@! checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959137Թ ^A E  E E %E "E :*E VL:VE 4ZE a @a @a @a @ A}؟AIIO> O%,sLABF@B =B9"?Y"?=EyTE9E>Q 54r?Q 94%)sBY-?Q E:yD>Q I1@UvDI;i;it4yBɮAE:iYeFNOT Ignoring new targets: 137.96 m."ieV*ieVi ProNav: ac range: 137.957092 m, nav range: 136.459763 m, bearing: 5.720958 deg, approach rate: -0.506560 m/s, LOS rate: -0.019708 deg/s, cmd heading: 4.535344 deg, new cmd heading: 4.514830 deg. iDHeadingCmd: 0.078799 target range: 137.957092 and range: 138.50 m.h0a=hhhhggjgrgBereZe:e*e@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211225Yɢ]`X:)Y e?B>BACBBB =B?DBĺDB|;B4Eia)%k ))i-zPli50a=5<===I=0a=I}߼ԡ@ @@4@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463070^A5 = Ai Eu  Eq Eu "Eq "Eu :*Eq VEu (3ZEq BEu ?8%%,UsLANH@N=N %ٱNI=NH`?@_$D@K??`#@ ? ?@?iNH@INH)^;NPCY^aBy^] I`bAbDfVDf8yq;%<=ٔݣ:Q->9Y!=%Ey%XE%v :E%>)Q 554-r?Q 954-`$)-xBY9y=E>Q I=1@-cvDI-M;i-N:-{4yAɮEAAeB*** querying acoustic contact ***iaiaq:iq}FNOT Ignoring new targets: 137.96 m."i}꿹*i}꿹 ProNav: ac range: 137.957092 m, nav range: 136.235489 m, bearing: 5.712196 deg, approach rate: -0.535944 m/s, LOS rate: -0.020973 deg/s, cmd heading: 4.514830 deg, new cmd heading: 4.497277 deg. iHeadingCmd: 0.078492 target range: 137.957092 and range: 138.50 m.h=hhhhggjgrgereZe:e*eZ@U>BɢU;)Q U?iQ)] YYi]nie=eʣ=e=Ie=Iԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.715215@ @@15@@=@= G {A^A 7=A% >A% >E A} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967822 9 {AY ͣAA)IAIiO>-P%,ztLAE. E.E.&E,"E.:*E.V:VE.4ZE,a2@a2@a2@a2@ZD@Za=ZX!ٱZ=ZHE?@=@-s\?@?ҹ1;?? ?iZD@IZ1^;ZNCYfcByf_ IiMb@Mb@Mb@ 9Q?Q?Mb`Y?y<@ ?@)YbDVD8y?;% =ٔ:Q->9Y=Ey]E<E>Q 54mr?Q 94D#)}BY- ?Q E:y3>Q I1@uvDII:i:4yɮAE:i!%FNOT Ignoring new targets: 137.96 m."i-%g*i-%g= ProNav: ac range: 137.957092 m, nav range: 135.962997 m, bearing: 5.705785 deg, approach rate: -0.535788 m/s, LOS rate: -0.012630 deg/s, cmd heading: 4.497277 deg, new cmd heading: 4.484431 deg. i=긹EHeadingCmd: 0.078268 target range: 137.957092 and range: 138.50 m.hEK=hAhAhAhAgAgAjgIrgM BeIreIZeQ:eQ*eUPl @q颉ɢ9;) x?i)顑i qiK=t=}H=IK=I1@1 @1@5/@1E=ER=MBDAT read: Rx Time:04:21:35.1051 UTRx dataTimestamp_ set to:1764908496.587181Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.220560ԡB>B@CBBB =BBúDBw|;B4E^AMK=A .AI I O > j %,{4tLA28?@2)=2ٱ2=2H`?:ܜ5?U?U? ӹ??i28?@I2`,^;2MCY>lBy>j IbDFVDF8yN>=%Nb=ٔRs4;Q-R>9R ?YV ?=VEyVaEV@غEV>XQ 5^4bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.471280Zr?Q 9=4Z{")ZBYAyE>Q IE1@ZvDIZԕ:*E}g:VEyZEyBE}  BDAT read: Tx time:04:21:36.2189  $Ping request sent. qqqq q)qIqiqqqqq q)qIqqquKw?"-)?sY8p? q)qIqiqqq:S%,NMtLA2";@2#=2 ٱ2=2H@?`}?ʪ?`1a? 5 ?S?i2";@I29^;2NCY>hByBe IIF>)Fp;F=F=bDJVDJ8yf%fG=ٔj:Q-j>9j"?Yj"?=jEyneEnPEn>pQ 5v4rs?Q 9v4r!)rBYxyz>Q Iz1@rvDIr~:ir:ra4y9ɮ=qA9iiiEtLAjC"jC:j8="pqr`@?l?/(^@p}1?ź?|p}?*j+H<2j*pp'`@ՠc-@,"@p1y?La^i?)|?jhA jCinh?iLjBjjjPBrjCzj0= addTargetRange:: Added new target pos. range: 136.500000 m, deltaT: 3.778186 s, deltaX: -2.000000 m, approachRate: -0.529355 m/s, rangeRepo size: 4  Added new target pos. range: 135.963303 m, bearing: 6.161018 deg, lat: 36.779405 deg, lon: -121.859618 deg, deltaT: 3.778186 s, deltaX: -1.993790 m, approachRate: -0.527711 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 135.96 m."i*i ProNav: ac range: 135.963303 m, nav range: 135.550323 m, bearing: 5.696180 deg, approach rate: 0.000000 m/s, LOS rate: -0.011960 deg/s, cmd heading: 4.475392 deg, new cmd heading: 4.465488 deg. i=HeadingCmd: 0.077937 target range: 135.963303 and range: 136.50 m.h==h9h9h9h9g9gAjgArgAeAreIZeI:eMa@*eM`?ɢ;) ?i)ӿicvi=S=%=I=II9@ @@@D}=D}<E EEE"E*EAr:VEZEa@a@a@a@ԑ^A=ԡ A! I) I9 OM >B >B B B B =B B B x|;B )}%,gtLA "@@Y]mBy]k IiMb@Mb@Mb@ 9#~j?Mb?Mbp?Y?y<;@A )Yz@bD=VD=8yM<%U4=ٔ]Q-]>9YYa=eEyejEmEm>qQ 54us?Q 94u )uBY?Q E:y>Q I1@uvDIuH<;iu#;uT4yɮFAE:iFNOT Ignoring new targets: 135.96 m."i-*i-︝ ProNav: ac range: 135.963303 m, nav range: 135.312561 m, bearing: 5.693313 deg, approach rate: -0.540984 m/s, LOS rate: -0.006535 deg/s, cmd heading: 4.465488 deg, new cmd heading: 4.459744 deg. iW?HeadingCmd: 0.077837 target range: 135.963303 and range: 136.50 m.hi=h h h h ggjgrgBere!Ze!:e!*e% FO?颁ɢ<ԩ) a?i)t_i+5yii=A=~=Ii=Iy@y @y@}/@yE  E E (E "E :*E C:VE c44ZE BE ;a :E >;a  ^A A .AI I O% >N %,]tLA6)@6=6ٱ6h=6H@?`V@oÅ?f? `_? ??i6)@I6^;6RCYB~ByB IbDJVDJ8yRz=%RY=ٔVy;Q-V>9V ?YV ?=ZEyZmEZ?EZ>\Q 5b4^'s?Q 9b4^& )^BYdyf>Q If1@^vDI^;i^{;^ޠ4yhɮjAhzB*** querying acoustic contact ***ixix:i|FNOT Ignoring new targets: 135.96 m."iظ*iظ ProNav: ac range: 135.963303 m, nav range: 135.117065 m, bearing: 5.691131 deg, approach rate: -0.528159 m/s, LOS rate: -0.005903 deg/s, cmd heading: 4.459744 deg, new cmd heading: 4.455374 deg. i,HeadingCmd: 0.077761 target range: 135.963303 and range: 136.50 m.h"A=hhhh!g!g!jg)rg)e)re)Ze):e1*e5?u>u?@}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode. ɢ%Df<)! % ?i))-u11i5{i5"A==y$=Eq=IE"A=II99@ @@/@i^A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241402Թ A ؟AI I) O5 >D zD @AE  E E "E "E :*E :VE (3ZE a @a @a @a @x&%, tLA2}@2@:=2ռ ٱ2bh=2H N?^@H@:?`?ಶ?ݹ?%?i2}@I2[_;2PC9"?Y"?=EyrE/E>Q 541:s?Q 94X)BYP?Q E:yq >Q I1@vDIw:i=:s4yBɮAE:iFNOT Ignoring new targets: 135.96 m."io*io  ProNav: ac range: 135.963303 m, nav range: 134.888245 m, bearing: 5.687739 deg, approach rate: -0.527728 m/s, LOS rate: -0.007838 deg/s, cmd heading: 4.455374 deg, new cmd heading: 4.448578 deg. i eHeadingCmd: 0.077642 target range: 135.963303 and range: 136.50 m.h=hhhhggjgrg(BereZe:e*e5?ɢOJ<)  ?i)iW~i=3=$!=I=I ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.494386@ @@@BBB IBBB =BBB|;Bf4E^A(=A>A? A I I O >i1 I1 = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745589i-%,tLA2J@2m=2 ٱ2=2H L?qrB/?? ~"? D˹??i2J@I2f_;0Y>By> IbDFVDF8yRf0=%R\=ٔRG;Q-R>9TYT=VEyVvEV/EZ>XQ 5^4ZJs?Q 9b4Z)ZBY`yb>Q Ib1@ZvDIZ:iZA;Z4ydɮfmAhl:iFNOT Ignoring new targets: 135.96 m."i*i ProNav: ac range: 135.963303 m, nav range: 134.692673 m, bearing: 5.684903 deg, approach rate: -0.499440 m/s, LOS rate: -0.007253 deg/s, cmd heading: 4.448578 deg, new cmd heading: 4.442897 deg. iaTHeadingCmd: 0.077543 target range: 135.963303 and range: 136.50 m.hΞ=hhhhggjgrgereZe:e*e8?=BɢED<) $?i)ihiΞ= @= =I Ξ=I E EE%E"E:*E:VE 4ZEBE3,3%,~tLA2 @2}=2Zٱ2}=2H`?[.棷?@~?J{?D??i2 @I2R`;2OCY>By> IbDF#VDFͰ8yN=%NJ=ٔRN;Q-R>9PYP=VEyVzEVhEV>XQ 5^4ZT\s?Q 9^4Z)ZBY`yb>Q Ib1@ZvDIZ";iZ;Z4yfBɮf3Ad:ixzFNOT Ignoring new targets: 135.96 m."i~ *i~   ProNav: ac range: 135.963303 m, nav range: 134.479767 m, bearing: 5.681935 deg, approach rate: -0.555993 m/s, LOS rate: -0.007762 deg/s, cmd heading: 4.442898 deg, new cmd heading: 4.436953 deg. i GcHeadingCmd: 0.077439 target range: 135.963303 and range: 136.50 m.h=hhhhggjgrg!e!re!Ze!:e!*e-`@9Yɢ]I<)Y ]r(?iY)eaaie7im=mL=m譼=Im=Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.250269@ @@0@ibE-Ż 4jE-r 4rE-0E EEE"E:*Eg:VEZEa@a@a@a@ԑ^A =A .AI I) OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502302 B >B B IB BB =B B B {;B '4EB@CB@CBʓCB =BC5'):%,tLA2C@2=2ٱ2l=2H ?n@y`\J??|*T?`e?2?i2C@I2fa;2NCYNByR IIV)>)Vԙ9 ?Y ?=Ey~ENE>Q 54os?Q 94)BY ?Q E:y">Q I1@vDI:,;iVP;4yɮ@:iFNOT Ignoring new targets: 135.96 m."ip*ip ProNav: ac range: 135.963303 m, nav range: 134.244705 m, bearing: 5.675925 deg, approach rate: -0.513822 m/s, LOS rate: -0.013161 deg/s, cmd heading: 4.436953 deg, new cmd heading: 4.424911 deg. iHeadingCmd: 0.077229 target range: 135.963303 and range: 136.50 m.ha*=hhhhggjgrgHBereZe:e*e {]@1ɢ=׀<)9 =.?i9)=+9AiEiEa*=MfZ=M=IMa*=Iiyi}>9@ @@ 0@ @@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753471E  E E $E "E >:*E L_:VE 4ZE BE ~A%,vuLA:B@:=:Sٱ:w8=:H@&?KgՔ ??@g BI?ay? ?i:B@I:Cb;:OCYJByJ IbDbVDb8yr "=%rV=ٔv[;Q-v>9z"?Yz"?=zEyzE~'E> Q 54 s?Q 94 ) BY!y%!>Q I%1@ vDI h;i i; L4y1ɮ5 @=EmBDAT read: Rx Time:04:21:38.8025 uTRx dataTimestamp_ set to:1764908500.115860uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.008100B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 135.96 m."i~*i~= ProNav: ac range: 135.963303 m, nav range: 134.039490 m, bearing: 5.670746 deg, approach rate: -0.550357 m/s, LOS rate: -0.013910 deg/s, cmd heading: 4.424911 deg, new cmd heading: 4.414538 deg. i=˹EHeadingCmd: 0.077048 target range: 135.963303 and range: 136.50 m.hEu˝=hAhAhIhIgIgIjgIrgQeqreqZeq:ey*e}{@ɢq<) 2?i){Di M%,9uLAn @n@=n?ڼٱnhx=nH D?O@v@>?@?@乿G? b??in @Inc;nMCY]By] IbDmVDmð8y=%A=ٔR[;Q->9 ?Y ?=EyE{!E>Q 54ڧs?Q 94Q =tI)ÈBYy=>Q I2@wDI4:ib:N4 E5 E5E5#E1"E5:*E5:VE53ZE1BE5 <) O@?i)tڼi#:i=%1{=%I=I%=I!1A@ @@1@@=@p=a^A =A% >A% >ԑ AI IQ Ia y } CO >DT%,8TuLAMGyA(>ڤ9>yAY>A5@5ǰ=5/ٱ5£=5HK?^ k?@¸?u З?x??i5@I5p3d;5NCYMByU IY]@AbDe$VDeΰ8yu_N<%uF=ٔ}9yYy=}EyEE>Q 54s?Q 94)ʈBYy;>Q I2@wDI:i~:\4yBɮ'@:i)-FNOT Ignoring new targets: 134.07 m."i5*i5= ProNav: ac range: 134.070694 m, nav range: 133.518936 m, bearing: 5.765125 deg, approach rate: -0.549850 m/s, LOS rate: -0.019562 deg/s, cmd heading: 4.378760 deg, new cmd heading: 4.363134 deg. iE3mHeadingCmd: 0.076151 target range: 134.070694 and range: 134.60 m.hm=hihihihigigijgqrgqeqreqZey:ey*e}>?ɢ 9<)  A?i )  ּ ii=Et=E+Ǵ=IM=I9E EEE"E:*EVL:VEZEa-@a-@a-@a-@1nManaging dock network, ignoring radio surface power off@ @@M1@aB >B ACB IB BB B B B {;B '4E^A =ԑ A I) I9 OE >u[%,puLA:@:=:栮ٱ:aS=:H?퉿?`? `ӕ???i:@I:d;8YJςByJ IiMb@Mb@Mb@ 9 rh?/$?I +?Y ?y=9<@A @)t@Y@bD5"VD5̰8yEw=%E?=ٔEY;Q-E>9IYI=MEyMEU9EU>YQ 5e4]s?Q 9e4]O)]ӈBYeJ?Q Ee:yeo>Q Im2@]+wDI]:i]:]4qyqɮ}3@y:iFNOT Ignoring new targets: 134.07 m."i *i  ProNav: ac range: 134.070694 m, nav range: 133.283539 m, bearing: 5.751558 deg, approach rate: -0.564199 m/s, LOS rate: -0.032575 deg/s, cmd heading: 4.363134 deg, new cmd heading: 4.335952 deg. ivnHeadingCmd: 0.075677 target range: 134.070694 and range: 134.60 m.hY=hhhhggjgrgnBereZe:e*e@?yɢ}7s<) (I?i)Cм顁i ቼiY==S=IY=Ie9@a @a@e4@aԙE EE(E"E:*EL_:VEc44ZEBE'Xb%,׉uLA2@2Ͱ=2ٱ2[6=2H?Qr@<??'#ѓ??"?i2@I2!pd;2MCY>тBy> IbDFVDF8yN&<%RV=ٔRk;Q-R>9TYT=VEyVEVEV>XQ 5^4Zs?Q 9b4Z)ZۈBY`ybvo>Q Ib2@Z9wDIZj;iZ3;Z4yfBɮf@jEvB*** querying acoustic contact ***itit:i|~FNOT Ignoring new targets: 134.07 m."i*i ProNav: ac range: 134.070694 m, nav range: 133.073792 m, bearing: 5.739433 deg, approach rate: -0.549762 m/s, LOS rate: -0.031831 deg/s, cmd heading: 4.335951 deg, new cmd heading: 4.311663 deg. iiHeadingCmd: 0.075253 target range: 134.070694 and range: 134.60 m.h=hhhhg!g!jg!rg!e!re)Ze):e)*e-$?Yɢ]=)Y ] J?ia)e˼aaiep!im=m]=mҶ=Im=IqI)yA@ @@/@@@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A2=1A ؟AE-  E- E- &E) "E- :*E- :VE- 4ZE) aM @aU @aU @aU @Ia I O >Y 1h%,uLA2@2B=2@ٱ2y=2H?6]?o?eƸ i3?`;y?-?i2@I2Yd;2RCY>ۂBy> IimMb@Mb@Mb@iiii i9mq= ףp??Zd;O?Ym ?ym=mj9"?Y"?=EyEߺE>Q 54s?Q 94Y)BY ?Q E:yj>Q I2@IwDI,:i ;A4yɮU@E:i!-FNOT Ignoring new targets: 134.07 m."i-0*i50BE>BE@CBE IBEӂBBE =BABABE{;BE3E]?]S?]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751541 ProNav: ac range: 134.070694 m, nav range: 132.832214 m, bearing: 5.722363 deg, approach rate: -0.545868 m/s, LOS rate: -0.038641 deg/s, cmd heading: 4.311663 deg, new cmd heading: 4.277462 deg. inHeadingCmd: 0.074656 target range: 134.070694 and range: 134.60 m.h#=hhhhggjgrguBereZe:e*e%@Q?iɢup"<)q uN?iq)użqyi}i#=:=x=I#=IA@A @A@I@Iiԑ^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003805A I I O >Ŭn%, uLA2@2@=23ٱ2=2H ?S&`#׵? U?`ָ>?ѐ?@?i2@I2 c;2NCY9TYT=VEyVEVEV>XEf EfEf%Ed"Ef:*Efc:VEf 4ZEdBEdaj2EdajJEf;an:Ef;anQ 5n4ZJt?Q 9n4Z)ZBYpyrT>Q Ir2@ZUwDIZ2;iZ;Z4ytɮv]@t:iFNOT Ignoring new targets: 134.07 m."iK/*iK/ ProNav: ac range: 134.070694 m, nav range: 132.632904 m, bearing: 5.708249 deg, approach rate: -0.540239 m/s, LOS rate: -0.038314 deg/s, cmd heading: 4.277462 deg, new cmd heading: 4.249192 deg. i<HeadingCmd: 0.074162 target range: 134.070694 and range: 134.60 m.hs=hhhhggjgrgereZe:e*e61@>Bɢ v=)9 =N?i9)=AAiEkȍiEs=Mɨ=M==IMs=IIԑ9@ @@@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255132^AA I I! O- > ܔu%,iuLA2r@2=2Zwٱ2a=2H/? @­{}׵?ֺ?l?@??i2r@I2oc;0Y>By> I@BAbDJ VDJ8yR<%RJ=ٔR];Q-R>9TYT=VEyVEZEZ>\bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507265Q 5~4^}t?Q 94^r)^BYyK>Q I2@^dwDI^#:*EC:VE4ZEa @a @a@a@ ﲤ=%2=I%%Ö=Iq@ @!@!@!!B=>B=ACB= IB=BB= =B9B=ĺDB=nz;B=3Euchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759189I ^Ae G=Am >Am >q A I I O >|%,geuLA>?@>j=>tbٱ>/=>H@0?@#au`??i1`^N?@!??i>?@I>%d;>PCYNقByN Ii]Mb@Mb@Mb@YYYY Y9]Q?:v?{Gz?Y]\?y]=]#<]@Y ]@)]@YY]z@imAAbDuVDu8y1%5=ٔO?;Q->9Y=EyE9E>Q 54V*t?Q 94)BY?Q E:y>Q I2@twDI& ;i~ ;4yBɮ@E:iFNOT Ignoring new targets: 134.07 m."iA*iA ProNav: ac range: 134.070694 m, nav range: 132.159363 m, bearing: 5.674044 deg, approach rate: -0.576256 m/s, LOS rate: -0.042320 deg/s, cmd heading: 4.217794 deg, new cmd heading: 4.180657 deg. i暺HeadingCmd: 0.072966 target range: 134.070694 and range: 134.60 m.hRo=hhhhggjgrg Be reZe:e*e@E?BɢE=)A EL?iI)M赼IIiMF_iURo=U =U=IURo=IYMBDAT read: Rx Time:04:21:42.4982 UTRx dataTimestamp_ set to:1764908503.895348]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013137@ @@/@EU EUEU"EQ"EU:*EUx:VEU(3ZEQBEU6 %= = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263479%," vLA2@2\=2Kٱ2>=2H[?NHoF?? \o?v.??i2@I2Zd;2LCYm܂Bym IbDVD8yos<%;=ٔCR;Q->9Y=EyEE>Q 54>t?Q 94 )BYy>Q I2@wDIY;if;4 4yBɮG@EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 134.07 m."i=*i= ProNav: ac range: 134.070694 m, nav range: 131.914536 m, bearing: 5.656037 deg, approach rate: -0.560669 m/s, LOS rate: -0.041312 deg/s, cmd heading: 4.180657 deg, new cmd heading: 4.144578 deg. i6 HeadingCmd: 0.072337 target range: 134.070694 and range: 134.60 m.h ,%=h h h h g gjgrgereZe:e!*e% ^ @QQɢUv=)Q ]0N?iY)]E%YYi]ie,%=e;ʤ=e:=Ie,%=Ii9@ @@/@!DAT read: 04:21:42.4982 LVL= 26896, 31409, 26978, 32147, AGC= 67, IDX= 416,-0.45,-0.422,-2.061,-0.265,-0.798, PHS= 0.478,-1.218, 0.489, RAW= 150.3, 3.0, CAL= 149.4, 2.8, ROT= 0.6, -2.8 ԙYgot valid direction response: 04:21:42.4982 LVL= 26896, 31409, 26978, 32147, AGC= 67, IDX= 416,-0.45,-0.422,-2.061,-0.265,-0.798, PHS= 0.478,-1.218, 0.489, RAW= 150.3, 3.0, CAL= 149.4, 2.8, ROT= 0.6, -2.8 PDAT read: Bearing 168.2, 1.6 (Local) ~Local bearing/azimuth received: Bearing 168.2, 1.6 (Local) DAT read: Range 11 to 50 : 132.6 m (Round-trip 176.8 ms) speed 0.6 m/s (DAT read: user:50> BDAT read: Tx time:04:21:43.6172 $Ping request sent.iem盿e5^>e'@ePwV=e&@ e+H=)e+"%,P&vLALz@z;=zW6ٱz=zH?` 0d`0??@1ʆ?g? ?iz@Izd;zPC )  i I )I1i5~A 51)19 =ăA=99AE1~AIEj)AiA)M&CIM-~AMI IB]>B]BCB] !IB]BB] =BYBYB]uz;B]3EBACBACBBBCq5ٕCٕiAّiّّiڑڙ)ڙ ڙIڙYYӂBy I==iMb@Mb@Mb@ 9n?~jt?{Gzt?YV?y=ף;@A @)@Y3@bD׿VD8y '% B=ٔH;Q->9Y=EyEEEE>QQ 5]4U-Rt?Q 9]4UX )UBYr?Q E:y>Q I2@UwDIU;iUR;U4yBɮ@ii}vLAjC"jC:jG="pܢ_}`@<?'@pʳ p?6k?s!D?*j+<2j+H*pPUi`@~'@ @p$ H/?z A?߄ ?j?A jJCiSۉ?i hjBjr~?jjBrjCzjh= addTargetRange:: Added new target pos. range: 132.600006 m, deltaT: 3.527838 s, deltaX: -2.000000 m, approachRate: -0.566919 m/s, rangeRepo size: 4  Added new target pos. range: 132.082840 m, bearing: 5.221464 deg, lat: 36.779407 deg, lon: -121.859615 deg, deltaT: 3.527838 s, deltaX: -1.987854 m, approachRate: -0.563477 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 132.08 m."i*i ProNav: ac range: 132.082840 m, nav range: 131.793167 m, bearing: 5.634713 deg, approach rate: 0.000000 m/s, LOS rate: -0.041312 deg/s, cmd heading: 4.144578 deg, new cmd heading: 4.107173 deg. iHeadingCmd: 0.071684 target range: 132.082840 and range: 132.60 m.hΒ=hhhhggjgrgmBereZe:e@3`@*e@?U@BɢUJ<)q uRI?iq)}yyi}쒼iΒ=ؤ==IΒ=I)@) @)@-/@1 ^Au =Au yAzAu zAEu  Eu Eu #Eq "Eu ,:*Eu C:VEu 3ZEq BEu ;a :Eu >;a A A .AI I O >א%,HCvLA2@2@Y=2f ٱ2=2H?赿T&ĵ?%?ᗹ?x??i2@I2d;0YEĂByM IbDmƿVDmw8yF%G=ٔ7P;Q->9 ?Y ?=EyE~E>Q 54dt?Q 94 ) BYyH>Q I2@wDI@;i;;4yɮ@:i FNOT Ignoring new targets: 132.08 m."i9*i9% ProNav: ac range: 132.082840 m, nav range: 131.565491 m, bearing: 5.619108 deg, approach rate: -0.591692 m/s, LOS rate: -0.040626 deg/s, cmd heading: 4.107173 deg, new cmd heading: 4.075908 deg. i%-HeadingCmd: 0.071138 target range: 132.082840 and range: 132.60 m.h-ϰ=h)h)h)h1g1g1jg1rg9e9re9Ze9:e9*eE`]?ABɢ,=) A?i)5ii%ϰ=EE=Eڻ=IEϰ=II9@ @@@^A=) A5 ؟AI9 II O] >x%,0I]vLA$f@f=f{sٱfs=fHz?௶.m?ƹ?批`΁? q?@"?if@Ifc;fOCD}=D}<E EE$E"EI:*E[:VE4ZEa@a@a@a@YʂByM IqiMb@Mb@Mb@ 9K7A`?+?~jth?Y ?y=D;@A )@Yz@bDVD_8yi<%+=ٔa;Q->9"?Y"?=EyEE >Q 5%4zt?Q 9%4F )BY-o ?Q E-:y-]g>Q I-2@wDI~^;i/t;.$4yEBɮE@@ME:iFNOT Ignoring new targets: 132.08 m."i+ *i+  ProNav: ac range: 132.082840 m, nav range: 131.305115 m, bearing: 5.604500 deg, approach rate: -0.537213 m/s, LOS rate: -0.030199 deg/s, cmd heading: 4.075908 deg, new cmd heading: 4.046634 deg. i]HeadingCmd: 0.070627 target range: 132.082840 and range: 132.60 m.h=hhhhggjgrgxBereZe:e*e?颍BBɢK<) C?i)?9顑i=9i=P==I=AAAAB>BB!IBBB =BBźDBz;B3EIԡ9@ @@@ ^A A I I O>%,|zvLA2@2a=2ٱ2|V=2H?`|M&G?e?5?y?`??i2@I2c;2MCYÂBy IbDٿVD8 yM %MG=ٔU!;Q-U>9QYY=]Ey]E]E]>aQ 54eӌt?Q 94e)eBYyf>Q I2@ewDIe;ieV;eG+4yɮ@E EEE"E:*EE7:VEZEBE'ԑ ] ̓Gu /{A A I I @9 /{AY AO >~G%,$vLA6@6Y=6ڻٱ6\=6H?z5qZ?$?ʺ?Ś1^{?@?`?i6@I6-c;6NCYFByF IbDNVDN8yV%V[=ٔV/;Q-Z>9XYX=ZEyZE^H.E^>`Q 5f4bt?Q 9f4b)bBYdyje>Q Ij2@bwDIb2:ib:b14ynBɮn@nE~B*** querying acoustic contact ***i|i|:i FNOT Ignoring new targets: 132.08 m."i M *i M  ProNav: ac range: 132.082840 m, nav range: 130.880997 m, bearing: 5.580823 deg, approach rate: -0.549801 m/s, LOS rate: -0.030666 deg/s, cmd heading: 4.021875 deg, new cmd heading: 3.999204 deg. i%|`%HeadingCmd: 0.069799 target range: 132.082840 and range: 132.60 m.h%=h!h)h)h)g)g)jg1rg1e1re1Ze1:e9*e=`F?eDBɢm=)i mjB5 ACB5 IB5 ؂BB5 =B1 B5 ĺDB5 8{;B5 3E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255670I I O >9 .a%,úvLAYeBye IiMb@Mb@Mb@ 9w/?A`"?Mb`Y?yY=nA )Y(@bD οVD ~8yu%7=ٔQ->9!Y!=%Ey%E%E%>)1Q 5=4-Q IE2@-wDI-J0;i-d.;-94yMBɮM@I:iq}FNOT Ignoring new targets: 132.08 m."i}*i} ProNav: ac range: 132.082840 m, nav range: 130.645584 m, bearing: 5.571985 deg, approach rate: -0.527462 m/s, LOS rate: -0.019839 deg/s, cmd heading: 3.999204 deg, new cmd heading: 3.981495 deg. i;HeadingCmd: 0.069490 target range: 132.082840 and range: 132.60 m.hP=hhhhggjgrgXBereZe:e*e@x@FBɢ<) 4?i)㐼iZiP==ĺ=IP=IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507470a@ @@/@EU EUEU#EQ"EU:*EUz:VEU3ZEQBEU#Թ OI%,vLAVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760114M@M=MĖٱM =MH?@ʹm?@Kʴ??K۹r?@ع? ?iM@IMFjc;MLCYeBye IIm=)m=bDuVDu8yP<%T=ٔ;Q->9Y=EyEkE>Q 54)t?Q 94)BYy9>Q I2@wDI:i%:W@4yɮP@:iFNOT Ignoring new targets: 132.08 m."i*i ProNav: ac range: 132.082840 m, nav range: 130.442093 m, bearing: 5.564445 deg, approach rate: -0.527391 m/s, LOS rate: -0.019572 deg/s, cmd heading: 3.981495 deg, new cmd heading: 3.966391 deg. iG HeadingCmd: 0.069227 target range: 132.082840 and range: 132.60 m.h ƍ=h h h h g g jgrgereZe:e*e%@ԑGBɢQ<) /?i)\iHiƍ==Y=Iƍ=I9@ @@0@@@]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012105^A=Iq I O >E}  E} Ey Ey "E} :*E} A:VEy ZEy a @a @a @a @ +v%,}vLAv@8=bٱ6=HN?@'us?`L?`?``Rl?T??iv@Ic;Y=By= IB>BB IBĂBB =BBúDB{;B<4EBDAT read: Rx Time:04:21:46.1956 TRx dataTimestamp_ set to:1764908507.674847checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264494iMb@Mb@Mb@ 9uV?S㥛?MbpYr?y/<A )@Y@bDVDȰ8y+%*=ٔ;Q->9Y=EyEժE>Q 54t?Q 94)Y?Q E:y>Q I2@wDI~ ;i;H4y Bɮ@E:i9EFNOT Ignoring new targets: 132.08 m."iMX*iMXe ProNav: ac range: 132.082840 m, nav range: 130.185211 m, bearing: 5.560524 deg, approach rate: -0.533619 m/s, LOS rate: -0.008160 deg/s, cmd heading: 3.966391 deg, new cmd heading: 3.958534 deg. ienmHeadingCmd: 0.069089 target range: 132.082840 and range: 132.60 m.hu~=hqhqhqhqgqgyjgrgCBereZe:e*e9q @颥HBɢ+ <) w+?i)ㆼib;i%~=%2)=% =I%~=I!9@ @@/@A } checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518887^A =IY Ii O >%,vLA2t@2=2ٱ2h=2H`?~M>w? |Y??}b? ?@?i2t@I2PRc;2MCY>ByB IbDJVDJ8yRB%R=ٔR8w;Q-R ?9TYT=VEyVEZbEZ ?\Q 5b4^t?Q 9b4^3)\Y`yb>Q Ib2@^xDI^h:i^:^PN4yhɮj(@h:i|~FNOT Ignoring new targets: 132.08 m."i>*i>  ProNav: ac range: 132.082840 m, nav range: 130.015533 m, bearing: 5.558008 deg, approach rate: -0.534492 m/s, LOS rate: -0.007936 deg/s, cmd heading: 3.958534 deg, new cmd heading: 3.953495 deg. idhHeadingCmd: 0.069002 target range: 132.082840 and range: 132.60 m.hP=hhhhggjg!rg!e!re!Ze):e)*e-5 @E EE%E"E:*EL_:VE 4ZEBE+ }BDAT read: Tx time:04:21:47.3172 }$Ping request sent.}i ףH>g'@5z= &@ 5z=)+H|I+Ha %, pwLA 2;@2)=2yٱ2O=2H?쳿s.|?@??8ΓQ?? ?i2;@I2 c;2NCYRByR I TTbDZ߿VDZ8yv<%vF=ٔvS<;Q-v>9xYx=zEyzEzYE~>Q 543t?Q 9 4t)Y y k>Q I 2@xDI:ih:U4yBɮ@EiQiU f wLAjUC"jUC:jUkQ="pU:`@ @Wa?s_J@pU9c+? G?.xA?*jU+H<2jU5z*pU_u7l+`@0'c%@uFf @pU-$?ȯx?2#?jU.A jU^CiU?򍟊?iUxjUBjQjU hjUBrjUCzjU=  addTargetRange:: Added new target pos. range: 130.600006 m, deltaT: 3.779848 s, deltaX: -2.000000 m, approachRate: -0.529122 m/s, rangeRepo size: 4  Added new target pos. range: 130.088104 m, bearing: 4.820848 deg, lat: 36.779407 deg, lon: -121.859625 deg, deltaT: 3.779848 s, deltaX: -1.994736 m, approachRate: -0.527729 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 130.09 m."i%*i!5 ProNav: ac range: 130.088104 m, nav range: 129.707840 m, bearing: 5.140567 deg, approach rate: 0.000000 m/s, LOS rate: -0.007936 deg/s, cmd heading: 3.953495 deg, new cmd heading: 3.946561 deg. i1]HeadingCmd: 0.068880 target range: 130.088104 and range: 130.60 m.h]7=hYhYhYhYgYgajgargaeareaZei:em@3S`@*emY?JBɢ`<) '?i)0~!i%Y՛i%7=-K8=-/=I-7=IIqE EE$E"E:*E:VE4ZEa@a@a@a@ @ @@5@ԩBQBQBU IBUBBU =BQBQBU"|;BUm4E^Ai I I O >1%,QM2wLALY~By~ IiMb@Mb@Mb@ 9 r?{Gzt?Y?yף;@@ @)@Y3@@AbDVD8yq%==ٔQ->9Y=EyEE>Q 54 u?Q 94)Y?Q E:y=Q I2@"xDI:i:]4yɮ@B*** querying acoustic contact ***ii:i!-FNOT Ignoring new targets: 130.09 m."i-7*i-7= ProNav: ac range: 130.088104 m, nav range: 129.485809 m, bearing: 5.140747 deg, approach rate: -0.542982 m/s, LOS rate: 0.000443 deg/s, cmd heading: 3.946561 deg, new cmd heading: 3.946923 deg. iElO7EHeadingCmd: 0.068887 target range: 130.088104 and range: 130.60 m.hE=hIhIhIhIgIgIjgQrgU&BeQreQZeY:eY*e]@?颅KBɢ<)  ?i) u顑i̝i=?==I=II@I @I@M/@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E EE'E"E:*E~:VE'4ZEBE= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995490%,g&LwLA2~@2=2p:ٱ2=2H@?`@ׁ?y=?3? -RQչ?-?i2~@I2a;2OCY>By> IbDFVDF8yNO=%N_=ٔR;Q-R>9PYT=VEyVEVEV>XQ 5^4Zu?Q 9^4Z)XY`yb=Q Ib2@Z.xDIZ:iZ:Zwc4yfBɮf@d:ix9]FNOT Ignoring new targets: 130.09 m."i]s7*i]s7m ProNav: ac range: 130.088104 m, nav range: 129.297516 m, bearing: 5.141150 deg, approach rate: -0.515646 m/s, LOS rate: 0.001103 deg/s, cmd heading: 3.946923 deg, new cmd heading: 3.947729 deg. im)8uHeadingCmd: 0.068901 target range: 130.088104 and range: 130.60 m.hu=hqhqhhggjgrgereZe:e*e ?LBɢ=)! %$?i!)%@m!!i%ai===E==̮=I==IA9@ @@@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248291ԡ^A!Ay I bEAjEEm4rEE@o/E  E E $E "E :*E e: I VE 4ZE a- @a- @a- @a- @O >%,fwLAV q@V=VC;ٱV5=VH ?Ԩ ؆?eϲ?? wa`U? ?iV q@IVa;VLCYrByr IIv=)v9Y=EyEA|E>Q 544-u?Q 94#)BY ?Q E:y:=Q I2@BB IBBB =BBĺDBv|;B4EBBBB =B =Cjk5:i!%FNOT Ignoring new targets: 130.09 m."i-8*i-8= ProNav: ac range: 130.088104 m, nav range: 129.076920 m, bearing: 5.143471 deg, approach rate: -0.497432 m/s, LOS rate: 0.005243 deg/s, cmd heading: 3.947729 deg, new cmd heading: 3.952379 deg. i=9EHeadingCmd: 0.068982 target range: 130.088104 and range: 130.60 m.hEsF=hAhAhAhAgAgjgrg"BereZe:e*e`%?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499676MMBɢU&#<)Q U?iQ)]dYYi]imsF=mGI=mX=ImsF=IqI)9@ @ @ @ !^A "= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752447AQ Q Ia Iq O} >9%,wLA2g@2;=2OJ;ٱ29dYd=fEyjEjKEj>lQ 5r4n=u?Q 9r4n)nBYpyvф=Q Iv2@nIxDIn:inq:nq4yzBɮz\@zEEe EeEaEa"EeV:*Eei:VEaZEaBEe9Թ &%,XʙwLA2G_@2,=2"W;ٱ2=2H ? S҇?A?`?@ 빿` rr?Y?i2G_@I2ڟa;0Y9PYP=VEyVEVY$EV>XQ 5^4ZNu?Q 9^4Zz)ZBY`yb=Q Ib2@ZUxDIZ:iZd:Zx4ydɮfX@d:ix~FNOT Ignoring new targets: 130.09 m."i~8*i~8  ProNav: ac range: 130.088104 m, nav range: 128.686142 m, bearing: 5.147898 deg, approach rate: -0.503822 m/s, LOS rate: 0.005836 deg/s, cmd heading: 3.956573 deg, new cmd heading: 3.961248 deg. i *9HeadingCmd: 0.069137 target range: 130.088104 and range: 130.60 m.h=hhhhggjgrge!re!Ze!:e!*e%@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255649eNBɢe=)a e!?ia)eu]Uiiim]iu=uM=u=I}=Iyԉ9@ @@/@E EEE"EO:*E;J:VEZEa@a@a@a@Թ^A-p=BBB IBBBBBB]|;B4E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507912A} .AI I O > K%,őwLA2U@2@ُ=2A;ٱ2.=2H?@~?M??@#|ovꥺ?`_?i2U@I2:a;2LCY>By> Ii-Mb@Mb@Mb@)))) )9-%C?Mbp?~jt?Y-Z?y-;-D<)-nA -@)-@)Y-(@bDEVDEư8yU<%U@=ٔU!%;Q-U>9] ?Y] ?=]EyeEe.Ee>iQ 5u4m`u?Q 9u4m )mBYud?Q E}:y}=Q I}2@mdxDImv&;im%;m4yBɮ@EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 130.09 m."i~q8*i~q8 ProNav: ac range: 130.088104 m, nav range: 128.465912 m, bearing: 5.149306 deg, approach rate: -0.515158 m/s, LOS rate: 0.003299 deg/s, cmd heading: 3.961248 deg, new cmd heading: 3.964068 deg. i28HeadingCmd: 0.069186 target range: 130.088104 and range: 130.60 m.hi=hhhhggjgrg=BereZe:e*e@_@OBɢX<)! %"?i!)%rL!!i%5i-i=-N=-"=I5i=I19@ @@@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760356E EE%E"E:*E~:VE 4ZEBE+% BDAT read: Rx Time:04:21:49.8930 % TRx dataTimestamp_ set to:1764908511.202889- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0126803%,;mwLAY=By= IbDMVDM8y][<%eI=ٔeQ-e>9m"?Ym"?=mEymEmEm>qQ 5}4u2ru?Q 94u)uBYyQ I2@uqxDIuj;iuu:u14yBɮ@:iFNOT Ignoring new targets: 130.09 m."it8*it8 ProNav: ac range: 130.088104 m, nav range: 128.256317 m, bearing: 5.150651 deg, approach rate: -0.518965 m/s, LOS rate: 0.003334 deg/s, cmd heading: 3.964068 deg, new cmd heading: 3.966761 deg. iB8HeadingCmd: 0.069233 target range: 130.088104 and range: 130.60 m.hʍ=hhhhggjgrgereZe:e*e:@ɢ3=) $?i)Cii%ʍ=%wO=-e=I-ʍ= 9=CQ3G{A 9 {AY CAI)9@ @@/@y}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263429ԩ ^A ]=E  E E E "E :*E L_:VE ZE a @a @a @a @A! IQ I O > f%,7qwLA:B@:=:;ٱ:=:H?`6?\?@?zj`ū?@,?i:B@I:xa;:KCYFByF IBA<B>BB IBBB =BBB{;B14EiMb@Mb@Mb@ 9w/??Q?Y?y<u<A )Yz@bDVD8yQ@=%==ٔȫ;Q->9Y=EyEE>Q 54Su?Q 94)"BY?Q E:y|=Q I2@xDI;i+;Ž4yɮ@:i)-FNOT Ignoring new targets: 130.09 m."i5 *i5 Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516278e ProNav: ac range: 130.088104 m, nav range: 128.027924 m, bearing: 5.148386 deg, approach rate: -0.522603 m/s, LOS rate: -0.005192 deg/s, cmd heading: 3.966761 deg, new cmd heading: 3.962223 deg. ie mHeadingCmd: 0.069154 target range: 130.088104 and range: 130.60 m.hm=hqhqhqhqgqgyjgyrgQBereZe:e*eAL @)颵PBɢD=) {)?i)9i i-=]@N=]=Ie=Ii-9@1 @1@5/@1@=@=@=@=Iy E DAT read: 04:21:49.8930 LVL= 28656, 32753, 31730, 32755, AGC= 69, IDX= 410, 0.33, 1.802, 0.165, 1.929, 1.487, PHS= 0.417,-1.277, 0.399, RAW= 149.4, 5.5, CAL= 148.8, 5.8, ROT= 1.2, -5.8 ] Ygot valid direction response: 04:21:49.8930 LVL= 28656, 32753, 31730, 32755, AGC= 69, IDX= 410, 0.33, 1.802, 0.165, 1.929, 1.487, PHS= 0.417,-1.277, 0.399, RAW= 149.4, 5.5, CAL= 148.8, 5.8, ROT= 1.2, -5.8 e PDAT read: Bearing 171.0, 1.4 (Local) e ~Local bearing/azimuth received: Bearing 171.0, 1.4 (Local) u DAT read: Range 11 to 50 : 128.7 m (Round-trip 171.6 ms) speed 0.4 m/s } (DAT read: user:52> } BDAT read: Tx time:04:21:51.0172  $Ping request sent. i t I> &@ = 6&@  4Q=) t%,xLA@Er ErEr#Ep"Erm:*Er|;:VEr3ZEpBErU9Y!=%Ey%E-4E->qQ 5}4uu?Q 94uN)u$BYy.=Q I2@uxDIu:iu:u4yBɮ@EiaiedwLAje2C"je2C:jez="pean/_@ tZ4^@)@pe̎N{F?0+[U?+hg޹?*je<2je4QϽ*peN_@Ϛқ#@s (@peKN&?fl \蚳?quP ?jeA jeBie{?ie#jeBjajajarjeBzjek=Ա addTargetRange:: Added new target pos. range: 128.699997 m, deltaT: 3.781178 s, deltaX: -1.900009 m, approachRate: -0.502491 m/s, rangeRepo size: 4 - Added new target pos. range: 128.196411 m, bearing: 4.411699 deg, lat: 36.779407 deg, lon: -121.859625 deg, deltaT: 3.781178 s, deltaX: -1.891693 m, approachRate: -0.500292 m/s, posRepo size: 4 :i)-FNOT Ignoring new targets: 128.20 m."i5*i1E ProNav: ac range: 128.196411 m, nav range: 127.806396 m, bearing: 5.146293 deg, approach rate: 0.000000 m/s, LOS rate: -0.005192 deg/s, cmd heading: 3.962223 deg, new cmd heading: 3.957484 deg. iAmHeadingCmd: 0.069071 target range: 128.196411 and range: 128.70 m.hm)u=hhhhggjgrgereZe:e`f`@*e`=?ɢr, =) *?i)*00ipbi)u=/L=;=I)u=I)9@ @@/@IIO> %,xLApYvByv IbD~ VD~8yE%ET=ٔMQ-M>9IYI=UEyUEUEU>YQ 5e4]'u?Q 9e4])]'BYiyiQ Im2@]xDI]C:i]:]4yqɮu@y:iFNOT Ignoring new targets: 128.20 m."i͸*i͸ ProNav: ac range: 128.196411 m, nav range: 127.612190 m, bearing: 5.144452 deg, approach rate: -0.592406 m/s, LOS rate: -0.005623 deg/s, cmd heading: 3.957484 deg, new cmd heading: 3.953797 deg. i$HeadingCmd: 0.069007 target range: 128.196411 and range: 128.70 m.hlS=hhhhggjgrgereZe:e*e@?ɢĕ#=) (?i)+(iAilS=J==IlS=IDzDE EE$E"E:*E:VE4ZEa@a@a@a@ a@i @i@u0@qI!IAOmV>B=>B9B= IB=BB= =B9B9B=z;B=3EQa %,5xLA2Y%@2@=2J\*<ٱ23=2H?jO?s??`? pKQ:?r?i2Y%@I2sC`;2MCY>By> Ii-Mb@Mb@Mb@)))) )9-y&1?+?/$?Y-`?y-=-<9-@) -@)-?@)Y-p@bDM VDM8y]J<%]I=ٔe;;Q-e>9aYa=eEymEmŻEm>qQ 5}4uu?Q 9}4u)u+BY?Q E:y >Q I2@uxDIu;iu7;u4yBɮ@EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 128.20 m."iL@*iL@ ProNav: ac range: 128.196411 m, nav range: 127.399963 m, bearing: 5.140183 deg, approach rate: -0.521487 m/s, LOS rate: -0.010508 deg/s, cmd heading: 3.953797 deg, new cmd heading: 3.945244 deg. iיHeadingCmd: 0.068858 target range: 128.196411 and range: 128.70 m.h*=hhhhggjgrgeBereZe:e*e>#?QBɢ%=)! %3+?i!)%z ))i-ģi-*=5 G=5==I5*=I9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@5@ iIqIO>E EE&E"E:*E0:VE4ZEBE9)Y)=-Ey-E5E5>9Q 5E4=6u?Q 9E4=B)=/BYAyAQ IE2@=xDI=:i=:=4yQɮU@Q:iy}FNOT Ignoring new targets: 128.20 m."ifA*ifA ProNav: ac range: 128.196411 m, nav range: 127.192787 m, bearing: 5.136002 deg, approach rate: -0.522743 m/s, LOS rate: -0.010568 deg/s, cmd heading: 3.945244 deg, new cmd heading: 3.936868 deg. iԙHeadingCmd: 0.068711 target range: 128.196411 and range: 128.70 m.h=hhhhggjgrgereZe:e*ef?ɢ =) 0?i)i҄i=bC= =I=I)@) @)@-4@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494888^AM==AU>AU>IIO>! E]  E] E] $EY "E] ,:*E] V:VE] 4ZEY a @a @a @a @%,eixLAAnAAAlBr>BpBr IBrBBpBpBrúDBrz;Br3EYuByu IiEMb@Mb@Mb@]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747311AAAA A9EPn?T㥛 ?/$?YE?yE=AAEA E@)AAYE@BAbD!VD˰8y:=%0=ٔQ->9Y=Ey EE>Q 5=4Gu?Q 9=4)4BY=/?Q EE:yEV9>Q IE2@xDIB;i;4yM~BɮM@I:iquFNOT Ignoring new targets: 128.20 m."i}¹*i}¹ ProNav: ac range: 128.196411 m, nav range: 126.951691 m, bearing: 5.126034 deg, approach rate: -0.513290 m/s, LOS rate: -0.021261 deg/s, cmd heading: 3.936868 deg, new cmd heading: 3.916895 deg. iHeadingCmd: 0.068363 target range: 128.196411 and range: 128.70 m.h=hhhhggjgrgBereZe:e*e@l?RBɢ=) 5?i) i\Xi=d?==I=I!Y@Y @Y@]4@YI^A =i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999557q A I I O >I %,.xLA>k@>=>rN<ٱ>=>H@?gP???눹`ԉ@:ɹ??i>k@I>_;>LCYZɂByZ IbDrVDrư8y$=%q=ٔ0;Q- ?9Y=EyE%}E%?1Q 5E45u?Q 9E45G)58BYIyM 8>Q IM2@5xDI5T;i5U;54yaɮeN@a:iFNOT Ignoring new targets: 128.20 m."iO*iO ProNav: ac range: 128.196411 m, nav range: 126.774986 m, bearing: 5.118805 deg, approach rate: -0.515681 m/s, LOS rate: -0.021126 deg/s, cmd heading: 3.916895 deg, new cmd heading: 3.902417 deg. iHeadingCmd: 0.068110 target range: 128.196411 and range: 128.70 m.hF}=hhhhggjgrgereZe:e*e1@E5 E5E1E1"E5:*E51]:VE1ZE1BE5 u&%,9 xLA26@2h=2X<ٱ2=2H?v} k?)? &?f`??i26@I2g^;2NCY>ĂBy> IB=B=bDFVDF8yN%RQ=ٔRs:Q-R>9R ?YV ?=VEyVEV:EV>Xbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502943Q 5f4Zu?Q 9f4ZT)ZQ If2@ZxDIZr];iZL^;Zr4yn|Bɮn|@nE:iFNOT Ignoring new targets: 128.20 m."i  Ź*i  Ź ProNav: ac range: 128.196411 m, nav range: 126.574272 m, bearing: 5.110548 deg, approach rate: -0.522592 m/s, LOS rate: -0.021534 deg/s, cmd heading: 3.902417 deg, new cmd heading: 3.885876 deg. iHeadingCmd: 0.067821 target range: 128.196411 and range: 128.70 m.h=hhhhggjgrgereZe:e*eim@Yɢ]1=)a eC8?ia)eY3aaieI覼im=m7=m=Iu=ԱIM9@I @I@I@Q@e=@e=bEYjE]ö4rE]ß.E EEE"E:*ET:VEZEa@a@a@a@B>BB IBBB =BBBz;B3EBBBBBCƋ4^AUr=AYzA]xAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757016 II IY Om >9 -%,xLA2e@2@=2`<ٱ2=2H?Xm?k??``I̹?@?i2e@I2Ǒ^;2LCY>By> IiMMb@Mb@Mb@IIII I9M!rh?K?/$?YMl?yM^=IM@I M@)M(@IYM@bDeVDe8yue%u==ٔu:Q-}>9yYy=}EyEE>Q 54v?Q 94)ABY ?Q E:yi>Q I2@xDI~ ;i ;4yzBɮ@EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 128.20 m."i@*i@ ProNav: ac range: 128.196411 m, nav range: 126.344955 m, bearing: 5.095970 deg, approach rate: -0.532804 m/s, LOS rate: -0.033933 deg/s, cmd heading: 3.885876 deg, new cmd heading: 3.856668 deg. ifxHeadingCmd: 0.067312 target range: 128.196411 and range: 128.70 m.hډ=hhhhggjgrgBereZe:e*eX@-TBɢ5ZJ0=) I6?i)iDi%ډ=%3=%&=I%ډ=I)BDAT read: Rx Time:04:21:53.5905 TRx dataTimestamp_ set to:1764908514.984049checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009515@ @@@AE EE!E"E :*E~:VEc3ZEBEN" checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258844{3%,xLA4J!@JÂ=Jh<ٱJ=JH{?e ?`,U?2?`广``-?@9?iJ!@IJ#g^;HYVÂByV IbDb VDb8yj8<%jU=ٔj:Q-j>9lYl=nEynEr;Er>tQ 5z4v"v?Q 9z4v)vEBYxyzj>Q Iz2@vxDIv:ivw:v4yɮm@:i)-FNOT Ignoring new targets: 128.20 m."i5c*i5cE ProNav: ac range: 128.196411 m, nav range: 126.141273 m, bearing: 5.082902 deg, approach rate: -0.531911 m/s, LOS rate: -0.034181 deg/s, cmd heading: 3.856668 deg, new cmd heading: 3.830490 deg. iE8zMHeadingCmd: 0.066855 target range: 128.196411 and range: 128.70 m.hM=hIhIhIhIgQgQjgQrgQeYreYZeY:eY*ee@ @颍UBɢQ7=) 6?i)Dл顑ipi=1=G=I=I1@1 @1@5/@1qԡ-DAT read: 04:21:53.5905 LVL= 27328, 32753, 28578, 32755, AGC= 67, IDX= 416, 0.10,-0.820,-2.503,-0.742,-1.190, PHS= 0.472,-1.268, 0.403, RAW= 148.0, 4.7, CAL= 147.3, 4.9, ROT= 2.7, -4.9 EYgot valid direction response: 04:21:53.5905 LVL= 27328, 32753, 28578, 32755, AGC= 67, IDX= 416, 0.10,-0.820,-2.503,-0.742,-1.190, PHS= 0.472,-1.268, 0.403, RAW= 148.0, 4.7, CAL= 147.3, 4.9, ROT= 2.7, -4.9 MPDAT read: Bearing 169.9, 2.4 (Local) U~Local bearing/azimuth received: Bearing 169.9, 2.4 (Local) ]DAT read: Range 11 to 50 : 126.8 m (Round-trip 169.1 ms) speed 0.5 m/s e(DAT read: user:53> mBDAT read: Tx time:04:21:54.7172 m$Ping request sent.miMV>MQ%@="$@ %=)A=I%Q)?K ?sZRƴ? &>)iaIA=i%^A=:publishing transmit ping timeiFpublishing direction and range infoyC$;?B${?b$ݵ?Y )Ii )IQ)?K ?sZRƴ? )IiII O> E  E E (E "E a:*E C:VE c44ZE a @a @a @a @-:%,KxLAB@AB<\BLBLBN IBNBBN =BLBLBNE{;BN3E}(@}=}sm<ٱ}r=}H?`!@숕? ??`޹i`")?>?i}(@I}T^;yYȂBy I AiUMb@Mb@Mb@QQQQ Q9U|?5^?Mb?y&1?YU ?yU=U`e9Y=Ey!E:E>Q 549v?Q 94 )IBY?Q E:yj>Q I2@ yDI:i;l4yxBɮ  @ Eii$xLAjB"jB:jڍ="pxl_@QR5@k%@pC$;?B${?b$ݵ?*jA=2j%*p5:Q_@)@|#@p?Л?>2?H!F?jNA jBib!v?ij͕BjjjrjBzjC = addTargetRange:: Added new target pos. range: 126.800003 m, deltaT: 3.527337 s, deltaX: -1.899994 m, approachRate: -0.538648 m/s, rangeRepo size: 4  Added new target pos. range: 126.302971 m, bearing: 5.890558 deg, lat: 36.779407 deg, lon: -121.859625 deg, deltaT: 3.527337 s, deltaX: -1.893440 m, approachRate: -0.536790 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 126.30 m."i*i ProNav: ac range: 126.302971 m, nav range: 125.863014 m, bearing: 5.064969 deg, approach rate: 0.000000 m/s, LOS rate: -0.034181 deg/s, cmd heading: 3.830490 deg, new cmd heading: 3.795191 deg. iHeadingCmd: 0.066239 target range: 126.302971 and range: 126.80 m.h=h h h h g g jgrgBereZe:e@3_@*eB?颍WBɢ=) u8?i)a]顑i|Ci=/==I=I@ @@/@@zA@zA9 ^A +=IA IY Ou >$A%,yLAb@(@bk=bt<ٱb=bH?@  ?? 5?|ùH?@?ib@(@Ib^;`YrByr IEz EzEz&Ex"Ez:*Ez1]:VEz4ZExBEz3Q IE2@=yDI= :i=~:=4yQɮU@Q:iq}FNOT Ignoring new targets: 126.30 m."i}-*i- ProNav: ac range: 126.302971 m, nav range: 125.683258 m, bearing: 5.053347 deg, approach rate: -0.586017 m/s, LOS rate: -0.037943 deg/s, cmd heading: 3.795191 deg, new cmd heading: 3.771913 deg. iኺHeadingCmd: 0.065832 target range: 126.302971 and range: 126.80 m.hӆ=hhhhggjgrgereZe:e*e?ɢ C=) +?i)̛i塚iӆ=/=]=Iӆ=I!@ @@/@IGyAUڥ9UyAYUA^AN=II IY Oe >y uJG%,}yLAF *@F@݄=Fl{<ٱF=FH?f@[?,??¹@Em?`u?iF *@IF];DYbByb IbDjVDj8y>G=% L=ٔ :Q- >9Y=Ey(E:E>!Q 5%4%Zv?Q 9-4%)%OBY)y-k>Q I-2@%%yDI%:i%%:%4y5vByɮ@:iFNOT Ignoring new targets: 126.30 m."i*i ProNav: ac range: 126.302971 m, nav range: 125.460846 m, bearing: 5.038898 deg, approach rate: -0.533408 m/s, LOS rate: -0.034714 deg/s, cmd heading: 3.771913 deg, new cmd heading: 3.742964 deg. i~HeadingCmd: 0.065327 target range: 126.302971 and range: 126.80 m.h0ʅ=hhh h g g jg rgereZe:e*e`?uYBɢu2=)q uy/?iy)}ۗyyi}Si0ʅ=.=C=I0ʅ=IE EE%E"E:*E:VE 4ZEa@a@a@a@)@) @)@-90@)ԩB}>ByB} IB}BB} =ByB}ĺDB}{;B}14E^AMТ=IIO> btM%,n8yLA63@6@Y=6$<ٱ6[l=6H?g ?`v??@X3@? ?i63@I6l];6ICY^Byb If=fa=iMMb@Mb@Mb@IIII I9M(\?Mb?:v?YM?yIMT9yYy=}Ey},Ed>;E>Q 54^mv?Q 948)RBY ?Q E:ys>Q I2@3yDI;i;X4yɮb@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 126.30 m."i/*i/Q ProNav: ac range: 126.302971 m, nav range: 125.238846 m, bearing: 5.023524 deg, approach rate: -0.554327 m/s, LOS rate: -0.038457 deg/s, cmd heading: 3.742964 deg, new cmd heading: 3.712161 deg. iŒHeadingCmd: 0.064789 target range: 126.302971 and range: 126.80 m.hS=hhhhggjgrgBereZe:e*e ?%ZBɢ-m(=)) -+?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i)w%i'aiS=/==IS=Iԉ9@ @@"0@E EEE"E>:*ET:VEZEBElT%,RyLA>z:@>=>ƅ<ٱ>=>H@? ? V?^?lJ?`?i>z:@I>];>NCYJByJ IbDVVDV8yZ7<%^T=ٔ^":Q-^>9b"?Yb"?=bEyb0Ef>;Ef>hQ 5j4jR~v?Q 9n4j)jUBYlynt>Q In2@j@yDIjA;ij+;j4yvtBɮv@vE:i FNOT Ignoring new targets: 126.30 m."i**i*- ProNav: ac range: 126.302971 m, nav range: 125.034157 m, bearing: 5.009224 deg, approach rate: -0.532738 m/s, LOS rate: -0.037278 deg/s, cmd heading: 3.712161 deg, new cmd heading: 3.683515 deg. i-r5HeadingCmd: 0.064289 target range: 126.302971 and range: 126.80 m.h52=h1h1h1h1g1g9jg9rg9e9reAZeA:eA*eE`;?u[Bɢun>=)q u+?i) S^k  i i2=U1=U!ͩ=IU2=IYԑ@ @@45@Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.998009^Aا=E  E E 'E "E ,:*E V:VE '4ZE a @a @a @a @A .AI I O- > AE @AAE @AZ%,\ulyLAB>B@CB IBBB =BBúDB[};B5EM$A@M=M[<ٱM-=MH ?`ưO?{P?@%? 1C??iM$A@IM];MLCYeBye I?=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252663i%Mb@Mb@Mb@!!!! !9%sh|??~jt?{Gzt?Y% ?y%=%ף;%@%A %@)%V@!Y!bDVD8y;%-=ٔ֒:Q->9 ?Y ?=Ey5E :E>Q 54sv?Q 94M)VBY) ?Q E:yw>Q I2@QyDI3;i 3;O4yrBɮ@E:i!%FNOT Ignoring new targets: 126.30 m."i-41*i-41= ProNav: ac range: 126.302971 m, nav range: 124.778984 m, bearing: 4.990963 deg, approach rate: -0.540105 m/s, LOS rate: -0.038731 deg/s, cmd heading: 3.683515 deg, new cmd heading: 3.646918 deg. i=ÍEHeadingCmd: 0.063651 target range: 126.302971 and range: 126.80 m.hEQ[=hAhAhAhAgIgIjgQrgUBeQreQZeQ:eY*e]@@颅]Bɢr=) (%?i)aC顑iiQ[=5=6(=IQ[=I@ @@95@ ^A% \=I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502460Au ؟AI I O >}a%,AyLAE& E&E&#E$"E&O:*E&F:VE&3ZE$BE& Q Ir2@n]yDIn3;in;n34yxɮzC@x:iFNOT Ignoring new targets: 126.30 m."i%2*i%25 ProNav: ac range: 126.302971 m, nav range: 124.596687 m, bearing: 4.977833 deg, approach rate: -0.541797 m/s, LOS rate: -0.039081 deg/s, cmd heading: 3.646918 deg, new cmd heading: 3.620619 deg. i5 5HeadingCmd: 0.063192 target range: 126.302971 and range: 126.80 m.h=j=h9h9h9h9g9gAjgArgAeAreIZeI:eI*eM@9@^Bɢ434=) ?i)&!i%"]i%j=-U9=-7=I-j=I)Q 9@  @ @ K3@ @yA@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754480y^Aʞ=A>A>ԩ A% .AI) I9 OM >g%,-#yLAi I &checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0064036I@6Ì=6<ٱ6"=6H`\??5? ?</Q??i6I@I6];6JC<EU EUEQEQ"EU[:*EUx:VEQZEQa]@a]@a]@a]@YBy I@AԩbDVD8y̼%#=ٔӠ:Q->9 ?Y ?=Ey=E:E>Q 54v?Q 94e)XBYyx>Q I2@nyDIS:il:4ypBɮ@E:i FNOT Ignoring new targets: 126.30 m."i3*i3% ProNav: ac range: 126.302971 m, nav range: 124.325356 m, bearing: 4.958152 deg, approach rate: -0.541008 m/s, LOS rate: -0.039327 deg/s, cmd heading: 3.620619 deg, new cmd heading: 3.581172 deg. i-򏺝-HeadingCmd: 0.062503 target range: 126.302971 and range: 126.80 m.h-=h1h1h1h1g1g1jg9rg9e9re9Ze9:eA*eE< @u`Bɢu=)q uo?iq)}yyi}bi=?==I=I@ @@4@!B=>B=ACB= IB=BB= =B9B9B=};B=95EBDAT read: Rx Time:04:21:57.2877 TRx dataTimestamp_ set to:1764908518.763014checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259345 ^A "=A I I) 1 O= >Fn%,"yLA6tP@6x=68<ٱ6_?=6H`?+,@\?@ʱ?e?@撿^??i6tP@I6 ];6LC @)BQ~ADTXXXiXIXXI\i\ \\)\` bȃAbt``ddId)did)xIxz`x xx~iA|i||i||)| IYY-By- IiMb@Mb@Mb@ 9x&?V-?Y7 ?yh=@ )@Y@bD5VD58yE4%ET=ٔE:Q-M>9IYI=MEyMAEU\ ;EU>YQ 5e4]9v?Q 9e4mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.510133]N)YYuj ?Q Eu:yuGM>Q Iu2@]|yDI]c;i]b;]4yyɮ}@B*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 126.30 m."iS*iS ProNav: ac range: 126.302971 m, nav range: 124.118286 m, bearing: 4.947214 deg, approach rate: -0.534235 m/s, LOS rate: -0.028266 deg/s, cmd heading: 3.581172 deg, new cmd heading: 3.559260 deg. iNHeadingCmd: 0.062121 target range: 126.302971 and range: 126.80 m.hcr~=hhhhggjgrgBereZe:e*eW @ bBɢ u'=) ?i)LúiYicr~=!%E=%Oʱ=I%cr~=I)@ @@/@E EE&E"Ey:*EVL:VE4ZEBE  BDAT read: Tx time:04:21:58.4171  $Ping request sent. i y馿 > H%@ ^ = 4%@  V=) Q =I V轩   "p? f?tܥV?  Z>) H ۽I Q =i V轩   :publishing transmit ping time  Fpublishing direction and range infoy  `Z?ڙ?5?Y      ) I i      ) I    "p? f?tܥV?  ) I i   Am ؟AIy I O >'u%,yLA06R@6 =6<ٱ6b]=6H?9/?*ݱ?ʻ? ̀`?`?i6R@I6];6ICYxBy y II)>)===bD}VD}8y%X=ٔ;:Q->9"?Y"?=EyEEXC:E>Q 54Wv?Q 948)WBYyM>Q I2@yDI~;i;f4ynBɮ]@iYi]MyLAj]B"j]B:j]="p]lFg^@qZ߆@GMK%,@p]`Z?ڙ?5?*j]Q =2j]V*p]ގ!^@''@VMB(@p].E?׷?sQ?j]?9A j]YBi]Vf?i]*uj]Bj]{?jYj]͕Brj]Bzj]#= addTargetRange:: Added new target pos. range: 124.800003 m, deltaT: 3.780002 s, deltaX: -2.000000 m, approachRate: -0.529100 m/s, rangeRepo size: 4  Added new target pos. range: 124.310196 m, bearing: 5.369913 deg, lat: 36.779407 deg, lon: -121.859625 deg, deltaT: 3.780002 s, deltaX: -1.992775 m, approachRate: -0.527189 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 124.31 m."i*i ProNav: ac range: 124.310196 m, nav range: 123.872688 m, bearing: 4.937859 deg, approach rate: 0.000000 m/s, LOS rate: -0.028266 deg/s, cmd heading: 3.559260 deg, new cmd heading: 3.536789 deg. iHeadingCmd: 0.061729 target range: 124.310196 and range: 124.80 m.h$|=hhh!h!g!g!jg!rg)e)re)ZeI:eU@33_@*eU?ԉ颥dBɢ$X=)  ?i)ʇi:i$|=L=Dz=I$|=I9@ @@@bEȻ 4jEȔ4rEL0E EE"E"Em:*ER:VE(3ZEa@a@a@a@^A = A5 .AIY I O >{%,\yLA(FQ@F͎=F)f<ٱF`=FHm?`@'@i? Ա??` i.g?@?iFQ@IF];FKCY~sBy~s IiMb@Mb@Mb@ 9y&1??Y`?yL=1@=A )Y@ bDѿVD8y=%B=ٔ1;Q->9 ?Y ?=EyIE+E>Q 54}v?Q 94F)VBY?Q E:y(>Q I2@yDIz;i;4yɮ@:iFNOT Ignoring new targets: 124.31 m."i *i  ProNav: ac range: 124.310196 m, nav range: 123.655006 m, bearing: 4.929912 deg, approach rate: -0.542806 m/s, LOS rate: -0.019852 deg/s, cmd heading: 3.536789 deg, new cmd heading: 3.520866 deg. iS%HeadingCmd: 0.061451 target range: 124.310196 and range: 124.80 m.h%{=h!h!h!h!g)g)jg)rg-sBe1re1Ze1:e1*e5@?eBɢ% =)! %?i!)%"))i-ji5{=5S=5=I5{=I1ԁ9@ @@@ԩi!I!^A= = E5  E5 E5 E1 "E5 :*E5 A:VE5 3ZE1 A I I O >Rk%,% zLAFK@F=F><ٱF&=FH ?@݂?I?}?t_ } ʻ??iFK@IF7];FLCYRlByRk I\bD^˿VD^|8yf%fZ=ٔfms:Q-j>9hYl=rEyrMErKEr>tQ 5z4vv?Q 9z4vn)vUBY|y~'>Q I~3@vyDIv;ivM;vA#4ykBɮ@E:i)-FNOT Ignoring new targets: 124.31 m."i5o*i5oE ProNav: ac range: 124.310196 m, nav range: 123.459045 m, bearing: 4.922807 deg, approach rate: -0.521895 m/s, LOS rate: -0.018954 deg/s, cmd heading: 3.520866 deg, new cmd heading: 3.506633 deg. iE MHeadingCmd: 0.061202 target range: 124.310196 and range: 124.80 m.hM@z=hIhIhIhIgIgQjgQrgQeYreYZeY:eY*e]@?gBɢ =)  ?i )ziϯi@z=Y=Dѱ=I@z=I!9@ @@/@^A*=A I! I9 A OM >%,#zLAZE@Zы=Zt<ٱZz=ZH ?hư`8? u?`?@`ᕿd?@?iZE@IZ];XYj]ByjW IvAvAbDzÿVDzt8y%G=ٔ;Q- >9 Y = Ey QE7˺E>Q 5%4w?Q 9-4)TBY)y-Q'>Q I-3@yDIX:i:m*4y1ɮ=uA9:iYeFNOT Ignoring new targets: 124.31 m."ie*ieu ProNav: ac range: 124.310196 m, nav range: 123.244865 m, bearing: 4.915077 deg, approach rate: -0.521839 m/s, LOS rate: -0.018866 deg/s, cmd heading: 3.506633 deg, new cmd heading: 3.491147 deg. iu }HeadingCmd: 0.060932 target range: 124.310196 and range: 124.80 m.h}Փy=hyhhhggjgrgereZe:e*e?颽hBɢN =) ;>i)9i!iՓy=_=8O=IՓy=IE EE&E"EI:*EV:VE4ZEM9@I @I@M/@IqB%>B!B%S IB%YBB!B!B!B%};B%M5EB!B!B!B% =B!C%95^A٦=A>AԡA ؟AI I O >Թ %,=zLA2;=@2=2<ٱ25=2H ?ހ? 0?@?@ڼr@*??i2;=@I2,];2KCY>ZBy>T Ii Mb@Mb@Mb@     9 x&?Q?Mb`Y 7 ?y <  @  @)  Y @@AbD%VD%8y54>%5H=ٔ5B:Q-5>9="?Y="?==Ey=UEEW(EE>IQ 5U4M "w?Q 9U4M)MRBYUn ?Q EU:yUZ=Q I]3@MyDIM;iM;M14yaɮeAeEԹB*** querying acoustic contact ***ii:i5FNOT Ignoring new targets: 124.31 m."i=i$*i=i$M ProNav: ac range: 124.310196 m, nav range: 123.025566 m, bearing: 4.911252 deg, approach rate: -0.514143 m/s, LOS rate: -0.008984 deg/s, cmd heading: 3.491146 deg, new cmd heading: 3.483483 deg. iMUHeadingCmd: 0.060798 target range: 124.310196 and range: 124.80 m.hUy=hqhqhqhqgygyjgyrg}_BereZe:e*e`?]jBɢ]=)Y e->ia)e:aaimZjiy=f==Iy=IE EE!E"E:*Ex:VEc3ZEBE] H%,WzLA25@2ʇ=2F<ٱ2=2H? A1??`x?3`?@?i25@I2];0Y>XBy>R IbDFVDF8yN7%%RT=ٔR):Q-R>9TYT=VEyVYEVEV>XQ 5%4ZS3w?Q 9%4Z$)ZPBY)y-|=Q I-3@ZyDIZxi)IAI AI B B B 4 IB @BB B B B X};B 5Eԡ ћ%,qzLA2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505837jD0@jl=j'<ٱj=jH"?IΞ?>ɰ? ?`c䗿 ??ijD0@Ij];jLCY JBy A IIU,>)U9Y=Ey^EE>Q 54Gw?Q 94x)NBY?Q E=:y=R=Q I=3@yDI؉i)|O:iⰼiY3x=o=9=IY3x=Ia>i>]9@Y @a@e0@a@m=@iԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757596^AE =E  E E E "E :*E rN:VE ZE BE 3 0Ƣ%,zLA>'@>@R=>&<ٱ>r=>H@?Γ`_?????i>'@I>^;>ICYRKByRB I XZ<bDZVDZ8yfg;%fi=ٔj*:Q-j>9hYh=jEyjbEnAEv? Q 5%4 Vw?Q 9-4 ) MBY)y59=Q I53@ yDI @;i ; F4y=fBɮ=A9:iaeFNOT Ignoring new targets: 124.31 m."im*im ProNav: ac range: 124.310196 m, nav range: 122.395889 m, bearing: 4.903857 deg, approach rate: -0.532828 m/s, LOS rate: -0.004743 deg/s, cmd heading: 3.471886 deg, new cmd heading: 3.468667 deg. i HeadingCmd: 0.060540 target range: 124.310196 and range: 124.80 m.hnw=hhhhggjg rg e re Ze :e*e W@颥nBɢ=) i):顩iXԱinw=Ar=ӫ=Inw=I]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010867)@) @)@-1@)^AUm= I I O > BDAT read: Rx Time:04:22:00.9851  TRx dataTimestamp_ set to:1764908522.542803 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2627729 C%,܁zLAB3!@B=B+<ٱB=BH?!ڟ?P??@g$ m? ?iB3!@IB+^;BJCYNGByN< IbDVVDV8yvT%vH=ٔvư:Q-v>9xYx=zEyzfEzE~>Q 5 4-hw?Q 9 4h)KBY y =Q I 3@yDI:io:M4yɮA:iAEFNOT Ignoring new targets: 124.31 m."iM/*iM/] ProNav: ac range: 124.310196 m, nav range: 122.188599 m, bearing: 4.902088 deg, approach rate: -0.518354 m/s, LOS rate: -0.004431 deg/s, cmd heading: 3.468667 deg, new cmd heading: 3.465123 deg. i]eHeadingCmd: 0.060478 target range: 124.310196 and range: 124.80 m.hew=hahahahagagajgirgieireiZeq:eq*eu@ @颥oBɢ3=) >i):顩iLiw=t=鴪=E EE%E"E:*EP:VE 4ZEa@a@a@a@Iw=IU9@Q @Q@]5@YB>BB IB,BBBBB|;B4EAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516022^A벫=IAIO>a ;%,%XzLA :@:@=:A<ٱ:=:H@P?.? ?Y?`y?|?i:@I:pX^;8YFCByF8 IiMb@Mb@Mb@ 9Q?{Gz?Y?yף<1@ @)@Y@bD-VD-8y=%EE=ٔE:Q-E>9IYI=MEyMjEM"EM>QQ 5]4Uzw?Q 9e4U)UIBYe ?Q Ee:ye=Q Ie3@UzDIU;iU;UT4ymdBɮuAuEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 124.31 m."iR*iR ProNav: ac range: 124.310196 m, nav range: 121.966759 m, bearing: 4.900590 deg, approach rate: -0.534416 m/s, LOS rate: -0.003615 deg/s, cmd heading: 3.465123 deg, new cmd heading: 3.462121 deg. iӸDAT read: 04:22:00.9851 LVL= 32752, 32753, 30770, 32755, AGC= 67, IDX= 410,-0.20,-0.198,-1.917,-0.202,-0.574, PHS= 0.478,-1.297, 0.328, RAW= 145.6, 5.8, CAL= 145.1, 6.3, ROT= 4.9, -6.3 Ygot valid direction response: 04:22:00.9851 LVL= 32752, 32753, 30770, 32755, AGC= 67, IDX= 410,-0.20,-0.198,-1.917,-0.202,-0.574, PHS= 0.478,-1.297, 0.328, RAW= 145.6, 5.8, CAL= 145.1, 6.3, ROT= 4.9, -6.3 PDAT read: Bearing 171.5, 4.1 (Local) ~Local bearing/azimuth received: Bearing 171.5, 4.1 (Local) HeadingCmd: 0.060425 target range: 124.310196 and range: 124.80 m.hw=hhhhggjgrgSBereZe:e*e@DAT read: Range 11 to 50 : 122.8 m (Round-trip 163.8 ms) speed 0.5 m/s (DAT read: user:55> %BDAT read: Tx time:04:22:02.1171 %$Ping request sent.%ii)mHe;iu\direction in FSK: [0.990328,0.084901,0.109734]u:publishing transmit ping time!}Fpublishing direction and range infoyNqŰ?MF?,=?YB2x )CIj>i>"@4Q= "@ z0=)%=Iz0ὩiiNmiw=%w=_=Iw=IG?6}?@҈g? >)zϽI%=iz0Ὡ:publishing transmit ping time!Fpublishing direction and range infoyNqŰ?MF?,=?Y )Ii )IG?6}?@҈g? )IiE EE$E"E,:*Ek:VE4ZEBEA > I I O >s%,4zLA2@2?|=2W<ٱ2ɴ=2H?P?3?? A*g??i2@I2Q^;2KCYBDByB9 ILbDJVDJ8yba;%bR=ٔf:Q-f>9dYh=jEyjnEjGEj>lQ 5r4n;w?Q 9r4nI)nGBYtyv==Q Iv3@nzDIn:in2:n[4yxɮzAxii8zLAjB"jB:jS >"p\bSH^@V$@.qqN*@pNqŰ?MF?,=?*j%=2jz0*p T +^@_u: ,^0@aE&@p?F| ?8?jA j_Bi/-F?i83jBjb!v?j*ujBrjBzj󖉾=E addTargetRange:: Added new target pos. range: 122.800003 m, deltaT: 3.779536 s, deltaX: -2.000000 m, approachRate: -0.529166 m/s, rangeRepo size: 4 U Added new target pos. range: 122.317924 m, bearing: 7.723539 deg, lat: 36.779407 deg, lon: -121.859615 deg, deltaT: 3.779536 s, deltaX: -1.992271 m, approachRate: -0.527121 m/s, posRepo size: 4 :iQ]FNOT Ignoring new targets: 122.32 m."i]*iam ProNav: ac range: 122.317924 m, nav range: 121.788116 m, bearing: 5.330562 deg, approach rate: 0.000000 m/s, LOS rate: -0.003615 deg/s, cmd heading: 3.462122 deg, new cmd heading: 3.459285 deg. iiuHeadingCmd: 0.060376 target range: 122.317924 and range: 122.80 m.huLw=hqhhhggjgrgere!Ze!:e%@3^@*e%?颵qBɢ=)  >i)+;项iiLw=x=q&=ILw=IM9@I @I@M2@IE EE%E"E7:*E|;:VE 4ZEa@a@a@a@^AMا=IIO>B A 9 B B B  IB 'BB =B B B J|;B 4E/%,zLAb@bv=b!<ٱb=bH@n?`<Rb?9ɮ?A?s`}??ib@Ib];bLCYn7Byr) IiMb@Mb@Mb@ 9RQ?9Y=EyrEQE>Q 54w?Q 94)Y?Q E:y=Q I3@zDI:i:cc4ybBɮQAE:iFNOT Ignoring new targets: 122.32 m."i%x6*i%x65 ProNav: ac range: 122.317924 m, nav range: 121.565147 m, bearing: 5.330654 deg, approach rate: -0.515320 m/s, LOS rate: 0.000212 deg/s, cmd heading: 3.459285 deg, new cmd heading: 3.459468 deg. i5m6=HeadingCmd: 0.060379 target range: 122.317924 and range: 122.80 m.h=Pw=h9h9h9h9g9g9jgArgEVBeAreAZeI:eI*eM@_z?}rBɢ}Vi<)y }R>iy)@;顁i߲iPw= w= Ҥ=I Pw=I A9@ @@/@i^A#=ԙ E  E E #E "E O:*E 1]:VE 3ZE BE ;%, {LA>>@>o=>o<ٱ>$=>H%?c8z??2?hݚպ? ?i>>@I>Q];>JCYbEByb; IIf=)fJ?bDnVDn8yv`=%vY=ٔv~:Q-z>9z ?Yz ?=zEyzvE~ZE~>Q 5 4 w?Q 9 4J)HBY y m=Q I 3@+zDI:i:i4yɮA:iAEFNOT Ignoring new targets: 122.32 m."iM07*iM07U ProNav: ac range: 122.317924 m, nav range: 121.373291 m, bearing: 5.330880 deg, approach rate: -0.510675 m/s, LOS rate: 0.000603 deg/s, cmd heading: 3.459468 deg, new cmd heading: 3.459921 deg. i]K7eHeadingCmd: 0.060387 target range: 122.317924 and range: 122.80 m.heaXw=hahahahagagajgirgieireiZeq:eq*eu R>?y颥sBɢ =) >i)RT;顩i ݱiaXw=|v==IaXw=II!)%tA@ @@/@@=@=ԡ^A=I I O >i I =%,&{LA6Y@6m=6.<ٱ6=6H;? o)ʠ? I???@?i6Y@I6s];6LCYB@ByB4 IbDJVDJ8yR2׼%RO=ٔV:Q-V>9TYT=ZEyZzEZEZ>\Q 5 4^w?Q 94^)^IBYyl=Q I3@^8zDI^<<i) i;iibw=t=`=Ibw=I9@ @@/@B>BB IB!BBBBB|;B4E^Au=1IQ Ia Ou >Y $&%,@{LA2o@2j=2<ٱ2,=2H?=r?@V?Z?뇺Л5?`f?i2o@I2];2JCY>CBy>8 Ii Mb@Mb@Mb@     9 #~j?{Gz?y&1?Y ?y #= `e< t@ SA (@) nA Y @bD5VD58yUdh<%@=ٔ+:Q->9Y=Ey~EӺE >Q 5%4w?Q 9%4)JBY%S?Q E-:y->Q I-3@GzDIw:i:x41yU]BɮuAuEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 122.32 m."i**i* ProNav: ac range: 122.317924 m, nav range: 120.936211 m, bearing: 5.326993 deg, approach rate: -0.525799 m/s, LOS rate: -0.009332 deg/s, cmd heading: 3.460493 deg, new cmd heading: 3.452131 deg. iHeadingCmd: 0.060251 target range: 122.317924 and range: 122.80 m.hv=hhhhggjgrgvBereZe:e)*e5 Ċ@}tBɢ}'<) >i);顁iiMv=Mq=M-=IMv=IQE EE$E"E,:*E?:VE4ZEBEԹ 9xYx=zEyzEzE~>Q 54w?Q 9 4Y)Y y >Q I 3@SzDI:ih: 4yɮA:i9EFNOT Ignoring new targets: 122.32 m."iE**iM*U ProNav: ac range: 122.317924 m, nav range: 120.743393 m, bearing: 5.323643 deg, approach rate: -0.536799 m/s, LOS rate: -0.009340 deg/s, cmd heading: 3.452131 deg, new cmd heading: 3.445421 deg. iU]HeadingCmd: 0.060134 target range: 122.317924 and range: 122.80 m.h]Ov=hahahahagagajgirgieireiZei:eq*euP@额uBɢ<=) >i)B;顡ilCiOv=o= G=IOv=Iԙm9@q @q@u/@qII O >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475144E EE&E"E2:*EP:VE4ZEa@a@a@a@B >B B  IB 'BB =B B B |;B 4EBBBBB =Csk4 u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727952f%,#t{LA@?f=<ٱJ=H`?%M???̊J`?%?i@I+];LCYCBy7 IiMb@Mb@Mb@ 9?y&1?Mb?Yf?y`e=<" A )AY @bDӿVD8yJ5%:=ٔU:Q->9Y=EyE+E>Q 54w?Q 94c)LBY9?Q E:yp">Q I3@bzDIr;i:̆4y[BɮAE:i%FNOT Ignoring new targets: 122.32 m."i-'*i-'5 ProNav: ac range: 122.317924 m, nav range: 120.512024 m, bearing: 5.316404 deg, approach rate: -0.526925 m/s, LOS rate: -0.016519 deg/s, cmd heading: 3.445421 deg, new cmd heading: 3.430915 deg. i=񹝏=HeadingCmd: 0.059881 target range: 122.317924 and range: 122.80 m.Թh=Eu=hhhhggjgrgBereZe:e*e@9ɢ=)<)A E0>iA)Ep;AAiMWiMEu=Mk=Uf=IUEu=IQ9@ @@@IaIqO}8>i߁I߁BDAT read: Rx Time:04:22:04.6826 TRx dataTimestamp_ set to:1764908526.072511checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981118 E  E E %E "E :*E F:VE 4ZE BE : 9\Y\=^Ey^EbmEb>dQ 5j4f'x?Q 9j4f)fMBYhyjO">Q Ij3@fnzDIf:if:f14ypɮrAp:i  FNOT Ignoring new targets: 122.32 m."io*io% ProNav: ac range: 122.317924 m, nav range: 120.319153 m, bearing: 5.310360 deg, approach rate: -0.527242 m/s, LOS rate: -0.016549 deg/s, cmd heading: 3.430915 deg, new cmd heading: 3.418807 deg. i%K򹝏-HeadingCmd: 0.059669 target range: 122.317924 and range: 122.80 m.h-gt=h)h)h)h)g)g)jg1rg1e1re1Ze9:e9*e= @mvBɢm{=)i mQ>ii)m;qqiuiugt=}h=}%=I}gt=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2302569@9 @9@=0@9qGIIO>ɤ9YAԙ  DAT read: 04:22:04.6826 LVL= 26080, 30769, 27218, 32755, AGC= 68, IDX= 416,-0.11, 1.523,-0.185, 1.593, 1.195, PHS= 0.431,-1.334, 0.354, RAW= 147.8, 6.4, CAL= 147.2, 6.9, ROT= 2.8, -6.9  Ygot valid direction response: 04:22:04.6826 LVL= 26080, 30769, 27218, 32755, AGC= 68, IDX= 416,-0.11, 1.523,-0.185, 1.593, 1.195, PHS= 0.431,-1.334, 0.354, RAW= 147.8, 6.4, CAL= 147.2, 6.9, ROT= 2.8, -6.9  PDAT read: Bearing 172.2, 1.9 (Local)  ~Local bearing/azimuth received: Bearing 172.2, 1.9 (Local)  DAT read: Range 11 to 50 : 120.9 m (Round-trip 161.3 ms) speed 1.0 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.991572,0.048496,0.120137] Fpublishing direction and range infoy  ~w?zvԨ?rjƹI?Y B e 1x Rj ) DI >i }?> %@ = l$@ Ϣ=) +H=I Ϣ yj!?~+Ԛ?TV? (Q>) I +H=i Ϣ % T****** received valid address query ******% R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.%, Q{LA2@2e=2<ٱ23@=2H?i???c [ $?`?i2@I2];2LCY>LByBB IF=F=PbDJVDJ8yv;%vG=ٔv:Q-v>9xYx=zEyzEzE~>!Q 5-4%hx?Q 9-4%)%OBY)y-E">Q I-3@%}zDI%:i%>:%s4DYzD]@AEe EeEe"Ea"Ee:*Ee:VEe(3ZEaam@am@am@am@yuYBɮuhAqiiؤ{LAjB"jB:j="pBG]@)5zQ\@"hb,@p~w?zvԨ?rjƹI?*j+H=2jϢ*pCIiJ]@=%@ E%S&'@pHǷ?V;X?-?j/A jBiD]c?iGջjrBjVf?jjrBrjBzj3ݽ= addTargetRange:: Added new target pos. range: 120.900002 m, deltaT: 3.529565 s, deltaX: -1.900002 m, approachRate: -0.538310 m/s, rangeRepo size: 4  Added new target pos. range: 120.425568 m, bearing: 5.256481 deg, lat: 36.779405 deg, lon: -121.859615 deg, deltaT: 3.529565 s, deltaX: -1.892357 m, approachRate: -0.536144 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 120.43 m."i*i ProNav: ac range: 120.425568 m, nav range: 119.914368 m, bearing: 5.311723 deg, approach rate: 0.000000 m/s, LOS rate: -0.016549 deg/s, cmd heading: 3.418807 deg, new cmd heading: 3.403946 deg. iHeadingCmd: 0.059410 target range: 120.425568 and range: 120.90 m.hWs=hhhh!g!g!jg!rg!e)re)Ze):e59^@*e5 G?Bm>BiBiBiBm =BiBiBm|;Bm4E颵wBɢ+=) >i);项iiWs=e==IWs=I@ @@0@(DAT read: user:56> 5BDAT read: Tx time:04:22:05.7671 =$Ping request sent.E%,,){LAF2@Fe=F<ٱF=FH`?`ˡ? 첬?`?ࣶ%? Y?iF2@IF` ];FJCY^KBy`echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.244680iMb@Mb@Mb@ 9'1Z?333333?/$?Y?y=<@ A ?@)YbD=VD8y}~%:=ٔ N:Q- >9 Y = Ey E8E>Q 5%4,x?Q 9%4)RBY%S?Q E-:y-MI>Q I-3@zDI:i:4y1ɮ5jA1UB*** querying acoustic contact ***iQiQ:iYeFNOT Ignoring new targets: 120.43 m."iem*iemu ProNav: ac range: 120.425568 m, nav range: 119.690323 m, bearing: 5.300542 deg, approach rate: -0.556098 m/s, LOS rate: -0.027804 deg/s, cmd heading: 3.403946 deg, new cmd heading: 3.381542 deg. i}K}HeadingCmd: 0.059019 target range: 120.425568 and range: 120.90 m.h}q=hyhhhggjgrgBereZe:e*eW?颽xBɢ~=) >i);iDziq=Tc=)=Iq=I19@9 @9@=3@9Eu EuEu%Eq"Eu:*EuVL:VEu 4ZEqBEu+%,{LA2@2d=29<ٱ2 =2H?&Ъ@?%? ?@0`?}?i2@I2<\;0Y>:By>, IbDFTVDF8yRŽ%Rd=ٔV&:Q-V>9TYT=VEyZEZLEZ>\Q 5b4^X;x?Q 9b4^)^TBYdyfI>Q If3@^zDI^;i^:^V4yjWBɮjAjE:i|Y}FNOT Ignoring new targets: 120.43 m."i*i빝 ProNav: ac range: 120.425568 m, nav range: 119.505966 m, bearing: 5.291334 deg, approach rate: -0.514575 m/s, LOS rate: -0.025742 deg/s, cmd heading: 3.381542 deg, new cmd heading: 3.363097 deg. iq<HeadingCmd: 0.058697 target range: 120.425568 and range: 120.90 m.hclp=hhhhggjgrgereZe:e*eS?yBɢ?=) >i)X;i޲iclp=a==Iclp=Iq@q @y@}4@yuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.748672ԉE EE&E"E:*EA:VE4ZEa@a@a@a@^A͢=ԹBA<B>BBBBBBB|;B4EI I O > = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0030929%,c{LAM;@MTd=MT<ٱM=MH?2`9O? g?u?@lמ? ?iM;@IMQ\;MKCYe=Bye1 IԱiMb@Mb@Mb@ 9S㥛?(\µ?Mb?Y?y=<A )AYbD%VD%8y5w<%=3=ٔ= :Q-=>9AYA=EEyEEE;:EE>IQ 5U4M!Ox?Q 9]4M9)MVBY]?Q E]:y][>Q I]3@MzDIMC:iMn:MQ4yaɮmAi:iFNOT Ignoring new targets: 120.43 m."il *il  ProNav: ac range: 120.425568 m, nav range: 119.267494 m, bearing: 5.277342 deg, approach rate: -0.522056 m/s, LOS rate: -0.030692 deg/s, cmd heading: 3.363097 deg, new cmd heading: 3.335057 deg. i`HeadingCmd: 0.058208 target range: 120.425568 and range: 120.90 m.h:kn=hhhhggjgrgBereZe:e*eW?zBɢ=) d>i)4\;id鲼i:kn=^=m=I:kn=II)uA@! @!@%5@!@-R=@-=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.252426!^AE Т=E  E E %E "E I:*E a9:VE 4ZE BE %,R|LAYn6Byr( IbDzVDz8y %a=ٔ Q- >9 Y = Ey EE>Q 5%4^x?Q 9%4()XBY!y)Q I-3@zDI:i:4y5TBɮ5A5E:iY]FNOT Ignoring new targets: 120.43 m."ie *ie u ProNav: ac range: 120.425568 m, nav range: 119.077576 m, bearing: 5.266158 deg, approach rate: -0.522667 m/s, LOS rate: -0.030827 deg/s, cmd heading: 3.335057 deg, new cmd heading: 3.312654 deg. iua}HeadingCmd: 0.057817 target range: 120.425568 and range: 120.90 m.h}:l=hyhyhyhygygjgrgereZe:e*e]?颽{Bɢdf=) >i)2;ii:l=8]="=I:l=Iy7?Y?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505964U9@Q @Q@U/@Qԡ^Au`=IIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756548 3 %,)|LA2H@2Zc=2<ٱ2G=2H`??,d??JCR9dYd=jEyjEjwEj>lQ 5r4npx?Q 9v4n)nZBYtyvZ>Q Iv3@nzDIn:in:n4yzRBɮzA|DYzDYEm EmEiEi"Em:*Em:VEiZEia}@a}@a}@a}@:iFNOT Ignoring new targets: 120.43 m."i2*i2 ProNav: ac range: 120.425568 m, nav range: 118.870605 m, bearing: 5.253951 deg, approach rate: -0.496429 m/s, LOS rate: -0.029331 deg/s, cmd heading: 3.312654 deg, new cmd heading: 3.288197 deg. iV HeadingCmd: 0.057390 target range: 120.425568 and range: 120.90 m.h k=h h hhg1g9jg9rg9eAreAZeA:eI*eM0@B>BB IBBBBBBX|;B4E颽|Bɢ=) >i)um;ilik=~[=MO=Ik=Im9@i @i@m/@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011025^A=II O >) L%,ԂC|LAVz@Vc=V&<ٱV5S=VHi? g? 1w? ?FC ?J?iVz@IV:\;VKCYb2Byb# IIfJ>)f=iUMb@Mb@Mb@QQQQ Q9US㥛?MbX9?=ٔz<:Q->9Y=EyE9E>Q 54قx?Q 94)Y?Q E:yO>Q I3@zDI ;i: ;4yɮAuB*** querying acoustic contact ***iqiq:iyFNOT Ignoring new targets: 120.43 m."i*i ProNav: ac range: 120.425568 m, nav range: 118.644371 m, bearing: 5.241779 deg, approach rate: -0.526333 m/s, LOS rate: -0.028371 deg/s, cmd heading: 3.288197 deg, new cmd heading: 3.263807 deg. iOHeadingCmd: 0.056964 target range: 120.425568 and range: 120.90 m.hGSi=hhhhggjg rg Be re Ze :e*eZ@)]~Bɢ]r<)a e[>i)N\;i)iGSi=IZ=SV=IGSi=IR>i>Ee EeEe$Ea"Ee:*Ee;J:VEe4ZEaBEe %,K]|LA06]@6b=68<ٱ65=6H@|?@?hU?4??`П ն?@L?i6]@I6ص\;6JCYF-ByF I LN<bDRVDR8yZż%ZY=ٔZ}9Q-^>9\Y`=bEybEb3Eb>dQ 5j4fNx?Q 9j4f)dYlyn@O>Q In3@fzDIf:ifs;f4yrPBɮrAvE:i  FNOT Ignoring new targets: 120.43 m."i *i % ProNav: ac range: 120.425568 m, nav range: 118.446228 m, bearing: 5.231105 deg, approach rate: -0.557404 m/s, LOS rate: -0.030077 deg/s, cmd heading: 3.263807 deg, new cmd heading: 3.242424 deg. i%-\-HeadingCmd: 0.056591 target range: 120.425568 and range: 120.90 m.h-g=h)h)h)h)g1g1jg1rg1e9re9Ze9:eA*eEa@mBɢm!=)q u>iq)u];qqiuui}g=}wY=mo=Ig=I9@! @!@!@!ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772477Թ^AD}%=D}=bEƻ 4jE 4rET/E EE%E"E:*EC:VE 4ZEa@a@a@a@IIO>AAAAB>BBIBBBBBB{;BP4E ,)%,U3w|LA"BDAT read: Rx Time:04:22:08.3300 *TRx dataTimestamp_ set to:1764908529.8714142checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039704`@ d=G=ٱ =HK? ?`'z?`?X D Ѻ?@?i@I\;Y$By IiMb@Mb@Mb@ 9J +?Dl?Mbp?Y?yO=;@ V@)AY(AbDVD8y%,=ٔ:Q->9Y=EyE:E>Q 54ux?Q 94)YBY ?Q E:y;>Q I3@zDI:i:4yɮ_A:i)-FNOT Ignoring new targets: 120.43 m."i5^ڹ*i5^ڹE ProNav: ac range: 120.425568 m, nav range: 118.192024 m, bearing: 5.219813 deg, approach rate: -0.536047 m/s, LOS rate: -0.023864 deg/s, cmd heading: 3.242424 deg, new cmd heading: 3.219791 deg. iE.MHeadingCmd: 0.056196 target range: 120.425568 and range: 120.90 m.hM-f=hIhIhIhIgIgQjgQrgUBeQreYZeY:eY*e] 3, @颍Bɢ&<) >i);顑ii-f=X==I-f=I%9@! @!@%/@!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276681^A% =A E  E E $E "E ,:*E &p:VE 4ZE BE 6$%,|LA2@2/e=2w=ٱ2=2H@? Ū?n?`e?`Uj7?@?i2@I2\;2KCYbByb IbDjVDj8yvE%vp=ٔv׋:Q-v?9xYx=zEyzEzU:E~?Q 5 4x?Q 9 4)XBY y X;>Q I 3@zDI":i:4yNBɮA%E:iAMFNOT Ignoring new targets: 120.43 m."iMg۹*iMg۹] ProNav: ac range: 120.425568 m, nav range: 118.009415 m, bearing: 5.211646 deg, approach rate: -0.535319 m/s, LOS rate: -0.023977 deg/s, cmd heading: 3.219791 deg, new cmd heading: 3.203433 deg. i]/eHeadingCmd: 0.055910 target range: 120.425568 and range: 120.90 m.heZe=hahahihigigijgirgqeqreqZeq:eq*e}Q @颥Bɢ#<) 7>i)O<顩iﲼiZe=X=b=IZe=I=DAT read: 04:22:08.3300 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 422,-0.08,-1.329,-3.005,-1.279,-1.663, PHS= 0.435,-1.297, 0.340, RAW= 147.2, 6.2, CAL= 146.7, 6.7, ROT= 3.3, -6.7 EYgot valid direction response: 04:22:08.3300 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 422,-0.08,-1.329,-3.005,-1.279,-1.663, PHS= 0.435,-1.297, 0.340, RAW= 147.2, 6.2, CAL= 146.7, 6.7, ROT= 3.3, -6.7 MPDAT read: Bearing 172.4, 2.1 (Local) M~Local bearing/azimuth received: Bearing 172.4, 2.1 (Local) ]DAT read: Range 11 to 50 : 119.0 m (Round-trip 158.7 ms) speed 0.4 m/s ](DAT read: user:57> eBDAT read: Tx time:04:22:09.4171 e$Ping request sent.ei{>l$@k=#@ |=)k=I|ゥkJ??Aٻ? >)9߽Ik=i|ゥ:publishing transmit ping timeaFpublishing direction and range infoy ?E?mu"޽?Y )Ii )IkJ??Aٻ? )Ii9@ @@/@@=@Iq^A:=A>A>I I O >iߡ Iߡ Թ 9*%,X|LA2@2c=2U=ٱ2=2H?kb?@o??@'e/?`o?i2@I2\;2JCY>ByB IFAAFBAbDJAVDJ8yZ %ZN=ٔZ:Q-^>9`Y`=bEybEfjEf>hQ 5r4jpx?Q 9r4j)jWBYtyv:>Q Iv3@j{DIj*;ij4;j4y|ɮ~AEE EEEE&EA"EE>:*EEC:VEE4ZEAaU@aU@aU@aU@i!i%6|LAj%B"j%B:j%="p%Qa]@FL@iAW+@p% ?E?mu"޽?*j%k=2j%|*p%/{!P]]@≮Ծ'@'=؁iU%@p%wX宵?f?y ?j%M=A j%Bi% bs?i%7jj%mBj!yj%j%Brj%Bzj%{=  addTargetRange:: Added new target pos. range: 119.000000 m, deltaT: 3.786990 s, deltaX: -1.900002 m, approachRate: -0.501718 m/s, rangeRepo size: 4 = Added new target pos. range: 118.533333 m, bearing: 5.751996 deg, lat: 36.779405 deg, lon: -121.859605 deg, deltaT: 3.786990 s, deltaX: -1.892235 m, approachRate: -0.499667 m/s, posRepo size: 4 :i9=FNOT Ignoring new targets: 118.53 m."iE*iAB]>BYB]IB]BBYBYBYB]{;B]:4EBBBB =B =Cw4 ProNav: ac range: 118.533333 m, nav range: 117.880478 m, bearing: 5.636715 deg, approach rate: 0.000000 m/s, LOS rate: -0.023977 deg/s, cmd heading: 3.203433 deg, new cmd heading: 3.182890 deg. iHeadingCmd: 0.055552 target range: 118.533333 and range: 119.00 m.hhc=hhhhggjgrgereZe:e]@*e*?Bɢgb<) '>i)% 8 1%,|LA2)@2d=2=ٱ2:=2H`?@???Tb Z_?R?i2)@I2\;2HCYBByBIi Mb@Mb@Mb@     9 x&1?Q?Mb?Y ?y u= <   @) &A Y AbD%VVD%8y5%5B=ٔ=،:Q-=>99YA=EEyEEEM#:EE>IQ 5U4M+x?Q 9U4M)MVBYeu?Q Ee:ye/>Q Ie3@M{DIMI;iMH;M34ymMBɮmAq-B*** querying acoustic contact ***i)i):iQ]FNOT Ignoring new targets: 118.53 m."i]%*i]%m ProNav: ac range: 118.533333 m, nav range: 117.667503 m, bearing: 5.629113 deg, approach rate: -0.513869 m/s, LOS rate: -0.018375 deg/s, cmd heading: 3.182890 deg, new cmd heading: 3.167659 deg. imHeadingCmd: 0.055286 target range: 118.533333 and range: 119.00 m.hsb=hhhhggjgrgBereZe:e*e`/?UBɢU* <)Q ]>iY)]6Y ?J7%,|LA2@2b=2=ٱ2s=2H ?bB?J??t~?h?i2@I2\;2JCYB ByBIDDbDHVDHyV%VT=ٔVR:Q-Z>9XYX=ZEyZE^E^>`Q 5f4bx?Q 9f4b)`Ydyj)/>Q Ij3@b{DIb:ib:b4ynKBɮnAnE:iFNOT Ignoring new targets: 118.53 m."i *i  ProNav: ac range: 118.533333 m, nav range: 117.471100 m, bearing: 5.622126 deg, approach rate: -0.544534 m/s, LOS rate: -0.019404 deg/s, cmd heading: 3.167659 deg, new cmd heading: 3.153662 deg. i} HeadingCmd: 0.055042 target range: 118.533333 and range: 119.00 m.h}sa=hhhhggjgrgereZe:e*e?9eBɢmi<)i m>ii)uTs Ee EeEe&Ea"Ee:*EeF:VEe4ZEaam@am@am@am@BQBQBUIBUBBQBQBQBU{;BU4EԉԹ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500034x=%,|LA@`= =ٱ=H?> 8?`S? ?ṿdt a? ?i@I]!];ICYByIi}Mb@Mb@Mb@yyyy y9}?v/?Mb?Y}f?y}xi=y}@}A y)}SAyY}pAԉ <<bD2VDڰ8y!%.=ܹٔ:Q->9Y=EyE4E>Q 54)y?Q 94)UBY4?Q E:y$>Q I3@/{DI ;iL ;)4yIBɮ>AE:iFNOT Ignoring new targets: 118.53 m."i 듹*i 듹 ProNav: ac range: 118.533333 m, nav range: 117.223473 m, bearing: 5.614546 deg, approach rate: -0.526937 m/s, LOS rate: -0.016165 deg/s, cmd heading: 3.153662 deg, new cmd heading: 3.138468 deg. i칝HeadingCmd: 0.054777 target range: 118.533333 and range: 119.00 m.ho]`=hh!h!h!g!g!jg)rg-Be)re)Ze1:e1*e5?]BɢeD<)a es>ia)miiIiuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750002Ee  Ee Ee %Ea "Ee V:*Ee V:VEe 4ZEa BEe 9VDZ8yn<%nn=ٔn:~:Q-r?9pYp=rEyrEvEv?xQ 5~4zGy?Q 9~4z)zTBYy $>Q I3@z;{DIz ;iz ;z-4y ɮ 2A :i15FNOT Ignoring new targets: 118.53 m."i=:*i=:M ProNav: ac range: 118.533333 m, nav range: 117.042099 m, bearing: 5.609016 deg, approach rate: -0.526955 m/s, LOS rate: -0.016090 deg/s, cmd heading: 3.138468 deg, new cmd heading: 3.127392 deg. iM빝UHeadingCmd: 0.054583 target range: 118.533333 and range: 119.00 m.hU_=hQhQhQhQgQgYjgYrgYeareaZea:ea*eee?颕BɢV<) ft>i)#<顙ip i_=iY==I_=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002672Q@Q @Q@U0@QA؟AIIOA>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253734 nManaging dock network, ignoring radio surface power offdJ%,%,}LA F@F^=F=ٱF5=FH?@ǩ $ä?;̫?@k? S@dպ??iF@IF];FLCDzD?AE- E-E-#E)"E-:*E-i:VE-3ZE)a5@a5@a5@a=@B>BBIBځBBBBB{;B%4EYEByEIIMAbDUVDU8ye%e(=ٔm\:Q-m>i9u"?Yu"?=uEy}E}9E}>Q 54$y?Q 94)SBYy$$>Q I3@K{DI;i;4yHBɮPA:iFNOT Ignoring new targets: 118.53 m."i=*i= ProNav: ac range: 118.533333 m, nav range: 116.784828 m, bearing: 5.601130 deg, approach rate: -0.527348 m/s, LOS rate: -0.016200 deg/s, cmd heading: 3.127393 deg, new cmd heading: 3.111586 deg. i/HeadingCmd: 0.054307 target range: 118.533333 and range: 119.00 m.htq^=hhhhggjgrgereZe:e*eǦ@%Bɢ%<)! %e>i))--<))i-i5tq^=5uY=5ʁ=I5tq^=I99@ @@5@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509112ԡ^A ܪ= A .AI I O >mQ%,&E}LA:@:^=:v=ٱ:=:H?@X?Ϋ? ?n- +?L?i:@I:lE];8 @)@FCDDDFb~AiFIHHIHiJ~~A JtH)HL LLPPTTV9~AIVĻ)TiT)XIXZjX X\\\i\\i``)` `I`YdYjByjIEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757855imMb@Mb@Mb@iiii i9m/$?Zd;O?~jtx?Ym1?ymj<=m;m@m9 A ml@)mAiYmAy}@AbDVDi8y)%n=ٔ:Q-?9 ?Y ?=EyEc:8E?Q 544y?Q 946)RBY?Q E:yJ>Q I3@W{DI;i;4yFBɮ|AE]B*** querying acoustic contact ***iaia:iimFNOT Ignoring new targets: 118.53 m."i<*i< ProNav: ac range: 118.533333 m, nav range: 116.601646 m, bearing: 5.597420 deg, approach rate: -0.508783 m/s, LOS rate: -0.010321 deg/s, cmd heading: 3.111586 deg, new cmd heading: 3.104154 deg. iHeadingCmd: 0.054178 target range: 118.533333 and range: 119.00 m.hp]=hhhhggjgrgBe reZe:e*e@eBɢe<)a e$T>ii)mc[W%,8_}LA2P@2\=2)=ٱ2j=2H`? I,? ԓ?"?`Ax:d? ?i2P@I2j];2JC!YmBymIbDVDF8yhP%I=ٔI:Q->9"?Y"?=EyEzE>Q 54PFy?Q 94k)PBYy >Q I3@e{DIW;iY; 4yɮA:i)-FNOT Ignoring new targets: 118.53 m."i5K*i5KE ProNav: ac range: 118.533333 m, nav range: 116.382660 m, bearing: 5.593018 deg, approach rate: -0.553241 m/s, LOS rate: -0.011143 deg/s, cmd heading: 3.104154 deg, new cmd heading: 3.095332 deg. iE#MHeadingCmd: 0.054024 target range: 118.533333 and range: 119.00 m.hMH]=hIhIhIhIgIgQjgQrgQeYreYZeY:eY*e]`ʲ @颍Bɢ:<)} H<>i)<顑iiH]=Y==IH]=IiQIQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263226a@ @@/@E= E=E9E9"E=:*E=Ar:VE9ZE9aE@aE@aM@aM@qAA@ABBBIBˁBBBBB{;B)4E^Aܪ=ԩ A .AI) IQ Oe >- DAT read: 04:22:11.9775 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412,-0.02, 1.351,-0.411, 1.391, 1.012, PHS= 0.441,-1.378, 0.335, RAW= 147.0, 6.9, CAL= 146.5, 7.4, ROT= 3.5, -7.4 E Ygot valid direction response: 04:22:11.9775 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412,-0.02, 1.351,-0.411, 1.391, 1.012, PHS= 0.441,-1.378, 0.335, RAW= 147.0, 6.9, CAL= 146.5, 7.4, ROT= 3.5, -7.4 ]%,y}LAVPDAT read: Bearing 174.0, 1.9 (Local) m~Local bearing/azimuth received: Bearing 174.0, 1.9 (Local) yDAT read: Range 11 to 50 : 117.1 m (Round-trip 156.2 ms) speed 0.4 m/s (DAT read: user:58> BDAT read: Tx time:04:22:13.0671 $Ping request sent. i%Nb%>%Y3$@%Ϣ=%_#@ % A>)%5z=I% A!!%y@M?d> ? lC? %}>)%)PI%5z=i% A!!:publishing transmit ping timeFpublishing direction and range infoy!%N ??OZ_|?Y!!!!! !)!I!i!!!!! !)!I!!!%y@M?d> ? lC? !)!I!i!!!}@}:]=}=ٱ}Qv=}H? Ph?@?? `e? m?i}@I}];yYeށByeIIu=)u<}=}=ԡiMMb@Mb@Mb@IIII I9M#~j?&1?:v?YM?yMP=MT9 ?Y ?=EyE9E%>!Q 5]4%_y?Q 9]4%=)!Y]?Q E]:y]>Q I]3@%x{DI%;i%};%4ymDBɮm/AmEi!i%x}LAj%GB"j%GB:j%q="p%_,\@ >@A3Ť .@p%N ??OZ_|?*j%5z=2j% A*p%Q%\@w~\\'@ 9&@p%>t??ds(}&?j%:A j%Bi%Ҙzc?i%Lj%ɘBj%D]c?j%7jj!rj%#Bzj%b'=M addTargetRange:: Added new target pos. range: 117.099998 m, deltaT: 3.527369 s, deltaX: -1.900002 m, approachRate: -0.538646 m/s, rangeRepo size: 4 ] Added new target pos. range: 116.640175 m, bearing: 5.775568 deg, lat: 36.779405 deg, lon: -121.859602 deg, deltaT: 3.527369 s, deltaX: -1.893158 m, approachRate: -0.536705 m/s, posRepo size: 4 :iYeFNOT Ignoring new targets: 116.64 m."ie*i ProNav: ac range: 116.640175 m, nav range: 116.068588 m, bearing: 5.711501 deg, approach rate: 0.000000 m/s, LOS rate: -0.011143 deg/s, cmd heading: 3.095332 deg, new cmd heading: 3.081993 deg. iHeadingCmd: 0.053791 target range: 116.640175 and range: 117.10 m.hS\=hhhhggjgrgBereZe:e`fF]@*e`B? Bɢ VW<) % X>iA )E I$fg%, }LA2+@2L^=2u=ٱ2=2HD?Nu?`??xź`N?@?i2+@I2ҽ];2ICY>ɁBy>IbDJVDJJ8yN%R\=ٔR:Q-R>9TYT=VEyVEV~8:EZ>XQ 5^4Zoy?Q 9^4Z{)ZOBY`yb>Q Ib3@Z{DIZ2 ;iZ? ;Zx4yhɮjAh:ix~FNOT Ignoring new targets: 116.64 m."i~u*iu  ProNav: ac range: 116.640175 m, nav range: 115.873665 m, bearing: 5.706817 deg, approach rate: -0.558029 m/s, LOS rate: -0.013430 deg/s, cmd heading: 3.081993 deg, new cmd heading: 3.072610 deg. iĹHeadingCmd: 0.053627 target range: 116.640175 and range: 117.10 m.h*[=hhhhggjg!rg!e!re!Ze):e)*e-??eBɢmȎ<)q u=iq)}UBBIBBBBBBi{;B4E IQ Ia Ou >m%,S}LA6]@6]=6d=ٱ6?=6H9?@4 ?`(??뺿 4nu??i6]@I6`];4YFByFIbDNbVDN8yV=%VK=ٔV7:Q-V>9XYX=ZEyZE^(E^>`Q 5j4by?Q 9n4b)`Ytyv>Q Iz3@b{DIb ;iby;b$4y~BBɮ~A|:i!%FNOT Ignoring new targets: 116.64 m."i-'e*i-'e= ProNav: ac range: 116.640175 m, nav range: 115.662560 m, bearing: 5.701740 deg, approach rate: -0.519634 m/s, LOS rate: -0.012521 deg/s, cmd heading: 3.072611 deg, new cmd heading: 3.062437 deg. iS HeadingCmd: 0.053450 target range: 116.640175 and range: 117.10 m.hZ=h!h)h)h1gYgajgirgqereZe:e*en?Q颕Bɢ\<) >i) <顙i[iZ=Z=IZ=Iyu˼I)yAԩ % 9@!  @! @- 00@) E  E E !E "E m:*E 0:VE c3ZE BE a 2E a JE ݉;a :E ݉;a ^AII)I9OE?dv%,}LA6@6&Z=6z{=ٱ6=6HV?`@x? K9Y=EyEwѺE>Q 54y?Q 94w)Y?Q E:y=>Q I3@{DI:i:.4y ABɮ^AEB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 116.64 m."i|*i| ProNav: ac range: 116.640175 m, nav range: 115.368248 m, bearing: 5.693690 deg, approach rate: -0.503514 m/s, LOS rate: -0.013806 deg/s, cmd heading: 3.062437 deg, new cmd heading: 3.046297 deg. i#ʹHeadingCmd: 0.053168 target range: 116.640175 and range: 117.10 m.hY=hhhhggjg)rg-Be)re)Ze):e1*e5`A!?BɢJ2<) >i)/"<iߠi%Y=-[=-d=I5Y=I15T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode. (A D- =D- <E5  E5 E5 #E1 "E5 :*E5 C:VE5 3ZE1 aE @aE @aE @aE @B B B IB BB B B B M{;B 4EBBBBBCS3 9@  @ @ /@ i ^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.939331IAIQOe?~%,}LA@!V= =ٱ=H ?`|薦?`绪??d@QࣿH? ?i@Iw];Y]ҁBy]IiMb@Mb@Mb@ 9'1Z?:v? rh?Y?yT=C<@ A nA)jAYAbDhVD!8yO%%=ٔ-7:Q-->99Y9==Ey=EMEM>iYQ 5u4]y?Q 9}4][)]PBY?Q E:y>Q I3@]{DI];i]e;]84y?BɮnAE:iFNOT Ignoring new targets: 116.64 m."in*in  ProNav: ac range: 116.640175 m, nav range: 115.085602 m, bearing: 5.686629 deg, approach rate: -0.520467 m/s, LOS rate: -0.013034 deg/s, cmd heading: 3.046297 deg, new cmd heading: 3.032141 deg. iӾ%HeadingCmd: 0.052921 target range: 116.640175 and range: 117.10 m.h%X=h!h!h!h)g)g)jg)rg-Be1re1Ze1:e1*e=6]@%Bɢ%(0<)! %=i!)-%<))i-ܭi5X=5ZZ=5)=I5X=I9AAAAԑ5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.189828 E-  E- E- &E) "E- y:*E- L_:VE- 4ZE) BE- 4%,~LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.4418936^@6eR=6[E=ٱ6:=6H??D??`Ob磿`պ? ?i6^@I6y>];6JCYBʁByBIbDvXVDv8y~y%~F=ٔ~ 9Q->9Y=EyE E >Q 54&y?Q 94)QBYy>>Q I%3@{DI:i%:A?4y)ɮ-A)Q:iI]FNOT Ignoring new targets: 116.64 m."i]sm*i]smm ProNav: ac range: 116.640175 m, nav range: 114.875992 m, bearing: 5.681458 deg, approach rate: -0.524965 m/s, LOS rate: -0.012975 deg/s, cmd heading: 3.032141 deg, new cmd heading: 3.021779 deg. imuHeadingCmd: 0.052740 target range: 116.640175 and range: 117.10 m.huX=hqhyhyhygygyjgrgereZe:e*e6@颵Bɢ?<) =i)]&<项iFTiX=HY==IX=I]>i>i@i @i@m0@iԁ^A=ԱiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.694108IiIO>E  E E $E "E :*E VL:VE 4ZE a @a @a @a @ B >B B rIB BB =B B B X{;B 4E&[%,53~LA2@2wP=2n =ٱ2d=2H`?Χ ?`?@P?` 5`Ǻ? ?i2@I2];2ICYNByRIIV>)VR=V=V=bDZ;VDZ8yb %fN=ٔfAy:Q-f>9dYh=jEyjEjӛEj>lQ 5r4n"y?Q 9r4n)lYtyv>Q Iv3@n{DIn\:in:n/F4yz>BɮzA~E:i%FNOT Ignoring new targets: 116.64 m."i%f*i%f5 ProNav: ac range: 116.640175 m, nav range: 114.672455 m, bearing: 5.676465 deg, approach rate: -0.513258 m/s, LOS rate: -0.012614 deg/s, cmd heading: 3.021779 deg, new cmd heading: 3.011775 deg. i5ԹHeadingCmd: 0.052565 target range: 116.640175 and range: 117.10 m.hNW=hhhhggjgrgereZe :e *e @BɢL<) =i))'<iOi%NW=%W=%>=I-NW=I)5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.945827@  @@_0@^Am Т= BDAT read: Rx Time:04:22:15.6250  TRx dataTimestamp_ set to:1764908537.168003 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.200397A A ؟AI I O >=u%,N~LAE EE!E"E*EM:VEc3ZEBE39%"?Y%"?=%Ey%E-E->1Q 5=45y?Q 9=45)5PBY= ?Q E=:yER>Q IE3@5{DI5j:i5Z:5:N4yIɮMAI:iquFNOT Ignoring new targets: 116.64 m."i}P*i}P ProNav: ac range: 116.640175 m, nav range: 114.423424 m, bearing: 5.671242 deg, approach rate: -0.540765 m/s, LOS rate: -0.011367 deg/s, cmd heading: 3.011775 deg, new cmd heading: 3.001306 deg. ilHeadingCmd: 0.052383 target range: 116.640175 and range: 117.10 m.h5V=hhhhggjgrgBereZe:e*ea @UBɢU|<)Q U=iQ)Uƥ(%,+Ph~LA2@2N=2!=ٱ2p=2H 1?K1̦?)ͩ??]8?D?i2@I2{\;0Y>By>IbDFVDF8yNL%fg=ٔfN1:Q-f>9hYh=jEyjEnEn>pQ 5v4r1y?Q 9v4r)rOBYtyv>Q Iv3@r{DIr :ir::rT4yz=Bɮ~4AB*** querying acoustic contact ***ii:i)-FNOT Ignoring new targets: 116.64 m."i5M*i5MmDAT read: 04:22:15.6249 LVL= 23680, 32161, 25746, 31299, AGC= 70, IDX= 418, 0.22,-1.620, 2.870,-1.602,-1.971, PHS= 0.453,-1.397, 0.325, RAW= 146.4, 7.0, CAL= 146.0, 7.6, ROT= 4.0, -7.6 }Ygot valid direction response: 04:22:15.6249 LVL= 23680, 32161, 25746, 31299, AGC= 70, IDX= 418, 0.22,-1.620, 2.870,-1.602,-1.971, PHS= 0.453,-1.397, 0.325, RAW= 146.4, 7.0, CAL= 146.0, 7.6, ROT= 4.0, -7.6 PDAT read: Bearing 174.6, 2.2 (Local) ~Local bearing/azimuth received: Bearing 174.6, 2.2 (Local) DAT read: Range 11 to 50 : 115.2 m (Round-trip 153.7 ms) speed 0.4 m/s (DAT read: user:59> BDAT read: Tx time:04:22:16.7170 $Ping request sent.i=в ProNav: ac range: 116.640175 m, nav range: 114.228676 m, bearing: 5.667186 deg, approach rate: -0.539410 m/s, LOS rate: -0.011253 deg/s, cmd heading: 3.001306 deg, new cmd heading: 2.993180 deg. i¤HeadingCmd: 0.052241 target range: 116.640175 and range: 117.10 m.hU=hhhhggjgrg=ff>=Ƈ#@=5==e#@ =>)=5=I=99= Xp?|6SK?͑? =XX>)=;I=5=i=ereZe:e\@*e L?99:publishing transmit ping timeFpublishing direction and range infoy9=j[A?Jf?) ?Y99999 9)9I9i99999 9)9I999= Xp?|6SK?͑? 9)9I9i999 Bɢ-i<)1 5d=i1)5Y^)<11i5-Si=U==T==P=IEU=IAqE9 E=E=$E9"E9*E=:VE=4ZE9aE@aE@aE@aM@BBB`IBBB =BBB{;B24E9@ @@05@ @ yA@ zAAy^A) AY I ԙ I O >%,0~LAR@RvO=RKz"=ٱR=RH?`ࡧ??^? `M ??iR@IR];PY^BybIdfAi}Mb@Mb@Mb@yyyy y9}w/?Mb?{Gz?Y}?y}=y}?@} A }nA)yyY}(AbD VDɯ8y%;=ٔh9Q->9Y=EyE9E>Q 54> z?Q 94)NBY?Q E:y,>Q I3@{DI=:i:\4yɮ;Aiiimej~LAjmB"jmB:jmX="pm]\@ j@2Z.@pmj[A?Jf?) ?*jm5=2jm*pmó(!b\@Xl](@j&@pmԩ?l,r?rB48y?jm@A jmBim-l?im/jmBjijmLjmɘBrjmBzjmҙ=% addTargetRange:: Added new target pos. range: 115.199997 m, deltaT: 3.780110 s, deltaX: -1.900002 m, approachRate: -0.502631 m/s, rangeRepo size: 4 5 Added new target pos. range: 114.748077 m, bearing: 6.057486 deg, lat: 36.779405 deg, lon: -121.859600 deg, deltaT: 3.780110 s, deltaX: -1.892097 m, approachRate: -0.500540 m/s, posRepo size: 4 :i15FNOT Ignoring new targets: 114.75 m."i=*i9M ProNav: ac range: 114.748077 m, nav range: 114.012802 m, bearing: 5.724007 deg, approach rate: 0.000000 m/s, LOS rate: -0.011253 deg/s, cmd heading: 2.993180 deg, new cmd heading: 2.983389 deg. iIUHeadingCmd: 0.052070 target range: 114.748077 and range: 115.20 m.hUOGU=hQhQhQhQgQgYjgYrg]BeYreaZea:ea*ee I?q颕Bɢf<) U=i)*<顙i᫪iOGU=S==IOGU=Ia@a @i@m4@iԡE= E=E='E9"E=,:*E=C:VE='4ZE9BE=;aM:E=>;aM^AA .AI I O > %,~LA2V@2aN=2"=ٱ2X3=2H`(?Y~?@1ĩ?@^? UQ ??i2V@I2\;2GCY>By>IbDFVDF8yfn$%fY=ٔj58Q-j>9j ?Yj ?=nEynEn7En>pQ 5v4rz?Q 9v4r7)rMBYxyz,>Q Iz3@r |DIrI:ir:rb4y~;Bɮ~oAE:i!-FNOT Ignoring new targets: 114.75 m."i-ߩ*i-ߩ= ProNav: ac range: 114.748077 m, nav range: 113.813332 m, bearing: 5.717105 deg, approach rate: -0.535593 m/s, LOS rate: -0.018564 deg/s, cmd heading: 2.983389 deg, new cmd heading: 2.969561 deg. i=EHeadingCmd: 0.051829 target range: 114.748077 and range: 115.20 m.hE?JT=hAhAhIhIgIgIjgIrgQeQreQZeQ:eQ*e]?颁ɢT<) =i)u*<顉ii?JT=R=S=I?JT=IQ@Q @Q@]/@Y^AuT=) A ؟AI I O >DA zDA EM  EM EM !EI "EM :*EM x:VEM c3ZEI aU @aU @aU @aU @Bm >Bi Bm SIBm BBi Bi Bi Bm 2|;Bm y4EQ zݬ%,~LA2w@2K=2"=ٱ25=2Hb?0?gv? ? W@?@?i2w@I2\;2KCY>By>|IbDJҾVDJ8yNݍ%RM=ٔR8Q-R>9V"?YV"?=VEyV EV-úEZ>\Q 5^4^z.z?Q 9b4^H)^LBY`yb+>Q Ib3@^|DI^C:i^:^i4ydɮfAh:ix~FNOT Ignoring new targets: 114.75 m."i~<*i<  ProNav: ac range: 114.748077 m, nav range: 113.601692 m, bearing: 5.709819 deg, approach rate: -0.529879 m/s, LOS rate: -0.018276 deg/s, cmd heading: 2.969561 deg, new cmd heading: 2.954962 deg. iHeadingCmd: 0.051574 target range: 114.748077 and range: 115.20 m.h?S=hhhhggjg!rg!e!re!Ze):e)*e- ^?UBɢ]sI<)Y ]9Y=Ey EE>Q 54Az?Q 94P)KBY?Q E:y#$>Q I4@&|DIA:i:Rq4y:BɮAE:i%FNOT Ignoring new targets: 114.75 m."i%*i%򒹝 ProNav: ac range: 114.748077 m, nav range: 113.371628 m, bearing: 5.702760 deg, approach rate: -0.522351 m/s, LOS rate: -0.016059 deg/s, cmd heading: 2.954962 deg, new cmd heading: 2.940816 deg. i빝HeadingCmd: 0.051327 target range: 114.748077 and range: 115.20 m.h,'%,ȕ~LA:ߟ@:D=:^"=ٱ:|J=:H?N ¦? a??X P6׺?\?i:ߟ@I:dr\;:ICYFByJdIbDVVDV¯8y^%^]=`ٔbQ-b>9dYd=fEyfEfEf>hQ 5n4jQz?Q 9r4j)jJBYpyrW">Q Ir4@j2|DIj;ije;jw4yv9BɮzAx B*** querying acoustic contact ***i i :ii!I!%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.=FNOT Ignoring new targets: 114.75 m."i= *i= U ProNav: ac range: 114.748077 m, nav range: 113.178276 m, bearing: 5.696978 deg, approach rate: -0.521829 m/s, LOS rate: -0.015632 deg/s, cmd heading: 2.940816 deg, new cmd heading: 2.929232 deg. iU九eHeadingCmd: 0.051125 target range: 114.748077 and range: 115.20 m.he,hQ=hahahahagigijgqrgqeqreyZey:e*e=:@Bɢ'<) {i)*<ii,hQ=OM=ß=I,hQ=I9@ @@@B%>B!B%@IB%zBB!B!B!B%|;B%4ED=<D=<bE3jEè3rEÐ'0EE EEEAEA"EEa:*EE1]:VEAZEABEE(<2EE(<JEE;:EE;^A=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256597A Aa I I O >%,}LA2@2@=2?"=ٱ22=2H?s¥X???@G&Fi? ?i2@I2\;2GCYNByNiIiMMb@Mb@Mb@IIII I9MS㥛?J +?y&1?YM$?yMH=M`e=ٔ};Q-}>9yYy=EyE+E>Q 54dz?Q 94)IBY?Q E:y >Q I4@A|DI;i;E4yɮA:iFNOT Ignoring new targets: 114.75 m."i-7*i-7 ProNav: ac range: 114.748077 m, nav range: 112.953087 m, bearing: 5.692707 deg, approach rate: -0.526623 m/s, LOS rate: -0.010009 deg/s, cmd heading: 2.929232 deg, new cmd heading: 2.920672 deg. iHeadingCmd: 0.050975 target range: 114.748077 and range: 115.20 m.hP=hhhhggjgrgBereZe:e*eR@-Bɢ-# <)1 5@i1)5*<11i59馼i=P==I==\=IEP=IA5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508707A@ @@/@E5 E5E5&E1"E5:*E5ga:VE54ZE1aE@aE@aE@aE@ԉ^Ame=Am>Am>A ԡ I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760196H%,LLA>m@>m<=> !=ٱ>=>H`?FR֍? Ɇ?@?@' G>?z?i>m@I>h\;>HCYJByJYI LLbDV VDVͯ8y^ %^X=ٔ^40Q-b>9`Y`=bEybEf3Ef>hQ 5n4jAuz?Q 9n4j)hYlyn3 >Q Ir4@jN|DIj;ij ;j4yv8BɮvRAvE:iFNOT Ignoring new targets: 114.75 m."i\3*i\3- ProNav: ac range: 114.748077 m, nav range: 112.753479 m, bearing: 5.688995 deg, approach rate: -0.526084 m/s, LOS rate: -0.009800 deg/s, cmd heading: 2.920672 deg, new cmd heading: 2.913235 deg. i-|5HeadingCmd: 0.050846 target range: 114.748077 and range: 115.20 m.h5iCP=h1h1h1h1g1g1jg9rg9e9reAZeA:eA*eEd@uBɢu*<)q uPiqԹ);*<iNi%iCP=-E=-!=I-iCP=I19@ @@/@UBDAT read: Rx Time:04:22:19.2722 ]TRx dataTimestamp_ set to:1764908540.697832echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.016651^A5=QB B B .IB kBB B B ĺDB Z};B 5EBBBBBC4DA zDE @AEM  EM EM 'EI "EM :*EM 1]:VEM '4ZEI BEM N"y &%,)7LA2@29=2!=ٱ2 ==2HC?礿z? /? ?@' 4`?I?i2@I2֠\;2JCYnBynOIbDz$VDz8ys%F=ٔ6Q->9 Y = Ey E LE>Q 5%4jz?Q 9%48)Y!y%[ >Q I%4@\|DI';i:4y)ɮ5A1:iQ]FNOT Ignoring new targets: 114.75 m."i]0*ie0m ProNav: ac range: 114.748077 m, nav range: 112.536156 m, bearing: 5.685030 deg, approach rate: -0.526179 m/s, LOS rate: -0.009619 deg/s, cmd heading: 2.913235 deg, new cmd heading: 2.905289 deg. imӌuHeadingCmd: 0.050707 target range: 114.748077 and range: 115.20 m.huO=hyhyhyhygygyjgrgereZe:e*e @颵BɢR;) XZi)*)<项i  DAT read: 04:22:19.2722 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407, 0.04,-0.751,-2.454,-0.747,-1.117, PHS= 0.468,-1.292, 0.326, RAW= 145.9, 5.9, CAL= 145.3, 6.4, ROT= 4.7, -6.4  Ygot valid direction response: 04:22:19.2722 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407, 0.04,-0.751,-2.454,-0.747,-1.117, PHS= 0.468,-1.292, 0.326, RAW= 145.9, 5.9, CAL= 145.3, 6.4, ROT= 4.7, -6.4  PDAT read: Bearing 174.0, 2.6 (Local)  ~Local bearing/azimuth received: Bearing 174.0, 2.6 (Local)  DAT read: Range 11 to 50 : 113.2 m (Round-trip 151.0 ms) speed 0.6 m/s  (DAT read: user:60>  BDAT read: Tx time:04:22:20.3670  $Ping request sent. ie B`e y>e "@e B=e :M"@ e =)e =Ie 佩a a e 6?$?5YC9y? e >)e *ԽIe =ie 佩a a  :publishing transmit ping time  Fpublishing direction and range infoya e H j?f7tش? -V:?Ya a a a a a )a Ia ia a a a a a )a Ia a a e 6?$?5YC9y? a )a Ia ia a a %,QLA20@2N8=2"=ٱ2=2H`M?[Ȥ -? 5?@%? +[@ к?|?i20@I2\;2ICYB}ByBDIE EE"E"E:*Ee:VE(3ZEa @a @a @a @iMb@Mb@Mb@ 9w/?Q?{Gz?Y?yu=#< )YbDVDԯ8y- %-9= AAٔu'Z9Q-}>G9ԱY=Ey"E{عE> 9 Y A1Q 5=45Oz?Q 9=452)5GBY=?Q EE:yEw>Q IE4@5l|DI5:i5.:5b4yu7BɮuA}EiiLLAjB"jB:jڣ="p7V[@튓\"@cILB#)@pH j?f7tش? -V:?*j=2j*pY 0[@:?)@k=X"@p!? $F+?:?jMA jPBip]?i=ijBjjjBrjBzj=M addTargetRange:: Added new target pos. range: 113.199997 m, deltaT: 3.531830 s, deltaX: -2.000000 m, approachRate: -0.566279 m/s, rangeRepo size: 4 ] Added new target pos. range: 112.756668 m, bearing: 6.564396 deg, lat: 36.779405 deg, lon: -121.859600 deg, deltaT: 3.531830 s, deltaX: -1.991409 m, approachRate: -0.563846 m/s, posRepo size: 4 :iY]FNOT Ignoring new targets: 112.76 m."ie*ia ProNav: ac range: 112.756668 m, nav range: 112.285561 m, bearing: 5.677797 deg, approach rate: 0.000000 m/s, LOS rate: -0.009619 deg/s, cmd heading: 2.905289 deg, new cmd heading: 2.895835 deg. iHeadingCmd: 0.050542 target range: 112.756668 and range: 113.20 m.hO=hhhhggjgrgBereZe:eL\@*eH?Bɢbf;) i)%J(1 K8%,jLA6@65=6!=ٱ6=6H?Qw v?ϱ?,?@j5"޺?V?i6@I6\;6HCYnsByr8IIv=)vp= xz<bDVD8y\%-^=ٔ-uQ-5>91Y9==Ey=&EE~EE>IQ 5]4Mgz?Q 9]4Mu)IYaye>Q Ie4@Mw|DIMC;iMD;M[4yqɮu$AqB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 112.76 m."iː*iː ProNav: ac range: 112.756668 m, nav range: 112.104523 m, bearing: 5.672609 deg, approach rate: -0.551360 m/s, LOS rate: -0.015823 deg/s, cmd heading: 2.895835 deg, new cmd heading: 2.885444 deg. i繝HeadingCmd: 0.050361 target range: 112.756668 and range: 113.20 m.hFN=hhhhggjgrgereZe:e*e@,?ɢ%6Q5;)! %i!)%d['<))i-[i-FN=5N7=5I=IFN=IB>BBCBIB[BB =BBB};B95EE EE E"E:*EVL:VE3ZEBEp%i !%,LA V~@V-4=V =ٱV=VH?JV?`a??{Q/fú??iV~@IV^\;VICYboByb3IiMMb@Mb@Mb@IIII I9Mw/?Zd;?y&1?YIyMy=M`e9yYy=Ey*EtE>Q 54z?Q 94)Y?Q E:y>Q I4@|DI ;i ;4y6Bɮ;A:iFNOT Ignoring new targets: 112.76 m."i*i ProNav: ac range: 112.756668 m, nav range: 111.886070 m, bearing: 5.666253 deg, approach rate: -0.535968 m/s, LOS rate: -0.015627 deg/s, cmd heading: 2.885444 deg, new cmd heading: 2.872706 deg. i九HeadingCmd: 0.050138 target range: 112.756668 and range: 113.20 m.h]M=hhhhgigqjgqrguBeyreyZey:ey*e} Ɂ?BɢR;)I MнiI)U% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244193SJ%,LA2v@20=2FT=ٱ2=2H>?ѣ@?? ??飿悺? ?i2v@I2*\;2JCY>mBy>0IbDF VDFޯ8PyN)%RY=ٔRaQ-V>9TYT=VEyV.EZE0EZ>\Q 5b4^Bz?Q 9b4^)\Ydyf>Q If4@^|DI^^;i^';^$4yhɮjKAh:i|FNOT Ignoring new targets: 112.76 m."i\*i\ ProNav: ac range: 112.756668 m, nav range: 111.686546 m, bearing: 5.660525 deg, approach rate: -0.529574 m/s, LOS rate: -0.015230 deg/s, cmd heading: 2.872705 deg, new cmd heading: 2.861229 deg. i޹%HeadingCmd: 0.049938 target range: 112.756668 and range: 113.20 m.h%L=h!h!h)h)g)g1jg1rgereZe:e*ekY?-Bɢ-;)) -۽i1)5$A5>B B B IB GBB =B B B };B =5E! E-  E- E- %E) "E- >:*E- z:VE- 4ZE) BE- at%,nLA2n@2+=2=ٱ2=2H@? S`Y?-y??xݣb?*?i2n@I2N\;2HCYNiByR,I TTbDZVDZگ8y~(|%E=ٔbQ->9  ?Y  ?= Ey 2E KE >Q 54z?Q 9%4ݷ)FBY!y%>Q I%4@|DI&:i;h4y)ɮ-eA5E:iQ]FNOT Ignoring new targets: 112.76 m."i]*i]m ProNav: ac range: 112.756668 m, nav range: 111.466171 m, bearing: 5.654285 deg, approach rate: -0.530362 m/s, LOS rate: -0.015047 deg/s, cmd heading: 2.861229 deg, new cmd heading: 2.848725 deg. imKܹuHeadingCmd: 0.049720 target range: 112.756668 and range: 113.20 m.huЦK=hqhqhyhygygyjgrgereZe:e*e@_?颵BɢP:) li)6#<项i|iЦK=%=I=IЦK=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.748573i@q @q@u/@q)Q^At=A ؟AI I O >M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000149ԁ V\%,AJLA2h@2(=2g=ٱ2=2H ?@X ???⹿ 룿K?n?i2h@I2E\;2GCY^cBy^$IEr ErEr&Ep"Er:*ErrN:VEr4ZEpav@av@av@av@YieMb@Mb@Mb@aaaa a9eT㥛 ?X9v?y&1?Ye?ye}=ae@e| A eA)aaYeAbD}VD}ү8y`%A=ٔ9Q->9"?Y"?=Ey6EkE>Q 54|z?Q 94)GBY ?Q E:y#>Q I4@|DIX:iT ;ɷ4y5BɮA E:iFNOT Ignoring new targets: 112.76 m."i%*i% ProNav: ac range: 112.756668 m, nav range: 111.252029 m, bearing: 5.647503 deg, approach rate: -0.506782 m/s, LOS rate: -0.016081 deg/s, cmd heading: 2.848725 deg, new cmd heading: 2.835135 deg. in빝HeadingCmd: 0.049482 target range: 112.756668 and range: 113.20 m.h J=h h h h g g jgrgBereZe:e*e`f8@ɢȕ:) i)$%,%LAVqa@Vo%=VTp=ٱV+=VH`?|?@m?@?@͹죿4??iVqa@IVj\;TYf^ByjIbDv-VDv8 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504764y4%R=ٔ%R7Q-%>9)Y)=-Ey-:E5>E5>9Q 5E4={?Q 9E4=#)9YIyM#>Q IM4@=|DI=2:i=`:=4yQɮUAQuB*** querying acoustic contact ***iqiq:iFNOT Ignoring new targets: 112.76 m."i*i ProNav: ac range: 112.756668 m, nav range: 111.053871 m, bearing: 5.641292 deg, approach rate: -0.506727 m/s, LOS rate: -0.015913 deg/s, cmd heading: 2.835135 deg, new cmd heading: 2.822690 deg. i蹝HeadingCmd: 0.049265 target range: 112.756668 and range: 113.20 m.hWI=hhhhggjgrgereZe:e*eW@ԹeBɢeA5)a eNii)mpi>BYBYB]IB]8BB] =BYBYB]};B])5EE EE$E"Ea:*E1]:VE4ZEBE(%,LA00Y5TBy5II=>)=<iMb@Mb@Mb@ 9y&1?p= ף?Q?Y`?y=u<nAA )Y\A <bD4VD8y97% 8=ٔ Q- >9 ?Y ?=Ey?EE>!Q 5%4%P{?Q 9-4%))!Y-w?Q E-:y-$>Q I54@%|DI%h;i% ;%W4y=4Bɮ=A9:iFNOT Ignoring new targets: 112.76 m."i*i ProNav: ac range: 112.756668 m, nav range: 110.822189 m, bearing: 5.633809 deg, approach rate: -0.518992 m/s, LOS rate: -0.016798 deg/s, cmd heading: 2.822690 deg, new cmd heading: 2.807693 deg. iHeadingCmd: 0.049003 target range: 112.756668 and range: 113.20 m.hH=hhhhggjgrgBereZe:e*e N@颡ɢ) $i),<顩iDiH===IH=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.008336Y@Y @Y@Y@YE EE%E"E:*Ec:VE 4ZEa@a@a@a@)^A} P=Y } BDAT read: Rx Time:04:22:22.9197  TRx dataTimestamp_ set to:1764908544.478866 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261376A I I O >%,T LAF\@F+#=F}=ٱF=FHq?`B*?1`?@v?`乿@q-I??iF\@IF\;FHCY}IBy}IbD3VD8yS%P=ٔQ->9Y=EyCEpE>Q 54y'{?Q 94K)Yy"$>Q I4@|DIu:i;34y ɮ WA :i)5FNOT Ignoring new targets: 112.76 m."i=g*i=gE ProNav: ac range: 112.756668 m, nav range: 110.616295 m, bearing: 5.627192 deg, approach rate: -0.530931 m/s, LOS rate: -0.017093 deg/s, cmd heading: 2.807693 deg, new cmd heading: 2.794436 deg. iM?MHeadingCmd: 0.048772 target range: 112.756668 and range: 113.20 m.hMBG=hQhQԑhQhggjgrgereZe:e*e @BɢPV) (:i)o<i+i%BG=%=%N=I%BG=I)@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512295BM >BI BM IBM )BBI BI BI BM d};^A N=BM 5ED zD AAbEuɻ 4jEu4rEuɩ]0E  E E 'E "E :*E P:VE '4ZE BE 3 ! %,9LA2Z@2!=2=ٱ2=2H`?Tu?`F3??湿 -I??i2Z@I2\;2GCY>DBy>IbDF8VDF8yN%Na=ٔRdQ-R>9R"?YV"?=VEyVFEVwEV>XQ 5^4Z^7{?Q 9^4Z~)ZHBY`yb#>Q Ib4@Z|DIZ:iZs;Z4ydɮfAf E:ixzFNOT Ignoring new targets: 112.76 m."i~*i~  ProNav: ac range: 112.756668 m, nav range: 110.425621 m, bearing: 5.621077 deg, approach rate: -0.524269 m/s, LOS rate: -0.016843 deg/s, cmd heading: 2.794436 deg, new cmd heading: 2.782185 deg. i HeadingCmd: 0.048558 target range: 112.756668 and range: 113.20 m.h F=hhhhggjgrg!e!re!Ze!:e!*e- @DAT read: 04:22:22.9197 LVL= 27600, 32433, 27474, 32755, AGC= 68, IDX= 413, 0.18, 1.726, 0.028, 1.695, 1.407, PHS= 0.420,-1.334, 0.244, RAW= 144.8, 8.1, CAL= 144.3, 8.8, ROT= 5.7, -8.8 Ygot valid direction response: 04:22:22.9197 LVL= 27600, 32433, 27474, 32755, AGC= 68, IDX= 413, 0.18, 1.726, 0.028, 1.695, 1.407, PHS= 0.420,-1.334, 0.244, RAW= 144.8, 8.1, CAL= 144.3, 8.8, ROT= 5.7, -8.8 PDAT read: Bearing 176.8, 3.9 (Local) ~Local bearing/azimuth received: Bearing 176.8, 3.9 (Local) DAT read: Range 11 to 50 : 111.3 m (Round-trip 148.5 ms) speed 0.3 m/s (DAT read: user:61> BDAT read: Tx time:04:22:24.0170 $Ping request sent.imm#y>m?!@m>mE/!@ mnF>)m%=ImnFiimkɇ?d?? m^>)mIm%=imnFii:publishing transmit ping timeFpublishing direction and range infoyimYxTw?=Ne ?8C ?Yiiiii i)iIiiiiiii i)iIiiimkɇ?d?? i)iIiiiiiɢ  t)  BFi)<iiM F=Ms=M=IM F=IQY!@) @)@-/@1A@]yA@]zAi ^A =A >A >ԙ A .AE  E E $E "E :*E z:VE 4ZE a @a @a @a @I9 IQ O] >>%,ULA2 Y@2=!=26=ٱ2=2H?@s QY?"??乿`e@E??i2 Y@I2ч\;2HCY>>ByBIiMb@Mb@Mb@ 9K7A?p= ף? rh?Y ?yC<@ )Y3AbDAVDAy%-=ٔݹQ->9 ?Y ?=EyKEE>Q 54K{?Q 94v)IBY.?Q E:yY&>Q I4@|DI:iI:4yɮAiix?LAjB"jB:j="p<,}(A[@M%@ 0@pYxTw?=Ne ?8C ?*j%=2jnF*p,}tK[@X ?*@܌+@p! bm?J?̵ʏ?j9VA j[Bi;?i vLRjBjҘzc?j/jrj~Bzj*=5 addTargetRange:: Added new target pos. range: 111.300003 m, deltaT: 3.782872 s, deltaX: -1.899994 m, approachRate: -0.502262 m/s, rangeRepo size: 4 E Added new target pos. range: 110.864868 m, bearing: 6.991552 deg, lat: 36.779405 deg, lon: -121.859593 deg, deltaT: 3.782872 s, deltaX: -1.891800 m, approachRate: -0.500096 m/s, posRepo size: 4 :iAMFNOT Ignoring new targets: 110.86 m."iM*iI] ProNav: ac range: 110.864868 m, nav range: 110.246284 m, bearing: 5.963634 deg, approach rate: 0.000000 m/s, LOS rate: -0.016843 deg/s, cmd heading: 2.782184 deg, new cmd heading: 2.766095 deg. iYeHeadingCmd: 0.048277 target range: 110.864868 and range: 111.30 m.heE=ahahihihigigijgqrguBeqreqZey:e}@3[@*e}`!?颩ɢZ) Qi)e]<顱iڙiE="=i=IE=IԙmE9@A @A@A@A i) I) ^Ae Ѧ=B!B!B%IB%BB% =B!B!B%};B%:5EBBCBBCBB =BCF4A؟AIIO>Ԟ%,tLAD=D4=E" E"E"&E "E">:*E"c:VE"4ZE BE"9u"?Yu"?=uEyuPE}E}>Q 54_{?Q 94o)JBYy%>Q I4@}DI\;i;4yɮA EB*** querying acoustic contact ***ii:iFNOT Ignoring new targets: 110.86 m."i "*i-"= ProNav: ac range: 110.864868 m, nav range: 110.003754 m, bearing: 5.956326 deg, approach rate: -0.507117 m/s, LOS rate: -0.015314 deg/s, cmd heading: 2.766095 deg, new cmd heading: 2.751447 deg. i=7๝=HeadingCmd: 0.048022 target range: 110.864868 and range: 111.30 m.hED=hAhAhAhAgAgAjgirgieireqZeq:eq*eu M?ɢ) Lfi)<i~iD===ID=IԁT****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.Թ9@ @@/@@ @ =  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249399 ^A- =AE EEE"E:*EVL:VEـ3ZEa@a@a@a@II Y]$Gu/{Aɤ9/{AYAO ?%%,BLAFO@F=FOh=ٱFo=FHi?`̤? ??`r`뢿@? ?iFO@IF@z\;FHCYb-BybIi]Mb@Mb@Mb@YYYY Y9]NbX9?Q?:v?Y]?y]u=]T<]AY Y)]O AYY]AbDu,VDu8y ׼%=ٔQ->9Y=EyVEVfE>Q 54x{?Q 94J)Y?Q E:y!>Q I4@}DI ;iu ;4y3Bɮ7A E:iFNOT Ignoring new targets: 110.86 m."ih*ih ProNav: ac range: 110.864868 m, nav range: 109.711998 m, bearing: 5.949376 deg, approach rate: -0.532794 m/s, LOS rate: -0.012725 deg/s, cmd heading: 2.751447 deg, new cmd heading: 2.737510 deg. iOHeadingCmd: 0.047779 target range: 110.864868 and range: 111.30 m.hsC=hhhhggjg rg Be reZe:e*e`c?AɢET)A EPuiA)Eڒ B1 B5 IB5 BB1 B1 B1 B5 };B5 S5EAI ID!zD%?AE- E-E-!E)"E-:*E-X:VE-c3ZE)BE-x,%,6LA6O@6=61=ٱ6a=6Hx?`rO? ??%/٢.??i6O@I6\;4YB!ByFIbDN2VDN8yV M%V:=ٔVQ-Z>9XYX=^Ey^ZE^E^>`Q 5f4bY{?Q 9f4bb)`Ydyj>Q Ij4@b#}DIb3;ibP;b4ylɮnAnEx:i  FNOT Ignoring new targets: 110.86 m."if*if% ProNav: ac range: 110.864868 m, nav range: 109.480896 m, bearing: 5.943850 deg, approach rate: -0.524673 m/s, LOS rate: -0.012571 deg/s, cmd heading: 2.737510 deg, new cmd heading: 2.726435 deg. i%%HeadingCmd: 0.047585 target range: 110.864868 and range: 111.30 m.h-B=h)h)h)h)g)gjgrgereZe:e*e6?ɢK )  хi))-} <)1i5Ҟi5B==ڤ==Æ=I=B=I9@ @@/@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005640I^A=A I I O >y 3%,πLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257154:K@:=:=ٱ:O=:H ?VGl?N??@u 6?`b?i:K@I:\;:GCYYByIE EE"E"Em:*E[:VE(3ZEa@a@a@a@iEMb@Mb@Mb@AAAA A9ES㥛?)\(?{Gz?YE$?yEGa=E#9qYq=}Ey}_E}WwE}>Q 54{?Q 94n)IBY?Q E:y/>Q I4@4}DI;iH;4yɮAE:iFNOT Ignoring new targets: 110.86 m."i97*i97 ProNav: ac range: 110.864868 m, nav range: 109.221413 m, bearing: 5.938936 deg, approach rate: -0.527339 m/s, LOS rate: -0.010012 deg/s, cmd heading: 2.726435 deg, new cmd heading: 2.716583 deg. iHeadingCmd: 0.047413 target range: 110.864868 and range: 111.30 m.hu4B=hhhhggijgirgmBeireqZeq:eq*eu |H@ԉɢm) i)w*<i&iu4B=Ф=P=Iu4B=I%C>i%>9@ @@3@@@Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.511045^A ~= I I O >*@:%,ꀗLA2I@2=26=ٱ27=2H ?@CL?k2??͟6 J?@?i2I@I2f\;0 8):E~A:88<>f~Ai>tI<Q IM4@5@}DI5SI;i5`J;5/4y]^Bɮ]DAa:i!-FNOT Ignoring new targets: 110.86 m."i-t-*i-t-= ProNav: ac range: 110.864868 m, nav range: 109.038742 m, bearing: 5.935483 deg, approach rate: -0.500615 m/s, LOS rate: -0.009478 deg/s, cmd heading: 2.716582 deg, new cmd heading: 2.709666 deg. i=ÊEHeadingCmd: 0.047293 target range: 110.864868 and range: 111.30 m.heA=hahahahagigijgirgieqreqZeq:eq*eu#@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761329ɢS)  i)c<iIiA=%ɤ=%=I%A=I!YBm>BiBmIBmBBiBiBiBm};BmN5E9@ @@/@DqDu<Ey EyE}!Ey"Ey*EyVE}c3ZEyBE}UI A%,(LA2H@21=2=ٱ2ޢ=2H`K?@;?"? ?*١??i2H@I2 <];2ICYrByvIbDVD8y-;%5I=ٔEBQ-M>9QYQ=]EyegEmiEu>ԡQ 54l{?Q 94)Yy>Q I4@N}DI5JG%,ĕLA2B@24=2G =ٱ2,=2H?i꠿ &? ¢?D?ତ`OXN? ?i2B@I2u];2FCYIDAT read: 04:22:26.5672 LVL= 25680, 29281, 25106, 32755, AGC= 66, IDX= 420,-0.37, 1.925, 0.145, 1.916, 1.592, PHS= 0.434,-1.402, 0.280, RAW= 145.7, 7.8, CAL= 145.2, 8.5, ROT= 4.8, -8.5 Ygot valid direction response: 04:22:26.5672 LVL= 25680, 29281, 25106, 32755, AGC= 66, IDX= 420,-0.37, 1.925, 0.145, 1.916, 1.592, PHS= 0.434,-1.402, 0.280, RAW= 145.7, 7.8, CAL= 145.2, 8.5, ROT= 4.8, -8.5 PDAT read: Bearing 177.3, 3.4 (Local) ~Local bearing/azimuth received: Bearing 177.3, 3.4 (Local) DAT read: Range 11 to 50 : 109.5 m (Round-trip 146.0 ms) speed 0.5 m/s (DAT read: user:62> BDAT read: Tx time:04:22:27.6670 $Ping request sent.i%t%)\>%"@%'g >%0"@ %>)%=I%!!%W:?lOu?39*|? %3V>)%P I%=i%!!U:publishing transmit ping time]Fpublishing direction and range infoy!%H`?492/?%)k?Y!!!!! !)!I!i!!!!! !)!I!!!%W:?lOu?39*|? !)!I!i!!!i}Mb@Mb@Mb@yyyy y9} r?y&1?I +?Y}?y}`e=}949Y=EykEֺE>Q 54{?Q 94)Yd?Q E:y>Q I4@\}DI:i$:"4y 3Bɮ A Ei!i%I LAj%$B"j%$B:j%$="p%O5Z@K "@!10@p%H`?492/?%)k?*j%=2j%*p%{FˤZ@:""&@ND*@p%+n?=z|?G9?j%4A j%UBi%^VF?i%9j%Bj%p]?j%9j%ɘBrj%Bzj% = addTargetRange:: Added new target pos. range: 109.500000 m, deltaT: 3.530018 s, deltaX: -1.800003 m, approachRate: -0.509913 m/s, rangeRepo size: 4  Added new target pos. range: 109.071907 m, bearing: 5.991001 deg, lat: 36.779404 deg, lon: -121.859592 deg, deltaT: 3.530018 s, deltaX: -1.792961 m, approachRate: -0.507918 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 109.07 m."i*i!- ProNav: ac range: 109.071907 m, nav range: 108.530228 m, bearing: 5.975820 deg, approach rate: 0.000000 m/s, LOS rate: -0.009308 deg/s, cmd heading: 2.701432 deg, new cmd heading: 2.693025 deg. i)5HeadingCmd: 0.047002 target range: 109.071907 and range: 109.50 m.h5R@=h1h1h1h1g9g9jg9rg=BeareaZea:ee`[@*em?颱ɢ~1) i).;项iUiR@===IR@=I@ @@/@@=@=QiIABm >Bi Bm IBm BBi Bi Bi Bm };Bm L5Eԁ E  E E &E "E :*E V:VE 4ZE BE 3xM%,~8LA2#;@2H=2=ٱ2U=2H`U?{ޝ?wE? ?| ݠ۹??i2#;@I26];2ECYzByzII~=)~4<bD -VD 8y,%f=ٔ%,Q-%>9!Y!=%Ey%oE-0E->1Q 5=45{?Q 9=45n)5GBYAyE>Q IE4@5h}DI5~:i5:5V4yIɮM AI:iFNOT Ignoring new targets: 109.07 m."iW*iW ProNav: ac range: 109.071907 m, nav range: 108.346756 m, bearing: 5.972210 deg, approach rate: -0.598581 m/s, LOS rate: -0.011798 deg/s, cmd heading: 2.693024 deg, new cmd heading: 2.685792 deg. iHeadingCmd: 0.046876 target range: 109.071907 and range: 109.50 m.h@=hhhhggjgrgereZe:e*e๾?IuBɢu٣)q uiy)};yyi}Pi@==@*=I@=Ia9@ @@/@yԱ^A- =I) IA OM > ;\T%,IRLA62@60=6=ٱ6*K=6H?@} ` ?@¡?`z?r %Yູ?Q?i62@I6];6FCYLyRIiUMb@Mb@Mb@QQQQ Q9UK7?I +?Mb?YU ?yU94=U9Y=EysEE>Q 54{?Q 94ª)FBY3 ?Q E:yK=Q I4@v}DI&;i; 4yɮ AE:iFNOT Ignoring new targets: 109.07 m."i~Y*i~Y ProNav: ac range: 109.071907 m, nav range: 108.122795 m, bearing: 5.971003 deg, approach rate: -0.550370 m/s, LOS rate: -0.002971 deg/s, cmd heading: 2.685792 deg, new cmd heading: 2.683374 deg. iHeadingCmd: 0.046834 target range: 109.071907 and range: 109.50 m.h?=hhhhggjgrgBereZe:e*e?1ɢ5)1 5ni9)=&;99i=SiE?=E=E=IE?=IIE] E]E]#EY"E]:*E] H:VE]3ZEYae@ae@ae@ae@Ա @ @@0@^AMH=IIO> 9 Z%,%lLAVR-@V_ =VQ<ٱV#=VHV?9|?h??@b`o??iVR-@IVc^;VGCYjByjIbDvVDvï8y% R=ٔ $Q- >9Y=EywEE%>)Q 554-C |?Q 954- ))Y9y==Q I=4@-}DI-;i-g;-k'4yAɮM AI:iiuFNOT Ignoring new targets: 109.07 m."iuG*iuG ProNav: ac range: 109.071907 m, nav range: 107.911720 m, bearing: 5.969938 deg, approach rate: -0.539388 m/s, LOS rate: -0.002728 deg/s, cmd heading: 2.683374 deg, new cmd heading: 2.681239 deg. iHeadingCmd: 0.046796 target range: 109.071907 and range: 109.50 m.h?=hhhhggjgrgereZe:e*e0?BɢȎ) i)^;iЌi?=)=k=I?=II)tAA A B>BBIB܀BBBBBz};B$5E)@) @)@-o0@)@1@5uAbE3jE3rE?0Em EmEiEi"Em:*EmT:VEiZEiBEmp%Una%,LA065(@6=6<ٱ63=6H?`? ^?K?M@U?h?i65(@I6P^;4Y^By^I ``ddbDjԾVDj8y{<% J=ٔ ;Q- >9Y=Ey{E ˺E>Q 54>|?Q 94t)EBYy=Q I4@}DIL{3g%,@LA(Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.991087^a&@^=^ň<ٱ^@=^H"? ۞G?K?@?!s P?A?i^a&@I^|^;\YjByjIiMb@Mb@Mb@ 9p= ף?V-?y&1?Y?ym=`e<AA A)| AY= AbDӾVDy%8=ٔ,Q->9Y=EyEYE>Q 54.|?Q 94)FBY?Q E:yW>Q I4@}DI:i::64y ɮ  A :i1EFNOT Ignoring new targets: 109.07 m."iUZ*i]Zu ProNav: ac range: 109.071907 m, nav range: 107.461357 m, bearing: 5.964475 deg, approach rate: -0.605918 m/s, LOS rate: -0.011912 deg/s, cmd heading: 2.679086 deg, new cmd heading: 2.670291 deg. iug}HeadingCmd: 0.046605 target range: 109.071907 and range: 109.50 m.h}E>=hyhyhyhygygjgrgBereZe:e*eC@颽Bɢ[p) i9)Ey;AAiEHiME>=Mǂ=IIME>=IQԁ9@ @@h2@ԩEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.241653^A% x=B >B B rIB ҀBB =B B B 7};B 5EBaBaBaBe =BaCe 4 D zD @AE  E E $E "E :*E R:VE 4ZE BE xm%,pxLAR$@R=R<ٱRn:=RHu? )n? ՠ??}4 ?h?iR$@IR^;REC\YrByrIbDz۾VDz8y % Z=ٔ /=Q- >9 Y=EyESEE>Q 5%4F?|?Q 9-4)GBY)y- >Q I-4@}DI\:i:<4y1ɮ5 A9:iYeFNOT Ignoring new targets: 109.07 m."ie~;*ie~;u ProNav: ac range: 109.071907 m, nav range: 107.265427 m, bearing: 5.960646 deg, approach rate: -0.523256 m/s, LOS rate: -0.010245 deg/s, cmd heading: 2.670291 deg, new cmd heading: 2.662618 deg. iu}HeadingCmd: 0.046471 target range: 109.071907 and range: 109.50 m.h}X>=hyhyhhggjgrgereZe:e*e`f@颹ɢܜ) ޯi);ip'iX>=x=1=IX>=Ie>i9@A @A@Eq4@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.494298^A}7=I I O >A e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745757t%,:YԁLAF@F=F><ٱF=FH?M?@Kr?(? t '`?@?iF@IF _;FGCYRByRI vv>vCMMGe{AqE EEE"E,:*Ek:VEZEa@a@a@a@9{AYAym?mAiMb@Mb@Mb@ 9NbX9?&1?9Y=EyE׺E>Q 54zS|?Q 94)IBYX?Q E:y>Q I4@}DI:i:D4y4Bɮa AE:iFNOT Ignoring new targets: 109.07 m."iݸ*iݸ- ProNav: ac range: 109.071907 m, nav range: 107.023842 m, bearing: 5.957864 deg, approach rate: -0.524465 m/s, LOS rate: -0.006052 deg/s, cmd heading: 2.662618 deg, new cmd heading: 2.657043 deg. i91HeadingCmd: 0.046374 target range: 109.071907 and range: 109.50 m.h==hhhhggjgrgBereZe:e*eh@BɢK) i):;iXÇi%==%`j=%=I%==III9@ @@.5@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997838q^A Ď=ԡ I I O >{%,2LAYByIbD-;VD-8y={%Ef=ٔEQ-E>9IYI=MEyMEMEM>QQ 5]4U c|?Q 9]4U)UKBYayaQ Ie4@U}DIUb;iUo;UK4yiɮm Aqy:iFNOT Ignoring new targets: 109.07 m."iݸ*iݸ ProNav: ac range: 109.071907 m, nav range: 106.837761 m, bearing: 5.955713 deg, approach rate: -0.523595 m/s, LOS rate: -0.006063 deg/s, cmd heading: 2.657043 deg, new cmd heading: 2.652733 deg. i1HeadingCmd: 0.046299 target range: 109.071907 and range: 109.50 m.h==hhhhggjgrgereZe:e*e @i!I!%BDAT read: Rx Time:04:22:30.2146 -TRx dataTimestamp_ set to:1764908551.792136-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252129颹ɢWָ) ٿi);ii==_=2=I==I BQAU<B]>BYB]lIB]̀BB] =B]>DBYB]/};B]5Eԡ@ @@/@DDE EE#E"E:*Ez:VE3ZEBE' checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503070 %, LA2@2=2<ٱ27=2H`l?@@?!t?@?`|۹~@(? ?i2@I2_;0YB߀ByBIbDJVDJ8yn)%rQ=ٔveػQ-z>9xYx=zEyzE~X7E~>Q 5 4Mt|?Q 9 4ѥ)MBY y>Q I4@}DI:iP:Q4yɮ AE:iQeFNOT Ignoring new targets: 109.07 m."iuݸ*iuݸe ProNav: ac range: 109.071907 m, nav range: 106.631325 m, bearing: 5.953323 deg, approach rate: -0.522824 m/s, LOS rate: -0.006064 deg/s, cmd heading: 2.652733 deg, new cmd heading: 2.647944 deg. im1HeadingCmd: 0.046215 target range: 109.071907 and range: 109.50 m.hNL==hhhhggjg!rg!eIreQZeQ:eQ*eU @颥Bɢp^) 7i)%;iYiNL==R=tM=INL==I eDAT read: 04:22:30.2146 LVL= 31472, 32753, 30946, 32755, AGC= 69, IDX= 409, 0.21, 0.797,-1.022, 0.776, 0.406, PHS= 0.493,-1.383, 0.326, RAW= 145.4, 6.3, CAL= 144.9, 6.9, ROT= 5.1, -6.9 uYgot valid direction response: 04:22:30.2146 LVL= 31472, 32753, 30946, 32755, AGC= 69, IDX= 409, 0.21, 0.797,-1.022, 0.776, 0.406, PHS= 0.493,-1.383, 0.326, RAW= 145.4, 6.3, CAL= 144.9, 6.9, ROT= 5.1, -6.9 uPDAT read: Bearing 176.2, 4.1 (Local) }~Local bearing/azimuth received: Bearing 176.2, 4.1 (Local) DAT read: Range 11 to 50 : 107.5 m (Round-trip 143.4 ms) speed 0.4 m/s (DAT read: user:63> BDAT read: Tx time:04:22:31.3170 $Ping request sent.i-%-y>-i"@-z0=-!@ -Ϣ=)-K=I-Ϣ))-vSԻ?sdE?#6? ->)-=*I-K=i-Ϣ)):publishing transmit ping time@ @@@@@zAFpublishing direction and range infoy)-K-x?Q?rjƹI?Y))))) )))I)i))))) )))I)))-vSԻ?sdE?#6? )))I)i)))E EE%E"E:*EL_:VE 4ZEa@a@a@a@1^A =II IY Om >a %,!LAB=B%=Y~ۀBy~}IiMb@Mb@Mb@ 9E?V-?I +?Y?ym=94<&AA " A)| AY AbDξVD8y%>=ٔQ->9Y=EyEE>Q 54s|?Q 94)NBY?Q E:y>Q I4@}DI ;i ;yY4yɮ A1iYi]LAj])B"j])B:j]ʘ="p]\xOxZ@rZ"@&@p)@p]K-x?Q?rjƹI?*j]K=2j]Ϣ*p]8lwZ@'@noar&@p])@=?JfJ~?B3Ժ?j]8A j]Bi]%`?i]Ӵvj]MBjYj]Ӵvj]Brj]Bzj]= addTargetRange:: Added new target pos. range: 107.500000 m, deltaT: 3.779800 s, deltaX: -2.000000 m, approachRate: -0.529129 m/s, rangeRepo size: 4  Added new target pos. range: 107.080574 m, bearing: 6.199494 deg, lat: 36.779404 deg, lon: -121.859587 deg, deltaT: 3.779800 s, deltaX: -1.991333 m, approachRate: -0.526836 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 107.08 m."i*i ProNav: ac range: 107.080574 m, nav range: 106.451973 m, bearing: 6.201689 deg, approach rate: 0.000000 m/s, LOS rate: -0.006064 deg/s, cmd heading: 2.647944 deg, new cmd heading: 2.642429 deg. iHeadingCmd: 0.046119 target range: 107.080574 and range: 107.50 m.h^<=hhhhggjg!rg%Be!re!Ze):e-Z@*e- >?Yɢ])Y ]ľiY)e;aaie5&im^<=mUG=m k=Im^<=Iq9@ @@/@iԑ^A) BQ BQ BU fIBU ȀBBU =BQ BQ BU U};BU 5EI I O >D zD ?AE  E E "E "E :*E H:VE (3ZE BE +9dYd=fEyfEjOu:Ej>hQ 5r4j|?Q 9r4jC)jOBYpyr>Q Ir4@j}DIj:ij:j_4ytɮz Ax B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 107.08 m."i%.*i%.5 ProNav: ac range: 107.080574 m, nav range: 106.256973 m, bearing: 6.198394 deg, approach rate: -0.564044 m/s, LOS rate: -0.009548 deg/s, cmd heading: 2.642429 deg, new cmd heading: 2.635827 deg. i5ˋ=HeadingCmd: 0.046004 target range: 107.080574 and range: 107.50 m.h=n<=h9h9h9h9gAgAjgArgAeIreIZeI:eI*eMO?BɢԼ) `;i) ;  ii%n<=%==%*==I%n<=I)ԑT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@/@^Atn=IqIO> E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994181 l'%,ULAJ!@J6=J<ٱJ=JH?`‘?%?`? (p3 V? ?iJ!@IJl`;JECYVڀByV|Ii5Mb@Mb@Mb@1111 195%C?Mb?9aYa=eEyeEm~u8Em>qQ 5}4u|?Q 9}4uc)uRBY}q?Q E}:y} >Q I4@u}DIuJ;iuk;uQg4yɮ AE EE'E"E:*Ei:VE'4ZEa@a@a@a@:iFNOT Ignoring new targets: 107.08 m."iu[*iu[ ProNav: ac range: 107.080574 m, nav range: 106.036438 m, bearing: 6.193239 deg, approach rate: -0.511032 m/s, LOS rate: -0.011971 deg/s, cmd heading: 2.635827 deg, new cmd heading: 2.625495 deg. iCHeadingCmd: 0.045824 target range: 107.080574 and range: 107.50 m.hu;=hhhhggjgrgBereZe:e*e@ ?1ɢ59)1 5{ľi9)=<;99i=TӁiEu;=E0=E=r=IEu;=IIIQ)UyA9@ @@@@@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246248^AM Ď=I II Ia Ou >|Q%,xoLAY~ˀBy~iII=)p;bD׾VD8y%W%%N=ٔ%Q-->9)Y)=-Ey-E5E5>9Q 5E4=Y|?Q 9E4=)=UBYIyIQ IM4@= ~DI=:i=:=@n4yQɮUJ AU E:iFNOT Ignoring new targets: 107.08 m."iqa*iqa ProNav: ac range: 107.080574 m, nav range: 105.829796 m, bearing: 6.188389 deg, approach rate: -0.523837 m/s, LOS rate: -0.012319 deg/s, cmd heading: 2.625495 deg, new cmd heading: 2.615776 deg. i[HeadingCmd: 0.045654 target range: 107.080574 and range: 107.50 m.h:=hhhhggjgrgereZe:e*e?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498304ɢOHؼ) Ծi)Rr;ii%:=%&=%%=I%:=I)B>BCCB_IBÀBB =BBB"};B4EQ9@ @@0@E EE$E"E:*E|:VE4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750143Ա :%,%ZLA2O%@2^=2d<ٱ2_K=2H #?,XE?9??qݒ?:?i2O%@I2[`;2IC9XYX=ZEyZEZa:EZ>`Q 5b4b:|?Q 9f4bá)bXBYdyf>Q If4@b~DIb:ibS:b u4yhɮj Al:i|FNOT Ignoring new targets: 107.08 m."if*if- ProNav: ac range: 107.080574 m, nav range: 105.627365 m, bearing: 6.183566 deg, approach rate: -0.528451 m/s, LOS rate: -0.012614 deg/s, cmd heading: 2.615776 deg, new cmd heading: 2.606112 deg. i5=HeadingCmd: 0.045485 target range: 107.080574 and range: 107.50 m.hEN:=hAhAhAhAgIgQjgirgieqreyZey:ey*e}ge?Bɢ<) %˾i!)mQ[;qqi}ԩiN:===IN:=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0029189@ @@@E EEE"Es:*E1]:VEZEa@a@a@a@^A% x=I I O > c%,E/LA2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254172:'@:=:<ٱ:=:H 4?B @R??@B?Hޑ@? ?i:'@I:a`;:FCYF΀ByFmIpiMb@Mb@Mb@ 9"~j?T㥛 ?~jt?YS?y=D<&A " A)| AY\ AbDVDѯ8yO%;=ٔQ->9Y=EyE$(:E>Q 54|?Q 94ܠ)ZBYY?Q E:y>Q I4@(~DI:i:|4yɮ0 A E:iFNOT Ignoring new targets: 107.08 m."i  e*i  e ProNav: ac range: 107.080574 m, nav range: 105.402008 m, bearing: 6.178114 deg, approach rate: -0.516222 m/s, LOS rate: -0.012516 deg/s, cmd heading: 2.606112 deg, new cmd heading: 2.595185 deg. i=%HeadingCmd: 0.045295 target range: 107.080574 and range: 107.50 m.h%9=h!h!h!h!g!g)jg)rg-Be)re1Ze1:e*e@9ɢ=˼)A EоiA)E*E;AAiE|im9=u=u=Iu9=IqR>i> !@! @)@-/0@)@1@19iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506459B>BBCBSIBBB =BBB};B4E^Ai I I O >q bEm4jEmʶ4rEm/E  E E #E "E :*E k:VE 3ZE BE +ǀByBeI DDDDbDJVDJƯ8yR` %R\=ٔVhQ-V>9TYX=ZEyZEZlEZ>\Q 5b4^|?Q 9f4^)^\BYdyf>Q If4@^4~DI^Z:i^:^(4yhɮjd AlzB*** querying acoustic contact ***ixix:iFNOT Ignoring new targets: 107.08 m."i d*i dԁ ProNav: ac range: 107.080574 m, nav range: 105.210411 m, bearing: 6.173494 deg, approach rate: -0.515885 m/s, LOS rate: -0.012464 deg/s, cmd heading: 2.595185 deg, new cmd heading: 2.585927 deg. izHeadingCmd: 0.045133 target range: 107.080574 and range: 107.50 m.hQ8=hhhhggjgrgereZe:e*e;@qɢu)y }־iy)}\1;yyi}ziQ8=Z="=IQ8=I}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759136@ @@?5@ԩ^A_ =IIO> % BDAT read: Rx Time:04:22:33.8620 - TRx dataTimestamp_ set to:1764908555.318806- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011286w%,WւLAr!@r9=r] v<ٱr=rH?@м?䥠? ?d??ir!@Irpa;pYBy[IE EE$E"E:*E:VE4ZEa@a@a@a@iMb@Mb@Mb@ 9?i|?5?99Y9==Ey=E=놺EE>AQ 5M4E}?Q 9U4E3)E]BYUD?Q EU:yUu>Q IU4@ED~DIE;iE;E4yaɮe Aa:iFNOT Ignoring new targets: 107.08 m."i5*i5 ProNav: ac range: 107.080574 m, nav range: 104.970345 m, bearing: 6.168997 deg, approach rate: -0.528543 m/s, LOS rate: -0.009922 deg/s, cmd heading: 2.585927 deg, new cmd heading: 2.576914 deg. iDHeadingCmd: 0.044976 target range: 107.080574 and range: 107.50 m.h^88=hhhhggjgrgBereZe:e*e A8 @ɢ~߼) ޾i);i 0xi^88=i==I^88=I9@ @@05@}%=}<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262460)^Am=A I I O5 >a %,"LAYBy ZIbDVDݯ8y-L%-]=ٔ-Q-->91Y1=5Ey5E5Em>iQ 5u4m}?Q 9}4mv)m_BYyyyQ I}4@mP~DImD;imQ;m4y3Bɮ A E:iFNOT Ignoring new targets: 107.08 m."i!6*i!6 ProNav: ac range: 107.080574 m, nav range: 104.771805 m, bearing: 6.165263 deg, approach rate: -0.528146 m/s, LOS rate: -0.009952 deg/s, cmd heading: 2.576914 deg, new cmd heading: 2.569432 deg. iHeadingCmd: 0.044845 target range: 107.080574 and range: 107.50 m.ho7=hhhhg DAT read: 04:22:33.8620 LVL= 32160, 32753, 32754, 32755, AGC= 71, IDX= 414, 0.20, 2.645, 0.913, 2.672, 2.291, PHS= 0.456,-1.333, 0.337, RAW= 146.6, 6.3, CAL= 146.1, 6.8, ROT= 3.9, -6.8 Ygot valid direction response: 04:22:33.8620 LVL= 32160, 32753, 32754, 32755, AGC= 71, IDX= 414, 0.20, 2.645, 0.913, 2.672, 2.291, PHS= 0.456,-1.333, 0.337, RAW= 146.6, 6.3, CAL= 146.1, 6.8, ROT= 3.9, -6.8 PDAT read: Bearing 176.8, 3.7 (Local) %~Local bearing/azimuth received: Bearing 176.8, 3.7 (Local) -DAT read: Range 11 to 50 : 105.6 m (Round-trip 140.8 ms) speed 0.4 m/s 5(DAT read: user:64> 1=BDAT read: Tx time:04:22:34.9670 =$Ping request sent.EiD>#@1#@ =)'g=Iv{q?e4Dtay?1; ? >)QI'g=im:publishing transmit ping time9mFpublishing direction and range infoyvW?↟J?EO?YgjgqrgqeyreyZey:e}`ffZ@*e}o?B>BCCBLIBBB =BBB|;B4EBaBeCCBaBe =Be =Cex4 )Ii )Iv{q?e4Dtay?1; ? )Ii颹ɢ>D) ߾i)S;; i uio7==xɏ=Io7=I!E EEE"E:*E[:VEZEBEb%,R LA$$B @B=BxF<ٱBIC=BH?ꤏ?A?@? Ԉ:ۺ?0?iB @IBa;BFCYNByNVIR=R=bDZ%VDZ8yfX%jP=ٔrYQ-v>9tYt=zEyzEzٕEz>|Q 54~$}?Q 94~)~aBY y O>Q I 4@~]~DI~::i~G:~z4yɮ Ai i |LAj `B"j `B:j D="p d9 Z@ uj@Y@(@p vW?↟J?EO?*j 'g=2j *p t/yZ@E*F"@M"ڻ'@p  gω?z1J%,%&LABj@B9U ?Y] ?=]Ey]E]RE]>aQ 5m4e7}?Q 9u4eœ)ecBYu?Q Eu:yu >Q Iu4@el~DIeM:ie(:e94yyɮ}B A E:iFNOT Ignoring new targets: 105.19 m."i*i ProNav: ac range: 105.188477 m, nav range: 104.338409 m, bearing: 6.155230 deg, approach rate: -0.517729 m/s, LOS rate: -0.014049 deg/s, cmd heading: 2.561609 deg, new cmd heading: 2.549248 deg. i͹HeadingCmd: 0.044493 target range: 105.188477 and range: 105.60 m.h >6=hhhhggjgrgBereZe:e*ef?!颡ɢ9) oi):顩isqi >6=ۣ=3u=I >6=I@ @@/@QB>BBFIBBBBBB|;B4Eԁ^A=D zD E  E E 'E "E :*E X:VE '4ZE BE ԩ L:%,?LAZ@ZF9|Y|=~Ey~ERE> Q 5 4 qH}?Q 94 ) fBYy >Q I4@ y~DI :i :  4y!ɮ% A!=B*** querying acoustic contact ***i9i9:iIMFNOT Ignoring new targets: 105.19 m."iU|*iU|e ProNav: ac range: 105.188477 m, nav range: 104.138084 m, bearing: 6.149844 deg, approach rate: -0.513137 m/s, LOS rate: -0.013823 deg/s, cmd heading: 2.549248 deg, new cmd heading: 2.538455 deg. ieaʹmHeadingCmd: 0.044304 target range: 105.188477 and range: 105.60 m.hmx5=hihihihigigqjgqrgqeyreyZey:ey*e}?颩ɢ) i)jg:顱iXsoix5=У=%7=I%x5=IYIa)etAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԩ9@ @@/@Թ^A@=A>A>I I M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499484Oe > %,YLAEb EbEb$E`"Eb:*Ebk:VEb4ZE`aj@aj@aj@aj@rs @r9Y=EyEE> Q 54 [}?Q 94 4) gBY?Q E:y=Q I4@ ~DI  ;i P ; 4y!ɮ%r A- E:iIMFNOT Ignoring new targets: 105.19 m."iU *iU e ProNav: ac range: 105.188477 m, nav range: 103.907738 m, bearing: 6.148045 deg, approach rate: -0.527477 m/s, LOS rate: -0.004129 deg/s, cmd heading: 2.538455 deg, new cmd heading: 2.534849 deg. ie񸝏mHeadingCmd: 0.044241 target range: 105.188477 and range: 105.60 m.hm65=hihihihigqgqjgyrg}BeyreyZey:ey*e?ɢJ) Pi)9i.mi65=ã=$=I65=I!@! @)@-/@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752029!I ^Am tn=I I O >M%,)sLA6@60<6;ٱ6=6HJ?`\W؂?$?? ׹y??i6@I6)d`;4Y^By^>IbDf;VDf8yny<%r]=ٔr/8Q-r>9tYt=vEyvEvEv>i|I|checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003833B>BB:IBBB =BBB{;BK4ExQ 54zk}?Q 94z)ziBYy=Q I4@z~DIzchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255554ԡ k3%,lLA6@6<6t-;ٱ6=6H`?`nպ?@ ?? u@x?`?i6@I6 `;6EC@YFByF;IbDR9VDR8yVU%VN=ٔZQ-Z>9XY\=^Ey^E^}#Eb>`Q 5f4b}}?Q 9f4b)bjBYhyj=Q Ij4@b~DIb":ibq:b4ylɮrp Ap:i!-FNOT Ignoring new targets: 105.19 m."i-*i-= ProNav: ac range: 105.188477 m, nav range: 103.503616 m, bearing: 6.145079 deg, approach rate: -0.549877 m/s, LOS rate: -0.003909 deg/s, cmd heading: 2.531886 deg, new cmd heading: 2.528906 deg. iE丝EHeadingCmd: 0.044138 target range: 105.188477 and range: 105.60 m.hE4=hIhIhIhIgIgIjgQrgQeQreQZeQ:eY*e]@s@Yɢeˆ)i mi)顡iii4===I4=Iԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5082749@ @@@E EEE"E:*ErN:VEZEa@a@a@a@^Am=AxAzAyAIQ Ii Ou >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762775]%,GLA2b@2<2ړ;ٱ27 =2H?3 ~?8?`T?ѭN{r`Ը?u?i2b@I2_;2HCYNByR8IiuMb@Mb@Mb@qqqq q9uMbX?:v?Mb`?Yu ?yuT=u;quxA u A)qqYqbD/VD8yS%<=ٔZQ->9Y=EyE[9E>Q 54O}?Q 94))kBYc ?Q E:y=Q I5@~DIb:i_:4yɮ AE:iFNOT Ignoring new targets: 105.19 m."i۳*i۳  ProNav: ac range: 105.188477 m, nav range: 103.267052 m, bearing: 6.142968 deg, approach rate: -0.549386 m/s, LOS rate: -0.004914 deg/s, cmd heading: 2.528906 deg, new cmd heading: 2.524674 deg. i HeadingCmd: 0.044064 target range: 105.188477 and range: 105.60 m.hQ|4=hhhhggjg!rg%Be!re!Ze!:e)*e- h@Bɢ ) Qi)9`9ifi-Q|4=5=57=I5Q|4=I9)9@ @ @ /@ BDAT read: Rx Time:04:22:37.5094 %TRx dataTimestamp_ set to:1764908558.846818%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012533YB}>B}BCB}-IB}BB} =B}?DByB}g{;B}4E^AM =D zD AAE  E E %E "E :*E C:VE 4ZE BE ;a :E >;a ԁ A I I O >E%,#LA>e@><>#r;ٱ>=>H ?@lМz?+Y??:޹Xn?`?i>e@I>Z_;>FCYJByJ)IbDVVDV֯8y^ၽ%^Z=ٔb& Q-b>9`Y`=bEyfEf9Ef>hQ 5n4jb}?Q 9n4j)jlBYlyr=Q Ir5@j~DIjQ;ij+;j74ytɮv At B*** querying acoustic contact ***i i :iFNOT Ignoring new targets: 105.19 m."i*i- ProNav: ac range: 105.188477 m, nav range: 103.062904 m, bearing: 6.141126 deg, approach rate: -0.544107 m/s, LOS rate: -0.004921 deg/s, cmd heading: 2.524674 deg, new cmd heading: 2.520981 deg. i-5HeadingCmd: 0.043999 target range: 105.188477 and range: 105.60 m.h584=h1h1h1h9g9g9jgArgAeAreAZeA:eI*eM@ @Yyɢ})y  i)顁idi84==~=I84=I}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2640319@ @@0@ԉ^A=ԱA- ؟AIQ I O >M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519303 o%,3ڃLAER ERER$EP"ER:*ERV:VER4ZEPaV@aV@aZ@aZ@Y~By~3IԹiMb@Mb@Mb@ 9?kt?Mb?Yf?y 0=<SA O A)YbD$VD8y=%8=ٔQ->9"?Y"?= Ey EE>!Q 5-4%}?Q 954%ԗ)%oBY=?Q E=:y==Q IE5@%~DI%c;i%b;%4yU4BɮU AUE:iFNOT Ignoring new targets: 105.19 m."iԶ*iԶ ProNav: ac range: 105.188477 m, nav range: 102.827286 m, bearing: 6.140962 deg, approach rate: -0.520094 m/s, LOS rate: -0.000362 deg/s, cmd heading: 2.520981 deg, new cmd heading: 2.520653 deg. i)mHeadingCmd: 0.043994 target range: 105.188477 and range: 105.60 m.hm24=hqhqhqhqgqgqjgyrg}BeyreyZe:e*e` @Bɢ) i),|ͺi.bi24=%i=%:d=I%24=IiqDAT read: 04:22:37.5094 LVL= 32752, 32753, 30114, 32755, AGC= 69, IDX= 421,-0.23, 1.278,-0.485, 1.322, 0.877, PHS= 0.503,-1.317, 0.401, RAW= 147.1, 4.7, CAL= 146.5, 5.0, ROT= 3.5, -5.0 Ygot valid direction response: 04:22:37.5094 LVL= 32752, 32753, 30114, 32755, AGC= 69, IDX= 421,-0.23, 1.278,-0.485, 1.322, 0.877, PHS= 0.503,-1.317, 0.401, RAW= 147.1, 4.7, CAL= 146.5, 5.0, ROT= 3.5, -5.0 PDAT read: Bearing 175.4, 3.7 (Local) ~Local bearing/azimuth received: Bearing 175.4, 3.7 (Local) DAT read: Range 11 to 50 : 103.7 m (Round-trip 138.3 ms) speed 0.5 m/s (DAT read: user:65> BDAT read: Tx time:04:22:38.6169 $Ping request sent.O$@=_#@ ¸=)5z=I¸.4}Ha?| @?`@? >)tI5z=i¸U:publishing transmit ping timeUFpublishing direction and range infoy??N#?O?Y )Ii )I.4}Ha?| @?`@? )Ii^A m=A A .AI! I1 O= >%,LA2)@2<22;ٱ2;=2H~?]@Ӕw?ѝ??ýXfź? ?i2)@I20_;2HCYbByb$I ddbDnVDnۯ8yvԈ%v^=ٔv..Q-z>9 ?Y ?=EyE:E > Q 54 @}?Q 94 G) qBYy=Q I5@ ~DI u:i %: k4y!ɮ- A)B9B9B='IB=BB9B9B9B={;B==4Eii惗LAjB"jB:jS="p̳^bY@. @E¾^"@p??N#?O?*j5z=2j¸*pQ\Y@mT? @\l"@p/N?by?,5?jA jBi7-҆?i{j;Bj%`?j9jrj?Bzj/ = addTargetRange:: Added new target pos. range: 103.699997 m, deltaT: 3.780339 s, deltaX: -1.900002 m, approachRate: -0.502601 m/s, rangeRepo size: 4  Added new target pos. range: 103.294128 m, bearing: 4.625251 deg, lat: 36.779404 deg, lon: -121.859592 deg, deltaT: 3.780339 s, deltaX: -1.894348 m, approachRate: -0.501105 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 103.29 m."i*i ProNav: ac range: 103.294128 m, nav range: 102.624199 m, bearing: 5.876387 deg, approach rate: 0.000000 m/s, LOS rate: -0.000362 deg/s, cmd heading: 2.520653 deg, new cmd heading: 2.520387 deg. iHeadingCmd: 0.043989 target range: 103.294128 and range: 103.70 m.h-4=hhhhggjgrgereZe:eY@*e?ɢ ()  i )   i`i-4=v=h==I-4=IiD<D<bEQjEU( 4rEUL/E EEE"E>:*ER:VEZEBE q%,rLA2+ @2<2ԧ ;ٱ2?=2H@b? ᝿v?Q?`?2 d:? ?i2+ @I2_;2FCY>By>&IbDJGVDJ8yf;%jM=ٔjy5Q-j>9lYl=nEynEr*:Er>tQ 5v4v}?Q 9z4v)vsBYxyz=Q Iz5@v~DIv:iv:v_4yɮ A:i)-FNOT Ignoring new targets: 103.29 m."i5g*i5gE ProNav: ac range: 103.294128 m, nav range: 102.414642 m, bearing: 5.875602 deg, approach rate: -0.536418 m/s, LOS rate: -0.002014 deg/s, cmd heading: 2.520387 deg, new cmd heading: 2.518814 deg. iEkMHeadingCmd: 0.043962 target range: 103.294128 and range: 103.70 m.hM4=hIhIhIhIgQgQjgQrgQeYreYZeY:ea*emh?颭Bɢ) i)s项i}^i4=3k== =I4=Iq@y @y@b4@E EE&E"E :*Ec:VE4ZEa@a@a@a@^Am=1 I I O >Q U %,W(LA2. @2<2:ٱ2IJ=2Hd?qt?:R?@?`_? w?i2. @I2*_;2ECY>By>"IiMb@Mb@Mb@ 9Q?I +?Mb?Y?y94==AA )| AY AbD]8VD]8yU%>=ٔhQ->9Y=EyE_6E>Q 54&}?Q 94)vBYp ?Q E:yt=Q I5@~DI:it:4yɮ A:iFNOT Ignoring new targets: 103.29 m."i ?*i ?% ProNav: ac range: 103.294128 m, nav range: 102.183701 m, bearing: 5.874689 deg, approach rate: -0.535407 m/s, LOS rate: -0.002121 deg/s, cmd heading: 2.518814 deg, new cmd heading: 2.516985 deg. i%ex-HeadingCmd: 0.043930 target range: 103.294128 and range: 103.70 m.h-3=h1h1h1h1g9g9jg9rgEBeAreAZeI:eI*eM@?频ɢF) i)5顙i>\i3=)5)^=5#=I53=I1IA)EyA@ @@4@@=@YB9B9B=!IB=BB9B=>DB9B=!|;B=w4EBBBCBBBC5^Am@=AizAmtAԑ E  E E E "E :*E k:VE ZE BE ] %,N)BLA0: @:v<::ٱ:D=:Hv?s? ? ?` [Y? ?i: @I:g_;8YFByFIIJ=)Jp<bDRXVDR8yV%Z[=ٔZfQ-Z>9\Y\=^Ey^E^7Eb>`Q 5f4b}?Q 9j4bp)bxBYhyj=Q Ij5@bDIb:ib":bj4ylɮr: ArE~B*** querying acoustic contact ***i|i|:i  FNOT Ignoring new targets: 103.29 m."i*i% ProNav: ac range: 103.294128 m, nav range: 101.983238 m, bearing: 5.873918 deg, approach rate: -0.538398 m/s, LOS rate: -0.002075 deg/s, cmd heading: 2.516985 deg, new cmd heading: 2.515440 deg. i%s-HeadingCmd: 0.043903 target range: 103.294128 and range: 103.70 m.h-S3=h)h)h)h)g)g)jg1rg1e1re1Ze9:eA*eE?mBɢm5*)q u\iq)uOqqiuh,Zi}S3=}S= l=IS3=I}T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@/@ԑԹ^A=p,=IIO> v> M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752116 G {A A ꟿ9% {AY% OAT%,\LAER ERER#EP"ERm:*ER n:VER3ZEPaV@aV@aZ@aZ@lYrByr Ionly read 0 of 1 data item for altitude. Device response is::BD, +406.06, +1535.20, , 0.00 a@a a@a a@a a@a bD!VD߯8y,<%%5=ٔ-Q-->9)Y)=5Ey5E=EE>IQ 5M4MT~?Q 9U4M)M{BQ AU+:YQQ E]:yYQ I]5@MDIM ;iMA>M4ye5Bɮe* AeE:iFNOT Ignoring new targets: 103.29 m."i4*i4 ProNav: ac range: 103.294128 m, nav range: 101.739845 m, bearing: 5.872978 deg, approach rate: -0.536991 m/s, LOS rate: -0.002079 deg/s, cmd heading: 2.515440 deg, new cmd heading: 2.513555 deg. isHeadingCmd: 0.043870 target range: 103.294128 and range: 103.70 m.hհ3=hhhhggjgrgereZe:e*e@?MBɢe)a eii)mݱni&Wiհ3=cD=r}=Iհ3=I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000531@ @@@1^A% m=a I I O >%,uLA6@@6<6r9ٱ6!=6H ?|l??? j Tn>5?@?i6@@I6.g^;6GCrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252290AtAvAABz>BxBzIBzBBxBxBxBz|;Bz4E9YByIbDVDǯ8y%==ٔ'Q->9 Y = EyENE>Q 5%4#~?Q 9%4)}BQ A% :Y!Q E%:y-P=Q I-5@ DI:ib?4y1ɮ5O A1:iY]FNOT Ignoring new targets: 103.29 m."ieK*ieKE EEE"E[:*EP:VEZEBEi}>U9@Q @Q@]/@Y@a@aԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504287 ^A9 I I O >#%,ޏLA2`@2<2X58ٱ2=2H?E-`-i?X?@???i2`@I2^;0 8):M~A:t88<>^~Ai>I<=I^z3=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759566q@y @y@}/@yԱE EE)E"E:*Ei:VEFA4ZEa@a@a@a@^AI! I1 OE >  BDAT read: Rx Time:04:22:41.1569  TRx dataTimestamp_ set to:1764908562.626813 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0093310)%,LAb@b49Y=EyEE>Q 54+G~?Q 94)BQ AT:YD?Q E:y=Q I5@<DI:i':4yɮU A:iFNOT Ignoring new targets: 103.29 m."i)7*i)7 ProNav: ac range: 103.294128 m, nav range: 101.085449 m, bearing: 5.872049 deg, approach rate: -0.527981 m/s, LOS rate: 0.001210 deg/s, cmd heading: 2.510579 deg, new cmd heading: 2.511693 deg. i 8HeadingCmd: 0.043837 target range: 103.294128 and range: 103.70 m.h3=hhh!h!g!g!jg!rg-Be)re)Ze):e1*e5P6 @]Bɢ]!)a edia)e aaimDLQuPExceeded connect timeout, disconnecting.iu3=}=}=I}3=IyI@ @@/@BBBBBB?DBúDB|;B4Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.260393i^A =D zD E  E E %E "E :*E T:VE 4ZE BE N"f0%,HnÄLAY}By}IbDVD8ye%]=ٔQ->9"?Y"?=EyEE>Q 54W~?Q 94n)BYyQ I5@HDI@;i;e 4y6Bɮ_ AEB*** querying acoustic contact ***iiDAT read: 04:22:41.1569 LVL= 26592, 32017, 28578, 32755, AGC= 70, IDX= 411,-0.37,-1.290,-3.056,-1.254,-1.737, PHS= 0.549,-1.274, 0.439, RAW= 146.9, 3.3, CAL= 146.3, 3.4, ROT= 3.7, -3.4 Ygot valid direction response: 04:22:41.1569 LVL= 26592, 32017, 28578, 32755, AGC= 70, IDX= 411,-0.37,-1.290,-3.056,-1.254,-1.737, PHS= 0.549,-1.274, 0.439, RAW= 146.9, 3.3, CAL= 146.3, 3.4, ROT= 3.7, -3.4 PDAT read: Bearing 174.1, 4.0 (Local) ~Local bearing/azimuth received: Bearing 174.1, 4.0 (Local) DAT read: Range 11 to 50 : 101.8 m (Round-trip 135.8 ms) speed 0.4 m/s (DAT read: user:66> ԱBDAT read: Tx time:04:22:42.2669 $Ping request sent.]$@]k=].k#@ ]s=)] A=I]sYY]hnc|?񌾦?wK1? ]>)]ͪiI] A=i]sYY:publishing transmit ping timeFpublishing direction and range infoyY]z?@Ҿ}?Cg]?YYYYYY Y)YIYiYYYYY Y)YIYYY]hnc|?񌾦?wK1? Y)YIYiYYY:iUFNOT Ignoring new targets: 103.29 m."iU7*iU7e ProNav: ac range: 103.294128 m, nav range: 100.889946 m, bearing: 5.872497 deg, approach rate: -0.528213 m/s, LOS rate: 0.001215 deg/s, cmd heading: 2.511693 deg, new cmd heading: 2.512592 deg. ieV8mHeadingCmd: 0.043853 target range: 103.294128 and range: 103.70 m.h}73=hyhyhyhygygjgrgereZe:e@3sY@*em@)Z?Bɢ!) i)iNiE73=E=E\؈=IE73=IIQ9@ @@@@@= ^A z=A zA xAA E  E E !E "E f;*E ga:VE c3ZE a @a @a @a @A5 .AIA IY Om >7%,߄LAYuByuIi Mb@Mb@Mb@     9 NbX9?/$?9= ?YE ?=EEyEEAEE>IQ 5U4Mk~?Q 9U4M‘)MBY]?Q E]:y]=Q I]5@MWDIMM:iM:Mr4yaɮeX AaiiimLQȄLAjmB"jmB:jmů="pmf#A@Y@* @{e@pmz?@Ҿ}?Cg]?*jm A=2jms*pm Q3Y@@XX!@j@pm;?V9m?"?jm A jmBimn?im󕍣jmBjmyj?jmk_jmMBrjm9Bzjm= addTargetRange:: Added new target pos. range: 101.800003 m, deltaT: 3.527450 s, deltaX: -1.899994 m, approachRate: -0.538631 m/s, rangeRepo size: 4  Added new target pos. range: 101.401123 m, bearing: 4.917415 deg, lat: 36.779405 deg, lon: -121.859610 deg, deltaT: 3.527450 s, deltaX: -1.893005 m, approachRate: -0.536650 m/s, posRepo size: 4 :iFNOT Ignoring new targets: 101.40 m."i*i ProNav: ac range: 101.401123 m, nav range: 100.611565 m, bearing: 4.950946 deg, approach rate: 0.000000 m/s, LOS rate: 0.001215 deg/s, cmd heading: 2.512592 deg, new cmd heading: 2.513720 deg. iHeadingCmd: 0.043873 target range: 101.401123 and range: 101.80 m.hܳ3=hhhhggjgrgBereZe:e*e?%Bɢ% /)) -i))-qt))i5KLi5ܳ3=5==ˆ=I=ܳ3=I9@ @@/@IUnManaging dock network, ignoring radio surface power off^AI I O >q B >B B B B B >DB ĺDB |;B 4Ei I =%,tLAY%By%IbD=VD=8yEP%M[=ٔIQ-M>9QYQ=UEyUEQEU>aQ 5e4e"|~?Q 9m4e7)eBYiyiQ Im5@edDIeR:ieI:e4yqɮ} A}E:iFNOT Ignoring new targets: 101.40 m."iV׸*iV׸ ProNav: ac range: 101.401123 m, nav range: 100.416405 m, bearing: 4.948777 deg, approach rate: -0.528172 m/s, LOS rate: -0.005883 deg/s, cmd heading: 2.513720 deg, new cmd heading: 2.509373 deg. iE,HeadingCmd: 0.043797 target range: 101.401123 and range: 101.80 m.hKd3=hhhhggjgrgereZe:e*e@&}?Bɢr8) [i ) =ʻ  i 0JiKd3=|=3݈=IKd3=IYDyD}=E EE)E"E:*E3:VEFA4ZEBE ˚D%,7PLA6@6:<6dٱ6Љ=6HV? xI?@? ?@t庿l_?}??i6@I6 ];6ECY^Byb IbDjVDj8yr;%rQ=ٔv׀Q-z>9Y = Ey  E&ʻE>Q 5%4z~?Q 9%4)BY!y-=Q I-5@qDI:i:4y1ɮ5 A1:iYeFNOT Ignoring new targets: 101.40 m."iu⻸*iu⻸ ProNav: ac range: 101.401123 m, nav range: 100.209511 m, bearing: 4.946754 deg, approach rate: -0.524089 m/s, LOS rate: -0.005133 deg/s, cmd heading: 2.509373 deg, new cmd heading: 2.505320 deg. iN]HeadingCmd: 0.043726 target range: 101.401123 and range: 101.80 m.he3=hahihihiggjgrgereZe:e *e5k?颵BɢR)) 7i)Eڻ项iQHi3==MG=I3=I@ @@0@E EE#E"E:*ET:VE3ZEa@a@a@a@ ^A ER=A >A ?I I) O= >9 J%,M0-LAF0@F9Y=EyEE>Q 54~?Q 94 )BY?Q E:y=Q I5@DI#;i#;='4y7Bɮ AE:iFNOT Ignoring new targets: 101.40 m."iи*iи ProNav: ac range: 101.401123 m, nav range: 99.987785 m, bearing: 4.944351 deg, approach rate: -0.524962 m/s, LOS rate: -0.005704 deg/s, cmd heading: 2.505320 deg, new cmd heading: 2.500502 deg. i' HeadingCmd: 0.043642 target range: 101.401123 and range: 101.80 m.h 2=h h hhggjgrgBereZe!:e!*e%sT?MBɢU{;)Q U-iQ)]YYi]GFie2=eբ=e\{=Ie2=Ia 9@ @@m1@Bm>BiBmIBmBBiBiBiBm|;Bm4E9DzD?A^AE x=bEjEȔ4rE0Ee  Ee Ee !Ea "Ee :*Ee Ar:VEe c3ZEa BEe Q%,1GLA 2@2<<2s/ٱ2=2H ?2-L??ͺe? ˺??i2@I2q];2FCYNByRIbDZVDZ8yb<%bX=ٔb Q-f>9dYd=fEyfEjEj>lQ 5r4n~?Q 9r4n~)nBYpyr5=Q Iv5@nDIn;in:n-4yz8Bɮzv Az E B*** querying acoustic contact ***i i %T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.:i1FNOT Ignoring new targets: 101.40 m."ijθ*ijθ ProNav: ac range: 101.401123 m, nav range: 99.789276 m, bearing: 4.942209 deg, approach rate: -0.521736 m/s, LOS rate: -0.005639 deg/s, cmd heading: 2.500502 deg, new cmd heading: 2.496210 deg. i!%HeadingCmd: 0.043567 target range: 101.401123 and range: 101.80 m.hhs2=hhh!h!g!g!jg!rg)e)re)Ze):e)*e5 rh@]Bɢ]q0)a eia)eb(aaie#Dimhs2=mFŢ=ui=Iuhs2=Iq-9@) @)@- 5@)ԙ^Axr=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259544II I9 OE >EU  EU EU %EQ "EU [:*EU V:VEU 4ZEQ ae @ae @ae @ae @%W%,`LAFH@HF9YYY=eEyeEe܂:Ee>iQ 5u4m`~?Q 9u4mӎ)mBY}y?Q E}:y}@=Q I}5@mDIm:im:mC54yɮy A:iFNOT Ignoring new targets: 101.40 m."iJ*iJ ProNav: ac range: 101.401123 m, nav range: 99.566299 m, bearing: 4.938663 deg, approach rate: -0.528851 m/s, LOS rate: -0.008431 deg/s, cmd heading: 2.496210 deg, new cmd heading: 2.489101 deg. ivmHeadingCmd: 0.043443 target range: 101.401123 and range: 101.80 m.hmM1=hihihihigigqjgqrguBeqreyZey:ey*e}@Bɢg.) xi)iAiM1=e崢=eIg=IeM1=IiԹ-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5088759@ @@5@^A9 AA zAE zA BU >BQ BQ BQ BU =BQ BQ BU >};BU 5EB!B!B!B!B!C%֧4Au ؟AIy I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7599616^%,wzLA2@2<2I^ٱ2T=2H@?`K?.?$뺿k??`?i2@I2S\;2CCY>By>IIBl>)Bp=bDF޾VDF8yNH<%RX=ٔR܇Q-R>9V"?YV"?=VEyVEVEV>XQ 5^4Z~?Q 9b4Z<)ZBY`yb=Q Ib5@ZDIZ:iZ:Z;4ydɮfZ Ah:ix~FNOT Ignoring new targets: 101.40 m.|"i*i ProNav: ac range: 101.401123 m, nav range: 99.367561 m, bearing: 4.935567 deg, approach rate: -0.525009 m/s, LOS rate: -0.008195 deg/s, cmd heading: 2.489101 deg, new cmd heading: 2.482897 deg. ioHeadingCmd: 0.043335 target range: 101.401123 and range: 101.80 m.h1=hyhyhyhygygyjgrgereZe:e*e@@Bɢ95)! %Zi!)-Y5))i-8?i1=N==I1=IE EE#E"E:*E|;:VE3ZEBE=%==BDAT read: Rx Time:04:22:44.8042 ETRx dataTimestamp_ set to:1764908566.155024Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013309Y^Ay=ԁ A I I O > d%,̵LA2t@2<2ӂٱ2t+=2H?ƘW@z{?@?vZp??W?i2t@I2];2ECY>By>IbDJVDJ8yN%RI=ٔRQ-R>9PYT=VEyVEV*)EZ>XQ 5^4Z~?Q 9b4Z)ZBY`ybL=Q Ib5@ZDIZ:iZ:ZB4ydɮju Ah:ix~FNOT Ignoring new targets: 101.40 m."i~*i~ ProNav: ac range: 101.401123 m, nav range: 99.154518 m, bearing: 4.932267 deg, approach rate: -0.524815 m/s, LOS rate: -0.008146 deg/s, cmd heading: 2.482897 deg, new cmd heading: 2.476284 deg. inQ}HeadingCmd: 0.043219 target range: 101.401123 and range: 101.80 m.h}1=h GQichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267575Ƞ9Y)Ah9hhgg!jg1rg1e9reaZei:eq*e}t @Bɢh() i)i%=i%1=%=-=I-1=I)yE EE%E"E>:*EX:VE 4ZEa@a@a@a@I@Q @Q@U4@QԡU checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518505^A] S= A .AI I O >uk%,ILA>@>g<>\둻ٱ>K=>H`?U^3?@y?l!g=r?`??i>@I>];>FCYFByJIxi%Mb@Mb@Mb@!!!! !9%/$?S㥫?~jt?Y%1?y%/]=%D9U ?Y] ?=]Ey]#E]9E]>aQ 5m4e~?Q 9u4eՌ)eBYu?Q Eu:yu=Q Iu5@eDIe;ie ;eJ4y}9Bɮ} A E:i-FNOT Ignoring new targets: 101.40 m."i-M*i5M= ProNav: ac range: 101.401123 m, nav range: 98.914360 m, bearing: 4.927222 deg, approach rate: -0.533324 m/s, LOS rate: -0.011232 deg/s, cmd heading: 2.476284 deg, new cmd heading: 2.466169 deg. i=qEHeadingCmd: 0.043043 target range: 101.401123 and range: 101.80 m.hEM0=hAhAhIhigigijgqrguBeqreqZeq:ey*e} @Bɢ7) i) hi2;iM0=R==IM0=I!BIBIBMIBMBBM =BIBIBM};BMQ5EiIADAT read: 04:22:44.8042 LVL= 31792, 32753, 32322, 32755, AGC= 68, IDX= 416,-0.36, 0.362,-1.382, 0.374,-0.016, PHS= 0.480,-1.321, 0.346, RAW= 146.2, 5.8, CAL= 145.7, 6.2, ROT= 4.3, -6.2 Ygot valid direction response: 04:22:44.8042 LVL= 31792, 32753, 32322, 32755, AGC= 68, IDX= 416,-0.36, 0.362,-1.382, 0.374,-0.016, PHS= 0.480,-1.321, 0.346, RAW= 146.2, 5.8, CAL= 145.7, 6.2, ROT= 4.3, -6.2 %PDAT read: Bearing 177.0, 5.1 (Local) -~Local bearing/azimuth received: Bearing 177.0, 5.1 (Local) 5DAT read: Range 11 to 50 : 99.9 m (Round-trip 133.2 ms) speed 0.4 m/s =(DAT read: user:67> =BDAT read: Tx time:04:22:45.9169 E$Ping request sent.Ei&>N#@4Q="@ k=)`=Ikݽcui(?p?x Go? ?>)ƋͽI`=ikݽm:publishing transmit ping timeAmFpublishing direction and range infoyUw&)?7?Niإ?Y )Ii )Icui(?p?x Go? )Ii9@ @@/@@@QE EE#E"E:*EVE3ZEBExA >y A I I O >Xr%,ɅLA6@6,<6ҟٱ6%=6H?ɘ@!cd?@?@NUs???i6@I6];4Y^Byb#I dddfAbDjVDju8yr>=%rR=ٔvӎQ-v>9tYt=zEyz'EzP7Ez>|Q 54~b ?Q 94~*)~BY y =Q I 5@~DI~:i~h:~Q4yɮ< AYiiHLAjB"jB:je5="p X@cpm@Ih~%@pUw&)?7?Niإ?*j`=2jkݽ*pT#܉X@#e$+!@yUr'@p-\?>?إ࿾?j] A jBi|p?iztZjyBj|p?jjrjBzjկ= addTargetRange:: Added new target pos. range: 99.900002 m, deltaT: 3.780683 s, deltaX: -1.900002 m, approachRate: -0.502555 m/s, rangeRepo size: 4 % Added new target pos. range: 99.508881 m, bearing: 4.985644 deg, lat: 36.779406 deg, lon: -121.859610 deg, deltaT: 3.780683 s, deltaX: -1.892242 m, approachRate: -0.500503 m/s, posRepo size: 4 :i)-DNOT Ignoring new targets: 99.51 m."i*i ProNav: ac range: 99.508881 m, nav range: 98.778519 m, bearing: 4.919252 deg, approach rate: 0.000000 m/s, LOS rate: -0.011232 deg/s, cmd heading: 2.466169 deg, new cmd heading: 2.456087 deg. iHeadingCmd: 0.042867 target range: 99.508881 and range: 99.90 m.h/=hhhhg)g)jg)rg)e1re1Ze1:e5X@*e=Qc?ԉɢ٧() i)8ie9i/=p=N5=I/=I9@ @@@Թ^A E  E E $E "E m:*E VL:VE 4ZE a @a @a @a @ A ؟AI I O >tx%,UP兗LA>@>+<>ƫٱ>=>H}?@2e@Ę?$?8xu?2? ?i>@I>\;>DCYJByJIxi%Mb@Mb@Mb@!!!! !9%~jt?y&1?Mb?Y%?y%`e=%<%A%A !)% A!Y% AbD=VD=g8yM%M9=ٔUGXQ-U>9U"?YU"?=UEyU,E]X:E]>aQ 5m4e?Q 9m4ed)eBYuq?Q Eu:yu >Q Iu5@eDIe ;ie ;e\Y4y}:Bɮ} A} EB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 99.51 m."iC*iC ProNav: ac range: 99.508881 m, nav range: 98.548492 m, bearing: 4.913606 deg, approach rate: -0.600788 m/s, LOS rate: -0.014782 deg/s, cmd heading: 2.456087 deg, new cmd heading: 2.444768 deg. ilعHeadingCmd: 0.042669 target range: 99.508881 and range: 99.90 m.h.=hhhhggIjgQrgUBeQreQZeQ:eQ*e]@B B B B =B B B H~;B 5EE checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996343^Ay y IY Iq O >Z*%,ÛLA:(@:<:걻ٱ:=:HY?䙿@fq??NV=v?9)Y)=-Ey50E5y:E5>9Q 5E4=K0?Q 9E4=)=BYIyM>Q IM5@=DI=e:i=:=u`4yU;BɮU AUE:iy}DNOT Ignoring new targets: 99.51 m."i7o*i7o ProNav: ac range: 99.508881 m, nav range: 98.337265 m, bearing: 4.908318 deg, approach rate: -0.520997 m/s, LOS rate: -0.013071 deg/s, cmd heading: 2.444768 deg, new cmd heading: 2.434169 deg. i_HeadingCmd: 0.042484 target range: 99.508881 and range: 99.90 m.h.=hhhhggjgrgereZe:e*e4?Bɢ"B) )i)1)i^R5i.=cT=6=I.=II)uA9@ @@@Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247706q^AI I O >ԡ l%,cELAzchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.502156ԙYByI==bD%VD%V8y-w%2=ٔQ->9Y=Ey4EE>Q 5%4`D?Q 9-4މ)BY)y1Q I55@DIl;i(n;h4y9ɮ= A9:iaeDNOT Ignoring new targets: 99.51 m."im4o*im4ou ProNav: ac range: 99.508881 m, nav range: 98.097221 m, bearing: 4.902281 deg, approach rate: -0.518417 m/s, LOS rate: -0.013071 deg/s, cmd heading: 2.434169 deg, new cmd heading: 2.422065 deg. i}]}HeadingCmd: 0.042273 target range: 99.508881 and range: 99.90 m.h}u&-=hyhhhggjgrgereZe:e*e?E EE"E"E:*EV:VE(3ZEa@a@a@a@Bɢj2) Zi)|0iE2iu&-=`C=ą=Iu&-=I]9@Y @Y@a@achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751689^A _=I! I9 OE > N,%,3LAYBy IiMb@Mb@Mb@ 9S㥛? rh?:v?Y$?yC=T<jA1A A)AY=AbDfVD38y %^=ٔ!Q-%>9!Y)=-Ey-8E)E->1Q 5=45T?Q 9E45)5BYEO?Q EE:yE7>Q IE5@5DI5:i5:5o4yMB!B!B!B!B!B%úDB%Y~;B%5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0044399@ @@/@)DzD@AE EE&E"E:*E;J:VE4ZEBExy  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255742%,LLA2@2<2cٻٱ2=2H?@V>oׂ??W@?4{?`X?8?i2@I2\;2CCYLyPbDZqVDZ=8ybʗ%b^=ٔb]Q-b>9dYd=fEyf<Ej>;Ej>hQ 5r4jd?Q 9r4jU)jBYpyr?>Q Ir5@j DIj;ij{;jVu4yxɮz Ax:iDNOT Ignoring new targets: 99.51 m."iE*iE ProNav: ac range: 99.508881 m, nav range: 97.710785 m, bearing: 4.887410 deg, approach rate: -0.505949 m/s, LOS rate: -0.019701 deg/s, cmd heading: 2.406996 deg, new cmd heading: 2.392264 deg. i7HeadingCmd: 0.041753 target range: 99.508881 and range: 99.90 m.h+=hhhhggjgrgereZe:e*e@@Bɢ(F) i)]=i'.i+=)==I+=Ii>Q9@ @@0@@@ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507767^AԹII OE >E  E E #E "E m:*E X:VE 3ZE a @a @a @a @ =%,fLA2<@2<2zٱ2=2H ?]Λ@@p$4? ?Q/|?먻??i2<@I2\;2BCY>By>I@BAiMb@Mb@Mb@ 9jt?Dl?Mb?Y?yO=<A  A)AY AbDVDM8y- <%-D=ٔ-uQ-->91Y1=5Ey5@E=:E=>AQ 5M4EAv?Q 9M4Et)E‰BYM ?Q EM:yM">Q IM5@EDIE:iEF:E|4y]=Bɮ] A]EuB*** querying acoustic contact ***iqiq:i!%DNOT Ignoring new targets: 99.51 m."i-ƹ*i-ƹ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759973} ProNav: ac range: 99.508881 m, nav range: 97.499611 m, bearing: 4.878275 deg, approach rate: -0.499410 m/s, LOS rate: -0.021649 deg/s, cmd heading: 2.392264 deg, new cmd heading: 2.373956 deg. i}zHeadingCmd: 0.041433 target range: 99.508881 and range: 99.90 m.h)=hhhhggjgrgBereԹZe:e*e@G@MBɢM8)q u iq)uDyyi}t,i)=v===I )=I9@ @@.0@ B >B B B B =B B ĺDB };B _5E^A ff=5 BDAT read: Rx Time:04:22:48.4517 = TRx dataTimestamp_ set to:1764908569.939429= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0178119 AQ Ia Iq O} >:%,LAD.%=D.4=bEe3jEe3rEeϚ/E2 E2E2"E0"E2:*E2[:VE2(3ZE0BE29Y=EyDE8:E > Q 54 B?Q 94 ) ȉBYy#>Q I5@ DI ;i Z: 4y!ɮ- A):iIUDNOT Ignoring new targets: 99.51 m."iUrչ*iUrչe ProNav: ac range: 99.508881 m, nav range: 97.295837 m, bearing: 4.869375 deg, approach rate: -0.532931 m/s, LOS rate: -0.023326 deg/s, cmd heading: 2.373956 deg, new cmd heading: 2.356118 deg. ie*mHeadingCmd: 0.041122 target range: 99.508881 and range: 99.90 m.hmo(=hihqhqhqgqgqjgyrgyeyreyZey:e*e9 @颱ɢs:M) zi)J项i*io(===Io(=IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2637190I@I @Q@U/@Y@=@=I q ^A i=DAT read: 04:22:48.4517 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 422,-0.18, 1.697,-0.076, 1.749, 1.297, PHS= 0.502,-1.328, 0.408, RAW= 147.4, 4.7, CAL= 146.8, 5.0, ROT= 3.2, -5.0 EYgot valid direction response: 04:22:48.4517 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 422,-0.18, 1.697,-0.076, 1.749, 1.297, PHS= 0.502,-1.328, 0.408, RAW= 147.4, 4.7, CAL= 146.8, 5.0, ROT= 3.2, -5.0 mPDAT read: Bearing 176.1, 4.1 (Local) u~Local bearing/azimuth received: Bearing 176.1, 4.1 (Local) DAT read: Range 11 to 50 : 97.9 m (Round-trip 130.6 ms) speed 0.6 m/s (DAT read: user:68> IIIYOm?%,DLAE. E.E.%E,"E.:*E.rN:VE. 4ZE,a2@a2@a2@a2@FBDAT read: Tx time:04:22:49.5669 J$Ping request sent.J$@=(#@ ¸=)d=I¸F)taQ?_ƾaV?? >)/Id=i¸n:publishing transmit ping timeHnFpublishing direction and range infoyQ1?'Sx?O?Y )Ii )I @ < ٱ M= H?;3q)? C?@FDX}?N9Y=EyJEy]:E>Q 54"?Q 94a)̉BY!?Q E:y>Q I5@"DI;i:4y}>Bɮ}5A}Eiiw/LAjB"jB:j#="p9jQ?X@I5j@<&3( @pQ1?'Sx?O?*jd=2j¸*p8V1X@ H,ؖ@q#@p ?O˂Vò?+~?j@ jBiz?iRdjBjz?jjBrj:Bzj.= addTargetRange:: Added new target pos. range: 97.900002 m, deltaT: 3.529752 s, deltaX: -2.000000 m, approachRate: -0.566612 m/s, rangeRepo size: 4 54=1m Added new target pos. range: 97.516777 m, bearing: 4.224241 deg, lat: 36.779407 deg, lon: -121.859610 deg, deltaT: 3.529752 s, deltaX: -1.992104 m, approachRate: -0.564375 m/s, posRepo size: 4 :iiDNOT Ignoring new targets: 97.52 m."i*i ProNav: ac range: 97.516777 m, nav range: 97.114311 m, bearing: 4.845030 deg, approach rate: 0.000000 m/s, LOS rate: -0.023326 deg/s, cmd heading: 2.356118 deg, new cmd heading: 2.327063 deg. iHeadingCmd: 0.040615 target range: 97.516777 and range: 97.90 m.h[&=hhhhgg jg)rg5Be1re1Ze9:e=yX@*e="?ԉ颭BɢL)) i)V顱i'i[&===I[&=IԹ ?B9 B >B B IB BB B B B };B 05EBBBBBC 4 @  @ @ /@ DzD?AE EE#E"E :*Eg:VE3ZEBEN"9tYt=vEyvPEz'Ez>|Q 54~ٶ?Q 94~E)~щBYy*>Q I5@~*DI~:i~G:~T4y?BɮA:i9=DNOT Ignoring new targets: 97.52 m."iEй*iEйM ProNav: ac range: 97.516777 m, nav range: 96.842117 m, bearing: 4.833598 deg, approach rate: -0.541812 m/s, LOS rate: -0.022821 deg/s, cmd heading: 2.327063 deg, new cmd heading: 2.304133 deg. iU'UHeadingCmd: 0.040215 target range: 97.516777 and range: 97.90 m.h]-$=hYhYhYhYgYgYjgargaeareaZei:ei*em`K?颥BɢZiJ)  i)]^顩i7%i-$==)=I-$=Iaԑ 9@ @@@=͂G]zAu5At9zAYߤAiA IA ^A =I I O >E  E E 'E "E [:*E *5:VE '4ZE a% @a% @a% @a% @nS%,↗LA2@29<2!ٱ22=2H@?#ۃv@ f?)?@Dú W?ﶺ??i2@I2\;0Y>pBy>IPi]Mb@Mb@Mb@YYYY Y9]}?5^I?Zd;?Mbp?Y]M?y]y=];]jA]1A ] A)]AYY]AbDuVDux8yb<%A=ٔjQ->9Y=EyTE̹E>Q 54?Q 94r)ԉBY=?Q E:y>Q I5@1DI:i:4yɮwA:iDNOT Ignoring new targets: 97.52 m."i*i ProNav: ac range: 97.516777 m, nav range: 96.625542 m, bearing: 4.825852 deg, approach rate: -0.511455 m/s, LOS rate: -0.018333 deg/s, cmd heading: 2.304133 deg, new cmd heading: 2.288607 deg. i3HeadingCmd: 0.039944 target range: 97.516777 and range: 97.90 m.h #=hhhhggjgrgBere Ze :e *e @q?9ɢ=N)9 =9 iA)EVeAAiE"iM #=M&=MOS=IM #=IQ @  @ @ /@^A5@=IIO>! B% >B% CCB% IB% wBB% =B! B! B% \};B% 5E%, LAZ/@Z=ZH@?C >y`r? ? Ⱥ`v???iZ/@IZ];ZCCpYviByvI  AAbDVD8y5%5M=ٔ=޺Q-=>9AYA=EEyEXEE8EE>IQ 5U4M?Q 9U4M)M׉BYYy]>Q I]5@M8DIM;iM;M4yaɮeAmEB*** querying acoustic contact ***ii:i  DNOT Ignoring new targets: 97.52 m."i *i % ProNav: ac range: 97.516777 m, nav range: 96.421814 m, bearing: 4.818528 deg, approach rate: -0.491546 m/s, LOS rate: -0.017709 deg/s, cmd heading: 2.288607 deg, new cmd heading: 2.273928 deg. i%-HeadingCmd: 0.039688 target range: 97.516777 and range: 97.90 m.h-d"=h)h)h)h)g1g1jg1rg1e9re9Ze9:e9*eEb?iɢmU)i mK iq)u?mqqiul i}d"=}ڡ=}VԌ=I}d"=ID=D=E EE#E"E:*Ec:VE3ZEBEa :f%,zLA2Z@2<2dٱ2u=2H?by /{??кX??@?i2Z@I2"#];2BCYB]ByBIbDJVDJ8yjv%jS=ٔjӺQ-j>9lYl=nEyn\ErX9Er>tQ 5z4v?Q 9z4v)vډBYxyzE>Q I~5@v>DIv; ;ivC ;vu4yɮA:i)-DNOT Ignoring new targets: 97.52 m."i5 *i5 E ProNav: ac range: 97.516777 m, nav range: 96.223694 m, bearing: 4.811359 deg, approach rate: -0.533628 m/s, LOS rate: -0.019348 deg/s, cmd heading: 2.273928 deg, new cmd heading: 2.259561 deg. iE MHeadingCmd: 0.039437 target range: 97.516777 and range: 97.90 m.hMv!=hIhIhIhQgQgQjgQYrgYeareaZea:ea*em@W?频ɢǹf) -i)7t顙i%iv!=3ѡ=Gw=Iv!=I%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.918256Y@Y @Y@e0@aԑE EE&E"E,:*EF:VE4ZEa@a@a@a@^AR=ԱII O> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.168978 %,0LAY~cBy~IiMb@Mb@Mb@ 9p= ף?I +?MbP?Y?y94=:SAA A)| AY AԹbDVDů8yi<%<=ٔQ->9Y=Ey`EE>Q 54?Q 94B)܉BY?Q E:y=Q I5@EDI:i:4y@BɮAE:i!%DNOT Ignoring new targets: 97.52 m."i%*i-= ProNav: ac range: 97.516777 m, nav range: 95.996567 m, bearing: 4.807733 deg, approach rate: -0.521723 m/s, LOS rate: -0.008349 deg/s, cmd heading: 2.259561 deg, new cmd heading: 2.252292 deg. i=yt=HeadingCmd: 0.039310 target range: 97.516777 and range: 97.90 m.h=m!=hAhAhAhAgAgAjgIrgMBeIreIZeQ:eQ*eU%@颅Bɢ}X) "i)-|顉iFim!=š==Im!=II@I @I@M10@I@Q@U=B>BBCBIBmBBBBB};B4E5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.421590^Atn=E EE"E"E:*E[:VE(3ZEBEA w%,)ZJLAZ@Zt)n49Y=EydEpE > Q 54 ?Q 94 ) ߉BYy=Q I5@ LDI ;i  ; 4y)ɮ-A):iIUDNOT Ignoring new targets: 97.52 m."iUQ*iUQe ProNav: ac range: 97.516777 m, nav range: 95.799873 m, bearing: 4.804641 deg, approach rate: -0.521425 m/s, LOS rate: -0.008214 deg/s, cmd heading: 2.252292 deg, new cmd heading: 2.246095 deg. impmHeadingCmd: 0.039202 target range: 97.516777 and range: 97.90 m.hm =hqhqhqhqgqgqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.672555jgrgereZe:e*eS-@颹ɢx2h) ri)=irli =ʻ==I =I@ @@1@A^AԡE BDAT read: Rx Time:04:22:52.0992 M TRx dataTimestamp_ set to:1764908573.465185U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.928405A! I) IQ O > E  E E $E "E :*E a9:VE 4ZE a= @a= @a= @a= @%,*9dLA2@2P<2xIٱ2e=2H?`굛ׂ`? ?`K亿@7?@HѺ?M?i2@I2^;2ECYngByrIiMb@Mb@Mb@ 9/$?L7A`?Mbp?Y1?y+=;jAA )Y AbDVDׯ8y=%<=ٔL#Q->9Y=EyiEaE>Q 54y!?Q 94*)BY u?Q E :y =Q I 5@SDI:i:A4yUABɮUAY:iy}DNOT Ignoring new targets: 97.52 m."i*iԑ ProNav: ac range: 97.516777 m, nav range: 95.568184 m, bearing: 4.804238 deg, approach rate: -0.523332 m/s, LOS rate: -0.000912 deg/s, cmd heading: 2.246095 deg, new cmd heading: 2.245287 deg. iշHeadingCmd: 0.039188 target range: 97.516777 and range: 97.90 m.h= =hhhhggjgrgBereZe:e*e l @]Bɢ]V)Y ]d ia)eaaie i= ==OӋ=I= =Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.177495e9@a @a@en1@aԹ^A +!=A AAA @AB B CCB IB gBB =B B B |;B 4EA .A ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.431954I1 I O >)%,LAN@N9n ?Yr ?=rEyrmErúEr>tQ 5z4v 3?Q 9z4v)vBYxy~{=Q I~5@vZDIv:iv:v4yBBɮ,AEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 97.52 m."iW*iW ProNav: ac range: 97.516777 m, nav range: 95.358894 m, bearing: 4.803946 deg, approach rate: -0.526983 m/s, LOS rate: -0.000737 deg/s, cmd heading: 2.245287 deg, new cmd heading: 2.244702 deg. iHeadingCmd: 0.039177 target range: 97.516777 and range: 97.90 m.hx =hhhhggE EEE"E,:*EVL:VEZEBE 5BDAT read: Tx time:04:22:53.2168 =$Ping request sent.=iV)\>"$@'g=#@ C=)k=ICJk[?Z &R?Ԧ? M>)eЌIk=iCe:publishing transmit ping time9eFpublishing direction and range infoy;^|?ye? M?Y )Ii )IJk[?Z &R?Ԧ? )Iiԑ^AM֊=I I O >Թ %,*6LA2M@2<2Iqٱ2-=2H?t蚿行u??IA0???i2M@I20R`;0Y>bByBIDDbDJپVDJ8yf<%fM=ٔfaQ-f>9hYh=jEyjqEnE~>Q 5 4E?Q 9 45)BY y =Q I 5@aDI:i:(4y9ɮ=A9i)i-8LAj-@B"j-@B:j-6="p-wC:W@A@s2 Y@p-;^|?ye? M?*j-k=2j-C*p-ce.W@EѶyk@ю!@p-*F?ܰS?4k?j-[@ j-Bi-φ?i-|Tj-Bj-φ?j-{j-;Brj-|Bzj-ڞ= addTargetRange:: Added new target pos. range: 96.000000 m, deltaT: 3.777695 s, deltaX: -1.900002 m, approachRate: -0.502953 m/s, rangeRepo size: 4  Added new target pos. range: 95.625229 m, bearing: 4.279109 deg, lat: 36.779408 deg, lon: -121.859617 deg, deltaT: 3.777695 s, deltaX: -1.891548 m, approachRate: -0.500715 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 95.63 m."i *iM ProNav: ac range: 95.625229 m, nav range: 95.242325 m, bearing: 4.444162 deg, approach rate: 0.000000 m/s, LOS rate: -0.000737 deg/s, cmd heading: 2.244702 deg, new cmd heading: 2.244103 deg. iI}HeadingCmd: 0.039167 target range: 95.625229 and range: 96.00 m.h}m =hyhyhhggԹjgrgereZe:eX@*e%r?颉ɢh]) 'iE1 E5E5%E1"E1*E5F:VE5 4ZE1aE@aE@aE@aE@)ƍ顁iZim == =Im =IQ@Q @Y@]0@Y ^A m=A I I O >J%,LA>@>%<>c2ٱ>&=>H? ~`+??``?!?Z?i>@I>`;>BCYJVByJIi%Mb@Mb@Mb@!!!! !9%NbX9? rh?I +?Y%?y%C =%94<%A%A %| A)%A!Y%AbD= VD=ɯ8yEJ%M8=ٔMMQ-M>9QYQ=UEyUuE]E]>aQ 5e4ekX?Q 9m4e~)eBYm?Q Em:ym̱=Q Im5@ehDIeH;ie;e4y}CBɮ}dA}E:iDNOT Ignoring new targets: 95.63 m."i ^*i ^ ProNav: ac range: 95.625229 m, nav range: 95.011841 m, bearing: 4.442876 deg, approach rate: -0.542448 m/s, LOS rate: -0.003033 deg/s, cmd heading: 2.244103 deg, new cmd heading: 2.241525 deg. iHeadingCmd: 0.039122 target range: 95.625229 and range: 96.00 m.hc> =hhhhggjgrgBIeQreQZeQ:eQ*eU?颡ɢ'w)B>BBCBBB =BBB|;B4E iA)MSIIiM5iUc> =U~=U'=IUc> =IY9@ @@4@yDizDm@AbE4jEm4rE/Eu EuEu#Eq"Eua:*EuX:VEu3ZEqBEu( u%,·LA2@2m<2;琼ٱ2=2Hu?@}ԙ@[펿` ?? '?s ??i2@I2a;2CCY>[By>IbDF VDFޯ8yN<%RV=ٔRQ-R>9PYT=VEyVyEV EV>XQ 5^4Z1i?Q 9^4Z:~)ZBY`yb=Q Ib5@ZnDIZ:iZ:Z4ydɮf<Ad:ix~DNOT Ignoring new targets: 95.63 m."i~C*i~C  ProNav: ac range: 95.625229 m, nav range: 94.812080 m, bearing: 4.441856 deg, approach rate: -0.523174 m/s, LOS rate: -0.002676 deg/s, cmd heading: 2.241525 deg, new cmd heading: 2.239482 deg. i HeadingCmd: 0.039086 target range: 95.625229 and range: 96.00 m.h =hhhhggjgrge!re!Ze!:e!*e%4?ɢnt) _i)M┼if"i =}=2=I =I ԩ9@ @@/@@=@^A z=IiIO> E  E E &E "E m:*E H:VE 4ZE a @a @a @a @1 %,wM臗LA:@:q<:Tٱ:\=:HW?=? 2?wDa? (?K?i:@I: b;8Y^gBybIiEMb@Mb@Mb@AAAA A9EL7A`?ˡE?=ٔuF=Q-u>9qYq=}Ey}}E}1^E>Q 54@|?Q 94})BY?Q E:y=Q I5@vDI(:i7; 4yDBɮAE:iDNOT Ignoring new targets: 95.63 m."i*iฝe ProNav: ac range: 95.625229 m, nav range: 94.584885 m, bearing: 4.439223 deg, approach rate: -0.528290 m/s, LOS rate: -0.006139 deg/s, cmd heading: 2.239482 deg, new cmd heading: 2.234201 deg. ie3mHeadingCmd: 0.038994 target range: 95.625229 and range: 96.00 m.hmZ=hqhqhhggjgrgBereZe:e*e ?qɢuUb)q u iq)}yyi}D iZ=n=]=IZ=II)yA@ @@@AB >B CCB IB mBB B B B |;B 4EBCCBCCBB =B =C޷4i ^A t=I I O- >%,+LA 2@2b<2hƥٱ2 `=2H9?q>!*? ?@Z`p?W=??i2@I2b;2DCYRiByRIbD^"VD^8yf<%fU=ٔf_Q-f>9hYh=jEyjEnEn>pQ 5v4r>?Q 9v4r$})rBYtyv=Q Iv5@r|DIrI:irA:r4y|ɮ~A|B*** querying acoustic contact ***ii:i!%DNOT Ignoring new targets: 95.63 m."i-۸*i-۸D==D9EE EEEE%EA"EE:*EEga:VEE 4ZEABEE  3G {A A 9 {AY A%,LA2@2<25ٱ2]=2H@?@܋2??[v?`9Y=EyE<E>Q 54?Q 94E|) BY?Q E:y=Q I5@DI;i;4yEBɮA:iDNOT Ignoring new targets: 95.63 m."i[A*i[A- ProNav: ac range: 95.625229 m, nav range: 94.080399 m, bearing: 4.430966 deg, approach rate: -0.533571 m/s, LOS rate: -0.010565 deg/s, cmd heading: 2.229598 deg, new cmd heading: 2.217640 deg. i-5HeadingCmd: 0.038705 target range: 95.625229 and range: 96.00 m.h5D=h1h1h1h9ggjgrgBereZe:e*e@颉ɢuM) Ai)IXiUiD=M=Uх=IUD=IY8>iV>- >) 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508961! E 9@A  @A @E 5@A @I @I Q ^Am_=B >B B IB rBB  =B B B {;B c4EԁA؟AIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760683IO? )%,O?LA2R@2<2Iٱ24=2H???@vxೈ?GW? ?i2R@I2b;2AC 8)>E~A><<<>b~AiBDI@@I@iFz~A FDH)HT XXX\\\I^ף)`i`)`I`bĻ` ddddiddihj~A)h hIhYhYrnByrIbDz VDzɯ8y% L=ٔ liQ- >9 "?Y"?=EyE~[9E>Q 5%4x?Q 9-4{)BY)y-=Q I-5@DI:i:4y1ɮ5A=E:iDNOT Ignoring new targets: 95.63 m."i;*i; ProNav: ac range: 95.625229 m, nav range: 93.866531 m, bearing: 4.426712 deg, approach rate: -0.512793 m/s, LOS rate: -0.010224 deg/s, cmd heading: 2.217640 deg, new cmd heading: 2.209113 deg. iHeadingCmd: 0.038556 target range: 95.625229 and range: 96.00 m.h3=hhhhgg!jg!rg!e!re)Ze):e)*e-4@DzDE EE"E"E:*E[:VE(3ZEBE,%,2YLA 2@2R<2uɼٱ2c=2H?` h?@?1?f??i2@I2mQb;2CCY-sBy-IbD=VD=8yM<%MH=ٔUсQ-U>9U ?YU ?=]Ey]E]y߹E]>aQ 5m4eʀ?Q 9m4e{)eBYqyu=Q Iu5@eDIaiae4yyɮ}A:iDNOT Ignoring new targets: 95.63 m."iJ*iJ ProNav: ac range: 95.625229 m, nav range: 93.648399 m, bearing: 4.422366 deg, approach rate: -0.554455 m/s, LOS rate: -0.011072 deg/s, cmd heading: 2.209113 deg, new cmd heading: 2.200401 deg. iHeadingCmd: 0.038404 target range: 95.625229 and range: 96.00 m.hM=hhhhggjgrgereZe:e *e 7 @YɢeWu)a mii)m7Ciiim[iM=2="=IM=I-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267325q@ @@/@E  E E %E "E :*E rN:VE  4ZE a=@aE@aE@aE@ԡ^A8=  DAT read: 04:22:55.7465 LVL= 28624, 32753, 30418, 32755, AGC= 69, IDX= 418,-0.12, 1.118,-0.629, 1.170, 0.648, PHS= 0.572,-1.232, 0.478, RAW= 147.3, 2.1, CAL= 146.6, 2.1, ROT= 3.4, -2.1  Ygot valid direction response: 04:22:55.7465 LVL= 28624, 32753, 30418, 32755, AGC= 69, IDX= 418,-0.12, 1.118,-0.629, 1.170, 0.648, PHS= 0.572,-1.232, 0.478, RAW= 147.3, 2.1, CAL= 146.6, 2.1, ROT= 3.4, -2.1  PDAT read: Bearing 173.7, 5.0 (Local)  ~Local bearing/azimuth received: Bearing 173.7, 5.0 (Local)  DAT read: Range 11 to 50 : 94.1 m (Round-trip 125.5 ms) speed 0.4 m/s  (DAT read: user:70> A5 ؟AII IY O > BDAT read: Tx time:04:22:56.8668  $Ping request sent. Q = #@ Q =) s=I Q  1g?Y{a?Sv跢? `>) I s=,%,sLAiQ J:publishing transmit ping time!NFpublishing direction and range infoLy њ?NB5BCB5IB5BB1B1B1B58{;B54EyeL<%e#=ٔm䗻Q-m>9u"?Yu"?=uEyuEuk7Eu>yQ 54}ည?Q 94}z)} BYN ?Q E:y>Q I5@}DI};i}m;} 4yLBɮAEiioLAjwB"jwB:j="peL`W@#Ȇ8@b1dGz @p њ?N? ٳ˱?j@ jtBi2?ikj~BjjkjBrjBzj>= addTargetRange:: Added new target pos. range: 94.099998 m, deltaT: 3.528116 s, deltaX: -1.900002 m, approachRate: -0.538531 m/s, rangeRepo size: 4  Added new target pos. range: 93.732506 m, bearing: 4.421127 deg, lat: 36.779408 deg, lon: -121.859616 deg, deltaT: 3.528116 s, deltaX: -1.892723 m, approachRate: -0.536469 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 93.73 m."i *i  ProNav: ac range: 93.732506 m, nav range: 93.377747 m, bearing: 4.427152 deg, approach rate: 0.000000 m/s, LOS rate: -0.011072 deg/s, cmd heading: 2.200401 deg, new cmd heading: 2.188447 deg. i9EHeadingCmd: 0.038196 target range: 93.732506 and range: 94.10 m.hEr=hAhAhAhAgAgIjgIrgMBeIreQZeQ:eU`fW@*eUO?颥BɢJX) i)w顩itir= =Iw=Ir=Ii@q @q@uA4@q@}=@yE EE"E"E:*ET:VE(3ZEBE 9b ?Yb ?=fEyfEfEf>lhQ 5r4jQ Iv6@jDIj)0;ij(:j~4yzMBɮzAyB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 93.73 m."im*im ProNav: ac range: 93.732506 m, nav range: 93.166328 m, bearing: 4.420732 deg, approach rate: -0.561698 m/s, LOS rate: -0.017095 deg/s, cmd heading: 2.188447 deg, new cmd heading: 2.175578 deg. iHHeadingCmd: 0.037971 target range: 93.732506 and range: 94.10 m.h}=hhhhggjgrgereZe:e*e '?Bɢ@Y)  i) CE  i i}===I}=I@ @@/@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9^AE EE E"E:*EP:VE3ZEa@a@a@a@Y A ؟AI I O >*%,̴LA=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.969595AYUsBy]IiMb@Mb@Mb@ 9#~j?{Gz? rh?Y?yף=C<AA A) AY AbDVDï8y=%/=ٔQ->9"?Y"?=EyEE>Q 54?Q 94Rx)1BY?Q E:y->Q I6@DI!;im ;4yɮA:iDNOT Ignoring new targets: 93.73 m."i {*i { ProNav: ac range: 93.732506 m, nav range: 92.920982 m, bearing: 4.406696 deg, approach rate: -0.546732 m/s, LOS rate: -0.031361 deg/s, cmd heading: 2.175579 deg, new cmd heading: 2.147432 deg. ieHeadingCmd: 0.037480 target range: 93.732506 and range: 94.10 m.hb=hhhhggjgrgBereZe:e*e`~?MBɢMg)I M iI)UqQQiUFi]b=] =]_=I]b=Iaa]9@Y @Y@]/@YB>BBIBBB =BBBz;B3EԙiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.221996^AE [=Թ E  E E $E "E :*E c:VE 4ZE BE 11%,YLjLA2@2v<2ٱ27=2H`?' ?@?=?Sf?}?i2@I2(a;2CCY>xBy>I @@bDJVDJ8yR9<%Rq=ٔR+ԻQ-R?9TYT=VEyVE- ;E5>1Q 5=45??Q 9E45|w)58BYAyE.>Q IE6@5DI54:i5:5"4yIɮUAUE:iq}DNOT Ignoring new targets: 93.73 m."i} *i ԑ ProNav: ac range: 93.732506 m, nav range: 92.734612 m, bearing: 4.395887 deg, approach rate: -0.525478 m/s, LOS rate: -0.030538 deg/s, cmd heading: 2.147432 deg, new cmd heading: 2.125771 deg. i_HeadingCmd: 0.037102 target range: 93.732506 and range: 94.10 m.h=hhhhggjgrgereZe:e*e?ɢa) i)Qi)qi==j=I=I9@ @@/@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.474616Թ^AER=I I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725744N7%,EeሗLA2Y@2Ǻ<2^ٱ2~=2H ?@``U??&+?o`? K?i2Y@I2a;2BCY>sBy>IbDJVDJ8yR{%RK=ٔR[.Q-R>9TYT=VEyVEZ?:EZ>\Q 5b4^,(?Q 9b4^v)^@BY`yb.>Q If6@^DI^q ;i^K ;^)4yhɮjAh:i|~DNOT Ignoring new targets: 93.73 m."i *i  ProNav: ac range: 93.732506 m, nav range: 92.531693 m, bearing: 4.384030 deg, approach rate: -0.525343 m/s, LOS rate: -0.030764 deg/s, cmd heading: 2.125771 deg, new cmd heading: 2.102005 deg. i4aHeadingCmd: 0.036687 target range: 93.732506 and range: 94.10 m.hE=hhyhyhygygyjgrgereZe:e*eP?E EEE"E:*EL_:VEZEa@a@a@a@Bɢu) - ia)m顑itViE==V=IE=I!!@ @@/@]?]a=]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978010Q^A =y I I O >Q >%,?LABDBFCCBFIBFBBF =BDBDBFM{;BF4EYnnByIiMb@Mb@Mb@ 9~jt?~jt?{Gz?Y?y=#<fAA A) AYfAbDVD8y % 5=ٔQ->9Y=EyEE%>!Q 5-4%;?Q 954%u)%HBY5 ?Q E5:y5)>Q I56@%DI%S;i%\ ;%y14yENBɮEAEEQ:iiuDNOT Ignoring new targets: 93.73 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229771"i*i ProNav: ac range: 93.732506 m, nav range: 92.297028 m, bearing: 4.370962 deg, approach rate: -0.519620 m/s, LOS rate: -0.029011 deg/s, cmd heading: 2.102005 deg, new cmd heading: 2.075802 deg. i_THeadingCmd: 0.036230 target range: 93.732506 and range: 94.10 m.hxe=hhhhggjgrgBereZe:e*e@@@颕Bɢv)  i)z顙i ixe=]=^=Ixe=Ia@a @a@a@abEjE3rEŰ/E EE#E"E:*E1]:VE3ZEBE] m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481723 )E%,LA2@2\<2Z ٱ2=2H?`ݛ2ȟ@[g?? %ĺA?`ԍ?!?i2@I2a;2ACYIF=Fa= F9pYt=vEyvEv+<;Ev>xQ 5~4zK?Q 9~4zt)zOBYy +>Q I6@zŀDIz:izb;z74y ɮ A -B*** querying acoustic contact ***i)i):i1=DNOT Ignoring new targets: 93.73 m."iE0*iE0U ProNav: ac range: 93.732506 m, nav range: 92.107193 m, bearing: 4.360216 deg, approach rate: -0.520941 m/s, LOS rate: -0.029548 deg/s, cmd heading: 2.075802 deg, new cmd heading: 2.054267 deg. iUMXUHeadingCmd: 0.035854 target range: 93.732506 and range: 94.10 m.h]\=hYhYhYhYgYgajgargaeareiZei:ei*em@ @额Bɢw) Ei)"¼顡i(i\=ؠ=W=I\=I@ @@O0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733817^AUm=AazAexAIIOE>E EEE"E:*ER:VEZEa@a@a@a@1 Q 4K%,.LABDAT read: Rx Time:04:22:59.3939 %TRx dataTimestamp_ set to:1764908580.770767%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986782Y-kBy-IiMb@Mb@Mb@ 9}?5^I?~jt?~jth?YM?yD;AA 1A) AY AbDVD8yr%;=ٔQ->9Y=EyEE>Q 54_?Q 94s)UBY?Q E:y.>Q I6@̀DI:i:?4yOBɮ!AE:iDNOT Ignoring new targets: 93.73 m."i *i  ProNav: ac range: 93.732506 m, nav range: 91.873192 m, bearing: 4.346346 deg, approach rate: -0.507335 m/s, LOS rate: -0.030149 deg/s, cmd heading: 2.054267 deg, new cmd heading: 2.026455 deg. )i-\5HeadingCmd: 0.035368 target range: 93.732506 and range: 94.10 m.h5^=h1h9h9h9g9g9jgArgEBeAreAZeA:ei*em@Bɢi_w) i) Ƽii^= C͠= =I ^=I 9@ @@ 0@YB>BB!IBBBBBB|;Bl4EBIBIBIBM =BM =CMd4checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237781ԁ ^A =I1 IA OM >E  E E $E "E >:*E V:VE 4ZE BE 9TYT=VEyVEZg;EZ>\Q 5b4^m?Q 9b4^r)^ZBY`ybG0>Q Ib6@^ҀDI^;i^;^E4yhɮj&Ah:iqDNOT Ignoring new targets: 93.73 m."i*i ProNav: ac range: 93.732506 m, nav range: 91.697861 m, bearing: 4.335765 deg, approach rate: -0.494487 m/s, LOS rate: -0.029899 deg/s, cmd heading: 2.026455 deg, new cmd heading: 2.005252 deg. iZHeadingCmd: 0.034998 target range: 93.732506 and range: 94.10 m.hTZ=hhhhggjgrgereZe:e*e @EBɢE/)I MNiI)MYɼIIiUqi]TZ=]Š=]=I]TZ=IYԙ9@ @@?5@!DAT read: 04:22:59.3939 LVL= 30096, 32753, 31378, 32755, AGC= 69, IDX= 407, 0.02, 2.364, 0.668, 2.447, 1.972, PHS= 0.494,-1.259, 0.431, RAW= 148.2, 3.9, CAL= 147.5, 4.1, ROT= 2.5, -4.1 Ygot valid direction response: 04:22:59.3939 LVL= 30096, 32753, 31378, 32755, AGC= 69, IDX= 407, 0.02, 2.364, 0.668, 2.447, 1.972, PHS= 0.494,-1.259, 0.431, RAW= 148.2, 3.9, CAL= 147.5, 4.1, ROT= 2.5, -4.1 PDAT read: Bearing 176.2, 5.0 (Local) ~Local bearing/azimuth received: Bearing 176.2, 5.0 (Local) X#Rx 1: Read direction message, but no range.\direction in FSK: [0.996491,0.043508,0.071497]y9=sB?wF? M?9=u9=z 9)9I=>i=&=>=~%@='g==S$@ =C=)=¸2=I=C9=p8#?L(?#S"㮂? =u>)=}1I=¸2=i=CT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԹ !!$Gs9YšA^AqIIO>  DAT read: Range 11 to 50 : 92.1 m (Round-trip 122.9 ms) speed 0.5 m/s  (DAT read: user:71>  BDAT read: Tx time:04:23:00.5168  $Ping request sent. 9iYi=mEymEuEu>Q 547?Q 94q)aBYy@0>Q I6@ڀDIl:i:gM4yɮDAi Eu EuEu%Eq"Eu:*Eu1]:VEu 4ZEqa@a@a@a@i aLAj {B"j {B:j iz="p \V@*v@„<@p sB?wF? M?*j ¸2=2j C*p JnV@xG@%~$@p m? U?& ?j ;@ j Bi 3s?i ^j Bj z?j |Tj Brj Bzj = addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 3.779763 s, deltaX: -2.000000 m, approachRate: -0.529134 m/s, rangeRepo size: 4 e Added new target pos. range: 91.740799 m, bearing: 3.502847 deg, lat: 36.779407 deg, lon: -121.859620 deg, deltaT: 3.779763 s, deltaX: -1.991707 m, approachRate: -0.526940 m/s, posRepo size: 4 :iaDNOT Ignoring new targets: 91.74 m."i*i ProNav: ac range: 91.740799 m, nav range: 91.308884 m, bearing: 4.143676 deg, approach rate: 0.000000 m/s, LOS rate: -0.029899 deg/s, cmd heading: 2.005252 deg, new cmd heading: 1.976438 deg. iHeadingCmd: 0.034495 target range: 91.740799 and range: 92.10 m.hJ =hhhhggjgrge re Ze :e`fW@*e`F?颕Bɢ Cy) gi)μi7iJ =ƻ=j=IJ =IY@Y @Y@]/0@YA ^A} ~4=B >B B IB BB B B B |;B 4Eq A I I O >>_%,LA>v@><>smٱ>G=>H`?`֡י??@U캿L???i>v@I>p\`;>CCY ]By IiMb@Mb@Mb@ 9T㥛 ?y&1?{Gzt?Y?y`e=ף; A)Y AbD:VD8y-%.=ٔ^Q->9Y=EyEW9E>Q 54ݓ?Q 94 q)hBY?Q E:y >Q I6@DIV:i:U4y}PBɮAEԩ:iDNOT Ignoring new targets: 91.74 m."iɹ*iɹ ProNav: ac range: 91.740799 m, nav range: 91.074066 m, bearing: 4.134485 deg, approach rate: -0.559762 m/s, LOS rate: -0.021966 deg/s, cmd heading: 1.976438 deg, new cmd heading: 1.958008 deg. i HeadingCmd: 0.034174 target range: 91.740799 and range: 92.10 m.h =hhhhggjgrgvBereZe:e*e3#? Bɢ ) i):TҼii =۴=%"8=I% =I!E EE$E"E,:*Eg:VE4ZEBE) y!f%,ضLA2B@2<2ٱ2&f=2HE?@C =@T??`޺_?]??i2B@I2@`;2BC :LC):A~A:#88>YC>9~Ai>I>F9 ?Y ?=EyE:E>Q 54꤁?Q 94Qp)nBYy >Q I6@DIW;iW;\4yɮ{A =B*** querying acoustic contact ***i9i9:iAMDNOT Ignoring new targets: 91.74 m."iMz*iMz ProNav: ac range: 91.740799 m, nav range: 90.870255 m, bearing: 4.126439 deg, approach rate: -0.523387 m/s, LOS rate: -0.020707 deg/s, cmd heading: 1.958008 deg, new cmd heading: 1.941882 deg. iHeadingCmd: 0.033892 target range: 91.740799 and range: 92.10 m.h =hhhhggjgrgereZe:e*e+ ?AɢErK)A MViI)MLּqqiuđi} =}=}=I} =IyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.a@a @a@m/5@iAE EE%E"Em:*ErN:VE 4ZEa@a@a%@a%@i ^A = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257211A I I O >Wbl%,^񳉗LA2k@2<2o"ٱ2=2H? բ.?J?`]к@L?@? ]?i2k@I2N`;2ACYzfByzII~0>)~V?iMb@Mb@Mb@ 9V-? rh?Mb`Y|>yC =OAtA 1A)5 AY AbDcVD8y<%D=ٔ5Q->9Y=EyEE>Q 54=?Q 94o)sBY ?Q E:y=Q I6@DI;i;c4y OBɮLAE:i1=DNOT Ignoring new targets: 91.74 m."i=<*i=Cs%,}͉LA2@2c<2r'ٱ21=2H@?@iw8?@?g ?Pt???i2@I2.+`;2CC@YeByIbD5hVD5!8ye%eS=ٔmVQ-m>9m"?Yu"?=uEyuEu>Eu>yQ 54}uƁ?Q 94}Vo)}wBYy=Q I6@}DI}:i}:}j4yɮUA:iDNOT Ignoring new targets: 91.74 m."i*i ProNav: ac range: 91.740799 m, nav range: 90.470566 m, bearing: 4.121050 deg, approach rate: -0.498937 m/s, LOS rate: -0.006690 deg/s, cmd heading: 1.936260 deg, new cmd heading: 1.931078 deg. iCHeadingCmd: 0.033704 target range: 91.740799 and range: 92.10 m.h =hhhhggjgrgereZe:e*e`?!ɢ%)! %i!)-qݼ))i-Pܻi5 =5=5h1=I5 =I9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763430ԩ@ @@/@^Ad= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013130 A% .AI) I9 O] >xmy%,Ҋ牗LAEJ EJEJ#EH"EJ:*EJrN:VEJ3ZEHaN@aN@aN@aN@lY=gByEIbD`VD8y)<%D=ٔ]Q-e>9 ?Y ?=EyEE> Q 5-4 ف?Q 954 n) |BY1y1Q I56@ DI ;i m; r4yEPBɮEFAME:iDNOT Ignoring new targets: 91.74 m."i*i𸝏 ProNav: ac range: 91.740799 m, nav range: 90.243034 m, bearing: 4.117991 deg, approach rate: -0.486584 m/s, LOS rate: -0.006557 deg/s, cmd heading: 1.931078 deg, new cmd heading: 1.924946 deg. i@ HeadingCmd: 0.033597 target range: 91.740799 and range: 92.10 m.h  =h hhhggjgrgereZe:e!*e%F@MBɢU&)Q UiQ)U>QQi]ٻi] =] =er=Ie =Iauchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2658129@ @@/@9^A% v=B} >By By By By By By B} |;B} 4Eԙ I I O >T%,cLA2@2<21ٱ2<=2H@?j?@?@Uw4?@ ?i?i2@I2_;2BCY>mBy>I @@bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5172649imMb@Mb@Mb@iiii i9m)\(?~jt?{Gzt?YmG?ym9Y=EyEˑE>Q 54聊?Q 94qn)BYn?Q E:y=Q I6@DI3;iz;x4yɮA:iDNOT Ignoring new targets: 91.74 m."iY6*iY6 ProNav: ac range: 91.740799 m, nav range: 90.062057 m, bearing: 4.118080 deg, approach rate: -0.523204 m/s, LOS rate: 0.000258 deg/s, cmd heading: 1.924946 deg, new cmd heading: 1.925125 deg. i(6 HeadingCmd: 0.033600 target range: 91.740799 and range: 92.10 m.h  =h h hhggjgrgrBereZe!:e!*e%`@E EE E"E:*EA:VE3ZEBE; i >i9@ @@/@@@@@ԑu>u4=}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769483 I! I9 OE >~%,)>LA:@:a<:;6ٱ: =:HQ?)`Xd?n? vئ? a? ?i:@I: u_;:?CYRpByRIbDbbVDb8yrL<%rW=ٔvVQ-v>9xYx=zEyzE~\E> Q 54 ?Q 94 n) BYy=Q I6@ DI E EE%E"E:*E3:VE 4ZEa@a@a@a@!  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2731583%,5LA2.@2<2y;ٱ2e=2H?` ?? Mt?W?@|?i2.@I2)_;2BCYBjByBIiuMb@Mb@Mb@qqqq q9uS㥛?Mb?~jth?Yu?yu9AYI=MEyME]EEe>Q 54 ?Q 94m)BY?Q E:yw_=Q I6@DIC;i ;_4yɮ1A:iDNOT Ignoring new targets: 91.74 m."i8*i8 ProNav: ac range: 91.740799 m, nav range: 89.634331 m, bearing: 4.120775 deg, approach rate: -0.506381 m/s, LOS rate: 0.005621 deg/s, cmd heading: 1.925326 deg, new cmd heading: 1.930529 deg. i$9B>BBCBIBBB =BBB|;B4E=HeadingCmd: 0.033694 target range: 91.740799 and range: 92.10 m.hE =hAhAhAhAgagijgirgmeBeireqZeq:eq*eu༘ @!Bɢe鈅)a e ia)eWaiimAZһim =u=u)R=Iu =IqiIDAT read: 04:23:03.0414 LVL= 24544, 26657, 25666, 32755, AGC= 67, IDX= 413,-0.09,-2.518, 2.081,-2.413,-2.970, PHS= 0.554,-1.187, 0.513, RAW= 148.8, 1.4, CAL= 147.9, 1.2, ROT= 2.1, -1.2 @ @@/@-Ygot valid direction response: 04:23:03.0414 LVL= 24544, 26657, 25666, 32755, AGC= 67, IDX= 413,-0.09,-2.518, 2.081,-2.413,-2.970, PHS= 0.554,-1.187, 0.513, RAW= 148.8, 1.4, CAL= 147.9, 1.2, ROT= 2.1, -1.2 5PDAT read: Bearing 173.9, 5.0 (Local) =~Local bearing/azimuth received: Bearing 173.9, 5.0 (Local) MDAT read: Range 11 to 50 : 90.3 m (Round-trip 120.4 ms) speed 0.4 m/s M(DAT read: user:72> UBDAT read: Tx time:04:23:04.1668 ]$Ping request sent.] )IZM?\/?9dYh=jEyjEj9Ej>lQ 5r4n?Q 9r4n|m)nBYtyv `=Q Iv6@nDIn:in :n~4yxɮzAxiiCLAjB"jB:jbBq="p#qwV@2\ @\#?pN?U ?_2q?*jQ =2j*p2/cV@r< @m2'@pN2?"0"?Gׅ;H?j@ jBi(?iżjOBjφ?jRdjBrj+Bzj=E addTargetRange:: Added new target pos. range: 90.300003 m, deltaT: 3.529004 s, deltaX: -1.799995 m, approachRate: -0.510058 m/s, rangeRepo size: 4 U Added new target pos. range: 89.946396 m, bearing: 3.374790 deg, lat: 36.779408 deg, lon: -121.859622 deg, deltaT: 3.529004 s, deltaX: -1.794403 m, approachRate: -0.508473 m/s, posRepo size: 4 :iQUDNOT Ignoring new targets: 89.95 m."i]*iYm ProNav: ac range: 89.946396 m, nav range: 89.584663 m, bearing: 3.993314 deg, approach rate: 0.000000 m/s, LOS rate: 0.005621 deg/s, cmd heading: 1.930529 deg, new cmd heading: 1.934206 deg. iiuHeadingCmd: 0.033758 target range: 89.946396 and range: 90.30 m.huF =hqhqhqhqgygyjgyrgyereZe:e@3V@*e@S=?颱ɢ)  i)5i5лiF =8z=%=IF =IQu9@q @q@u0@qIIO>ԁԩ %,ghLAE2 E2E2"E0"E2:*E2T:VE2(3ZE0a:@a:@a:@a:@:@:k<:BKDٱ:=:H?";e?`?@޻?D? ?i:@I:%`;:BCYb|ByfIbDveVDv8y<%?=ٔz3Q->9Y=EyE 9E>IQ 54ԹM/?Q 94M&m)MBYy`=Q I6@MDIMB >B B 'IB BB B B úDB |;B 4EBBBCBBBCɚ5I1 IY Oe >9 D%,ɬLA2@2<2:Hٱ2<=2H?ꌧ ș?!?@`?@?`?i2@I2t`;2ACYRByVIi-Mb@Mb@Mb@)))) )9-MbX9?9aYa=eEyeEe:Ee>iQ 5u4m??Q 9u4ml)mBY?Q E:ym=Q I6@m#DIm 9 zAY "A̦%,MLA@Zf@Z9~"?Y~"?=~Ey~Ej8E> Q 54 RP?Q 94 l) BYym=Q I6@ )DI :i e: Ģ4y!ɮ%8A%EEB*** querying acoustic contact ***iAiA:iIMDNOT Ignoring new targets: 89.95 m."iU58*iU58e ProNav: ac range: 89.946396 m, nav range: 88.963150 m, bearing: 3.998456 deg, approach rate: -0.528163 m/s, LOS rate: 0.003995 deg/s, cmd heading: 1.941521 deg, new cmd heading: 1.944514 deg. ie8mHeadingCmd: 0.033938 target range: 89.946396 and range: 90.30 m.hm =hihihihqgqgqjgqrgyeyreyZey:e*e?颱ɢ9) :i) 项icmʻi =c=%=I =I59@1 @1@= 5@9i߱I߱T****** 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 I I O >! e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748070%%,aLA6@6.<6O6Qٱ6AC=6H?M`+ s??+#? л??i6@I6J#`;6?CYFByF#I|iMb@Mb@Mb@ 9S㥛?kt?{Gz?Y?y 0=ף<A 5A)" AY AbD-VD-ݯ8y=*=%EE=ٔE)Q-E>9AYI=MEyMEMHEM>QQ 5]4ULb?Q 9e4Uk)UBYej?Q Ee:ye=Q Ie6@U0DIU;iU;U4yiɮm Aq:i1MDNOT Ignoring new targets: 89.95 m."iMsE*iMsE] ProNav: ac range: 89.946396 m, nav range: 88.748756 m, bearing: 3.993793 deg, approach rate: -0.494819 m/s, LOS rate: -0.010789 deg/s, cmd heading: 1.944515 deg, new cmd heading: 1.935165 deg. i]eHeadingCmd: 0.033775 target range: 89.946396 and range: 90.30 m.heW =hahahihigigijgirguBeqreqZey:ey*e}?Bɢσ) ai)UiȻiW =[=F=IW =IBBB@IBBB =BBB|;B4E)9@ @ @ /5@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000019Q^A- v=A5 wAzA5 wAE  E E %E "E :*E =:VE 4ZE BE 2߳%,`=ЊLAYBy.IbD-VD-ϯ8y=*=%EJ=ٔEQ-E>9IYI=MEyMEMEM>QYQ 5e4Us?Q 9e4Ugk)UBYiyiQ Im6@U6DIUl0;iUW1;U4yqɮu Aq:iDNOT Ignoring new targets: 89.95 m."iY*iY ProNav: ac range: 89.946396 m, nav range: 88.539284 m, bearing: 3.989214 deg, approach rate: -0.543392 m/s, LOS rate: -0.011905 deg/s, cmd heading: 1.935165 deg, new cmd heading: 1.925987 deg. iKHeadingCmd: 0.033615 target range: 89.946396 and range: 90.30 m.h =hhhhggjgrgereZe:e*e[@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251937ɢQ) ri!)%u!!i%lǻi- =-T=-=I =IJ>i>ԉM9@I @I@M4@QԱ^Am = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505124 A I I O >O %,vꊗLAE& E&E&"E$"E&,:*E& n:VE&(3ZE$a*@a*@a*@a*@:@:7<:Vٱ: =:H?`l!4|?`e? nzժ??(?i:@I:!_;:ACYBy%*II50>)5p<bDEVDE8yea%eH=ٔeZQ-m>9iYi=uEyuEu:E}>Q 54ʅ?Q 94j)ʊBYyR=Q I6@=DIu+i^%,LA2P@2<2Yٱ2L=2H`?ԋ-? ?`]9?:?a?i2P@I24_;2CCY>By>LI9iMb@Mb@Mb@ 9MbX?A`"?~jt?Y ?yY=D<A A) AY AbDVD8y=%6=ٔߺQ->9Y=EyE:E>Q 54?Q 94 j)ԊBYr ?Q E:y=Q I6@EDI:iR:4y QBɮ AEDu<Du<E} E}E}#Ey"E}:*E}rN:VE}3ZEyBE}x A I I O >%,LA2r@2<2M[ٱ2wF=2HW?@8!Q? /?A5Xf?rл? ?i2r@I2d_;2@CY>By>JIbDFԾVDF8yNC%Na=ٔR-wQ-R>9PYP=VEyVEV9EV>XQ 5n4Zl?Q 9r4Zli)Z݊BYxyz=Q I~6@ԡZKDIZ$=iZ=Z\4yɮ AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 89.95 m.DAT read: 04:23:06.6888 LVL= 26592, 31185, 28018, 32755, AGC= 67, IDX= 419, 0.22, 0.732,-0.991, 0.824, 0.272, PHS= 0.563,-1.217, 0.509, RAW= 148.5, 1.7, CAL= 147.6, 1.5, ROT= 2.4, -1.5 -Ygot valid direction response: 04:23:06.6888 LVL= 26592, 31185, 28018, 32755, AGC= 67, IDX= 419, 0.22, 0.732,-0.991, 0.824, 0.272, PHS= 0.563,-1.217, 0.509, RAW= 148.5, 1.7, CAL= 147.6, 1.5, ROT= 2.4, -1.5 5PDAT read: Bearing 174.8, 5.6 (Local) 5~Local bearing/azimuth received: Bearing 174.8, 5.6 (Local) =DAT read: Range 11 to 50 : 88.3 m (Round-trip 117.8 ms) speed 0.4 m/s E(DAT read: user:73> ER#Rx 1: Read range and direction messages."iU~*iU~e ProNav: ac range: 89.946396 m, nav range: 87.888214 m, bearing: 3.969618 deg, approach rate: -0.482408 m/s, LOS rate: -0.016446 deg/s, cmd heading: 1.900098 deg, new cmd heading: 1.886698 deg. ie𹝏eHeadingCmd: 0.032929 target range: 89.946396 and range: 90.30 m.hm=hihihim\direction in FSK: [0.998780,0.041861,0.026177]uFpublishing direction and range infoy/n?^dn?P!Κ?YBgyrm )I ?iƛM?H%@<$@ Pw<)+=IPwּV?\?2]7? Qm>)tjI+=iPwּT****** received valid address query ******higgjgrgereZe:e@3V@*e`(?R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.频ɢ{) ޾i)顙i/&Ļi=2B=,=I=IE EE&E"E>:*EVL:VE4ZEa@a@a@a@e9@a @a@e/@a^AE <=ߍ =ߍ %= BDAT read: Tx time:04:23:07.8168  $Ping request sent. ,%,:LAYByXI ))ԱiMb@Mb@Mb@ 9}?5^I?L7A`?{Gz?YM?y+=ף<&A 5A) AY( AbD VD 8yF=%1=ٔ%Q-%>9% ?Y% ?=-Ey-EB1B1B5rIB5ҀBB5 =B1B1B5|;B54EMEM>QQ 5]4UD?Q 9]4U{h)UBY]~?Q Ee:ye>Q Ie6@USDIU:iU1:U4yiɮm AmEiiZ%LAjB"jB:ji="prϜ0U@Jwt @t?k@p/n?^dn?P!Κ?*j+=2jPwּ*piU@X@>\݋@p^_|?s_ں??j@ jBi6⇟?iLjBj6⇟?jLjBrjIBzjh= addTargetRange:: Added new target pos. range: 88.300003 m, deltaT: 3.531106 s, deltaX: -2.000000 m, approachRate: -0.566395 m/s, rangeRepo size: 4  Added new target pos. range: 87.953995 m, bearing: 3.760321 deg, lat: 36.779408 deg, lon: -121.859625 deg, deltaT: 3.531106 s, deltaX: -1.992401 m, approachRate: -0.564243 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 87.95 m."i*i ProNav: ac range: 87.953995 m, nav range: 87.643272 m, bearing: 3.760282 deg, approach rate: 0.000000 m/s, LOS rate: -0.016446 deg/s, cmd heading: 1.886698 deg, new cmd heading: 1.873082 deg. imHeadingCmd: 0.032691 target range: 87.953995 and range: 88.30 m.hmy=hihihihigigqjgqrguBeqreyZey:ey*e}@?ɢF[~)! EJӾiA)EAAiE5DûiMy=M1==Me=IMy=IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2511329@ @@@ DIzDIEU EUEU$EQ"EUI:*EUV:VEU4ZEQBEU5%,ץSLA2@2B<2`ٱ2=2H?3@fY`]\??@f?? ?i2@I2)^;2ACY>By>KIbDF VDF˯8yRl%Rh=ٔR%|Q-V>9V"?YV"?=VEyVEZ@;EZ?\Q 5b4^͂?Q 9b4^g)^BY`yb>Q If6@^YDI^:i^:^4yhɮj Ah:i|~DNOT Ignoring new targets: 87.95 m."i%*i%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502343 ProNav: ac range: 87.953995 m, nav range: 87.466324 m, bearing: 3.750222 deg, approach rate: -0.514632 m/s, LOS rate: -0.029320 deg/s, cmd heading: 1.873082 deg, new cmd heading: 1.852920 deg. iVHeadingCmd: 0.032340 target range: 87.953995 and range: 88.30 m.h{v=hhhhggjgrgereZe:e*e`+?)9ɢ=5)9 =ݾi9)EZEAAiED»im{v=m9=m=Im{v=Iq9@ @ @ @ Y^A%<=ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754249A .AI! I1 OE >Ey  E} E} "Ey "Ey *E} VL:VE} (3ZEy a @a @a @a @Ա %,urmLAv@v9 ?Y ?=Ey E#:E>ԙQ 54?Q 94f)BYy">Q I6@`DI\ L%,LA2@2<2=cٱ2~=2H? r)?s?gq?@&??i2@I2];0Y>ÀBy>`IIB=)@i=Mb@Mb@Mb@9999 99=S㥛?MbX9?Q?Y=?y=ʡ==u<="A=A =A)=A9Y= AbDUVDUǯ8ye*<%eE=ٔeFQ-m>9iYi=mEymEu[C;Eu>yQ 54}?Q 94}e)} BYs?Q E:y 5>bE3jE<3rE١/E EEE"E:*E;J:VEZEBE 4%,0hLA> @>Q<>dٱ>*G=>H?l<`\??bc 2?d?;?i> @I>];9b"?Yb"?=fEyfEf8:Ef>hQ 5n4j)?Q 9n4jd)jBYpyr5>Q Ir6@jmDIj;ij;j%4ytɮv At:iDNOT Ignoring new targets: 87.95 m."i`3*i`3- ProNav: ac range: 87.953995 m, nav range: 86.830551 m, bearing: 3.707081 deg, approach rate: -0.525103 m/s, LOS rate: -0.039206 deg/s, cmd heading: 1.795953 deg, new cmd heading: 1.766430 deg. i-5HeadingCmd: 0.030830 target range: 87.953995 and range: 88.30 m.h5;<h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eM`H?qɢu)q u2iy)}U, yyi}nki;<3=ܠ=I;  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0141579 /a%,PLAJ@J|BYB]IB]BBYB]?DBYB]1|;B]|4EB%BCB!B!B!B% =C%T4iMb@Mb@Mb@ 9NbX9?ˡE?y&1|?Y?y=`;AtA )AY AbDVD8y%;=ٔQ->9Y=EyE:E>Q 54,?Q 94c) BYH?Q E:y<>Q I6@tDI";i;4yɮA AEB*** querying acoustic contact ***ii:i  DNOT Ignoring new targets: 87.95 m."iB>*iB>% ProNav: ac range: 87.953995 m, nav range: 86.602730 m, bearing: 3.688989 deg, approach rate: -0.522249 m/s, LOS rate: -0.041584 deg/s, cmd heading: 1.766430 deg, new cmd heading: 1.730149 deg. i%5-HeadingCmd: 0.030197 target range: 87.953995 and range: 88.30 m.h-G_<h)h)h)h)g)g1jg1rg5Be9re9Ze9:e9*e=#o@mBɢmx)i m"Ⱦiq)u qqiu鿻i}G_<}3=}~=I}G_E EE E"E[:*EX:VE3ZEBE9xYx=zEyzE~O:E~>  !Q 5e4m͂G%%?{AQ 9}4%b)%)BYy=>Q I6@%{DI% 0@!ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770530AiIyIO> E  E E &E "E *E |;:VE 4ZE a @a @a @a @eq%,LAPVQ@V=VȀiٱV=VH?+84 ?? ,?7%?`?iVQ@IV*];TYEπByMoIbDVDyL%==ٔعQ->9Y=Ey EV:E>Q 5548?Q 9=4a)3BYAyE=>Q IM6@DI>BaBeIBeBBaBe>DBeĺDBet{;Be 4E) ^A - checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274570A IA Ia O >q%,M LAE& E&E&'E$"E&:*E&[:VE&'4ZE$BE&x9Y=Ey%Ei:E>Q 54L?Q 94`)Q I6@DI:i{:?4yɮ A:i DNOT Ignoring new targets: 87.95 m."i7*i7% ProNav: ac range: 87.953995 m, nav range: 85.933876 m, bearing: 3.636658 deg, approach rate: -0.539067 m/s, LOS rate: -0.040024 deg/s, cmd heading: 1.661040 deg, new cmd heading: 1.625216 deg. i%-HeadingCmd: 0.028365 target range: 87.953995 and range: 88.30 m.h-^<h)h)h)h1g1g1jg1rg5Be9re9Ze9:eA*eE  @iɢm]~)q uľiq)uAqqiuþi}^<9=Q==I^ BDAT read: Tx time:04:23:11.4667 ^A@=$Ping request sent.5R&@5¸2=5MQ%@ 5¸2=)55=I5¸2115x{?'n?æ? 5_ ?)5+6I55=i5¸211:publishing transmit ping timeFpublishing direction and range infoy157?tY7١?GU?Y11111 1)1I1i11111 1)1I1115x{?'n?æ? 1)1I1i111IAI IO%>q  %,@&LAiPIPY%ԀBy%uII-=)-;bD5ԾVD58yEg$=%Ef=ٔMQ-M>9IYI=UEyU)EUEU>YaQ 5m4eI\?Q 9m4e_)eCBYiyiQ Im6@eDIe:ie~:ev4yyɮ} AyiqiuoLAjuB"juB:ju}="puaI<%d{U@A`@ۖ(@pu7?tY7١?GU?*ju5=2ju¸2*puvы/[U@0\T.@c"@pudQ?RH?F9Ѻ?juv@ ju٪Biuz?iujuܒBjqjujqrju|Bzju#}= addTargetRange:: Added new target pos. range: 86.400002 m, deltaT: 3.780101 s, deltaX: -1.900002 m, approachRate: -0.502632 m/s, rangeRepo size: 4  Added new target pos. range: 86.062279 m, bearing: 3.547365 deg, lat: 36.779408 deg, lon: -121.859627 deg, deltaT: 3.780101 s, deltaX: -1.891716 m, approachRate: -0.500441 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 86.06 m."i*i ProNav: ac range: 86.062279 m, nav range: 85.743080 m, bearing: 3.540937 deg, approach rate: 0.000000 m/s, LOS rate: -0.040024 deg/s, cmd heading: 1.625217 deg, new cmd heading: 1.596429 deg. iHeadingCmd: 0.027863 target range: 86.062279 and range: 86.40 m.h@<hhhhggjgrgere Ze :e U@*e ?9ɢ='/)9 =iA)EXAAiE[BiM@ B% >B! B% IB% BB! B! B! B% +{;B% 3EO%,@LA2@2=2xoٱ2u~=2H?쫿O????{?i2@I2];2@CYBɀByBgIimMb@Mb@Mb@iiii i9mT㥛 ?Zd;?~jthYm?ymy=mDmAi mA)mAiYibDVD8ylU%E=ٔܺQ->9Y=Ey-E8E>ԹQ 54m?Q 94^)JBY?Q E:y2>Q I6@DI-;i%-;4yɮ= AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 86.06 m."i *i  ProNav: ac range: 86.062279 m, nav range: 85.534286 m, bearing: 3.528212 deg, approach rate: -0.507632 m/s, LOS rate: -0.031015 deg/s, cmd heading: 1.596429 deg, new cmd heading: 1.570916 deg. i cHeadingCmd: 0.027418 target range: 86.062279 and range: 86.40 m.h<hhhhggjg!rg%Be!re)Ze):e)*e-?ɢ) >ɾi)iŽi< @= =I A ?AE .AA II e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986681Ii Ou >0%,YLA @ @ = )rٱ \= H c?yң@:`?r? @?t?:?i @ @I  6]; BCY5׀By=xIbD]ԾVD]8yuA=%uL=ٔ}x׺Q-}>9 ?Y ?=Ey1E:E>Q 54~?Q 94,^)QBYy>Q I6@DI;i;4yɮ AE:iAMDNOT Ignoring new targets: 86.06 m."iM *iM ] ProNav: ac range: 86.062279 m, nav range: 85.332649 m, bearing: 3.515792 deg, approach rate: -0.487135 m/s, LOS rate: -0.030077 deg/s, cmd heading: 1.570916 deg, new cmd heading: 1.546017 deg. ie,\eHeadingCmd: 0.026983 target range: 86.062279 and range: 86.40 m.he <hihihihigigijgqrgqeqreqZey:ey*e}`P?颥Bɢ~) i)0顩iti <RE=q=I ԡ ^%,sLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.490547Y=ڀBy=|I AAUPExceeded connect timeout, disconnecting.iiMb@Mb@Mb@ 9MbX9?kt?Y?y 0=AA A)AY AbDVD8yY<%4=ٔQ->9"?Y"?=Ey 6E E >Q 54?Q 94w])YBYB?Q E%:y% =Q I%6@DI:i:$4y)ɮ- A-E:iYeDNOT Ignoring new targets: 86.06 m."iuP*iuP ProNav: ac range: 86.062279 m, nav range: 85.102135 m, bearing: 3.507191 deg, approach rate: -0.523780 m/s, LOS rate: -0.019596 deg/s, cmd heading: 1.546017 deg, new cmd heading: 1.528768 deg. isHeadingCmd: 0.026682 target range: 86.062279 and range: 86.40 m.hM<hhhhgIgQjgQrgUBeYreYZeY:eY*ee`d?颩ɢ\u) i)顱iBXiM<J=Nǩ=IMBACBIB BB =BBúDBW{;B 4EU9@Y @Y@]/@Y checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743150^A= \= Du =Du <E}  Ey Ey Ey "E} :*Ey VEy ZEy BE} ] w#%,fLAB@B=BWuٱB=BH/?@ݬ%;?3?lF?? h?iB@IB(];BACY~By~IbDVDԯ8y%)=%%f=ٔ%Q-%>9)Y)=-Ey-9E5E5>9Q 5E4= ?Q 9E4=\)=_BYAyE=Q IE6@=DI=%:i=:=*4yQɮU{ AQ:iy}DNOT Ignoring new targets: 86.06 m."i*i ProNav: ac range: 86.062279 m, nav range: 84.921799 m, bearing: 3.500510 deg, approach rate: -0.508003 m/s, LOS rate: -0.018860 deg/s, cmd heading: 1.528768 deg, new cmd heading: 1.515378 deg. i HeadingCmd: 0.026448 target range: 86.062279 and range: 86.40 m.h3<hhhhggjgrgereZe:e*e?ɢGӂ)  i)ii3<N==I3 )%,cLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.247448B@B=BvٱB=BH ?$S֬@8?@P?#eϮ?^߻?]?iB@IB\;B?CYNByNIbDVVDVѯ8y^G}<%bQ=ٔbPQ-b>9dYd=fEyf=EfLEf>hQ 5n4j?Q 9r4jO\)jfBYpyr=Q Ir6@jDIj:ijS:j14ytɮvc Ax:iDNOT Ignoring new targets: 86.06 m."i9*i9 ProNav: ac range: 86.062279 m, nav range: 84.723450 m, bearing: 3.493131 deg, approach rate: -0.487152 m/s, LOS rate: -0.018165 deg/s, cmd heading: 1.515379 deg, new cmd heading: 1.500586 deg. iHeadingCmd: 0.026190 target range: 86.062279 and range: 86.40 m.hÌ<hhhhggjgrgereZe:e)*e-@˯@E EE#E"E :*EF:VE3ZEa@a@a@a@颅Bɢt) Эi)顉iiÌ<S={=IÌi>]9@a @a@a@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.498540nManaging dock network, ignoring radio surface power offA ^A] .=B] >BY B] IB] BBY B] ?DBY B] {;B] ,4EA .AI I O >^0%,7ŒLA2~@2=2wٱ2[=2H?Ƀp6??V ?@:л?k?i2~@I2\;2CCYmBymIIu)>)u49% ?Y% ?=%Ey%BE5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7507535E5>9IQ 5M4=ƃ?Q 9M4=[)=pBYU?Q EU:yU=Q IU6@=DI==;i=<;=:4yYɮ]@ AY}B*** querying acoustic contact ***iyiy:iDNOT Ignoring new targets: 86.06 m."im*im ProNav: ac range: 86.062279 m, nav range: 84.474930 m, bearing: 3.484905 deg, approach rate: -0.531414 m/s, LOS rate: -0.017641 deg/s, cmd heading: 1.500586 deg, new cmd heading: 1.484086 deg. i$MHeadingCmd: 0.025902 target range: 86.062279 and range: 86.40 m.hM0<hIhIhIhIgIgIjgQrgUBeQreQZeY:eY*e]|@颩ɢsr) %i)顱i3i0<WY=r=I046%,.݌LAB @B==BGyٱBǚ=BH`?Y@*`5??a?_`$? ׻? %?iB @IB\;B?C JYC)LNCLLNfCN=~AiR#IPPIPiRs@ PP)TV@C V5~AVtXXZCZ1~AIZĻ)XiX)^ CI^ ~A^+\ \```i``Y`YjByjIbDvVDvٯ8yz<%~i=ٔ~}Q-~>9"?Y"?=EyFEJ9E> Q 54 Ճ?Q 94 [) xBYy=Q I6@ DI C:i : 9@4y!ɮ%( A-E:iIUDNOT Ignoring new targets: 86.06 m."iU*iUe ProNav: ac range: 86.062279 m, nav range: 84.294556 m, bearing: 3.478896 deg, approach rate: -0.517510 m/s, LOS rate: -0.017278 deg/s, cmd heading: 1.484086 deg, new cmd heading: 1.472042 deg. iemHeadingCmd: 0.025692 target range: 86.062279 and range: 86.40 m.hmw<hihqhqhqgqgqjgyrgyeyreyZey:e*e @颩ɢ ) ѥi)顱ihiw<|]=s=IwK=%,LA DAT read: 04:23:13.9835 LVL= 27312, 31345, 29490, 32755, AGC= 68, IDX= 414, 0.01,-0.325,-1.995,-0.195,-0.733, PHS= 0.510,-1.217, 0.494, RAW= 149.6, 2.5, CAL= 148.6, 2.4, ROT= 1.4, -2.4 Ygot valid direction response: 04:23:13.9835 LVL= 27312, 31345, 29490, 32755, AGC= 68, IDX= 414, 0.01,-0.325,-1.995,-0.195,-0.733, PHS= 0.510,-1.217, 0.494, RAW= 149.6, 2.5, CAL= 148.6, 2.4, ROT= 1.4, -2.4 PDAT read: Bearing 176.6, 4.9 (Local) ~Local bearing/azimuth received: Bearing 176.6, 4.9 (Local) %DAT read: Range 11 to 50 : 84.4 m (Round-trip 112.6 ms) speed 0.4 m/s -(DAT read: user:75> BDAT read: Tx time:04:23:15.1167 $Ping request sent.j'@hj%@ j+=)j+B%@CB%IB%BB% =B!B%ºDB%|;B%_4EBACBACBÔCBB =Cm5iMb@Mb@Mb@ 9{Gz?X9v?{Gzt?Y?y<AA  A)AY AbDVDѯ8qy <%=ٔQ->9Y=EyLEE>Q 54}?Q 94WZ)BY?Q E:y=Q I6@ȁDI;i;J4yɮ Aihij|}LAjj"B"jj"B:jjdS="pjoOT@Prrj@F) @pjaZ ^?|!? ۷p?*jj+<2jj+*pjڶ{T@1_R@@솥!@pjԟ]?XHj9D?NQ޺?jj@ jjBijg.k?ijjjBjjz?jj^jjBrjjBzjjd= addTargetRange:: Added new target pos. range: 84.400002 m, deltaT: 3.532102 s, deltaX: -2.000000 m, approachRate: -0.566235 m/s, rangeRepo size: 4  Added new target pos. range: 84.067543 m, bearing: 2.957011 deg, lat: 36.779407 deg, lon: -121.859631 deg, deltaT: 3.532102 s, deltaX: -1.994736 m, approachRate: -0.564745 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 84.07 m."i*i ProNav: ac range: 84.067543 m, nav range: 83.808403 m, bearing: 3.197892 deg, approach rate: 0.000000 m/s, LOS rate: -0.017278 deg/s, cmd heading: 1.472042 deg, new cmd heading: 1.450805 deg. iHeadingCmd: 0.025321 target range: 84.067543 and range: 84.40 m.hn<hhhhggjgrg Be re Ze :e U@*e@]O?]Bɢ]^c)Y eKi)s顉iP佻in<*f=:=InAH@<;zٱ=H ?HmM??E`W??C?iH@I\;>CYByIbD%VD8y=%U=ٔrQ->9Y=EyPE!E>Q 5E4?Q 9E4Y)BYIyMŷ=Q IM6@΁DItKE  E E E "E m:*E ;J:VE ZE a% @a% @a% @a% @1 anL%,#4LAFU@F9Y=EyTE玹E>Q 54x?Q 94\Y)BYy=Q I6@ՁDI>:i:X4yɮ A E:iDNOT Ignoring new targets: 84.07 m."i`*i` ProNav: ac range: 84.067543 m, nav range: 83.391853 m, bearing: 3.188198 deg, approach rate: -0.526044 m/s, LOS rate: -0.012283 deg/s, cmd heading: 1.441598 deg, new cmd heading: 1.431370 deg. iԳHeadingCmd: 0.024982 target range: 84.067543 and range: 84.40 m.hL<hhhhggjgrg!e)re)Ze1:e1*e=W?颍Bɢvm) i)vS顙i^iL<o=Pߩ=ILBBIB)BBBBB|;B4E9a ^A =IA IQ Ou >SS%,9!Y!=%Ey%XE%{E%>)Q 554-$?Q 9=4-X)-BY=?Q E=:y==Q I=6@-܁DI-b:i-:-:`4yAɮMB AIeB*** querying acoustic contact ***iaiai:iq}DNOT Ignoring new targets: 84.07 m."i}铹*i}铹 ProNav: ac range: 84.067543 m, nav range: 83.173828 m, bearing: 3.181380 deg, approach rate: -0.515564 m/s, LOS rate: -0.016164 deg/s, cmd heading: 1.431370 deg, new cmd heading: 1.417699 deg. i칝HeadingCmd: 0.024744 target range: 84.067543 and range: 84.40 m.h<hhhhggjgrgBereZe:e*ek?ɢ(Gi) i)8ii<t=I|Y%,gLA2 @28<2[ٱ2(=2H@d?"v??z?@=?k?i2 @I2\;0Y>By>IbDJ-VDJ8yRC=%R}=ٔRQ-R ?9TYT=VEyV[EZ EZ ?\`Q 5b4^2?Q 9f4^WX)^BYdyf=Q If7@^DI^);i^);^e4yjRBɮj Al:i|DNOT Ignoring new targets: 84.07 m."i*i ProNav: ac range: 84.067543 m, nav range: 83.007294 m, bearing: 3.176221 deg, approach rate: -0.516295 m/s, LOS rate: -0.016026 deg/s, cmd heading: 1.417699 deg, new cmd heading: 1.407360 deg. i깝HeadingCmd: 0.024563 target range: 84.067543 and range: 84.40 m.hx8<hhh!h!g!g!jg!rg)e)re)Ze):e)*e50?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.727491=Bɢ=Dm)A EiA)MIIiMA B B B IB 8BB =B B B };B H5Ed`%,;LA2 @2<2ٱ2.=2H+?`Yg@?~?@u??j??i2 @I2\;0Y9yYy=}Ey`EE>Q 54E?Q 94W)BY?Q E:y/=Q I7@DI;i;gm4yɮ:iDNOT Ignoring new targets: 84.07 m."iҹ*iҹ ProNav: ac range: 84.067543 m, nav range: 82.780121 m, bearing: 3.166331 deg, approach rate: -0.527877 m/s, LOS rate: -0.023045 deg/s, cmd heading: 1.407360 deg, new cmd heading: 1.387525 deg. i(HeadingCmd: 0.024217 target range: 84.067543 and range: 84.40 m.hwb<hhhhggjgrg{BereZe:e*e!@颱ɢf) i) 项i iwb<}=Z=IwbA>ԡ A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484675f%,ILAR @RU9tYt=vEyvdEvV9Ez>xQ 5~4zV?Q 94zW)zBYy_=Q I7@zDIz:izq:z"t4y ɮ A!E:i1=DNOT Ignoring new targets: 84.07 m."i=ӹ*i=ӹM ProNav: ac range: 84.067543 m, nav range: 82.577011 m, bearing: 3.157429 deg, approach rate: -0.527315 m/s, LOS rate: -0.023167 deg/s, cmd heading: 1.387525 deg, new cmd heading: 1.369677 deg. iM)UHeadingCmd: 0.023905 target range: 84.067543 and range: 84.40 m.hU8iE>ԡ@ @@?5@iQIUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735632^A.=E  E E !E "E ,:*E VE c3ZE a @a @a @a @ A9 IA IQ Oe >Ҹl%,\LAJ @J? I?L?w??iJ @IJ\;J?CYlyrIbDe.VDe8yD;%==ٔTQ->9Y =EyuhE kE>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989865Q 54ik?Q 94=V)ƋBYy,=Q I7@DI»i<뇠==I"t%,WэLAR@RM9 ?Y ?=EylEC-E>Q 54}?Q 94U)ЋBY ?Q E:y=Q I7@DI:i_:.4yɮ A-"EEB*** querying acoustic contact ***iAiA:iquDNOT Ignoring new targets: 84.07 m."i}yٹ*iyٹ ProNav: ac range: 84.067543 m, nav range: 82.120445 m, bearing: 3.137168 deg, approach rate: -0.528946 m/s, LOS rate: -0.023766 deg/s, cmd heading: 1.348004 deg, new cmd heading: 1.329042 deg. i-HeadingCmd: 0.023196 target range: 84.067543 and range: 84.40 m.h<hhhhggjgrgBereZe:e*eү @ɢپW)z :i ) 2"  i 0lûiMGz%,덗LA*DAT read: 04:23:17.6310 LVL= 28352, 30769, 28594, 32755, AGC= 67, IDX= 421,-0.29,-1.806, 2.791,-1.670,-2.251, PHS= 0.547,-1.196, 0.537, RAW= 149.7, 1.3, CAL= 148.7, 1.0, ROT= 1.3, -1.0 2Ygot valid direction response: 04:23:17.6310 LVL= 28352, 30769, 28594, 32755, AGC= 67, IDX= 421,-0.29,-1.806, 2.791,-1.670,-2.251, PHS= 0.547,-1.196, 0.537, RAW= 149.7, 1.3, CAL= 148.7, 1.0, ROT= 1.3, -1.0 2PDAT read: Bearing 175.3, 5.0 (Local) 6~Local bearing/azimuth received: Bearing 175.3, 5.0 (Local) :DAT read: Range 11 to 50 : 82.5 m (Round-trip 110.1 ms) speed 0.4 m/s >(DAT read: user:76> BBDAT read: Tx time:04:23:18.7167 B$Ping request sent.B9E"?YE"?=EEyEqEMyEM>Q 54>?Q 94T)ۋBYy=Q I7@DI:i:m4yɮ Aiie덗LAjYB"jYB:jgK="pvP^ T@.!?YcG?pt?ֽ8q:?W7) ߑ?*j޹<2j5*pirT@v=&B@qy@p!U8l?b 0S?o_(=?j@ jBi@}?iIjBj@}?jżjBrjˣBzj]IY= addTargetRange:: Added new target pos. range: 82.500000 m, deltaT: 3.779809 s, deltaX: -1.900002 m, approachRate: -0.502671 m/s, rangeRepo size: 4  Added new target pos. range: 82.174919 m, bearing: 2.845268 deg, lat: 36.779407 deg, lon: -121.859633 deg, deltaT: 3.779809 s, deltaX: -1.892624 m, approachRate: -0.500719 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 82.17 m."i*i ProNav: ac range: 82.174919 m, nav range: 81.897682 m, bearing: 3.039454 deg, approach rate: 0.000000 m/s, LOS rate: -0.023766 deg/s, cmd heading: 1.329042 deg, new cmd heading: 1.306624 deg. iHeadingCmd: 0.022805 target range: 82.174919 and range: 82.50 m.hRѺ<hhhhggjgargaeareaZei:emT@*emm?颵BɢeQ) D5i)#iL%ŻiRѺ<@==IRѺB ACB !IB `BB B B úDB .~;B u5E! ^A= ʞ=IAm.AIqIO>M%,v LA2@2<2Ȅٱ2=2Ho?g@?>?Ȼ@?+D? ?i2@I2%f\;2ACYV'ByVIi=Mb@Mb@Mb@9999 99=?S㥫?{Gz?Y=f?y=/]==#<=jA=A 9)=A9Y=AbDUVDU`8yeG%eD=ٔe0YQ-e>9m ?Ym ?=mEymuEuf&Eu>yQ 5}4}?Q 94}T)}BY"?Q E:y>Q I7@} DI}:i}:}4yɮX A:iDNOT Ignoring new targets: 82.17 m."i*i ProNav: ac range: 82.174919 m, nav range: 81.685669 m, bearing: 3.028147 deg, approach rate: -0.551450 m/s, LOS rate: -0.029486 deg/s, cmd heading: 1.306624 deg, new cmd heading: 1.283951 deg. iWHeadingCmd: 0.022409 target range: 82.174919 and range: 82.50 m.hs<hhhhggjgrg~BereZe:e*e "?ɢ\^) Hi)8$i.ƻis<,=Ԫ=Is s%,p#LAY];By]IbDmVDmK8y}=%}I=ٔQ->9Y=EyyEE>Q 54ڵ?Q 94YS)BYyQ I7@DIo;i{;4ySBɮA#E:i)5DNOT Ignoring new targets: 82.17 m."i5*i=E ProNav: ac range: 82.174919 m, nav range: 81.472824 m, bearing: 3.016737 deg, approach rate: -0.509370 m/s, LOS rate: -0.027378 deg/s, cmd heading: 1.283951 deg, new cmd heading: 1.261071 deg. iEkHMHeadingCmd: 0.022010 target range: 82.174919 and range: 82.50 m.hMM<hIhIhQhQgQgQjgYrgYeYreYZea:ea*eef?颽Bɢ1\Q)  i)Ǿ$iǻiM<==IMA >ԑ B}>ByB}4IB}pBByByByB}~;B}k5EB5@CB5@CB5ΓCB1B5 =C5p4A؟AIIO>ش%,BLA6@6Q<6ܾٱ6ס=6H?\ۯ`?j?@԰?Uw??i6@I6l\;6?CYB@ByBI DDimMb@Mb@Mb@iiii i9mS㥛?T㥛 ?Mb?Ym?ym=m9"?Y"?=Ey~E2:E>ԱQ 54n˄?Q 94YR)BY?Q E:yv>Q I7@DI:i":I4yɮA:iDNOT Ignoring new targets: 82.17 m."i#$*i#$ ProNav: ac range: 82.174919 m, nav range: 81.215088 m, bearing: 2.999363 deg, approach rate: -0.530514 m/s, LOS rate: -0.035875 deg/s, cmd heading: 1.261071 deg, new cmd heading: 1.226213 deg. iOHeadingCmd: 0.021401 target range: 82.174919 and range: 82.50 m.hR<hhhhgg!jg!rg!e!re)Ze):e)*e- ?]Bɢ]mJ)Y ]ViY)eO%aaieɻimR=ImRcܖ%,\LA2+@2<2p~ٱ2=2H? ? ?@绿?`??i2+@I2`n\;2>CYZNByZ IbDfVDfT8yj=%nX=ٔn^}Q-n>9pYp=rEyrErǺEv>tQ 5z4vۄ?Q 9~4vQ)vBY|y~>Q I~7@v#DIv;iv;v4yɮ 'A $E%B*** querying acoustic contact ***i!i!:i15DNOT Ignoring new targets: 82.17 m."i= *i= M ProNav: ac range: 82.174919 m, nav range: 81.019470 m, bearing: 2.986181 deg, approach rate: -0.517925 m/s, LOS rate: -0.034984 deg/s, cmd heading: 1.226213 deg, new cmd heading: 1.199786 deg. iM UHeadingCmd: 0.020940 target range: 82.174919 and range: 82.50 m.hUϊ<hQhQhQhQgQgQjgYrgYeareaZea:ea*ee?颕BɢG) i)«%顙ivi˻iϊ<E=Z٬=Iϊ%,xLAYETByMIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258123!bDVDh8y:<%!=ٔQ->9Y=EyEE>Q 5 4?Q 9 4P)BYyQ I7@+DI$BYB]MIB]BB] =BYBYB]H~;B]5EI@ @@4@@@q} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508643^A =A zA xAԡ E  E E %E "E :*E 3:VE 4ZE BE el%,LAR@R[9yYy=}Ey}E}RE>Q 54?Q 94O)BY?Q E:y>Q I7@1DI;i;4yPBɮAE:iDNOT Ignoring new targets: 82.17 m."i;*i; ProNav: ac range: 82.174919 m, nav range: 80.569374 m, bearing: 2.957607 deg, approach rate: -0.543629 m/s, LOS rate: -0.031306 deg/s, cmd heading: 1.164010 deg, new cmd heading: 1.142472 deg. i,eHeadingCmd: 0.019940 target range: 82.174919 and range: 82.50 m.hX<hhhhggjgrgBԑereZe:e*eE@eBɢe?) i)^&iлiX<=F=I Xm%,}LABDAT read: Rx Time:04:23:21.2286 TRx dataTimestamp_ set to:1764908602.703531"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014165V@V`9Y=EyEbdE>Q 54?Q 94%O)%BYy>>Q I7@8DI;i:34yQBɮAE:i%DNOT Ignoring new targets: 82.17 m."i% *i% 5 ProNav: ac range: 82.174919 m, nav range: 80.347557 m, bearing: 2.944853 deg, approach rate: -0.531184 m/s, LOS rate: -0.030625 deg/s, cmd heading: 1.142472 deg, new cmd heading: 1.116894 deg. i50`=HeadingCmd: 0.019493 target range: 82.174919 and range: 82.50 m.h=ʰ<h9h9h9hAgAgAjgArgAeIreIZeI:eI*eM`@}Bɢ}BQ BU `IBU BBU =BQ BQ BU ~;BU 5EA I I O- >~%,kEƎLAz,@zCY hBy *IiMb@Mb@Mb@ 9NbX9?Q?{Gzt?Y?yu=ף;@ )AYAbDVD8yuj=%L=ٔXU9Q->9Y=EyE#2:E>Q 5M4%?Q 9M4`N)/BYM?Q EM:yU>Q IU7@?DIR BDAT read: Tx time:04:23:22.3167 $Ping request sent.A>ԑ A .AI I O >b%,qLAY|y|AbDԿVD8y%Z:%%U=ٔ%Q-%>9- ?Y- ?=-Ey-E5E5>9Q 5E4=Z6?Q 9E4=M)=8BYIyIQ IM7@=EDI=q:i=\:=4yQɮULAUEYii.͎LAjàB"jàB:jTn="p=T@aQ@T^k?p Խ%,XLAf@fW9)Y)=-Ey-E5 :E5>AQ 5m4EH?Q 9u4EL)EABYy>Q I7@ELDIE9B B rIB BB B B B ~;B 5E颁ɢ5) `bi)!8'顉iLٻi<֠==I;a :E >;a A1 I9 II O] >ܾ%,}LA2@2<2Kٱ2Q=2H?ୠ`$s? ??m?@?i2@I2q\;2>CY>xBy>?IiMb@Mb@Mb@ 9K7A?V-?9Y=EyE@A9E>Q 54Y?Q 94L)LBY?Q E:yj>Q I7@SDI;i;X4yRBɮA):iAEDNOT Ignoring new targets: 80.38 m."im4*im4} ProNav: ac range: 80.382622 m, nav range: 79.542625 m, bearing: 3.275379 deg, approach rate: -0.573680 m/s, LOS rate: -0.033923 deg/s, cmd heading: 1.039902 deg, new cmd heading: 1.014678 deg. i}TxHeadingCmd: 0.017709 target range: 80.382622 and range: 80.70 m.hu<hhhhggjgrgBereZe:e*e D?-Bɢ-Q-)1 5@i1)54K'11i50ۻi=u<] ߠ=e=Ieut%,-LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.493293F|@FIIZ=)Z=bD^'VD^а8yfW%fO=ٔjTQ-j>9hYh=jEynEnzֺEn>pQ 5v4ri?Q 9v4r_K)rUBYxyz >Q Iz7@rYDIrF:ir:r4y|ɮ~A|:i!%DNOT Ignoring new targets: 80.38 m."i-& *i-& = ProNav: ac range: 80.382622 m, nav range: 79.351051 m, bearing: 3.264108 deg, approach rate: -0.519399 m/s, LOS rate: -0.030632 deg/s, cmd heading: 1.014678 deg, new cmd heading: 0.992081 deg. i=>`EHeadingCmd: 0.017315 target range: 80.382622 and range: 80.70 m.hE]؍<hAhAhAhAgIgIjgIrgIeIreQZeQ:eQ*eU?ɢ%.)! %i!)%Z'!!i-wݻi-]؍<5=5v=I5]؍B B IB BB B B B ~;B 5EI I O > %,GLA2@2<2ٱ2jD=2H@?O2 q?)? ?컿?k?о?i2@I2V\;0Y>By>_Ii-Mb@Mb@Mb@)))) )9-?A`"?~jth?Y-f?y-Y=-D;-l@- A ))-A)Y-AbDEVDE8yU=%UC=ٔ]T:Q-]>9aYa=eEyeEe2:8Em>iQ 5u4mf|?Q 9u4mJ)m_BY}?Q E}:y}>Q I}7@m`DIm;imj;mC4yɮAE:iDNOT Ignoring new targets: 80.38 m."i*i򹝏 ProNav: ac range: 80.382622 m, nav range: 79.131287 m, bearing: 3.253007 deg, approach rate: -0.524108 m/s, LOS rate: -0.026546 deg/s, cmd heading: 0.992081 deg, new cmd heading: 0.969819 deg. iSBHeadingCmd: 0.016927 target range: 80.382622 and range: 80.70 m.h<hhhhggjgrgBereZe:e*e?Bɢ ) @i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248994$%,daLA :W@:<:"Qٱ:r=:HC? ?]?㻿?-e??i:W@I:oh\;8YFByFTIbDLVDLyV99%VV=ٔVL9Q-Z>9XYX=ZEyZE^ E^>`Q 5f4b3?Q 9f4bI)bgBYdyf>>Q Ij7@bgDIb::ib2:b4ylɮnFAl:iDNOT Ignoring new targets: 80.38 m."i 8*i 8󹝏 ProNav: ac range: 80.382622 m, nav range: 78.930809 m, bearing: 3.242886 deg, approach rate: -0.525143 m/s, LOS rate: -0.026580 deg/s, cmd heading: 0.969819 deg, new cmd heading: 0.949525 deg. iB%HeadingCmd: 0.016572 target range: 80.382622 and range: 80.70 m.h%‡<h!h!h!h!g!g)jg)rg)e)re1Ze1:e1*e5@@aɢe#)a e LE EE%E"Eغ:*EP:VE 4ZEa@a@a@a@ ="%,G{LA:c@:<: ٱ:=:H@p?ՠ ??@ֻ`Sް?6Z?@3?i:c@I:O\;8LYRByReI TTXZ@AbDZVDZ8y~=%~E=ٔ|9Q->9Y=EyE wE>)Q 5=4-?Q 9=4-@I)-pBYAyE>Q IE7@-nDI-J0;i-;-<4yMSBɮMAME:iq}DNOT Ignoring new targets: 80.38 m."i}*i}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755676 ProNav: ac range: 80.382622 m, nav range: 78.711708 m, bearing: 3.231843 deg, approach rate: -0.522995 m/s, LOS rate: -0.026433 deg/s, cmd heading: 0.949525 deg, new cmd heading: 0.927377 deg. iAHeadingCmd: 0.016186 target range: 80.382622 and range: 80.70 m.h<hhhhggjgrge!re)Ze):eA*eEZ@B>BBCBIBBB =BBĺDB~;B5EBuACBuACBqBqBqCu&5ɢvy) x%=i)'ii< ==ID =D <E  E E E "E [:*E ga:VE ZE BE 9Y=EyE4E>Q 54ݱ?Q 94uH){BY?Q E:y9 >Q I7@uDI;i;4Qm{Ay5TBɮ=A9EQ9E{AYEA]B*** querying acoustic contact ***iYiY:iiDNOT Ignoring new targets: 80.38 m."i*i ProNav: ac range: 80.382622 m, nav range: 78.493118 m, bearing: 3.218809 deg, approach rate: -0.467199 m/s, LOS rate: -0.027936 deg/s, cmd heading: 0.927377 deg, new cmd heading: 0.901236 deg. iLHeadingCmd: 0.015730 target range: 80.382622 and range: 80.70 m.h=ۀ<hhhhggjgrgBereZe:e*e: @)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257109颱ɢRN) HW=i)Y&项iY!i=ۀ< =$b=I=ۀ  BDAT read: Tx time:04:23:25.9167  $Ping request sent. E%,"RLA&@=H%@ <)Pw9YYY=]Ey]Ee3MEe>iQ 54mÅ?Q 94mG)mBYy >Q I7@E EE"E"EO:*ET:VE(3ZEa@a@a@a@m{DIm~B B IB ЁBB =B B B |~;B 5E9 ^A9 AE xAzAE wAI I O >i%,ʏLAY~By~II=);i Mb@Mb@Mb@     9 L7A`?A`"?{Gzt?Y +?y Y= ף; ?@  A  A) @ Y AbD="VD=̰8yM#=%M5=ٔMQ-U>9QYQ=]Ey]E]E]>aQ 5m4eօ?Q 9m4eF)eBYm?Q Em:y}u=Q I}7@eDIe%L;ie>J;ev 4yɮA E:iDNOT Ignoring new targets: 78.49 m."ih*ih ProNav: ac range: 78.491890 m, nav range: 77.984680 m, bearing: 2.769798 deg, approach rate: -0.580527 m/s, LOS rate: -0.032437 deg/s, cmd heading: 0.878396 deg, new cmd heading: 0.852779 deg. ism HeadingCmd: 0.014884 target range: 78.491890 and range: 78.80 m.h 1s<h h h hggjgrgBereZe:e!*e%?ɢ>) h=i)j&iqi1s<G=a=I1sԡ %,/㏗LA2@2<2gٱ2q=2H?@e,@)t?u?e˺?oS?@?i2@I2By>xIbDJ*VDJӰ8ynt%ne=ٔriQ-r>9pYp=rEyvEvEv>xQ 5~4z慊?Q 9~4zSF)zBYy=Q I7@zDIz;izY;z4y ɮ A :i15DNOT Ignoring new targets: 78.49 m."i=*i=M ProNav: ac range: 78.491890 m, nav range: 77.796448 m, bearing: 2.759316 deg, approach rate: -0.528738 m/s, LOS rate: -0.029514 deg/s, cmd heading: 0.852779 deg, new cmd heading: 0.831765 deg. iMXUHeadingCmd: 0.014517 target range: 78.491890 and range: 78.80 m.hUm<hQhQhQhYgYgYjgYrgYeareaZea:ea*em?yɢVR) l=i!)%9&!!i%*i-m<-!=-7'=I-m w%,LA6@6<6a1ٱ60=6H ?@ !n"?b?@N!??`~?i6@I6;\;6=CYBByFIbDNVDNð8yVj=%VN=ٔVq9Q-V>9XYX=ZEyZEZPE^>`Q 5j4bE?Q 9z4bE)bBYxyz=Q Iz7@bDIb;ib;b4yɮA!E:i)-DNOT Ignoring new targets: 78.49 m."i5*i5U ProNav: ac range: 78.491890 m, nav range: 77.587059 m, bearing: 2.747650 deg, approach rate: -0.520226 m/s, LOS rate: -0.029063 deg/s, cmd heading: 0.831765 deg, new cmd heading: 0.808369 deg. i]TuHeadingCmd: 0.014109 target range: 78.491890 and range: 78.80 m.hu1(g<hyhyhhggjgrgereZe:e*e`?B>BACBIBBB =BBúDBQ~;B5EmBɢm ) =i)%顑i2i1(g<+=_=I1(gAm >I I O >E%  E% E% (E! "E% >:*E% rN:VE% c44ZE! BE% 9Y=EyEE>Q 54*?Q 94D)BY ?Q E:yJ=Q I7@DI;i;W#4yɮ3AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 78.49 m.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode."ip*ip ProNav: ac range: 78.491890 m, nav range: 77.326042 m, bearing: 2.733641 deg, approach rate: -0.529429 m/s, LOS rate: -0.028510 deg/s, cmd heading: 0.808369 deg, new cmd heading: 0.780258 deg. iPHeadingCmd: 0.013618 target range: 78.491890 and range: 78.80 m.hP_<hhhhggjgrgBere Ze :e *e 9?Yɢ])Y ]>aiY)UU%顁iBiP_<{6=P=IP_¬ %,)5LAE EE'E"E2:*E*5:VE'4ZEa@a@a@a@V.@V?@J?rkɰ?`??iV.@IVR\;V@C `)b5~Ab`弩``df1~AifIddIhijds@ hll)ll r1~Ar#ppppIrף)tit)tIv1~Av`t txxxix|Y|YǁByIbDVD8y-C&<%-U=ٔ-:Q-->95"?Y5"?=5Ey5E= :E=>AQ 5E4E?Q 9M4E.D)EBYIyMB=Q IM7@EDIE:iE:E *4yYɮ]%A]"E:iyDNOT Ignoring new targets: 78.49 m."i*i ProNav: ac range: 78.491890 m, nav range: 77.125076 m, bearing: 2.722720 deg, approach rate: -0.524889 m/s, LOS rate: -0.028598 deg/s, cmd heading: 0.780258 deg, new cmd heading: 0.758359 deg. iYQHeadingCmd: 0.013236 target range: 78.491890 and range: 78.80 m.h8X<hhhhggjgrgereZe:e*e6@mBɢu\)q u>iq)}$yyi}i8X<|?==I8XB@CBIBBB =BBB9~;By5E^A% =i Ay I I O >%,NLARchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5082479YɁByIi%Mb@Mb@Mb@!!!! !9%w/?y&1?Mbp?Y%?y%`e=%;%M@%K A %fA)!!Y%AbD=VD=8yE <%E:=ٔMQ-M>9IYQ=UEyUEE>Q 542?Q 94^C)BY?Q E:y>Q I7@DI:io:14yLBɮA:iDNOT Ignoring new targets: 78.49 m."i*i  ProNav: ac range: 78.491890 m, nav range: 76.887985 m, bearing: 2.708126 deg, approach rate: -0.526045 m/s, LOS rate: -0.032480 deg/s, cmd heading: 0.758359 deg, new cmd heading: 0.729081 deg. i mHeadingCmd: 0.012725 target range: 78.491890 and range: 78.80 m.h{P<hhhhggjgrgBe!re!Ze!:e!*e%J@E5 E5E5$E1"E5غ:*E5?:VE54ZE1BE5iq)}y$yyi}Ai{P<J==I{Pi>i)@) @1@5/@1@@ԑUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760282^A 箵= A I I O% >F%,(hLA:;@:<:2ٱ:a=:H?|@H??`-?@2?@?i:;@I:M\;:?CÝByII ,>) p< > =bDVDð8yE<%M\=ٔMQ-M>9QYQ=UEyUEU5:EU>YQ 5e4]B?Q 9m4]B)]njBYiymN>Q Im7@]DI]\:i]:]684yqɮ}Ayԙ:iDNOT Ignoring new targets: 78.49 m."i*iM ProNav: ac range: 78.491890 m, nav range: 76.698204 m, bearing: 2.696344 deg, approach rate: -0.525129 m/s, LOS rate: -0.032682 deg/s, cmd heading: 0.729081 deg, new cmd heading: 0.705458 deg. iM?oUHeadingCmd: 0.012313 target range: 78.491890 and range: 78.80 m.huI<hqhyhyhygygjgrgereZe:e*e`@BDAT read: Rx Time:04:23:28.4234 TRx dataTimestamp_ set to:1764908609.758815checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013325Bɢ) `>i)#ik3i-I<-2V=-7޶=I-IѨ %,ĂLABZ>BXBZIBZBBXBXBXBZ~;BZ]5E(@<ٱu=H`?`VFC?j?9ܰ? '?`?i(@I<\;>CY ܁By IiMb@Mb@Mb@ 9E?i|?5?Mb?Y?yq=<@ A A)z@Y AbDVD°8y =% 0=ٔp9Q->9Y=EyEIJ:E>!Q 5-4%4W?Q 9-4%A)%ҌBY5?Q E5:y5 >Q I57@%DI%:i%:%O@4y9ɮ={A=#E:iaeDNOT Ignoring new targets: 78.49 m."im *im } ProNav: ac range: 78.491890 m, nav range: 76.454895 m, bearing: 2.680155 deg, approach rate: -0.526105 m/s, LOS rate: -0.035117 deg/s, cmd heading: 0.705458 deg, new cmd heading: 0.672977 deg. i}HeadingCmd: 0.011746 target range: 78.491890 and range: 78.80 m.hp@<hhhhggjgrgBereZe:e*eh @Bɢ,) t+>i)r#ia0ip@<a=z=Ip@IbEȻ 4jE( 4rE 0EE  EE EE #EA "EE %:*EE ,:VEE 3ZEA BEE ;aU 2EE ;aU JEE 9;a] :EE 9;a] q M&%,LA2@2 <23ٱ2=2H?q?`5?`< Ͱ?3?ڿ?i2@I2M\;0YN߁ByRIbDZVDZ8yzQ I7@ DI :i : "F4y!ɮ%jA!:iAMDNOT Ignoring new targets: 78.49 m."iMk!*iUk!] ProNav: ac range: 78.491890 m, nav range: 76.279816 m, bearing: 2.668420 deg, approach rate: -0.525141 m/s, LOS rate: -0.035281 deg/s, cmd heading: 0.672977 deg, new cmd heading: 0.649452 deg. ie"eHeadingCmd: 0.011335 target range: 78.491890 and range: 78.80 m.heƶ9<hihihihigigijgqrgqeqreqZey:ey*e@颩ɢڼ)j .>i)/"顱iiƶ9<-l=p=Iƶ9  BDAT read: Tx time:04:23:29.5166 $Ping request sent.A>Y̙B )Ir?iHᚿ?p'@<R&@ +<)nFԩi I A E]  E] E] "EY "E] :*E] ?:VE] (3ZEY ae @ae @ae @am @R-%,`LA2c@2<2qDٱ2J=2H?Ѡ@Z鯿ຊ?`?`ỿ`zŰ?Bf?@>?i2c@I2 l\;0YfByfI hhhjAbDnVDnȰ8y q=% G=ٔ ՝9Q->9Y=%Ey%E-p9E5>9Q 5U4=x?Q 9U4=r@)=BYYy] >Q I]7@=DI=~b;i=Bh;=]M4yqɮu Au$Ei1i5堐LAj51B"j51B:j5o.="p5p#S@b@?Dzh?p5F ?o?{J?*j5nF<2j5+ȼ*p5 S@S^ @,h@p5WJ?Hj?E~?j5rO@ j5iBi5?i5]1j5Bj5@}?j5j5Brj5-Bzj5':3= addTargetRange:: Added new target pos. range: 76.900002 m, deltaT: 3.779757 s, deltaX: -1.900002 m, approachRate: -0.502678 m/s, rangeRepo size: 4 ԙ Added new target pos. range: 76.597244 m, bearing: 2.435614 deg, lat: 36.779407 deg, lon: -121.859635 deg, deltaT: 3.779757 s, deltaX: -1.894646 m, approachRate: -0.501261 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 76.60 m."i*i ProNav: ac range: 76.597244 m, nav range: 76.089783 m, bearing: 2.507070 deg, approach rate: 0.000000 m/s, LOS rate: -0.035281 deg/s, cmd heading: 0.649452 deg, new cmd heading: 0.619200 deg. iHeadingCmd: 0.010807 target range: 76.597244 and range: 76.90 m.h41<hhhhggjgrgereZe:e9S@*eQ?颅BɢR޼) DE>i)=>"顉i? i41</{=y=I41BB IBBB =BBºDB};BM5EBu@CBqBqBqBqCu5IIO>! 3%,K?АLAY~By~IiMb@Mb@Mb@ 9p= ף?X9v?~jtx?Y?y}=;@ A fA)Y=AbDVD8y-%B=ٔQ->9Y=EyEE>Q 54N?Q 94?)BY?Q E:y>Q I7@ǂDI;iD;T4yɮAB*** querying acoustic contact ***ii:i  DNOT Ignoring new targets: 76.60 m."i9*i9 ProNav: ac range: 76.597244 m, nav range: 75.872505 m, bearing: 2.490702 deg, approach rate: -0.537599 m/s, LOS rate: -0.040614 deg/s, cmd heading: 0.619200 deg, new cmd heading: 0.586371 deg. iHeadingCmd: 0.010234 target range: 76.597244 and range: 76.90 m.h'<hhhhggjgrgBereZe:e*e?DzDE EE$E"E[:*E,:VE4ZEBEi)!iWJ i'<=y=I'J :%,aꐗLA >@>><>;(ٱ>=>H ? h֯`?'?<? ]?@?i>@I>g\;>9\Y\=bEybEbt:Eb>dQ 5j4fy?Q 9j4f>)fBYhyj>Q In7@f΂DIf:if.:f-[4ypɮrAp:i DNOT Ignoring new targets: 76.60 m."i5*i55 ProNav: ac range: 76.597244 m, nav range: 75.679588 m, bearing: 2.476033 deg, approach rate: -0.519144 m/s, LOS rate: -0.039576 deg/s, cmd heading: 0.586371 deg, new cmd heading: 0.556958 deg. i5ېEHeadingCmd: 0.009721 target range: 76.597244 and range: 76.90 m.hEC<hAhAhAhIgIgIjgQrgQeQreYZea:ea*eef?颭Bɢjż) N>i)U!QQiU+ i]C<]=e8+=IeCA%,LA6@<>}ٱ=H ?@砿 5? ?R?ֻ?`?i6@IL ];?CY5By=IIE=)E>iMb@Mb@Mb@ 9 rh?i|?5?Y ?yq=@A A)M@YpAbD#VDͰ8yR%&=ٔ:-:Q->9Y=EyE'E%>1Q 5E45[?Q 9E45=)5BYMZ ?Q EM:yM>Q IM7@5ւDI5:i5k:5c4yUMBɮUA]%Eԙ:i15DNOT Ignoring new targets: 76.60 m."i= $*i= $M ProNav: ac range: 76.597244 m, nav range: 75.406769 m, bearing: 2.457411 deg, approach rate: -0.523382 m/s, LOS rate: -0.035854 deg/s, cmd heading: 0.556958 deg, new cmd heading: 0.519579 deg. iMi)= 顙iir<=Q=Ir! QG%,0 LA2@2<2Ʉٱ2NP=2H?@0۠<`鐚??g;?`? ͽ?i2@I2\;0Y>By>IbDFVDF8Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.984724yVw=%Ve=ٔV!{:Q-Z>9XYX=ZEyZE^fE^>`Q 5f4b?Q 9f4bD=)b BYhyj>Q Ij7@b݂DIb:ib%:b j4ylɮrAp:i DNOT Ignoring new targets: 76.60 m."i 69*i 69 ProNav: ac range: 76.597244 m, nav range: 75.212723 m, bearing: 2.444096 deg, approach rate: -0.588425 m/s, LOS rate: -0.040481 deg/s, cmd heading: 0.519579 deg, new cmd heading: 0.492880 deg. i+%HeadingCmd: 0.008602 target range: 76.597244 and range: 76.90 m.h% <h!h!h!h)g)g)jg)rg)e1re1Ze1:e1*e=G@BɢHn) &\>i )    i  i <5S=5 R=I5 M%,{:LA >e@><>Aٱ>&G=>H`?~b62̙?4?6Qe??`?i>e@I>\;>=CYzBy~IbD VD 8y:5=%C=ٔ]:Q-%>9!Y!=%Ey%E-;E->1Q 5545Ԇ?Q 9=45x<)5BY9y=%>Q IE7@5DI5;i5;5Zq4yIɮMIAM&E:iiuDNOT Ignoring new targets: 76.60 m."i}:,*i}:, ProNav: ac range: 76.597244 m, nav range: 74.983688 m, bearing: 2.428422 deg, approach rate: -0.548386 m/s, LOS rate: -0.037643 deg/s, cmd heading: 0.492880 deg, new cmd heading: 0.461436 deg. iȉHeadingCmd: 0.008054 target range: 76.597244 and range: 76.90 m.h%<hhhhggjgrgereZe:e*eY@UBɢU^)Y ]m>iY)]BYYi]iu%<}\¡=}=I}% e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740508VT%,TLA@Yr ByrI ttimMb@Mb@Mb@iiii i9mHzG?i|?5?~jth?Ym= ?yimD;imA iE EE%E"E:*E3:VE 4ZEBE9 Y =EyEE%>)Q 554-膊?Q 9=4-;)-BYE ?Q EE:yEc>Q IE7@-DI-M;i-K;- y4yQɮ]AYB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 76.60 m."i**i* ProNav: ac range: 76.597244 m, nav range: 74.746330 m, bearing: 2.411854 deg, approach rate: -0.530997 m/s, LOS rate: -0.037182 deg/s, cmd heading: 0.461436 deg, new cmd heading: 0.428195 deg. iHeadingCmd: 0.007473 target range: 76.597244 and range: 76.90 m.h;hhhhggjgrgBereZe:e*e x<@ԩ额Bɢ<) v>i)顡iT}i;ԡ==I;I9@ @@@BDAT read: Rx Time:04:23:32.0209 TRx dataTimestamp_ set to:1764908613.539796checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994535@yA@zA ^A O=A I I) 1 O= >y[%,`[pLA2@2=<2Qٱ2z=2H?m읿@~w[??A ???i2@I2Î\;2By>IbDJVDJİ8yRB5=%RQ=ٔRƓ;Q-R>9TYT=VEyVEZ=ʻEZ>\Q 5b4^:?Q 9b4^:)^%BY`yb>Q Ib7@^DI^z:i^:^4yhɮjAn'E:i|DNOT Ignoring new targets: 76.60 m."i ,*i ,checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244602 ProNav: ac range: 76.597244 m, nav range: 74.537895 m, bearing: 2.397598 deg, approach rate: -0.548506 m/s, LOS rate: -0.037621 deg/s, cmd heading: 0.428195 deg, new cmd heading: 0.399603 deg. iHeadingCmd: 0.006974 target range: 76.597244 and range: 76.90 m.h[;hhhhggjgrgereZe:e*e{^ @Bɢt) z>i)%&))i-]vi-[;5=5i=I5[;I1)E EE#E"Ey:*ET:VE3ZEa@a@a@a@59@1 @y@/@I^A = DAT read: 04:23:32.0209 LVL= 25584, 28513, 25074, 32755, AGC= 67, IDX= 414, 0.06,-1.083,-2.762,-0.954,-1.537, PHS= 0.556,-1.180, 0.539, RAW= 149.5, 1.0, CAL= 148.5, 0.7, ROT= 1.5, -0.7  Ygot valid direction response: 04:23:32.0209 LVL= 25584, 28513, 25074, 32755, AGC= 67, IDX= 414, 0.06,-1.083,-2.762,-0.954,-1.537, PHS= 0.556,-1.180, 0.539, RAW= 149.5, 1.0, CAL= 148.5, 0.7, ROT= 1.5, -0.7  PDAT read: Bearing 174.7, 4.9 (Local)  ~Local bearing/azimuth received: Bearing 174.7, 4.9 (Local) A zA xAM DAT read: Range 11 to 50 : 75.0 m (Round-trip 100.1 ms) speed 0.4 m/s U (DAT read: user:80> ] BDAT read: Tx time:04:23:33.1166 e $Ping request sent.e B B 4 IB @BB B B B ~;B 5EAu .AI I O >lb%,,LA,@<?|ٱd=H`? @ 4r? ?/}? 4?`b?i@I\;;CYBy Ii}Mb@Mb@Mb@yyyy y9}T㥛 ?)\(?I +?ԁY}?y}Ga=}94<}@}|A }9A)} @yY}(AbD1VDڰ8y<% =ٔw:Q->9  ?Y  ?= Ey EDUE>Q 5E4?Q 9E4 :)2BYE?Q EE:yE>Q IM7@DI;iC;ň4yQɮUAQiiѰLAjhB"jhB:j.<="p1R@ ygCI?g‰4?p?T5͚?I:?*jPw<2j+H*p! R@F?hm @œ孇@pBx?e諚O?4[?jk[@ jДBic?ij}Bj?jjBrj”Bzj4= addTargetRange:: Added new target pos. range: 75.000000 m, deltaT: 3.528006 s, deltaX: -1.900002 m, approachRate: -0.538548 m/s, rangeRepo size: 4  Added new target pos. range: 74.704369 m, bearing: 2.638102 deg, lat: 36.779408 deg, lon: -121.859633 deg, deltaT: 3.528006 s, deltaX: -1.892876 m, approachRate: -0.536528 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 74.70 m."i*iE ProNav: ac range: 74.704369 m, nav range: 74.380043 m, bearing: 2.526345 deg, approach rate: 0.000000 m/s, LOS rate: -0.037621 deg/s, cmd heading: 0.399603 deg, new cmd heading: 0.359769 deg. iAMHeadingCmd: 0.006279 target range: 74.704369 and range: 75.00 m.hMN;hIhIhIhQgQgQjgyrg}BeyreyZey:eR@*e X?Bɢs) Ɇ>i)i.2iN;=)=IN;IԱ}9@y @y@}/@yE  E zE 'E "E :*E  :VE '4ZE BE  =i%, LA>@><>}xٱ>J=>H@/?% حؔ??ƌI? 1?`?i>@I>t\;>>CYJByJ IIN=)Np<bDRIVDR8yj=%n^=ٔn" ;Q-r>9r"?Yr"?=rEyrEvY Ev>xQ 5~4zP?Q 9~4zp9)z;BY|y>Q I7@zDIzA:izo:z&4y ɮ {A :iAEDNOT Ignoring new targets: 74.70 m."iM*iM] ProNav: ac range: 74.704369 m, nav range: 74.196381 m, bearing: 2.514599 deg, approach rate: -0.523561 m/s, LOS rate: -0.033565 deg/s, cmd heading: 0.359769 deg, new cmd heading: 0.336220 deg. i]ueHeadingCmd: 0.005868 target range: 74.704369 and range: 75.00 m.heI;hahahahagagajgirgieireqZeq:eq*eu;?颥BɢWv) q>i)B顩ihiI;==II;IiA@I @I@M/@I@U=@U=ԙ^AiE%  E% E% $E! "E% :*E% g:VE% 4ZE! a- @a- @a- @a- @A .AI I O > 9j ?Yj ?=jEyj EjsEn>pQ 5v4r70?Q 9v4r8)rDBYtyvA>Q Iv7@rDIr:ir::r%4yzNBɮ~A~(EB>BBG IBOBBBBB;B5E:iDNOT Ignoring new targets: 74.70 m."i *i = ProNav: ac range: 74.704369 m, nav range: 73.994865 m, bearing: 2.501876 deg, approach rate: -0.478249 m/s, LOS rate: -0.030279 deg/s, cmd heading: 0.336220 deg, new cmd heading: 0.310703 deg. i=]uHeadingCmd: 0.005423 target range: 74.704369 and range: 75.00 m.h};hyhhhggjgrgereZe:e*e b?颹ɢ;) ^>i)!ioi;=lַ=I;II)9@ @@/@) ^A =A >A >bE3jEʨ3rE+/E  E E "E "E [:*E ga:VE (3ZE BE u w%,TݑLAV}@VVDe8yL=%.=ٔN;Q->9"?Y"?=EyEE>Q 54E?Q 948)NBYj ?Q E:y=Q I7@DI ;i ;\4yɮAB*** querying acoustic contact ***ii:i!)-DNOT Ignoring new targets: 74.70 m."i5 *i5 E ProNav: ac range: 74.704369 m, nav range: 73.738319 m, bearing: 2.488314 deg, approach rate: -0.572741 m/s, LOS rate: -0.030382 deg/s, cmd heading: 0.310703 deg, new cmd heading: 0.283486 deg. iEh^MHeadingCmd: 0.004948 target range: 74.704369 and range: 75.00 m.hM ;hIhIhIhIgQgQjgQrgUBeYreYZeY:eY*e]@?颍Bɢs) >i)4顑iھ!i ;= =I ;IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.]9@a @a@e/@aY^A2=ԉe checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743994A I I O >Ա F}%,LAZ:@ZCYz5Byz& IAbD% VD%8yE1<%ET=ٔM:Q-M>9IYI=MEyUEUܰEU>YQ 5e4]lW?Q 9e4]h7)]WBYiymw=Q Im7@]DI]:i]A:]4yqɮuAE} E}EyEy"E}:*E}C:VEyZEya@a@a@a@)E:iDNOT Ignoring new targets: 74.70 m."i*i ProNav: ac range: 74.704369 m, nav range: 73.527794 m, bearing: 2.477201 deg, approach rate: -0.543613 m/s, LOS rate: -0.028778 deg/s, cmd heading: 0.283486 deg, new cmd heading: 0.261196 deg. iRHeadingCmd: 0.004559 target range: 74.704369 and range: 75.00 m.hfa;hhhhggjgrgereZe:e*e 8? Bɢ 8xp)  >iԑ)4顑i#ifa;i==Ifa;II@I @I@M0@I@UxA@UwAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.995882B>BBS IBYBBBBB~;B5EBaBe@CBaBe =Be =CeJ4^AU =A I I O > h-%,jLAJ@J];J9Y=EyEkE>Q 54 j?Q 946)_BY b?Q E :y T=Q I 7@DIk:it:4yɮA:i9EDNOT Ignoring new targets: 74.70 m."iEܹ*iEܹU ProNav: ac range: 74.704369 m, nav range: 73.305954 m, bearing: 2.467049 deg, approach rate: -0.525144 m/s, LOS rate: -0.024106 deg/s, cmd heading: 0.261196 deg, new cmd heading: 0.240830 deg. iUw0]HeadingCmd: 0.004203 target range: 74.704369 and range: 75.00 m.h];hYhYhYhagagajgargmBeireiZei:ei*eu` }@]Gu{AEU EUEU%EQ"EU:*EUV:VEU 4ZEQ9{AYABEU] i)wi=N&i;+*=I;I V>i !y@y @y@}0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499898I ^A ܶ=y A I I O- >Š%,"-LA`@υ<aٱ0=H@{?i.0?@ ?t 0?0? ?i`@I^;=CYM;ByM. I ]<]4=bD VD8y;%B=ٔ.;Q->9Y=EyEױE>Q 54|?Q 9496)gBYy#=Q I7@$DI:i:4yaɮmAiy:iDNOT Ignoring new targets: 74.70 m."iй*iй ProNav: ac range: 74.704369 m, nav range: 73.083969 m, bearing: 2.456929 deg, approach rate: -0.498943 m/s, LOS rate: -0.022814 deg/s, cmd heading: 0.240830 deg, new cmd heading: 0.220529 deg. i'HeadingCmd: 0.003849 target range: 74.704369 and range: 75.00 m.h>|;hhhhggjgrgereZe:e*e @ɢtg)  >i )   i p(i>|;3=읶=I>|;I!]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7520479@ @@m0@ԩE} E}E}$Ey"E},:*E}|;:VE}4ZEya@a@a@a@^A=A I I  BDAT read: Rx Time:04:23:35.6184  TRx dataTimestamp_ set to:1764908617.066915 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005158O > %,FLAB>B?CBf IBiBBBBB:~;Bs5E@|<@]ٱZ=H?)O%kt??@ U@??`Y?i@IGj_;YIBy? II,>)=iMb@Mb@Mb@ 9MbX9? ףp= ?{Gz?Y?y#<A A)Y\@bDVD8yh=%-=ٔ;Q->9Y=Ey"EE>Q 54?Q 945)qBYS?Q E:yL=Q I8@,DI:i*:4yOBɮ/A*E:iDNOT Ignoring new targets: 74.70 m."i*iṝ- ProNav: ac range: 74.704369 m, nav range: 72.847198 m, bearing: 2.445961 deg, approach rate: -0.529111 m/s, LOS rate: -0.024589 deg/s, cmd heading: 0.220529 deg, new cmd heading: 0.198522 deg. i-45HeadingCmd: 0.003465 target range: 74.704369 and range: 75.00 m.h5c;h1h9h9h9g9g9jgArgEBeAreAZeA:eI*eMO @uBɢ}sV)y }u>iy)}͝yyi*ic;?==Ic;I!9@A @A@E_0@A@M=@M=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256097I E  E E E "E :*E A:VE ZE BE ;a 2E ;a JE l;a :E l;a ^A õ=y A I I) O= >:%,bLA2@2h<2 Xٱ2p=2H ?  ?)?2E?W?F?i2@I26`;2NBy>E IbDFVDF8yN0=%Nw=ٔRv{;Q-R?9PYP=VEyV%EVMiEV?XQ 5^4Z?Q 9^4Z%5)ZxBY`yb=Q Ib8@Z1DIZ\:iZG:Z4ydɮfAdvB*** querying acoustic contact ***itit%DAT read: 04:23:35.6184 LVL= 28272, 32753, 31330, 32755, AGC= 68, IDX= 420, 0.17, 1.667,-0.044, 1.777, 1.219, PHS= 0.550,-1.218, 0.514, RAW= 149.0, 1.8, CAL= 148.1, 1.6, ROT= 1.9, -1.6 5Ygot valid direction response: 04:23:35.6184 LVL= 28272, 32753, 31330, 32755, AGC= 68, IDX= 420, 0.17, 1.667,-0.044, 1.777, 1.219, PHS= 0.550,-1.218, 0.514, RAW= 149.0, 1.8, CAL= 148.1, 1.6, ROT= 1.9, -1.6 5PDAT read: Bearing 175.0, 4.8 (Local) =~Local bearing/azimuth received: Bearing 175.0, 4.8 (Local) EDAT read: Range 11 to 50 : 73.2 m (Round-trip 97.6 ms) speed 0.4 m/s M(DAT read: user:81> BDAT read: Tx time:04:23:36.7166 $Ping request sent.i){aaieo -iށQ;WH==IށQ;IY@Y @Y@]1@aԑ^A} l=E]  E] E] #EY "E] y:*E] |;:VE] 3ZEY ae @ae @ae @ae @A .AI I O > ]_%,^H|LA2@2^<2~Rٱ2=2H g?`!3{| ͋???c1 U?@??i2@I2+a;0Y>XBy>Q InAAnAAbDrVDrð8yz_<=%zF=ٔzL;Q-z>9~ ?Y~ ?=~Ey~)EE> Q 54 C?Q 94 4) BYy=Q I8@ 8DI ":i q: 4y!ɮ%r@%+Ei1i5_}dLAj5ґB"j5ґB:j53="p5 8p5R@s&T@aNI@p5M?s?|p}?*j5=2j5*p5. F%R@y @i)*\i /i];;.P=4׳=I];;IQ@Q @Q@U3@QBIBIBMs IBMsBBIBIBIBM};BM25E^A=1 A I I O >G%,W&LA2@2S<2(Mٱ2Y|=2H? g ꨿Z? ? Xm@~?1;?`y?i2@I2TByBM Ii5Mb@Mb@Mb@1111 195NbX9?S㥫?{Gzt?Y5?y5/]=5ף;15OA 5A)11Y5@bD]VD]8yc%;=ٔ/;Q->9Y=Ey-EԺE> E EE)E"E:*Ei:VEFA4ZEBE: 8)q u<>iy)} yyi}q1i;@Z=>u=I;I%9@! @!@%4@!@-zA@-zAY^AE 箵=ԉ A ؟AI I O >]q%,LA02=y@2VE<2+Iٱ2M=2H ?m@U^? ?m "???@?i2=y@I2a;2;CYV^ByVZ IbDbVDb8yjJ^=%j_=ٔjP;Q-j>9n"?Yn"?=nEyn1ErEr>tQ 5v4vӇ?Q 9z4vU3)vBYxyz!=Q Iz8@vEDIv.:iv:v+4yɮ @,E:i)-DNOT Ignoring new targets: 74.70 m."i5 *i5 E ProNav: ac range: 74.704369 m, nav range: 72.050163 m, bearing: 2.404748 deg, approach rate: -0.533412 m/s, LOS rate: -0.030536 deg/s, cmd heading: 0.137767 deg, new cmd heading: 0.115863 deg. iE_MHeadingCmd: 0.002022 target range: 74.704369 and range: 73.20 m.hM;hIhIhIhIgQgQjgQrgQeYreYZeY:eY*ee`?颍BɢDƻ) >i)H顑i$e3i;na=\=I;II)xAQ@Q @Q@U/@QԉE- E-E-"E)"E-%:*E-ga:VE-(3ZE)a5@a5@a5@a5@^Aõ=AzAuAA I I O >BE >BA BE IBE BBA BA BA BE };BE =5EX%,wɒLA`u;t@uT;CYiByf IiMb@Mb@Mb@ 9~jt?&1?y&1|?Y?yP=`;l@A A) @Y@bDVD8y *=%+=ٔ+;Q->9Y=Ey6EE%>!Q 5-4%B臊?Q 954%2)%BY5B?Q E5:y5=Q I58@%MDI%3;i%Y;%4y9ɮEj@A:iamDNOT Ignoring new targets: 74.70 m."iu*iu ProNav: ac range: 74.704369 m, nav range: 71.802887 m, bearing: 2.391720 deg, approach rate: -0.518508 m/s, LOS rate: -0.027411 deg/s, cmd heading: 0.115864 deg, new cmd heading: 0.089719 deg. iHHeadingCmd: 0.001566 target range: 74.704369 and range: 73.20 m.h>:hhhhggjgrgBereZe:e*e9?Bɢ) >i)RRic5i>:Ok==I>:I@ @@@E= E=E=$E9"E=y:*E= H:VE=4ZE9BE=^%,J㒗LA2m@2B.<2%?ٱ2_Y=2H`?ċI…? ?B?W?y?i2m@I2x`;2;CY>mBy>l IF=F=bDJVDJ8yR<%Rz=ٔRRK;Q-R?9TYT=VEyZ9EZ EZ?\Q 5b4^x?Q 9b4^'2)^BY`yfQ=Q If8@^SDI^:i^w:^74ynPBɮn%@l~B*** querying acoustic contact ***i|i|:i DNOT Ignoring new targets: 74.70 m. "i*i% ProNav: ac range: 74.704369 m, nav range: 71.633598 m, bearing: 2.382860 deg, approach rate: -0.515885 m/s, LOS rate: -0.027065 deg/s, cmd heading: 0.089719 deg, new cmd heading: 0.071956 deg. i% F-HeadingCmd: 0.001256 target range: 74.704369 and range: 73.20 m.h-A:h)h)h)h)g1g1jg1rg1e9re9Ze9:e9*e=@'=@mBɢm 3)q uV>iq)u7 qqiuP7i}A:}q=}¨=I}A:I@ @@@9a^Al=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.A .AIi I O >ԑ E5  E5 E5 "E1 "E5 :*E5 A:VE5 (3ZE1 a= @a= @a= @a= @%,ʍLA2h@2"<2m;ٱ2q =2H ?~ĦY?@X?ck?m??i2h@I2%`;29 ?Y ?=Ey=EںE > Q 54 o?Q 94 1) BYy=Q I8@ ZDI ;i ; n4y!ɮ-@):iIUDNOT Ignoring new targets: 74.70 m."iUy*iUye ProNav: ac range: 74.704369 m, nav range: 71.419693 m, bearing: 2.371725 deg, approach rate: -0.520083 m/s, LOS rate: -0.027154 deg/s, cmd heading: 0.071956 deg, new cmd heading: 0.049620 deg. ieFmHeadingCmd: 0.000866 target range: 74.704369 and range: 73.20 m.hmMc:hihihqhqgqgqyjgyrgyereZe:e*e@颵Bɢ(Q) (>i) 项i9iMc:y=G=IMc:IU9@Q @Q@U/@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.501505ԡB>BB IBBBBBB};B65E^A}٦=A>A>A ؟AI I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752169%,iLAa@<|47ٱ ]=Hw?@I H㶂?O?ՙ ?x?`?ia@I[`;:CY5zBy=| IiMb@Mb@Mb@ bE4jE3rE+0E EE$E"E:*Ec:VE4ZEBE+9="?Y="?=EEyEBEEEE>IQ 5U4Mh?Q 9U4M0)MBY]?Q E]:y]=Q I]8@MaDIM;iM];M34yaɮeZ@e-E:iDNOT Ignoring new targets: 74.70 m."i*i湝 ProNav: ac range: 74.704369 m, nav range: 71.193771 m, bearing: 2.360547 deg, approach rate: -0.507946 m/s, LOS rate: -0.025211 deg/s, cmd heading: 0.049620 deg, new cmd heading: 0.027193 deg. i8HeadingCmd: 0.000475 target range: 74.704369 and range: 73.20 m.hg9hhhhggjgrgBereZe:e*e@uBɢuw)q u%>iq)}4 yyi}A%,C1LA2X@2<2&3ٱ2T =2H?֥%?@?⋺c?n?@W?i2X@I2>>`;2=CY>By> I @@DFAbDJVDJ8yRȾ=%Rh=ٔV7;Q-V>9TYT=VEyZFEZDEZ>\Q 5b4^s*?Q 9b4^w0)^BYdyf[=Q If8@^gDI^:i^W:^\4yhɮjM@h:iqDNOT Ignoring new targets: 74.70 m."iڹ*iڹ ProNav: ac range: 74.704369 m, nav range: 71.014648 m, bearing: 2.351788 deg, approach rate: -0.486187 m/s, LOS rate: -0.023835 deg/s, cmd heading: 0.027193 deg, new cmd heading: 0.009630 deg. i|.HeadingCmd: 0.000168 target range: 74.704369 and range: 73.20 m.h>09hhhhggjgrgereZe:e*e @Bɢ#9) >i)Zic>i>09ۇ=uJ=I>09I1]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256215u9@q @q@}0@y@@@@E  E E E "E :*E *5:VE ZE a@a@a@a@aԑAi I I O >u DAT read: 04:23:39.2159 LVL= 28144, 32753, 32754, 32755, AGC= 67, IDX= 411,-0.41, 0.922,-0.793, 1.012, 0.470, PHS= 0.554,-1.218, 0.498, RAW= 148.4, 1.9, CAL= 147.6, 1.8, ROT= 2.4, -1.8 } Ygot valid direction response: 04:23:39.2159 LVL= 28144, 32753, 32754, 32755, AGC= 67, IDX= 411,-0.41, 0.922,-0.793, 1.012, 0.470, PHS= 0.554,-1.218, 0.498, RAW= 148.4, 1.9, CAL= 147.6, 1.8, ROT= 2.4, -1.8  PDAT read: Bearing 174.8, 4.8 (Local)  ~Local bearing/azimuth received: Bearing 174.8, 4.8 (Local)  DAT read: Range 11 to 50 : 71.3 m (Round-trip 95.1 ms) speed 0.4 m/s  (DAT read: user:82>  BDAT read: Tx time:04:23:40.3166  $Ping request sent.  %@ = $@  =) +=I    8&!?cmn?,\726?  5>) 7 I +=i    :publishing transmit ping time  Fpublishing direction and range infoy  ?n?Iz?Y      ) I i      ) I    8&!?cmn?,\726?  ) I B >B @CB IB BB B B B |;B 4EB?CB?CBBBC4i   Թ S%,2KLA-P@-;-.ٱ-#=-HX?@y{U@}??@qweӥ?`]??i-P@I-и_;)YuByu Iԉi]Mb@Mb@Mb@YYYY Y9]{Gz?Zd;?{Gz?Y]?y]y=]#<]l@]A Y)] @YY](@bDu VDu8y+b%=ٔ ;Q->9Y=EyKEaE>Q 54A?Q 94/)BY?Q E:y7=Q I8@oDI,:i:4yTBɮ@$Ei9i=\FLAj= B"j= B:j=:="p=EtQ@{@^./j@p=?n?Iz?*j=+=2j=*p=ӷQ@֢ @[^/@p=~z?_[H?:T?j=N@ j=tBi=fĉ?i=qj=Bj9j9j=_Brj=Bzj=X-= addTargetRange:: Added new target pos. range: 71.300003 m, deltaT: 3.529261 s, deltaX: -1.899994 m, approachRate: -0.538355 m/s, rangeRepo size: 4  Added new target pos. range: 71.018661 m, bearing: 2.614205 deg, lat: 36.779409 deg, lon: -121.859632 deg, deltaT: 7.057371 s, deltaX: -3.685707 m, approachRate: -0.522249 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 71.02 m.Թ"i*i ProNav: ac range: 71.018661 m, nav range: 70.838440 m, bearing: 2.421621 deg, approach rate: 0.000000 m/s, LOS rate: -0.023835 deg/s, cmd heading: 0.009630 deg, new cmd heading: 359.983892 deg. iHeadingCmd: 6.282904 target range: 71.018661 and range: 71.30 m.h @hhhhg!g!jg)rg-BeQreYZeY:ee@3Q@*eeH1?B 7w>Cɢ 4rл)! MK>]GiQq)ų顙iA9YhAi{I=g=I @E EE"E"EO:*EV:VE(3ZEBE v%,zdLABH@Bx;BK!+ٱB=BH@?iQ`U)y?;?pab?J?}?iBH@IBc_;@YBy IbDVDɰ8y_<%V=ٔ;Q->9Y=EyOE#E>Q 5 4R?Q 94.)ȍBYyB=Q I8@vDIv=;i>;\ 4y!ɮ-@-%EUB*** querying acoustic contact ***iQiQ:iiuDNOT Ignoring new targets: 71.02 m."iu*iuE ProNav: ac range: 71.018661 m, nav range: 70.642868 m, bearing: 2.408994 deg, approach rate: -0.535379 m/s, LOS rate: -0.034664 deg/s, cmd heading: 359.983891 deg, new cmd heading: 359.958566 deg. iE}MHeadingCmd: 6.282462 target range: 71.018661 and range: 71.30 m.hM @hIhIhIhIgQgQjgQrgQeYreYZeY:eY*ee?颍Bɢ:) >i)\顑iRCi=ޕ=]=I @Iԉ59@1 @9@=/@9uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.A .AI! I9 ԡ O >E%  E% E% %E! "E% :*E% .:VE% 4ZE! a- @a- @a- @a5 @'%,~LA@ )=~A#  =~Ai #I  I iCs@ ) (~AC(~AI94)!i!)!I%(~A%`e! !)-pA)i))Y)Y]By] Ie=e=bDm%VDmϰ8yљ=%u=ٔQ-?9 ?Y ?=EyREE?Q 5U4m`?Q 9U4f.)΍BYYyYQ I]8@{DIi) 顱i#Ei=䝮=I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.989268B>BB IBBBBBB{;B@4E9@ @@1@AII!OM>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241229%,2LAlYBy IE EE(E"E:*E?:VEc44ZEBEd9Y=EyWEE>Q 54r?Q 94-)׍BY?Q E:y>Q I8@DI ;i ;4yɮ@&E:iDNOT Ignoring new targets: 71.02 m."iRE*iRE  ProNav: ac range: 71.018661 m, nav range: 70.251030 m, bearing: 2.380132 deg, approach rate: -0.534480 m/s, LOS rate: -0.043128 deg/s, cmd heading: 359.936298 deg, new cmd heading: 359.900675 deg. i ۝HeadingCmd: 6.281452 target range: 71.018661 and range: 71.30 m.h@hhhhggjgrgBe!re!Ze!:e!*e% 9?UBɢU ]:)Q U>iY)]zYYi]jGie@㺉e=e$=Ie@Ii IQ)UyA9@ @@:5@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4931849^A =i A ؟AI I O > %,LA9YEByE IbDUVDU8y<%]=ٔQ->9"?Y"?=EyZEE>Q 54Ă?Q 94,)ލBYyQ I8@DI:i\:*4yɮ]@:iDNOT Ignoring new targets: 71.02 m."i9>*i9> ProNav: ac range: 71.018661 m, nav range: 70.062233 m, bearing: 2.364857 deg, approach rate: -0.512495 m/s, LOS rate: -0.041577 deg/s, cmd heading: 359.900672 deg, new cmd heading: 359.870039 deg. i.HeadingCmd: 6.280917 target range: 71.018661 and range: 71.30 m.hF@hhhhggjg rg e re Ze:e*e?=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745271MBɢM{;)Q U>iQ)]TYYi]Iimtm!=u=IuF@Iyi@ @@r3@E EE"E"E,:*E|;:VE(3ZEa@a@a@a@ԑ^A d= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997249B >B B IB BB B B B {;B 3E AM .AIi Iy O >%,f̓LAB5@Bpz;B#ٱB=BH?@a Ho?`? &v f?g?@7?iB5@IB/_;B;CYNByN I xx)-AԡbDuVDuɰ8y<%E=ٔ W9 ?Y ?=%Ey%_E5ԳE]>Q 54>?Q 94,)BYy >Q I8@DI i)Pf顩iKi<g===IA@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251045q@q @y@}/@yE EEE"E:*E;J:VEZEBE] %,xA擗LA2J/@2E;2Xٱ2)=2H ?88|` wh? q?^Z|[?%N??i2J/@I2^;2By> IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.501243i Mb@Mb@Mb@     9 Q?v/?~jtx?Y ?y xi= ; V@ OA )  @ Y @ %<%<bD-VD-ð8y5b<%U=ٔN:Q->9"?Y"?=EycEE>Q 54~?Q 94+)BY ?Q E:yh=Q I8@DI;i;e,4yɮ@:iDNOT Ignoring new targets: 71.02 m."i *i - ProNav: ac range: 71.018661 m, nav range: 69.636444 m, bearing: 2.336073 deg, approach rate: -0.557918 m/s, LOS rate: -0.030732 deg/s, cmd heading: 359.834938 deg, new cmd heading: 359.812306 deg. i-`5HeadingCmd: 6.279910 target range: 71.018661 and range: 71.30 m.h5@h1h1h9h9g9g9jgArgÉBeAreAZeA:eA*eM ה@uBɢu|;)y }>iy)}ZhyyiANiV:=q=I@I9@ @@/@!^A6=echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754542iAa Ii Iy O >E%  E% E% %E! "E% g:*E% A:VE% 4ZE! a- @a5 @a5 @a5 @y %,LA:'@: ;:kٱ:`=:HF?@Mx@f䢿 Wa?@?hE?;?`$?i:'@I:E^;:=CY^By`bDj"VDj̰8yr%rP=ٔrS:Q-r>9tYt=vEyvfEzEz>xQ 54zo?Q 94z*)zBYy=Q I 8@zDIz] ;izi ;z24yɮ@'E-B*** querying acoustic contact ***i)i):i9EDNOT Ignoring new targets: 71.02 m."iE*iEU ProNav: ac range: 71.018661 m, nav range: 69.434715 m, bearing: 2.325079 deg, approach rate: -0.535876 m/s, LOS rate: -0.029291 deg/s, cmd heading: 359.812316 deg, new cmd heading: 359.790263 deg. iUlV]HeadingCmd: 6.279525 target range: 71.018661 and range: 71.30 m.h]@hYhYhYhagagajgargaeireiZei:ei*emJ@额Bɢ(;) >i)Z顡i.Pioɷ= =I@IQi@q @q@u/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.005319B=>B9B= IB=ĂBB9B9B9B=z;B=3Eԁ^AU=ԱAi I I O >m BDAT read: Rx Time:04:23:42.8134 u TRx dataTimestamp_ set to:1764908624.375766} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259887 0%,fLAYBy II%e>)%=iMb@Mb@Mb@ 9!rh?V-?~jth?Yl?ym=D;?@A @)Y@bDVDð8E EE"E"E:*Ega:VE(3ZEBE 9Y=EykE E >Q 54ˈ?Q 94B*)BY<?Q E%:y%=Q I%8@DI;i::4y)ɮ-@):iQUDNOT Ignoring new targets: 71.02 m."i] *i] m ProNav: ac range: 71.018661 m, nav range: 69.201393 m, bearing: 2.311585 deg, approach rate: -0.530987 m/s, LOS rate: -0.030813 deg/s, cmd heading: 359.790269 deg, new cmd heading: 359.763189 deg. imauHeadingCmd: 6.279052 target range: 71.018661 and range: 71.30 m.hu@hqhqhqhqgygyjgyrg}ӁBereZe:e*e@ @Ա颽Bɢ);) ?i)iDRil==I@I@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510112^A벫= A I! I1 OE >9 :[ %,3LA2#@20:2[ٱ2ߠ=2H ?6u3`!Z?@>?k ?c??i2#@I2];2By> IDFAAbDJVDJİ8yRX%Rc=ٔR1B;Q-R>9TYT=VEyVnEVEZ>XQ 5 4Zۈ?Q 94Z))ZBYy=Q I8@ZDIZF BDAT read: Tx time:04:23:43.9166 $Ping request sent."$@5=#@ 5=)s=I5[Aj?:9Z?) Oʡ? >)YIs=i5:publishing transmit ping timeFpublishing direction and range infoyН-_?%zX?Xޡ?Y )Ii )I[Aj?:9Z?) Oʡ? )Iii@i @i@m/@iE EE!E"E:*EE7:VEc3ZEa@a@a@a@%PExceeded connect timeout, disconnecting.9^Ad=i B1 B1 B5 IB5 ΂BB1 B1 B1 B5 {;B5 3EA .AI I O > C%,dMLA 2@2F:2@?ٱ2=2H?@r# H??KF?D??i2@I2];2;CYbByf IbDn#VDnͰ8yv;%vF=ٔvӮ:Q-v>9z ?Yz ?=zEyzsE~E~> Q 5-4 툊?Q 9-4 )) BY9yE =Q IE8@ DI ;i K; 3H4yaɮm@qiIiM68LAjM@B"jM@B:jMlf="pMN Μ=Q@s^rxc@僖L@pMН-_?%zX?Xޡ?*jMs=2jM5*pM 9+4Q@&9 @HW!@pM#q?4׼?ॢ#?jMQx@ jMBiMl?iMjMCBjMc?jMjMBrjMBzjM'%=% addTargetRange:: Added new target pos. range: 69.400002 m, deltaT: 3.778937 s, deltaX: -1.900002 m, approachRate: -0.502787 m/s, rangeRepo size: 4 U Added new target pos. range: 69.126404 m, bearing: 3.227042 deg, lat: 36.779409 deg, lon: -121.859632 deg, deltaT: 3.778937 s, deltaX: -1.892258 m, approachRate: -0.500738 m/s, posRepo size: 4 :iQ]DNOT Ignoring new targets: 69.13 m."i]*iYi ProNav: ac range: 69.126404 m, nav range: 68.796356 m, bearing: 2.318448 deg, approach rate: 0.000000 m/s, LOS rate: -0.029837 deg/s, cmd heading: 359.741119 deg, new cmd heading: 359.713427 deg. iHeadingCmd: 6.278183 target range: 69.126404 and range: 69.40 m.h@hhhhggjgrgereZe:eYQ@*eO?颭Bɢ89;) ?i)9i f2Wi壻Ȣ=9=I@Iԙ@ @@/@bE]3jE]Nj3rE]b0E EE'E"E:*E|;:VE'4ZEBE;a 2E;a JE;a :E;a ^A 6= AI IY Ii Ou >R%,`iLA2X@2@2}ٱ2=2H@?Obm L?@0?l,??i2X@I2];0Y>By> I @@iMb@Mb@Mb@ 9Zd;? rh?y&1?Y>yC=`e<A M@)Y@bDVDð8y.;%-=ٔO:Q->9Y=EywEf׺E>!Q 554%y?Q 954%?()% BY=?Q E=:y=>Q I=8@%DI% e;i%x;%P4yIɮM@M)E:iquDNOT Ignoring new targets: 69.13 m."i}H*i}H ProNav: ac range: 69.126404 m, nav range: 68.558395 m, bearing: 2.300108 deg, approach rate: -0.567043 m/s, LOS rate: -0.043855 deg/s, cmd heading: 359.713415 deg, new cmd heading: 359.676608 deg. iHeadingCmd: 6.277541 target range: 69.126404 and range: 69.40 m.h@hhhhggjgrgBereZe:e*eG?Bɢ;) ?i)6!!i%OdYi-t-̢=-r=I-@I1@ @@0@^Ap=A E  E E $E "E :*E ga:VE 4ZE a @a @a @a @ nManaging dock network, ignoring radio surface power offA5 ؟AI9 II O] > %,僔LA6@6' @6ٱ6'=6H?wg@Ρ@FU?Uݡ?G?Z?i6@I6}];6:CY>ByB I J9V"?YZ"?=ZEyZ{EZ EZ>\Q 5b4^?Q 9f4^')^BYdyf>Q If8@^DI^;i^;^V4yhɮj@lzB*** querying acoustic contact ***ixix:i|DNOT Ignoring new targets: 69.13 m."i '1*i '1 ProNav: ac range: 69.126404 m, nav range: 68.378670 m, bearing: 2.286271 deg, approach rate: -0.501609 m/s, LOS rate: -0.038720 deg/s, cmd heading: 359.676614 deg, new cmd heading: 359.648868 deg. iHeadingCmd: 6.277057 target range: 69.126404 and range: 69.40 m.h@h!h!h!h!g!g)jg)rg)e)re1Ze1:e1*e5o?eBɢed8$<)a e?ia)mxIiiim>s[iuȻuТ=uR=Iu@IyeT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.B>B?CB IBӂBBBBB{;B)4EBm@CBm@CBiBiBiCm'49@ @@0@a^AAzAԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486831AI IQ Ia 3G zAO >! M ɦ9M zAYM >A '%,CLA2@2: @2QH ٱ2=2H1?!f@m{`~J?4)?`2?(?i2@I2r];0@YBByB IER ER~ER&EP"ER:*ER(:VER4ZEPBER9YY=EyEE>Q 54#?Q 9 4')BY ?Q E :y =Q I 8@ƃDI:i:^4yɮ@:iaeDNOT Ignoring new targets: 69.13 m."imx*imx ProNav: ac range: 69.126404 m, nav range: 68.152199 m, bearing: 2.273896 deg, approach rate: -0.507260 m/s, LOS rate: -0.027809 deg/s, cmd heading: 359.648856 deg, new cmd heading: 359.624025 deg. iKHeadingCmd: 6.276623 target range: 69.126404 and range: 69.40 m.h@hhhhggjgrgсBereZe:e*e6?-Bɢ-;)q u?iq)uOpqyi}]i׻֢=ԩT=I@I@ @@N0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738669^A \= A .AI I O5 >*-%,9LAf` @f@f ٱf[d=fHV?` `=`]X@?F@? ??if` @Ifۧ];f9CYvByv I~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989684I >) > = a=bDVD8y%<%%N=ٔ-:Q-->9- ?Y5 ?=5Ey5E5fE=>9Q 5E4=3?Q 9M4=y&)=!BYIyMB=Q IM8@=̃DI=_:i=:= e4yUVBɮ]X@]*E:iyDNOT Ignoring new targets: 69.13 m."ii*ii ProNav: ac range: 69.126404 m, nav range: 67.959435 m, bearing: 2.263409 deg, approach rate: -0.518427 m/s, LOS rate: -0.028285 deg/s, cmd heading: 359.624022 deg, new cmd heading: 359.602988 deg. iOHeadingCmd: 6.276256 target range: 69.126404 and range: 69.40 m.h@hhhhggjgrgereZe:e*eQ@}Bɢ}<) ?i)?顁i`i 㻉ڢ=p=I@IE EE"E"E:*E:VE(3ZEa@a@a@a@!A@A @A@E/5@AI^A"=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242554B>BB IB؂BB =BBB,|;Bi4Ey A ؟AI I O >U4%,єLAN@N@NٱN=NH@z?ݤY ]n?`k ?@?`?iN@IN\];N=CYzBy~ I-@A-@AԁbDVD8y%%<=ٔ-:Q-U>9e"?Ye"?=eEyeEmFEm>qQ 54uF?Q 94u%)u'BYy=Q I8@uӃDIu[:iu:ul4yɮq@:iIeDNOT Ignoring new targets: 69.13 m."im*iu ProNav: ac range: 69.126404 m, nav range: 67.733086 m, bearing: 2.251082 deg, approach rate: -0.490210 m/s, LOS rate: -0.026786 deg/s, cmd heading: 359.602985 deg, new cmd heading: 359.578248 deg. iDHeadingCmd: 6.275825 target range: 69.126404 and range: 69.40 m.h@hhhhggjgrgereZe:e*e@Bɢܛ;) ?i)ܼiWbi2񻉧 =b=I@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493598Iԩ9@ @@05@DzDAAE E}E%E"E:*Ek&:VE 4ZEBEd"G:%,딗LAB@B?@BIٱBL=BH ?M=Jݳ՘d?`p??Y?iB@IBXs];B:CYb‚Byb IԹiMb@Mb@Mb@ 9?:v?I +?Y?yT=94<(@9A z@)@Y@bDVD8yQ<%L=ٔq:Q->9Y=EyEE>Q 54OW?Q 94X%).BY ?Q E :y =Q I 8@ڃDI :i4:s4yɮ?@+E:iAEDNOT Ignoring new targets: 69.13 m."iM*iM󹝏] ProNav: ac range: 69.126404 m, nav range: 67.536217 m, bearing: 2.241176 deg, approach rate: -0.526485 m/s, LOS rate: -0.026567 deg/s, cmd heading: 359.578259 deg, new cmd heading: 359.558391 deg. i]{BeHeadingCmd: 6.275478 target range: 69.126404 and range: 69.40 m.he@hahahahagagijgirgmBeireqZeq:eq*e}$@颥Bɢx,1<) y?i)vټ顩i^jdi=2P=I@II@I @I@U/@QBDAT read: Rx Time:04:23:46.4109 TRx dataTimestamp_ set to:1764908627.902851 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998633^Au0=E  E E &E "E :*E ;J:VE 4ZE a @a @a @a @Ii Iy O >A  A%,RLA2@2=@2+`ٱ2M=2H?B1@}bh@?Lk??@?i2@I2k];0Y>ĂBy> I @@bDFVDF8yN ;%Rd=ٔR:Q-R>9TYT=VEyVEVβEZ>XQ 5^4Zdf?Q 9b4Z$)Z3BY`yb=Q Ib8@Z߃DIZ ;iZ;Zy4ydɮj)@heB*** querying acoustic contact ***iaia:iquDNOT Ignoring new targets: 69.13 m."i}Jݹ*i}Jݹ ProNav: ac range: 69.126404 m, nav range: 67.356705 m, bearing: 2.232168 deg, approach rate: -0.480643 m/s, LOS rate: -0.024183 deg/s, cmd heading: 359.558397 deg, new cmd heading: 359.540333 deg. i1HeadingCmd: 6.275163 target range: 69.126404 and range: 69.40 m.h"@hhhhggjgrgereZe:e*e  @BɢxQ/<) D?i)ZּiLfiq==I"@I9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250125B>B@CB IB݂BB =BBB@|;Bu4Eu9@q @q@u/@qi^A\=ԙI I O >U DAT read: 04:23:46.4109 LVL= 28784, 32753, 29938, 32755, AGC= 67, IDX= 424,-0.23,-0.267,-2.012,-0.211,-0.744, PHS= 0.579,-1.223, 0.489, RAW= 147.5, 1.8, CAL= 146.7, 1.7, ROT= 3.3, -1.7 e Ygot valid direction response: 04:23:46.4109 LVL= 28784, 32753, 29938, 32755, AGC= 67, IDX= 424,-0.23,-0.267,-2.012,-0.211,-0.744, PHS= 0.579,-1.223, 0.489, RAW= 147.5, 1.8, CAL= 146.7, 1.7, ROT= 3.3, -1.7 m PDAT read: Bearing 174.6, 5.0 (Local) m ~Local bearing/azimuth received: Bearing 174.6, 5.0 (Local) u DAT read: Range 11 to 50 : 67.6 m (Round-trip 90.2 ms) speed 0.4 m/s } (DAT read: user:84>  BDAT read: Tx time:04:23:47.5166  $Ping request sent. % S$@% =% #@ % <)% k=I% ! ! % YXa?w? D? % vb>)% ,I% k=i% ! !  :publishing transmit ping time  Fpublishing direction and range infoy! % {!?< u? `?Y! ! ! ! ! ! )! I! i! ! ! ! ! ! )! I! ! ! % YXa?w? D? ! )! I! i! ! ! Թ JG%,JLAB@B@BٱBT=BH@?8?"N'j?`A7???iB@IBN];B8CER ERER EP"ER:*ER,:VER3ZEPBER.99Y9=EEyEEE%EE>IQ 5u4Mz?Q 9u4M$)M9BY}7?Q E}:y}1t=Q I}8@MDIM\;iM;M4yWBɮ@ԑiQiUnLAjUB"jUB:jU>Q="pUiMP@—.@9`-?pU{!?< u? `?*jUk=2jU*pUFP@Ʒq @@pU\?+a?Y+u#?jU[@ jU0BiUp?iUEjU͋BjUp?jUqjU}BrjUNBzjUYX+=u addTargetRange:: Added new target pos. range: 67.599998 m, deltaT: 3.527621 s, deltaX: -1.800003 m, approachRate: -0.510260 m/s, rangeRepo size: 4 } Added new target pos. range: 67.333496 m, bearing: 2.926929 deg, lat: 36.779409 deg, lon: -121.859629 deg, deltaT: 3.527621 s, deltaX: -1.792908 m, approachRate: -0.508248 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 67.33 m."i*i ProNav: ac range: 67.333496 m, nav range: 67.153542 m, bearing: 2.396814 deg, approach rate: 0.000000 m/s, LOS rate: -0.024183 deg/s, cmd heading: 359.540338 deg, new cmd heading: 359.518264 deg. iHeadingCmd: 6.274777 target range: 67.333496 and range: 67.60 m.h@hhhhggjgrgBereZe:e`fP@*e?EBɢE;)A E?ii)mDҼiiimhiu u1=uR=Iu@Iy9@9 @9@=/@A^Ae p=I I O > vM%, y8LAB(@Br@B7ٱB=BH?R ?.ek?@(S?Q,? ?iB(@IBz];B;CYNȂByN IbDVVDV8y^%k%^b=ٔb:Q-b>9`Y`=fEyfEfEf>hQ 5r4j?Q 9r4j4$)j>BYtyvs=Q Iv8@jDIj>;ij?;j-4yxɮz@|:i%DNOT Ignoring new targets: 67.33 m."i%^*i%^5 ProNav: ac range: 67.333496 m, nav range: 66.964172 m, bearing: 2.393943 deg, approach rate: -0.554671 m/s, LOS rate: -0.008435 deg/s, cmd heading: 359.518263 deg, new cmd heading: 359.512504 deg. i5v=HeadingCmd: 6.274677 target range: 67.333496 and range: 67.60 m.h='@h9hAhAhAgAgAjgIrgIeIreIZeI:eI*eU@؛?}Bɢ}[v<) ?i)ɣϼ顁iMjiZf =mj=I'@I@ @@/@E EE!E"EƱ:*E0:VEc3ZEa@a@a@a@^A/=IIO>B>BBBB =BBB|;B4EA 0\T%,IRLA BX@B@B]>ٱB=BH?Q>? G`4n?B`y? G?`?iBX@IB];B9CYRςByV IbDvVDv8yR<%==ٔ9Q->9Y=EyELE>)Q 5m4-?Q 94-#)-CBYyr=Q I8@-DI-OOZ%,$lLA@YyiMb@Mb@Mb@ 9L7A`?J +?y&1|?Y+?yH=`; d@) @Y@AAAAbDVDư8y ;%G=ٔQ->9Y=EyEE>Q 5]4T?Q 9e4Z#)IBYe?Q Ee:yek=Q Ie8@DI|@2@2& ٱ2*4=2H0?W?0 rS?r?`?`?i2>@I2Qt];28CY>тBy> IbDF VDFʰ8yN;%Na=ٔR 4;Q-R>9PYP=VEyVEV#EV>XQ 5^4Z?Q 9^4Z")ZNBY`yb=Q Ib8@ZDIZ;iZ;ZE4ydɮfn@dlvB*** querying acoustic contact ***itit:iDNOT Ignoring new targets: 67.33 m."iE¹*iE¹ ProNav: ac range: 67.333496 m, nav range: 66.324387 m, bearing: 2.374751 deg, approach rate: -0.548013 m/s, LOS rate: -0.021230 deg/s, cmd heading: 359.488921 deg, new cmd heading: 359.474005 deg. ijHeadingCmd: 6.274005 target range: 67.333496 and range: 67.60 m.h@hhhhggjgrgereZe:e*e?ǁBɢg^<) ?i)3żiqi &j := d=I @IBE>BE?CBE!IBEBBE =BABEDBE};BE4EeT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.9@ @@?0@ A^A= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004674Ae .Aa Iq I O >[g%,8۟LA2\@2@2ٱ2E=2HK?@:a?"uI?U? ? ?i2\@I27Z];2:CbE 3jE c3rE z:0EB EBEB#E@"EB:*EBP:VEB3ZE@BEB39 ?Y ?=EyE&E>Q 54Ӊ?Q 94j")UBYh?Q E:yx=Q I8@ DI;i?;4y%XBɮ%!@%.E:iimDNOT Ignoring new targets: 67.33 m."iɪ*iɪ ProNav: ac range: 67.333496 m, nav range: 66.095543 m, bearing: 2.366359 deg, approach rate: -0.507190 m/s, LOS rate: -0.018664 deg/s, cmd heading: 359.474003 deg, new cmd heading: 359.457161 deg. iHeadingCmd: 6.273711 target range: 67.333496 and range: 67.60 m.h>@hhhhgg1jg1rg=сBe9re9Ze9:e9*eE@@ɁBɢ}-<) ?i)5itij9w==I>@Iqmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2572069@ @@ 0@@=@=ԑ^A =A wAzA xA Au ؟AIy I O >ym%,ILA>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508738Fr@F@F_ٱFw=FHe?`}da?oL u?@e,`?i3?`w?iFr@IF];F9CYb؂Byb I j9z"?Yz"?Q=mEymEm7Eu>yQ 54}削?Q 94}!)}ZBYyw=Q I8@}DI}:i}h:}4yɮ@:iDNOT Ignoring new targets: 67.33 m."i*i ProNav: ac range: 67.333496 m, nav range: 65.889854 m, bearing: 2.358766 deg, approach rate: -0.527467 m/s, LOS rate: -0.019531 deg/s, cmd heading: 359.457174 deg, new cmd heading: 359.441942 deg. iHeadingCmd: 6.273445 target range: 67.333496 and range: 67.60 m.h@hhhhggjgrgereZe:e*e@v@ʁBɢ ؁<) %?i!)%!!i%8vi--=5=I5@I1EU EUEQEQ"EUغ:*EU,:VEQZEQae@ae@ae@am@@ @@?5@ԁԩB>B=CB !IBBB =BBDB};B4EB?CB?CBǔCBB =C55checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760694^A5=A I I O] >t%,ԕLAB@B @B_ٱBB=BH@v? Ye?`<`Xv@?1?@9?x?iB@IB];B:CYN݂ByN IbDZVDZ8yvo<%zJ=ٔl:Q->9Y=%Ey%E5E5>QQ 5]4UJ?Q 9u4U!)U`BYy=Q I8@UDIU"=iU;a}:Em>;a}@ @@l0@1^A =M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265142Y A I I) O= >e{%,LA:@:@:fOٱ:H=:H?g? >w?}2@Ȝ?:??i:@I:n];:;CYFByJ IIN?>)N4Q9QYQ=UEy]E] E]>aQ 5m4e ?Q 9m4e!)ehBYu?Q Eu:yu=Q Iu8@eDIe ;ieC ;e4yyɮ}t@y:iDNOT Ignoring new targets: 67.33 m."iɹ*iɹ ProNav: ac range: 67.333496 m, nav range: 65.460762 m, bearing: 2.343191 deg, approach rate: -0.612442 m/s, LOS rate: -0.022055 deg/s, cmd heading: 359.426793 deg, new cmd heading: 359.410682 deg. it!HeadingCmd: 6.272900 target range: 67.333496 and range: 67.60 m.h@hhhhggjgrgׁBereZe:e*e5 @颅́Bɢ܃<) U ?i)顩izi6( =`=I@Iԁ]9@Y @Y@]?5@YDAT read: 04:23:50.0083 LVL= 25632, 29329, 29922, 32755, AGC= 67, IDX= 414,-0.13, 2.785, 1.065, 2.854, 2.351, PHS= 0.536,-1.241, 0.460, RAW= 147.8, 2.8, CAL= 147.1, 2.9, ROT= 2.9, -2.9  Ygot valid direction response: 04:23:50.0083 LVL= 25632, 29329, 29922, 32755, AGC= 67, IDX= 414,-0.13, 2.785, 1.065, 2.854, 2.351, PHS= 0.536,-1.241, 0.460, RAW= 147.8, 2.8, CAL= 147.1, 2.9, ROT= 2.9, -2.9 PDAT read: Bearing 175.9, 4.5 (Local) ~Local bearing/azimuth received: Bearing 175.9, 4.5 (Local) -DAT read: Range 11 to 50 : 65.7 m (Round-trip 87.6 ms) speed 0.4 m/s ](DAT read: user:85> ]BDAT read: Tx time:04:23:51.1166 e$Ping request sent.e%@+H=O$@ 4QO=)4QO=I4QOi\C?z ?+Vot? >)µKI4QO=i4QO:publishing transmit ping timeaFpublishing direction and range infoyX?+hgީ?|rQ?Y )Ii )Ii\C?z ?+Vot? )IiԩE EE&E"Em:*E~:VE4ZEa@a@a@a@^A ا= A I I O >H%, LABr>Br91Y1=5Ey5E=EE>AQ 5M4ES?Q 9M4E )EoBYQyQQ IU8@E$DIE:iE~:E4ԹyYBɮ@/EiiXLAj߂B"j߂B:jx!="pIFQP@9ls @KB| @pX?+hgީ?|rQ?*j4QO=2j4QO*p}JP@vN@RQe@pP?L??ǫa?jz$@ jPBi ?ijʍBjjjBrjBzjm&=] addTargetRange:: Added new target pos. range: 65.699997 m, deltaT: 3.528315 s, deltaX: -1.900002 m, approachRate: -0.538501 m/s, rangeRepo size: 4 m Added new target pos. range: 65.437454 m, bearing: 2.258695 deg, lat: 36.779409 deg, lon: -121.859629 deg, deltaT: 3.528315 s, deltaX: -1.896042 m, approachRate: -0.537379 m/s, posRepo size: 4 :iimDNOT Ignoring new targets: 65.44 m."iu*iq ProNav: ac range: 65.437454 m, nav range: 65.255737 m, bearing: 2.335784 deg, approach rate: 0.000000 m/s, LOS rate: -0.022055 deg/s, cmd heading: 359.410674 deg, new cmd heading: 359.391927 deg. iHeadingCmd: 6.272573 target range: 65.437454 and range: 65.70 m.h@hhhhggjgrgereZe:elP@*eB?΁Bɢ,n<) ?i)iI>}iz-==I@IM9@I @I@M 5@I^AM =9 A} .AI D =D E  E E E "E :*E VL:VE ZE BE a 2E a JE ;a :E ;a I O >s%,ms#LA2c@2@2޼ٱ2@=2H?k? Z@Zy?jכ?s?@?i2c@I2];0Y>ւBy> IiMb@Mb@Mb@ 9L7A`?Zd;?y&1?Y+?yy=`e<@A M@)@Y@bDӿVD8y-?%-J=ٔ-Z;Q-->95 ?Y5 ?=5Ey5E};E}>Q 54,?Q 94)wBY?Q E:yK=Q I8@+DIC:i:4yɮ2@B*** querying acoustic contact ***ii:i!-DNOT Ignoring new targets: 65.44 m."i-*i-} ProNav: ac range: 65.437454 m, nav range: 65.037796 m, bearing: 2.323316 deg, approach rate: -0.546568 m/s, LOS rate: -0.031373 deg/s, cmd heading: 359.391932 deg, new cmd heading: 359.366913 deg. i}eHeadingCmd: 6.272136 target range: 65.437454 and range: 65.70 m.hV@hhhhggjgrgBereZe:e*e 6?ρBɢmX<) S?i)yiai 5M=*=IV@I5T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.I9@ @@s4@i^A ʞ=ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986913A I! I1 O= >q%,"=LA2@2@@2ټٱ2=2H@?@n? yț@zr?^;?q??i2@I2];25CY>By>!I @@bDFVDF8yNE=%RU=ٔR:Q-R>9PYT=VEyVEVNEV>XQ 5^4ZS=?Q 9b4Zn)Z}BY`yb=Q Ib8@Z1DIZ:iZ%:ZG4yfZBɮf#@j0E:ix~DNOT Ignoring new targets: 65.44 m."i~A*i~A  ProNav: ac range: 65.437454 m, nav range: 64.838974 m, bearing: 2.311927 deg, approach rate: -0.548752 m/s, LOS rate: -0.031530 deg/s, cmd heading: 359.366906 deg, new cmd heading: 359.344059 deg. i fHeadingCmd: 6.271737 target range: 65.437454 and range: 65.70 m.h@hhhhggjg!rg!e!re!Ze!:e)*e-?ЁBɢ<)߼  ?i)giЀi;=,=I@I)I9)=xAEu EuEu$Eq"Eu:*EuE7:VEu4ZEqa}@a}@a}@a}@ԉ@ @@/@@@=ԱB>BB!IBBBBBDB|;B4EUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.239231^AK=A ؟AI I O > Tx%,gVLAEx@E@EbҼٱE=EH?n?ᚿz? S?@?@W?iEx@IE];E9}"?Y"?=EyE3 9E>Q 54Q?Q 94)BYy=Q I8@9DI:i2:a4yɮ"@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490963:iDNOT Ignoring new targets: 65.44 m."i *i  ProNav: ac range: 65.437454 m, nav range: 64.593506 m, bearing: 2.297771 deg, approach rate: -0.527865 m/s, LOS rate: -0.030558 deg/s, cmd heading: 359.344066 deg, new cmd heading: 359.315646 deg. i_HeadingCmd: 6.271241 target range: 65.437454 and range: 65.70 m.h@hhhhggjg rg e reZe:e*ed?=сBɢEs{<)A EE ?iA)MdIIiMiUFCU=U1=IU@IQ!@! @!@%/@!DyzD}@AE E~EE"Ey:*E(:VEZEBE˟%,apLA2@27@2xμٱ2=2H>? Nk?Vx2?+Hҙ?@P?@?i2@I2R^;0YBByB!Ii Mb@Mb@Mb@     9 Mb?㥛 ? rh?Y ?y = C< @ 9A )  Y @bD%VD%8y5)C%5b=ٔ5 :Q-=>99Y9=EEyEEE:EE>IQ 5U4Ma?Q 9U4M)MBY]x?Q E]:y]>Q I]8@M?DIM;iM ;M4yaɮeF@i:i)-DNOT Ignoring new targets: 65.44 m."i56*i56} ProNav: ac range: 65.437454 m, nav range: 64.407501 m, bearing: 2.282605 deg, approach rate: -0.488541 m/s, LOS rate: -0.039947 deg/s, cmd heading: 359.315652 deg, new cmd heading: 359.285234 deg. i}6HeadingCmd: 6.270710 target range: 65.437454 and range: 65.70 m.h@hhhhggjgrgցBereZe:e*e ?a颕ӁBɢg<)  ?i)椼顙iW#icL#=e=I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.9953119@ @@@yE EE'E"E:*EP:VE'4ZEa@a@a@a@Ա ^AE =Aq Iy I O >k%,KLAB*>B(B*"!IB*BB* =B(B(B*|;B(fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.246887Y%By-!IbD= VD=8yM\<%MD=ٔMQ-M>9QYQ=UEyUE]E]>YQ 5m4]s?Q 9m4]])]BYqyqQ Iu8@]FDI]%;i].';]4y}[Bɮ}@}1E:iAEDNOT Ignoring new targets: 65.44 m."iM!A*iM!A] ProNav: ac range: 65.437454 m, nav range: 64.193069 m, bearing: 2.265013 deg, approach rate: -0.512809 m/s, LOS rate: -0.042212 deg/s, cmd heading: 359.285244 deg, new cmd heading: 359.249942 deg. i]eHeadingCmd: 6.270094 target range: 65.437454 and range: 65.70 m.he@hihihihigigijgqrgqeqreqZeq:ey*e}C@颡ɢf<)  ?i)H顩i;KizV')=vخ=I@IYԉ%+wchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.501431@ @@@@yA@yA EM  EM EM $EI "EM :*EM =:VEM 4ZEI BEM dA AIIO?ż%,- LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.751887(^x@^@^'ļٱ^К=^Hl?s? 0~@N?>:`^?D? ?i^x@I^];^;CYBy !IiEMb@Mb@Mb@AAAA A9EV-?x&? rh?YE|>yE7=AE@EA Ed@)E @AYE@Y]@AbDeVDe8ym<%u =ٔu ;Q-u>9qYy=}Ey}Ey,E>Q 54?Q 94g)BY?Q E:y=Q I8@PDI;iT;s4yɮ@B*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 65.44 m."ir0*ir0 ProNav: ac range: 65.437454 m, nav range: 63.893406 m, bearing: 2.242835 deg, approach rate: -0.518646 m/s, LOS rate: -0.038566 deg/s, cmd heading: 359.249946 deg, new cmd heading: 359.205381 deg. i(HeadingCmd: 6.269317 target range: 65.437454 and range: 65.70 m.h>@hhhhggjgrgBereZe:e*e<4@-ՁBɢ5U<)1 5 ?i1)="99i=iE:cM0=Mԗ=IM>@IQu߼ԩ9@ @@@iIBDAT read: Rx Time:04:23:53.6058 TRx dataTimestamp_ set to:1764908634.959659checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004826 E  E E E "E :*E V:VE ZE a @a @a @a @^A d= AA II IY Om >l.%,1&ɖLA2@2c@2üٱ2=2Hv?'s?}? I _?R? ?i2@I28];29C :fC)8:D<<<ByB}(!IB}BB} =ByB}DB}|;B}4EbDmVDm8y<%X=ٔ9Q->9Y=EyE :E>Q 54?Q 94)BYy=Q I8@VDI:i:4yɮ@2E:iDNOT Ignoring new targets: 65.44 m."i,*i, ProNav: ac range: 65.437454 m, nav range: 63.703850 m, bearing: 2.228665 deg, approach rate: -0.501450 m/s, LOS rate: -0.037595 deg/s, cmd heading: 359.205386 deg, new cmd heading: 359.176963 deg. ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.255075HeadingCmd: 6.268821 target range: 65.437454 and range: 65.70 m.h.@hhhhg!g!jg!rg!e)reZe:e*eU @ցBɢNZ<) ?i)Bu  i s؆iVYk6=h =I.@I!!M9@I @Q@U4@Q)  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510295I ^A 6=D zD AAbE4jE̔4rES}/E  E E E "E %:*E |;:VE ZE BE ;a 2E ;a JE ;a :E ;a IIO>M%,!薗LA:@:O@:㗿ٱ:0O=:H@{?`pw?৴`ဿ@?@@m???i:@I:_7];:y=t<@"A M@) @YQ@bDVD8y5<%5"=ٔ=Y:Q-=>99YA=EEyEEDAT read: 04:23:53.6058 LVL= 27200, 28961, 26946, 32755, AGC= 67, IDX= 420, 0.32,-0.305,-2.005,-0.228,-0.748, PHS= 0.546,-1.211, 0.477, RAW= 148.0, 2.2, CAL= 147.2, 2.2, ROT= 2.8, -2.2 Ygot valid direction response: 04:23:53.6058 LVL= 27200, 28961, 26946, 32755, AGC= 67, IDX= 420, 0.32,-0.305,-2.005,-0.228,-0.748, PHS= 0.546,-1.211, 0.477, RAW= 148.0, 2.2, CAL= 147.2, 2.2, ROT= 2.8, -2.2 PDAT read: Bearing 175.1, 4.1 (Local) ~Local bearing/azimuth received: Bearing 175.1, 4.1 (Local) %DAT read: Range 11 to 50 : 63.8 m (Round-trip 85.1 ms) speed 0.4 m/s -(DAT read: user:86> -BDAT read: Tx time:04:23:54.7166 5$Ping request sent.5Y3B@j!qBi )I ?i X9>MQ%@nF=l$@ nF=)+H=InFߍY:?[k ?\v? S>)9I+H=inF:publishing transmit ping time1Fpublishing direction and range infoyQ 5 4賊?Q 9 4)BY >Q E :y=Q I8@_DIQ:i{:4yhBɮ@҉[0??.?Y )Ii )IߍY:?[k ?\v? )Ii3Eiiй햗LAj.~B"j.~B:j="pW3t O@ @Ƃʃ@p҉[0??.?*j+H=2jnF*pzKO@zsn@ңF?@pzO`?1Ώ?f'P?jp@ jr}Bi(D?i1 ZjqBj(D?jjCBrj}Bzj=E addTargetRange:: Added new target pos. range: 63.799999 m, deltaT: 3.780180 s, deltaX: -1.899998 m, approachRate: -0.502621 m/s, rangeRepo size: 4 U Added new target pos. range: 63.544941 m, bearing: 2.082258 deg, lat: 36.779409 deg, lon: -121.859629 deg, deltaT: 3.780180 s, deltaX: -1.892513 m, approachRate: -0.500641 m/s, posRepo size: 4 :iQDNOT Ignoring new targets: 63.54 m."i*i ProNav: ac range: 63.544941 m, nav range: 63.408848 m, bearing: 2.209857 deg, approach rate: 0.000000 m/s, LOS rate: -0.037595 deg/s, cmd heading: 359.176972 deg, new cmd heading: 359.132452 deg. iHeadingCmd: 6.268044 target range: 63.544941 and range: 63.80 m.hГ@hhhhggjgrgBe!re!Ze!:e%`fO@*e%]?颵؁Bɢ$g<) ?i)쒼i-Ri=xE?=Ey=IEГ@IAE 9@A  @A @E /5@A 9 E5  E5 {E1 E1 "E5 :*E5 5":VE1 ZE1 aE @aE @aE @aE @^Ae d=i Au xAzAu zAIIO?u%, LAB@B@@B6ٱBN=BH?@)y?,#mH?@6`T?WA? M?iB@IB];@YBy!IbD-VD-8y=ݼ%E*=ٔE::Q-E>9AYI=MEyMEM!LEM>Q 54B>BBBBBBDB|;B4EB}KD%,`"LA2@2@2ٱ2{m=2H?x?`P8,?YӻA?`ݻ?`?i2@I2B];28CY>By>!IDb=D`Ed EfEf&Ed"Ed*EfrN:VEf4ZEdBEf y9qYy=EyE%:E>Q 54_׊?Q 94)BY?Q E:y=Q I9@lDI ;i;m4yɮ&@:iDNOT Ignoring new targets: 63.54 m."i*i ProNav: ac range: 63.544941 m, nav range: 62.986481 m, bearing: 2.181652 deg, approach rate: -0.525199 m/s, LOS rate: -0.033370 deg/s, cmd heading: 359.102141 deg, new cmd heading: 359.075837 deg. iHtHeadingCmd: 6.267056 target range: 63.544941 and range: 63.80 m.h@hhhhggjgrgҁBereZe:e*e?5ځBɢ5<)  ?i)项i$i"K=R=I@Ii@i @i@i@iԩ^Ad=I I) OE > n%,U9XYX=ZEyZEZ:E^>`Q 5b4b犊?Q 9f4b%)bBYdyf3=Q If9@brDIb:ibG:b4yhɮn@l~B*** querying acoustic contact ***i|i|:i  DNOT Ignoring new targets: 63.54 m."ib*ib% ProNav: ac range: 63.544941 m, nav range: 62.790764 m, bearing: 2.169142 deg, approach rate: -0.516062 m/s, LOS rate: -0.033087 deg/s, cmd heading: 359.075831 deg, new cmd heading: 359.050734 deg. i%6r-HeadingCmd: 6.266617 target range: 63.544941 and range: 63.80 m.h-!@h)h)h)h)g1g1jg1rg1e1re9Ze9:e9*eEBY?m܁BɢmW<)i m ?iq)uqqiu~i}3}(R=}I:=I}!@II)uA1@1 @1@9@9E EE'E"E:*EA:VE'4ZEa @a @a @a @^AQBBBBB =BBBBIIO>1T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Y X%,lVLAR@RP@R΢ٱR+=RH ?>Vz?a-@?`i@Y? s?@#?iR@IR^];R8CY^Byb!IbDjVDj8yrhp<%rF=ٔv;Q-v>9tYt=vEyzEzeEz>|Q 54~?Q 94~)~BY y p=Q I 9@~yDI~:i~:~<4yiBɮt@4E:i9=DNOT Ignoring new targets: 63.54 m."iE*iEU ProNav: ac range: 63.544941 m, nav range: 62.577229 m, bearing: 2.155478 deg, approach rate: -0.519786 m/s, LOS rate: -0.033376 deg/s, cmd heading: 359.050723 deg, new cmd heading: 359.023301 deg. iUSt]HeadingCmd: 6.266139 target range: 63.544941 and range: 63.80 m.h]5@hYhYhYhYgagajgargaeireiZei:ei*em`?%݁Bɢ%K[<)! - ?i))-̈́))1i-ŒieեeY=mh.=I5@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7514959@ @@@YDzDE EE"E"Em:*E:VE(3ZEBEU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999389Ա ]%,=pLA2@2@2Jٱ2=2H;?}?p铿@?@j@ ?t?`?i2@I2];2;CYnByn!IieMb@Mb@Mb@aaaa a9eV-?A`"?~jt?Ye>yeY=eD9Y=EyEźE>Q 54h ?Q 94)ǎBYt>Q E:y=Q I9@DI_:i$:#4yɮ@:iDNOT Ignoring new targets: 63.54 m."i*i ProNav: ac range: 63.544941 m, nav range: 62.367020 m, bearing: 2.144450 deg, approach rate: -0.495361 m/s, LOS rate: -0.026074 deg/s, cmd heading: 359.023293 deg, new cmd heading: 359.001164 deg. i>HeadingCmd: 6.265752 target range: 63.544941 and range: 63.80 m.h @hhhhggjg rg ȁBe re Ze:e*e @ԑށBɢR<) ?i)!i%I֍i-wώU1a=U=IU @IY!@! @!@-/@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252273^Am =E  E E 'E "E :*E 0:VE '4ZE a @a @a @a @I! I9 OE > Ch%,LA2v@2@2h ٱ2=2H[?Հ?Dž@?ɹÑ?2Թ?`?i2v@I2qu];29CY>By> !IbDFVDFȰ8yN<%N[=ٔR`Y;Q-R>9PYT=VEyVEV EV>XQ 5^4Z?Q 9b4Z)Z̎BY`ybr=Q Ib9@ZDIZ7;iZ;Z.*4yfjBɮf@j5E:ixzDNOT Ignoring new targets: 63.54 m.Be>BaBe"!IBeBBe =BaBaBe|;Be4E"i}.*i}. ProNav: ac range: 63.544941 m, nav range: 62.181751 m, bearing: 2.134788 deg, approach rate: -0.495507 m/s, LOS rate: -0.025920 deg/s, cmd heading: 359.001163 deg, new cmd heading: 358.981780 deg. i=HeadingCmd: 6.265414 target range: 63.544941 and range: 63.80 m.hF~@hhhhggjgrgereZe:e*e`@߁Bɢc<)1 5?i9)={99i=֎iEEFg=E=IEF~@II]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503505eN>ia9@ @@/@@@@@!I I I % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757979O- >^%,󣗗LA2w@2@21 ٱ2=2H`h?@6=?Ņ ?2?`ǹ?:?i2w@I2j];2:CYBByB!ID`D`Ef EfEf"Ed"Ef:*EfR:VEf(3ZEdBEfyUT=Uu9Y=EyEE>Q 54,?Q 94 )ҎBY>Q E:y)=Q I9@DI;i;14yɮ@:iDNOT Ignoring new targets: 63.54 m."i~*i~⹝ ProNav: ac range: 63.544941 m, nav range: 61.968964 m, bearing: 2.124128 deg, approach rate: -0.492415 m/s, LOS rate: -0.024752 deg/s, cmd heading: 358.981793 deg, new cmd heading: 358.960400 deg. i25HeadingCmd: 6.265041 target range: 63.544941 and range: 63.80 m.h7{@hhhhggjgrgفBereZe:e*eM@5Bɢ5k<) [ ?i)qtiim=讯=I7{@IQ9@ @@/@II!O-->mBDAT read: Rx Time:04:23:57.2035 mTRx dataTimestamp_ set to:1764908638.738803uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.008454yԩ %,ϽLA2ֺ@2 @2oٱ2=2Hz?`7? `톿?c ?oŹ?@_?i2ֺ@I2%Q^;28CPYRByR !IbDZbchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.259523VDZ8yj%jV=ٔj";Q-n>9lYl=nEyrErsEr>tQ 5z4vB]>BYB]!IB]BBYBYBYB] };B]4EDAT read: 04:23:57.2035 LVL= 20464, 24913, 21794, 27507, AGC= 64, IDX= 412,-0.21, 2.401, 0.658, 2.456, 1.973, PHS= 0.531,-1.270, 0.440, RAW= 147.4, 3.4, CAL= 146.7, 3.6, ROT= 3.3, -3.6 Ygot valid direction response: 04:23:57.2035 LVL= 20464, 24913, 21794, 27507, AGC= 64, IDX= 412,-0.21, 2.401, 0.658, 2.456, 1.973, PHS= 0.531,-1.270, 0.440, RAW= 147.4, 3.4, CAL= 146.7, 3.6, ROT= 3.3, -3.6 PDAT read: Bearing 176.3, 4.2 (Local) ~Local bearing/azimuth received: Bearing 176.3, 4.2 (Local) DAT read: Range 11 to 50 : 62.1 m (Round-trip 82.8 ms) speed 0.4 m/s (DAT read: user:87> BDAT read: Tx time:04:23:58.3166 $Ping request sent.u$@us=u#@ u=)uk=Iuqqu)Y?D'm?? u>)uvIuk=iuqq:publishing transmit ping timeFpublishing direction and range infoyquP&G?d $j?֏ ?Yqqqqq q)qIqiqqqqq q)qIqqqu)Y?D'm?? q)qIqiqqq! P%,חLA2@2/@27rٱ2Y=2H??@Dꇿ?ǹF?ҹ?P?i2@I2^;2:CY^By^!IddbDjVDj8|yw<% G=ٔ ;Q- >9Y=EyEE]>aQ 5e4eN?Q 9m4e)eݎBYiym=Q Im9@eDIeh:ie>:e?4yɮ@ii{ϗLAjgwB"jgwB:jh%!="pT CN@?j(@ j\vBi@'?iWj7Bjp?jWj7BrjcvBzj]@!=- addTargetRange:: Added new target pos. range: 62.099998 m, deltaT: 3.527420 s, deltaX: -1.700001 m, approachRate: -0.481939 m/s, rangeRepo size: 4 e Added new target pos. range: 61.851456 m, bearing: 2.254148 deg, lat: 36.779409 deg, lon: -121.859628 deg, deltaT: 3.527420 s, deltaX: -1.693485 m, approachRate: -0.480092 m/s, posRepo size: 4 :iaeDNOT Ignoring new targets: 61.85 m."im*ii ProNav: ac range: 61.851456 m, nav range: 61.597427 m, bearing: 2.255622 deg, approach rate: 0.000000 m/s, LOS rate: -0.024627 deg/s, cmd heading: 358.941522 deg, new cmd heading: 358.920102 deg. i%HeadingCmd: 6.264338 target range: 61.851456 and range: 62.10 m.h%tu@h!h)hQhYgagqjgyrgereZe:e O@*e V?1Bɢ<) ?i)dipif9{= 2=Itu@Iy@y @y@}0@DzD@AE EE%E"E:*Ez:VE 4ZEBEb;a2Ec;aJE;a:E;aIIOn>Qԁ u%,~LAYnByn!IYimMb@Mb@Mb@iiii i9mS㥛?kt?{Gzt?Ym$?ym 0=mף;m@mA m @)m@iYm @bDVD8y %B=ٔQ->9 Y =EyEE>!Q 5=4%a?Q 9=4%)%BY=?Q E=:y==Q IE9@%DI%Ir;i%l;%@G4yUlBɮU @]6E:iDNOT Ignoring new targets: 61.85 m."iY*iY ProNav: ac range: 61.851456 m, nav range: 61.371822 m, bearing: 2.249409 deg, approach rate: -0.535166 m/s, LOS rate: -0.014791 deg/s, cmd heading: 358.920102 deg, new cmd heading: 358.907632 deg. iعHeadingCmd: 6.264120 target range: 61.851456 and range: 62.10 m.hs@hhhhggjgrgÁBereZe:e*e ?颕Bɢ@]<) ?i)^顙i/i.Ԁ=ت=Is@Iԉ]9@a @a@e1@aԱ^A E  E E $E "E غ:*E =:VE 4ZE a @a @a @a @ A .AI I O >@%,_ LA:@:d@:Oٱ:=:H@?ؑ?`P] .?gDQ?+N??i:@I:`;:9CYJByJ!IbDRʿVDR{8yZp=%ZZ=ٔZg;Q-Z>9^ ?Y^ ?=^Ey^ EbEb>dQ 5j4fp?Q 9j4f[)fBYhyj}=Q In9@fDIf:if:fM4yrmBɮrf@r7EB>BBBB =BBDB[};B4E:i)-DNOT Ignoring new targets: 61.85 m."i5*i5E ProNav: ac range: 61.851456 m, nav range: 61.183235 m, bearing: 2.244226 deg, approach rate: -0.531164 m/s, LOS rate: -0.014643 deg/s, cmd heading: 358.907644 deg, new cmd heading: 358.897246 deg. iEbֹMHeadingCmd: 6.263938 target range: 61.851456 and range: 62.10 m.hM/r@hIhIhIhIgQgQjgQrgQeQreYZeY:eY*ee`;_?颉ɢ6<) l ?i)%X顑iՓiC==I/r@I9@! @)@-2@)^Am=A ؟AI I1 O] >A %,9%LA2@2̭@2m=ٱ2r=2H??@?@v???i2@I2|`;2:CY>By>!I@BADR=DR<bE5 4jE5( 4rE5.0EV EVEV%ET"EV:*EV.:VEV 4ZETBEV] 9"?Y"?=EyE,E>Q 54P?Q 94)BY]?Q E:y=Q I9@DI;iY;8U4y!ɮ%C@!:iimDNOT Ignoring new targets: 61.85 m."iu*iu ProNav: ac range: 61.851456 m, nav range: 60.952324 m, bearing: 2.237371 deg, approach rate: -0.519015 m/s, LOS rate: -0.015466 deg/s, cmd heading: 358.897235 deg, new cmd heading: 358.883473 deg. ip⹝HeadingCmd: 6.263698 target range: 61.851456 and range: 62.10 m.h7p@hhhhggjg rg ߁BeyreyZey:e*e/E?eBɢ<) F ?i)2O顩i蔼i壟=:=I7p@II]9@Y @Y@e05@aq^A =A zA wAԡ A I I O > %,1@LA6@6Z@6K2ٱ6)=6H?!?눿?``LQ?`P? ?i6@I6`;6;CYBByB!IbDNVDN8yR<%RM=ٔV:Q-V>9TYX=ZEyZE^jE^>\Q 5b4^;?Q 9f4^)^BYdyf?=Q If9@^DI^G:i^:^[4yjnBɮn@n8EzB*** querying acoustic contact ***ixix:iDNOT Ignoring new targets: 61.85 m."i t*i t ProNav: ac range: 61.851456 m, nav range: 60.751160 m, bearing: 2.231508 deg, approach rate: -0.536068 m/s, LOS rate: -0.015677 deg/s, cmd heading: 358.883465 deg, new cmd heading: 358.871699 deg. i幝%HeadingCmd: 6.263493 target range: 61.851456 and range: 62.10 m.h%n@h!h!h!h!g!g)jg)rg)e)re1Ze1:e1*e5`?ɢ /<)  ?i)SIiΕiuRu =uʮ=Iun@IqE5 E5E5#E1"E5:*E5F:VE53ZE1aE@aE@aE@aE@%9@! @!@%/@!B}>ByByByByByB}DB}p};B}4EB9B9B9B= =B9C=O4T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I^Ae٦=A I I O >q 1%,YLA 44:@:h@: ٱ:9@=:H@?`Yc?@q @?qR #?[??i:@I:`;::CfGr{A~A-9-{AY-OAY5By5!IbDVD8y%==ٔ";Q->9Y=EyE7E>Q 54P?Q 94&)BYyΌ=Q I9@DI3;i;{c4yɮ*@:iDNOT Ignoring new targets: 61.85 m."i *i  ProNav: ac range: 61.851456 m, nav range: 60.524281 m, bearing: 2.225104 deg, approach rate: -0.524783 m/s, LOS rate: -0.014867 deg/s, cmd heading: 358.871690 deg, new cmd heading: 358.858835 deg. i%ٹ5HeadingCmd: 6.263268 target range: 61.851456 and range: 62.10 m.h=l@h9hAhAhIYgYgYjgargaeareaZei:ei*em@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259417ɢ <) Q ?i)%yA99i=Ӗi]))eԘ==Il@Iԁ@! @!@%/@!EM EMEIEI"EMg:*EM1]:VEIZEIBEM;a]2EM;a]JEM;a]:EM;a]ԩ^AE = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508755 A I I O >̎%,֫tLAF՛@F@F}|ٱF=FH??_L@?[O?@d??iF՛@IFQ`;DY^By^$!IIfx>)fp;iMb@Mb@Mb@ 9(\?Zd;O?Mb?Y?yj<=<@  @) @YbDVD8yI<%==ٔ;Q- >9 Y =EyEsE>Q 5%4?Q 9%4)BY%4?Q E-:y-=Q I-9@ÄDI;i;k4y5pBɮ5@1I:iaeDNOT Ignoring new targets: 61.85 m."im*im} ProNav: ac range: 61.851456 m, nav range: 60.294697 m, bearing: 2.218388 deg, approach rate: -0.530703 m/s, LOS rate: -0.015584 deg/s, cmd heading: 358.858822 deg, new cmd heading: 358.845339 deg. i})九HeadingCmd: 6.263032 target range: 61.851456 and range: 62.10 m.hj@hhhhggjgrgBereZe:e*e@S@ɢ!<) ?i)1T:iǗi՜==Ij@ImV>im>9@ @@/@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761255ԩE EE$E"E:*EC:VE4ZEa@a@a@a@^A% ʞ=AQ IY Ii O} > B >B ;CB "!IB BB =B B B }};B 4Eq#%,6sLA2D@2@2sٱ24=2H?3~?`q@B?`A#?@J?o?i2D@I2`;27CYNByR!IbDZVDZ8y~r%~]=ٔ>;Q->9Y= Ey E !eE >Q 54̋?Q 94`)BY!y%=Q I%9@ɄDI:i:zq4y)ɮ-@@)EBDAT read: Rx Time:04:24:00.8009 ETRx dataTimestamp_ set to:1764908642.266863Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013933:iamDNOT Ignoring new targets: 61.85 m."im*im ProNav: ac range: 61.851456 m, nav range: 60.098606 m, bearing: 2.212851 deg, approach rate: -0.528773 m/s, LOS rate: -0.014979 deg/s, cmd heading: 358.845326 deg, new cmd heading: 358.834216 deg. iO۹HeadingCmd: 6.262838 target range: 61.851456 and range: 62.10 m.h,i@hhhhggjgrgereZe:e*eS@Bɢo<)  ?i)֝3iim==I,i@IԱ9@ @@/@^A\= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267153! A .AI I9 O >E  E E E "E :*E ?:VE ZE BE ] 9m ?Ym ?=uEyu$Eu+ܻEu>yQ 54}ዊ?Q 94})}BYW?Q E:y=Q I9@}҄DI}r;i};}y4yqBɮ@9E:iDNOT Ignoring new targets: 61.85 m."i*i򲹝 ProNav: ac range: 61.851456 m, nav range: 59.841305 m, bearing: 2.203484 deg, approach rate: -0.534863 m/s, LOS rate: -0.019556 deg/s, cmd heading: 358.834206 deg, new cmd heading: 358.815391 deg. i(HeadingCmd: 6.262510 target range: 61.851456 and range: 62.10 m.h{f@hhhhggjgrgBereZe:e*e`f# @ɢ5<)! %?i!)%*!)i-i-`-/=57=I5{f@I1uDAT read: 04:24:00.8009 LVL= 24720, 31297, 27682, 32755, AGC= 65, IDX= 418, 0.09,-0.695,-2.473,-0.685,-1.169, PHS= 0.576,-1.258, 0.440, RAW= 146.2, 2.8, CAL= 145.6, 2.9, ROT= 4.4, -2.9 Ygot valid direction response: 04:24:00.8009 LVL= 24720, 31297, 27682, 32755, AGC= 65, IDX= 418, 0.09,-0.695,-2.473,-0.685,-1.169, PHS= 0.576,-1.258, 0.440, RAW= 146.2, 2.8, CAL= 145.6, 2.9, ROT= 4.4, -2.9 PDAT read: Bearing 175.1, 4.8 (Local) ~Local bearing/azimuth received: Bearing 175.1, 4.8 (Local) DAT read: Range 11 to 50 : 60.1 m (Round-trip 80.2 ms) speed 0.4 m/s (DAT read: user:88> BDAT read: Tx time:04:24:01.9166 $Ping request sent.)EEIEnF=iE4QOAA:publishing transmit ping timeFpublishing direction and range infoyAE?%be?:gk?|rQ?YAAAAA A)AIAiAAAAA A)AIAAAE-?45?Œĸ? A)AIAiAAA9@ @@@a ^A =ԑ AQ IY Ii O} >1%,VĘLAFKp@Fi@F]*~ٱFp=FH@@?C?`_xLȔ ?yc`Fo?i?@7?iFKp@IF`;DYPyPbD^!VD^˰8yb%ff=ٔf9;Q-f>9hYh=jEyj(EnEn>pQ 5r4r?Q 9v4rz)rBYtyvO=Q Iv9@r؄DIr;ir;r%4y~rBɮ~@~:EiQiUVJLAjUooB"jUooB:jUEtP="pUN{M@7}X@t7:@pU?%be?:gk?|rQ?*jUnF=2jU4QO*pUU9M@2|c+P@ ᧻ @pUݡ?BN!?bcxDʯ?jUB@ jUnBiU?iUjUuBjQjQjU͋BrjUnBzjU =E addTargetRange:: Added new target pos. range: 60.099998 m, deltaT: 3.528276 s, deltaX: -2.000000 m, approachRate: -0.566849 m/s, rangeRepo size: 4 ] Added new target pos. range: 59.858669 m, bearing: 2.915904 deg, lat: 36.779409 deg, lon: -121.859628 deg, deltaT: 3.528276 s, deltaX: -1.992786 m, approachRate: -0.564805 m/s, posRepo size: 4 :iY]DNOT Ignoring new targets: 59.86 m."ie*iaE EE#E"E,:*EX:VE3ZEa@a@a@a@ ProNav: ac range: 59.858669 m, nav range: 59.651939 m, bearing: 2.196682 deg, approach rate: 0.000000 m/s, LOS rate: -0.019556 deg/s, cmd heading: 358.815382 deg, new cmd heading: 358.801306 deg. iHeadingCmd: 6.262264 target range: 59.858669 and range: 60.10 m.hxd@hhhhg!Ag!jgIrgIeIreIZeQ:eU N@*eU`(?额Bɢ_<) {?i)#iqib=~=Ixd@I }9@y @y@}/@yB>B :7%,OޘLAFe@F2_@F|ٱF=FH@??@r}?@;t@c?y?Q?iFe@IFm`;DYRByR!IbDZVDZ8y %H=ٔfk;Q->9 "?Y "?= Ey ,E EKE>Q 54?Q 94 )BYy ޘ=Q I 9@߄DIT=i8=J4yɮB@Թ}B*** querying acoustic contact ***iyiy:iDNOT Ignoring new targets: 59.86 m."iݒ*iݒ ProNav: ac range: 59.858669 m, nav range: 59.434437 m, bearing: 2.189067 deg, approach rate: -0.456747 m/s, LOS rate: -0.016050 deg/s, cmd heading: 358.801312 deg, new cmd heading: 358.786026 deg. i깝HeadingCmd: 6.261997 target range: 59.858669 and range: 60.10 m.hHb@hhhhggjgrgereZe:e*e_h?BɢX<)  ?i)iP_iS]=¢=IHb@IDzD?AE EE"E"E:*EVL:VE(3ZEBE.n=%,TLA$N]@NV@N5ٱN =NH? @?jR!F?]Ը0P?q׸?V?iN]@IN<`;LYZByZ4!Ii=Mb@Mb@Mb@9999 99=w/?v/?:v?Y=?y=xi==T<=@=A = @)= @9Y==@bDUVDU8yeu=%eC=ٔer^;Q-m>9m ?Ym ?=mEym0EuQ Eu>yQ 54}?Q 94})}BY?Q E:y=Q I9@}DI},;i}+;}4ysBɮ,@;E:i9=DNOT Ignoring new targets: 59.86 m."ie*ieu ProNav: ac range: 59.858669 m, nav range: 59.212582 m, bearing: 2.179599 deg, approach rate: -0.609082 m/s, LOS rate: -0.026091 deg/s, cmd heading: 358.786012 deg, new cmd heading: 358.767005 deg. iu>}HeadingCmd: 6.261665 target range: 59.858669 and range: 60.10 m.h}_@hyhyhyhyggjgrgBereZe:e*e (?ɢ%"=)! %?i!)%]N!)i-y6i-J5=5=I5_@I1ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.252223@ @@0@ԡE EEE"Ey:*E*5:VEZEa@a@a@a@^A= B >B B (!IB BB =B B DB };B &5EA- ؟AI1 IA OU >QD%,LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.504259>W@>P@>9ٱ>4=>H?ȗ?^ۗ?L3; N?@?i>W@I>a;>8CXY^By^$!IbDfVDf8ynۋ%nT=ٔro;Q-r>9r"?Yr"?=vEyv4EvEv>xQ 5~4z'?Q 9~4z")zBYy=Q I9@zDIz.:iz:z[4y ɮ @ :iDNOT Ignoring new targets: 59.86 m."i]˹*i]˹ ProNav: ac range: 59.858669 m, nav range: 59.008305 m, bearing: 2.170973 deg, approach rate: -0.524489 m/s, LOS rate: -0.022224 deg/s, cmd heading: 358.766997 deg, new cmd heading: 358.749685 deg. i" HeadingCmd: 6.261363 target range: 59.858669 and range: 60.10 m.h-]@h1h1h1h1g9g9jg9rgAeAreiZeq:eq*eu{?颽Bɢ<)  ?i)7 i[iIJI==I]@II)xA@ @@f0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756164^A͢=A E  E E %E "E :*E |:VE 4ZE BE vJ%,*+LANY@NgR@N:ٱN_=NH?`꿗?rFA@筗 c?Q|z^P??iNY@IN`;N9CYb Byb0!Ii}Mb@Mb@Mb@yyyy y9}Q?A`"?I +?Y}?y}Y=}94=ٔd[;Q->9Y=Ey8E9E>Q 54*;?Q 94)BY ?Q E:y=Q I9@DI:iF:ٜ4ytBɮ@:iDNOT Ignoring new targets: 59.86 m."iب*iب ProNav: ac range: 59.858669 m, nav range: 58.777874 m, bearing: 2.163084 deg, approach rate: -0.536861 m/s, LOS rate: -0.018452 deg/s, cmd heading: 358.749676 deg, new cmd heading: 358.733836 deg. iHeadingCmd: 6.261086 target range: 59.858669 and range: 60.10 m.hZ@hhhhggjgrgBereZe:e*e @5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008186EBɢEq<)A E?iA)EfIIiM8ȝiU9Ud=Uf =IUZ@IYQ@ @@1@q^A) ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260883Ay I I O >!^Q%,ELA6U@6 O@6kB;ٱ6(\=6H?I?A?`{?YhQ??i6U@I6N`;4YBByB2!IbDJʿVDJ{8yR+<%R\=ٔVD;Q-V>9TYT=ZEyZ<EZ@EZ>\Q 5b4^K?Q 9b4^P)^ BYdyf=Q If9@^DI^:i^:^R4yhɮja@h:iquDNOT Ignoring new targets: 59.86 m.yE EE$E"E:*E?:VE4ZEa@a@a@a@"i}*i} ProNav: ac range: 59.858669 m, nav range: 58.578884 m, bearing: 2.156306 deg, approach rate: -0.545157 m/s, LOS rate: -0.018632 deg/s, cmd heading: 358.733830 deg, new cmd heading: 358.720228 deg. idHeadingCmd: 6.260849 target range: 59.858669 and range: 60.10 m.hX@hhhhggjgrgereZe:e*e`u@Bɢ =) ?i)0iQi{=*=IX@I 9@ @@4@B]>BYBYBYB] =BYB]DB]};B] 5EԩEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512077^A=AyAzAzAAA II IY Om > ͈W%,_LA2T@2M@2x;ٱ2ne=2H?`†?tU? @5?@F/oG??i2T@I2\`;26CY>By>"!I @@bDJVDJg8yRy%RJ=ٔR};Q-R>9TYT=VEyV@EZùEZ>\Q 5b4^"^?Q 9b4^)^BY`ybC=Q If9@^DI^;i^v;^`4yjwBɮjO@j3E:ix~DNOT Ignoring new targets: 59.86 m."i*i ProNav: ac range: 59.858669 m, nav range: 58.362026 m, bearing: 2.148903 deg, approach rate: -0.558033 m/s, LOS rate: -0.019121 deg/s, cmd heading: 358.720224 deg, new cmd heading: 358.705362 deg. i HeadingCmd: 6.260590 target range: 59.858669 and range: 60.10 m.hV@hhh!h!g)g)jg9rgAeIreIZeI:eI*eM @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768094%Bɢ-q<)Q ] ?iY)eii8Bi}n=Qס=IV@IC>i>bE3jE<3rE/E EEE"Eg:*E*5:VEZEBE;a2E;aJE;a:E;a )@) @)@-5@)1^A u BDAT read: Rx Time:04:24:04.3983 } TRx dataTimestamp_ set to:1764908645.803857 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022613A9 IA IY Y Om >]%,tyLA2T@2M@2$;ٱ2=2H?@C? "c?`<@?̺`sXǺ?@?i2T@I2u`;28CY>By>&!IiMb@Mb@Mb@ 9p= ף?A`"?y&1?Y?y`e<9A  @)M@Y@bDmVDmN8y}U<%==ٔh;Q->9Y=EyEE!8E>Q 54q?Q 94u)BY?Q E:y=Q I9@DI;i.:4yxBɮ6@B*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 59.86 m."i*i ProNav: ac range: 59.858669 m, nav range: 58.136230 m, bearing: 2.140658 deg, approach rate: -0.520563 m/s, LOS rate: -0.019084 deg/s, cmd heading: 358.705361 deg, new cmd heading: 358.688806 deg. i HeadingCmd: 6.260301 target range: 59.858669 and range: 60.10 m.hbT@hhhhggjg rg Be re Ze:e*eB @9EBɢM=)I M ?iI)M[߻QQiUi]y]֛=]2h=I]bT@Ia@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272230aE EE'E"E7:*EM:VE'4ZEa@a@a@a@^AԉAE .ABq Bq Bq Bq Bq Bq Bu DBu |;Bu 4EBBI II Oq BBBC5 ޚd%,PLA*DAT read: 04:24:04.3983 LVL= 26464, 29153, 31458, 32755, AGC= 67, IDX= 408, 0.28, 2.291, 0.515, 2.312, 1.849, PHS= 0.543,-1.289, 0.418, RAW= 146.5, 3.7, CAL= 145.9, 4.0, ROT= 4.1, -4.0 2Ygot valid direction response: 04:24:04.3983 LVL= 26464, 29153, 31458, 32755, AGC= 67, IDX= 408, 0.28, 2.291, 0.515, 2.312, 1.849, PHS= 0.543,-1.289, 0.418, RAW= 146.5, 3.7, CAL= 145.9, 4.0, ROT= 4.1, -4.0 2PDAT read: Bearing 175.9, 3.9 (Local) 6~Local bearing/azimuth received: Bearing 175.9, 3.9 (Local) :DAT read: Range 11 to 50 : 58.2 m (Round-trip 77.7 ms) speed 0.4 m/s >(DAT read: user:89> BBDAT read: Tx time:04:24:05.5165 B$Ping request sent.BB?&k۱?YhB`gqz )CI  ?i>_#@ A="@ 5=)C=I5@|?kp~?xU8˵? ~>)ƅIC=i5:publishing transmit ping time@Fpublishing direction and range infoy,B?&k۱?Y )Ii )I@|?kp~?xU8˵? )IiEW@EP@EJݷ;ٱE%=EH`?`kV?i?ݗ??`v $?q?iEW@IE4`;E6CY] Bye.!IbDuVDur8y<%;=ٔM:Q->9 ?Y ?=EyIEԑYY:E>Q 54?Q 94)BYy[=Q I9@DI :i:4yɮ@ii LAjgB"jgB:jO%="p0L@PQ֡@px,@p,B?&k۱?*jC=2j5*p@L@^= @7o@pRv?sU?͎??j@ jgBi܈?irjNBj(D?jjqBrjgBzjTw= addTargetRange:: Added new target pos. range: 58.200001 m, deltaT: 3.535932 s, deltaX: -1.899998 m, approachRate: -0.537340 m/s, rangeRepo size: 4 %G9Qb9YAe Added new target pos. range: 57.967140 m, bearing: 2.319822 deg, lat: 36.779409 deg, lon: -121.859628 deg, deltaT: 3.535932 s, deltaX: -1.891529 m, approachRate: -0.534945 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 57.97 m.2iPowering the camera and arming the capture device at range: 58.20 m.i"i*i ProNav: ac range: 57.967140 m, nav range: 57.888367 m, bearing: 2.132731 deg, approach rate: 0.000000 m/s, LOS rate: -0.019084 deg/s, cmd heading: 358.688805 deg, new cmd heading: 358.671221 deg. iHeadingCmd: 6.259994 target range: 57.967140 and range: 58.20 m.hQ@hhhhiggjgrgereZe:eM@*e ?Bɢ<) ?i ) ̻  i oi=Ϗ=IQ@I E&Changing to mode: 29@ @@5@ @ =@ =1 E  E E #E "E g:*E ?:VE 3ZE BE a 2E a JE ;a :E ;a a ^Au T=Au >Au ?ԉAIIO?Jl%,jLAVX@VR@V;ٱVV=VH?RM?xp??Kz ?`)?iVX@IV_;V8CYBy%(!II-=)-=iMb@Mb@Mb@ 9w/?Zd;?y&1?Y?yy=  @)z@YbDܿVD8y %%=ٔ:Q->9Y=EyNE9E>Q 54V?Q 94e)BY?Q E:y=Q I9@DI; ;i;64yyBɮ.@4E:i!-DNOT Ignoring new targets: 57.97 m.2i)5Powering the camera and arming the capture device at range: 58.20 m.i1"i5*i5E ProNav: ac range: 57.967140 m, nav range: 57.628693 m, bearing: 2.119445 deg, approach rate: -0.552849 m/s, LOS rate: -0.028412 deg/s, cmd heading: 358.671210 deg, new cmd heading: 358.644520 deg. iEOHeadingCmd: 6.259528 target range: 57.967140 and range: 58.20 m.h N@hhhhiggjgrgBereZe:e*e%?uBɢuk<)q u ?iq)} yyi}iic&=C=I N@I]7@Y @Y@]4@Y9iiIia ^A} &=EE  EE EE "EA "EE :*EE |;:VEE (3ZEA aM @aM @aM @aM @Au ؟AIy I O >`bs%,1ΙLA >`@BB>BB=CBB"!IBBBB@B@BBDBBy{;BB4E>Y@>;ٱ>=W=>H ?@b?+s?@4`? f}`Q]?`?i>`@I>._;>7CYZByZ'!IbDbϿVDb8yj%j]=ٔnW:Q-n>9r"?Yr"?=rEyrREr<*;Er>tQ 5z4vت?Q 9z4v )vBY|y~b=Q I~9@vDIv2:iv;v4yɮ@@ :i)5DNOT Ignoring new targets: 57.97 m.2i15Powering the camera and arming the capture device at range: 58.20 m.i1"i=I*i=IM ProNav: ac range: 57.967140 m, nav range: 57.432278 m, bearing: 2.109139 deg, approach rate: -0.529847 m/s, LOS rate: -0.027899 deg/s, cmd heading: 358.644518 deg, new cmd heading: 358.623834 deg. iM;LUHeadingCmd: 6.259167 target range: 57.967140 and range: 58.20 m.hUK@hQhQhQhQiQgYgYjgYrgYeareaZea:ea*em@?颕Bɢ=)  ?i)簻顙i: iļr==IK@Iq5@ @@/@ԙ^A A .AI I! O- >>y%,z虗LALfh@f,b@f<ٱf=fH?Ct?v? =w?`H4?1?ifh@If^;f8CYvByv)!IE~ E~E~E|"E~:*E~A:VE~(N3ZE|BE~69 ?Y% ?=%Ey%VE-;E->1Q 5E45?Q 9E45[ )5 BYM( ?Q EM:yM=Q Iu9@5&DI5s;i5;54y}{Bɮ9@5E:iDNOT Ignoring new targets: 57.97 m.2iPowering the camera and arming the capture device at range: 58.20 m.i"i-*i-= ProNav: ac range: 57.967140 m, nav range: 57.191525 m, bearing: 2.096034 deg, approach rate: -0.519269 m/s, LOS rate: -0.028383 deg/s, cmd heading: 358.623836 deg, new cmd heading: 358.597517 deg. i=OEHeadingCmd: 6.258708 target range: 57.967140 and range: 58.20 m.hEUG@hAhAhAhAiigigijgirguBeqreqZeq:eq*e}? Bɢ xr<)   ?i )ϟi@iȼȠ= S=IUG@I!I)tA2@ @!@!@!@5yA@5vA! ^A =A xAzA xAA ؟AI I O >b؀%,LA2i@2b@2 <ٱ2#=2H?m?2]y?7Q?㠻Br}??i2i@I2u^;0Y]By](!I aaimAbDuпVDu8y~%8=ٔi:Q->9"?Y"?=Ey[EX9E>Q 54ӌ?Q 94 )#BYy=Q I9@.DI;i;74y|Bɮ]@B*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 57.97 m.2iPowering the camera and arming the capture device at range: 58.20 m.i"iP *iP  ProNav: ac range: 57.967140 m, nav range: 56.953701 m, bearing: 2.082960 deg, approach rate: -0.559498 m/s, LOS rate: -0.030886 deg/s, cmd heading: 358.597526 deg, new cmd heading: 358.571269 deg. ibHeadingCmd: 6.258249 target range: 57.967140 and range: 58.20 m.EM EMEM%EI"EMI:*EM1]:VEM 4ZEIaU@aU@aU@aU@ahC@hhhhiggjgrgereZe:e*e. ?Bɢh=) o ?i)CWiSfiIF̼p==IC@IBBB!IBBB =BBBz;B3Eԉ/@ @@@UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.Թ ^A C= AA II IY Om >%,LA2k@2d@29<ٱ2u_=2H?F?@W|?`1^@>?@R@+' ֝? ?i2k@I2^;0 :YC):9~A:88<>9~Ai>ףI<9lYl=rEyr_Er#:Er>tQ 5z4vz䌊?Q 9z4vJ )v%BY|y~4=Q I~9@v4DIvG:iv:v4yɮ @:iDNOT Ignoring new targets: 57.97 m.2iPowering the camera and arming the capture device at range: 58.20 m.i"iM*iM ProNav: ac range: 57.967140 m, nav range: 56.746517 m, bearing: 2.071432 deg, approach rate: -0.517782 m/s, LOS rate: -0.028917 deg/s, cmd heading: 358.571271 deg, new cmd heading: 358.548130 deg. iSHeadingCmd: 6.257845 target range: 57.967140 and range: 58.20 m.hE@@hhhhiggjgrgereZe:e*e`L@mBɢm=)q u8?iq)uqqiumi}ϼ}Ч=}(=IE@@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260240ԩ-@! @!@-/@)E] E]E]#EY"E]:*E].:VE]3ZEYBE]) %,:u9LA2m@20g@2&<ٱ2ܛ=2H ?@"?s/?@ ?,r i҄e??i2m@I2M^;0YBy!IiMb@Mb@Mb@ 9uV?T㥛 ?9Y=EycEF):E>Q 54?Q 94 )'BYj ?Q E:y=Q I9@i)Nsji iӼ=sm=IO<@I>i>e +@a @a@e/@a@m=@m=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7643599E] E]E]$EY"E]Ʊ:*E]a9:VE]4ZEYae@ae@ae@ae@i ^A jb=B B B !IB BB B B B Dz;B g3EI I O >%,+iSLABDAT read: Rx Time:04:24:07.9958 TRx dataTimestamp_ set to:1764908649.336090checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019032YmBym!IIu >)u4<}=}=bD VD8y*%E=ٔQ->9Y=EygE%E%>IQ 5U4M ?Q 9U4M' )M*BYQyQQ IU9@MCDIM%:iM:M4yaɮe@a:iDNOT Ignoring new targets: 57.97 m.2iPowering the camera and arming the capture device at range: 58.20 m.i"i*i ProNav: ac range: 57.967140 m, nav range: 56.289387 m, bearing: 2.044213 deg, approach rate: -0.551809 m/s, LOS rate: -0.033123 deg/s, cmd heading: 358.520427 deg, new cmd heading: 358.493478 deg. iyrHeadingCmd: 6.256892 target range: 57.967140 and range: 58.20 m.hu8@hhhhiggjgrgereZe:e*e@a颍Bɢ<) >i)*;P顑ii/e׼|=(=Iu8@I(@ @@@ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268328^A = IY I O >DQ zDU @AE]  E] E] %EY "E] I:*E] E7:VE] 4ZEY BE] 9Y=EykEѹE>Q 54?Q 94 )+BYd?Q E:yxn=Q I9@IDI;i/;4yBɮ>@7E:iDNOT Ignoring new targets: 57.97 m.2iPowering the camera and arming the capture device at range: 58.20 m.i"ic*ic ProNav: ac range: 57.967140 m, nav range: 56.085785 m, bearing: 2.039524 deg, approach rate: -0.538020 m/s, LOS rate: -0.012437 deg/s, cmd heading: 358.493489 deg, new cmd heading: 358.484076 deg. i  HeadingCmd: 6.256727 target range: 57.967140 and range: 58.20 m.h 7@hhhhiggjgrg Bere!Ze!:e!*e%# @Bɢb=) T>i)9i꒥iѾؼ==I7@I=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525309-?&@) @1@5/@9^A ! I) IA OM > DAT read: 04:24:07.9958 LVL= 23648, 27777, 25842, 32755, AGC= 60, IDX= 414, 0.33,-1.738, 2.811,-1.742,-2.142, PHS= 0.505,-1.286, 0.356, RAW= 145.7, 5.0, CAL= 145.2, 5.4, ROT= 4.8, -5.4  Ygot valid direction response: 04:24:07.9958 LVL= 23648, 27777, 25842, 32755, AGC= 60, IDX= 414, 0.33,-1.738, 2.811,-1.742,-2.142, PHS= 0.505,-1.286, 0.356, RAW= 145.7, 5.0, CAL= 145.2, 5.4, ROT= 4.8, -5.4  PDAT read: Bearing 177.3, 4.4 (Local)  ~Local bearing/azimuth received: Bearing 177.3, 4.4 (Local)  DAT read: Range 11 to 50 : 56.3 m (Round-trip 75.1 ms) speed 0.4 m/s  (DAT read: user:90>  BDAT read: Tx time:04:24:09.1165  $Ping request sent. "@ ¸= 0"@ =) =I  8b?H7a?LC? O>) RI =i  E :publishing transmit ping time E Fpublishing direction and range infoy  e ?4S?|ӄ{?Y ) I i ) I 8%,FLA8b?H7a?LC? )Ii|%i@%b@%P<ٱ%ɩ=%H?ږ?XQ??@h??i%i@I%^;%7CY}By}!IbDVD8y%E=ٔ@:Q->9Y=EyoEcE>E EE"E"E:*EC:VE(3ZEa-@a-@a-@a-@QQ 5]4U/?Q 9e4U~ )U,BYayem=Q Ie9@UQDIU:iU:U4yiɮmO@ii…LAjM`B"jM`B:jU="p=DGXK@kt9@|J@pe ?4S?|ӄ{?*j=2j*p $SK@s8Q@@g @pVS?^z1˜??j:@ j_Bi/?iJսjBjjrjrjv_BzjC= addTargetRange:: Added new target pos. range: 56.299999 m, deltaT: 3.783917 s, deltaX: -1.900002 m, approachRate: -0.502126 m/s, rangeRepo size: 4 M Added new target pos. range: 56.075405 m, bearing: 2.991513 deg, lat: 36.779409 deg, lon: -121.859625 deg, deltaT: 3.783917 s, deltaX: -1.891735 m, approachRate: -0.499941 m/s, posRepo size: 4 :iQUDNOT Ignoring new targets: 56.08 m.2iQUPowering the camera and arming the capture device at range: 56.30 m.iQ"i]*iY ProNav: ac range: 56.075405 m, nav range: 55.865822 m, bearing: 2.225071 deg, approach rate: 0.000000 m/s, LOS rate: -0.012437 deg/s, cmd heading: 358.484063 deg, new cmd heading: 358.473066 deg. iHeadingCmd: 6.256535 target range: 56.075405 and range: 56.30 m.h5@hhhhiggjgrgereZe:e`f&L@*e?)AMAAAMAABU>BUi)biisQڼ=%Ƭ=I%5@I!o#@ @@/@@@zAYԁ ^A =A zA wAIA IQ Oe >֧%,;᠚LA2h@2a@2\<ٱ2=2Hi?`???@w@`??i2h@I2_;28CY>˂By> I @@bDFVDFİ8yN)%Ra=ٔRZ;Q-R>9TYT=VEyVsEVEV>XQ 5^4Z>?Q 9b4Z6 )XY`ybl=Q Ib9@ZWDIZ:iZP:Z4yfBɮfR@j8EvB*** querying acoustic contact ***itit:ix~DNOT Ignoring new targets: 56.08 m.2i|Powering the camera and arming the capture device at range: 56.30 m.i"ieG*ieG ProNav: ac range: 56.075405 m, nav range: 55.679180 m, bearing: 2.221440 deg, approach rate: -0.558094 m/s, LOS rate: -0.010895 deg/s, cmd heading: 358.473053 deg, new cmd heading: 358.465766 deg. iYHeadingCmd: 6.256408 target range: 56.075405 and range: 56.30 m.h~4@hhhhiggjgrgereZe:e*e`?Bɢ% <)! %)>i!)% !!i- ^i-]ۼ-(=5۬=I5~4@}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.Iԉ bEjEĨ3rE#e0EM EMEM$EI"EM%;*EM=:VEM4ZEIBEM K %,MLAY~ۂBy~ IiMb@Mb@Mb@ 9(\?Mb?y&1|?Y?y@=OA 7@)@YbDVDɰ8yC=%:=ٔQ->9Y= Ey xE E >Q 54R?Q 94 )-BY%9?Q E%:y%х=Q I%9@^DI:iw: 4y-Bɮ-k@1:iQ]DNOT Ignoring new targets: 56.08 m.2iY]Powering the camera and arming the capture device at range: 56.30 m.iY"ieY*ieYu ProNav: ac range: 56.075405 m, nav range: 55.440266 m, bearing: 2.214878 deg, approach rate: -0.532288 m/s, LOS rate: -0.014682 deg/s, cmd heading: 358.465758 deg, new cmd heading: 358.452578 deg. iuֹ}HeadingCmd: 6.256178 target range: 56.075405 and range: 56.30 m.h}2@hyhyhyhyiyggjgrgBereZe:e*e0'?颽Bɢ=<) p>i)K2ii>ݼMģ=L=I2@Imf@i @i@m/5@i checking for new query: numPingsReceived=0, elapsed TxPingTime=0.9966501EE EEEE EA"EE:*EE H:VEE3ZEAaU@aU@aU@aU@^AQBM >BM =CBM IBM ΂BBM =BI BM DBM {;BM 3EB =CB =CB B B =C ʛ5A .AI I O Y T%,НԚLAR g@Rj`@R(K{<ٱR=RH(?x??`앿?=C@i.??iR g@IRMk_;R5CY`ydrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248719bDrVDr8ٔz;;Q-~>9~ ?Y~ ?=~Ey{EE> Q 54 {c?Q 94 v ) .BYy_=Q I9@ eDI ;i ; h4y!ɮ!!:iIMDNOT Ignoring new targets: 56.08 m.2iIUPowering the camera and arming the capture device at range: 56.30 m.iQ"i*i ProNav: ac range: 56.075405 m, nav range: 55.243359 m, bearing: 2.209472 deg, approach rate: -0.531971 m/s, LOS rate: -0.014657 deg/s, cmd heading: 358.452590 deg, new cmd heading: 358.441739 deg. iֹ HeadingCmd: 6.255989 target range: 56.075405 and range: 56.30 m.h 1@h h h h i1g1g9jg9rg9e9reAZeA:eA*eE@?Bɢ8<) >i)yi2iY޼>ɣ=7@=I1@I =w>=CyA5A9yAYAa@ @@@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500420ԑ^A A >A E]  E] E] #EY "E] y:*E] c:VE] 3ZEY BE] e%,LA2h@2b@2P<ٱ2/E=2H?`_?|? @? *p穐RZ??i2h@I2fM_;28CY>ւBy> IIB=)Bi>i=Mb@Mb@Mb@9999 99=MbX9?/$?~jt?Y=?y=,==D<=l@9 =M@)=@9Y=@bDUVDU8yeF%e<ٔe ;Q-e>9m"?Ym"?=mEymEuu9Eu>yQ 54}Fv?Q 94} )}0BYE?Q E:yOo=Q I9@}lDI}:i}N:}4yBɮ@9E:iDNOT Ignoring new targets: 56.08 m.2iPowering the camera and arming the capture device at range: 56.30 m.i"i[A*i[A ProNav: ac range: 56.075405 m, nav range: 55.020031 m, bearing: 2.204852 deg, approach rate: -0.508653 m/s, LOS rate: -0.010565 deg/s, cmd heading: 358.441743 deg, new cmd heading: 358.432466 deg. iHeadingCmd: 6.255826 target range: 56.075405 and range: 56.30 m.h/@hhhhiggjgrgBereZe:e*e\?Bɢ <) <>i):i fi-༉-Σ=-=I-/@I1echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.755684@ @@4@I^AoE= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004467A .AI I1 O= >y <[%,& LA:d@:'^@:<ٱ:8(=:H@?`&?@AI?*5?Rn ɞ@V?@?i:d@I:^;:7CYFтByJ IbDRVDR8yZܼ%ZT=ٔZ;Q-^>9^ ?Y^ ?=^Ey^EbEb>dQ 5j4f?Q 9j4f)f2BYhynWm=Q In9@frDIf\:if:f4ypɮr(@p:i  DNOT Ignoring new targets: 56.08 m.2i Powering the camera and arming the capture device at range: 56.30 m.i"i>*i>% ProNav: ac range: 56.075405 m, nav range: 54.824162 m, bearing: 2.200867 deg, approach rate: -0.508836 m/s, LOS rate: -0.010388 deg/s, cmd heading: 358.432454 deg, new cmd heading: 358.424457 deg. i%-HeadingCmd: 6.255687 target range: 56.075405 and range: 56.30 m.h-.@h)h1h1h1i1E9 E=E=!E9"E9*E=C:VE=c3ZE9aE@aM@aM@aM@gIgIjgQrgQeQreQZeY:eY*e]@Bɢ [<) >i ) F  i iDἉ^ӣ=?=I.@I9B=>B9B= IB=BB9B9B9B=g{;B=3E@ @@/@a=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256593^A-"=ԉA] ؟AIi Iy O >Ա s%,*s#LA2`@2Y@2Y<ٱ2=2H?H?G??@Sj??i2`@I2r_;28CY>͂By> IbDFؿVDF8yN%NN=ٔR;Q-R>9R"?YR"?=VEyVEVEV>XQ 5^4Z?Q 9^4Z)Z3BY`yb"k=Q Ib9@ZyDIZ:iXZ%4yfBɮf@f:EvB*** querying acoustic contact ***itit:ix~DNOT Ignoring new targets: 56.08 m.2i|~Powering the camera and arming the capture device at range: 56.30 m.lFinal approach. Armed for intercept at range: 56.30 m.\Transitioning guidance mode to: FINAL_APPROACH i@"i:*i: ProNav: ac range: 56.075405 m, nav range: 54.622444 m, bearing: 2.196848 deg, approach rate: -0.508226 m/s, LOS rate: -0.010164 deg/s, cmd heading: 358.424449 deg, new cmd heading: 358.416381 deg. iΔHeadingCmd: 6.255546 target range: 56.075405 and range: 56.30 m.ho-@h!h%:h%33?h!g!g!jg)rg)e)re)Ze):e1*e5T@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508600]Bɢ]Y<)Y ]<>iY)e"aaie觼im?k⼉mԣ=)m33? m(kpHeading = 0.700000Im: (kiHeading = 0.001000+=Io-@IԹ1@9E EE$E"E:*E0:VE4ZEBE 9 X%,UL=LA29]@2V@2mu<ٱ2$=2Hh?`!??])? _??i29]@I2r_;27CY>ƂBy> I @BAiMb@Mb@Mb@ 9"~j?Mb?y&1?YS?y@=`e<  @)jAY@bDܿVD8y-%-B=ٔ-;Q-->91Y1=5Ey5E;{E>Q 54?Q 94!)5BY?Q E:y=Q I9@DI:i:b-4yɮ@:iDNOT Ignoring new targets: 56.08 m.2i"iF*iF ProNav: ac range: 56.075405 m, nav range: 54.396969 m, bearing: 2.190455 deg, approach rate: -0.515369 m/s, LOS rate: -0.014674 deg/s, cmd heading: 358.416390 deg, new cmd heading: 358.403550 deg. iֹHeadingCmd: 6.255322 target range: 56.075405 and range: 56.30 m.h+@hhh!h!g!g!jg!rg-Be)re)Ze):e)*e5@]Bɢ]<)a e.>ia)e aaie(imA伉mգ=uM=Iu+@Iq @ @@/@iIBDAT read: Rx Time:04:24:11.5933 TRx dataTimestamp_ set to:1764908653.115212checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0139779E} E}E}!Ey"E}:*E}.:VE}c3ZEya@a@a@a@^A\=B] >BY B] IB] BB] =BY BY B] ~{;B] 4Eq I I O >&%,-'WLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264603 Na]@NV@N3Ġ<ٱN>=NH`T?",?@{?N$@?1$??iNa]@IN _;N6CYnÂByn IbDzVDz8yx%M=ٔӬ:Q->9 Y = Ey EH8E>Q 5%4J?Q 9%4)7BY!y%=Q I%9@DIL;i:44y5Bɮ54@5;E:iQ]DNOT Ignoring new targets: 56.08 m.2iY"ieJ*ieJu ProNav: ac range: 56.075405 m, nav range: 54.199718 m, bearing: 2.184815 deg, approach rate: -0.515209 m/s, LOS rate: -0.014785 deg/s, cmd heading: 358.403549 deg, new cmd heading: 358.392228 deg. iuwع}HeadingCmd: 6.255125 target range: 56.075405 and range: 56.30 m.h})@hyhyhyhygygjgrgereZe:e*e@ @颽Bɢ|W<) >i)9i?i弉֣==I)@I9@9 @A@A@Iqԙ^AS=DAT read: 04:24:11.5933 LVL= 23248, 27313, 25938, 30179, AGC= 63, IDX= 421,-0.18,-2.878, 1.642,-2.947, 3.016, PHS= 0.490,-1.329, 0.275, RAW= 143.8, 6.6, CAL= 143.4, 7.2, ROT= 6.6, -7.2  Ygot valid direction response: 04:24:11.5933 LVL= 23248, 27313, 25938, 30179, AGC= 63, IDX= 421,-0.18,-2.878, 1.642,-2.947, 3.016, PHS= 0.490,-1.329, 0.275, RAW= 143.8, 6.6, CAL= 143.4, 7.2, ROT= 6.6, -7.2 PDAT read: Bearing 178.9, 6.0 (Local) ~Local bearing/azimuth received: Bearing 178.9, 6.0 (Local) -DAT read: Range 11 to 50 : 54.5 m (Round-trip 72.7 ms) speed 0.6 m/s I9IIO>(DAT read: user:91> BDAT read: Tx time:04:24:12.7165 $Ping request sent.ǐ>K @=- @ >)=Iƺ]? H{?oKt? >)C(I=ie :publishing transmit ping time Fpublishing direction and range infoyo?[1?cK ?Y  )Ii E  E E #E "E :*E E7:VE 3ZE BE 9YYY=]Ey]EeEe>iQ 54m;΍?Q 94m])m:BY?Q E:y=Q I9@mDIm2;im;m;4yɮ0@ii7gLAj!YB"j!YB:jj֟="p<\J@In@uG6@po?[1?cK ?*j=2j*psג`J@B@Lj@p,ʴ?_zҳ???j@ jVBi8?iEИjyBj/?jjBrjWBzj[F=} addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 3.528044 s, deltaX: -1.799999 m, approachRate: -0.510198 m/s, rangeRepo size: 4  Added new target pos. range: 54.282455 m, bearing: 4.471688 deg, lat: 36.779409 deg, lon: -121.859619 deg, deltaT: 3.528044 s, deltaX: -1.792950 m, approachRate: -0.508199 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 54.28 m.2i"i*i ProNav: ac range: 54.282455 m, nav range: 53.948383 m, bearing: 2.780016 deg, approach rate: 0.000000 m/s, LOS rate: -0.014785 deg/s, cmd heading: 358.392238 deg, new cmd heading: 358.378248 deg. i  HeadingCmd: 6.254880 target range: 54.282455 and range: 54.50 m.h'@hhhhggjgrgBereZe!:e%@K@*e%`?m BɢuJE<)q u>iq)u:yyi}z\i}%缉(أ=I'@I=@9 @9@9@A@M=@I! ^Ae 벫=I I O >I%,ފLA2[W@2P@2.<ٱ2=2H`?`j?@?䗿`?:mŔN?@?i2[W@I2/];27CY>By> IIB=)B4i)s;:i~i鼉٣==I&@IB>BB IBBB =BBB7{;B3E@ @@0@@@@@)QIIO>ԁ %,LA2Y@2ZR@2L<ٱ2O=2H?Ù?`s$?I?Y5ɔ V;??i2Y@I2Jk];25CY>By> IbDFVDF8yNI=%RJ=ٔR8Q-R>9TYT=VEyVEV9:EV>XQ 5^4Z?Q 9b4Z)Z?BY`ybK=Q Ib9@ZDIZ ;iZ;Z I4ydɮf@hvB*** querying acoustic contact ***itit:i|~DNOT Ignoring new targets: 54.28 m.2i|"ip*ip ProNav: ac range: 54.282455 m, nav range: 53.569595 m, bearing: 2.770575 deg, approach rate: -0.521608 m/s, LOS rate: -0.013149 deg/s, cmd heading: 358.369562 deg, new cmd heading: 358.359307 deg. iHeadingCmd: 6.254550 target range: 54.282455 and range: 54.50 m.hF%@hhhhgg!jg!rg!e!re)Ze):e)*e-?Y] BɢeC<)a eX>ia)e:aaimeimi꼉m"ڣ=u ׫=IuF%@IqT****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.@ @@0@IiIyO=ԉE} E}|E} Ey"E}غ:*E}P$:VE}3ZEyBE}9Y=EyEE>Q 54?Q 94)BBY?Q E:y =Q I9@DI;i;P4yBɮE@iy)}:yyi}i {ۣ=W=IW"@IIQ)UyA@ @@_0@5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502664A5.AIAIQEY E]E]#EY"EY*E]3:VE]3ZEYae@ae@am@am@Ouy>B>BB IBBBBBB{;B3E9 I%,n؛LA6H_@6X@6T<ٱ6=6HA?c?I?`疿#?A,є??i6H_@I6z\;66CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753460Y^Byb IddbDjVDj8yr(<%rY=ٔv<8Q-v>9v ?Yv ?=vEyvEz;Ez>|Q 54~?Q 94~Q =tI)~FBY y =Q I :@~DI~:i~:~NW4yBɮ>@=E:i9=DNOT Ignoring new targets: 54.28 m.2i9"iE,۹*iE,۹U ProNav: ac range: 54.282455 m, nav range: 53.158730 m, bearing: 2.751365 deg, approach rate: -0.503234 m/s, LOS rate: -0.023952 deg/s, cmd heading: 358.338799 deg, new cmd heading: 358.320757 deg. iUV/]HeadingCmd: 6.253877 target range: 54.282455 and range: 54.50 m.h]@hYhYhYhYgagajgargaeireiZei:ei*em ?额Bɢ<) >i):顡iըi𼉧ܣ==I@I5 @1 @1@5 5@9AA}؟AIIO?>=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005515qDq zDu AAbE 3jE ʼ3rE ַ/E  E E $E "E :*E :VE 4ZE BE @Ѻ?%?i2a@I2\;28CYVByV IiMb@Mb@Mb@ 9Gz? rh?/$?Yp>yC=<@|A @)AY(AbDVDȰ8y)%;=ٔz:Q->9"?Y"?=EyEDD:E>Q 5 4"?Q 9 4)JBY?Q E:y=Q I:@DI,;i\,;^4y!ɮ%@!:iIMDNOT Ignoring new targets: 54.28 m.2iI"iU*iUe ProNav: ac range: 54.282455 m, nav range: 52.940136 m, bearing: 2.736863 deg, approach rate: -0.498026 m/s, LOS rate: -0.033175 deg/s, cmd heading: 358.320767 deg, new cmd heading: 358.291644 deg. iermHeadingCmd: 6.253369 target range: 54.282455 and range: 54.50 m.hm@hihihihiqgqgyjgyrg}BereZe:e*e @颵Bɢn<) B>i)<:项i⨼iOAޣ=j4=I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257540@ @@05@ ԡ^A) A- >A- > PExceeded connect timeout, disconnecting.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509528Ay I I O > 9%,$ LANg@N6a@N<ٱNy=NH_??ؒ?ҕw?`C ??iNg@IN\;N5CYZByZ IbDbVDb8yj+u=%j^=ٔn68Q-n>9pYp=rEyrErU;Er>tQ 5z4vX2?Q 9z4v)vMBY|y~/=Q I~:@vDIv;iv;vee4yBɮ8@ E% E%E%%E!"E%:*E%?:VE% 4ZE!a-@a-@a-@a-@:iAMDNOT Ignoring new targets: 54.28 m.2iI"iM*iM] ProNav: ac range: 54.282455 m, nav range: 52.756474 m, bearing: 2.724444 deg, approach rate: -0.495757 m/s, LOS rate: -0.033642 deg/s, cmd heading: 358.291643 deg, new cmd heading: 358.266717 deg. i]EveHeadingCmd: 6.252934 target range: 54.282455 and range: 54.50 m.he @hahahihigigijgirgqeqreqZeq:ey*e}@颥Bɢ.<) T>i);顩idi_=T=I @IB>B?CB IBBB =BBºDB{;B3EBaBaBe”CBe =Be =Ce59@A @A@M/@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761469^A}"={A%Ae9e{AYeLA) A I I O >Q  %, &LA2[v@2o@2<ٱ2U=2H@?Y?c?SG?ֺ ”Ҽ??i2[v@I2\;28CY>By> IbDFVDF8yfJ8%fK=ٔjQ-j>9hYl=nEynEr;Er>tQ 5z4v@C?Q 9z4v)vQBYxyz=Q I~:@vDIv;iv;vtl4yɮ@B*** querying acoustic contact ***ii:i)-DNOT Ignoring new targets: 54.28 m.2i)"i5!*i5!E ProNav: ac range: 54.282455 m, nav range: 52.555008 m, bearing: 2.710324 deg, approach rate: -0.501959 m/s, LOS rate: -0.035315 deg/s, cmd heading: 358.266727 deg, new cmd heading: 358.238378 deg. iEBMHeadingCmd: 6.252439 target range: 54.282455 and range: 54.50 m.hM@hIhIhIhIgQgQjgYrgYeYreYZeY:ea*ee`*@颍BɢO)<) ͝>i);顑iMi==I@IBDAT read: Rx Time:04:24:15.1908 TRx dataTimestamp_ set to:1764908656.658813checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0145461M@Q @Q@U/@Q@]yA@]zAEE EEEE$EA"EEy:*EEc:VEE4ZEABEE9%,b?LA02,{@2vt@2<ٱ2=2H?|{??`Bk|?^κ|@"??i2,{@I2‰\;0YRByV IiMb@Mb@Mb@ 9T㥛 ?sh|??Mb?Y?y=<@A ) AYzAbDVD8y%.=ٔQ->9Y=EyE:E>Q 54}W?Q 94)TBY%?Q E%:y%b>Q I%:@…DIV:i:t4y-Bɮ5\@5>E:iQ]DNOT Ignoring new targets: 54.28 m.2iY"i]An*i]Anu ProNav: ac range: 54.282455 m, nav range: 52.313534 m, bearing: 2.685731 deg, approach rate: -0.508973 m/s, LOS rate: -0.052074 deg/s, cmd heading: 358.238368 deg, new cmd heading: 358.188956 deg. iuuHeadingCmd: 6.251576 target range: 54.282455 and range: 54.50 m.h} @hyhyhyhygygyjgrgBereZe:eԉ*e@ @颽Bɢ <) >i)?';i "ix=T=I @ImnManaging dock network, ignoring radio surface power offUDAT read: 04:24:15.1908 LVL= 24128, 31985, 24770, 32755, AGC= 65, IDX= 412,-0.32,-0.386,-2.102,-0.427,-0.750, PHS= 0.466,-1.308, 0.278, RAW= 144.5, 6.7, CAL= 144.0, 7.4, ROT= 6.0, -7.4 ]Ygot valid direction response: 04:24:15.1908 LVL= 24128, 31985, 24770, 32755, AGC= 65, IDX= 412,-0.32,-0.386,-2.102,-0.427,-0.750, PHS= 0.466,-1.308, 0.278, RAW= 144.5, 6.7, CAL= 144.0, 7.4, ROT= 6.0, -7.4 ePDAT read: Bearing 179.4, 5.4 (Local) e~Local bearing/azimuth received: Bearing 179.4, 5.4 (Local) uDAT read: Range 11 to 50 : 52.6 m (Round-trip 70.2 ms) speed 0.4 m/s u(DAT read: user:92> }BDAT read: Tx time:04:24:16.3165 $Ping request sent.i l V> vh!@ |= | @  A>) Pw=@ @@/@I  A   Ojy?HDR?̤O? 0>) RI Pw=i  A  :publishing transmit ping timeyFpublishing direction and range infoy  ?mD?8fR?OZ_|?Y      ) I i      ) I    Ojy?HDR?̤O? ) I i   ԹEE EEEAEA"EE:*EE H:VEAZEAaM@aM@aM@aM@B>B@CBBB =BBBz;B3E^A &6=A yAzA xA I I O >6"%,YLA6 @6j|@6຤<ٱ67S=6H?z?~?l?^Ժ??i6 @I6\;4\YnByn IbDvVDv8y%%%j=ٔ%HQ-%>9)Y)=-Ey-E5<8;E5?9Q 5E4=f?Q 9E4=^)=WBYAyE_>Q IE:@=DžDI=:i=:=z4yQɮU7@Qi9i=kJLAj=QB"j=QB:j=H="p=]UI@ X9@b@p=?mD?8fR?OZ_|?*j=Pw=2j= A*p=(I@h_@(B1@p=Ýk?"3c?PHz?j=p@ j=OBi=t:z?i=cj=Bj=܈?j=Jսj9rj=}PBzj=L= addTargetRange:: Added new target pos. range: 52.599998 m, deltaT: 3.544759 s, deltaX: -1.900002 m, approachRate: -0.536003 m/s, rangeRepo size: 4  Added new target pos. range: 52.392384 m, bearing: 4.148442 deg, lat: 36.779408 deg, lon: -121.859617 deg, deltaT: 3.544759 s, deltaX: -1.890072 m, approachRate: -0.533202 m/s, posRepo size: 4 :i5DNOT Ignoring new targets: 52.39 m.2i1"i=*i9E ProNav: ac range: 52.392384 m, nav range: 52.122269 m, bearing: 2.865543 deg, approach rate: 0.000000 m/s, LOS rate: -0.052074 deg/s, cmd heading: 358.188944 deg, new cmd heading: 358.151524 deg. iIMHeadingCmd: 6.250923 target range: 52.392384 and range: 52.60 m.hM@hQhqhqhqgqgqjgyrgyeyreyZe:eLJ@*ea?颭BɢS<) >i)a5;顱is)il%=fи=I@I@ @@@^A 箵=E]  E] EY EY "E] y:*E] ą:VEY ZEY BEY a 2EY a JE] ;a :E] ;a ԩ I I O >N%,sLA^@^@^ٝ<ٱ^=^H>?A?)H? :? 亿@e3κ?@\?i^@I^\;\YrByr I tvAtvAyi}Mb@Mb@Mb@yyyy y9}Zd;?#~j?Mb?Y}>y}=y}@y y)}AyY}AbDݿVD8y6%B=ٔlQ->9Y=EyE5;E>Q 54w?Q 94)ZBY:?Q E:y>Q I:@΅DI7:i@:4yuBɮu@u?E:iDNOT Ignoring new targets: 52.39 m.2i"ic*ic ProNav: ac range: 52.392384 m, nav range: 51.910629 m, bearing: 2.844433 deg, approach rate: -0.497389 m/s, LOS rate: -0.049814 deg/s, cmd heading: 358.151515 deg, new cmd heading: 358.109123 deg. iTHeadingCmd: 6.250183 target range: 52.392384 and range: 52.60 m.h@hhhhggjgrgereZe:e*e`[?%Bɢ%,<)) -{>i))-!B;))i-$-i5=-5*==啻=I=@I9ԡ@ @@@^A t=Ii Iy O > w3#%,mLA2Ȗ@2@2D<ٱ2==2Hq?@"?4?De?O U@??i2Ȗ@I2\;25CY>By> IbDFϿVDF8yf=%fZ=ٔf Q-j>9hYh=jEyjEnW;En>pQ 5v4r?Q 9v4r)r]BYtyv>Q Iz:@rԅDIrP:ir:r4E EE E"EI:*E?:VE3ZEa @a @a @a @y|ɮN@:i1=DNOT Ignoring new targets: 52.39 m.2i9"iEv*iEvU ProNav: ac range: 52.392384 m, nav range: 51.721935 m, bearing: 2.825210 deg, approach rate: -0.527419 m/s, LOS rate: -0.053928 deg/s, cmd heading: 358.109113 deg, new cmd heading: 358.070526 deg. iUcźUHeadingCmd: 6.249510 target range: 52.392384 and range: 52.60 m.h]@hYhYhahagagajgargieireiZei:ei*eu;?额Bɢ!;<) >i)N;顡i=i =a=I@IB>BB IBBBBBB%z;Bg3EU@Y @Y@]/@Y^A =A?A>II O>1Y ])%,HLA2f@2@2o <ٱ2j=2H?E???@? 1 ?@b?i2f@I2\;27CY>By> IbDFVDF8yNO̼%NM=ٔRlQ-R>9PYT=VEyVEVȈ;EV>XQ 5^4Zi?Q 9b4Z")Z`BY`ybg>Q Ib:@ZۅDIZ<;iZj;Z4yfBɮf@j@EvB*** querying acoustic contact ***itit:ix~DNOT Ignoring new targets: 52.39 m.2i|"i^r*i^r ProNav: ac range: 52.392384 m, nav range: 51.522003 m, bearing: 2.804324 deg, approach rate: -0.505133 m/s, LOS rate: -0.052974 deg/s, cmd heading: 358.070536 deg, new cmd heading: 358.028602 deg. iHeadingCmd: 6.248778 target range: 52.392384 and range: 52.60 m.h@hhhhggjgrgereZe:e*e w5?T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.9BɢQ<) {>i)W\;iBi F==I@IE EE!E"E:*E*5:VEc3ZEBE3 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756879Թ fE0%,#LA2@2޳@2,<ٱ2=2H`??&?`?xTE哻?`?i2@I2C\;0Y>By> IIB>)B>iMb@Mb@Mb@ 9 r?ʡE?I +?Y?y=94<@|A @)"AYbDuVDu8y%<=ٔSQ->9Y=EyE;E>Q 54B?Q 94V)bBY?Q E:y >Q I:@DI:i(:64yɮ@:iDNOT Ignoring new targets: 52.39 m.2i"ic*ic ProNav: ac range: 52.392384 m, nav range: 51.297096 m, bearing: 2.782833 deg, approach rate: -0.518360 m/s, LOS rate: -0.049749 deg/s, cmd heading: 358.028599 deg, new cmd heading: 357.985429 deg. iHeadingCmd: 6.248024 target range: 52.392384 and range: 52.60 m.h@hhhhg g jg rg BereZe:e*e?EBɢE<)A Mxw>iI)Mh;IIiMNiU]=e=Im@Iyԑ@ @@=0@@xA@xAi!I!-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009228E EE$E"E:*EE7:VE4ZEa-@a-@a-@a-@^A5H=BBB IBBB =BBBy;BT3EIIO > o6%,*ڜLABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260988YBy IbD5VD58yE:*%EO=ٔEQ-E>9IYI=MEyMEMEU>QQ 5]4Ua?Q 9e4U)UdBYayaQ Ie:@UDIU;iU;U4ymBɮm7Aq:iDNOT Ignoring new targets: 52.39 m.2i"iFe*iFe ProNav: ac range: 52.392384 m, nav range: 51.092869 m, bearing: 2.763154 deg, approach rate: -0.517980 m/s, LOS rate: -0.050112 deg/s, cmd heading: 357.985432 deg, new cmd heading: 357.945916 deg. ikHeadingCmd: 6.247335 target range: 52.392384 and range: 52.60 m.h+@hhhhggjgrgereZe:e*ey@}Bɢ}ru<)y }d>iy)5#t;顁iRii=v=I+@Im@i @i@m1@i=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513042^AK=AxAzAwAI E=  E= E= 'E9 "E= :*E= F:VE= '4ZE9 BE= ; 4<%,LA:~@:@:<ٱ: =:H@?@?@m?ƃi?@q?}?i:~@I:\;8YVByV Ii=Mb@Mb@Mb@9999 99=V-?T㥛 ?y&1|?Y=>y===`;=@= A 9)99Y=AbDMVDM8y]%eH=ٔe#Q-e>9iYi=mEymEmT;Em>yQ 5}4}m͎?Q 94})}eBY>Q E:y=Q I:@}DI}w:i}:}@4yɮqA:iDNOT Ignoring new targets: 52.39 m.2i"i-*i- ProNav: ac range: 52.392384 m, nav range: 50.889656 m, bearing: 2.747735 deg, approach rate: -0.496689 m/s, LOS rate: -0.037836 deg/s, cmd heading: 357.945926 deg, new cmd heading: 357.914966 deg. i|HeadingCmd: 6.246795 target range: 52.392384 and range: 52.60 m.h@hhhhggjgrg$BereZe:e*e @额Bɢ<) S>i);顡ibNiRF=*=I@IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.765817e@a @a@e?5@ay^AԹ A I I O >E BDAT read: Rx Time:04:24:18.7883 E TRx dataTimestamp_ set to:1764908660.194796M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017957C%,ȴLA2@2@2JI<ٱ29N=2H]?c(?̑?+. g? Ż@Ȓ ?`j?i2@I2*];28C@Y@y@ DDbDNVDN8yn:Er ErEr%Ep"Er7:*Erga:VEr 4ZEpav@av@az@az@%zT=ٔzQ-z>9|Y|=~Ey~E?;E> Q 54 ݎ?Q 94 h) fBYy=Q I:@ DI :i 6:  4y%Bɮ%}A%AE:iIMDNOT Ignoring new targets: 52.39 m.2iI"iU|1*iU|1e ProNav: ac range: 52.392384 m, nav range: 50.696266 m, bearing: 2.732697 deg, approach rate: -0.496987 m/s, LOS rate: -0.038793 deg/s, cmd heading: 357.914972 deg, new cmd heading: 357.884781 deg. iemHeadingCmd: 6.246268 target range: 52.392384 and range: 52.60 m.hmm@hihihihigigqjgqrgqeqreyZey:ey*e}`@颭Bɢ&<)  R>i)(ׄ;顱iRi6 =^=Im@IB>BB IB}BB =BBBy;B:3EQ@Q @Q@]@4@Y@e=@e=ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268870^Au!=A .AI I O > I%,(LAhU@Ua@U<ٱU4=UHo?'? ?~}P?:@1?L?iU@IU7];U6CYmqBymp IbDyVDyy%>=ٔQ->9 ?Y ?=EyE_:E>Q 54m?Q 94)gBYyV=MDAT read: 04:24:18.7883 LVL= 25184, 31425, 27586, 32755, AGC= 66, IDX= 419,-0.41, 2.152, 0.417, 2.169, 1.774, PHS= 0.480,-1.312, 0.351, RAW= 146.3, 5.6, CAL= 145.8, 6.1, ROT= 4.2, -6.1 ]Ygot valid direction response: 04:24:18.7883 LVL= 25184, 31425, 27586, 32755, AGC= 66, IDX= 419,-0.41, 2.152, 0.417, 2.169, 1.774, PHS= 0.480,-1.312, 0.351, RAW= 146.3, 5.6, CAL= 145.8, 6.1, ROT= 4.2, -6.1 PDAT read: Bearing 178.9, 3.8 (Local) ~Local bearing/azimuth received: Bearing 178.9, 3.8 (Local) DAT read: Range 11 to 50 : 50.7 m (Round-trip 67.7 ms) speed 0.4 m/s (DAT read: user:93> BDAT read: Tx time:04:24:19.9165 $Ping request sent.i刺F>.k#@+=4"@ ^ =)Q =I^ ڽ%n4،?qv8?yfDJ:? >)ՋȽIQ =i^ ڽ=:publishing transmit ping time=Fpublishing direction and range infoii,LAjJB"jJB:j]="p &' I@U k @k#w@pB?HUۏ?O4?*jQ =2j^ ڽ*p.I@_GoU@=C@yB?HUۏ?O4?Y )Ii )I%n4،?qv8?yfDJ:? )IibEm4jEm4rEm/0E EE&E"Eغ:*Ea9:VE4ZEBEi)S>;项i"i%%=%=I%@I) @  @ @ 0@ Q ԁ ^A (S=A >A ?A I9IIO] ?&R%,JLA(:@:@:i<ٱ:/=:H`?|?W?oue?< L5?G?i:@I:2];:8CYEzByE{ IiMb@Mb@Mb@ 9V-?~jt?~jth?YyD=D; A @)9AYpAE EE%E"EƱ:*E*5:VE 4ZEa@a@a@a@bDVD8ymL<%m =ٔmXQ-m>9qYq=uEyuEui;E}>yQ 54K?Q 94 )fBY>Q E:yh=Q I:@DI:i:4yBɮABEi!i!j!"j!:j%Ȝf="p% &' I@U k @k#w@p%B?HUۏ?O4?*j!2j!*p%A,I@U;5@+R@p%o*O?`0߭?qS}?j% 5@ j%HBi%嚍?i%pj%#Bj!j%pj!rj%dHBzj%veg=:i!%DNOT Ignoring new targets: 50.50 m.2i!"i-׹*i-׹E ProNav: ac range: 50.500107 m, nav range: 50.090752 m, bearing: 3.084739 deg, approach rate: -0.561410 m/s, LOS rate: -0.023573 deg/s, cmd heading: 357.845386 deg, new cmd heading: 357.820518 deg. iM,UHeadingCmd: 6.245146 target range: 50.500107 and range: 50.70 m.h]=@hYhYhYhYgagajgirgmBeqreqBBBl IBnBB =BBBy;B,3EB@CB@CBÓCB =B =Cu4Ze:e*ee?EBɢE n<)A E5>iA)M;IIiMiuuj=uy=Iu=@Iyԩ%@) @)@)@) uGyA5A몿9yAYܦA ^A := A ؟AI I O >)Y%, hLA2L@2@2ȑ<ٱ2G=2H?@x? Ω?!qs?; 85?`L?i2L@I2 ];0 :fC)8:988<>=~Ai>I<9n"?Yn"?=nEyrEr';Er>tQ 5z4v?Q 9z4v)tYxy~Z=Q I~:@v DIve:iv:vf4yBɮtAB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 50.50 m.2i"i¹*i¹ ProNav: ac range: 50.500107 m, nav range: 49.907341 m, bearing: 3.076809 deg, approach rate: -0.489923 m/s, LOS rate: -0.021260 deg/s, cmd heading: 357.820524 deg, new cmd heading: 357.804606 deg. iHeadingCmd: 6.244868 target range: 50.500107 and range: 50.70 m.h@hhhhggjgrgereZe:e*e?IuT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode. Bɢ6v<) D>i);ii !"=g=I@IDazDaE EE"E"Ey:*EC:VE(3ZEBE;a:E>;a@ @@?1@@zA@zAԁ^Aԩ% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231748A .AI I O > 4t`%,d灝LA2@2h@2<ٱ2(=2H?s?ȑ?`qh@,?~R #6 M??i2@I22\;27CY~fBy~c IiMb@Mb@Mb@ 9 +?+?y=t<@ A @)AYAbD VD8yƋ%>=ٔȷQ->9 ?Y ?=EyE}6;E>Q 541)?Q 942)gBY>Q E:y1=Q I:@DIw:i_:4yɮA:iDNOT Ignoring new targets: 50.50 m.2i"i e*i e ProNav: ac range: 50.500107 m, nav range: 49.699169 m, bearing: 3.071628 deg, approach rate: -0.502459 m/s, LOS rate: -0.012560 deg/s, cmd heading: 357.804596 deg, new cmd heading: 357.794189 deg. iⷹ%HeadingCmd: 6.244687 target range: 50.500107 and range: 50.70 m.h%y@h!h!h)h)g)g)jg)rg5 BԱe1reZe:e*e`?!ɢ-p d<)) - >i)?ʗ;顱iq証i$*=h=Iy@IE@A @A@E?5@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.484371E} E}E}$Ey"E}غ:*E}xv:VE}4ZEya@a@a@a@ B B B Z IB ^BB B B B dz;B 3E^A A!=A zA vAA ؟AI I O >9 tf%, ÛLA2@2@2;<ٱ2#=2H@? /-q??c? 4G : ??i2@I2\;25Crchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.735150Y^ByY IbD-VD-İ8yEO,%EQ=ٔE.9Q-E>9M"?YM"?=MEyMEM:EU>QQ 54U 9?Q 94U)UhBYy=Q I:@UDIUK~l%,&LA,mv @m@my<ٱm~=mH@? Dj?.?W4V?b$n@!??imv @Im4\;m4CYjByh Ii5Mb@Mb@Mb@1111 195)\(?V-?MbPY5G?y5<55@5A 5@)5"A1Y5pAbDMVDM8y]`=%]9=ٔe9Q-e>9aYa=mEymEu;Eu>yQ 54}K?Q 94}})}gBY~?Q E:yd=Q I:@}DI}:i}&;}v4yɮA:iDNOT Ignoring new targets: 50.50 m.2i"iӷ*iӷ ProNav: ac range: 50.500107 m, nav range: 49.286926 m, bearing: 3.066127 deg, approach rate: -0.521922 m/s, LOS rate: -0.001447 deg/s, cmd heading: 357.784379 deg, new cmd heading: 357.783139 deg. iw)HeadingCmd: 6.244494 target range: 50.500107 and range: 50.70 m.h@hhhhggjgrgBereZe:e*e@"Bɢ k<)! %b>i!)%Ѯ;!!i-차i- {-q9=5g=I5@I1ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.239683@ @@/@@=@=Ա^AL= A5 .AIA IQ O] > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491212s%,yϝLA2@2i@2^<ٱ2x =2H?6h?x?P???i2@I2M\;25CYNaByR] IbDZVDZ8\ybD%bi=ٔfw9:Q-f>9f ?Yf ?=jEyjEjs:Ej>lQ 5r4nZ?Q 9r4n:)neBYtyvLf=Q Iv:@n%DIn::inG:n4yzBɮzAzDEE EE#E"E%:*E?:VE3ZEa@a@a@a@:iDNOT Ignoring new targets: 50.50 m.2i"i<۷*i<۷  ProNav: ac range: 50.500107 m, nav range: 49.109684 m, bearing: 3.065567 deg, approach rate: -0.471821 m/s, LOS rate: -0.001497 deg/s, cmd heading: 357.783149 deg, new cmd heading: 357.782024 deg. ic/HeadingCmd: 6.244474 target range: 50.500107 and range: 50.70 m.h@hh!h!h!g)g)jg1rg1e1re9Ze9:eA*eET@B>BBM IBTBBBBBl{;B 4E颉ɢr`<) ,=i)oʡ;iiZA=`=I@I@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743148^A t=A ?A >I A ؟AI! I1 OM >y%,@靗LA2@2. @2`p<ٱ2=2H? ̏f?p?@]J? 캿`풿?/?i2@I2\;26CYNiByNf IbDZVDZ8yb=%bK=ٔb:Q-b>9f"?Yf"?=fEyfEj :Ej>lQ 5n4nk?Q 9r4n)ndBYpyr1g=Q Ir:@n+DIn:ins;n4yxɮzAx:iDNOT Ignoring new targets: 50.50 m.2i"i*i%!5 ProNav: ac range: 50.500107 m, nav range: 48.906315 m, bearing: 3.064867 deg, approach rate: -0.539847 m/s, LOS rate: -0.001867 deg/s, cmd heading: 357.782029 deg, new cmd heading: 357.780623 deg. i5Z=HeadingCmd: 6.244450 target range: 50.500107 and range: 50.70 m.h=@h9h9hAhAgAgAjgIrgIeIreIZeI:eQ*eU@M#BɢMj"v<)I UF >iQ)U`;QQi]8~mBDAT read: Rx Time:04:24:22.3860 uTRx dataTimestamp_ set to:1764908663.724533checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999579iI==I@I=@9 @9@=/@9YE EE$E"E:*EE7:VE4ZEBEԩ %,LA6@6 @6e4<ٱ6=6H?c??`> ?˺C&`4ʺ??i6@I61];65CY^YBybS IiEMb@Mb@Mb@AAAA A9E\(\?yEt=Et9qYq=}Ey}E}W:E>Q 54_}?Q 94)eBY>Q E:yt=Q I:@2DԙI=:i+;4yBɮ$AEEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 50.50 m.2i"iu4*iu4 ProNav: ac range: 50.500107 m, nav range: 48.698273 m, bearing: 3.060695 deg, approach rate: -0.490016 m/s, LOS rate: -0.009869 deg/s, cmd heading: 357.780636 deg, new cmd heading: 357.772256 deg. i|HeadingCmd: 6.244304 target range: 50.500107 and range: 50.70 m.hV@hhhhggjgrg BereZe:e*ez @ ɢ% F<)! %=i!)%8;))i-+Li5|B5Q=5=I5V@I9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502938E EE&E"E:*Exv:VE4ZEa@a@a@a@B>B>CBA IBJBB =BBDB{;B;4E^At= A] .AIa Iq O >܆%,LA2@2@2<ٱ2T=2H@?`a?x?*s Z?@q??i2@I2];27CYN`ByR\ IbDZVDZ8DAT read: 04:24:22.3859 LVL= 27920, 31793, 32290, 32755, AGC= 64, IDX= 410, 0.44, 0.134,-1.586, 0.206,-0.180, PHS= 0.416,-1.361, 0.342, RAW= 147.9, 7.0, CAL= 147.4, 7.5, ROT= 2.6, -7.5 Ygot valid direction response: 04:24:22.3859 LVL= 27920, 31793, 32290, 32755, AGC= 64, IDX= 410, 0.44, 0.134,-1.586, 0.206,-0.180, PHS= 0.416,-1.361, 0.342, RAW= 147.9, 7.0, CAL= 147.4, 7.5, ROT= 2.6, -7.5 %PDAT read: Bearing 180.9, 2.3 (Local) %~Local bearing/azimuth received: Bearing 180.9, 2.3 (Local) 5DAT read: Range 11 to 50 : 49.0 m (Round-trip 65.4 ms) speed 0.4 m/s 5(DAT read: user:94> =BDAT read: Tx time:04:24:23.5164 E$Ping request sent.Eir?5r>r4%@r5=r$@ r >)r9=Ir pprG]?fe?{4sb? r;>)rIr9=ir ppe:publishing transmit ping time9mFpublishing direction and range infoypr+? 2? /?Yppppp p)pIpippppp p)pIppprG]?fe?{4sb? p)pIpipppyu?=%}:=ٔ} :Q-}>9 ?Y ?=EyEa:E>Q 54t?Q 94#)Yy?=Q I:@9DI;i;4yBɮAipir[LAjr8CB"jr8CB:jr<"pr̵I+H@eQh@(F\J{@pr+? 2? /?*jr9=2jr *pr$>:H@~;?&@pr^+?)47Ɵ?cr7?jr? jrABir_S?irMjrBjpjpjrBrjrABzjrYe= addTargetRange:: Added new target pos. range: 49.000000 m, deltaT: 3.777428 s, deltaX: -1.700001 m, approachRate: -0.450042 m/s, rangeRepo size: 4  Added new target pos. range: 48.805534 m, bearing: 1.790290 deg, lat: 36.779407 deg, lon: -121.859612 deg, deltaT: 3.777428 s, deltaX: -1.694572 m, approachRate: -0.448605 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 48.81 m.2i"i *i  ProNav: ac range: 48.805534 m, nav range: 48.490479 m, bearing: 3.213377 deg, approach rate: 0.000000 m/s, LOS rate: -0.009869 deg/s, cmd heading: 357.772248 deg, new cmd heading: 357.763074 deg. i%HeadingCmd: 6.244143 target range: 48.805534 and range: 49.00 m.h%@h!h!h!h!gIgIjgIrgIeQreQZeQ:eUH@*e] ?ɢIU<) =i)ū;iZiMZ=AR=I@I)@ @@/@@@@@QAM yAzAM zAy E  E E E "E :*E A:VE ZE BE VՍ%,q:LAN@N9N<ٱNF=NHu?]?`˓?u/??@9ߓ???iN@IN~7];N5C\Y\y^[ I ``dfAiMMb@Mb@Mb@IIII I9MtV?kt?Mb?YM>yM 0=M9}"?Y}"?=EyEhN:E>Q 54c?Q 94)hBY>Q E:y=Q I:@?DI;i;4yBɮA:iDNOT Ignoring new targets: 48.81 m.2i"i*i ProNav: ac range: 48.805534 m, nav range: 48.288864 m, bearing: 3.206054 deg, approach rate: -0.509677 m/s, LOS rate: -0.018591 deg/s, cmd heading: 357.763068 deg, new cmd heading: 357.748360 deg. iHeadingCmd: 6.243887 target range: 48.805534 and range: 49.00 m.h@hhhhggjgrgBereZe:e*eo?$Bɢ^<) =i) Ѯ;ii c=8=I@I@ @@/@AII On>9 %,SLAE2 E2E2%E0"E2:*E23:VE2 4ZE0a6@a6@a6@a6@F@F}:F<ٱF =FHe?@Q? :?iO?? ֓@;@“?@ ?iF@IF\\;F4CBr>Br=CBr: IBrEBBr =BpBrDBr5|;Bre4EY]By%X IbD5VD5ð8yEg%EN=ٔEHg:Q-M>9IYI=MEyM EU:EU>YQ 5e4]D?Q 9e4]>)]jBYaym=Q Im:@]EDI]l:i]:]4yuBɮuAuFE:iDNOT Ignoring new targets: 48.81 m.2i"i壹*i壹 ProNav: ac range: 48.805534 m, nav range: 48.099796 m, bearing: 3.198966 deg, approach rate: -0.475914 m/s, LOS rate: -0.017911 deg/s, cmd heading: 357.748370 deg, new cmd heading: 357.734139 deg. iHeadingCmd: 6.243639 target range: 48.805534 and range: 49.00 m.h@hhhhggjgrgereZe:e*e?ɢn\<) =i);iΧi ! j= =I @Iu@q @q@u/@qIIIO J>qԡ %,gmLAB@B :B٥<ٱB=BH Q?*qQ?? "P?@/?M#ԺC#??iB@IB\;B8CYLyNW IbDV$VDVΰ8ybM%bS=ٔf:Q-f>9dYh=jEyj Ej8Ej>lQ 5r4nǿ?Q 9v4n)nlBYtyvB=Q Iv:@nKDIn:in :n 4yxɮzA|:i!%DNOT Ignoring new targets: 48.81 m.2i!"i-i*i-i= ProNav: ac range: 48.805534 m, nav range: 47.915119 m, bearing: 3.191964 deg, approach rate: -0.474941 m/s, LOS rate: -0.018077 deg/s, cmd heading: 357.734136 deg, new cmd heading: 357.720078 deg. i=TEHeadingCmd: 6.243393 target range: 48.805534 and range: 49.00 m.hE@hAhAhAhIgIgIjgIrgQeQreQԑZe:e*e?ɢX<) |=i ) م;  i Ri=@"=s===IE@III)tAbEeJ4jEe#4rEe/Em EmEiEi"Em:*EmZ:VEiZEiBEia2EmA>IaIqO}Y> ̡%,片LAY`By[ II >) >iMb@Mb@Mb@ 9gfffff?A`"?yY=t< @ jA)YAbDVDŰ8yR<%;=ٔQ->9Y=EyEE>Q 54Lя?Q 94:)oBY>Q E:yt=Q I:@RDI4;iB2;n4yÒBɮGE%B*** querying acoustic contact ***i!i!:i)5DNOT Ignoring new targets: 48.81 m.2i1"i=*i=E ProNav: ac range: 48.805534 m, nav range: 47.706295 m, bearing: 3.178927 deg, approach rate: -0.477022 m/s, LOS rate: -0.029910 deg/s, cmd heading: 357.720066 deg, new cmd heading: 357.693879 deg. iMZMHeadingCmd: 6.242936 target range: 48.805534 and range: 49.00 m.hM!@hQhQhQhQgQgQjgYrg]"BeYreYZea:ea*ee {?颉ɢS^<) 0=i)%;顙ipi$|==I!@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@0@)E] E]E]&EY"E]:*E].:VE]4ZEYae@ae@ae@ae@BBBBB =BBB|;B4EB>CB?CBƔCBB =C/ 6^AQIYIiO}>- {GE {A] A Q9 {AY A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004103ԉ %,cLA6(#@6p:6<ٱ6}@=6H@,?C??@,Y??v৑@?@?i6(#@I6)];67CYBkByBi IbDNVDN8yV=%V_=ٔVR;Q-V>9XYX=ZEyZEZA:E^>`Q 5f4bߏ?Q 9f4b)brBYdyf=Q If:@bXDIb:ib:b4ylɮnAl:i DNOT Ignoring new targets: 48.81 m.2i "i  *i   ProNav: ac range: 48.805534 m, nav range: 47.531334 m, bearing: 3.167799 deg, approach rate: -0.478131 m/s, LOS rate: -0.030524 deg/s, cmd heading: 357.693865 deg, new cmd heading: 357.671526 deg. i%r_%HeadingCmd: 6.242546 target range: 48.805534 and range: 49.00 m.h%@h!h)h)h)g)g)jg1rg1e1re1Ze1:e9*e=@aɢm<)i mF>ii)m1;iqiuPiuu&Qu܄=u==Iu@Iy  @  @ @ ?5@ ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256166^AEz=ԱIIO>E=  E= E= #E9 "E= Ʊ:*E= A:VE= 3ZE9 BE= @;aE 2E= A;aE JE= l;aM :E= l;aM a#%,LLAYubByu_ IiMb@Mb@Mb@ 9+?yt= @ A)AY3AbD VD85checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508297y=-%=3=ٔ=Q-E>9AYA=EEyEEMEM>QQ 5]4U?Q 9]4U)UuBY]?Q Ee:yeU>Q Ie:@U_DIU:iU_:U!4ymƒBɮmAmHE:iDNOT Ignoring new targets: 48.81 m.2i"io*ioԩ ProNav: ac range: 48.805534 m, nav range: 47.302956 m, bearing: 3.144044 deg, approach rate: -0.500877 m/s, LOS rate: -0.052351 deg/s, cmd heading: 357.671517 deg, new cmd heading: 357.623777 deg. iHeadingCmd: 6.241713 target range: 48.805534 and range: 49.00 m.h@hhhhggjgrg/BereZe:e*eNR@ɢc<)W D=i)5Ǿ;izi 3) )=~g=I@I@ @@05@@a=@=^A^1= I) I9 OE > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7601201 E=  E= E9 E9 "E= :*E= E7:VE9 ZE9 aE @aE @aE @aE @%,՞LA2k,@2.;2*<ٱ2 =2H ?8??e?? 4 u??i2k,@I2iQ];25CBB>BB?CB@B@BB =B@BBDBB|;BB4EYNdByNa I PPbDZVDZɰ8yr0<%vc=ٔv x;Q-v>9xYx=zEyzEzM;E~>Q 5 43?Q 9 46)xBY y~>Q I:@eDI:ih:(4yɮ A:iDNOT Ignoring new targets: 48.81 m.2i"ig*ig ProNav: ac range: 48.805534 m, nav range: 47.122608 m, bearing: 3.124872 deg, approach rate: -0.474358 m/s, LOS rate: -0.050620 deg/s, cmd heading: 357.623787 deg, new cmd heading: 357.585296 deg. iG HeadingCmd: 6.241041 target range: 48.805534 and range: 49.00 m.h @h h h h ggjgrgereZe:e*e%@@^@频ɢ~t<) >i));顙i 馼i,Q=>V=I@I@ @@5@eBDAT read: Rx Time:04:24:25.9835 uTRx dataTimestamp_ set to:1764908667.506444}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0185269^A e=i A] .AIi I O >:2%,LA 2k.@2>;2<ٱ2%=2H?ZZCi?dg?@T? ǹqɹ? ,?i2k.@I2&];27CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264175Y~[By~V IbDVD8y%a0%%G=ٔ%ߔ:Q-%>9- ?Y- ?=-Ey-"E5:E5>9Q 5E4=f?Q 9E4=q)={BYAyE>Q IE:@=kDI=:i=2:=G/4yUɒBɮUlAQ:iqDNOT Ignoring new targets: 48.81 m.2i"i*i򁺝 ProNav: ac range: 48.805534 m, nav range: 46.917229 m, bearing: 3.102789 deg, approach rate: -0.525999 m/s, LOS rate: -0.056804 deg/s, cmd heading: 357.585292 deg, new cmd heading: 357.540933 deg. iϺHeadingCmd: 6.240266 target range: 48.805534 and range: 49.00 m.hC@hhhhggjgrgereZe:e*e> @ɢv_<DzD@AE EE%E"E:*EVE 4ZEBE BDAT read: Tx time:04:24:27.1164 $Ping request sent.iUUI>U$@U">U"$@ U;0>)UA=IU;0QQU=?0H/_?,D? U>)U"IUA=iU;0QQ:publishing transmit ping timeFpublishing direction and range infoyQU}?}te§?!?YQQQQQ Q)QIQiQQQQQ Q)QIQQQU=?0H/_?,D? Q)QIQiQQQ ^AE =Aq I I O >>%,j LA(B2@B_;B+<ٱB>j=BH?P_?`k?r?ϼ@$ E?@)?iB2@IBe];B5CY^^By^Y IiMb@Mb@Mb@ 9+?(\µ? rh?Yy=C<M@b A )Y(AbDVD8yMk,<%M5=ٔU':Q-U>9QYQ=]Ey]&E]:E]>aQ 54eS&?Q 94eo)e~BY'?Q E:y,>Q I:@esDIe;ieT;e,74yɮYAi9i=NcLAj= X<)9 ==iA)Et;AAiEUiM3Mc=M=IM@IQE EE&E"E%:*EF:VE4ZEa@a@a@a@B=>B=@CB9B9B= =B9B=ºDB=};B=65EԱ F˼ 5 @1  @1 @5 0@1 @= zA@= zA ^A]w=A]?A] ?AA؟AIIO?* %,.LAB4@Bp;B<ٱB=BH?5rT`Ҙ?`m?@ ?`^ F`B??iB4@IBB];B3CYNTByNM IIRp=)R<bDZԿVDZ8y^%^=ٔbM:Q-b>9f"?Yf"?=fEyf,Ef9Ej>hQ 5n4jQ Ir:@j{DIj;ij;jt@4yv̒BɮzAzIEB*** querying acoustic contact ***ii:i!%DNOT Ignoring new targets: 47.01 m.2i!"i-;*i-;= ProNav: ac range: 47.013096 m, nav range: 46.358761 m, bearing: 2.872432 deg, approach rate: -0.511205 m/s, LOS rate: -0.075289 deg/s, cmd heading: 357.488194 deg, new cmd heading: 357.409836 deg. i= EHeadingCmd: 6.237978 target range: 47.013096 and range: 47.20 m.hE@hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*eU@?颁ɢF<) h=i)W;顉iXi*9]0=]#=I]@IaE] E]EYEY"E],:*E]A:VEYZEYBE]J%,MLA>X6@>@~;>z<ٱ>).=>H?@uW@? o? V? tR@ y??i>X6@I>)];>5CYJYByJS Ii-Mb@Mb@Mb@)))) )9-Gz?EԸ?~jt?Y-p>y-=-D<-d@- A -A)-fA)Y-QAbDEͿVDE~8yU<%U"=ٔU9Q-]>9YYY=]Ey]1Ee9Ee>iQ 5u4mQ?Q 9u4m)mBYu*?Q Eu:yuF>Q I}:@mDIm:im:mHI4yϒBɮAJEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248222:iDNOT Ignoring new targets: 47.01 m.2i"iκ*iκ ProNav: ac range: 47.013096 m, nav range: 46.106575 m, bearing: 2.827036 deg, approach rate: -0.499036 m/s, LOS rate: -0.090323 deg/s, cmd heading: 357.409838 deg, new cmd heading: 357.318549 deg. iM%HeadingCmd: 6.236385 target range: 47.013096 and range: 47.20 m.hx@hhhhggjgrgJBereZe:e*e`?%Bɢ~L<) (=i);i6!iEH?EȤ=Ei=IEx@IIQQQQE EEE"Eg:*ErN:VEZEa@a@a@a@BE>BABE4 IBE@BBABABABE};BEX5EI@ @@/@E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500572y ^A =ԩ IIO>7%,DlLAB9@B;BL<ٱBi=BHv?O^@th?`!q??CaD`?f?`?iB9@IB];B7CYVPByVH IbDfVDf8yn9pYp=rEyr6Evwk:Ev>xxQ 5~4zVe?Q 94z)zBYyG>Q I:@zDIz:ize:zQ4y ђBɮ A@E:i1=DNOT Ignoring new targets: 47.01 m.2i9"i=Ѻ*iEѺM ProNav: ac range: 47.013096 m, nav range: 45.871010 m, bearing: 2.784045 deg, approach rate: -0.500213 m/s, LOS rate: -0.091759 deg/s, cmd heading: 357.318560 deg, new cmd heading: 357.232136 deg. iM'HeadingCmd: 6.234877 target range: 47.013096 and range: 47.20 m.h@hhhhggjgrgereZe:e*e X#?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7521845&Bɢ5OA<)9 ==i9)=e;99i=E,iEEEդ=E=IM@II)wA!Em EmEm#Ei"EmƱ:*EmX:VEm3ZEiBEm@;au2EmA;auJEmq;au:Emq;a}}@y @y@}$0@@=@=Q^AI= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007789ԁ I I O >%,v†LA28@2;2A<ٱ2=2Hf?@%\껙? ""q?3?J.o"3??i28@I2`];0Y>CBy>8 I DDDDi Mb@Mb@Mb@     9 rh|?I +?Mb?Y >y 9= <  K A  A) A Y zAbD%VD%8y-s%5F=ٔ52S:Q-5>99YY9=Ey:EE>Q 54$w?Q 94)BY>Q E:y6>Q I:@DI:i:Y4yԒBɮAAE:iDNOT Ignoring new targets: 47.01 m.2i"i Y*i Y ProNav: ac range: 47.013096 m, nav range: 45.658131 m, bearing: 2.749092 deg, approach rate: -0.496470 m/s, LOS rate: -0.081896 deg/s, cmd heading: 357.232144 deg, new cmd heading: 357.161912 deg. i%HeadingCmd: 6.233651 target range: 47.013096 and range: 47.20 m.h%z@h!h!h!h!g)g)jg)rg-9Be1re1Ze1:e1*e=@_@aɢeD6)<)a e`g=ii)m;iiimǤiujJu=u*=I}z@Iy@ @@1@ԉ-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256161E EEE"E:*E H:VEZEa@a@a@a@ԱBBB( IB6BBBBB};BC5E^A=IyIO> 0%,LA61<@6;6<ٱ6=6H@F?aiS?`r?`? `o? ?i61<@I6#^;65CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508153Y^AByb5 IbDj VDj8yrOW%rO=ٔr0:Q-v>9tYt=vEyv>Ez:Ez>|Q 54~҆?Q 94~)~BYyk7>Q I:@~DI~;i|~_4yɮA:i1=DNOT Ignoring new targets: 47.01 m.2i9"iE=*iE=U ProNav: ac range: 47.013096 m, nav range: 45.470634 m, bearing: 2.717930 deg, approach rate: -0.495687 m/s, LOS rate: -0.082723 deg/s, cmd heading: 357.161902 deg, new cmd heading: 357.099322 deg. iUdUHeadingCmd: 6.232559 target range: 47.013096 and range: 47.20 m.h]q@hYhYhYhYgYgajgargaeareiZei:ei*em f@额'Bɢ%<) L=i)*;顡ifi]O=Y}=Iq@IԹU@Q @Q@U5@Q^Au=IIO>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761509bE jE J4rE ʺ/E  E E $E "E I:*E VE 4ZE BE 9iYi=uEyuBEΙ8E>Q 54x?Q 94)BYy-r7>Q I5:@DIԡ N%,iVԟLA2W<@2;2mL<ٱ2=2H`J?ha`>?`r??@r縿`虿?p?i2W<@I2];21CYB/ByB IIF>)F;EE EEEE%EA"EE:*EE3:VEE 4ZEAaM@aM@aM@aM@iMMb@Mb@Mb@IIII I9Mv?MbX9?~jth?Be>Be?CBe IBe,BBe =BaBeDBe};Be65EB%@CB!B%CB!B% =C%߹5YM>yMʡ=MD;Mz@M5 A MA)M|AIYMQAbD"VD̰8y4%A=ٔu9Q->9Y=EyFEE>Q 54?Q 94)Y>Q E:yR(>Q I:@DI:i:1n4yɮ@A:iDNOT Ignoring new targets: 47.01 m.2i"i-*i- ProNav: ac range: 47.013096 m, nav range: 45.060715 m, bearing: 2.652670 deg, approach rate: -0.536661 m/s, LOS rate: -0.080948 deg/s, cmd heading: 357.028222 deg, new cmd heading: 356.968210 deg. i$HeadingCmd: 6.230270 target range: 47.013096 and range: 47.20 m.h`^@hhhhg!g!jg!rg%Be)re)Ze):e)*e- @q5)Bɢ=;)A M CېCgG/{A==I`^@ ڥ9/{AYAIye>?mAԡDAT read: 04:24:29.5813 LVL= 26672, 32753, 30114, 32755, AGC= 66, IDX= 411,-0.08, 0.068,-1.626, 0.182,-0.212, PHS= 0.382,-1.369, 0.350, RAW= 149.1, 7.4, CAL= 148.6, 7.9, ROT= 1.4, -7.9 Ygot valid direction response: 04:24:29.5813 LVL= 26672, 32753, 30114, 32755, AGC= 66, IDX= 411,-0.08, 0.068,-1.626, 0.182,-0.212, PHS= 0.382,-1.369, 0.350, RAW= 149.1, 7.4, CAL= 148.6, 7.9, ROT= 1.4, -7.9 PDAT read: Bearing 181.5, 0.5 (Local) ~Local bearing/azimuth received: Bearing 181.5, 0.5 (Local) DAT read: Range 11 to 50 : 45.6 m (Round-trip 60.8 ms) speed 0.4 m/s  (DAT read: user:96> BDAT read: Tx time:04:24:30.6664 $Ping request sent.id;33>ۋ&@ A>%@ 0 >)+%,XLAj1?@j;jl<ٱj=jH6?d? Nt?`w?@ĸ17˸? ?ij1?@IjV];j5CY)By IbD-3VD-۰8y= %=:=ٔ= 2:Q-=>9E ?YE ?=EEyEKEMbO:EM>QQQ 5]4U(?Q 9e4U)UBYaye(>Q Ie:@UDIU:iUV:Uu4ymڒBɮuAuCEiQiU>⟗LAjU5B"jU5B:jU3q<"pUZ|F@b*?Sv@pUuTfԯ?&6ǘ?yjȗ?*jU+<2jU0 *pU!(8F@,?tjE@pU?'~{?@8z?jU6? jUy4BiUvO%,C LA2<@2;2z=<ٱ2(=2HBy>Ii%Mb@Mb@Mb@!!!! !9%rh|?x&?Mbp?Y%>y%7=%;!% A %A)%A!Y%AbD}=VD}8ԩy %>=ٔVQ->9"?Y"?=EyOEE>Q 54͐?Q 94C)Y<>Q E:y >Q I:@DI=iI=}4yɮMA:i %DNOT Ignoring new targets: 45.42 m.2i!"i54*i54E ProNav: ac range: 45.419327 m, nav range: 44.694756 m, bearing: 1.496402 deg, approach rate: -0.456409 m/s, LOS rate: -0.066096 deg/s, cmd heading: 356.896235 deg, new cmd heading: 356.832598 deg. iE񺝏MHeadingCmd: 6.227904 target range: 45.419327 and range: 45.60 m.hMJ@hIhIhQhQgQgQjgYrg]BeYreYZea:ea*ee ?颕*Bɢs U;) @Ni);顙i.inbq!=cK=IJ@IB>B>CB IBBB =BBDB};B35EE EEE"E:*EVEZEBE+<2E+<JE:E%@! @!@-/5@)@5=@5=9 ^AI AU xAzAQ Ay I I O > %, 'LA2:@2Џ;2՝<ٱ2=2H@J?л_B?q?4?n@??i2:@I27];25CY>By>I @@dbDJ6VDJް8ynp<%nG=ٔr Q-r>9pYp=rEyrSEv`IEv>xQ 5~4zݐ?Q 9~4z)zBY|y >Q I:@zDIz::iz:z4y ݒBɮ  :i15DNOT Ignoring new targets: 45.42 m.2i1"i=,*i=,M ProNav: ac range: 45.419327 m, nav range: 44.500294 m, bearing: 1.468190 deg, approach rate: -0.549501 m/s, LOS rate: -0.080071 deg/s, cmd heading: 356.832605 deg, new cmd heading: 356.775933 deg. iMUHeadingCmd: 6.226915 target range: 45.419327 and range: 45.60 m.hUB@hQhQhQhQgYgYjgYrgYeareaZea:ea*ee >"?频ɢNG;) 8i)^;顙iNi{f,=X=IB@I @  @ @ /@ iAIEA^A-=E EE"E"E:*EV:VE(3ZEa@a@a@a@A] .AIi Iy O >9 h%,ZALAB4@Br;B4<ٱB =BH_?t{U^?Tn?@? B `2F? ?iB4@IBy];@YjByjIiMb@Mb@Mb@ 9Zd;?&1?~jth?Y>yP=D;@b A )AYpAbD VD8yS]%==ٔ2Q->9 ?Y ?=EyXEкE>Q 54?Q 94)BY8>Q E:y=Q I:@DI:i:4yɮAB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 45.42 m.2i"i.l*i.l% ProNav: ac range: 45.419327 m, nav range: 44.289268 m, bearing: 1.445985 deg, approach rate: -0.488262 m/s, LOS rate: -0.051621 deg/s, cmd heading: 356.775942 deg, new cmd heading: 356.731321 deg. i-򼺝5HeadingCmd: 6.226136 target range: 45.419327 and range: 45.60 m.h5<@h1h1h1h1g1g9jg9rg=Be9reAZeA:eA*eE * ?u+Bɢu8:)q uiy)};yyi} i!iU:=I<@I @  @ @ @ Aq^AM3=]T****** received valid address query ******]R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.B >B ?CB IB BB =B B DB };B 5Eԙ E  E E 'E "E :*E 0:VE '4ZE BE dǎ%,M[LA2,@2+;2k<ٱ2GQ=2Ho?_/?Jve??j\z^???i2,@I2g];22CYNByRIbDZVDZ8ybU+%b\=ٔb\Q-b>9f"?Yf"?=fEyf[Ej>Ej>lQ 5-4n?Q 9-4nt)nBY)y-u=Q I-:@nƆDIn(6AA! I) I9 OM >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257286I%, ^uLA2'@2h ;2z<ٱ2V=2H s?8=0?Ō?Ka?W?/@u 1??i2'@I2~];23CYRByRIIV4>)V>bDZ VDZ8yfQ%fJ=ٔf7JQ-f>9hYh=jEyj`EjEn>pQ 5r4r?Q 9v4r)pYtyvp=Q Iv:@r̆DIr:ir::r4yxɮ~,A|:i%DNOT Ignoring new targets: 45.42 m.2i!"i-q*i-q5 ProNav: ac range: 45.419327 m, nav range: 43.909328 m, bearing: 1.406140 deg, approach rate: -0.500867 m/s, LOS rate: -0.052826 deg/s, cmd heading: 356.693078 deg, new cmd heading: 356.651281 deg. i=ZEHeadingCmd: 6.224739 target range: 45.419327 and range: 45.60 m.hE1@hAhAhAhAgAgIjgIrgIeIreIZeQ:eQ*eU@E EE E"Eغ:*EX:VE3ZEa@a@a@a@ɢ)! %ýi!)%;!!i-i-Ceo-S=51=I51@Iy5@1 @9@9@9 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5091151^AmG=A I I O >Y #%,C7LA2 @2 :2U<ٱ2O=2H~?@Q?K?jBT??O In ?@?i2 @I2];24C]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764856aY By IiMb@Mb@Mb@ 9T㥛 ?Q?MbPY?y<@ A )|AYGAbDVD8y%#=ٔ|Q->9Y=EyeEE>Q 54$?Q 94)BY@?Q E:ySx=Q I:@ԆDI:i:l4yBɮoAEE:iDNOT Ignoring new targets: 45.42 m.2i"i۹*i۹E E}E#E"E[:*Ek&:VE3ZEB>B@CBIBBB =BBºDB#};B4E- ProNav: ac range: 45.419327 m, nav range: 43.656773 m, bearing: 1.394174 deg, approach rate: -0.504427 m/s, LOS rate: -0.024037 deg/s, cmd heading: 356.651278 deg, new cmd heading: 356.627208 deg. i-/-HeadingCmd: 6.224319 target range: 45.419327 and range: 45.60 m.h5-@h1h1h1h1g1g1jg9rg=Be9re9ZeA:eA*eEs@ԁɢ$) ׽i)RK;iOٞiqd=%*u=I%-@I!@ @@@ԩ BDAT read: Rx Time:04:24:33.1290  TRx dataTimestamp_ set to:1764908674.562810 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014250 ^A 3=A zA A)I9IQOe>g*%,cLAPj @j<@jj<ٱjw=jH`?l?@?;U`?N@ژy?|?ij @Ij\;h p)rA~Ar94ppttiv#IttIxizr@ xx)xx ~1~A~#||| ~AI)i)I ~A      iYYByIbD5'VD5а8yEp%ER=ٔEQ-E>9IYI=MEyMiEMԻEU>QQ 5]4Up5?Q 9e4U3)UBYayem=Q Ie;@UۆDIU:iU:U<4ymBɮmAq:iDNOT Ignoring new targets: 45.42 m.2i"iι*iι ProNav: ac range: 45.419327 m, nav range: 43.460125 m, bearing: 1.385417 deg, approach rate: -0.504622 m/s, LOS rate: -0.022573 deg/s, cmd heading: 356.627208 deg, new cmd heading: 356.609615 deg. i>%HeadingCmd: 6.224012 target range: 45.419327 and range: 45.60 m.h+@hhhhg9g9jgArgIeIreQZeQ:ey*e} @ɢڋR) zi); i R*i _ro==checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265224=I=+@IA@ @@@E EE%E"E7:*EVL:VE 4ZEBE;a2E;aJE;a:E;a^A )=1  DAT read: 04:24:33.1290 LVL= 29328, 32753, 32466, 32755, AGC= 65, IDX= 419, 0.07,-1.817, 2.721,-1.709,-2.129, PHS= 0.414,-1.389, 0.376, RAW= 148.9, 6.8, CAL= 148.4, 7.2, ROT= 1.6, -7.2 % Ygot valid direction response: 04:24:33.1290 LVL= 29328, 32753, 32466, 32755, AGC= 65, IDX= 419, 0.07,-1.817, 2.721,-1.709,-2.129, PHS= 0.414,-1.389, 0.376, RAW= 148.9, 6.8, CAL= 148.4, 7.2, ROT= 1.6, -7.2 - PDAT read: Bearing 180.7, 0.7 (Local) - ~Local bearing/azimuth received: Bearing 180.7, 0.7 (Local) 5 DAT read: Range 11 to 50 : 43.8 m (Round-trip 58.4 ms) speed 0.4 m/s = (DAT read: user:97> II IY O > BDAT read: Tx time:04:24:34.2164  $Ping request sent. ]?cK ?Y 3/B r ~ ) AI >i ʱ > R&@ = %@ >) ]?cK ?Y11111 1)1I1i11111 1)1I11154?_g?)Ґ;,? 1)1I1i111-@-@-b<ٱ-=-H?Z{r?.? @c?ꮷ5[? ?i-@I-Nn\;-3CYByI iMMb@Mb@Mb@IIII I9MMbX9?L7A`?Mbp?YM?yM+=M;Mz@M A I)MAIYMAbD=VD8y`x<%)=ٔQ->9Y=EynE E>Q 5 4&J?Q 94)~BY?Q E:y|=Q I;@DI:i:4yɮ%A!Ii1i5:ĠLAj5.B"j5.B:j5ana<"p59E@>ra&V?h_%@p5! ]?cK ?*j5<2j5*p5/LE@ I?q:+@p5?`i?tB?CBIBځBBBBDB|;B4Ea@a@a@a@ԡ ^A5 = II)O5>8%,䠗LA2@2b@2<ٱ2ɼ=2H?~v?텗?vk?`@ ??i2@I2%\;25CYnBynIbDvfVDv 8y~%~[=ٔuQ->9Y=Ey qE 4E >Q 54Z?Q 94)Y!y%cx=Q I%;@DI:ie:;4y-Bɮ-A-FEMB*** querying acoustic contact ***iIiI:iY]DNOT Ignoring new targets: 43.63 m.2iY"ie*ieu ProNav: ac range: 43.627026 m, nav range: 43.149628 m, bearing: 1.070110 deg, approach rate: -0.523340 m/s, LOS rate: -0.029179 deg/s, cmd heading: 356.587183 deg, new cmd heading: 356.566044 deg. iuU}HeadingCmd: 6.223251 target range: 43.627026 and range: 43.80 m.h}$@hyhyhyhyggjgrgereZe:e*e`?颹ɢnU{) `i) ;ii}u@={=I$@Ia@a @a@e/@aT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A=A?AI I!O-> bEe4jEe<3rEe@o0E  E |E E "E :*E P$:VE ـ3ZE BE %,uLA$VX@V@V<ٱVŻ=VH`?@){?6?s l?Ew@@n? k?iVX@IV\\;TYBy IbDM@VDM8yA%C=ٔh9Q->9Y=EyvEIE>Q 54tl?Q 94()}BYy s=Q I;@DIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.986029:i  DNOT Ignoring new targets: 43.63 m.2i "i5 *i5 E ProNav: ac range: 43.627026 m, nav range: 42.931736 m, bearing: 1.058279 deg, approach rate: -0.476726 m/s, LOS rate: -0.026015 deg/s, cmd heading: 356.566037 deg, new cmd heading: 356.542256 deg. iEp>MHeadingCmd: 6.222836 target range: 43.627026 and range: 43.80 m.hMz!@hIhIQhIhQgYgYjgYrgYeYreaZea:ea*ee}[?QɢUld)Q UiQ)];YYi]a훼ieX0wes=e)0=Iez!@Ii@ @@/@ԁԩ ^A a=Ia Iq O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237870ME%,nLA2@2@2j)<ٱ2=2H ???q{? 2DJ'?`M?i2@I2bI\;22CY>By>I@F=Fp=BV>BV>CBVIBVЁBBV =BTBTBV^|;BV~4EBm?CBiBiBm =Bm =Cm5Ef EfEf"Ed"Ef:*Ef3:VEf(3ZEdBEf+<2Ef,<JEf;:Ef;iMb@Mb@Mb@ 9K?ˡE?{Gz?Y^>y'=#<@b A A)YAbD"VD̰8y<%D=ٔbQ->9Y=%Ey%zEE蠻EM>e$G}zAb9zAY٢AQ 54~?Q 94)YL>Q E:y=Q I;@DI:i:s4y-Bɮ-1A-GE:iDNOT Ignoring new targets: 43.63 m.2i"iy2*iy2 ProNav: ac range: 43.627026 m, nav range: 42.715240 m, bearing: 1.041928 deg, approach rate: -0.513875 m/s, LOS rate: -0.039009 deg/s, cmd heading: 356.542268 deg, new cmd heading: 356.509399 deg. iǎԩHeadingCmd: 6.222263 target range: 43.627026 and range: 43.80 m.h@hhhhggjgrg BereZe:e*e`%?ɢA[) i)U;i<0iyd=f=I@I! checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490940@ @@/@ ^A =IA IQ Ou >0K%,~Q2LAFJ@F@Fl<ٱF:=FH?m??SP`)?~ϖ r??iFJ@IF _\;F5CYbBybIlbDnVDn8yvѼ%v\=ٔzQ-z>9|Y|=~Ey~~E~`E>Q 5 4?Q 9 4i)~BYyg=Q I;@DI:i :Y4yɮ%XA!:iAMDNOT Ignoring new targets: 43.63 m.2iI"iM+*iM+]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742086m ProNav: ac range: 43.627026 m, nav range: 42.549805 m, bearing: 1.029606 deg, approach rate: -0.502165 m/s, LOS rate: -0.037547 deg/s, cmd heading: 356.509401 deg, new cmd heading: 356.484662 deg. imnuHeadingCmd: 6.221831 target range: 43.627026 and range: 43.80 m.hu=@hqhqhqhygygyjgyrgyereZe:e*eP?颽*BɢS) i)K;i0iN{᪥=x=I=@Im@i @i@mq3@qDD<E EE#E"E7:*E*5:VE3ZEa@a@a@a@^AEe=AIzAMwAaIIO >y% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996058ԙ R%,&LLA2@2'@23<ٱ2Z=2H ?@[??ë ?ٮ0qG? ?i2@I2M\;26CYNByRIi5Mb@Mb@Mb@1111 195 r?:v?9aYi=mEymEmϺEm>yqQ 54u?Q 94u)qYF?Q E:y=Q I;@uDIu}0;iu:u4yBɮ-AHE:iDNOT Ignoring new targets: 43.63 m.2i"iVg*iVg ProNav: ac range: 43.627026 m, nav range: 42.334496 m, bearing: 1.008542 deg, approach rate: -0.514205 m/s, LOS rate: -0.050562 deg/s, cmd heading: 356.484648 deg, new cmd heading: 356.442305 deg. iHeadingCmd: 6.221092 target range: 43.627026 and range: 43.80 m.h/@hhhhggjgrgBereZe:e*e@@颡ɢn?) i);iP왼iU~8=^=I/@Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.246115@ @@2@ԩB>BBIBˁBBBBDB{;B4EE EE$E"E[:*E*:VE4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497931uY%,fLAYfByfI hhbDr VDr8yv%zR=ٔzQ-z>9xY|=~Ey~E~E>Q 5 4?Q 9 4m)BYyQ I;@ DI:i:v4yɮ%5A!=B*** querying acoustic contact ***i9i9:iIMDNOT Ignoring new targets: 43.63 m.2iI"iUqj*iUqje ProNav: ac range: 43.627026 m, nav range: 42.133598 m, bearing: 0.988693 deg, approach rate: -0.516159 m/s, LOS rate: -0.051241 deg/s, cmd heading: 356.442301 deg, new cmd heading: 356.402413 deg. iemHeadingCmd: 6.220396 target range: 43.627026 and range: 43.80 m.hm{ @hihihihigigqjgqrgqeqreyZey:ey*e} @颭)BɢP,t) 4i):;顱iLiΗ==I{ @I5@1 @1@5|4@9}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750220^AaD @AzD @AE  E E &E "E :*E |;:VE 4ZE a @a @a @a @A I I! O- >ԉ 9_%,LA:@:4@:<ٱ:\=:H ?@"?$?@5(? Br` @a??i:@I:d\;:5CYNBy`bDjVDjð8yg%I=ٔ(Q->9!Y!=-Ey5EE9EE>aQ 5}4e?Q 94e)aYy'=Q I;@eDIe;ie;e4yBɮQAYBDAT read: Rx Time:04:24:36.6765 TRx dataTimestamp_ set to:1764908678.093280checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005537:iDNOT Ignoring new targets: 43.63 m.2i"i O*i O= ProNav: ac range: 43.627026 m, nav range: 41.919487 m, bearing: 0.967965 deg, approach rate: -0.465022 m/s, LOS rate: -0.045249 deg/s, cmd heading: 356.402413 deg, new cmd heading: 356.360745 deg. i=EHeadingCmd: 6.219668 target range: 43.627026 and range: 43.80 m.hE@hAhAhAhAgAgIjgirgieireqZeq:eq*eu`d[@(Bɢ,4) i).;i񉘼i7Υ==I@Iԁ@ @@5@Ա^A V)= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254255A .A I I O >K!f%,LAB&>B$B$B$B$B$B$B& {;B&3EER EREPEP"ER:*ER=:VEPZEPBER;aZ2ER;aZJERȔ;aZ:ERȔ;aZz@z,@z+<ٱz}S=zH?n??2 W?`i?"?iz@IzO\;z3CYByIiMb@Mb@Mb@ 9kt?p= ף?~jt?Y >y=< A A) AY AbDVD8yZ<%?=ٔL Q->9 ?Y ?=EyEE>Q 54<ґ?Q 94K)BY>Q E:yj=Q I;@DI&:i: 4yBɮHAIE:iDNOT Ignoring new targets: 43.63 m.2i"i騺*i騺 ProNav: ac range: 43.627026 m, nav range: 41.722191 m, bearing: 0.939306 deg, approach rate: -0.505925 m/s, LOS rate: -0.073836 deg/s, cmd heading: 356.360749 deg, new cmd heading: 356.303160 deg. i ԱHeadingCmd: 6.218663 target range: 43.627026 and range: 43.80 m.hJ@hhhhggjgrg6BereZe:e*eq @颙ɢ%5)! %i))-&;))i-㗼i5 $5=ۥ=5=I5J@I9-DAT read: 04:24:36.6765 LVL= 25184, 32545, 28626, 32755, AGC= 63, IDX= 411, 0.27, 1.140,-0.569, 1.237, 0.865, PHS= 0.377,-1.389, 0.328, RAW= 148.6, 7.9, CAL= 148.1, 8.5, ROT= 1.9, -8.5 =Ygot valid direction response: 04:24:36.6765 LVL= 25184, 32545, 28626, 32755, AGC= 63, IDX= 411, 0.27, 1.140,-0.569, 1.237, 0.865, PHS= 0.377,-1.389, 0.328, RAW= 148.6, 7.9, CAL= 148.1, 8.5, ROT= 1.9, -8.5 EPDAT read: Bearing 181.6, 1.2 (Local) M~Local bearing/azimuth received: Bearing 181.6, 1.2 (Local) aeDAT read: Range 11 to 50 : 42.0 m (Round-trip 56.1 ms) speed 0.4 m/s m(DAT read: user:98> }BDAT read: Tx time:04:24:37.7663 }$Ping request sent.}jPɠ?%)k?Y(B@ @@5@`b!o )?I%>i>%@0 >m%@ >)=I$?7kY?+? >)I@ I=i]:publishing transmit ping timeyeFpublishing direction and range infoy r H?>jPɠ?%)k?Y )Ii )I$?7kY?+? )Iiԩ ^A =Ա A ؟AI I O >l%,OLABݻ@B(@B<ٱB=BH`??;۔? 33?@+k??iBݻ@IB`l\;@YbBybIbD~VD~8y\% M=ٔ BQ- >9"?Y"?=EyEE>!Q 5-4%⑊?Q 9-4%)%BY)y-d=Q I5;@%DI%;i% ;%4y9ɮ=QA9iicLAjT'B"jT'B:j/<"puAݬD@,?!@p r H?>jPɠ?%)k?*j=2j*p!CD@|k?.:@p-Z?zvb??j\> j%Bic=?i.jBjc=?j`jBrj%Bzj.< addTargetRange:: Added new target pos. range: 42.000000 m, deltaT: 3.528529 s, deltaX: -1.799999 m, approachRate: -0.510127 m/s, rangeRepo size: 4  Added new target pos. range: 41.832745 m, bearing: 0.462266 deg, lat: 36.779409 deg, lon: -121.859628 deg, deltaT: 3.528529 s, deltaX: -1.794281 m, approachRate: -0.508507 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 41.83 m.2i"i*i ProNav: ac range: 41.832745 m, nav range: 41.484547 m, bearing: 0.608550 deg, approach rate: 0.000000 m/s, LOS rate: -0.073836 deg/s, cmd heading: 356.303156 deg, new cmd heading: 356.246149 deg. iHeadingCmd: 6.217668 target range: 41.832745 and range: 42.00 m.h#@hhhhggjgrgereZe:eE@*e`Me?u'Bɢ}X)y }iy)}yV;yiGi-=K@=I#@IE- E-~E-"E)"E-:*E-(:VE-(3ZE)a=@a=@a=@a=@]@Y @Y@]/@a@m=@m=1^AE=Y A .AI I O >qs%,rΡLA 6δ@6@6J<<ٱ6=6H?`_?s? n W?`畿Z???i6δ@I6Z\;62CY^BybIiMb@Mb@Mb@ 9kt?MbX9?{Gz?Yyʡ=ף<Ax A 9A)K AYAbD"VD̰8y 4ۼ%;=ٔeQ->9 ?Y ?=Ey%E%WE%>)Q 554-R?Q 954-)-BY=>Q E=:y=>Q I=;@-#DI-;i-;-4yEBɮEAEJE:iimDNOT Ignoring new targets: 41.83 m.2iq"i}!պ*i}!պ ProNav: ac range: 41.832745 m, nav range: 41.278889 m, bearing: 0.568426 deg, approach rate: -0.475165 m/s, LOS rate: -0.093167 deg/s, cmd heading: 356.246138 deg, new cmd heading: 356.165490 deg. i*HeadingCmd: 6.216260 target range: 41.832745 and range: 42.00 m.h@hhhhggjgrg>BereZe:e*e ?iqɢuj)y }Ziy)}͟;yyi}uiQ==I@I@ @@/@B>BBBBBBBz;B3EEM EMEM$EI"EMU:*EM*5:VEM4ZEIBEM;a]2EM;a]JEM;ae:EM;aeԙ^A e= A I I O >y%,LR街LA2@2^@2R=<ٱ21;=2H@f?ǎ?`1?^݊?@p: ]??i2@I2#q\;23CY>By>IbDFVDF8LyR1%Rd=ٔR 9Q-V>9TYT=VEyVEZ"ZEZ>\Q 5b4^x?Q 9b4^5)^BY`yb>Q Ib;@^)DI^~:i^:^4yhɮjAhvB*** querying acoustic contact ***itit:i|~DNOT Ignoring new targets: 41.83 m.2i"iӺ*iӺ ProNav: ac range: 41.832745 m, nav range: 41.110775 m, bearing: 0.535598 deg, approach rate: -0.470676 m/s, LOS rate: -0.092286 deg/s, cmd heading: 356.165487 deg, new cmd heading: 356.099563 deg. i(HeadingCmd: 6.215110 target range: 41.832745 and range: 42.00 m.h.@hhh!h!g!g!jg!rg)e)re)Ze):e)*e5Z.?Yɢ]S)a eia)e_;aaie?imkm=m=Iu.@Iqm@i @q@u/@qT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A=EU  EU EU (EQ "EU :*EU F:VEU c44ZEQ ae @ae @ae @ae @I I ! O- >҃%,(LAF@FA@F<ٱFGD=FH N?^ӏ?;?@䋿)?S@ >?6?iF@IFU\;F5CYVByVIhjAbDzVDz8y5%EA=ٔM@:Q-U>9YYa=eEyeEuE}>Q 55?Q 95h)BYy6>Q I;@/DI;i;Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.49478445yBɮAKE:iDNOT Ignoring new targets: 41.83 m.2i"iº*iºM ProNav: ac range: 41.832745 m, nav range: 40.907589 m, bearing: 0.495696 deg, approach rate: -0.429892 m/s, LOS rate: -0.084843 deg/s, cmd heading: 356.099562 deg, new cmd heading: 356.019362 deg. iUEUHeadingCmd: 6.213710 target range: 41.832745 and range: 42.00 m.hU@hYhYhYhYgYgYjgargaeareaZea:ei*em?)颭&Bɢ0_) i)̴;顱i/)iDI =D=I@I@ @@/@Y checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744463ԁ ^A =B >B =CB IB ЁBB =B B B z;B 3EEe  Ee Ee #Ea "Ee :*Ee *:VEe 3ZEa BEe ] %,LAZS@Z@Z_t<ٱZp=ZH,?$?"?M _?9`$? v?iZS@IZP\;Z3CYfByjIhi]Mb@Mb@Mb@YYYY Y9]uV?ˡE?y&1?Y]r>y]=]`e=ٔ4:Q->9Y=EyEӺE>Q 55"?Q 95)BYQ>Q E:y$>Q I;@5DI :i:5yɮA:iDNOT Ignoring new targets: 41.83 m.2i"i*i ProNav: ac range: 41.832745 m, nav range: 40.714813 m, bearing: 0.454091 deg, approach rate: -0.506119 m/s, LOS rate: -0.109750 deg/s, cmd heading: 356.019348 deg, new cmd heading: 355.935743 deg. iHHeadingCmd: 6.212251 target range: 41.832745 and range: 42.00 m.h@hhhhggjgrg\BereZe:e*eK?颙ɢfd) I I O >Y %,6LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.248466Jߝ@J*@Jl/<ٱJ?=JH??ر?)@?@l%??iJߝ@IJv\;J2CYV܁ByVIbDbVDb8yf`%jW=ٔj::Q-j>9lYl=nEynErnEr>tQ 5v5v`1?Q 9z5v)vBYxyzF$>Q Iz;@v;DIv:iv:v7 5yBɮ_A:i!-DNOT Ignoring new targets: 41.83 m.2i)"i-*i59E ProNav: ac range: 41.832745 m, nav range: 40.541553 m, bearing: 0.416456 deg, approach rate: -0.456225 m/s, LOS rate: -0.099524 deg/s, cmd heading: 355.935747 deg, new cmd heading: 355.860155 deg. iE#6MHeadingCmd: 6.210931 target range: 41.832745 and range: 42.00 m.hM@hIhIhIhQgQgQjgQrgYeYreYZeY:ea*eev@颉ɢֻ) i);顑iړi==I@IbEjEm4rE0E EE$E"E:*E*5:VE4ZEa@a@a@a@]@a @a@e/0@aiԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503588^AI I O% > <%,PLAVۖ@V&@V<ٱVԶ=VH?@?  ?ꏿ?鶿 LѶ?7?iVۖ@IV\;TYjByjIIr)>)r4<uonly read 0 of 1 data item for water mass range. Device response is::WD, +0. +0.00, +0.00, 20.00,2170.91 au@au au@au au@au a}@a} bDVD8yM<%?=ٔx:Q->ԙ9Y=EyEE>Q 55A?Q 95)BQ A+:YQ E:yn#>Q I;@ADI?;i>@ 5yɮ-A:iDNOT Ignoring new targets: 41.83 m.2i"i*i亝 ProNav: ac range: 41.832745 m, nav range: 40.345814 m, bearing: 0.373778 deg, approach rate: -0.455912 m/s, LOS rate: -0.099886 deg/s, cmd heading: 355.860150 deg, new cmd heading: 355.774381 deg. i6 HeadingCmd: 6.209435 target range: 41.832745 and range: 42.00 m.h @h h h hggjgrgereZe:e!*e%`@IɢMh)Q U0iQ)U~Ԏ;YYi]=i] e,=ee=Ie@Iaue>iu>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755874@ @@d0@B>B>CBIBˁBBBBBz;B3EB>CB>CBBBCħ4E EE#E"E:*E H:VE3ZEBE=GU{AiQ9{AYA^A=IIO>! BDAT read: Rx Time:04:24:40.2243  TRx dataTimestamp_ set to:1764908681.622750 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0095039 (%,jLA2@2@27<ٱ2J=2H|??$? ?`^۶gF?G?i2@I2\;23CY^ҁBybIbDnVDn8yv%zU=ٔz:Q-~>9|Y=EyE aE >Q 5%5P?Q 9%5I)BQ A% :Y)Q E-:y-!>Q I-;@GDII;iQ?u5y=Bɮ=AELEmB*** querying acoustic contact ***iiii:iyDNOT Ignoring new targets: 41.83 m.2i"i *i ẝ ProNav: ac range: 41.832745 m, nav range: 40.170403 m, bearing: 0.335586 deg, approach rate: -0.449861 m/s, LOS rate: -0.098376 deg/s, cmd heading: 355.774391 deg, new cmd heading: 355.697673 deg. i 4HeadingCmd: 6.208096 target range: 41.832745 and range: 42.00 m.h@hhhhggjgrgereZe:e*e @ ɢ ")  (i)z;iFi%ș%8=%!=I%@I)I@I @I@U1@QAechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.260498q^AAzAxAE EE&E"EU:*E*5:VE4ZEa@a@a@a@II O >ԙ g%,LAqE7@E|@E,<ٱE?յ=EHI?L?f?`si?jζ h R?Z?iE7@IE\;DAT read: 04:24:40.2243 LVL= 26080, 32753, 30370, 32755, AGC= 66, IDX= 420,-0.02,-2.001, 2.570,-1.949,-2.301, PHS= 0.401,-1.367, 0.308, RAW= 147.3, 7.7, CAL= 146.8, 8.3, ROT= 3.2, -8.3 Ygot valid direction response: 04:24:40.2243 LVL= 26080, 32753, 30370, 32755, AGC= 66, IDX= 420,-0.02,-2.001, 2.570,-1.949,-2.301, PHS= 0.401,-1.367, 0.308, RAW= 147.3, 7.7, CAL= 146.8, 8.3, ROT= 3.2, -8.3 PDAT read: Bearing 180.9, 2.3 (Local) AYӁByI~Local bearing/azimuth received: Bearing 180.9, 2.3 (Local) DAT read: Range 11 to 50 : 40.4 m (Round-trip 53.9 ms) speed 0.4 m/s (DAT read: user:99> BDAT read: Tx time:04:24:41.3163 $Ping request sent.i->"$@ >(#@ V>)d=IVlJ,?<Z?kw? h%>)e Id=iV:publishing transmit ping timeFpublishing direction and range infoyH?.6H?'ЌCz?Y )Ii )IlJ,?<Z?kw? )Iiԙaa aa aa aa iMb@Mb@Mb@ 9Gz?sh|??I +?Y>y=94< AA )5 AYAbDVDŰ8yMs;%M =ٔuB:Q-}>9Y=EyEPE>Q 557h?Q 95$)BQ AT:Ym>Q E:y>Q I;@PDIQ;iw;5y ɮAii/LAj B"j B:j;X<"pʆʷC@yU@r& /<@pH?.6H?'ЌCz?*jd=2jV*pVC@Aʐe?)@pX-8?)?/:$Q?j.{? jBiS?i?VjދBjS?jj~BrjBzjy; addTargetRange:: Added new target pos. range: 40.400002 m, deltaT: 3.533285 s, deltaX: -1.599998 m, approachRate: -0.452836 m/s, rangeRepo size: 4  Added new target pos. range: 40.239166 m, bearing: 1.408227 deg, lat: 36.779409 deg, lon: -121.859628 deg, deltaT: 3.533285 s, deltaX: -1.593578 m, approachRate: -0.451019 m/s, posRepo size: 4 :i  DNOT Ignoring new targets: 40.24 m.2i "i*i% ProNav: ac range: 40.239166 m, nav range: 39.913025 m, bearing: 0.275350 deg, approach rate: 0.000000 m/s, LOS rate: -0.098376 deg/s, cmd heading: 355.697674 deg, new cmd heading: 355.577205 deg. i!MHeadingCmd: 6.205993 target range: 40.239166 and range: 40.40 m.hM@hIhIhIhIgQgQjgQrgU9BeYreYZeY:e]@33D@*e]?'Bɢ) &i);iiL=@a=I@I @  @ @ /@ @ @ zAB >B B IB ƁBB B B DB {;B ?4EE  E E $E "E :*E ?:VE 4ZE BE dȁBy>I @@bDJVDJ8yRyp%RZ=ٔR:Q-R>9TYT=VEyVEZ EZ>\Q 5^5^v?Q 9b5^t)^BY`yb>Q Ib;@^VDI^:i^q:^5yjBɮj% AjME:ix~DNOT Ignoring new targets: 40.24 m.2i|"i~*i ProNav: ac range: 40.239166 m, nav range: 39.742760 m, bearing: 0.238647 deg, approach rate: -0.506031 m/s, LOS rate: -0.109549 deg/s, cmd heading: 355.577217 deg, new cmd heading: 355.503497 deg. i|HHeadingCmd: 6.204707 target range: 40.239166 and range: 40.40 m.h@hhhhggjg!rg!e!ire!Ze:e*e+?ɢ') >i) ;  i OizV==I@I@ @@0@ ԙ^A}=D D E  E E %E "E [:*E *5:VE 4ZE a @a @a% @a% @A ؟AI I O > փ%,(¢LA2\r@2k@2Ā<ٱ2j=2H?}? ? { By>IbDF"VDF̰8yN'%RL=ٔR&:Q-R>9R"?YV"?=VEyVEVMEV>XQ 5^5Z?Q 9^5Z)ZBY`yb>Q Ib;@Z\DIZ:iZ:ZM5ydɮfh Ah:i15DNOT Ignoring new targets: 40.24 m.2i1"i]*i]庝m ProNav: ac range: 40.239166 m, nav range: 39.553268 m, bearing: 0.197775 deg, approach rate: -0.462907 m/s, LOS rate: -0.100326 deg/s, cmd heading: 355.503505 deg, new cmd heading: 355.421368 deg. im7uHeadingCmd: 6.203273 target range: 40.239166 and range: 40.40 m.hu7@hqhqhqhqggjgrgereZe:e*e]?!ɢ-))) 5Oi1)ut;qqiu_i㨣c=?=I7@I@ @@0@1^A a=A >A ?a A I I B% >B% ?CB% IB% BB% =B! B% ºDB% |;B% 4EO= >;%,ۢLAEn En~ElEl"EnƱ:*En(:VElZElBEn@;av2EnA;avJEn;av:En;avY5By5IiMb@Mb@Mb@ 9/$?Q?:v?Y>y\=T<"A A)YzAbD5VD58yE%E4=ٔEQ-M>I9QYQ=UEyUE]E]>aQ 5e5eF?Q 9m5e)eBYm>Q Em:ym>Q Iu;@ebDIeL ;ie;eH5y}Bɮ} A}NE:iDNOT Ignoring new targets: 40.24 m.2i"iº*iº ProNav: ac range: 40.239166 m, nav range: 39.342388 m, bearing: 0.159467 deg, approach rate: -0.465760 m/s, LOS rate: -0.085062 deg/s, cmd heading: 355.421379 deg, new cmd heading: 355.344353 deg. iHeadingCmd: 6.201929 target range: 40.239166 and range: 40.40 m.h4v@hhhhggjgrg/BereZe:e*e z?-(Bɢ5#2)1 5l]i1)5PXh;99i=Wi=iEdq=E=IE4v@II@ @@&1@@=@=ԁԩ^A! AQ IY Iq O > ȼ%,LA2Y@2 S@2Z(<ٱ2b=2H'?ș?`? s`[?@j Q$DC?H?i2Y@I2,];23CY>ByBIIF=)Fp>bDJVDJ8yR!%Vi=ٔV;Q-V>9XYX=ZEyZEZ E^>Q 55R?Q 95n)BYy%"=Q I%;@hDI;im ;m"5y)ɮ- A)MB*** querying acoustic contact ***iIiI:iQUDNOT Ignoring new targets: 40.24 m.2iY"i]*iem ProNav: ac range: 40.239166 m, nav range: 39.175663 m, bearing: 0.129620 deg, approach rate: -0.468786 m/s, LOS rate: -0.084280 deg/s, cmd heading: 355.344362 deg, new cmd heading: 355.284413 deg. iu=uHeadingCmd: 6.200883 target range: 40.239166 and range: 40.40 m.hum@hyhyhyhygygyjgrgereZe:e*e`(?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɢS) ai)R];iVpi5|=,=Im@IԱE EE&E"E:*E,:VE4ZEa@a@a@a@m@ @@0@ m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980334^A =9 AIIQIaOu>%,LAVL@VE@Vvj<ٱV a=VH@?0|?m4?`:?̶?&?iVL@IVr];V/CYbBybIxiUMb@Mb@Mb@QQQQ Q9U^I +?p= ף?yU=Ut9Y=EyE-QE>Q 55?Q 95)Y>Q E:y=Q I;@pDI_:i:&5yBɮ A:iDNOT Ignoring new targets: 40.24 m.2i"iC*iC ProNav: ac range: 40.239166 m, nav range: 38.935951 m, bearing: 0.092944 deg, approach rate: -0.489156 m/s, LOS rate: -0.075301 deg/s, cmd heading: 355.284420 deg, new cmd heading: 355.210617 deg. i HeadingCmd: 6.199595 target range: 40.239166 and range: 40.40 m.hc@hhhhggjgrg0Bere Ze :e *e @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229611)Bɢ2) gi)N;iQ7i^1 -= ,=I c@I B>B@CByIBBB =BBB};B4E!E EEE"EI:*E=:VEZEBE%,-LAZ<@Z5@Z <ٱZ\=ZHV?@[y??`g9?¶?G?iZ<@IZߊ];Z1CYfByfvIbDrVDr8yzc%zT=ٔ~ 9Q-~>9|Y|=EyEE> Q 55 aʒ?Q 95 >) BYy=Q I;@ vDI ";i :; *5y1ɮ=\ A9Y:iDNOT Ignoring new targets: 40.24 m.2i"i*i5 ProNav: ac range: 40.239166 m, nav range: 38.747673 m, bearing: 0.064365 deg, approach rate: -0.478864 m/s, LOS rate: -0.073041 deg/s, cmd heading: 355.210627 deg, new cmd heading: 355.153191 deg. i5=HeadingCmd: 6.198593 target range: 40.239166 and range: 40.40 m.h=Z@h9hAhAhAgAgAjgIrgIeIreIZeI:eq*euS@*Bɢ[v) fi)4GA;i+!i5?5u=5x=I5Z@I199AAԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.733689ԱE EE%E"E:*E,:VE 4ZEa @a @a @a @@ @@0@@@yA ^A =} BDAT read: Rx Time:04:24:43.7719  TRx dataTimestamp_ set to:1764908685.156443 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994198AAIIIaOm?7Y%,k NLAbk3@b,@bO<ٱb=bH *?`՜?a?Ca?1M:+ζ?`?ibk3@IbA];b0CY By {I 99iMb@Mb@Mb@ 9V-?y&1?~jt?Y>y`e=D<A fA) AYG AbD=VD=8yMh<%M=ٔMU.Q-M>9QYQ=UEyUEUE]>YQ 5m5]Lᒊ?Q 9m5])]BYm>Q Em:ym=Q Im;@]~DI]H;i];].5y}Bɮ}N A}OE:iDNOT Ignoring new targets: 40.24 m.2i)"i-*i-= ProNav: ac range: 40.239166 m, nav range: 38.475689 m, bearing: 0.031328 deg, approach rate: -0.488560 m/s, LOS rate: -0.059762 deg/s, cmd heading: 355.153198 deg, new cmd heading: 355.086659 deg. i=ںEHeadingCmd: 6.197432 target range: 40.239166 and range: 40.40 m.hE\Q@hIhIhIhIgIgIjgQrgU9BeQreQZeQ:eY*e]| @颍+BɢVP) i)/;顑i͉i==I\Q@I@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240107BBB`IBBBBBB};B*5EE EE$E"E:*E0:VE4ZEBE3ˌ%,4hLAEDAT read: 04:24:43.7719 LVL= 25328, 32753, 31298, 32755, AGC= 65, IDX= 413,-0.40, 0.492,-1.235, 0.505, 0.203, PHS= 0.392,-1.393, 0.258, RAW= 146.1, 8.7, CAL= 145.7, 9.4, ROT= 4.3, -9.4 UYgot valid direction response: 04:24:43.7719 LVL= 25328, 32753, 31298, 32755, AGC= 65, IDX= 413,-0.40, 0.492,-1.235, 0.505, 0.203, PHS= 0.392,-1.393, 0.258, RAW= 146.1, 8.7, CAL= 145.7, 9.4, ROT= 4.3, -9.4 PDAT read: Bearing 181.4, 3.4 (Local) ~Local bearing/azimuth received: Bearing 181.4, 3.4 (Local) DAT read: Range 11 to 50 : 38.6 m (Round-trip 51.5 ms) speed 0.4 m/s *DAT read: user:100> BDAT read: Tx time:04:24:44.8663 $Ping request sent.i M > 1#@ |> "@ '>) `=I '   QHf?x#€?GM? >) I `=i '  :publishing transmit ping timeFpublishing direction and range infoYByjIy  Lzm?{?m*?$vz?Y      ) I i      ) I  bDmVDm8yh%+=  QHf?x#€?GM? ) I i   ٔQ->9 ?Y ?=EyE%E>!Q 5-5%?Q 9-5%!)%BY)y-֤=Q I5;@%DI%K:i%y:%735y=Bɮ= A=PEAi i d>jLAj B"j B:j <"p v.B@2@\S1@p Lzm?{?m*?$vz?*j `=2j '*p nyDQC@*5rP?VyZ?@p g)?Qh|?.;bA?j ? j Bi lz?i pj Bj j j rj Bzj 7 addTargetRange:: Added new target pos. range: 38.599998 m, deltaT: 3.532145 s, deltaX: -1.800003 m, approachRate: -0.509606 m/s, rangeRepo size: 4 = Added new target pos. range: 38.447563 m, bearing: 1.724173 deg, lat: 36.779409 deg, lon: -121.859628 deg, deltaT: 3.532145 s, deltaX: -1.791603 m, approachRate: -0.507228 m/s, posRepo size: 4 :iAEDNOT Ignoring new targets: 38.45 m.2iA"iE*iIU ProNav: ac range: 38.447563 m, nav range: 38.229317 m, bearing: 0.001747 deg, approach rate: 0.000000 m/s, LOS rate: -0.059762 deg/s, cmd heading: 355.086672 deg, new cmd heading: 355.027167 deg. iQ}HeadingCmd: 6.196393 target range: 38.447563 and range: 38.60 m.h}H@hhhhggjgrgereZe:eLC@*eB ?,BɢWv) i);isi﷦=*B=IH@Iq@ @@/@bEmʻ 4jEm 4rEmT/E  E E #E "E I:*E ?:VE 3ZE a @a @a @a @ԙ ^A =A >A >AAIIIYO?W%,LA@ @ӆ<ٱ1S=H`[?Vt??@j ?89yYy=EyEܯE>Q 55?Q 95)BYy%=Q I;@DI:i:65yɮ) AL Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLL-Entering USBL mode with 120.000000 count pings at 38.599998 m (mode 2.000000 count ).L-1M-5B*** querying acoustic contact ***i1i1:i9UDNOT Ignoring new targets: 38.45 m.2iQ"i]*i] ProNav: ac range: 38.447563 m, nav range: 38.016869 m, bearing: 359.976668 deg, approach rate: -0.503011 m/s, LOS rate: -0.059711 deg/s, cmd heading: 355.027168 deg, new cmd heading: 354.976730 deg. iں HeadingCmd: 6.195513 target range: 38.447563 and range: 38.60 m.h A@hhhhggAjgArgAeIreQZeQ:eY*e}@F?-Bɢ>) Ԝi) ;i8iĦ==IA@Iԙ@ @@0@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ba Ba Be MIBe BBa Ba Ba Be 0~;Be r5EB-@CB-?CB)B- =B)C-ɒf5] Gm yA E  E E $E "E غ:*E H:VE 4ZE BE %,XWLA2K@2@2<ٱ2I=2H?@\?׍?@=b ?ұ` @??i2K@I2];20CY>By>ZIIB=)B%=iMb@Mb@Mb@ 9rh|?Zd;O?{Gz?Y>yj<=#<A1A A)b AY AbD#VDͰ8y5"%5Q=ٔ5GQ-5>9="?Y="?==Ey=E=DEE>AQ 5U5E ?Q 9U5Eg)EBYU >Q EU:yUi=Q IU;@EDIE:iE:EW:5yeBɮeK Aaj^@1MqM:i)-DNOT Ignoring new targets: 38.45 m.2i1"i5@*i5@e ProNav: ac range: 38.447563 m, nav range: 37.825939 m, bearing: 359.960021 deg, approach rate: -0.480387 m/s, LOS rate: -0.042096 deg/s, cmd heading: 354.976734 deg, new cmd heading: 354.943272 deg. iemHeadingCmd: 6.194929 target range: 38.447563 and range: 38.60 m.hm<@hihqhqhqgqgqjgyrg}(BeyreyZey:e*eb? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.946179.BɢΪ) i)!:in#i뿴BЦ=K=I%<@I!@ @@0@A^A = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.197982i A I I! O- >%,ULA:@:@:%<ٱ:5=:H?G)?T?@<?@p߶Ad᮶??i:@I:-\;:1CYJByJVIDN=DN<ER ERER#EP"ERƱ:*ERa9:VER3ZEPaZ@aZ@aZ@aZ@bDbVDb8yfl%jR=ٔjYQ-j>9lYl=nEynErEr>tQ 5v5vE(?Q 9z5v)tYxyzb=Q Iz;@vDIv:iv:v=5yɮb AjqMM:i)-DNOT Ignoring new targets: 38.45 m.2i)"i5L*i5LE ProNav: ac range: 38.447563 m, nav range: 37.633480 m, bearing: 359.943565 deg, approach rate: -0.521223 m/s, LOS rate: -0.044794 deg/s, cmd heading: 354.943266 deg, new cmd heading: 354.910186 deg. iEMHeadingCmd: 6.194351 target range: 38.447563 and range: 38.60 m.hM 8@hIhIhIhQgQgQjgQrgYeYreYZeY:ea*ee?颍/Bɢ) Yi)l:顑iiV٦==I 8@IQ@ @@5@ԁ%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.450482^A]e=AqzAutAԹPExceeded connect timeout, disconnecting.A I I O > %,-ףLA2@2j@2<ٱ29=2H ?`9?`+?@Ģ ?})? ?i2@I2];0checking for new query: numPingsReceived=0, elapsed TxPingTime=1.702037B=>B9B=@IB=zBB= =B9B9B=~;B=c5EYByRIԱi%Mb@Mb@Mb@!!!! !9%Mb?J +?~jtx?Y%?y%H=%;!%A %A)% A!Y% AbDE VDE8yUK%U(=ٔUBQ-U>9YYY=]Ey]E]H Ee>aQ 5u5eH=?Q 9u5e)aYu?Q Eu:yuj=Q Iu;@eDIe;ie;eA5yBɮ AQEjMCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLL Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLE EE$E"E[:*ErN:VE4ZEBE`%,-LA2@2@2<ٱ2޵=2Hk?Q??`{@?ᶿ?@?i2@I2G];23C 8)B5~AB/ݼ@@DF(~AiFtIDDIHiJr@ HH)HL LNtLLPR5~AIRĻ)PiP)PIR-~AV`T TTTTiTXYXY^By^GI ``bDnVDn8yrF%vZ=ٔv)(Q-v>9z ?Yz ?=zEyzE~tE~>Q 55}M?Q 9 5v)Y y  e=Q I ;@DI:i:ԉCE5yɮ A:iDNOT Ignoring new targets: 38.45 m.2i"iU*iU ProNav: ac range: 38.447563 m, nav range: 37.191837 m, bearing: 359.904270 deg, approach rate: -0.525979 m/s, LOS rate: -0.046715 deg/s, cmd heading: 354.865265 deg, new cmd heading: 354.831108 deg. iHeadingCmd: 6.192971 target range: 38.447563 and range: 38.60 m.h,@hhhhg g)jg1rg1e1re1Ze9:e9*e=@颁ɢ!ȼ) ^i)&:ii&¸=z=I,@I%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.208882a@a @a@e5@aԹDyzD}?AE E~E#E"E:*E(:VE3ZEa@a@a@a@^Ae#=Ia Iq O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460431 4%,LAnManaging dock network, ignoring radio surface power offM@M@MU<ٱMRõ=MH-??@Ϗ?V@?Lݶฯ?D?iM@IM];M2CY-{By-BIiMb@Mb@Mb@ 9jt?ˡE?Mb?Y?y'=<AA A)x AY AbDVD8y&%-=ٔ Q- >9 Y=EyE*E>Q 5%5a?Q 9-56)BY-6?Q E-:y-%=Q I-;@DI;i;eI5y5Bɮ5 A=REUB*** querying acoustic contact ***iQiUx:iaDNOT Ignoring new targets: 38.45 m.2i"i*i ProNav: ac range: 38.447563 m, nav range: 36.953308 m, bearing: 359.888743 deg, approach rate: -0.522186 m/s, LOS rate: -0.034211 deg/s, cmd heading: 354.831114 deg, new cmd heading: 354.799860 deg. ipzHeadingCmd: 6.192426 target range: 38.447563 and range: 38.60 m.hZ(@hAhAhAhAgAgAjgIrgM=BeIreIZeQ:eQ*eU@@1Bɢ3) i)>:iki๽=F=IZ(@Iy%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710513B>BB.IBkBB =BBB`};B5E@ @@?5@IE EE$E"E:*EP:VE4ZEBE;a2E;aJE);a:E*;a^A5 =A= ?A= ?q IQ Ia Om >< %,*LA.BDAT read: Rx Time:04:24:47.3198 2TRx dataTimestamp_ set to:1764908688.6828332checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963090&@q@ޓ<ٱP=H???+l?BԤ?@Ͷ {?`?i&@IV];0C1YmuBym:IbD VD8y-ּ%-7=ٔ58Q-=>99Y9==Ey=EE(MEm>qQ 5}5ut?Q 9}5u)qYyy}R=Q I;@uDIus;iuY;uVM5yBɮO ASE:iDNOT Ignoring new targets: 38.45 m.2i"i'*i' ProNav: ac range: 38.447563 m, nav range: 36.725754 m, bearing: 359.874237 deg, approach rate: -0.504831 m/s, LOS rate: -0.032381 deg/s, cmd heading: 354.799859 deg, new cmd heading: 354.770667 deg. i mHeadingCmd: 6.191916 target range: 38.447563 and range: 38.60 m.h.$@hhhhggjgrgereZe:e*e  @2Bɢj˼) di)EH9!i%RE  E E E "E %:*E L_:VE ZE a @a @a @a @Թ A %,DLA2 @2k@2<ٱ2> =2H ?@?Wo?d?  ض?*?i2 @I2x>^;2/CYNwByN<IIR%>)R %BDAT read: Tx time:04:24:48.4163 -$Ping request sent.-I}>i}}9>}j"@}0 >}p!@ }`>)}¸=I}`yy}Ѵ?В@?Id9Z? }W>)}o I}¸=i}`yy:publishing transmit ping time)Fpublishing direction and range infoyy}? ?S&r#?Yyyyyy y)yIyiyyyyy y)yIyyy}Ѵ?В@?Id9Z? y)yIyiyyy^AI=IQ Ia Om >) B >B ?CB 'IB fBB B B B };B 4EJ%,6^LA>Է@>@>߀<ٱ>=>H{??5?Q饿? @ k??i>Է@I>ye^;>2CYNrByR6IEE EEEAEA"EE:*EE*:VEAZEABEEymt=mD;m9AmGA i)mb AiYm AbD VD8y%;=ٔQ->9Y=EyELE>Q 55m?Q 95)Y>Q E:y ^t%,nxLA2@2;@21v<ٱ2yM=2H?@0??r?`nŎ1?I?i2@I2$^;21CY>\By>IbDFVDF8yN@%N_=ٔRQ-R>9PYP=VEyV EV]mEV>XQ 5^5Z?Q 9^5Z)ZBY`ybE} E}EyEy"E}:*E}a9:VEyZEya@a@a@a@ J\$%,JLA2@2@20e<ٱ2y=2H?@Ƿ?6?+ S? å ?Y?i2@I2^;20CYbfByb(I ddhhiuMb@Mb@Mb@qqqq q9uGz?+?:v?Yu>yu=uT9Y=Ey E+)E>Q 55?Q 95U)BY>Q E:y=Q I;@χDI;i;Z5yBɮ ATEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 36.85 m.2i"iW*iW ProNav: ac range: 36.853588 m, nav range: 35.969250 m, bearing: 1.089901 deg, approach rate: -0.470646 m/s, LOS rate: -0.011753 deg/s, cmd heading: 354.716476 deg, new cmd heading: 354.706190 deg. iHeadingCmd: 6.190791 target range: 36.853588 and range: 37.00 m.h@hhhh!g!g!jg!rg-$Be)re)Ze):e)*e5i?ɢ) $Ͼi)Wiwi\91==I@I@ @@@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.BU>BQBU!IBU`BBQBQBUDBU};BU4EAQIYIqE} E}E}!Ey"E}:*E}3:VE}c3ZEyBE} I ҅*%,"LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.423627(vx@vÓ@vW<ٱv=vH@y? QA?@V?ľ`? @?d?ivx@Iv^;v1CY `By IbD=VD8yM %U@=ٔ]Q-]>9aYa=eEym Em>,Eu>yQ 55}"Ɠ?Q 95}')}BYy =Q I;@}ՇDI}!.;i}.;}^5yɮ A:iDNOT Ignoring new targets: 36.85 m.2i"i\J*i\J ProNav: ac range: 36.853588 m, nav range: 35.766525 m, bearing: 1.085176 deg, approach rate: -0.471759 m/s, LOS rate: -0.011057 deg/s, cmd heading: 354.706176 deg, new cmd heading: 354.696673 deg. i㡹HeadingCmd: 6.190625 target range: 36.853588 and range: 37.00 m.h@hhhhggjgrgereZe:e*eb?%6Bɢ-)) -e־i))5g11i5T/ui==;==V/=I=@I9Q@ @@@A?A>yIIOf>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.675250ԩ ?n1%,&ƤLA@Y%hBy-*IbDE!VDE˰8yU,0=%U\=ٔUQ-U>9YYY=]Ey] EeEe>iQ 5m5mԓ?Q 9u5m)mBYqyqQ Iu;@mۇDIm:im:ma5yBɮ AUE:iDNOT Ignoring new targets: 36.85 m.2i"iL*iL ProNav: ac range: 36.853588 m, nav range: 35.592686 m, bearing: 1.081082 deg, approach rate: -0.473069 m/s, LOS rate: -0.011196 deg/s, cmd heading: 354.696669 deg, new cmd heading: 354.688440 deg. iHeadingCmd: 6.190481 target range: 36.853588 and range: 37.00 m.hl@hhhhggjgrgereZe:e*ev? ɢ )  ξi )Li2si۽D=%=I%l@I!]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.928028ԩ@ @@0@^A12=I I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.179235 ) ) BI BI BM IBM VBBI BI BI BM |;BM 4EB ?CB B B =B =C u5 G- {A9 z7%,ߤLA292{AY2AZ@Zz@Z I<ٱZ\d=ZH`a? Z??@*K?` C?@?iZ@IZ];XYf]ByfIIj,>)j>n=ln=bEͯ4jEͯ3rEͯ/EE EEEE$EA"EEm:*EE,:VEE4ZEABEEV<2EEV<JEE9;:EE9;i Mb@Mb@Mb@     9 ʡE?Q?y \= t< 9A GA A)  A Y bD-׿VD-8y=O%=<=ٔEQ-E>9AYA=EEyE EMEM>QQ 5]5U 擊?Q 9]5U)UBY]>Q Ee:yea =%,|LA2cs@2l@2G><ٱ20=2H??|?@i/N?&ȇζ??i2cs@I2*^;22CY>ZBy>IbDZVDZŰ8ybF%bf=ٔfQ-j>9tYx=~Ey~ E~E~>Q 5 5?Q 9 5)BYyu BDAT read: Rx Time:04:24:50.8673 } TRx dataTimestamp_ set to:1764908692.211266} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.936790 &D%,єLA2h@2#b@2h8<ٱ2H=2H6?@?`z?ת`?߶ ?@?i2h@I2^;0Y>XBy>IԙiMb@Mb@Mb@ 9Gz?Q?I +?Y>y94<AA  A)AY AbDMVDM8y}f8%}1=ٔFLQ->9Y=Ey Ea9E>Q 55?Q 95)BY_>Q E:yBBBBBBºDB]|;B4EM8BɢU)Q U߾iQ)U5*QYi]ki)a==I@IEe EeEaEa"EeI:*Eega:VEaZEaBEe,K%,.LAqM@F@Lp(<ٱi3=H`? ?@u?@\?F@ ?`?iM@Is];1CY]ByI bDVD8yF<%M=ٔ4 Q->9Y=Ey E E>Q 55u?Q 95)BYy۾i))-R>))i-͞ii5R𽽉5mh===I=@I9ԡ@ @@/5@}DAT read: 04:24:50.8673 LVL= 25392, 30913, 28866, 32755, AGC= 65, IDX= 413, 0.10,-2.658, 1.881,-2.680,-2.980, PHS= 0.424,-1.377, 0.256, RAW= 145.2, 8.1, CAL= 144.7, 8.9, ROT= 5.3, -8.9 Ygot valid direction response: 04:24:50.8673 LVL= 25392, 30913, 28866, 32755, AGC= 65, IDX= 413, 0.10,-2.658, 1.881,-2.680,-2.980, PHS= 0.424,-1.377, 0.256, RAW= 145.2, 8.1, CAL= 144.7, 8.9, ROT= 5.3, -8.9 PDAT read: Bearing 179.8, 5.1 (Local) ~Local bearing/azimuth received: Bearing 179.8, 5.1 (Local) DAT read: Range 11 to 50 : 35.1 m (Round-trip 46.9 ms) speed 0.4 m/s *DAT read: user:102> BDAT read: Tx time:04:24:51.9663 $Ping request sent.M0"@M>M!@ M>)Mq=IMIIM')MtIMq=iMII:publishing transmit ping timeFpublishing direction and range infoyIM3z?U{\?j?YIIIII I)IIIiIIIII I)IIIIIM'4R%,pHLAJ =@JX6@J<ٱJ߱=JH?@1?i9Y=Ey%" E%۬E%>IQ 5U5M%?Q 9U5M)MBYYy]hA ?] checking for new query: numPingsReceived=1, elapsed TxPingTime=0.492716Be >Be @CBe IBe QBBa Ba Ba Be m|;Be 4EI I I O >(X%,7bLA6.@6'@6<ٱ6O=6H? Ǯ?xp?@yf?v B??i6.@I6 ^;61CEN ENEN&EL"EN:*EN=:VEN4ZELBEN y=,==`e<=KA=ZA =1 A)=t A9Y= AbDUVDUð8ye%eF=ٔeQ-e>9iYi=mEym& EuEu>yQ 55}5?Q 95}c)}BY>Q E:yԱ uO^%,|LAB&@B$ @Br<ٱB=BH@?91Y1=5Ey5* E5wE5>IQ 5U5ME?Q 9U5MB)MBYYy]checking for new query: numPingsReceived=1, elapsed TxPingTime=1.248732! 7e%,ߕLA6@6[@6<ٱ6s7=6H"?ѯ? f??uԀk_?a?i6@I6^;4YFQByFIiMb@Mb@Mb@ 9-?ˡE?:v?Y?>y'=T<A )Y AbD- VD)y5‚%=I=ٔ=Q-=>9AYA=EEyE. EE@EM>IQ 5U5MU?Q 9U5M')MBY]<>Q E]:y]ݫBACBIBLBB =B>DBúDB|;B4E@ @@/@E EE$E"E:*EVL:VE4ZEBEc;a2Ed;aJE;a:E;a^AA!=AzAvAI1 IA I OU > checking for new query: numPingsReceived=1, elapsed TxPingTime=1.754841ck%, ůLA R@Rc@RI;ٱR=RHN?@S?8`?@8@ ? ,~@?`?iR@IR=];R3CY^UBy^IbDfVDf8yn{<%rP=ٔrQ-r>9tYt=vEyv2 EvEv>xQ 5~5ze?Q 95z)zBYy[ E  E E E "E g:*E rN:VE ZE a @a @a @a @Hr%,ɥLA2^@2@2;ٱ2Ӵ=2Hx?g?1oR?q?zൿw{ϵ??i2^@I2];21CY9XYX=ZEyZ6 EZEZ>\Q 5b5^u?Q 9f5^)^ďBYdyfА[i==I@Ichecking for new query: numPingsReceived=1, elapsed TxPingTime=2.258418@ @@/@^Au2=IIO>B >B BCB B B =B B B |;B 4E! iA IE AU DDAT read: Rx Time:04:24:54.1403 U TRx dataTimestamp_ set to:1764908695.487621] PDAT read: Bearing 180.2, 6.6 (Local) e ~Local bearing/azimuth received: Bearing 180.2, 6.6 (Local) u DAT read: Range 11 to 50 : 33.6 m (trip time 22.4 ms) speed 0.4  DAT read: 04:24:54.1403 LVL= 27232, 31505, 31042, 32755, AGC= 65, IDX= 168,-0.14,-0.486,-2.230,-0.545,-0.800, PHS= 0.416,-1.385, 0.211, RAW= 144.0, 8.9, CAL= 143.6, 9.7, ROT= 6.4, -9.7  Ygot valid direction response: 04:24:54.1403 LVL= 27232, 31505, 31042, 32755, AGC= 65, IDX= 168,-0.14,-0.486,-2.230,-0.545,-0.800, PHS= 0.416,-1.385, 0.211, RAW= 144.0, 8.9, CAL= 143.6, 9.7, ROT= 6.4, -9.7  R#Rx 2: Read range and direction messages. \direction in FSK: [0.979560,0.109875,0.168489] Fpublishing direction and range infoyQ U f;X?? ?RV?YU fBQ U `jU {U By Q )Q IU >iU GU bX>U | @U >U g @ U -\->)U =IU -\-Q Q U @e?u?9? U r>)U dIU =iU -\-Q Q  checking for new query: numPingsReceived=2, elapsed TxPingTime=2.524696/tx%,>u㥗LAEB EBEB%E@"EB:*EB0:VEB 4ZE@BEB;aJ2EB;aJJEB݉;aJ:EB݉;aJb@bj@bG9;ٱb8=bH -??? Yа%?쵿` w@"??ib@Ib}^;`|Y]PBy] IiMb@Mb@Mb@ 9x?v/?I +?YK>yxi=94<AA K A) AYQ AbDVD8y %+=ٔQ->9Y=Ey; EhE>Q 5 5y?Q 9 5)ǏBY->Q E5:y5>J=Q I5<@ DI);i;Y5y9ɮ=A9ii/5ߥLAjB"jB:jb<"p0hbd@@=3k @*}e@pf;X?? ?RV?*j=2j-\-*p',~[z@@|ĐP?{@pS1?Ĩ2?X?j? jBiܙb?i}طj͌Bjs҄?jpjrjBzjT< addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 2.521690 s, deltaX: -1.500000 m, approachRate: -0.594839 m/s, rangeRepo size: 4  Added new target pos. range: 33.468334 m, bearing: 1.772188 deg, lat: 36.779408 deg, lon: -121.859615 deg, deltaT: 2.521690 s, deltaX: -1.492783 m, approachRate: -0.591977 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 33.47 m.2i)"i-*i)= ProNav: ac range: 33.468334 m, nav range: 33.376270 m, bearing: 1.673911 deg, approach rate: 0.000000 m/s, LOS rate: 0.002478 deg/s, cmd heading: 354.682571 deg, new cmd heading: 354.685025 deg. iAmHeadingCmd: 6.190422 target range: 33.468334 and range: 33.60 m.hm@hihqhqhqgqgqjgyrg}@BereZe:e@@*e?QɢU)Q UOiY)]YYi]MYi=A4=I@checking for new query: numPingsReceived=2, elapsed TxPingTime=2.762186I!@) @)@-/@1Yԁ ^A O=A A ?] DDAT read: Rx Time:04:24:54.6400 e TRx dataTimestamp_ set to:1764908695.991822m PDAT read: Bearing 179.0, 5.7 (Local) m ~Local bearing/azimuth received: Bearing 179.0, 5.7 (Local) } DAT read: Range 11 to 50 : 33.2 m (trip time 22.1 ms) speed 0.4  DAT read: 04:24:54.6400 LVL= 26864, 30369, 31026, 32755, AGC= 63, IDX= 501, 0.26,-0.049,-1.807,-0.079,-0.387, PHS= 0.440,-1.375, 0.264, RAW= 145.0, 7.8, CAL= 144.5, 8.5, ROT= 5.5, -8.5 ԩ Ygot valid direction response: 04:24:54.6400 LVL= 26864, 30369, 31026, 32755, AGC= 63, IDX= 501, 0.26,-0.049,-1.807,-0.079,-0.387, PHS= 0.440,-1.375, 0.264, RAW= 145.0, 7.8, CAL= 144.5, 8.5, ROT= 5.5, -8.5 R#Rx 3: Read range and direction messages. \direction in FSK: [0.984463,0.094793,0.147809] Fpublishing direction and range infoya e DƷ?i!ZD?%)k?Ye Ba e he ve 2y a )e ?Ie G>ie e +>e p!@e 'g >e vh!@ e >)e =Ie a a e i?[`o?OUqZ? e >)e UA Ie =ie a a A-؟AI1IAOU>gZ%,-{LAVI@V@Vmš;ٱV3 =VH??I?=浿@8t@!ݵ??iVI@vchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.039579IVt^;V3CY=RBy=IE EE$E"E:*E,:VE4ZEa@a@a@a@bD]VD]8y5w><%=7=ٔ=5Q-=>9="?YE"?=EEyE@ EE EE>iQ 5u5m蛔?Q 9}5mc)mʏBYyy}WF=Q I}<@m'DIm:im:mH5ԉyBɮiizLAjGB"jGB:j샄<"pqB-G@@ʁ( @OZ'[@pDƷ?i!ZD?%)k?*j =2j*pte/X@@b`*?׉:@pW8?rb`?P|C?ja? jBiu^?i|zjGBjlz?jjrj"Bzj.BACBIBGBBBBºDBn};B5EBACBACB͔CB =B =C51I IIuDDAT read: Rx Time:04:24:55.1399 uTRx dataTimestamp_ set to:1764908696.496100}PDAT read: Bearing 179.7, 6.2 (Local) ~Local bearing/azimuth received: Bearing 179.7, 6.2 (Local) DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed 0.4 DAT read: 04:24:55.1399 LVL= 30928, 32753, 32754, 32755, AGC= 64, IDX= 500,-0.12,-1.954, 2.577,-1.997,-2.278, PHS= 0.426,-1.383, 0.237, RAW= 144.5, 8.4, CAL= 144.1, 9.2, ROT= 5.9, -9.2 Ygot valid direction response: 04:24:55.1399 LVL= 30928, 32753, 32754, 32755, AGC= 64, IDX= 500,-0.12,-1.954, 2.577,-1.997,-2.278, PHS= 0.426,-1.383, 0.237, RAW= 144.5, 8.4, CAL= 144.1, 9.2, ROT= 5.9, -9.2 R#Rx 4: Read range and direction messages.\direction in FSK: [0.981907,0.101470,0.159881]Fpublishing direction and range infoyquCGJk?6?Čsv?YuBquxuu q)u@Iu>iu%u!r>uvh!@uQ >u @ ul$>)uB=Iul$qquP9U?ޚ*dRM?o>? uY>)uBIuB=iul$qqchecking for new query: numPingsReceived=4, elapsed TxPingTime=3.533652 9YGAO>ۇ%, LAYNBy IbEqjEu#4rEu/E EEE"EU:*Ei:VEZEBE;a2E;aJE;a :E;a -=-=iiMMb@Mb@Mb@IIII I9M +?T㥛 ?~jt?YM>yM=MD9Y=EyE EE>Q 55ٱ?Q 95)ΏBY>Q E:yx=Q I<@/DI:i[:5yBɮNA ZEiiLAjzB"jzB:j<"pT=#@@@ @ul@pCGJk?6?Čsv?*jB=2jl$*pp6@@'?~z9r@p{Q?^SJ?K?j)7? jBi]?i+'jBjܙb?j+'jrjBzj7q< addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.504278 s, deltaX: -0.200001 m, approachRate: -0.396608 m/s, rangeRepo size: 4  Added new target pos. range: 32.870010 m, bearing: 1.264174 deg, lat: 36.779404 deg, lon: -121.859618 deg, deltaT: 0.504278 s, deltaX: -0.199894 m, approachRate: -0.396396 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 32.87 m.2i"i*i ProNav: ac range: 32.870010 m, nav range: 32.484673 m, bearing: 1.262034 deg, approach rate: 0.000000 m/s, LOS rate: 0.002478 deg/s, cmd heading: 354.687270 deg, new cmd heading: 354.689942 deg. i HeadingCmd: 6.190507 target range: 32.870010 and range: 33.00 m.h @h h h h ggjgrgNBe9re9ZeA:eE@@*eEo?ԙ颽9Bɢtk ) i)лi :TiνZ==I@I%checking for new query: numPingsReceived=4, elapsed TxPingTime=3.769781@ @@@^A D%= AI IO->%,i>LA2@2@2nE;ٱ2#=2H??f`k`? խh`e?V?i2@I2D^;2/CY>EBy>IRDDAT read: Rx Time:04:24:55.6396 RTRx dataTimestamp_ set to:1764908696.999425VPDAT read: Bearing 179.4, 6.1 (Local) Z~Local bearing/azimuth received: Bearing 179.4, 6.1 (Local) bDAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed 0.4 x DAT read: 04:24:55.6396 LVL= 28400, 32753, 32754, 32755, AGC= 64, IDX= 497, 0.28,-0.898,-2.645,-0.932,-1.224, PHS= 0.429,-1.375, 0.249, RAW= 144.8, 8.2, CAL= 144.4, 8.9, ROT= 5.6, -8.9 Ygot valid direction response: 04:24:55.6396 LVL= 28400, 32753, 32754, 32755, AGC= 64, IDX= 497, 0.28,-0.898,-2.645,-0.932,-1.224, PHS= 0.429,-1.375, 0.249, RAW= 144.8, 8.2, CAL= 144.4, 8.9, ROT= 5.6, -8.9 R#Rx 5: Read range and direction messages.\direction in FSK: [0.983245,0.096408,0.154710]Fpublishing direction and range infoyPRF;v?N1?j?YRfBPRnPP P)PIR>iRR~>R?!@RC>RK!@ R>)R+=bDFVDF8y)%N=ٔQ->9Y=EyI Ea E>Q 55?Q 95)яBYyw=Q I<@5DI;iT;h5yɮAIRPPRkc)RIR+=iRPPchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.069318iPiR?LAjRB"jRB:jR$<"pR ;q?@0N @9B@pRF;v?N1?j?*jR+=2jR*pRZ;q@@g%%,YLAB/@Bz@BE;ٱBر=BH:?3L?@FmOV?;1(c3??iB/@IB^;B0CXYbFBy`imMb@Mb@Mb@iiii i9mZd;O?x&?I +?Ymj>ym7=m949Y=EyM EtE>Q 55Ӕ?Q 95N)ՏBY>Q E:y=Q I<@B@CBBB =B?DBB};B:5EDDAT read: Rx Time:04:24:56.1396 TRx dataTimestamp_ set to:1764908697.503395%PDAT read: Bearing 179.6, 6.8 (Local) %~Local bearing/azimuth received: Bearing 179.6, 6.8 (Local) 5DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed 0.4 ]DAT read: 04:24:56.1396 LVL= 24688, 30417, 28850, 31731, AGC= 67, IDX= 2,-0.12,-0.559,-2.308,-0.612,-0.888, PHS= 0.431,-1.375, 0.232, RAW= 144.2, 8.3, CAL= 143.8, 9.1, ROT= 6.2, -9.1 eYgot valid direction response: 04:24:56.1396 LVL= 24688, 30417, 28850, 31731, AGC= 67, IDX= 2,-0.12,-0.559,-2.308,-0.612,-0.888, PHS= 0.431,-1.375, 0.232, RAW= 144.2, 8.3, CAL= 143.8, 9.1, ROT= 6.2, -9.1 eR#Rx 6: Read range and direction messages.m\direction in FSK: [0.981638,0.106640,0.158158]mFpublishing direction and range infoy3i?ٲ!L?@\~>?Yp`vp {)CI>ihm>!@V>K @ ">)k=I"QJ?`Il?J<@? >)9Ik=i"checking for new query: numPingsReceived=6, elapsed TxPingTime=4.540736颙ɢ') i)'i`Oix=L=I@IE EE&E"E:*E*5:VE4ZEBEb;a2Ed;aJE;a:E;a@ @@@^A= =I  checking for new query: numPingsReceived=6, elapsed TxPingTime=4.777988Au .AI I O- >4%,AuLAV$@Vo@V:ٱV=VH+?N? .rW?aU8i??iV$@IVB^;TYb:BybI ddhjAbDnVDn8yv[%vG=ٔz Q-z>9z ?Yz ?=zEyzR E~WE~>Q 5 5䔊?Q 9 5)؏BY yɄ=Q I<@BDIu:i;5yɮAiaie7`LAja"ja:je<"pe?@u樳 @z%ӊ@pe3i?ٲ!L?@\~>?*jek=2je"*pe{Oˌ@@Yڧ?+|@pe51?D?21?je>U? je Bie*{n?ieN| jeBjaje+'jeBrjeAzje<iEEu>E?!@E>EE/!@ El$>)E%=IEl$AAE1\?X?Vw? ED>)E(IE%=iEl$AAchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.045033ԉDzD@AE EE#E"E>:*E H:VE3ZEa@a@a@a@^A/=Թ A ؟AI I1 O= >2%,ALAVchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.281597TZ@ZL@Z9ٱZv=ZH?sx?x8?j`}" w?@d?iZ@IZ_^;Z/CY~9ByIbDVD8y%%%G=ٔ%i>Q-->9-"?Y-"?=-Ey-V E5E5>9Q 5E5=?Q 9E5=)=܏BYAyE?=Q IM<@=IDI=:i=:=J5yUBɮU AU\Eiyi}p}LAj}A"j}A:j}=<"p}҆سg?@_J @Yr@p}U^)n?I?Čsv?*j}%=2j}l$*p}$?@褴?zrs@p}C#?݊?H?Ix?j}8? j} Ai}6U?i}j}Bj}]?j}j}Brj}Azj}fԅ< addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.504261 s, deltaX: -0.500000 m, approachRate: -0.991550 m/s, rangeRepo size: 4 = Added new target pos. range: 31.973122 m, bearing: 0.938899 deg, lat: 36.779404 deg, lon: -121.859619 deg, deltaT: 0.504261 s, deltaX: -0.498024 m, approachRate: -0.987631 m/s, posRepo size: 4 :iAUDNOT Ignoring new targets: 31.97 m.2iQ"i*i ProNav: ac range: 31.973122 m, nav range: 31.616997 m, bearing: 0.936020 deg, approach rate: 0.000000 m/s, LOS rate: -0.041880 deg/s, cmd heading: 354.622903 deg, new cmd heading: 354.584116 deg. iHeadingCmd: 6.188660 target range: 31.973122 and range: 32.10 m.h @hhhhggjgrgereZe:e @@*e@D?U;BɢU,4 )Q UiQ)]YYi}Jig=O=I @I1@1 @1@5/@9B>BACBIBBBB =BBúDB};B&5EiIIMA]DDAT read: Rx Time:04:24:57.1393 ]TRx dataTimestamp_ set to:1764908698.511797mPDAT read: Bearing 179.9, 7.1 (Local) m~Local bearing/azimuth received: Bearing 179.9, 7.1 (Local) }DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.4 DAT read: 04:24:57.1393 LVL= 26672, 32753, 32754, 32755, AGC= 64, IDX= 511,-0.18, 0.143,-1.606, 0.085,-0.179, PHS= 0.424,-1.382, 0.220, RAW= 144.1, 8.7, CAL= 143.6, 9.5, ROT= 6.4, -9.5 Ygot valid direction response: 04:24:57.1393 LVL= 26672, 32753, 32754, 32755, AGC= 64, IDX= 511,-0.18, 0.143,-1.606, 0.085,-0.179, PHS= 0.424,-1.382, 0.220, RAW= 144.1, 8.7, CAL= 143.6, 9.5, ROT= 6.4, -9.5 R#Rx 8: Read range and direction messages.\direction in FSK: [0.980139,0.109940,0.165048]Fpublishing direction and range infoyY]-qL]?}( %?G ?YYY]0hYY Y)YI]>i]`尿]Ga>] @]|>]g @ ])>)]=I])YY]{,?6C?y#E? ]0>)]I]=i])YYchecking for new query: numPingsReceived=8, elapsed TxPingTime=5.549015A E  E E 'E "E :*E a9:VE '4ZE BE ;a 2E ;a JE $;a :E %;a ^A D%=i AII)O=>Gª%,G LAYe4ByeIchecking for new query: numPingsReceived=8, elapsed TxPingTime=5.784920only read 3 of 4 data items for beam range. Device response is::RA, 83.66, 91.14, 87.40, 88.42 a@a a@a a@a a@a bDVD8y䝼%&=ٔQ->Y9Y=Ey[ EE>Q 5 5 ?Q 95-)BQ A%+:Y!Q E-:y)Q I-<@QDIt@pG]j?}ƎU?2B?j~b? jAiΗ h?ijSBjj+'jBrjAzj< addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.504141 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.973646 m, bearing: 1.610173 deg, lat: 36.779404 deg, lon: -121.859618 deg, deltaT: 0.504141 s, deltaX: 0.000525 m, approachRate: 0.001040 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 31.97 m.2i"i*i ProNav: ac range: 31.973646 m, nav range: 31.360153 m, bearing: 1.182629 deg, approach rate: 0.000000 m/s, LOS rate: -0.041880 deg/s, cmd heading: 354.584107 deg, new cmd heading: 354.540973 deg. iԁHeadingCmd: 6.187907 target range: 31.973646 and range: 32.10 m.hV@hhhhggjgrgereZe:e*e?5Y?>{?%)k?Y} Ay } qy y y )} AI} M>i} ;߯} +>} !@} 'g >} K!@ } >)} +=I} y y } ; m?nG?ΗF? } >)} ˠ I} +=i} y y = checking for new query: numPingsReceived=9, elapsed TxPingTime=6.062301 D D %=E  E E $E "E :*E R:VE 4ZE a @a @a @a @^A} O=AIIO>%,{̦LA Yy5=5a= =<=<bDEVDE8ycl:%)=ٔQ->9Y=Ey` EE>Q 55?Q 95)BQ A :YQ E:yQ I<@XDI;i{?5yBɮ)ASEi 5checking for new query: numPingsReceived=9, elapsed TxPingTime=6.288839i LAj A"j A:j k<"p tP?@-X%`@c0 @p ~>Y?>{?%)k?*j +=2j *p gy|/?@DIQl? @p wSC?X؏?W?j b> j ~Ai B*c?i j Bj B*c?j j Brj Azj L<] addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.503568 s, deltaX: -0.399998 m, approachRate: -0.794327 m/s, rangeRepo size: 4 m Added new target pos. range: 31.575224 m, bearing: 0.901952 deg, lat: 36.779404 deg, lon: -121.859619 deg, deltaT: 0.503568 s, deltaX: -0.398422 m, approachRate: -0.791198 m/s, posRepo size: 4 :iiuDNOT Ignoring new targets: 31.58 m.2iq"iq*iq ProNav: ac range: 31.575224 m, nav range: 31.190807 m, bearing: 0.901948 deg, approach rate: 0.000000 m/s, LOS rate: -0.041880 deg/s, cmd heading: 354.540968 deg, new cmd heading: 354.506442 deg. iHeadingCmd: 6.187304 target range: 31.575224 and range: 31.70 m.hf@hhhhggjgrgereZe:e@3?@*e?I-=Bɢ5!6)a m5ii)}[顙i!Ei9]Ľȧ==If@I]@Y @a@e/@ayB- >B) B- IB- =BB- =B- >DB) B- 0};B- 4Eԙ % DDAT read: Rx Time:04:24:58.1389 % TRx dataTimestamp_ set to:1764908699.5268375 PDAT read: Bearing 179.6, 6.7 (Local) 5 ~Local bearing/azimuth received: Bearing 179.6, 6.7 (Local) E DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.4 ^A  DAT read: 04:24:58.1389 LVL= 28912, 32753, 32754, 32755, AGC= 65, IDX= 507,-0.25,-0.801,-2.545,-0.843,-1.121, PHS= 0.422,-1.379, 0.233, RAW= 144.5, 8.5, CAL= 144.1, 9.3, ROT= 5.9, -9.3  Ygot valid direction response: 04:24:58.1389 LVL= 28912, 32753, 32754, 32755, AGC= 65, IDX= 507,-0.25,-0.801,-2.545,-0.843,-1.121, PHS= 0.422,-1.379, 0.233, RAW= 144.5, 8.5, CAL= 144.1, 9.3, ROT= 5.9, -9.3  T#Rx 10: Read range and direction messages. \direction in FSK: [0.981628,0.101441,0.161604] Fpublishing direction and range infoy! % ui?Cb?o?Y% A! % p! ! ! )! I% b>i% % n>% vh!@% >%  @ % 6&>)% B=I% 6&! ! % Al?,NE?n[? % >)% I% B=i% 6&! !  checking for new query: numPingsReceived=10, elapsed TxPingTime=6.578285E}  E} E} #Ey "E} :*E} *5:VE} 3ZEy BE} +%,覗LABP@B@B!>fٱB=BH?"h?`Ш nh?@l?'Ͷ?c?iBP@IB _;B0CY/ByIaUaU aUaU aUaU aUaU iUMb@Mb@Mb@QQQQ Q9US㥛?Zd;?YU?yUy=UQUA U A)U AQYU AbDVD8yp%.=ٔQ->9Y= Ey d EC;E>IQ 5]5M3?Q 9]5M{)MBQ AeT:Y?Q E:y:D=Q I<@M`DIM;iMo;MǪ5yBɮeATEiyi}ᦗLAj}A"j}A:j}f<"p} BY>@ v @?%@ '(?=?<17@p}kO?ʥ#?#Fl3?j}? j}(Ai}l_?i}>ƪj}Bjyj}>ƪj}Brj}Azj}-<echecking for new query: numPingsReceived=10, elapsed TxPingTime=6.792790u addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.511472 s, deltaX: -0.200001 m, approachRate: -0.391030 m/s, rangeRepo size: 4  Added new target pos. range: 31.376373 m, bearing: 1.114854 deg, lat: 36.779404 deg, lon: -121.859618 deg, deltaT: 0.511472 s, deltaX: -0.198851 m, approachRate: -0.388781 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 31.38 m.2i"i*i ProNav: ac range: 31.376373 m, nav range: 30.943563 m, bearing: 1.113310 deg, approach rate: 0.000000 m/s, LOS rate: -0.041880 deg/s, cmd heading: 354.506434 deg, new cmd heading: 354.464516 deg. i-HeadingCmd: 6.186573 target range: 31.376373 and range: 31.50 m.h5h@h1hYhYhagigqjgrg:BereZe:e?@*e?>Bɢ^|+)  i)Rfig CiŽ!Ч= =Ih@I @ @@/@@zA@yA!  DDAT read: Rx Time:04:24:58.6386  TRx dataTimestamp_ set to:1764908700.023270- PDAT read: Bearing 178.5, 6.3 (Local) - ~Local bearing/azimuth received: Bearing 178.5, 6.3 (Local) = DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 I e DAT read: 04:24:58.6386 LVL= 24400, 31697, 29650, 32755, AGC= 64, IDX= 504, 0.14,-0.297,-2.036,-0.327,-0.640, PHS= 0.445,-1.351, 0.269, RAW= 144.9, 7.5, CAL= 144.4, 8.2, ROT= 5.6, -8.2 m Ygot valid direction response: 04:24:58.6386 LVL= 24400, 31697, 29650, 32755, AGC= 64, IDX= 504, 0.14,-0.297,-2.036,-0.327,-0.640, PHS= 0.445,-1.351, 0.269, RAW= 144.9, 7.5, CAL= 144.4, 8.2, ROT= 5.6, -8.2 u T#Rx 11: Read range and direction messages.u \direction in FSK: [0.985052,0.096585,0.142629]} Fpublishing direction and range infoy  Z{?dUϹ?x0A?Y A  P_ { s  ) @I >i  ^> !@ > K!@  C>) +=I C   #G5?y?!^?  I>) I +=i C   checking for new query: numPingsReceived=11, elapsed TxPingTime=7.061025^A E EuEE"EU:*E:VEZEa@a@a@a@yAIIO?M%,z LAB^@B@BK"ٱB$/=BH?9tYt=vEyvi Ez\W:Ez>|Q 55~G?Q 95~/)~BYyE=Q I <@~hDI~:i~:~5yɮAiiA}LAjA"jA:juڃ<"pJʽ>@^W@.|@pZ{?dUϹ?x0A?*j+=2jC*pbJK>@zjM?EUgAE@p?r(H?)k^?j> jAi6b?iU/jʊBj6b?jU/jBrjAzjVڃ< addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.496433 s, deltaX: -0.299999 m, approachRate: -0.604310 m/s, rangeRepo size: 4  Added new target pos. range: 31.077553 m, bearing: 0.922197 deg, lat: 36.779404 deg, lon: -121.859619 deg, deltaT: 0.496433 s, deltaX: -0.298820 m, approachRate: -0.601935 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 31.08 m.2i"i*i  ProNav: ac range: 31.077553 m, nav range: 30.701868 m, bearing: 0.922194 deg, approach rate: 0.000000 m/s, LOS rate: -0.041880 deg/s, cmd heading: 354.464524 deg, new cmd heading: 354.428070 deg. i =HeadingCmd: 6.185937 target range: 31.077553 and range: 31.20 m.h=2@h9h9hAhAgAgIjgqrgqeyreyZey:e}@33?@*e}`b?Ա9ɢ= C)9 =8 i9)E#AAiEX@iM *ǽMK֧=M==IM2@IQchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.296839@ @@@ ^A 2=B >B B IB 3BB =B B B |;B 4E DDAT read: Rx Time:04:24:59.1385  TRx dataTimestamp_ set to:1764908700.528077 PDAT read: Bearing 178.9, 6.4 (Local)  ~Local bearing/azimuth received: Bearing 178.9, 6.4 (Local)  DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.4  DAT read: 04:24:59.1385 LVL= 26336, 32353, 32306, 32755, AGC= 65, IDX= 504,-0.33,-0.304,-2.053,-0.336,-0.636, PHS= 0.434,-1.373, 0.256, RAW= 144.9, 8.0, CAL= 144.4, 8.7, ROT= 5.6, -8.7  Ygot valid direction response: 04:24:59.1385 LVL= 26336, 32353, 32306, 32755, AGC= 65, IDX= 504,-0.33,-0.304,-2.053,-0.336,-0.636, PHS= 0.434,-1.373, 0.256, RAW= 144.9, 8.0, CAL= 144.4, 8.7, ROT= 5.6, -8.7  T#Rx 12: Read range and direction messages. \direction in FSK: [0.983776,0.096460,0.151261] Fpublishing direction and range infoy  :{?R뛱?ni\?Y A f a~ 2~ ) AI ?5>i w o> 5> |>) I | Au^?%?҂,g ? C>) mI i |  checking for new query: numPingsReceived=12, elapsed TxPingTime=7.565577A) I9 II OU >v%,E#LA E EzE!E"E%:*E :VEc3ZEBE;a2E;aJEv;a:Ev;aIY)ByIiMb@Mb@Mb@ 9gfffff? ףp= ?~jtx?Y3>yQ8=;  A)Y A15AAbD=VD=8yE;%M =ٔMQ-M>9QYQ=UEyUo E]E]>aQ 5e5e_?Q 9m5e)eBYmN>Q Em:ym*@`X@LX-@p:{?R뛱?ni\?*j2j|*pr',>@|?/E@pvg?pa[?.?j;> jtAi1m?iѶjLBjB*c?jjLBrjrAzj/<checking for new query: numPingsReceived=12, elapsed TxPingTime=7.800881 addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.504807 s, deltaX: -0.100000 m, approachRate: -0.198096 m/s, rangeRepo size: 4  Added new target pos. range: 30.977764 m, bearing: 0.876059 deg, lat: 36.779404 deg, lon: -121.859619 deg, deltaT: 0.504807 s, deltaX: -0.099789 m, approachRate: -0.197677 m/s, posRepo size: 4 :i5DNOT Ignoring new targets: 30.98 m.2i1"iA*ii ProNav: ac range: 30.977764 m, nav range: 30.430958 m, bearing: 0.917535 deg, approach rate: 0.000000 m/s, LOS rate: -0.041880 deg/s, cmd heading: 354.428078 deg, new cmd heading: 354.380273 deg. iHeadingCmd: 6.185102 target range: 30.977764 and range: 31.10 m.h\@hhhhggjgrg)BereZe:e ?@*e- z?u ?Bɢu *))q u iy )} I.y y i} =ԡ i Ƚ ߧ= V=I \@I @  @ @ 2@ @ @ = DDAT read: Rx Time:04:24:59.6383 TRx dataTimestamp_ set to:1764908701.031266PDAT read: Bearing 178.3, 6.0 (Local) ~Local bearing/azimuth received: Bearing 178.3, 6.0 (Local) DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.4 DAT read: 04:24:59.6383 LVL= 26352, 31377, 29490, 32755, AGC= 64, IDX= 501, 0.06,-0.046,-1.782,-0.063,-0.382, PHS= 0.438,-1.355, 0.275, RAW= 145.3, 7.5, CAL= 144.8, 8.2, ROT= 5.2, -8.2 Ygot valid direction response: 04:24:59.6383 LVL= 26352, 31377, 29490, 32755, AGC= 64, IDX= 501, 0.06,-0.046,-1.782,-0.063,-0.382, PHS= 0.438,-1.355, 0.275, RAW= 145.3, 7.5, CAL= 144.8, 8.2, ROT= 5.2, -8.2 T#Rx 13: Read range and direction messages.\direction in FSK: [0.985703,0.089706,0.142629]Fpublishing direction and range infoyFng?+el?x0A?YfAfz2s )@IA>ip̌>:M"@ >?!@ C>)޹=ICK?o?1Q? >)I޹=iCchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.068274^A=A?A>E EE%E"E:*E3:VE 4ZEa%@a%@a%@a%@AIIQIaOm?)l%,$)JLAFcܿ@F@FfbٱFo=FH`? Й?@`ͱ`Z?@C x?@? ?iFcܿ@IFg^;\F2C `)b=~Ab94``df=~Aif94IddIdijr@ hh)h   I ) i )I51~A11 1999i99Y9YM%ByMIbD}VD}8y%6=ٔhQ->9Y=Eyt EAE>Q 558q?Q 95)BYy@ 1D@f-@pFng?+el?x0A?*j޹=2jC*pU:M>@uÚ?uk@i@pմ ?2/{?R+?j|> jmAiDj?in`jBjjѶjBrjAzjz<- addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.503189 s, deltaX: -0.300001 m, approachRate: -0.596200 m/s, rangeRepo size: 4 5 Added new target pos. range: 30.678942 m, bearing: 0.466834 deg, lat: 36.779404 deg, lon: -121.859619 deg, deltaT: 0.503189 s, deltaX: -0.298822 m, approachRate: -0.593857 m/s, posRepo size: 4 :i9=DNOT Ignoring new targets: 30.68 m.2i9"iA*iAu ProNav: ac range: 30.678942 m, nav range: 30.214403 m, bearing: 0.876498 deg, approach rate: 0.000000 m/s, LOS rate: -0.041880 deg/s, cmd heading: 354.380267 deg, new cmd heading: 354.340137 deg. iq}HeadingCmd: 6.184402 target range: 30.678942 and range: 30.80 m.h}@hyhyhyhygygyjgrgereZe:e>@*e ?DDAT read: Rx Time:04:25:00.1382 TRx dataTimestamp_ set to:1764908701.283021checking for new query: numPingsReceived=13, elapsed TxPingTime=8.306767颕@Bɢ!l@) k i)6iK?;i%Nʽ%Y=%=I%@I)@ @@0@ q u ֐C G  A E #e9I YM faAB >B @CB IB )BB =B ?DB ºDB |;B 4EBABE@CBEʓCBE =BACE%5 PDAT read: Bearing 178.5, 6.0 (Local)  ~Local bearing/azimuth received: Bearing 178.5, 6.0 (Local)  DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed 0.4  DAT read: 04:25:00.1382 LVL= 26240, 31073, 30594, 32755, AGC= 64, IDX= 500, 0.46, 1.126,-0.627, 1.109, 0.798, PHS= 0.429,-1.381, 0.267, RAW= 145.3, 7.9, CAL= 144.9, 8.7, ROT= 5.1, -8.7  Ygot valid direction response: 04:25:00.1382 LVL= 26240, 31073, 30594, 32755, AGC= 64, IDX= 500, 0.46, 1.126,-0.627, 1.109, 0.798, PHS= 0.429,-1.381, 0.267, RAW= 145.3, 7.9, CAL= 144.9, 8.7, ROT= 5.1, -8.7  T#Rx 14: Read range and direction messages. \direction in FSK: [0.984581,0.087871,0.151261] Fpublishing direction and range infoyy } U? m~?ni\?Y} Ay } f} ay} w y )y I} >i} İ} 9>y } 0 >} !@ } |>)} K=I} |y y } `g?-.Y1&?/? } Ӡ>)} I} K=i} |y y M checking for new query: numPingsReceived=14, elapsed TxPingTime=8.583150^A :=i bEjErE͝/E EEE"E:*E n:VEZEBE;a=2E;a=JE;a=:E;a=A.AIIO >%,uiLARڿ@R @RJӻٱRж=RH@??@t剿ڱ?@ ~z? 8Ҷ?`6?iRڿ@IRܠ^;R1CYUByUII]=)]py-D=-;-|A-A -x A)-A)Y-p A 9=<bDe VDe8yu%u=ٔ}Q-}>9} ?Y ?=Eyy EE>Q 55?Q 95)BY%>Q E:y@ijm@.7p@pU? m~?ni\?*jK=2j|*p7>@e^%?} J@p ̏?"Ju? ?j)$> j~AiWɻm?iiwj'BjDj?jj'Brj>AzjPx<= addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.502823 s, deltaX: -0.199999 m, approachRate: -0.397752 m/s, rangeRepo size: 4 M Added new target pos. range: 30.479027 m, bearing: 0.305546 deg, lat: 36.779405 deg, lon: -121.859619 deg, deltaT: 0.502823 s, deltaX: -0.199915 m, approachRate: -0.397585 m/s, posRepo size: 4 :iIuDNOT Ignoring new targets: 30.48 m.2iq"iq*iq ProNav: ac range: 30.479027 m, nav range: 30.030424 m, bearing: 0.868371 deg, approach rate: 0.000000 m/s, LOS rate: -0.041880 deg/s, cmd heading: 354.340133 deg, new cmd heading: 354.290795 deg. iHeadingCmd: 6.183541 target range: 30.479027 and range: 30.60 m.h@hhhhggjgrg/BereZe:e>@*e3?AɢE8)I MiI)MAIIiMJ8iU̽U.=U=I]@IY= @9  @9 @= /@9   PDAT read: Bearing 178.3, 6.4 (Local)  ~Local bearing/azimuth received: Bearing 178.3, 6.4 (Local)  DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.4  DAT read: 04:25:00.6380 LVL= 23440, 32753, 27186, 32755, AGC= 64, IDX= 498,-0.05,-1.529, 3.034,-1.556,-1.851, PHS= 0.424,-1.353, 0.252, RAW= 145.0, 8.0, CAL= 144.5, 8.8, ROT= 5.5, -8.8  Ygot valid direction response: 04:25:00.6380 LVL= 23440, 32753, 27186, 32755, AGC= 64, IDX= 498,-0.05,-1.529, 3.034,-1.556,-1.851, PHS= 0.424,-1.353, 0.252, RAW= 145.0, 8.0, CAL= 144.5, 8.8, ROT= 5.5, -8.8  T#Rx 15: Read range and direction messages.% \direction in FSK: [0.983679,0.094717,0.152986]% Fpublishing direction and range infoy  #Kz?1g??8C ?Y fA [  2j ) I >i / %> p!@ 5> vh!@ nF>) =I nF |ɹ?ȟ??dKF? >) rpI =i nF E checking for new query: numPingsReceived=15, elapsed TxPingTime=9.074525A^AE=AMyAzAMwAEu EuEqEq"Eu:*Eu*5:VEqZEqa@a@a@a@I9IIOU?-%,c򋧗LA9YE$ByEIbDeڿVDe8ye(=%-=ٔQ->9Y=Ey~ EE>Q 55\?Q 95)BYyQ I<@DI)f;ig;5yM$BɮMAUVEiiHnLAjqA"jqA:jUF<"p4a3=@HZf@s w@p#Kz?1g??8C ?*j =2jnF*p7x=@@/ ?.@p'?v? A(f?j> jAimg?iKj;BjjKjrjYAzjF< addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.503892 s, deltaX: -0.300001 m, approachRate: -0.595368 m/s, rangeRepo size: 4  Added new target pos. range: 30.180212 m, bearing: 0.695782 deg, lat: 36.779405 deg, lon: -121.859620 deg, deltaT: 0.503892 s, deltaX: -0.298815 m, approachRate: -0.593014 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 30.18 m.2i"i*i ProNav: ac range: 30.180212 m, nav range: 29.793573 m, bearing: 0.694890 deg, approach rate: 0.000000 m/s, LOS rate: -0.041880 deg/s, cmd heading: 354.290791 deg, new cmd heading: 354.255175 deg. iHeadingCmd: 6.182919 target range: 30.180212 and range: 30.30 m.hy@hh!MDDAT read: Rx Time:04:25:01.1379 UTRx dataTimestamp_ set to:1764908702.294557uPDAT read: Bearing 177.6, 6.0 (Local) }~Local bearing/azimuth received: Bearing 177.6, 6.0 (Local) checking for new query: numPingsReceived=15, elapsed TxPingTime=9.332613h!hg gjgArgAeQreQaZe:eL>@*e [?ɢuJ) i)Ii5ioXͽd==Iy@IE@A @I@M/@QԑB B B IB #BB B B B |;B 4EԹ  DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.4  DAT read: 04:25:01.1379 LVL= 24208, 28577, 28050, 32755, AGC= 63, IDX= 497, 0.32, 1.125,-0.608, 1.114, 0.794, PHS= 0.433,-1.357, 0.276, RAW= 145.5, 7.6, CAL= 145.0, 8.3, ROT= 5.0, -8.3  Ygot valid direction response: 04:25:01.1379 LVL= 24208, 28577, 28050, 32755, AGC= 63, IDX= 497, 0.32, 1.125,-0.608, 1.114, 0.794, PHS= 0.433,-1.357, 0.276, RAW= 145.5, 7.6, CAL= 145.0, 8.3, ROT= 5.0, -8.3  T#Rx 16: Read range and direction messages.% \direction in FSK: [0.985760,0.086243,0.144356]- Fpublishing direction and range infoy  GY?Jd?'ЌCz?Y A ^ o m ) ?I ->i - O> j"@ > p!@ V>) ¸=I V I?CD?]k'? C~>) #I ¸=i V } checking for new query: numPingsReceived=16, elapsed TxPingTime=9.584836^A :=Eu  Eu Eu Eq "Eu y:*Eu E7:VEu 3ZEq BEu %,inLA2:׿@2@26ٱ2o=2H?q?)!?( ? /Z??i2:׿@I2^;2/CYNByRIiMb@Mb@Mb@ 9V-?V-?Mb`?Y>y<;fAA  A)YG AbD]οVD]~8y/%%=ٔ3Q->9Y=Ey E ^E >Q 5-5a?Q 9-5)BY-]>Q E-:y5GQ I5<@DIC;iS.;5AyM9BɮMAIiQiU겢LAjUA"jUA:jUd;"pUP=@ؘ@q/^@pUGY?Jd?'ЌCz?*jU¸=2jUV*pU@*eE4?iuZ#Rx 17: Read range message, but no direction.yY3A}checking for new query: numPingsReceived=17, elapsed TxPingTime=9.881291ɢF) i)Si3iνx=L+=Ix@I@ @@/@ԡ u DAT read: 04:25:01.6377 LVL= 24736, 32753, 29634, 32755, AGC= 64, IDX= 511,-0.15,-1.303,-3.059,-1.321,-1.630, PHS= 0.429,-1.385, 0.265, RAW= 145.3, 8.0, CAL= 144.9, 8.7, ROT= 5.1, -8.7 } Ygot valid direction response: 04:25:01.6377 LVL= 24736, 32753, 29634, 32755, AGC= 64, IDX= 511,-0.15,-1.303,-3.059,-1.321,-1.630, PHS= 0.429,-1.385, 0.265, RAW= 145.3, 8.0, CAL= 144.9, 8.7, ROT= 5.1, -8.7 } Z#Rx 18: Read direction message, but no range. \direction in FSK: [0.984581,0.087871,0.151261]yA E U? m~?ni\?A E `E E s A )E @IE >iE GE >E :M"@E 5>E !@ E |>)E K=IE |A E  ϴd?oR?R? E 0>)E IE K=iE | checking for new query: numPingsReceived=18, elapsed TxPingTime=10.084592 ^A ^=II IY Om >R%,aŧLA2)Կ@2t@2ٱ2+=2H P?ʱ? 5?/H׀?|?+?i2)Կ@I2^;0YNByNIPRATV@AbDZٿVDZ8y%F<%%Q=ٔ%NӺQ-%>9)Y)=-Ey- E-E5>E] E]E]"EY"E]:*E]i:VE](3ZEYae@ae@ae@ae@iQ 55mi?Q 95m)mBYyNQ I<@mDImMS y%,ZߧLABϿ@B#@B&ٱB=BH ?@P?@ba 1`?`쓷?@˷?@7?iBϿ@IBo^;@BR>BR?CBRIBRBBPBPBRDBR};BR4EYNBybIDAT read: 04:25:02.1375 LVL= 28896, 32753, 32754, 32755, AGC= 64, IDX= 509, 0.25,-0.339,-2.073,-0.341,-0.657, PHS= 0.421,-1.370, 0.272, RAW= 145.7, 7.9, CAL= 145.2, 8.6, ROT= 4.8, -8.6 %Ygot valid direction response: 04:25:02.1375 LVL= 28896, 32753, 32754, 32755, AGC= 64, IDX= 509, 0.25,-0.339,-2.073,-0.341,-0.657, PHS= 0.421,-1.370, 0.272, RAW= 145.7, 7.9, CAL= 145.2, 8.6, ROT= 4.8, -8.6 %Z#Rx 20: Read direction message, but no range.-\direction in FSK: [0.985289,0.082737,0.149535]yC!|?(@.?S&r#?p )IP>i)\C>"@0 >0"@ `>)=I`'g9? P}?3? O>)P{ I=i`Mchecking for new query: numPingsReceived=20, elapsed TxPingTime=10.586575iuMb@Mb@Mb@qqqq q9ue;O?~jt?{Gzt?Yu>yu9Y=Ey EE>Q 55ӕ?Q 95)BY>Q E:ygQ I<@DI:i|:d5y=@lxzyI |@p򣒱g?xZ0kZz%?jC jAiae?iF j׊BjjQXzjrj2AzjI; addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.507230 s, deltaX: -0.299999 m, approachRate: -0.591446 m/s, rangeRepo size: 4 Em EmEm$Ei"Em:*Em|;:VEm4ZEiBEm %,6LABaͿ@B@B5ٱB=BH??`}0`GE? 㯷 ڂ?@?@?iBaͿ@IB^;B0CY~ByIbDVD8yEƼ%Ef=ٔEQ-E>9IYI=MEyM EU]EU>YQ 5e5]ᕊ?Q 9e5])]BYiym뷼Q Iu<@]DI]zAi%\%Zd>%i"@%6&>%!@ %K6>)%K=I%K6!%.ֈ?vr ?(? % >)%t&I%K=i%K6checking for new query: numPingsReceived=22, elapsed TxPingTime=11.099536yE} EyEyEy"E}:*EyVEyZEya@a@a@a@^A- ?=I I ԡ O >%,LANDDAT read: Rx Time:04:25:03.1373 VTRx dataTimestamp_ set to:1764908704.318823fPDAT read: Bearing 177.6, 6.1 (Local) j~Local bearing/azimuth received: Bearing 177.6, 6.1 (Local) |DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.4 %Z#Rx 23: Read range message, but no direction.yPYRAPechecking for new query: numPingsReceived=23, elapsed TxPingTime=11.364940B¿@@#ٱ=H?:L?T"? w}???iB¿@I`];/CYByIIC=)=== bDпVD8yUQ<%U-=ٔUݺQ-U>9YYY=]Ey] Ees<Ee>Q 55?Q 95 )BY)y] üQ Ie<@DIj=i=5y?BɮXEiPiRgLAjRA"jRA:jRG @"pRtii<@U&pI@"Q@pR߄^?e?ki?*jRK=2jRK6*pR`Vn<@y^Hnz@pRG=c? :gIEEZ?jR jRuAiR%P?iRrGjR[BjRmg?jRjPrjRAzjR; addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.503061 s, deltaX: -0.199999 m, approachRate: -0.397564 m/s, rangeRepo size: 4 % Added new target pos. range: 28.984770 m, bearing: 359.954014 deg, lat: 36.779405 deg, lon: -121.859623 deg, deltaT: 1.012890 s, deltaX: -0.498020 m, approachRate: -0.491682 m/s, posRepo size: 4 :i!-DNOT Ignoring new targets: 28.98 m.2i)"i-*i)] ProNav: ac range: 28.984770 m, nav range: 28.701279 m, bearing: 0.239528 deg, approach rate: 0.000000 m/s, LOS rate: 0.026293 deg/s, cmd heading: 354.160608 deg, new cmd heading: 354.188560 deg. iYeHeadingCmd: 6.181756 target range: 28.984770 and range: 29.10 m.he@hahihihigigijgqrgqB>B@CBBB =BBºDB};B4EeqreZe:e=@*e ?9ɢ=J)A E iA)E4sAAiEo^)Qi]Ͻ]=e5=Ie@IeDAT read: 04:25:03.1373 LVL= 25536, 32753, 32754, 32755, AGC= 62, IDX= 506, 0.28,-0.694,-2.427,-0.703,-1.000, PHS= 0.408,-1.382, 0.253, RAW= 145.5, 8.4, CAL= 145.1, 9.2, ROT= 4.9, -9.2 uYgot valid direction response: 04:25:03.1373 LVL= 25536, 32753, 32754, 32755, AGC= 62, IDX= 506, 0.28,-0.694,-2.427,-0.703,-1.000, PHS= 0.408,-1.382, 0.253, RAW= 145.5, 8.4, CAL= 145.1, 9.2, ROT= 4.9, -9.2 uZ#Rx 24: Read direction message, but no range.}\direction in FSK: [0.983529,0.084318,0.159881]y15)y?Dߕ?Čsv?15c11 1)5>I5`>i5`尿57>5j"@5Q >5 "@ 5l$>)5%=I5l$15Ȑ?qzE?U, ? 5>)5I5%=i5l$checking for new query: numPingsReceived=24, elapsed TxPingTime=11.602500y E  E {E E "E &:*E 5":VE ZE BE a;$ByBIi Mb@Mb@Mb@     9 rh|?V-?{Gzt?Y >y <  fA  b A)  Y bD%ֿVD%8y5=%5=ٔ5Q-5>99Y9==Ey= EEEE>AQ 55E ?Q 95E()EBYZ>Q E:y?Q I<@EDIEx_?)-)) ))-?I-X9>i-$-D>-:M"@-9>-!@ -I>)-K=I-I)-gt?+d?X2g? -Q>)-9I-K=i-Ichecking for new query: numPingsReceived=26, elapsed TxPingTime=12.105601E EE&E"E%:*E;J:VE4ZEa@a@a@a@ @ @@@)  DDAT read: Rx Time:04:25:04.1370  TRx dataTimestamp_ set to:1764908705.3275195 PDAT read: Bearing 177.2, 6.1 (Local) = ~Local bearing/azimuth received: Bearing 177.2, 6.1 (Local) ] DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed 0.4 e Z#Rx 27: Read range message, but no direction.y Y A m checking for new query: numPingsReceived=27, elapsed TxPingTime=12.362673Q ^A :=AII1Oe?45%,X;^LABm>BiBiBiBm =BiBiBm|;Bm4Eȷ@@0ٱzP=H ?隲?l`?S???iȷ@In];/CYByI iMMb@Mb@Mb@IIII I9MK?Mb?y&1|?YM^>yM=M`;MAMA MA)IIYM AbDmϿVDm8yu%}=ٔ}PQ-}>9Y=Ey EE>Q 55Q$?Q 95;)B=DAT read: 04:25:04.1370 LVL= 25488, 30481, 30818, 32755, AGC= 62, IDX= 503, 0.30,-0.486,-2.226,-0.491,-0.790, PHS= 0.406,-1.391, 0.255, RAW= 145.6, 8.5, CAL= 145.2, 9.3, ROT= 4.8, -9.3 EYgot valid direction response: 04:25:04.1370 LVL= 25488, 30481, 30818, 32755, AGC= 62, IDX= 503, 0.30,-0.486,-2.226,-0.491,-0.790, PHS= 0.406,-1.391, 0.255, RAW= 145.6, 8.5, CAL= 145.2, 9.3, ROT= 4.8, -9.3 MZ#Rx 28: Read direction message, but no range.U\direction in FSK: [0.983395,0.082578,0.161604]Y>Qy>Sw?]jY#?o?cwbx )>I;>iJ \>"@>0"@ 6&>)=I6&Zx1?g?4ޠ? C>)I=i6&uchecking for new query: numPingsReceived=28, elapsed TxPingTime=12.607110Q E:y)Q I<@DIl=ig=5yBBɮAYEiiTLAjA"jA:j@"p0l<@pk@ |;ڑz@p>Sw?]jY#?o?*j=2j6&*pdhϔ<@ĿRX}@pptC{? ">w3ˌ?j& jAi7f?ij]BjjF jOBrjAzj@m addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.504757 s, deltaX: -0.099998 m, approachRate: -0.198112 m/s, rangeRepo size: 4  Added new target pos. range: 28.586557 m, bearing: 359.669497 deg, lat: 36.779405 deg, lon: -121.859625 deg, deltaT: 0.504757 s, deltaX: -0.099556 m, approachRate: -0.197235 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 28.59 m.2i"i*i  ProNav: ac range: 28.586557 m, nav range: 28.118692 m, bearing: 359.936485 deg, approach rate: 0.000000 m/s, LOS rate: 0.026293 deg/s, cmd heading: 354.217189 deg, new cmd heading: 354.247672 deg. i 5HeadingCmd: 6.182788 target range: 28.586557 and range: 28.70 m.h5g@h1h1h1h1g1g9jg9rg=BBe9reAZeA:eE@3<@*eE I?Eu EuEu#Eq"Euy:*Eu:VEu3ZEqBEui Z w> 4"@ "> i"@ ;0>) l=I ;0 |^)  "I l=i ;0 u checking for new query: numPingsReceived=29, elapsed TxPingTime=12.901733 ^AMl= A؟AIIO? %,FLAnchecking for new query: numPingsReceived=29, elapsed TxPingTime=13.100916Y'ByIbD%VD%8y5I =%5=ٔ=Q-=>9="?Y="?=EEyE EEEE>IQ 5U5M:?Q 9U5MM)M BYQyYQ I]<@MĈDIM:iM^;MT5yeEBɮeAaiԑi8uLAjMA"jMA:jݻ@"p;;@@Ϋ5t@p1gl?Jo9?!?*jl=2j;0*p #;@K(9ҿ$\df@p7<`k?1GI>i!r>i"@| >!@ %/>)K=I%/wne^??B˵? >)~ IK=i%/ u checking for new query: numPingsReceived=30, elapsed TxPingTime=13.448486A1 ͂G 5hi91Y5eAI!AAe@AAaBm>BiBmIBm#BBm =BiBiBm|;Bm4EB-@CB)B)B)B)C-Θ4IO>5(%,FLAb@b@bDٱb{=bH2??@nAA`B?)t?`f??ib@IbF];b,CYn!BynIchecking for new query: numPingsReceived=30, elapsed TxPingTime=13.604836a@a a@a a@a a@a bD VD8y ͼ%#=ٔ Q->9Y=Ey E E>Q 5%5dO?Q 9-5`)BQ A-+:Y)Q E-:y-im 9m N>m .k#@m t;?>m "@ m 4QO>)m C=Im 4QOi i m .2?:ʮb?? m G>)m 3\>Im C=im 4QOi i % checking for new query: numPingsReceived=31, elapsed TxPingTime=13.917153^A Gg=Q A .AI I O >/%,,LAr*@rv@rKٱrO=rHC?@ֲ?"6`?`L w{?Y?`x?ir*@Ir];r.CY'ByI%=%a= ))bD5VD58yE<%E;=ٔEeQ-E>9M ?YM ?=MEyM EuP9Eu>yQ 55}`a?Q 95}q)}BQ A :YQ E:y9Q I<@}ӈDI}:i}q?}i5ԑyHBɮ AZEii.LAjQA"jQA:j~V@"p%I ';@Lq$?SBZ@p*l$D?#d?o?*jC=2j4QO*p;@/R@pFl7?0?6bTN?j jAi?XM?iJjPBjjjrjAzj@e addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.502495 s, deltaX: -0.300001 m, approachRate: -0.597023 m/s, rangeRepo size: 4  Added new target pos. range: 27.789814 m, bearing: 358.703547 deg, lat: 36.779404 deg, lon: -121.859626 deg, deltaT: 0.502495 s, deltaX: -0.298817 m, approachRate: -0.594666 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 27.79 m.2i"i*i ProNav: ac range: 27.789814 m, nav range: 27.314817 m, bearing: 359.676471 deg, approach rate: 0.000000 m/s, LOS rate: 0.026293 deg/s, cmd heading: 354.300682 deg, new cmd heading: 354.323780 deg. iHeadingCmd: 6.184116 target range: 27.789814 and range: 27.90 m.hH@hhhhggjgrge checking for new query: numPingsReceived=31, elapsed TxPingTime=14.108791reZe:e`f;@*e`*?Yɢe_) # i)萼顉iiʽA<=IH@IԹE] E]E]$EY"E]g:*E]3:VE]4ZEYam@am@am@am@m@i @q@u4@q@y@}zA^A a= DDAT read: Rx Time:04:25:06.1363  TRx dataTimestamp_ set to:1764908707.339768 PDAT read: Bearing 175.3, 6.3 (Local)  ~Local bearing/azimuth received: Bearing 175.3, 6.3 (Local)  DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.4  M DAT read: 04:25:06.1363 LVL= 28144, 31313, 32754, 32755, AGC= 63, IDX= 496, 0.46,-2.165, 2.364,-2.176,-2.501, PHS= 0.439,-1.373, 0.282, RAW= 145.5, 7.6, CAL= 145.1, 8.2, ROT= 4.9, -8.2 ] Ygot valid direction response: 04:25:06.1363 LVL= 28144, 31313, 32754, 32755, AGC= 63, IDX= 496, 0.46,-2.165, 2.364,-2.176,-2.501, PHS= 0.439,-1.373, 0.282, RAW= 145.5, 7.6, CAL= 145.1, 8.2, ROT= 4.9, -8.2 e T#Rx 32: Read range and direction messages.m \direction in FSK: [0.986159,0.084544,0.142629]m Fpublishing direction and range infoy  ?ȍP㦤?x0A?Y A m Qz ) ?I >i w Nb> j"@ > "@ C>) %=I C P?fL6T?pd? >) I %=i C  checking for new query: numPingsReceived=32, elapsed TxPingTime=14.386640A ؟AI I O >5%,4بLAB謹@B;@BGVٱB=BH??k W@?=Ȋ?@Ǝ??iB謹@IB^;@Y\y\bDjVDj8ٔJӺQ->9 "?Y "?= Ey  E |E>Q 5E5zq?Q 9E5)BQ AE9YAQ EEf:yEEBQ IE<@وDI;iN?95yUKBɮU"AU[Eii¾ըLAjA"jA:j@"pH3RI;@sz@{;^@p?ȍP㦤?x0A?*j%=2jC*p J;@8T@9e@px{`qϒ?8_lΡL?jŽ jAi}5_?i jBj}5_?jjrjAzj@} addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.501195 s, deltaX: -0.299999 m, approachRate: -0.598568 m/s, rangeRepo size: 4  Added new target pos. range: 27.490999 m, bearing: 359.796193 deg, lat: 36.779404 deg, lon: -121.859626 deg, deltaT: 0.501195 s, deltaX: -0.298815 m, approachRate: -0.596205 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 27.49 m.2i"i*i} ProNav: ac range: 27.490999 m, nav range: 27.125002 m, bearing: 359.678993 deg, approach rate: 0.000000 m/s, LOS rate: 0.026293 deg/s, cmd heading: 354.323768 deg, new cmd heading: 354.344892 deg. iBM>BIBMIBM)BBIBIBIBM|;BM4EHeadingCmd: 6.184485 target range: 27.490999 and range: 27.60 m.hM@hhh!hg)g)jg)rg)e1re1Ze1:e5;@*e5`6?ɢ[) ? i)&iBir#ʽB=6=IM@I%checking for new query: numPingsReceived=32, elapsed TxPingTime=14.612824q@q @q@}0@yIEu EuEqEq"Eu:*EuE7:VEqZEqBEu i sh $> C> p!@ >) ¸=I  ~??C: 4? љ>) $I ¸=i  uchecking for new query: numPingsReceived=33, elapsed TxPingTime=14.885408O>-3=%,J]LAF @FT@FZ:fٱF =FH`f?|?y`~=?jA nj?3?Q?iF @IF_^;F-CYR"ByRIaa aa aa aa iMb@Mb@Mb@ 9 +?i|?5?I +?Y>yq=94<tA A)Y!!bD-VD-8y=/+%=<ٔ=Q-E>9E ?YE ?=EEyE EM.EM>QQ 55U?Q 95U7)UBQ AT:Y>Q E:yQ0=Q I<@UDIUiD%,eLAEDDAT read: Rx Time:04:25:07.1360 ETRx dataTimestamp_ set to:1764908708.351467MPDAT read: Bearing 175.0, 6.7 (Local) U~Local bearing/azimuth received: Bearing 175.0, 6.7 (Local) eDAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.4 DAT read: 04:25:07.1360 LVL= 26368, 31361, 32370, 32755, AGC= 63, IDX= 510,-0.45,-2.485, 2.051,-2.504,-2.819, PHS= 0.437,-1.367, 0.271, RAW= 145.2, 7.7, CAL= 144.8, 8.4, ROT= 5.2, -8.4 Ygot valid direction response: 04:25:07.1360 LVL= 26368, 31361, 32370, 32755, AGC= 63, IDX= 510,-0.45,-2.485, 2.051,-2.504,-2.819, PHS= 0.437,-1.367, 0.271, RAW= 145.2, 7.7, CAL= 144.8, 8.4, ROT= 5.2, -8.4 T#Rx 34: Read range and direction messages.\direction in FSK: [0.985201,0.089660,0.146083]Fpublishing direction and range infoyAE[Ć?37?/8ٲ?YEAAEgEzEr~ A)E?IEw>iEE>E0"@E >E?!@ EQ >)E޹=IEQ AAExH?D?Q? Ei>)E R IE޹=iEQ AAchecking for new query: numPingsReceived=34, elapsed TxPingTime=15.390717؝@#@cٱJ=H?L?R ?@Ӷ^s?4?5?i؝@I7^;YyAbDVD8ٔ ZQ- >9"?Y"?=Ey E9E>Q 5%5w?Q 9%5)"BY)y-y,=Q I-<@DI2:i;5y5PBɮ5mA=\EiAiEo~LAjEA"jEA:jE-O6"pE"X:@*9n@UɅ@pE[Ć?37?/8ٲ?*jE޹=2jEQ *pE-}t:@26?!\@pE .?Tϖ>z?ijEQ8 jEAiEb?iE jEPBjE}5_?jEjEBrjEKAzjE@m addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.503706 s, deltaX: -0.099998 m, approachRate: -0.198525 m/s, rangeRepo size: 4 } Added new target pos. range: 27.092640 m, bearing: 0.000177 deg, lat: 36.779404 deg, lon: -121.859626 deg, deltaT: 0.503706 s, deltaX: -0.099604 m, approachRate: -0.197742 m/s, posRepo size: 4 :iy}DNOT Ignoring new targets: 27.09 m.2iy"i*i ProNav: ac range: 27.092640 m, nav range: 26.662096 m, bearing: 359.775829 deg, approach rate: 0.000000 m/s, LOS rate: 0.026293 deg/s, cmd heading: 354.372016 deg, new cmd heading: 354.393636 deg. iHeadingCmd: 6.185336 target range: 27.092640 and range: 27.20 m.hE@hhhhggjgrge re Ze :e @33;@*e?yɢ}Jug)! % i))5C1ԙ1iBieȽ YL= P=IE@IaB>BBIB.BB =BBB|;B4E@ @@0@checking for new query: numPingsReceived=34, elapsed TxPingTime=15.626314E  E zE #E "E Ʊ:*E  :VE 3ZE BE @;a- 2E A;a- JE v;a- :E v;a- ^A :_=A!I1IYO?L%,g}4LAn@n@nBٱnM7=nH? ?@v? 4 ??`?in@InI^;n0CYz(ByzIDDAT read: Rx Time:04:25:07.6358 TRx dataTimestamp_ set to:1764908708.855480%PDAT read: Bearing 174.9, 6.5 (Local) %~Local bearing/azimuth received: Bearing 174.9, 6.5 (Local) 5DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.4 ]DAT read: 04:25:07.6358 LVL= 28896, 32753, 32754, 32755, AGC= 64, IDX= 507, 0.06,-2.465, 2.069,-2.475,-2.794, PHS= 0.430,-1.376, 0.275, RAW= 145.5, 7.8, CAL= 145.1, 8.5, ROT= 4.9, -8.5 eYgot valid direction response: 04:25:07.6358 LVL= 28896, 32753, 32754, 32755, AGC= 64, IDX= 507, 0.06,-2.465, 2.069,-2.475,-2.794, PHS= 0.430,-1.376, 0.275, RAW= 145.5, 7.8, CAL= 145.1, 8.5, ROT= 4.9, -8.5 T#Rx 35: Read range and direction messages.\direction in FSK: [0.985401,0.084479,0.147809]Fpublishing direction and range infoyfPh?si ̌>j"@'g > "@ >)%=I?y[?ߌ5wZ? f>)A I%=ichecking for new query: numPingsReceived=35, elapsed TxPingTime=15.903386ieMb@Mb@Mb@aaaa a9eS?x&?I +?Ye>ye7=aae-A eA)ex AaYeAbD}VD}8yuF<%<ٔ Q->9Y=Ey ESʺE>Q 55ͮ?Q 95)*BY>Q E:y\}=Q I<@DI:i$:|5yɮ<A!ii/6LAjYA"jYA:j@"pŜg:@ˆ@_ej߮@pfPh?smT%,;pSLAXMĔ@M@M`-ٱM =MH?@?@C?`;h?P??iMĔ@IMF^;M.CYeByeIbDu)VDuҰ8y+2%D=ٔQ->9Y=Ey EXE>Q 55*?Q 95DDAT read: Rx Time:04:25:08.1358 TRx dataTimestamp_ set to:1764908709.359444PDAT read: Bearing 174.7, 6.9 (Local) ~Local bearing/azimuth received: Bearing 174.7, 6.9 (Local) DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.4 DAT read: 04:25:08.1358 LVL= 25920, 30337, 29826, 32755, AGC= 63, IDX= 507,-0.33,-2.898, 1.646,-2.919, 3.054, PHS= 0.432,-1.363, 0.266, RAW= 145.2, 7.8, CAL= 144.7, 8.5, ROT= 5.3, -8.5 Ygot valid direction response: 04:25:08.1358 LVL= 25920, 30337, 29826, 32755, AGC= 63, IDX= 507,-0.33,-2.898, 1.646,-2.919, 3.054, PHS= 0.432,-1.363, 0.266, RAW= 145.2, 7.8, CAL= 144.7, 8.5, ROT= 5.3, -8.5 T#Rx 36: Read range and direction messages. \direction in FSK: [0.984788,0.091356,0.147809] Fpublishing direction and range infoyqa?4c?%)k?Y@evt )?I/>iv'1>0"@!@ )q=Iƫ?'=?2ޢZ? 0>) E Iq=imchecking for new query: numPingsReceived=36, elapsed TxPingTime=16.404842<)/BYqyul|=Q Iu<@DITB-ACB-IB-3BB- =B->DB-úDB-|;B-4Eԉe checking for new query: numPingsReceived=36, elapsed TxPingTime=16.632877ԑ ^A /=A zA zAE  E E "E "E *E R:VE (3ZE BE ; 5[%,oLALZ@Zʊ@ZٱZ&=ZH?E?`ؚ:"? @+“??n?iZ@IZ^;Z0CYr&ByrIi-Mb@Mb@Mb@)))) )9-kt?T㥛 ?Mbp?Y- >y-=-;-|A-A -x A)- A)Y- AbD-VD-Ű8y=<%=(=ٔE.Q-E>9e ?Ym ?=mEym EmTEm>qQ 5}5uҖ?Q 9}5u)u4BYK>Q E:yt[=Q I<@uDIu;iu;uc5yVBɮ}A]EB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 26.79 m.2i"iğ*iğ ProNav: ac range: 26.793877 m, nav range: 25.971016 m, bearing: 359.679759 deg, approach rate: -0.534435 m/s, LOS rate: -0.069840 deg/s, cmd heading: 354.447804 deg, new cmd heading: 354.387174 deg. iDDAT read: Rx Time:04:25:08.6355 TRx dataTimestamp_ set to:1764908709.863445PDAT read: Bearing 175.0, 6.7 (Local) ~Local bearing/azimuth received: Bearing 175.0, 6.7 (Local) DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.4 UDAT read: 04:25:08.6355 LVL= 23824, 29905, 30450, 32755, AGC= 62, IDX= 504, 0.12,-2.360, 2.185,-2.369,-2.671, PHS= 0.413,-1.382, 0.258, RAW= 145.5, 8.3, CAL= 145.1, 9.0, ROT= 4.9, -9.0 ]Ygot valid direction response: 04:25:08.6355 LVL= 23824, 29905, 30450, 32755, AGC= 62, IDX= 504, 0.12,-2.360, 2.185,-2.369,-2.671, PHS= 0.413,-1.382, 0.258, RAW= 145.5, 8.3, CAL= 145.1, 9.0, ROT= 4.9, -9.0 eT#Rx 37: Read range and direction messages.m\direction in FSK: [0.984079,0.084365,0.156434]mFpublishing direction and range infoy{|x}?Fr?p ?Y3A]tv )>It>i`尿>j"@V> "@ | >)%=I| fM?v-)K?cL{?HeadingCmd: 6.185223 target range: 26.793877 and range: 26.90 m.hY@hhhhggjgrg?BereZe:e`ff:@*e@? %>)+_I%=i| checking for new query: numPingsReceived=37, elapsed TxPingTime=16.912838BBɢpn) i)Si¶ iȽ4Z==IY@I@ @@/@1 ^A C= checking for new query: numPingsReceived=37, elapsed TxPingTime=17.136745A I I O >|b%,nLA(E^ E^E^)E\"E^7:*E^=:VE^FA4ZE\ab@ab@ab@ab@]⌿@]-@]'ٱ]g=]H?`7?p`F?@m`??f?i]⌿@I]\_;],CYybDVDð8y䇺%F=ٔ@Q->9Y=Ey E괺E>Q 55▊?Q 95)8BYy1Y=Q I<@DIm:i:5yɮAiaieBwLAje^A"je^A:je7@"pedݩ9@XMx@n^t@pe{|x}?Fr?p ?*je%=2je| *peQ9@z8͏‚ʿ LM@peȶt?Ρi!T}?jeT jeAie/e?ie[je̊Bjeb?jajeiBrjeAzje@= addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504001 s, deltaX: -0.500000 m, approachRate: -0.992061 m/s, rangeRepo size: 4 M Added new target pos. range: 26.296265 m, bearing: 359.540925 deg, lat: 36.779404 deg, lon: -121.859626 deg, deltaT: 0.504001 s, deltaX: -0.497612 m, approachRate: -0.987323 m/s, posRepo size: 4 :iIUDNOT Ignoring new targets: 26.30 m.2iQ"iU*iYԩ5 ProNav: ac range: 26.296265 m, nav range: 25.817558 m, bearing: 359.655167 deg, approach rate: 0.000000 m/s, LOS rate: -0.069840 deg/s, cmd heading: 354.387179 deg, new cmd heading: 354.329822 deg. i9}HeadingCmd: 6.184222 target range: 26.296265 and range: 26.40 m.h&@hhhhggjgrgere!Ze):e)*e5 ?ɢ;k) hi)Iiv i(ʽ^=ϡ=I&@IUDDAT read: Rx Time:04:25:09.1355 UTRx dataTimestamp_ set to:1764908710.369734]PDAT read: Bearing 174.9, 7.0 (Local) e~Local bearing/azimuth received: Bearing 174.9, 7.0 (Local) uDAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.4 DAT read: 04:25:09.1355 LVL= 24864, 29649, 29298, 32755, AGC= 63, IDX= 504,-0.27,-3.100, 1.453,-3.116, 2.873, PHS= 0.412,-1.375, 0.250, RAW= 145.3, 8.4, CAL= 144.8, 9.1, ROT= 5.2, -9.1 Ygot valid direction response: 04:25:09.1355 LVL= 24864, 29649, 29298, 32755, AGC= 63, IDX= 504,-0.27,-3.100, 1.453,-3.116, 2.873, PHS= 0.412,-1.375, 0.250, RAW= 145.3, 8.4, CAL= 144.8, 9.1, ROT= 5.2, -9.1 T#Rx 38: Read range and direction messages.}@y @y@}/@y\direction in FSK: [0.983350,0.089492,0.158158]Fpublishing direction and range infoyQU2mw?}v5?@\~>?YQQU aUsUrr Q)U?IU>iUU>U:M"@UQ >U?!@ U">)U޹=IU"QQUGzJ?7?$sf? Uc>)UXIU޹=iU"QQ5checking for new query: numPingsReceived=38, elapsed TxPingTime=17.453682 B >B B B B =B B B \};B 5E^A S=1  checking for new query: numPingsReceived=38, elapsed TxPingTime=17.640865I I O>i%,里LAF̈́@F~@F)ٱF =FH`?@?ϝ %O?S?Aض?`N?iF̈́@IF7_;DY`y`iMb@Mb@Mb@E  E E &E "E :*E E7:VE 4ZE BE yq= A)b AYAbDU)VDUҰ8y:%1=ٔzcQ->9Y=Ey E( E>Q 5M5q?Q 9M5f)Q EU:yU= =Q IU<@ DI;iQ; 5yYBɮA^EiiLAj"j:jO@"pu_9@;@Vew̢@p2mw?}v5?@\~>?*j޹=2j"*phL9@bv`vaU@p0 ]o?[n|?j˽ jAi/w?ijBj/e?jjrjAzj @E addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.506289 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 26.296370 m, bearing: 359.779373 deg, lat: 36.779405 deg, lon: -121.859625 deg, deltaT: 0.506289 s, deltaX: 0.000105 m, approachRate: 0.000207 m/s, posRepo size: 4 :iy}DNOT Ignoring new targets: 26.30 m.2iy"i*i ProNav: ac range: 26.296370 m, nav range: 25.617760 m, bearing: 359.777534 deg, approach rate: 0.000000 m/s, LOS rate: -0.069840 deg/s, cmd heading: 354.329833 deg, new cmd heading: 354.260696 deg. iHeadingCmd: 6.183015 target range: 26.296370 and range: 26.40 m.hC@hhhhgg jg9rgE@BeIyreZe:e*e?颽CBɢi) ]i)   i ;9 i%ͽ$d=&=IC@IDDAT read: Rx Time:04:25:09.6352 TRx dataTimestamp_ set to:1764908710.871590PDAT read: Bearing 174.7, 6.5 (Local) ~Local bearing/azimuth received: Bearing 174.7, 6.5 (Local) DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.4 DAT read: 04:25:09.6352 LVL= 24240, 31217, 30562, 32755, AGC= 62, IDX= 501, 0.12,-2.096, 2.466,-2.091,-2.397, PHS= 0.404,-1.374, 0.262, RAW= 145.9, 8.3, CAL= 145.5, 9.1, ROT= 4.5, -9.1 -Ygot valid direction response: 04:25:09.6352 LVL= 24240, 31217, 30562, 32755, AGC= 62, IDX= 501, 0.12,-2.096, 2.466,-2.091,-2.397, PHS= 0.404,-1.374, 0.262, RAW= 145.9, 8.3, CAL= 145.5, 9.1, ROT= 4.5, -9.1 5T#Rx 39: Read range and direction messages.=\direction in FSK: [0.984370,0.077472,0.158158]eFpublishing direction and range infoy9 b?tQ-ճ?@\~>?YA^ybw )>I>i;߯$>"@V>j"@ @ @@@ԡ)|٠=IbZ`|?$?I(z?? B>)I|٠=ichecking for new query: numPingsReceived=39, elapsed TxPingTime=17.931507 ^A =A >A ?IIO>q%,ƩLA(Nchecking for new query: numPingsReceived=39, elapsed TxPingTime=18.144936YEByEIbDUHVDU8yM%:=ٔQ->9Y=Ey EE>Q 55Y?Q 95.)?BYyQ I<@DIG:ib; 5yɮAiyi}!ȷLAj}.A"j}.A:j}@"p}yU?~9@/C @*QEb@p}9 b?tQ-ճ?@\~>?*j}|٠=2jy*p};# q9@K;0ڿeI@p}G²o?)-<a?j}Ѿ j}Ai}tHh?i}j}Bj}tHh?j}wj}Brj}Azj}#@ addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.501856 s, deltaX: -0.400000 m, approachRate: -0.797041 m/s, rangeRepo size: 4  Added new target pos. range: 25.897940 m, bearing: 359.078581 deg, lat: 36.779405 deg, lon: -121.859626 deg, deltaT: 0.501856 s, deltaX: -0.398430 m, approachRate: -0.793913 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 25.90 m.2i!"i!*i!5 ProNav: ac range: 25.897940 m, nav range: 25.442791 m, bearing: 359.519378 deg, approach rate: 0.000000 m/s, LOS rate: -0.069840 deg/s, cmd heading: 354.260684 deg, new cmd heading: 354.204076 deg. i1=HeadingCmd: 6.182027 target range: 25.897940 and range: 26.00 m.h=+@h9hAhAhAgAgAjgIrgIeIreIZeQ:eU:@*eU?yɢ}) i),H顁i<i+Ͻg==I+@IE EE E"E:*Ea9:VE3ZEa@a@a@a@ԉ @  @ @ 0@ @@=Թ^AS=I1IAUDDAT read: Rx Time:04:25:10.1351 UTRx dataTimestamp_ set to:1764908711.375310ePDAT read: Bearing 174.9, 6.7 (Local) e~Local bearing/azimuth received: Bearing 174.9, 6.7 (Local) uDAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed 0.4 DAT read: 04:25:10.1351 LVL= 23216, 31473, 28658, 32755, AGC= 62, IDX= 500,-0.30, 2.068, 0.336, 2.068, 1.773, PHS= 0.396,-1.392, 0.251, RAW= 145.8, 8.7, CAL= 145.4, 9.5, ROT= 4.6, -9.5 Ygot valid direction response: 04:25:10.1351 LVL= 23216, 31473, 28658, 32755, AGC= 62, IDX= 500,-0.30, 2.068, 0.336, 2.068, 1.773, PHS= 0.396,-1.392, 0.251, RAW= 145.8, 8.7, CAL= 145.4, 9.5, ROT= 4.6, -9.5 T#Rx 40: Read range and direction messages.\direction in FSK: [0.983109,0.079099,0.165048]Fpublishing direction and range infoyQU]Hu?H??G ?YUfAQUZUzUo Q)QIU>iU-U>U4"@U|>Ui"@ U)>)Ul=IU)QQU/~y?6?-j_? Uҫ>)UIUl=iU)QQchecking for new query: numPingsReceived=40, elapsed TxPingTime=18.412506O> a a  Wf9 Y bAyw%,a੗LA2}@2Cw@2ɼٱ2=2H`??O6K`K?N">?@? 3?i2}@I2:k`;20CYNByRI TV<\bDZ VDZ8yf<%fX=ٔjvۻQ-j>9hYh=nEyn EeE >B=>B9B9B9B= =B9B9B=};B=75EBACBACBB =B =CxU5Q 5%5n?Q 9-5)CBYQy]=Q Ie<@DIلim Vm +>m .k#@m >m "@ m C>)m C=Im Ci i m 4m(o?Q?5? m m!>)m QIm C=im Ci i ^A Zs=A yAzA wAI I  checking for new query: numPingsReceived=41, elapsed TxPingTime=18.919470O >HA~%,2LA,Uzr@Uk@UݼٱU`=UH%?i? q?ǟ?^??iUzr@IU4`;U/CYByIiMb@Mb@Mb@ 9Zd;?v/?MbPY>yxi=tA A) AYbDVD8y8<%#=ٔQ->9Y=Ey E 9E >Q 55,?Q 95)GBY%>Q E%:y%c =Q I%<@ DIF:i :5y)ɮ-A1iiGLAjfA"jfA:jM@"pe38@y?KfB @pK?NX?x0A?*jC=2jC*p{08@nr}b@p6~s?i]o藿q_c?j7 j9Ai5N_?i PjBj/e?jS^jrjAzj@ addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.504071 s, deltaX: -0.400000 m, approachRate: -0.793538 m/s, rangeRepo size: 4 ԉ Added new target pos. range: 25.300098 m, bearing: 358.641209 deg, lat: 36.779405 deg, lon: -121.859628 deg, deltaT: 0.504071 s, deltaX: -0.398426 m, approachRate: -0.790417 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 25.30 m.2i"i*i ProNav: ac range: 25.300098 m, nav range: 24.976103 m, bearing: 359.075993 deg, approach rate: 0.000000 m/s, LOS rate: -0.069840 deg/s, cmd heading: 354.141347 deg, new cmd heading: 354.081200 deg. iHeadingCmd: 6.179883 target range: 25.300098 and range: 25.40 m.h@hhhhggjg!rg%8BeAreaZea:em`ff9@*emx?颱ɢx }) ki)s˾项ii ӽq= .=I@IIyA) checking for new query: numPingsReceived=41, elapsed TxPingTime=19.153362y@y @y@}0@yԹEe  Ee Ea Ea "Ee غ:*Ee P:VEa ZEa am @am @am @am @ ^A =Ia I O >)%,LAFPp@Fi@FٱF:=FH@?`Km? +)?Ӝ?\? ?iFPp@IF`;F1CYRByRIIV<)V=\bD^VD^8yf#j%fv=ٔjgQ-j?9hY=Ey E%KE%?)Q 5-5-:?Q 955-)-JBY1y5;=Q I5<@-&DI-Q;i-;-z5yE`BɮEAAeDDAT read: Rx Time:04:25:11.1348 eTRx dataTimestamp_ set to:1764908712.383442uPDAT read: Bearing 191.0, 1.2 (Local) u~Local bearing/azimuth received: Bearing 191.0, 1.2 (Local) DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.4 DAT read: 04:25:11.1348 LVL= 25904, 32753, 32754, 32755, AGC= 61, IDX= 513,-0.32, 3.054, 1.340,-3.065,-3.096, PHS=-0.031,-1.802,-0.013, RAW= 150.5, 20.1, CAL= 152.5, 25.5, ROT= 357.5, -25.5 Ygot valid direction response: 04:25:11.1348 LVL= 25904, 32753, 32754, 32755, AGC= 61, IDX= 513,-0.32, 3.054, 1.340,-3.065,-3.096, PHS=-0.031,-1.802,-0.013, RAW= 150.5, 20.1, CAL= 152.5, 25.5, ROT= 357.5, -25.5 T#Rx 42: Read range and direction messages.^direction in FSK: [0.901726,-0.039370,0.430511]Fpublishing direction and range infoyae?V( Wv~?Yaae0eae a)aIeie濉eTe0(@e>eX*@ e>)ei@Ie㾩aae4 ?$?uX? e}H?)e|IeѸ2ie㾩aachecking for new query: numPingsReceived=42, elapsed TxPingTime=19.423277iaiePLAja"ja:je^@"peƹR6@){Ԉ%@pe?V( Wv~?*jeѸ22je*peqB6@1̲Wu&@pe'?XTmÿY_ +B?jeu jeAiek;?ie91jeBje,pd?jejeBrjerAzjeŁ@ addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.504061 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 25.300098 m, bearing: 350.211820 deg, lat: 36.779405 deg, lon: -121.859628 deg, deltaT: 0.504061 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i)-DNOT Ignoring new targets: 25.30 m.2i)"i1*i1E ProNav: ac range: 25.300098 m, nav range: 24.805973 m, bearing: 359.006242 deg, approach rate: 0.000000 m/s, LOS rate: -0.069840 deg/s, cmd heading: 354.081214 deg, new cmd heading: 354.031244 deg. iAMHeadingCmd: 6.179011 target range: 25.300098 and range: 25.40 m.hMu@hIhIhQhQgQgQjgQrgYeYreYZeY:eY*ee8~?iɢm )q uiq)u+¼qqiuHi}uYս}u=1H=Iu@I-@) @1@53@1B>B@CBBB =B?DBºDB};BM5E^A= checking for new query: numPingsReceived=42, elapsed TxPingTime=19.657005II Ia Om >A Q%,z/LABl@Be@B2'ٱBQż=BH?K?ϢHG?`*ܶ???iBl@IB3u`;B-CEJ EHEHEH"EJ:*EHVEHZEHBEJy94=;fA A) AY A!%AAbD-VD-8y=%=)=ٔ=Q-E>9AYA=EEyE EM|EM>QQ 5]5UN?Q 9]5U)UOBY]>Q E]:y]h;Q Ie<@U-DIU:iU$:U5yiɮuDAqB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 25.30 m.2i"i*i ProNav: ac range: 25.300098 m, nav range: 24.572826 m, bearing: 358.993950 deg, approach rate: -0.512709 m/s, LOS rate: -0.027286 deg/s, cmd heading: 354.031244 deg, new cmd heading: 354.006429 deg. iGHeadingCmd: 6.178578 target range: 25.300098 and range: 25.40 m.h@hhhhggjg)rg-Be)re)Ze1:e1*e5 $?IuDDAT read: Rx Time:04:25:11.6345 uTRx dataTimestamp_ set to:1764908712.887408PDAT read: Bearing 172.8, 5.9 (Local) ~Local bearing/azimuth received: Bearing 172.8, 5.9 (Local) DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.4 DAT read: 04:25:11.6345 LVL= 23200, 32753, 30450, 32755, AGC= 60, IDX= 510, 0.04, 2.694, 0.972, 2.726, 2.372, PHS= 0.424,-1.356, 0.310, RAW= 146.7, 7.3, CAL= 146.2, 7.9, ROT= 3.8, -7.9 Ygot valid direction response: 04:25:11.6345 LVL= 23200, 32753, 30450, 32755, AGC= 60, IDX= 510, 0.04, 2.694, 0.972, 2.726, 2.372, PHS= 0.424,-1.356, 0.310, RAW= 146.7, 7.3, CAL= 146.2, 7.9, ROT= 3.8, -7.9 T#Rx 43: Read range and direction messages.\direction in FSK: [0.988332,0.065645,0.137445]Fpublishing direction and range infoyqusj?ΰ?yjȗ?Yu3AquZquv q)u<Iu>iuhuR>u#@uw>uN#@ u0 >)uԇ=Iu0 qqux|Z?i-ϋ?j-?ɢ)  u>)u+Iuԇ=iu0 qqMchecking for new query: numPingsReceived=43, elapsed TxPingTime=19.936749i)M'ƼQQiUiU^<ֽ]z=]=I]@I1@9 @9@=0@9yԩ ^A} =A >A >% checking for new query: numPingsReceived=43, elapsed TxPingTime=20.160793 A ؟AIIO=>p,%,OMLA^Tj@^c@^d^ٱ^]=^H?ዴ?`wX`?綿@J?`A?@2?i^Tj@I^_;^.CEf EfEf$Ed"Ef,:*EfVL:VEf4ZEdaj@aj@aj@an@Y5$By5IbDEVDEð8yUq=%UJ=ٔ]`JQ-]>9]"?Y]"?=]Ey] Ee1Ee>iQ 5u5m?_?Q 9u5m)mTBYqy}s;Q I}<@m3DImL:im":m&5ycBɮA`EiiK8LAjiA"jiA:j@"py_^"8@m[ ?OS?RE @psj?ΰ?yjȗ?*jԇ=2j0 *pOC`j8@dvŲ+@pTPĀ?j"1E-|&?j; jTAi5h?iHjBjj PjBrjAzjF@ addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503966 s, deltaX: -0.500000 m, approachRate: -0.992130 m/s, rangeRepo size: 4  Added new target pos. range: 24.801634 m, bearing: 358.280086 deg, lat: 36.779405 deg, lon: -121.859630 deg, deltaT: 0.503966 s, deltaX: -0.498465 m, approachRate: -0.989084 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 24.80 m.2i"i*i ProNav: ac range: 24.801634 m, nav range: 24.377899 m, bearing: 358.593245 deg, approach rate: 0.000000 m/s, LOS rate: -0.027286 deg/s, cmd heading: 354.006437 deg, new cmd heading: 353.984230 deg. i HeadingCmd: 6.178190 target range: 24.801634 and range: 24.90 m.h @h h h hggjgrgereZe:e`f8@*e?ɢn() 9i)fʼ19i=oi=׽E=EvM=IE@IADDAT read: Rx Time:04:25:12.1344 TRx dataTimestamp_ set to:1764908713.392924PDAT read: Bearing 173.3, 5.9 (Local) ~Local bearing/azimuth received: Bearing 173.3, 5.9 (Local) DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.4 @ @@k2@DAT read: 04:25:12.1344 LVL= 27376, 32753, 32754, 32755, AGC= 61, IDX= 509, 0.44,-2.338, 2.232,-2.300,-2.636, PHS= 0.400,-1.370, 0.293, RAW= 146.9, 7.9, CAL= 146.4, 8.6, ROT= 3.6, -8.6 %Ygot valid direction response: 04:25:12.1344 LVL= 27376, 32753, 32754, 32755, AGC= 61, IDX= 509, 0.44,-2.338, 2.232,-2.300,-2.636, PHS= 0.400,-1.370, 0.293, RAW= 146.9, 7.9, CAL= 146.4, 8.6, ROT= 3.6, -8.6 %T#Rx 44: Read range and direction messages.]\direction in FSK: [0.986805,0.062085,0.149535]]Fpublishing direction and range infoyѲ?e6}ɯ?S&r#?Yj )=I>i)\>$@0 >Ƈ#@ `>)=I`Zb)C?>J p\?g!XS? x>) I=i`checking for new query: numPingsReceived=44, elapsed TxPingTime=20.456814 ^A ==B >B ?CB B B =B B B 9~;B u5EAI Iy I ԩ O > %,\=hLA6checking for new query: numPingsReceived=44, elapsed TxPingTime=20.664621Y%By AiMb@Mb@Mb@ 9V-?/$?MbpY>y,=AA )K AY AbD%FVD%8y5}l:%5)=ٔ=Q-=>99Y9=EEyE EEEE>IQ 5U5EU EUEU&EQ"EUa:*EU:VEU4ZEQBEU(Q Em:yuu:Q Iu<@M;DIM;iMe;M]!5y}fBɮ}AaEiQiU%YLAjQ"jQ:jU@"pUkdy8@6C?Qf @pUѲ?e6}ɯ?S&r#?*jU=2jU`*pUR0 +\8@[CS@pU4n?{ng?jU.X jUAiUkr'x?iUYjUNBjQjUHjUNBrjU$AzjU@ addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.505516 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.801441 m, bearing: 358.014583 deg, lat: 36.779405 deg, lon: -121.859632 deg, deltaT: 0.505516 s, deltaX: -0.000193 m, approachRate: -0.000381 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 24.80 m.2i"i*iu ProNav: ac range: 24.801441 m, nav range: 24.142754 m, bearing: 358.258832 deg, approach rate: 0.000000 m/s, LOS rate: -0.027286 deg/s, cmd heading: 353.984225 deg, new cmd heading: 353.957770 deg. iq}HeadingCmd: 6.177729 target range: 24.801441 and range: 24.90 m.h}@hyhyhhggjgrg%BereZe:e*e`vO?)uBBɢu)v)q uiy)}ϼyyi}gi׽|==I@I%DDAT read: Rx Time:04:25:12.6342 -TRx dataTimestamp_ set to:1764908713.8955975PDAT read: Bearing 174.2, 5.9 (Local) =~Local bearing/azimuth received: Bearing 174.2, 5.9 (Local) MDAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.4 mDAT read: 04:25:12.6342 LVL= 29232, 32753, 32754, 32755, AGC= 61, IDX= 507,-0.04, 1.416,-0.315, 1.455, 1.143, PHS= 0.376,-1.413, 0.268, RAW= 146.9, 8.9, CAL= 146.5, 9.7, ROT= 3.5, -9.7 uYgot valid direction response: 04:25:12.6342 LVL= 29232, 32753, 32754, 32755, AGC= 61, IDX= 507,-0.04, 1.416,-0.315, 1.455, 1.143, PHS= 0.376,-1.413, 0.268, RAW= 146.9, 8.9, CAL= 146.5, 9.7, ROT= 3.5, -9.7 }T#Rx 45: Read range and direction messages.\direction in FSK: [0.983865,0.060176,0.168489]Fpublishing direction and range infoy)-GxGP{?>v^[Ϯ?RV?Y-A)-0r)) )))I->i-/ݴ-L7>)->-_#@ --\->)-5z=I--\-))-Y0?۝D+?$? ->)-I-5z=i--\-))checking for new query: numPingsReceived=45, elapsed TxPingTime=20.932819@ @@/0@Q ԁ ^A  =AII O%>%, LA2f@2`@2Dٱ26=2H??2u ? UǠ?@ֺ?`O?i2f@I2_;2/CDnchecking for new query: numPingsReceived=45, elapsed TxPingTime=21.174337Y*ByI <DzDAAbD4VDܰ8y<%'=ٔQ- >9Y=Ey E?jE>)Q 5=5-?Q 9=5-)-\BY9yE:Q IE=@-CDI-;i- ;-%5yIɮMAIE] E]E]#EY"E]:*E]A:VE]3ZEYae@ae@ae@ae@iivQyLAjA"jA:j@"p:mv8@q+g?,0Ⴣ@pGxGP{?>v^[Ϯ?RV?*j5z=2j-\-*pZ?47@/Ю^s]$@pWq,*K?xRnar̷M?jvm jAi#k?i<jiҍ>$@O$@ )4QO=Iq1?ëF?X? >)I4QO=i checking for new query: numPingsReceived=46, elapsed TxPingTime=21.461767 ^Ae =A) A) 9 B) B) B- IB- 8BB) B) B- DB- ~;B- 5EAIIO >ir%,LAchecking for new query: numPingsReceived=46, elapsed TxPingTime=21.676800 d@ O]@ ٱ = HY?@? `? +f? U0??i d@I g_;  ))-A~A))111i1I19I9i=r@ 99)9A AE#AAIM1~AII)IiIQ)QIQUY YYYYiYaYaYm-BymIiMb@Mb@Mb@ 9V-?{Gz?y&1|?Yy#=`;fAtA ) AY AbDVD8yE<%%/=ٔ%?Q-%>9)Y)=-Ey- E5v;E5>9Q 5E5=??Q 95=)=bBY>Q E:yǦQ I=@=JDI=~ipT>$@>$@ 'g >)k]=I'g 0?30r4?!!z? j>)Ik]=i'g M checking for new query: numPingsReceived=47, elapsed TxPingTime=21.945038 ^Au K=A I I O >n%,ĪLAB;_@BX@BT ٱB=BH`?`ƴ?@@3?@_?M1?p?iB;_@IBL_;B.CYU.ByUIIY)]<]=YbDe VDe8yuD;%}>=ٔ}"Q-}>9Y=Ey EұE>Q 55Z?Q 95)iBYyùQ I=@QDI:i:-5yɮAiiLAjA"jA:j@"pOqe֠7@oW֩?)J+ @p"?bT?HhBn? M _?*jk]=2j'g *p|7@g?`鐌0@p`={?@h [kv_L?jӄ jAid{?ijBjZu?jjNBrjAAzjd@U addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504178 s, deltaX: -0.299999 m, approachRate: -0.595026 m/s, rangeRepo size: 4 e Added new target pos. range: 24.104166 m, bearing: 357.494298 deg, lat: 36.779406 deg, lon: -121.859634 deg, deltaT: 0.504178 s, deltaX: -0.298811 m, approachRate: -0.592670 m/s, posRepo size: 4 :iaDNOT Ignoring new targets: 24.10 m.2i"i*ichecking for new query: numPingsReceived=47, elapsed TxPingTime=22.180864 ProNav: ac range: 24.104166 m, nav range: 23.656946 m, bearing: 357.758640 deg, approach rate: 0.000000 m/s, LOS rate: -0.027286 deg/s, cmd heading: 353.903711 deg, new cmd heading: 353.881702 deg. iHeadingCmd: 6.176401 target range: 24.104166 and range: 24.20 m.h@hhhhggjgrg e re Ze :e@338@*e ?Yɢ]6z)aa e i)ۼ顉iX iڽ==I@IE= E=E9E9"E=:*E=C:VE9ZE9aE@aE@aE@aE@M@Q @Q@U0@Qԙ^A] == e DDAT read: Rx Time:04:25:14.1336 m TRx dataTimestamp_ set to:1764908715.411342u PDAT read: Bearing 172.9, 5.1 (Local) u ~Local bearing/azimuth received: Bearing 172.9, 5.1 (Local)  DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4  DAT read: 04:25:14.1336 LVL= 29600, 32753, 32754, 32755, AGC= 61, IDX= 502, 0.25, 3.105, 1.379,-3.103, 2.822, PHS= 0.384,-1.399, 0.314, RAW= 148.0, 8.1, CAL= 147.5, 8.7, ROT= 2.5, -8.7  Ygot valid direction response: 04:25:14.1336 LVL= 29600, 32753, 32754, 32755, AGC= 61, IDX= 502, 0.25, 3.105, 1.379,-3.103, 2.822, PHS= 0.384,-1.399, 0.314, RAW= 148.0, 8.1, CAL= 147.5, 8.7, ROT= 2.5, -8.7  T#Rx 48: Read range and direction messages. \direction in FSK: [0.987553,0.043117,0.151261] Fpublishing direction and range infoya e 2q?D+?ni\?Ye Aa e se e  a )e =Ie >ie oe Ġ>e MQ%@e >e S$@ e |>)e ¸2=Ie |a a e : ?B-?pN? e LU>)e 4$Ie ¸2=ie |a a  checking for new query: numPingsReceived=48, elapsed TxPingTime=22.451303A .AI I O >;%,2VުLABIX@BQ@B@ٱB0=BH`?j?@ @絿?8A2?`??iBIX@IB^;B-CLY]8By]Im@Am@AbDmVDm8yC=%H=ٔQ->9 ?Y ?=Ey EE>Q 55b?Q 95)oBYy+ջQ I=@XDIC:i:15ymBɮAiimSڪLAjټA"jټA:j@@"p7iNO7@gI?n1Ð @p2q?D+?ni\?B>B@CBIBBBB =BBºDB);B5E*j¸2=2j|*ps_U$7@lܢ@p<7^?X8e=?j j"Aiq\?i/j)BjjjrjAzjץ@- addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503715 s, deltaX: -0.500000 m, approachRate: -0.992625 m/s, rangeRepo size: 4 m Added new target pos. range: 23.606146 m, bearing: 356.761899 deg, lat: 36.779406 deg, lon: -121.859635 deg, deltaT: 0.503715 s, deltaX: -0.498020 m, approachRate: -0.988694 m/s, posRepo size: 4 :iquDNOT Ignoring new targets: 23.61 m.2iq"iy*iy ProNav: ac range: 23.606146 m, nav range: 23.459679 m, bearing: 357.468036 deg, approach rate: 0.000000 m/s, LOS rate: -0.027286 deg/s, cmd heading: 353.881690 deg, new cmd heading: 353.858414 deg. iHeadingCmd: 6.175994 target range: 23.606146 and range: 23.70 m.h@hhh h ggjgIrgIeQreYZe:e@37@*e`&?checking for new query: numPingsReceived=48, elapsed TxPingTime=22.685204@Bɢv) i)߼iiԆ۽r= ]?=I @I @ @@0@E EE#E"Ey:*EF:VE3ZEBEa2EaJE;a:E;a) ^A :_=Q } DDAT read: Rx Time:04:25:14.6334  TRx dataTimestamp_ set to:1764908715.915940 PDAT read: Bearing 173.5, 5.4 (Local)  ~Local bearing/azimuth received: Bearing 173.5, 5.4 (Local)  DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.4  DAT read: 04:25:14.6334 LVL= 28384, 32753, 32754, 32755, AGC= 61, IDX= 500,-0.16,-0.574,-2.292,-0.510,-0.837, PHS= 0.366,-1.410, 0.283, RAW= 147.6, 8.8, CAL= 147.2, 9.6, ROT= 2.8, -9.6 AM؟AIQIaOu>xt%,LA*Ygot valid direction response: 04:25:14.6334 LVL= 28384, 32753, 32754, 32755, AGC= 61, IDX= 500,-0.16,-0.574,-2.292,-0.510,-0.837, PHS= 0.366,-1.410, 0.283, RAW= 147.6, 8.8, CAL= 147.2, 9.6, ROT= 2.8, -9.6 *T#Rx 49: Read range and direction messages..\direction in FSK: [0.984819,0.048166,0.166769].Fpublishing direction and range infoyH&袃?!+?8_X?Y3An )IZd>iz`>$@nF>l$@ +>)+H=I+ \?bS?? p>)sI+H=i+~checking for new query: numPingsReceived=49, elapsed TxPingTime=23.001078ES@EL@E}"ٱE=EH`?N?ʣb @?5A?E?`7?iES@IE];E.CY7By iMb@Mb@Mb@ 9-? ףp= ?{Gz?Y?>yQ8=#<AA A)G AY AbDU VDU8yM%=ٔQ->9"?Y"?=Ey EчE>Q 5 5hԗ?Q 9 5)wBY a>Q E:y;Q I=@`DI:iI:55y=qBɮ=A=cEiiÞLAjuA"juA:j[@"p| 6@ؓsY??I!q[{@pH&袃?!+?8_X?*j+H=2j+*pl$6@r;@pcD?&琳c5g?j j0Aie1S?ijՊBj#k?j:jՊBrjAzji@ addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.504598 s, deltaX: -0.300001 m, approachRate: -0.594535 m/s, rangeRepo size: 4  Added new target pos. range: 23.307447 m, bearing: 356.944819 deg, lat: 36.779405 deg, lon: -121.859637 deg, deltaT: 0.504598 s, deltaX: -0.298698 m, approachRate: -0.591953 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 23.31 m.2i"i*i ProNav: ac range: 23.307447 m, nav range: 23.084858 m, bearing: 357.048605 deg, approach rate: 0.000000 m/s, LOS rate: -0.027286 deg/s, cmd heading: 353.858413 deg, new cmd heading: 353.829553 deg. iHeadingCmd: 6.175491 target range: 23.307447 and range: 23.40 m.h@hhhh!g)g)jg)rg-BBe1re19ZeQ:eU`ff7@*e]$^?颥?Bɢ~Py) i)T顩iiܽ=MP=I@II)checking for new query: numPingsReceived=49, elapsed TxPingTime=23.189644I@I @Q@U/@QaE EE$E"E,:*E?:VE4ZEa@a@a@a@^A K=ԡ A I IO%>_E%,jMLA"DDAT read: Rx Time:04:25:15.1333 &TRx dataTimestamp_ set to:1764908716.419477*PDAT read: Bearing 172.8, 5.2 (Local) *~Local bearing/azimuth received: Bearing 172.8, 5.2 (Local) 2DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4 VDAT read: 04:25:15.1333 LVL= 29216, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.22, 2.616, 0.892, 2.688, 2.340, PHS= 0.379,-1.403, 0.305, RAW= 147.9, 8.3, CAL= 147.4, 9.0, ROT= 2.6, -9.0 ZYgot valid direction response: 04:25:15.1333 LVL= 29216, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.22, 2.616, 0.892, 2.688, 2.340, PHS= 0.379,-1.403, 0.305, RAW= 147.9, 8.3, CAL= 147.4, 9.0, ROT= 2.6, -9.0 Xr T@rYM@rٱr.F=rH?M ?- ?@x`?@[?`3?ir T@Ir];r-CzT#Rx 50: Read range and direction messages.~\direction in FSK: [0.986672,0.044804,0.156434]~Fpublishing direction and range infoy "~ IВ?I?p ?Y"fA " r ) I"J >i""(>"4%@"V>"$@ "| >)"9=I"| "툏?S}ơ?p? "I>)"0YCByI AbDI"9=i"| checking for new query: numPingsReceived=50, elapsed TxPingTime=23.496561VD8y^=%J=ٔbǺQ->91Y9=EEyE Ey8E>i9Y fAQ 5E5嗊?Q 9M5)~BYIyMC;Q IM=@fDIGe$iL6@TW"?۩F @p"~ IВ?I?p ?*j"9=2j"| *p"`6@tk[6܁;@p"K0JS?^q#?j"ۢ j"õAi"Ny>`?i"% j"`Bj"Ny>`?j"j"`Brj"Azj"Y@e addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503537 s, deltaX: -0.100000 m, approachRate: -0.198596 m/s, rangeRepo size: 4 u Added new target pos. range: 23.207842 m, bearing: 356.794819 deg, lat: 36.779404 deg, lon: -121.859637 deg, deltaT: 0.503537 s, deltaX: -0.099606 m, approachRate: -0.197812 m/s, posRepo size: 4 :iq}DNOT Ignoring new targets: 23.21 m.2iyB>BBIBLBBBBB|;B6EBu@CBu@CBqBu =Bu =Cu5c5"i*i ProNav: ac range: 23.207842 m, nav range: 22.752775 m, bearing: 356.934980 deg, approach rate: 0.000000 m/s, LOS rate: -0.027286 deg/s, cmd heading: 353.829562 deg, new cmd heading: 353.805122 deg. iHeadingCmd: 6.175064 target range: 23.207842 and range: 23.30 m.h @hhhhggjgrge re Ze :e L7@*e@?颉ɢv) i)r项iWinݽ= =I  @I9checking for new query: numPingsReceived=50, elapsed TxPingTime=23.693483 @  @ @ /@ @@@@bE4jEɋ3rEɳ/E  E E E "E g:*E *:VE ZE BE ;a 2E ;a JE g;a :E g;a 9 A zA zAi A .AI I O >~I%,7LABO@BI@BСٱBf=BH`q?/?@z64+? $3?\ ??iBO@IB];B.CY^ABy^IDDAT read: Rx Time:04:25:15.6332 TRx dataTimestamp_ set to:1764908716.923422PDAT read: Bearing 174.1, 5.9 (Local) ~Local bearing/azimuth received: Bearing 174.1, 5.9 (Local) DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.4 DAT read: 04:25:15.6332 LVL= 30336, 32753, 32754, 32755, AGC= 60, IDX= 497,-0.21, 0.047,-1.671, 0.101,-0.196, PHS= 0.344,-1.430, 0.253, RAW= 147.4, 9.7, CAL= 147.0, 10.5, ROT= 3.0, -10.5 Ygot valid direction response: 04:25:15.6332 LVL= 30336, 32753, 32754, 32755, AGC= 60, IDX= 497,-0.21, 0.047,-1.671, 0.101,-0.196, PHS= 0.344,-1.430, 0.253, RAW= 147.4, 9.7, CAL= 147.0, 10.5, ROT= 3.0, -10.5 T#Rx 51: Read range and direction messages.\direction in FSK: [0.981907,0.051460,0.182236]Fpublishing direction and range infoy k?-8X?m~S?YAv )<I >i= 7>$@-\->Y3$@ f;>)PwV=If;9_?`a?I>|Kz? ?>)o,IPwV=if;i%Mb@Mb@Mb@!!!! !Uchecking for new query: numPingsReceived=51, elapsed TxPingTime=23.9688079%ʡE?~jt?Q?Y%->y%D=%u<%KA! %A)!!Y% A aaԙbDmVDm8yp%)=ٔQ->9 ?Y ?=Ey E E > Q 55 E?Q 95 ) BY>Q E:yT7Bɢ5z)1 5i1)5ug1Yi]4HieOS޽e=e]=Ie@IiԹ@ @@@A! I) M checking for new query: numPingsReceived=51, elapsed TxPingTime=24.196890II O] >E]  E] E] %EY "E] :*E] c:VE] 4ZEY ae @ae @ae @ae @ 1%,tQLAEL@EE@EEٱEPb=EH?~E? `D {?`J???iEL@IE];E-CYFByIbDVD8y~<%Z=ٔ$Q->9Y=Ey EㅺE>Q 55?Q 95x)BYyA1)$I A=il$checking for new query: numPingsReceived=52, elapsed TxPingTime=24.464417]=I%-@I!@ @@/@B>BBIB[BBBBB;B'6EA ؟AI I O- >A q } checking for new query: numPingsReceived=52, elapsed TxPingTime=24.702944g{%,kLA%E@%f>@%Zٱ%R=%H?`1~?@H?궿@? ܷ??i%E@I%U];%/CYEKByMIIQ)Uy`e=;AA x A) AYz A bD ޿VD 8y%<%*=ٔ--ʺQ-5>9e"?Ye"?=mEym EuEu>yQ 55},?Q 95}N)}BYv>Q E:yiw?5>"$@ >$@ V>)k]=IV!WS+?f?r<(? />>) Ik]=iV%checking for new query: numPingsReceived=53, elapsed TxPingTime=24.975006U@Q @Q@Q@YAaAe>a A I I O >O%,JLA02?@29@2J;!ٱ2R=2Hu?L?O1=9? ƶ &?ɼ?U?i2?@I2^];0Y@yDJAAHbDNVDN8yV̑;%V=ٔZҺQ-Z?9XYX=^Ey^ EnEn?pQ 5v5r&?Q 9v5r7)rBYxyz`?jgjrjׯAzj\@ addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.505216 s, deltaX: -0.299999 m, approachRate: -0.593804 m/s, rangeRepo size: 4  Added new target pos. range: 22.411366 m, bearing: 357.243883 deg, lat: 36.779404 deg, lon: -121.859636 deg, deltaT: 0.505216 s, deltaX: -0.298819 m, approachRate: -0.591467 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 22.41 m.2i"i*i5 ProNav: ac range: 22.411366 m, nav range: 21.980005 m, bearing: 356.955517 deg, approach rate: 0.000000 m/s, LOS rate: -0.086313 deg/s, cmd heading: 353.633208 deg, new cmd heading: 353.584006 deg. i1=HeadingCmd: 6.171205 target range: 22.411366 and range: 22.50 m.h=z@h9h9h9h9gAgAjgArgAeIreIZeI:eM6@*eM@i ף Ġ> $@ > ) I I! I1 = PExceeded connect timeout, disconnecting.OM > M%?=w&9?|)? f&>) I i U checking for new query: numPingsReceived=54, elapsed TxPingTime=25.479103y%,ZLA`E@@EF:@Ev#ٱE=EH d?Ǚ?fx`q9?z϶lm?ȷ?@?iE@@IEg ];AY}SBy}IbDۿVD8y=%:=ٔQ->9 ?Y ?=Ey" EIJ9E>B}>ByB}'IB}fBB} =B}>DByB}X;B}6EQ 559?Q 95)BYyq%,aLADAT read: 04:25:17.6326 LVL= 26704, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.05,-0.126,-1.833,-0.070,-0.414, PHS= 0.390,-1.374, 0.300, RAW= 147.4, 8.0, CAL= 146.9, 8.7, ROT= 3.1, -8.7 BYgot valid direction response: 04:25:17.6326 LVL= 26704, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.05,-0.126,-1.833,-0.070,-0.414, PHS= 0.390,-1.374, 0.300, RAW= 147.4, 8.0, CAL= 146.9, 8.7, ROT= 3.1, -8.7 BT#Rx 55: Read range and direction messages.F\direction in FSK: [0.987047,0.053457,0.151261]FFpublishing direction and range infoyy}k?DW^?ni\?Y}̰Ay}Phyy y)yI}>i};߯}>y}5>y }|>)yI}|yy}%;!?f+?mhhI? }0>)}Iyi}|yy checking for new query: numPingsReceived=55, elapsed TxPingTime=26.030497Z>@Z18@Z,3%ٱZH=ZH`? ?.밶 K?? }??iZ>@IZ:];Z,CYJByI AiMb@Mb@Mb@ 9K7A`?)\(?{Gzt?Y>yGa=ף;tA A)5 AY 4=bD߿VD8y%=ٔxHQ->9"?Y"?=Ey( EEE>Q 55M?Q 9%5)BY%>Q E%:y%iUUʡ>US$@U>UY3$@ UC>)UPwV=IUCQnManaging dock network, ignoring radio surface power offQU"?ߗH?!EH? U>)UAIUPwV=iUCQQchecking for new query: numPingsReceived=56, elapsed TxPingTime=26.481991AQIaIqO} ?%,Y૗LAb4@b!.@b(ٱb|=bH ??$?|?ぷ?i?ib4@Ib];b-CY~QBy~IbD5VD58Yy<%0=ٔ*Q->9Y=Ey- EZ-E>B>B?CB4IBpBB =B?DBB~;B5EQ 5 5 `?Q 9 5)BY y  %,ǼLAilIlvDDAT read: Rx Time:04:25:18.6322 vTRx dataTimestamp_ set to:1764908719.947457~PDAT read: Bearing 170.6, 5.9 (Local) ~~Local bearing/azimuth received: Bearing 170.6, 5.9 (Local)  DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.4 eDAT read: 04:25:18.6322 LVL= 26560, 32753, 32754, 32755, AGC= 60, IDX= 503, 0.05, 0.149,-1.573, 0.209,-0.156, PHS= 0.408,-1.371, 0.321, RAW= 147.5, 7.4, CAL= 147.0, 8.0, ROT= 3.0, -8.0 mYgot valid direction response: 04:25:18.6322 LVL= 26560, 32753, 32754, 32755, AGC= 60, IDX= 503, 0.05, 0.149,-1.573, 0.209,-0.156, PHS= 0.408,-1.371, 0.321, RAW= 147.5, 7.4, CAL= 147.0, 8.0, ROT= 3.0, -8.0 uT#Rx 57: Read range and direction messages.}\direction in FSK: [0.988911,0.051827,0.139173]}Fpublishing direction and range infoytvN(?#?H@l?YvAtvgtt t)tIv`>iv|vZ>tv A>t v5>)tIv5ttvj08$?HQ?X؃? vi>)v Itiv5ttchecking for new query: numPingsReceived=57, elapsed TxPingTime=26.991371ԹYMBy IiEMb@Mb@Mb@AAAA A9E rh?A`"?~jthYE>yEY=EDEAEZA Et A)E AAYE( AbD}VD}8y%-=ٔQ->9 ?Y ?=Ey1 EE>Q 55r?Q 95)BY>Q E:ya%,)ALA,> @>@>0ٱ>'=>H`a? j?`<@硷 2? ~ $? ?`?i> @I>\;9r"?Yv"?=vEyv5 EvۻEv>xQ 5~5z?Q 9~5z{)zBYyi=ʱ=b>9=C>9 =>)9I=99=bP?IY:?頑pI? =݊>)=I9i=995checking for new query: numPingsReceived=58, elapsed TxPingTime=27.505178i@i @i@m/5@iԑB>BB:IBuBBBBDB~;B5EԹ^AM2=A .AI  checking for new query: numPingsReceived=58, elapsed TxPingTime=27.728096 I) O} >E  E E #E "E y:*E 3:VE 3ZE BE yUt=U`QUA Q)U AQYU AbDmVDm8y}<%}2=ٔ} ݺQ-}>9 ?Y ?=Ey: EE>Q 55*?Q 95)BY>Q E:y᡼Q I=@DIe:i:_5yBɮAhEiQiULAjQ"jQ:jUJI@"pU4z 5@aje?"3`< @pUF?Uѝ/y?j?*jQ2jU*pU 4@QCoL@pUE"J?NLϫY?jU䔿 jUAiUx?iU1jUBjU g?jQjUBrjUAzjUi@ addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.504246 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.414883 m, bearing: 356.820729 deg, lat: 36.779405 deg, lon: -121.859635 deg, deltaT: 0.504246 s, deltaX: -0.000036 m, approachRate: -0.000072 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 21.41 m.2i"i*i ProNav: ac range: 21.414883 m, nav range: 20.758352 m, bearing: 357.049055 deg, approach rate: 0.000000 m/s, LOS rate: -0.097426 deg/s, cmd heading: 353.183317 deg, new cmd heading: 353.092931 deg. iHeadingCmd: 6.162634 target range: 21.414883 and range: 21.50 m.hM4@hhhhggjgrg6BereZe:e*e >?)ɢ5Ry)1 52i1)519i=$˻i=eݨ=eb=IeM4@Ia5DDAT read: Rx Time:04:25:19.6319 =TRx dataTimestamp_ set to:1764908720.956610MPDAT read: Bearing 170.8, 5.7 (Local) M~Local bearing/azimuth received: Bearing 170.8, 5.7 (Local) mDAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.4 @ @@1@DAT read: 04:25:19.6319 LVL= 27824, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.10, 0.561,-1.161, 0.631, 0.274, PHS= 0.389,-1.389, 0.314, RAW= 147.9, 7.9, CAL= 147.4, 8.6, ROT= 2.6, -8.6 Ygot valid direction response: 04:25:19.6319 LVL= 27824, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.10, 0.561,-1.161, 0.631, 0.274, PHS= 0.389,-1.389, 0.314, RAW= 147.9, 7.9, CAL= 147.4, 8.6, ROT= 2.6, -8.6  T#Rx 59: Read range and direction messages.\direction in FSK: [0.987739,0.044853,0.149535]Fpublishing direction and range infoy15Sҍ?"?S&r#?Y5A15l11 1)5=I5+>i15Ġ>54%@50 >5$@ 5`>)59=I5`115ƴ^i??;j? 5>)5 I59=i5`11Uchecking for new query: numPingsReceived=59, elapsed TxPingTime=28.048712^A= L=AE zAzAA Q A= ؟AIQ Ii O >)%,LLA*checking for new query: numPingsReceived=59, elapsed TxPingTime=28.229261t @0@6ٱC=H? ?2 =4? 1RΦ?`1Z?`?i @I\;,CY-VBy-IbD=VD=8yMfc;%M\=ٔMPQ-U>9U"?YU"?=UEyU= E]tE]>aQ 5m5e?Q 9m5e)eBYiyuEQ Iu=@eDIe:ie:eb5yyɮ}Ayi1i59=LAj5UA"j5UA:j5Y @"p5OM4@|Fۗ?#\ @p5Sҍ?"?S&r#?*j59=2j5`*p5Rܭ%nw4@&VΚ[|Sx@p5"XO?]^^i w Z> $@  > l$@ > ѐC) +H=I   - G fu?z?_y? c>I ) UI +H=i a   k9 Y ,gAM checking for new query: numPingsReceived=60, elapsed TxPingTime=28.555933^Am 2=y B >B B @IB zBB B B B ~;B 5EB?CBBB =BC˱5AY Ii Iy O MB%,fLAB@B(@BO9ٱB=BH?`%k?t@p@!?<'? m?4?iB@IBh:];B/CY^ZBy^I ``dfAbDj VDj8y%<%-J=ٔ-MݺQ-->91Yq=uEyuB EuAE}>yQ 55}괘?Q 95})}ŐBYyDQ I=@}DI}q@ addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.503051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.916874 m, bearing: 356.548138 deg, lat: 36.779404 deg, lon: -121.859636 deg, deltaT: 0.503051 s, deltaX: 0.000013 m, approachRate: 0.000027 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 20.92 m.2i"i*i ProNav: ac range: 20.916874 m, nav range: 20.327278 m, bearing: 356.743436 deg, approach rate: 0.000000 m/s, LOS rate: -0.097426 deg/s, cmd heading: 353.020458 deg, new cmd heading: 352.922257 deg. i-HeadingCmd: 6.159656 target range: 20.916874 and range: 21.00 m.h5@bEJ4jE3rE/EU EUEU"EQ"EU:*EU3:VEU(3ZEQBEU;a2EU;aJEQa:EQah1hhhggjgrge reZe9:eA*eMX? ɢ Jy)I MiQ)U[lQQiUqǻi]]=]4=I]@Iai! @!  @! @% >0@) ԙ  DDAT read: Rx Time:04:25:20.6316  TRx dataTimestamp_ set to:1764908721.965154 PDAT read: Bearing 171.1, 5.4 (Local)  ~Local bearing/azimuth received: Bearing 171.1, 5.4 (Local)  DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.4 = DAT read: 04:25:20.6316 LVL= 29584, 32753, 32754, 32755, AGC= 61, IDX= 497, 0.11, 0.796,-0.923, 0.882, 0.532, PHS= 0.366,-1.410, 0.306, RAW= 148.3, 8.5, CAL= 147.8, 9.2, ROT= 2.2, -9.2 E Ygot valid direction response: 04:25:20.6316 LVL= 29584, 32753, 32754, 32755, AGC= 61, IDX= 497, 0.11, 0.796,-0.923, 0.882, 0.532, PHS= 0.366,-1.410, 0.306, RAW= 148.3, 8.5, CAL= 147.8, 9.2, ROT= 2.2, -9.2 E T#Rx 61: Read range and direction messages.M \direction in FSK: [0.986409,0.037894,0.159881]M Fpublishing direction and range infoy  FU樐?!ef?Čsv?Y ̤A s  ) =I Zd>i z > %@ > %@ l$>) nF=I l$ ?N?ے? >) I nF=i l$  checking for new query: numPingsReceived=61, elapsed TxPingTime=29.008394^AM 0x= AyIIO?!%,oLA2@2@2w<ٱ2=2H ?@1?@}諿 Vϸ)?K ތ? 鄷??i2@I27];2.CY>^By>Ii5Mb@Mb@Mb@1111 195x?y&1?Mb`Y5K>y5`<55A5A 5A)5A1Y5\ AQbDMVDM8ye"<%e=ٔe`ºQ-e>9iYi=mEymG EuEu>yQ 55}ɘ?Q 95})}ːBY>Q E:y Q I=@}DI}:i}:}k5yɮ`Aii}LAj%A"j%A:j@"p[1\U=4@?b~> @pFU樐?!ef?Čsv?*jnF=2jl$*pPnZ 4@6$yY@pMQ7?[Okc?j j Aij`?ijBjj`?j-YjBrjmAzjO@ addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.505493 s, deltaX: -0.400000 m, approachRate: -0.791306 m/s, rangeRepo size: 4  Added new target pos. range: 20.518457 m, bearing: 355.781689 deg, lat: 36.779404 deg, lon: -121.859637 deg, deltaT: 0.505493 s, deltaX: -0.398417 m, approachRate: -0.788174 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 20.52 m.2i "i*ichecking for new query: numPingsReceived=61, elapsed TxPingTime=29.237226M ProNav: ac range: 20.518457 m, nav range: 20.053385 m, bearing: 356.492144 deg, approach rate: 0.000000 m/s, LOS rate: -0.097426 deg/s, cmd heading: 352.922267 deg, new cmd heading: 352.840316 deg. iIUHeadingCmd: 6.158225 target range: 20.518457 and range: 20.60 m.hU.@hQhQhQhQgYgYjgYrg]0BeareZe:e4@*e`:?'%,NFLAB@B@B51=ٱBE =BH .? ɷ?@޸?i?(ҷ??iB@IBT];B-CYzfByz'IbDVD8y%=%%P=ٔ%Q-%>9- ?Y- ?=-Ey-K E5ɺE5>9Q 5E5=٘?Q 9E5=F)=ϐBYAyEz"Q IE=@=ÉDI=G:i=;=sn5yUBɮUAUiEuB*** querying acoustic contact ***iqiq addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.501855 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 :iDNOT Ignoring new targets: 20.52 m.2i"i *i  ProNav: ac range: 20.518457 m, nav range: 19.863596 m, bearing: 356.480341 deg, approach rate: -0.487707 m/s, LOS rate: -0.030620 deg/s, cmd heading: 352.840305 deg, new cmd heading: 352.816474 deg. i&`HeadingCmd: 6.157809 target range: 20.518457 and range: 20.60 m.h @hhhhggjgrgereZe:e*e?ɢ6&) ־i)a inûib==B B B GIB BB B B B A;B 5EI @I!@ @@D3@=checking for new query: numPingsReceived=62, elapsed TxPingTime=29.744820^AVo=EE EEEE!EA"EE:*EER:VEEc3ZEABEEb;au2EEd;a}JEE;a:EE;aԙA ؟AI I O >ԩ .%,LA6@6 @6R@ٱ66=6H@g?;?`ql?j?? ?i6@I6[];6/CYbgByb)If=f=iMMb@Mb@Mb@IIII I9Mx&1?I +?YMA?yM99u"?DDAT read: Rx Time:04:25:21.6313 TRx dataTimestamp_ set to:1764908722.971453PDAT read: Bearing 170.4, 5.3 (Local) ~Local bearing/azimuth received: Bearing 170.4, 5.3 (Local) DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.4 DAT read: 04:25:21.6313 LVL= 29344, 32753, 32754, 32755, AGC= 60, IDX= 510, 0.12, 0.544,-1.183, 0.633, 0.269, PHS= 0.377,-1.407, 0.320, RAW= 148.4, 8.1, CAL= 147.9, 8.8, ROT= 2.1, -8.8 Ygot valid direction response: 04:25:21.6313 LVL= 29344, 32753, 32754, 32755, AGC= 60, IDX= 510, 0.12, 0.544,-1.183, 0.633, 0.269, PHS= 0.377,-1.407, 0.320, RAW= 148.4, 8.1, CAL= 147.9, 8.8, ROT= 2.1, -8.8 T#Rx 63: Read range and direction messages.\direction in FSK: [0.987565,0.036212,0.152986]Fpublishing direction and range infoyb0>!?l?8C ?Y̠Ar )<I%>i ף>%@>4%@ nF>)Q =InFԑR}p,L?y4?5<? u>)aIQ =inFchecking for new query: numPingsReceived=63, elapsed TxPingTime=30.029684Y-"?=-Ey-O E5mE5>9Q 5=5=?Q 9E5=)=֐BYEa?Q EE:yEdQ IE=@=ˉDI=;i=;=r5yɮAiiI,LAj)A"j)A:j@"p+bS3@EO3?@{ܳ@pb0>!?l?8C ?*jQ =2jnF*pW㮌3@wr'5čM+@pʂQ??I#Yj9?j jeAif+^?ipj}BjjjrjAzj@- addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.504444 s, deltaX: -0.500000 m, approachRate: -0.991190 m/s, rangeRepo size: 4 5 Added new target pos. range: 20.020435 m, bearing: 355.574166 deg, lat: 36.779404 deg, lon: -121.859638 deg, deltaT: 1.006299 s, deltaX: -0.498022 m, approachRate: -0.494905 m/s, posRepo size: 4 :i9]DNOT Ignoring new targets: 20.02 m.2iY"ie*iau ProNav: ac range: 20.020435 m, nav range: 19.616817 m, bearing: 356.313175 deg, approach rate: 0.000000 m/s, LOS rate: -0.030620 deg/s, cmd heading: 352.816482 deg, new cmd heading: 352.782575 deg. iq}HeadingCmd: 6.157218 target range: 20.020435 and range: 20.10 m.h@hhhhggjgrg9BereZe:e4@*e[?=;Bɢ=go)9 ="ԾiA)Mo Qqiu'»i}}=}_=I@I5 checking for new query: numPingsReceived=63, elapsed TxPingTime=30.2448969 @9  @9 @= 0@9 @E =@E =EY  E] E] %EY "EY *E] |;:VE] 4ZEY a @a @a @a @! ^AQ AAIIO?$6%,ܬLA2L@2@2,Cٱ2 =2H@?-i?6?s7c?@ѷ? ?i2L@I2];2,CY>kBy>.IbDFVDF8yN<%N&=ٔRQ-R>9PYT=VEyVT EVJEV>XQ 5^5Z?Q 9^5Z)ZېBY`ybgQ Ib=@Z҉DIZ :iZX:ZVv5yfBɮfAjjE:ix~DNOT Ignoring new targets: 20.02 m.2i|"i~t*i~tDDAT read: Rx Time:04:25:22.1312 %TRx dataTimestamp_ set to:1764908723.475474-PDAT read: Bearing 169.8, 5.6 (Local) -~Local bearing/azimuth received: Bearing 169.8, 5.6 (Local) =DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.4 eDAT read: 04:25:22.1312 LVL= 26544, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.31,-1.934, 2.635,-1.852,-2.221, PHS= 0.390,-1.381, 0.326, RAW= 148.2, 7.7, CAL= 147.7, 8.3, ROT= 2.3, -8.3 mYgot valid direction response: 04:25:22.1312 LVL= 26544, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.31,-1.934, 2.635,-1.852,-2.221, PHS= 0.390,-1.381, 0.326, RAW= 148.2, 7.7, CAL= 147.7, 8.3, ROT= 2.3, -8.3 T#Rx 64: Read range and direction messages.\direction in FSK: [0.988729,0.039711,0.144356]Fpublishing direction and range infoyZSq5?&*U?'ЌCz?YAg ):I>iİy>~%@ >$@ V>)l$=IVPzeQ?8_)? $? >) Il$=iVchecking for new query: numPingsReceived=64, elapsed TxPingTime=30.517462 ProNav: ac range: 20.020435 m, nav range: 19.415077 m, bearing: 356.308576 deg, approach rate: -0.578852 m/s, LOS rate: -0.013334 deg/s, cmd heading: 352.782576 deg, new cmd heading: 352.773282 deg. i9ùHeadingCmd: 6.157055 target range: 20.020435 and range: 20.10 m.h@hhhhggjgrgereZe:e-4@*eM ?u:Bɢui)y }Ͼiy)}n. yyi}cԩi:(W==I@I]@Y @a@e 5@aBBBMIBBB =BBBD;B5E^AL=checking for new query: numPingsReceived=64, elapsed TxPingTime=30.753124 E  E |E )E "E g:*E P$:A VE FA4ZE BE ;a- 2E ;a- JE };a= :E };a= Ii I II O] > <%,LAV{ھ@V@V?EٱV=VH?`?T͹>?pp??@?iV{ھ@IVi];V-CYbrByb7IiuMb@Mb@Mb@qqqq q9ux?{Gz?yu#=ut9Y=EyX E պE>Q 55?Q 95 )BY/>Q E:yQ I=@؉DIt:i9:'z5yēBɮAkEiIiM+nެLAjM]A"jM]A:jM[@"pM>3@3 P?mj@pMZSq5?&*U?'ЌCz?*jMl$=2jMV*pMd,~{3@@KF*C@pM|-cL?'4҅ȱsY?jM4 jMߛAiMg{?iMm9QjM7BjIjMjM}BrjMAzjM֩@ addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.504021 s, deltaX: -0.100000 m, approachRate: -0.198405 m/s, rangeRepo size: 4 - Added new target pos. range: 19.920803 m, bearing: 355.730090 deg, lat: 36.779404 deg, lon: -121.859640 deg, deltaT: 0.504021 s, deltaX: -0.099632 m, approachRate: -0.197675 m/s, posRepo size: 4 :i)5DNOT Ignoring new targets: 19.92 m.2i1"i5*i1E ProNav: ac range: 19.920803 m, nav range: 19.217737 m, bearing: 355.705478 deg, approach rate: 0.000000 m/s, LOS rate: -0.013334 deg/s, cmd heading: 352.773287 deg, new cmd heading: 352.761524 deg. iIMHeadingCmd: 6.156850 target range: 19.920803 and range: 20.00 m.hM@hQhQhQhQgQgQjgYrg]5BeYreYZe:e*e@?IɢM&z)I U{ǾiQ)UQQiU!i}^}=}F=I@II)%DDAT read: Rx Time:04:25:22.6309 -TRx dataTimestamp_ set to:1764908723.9796275PDAT read: Bearing 171.5, 6.0 (Local) =~Local bearing/azimuth received: Bearing 171.5, 6.0 (Local) UDAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.4 DAT read: 04:25:22.6309 LVL= 29136, 32753, 32754, 32755, AGC= 57, IDX= 506, 0.07,-1.510, 3.068,-1.438,-1.751, PHS= 0.343,-1.419, 0.269, RAW= 147.9, 9.4, CAL= 147.5, 10.2, ROT= 2.5, -10.2 Ygot valid direction response: 04:25:22.6309 LVL= 29136, 32753, 32754, 32755, AGC= 57, IDX= 506, 0.07,-1.510, 3.068,-1.438,-1.751, PHS= 0.343,-1.419, 0.269, RAW= 147.9, 9.4, CAL= 147.5, 10.2, ROT= 2.5, -10.2 T#Rx 65: Read range and direction messages.\direction in FSK: [0.983259,0.042930,0.177085]Fpublishing direction and range infoy!%POv?g ?ki?Y%A!%q!! !)%9I%>i%ˡ%^>%4%@%'>%S$@ %K6>)%¸2=I%K6!!%/}?% ?HF?@ @@5@ %>)%'I%¸2=i%K6!!Uchecking for new query: numPingsReceived=65, elapsed TxPingTime=31.040710I^A= l=y Ai Iq I O > checking for new query: numPingsReceived=65, elapsed TxPingTime=31.252651%C%,#LA0::׾@:@:MGٱ:|=:H)?{? W繿 ?@Ѧ`?@k?`?i::׾@I:];:,CYFByFKILNA PR<bDR˿VDR|8yZ=%Z[=ٔ^Q-^>9\Y`=bEyb\ EbEb>dQ 5r5f ?Q 9v5f')fBYxy~Q I=@fމDIfw;iffO?ni\?YAAEnAA A)E;IEo>iEnEТ>E~%@E5>E$@ E|>)El$=IE|AAE? s{?v? E>)EMIEl$=iE|AAchecking for new query: numPingsReceived=66, elapsed TxPingTime=31.521572 ^A L=B B B `IB BB B B B ;B 5EA5 .AIA IQ O] >I%,)LA2>վ@2@2=Hٱ2A)=2H?@j?Zȭ`1?` ?t??i2>վ@I2W];2-CY>By>TIbDFſVDFv8yN=%RK=ٔRpQ-R>9V ?YV ?=VEyV` EVEV>X\Q 5b5^1?Q 9b5^B)^BY`yfbQ If=@^DI^;i^@;^5yrȓBɮrApiiimLAji"ji:jm@"pmࠔ/3@OI?)Ԁ@pmm7?F>fO?ni\?*jml$=2jm|*pmkB2@hvIZ(>Ww@pm뫢??<N?jmB jmAim;Fo?im:aTjmhBjijmm9QjirjmAzjmA@% addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.503869 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=66, elapsed TxPingTime=31.759581 Added new target pos. range: 19.422783 m, bearing: 355.635866 deg, lat: 36.779404 deg, lon: -121.859640 deg, deltaT: 0.503869 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i)=DNOT Ignoring new targets: 19.42 m.2i9"iq*iq ProNav: ac range: 19.422783 m, nav range: 18.844498 m, bearing: 355.596498 deg, approach rate: 0.000000 m/s, LOS rate: -0.013334 deg/s, cmd heading: 352.749928 deg, new cmd heading: 352.740152 deg. iA}HeadingCmd: 6.156477 target range: 19.422783 and range: 19.50 m.h@hhhhE EE!E"EI:*E;J:VEc3ZEBEiE 7E >E m%@E >E $@ E C>)E +=IE CA A E y;?V? ? E !>)E IE +=iE CA A  checking for new query: numPingsReceived=67, elapsed TxPingTime=32.024250 ^A Gg= A؟AI IO->Q%,\YGLAY`y`iMMb@Mb@Mb@IIII I9MV-?S㥫?Mb?YM|>yM/]=M9"?Y"?=Eye EE>Q 55E?Q 95;)BY?Q E:yݍ;Q I=@DI ;i:@5yɮAii/?LAj1A"j1A:j3@"pS872@y;?5@p&s"?T8?x0A?*j+=2jC*p92@fj7- @pM}`N?Uk=u4~?j jAi3r]f?i-OjBj3r]f?jjhBrjXAzjғ@  addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.503787 s, deltaX: -0.400000 m, approachRate: -0.793986 m/s, rangeRepo size: 4  Added new target pos. range: 19.024366 m, bearing: 355.784956 deg, lat: 36.779405 deg, lon: -121.859640 deg, deltaT: 0.503787 s, deltaX: -0.398417 m, approachRate: -0.790843 m/s, posRepo size: 4 :i%DNOT Ignoring new targets: 19.02 m.2i!"iA*iAU ProNav: ac range: 19.024366 m, nav range: 18.668108 m, bearing: 355.551508 deg, approach rate: 0.000000 m/s, LOS rate: -0.013334 deg/s, cmd heading: 352.740147 deg, new cmd heading: 352.726915 deg. iQ]HeadingCmd: 6.156246 target range: 19.024366 and range: 19.10 m.h]@hYhYhahagagijgirgm\BeqreqZeq:eu3@*e}?checking for new query: numPingsReceived=67, elapsed TxPingTime=32.260818 7Bɢlr) -i)8i[ӻiJ=MN=I@I]>i>E EE&E"E:*ErN:VE4ZEa-@a-@a5@a5@M@I @Q@U24@QA ^A = DDAT read: Rx Time:04:25:24.1305  TRx dataTimestamp_ set to:1764908725.491382 PDAT read: Bearing 170.6, 6.0 (Local)  ~Local bearing/azimuth received: Bearing 170.6, 6.0 (Local)  DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.4  DAT read: 04:25:24.1305 LVL= 31296, 32753, 32754, 32755, AGC= 58, IDX= 502, 0.43, 0.514,-1.204, 0.587, 0.256, PHS= 0.361,-1.415, 0.288, RAW= 147.9, 8.9, CAL= 147.5, 9.6, ROT= 2.5, -9.6  Ygot valid direction response: 04:25:24.1305 LVL= 31296, 32753, 32754, 32755, AGC= 58, IDX= 502, 0.43, 0.514,-1.204, 0.587, 0.256, PHS= 0.361,-1.415, 0.288, RAW= 147.9, 8.9, CAL= 147.5, 9.6, ROT= 2.5, -9.6  T#Rx 68: Read range and direction messages. \direction in FSK: [0.985058,0.043009,0.166769] Fpublishing direction and range infoy  3|?`07?8_X?Y 3A @z ) I Ը>i  t> 4%@ > S$@ +>) ¸2=I + l#?F?`㒨? {>) I ¸2=i +  checking for new query: numPingsReceived=68, elapsed TxPingTime=32.529095y A I I O >dX%,\dLABz>BxBzrIBzBBz =BxBzºDBz~;Bz5E-̾@-@-Lٱ-==-H??r:@V?m? ո?`?i-̾@I-P];-,CYEByE[II<)p===@AbDVD8yN<%0=ٔ@Q->9Y=Eyj EE>Q 55qY?Q 956)BYyU;Q I=@DI:i:H5y%̓Bɮ%A%lEi1i5r_LAj5A"j5A:j5|@"p5A.G?2@ɞ?Gd @p53|?`07?8_X?*j5¸2=2j5+*p5]6P2@72M)Ы@p5["?wֲ֥?j5L j5Ai5`?i51j5ЉBj1j5˞@j1rj5zAzj5v@ addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.504099 s, deltaX: -0.200001 m, approachRate: -0.396749 m/s, rangeRepo size: 4  Added new target pos. range: 18.825237 m, bearing: 355.675048 deg, lat: 36.779405 deg, lon: -121.859639 deg, deltaT: 0.504099 s, deltaX: -0.199129 m, approachRate: -0.395020 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 18.83 m.2i"i*i ProNav: ac range: 18.825237 m, nav range: 18.434771 m, bearing: 355.618943 deg, approach rate: 0.000000 m/s, LOS rate: -0.013334 deg/s, cmd heading: 352.726924 deg, new cmd heading: 352.715033 deg. i%HeadingCmd: 6.156039 target range: 18.825237 and range: 18.90 m.h%E@h!h!h!h!g)g)jg)rg)e1re1Ze1:e5`f2@*e5i  7> "$@ )> $@  9>) k]=I 9   Kh?պ?.cY'?  >) x*I k]=i 9   checking for new query: numPingsReceived=69, elapsed TxPingTime=33.033291yAI&bCommunications Fault in component: DockingStepperIO>`%,LAYmBym\Ii}Mb@Mb@Mb@yyyy y9}`"?&1?:v?Y}>y}P=ԁ}T<}"A}^A }A)yyY} AbDVD8y!;%=ٔQ->9Y=Eyo EE>Q 55o?Q 957)BY%D>Q E%:y% Q I%=@DIi;i;5y)ɮ5A1iyi}LAj}ΕA"j}ΕA:j}l@"p}d2@ʪl?" @p}xm?`;?lE@?*j}k]=2j}9*p}^*2@=rOl@p}~L ?*??j}| j}VAi}ei?i}j}QBjyj}1j}ЉBrj}jAzj}@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504632 s, deltaX: -0.100000 m, approachRate: -0.198165 m/s, rangeRepo size: 4  Added new target pos. range: 18.725634 m, bearing: 356.199187 deg, lat: 36.779405 deg, lon: -121.859639 deg, deltaT: 0.504632 s, deltaX: -0.099604 m, approachRate: -0.197379 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 18.73 m.2i"i*i ProNav: ac range: 18.725634 m, nav range: 18.176912 m, bearing: 355.630078 deg, approach rate: 0.000000 m/s, LOS rate: -0.013334 deg/s, cmd heading: 352.715040 deg, new cmd heading: 352.700228 deg. iHeadingCmd: 6.155780 target range: 18.725634 and range: 18.80 m.h'@hhhhggjgrgMBereZe :e 2@*e ׻?checking for new query: numPingsReceived=69, elapsed TxPingTime=33.268887颥6Bɢ6d) ͥi)?Ա顩iirv&=ԇ=I'@I :Uninitialize Docking Stepper. Powering downI )  i DzDAAE EE#E"Eg:*E;J:VE3ZEa@a@a@a@^Au $= A I I O >^g%,鞭LAFDDAT read: Rx Time:04:25:25.1302 FTRx dataTimestamp_ set to:1764908726.500074NPDAT read: Bearing 168.8, 6.1 (Local) N~Local bearing/azimuth received: Bearing 168.8, 6.1 (Local) VDAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.4 jDAT read: 04:25:25.1302 LVL= 25792, 32401, 32754, 32755, AGC= 58, IDX= 499, 0.38, 0.101,-1.620, 0.172,-0.200, PHS= 0.404,-1.375, 0.328, RAW= 147.9, 7.4, CAL= 147.3, 8.0, ROT= 2.7, -8.0 nYgot valid direction response: 04:25:25.1302 LVL= 25792, 32401, 32754, 32755, AGC= 58, IDX= 499, 0.38, 0.101,-1.620, 0.172,-0.200, PHS= 0.404,-1.375, 0.328, RAW= 147.9, 7.4, CAL= 147.3, 8.0, ROT= 2.7, -8.0 nT#Rx 70: Read range and direction messages.r\direction in FSK: [0.989169,0.046648,0.139173]vFpublishing direction and range infoyDFE7E?j??H@l?YF̔ADFdF~D D)F:IF>iFF>F4%@F A>F"$@ F5>)FA=IF5DDF+)B? ҡ?=? F]>)FjIFA=iF5DDchecking for new query: numPingsReceived=70, elapsed TxPingTime=33.538116-3GAYc9Y`AVɾ@@^Mٱq=H`)?L? LEU?nv???iVɾ@I%\;-CYByqIbDVD8y==%=K=ٔEQQ-E>9AYAi=uEyus Eu܇Eu>yQ 55}?Q 95}8)}BYyzQ I=@}DI}$B@CBIBBB =BBB~;B5EBiBm?CBiBiBm =Cm 5"pFeS2@+?DzQ@pFE7E?j??H@l?*jFA=2jF5*pFߑ"2@!qA?ˌ߈ @pFS>>S?[7|7??jF jFAiFUw?iFUjFĈBjFei?jF-OjFhBrjF/AzjF@ addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.504060 s, deltaX: -0.199999 m, approachRate: -0.396776 m/s, rangeRepo size: 4  Added new target pos. range: 18.526424 m, bearing: 356.008769 deg, lat: 36.779405 deg, lon: -121.859639 deg, deltaT: 0.504060 s, deltaX: -0.199209 m, approachRate: -0.395209 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 18.53 m.2i"i*i ProNav: ac range: 18.526424 m, nav range: 18.023397 m, bearing: 355.633882 deg, approach rate: 0.000000 m/s, LOS rate: -0.013334 deg/s, cmd heading: 352.700232 deg, new cmd heading: 352.689585 deg. iHeadingCmd: 6.155594 target range: 18.526424 and range: 18.60 m.h@hhhhggjgrgereZe :e 2@*e }?颅5Bɢb4f) ޓi)顉iSsԙi&J+='=I@IMchecking for new query: numPingsReceived=70, elapsed TxPingTime=33.775532^A! bEjEJ4rEɱo0E]  E] E] &EY "E] :*E] 3:VE] 4ZEY BE] ‡m%,LAYByI !%AiMb@Mb@Mb@ 9I +?L7A`?y+=t<GA A)Y AbDVD8yu=%R=ٔQ->9Y=Eyw EE>Q 55?Q 95) BY>Q E:y=Q Im=@DIiR>S$@ >Y3$@ Q >)PwV=IQ z{#?/&<~C;?(k/@? G>)Sm IPwV=iQ checking for new query: numPingsReceived=71, elapsed TxPingTime=34.060467^A5l=I ) I9 OM >= checking for new query: numPingsReceived=71, elapsed TxPingTime=34.276684nt%,ҭLA<D~=D|E EE"E"EI:*EA:VE(3ZEaE@aE@aE@aM@ɾ@k@Oٱ=H@?`?`6Vֲ?d!?`3??iɾ@I]\;+CYByIbD VD 8yL<%E=ٔ[Q->9!Y!=%Ey%| E-̈́E->1Q 5=55ڟ?Q 9=55)5(BY9y=.=Q I==@5DI5:i5":5h5yMՓBɮM AMnEiii>$@|>"$@ '>)A=I'o? %t?6`? >);IA=i'checking for new query: numPingsReceived=72, elapsed TxPingTime=34.544800^A =IIO>B >B ?CB IB BB =B B B ;B 5E! z%,m쭗LAJcɾ@J@J4PٱJ=JH`??@(Ю`T? ?'??iJcɾ@IJz\;HY^By^IbDj'VDjа8yvU%v`=ٔzQ-z>|9Y=Ey  E '8E >aQ 5e5e?Q 9m5e)e0BYiymX=Q Im=@eDIeP:ie:e5yyɮ}AyiiuwୗLAjnA"jnA:j@"pc+1@ ?I쪋m@pc<(? m˧?$vz?*jA=2j'*pZvt1@?UE-@p&c(?x+m?j  jAi$n?ijxBj$n?jjxBrjAzj@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503593 s, deltaX: -0.299999 m, approachRate: -0.595718 m/s, rangeRepo size: 4  Added new target pos. range: 17.928780 m, bearing: 355.884981 deg, lat: 36.779406 deg, lon: -121.859638 deg, deltaT: 0.503593 s, deltaX: -0.298914 m, approachRate: -0.593563 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 17.93 m.2i"i*ichecking for new query: numPingsReceived=72, elapsed TxPingTime=34.780903  ProNav: ac range: 17.928780 m, nav range: 17.502022 m, bearing: 355.884989 deg, approach rate: 0.000000 m/s, LOS rate: -0.178024 deg/s, cmd heading: 352.417271 deg, new cmd heading: 352.283109 deg. i-HeadingCmd: 6.148500 target range: 17.928780 and range: 18.00 m.h-@h)h)h)h)g)g1jg1rg1e9re9Ze9:e=2@*e=@?iɢuoc) ei)/顡iMi <=v=I@I)EM EM}EM%EI"EMg:*EMk&:VEM 4ZEIBEM;a}2EM;a}JEMÀ;a:EMĀ;aQ^Am==IIO> DDAT read: Rx Time:04:25:26.6296  TRx dataTimestamp_ set to:1764908728.011298 PDAT read: Bearing 168.7, 6.1 (Local)  ~Local bearing/azimuth received: Bearing 168.7, 6.1 (Local)  DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.4 5 DAT read: 04:25:26.6296 LVL= 25152, 32753, 31282, 32755, AGC= 59, IDX= 509, 0.04,-2.619, 1.943,-2.550,-2.912, PHS= 0.395,-1.383, 0.318, RAW= 147.8, 7.8, CAL= 147.3, 8.4, ROT= 2.7, -8.4 E Ygot valid direction response: 04:25:26.6296 LVL= 25152, 32753, 31282, 32755, AGC= 59, IDX= 509, 0.04,-2.619, 1.943,-2.550,-2.912, PHS= 0.395,-1.383, 0.318, RAW= 147.8, 7.8, CAL= 147.3, 8.4, ROT= 2.7, -8.4 E T#Rx 73: Read range and direction messages.M \direction in FSK: [0.988174,0.046601,0.146083]M Fpublishing direction and range infoy  BS?ݴܧ?/8ٲ?Y A @b 2z ) I q=>i % Т> %@ 'g > Q >) I Q  ԁ %T ??2(EB? v>) &~ I i Q  e checking for new query: numPingsReceived=73, elapsed TxPingTime=35.089081?~%,BCLAYfByfIj=j=iUMb@Mb@Mb@QQYQQ Q9U +?i|?5?Mbp?YU>yUq=U;UAUA UA)UxAQYQbDu3VDu۰8y7<%A=ٔQ->9Y=Ey EE>Q 55ۿ?Q 95)7BY>Q E:y@pBS?ݴܧ?/8ٲ?*j2jQ *pP;1@O;0] c1 @pB,"F?wr?j隿 jډAiWtk?i{jBjjjBrjiAzj@ addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504007 s, deltaX: -0.299999 m, approachRate: -0.595228 m/s, rangeRepo size: 4  Added new target pos. range: 17.629967 m, bearing: 355.982485 deg, lat: 36.779406 deg, lon: -121.859637 deg, deltaT: 0.504007 s, deltaX: -0.298813 m, approachRate: -0.592874 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 17.63 m.2i"i*i- ProNav: ac range: 17.629967 m, nav range: 17.301580 m, bearing: 355.928571 deg, approach rate: 0.000000 m/s, LOS rate: -0.178024 deg/s, cmd heading: 352.283098 deg, new cmd heading: 352.136819 deg. i)5HeadingCmd: 6.145947 target range: 17.629967 and range: 17.70 m.h@hhhhggjgrglBereZe:e@31@*eK?yɢ}~^)y }؀iy):顁i`i6 D=ʾ=I@Iԉ checking for new query: numPingsReceived=73, elapsed TxPingTime=35.284882D!zD!E= E=E9E9"E=I:*E=,:VE9ZE9aE@aE@aE@aE@Ա^AI=IIAO]> %, LA6DDAT read: Rx Time:04:25:27.1296 :TRx dataTimestamp_ set to:1764908728.515394>PDAT read: Bearing 169.3, 6.1 (Local) >~Local bearing/azimuth received: Bearing 169.3, 6.1 (Local) FDAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.4 ZDAT read: 04:25:27.1296 LVL= 26944, 32753, 32754, 32755, AGC= 59, IDX= 509,-0.35,-2.914, 1.652,-2.842, 3.096, PHS= 0.375,-1.399, 0.301, RAW= 147.9, 8.4, CAL= 147.4, 9.1, ROT= 2.6, -9.1 ^Ygot valid direction response: 04:25:27.1296 LVL= 26944, 32753, 32754, 32755, AGC= 59, IDX= 509,-0.35,-2.914, 1.652,-2.842, 3.096, PHS= 0.375,-1.399, 0.301, RAW= 147.9, 8.4, CAL= 147.4, 9.1, ROT= 2.6, -9.1 ^T#Rx 74: Read range and direction messages.b\direction in FSK: [0.986397,0.044792,0.158158]bFpublishing direction and range infoy46Ӛ#?{i?@\~>?Y446@i46 4)4I6>i6o6>64%@6Q >6$@ 6">)69=I6"446ܟ?qh?EZ? 6|3>)6لrɾ@r@rQٱr=rH ??CS ?@඿@c0?=Q?/?irɾ@IrP\;r-CI69=i6"44checking for new query: numPingsReceived=74, elapsed TxPingTime=35.556393YEByEIbDUVDUŰ8yR%J=ٔ9]Q->9Y=Ey EY8E>ԹQ 55Й?Q 95)>BYy)?*j69=2j6"*p6rL/1@xkxbM @p6_ 0?ó}:) ?j6 j6xAi67x?i6v%j6,Bj6Uw?j6v%j4rj6ĉAzj63@ addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504096 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.629967 m, bearing: 355.822046 deg, lat: 36.779407 deg, lon: -121.859637 deg, deltaT: 0.504096 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 17.63 m.2i"i*i ProNav: ac range: 17.629967 m, nav range: 17.220770 m, bearing: 355.819946 deg, approach rate: 0.000000 m/s, LOS rate: -0.178024 deg/s, cmd heading: 352.136823 deg, new cmd heading: 351.986820 deg. i%HeadingCmd: 6.143329 target range: 17.629967 and range: 17.70 m.h%'@h!h!h!h!g!g!jg)rg)B]>BYB]IB]ЁBB] =BYB]DB]`;B]6EeireZe:e*eyZ?颽4BɢQa) {i)+i5ij6L=S=I'@I^At==checking for new query: numPingsReceived=74, elapsed TxPingTime=35.7927789EM  EM EM 'EI "EM :*EM |;:VEM '4ZEI BEM ; ҍ%,9LA2˾@2@2YRٱ2=2H?{?@9A?8??`=e? ?i2˾@I2Ot\;2,CY>By>IiMb@Mb@Mb@ 9v/?V-?~jth?Yx>ym=D;A-A  A)bAYp AbDVDð8y-X%-P=ٔ-Q-->95 ?Y5 ?=5Ey5 E5<:E=>AQ 5E5Eߙ?Q 9M5Es)EEBYM[>Q EM:yM:iף>m%@>$@ C>)+=IC$z?oA ?m? G>)I+=iC checking for new query: numPingsReceived=75, elapsed TxPingTime=36.059517a^AZ=ԙA ؟AI I! O- >% checking for new query: numPingsReceived=75, elapsed TxPingTime=36.292786 %,SLAEn EnEn#El"EnU:*EnA:VEn3ZElar@ar@av@av@Mþ@MN@M;TٱMְ=MH?-?Xt? h?? N?iMþ@IM[z\;M+CYeBymIquA }<}4<bD}VD}8yC=%C=ٔQ->9"?Y"?=Ey Ec(E>Q 55?Q 95W)LBYydiX9>~%@nF>$@ )>)l$=I)Wk ?mJݔ|?bC? >)|Il$=i)checking for new query: numPingsReceived=76, elapsed TxPingTime=36.561581^A=BY BY B] IB] ځBBY BY BY B] ;B] &6EA9 IA IQ Oe > %,mLAF þ@FU@F WUٱF#=FH?H*?~@Q? `˧?4??iF þ@IF\;F.CYnBynIbDv VDv8y~q%~T=ٔ.8Q->9Y = Ey  E 7E >Q 55?Q 95>)RBY!y%hi \ ff> x&@ > ~%@ |>) =I | ٕ>? me? ? ?) I =i |  checking for new query: numPingsReceived=77, elapsed TxPingTime=37.066143A I! I9 Oe >̡%,qLAFǹ@F@F WٱF=FH?@Yo?`vǯ`к!?+@mު???iFǹ@IF\;F,CYPyTiMb@Mb@Mb@ 9ʡE?ˡE?MbPY>y'=AA K A)fAYAbDMVDM8ye5y:%e6=ٔmXsQ-m>9qYq=}Ey} E $E>Q 55a?Q 95W)XBY>Q E:y]Q I=@9DI/;iT;55yBɮ|AiiՁLAjޅA"jޅA:j;@"ppd0@&D?bG?@p?ʫf˟?ni\?*j=2j|*pK?P0@#Ěh# k"w @pW (`2?c$!C?j jAio?iajBjjjBrj΃Azj@Im addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.505156 s, deltaX: -0.500000 m, approachRate: -0.989793 m/s, rangeRepo size: 4 } Added new target pos. range: 16.733486 m, bearing: 354.934126 deg, lat: 36.779407 deg, lon: -121.859638 deg, deltaT: 0.505156 s, deltaX: -0.498022 m, approachRate: -0.985878 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 16.73 m.2i"i*i ProNav: ac range: 16.733486 m, nav range: 16.476072 m, bearing: 355.545539 deg, approach rate: 0.000000 m/s, LOS rate: -0.147213 deg/s, cmd heading: 351.639940 deg, new cmd heading: 351.503475 deg. iHeadingCmd: 6.134893 target range: 16.733486 and range: 16.80 m.h Q@hhhhggjgrg2BereZe:e0@*eK?aɢe`) 6{i checking for new query: numPingsReceived=77, elapsed TxPingTime=37.304535)}:!!i-Y⵻io==I Q@IyE EE(E"E*EV:VEc44ZEa@a@a@a @ԡ ^A] = DDAT read: Rx Time:04:25:29.1291  TRx dataTimestamp_ set to:1764908730.532532 PDAT read: Bearing 169.3, 5.3 (Local)  ~Local bearing/azimuth received: Bearing 169.3, 5.3 (Local)  DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.4  DAT read: 04:25:29.1291 LVL= 28144, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.16,-2.662, 1.917,-2.554,-2.902, PHS= 0.341,-1.420, 0.304, RAW= 148.9, 8.9, CAL= 148.5, 9.7, ROT= 1.5, -9.7 % Ygot valid direction response: 04:25:29.1291 LVL= 28144, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.16,-2.662, 1.917,-2.554,-2.902, PHS= 0.341,-1.420, 0.304, RAW= 148.9, 8.9, CAL= 148.5, 9.7, ROT= 1.5, -9.7 % T#Rx 78: Read range and direction messages.- \direction in FSK: [0.985366,0.025803,0.168489]- Fpublishing direction and range infoy  6 ?hvl?RV?Y m ) :I >i µ 㥛> R&@ > H%@ -\->) Pw %,ȣLAf@f٫@fD\Yٱf=fH?`0?N ?`aD(???if@If+\;f*CBBBBBBBBB'6EYāByI==@AAAbDVD8ya=%7=ٔQ->9Y=Ey EE>ԩQ 55!?Q 95q)_BYyQ I=@@DI>:iS:5yɮAiiLAj"j:j@"plX}0@YOD?a)H(@p6 ?hvl?RV?*jPw<2j-\-*p%==0@r*$"'ȿ @p?~0 bVxq?j!ɿ jAiez?i}j4Bjez?jj,BrjYAzjp@} addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503901 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.733482 m, bearing: 354.473183 deg, lat: 36.779407 deg, lon: -121.859638 deg, deltaT: 0.503901 s, deltaX: -0.000004 m, approachRate: -0.000008 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 16.73 m.2i"i*iu ProNav: ac range: 16.733482 m, nav range: 16.293827 m, bearing: 355.307609 deg, approach rate: 0.000000 m/s, LOS rate: -0.147213 deg/s, cmd heading: 351.503473 deg, new cmd heading: 351.372141 deg. iq}HeadingCmd: 6.132601 target range: 16.733482 and range: 16.80 m.hD>@hhhhggjgrgereZe:e*eh9?IɢUy`X)Q Ubiq)}yyi}鵻i2gz==ID>@IDDAT read: Rx Time:04:25:29.6288 TRx dataTimestamp_ set to:1764908730.786786checking for new query: numPingsReceived=78, elapsed TxPingTime=37.812725EU a  EU EU $EQ "EU I:*EU L_:VEU 4ZEQ BEU  %,pLAR訾@R4@RTdZٱR?=RHt? U?(@U ?@E;I?@Ը??iR訾@IR\;R.CYnBynIiuMb@Mb@Mb@qqqq q9u\(\?Q?{GzYu>yuu9Y=Ey E~HE>Q 551?Q 95)bBY >Q E:yQ I=@FDI=:iF:u5PDAT read: Bearing 167.5, 5.1 (Local) ~Local bearing/azimuth received: Bearing 167.5, 5.1 (Local) DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.4 -DAT read: 04:25:29.6288 LVL= 27488, 32753, 32754, 32755, AGC= 58, IDX= 500, 0.30,-1.970, 2.599,-1.852,-2.252, PHS= 0.384,-1.388, 0.356, RAW= 149.2, 7.4, CAL= 148.7, 8.0, ROT= 1.3, -8.0 5Ygot valid direction response: 04:25:29.6288 LVL= 27488, 32753, 32754, 32755, AGC= 58, IDX= 500, 0.30,-1.970, 2.599,-1.852,-2.252, PHS= 0.384,-1.388, 0.356, RAW= 149.2, 7.4, CAL= 148.7, 8.0, ROT= 1.3, -8.0 =T#Rx 79: Read range and direction messages.E\direction in FSK: [0.990013,0.022467,0.139173]EFpublishing direction and range infoyX 0? - x?H@l?Y3A`k )I>iE>r&@ A>x&@ 5>)޹|?\3V/@pX 0? - x?H@l?*j޹<2j5*pdi/@dQ0-MA @p8>?IvzEN%?jȿ j3Aiq?i jBjjajBrjAzj8@ addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.501559 s, deltaX: -0.400000 m, approachRate: -0.797513 m/s, rangeRepo size: 4 % Added new target pos. range: 16.335068 m, bearing: 354.377938 deg, lat: 36.779407 deg, lon: -121.859639 deg, deltaT: 0.501559 s, deltaX: -0.398415 m, approachRate: -0.794352 m/s, posRepo size: 4 :i!%DNOT Ignoring new targets: 16.34 m.2i)"i)*i)= ProNav: ac range: 16.335068 m, nav range: 16.114456 m, bearing: 354.915367 deg, approach rate: 0.000000 m/s, LOS rate: -0.147213 deg/s, cmd heading: 351.372142 deg, new cmd heading: 351.254444 deg. i9HeadingCmd: 6.130547 target range: 16.335068 and range: 16.40 m.hp-@hhhhggjgrgIBereZe:e`ff0@*e@?9ɢ=b)9 =liA)EAAiEiMbMMe=M=IMp-@IQ)^AU=a  DDAT read: Rx Time:04:25:30.1287  TRx dataTimestamp_ set to:1764908731.293125 PDAT read: Bearing 169.9, 5.1 (Local)  ~Local bearing/azimuth received: Bearing 169.9, 5.1 (Local)  DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.4  Z#Rx 80: Read range message, but no direction.y Y A A .AI I O >M checking for new query: numPingsReceived=80, elapsed TxPingTime=38.367863E  E yE 'E "E y:*E :VE '4ZE a @a @a @a @ĵ%,b1خLA 2@2G@2\ٱ2=2H@S?2? #Gf?*`n}??`?i2@I2\;2,CY^By^IbDf&VDfϰ8y]h<%]O=ٔeUQ-e>9e ?Ye ?=mEym Em4Em>qQ 55uB?Q 95u3)ufBYy/Q I=@uLDIu;iu:u5yɮKAB*** querying acoustic contact ***ii% addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.259034 s, deltaX: -0.199999 m, approachRate: -0.772095 m/s, rangeRepo size: 4 :i!%DNOT Ignoring new targets: 16.34 m.2i!"i-޹*i-޹] ProNav: ac range: 16.335068 m, nav range: 15.921014 m, bearing: 354.906339 deg, approach rate: -0.515062 m/s, LOS rate: -0.024332 deg/s, cmd heading: 351.254445 deg, new cmd heading: 351.236168 deg. i]2eHeadingCmd: 6.130228 target range: 16.335068 and range: 16.20 m.he*@hahahahagigijgirgiereZe:e@330@*ed?ɢHc) fi)&vii勩={=I*@Ii 5XGIa>9Y;ADAT read: 04:25:30.1287 LVL= 29424, 32753, 32754, 32755, AGC= 57, IDX= 499,-0.10, 2.738, 1.034, 2.860, 2.527, PHS= 0.313,-1.448, 0.289, RAW= 149.3, 9.7, CAL= 148.9, 10.6, ROT= 1.1, -10.6 %Ygot valid direction response: 04:25:30.1287 LVL= 29424, 32753, 32754, 32755, AGC= 57, IDX= 499,-0.10, 2.738, 1.034, 2.860, 2.527, PHS= 0.313,-1.448, 0.289, RAW= 149.3, 9.7, CAL= 148.9, 10.6, ROT= 1.1, -10.6 %Z#Rx 81: Read direction message, but no range.-\direction in FSK: [0.982754,0.018870,0.183951]y@xr?D@R? =η?r )9IA>iX> &@-\->R&@ q=>)nFBBIB߁BBBBB;BBIBIBIBM =BM =CM4AM ؟AIY Iq O} > %,~LA.DDAT read: Rx Time:04:25:30.6284 2TRx dataTimestamp_ set to:1764908731.794531>PDAT read: Bearing 168.6, 4.5 (Local) B~Local bearing/azimuth received: Bearing 168.6, 4.5 (Local) LRchecking for new query: numPingsReceived=81, elapsed TxPingTime=38.823322bE 4jE( 4rE).0Em Em}Em%Ei"Em:*Emk&:VEm 4ZEiBEmymDm`mAmA m A)mAiYmzA <<bD VD8yC:% =ٔQ->9"?Y"?=Ey EE>Q 5%5|Y?Q 9-5)kBY->Q E-:y-Q I5=@UDI;iu;5y=cBɮ= A=rE:iaeDNOT Ignoring new targets: 16.34 m.2ia"imG:*imG:} ProNav: ac range: 16.335068 m, nav range: 15.641355 m, bearing: 354.931130 deg, approach rate: -0.483915 m/s, LOS rate: 0.043666 deg/s, cmd heading: 351.236167 deg, new cmd heading: 351.286636 deg. i}ӟ:HeadingCmd: 6.131108 target range: 16.335068 and range: 16.20 m.h 2@hhhhgԉgjgrg8BereZe:e*e?6BɢV) fi) ii Θ=sM=I 2@IDAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.4 %DAT read: 04:25:30.6284 LVL= 30608, 32753, 32754, 32755, AGC= 58, IDX= 496, 0.42, 2.633, 0.923, 2.774, 2.395, PHS= 0.340,-1.427, 0.335, RAW= 149.9, 8.6, CAL= 149.4, 9.2, ROT= 0.6, -9.2 -Ygot valid direction response: 04:25:30.6284 LVL= 30608, 32753, 32754, 32755, AGC= 58, IDX= 496, 0.42, 2.633, 0.923, 2.774, 2.395, PHS= 0.340,-1.427, 0.335, RAW= 149.9, 8.6, CAL= 149.4, 9.2, ROT= 0.6, -9.2 -T#Rx 82: Read range and direction messages.5\direction in FSK: [0.987082,0.010337,0.159881]5Fpublishing direction and range infoy`H-?}7+?Čsv?Y|Aw ):I{>i𧶿>p'@`>&@ l$>)+9Y=Ey EԹ=E=>AQ 5M5E6k?Q 9M5E)EpBYIyM Q IM=@E\DIEQ:iEH:E5yYɮ]AYii"LAj{A"j{A:jW@"ptSBx/@~T?S?p$o?#Cށ?y&?*j5<2j*pr֕g8/@߼X]u?pe ?g{ͺ}I;?jҿ jyAirb?i jBjj}jrjwAzj&@ addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 1.005874 s, deltaX: -0.400001 m, approachRate: -0.397665 m/s, rangeRepo size: 4  Added new target pos. range: 15.737427 m, bearing: 353.974462 deg, lat: 36.779407 deg, lon: -121.859641 deg, deltaT: 1.264908 s, deltaX: -0.597641 m, approachRate: -0.472478 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 15.74 m.2i"i%*i!U ProNav: ac range: 15.737427 m, nav range: 15.441507 m, bearing: 354.476701 deg, approach rate: 0.000000 m/s, LOS rate: 0.043666 deg/s, cmd heading: 351.286628 deg, new cmd heading: 351.326733 deg. iQ]HeadingCmd: 6.131808 target range: 15.737427 and range: 15.80 m.h]7@hYhYhYhYgagajgargaeireiZei:e/@*e`v?ɢS) Ei)EC!iDi= x=I7@Ichecking for new query: numPingsReceived=83, elapsed TxPingTime=39.569534BABABEIBEBBABABABE;BE)6E ^Au w=A I I O >%,(}0LAeDDAT read: Rx Time:04:25:31.6281 uTRx dataTimestamp_ set to:1764908732.803769PDAT read: Bearing 167.5, 4.7 (Local) ~Local bearing/azimuth received: Bearing 167.5, 4.7 (Local) uDAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.4 YсByIEu EuEu$Eq"Eu:*Eu;J:VEu4ZEqBEu9Y=Ey EE>yim=k:?5$G?%)k?YmtAimpvii i)iImX>imzmX9>mm7'@m0 >mr&@ m>)md%, MLA2Zk@2d@2dٱ2-=2H?@ɻ?J=@?Ѷ䖬?%?V?i2Zk@I2GB];2-CY>ցBy>IIBp<)BB=Ba=iMb@Mb@Mb@ 9Mb?{GztY?yף  A)AYaabDeVDe8yul<%un=ٔ}4IQ-}?9} ?Y ?=Ey EٻE?Q 55_?Q 95)xBY?Q E:yQ I=@hDI:iR:5yɮA:iDNOT Ignoring new targets: 15.24 m.2i"i:*i: ProNav: ac range: 15.239408 m, nav range: 14.958072 m, bearing: 354.418823 deg, approach rate: -0.534622 m/s, LOS rate: 0.033343 deg/s, cmd heading: 351.367607 deg, new cmd heading: 351.388379 deg. it:HeadingCmd: 6.132884 target range: 15.239408 and range: 15.30 m.h@@hh!h)h)g1g9jgIrgULBeYreaZei:eq*e}`?-DDAT read: Rx Time:04:25:32.1280 5TRx dataTimestamp_ set to:1764908733.307631UPDAT read: Bearing 167.1, 4.8 (Local) e~Local bearing/azimuth received: Bearing 167.1, 4.8 (Local) DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.4 Z#Rx 85: Read range message, but no direction.y)Y-3sA)checking for new query: numPingsReceived=85, elapsed TxPingTime=40.351208ɢ\) Bi ) ݒ"  i {i==I@@IE EE%E"E:*EX:VE 4ZEa%@a%@a%@a%@ ^A99 Au ؟AIy I O > DAT read: 04:25:32.1280 LVL= 27184, 32753, 32754, 32755, AGC= 56, IDX= 509, 0.01, 3.064, 1.345,-3.087, 2.792, PHS= 0.374,-1.402, 0.360, RAW= 149.6, 7.6, CAL= 149.1, 8.2, ROT= 0.9, -8.2  Ygot valid direction response: 04:25:32.1280 LVL= 27184, 32753, 32754, 32755, AGC= 56, IDX= 509, 0.01, 3.064, 1.345,-3.087, 2.792, PHS= 0.374,-1.402, 0.360, RAW= 149.6, 7.6, CAL= 149.1, 8.2, ROT= 0.9, -8.2  Z#Rx 86: Read direction message, but no range. \direction in FSK: [0.989654,0.015547,0.142629]y  #r ??I֏?x0A? 0j ) 8I |>i t Q> '@ > ۋ&@ C>) %,ifLA$R/b@R{[@R9"?Y"?=Ey E5E>Q 55K?Q 95uQ =tI)}BYy Q I>@oDI;i;i5yxBɮA}Eiiim:SLAjmiMȶMx>Mp'@M|>M&@ M'>)M+&%,LA2cX@2Q@2Thٱ2&=2Hߺ? ]?9ӽ X?{F?EL?`?i2cX@I2];0YNByNI|checking for new query: numPingsReceived=87, elapsed TxPingTime=41.080841iMb@Mb@Mb@ 9Cl?~jtx?y&1|?Yd>y;`;AA K A)9AYAbD-VD-ɰ8y]*=%]==ٔe|Q-e>9aYa=mEym Em=5Em>Q 55=?Q 95 )BYo>Q E:yYٽQ I>@uDI:ik:;5yɮ>Aiyi}sLAj}DjA"j}DjA:j}%@"p}<&,@Gc\?!@p}pfV?f^(?$vz?*j}+<2j}'*p}C6O[,@D[8^ @p}?ް zD˙?j}"߿ j}bAi}#Y?i}j}]Bj}q?j}jyrj}iAzj}i@E addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.503868 s, deltaX: -0.500000 m, approachRate: -0.992323 m/s, rangeRepo size: 4 u Added new target pos. range: 14.641783 m, bearing: 352.990565 deg, lat: 36.779406 deg, lon: -121.859643 deg, deltaT: 0.503868 s, deltaX: -0.498019 m, approachRate: -0.988392 m/s, posRepo size: 4 :iquDNOT Ignoring new targets: 14.64 m.2iy"iy*iy ProNav: ac range: 14.641783 m, nav range: 14.563222 m, bearing: 353.632249 deg, approach rate: 0.000000 m/s, LOS rate: 0.033343 deg/s, cmd heading: 351.417768 deg, new cmd heading: 351.445227 deg. iHeadingCmd: 6.133876 target range: 14.641783 and range: 14.70 m.hH@hhhhggjgrgMBereZe:e`ff-@*e @$?)U9BɢUK)Q UjiY)]#YYi]߷ien=p=IH@IQ^AL=] DDAT read: Rx Time:04:25:33.1276 m TRx dataTimestamp_ set to:1764908734.316956 PDAT read: Bearing 169.1, 5.2 (Local)  ~Local bearing/azimuth received: Bearing 169.1, 5.2 (Local)  DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.4  Z#Rx 88: Read range message, but no direction.ya Ye iAa  checking for new query: numPingsReceived=88, elapsed TxPingTime=41.350666ԉ EE  EE EE !EA "EE :*EE *5:VEE c3ZEA aM @aM @aM @aM @AQ IY Ii O} >P%,}LA2DJ@2C@2#kٱ2=2H?@ʼ? dNC ?c^?C@??i2DJ@I2`];2+CY^By^I ``bDj2VDjڰ8y%c=ٔQ- >9 Y = Ey  EE>9Q 5E5=?Q 9E5=)=BYAyEܽQ IE>@={DI=:i=:=^5yU~BɮUtAU~EYuB*** querying acoustic contact ***iqiq addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.505457 s, deltaX: -0.099999 m, approachRate: -0.197840 m/s, rangeRepo size: 4 :iDNOT Ignoring new targets: 14.64 m.2i"i{*i{򸝏 ProNav: ac range: 14.641783 m, nav range: 14.387486 m, bearing: 353.629947 deg, approach rate: -0.499610 m/s, LOS rate: -0.006625 deg/s, cmd heading: 351.445225 deg, new cmd heading: 351.440565 deg. iAHeadingCmd: 6.133795 target range: 14.641783 and range: 14.60 m.h H@hhhhggjgrge!re!Ze!:e%@33-@*e%$]?ɢfP) i)$iviƩ=R=I H@I @@DAT read: 04:25:33.1276 LVL= 31296, 32753, 32754, 32755, AGC= 57, IDX= 505,-0.01, 1.697,-0.011, 1.818, 1.479, PHS= 0.320,-1.445, 0.295, RAW= 149.3, 9.5, CAL= 148.9, 10.3, ROT= 1.1, -10.3 Ygot valid direction response: 04:25:33.1276 LVL= 31296, 32753, 32754, 32755, AGC= 57, IDX= 505,-0.01, 1.697,-0.011, 1.818, 1.479, PHS= 0.320,-1.445, 0.295, RAW= 149.3, 9.5, CAL= 148.9, 10.3, ROT= 1.1, -10.3 Z#Rx 89: Read direction message, but no range.\direction in FSK: [0.983704,0.018888,0.178802]y68z?eeW??@z )9I ף>i= > &@)>R&@ X8>)nF! |%,5_LA&DDAT read: Rx Time:04:25:33.6273 &TRx dataTimestamp_ set to:1764908734.827522*PDAT read: Bearing 167.7, 5.5 (Local) .~Local bearing/azimuth received: Bearing 167.7, 5.5 (Local) 6DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.4 6Z#Rx 90: Read range message, but no direction.y$Y&aA$:checking for new query: numPingsReceived=90, elapsed TxPingTime=41.855057E EE E"E:*EVL:VE3ZEBE;aE2E;aEJEaU:EaUa*I@vB@nٱ=Hp?ļ?@- K_?嶿 έ?`Iɸ? ?i*I@I܏];,CYuByuIiuMb@Mb@Mb@qqqq q9u?Q?~jtx?Yu?yuu9 Y = Ey  EE>Q 5%57Ӛ?Q 9%5-)BY-?Q E-:y-rQ I->@DI;i;5y5Bɮ59A1i$i&LAj&`A"j&`A:j&N@"p&3n+@aL#?B@p&68z?eeW??*j&nF<2j&X8*p&t!$&+@­j[ @p&Me.a?܎N N?j&p̿ j&XAi&G"I?i&D0j&Bj& _?j&D0j$rj&s^Azj&`@y addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.510566 s, deltaX: -0.500000 m, approachRate: -0.979305 m/s, rangeRepo size: 4  Added new target pos. range: 14.044162 m, bearing: 353.277945 deg, lat: 36.779404 deg, lon: -121.859644 deg, deltaT: 1.016023 s, deltaX: -0.597621 m, approachRate: -0.588196 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 14.04 m.2i"i*i ProNav: ac range: 14.044162 m, nav range: 13.903125 m, bearing: 353.403379 deg, approach rate: 0.000000 m/s, LOS rate: -0.006625 deg/s, cmd heading: 351.440554 deg, new cmd heading: 351.433526 deg. iHeadingCmd: 6.133672 target range: 14.044162 and range: 14.10 m.h G@hhhhggjgrg^BereZe:e@33,@*e &?};Bɢ}B)y }i)~$顁iiΩ==I G@IDAT read: 04:25:33.6273 LVL= 29936, 32753, 32754, 32755, AGC= 57, IDX= 502, 0.47, 1.095,-0.632, 1.204, 0.834, PHS= 0.363,-1.421, 0.326, RAW= 149.0, 8.3, CAL= 148.5, 9.0, ROT= 1.5, -9.0 Ygot valid direction response: 04:25:33.6273 LVL= 29936, 32753, 32754, 32755, AGC= 57, IDX= 502, 0.47, 1.095,-0.632, 1.204, 0.834, PHS= 0.363,-1.421, 0.326, RAW= 149.0, 8.3, CAL= 148.5, 9.0, ROT= 1.5, -9.0 Z#Rx 91: Read direction message, but no range.\direction in FSK: [0.987350,0.025855,0.156434]y^?*@Zy?p ?t )I#۹>iT㵿y>Bo&@V>H%@ | >)Pwt%,RЯLA2D@2O=@2 pٱ2Af=2H??`ܱBt? +`P?G?@T?i2D@I2];2-CY> ByBIbD=VD=8y=%z=ٔںQ-?5DDAT read: Rx Time:04:25:34.1273 ETRx dataTimestamp_ set to:1764908735.323534]PDAT read: Bearing 170.2, 6.2 (Local) ]~Local bearing/azimuth received: Bearing 170.2, 6.2 (Local) mDAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.4 uZ#Rx 92: Read range message, but no direction.y9Y99}checking for new query: numPingsReceived=92, elapsed TxPingTime=42.3539819Y=Ey ELE>Q 55ᚊ?Q 95)BYyĹQ I>@DI:i;5yɮAi9i=ȴԯLAj9"j9:j=R@"p=Y +@G%=?wo@p=^?*@Zy?p ?*j=Pw<2j=| *p=~_C+@jg7C@p=P@X?2zY2&?j= j=ZAi=#×^?i=?j=Bj=#×^?j9j=Brj=[Azj=]@ addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.496012 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 D!D%<E- E-~E-%E)"E-Ʊ:*E-(:VE- 4ZE)a5@a5@a5@a5@M Added new target pos. range: 14.044162 m, bearing: 353.764521 deg, lat: 36.779404 deg, lon: -121.859644 deg, deltaT: 0.496012 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iQUDNOT Ignoring new targets: 14.04 m.2iQ"iY*iY ProNav: ac range: 14.044162 m, nav range: 13.723003 m, bearing: 353.382968 deg, approach rate: 0.000000 m/s, LOS rate: -0.006625 deg/s, cmd heading: 351.433532 deg, new cmd heading: 351.428463 deg. iHeadingCmd: 6.133584 target range: 14.044162 and range: 14.10 m.hQF@hhhhggjgrgereZe:e*eZ?-i 1 w> %@ t;?> m%@ Q>) =I Q X3AIШ?;?~#4? >) ?I =i QU checking for new query: numPingsReceived=93, elapsed TxPingTime=42.611126y B >B B IB BB =B B B ~;B 5EA I I O >K%,{鯗LA<@5@sٱ=H`??@ G? -9l?C"??i<@Ij];+CYMByM II}<)}p=bDVDư8yV=%J=ٔVӺQ->9Y=Ey EE >Q 55?Q 9%5)BY!y%Q I->@DIp3;i4;r5QyuBɮuA}E:iDNOT Ignoring new targets: 14.04 m.2i"ix*ix ProNav: ac range: 14.044162 m, nav range: 13.530353 m, bearing: 353.363481 deg, approach rate: -0.530333 m/s, LOS rate: -0.054408 deg/s, cmd heading: 351.428450 deg, new cmd heading: 351.388921 deg. i%ǺHeadingCmd: 6.132894 target range: 14.044162 and range: 14.10 m.h@@hhhhggjg rg e reZe:e*e$?=Bɢ:)) 5i9)=Q %Ai~]DDAT read: Rx Time:04:25:34.6270 ]TRx dataTimestamp_ set to:1764908735.828965mPDAT read: Bearing 168.2, 6.3 (Local) m~Local bearing/azimuth received: Bearing 168.2, 6.3 (Local) }DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4 ԁZ#Rx 94: Read range message, but no direction.yYY]3[AYchecking for new query: numPingsReceived=94, elapsed TxPingTime=42.857147i@۩==I@@I@=@E= E=}E='E9"E=g:*E=k&:VE='4ZE9BE=;aM2E=;aMJE=À;aM:E=À;aMԱ^A ^= A I I O >%,LA2_8@21@2?vٱ2<=2H? Z6? <Ͼv?@a5<î?`S1?`]?i2_8@I2p];2,CbDAT read: 04:25:34.6270 LVL= 29824, 32753, 32754, 32755, AGC= 56, IDX= 499, 0.35, 1.696,-0.033, 1.785, 1.448, PHS= 0.350,-1.435, 0.293, RAW= 148.4, 9.0, CAL= 148.0, 9.8, ROT= 2.0, -9.8 fYgot valid direction response: 04:25:34.6270 LVL= 29824, 32753, 32754, 32755, AGC= 56, IDX= 499, 0.35, 1.696,-0.033, 1.785, 1.448, PHS= 0.350,-1.435, 0.293, RAW= 148.4, 9.0, CAL= 148.0, 9.8, ROT= 2.0, -9.8 jZ#Rx 95: Read direction message, but no range.j\direction in FSK: [0.984808,0.034390,0.170209]yPRtB?󘛡?rl?PRtPP P)PIR33>iRR>PR| >RMQ%@ R%/>)R5=IR%/PR8R?gSX ?Ty'$? R>)R+!IR5=iR%/zchecking for new query: numPingsReceived=95, elapsed TxPingTime=43.110344Y~'By~ IiMb@Mb@Mb@ 9I +?yt=T<jAA  A)AY\AԱbD VD8yЌ=%:=ٔOȺQ->9Y=Ey E%E->yQ 55}?Q 95}T)}BY>Q E:yEQ I>@}DI}B;i};}`5yɮAii LAjUZA"jUZA:j@"p_J>}*@I0?vwÔ@ptB?󘛡?rl?*j5=2j%/*p MWh*@p^[5;:I @p rWP?HP ?j jESAi\?i5jzBj\?jj]BrjTAzjP@ addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.505431 s, deltaX: -0.400001 m, approachRate: -0.791405 m/s, rangeRepo size: 4  Added new target pos. range: 13.645767 m, bearing: 354.101887 deg, lat: 36.779404 deg, lon: -121.859644 deg, deltaT: 0.505431 s, deltaX: -0.398395 m, approachRate: -0.788227 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 13.65 m.2i"i*i ProNav: ac range: 13.645767 m, nav range: 13.295442 m, bearing: 353.290584 deg, approach rate: 0.000000 m/s, LOS rate: -0.054408 deg/s, cmd heading: 351.388917 deg, new cmd heading: 351.338696 deg. iHeadingCmd: 6.132017 target range: 13.645767 and range: 13.70 m.h|9@hhhhgg!jg!rg%yBe)re)Ze):e-`ff+@*e5}?}>Bɢ}0) 3i)6%i0i=f=I|9@I]DDAT read: Rx Time:04:25:35.1270 eTRx dataTimestamp_ set to:1764908736.331627mPDAT read: Bearing 168.7, 6.9 (Local) m~Local bearing/azimuth received: Bearing 168.7, 6.9 (Local) }DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4 DAT read: 04:25:35.1270 LVL= 29728, 32753, 32754, 32755, AGC= 57, IDX= 499,-0.13, 1.584,-0.148, 1.651, 1.343, PHS= 0.343,-1.446, 0.264, RAW= 147.8, 9.6, CAL= 147.4, 10.5, ROT= 2.6, -10.5 Ygot valid direction response: 04:25:35.1270 LVL= 29728, 32753, 32754, 32755, AGC= 57, IDX= 499,-0.13, 1.584,-0.148, 1.651, 1.343, PHS= 0.343,-1.446, 0.264, RAW= 147.8, 9.6, CAL= 147.4, 10.5, ROT= 2.6, -10.5 T#Rx 96: Read range and direction messages.\direction in FSK: [0.982243,0.044603,0.182236]Fpublishing direction and range infoyY]HEn?A֦?m~S?YYY] tYY Y)]9I]>i]]+>]%@]+>]$@ ]f;>)]9=I]f;YY]mgTD?rRd?#h-Ӣa? ] >)]U+I]9=i]f;YYchecking for new query: numPingsReceived=96, elapsed TxPingTime=43.368969 ^A a5=EU  EU EU %EQ "EU y:*EU 0:VEU 4ZEQ ae @ae @ae @ae @A I! I1 9 OE >n%,nLABZ4@B-@BxٱBz=BH?Q?j~﾿@?;v?>??iBZ4@IB];@Y=&By= I}GB=9Y,:AbD,VDհ8y/%\=ٔDQ->9Y=Ey EE> Q 55 T?Q 95 ) BYyGQ I>@ DI ":i : z5yEBɮ]NA]Eii`9LAj"j:j @"p*@毨 z?@pHEn?A֦?m~S?*j9=2jf;*p50W*@J 9}|r @pɑX ?)G/U.R]?j2 jRAi::h?iWBjֈBjj?jzBrjQAzj`@ addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.502662 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 13.645767 m, bearing: 354.605658 deg, lat: 36.779404 deg, lon: -121.859643 deg, deltaT: 0.502662 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 13.65 m.2i!"iA*iAM ProNav: ac range: 13.645767 m, nav range: 13.116250 m, bearing: 353.639007 deg, approach rate: 0.000000 m/s, LOS rate: -0.054408 deg/s, cmd heading: 351.338702 deg, new cmd heading: 351.300766 deg. iQUHeadingCmd: 6.131355 target range: 13.645767 and range: 13.70 m.hU4@hYhYhYhygygyjgrgereZe:e*e`7?checking for new query: numPingsReceived=96, elapsed TxPingTime=43.604809?Bɢ4) Ji)[%iify==I4@IB>BB IB,BB =BBBM~;B{5EBYBYBYBYBYC]]5QΒ{y  DDAT read: Rx Time:04:25:35.6267  TRx dataTimestamp_ set to:1764908736.839212 PDAT read: Bearing 169.4, 7.5 (Local)  ~Local bearing/azimuth received: Bearing 169.4, 7.5 (Local)  DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4  DAT read: 04:25:35.6267 LVL= 29920, 32753, 32754, 32755, AGC= 56, IDX= 496, 0.19, 2.043, 0.314, 2.092, 1.815, PHS= 0.330,-1.457, 0.233, RAW= 147.2, 10.3, CAL= 146.9, 11.2, ROT= 3.1, -11.2  Ygot valid direction response: 04:25:35.6267 LVL= 29920, 32753, 32754, 32755, AGC= 56, IDX= 496, 0.19, 2.043, 0.314, 2.092, 1.815, PHS= 0.330,-1.457, 0.233, RAW= 147.2, 10.3, CAL= 146.9, 11.2, ROT= 3.1, -11.2  T#Rx 97: Read range and direction messages. \direction in FSK: [0.979520,0.053049,0.194234] Fpublishing direction and range infoy  Ð9X?FG9)?mVѫ?Y 3SA t ) 8I >i ~ n> l$@ X8> $@ +H>) k]=I +H V,??IC? \>) 7I k]=i +H - checking for new query: numPingsReceived=97, elapsed TxPingTime=43.879955^AA ԩ bEJ4jE4rE0E  E E (E "E :*E VL:VE c44ZE BE 9iYi=mEym EmEu>qQ 5}5uU'?Q 9}5u)uBY>Q E:yQ I>@uDIuB2;iu$1;u5yɮAii5LAj]RA"j]RA:jGF@"p¡)@$Q?:n@pÐ9X?FG9)?mVѫ?*jk]=2j+H*pIO)@rx7[^'$ @pY?vWJM|A?jr jxJAitQ?ijBjj5jBrjMAzj@- addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.507585 s, deltaX: -0.500000 m, approachRate: -0.985057 m/s, rangeRepo size: 4 = Added new target pos. range: 13.147733 m, bearing: 355.009176 deg, lat: 36.779404 deg, lon: -121.859642 deg, deltaT: 0.507585 s, deltaX: -0.498034 m, approachRate: -0.981184 m/s, posRepo size: 4 :i9=DNOT Ignoring new targets: 13.15 m.2i9ԁ"i*i ProNav: ac range: 13.147733 m, nav range: 12.857754 m, bearing: 353.954723 deg, approach rate: 0.000000 m/s, LOS rate: -0.054408 deg/s, cmd heading: 351.300753 deg, new cmd heading: 351.244612 deg. ichecking for new query: numPingsReceived=97, elapsed TxPingTime=44.108833HeadingCmd: 6.130375 target range: 13.147733 and range: 13.20 m.h,@hhhhggjgrg}BereZe!:e-`ff*@*e-?uABɢuQ-) Hi)}%项i »iZz7=Z=I,@IԱe  ] DDAT read: Rx Time:04:25:36.1267 e TRx dataTimestamp_ set to:1764908737.339481m PDAT read: Bearing 171.2, 4.5 (Local) m ~Local bearing/azimuth received: Bearing 171.2, 4.5 (Local) } DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4  DAT read: 04:25:36.1267 LVL= 26528, 32753, 32754, 32755, AGC= 56, IDX= 512,-0.21, 2.038, 0.238, 2.193, 1.888, PHS= 0.252,-1.605, 0.261, RAW= 150.2, 11.7, CAL= 150.1, 12.9, ROT= 359.9, -12.9  Ygot valid direction response: 04:25:36.1267 LVL= 26528, 32753, 32754, 32755, AGC= 56, IDX= 512,-0.21, 2.038, 0.238, 2.193, 1.888, PHS= 0.252,-1.605, 0.261, RAW= 150.2, 11.7, CAL= 150.1, 12.9, ROT= 359.9, -12.9  T#Rx 98: Read range and direction messages. ^direction in FSK: [0.974760,-0.001701,0.223250] Fpublishing direction and range infoyY ] bF;1?+{[Nu?YY Y ] gY Y Y )Y I] %>i] pͿ] ˡ>] g'@] Q>] ϩ'@ ] f>)] @I] fY Y ] >?qe}%f?[s? ] ?)] hQI] "i] fY Y  checking for new query: numPingsReceived=98, elapsed TxPingTime=44.376892! DA DE <EQ  EU EU %EQ "EQ *EU *:VEU 4ZEQ ae @ae @ae @ae @^A Dc=A >A ?AIIO?m%,(_LA91Y1==Ey= E=1ܹE=>AQ 5M5E:?Q 9M5E)ȆBYIyuQ Iu>@EDIE;iEv;E:5y}Bɮ}A}Ei i ULAj "j :j \@"p  .)@ I薿 mU[{@p bF;1?+{[Nu?*j "2j f*p ao(@~bK @p ot:>`?S@:/7)?j O j GAi dV?i Kf2j Bj j j ֈBrj JAzj @  addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.500269 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 13.147733 m, bearing: 351.585498 deg, lat: 36.779404 deg, lon: -121.859642 deg, deltaT: 0.500269 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i9=DNOT Ignoring new targets: 13.15 m.2i9"iA*iA ProNav: ac range: 13.147733 m, nav range: 12.629158 m, bearing: 353.852433 deg, approach rate: 0.000000 m/s, LOS rate: -0.054408 deg/s, cmd heading: 351.244609 deg, new cmd heading: 351.192058 deg. iHeadingCmd: 6.129458 target range: 13.147733 and range: 13.20 m.h$@hhhhggjg!rg!-checking for new query: numPingsReceived=98, elapsed TxPingTime=44.612797eareaZei:ei*emѓ?ԡBBɢD*) i)%%!!i%BŻi5j5=5x=I5$@I9IIQQBBB: IBEBBBBB};BB5E@@@@  DDAT read: Rx Time:04:25:36.6264  TRx dataTimestamp_ set to:1764908737.843387 PDAT read: Bearing 170.3, 7.2 (Local)  ~Local bearing/azimuth received: Bearing 170.3, 7.2 (Local)  DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.4 - DAT read: 04:25:36.6264 LVL= 30848, 32753, 32754, 32755, AGC= 58, IDX= 509, 0.18, 2.228, 0.501, 2.287, 2.033, PHS= 0.297,-1.487, 0.211, RAW= 147.5, 11.2, CAL= 147.3, 12.3, ROT= 2.7, -12.3 5 Ygot valid direction response: 04:25:36.6264 LVL= 30848, 32753, 32754, 32755, AGC= 58, IDX= 509, 0.18, 2.228, 0.501, 2.287, 2.033, PHS= 0.297,-1.487, 0.211, RAW= 147.5, 11.2, CAL= 147.3, 12.3, ROT= 2.7, -12.3 = T#Rx 99: Read range and direction messages.E \direction in FSK: [0.975961,0.046025,0.213030]E Fpublishing direction and range infoy  *~k;?d?AzUmD?Y LA x ) :I b>i V bX> S$@ +H> "$@ [>) A=I [ ȡ?g^?Y|? n1>) OHI A=i [ e checking for new query: numPingsReceived=99, elapsed TxPingTime=44.881241E  E ~E #E "E y:*E (:VE 3ZE BE ӯ%,ٙ}LAf1@*@b}ٱ=Hdz?i?۬O???ĸ??if1@I\;-CYuHByu> II}<)}y}7=};yy }5 A)yyY} AIbD(VDѰ8y8\=%=ٔvgQ->9Y=Ey E):E> checking for new query: numPingsReceived=99, elapsed TxPingTime=45.116814Q 55P?Q 95{)ؑBY%>Q EE:yEѷ@DI;iy;05yMBɮMAIii uLAjKA"jKA:j.@"p(@y?oNY@p*~k;?d?AzUmD?*jA=2j[*p d(@Nzw43 @p|Qv?* x?̀_?j j$CAi7wT?i(9jUBjdV?jWBjBrjDAzjD@ addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503906 s, deltaX: -0.400000 m, approachRate: -0.793798 m/s, rangeRepo size: 4  Added new target pos. range: 12.749313 m, bearing: 354.525878 deg, lat: 36.779403 deg, lon: -121.859640 deg, deltaT: 0.503906 s, deltaX: -0.398419 m, approachRate: -0.790662 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 12.75 m.2i"iA*iAU ProNav: ac range: 12.749313 m, nav range: 12.282601 m, bearing: 354.176792 deg, approach rate: 0.000000 m/s, LOS rate: -0.054408 deg/s, cmd heading: 351.192071 deg, new cmd heading: 351.130268 deg. iQUHeadingCmd: 6.128379 target range: 12.749313 and range: 12.80 m.h]@hYhyhyhygygjgrgBereZe:e)@*e:? EBɢ b#) ;i9)=g%9AiE`ȻiMM=M3=IM@IY)AIIO>Y  DDAT read: Rx Time:04:25:37.1263  TRx dataTimestamp_ set to:1764908738.347370 PDAT read: Bearing 170.0, 7.7 (Local)  ~Local bearing/azimuth received: Bearing 170.0, 7.7 (Local)  DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.4  DAT read: 04:25:37.1263 LVL= 28720, 32753, 32754, 32755, AGC= 57, IDX= 508,-0.17,-0.537,-2.265,-0.494,-0.743, PHS= 0.309,-1.476, 0.206, RAW= 147.1, 11.1, CAL= 146.7, 12.1, ROT= 3.3, -12.1  Ygot valid direction response: 04:25:37.1263 LVL= 28720, 32753, 32754, 32755, AGC= 57, IDX= 508,-0.17,-0.537,-2.265,-0.494,-0.743, PHS= 0.309,-1.476, 0.206, RAW= 147.1, 11.1, CAL= 146.7, 12.1, ROT= 3.3, -12.1  V#Rx 100: Read range and direction messages. \direction in FSK: [0.976162,0.056285,0.209619] Fpublishing direction and range infoy  Jl)ݷi R> O$@ aF> #@ @X>) k=I @X t?) ~EI k=i @X 5 checking for new query: numPingsReceived=100, elapsed TxPingTime=45.384441S%%,kLAs3@,@}ٱ\=H?@qS?e?[嵯? ??is3@I=\;,CY5OBy5G IDYzD]@AEe EevEe$Ea"Ee:*Ee:VEe4ZEaam@am@am@am@bDEVD8y .=%t=ٔXQ-?9Y=Ey EC:E?Q 55]?Q 95d)ߑBYy%@DI`:i):5y)ɮ-PA)1iiO;LAjHA"jHA:jZ@"pVMz(@ܓ? @pJl)ݷ S?i8j1Bj7wT?j(9j1BrjAAzj@ addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.503983 s, deltaX: -0.200000 m, approachRate: -0.396838 m/s, rangeRepo size: 4 - Added new target pos. range: 12.550106 m, bearing: 355.151845 deg, lat: 36.779403 deg, lon: -121.859639 deg, deltaT: 0.503983 s, deltaX: -0.199207 m, approachRate: -0.395266 m/s, posRepo size: 4 :iIUDNOT Ignoring new targets: 12.55 m.2iQ"iQ*iYe ProNav: ac range: 12.550106 m, nav range: 12.099831 m, bearing: 354.440184 deg, approach rate: 0.000000 m/s, LOS rate: -0.054408 deg/s, cmd heading: 351.130272 deg, new cmd heading: 351.092596 deg. iaHeadingCmd: 6.127722 target range: 12.550106 and range: 12.60 m.hL@hhhhggjgrgereZe:e@33)@*e ɐ? FBɢ) %checking for new query: numPingsReceived=100, elapsed TxPingTime=45.621010ԉBBBZ IB^BBBBBe};B5EԹ +%,WLA4@$.@G}ٱ=H0?F?@꾿S?D`5?@$)??i4@Iɼ\;*CYQByI IbD%.VD%װ8y=<%=D=ٔ=|ɷQ-=>9E ?YE ?=EEyE EM9EM>QQ 5]5Um?Q 9]5UF)UBYYy]@UDIUm:iU:U5uDDAT read: Rx Time:04:25:37.6260 }TRx dataTimestamp_ set to:1764908738.851428PDAT read: Bearing 169.5, 7.1 (Local) ~Local bearing/azimuth received: Bearing 169.5, 7.1 (Local) ԩDAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.4 DAT read: 04:25:37.6260 LVL= 29872, 32753, 32754, 32755, AGC= 57, IDX= 505, 0.28, 0.189,-1.543, 0.252,-0.020, PHS= 0.310,-1.479, 0.227, RAW= 147.6, 10.8, CAL= 147.3, 11.8, ROT= 2.7, -11.8  Ygot valid direction response: 04:25:37.6260 LVL= 29872, 32753, 32754, 32755, AGC= 57, IDX= 505, 0.28, 0.189,-1.543, 0.252,-0.020, PHS= 0.310,-1.479, 0.227, RAW= 147.6, 10.8, CAL= 147.3, 11.8, ROT= 2.7, -11.8  V#Rx 101: Read range and direction messages.\direction in FSK: [0.977781,0.046111,0.204496]Fpublishing direction and range infoyy}lI?;^ۛ?rG,?Y}DAy}tyy y)yI}R>i}O}rh>}$@}A>}"$@ }BR>)}A=I}BRyy}[4?J +??)}@I}A=i}BRyy5checking for new query: numPingsReceived=101, elapsed TxPingTime=45.897778y!ɮ=@A9iyi}}LAj}DA"j}DA:j}! @"p}!?tJ'@ S?j}jyrj}/>Azj} @Em EmEm#Ei"Emg:*Em*:VEm3ZEiBEm;au2Em;auJEmg;a}:Emg;a} addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504058 s, deltaX: -0.300000 m, approachRate: -0.595170 m/s, rangeRepo size: 4  Added new target pos. range: 12.251299 m, bearing: 354.581487 deg, lat: 36.779403 deg, lon: -121.859639 deg, deltaT: 0.504058 s, deltaX: -0.298807 m, approachRate: -0.592803 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 12.25 m.2i"i*i ProNav: ac range: 12.251299 m, nav range: 11.886649 m, bearing: 354.607266 deg, approach rate: 0.000000 m/s, LOS rate: -0.054408 deg/s, cmd heading: 351.092596 deg, new cmd heading: 351.046141 deg. ieHeadingCmd: 6.126911 target range: 12.251299 and range: 12.30 m.hm@hihhhggjgrgereZe:e(@*e@m?eHBɢe!)a m 2%,k(˰LAnL6@n/@n{ٱn6\=nH?=?T߾Q?'-ez?4??inL6@In\;n,CYVByO I !!!%Ai%Mb@Mb@Mb@!!!! !9%!rh?+?y&1|?Y%l>y%=%`;%@%b A % A)% A!Y%A QQbD]:VD]8ym<%G=ٔ(:Q->9"?Y"?=Ey E9E>Q 55}?Q 95 )BY>Q E:yE=Q I>@ĊDI;i;;]5y BɮIAE B*** querying acoustic contact ***i i :iaDNOT Ignoring new targets: 12.25 m.2i"i*i ProNav: ac range: 12.251299 m, nav range: 11.699581 m, bearing: 354.476066 deg, approach rate: -0.441691 m/s, LOS rate: -0.314732 deg/s, cmd heading: 351.046151 deg, new cmd heading: 350.779558 deg. iHeadingCmd: 6.122258 target range: 12.251299 and range: 12.30 m.h@hhhhggjg rg Be re Ze:e*eH?DDAT read: Rx Time:04:25:38.1260 TRx dataTimestamp_ set to:1764908739.359571PDAT read: Bearing 169.8, 6.9 (Local) ~Local bearing/azimuth received: Bearing 169.8, 6.9 (Local) DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.4 DAT read: 04:25:38.1260 LVL= 30112, 32753, 32754, 32755, AGC= 56, IDX= 505,-0.07,-0.075,-1.800,-0.005,-0.271, PHS= 0.298,-1.484, 0.222, RAW= 147.8, 11.0, CAL= 147.6, 12.1, ROT= 2.4, -12.1 Ygot valid direction response: 04:25:38.1260 LVL= 30112, 32753, 32754, 32755, AGC= 56, IDX= 505,-0.07,-0.075,-1.800,-0.005,-0.271, PHS= 0.298,-1.484, 0.222, RAW= 147.8, 11.0, CAL= 147.6, 12.1, ROT= 2.4, -12.1 V#Rx 102: Read range and direction messages.\direction in FSK: [0.976926,0.040945,0.209619]Fpublishing direction and range infoy`B?3?9h?Yu )8Iu>i󽿉Sc>%@ D>$@ @X>)+=I@X?Źe7U?? >)c}EI+=i@X%checking for new query: numPingsReceived=102, elapsed TxPingTime=46.397537额JBɢR)) J9%,気LA checking for new query: numPingsReceived=102, elapsed TxPingTime=46.63280166@6/@6Wyٱ6=6H@? B? 'i Sݾ?`% &? |??i66@I6\;6*CYF^ByFZ IbDLVDLyV;=%VY=ٔZ:Q-Z>9Z ?YZ ?=ZEyZ E^I8E^>`Q 5f5b?Q 9f5b)bBYhyj@E=Q Ij>@bʊDIb:ibe:b5ylɮnAlii6װLAj"j:jG@"pR 9'@,Aa ?lw@p`B?3?9h?*j+=2j@X*pQ~v'@L#Xd;! @p0(?T'}zEb?j j;Ai h?ijBj7wT?jjrj8AzjO@- addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.508143 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 12.251299 m, bearing: 354.267780 deg, lat: 36.779403 deg, lon: -121.859639 deg, deltaT: 0.508143 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iAMDNOT Ignoring new targets: 12.25 m.2iI"iU*iYByByB}s IB}sBByByByB}*};B}4E5 ProNav: ac range: 12.251299 m, nav range: 11.552197 m, bearing: 354.149095 deg, approach rate: 0.000000 m/s, LOS rate: -0.314732 deg/s, cmd heading: 350.779555 deg, new cmd heading: 350.572441 deg. i1]HeadingCmd: 6.118643 target range: 12.251299 and range: 12.30 m.he@hahahahagagajgirgieireiZeq:eq*eu`{?yKBɢ) =i)%?%!!i%Zѻi-}(-{ =5=I5@IQ^A5^1=ԱAIIOc>DDAT read: Rx Time:04:25:38.6257 TRx dataTimestamp_ set to:1764908739.863605PDAT read: Bearing 170.2, 6.7 (Local) ~Local bearing/azimuth received: Bearing 170.2, 6.7 (Local) DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.4  DAT read: 04:25:38.6257 LVL= 31856, 32753, 32754, 32755, AGC= 55, IDX= 502, 0.47,-0.330,-2.045,-0.254,-0.509, PHS= 0.281,-1.491, 0.211, RAW= 148.0, 11.5, CAL= 147.8, 12.6, ROT= 2.2, -12.6 Ygot valid direction response: 04:25:38.6257 LVL= 31856, 32753, 32754, 32755, AGC= 55, IDX= 502, 0.47,-0.330,-2.045,-0.254,-0.509, PHS= 0.281,-1.491, 0.211, RAW= 148.0, 11.5, CAL= 147.8, 12.6, ROT= 2.2, -12.6 V#Rx 103: Read range and direction messages.%\direction in FSK: [0.975197,0.037463,0.218143]%Fpublishing direction and range infoyj=4?.d.?'$?Yf>Ap| )7I;ߏ>iپbX>MQ%@M>%@ z0a>)nF=Iz0a&?5 r?0H\}? 8>)LMInF=iz0aEchecking for new query: numPingsReceived=103, elapsed TxPingTime=46.901211E  E ~E #E "E غ:*E (:VE 3ZE BE y=Ļz@ A  A)AYpAbDNVD8yM%M3=ٔMg:Q-M>9QYQ=UEyU E]A+8E]>aQ 55e ?Q 95e)eBYX>Q E:y@eъDIe%;ie;e5yBɮBAEiiNELAj=A"j=A:j@"pu)'@M Jk?u .]@pj=4?.d.?'$?*jnF=2jz0a*pV&@6@(:E @p?JФ4?j j5AikW?i^jBjjjBrjq5Azj@-checking for new query: numPingsReceived=103, elapsed TxPingTime=47.136826E addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.504034 s, deltaX: -0.400001 m, approachRate: -0.793598 m/s, rangeRepo size: 4 U Added new target pos. range: 11.852889 m, bearing: 354.011550 deg, lat: 36.779403 deg, lon: -121.859639 deg, deltaT: 0.504034 s, deltaX: -0.398410 m, approachRate: -0.790442 m/s, posRepo size: 4 :iY]DNOT Ignoring new targets: 11.85 m.2iY"i*i ProNav: ac range: 11.852889 m, nav range: 11.340309 m, bearing: 354.021434 deg, approach rate: 0.000000 m/s, LOS rate: -0.314732 deg/s, cmd heading: 350.572437 deg, new cmd heading: 350.278371 deg. iHeadingCmd: 6.113511 target range: 11.852889 and range: 11.90 m.h@hhhhggjgrgqBereZe:e'@*e`h?NBɢEL)A MPi > m%@A I I O > ;0> $@ A>) l$=I A >N? s?P26? ѫ>) 80I l$=i A = checking for new query: numPingsReceived=104, elapsed TxPingTime=47.433662PF%,}LAE2 E2E0E0"E2:*E2X:VE0ZE0a6@a6@a6@a:@ba5@b.@b1vٱbL=bH ?`O? G`羿`z?`|ڮ?@??iba5@Ib\;b+CY^ByY II)4<bD!VD˰8y<%R=ٔVj:Q->9Y=Ey E E>9Q 5E5=?Q 9E5=)=BYAyE0@=׊DI=G:i=S:= 5yQɮ]4AYiisLAj"j:j@"p\6bD'@*Ilu?Aՠ@pt jh?7G.?0i?*jl$=2jA*p&@ĐH@pcC?1Zm$?jE j6AisH@p?i\jFBjkW?j\jBrj 3Azj@ addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.503793 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 11.852889 m, bearing: 354.286766 deg, lat: 36.779403 deg, lon: -121.859639 deg, deltaT: 0.503793 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 I:iQUDNOT Ignoring new targets: 11.85 m.2iQ"iY*iYm ProNav: ac range: 11.852889 m, nav range: 11.190763 m, bearing: 354.139048 deg, approach rate: 0.000000 m/s, LOS rate: -0.314732 deg/s, cmd heading: 350.278383 deg, new cmd heading: 350.028351 deg. iHeadingCmd: 6.109147 target range: 11.852889 and range: 11.90 m.h"~@hhhhggjgrgereZe:e*eZ,?PBɢ") @ԩ vL%,k4LA8N"0@Nn)@N>uٱN=NH`? |?+5K? J?@??iN"0@IN~\;N*CYjbByj] IbDr VDr8yz<%~Z=ٔ~L:Q-~>9Y=Ey EߺE> Q 55 6?Q 95 )  BYy%@ ܊DI (;i : G5y-Bɮ-GA-EDDAT read: Rx Time:04:25:39.6255 TRx dataTimestamp_ set to:1764908740.871408PDAT read: Bearing 170.5, 6.5 (Local) ~Local bearing/azimuth received: Bearing 170.5, 6.5 (Local) DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.4 DAT read: 04:25:39.6255 LVL= 30320, 32753, 32754, 32755, AGC= 57, IDX= 500,-0.37,-1.453, 3.116,-1.369,-1.616, PHS= 0.266,-1.505, 0.203, RAW= 148.2, 11.9, CAL= 148.0, 13.0, ROT= 2.0, -13.0 Ygot valid direction response: 04:25:39.6255 LVL= 30320, 32753, 32754, 32755, AGC= 57, IDX= 500,-0.37,-1.453, 3.116,-1.369,-1.616, PHS= 0.266,-1.505, 0.203, RAW= 148.2, 11.9, CAL= 148.0, 13.0, ROT= 2.0, -13.0 V#Rx 105: Read range and direction messages.\direction in FSK: [0.973777,0.034005,0.224951]Fpublishing direction and range infoyRڱX-)?ZIi?:/2?Y9Apv )9I'1>iף;O>~%@ȭT>MQ%@ Vh>)5=IVh~Y?c&qV(?~\? f>) jTI5=iVhchecking for new query: numPingsReceived=105, elapsed TxPingTime=47.908901ii&7LAj8A"j8A:j@"p&@98%?@pRڱX-)?ZIi?:/2?*j5=2jVh*px&@m o9]`N!=\ @p*+N|?eѺNPt@?j횿 j 0Ai0[?iijBj0[?jjBrj%1Azj@ addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.504010 s, deltaX: -0.299999 m, approachRate: -0.595225 m/s, rangeRepo size: 4  Added new target pos. range: 11.554077 m, bearing: 353.725241 deg, lat: 36.779404 deg, lon: -121.859639 deg, deltaT: 0.504010 s, deltaX: -0.298812 m, approachRate: -0.592869 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 11.55 m.2i"i*i ProNav: ac range: 11.554077 m, nav range: 11.071730 m, bearing: 353.845901 deg, approach rate: 0.000000 m/s, LOS rate: -0.314732 deg/s, cmd heading: 350.028344 deg, new cmd heading: 349.781244 deg. i HeadingCmd: 6.104835 target range: 11.554077 and range: 11.60 m.h Z@h h h hggjgrgereZe:e@33'@*e%@^?Em EmEm%Ei"Em:*Em3:VEm 4ZEiBEmq;au2Ems;a}JEm;a}:Em;a}ԡ颥RBɢA)) `5vS%,NLA2)@2j"@2tٱ2=2H@޳?຺? I`'?@ެ@Ȓ?` ?'?i2)@I2}\;2+CY>]By>W IXi=Mb@Mb@Mb@9999 99=Q?A`"?y&1|Y=>y=Y==`9=b A =A)= A9Y=GAbD'VDа8y+%==ٔ:Q->9Y=Ey EE>!Q 5=5%5Λ?Q 9E5%)%BYeG>Q Ee:ym?Q I>@%DI%rio>R&@t;?>%@ Q>)+I+IEi;@II@]zA@]zA^A=Ee EeEaEa"Ee%:*Ee.:VEaZEaam@am@au@au@IIO> Uw>]֐C͂G CE9 Y BA9 5 checking for new query: numPingsReceived=106, elapsed TxPingTime=48.648685Y%,PhLA2%@2B@2 rٱ2&=2H ?@ؽ?Fb ? uR??`?i2%@I2q\;2*CY^fBy^c IB >B B  IB BB B B B ~;B 5EBBBBBC3 II e9Y=Ey EEE>Q 55<ޛ?Q 95)BYyCFQ I>@DIB;i>;5yBɮQA!ii5XLAj5A"j5A:jC@"pP72;&@;b?,k@pHxffS?ݪ? ?*j+<2jQ*p!ˆ%@+ HHF@pǪ?Ic>г$?j j.Ai:s?i_jXBj h?j^jrj&-Azj@ addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.504093 s, deltaX: -0.200001 m, approachRate: -0.396754 m/s, rangeRepo size: 4 % Added new target pos. range: 11.354864 m, bearing: 353.202377 deg, lat: 36.779405 deg, lon: -121.859639 deg, deltaT: 0.504093 s, deltaX: -0.199213 m, approachRate: -0.395191 m/s, posRepo size: 4 :i!%DNOT Ignoring new targets: 11.35 m.2i!"i-*i)] ProNav: ac range: 11.354864 m, nav range: 10.821858 m, bearing: 353.696059 deg, approach rate: 0.000000 m/s, LOS rate: -0.250033 deg/s, cmd heading: 349.561678 deg, new cmd heading: 349.370481 deg. iYeHeadingCmd: 6.097665 target range: 11.354864 and range: 11.40 m.he @hahahahagigjgrgereZe:e&@*e\?YUVBɢ]^) H=iY)]$YYiefݻie=e^=m;>Im @IiqDDAT read: Rx Time:04:25:40.6252 TRx dataTimestamp_ set to:1764908741.879430PDAT read: Bearing 169.7, 4.9 (Local) ~Local bearing/azimuth received: Bearing 169.7, 4.9 (Local) DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.4 DAT read: 04:25:40.6252 LVL= 31856, 32753, 32754, 32755, AGC= 57, IDX= 497,-0.25,-0.860,-2.563,-0.729,-1.022, PHS= 0.264,-1.496, 0.249, RAW= 149.6, 11.2, CAL= 149.4, 12.3, ROT= 0.6, -12.3 Ygot valid direction response: 04:25:40.6252 LVL= 31856, 32753, 32754, 32755, AGC= 57, IDX= 497,-0.25,-0.860,-2.563,-0.729,-1.022, PHS= 0.264,-1.496, 0.249, RAW= 149.6, 11.2, CAL= 149.4, 12.3, ROT= 0.6, -12.3 V#Rx 107: Read range and direction messages.\direction in FSK: [0.976992,0.010231,0.213030]Fpublishing direction and range infoykC?AJ4?AzUmD?Y1Ap| )I+>i|~>'@+H>&@ [>)+#?P=? $?)>wHI+A} >ԩ I I) O] >i`%,%y-=-94)- A ))-A)Y-AbDECVDE8yUl%U?=ٔU:Q-]>9YYY=]Ey] EenEe>iQ 5u5m?Q 9u5m)mBYu>Q Eu:y}ZlQ I}>@mDIm:imF:mK5yɮAchecking for new query: numPingsReceived=107, elapsed TxPingTime=49.152893iiHxLAj0A"j0A:j@"puM;/u%@I^?xk@pkC?AJ4?AzUmD?*j+<2j[*p'0%@^p@pYr?I!^UVLG?j߶ j(Aih?ijRBjh?jijXBrj)Azjt@= addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.503929 s, deltaX: -0.299999 m, approachRate: -0.595320 m/s, rangeRepo size: 4 } Added new target pos. range: 11.056053 m, bearing: 352.287283 deg, lat: 36.779405 deg, lon: -121.859639 deg, deltaT: 0.503929 s, deltaX: -0.298811 m, approachRate: -0.592962 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 11.06 m.2i"i*i ProNav: ac range: 11.056053 m, nav range: 10.616498 m, bearing: 353.545353 deg, approach rate: 0.000000 m/s, LOS rate: -0.250033 deg/s, cmd heading: 349.370487 deg, new cmd heading: 349.162709 deg. iHeadingCmd: 6.094039 target range: 11.056053 and range: 11.10 m.h]^@hqhqhqhqgqgqԙjgrgTBereZe:e@33&@*e?uXBɢ #) [;i)$顙i’߻iAk= />I^@I^A >I I O > DDAT read: Rx Time:04:25:41.1250  TRx dataTimestamp_ set to:1764908742.385414 PDAT read: Bearing 169.9, 4.4 (Local)  ~Local bearing/azimuth received: Bearing 169.9, 4.4 (Local)  DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.4  DAT read: 04:25:41.1250 LVL= 30160, 32753, 32754, 32755, AGC= 55, IDX= 511, 0.19, 0.453,-1.250, 0.602, 0.307, PHS= 0.249,-1.512, 0.251, RAW= 150.1, 11.5, CAL= 149.9, 12.6, ROT= 0.1, -12.6  Ygot valid direction response: 04:25:41.1250 LVL= 30160, 32753, 32754, 32755, AGC= 55, IDX= 511, 0.19, 0.453,-1.250, 0.602, 0.307, PHS= 0.249,-1.512, 0.251, RAW= 150.1, 11.5, CAL= 149.9, 12.6, ROT= 0.1, -12.6  V#Rx 108: Read range and direction messages. \direction in FSK: [0.975915,0.001703,0.218143] Fpublishing direction and range infoy  :?CI#[?'$?Y ,A u ) 7I ~>i 7 > ϩ'@ M> p'@ z0a>) :I z0a (~$?Vi?1x? J?) %MI :i z0a 5 checking for new query: numPingsReceived=108, elapsed TxPingTime=49.423225f%,LADzDE E}E$E"EI:*Ek&:VE4ZEa@a@a@a@>@>,@>mٱ>T=>Hi?8^?5 bڿ??1 ?/?y?i>@I>];>+CYnbByn] IbDvVDvİ8y~61=%c=ٔ :Q->9 Y = Ey  E E>Q 5=5?Q 9E5K)BYAyEoQ IE>@DI;iK;o5yMBɮMAUEiiLAj,A"j,A:jn@"p?߼7$@X3Ò?lJY@p:?CI#[?'$?*j:2jz0a*p~0z$@g7@py0u?cH?j쾿 j#AiF^]?idjEBjj_jRBrj0'Azj&@% addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.505984 s, deltaX: -0.300000 m, approachRate: -0.592905 m/s, rangeRepo size: 4 5 Added new target pos. range: 10.757240 m, bearing: 351.711371 deg, lat: 36.779405 deg, lon: -121.859641 deg, deltaT: 0.505984 s, deltaX: -0.298813 m, approachRate: -0.590558 m/s, posRepo size: 4 :iquDNOT Ignoring new targets: 10.76 m.2iq"iy*iy ProNav: ac range: 10.757240 m, nav range: 10.449386 m, bearing: 352.993689 deg, approach rate: 0.000000 m/s, LOS rate: -0.250033 deg/s, cmd heading: 349.162713 deg, new cmd heading: 348.979430 deg. iHeadingCmd: 6.090840 target range: 10.757240 and range: 10.80 m.h)@hhhhggjgrgereZe:e%@*eQ?=YBɢ=)9 =0DMaw=ML>IU)@Ii@=@=checking for new query: numPingsReceived=108, elapsed TxPingTime=49.656883BBBBBBBBq;B 6E^A>1IYIqO}>a =l%,ߵLA2+@2w@21Dlٱ2&=2H`?[? ? + U? ? !?i2+@I2];2*CYN`ByR[ IbDZVDZ8yb!%bN=ٔb:Q-b>9dYd=fEyf EjEj>lQ 5n5nb?Q 9r5n)n"BYpyrsQ Ir>@nDIn:in9:n5ytɮzAx:iDNOT Ignoring new targets: 10.76 m.2i"ixX*ixX- ProNav: ac range: 10.757240 m, nav range: 10.253527 m, bearing: 352.924885 deg, approach rate: -0.528623 m/s, LOS rate: -0.189251 deg/s, cmd heading: 348.979418 deg, new cmd heading: 348.839180 deg. i-,5HeadingCmd: 6.088392 target range: 10.757240 and range: 10.80 m.h5@h1h1h9h9g9g9jgArgAeAreAZeA:eI*eM~?eDDAT read: Rx Time:04:25:41.6249 mTRx dataTimestamp_ set to:1764908742.887378uPDAT read: Bearing 170.9, 3.9 (Local) u~Local bearing/azimuth received: Bearing 170.9, 3.9 (Local) DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.4 DAT read: 04:25:41.6249 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509,-0.12,-2.855, 1.748,-2.690,-2.964, PHS= 0.211,-1.526, 0.230, RAW= 150.5, 12.4, CAL= 150.5, 13.7, ROT= 359.5, -13.7 Ygot valid direction response: 04:25:41.6249 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509,-0.12,-2.855, 1.748,-2.690,-2.964, PHS= 0.211,-1.526, 0.230, RAW= 150.5, 12.4, CAL= 150.5, 13.7, ROT= 359.5, -13.7 V#Rx 109: Read range and direction messages.^direction in FSK: [0.971512,-0.008478,0.236838]Fpublishing direction and range infoyimz ? D\4ӋHP?Ym(Aimii i)iImbX>imSÿmk>m0(@mk]>m0(@ mGt>)m^@ImGtiimi*R?~?6`u?1 ms?)mc]ImDimGtii]checking for new query: numPingsReceived=109, elapsed TxPingTime=49.940742}[Bɢ}v") `I@IEE EEEAEA"EE:*EEP:VEAZEABEE;aU2EE;aUJEE);a]:EE*;a]i^A>AzAzAԙ checking for new query: numPingsReceived=109, elapsed TxPingTime=50.160854AM ؟AIa Iy O >Թ s%,ϱLA2@2@2h3kٱ2e=2H ?`y3? Q ?ŗ`Jb?@??i2@I2:];0YN[ByNV IԉiMb@Mb@Mb@ 9Q?~jt?~jthY>y<Dd@ A |A)YAbD VD8y╼%-=ٔy:Q->9"?Y"?=Ey EE>Q 55c"?Q 95 ))BY>Q E:y;Q I>@DIS;i%;$5yBɮAEiiʸLAjU'A"jU'A:jV@"p%RN*R$@߲$z@pz ? D\4ӋHP?*jD2jGt*p_h#@ SqwWX=L@pY';?{8G9{ÿWD?j˿ jAib?iqjnBjb?jjXBrjAzj@ addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.501964 s, deltaX: -0.300000 m, approachRate: -0.597653 m/s, rangeRepo size: 4  Added new target pos. range: 10.458421 m, bearing: 350.848079 deg, lat: 36.779404 deg, lon: -121.859642 deg, deltaT: 0.501964 s, deltaX: -0.298820 m, approachRate: -0.595301 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 10.46 m.2i"i*i ProNav: ac range: 10.458421 m, nav range: 9.977127 m, bearing: 352.010736 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 348.839180 deg, new cmd heading: 348.654280 deg. iHeadingCmd: 6.085165 target range: 10.458421 and range: 10.50 m.h@hhhh!g!g)jg)rg-BBe)re1Ze1:e5%@*e5@:?mDDAT read: Rx Time:04:25:42.1248 uTRx dataTimestamp_ set to:1764908743.391423}PDAT read: Bearing 169.6, 3.7 (Local) }~Local bearing/azimuth received: Bearing 169.6, 3.7 (Local) DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.4 DAT read: 04:25:42.1248 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 508, 0.32, 0.184,-1.515, 0.354, 0.044, PHS= 0.242,-1.514, 0.266, RAW= 150.7, 11.4, CAL= 150.5, 12.5, ROT= 359.5, -12.5 Ygot valid direction response: 04:25:42.1248 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 508, 0.32, 0.184,-1.515, 0.354, 0.044, PHS= 0.242,-1.514, 0.266, RAW= 150.7, 11.4, CAL= 150.5, 12.5, ROT= 359.5, -12.5 V#Rx 110: Read range and direction messages.^direction in FSK: [0.976259,-0.008519,0.216440]Fpublishing direction and range infoyim<*=?CrK?Ymf&Aiiii i)iImw>imm'1>maU(@m%K>i mf_>)iImf_iim4wx?M ?2^%>? m ?)mHFKIiimf_iichecking for new query: numPingsReceived=110, elapsed TxPingTime=50.432564%]Bɢ%%)! %ii!)-$))i-]2i5J5#=5̐>I5@ԹI9@@@@D5%=D5<EE EEEE%EA"EE7:*EE*5:VEE 4ZEAaM@aM@aM@aM@A I I O >% checking for new query: numPingsReceived=110, elapsed TxPingTime=50.665745) sy%,k鱗LABTBTBTBTBTBTBTBV;BVF6EJ@J-@JpkٱJ=JH@?k?? iP@Fn?@^?@1?iJ@IJ84];J+CYEhByEe IbD]VD]8ym=%ud=ٔ}Q-}>9yY=Ey! EE>Q 550?Q 95).BYyQ I>@DI5;i6;+'5y”BɮAEii ٱLAj%A"j%A:j@"pj9$@MEa_@p<*=?CrK?*j2jf_*p9b#@cI|@IA1I9IIO]v>}DDAT read: Rx Time:04:25:42.6246 TRx dataTimestamp_ set to:1764908743.895443PDAT read: Bearing 169.3, 3.5 (Local) ~Local bearing/azimuth received: Bearing 169.3, 3.5 (Local) DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.4 DAT read: 04:25:42.6246 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 506,-0.07,-2.026, 2.573,-1.851,-2.166, PHS= 0.242,-1.500, 0.271, RAW= 150.8, 11.2, CAL= 150.7, 12.4, ROT= 359.3, -12.4 Ygot valid direction response: 04:25:42.6246 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 506,-0.07,-2.026, 2.573,-1.851,-2.166, PHS= 0.242,-1.500, 0.271, RAW= 150.8, 11.2, CAL= 150.7, 12.4, ROT= 359.3, -12.4 V#Rx 111: Read range and direction messages.^direction in FSK: [0.976599,-0.011932,0.214735]Fpublishing direction and range infoyy} ]M@?x?0Boh`r|?Y}!Ayyyy y)yIyi}}>}q(@}+H>}aU(@ }k]>)}ū@I}k]yy}u\4^?~?6{? } ?)}HI}D+Hi}k]yychecking for new query: numPingsReceived=111, elapsed TxPingTime=50.933464EM  EM EM #EI "EM :*EM P:VEM 3ZEI BEM ; y fA)jAYAbDVD8y<%D=ٔP:Q->9Y=Ey% ErE>Q 55pA?Q 95:)3BY>Q E:yQ I>@DI&;i;*5yɮAiiNLAj A"j A:j@"pg0#@𥴺jό*H@p ]M@?x?0Boh`r|?*jD+H2jk]*p#@}CO>;:@p$j?lV !Ŀ D)?jʿ jAi:,g?iLjчBj:,g?jqjEBrjAzji@checking for new query: numPingsReceived=111, elapsed TxPingTime=51.170086 addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504020 s, deltaX: -0.299999 m, approachRate: -0.595213 m/s, rangeRepo size: 4 % Added new target pos. range: 10.060000 m, bearing: 350.605192 deg, lat: 36.779405 deg, lon: -121.859644 deg, deltaT: 0.504020 s, deltaX: -0.298811 m, approachRate: -0.592855 m/s, posRepo size: 4 :i)-DNOT Ignoring new targets: 10.06 m.2i1"i9*i9Iu ProNav: ac range: 10.060000 m, nav range: 9.686401 m, bearing: 350.792644 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 348.520074 deg, new cmd heading: 348.365344 deg. iqHeadingCmd: 6.080122 target range: 10.060000 and range: 10.10 m.h]@hhhhggjgrgCBereZe:e@33$@*e\?%`Bɢ%<)) -0I=]@I9qA-.AIQIyO>ԙ  DDAT read: Rx Time:04:25:43.1245  TRx dataTimestamp_ set to:1764908744.400295 PDAT read: Bearing 169.8, 3.0 (Local)  ~Local bearing/azimuth received: Bearing 169.8, 3.0 (Local)  DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4  DAT read: 04:25:43.1245 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 505, 0.34, 0.736,-0.956, 0.926, 0.617, PHS= 0.220,-1.528, 0.265, RAW= 151.2, 11.8, CAL= 151.2, 13.0, ROT= 358.8, -13.0  Ygot valid direction response: 04:25:43.1245 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 505, 0.34, 0.736,-0.956, 0.926, 0.617, PHS= 0.220,-1.528, 0.265, RAW= 151.2, 11.8, CAL= 151.2, 13.0, ROT= 358.8, -13.0  V#Rx 112: Read range and direction messages. ^direction in FSK: [0.974156,-0.020406,0.224951] Fpublishing direction and range infoy  &I,?l8唿:/2?Y fA ) 8I Ga>i ÿ > [(@ BR> [(@ Vh>) Hd@I Vh  ?HA?H? ?) 8RI i Vh  checking for new query: numPingsReceived=112, elapsed TxPingTime=51.437481t%,QMLAD"AAzD E& E&E&$E$"E&:*E& H:VE&4ZE$a*@a*@a*@a*@@>Խ@>7@>hٱ>=>H?A? j2?@=???i>Խ@I>g];>,CY]rBy]r IbDmVDm8yI=%L=ٔ=%:Q->9 ?Y ?=Ey) EE>Q 55nQ?Q 95)9BYyW Q I>@DI:i2:L.5yȔBɮAiioLAjA"jA:jt@"p0?6#@@oqɿJݾ@p&I,?l8唿:/2?*j2jVh*p0&"@en22Ӫ@pT7oF?}qſ*eZ?juӿ jDAil$c?i%[jBjl$c?jajBrjBAzj@ addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.504852 s, deltaX: -0.200001 m, approachRate: -0.396157 m/s, rangeRepo size: 4  Added new target pos. range: 9.860792 m, bearing: 349.958138 deg, lat: 36.779405 deg, lon: -121.859644 deg, deltaT: 0.504852 s, deltaX: -0.199208 m, approachRate: -0.394587 m/s, posRepo size: 4 :i)5BNOT Ignoring new targets: 9.86 m.2i156Short final. Range: 9.90 m.5VTransitioning guidance mode to: SHORT_FINAL i5@@"i9*i9M ProNav: ac range: 9.860792 m, nav range: 9.453743 m, bearing: 350.692416 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 348.365357 deg, new cmd heading: 348.204240 deg. iIu|HeadingCmd: 6.077311 target range: 9.860792 and range: 9.90 m.huTy@hqhqhqhqgqgyjgyrgyeyreZe:e#@*e?ԩaBɢ)  =i)}x$i;i5R5sê=59 >I5Ty@I1checking for new query: numPingsReceived=112, elapsed TxPingTime=51.673622A}؟AIBBB IBBBBBB;Be6EIOc> ='%,9+7LA2Ž@2j@2gٱ2ն=2H? ?^@I1@Ú?ʬ~?ɶ? L?i2Ž@I2hn];2*CY>wByBx IbDJVDJ8yb<%f[=ٔf1:Q-f>9j"?Yj"?=jEyj- EjEj>lpQ 5v5rK`?Q 9v5r)r>BYxyzQ Q Iz>@rDIre:ir:r15y|ɮ~A|B*** querying acoustic contact ***ii:i!2i)-zIgnoring new targets. Set target to previous: 9.86 m. 9.86 m."i5Ἲ*i5ἺEDDAT read: Rx Time:04:25:43.6243 MTRx dataTimestamp_ set to:1764908744.903491UPDAT read: Bearing 170.3, 3.7 (Local) U~Local bearing/azimuth received: Bearing 170.3, 3.7 (Local) eDAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.4 DAT read: 04:25:43.6243 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 503,-0.09,-1.755, 2.837,-1.588,-1.867, PHS= 0.214,-1.534, 0.235, RAW= 150.6, 12.3, CAL= 150.5, 13.6, ROT= 359.5, -13.6 Ygot valid direction response: 04:25:43.6243 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 503,-0.09,-1.755, 2.837,-1.588,-1.867, PHS= 0.214,-1.534, 0.235, RAW= 150.6, 12.3, CAL= 150.5, 13.6, ROT= 359.5, -13.6 V#Rx 113: Read range and direction messages.^direction in FSK: [0.971924,-0.008482,0.235142]Fpublishing direction and range infoyIM2W?ᔫ^#?YMAIIII I)IIM"[>iMZĿMףp>M8(@M[>M0(@ Ms>)M^@IMsIIMu`?G?n\G? MS?)M[IMDiMsIIchecking for new query: numPingsReceived=113, elapsed TxPingTime=51.948654= ProNav: ac range: 9.860792 m, nav range: 9.275742 m, bearing: 350.664461 deg, approach rate: -0.515825 m/s, LOS rate: -0.082565 deg/s, cmd heading: 348.204246 deg, new cmd heading: 348.147263 deg. i=E|HeadingCmd: 6.076316 target range: 9.860792 and range: 9.90 m.hE.q@hAhAhAhAgIgIjgIrgIereZe:e@33#@*eZ ?bBɢ[) p$=i)xY$)i-i5S5yѪ=5>I=.q@I9EU EUEQEQ"EU:*EU,:VEQZEQBEQae2EQaeJEU9;ae:EU9;ae 1^AuG> checking for new query: numPingsReceived=113, elapsed TxPingTime=52.178745A I I O >a z%,QLAA]A@]@]gٱ]⤶=]Hݥ??`ue :?Q?ö?g?i]A@I]Q];]+CY}By II=)<==iMb@Mb@Mb@ 9?~jt~jthY?yDDM@ )@Y3AbD!VD˰8y<%.=ٔ-?9Q->9Y=Ey2 EE>Q 55s?Q 95)DBY ?Q E:y$Q I>@"DI:i=:55yΔBɮAEiyi}9LAj}A"j}A:j}@"p}toI"@Gô%Q@p}2W?ᔫ^#?*j}D2j}s*p}P*X?"@-āf@p}Z˛]6?v5ĿwZ+n?j}Ŀ j}qAi}l?i}R.j}Bj}:,g?j}Lj}Brj}jAzj}@E addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.503196 s, deltaX: -0.299999 m, approachRate: -0.596188 m/s, rangeRepo size: 4 U Added new target pos. range: 9.561995 m, bearing: 350.370765 deg, lat: 36.779405 deg, lon: -121.859645 deg, deltaT: 0.503196 s, deltaX: -0.298798 m, approachRate: -0.593800 m/s, posRepo size: 4 :iQ2iQ]zIgnoring new targets. Set target to previous: 9.56 m. 9.86 m."i]*i]xX  ProNav: ac range: 9.860792 m, nav range: 9.041980 m, bearing: 350.661236 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 348.147255 deg, new cmd heading: 347.968749 deg. i ,|HeadingCmd: 6.073200 target range: 9.860792 and range: 9.60 m.hW@hhhhggjgrg%IBe!re!Ze!UDDAT read: Rx Time:04:25:44.1242 UTRx dataTimestamp_ set to:1764908745.407323ePDAT read: Bearing 170.4, 3.8 (Local) e~Local bearing/azimuth received: Bearing 170.4, 3.8 (Local) uDAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4 ԁDAT read: 04:25:44.1242 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 502, 0.29, 1.516,-0.187, 1.678, 1.409, PHS= 0.209,-1.551, 0.225, RAW= 150.5, 12.6, CAL= 150.4, 13.9, ROT= 359.6, -13.9 Ygot valid direction response: 04:25:44.1242 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 502, 0.29, 1.516,-0.187, 1.678, 1.409, PHS= 0.209,-1.551, 0.225, RAW= 150.5, 12.6, CAL= 150.4, 13.9, ROT= 359.6, -13.9 V#Rx 114: Read range and direction messages.^direction in FSK: [0.970693,-0.006777,0.240228]Fpublishing direction and range infoyQUh?${ؼʿ?YUAQQQQ Q)QIUV>iU+ƿUfff>U0(@Uz0a>U'@ UUlx>)U@IUUlxQQUSR?xD?v(? U0 ?)UaIUiUUlxQQchecking for new query: numPingsReceived=114, elapsed TxPingTime=52.445057:e#@*eB?颥dBɢ) E=i)($顩iBQiJW=Ϗ >IW@Ee EeEe!Ea"Ee[:*EeǙ:VEec3ZEaam@am@am@am@IiԱ^A > % checking for new query: numPingsReceived=114, elapsed TxPingTime=52.684963B B B IB BB B B B ;B j6EA1 IA IQ Om >š%,d!mLAF@Fޙ@FfٱFL;=FH??a"?@loլ?`z?`?iF@IF];F*CTY^By^ IbDjVDjȰ8y%=%%T=ٔ%P:Q-%>9)Y)=-Ey-6 E-E5>1Q 5=55Ã?Q 9E55Y)5IBYAyE&Q IE>@5(DI52:i5;595yIɮULAQiqiuZLAjueA"jueA:ju@"puf^"@oTkjvG^/@puh?${ؼʿ?*ju2juUlx*puGW!@ۏTcQR+HdM-@pu!@)?yEĿ~Y%?ju¿ juAiuQs?iuSjuBjul?juR.jqrjumAzju*@ addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.503832 s, deltaX: -0.100000 m, approachRate: -0.198480 m/s, rangeRepo size: 4  Added new target pos. range: 9.462385 m, bearing: 350.328842 deg, lat: 36.779405 deg, lon: -121.859645 deg, deltaT: 1.007028 s, deltaX: -0.398407 m, approachRate: -0.395627 m/s, posRepo size: 4 :i2izIgnoring new targets. Set target to previous: 9.46 m. 9.86 m."i*i ProNav: ac range: 9.860792 m, nav range: 8.849278 m, bearing: 350.660991 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 347.968741 deg, new cmd heading: 347.822713 deg. i|HeadingCmd: 6.070652 target range: 9.860792 and range: 9.50 m.hB@hhhhggjgrgereZe:e*e@ ?-eBɢ55)Y ehy=ia)m#顑i%6i~Y;=j >IB@IMDDAT read: Rx Time:04:25:44.6240 UTRx dataTimestamp_ set to:1764908745.911652]PDAT read: Bearing 170.4, 4.8 (Local) e~Local bearing/azimuth received: Bearing 170.4, 4.8 (Local) uDAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.4 DAT read: 04:25:44.6240 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500,-0.13,-1.321,-3.029,-1.194,-1.438, PHS= 0.219,-1.546, 0.200, RAW= 149.4, 12.8, CAL= 149.4, 14.1, ROT= 0.6, -14.1 Ygot valid direction response: 04:25:44.6240 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500,-0.13,-1.321,-3.029,-1.194,-1.438, PHS= 0.219,-1.546, 0.200, RAW= 149.4, 12.8, CAL= 149.4, 14.1, ROT= 0.6, -14.1 V#Rx 115: Read range and direction messages.\direction in FSK: [0.969819,0.010156,0.243615]Fpublishing direction and range infoyQUr'?S̄? .?YU3AQQQQ Q)QIUA`>iUTſUL>U&@Ud>U&@ Ud{>)U+T? UP?)U[dIU+Ee EeEe%Ea"Ee:*Ee3:VEe 4ZEaBEe;am2Ee;auJEe;au:Ee;a}A .AI ) I1 O= >*%,ކLA>F@>@>dٱ>e=>H@?:?#Fǔ?p?@뻶??i>F@I>Uh^;9 ?Y ?=Ey: E!E>Q 5%5N?Q 9%5U)OBY-?Q E-:y-#Q I->@0DI;i.; =5y5ӔBɮ5&A5EiiXzLAjA"jA:jt-@"p%!@~xwLӷ?@pr'?S̄? .?*j+<2jd{*p>2cK!@5Hw_@pBض2?aR¿9re?jF j\ AivMp?iRjBjjjrj AzjL@ addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.504329 s, deltaX: -0.300000 m, approachRate: -0.594850 m/s, rangeRepo size: 4  Added new target pos. range: 9.163572 m, bearing: 351.254559 deg, lat: 36.779405 deg, lon: -121.859645 deg, deltaT: 1.511357 s, deltaX: -0.697220 m, approachRate: -0.461320 m/s, posRepo size: 4 :i2izIgnoring new targets. Set target to previous: 9.16 m. 9.86 m."i*i- ProNav: ac range: 9.860792 m, nav range: 8.614374 m, bearing: 350.655845 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 347.822712 deg, new cmd heading: 347.643979 deg. i)5|HeadingCmd: 6.067532 target range: 9.860792 and range: 9.20 m.h59)@h1h1h1h99g9gYjgargeGBeareaZea:em`ff"@*em?颵fBɢ) @=i)f#顱ii2\=%ڏ >I%9)@IQ@a=@=qm DDAT read: Rx Time:04:25:45.1238 m TRx dataTimestamp_ set to:1764908746.415322u PDAT read: Bearing 170.0, 5.6 (Local) } ~Local bearing/azimuth received: Bearing 170.0, 5.6 (Local)  DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.4  DAT read: 04:25:45.1238 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498, 0.23, 0.229,-1.502, 0.326, 0.094, PHS= 0.238,-1.551, 0.189, RAW= 148.6, 12.7, CAL= 148.5, 14.0, ROT= 1.5, -14.0  Ygot valid direction response: 04:25:45.1238 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498, 0.23, 0.229,-1.502, 0.326, 0.094, PHS= 0.238,-1.551, 0.189, RAW= 148.6, 12.7, CAL= 148.5, 14.0, ROT= 1.5, -14.0  V#Rx 116: Read range and direction messages.ԩ ^A  >A >A ?M \direction in FSK: [0.969963,0.025399,0.241922]E}  Ey Ey Ey "E} 7:*Ey VEy ZEy a @a @a @a @ Fpublishing direction and range infoyi m S ?@K?79K?Ym fAi i i i i )m 7Im Fs>im +ƿm 7A>m %@m b>m H%@ m 5z>)m Pw)m bIm Pw9%,}LAY]0=ALRN@R@R4#cٱRlp=RH`??y5 *¿`?`_i`? ?`T?iRN@IR^;R+CY~By I  bDVD°8y%3=%%Z=ٔ-}:Q-->9)Y)=-Ey-> EuEu>yQ 55}?Q 95}))}TBYy%Q I>@}6DI}};i}~;}`@5yɮAiiLAj A"j A:j@"p{m2!@>5?<^(@pS ?@K?79K?*jPw<2j5z*p1 @VnP@p_hD?C IW@Ichecking for new query: numPingsReceived=116, elapsed TxPingTime=53.689312BaBaBe IBeBBaBaBaBe;BeC6EB)B)B)B)B)C-e`4^A > I & dClearing failed state for component DockingStepperq I O > DDAT read: Rx Time:04:25:45.6236  TRx dataTimestamp_ set to:1764908746.919322 PDAT read: Bearing 171.9, 7.1 (Local)  ~Local bearing/azimuth received: Bearing 171.9, 7.1 (Local)  DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed 0.4  DAT read: 04:25:45.6236 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 496,-0.25,-2.422, 2.161,-2.375,-2.515, PHS= 0.195,-1.563, 0.096, RAW= 147.1, 14.7, CAL= 147.0, 16.2, ROT= 3.0, -16.2  Ygot valid direction response: 04:25:45.6236 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 496,-0.25,-2.422, 2.161,-2.375,-2.515, PHS= 0.195,-1.563, 0.096, RAW= 147.1, 14.7, CAL= 147.0, 16.2, ROT= 3.0, -16.2  V#Rx 117: Read range and direction messages. \direction in FSK: [0.958978,0.050258,0.278991] Fpublishing direction and range infoy  3)o?_4f??Y A ) I G>i bȿ = O$@ G\> Y3$@ Ð>) PwV=I Ð ZA?e[9?͵E? 'i>) I PwV=i Ð^%,9ELA2 t@2Wm@2aٱ2V==2H??)Hr¿?@Q<;?uw??i2 t@I2]^;0:checking for new query: numPingsReceived=117, elapsed TxPingTime=53.978188|bE4jE3rE@o/Ee EeEe#Ea"Ee[:*Ee?:VEe3ZEaBEe9Y=EyB EE>Q 55?Q 95)YBYy'Q I>@=DI\:i:C5yٔBɮAEii,ֺLAj A"j A:jkK@"p|yy4m @nnjk?)M;\@p3)o?_4f??*jPwV=2jÐ*pi_ @&TVG8@pA?|U-KWm?jr j@AiKq\?i~jaBjjRjBrjAzjK+@] addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.504000 s, deltaX: -0.299999 m, approachRate: -0.595237 m/s, rangeRepo size: 4 m Added new target pos. range: 8.565951 m, bearing: 353.254626 deg, lat: 36.779405 deg, lon: -121.859644 deg, deltaT: 2.519027 s, deltaX: -1.294841 m, approachRate: -0.514024 m/s, posRepo size: 4 :ii2iizIgnoring new targets. Set target to previous: 8.57 m. 9.86 m."i*i ProNav: ac range: 9.860792 m, nav range: 8.209553 m, bearing: 350.655410 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 347.497922 deg, new cmd heading: 347.345421 deg. i  |HeadingCmd: 6.062321 target range: 9.860792 and range: 8.60 m.he@hih hhgg!1jgQrgQeYreaZe:e@33!@*eX?颥hBɢ) =i)G"顱i"i:*b%= >I@I 4Initializing EZServoServo.checking for new query: numPingsReceived=117, elapsed TxPingTime=54.192825Q u 8Initializing DockingStepper.@} zA@} zAԉ ^A  >Ա I IO>k%%,eٲLA2+[@2xT@27aٱ2{=2HZ?d.?%¿ ?`A#? 0D??i2+[@I2^;2(CY>By> IRDDAT read: Rx Time:04:25:46.1235 RTRx dataTimestamp_ set to:1764908747.423491ZPDAT read: Bearing 171.4, 7.4 (Local) Z~Local bearing/azimuth received: Bearing 171.4, 7.4 (Local) bDAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4  DAT read: 04:25:46.1235 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 511, 0.12, 0.077,-1.641, 0.112,-0.033, PHS= 0.212,-1.563, 0.100, RAW= 146.8, 14.4, CAL= 146.6, 15.8, ROT= 3.4, -15.8 Ygot valid direction response: 04:25:46.1235 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 511, 0.12, 0.077,-1.641, 0.112,-0.033, PHS= 0.212,-1.563, 0.100, RAW= 146.8, 14.4, CAL= 146.6, 15.8, ROT= 3.4, -15.8 V#Rx 118: Read range and direction messages.\direction in FSK: [0.960524,0.057066,0.272280]%Fpublishing direction and range infoyPRu?hbص7? ^ m?YRfAPPPP P)R6IRY>iPR=R(#@R>R#@ R0>)Rs=IR0PPRAZa|?X?!#? R79>)RXIRs=iR0PP}checking for new query: numPingsReceived=118, elapsed TxPingTime=54.473194iMb@Mb@Mb@ 9x&1?y&1|Mbp?YA?y`廙;E EzE&E"Eg:*E :VE4ZEa@a@a@a@M@ A )@YA%AA!bD-VD-8yJ=%=ٔ9Q->9Y=EyH EĺE> Q 55 KϜ?Q 95 4) bBYE?Q E:yj&Q I>@ EDI :i I: H5yAɮE7AAiPiRz۲LAjRA"jRA:jRs@"pR|/˪ @ n֙?‹9@pRu?hbص7? ^ m?*jRs=2jR0*pR&\hh@uRߦX@pRn?6?jRc jRC@iRFd?iRBϘjR2BjR0j?jRgjRBrjR@zjR@ addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.504169 s, deltaX: -0.200001 m, approachRate: -0.396694 m/s, rangeRepo size: 4  Added new target pos. range: 8.366742 m, bearing: 353.537683 deg, lat: 36.779405 deg, lon: -121.859642 deg, deltaT: 3.023196 s, deltaX: -1.494050 m, approachRate: -0.494196 m/s, posRepo size: 4 :i2i zIgnoring new targets. Set target to previous: 8.37 m. 9.86 m."i *i = ProNav: ac range: 9.860792 m, nav range: 7.941091 m, bearing: 350.654288 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 347.345418 deg, new cmd heading: 347.140479 deg. i9E|HeadingCmd: 6.058744 target range: 9.860792 and range: 8.40 m.hE<@hAhAhIhIgIgIjgIrgUpBeQreQZeQ:e} @*e}Q?iBɢ) 4>i)\"!i%i%e-8=-k >I-<@I)Uchecking for new query: numPingsReceived=118, elapsed TxPingTime=54.696827B>BB IBBBBBºDBd;B6E! ^AY I I O >|O%,ILA<@@^)K@^vD@^_ٱ^=^H*?Cm?ÿъ?#m?$o?>?i^)K@I^^;^)CYjByj IbD%"VD%̰8yU=%U}=ٔ]/:Q-] ?9YYY=]EyeK EerƻEe ?iQ 55mܜ?Q 95m)mgBYyk(Q I>@mJDIm;imO;moK5yߔBɮ4AB*** querying acoustic contact ***ii:i 2i zIgnoring new targets. Set target to previous: 9.86 m. 9.86 m."iJ8*iJ8- ProNav: ac range: 9.860792 m, nav range: 7.781904 m, bearing: 350.655882 deg, approach rate: -0.506247 m/s, LOS rate: 0.005172 deg/s, cmd heading: 347.140485 deg, new cmd heading: 347.143737 deg. i-n9U|HeadingCmd: 6.058801 target range: 9.860792 and range: 8.40 m.hU@hQhQhQhQgQgYjgYrgYeYreYZea:ea*eeׂ?jBɢIݼ) >i)!i+$ieD= >I@IDDAT read: Rx Time:04:25:46.6233 TRx dataTimestamp_ set to:1764908747.928672PDAT read: Bearing 172.6, 8.5 (Local) ~Local bearing/azimuth received: Bearing 172.6, 8.5 (Local) DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.4 DAT read: 04:25:46.6233 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509,-0.39,-2.597, 1.990,-2.593,-2.678, PHS= 0.183,-1.570, 0.040, RAW= 145.8, 15.8, CAL= 145.6, 17.3, ROT= 4.4, -17.3  Ygot valid direction response: 04:25:46.6233 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509,-0.39,-2.597, 1.990,-2.593,-2.678, PHS= 0.183,-1.570, 0.040, RAW= 145.8, 15.8, CAL= 145.6, 17.3, ROT= 4.4, -17.3  V#Rx 119: Read range and direction messages.\direction in FSK: [0.951947,0.073248,0.297375]Fpublishing direction and range infoyhNYv?|rZf?+0?YA )7IZd;>!iȿ #=4"@0>"@ #>)nF=I#{q?ߗO?Q1e? &q>)#InF=i#5checking for new query: numPingsReceived=119, elapsed TxPingTime=54.966511E EE#E"Eغ:*EC:VE3ZEBE;a:E>;a^AM >QIIO >y ] checking for new query: numPingsReceived=119, elapsed TxPingTime=55.2007063%,Hn LA2:@23@2^ٱ2"=2H ? ?@MBUÿ`?@٫?T??i2:@I2z^;2(CYBByB Ii-Mb@Mb@Mb@)))) )9-Cl?:v?{Gzt?Y-d>y-T<-ף;-7@-|A -A)-@)Y-=AbDMVDM8Yye&=%eJ=ٔeH9Q-m>9iYi=mEymO EuXEu>yQ 55}휊?Q 95})}mBY~>Q E:yWQ I>@}QDI}:i}:}N5yɮAii]oLAjA"jA:j@"pE-@<59.+?ҹ1@phNYv?|rZf?+0?*jnF=2j#*pz@9^T|o@piy)}H[!yyi}ԁihV= >I]@I DDAT read: Rx Time:04:25:47.1232  TRx dataTimestamp_ set to:1764908748.440354PDAT read: Bearing 172.0, 9.4 (Local) ~Local bearing/azimuth received: Bearing 172.0, 9.4 (Local) -DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4 ]DAT read: 04:25:47.1232 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 508, 0.05,-0.496,-2.216,-0.525,-0.605, PHS= 0.211,-1.565, 0.036, RAW= 144.9, 15.4, CAL= 144.5, 16.8, ROT= 5.5, -16.8 eYgot valid direction response: 04:25:47.1232 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 508, 0.05,-0.496,-2.216,-0.525,-0.605, PHS= 0.211,-1.565, 0.036, RAW= 144.9, 15.4, CAL= 144.5, 16.8, ROT= 5.5, -16.8 mV#Rx 120: Read range and direction messages.u\direction in FSK: [0.952912,0.091755,0.289032]uFpublishing direction and range infoy  +A~?;A}?\.?Y A     ) I bX>i Qȿ t= !@ > vh!@ Q >)  =I Q   rGs? O?߇.i? ?>) mWI  =i Q  T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Թ@=@=E EE"E"E*E.:VE(3ZEa@a@a@a@ ^A  >A ؟AII)O5>;O%,=+LA:2Acoustic response timeoutBB>B@BB IBBɂBB@B@BBDBB<;BB5EZ+@Z$@Z]ٱZى=ZH@? ? ߐÿ?볿ž?@A??iZ+@IZ^;Z+CYnւByn I z9%"?Y%"?=%Ey%T E-E5>9Q 5E5=?Q 9E5=L)=uBYIyM9Q IU>@=XDI=:G;i=H;=R5y]BɮexAeEiYi].LAj]@"j]@:j]g@"p]Z_@Gbse?&l@p]+A~?;A}?\.?*j] =2j]Q *p]Yt@@p]-a ?t.糿!ȥ3?j] j]T@i]xs?i]j]]BjYj]BϘj]]Brj]@zj]@ addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.511682 s, deltaX: -0.100000 m, approachRate: -0.195435 m/s, rangeRepo size: 4 U Added new target pos. range: 7.968331 m, bearing: 355.244465 deg, lat: 36.779405 deg, lon: -121.859640 deg, deltaT: 4.040059 s, deltaX: -1.892461 m, approachRate: -0.468424 m/s, posRepo size: 4 :iQ2iQ]zIgnoring new targets. Set target to previous: 7.97 m. 9.86 m."iY*iY ProNav: ac range: 9.860792 m, nav range: 7.359461 m, bearing: 350.538085 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 346.973528 deg, new cmd heading: 346.818814 deg. i|HeadingCmd: 6.053130 target range: 9.860792 and range: 8.00 m.h>@hhhhggjgrg ereZeA:eM @*eU/?颍lBɢ*tӼ) S>i). 顑i3^ikli=L >I>@I)]DDAT read: Rx Time:04:25:47.6229 mTRx dataTimestamp_ set to:1764908748.950408uPDAT read: Bearing 170.9, 11.2 (Local) u~Local bearing/azimuth received: Bearing 170.9, 11.2 (Local) DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4 DAT read: 04:25:47.6229 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 506,-0.40, 2.804, 1.023, 2.712, 2.644, PHS= 0.262,-1.576, 0.024, RAW= 143.2, 14.8, CAL= 142.6, 16.0, ROT= 7.4, -16.0 Ygot valid direction response: 04:25:47.6229 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 506,-0.40, 2.804, 1.023, 2.712, 2.644, PHS= 0.262,-1.576, 0.024, RAW= 143.2, 14.8, CAL= 142.6, 16.0, ROT= 7.4, -16.0 R#Rx 1: Read range and direction messages.\direction in FSK: [0.953256,0.123806,0.275637]Fpublishing direction and range infoyaec/y?>ı? ?Ye@aaaa^A > a)e8Ie$>ie^ɿa ee&I@ e5>)e A>Ie5aae\}.s?dW?wM? e>)eჾIe A>ie5aa 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.E  E E &E "E :*E *:VE 4ZE BE O;a- 2E P;a- JE g;a5 :E g;a5 A I I) O5 >4%, ELA%@%l@%H[ٱ%;=%H ȑ?#? 찿@ÿ? ڳ@e?r3?[?i%@I%z^;!YقBy I Ai2Acoustic response timeoutiMb@Mb@Mb@ 9gfffff?+?y&1|?Y3>y=`;A 9A)@YbD VDʰ8y.)<%#=ٔc:Q->9Y=%Ey%Y E%VE%>)Q 555-?Q 955-)-~BY= >Q E=:y=$Q I=>@-`DI-:i-$:-VW5yEBɮEAMEii|ı? ?*j A>2j5*pay%@8Sֿ?mzR@p4e?̞B觿LÑ-?j j@id?i@Aj݇BjFd?jQjrjh@zj3@ addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.510054 s, deltaX: -0.500000 m, approachRate: -0.980288 m/s, rangeRepo size: 4  Added new target pos. range: 7.470310 m, bearing: 357.158388 deg, lat: 36.779405 deg, lon: -121.859639 deg, deltaT: 4.550113 s, deltaX: -2.390482 m, approachRate: -0.525368 m/s, posRepo size: 4 :i2izIgnoring new targets. Set target to previous: 7.47 m. 9.86 m."i*i= ProNav: ac range: 9.860792 m, nav range: 7.122872 m, bearing: 350.365616 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 346.818810 deg, new cmd heading: 346.631295 deg. iAE|HeadingCmd: 6.049858 target range: 9.860792 and range: 7.50 m.hEo@hIhIhIhIgIgIjgQrgUBeQreQZey:e}@*e}@կ?ԙ颭mBɢ>μ) W>i)i iU~n]W}=]0 >Ieo@Ii E DDAT read: Rx Time:04:25:48.1228 E TRx dataTimestamp_ set to:1764908749.447469M PDAT read: Bearing 172.1, 11.7 (Local) U ~Local bearing/azimuth received: Bearing 172.1, 11.7 (Local) e DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 ^A  DAT read: 04:25:48.1228 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 505, 0.02,-0.766,-2.518,-0.869,-0.890, PHS= 0.226,-1.582,-0.023, RAW= 142.7, 16.0, CAL= 142.1, 17.3, ROT= 7.9, -17.3 % Ygot valid direction response: 04:25:48.1228 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 505, 0.02,-0.766,-2.518,-0.869,-0.890, PHS= 0.226,-1.582,-0.023, RAW= 142.7, 16.0, CAL= 142.1, 17.3, ROT= 7.9, -17.3 % R#Rx 1: Read range and direction messages.] \direction in FSK: [0.945700,0.131227,0.297375]] Fpublishing direction and range infoyA E r+C?U9 ?+0?YE @A A A A A )A IE lg>iE ~ʿE jE e@E 5>E ,@ E #>)E 0 >IE #A A E QvX"_?G?oɜ? E >)E L8IE 0 >iE #A A } 2Acoustic response timeout} Querying Benthos address 50 with 120 pings in terminal homing one-way mode. D =D <E%  E% E% %E! "E% غ:*E% C:VE% 4ZE! a5 @a5 @a5 @a5 @A.AI I!O->.J%,bLAR9@R @RɕYٱRܱ=RH`͏? [?ذÿ?jгr/?`o,??iR9@IRl^;R)CYBy%!IbDm VDm8y3=%U=ٔ:Q->9 ?Y ?=Ey\ EE>Q 55M#?Q 95#)BYyQ I>@eDI:i:Z5y ɮ (A -PExceeded connect timeout, disconnecting.iiU\LAj@"j@:j@"pF@_?Z@pr+C?U9 ?+0?*j0 >2j#*pk+@ZƐӿrh|C@pylU?>j<+T?j j@it"f?i-j*Bje?jj2Brjq@zj T@ addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.497061 s, deltaX: -0.100000 m, approachRate: -0.201182 m/s, rangeRepo size: 4  Added new target pos. range: 7.370706 m, bearing: 357.454655 deg, lat: 36.779405 deg, lon: -121.859638 deg, deltaT: 5.047174 s, deltaX: -2.490086 m, approachRate: -0.493362 m/s, posRepo size: 4 :i2izIgnoring new targets. Set target to previous: 7.37 m. 9.86 m."i*i ProNav: ac range: 9.860792 m, nav range: 6.939475 m, bearing: 350.226387 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 346.631308 deg, new cmd heading: 346.480795 deg. i|HeadingCmd: 6.047231 target range: 9.860792 and range: 7.40 m.h@hAhAhAhAgIgIjgQrgQeYreYZe:e@*e?nBɢ) :o>i)5  i i q^=>I@I@@2Acoustic response timeout!BBB(!IBBBBBºDBF;B5EI^A( >AzAI I O >q _n%,Q|LADDAT read: Rx Time:04:25:48.6226 TRx dataTimestamp_ set to:1764908749.951386PDAT read: Bearing 171.6, 13.1 (Local) ~Local bearing/azimuth received: Bearing 171.6, 13.1 (Local) &DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.4 :DAT read: 04:25:48.6226 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 503,-0.34, 2.855, 1.056, 2.703, 2.700, PHS= 0.256,-1.599,-0.042, RAW= 141.4, 15.8, CAL= 140.6, 17.0, ROT= 9.4, -17.0 >Ygot valid direction response: 04:25:48.6226 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 503,-0.34, 2.855, 1.056, 2.703, 2.700, PHS= 0.256,-1.599,-0.042, RAW= 141.4, 15.8, CAL= 140.6, 17.0, ROT= 9.4, -17.0 >R#Rx 1: Read range and direction messages.B\direction in FSK: [0.943464,0.156189,0.292372]BFpublishing direction and range infoyQ<0?]?兗7?Y3@ )Io>i̿1,@0>= @ >)'>I闾ʍ?luv?P!y? e6>)7I'>i闾R2Acoustic response timeoutRQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.@@Uٱ=H ?@?@Ȟ@_NĿ P?`ֳ❪?1?` ?i@IA^;+CE E}E$E"Eg:*Ek&:VE4ZEBE;a 2E;a JEÀ;a :EĀ;a QYBy!IbDVD8y]z=%/=ٔ=;Q->9Y=Eya EGE>Q 555?Q 95)BYyšQ I>@lDI.;i;^5yBɮAEii|LAjM@"jM@:j m@"p!j6@xS C?"r~@pQ<0?]?兗7?*j'>2j闾*p,t@[H|%EG@py8? 4?j j@iUc?iA jBjj@Aj*Brj@zjԈ@ԉ addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.503917 s, deltaX: -0.300000 m, approachRate: -0.595336 m/s, rangeRepo size: 4 = Added new target pos. range: 7.071902 m, bearing: 358.861231 deg, lat: 36.779405 deg, lon: -121.859635 deg, deltaT: 5.551091 s, deltaX: -2.788890 m, approachRate: -0.502404 m/s, posRepo size: 4 :iI2iIzIgnoring new targets. Set target to previous: 7.07 m. 9.86 m."i*i ProNav: ac range: 9.860792 m, nav range: 6.720743 m, bearing: 350.055091 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 346.480798 deg, new cmd heading: 346.296199 deg. i|HeadingCmd: 6.044009 target range: 9.860792 and range: 7.10 m.hh@h h h h g g jgrgere1Ze9:e=`ff@*e=།?颅oBɢ) Ą>i)0顉iit=>Ih@IiIA2Acoustic response timeoutԩ ^A= t>II!O5>D%,KLA2@2K@2pcTٱ2 =2H?? Ŀ|? w`b?!??i2@I2Z^;2,CY>By>!IIB<)Bie1̿e ףeG@e A>e@ e5>)e| >Ie5aaeS/ÿ?xw1?j>Z? e>9M(\?Mb?yM@=Mt9Y=Eye EE>)eGIe| >ie5aa2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Q 555E?Q 955)BY5V>Q E5:y5瀽Q I5>@sDIc;i;\b5yAɮEAAE- E)E-"E)"E-:*E)VE-(3ZE)a5@a=@a=@a=@iaie&LAje@"je@:je-@"peh!@N[K?n'?peުa?`@mx?? ?*je| >2je5*peڽ%@dہƿO^9@pemu?ݣDj[pʆ?je4 je@ieop0_?ie=jeBjed?je-jeBrje@zje;@- addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.504094 s, deltaX: -0.300000 m, approachRate: -0.595127 m/s, rangeRepo size: 4 5 Added new target pos. range: 6.773089 m, bearing: 358.420302 deg, lat: 36.779405 deg, lon: -121.859635 deg, deltaT: 6.055185 s, deltaX: -3.087703 m, approachRate: -0.509927 m/s, posRepo size: 4 :i92i9uzIgnoring new targets. Set target to previous: 6.77 m. 9.86 m."iq*iqE ProNav: ac range: 9.860792 m, nav range: 6.530081 m, bearing: 349.869224 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 346.296192 deg, new cmd heading: 346.135583 deg. iAM|HeadingCmd: 6.041205 target range: 9.860792 and range: 6.80 m.hMQ@hIhIhIhIgIgQjgQrgUBeQreYZeY:ee@33@*ee?qBɢ+a) >i)i] iwQ=F>IQ@IUnManaging dock network, ignoring radio surface power off1 2Acoustic response timeoutB >B B G!IB BB B B B v;B 6E^A >Ia Iq y O >Sp%,,LAFټ@F@F/EQٱF(=FH`?:?:jĿz?!t %?ֵ?h?iFټ@IF^;F)CYRByR!IbDZVDZ8yb<%b_=ٔf5;Q-f>9dYd=zEyzi Ez E~>|Q 55~lT?Q 95~4)~BY y oQ I >@~xDI~.:i~:~e5y=Bɮ=A9Q}B*** querying acoustic contact ***iyiy:i2izIgnoring new targets. Set target to previous: 9.86 m. 9.86 m."iX*iX ProNav: ac range: 9.860792 m, nav range: 6.358419 m, bearing: 349.694986 deg, approach rate: -0.524508 m/s, LOS rate: -0.546754 deg/s, cmd heading: 346.135573 deg, new cmd heading: 345.777693 deg. i'z|HeadingCmd: 6.034959 target range: 9.860792 and range: 6.80 m.hc@hhhhggjgrgereZe:e*e?rBɢ|) >i ) ]  i . i.~IB>Ic@I M&Changing to mode: 2uDDAT read: Rx Time:04:25:49.6222 }TRx dataTimestamp_ set to:1764908750.961286PDAT read: Bearing 169.7, 13.6 (Local) ~Local bearing/azimuth received: Bearing 169.7, 13.6 (Local) ԙDAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.4 DAT read: 04:25:49.6222 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 499,-0.05, 0.540,-1.316, 0.358, 0.324, PHS= 0.318,-1.595,-0.010, RAW= 140.8, 14.4, CAL= 140.0, 15.5, ROT= 10.0, -15.5 Ygot valid direction response: 04:25:49.6222 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 499,-0.05, 0.540,-1.316, 0.358, 0.324, PHS= 0.318,-1.595,-0.010, RAW= 140.8, 14.4, CAL= 140.0, 15.5, ROT= 10.0, -15.5 R#Rx 1: Read range and direction messages.\direction in FSK: [0.948991,0.167333,0.267238]Fpublishing direction and range infoyy}!^?P((k?֚n?Y}@yyyy y)}6I}Т>i}(̿} #}nF@}>}a@ }c>)}¸2>I}cyy} ]?HlP?T@I? }祹>)}I}¸2>i}cyy2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.@  @@/@E= E=E=!E9"E=g:*E=*:VE=c3ZE9BE9aE2E9aEJE=g;aM:E=g;aM^AI A] >A] >I IQ O >  2Acoustic response timeoutR%,,ͳLA2yμ@2@2SoOٱ2'=2H P?[h?@ETſ`x?r ?ֵ??i2yμ@I2^^;2*CYB ByB.!IiEMb@Mb@Mb@AAAA A9E +?p= ף?{Gzt?YE>yE=Eף;E @EA E9A)Ez@AYEGAbDuVDuȰ8yfa=%==ٔg:Q->9Y=Eym EOE>Q 5=5af?Q 9E5b)BYM>Q EU:y]@Q I]>@DI 2jc*pٮNu@œCR-@pZ89?Nr?j̗ j@iUi?iUjKBjj=j݇Brj@zj:@ addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.505806 s, deltaX: -0.300000 m, approachRate: -0.593113 m/s, rangeRepo size: 4  Added new target pos. range: 6.474282 m, bearing: 359.305559 deg, lat: 36.779405 deg, lon: -121.859634 deg, deltaT: 6.560991 s, deltaX: -3.386510 m, approachRate: -0.516158 m/s, posRepo size: 4 :i2izIgnoring new targets. Set target to previous: 6.47 m. 9.86 m."i*i-xX5 ProNav: ac range: 9.860792 m, nav range: 6.147624 m, bearing: 349.402344 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 345.777698 deg, new cmd heading: 345.597474 deg. i=,=|HeadingCmd: 6.031814 target range: 9.860792 and range: 6.50 m.h=@h9hAhAhAgAgAjgirgmBeireiZeq:eu@*euf?sBɢ雼) %;>i!)%-!)i-8 i-ѳ5ȫ=5>I5@I1@ @@ 5@DDAT read: Rx Time:04:25:50.1222 TRx dataTimestamp_ set to:1764908751.464501PDAT read: Bearing 168.1, 13.7 (Local) ~Local bearing/azimuth received: Bearing 168.1, 13.7 (Local) DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.3 DAT read: 04:25:50.1222 LVL= 30768, 32753, 32754, 32755, AGC= 53, IDX= 499,-0.41, 1.659,-0.229, 1.463, 1.394, PHS= 0.367,-1.578, 0.026, RAW= 140.5, 13.1, CAL= 139.8, 14.1, ROT= 10.2, -14.1 Ygot valid direction response: 04:25:50.1222 LVL= 30768, 32753, 32754, 32755, AGC= 53, IDX= 499,-0.41, 1.659,-0.229, 1.463, 1.394, PHS= 0.367,-1.578, 0.026, RAW= 140.5, 13.1, CAL= 139.8, 14.1, ROT= 10.2, -14.1 R#Rx 1: Read range and direction messages.\direction in FSK: [0.954544,0.171750,0.243615]Fpublishing direction and range infoybe?qcu? .?Y0x )5Im>iɿ<@ j>y(@ d{>)K6>Id{BS.?1Q?ޫ? >)pOjIK6>id{-2Acoustic response timeout1UQuerying Benthos address 50 with 120 pings in terminal homing one-way mode. ƐCEU  EU }EU &EQ "EU U:*EU k&:VEU 4ZEQ a] @a] @a] @a] @] Gq 4^9 Y ZA^A >I I O% >q F%,糗LA^~ļ@^˽@^Lٱ^9=^H@?ő?&q(ſ?w?xH?@kٵ??i^~ļ@I^k_;^)CYvByv7!I   AbD5VD58yE=%EP=ٔM;Q-M>9IYQ=uEyuq EuNEu>yQ 55}v?Q 95})}BYyFQ I>@}DI}:i}m:}l5yBɮJAEiibݳLAj"j:j@"p CN@%G? X2jd{*pz ^@Rt&Ʒi?1p[Jfz?Hbo~C+?j E jR@i}?ijBjt"f?jA jBrj@zj@2Acoustic response timeout5 addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.503215 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 BiBiBmf!IBm9BBiBiBiBm0;Bm5EBiBiBiBiBiCmë 4 Added new target pos. range: 6.474282 m, bearing: 359.553018 deg, lat: 36.779405 deg, lon: -121.859633 deg, deltaT: 7.064206 s, deltaX: -3.386510 m, approachRate: -0.479390 m/s, posRepo size: 4 :i2izIgnoring new targets. Set target to previous: 6.47 m. 9.86 m."i*i ProNav: ac range: 9.860792 m, nav range: 5.963386 m, bearing: 349.131646 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 345.597463 deg, new cmd heading: 345.461041 deg. iA|HeadingCmd: 6.029433 target range: 9.860792 and range: 6.50 m.h@hhhhggjgrgere!Ze):e1a*e=@?uuBɢu)y }>iy)} yyiHi끾?ݫ=>I@I@ @@y1@ԉ DDAT read: Rx Time:04:25:50.6219  TRx dataTimestamp_ set to:1764908751.967847 PDAT read: Bearing 165.1, 12.9 (Local)  ~Local bearing/azimuth received: Bearing 165.1, 12.9 (Local)  DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.3  DAT read: 04:25:50.6219 LVL= 27632, 32753, 30642, 32755, AGC= 52, IDX= 496, 0.15, 1.910, 0.002, 1.731, 1.567, PHS= 0.445,-1.520, 0.120, RAW= 141.1, 10.5, CAL= 140.6, 11.4, ROT= 9.4, -11.4  Ygot valid direction response: 04:25:50.6219 LVL= 27632, 32753, 30642, 32755, AGC= 52, IDX= 496, 0.15, 1.910, 0.002, 1.731, 1.567, PHS= 0.445,-1.520, 0.120, RAW= 141.1, 10.5, CAL= 140.6, 11.4, ROT= 9.4, -11.4  R#Rx 1: Read range and direction messages. \direction in FSK: [0.967108,0.160104,0.197657] Fpublishing direction and range infoy  kg? uG~?g4L?Y f@ k w ) 4I >i \¿ = 7@ f;> = @ %K>) '>I %K ecY?T{@?6;SK? ZƼ>) e;I '>i %K  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Ա bEJ4jE4rE˼ 0E]  E] E] %EY "E] ,:*E] x:VE] 4ZEY BE] A؟AI IOE>%,SLAI@@Jٱ&=H`?@w?@5tſ`t? pM?׵? ?iI@I y_;*CYBy9!I2Acoustic response timeoutiMb@Mb@Mb@ 9tV?ʡE?{Gzt?Y>y= @|A )@YAbD-.VD-װ8y=l;%E =ٔMC,:Q-M>9]"?Ye"?=mEymw E}E>Q 55m?Q 95)BY>Q E:y Q I>@DIe2j%K*pjrd@(3&gЁ?p?"Q5Vp?j j@ix?ijDBjUi?jjKBrj@zj4@M addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.503346 s, deltaX: -0.300000 m, approachRate: -0.596012 m/s, rangeRepo size: 4 } Added new target pos. range: 6.175476 m, bearing: 358.829405 deg, lat: 36.779405 deg, lon: -121.859633 deg, deltaT: 7.567552 s, deltaX: -3.685317 m, approachRate: -0.486989 m/s, posRepo size: 4 :iy2izIgnoring new targets. Set target to previous: 6.18 m. 9.86 m."i*i ProNav: ac range: 9.860792 m, nav range: 5.679411 m, bearing: 348.606802 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 345.461051 deg, new cmd heading: 345.223748 deg. i|HeadingCmd: 6.025291 target range: 9.860792 and range: 6.20 m.h/@hhhhggjgrgBereZe:e@*e`?ewBɢmȅ)i m>ii)mEiqiu6iu }$=}D->I}/@IyIxA)xA9 Y @Y  @Y @] /@Y  DDAT read: Rx Time:04:25:51.1219  TRx dataTimestamp_ set to:1764908752.471461 PDAT read: Bearing 158.2, 23.2 (Local)  ~Local bearing/azimuth received: Bearing 158.2, 23.2 (Local)  DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4  DAT read: 04:25:51.1219 LVL= 26800, 32641, 30162, 32755, AGC= 52, IDX= 512,-0.16, 2.199, 0.050, 1.544, 1.431, PHS= 0.870,-1.336, 0.069, RAW= 129.0, 4.2, CAL= 129.8, 5.5, ROT= 20.2, -5.5  Ygot valid direction response: 04:25:51.1219 LVL= 26800, 32641, 30162, 32755, AGC= 52, IDX= 512,-0.16, 2.199, 0.050, 1.544, 1.431, PHS= 0.870,-1.336, 0.069, RAW= 129.0, 4.2, CAL= 129.8, 5.5, ROT= 20.2, -5.5  R#Rx 1: Read range and direction messages. \direction in FSK: [0.934172,0.343709,0.095846] Fpublishing direction and range infoy  tBz?.R?aVX?Y h  u ) I R^?i  O= )@ Q = @ =) J>I Ľ M?'J? d?  >) ^\I J>i Ľ  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.i Eu  Eu Eu $Eq "Eu Ʊ:*Eu *:VEu 4ZEq a} @a} @a} @a} @^Aa Am xAzAm xAIiIԙO? %,~(LAb@b @bpHٱb(ۮ=bH`?|?r@ſq?f`?͵?l?ib@Ib_;b(CYn"BynK!IbDzVDzŰ8y!=%H=ٔZ:Q- >9 Y = Ey { EE>Q 55~?Q 9%5)BY!y%,Q I%>@DI:i:u5y5Bɮ5A5Eiyi}k,LAjy"jy:j}3>"p}i@]@?p}tBz?.R?aVX?*j}J>2j} Ľ*p}@x]?8?p}`q> ?*Yׅ? ^?j}? j}@i}׼g?i}QYj}=Bj}}?j}Uj}Brj}@zj}@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.503614 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 6.175476 m, bearing: 10.060963 deg, lat: 36.779407 deg, lon: -121.859633 deg, deltaT: 8.071166 s, deltaX: -3.685317 m, approachRate: -0.456603 m/s, posRepo size: 4 :i2izIgnoring new targets. Set target to previous: 6.18 m. 9.86 m."i*i ProNav: ac range: 9.860792 m, nav range: 5.492231 m, bearing: 348.234464 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 345.223743 deg, new cmd heading: 345.088805 deg. i|HeadingCmd: 6.022936 target range: 9.860792 and range: 6.20 m.h@hhhhggjgrgereZe:e*e`, ?2Acoustic response timeoutxBɢ6M)  >i)/i7io?1=kn>I@IBBBs!IBCBB =BBB~;B5E@ @@0@A^A>q ] DDAT read: Rx Time:04:25:51.6219 e TRx dataTimestamp_ set to:1764908752.976114m PDAT read: Bearing 163.4, 11.6 (Local) m ~Local bearing/azimuth received: Bearing 163.4, 11.6 (Local)  DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4  DAT read: 04:25:51.6219 LVL= 26992, 31057, 28754, 32755, AGC= 52, IDX= 509, 0.35, 2.644, 0.737, 2.502, 2.280, PHS= 0.466,-1.499, 0.177, RAW= 142.2, 9.4, CAL= 141.7, 10.2, ROT= 8.3, -10.2  Ygot valid direction response: 04:25:51.6219 LVL= 26992, 31057, 28754, 32755, AGC= 52, IDX= 509, 0.35, 2.644, 0.737, 2.502, 2.280, PHS= 0.466,-1.499, 0.177, RAW= 142.2, 9.4, CAL= 141.7, 10.2, ROT= 8.3, -10.2  R#Rx 1: Read range and direction messages. \direction in FSK: [0.973887,0.142075,0.177085] Fpublishing direction and range infoyY ] =*?8C/?ki?YY Y ] pi] Qy] Rp Y )Y I] >i] ;߿] }?5>] @] '>] G@ ] K6>)] V>I] K6Y Y ] 6Sg=?N?YkV? ] !>)] $'I] V>i] K6Y Y  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.I1 IA Ou >E%  E% |E! E! "E% U:*E% P$:VE! ZE! BE% ;a5 2E% ;a5 JE% };a5 :E% };a5 %,lBLA0YEByE=!IU=U=bD+VD԰8yV%C=ٔQ->9Y=Ey EE> Q 555 𯝊?Q 955 ) ĒBY9y9Q I=?@ DI ;i X; Qy5yAɮEUAAiix>LAj"j:j@"pRA-@4}?{)P?p=*?8C/?ki?*jV>2jK6*p -S@X) ۹ο>BN?psw?hn?棿DyV1?ju j@i\n>?i jBԡjx?jjDBrj)@zjĵ@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504653 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 6.175475 m, bearing: 357.707574 deg, lat: 36.779408 deg, lon: -121.859633 deg, deltaT: 8.575819 s, deltaX: -3.685318 m, approachRate: -0.429734 m/s, posRepo size: 4 :iTStarting intercept timer at range: 6.20 m.2izIgnoring new targets. Set target to previous: 6.18 m. 9.86 m."i*iAM ProNav: ac range: 9.860792 m, nav range: 5.289288 m, bearing: 347.800392 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 345.088805 deg, new cmd heading: 344.900837 deg. iQU|HeadingCmd: 6.019655 target range: 9.860792 and range: 6.20 m.hU@hYhYhYhYgYgYjgrgereZe:e*eq?2Acoustic response timeout{BɢC) >i) Qr  i ii톾=q>I@I>i>Թ@ @@@5@  ^AU >I I O >+%,\]LARDDAT read: Rx Time:04:25:52.1217 RTRx dataTimestamp_ set to:1764908753.479394ZPDAT read: Bearing 163.0, 11.0 (Local) Z~Local bearing/azimuth received: Bearing 163.0, 11.0 (Local) bDAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4 rDAT read: 04:25:52.1217 LVL= 27984, 32017, 27794, 32755, AGC= 52, IDX= 509,-0.02, 3.045, 1.145, 2.923, 2.684, PHS= 0.462,-1.494, 0.194, RAW= 142.7, 9.2, CAL= 142.3, 10.0, ROT= 7.7, -10.0 vYgot valid direction response: 04:25:52.1217 LVL= 27984, 32017, 27794, 32755, AGC= 52, IDX= 509,-0.02, 3.045, 1.145, 2.923, 2.684, PHS= 0.462,-1.494, 0.194, RAW= 142.7, 9.2, CAL= 142.3, 10.0, ROT= 7.7, -10.0 zR#Rx 1: Read range and direction messages.=\direction in FSK: [0.975928,0.131951,0.173648]=Fpublishing direction and range infoyPRc::?$5)?ٖNs:?YR̼@PRPmR}Rl P)PIRD>iRd;RF>Re@Rl$>R\@ R¸2>)R >IR¸2PPR*8 "?:,ʊl?@W9pGb? R6>)R#IR >iR¸2PP}2Acoustic response timeout}Querying Benthos address 50 with 120 pings in terminal homing one-way mode.YBy@!IEu EuEu#Eq"Eu:*Eu=:VEu3ZEqa}@a}@a}@a}@aieMb@Mb@Mb@aaaa a9e/$?~jt?Mb`?Ye>ye=e;e @eA eA)aaYeA <<bDVDð8yU <%U =ٔQQ-U>9YYY=]Ey] EE>Q 55Ý?Q 95)̒BY8>Q E:yKQ I?@DIA:it:}5yBɮqAEiPiRd^LAjR @"jR @:jRs@"pRS3@IQ?ڻrS?pRc::?$5)?ٖNs:?*jR >2jR¸2*pR+]@Çdҿo(?pRfX.? jG?jR% jR@iR̤?iRTjRӅBjR׼g?jRjRBrjR@zjRd@ addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.503280 s, deltaX: -0.300000 m, approachRate: -0.596089 m/s, rangeRepo size: 4  Added new target pos. range: 5.876662 m, bearing: 357.118378 deg, lat: 36.779410 deg, lon: -121.859633 deg, deltaT: 9.079099 s, deltaX: -3.984130 m, approachRate: -0.438824 m/s, posRepo size: 4 :i%RStopped intercept timer at range: 5.90 m.2i!%zIgnoring new targets. Set target to previous: 5.88 m. 9.86 m."i)*i)] ProNav: ac range: 9.860792 m, nav range: 5.060256 m, bearing: 347.260139 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 344.900839 deg, new cmd heading: 344.725344 deg. iYe|HeadingCmd: 6.016593 target range: 9.860792 and range: 5.90 m.he@hahahahagagijgirgmBeiԑreqZe:e@*e ?}Bɢz) >i) sNiAi~6="S>I@I!U2Acoustic response timeoutBBBy!IBHBBBBB~;B5E@ @@O0@ ^A $z> I1 IA OM >%,EyLA>_g@>`@>(`Cٱ>e=>H`u?` ?nƿ`'i?= i?(??i>_g@I>'`;>*CYJ ByJH!IbDRVDR8yZ&=%^=ٔ^ l;Q-^ ?9\Y`=bEyb EbEb?dQ 5j5fϝ?Q 9j5f)fђBYlynrQ In?@fDIfA;if<;fs5ypɮr<ApB*** querying acoustic contact ***ii:i 2izIgnoring new targets. Set target to previous: 9.86 m. 9.86 m."iõ*iõ- ProNav: ac range: 9.860792 m, nav range: 4.917194 m, bearing: 346.908915 deg, approach rate: -0.503185 m/s, LOS rate: -1.271278 deg/s, cmd heading: 344.725357 deg, new cmd heading: 344.002514 deg. i-i5|HeadingCmd: 6.003976 target range: 9.860792 and range: 5.90 m.h5 @h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eE:?u~Bɢuj )q u,>iy)}yyi}Vie>I @IDDAT read: Rx Time:04:25:52.6214 TRx dataTimestamp_ set to:1764908753.983595PDAT read: Bearing 162.7, 9.7 (Local) ~Local bearing/azimuth received: Bearing 162.7, 9.7 (Local) DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 %DAT read: 04:25:52.6214 LVL= 27696, 32753, 27602, 32755, AGC= 52, IDX= 507,-0.39, 1.726,-0.154, 1.652, 1.384, PHS= 0.444,-1.493, 0.224, RAW= 144.0, 9.0, CAL= 143.6, 9.8, ROT= 6.4, -9.8 5Ygot valid direction response: 04:25:52.6214 LVL= 27696, 32753, 27602, 32755, AGC= 52, IDX= 507,-0.39, 1.726,-0.154, 1.652, 1.384, PHS= 0.444,-1.493, 0.224, RAW= 144.0, 9.0, CAL= 143.6, 9.8, ROT= 6.4, -9.8 5R#Rx 1: Read range and direction messages.=\direction in FSK: [0.979267,0.109842,0.170209]=Fpublishing direction and range infoy%'='V?dL?rl?Y̬@0lk )IS>iB`e>| @| >g @ %/>)=I%/n3}??^·? >) A!I=i%/]2Acoustic response timeout]Querying Benthos address 50 with 120 pings in terminal homing one-way mode.E EE)E"E7:*Ee:VEFA4ZEBE;a2E;aJE\;a:E];aU@Q @Q@U/0@Y1 e 2Acoustic response timeout^A} <>I I9 Q Oe >-$%,VLAnQ@nJ@n3Bٱn=nH&r?]a?`oe ƿe? N?`j??inQ@In`;lYzByz:!I ))15AiMb@Mb@Mb@ 9x?Q?MbpYK>yu=@A "A)z@YzAbDVDǰ8y/K%8=ٔ9Q->9Y=Ey E#ûE>Q 55+❊?Q 95%)גBY4>Q E:yfQ I?@DIe;iY;T5y Bɮ A ii8~LAj@"j@:jn@"p):@I;?:K?p%'='V?dL?rl?*j=2j%/*pUXn@~v|ćۿaB\?p@?&ÊMy?j>ܾ j#@iN?iRvjBjN?j jӅBrjJ@zj߰@] addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.504201 s, deltaX: -0.500000 m, approachRate: -0.991668 m/s, rangeRepo size: 4 m Added new target pos. range: 5.378638 m, bearing: 355.291868 deg, lat: 36.779410 deg, lon: -121.859635 deg, deltaT: 9.583300 s, deltaX: -4.482154 m, approachRate: -0.467705 m/s, posRepo size: 4 :ii2iiuzIgnoring new targets. Set target to previous: 5.38 m. 9.86 m."iu*i}xX ProNav: ac range: 9.860792 m, nav range: 4.704539 m, bearing: 346.458166 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 344.002505 deg, new cmd heading: 343.832661 deg. i,|HeadingCmd: 6.001012 target range: 9.860792 and range: 5.40 m. hJ@hhhhggjgrgBereZe!:e%@*e%`?颍BɢT) ɔ>i)顙iiي{M=l>IJ@IeDDAT read: Rx Time:04:25:53.1213 TRx dataTimestamp_ set to:1764908754.488716PDAT read: Bearing 162.3, 7.1 (Local) ~Local bearing/azimuth received: Bearing 162.3, 7.1 (Local) DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.4 DAT read: 04:25:53.1213 LVL= 28720, 32753, 27090, 32755, AGC= 51, IDX= 505, 0.13, 2.926, 1.096, 2.947, 2.624, PHS= 0.404,-1.483, 0.279, RAW= 146.6, 8.8, CAL= 146.2, 9.6, ROT= 3.8, -9.6 @ @@?0@!-Ygot valid direction response: 04:25:53.1213 LVL= 28720, 32753, 27090, 32755, AGC= 51, IDX= 505, 0.13, 2.926, 1.096, 2.947, 2.624, PHS= 0.404,-1.483, 0.279, RAW= 146.6, 8.8, CAL= 146.2, 9.6, ROT= 3.8, -9.6 -R#Rx 1: Read range and direction messages.5\direction in FSK: [0.983828,0.065346,0.166769]9MFpublishing direction and range infoym/w{?ʼn?8_X?Y@0pi )3I>iҽَ>#@nF>N#@ +>)ԇ=I+]wF?ʂhR?OAtoH? X>)58Iԇ=i+m2Acoustic response timeoutmQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.E} E}E}&Ey"E}:*E}.:VE}4ZEya@a@a@a@q ^A% D->I! I9 OE > *%,LA$AdAf@ABhBhBhBhBj =BhBhBj~;Bj5E 2Acoustic response timeoutYBy9!I@AbDVD8y%N=ٔQ->9Y=Ey EE>Q 55a?Q 95n)ܒBYyQ I?@DI;i;ˇ5yBɮAEyiiGLAj@"j@:jx@"p"!?L@η?[ ,?pm/w{?ʼn?8_X?*jԇ=2j+*pbp@1 (Rk?pѥ?$˿?j' j@i?i2jaBj?jTjBrj@zjk@ addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.505121 s, deltaX: -0.100000 m, approachRate: -0.197972 m/s, rangeRepo size: 4 5 Added new target pos. range: 5.279021 m, bearing: 352.688457 deg, lat: 36.779411 deg, lon: -121.859635 deg, deltaT: 10.088421 s, deltaX: -4.581771 m, approachRate: -0.454161 m/s, posRepo size: 4 :i12i1=zIgnoring new targets. Set target to previous: 5.28 m. 9.86 m."i9*iAm ProNav: ac range: 9.860792 m, nav range: 4.515096 m, bearing: 346.020240 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 343.832652 deg, new cmd heading: 343.659710 deg. iqu|HeadingCmd: 5.997993 target range: 9.860792 and range: 5.30 m.hu@hyhyhyhygygyjgrgereZe:e@33@*e@P?Bɢ+) >i)Jwiei">I @I ԡDDAT read: Rx Time:04:25:53.6211 TRx dataTimestamp_ set to:1764908754.991344PDAT read: Bearing 163.2, 5.5 (Local) ~Local bearing/azimuth received: Bearing 163.2, 5.5 (Local) DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.4  DAT read: 04:25:53.6211 LVL= 32032, 32753, 30370, 32755, AGC= 51, IDX= 503,-0.16, 0.101,-1.680, 0.180,-0.139, PHS= 0.341,-1.496, 0.275, RAW= 148.2, 9.8, CAL= 147.8, 10.7, ROT= 2.2, -10.7  Ygot valid direction response: 04:25:53.6211 LVL= 32032, 32753, 30370, 32755, AGC= 51, IDX= 503,-0.16, 0.101,-1.680, 0.180,-0.139, PHS= 0.341,-1.496, 0.275, RAW= 148.2, 9.8, CAL= 147.8, 10.7, ROT= 2.2, -10.7  R#Rx 1: Read range and direction messages. \direction in FSK: [0.981889,0.037720,0.185667] Fpublishing direction and range infoym?}k?iA P? &K{?Y@ }v )I>i|̌>~%@%/>%@ t;?>)nF=It;?j H?[A?^;g? >)>.InF=it;?5 2Acoustic response timeout5 Querying Benthos address 50 with 120 pings in terminal homing one-way mode. E  E E %E "E :*E P:VE 4ZE BE )}2Acoustic response timeoutI IO%??4%,ѴLAF @F@FAٱF/=FHfe?@Hu?ǿ@;Y?`] "1??F?iF @IF`;F)CYRByR>!IiEMb@Mb@Mb@AAAA A9EZd;O?ˡE?I +YEj>yE'=E94E@EOA E A)AAYE@bD]VD]8ym<%m=ٔm9Q-m>9qYq=uEyu E}|E}>Q 55\ ?Q 95/)BYY>Q E:yսQ I?@DI;i ;5yɮAi!i%.rLAj%]@"j%]@:j%s@"p%ڡΡ^@ʝϣ ?~pL͖?p%m?}k?iA P? &K{?*j%nF=2j%t;?a*p%8wS8@03cy_yc۫?p% _?+Ŀ.*?j%L j%Θ@i%?i%4j%nBj!j%Rvj!rj%L@zj%{@ addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.502628 s, deltaX: -0.300000 m, approachRate: -0.596863 m/s, rangeRepo size: 4  Added new target pos. range: 4.980208 m, bearing: 350.499162 deg, lat: 36.779411 deg, lon: -121.859637 deg, deltaT: 10.591049 s, deltaX: -4.880584 m, approachRate: -0.460822 m/s, posRepo size: 4 :i2izIgnoring new targets. Set target to previous: 4.98 m. 9.86 m."i*i ProNav: ac range: 9.860792 m, nav range: 4.243754 m, bearing: 345.504724 deg, approach rate: 0.000000 m/s, LOS rate: -0.189251 deg/s, cmd heading: 343.659711 deg, new cmd heading: 343.463940 deg. i|HeadingCmd: 5.994576 target range: 9.860792 and range: 5.00 m.hӿ@hhhhggjg!rg%zBeAreIZeI:eM@*eM{?额Bɢ) >i):顡i%Bi%D-g=->I-ӿ@I)y@ @@@^AF>*DAT read: user:103> DAT read: 120   BDAT read: Tx time:04:25:54.5659 $Ping request sent.ԩE E~E"E"Eg:*E(:VE(3ZEa@a@a@a@ ;:%,5괗LA24@2@2n@ٱ2]S=2H`??@gȿ`T?`8` ?`޴? ?i24@I2a;0YNByN8!IbDZֿVDZ8yr,Ҽ%vS=ٔvB:Q-v>9xY|=~Ey~ EnE> Q 55 w?Q 95 ) BYy%4ܽQ I%?@ ËDI _/;i B; 5y5Bɮ5"A5E:ii2iq}zIgnoring new targets. Set target to previous: 9.86 m. 9.86 m."i*iBBBs!IBCBBBBB~;B5Eu ProNav: ac range: 9.860792 m, nav range: 4.053643 m, bearing: 345.110852 deg, approach rate: -0.521195 m/s, LOS rate: -1.130445 deg/s, cmd heading: 343.463931 deg, new cmd heading: 342.639305 deg. iuM}|HeadingCmd: 5.980184 target range: 9.860792 and range: 5.00 m.h}]@hyhyhyhggjgrgԩereZe:e*e\ABɢz|) >iI)M?ZIIiMW"iUQUI#>IU]@IYIyA)yA=@9 @9@9@95Powering downi5I555 ^Ae R5#>Am ?Am >I I O >E  E E #E "E غ:*E :VE 3ZE BE By>"!I DDbDJVDJp8yN-%RO=ٔRM:Q-R>9TYT=VEyV EVEV>XQ 5^5Z)?Q 9b5ZJ)ZBY`ybQ Ib?@ZɋDIZ;iZj;Zv5ydɮjAhvB*** querying acoustic contact ***itit:i|2iyzIgnoring new targets. Set target to previous: 9.86 m. 9.86 m."i*i ProNav: ac range: 9.860792 m, nav range: 3.861908 m, bearing: 344.684852 deg, approach rate: -0.493659 m/s, LOS rate: -1.151266 deg/s, cmd heading: 342.639308 deg, new cmd heading: 341.745089 deg. i|HeadingCmd: 5.964577 target range: 9.860792 and range: 5.00 m.hݾ@hhhhgg jgrgEe eAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeEemTransitioning to midcourse guidance. Received last range of 5.000000 m 29955904.000000 min ago.Em1FmeireZe:e*eBɢƕ) u>i)i i f0>Iݾ@I@ @@@9q ^A% D#>I I O >0JG%,\LA :@:ޭ@:܍=ٱ:=:HT?`?@`Uɿ`I?j@?r??i:@I:a;:(CY^Byb%!IfAfAm͂G铿9YAi-Mb@Mb@Mb@)))) )9-Zd;?:v?:vY->y-T<-T-@-KA -A)-@)Y- @bDUVDU88ye$G<%e1=ٔmN_:Q-m>9iYi=uEyu Eu#Eu>yQ 55}tQ E:y.Q I?@}ыDI}:i}[:}5D@AzDE E{E&E"E:*E5":VE4ZEa@a@a@a@yBɮAE:i2izIgnoring new targets. Set target to previous: 9.86 m. 9.86 m."i_*i_ ProNav: ac range: 9.860792 m, nav range: 3.637341 m, bearing: 344.342281 deg, approach rate: -0.483168 m/s, LOS rate: -0.782561 deg/s, cmd heading: 341.745100 deg, new cmd heading: 341.017702 deg. i|HeadingCmd: 5.951882 target range: 9.860792 and range: 5.00 m.hu@hhhhggjgrg[BRg@1FCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE  Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangee re Ze :e*e=Bɢ=W>)A Ex>iA)EؾAAiE%"ii5>Iu@I@ @@/@^A]l,>ԙIIOg>BBBf!IB9BB =BBDB~;B5EBBBB =B =C_b5 tM%,o8LA2R@2@265<ٱ2=2HO?&I?+Bɿ /D?W@? dS?v?i2R@I2Z8b;0YBByB*!IPbDJƿVDJw8yV<%Zk=ٔZw:Q-Z?9\Y\=^Ey^ Eb-Eb?dQ 5f5fJ?Q 9j5f)fBYhyj2Q Ij?@f֋DIf:if\:f5ylɮrApqLz~Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal1K~ ~Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminalqK~1K~No longer in Terminal. Resuming normal ranging with 1.000000 count pings.qKKD 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@%f!f%HBrf)-Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )q@5A55:Initialize WaypointComponent.=ZNavigating to waypoint: 36.779130,-121.859630e9re9ZeA:eA*eAmBɢm)q u9iq)uqqiV"I@ @@/@bE54jE5Ŷ4rE5ŋS0E EE!E"E:*E|;:VEc3ZEBEb;a2Ec;aJE;a:E;a^Ah`0>AzAzAI & NClearing failed state for component DATq I O >) H\T%,JRLA6Kr@6k@6|:ٱ6e=6H`G??@MYʿ`=?@q(}T?f?`?i6Kr@I6zb;6*CYBByB(!I|iMb@Mb@Mb@ 9S㥛?~jtx~jtY?yĻ@A A)r@Y@bD-VD-8y5%=B=ٔ=d:Q-=>9AYA=EEyE EM*EM>QQ 5]5U\?Q 9]5UP)UBY]?Q E]:y]f]Q Ie?@U݋DIUK ;iU ;U85ym#BɮmAij?KKffcDH@fgffrfereZe:e*eɢW) ai)qqiu8#}m=ɧ}h5} i})> (kpHeading = 0.400000>I3KF K@I)@) @)@)@)1^A|%>IIOn>QE EE&E"Ey:*E*5:VE4ZEa@a@a@a@ԁ \Z%,$lLAB(J@BuC@B7ٱBA=BH ??`{?[_ʿn6?`?A~??iB(J@IBb;B+CYn Byn.!IIv=)vv=v=bD VD8y<%L=ٔ%Z:Q-%>9)Y)=-Ey- E5.HE5>9Q 5E5=m?Q 9E5=)9YIyM}bQ IM?@=DI= :i=\:=5yQɮUAQY1Ku uAggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminalKufffgffrfereZe:e*eB>B>CBBBBBB~;B5Eɢ ) @;i)ջi?#m=ɧ>ei"׾31>InF ѰK@Im@q @q@q@q^AM=ԁIIO!>Ա E  E E #E "E :*E 0:VE 3ZE BE ] na%,"LA2*@2#@215ٱ2o=2HB9?g?T #r˿ 50?@iZ?vD?`?i2*@I2c;2*CY>By>2!IbDFVDF8yNȈ<%NR=ٔR:Q-R>9TYX=ZEyZ E^"Eb>hQ 5r5j[~?Q 9v5j)jBYtyzzfQ Iz?@jDIj;ij;j#5y})BɮAEԹB*** querying acoustic contact ***iifffgffrfereZe:e*eMBɢU* ) @gIaF TK@I @ @@/@^A̅=A%>A%?IIO]>9 g%,蟵LA2A @2@20ٱ2 =2H`2?:z?XQ˿)?x?@S? ?i2A @I2]^d;0Y>By>6!IiMb@Mb@Mb@ 9Zd;O?I +Yj>y̼94@9A jA)d@Yf@bDVD8y- j<%-A=ٔ-+%;Q-5>91Y1==Ey= E=E=>AQ 5M5E/?Q 9M5E')EBYM>Q EU:yUʼnQ IU?@EDIE;iEH;Eͨ5yYɮ]AYfffgffrfereZe:e*eYɢeЧ)a e;駕xi0Zv>I F aK@IE@A @A@M/@I^A=BBBm!IB>BBBBB~;B5Eiԑ sm%,9LA6@67@6,ٱ6=6Hh-? ?㭿eS̿`!?+؛???i6@I6d;6(CYBByFB!I DDJAJAbDNVDN8yVM=%VS=ٔZ!;Q-Z>9XYX=^Ey^ E^E^>`Q 5f5b?Q 9f5b)bBYhyjPQ Ij?@bDIb:ib:b/5yn.BɮnArEfffgffrf e re Ze :e *e=Bɢ= )A E)=iA)E}AAiE4`%Mul=ɧM}mU=iUZ)QU >IUF U8K@IYy@ @@0@^A9II Powering up "Initializing DAT.O>E EE$E"Eغ:*E3:VE4ZEBEyUUDU@U"A Q)U @QYU@bDmVDm8y}q =%}>=ٔ}:Q->9Y=Ey E9E>Q 55?Q 95)BY>Q E:yQ I?@DIH;i];5yɮPAfffgffrfereZe:e*e ɢ H)  s=i )THi%&Wl=ɧ6X$mi@!!I%G %K@I!I5xA)5xA@ @@/@@@^A9AzAyAE EE"E"E:*E.:VE(3ZEa@a@a@a@1 A! I1 II Om >Y z%,#LAY3By_!IB=>B9B=y!IB=HBB9B9B9B=~;B=5EbD%VD%8y=%I=ٔQ->9Y=Ey EE>Q 55Ͽ?Q 95)BYyQ I?@DI:is;5y4BɮAEfffgffrfereZe:e*eBɢG) =i)I i &% l=ɧ%%⌼i-quV))I-DG -J@I1!@ @@@^Ay E  E E 'E "E :*E ,:VE '4ZE BE 9QYQ=UEyU E]H<E]>aQ 5e5ezϞ?Q 9m5e)eBYiymvQ Im?@e DIeP:ie:e5y}?Bɮ}A}EB*** querying acoustic contact ***iifffgffrfereZe:e*e=Bɢ=ؼ)9 ==i9)= AAiEg'M'k=ɧMʾM-iMTliqIupG uJ@Iqԩ@ @ @ @ ^A8R=II Om> }%,"!LA27@20@2$ٱ2Ġ=2Ha=??Q`w@˿1?Lƺ@՝?@䜽?Q?i27@I2c;2&CY>IBy>z!Ipi5Mb@Mb@Mb@1111 195`"?Mb~jtx?Y5>y55;5@5A 5@)57@1Y1bDMVDM8y]N;=%eI=ٔe`9Q-e>9aYi=mEym EmZI<Em>qQ 5}5uߞ?Q 95uH)uBY>Q E:y~Q I?@uDIu ;iu ;u5yEBɮAEfffgffrfereZe:e*eɢEͼ)  >i)j) i47(]k=ɧJi׺IG ɇJ@I >i>E] E]E]$EY"E]:*E];J:VE]4ZEYae@ae@ae@ae@@ @@@@=@= ^AV1=A?A>IiIyOZ>1BE>BABE!IBEWBBE =BABABE;BE5Ea %,:LA2c@2\@2$ٱ2>2HF??ʿ`T? R???i2c@I2_c;2(CY>TBy>!IbDFVDF8yNd=%NX=ٔRծ8Q-R>9PYT=VEyV EVh<EV>XQ 5^5Z?Q 9b5Zr)ZBY`ybyQ Ib?@ZDIZ ;iZ ;Zн5ydɮfAhfxfxfxgxfxfxrf|e|re|Ze:e*e9颭Bɢ) ">i)0 顱ih)j=ɧCƼinIG cJ@I@ @@/@^Am]>iIIO$>Em EmEm%Ei"EmI:*Emi:VEm 4ZEiBEm2HCN?u)?󾰿 Oʿ?*]?ލ??i2@I2cac;0YR]ByR!I TTTTi-Mb@Mb@Mb@)))) )9-V-?~jt?Y->y--D<-(@-A -jA)-)Y-p@bDEVDE8yU 2=%U?=ٔUOQ-U>9YYY=]Ey] Ee-<Ee>iQ 5u5m?Q 9u5m)m BԙYu>Q E :y+UQ I?@mDIm7>i) 顁i*j=ɧ駍%ּi<ߖITG aBJ@IM@I @I@M/@I^A%7F>IIO=> w>C)YqVd9Y`AE EE#E"E:*E0:VE3ZEa@a@a@a@ "%,ٳnLA2ʗ@2@2#ٱ2>2H fQ??o 0ɿ` ?Ro~?#??i2ʗ@I2mgc;0YRjByR!IbDZVDZǰ8yjy=%nS=Br>Br=CBr!IBrqBBr =BpBrDBr;Br5EB>CB>CBB =B =CS5ٔn:Q->9Y = Ey  E ;E >Q 55 ?Q 95)BY!y%-SQ I%?@"DI:i;5y)ɮ-A1fQfQfQgQfQfQrfYeYreYZeY:ea*ea颍BɢG) TS>i)b 顑i&+hj=ɧ駥Sdi⠿IG #J@Iu@q @q@u/@q@y@y^AM6s>AMyAzAIIIO >!YbE3jEˋ3rE.0E  E E !E "E Ʊ:*E i:VE c3ZE BE @;a 2E A;a JE a :E a Թ  %,LA:@:@:U!ٱ:=:HO?.?[ ɿQ(?nںQ8?y??i:@I:c;8YNrByR!IbDZVDZ8yv=%vI=ٔv:Q-v>9xYx=zEyz Ez+ E~>AQ 5M5E?Q 9U5E)EBYQyUSQ IU?@E)DIE:iEv;E5yePBɮeAa}B*** querying acoustic contact ***iyiyfffgffrfereZe:e*eBɢ떼) d>i)X iGI,ai=ɧ'ric櫿IH J@IQ@ @@@^Am6Ʌ>IIO=/>ԉԩ 4%,jLA26t@2m@2ٱ2"=2HJ? i?׭ Sʿ`h-?j`??V?i26t@I2Pd;2)CY>By>!Ii Mb@Mb@Mb@     9  +?V-?{Gz?Y >y < #<  @ A fA) r@ Y @bD% VD%8y5=%5F=ٔ5:;Q-5>99Y9==Ey= EECEE>IQ 5U5M-?Q 9U5MK)MBYUH>Q EU:yU!Q IU?@M/DIM@iA)EӰ AAiMe-EM EMEM$EI"EMg:*EMa9:VEM4ZEIa]@a]@a]@a]@ei=ɧeexZieeaaIe3H eI@Ii@ @@@@@@@B>BA}?) A I I O >B^%,CLA:<>@:7@:aٱ:s==:H??Z?X'˿B-?_z H"???i:<>@I:d;:'CYJByJ!IbDRVDR8yZH=%ZS=ٔ^ ;Q-^>9\Y\=bEyb Eb#Eb>dQ 5j5fU=?Q 9j5f)f#BYhynsQ In?@f5DIfC:if:f}5yrVBɮrWArEf f f g f f rfereZe:e*eEBɢEK)A M>iI)MAIIiMb.Uh=ɧU%UAi]nYYI]KH ]I@IaImyA)i@ @@@QA!I9IaOu6>E] E]E]%EY"E],:*E]?:VE] 4ZEYBE]yM=M94=ٔ}u;Q-}>9yYy=}Ey} E E>Q 55N?Q 95))BYx>Q E:ySQ I?@;DI\ ;i ;<5yɮ6AfffgffrfereZe:e*eBɢ.a) \>i )    i /Eg=ɧt,k i̿IKcH jI@I!ԩe@a @a@a@aA.AIIOg>Ee  Ee Ee $Ea "Ee y:*Ee &p:VEe 4ZEa am @am @am @am @ Sq%,zﶗLA2º@2@2Ri ٱ2g=2H@%? 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"E% :*E% V:VE% '4ZE! BE% p%9tYt=vEyv EzEz>|Q 55~U ?Q 95~$)|Yy ZQ I ?@~DI~:i~N:~m5yɮA-B*** querying acoustic contact ***i)i)f9f9f9g9fAfArfAeAreAZeA:eI*eIuBɢui)y }>iy)}Uyi?;r_=ɧۉ駍 \i 'IOH@ OH@I@ @@1@AAyIIOK>iԙ %,I&LAV@Vݽ@Vk ٱV5=VH{?n?@ʕ տ@ ? l?Kţ??iV@IVa;V'CYjByn!I tt}only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, , +0.00, 20.00,2258.18 a}@a} a}@a} a@a a@a bD VD8y)=%?=ٔ*;Q->9Y=Ey E˼E>Q 55?Q 95)IBQ A+:YQ E:yʗQ I?@DI~ ;i>t5y|BɮvAE EE)E"E:*E,:VEFA4ZEa@a@a@a@f f f g f f rfereZe:e*eEBɢE3")A Mv>iI)MIIiM.;Ur^=ɧU$]9hi],YYI]GH@ ]GH@IaԩE@A @A@M0@IAQzAUzAB>B6CB "IBBBB@DBDBE};B4EAIIOe> 1 %,,(@LA2@2{@2һٱ2-n=2H{?F?@@:ֿ@?< [z?m??i2@I2a;2)CY>By>!IbDFVDF8yNt&%N\=ٔR$;Q-R>9PYP=VEyV" EVEV>XQ 5^5Z(?Q 9^5Z)ZHBQ Ab :Y`Q Eb:ybꝾQ Ib?@ZDIZ";iZ/M?Z5ydɮfAdfxfxfxgxfxfxrf|e|re|Ze|:e*e-߂Bɢ-`I)) ->i1)5vz11i5:;=ڍ]=ɧ==riEu1AAIEG@ EG@IIQ@ @@:5@E EE&E"E:*E;J:VE4ZEBE: Aa 4%,ZLA<% @%@%嗃ٱ%hf=%HT? W?ꑿA^׿m?6rp?`K?`?i% @I%Ea;%'CY=ByE!Iaa aa aa aa iMb@Mb@Mb@ 9`"?Qyu@@ /@)E@Y=@bDVD8ye7%e1=ٔmC;Q-m>9u ?Yu ?=uEyu& EuӼE}>yQ 55}?:?Q 95}n)}FBQ AT:Y>Q E:yξQ I?@}DI} ;i} ;}5yBɮAEfffgffrfereZe:e*e܂Bɢ_) {>i).i; IY\=ɧ  ;&i k7 IG@ G@Iԁ@ @@^2@ԹA II)O5q>E EE$E"Eg:*EP:VE4ZEa@a@a@a@ B >B 5CB !IB BB =B B DB |;B 4E&[%,5sLA2ĵ@2シ@2VҺٱ2=2HR??Ǚ@' ؿG?`FOJZ?p?@W?i2ĵ@I2a;2(CYNByR!IbDZVDZ8|y <%d=ٔ;Q->9Y=Ey* E%E%>)Q 5-5-G?Q 955-G )-EBY1y5ԾQ I5?@-DI-:i-~:- 5yAɮEAAfififigififirfieqreqZeq:eq*eq颥ڂBɢȈ:) >i)0顩i<\[=ɧj駽!id<IhG@ hG@II@Q @Q@U5@QA]>A]>1IIIYOe4>Qԁ E  E E &E "E *E =:VE 4ZE BE ;a 2E ;a JE Ȕ;a :E Ȕ;a C#%,CLA2g@2`@2Ei:ٱ2]=2H`??@鋿 ؿ@?Mۡ`(5M*?@A?i2g@I2b;2%CY>By>!IbDF VDF8yNI%RR=ٔR;Q-R>9PYT=VEyV. EVEV>XQ 5^5ZV?Q 9^5ZT )ZCBY`yblھQ Ib?@ZDIZ+;iZI;Z+ 5yfBɮf6AfEvB*** querying acoustic contact ***ititfxfxfxgxf|f|rf|e|reZe:e*eY颍ׂBɢ ) >i)Ĝ项iZ;0Z=ɧL搽i8BI%G@ %G@II)i@i @q@u4@qԉIIO=>Թ n)%,6LA"DAT read: &VDAT read: Teledyne Benthos DAT-900 Series B @B@B2E;ٱB?=BH a?W? FZٿ[?@Eöh@??iB @IBa;B(CYNByN!Ii%Mb@Mb@Mb@!!!! !9%m?X9vMbP?Y%>y%%:!%\@ %@)%r@!Y%@ =<=<bD=ݿVD=8yM%M?=ٔU=;Q-U>9YYY=]Ey]2 E]ҼEe>aQ 5m5ee?Q 9m5e)eBBYu>Q Eu:yuE EE$E"EƱ:*E*:VE4ZEa@a@a@a@Q I?@eDIei!)MIIiMs;]X=ɧ]}]Ai]NFaaIeF@ eF@I%@! @!@%05@!Be>Be7CBe!IBeBBe =BaBeDBeA|;BeJ4EIIO@> 9 T0%,VdLA6@6读@6t;ٱ6e=6H>? U?]'ٿ@j8?`@{v m??i6@I6b;4Y^Byb!IdfAbDjVDj8yr~;%rQ=ٔv;Q-v>9tYt=vEyv6 Ezg߼Ez>|Q 55~r?Q 95~)|Yy Q I ?@~DI~2:i~S:~N5yBɮAEf1f1f1g9f9f9rfAeAreAZeA:eA*eIuтBɢusD;)q u>iy)}&Syyi}z;W=ɧ˿駅wiHIOF@ OF@I@ @@/@A zA IqIO=E ExE'E"E*E:VE'4ZEBE>;a2E@;aJESo;a:ETo;aAiԙ n6%,M۸LAUl_@UX@Uz;ٱU%=UH?@? ڿ ?[~b}볤??iUl_@IUa;U&CYyy}!IiMb@Mb@Mb@ 9Gz?+~jth?Y>yD;@@ @)@YbDVD8y-E=;%-7=iٔG;Q->9Y=Ey: EE>Q 55?Q 95)ABYx>Q E:yQ I?@DI;i;R5yɮAfffgffrfe reZe:e!*e)Yq"Q9YMA]͂Bɢ] )u6 } >iy)}ܼyyi;U=ɧ\ؿ駍i[3F@I\3F@ \3F@IR>i>ԡ1@1 @9@=/5@9IIOe>E EE"E"E:*E3:VE(3ZEa@a@a@a@B] >B] 9CB] !IB] BB] =B] ?DB] DB] {;B] !4EB%7CB%7CB!B% =B% =C%a6 ><%,LA2@2h@2 <ٱ2d%=2H?o7?R c7ۿ?!몤??i2@I2a;0YNByR!IV@AV@AbDZ)VDZҰ8yfY<%fd=ٔf;Q-f?9hYh=jEyj> EjEn?pQ 5r5rw?Q 9v5r)pYtyvQ Iv?@rDIr~:irS:rV5yxɮ~A|fffgffrfereZe:e*e˂Bɢ$;) >i)]ڼi:T=ɧ<:i"E@IE@ E@I@ @@/@IAIQO]>) bEmʞ4jEm-4rEm:0E  E E 'E "E U:*E c:VE '4ZE BE ;a 2E ;a JE ;a :E ;a C%,,LA2 @2W@20+<ٱ2W%=2H#??[ŀ ۿ?@s?@?i2 @I2Ja;2'CYBByB!IbDJdVDJ 8yRc<%RM=ٔR3c;Q-V>9TYT=VEyVB EZEZ>\Q 5b5^?Q 9b5^e)^@BY`yfQ If@@^DI^{;i^;^5yjBɮjAjEvB*** querying acoustic contact ***ititf|f|f|g|ffrfereZe :e *e 5ǂBɢ5ʙ;)9 =%>i9)=D׼AAiE:MNS=ɧMMоiM3E@IIIME@ ME@IQQ@Q @Q@U/@QYAaAe>:DAT read: MF Frequency Band vDAT read: Directional Acoustic Transponder version 8.15.0 BDAT read: Dec 5 2025 04:26:06 A؟AIIOG>ԁԩ I%,(LA2mX@2Q@2mA<ٱ2X(=2H^?u?@sܿ?C5`$?|?i2mX@I2a;0PYRByR!Ii-Mb@Mb@Mb@)))) )9- rh?+Mbp?Y->y)-;-@-@ -@)-@)Y-@bDEHVDE8yU=%U?=ٔ]N;Q-]>9]"?Y]"?=eEyeF EeȼEe>iQ 5u5mb?Q 9u5m)m?BY}d>Q E}:y} Q I}@@mȌDIm ;im ;m"5yɮADzD@AE EE%E"E:*E*:VE 4ZEa@a@a@a@fffgffrfereZe:e*eĂBɢ;) >i)Լi~(:xQ=ɧcAɽicAE@IcAE@ cAE@IԩB >B :CB B B  =B B DB ^{;B 3Eqy@y @y@}05@y) Ay I I O > P%,ګBLAlYvByz!I |~4<bD.VDװ8yE =%MK=ٔMQ-M>9IYQ=UEyUJ EUEU>YQ 5m5]ҷ?Q 9m5])YYqyqQ Iu@@]ΌDI]U;i];]&5yBɮAEfffgffrfereZe:e*e=BɢE<)A E>iI)MѼIIiM9]O=ɧeeҽieDD@iiImDD@ mDD@IiE E~E&E"E:*E(:VE4ZEBEV%,k\LA9%@%ͩ@%$q<ٱ%>.=%H\??@{ݿ T?Ȧ@!zť??i%@I%a;%(CY=By=!I AAAEAiMb@Mb@Mb@ 9/$? rh{Gzt?Y>yC ף; @@  @)@Y@bD VD8yj߼%2=ٔb;Q->9 ?Y ?=EyO E6E>Q 55Ǡ?Q 95 )>BY>Q E:y"Q I@@ՌDI:i:*5yɮAfffgffrfereZe:e*e Bɢ 4;) >i)ͼiW\%,RbvLA>X@>R@><ٱ>*=>H3?j=?@Ov 9޿`+?TN?@?i>X@I> b;iI)Ũ˼QQiUxN9]DYL=ɧ]]Di]CD@YaIeCD@ eCD@IaIq)qԡ@ @@0@AyIIO=>E  E E "E "E I:*E V:VE (3ZE BE By>"IFAAFBAbDFVDF8yj<%jI=ٔjb;Q-j>9lYl=nEynV ErEr>tQ 5z5v2ߠ?Q 9z5vn%)v?ii)m-%ȼiiim8uycJ=ɧuXui}C@yyI}C@ }C@I@ @@/@!AaIqIO:>Qy j%,%LA2@2C@2=<ٱ2&=2H?`V?inFQ߿? Ϧj Ѥ? ?i2@I2a;2&CY>By>"Ii=Mb@Mb@Mb@9999 99=%C?Mb~jth?Y=Z>y==D;=@=@ =@)=fA9Y=(@bDeVDe8E EE#E"E[:*E*:VE3ZEa@a@a@a@y;%>=ٔ:;Q->9Y=Ey[ E;E>Q 55젊?Q 95:();BY>Q E:yQQ I@@DII;i!I;M45yɮxAfffgf!f!rf!e!re)Ze):e)*e1QeBɢe,<)i m ?ii)mrļiiiu{8u0H=ɧ}}]=i}8C@yyI}8C@ }8C@I@ @@@A>AB>BBBBBBBVz;B_3EyA.AIIOi>ԩ :p%,ùLA2qa@2Z@2m<ٱ24$=2H 7?@k?EiF߿?Yզ`j 8??i2qa@I2a;2(CYNByR"IbDbVDb8yr_;%rW=ٔvs,;Q-v>9z ?Yz ?=zEy~_ E~E~> Q 55 ?Q 95 *) :BY!y% Q I-@@ DI n;i o; 75y5Bɮ5A=EfffgffrfereZe:e*eeBɢeU<)a eL?ia)miiim<#8F=ɧ#駕$giK6C@IK6C@ K6C@IiԹI@I @I@I@IE EEE"E:*E:VEZEBE 9 ] *entering command mode.%w%,#ݹLAYBy"Ii Mb@Mb@Mb@     9 w/?QMbp?Y >y  ; E@  @) A Y @ %<%<bD%5VD%ݰ8y5;%5)=ٔ=Q-=>9="?YE"?=EEyEd EEEE>IQ 5U5M?Q 9U5M-)M8BY5n>Q E=:y=Q I=@@MDIM (setting verbose to 31-@) @)@)@)A=zAzA=yAE E~E'E"E:*E(:VE'4ZEa@a@a@a@AQ Y Ia Iq O >B >B B !IB BB B B B y;B 3EF}%,LA 62@6@6<ٱ6#=6H f?1?sa@`s^? 6 r?@?i62@I6 )b;4YBByB"I DDDFAbDNVDN8yn;%n|=ٔr;Q-r ?9pYp=vEyvg EvπEv ?xQ 5~5z?Q 9~5z0)z7BYyQ I@@zDIzT:iz;z>5y ŕBɮ CA Ef)f1f1g1f1f1rf1e9re9Ze9:e9*eAmBɢmp<)i m ?iq)u qqiu7}&DAT read: user:1> TDAT read: Verbose | 3  set verbose to 36setting DatVerbose to 27440iA=ɧ/駽 iB@IB@ B@Iiu@q @q@u0@qAIIOF>ԙ- &DAT read: user:2> 5 TDAT read: DatVerbose | 27440 = .set DatVerbose to 27440= 6setting transmit power to 8 E  E E #E "E :*E *5:VE 3ZE BE ;?`?v\``3??(?`K?i2Ah@I2Pa;0YBByB "ILbDJVDJ8yVy<%ZM=ٔZ:;Q-Z>9XY\=^Ey^k E^ͼEb>`Q 5f5b^?Q 9j5b2)b5BYhyjQ Ij@@bDIb7:ib:b#B5ylɮr*Ap~B*** querying acoustic contact ***i|i|fff g f f rf e reZe:e*eEBɢE<)A E?iA)Mu}IIiMJ7Uz?=ɧUl6UiUB#B@QYI]B#B@ ]B#B@IYi @ @@2@&DAT read: user:3> TDAT read: TxPower | 8 (Max) .set transmit power to 86setting local address to 11AIIOA>y g_9 Y [A) = &DAT read: user:4> E TDAT read: LocalAddr | 11 E .set local address to 11M \Setting time to: 4:26:16 And date to:12/5/2025\%,qu+LAxDqzDuAAE E~E$E"E7:*E(:VE4ZEa@a@a@a@@ @c@<ٱ>$=H@?q?W`% h?觿@wG^? ?i@Ia;$CYBy!IiMb@Mb@Mb@ %C95^I ?V-y&1|?Y>y`;z@A 7@)AY @@A@AbDVDȰ8yD%+=ٔ ;Q->9Y=Eyp E*E>Q 5 5,?Q 9 56)4BY>Q E:y!Q I@@DI;io;QF5yɮAf9fAfAgAfAfIrfIeIreIZeI:eQ*eQ}Bɢ}V<) F ?i)9i6~<=ɧ=iA@IA@ A@I)BU>BU;CBU!IBUBBQBQBQBUy;BU2EB-:CB-:CB-ēCB- =B- =C-ď4@ @@0@A>A>Q&DAT read: user:5> NDAT read: Fri Dec 5, 2025 04:26:16 fLocal DAT time set to Fri Dec 5, 2025 04:26:16 2Acoustic response timeout6setting remote address to 8A!I)IAO>y @%,AELAR:@R@R=<ٱRb)$=RH@'?&`?S@[@T?  0??iR:@IRF b;R)CY~By~!IbD VDʰ8y%%%m=ٔ%;Q-%?9)Y)=-Ey-s E5oE5?9Q 5E5=5?Q 9E5=M8)9YAyE$Q IE@@=DI=\:i=:=TI5yU˕BɮUAUEYfyfyfygyfyfyrfereZe:e*e#6@颵Bɢ<)  ?i).项ib6 TDAT read: RemoteAddr | 8 .set remote address to 8 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.I@I @Q@U45@QbE-3jE-ċ3rE-.0E EEE"Eغ:*E3:VEZEBEiߥ AIߥ A &DAT read: user:7>  BDAT read: Tx time:04:26:16.6871  $Ping request sent. 9aYa=eEyex EeEe>iQ 5u5mB?Q 9}5mM;)m2BYyy}3'Q I}@@mDIm:ims;m3M5yɮAfffgffrf@ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@nTransitioning to terminal guidance at range 5.000000 m @1AereZe:e*eக6@ Bɢ<<) ?i)!!i%5-^7=ɧ-J5"i5A@99I=A@ =A@IAIY)]xA@ @@05@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253097IIOc>E E|E E"Em:*EP$:VE3ZEa@a@a@a@1BM >BM =CBM !IBM BBM =BI BM DBM y;BM *3EY %,xLA2@2 @2<ٱ2#"=2H ??A#Vx?zQ@P??i2@I26b;0YBByB!Ii-Mb@Mb@Mb@)))) -A9-x&1?~jt~jth?Y-A>y-ļ-D;-@) -M@)-"A)Y-A AE<bDMVDM8echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502806yU\n%e\=ٔm?;Q-m>9iYi=mEyu| Eu'Eu>yQ 55}|M?Q 95}=)}1BY>Q E:yC&Q I@@}DI}w:i}:}uP5yɮAfffgffrfbf@1ACompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeereZe:e*e@6@Bɢ4<)  ?i)Чit5 u 5=ɧ P 'i \@@ I\@@ \@@I9q@q @q@u4@yIIO% >aԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754742E  E E #E "E Ʊ:*E H:VE 3ZE BE ?;a 2E A;a JE ;a :E ;a Թ {%,ΒLA2W@2@2<ٱ2]!=2H O?`/6?qH? 0H?"@ ??i2W@I2?b;0YBByB!IbDJVDJȰ8yfa%fT=ٔf+;Q-f>9hYh=jEyj EjݼEn>pQ 5v5rX?Q 9v5r@)r/BYtyv(Q Iv@@rDIr~:irS:rS5yzЕBɮ~rA~¦EqL ~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalL Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLL%Entering USBL mode with 120.000000 count pings at 5.000000 m (mode 0.000000 count ).L%1M%%B*** querying acoustic contact ***i!i!D-5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E5 5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqF55Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlF55Initialize.F55Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1G5 =Initialize.qG=G=qE=gEh7gEh7FEEAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1GEMDReached init depth of 65.816666 m.jgIrgMfBM$Terminal guidance.qEMGMUInitialize.UdInitializing internal variables to default values.UZTransitioning guidance mode to: UNINITIALIZED iQUDRollout timeout set to 300.00 sec.VIIR filter is initialized with decay: 0.00.bTransitioning guidance mode to: TERMINAL_GUIDANCE i??Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAUninitialize.AA>Uninitialize WaypointComponent.ereZe:e*e e]7@UB]<)] ]@iY)]ЧY]=7iaeImԑI@I @I@Ms4@Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006926IIO$> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258655! %,뫬LABb@BB\@B<ٱBk=BH@*?~?jx]?`yj?ߜyʢ?8?iBb@IBlb;B(CYBy!IEe EeEe"Ea"Ee:*EerN:VEe(3ZEaam@am@am@am@iMb@Mb@Mb@ 9%C?y&1Mb`?YZ>y`弙;d@jA  @)AYf@bDVD8y%;=ٔ:Q->9Y=Ey EɼE>Q 55e?Q 95C),BY>Q E:y-Q I@@DI ;i/;W5yɮAj^@1MqMh%@h-h-;h-L?h)i-g)g)jgrgBereZe:e*e@7@%Bɢ%)) -H9i))MЧIMiUy2iUA@Y)]L? ](kpHeading = 0.800000I]; ](kiHeading = 0.004000] >I]@IeAB>B?CB!IBBB =BBºDBtz;B3E -&Changing to mode: 1-N>i)!@ @@5@AzAAA}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510800I AE II IY Om >%,ƺLA>R @>@>A<ٱ>4=>H D? Z?a?@?ˍ`gno?N?i>R @I>$a;>%CYJByJ!IRAARAAbDV VDV8y^h<%^^=ٔ^F:Q-b>9bYb=bEy`f'Ef>hQ 5n5j>p?Q 9n5jF)j*BYlyn`0Q Ir@@j$DIj;ij;jZ5yvՕBɮvAvæEjqMMhhhhhiggjgrg!e!re!Ze!:e!*e-@%8@[M>[M>"[M;@*[M@ɢ"ã) @;i)ǧiy0iC@IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763457i@ @@/@II)O5 >Em EmEm&Ei"Em7:*Emx:VEm4ZEiBEm;au2Em;auJEm;a}:Em;a}ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014710%,W^ທLAF@F<@FP <ٱF8=TFH ?S?x17? @e?@ `@?`?iF@IFa;F&CYzBy~!IIN>)>bDMVDM8y}V=%?=ٔhQ->9Y=EyټE>aQ 55eV}?Q 95e J)e'BYyS3Q I@@e*DIe =checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267845D}=D}<E EE%E"Ey:*EVL:VE 4ZEa@a@a@a@ . B B B !IB BB =B B B z;B 3E! = @9  @A @E /0@A Q  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518737^A}>IIO?j%,LAB!@Bn@BZ<ٱB$V=BHF?`L?8?@5ƭ`5`ʾ??iB!@IBa;@HYRByR!Ii-Mb@Mb@Mb@)))) )9-/$?Mb~jthY->y--D-z@-A -7@)- A)Y- @ =<=4<bDEVDE8yU,2<%U=ٔ]tǺQ-]>9YYY=eEyaeA1Ee>iQ 55m?Q 95mN)m#BY>Q E:y:Q I@@m1DImk;im;mc5yɮEAhhhhhiggjgrgBereZe:e*e9@[>[>"[@*[ྱ@5Bɢ5(M)1 5=i1)=?99i=;~*iE CAAIAII?Bɹechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771838@ @ @@15@E EEE"E:*EA:VEZEBE'I I O > %,(LAbBDAT read: Rx Time:04:26:19.1007 fTRx dataTimestamp_ set to:1764908780.454771fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023783Uv@Uĝ@U<ٱUi=UH?A?h`@ ?s:?@?iUv@IUb;QYmBym!IbDVD8y绽%G=ٔ:Q->9Y=EyмE>Q 55Z?Q 95]Q)BYy2=Q I@@8DI:i;f5yBɮ~AͦEB*** querying acoustic contact ***iixhhhhhiggjgrgereZe:e*eڀ9@[![!"[!*[%i@1ɢ5X)1 5AAIAIIQQQQ1a#@ @@2@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276188 PExceeded connect timeout, disconnecting.E-  E- E- $E) "E- غ:*E- VL:VE- 4ZE) aE @aM @aM @aM @ԩ ^A} >I I O >B] >BY B] !IB] vBBY BY BY B] z;B] 3E %,Û6LA2Q@2QJ@2<ٱ20w=2H]? #?G@@@v?K zݮ??i2Q@I25b;2(CY>By>!I DDpiUMb@Mb@Mb@QQQQ Q9U rh?ktYU>yU 0UU@UA Uz@)UAQYUpAbDmVDm8y}%}B=ٔZ:Q->9Y=Ey2ƼE>Q 55 ?Q 95T)BY>Q E:yEQ I@@>DI;i;`j5yBɮAhhhhhiggjgrg)BereZe:e*e9@[ >[ >"[ @*[ R@Bɢ'n)! %i!)%P!!i%d%i-q8)1I1I1IExA)EzA}DAT read: 04:26:19.1007 LVL= 14896, 11745, 11874, 17475, AGC= 55, IDX= 14, 0.18, 1.147,-2.958, 2.037, 2.379, PHS=-1.130, 0.991,-0.386, RAW= 309.8, 5.7, CAL= 307.5, 4.4, ROT= 202.5, -4.4 Ygot valid direction response: 04:26:19.1007 LVL= 14896, 11745, 11874, 17475, AGC= 55, IDX= 14, 0.18, 1.147,-2.958, 2.037, 2.379, PHS=-1.130, 0.991,-0.386, RAW= 309.8, 5.7, CAL= 307.5, 4.4, ROT= 202.5, -4.4 PDAT read: Bearing 297.6, -18.7 (Local) ~Local bearing/azimuth received: Bearing 297.6, -18.7 (Local) DAT read: Range 11 to 50 : 7.1 m (Round-trip 9.5 ms) speed -0.4 m/s R#Rx 1: Read range and direction messages.T%@ @@/@`direction in FSK: [-0.921157,-0.381556,0.076719]Fpublishing direction and range infoy9=$8lvz)=(G˽I=/i=nF99 T****** received valid address query ****** 5R****** received valid ping request ******5Querying Benthos address 50 with 120 pings in terminal homing one-way mode.i^AV݅>IIO>ԁ  &DAT read: user:8>  BDAT read: Tx time:04:26:20.4886  $Ping request sent. 9aYa=eEyamSEm>qQ 5}5u?Q 9}5uX)uBYyy^HQ I@@uDDIu:iu%:um5yɮAiihY=LAjM@"jM@:jR6@"p[G9d0y G\?p$8lvz*i5>E Added new target pos. range: 7.071930 m, bearing: 163.221838 deg, lat: 36.779411 deg, lon: -121.859640 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 :iAMBNOT Ignoring new targets: 7.07 m.2iIMPowering the camera and arming the capture device at range: 7.10 m.UjFinal approach. Armed for intercept at range: 7.10 m.U\Transitioning guidance mode to: FINAL_APPROACH iU@"iU*iUe ProNav pure pursuit: ac range: 7.071930 m, nav range: 7.393720 m, bearing: 148.426254 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 325.342674 deg, new cmd heading: 148.426254 deg. m|HeadingCmd: 2.590527 target range: 7.071930 and range: 7.10 m.hm1%@hih:h33?hggjgrgereZe:e`ff@*e hw?[["[*[ @ɢ %) ii)k!i%e"i%Z4I)M33? U(kpHeading = 0.700000IU: U(kiHeading = 0.001000QIU1%@IY)*(@ @@p1@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251198Q q 5 91 Y= A^AM 6Ʌ>I I OE >ԁ %,iLAZ@Z@ZE<ٱZmy=ZHu?@S?@&6c?k5??iZ@IZnEb;XY~By~!IiMb@Mb@Mb@ 9!rh?Mb`Yl>yL@A M@)AYAbDVDŰ8y%Q=ٔ ;Q->9Y=Ey ԼE >Q 5%5측?Q 9%5[)BY->Q E-:y-ZOQ I-@@JDI$;i^7;iq5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503720yMBɮMnAYUΦE:iBNOT Ignoring new targets: 7.07 m.2i6Short final. Range: 7.10 m.VTransitioning guidance mode to: SHORT_FINAL i@@"iy*iy ProNav pure pursuit: ac range: 7.071930 m, nav range: 7.566063 m, bearing: 148.080871 deg, approach rate: 0.445760 m/s, LOS rate: -0.872970 deg/s, cmd heading: 148.426253 deg, new cmd heading: 148.080871 deg. |HeadingCmd: 2.584499 target range: 7.071930 and range: 7.10 m.hnh%@hhhhggjgrg BereZe:e*e?[u>[u>"[uT@*[u$@颅Bɢ0nManaging dock network, ignoring radio surface power off) 2i)u顱iQi1Inh%@IDD<E EzE!E"E:*E :VEc3ZEa@a@a@a@e*@a @a@e/@iԑB >B B !IB lBB  =B B B fz;B 3EB?CB>CBŔCB =B =CŒ06ԩ^A > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754911Ii Iy O > Ͳ%,킻LADDbV@b9Y=EyE>Q 55á?Q 95P_)BYyRQ I@@ODIi;ilj;t5yɮ+A:i2izIgnoring new targets. Set target to previous: 7.07 m. 7.07 m."iy*iy ProNav pure pursuit: ac range: 7.071930 m, nav range: 7.737548 m, bearing: 147.738472 deg, approach rate: 0.446124 m/s, LOS rate: -0.871012 deg/s, cmd heading: 148.080878 deg, new cmd heading: 147.738472 deg. }|HeadingCmd: 2.578523 target range: 7.071930 and range: 7.10 m.h}%@hyhyhyhygygjgrgereZe:e*e:*E*5:VE(N3ZEBE9 %,GɜLARchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258803Yyyy <<bDVD8ٔQ->9Y=EyE>Q 55͡?Q 95b) BYyQ I@@UDI;iY;\x5yɮB*** querying acoustic contact ***ii:i2izIgnoring new targets. Set target to previous: 7.07 m. 7.07 m."ij*ij  ProNav pure pursuit: ac range: 7.071930 m, nav range: 7.915547 m, bearing: 147.399293 deg, approach rate: 0.441180 m/s, LOS rate: -0.821767 deg/s, cmd heading: 147.738467 deg, new cmd heading: 147.399293 deg. |HeadingCmd: 2.572603 target range: 7.071930 and range: 7.10 m.h$@hhhhggjg!rg!e!re!Ze!:e)*e-@f?[I[I"[I*[I]Bɢ]V)a eƼia)eaaieLimn0iiIu$@Iq A/@  @@/@9]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511336^AiIIO>i D zD @AE  E E $E "E :*E ~:VE 4ZE a @a @a @a @B B B !IB bBB =B B B 6z;B j3E*%,9LA6B@6@67P=ٱ6h$y=6H?[?*9W?@`Jz??i6B@I6`;6'CYBByB!Ii Mb@Mb@Mb@     9 :v?A`"y&1|?Y >y Y `; r@ 5A \@) KA Y GAbD%ֿVD%8y5%5<ٔ5s[;Q-=>99Y9==Ey9E"IEE>IQ 55M֡?Q 95M/f)M BY>Q E:y[Q I@@M[DIM!f[>"[@*[ᚭ@)5Bɢ5Z)1 5 Ҽi1)=199i=6iE)2mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763259AID$@I2@ @@%/@!Y^AE >AE xAzAE wAԁ I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015237%,JлLA>c@>\@>C=ٱ>}(x=>H?Y?o?{ ݠ??i>c@I>k`;>&CER ER|ER"EP"ERg:*ERP$:VER(3ZEPBER;aZ2ER;aZJER};aZ:ER};aZ\Yb~Byb!IbDjVDj8yr\%rT=ٔr :Q-v>9tYt=vEytz"׼Ez>|Q 55~ߡ?Q 95~li)~ BYy=^Q I @@~`DI~;i~):~65yɮA:i2izIgnoring new targets. Set target to previous: 7.07 m. 7.07 m."iXj*iXj  ProNav pure pursuit: ac range: 7.071930 m, nav range: 8.230760 m, bearing: 146.736087 deg, approach rate: 0.397711 m/s, LOS rate: -0.819523 deg/s, cmd heading: 147.060625 deg, new cmd heading: 146.736087 deg. |HeadingCmd: 2.561028 target range: 7.071930 and range: 7.10 m.h5#@h1h1h1h9g9g9jg9rg9eAreAZeA:eA*eM@@[["[*[ H@5Bɢ=Y¼)9 =6i9)=y9AiEqTiM4IIIM#@I4@ @@/@@ xA@ xAi߹I߽Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2678721 ^A >A 2AI I O >{%,뻗LA]DDAT read: Rx Time:04:26:22.6291 eTRx dataTimestamp_ set to:1764908783.731292mPDAT read: Bearing 294.2, -21.4 (Local) m~Local bearing/azimuth received: Bearing 294.2, -21.4 (Local) }DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed -0.4 DAT read: 04:26:22.6291 LVL= 32752, 23953, 28002, 32755, AGC= 52, IDX= 465, 0.18,-0.198, 2.050, 0.813, 1.073, PHS=-1.169, 1.021,-0.304, RAW= 306.9, 4.8, CAL= 304.6, 2.5, ROT= 205.4, -2.5 Ygot valid direction response: 04:26:22.6291 LVL= 32752, 23953, 28002, 32755, AGC= 52, IDX= 465, 0.18,-0.198, 2.050, 0.813, 1.073, PHS=-1.169, 1.021,-0.304, RAW= 306.9, 4.8, CAL= 304.6, 2.5, ROT= 205.4, -2.5 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.902476,-0.428527,0.043619]Fpublishing direction and range infoyY]L|nSlۿGU?Y] AY]]]]bm ])]4I]ˡi]!?]㥛]g@]=]@ ]¸2=)]oe@I]¸2YY]#WHCUV? ]VA)]骽I],i]¸2YYchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.534347YBy!IE EE$E"EI:*E=:VE4ZEa@a@a@a@aiMb@Mb@Mb@ 9On?Zd;~jth?Y>yyD;@A r@)AY=AbD VD8yّ<%=ٔQ->9?Y?=Ey= EEEE>IQ 5U5M롊?Q 9U5Mn)MBYU>Q EU:yURbQ I]@@MgDIM:iM :M5yɮAiYi]}LAj] A"j] A:j],6@"p]BS)W] ?p]L|nSlۿGU?*j],2j]¸2*p] Ns_ [m@=S}?p]UiTș?f] 8?B>BB!IBWBBBBBz;B3Ej]K@ j]i]:?i]dD,j]RBj]N?j]4j]aBrj]Azj]q$@= addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 2.772710 s, deltaX: 1.500000 m, approachRate: 0.540987 m/s, rangeRepo size: 2 M Added new target pos. range: 8.566025 m, bearing: 163.088770 deg, lat: 36.779410 deg, lon: -121.859642 deg, deltaT: 2.772710 s, deltaX: 1.494094 m, approachRate: 0.538857 m/s, posRepo size: 2 :iQ2iQUzIgnoring new targets. Set target to previous: 8.57 m. 7.07 m."i}*i} ProNav pure pursuit: ac range: 7.071930 m, nav range: 8.450322 m, bearing: 146.270436 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 146.736082 deg, new cmd heading: 146.270436 deg. |HeadingCmd: 2.552901 target range: 7.071930 and range: 8.60 m.hb#@hhhhggjgrg1BereZe:e@33!@*erm? Bɢ 瑸)1 5i1)5)¨99i==ji=D:AAIEb#@IAԙ7@ @@/@ checking for new query: numPingsReceived=1, elapsed TxPingTime=2.771063Թ ^A A%܏AI)I9OM>o]%,_ LA2é@2뼰@2D =ٱ2'1t=2H-?@?`` ? bd |??i2é@I2Ba;2'CY9R?YV?=VEyV EVdEV>XQ 5^5Z?Q 9b5Z1q)ZBY`ybRgQ Ib@@ZlDIZ:iZ:Z5yf Bɮf9AjئE:iq2iq}zIgnoring new targets. Set target to previous: 7.07 m. 7.07 m."i}Sy*i}Sy ProNav pure pursuit: ac range: 7.071930 m, nav range: 8.592900 m, bearing: 145.961024 deg, approach rate: 0.408557 m/s, LOS rate: -0.871903 deg/s, cmd heading: 146.270441 deg, new cmd heading: 145.961024 deg. |HeadingCmd: 2.547500 target range: 7.071930 and range: 8.60 m.h? #@hhhhggjgrgereZe:e*eM?uDDAT read: Rx Time:04:26:23.1293 }TRx dataTimestamp_ set to:1764908784.235461PDAT read: Bearing 294.3, -21.8 (Local) ~Local bearing/azimuth received: Bearing 294.3, -21.8 (Local) DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.4 DAT read: 04:26:23.1293 LVL= 23536, 14721, 15794, 25891, AGC= 55, IDX= 3,-0.20,-2.449,-0.200,-1.427,-1.189, PHS=-1.158, 1.034,-0.282, RAW= 306.6, 4.3, CAL= 304.2, 1.6, ROT= 205.8, -1.6 Ygot valid direction response: 04:26:23.1293 LVL= 23536, 14721, 15794, 25891, AGC= 55, IDX= 3,-0.20,-2.449,-0.200,-1.427,-1.189, PHS=-1.158, 1.034,-0.282, RAW= 306.6, 4.3, CAL= 304.2, 1.6, ROT= 205.8, -1.6 R#Rx 2: Read range and direction messages.`direction in FSK: [-0.899968,-0.435062,0.027922]Fpublishing direction and range infoyy}1PL; ۿ|p}?Y}fAy}[}9}= }#e)}7I}X9i}Z?}Nb}<@}`=}@ }<)}}e@I}伩yy}#4)Djs_ce,? }A)}ӊI}8>,i}伩yy-checking for new query: numPingsReceived=2, elapsed TxPingTime=3.046942=Bɢ=Ѻ)A EpiA)MIIiM i]?aI? #@IE  E E "E "E غ:*E F:VE (3ZE BE Ae >% checking for new query: numPingsReceived=2, elapsed TxPingTime=3.274996q A I I O >%,ձ#LAU)w@Uwp@Udm=ٱUlp=UH@?`E?@+ @Q?@`졿??iU)w@IU b;U&CYzBy!IybD-VD-8y%.=ٔ:Q->9Y=Ey E5E=>QQ 55U?Q 95Uu)UBYyiQ I@@UsDIUx5yɮ~AiiLAj A"j A:jX4@"pOln覙=Լ?p1PL; ۿ|p}?*j8>,2j*py +n*@ .?p`OO[%?lO?jU1@ jind9?i,jBjRju?j ]"jBrjAzjI0@e addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504169 s, deltaX: 0.299999 m, approachRate: 0.595037 m/s, rangeRepo size: 3  Added new target pos. range: 8.864812 m, bearing: 161.775046 deg, lat: 36.779406 deg, lon: -121.859660 deg, deltaT: 3.276879 s, deltaX: 1.792881 m, approachRate: 0.547131 m/s, posRepo size: 3 :iTStarting intercept timer at range: 8.90 m.2izIgnoring new targets. Set target to previous: 8.86 m. 7.07 m."i*i ProNav pure pursuit: ac range: 7.071930 m, nav range: 8.791153 m, bearing: 145.535012 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 145.961020 deg, new cmd heading: 145.535012 deg. |HeadingCmd: 2.540065 target range: 7.071930 and range: 8.90 m.hm"@hhhhggjgrgAeAreAZeI:eM!@*eM?DDAT read: Rx Time:04:26:23.6293 TRx dataTimestamp_ set to:1764908784.739438PDAT read: Bearing 292.5, -21.9 (Local) ԡ~Local bearing/azimuth received: Bearing 292.5, -21.9 (Local) DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.4 DAT read: 04:26:23.6293 LVL= 31984, 25537, 27858, 32755, AGC= 52, IDX= 499, 0.19,-2.309,-0.092,-1.295,-1.048, PHS=-1.160, 1.000,-0.291, RAW= 306.5, 4.8, CAL= 304.1, 2.6, ROT= 205.9, -2.6 Ygot valid direction response: 04:26:23.6293 LVL= 31984, 25537, 27858, 32755, AGC= 52, IDX= 499, 0.19,-2.309,-0.092,-1.295,-1.048, PHS=-1.160, 1.000,-0.291, RAW= 306.5, 4.8, CAL= 304.1, 2.6, ROT= 205.9, -2.6 R#Rx 3: Read range and direction messages.`direction in FSK: [-0.898632,-0.436352,0.045363]Fpublishing direction and range infoy!\쿤1ۿ99?Y|cl )4Izi?.@=kש@ 9=)e@I9T3zAS? A)RI!,i9 checking for new query: numPingsReceived=3, elapsed TxPingTime=3.543699MBɢMٿ)I M3iI)M^MQQiU iU˚FYIm"@IE% E%E%#E!"E%:*E%*5:VE%3ZE!a-@a-@a5@a5@U9@Q @Q@U/@U@]=@]=B>BB!IBRBB =BBBY{;B3E ^Au >i9 I= A= checking for new query: numPingsReceived=3, elapsed TxPingTime=3.779575AAIIO>٧%,BLA,><@>@>=ٱ>k=>Hહ?@?@ 1 ?@Ұ```p?R?i><@I>Db;>'CYJyByHiMb@Mb@Mb@ 9~jt?X9v~jt?Y>y}D<@OA d@)AYbDVD8yl%'=ٔs1:Q->9??Y??=Ey EvE>Q 55?Q 95oy)BY?>Q E;y%qQ I@@xDI :iw:\5yɮAiAiER/LAjA"jA:jEo04@"pE- U awފl?pE!\쿤1ۿ99?*jE!,2jE9*pEX d ɰ@u?pEHkETz??jE5@ jE-iED?iE=%.jEeBjED?jEdD,jEeBrjEAzjE3@ԁ addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.503977 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 8.864800 m, bearing: 161.313761 deg, lat: 36.779401 deg, lon: -121.859664 deg, deltaT: 3.780856 s, deltaX: 1.792870 m, approachRate: 0.474197 m/s, posRepo size: 4 :iRStopped intercept timer at range: 8.90 m.2izIgnoring new targets. Set target to previous: 8.86 m. 7.07 m."i*i ProNav pure pursuit: ac range: 7.071930 m, nav range: 8.964319 m, bearing: 145.143405 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 145.535007 deg, new cmd heading: 145.143405 deg. |HeadingCmd: 2.533230 target range: 7.071930 and range: 8.90 m.hr "@hhhhg g jg rg 'BereZe:e*e?颅Bɢ) )i)顉i_|iE@Ir "@I-DDAT read: Rx Time:04:26:24.1295 -TRx dataTimestamp_ set to:1764908785.244824=PDAT read: Bearing 293.1, -21.8 (Local) E~Local bearing/azimuth received: Bearing 293.1, -21.8 (Local) ]DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed -0.4 DAT read: 04:26:24.1295 LVL= 31920, 23073, 27602, 32755, AGC= 52, IDX= 501,-0.19, 2.607,-1.427,-2.658,-2.420, PHS=-1.154, 1.038,-0.282, RAW= 306.7, 4.2, CAL= 304.3, 1.4, ROT= 205.7, -1.4 Ygot valid direction response: 04:26:24.1295 LVL= 31920, 23073, 27602, 32755, AGC= 52, IDX= 501,-0.19, 2.607,-1.427,-2.658,-2.420, PHS=-1.154, 1.038,-0.282, RAW= 306.7, 4.2, CAL= 304.3, 1.4, ROT= 205.7, -1.4 R#Rx 4: Read range and direction messages.9@ @@/@Թ5`direction in FSK: [-0.900808,-0.433530,0.024432]=Fpublishing direction and range infoy)-)Cgk>7ۿ{J?Y-3A)-|-!Z-k )))I-Fi-/݄?-Nb-)K@-Q =-@ -+<)-e@I-+ȼ))-sQ]&뽿cd˲? -wA)-}I-Z,i-+ȼ))checking for new query: numPingsReceived=4, elapsed TxPingTime=4.076702E E{E%E"EU:*E5":VE 4ZEBE;a2E;aJE?z;a:E@z;a ^A >A 0AI I O >2%,<.^LA2'ʨ@2uï@2b=ٱ2o=2H~?`?&ᐿκ`{l? V @O ?`?i2'ʨ@I2b;2&CYRtByV!I^checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283022bDbVDb8yj%na=ٔn:Q-n>9r?Yr?=rEyr Er5Er>xQ 5z5z?Q 9~5zx|)zBY|y~sQ I~@@z}DIz:iz:z5yɮ A ii2OLAjA"jA:j:3@"pUjb z]BT?p)Cgk>7ۿ{J?*jZ,2j+ȼ*p`1C!̒@@9psQ?p_\$\ Hg?|Ts"?j"D@ j i:77?i+jBj:?jjRBrjAzjV3@U addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.505386 s, deltaX: 0.300000 m, approachRate: 0.593606 m/s, rangeRepo size: 4 e Added new target pos. range: 9.163614 m, bearing: 160.452268 deg, lat: 36.779400 deg, lon: -121.859664 deg, deltaT: 4.286242 s, deltaX: 2.091684 m, approachRate: 0.487999 m/s, posRepo size: 4 :ia2iimzIgnoring new targets. Set target to previous: 9.16 m. 7.07 m."iq*iq ProNav pure pursuit: ac range: 7.071930 m, nav range: 9.097878 m, bearing: 144.842568 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 145.143405 deg, new cmd heading: 144.842568 deg. |HeadingCmd: 2.527980 target range: 7.071930 and range: 9.20 m.hk!@hhhhggjgrgereZe:e`ff"@*eY?Bɢȼ) xMi)ߩii?A@Ik!@I)m:@i @i@u/@qY^AAzAzAmDDAT read: Rx Time:04:26:24.6295 uTRx dataTimestamp_ set to:1764908785.747651}PDAT read: Bearing 291.7, -21.6 (Local) ~Local bearing/azimuth received: Bearing 291.7, -21.6 (Local) DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed -0.4 DAT read: 04:26:24.6295 LVL= 31616, 23217, 27122, 32755, AGC= 52, IDX= 501, 0.20, 2.947,-1.108,-2.334,-2.082, PHS=-1.153, 1.019,-0.297, RAW= 307.0, 4.6, CAL= 304.6, 2.2, ROT= 205.4, -2.2 Ygot valid direction response: 04:26:24.6295 LVL= 31616, 23217, 27122, 32755, AGC= 52, IDX= 501, 0.20, 2.947,-1.108,-2.334,-2.082, PHS=-1.153, 1.019,-0.297, RAW= 307.0, 4.6, CAL= 304.6, 2.2, ROT= 205.4, -2.2 R#Rx 5: Read range and direction messages.`direction in FSK: [-0.902670,-0.428619,0.038388]Fpublishing direction and range infoyquB96d}nۿ.?Yqqu{uZui q)qIuiun?ubuv@ul=u@ unF=)uoe@IunFqqusF^Fd}焴? ufFA)u`TIu,iunFqqy  checking for new query: numPingsReceived=5, elapsed TxPingTime=4.561773A I I E  E E E "E ,:*E a9:VE ZE a @a @a @a @O >B >B B y!IB HBB B B B M|;B w4EU%,(wLA,Y~iBy~!IiMb@Mb@Mb@ 9Dl?㥛 {Gzt?YO>yף;jAA @) AYAbDVD_8yA%>=ٔQ->9Y=Ey EE>Q 55?Q 95E)BY>Q E;yxQ I@@DIs:i:K5yBɮ-A٦EiioLAj"j:j2@"pEAF ]?fkOm?pB96d}nۿ.?*j,2jnF*p :!id:@\ ?pb4?p6TM?jaF@ j i A?iS.j?Bjj,j?Brj"Azj2@ addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.502827 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 9.163631 m, bearing: 160.207524 deg, lat: 36.779400 deg, lon: -121.859664 deg, deltaT: 4.789069 s, deltaX: 2.091701 m, approachRate: 0.436766 m/s, posRepo size: 4 :i2izIgnoring new targets. Set target to previous: 9.16 m. 7.07 m."i*iԉ ProNav pure pursuit: ac range: 7.071930 m, nav range: 9.261940 m, bearing: 144.463864 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 144.842562 deg, new cmd heading: 144.463864 deg. |HeadingCmd: 2.521370 target range: 7.071930 and range: 9.20 m.h!^!@hhhhggjgrgJBereZechecking for new query: numPingsReceived=5, elapsed TxPingTime=4.787111:e*evM?=BɢE<ͼ)A EĈiA)M7gIIiMiU:@QQIU!^!@IY9@ @@/@@zA@zA ^Aa  DDAT read: Rx Time:04:26:25.1298  TRx dataTimestamp_ set to:1764908786.251278 PDAT read: Bearing 292.2, -22.2 (Local)  ~Local bearing/azimuth received: Bearing 292.2, -22.2 (Local)  DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed -0.4  DAT read: 04:26:25.1298 LVL= 30768, 20833, 26706, 32755, AGC= 52, IDX= 504,-0.18, 2.289,-1.731,-2.966,-2.738, PHS=-1.155, 1.052,-0.272, RAW= 306.6, 3.9, CAL= 304.2, 0.9, ROT= 205.8, -0.9  Ygot valid direction response: 04:26:25.1298 LVL= 30768, 20833, 26706, 32755, AGC= 52, IDX= 504,-0.18, 2.289,-1.731,-2.966,-2.738, PHS=-1.155, 1.052,-0.272, RAW= 306.6, 3.9, CAL= 304.2, 0.9, ROT= 205.8, -0.9  R#Rx 6: Read range and direction messages. `direction in FSK: [-0.900208,-0.435178,0.015707] Fpublishing direction and range infoy  z=vG{Gۿy&?Y A 0x aQ Rh ) I דi ? C <@ 'g= @ <) }e@I Mh0ŶJԙEJf? A) 猽I 8>,i  checking for new query: numPingsReceived=6, elapsed TxPingTime=5.054391E  E E $E "E %:*E 0:VE 4ZE BE ;a% 2E ;a% JE ݉;a- :E ݉;a- 1 A1 I9 IQ O] >$%,wLAB@B@B%=ٱB-s=BH@q?9?`p@3F?G`â`Ks??iB@IBĘb;@YMeByM!IbD]ĿVD]u8y%<=ٔ;Q->9Y=Ey EHE>Q 55 ?Q 95,)BYy~Q I@@DI:i:5yɮSAiiLAjA"jA:j1@"p57!nH׏9?pz=vG{Gۿy&?*j8>,2j*pdq!?1A @ w_?p|@K?փjS?jJX@ jiE}-?iΧH+jԃBjnd9?jjBrjAzjy1@u addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.503627 s, deltaX: 0.400001 m, approachRate: 0.794240 m/s, rangeRepo size: 4  Added new target pos. range: 9.562051 m, bearing: 159.297107 deg, lat: 36.779400 deg, lon: -121.859664 deg, deltaT: 5.292696 s, deltaX: 2.490120 m, approachRate: 0.470482 m/s, posRepo size: 4 :i2izIgnoring new targets. Set target to previous: 9.56 m. 7.07 m."i*i ProNav pure pursuit: ac range: 7.071930 m, nav range: 9.427258 m, bearing: 144.072086 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 144.463869 deg, new cmd heading: 144.072086 deg. |HeadingCmd: 2.514532 target range: 7.071930 and range: 9.60 m.h @hhhhggjgrgereZe:e@33#@*e%?颽BɢӼ) i)䪼ii/5@I @Iq@q @q@u/@qchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.291059 =3GIi쮿9YA^A= >a AI Iq I O >7*%,LAbsƧ@b@b=ٱb h=bHO?Dt?א/n? <İ ޢ@}?M?ibsƧ@Ibʧb;b%CYWBy!IEDDAT read: Rx Time:04:26:25.6298 ETRx dataTimestamp_ set to:1764908786.755469UPDAT read: Bearing 290.5, -22.0 (Local) U~Local bearing/azimuth received: Bearing 290.5, -22.0 (Local) eDAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed -0.4 DAT read: 04:26:25.6298 LVL= 30320, 21537, 26178, 32755, AGC= 53, IDX= 504, 0.21,-2.948,-0.716,-1.939,-1.694, PHS=-1.152, 1.023,-0.289, RAW= 306.8, 4.4, CAL= 304.4, 1.9, ROT= 205.6, -1.9 Ygot valid direction response: 04:26:25.6298 LVL= 30320, 21537, 26178, 32755, AGC= 53, IDX= 504, 0.21,-2.948,-0.716,-1.939,-1.694, PHS=-1.152, 1.023,-0.289, RAW= 306.8, 4.4, CAL= 304.4, 1.9, ROT= 205.6, -1.9 R#Rx 7: Read range and direction messages.`direction in FSK: [-0.901337,-0.431848,0.033155]Fpublishing direction and range infoyAEfۿB3?YAAEpvE!TEBf A)E5IEtiE?EEuY@EnF=EP@ E=)ELe@IEAAEsTaڭG4#O? EFxA)E;IEiw,iEAAchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.562942iMb@Mb@Mb@E EEE"E:*E,:VEZEa@a@a@a@ 9Cl?ʡEMb`Y>yA )AY\AbDVD8y5q%53=ٔ559Q-5>99Y9==Ey= EE+EE>qAQ 55Eu'?Q 95EZ)EBY>Q E;y3Q I@@EDIEj:iE8:E5yɮAiAiEYLAjA"jA:jE6 1@"pE1J?pEfۿB3?*jEiw,2jE*pEoX!n̤F @8f?pEp|2lj\?hyIao?jEb_@ jEJiEV :?iE,jE$BjEV :?jE,jE$BrjEAzjE5 1@5 addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.504191 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 9.562051 m, bearing: 158.571285 deg, lat: 36.779400 deg, lon: -121.859664 deg, deltaT: 5.796887 s, deltaX: 2.490120 m, approachRate: 0.429562 m/s, posRepo size: 4 Bm>Bm@CBmf!IBm9BBm =BiBiBmS|;Bm4EB1B5?CB5ēCB5 =B5 =C5^m5:i2izIgnoring new targets. Set target to previous: 9.56 m. 7.07 m."i*i ProNav pure pursuit: ac range: 7.071930 m, nav range: 9.601728 m, bearing: 143.654068 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 144.072090 deg, new cmd heading: 143.654068 deg. |HeadingCmd: 2.507236 target range: 7.071930 and range: 9.60 m.hv @hhhhggjgrg)BereZe:e*e ߾?颵Bɢe޼) Dýi)a项iHi!.@Iv @Iԙ9@9 @9@=/@9checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795171 ^A >A >A > A ڗAI I O >u2%,K˼LA2dm@2f@20=ٱ2[=2H@?༰?5C[@q?4: Th? ?i2dm@I2;b;2$CY>UBy>!IbDFVDF8yN%N[=ٔRd9Q-R>9R?YR?=REyV EVEV>XQ 5^5Z@.?Q 9^5Z΋)ZBY`ybQ Ib@@ZDIZG:iZ:ZU5ydɮfAdvB*** querying acoustic contact ***itit:ix2i|~zIgnoring new targets. Set target to previous: 7.07 m. 7.07 m."i*i ProNav pure pursuit: ac range: 7.071930 m, nav range: 9.744624 m, bearing: 143.313102 deg, approach rate: 0.404906 m/s, LOS rate: -0.951980 deg/s, cmd heading: 143.654069 deg, new cmd heading: 143.313102 deg. |HeadingCmd: 2.501286 target range: 7.071930 and range: 9.60 m.h @hhhhggjg!rg!e!re!Ze):e1*e5@p#?Bɢ)< pĽi)!iid*@I @!I1ߥ=ߥ<DDAT read: Rx Time:04:26:26.1301 TRx dataTimestamp_ set to:1764908787.260467PDAT read: Bearing 289.8, -21.7 (Local) ~Local bearing/azimuth received: Bearing 289.8, -21.7 (Local) DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.4 DAT read: 04:26:26.1301 LVL= 32752, 22129, 25586, 32755, AGC= 52, IDX= 507,-0.15, 2.522,-1.531,-2.766,-2.513, PHS=-1.147, 1.027,-0.297, RAW= 307.2, 4.5, CAL= 304.8, 1.9, ROT= 205.2, -1.9 -Ygot valid direction response: 04:26:26.1301 LVL= 32752, 22129, 25586, 32755, AGC= 52, IDX= 507,-0.15, 2.522,-1.531,-2.766,-2.513, PHS=-1.147, 1.027,-0.297, RAW= 307.2, 4.5, CAL= 304.8, 1.9, ROT= 205.2, -1.9 5R#Rx 8: Read range and direction messages.=`direction in FSK: [-0.904330,-0.425545,0.033155]EFpublishing direction and range infoyJ'D쿮"<ۿB3?Y!AqVc )4IВit?b@|٠=;@ )5e@Iijo¦Ղ࿿IAsԳ? 8 A)R̞I,imchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.072246@ @@/@bE4jEc3rE6/EE EE}EE#EA"EEغ:*EEk&:VEE3ZEABEE 8%,众LA@ @q=ٱxS=H 9Y= Ey  E μE >Q 5%5A6?Q 9-5)BY1y= Q I=@@DI;ii;?5yeBɮm4AuڦEԱii~мLAj A"j A:jDB/@"p^vI 2"BmuFX?pJ'D쿮"<ۿB3?*j,2j*p!}"(DX@s@ յ?pݜg'Lï?=J|qԦ?j[|@ jiϯ?+?i(E(j4Bj:77?j+jrjAzj/@ addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504998 s, deltaX: 0.500000 m, approachRate: 0.990103 m/s, rangeRepo size: 4  Added new target pos. range: 10.060224 m, bearing: 156.899888 deg, lat: 36.779400 deg, lon: -121.859664 deg, deltaT: 6.301885 s, deltaX: 2.988293 m, approachRate: 0.474190 m/s, posRepo size: 4 :i2ilNo longer in short final. Rolling out. Range: 10.10 m.NTransitioning guidance mode to: ROLLOUT i@hhh;hL?hggjgrgereZe :e @33$@*e ?UBeq=)e eֽia)eV aef7iii}?%@y)}L? (kpHeading = 0.800000I; (kiHeading = 0.004000IIDDAT read: Rx Time:04:26:26.6301 TRx dataTimestamp_ set to:1764908787.763492PDAT read: Bearing 289.0, -21.9 (Local) ~Local bearing/azimuth received: Bearing 289.0, -21.9 (Local) DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.5  DAT read: 04:26:26.6301 LVL= 32752, 23857, 26466, 32755, AGC= 54, IDX= 507, 0.25, 2.726,-1.333,-2.561,-2.310, PHS=-1.145, 1.022,-0.295, RAW= 307.1, 4.5, CAL= 304.7, 2.0, ROT= 205.3, -2.0 Ygot valid direction response: 04:26:26.6301 LVL= 32752, 23857, 26466, 32755, AGC= 54, IDX= 507, 0.25, 2.726,-1.333,-2.561,-2.310, PHS=-1.145, 1.022,-0.295, RAW= 307.1, 4.5, CAL= 304.7, 2.0, ROT= 205.3, -2.0 R#Rx 9: Read range and direction messages.`direction in FSK: [-0.903532,-0.427098,0.034899]%Fpublishing direction and range infoy4aCd쿩{UۿXޡ?Y1]bg )6I\iЂ?= Z@5-@ 5=)Re@I5ě P"++? #A)շI2,i5=checking for new query: numPingsReceived=9, elapsed TxPingTime=6.567316DU=DU%=E] E]E]"EY"E]:*E]=:VE](3ZEYam@am@am@am@:@ @@/@B>BACBT!IB*BB =BBúDBs|;B4E ^A A yAzA 1 u checking for new query: numPingsReceived=9, elapsed TxPingTime=6.804090A%AI)I9OM>@%,LA6W@6Q@6G=ٱ6FL=6H R?g?z a Ѣ?PۮǢe?`B?i6W@I6ob;6&CYFDByFt!I9iMb@Mb@Mb@ 9㥛 ?#~j~jthY>y㥽D A @)AYAbDVD8y-/$%-!=ٔ-3Q-->95c?Y5c?=5Ey5 E=6E=>AQ 5M5E"??Q 9M5E)EBYU>Q EU:yUQ IU@@EDIE:iE:E5y]$Bɮ]A]E1Ou uAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseqOuEntering Midcourse tracking update period 60.000000 s sec at 10.100000 m (mode 5.000000 count ).qOOMAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR1NResuming normal ranging with 1.000000 count pings 10.100000 m (mode 5.000000 count ).1NqNiiLAj A"j A:j-@"p8gA ."[TA/CC X}x?p4aCd쿩{UۿXޡ?*j2,2j5*p+Q"<׈@"?p@"FK?lK?jF@ jiע=;?ia/(jjV :?jΧH+j4Brj; Azj.@ addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.503025 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 10.060434 m, bearing: 155.711717 deg, lat: 36.779400 deg, lon: -121.859664 deg, deltaT: 0.503025 s, deltaX: 0.000211 m, approachRate: 0.000419 m/s, posRepo size: 4 A]DNOT Ignoring new targets: 10.06 m.hahahahahagagajgirgm Bq=mzmAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy=m {m@Uninitialize Buoyancy Component.reqZeq:eq*eu4?G=) `=i9)28ii @II9@ @@@DDAT read: Rx Time:04:26:27.1304 TRx dataTimestamp_ set to:1764908788.267664PDAT read: Bearing 288.7, -21.9 (Local) ~Local bearing/azimuth received: Bearing 288.7, -21.9 (Local) DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.4 =DAT read: 04:26:27.1304 LVL= 31216, 20209, 25634, 32755, AGC= 53, IDX= 510,-0.14, 2.234,-1.812,-3.052,-2.803, PHS=-1.144, 1.036,-0.293, RAW= 307.2, 4.3, CAL= 304.8, 1.6, ROT= 205.2, -1.6 iYgot valid direction response: 04:26:27.1304 LVL= 31216, 20209, 25634, 32755, AGC= 53, IDX= 510,-0.14, 2.234,-1.812,-3.052,-2.803, PHS=-1.144, 1.036,-0.293, RAW= 307.2, 4.3, CAL= 304.8, 1.6, ROT= 205.2, -1.6 T#Rx 10: Read range and direction messages.`direction in FSK: [-0.904474,-0.425613,0.027922]Fpublishing direction and range infoystV?=ۿ|p}?Y(AyN"d )5Ini?@`=;@ <)5e@I伩_r^)}_y? A)KI,i伩5checking for new query: numPingsReceived=10, elapsed TxPingTime=7.099440Em EmEm#Ei"Em:*Em3:VEm3ZEiBEm<JG%,q!LA2@2=@2H=ٱ2'H=2H c??`U?" G[? ?i2@I2b;2%CY>;By>i!I @@bDFVDF8yN)%RN=ٔR+ Q-R>9RYV=VEyTVnEV>XQ 5^5ZE?Q 9^5Zɘ)ZޒBY`ybQ Ib@@ZDIZ;iZy:Z"5ydɮfFAdkuN@O}O}j?qNNiih!LAjW'A"jW'A:j7,@Y"pOg"]H~D.2?pstV?=ۿ|p}?*j,2j*p'j"_cEտ@ȵ5f?pZr }T*'?0\1?j@ jci^(?i$jBjE}-?j(E(j$BrjK%Azj-@= addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.504172 s, deltaX: 0.400000 m, approachRate: 0.793379 m/s, rangeRepo size: 4 e Added new target pos. range: 10.458867 m, bearing: 154.874913 deg, lat: 36.779399 deg, lon: -121.859662 deg, deltaT: 0.504172 s, deltaX: 0.398433 m, approachRate: 0.790271 m/s, posRepo size: 4 mDNOT Ignoring new targets: 10.46 m.hihihihihqgqgqjgqrgqreyZey:e}%@*e}˚?[>[>"[-@*[Jʦ@eH=)a e[=ieA9)im3m\8iiiqqqIqIyԁߡߡDDAT read: Rx Time:04:26:27.6304 TRx dataTimestamp_ set to:1764908788.778176PDAT read: Bearing 287.0, -21.9 (Local) ~Local bearing/azimuth received: Bearing 287.0, -21.9 (Local) DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.4 %DAT read: 04:26:27.6304 LVL= 31088, 21281, 25298, 32755, AGC= 54, IDX= 510, 0.23, 2.719,-1.355,-2.578,-2.318, PHS=-1.144, 1.008,-0.304, RAW= 307.2, 4.7, CAL= 304.8, 2.5, ROT= 205.2, -2.5 =Ygot valid direction response: 04:26:27.6304 LVL= 31088, 21281, 25298, 32755, AGC= 54, IDX= 510, 0.23, 2.719,-1.355,-2.578,-2.318, PHS=-1.144, 1.008,-0.304, RAW= 307.2, 4.7, CAL= 304.8, 2.5, ROT= 205.2, -2.5 =T#Rx 11: Read range and direction messages.E`direction in FSK: [-0.903966,-0.425374,0.043619]M[RӺIUyA)UyA]Fpublishing direction and range infoyԩ٤I쿿?)T9ۿGU?Ypy!Sb )6Ii%?㥛= ¸2=)I¸2P2`#\~ ? A)75Ii¸2 checking for new query: numPingsReceived=11, elapsed TxPingTime=7.607955E5  E5 }E5 $E1 "E5 :*E5 k&:VE5 4ZE1 a= @a= @a= @aE @ :@  @ @ 5@ @ @ B >B BCB A!IB BB B B ĺDB };B 4E ^A >I I O >CN%,4i>LA2~@2&x@2= =ٱ2q[=2H@ ? ?@1?`* cf? ?i2~@I2b;2&CY>4By>a!IiMb@Mb@Mb@ 9y&1?B`"۹1yνtfA @)AY(Am@Am@Auchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.811050bD}VD}8yT%)=ٔQ->9Y=EyDE>Q 55"N?Q 95)֒BY->Q E:yQ I@@DIm ;i;Z5yɮ}AkO1PjNNii1LAjX'A"jX'A:j(,@"pڌ~"ݓ>2?p٤I쿿?)T9ۿGU?*j2j¸2*p"K.;@fs9?pFY쿽?ڕxY?jޑ@ j^i%O/6?iu&jHBj%O/6?ja/(j4Brj&Azj.,@ addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.510512 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 10.459050 m, bearing: 154.124694 deg, lat: 36.779400 deg, lon: -121.859662 deg, deltaT: 0.510512 s, deltaX: 0.000183 m, approachRate: 0.000359 m/s, posRepo size: 4 %DNOT Ignoring new targets: 10.46 m.h!h!h!h!h)g)g)jg1rg1re1Ze1:e1*e=}:?[]->[]->"[]^@*[]g@u= =)q u#=iu9)qu03u8iyiyyIIY-rg:ԉ@ @@4@- DDAT read: Rx Time:04:26:28.1306 - TRx dataTimestamp_ set to:1764908789.274927= DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.4 E Z#Rx 12: Read range message, but no direction.y) Y- ,A) M checking for new query: numPingsReceived=12, elapsed TxPingTime=8.067780E  E E #E "E :*E *:VE 3ZE BE I I O >WV%,YLA2"@2p @2=ٱ2q=2Hڵ?1?q`/W?ZԷ ,?@c?i2"@I25b;2%CY>&By>O!IbDFVDF8yN%NP=ٔRYQ-R>9PYP=REyPV EV>XQ 5^5ZT?Q 9^5ZM)ZВBY\ybMQ Ib@@ZDIZu:iZ:Z˴5yf*BɮfAfE "kY1PeetCompleted lineCaptureHoming:UpdatePingUpdateRate_Midcourse1Oe eAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_MidcoursejaNemCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRMmmAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.496751 s, deltaX: 0.300000 m, approachRate: 0.603925 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 10.46 m.hhhhhggjgrgreZe:e%@*e?[["[*[h@-=)) 5;i5w9)157358i1i999I9IAchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.3150379"9i%9@! @!@%2@!ԑ  DDAT read: Rx Time:04:26:28.6306  TRx dataTimestamp_ set to:1764908789.782715 DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.4  Z#Rx 13: Read range message, but no direction.y Y  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.574319^AU _>Ia Iq O >c\%,sLA6@EJ EJEJ&EH"EJ:*EJ*5:VEJ4ZEHaN@aN@aN@aR@6?@6}=ٱ6]J=6H`ed?o?{@Bo8O?q1@BCCB.!IB BB =B>DBźDBD};B5Ei Mb@Mb@Mb@     9 MbX9?B`"۹{GztY >y  ף A  @)  Y AbD%VD%8y5%50=ٔ59Q-=>99Y9==Ey9EݼEE>IQ 5U5M[?Q 9U5MT)MʒBY]>Q E]:y]cQ I]@@MDIM :iMw:M۸5yaɮe/Ai addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.507788 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 10.46 m.hhhhhggjgrgBreZe:e*e ?[->[->"[-}@*[-v@]}=)a e\=ie9)ae:3e8iiiiiqIqIqYchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.821282M>iM>ԁ@ @@3@Ա ^A] >Ii Iy O >c%,YLA,BOE@B>@BG<ٱBI=BH]?N?x@?̱`4B? ?iBOE@IBa;B%CYN/ByN[!I V9dYdhhrDDAT read: Rx Time:04:26:29.1308 rTRx dataTimestamp_ set to:1764908790.283838vPDAT read: Bearing 282.5, -22.2 (Local) z~Local bearing/azimuth received: Bearing 282.5, -22.2 (Local) DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.4 %DAT read: 04:26:29.1308 LVL= 14480, 7105, 10962, 16275, AGC= 55, IDX= 2, 0.38, 2.521,-1.552,-2.767,-2.491, PHS=-1.170, 0.983,-0.321, RAW= 306.9, 5.5, CAL= 304.6, 3.8, ROT= 205.4, -3.8 =-Ey)5E5>9Q 5E5=Bb?Q 9E5=ī)=ŒBYAyEQ IE@@=DI=S:i=>:UYgot valid direction response: 04:26:29.1308 LVL= 14480, 7105, 10962, 16275, AGC= 55, IDX= 2, 0.38, 2.521,-1.552,-2.767,-2.491, PHS=-1.170, 0.983,-0.321, RAW= 306.9, 5.5, CAL= 304.6, 3.8, ROT= 205.4, -3.8 UT#Rx 14: Read range and direction messages.]`direction in FSK: [-0.901349,-0.427992,0.066274]]Fpublishing direction and range infoyprZXO8dۿ{S?Yr1Apr8rr* r?)r7Ir•ir{?rZrg@r =r@=l5yqɮuAq rԇ=)roe@Irԇppr2Idƞ+Zݾ=]? rJA)r:ýIr,irԇppchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.095652ipirg*LAjr0A"jr0A:jr*@"pr"8#P/r?prZXO8dۿ{S?*jr,2jrԇ*pr/#Np@MX?prwBBC쿳H?/n?jrv@ jrAirnL+?ir$jrBjrnL+?jru&jprjr$0Azjra[*@Em EmEm'Ei"Em:*EmVL:VEm'4ZEiBEmI I O >R j%,LA2@2e۪@23<ٱ2ǰ=2Hy?`-?` Hv?@4@HS?@?i2@I2b;0Y>&ByBO!IbDJVDJ8`yj7%jJ=ٔnJQ-n>9lYl=rEyprEr>tQ 5z5vh?Q 95v)vBY y tQ I@@včDIv ;iv;vٿ5y-9Bɮ-A-EuDNOT Ignoring new targets: 11.06 m.hyhyhhhggjgrgreZe:e*e?[["[*[Ͳ@}3<)y }=iȧ9)顅u38iiIIDDAT read: Rx Time:04:26:29.6309 TRx dataTimestamp_ set to:1764908790.787585PDAT read: Bearing 281.0, -22.4 (Local)  ~Local bearing/azimuth received: Bearing 281.0, -22.4 (Local) DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.4 EDAT read: 04:26:29.6309 LVL= 32752, 20657, 25522, 32755, AGC= 52, IDX= 499,-0.22,-0.058, 2.177, 0.954, 1.237, PHS=-1.193, 0.985,-0.327, RAW= 306.7, 5.7, CAL= 304.4, 4.2, ROT= 205.6, -4.2 MYgot valid direction response: 04:26:29.6309 LVL= 32752, 20657, 25522, 32755, AGC= 52, IDX= 499,-0.22,-0.058, 2.177, 0.954, 1.237, PHS=-1.193, 0.985,-0.327, RAW= 306.7, 5.7, CAL= 304.4, 4.2, ROT= 205.6, -4.2 UT#Rx 15: Read range and direction messages.]`direction in FSK: [-0.899411,-0.430925,0.073238]eFpublishing direction and range infoyi TTHۿ?Y4APc )4I9i(|?l)K@%=P@ Q =)Le@IQ gKl0ϧ轿6hu^? ƇA)I˽Iiw,iQ checking for new query: numPingsReceived=15, elapsed TxPingTime=9.597147a@a @a@a@aE EEE"EU:*E|;:VEZEa@a@a@a@AAB>BBCB"!IBBBBBĺDB-};B4Eԑ^A >I I O > iߙ Iߝ A checking for new query: numPingsReceived=15, elapsed TxPingTime=9.827203(p%,ýLAԙ@y@J8<ٱ =H@t?a?@ yO?곿@ݥ@??i@I>Wb;&CY.ByY!I)-AiMb@Mb@Mb@ 91Zd?zGế~jthY">y ׽DAA A) AYAbDVD8y=%.=ٔ`KQ->9Y=EyϼE>Q 55n?Q 95)BY>Q E:yQ I@@ˍDI;iY;5yɮ[Ai!i%gLAj%4A"j%4A:j%8(@"p%dDO?$f -(a?p% TTHۿ?*j%iw,2j%Q *p%.#S@:]ϒ?p%/>bCAv]?[>"[]@*[Ѣ@MJ8<)I MiU9)QUU0 9iQiYYYIYIa@ @@@DDAT read: Rx Time:04:26:30.1311 TRx dataTimestamp_ set to:1764908791.291721PDAT read: Bearing 279.8, -23.0 (Local) ~Local bearing/azimuth received: Bearing 279.8, -23.0 (Local) %DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.4 EDAT read: 04:26:30.1311 LVL= 30608, 19729, 23154, 32755, AGC= 53, IDX= 501,-0.04, 2.124,-1.922,-3.126,-2.856, PHS=-1.202, 0.978,-0.314, RAW= 306.1, 5.7, CAL= 303.8, 4.2, ROT= 206.2, -4.2 UYgot valid direction response: 04:26:30.1311 LVL= 30608, 19729, 23154, 32755, AGC= 53, IDX= 501,-0.04, 2.124,-1.922,-3.126,-2.856, PHS=-1.202, 0.978,-0.314, RAW= 306.1, 5.7, CAL= 303.8, 4.2, ROT= 206.2, -4.2 UT#Rx 16: Read range and direction messages.]`direction in FSK: [-0.894849,-0.440320,0.073238]]Fpublishing direction and range infoyB!l4.ܿ?Y9AwMrZ )5I#ۙi5^z?Ġ`@@ )Sf@I"q^}[!c? }=B)3|̽I+i}checking for new query: numPingsReceived=16, elapsed TxPingTime=10.095178E EE!E"E7:*E.:VEc3ZEBE;a2E;aJE ;a:E ;a^AE ·>II Ia Om > Ww%,ݽLA:N@:@:v<ٱ:v=:H`"?I? =X?oL'|@ĸ?@?i:N@I:?a;:$CY^(BybQ!IdfAAbDjVDj8yr%rp=ٔvQ-v?9tYt=vEytzEz?|Q 55~r?Q 95~ʸ)~BYy Q I @@~ЍDI~p:i~:~5y?BɮAi9i=ҽLAj=8A"j=8A:j=(@"p=u@$(Yu!q?p=B!l4.ܿ?*j=+2j9*p=!>=/$X@3 ?p=Ა뿕c?5D!?j=Dz@ j=|!i=| ?i= %j=xBj=nL+?j= %j=xBrj=6Azj=[(@e addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.504136 s, deltaX: 0.300000 m, approachRate: 0.595078 m/s, rangeRepo size: 4 u Added new target pos. range: 11.554704 m, bearing: 151.033414 deg, lat: 36.779399 deg, lon: -121.859661 deg, deltaT: 0.504136 s, deltaX: 0.298828 m, approachRate: 0.592753 m/s, posRepo size: 4 uDNOT Ignoring new targets: 11.55 m.hqhqhyhyhygygyjgrgreZe:e@33'@*eڨ?[["[*[go@ AECechecking for new query: numPingsReceived=16, elapsed TxPingTime=10.331814Gv|AR09v|AY%-AvIQ m DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.3 & LCommunications Fault in component: DATI O > DAT read: 04:26:30.6311 LVL= 30960, 20097, 23122, 32755, AGC= 52, IDX= 501, 0.15, 2.357,-1.703,-2.888,-2.605, PHS=-1.219, 0.947,-0.327, RAW= 305.8, 6.4, CAL= 303.5, 5.5, ROT= 206.5, -5.5  Ygot valid direction response: 04:26:30.6311 LVL= 30960, 20097, 23122, 32755, AGC= 52, IDX= 501, 0.15, 2.357,-1.703,-2.888,-2.605, PHS=-1.219, 0.947,-0.327, RAW= 305.8, 6.4, CAL= 303.5, 5.5, ROT= 206.5, -5.5  T#Rx 17: Read range and direction messages. `direction in FSK: [-0.890814,-0.444144,0.095846] Fpublishing direction and range infoi ƵXӌ쿨lܿaVX?I x N RZ ) 4I 1i nr? l {ʪ@ = @ =) f@I Ľ ?ᅣE<Ź<? RB) I v+i Ľ  checking for new query: numPingsReceived=17, elapsed TxPingTime=10.612843y E  E E "E "E غ:*E a9:VE (3ZE a @a @a @a @/F}%,LAB&>B$B&!IB&BB& =B&?DB$B&};B&4EB BCB BCB B =B =C ل5F@F@F<ٱFU7=FH J?@~?@8?񝴿  ?;?iF@IFa;DYR$ByRM!Ii-Mb@Mb@Mb@)))) )Q9-:v?&1~jthY->y-н)-@-1 A ))-A)Y-AbDmVDm8yf%2=ٔ5:Q->9Y=EyhּE>Q 55x?Q 95)BYN>Q E:yQ IA@֍DIf:i,:5yɮAUDNOT Ignoring new targets: 11.55 m.hQhYhYhYhYgYgYjgarge$BreaZea:ea*em\A[N>[N>"[^@*[@<) i9)8$9ii   I Iԁ9@ @@/@ԩ^A I I! O- > Powering downi I e=%,zLABS@BEM@B08<ٱB[=BH{??@Vs Q?Ϛݹ? N?iBS@IBsa;B&CYN+ByRV!IV=V=bDZٿVDZ8yb"=%bk=ٔbK:Q-f?9dYd=fEydjEj?lQ 5r5n|?Q 9r5nU)nBYpyrQ IvA@nۍDIn{;ing:n5yxɮzAxDNOT Ignoring new targets: 11.55 m.hhhh!h!g!g!jg!rg)E- -Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE-5Transitioning to midcourse guidance. Received last range of 11.600000 m 29955906.133333 min ago.E51F5re1Ze1:e9*e9[Y[Y"[Y*[]+@m08<)i u W%,`+LA:@:&@:}.<ٱ:=:H*??ѱ? tğ!?A?i:@I:a;:%CYN,ByNW!I XZ<bD^VD^8yj;%jK=ٔn*:Q-n>9pYp=rEypvnEv>xQ 55z?Q 95z)zBY y Q I A@zDIz0;izQ>;z5yɮA!uDNOT Ignoring new targets: 11.55 m.hqhqhqhyhygygjgrgRg@1FCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangereZe:e*e[["[*[5H@}}.<) FBMACBIBIBIBIBMúDBM|;BM4Ei ^A 8j>I I O >@%,AELA :@:>@:=ٱ:=:H@?@?`0¬?෫ S'!?@?i:@I:a;:$CY^*By^T!IimMb@Mb@Mb@iiii i9mK7?MbYmI>ymmmfAm^ A m|A)mAiYmAbDVD8y^5%>=ٔ];Q->9Y=EyE>Q 55A?Q 95)BY>Q E;yQ IA@DI";i;?5yɮAqLAggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalDAggregate::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@ffHBrfL? Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )q@ A  :Initialize WaypointComponent.ZNavigating to waypoint: 36.779130,-121.859630reZe:e*e[=>[=>"[=x@*[=+@ɢM ?)M USyAiU$`:)QUV6UiU]I]Ai@ @@3@ԙEu EuwEu%Eq"Eu:*Eu:VEu 4ZEqBEu;a}2Eu;aJEuk;a:Euk;a^A#>I1 &E NClearing failed state for component DATq E II OU > yi%,_LA2/@2(@2n=ٱ2F=2H@Ƀ? ^P?Bc@W?Ĵ͠3Y? ?i2/@I2 a;0YB-ByBX!I DDbDJVDJ8PyV<%V[=ٔV";Q-V>9XYX=ZEyX^E^>`Q 5f5b6?Q 9f5b)bBYdyfQ IfA@bDIbu:ib:b5ylɮnAlqPzzAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalPz~Entering Terminal tracking update period 2.000000 s sec at 11.600000 m (mode 0.000000 count ).P~Pf f A:@f g ffrfq=zAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy= { (kpHeading = 0.400000I: (kiHeading = 0.001000 >I?B=@ ?B=@IIE)EEiE^AK>IIOh>! 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B! B% ~;B% 5ED1 D5 4=EE  EE EE $EA "EE I:*EE C:VEE 4ZEA BEE <2EE <JEE >;:EE >;}%,LA>}@>^v@>B=ٱ>y=>H@gL?\?8?!᡿ 1?7?i>}@I>];>%CPY~By~ IiMb@Mb@Mb@ 9/$?i|?5Y>y̼AA A)^ AYA <<bDVD8y%?=ٔpQ->9Y=Ey E L/E >Q 55߬?Q 95 )2BYǶ>Q E%;y%ĸQ I%A@.DI;i:\5y)ɮ-A)EB*** querying acoustic contact ***iAiAfQfQfQgQfYfYrfYeYreYZeY:ea*ea颍BɢI)  i)~:顑i⻩M%=ɧO駥ҽiz6@Iz6@ z6@IAEAIIIYOm5>! e%,LA2{M@2F@2Q=ٱ2=2Hu?@;?RFO? V>n頿f? 8?i2{M@I2]];2#CY>߂ByN IbDZVDZŰ8yb%b[=ٔbQ-b>9fc?Yfc?=fEyf EfɂEj>hQ 5r5j/?Q 9r5jg)j)BYpyrQ IrA@j2DIj;ij;j5ytɮz6Ax|fffgffrf!e!re!Ze!:e!*e)UBɢU#)Q ] iY)]< :YYi]߻e#=ɧe mc޽imu6@iiImu6@ mu6@IqE EE%E"E:*E|;:VE 4ZEa@a@a@a@A II!)O5 >Qԁ %,R0LA2U@2@2g=ٱ2]_=2H@?c?@K W?B ?`F?i2U@I2hD];2$CY>ނBy@ DDDDbDJ VDJ8yR %RL=ٔVQ-V>9TYT=VEyZ EZzzEZ>\Q 5b5^?Q 9b5^ )^ BYdyfVQ IfA@^7DI^:i^:^ 5yhɮj9AhYfffgffrfereZe:e*eBɢLܺ) Hi)y:iۻ!=ɧ4i)6@I)6@ )6@IA)IIIqԉO>DzDE EEE"E:*E*:VEZEB>BB IBBB =BBƺDBg~;B5EԱ Ew%,WJLA6H@6ݤ@6<ٱ6=6H:??"`?4ذ 8&?@?i6H@I6];4YBۂByB Ii Mb@Mb@Mb@     9 K?/$Y ^>y     A ) G A Y AAAbD%VD%8y5Y%5B=ٔ5Q-=>9Y=Ey E|E>ԹQ 55'?Q 95v)BYX>Q E ;ywQ IA@E EE#E"Eغ:*E1]:VE3ZEBE CM G %,=dLA08R.9PYR+Ar@r@rc<ٱrڹ=rH? @?`:L?5 ؞0??ir@Ir,];pY~ӂBy~ IbD VD 8y/0%K=ٔ%Q-%>9!Y!=%Ey- E-IE->1Q 5=55?Q 9=55[)5BYAyELQ IEA@5ADI5f;i5r;5<5yM|BɮMLAM EfifqfqgqfqfqrfyeyreyZey:ey*e颭BɢRH) !i)9顱igջ=ɧ&駽_i44@I44@ 44@IAIIO>AqB >B B IB BB B B źDB ~;B s5EBDCBDCBʓCBB =C4E  E E $E "E a:*E 3:VE 4ZE BE (<2E (<JE ;:E ;ԙ %,k~LA6r@6ߴ=6Hom? -?α!2?Bͮ LȚ h?H?i6r@I6];6&CYb҂By`If=)f=j=j=iUMb@Mb@Mb@QQQQ Q9UMb?S㥛I +YU>yU$U94UAU^ A UA)U AQYUAbDmVDmư8y}%D=ٔnQ->9Y=Ey EE>Q 55߳?Q 95)BY[>Q E;yQ IA@FDI;i:"5yɮPAB*** querying acoustic contact ***iifffgffrfereZe:e*eq颽Bɢ) i)19iQVһz>=ɧ0O iFo4@IFo4@ Fo4@IAE.AIIIYOu6>ԡ %%,LA26@2^/@2 <ٱ29=2H@? )?Ej;?ZUo޵?@?i26@I2];2#CYBтByB I HJp<bDN<VDN8yV%VY=ٔVdQ-V>9Z ?YZ ?=ZEyZ E^E^>`Q 5f5b?Q 9f5b)bBYdyfQ IfA@bKDIb~:ib2:b*&5ylɮnWAlfyfyfygyfyfyrfereZe:e*e颵ނBɢ bEM4jEMJ4rEM8/E EEE"Eغ:*EV:VEZEa@a@a@a@) Ӽi)n9i(ϻ=ɧ:iK3@IK3@ K3@IAaIqIO>) +%,~ıLA6@6@6v<ٱ62`=6H`~? F?`WK?@F 9XYX=ZEyZ E^DE^>`Q 5f5b!?Q 9f5b)bBYdyfQ IjA@bPDIb:ib:b)5ylɮn.Alf|ffgffrfere Ze :e *e =ڂBɢ=5")9 =iA)EE9AAiE8@ͻM=ɧMDMziMg3@IQIUg3@ Ug3@IQYI I1O]>E EE#E"Ey:*ErN:VE3ZEB>BCCBBB =BBB8~;B5Eyԩ 2%,sLA6t@6¡@6<ٱ6n=6HV? nb?s?x̪Ԗ@??i6t@I6 '];6%C@YbӂByb I ddddiMMb@Mb@Mb@IIII I9MMbX?HzGMbpYM>yM= MMAM A M9A)M AIYMAbDe/VDeذ8yu%u>=ٔ}6Q-}>9yYy=}Ey EE>Q 55@?Q 95$)BY8>Q E:yQ IA@VDI ;i?;s-5yɮKAfffQgQfQfQrfYeYreYZeY:eY*eaՂBɢo8) i)9iʻ=ɧO^%i2@I2@ 2@I ԩII!O5->E EE$E"E:*E*5:VE4ZEBE?8ԂByB IDFAAbDJ*VDJӰ8yj.;%jU=ٔn_pQ-r>9tYt=vEyv EvżEz>xQ 5~5z ?Q 95z()zBYyQ IA@z[DIz;iz;z05y ɮDAf1f1f1g1f1f9rf9e9re9ZeA:eA*eAmтBɢmZ=:)q u;iq)u9qqi}ޯȻ=ɧX駅-iF2@IF2@ F2@IIIO= 1B >B DCB IB BB =B B B ~;B 5E D %=D =E  E E )E "E Ʊ:*E ?:VE FA4ZE BE @;2E B;JE ;:E ;=?%,.XLA2W@2 @2n<ٱ2>=2H?Ԝ? {j ;?E??i2W@I29];2$CYB҂ByB Ii=Mb@Mb@Mb@9999 99=M?S㥛~jthY=n>y=$=D=9A= A =A)= A9Y=(AbDmVDm8y%@=ٔ Q->9ԩY=Ey EE>Q 55O?Q 95-)BY>Q E:yfQ IA@aDIc;iNR;45yɮRA-B*** querying acoustic contact ***i)i)fAfAfAgAfAfArfAeIreIZeI:eI*eI}̂Bɢ};:)  .9hYh=jEyj EjļEn>pQ 5v5r5?Q 9v5r1)rBYtyvQ IvA@rfDIr2:ir:r75yzBɮ~A~Efffg!f!f!rf!e!re!Ze):e)*e)]ȂBɢ]L>;)Y e =ia)e(9aaieĻmv =ɧm"nm4>iu1@qqE EE#E"E:*EVE3ZEa@a@a@a@I51@ 51@I9IIO=!Iy G,L%,3LA:~@:w@:l<ٱ:J=:H=?Y?/ѯ p?@RQ W ֲ?]?i:~@I:\O];:#CY^Byb I f9tYt=vEyv EzEz>|Q 55~?Q 95~6)~BYy Q I A@~lDI~:i~S:~h;5yɮIAf1f1f9g9f9f9rf9eAreAZeA:eA*eA额ÂBɢ;) t=i)9顡i/tû=ɧx駭%Gi*0@I*0@ *0@IQIaIqO}=B->B-CCB- IB-BB- =B)B)B-~~;B-5EDzDAAE EE$E"E:*E|;:VE4ZEBE y15;5A5 A 5A)5 A1Y5AbDuۿVDu8yؼ%@=ٔށQ->9Y=Ey E8E>Q 55?Q 95C;)BY >Q E:y\ĿQ IA@rDI#:io:?5yɮwAfffgffrfereZe:e*eBɢ;) |=i)U :i%%S=ɧ%-rOi-/@))I-/@ -/@I1ԱAE؟AIQIaOm>E EE#E"E:*EE7:VE3ZEa@a@a@a@ 9 W>Y%,&fLA2 @2Z@2Hz<ٱ2ŏ=2H =? ?0A?Ȥ O.? ?i2 @I2uc];2!CY>ByB I @@DFAbDJ̿VDJ}8yR<%RZ=ٔVDUQ-V>9V"?YV"?=ZEyZ EZ+ƼEZ>\Q 5b5^?Q 9b5^b?)^ߑBYdyfſQ IfA@^wDI^):i^l:^eB5yhɮjJAhfxf|f|g|f|f|rfereZe:e*e 颵Bɢ;) h=i)?:i=ɧцWib/@Ib/@ b/@IIIO >9i B% >B% DCB% IB% BB% =B! B% ƺDB% E~;B% 5ED =D 4=E  E E 'E "E :*E V:VE '4ZE BE  ףp=?ʡEMbP?Y>yy:5A )^ AYbDVD8y;%6=ٔ׌Q- >9 Y = Ey  EE>Q 5%5꼢?Q 9%5hD)ۑBY%L>Q E%:y-Q I-A@}DI:iI:QF5y1ɮ5>A1MB*** querying acoustic contact ***iIiIfYfYfYgYfYfarfaeareaZea:ei*ei颕Bɢ;) =i)Z2:顙i<ɧ駭eai.@I.@ .@IAA>iIIO>ԙ 3Pf%,zLA:H@:B@:3<ٱ:=:H? @?XLo?@UБ@{??i:H@I:K];:%CPYRByR IbDZVDZ8yb'V%fa=ٔfQ-f>9hYh=jEyj EjӼEj>pQ 5v5r?Q 9z5r{H)rّBYy ¿Q IA@rDIri;ir;rI5y!ɮ%QA!fAfAfAgAfIfIrfIeIreIZeQ:eQ*eQE EE#E"E:*EVL:VE3ZEa@a@a@a@颕Bɢ <) =i) E:顙i鷾0<ɧz駭hia4.@Ia4.@ a4.@IIaIqO}=͂Gs 9YnA! ^zl%,&VLA2@2@2D<ٱ24S=2H@?Z?@2Xeb?@آ](`f??i2@I2];2$CYBByB IID)F9Y=Ey EgE>!Q 5-5%$?Q 9-5%M)%֑BY1y5ÿQ I5A@%DI%:i%`:%M5y9ɮ=YAAfafafagafafarfieireiZei:ei*eq颥Bɢ.<) =i)3\:顩i[<ɧ駵Xwqi-@I-@ -@IIyIO=B>BCCB IBɂBB =BBźDBD~;B5EBCCBBBBC|5)E E~E%E"EI:*E(:VE 4ZEBEyA A A)K AYA <<bDVD8y;%==ٔQ->9Y=Ey EE>Q 55?Q 95Q)ґBY>Q E:y<ĿQ IA@DI ;ib:P5y Bɮ A Ef)f1f1g1f1f1rf9e9re9Ze9:e9*eAuBɢub<)q }L=iy)}x:yyi}<ɧ駅Pzi,@I,@ ,@IAxAzAzAI1IIOU=ԁbE3jEm4rEXQ0E EE!E"Eg:*ErN:VEc3ZEa@a@a@a@Ա y%, LA2M@2"G@2A<ٱ2q=2H ? ?@/ę@ז?@g-?`n?i2M@I2];2"CYVۂByV IbDjտVDj8yr"0%r\=ٔr*:Q-r>9tYt=vEyv Ez*gEz>|Q 55~?Q 95~)V)~ΑBYyƿQ IA@~DI~;i~;~T5yɮAf1f1f1g1f9f9rf9e9reAZeA:eA*eAmBɢu<)q u=iqԹ)w):il滻<ɧGif,@If,@ f,@I IIO=B >B BCB IB ĂBB =B B ĺDB ~;B 5EE  E E %E "E :*E .:VE 4ZE BE y}}}A}K A }fA)} AyY}p AbDVD8y;%>=ٔ\:Q->9Y=Ey EME>Q 55þ?Q 95[)ʑBY>Q E:yʿQ IA@DI:i:W5yɮ7A1mB*** querying acoustic contact ***iqiqfyfyfygyfyfrfereZe:e*eBɢ<) =i)9-:iXƺ0i<ɧni ܾ+@  I ܾ+@ ܾ+@IA9IAIYYOm5>ԉԱ %,+—LAY~΂By I  @AbDοVD~8y%7%%S=ٔ-Q-->9)Y)=-Ey- E5E5>9Q 5E5=?Q 9E5=x_)=ǑBYIyIQ IMA@=DI=:i={:=?[5yQɮU}AQEe EeEe#Ea"Eeغ:*EeA:VEe3ZEaam@am@am@am@fffgffrfereZe:e*eBɢ<) =i)`:i㹻@<ɧ$i>(+@I>(+@ >(+@IA?A?ԑA-.AIIIaOm>  :DAT read: MF Frequency Band  vDAT read: Directional Acoustic Transponder version 8.15.0  BDAT read: Dec 5 2025 04:26:43  Ȍ%,=5—LAs@ߞ@r<ٱ_=H`??@*?@3`Γ{?@=?is@I]];$CYm̂Bym IbDVD8y(%C=ٔU;Q->9 ?Y ?=Ey EZE>Q 55?Q 95BUCCBU IBUBBU =BU?DBUźDBU;BU5EE EE"E"E,:*E|;:VE(3ZEABE!I K%,xO—LA0F@FP@F<ٱF7Y=FH M?@ ?@iU?-c,.?@?iF@IF9];F"CYfByf IIj<)j%=j=j=iUMb@Mb@Mb@QQQQ Q9U{Gz?/$I +YU>yU1U94QU A UA)Ub AQYUG AbDmؿVDm8y}:{%}L=ٔ9Q->9Y=Ey E[E>Q 55M?Q 95i)BY>Q E:yCϿQ IA@DI ;i;gb5yɮAfffgffrfereZe:e*e Bɢ 4Y<) =i):iyM<ɧ%=%_di%P)@!!I%P)@ %P)@I)ԑA؟AI IO-,>ԹE} E}E}&Ey"E}:*E}R:VE}4ZEya@a@a@a@ ڙ%,PUi—LA\^l$@^@^w!<ٱ^ fT=^H ?@!?^ )@q?`ᾟ Ca?b?i^l$@I^1];^#CYBy% I -<)bD5VD58yEӗ%EN=ٔM*:Q-M>9M"?YM"?=UEyU EUEU>YQ 5e5]]?Q 9m5]m)]BYiymпQ ImA@]DI];i],;]e5yyɮAfffgffrfereZe:e*eBɢ <)  D=i )e&:i%y<ɧ%% i%1)@!)I-1)@ -1)@I)AAzAExAA.AIIO>LDAT read: Features enabled [Bearing] DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 600BU >BU DCBU IBU BBU =BU >DBU ƺDBU ;BU 5EI D =D <E  E E E "E :*E a9:VE ZE BE yE= EuE|AA EA)E AAYE AbDVDȰ8yB~%D=ٔIi:Q->9 ?Y ?=Ey" EE>Q 55c?Q 95ns)BY>Q E:y-пQ IA@DI2 ;i7 ;i5yBɮ A(EB*** querying acoustic contact ***iifffgffrfereZe :e *e =~Bɢ=v<)9 =ؿ=i9)EF:AAiE7M!<ɧMMNiMt(@IQIUt(@ Ut(@IQ9A؟AIIO#>iԑ %,p —LA:>[@:T@:<ٱ: LB=:H ?pN?G T4?k>E? ?i:>[@I:J];:#CYFByF IbDNVDN8yVVۼ%V\=ٔZQ:Q-Z>9Z"?YZ"?=ZEyZ& E^E^>`Q 5f5bT?Q 9f5bHx)bBYdyjѿQ IjA@bDIb:ib:bl5ylɮn. Alfffgffrfe re Ze :e *e EE EEEE#EA"EE>:*EE=:VEE3ZEAaM@aM@aM@aM@UyBɢU-7 <)Q U=iQ)]lj:YYi]lev<ɧezeie'@iiIm'@ m'@IiyAIIO>ԡ %,—LA22@2@2"<ٱ2^==2H-G?)d?K*`vi@"?`uQ?y?i22@I2];2"CYBByB IHJAAbDJVDJ8yj <%nH=ٔrT:Q-r>9pYp=vEyv* EvEv>xQ 5~5z?Q 9~5z}Q =tI)zBYy|ӿQ IB@zÎDIz;izD;zXp5y ɮ  A f1f1f1g1f1f1rf9e9re9Ze9:eA*eAmsBɢmG<)q uT=iq)u3:qqiu)Ʋ}<ɧ駅g+i'@I'@ '@IA?A>B >BECB IBBB =BBB~;B5EAADIzDM@AEU EUEU$EQ"EU,:*EU?:VEU4ZEQBEU BDAT read: Rx Time:04:26:46.8362 TRx dataTimestamp_ set to:1764908811.0870711Y ,%,~—LA2@2}@2ݭ<ٱ2J8=2H?@w? | 1?@ 7 ??i2@I2];2#CYNByN IiMMb@Mb@Mb@IIII I9M r?333333ÿ:vYM?yMMTMAMG A MA)M AIYMG AbDeVDe8yu2%uA=ٔ}<%:Q-}>9yYy=Ey. ExE>Q 55?Q 95)BY ?Q E:yֿQ IB@ʎDI;i ; t5yɮ AfffgffrfereZe:e*emBɢj<)  =i ) I:  i Mف<ɧ(iP@&@IP@&@ P@&@I!1DAT read: 04:26:46.8362 LVL= 576, 577, 578, 611, AGC= 14, IDX= 293, 0.34, 1.640,-2.311, 2.849, 3.130, PHS=-1.389, 0.887,-0.325, RAW= 302.2, 8.4, CAL= 299.7, 9.4, ROT= 210.3, -9.4 %Ygot valid direction response: 04:26:46.8362 LVL= 576, 577, 578, 611, AGC= 14, IDX= 293, 0.34, 1.640,-2.311, 2.849, 3.130, PHS=-1.389, 0.887,-0.325, RAW= 302.2, 8.4, CAL= 299.7, 9.4, ROT= 210.3, -9.4 %8DAT read: $Error in header -*Received a bad headerAIIO >aE] E]EYEY"E]:*E]rN:VEYZEYae@ae@ae@ae@Ա Ce 3G} {A +9 {AY (A +%,֩—LA2j@2@2o<ٱ2o3=2H@ ? ?K?#:-j?8?i2j@I2];2$CY\y\b=b=bDfVDf8yrؐ:%rS=ٔv:Q-v>9xYx=zEy~2 E~E~> Q 55 ߴ?Q 95 ) BYy$ؿQ IB@ ЎDI <;i #=; ow5y)ɮ- A)fYfafagafafarfieireiZeq:eq*eqEfBɢE<)I M=iI)mG}:iiiusﯻuUk<ɧ}}4i}%@yyI}%@ }%@IԱAIIO$>eBDAT read: Rx Time:04:26:47.8365 eTRx dataTimestamp_ set to:1764908811.842717PExceeded connect timeout, disconnecting.*entering command modeB >BB IBBBBBB~;B5EBDCBBȔCBB =C5 Eu  Eu Eu "Eq "Eu y:*Eu ga:VEu (3ZEq BEu  b(setting verbose to 3iEMb@Mb@Mb@AAAA A9EMbX?ktƿMb`YE ?yE 0EEAA EA)AAYE A YYbD]οVD]~8ym70%mB=ٔukQ-u>9qYy=}Ey}6 E}E}>Q 55?Q 951)BY?Q E:yݿQ IB@؎DI;i;{5yɮ AB*** querying acoustic contact ***iifffgffrfereZe:e*e}`Bɢ}<) (=i);顁i،6S<ɧbNi$@I$@ $@ IAIIOE>1!DAT read: user:1>04:26:47.8365 LVL= 1520, 1057, 1250, 1571, AGC= 27, IDX= 408, 0.08, 1.722,-2.282, 2.947,-3.119, PHS=-1.340, 0.882,-0.261, RAW= 301.0, 7.5, CAL= 298.5, 7.4, ROT= 211.5, -7.4 8DAT read: $Error in header *Received a bad header% Vchecking for verbose setting acknowledgmenta :%,YR×LA 69@6:3@6<ٱ6$=6H ? ?ᢿ`o?P ?@k?i69@I6];6"CYrByr IbDzVDz8yڻ%R=ٔ%:Q- >9 Y = Ey : EE>bE4jE4rE0E% E%E%(E!"E%:*E%A:VE%c44ZE!a5@a5@a5@a5@Q 5=5?Q 9E5)BYIyM޿Q IMB@ߎDIG;iG;~5y]BɮeG!Ae1EfffgffrfereZe:e*eZBɢl<) =i ) l;  i RP<<ɧ%s%i%#@!)I-#@ -#@I)iVchecking for verbose setting acknowledgmentAAIQIaOm>ԙ  BDAT read: Rx Time:04:26:48.8368  TRx dataTimestamp_ set to:1764908812.856118 Vchecking for verbose setting acknowledgmentd%,-8×LABnManaging dock network, ignoring radio surface power offPY~By~ I   AbDVD8yU3<%UE=ٔUQ-U>9YYY=]Ey]? EeEe>iQ 5u5mA?Q 9u5m)mBYqyqQ I}B@mDIm;im;m 5yɮ !AfffgffrfereZe:e*eTBɢ6<) >i)1 ;i4aJ#<ɧþi-"@I-"@ -"@IB >BBs IBsBBBBǺDB~;B5EAIIO>Ee EeEe#Ea"Ee:*Ee;J:VEe3ZEaBEe9AYA=EEyEC EEZEE>IQ 5U5M˧?Q 9U5M)MBY]?Q E]:y]߿Q I]B@MDIM;iM;M5yaɮmJ!Aif f f g f f rf ereZe:e*eeDAT read: 04:26:48.8368 LVL= 31728, 18017, 24146, 31555, AGC= 57, IDX= 475,-0.05, 1.281,-2.726, 2.530, 2.709, PHS=-1.326, 0.893,-0.223, RAW= 300.2, 6.9, CAL= 297.8, 6.0, ROT= 212.2, -6.0 uYgot valid direction response: 04:26:48.8368 LVL= 31728, 18017, 24146, 31555, AGC= 57, IDX= 475,-0.05, 1.281,-2.726, 2.530, 2.709, PHS=-1.326, 0.893,-0.223, RAW= 300.2, 6.9, CAL= 297.8, 6.0, ROT= 212.2, -6.0 u8DAT read: $Error in header }*Received a bad header颥MBɢ?-7<) >i);顩iVchecking for verbose setting acknowledgment,<ɧjɾi$"@I$"@ $"@IAA?)A!I)I9OM1>YEM EIEM$EI"EMI:*EIVEM4ZEIa]@a]@a]@a]@ Vchecking for verbose setting acknowledgmentԁ v%,k×LAF\@F@F<ٱFt"=FHȪ?@(? m? .ꚿ K?@x?iF\@IF'];F!CYnByr IbD~VD~Ȱ8y mԻ%M=ٔG:Q->9Y=Ey%G E%E%>)Q 5=5-?Q 9=5-)-BYAyErQ IEB@-DI-(;i-y);-5yQɮUU!AQYfyfyfgffrfereZe:e*e颽GBɢ-N<) p>i);iKh;ɧkϾiL!@IL!@ L!@IԉAIIO!>MBDAT read: Rx Time:04:26:49.8370 MTRx dataTimestamp_ set to:1764908813.858925UVchecking for verbose setting acknowledgmentԱB>BBl IBnBBBBB~;B5E E%  E% E% &E! "E% :*E% :VE% 4ZE! BE! a 2E! a JE% ;a :E% ;a b%,υ×LA00NVchecking for verbose setting acknowledgment^u@^kn@^M<ٱ^=^H ??K &qҴ?I`4aO??i^u@I^v];^#CY%By% II-<)-C=-=)ԱiMb@Mb@Mb@ 9i|?5?+ÿY?y A^ A bA) AYf AbD!VD˰8yռ%>=ٔ<9Q->9Y=EyK E/E>Q 55&?Q 95)}BY ?Q E:yQ IB@DI:i:5y ɮ !AB*** querying acoustic contact ***iifAfAfIgQfYfYrfYereZe:e*e=?Bɢ=d@<)9 =>iY)e$;aaiemG;ɧmm^־imp[ @iqIup[ @ up[ @IqIIOe> }DAT read: 04:26:49.8370 LVL= 27360, 15057, 19602, 30099, AGC= 56, IDX= 477, 0.06, 1.041,-3.001, 2.272, 2.451, PHS=-1.308, 0.876,-0.224, RAW= 300.2, 7.0, CAL= 297.8, 6.3, ROT= 212.2, -6.3 Ygot valid direction response: 04:26:49.8370 LVL= 27360, 15057, 19602, 30099, AGC= 56, IDX= 477, 0.06, 1.041,-3.001, 2.272, 2.451, PHS=-1.308, 0.876,-0.224, RAW= 300.2, 7.0, CAL= 297.8, 6.3, ROT= 212.2, -6.3 8DAT read: $Error in header *Received a bad header Vchecking for verbose setting acknowledgment1 %,ę×LA2@2@2c~<ٱ2=2H@J??@ } Z\?@ D q?@?i2@I2p];2$CYRByR I `bp<bDfVDf8yrw=%v\=ٔvr:Q-v>9xYx=zEyzO E E >Q 55x?Q 95Q)yBYyQ IB@DI;i;&5y˖Bɮ!A;EE EE%E"E:*ER:VE 4ZEa@a@a@a@fffgffrfereZe:e*e%9Bɢ%<)! %=>i))-,;))i-H5W;ɧ5 57ܾi=@99I=@ =@I9Vchecking for verbose setting acknowledgmentIYIiO}>Aqe BDAT read: Rx Time:04:26:50.8373 m TRx dataTimestamp_ set to:1764908814.866882m Vchecking for verbose setting acknowledgmentԙ ~%,}w×LAZ@Zӓ@Z<ٱZSe =ZHy??^@X ?G@]|?@?iZ@IZ];Z!CYfByf IbDrVDr°8yvj%zJ=ٔz:Q-z>9xY|=~Ey~S EE>Q 5 5D?Q 95j)uBYy/Q IB@ DI%:i:5yɮ%!A!fAfAfAgAfIfIrfIeIreIZeQ:eQ*eQ3Bɢ<) ;>i)6;iH ]:ɧ O wi@B=>B9B9B9B= =B9B9B=~;B=5EqQIu@ u@IyII O=E EEE"ED:*EVL:VEZEBE19yYy=}Ey}W E9E>Q 55p?Q 95)tBY?Q E:yQ IB@DI ;iP;V5yɮ!AfffgffrfereZe:e*eEDAT read: 04:26:50.8373 LVL= 29776, 17649, 20786, 28755, AGC= 56, IDX= 464, 0.42, 0.244, 2.466, 1.464, 1.642, PHS=-1.296, 0.869,-0.222, RAW= 300.3, 7.0, CAL= 297.8, 6.3, ROT= 212.2, -6.3 UYgot valid direction response: 04:26:50.8373 LVL= 29776, 17649, 20786, 28755, AGC= 56, IDX= 464, 0.42, 0.244, 2.466, 1.464, 1.642, PHS=-1.296, 0.869,-0.222, RAW= 300.3, 7.0, CAL= 297.8, 6.3, ROT= 212.2, -6.3 U8DAT read: $Error in header ]*Received a bad headerVchecking for verbose setting acknowledgment+BɢQB<) ~Y>i)qB;ir|ɧ&9!Y!=%Ey-[ E-E->1Q 5=55?Q 9=55F)5rBYAyEQ IEB@5DI5:i5H:5Ț5yMĖBɮMR!AU:EfqfqfqgqfqfyrfyeyreyZey:e*e颭%BɢǢ<) j>i)pM;顱ih ɧi@I@ @IIQIaO=!%BDAT read: Rx Time:04:26:51.8376 %TRx dataTimestamp_ set to:1764908815.874875%Vchecking for verbose setting acknowledgmentQB->B-FCB-s IB-sBB- =B)B)B-~;B-5Eԁ D =D 4=E  E E &E "E ;*E ;J:VE 4ZE BE L9Y=Ey` EE>Q 5U5؈?Q 9]5)pBYe?Q Em:ymkQ IuB@#DIi)/];顱iX画ɧyi@I@ @IԱA II)O5q>]DAT read: 04:26:51.8376 LVL= 28144, 15217, 19778, 28787, AGC= 55, IDX= 468, 0.00,-1.201, 0.993,-0.010, 0.182, PHS=-1.280, 0.857,-0.235, RAW= 300.7, 7.2, CAL= 298.3, 6.7, ROT= 211.7, -6.7 eYgot valid direction response: 04:26:51.8376 LVL= 28144, 15217, 19778, 28787, AGC= 55, IDX= 468, 0.00,-1.201, 0.993,-0.010, 0.182, PHS=-1.280, 0.857,-0.235, RAW= 300.7, 7.2, CAL= 298.3, 6.7, ROT= 211.7, -6.7 m8DAT read: $Error in header m*Received a bad headerVchecking for verbose setting acknowledgment %,[ ėLAVM@Vۖ@Vs<ٱV0=VH` m_??^ ,ZQ?7ᚿ Ԛc??iVM@IVd];V!C`YjByj IEr ErEr%Ep"Er2:*Er:VEr 4ZEpav@av@av@av@Ix)z4=~=~=bDVDyr =%d=ٔi:Q->9Y=Ey%c E%0E%>)Q 555- ?Q 955-)-nBY9y="Q I=B@-*DI-;i-;-ӡ5yEՖBɮE!AECEGU/9QYU,AfqfqfqgqfqfqrfyeyreyZey:ey*eBɢ^<) >i)4/j;i餻59ͻɧ558{i5=D@11I5=D@ ==D@I9BDAT read: Rx Time:04:26:52.8380 TRx dataTimestamp_ set to:1764908816.632896Vchecking for verbose setting acknowledgmentIaIyO9>A = Vchecking for verbose setting acknowledgment%,:ėLA2w@29q@2<ٱ2+=2H +? } ^q `@]|??i2w@I2"];2CY>ByB I DF4=bDJVDJ8yR %RR=ٔVA;Q-V>9TYT=VEyZg EZEZ>\Q 5b5^~?Q 9b5^)^lBYdyfQ IfB@^1DI^:i^:^:5yhɮj!AhfqfqfqgqfyfyrfyeyreZe:e*eBɢ<) >B>BB IB}BB =BBB[~;B5EBECBECBCBBC4i)Zw;i1%ɧ%b%xi%t@!!I-t@ -t@I)A=yAzA=zAIIDzDAAE EE#E"ED:*E:VE3ZEBE1Vchecking for verbose setting acknowledgmentqԡ t%,VTėLA2 @2@2y<ٱ2j+=2H`휘`A?˻i`a䛿c? ?i2 @I2];2!CYNByN Ii%Mb@Mb@Mb@!!!! !9%uV?~jtÿ~jtx?Y%r?y%%;%K A%b A %A)%A!Y% AqbDVD8y=%;=ٔ ;Q->9Y=Eyl E E>Q 55x?Q 95))iBY ?Q E:yQ IB@8DIo:i: 5yɮ^!A%DAT read: 04:26:52.8380 LVL= 27104, 14801, 19826, 29747, AGC= 56, IDX= 456,-0.37,-2.475,-0.295,-1.289,-1.091, PHS=-1.282, 0.840,-0.242, RAW= 300.7, 7.5, CAL= 298.2, 7.4, ROT= 211.8, -7.4 5Ygot valid direction response: 04:26:52.8380 LVL= 27104, 14801, 19826, 29747, AGC= 56, IDX= 456,-0.37,-2.475,-0.295,-1.289,-1.091, PHS=-1.282, 0.840,-0.242, RAW= 300.7, 7.5, CAL= 298.2, 7.4, ROT= 211.8, -7.4 58DAT read: $Error in header =*Received a bad headerfAfAfAgAfIfIrfIeIreIZeQ:eQ*eQ}Bɢ<) (>i);顁iEVchecking for verbose setting acknowledgment|'ɧ@#駝'i@I@ @II9IiO}=ԡbE5ǻ 4jE5 4rE5Ǯ1/E EE%E"E:*ER:VE 4ZEa @a @a @a @ BDAT read: Rx Time:04:26:53.8382  TRx dataTimestamp_ set to:1764908817.638745 Vchecking for verbose setting acknowledgment %,nėLA6@6@6<ٱ6ݬ<6HY L?`"@l@ `41? ?i6@I6];6#CYZBy^ I ```bAbDfVDf8ynM%nX=ٔr:Q-r>9pYp=vEyvp Ev$ Ev>xQ 5~5zs?Q 9~5zi)zgBYygQ IB@z?DIz:iz:z\5y ɮ r!A f)f1f1g1f1f1rf9e9re9Ze9:e9*eAmBɢm8'<)i uw>iq)ug;qqiu7}S6Gɧ}&駅GiC@IC@ C@IIqIO=Vchecking for verbose setting acknowledgmentB>BGCBBBBBȺDB};Bw5E)D D %=E  E E $E "E :*E g:VE 4ZE BE @-x7@-nx<ٱ-|<-H`KA ? KoWML֟?@s?i-)>@I-^;- CYBy Iqi5Mb@Mb@Mb@1111 195S㥛?l¿Mb?Y5?y55<5b A5 A 5 A)11Y5 AEAAAbDMVDM8y] %](=ٔ];Q-]>9aYa=eEyeu Em&ϼEm>qQ 5}5ul?Q 9}5u)udBY}, ?Q E}:y}Q IB@uGDIu;iuu:u5yΖBɮM!ABEB*** querying acoustic contact ***iifffgffrfereZe:e*e-Bɢ-R_<)1 5/>i1)5F[;11i5(=brɧ=*=ie@aaIe@ e@IiA}>A}>IIO(>ԙ=DAT read: 04:26:53.8382 LVL= 26448, 14433, 18322, 28387, AGC= 56, IDX= 458,-0.02,-1.632, 0.529,-0.448,-0.247, PHS=-1.283, 0.820,-0.246, RAW= 300.5, 7.8, CAL= 298.0, 8.0, ROT= 212.0, -8.0 EYgot valid direction response: 04:26:53.8382 LVL= 26448, 14433, 18322, 28387, AGC= 56, IDX= 458,-0.02,-1.632, 0.529,-0.448,-0.247, PHS=-1.283, 0.820,-0.246, RAW= 300.5, 7.8, CAL= 298.0, 8.0, ROT= 212.0, -8.0 M8DAT read: $Error in header M*Received a bad headerVchecking for verbose setting acknowledgmentԡ 1 &(%,U0ėLA66ԍ@6͔@6<ٱ6@=6H ܯ`j?U`^@-`לJ\e? ?i66ԍ@I6_^;6$CYRByR IEb EbE`E`"Eb[:*Eb]t:VE`ZE`af@af@af@af@bDZVDZ8ynM%n~=ٔr;Q-r ?9pYp=vEyvx Evf$Ev ?xQ 5~5z g?Q 9~5z=)zbBYyQ IB@zMDIz;iz;zi5y ɮ t!A fffgffrfereZe:e*e%Bɢ%D<)) ->i))-w;))i5ˣ=/ɧ=-= i=t@99I=t@ Et@IAII O=uBDAT read: Rx Time:04:26:54.8385 uTRx dataTimestamp_ set to:1764908818.646739uVchecking for verbose setting acknowledgment9i  Vchecking for verbose setting acknowledgmentcO.%,\ėLA06g@6Da@6i1<ٱ6i=6H M@?`@wꜿ感`|??i6g@I6I,^;6!CYbByb IIf<)f9xYx=zEyz| EzEz>Q 55`?Q 9 5)_BY y VQ I B@TDI:iK:5yBɮJ"ALEf9f9f9g9fAfArfAeAreAZeI:eI*eIuBB">BBBB =BBɺDB};BX5Eɢx<) >i)P;i4:ɧ0 i?@!I%?@ %?@I)ԑE EEE"E:*Eg:VEZEBE#Vchecking for verbose setting acknowledgment 65%,ėLA6A@6@69e=ٱ6ɻ=6H<`?`lٶ @T? ?i6A@I6R];6#CYFByF I`iMb@Mb@Mb@ 9Zd;O?ףp= ÿ~jthY~ ?yD Ab A  A)AYz A -<-<bD5VD5°8yE=%EE=ٔM:Q-M>9IYI=MEyM EUWEU>YQ 5e5]Y?Q 9e5]_)]ZBYe?Q Em:ymQ ImB@][DI]:i]8:]5yqɮun"AqfffgffrfereZe:e*eBMDAT read: 04:26:54.8385 LVL= 27120, 16113, 21938, 29779, AGC= 54, IDX= 461, 0.36,-1.590, 0.578,-0.382,-0.183, PHS=-1.305, 0.805,-0.243, RAW= 299.8, 8.2, CAL= 297.3, 8.7, ROT= 212.7, -8.7 UYgot valid direction response: 04:26:54.8385 LVL= 27120, 16113, 21938, 29779, AGC= 54, IDX= 461, 0.36,-1.590, 0.578,-0.382,-0.183, PHS=-1.305, 0.805,-0.243, RAW= 299.8, 8.2, CAL= 297.3, 8.7, ROT= 212.7, -8.7 ]8DAT read: $Error in header ]*Received a bad headerVchecking for verbose setting acknowledgmentɢ:<) >i)_;项icɧ4iZ@IZ@ Z@IAzAxAAAIQIaO}7>E EE&E"E:*EP:VE4ZEa@a@a@a@ BDAT read: Rx Time:04:26:55.8388  TRx dataTimestamp_ set to:1764908819.654730 Vchecking for verbose setting acknowledgmentA &a;%,ėLA2+@2z@24=ٱ2=2H@Թ? 4`-{`+w??i2+@I2r];0YNByR IbDZVDZư8yv+%vP=ٔz;Q-z>9xYx=~Ey~ E,E> Q 55 R?Q 95 ) UBYyQ IB@ cDI 2:i : 5y!ɮ%"A)fIfIfIgIfIfQrfQeQreQZeQ:eY*eY颅ہBɢy%<) C>i);顉i#38ɧ/8駝xYir@Ir@ r@IAE.AIIQIiOu>Vchecking for verbose setting acknowledgmentB}'>B}HCB}s IB}sBB} =ByByB}.~;B}5EԑE  E E $E "E :*E V:VE 4ZE BE q%9= ?YE ?=EEyE EEEE>IQ 5U5MI?Q 9]5M)MMBY]?Q E]:y]{Q I]B@MkDIM:iM:M55yeٖBɮm"AmKEB*** querying acoustic contact ***iifffgffrfereZe:e*eсBɢo\<) ڶ>i);i bXּɧ<ikv@Ikv@ kv@IԡA1IAIQO]U>DAT read: 04:26:55.8388 LVL= 29968, 16849, 21154, 32755, AGC= 52, IDX= 464, 0.44,-1.309, 0.862,-0.085, 0.117, PHS=-1.323, 0.790,-0.246, RAW= 299.3, 8.6, CAL= 296.9, 9.5, ROT= 213.1, -9.5 -Ygot valid direction response: 04:26:55.8388 LVL= 29968, 16849, 21154, 32755, AGC= 52, IDX= 464, 0.44,-1.309, 0.862,-0.085, 0.117, PHS=-1.323, 0.790,-0.246, RAW= 299.3, 8.6, CAL= 296.9, 9.5, ROT= 213.1, -9.5 -8DAT read: $Error in header 5*Received a bad headerVchecking for verbose setting acknowledgment uH%,|#ŗLA2l@2@2/ =ٱ2D}=2H^`?<ी@]Y]࠿ ? ?i2l@I2]O^;0ER EREPEP"ER :*ER|:VEPZEPaV@aV@aV@aV@YVyByZz I``bDbVDb8yj%j{=ٔn:Q-n?9lYp=rEyr Er+Er?tQ 5z5vC?Q 9z5v#)vHBY|y~ii)u0;qqiu}MXɧ}?}>i}ؽ@Iؽ@ ؽ@IA>A>UBDAT read: Rx Time:04:26:56.8391 ]TRx dataTimestamp_ set to:1764908820.663670]Vchecking for verbose setting acknowledgmentAE؟AIQIiO}>) Vchecking for verbose setting acknowledgmentY FN%, L=ŗLA: I@:\B@:m =ٱ:؈<:H¿? /*`A 6¿ c`|@=˟?@w?i: I@I:S^;:!CY^nBybm IbDjVDj8yrQ%rJ=ٔr :Q-r>9v"?Yv"?=vEyv EzZEz>xQ 55z;?Q 95z )zABYyQ IB@zyDIzU;izQ;z5yɮT#AB%#>B%GCB%Z IB%^BB!B!B%ȺDB%~;B%5EfifqfqgqfyfyrfereZe:e*eBɢ<) >i)*;i,;27ɧ?C29iu$@qqIu$@ }$@IyE EE&E"E:*E1]:VE4ZEBE5auVchecking for verbose setting acknowledgmentԉԹ U%,&WŗLA2=ފ@2ב@2\ =ٱ2A<2HEÿ՘?@Gm \ÿU#8`霟? u?i2=ފ@I2J^;2$CYNbByR] IIV<)V9Y=Ey EE>Q 552?Q 95)9BY=?Q E:ysQ IB@DDAT read: 04:26:56.8391 LVL= 29504, 15185, 20786, 32355, AGC= 52, IDX= 483, 0.30,-0.775, 1.400, 0.461, 0.664, PHS=-1.337, 0.781,-0.247, RAW= 299.0, 8.8, CAL= 296.5, 10.0, ROT= 213.5, -10.0 Ygot valid direction response: 04:26:56.8391 LVL= 29504, 15185, 20786, 32355, AGC= 52, IDX= 483, 0.30,-0.775, 1.400, 0.461, 0.664, PHS=-1.337, 0.781,-0.247, RAW= 299.0, 8.8, CAL= 296.5, 10.0, ROT= 213.5, -10.0 8DAT read: $Error in header *Received a bad headerI7i)m;顁iS ɧQG駝Jti@I@ @IA )5CIIGIE EE%E"E :*Ei:VE 4ZEa@a@a@a@+9YT(AO k>u BDAT read: Rx Time:04:26:57.8393 u TRx dataTimestamp_ set to:1764908821.670730u Vchecking for verbose setting acknowledgment H[%,XqŗLA25m@2f@2z =ٱ2r<2HAxſ@͆?B[ſ6 m.è? ?i25m@I2f^;2"CYNYByRS I TV4<bDZ VDZ8yb6;%bX=ٔfV\Q-f>9dYd=fEyj EjEj>lQ 5r5n*?Q 9r5n)n2BYtyvQ IvB@nDIn>:inK:n5yzBɮzU$AzTEfffgffrf!e!re!Ze!:e!*e)UBɢU=)Q G>i)/';iqQ[ɧJU"i@I@ @IAzAzAzAAe.AIqIO>Vchecking for verbose setting acknowledgment)B-0>B-ICB-: IB-EBB)B)B-ʺDB-~;B-5EBGCBGCBB =BC4I D %=D 4=E  E E &E "E :*E 1]:VE 4ZE BE a 2E a JE a :E a Wb%,jŗLA"Vchecking for verbose setting acknowledgmentYm^BymY IiMb@Mb@Mb@ 9^I +?+ÿI +YX?y94A A )pAYfAbD VD 8yި<%*=ٔQ->9% ?Y% ?=%Ey% E-E->1Q 5=552 ?Q 9=55 )5)BY={?Q E=:y=8Q I=B@A5DI57;i5R6;55yIɮU,$AQmB*** querying acoustic contact ***iiiifqfqfygyfyfyrfyereZe:e*e颵Bɢ<) P>i)N^;项iE2ɧEOE&iE@AAIM@ M@IIiAIIOa>DAT read: 04:26:57.8393 LVL= 30512, 15393, 22770, 32755, AGC= 52, IDX= 469, 0.11,-2.010, 0.176,-0.746,-0.547, PHS=-1.361, 0.768,-0.243, RAW= 298.3, 9.1, CAL= 295.8, 10.7, ROT= 214.2, -10.7 Ygot valid direction response: 04:26:57.8393 LVL= 30512, 15393, 22770, 32755, AGC= 52, IDX= 469, 0.11,-2.010, 0.176,-0.746,-0.547, PHS=-1.361, 0.768,-0.243, RAW= 298.3, 9.1, CAL= 295.8, 10.7, ROT= 214.2, -10.7  8DAT read: $Error in header  *Received a bad headereVchecking for verbose setting acknowledgmentԙ 5h%,NŗLA2@2΃@2=ٱ2 <<2Hȿ`g]?|0^ɿ  ?`?i2@I2 ];2CbE J4jE ( 4rE /EB EBEB%E@"EB2:*EBAr:VEB 4ZE@aJ@aJ@aJ@aJ@LYREByR: I TTbDZ VDZ8yb%f{=ٔfOQ-f?9dYh=jEyj Ej̭Ej?lQ 5r5n?Q 9v5nl%)n#BYtyvaQ IvB@nDIn:in:n5yxɮz$A|fffgffrfereZe:e*e BɢP=) 5ȣ>i1)5ǭ;99i=РEG(ɧERE(iE@AAIE@ M@II5BDAT read: Rx Time:04:26:58.8396 =TRx dataTimestamp_ set to:1764908822.678746=Vchecking for verbose setting acknowledgmentԩIIO!>  Vchecking for verbose setting acknowledgmentn%,ŗLA2@2 @20=ٱ2*<2H@ʿ`E?NFʿ}aH堿`? ?i2@I2];2 CYR;ByR. IBj4>BhBj IBj,BBj =BhBhBj~;Bj5EtxxbDVD°8y?%%E=ٔ%}Q-%>9)Y)=-Ey- E5E5>AQ 5M5E ?Q 9U5E{+)EBYQyUNQ I]B@EDIEH;iE ];ES5ymBɮmD&AuSEff1f1g1f9f9rf9e9re9Ze9:eA*eA颍Bɢd<) >i)`<顡i6oX3ɧV駭+i @I @  @IDzD@AE EE(E"E:*E[:VEc44ZEBE]Vchecking for verbose setting acknowledgment9a 8u%,nŗLA6@6ڗ@6U=ٱ6p<6H̿@+?K@-̿ޙ`ɠ??i6@I6)^;6!CY^9Byb+ I9iMMb@Mb@Mb@IIII I9MV-?ףp= ÿ~jtxYM|?yMMĻMAMA M A)MZAIYM=AbDeVDe8yu;%uE=ٔuQ-}>9yYy=}Ey} E E>Q 55?Q 951)BY[$?DAT read: 04:26:58.8396 LVL= 28720, 13873, 22082, 32019, AGC= 51, IDX= 472,-0.02, 2.853,-1.242,-2.129,-1.945, PHS=-1.383, 0.748,-0.228, RAW= 297.2, 9.4, CAL= 294.7, 11.3, ROT= 215.3, -11.3 Ygot valid direction response: 04:26:58.8396 LVL= 28720, 13873, 22082, 32019, AGC= 51, IDX= 472,-0.02, 2.853,-1.242,-2.129,-1.945, PHS=-1.383, 0.748,-0.228, RAW= 297.2, 9.4, CAL= 294.7, 11.3, ROT= 215.3, -11.3 8DAT read: $Error in header *Received a bad headeruVchecking for verbose setting acknowledgmentQ E}:y}Q I}B@DIi)~<iF#>@ɧZ/i @I @  @IiIIO >E EE#E"EO:*ER:VE3ZEa@a@a@a@ԙU BDAT read: Rx Time:04:26:59.8399 U TRx dataTimestamp_ set to:1764908823.686748U Vchecking for verbose setting acknowledgment {%,'KŗLA2#@2,@2B=ٱ2+<2H`fkο`?ڊο2k? ?i2#@I2^;0YB3ByB$ IID)F%=bDJVDJ8yz%zS=ٔ~[1Q-~>9|Y=Ey EE> Q 55 6?Q 95 }7) BYy~Q IB@ DI ;i ; R5y!ɮ%&A)fIfIfIgIfIfIrfQeQreQZeQ:eQ*eY颅BɢC =) '>i)% <顉iDԙIɧ^駝F&2iu* @Iu* @ u* @II!I1OE=Vchecking for verbose setting acknowledgmentB;>BJCB IBBBBB˺DB;B6ED =D =E  E E "E "E >:*E L_:VE (3ZE BE 9Y=Ey ECE>Q 55B?Q 95>)BY(?Q E:yQ IB@DI:i:\5yBɮ&A9UB*** querying acoustic contact ***iQiQfffgffrfereZe:e*e}Bɢ<) p>i)<i3 Wɧ dc 5i z @  I z @ z @IIIO#>DAT read: 04:26:59.8399 LVL= 29808, 16097, 23586, 32563, AGC= 54, IDX= 459,-0.23,-2.588,-0.392,-1.270,-1.099, PHS=-1.387, 0.752,-0.215, RAW= 296.8, 9.2, CAL= 294.3, 10.9, ROT= 215.7, -10.9 Ygot valid direction response: 04:26:59.8399 LVL= 29808, 16097, 23586, 32563, AGC= 54, IDX= 459,-0.23,-2.588,-0.392,-1.270,-1.099, PHS=-1.387, 0.752,-0.215, RAW= 296.8, 9.2, CAL= 294.3, 10.9, ROT= 215.7, -10.9 8DAT read: $Error in header *Received a bad header-Vchecking for verbose setting acknowledgmentIi %,A&ƗLAE& E&E&%E$"E&:*E&x:VE& 4ZE$a*@a*@a*@a*@R2@R,@R|<ٱR=RH`Gѿ?_oѿ;u??iR2@IRP!^;R!CY*By IbDVD8y-K%-e=ٔ-Q-->91Y1=5Ey5 E5%E=>AQ 5M5E塊?Q 9M5EC)EBYIyMwQ IMB@EÏDIE:iE>:Ey5yQɮ]&AYfyfyfygffrfereZe:e*e颽vBɢz=) >i)<i𛠻`aɧg8i @I @  @IQIyIO=BDAT read: Rx Time:04:27:00.8402 TRx dataTimestamp_ set to:1764908824.695410Vchecking for verbose setting acknowledgmentԁԹ Vchecking for verbose setting acknowledgment %,J%@ƗLAB$B$B&IB&BB$B$B$B&v;B&L6ErsÆ@r¼@rf<ٱrr=rH bѿ`ɳ?Q棿@-ѿI`h ? ?irsÆ@Ir!^;pY~+By~ I AbDѿVD8y%;%%K=ٔ%mQ-%>9)Y)=-Ey- E- E5>9Q 5=5=ڡ?Q 9E5=J)=BYAyEVQ IEB@=ˏDI=:i=K:=5yIɮU&AQfqfqfqgqfyfyrfyeyreyZe:e*e颭mBɢ~=) _>i)<项im ޫmɧkVchecking for verbose setting acknowledgment 1 1%,YƗLA2~O@2H@2<ٱ2=2Hҿ@1?`U!ҿi24?` ?i2~O@I2];2CYB/ByB Ii Mb@Mb@Mb@     9 L7A`?~jtÿY +'?y   A  G A) A Y ADAT read: 04:27:00.8402 LVL= 31280, 19009, 23426, 32499, AGC= 57, IDX= 478,-0.09, 2.842,-1.243,-2.110,-1.942, PHS=-1.397, 0.744,-0.212, RAW= 296.5, 9.4, CAL= 294.0, 11.3, ROT= 216.0, -11.3 Ygot valid direction response: 04:27:00.8402 LVL= 31280, 19009, 23426, 32499, AGC= 57, IDX= 478,-0.09, 2.842,-1.243,-2.110,-1.942, PHS=-1.397, 0.744,-0.212, RAW= 296.5, 9.4, CAL= 294.0, 11.3, ROT= 216.0, -11.3 8DAT read: $Error in header *Received a bad headerBAbDпVD8y<%>=ٔ_Q->Vchecking for verbose setting acknowledgment9Y=Ey EE> Q 55 Ρ?Q 95 P) BY5+?Q E=:y=1Q I=B@ ԏDI ;i -; 5yE BɮE&AEdEfffgffrfereZe:e*ecBɢg=) t>i)<i1&.|ɧzoz?iI I 9AYEe EeEaEa"Ee2:*Eega:VEaZEaam@au@au@au@IyIO\> BDAT read: Rx Time:04:27:01.8404  TRx dataTimestamp_ set to:1764908825.703114 Vchecking for verbose setting acknowledgmenti \%,sƗLA 6ۅ@6QԌ@6R:<ٱ6=6H͚ӿBm?nQ]r$ӿ@d!@?]?i6ۅ@I6];6"CY\y^ IbDfVDf8yny%n]=ٔrQ-r>9pYt=vEyv EvEv>xQ 5~5zá?Q 9~5z9V)zBYyQ IB@z܏DIz;iz;z5y ɮ &A f1f1f1g1f1f9rf9e9re9Ze9:eA*eAu[Bɢu*=)q u>iq)}"BMA>BMKCBMIBMBBM =BIBIBMi;BMJ6EԙEm  Em Em #Ei "Em :*Em :VEm 3ZEi BEm '9"?Y"?=Ey ENE>Q 55ŵ?Q 95])BY )?Q E :y Q I B@DI';i&;5yɮ 'A5B*** querying acoustic contact ***i1i1f9f9f9gAfAfArfAeIreIZeI:eI*eI}QBɢ}=)y }>iy)(<顁iɧw駍oTFiI IAqIyIO]>DAT read: 04:27:01.8404 LVL= 30928, 15457, 23682, 32243, AGC= 56, IDX= 464, 0.12,-3.102,-0.911,-1.803,-1.619, PHS=-1.381, 0.752,-0.228, RAW= 297.3, 9.3, CAL= 294.8, 11.1, ROT= 215.2, -11.1 Ygot valid direction response: 04:27:01.8404 LVL= 30928, 15457, 23682, 32243, AGC= 56, IDX= 464, 0.12,-3.102,-0.911,-1.803,-1.619, PHS=-1.381, 0.752,-0.228, RAW= 297.3, 9.3, CAL= 294.8, 11.1, ROT= 215.2, -11.1 8DAT read: $Error in header *Received a bad header%Vchecking for verbose setting acknowledgment  G1 I } +9y Y} (A)m%,ƗLAE EE%E"Ea:*E&p:VE 4ZEa@a@a@a@J@J @J<ٱJ$=JH(^տ ?@Z`>&@ nտ`?ҝ̌??iJ@IJ8Q^;J"CY%By% I 5<5<bD5VD58yEp%Ei=ٔMQ-M>9IYQ=UEyU EUl&EU>YQ 5e5] ?Q 9e5].b)]BYiym Q ImB@]DI]):i]:](5yuBɮu('AyfffgffrfereZe:e*eIBɢB*=) >i)g-<iऻqEɧ_{IiI IBDAT read: Rx Time:04:27:02.8408 TRx dataTimestamp_ set to:1764908826.711194Vchecking for verbose setting acknowledgment)AaIqIO>Q Vchecking for verbose setting acknowledgmentԉ BE B>BA jU%,AfƗLABuIBuBBu =BqBqBu:;Bu16EB=JCB=JCB9B= =B= =C=5: s@:ol@:ئ<ٱ:'=:HBֿS?ͯ@_Rֿ sܤ??i: s@I:;^;: CYF&ByJ IbDR)VDRҰ8yZy<=%ZT=ٔZvQ-Z>9\Y\=^Ey^ EbEb>dQ 5j5f?Q 9j5fg)fBYhyj Q IjB@fDIf:ifu:f5ypɮr&Apfff g f f rf e reZe:e*ey颽@Bɢ\0=) >i)3<iLQіɧ'BLiI IEU EUEU(EQ"EU2:*EU:VEUc44ZEQBEU$*eDAT read: 04:27:02.8408 LVL= 30704, 17953, 21938, 29939, AGC= 55, IDX= 468,-0.32, 1.577,-2.529, 2.847, 3.042, PHS=-1.363, 0.757,-0.239, RAW= 298.0, 9.2, CAL= 295.5, 11.0, ROT= 214.5, -11.0 }Ygot valid direction response: 04:27:02.8408 LVL= 30704, 17953, 21938, 29939, AGC= 55, IDX= 468,-0.32, 1.577,-2.529, 2.847, 3.042, PHS=-1.363, 0.757,-0.239, RAW= 298.0, 9.2, CAL= 295.5, 11.0, ROT= 214.5, -11.0 8DAT read: $Error in header *Received a bad headerVchecking for verbose setting acknowledgment*failed to set verbose y%,AƗLA:@:H@:<ٱ:'=:H ~!׿?`0׿>@8`-ߤ? ?i:@I: ^;:#CYb%Byb I dddfA=(setting verbose to 3imMb@Mb@Mb@iiii i9mMb?{GzĿ~jth?Ym#?ym#imAmA m^ A)mAiYmAbD!VD˰8y%==ٔQ->9Y=Ey E E>Q 55"?Q 95m)BY#(?Q E:y Q IB@DI ;i;M5yɮ&AfffgffrfereZe:e*eE5BɢE*=)A E[>iA)MO:bEŻ 4jE 4rEŐ'0EM EMEM#EI"EM:*EM]t:VEM3ZEIa]@a]@a]@a]@ԁDAT read: TDAT read: Verbose | 3  set verbose to 3 PDAT read: user:3>Rx Time:04:27:03.8411  TRx dataTimestamp_ set to:1764908827.721571 6setting DatVerbose to 27440ԙ F%,ƗLA2@2@21<ٱ2+&=2H׿~?Ѩ6ؿ``$ͤ?@?i2@I2^;2!CYb-Byb IhjAAbDnVDn8yv)=%vV=ٔzH:Q-z>9z ?Yz ?=zEyz E~E~>Q 5 5?Q 9 5#s)ݐBY y Q IB@DI:il:5yBɮ&AlEfAfAfAgAfAfArfAeIreIZeI:eI*eI}-Bɢ}5J=)}hb( >i).?<顁iE̩+ɧ駍+nRiI IqA ؟AII!O5 >MDAT read: UTDAT read: DatVerbose | 27440 U.set DatVerbose to 27440]6setting transmit power to 8ԩBN>BLCBIBBB =BB̺DBL;BB6EDM =DM <EU  EU EU "EQ "EU :*EU 1]:VEU (3ZEQ BEU q% 5 TDAT read: TxPower | 8 (Max) E .set transmit power to 8u%,QǗLA0!DAT read: user:5>04:27:03.8411 LVL= 31648, 17841, 21106, 31219, AGC= 55, IDX= 455, 0.25, 2.817,-1.300,-2.219,-2.015, PHS=-1.350, 0.759,-0.248, RAW= 298.5, 9.2, CAL= 296.0, 10.9, ROT= 214.0, -10.9 %8DAT read: $Error in header -*Received a bad header=@=M@=b<6setting local address to 11ٱ=_#==H#ؿw?r} NؿDK˝]h??i=@I=nT^;=CY*By IԉiMb@Mb@Mb@ 9K7A?ˡEĿMb`?Y "?y';AA )AY(AbDVD8y7<%=ٔA:Q->9"?Y"?=Ey E5ԼE>Q 55s?Q 95Vz)אBYf'?Q E:y5Q IB@DI ;i ;> 5yɮ&AB*** querying acoustic contact ***iifffgffrf e re Ze :e *e= Bɢ=)3=)A E?iA)EcH %,N(ǗLAE& E&E&'E$"E&a:*E&V:VE&'4ZE$a*@a*@a*@a*@\Y~(By II<)= = p=bDVD8yErq%M=ٔMQ-M?9QYQ=UEyU EUEU?YQ 5e5]Li?Q 9m5]X~)]ӐBYiyiQ ImB@]DI]:i]):] 5yuBɮu&AfIfIfIgIfQfQrfqeqreyZey:ey*e&DAT read: user:6> NDAT read: Fri Dec 5, 2025 04:27:08 fLocal DAT time set to Fri Dec 5, 2025 04:27:08 PDAT read: user:7>Rx Time:04:27:07.7381 TRx dataTimestamp_ set to:1764908828.729794checking for new query: numPingsReceived=17, elapsed TxPingTime=47.519516EBɢE~X=)A E?iA)M~N)A m checking for new query: numPingsReceived=17, elapsed TxPingTime=47.766956B B B B B =B B ͺDB 8;B 96E4%,BǗLA29@2<3@2<<ٱ2 =2H^ڿ?@j@?$ 'nڿ@ᆿbƞ;??i29@I2>^;0Y^*By^ I df4<bDf!VDf˰8ynYG<%rQ=ٔr ;Q-r>9pYt=vEyv EvEv>xQ 5~5z[?Q 9~5z)zϐBYyQ IB@z DIz;iz+;z75y ɮ &A f1f1f9g9f9f9rf9eAreAZeA:eA*eEB@uBɢunT_=)y } ?iy)} Uʘ@ t;?>)W{n@yIt;?42rvVPՐ?_ж8? G@)nu"I^#it;?checking for new query: numPingsReceived=18, elapsed TxPingTime=48.086418A.AIIAO>ԡ %,\ǗLA2Zʁ@2È@2<ٱ2Ai'=2H))ۿd?敩v &9ۿ$@R(? T?i2Zʁ@I2/^;2!CYN(ByN I%checking for new query: numPingsReceived=18, elapsed TxPingTime=48.271053i=Mb@Mb@Mb@9999 99=Mb?QſMb`Y= ?y=(==-A=A =A)=A9Y=AybDu VDu8y%?=ٔ5:Q-5>9= ?Y= ?==Ey= E=.EE>AQ 5U5E#L?Q 9U5El)EȐBYU%?Q EU:yUQ IUB@E)DIE;iE;E!5yeBɮe]&AekEfffgffrf@ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@pTransitioning to terminal guidance at range 11.600000 m @1AereZe:e*ebB@-BɢMO=)I M?iI)U]BDAT read: Rx Time:04:27:08.7384 TRx dataTimestamp_ set to:1764908829.734768checking for new query: numPingsReceived=18, elapsed TxPingTime=48.523991 l%,bvǗLA6F`@6Y@6=ٱ6(/=6HNۿ@?@CȪdۿEB x?b?i6F`@I6x^;6 CYn%Byn IttbDzVDz8y%T=ٔQ;Q- >9 "?Y "?= Ey  EYE>Q 5%5-??Q 9%5%)ÐBY!y-Q I-B@1DI:i:Q5y1ɮ5x&A1fQfQfQgQfYfYrfYbf]@1AeeCompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@e eAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeeareaZei:ei*em C@颕Bɢ/j=) ]?i)Od<顡iQﴻxǽɧ駭ےaiI I=checking for new query: numPingsReceived=18, elapsed TxPingTime=48.775898 B?>BKCBBB =BB˺DB!;B%6EA.AIIO>1Eu  Eu Eu %Eq "Eu :*Eu &p:VEu 4ZEq BEu ?8 4@ z0a>) Co@I z0a X¢8T?:6? CG@) J2I 4"i z0aZchecking for new query: numPingsReceived=19, elapsed TxPingTime=49.064651j@j<@j(O=ٱj6=jH`ܿz?ʫ#ܿ)@$ P?`?ij@Ij~^;j!CY By I9iMb@Mb@Mb@ 9jt?sh|?ſy&1|Y ?y)`ACA / A)YzA99bD=VD=8y[%=ٔ:Q->9 ?Y ?=Ey EgԼE>Q 55,?Q 95)BYL&?Q E:yQ IC@Uninitialize WaypointComponent.ereZe:e*e%SC@= B=(O=)E EiA)EOd %,ǗLAE EE$E"EO:*ErN:VE4ZEa@a@a@a@>J}@>v@>m"=ٱ>;=>Hn}ݿ`X?@ja͏ݿ` so??i>J}@I>^;I<@I%ABDAT read: Rx Time:04:27:09.7387 TRx dataTimestamp_ set to:1764908830.742838checking for new query: numPingsReceived=19, elapsed TxPingTime=49.532047ԱAzAAAAIIOf> U checking for new query: numPingsReceived=19, elapsed TxPingTime=49.783985B 1>B ICB IB BB =B B ʺDB ;B 6E9 e%,{ǗLAY By I >=bDVD8y-6%-I=ٔ5Q-5>95Y5=5Ey9=E=>AQ 5M5E?Q 9M5E)EBYQyQQ IUC@EJDIE:iE:E 5yYɮ]''AYjqqM}M}hhhhhggjgrgereZe:e*e C@[L&?[L&?"[@*[i~@ɢOB<) i)c<i5Hi7b @IIIaIyO=E1 E5E5"E1"E1*E5;J:VE5(3ZE1BE5 9!Y!=-Ey)-2E->qQ 55u6?Q 95u6)uBY'?Q E:y(Q IC@uTDIuH;iu;u$5yBɮ 'AjMCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLL Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLhhhhhggjgrgBereZe:e*e C@['?['?"[τ@*[y}@ BɢϞc<) Pi)c9y3G)Y,9Y?)AEe EeEe$Ea"Ee:*Eeg:VEe4ZEaam@am@am@am@ԙz 4Initializing EZServoServo.BDAT read: Rx Time:04:27:10.7390 TRx dataTimestamp_ set to:1764908831.750897checking for new query: numPingsReceived=20, elapsed TxPingTime=50.540112 E 8Initializing DockingStepper. ^A?΅>IIO?W%,ǗLA0Zchecking for new query: numPingsReceived=20, elapsed TxPingTime=50.792194&~@ @Y=ٱf=HA߿ ?@gX9?`?i&~@I(^;#CY-By-I 11bDEVDE8yM %U'=ٔUc.;Q-]>9YYa=eEyaeEe>iQ 5u5m?Q 9u5m=)mBYyy}Q I}C@m^DIm;im;m )5yBɮ'ArEhhhhhgB->BHCBIBBBBBɺDB~;B5EBKCBBCBB =C6gjgrgereZe:e*eD@[ [ "[ *[  }@ɢQQ<) Pi)%cIIO>iQIQDAT read: 04:27:10.7390 LVL= 32752, 15217, 22002, 32755, AGC= 53, IDX= 468,-0.27,-0.570, 1.580, 0.681, 0.896, PHS=-1.365, 0.729,-0.260, RAW= 298.2, 9.9, CAL= 295.6, 12.4, ROT= 214.4, -12.4 Ygot valid direction response: 04:27:10.7390 LVL= 32752, 15217, 22002, 32755, AGC= 53, IDX= 468,-0.27,-0.570, 1.580, 0.681, 0.896, PHS=-1.365, 0.729,-0.260, RAW= 298.2, 9.9, CAL= 295.6, 12.4, ROT= 214.4, -12.4 8DAT read: $Error in header *Received a bad headerZ#Rx 21: Read direction message, but no range.`direction in FSK: [-0.805866,-0.551788,0.214735]yQU,q@K>῍h`r|?QQUq;UU Q)U5IURiU:?UUۋ@U;0>U@ Uk]>)U|o@IUk]QU}q́.vU? ? UG@)U|1IU"iUk] checking for new query: numPingsReceived=21, elapsed TxPingTime=51.066528 G%,ȗLA2G}@2A@2/=ٱ2v=2HK[`h?' $z`fE]d`?\?i2G}@I2^;2!CYBByBI\i Mb@Mb@Mb@     9 Mb?(\¿I +Y  ?y z 94 A A A) \A Y AbD%VD%p8y5S%5L=ٔ5;Q->9Y=EyE>Q 55zࠊ?Q 95F)BY$?Q E:y`Q IC@fDIv;i;,5yɮ'AB*** querying acoustic contact ***iixhhhhhggjgrgBereZe:e*e  .TD@[-$?[-$?"[-@*[- |@9ɢ= 2<)A E0iA)EWbI IY Iq O >e BDAT read: Rx Time:04:27:11.7392 e TRx dataTimestamp_ set to:1764908832.758772m checking for new query: numPingsReceived=21, elapsed TxPingTime=51.548004 %,2ȗLAJ}a|@J*@JzE"=ٱJ4=JH@F+?k>pVNSG??iJ}a|@IJ];HYBy IbD%ϿVD%8y5<%5J=ٔ5I;Q-]>9YYY=]EyYeEe>iQ 5u5m~Ѡ?Q 9u5m)mBYqy}FQ I}C@mnDIm'8;imE9;m05yBɮ'A{EhhhhhggjgrgereZe:e*e/D@[Y[Y"[Y*[]a{@iɢm%=<)i m@i)b<顡iiO!@IIIchecking for new query: numPingsReceived=21, elapsed TxPingTime=51.799400qB,>BBIBՁBB =BBBl~;B5E^A >I I O >ԡ E  E E E "E :*E VL:VE ZE BE x9Y=EyE>Q 55w?Q 95)BYy4Q IC@wDI;i;35yBɮ'Ahhhhhg g DAT read: 04:27:11.7392 LVL= 32752, 15633, 22722, 32755, AGC= 53, IDX= 470, 0.29, 1.917,-2.213,-3.071,-2.880, PHS=-1.384, 0.712,-0.236, RAW= 296.8, 10.0, CAL= 294.3, 12.8, ROT= 215.7, -12.8 Ygot valid direction response: 04:27:11.7392 LVL= 32752, 15633, 22722, 32755, AGC= 53, IDX= 470, 0.29, 1.917,-2.213,-3.071,-2.880, PHS=-1.384, 0.712,-0.236, RAW= 296.8, 10.0, CAL= 294.3, 12.8, ROT= 215.7, -12.8 8DAT read: $Error in header *Received a bad headerjgrgereZe:e*eཾD@[["[*[Mz@ Z#Rx 22: Read direction message, but no range.`direction in FSK: [-0.791903,-0.569040,0.221548]yQU NtDW鿓V5⿵@|[?QQU=UX Q)QIU&iUE6?UqUå@U¸2>U=^@ Ud>)Upp@IUdQUUlvw?lϻDB? U)E@)U2IUE/!iUd-checking for new query: numPingsReceived=22, elapsed TxPingTime=52.086491U BɢUh*<)Q ]LiY)]aI1IAOM> checking for new query: numPingsReceived=22, elapsed TxPingTime=52.310913 %,BfȗLA2z@2]B@2\0=ٱ2$=2HZ?`B=Y??i2z@I2 ^;2 CY>By>IiMb@Mb@Mb@ 9MbX9?x& rhY!?y7 CAA A)(AYAbD5VD58yE%EQ=ٔMb;Q-M>9IYQ=UEyQUmEU>YQ 5e5]z?Q 9e5])]uBYmr%?Q Em:ymQ ImC@]DI]:i]V:]$75yqɮu'Ah9hAhIhIhQgigijgirgqereZe:e*e@D@E EE'E"E:*Ec:VE'4ZEa@a@a@a@[r%?[r%?"[J`@*[={@ɢB<) i) `<  i giUl',@YYIYIamBDAT read: Rx Time:04:27:12.7395 mTRx dataTimestamp_ set to:1764908833.774783uchecking for new query: numPingsReceived=22, elapsed TxPingTime=52.563999^Au>1IYIiOu>Y  %,-!ȗLAB{y@Bփ@B9=ٱB Z=BH;q? ೿`@dc< >$? >?iB{y@IB:^;@YNہByNI V9hYh=jEyln En>pQ 5v5rX?Q 9v5r9)rjBYxyzQ IzC@rDIr:ir:r:5y~ޖBɮ~(AzEh!h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e=E@Be+>BaBeIBeƁBBaBaBaBe~;Be6E[q[q"[q*[uez@颍 Bɢ;) ½i)_<顑iJaiy0@IIIaE EE%E"E :*E]t:VE 4ZEBEN"ԉDAT read: 04:27:12.7395 LVL= 32752, 17457, 22642, 32755, AGC= 56, IDX= 473,-0.27, 2.140,-1.976,-2.774,-2.622, PHS=-1.420, 0.690,-0.196, RAW= 294.7, 10.1, CAL= 292.1, 13.0, ROT= 217.9, -13.0 Ygot valid direction response: 04:27:12.7395 LVL= 32752, 17457, 22642, 32755, AGC= 56, IDX= 473,-0.27, 2.140,-1.976,-2.774,-2.622, PHS=-1.420, 0.690,-0.196, RAW= 294.7, 10.1, CAL= 292.1, 13.0, ROT= 217.9, -13.0 8DAT read: $Error in header *Received a bad header Z#Rx 23: Read direction message, but no range. `direction in FSK: [-0.768860,-0.598541,0.224951]yqu$?'㿃:/2?qqu1DurX q)u8Iuµiuף0?u9Huo@uJ4>u#@ uVh>)ues@IuVhque$/d^ᅪ85?,{? u(C@)u4Iu+iuVh- checking for new query: numPingsReceived=23, elapsed TxPingTime=53.090858 1&%,ȗLA2Zx@2|`@2^@=ٱ2Bx=2H:N-?kV`AJ_F`g??i2Zx@I2 ^;2CYbفBybIdfAiMb@Mb@Mb@ 9+?p= ף rhY?y A)AYAbDDVD8yj%9=ٔp;Q->9Y=EyE >1Q 5M55?Q 9M55_)5^BYU;#?Q E]:y]kQ I]C@5DI5=;i58;5q>5yiɮm$(AiԑB*** querying acoustic contact ***iihhhhhggjgrgBe!re!Ze!:e!*e%l[E@[M;#?[M;#?"[MA}@*[M/y@} Bɢ};)y }Pͽiy)Y^<顁i|i7@IIchecking for new query: numPingsReceived=23, elapsed TxPingTime=53.323051Թ^AE EE$E"E;*EX:VE4ZEa@a@a@a@II O= > BDAT read: Rx Time:04:27:13.7396  TRx dataTimestamp_ set to:1764908834.782814 checking for new query: numPingsReceived=23, elapsed TxPingTime=53.572033 Z,%,=ѳȗLAb}w@b@bގF=ٱbLF=bH`]?@@V`קje^Ϩ /!??ib}w@Ib];b!CYnԁBynIbDv9VDv8y]%%Y=ٔ%~;Q-%>9)Y)=-Ey)-EE->1Q 5e55k?Q 9e55)5SBYayePQ IeC@5DI5N;i5;5A5yuՖBɮu (AuyEhhhhhggjgrgereZe:e*ekE@[I[I"[I*[MAx@}Bɢj;) (i)U\<顡ixSiB<@II@zA@zAchecking for new query: numPingsReceived=23, elapsed TxPingTime=53.823593^A}>Be.>BaBeIBeBBaBaBaBe;BeL6EIyIO~>I E  E E E "E O:*E VE ZE BE 9Y=Ey%% E%>)Q 555-Zs?Q 955-)-GBY1y53Q I=C@-DI-I;i-;-5E5yAɮE[(AAhihihihihigigijgqrgqeqreyZey:ey*e}`E@[["[*[w@颱ɢxy;)  i)O[<项ii"A@II &Changing to mode: 1eDAT read: 04:27:13.7396 LVL= 30496, 18801, 22210, 31043, AGC= 57, IDX= 458, 0.09, 2.154,-1.963,-2.696,-2.582, PHS=-1.446, 0.664,-0.158, RAW= 292.7, 10.2, CAL= 290.1, 13.4, ROT= 219.9, -13.4 mYgot valid direction response: 04:27:13.7396 LVL= 30496, 18801, 22210, 31043, AGC= 57, IDX= 458, 0.09, 2.154,-1.963,-2.696,-2.582, PHS=-1.446, 0.664,-0.158, RAW= 292.7, 10.2, CAL= 290.1, 13.4, ROT= 219.9, -13.4 u8DAT read: $Error in header u*Received a bad headerZ#Rx 24: Read direction message, but no range.`direction in FSK: [-0.746280,-0.623987,0.231748]y15ǞS翣w] A?15 w5qI5V 5Cy)59I5i5)?5!5{y@5K6>5@ 5|o>)5ru@I5|o15% =ᅩ ݿ?W3ع? 5@@)56I5C~i5|ochecking for new query: numPingsReceived=24, elapsed TxPingTime=54.104900ԁ:@ @@I5@Թ^Am>A 2AI I O > checking for new query: numPingsReceived=24, elapsed TxPingTime=54.327122 +m9%,ȗLAB%v@B? @BVR=ٱB/~=BHL'e?`x`x^HkG?t?iB%v@IB@^;@YRƁByRIIV4=)V49e?Ye?=eEye EmL Em>qQ 5}5ub?Q 9}5u)uT@%,AdɗLA2@u@2Ù@2SW=ٱ2)}=2H@?`2]Rdl@x֔? ?i2@u@I2$^;2"CY>By>IRchecking for new query: numPingsReceived=24, elapsed TxPingTime=54.830845bDv?VDv8y~Ƽ%~Q=B1>BICBrIBBBBBʺDB;B`6Eٔ%^;Q-%>9!Y!=-Ey- E-E->1Q 5=55R?Q 9=55)50BYAyE%Q IEC@5DI5;i5;5EL5yIɮM(AIhqhqhqhqhqgygyjgyrgyereZe:e*er#F@Bɢ:)+< i)_W<iAiFII@ @@0@@=@=IE EE'E"E:*EP:VE'4ZEBExDAT read: 04:27:14.7399 LVL= 31216, 18625, 22178, 31555, AGC= 56, IDX= 477,-0.30,-0.637, 1.546, 0.807, 0.908, PHS=-1.443, 0.683,-0.146, RAW= 292.7, 9.8, CAL= 290.2, 12.4, ROT= 219.8, -12.4 Ygot valid direction response: 04:27:14.7399 LVL= 31216, 18625, 22178, 31555, AGC= 56, IDX= 477,-0.30,-0.637, 1.546, 0.807, 0.908, PHS=-1.443, 0.683,-0.146, RAW= 292.7, 9.8, CAL= 290.2, 12.4, ROT= 219.8, -12.4 8DAT read: $Error in header *Received a bad headeru Z#Rx 25: Read direction message, but no range.} `direction in FSK: [-0.750361,-0.625178,0.214735]yQUw'T迓Ht俍h`r|?QUyUHUV UC{)U8IU9iU.?UQU%/>U @ Uk]>)Uۄu@IUk]QU'`mԩ ۄF%,WɗLA>=]t@>'@>oZ=ٱ>`~~=>H@?gFe|O??i>=]t@I>^;>!CYZByZIyiMb@Mb@Mb@ 9y&1?`"QY`%?yuA(A A)AY AbD!VD˰8yQ;%;=ٔ:Q->9?Y?=Ey E E >Q 5%5q@?Q 9-5)#BY-K(?Q E5:y5Q I5C@DId;iv;P5yEΖBɮE_(AMEmB*** querying acoustic contact ***iqiqhyhyhyhyhyggjgrgBereZe:e*e [F@颕Bɢ>;) i)U<顙iJzchecking for new query: numPingsReceived=25, elapsed TxPingTime=55.334991i?IIԱ=:@9 @9@=T4@9}G/{AF9/{AYCAE EE)E"E;*E՚:VEFA4ZEa@a@a@a@^A > ] BDAT read: Rx Time:04:27:15.7401 e TRx dataTimestamp_ set to:1764908836.799643m checking for new query: numPingsReceived=25, elapsed TxPingTime=55.589249A- AI1 IA OU >L%,.5ɗLAZ}s@Zٷ@Z:_=ٱZڄ=ZHoV?`iE㫿 ??iZ}s@IZm^;Z CY By I bD% VD%8y5M%5W=ٔ5C;Q-=>9=??Y=??==Ey=EECEE>IQ 5]5Mz0?Q 9e5M.)MBYqy}uQ I}C@MDIMS;iM;M]S5yɮ(AhhhhhggjgrgereZe:e*e@F@ UBɢU"y)Y ]L4iY)]RBBYIBBB =BBɺDB;Bx6EBHCBHCBƓCB =B =Ce4^Am>iAuyAzAuzAA 0AI I O >ԩ E  E E %E "E :*E g:VE 4ZE BE By>IbDJVDJ8y~2%~N=ٔH;Q->9?Y?= Ey E E >Q 55?Q 95}) BY!y%WQ I%C@ʐDI;i;V5y-ŖBɮ-w(A-EhyhyhyhyhyggjgrgereZe:e*eľF@颽Bɢ@) &;i)̢P<idi5IIqDAT read: 04:27:15.7401 LVL= 26096, 18481, 18418, 28211, AGC= 56, IDX= 463, 0.13, 1.807,-2.318,-3.043,-2.938, PHS=-1.435, 0.666,-0.149, RAW= 292.6, 10.0, CAL= 290.0, 13.0, ROT= 220.0, -13.0 Ygot valid direction response: 04:27:15.7401 LVL= 26096, 18481, 18418, 28211, AGC= 56, IDX= 463, 0.13, 1.807,-2.318,-3.043,-2.938, PHS=-1.435, 0.666,-0.149, RAW= 292.6, 10.0, CAL= 290.0, 13.0, ROT= 220.0, -13.0 8DAT read: $Error in header *Received a bad headerZ#Rx 26: Read direction message, but no range.`direction in FSK: [-0.746411,-0.626313,0.224951]y翸} 促:/2?e1HG 3n)Ii~*?u.k@¸2>p@ Vh>) u@IVh#@< t-?ec1GL? @@)K3IaiVh5checking for new query: numPingsReceived=26, elapsed TxPingTime=56.127285ԡNJκU:@Y @Y@]00@Y@q@q checking for new query: numPingsReceived=26, elapsed TxPingTime=56.343002^A > A I I O >Z%,:lɗLANHp@N~@Nh=ٱNz=NHZŭ?kk@mn2@ ? ?iNHp@INGF^;N CYbBybIbEm 4jEm-4rEm/Er ErEr&Ep"Er:*ErV:VEr4ZEpaz@az@az@az@1iMb@Mb@Mb@ 9 r?p= ף:vY#?yTCA )=AY(AbDVD8y%d%%%=ٔ%;Q-%>9)Y)=-Ey- E5djE5>9Q 5E5= ?Q 9E5=)=BYE&?Q EE:yE* Q IMC@=ԐDI= ;i=;=&[5yUBɮUw2AQhyhyhyhyhygygjgrgBereZe:e*e F@=Bɢ=:)9 =Ei9)=oMBi Bm GIBm BBm =Bi Bm ʺDBm ;Bm 6EA I I O >(a%,[ɗLA2o@2}@2j=ٱ2_v=2Ha? C5v@ĚQ Q ή? ?i2o@I2^;0Y>By>}IIBp<)Bp;B=B=bDJVDJ8yRS%%RZ=ٔR:Q-R>9TYT=VEyV EV EZ>x|Q 55~?Q 95~\)~BY y !Q I C@~ܐDI~:i~-:~^5yBɮ2Ah9hAhAhAhAgAgAjgIrgIeIreIZe:e*e@/G@MBɢU3)Y ]WiY)eJ<顩iIDIDM<Ee EeEe#Ea"Ee :*Ee~:VEe3ZEaBEeN"@ )~t@IaoPGSJٻ?",a? A@)+3I7ichecking for new query: numPingsReceived=27, elapsed TxPingTime=57.126259Q:@ @@5@y ^AE ݑ>AM >AM >ԩ  checking for new query: numPingsReceived=27, elapsed TxPingTime=57.355629AIIO?-i%,NɗLA2o@2|@2k=ٱ2|r=2HE$?@) KxsJE? ?i2o@I2];2CY>By>Idi=Mb@Mb@Mb@9999 99=%C?/$~jtY=Z$?y=1=D=A9 =A)=lA9Y=QAbDU#VDUͰ8ye2;%e=ٔe!9Q-m>9iYi=uEyuEuʼEu>yQ 55}P?Q 95})}BY'?Q E:y-"Q IC@}DI}-;i}B;}9c5yBɮ2AEB*** querying acoustic contact ***iihhhhhggjgrgBereZe:e*eltG@E EE$E"E:*Ec:VE4ZEa@a@a@a@Bɢ`) Yi)F<i8iA"/7v>II :@ @@?5@}BDAT read: Rx Time:04:27:17.7406 }TRx dataTimestamp_ set to:1764908838.819171checking for new query: numPingsReceived=27, elapsed TxPingTime=57.608395)^A>Y I I O >p%,ɗLA2r(n@2|@2|Nl=ٱ2?t=2H:P?3@co:?@p??i2r(n@I2 ^;2!CY>By>xIbDFVDFɰ8yN6%RY=ٔR9Q-R>9TYT=VEyVEVEV>XBb6>B`Bb:IBbuBB`B`B`Bb;Bbk6EQ 5n5rchecking for new query: numPingsReceived=27, elapsed TxPingTime=57.859039Z"ϟ?Q 9v5ZJ)Z؏BYtyv #Q IvC@ZDIZ=;iZ;Zf5yzBɮ~2A~E9hhhhhggjgrgereZe:e*e@G@Bɢ?) %Ngi!)%$DI)I1:@ @@@q^A>E EE%E"E :*E[:VE 4ZEBEa2EaJEC;a:EC;aIIOj>ԡDAT read: 04:27:17.7406 LVL= 29408, 17905, 19474, 28579, AGC= 57, IDX= 452,-0.09,-0.701, 1.424, 0.675, 0.804, PHS=-1.403, 0.666,-0.172, RAW= 293.7, 10.1, CAL= 291.2, 13.1, ROT= 218.8, -13.1 Ygot valid direction response: 04:27:17.7406 LVL= 29408, 17905, 19474, 28579, AGC= 57, IDX= 452,-0.09,-0.701, 1.424, 0.675, 0.804, PHS=-1.403, 0.666,-0.172, RAW= 293.7, 10.1, CAL= 291.2, 13.1, ROT= 218.8, -13.1 8DAT read: $Error in header *Received a bad header- Z#Rx 28: Read direction message, but no range.5 `direction in FSK: [-0.759056,-0.610297,0.226651]yMw0JTy㿆+#?rEL o)9Ii~*? 0@  j>)ft@I j9P■fQy?a6w? =B@),4Iϸi j checking for new query: numPingsReceived=28, elapsed TxPingTime=58.142437 v%,ɗLAuENm@u@{@uj=ٱu~u=uHȝ {?@1k`?T@;??iuENm@Iu];uCԉYBy|I i]Mb@Mb@Mb@YYYY Y9]?HzG~jtY]f&?y]= Y]A]A Y)]=AYY]AbDuVDu8y}er<%/=ٔQQ->9Y=EyE^E>Q 55W?Q 95)ʏBY)?Q E:y#Q IC@DIX ;i ;j5yɮ2AhhhhhggjgrgBereZe:e*e@G@BɢlK) di)%B@Ia Iq O >  BDAT read: Rx Time:04:27:18.7409  TRx dataTimestamp_ set to:1764908839.826865 checking for new query: numPingsReceived=28, elapsed TxPingTime=58.616089e|%,bɗLAY%By%qIbDMVDM8yuJ%u^=ٔuQ-}>9yYy=}Ey}EE>Q 551?Q 95A)BYyQ IC@DI';i;m5yBɮ2AhhhhhggjgrgereZe:e*eH@ Bɢ ˻) yi)=<i`i%p!%B{!IIO;>B7>BB.IBkBBBBB;B6E%checking for new query: numPingsReceived=28, elapsed TxPingTime=58.870617Q D D R=E  E E #E "E :*E e:VE 3ZE BE x`lHz?`|??i2k@I29^;2 CYNByNbIbDZVDZɰ8yb,%bV=ٔbrQ-b>9dYd=fEyf!EfEj>hQ 5r5j?Q 9r5j)jBYpyr%Q IrC@j DIj;ij;j$q5ytɮz2AxhhhhhggjgrgereZe:e*eAH@ Bɢ.a) i)Co:<i{ i%SF !%ԑI!I)DAT read: 04:27:18.7409 LVL= 29232, 20977, 19106, 31283, AGC= 56, IDX= 471,-0.01,-0.645, 1.488, 0.745, 0.874, PHS=-1.417, 0.659,-0.173, RAW= 293.5, 10.3, CAL= 290.8, 13.6, ROT= 219.2, -13.6 Ygot valid direction response: 04:27:18.7409 LVL= 29232, 20977, 19106, 31283, AGC= 56, IDX= 471,-0.01,-0.645, 1.488, 0.745, 0.874, PHS=-1.417, 0.659,-0.173, RAW= 293.5, 10.3, CAL= 290.8, 13.6, ROT= 219.2, -13.6 8DAT read: $Error in header *Received a bad headerԙZ#Rx 29: Read direction message, but no range.`direction in FSK: [-0.753216,-0.614308,0.235142]yQUFXh㿴#?QU0rUQUJ U3z)U8IUB`iU9(?U&1U@UX8>Ui@ Us>)UGt@IUsQUٟ]Gᅮ#ૼ? rL? UA@)UV>8IUnFiUschecking for new query: numPingsReceived=29, elapsed TxPingTime=59.142574M9@I @I@M/0@I^A%CD>IIOK> checking for new query: numPingsReceived=29, elapsed TxPingTime=59.370941 k %,*ʗLAYUBy]]Ii-Mb@Mb@Mb@)))) )9-y&1? rh~jtY-`%?y-C )-A-A -rA)-A)Y-AbDM'VDMа8y]%]3=ٔ]Q-]>9aYa=eEye&EmEm>iQ 5}5m?Q 9}5m)mBY})?Q E}:y}%Q I}C@mDIm ;imn:m!u5yBɮ2AEE EE&E"E:*E&p:VE4ZEa@a@a@a@B*** querying acoustic contact ***iihhhhhggjgrgereZe:e*e|zH@"Bɢ*) )i)$X6<iii%Am!%*I!I!@ @@0@mBDAT read: Rx Time:04:27:19.7412 uTRx dataTimestamp_ set to:1764908840.835597}checking for new query: numPingsReceived=29, elapsed TxPingTime=59.625168^A0>AAII O>I ?%,CʗLAB69>B4B6'IB6fBB4B4B4B6;B66EB j@BIw@Bx^=ٱBY=BH`J? Oc-? I۫`b?` ?iB j@IBU ^;B!CYNByNfI V9Ec?YEc?=MEyM)EMdEM>QQ 5]5Un?Q 9]5U )UBYayeZ'Q IeC@UDIUj;iUU;UWx5ymBɮm:2AmEhhhhhggjgrgereZe:e*e H@$BɢQ) i)}3<iRwԺic UIIIU:@Y @Y@Y@Y^AmT=DzDE EE!E"EO:*ErN:VEc3ZEBE DAT read: 04:27:19.7412 LVL= 28064, 20033, 18866, 28403, AGC= 56, IDX= 458, 0.04,-0.157, 1.982, 1.269, 1.370, PHS=-1.425, 0.657,-0.145, RAW= 292.4, 10.1, CAL= 289.9, 13.0, ROT= 220.1, -13.0 Ygot valid direction response: 04:27:19.7412 LVL= 28064, 20033, 18866, 28403, AGC= 56, IDX= 458, 0.04,-0.157, 1.982, 1.269, 1.370, PHS=-1.425, 0.657,-0.145, RAW= 292.4, 10.1, CAL= 289.9, 13.0, ROT= 220.1, -13.0 8DAT read: $Error in header *Received a bad header Z#Rx 30: Read direction message, but no range. `direction in FSK: [-0.745316,-0.627615,0.224951]yqu[K#jk促:/2?qumuANuI un)qIuffiu'1(?uzuN@uJ4>u$@ uVh>)uu@IuVhqu89qYq=}Ey}.E}1E}>Q 55FY?Q 95 )BY)?Q E:y(Q IC@$DI:i::|5yɮ}2AhAhAhAhAhAgIgIjgIrgMÃBeQreQZeQ:eQ*eUH@ uw>uCԡchecking for new query: numPingsReceived=30, elapsed TxPingTime=60.3790023G =c9QY]_AU'Bɢ]y)a eia)ee.E%,OyʗLARh@Rv@RkU=ٱRV=RH`0#X?@sbG0a?KWa??iRh@IR ^;R CYnBynGIbDvVDv8y % X=ٔHLQ->9 ?Y ?=Ey2EE>!Q 5-5%F?Q 9-5%)%BY9y=c)Q I=C@%,DI%2;i%3;%5yuBɮu(3AuEhhhhhggjgrgereZe:e*eI@)Bɢl) Ci)*<ii    II]>i>a@ @@@^A}D=B=>BJCBIBVBBBB˺DB ;B6EBICBICBBBCűZ4=checking for new query: numPingsReceived=30, elapsed TxPingTime=60.883087AqIyԑIO]> E  E E $E "E :*E :VE 4ZE BE 9pYp=vEyv6EvEv>xQ 5~5zJ3?Q 9~5z$)zzBYy)Q IC@z4DIz^;iz8;z5y ɮ 3A h1h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eE8EI@u+BɢuN0W)q uEiy)}J&)Z@ k>)v@Ikx$Vf]?0)lG? g?@)t5I'ik]checking for new query: numPingsReceived=31, elapsed TxPingTime=61.158600@ @@@^A=AIIOm>U checking for new query: numPingsReceived=31, elapsed TxPingTime=61.386925! %%,GʗLA|YxBy?IiMb@Mb@Mb@ 9Mb?X9v:vY#?yTAA A)AY=AbDVD8yBP%<=ٔQ->9Y=Ey:EE>bEe3jEe3rEe0E EE#E"E:*E n:VE3ZEa@a@a@a@Q 55?Q 95)nBY*&?Q E:y'Q IC@=DI:i]:ц5y ۗBɮ 3AE-B*** querying acoustic contact ***i)i)h9h9h9h9h9g9gAjgArgEBeAreIZeI:eI*eM;}I@}.Bɢ}Qb)y +i)p!<顁iTKiC~II)M9@I @I@M/@IBDAT read: Rx Time:04:27:21.7416 TRx dataTimestamp_ set to:1764908842.850804checking for new query: numPingsReceived=31, elapsed TxPingTime=61.640182^A%"5A->A->AQYIaIqO{> PExceeded connect timeout, disconnecting.ԁ B >>B B IB LBB =B B B ;B 6E] checking for new query: numPingsReceived=31, elapsed TxPingTime=61.890957u%,*ʗLABg@Bu@B$[:=ٱBY=BHm@?Ҵju a?UI*??iBg@IB ^;@YNiBy^+IbDfVDf8y~i%~V=ٔ~OQ->9Y=Ey>E E >Q 55 ?Q 95)dBYyi(Q I%C@EDI;i; 5y-їBɮ-C3A-E9hQhQhQhYhYgYgYjgargaeareaZea:ei*emI@=0BɢE%)I MBǾia)m2̡@ d{>)v@Id{H;&H/￘Nž?dQ? @@)3;I id{Uchecking for new query: numPingsReceived=32, elapsed TxPingTime=62.166584IaIqO> =˷%,ʗLAEg@E^u@EB-=ٱEb=EHp@]|?!ktm???iEg@IE ^;E!CYYy],IiMb@Mb@Mb@ 9S㥛?V-MbY$?yAlA A)AY A %<%<bD-VD-8y=z:%=7=ٔEQ-E>9AYA=EEyEBEM0`EM>QQ 5]5UQ?Q 9]5U)UXBYe'?Q Ee:ye'Q IeC@UNDIU:iU{:U5yiɮmA3AqhhhhhggjgrgBereZe:e*eI@3BɢW) ɾi)<i¹%=checking for new query: numPingsReceived=32, elapsed TxPingTime=62.395283iE EE$E"E>:*E:VE4ZEa@a@a@a@) checking for new query: numPingsReceived=32, elapsed TxPingTime=62.647198Q h%,-{ʗLA2h@2v@2=ٱ2=2H d?@>c?ޣ *?~?i2h@I28 ^;2CYN_ByR IbDZVDZ8yv.S%zc=ٔzQ-z>9xY|=~Ey~FE~4;E>Q 5 50枊?Q 95!)OBYyQ'Q IC@VDI:iW:,5yǗBɮ%?3A!hAhAhIhIhIgIgIjgQrgQeYreaZea:ei*em%J@颽5BɢH) վi)o<i|Li=Kԩ=tII95nManaging dock network, ignoring radio surface power offq@q @q@u4@q^Ae>AizAiIIO$>BU@>BQBUIBUBBBU =BQBQBU^;BUC6Ei2Acoustic response timeout6setting remote address to 8ԉE  E E E "E :*E xv:VE ZE BE p%%,&V˗LA2lh@2_v@2n=ٱ2 =2HgK`n?`@CA†?졿@d?N?i2lh@I2z^;2 CYN[ByRIbDZVDZ8ybߟ%bM=ٔbQ-f>9dYd=fEyfJEjXK<Ej>lQ 5r5nUӞ?Q 9r5nb%)nDBYpyr&Q IvC@n^DIn;ina;n5yxɮz_3Axh]DAT read: eTDAT read: RemoteAddr | 8 m.set remote address to 8m2Acoustic response timeoutmQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.hhhhggjgrgereZe:e*eIJ@8BɢZ) ܾi) <i t3i>K ~= KpI I I=xA)=xAԑ@ @@4@@@yA^A4LIIIqO;> &DAT read: user:8>  BDAT read: Tx time:04:27:24.0544  $Ping request sent. 9AYA=EEyENEE<EM>QQ 5]5U?Q 9]5UN))U9BY]7-?Q E]:y]%Q I]C@UgDIU#:iUM:US5ymBɮmy3AmEB*** querying acoustic contact ***iiE EE&E"EO:*ES:VE4ZEa@a@a@a@hhhh)h)g)g)jg1rg5Be1re1Ze9:e9*e=+J@e;Bɢly) i)<顑iIw39i=K#=3kII!@! @!@%05@!echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250968^AExIyIOA B= B>B9 B= IB= 3BB9 B9 B9 B= ~;B= 5E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502927T%, H˗LAVi@VH{w@V<ٱV>VH_?@Q8`N*?.ۙ?ӫ?iVi@IV^;TYb7BybIbDjVDj8yr%vP=ٔvgUQ-v>9xYx=zEyzREz<Ez>Q 55&?Q 9 5-).BY y $Q I C@oDI:iB:5yBɮ3AEh9hAhAhAhAgAgAjgIrgIeIreIZeI:eQ*eUJ@颅>Bɢ) 7i);顉i59i>K=bcII1@1 @1@55@1QE EE#E"E:*Ez:VE3ZEBE,A>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756054AI IQ Ia Ou >ԩ %,a˗LA@Y52By5IiMb@Mb@Mb@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007024 9V-?zGếy&1Yh1?y ׽`A A XA)YAbDVD8yӳ%-=ٔQ->9Y=EyWE E >Q 55䔞?Q 951) BY3?Q E%:y%#Q I%C@zDI:i:5y-—Bɮ-4A-EhQhQhQhQhQgYgYjgYrg]BeareaZea:ea*em@rJ@颕ABɢۼ) i)d;顙iA :i=Kԩg=feIIl>i>E:@A @A@E1@A@U=@Q^A>oE EE$E"ED:*E~:VE4ZEa@a@a@a@AIIQIaOu> i߁ I߁  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259199?%,{˗LA2k@2hx@2'a<ٱ2XU5>2Hr`2`?Mh"`?` 8 ׋? ?i2k@I2&^;2CYR#ByRIpbDj)VDjҰ8y~s%~r=ٔ Q-?9 Y = EyZE=E?Q 55?Q 955)BYy5"Q IC@DI ;i ;5yBɮ4AEhhhhhggjgrgereZe:e*e!K@-DBɢ-)) --i))58;11i5p/:i=>K=x==OI9IA:@ @@@5@ BL>BKCBIBBB =BB̺DB^~;B5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514684A^A \cA% ؟AI) I9 OM >a D %=D %=E  E E 'E "E :*E ą:VE '4ZE BE ?8k@>y@>&n<ٱ>ͨA>>H%`ة?]`O? 퀿?`m?i>k@I>^;>CYJ'ByJIbDVVDV8yZ<%^O=ٔ^dQ-^>9b"?Yb"?=bEyb^Eb=Ef>dQ 5j5fq?Q 9n5f9)f BYlynF!Q InC@fDIf/;ifn;fI5ypɮv4Ath h hhhggjgrgereZe!:e!*e%>JK@9UGBɢUk )Q Uechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.767165iY)mR`;iiimyQ:iu=Ku;h=uiFIqIqm9@q @q@q@q^A-ZiAAIqIOb>ԙG {A!Mh9M{AYUIdA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018928 Q%,y˗LA6l@6Iz@6*";ٱ6K>6H``?`Li fU?@dH?^?i6l@I6^;4YB!ByBIi Mb@Mb@Mb@     9 oʡ?A`":vY -?y ٽ Լ ^ A ~&A A)  Y AbD%ٿVD%8y5%5C=ٔ5 bQ-=>99Y9=EEyEbEE=EE>IQ 5U5M^?Q 9U5M>)MBY]L/?Q E]:y] Q I]C@MDIM ;iM ;M5yeBɮej4AmEB*** querying acoustic contact ***iihhhhhgԙgjgrgBereZe:e*e-K@E EE"E"E:*Ega:VE(3ZEa@a@a@a@JBɢ{ ) i)u;;qqiuq:i}>K}%9=}g;IyII@I @I@M1@I@Q@UxAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.274318^AޤNB Y>B MCB IB BB =B B ͺDB -~;B 5EBJCBKCBʔCBB =Co59 AE .AII IY Om >% DDAT read: Rx Time:04:27:26.2263 - TRx dataTimestamp_ set to:1764908847.1393485 PDAT read: Bearing 169.7, -28.6 (Local) 5 ~Local bearing/azimuth received: Bearing 169.7, -28.6 (Local) E DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed -0.4 9%,R˗LADAT read: 04:27:26.2263 LVL= 24272, 14737, 17074, 24691, AGC= 62, IDX= 2, 0.44,-0.856, 1.418, 0.482, 0.761, PHS=-1.516, 0.702,-0.323, RAW= 297.5, 11.8, CAL= 294.8, 16.7, ROT= 215.2, -16.7 Ygot valid direction response: 04:27:26.2263 LVL= 24272, 14737, 17074, 24691, AGC= 62, IDX= 2, 0.44,-0.856, 1.418, 0.482, 0.761, PHS=-1.516, 0.702,-0.323, RAW= 297.5, 11.8, CAL= 294.8, 16.7, ROT= 215.2, -16.7 "R#Rx 1: Read range and direction messages.&`direction in FSK: [-0.782680,-0.552120,0.287361]&Fpublishing direction and range infoyQU4p 鿃76gd?YUBQU^U9UB Us`)U>IUJ ¿iUF3?UB`U'@UBR>U@ U;>)Uvap@IU;QQUs=8J￘r4?ŞbX2? UCF@)U>SIU?!iU;QQechecking for new query: numPingsReceived=1, elapsed TxPingTime=2.574974m m@m{@m˭OٱmAQ>mHkG? [3¿@ ?i?? U?im m@Im];mCYByIbDVD8y`%>=ٔ lVQ- >9  ?Y ?=EygEb=E>!Q 5-5%:J?Q 9-5%B)%BY)y5Q I5C@%DI%:i%e#<%5y}Bɮ}4A}EiQiU˗LAjU A"jU A:jU?"pUO8!,18R"@pU4p 鿃76gd?*jU?!2jU;*pUVm@ *T-?@V1"aB@pU4y?,K?H&:#V?jUoA jU@iUOA ؟AI I O= >ԡ +g%,>˗LAen@e|@e: ٱe,QT>eH@/Ě? >¿@`֫h ?@? SY??P?ien@Iet];ie CY}By}IDDAT read: Rx Time:04:27:26.7264 TRx dataTimestamp_ set to:1764908847.643466PDAT read: Bearing 170.6, -27.0 (Local) ~Local bearing/azimuth received: Bearing 170.6, -27.0 (Local) DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed -0.4 =DAT read: 04:27:26.7264 LVL= 32752, 21745, 23410, 32755, AGC= 60, IDX= 499,-0.02,-2.247, 0.039,-0.961,-0.629, PHS=-1.516, 0.713,-0.376, RAW= 299.2, 12.2, CAL= 296.6, 17.3, ROT= 213.4, -17.3 EYgot valid direction response: 04:27:26.7264 LVL= 32752, 21745, 23410, 32755, AGC= 60, IDX= 499,-0.02,-2.247, 0.039,-0.961,-0.629, PHS=-1.516, 0.713,-0.376, RAW= 299.2, 12.2, CAL= 296.6, 17.3, ROT= 213.4, -17.3 ER#Rx 2: Read range and direction messages.M`direction in FSK: [-0.797080,-0.525577,0.297375]UFpublishing direction and range infoy- /+0?YfBTr[ )<Ii+6?@^ Z>@ #>)^n@I#%#F81q?Re>,? p7H@)YI#i#uchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.047431iMb@Mb@Mb@ 9V-?|?5^/$Yh1?yҽ A(A A)lAYAbD]VD]8y%#=ٔ/Q-]>9e"?Ye"?=eEyelEm<Em>ԙqQ 55ue2?Q 95uH)uBYo3?Q E:yiQ IC@uDIu:iu:u85yɮ 5Aii.˗LAjA"jA:j&?"p.}90e E#@p- /+0?*j#2j#*pWSC@YN*?@ +@p58?c;X\/?d7?jTA j:@i'﨟?ixqjDBjj$jBrjAzjKn? addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.504118 s, deltaX: 0.099998 m, approachRate: 0.198363 m/s, rangeRepo size: 2 5 Added new target pos. range: 31.980839 m, bearing: 81.883844 deg, lat: 36.779399 deg, lon: -121.859661 deg, deltaT: 0.504118 s, deltaX: 0.099628 m, approachRate: 0.197629 m/s, posRepo size: 2 :i15DNOT Ignoring new targets: 31.98 m.2i1=Powering the camera and arming the capture device at range: 32.10 m.i9"i=*i9m ProNav: ac range: 31.980839 m, nav range: 30.715277 m, bearing: 84.346024 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 84.825991 deg, new cmd heading: 84.825991 deg. imuHeadingCmd: 1.480493 target range: 31.980839 and range: 32.10 m.hqhhhhiggjgrgBereZe:e @@*e ?bE]4jE]4rE]١/E EE%E"E:*E:VE 4ZEa@a@a@a@SBɢQ)  (i)j;ijԖ:ircIII)yA 7@  @ @ /@  checking for new query: numPingsReceived=2, elapsed TxPingTime=3.279454 ^A ;A >A >!A.AI!I1O=?fD%,P̗LAFqp@Fd~@FٱFV>BNQ>BNLCBNIBNBBN =BLBLBN ~;BN5EFH`@'A?1 ¿2'?@??1L?iFqp@IF ^;DYbBybIbD%VD%8y5i=%=G=ٔ="ӼQ-=>9= ?YE ?=EEyEpEEؓ=EE>IQ 5U5Ms ?Q 9]5M8M)MBYYy]Q I]C@MDIM:iMB:M5yeBɮe\4Ai:iDNOT Ignoring new targets: 31.98 m.2iPowering the camera and arming the capture device at range: 32.10 m.i"iB*iB ProNav: ac range: 31.980839 m, nav range: 30.913631 m, bearing: 83.985692 deg, approach rate: 0.559012 m/s, LOS rate: -1.008981 deg/s, cmd heading: 84.825991 deg, new cmd heading: 84.109993 deg. i漝HeadingCmd: 1.467996 target range: 31.980839 and range: 32.10 m.hN?hhhhiggjgrgereZe:e*e?==DDAT read: Rx Time:04:27:27.2267 TRx dataTimestamp_ set to:1764908848.147694 PDAT read: Bearing 174.8, -23.9 (Local)  ~Local bearing/azimuth received: Bearing 174.8, -23.9 (Local) DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed -0.4 EDAT read: 04:27:27.2267 LVL= 32752, 31729, 24306, 32755, AGC= 57, IDX= 502,-0.28,-2.583,-0.313,-1.449,-1.037, PHS=-1.444, 0.769,-0.456, RAW= 303.5, 11.8, CAL= 301.1, 15.9, ROT= 208.9, -15.9 MYgot valid direction response: 04:27:27.2267 LVL= 32752, 31729, 24306, 32755, AGC= 57, IDX= 502,-0.28,-2.583,-0.313,-1.449,-1.037, PHS=-1.444, 0.769,-0.456, RAW= 303.5, 11.8, CAL= 301.1, 15.9, ROT= 208.9, -15.9 MR#Rx 3: Read range and direction messages.U`direction in FSK: [-0.841970,-0.464793,0.273959]UFpublishing direction and range infoyk꿆Vl)ݿψ.?YfB{^ )9IԸi/D?x龩@BR>}*@ q>)Wi@Iqi{DM#e~? E)D=RI(iqchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.551665颭VBɢW5) #i)';项i˟:iĆ ):IN?I]V5@a @a@a@a^A=VT5ԙE EE'E"E :*E&p:VE'4ZEBEN" checking for new query: numPingsReceived=3, elapsed TxPingTime=3.783419 o%,0̗LAmDq@m6@mfƼٱmqU>mH4X? r{?3̘?`o?L?imDq@Im^;mCYy <bDVD8y%C=ٔiGQ->9Y=EytE<E>Q 5m5\ ?Q 9u5RR)BYyyQ IC@DI+@ ޏ>);Ug@Iޏ]~,ᅲ/Os;? PC)VIz*iޏ}checking for new query: numPingsReceived=4, elapsed TxPingTime=4.051198ZBɢA) 0&i)h;!!i%@:i-Mq)-h=I-1?I172@ @@@^AAyAzAzA! E%  E% E% %E! "E% m:*E% :VE% 4ZE! a5 @a5 @a5 @a5 @A I I O >Y %,79̗LA*checking for new query: numPingsReceived=4, elapsed TxPingTime=4.287015Fr@F@FvYٱFqS>FH @?9 3JU??F?N?iFr@IFA^;FCYR BybIi-Mb@Mb@Mb@)))) )9-V-?1Zd rhY)y-"۽-C- A-d+A -=A)-A)Y-=AbDVDð8y%5=!ٔE*Q-M>9QYy=}EyyE:<E>Q 555?Q 955W)ގBY=3?Q E=:y=iQ I=C@őDI'͙]@kq?@bZ@p-69?\*?lמ ?j-A j-@i-*?i-o;j-7Bj-'﨟?j)j-7Brj-Bzj-? addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.503761 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 32.478508 m, bearing: 78.598064 deg, lat: 36.779412 deg, lon: -121.859654 deg, deltaT: 0.503761 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i%-TStopped intercept timer at range: 32.60 m.-DNOT Ignoring new targets: 32.48 m.2i)MPowering the camera and arming the capture device at range: 32.60 m.iQ"iQ*iQe ProNav: ac range: 32.478508 m, nav range: 32.163723 m, bearing: 80.819895 deg, approach rate: 0.000000 m/s, LOS rate: -1.008981 deg/s, cmd heading: 83.116633 deg, new cmd heading: 82.262171 deg. iaHeadingCmd: 1.435746 target range: 32.478508 and range: 32.60 m.hƷ?hhhhiggjgrgBereZe:e*er0? ^Bɢ z1) A*i)E;iT:i א2>I%Ʒ?I!QBM>BBIBBB =BB̺DB7~;B5E/@ @@@ DDAT read: Rx Time:04:27:28.2269 TRx dataTimestamp_ set to:1764908849.155919%PDAT read: Bearing 176.2, -25.1 (Local) %~Local bearing/azimuth received: Bearing 176.2, -25.1 (Local) =DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed -0.4 mDAT read: 04:27:28.2269 LVL= 31088, 27009, 24114, 32755, AGC= 59, IDX= 504, 0.01,-1.806, 0.385,-0.686,-0.303, PHS=-1.401, 0.733,-0.427, RAW= 302.9, 11.8, CAL= 300.4, 16.1, ROT= 209.6, -16.1 uYgot valid direction response: 04:27:28.2269 LVL= 31088, 27009, 24114, 32755, AGC= 59, IDX= 504, 0.01,-1.806, 0.385,-0.686,-0.303, PHS=-1.401, 0.733,-0.427, RAW= 302.9, 11.8, CAL= 300.4, 16.1, ROT= 209.6, -16.1 }R#Rx 5: Read range and direction messages.`direction in FSK: [-0.835393,-0.474569,0.277315]Fpublishing direction and range infoy  \꿍nW_޿/?Y B  py i 2^ ) ;I Si ;? ھ +@ BR> gƧ@ )  j@I ^A벫    BHI`Å/pf"M6? E) 0SI 'i   checking for new query: numPingsReceived=5, elapsed TxPingTime=4.566106q A ؟AI I O >|%,R̗LA,2cr@2]@2%ٱ2@O>2H Y?qo ?@?`?S?i2cr@I2q^;0YBByBI DDbDJVDJ8yf`X%fz=ٔfSTQ-f ?9j"?Yj"?=jEyj|Ej=Er ErEr$Ep"ErV:*Er:VEr4ZEpBEr9ԉIh?IM-@I @Q@Q@YԹ^Am 5 DDAT read: Rx Time:04:27:28.7270 = TRx dataTimestamp_ set to:1764908849.660997M PDAT read: Bearing 173.1, -29.5 (Local) M ~Local bearing/azimuth received: Bearing 173.1, -29.5 (Local) ] DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed -0.5  DAT read: 04:27:28.7270 LVL= 32400, 23457, 22002, 32755, AGC= 58, IDX= 505,-0.05, 1.388,-2.725, 2.662, 2.948, PHS=-1.458, 0.656,-0.330, RAW= 297.8, 12.3, CAL= 295.1, 17.8, ROT= 214.9, -17.8  Ygot valid direction response: 04:27:28.7270 LVL= 32400, 23457, 22002, 32755, AGC= 58, IDX= 505,-0.05, 1.388,-2.725, 2.662, 2.948, PHS=-1.458, 0.656,-0.330, RAW= 297.8, 12.3, CAL= 295.1, 17.8, ROT= 214.9, -17.8  R#Rx 6: Read range and direction messages. `direction in FSK: [-0.780891,-0.544757,0.305695] Fpublishing direction and range infoy1 5 4`¥nќ?Y5 B1 5 ~5 [5 U 1 )5 :I5 i5 '?5 5 R@5 [>5 Ф@ 5 >)5 p@I5 1 1 5 6dC=;Pb?zQ? 5 ǔF@)5 :\I5 "i5 1 1  checking for new query: numPingsReceived=6, elapsed TxPingTime=5.061011A I1 II O] >$%, l̗LA\vs@@xٱEH>H]@Y?4``sq? ??A^?ivs@IF^;YBy%IiEMb@Mb@Mb@AAAA A9EV-?ʡE~jtYAyEyEDE AEh+A EA)EAAYEfABAbDVD8yMLh%M(=ٔUz Q-U>9QYY=]Ey]E]<E]>Q 55#՝?Q 95a)ڎBY3?Q E:yQ ID@בDI:if:n5yɮ4AE EE#E"Es:*EL_:VE3ZEa@a@a@a@iaieMj̗LAjeB"jeB:jePc?"peD&N9B(1W$@pe4`¥nќ?*je "2je*pe#?32@@8@T@peO4`?hn ?rb?jeB je?ie9N?iem jeڋBjajajarjeBzje./? addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.505078 s, deltaX: 0.099998 m, approachRate: 0.197986 m/s, rangeRepo size: 4  Added new target pos. range: 32.876640 m, bearing: 87.460187 deg, lat: 36.779412 deg, lon: -121.859654 deg, deltaT: 0.505078 s, deltaX: 0.099625 m, approachRate: 0.197246 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 32.88 m.2iPowering the camera and arming the capture device at range: 33.00 m.i"i*i ProNav: ac range: 32.876640 m, nav range: 32.638218 m, bearing: 80.207060 deg, approach rate: 0.000000 m/s, LOS rate: -1.008981 deg/s, cmd heading: 81.650930 deg, new cmd heading: 80.653189 deg. iHeadingCmd: 1.407664 target range: 32.876640 and range: 33.00 m.hS.?h h h h i g g jgrgBereZe9:e=@@*e=@&?颍fBɢ=-) 0i)::顑i|:ip# >IS.?Ichecking for new query: numPingsReceived=6, elapsed TxPingTime=5.295810m*@i @i@q@q^AUAe>Ae>A A .AI I O >'!%,̗LAB&K>B&KCB&IB&BB$B$B$B&a~;B&5E> t@> @>Q )ٱ>\@>>H i`?祾@?"?7?i?i> t@I>88^;å@ k>)%n@IkSpP|rvD?]%? ProNav: ac range: 32.876640 m, nav range: 32.816563 m, bearing: 79.960750 deg, approach rate: 0.572539 m/s, LOS rate: -0.786427 deg/s, cmd heading: 80.653189 deg, new cmd heading: 80.163260 deg. i糼HeadingCmd: 1.399113 target range: 32.876640 and range: 33.00 m.h!?hhhhiggjgrgereZe RH@)Ȥ7I(#ikchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.574979:e `f@@*e`Y?}iBɢ} nT)y 2i):顁iTb:i '  I !?II(@ @@0@^A]ռE EE$E"EV:*E n:VE4ZEBEa 2Ea JE;a :E;aqA؟AIIO> checking for new query: numPingsReceived=7, elapsed TxPingTime=5.799399ԡ '%,Ts̗LALLnt@nR@n7ٱn'<>nH?x R i[N?{?]?m?int@InX^;lYByII=)=bD-ܿVD-8y=<%=F=ٔ=Q-=>9E"?YE"?=EEyEEE9<EM>QQ 5]5U̴?Q 9]5Uj)U؎BYYy]Q I]D@UDIU`:iU:U5yaɮm4Aiqi i )v̗LAj B"j B:j i?"p [)P;w1mM@p #=DΏ :?*j (#2j k*p Oӣ@I{@@"MKT@p ꅻ?gJG?%?j B j @i VOn?i j Bj EKy?j XRj Brj NBzj 0? addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 0.502465 s, deltaX: 0.299999 m, approachRate: 0.597055 m/s, rangeRepo size: 4  Added new target pos. range: 33.175323 m, bearing: 86.175195 deg, lat: 36.779407 deg, lon: -121.859652 deg, deltaT: 0.502465 s, deltaX: 0.298683 m, approachRate: 0.594436 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 33.18 m.2iPowering the camera and arming the capture device at range: 33.30 m.i"i*i ProNav: ac range: 33.175323 m, nav range: 33.076904 m, bearing: 80.657100 deg, approach rate: 0.000000 m/s, LOS rate: -0.786427 deg/s, cmd heading: 80.163260 deg, new cmd heading: 79.520619 deg. iHeadingCmd: 1.387897 target range: 33.175323 and range: 33.30 m.h?hhhhig gjgQrgieqreqZey:e*ef?UmBɢU7=)Q U2iQ)]_:YYi}:i-I?IԡDDAT read: Rx Time:04:27:29.7273 TRx dataTimestamp_ set to:1764908850.667459PDAT read: Bearing 178.5, -32.0 (Local) ~Local bearing/azimuth received: Bearing 178.5, -32.0 (Local)  DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed -0.5 =DAT read: 04:27:29.7273 LVL= 29312, 24049, 22770, 32755, AGC= 61, IDX= 509,-0.19, 2.003,-1.980,-2.927,-2.679, PHS=-1.499, 0.744,-0.292, RAW= 297.5, 10.8, CAL= 294.9, 14.4, ROT= 215.1, -14.4 MYgot valid direction response: 04:27:29.7273 LVL= 29312, 24049, 22770, 32755, AGC= 61, IDX= 509,-0.19, 2.003,-1.980,-2.927,-2.679, PHS=-1.499, 0.744,-0.292, RAW= 297.5, 10.8, CAL= 294.9, 14.4, ROT= 215.1, -14.4 MR#Rx 8: Read range and direction messages.}`direction in FSK: [-0.792446,-0.556940,0.248690]Fpublishing direction and range infoy][鿒2tl?YBr]X )=I;߿iv>?'@A>@ >)Dp@Izng?zpM? +?F@)Ӥ@I!ichecking for new query: numPingsReceived=8, elapsed TxPingTime=6.081168=&@9 @9@9@9^AE+W<A .AI I O >E  E E &E "E :*E :VE 4ZE a @a @a @a @ -%,=̗LA"checking for new query: numPingsReceived=8, elapsed TxPingTime=6.3029216+u@6K@6Eٱ6 9>6H@Tt?@ݼ-M+!? 伨?@ ? Up?i6+u@I6#^;6!CYNByNIiMb@Mb@Mb@ 9Cl?X9vI +Y/?y94(A A)YA <p<bDVD8y=%'=ٔQ->9 ?Y ?=EyEw<E>Q 55?Q 95p)َBY2?Q E:yQ ID@DI~;i;#5y5Bɮ53A5Ei!i%̗LAj%B"j%B:j%?"p%vur:,6Sp2 ꎙ @p%][鿒2tl?*j%!2j%*p%zJ5Pg?M@@Hs; @p%;j!??p?j%B j%U?i%坊?i%y7j%Bj%VOn?j%m j%Brj%ABzj%? addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.503997 s, deltaX: 0.200001 m, approachRate: 0.396829 m/s, rangeRepo size: 4  Added new target pos. range: 33.374573 m, bearing: 88.559317 deg, lat: 36.779378 deg, lon: -121.859651 deg, deltaT: 0.503997 s, deltaX: 0.199249 m, approachRate: 0.395338 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 33.37 m.2iPowering the camera and arming the capture device at range: 33.50 m.i"i!*iAM ProNav: ac range: 33.374573 m, nav range: 33.063873 m, bearing: 85.740304 deg, approach rate: 0.000000 m/s, LOS rate: -0.786427 deg/s, cmd heading: 79.520621 deg, new cmd heading: 78.737208 deg. iQUHeadingCmd: 1.374223 target range: 33.374573 and range: 33.50 m.hU?hQhYhYhYiYgYgajgargeBeareiZei:em@@*em L?颽rBɢ4Z:) $1i)s9i:i3I?IBMS>BMMCBMIBMBBM =BIBMͺDBM~;BM5EW#@ @@/@DDAT read: Rx Time:04:27:30.2276 TRx dataTimestamp_ set to:1764908851.171834 PDAT read: Bearing 118.0, -33.4 (Local) ~Local bearing/azimuth received: Bearing 118.0, -33.4 (Local) %DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed -0.5 1]DAT read: 04:27:30.2276 LVL= 31344, 27745, 26002, 32755, AGC= 59, IDX= 512,-0.08,-1.279,-0.464, 0.218, 0.370, PHS=-1.548,-0.789,-0.196, RAW= 244.0, 37.4, CAL= 247.3, 45.8, ROT= 262.7, -45.8 mYgot valid direction response: 04:27:30.2276 LVL= 31344, 27745, 26002, 32755, AGC= 59, IDX= 512,-0.08,-1.279,-0.464, 0.218, 0.370, PHS=-1.548,-0.789,-0.196, RAW= 244.0, 37.4, CAL= 247.3, 45.8, ROT= 262.7, -45.8 R#Rx 9: Read range and direction messages.`direction in FSK: [-0.088585,-0.691514,0.716911]Fpublishing direction and range infoy:\ [?YBpzale );I$ƿiI9H{F@'?N@ L?)(@IL^Ad=AzAyA5{B~ܿL? i?  @)*&I^ٿiLU checking for new query: numPingsReceived=9, elapsed TxPingTime=6.599680A I I O% >Y 4%,e̗LAEr ErEpEp"Ers:*ErV:VEpZEpBEri0qԑ 3GI y -9 Y ӍAA I1 IY O > DDAT read: Rx Time:04:27:30.7277  TRx dataTimestamp_ set to:1764908851.675582 PDAT read: Bearing 168.8, -29.5 (Local)  ~Local bearing/azimuth received: Bearing 168.8, -29.5 (Local) - DAT read: Range 11 to 50 : 34.1 m (trip time 22.7 ms) speed -0.7 U DAT read: 04:27:30.7277 LVL= 27952, 23313, 22114, 32755, AGC= 57, IDX= 513, 0.04,-2.062, 0.188,-0.654,-0.236, PHS=-1.725, 0.469,-0.462, RAW= 295.0, 17.7, CAL= 293.5, 24.4, ROT= 216.5, -24.4 ] Ygot valid direction response: 04:27:30.7277 LVL= 27952, 23313, 22114, 32755, AGC= 57, IDX= 513, 0.04,-2.062, 0.188,-0.654,-0.236, PHS=-1.725, 0.469,-0.462, RAW= 295.0, 17.7, CAL= 293.5, 24.4, ROT= 216.5, -24.4 ] T#Rx 10: Read range and direction messages.e `direction in FSK: [-0.732059,-0.541695,0.413104]e Fpublishing direction and range infoy  8mSjUIMp?Y fB 0m [ bV ) 9I ܿi > D쾩 S¤@ 2+> @ ^ >) 4q@I ^ ھ y E?Թ BA ;j`:?CЮk? |C@) ڝI J i ^ ھ  checking for new query: numPingsReceived=10, elapsed TxPingTime=7.089360H:%,f̗LA^Ku@^с@^[ٱ^<+>^Hez/?T@:V?`?CF?,?i^Ku@I^^;^CYByI !!eonly read 0 of 1 data item for BIT error. Device response is::TS,00061108162565,35.0, +11.41494.8, 0 ae@ae ae@ae am@am am@am bDuVDu8yd ;%H=ٔNQ->9Y=EyE <E>Q 55?Q 95 z)ڎBQ A+:YQ Ev:y"Q ID@DI:is>5yBɮ3Ai9i=<̗LAj=B"j=B:j=p?"p= 8{;+g2SK›,@p=8mSjUIMp?*j=J 2j=^ ھ*p="!P@@tK"@p=892F?ʡ8?j=B j=^?i=5@?ԑi=Cj=Bj=坊?j9j=ڋBrj=`Bzj=ig?% addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.503748 s, deltaX: 0.199997 m, approachRate: 0.397018 m/s, rangeRepo size: 4 U Added new target pos. range: 33.972988 m, bearing: 91.312417 deg, lat: 36.779364 deg, lon: -121.859651 deg, deltaT: 0.503748 s, deltaX: 0.199253 m, approachRate: 0.395541 m/s, posRepo size: 4 :iQ]DNOT Ignoring new targets: 33.97 m.2i]]ZTarget missed at range: 34.10 m. Rolling out.]NTransitioning guidance mode to: ROLLOUT i]@hYhahahahegagajgrgereZe:e A@*eh?E EE#E"E :*Ee:VE3ZEa@a@a@a@zB[) 4i)vVii =  I I@@ @@/@Թ]checking for new query: numPingsReceived=10, elapsed TxPingTime=7.311132^Ae]&>AII Ou > B= \>B9 B= IB= BB= =B9 B9 B= A;B= F6EA%B5LCB5LCB5CB5 =B5 =C55,͗LA6u@6&@6Fbٱ6)>6H@GlF? _^sw`? Q?Ej??i6u@I6#[^;6CYbBybIhjAAbDnVDn8y /<% U=ٔ MQ- >9Y=EyE;E=>AQ 5M5E*o?Q 9M5E~)E܎BQ AM :YIQ EMG:yM Q IUD@E DIE:iEL?E5yyBɮ?3AE1O Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseqODDAT read: Rx Time:04:27:31.2280 TRx dataTimestamp_ set to:1764908852.179528PDAT read: Bearing 184.7, -29.5 (Local) ~Local bearing/azimuth received: Bearing 184.7, -29.5 (Local) DAT read: Range 11 to 50 : 34.5 m (trip time 23.0 ms) speed -0.7  DAT read: 04:27:31.2280 LVL= 28784, 32353, 25810, 28771, AGC= 63, IDX= 4, 0.16,-3.129,-0.846,-1.946,-1.621, PHS=-1.407, 0.820,-0.369, RAW= 302.3, 9.9, CAL= 299.7, 12.4, ROT= 210.3, -12.4 Ygot valid direction response: 04:27:31.2280 LVL= 28784, 32353, 25810, 28771, AGC= 63, IDX= 4, 0.16,-3.129,-0.846,-1.946,-1.621, PHS=-1.407, 0.820,-0.369, RAW= 302.3, 9.9, CAL= 299.7, 12.4, ROT= 210.3, -12.4 T#Rx 11: Read range and direction messages.`direction in FSK: [-0.843254,-0.492758,0.214735]Fpublishing direction and range infoygl/Y߿h`r|?Y Bppa~d cp)?IiQ?֨@;0>Rb@ k]>)Ij@Ik]Ia"D=? ͎F)21Il7'ik]=checking for new query: numPingsReceived=11, elapsed TxPingTime=7.579168]Entering Midcourse tracking update period 60.000000 s sec at 34.099998 m (mode 5.000000 count ).qO]O]MeeAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR1NemResuming normal ranging with 1.000000 count pings 34.099998 m (mode 5.000000 count ).1NmqNuiic} ͗LAj| B"j| B:jR?"p<[l0@pgl/Y߿h`r|?*jl7'2jk]*pT @sA@.} @p7 ?\6?CEA-?j-B jgd@i曞?ifjKBjjy7jBrjBzj? addTargetRange:: Added new target pos. range: 34.500000 m, deltaT: 0.503946 s, deltaX: 0.400002 m, approachRate: 0.793739 m/s, rangeRepo size: 4  Added new target pos. range: 34.371983 m, bearing: 84.015605 deg, lat: 36.779364 deg, lon: -121.859649 deg, deltaT: 0.503946 s, deltaX: 0.398994 m, approachRate: 0.791740 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.37 m.hhhhh g g jg)rg1q=5z5Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy=5 {5@Uninitialize Buoyancy Component.re1Ze1:e=@A@*e= [?Fb) 楿i"9)顭V5iiMCII>i>@ @@0@!^A]V>AezAeAeAeD]=D]<Ee EeEe'Ea"Ee:*Ee H:VEe'4ZEaBEe, H%,!͗LA 66HzkH?eAR"$8?KB?m'??i69fYf=jEyh5E5>9Q 5E5=]?Q 9E5=)=ގBQ AE9YAQ EM!:yM=Q IMD@=DI=o:i=?=5yqɮu63AqkN@OOj?qNNDNOT Ignoring new targets: 34.37 m.hhhhhggjgrgreZe:e *e-T?3j) i^9)#Sii5IH99IIaIqDDAT read: Rx Time:04:27:31.7281 TRx dataTimestamp_ set to:1764908852.684361PDAT read: Bearing 183.9, -30.8 (Local) ~Local bearing/azimuth received: Bearing 183.9, -30.8 (Local)  DAT read: Range 11 to 50 : 34.7 m (trip time 23.1 ms) speed -0.6 e@a @a@a@aDAT read: 04:27:31.7281 LVL= 26576, 24129, 27922, 32755, AGC= 59, IDX= 501, 0.22, 2.967,-1.031,-2.093,-1.781, PHS=-1.433, 0.795,-0.356, RAW= 301.1, 10.3, CAL= 298.6, 13.2, ROT= 211.4, -13.2 Ygot valid direction response: 04:27:31.7281 LVL= 26576, 24129, 27922, 32755, AGC= 59, IDX= 501, 0.22, 2.967,-1.031,-2.093,-1.781, PHS=-1.433, 0.795,-0.356, RAW= 301.1, 10.3, CAL= 298.6, 13.2, ROT= 211.4, -13.2 T#Rx 12: Read range and direction messages.`direction in FSK: [-0.830999,-0.507244,0.228351]Fpublishing direction and range infoy_+)b꿒 Ŧ@ k>)"l@Ik޶8y*ԛPG؍? G)s8I%ik-checking for new query: numPingsReceived=12, elapsed TxPingTime=8.113439^A5' s>IAIQO]U>qԙ bEmɻ 4jEmɻ 4rEm/Ea  Ee Ee %Ea "Ea *Ee ]t:VEe 4ZEa am @au @au @au @(0N%,^;͗LAchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.318967@Zv^u@Z@ZFuٱZ=ZH`M$9?.9@ML,? ?`E.?7?iZv^u@IZI^;XY=.ByEIa5a5 a5a5 a5a5 a5a5 i5Mb@Mb@Mb@1111 195Cl?K7Mb`?Y1y5I 5;5b A5$A 5A)5A1Y5AbDMVDM8y]=%]'=ٔeQ-e>9aYa=eEyim%Em>qQ 5}5uH?Q 9}5u)uBQ AT:YU3?Q E:yWQ ID@u DIu :iu:u%5ԩy-oBɮ-2A-EkAOE1PEjINMNMi i +͗LAj H B"j H B:j Z?"p ~*ۋ@ |o>)7l@I|oku=yǿrv ? HH)9I~%i|ochecking for new query: numPingsReceived=13, elapsed TxPingTime=8.594886 0; @  @ @ 25@ @ >@ >1 Eu  Eu Eu "Eq "Eu s:*Eu T:VEu (3ZEq BEu i0IIO>weV%,Z͗LA2u@2y@2's{ٱ2K=2Hm ?hq@@$wš?@Wi?`۩?`H?i2u@I2S^;2CY>/By>I F9QYQ=UEyQ]U^E]>qiQ 55m5?Q 95m)mBY1y=Q I=D@m)DIm}T@iuM?iuGHjuBjuM?juᲀjuBrju$ Bzjub? addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 0.503047 s, deltaX: 0.299999 m, approachRate: 0.596364 m/s, rangeRepo size: 4  Added new target pos. range: 34.870502 m, bearing: 84.503096 deg, lat: 36.779375 deg, lon: -121.859648 deg, deltaT: 0.503047 s, deltaX: 0.299259 m, approachRate: 0.594893 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.87 m.hhhhhggjg!rg!re!Ze!:e-A@*e-`a?ԙ[["[*[Khv@'s{) i9)!%0%i!i-=@))I)I)DDAT read: Rx Time:04:27:32.7284 TRx dataTimestamp_ set to:1764908853.700696PDAT read: Bearing 184.8, -32.1 (Local) ~Local bearing/azimuth received: Bearing 184.8, -32.1 (Local) DAT read: Range 11 to 50 : 35.1 m (trip time 23.4 ms) speed -0.5 % "U DAT read: 04:27:32.7284 LVL= 30064, 20961, 25570, 28915, AGC= 64, IDX= 504, 0.38, 2.348,-1.647,-2.694,-2.402, PHS=-1.430, 0.800,-0.336, RAW= 300.6, 10.0, CAL= 298.1, 12.6, ROT= 211.9, -12.6  Ygot valid direction response: 04:27:32.7284 LVL= 30064, 20961, 25570, 28915, AGC= 64, IDX= 504, 0.38, 2.348,-1.647,-2.694,-2.402, PHS=-1.430, 0.800,-0.336, RAW= 300.6, 10.0, CAL= 298.1, 12.6, ROT= 211.9, -12.6  T#Rx 14: Read range and direction messages. `direction in FSK: [-0.828526,-0.515712,0.218143] Fpublishing direction and range infoyq׸rH꿅浀࿡'$?Yf BpuQc p)@I= iL?1@¸2>}@ z0a>)ϱl@Iz0aPI j]￳ -텿+ J? ]H)1:3Im%iz0a checking for new query: numPingsReceived=14, elapsed TxPingTime=9.130650 @  @ @ t0@ ^A 2g>I I O >\%,$t͗LAYfBByfIE EE$E"E:*Ec:VE4ZEa@a@a@a@iMb@Mb@Mb@ 9!rh?Q{Gz?Yl'?y\#<AA A)AYAbD-VD-8y]+=%]4=ٔeQ-e>9aYa=eEyamEm>Q 55"?Q 95)BY<+?Q E:yQ ID@2DI:i:5ysBɮ1AEii4l͗LAj B"j B:jx?"p'\A<vl2#ݔ@pq׸rH꿅浀࿡'$?*jm%2jz0a*p44Co @[NA@$ @pw:\ 0?GUE?tZ ?jw B jzS@iz8?ijBjjjBrj0 Bzj?] addTargetRange:: Added new target pos. range: 35.099998 m, deltaT: 0.513288 s, deltaX: 0.099998 m, approachRate: 0.194819 m/s, rangeRepo size: 4 m Added new target pos. range: 34.970131 m, bearing: 84.547413 deg, lat: 36.779375 deg, lon: -121.859647 deg, deltaT: 0.513288 s, deltaX: 0.099628 m, approachRate: 0.194099 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.97 m.hhhhhggjgrgBchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.328031reZe:ěA@*e]?[<+?[<+?"[JP@ *[ju@)  i 9)&}Fiyi7@II1BU W>BU MCBU IBU GBBU =BQ BU ͺDBU &;BU 6Eu DDAT read: Rx Time:04:27:33.2287 u TRx dataTimestamp_ set to:1764908854.196511} PDAT read: Bearing 185.2, -32.4 (Local)  ~Local bearing/azimuth received: Bearing 185.2, -32.4 (Local)  DAT read: Range 11 to 50 : 35.6 m (trip time 23.7 ms) speed -0.5  DAT read: 04:27:33.2287 LVL= 31952, 21697, 27026, 32051, AGC= 65, IDX= 507, 0.36,-1.813, 0.479,-0.571,-0.285, PHS=-1.426, 0.810,-0.330, RAW= 300.6, 9.8, CAL= 298.1, 12.2, ROT= 211.9, -12.2  Ygot valid direction response: 04:27:33.2287 LVL= 31952, 21697, 27026, 32051, AGC= 65, IDX= 507, 0.36,-1.813, 0.479,-0.571,-0.285, PHS=-1.426, 0.810,-0.330, RAW= 300.6, 9.8, CAL= 298.1, 12.2, ROT= 211.9, -12.2  T#Rx 15: Read range and direction messages. `direction in FSK: [-0.829798,-0.516504,0.211325] Fpublishing direction and range infoyq u  >3Y4C3࿵\ ?Yu fBq u |u Tu i u 3})u AIu +iu )\O?u q u %/>q u ^ Z>)q Iu ^ Zq q u "GR5톿Y? u UH)u o /Iq A iu ^ Zq q M checking for new query: numPingsReceived=15, elapsed TxPingTime=9.609051 @  @ @ 0@ !^A>IE EE#E"E:*Ei:VE3ZEBE>By>I@@bDJVDJ8yN%R"=ٔR:Q-R>9TYT=VEyTZɼEZ>XQ 5^5Z ?Q 9b5Z.)ZBY`ybQ IbD@Z=DIZN:iZ[:Z5yfjBɮjd1AjEii͗LAj B"j B:j_?"pWSZn=RIoQ2zh@p >3Y4C3࿵\ ?*j2j^ Z*pN)@~ʽ`A@U[ @p޻?خ?6N|?jC B jw@iCQ?iKjBjCQ?jGHjBrjJ BzjB? addTargetRange:: Added new target pos. range: 35.599998 m, deltaT: 0.495815 s, deltaX: 0.500000 m, approachRate: 1.008441 m/s, rangeRepo size: 4 )5 Added new target pos. range: 35.467728 m, bearing: 83.716695 deg, lat: 36.779375 deg, lon: -121.859647 deg, deltaT: 0.495815 s, deltaX: 0.497597 m, approachRate: 1.003594 m/s, posRepo size: 4 =DNOT Ignoring new targets: 35.47 m.h9h9h9h9h9g9gAjgArgAreAZe:eA@*e ?checking for new query: numPingsReceived=15, elapsed TxPingTime=9.832008[I[I"[I*[M]t@) %i9)页x:ii-0@11I9IIyA)aU!@Q @Q@U 1@Qԁ DDAT read: Rx Time:04:27:33.7288  TRx dataTimestamp_ set to:1764908854.702120 PDAT read: Bearing 186.3, -33.3 (Local)  ~Local bearing/azimuth received: Bearing 186.3, -33.3 (Local)  DAT read: Range 11 to 50 : 35.7 m (trip time 23.8 ms) speed -0.5  DAT read: 04:27:33.7288 LVL= 26608, 19345, 20434, 28515, AGC= 63, IDX= 508, 0.30,-2.960,-0.681,-1.707,-1.455, PHS=-1.403, 0.819,-0.297, RAW= 300.1, 9.2, CAL= 297.6, 10.9, ROT= 212.4, -10.9 % Ygot valid direction response: 04:27:33.7288 LVL= 26608, 19345, 20434, 28515, AGC= 63, IDX= 508, 0.30,-2.960,-0.681,-1.707,-1.455, PHS=-1.403, 0.819,-0.297, RAW= 300.1, 9.2, CAL= 297.6, 10.9, ROT= 212.4, -10.9 % T#Rx 16: Read range and direction messages.- `direction in FSK: [-0.829095,-0.526160,0.189095]5 Fpublishing direction and range infoy   N6$LoG4?Y B g K O co) ?I i Q? b @ l$> 6@ B>) @m@I B "+\eds? HH) AS$I $i B ] checking for new query: numPingsReceived=16, elapsed TxPingTime=10.107205^Ae >Iy I O >Ա k%,0K͗LAY=BBy=IԙiEMb@Mb@Mb@AAAA A9Ex&1?~jtÿMb?YEA ?yEE9Y=EyE>Q 55k?Q 95)BE EE'E"EV:*E:VE'4ZEa@a@a@a@Y$?Q E:y:Q ID@GDIB KCB IB [BB B B ̺DB ;B 6E  DDAT read: Rx Time:04:27:34.2291  TRx dataTimestamp_ set to:1764908855.203384 PDAT read: Bearing 185.7, -33.2 (Local)  ~Local bearing/azimuth received: Bearing 185.7, -33.2 (Local)  DAT read: Range 11 to 50 : 36.2 m (trip time 24.1 ms) speed -0.5  DAT read: 04:27:34.2291 LVL= 32752, 21089, 26610, 32755, AGC= 65, IDX= 511, 0.20,-2.494,-0.217,-1.247,-0.987, PHS=-1.405, 0.815,-0.304, RAW= 300.3, 9.3, CAL= 297.8, 11.2, ROT= 212.2, -11.2  Ygot valid direction response: 04:27:34.2291 LVL= 32752, 21089, 26610, 32755, AGC= 65, IDX= 511, 0.20,-2.494,-0.217,-1.247,-0.987, PHS=-1.405, 0.815,-0.304, RAW= 300.3, 9.3, CAL= 297.8, 11.2, ROT= 212.2, -11.2  T#Rx 17: Read range and direction messages. `direction in FSK: [-0.830078,-0.522728,0.194234] Fpublishing direction and range infoy  S? 8/mVѫ?Y B  aR g ) AI ׳i ףP? 㥛 @ 6&> R@ +H>) m@I +H  [fغDžr?/s%,͗LA2Ns@2]@2o~ٱ2v=2H`4f m?@뢿;/_??UZ??i2Ns@I2];2CYNDByNIbD5VD58yE<%e==ٔmޙ:Q-m>9iYi=mEyquEu>yQ 55}圊?Q 95}`)} BYy# Q ID@}PDI}G;i};}5y`Bɮ0AEii>͗LAjBB"jBB:jL?"p 1=h2cm@pS? 8/mVѫ?*j%2j+H*p!cPD@g^SA@ @p܄YK?xۣ?ci?jB j"@iZQ?i&ujBjjKjBrjBzj?m addTargetRange:: Added new target pos. range: 36.200001 m, deltaT: 0.501264 s, deltaX: 0.500000 m, approachRate: 0.997478 m/s, rangeRepo size: 4 } Added new target pos. range: 36.064461 m, bearing: 83.097584 deg, lat: 36.779375 deg, lon: -121.859645 deg, deltaT: 0.501264 s, deltaX: 0.497105 m, approachRate: 0.991702 m/s, posRepo size: 4 DNOT Ignoring new targets: 36.06 m.hhhhhggjgrgreZe:eB@*e`*?[["[*[_q@ o~)  zi @9) ɵkuii=%@99I9I9E EE"E"Ea:*EL_:VE(3ZEBE(IIO>Q z%,Z͗LA0DDAT read: Rx Time:04:27:34.7291 TRx dataTimestamp_ set to:1764908855.711766PDAT read: Bearing 164.4, -41.5 (Local) ~Local bearing/azimuth received: Bearing 164.4, -41.5 (Local) DAT read: Range 11 to 50 : 36.3 m (trip time 24.2 ms) speed -0.5 EDAT read: 04:27:34.7291 LVL= 27536, 16241, 22498, 28883, AGC= 63, IDX= 512, 0.08,-1.257, 1.009, 0.534, 0.673, PHS=-1.827, 0.381,-0.182, RAW= 284.2, 16.2, CAL= 283.1, 23.4, ROT= 226.9, -23.4 qYNBy II<)<Ygot valid direction response: 04:27:34.7291 LVL= 27536, 16241, 22498, 28883, AGC= 63, IDX= 512, 0.08,-1.257, 1.009, 0.534, 0.673, PHS=-1.827, 0.381,-0.182, RAW= 284.2, 16.2, CAL= 283.1, 23.4, ROT= 226.9, -23.4 T#Rx 18: Read range and direction messages.`direction in FSK: [-0.627078,-0.670110,0.397148]Fpublishing direction and range infoySj俆=qM\1j?Y3Bkq?W p)?I#io>5^:,@Ð>@ >)!s}@IѾDeT=?? j7@)XIiѾ5checking for new query: numPingsReceived=18, elapsed TxPingTime=11.183383iMb@Mb@Mb@ 9V-?ʡEÿMbP?Y?y:CAA =A)AYAbD-!VD-˰8y=%=ٔQ->9Y=EyE>Q 55Μ?Q 95)BY!?Q E:y Q ID@[DI;i;5y%VBɮ-=0A)ii͗LAjB"jB:j?"p3Q}6e;81,@pSj俆=qM\1j?*j2jѾ*p#{d |%A@h{$@ԙp]1."GX?3%?j. B j-iQ@?i3u!j9Bjz8?jjrjBzj? addTargetRange:: Added new target pos. range: 36.299999 m, deltaT: 0.508382 s, deltaX: 0.099998 m, approachRate: 0.196699 m/s, rangeRepo size: 4  Added new target pos. range: 36.164085 m, bearing: 97.843351 deg, lat: 36.779373 deg, lon: -121.859645 deg, deltaT: 0.508382 s, deltaX: 0.099625 m, approachRate: 0.195964 m/s, posRepo size: 4 DNOT Ignoring new targets: 36.16 m.hhhhhgE EE'E"E:*E:VE'4ZEa @a @a @a @gjgrgBreZe:e%`f&B@*e%v?[e!?[e!?"[e/@*[eq@) i9)顝󵉢wii @II>i;>% checking for new query: numPingsReceived=18, elapsed TxPingTime=11.344768- @)  @1 @5 /@1 ^A >I I O >Z%,!ΗLA28q@2@2)0pٱ2=2H $1? .% `??ø?n?i28q@I2];0YVKByVIB^?>B^JCB^'IB^fBB^ =B\B^˺DB^ ;B^6EbDnVDn8yvڜ%v=ٔv<RC K)BI/ݴiL7I?= m7@-\->ѥ@ PwV>)n@IPwVߜ1ȏ2曃? E? pH@)-I$iPwVechecking for new query: numPingsReceived=19, elapsed TxPingTime=11.638904ԑ^Ae >IqIO}>E EE%E"E:*EVL:VE 4ZEBE,9Y=Ey%ٌE%>!Q 5-5%?Q 955%\)%BY1y5\"Q I5D@%iDI%;i%;%5y=KBɮE20AEEiIiM ΗLAjMB"jMB:jM?"pM6)Rt >ABX3=F}@pMN`8Chٜ?*jM$2jMPwV*pM 6]=@RoB@ n @pM&?y. ?[N?jMB jM@iMD?iMrjM*BjMD?jM[gjIrjMBzjM? addTargetRange:: Added new target pos. range: 36.799999 m, deltaT: 0.500253 s, deltaX: 0.500000 m, approachRate: 0.999494 m/s, rangeRepo size: 4  Added new target pos. range: 36.661434 m, bearing: 82.416782 deg, lat: 36.779374 deg, lon: -121.859645 deg, deltaT: 0.500253 s, deltaX: 0.497349 m, approachRate: 0.994195 m/s, posRepo size: 4 DNOT Ignoring new targets: 36.66 m.hhhhhggjgrgreZe:e`ffB@*e:?[["[*[o@d-j) Yi̐9)Рii@IIG-v|A9mt9uv|AY}pA @ @@0@@ @ @@MDDAT read: Rx Time:04:27:35.7294 ]TRx dataTimestamp_ set to:1764908856.722281PDAT read: Bearing 183.3, -34.3 (Local) ~Local bearing/azimuth received: Bearing 183.3, -34.3 (Local) DAT read: Range 11 to 50 : 36.8 m (trip time 24.5 ms) speed -0.4 5DAT read: 04:27:35.7294 LVL= 29536, 17777, 21058, 29667, AGC= 63, IDX= 500,-0.50, 0.818, 3.085, 2.107, 2.339, PHS=-1.419, 0.791,-0.277, RAW= 298.9, 9.5, CAL= 296.4, 11.6, ROT= 213.6, -11.6 =Ygot valid direction response: 04:27:35.7294 LVL= 29536, 17777, 21058, 29667, AGC= 63, IDX= 500,-0.50, 0.818, 3.085, 2.107, 2.339, PHS=-1.419, 0.791,-0.277, RAW= 298.9, 9.5, CAL= 296.4, 11.6, ROT= 213.6, -11.6 =T#Rx 20: Read range and direction messages.E`direction in FSK: [-0.815909,-0.542089,0.201078]EFpublishing direction and range infoyQU>꿭 WXo?YQQU`sUqEUBR Us)U?IUˡiU~J?UҍU@U)>U~@ U4QO>)Un@IU4QOQQUrf:ʃ?(v@$? U(G@)UU)IUƇ#iU4QOQQchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.145129IIO>! E  E E $E "E :*E P:VE 4ZE a @a @a @a @%,:ΗLA2p@2{~@2cٱ2=2HzG ?)^\D?q?@ ??i2p@I2C];0@YFFByFIchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.351226iMMb@Mb@Mb@IIII I9MI +?/$ſMb`?YM9?yM,M;IMA I)MAIYMfAbD5VD58y]Y;%]+=ٔe2Y;Q-m>9iY=Ey熼E>Q 55㚜?Q 95m)BYV?Q E:y0%Q ID@ԩrDI;i;5yZBɮ0AEii9.ΗLAj"j:j,?"pi᫒= H3f{|@p>꿭 WXo?*jƇ#2j4QO*pq#1@'+B@, @p.p?⇁?zȻ?jB j@iZ4/?irjBjZ4/?jrjBrjBzj,?e addTargetRange:: Added new target pos. range: 36.799999 m, deltaT: 0.510262 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 36.661434 m, bearing: 82.440762 deg, lat: 36.779372 deg, lon: -121.859643 deg, deltaT: 0.510262 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 36.66 m.hhhhhggjgrgyBreZe:e*ee?[ V?[ V?"[ m@*[ l@c) %̌ie9)ae.eiaim@iiIqIqyB=>BB4IBpBBBBB7;B6EBKCBBƕCB =B =C+6]!@Y @Y@]0@YIiIyO|>) - 4== DDAT read: Rx Time:04:27:36.2296 = TRx dataTimestamp_ set to:1764908857.219681E PDAT read: Bearing 182.9, -34.3 (Local) M ~Local bearing/azimuth received: Bearing 182.9, -34.3 (Local) ] DAT read: Range 11 to 50 : 37.1 m (trip time 24.7 ms) speed -0.4 } DAT read: 04:27:36.2296 LVL= 32544, 20833, 23986, 32755, AGC= 63, IDX= 501, 0.09, 2.052,-1.982,-2.952,-2.724, PHS=-1.405, 0.786,-0.272, RAW= 298.9, 9.4, CAL= 296.4, 11.4, ROT= 213.6, -11.4  Ygot valid direction response: 04:27:36.2296 LVL= 32544, 20833, 23986, 32755, AGC= 63, IDX= 501, 0.09, 2.052,-1.982,-2.952,-2.724, PHS=-1.405, 0.786,-0.272, RAW= 298.9, 9.4, CAL= 296.4, 11.4, ROT= 213.6, -11.4  T#Rx 21: Read range and direction messages. `direction in FSK: [-0.816489,-0.542474,0.197657] Fpublishing direction and range infoy9 = ݬ 5[g4L?Y= fB9 = = aQ= ] = )9 I= ׳i= L7I?= C9 = '>9 = %K>)9 I= %K9 9 =  0ُX?Cj? = G@)= qo(I9 i= %K9 9  checking for new query: numPingsReceived=21, elapsed TxPingTime=12.619125 %,ATΗLA2 p@2{~@2m\ٱ2==2Ht@ٶ?ǢIA@{?`;?@ ??i2 p@I2];2CY>IByBIbDJVDJ8lyrA<%r|=ٔv;Q-v ?9tYt=zEyxzEz ?!Q 5-5%댜?Q 9-5%)% BY)y-%Q I-D@%xDI%:i%:%5y}PBɮ}60AyiiimANΗLAjmB"jmB:jm= 4Hx8@pmݬ 5[g4L?*ji2jm%K*pm{k@5B@i e @pmX|)V?#|?2s?jmB jm_@im:$;?imx(jmBjm:$;?jm&ujirjmBzjm 6? addTargetRange:: Added new target pos. range: 37.099998 m, deltaT: 0.497400 s, deltaX: 0.299999 m, approachRate: 0.603135 m/s, rangeRepo size: 4 = Added new target pos. range: 36.960148 m, bearing: 82.020388 deg, lat: 36.779373 deg, lon: -121.859642 deg, deltaT: 0.497400 s, deltaX: 0.298714 m, approachRate: 0.600550 m/s, posRepo size: 4 =DNOT Ignoring new targets: 36.96 m.h9h9h9h9hAgAgAjgArgAreIZeI:eM̌B@*eM?DqzDu?AE} E}E}'Ey"E}:*E}F:VE}'4ZEyBE}xii @IIchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.857475391@ @@/@IIO>i %,nΗLA&DDAT read: Rx Time:04:27:36.7297 .TRx dataTimestamp_ set to:1764908857.736312:PDAT read: Bearing 181.4, -33.8 (Local) B~Local bearing/azimuth received: Bearing 181.4, -33.8 (Local) ^DAT read: Range 11 to 50 : 37.2 m (trip time 24.8 ms) speed -0.4 ԁDAT read: 04:27:36.7297 LVL= 31136, 18529, 23202, 30883, AGC= 62, IDX= 502,-0.28,-0.548, 1.699, 0.724, 0.966, PHS=-1.412, 0.778,-0.286, RAW= 299.1, 9.7, CAL= 296.5, 12.1, ROT= 213.5, -12.1 %Ygot valid direction response: 04:27:36.7297 LVL= 31136, 18529, 23202, 30883, AGC= 62, IDX= 502,-0.28,-0.548, 1.699, 0.724, 0.966, PHS=-1.412, 0.778,-0.286, RAW= 299.1, 9.7, CAL= 296.5, 12.1, ROT= 213.5, -12.1 %T#Rx 22: Read range and direction messages.`direction in FSK: [-0.815360,-0.539675,0.209619]Fpublishing direction and range infoy$&5l%"Eῶ9h?Y&B$&y&aH&Z &x)&>I&ji&+G?&n& @&-\->&ʘ@ &@X>)&W{n@I&@X$$&RQb0$~?qf-? &H@)&-I&^#i&@X$$ p@}@ Vٱw=Hs?@Llr`Ƒ? ?I? m?i p@IJ];CYCByI-checking for new query: numPingsReceived=22, elapsed TxPingTime=13.197869i]Mb@Mb@Mb@YYYaY Y9]M?/$ÿY]n?y]]]rA]A ]A)YYY]=AbD VD8yS%=ٔ2?;Q->9Y=Ey@qE>Q 55v?Q 95|)$BY?Q E:y$Q ID@DI`;i;j5yɮf0Ai$i&oΗLAbE4jEJ4rEŻ0E EE$E"E:*E]t:VE4ZEa@a@a@a@j&=B"j&=B:j&?"p&=2w7>q(q4@p&5l%"Eῶ9h?*j&^#2j&@X*p&ADg@z>I5B@l&H@p&?FL?Iq?Zٳ?j&B j&@i&ftA?i&j&Bj$j&rj&*Brj&DBzj&V? addTargetRange:: Added new target pos. range: 37.200001 m, deltaT: 0.516631 s, deltaX: 0.100002 m, approachRate: 0.193566 m/s, rangeRepo size: 4 - Added new target pos. range: 37.059772 m, bearing: 81.509290 deg, lat: 36.779373 deg, lon: -121.859643 deg, deltaT: 0.516631 s, deltaX: 0.099625 m, approachRate: 0.192835 m/s, posRepo size: 4 -DNOT Ignoring new targets: 37.06 m.h)h)h1h1h1gQgYjgargeqBreaZei:emB@*euள?[?[?"[ò@*[uUm@ V) i r9) 5%S5ǹi1i=[@AAIAII }zA}zADDAT read: Rx Time:04:27:37.2299 TRx dataTimestamp_ set to:1764908857.978190checking for new query: numPingsReceived=22, elapsed TxPingTime=13.364498i @  @ @ @ I I O > >%,OΗLAB6<>B4B4B4B6 =B4B6ʺDB6^;B66E>4o@>҂}@>Mٱ>~=>H@a? * P[ @i1?u?#??i>4o@I>];1E EEE"E:*E[:VEZEBEp%IByBIbDJ VDJ8yrb&=%rJ=ٔrF;Q-r>9tYt=vEytv=Ez>xQ 55zY?Q 9%5z)z(BY!y%%Q I%D@zDIzC;iz:ze 5y)ɮ5/A1i!i%[xΗLAj%oB"j%oB:j%߳?"p%~>-O=t4_R@p%;!acY9ῶ9h?*j%#2j!*p%n잇t@8BLB@lr@p%h ?tTuX?G'L?j%bB j%@i%^o]?i%`"j%Bj%ftA?j!j!rj%\Bzj%? addTargetRange:: Added new target pos. range: 37.500000 m, deltaT: 0.489784 s, deltaX: 0.299999 m, approachRate: 0.612513 m/s, rangeRepo size: 4  Added new target pos. range: 37.358517 m, bearing: 80.515590 deg, lat: 36.779374 deg, lon: -121.859643 deg, deltaT: 0.489784 s, deltaX: 0.298744 m, approachRate: 0.609951 m/s, posRepo size: 4 DNOT Ignoring new targets: 37.36 m.hhhhhggjg!rg!re!Ze!:e%B@*e-@r2?1[["[*[Ql@F) i$9)顥rعii?IIi-PDAT read: Bearing 180.7, -33.7 (Local) -~Local bearing/azimuth received: Bearing 180.7, -33.7 (Local) DAT read: Range 11 to 50 : 37.5 m (trip time 25.0 ms) speed -0.4 UDAT read: 04:27:37.7300 LVL= 30576, 18801, 23634, 31971, AGC= 61, IDX= 505,-0.35, 0.122, 2.338, 1.377, 1.609, PHS=-1.385, 0.774,-0.276, RAW= 299.1, 9.5, CAL= 296.6, 11.6, ROT= 213.4, -11.6 }Ygot valid direction response: 04:27:37.7300 LVL= 30576, 18801, 23634, 31971, AGC= 61, IDX= 505,-0.35, 0.122, 2.338, 1.377, 1.609, PHS=-1.385, 0.774,-0.276, RAW= 299.1, 9.5, CAL= 296.6, 11.6, ROT= 213.4, -11.6 }T#Rx 24: Read range and direction messages.`direction in FSK: [-0.817796,-0.539237,0.201078]Fpublishing direction and range infoy  ^,c+|`nAo?Y   pw qI R\9 |) I Gi $F? O  )>  4QO>) I 4QO   +n_ݏ?f_+? ` H@) %*I i 4QO  checking for new query: numPingsReceived=24, elapsed TxPingTime=14.177205ԑ- @)  @) @- 0@) I9 II OU >E  E E %E "E :*E |:VE 4ZE a @a @a @a @Թ cQ%, ΗLAFn@FN|@F<ٱF =FH/V?G_D@U?Ж?`o??iFn@IF8];DY%;By%ImDDAT read: Rx Time:04:27:38.2302 }TRx dataTimestamp_ set to:1764908858.985208PDAT read: Bearing 179.9, -33.0 (Local) ~Local bearing/azimuth received: Bearing 179.9, -33.0 (Local) checking for new query: numPingsReceived=24, elapsed TxPingTime=14.374832ԑiMb@Mb@Mb@ 9V-?/$ÿ~jthY ?yDA )YA@AbD'VDа8y ^% !=ٔ6;Q->9Y=EylE>!Q 5-5%D?Q 9-5%)%*BY5?Q E5:y5&Q I5D@%DI%s:i%8:%5y=;Bɮ=/AEEi1i5ήΗLAj1"j1:j5?"p5r9>Wܱ%%4~ؿB @p5^,c+|`nAo?*j12j54QO*p5@ԍ@uoJB@m:@p5?{$V?WA/ͻ?j5UB j5n@i5 _?i5I j5XBj1j5j5XBrj5Bzj5A?  addTargetRange:: Added new target pos. range: 37.500000 m, deltaT: 0.505284 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 37.358517 m, bearing: 80.094539 deg, lat: 36.779374 deg, lon: -121.859643 deg, deltaT: 0.505284 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 EDNOT Ignoring new targets: 37.36 m.hAhAhAhAhAgAgAjgIrgM_BreIZeQ:eQ*eU`?[?[?"[l@*[Wk@<) iȒ9)顭ii ?IԹII=)>BiBiBm.IBmkBBm =BiBiBmD;Bm6E DAT read: Range 11 to 50 : 37.8 m (trip time 25.2 ms) speed -0.4 = DAT read: 04:27:38.2302 LVL= 32752, 19313, 24738, 32755, AGC= 62, IDX= 507, 0.03, 2.690,-1.395,-2.364,-2.119, PHS=-1.372, 0.769,-0.288, RAW= 299.6, 9.6, CAL= 297.1, 11.9, ROT= 212.9, -11.9 e Ygot valid direction response: 04:27:38.2302 LVL= 32752, 19313, 24738, 32755, AGC= 62, IDX= 507, 0.03, 2.690,-1.395,-2.364,-2.119, PHS=-1.372, 0.769,-0.288, RAW= 299.6, 9.6, CAL= 297.1, 11.9, ROT= 212.9, -11.9 e T#Rx 25: Read range and direction messages.m `direction in FSK: [-0.821576,-0.531501,0.206204]m Fpublishing direction and range infoy  ?YJzk1Fa5d?Y 3B  qK ` ) >I i /D? t T@ +> @ ȭT>) m@I ȭT lCr f}?l,Ncp? H@) S,I O$i ȭT m checking for new query: numPingsReceived=25, elapsed TxPingTime=14.663660 :9 Y>i > 5 !@1  @1 @5 E2@9 IA IY Oe >A%, ΗLABn@B`{@B3ٱB8^=BH`_g? 쥿 ,Q?_?9? ?iBn@IBg];@YN>ByRIbDZVDZð8yb<%b=ٔb~;4z-A@p-sP?0-9?h~T?j-B j-w@i-1n?i-ij-߉Bj-^o]?j-`"j-Brj-Bzj-?E addTargetRange:: Added new target pos. range: 37.799999 m, deltaT: 0.502644 s, deltaX: 0.299999 m, approachRate: 0.596842 m/s, rangeRepo size: 4 U Added new target pos. range: 37.657429 m, bearing: 79.192588 deg, lat: 36.779377 deg, lon: -121.859644 deg, deltaT: 0.502644 s, deltaX: 0.298912 m, approachRate: 0.594679 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 37.66 m.hYhYhYhYhYgYgYjgargareaZei:em`fB@*em?[["[*[j@%3)! %=i%9)!--=i)i-?11I1I1EM EMEM#EI"EM:*EMrN:VEM3ZEIBEM# 1 4d%,qΗLA^DAT read: 04:27:38.7302 LVL= 31056, 19617, 23474, 31395, AGC= 63, IDX= 507, 0.32, 2.614,-1.466,-2.445,-2.201, PHS=-1.365, 0.780,-0.287, RAW= 299.8, 9.4, CAL= 297.3, 11.4, ROT= 212.7, -11.4 lUYgot valid direction response: 04:27:38.7302 LVL= 31056, 19617, 23474, 31395, AGC= 63, IDX= 507, 0.32, 2.614,-1.466,-2.445,-2.201, PHS=-1.365, 0.780,-0.287, RAW= 299.8, 9.4, CAL= 297.3, 11.4, ROT= 212.7, -11.4 ]Z#Rx 27: Read direction message, but no range.m`direction in FSK: [-0.824909,-0.529582,0.197657]yIMye~Ug4L?IMPyMLM[ Mz)M?IMRiMG?M񒾩Mp@M'>M, @ M%K>)Mm@IM%KIM-vl&T_g?ý? MXH@)MFi(IM"$iM%Kchecking for new query: numPingsReceived=27, elapsed TxPingTime=15.180213{m@Rn{@*ٱ=H8෣?`_;?@LS?@J?`?i{m@I4];CYBByIiUMb@Mb@Mb@QQQQ Q9Uoʡ?L7A`MbpYU ?yU+UUAUA UA)UAQYUAbDm"VDm̰8yu<%}&=ٔ};Q-}>9Y=Ey,E>Q 55 $?Q 951)-BY ?Q E:y%Q ID@DI;id;5y0Bɮ p/A EiiuΗLAj"j:jV?"pD`^?BT3Ϻa@pye~Ug4L?*j"$2j%K*pv@1WB@٢V'@pkY^g?,?at?jB j%@i$͙?i<jVBj _?jijrj Bzj1ϱ? addTargetRange:: Added new target pos. range: 37.799999 m, deltaT: 0.257551 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 37.657429 m, bearing: 78.486011 deg, lat: 36.779377 deg, lon: -121.859645 deg, deltaT: 0.257551 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 37.66 m.hhhhhggjgrgLBreZe:e*ey?[= ?[= ?"[=@*[=Bl@M*)Q UiU9)QUUiQEe EeEe%Ea"EeO:*Eei:VEe 4ZEaam@am@am@am@iuT#?qqIyI DDAT read: Rx Time:04:27:39.2305 TRx dataTimestamp_ set to:1764908859.994047PDAT read: Bearing 178.5, -32.6 (Local) ~Local bearing/azimuth received: Bearing 178.5, -32.6 (Local) checking for new query: numPingsReceived=27, elapsed TxPingTime=15.383668! ] 9a @  @ @ /@ I I O% >B] =>BY B] 'IB] fBBY BY B] ˺DB] ;B] {6EW%, ϗLAN9l@Nz@NG:!ٱNz=NHq?t@aǾ?%?A?@k?iN9l@IN];NCYZDByZI ``bDbVDb8yj0<%j=ٔn;Q-n ?p9pYp=vEytv޼Ev?xQ 5~5zD?Q 9~5z)xYy(&Q ID@zDIz;iz;z5y ɮ b/A 5DNOT Ignoring new targets: 37.66 m.h1h9h9h9h9g9g9jgArgAreAZeA:eI*eM"?[i[i"[i*[mYk@G:!) i9)額_xiiZ?IIDAT read: Range 11 to 50 : 38.3 m (trip time 25.5 ms) speed -0.4 DAT read: 04:27:39.2305 LVL= 29280, 17009, 22466, 30483, AGC= 63, IDX= 510,-0.26, 3.066,-1.039,-2.002,-1.760, PHS=-1.355, 0.766,-0.286, RAW= 299.7, 9.5, CAL= 297.2, 11.7, ROT= 212.8, -11.7 Ygot valid direction response: 04:27:39.2305 LVL= 29280, 17009, 22466, 30483, AGC= 63, IDX= 510,-0.26, 3.066,-1.039,-2.002,-1.760, PHS=-1.355, 0.766,-0.286, RAW= 299.7, 9.5, CAL= 297.2, 11.7, ROT= 212.8, -11.7 T#Rx 28: Read range and direction messages.%`direction in FSK: [-0.823102,-0.530453,0.202787]%Fpublishing direction and range infoyi1Vxix ?Y3B`rqBW w)IpiD?nRb@)>@ Q>),m@IQԵ%5ܰr?<B?  H@)**Il$iQuchecking for new query: numPingsReceived=28, elapsed TxPingTime=15.645888 @ @@1@IIO> 9E] E]E]#EY"E]:*E]k:VE]3ZEYBE]F-?@ Aଐ? 0?@U??i2gbl@I2];2CY>BByBIIF<)F9tYt=vEytzްEz>xQ 55z?Q 9%5z)z.BY9y=&Q I=D@zDIz2%DAT read: Range 11 to 50 : 38.3 m (trip time 25.5 ms) speed -0.4 DAT read: 04:27:39.7305 LVL= 27504, 16017, 20130, 28403, AGC= 63, IDX= 510, 0.01, 2.920,-1.198,-2.181,-1.884, PHS=-1.376, 0.732,-0.340, RAW= 300.6, 10.8, CAL= 298.0, 14.3, ROT= 212.0, -14.3 =Ygot valid direction response: 04:27:39.7305 LVL= 27504, 16017, 20130, 28403, AGC= 63, IDX= 510, 0.01, 2.920,-1.198,-2.181,-1.884, PHS=-1.376, 0.732,-0.340, RAW= 300.6, 10.8, CAL= 298.0, 14.3, ROT= 212.0, -14.3 =T#Rx 29: Read range and direction messages.E`direction in FSK: [-0.821772,-0.513500,0.246999]EFpublishing direction and range infoy!ԧK Dϗn࿝⩝?Ypk>N n)I iZd;?{@A>Bo@ r>)hl@Ir1iny/Ճ5 ? QnH)@IMQ%irchecking for new query: numPingsReceived=29, elapsed TxPingTime=16.1879739 %,_=ϗLAJk@Jky@JI%ٱJ5=JH` '@ ??h?`?`?X?iJk@IJL^;JCEZ EZEXEX"EZ:*EZT:VEXZEXaf@af@aj@MDDAT read: Rx Time:04:27:40.2306 UTRx dataTimestamp_ set to:1764908861.001696ePDAT read: Bearing 176.2, -30.5 (Local) u~Local bearing/azimuth received: Bearing 176.2, -30.5 (Local) aj@DAT read: Range 11 to 50 : 38.4 m (trip time 25.6 ms) speed -0.4 Z#Rx 30: Read range message, but no direction.yQYUBQchecking for new query: numPingsReceived=30, elapsed TxPingTime=16.408245YIBy-IiUMb@Mb@Mb@QQQQ Q9UHzG?!rhYU= ?yUl罙UUAUA UA)UAQYUAbDmVDm8y}<%}'=ٔ};Q->9Y=EyE>Q 55I?Q 95u)0BY; ?Q E:yx%Q ID@DI(BBIB[BBBBBk;BI6EIzA)@ @@0@IIO>a DAT read: 04:27:40.2306 LVL= 32240, 17665, 22578, 32755, AGC= 63, IDX= 511, 0.26,-2.572,-0.404,-1.404,-1.114, PHS=-1.356, 0.755,-0.334, RAW= 301.1, 10.2, CAL= 298.5, 13.1, ROT= 211.5, -13.1  Ygot valid direction response: 04:27:40.2306 LVL= 32240, 17665, 22578, 32755, AGC= 63, IDX= 511, 0.26,-2.572,-0.404,-1.404,-1.114, PHS=-1.356, 0.755,-0.334, RAW= 301.1, 10.2, CAL= 298.5, 13.1, ROT= 211.5, -13.1  Z#Rx 31: Read direction message, but no range. `direction in FSK: [-0.830451,-0.508901,0.226651]y 7 *H࿆+#?}E2X )IhiGA? }*@K6>@  j>)n?l@I jU:{?*v\? G)&7IG%i j= checking for new query: numPingsReceived=31, elapsed TxPingTime=16.644999ԑ h%,A(WϗLA2Nk@2Ay@2>ٱ2ܐ=2HU?@Y@-##i?`? `? ?i2Nk@I2P>^;2CYBGByBIDDbDJ޿VDJ8yf%f=ٔfM)a eԡ !%C͂G 9Y A checking for new query: numPingsReceived=32, elapsed TxPingTime=17.141289! %,TqϗLAj@nx@ٱ!\=H@`T?@ Q9iYi=mEyiucEu>yQ 55}ԛ?Q 95}j)}1BYZ?Q E:y$Q ID@}˒DI}:i}3&;}*5y%Bɮ.A addTargetRange:: Added new target pos. range: 38.599998 m, deltaT: 0.502249 s, deltaX: 0.199997 m, approachRate: 0.398203 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.26 m.hhhhhggjgrgXBreZe:eLC@*e C?[Z?[Z?"[F@*[@m@) iʑ9)顝= ii?II I) @ @@T0@IIE EE&E"Es:*E n:VE4ZEa@a@a@a@OI>MDDAT read: Rx Time:04:27:41.2309 ]TRx dataTimestamp_ set to:1764908862.010129mPDAT read: Bearing 174.5, -29.3 (Local) u~Local bearing/azimuth received: Bearing 174.5, -29.3 (Local) DAT read: Range 11 to 50 : 38.9 m (trip time 25.9 ms) speed -0.4 Z#Rx 33: Read range message, but no direction.yQYUBQchecking for new query: numPingsReceived=33, elapsed TxPingTime=17.408110! B >>B B B B B B B ;B 6EBJCBJCB˓CB =B =Cˋ4x%,ފϗLA2Aj@24x@2ٱ2\=2H`o?R3} ~}?l?`*:?@?i2Aj@I2];2CY^RBybIbDjȿVDjy8y<%g=ٔ ?;Q- >9 Y = EyeE>Q 5%5ƛ?Q 9%5()2BY!y-d%Q I-D@ђDI:i:4-5y5Bɮ5D.A1 addTargetRange:: Added new target pos. range: 38.900002 m, deltaT: 0.506184 s, deltaX: 0.300003 m, approachRate: 0.592676 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.26 m.hhhhhggjgrgreZe:e@3sC@*euR?DAT read: 04:27:41.2309 LVL= 23920, 16609, 18482, 21955, AGC= 66, IDX= 2,-0.01, 2.351,-1.797,-2.802,-2.491, PHS=-1.340, 0.738,-0.355, RAW= 301.7, 10.6, CAL= 299.2, 13.9, ROT= 210.8, -13.9 Ygot valid direction response: 04:27:41.2309 LVL= 23920, 16609, 18482, 21955, AGC= 66, IDX= 2,-0.01, 2.351,-1.797,-2.802,-2.491, PHS=-1.340, 0.738,-0.355, RAW= 301.7, 10.6, CAL= 299.2, 13.9, ROT= 210.8, -13.9 Z#Rx 34: Read direction message, but no range.`direction in FSK: [-0.833806,-0.497049,0.240228]y߿ؼʿ?p]@2H U)BIi@ Ulx>)Cwk@IUlxpoO#xA/In"? _$G)8>Ir&iUlxchecking for new query: numPingsReceived=34, elapsed TxPingTime=17.652618I[y[y"[y*[}l@) i9)顽Ķiiz?II)m>im!>y@ @@ 0@I IO-o>DU%=DU%=E5  E5 E5 $E1 "E5 ;*E5 c:VE5 4ZE1 BE5 0N9)Y1=5Ey15԰E5>YQ 5e5]#?Q 9e5]N)YYiym%Q ImD@]ؒDI]-:i]:]05yqɮ@.Aii>ϗLAjB"jB:j]?"p ه (@ <)C3Uᓌ"@p߿ؼʿ?*jr&2jUlx*p%@3:WB@= @p ?raJ?@X?jB j -AiE?ilj֍Bj7?j<jBrjJBzjͨ?  addTargetRange:: Added new target pos. range: 38.900002 m, deltaT: 0.516497 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 38.753456 m, bearing: 73.572846 deg, lat: 36.779386 deg, lon: -121.859647 deg, deltaT: 1.524930 s, deltaX: 0.498173 m, approachRate: 0.326686 m/s, posRepo size: 4 %DNOT Ignoring new targets: 38.75 m.h!h!h!h!h!g!g)jg)rg)re)Ze1:e1*e5 }?[Q[Q"[Q*[U+l@e˼)i mtim9)im̶m{iiiu¶?yyIyIyԱ-%@) @)@-A5@)IAIYOm>DAT read: 04:27:41.7309 LVL= 32752, 18465, 23586, 32755, AGC= 62, IDX= 498, 0.26, 1.947,-2.168, 3.094,-2.872, PHS=-1.363, 0.748,-0.362, RAW= 301.7, 10.7, CAL= 299.2, 13.9, ROT= 210.8, -13.9 Ygot valid direction response: 04:27:41.7309 LVL= 32752, 18465, 23586, 32755, AGC= 62, IDX= 498, 0.26, 1.947,-2.168, 3.094,-2.872, PHS=-1.363, 0.748,-0.362, RAW= 301.7, 10.7, CAL= 299.2, 13.9, ROT= 210.8, -13.9 Z#Rx 36: Read direction message, but no range.=`direction in FSK: [-0.833806,-0.497049,0.240228]y)-߿ؼʿ?)--!H-"\ -)->I-vi-|??-X)-t;?>) )))I))-*<= n~*"Z ? -'G)-#?I)i)checking for new query: numPingsReceived=36, elapsed TxPingTime=18.211931 bEqjEqrEu/E  E E (E "E :*E VE c44ZE a= @a= @aE @aE @-%,ϗLAl],&i@]w@]ٱ]d=DDAT read: Rx Time:04:27:42.2312 TRx dataTimestamp_ set to:1764908863.030156PDAT read: Bearing 173.3, -28.3 (Local) ~Local bearing/azimuth received: Bearing 173.3, -28.3 (Local) DAT read: Range 11 to 50 : 39.3 m (trip time 26.2 ms) speed -0.4 DAT read: 04:27:42.2312 LVL= 31584, 17361, 23026, 32755, AGC= 62, IDX= 501,-0.23, 0.618, 2.769, 1.744, 2.070, PHS=-1.350, 0.744,-0.370, RAW= 302.1, 10.8, CAL= 299.6, 14.1, ROT= 210.4, -14.1 Ygot valid direction response: 04:27:42.2312 LVL= 31584, 17361, 23026, 32755, AGC= 62, IDX= 501,-0.23, 0.618, 2.769, 1.744, 2.070, PHS=-1.350, 0.744,-0.370, RAW= 302.1, 10.8, CAL= 299.6, 14.1, ROT= 210.4, -14.1 T#Rx 37: Read range and direction messages.]H?`$î?v?<ǽ? \?i],&i@I]"^;]CY`By I5`direction in FSK: [-0.836528,-0.490788,0.243615]5Fpublishing direction and range infoynTMYPi߿ .?Y3B`{CY )I̬iv>?pw@A>T@ d{>)k@Id{4OjZ oUb9? βF)+k@I'id{checking for new query: numPingsReceived=37, elapsed TxPingTime=18.446424ieMb@Mb@Mb@aaaa a9eK7A?y&1|?Ye ?yae`;aeAA eA)eAaYeAbD׿VD8y-`O=%-"=ٔ-;Q-5>91Y1=5Ey1=IE=>aQ 5m5e?Q 9m5e)e3BYm?Q Em:yu{'Q IuD@eDIe:ieQ:e555y}Bɮ}-AEB<>BBBBBBʺDB~;B5EiiϗLAjB"jB:jT?"p7`@ښ+738t#@pnTMYPi߿ .?*j'2jd{*p(&@kĢwoB@~mc @pyI}?Cr1"?G?j{B j)7Aing?ijdBj?֞?j jBrj*Bzjm? addTargetRange:: Added new target pos. range: 39.299999 m, deltaT: 0.503530 s, deltaX: 0.399998 m, approachRate: 0.794387 m/s, rangeRepo size: 4  Added new target pos. range: 39.151947 m, bearing: 72.751593 deg, lat: 36.779389 deg, lon: -121.859651 deg, deltaT: 0.503530 s, deltaX: 0.398491 m, approachRate: 0.791395 m/s, posRepo size: 4 5DNOT Ignoring new targets: 39.15 m.h9h9h9h9h9g9g9jgArgEeBreAZeA:eM`fC@*eM?[?[?"[@*[j@) Gi9)1ֶiiII1!@ @@0@IIO>% =% %=- checking for new query: numPingsReceived=37, elapsed TxPingTime=18.663355Y %,!vϗLA2Ch@2v@2Tٱ2=2H`=? s@c`7 ?`I ?޽?y?i2Ch@I2{V^;0Y>eBy>'IbDJVDJ8yR=%R=ٔRܶmiqiyyIIEu EuEu&Eq"Eu ;*EuAr:VEu4ZEqBEuuTiDDAT read: Rx Time:04:27:42.7312 TRx dataTimestamp_ set to:1764908863.531855PDAT read: Bearing 172.2, -28.6 (Local) ~Local bearing/azimuth received: Bearing 172.2, -28.6 (Local) DAT read: Range 11 to 50 : 39.3 m (trip time 26.2 ms) speed -0.4 Z#Rx 38: Read range message, but no direction.yYchecking for new query: numPingsReceived=38, elapsed TxPingTime=18.921719ԑԹ %,TϗLArDAT read: 04:27:42.7312 LVL= 32752, 18305, 25250, 32755, AGC= 62, IDX= 501, 0.06, 1.181,-2.931, 2.337, 2.659, PHS=-1.375, 0.739,-0.365, RAW= 301.5, 10.9, CAL= 298.9, 14.5, ROT= 211.1, -14.5 eYgot valid direction response: 04:27:42.7312 LVL= 32752, 18305, 25250, 32755, AGC= 62, IDX= 501, 0.06, 1.181,-2.931, 2.337, 2.659, PHS=-1.375, 0.739,-0.365, RAW= 301.5, 10.9, CAL= 298.9, 14.5, ROT= 211.1, -14.5 mZ#Rx 39: Read direction message, but no range.`direction in FSK: [-0.828993,-0.500081,0.250380]ԙyaeK8꿺4࿁=9?aeeGeb a)aIeie/=?eHẾec@eB>e@ e>)e k@IeaeJ3{h¥+`͙4:BI? eUkG)epyCIeR&ie%checking for new query: numPingsReceived=39, elapsed TxPingTime=19.240618-h@-v@-Nٱ-=-H j1?@$@ 6 ?S? ͽ??i-h@I-2^;-CYElByE/Ii Mb@Mb@Mb@     9 jt?~jth?Y ?y  D; A A -A)  Y A!!bD5ڿVD58yU<%U=ٔ]F;Q-]>9aYa=mEyim,Em>yQ 55}o?Q 95})yYJ?Q E:y(Q ID@}DI}b;i}b;}K<5yBɮ,AEii ϗLAj"j:j?"pKcp:@^a<3| #@pK8꿺4࿁=9?*jR&2j*p1'@6aB@L@p!0?C] ?`!?jB j8AicR?i j@ d{>)n?l@Id{ 2oO! Z? G):@IG%id{checking for new query: numPingsReceived=40, elapsed TxPingTime=19.455996 !@  @ @ 0@ I I) O5 > B ;>B B !IB `BB B B B };B 5E%,' ЗLA2g@2u@2')bٱ25=2H`c?@{;c`Ը?D? Ke?`?i2g@I2 ^;2CYBrByB7IDFAbDNϿVDN8yv/=%v=ٔv5y1ɮ],AYiiiЗLAjB"jB:jܡ?"pVd@vQу4[Q#@plcv@MZ7 .?*jG%2jd{*p%ƌ'@+zB@7ùV@pI?ϽdJ ?h/m?jB jf DDAT read: Rx Time:04:27:43.7315  TRx dataTimestamp_ set to:1764908864.539335 PDAT read: Bearing 171.3, -28.5 (Local)  ~Local bearing/azimuth received: Bearing 171.3, -28.5 (Local)  DAT read: Range 11 to 50 : 39.8 m (trip time 26.5 ms) speed -0.4  DAT read: 04:27:43.7315 LVL= 27344, 17969, 19298, 27763, AGC= 62, IDX= 504,-0.10,-0.966, 1.218, 0.207, 0.525, PHS=-1.389, 0.738,-0.362, RAW= 301.1, 11.0, CAL= 298.6, 14.7, ROT= 211.4, -14.7  Ygot valid direction response: 04:27:43.7315 LVL= 27344, 17969, 19298, 27763, AGC= 62, IDX= 504,-0.10,-0.966, 1.218, 0.207, 0.525, PHS=-1.389, 0.738,-0.362, RAW= 301.1, 11.0, CAL= 298.6, 14.7, ROT= 211.4, -14.7  T#Rx 41: Read range and direction messages. `direction in FSK: [-0.825612,-0.503956,0.253758] Fpublishing direction and range infoy  Bjk꿳 g N=?Y j 1F bK sl) I ʱi Ŧ@ G\>) "l@I G\ ig94T铿s6l? ?G) KDI %i G\ % checking for new query: numPingsReceived=41, elapsed TxPingTime=19.938761y  %,&ЗLAYlyn6IbDzVDz8y]%eC=ٔeQ-e>9iYi=mEyimEm>qQ 55ui?Q 95u)qYyQ ID@uDIu;iu:u{B5yBɮK,AEiiw"ЗLAj"j:jġ?"p3]!^@AU3w$@pBjk꿳 g N=?*j%2jG\*p=S%'@4hB@Ԗ@p?:Ueu?Vre?jB jyEE  EE EE (EA "EE :*EE V:VEE c44ZEA aM @aM @aM @aM @ =%,>?ЗLAf@t@/ٱJ=Hn?(th@i@͸?5?B?O?if@I^;Y=}By=DIeDDAT read: Rx Time:04:27:44.2316 eTRx dataTimestamp_ set to:1764908865.043512mPDAT read: Bearing 170.7, -28.9 (Local) u~Local bearing/azimuth received: Bearing 170.7, -28.9 (Local) DAT read: Range 11 to 50 : 39.9 m (trip time 26.6 ms) speed -0.4 DAT read: 04:27:44.2316 LVL= 29376, 16961, 21346, 31411, AGC= 63, IDX= 505, 0.21, 0.577, 2.771, 1.775, 2.080, PHS=-1.401, 0.736,-0.349, RAW= 300.5, 11.0, CAL= 298.0, 14.6, ROT= 212.0, -14.6 Ygot valid direction response: 04:27:44.2316 LVL= 29376, 16961, 21346, 31411, AGC= 63, IDX= 505, 0.21, 0.577, 2.771, 1.775, 2.080, PHS=-1.401, 0.736,-0.349, RAW= 300.5, 11.0, CAL= 298.0, 14.6, ROT= 212.0, -14.6 T#Rx 42: Read range and direction messages.`direction in FSK: [-0.820664,-0.512808,0.252069]Fpublishing direction and range infoyae ABuh!?YeBaereABebS ez)e?IeSiej)ehl@Iewaae*ß/jNL쁿Xw{}W? e}H)efCIeMQ%iewaachecking for new query: numPingsReceived=42, elapsed TxPingTime=20.443617iUMb@Mb@Mb@QQQQ Q9UʡE?|?5^~jtx?YU>yUҽU;QUA Q)UAQYUAbDeVDe8yuL=%}9=ٔ}[9Y=Ey E>Q 55Y?Q 95()3BY^>Q E:ym+Q ID@DI3:i:UF5yɮ+AAiaieBЗLAjeB"jeB:jeE?"pe"d{O@yCb4 $@pe ABuh!?*jeMQ%2jew*pelul'@2A,B@1-? @pe >?ylE`Y?cr?jeB je@?AieސH?ieZje BjajeIje[^>"[5!@*[f@-/)1 5i5 9)155i1BE:>BABE.IBEkBBABABABEh};BEB5EiyyyII0>i>Q@Q @Q@U+1@QIaIqO}{> checking for new query: numPingsReceived=42, elapsed TxPingTime=20.679140! "!%,lYЗLA6%f@6t@6K㠻ٱ6l=6H ?j=@% YN? dt?Fھ?0?i6%f@I6^;6C@YbzBybAIIf4=)f<bDrVDrɰ8y~%~g=ٔ 9 Y = Ey E>!Q 5-5%L?Q 955%")%2BY1y5+Q I5D@%DI%:,;i%0:;%rI5yMBɮM2,AMEDNOT Ignoring new targets: 39.75 m.hhhhhggjgrgreZe:e*eL?[["[*[~;f@K㠻) GiF9)T?iiIIEM EMEM$EI"EM>:*EMAr:VEM4ZEIBEMYgot valid direction response: 04:27:44.7317 LVL= 27488, 19329, 22178, 27827, AGC= 63, IDX= 506,-0.28,-2.488,-0.306,-1.287,-0.977, PHS=-1.409, 0.716,-0.354, RAW= 300.2, 11.4, CAL= 297.7, 15.5, ROT= 212.3, -15.5 %T#Rx 43: Read range and direction messages.-`direction in FSK: [-0.814520,-0.514918,0.267238]-Fpublishing direction and range infoyy}f꿡85z֚n?Y}f By}`k}K}V }l)yI}Zi}K7?}}?}ϩ@}%K>}^D@ }c>)}1$m@I}cyy}A~_5lo]p8I=? }H)}BKI}$i}cyymchecking for new query: numPingsReceived=43, elapsed TxPingTime=20.963102 5 checking for new query: numPingsReceived=43, elapsed TxPingTime=21.184881-L%,hsЗLAbe@bs@bٱb-=bH -i?3 ۿ,?_?@Q? s?pibe@Ib];`YByGIiMb@Mb@Mb@ 9S㥛?ʡE~jthY>yyDAA XA)XAYGAbD9VD8yP<%.=ٔN;Q->9 Y = Ey {E>Q 5%5;?Q 9%5i).BY%>Q E%:y%.Q I-D@ DI:i:M5y1ɮ5,A1ii cЗLAjB"jB:j&t?"p NGD@1-k4>jZ%@pf꿡85z֚n?*j$2jc*pOj(@dnB@q@; @pß$?s5?8?jB jWCAi@?i8g jBjJr3J?jZjBrj`Bzj[>"[@*[Djc@) ׃i 9)iiIIEU EUEU%EQ"EU:*EUrN:VEU 4ZEQau@au@au@au@@ @@?5@IIOi>DDAT read: Rx Time:04:27:45.2319 TRx dataTimestamp_ set to:1764908866.051493PDAT read: Bearing 168.8, -28.4 (Local) ~Local bearing/azimuth received: Bearing 168.8, -28.4 (Local) DAT read: Range 11 to 50 : 40.4 m (trip time 26.9 ms) speed -0.3 DAT read: 04:27:45.2319 LVL= 29008, 19665, 22210, 30947, AGC= 63, IDX= 508, 0.03, 0.325, 2.533, 1.538, 1.852, PHS=-1.425, 0.726,-0.359, RAW= 300.3, 11.4, CAL= 297.7, 15.4, ROT= 212.3, -15.4 Ygot valid direction response: 04:27:45.2319 LVL= 29008, 19665, 22210, 30947, AGC= 63, IDX= 508, 0.03, 0.325, 2.533, 1.538, 1.852, PHS=-1.425, 0.726,-0.359, RAW= 300.3, 11.4, CAL= 297.7, 15.4, ROT= 212.3, -15.4 T#Rx 44: Read range and direction messages.`direction in FSK: [-0.814913,-0.515167,0.265556]Fpublishing direction and range infoyI ,9S>|<?Y!BPqLV x)Iffi#9?η@ >)IG3_ᅦ#zt e 3? MH)JIichecking for new query: numPingsReceived=44, elapsed TxPingTime=21.451538! BA BA BE 4IBE pBBA BA BA BE };BE Q5E3#%,?nЗLAY~By~XI @A bDuVD8y%=%%o=ٔ%Q-%?9)Y)=-Ey)-E5?1Q 5=55/?Q 9E55)5+BYAyAQ IED@5DI5;i5;5P5yMBɮMJ+AUEiiKЗLAj B"j B:j n?"p,f@eߣ4U6=`%@pI ,9S>|<?*j2j*p'u(@oRrB@A @pCG?7?}w?jB jDAi!B=?igujBjސH?jguj BrjBzj?  addTargetRange:: Added new target pos. range: 40.400002 m, deltaT: 0.503778 s, deltaX: 0.300003 m, approachRate: 0.595506 m/s, rangeRepo size: 4  Added new target pos. range: 40.247505 m, bearing: 71.812151 deg, lat: 36.779402 deg, lon: -121.859657 deg, deltaT: 0.503778 s, deltaX: 0.298889 m, approachRate: 0.593295 m/s, posRepo size: 4 DNOT Ignoring new targets: 40.25 m.hh!h!h!h!g!g!jg)rg)re)Ze):e-@33D@*e5wc?[Q[Q"[Q*[Qa)a eim9)im miiiqqqIyIy=4=checking for new query: numPingsReceived=44, elapsed TxPingTime=21.687208@ @@/@IIO% >!DU=DU<Em EmEm#Ei"Em:*EmT:VEm3ZEiBEmx x@ ܸ>) ym@I ܸ QVa-A? 26? I@) II $i ܸ U checking for new query: numPingsReceived=45, elapsed TxPingTime=21.964521I lb)%,}\ЗLA(2Ad@2r@2(~;ٱ2=2Hr??]g YD?o`?n?i2Ad@I2N];2CHYNByN[IThjAn9lYr AbDv_VDv8y~Bw<%L=ٔm9 Y = Ey  y E >1Q 5=55D!?Q 9E55)5(BYAyE/Q IED@5DI5B:i5-:5T5yIɮu1+AqiiDЗLAj"j:j`?"p__9Z@}fg4V=%@p2+i8zf.࿱&K?*j$2jܸ*pZ8)@JZ@B@H=C @ps ?rw^?Я8?jbB jIAiG?i%jӑBjG?jZjBrjBBzj?% addTargetRange:: Added new target pos. range: 40.400002 m, deltaT: 0.503882 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 40.247505 m, bearing: 71.340908 deg, lat: 36.779402 deg, lon: -121.859657 deg, deltaT: 0.503882 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 40.25 m.hhhhhggjgrgreZe:e*ev?[A[A"[A*[Eb@](~;ԁ)a ~iS9)額8iiII I)@ @@@Ichecking for new query: numPingsReceived=45, elapsed TxPingTime=22.191050IOH>Թ E}  E} E} "Ey "E} m:*E} R:VE} (3ZEy a @a @a @a @H0%,+1ЗLA`fod@f"br@ff;ٱf=fH[?m!Ab`v?@Ь|9?@g?ifod@If];dY~By~aIEDDAT read: Rx Time:04:27:46.2322 ETRx dataTimestamp_ set to:1764908867.059394MPDAT read: Bearing 168.4, -29.0 (Local) U~Local bearing/azimuth received: Bearing 168.4, -29.0 (Local) eDAT read: Range 11 to 50 : 40.8 m (trip time 27.2 ms) speed -0.4 DAT read: 04:27:46.2322 LVL= 27808, 18033, 24194, 30531, AGC= 63, IDX= 511,-0.24,-0.257, 1.957, 0.982, 1.273, PHS=-1.428, 0.729,-0.334, RAW= 299.5, 11.1, CAL= 297.0, 14.9, ROT= 213.0, -14.9 Ygot valid direction response: 04:27:46.2322 LVL= 27808, 18033, 24194, 30531, AGC= 63, IDX= 511,-0.24,-0.257, 1.957, 0.982, 1.273, PHS=-1.428, 0.729,-0.334, RAW= 299.5, 11.1, CAL= 297.0, 14.9, ROT= 213.0, -14.9 T#Rx 46: Read range and direction messages.`direction in FSK: [-0.810471,-0.526326,0.257133]Fpublishing direction and range infoyAE,UaǩFht?YE3#BAElEqFE^ ECw)AIEȶiE:?E EE@EaF>EH@ E%>)E\m@IE%AAE(zgRV?JM? EH@)EEEIEY3$iE%AAchecking for new query: numPingsReceived=46, elapsed TxPingTime=22.462872i Mb@Mb@Mb@     9 ʡE?v/~jtxY >y x齙 Ļ  A A) (A Y AbD%VD%8yƝ<%-=ٔ;Q->9Y=Ey%KE%>)Q 555-?Q 955-)-"BY5E>Q E5:y50Q I5D@-DI-Q:i-:-'X5yAɮE +AAiAiEЗLAjE"B"jE"B:jEEs?"pE$jϠx@6d5X1 $@pE,UaǩFht?*jEY3$2jE%*pE)rt)@ 2tB@v  @pElswM ?3?:?jE B jEKAiEHA?iEFjEBjEHA?jAjEBrjEBzjEC? addTargetRange:: Added new target pos. range: 40.799999 m, deltaT: 0.504019 s, deltaX: 0.399998 m, approachRate: 0.793616 m/s, rangeRepo size: 4 e Added new target pos. range: 40.645992 m, bearing: 71.373651 deg, lat: 36.779401 deg, lon: -121.859657 deg, deltaT: 0.504019 s, deltaX: 0.398487 m, approachRate: 0.790619 m/s, posRepo size: 4 eDNOT Ignoring new targets: 40.65 m.hahahahihigigijgirguBreqZeq:eu`ffD@*eu`?[E>B;>BB:IBuBBBBB};Bv5EBBBBBCO4[E>"[@*[ob@f;) i=9)9=fE`iAiAIIIIII @ @@@IIO%p>checking for new query: numPingsReceived=46, elapsed TxPingTime=22.6958529 q6%,!ЗLAF d@FQq@F!<ٱF=FH9 f?@DʹA÷? =F{?k?iF d@IF];DYhyhbDrVDr8ٔzQ I]= i]p=?]Z] )@]A>]c@ ]r>)]&Bn@I]rYY]moi-?lL? ]>H@)]s@I]#i]rYYchecking for new query: numPingsReceived=47, elapsed TxPingTime=22.966864@ @@@IIO-,> 9  checking for new query: numPingsReceived=47, elapsed TxPingTime=23.198875<%,ЗLABÞc@Baq@BO<ٱB5>BH@@?@T `0? @.??iBÞc@IB];@YvByziI=bDVDŰ8y-<%U<ٔ]L;Q-e>9iY=EycjE>Q 55Y?Q 95)BYy0Q ID@*DI/;i&;_5yBɮ*Aii)$ЗLAj"j:j灞?"p^%u@Tɟ5B1d}=$@pJ7p=῝⩝?*j#2jr*p5*@iB@\PÑ@p&R`'҃?c=S?M9?jB jvPAiD??iBjBj@?jBjrjBzjs? addTargetRange:: Added new target pos. range: 40.799999 m, deltaT: 0.505313 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 40.646038 m, bearing: 70.951614 deg, lat: 36.779401 deg, lon: -121.859657 deg, deltaT: 0.505313 s, deltaX: 0.000046 m, approachRate: 0.000091 m/s, posRepo size: 4 DNOT Ignoring new targets: 40.65 m.hhhhhggjgrgreZe:e*e8?[["[*[Pa@%O<)) -i-ݏ9))--i)i111I1I9bEjEĶ4rEē/E- E-E-$E)"E-:A*E-Ar:VE-4ZE)aM@aU@aU@aU@!@ @@@IIOG>]DDAT read: Rx Time:04:27:47.2323 eTRx dataTimestamp_ set to:1764908868.066959mDAT read: Range 11 to 50 : 41.0 m (trip time 27.3 ms) speed -0.3 mZ#Rx 48: Read range message, but no direction.yYY]$BYuchecking for new query: numPingsReceived=48, elapsed TxPingTime=23.454405qB :>B B @IB zBB B B B F~;B 5Eԙ :C%,ZїLA2Q4c@2&q@2{<ٱ2u>2H /? ຾v? }c? ?i2Q4c@I2^;2CYBByBaIiMb@Mb@Mb@ 9A`"?Q~jtY>yDAVA \A)AYAbD VD8y-%-Z=ٔ5;Q-5>91Y1==Ey9=EE>AQ 5M5E蚊?Q 9M5E)EBYU>Q EU:yUH2Q IUD@E/DIE#:iE:E:b5y]Bɮe*AeE- addTargetRange:: Added new target pos. range: 41.000000 m, deltaT: 0.502252 s, deltaX: 0.200001 m, approachRate: 0.398208 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 40.65 m.h)h1h1h1Ychecking for new query: numPingsReceived=48, elapsed TxPingTime=23.703068hggjgrg̃BreZe:eD@*e @?[M>[M>"[Mt<@*[M_@}{<) i9)顅 tiiIIE @A @A@E0@AIYIiԁO}7>E% E%E!E!"E%:*E%&p:VE!ZE!BE% U sD)U ?IU SiQ U U @U t;?>U 6@ U }>)U @m@IU }Q Q U ^pR,Wcw|? U H)U /@IU $iU }Q Q  checking for new query: numPingsReceived=49, elapsed TxPingTime=23.970947 I%,(їLA2b@2{p@2<ٱ2,8>2H0 `Ab?ܶ@@-?`]z??i2b@I2];2CY>ByB_IbDJVDJ8yv%vP=ٔz;Q-z>9xY=EyE%>!Q 5-5%ښ?Q 955%)% BY1y52Q I5D@%4DI%:i%N;%e5yeBɮe*AaiiŐ$їLAj#B"j#B:j?"p;@HD5$@pU}e1_{c_/;f?*j$2j}*pM,@B@\YXhI@pI?Iuf?FJXs?jwB jobAi?ij(!j7BjHA?jjrj Bzj|? addTargetRange:: Added new target pos. range: 41.099998 m, deltaT: 0.504377 s, deltaX: 0.099998 m, approachRate: 0.198261 m/s, rangeRepo size: 4 ] Added new target pos. range: 40.944859 m, bearing: 69.382567 deg, lat: 36.779401 deg, lon: -121.859657 deg, deltaT: 1.006629 s, deltaX: 0.298820 m, approachRate: 0.296853 m/s, posRepo size: 4 eDNOT Ignoring new targets: 40.94 m.hahahahahagigijgrgreZe:ěD@*e ?[["[*[Gp_@%<)! %wi%s9)!-$-i)iQQQIQIQchecking for new query: numPingsReceived=49, elapsed TxPingTime=24.207024M9x>i>) @  @ @ /@ I I O >EU  EU EU "EQ "EU :*EU R:VEU (3ZEQ am @am @am @am @P%,UhBїLA0Bhb@B_[p@B[ϧ<ٱB>BHf&7?@n R?@H??iBhb@IB];BCYbBybZI-DDAT read: Rx Time:04:27:48.2325 -TRx dataTimestamp_ set to:1764908869.0753785PDAT read: Bearing 169.0, -28.5 (Local) =~Local bearing/azimuth received: Bearing 169.0, -28.5 (Local) MDAT read: Range 11 to 50 : 41.3 m (trip time 27.5 ms) speed -0.3 mDAT read: 04:27:48.2325 LVL= 32752, 19953, 26434, 32755, AGC= 59, IDX= 499,-0.18,-0.768, 1.464, 0.472, 0.741, PHS=-1.407, 0.768,-0.313, RAW= 299.8, 10.1, CAL= 297.3, 12.9, ROT= 212.7, -12.9 uYgot valid direction response: 04:27:48.2325 LVL= 32752, 19953, 26434, 32755, AGC= 59, IDX= 499,-0.18,-0.768, 1.464, 0.472, 0.741, PHS=-1.407, 0.768,-0.313, RAW= 299.8, 10.1, CAL= 297.3, 12.9, ROT= 212.7, -12.9 }T#Rx 50: Read range and direction messages.`direction in FSK: [-0.820272,-0.526605,0.223250]Fpublishing direction and range infoy)-Z-?S\Nu?Y-3%B)--M-Bg -)-;I-i-D?-A-p@-J4>-, @ -f>)-m@I-f))-?ȴ7`k?i^? -QH@)-55I-"$i-f))checking for new query: numPingsReceived=50, elapsed TxPingTime=24.475056iMb@Mb@Mb@ 9zG?X9v~jtY >yAA A)AY=AbDVD8yڏ%/=ٔŲ;Q->9Y=Eyg\E>Q 55ʚ?Q 95P)BYm>Q E:y3Q I E@;DIs:i:i5yUݖBɮUq*AUEԑi)i-DїLAj-$B"j-$B:j-?"p-G @5);^"@p-Z-?S\Nu?*j-"$2j-f*p-=,@`)/aB@&,@p-t*m?ÎBAw?ul?j-B j-fAi-3㉟?i-yj-Bj-G?j-yj-7Brj-!Bzj-֜?% addTargetRange:: Added new target pos. range: 41.299999 m, deltaT: 0.504042 s, deltaX: 0.200001 m, approachRate: 0.396794 m/s, rangeRepo size: 4 U Added new target pos. range: 41.144104 m, bearing: 69.164355 deg, lat: 36.779402 deg, lon: -121.859657 deg, deltaT: 0.504042 s, deltaX: 0.199245 m, approachRate: 0.395295 m/s, posRepo size: 4 UDNOT Ignoring new targets: 41.14 m.hQhQhQhYhYgYgYjgargeBreaZeaBBB:IBuBBBBB~;B5E:ee`fD@*eIJ?[ m>[ m>"[ @*[ n^@[ϧ<) i9)%A)%iAiIIIIIII%_9Թ@ @@0@IIO>checking for new query: numPingsReceived=50, elapsed TxPingTime=24.711269 V%,O\їLA2; b@2o@2$<ٱ2bi>2H@@?]HY?@? ?i2; b@I2];2CYNByN[IpbDV VDV8y );% m=ٔ;Q->9Y=EyF|E>E EE&E"E;*EVE4ZEBED/<}#m5yɮg*AMDNOT Ignoring new targets: 41.14 m.hIhIhIhIhIgIgQjgQrgQreQZeY:eY*e]E~?[["[*[^@$<) 0iы9)e-iiII 5DDAT read: Rx Time:04:27:48.7325 5TRx dataTimestamp_ set to:1764908869.579625EPDAT read: Bearing 169.3, -28.6 (Local) E~Local bearing/azimuth received: Bearing 169.3, -28.6 (Local) ]DAT read: Range 11 to 50 : 41.3 m (trip time 27.5 ms) speed -0.3 DAT read: 04:27:48.7325 LVL= 32144, 20145, 25314, 32755, AGC= 58, IDX= 499,-0.03,-1.736, 0.515,-0.483,-0.221, PHS=-1.413, 0.781,-0.306, RAW= 299.7, 9.9, CAL= 297.2, 12.4, ROT= 212.8, -12.4 Ygot valid direction response: 04:27:48.7325 LVL= 32144, 20145, 25314, 32755, AGC= 58, IDX= 499,-0.03,-1.736, 0.515,-0.483,-0.221, PHS=-1.413, 0.781,-0.306, RAW= 299.7, 9.9, CAL= 297.2, 12.4, ROT= 212.8, -12.4 T#Rx 51: Read range and direction messages.`direction in FSK: [-0.820958,-0.529072,0.214735]Fpublishing direction and range infoy15LIE]'࿍h`r|?Y115}5N5b 1)5:I5/ݴi5G?55Rb@5;0>5@ 5k]>)5,m@I5k]115T^|c1Y  checking for new query: numPingsReceived=51, elapsed TxPingTime=25.214907\%,:"vїLA:Ѭa@:oo@:Cz<ٱ:J >:HK[ I?v@!`.6?`.4? _?i:Ѭa@I:X];:CYNByRfI TV9Y=Ey gE>QQ 55U~?Q 95U2)UBYyo4Q IE@UFDIU4W!@pmLIE]'࿍h`r|?*jml$2jmk]*pm'H.b-@vjQ|B@gy@pmpÙ?φ^?z$NB^?jm B jm+mAim$☐?im\!jmUBjm?jijmBrjm"BzjmD? addTargetRange:: Added new target pos. range: 41.299999 m, deltaT: 0.504247 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 41.144108 m, bearing: 68.567910 deg, lat: 36.779408 deg, lon: -121.859657 deg, deltaT: 0.504247 s, deltaX: 0.000004 m, approachRate: 0.000008 m/s, posRepo size: 4 DNOT Ignoring new targets: 41.14 m.hhhhhggjgrgreZe:e *e?q[["[*[]@E EE$E"E:*E:VE4ZEa5@a5@a=@a=@}Cz<) i19)顭1iiIIEDDAT read: Rx Time:04:27:49.2327 ETRx dataTimestamp_ set to:1764908870.083584UPDAT read: Bearing 168.5, -28.9 (Local) U~Local bearing/azimuth received: Bearing 168.5, -28.9 (Local) eDAT read: Range 11 to 50 : 41.6 m (trip time 27.7 ms) speed -0.3 DAT read: 04:27:49.2327 LVL= 32752, 20657, 26674, 32755, AGC= 58, IDX= 501, 0.05, 0.426, 2.676, 1.699, 1.950, PHS=-1.422, 0.771,-0.295, RAW= 299.1, 10.0, CAL= 296.5, 12.6, ROT= 213.5, -12.6 ԑYgot valid direction response: 04:27:49.2327 LVL= 32752, 20657, 26674, 32755, AGC= 58, IDX= 501, 0.05, 0.426, 2.676, 1.699, 1.950, PHS=-1.422, 0.771,-0.295, RAW= 299.1, 10.0, CAL= 296.5, 12.6, ROT= 213.5, -12.6 T#Rx 52: Read range and direction messages.`direction in FSK: [-0.813803,-0.538645,0.218143]Fpublishing direction and range infoyAEV&Ǭ 꿕c<ῡ'$?YEf&BAEEPE2h A)AIEiEB`E?E= E @E¸2>Eʘ@ Ez0a>)EW{n@IEz0aAAE ւ71?B͂2? EH@)E{2IE^#iEz0aAAchecking for new query: numPingsReceived=52, elapsed TxPingTime=25.483625!@ @@@IIOU>B <>B B 4IB pBB B B B ~;B 5E c%,vїLA2La@2%?o@2,<ٱ2>2H vn?x S,?qF?ʻ?i2La@I2g];2CYBByBcIIFp<)Fpy5GὙ5ף11 5A)5pA1Y5AbDMVDM8y],C%]M=ٔe;Q-e>9aYa=mEyimzEm>qQ 5}5u?Q 9}5u)uBY>Q E:y2Q IE@uKDIu ;iu] ;us5yɮ)AԙiqiuqYїLAju%B"ju%B:ju ?"pufG@LR6[z"@puV&Ǭ 꿕c<ῡ'$?*ju^#2juz0a*puCX>T-@ C@g@pu$"Cp?VVRl?^$?julB jujAiudDv?iufdjuʏBjqjqjuʏBrjuX#Bzju7? addTargetRange:: Added new target pos. range: 41.599998 m, deltaT: 0.503959 s, deltaX: 0.299999 m, approachRate: 0.595285 m/s, rangeRepo size: 4  Added new target pos. range: 41.443096 m, bearing: 68.951410 deg, lat: 36.779408 deg, lon: -121.859657 deg, deltaT: 0.503959 s, deltaX: 0.298988 m, approachRate: 0.593279 m/s, posRepo size: 4 DNOT Ignoring new targets: 41.44 m.hhhhhggjgrgBre Ze :e D@*e ?[->[->"[-j@*[- q_@E,<)A EiEr9)IM5M iIiQchecking for new query: numPingsReceived=52, elapsed TxPingTime=25.718891II@ @@0@IIO>E- E-E-#E)"E-:*E-i:VE-3ZE)BE- U 2|@ U PwV>)U n@IU PwVQ Q U h=6Ze"?tuЎ? U EG@! )U I-IU .k#iU PwVQ Q - checking for new query: numPingsReceived=53, elapsed TxPingTime=25.999636i%,۩їLA2`@2qn@2 z<ٱ2j>2H`8? Uo?*??i2`@I2*];0Y>ByBNIbDJVDJ8yr窽%rR=ٔr;Q-v>9tYt=vEytz)~Ez>|Q 5%5~?Q 9%5~,)~܎BY!y-3Q I-E@~PDI~H;i~K ;~Iw5yɮf*Aiyi}їLAjy"jy:j}?"p}/@ǻ}6l;!@p}-%պo ]hٜ?*j}.k#2j}PwV*p}N?-@D6C@|'@p} Y?}m?ջ?j}tB j}9mAi}v}v?i}1j}Bjyjyj}Brj}#Bzj}? addTargetRange:: Added new target pos. range: 41.599998 m, deltaT: 0.503741 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 41.443096 m, bearing: 68.743287 deg, lat: 36.779408 deg, lon: -121.859657 deg, deltaT: 0.503741 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 41.44 m.hhhhhggjgrgreZe:e*e@q?[)[)"[)*[-:_@U z<)Y ]i]29)Y]l:]6 iYiaaaIiI!-!@) @)@-0@)I9IIO]3>checking for new query: numPingsReceived=53, elapsed TxPingTime=26.223076YE5  E5 E5 $E1 "E5 :*E5 R:VE5 4ZE1 aU @aU @aU @aU @y p%,úїLA2č`@2bn@2yR=ٱ29>2H<j?ܸ6?rO?@?i2č`@I2S];2CY>By>XIDDAT read: Rx Time:04:27:50.2329  TRx dataTimestamp_ set to:1764908871.091472PDAT read: Bearing 168.1, -29.4 (Local) ~Local bearing/azimuth received: Bearing 168.1, -29.4 (Local) %DAT read: Range 11 to 50 : 41.9 m (trip time 27.9 ms) speed -0.3 mDAT read: 04:27:50.2329 LVL= 32752, 17761, 24642, 32755, AGC= 58, IDX= 503, 0.05, 0.919, 3.138, 2.201, 2.424, PHS=-1.403, 0.759,-0.267, RAW= 298.3, 9.8, CAL= 295.8, 12.1, ROT= 214.2, -12.1 uYgot valid direction response: 04:27:50.2329 LVL= 32752, 17761, 24642, 32755, AGC= 58, IDX= 503, 0.05, 0.919, 3.138, 2.201, 2.424, PHS=-1.403, 0.759,-0.267, RAW= 298.3, 9.8, CAL= 295.8, 12.1, ROT= 214.2, -12.1 uT#Rx 54: Read range and direction messages.}`direction in FSK: [-0.808706,-0.549596,0.209619]Fpublishing direction and range infoyLI{Iῶ9h?Y'BaEB` )IiMB?9&@%/>4@ @X>)Co@I@XiMb@Mb@Mb@ 91Zd?Cl绿{GzY">y;߽AVA A)AYfAbDVD8y=%<=ٔʰ;Q->9Y=EyOE>!Q 5-5%?Q 9-5%" T}Ρ?8? .G@)^.I4"i@X=checking for new query: numPingsReceived=54, elapsed TxPingTime=26.515108Q)%юBYu\>Q Eu:yu$3Q IuE@%WDI%'>B)B-'IB-fBB- =B)B-˺DB-~;B-5EgagajgirgmBreiZei:em@3D@*eu '?[\>[\>"[@*[^@yR=) ̌i l9)  %? [i iII AAIA)AyIzA)yA@ @@0@I)I9OEs>checking for new query: numPingsReceived=54, elapsed TxPingTime=26.727036Ա  w%,ҎїLAJb-`@J n@J =ٱJ\>JH@K>?y`A?{??iJb-`@IJ];JCYBy YI !!bDMVDM8yuzX;%}P=ٔ;Q->9Y=EyAxE>Q 55DzD@AE EE#E"E:*Ee:VE3ZEBExDAT read: 04:27:50.7329 LVL= 32752, 19665, 24722, 32755, AGC= 57, IDX= 503, 0.02,-0.710, 1.544, 0.569, 0.797, PHS=-1.405, 0.792,-0.272, RAW= 299.0, 9.3, CAL= 296.5, 11.2, ROT= 213.5, -11.2 Ygot valid direction response: 04:27:50.7329 LVL= 32752, 19665, 24722, 32755, AGC= 57, IDX= 503, 0.02,-0.710, 1.544, 0.569, 0.797, PHS=-1.405, 0.792,-0.272, RAW= 299.0, 9.3, CAL= 296.5, 11.2, ROT= 213.5, -11.2 T#Rx 55: Read range and direction messages.`direction in FSK: [-0.818005,-0.541426,0.194234]Fpublishing direction and range infoyۭ-|[SmVѫ?YL` )9I ׳iJ?C<@6&>ʘ@ +H>)W{n@I+Hy(h!!KQ?-x? G@)&I^#i+H-checking for new query: numPingsReceived=55, elapsed TxPingTime=27.047535  checking for new query: numPingsReceived=55, elapsed TxPingTime=27.2310079 {6}%,'kїLA2_@2m@2=ٱ2@ >2H 2@?@9N7Y`??`(?i2_@I2Y];0YNByNVIbDfVDfǰ8y52%EN=ٔe`;Q-m>9Y=EyNdE>Q 5e5i?Q 9e5 )BYy3Q IE@bDIUQ,?jEB jE_|AiE͚?iECjE BjAjAjE-4@ -PwV>)-Co@I-PwV))->mpGS? >ڑ? -3G@)-b-I-4"i-PwV)) checking for new query: numPingsReceived=56, elapsed TxPingTime=27.5131111@1 @1@50@1IAIQOe>i B- @>B) B- IB- [BB- =B) B) B- ~;B- 5EBBBBBC4%,EҗLA 6t_@6gm@6~/=ٱ6 >6HA ?y̺2`?%F??i6t_@I6];6CY^By^WIiuMb@Mb@Mb@qqqq q9u5^I ?S㥻/$Yu>yu/ݽuqq uA)upAqYq <p<bD&VDϰ8ys;%D=̠ٔ;Q->9Y=Ey dE>Q 55[?Q 95] )BYI>Q E:yD4Q IE@gDI ;iP;5yɮ)AiYi]kҗLAj]*(B"j]*(B:j]?"p]Zf{A0It{?7zjP{!@p]Oŏb_-hٜ?*j]4"2j]PwV*p] /@);C@.%Y\@p]jР?۴G? ;?j]B j]VxAi] w?i]j]:BjYj]fdj]:Brj]%Bzj]l? addTargetRange:: Added new target pos. range: 42.200001 m, deltaT: 0.505087 s, deltaX: 0.299999 m, approachRate: 0.593956 m/s, rangeRepo size: 4 - Added new target pos. range: 42.041168 m, bearing: 68.026619 deg, lat: 36.779407 deg, lon: -121.859657 deg, deltaT: 0.505087 s, deltaX: 0.299107 m, approachRate: 0.592188 m/s, posRepo size: 4 5DNOT Ignoring new targets: 42.04 m.h1h1h1h1h1g9g9jg9rg=BreAZeA:eEE@*eE^)?[eI>[eI>"[e` @*[e ]@}checking for new query: numPingsReceived=56, elapsed TxPingTime=27.735189~/=) ̌i9)K@iiI I ]>i>i@ @@?5@IIO%>ԩE EE"E"Ea:*E|:VE(3ZEBE(5 2|@ 5 k]>)5 n@I5 k]1 1 5 fg=5C?s?? 5 G@)5 +0I5 .k#i5 k]1 1  checking for new query: numPingsReceived=57, elapsed TxPingTime=28.002789H%,!#+җLA2#_@2m@2&=ٱ2 >2H 1?@``~O?t$?`h?i2#_@I2];2CYBByBKIIF<)F;J=J=LbDr"VDr̰8y~J%~U=ٔ=;Q->9 Y = Ey TE>9Q 5M5=oN?Q 9M5= )=BYIyU4Q IUE@=mDI=R;i=,;=5yBɮ~)AEiaieǝ&җLAja"ja:je_?"pexi3AD;6,}1"@pezaŀ}@W῍h`r|?*je.k#2jek]*pe  /@؇C@n @peo\-P?"vf?"rab$?jeB jeAieA[b?iea jeBje w?je1jarje%Bzje,p? addTargetRange:: Added new target pos. range: 42.200001 m, deltaT: 0.503046 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 42.041168 m, bearing: 67.310617 deg, lat: 36.779407 deg, lon: -121.859657 deg, deltaT: 0.503046 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 -DNOT Ignoring new targets: 42.04 m.h1h9hAhAhAgAgAjgIrgIreIZeI:eI*eU?[["[*[]@&=) ;i9)  P[iiII!@ @@25@IIO&>checking for new query: numPingsReceived=57, elapsed TxPingTime=28.239124! bEjE3rE x/E  E E $E "E O:*E 1]:VE 4ZE a @a @a @a @/%,@DҗLAvDDAT read: Rx Time:04:27:52.2331 vTRx dataTimestamp_ set to:1764908873.107221zPDAT read: Bearing 167.3, -28.7 (Local) ~~Local bearing/azimuth received: Bearing 167.3, -28.7 (Local)  DAT read: Range 11 to 50 : 42.2 m (trip time 28.1 ms) speed -0.2 -DAT read: 04:27:52.2331 LVL= 32752, 18385, 25538, 32755, AGC= 60, IDX= 506,-0.49, 1.003,-3.074, 2.270, 2.489, PHS=-1.384, 0.765,-0.263, RAW= 298.6, 9.5, CAL= 296.1, 11.6, ROT= 213.9, -11.6 5Ygot valid direction response: 04:27:52.2331 LVL= 32752, 18385, 25538, 32755, AGC= 60, IDX= 506,-0.49, 1.003,-3.074, 2.270, 2.489, PHS=-1.384, 0.765,-0.263, RAW= 298.6, 9.5, CAL= 296.1, 11.6, ROT= 213.9, -11.6 5T#Rx 58: Read range and direction messages.E`direction in FSK: [-0.813060,-0.546353,0.201078]EFpublishing direction and range infoytvMi?ι{o?YtttvGvc t)tIv&iv C?v𧆾v Ŧ@v)>v_@ v4QO>)vn@Iv4QOttvk-￵49?4PQM%? vvG@)v)Iv1#iv4QOtt]checking for new query: numPingsReceived=58, elapsed TxPingTime=28.506487ԁYyLIiMMb@Mb@Mb@B?>BBIBQBBBBB~;B6EIIII I9M1Zd?+ηZd;OYM">yMvMjII MA)MAAIYIbD%VDϰ8y-9:%-!=ٔ5Q-5>91Y1==Ey9=E=>AQ 5U5E'=?Q 9U5E)EBYU>Q EU:yU92Q IUE@EtDIE+;iE);Eh5yiɮm{)AiԉitivFҗLAjt"jt:jv?"pvGIA϶L#6G6 @pvMi?ι{o?*jv1#2jv4QO*pvv/@A+(C@*rV@pv'I?wK\g*?6!gV?jvFB jv?Aivfoy}?ivjvߎBjvfoy}?jvCjtrjv &Bzjv鑖? addTargetRange:: Added new target pos. range: 42.200001 m, deltaT: 0.503841 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 42.041107 m, bearing: 67.397057 deg, lat: 36.779407 deg, lon: -121.859659 deg, deltaT: 0.503841 s, deltaX: -0.000061 m, approachRate: -0.000121 m/s, posRepo size: 4 MDNOT Ignoring new targets: 42.04 m.hIhIhIhQhQgQgQjgQrg]BreYZeY:eY*e] ?[>[>"[7@*[_@) ̌i9)UiiIIԱ @ @@0@IIO>checking for new query: numPingsReceived=58, elapsed TxPingTime=28.743076 ]%,^җLAs^@fl@6=ٱ_l>H7y? o`"v ?W?b?is^@I];CY]ByeSIbDVDð8yv=%=ٔGi&@ PwV>)`o@IPwVUi|rt? ? G@)l-I"iPwVuchecking for new query: numPingsReceived=59, elapsed TxPingTime=29.012945 Mˍ9Q @  @ @ 0@ I I O >9  checking for new query: numPingsReceived=59, elapsed TxPingTime=29.247129%,xҗLA2`^@2l@2m?=ٱ2?>2HJMxS?ɻן~1׶?@e맿[? ?i2`^@I2D];2CYPyRTI XXbDfVDf8yr_;%rW=ٔv;Q-v>9xYx=zEyx`E >!Q 555%$?Q 955%})%BYyB3Q IE@%~DI%-1@IIO>Ygot valid direction response: 04:27:53.2333 LVL= 30768, 19217, 25170, 30771, AGC= 61, IDX= 507, 0.22, 1.955,-2.126,-3.050,-2.827, PHS=-1.399, 0.746,-0.267, RAW= 298.2, 9.9, CAL= 295.6, 12.5, ROT= 214.4, -12.5 T#Rx 60: Read range and direction messages.`direction in FSK: [-0.805555,-0.551575,0.216440]Fpublishing direction and range infoy!%0|qfyK?Y%*B!%0x%K%Rb %3x)!I%oi%>?%9!%;0>%@ %f_>)%|o@I%f_!!% (Y8b.H%?y1? %@G@)%i1I%"i%f_!!]checking for new query: numPingsReceived=60, elapsed TxPingTime=29.543510qB B B IB LBB B B B ;B 6Eԙ 9l%,㌒җLA2]@2ck@2G=ٱ2s >2HJd`)?AHx I`5? -? ?i2]@I25];2CYNByRUIi5Mb@Mb@Mb@1111 195x&?~jt/$Y57>y5Ľ55A5A 1)5A1Y5AbDMVDMð8y];%eC=ٔeU;Q-e>9aYi=mEyim4[Em>qQ 5}5um?Q 9}5u)u|BYi>Q E;yB5Q IE@uDIu ;iu;u15yɮo)AiQiUۦҗLAjU\)B"jU\)B:jUK?"pUþw A! Z7k-S"@pU0|qfyK?*jU"2jUf_*pUsc0@̚%C@"]Bs@pUD?-k?TH?jU(B jUAiUENy|?iU`<$jUĐBjUENy|?jUa jUBrjU 'BzjUw? addTargetRange:: Added new target pos. range: 42.500000 m, deltaT: 0.507754 s, deltaX: 0.299999 m, approachRate: 0.590836 m/s, rangeRepo size: 4  Added new target pos. range: 42.339920 m, bearing: 66.828289 deg, lat: 36.779407 deg, lon: -121.859659 deg, deltaT: 0.507754 s, deltaX: 0.298813 m, approachRate: 0.588499 m/s, posRepo size: 4 DNOT Ignoring new targets: 42.34 m.hhhhhggjgrgȃBreZe:e@E@*e3?]checking for new query: numPingsReceived=60, elapsed TxPingTime=29.750811q[i>[i>"[1e@*[;\@G=) \i9)?b}ƹiiII @ @@3@IIO&>ԡD=D4=E EE%E"EO:*EVL:VE 4ZEBE BH`y@Z?pLS ^#?䩿>?@?iB]m]@IB];@YVByVTIbD VD 8y]%]J=ٔe};Q-e>9aYa=mEyim^SEm>qQ 55ua ?Q 95u)uqBYy5Q IE@uDIui;iu{:u5yBɮ#)AEiAiEMҗLAjA"jA:jE?"pEV@>W7k-S"@pE{fpRvK?*jE0"2jA*pEǚP0@,S)C@]MSm@pEo4Q$?m ??R?jEJB jEAiEAo-i?iE%jEBjAjE`<$jEBrjE'BzjE?] addTargetRange:: Added new target pos. range: 42.500000 m, deltaT: 0.499783 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 42.339920 m, bearing: 66.939863 deg, lat: 36.779407 deg, lon: -121.859661 deg, deltaT: 0.499783 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 42.34 m.hhhhhggjgrgreZe:e*e`?[["[*[U\@;O=) i֊9)f%i!i!))I)I% @! @!@%02@!I1IIOU2>mchecking for new query: numPingsReceived=61, elapsed TxPingTime=30.2552741 E  E E &E "E V:*E Ar:VE 4ZE a @a @a @a @}%,@җLA02]@2jk@2dW=ٱ2T >2H @C?<8- cu ?i骿I??i2]@I25];0fDDAT read: Rx Time:04:27:54.2334 fTRx dataTimestamp_ set to:1764908875.123333nPDAT read: Bearing 163.4, -28.4 (Local) n~Local bearing/azimuth received: Bearing 163.4, -28.4 (Local) vDAT read: Range 11 to 50 : 42.8 m (trip time 28.5 ms) speed -0.2  DAT read: 04:27:54.2334 LVL= 29168, 17217, 20930, 29363, AGC= 62, IDX= 509, 0.21,-0.403, 1.773, 0.878, 1.104, PHS=-1.404, 0.714,-0.270, RAW= 297.6, 10.5, CAL= 295.1, 13.7, ROT= 214.9, -13.7 Ygot valid direction response: 04:27:54.2334 LVL= 29168, 17217, 20930, 29363, AGC= 62, IDX= 509, 0.21,-0.403, 1.773, 0.878, 1.104, PHS=-1.404, 0.714,-0.270, RAW= 297.6, 10.5, CAL= 295.1, 13.7, ROT= 214.9, -13.7 T#Rx 62: Read range and direction messages.%`direction in FSK: [-0.796818,-0.555868,0.236838]%Fpublishing direction and range infoydfO鿓Y4ӋHP?Yf3+BdfqfACfQ fr)f>IfFif6?fq=f6@ff;>fФ@ fGt>)f p@IfGtddfZpj٩?B kE? fNrF@)f5;]nManaging dock network, ignoring radio surface power offIf "ifGtddchecking for new query: numPingsReceived=62, elapsed TxPingTime=30.538864Bu>>BqBuIBuGBBu =BqBqBu~;Bu 6EԉYByQII=)yMM`eII I)MAIYM AbDeVDe8yuƻ%u=ٔue;Q-u>9yYy=}EyyE>Q 55?Q 95)dBY?>Q E;y3Q IE@DI+;i;5yɮ2)AidifҗLAjf*B"jf*B:jf?"pfɵ@n>7[e?>"[e@*[ex^@}dW=)y }둿i} 9)顅4lwiiIIu%=u%=}checking for new query: numPingsReceived=62, elapsed TxPingTime=30.759693 @  @ @ 1@ I! I9 OU > ,%,U.җLA\ ]3C)Y];YYeCe~AieIaaIiimnA mKmNF)imُC u=~AuDqqqqIy)yiy)}CIy}y ԁԅCԅQ~AԅiԁԁiՍsCՉ)Չ ՉIՉDzDAAE EE'E"E:*EX:VE'4ZEBExDAT read: 04:27:54.7334 LVL= 30528, 16657, 20290, 29171, AGC= 61, IDX= 509, 0.20,-2.065, 0.109,-0.781,-0.564, PHS=-1.399, 0.717,-0.261, RAW= 297.5, 10.3, CAL= 294.9, 13.4, ROT= 215.1, -13.4 Ygot valid direction response: 04:27:54.7334 LVL= 30528, 16657, 20290, 29171, AGC= 61, IDX= 509, 0.20,-2.065, 0.109,-0.781,-0.564, PHS=-1.399, 0.717,-0.261, RAW= 297.5, 10.3, CAL= 294.9, 13.4, ROT= 215.1, -13.4 T#Rx 63: Read range and direction messages.`direction in FSK: [-0.795876,-0.559351,0.231748]Fpublishing direction and range infoy~{w?r4] A?Y@wABO q)=IoiP7?ˡ'@X8>@ |o>)Dp@I|oa~)EtXy?#?  EF@)8I!i|ochecking for new query: numPingsReceived=63, elapsed TxPingTime=31.0454069 } checking for new query: numPingsReceived=63, elapsed TxPingTime=31.2629203ս%,җLAFs\@Ffj@F)e=ٱFe >FHS .#?@@$߿ݞ?@e`nN? ק?iFs\@IF(];FCYuBy}JIbDVD8yw%L=ٔ 9Y=EyǼE>Q 55^䙊?Q 9 5.)TBYy%I4Q I%E@DI=i(=5y}Bɮ})AEi i v6җLAj "j :j G?"p lV@2>М7ShL#@p ~{w?r4] A?*j !2j |o*p dR-ʤ0@i+C@Pf @p ]?78i?X\?j XB j &Ai S.^?i (j gBj Ao-i?j %j ĐBrj 'Bzj v?Am addTargetRange:: Added new target pos. range: 42.799999 m, deltaT: 0.504991 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 42.638763 m, bearing: 66.531988 deg, lat: 36.779405 deg, lon: -121.859661 deg, deltaT: 0.504991 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 }DNOT Ignoring new targets: 42.64 m.hyhyE EE%E"E:*E|:VE 4ZEa@a@a@a@hhhggjgrgreZe:e*e ?[i[i"[i*[m]@)e=) iŋ9)顥tiiII I)=t>i=>iIADDAT read: Rx Time:04:27:55.2336 TRx dataTimestamp_ set to:1764908876.132559PDAT read: Bearing 163.0, -28.3 (Local) ~Local bearing/azimuth received: Bearing 163.0, -28.3 (Local) DAT read: Range 11 to 50 : 43.1 m (trip time 28.7 ms) speed -0.3 MDAT read: 04:27:55.2336 LVL= 29984, 17265, 20658, 30323, AGC= 62, IDX= 511, 0.22,-1.046, 1.132, 0.236, 0.458, PHS=-1.402, 0.719,-0.265, RAW= 297.6, 10.3, CAL= 295.1, 13.4, ROT= 214.9, -13.4 qYgot valid direction response: 04:27:55.2336 LVL= 29984, 17265, 20658, 30323, AGC= 62, IDX= 511, 0.22,-1.046, 1.132, 0.236, 0.458, PHS=-1.402, 0.719,-0.265, RAW= 297.6, 10.3, CAL= 295.1, 13.4, ROT= 214.9, -13.4 T#Rx 64: Read range and direction messages.`direction in FSK: [-0.797824,-0.556570,0.231748]Fpublishing direction and range infoyN&PƇ<~j] A?Yf,B uqCP sv)>Itib8?6@Ф@ ) p@I2*.tqjj?\"? eF@)ݨ8I "ichecking for new query: numPingsReceived=64, elapsed TxPingTime=31.545267@ @@5@IIO>Bm @>Bi Bm IBm =BBm =Bi Bi Bm ~;Bm 5Eԙ %,ӗLA2#\@27j@2ik=ٱ2H >2H?ԽɆ߿ֲ ? i[?@?i2#\@I2F];0YByVI !!yiMb@Mb@Mb@ 9RQ?#~jI +Y>y㥽9A A)YAbDVD8ySD=%I=ٔCw;Q->9Y=EyMHE>Q 55ؙ?Q 95l)IBYQ E;y4Q IE@DIa;ie;5yɮ(A=checking for new query: numPingsReceived=64, elapsed TxPingTime=31.766991ii{ӗLAj+B"j+B:jؘ?"p>WP Ah|\L7p#@pN&PƇ<~j] A?*j "2j*pG1@*w:C@W]#!@p'p??R~?jB jAioWv?i&jBjjjgBrjK(Bzj? addTargetRange:: Added new target pos. range: 43.099998 m, deltaT: 0.504235 s, deltaX: 0.299999 m, approachRate: 0.594959 m/s, rangeRepo size: 4  Added new target pos. range: 42.937782 m, bearing: 66.067875 deg, lat: 36.779405 deg, lon: -121.859661 deg, deltaT: 0.504235 s, deltaX: 0.299019 m, approachRate: 0.593015 m/s, posRepo size: 4 DNOT Ignoring new targets: 42.94 m.hhhhhggjgrgBreZe:ěE@*e ̘?[Q[Q"[UjW@*[U*]@ԡik=)  i9)顭yiiIIu @y @y@/@IIOe>E EE$E"E&:*EAr:VE4ZEBEa; @  j>) o@I  j ;y$Ԭ?=? ųF@) 5 I i"i  j E checking for new query: numPingsReceived=65, elapsed TxPingTime=32.063213|%,$-ӗLA>x[@>i@>p=ٱ>7r >>HĔ?C߿ `c?@HX? #?i>x[@I>];9)Y)=-Ey)5'JE5>YQ 5e5]+̙?Q 9e5])]>BYayeB5Q ImE@]DI]:i]:]X5yuBɮ(Aiiũ(ӗLAj"j:j&A?"puA6AY"X72v#@p '"" ῆ+#?*ji"2j j*p6%K{1@}<&C@H`p @p: ?;[j?VW ?j4B jڋAiO?is1,j`Bjj&jrjp(Bzjy?% addTargetRange:: Added new target pos. range: 43.099998 m, deltaT: 0.502803 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 42.937782 m, bearing: 65.466916 deg, lat: 36.779405 deg, lon: -121.859662 deg, deltaT: 0.502803 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 42.94 m.hYhahahahagagajgirgireiZe:e*e`?[["[*[\@p=) i&9)~ ii II@ @@@IIO%>Echecking for new query: numPingsReceived=65, elapsed TxPingTime=32.2710951E  E E E "E :*E V:VE ZE a @a @a @a @Y %,GӗLA2A[@2yi@2v=ٱ2 >2HmN?@!Y޿LѶ?{׮A?7?i2A[@I2];2CYBByBKIVDDAT read: Rx Time:04:27:56.2337 VTRx dataTimestamp_ set to:1764908877.139076ZDAT read: Range 11 to 50 : 43.2 m (trip time 28.8 ms) speed -0.3 ^Z#Rx 66: Read range message, but no direction.yTYV,BTbchecking for new query: numPingsReceived=66, elapsed TxPingTime=32.526550i Mb@Mb@Mb@     9 ^I +?{Gz:vY X>y ף Լ A  A A) A1 Y AbDMVDM8y}%}7=ٔ}sY;Q->9Y=Ey1E>Q 55򾙊?Q 95)1BYH>Q E;y5Q IE@DIH:i:A5yɮ(ABC>BBBBBBB~;B 6EBBBBBC%{4] addTargetRange:: Added new target pos. range: 43.200001 m, deltaT: 0.503714 s, deltaX: 0.100002 m, approachRate: 0.198530 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 42.94 m.hYhYhYhahagagajgargmBreiZeq:euE@*euo_?[H>[H>"[@*[+\@v=) MQiMQ9)IMUfiQiQYYIYIYia@ @@@II O5O>Uchecking for new query: numPingsReceived=66, elapsed TxPingTime=32.774902ԑԹ %,oaӗLAR3[@R%i@R!{=ٱR& >RHWX?)N:޿ C?r$H?@a?iR3[@IR];RCY^By^QIIb<)bp;f=f=bDhVDhyr <%rh=ٔr];Q-r>9tYt=vEytznEz>|Q 55~?Q 95~)~'BYyH6Q IE@~DI~:i~:~L5yɮ(A=DNOT Ignoring new targets: 42.94 m.h9h9h9h9h9gAgAjgArgAreIZeI:eI*eM龩}@l>å@ k>)%n@IkݾfVэ(?@? F@)(ݤI(#ikݾmchecking for new query: numPingsReceived=67, elapsed TxPingTime=33.050976Թe checking for new query: numPingsReceived=67, elapsed TxPingTime=33.279171 "%,I{ӗLA2Z@2h@2s=ٱ2\ >2H@h?ztl޿@?@-U?@c?i2Z@I2w];2CYNByNSIbDVVDVİ8yb<%bL=ٔf.;Q-f>9dYd=jEyhj6HEj>lQ 5r5nĨ?Q 9r5n)nBYtyv6Q IvE@nDIn:in :n˶5yzBɮz*(A~Eiiw-iӗLAj&,B"j&,B:j@?"p㲶?yX@l1,|d5vN^ 2@pN.6߿KsM?*j(#2jkݾ*pC;F0@'|l-A@d70@p?Pܙa?nYF?jB jԄAib?iojBjS.^?j (jBrj)Bzj)? addTargetRange:: Added new target pos. range: 43.200001 m, deltaT: 0.504324 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 43.037624 m, bearing: 65.169843 deg, lat: 36.779404 deg, lon: -121.859663 deg, deltaT: 1.008038 s, deltaX: 0.099842 m, approachRate: 0.099046 m/s, posRepo size: 4 EDNOT Ignoring new targets: 43.04 m.hAhqhqhqhqgygjgrgreZe:e*eY?[9[9"[9*[=F[@us=)q uiu9)quW}0iyiybE -4jE -4rE /E EE(E"E*E[:VEc44ZEa@a@a@a@III)Y@Y @Y@]/@YIiIO[>DDAT read: Rx Time:04:27:57.2339 TRx dataTimestamp_ set to:1764908878.147799PDAT read: Bearing 161.0, -27.4 (Local) ~Local bearing/azimuth received: Bearing 161.0, -27.4 (Local) DAT read: Range 11 to 50 : 43.5 m (trip time 29.0 ms) speed -0.3  DAT read: 04:27:57.2339 LVL= 26208, 17777, 19938, 26723, AGC= 65, IDX= 3,-0.47, 2.702,-1.450,-2.337,-2.101, PHS=-1.378, 0.696,-0.280, RAW= 298.0, 10.7, CAL= 295.5, 14.2, ROT= 214.5, -14.2 Ygot valid direction response: 04:27:57.2339 LVL= 26208, 17777, 19938, 26723, AGC= 65, IDX= 3,-0.47, 2.702,-1.450,-2.337,-2.101, PHS=-1.378, 0.696,-0.280, RAW= 298.0, 10.7, CAL= 295.5, 14.2, ROT= 214.5, -14.2 T#Rx 68: Read range and direction messages.%`direction in FSK: [-0.798945,-0.549100,0.245307]%Fpublishing direction and range infoy0 2m9/;f?Y.B`fqEM ch)AINbi-2?)\Bo@t;?> @ }>)Ko@I}7|lmG?j?? F@)a?Ij"i}echecking for new query: numPingsReceived=68, elapsed TxPingTime=33.552055B A>B B IB 8BB =B B B ~;B 6EA c%,ӗLA2Z@2h@2G=ٱ2_ >2H% t?𻾿e+޿@a`B8?`(Ft?@?i2Z@I2];2CYNByRXIi5Mb@Mb@Mb@1111 195gfffff?㥛 I +Y53>y5595A1 5A)11Y5AbDMVDM8y]ߖ<%]A=ٔ](;Q-e>9aYa=eEyam-Em>qQ 5}5u?Q 9}5u )uBY}g>Q E};y}/6Q IE@uDIu3;iu&;u|5yɮ (AiiuӗLAjX-B"jX-B:j?"p?DOA7\TB%@p0 2m9/;f?*jj"2j}*p:2@!C@7S"@pґi?Z-?f&?jB jБAi˦?iEa4j|BjoWv?js1,jrj)Bzj`? addTargetRange:: Added new target pos. range: 43.500000 m, deltaT: 0.504399 s, deltaX: 0.299999 m, approachRate: 0.594766 m/s, rangeRepo size: 4  Added new target pos. range: 43.336372 m, bearing: 64.469144 deg, lat: 36.779407 deg, lon: -121.859664 deg, deltaT: 0.504399 s, deltaX: 0.298748 m, approachRate: 0.592285 m/s, posRepo size: 4 DNOT Ignoring new targets: 43.34 m.hhhhhggjgrgBreZe :e E@*e7?%checking for new query: numPingsReceived=68, elapsed TxPingTime=33.783955[g>[g>"[c{@*[[@IUG=)Q UiU9)Y]]iYiaaaIaIayu9E EE'E"E:*Exv:VE'4ZEBE?8ԩ  DDAT read: Rx Time:04:27:57.7339  TRx dataTimestamp_ set to:1764908878.651405 PDAT read: Bearing 161.4, -27.5 (Local)  ~Local bearing/azimuth received: Bearing 161.4, -27.5 (Local)  DAT read: Range 11 to 50 : 43.5 m (trip time 29.0 ms) speed -0.3  DAT read: 04:27:57.7339 LVL= 30448, 16753, 20466, 30675, AGC= 61, IDX= 499,-0.40, 1.784,-2.361, 3.035,-3.023, PHS=-1.374, 0.708,-0.269, RAW= 298.0, 10.4, CAL= 295.4, 13.5, ROT= 214.6, -13.5  Ygot valid direction response: 04:27:57.7339 LVL= 30448, 16753, 20466, 30675, AGC= 61, IDX= 499,-0.40, 1.784,-2.361, 3.035,-3.023, PHS=-1.374, 0.708,-0.269, RAW= 298.0, 10.4, CAL= 295.4, 13.5, ROT= 214.6, -13.5 % T#Rx 69: Read range and direction messages.- `direction in FSK: [-0.800393,-0.552154,0.233445]- Fpublishing direction and range infoy  ќ){?%E?Y v qA O w) =I ;߯i }?5? ^ 9> @ :Fq>) o@I :Fq Ht@([ݡ?37E? F@) 9I i"i :Fq M checking for new query: numPingsReceived=69, elapsed TxPingTime=34.0508042%,ӗLA2QZ@2Ch@2n?=ٱ2>2Hr6 /?@(ݿ!`???i2QZ@I2F];2C9IYI=MEyQU|4EU>yQ 55}?Q 95}.!)}BYyt6Q IE@}DI}[:i}g:}5yɮ(AiiӗLAj"j:jE{?"pWA~D7lp;$@pќ){?%E?*ji"2j:Fq*pk,Kp2@!;C@JP7!@p 1;?3?(X?jB jAi ?i4jeBjO?jEa4jeBrj;)BzjC3?E addTargetRange:: Added new target pos. range: 43.500000 m, deltaT: 0.503606 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 43.336372 m, bearing: 64.225670 deg, lat: 36.779409 deg, lon: -121.859668 deg, deltaT: 0.503606 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 43.34 m.hyhyhyhyhygygyjgrgreZe:e*e"?[["[*[ڪ[@n?=) oi9)   i)i119I9IAԱ-95checking for new query: numPingsReceived=69, elapsed TxPingTime=34.287678@ @@0@IIOG> E  E E $E "E :*E R:VE 4ZE a @a @a @a @n%,VӗLA2Z@2g@2=ٱ2>2HHF?a^ ݿ2i?? ?`(?i2Z@I2];2CFDDAT read: Rx Time:04:27:58.2341 FTRx dataTimestamp_ set to:1764908879.155230JPDAT read: Bearing 161.1, -27.2 (Local) N~Local bearing/azimuth received: Bearing 161.1, -27.2 (Local) ZDAT read: Range 11 to 50 : 43.7 m (trip time 29.1 ms) speed -0.3 jDAT read: 04:27:58.2341 LVL= 29648, 17601, 20514, 30451, AGC= 60, IDX= 501,-0.40,-2.531,-0.392,-1.285,-1.057, PHS=-1.372, 0.710,-0.273, RAW= 298.1, 10.4, CAL= 295.6, 13.5, ROT= 214.4, -13.5 nYgot valid direction response: 04:27:58.2341 LVL= 29648, 17601, 20514, 30451, AGC= 60, IDX= 501,-0.40,-2.531,-0.392,-1.285,-1.057, PHS=-1.372, 0.710,-0.273, RAW= 298.1, 10.4, CAL= 295.6, 13.5, ROT= 214.4, -13.5 rT#Rx 70: Read range and direction messages.r`direction in FSK: [-0.802316,-0.549357,0.233445]vFpublishing direction and range infoyDFzɑŠET%E?YF.BDFsFDF"P Fv)F<IFiF5?FƋF}@DF@ D)F|o@IDDDF2tu W 1?95? FG@)FU9IF"iDDDchecking for new query: numPingsReceived=70, elapsed TxPingTime=34.555229Y!y!iMb@Mb@Mb@ 9ʡE?333333~jtY>yB?>BBBB =BBB~;B5EļA GA)VAYAbD%#VD%Ͱ8ٔUv:Q-U>9YYY=]EyY]'E]>aQ 55e?Q 95eY")eBY/>Q E;yQ7Q IE@eDIeu;ie;e5yBɮ'AEiD)iFJӗLAjF$.B"jF$.B:jFTv?"pF۪TmvA̟73S$@pFzɑŠET%E?*jF"2jD*pFYyԆ2@{ԴC@m*!@pF$?ʛ#?X W?jFB jFAiFnö?iF(5jFyBjF˦?jF4jFyBrjF)BzjFR? addTargetRange:: Added new target pos. range: 43.700001 m, deltaT: 0.503825 s, deltaX: 0.200001 m, approachRate: 0.396965 m/s, rangeRepo size: 4  Added new target pos. range: 43.535423 m, bearing: 63.769405 deg, lat: 36.779411 deg, lon: -121.859668 deg, deltaT: 0.503825 s, deltaX: 0.199051 m, approachRate: 0.395079 m/s, posRepo size: 4 DNOT Ignoring new targets: 43.54 m.hhhhhggjgrgBreZe:eE@*e?[5/>[5/>"[5[,@*[5Z@e=)i mQim}9)immiiiqqyIIQ] @Y @Y@]/@aIiIO|>Echecking for new query: numPingsReceived=70, elapsed TxPingTime=34.792255ԁ D%,ӗLA2Y@2Cg@2 Z=ٱ2|>2HY? raݿCM? 谿`??i2Y@I2];2CYNByRTIbDZ&VDZϰ8yv)%v<ٔv&;Q-v ?9xYx=zEyxzgE~ ?Q 5 5z?Q 9 5&#)BY y 7Q I E@DI:i:5yɮ'AEDNOT Ignoring new targets: 43.54 m.hAhAhAhIhIgIgIjgIrgIreQZeQ:eQ*eU`?YEe EeEe%Ea"Ee:*EeX:VEe 4ZEaBEe#m@ Vh>) n@IVhI:s%~B?Z_? G@)P"5IN#iVhMchecking for new query: numPingsReceived=71, elapsed TxPingTime=35.066948ԉԱ E =E <M checking for new query: numPingsReceived=71, elapsed TxPingTime=35.295734o%,eӗLA2mY@2Q`g@2=ٱ2$>2Hi_?Qf ݿ`U5?b?&?i2mY@I2];2CY>ByB]IIF<)F=F=F=bDJVDJ8yf=%fL=ٔf:Q-f>9lYl=rEypv55Ez> Q 55 ao?Q 9%5 !$) BY)y57Q I5E@ ƓDI _;i ; }5ԹyUzBɮB'AEiir4ӗLAj"j:jҋ?"pnSA 70#@p<e鿡O_Xῃ:/2?*jN#2jVh*pS>3@pB@s!@p.@?ܥ?ڴ6?jsB jAi=柊?i=@jBj ?j(5jrj*Bzj?Eu EuEu#Eq"EuD:*Eu&p:VEu3ZEqa}@a@a@a@ addTargetRange:: Added new target pos. range: 43.700001 m, deltaT: 0.504221 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 43.535423 m, bearing: 62.587864 deg, lat: 36.779411 deg, lon: -121.859668 deg, deltaT: 0.504221 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 43.54 m.hhhhhggjgrgreZe:e*e h?q8pnAggregate::initialize lineCaptureHoming:MicromodemComms8 q~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn8[["[*[7Z@=) oi9)額kiiIIDDAT read: Rx Time:04:27:59.2343 TRx dataTimestamp_ set to:1764908880.163470PDAT read: Bearing 162.4, -27.2 (Local) ~Local bearing/azimuth received: Bearing 162.4, -27.2 (Local) DAT read: Range 11 to 50 : 44.0 m (trip time 29.3 ms) speed -0.2 DAT read: 04:27:59.2343 LVL= 31728, 18529, 20242, 30403, AGC= 61, IDX= 502, 0.49,-0.145, 2.030, 1.106, 1.326, PHS=-1.369, 0.749,-0.264, RAW= 298.5, 9.7, CAL= 296.0, 11.9, ROT= 214.0, -11.9 Ygot valid direction response: 04:27:59.2343 LVL= 31728, 18529, 20242, 30403, AGC= 61, IDX= 502, 0.49,-0.145, 2.030, 1.106, 1.326, PHS=-1.369, 0.749,-0.264, RAW= 298.5, 9.7, CAL= 296.0, 11.9, ROT= 214.0, -11.9 T#Rx 72: Read range and direction messages.`direction in FSK: [-0.811221,-0.547175,0.206204]Fpublishing direction and range infoyMߚMuFa5d?Y0B{aHO v)Id;iw??+@-\->MQ@ ȭT>)Q o@IȭTM#{N?o)i~? uG@),Id#iȭTchecking for new query: numPingsReceived=72, elapsed TxPingTime=35.562870BA>BBBBBBBL~;B5E!@ @@/@II 9 ]checking for new query: numPingsReceived=72, elapsed TxPingTime=35.799622iԩO$?%,%ԗLADD<E EE!E"E;*Eą:VEc3ZEBEAFH5`?AI@[ܿu*?P``a?`[?iFX@IF7];FCYRByR^Ii Mb@Mb@Mb@     9 ʡE?/$Zd;OY y  j  !A A)  Y AbDVDȰ8y-":%5<ٔ5:Q-5>99Y9==Ey9=GE=>AQ 5M5E[?Q 9U5E%)E͍BYU0>Q EU;yU:Q IUE@E͓DIE<:iE:Et5yYiaIauDDAT read: Rx Time:04:27:59.7343 uTRx dataTimestamp_ set to:1764908880.667692}PDAT read: Bearing 161.9, -27.3 (Local) ~Local bearing/azimuth received: Bearing 161.9, -27.3 (Local) DAT read: Range 11 to 50 : 44.0 m (trip time 29.3 ms) speed -0.2 DAT read: 04:27:59.7343 LVL= 29168, 16545, 19810, 30195, AGC= 60, IDX= 502, 0.35,-0.525, 1.640, 0.727, 0.943, PHS=-1.366, 0.742,-0.260, RAW= 298.4, 9.7, CAL= 295.9, 12.0, ROT= 214.1, -12.0 %Ygot valid direction response: 04:27:59.7343 LVL= 29168, 16545, 19810, 30195, AGC= 60, IDX= 502, 0.35,-0.525, 1.640, 0.727, 0.943, PHS=-1.366, 0.742,-0.260, RAW= 298.4, 9.7, CAL= 295.9, 12.0, ROT= 214.1, -12.0 %T#Rx 73: Read range and direction messages.-`direction in FSK: [-0.809965,-0.548388,0.207912]5Fpublishing direction and range infoyqul ;鿇Tdhٜ?Yqququ@ubM uu)u<Iuٮiu=?uur@quC@ uPwV>)u&o@IuPwVqqu4WW?`AH? uL=G@)u-Iu"iuPwVqqechecking for new query: numPingsReceived=73, elapsed TxPingTime=36.083073ɮ]@'Aiiqiuw*ԗLAjuV/B"juV/B:ju ?"pu?cA3[ 825:"@pul ;鿇Tdhٜ?*ju"2juPwV*pu=Zl!4@RZMC@#u/ @puJ?!f?_?ju~B juAiu(?iu,:ju‘Bjunö?jqjueBrju+Bzju|Y?u addTargetRange:: Added new target pos. range: 44.000000 m, deltaT: 1.008241 s, deltaX: 0.299999 m, approachRate: 0.297547 m/s, rangeRepo size: 4  Added new target pos. range: 43.834412 m, bearing: 62.243980 deg, lat: 36.779413 deg, lon: -121.859668 deg, deltaT: 1.008241 s, deltaX: 0.298988 m, approachRate: 0.296545 m/s, posRepo size: 4 DNOT Ignoring new targets: 43.83 m.hhhhhggjgrg BreZe:eF@*e@[=0>"[=_`@*[={ X@=) i9)顕H7iiIIA@A @I@M@5@IIYIiO}z>A= checking for new query: numPingsReceived=73, elapsed TxPingTime=36.306568i 4%,m?ԗLAX@f@x=ٱT*>Hؗ?;gܿ` ?Xq '?R?iX@QI^;CYBy`IEM EMEM'EI"EM:*EMc:VEM'4ZEIaU@aU@aU@aU@i]Mb@Mb@Mb@YYYY Y9]tV?+η:vY]>y]v]Լ]AY ]A)]&AYY]zAbD3VD۰8y<%(=ٔ9 :Q->9Y=Ey9E>Q 55M?Q 95&)BYf>Q E;y;Q IE@ӓDI;iK;5y oBɮ &ADDAT read: Rx Time:04:28:00.2344 TRx dataTimestamp_ set to:1764908881.171219PDAT read: Bearing 162.0, -26.9 (Local) ~Local bearing/azimuth received: Bearing 162.0, -26.9 (Local) DAT read: Range 11 to 50 : 44.1 m (trip time 29.4 ms) speed -0.2 DAT read: 04:28:00.2344 LVL= 32752, 19521, 22514, 32755, AGC= 60, IDX= 503, 0.24,-0.204, 1.956, 1.031, 1.254, PHS=-1.355, 0.748,-0.267, RAW= 298.8, 9.6, CAL= 296.3, 11.8, ROT= 213.7, -11.8 Ygot valid direction response: 04:28:00.2344 LVL= 32752, 19521, 22514, 32755, AGC= 60, IDX= 503, 0.24,-0.204, 1.956, 1.031, 1.254, PHS=-1.355, 0.748,-0.267, RAW= 298.8, 9.6, CAL= 296.3, 11.8, ROT= 213.7, -11.8 T#Rx 74: Read range and direction messages.`direction in FSK: [-0.814373,-0.543119,0.204496]Fpublishing direction and range infoy1mW:x;,;arG,?Yf0BALW )Ipi|??9@+>2|@ BR>)n@IBRHo&:?3;h? G@),I.k#iBRchecking for new query: numPingsReceived=74, elapsed TxPingTime=36.571564iiAJԗLAj/B"j/B:j?"pqtA4i7R!@p1mW:x;,;arG,?*j.k#2jBR*p][4@{?_B@*ɇ @pIuoc?#*?>2^?jB jAioQ?i4`?jBj=柊?j,:jBrjg,Bzj`+?- addTargetRange:: Added new target pos. range: 44.099998 m, deltaT: 0.503527 s, deltaX: 0.099998 m, approachRate: 0.198596 m/s, rangeRepo size: 4 = Added new target pos. range: 43.934036 m, bearing: 61.572833 deg, lat: 36.779418 deg, lon: -121.859670 deg, deltaT: 0.503527 s, deltaX: 0.099625 m, approachRate: 0.197854 m/s, posRepo size: 4 EDNOT Ignoring new targets: 43.93 m.hAhAhAhAhAgAgAB}E>B}KCByByByByByB}t};B}O5Ejgrg BreZe:e F@*eU?[f>[f>"[v@*[uV@ex=)i mpim9)imZm438iiiqqqIqIy I) @  @ @ (0@ I I O >1 %,CYԗLAnchecking for new query: numPingsReceived=74, elapsed TxPingTime=36.806992Z0bX@ZTf@ZY=ٱZ>ZH =p?@F1ܿQ?~@? M?iZ0bX@IZ];ZCY~By~_IAbD VD 8y=Ļ%==ٔ={7:Q-E?9AYA=EEyAMOEM?Q 55D?Q 95')BYy;Q IE@֓DIF;i;R5yɮ&ADNOT Ignoring new targets: 43.93 m.hhhhhggjg!rg!re!Ze!:e)*e-@?[["[*[IV@5Y=)9 EiEu~9)Q]A]v8iYiqqyIyI] @Y @Y@]/@YIiIO9>1DQzDQE] E]EYEY"E]:*E]T:VEYZEYBE]~@ A>)n@IA z?NХR? G@)G#IƇ#iA checking for new query: numPingsReceived=75, elapsed TxPingTime=37.075222a ,%,IsԗLA :X@:f@:=ٱ:>:H`a:1?h ۿ@̸? +?`H?i:X@I:A];:CY^By^dIbDjVDj8yrˢ<%rQ=ٔr:Q-r>9tYt=vEytzL)Ez>xQ 55z9?Q 95z')zBYy?jpB jAiy*?iDjBj(?j4`?j‘Brj,Bzj݉? addTargetRange:: Added new target pos. range: 44.099998 m, deltaT: 0.504156 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 43.934402 m, bearing: 60.888253 deg, lat: 36.779420 deg, lon: -121.859672 deg, deltaT: 0.504156 s, deltaX: 0.000366 m, approachRate: 0.000726 m/s, posRepo size: 4 DNOT Ignoring new targets: 43.93 m.hhhhhgqgqjgyrgyreyZey:ey*e}`?q[["[*[/ V@=) i9)Мn8ichecking for new query: numPingsReceived=75, elapsed TxPingTime=37.310959i111I1I9@ @@@IIAOuX>ԡE  E E E "E :*E L_:VE ZE a @a @a @a @  DDAT read: Rx Time:04:28:01.2346  TRx dataTimestamp_ set to:1764908882.179343 PDAT read: Bearing 161.2, -26.7 (Local)  ~Local bearing/azimuth received: Bearing 161.2, -26.7 (Local)  DAT read: Range 11 to 50 : 44.4 m (trip time 29.6 ms) speed -0.2  DAT read: 04:28:01.2346 LVL= 29648, 20657, 20178, 29459, AGC= 61, IDX= 505, 0.03,-1.138, 1.015, 0.092, 0.315, PHS=-1.351, 0.745,-0.267, RAW= 298.9, 9.7, CAL= 296.4, 11.9, ROT= 213.6, -11.9  Ygot valid direction response: 04:28:01.2346 LVL= 29648, 20657, 20178, 29459, AGC= 61, IDX= 505, 0.03,-1.138, 1.015, 0.092, 0.315, PHS=-1.351, 0.745,-0.267, RAW= 298.9, 9.7, CAL= 296.4, 11.9, ROT= 213.6, -11.9  T#Rx 76: Read range and direction messages. `direction in FSK: [-0.815021,-0.541499,0.206204] Fpublishing direction and range infoy  нSFa5d?Y 1B s P N s) =I i R>? 9 -\-> ȭT>) I ȭT U￯9u?)s? G@) o,I i ȭT % checking for new query: numPingsReceived=76, elapsed TxPingTime=37.5793880#%,ԗLA:@W@:e@P:yA=ٱ:]>:H y?܀ ۿ@ʪr?F??i:@W@I:`];8YBy[IB%D>B!B%IB%=BB% =B!B!B%|;B%5EBBBBBC5iMb@Mb@Mb@ 9Zd;O?|?5^V-Y~>yҽA;#A A)AYAbD5VD58yE%E)=ٔEB:Q-M>9iYi=mEyquEu>yQ 55}+?Q 95}()}BY>Q E;y>Q IE@}DI}//<}5yeBɮ&AEii[zԗLAj0B"j0B:j?"pqBim7;/&t="@pнSFa5d?*j2jȭT*pf.5@tLB@ {4 @pQ?eJy?Dr?jB juAi$?iꡦAjđBjoQ?j=@jrj-Bzjk? addTargetRange:: Added new target pos. range: 44.400002 m, deltaT: 0.503968 s, deltaX: 0.300003 m, approachRate: 0.595282 m/s, rangeRepo size: 4  Added new target pos. range: 44.233292 m, bearing: 60.848527 deg, lat: 36.779423 deg, lon: -121.859673 deg, deltaT: 0.503968 s, deltaX: 0.298889 m, approachRate: 0.593072 m/s, posRepo size: 4 DNOT Ignoring new targets: 44.23 m.hhhhhggjgrgreZe:e@33F@*e"?[ >[ >"[ uv@*[ US@%yA=)A EiEȆ9)AMrM8iIiIQQIQIQchecking for new query: numPingsReceived=76, elapsed TxPingTime=37.815170 !@  @ @ 1@ II1O=r>) @)%,}̦ԗLAE EE%E"Ea:*EZ:VE 4ZEBE(W@>e@> =ٱ>٢>>H@?@cۿv 8?`Q`?@ ?i>W@I>];)]%n@I]PwVYY] ɼS?+nj? ]#UH@)]m9-I](#i]PwVYYI1Uchecking for new query: numPingsReceived=77, elapsed TxPingTime=38.089767) @ @@/@IIO">Q checking for new query: numPingsReceived=77, elapsed TxPingTime=38.318935y *0%,ԗLA jW@\e@ڥ=ٱ>HZZ?YQRۿI?`?`?i jW@I|];CYBy]IbD5ϿVD58y=<%ED=ٔE!:Q-E>9AYI=MEyIԡE>Q 55?Q 95))}BYy@?Q I E@DI?f?jB jAir9?i Kj Bj$?jꡦAjrj.BzjdV? addTargetRange:: Added new target pos. range: 44.400002 m, deltaT: 0.504081 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 44.233292 m, bearing: 60.058961 deg, lat: 36.779425 deg, lon: -121.859673 deg, deltaT: 0.504081 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 %DNOT Ignoring new targets: 44.23 m.h!h!h!h!h!g!g)jg)rg)re)Ze1:e1*e5?[q[q"[q*[u*R@ڥ=) Ui^9)顕a"69iiIImDDAT read: Rx Time:04:28:02.2347 uTRx dataTimestamp_ set to:1764908883.188438PDAT read: Bearing 159.8, -26.3 (Local) ~Local bearing/azimuth received: Bearing 159.8, -26.3 (Local) DAT read: Range 11 to 50 : 44.6 m (trip time 29.7 ms) speed -0.2 DAT read: 04:28:02.2347 LVL= 29840, 20081, 20050, 29843, AGC= 61, IDX= 507,-0.39,-1.638, 0.509,-0.418,-0.181, PHS=-1.355, 0.735,-0.282, RAW= 299.1, 10.0, CAL= 296.6, 12.6, ROT= 213.4, -12.6 Ygot valid direction response: 04:28:02.2347 LVL= 29840, 20081, 20050, 29843, AGC= 61, IDX= 507,-0.39,-1.638, 0.509,-0.418,-0.181, PHS=-1.355, 0.735,-0.282, RAW= 299.1, 10.0, CAL= 296.6, 12.6, ROT= 213.4, -12.6 T#Rx 78: Read range and direction messages.`direction in FSK: [-0.814742,-0.537223,0.218143]Fpublishing direction and range infoyimD-]+&0ῡ'$?Ymf2BimtmqNmRN mt)iImpim(m@ mz0a>)m^n@Imz0aiim?˂_2?&35? mkH@)m2Im#imz0aiichecking for new query: numPingsReceived=78, elapsed TxPingTime=38.594444%!@! @!@!@!I1IIOUT>BC>BJCBBB =BBB|;B5E Q6%,gԗLA69W@6E,e@61=ٱ6Ff>6H@_?xJ@&ۿ`QS?@ú??i69W@I6+];6CYNByNfIbchecking for new query: numPingsReceived=78, elapsed TxPingTime=38.823051iMb@Mb@Mb@ 9v/?MbXX9vYx>yʽ!A )QAYzAbDÿVDt8y|=%C=ٔx9Q->9Y=EyE>Q 55 ?Q 9 5**)oBY>Q E;y>Q IE@DIo[>"[ÿ@*[YUS@1=) pi9)顽ᦷS9iiII!EE EEEE"EA"EE:*EEz:VEE(3ZEABEEG-m@ ^ Z>) n@I^ Z As{qjΖ?T**6? G@)/IN#i^ Z checking for new query: numPingsReceived=79, elapsed TxPingTime=39.142757 @  @ @ 35@ I I O >y A{<%,YԗLAY~By~aI   bDVD8y%N%-T=ٔ-Q-->9)Y1=5Ey15E5>9Q 5E5=?Q 9E5=*)=bBYIyIQ IME@=DI=:i=:=`5yQɮU/&AQii.WԗLAj"j:j/?"p%"[ B+xr(8IJ݀"@p q\:Af῵\ ?*jN#2j^ Z*p#{5@B@+Hc @ps?[ߧ\[?5Ss?jB j٫Aid?iꟚCjNBjjj Brj/Bzjm?= addTargetRange:: Added new target pos. range: 44.599998 m, deltaT: 0.504383 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Qe Added new target pos. range: 44.432339 m, bearing: 60.511493 deg, lat: 36.779426 deg, lon: -121.859674 deg, deltaT: 0.504383 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 mDNOT Ignoring new targets: 44.43 m.hihihihihigqgqjgyrgyreZe:e*e X?[["[*[) ai59)/l9ichecking for new query: numPingsReceived=79, elapsed TxPingTime=39.327183iIIԁ!@ @@ /@ I9IQO}X>ԱEu  Eu Eq Eq "Eu :*Eu xv:VEq ZEq a @a @a @a @ DDAT read: Rx Time:04:28:03.2349  TRx dataTimestamp_ set to:1764908884.195313 PDAT read: Bearing 160.6, -26.8 (Local)  ~Local bearing/azimuth received: Bearing 160.6, -26.8 (Local)  DAT read: Range 11 to 50 : 44.9 m (trip time 29.9 ms) speed -0.2  DAT read: 04:28:03.2349 LVL= 32752, 18929, 21826, 32755, AGC= 59, IDX= 508, 0.07,-0.828, 1.326, 0.400, 0.617, PHS=-1.343, 0.754,-0.261, RAW= 298.9, 9.4, CAL= 296.4, 11.3, ROT= 213.6, -11.3  Ygot valid direction response: 04:28:03.2349 LVL= 32752, 18929, 21826, 32755, AGC= 59, IDX= 508, 0.07,-0.828, 1.326, 0.400, 0.617, PHS=-1.343, 0.754,-0.261, RAW= 298.9, 9.4, CAL= 296.4, 11.3, ROT= 213.6, -11.3  T#Rx 80: Read range and direction messages. `direction in FSK: [-0.816775,-0.542664,0.195946] Fpublishing direction and range infoy  b#꿂]>x_?Y 3B I BU ) I m竿i %A? ˡ @ '> ~@ I>) n@I I bC%,r3՗LAŐItf?E'? G@)'IƇ#iI2checking for new query: numPingsReceived=80, elapsed TxPingTime=39.619019BbD>BbKCB`B`Bb =B`B`BbU};Bb@5E=V@=sd@=/z=ٱ= >=H@?!ڿO&?@`%)?c?i=V@I=`];=CY}By}^IԱieMb@Mb@Mb@aaaa a9em?~jtˡEYe>yeĽe'eAen"A eA)eVAaYeAbDVD8y1%=ٔAQ->9Y=EycE>Q 55?Q 95+)MBY>Q E;y=Q IE@DI;i7;5y!ɮ-F&A)ii ՗LAj2B"j2B:j?"pDDB~a,F8(禇!@pb#꿂]>x_?*jƇ#2jI*p^Y06@oC@؍@po-2;?`,:?.;K ?j?B jAi>?i9dBj Bj/,?jꟚCjrj/Bzj%? addTargetRange:: Added new target pos. range: 44.900002 m, deltaT: 0.502492 s, deltaX: 0.300003 m, approachRate: 0.597031 m/s, rangeRepo size: 4 E Added new target pos. range: 44.731400 m, bearing: 59.759565 deg, lat: 36.779426 deg, lon: -121.859674 deg, deltaT: 0.502492 s, deltaX: 0.299061 m, approachRate: 0.595155 m/s, posRepo size: 4 MDNOT Ignoring new targets: 44.73 m.hIhIhIhIhIgIgQjgQrgUBreQZey:e}@3sF@*e} \?[>[>"[G@*[ T@/z=) i94=R=checking for new query: numPingsReceived=80, elapsed TxPingTime=39.831322)9iiII} @y @@@II O >1 DU %=DU R=E]  E] E] %EY "E] U,;*E] Ar:VE] 4ZEY BE] 2H `?ڿ?a rQ I=E@-DI-;i-#;-s5yEPBɮE&AEEmDNOT Ignoring new targets: 44.73 m.hihqhqhqhqgqgqjgrgreZe:e*eR?[["[*[S@W=) ⠿i{9)x9iiII-DDAT read: Rx Time:04:28:03.7349 -TRx dataTimestamp_ set to:1764908884.699968}PDAT read: Bearing 157.4, -26.5 (Local) }~Local bearing/azimuth received: Bearing 157.4, -26.5 (Local) DAT read: Range 11 to 50 : 44.9 m (trip time 29.9 ms) speed -0.2 5@1 @1@=0@9IIIYOe=mDAT read: 04:28:03.7349 LVL= 28624, 22657, 19698, 28307, AGC= 61, IDX= 508,-0.12, 2.883,-1.272,-2.173,-1.932, PHS=-1.366, 0.705,-0.285, RAW= 298.5, 10.6, CAL= 296.0, 13.9, ROT= 214.0, -13.9 Ygot valid direction response: 04:28:03.7349 LVL= 28624, 22657, 19698, 28307, AGC= 61, IDX= 508,-0.12, 2.883,-1.272,-2.173,-1.932, PHS=-1.366, 0.705,-0.285, RAW= 298.5, 10.6, CAL= 296.0, 13.9, ROT= 214.0, -13.9 T#Rx 81: Read range and direction messages.`direction in FSK: [-0.804760,-0.542818,0.240228]Fpublishing direction and range infoy)-|Œsnz^Ήؼʿ?Y))-o-X-L -n)-=I-ٮi-z4?-둾-@-q=>-MQ@ -Ulx>)-Q o@I-Ulx))-gr,i-_?[›2u? -MpG@)-WV@>Id@>&ƌ=ٱ>>>H:@?V Yڿg/'?8`QA??i>WV@I>k];>CYXy^ZIbDf VDf8yn:%nP=ٔn8Q-r>9pYp=rEypvEv>xQ 5~5zܘ?Q 9~5z,)z2BY|y~i>Q IE@zDIz;iz];z5y ɮ &A iqiuG,՗LAjq"jq:ju {?"puiAߚG8R& }%@pu|Œsnz^Ήؼʿ?*jud#2juUlx*puW;Y5@B@ #V=#@puX?B-?U?juB juAiuT?iuMGju̔BjqjuMGjuNBrju/Bzju;?E- E-E-#E)"E-:*E-V:VE-3ZE)aM@aM@aM@aM@q addTargetRange:: Added new target pos. range: 44.900002 m, deltaT: 0.504655 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 44.731400 m, bearing: 60.196805 deg, lat: 36.779426 deg, lon: -121.859676 deg, deltaT: 0.504655 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 44.73 m.hhhhhggjgrgreZe!:e!*e% ?[a[a"[a*[eS@u&ƌ=)y }Ԡi}m9)y}ܰ9iiII i>MDDAT read: Rx Time:04:28:04.2348 MTRx dataTimestamp_ set to:1764908885.203491UPDAT read: Bearing 158.5, -26.8 (Local) ]~Local bearing/azimuth received: Bearing 158.5, -26.8 (Local) mDAT read: Range 11 to 50 : 44.7 m (trip time 29.8 ms) speed -0.2 DAT read: 04:28:04.2348 LVL= 28080, 19889, 21218, 30275, AGC= 60, IDX= 509,-0.35, 2.879,-1.246,-2.163,-1.936, PHS=-1.366, 0.736,-0.270, RAW= 298.6, 9.9, CAL= 296.1, 12.5, ROT= 213.9, -12.5 Ygot valid direction response: 04:28:04.2348 LVL= 28080, 19889, 21218, 30275, AGC= 60, IDX= 509,-0.35, 2.879,-1.246,-2.163,-1.936, PHS=-1.366, 0.736,-0.270, RAW= 298.6, 9.9, CAL= 296.1, 12.5, ROT= 213.9, -12.5 T#Rx 82: Read range and direction messages.`direction in FSK: [-0.810338,-0.544524,0.216440]Fpublishing direction and range infoyIM<]I鿹'lK?YM2BIMmMMMR MCv)M<IIiMjM_@ Mf_>)Mn@IMf_IIMVe͋A￯U?У? MzG@)M&1IM1#iMf_IIchecking for new query: numPingsReceived=82, elapsed TxPingTime=40.603374ԑBG>BBIB8BBBBB~;B5EQ@Q @Q@U/@QIaIyO|> [V%,[՗LA2V@2hd@2S=ٱ2c>2H& E_? %ڿ  h.?@ 1?v?i2V@I2];2CRchecking for new query: numPingsReceived=82, elapsed TxPingTime=40.839001TYfByfXIiMb@Mb@Mb@ 9 rh?+η+Y>yvA A)YzAbDVD8yo%-=ٔ3Q->9 Y=EyfE>!Q 5-5%cϘ?Q 9-5%K-)% BY5>Q E5;y5V>Q I5E@%DI%;i% ;% 5y=FBɮ=%A9iiM՗LAj!2B"j!2B:jJ?"p B?8F#@p<]I鿹'lK?*j1#2jf_*pq6@DoB@PtD4}!@pO`?8?ރ?jB jAi߉?iDMjBj߉?jjBrj/Bzj? addTargetRange:: Added new target pos. range: 44.700001 m, deltaT: 0.503523 s, deltaX: -0.200001 m, approachRate: -0.397203 m/s, rangeRepo size: 4  Added new target pos. range: 44.532372 m, bearing: 59.664714 deg, lat: 36.779423 deg, lon: -121.859676 deg, deltaT: 0.503523 s, deltaX: -0.199028 m, approachRate: -0.395271 m/s, posRepo size: 4 DNOT Ignoring new targets: 44.53 m.hhhhhggjg)rg-Bre)Ze1:e5YF@*e5ۂ?[u>[u>"[ur@*[uS@S=) pi 9)  Z 9i iII I)D!zD%@AE5 E5E5$E1"E5:*E5 n:VE54ZE1BE5eDDAT read: Rx Time:04:28:04.7348 mTRx dataTimestamp_ set to:1764908885.708368uPDAT read: Bearing 155.2, -27.1 (Local) }~Local bearing/azimuth received: Bearing 155.2, -27.1 (Local) DAT read: Range 11 to 50 : 44.7 m (trip time 29.8 ms) speed -0.2 DAT read: 04:28:04.7348 LVL= 32752, 25585, 24978, 32755, AGC= 59, IDX= 508, 0.35, 3.056,-1.090,-1.964,-1.727, PHS=-1.397, 0.682,-0.280, RAW= 297.5, 11.0, CAL= 294.9, 15.0, ROT= 215.1, -15.0 Ygot valid direction response: 04:28:04.7348 LVL= 32752, 25585, 24978, 32755, AGC= 59, IDX= 508, 0.35, 3.056,-1.090,-1.964,-1.727, PHS=-1.397, 0.682,-0.280, RAW= 297.5, 11.0, CAL= 294.9, 15.0, ROT= 215.1, -15.0 T#Rx 83: Read range and direction messages.`direction in FSK: [-0.790272,-0.555412,0.258819]Fpublishing direction and range infoyaeCI?doV!}?Yaaeecea e)e;Ieвie.?e)\e'@e D>e@ e >)eDp@Ie aaer`F?3ߣ>? e OF@)eThEIe!ie aa checking for new query: numPingsReceived=83, elapsed TxPingTime=41.116596! c\%,ƥu՗LA2U@2Yc@2hu=ٱ2;>2H+ -?`ʟٿ d:m?@:k@?@?i2U@I2y];0YBByBGIbDJVDJ8yb?%bu=ٔf{Q-f?9dYh=jEyhj&Ej?lQ 5r5nŘ?Q 9r5n-)nBYtyv>Q IvE@nDIn:in :n5yx|ɮz2&A|iiUm՗LAj"j:jg?"p"˩ABܻ8>9 '@pCI?doV!}?*j!2j *pL4@L`\B@/$@p%;#?pvz@?Pxccu?jB jƧAi56?i?DHjBjd?jjrj/Bzjf?M addTargetRange:: Added new target pos. range: 44.700001 m, deltaT: 0.504877 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 44.532372 m, bearing: 61.057963 deg, lat: 36.779423 deg, lon: -121.859676 deg, deltaT: 0.504877 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 }DNOT Ignoring new targets: 44.53 m.hyhyhyhhggjgrgre1Ze1:e1*e58?[["[*[S@hu=) 젿i9)顽;9iiIIchecking for new query: numPingsReceived=83, elapsed TxPingTime=41.343803)I@I @I@U&0@QIIaO=>QEE  EE EE "EA "EE D:*EE :VEE (3ZEA a @a @a @a @ԁ e DDAT read: Rx Time:04:28:05.2350 m TRx dataTimestamp_ set to:1764908886.211394u PDAT read: Bearing 157.9, -27.1 (Local) u ~Local bearing/azimuth received: Bearing 157.9, -27.1 (Local)  DAT read: Range 11 to 50 : 45.0 m (trip time 30.0 ms) speed -0.2  DAT read: 04:28:05.2350 LVL= 31984, 18865, 22418, 31731, AGC= 59, IDX= 510, 0.17,-2.496,-0.338,-1.248,-1.027, PHS=-1.366, 0.735,-0.264, RAW= 298.4, 9.9, CAL= 295.8, 12.4, ROT= 214.2, -12.4  Ygot valid direction response: 04:28:05.2350 LVL= 31984, 18865, 22418, 31731, AGC= 59, IDX= 510, 0.17,-2.496,-0.338,-1.248,-1.027, PHS=-1.366, 0.735,-0.264, RAW= 298.4, 9.9, CAL= 295.8, 12.4, ROT= 214.2, -12.4  T#Rx 84: Read range and direction messages. `direction in FSK: [-0.807787,-0.548971,0.214735] Fpublishing direction and range infoya e c=k+῍h`r|?Ye 4Ba e |e Ie W e {)a Ie ٮie (e 4@ e k]>)e Co@Ie k]a a e vPtnշ5?0? e >@G@)e ?0Ie 4"ie k]a a  checking for new query: numPingsReceived=84, elapsed TxPingTime=41.611492c%,pz՗LAB6F>B4B6IB63BB4B4B4B6~;B65EfSU@fc@f@!=ٱf>fH6V?@ٿn`?`]?)?ifSU@If];fCYY}By}JIAiMb@Mb@Mb@ 9?333333yt!A A)YbD-VD-8y=Q<%=)=ٔEQ-E>9AYA=MEyIMEM>QQ 5]5UҸ?Q 9]5U.)UBYeë>Q Ee;ye [ë>"[@*[V@M@!=)I MpiM]9)QUmU29iQiYYYIYIchecking for new query: numPingsReceived=84, elapsed TxPingTime=41.848030@! @!@%0@)IQIyO> % 9! Y% AD= =D= 4=EE  EE EE #EA "EE :*EE :VEE 3ZEA BEE x2HB`,?`Bo/ٿ@$J?>s??i2"uU@I2];2CYBByBSIbDJVDJ8y-2=%5s=ٔ5MκQ-5?99Y9==Ey9E,EE?AQ 5M5E?Q 9U5E4/)EBYQyUDu?[["[*[U@%DDAT read: Rx Time:04:28:05.7350 -TRx dataTimestamp_ set to:1764908886.716261=PDAT read: Bearing 160.1, -26.5 (Local) =~Local bearing/azimuth received: Bearing 160.1, -26.5 (Local) uDAT read: Range 11 to 50 : 45.0 m (trip time 30.0 ms) speed -0.2 DAT read: 04:28:05.7350 LVL= 32752, 25105, 28882, 32755, AGC= 57, IDX= 510, 0.03, 1.542,-2.544, 2.775, 2.995, PHS=-1.351, 0.790,-0.264, RAW= 299.5, 8.9, CAL= 297.0, 10.4, ROT= 213.0, -10.4 Ygot valid direction response: 04:28:05.7350 LVL= 32752, 25105, 28882, 32755, AGC= 57, IDX= 510, 0.03, 1.542,-2.544, 2.775, 2.995, PHS=-1.351, 0.790,-0.264, RAW= 299.5, 8.9, CAL= 297.0, 10.4, ROT= 213.0, -10.4 T#Rx 85: Read range and direction messages._ =) i9)9iiIIm`direction in FSK: [-0.824892,-0.535691,0.180519]mFpublishing direction and range infoy)-!e02b$lE@?Y))--b-p -)-9I-i-q=J?)-E@->-H@ -9>)-\m@I-9))-^*f^? ;? -~H@)-I-Y3$i-9))checking for new query: numPingsReceived=85, elapsed TxPingTime=42.145809 @ @@0@IIO"> checking for new query: numPingsReceived=85, elapsed TxPingTime=42.3510219 p%,0՗LA2V=U@2/c@2/=ٱ2W^>2HNj?P<`OYٿ /@1? "`p?@?i2V=U@I2];2CYB}ByBDIbDJVDJ8yf %fQ=ٔftQ-f>9hYh=jEyhjEn>pQ 5v5r?Q 9v5r/)rBYtyv{BaBaBeIBe.BBaBaBaBe+;Be-6EB-KCB-KCB)B- =B- =C-4yԙ v%, ՗LA2U@2b@2Q=ٱ2>2H(Z]?@@"ٿ;.?Y? ?i2U@I2];0Bchecking for new query: numPingsReceived=86, elapsed TxPingTime=42.854843YFByFIIIH)J4=yiMb@Mb@Mb@ 9tV?㥛 I +Y>y94A )YAbDVD8y<%,=ٔiQ->9Y=EypE> Q 555 \?Q 955 0) ֌BY5>Q E=;y=D;Q I=E@ DI ;i :  5yEMBɮE]&AEE addTargetRange:: Added new target pos. range: 45.299999 m, deltaT: 0.503713 s, deltaX: 0.299999 m, approachRate: 0.595576 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 44.83 m.hhhhhggjgrgBreZe:e`fF@*e@&?[M>[M>"[Mv@*[M V@]Q=)Y eie9)ae̿9iiIII)zAԡE  E E 'E "E 2;*E :VE '4ZE BE #EDDAT read: Rx Time:04:28:06.7352 ETRx dataTimestamp_ set to:1764908887.723893ePDAT read: Bearing 166.0, -32.3 (Local) u~Local bearing/azimuth received: Bearing 166.0, -32.3 (Local) DAT read: Range 11 to 50 : 45.3 m (trip time 30.2 ms) speed -0.2 DAT read: 04:28:06.7352 LVL= 32752, 24881, 27474, 32755, AGC= 62, IDX= 512,-0.23,-3.054,-0.835,-1.665,-1.633, PHS=-1.319, 0.842,-0.077, RAW= 295.1, 5.9, CAL= 292.8, 3.4, ROT= 217.2, -3.4 Ygot valid direction response: 04:28:06.7352 LVL= 32752, 24881, 27474, 32755, AGC= 62, IDX= 512,-0.23,-3.054,-0.835,-1.665,-1.633, PHS=-1.319, 0.842,-0.077, RAW= 295.1, 5.9, CAL= 292.8, 3.4, ROT= 217.2, -3.4 T#Rx 87: Read range and direction messages.`direction in FSK: [-0.795128,-0.603535,0.059306]Fpublishing direction and range infoyAEъqJt(PCg]?YAAAE1aERk A)E>IEԨiEPW?E-EФ@EB=EƇ@ Es=)E_r@IEsAAEr槵￾P?oʺ? E|C@)EԽIEViEsAAchecking for new query: numPingsReceived=87, elapsed TxPingTime=43.129025 }%,:՗LA6BT@6b@6s=ٱ6 >6H rep,?GJؿ F@?J밿;?`]?i6BT@I6];6CYRvByR<IbDfVDf8yrR|%vs=ٔvQ-z?9xYx=~Ey|`'E?Q 55?Q 9%5v1)ɌBY!y%;Q I-E@DI`J;i:K; 5y5BBɮ5`&A9iqiuCT՗LAju4B"ju4B:ju7?"pu++AY*<;xi@puъqJt(PCg]?*juV2jus*puK|4]6@}"h;C@2Κ(?pum>cŷ?!q9?>~?juB juAiuxJꟊ?iuKP*juBjqjqju_Brju1Bzju? addTargetRange:: Added new target pos. range: 45.299999 m, deltaT: 0.503919 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 45.130032 m, bearing: 60.280893 deg, lat: 36.779423 deg, lon: -121.859676 deg, deltaT: 1.007632 s, deltaX: 0.298813 m, approachRate: 0.296550 m/s, posRepo size: 4 DNOT Ignoring new targets: 45.13 m.hhhhhggjgrgreZe:e*eh?[["[*[hV@s=) `iK9)顽(·:iiIIchecking for new query: numPingsReceived=87, elapsed TxPingTime=43.360901]-9 bE3jE3rE/E%  E% E% $E! "E% :*E% x:VE% 4ZE! aU @aU @aU @aU @a @i  @q @u /@y I I O >i9 I9 E DDAT read: Rx Time:04:28:07.2353 M TRx dataTimestamp_ set to:1764908888.227175U DAT read: Range 11 to 50 : 45.5 m (trip time 30.3 ms) speed -0.2 ] Z#Rx 88: Read range message, but no direction.yA YE 6BA e checking for new query: numPingsReceived=88, elapsed TxPingTime=43.615425%, ֗LABG>BBIB)BBBB̺DBB/6E YByIIimMb@Mb@Mb@iiii i9mv/?MbQ롿Ymx>ymm\im?#A mA)mAiYibDVD8y1=%2=ٔQ->9Y=EyE>Q 55?Q 95Y2)BY>Q E;y:Q IE@"DI;iz;5yɮ&AIu addTargetRange:: Added new target pos. range: 45.500000 m, deltaT: 0.503282 s, deltaX: 0.200001 m, approachRate: 0.397393 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 45.13 m.hqhqhqhqhygygyjgrgBreZe:eF@*e?[>[>"[6@*[.qW@) i49)ķ1 :ii   I I =)9ychecking for new query: numPingsReceived=88, elapsed TxPingTime=43.864964@ @@00@IYIiOu>ԡ E  E E %E "E :*E P:VE 4ZE BE G-NH|?P`ؿ[??ӫ@)M?C?iNRT@IN];NCYbBybGIbDjVDj8yv %zi=ٔzz5Q-z>9|Y|=EyE >Q 55ww?Q 953Q =%tI)BY!y%";Q I%F@&DI[0;i-/;5y1ɮ5&A1mDNOT Ignoring new targets: 45.13 m.hqhqhqhqhqgygyjgrgreZe:e*e|E?[["[*[V@v=) i{9)Ƿe:iDDAT read: Rx Time:04:28:07.7353 TRx dataTimestamp_ set to:1764908888.731488PDAT read: Bearing 129.7, -16.9 (Local) ~Local bearing/azimuth received: Bearing 129.7, -16.9 (Local) %DAT read: Range 11 to 50 : 45.5 m (trip time 30.3 ms) speed -0.2 MDAT read: 04:28:07.7353 LVL= 32752, 19569, 25074, 32755, AGC= 63, IDX= 513, 0.34,-1.241, 0.716, 0.038, 0.882, PHS=-2.020,-0.121,-0.888, RAW= 293.7, 32.9, CAL= 296.6, 38.9, ROT= 213.4, -38.9 UYgot valid direction response: 04:28:07.7353 LVL= 32752, 19569, 25074, 32755, AGC= 63, IDX= 513, 0.34,-1.241, 0.716, 0.038, 0.882, PHS=-2.020,-0.121,-0.888, RAW= 293.7, 32.9, CAL= 296.6, 38.9, ROT= 213.4, -38.9 UT#Rx 89: Read range and direction messages.]`direction in FSK: [-0.649715,-0.428408,0.627963]]Fpublishing direction and range infoy AXv[8kۿE?YqLa )?IGiScu@?@ -?)^n@I-X_+?{^?c? A@)U I#i-checking for new query: numPingsReceived=89, elapsed TxPingTime=44.139015iIIԩ @ @@5@IIO!> DDAT read: Rx Time:04:28:08.2354  TRx dataTimestamp_ set to:1764908888.985696 checking for new query: numPingsReceived=89, elapsed TxPingTime=44.372093 %,%wD֗LA2T@2b@2'=ٱ2W>2H?d+@Sؿ@Ge@|?` P?H?i2T@I2];2CYBvByB<IbDJVDJ8lyr/%vK=ٔv ;Q-v>9tYx=zEyxzEz>|Q 55~wl?Q 95~3)~BY y U;Q I F@~*DI~:i~:~15y8Bɮ&AEi1i5.֗LAj5Q5B"j5Q5B:j5n?"p5ŵls=}Ock34w<@p5 AXv[8kۿE?*j5#2j5-*p5wo0@ND4@@+G>;@p5@ w,?#?M;?j5qB j58Ai5vI?i5x)j5Bj5xJꟊ?j1j1rj51Bzj5%7?e addTargetRange:: Added new target pos. range: 45.500000 m, deltaT: 0.504313 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 45.329453 m, bearing: 62.413346 deg, lat: 36.779419 deg, lon: -121.859676 deg, deltaT: 1.007595 s, deltaX: 0.199421 m, approachRate: 0.197918 m/s, posRepo size: 4 DNOT Ignoring new targets: 45.33 m.hhhhhggjg!rg!re!Ze!:e!*e-=$?E EEE"E*E n:VEZEa@a@a@a@[Y[Y"[Y*[]V@'=) Qi59)!%ɷMD:iIiQYYIYIYPDAT read: Bearing 153.4, -28.0 (Local) %~Local bearing/azimuth received: Bearing 153.4, -28.0 (Local) 5DAT read: Range 11 to 50 : 45.6 m (trip time 30.4 ms) speed -0.3 ]DAT read: 04:28:08.2354 LVL= 27856, 18241, 22290, 26163, AGC= 64, IDX= 2, 0.20, 1.183,-2.957, 2.468, 2.682, PHS=-1.396, 0.690,-0.258, RAW= 297.0, 10.7, CAL= 294.4, 14.2, ROT= 215.6, -14.2 eYgot valid direction response: 04:28:08.2354 LVL= 27856, 18241, 22290, 26163, AGC= 64, IDX= 2, 0.20, 1.183,-2.957, 2.468, 2.682, PHS=-1.396, 0.690,-0.258, RAW= 297.0, 10.7, CAL= 294.4, 14.2, ROT= 215.6, -14.2 mT#Rx 90: Read range and direction messages.u`direction in FSK: [-0.788257,-0.564336,0.245307]uFpublishing direction and range infoy`\*f9:#N /;f?Yf6BlAGW 3f)@I!iף0?H@t;?>l@ }>)p@I}^i Bgx{,l?rٲ? E@)s>IK!i}checking for new query: numPingsReceived=90, elapsed TxPingTime=44.638706B-H>B)B-IB-#BB- =B)B)B-;B-#6EI@I @I@M@5@IIYIqOa>9a >%,c^֗LA:DDAT read: Rx Time:04:28:08.7354 BTRx dataTimestamp_ set to:1764908889.490051JPDAT read: Bearing 151.5, -28.1 (Local) N~Local bearing/azimuth received: Bearing 151.5, -28.1 (Local) Rchecking for new query: numPingsReceived=90, elapsed TxPingTime=44.8797879e=S@ea@er=ٱeU>eHLa? ؿo׻?@p`P?@?ie=S@Ie];eCaYzByAIiEMb@Mb@Mb@AAAA A9E%C?i|?5QYEZ>yEqEEAEn"A A)AAYE(AbD]VD]8ymf<%m=ٔuۑQ-u>9qYq=}Eyy}XƻE}>Q 55]?Q 954)BYϧ>Q E!;y;Q IF@0DI:iM:5yuBɮAi9i=@O֗LAj=5B"j=5B:j=(?"p=kAnW$9jI&@p=`\*f9:#N /;f?*j=K!2j=}*p=T]=v6@x%C@|s `F#@p=?G B?Jɭ;'?j=,B j=Ai='Ÿ?i=NEj=Bj9E EE'E"E:*ER:VE'4ZEBE5[Uϧ>"[U>@*[UW@er=)a eᚿie9)im̷m :iiiIIԉ%DAT read: Range 11 to 50 : 45.6 m (trip time 30.4 ms) speed -0.3 ]DAT read: 04:28:08.7354 LVL= 26800, 20209, 24786, 28787, AGC= 63, IDX= 498, 0.09,-0.162, 1.985, 1.140, 1.362, PHS=-1.422, 0.668,-0.266, RAW= 296.5, 11.2, CAL= 293.8, 15.5, ROT= 216.2, -15.5 eYgot valid direction response: 04:28:08.7354 LVL= 26800, 20209, 24786, 28787, AGC= 63, IDX= 498, 0.09,-0.162, 1.985, 1.140, 1.362, PHS=-1.422, 0.668,-0.266, RAW= 296.5, 11.2, CAL= 293.8, 15.5, ROT= 216.2, -15.5 mT#Rx 91: Read range and direction messages.u`direction in FSK: [-0.777612,-0.569126,0.267238]uFpublishing direction and range infoy1͖F6֚n?YhN` sp)?Ii +?'1ʘ@+H>@ c>)jq@Ic+ESzY?ơR? X$E@)vIIK icchecking for new query: numPingsReceived=91, elapsed TxPingTime=45.139240@ @@0@IIO>Թ f%,z6x֗LAJ S@Ja@J^=ٱJG>JHV5? hӼ@+׿v?rYe?@?iJ S@IJR];JC ^LC)\^Ļ\\bC`ibDI`dIhijlA jXj8F)hnC lllpppIp)pip)v CIvA~Att tzCzM~AxixxiQQ)Q YIYYYYevBye;IԑbDVD8yO%=ٔuDQ-u?9qYq=uEyq}E}?Q 55U?Q 95U5)BYy<;Q IF@3DI;i.;5yɮADDAT read: Rx Time:04:28:09.2356 TRx dataTimestamp_ set to:1764908889.993762PDAT read: Bearing 152.6, -27.5 (Local) ~Local bearing/azimuth received: Bearing 152.6, -27.5 (Local) checking for new query: numPingsReceived=91, elapsed TxPingTime=45.383915iAiEoEo֗LAjA"jA:jEC?"pE[`޿A&W95G(@pE1͖F6֚n?*jEK 2jEc*pE "5@"{.C@a:DH%@pE`jA?5?.?jEsB jE}AiE95?iE IDjEBjE'Ÿ?jENEjEBrjE1BzjE? addTargetRange:: Added new target pos. range: 45.599998 m, deltaT: 0.503002 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 45.429066 m, bearing: 60.239011 deg, lat: 36.779415 deg, lon: -121.859675 deg, deltaT: 0.503002 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MDNOT Ignoring new targets: 45.43 m.hIhIhIhIhIgQgQjgQrgQreYZeY:e*e@W?[["[*[V@5^=)1 5 i59)Q]η]E':iYiaaaIaIaq-!@) @1@5@5@1IAIQOe>E EEE"Ea:*E]t:VEZEa@a@a@a@- DAT read: Range 11 to 50 : 45.9 m (trip time 30.6 ms) speed -0.2 U DAT read: 04:28:09.2356 LVL= 28608, 17969, 21634, 28115, AGC= 62, IDX= 500,-0.01, 0.306, 2.466, 1.583, 1.815, PHS=-1.407, 0.696,-0.276, RAW= 297.5, 10.8, CAL= 294.9, 14.5, ROT= 215.1, -14.5 ] Ygot valid direction response: 04:28:09.2356 LVL= 28608, 17969, 21634, 28115, AGC= 62, IDX= 500,-0.01, 0.306, 2.466, 1.583, 1.815, PHS=-1.407, 0.696,-0.276, RAW= 297.5, 10.8, CAL= 294.9, 14.5, ROT= 215.1, -14.5 ] T#Rx 92: Read range and direction messages.e `direction in FSK: [-0.792090,-0.556690,0.250380]m Fpublishing direction and range infoy  PalXqJg῁=9?Y 7B  o 1F T  m) >I i -2? O '@ A> @  >) Dp@I    TGCf￐%J*?KО?  EF@) AI !i    checking for new query: numPingsReceived=92, elapsed TxPingTime=45.640438ԑ B L>B LCB B B =B B B ~;B 5E|M%, ֗LA2|S@2Loa@2=ٱ2>2HΥu?`¼v׿4r?u;`e?n?i2|S@I2];2CY~uBy|QieMb@Mb@Mb@aaaa a9e?T㥛 X9vYef>yeeaeA a)aaYeAbDVD8yU%]2=ٔ]Q-]>9aYa=eEya| E>Q 55I?Q 956)yBY=>Q E;y[=>"[R@*[V@E=)A E iE9)IM=ѷMi-:iIiQQQIQIYԁ I)DDAT read: Rx Time:04:28:09.7356 TRx dataTimestamp_ set to:1764908890.498370PDAT read: Bearing 151.1, -27.1 (Local) ~Local bearing/azimuth received: Bearing 151.1, -27.1 (Local) checking for new query: numPingsReceived=92, elapsed TxPingTime=45.888775a@i @i@m15@iIIO>ԩ D 4=D a=E  E E #E "E *E x:VE 3ZE BE (:H4@/?C׿ ?$`?X?i:JS@I:P];:CY~ByFI  A <bD%VD%8ye_=%ep=ٔmQ-m?9iYi=uEyqu7Eu?Q 55@?Q 956)oBYy@ 'g>)I'gmrYQфS?C &?  OF@)B JIi'gechecking for new query: numPingsReceived=93, elapsed TxPingTime=46.147598ɮerAaii4֗LAj"j:j_?Ա"phB?ۨOS9 *2(@pcc7#K]^|5?*j2j'g*p$p7@C@gHi%@p[ɛ?d*/˜?.Z?jB j5Ai ՟?i|gNjBjj2IjBrj1Bzj,? addTargetRange:: Added new target pos. range: 45.900002 m, deltaT: 0.503939 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 45.728340 m, bearing: 58.805982 deg, lat: 36.779415 deg, lon: -121.859677 deg, deltaT: 0.503939 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 %DNOT Ignoring new targets: 45.73 m.h!h!h)h)h)g)gIjgQrgQreQZeQ:eY*e]`+?[["[*[*U@==) i9)uӷ^3:iiII @ @@/@IIOG>  DDAT read: Rx Time:04:28:10.2358  TRx dataTimestamp_ set to:1764908891.001989 PDAT read: Bearing 151.1, -27.2 (Local)  ~Local bearing/azimuth received: Bearing 151.1, -27.2 (Local)  checking for new query: numPingsReceived=93, elapsed TxPingTime=46.3920219 _%,֗LA6S@6a@6$=ٱ6>6H Y?`vZ׿ ?1@??i6S@I6];4YN|ByRDIbDXVDXyvb6%vS=ٔv:Q-v>9xYx=zEyxzqE~>|Q 55~Q6?Q 9 5~R7)~cBY y zDAT read: Range 11 to 50 : 46.2 m (trip time 30.8 ms) speed -0.3 DAT read: 04:28:10.2358 LVL= 25888, 16657, 23570, 27683, AGC= 62, IDX= 502,-0.22,-0.460, 1.684, 0.807, 1.047, PHS=-1.405, 0.682,-0.284, RAW= 297.5, 11.1, CAL= 294.9, 15.2, ROT= 215.1, -15.2 -Ygot valid direction response: 04:28:10.2358 LVL= 25888, 16657, 23570, 27683, AGC= 62, IDX= 502,-0.22,-0.460, 1.684, 0.807, 1.047, PHS=-1.405, 0.682,-0.284, RAW= 297.5, 11.1, CAL= 294.9, 15.2, ROT= 215.1, -15.2 -T#Rx 94: Read range and direction messages.5`direction in FSK: [-0.789528,-0.554890,0.262189]5Fpublishing direction and range infoy CR;f$?Y8B eA\ #l)>Ii.?shaF> ԇ>)IԇVp^br? z? QF@)FIiԇUchecking for new query: numPingsReceived=94, elapsed TxPingTime=46.648212BK>BBBBBBB};B5E9i ܌%,֗LA*DDAT read: Rx Time:04:28:10.7358 2TRx dataTimestamp_ set to:1764908891.505844:PDAT read: Bearing 149.1, -27.9 (Local) J~Local bearing/azimuth received: Bearing 149.1, -27.9 (Local) Rchecking for new query: numPingsReceived=94, elapsed TxPingTime=46.899326XHR@`@(=ٱ>H@g?\Q%׿ Ƽ?T"$?@|?iHR@I];YByJIiUMb@Mb@Mb@QQQQ Q9UMbX9?MbX9vYUʡ>yUQQU!A Q)QQYUAbDmVDm8y}<%}'=ٔ}Q-}>9Y=EyRE>Q 55j)?Q 958)TBY֥>Q E#;y9=Q IF@DDI;i/;.5yeBɮAE gx>Ciii֗LAj8B"j8B9Y^A:jO?"p0{+B֛Y;<9q\"(@p CR;f$?*j2jԇ*pm7@0߯ܕC@њ%@pkD6[?W9ă? =?jB j5AiQ矊?iYLjBj ՟?jjrj03Bzj ? addTargetRange:: Added new target pos. range: 46.200001 m, deltaT: 0.504058 s, deltaX: 0.299999 m, approachRate: 0.595168 m/s, rangeRepo size: 4 - Added new target pos. range: 46.027138 m, bearing: 58.330550 deg, lat: 36.779417 deg, lon: -121.859677 deg, deltaT: 0.504058 s, deltaX: 0.298798 m, approachRate: 0.592784 m/s, posRepo size: 4 5DNOT Ignoring new targets: 46.03 m.h1h1h1h1h1g1gYjgYrg]BreaZea:eeG@*ee k?[֥>[֥>"[ܪ@*[WT@E EE&E"Em:*Ek:VE4ZEBEVDAT read: Range 11 to 50 : 46.2 m (trip time 30.8 ms) speed -0.2 %DAT read: 04:28:10.7358 LVL= 29168, 23985, 27170, 28019, AGC= 63, IDX= 502,-0.35,-1.692, 0.426,-0.406,-0.175, PHS=-1.415, 0.646,-0.275, RAW= 296.5, 11.7, CAL= 293.8, 16.5, ROT= 216.2, -16.5 -Ygot valid direction response: 04:28:10.7358 LVL= 29168, 23985, 27170, 28019, AGC= 63, IDX= 502,-0.35,-1.692, 0.426,-0.406,-0.175, PHS=-1.415, 0.646,-0.275, RAW= 296.5, 11.7, CAL= 293.8, 16.5, ROT= 216.2, -16.5 5T#Rx 95: Read range and direction messages.5`direction in FSK: [-0.773730,-0.566284,0.284015]=Fpublishing direction and range infoy rnd8d9HN-?Yq]"j sm)?IiB`%?̌ʘ@Q>@ r>)jq@IrԂGLO??4? #E@)oPIK irUchecking for new query: numPingsReceived=95, elapsed TxPingTime=47.151875 Y%,֗LA6R@6@`@6=D=ٱ6">6H8 5C?C2׿oެ?%nj?`I?i6R@I6];6CYHyLR=Rp=TTbDVVDV8ٔr-9Q-r ?9pYt=vEytvtEv ?x|Q 55~ ?Q 95~8)~JBYyc=Q I F@~GDI~:i~:~05yɮiiE֗LAj"j:jQ܄?"pI7;hAhw:l%*@p rnd8d9HN-?*jK 2jr*pB1棦6@yՄy4C@g9&@p^ȥ~?)0G?J򱑸?jB j5Aim羕?iLGFjRBjjjBrju3Bzj҂?e addTargetRange:: Added new target pos. range: 46.200001 m, deltaT: 0.504155 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 46.027138 m, bearing: 59.471501 deg, lat: 36.779417 deg, lon: -121.859677 deg, deltaT: 0.504155 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 46.03 m.hqhyhyhyhygygyjgrgreZe:e*e`G?[Y[Y"[Y*[]ET@=D=) i~9)ڷF:i i!eDDAT read: Rx Time:04:28:11.2359 mTRx dataTimestamp_ set to:1764908892.010196PDAT read: Bearing 151.4, -28.0 (Local) ~Local bearing/azimuth received: Bearing 151.4, -28.0 (Local) DAT read: Range 11 to 50 : 46.4 m (trip time 30.9 ms) speed -0.2 !IIZ#Rx 96: Read range message, but no direction.yiYm9Bichecking for new query: numPingsReceived=96, elapsed TxPingTime=47.412273)@ @@/@IIO J>IE EEE"E:*E1]:VEZEa@a@a@a@ԁ m DAT read: 04:28:11.2359 LVL= 28144, 17681, 21874, 29651, AGC= 62, IDX= 503, 0.43, 1.487,-2.633, 2.782, 3.000, PHS=-1.411, 0.696,-0.262, RAW= 297.0, 10.7, CAL= 294.4, 14.3, ROT= 215.6, -14.3 } Ygot valid direction response: 04:28:11.2359 LVL= 28144, 17681, 21874, 29651, AGC= 62, IDX= 503, 0.43, 1.487,-2.633, 2.782, 3.000, PHS=-1.411, 0.696,-0.262, RAW= 297.0, 10.7, CAL= 294.4, 14.3, ROT= 215.6, -14.3 } Z#Rx 97: Read direction message, but no range. `direction in FSK: [-0.787907,-0.564086,0.246999]y  % 6鿆 ⿝⩝?  m E rU  s) >I i -2? $ H@ t;?> l@  r>) p@I r  .ӵmfᅲAgNK?TDzV?  &E@) yR?I K!i r checking for new query: numPingsReceived=97, elapsed TxPingTime=47.663471B B KCB IB )BB B B B };B 5EByByByByByC}4%,UOחLA.C|R@.n`@.=ٱ.>.H@l?/ 9ֿݼ?q0$z??i.C|R@I.];.CYbBy`YiMb@Mb@Mb@ 9ףp= ? rhX9vY>yC A GA)YAbDVD8yֺ%<ٔij9Q->9Y=Ey!%XܻE%>)Q 5U5-?Q 9U5-19)-;BYUD>Q E]&;y]>Q I]F@-LDI-;i-;- 55yaɮeAaii חLAj8B"j8B:jTZ?"pa6B/#^:&@p% 6鿆 ⿝⩝?*jK!2jr*p<:7@ :C@[qF#@ph?xR~Չ?W1 -?jB jAi^!⟊?iEj"Bj^!⟊?jjrj,4Bzju ? addTargetRange:: Added new target pos. range: 46.400002 m, deltaT: 0.255938 s, deltaX: 0.200001 m, approachRate: 0.781442 m/s, rangeRepo size: 4 % Added new target pos. range: 46.226372 m, bearing: 58.348967 deg, lat: 36.779418 deg, lon: -121.859677 deg, deltaT: 0.255938 s, deltaX: 0.199234 m, approachRate: 0.778446 m/s, posRepo size: 4 %DNOT Ignoring new targets: 46.23 m.h!h!h!hIhIgIgIjgQrgU݃BreQZeQ:eU@33G@*e][D>"[&@*[S@=)  i9)页ݷN:iiIIA}DDAT read: Rx Time:04:28:11.7359 TRx dataTimestamp_ set to:1764908892.514415PDAT read: Bearing 150.0, -28.3 (Local) ~Local bearing/azimuth received: Bearing 150.0, -28.3 (Local) DAT read: Range 11 to 50 : 46.4 m (trip time 30.9 ms) speed -0.2 Z#Rx 98: Read range message, but no direction.yYchecking for new query: numPingsReceived=98, elapsed TxPingTime=47.936054ԱM 9U l>iQ @  @ @ 05@ I I O >E  E E $E "E 2:*E [:VE 4ZE BE $*fH` ?'*ֿ`@\?? ?ifFR@If ];fCYrByrUIbDzVDz8yg=%s=ٔ [Q- ?9 Y=EyE?Q 5%5 ?Q 9%59)1BY)y->Q I-F@ODI:i:75y5\Bɮ5A9e addTargetRange:: Added new target pos. range: 46.400002 m, deltaT: 0.504219 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 46.23 m.hihihihihigigqjgqrgqreyZey:ey*e}@?[["[*[ QS@=) DAT read: 04:28:11.7359 LVL= 25920, 24049, 24562, 26963, AGC= 62, IDX= 503, 0.26, 0.080, 2.227, 1.383, 1.598, PHS=-1.417, 0.674,-0.259, RAW= 296.5, 11.0, CAL= 293.8, 15.1, ROT= 216.2, -15.1 Ygot valid direction response: 04:28:11.7359 LVL= 25920, 24049, 24562, 26963, AGC= 62, IDX= 503, 0.26, 0.080, 2.227, 1.383, 1.598, PHS=-1.417, 0.674,-0.259, RAW= 296.5, 11.0, CAL= 293.8, 15.1, ROT= 216.2, -15.1 Z#Rx 99: Read direction message, but no range.`direction in FSK: [-0.779098,-0.570214,0.260505]y ?_Jm0?QfJ0?@e]_ Si)IB`iD,?ʘ@ D>@ V>)jq@IV/Xh](?Z ? ME@)tEIK iVechecking for new query: numPingsReceived=99, elapsed TxPingTime=48.168541iiu9)qu ߷uS:iqiyyyIyIA@I @I@M/@IIYIiOu>ԁԱ DDAT read: Rx Time:04:28:12.2361  TRx dataTimestamp_ set to:1764908893.018047 PDAT read: Bearing 150.2, -27.7 (Local)  ~Local bearing/azimuth received: Bearing 150.2, -27.7 (Local)  DAT read: Range 11 to 50 : 46.7 m (trip time 31.1 ms) speed -0.2  \#Rx 100: Read range message, but no direction.y Y :B  checking for new query: numPingsReceived=100, elapsed TxPingTime=48.416222 %,GחLA2%R@2`@2W=ٱ2.>2H&?/(mֿ@@^?3(??i2%R@I2];2CYBByBXI DDDDbDJVDJ8yfD<%fN=ٔf9Q-f>9hYh=jEyhnEn>pQ 5v5r?Q 9v5r&:)r%BYtyv?Q IvF@rSDIr:ir:rt;5yxɮ~wA|ii'AחLAj:B"j:B:j*?"pƵBS⁇:nɚu=(@p ?_Jm0?QfJ0?*jK 2jV*p6}M7@jDBj ՟?jLGFjrj4Bzj4?M addTargetRange:: Added new target pos. range: 46.700001 m, deltaT: 0.503632 s, deltaX: 0.299999 m, approachRate: 0.595672 m/s, rangeRepo size: 4  Added new target pos. range: 46.525249 m, bearing: 58.713582 deg, lat: 36.779417 deg, lon: -121.859675 deg, deltaT: 1.007851 s, deltaX: 0.298878 m, approachRate: 0.296549 m/s, posRepo size: 4 DNOT Ignoring new targets: 46.53 m.hhhhhggjgrgreZe:eYG@*e`?bE-» 4jE-O4rE-8/E EEE"E:*Exv:VEZEa@a@a@a@Ա[["[*[ S@DAT read: 04:28:12.2361 LVL= 31600, 17137, 22082, 31459, AGC= 61, IDX= 505, 0.13, 0.974, 3.132, 2.263, 2.489, PHS=-1.413, 0.688,-0.270, RAW= 297.1, 10.9, CAL= 294.5, 14.8, ROT= 215.5, -14.8  Ygot valid direction response: 04:28:12.2361 LVL= 31600, 17137, 22082, 31459, AGC= 61, IDX= 505, 0.13, 0.974, 3.132, 2.263, 2.489, PHS=-1.413, 0.688,-0.270, RAW= 297.1, 10.9, CAL= 294.5, 14.8, ROT= 215.5, -14.8 \#Rx 101: Read direction message, but no range.`direction in FSK: [-0.787106,-0.561437,0.255446]y׫/鿌tKl39Y?p{BBV z)=I/ݴi 0?q=@B>z@  A>)?p@I A a(?k&oD? E@)'RCIvh!i A5checking for new query: numPingsReceived=101, elapsed TxPingTime=48.663910W=)A EiE)9)AE᷉M[:iIiIQQIQIQBmI>BiBmIBm.BBiBiBiBm"~;Bm5E@ @@@I IO-o> 9 %,k`חLA=<"DDAT read: Rx Time:04:28:12.7361 &TRx dataTimestamp_ set to:1764908893.5234826PDAT read: Bearing 150.5, -27.6 (Local) 6~Local bearing/azimuth received: Bearing 150.5, -27.6 (Local) JDAT read: Range 11 to 50 : 46.7 m (trip time 31.1 ms) speed -0.2 R\#Rx 102: Read range message, but no direction.y Y Zchecking for new query: numPingsReceived=102, elapsed TxPingTime=48.921429--Q@-_@-ٽ=ٱ->-H ox?@[9ֿ?@H?`4@??i--Q@I-,];-CYBybIi5Mb@Mb@Mb@1111 195ףp= ?Mb rhY1y55C 15!A 1)5&A1Y5(AbDVD8y9<%=ٔ9Q->9Y=EyͻE>Q 55?Q 95:)BY>Q E&;yW>Q IF@YDI;iO;@5yɮ ;A i i"aחLAj "j :j"`?"p"/bOBJx:lk'@p"׫/鿌tKl39Y?*j"vh!2j" A*p"O118@mV}3C@<B8q$@p".k?5i?`C?j"B j"Ai"r6ꟊ?i"(Hj"Bj"^!⟊?j j"DBrj"5Bzj"z?E EEE"E2:*Eą:VEZEBEa2EaJE;a:E;a addTargetRange:: Added new target pos. range: 46.700001 m, deltaT: 0.505435 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 46.525101 m, bearing: 57.787773 deg, lat: 36.779418 deg, lon: -121.859675 deg, deltaT: 0.505435 s, deltaX: -0.000149 m, approachRate: -0.000294 m/s, posRepo size: 4 DNOT Ignoring new targets: 46.53 m.hhh!h!h!g!g!jg)rg-B1re1ZeQ:eQ*e]:w?[>[>"[ @*[S@ٽ=) ᚿiՃ9)e䷉c:iiII!DAT read: 04:28:12.7361 LVL= 30432, 17601, 21490, 29763, AGC= 62, IDX= 505,-0.02,-0.653, 1.507, 0.628, 0.855, PHS=-1.406, 0.697,-0.271, RAW= 297.4, 10.8, CAL= 294.8, 14.4, ROT= 215.2, -14.4 Ygot valid direction response: 04:28:12.7361 LVL= 30432, 17601, 21490, 29763, AGC= 62, IDX= 505,-0.02,-0.653, 1.507, 0.628, 0.855, PHS=-1.406, 0.697,-0.271, RAW= 297.4, 10.8, CAL= 294.8, 14.4, ROT= 215.2, -14.4 \#Rx 103: Read direction message, but no range.%`direction in FSK: [-0.791473,-0.558323,0.248690]yÏS鿲èll?vDS Ct)>Iin2?x@A>@ >)vap@I{ƨg^uy ?oFy? 6!F@)O@I?!iEchecking for new query: numPingsReceived=103, elapsed TxPingTime=49.169685@ @@/@IIO>a U%,zחLA 2~Q@2_@2.=ٱ2>2Hp@TO?@ֿ{? CO? ?i2~Q@I2];0YNByRZIbDZ VDZ8yv#)%v=ٔvG:Q-v?9xYx=zEyxzC$E~ ?IQ 5U5M8엊?Q 9U5MD;)M BYYy]>Q I]F@M\DIM;iM ;MB5yeTBɮe)AmEDNOT Ignoring new targets: 46.53 m.hhhhhggjgrgreZe:e*e?[["[*[S@.=) _i v9) M淉%g:i!i199IAIIUDDAT read: Rx Time:04:28:13.2362 ]TRx dataTimestamp_ set to:1764908894.026862qPDAT read: Bearing 149.1, -27.9 (Local) ~Local bearing/azimuth received: Bearing 149.1, -27.9 (Local) DAT read: Range 11 to 50 : 46.8 m (trip time 31.2 ms) speed -0.2 \#Rx 104: Read range message, but no direction.yQYU3;BQchecking for new query: numPingsReceived=104, elapsed TxPingTime=49.424965@ @@0@IIO>ԡE EE%E"E:*E1]:VE 4ZEa@a@a@a@ i I AB} C>By By By By By B} ˺DB} h~;B} 5E DAT read: 04:28:13.2362 LVL= 27472, 19761, 23474, 28579, AGC= 63, IDX= 506,-0.18,-1.183, 0.959, 0.106, 0.330, PHS=-1.411, 0.674,-0.267, RAW= 296.8, 11.1, CAL= 294.2, 15.2, ROT= 215.8, -15.2  Ygot valid direction response: 04:28:13.2362 LVL= 27472, 19761, 23474, 28579, AGC= 63, IDX= 506,-0.18,-1.183, 0.959, 0.106, 0.330, PHS=-1.411, 0.674,-0.267, RAW= 296.8, 11.1, CAL= 294.2, 15.2, ROT= 215.8, -15.2  \#Rx 105: Read direction message, but no range. `direction in FSK: [-0.782690,-0.564494,0.262189]y   鿎oU;f$? Pk 1M [ o) ?I i D,? 9 å@ aF> O@ ԇ>) q@I ԇ 4YErC{2?:&? wE@) vFI !i ԇ checking for new query: numPingsReceived=105, elapsed TxPingTime=49.692371%, חLA2Q@2[w_@2=ٱ2^>2H@ic(?@տ`jf? ]%?k?i2Q@I2ڽ];2CYBByB]IIFp<)FPiMb@Mb@Mb@ 9A`"?lMbY>yA A)AYAbDVD8y<%/=ٔd:Q->9Y=Ey!E>Q 55?Q 95;)BY>Q E+;y=AQ IF@`DI;i-;F5y3Bɮ A!iiחLAj:B"j:B:j4?"pBX?BXʶQ:ekr(@p 鿎oU;f$?*j!2jԇ*p,8@M- 8C@2p+%@p'?DM-a?zKB?jB j`AiTL՟?iHjBjTL՟?jjrj5BzjW? addTargetRange:: Added new target pos. range: 46.799999 m, deltaT: 0.503380 s, deltaX: 0.099998 m, approachRate: 0.198654 m/s, rangeRepo size: 4  Added new target pos. range: 46.624142 m, bearing: 57.835471 deg, lat: 36.779417 deg, lon: -121.859675 deg, deltaT: 0.503380 s, deltaX: 0.099041 m, approachRate: 0.196752 m/s, posRepo size: 4 DNOT Ignoring new targets: 46.62 m.hhhh h g g jgrgBreZe:e`ffG@*eo?[]>[]>"[]WL@*[]$P@u=)y } i}%9)y}跉}p:iyiII I)mDDAT read: Rx Time:04:28:13.7361 uTRx dataTimestamp_ set to:1764908894.531931@ @@/@IIOc>PDAT read: Bearing 149.0, -27.9 (Local) ~Local bearing/azimuth received: Bearing 149.0, -27.9 (Local) DAT read: Range 11 to 50 : 46.7 m (trip time 31.1 ms) speed -0.2 mDAT read: 04:28:13.7361 LVL= 26544, 15969, 20962, 28307, AGC= 61, IDX= 506,-0.41,-1.708, 0.439,-0.417,-0.193, PHS=-1.413, 0.677,-0.268, RAW= 296.8, 11.1, CAL= 294.2, 15.1, ROT= 215.8, -15.1 Ygot valid direction response: 04:28:13.7361 LVL= 26544, 15969, 20962, 28307, AGC= 61, IDX= 506,-0.41,-1.708, 0.439,-0.417,-0.193, PHS=-1.413, 0.677,-0.268, RAW= 296.8, 11.1, CAL= 294.2, 15.1, ROT= 215.8, -15.1 V#Rx 106: Read range and direction messages.`direction in FSK: [-0.783060,-0.564761,0.260505]Fpublishing direction and range infoyim.鿜֩QfJ0?Ym:Bimgma>mQ mn)m=Im/ݴimO-?mL7iii mV>)iImViim&|[%=ɷ? z? mE@)mFIiimVii%checking for new query: numPingsReceived=106, elapsed TxPingTime=49.972591! E  E E #E "E :*E L_:VE 3ZE BE 2H&?`տ`+? ^u@Ӟ??i2^Q@I2(];2CYNByNbIbDV VDV8xy~<%~l=ٔ:Q-?9 Y = Ey ܻE5?9Q 5E5=ח?Q 9E5= <)=BYAyEcAQ IEF@=cDI=:i=:=I5checking for new query: numPingsReceived=106, elapsed TxPingTime=50.163029yɮAii( חLAj:B"j:B:j2?"p:7BtF:\=(@p.鿜֩QfJ0?*j2jV*p7% :8@~V2'C@k,5$@pZ}ѩ?)Y?Ǜ ?j=B jAiFџ?ieLjBjjHjrj5Bzj ? addTargetRange:: Added new target pos. range: 46.700001 m, deltaT: 0.505069 s, deltaX: -0.099998 m, approachRate: -0.197990 m/s, rangeRepo size: 4  Added new target pos. range: 46.524517 m, bearing: 57.691286 deg, lat: 36.779417 deg, lon: -121.859676 deg, deltaT: 0.505069 s, deltaX: -0.099625 m, approachRate: -0.197250 m/s, posRepo size: 4 DNOT Ignoring new targets: 46.52 m.hhhhhggjgrgreZe:e%YG@*e% ?[["[*[P@4ƒ=) i9)<뷉v:ii I I ) @ @@0@IIOE>Ie DDAT read: Rx Time:04:28:14.2363 m TRx dataTimestamp_ set to:1764908895.034548 PDAT read: Bearing 151.1, -28.2 (Local)  ~Local bearing/azimuth received: Bearing 151.1, -28.2 (Local)  DAT read: Range 11 to 50 : 47.0 m (trip time 31.3 ms) speed -0.2  DAT read: 04:28:14.2363 LVL= 30480, 18609, 22066, 31363, AGC= 61, IDX= 507, 0.29, 1.400,-2.709, 2.696, 2.900, PHS=-1.398, 0.720,-0.248, RAW= 297.2, 10.1, CAL= 294.6, 12.9, ROT= 215.4, -12.9  Ygot valid direction response: 04:28:14.2363 LVL= 30480, 18609, 22066, 31363, AGC= 61, IDX= 507, 0.29, 1.400,-2.709, 2.696, 2.900, PHS=-1.398, 0.720,-0.248, RAW= 297.2, 10.1, CAL= 294.6, 12.9, ROT= 215.4, -12.9  V#Rx 107: Read range and direction messages. `direction in FSK: [-0.794555,-0.564661,0.223250] Fpublishing direction and range infoyi m {Pl_.Nu?Ym m "@ m f>)m p@Im fi i m OvM?1Uv? m E@)m O4Im !im fi i 5 checking for new query: numPingsReceived=107, elapsed TxPingTime=50.444664y }%,PחLA2k*Q@2_@2p$=ٱ2>2Hz@+?@p`տ@' &ݽ?C?`Z?i2k*Q@I2];2CYRByRhIbDZVDZ8yv<%vL=ٔvV9Q-v>9xYx=zEyxzEE~>Q 5%5͗?Q 9-5j<)BY)y-AQ I-F@gDI:ij:-M5Yy5+Bɮ]A]Eii 6חLAjK;B"jK;B:j}?"pjBwp:ֹ$@p{Pl_.Nu?*j!2jf*pj.:39@m:C@)ͯ!@pJ8?p} !H?i~,?jB jAi &?iHjJBjj(Hjrj/6Bzj? addTargetRange:: Added new target pos. range: 47.000000 m, deltaT: 0.502617 s, deltaX: 0.299999 m, approachRate: 0.596874 m/s, rangeRepo size: 4 E} E}EyEy"E}:*E}:VEyZEya@a@a@a@ Added new target pos. range: 46.823391 m, bearing: 56.766080 deg, lat: 36.779417 deg, lon: -121.859676 deg, deltaT: 0.502617 s, deltaX: 0.298874 m, approachRate: 0.594635 m/s, posRepo size: 4 DNOT Ignoring new targets: 46.82 m.hhhhhggjgrgreZe:eG@*e `L?ԉchecking for new query: numPingsReceived=107, elapsed TxPingTime=50.672916B%A>B%JCB%IB%8BB!B!B!B%U~;B%5E[i[i"[i*[mP@p$=) Ԕi9)页h~:iiII]@Y @Y@]0@YIyIO>Թ u DDAT read: Rx Time:04:28:14.7363 u TRx dataTimestamp_ set to:1764908895.537570 PDAT read: Bearing 149.3, -28.3 (Local)  ~Local bearing/azimuth received: Bearing 149.3, -28.3 (Local)  DAT read: Range 11 to 50 : 47.0 m (trip time 31.3 ms) speed -0.2  \#Rx 108: Read range message, but no direction.yq Yq q  checking for new query: numPingsReceived=108, elapsed TxPingTime=50.927193K%,חLA2P@2 ^@2=ٱ2u>2H`  ?aտ?@?@7?i2P@I2];2CY^By^`I ``iiMb@Mb@Mb@ 9On?ˡEL7A`堿Y>y什+ )AYAbDVD8y ̼% )=ٔ :Q- >9Y=EyֻE>!Q 5-5%Y?Q 9-5%<)%ՋBY-%>Q E-*;y-nCQ I-F@%lDI%Z:i%:%]Q5y9ɮ=A9 addTargetRange:: Added new target pos. range: 47.000000 m, deltaT: 0.503022 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.82 m.hhhhhggjgrgBreZe:e*e`p?[%>[%>"[x@*[%N@=) QiT9)9=𷉢=E:i9iAAAIAIIԙEE EEEE$EA"EE :*EE H:VEE4ZEABEEN"DAT read: 04:28:14.7363 LVL= 29872, 16369, 21330, 29923, AGC= 61, IDX= 507, 0.06, 0.507, 2.660, 1.807, 2.014, PHS=-1.405, 0.691,-0.251, RAW= 296.6, 10.6, CAL= 294.0, 14.1, ROT= 216.0, -14.1 Ygot valid direction response: 04:28:14.7363 LVL= 29872, 16369, 21330, 29923, AGC= 61, IDX= 507, 0.06, 0.507, 2.660, 1.807, 2.014, PHS=-1.405, 0.691,-0.251, RAW= 296.6, 10.6, CAL= 294.0, 14.1, ROT= 216.0, -14.1 \#Rx 109: Read direction message, but no range.`direction in FSK: [-0.784643,-0.570077,0.243615]yimud鿉),> .?imtm?mRS mt)iIm ׳im`0?mm@mq=>mY3@ md{>)m:Fq@Imd{imؐOebv V?+o? m-TE@)m=Im{ imd{checking for new query: numPingsReceived=109, elapsed TxPingTime=51.180752 n%,ƈחLA2uP@2^@2H=ٱ2Q>2H`wx?X껿$9տ ? S?ࣗ?i2uP@I2N];2CYBByBgIbDJVDJ8yf<%fy=ٔfa:Q-f?9hYh=jEyhjEn?pQ 5v5r?Q 9v5r<)rʋBYxyzCQ IzF@roDIra;irt;rIoi!2?ˡ@"@ 5z>)p@I5z[?’j~Ũ?Nc? E@)[=I!i5z}checking for new query: numPingsReceived=110, elapsed TxPingTime=51.443851iiؗLAj}E] E]E]%EY"E]:*E]h:VE] 4ZEYae@ae@ae@ae@ checking for new query: numPingsReceived=110, elapsed TxPingTime=51.677235B >>B B IB =BB B B B b~;B 5E V%,dؗLA6P@6B^@6=ٱ6>6H@5$V?ԻuտT?)y??i6P@I6 ];4YRByRpIiMb@Mb@Mb@ 91Zd?#~jL7A`堿Y">y㥽A!A A)AYbD߿VD8y^=%<=ٔ :Q->9Y=EyE>Q 5-5?Q 9-5K=)BY-x>Q E-(;y-OCQ I5F@sDID[=x>"[=@*[=HN@u=)q uQiu39)qu}:iyiyIIE!@I @I@M5@III%=R=DDAT read: Rx Time:04:28:15.7364 TRx dataTimestamp_ set to:1764908896.543739PDAT read: Bearing 149.7, -28.2 (Local) ~Local bearing/azimuth received: Bearing 149.7, -28.2 (Local)  DAT read: Range 11 to 50 : 47.1 m (trip time 31.4 ms) speed -0.2 5DAT read: 04:28:15.7364 LVL= 28224, 15537, 22386, 30563, AGC= 60, IDX= 509,-0.47,-0.325, 1.846, 0.977, 1.181, PHS=-1.404, 0.709,-0.248, RAW= 296.9, 10.3, CAL= 294.3, 13.4, ROT= 215.7, -13.4 EYgot valid direction response: 04:28:15.7364 LVL= 28224, 15537, 22386, 30563, AGC= 60, IDX= 509,-0.47,-0.325, 1.846, 0.977, 1.181, PHS=-1.404, 0.709,-0.248, RAW= 296.9, 10.3, CAL= 294.3, 13.4, ROT= 215.7, -13.4 EV#Rx 111: Read range and direction messages.M`direction in FSK: [-0.789975,-0.567655,0.231748]MFpublishing direction and range infoyhGzGH>V:*] A?Yf=^@ |o>)pp@I|oo￾ߏY?} ĥ? ݕE@)F8IE/!i|omchecking for new query: numPingsReceived=111, elapsed TxPingTime=51.943707OuX>% s9! Y% PAI Ee  Ee Ea Ea "Ee :*Ee 1]:VEa ZEa BEe 2H )3?黿Կp`ͽ?@5İ??i2P@I2];2CYBByBeIIF<)Fp;J=J=bDNVDN8y>%W=ٔ:Q- >9 Y = Ey E>Echecking for new query: numPingsReceived=111, elapsed TxPingTime=52.179070Q 5M5գ?Q 9M5=)BYQyUoCQ IUF@wDI#;iW:Z[5yYɮ]]Aai!i%"ؗLAj%;B"j%;B:j%|?"p%BYŢ:\%@p%hGzGH>V:*] A?*j%E/!2j%|o*p%HU Y9@t}0C@FV(h"@p% Y,\I?b,?[&ZV?j%B j%Ai%D?i%Lj%+Bj%D?j%vHj%CBrj%a8Bzj%}?- addTargetRange:: Added new target pos. range: 47.099998 m, deltaT: 0.504216 s, deltaX: -0.200001 m, approachRate: -0.396657 m/s, rangeRepo size: 4 ] Added new target pos. range: 46.922592 m, bearing: 56.556694 deg, lat: 36.779421 deg, lon: -121.859676 deg, deltaT: 0.504216 s, deltaX: -0.199520 m, approachRate: -0.395704 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 46.92 m.hYhqhqhqhqgygyjgyrgyreZe:ěG@*eٯ?[["[*[ʯN@C:=) iE9)?:iiIIqM@Q @Q@U 5@QIaIqO>ԙDDAT read: Rx Time:04:28:16.2366 TRx dataTimestamp_ set to:1764908897.047333 PDAT read: Bearing 148.9, -28.0 (Local)  ~Local bearing/azimuth received: Bearing 148.9, -28.0 (Local)  DAT read: Range 11 to 50 : 47.4 m (trip time 31.6 ms) speed -0.1 = DAT read: 04:28:16.2366 LVL= 28704, 16881, 23378, 28755, AGC= 60, IDX= 510, 0.17, 2.576,-1.550,-2.414,-2.204, PHS=-1.400, 0.699,-0.253, RAW= 296.9, 10.5, CAL= 294.4, 13.8, ROT= 215.6, -13.8 E Ygot valid direction response: 04:28:16.2366 LVL= 28704, 16881, 23378, 28755, AGC= 60, IDX= 510, 0.17, 2.576,-1.550,-2.414,-2.204, PHS=-1.400, 0.699,-0.253, RAW= 296.9, 10.5, CAL= 294.4, 13.8, ROT= 215.6, -13.8 M V#Rx 112: Read range and direction messages.U `direction in FSK: [-0.789630,-0.565320,0.238533]U Fpublishing direction and range infoyD k&⿹iC?Y=B pAR[ Sp)I33i2?7f;>l@ Ϣv>)p@IϢvYWkT?y&Q? E@)K;IK!iϢvm checking for new query: numPingsReceived=112, elapsed TxPingTime=52.446686 h%,JؗLA2RXP@2J^@2_=ٱ2 2>2H0?u @vԿ `o?`Ȱ?`@?i2RXP@I2];2CYBByBcILbDNVDN8y~%J=ٔ:9Q->9 Y = Ey  һE >Q 55^?Q 9%5=)BY!y%CQ I%F@{DI;ir;^5y)ɮ-iA1i)i-CؗLAj-@?j-B j-Ai-?i-; Ij-єBj-?j-; Ij-єBrj-8Bzj-{?E% E%E%#E!"E%D:*E%k:VE%3ZE!a-@a-@a-@a-@U addTargetRange:: Added new target pos. range: 47.400002 m, deltaT: 0.503594 s, deltaX: 0.300003 m, approachRate: 0.595724 m/s, rangeRepo size: 4 e Added new target pos. range: 47.221466 m, bearing: 56.389114 deg, lat: 36.779422 deg, lon: -121.859677 deg, deltaT: 0.503594 s, deltaX: 0.298874 m, approachRate: 0.593482 m/s, posRepo size: 4 eDNOT Ignoring new targets: 47.22 m.hahihihihigigijgrgreZe:e@3G@*e@?[Q[Q"[Q*[UlN@-_=)1 5i=9)AEechecking for new query: numPingsReceived=112, elapsed TxPingTime=52.685135BA>BBIBBBB =BBB~;B5EBMJCBIBIBIBICM4:i iAIIIIQY!@ @!@%1@!I1IIOUu>)  DDAT read: Rx Time:04:28:16.7366  TRx dataTimestamp_ set to:1764908897.551397 PDAT read: Bearing 148.9, -27.5 (Local)  ~Local bearing/azimuth received: Bearing 148.9, -27.5 (Local) % DAT read: Range 11 to 50 : 47.4 m (trip time 31.6 ms) speed -0.2 M DAT read: 04:28:16.7366 LVL= 28496, 18337, 23410, 31363, AGC= 60, IDX= 510,-0.06,-0.457, 1.710, 0.826, 1.045, PHS=-1.400, 0.710,-0.263, RAW= 297.4, 10.4, CAL= 294.9, 13.7, ROT= 215.1, -13.7 U Ygot valid direction response: 04:28:16.7366 LVL= 28496, 18337, 23410, 31363, AGC= 60, IDX= 510,-0.06,-0.457, 1.710, 0.826, 1.045, PHS=-1.400, 0.710,-0.263, RAW= 297.4, 10.4, CAL= 294.9, 13.7, ROT= 215.1, -13.7 %,cؗLA"V#Rx 113: Read range and direction messages.&`direction in FSK: [-0.794873,-0.558646,0.236838]&Fpublishing direction and range infoy15oAkm4ӋHP?Y115Po5G5r[ 5z)1I1i55?5𧆾5x@59>5@ 5Gt>)5Dp@I5Gt115{[pNH.?]Y0? 51F@B+P@B]^@Bݶ=ٱBL>BH7?WUԿ ` ¾?Ӱ` ? ڒ?iB+P@IB];BC|)5:I5!i5Gt11 checking for new query: numPingsReceived=113, elapsed TxPingTime=52.979660YBypIiMb@Mb@Mb@ 9zG?Mb~jtY >yAA )AY3AbDVD8y 0=% .=ٔ 9Q-->91Y1=5Ey1=E=>AQ 5M5E8?Q 9M5E=)EBYm>Q Em*;ymFQ IuF@EDIEO;iE;Ec5y}Bɮ}Ayi1i5JcؗLAj1"j1:j5Cy?"p5ivBmSa:g&^&@p5oAkm4ӋHP?*j5!2j5Gt*p5qW:@2vC@vu&#@p53}?P0t?7a?j5B j5GAi5Q?i5Pj5ǔBj510?j1j5ǔBrj59Bzj5Cz?)5 addTargetRange:: Added new target pos. range: 47.400002 m, deltaT: 0.504064 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 47.221657 m, bearing: 55.734571 deg, lat: 36.779423 deg, lon: -121.859677 deg, deltaT: 0.504064 s, deltaX: 0.000191 m, approachRate: 0.000378 m/s, posRepo size: 4 mDNOT Ignoring new targets: 47.22 m.hihqhqhqhqgqgyjgyrg}BreZe:e*e ?[>[>"[0@*[wK@E- E-E)E)"E-O:*E-~:VE)ZE)BE- ԁ {%,}ؗLAYEByEkIaqqbDVD8y@%b=ٔQ->9QYQ=]EyY]E]>aQ 5m5e?Q 9m5e>)eBYiyqQ IuF@eDIe+;iej;ePf5yyɮ}AyDNOT Ignoring new targets: 47.22 m.hhhhhggDDAT read: Rx Time:04:28:17.2367 TRx dataTimestamp_ set to:1764908898.055452PDAT read: Bearing 150.2, -27.4 (Local) ~Local bearing/azimuth received: Bearing 150.2, -27.4 (Local) DAT read: Range 11 to 50 : 47.6 m (trip time 31.7 ms) speed -0.1 DAT read: 04:28:17.2367 LVL= 28736, 18273, 23634, 31363, AGC= 59, IDX= 511,-0.37,-0.502, 1.673, 0.771, 0.984, PHS=-1.383, 0.735,-0.256, RAW= 297.9, 9.9, CAL= 295.3, 12.4, ROT= 214.7, -12.4  Ygot valid direction response: 04:28:17.2367 LVL= 28736, 18273, 23634, 31363, AGC= 59, IDX= 511,-0.37,-0.502, 1.673, 0.771, 0.984, PHS=-1.383, 0.735,-0.256, RAW= 297.9, 9.9, CAL= 295.3, 12.4, ROT= 214.7, -12.4 V#Rx 114: Read range and direction messages.`direction in FSK: [-0.802965,-0.556000,0.214735]Fpublishing direction and range infoyr9῍h`r|?Yf>B@paGR\ );I%i(7@ k]>)|o@Ik]jg)rg1re1Ze1:e5G@*e5 ?Q Nz&kbگ?Lw9>? F@){0I9M"ik]Uchecking for new query: numPingsReceived=114, elapsed TxPingTime=53.459057[a[a"[a*[aq)y }#i} 9)y}M}:iyiIIԉ#@ @@ a3@ II)Oe3>ԱbE3jENj3rEdz/E= E=E9E9"E=:*E=c:VE9ZE9aE@aE@aE@aE@} checking for new query: numPingsReceived=114, elapsed TxPingTime=53.692749B B>B B IB GBB B B B ~;B 5E)%%,ؗLAFJO@F]@F|G=ٱF`>FH C ?@#ɻ[Կ`3@-?尿Z?&?iFJO@IFV];FCYrByriIi}Mb@Mb@Mb@yyyy y9}S?bX9ȶ/$Y}>y}E},}A}!A }GA)}AyY}\AbDVD8y%L=ٔ4:Q->9Y=EyԱBE>Q 55y?Q 95F>)uBY>Q E';yyEQ IF@DI :i:i5yɮAii􇌃ؗLAj=B"j=B:j u?"pco C}1V]: ]$@pr9῍h`r|?*j9M"2jk]*p,#9:@#C@D} #n!@pƩXe?Xy?,m(?jvB jAi9N?iSj BjjLjrj9BzjAy?= addTargetRange:: Added new target pos. range: 47.599998 m, deltaT: 0.504055 s, deltaX: 0.199997 m, approachRate: 0.396776 m/s, rangeRepo size: 4 M Added new target pos. range: 47.420986 m, bearing: 54.854872 deg, lat: 36.779423 deg, lon: -121.859678 deg, deltaT: 0.504055 s, deltaX: 0.199329 m, approachRate: 0.395452 m/s, posRepo size: 4 MDNOT Ignoring new targets: 47.42 m.hQhQhQhQhQgQgQjgYrgYreYZeY:ea*ee@?[>[>"[@*[L@|G=) ziU9)顥H':iiII)I9)9@ @@/@IAIQOe4>DDAT read: Rx Time:04:28:17.7366 TRx dataTimestamp_ set to:1764908898.559567PDAT read: Bearing 150.2, -27.7 (Local) ~Local bearing/azimuth received: Bearing 150.2, -27.7 (Local) DAT read: Range 11 to 50 : 47.4 m (trip time 31.6 ms) speed 0.0  DAT read: 04:28:17.7366 LVL= 28928, 17857, 21778, 32755, AGC= 58, IDX= 510, 0.20, 0.136, 2.326, 1.423, 1.629, PHS=-1.391, 0.742,-0.250, RAW= 297.7, 9.8, CAL= 295.2, 12.1, ROT= 214.8, -12.1 Ygot valid direction response: 04:28:17.7366 LVL= 28928, 17857, 21778, 32755, AGC= 58, IDX= 510, 0.20, 0.136, 2.326, 1.423, 1.629, PHS=-1.391, 0.742,-0.250, RAW= 297.7, 9.8, CAL= 295.2, 12.1, ROT= 214.8, -12.1 V#Rx 115: Read range and direction messages.%`direction in FSK: [-0.802906,-0.558034,0.209619]%Fpublishing direction and range infoySqgXjῶ9h?Y=BqEU ):IJ i=?^D@%/>ޤ@ @X>)o@I@XK4￐ՋU?P2? o{F@)X.I0"i@XEchecking for new query: numPingsReceived=115, elapsed TxPingTime=53.959026 9 EE  EE EE 'EA "EE :*EE Ar:VEE '4ZEA BEE +2H J`nr?z@O5Կ S D?Z谿 ڳ?`?i2O@I2r];2CY^By\bDjVDj8%checking for new query: numPingsReceived=115, elapsed TxPingTime=54.195007y-Ӓ%-S=ٔ-8Q-5>91Y1=5Ey1=ѻE=>AQ 5M5Eo?Q 9M5Eq>)EfBYIyMEQ IUF@EDIE:iE`:E m5y]Bɮ]A]EiiϣؗLAjԡDDAT read: Rx Time:04:28:18.2368 TRx dataTimestamp_ set to:1764908899.063337PDAT read: Bearing 102.7, -19.6 (Local) ~Local bearing/azimuth received: Bearing 102.7, -19.6 (Local) DAT read: Range 11 to 50 : 47.7 m (trip time 31.8 ms) speed 0.0  DAT read: 04:28:18.2368 LVL= 28368, 18689, 22610, 31347, AGC= 60, IDX= 512,-0.06,-1.626,-0.687,-0.664,-0.104, PHS=-1.420,-0.538,-0.603, RAW= 273.8, 46.8, CAL= 276.1, 53.0, ROT= 233.9, -53.0 % Ygot valid direction response: 04:28:18.2368 LVL= 28368, 18689, 22610, 31347, AGC= 60, IDX= 512,-0.06,-1.626,-0.687,-0.664,-0.104, PHS=-1.420,-0.538,-0.603, RAW= 273.8, 46.8, CAL= 276.1, 53.0, ROT= 233.9, -53.0 % V#Rx 116: Read range and direction messages.M `direction in FSK: [-0.354587,-0.486260,0.798636]U Fpublishing direction and range infoy;ݎֿ^߿|>l?Y>BnIRX sz)<Iµi^ 5^4@Q?4@ hl?)h@Ihl 㿵¯\?V!P? N+@)PI ihlu checking for new query: numPingsReceived=116, elapsed TxPingTime=54.467072y 2%,NcؗLA :~O@:]@:=ٱ:>:HO@K?mֻ&Կ` %??`]?i:~O@I:];8YRByRfIIV=)Vp<bDZVDZ8yrD%vO=ٔv?p:Q-v>9xYx=zEyxzEz>|Q 55~Le?Q 9 5~>)~WBY y EQ I F@~DI~:i~K:~p5yɮAi i ؗLAj >B"j >B:j j}?"p  0?~7:B@p ;ݎֿ^߿|>l?*j 2j hl*p zrx@\?@Z1ԍA@p #&9?L;E?R VꞮ?j A j ě@i p~?i j Bj j Sj ǔBrj 9Bzj v?e addTargetRange:: Added new target pos. range: 47.700001 m, deltaT: 0.503770 s, deltaX: 0.299999 m, approachRate: 0.595508 m/s, rangeRepo size: 4 } Added new target pos. range: 47.520615 m, bearing: 81.239105 deg, lat: 36.779425 deg, lon: -121.859681 deg, deltaT: 0.503770 s, deltaX: 0.298874 m, approachRate: 0.593275 m/s, posRepo size: 4 }DNOT Ignoring new targets: 47.52 m.hyhyhyhyhggjgrgreZe:eG@*e !?[["[*[iZL@=) $ir9):iiE EE%E"EV:*E:VE 4ZEa@a@a@a @IIqq @ @@/@Echecking for new query: numPingsReceived=116, elapsed TxPingTime=54.700516BmD>BmKCBiBiBiBiBiBmq~;Bm5EI!IiO;>ԙ  DDAT read: Rx Time:04:28:18.7367  TRx dataTimestamp_ set to:1764908899.567306 PDAT read: Bearing 116.5, -14.5 (Local)  ~Local bearing/azimuth received: Bearing 116.5, -14.5 (Local)  DAT read: Range 11 to 50 : 47.6 m (trip time 31.7 ms) speed 0.0 - DAT read: 04:28:18.7367 LVL= 28784, 18641, 23346, 29683, AGC= 60, IDX= 512,-0.40, 2.684,-2.035,-2.513,-1.638, PHS=-1.859,-0.352,-0.919, RAW= 291.9, 40.0, CAL= 294.9, 45.5, ROT= 215.1, -45.5 5 Ygot valid direction response: 04:28:18.7367 LVL= 28784, 18641, 23346, 29683, AGC= 60, IDX= 512,-0.40, 2.684,-2.035,-2.513,-1.638, PHS=-1.859,-0.352,-0.919, RAW= 291.9, 40.0, CAL= 294.9, 45.5, ROT= 215.1, -45.5 5 V#Rx 117: Read range and direction messages.= `direction in FSK: [-0.573449,-0.403027,0.713250]= Fpublishing direction and range infoy  Yd3/ٿ?Y f>B pp H 2[ s) I i X9 Ck @ ¸2? @ KK?) Dp@I KK p%)mC迺J|?|SM̒? O?@) 2I !P8%,:ؗLA2.jO@2\]@2+=ٱ2z>2H "V`>$?ӻ`ӿ c*־?<?r?i2.jO@I2Q];0PiKKVchecking for new query: numPingsReceived=117, elapsed TxPingTime=54.987949YnByrgIiMb@Mb@Mb@ 9Q?Zd;OMbY(>yj@3 A A A)AYbDMVDM8y};%}3=ٔ8Q->9Y=Ey氻E>Q 559Y?Q 95>)DBY>Q E$;y7FQ IF@DIz:i:t5yɮAiiNؗLAj=B"j=B:jW ?"p m1;6jJ35V^@@pYd3/ٿ?*j!2jKK*p*[ c0@Jƍ>@෋#-@@pPQ?w D)?-Q?jnA jAi[+$?i,"jNBjj@Xjrj9Bzj6mu?E  E E $E "E s:*E  n:VE 4ZE BE i0[>"[@*[ K@+=) zim9):iiII-Y>i->Echecking for new query: numPingsReceived=117, elapsed TxPingTime=55.203671 @ @@1@IIO>! h?%,&ؗLAB@O@B"3]@BQ=ٱBQ.>BH\M?~@gӿ0)վ?@#?“?iB@O@IB];@YNByNjIbDVVDV8y^lt<%^k=ٔb[9Q-b?9`Yd=fEydfEf?hQ 5n5j4P?Q 9n5j>)j6BYpyrbFQ IrF@jDIj:ij1:jw5ytɮvAtx]DNOT Ignoring new targets: 47.42 m.hYhYhYhYhYgagajgargareiZei:ei*em?[["[*[pK@Q=) Гix9):ii IIDDAT read: Rx Time:04:28:19.2369 TRx dataTimestamp_ set to:1764908900.070958DAT read: Range 11 to 50 : 47.9 m (trip time 31.9 ms) speed -0.1 \#Rx 118: Read range message, but no direction.yY?Bchecking for new query: numPingsReceived=118, elapsed TxPingTime=55.459618@ @@0@IIO=!IE EE%E"EO:*Ei:VE 4ZEa@a@a@a@i9 I9 M checking for new query: numPingsReceived=118, elapsed TxPingTime=55.707207ԡ Bu B>Bu JCBu IBu BBBu =Bq Bq Bu E~;Bu 5EE%,A ٗLA2+%O@2]@2=ٱ2u>2H`?@ŵXӿ5@?9F?s?i2+%O@I2L];2CYJByJnI LLiMb@Mb@Mb@ 97A`?333333ktY>y 0 vA)AYA 15<bD9VD9yEY<%MB=ٔM6:Q-M>9QYQ=UEyQUE]>YQ 5e5]E?Q 9e5]+?)]&BYm>iQ Eu-;yuCQ IuF@]DI]$1;i]/;]7{5y} Bɮ}iA}E] addTargetRange:: Added new target pos. range: 47.900002 m, deltaT: 0.503652 s, deltaX: 0.300003 m, approachRate: 0.595655 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 47.42 m.hYhYhYhYhagagajg)rg-܃Bre1Ze1:e=@3G@*ee?ԩ[>[>"[@*[_N@=) \i?9).o:iiII!DDAT read: Rx Time:04:28:19.7369 TRx dataTimestamp_ set to:1764908900.575406PDAT read: Bearing 239.3, -25.1 (Local) ~Local bearing/azimuth received: Bearing 239.3, -25.1 (Local) DAT read: Range 11 to 50 : 47.9 m (trip time 31.9 ms) speed 0.2 DAT read: 04:28:19.7369 LVL= 29872, 18785, 23330, 30803, AGC= 62, IDX= 513,-0.06, 1.945, 2.952, 2.783, 0.817, PHS= 1.230, 2.180, 1.922, RAW= 285.2, -65.7, CAL= 280.3, -65.9, ROT= 229.7, 65.9 Ygot valid direction response: 04:28:19.7369 LVL= 29872, 18785, 23330, 30803, AGC= 62, IDX= 513,-0.06, 1.945, 2.952, 2.783, 0.817, PHS= 1.230, 2.180, 1.922, RAW= 285.2, -65.7, CAL= 280.3, -65.9, ROT= 229.7, 65.9 V#Rx 119: Read range and direction messages.%bdirection in FSK: [-0.264104,-0.311421,-0.912834]%Fpublishing direction and range infoy"7Lп$Qӿ4 5YtaI"[ Sx)>Ip?i @?&I@tƒ@ 8)I@I8? NIuٿھۺ?7* 8@)˒?Ii8?Mchecking for new query: numPingsReceived=119, elapsed TxPingTime=55.981361@ @@/@IIOf> E  E E !E "E ;*E ]t:VE c3ZE BE 7C2H`fǽ?uӿ;?@`? d?i2N@I2];0YBByBoIbDJVDJ8yf;%fS=ٔfP9Q-f>9hYh=jEyhjлEn>pQ 5v5r;?Q 9v5ri?)rBYtyvCQ IvF@rDIrw:ir:r~5y|checking for new query: numPingsReceived=119, elapsed TxPingTime=56.211033ɮ~`A iit$ٗLAj>B"j>B:j _L?"p%4)UwѸ->sEp"7Lп$Qӿ4 5*j2j8?*pg(@ӳ[L)@lCS*Fp_?1DDAT read: Rx Time:04:28:20.2370 TRx dataTimestamp_ set to:1764908901.079324PDAT read: Bearing 145.8, -27.6 (Local) ~Local bearing/azimuth received: Bearing 145.8, -27.6 (Local) DAT read: Range 11 to 50 : 48.0 m (trip time 32.0 ms) speed -0.1 DAT read: 04:28:20.2370 LVL= 24352, 16913, 19250, 23395, AGC= 65, IDX= 3,-0.39,-1.190, 0.974, 0.110, 0.329, PHS=-1.417, 0.690,-0.263, RAW= 296.9, 10.9, CAL= 294.2, 14.6, ROT= 215.8, -14.6  Ygot valid direction response: 04:28:20.2370 LVL= 24352, 16913, 19250, 23395, AGC= 65, IDX= 3,-0.39,-1.190, 0.974, 0.110, 0.329, PHS=-1.417, 0.690,-0.263, RAW= 296.9, 10.9, CAL= 294.2, 14.6, ROT= 215.8, -14.6  V#Rx 120: Read range and direction messages. `direction in FSK: [-0.784874,-0.566069,0.252069] Fpublishing direction and range infoyfxuï<!?Y@B _B2K c[)AIB`iף0?𧆾ѥ@B>O@ w>) q@IwP6a@\t?AHLO? bE@)AI!iw- T****** received valid address query ******- R****** received valid ping request ******5 Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Y nS%,LٗLA2N@2\@2=ٱ2>2Hma?@Vӿ`B?@s)??i2N@I2];2CY>ByBdIbDJVDJ8y4%G=ٔQ->9 Y = Ey  ZE>Q 5=51?Q 9E5?)BYAyEDQ IEF@DI;i:.5yIɮUAQiiEٗLAjG?B"jG?B:jIw?"p]C2#B=fm$;&ӑ(@pfxuï<!?*j!2jw*p ':@HM2C@$@p:?G Vo ?lK?jB jQAi`()?iFzMjhBjjjhBrjYBzjb?E EE%E"E:*Ez:VE 4ZEa@a@a@a@ addTargetRange:: Added new target pos. range: 48.000000 m, deltaT: 0.503918 s, deltaX: 0.099998 m, approachRate: 0.198442 m/s, rangeRepo size: 4 % Added new target pos. range: 47.819561 m, bearing: 55.345306 deg, lat: 36.779332 deg, lon: -121.859754 deg, deltaT: 0.503918 s, deltaX: 0.099621 m, approachRate: 0.197693 m/s, posRepo size: 4 -DNOT Ignoring new targets: 47.82 m.h)h)h)h)h)g)g1AjgqrgqreqZey:e}H@*e}`?[["[*[ N@=)1 5hi59)15[=:i9i9AAIAIAB @>B B B B B B m2Acoustic response timeoutB ~;B 5Eԉ9@9 @9@E/@AIQIaOmW>Ա  DDAT read: Rx Time:04:28:20.7370  TRx dataTimestamp_ set to:1764908901.591366 PDAT read: Bearing 144.1, -28.7 (Local)  ~Local bearing/azimuth received: Bearing 144.1, -28.7 (Local) % DAT read: Range 11 to 50 : 48.0 m (trip time 32.0 ms) speed 0.2 E DAT read: 04:28:20.7370 LVL= 24544, 17649, 21874, 27219, AGC= 62, IDX= 498, 0.20,-1.337, 0.813,-0.001, 0.198, PHS=-1.432, 0.660,-0.243, RAW= 295.5, 11.2, CAL= 292.8, 15.5, ROT= 217.2, -15.5 U Ygot valid direction response: 04:28:20.7370 LVL= 24544, 17649, 21874, 27219, AGC= 62, IDX= 498, 0.20,-1.337, 0.813,-0.001, 0.198, PHS=-1.432, 0.660,-0.243, RAW= 295.5, 11.2, CAL= 292.8, 15.5, ROT= 217.2, -15.5 /Y%,fٗLA.R#Rx 1: Read range and direction messages.2`direction in FSK: [-0.767560,-0.582610,0.267238]2Fpublishing direction and range infoy15 ڏ迤r ֚n?Y115_5D5rU 5Sj)5>I5Ki5(?5x5 @5+H>5Ƈ@ 5c>)5_r@I5c1154/NKᅲ׳ ó?A1? 5VD@)5G dfCFN@F\@FH=I5Vi5c11-GٱFz>AFH@t@g?`W`.ӿG [!?`%R?'?iFN@Ye2Acoustic response timeout}Querying Benthos address 50 with 120 pings in terminal homing one-way mode.i9Y@IF];FCYBycII4<)=ԱiMb@Mb@Mb@ 9l? rhI +Y>yC94A )AY3AbDM VDM8yn"%=ٔ :Q->9Y=EyfE>Q 55$?Q 95@)BY>Q E,;yBQ IF@DI:i:5yBE EEE"E:*E:VEZEBEG-[>"[@*[tO@%H=)) -3i-}9))- -h:i)i111I1I9IEzA)EyAiYIYe2Acoustic response timeout@ @@/@IIO%> I `%,sٗLAYBymIbDVD8y1D=%=ٔQ- ?9Y=EyE ?Q 55?Q 95P@)BYyQ IF@DI;i;|5yɮ4A=DNOT Ignoring new targets: 47.82 m.h9h9h9h9h9g9gAjgArgAreAZeI:eI*eMjg?[i[i"[i*[iy) Cix9)顅 :iiIIDDAT read: Rx Time:04:28:21.2371 TRx dataTimestamp_ set to:1764908902.097273PDAT read: Bearing 145.4, -28.0 (Local) ~Local bearing/azimuth received: Bearing 145.4, -28.0 (Local) DAT read: Range 11 to 50 : 48.2 m (trip time 32.1 ms) speed -0.1 IDAT read: 04:28:21.2371 LVL= 30272, 19089, 22370, 29395, AGC= 61, IDX= 499,-0.03,-2.809,-0.646,-1.502,-1.292, PHS=-1.415, 0.692,-0.254, RAW= 296.6, 10.7, CAL= 294.0, 14.3, ROT= 216.0, -14.3 Ygot valid direction response: 04:28:21.2371 LVL= 30272, 19089, 22370, 29395, AGC= 61, IDX= 499,-0.03,-2.809,-0.646,-1.502,-1.292, PHS=-1.415, 0.692,-0.254, RAW= 296.6, 10.7, CAL= 294.0, 14.3, ROT= 216.0, -14.3 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.783950,-0.569573,0.246999]Fpublishing direction and range infoy鿙9⿝⩝?Y@B@vJbW r)=Ii&1?J @t;?>Y3@ r>):Fq@Ir Ocv.u?1ɛ? KE@)A?I{ ir2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.qIE EE&E"E:*Ega:VE4ZEa@a@a@a@!@ @@/@II O >ԙ B B>B B IB =BB =B B B ~;B 5EBBJCBB =B =Cɺ4] 2Acoustic response timeoutDf%,JٗLARH`C?]'ҿSi)?`,?ɓ?iRRN@IR u];RCYzByz^Ii}Mb@Mb@Mb@yyyy y9}9v?S㥫ˡEY}>y}/]}'}b A}n"A y)}AyY}AbDVD8yt%M=ٔ~Q->9Y=EymLE>Q 55)?Q 95@)ۊBY>Q E1;yO@Q IF@DI,:i4:5yɮAii9ٗLAj@B"j@B:jv?ԩ"p?L`yB*fY;λi'@p鿙9⿝⩝?*j{ 2jr*p9::@2z;C@?^$@p)H'?w_¢?r&?jB jAi&럊?i&LjBjh?jFzMjhBrj 9Bzj{?5 addTargetRange:: Added new target pos. range: 48.200001 m, deltaT: 0.505907 s, deltaX: 0.200001 m, approachRate: 0.395331 m/s, rangeRepo size: 4 e Added new target pos. range: 48.018780 m, bearing: 55.061924 deg, lat: 36.779409 deg, lon: -121.859679 deg, deltaT: 0.505907 s, deltaX: 0.199379 m, approachRate: 0.394102 m/s, posRepo size: 4 eDNOT Ignoring new targets: 48.02 m.hahahahahigigijgirguσBreqZeq:euH@*eu0e?[>[>"[0@*[Q@# =) \i#9) ':iiII4=DDAT read: Rx Time:04:28:21.7371 TRx dataTimestamp_ set to:1764908902.601185PDAT read: Bearing 144.0, -28.4 (Local) ~Local bearing/azimuth received: Bearing 144.0, -28.4 (Local) DAT read: Range 11 to 50 : 48.2 m (trip time 32.1 ms) speed -0.2 DAT read: 04:28:21.7371 LVL= 28368, 18481, 24114, 28947, AGC= 63, IDX= 499,-0.28, 1.636,-2.492, 2.961,-3.117, PHS=-1.429, 0.670,-0.249, RAW= 295.9, 11.1, CAL= 293.3, 15.2, ROT= 216.7, -15.2 -Ygot valid direction response: 04:28:21.7371 LVL= 28368, 18481, 24114, 28947, AGC= 63, IDX= 499,-0.28, 1.636,-2.492, 2.961,-3.117, PHS=-1.429, 0.670,-0.249, RAW= 295.9, 11.1, CAL= 293.3, 15.2, ROT= 216.7, -15.2 -R#Rx 1: Read range and direction messages.`direction in FSK: [-0.773727,-0.576718,0.262189]Fpublishing direction and range infoy ^IPyt;f$?Yn1H2^ q)?Iy鶿i+?~C@aF>Cϣ@ ԇ>)dr@Iԇ$SY?`? yD@)@EIQ iԇU2Acoustic response timeout]Querying Benthos address 50 with 120 pings in terminal homing one-way mode.- @) @)@-/@)I9IIOU> E  E E E "E a:*E $:VE ZE BE (2HI?L9ҿZ|0? '??i2#N@I2c];2CYBByBnI DDDFAbDJVDJ8yfݏ=%fZ=ٔf+9Q-f>9hYh=jEyhn#En>lpQ 5v5r ?Q 9v5rA)rΊBYxyz@Q IzF@rDIr:irt:r>5y~Bɮ~AE-2Acoustic response timeouti i yٗLAj "j :j y?"p P/Bk{;jX.)@p  ^IPyt;f$?*j Q 2j ԇ*p KIW:@UTC@:j#ܩ%@p >-Cč?,Фw?ر?j B j Ai ?i oW?Hj IBj ?j &Lj rj :Bzj vx?- addTargetRange:: Added new target pos. range: 48.200001 m, deltaT: 0.503912 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 48.018780 m, bearing: 55.731769 deg, lat: 36.779413 deg, lon: -121.859678 deg, deltaT: 0.503912 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 eDNOT Ignoring new targets: 48.02 m.hahahahahagagijgirgireiZei:e*e?[["[*[)Q@ZW=) i}9) :i iII@ @@_0@IIOE0>1DDAT read: Rx Time:04:28:22.2372 TRx dataTimestamp_ set to:1764908903.103317PDAT read: Bearing 145.4, -28.7 (Local) ~Local bearing/azimuth received: Bearing 145.4, -28.7 (Local) DAT read: Range 11 to 50 : 48.3 m (trip time 32.2 ms) speed -0.2  DAT read: 04:28:22.2372 LVL= 32112, 18513, 23186, 31859, AGC= 61, IDX= 500, 0.36,-1.738, 0.433,-0.409,-0.219, PHS=-1.417, 0.697,-0.234, RAW= 296.1, 10.4, CAL= 293.5, 13.7, ROT= 216.5, -13.7 % Ygot valid direction response: 04:28:22.2372 LVL= 32112, 18513, 23186, 31859, AGC= 61, IDX= 500, 0.36,-1.738, 0.433,-0.409,-0.219, PHS=-1.417, 0.697,-0.234, RAW= 296.1, 10.4, CAL= 293.5, 13.7, ROT= 216.5, -13.7 - R#Rx 1: Read range and direction messages.- `direction in FSK: [-0.780986,-0.577900,0.236838]5 Fpublishing direction and range infoy^.m~/M'~4ӋHP?Y3ABp}QHZ s|)=IB`in2?o_@9>@ Gt>)4q@IGt#f>+I?8{#? D@)!:IJ iGt 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.a Rs%,NٗLA66M@6[@6Y=ٱ6i>6H`?Jʈҿ W`zd?2@B? !?i66M@I6o];4Y^By^jIbDjVDj8yrٓ%rI=ٔrT9Q-r>9tYt=vEytzS߻Ez>xQ 55z(?Q 95zA)zBYy@Q IF@zDIz;izQ;z˓5y ɮ Ai 9i ٗLAj y@B"j y@B:j Uv?"p w7BK=;C&@p ^.m~/M'~4ӋHP?*j J 2j Gt*p [:@]YVVC@^/Y<;O#@p w??ԑ  DDAT read: Rx Time:04:28:22.7372  TRx dataTimestamp_ set to:1764908903.607390 PDAT read: Bearing 144.4, -28.9 (Local)  ~Local bearing/azimuth received: Bearing 144.4, -28.9 (Local)  DAT read: Range 11 to 50 : 48.3 m (trip time 32.2 ms) speed -0.2 - DAT read: 04:28:22.7372 LVL= 29920, 19089, 26514, 31923, AGC= 63, IDX= 500, 0.11,-3.077,-0.910,-1.738,-1.549, PHS=-1.426, 0.684,-0.233, RAW= 295.7, 10.7, CAL= 293.1, 14.3, ROT= 216.9, -14.3 5 Ygot valid direction response: 04:28:22.7372 LVL= 29920, 19089, 26514, 31923, AGC= 63, IDX= 500, 0.11,-3.077,-0.910,-1.738,-1.549, PHS=-1.426, 0.684,-0.233, RAW= 295.7, 10.7, CAL= 293.1, 14.3, ROT= 216.9, -14.3 5 R#Rx 1: Read range and direction messages.= `direction in FSK: [-0.774907,-0.581817,0.246999]= Fpublishing direction and range infoy  B ;`^=⿝⩝?Y t J g |) ?I +i /? n i&@ t;?> @ r>) Gr@I r $[~e="4?l7? 2H `%?CA`eҿ eՈ?@4X?@?i2hM@I2E];2C)Hf>I irB2Acoustic response timeoutFQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.YJByNiIԙiuMb@Mb@Mb@qqqq q9u/$?MbYu1>yuLuu AuA q)qqYuAbDVD8y e^%!=ٔ8Q->9Y=EyڐE%>!Q 5M5%?Q 9U5%A)%BYU>Q EUB;yU#AQ IUF@%DI%:i%:%<5yYɮeAaE EE'E"E:*Ex:VE'4ZEBE>9'@pB ;`^=⿝⩝?*j 2jr*p\ݦ:@f͛cC@P5:n)$@p?i9a?\7-?B\?jB j6Aim?iFjĕBjm?jGa6HjBrj;Bzjݶw?U addTargetRange:: Added new target pos. range: 48.299999 m, deltaT: 0.504073 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 48.118439 m, bearing: 55.496962 deg, lat: 36.779414 deg, lon: -121.859676 deg, deltaT: 0.504073 s, deltaX: 0.000034 m, approachRate: 0.000068 m/s, posRepo size: 4 DNOT Ignoring new targets: 48.12 m.hhhhhggjgrgBreZe:e*e@??[>[>"[@*[P@ Ǿ=)  i9)3$:ii99I9IAE2Acoustic response timeout@ @@ 0@IIO>! f%,ޯڗLANM@N[@N+=ٱN>NH?"5Fҿ`9i@?28?U?iNM@INg];NCDDAT read: Rx Time:04:28:23.2374 TRx dataTimestamp_ set to:1764908904.111393PDAT read: Bearing 142.6, -28.4 (Local) ~Local bearing/azimuth received: Bearing 142.6, -28.4 (Local) DAT read: Range 11 to 50 : 48.6 m (trip time 32.4 ms) speed 0.0 DAT read: 04:28:23.2374 LVL= 27232, 17441, 21442, 28499, AGC= 63, IDX= 502,-0.06, 2.432,-1.708,-2.529,-2.321, PHS=-1.428, 0.658,-0.252, RAW= 295.8, 11.3, CAL= 293.1, 15.7, ROT= 216.9, -15.7 Ygot valid direction response: 04:28:23.2374 LVL= 27232, 17441, 21442, 28499, AGC= 63, IDX= 502,-0.06, 2.432,-1.708,-2.529,-2.321, PHS=-1.428, 0.658,-0.252, RAW= 295.8, 11.3, CAL= 293.1, 15.7, ROT= 216.9, -15.7 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.769850,-0.578019,0.270600]Fpublishing direction and range infoyXQ@"RlyQ?YfBB`j!DS So)Iȶir(?%4@I> K>)IKnp< L&Gn? ? [D@)IIiK-2Acoustic response timeout5Querying Benthos address 50 with 120 pings in terminal homing one-way mode.YByrI==bDVD8y"<%=ٔRQ->9Y=EyzE>Q 55E閊?Q 95gB)BYyCAQ IF@DI;if;Ü5yBɮAEE EE&E"E:*Eg:VE4ZEa@a@a@a@ii!ڗLAjAB"jAB:jx?"pkBu)Bt;\4*@pXQ@"RlyQ?*j2jK*p:@T8nC@c.&@p8xϒ?>!?Xy]?jqB jAim穟?iBDj-BjjjrjNB B IB BBB B B B ~;B 6EM 2Acoustic response timeoutQ @Q  @Q @] /@Y Iy I9 ԁ O >ߓ%,ڗLA}}M@}o[@}=ٱ}Mx>}H֞rM?- ҿoԿ? 9??Ñ?i}}M@I}5^];}C ѹ)ף CiIIivA h*F)IC A~AlAI) i )IE~A !iuQ~Aqiqyi) IYYBywIiMb@Mb@Mb@ 9|?5^?&1MbYҍ>yP3 A A)Y=AbDVD8yDDAT read: Rx Time:04:28:23.7374 TRx dataTimestamp_ set to:1764908904.615332PDAT read: Bearing 142.6, -28.1 (Local) ~Local bearing/azimuth received: Bearing 142.6, -28.1 (Local) DAT read: Range 11 to 50 : 48.6 m (trip time 32.4 ms) speed -0.2 DAT read: 04:28:23.7374 LVL= 27552, 17233, 21346, 27459, AGC= 61, IDX= 502,-0.23, 0.846, 3.006, 2.170, 2.384, PHS=-1.435, 0.668,-0.258, RAW= 296.0, 11.2, CAL= 293.4, 15.6, ROT= 216.6, -15.6 Ygot valid direction response: 04:28:23.7374 LVL= 27552, 17233, 21346, 27459, AGC= 61, IDX= 502,-0.23, 0.846, 3.006, 2.170, 2.384, PHS=-1.435, 0.668,-0.258, RAW= 296.0, 11.2, CAL= 293.4, 15.6, ROT= 216.6, -15.6 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.773244,-0.574262,0.268920]Fpublishing direction and range infoymi迣.Y`]^|5?YkQCbS Ck)=Ii +?MQ@+H>ݣ@ 'g>)q@I'gM:3P l+C?\X?? D@)$HI- i'g2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.yUW<%m`=ٔm:Q->9Y=Eyh E>Q 55?Q 95B)BY">Q E;;yQ IF@”DI;i6;5yɮyAiia'ڗLAj"j:jUv?"piBK;OUi *@pmi迣.Y`]^|5?*j- 2j'g*p!c:@gCRC@T:v[s&@p,?42?Br?jB jfAi?i3/UJjBjjjIBrj[%">"[%I<@*[%;P@e=)a i 9)額x:iiIԩI I)E  E E E "E :*E :VE ZE BE 3 ۸%,>\5ڗLA6eM@6LX[@6=ٱ6v>6H@46?;lѿCs vֿ?)Z%??i6eM@I6U];4 2Acoustic response timeoutY}By}IbDVD8y=%=ٔ:Q--?9Y=Ey LE 0? Q 5M5 ږ?Q 9M5 B) BYIyM[AQ IUF@ ĔDI DDAT read: Rx Time:04:28:24.2374 TRx dataTimestamp_ set to:1764908905.119366PDAT read: Bearing 144.8, -28.9 (Local) ~Local bearing/azimuth received: Bearing 144.8, -28.9 (Local) DAT read: Range 11 to 50 : 48.6 m (trip time 32.4 ms) speed -0.1  DAT read: 04:28:24.2374 LVL= 31472, 19553, 24482, 32755, AGC= 61, IDX= 503, 0.50,-2.470,-0.288,-1.132,-0.948, PHS=-1.420, 0.706,-0.228, RAW= 296.0, 10.2, CAL= 293.4, 13.3, ROT= 216.6, -13.3  Ygot valid direction response: 04:28:24.2374 LVL= 31472, 19553, 24482, 32755, AGC= 61, IDX= 503, 0.50,-2.470,-0.288,-1.132,-0.948, PHS=-1.420, 0.706,-0.228, RAW= 296.0, 10.2, CAL= 293.4, 13.3, ROT= 216.6, -13.3 ] R#Rx 1: Read range and direction messages.e `direction in FSK: [-0.781285,-0.580234,0.230050]e Fpublishing direction and range infoy;-I` Fgz}"Er?YzaL_ )Iµij4?xiK6> ,m>)I,mģ$j£;񱛱?? ̕D@)a6Ii,m} 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.9 =%,9OڗLA6CM@6f6[@6̊=ٱ6 >6H@?@ѿ3x@C̿?,V`??i6CM@I66];6CYByI!%AbD5VD58yE%EW=ٔE(Q-E>9IYI=MEyIM9EU>QQ 5]5Uі?Q 9e5UHC)UBYaye}AQ IeF@UǔDIUR:iU:U5yiɮuBAqE EE$E"E:*E1:VE4ZEa@a@a@a@iiGڗLAj"j:jZs?"pȼB3<شF&@p;-I` Fgz}"Er?*j2j,m*pD0<_7;@bXC@q&"@p^d5?jiВ?`?jB jiAi+㟊?ilڊIjnBj?jjĕBrj=BzjTu? addTargetRange:: Added new target pos. range: 48.599998 m, deltaT: 0.504034 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 48.417164 m, bearing: 54.547402 deg, lat: 36.779414 deg, lon: -121.859676 deg, deltaT: 0.504034 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 48.42 m.hhhhhggjgqrgqreqZey:ey*e} ǁ?[["[*[P@̊=) ΉiQ9)_:iiIIuPExceeded connect timeout, disconnecting.B]>>BYB]IB]GBBYBYBYB]~;B]6E%2Acoustic response timeout@ @@2@IIO]3>Ai  DDAT read: Rx Time:04:28:24.7374  TRx dataTimestamp_ set to:1764908905.623317 PDAT read: Bearing 142.8, -29.4 (Local)  ~Local bearing/azimuth received: Bearing 142.8, -29.4 (Local)  DAT read: Range 11 to 50 : 48.6 m (trip time 32.4 ms) speed -0.2  DAT read: 04:28:24.7374 LVL= 26608, 16977, 21986, 28307, AGC= 62, IDX= 503, 0.23,-3.133,-0.985,-1.786,-1.608, PHS=-1.423, 0.668,-0.221, RAW= 295.1, 10.8, CAL= 292.4, 14.5, ROT= 217.6, -14.5  Ygot valid direction response: 04:28:24.7374 LVL= 26608, 16977, 21986, 28307, AGC= 62, IDX= 503, 0.23,-3.133,-0.985,-1.786,-1.608, PHS=-1.423, 0.668,-0.221, RAW= 295.1, 10.8, CAL= 292.4, 14.5, ROT= 217.6, -14.5  R#Rx 1: Read range and direction messages.% `direction in FSK: [-0.767053,-0.590711,0.250380]% Fpublishing direction and range infoy   ZH&⿁=9?Y g QB U n) >I $i +? Mb Ф@ A> N@ >) s@I də[R}5%ħ?K #? hC@) @I i E 2Acoustic response timeoutE Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Ι%,#iڗLA2*M@2x[@2u=ٱ2w>2H`?`<"ѿ{ ?Ik`?F?i2*M@I2-];0YrByrIi Mb@Mb@Mb@     9 Cl?:vQ롿Y ߏ>y T \ i  vA) A Y bDVDǰ8yT=%'=ٔ+:Q->9Y = Ey  IE >Q 55GƖ?Q 95C)tBYEh>Q EE8;yEAQ IEF@̔DI;i`;ߩ5yMBɮMAUEE EE#E"EO:*E:VE3ZEBE (@p ZH&⿁=9?*j2j*pxmYG:@XyC@@~$@pjL?ޯ=?>D^0?j?B jAi ꐟ?i0D@j8Bjm?jFj8Brj=Bzj&u?5 addTargetRange:: Added new target pos. range: 48.599998 m, deltaT: 0.503951 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 48.416965 m, bearing: 55.638448 deg, lat: 36.779414 deg, lon: -121.859675 deg, deltaT: 0.503951 s, deltaX: -0.000198 m, approachRate: -0.000394 m/s, posRepo size: 4 mDNOT Ignoring new targets: 48.42 m.hihihihihigqgqjgqrgBreZe:e*e?[h>[h>"[4@*[P@u=) i9) :ii)))I1I9Mi>iIԙ2Acoustic response timeout@ @@@5@I!I1O=>Թ %, ڗLA2M@26[@2ދ=ٱ2o>2Hέ@?`ڪѿ` ?@Gx? ?i2M@I2^;2CPYRByRIbDZVDZ8yfX=%f=ٔf.:Q-j?9hYh=jEyhnEn?pQ 5v5rB?Q 9v5rC)rkBYtyvAQ IvF@rΔDIrh:ir2:rz5y|ɮ~\A|%DNOT Ignoring new targets: 48.42 m.h!h!h!h!h)g)g)jg)rg)re1Ze1:e1*e5 &?[Q[Q"[Q*[UoP@mދ=)i myimu9)iuwuQ:iqiyyyIyIDDAT read: Rx Time:04:28:25.2375 TRx dataTimestamp_ set to:1764908906.127734PDAT read: Bearing 142.7, -28.8 (Local) ~Local bearing/azimuth received: Bearing 142.7, -28.8 (Local) DAT read: Range 11 to 50 : 48.8 m (trip time 32.5 ms) speed 0.0 DAT read: 04:28:25.2375 LVL= 31856, 20641, 22402, 31043, AGC= 62, IDX= 504, 0.08, 2.305,-1.822,-2.646,-2.452, PHS=-1.424, 0.675,-0.238, RAW= 295.7, 10.8, CAL= 293.1, 14.7, ROT= 216.9, -14.7 Ygot valid direction response: 04:28:25.2375 LVL= 31856, 20641, 22402, 31043, AGC= 62, IDX= 504, 0.08, 2.305,-1.822,-2.646,-2.452, PHS=-1.424, 0.675,-0.238, RAW= 295.7, 10.8, CAL= 293.1, 14.7, ROT= 216.9, -14.7 %R#Rx 1: Read range and direction messages.U@Q @Q@U/@QIaIy`direction in FSK: [-0.773509,-0.580767,0.253758]Fpublishing direction and range infoy;km|,N=?Y3CBp|PW Cy)IEi,?Fsi&@@ G\>)Gr@IG\WPW]WqӲ? j? CD@)*AI iG\2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.O=E EE'E"E:*EV:VE'4ZEa@a@a@a@B= ;>B9 B= IB= VBB= =B9 B= ʺDB= X~;B= 5Em nManaging dock network, ignoring radio surface power off- 2Acoustic response timeoutA %,ݜڗLA|]mL@] Z@]=ٱ]>]H `?@"@ѿ@?' ?઒?i]mL@I]_;]CYȁByII=)===i=Mb@Mb@Mb@9999 99=|?5^?QMbY=ҍ>y=u=9=&A =A)99Y=AbDUοVDU~8ym<%m&=ٔmJS:Q-m>9qYq=uEyquDE}>yQ 55}³?Q 95}BD)}\BY>Q E:;yCQ IF@}ӔDI}g;i};}İ5yɮ,Aii,ڗLAjvBB"jvBB:jyt?"pfjBd8<<݂^(@p;km|,N=?*j 2jG\*p|Y;@QcC@3*%@p[6@?K}?8?jB jAi:O?itZHjBj:O?jtZHjBrj=BzjFt? addTargetRange:: Added new target pos. range: 48.799999 m, deltaT: 0.504417 s, deltaX: 0.200001 m, approachRate: 0.396499 m/s, rangeRepo size: 4  Added new target pos. range: 48.615864 m, bearing: 54.805414 deg, lat: 36.779413 deg, lon: -121.859676 deg, deltaT: 0.504417 s, deltaX: 0.198898 m, approachRate: 0.394313 m/s, posRepo size: 4 DNOT Ignoring new targets: 48.62 m.hhhhhggjg rg Bre Ze :e`ffH@*e@2?![=>[=>"[=i<@*[=AMN@=) fi9):iiIIDDAT read: Rx Time:04:28:25.7375 TRx dataTimestamp_ set to:1764908906.632111PDAT read: Bearing 141.1, -28.9 (Local) ~Local bearing/azimuth received: Bearing 141.1, -28.9 (Local) DAT read: Range 11 to 50 : 48.8 m (trip time 32.5 ms) speed -0.1 DAT read: 04:28:25.7375 LVL= 26160, 16641, 21746, 27219, AGC= 62, IDX= 504,-0.10, 0.112, 2.261, 1.455, 1.652, PHS=-1.438, 0.654,-0.240, RAW= 295.2, 11.3, CAL= 292.5, 15.7, ROT= 217.5, -15.7 Ygot valid direction response: 04:28:25.7375 LVL= 26160, 16641, 21746, 27219, AGC= 62, IDX= 504,-0.10, 0.112, 2.261, 1.455, 1.652, PHS=-1.438, 0.654,-0.240, RAW= 295.2, 11.3, CAL= 292.5, 15.7, ROT= 217.5, -15.7 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.763755,-0.586050,0.270600]Fpublishing direction and range infoy*)pȭp迃RrRlyQ?Y0fAT Sj)Ibil'?uG @ @@/@?9Y/Aޤ@I>\@ K>)(r@IK FlLӔ?.|? {C@)GII,iK 2Acoustic response timeoutIIyQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.IO>y E  E E E "E :*E X:VE ZE BE +FH@L?_nqѿ`p`˫?9?@?iFL@IF_;FCY^́By^In2Acoustic response timeoutbDfԿVDf8yv<%v~=ٔv:Q-z ?9xYx=~Ey|~DܻE~ ?Q 5 54?Q 9 5rD)RBY yCQ IF@֔DI;i;5yBɮAiitڗLAj"j:jEw?"p1D`BA:}O*@p*)pȭp迃RrRlyQ?*j,2jK*p؈;:@C5I]wC@DMD&@pS?ȓ5XP?|H ?jB jAQiW_?i2lDjvBjjjrj>Bzjt? addTargetRange:: Added new target pos. range: 48.799999 m, deltaT: 0.504377 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 48.615864 m, bearing: 55.436454 deg, lat: 36.779413 deg, lon: -121.859676 deg, deltaT: 0.504377 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 48.62 m.hhhhhg g jg9rg9re9ZeA:eI*emaL?[ [ "[ *[ u)N@S=)! %Ki%}9)!%%:iaiiiiIqIqԁԩ-/|9ߍ=ߍ<&DAT read: user:9> DAT read: 0 8unknown deviceResponse_: 0 q (Communications Faulta  a  a  a  a  DAT read: Ok :unknown deviceResponse_: Ok (DAT read: user:10> BDAT read: Tx time:04:28:26.6541 $Ping request sent. n%,wڗLA2L@2\Z@2a =ٱ2e\>2H0?-`Oѿ،iſ?`罱`?`?i2L@I2K_;2CYNہByNIbDZVDZ8yr=%rK=ٔv:Q-v>9tYt=vEyxzEz>|Q 55~Ǣ?Q 95~D)~FBY y DQ I F@~ٔDI~:i~:~5yɮTAE EE&E"E:*E:VE4ZEa@a@a@a@DNOT Ignoring new targets: 48.62 m.hhԹhhhggjgrgreZe:e*e]A[ [ "[ *[ N@B=>BB'IBfBBBB˺DBN~;B5EBBBB =B =C4=a =)A EiEЀ9)AEM:iIiqqqIyIy@ @@/@II1O]T>Powering downi߭I߭ߵߵ9 "%,ZڗLA2L@2yZ@2U=ٱ2>2H@^?54 h(ѿt@?α? ?i2L@I2^;0YNȁByRITVAiEMb@Mb@Mb@AAAA A9EPn?V- rhYE>yEhEC Eb AEA A)EAAYEA ae<bDmEVDm8y o% 9=ٔ #:Q->9Y=Ey%E%>)Q 5-5-?Q 955-D)-8BY>Q ED;yGQ IG@-ݔDI-H[e>"[ew@*[elJ@U=) i9)顝:iiIIE EE#E"E*E n:VE3ZEBE5>iԙ %,3ۗLA64bL@6TZ@6J<=ٱ6=>6H@Em9? s@ ѿ`?㱿=?`?i64bL@I6z^;4YBByBIbDN:VDN8yVt>%Vd=ٔVr:Q-V>9XYX=ZEyX^`λE^>`Q 5f5b?Q 9f5bD)b,BYdyfGQ IfG@bDIb:ib2:b5yhɮnAlDNOT Ignoring new targets: 48.62 m.hhhhhg g jg rg Rg @1FCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangereZe:e*e[9[9"[9*[=IIJ@UJ<=)Q U'iU 9)QU]:iYiaaaIaIay@ @@0@I)I9OE=ԡbEǞ4jEw4rEǟ/E EE'E"E:*ER:VE'4ZEa@a@a@a@B>>BB:IBuBB =BBB~;B5E ! */%,"ۗLAM}@L@M3Z@Mu=ٱM4>MH f?@OJп|*?'?@E?iM}@L@IMC^;MCYeفByeIiMb@Mb@Mb@ 9E?l+Y>y A A)&AYAbD VD8y(%5=ٔ[:Q->9Y=EyyE%>!Q 555%솖?Q 955%D)%BY=M>Q E=@;y=4HQ I=G@%DI%/;i%t.;%5yEߔBɮE-AEEqLAggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalDAggregate::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@ffHBrfL?-Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )q@-A--:Initialize WaypointComponent.5ZNavigating to waypoint: 36.779130,-121.859630re1Ze9:e9*e9[}M>[}M>"[}H@*[}I@ɢ ?)U nAi\Q:)顕z6i<ŨIA= @9 @9@=/@9I&NClearing failed state for component DATq IO=>A E  E E %E "E O:*E L_:VE 4ZE BE 2H@q`? I^п`:?4??i2!L@I2&^;2CYR܁ByRIIV=)VV=V=XZAAbD^VD^8y~<%~_=ٔ:Q->9Y=Ey  ԪE >Q 55~?Q 95D)BY!y%SHQ I%G@DI8;iD;=5y)ɮ-A)qPEEAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalPEUEntering Terminal tracking update period 2.000000 s sec at 48.799999 m (mode 0.000000 count ).PUPUfefe?fagafifirfiq=mzmAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy=m {m (kpHeading = 0.400000I: (kiHeading = 0.001000 >I&? &?I I)ԉ!@! @!@!@!I9IQO]3>Թ <%, QۗLA6L@6Y@6W=ٱ6>6H~`ɲ?T п ӡ,? '`h!?@"?i6L@I6o^;4`YbBybIbDjVDj8yrv=%vK=ٔv.:Q-v>9xYx=zEyxzCEz>Q 55u?Q 9 5D)BY y uHQ I G@DI:i:5yɮA:k-@P-1Q-5B*** querying acoustic contact ***i1i5fAfAfAgAfAfArfAeIreIZeI:eI*eIEe EeEe$Ea"Ee:*Eeg:VEe4ZEaam@am@am@am@[["[*[JI@额ɁBɢ;) z=i)y8顡i8ǽɧQ駵'i'?In? n?IBBBGIBBBBBB~;B5E1@1 @1@50@9IAIyO=A lg%,3kۗLA6K@6Y@6 =ٱ6%>6H *?Q Pпத ?=@z?`I?i6K@I6ţ^;6CYRByVIiMb@Mb@Mb@ 9MbX?{GzZd;OY>yףj<b A A)AYAbD VD8y<%<=ٔP:Q->9Y=Ey1E>Q 55~k?Q 95D)BY>Q E9;yH@Q IG@DI ;i;5y הBɮGA%EBk1QqQf fIfgffrfereZe:e*e[>[>"[W@*[H@-Bɢ-i;)) -$=i1)5ҥ911i5L9=hǽɧ==݄i=?9AIEX5? EX5?IEm EmEiEi"Ema;*Em:VEiZEiBEmhIqIO>%,Q݊ۗLARWK@RY@RB=ٱRi>RH p[B?re`$nп۪?qo@?=?iRWK@IR^;PYnBynI pptt v9 Y =EyŻE>Q 5%5`?Q 9%5D)߉BY)y-H@Q I-G@DI:i:5y1ɮ5uA1JkIqQMMrCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalqPMMAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalfYfYfYgYfafarfaeareaZea:ei*ei[["[*[H@额Bɢ ;) H=i)Ant9顡ig :/,Ƚɧ駭gϸiP?Ib? b?IC"<-!@) @)@-/@)@1@1@1@1E EEE"E ;*E:VEZEa@a@a@a@IB=>BBYIBBBBBBP~;B5EIIO>iԱ k%,0ۗLA2K@2Y@2 (=ٱ2Ŝ>2H@ 8?@xQп n'? ߀ _?ώ?i2K@I2{^;2CY>By>Ii-Mb@Mb@Mb@)))) )9-x&?ˡEZd;OY-7>y-什)- A-&A ))-A)Y-AbDEVDE8yUݪ<%UE=ٔ](:Q-]>9YYa=eEyaeEe>iQ 5u5m9W?Q 9u5mD)mΉBY}j>Q E}:;y}H@Q I}G@mDIm~ ;im;m15yɮRAfffgffrfereZe:e*e[j>[j>"[r@*[H@BɢpD<) >i)o9iF:}iȽɧZiX.?I? ?I qԩEPowering upE"Initializing DAT.}e %,`ۗLA2K@2.{Y@2=ٱ2C{>2H?S@m2п`wG?@ҏ@/??i2K@I2^;2CYNByRIbDZVDZ8ybW;%bT=ٔb:Q-b>9dYd=fEydfEj>hQ 5r5j\N?Q 9r5jD)jBYpyrG@Q IrG@jDIj/;ij ;j5yzєBɮzAzEfffgffrfereZe:e*e[["[*[#G@BɢI.<) >i)| 9i/z:Ƚɧ%+'iRB?I=? =?I1111m!@q @q@u/@q) IQ Ii Ou >B <>B B B B B B B };B 5EEM  EM EI EI "EM :*EM k:VEI ZEI %,"nۗLABE}N"<2E}O"<JE}Ҽ;:E}Ӽ;YByII%<)%<-=-=-@A-@AbD5ӿVD58yE(K%EB=ٔMQ-M>9IYI=UEyQUEU>YQ 5e5]D?Q 9e5]D)]BYiyiQ ImG@]DI]:i]:]<5yqɮu Aq B*** querying acoustic contact ***i i f9f9f9g9f9f9rfAeAreAZeA:eA*eI[["[*[Bɢ<<)! -j'>Qi))ev:iii(:AɽɧvH~^ i?I4? 4?I @ @@0@IqyIO\> Ya3G d=9 Y :Aym ?m Aԩ q%,VۗLABH@_?@|`пY?? 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I ? ?IM9QQQQiԙ@ @@5@ B :>B B IB ƁBB B B ʺDB };B o5EEi  Em Em "Ei "Ei *Em n:VEm (3ZEi BEm G-[%,n^ޗLA209dYd=fEyjEj}QEj>lQ 5r5n"?Q 9r5nvK)n;BYtyvH@Q IvG@nkDIn:inl:nV35yzBɮzsAzEfffgffrfe!re!Ze!:e!*e!UBɢUs.r=)Y ]2?iY)]D! v%,:xޗLA6E@6pS@6ۘt=ٱ6=6H@}@?j}Imſg5?tں??i6E@I6D^;6CYBByBI|iMb@Mb@Mb@E% E%E%$E!"E% :*E%y:VE%4ZE!a-@a-@a-@a-@ 9Zd;O?ʡEˡEYj>y' AA b A)-AYpAbDEVDE8yU%UB=ٔUђQ-U>9YYY=]Ey]EeLEe>iQ 5u5m_?Q 9u5mK)m*BYu+?Q Eu:yuGQ I}G@mrDIm ;im ;m75yɮAB*** querying acoustic contact ***iifffgffrfereZe:e*eBɢ4m=) t4?i)%<i@Ɔ;ueɧu uBci})?yyI})? })?Iym 9)@ @@/@AzAzAIIOj>Qԁ nk%,ޗLAaمE@uxS@n=ٱ=H ?K?`ܲɰĿp@? K??iمE@I^;CYByI  y}ADAT read: VDAT read: Teledyne Benthos DAT-900 Series bDVD8y[̼%5=ٔgQ->9Y=EyE)UE>Q 55n?Q 95K)BYy HQ IG@yDI:iy::5y Bɮ A EfififigifqfqrfqeqreyZey:ey*ey颥Bɢk=B?>BBIBBB =BB˺DB};BX5EBqBqBqBqBqCuù4) 8?i)/<iֆ;$ɧ6_niĖ?IĖ? Ė?E5 E5E5%E1"E5:*E5L_:VE5 4ZE1BE5  %,2wޗLARE@S@f=ٱ=HH?u*@:ÿuzg&?Ӭ ? ?iRE@I^;YEByEIԱiMb@Mb@Mb@ 9y&1?Dl~jtY`?yOA A)YAbDVD8y%W=ٔQ->9Y=EyEEE >Q 55픊?Q 95K) BY?Q E:yGQ IG@DI<:iE:F>5y-Bɮ-A-EfIfIfQgQfQfQrfQeQreYZeY:eY*eY颍yBɢk=) 9?i)8<顑i;oɧ{駝_xi8?I8? 8?Iy@y @y@}0@yII OL>E5 E5E5'E1"E5:*E5e:VE5'4ZE1a=@a=@a=@aE@ 1 g}%,?ޗLA2̴D@2hR@2_=ٱ2=2HV?sÿ `?2gA??i2̴D@I2^;2CYBByBIbDJVDJ8yR%Rd=ٔRQ-R>9TYT=VEyVEZEZ>XQ 5b5Z%ޔ?Q 9b5ZK)ZBY`ybsGQ IbG@ZDIZ;iZo;ZiA5yhɮjAhfxfxfxg|f|f|rfere Ze :e *e 5nBɢ=W=)9 =;?i9)EIAAqB =>B B IB BB B B B |;B 5EbE4jEm4rE/EM  EM EM $EI "EM :*EM T:VEM 4ZEI BEM 9tYx=zEyzEzHEz>|Q 55~˔?Q 9 5~L)~BY y GQ I G@~DI~u:i~:~E5y{BɮyAf9f9f9g9f9fArfAeAreAZeA:eI*eIubBɢu=)y }zD?iy)}Kԡ :DAT read: MF Frequency Band ѽ%,QޗLA0D|zD~AAE EE#E"E>:*E;J:VE3ZEa@a@a@a@U$C@UQ@UO=ٱUZ=UH`@Ͳ?m(9` *?`@{? }?iU$C@IU^;UCY؁ByIiMb@Mb@Mb@ 9v/?:v9Y=EyE mE>Q 55嶔?Q 95^L)݇BYl ?Q E:yFQ IG@DI;i;I5yɮAB*** querying acoustic contact ***iif)f)f)g)f1f1rf1e1re1Ze9:e9*e9eUBɢeD~=)i mA?ii)m:W %,ߗLARuC@RMhQ@RH=ٱRy=RH`H?Mb2? @??iRuC@IR^;P`YnЁBynIbD~VD~8y -% l=ٔQ-?9Y=EyEE?!Q 5-5%;?Q 9-5%L)%чBY1y5FQ I5G@%DI%:i%s<%!L5ytBɮAEfffgffrfereZe:e*eJBɢvD=)Uκ B?i) 1`<  i VK;>ɧMבiN?IN? N?I=9Bm:>BiBmIBmBBm =BiBmʺDBm|;Bm4EE EE!E"E=;*E:VEc3ZEBE|I9 %,-ߗLAuZC@uP@uagA=ٱuxO=uH@@I?z`ո?*Z?@?iuZC@Iuh_;qYցByI AiEMb@Mb@Mb@AAAA A9Egfffff?Zd;OQ롿YE3?yEj9qYy=}Ey} E}l~E}>Q 55?Q 95L)‡BY?Q E:yEQ IG@DI;iD;P5yɮAfffgffrfereZe:e*e%=Bɢ%=)) -sL?i))-k<)1i5{;=>ɧEEwqiE }?IIIM }? M }?IQIud?)u5?Ae95 @1 @1@5|0@9E EE&E"E:*Ega:VE4ZEa%@a%@a%@a%@qA؟AIIO>ԙ *%,GߗLA2B@26P@2$9=ٱ2K/=2H*?k9O >?].`A?=?i2B@I2_;2CY>ɁBy>IbDJ&VDJϰ8yR—%Rn=ٔRQ-R?9V"?YV"?=VEyVEVpEZ?XQ 5b5Z〔?Q 9b5ZM)ZBY`yb]FQ IbG@ZDIZ;iZ;ZS5yfmBɮjAjErLDAT read: Features enabled [Bearing] zDAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP zcommRate: 600yfffgffrfereZe:e*eM2BɢM=)I MK?iQ)uxuBU <>BQ BU rIBU BBQ BQ BU ˺DBU };BU 5EE5  E5 E5 %E1 "E5 ;*E5 c:VE5 4ZE1 BE5 !d9TYT=VEyVEZIEZ>\Q 5b5^Tm?Q 9b5^SM)^BY`yfFQ IfG@^DI^U;i^_:^V5yjfBɮjAjEfxfxf|g|f|f|rf|ereZe:e*e5'Bɢ5;=)1 5N?i9)=E<99i= p;E ɧEJEniMq?IIIMq? Mq?IIό9 H<1 @ @@80@AA?I I O >Y C %,?{ߗLA6A@6'O@6*=ٱ6Ƈ=6H@?(๿Y?mA$?`4?i6A@I6'b^;6CYF́ByFIEr ErEpEp"Er2:*Ere:VEpZEpav@av@av@av@i%Mb@Mb@Mb@!!!! !9%d;O?y&1y&1Y%?y%`弙%`%3 A%-A %A)!!Y%AbD=VD=8yM, =%M@=ٔU\Q-U>9QYQ=]Ey]E]Ee>aQ 5m5eX?Q 9u5eM)eBYu?Q Eu:yucEQ IuG@eDIe/:ieZ:ePZ5yɮAfffgffrfereZe:e*e1颅Bɢ=) ;Y?i)؅<顉i3Bi;>ɧ1駵oib?Ib? b?I tAݍ99a@ @@%5@!IIOb>ԉԹ %,G!ߗLAFA@Fd O@F!=ٱF=FH \?-n䷿`?I<`?h?iFA@IF& ^;FCYRByVIbD^VD^8yf%fS=ٔfQ-j>9hYh=jEyjEnߤEn>pQ 5v5rE?Q 9v5rM)rBYtyvEQ IzG@rDIr:ir:r]5y~_Bɮ~A|B*** querying acoustic contact ***iif!f!f!g!f!f)rf)e)re)Ze):e1*e1]Bɢeba=)a eV?ia)eBBfIBBB =BBB@};B15EE EEE"E :*E[:VEZEBEN"i> @  @@>5@IIO> ͂G  9 Y ߽AQ5%,ߗLAmF@@mN@m=ٱmq=mH@`?Yি#` @n?XR??imF@@Imt^;mCYByIiMb@Mb@Mb@ 9Cl?~jt/$Yd?yļ\A A)AYpAbD5VD58yU; <%U4=ٔ]zQ-e>9iYi=EyEaE> Q 555m-?Q 955]N)BY5?Q E5:y5EQ I=G@ɕDI@:i8:a5yEXBɮEAEEfffgffrfereZe:e*e%Bɢ%W=)) -d_?i))-^<))i5}X;5xɧ5=ܶi=Q?99I=Q? =Q?IA"9!!!!1E EE"E"E:*E H:VE(3ZEa@a@a@a@a e @a  @a @e 0@a Au wAzAq I I O >.%,JߗLA 6>@@6N@6=ٱ6-:=6HRZ?o0 ?@WS ݴ?`y?i6>@@I6_;6CYfÁByfI hhbDnVDn8yv-<%ve=ٔzZQ-z>9xYx=~Ey~"ErԼE? Q 5 5 -?Q 95 N) BYyvFQ IH@ ϕDI :i : d5y!ɮ%A!fffgffrfereZe:e*eBɢG=) f?i ) 8<  i O;aɧ 0iڊ?Iڊ? ڊ?I!I5[?)5?]*entering command mode5 9q@ @@/@I1IIOe4>ԙuDAT read: u&DAT read: user:1> }(setting verbose to 3B>>BB`IBBBBBBa};BB5EBBBB =B =CȚ4 E  E E %E "E O;*E &p:VE 4ZE BE (Y9dYd=jEyj'Ej|Ej>lQ 5r5n?Q 9r5nN)nwBYtyvFQ IvH@nוDIn:in:nHh5yzRBɮzAzEfffgff!rf!e!re!Ze!:e)*e)UBɢU=)Y ]xe?iY)] TDAT read: Verbose | 3  set verbose to 36setting DatVerbose to 27440@  @ @ @ AyIIOh>! } &DAT read: user:2>  TDAT read: DatVerbose | 27440  .set DatVerbose to 27440 6setting transmit power to 8n%,ˆߗLAEj EjEj'Eh"Ej:*EjVL:VEj'4ZEhan@an@an@an@|-?@-:M@-=ٱ-:\=-H@;'? B)y?? ?i-?@I-];-CYEByEIiMb@Mb@Mb@ 9S? rh:vY?yC TA-A A)AYAbD  VD 8yK<%7=ٔcQ->9!Y!=%Ey%+E%E->)Q 5=5-?Q 9=5-N)-oBY=?Q E=:y=HQ I=H@-DI- ;i- ;-0l5yIɮMAIfififigifqfqrfqeqreyZey:ey*ey颥Bɢ8=) o?i)_<顱iF:;5ɧx駽-ɾiݐ?Iݐ? ݐ?I>9)@ @@@A ?A?&DAT read: user:3> TDAT read: TxPower | 8 (Max) .set transmit power to 86setting local address to 11QAu.AIyIO~>ԁ WV%,bLA6ly>@6lL@6<ٱ6m=6H@?`E١ڪ@FW?@Ү@DƳ? ?i6ly>@I6];6CYBByBIIF4=)F<bDNVDN8yV7F%Ve=ٔVQ-V>9Z ?YZ ?=ZEyZ/E^cҼE^>`Q 5f5bޓ?Q 9f5bN)biBYdyfH@Q IfH@bDIb:ib:bOo5ynKBɮnAnEzB*** querying acoustic contact ***ixixfffgffrf e re Ze :e *e=Bɢ==)EdO EOt?iA)E ETDAT read: LocalAddr | 11 E.set local address to 11M\Setting time to: 4:28:48 And date to:12/5/2025eM9B?>BBBBBBB};B5EbEUû 4jEU 4rEU(90E EE(E"E>:*Ek:VEc44ZEBEԱ &DAT read: user:5>  NDAT read: Fri Dec 5, 2025 04:28:48  fLocal DAT time set to Fri Dec 5, 2025 04:28:48  2Acoustic response timeout 6setting remote address to 8 > %,I0LAe=@eNK@ea<ٱeߜ=eH ?c' =??@蔳?@s?ie=@IeL^;eCԱYByIiMb@Mb@Mb@ 9'1Z? rh9"?Y"?=Ey4EE>Q 55Dœ?Q 95N)aBY#?Q E :y }H@Q I H@DI);i(;{s5yDBɮsAf9f9f9gAfAfArfAeAreIZeI:eI*eU@:6@}Bɢ}#=)y y?i)E<顁ihA!;ɧ駍Em־i?I? ?I_9M&DAT read: user:6> UTDAT read: RemoteAddr | 8 U.set remote address to 8]2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode.e@a @a@e/@aE EE%E"E:*EF:VE 4ZEa@a@a@a@ Ae.AIqIO>9 Rh%, JLA2X=@2FKK@2~<ٱ2]=2H`?-ء_j?@@E??i2X=@I2];2CR&DAT read: user:7> VBDAT read: Tx time:04:28:48.6791 V$Ping request sent.VUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251078qB<>BBBB =BBB~;B6EE  E E E "E I:*E P:VE ZE BE 9XYX=^Ey^;E^ϱE^>`Q 5f5b?Q 9f5b}N)bVBYhyjeG@Q IjH@bDIb9:ib:by5yn>Bɮn'ArEfffgffrf bf @1A  Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@  Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeereZe:e*e 6@EUBɢE&(=)A E?iI)M*мu checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756879 6%,0}LA269<@2+J@2<ٱ2ɒ=2HA9ŏ?ڽj8?]S?u?i269<@I2B^;2CY>By>IDLzDN@AER ERER(EP"ER:*ER:VERc44ZEPaV@aV@aV@aV@iMb@Mb@Mb@ 9S㥛?Zd;O9Y=Ey?E=E>Q 55⅓?Q 95N)PBY&?Q E:yE@Q IH@DI ;iM:}5y7BɮAEqL~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalD  Aggregate::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.qGGqEg%h7g%h7F%%Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1G%-DReached init depth of 64.868744 m.jg)rg-fB-$Terminal guidance.qE-G--Initialize.5dInitializing internal variables to default values.5ZTransitioning guidance mode to: UNINITIALIZED i15DRollout timeout set to 300.00 sec.=VIIR filter is initialized with decay: 0.00.=bTransitioning guidance mode to: TERMINAL_GUIDANCE i=??=EAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@E EAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAEEUninitialize.AEAEE>Uninitialize WaypointComponent.eAreAZeI:eI*eMh7@B<) `i!)%м! %%,/LA6;@6I@6$<ٱ6x=6H{y?@`g??@H?i6;@I62^;6CYBByBIbDJiVDJ 8yR<%V^=ٔV[Q-V>9XYX=ZEyZCEZӼEZ>\Q 5b5^q?Q 9f5^M)^KBYdyfE@Q IfH@^DI^l:i^:^5yhɮjAlzB*** querying acoustic contact ***ixixh+J@hhhhigg jg rg e reZe:e*e7@ɢl:<)  I%+J@I-ABQBQBUlIBUBBU =BQBQBU_;BUA6E59QE EE%E"E:*EL_:VE 4ZEBE,,%,ŵLA2;@2=H@2Y<ٱ22C=2H@"#i@}Ֆ X??`l?@?i2;@I2!5^;0YBByBIi Mb@Mb@Mb@     9 E?V-Mb`Y &?y m   \A GA)  Y =AbD%VD%,8y3F%#=ٔ Q->9Y=EylE>ԡQ 55HV?Q 95L)FBYQ'?Q E:yMC@Q IH@DI:i:T5y0BɮAhhhhhiggjgrglBereZe:e*eE8@[%Q'?[%Q'?"[%7@*[%MC@5Bɢ5d<)1 5xi9)=ܼ<99i=?;iEs?AAIAII UwAUvA%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763263]9e=e>%"E EE!E"EO:*E:VEc3ZEa@a@a@a@*@ @@0@IIOE> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015040) د3%,vLAB:@B/uH@B <ٱBQ"=BHC s@RT?> ?~/ ??iB:@IBu^;BCYR؁ByRIbDZvVDZ8yb7 >%bZ=ٔb|Q-f>9dYd=fEydj1Ej>lQ 5r5nA?Q 9r5nNL)nBBYtyvB@Q IvH@n"DIn ;in ;n5yz*BɮzAzEhhhhhi!g!g!jg!rg)e)re)Ze):e)*e5ܥ8@[Q[Q"[Q*[UB@aɢeN<)a mPP=ii)m,>BQBUrIBUBBU =BQBQBUx;BUP6E@ @@ 0@E EE&E"E>:*Ez:VE4ZEBEI I O >e9%,SLA2K9@2G@2 <ٱ2 =2H-*ᑿ@? @ѳ?aQ?(?i2K9@I2^;2CY>āBy>I ddbDnNVDn8)AyMý%MB=Y9YwAٔˇQ->checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5197159Y=EyE>Q 55)?Q 95K)>BYy=B@Q IH@+DIF;iG;f5y$BɮAEyhhhhhiggjgrgereZe:e*e 9@[1[1"[1*[5=B@AɢE&<)I M$I I O >E  E E #E "E 2:*E T:VE 3ZE a @a @a @a @ o@%,/LA2]9@2OG@2ȕ<ٱ2я=2H n`2??Ѹ6˴??i2]9@I2#^;0Y>By>Ii5Mb@Mb@Mb@1111 195Zd;O?QI +Y5~*?y5u5945vA1 1)5A1Y5AbDMVDM8yUj%]I=ٔ]ѺQ-]>9aYa=eEyae澼Em>iQ 5u5m?Q 9}5mJ)m8BY}5+?Q E}:y}A@Q I}H@m4DIm ;im;mԏ5yɮ&AhhhhhiggjgrgwBereZe:e*e@y9@[5+?[5+?"[/@*[oA@Bɢ6<) i)d@<i;i ]?  I I I_?)\?9BDAT read: Rx Time:04:28:51.1578 TRx dataTimestamp_ set to:1764908932.202727checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024028!@ @@4@@p=@=) ^AM >IQ Ii Ou >B= :>B9 B= yIB= BB= =B9 B9 B= ;B= q6EBBB̝] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275160JF%,"LAB1B1C5A56o8@6 F@6kV<ٱ6e=6HU7@J? T_?J7??i6o8@I6^;6CE EE(E"E:*E:VEc44ZEBE?89Y=EyIE>Q 55e?Q 95I)1BYyA@Q IH@?DI;i;M5yBɮAEB*** querying acoustic contact ***iihhhhhiggjgrgereZe:e *e 9@[)[)"[)*[-oA@9ɢ=<)A EѻiA)E2-@  A>)Qy@I AUP _?? =@)p]AIi AUT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode. E @getADC uart error serial timeout E Puart error - getPosition..serial timeoutqE  E (Communications Faultԙ ^A .ą>I & bCommunications Fault in component: DockingStepperI O >M%,N^:LAB=8@B/F@B<ٱBua=BHk鯧h?4?RɄ? ?iB=8@IBh^;BC h)jAjuhhln~AinףIllIpirA rkrF)pt %1~A%IIIIII)QiQ)QIU~AUxiQ YY]5~A]LiYYiaa)a am&DAT read: user:8> uBDAT read: Tx time:04:28:52.4791 u$Ping request sent.}:*EVL:VE'4ZEa@a@a@a@bD%VD%8y5=%5G=ٔ58Q-=>9YYY=]EyYeEe>iQ 5u5mmᒊ?Q 9u5mH)m*BYu"?Q E}:y}^A@Q IH@mGDIm;im;m5yBɮAiAiEn4-LAjE^B"jE^B:jE9?"pE .ݟCM]6mB(s,@pEԋsϬ-l39Y?*jE2jE A*pE4ZD@JfB@q¸'@pE+Md?D?1%?jEB jE"BiEG?iErjERBjAjAjArjEY\BzjEI?5 addTargetRange:: Added new target pos. range: 55.900002 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 "iQ*iUe Added new target pos. range: 55.689339 m, bearing: 41.590373 deg, lat: 36.779413 deg, lon: -121.859676 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 :iamDNOT Ignoring new targets: 55.69 m.2immPowering the camera and arming the capture device at range: 55.90 m.im"iu*iu ProNav pure pursuit: ac range: 55.689339 m, nav range: 55.087257 m, bearing: 44.992334 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 180.993046 deg, new cmd heading: 44.992334 deg. HeadingCmd: 0.785264 target range: 55.689339 and range: 55.90 m.hI?hhhhggjgrghBereZe:e@3K@*e`V?["?["?"[@*[^A@1UBɢU#<)Q UI I O > T%,TLAJJ7@JE@Jfe<ٱJS=JH@@!鼋s? ?@j2c? ?iJJ7@IJ^;JCY5By=IE=Ep=bDM*VDMӰ8y]>%]o=ٔeA):Q-e?9aYa=eEyamHӼEm?qQ 5}5uϒ?Q 9}5u H)u%BYyy@@Q IH@uNDIu:iuW:u5yBɮAE:iDNOT Ignoring new targets: 55.69 m.2iPowering the camera and arming the capture device at range: 55.90 m.i"i*iu ProNav pure pursuit: ac range: 55.689339 m, nav range: 55.217869 m, bearing: 44.816819 deg, approach rate: 0.406205 m/s, LOS rate: -0.544564 deg/s, cmd heading: 44.992334 deg, new cmd heading: 44.816819 deg. }HeadingCmd: 0.782201 target range: 55.689339 and range: 55.90 m.h}T>H?hyhyhyhygygyjgrgereZe:e*e`?[ [ "[ *[ @@ɢ%<)! %i!)%Z*H?IQBM6>BMICBMrIBMBBM =BIBMʺDBM;BM6Eef9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503984bEjEř4rEE EE%E"E:*EVE 4ZEBEq%a I I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755270Z%,mLA BR,7@BE@BR<ٱB9=BH  !k怯? |? 5;?[?iBR,7@IB@n^;@Y=By=zIbDM/VDMذ8yt%D=ٔ:Q->9Y=Ey?E>Q 55|?Q 95G)BYyL@@Q IH@VDI;i;5yɮBA:iI]DNOT Ignoring new targets: 55.69 m.2iYePowering the camera and arming the capture device at range: 55.90 m.ia"im*im ProNav pure pursuit: ac range: 55.689339 m, nav range: 55.378819 m, bearing: 44.599080 deg, approach rate: 0.379913 m/s, LOS rate: -0.512468 deg/s, cmd heading: 44.816819 deg, new cmd heading: 44.599080 deg. HeadingCmd: 0.778401 target range: 55.689339 and range: 55.90 m.hFEG?hhhhggjgrgeqreyZe:e*e ?[["[*[L@@Bɢc~<) Ai)ϼ<i:iEpg?AAIMFEG?IIP9ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006888D) zD- ?AE5  E1 E5 *E1 "E5 y:*E1 VE5 (N4ZE1 a= @a= @a= @a= @ ^Aa I I O >"a%, ͇LA6z6@6D@6<ٱ6a=6H`-Hߊw?`ϵ?敓?`?i6z6@I6>^;6CYBByBILiMb@Mb@Mb@ 9 r?9AYA=EEyAM˵EM>QQ 5]5U뤒?Q 9]5ULF)UBY]#?Q E]:y]"A@Q IeH@U^DIU;iU;U5ymBɮmAmE:iDNOT Ignoring new targets: 55.69 m.2iPowering the camera and arming the capture device at range: 55.90 m.i"i*i ProNav pure pursuit: ac range: 55.689339 m, nav range: 55.531578 m, bearing: 44.399966 deg, approach rate: 0.397919 m/s, LOS rate: -0.517236 deg/s, cmd heading: 44.599079 deg, new cmd heading: 44.399966 deg. HeadingCmd: 0.774926 target range: 55.689339 and range: 55.90 m.haF?hhhhggjgrgkBereZe:e*e@e?[#?[#?"[B@*[?"A@颽Bɢre<) i)<ih :checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259002i |?IaF?Ip9^A 6Ʌ>IIO>! BM 9>BI BM fIBM BBM =BI BI BM ;BM 6E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510853E=  E= E= $E9 "E= :*E= C:VE= 4ZE9 BE= ] ;aM :E= >;aM Dh%,SLA>6@>D@>!<ٱ>%=>H@+@q@`??@ȵ? ?i>6@I>Q^;9`Y`=bEy`bְEf>dQ 5j5f?Q 9n5lfnE)fBYpyr@@Q IrH@ffDIf/;if0;fR5ytɮvAx:iDNOT Ignoring new targets: 55.69 m.2iPowering the camera and arming the capture device at range: 55.90 m.i"i%&*i%&- ProNav pure pursuit: ac range: 55.689339 m, nav range: 55.686131 m, bearing: 44.197038 deg, approach rate: 0.398358 m/s, LOS rate: -0.521594 deg/s, cmd heading: 44.399966 deg, new cmd heading: 44.197038 deg. 5HeadingCmd: 0.771384 target range: 55.689339 and range: 55.90 m.h5iyE?h9h9h9h9g9g9jgArgAeAreAZeI:eI*eM N?[ [ "[ *[ O@@%ÁBɢ%}<)! %@i!)-k<))i-Ӯ:i?IiyE?IIg?)K?u9@}=@}C= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7633791^A>I!I9Om>i ?n%,ûLA2f5@2yC@2b<ٱ2>=2H`'C㝉 R? ҵ?@qt??i2f5@I2|8^;2CY>By>Ii-Mb@Mb@Mb@)))echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018605a) )9-x&1?=ٔ:Q->9Y=EyE>Q 55Ny?Q 95jD) BY!?Q E:y?@Q IH@oDI/:i:5yBɮAEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 55.69 m.2iPowering the camera and arming the capture device at range: 55.90 m.i"iF*iF ProNav pure pursuit: ac range: 55.689339 m, nav range: 55.852795 m, bearing: 43.976037 deg, approach rate: 0.386922 m/s, LOS rate: -0.511535 deg/s, cmd heading: 44.197037 deg, new cmd heading: 43.976037 deg. HeadingCmd: 0.767527 target range: 55.689339 and range: 55.90 m.h |D?h h h h g g jgrgQBereZe!:e!*e%`_`@[E!?[E!?"[E<@*[Ej?@UāBɢ]O<)Y ]1iY)] :*E H:VE4ZEa@a@a@a@9ԉԱ^A>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266794A% އAI) I9 OM > y'u%,ELA24@2bB@2U<ٱ2n=2H-Ÿቿ k?`@O?@?`?i24@I26^;2CY>By>sIbDZVDZ8yb[%bX=ٔb{:Q-f>9fd ?Yfd ?=fEyfFEjEj>lQ 5r5nie?Q 9r5nyC)nBYpyvn?@Q IvH@nwDIn;inB:nc5yzBɮzAx:i)=DNOT Ignoring new targets: 55.69 m.2iAEPowering the camera and arming the capture device at range: 55.90 m.iI"iM*iM] ProNav pure pursuit: ac range: 55.689339 m, nav range: 55.998169 m, bearing: 43.781942 deg, approach rate: 0.382879 m/s, LOS rate: -0.509870 deg/s, cmd heading: 43.976036 deg, new cmd heading: 43.781942 deg. eHeadingCmd: 0.764139 target range: 55.689339 and range: 55.90 m.heC?hahahahagigijgirgieqreqZeq:eq*euNn@颥ŁBɢ&<) ti)ַ<顩iw:i=?ԹIC?IqB7>BBYIBBB =BBB2;B6EUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519001E EE$E"E:*E:VE4ZEBEq%II O >A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770909+R{%,{LA2p4@2&cB@2``<ٱ2=2H畉?ಷ?>??i2p4@I2W^;0Y>By>fIbDF VDF8yNfP%NM=ٔR:Q-R>9PYP=VEyVJEVUEV>XQ 5^5ZnP?Q 9^5ZlB)ZBY`yb>@Q IbH@ZDIZY;iZ;Z5ydɮf;Ad:ixzDNOT Ignoring new targets: 55.69 m.2ixPowering the camera and arming the capture device at range: 55.90 m.i "iN*iN ProNav pure pursuit: ac range: 55.689339 m, nav range: 56.150623 m, bearing: 43.576695 deg, approach rate: 0.383677 m/s, LOS rate: -0.515136 deg/s, cmd heading: 43.781943 deg, new cmd heading: 43.576695 deg. %HeadingCmd: 0.760557 target range: 55.689339 and range: 55.90 m.h%ڳB?h!h!h!h!g)g)jgYrgaeireZe:e*e@@]ƁBɢ]j<)a mi)<顙iLF;i?IڳB?Ii xAAÞ9@xA@xAU>UR=]BDAT read: Rx Time:04:28:54.9599 eTRx dataTimestamp_ set to:1764908935.983048echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024180iE EEE"E:*EV:VEZEa@a@a@a@^A >ԙ I I O >a9%,&T LA:3@:.A@:~<ٱ:ͤ=:H Bkx1?@?`ܒ?@?i:3@I:'J^;:CY^BybeIimMb@Mb@Mb@iiii i9mRQ?9Y=EyMEE>Q 55^9?Q 95jA)BY"?Q E:y'@@Q IH@DIi ;i ;5yۓBɮAE:iimDNOT Ignoring new targets: 55.69 m.2iimPowering the camera and arming the capture device at range: 55.90 m.iiy"i *i  ProNav pure pursuit: ac range: 55.689339 m, nav range: 56.322868 m, bearing: 43.356536 deg, approach rate: 0.381454 m/s, LOS rate: -0.486072 deg/s, cmd heading: 43.576696 deg, new cmd heading: 43.356536 deg. HeadingCmd: 0.756714 target range: 55.689339 and range: 55.90 m.hA?hhhhchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275031ggjgrg7BereZe:e*eC @-ǁBɢ-N<)I UpiQ)UrI1 IA OU >B :>B JCB MIB BB =B B B I;B 6E DAT read: 04:28:54.9599 LVL= 32752, 19569, 24898, 29459, AGC= 65, IDX= 446,-0.20, 1.332,-2.772, 3.047, 2.974, PHS=-1.540, 0.582, 0.029, RAW= 284.5, 9.8, CAL= 282.6, 12.0, ROT= 227.4, -12.0  Ygot valid direction response: 04:28:54.9599 LVL= 32752, 19569, 24898, 29459, AGC= 65, IDX= 446,-0.20, 1.332,-2.772, 3.047, 2.974, PHS=-1.540, 0.582, 0.029, RAW= 284.5, 9.8, CAL= 282.6, 12.0, ROT= 227.4, -12.0  PExceeded connect timeout, disconnecting. PDAT read: Bearing 123.2, -41.5 (Local)  ~Local bearing/azimuth received: Bearing 123.2, -41.5 (Local)  DAT read: Range 11 to 50 : 57.5 m (Round-trip 76.7 ms) speed -0.4 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.662085,-0.720011,0.207912] Fpublishing direction and range infoya e sc_/xU hٜ?Ye fBa e e qLe Ba e s)e AIe ſie ?e he h՝@ e PwV>)e ~@Ie PwVa a e 4 Be)?"? e %7@)e !.Ie ie PwVa a  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. E  E E E "E :*E L_:VE ZE BE L3@>>A@><ٱ>=>H텿,Z.?`_`?ە`i?` ?i>L3@I>d^;>CYBy`IbD-VD-8y}X%}L=ٔ9Q->9Y=EyQEqE>Q 55#$?Q 95l@)BYy?@Q IH@DI:i:05yՓBɮ AEiiLAj!eB"j!eB:jͪ7?"pe eB\LD6'@psc_/xU hٜ?*j2jPwV*p|?FJE@p|B@"־"@pzj ? ȵ?^pO|?jB jP*Bi(?i:oj[BjjjrjaBzj@?} addTargetRange:: Added new target pos. range: 57.500000 m, deltaT: 3.779673 s, deltaX: 1.599998 m, approachRate: 0.423317 m/s, rangeRepo size: 2  Added new target pos. range: 57.283169 m, bearing: 41.106854 deg, lat: 36.779413 deg, lon: -121.859676 deg, deltaT: 3.779673 s, deltaX: 1.593830 m, approachRate: 0.421685 m/s, posRepo size: 2 :iDNOT Ignoring new targets: 57.28 m.2iPowering the camera and arming the capture device at range: 57.50 m.i"i*i ProNav: ac range: 57.283169 m, nav range: 56.480598 m, bearing: 43.153331 deg, approach rate: 0.000000 m/s, LOS rate: -0.486072 deg/s, cmd heading: 43.356535 deg, new cmd heading: 42.961796 deg. id^HeadingCmd: 0.749825 target range: 57.283169 and range: 57.50 m.h??hhhhggjgrgereZe:eL@*ec?uȁBɢu]}<)q u\Խiy)} BDAT read: Tx time:04:28:56.2291 $Ping request sent.I ) IA OQ Q ِ%,=LAYjBynXIprAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250657imMb@Mb@Mb@iiii i9mx&1?Mb`{GzYm!?ymm#im\A mGA)mAiYmA <p<bD VD8y(%H=ٔQ->9Y=EyTEE>Q 55?Q 95?)BY!?Q E:yA@Q IH@DI ;i ;5yϓBɮAB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 57.28 m.2iPowering the camera and arming the capture device at range: 57.50 m.i"i*i  ProNav: ac range: 57.283169 m, nav range: 56.645340 m, bearing: 42.953325 deg, approach rate: 0.424972 m/s, LOS rate: -0.514439 deg/s, cmd heading: 42.961798 deg, new cmd heading: 42.562956 deg. i^kHeadingCmd: 0.742864 target range: 57.283169 and range: 57.50 m.hQ,>?hhhhggjgrg1BereZe:e*e _?E EEE"EO:*E n:VEZEa@a@a@a@ʁBɢj<) i)o<iF ;i%?!)!I=Q,>?II-9Q^AM>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502556I I O- >ԁ zu%,qVLA02j2@2 @@2<ٱ2K=2Hs"¿@4T?૔DW?`,ó??i2j2@I28^;2CYBwByB<IbD^VD^8yvX%vW=ٔv39Q-v>9xYx=zEyzXEzIE~>Q 5 5?Q 9 5>)BY y ?@Q I H@DI:i:5yɮA:iDNOT Ignoring new targets: 57.28 m.2iPowering the camera and arming the capture device at range: 57.50 m.i"iD*iD ProNav: ac range: 57.283169 m, nav range: 56.796444 m, bearing: 42.764540 deg, approach rate: 0.382441 m/s, LOS rate: -0.476541 deg/s, cmd heading: 42.562956 deg, new cmd heading: 42.186395 deg. iZHeadingCmd: 0.736291 target range: 57.283169 and range: 57.50 m.h}BuKCBu:IBuuBBqBqBu˺DBur;Bu 7EB=ICB9B9B9B9C=D5ԑ5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754582MnManaging dock network, ignoring radio surface power offE EE#E"Em:*ET:VE3ZEBEV  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006555%,pLA2w1@2i?@2ɮ<ٱ2*c=2H9@_ÿ8?lj ?ؕ~f??i2w1@I2O7^;2CtYMByMOIbDmӿVDm8y=%A=ٔQ->9Y=Ey[EmE>Q 55(䑊?Q 95=)BYyI?@Q IH@DI:i:5yʓBɮ AE:iDNOT Ignoring new targets: 57.28 m.2iPowering the camera and arming the capture device at range: 57.50 m.i"in*in ProNav: ac range: 57.283169 m, nav range: 56.964432 m, bearing: 42.552496 deg, approach rate: 0.406891 m/s, LOS rate: -0.512085 deg/s, cmd heading: 42.186394 deg, new cmd heading: 41.763566 deg. iJjHeadingCmd: 0.728912 target range: 57.283169 and range: 57.50 m.h:?hhhh!g!g!jg!rg!e)re)Ze):e)*e-`،?́BɢTJ]<)  >i)<ie%.;iesf?iiIm:?Ii=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258441AE EE"E"Ea:*E]t:VE(3ZEa@a@a@a@^A ݑ>i A5 0AIA IQ O] >L%,LAF{90@F,>@FD<ٱFTە=FHԇſ(c?q``?@?0?iF{90@IF&^;FCYRxByV>IIZ;>)Z_?Z=Z=1iuMb@Mb@Mb@qqqq q9uT㥛 ?~jt?{GztYu!?yu9?Y?=Ey_E%CE>Q 55Α?Q 95<)ކBY!?Q E:y#@@Q IH@DI:i{:[5yēBɮdAE:iDNOT Ignoring new targets: 57.28 m.2iPowering the camera and arming the capture device at range: 57.50 m.i"i *i  ProNav: ac range: 57.283169 m, nav range: 57.126884 m, bearing: 42.354964 deg, approach rate: 0.400941 m/s, LOS rate: -0.486130 deg/s, cmd heading: 41.763567 deg, new cmd heading: 41.369634 deg. ij^HeadingCmd: 0.722036 target range: 57.283169 and range: 57.50 m.h_8?hhhh!g!g!jg!rg%Be)re)Ze):e1*e5 ?]΁Bɢ]e<)a e,ia)esԑBm C>Bi Bm 'IBm fBBm =Bi Bi Bm >;Bm 6EA I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.778507 bEe4jEe 4rEeA0E  E E &E "E :*E H:VE 4ZE BE 39!Y!=-Ey-cE-\ɼE->1Q 5=55?Q 9=55;)5چBYAyE?@Q IEH@5DI5+;i5;55yIɮM$AI:iquDNOT Ignoring new targets: 57.28 m.2iq}Powering the camera and arming the capture device at range: 57.50 m.iy"iR *iR  ProNav: ac range: 57.283169 m, nav range: 57.280334 m, bearing: 42.166549 deg, approach rate: 0.397873 m/s, LOS rate: -0.487223 deg/s, cmd heading: 41.369633 deg, new cmd heading: 40.993818 deg. i^HeadingCmd: 0.715477 target range: 57.283169 and range: 57.50 m.ԙh)7?hhhhggjgrgereZe:e*e@ЁBɢ+t3<)  i)A<ijl ;iE?I)7?I-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.031142^A>IIO>! ۮ%,RLAB#/@B<@B0o<ٱB=BHl(ȿ"~$?Wɲ?} ?`?iB#/@IB^;BCYNByRLIiUMb@Mb@Mb@QQQQ Q9U}?5^I?9Y=EygEE>Q 55?Q 95:)׆BY_"?Q E:y>@Q IH@DI:i:`5yBɮAEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 57.28 m.2iPowering the camera and arming the capture device at range: 57.50 m.i"i *i  ProNav: ac range: 57.283169 m, nav range: 57.446198 m, bearing: 41.960286 deg, approach rate: 0.396525 m/s, LOS rate: -0.491682 deg/s, cmd heading: 40.993819 deg, new cmd heading: 40.582492 deg. i` HeadingCmd: 0.708298 target range: 57.283169 and range: 57.50 m.h S5?h h h h ggjgrg,BereZe:e*e%t@MҁBɢMuJ;<)Q UiQ)UԹ Dȵ%,@LAB].@BDP<@B<ٱB =BHI\rɿqyR?G`Zβ?>?@?iB].@IBG-^;BCYNByNGI PPTVAbDZ#VDZͰ8yb%bV=ٔbPQ-f>9dYd=fEyfkEj޼Ej>lQ 5r5n?Q 9r5n9)nӆBYpyv)>@Q IvH@nȖDIn:in :n5yzBɮzAx:iDNOT Ignoring new targets: 57.28 m.2i%Powering the camera and arming the capture device at range: 57.50 m.i!"i%j *i%j 5 ProNav: ac range: 57.283169 m, nav range: 57.595863 m, bearing: 41.772032 deg, approach rate: 0.394194 m/s, LOS rate: -0.494539 deg/s, cmd heading: 40.582491 deg, new cmd heading: 40.206968 deg. i=Cb=HeadingCmd: 0.701744 target range: 57.283169 and range: 57.50 m.h=~3?hAhAhAhAgAgAjgIrgIeIreIZeQ:eQ*eU|@}ԁBɢ(#<) (i)t<顁im;iYS5?I~3?IԉBD>BB!IB`BB =BBB*;B,6Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.786483^A>II)E= E=E=&E9"E= ;*E=ą:VE=4ZE9BE=uT iA %,YLAIuA"BDAT read: Rx Time:04:28:58.7117 "TRx dataTimestamp_ set to:1764908939.790929&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.052108b-@b;@b5<ٱb=bHJ`ʿmv@֤?76?T&`u??ib-@Ib];bCYeByeNIbDVDŰ8y<%==ٔM[Q->9Y=EyoEkżE>Q 55y?Q 95<8)ІBYy|=@Q IH@іDI{;i;5yBɮA:i%DNOT Ignoring new targets: 57.28 m.2i!%Powering the camera and arming the capture device at range: 57.50 m.i!"i- *i5 = ProNav: ac range: 57.283169 m, nav range: 57.766403 m, bearing: 41.555008 deg, approach rate: 0.390107 m/s, LOS rate: -0.494971 deg/s, cmd heading: 40.206967 deg, new cmd heading: 39.774210 deg. iEvbEHeadingCmd: 0.694191 target range: 57.283169 and range: 57.50 m.hE1?hIhIhIhIgIgQjgQrgQeQreQZeY:eY*e]8 @-ցBɢ5"9<)1 5!i1)5<99i=;i=1?AAIE1?Ii I)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290544^ADA zDE @AEe  Ee Ee %Ea "Ee O:*Ee g:VEe 4ZEa a @a @a @a @ԡ I I O >%,z LA02#-@2:@2<ٱ2 ~=2H`~8 ̿@̅s?$` b?6? ?i2#-@I2];2CYNByRMIi%Mb@Mb@Mb@!!!! !9%S㥛?I +?Mbp?Y%$&?y%9<%;!%A !)%A!Y%AbDVD8y%K=ٔ.Q->9Y=EyrE׼E>Q 555d?Q 956)ΆBY>&?Q E:y=@Q IH@ږDIQ:i:5yBɮAE:iDNOT Ignoring new targets: 57.28 m.2iPowering the camera and arming the capture device at range: 57.50 m.i"i*i ProNav: ac range: 57.283169 m, nav range: 57.924957 m, bearing: 41.352841 deg, approach rate: 0.398257 m/s, LOS rate: -0.506415 deg/s, cmd heading: 39.774210 deg, new cmd heading: 39.370989 deg. igHeadingCmd: 0.687153 target range: 57.283169 and range: 57.50 m.hI/?hhh!h!g!g!jg!rg-(Be)re)Ze):e)*e5+@]؁BɢeZ"<)a e'ia)eϳIQȿiZd>>y(@¸2>R@ ^ Z>)t@I^ Zm#?RmC? G2@)3Ii^ ZT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A=x>IIO>B B B IB [BB B B B _~;B 5E  (DAT read: user:10>  BDAT read: Tx time:04:29:00.0791  $Ping request sent. 9 Y = Ey vE ؼE >Q 55tO?Q 9%55)͆BY!y%s<@Q I%H@DI;i;`5y-Bɮ-kA5EiiLAjQjB"jQjB:j/?"p&K5%A sNFl0(@p L-T_迵\ ?*j2j^ Z*p~?MA?jAB j2Bil?isjwBjl?j:ojrjYgBzj90?} addTargetRange:: Added new target pos. range: 58.799999 m, deltaT: 3.797203 s, deltaX: 1.299999 m, approachRate: 0.342357 m/s, rangeRepo size: 3  Added new target pos. range: 58.579380 m, bearing: 39.303470 deg, lat: 36.779422 deg, lon: -121.859693 deg, deltaT: 3.797203 s, deltaX: 1.296211 m, approachRate: 0.341359 m/s, posRepo size: 3 :iVStarting intercept timer at range: 58.80 m.DNOT Ignoring new targets: 58.58 m.2iPowering the camera and arming the capture device at range: 58.80 m.i"i*i ProNav: ac range: 58.579380 m, nav range: 57.837757 m, bearing: 39.441166 deg, approach rate: 0.000000 m/s, LOS rate: -0.506415 deg/s, cmd heading: 39.370990 deg, new cmd heading: 38.975318 deg. iHeadingCmd: 0.680248 target range: 58.579380 and range: 58.80 m.h$.?hhhhggjgrge!re!Ze!:e%`ffM@*e% XU?uځBɢu% <) -i)E<顙iB;i$.?I$.?I@]yA@]yAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252356^Au>A ڗAI I O >) *%,|?LAY|y|echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502966iMb@Mb@Mb@ 9Zd;O?Mb`Y~*?yA-A GA)Y=AbDVD8y;%@=ٔQ->9?Y?=EyzEE>Q 5]5E8?Q 9]53)ʆBY]*?Q E]:y]:@Q I]H@DI|;i;5yiɮmgAiB*** querying acoustic contact ***ii:iTStopped intercept timer at range: 58.80 m.DNOT Ignoring new targets: 58.58 m.2iPowering the camera and arming the capture device at range: 58.80 m.i"i*i ProNav: ac range: 58.579380 m, nav range: 58.009106 m, bearing: 39.218633 deg, approach rate: 0.391453 m/s, LOS rate: -0.506884 deg/s, cmd heading: 38.975317 deg, new cmd heading: 38.531575 deg. igHeadingCmd: 0.672503 target range: 58.579380 and range: 58.80 m.h&),?hhhhggjgrg2BereZe:e*e{?܁Bɢ٦<) P1i) *`<  i 9;D=D%=E EE&E"E :*E1]:VE4ZEa%@a%@a%@a%@i-&),?))I-&),?I1Iq^A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756500A AI I O >ԡ %,tYLAY~By~SIbD VD 8y<%%U=ٔ!Q-%>9-c?Y-c?=-Ey-~E)E->1Q 5=55S#?Q 9E55g2)5džBYAyAQ IEH@5DI5;i5;5p5yMBɮMAUE:iuy}VStarting intercept timer at range: 58.80 m.DNOT Ignoring new targets: 58.58 m.2iPowering the camera and arming the capture device at range: 58.80 m.i"i*i ProNav: ac range: 58.579380 m, nav range: 58.164639 m, bearing: 39.018741 deg, approach rate: 0.424247 m/s, LOS rate: -0.543785 deg/s, cmd heading: 38.531576 deg, new cmd heading: 38.132870 deg. ixHeadingCmd: 0.665544 target range: 58.579380 and range: 58.80 m.ha*?hhhhggjgrgereZe:e*e@B?ށBɢo<) f*i)_<i;ia*?Ia*?IBE>BB!IB`BB =BB̺DBr~;B5Euchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007048ԩE- E-E-#E)"E-:*E-V:VE-3ZE)BE-,A ېCI G% zAA u Ͽ9} zAY} 0AI1 O > % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259269>%,[sLA>-Z*@>L8@><ٱ>XS=>Hпa[?' d?3`?`?i>-Z*@I>];>CYJByJOI LLbDVVDV8y^ck%^Q=ٔ^=Q-^>9`Y`=bEybEfuEf>dQ 5n5f?Q 9n5f0)fĆBYlyn8@Q InH@fDIf;if;f5yvBɮvAt:i DNOT Ignoring new targets: 58.58 m.2iPowering the camera and arming the capture device at range: 58.80 m.i"iO*iO- ProNav: ac range: 58.579380 m, nav range: 58.317604 m, bearing: 38.810914 deg, approach rate: 0.390489 m/s, LOS rate: -0.529146 deg/s, cmd heading: 38.132871 deg, new cmd heading: 37.718316 deg. i-r5HeadingCmd: 0.658309 target range: 58.579380 and range: 58.80 m.h(?hhhhggjgrgereZe:e*eg:?Bɢ<) 4i)2<i%2);i%(?))I-(?II@Y@]= ^Au>u>u|?}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511127)A.AIIO>D! zD! E-  E- E- %E) "E- [:*E- L_:VE- 4ZE) a5 @a5 @a5 @a= @Y $%,0LA:)@:7@:Jמ<ٱ:p"}=:H@Eѿt`N:?@ο?ړ??i:)@I:];:CYFByF^IiMb@Mb@Mb@ 9MbX?MbpMb`?Y*?y;AA )AYAbD-VD-8yya=%==ٔ?NQ->9 ?Y ?=EyEʼE>Q 55?Q 95.)†BY*?Q E:y87@Q IH@DI ;i* ;5yBɮ$AE:iTStopped intercept timer at range: 58.80 m.DNOT Ignoring new targets: 58.58 m.2iPowering the camera and arming the capture device at range: 58.80 m.i"i)*i)  ProNav: ac range: 58.579380 m, nav range: 58.484093 m, bearing: 38.580493 deg, approach rate: 0.385580 m/s, LOS rate: -0.532123 deg/s, cmd heading: 37.718316 deg, new cmd heading: 37.258797 deg. i usHeadingCmd: 0.650289 target range: 58.579380 and range: 58.80 m.hRy&?hhhhggjgrg%6Be!re!Ze):e)A*e5?颥BɢB&<) !i)<项iH7 ;iRy&?IRy&?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764133IIa^Au}>ԑBBBBBBBB~;B5EBuKCBuKCBqBu =Bu =Cu64A AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014878Թ E=  E= E= &E9 "E= :*E= :VE= 4ZE9 BE= .9rc?Yrc?=rEyrEr6Ev>tQ 5z5vV␊?Q 9~5v,)vBY|y~6@Q I~H@v DIv;iv;v5y Bɮ A :i-5VStarting intercept timer at range: 58.80 m.5DNOT Ignoring new targets: 58.58 m.2i1=Powering the camera and arming the capture device at range: 58.80 m.i9"i=*iEM ProNav: ac range: 58.579380 m, nav range: 58.629158 m, bearing: 38.377374 deg, approach rate: 0.382021 m/s, LOS rate: -0.533579 deg/s, cmd heading: 37.258798 deg, new cmd heading: 36.853572 deg. iM tUHeadingCmd: 0.643216 target range: 58.579380 and range: 58.80 m.hUѩ$?hQhYhYhYgYgYjgargaeareaZei:ei*em@颕Bɢ5 <) D+i)<顡iG";iѩ$?Iѩ$?IԙiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268440^A#>AM.AIaIqO> E%,$LA:O(@:lB6@:<ٱ:~t=:H`ҿGे?m?rC O|?`?i:O(@I:];:CYFByFaIIJ>)JC=%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519050iMb@Mb@Mb@ 9&1?y&1Y0?y`evAA A)AY=AbD=VD=8yMݯ<%MA=ٔM:}Q-U>9U ?YU ?=UEyUE]|μE]>aQ 5m5eʐ?Q 9m5e?*)eBYm0?Q Eu:yu4@Q IuH@eDIeZ:ie:e5y=Bɮ=A=EeB*** querying acoustic contact ***iaia:im}TStopped intercept timer at range: 58.80 m.}DNOT Ignoring new targets: 58.58 m.2iy}Powering the camera and arming the capture device at range: 58.80 m.iy"i*i ProNav: ac range: 58.579380 m, nav range: 58.791500 m, bearing: 38.140259 deg, approach rate: 0.361585 m/s, LOS rate: -0.526669 deg/s, cmd heading: 36.853573 deg, new cmd heading: 36.380664 deg. ipHeadingCmd: 0.634962 target range: 58.579380 and range: 58.80 m.h"?hhhhggjgrgCBereZe:e*eB@E EE"E"E*E:VE(3ZEa@a@a@a@Bɢ!<) 'i)9ݨ<i$j$;i"?  I "?I^A5@o>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772169) Aa Ii Iy O >_%,ӼLA@6:'@6Ք5@6O/<ٱ6VQs=6H` ,7ӿ!@-?`v ?@E5d??i6:'@I6];4YVByZ`IbDbVDb8yj ݻ%jU=ٔj7Q-n>9lYl=nEyrErEr>tQ 5z5v?Q 9z5v()vBYxyzI4@Q I~H@vDIv:iv;v5yɮA:i--VStarting intercept timer at range: 58.80 m.5DNOT Ignoring new targets: 58.58 m.2i15Powering the camera and arming the capture device at range: 58.80 m.i1"i=+*i=+M ProNav: ac range: 58.579380 m, nav range: 58.937656 m, bearing: 37.924258 deg, approach rate: 0.407760 m/s, LOS rate: -0.601122 deg/s, cmd heading: 36.380665 deg, new cmd heading: 35.949744 deg. iMUHeadingCmd: 0.627441 target range: 58.579380 and range: 58.80 m.hU ?hQhQhQhQgYgYjgYrgYeareaZea:ea*emp @颕Bɢ q;) @/i)ާ<顙ix&;i ?I ?IBaBaBe.IBekBBaBaBaBe~;Be5EQUBDAT read: Rx Time:04:29:02.5636 UTRx dataTimestamp_ set to:1764908943.558794Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024002^A}>bEŻ 4jEŶ4rEE EE E"E:*E[:VE3ZEBEԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275065%,5LA2.&@24@2<ٱ2r=2H@Cl@ ӿhT??`](?@q Y?D?i2.&@I2];0Y>By>aI@bDJVDJ8yV*;%VM=ٔVQ-V>9XYX=ZEyZE^WռE^>`Q 5f5bß?Q 9f5b%)bBYdyf3@Q IjH@b'DIb:ibd:b|5ynBɮnA=E:iDNOT Ignoring new targets: 58.58 m.2iPowering the camera and arming the capture device at range: 58.80 m.i"i*i ProNav: ac range: 58.579380 m, nav range: 59.087715 m, bearing: 37.699861 deg, approach rate: 0.358601 m/s, LOS rate: -0.534886 deg/s, cmd heading: 35.949744 deg, new cmd heading: 35.502101 deg. itHeadingCmd: 0.619629 target range: 58.579380 and range: 58.80 m.h?hhhhggjgrgereZe:e*e3 @Bɢ  <)  ^2i ) Ӭ<  iĒ(;i?I?IԱDAT read: 04:29:02.5636 LVL= 25728, 17265, 20786, 27891, AGC= 59, IDX= 468,-0.10, 2.641,-1.672,-1.465,-1.926, PHS=-1.614, 0.299, 0.416, RAW= 267.0, 9.1, CAL= 265.9, 8.8, ROT= 244.1, -8.8 Ygot valid direction response: 04:29:02.5636 LVL= 25728, 17265, 20786, 27891, AGC= 59, IDX= 468,-0.10, 2.641,-1.672,-1.465,-1.926, PHS=-1.614, 0.299, 0.416, RAW= 267.0, 9.1, CAL= 265.9, 8.8, ROT= 244.1, -8.8 PDAT read: Bearing 110.5, -59.7 (Local) ~Local bearing/azimuth received: Bearing 110.5, -59.7 (Local) DAT read: Range 11 to 50 : 60.3 m (Round-trip 80.4 ms) speed -0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.431660,-0.888969,0.152986]Fpublishing direction and range infoyY]vPۿX5nr8C ?Y]3qBY]d]qC]2Q ]l)];I]οi]>]>]@]">]@ ]nF>)]T@I]nFYY][ӛzd1.?6~X? ]C$@)]w#I]'vi]nF^A0e>YYT****** 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 c:VE 4ZE a @a @a @a @ A I I O >q%,sLA.J&@.=4@.T<ٱ.Rn=.HQ{Կ`?s?bB`(?S ׭??i.J&@I.];.CYRByR^I TTli5Mb@Mb@Mb@1111 195kt?QMb`Y5 0?y5u55GA1 5A)5A1Y5AbDMVDM8y]W%]?=ٔeFrQ-e>9aYa=eEyeEmʼEm>yQ 55}n?Q 95}#)}BY+0?Q E:y2@Q IH@}1DI};i};}:5yBɮAEiiLAjKpB"jKpB:j8`L?"phu9AJqa"@pvPۿX5nr8C ?*j'v2jnF*pD-D@OͯbE@ @pDH2g3?޶|?t}7ƻ?i߱I߱(DAT read: user:11> BDAT read: Tx time:04:29:03.8291 $Ping request sent.i)7<i*;iL~?IL~?I@ =@ =9BeF>BaBe4IBepBBe =BaBaBe`~;Be5E^Am >m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250576i A I I O >E-  E- E- $E) "E- a:*E- ga:VE- 4ZE) BE- (By>WIbDJǿVDJx8yR>%RW=ٔRպQ-R>9TYT=VEyVEVEZ>XQ 5b5Zs?Q 9b5Z )ZBY`yf,2@Q IfH@Z9DIZ ;iZ ;Z5yhɮjAh:i~~VStarting intercept timer at range: 60.30 m.DNOT Ignoring new targets: 60.07 m."i2*i2 ProNav: ac range: 60.073875 m, nav range: 59.384716 m, bearing: 37.246520 deg, approach rate: 0.406233 m/s, LOS rate: -0.622732 deg/s, cmd heading: 35.025032 deg, new cmd heading: 34.600099 deg. iuHeadingCmd: 0.603886 target range: 60.073875 and range: 60.30 m.h@?hhhh!g!g!jg!rg!e)re)Ze):e)*e5c?9Bɢ ׁ;) Ni)J1<iq -;i@?I@?I!ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502505^AԑAIIO> %,9BLA^$@^u2@^<ٱ^c=^H տj??@@ `? @n?`6?i^$@I^^;\YnBynQIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754629imMb@Mb@Mb@iiii i9m9Y=EyEƼE>Q 5 5[?Q 9 5)BY3?Q E:y01@Q IH@CDI:i:Z 5y~BɮAIeB*** querying acoustic contact ***iaia:iu}TStopped intercept timer at range: 60.30 m.}DNOT Ignoring new targets: 60.07 m."i}M*i}M ProNav: ac range: 60.073875 m, nav range: 59.544907 m, bearing: 36.994732 deg, approach rate: 0.353158 m/s, LOS rate: -0.553599 deg/s, cmd heading: 34.600099 deg, new cmd heading: 34.097892 deg. iI}HeadingCmd: 0.595120 target range: 60.073875 and range: 60.30 m.hY?hhhhggjgrgEBereE EE%E"E:*EAr:VE 4ZEa@a@a@a@Ze:e*e@?5Bɢ=t;)9 =@_i9)=χ<9AiEԺ/;iY?IY?IԹ^A7>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006932A9 IA IQ Oe > %,C\LA2B$@2G52@2<ٱ2A]=2H7@!dֿ/n? F^?``ͬ?@ѣ? ?i2B$@I2v^;2CY>By>GIIBR=)B]>bDJVDJ8yj(%jY=ٔjQ-n>9lYl=rEyrErEr>tQ 5z 5v#G?Q 9z 5v)vBYxy~0@Q I~H@vKDIv;iv!;v 5y yBɮ A E:i-5VStarting intercept timer at range: 60.30 m.5DNOT Ignoring new targets: 60.07 m."i=+*i=+M ProNav: ac range: 60.073875 m, nav range: 59.681767 m, bearing: 36.777047 deg, approach rate: 0.378859 m/s, LOS rate: -0.601216 deg/s, cmd heading: 34.097892 deg, new cmd heading: 33.663531 deg. iMUHeadingCmd: 0.587539 target range: 60.073875 and range: 60.30 m.hUh?hQhQhQhQgQgQjgYrgYeareaZea:ea*ee ?颕Bɢ:) ti)4*<顙i"`2;ih?Ih?I@zA@zABG>BBBB =BBB,~;B5E5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258605!E EE$E"E2:*E:VE4ZEBE$*Ae؟AiIyIO>y i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510873/%,uLA2ܖ#@2w1@29 <ٱ2Z=2H&׿@/\r?`?@n8_?`{! NL?T?i2ܖ#@I2^;2CYB|ByBCIbDJ VDJ8yR0%RM=ٔVmQ-V>9V"?YZ"?=ZEyZEZ׼EZ>\Q 5b 5^l1?Q 9b 5^?)^BYdyf/@Q IfH@^TDI^:i^:^! 5yhɮjAh:iY]DNOT Ignoring new targets: 60.07 m."ie *ie u ProNav: ac range: 60.073875 m, nav range: 59.824543 m, bearing: 36.547077 deg, approach rate: 0.348406 m/s, LOS rate: -0.559838 deg/s, cmd heading: 33.663530 deg, new cmd heading: 33.204698 deg. iuHeadingCmd: 0.579531 target range: 60.073875 and range: 60.30 m.h*\?hhhhggjgrgereZe:e*eX?Q]Bɢe8;)a e!ia)epEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763102ԩADzDE EE%E"E:*EV:VE 4ZEa @a @a @a @I I O- > #%,LA6W"@60@6b{<ٱ6W=6H@׿*@u? H? k f?~_??i6W"@I6B^;6CYFByFHIieMb@Mb@Mb@aaaa a9ezG?{Gzt{GzYe 7?yeףe#evAeA eGA)aaYe=AbDVD8yڙ<%;=ٔ`Q->9Y=EyETʼE>Q 5 5?Q 9 5')BY7?Q E:yq0@Q II@^DI;iy; 5yuBɮAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014637Ա:iTStopped intercept timer at range: 60.30 m.DNOT Ignoring new targets: 60.07 m."i *i M ProNav: ac range: 60.073875 m, nav range: 59.988487 m, bearing: 36.291614 deg, approach rate: 0.362087 m/s, LOS rate: -0.562670 deg/s, cmd heading: 33.204698 deg, new cmd heading: 32.695185 deg. iUUHeadingCmd: 0.570639 target range: 60.073875 and range: 60.30 m.hU_?hYhYhYhYgYgYjgarge.BeareaZei:ei*em@\@BɢF;) ʀi)}<i%Nh8;i%_?IIIM_?IIBK>BB.IBkBB =BBB};B5E^A> U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267204A I I O >E  E E $E "E :*E g:VE 4ZE BE q%9Y=EyEE>Q 5 5?Q 9 5)BYyQ II@jDI:iN:Q 5ypBɮAE:iVStarting intercept timer at range: 60.30 m.DNOT Ignoring new targets: 60.07 m."i^.*i^. ProNav: ac range: 60.073875 m, nav range: 60.176300 m, bearing: 36.002905 deg, approach rate: 0.397917 m/s, LOS rate: -0.609774 deg/s, cmd heading: 32.695183 deg, new cmd heading: 32.119589 deg. i ~ HeadingCmd: 0.560593 target range: 60.073875 and range: 60.30 m.h ?h hhhggjgrgereZe:e!*e% @MBɢU]:)Q UiQ)UtAU .AI ԙ I O >1%,PLA6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770632f|d!@fW/@f -t<ٱfP=fHir ٿ@G;y? 6?g@?`W?`?if|d!@If9P^;fC p)pv94ttttivDIxxIxizCA z&zF)x| ~9~A~ף||lAI)i) I =~A Ļ  9~Aii) IYY-sBy-8IiMb@Mb@Mb@ 9A`"?~jth?{GzY9?yD;GAA A)AYAbDVD8y/}%t=ٔQ-?9 ?Y ?=EyE$E?Q 5 5cꏊ?Q 9 5/)BY9?Q E:y/@Q II@qDI /;i-;: 5y \Bɮ JAuEDD<E EE%E"E2:*E|:VE 4ZEa@a@a@a@B*** querying acoustic contact ***ii:iTStopped intercept timer at range: 60.30 m.DNOT Ignoring new targets: 60.07 m."i%*i%5 ProNav: ac range: 60.073875 m, nav range: 60.301643 m, bearing: 35.807173 deg, approach rate: 0.344960 m/s, LOS rate: -0.537558 deg/s, cmd heading: 32.119590 deg, new cmd heading: 31.728946 deg. iUu}HeadingCmd: 0.553775 target range: 60.073875 and range: 60.30 m.h}, ?hyhyhyhyggjgrg0BereZe:e*eD @BɢXI) ”i).Ι<i>;i, ?I, ?I %BDAT read: Rx Time:04:29:06.3156 %TRx dataTimestamp_ set to:1764908947.338864-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023707^AU#>1 A ؟AI I O >:7%,RLA2} @2.@2Dr<ٱ2PG=2H@*Mٿx?@˴?B2ة?UH?h?i2} @I2M^;2CB%N>B%LCB%'IB%fBB% =B!B!B%M};B%A5EBBBB =B =C65YjBy,IbDVD8y;%N=ٔ֙Q->9"?Y"?=EyE$E>Q 5 5;ԏ?Q 9 51 )BYy.@Q II@zDI;i; 5yɮA:iVStarting intercept timer at range: 60.30 m.DNOT Ignoring new targets: 60.07 m."i%A5*i%A55 ProNav: ac range: 60.073875 m, nav range: 60.448769 m, bearing: 35.573890 deg, approach rate: 0.400737 m/s, LOS rate: -0.633864 deg/s, cmd heading: 31.728947 deg, new cmd heading: 31.263527 deg. i5=HeadingCmd: 0.545651 target range: 60.073875 and range: 60.30 m.h=ѯ ?h9h9h9h9gAgAjgArgAeIreIZeI:eI*eM@^ @} Bɢ}X)y }5i)<顁i@B;iѯ ?Iѯ ?IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274796E EE$E"E:*Eg:VE4ZEBEG-A.AIIO>Ա m DAT read: 04:29:06.3156 LVL= 24368, 16913, 17106, 25923, AGC= 62, IDX= 456,-0.24,-0.240, 1.515, 2.013, 1.410, PHS=-1.548, 0.150, 0.559, RAW= 259.5, 8.7, CAL= 258.3, 8.3, ROT= 251.7, -8.3 u Ygot valid direction response: 04:29:06.3156 LVL= 24368, 16913, 17106, 25923, AGC= 62, IDX= 456,-0.24,-0.240, 1.515, 2.013, 1.410, PHS=-1.548, 0.150, 0.559, RAW= 259.5, 8.7, CAL= 258.3, 8.3, ROT= 251.7, -8.3 } PDAT read: Bearing 98.7, -67.3 (Local)  ~Local bearing/azimuth received: Bearing 98.7, -67.3 (Local)  DAT read: Range 11 to 50 : 61.8 m (Round-trip 82.4 ms) speed -0.4 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.310704,-0.939481,0.144356] Fpublishing direction and range infoyA E ZӿR D:'ЌCz?YE 3wBA E 0_E BE B E Ce)E >IE $ƿiE >E ?E @E |>E C@ E V>)E g@IE VA A E -b Jُ?(ld? E e@)E ɿIE iE VA A  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.v=%,xLA,R@Rx-@Rh<ٱRD=RH C'dbڿ{?N_? ]? ??iR@IRK^;RCYy-II>)=bDݿVD8yJ;%B=ٔ$Q->9% ?Y% ?=%Ey%E-ݼE->1Q 5= 55ʼ?Q 9= 55)5BY9y=/.@Q I=I@5DI5:i5p:5` 5yMXBɮMjAIiIiM"LAjMFvB"jMFvB:jM2qT?"pMg;!3'#wL\ !@pMZӿR D:'ЌCz?*jM2jMV*pML5D@fgF@1@pM r{?at{?,i?jM4B jMW%BiM3X?iMG|djM*BjIjIjM[BrjMirBzjM? addTargetRange:: Added new target pos. range: 61.799999 m, deltaT: 3.779726 s, deltaX: 1.500000 m, approachRate: 0.396854 m/s, rangeRepo size: 4  Added new target pos. range: 61.569290 m, bearing: 47.547031 deg, lat: 36.779422 deg, lon: -121.859693 deg, deltaT: 3.779726 s, deltaX: 1.495415 m, approachRate: 0.395641 m/s, posRepo size: 4 :i TStopped intercept timer at range: 61.80 m. DNOT Ignoring new targets: 61.57 m."i*i% ProNav: ac range: 61.569290 m, nav range: 60.603333 m, bearing: 35.325385 deg, approach rate: 0.000000 m/s, LOS rate: -0.633864 deg/s, cmd heading: 31.263528 deg, new cmd heading: 30.714820 deg. i!%HeadingCmd: 0.536075 target range: 61.569290 and range: 61.80 m.h-2< ?h)h1h1h1g1g1jg9rg9e9re9Ze9:eE`fN@*eE`?ԑBɢ%؟9)I MiQ)]K BDAT read: Tx time:04:29:07.5791 $Ping request sent. A I I O >_D%,ULAV4@V!'-@VmGb<ٱV4B=\VH] ۿD~??@?H`C??iV4@IVk"^;TYfeByf'Ii}Mb@Mb@Mb@yyyy y9}n?I +?MbY}6?y}9<}yy }GA)yyY}AbDVD8y#ȼ%R=ٔQ->9Y=EyEE>Q 5 5W?Q 9 5)BY6?Q E:y*/@Q II@DIQ:checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250616i: 5ySBɮmAtE:iDNOT Ignoring new targets: 61.57 m."is'*is'% ProNav: ac range: 61.569290 m, nav range: 60.748440 m, bearing: 35.102671 deg, approach rate: 0.382444 m/s, LOS rate: -0.585582 deg/s, cmd heading: 30.714821 deg, new cmd heading: 30.270466 deg. i%-HeadingCmd: 0.528319 target range: 61.569290 and range: 61.80 m.h5??h1h1h1h1g1g1jg9rg=Be9re9ZeA:eA*eEv?Bɢ\) Ǭi)씓<iJ;i??I??IBBBIB[BB =BBB};B)5E^AUx>A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502894I I O >9 bEJ4jE4rE6/E  E E "E "E D:*E X:VE (3ZE BE 19)Y)=-Ey5E5E5>9Q 5E 5=둏?Q 9E 5=)=BYIyMi.@Q IMI@=DI=:i=:=1! 5yQɮUAQ:iDNOT Ignoring new targets: 61.57 m."i*i  ProNav: ac range: 61.569290 m, nav range: 60.892242 m, bearing: 34.878556 deg, approach rate: 0.355388 m/s, LOS rate: -0.552559 deg/s, cmd heading: 30.270466 deg, new cmd heading: 29.823305 deg. i |HeadingCmd: 0.520515 target range: 61.569290 and range: 61.80 m.hv@?hhhhggjg!rg!e!re)Ze):e1*e= ?颍Bɢ ) i)~ <顡iUO;iv@?Iv@?I)iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754733^A5}>YAi Iq I O >ԁ ݀Q%,9Y=EyEE>EU EUEU&EQ"EU;*EUxv:VEU4ZEQa]@a]@ae@ae@Q 5e 5hz?Q 9m 5)BYm%7?Q E:y/@Q II@DIA ؟AI I O >W%,`LA2@2d*@28-R<ٱ2F?=2Hǀݿ?@j?2w@E?wE?e?i2@I2^;2CY>RBy>IBFK>BDBFIBFLBBF =BDBDBF};BF5EbDVVDV8y^;%\=ٔ Q- >9 "?Y"?=EyEtE>Q 5% 5Te?Q 9% 5-)BY)y-.@Q I-I@DI:i:7( 5y5JBɮ5A5rE:iaeDNOT Ignoring new targets: 61.57 m."imn.*imn.} ProNav: ac range: 61.569290 m, nav range: 61.199524 m, bearing: 34.422338 deg, approach rate: 0.408514 m/s, LOS rate: -0.609992 deg/s, cmd heading: 29.345276 deg, new cmd heading: 28.913190 deg. i}HeadingCmd: 0.504630 target range: 61.569290 and range: 61.80 m.hu/?hhhhggjgrgereZe:e*e`?ԹBɢ X) < ˾i)<i9Y;iu/?Iu/?I=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510733Eq EuEu#Eq"Eq*EuX:VEu3ZEqBEu@AIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7626979 +]%,'yLA2|@2 *@2xO<ٱ29=2HjP8ݿT?"?YGY?`6??i2|@I2^;2CY>YBy>IbDFVDF8yN=%NL=ٔRݹQ-R>9PYP=VEyVEVEV>XQ 5^ 5ZO?Q 9^ 5Z,)ZBY`yb.@Q IbI@ZDIZ;iZU;Z+ 5yfFBɮfkAd:ixzDNOT Ignoring new targets: 61.57 m."i~"*i~"  ProNav: ac range: 61.569290 m, nav range: 61.345608 m, bearing: 34.199773 deg, approach rate: 0.374674 m/s, LOS rate: -0.569471 deg/s, cmd heading: 28.913191 deg, new cmd heading: 28.469132 deg. i FHeadingCmd: 0.496880 target range: 61.569290 and range: 61.80 m.hg>hhhhggjgrgereZe:e*e[@"Bɢ6*) %)ɾi!)%T))I-g>I1IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014860^A>qE EE$E"EO:*E~:VE4ZEa@a@a@a@Aa Ii Iy O >ԡ -d%,nLA29L@2>)@2.LQ<ٱ2uQ7=2H޿??`@? W)?!?i29L@I2];2CY>RBy>IIB)>)B99Y9==Ey=EEbEE>AQ 5M 5E8?Q 9U 5E)E~BYU:?Q EU:yU.@Q I]I@EDIEz ;iE ;ET/ 5yaɮeAa:iDNOT Ignoring new targets: 61.57 m."i%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266587*i%% ProNav: ac range: 61.569290 m, nav range: 61.508518 m, bearing: 33.954516 deg, approach rate: 0.384498 m/s, LOS rate: -0.577315 deg/s, cmd heading: 28.469132 deg, new cmd heading: 27.979930 deg. i%MHeadingCmd: 0.488342 target range: 61.569290 and range: 61.80 m.hM>hIhQhQhQgQgQjgYrg]BeYreYZeY:ea*ee@k^@i &Bɢ @=) Ӿi)l<i~c;i>I%>I!ԙB}G>B}KCB}IB}BBB} =ByByB}~;B}5E^AMx>M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518419Ay I I O >E}  E} Ey Ey "E} :*E} [:VEy ZEy BE} q%9xY|=~Ey~EE> Q 5  5 "?Q 9 5 ) {BYyL-@Q II@ ėDI :i 2: 2 5y%BBɮ%A%qE:iAMDNOT Ignoring new targets: 61.57 m."iM%*iU%e ProNav: ac range: 61.569290 m, nav range: 61.658440 m, bearing: 33.725141 deg, approach rate: 0.379356 m/s, LOS rate: -0.578988 deg/s, cmd heading: 27.979930 deg, new cmd heading: 27.522307 deg. ieseHeadingCmd: 0.480355 target range: 61.569290 and range: 61.80 m.hm>hihihihigqgqjgrgereZe :e *e @额*Bɢ}_) پi)<项ii;i>I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7709035+:) ^A] #>a u >u < BDAT read: Rx Time:04:29:10.0671  TRx dataTimestamp_ set to:1764908951.125854 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032268A II!O5>Zr%,KuLAE. E.E,E,"E.a:*E.X:VE,ZE,a2@a6@a6@a6@Jq@J '@JjP<ٱJv.=JH ?߿`?J?@@%?`̥??iJq@IJ^;JCYVMByZ Ii5Mb@Mb@Mb@1111 195Q??MbP?Y55?y5L=5:5A1 5GA)5A1Y5AQbDMVDM8yeք%e*=ٔe9Q-m>9iYi=mEymEuټEu>yQ 5 5} ?Q 9 5})}zBY56?Q E:y,@Q II@}ϗDI}Q:i}:}6 5y/BɮAgE-B*** querying acoustic contact ***i)i):i9=DNOT Ignoring new targets: 61.57 m."iE*iEu ProNav: ac range: 61.569290 m, nav range: 61.831760 m, bearing: 33.452167 deg, approach rate: 0.349308 m/s, LOS rate: -0.548605 deg/s, cmd heading: 27.522307 deg, new cmd heading: 26.977906 deg. iu{HeadingCmd: 0.470853 target range: 61.569290 and range: 61.80 m.h>hhhhggjgrgBereZe:e*e v @颕0Bɢ=H) i)<顙io;i>I>Iԁ &<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274581ԩ^A8j>B C>B B IB 8BB =B B ˺DB ~;B 6E A .AI I O >yx%,q;LAYyA p<bDVD8y-;%-N=ٔ5Q-5>95 ?Y5 ?=5EmDAT read: 04:29:10.0671 LVL= 24864, 16401, 16194, 26675, AGC= 58, IDX= 456,-0.39, 3.001,-1.725,-0.936,-1.653, PHS=-1.527,-0.027, 0.673, RAW= 251.9, 9.1, CAL= 251.0, 9.5, ROT= 259.0, -9.5 uYgot valid direction response: 04:29:10.0671 LVL= 24864, 16401, 16194, 26675, AGC= 58, IDX= 456,-0.39, 3.001,-1.725,-0.936,-1.653, PHS=-1.527,-0.027, 0.673, RAW= 251.9, 9.1, CAL= 251.0, 9.5, ROT= 259.0, -9.5 }PDAT read: Bearing 77.9, -72.7 (Local) ~Local bearing/azimuth received: Bearing 77.9, -72.7 (Local) DAT read: Range 11 to 50 : 62.9 m (Round-trip 83.9 ms) speed -0.3 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.188192,-0.968165,0.165048]Fpublishing direction and range infoy9=ȿ}Iݶ4G ?Y={B9= a=@=B? =3h)=:I=tÿi=/ݼ=I,?=@=">=R/@ =)>)=$@I=)99=βS/]? }8? =I@)=u"I=ۢi=)99T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Թy=EE>Q 5 5?Q 9 5W)xBYyQ II@ٗDI:i|:: 5yɮ Ai9i=LAj=zB"j=zB:j=4[?"p='dI ?$"?j=QhihihihqgqgqjgyrgyeyreZe:e@3sO@*eah? 9AE} E}E}&Ey"E}:*E}V:VE}4ZEyBE}QYI]#>IY(DAT read: user:13> BDAT read: Tx time:04:29:11.3791 $Ping request sent.iAIIO?`%,YLARchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.253497U@U5&@UJ<ٱU'=UHP:??`tI ?@?@?iU@IU^];UCYmJBymIԁiMb@Mb@Mb@ 9A`"?V-?MbPY9?ym=DzDAAE EE'E"E:*EAr:VE'4ZEa@a@a@a@A A)GAYAbD VDʰ8y 4%  =ٔ A9Q->9Y=EyE6E>!Q 5- 5%Ҏ?Q 9- 5%p)%vBY59?Q E5:yU +@Q IUI@%DI%;i%;%? 5y]+Bɮ]A]fE:iDNOT Ignoring new targets: 62.66 m."i 0*i 0= ProNav: ac range: 62.663681 m, nav range: 61.950027 m, bearing: 40.832651 deg, approach rate: 0.271891 m/s, LOS rate: -0.615666 deg/s, cmd heading: 26.537290 deg, new cmd heading: 25.829774 deg. i=׌=HeadingCmd: 0.450815 target range: 62.663681 and range: 62.90 m.hE,>hAhAhAhAgAgAjgIrgBereZe:e*eq?ԩM;BɢM[)Q UiQ)Uj qI,>I=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502842^A > A ؟AI I B B>B B IB 3BB =B B B ;B 6EBBBBBC̴F5O >-%,K"LAR G@R9%@RD<ٱR6%=RHn@;A??֤? 񖈿??iR G@IR:];RCYb=BybIbDjVDj°8yr%rf=ٔrnQ-v>9v"?Yv"?=vEyzEz0 Ez>|Q 5 5~^?Q 9 5~M)~uBYyY*@Q I I@~DI~;i~;~B 5y'BɮMAeE):i9EDNOT Ignoring new targets: 62.66 m."iE5*iE5 ProNav: ac range: 62.663681 m, nav range: 62.045807 m, bearing: 40.611145 deg, approach rate: 0.274919 m/s, LOS rate: -0.634811 deg/s, cmd heading: 25.829774 deg, new cmd heading: 25.387457 deg. i8HeadingCmd: 0.443095 target range: 62.663681 and range: 62.90 m.hO>hhhhggjgargaeireiZei:ei*em@?额>Bɢ6ż) ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754943)kIO>IYE EE&E"E:*E1]:VE4ZEBE<A I! I1 O= > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006789Ա +O%,q9dYh=jEyjEjKEj>lQ 5r 5n驎?Q 9v 5n)nsBYtyv)@Q IvI@nDIn:int:n*F 5yz#BɮzA|Թ:i!%DNOT Ignoring new targets: 62.66 m."i-}$*i-}$= ProNav: ac range: 62.663681 m, nav range: 62.150826 m, bearing: 40.362793 deg, approach rate: 0.243655 m/s, LOS rate: -0.575229 deg/s, cmd heading: 25.387456 deg, new cmd heading: 24.891605 deg. i=EHeadingCmd: 0.434440 target range: 62.663681 and range: 62.90 m.hEn>hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*e]zE?颅CBɢ') (i)d<顉i4;imn>qqIun>Iq%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261601^A>D1D5=E= E=E=%E9"E=:*E= H:VE= 4ZE9aE@aE@aE@aE@A .AI I O >9 7%,ULA2ȫ@2b#@2W(<ٱ2$=2H- ",?`?$?N??i2ȫ@I2& ^;2CY>IBy>IiMb@Mb@Mb@ 9ףp= ?X9v?{GztY>?y}=ףGAA )AY=AbDVDŰ8y-=%-D=ٔ-[Q-5>95 ?Y5 ?=5Ey5E=9E=>AQ 5M 5E㒎?Q 9M 5E)EqBYMb??Q EU:yU(@Q IUI@EDIEf:iEo:EI 5echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510859y1ɮ=A9mB*** querying acoustic contact ***iiii:iDNOT Ignoring new targets: 62.66 m."im6*im6 ProNav: ac range: 62.663681 m, nav range: 62.262592 m, bearing: 40.094891 deg, approach rate: 0.266631 m/s, LOS rate: -0.637959 deg/s, cmd heading: 24.891605 deg, new cmd heading: 24.356780 deg. i񑼝HeadingCmd: 0.425106 target range: 62.663681 and range: 62.90 m.h~>hhhhggjgrgBereZe:e*e?eHBɢe )i mi)]<顑i;i~>I~>IABE>BBBB =BBB;BZ6E^A>q5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767094A ؟AI I O bEjE 4rEd/EM  EM EM "EI "EM :*EM V:VEM (3ZEI BEM q%9m"?Yu"?=uEy}E[E>Q 5 5{?Q 9 5)oBYy/(@Q II@ DI#hhhhggjgrgereZe:e*e`@ MBɢ) i)AW<i ;i5>11I5>I9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014863ԡ^Au0e>Iq & dClearing failed state for component DockingStepperq I O > = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269310L%,jLAzd@z"@z<ٱz,=zHD=N@U?~P?5uD?'@h?g?izd@Iz^];xY LBy IADzD?AE EE%E"E:*E1]:VE 4ZEa@a@a@a@iMb@Mb@Mb@ 9Gz?v/?MbpYp=?yxi=vAA )AYA ))bD5*VD5Ӱ8y=f+=%E<=ٔE*Q-E>9AYI=MEyMEMrEU>QQ 5] 5Ud?Q 9e 5U)UmBYe>?Q Ee:ye&@Q IeI@UDIU:iU:U/Q 5yuBɮuvAucE:iDNOT Ignoring new targets: 62.66 m."ir:*ir: ProNav: ac range: 62.663681 m, nav range: 62.479832 m, bearing: 39.552793 deg, approach rate: 0.256359 m/s, LOS rate: -0.652020 deg/s, cmd heading: 23.816205 deg, new cmd heading: 23.274506 deg. i(HeadingCmd: 0.406217 target range: 62.663681 and range: 62.90 m.h>hhhhggjgrgBereZe:e*e@RBɢ) i)P<顡iEc;i>I>I 4Initializing EZServoServo.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518799 8Initializing DockingStepper.! ^A (`>A xAzA xAB L>B LCB IB .BB =B B ̺DB ;B c6EQ I I O>P%,LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770670Y%ABy%IbD5'VD5а8yEW%E?=ٔMQ-M>9IYI=UEyUEUEU>YQ 5e 5]M?Q 9e 5]E)]lBYiyiQ ImI@] DI]:i]:]T 5qy}Bɮ}A}bE:iDNOT Ignoring new targets: 62.66 m."i5*i5 ProNav: ac range: 62.663681 m, nav range: 62.588856 m, bearing: 39.279591 deg, approach rate: 0.254324 m/s, LOS rate: -0.636197 deg/s, cmd heading: 23.274507 deg, new cmd heading: 22.729072 deg. iHeadingCmd: 0.396697 target range: 62.663681 and range: 62.90 m.h>hhhhggjgrgereZe:e*ec@WBɢ ȼ)  , i ) .H<i( ;i>I>IEU EUEU'EQ"EUm:*EUVL:VEU'4ZEQBEUVIYIiO}Y>iIBDAT read: Rx Time:04:29:13.8686 TRx dataTimestamp_ set to:1764908954.899035checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024080 ;9%, LA2@2L@2A;ٱ2*=2HӋBΔ?@DE? @Oޢ?~|x S?@?i2@I2^;0YLyNIbDV1VDVڰ8y^\;%^T=ٔ^Q-^>9`Y`=bEybEfýEf>hQ 5n 5j9?Q 9n 5j5)jjBYlyn$@Q IrI@j)DIjD;ij;jKX 5yv Bɮv;AvYE:i DNOT Ignoring new targets: 62.66 m."i8*i8% ProNav: ac range: 62.663681 m, nav range: 62.678486 m, bearing: 39.030642 deg, approach rate: 0.232773 m/s, LOS rate: -0.645602 deg/s, cmd heading: 22.729072 deg, new cmd heading: 22.231901 deg. i--HeadingCmd: 0.388020 target range: 62.663681 and range: 62.90 m.h->h1h1h1h1g1g1jg9rg9e9re9ZeA:eA*eE`w @m\Bɢu)q uD iq)}AI>IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277269Ey E}E}"Ey"Ey*E}V:VE}(3ZEya@a@a@a@^AIiIO>1Q  DAT read: 04:29:13.8686 LVL= 26224, 19105, 15858, 25747, AGC= 57, IDX= 440,-0.16,-1.690,-0.275, 0.744,-0.108, PHS=-1.480,-0.122, 0.808, RAW= 246.2, 8.0, CAL= 245.2, 8.7, ROT= 264.8, -8.7  Ygot valid direction response: 04:29:13.8686 LVL= 26224, 19105, 15858, 25747, AGC= 57, IDX= 440,-0.16,-1.690,-0.275, 0.744,-0.108, PHS=-1.480,-0.122, 0.808, RAW= 246.2, 8.0, CAL= 245.2, 8.7, ROT= 264.8, -8.7  PDAT read: Bearing 54.2, -77.1 (Local)  ~Local bearing/azimuth received: Bearing 54.2, -77.1 (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: [-0.089590,-0.984426,0.151261]E Fpublishing direction and range infoy  ^ﶿe!^(jni\?Y 3B pf J = d) 9I pi #_%,LA N? @ 5> @ |>) h@I | iزW?jg? 9 @) JI ˭Կi | *T****** received valid address query *******R****** received valid ping request *******Querying Benthos address 50 with one ping in standard two-way mode.B"@B@B7;ٱB1#=BHO!~?˓?I`?s d?f?iB"@IB^;@YN-ByRIIV>)V;1iuMb@Mb@Mb@qqqq q9uGz?y&1?~jtxYqyu`e=uĻqq uA)uAqYqbDVDɰ8y%0=ٔQ->9Y=Ey EԼE>Q 5 5 ?Q 9 5 )iBY=?Q E:y#@Q II@4DIQ:i:n\ 5y Bɮ-A5XEi i VLAj pB"j pB:j }R?"p  p1YTnOQ#@p ^ﶿe!^(jni\?*j ˭Կ2j |*p ʽE@f7AG@hɆó@p ?ꩈHN?26ü?j :B j ,Bi {9V?i Cwj Bj 3X?j G|dj Brj {Bzj >? addTargetRange:: Added new target pos. range: 64.099998 m, deltaT: 3.779944 s, deltaX: 1.199997 m, approachRate: 0.317464 m/s, rangeRepo size: 4 BBBBB =BBBb;BN6E Added new target pos. range: 63.860348 m, bearing: 47.139006 deg, lat: 36.779349 deg, lon: -121.859579 deg, deltaT: 3.779944 s, deltaX: 1.196667 m, approachRate: 0.316583 m/s, posRepo size: 4 :i  DNOT Ignoring new targets: 63.86 m."i*i% ProNav: ac range: 63.860348 m, nav range: 62.915192 m, bearing: 42.718846 deg, approach rate: 0.000000 m/s, LOS rate: -0.645602 deg/s, cmd heading: 22.231900 deg, new cmd heading: 21.599926 deg. i!MHeadingCmd: 0.376990 target range: 63.860348 and range: 64.10 m.hM>hIhIhIhIgQgQjgQrgUւBeYreYZeY:e]`fP@*e]@E?bBɢNB׼) i)7<it;i>I>IaM%=IM(DAT read: user:14> UBDAT read: Tx time:04:29:15.1790 ]$Ping request sent.]%,=LA2#@2^@2/;ٱ2 c!=2H@| ?`?`P&?`Bq`*?@?i2#@I2Q^;0Y>3By>IbDJ"VDJ̰8yN=%Rj=ٔRۺQ-R>9TYT=VEyZEZEZ>\Q 5b 5^4?Q 9b 5^c)^gBYdyf"@Q IfI@^h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5?]fBɢe\)a e?ia)eg1<iJ;i>I>IAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252589q^AƂ>I IO-p>ԙ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506574 D) zD) E5  E5 E5 $E1 "E5 :*E5 i:VE5 4ZE1 a= @a= @a= @a= @x%,^LA2M@2-@@2X^_;ٱ2]!=2H U8̖?;? ?k`U*??i2M@I2q0^;2CY>%By>Ia@a iMb@Mb@Mb@ 9X9v?p= ף?{GzY=?y=# A)GAIbDVD8y%7=ٔQ->9Y=EyEE> Q 5 5 ?Q 9 5 }) eBY>?Q E:y"@Q II@ GDI r;i ; Lc 5y!ɮ%A):iDNOT Ignoring new targets: 63.86 m.Ա"iP7*iP7 ProNav: ac range: 63.860348 m, nav range: 63.050484 m, bearing: 42.201301 deg, approach rate: 0.168991 m/s, LOS rate: -0.641065 deg/s, cmd heading: 21.151448 deg, new cmd heading: 20.566001 deg. iHeadingCmd: 0.358944 target range: 63.860348 and range: 64.10 m.hǷ>hhhhg)g1jg1rg1e1re9Ze9:e9*e=@?lBɢ-M)) -#i1)5ڰ'<11i5E;i=Ƿ>99I=Ƿ>IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756417^A> B D>B KCB B B B B ˺DB ;B y6EA I I O >9 c%,(LA2$y@2k@2F0;ٱ2#"=2H g+?֍?1 rj?f@C??i2$y@I21^;2CY>-By>I @@DFAbDJVDJ8yR:=%Rc=ٔRkQ-V>9TYT=VEyVEZXEZ>\Q 5b 5^半?Q 9b 5^q)^cBY`yb "@Q IfI@^PDI^Y;i^3;^sf 5yjBɮjAjWErchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008528:i DNOT Ignoring new targets: 63.86 m."i A*i A ProNav: ac range: 63.860348 m, nav range: 63.110809 m, bearing: 41.963691 deg, approach rate: 0.172299 m/s, LOS rate: -0.678002 deg/s, cmd heading: 20.566000 deg, new cmd heading: 20.091246 deg. i%%HeadingCmd: 0.350658 target range: 63.860348 and range: 64.10 m.h%>h)h)h)h)g)g)jg1rg1e1re1Ze1:e !=zAQ*eE`?9zAYAE EE(E"E:*ET:VEc44ZEBEq%I>I@=@=9^A->checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260996i A% .AI) I9 OM >.%,mBLA 2 @2@2w;ٱ2)=2H aA`Z?k? 2<ɟ?M5b??i2 @I2T^;2CYn+BynIbDzBVDz8y*%D=ٔ>Q->9  ?Y  ?= Ey EE>Q 5% 5VЍ?Q 9% 5)aBY!y%4!@Q I%I@YDI;i|:j 5y1ɮ5A1:iQ]DNOT Ignoring new targets: 63.86 m."ieL=*ieL=m ProNav: ac range: 63.860348 m, nav range: 63.177860 m, bearing: 41.689092 deg, approach rate: 0.161815 m/s, LOS rate: -0.661987 deg/s, cmd heading: 20.091246 deg, new cmd heading: 19.542650 deg. iupuHeadingCmd: 0.341084 target range: 63.860348 and range: 64.10 m.hu>hyhyhyhygygyjgrgereZe:e*e u ?颽tBɢH) $i)Q<i;i>I>Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.516572E EE&E"Ea:*Ex:VE4ZEa @a@a@a@^Ae(>ԙA؟AIIO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764385N%,\LAF @F@F":ٱF׼=FH@U`)F}?-?k?@UdPT֣?`?iF @IFB^;FCPYV9ByVIa5a5 i5Mb@Mb@Mb@1111 195Zd;O?Dl?~jthY5j9e"?Ye"?=eEye EmHEm>qQ 5} 5uj?Q 9} 5u)qY}>=?Q E:y @Q II@ucDIu ;iu;um 5yBɮ AVE:i5DNOT Ignoring new targets: 63.86 m."i=:*i=:M ProNav: ac range: 63.860348 m, nav range: 63.243664 m, bearing: 41.417132 deg, approach rate: 0.158266 m/s, LOS rate: -0.653415 deg/s, cmd heading: 19.542650 deg, new cmd heading: 18.999314 deg. iMzUHeadingCmd: 0.331601 target range: 63.860348 and range: 64.10 m.hUǩ>hqhqhqhqgqgyjgyrg}΂BeyreZe:e*e@@B=@>B=JCB=IB=3BB= =B9B9B=6;B=6EBBBBBC±c5yBɢZ)  i)7<i}ѭ;iǩ>Iǩ>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016321^A}>E  E E E "E :*E [:VE ZE BE a- 2E a- JE C;a- :E C;a5 I I ! O= >_%,tbvLAYr7ByvIz=z=|bDVDð8yE %ML=ٔMQ-M>9IYQ=UEyU$EUEU>YQ 5e 5]2?Q 9m 5]U)YYiyiQ ImI@]mDI]:i]:]9q 5yuBɮu A}LEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 63.86 m."iv:*iv: ProNav: ac range: 63.860348 m, nav range: 63.308609 m, bearing: 41.154842 deg, approach rate: 0.161625 m/s, LOS rate: -0.652072 deg/s, cmd heading: 18.999314 deg, new cmd heading: 18.475288 deg. i+HeadingCmd: 0.322455 target range: 63.860348 and range: 64.10 m.h>hhhhggjgrgereZe:e*eh@}Bɢj!)  #i )  l<  i ՟;i>I>I %&Changing to mode: 2]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2684501(@ @@@5@Q^A>A>A>- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523975ԉ I I O >E%  E% E% 'E! "E% ,:*E% P:VE% '4ZE! a5 @a5 @a= @a= @!%,|ELAny! @n@nMٱn=nH`nk@Nܚ?p?Bg@?i{C?a?` ?iny! @InRg^;nCYz8ByzIYiMb@Mb@Mb@ 9v?Dl?~jthY8?yGAA A)YAbDVD8yׅ;%B=ٔ|wQ->9Y=Ey(EE>Q 5 5?Q 9 5n)Y9?Q E:y.@Q II@wDI;i;t 5yɮ A:i)-DNOT Ignoring new targets: 63.86 m."i57*i57E ProNav: ac range: 63.860348 m, nav range: 63.369587 m, bearing: 40.883423 deg, approach rate: 0.144598 m/s, LOS rate: -0.643000 deg/s, cmd heading: 18.475288 deg, new cmd heading: 17.932990 deg. iEMHeadingCmd: 0.312990 target range: 63.860348 and range: 64.10 m.hM0@>hIhIhIhIgQgQjgQrgUׂBeYreYZeY:eY*e]`5o@颍Bɢ<) $i)[ ;顑iq;i0@>I0@>IE &@A @I@M0@Iԁechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772454Թ^AII O >B- D>B- KCB) B) B- =B) B) B- d;B- 6E y %,&LA2H @2{;@2Gٱ2#=2H!萛?@4?@1?T?`MC?1?i2H @I2Q^;2CY>ABy>IbDFVDF8b>b=fBDAT read: Rx Time:04:29:17.6702 fTRx dataTimestamp_ set to:1764908958.683140jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025800yN==%a=ٔ=Q-E>9AYA=MEyM,EM EU>qQ 5 5u?Q 9 5uע)qYyU@Q II@uDIu;iu;uNx 5ԹyBɮ$ AKE:i1UDNOT Ignoring new targets: 63.86 m."i]0*i]0m ProNav: ac range: 63.860348 m, nav range: 63.423332 m, bearing: 40.633348 deg, approach rate: 0.132863 m/s, LOS rate: -0.617680 deg/s, cmd heading: 17.932990 deg, new cmd heading: 17.433278 deg. imMmHeadingCmd: 0.304268 target range: 63.860348 and range: 64.10 m.huɛ>hhhhggjgrgereZe:e*e @Bɢ) "i)l;i|;iɛ>Iɛ>bE]-4jE]4rE]/E  E E $E "E :*E :VE 4ZE BE iU>U#@ @@0@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276427^A! I I O >9 G%,LAevf @eY@e ȺٱeU=eHN )jK?|n?)?`xY?@?H?ievf @Iei^;eCY}9Y=Ey0ESE>Q 5 5fl?Q 9 5ܝ)Yys@Q II@ DIhhhhggjgrgereZe:e*e @Bɢ%) 'i)3w;iX;i>I>I=DAT read: 04:29:17.6702 LVL= 23824, 24049, 18210, 29587, AGC= 56, IDX= 456,-0.02,-1.060, 0.351, 1.363, 0.445, PHS=-1.404,-0.049, 0.874, RAW= 246.2, 5.9, CAL= 244.3, 6.2, ROT= 265.7, -6.2  @ @@@Ygot valid direction response: 04:29:17.6702 LVL= 23824, 24049, 18210, 29587, AGC= 56, IDX= 456,-0.02,-1.060, 0.351, 1.363, 0.445, PHS=-1.404,-0.049, 0.874, RAW= 246.2, 5.9, CAL= 244.3, 6.2, ROT= 265.7, -6.2 PDAT read: Bearing 47.4, -80.1 (Local) ~Local bearing/azimuth received: Bearing 47.4, -80.1 (Local) ADAT read: Range 11 to 50 : 65.3 m (Round-trip 87.1 ms) speed -0.2 m/s D%=D<eR#Rx 1: Read range and direction messages.E EE'E"E>:*E|:VE'4ZEa@a@a@a@`direction in FSK: [-0.074540,-0.991353,0.107999]Fpublishing direction and range infoySL Y)+ )ᅣNiإ?YB]]"G s)8IFi9Hw_?B=_q@ k=)e@IkݽJ*A⿉n+?>D? Q @)ǀҽIҿikݽT****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ԑ^A I I O >} (DAT read: user:15>  BDAT read: Tx time:04:29:19.0290  $Ping request sent. @ByBIiMb@Mb@Mb@ 9Q?V-?Y(9YYY=eEye5EeCEe>iQ 5u 5m X?Q 9u 5m)mbBY} =?Q E}:y}@Q I}I@mDIm ;im" ;m 5yɮ AԑiBH>BBBB =BB̺DBY;B6EiwLAjB"jB:j4?"pF΍eP|@pSL Y)+ )ᅣNiإ?*jҿ2jkݽ*pt!H@ E@Kq@pVH?M$'d?FN%?jv(B jxEBi?i+DjyBjj+DjBrjBzj6?5 addTargetRange:: Added new target pos. range: 65.300003 m, deltaT: 3.784981 s, deltaX: 1.200005 m, approachRate: 0.317044 m/s, rangeRepo size: 4 E Added new target pos. range: 65.054710 m, bearing: 40.467703 deg, lat: 36.779349 deg, lon: -121.859565 deg, deltaT: 3.784981 s, deltaX: 1.194363 m, approachRate: 0.315553 m/s, posRepo size: 4 :iAEDNOT Ignoring new targets: 65.05 m."im*i ProNav: ac range: 65.054710 m, nav range: 64.314034 m, bearing: 40.907429 deg, approach rate: 0.000000 m/s, LOS rate: -0.645011 deg/s, cmd heading: 16.899888 deg, new cmd heading: 16.354818 deg. iHeadingCmd: 0.285445 target range: 65.054710 and range: 65.30 m.h%>hhhhggjgrgՂBereZe:e@3SP@*e`?-Bɢ-p)) -'i))5y;11i5Gy;i=%>99I=%>IA@ @@3@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251773E  E E E "E :*E x:VE ZE BE 3 Au .AIy I O >i%,_ALA2@2|@2je&ٱ2s=2H 97 ~`:? ? 3i?d?S ?L?i2@I2^;2CYV9j ?Yj ?=jEyn8En|En>pQ 5v 5rF?Q 9v 5r)rcBYtyv@Q IzI@rDIpir* ;rЂ 5y~ߒBɮ~ A|B*** querying acoustic contact ***ii:i!-DNOT Ignoring new targets: 65.05 m."i-?*i-?= ProNav: ac range: 65.054710 m, nav range: 64.354515 m, bearing: 40.671608 deg, approach rate: 0.115280 m/s, LOS rate: -0.671125 deg/s, cmd heading: 16.354818 deg, new cmd heading: 15.883484 deg. iEEHeadingCmd: 0.277219 target range: 65.054710 and range: 65.30 m.hE>hAhIhIhIgIgIjgQrgQeQreQZeY:eY*e] ?颅Bɢ+<) +i)M;顑i<;i>I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502970ԩE@I @I@M/@I^A > AA II Ia Om > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7575951 L%,5 LAE" E"E"(E "E"O:*E"n:VE"c44ZE a&@a&@a&@a&@Y1ByII%<)%<-=-=iMb@Mb@Mb@ 9K?ʡE?Mbp?Y^:?y=;A A)YbDVD8y BC% 8=ٔQ->9Y=Ey=EE>!Q 5- 5%1?Q 9- 5%)%eBY5i;?Q E5:y5^@Q I5I@%DI% ;i%; ;% 5y=ђBɮ= AE@E:iamDNOT Ignoring new targets: 65.05 m."im7*im7} ProNav: ac range: 65.054710 m, nav range: 64.407936 m, bearing: 40.386278 deg, approach rate: 0.120445 m/s, LOS rate: -0.642782 deg/s, cmd heading: 15.883484 deg, new cmd heading: 15.313317 deg. i} HeadingCmd: 0.267268 target range: 65.054710 and range: 65.30 m.hS׈>hhhhggjgrgłBereZe:e*eX?Bɢ:)) *3i); QiU;iUS׈>YYI]S׈>IY checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007194%@! @!@%/5@)9BD>BBIB8BBBB˺DBX;B6Ei ^A A I I O > w %,+LA :checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259817^>@^@^Kٱ^=^H|??@ǔ`9? }i?`??i^>@I^ @^;^CYr?ByrIbDܿVD8yL=%[=ٔ%ȺQ-%>9)Y)=-Ey-AE5ߑE5>AQ 5M 5E ?Q 9M 5E)EgBYQyU@Q IUI@EDIE@;iEx1;E 5yeΒBɮe} Aa:iDNOT Ignoring new targets: 65.05 m."i7*i7 ProNav: ac range: 65.054710 m, nav range: 64.447060 m, bearing: 40.144731 deg, approach rate: 0.104102 m/s, LOS rate: -0.642329 deg/s, cmd heading: 15.313317 deg, new cmd heading: 14.830531 deg. i񒼝HeadingCmd: 0.258842 target range: 65.054710 and range: 65.30 m.hↄ>hhhhggjgrgereZe:e*exv?E EE&E"E:*E1]:VE4ZEBE,QQIUↄ>IYԁ@ @@B5@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510909^A A= ؟AIA IY Ou >^%,ELATZ1@Z#@Z{xٱZW=ZHOL ??/Ic?jo?`?@?iZ1@IZ^^;ZCY-MBy- IbD=ӿVD=8yMr=%M,=ٔUQ-U>9U"?YU"?=UEy]EE]׼E]>aQ 5m 5uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763087e ?Q 9} 5e)eiBYyy}@Q I}I@eDIec;ied;e 5y˒Bɮ A?Eq:i DNOT Ignoring new targets: 65.05 m."i%()*i%() ProNav: ac range: 65.054710 m, nav range: 64.493858 m, bearing: 39.839345 deg, approach rate: 0.090719 m/s, LOS rate: -0.591560 deg/s, cmd heading: 14.830530 deg, new cmd heading: 14.220225 deg. iSE EE$E"E*E;J:VE4ZEa%@a%@a%@a%@=HeadingCmd: 0.248190 target range: 65.054710 and range: 65.30 m.hEt%~>hAhAhAhAgAgAjgIrgIeIreIZeQ:eQ*eUE@BɢO) u)i)"w;i;it%~>It%~>I1IExA)EwAԑ@ @@0@ % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014991^AU > BE>BBBBBBB;B7EAIIO?D%,fLA2?`@2R@2ٱ2=2H n! o? &? g?Qp?`? ?i2?`@I2n^;2C <)>A><<@B~~AiBtI@@I@iBA FEFԬF)DD DF`廉HHHHIL)LiL)LIN9~AN94L PPRE~ARiPPiTT)T TITYTY^DBy^I ``dfAiEMb@Mb@Mb@AAԉAA A9E ףp= ?#~j?Mbp?YEQ8?yE=AAA EGA)AAYEAbDVD8y%%%*=ٔ-9)Y)=-Ey-JE5ټE5>9Q 5E 5=g?Q 9E 5=f})=lBYM|9?Q EM:yMy@Q IMI@=ŘDI=;i=P;=L 5yQɮU= AQ:iy}DNOT Ignoring new targets: 65.05 m."i H*i H ProNav: ac range: 65.054710 m, nav range: 64.540489 m, bearing: 39.533482 deg, approach rate: 0.106776 m/s, LOS rate: -0.699856 deg/s, cmd heading: 14.220225 deg, new cmd heading: 13.608969 deg. iHeadingCmd: 0.237521 target range: 65.054710 and range: 65.30 m.h8s>h x>ѐChhhchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267734igag/{Ajgrg΂BereZe:e*e`[@-t9-/{AY-:AUBɢU/)Y ]=0iY)e^O;aaie;iu8s>qqI8s>IԹE EE)E"E&:*E|:VEFA4ZEBEa; checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5201111 A I I O >7z %,LA2O@2@2Ԍٱ2S"=2H a$?f?? q? I?~?i2O@I21b^;0YCByIbD%VD%8y5RY%5P=ٔ= ҹQ-=>99Y9==EyENEE-EE>QIQ 5 5M㌊?Q 9 5MCx)MnBYy@Q II@MΘDIM@\EB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 65.05 m."i0*i0 ProNav: ac range: 65.054710 m, nav range: 64.576706 m, bearing: 39.282744 deg, approach rate: 0.089438 m/s, LOS rate: -0.618852 deg/s, cmd heading: 13.608969 deg, new cmd heading: 13.107787 deg. iHeadingCmd: 0.228774 target range: 65.054710 and range: 65.30 m.hCj>hh h hggjgrgereZe:e*exN@MBɢMG)Q U12iQ)Uĝ.;QQiU/;i]Cj>YYI]Cj>Ia@ @@@ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.778710DzD@AE EE&E"E:*ErN:VE4ZEa@a@a@a@^AaA I I O > v&%,ÛLA2C@2@2ٱ2A%=2H`xm@i?? sjɶ?r?@?>?i2C@I29^;2CBDAT read: Rx Time:04:29:21.5214 TRx dataTimestamp_ set to:1764908962.466649 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027854YJByIi-Mb@Mb@Mb@)))) )9-K?I +?Y-^:?y-9=--A-A -^A)-A)Y-AbDEӿVDE8yU=%U:=ٔUJQ-]>9YYY=]Ey]SEe]мEe>iQ 5u 5m:Ќ?Q 9u 5mpr)moBYu;?Q E}:y}@Q I}I@m٘DIm7 ;im] ;m 5yɮ A:iDNOT Ignoring new targets: 65.05 m."ib=*ib= ProNav: ac range: 65.054710 m, nav range: 64.618279 m, bearing: 38.999457 deg, approach rate: 0.097254 m/s, LOS rate: -0.662285 deg/s, cmd heading: 13.107787 deg, new cmd heading: 12.541599 deg. iHeadingCmd: 0.218892 target range: 65.054710 and range: 65.30 m.hF%`>hhhhgIgIjgQrgUBeQreYZeY:eY*e] @颍Bɢt3) 0i);顙i;iF%`>IF%`>I>i4>B5B>B1B5IB5=BB5 =B1B1B5;B597EBBBBB =C41M@I @I@I@QQchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279289^A ?΅>A >A >E  E E !E "E >:*E [:VE c3ZE BE ,%,.rLAF-@F% @FٱF+=FHm&@6`B??[#ٖ?u? a?@?iF-@IF^;FCYR:ByRIbD^ܿVD^8yb%fi=ٔfQ-f>9hYh=jEyjVEnEn>pQ 5r 5r?Q 9v 5rm)rqBYtyv@Q IvI@rDIr:irK:r 5y~Bɮ~ A~4E:i%DNOT Ignoring new targets: 65.05 m."i%q8*i%q8= ProNav: ac range: 65.054710 m, nav range: 64.649765 m, bearing: 38.773059 deg, approach rate: 0.089749 m/s, LOS rate: -0.645010 deg/s, cmd heading: 12.541598 deg, new cmd heading: 12.089034 deg. i==HeadingCmd: 0.210993 target range: 65.054710 and range: 65.30 m.hEX>hAhAhAhAgAgAjgIrgIeIreZe:e*e@ @qBɢ3X) < K:i))5:99iEo!;iUX>YIX>IUDAT read: 04:29:21.5214 LVL= 25296, 20977, 17394, 29683, AGC= 58, IDX= 437,-0.39, 2.266,-2.653,-1.554,-2.508, PHS=-1.408,-0.100, 0.910, RAW= 244.2, 6.0, CAL= 242.5, 6.6, ROT= 267.5, -6.6 ]Ygot valid direction response: 04:29:21.5214 LVL= 25296, 20977, 17394, 29683, AGC= 58, IDX= 437,-0.39, 2.266,-2.653,-1.554,-2.508, PHS=-1.408,-0.100, 0.910, RAW= 244.2, 6.0, CAL= 242.5, 6.6, ROT= 267.5, -6.6 ePDAT read: Bearing 28.2, -80.5 (Local) e~Local bearing/azimuth received: Bearing 28.2, -80.5 (Local) mDAT read: Range 11 to 50 : 66.2 m (Round-trip 88.3 ms) speed -0.2 m/s uR#Rx 1: Read range and direction messages.}`direction in FSK: [-0.043331,-0.992427,0.114937]}Fpublishing direction and range infoy!%Y=k/̎NZl?Y%fB!%b%Q%C %s)%:I%X9i%̽%h?%c@%Pw=%p@ %=)%rf@I%뽩!!%w3QN?;n? %l @)%QֽI%οi%뽩!!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԙ5@1 @1@=4@9^A] > %= C= (DAT read: user:16>  BDAT read: Tx time:04:29:22.7290  $Ping request sent. 3%,+LLAE EE#E"ED:*Eą:VE3ZEaE@aE@aE@aM@I^@P@)ٱ.=H`dL??@rk?*w?ץ?@g?i^@Iel^;Y}EBy}IiMb@Mb@Mb@ 9Q?Zd;O?~jth?Y5?yj=D;AA A)AYAbD% VD%8y5)=%5=ٔ=Q-=>99Y9==EyE\EE#üEE>IQ 5U 5M?Q 9U 5Mf)MtBY]G7?Q E]:y]@Q I]I@MDIM:iM:MH 5yeBɮe Am3Eii'LAjB"jB:j ?"pޟG\Pi+R@pY=k/̎NZl?*jο2j*pͨVJ@|V;C@7!{@pC?5 .!? zP~?jB joUBi&:?ixrj̊Bjjj*BrjdBzj+? addTargetRange:: Added new target pos. range: 66.199997 m, deltaT: 3.783123 s, deltaX: 0.899994 m, approachRate: 0.237897 m/s, rangeRepo size: 4  Added new target pos. range: 65.951210 m, bearing: 35.788116 deg, lat: 36.779349 deg, lon: -121.859565 deg, deltaT: 3.783123 s, deltaX: 0.896500 m, approachRate: 0.236973 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 65.95 m."i*i ProNav: ac range: 65.951210 m, nav range: 64.696571 m, bearing: 38.438402 deg, approach rate: 0.000000 m/s, LOS rate: -0.645010 deg/s, cmd heading: 12.089034 deg, new cmd heading: 11.391598 deg. i HeadingCmd: 0.198821 target range: 65.951210 and range: 66.20 m.h K>h h h hggjgrgłBereZe:e%̌P@*e%?MBɢM1/)Q U6iQ)UN:QQiU<;ieK>aaIeK>Iaychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250467@ @@@5@ԩB D>B B B B B B B ;B /7E^A5 L> Am .AIy I O >H:%,aLA^|@^@^ӻjchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502412ٱ^A)=^HN@sSDҢ?`9Z?ۃ@?@r|z?@=5? ?i^|@I^7^;^CYv1ByvIbDVD8y %n=ٔQ-?9% ?Y% ?=%Ey%_E-&E5?AQ 5U 5E隌?Q 9] 5Eba)EvBYaym@Q ImI@EDIEѮ;iE\;EQ 5yyɮ! A:iDNOT Ignoring new targets: 65.95 m."i}}3*i}}3 ProNav: ac range: 65.951210 m, nav range: 64.725296 m, bearing: 38.219902 deg, approach rate: 0.082554 m/s, LOS rate: -0.627684 deg/s, cmd heading: 11.391598 deg, new cmd heading: 10.954801 deg. iHeadingCmd: 0.191197 target range: 65.951210 and range: 66.20 m.h=C>hhhhbEEž4jEE-4rEE±o0E EE$E"E:*ER:VE4ZEBExI=C>Iԉ@ @@4@Թ}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753595^A- 8j>A- yAzA- zA A} ؟AI I O >3A%,\LA2?2 @2"ٱ2W"=2HK8.~^?? ]6`?P|?I?]?i2?I2k^;2CY>DByBIbDJVDJ8yR=%RL=ٔRQ-R>9V"?YV"?=VEyVcEZkEZ>\Q 5b 5^8?Q 9b 5^\)^xBY`yb@Q IbI@^DI^:i^>:^ǧ 5yjBɮjy AhvB*** querying acoustic contact ***itit:i|DNOT Ignoring new targets: 65.95 m."if8*if8q ProNav: ac range: 65.951210 m, nav range: 64.755882 m, bearing: 37.970315 deg, approach rate: 0.079063 m/s, LOS rate: -0.644854 deg/s, cmd heading: 10.954801 deg, new cmd heading: 10.455876 deg. iHeadingCmd: 0.182489 target range: 65.951210 and range: 66.20 m.h:>hhhhggjgrge re Ze:e*ee?颅BɢV) }:i)顉i ;i:>I:>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005732ԹE EE%E"E,:*E:VE 4ZEa@aU@aU@aU@<% @!  @! @% 0@! = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257576^AA !B-5>B-ICB)B)B- =B)B-ʺDB-};B-7EAyIIO?AI%, (LA6u?6A @6tٱ67=6H |yc?@?D@ˏ????i6u?I6ר^;6CYV6ByVIi5Mb@Mb@Mb@1111 195Zd;?~jt?9aYa=eEyeiEeg4Ee>iQ 5u 5ms?Q 9} 5m>U)iY}|;?Q E}:y}@Q I}I@m DIm#:imM:mt 5yɮ AԱ:iDNOT Ignoring new targets: 65.95 m."i8*i8 ProNav: ac range: 65.951210 m, nav range: 64.792229 m, bearing: 37.625101 deg, approach rate: 0.067816 m/s, LOS rate: -0.643740 deg/s, cmd heading: 10.455876 deg, new cmd heading: 9.765875 deg. iCHeadingCmd: 0.170447 target range: 65.951210 and range: 66.20 m.h.>hhhhggjgrgereZe:e*e?=Bɢ=> B)9 =Ci9)EAAM?M_?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510591i;i.>I.>I<EE EEEE"EA"EEs:*EEAr:VEE(3ZEABEEi0_P%,BLA2@?28s @2Wt ٱ2 $=2H@H@o<ZK?@+C?FS?`}N??#?i2@?I2^;2CY>:By>IbDFVDF8yN`<%NP=ٔN^Q-R>9PYP=REyRmEVEV>XQ 5^ 5ZLc?Q 9^ 5ZO)XY\yb@Q IbI@ZDIZ:iZS:Z 5yfBɮfK Af(E:ixzDNOT Ignoring new targets: 65.95 m."i~8*i~8  ProNav: ac range: 65.951210 m, nav range: 64.816788 m, bearing: 37.371684 deg, approach rate: 0.062713 m/s, LOS rate: -0.646870 deg/s, cmd heading: 9.765874 deg, new cmd heading: 9.259247 deg. i HeadingCmd: 0.161604 target range: 65.951210 and range: 66.20 m.h{%>hhhhggjgrge!re!Ze!:e!*e%U@ԩBɢ*h) Bi)xui;i {%> I{%>I!))11I)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016896@ @@/@@xA@xAE EE#E"E>:*EC:VE3ZEa@a@a%@a%@1I ^AE @o>iߡ Iߡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266645ԙAIIO>X%,\bLA2m?2Z @2R]ٱ2&=2H@Nuã?L|? я? ?Ҥ??i2m?I2 ^;2CY>;By>IIBe>)B9qYq=uEyurE}oļE}>yQ 5 5}#N?Q 9 5B0>BHCBIBBBB =BBɺDB+;B6E}HQ =tI)}zBY7?Q E:y@Q IJ@} DI};i}d;}_ 5yBɮ A:iDNOT Ignoring new targets: 65.95 m."i2*i2 ProNav: ac range: 65.951210 m, nav range: 64.853699 m, bearing: 37.047703 deg, approach rate: 0.071290 m/s, LOS rate: -0.625380 deg/s, cmd heading: 9.259247 deg, new cmd heading: 8.611686 deg. iHeadingCmd: 0.150302 target range: 65.951210 and range: 66.20 m.h>hhhhggjg rg Be re Ze:e*e@=ÂBɢ=pUO)A E(DiA)Ee'$AIiMB#QQIU>IQ@ @@0@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518294^Ax>E EE&E"E:*EVE4ZEBE;a:E>;a9 A I I O >?^%,{LA :V?:C @:,$ٱ:,=:H`Ӥ?`? P_?N?m?Q?i:V?I:_;8Y\y\bDjVDj8ٔrUQ-r>9tYt=vEyvvEvEv>xQ 5~ 5z|>?Q 9 5z0C)z|BYy@Q IJ@z(DIzf;iz/;z 5y ɮ :i1=DNOT Ignoring new targets: 65.95 m."i=O6*i=O6M ProNav: ac range: 65.951210 m, nav range: 64.879486 m, bearing: 36.804887 deg, approach rate: 0.067736 m/s, LOS rate: -0.637557 deg/s, cmd heading: 8.611685 deg, new cmd heading: 8.126258 deg. iMّUHeadingCmd: 0.141830 target range: 65.951210 and range: 66.20 m.hU;>hQhQhQhYgYgYjgargaeareaZea:ei*em Q@颕ƂBɢ3\o) ~Ei)J顙iUI;>Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7863545@1 @1@1@1qԡ^Au#>A I I V> = BDAT read: Rx Time:04:29:25.2222  TRx dataTimestamp_ set to:1764908966.264474% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.040942O= >E  E E #E "E ,:*E 1:VE 3ZE a @a @a @a @\)e%,/LAL^?" @M;ٱ,=H Q(@Q??`-Q` ? o?@Ҕ?.?i^?II^;CY4ByIiMb@Mb@Mb@ 9?!rh?Mbp?Y,?yl=;AA GA)AYAbD5VD5Ȱ8yEz%E<ٔE:Q-]>9YYY=eEye{Ee_ͼEe>iQ 5u 5m+?Q 9} 5m<)mBY}5/?Q E}:y}@Q I}J@m3DImo:im:m 5yBɮ7 A'EB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 65.95 m."i+*i+ ProNav: ac range: 65.951210 m, nav range: 64.911858 m, bearing: 36.513028 deg, approach rate: 0.066613 m/s, LOS rate: -0.600273 deg/s, cmd heading: 8.126259 deg, new cmd heading: 7.542855 deg. iRHeadingCmd: 0.131648 target range: 65.951210 and range: 66.20 m.h>hhhhggjgrgBereZe:e*e v @ɂBɢ=]) Ji)%0}!!i+FI>I>i>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.290663@ @@3@B.>BBBBBBB;Bw6E! ^A] 8j> ڬ9 Y AA I I O >= DAT read: 04:29:25.2222 LVL= 27840, 21585, 15218, 30483, AGC= 59, IDX= 429, 0.16, 2.964,-2.017,-0.778,-1.787, PHS=-1.430,-0.185, 0.965, RAW= 241.3, 6.3, CAL= 240.0, 7.2, ROT= 270.0, -7.2 M Ygot valid direction response: 04:29:25.2222 LVL= 27840, 21585, 15218, 30483, AGC= 59, IDX= 429, 0.16, 2.964,-2.017,-0.778,-1.787, PHS=-1.430,-0.185, 0.965, RAW= 241.3, 6.3, CAL= 240.0, 7.2, ROT= 270.0, -7.2 U PDAT read: Bearing 4.0, -80.1 (Local) U ~Local bearing/azimuth received: Bearing 4.0, -80.1 (Local) ] DAT read: Range 11 to 50 : 66.8 m (Round-trip 89.1 ms) speed -0.2 m/s e R#Rx 1: Read range and direction messages.m ^direction in FSK: [0.000000,-0.992115,0.125333]i u Fpublishing direction and range infoy  9hI>UgcK ?Y B  l QT r;  w) ;I = i p= = w? qĆ@ z0= @  >) ˖@I    kΝyϲoK,?)4:/?  @) I ɿi   UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.Wl%,ųLAE EE&E"E:*EP:VE4ZEBE 9Y=EyE,E>Q 5  5w?Q 9  57)BY y @Q I J@Փ^Pr N @p=9hI>UgcK ?*j=ɿ2j=*p=(W L@tPA@~gV@p=aC ?5#1[?LW{?j=r B j=aBi=mŸ?i=?{j=hBj=?j9j=hBrj=Bzj=> ? addTargetRange:: Added new target pos. range: 66.800003 m, deltaT: 3.795970 s, deltaX: 0.600006 m, approachRate: 0.158064 m/s, rangeRepo size: 4 % Added new target pos. range: 66.546158 m, bearing: 31.971625 deg, lat: 36.779355 deg, lon: -121.859565 deg, deltaT: 3.795970 s, deltaX: 0.594948 m, approachRate: 0.156731 m/s, posRepo size: 4 :i!%DNOT Ignoring new targets: 66.55 m."i-*i)] ProNav: ac range: 66.546158 m, nav range: 65.552887 m, bearing: 35.864762 deg, approach rate: 0.000000 m/s, LOS rate: -0.600273 deg/s, cmd heading: 7.542855 deg, new cmd heading: 7.008803 deg. iYeHeadingCmd: 0.122327 target range: 66.546158 and range: 66.80 m.hej=hahahahagigijgirgieireqZe:e@3P@*ew?̂Bɢ۾b) Gi)Pi{ uBDAT read: Tx time:04:29:26.5290 }$Ping request sent.} A] .AIa Iy O >{Ws%,%LA:+?:a@:a]ٱ: =:Hϣ wMH?xT?`P*?쫋??@?i:+?I:6^;:CYR:ByVIbDf6VDfް8yria%rY=ٔv7Q-z>9~ ?Y~ ?=~EyE IE >Q 5% 5% ?Q 9- 51)BY)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249928y- @Q IJ@EDIM checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502100A ؟AI! I1 O= >B] ,>BY BY BY B] =BY BY B] ;B] ~6EBHCBICB˔CB =B =Cͣ5 |y%,LA2PExceeded connect timeout, disconnecting.RP?RA@RX pٱRm=RHM@j v?``?@jN}?$?@??iRP?IR^;PY^=ٔ.Q->9"?Y"?=EyEE>Q 5 5 ?Q 9 5,)BY/?Q E:y,@Q IJ@NDI ;i; 5yBɮ AE:iDNOT Ignoring new targets: 66.55 m."i,*i, ProNav: ac range: 66.546158 m, nav range: 65.603104 m, bearing: 35.384393 deg, approach rate: 0.064854 m/s, LOS rate: -0.604639 deg/s, cmd heading: 6.556457 deg, new cmd heading: 6.048460 deg. iQHeadingCmd: 0.105566 target range: 66.546158 and range: 66.80 m.h2=hhhhggjg!rg%Be)re)Ze):eq*eu?mтBɢmX+n)i uJiq)uqqiu A >A >Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010213A .AI I O >ڷ%,!LAN?N@N威ٱN=NH߿{U??~߿w?@4?`? ?iN?IN^;LYZ@ByZIbDb&VDbϰ8yjX<%jN=ٔnVBQ-n>9n ?Yr ?=rEyrErHEr>tQ 5z 5v@?Q 9z 5v&)vBY|y~e@Q I~J@vWDIv;iv;v0 5yBɮV AE:i)5DNOT Ignoring new targets: 66.55 m."i52*i52E ProNav: ac range: 66.546158 m, nav range: 65.626335 m, bearing: 35.147726 deg, approach rate: 0.061342 m/s, LOS rate: -0.624684 deg/s, cmd heading: 6.048460 deg, new cmd heading: 5.575306 deg. iE玼MHeadingCmd: 0.097307 target range: 66.546158 and range: 66.80 m.hM!I=hIhIhQhQgQgQjgQrgYeYreYZeY:eY*ee5?颍ӂBɢɾ) sIi)yһ顑iDzDE EE(E"E:*E:VEc44ZEAe ؟AI I a @a @a @a @O > ]܆%,LA2o?2=@2Cٱ2"=2H@L߿``*??Q߿)p?#?E\???i2o?I2~^;2CY>4By>IiMb@Mb@Mb@ 9(\?X9v?Mb`?Y.?y=A )x AY(AbDmVDm8y}pe%A=ٔQ->9"?Y"?=EyEڼE>Q 5 5ދ?Q 9 5 )BY0?Q E:yQ@Q IJ@`DI ;i/: 5yɮ AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 66.55 m."in+*in+ ProNav: ac range: 66.546158 m, nav range: 65.647667 m, bearing: 34.892850 deg, approach rate: 0.050192 m/s, LOS rate: -0.599501 deg/s, cmd heading: 5.575306 deg, new cmd heading: 5.065735 deg. i$HeadingCmd: 0.088414 target range: 66.546158 and range: 66.80 m.hF=hhhhggjgrgBe re Ze :e *e @_?=ւBɢ=)9 EPiA)Eh,AAiEŔByB}IB}GBB} =ByByB}&;B}6EnManaging dock network, ignoring radio surface power off^AQ M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765875Aa Ii Iy O >bE-4jE-m4rE-).0E  E E "E "E O:*E x:VE (3ZE BE 9Y= Ey E hE >Q 5 5Ћ?Q 9 5)BY!y%@Q I%J@iDI;i#;H 5y)ɮ-r A):iQUDNOT Ignoring new targets: 66.55 m."i]",*i]",m ProNav: ac range: 66.546158 m, nav range: 65.665108 m, bearing: 34.659736 deg, approach rate: 0.045049 m/s, LOS rate: -0.601960 deg/s, cmd heading: 5.065735 deg, new cmd heading: 4.599643 deg. imuHeadingCmd: 0.080279 target range: 66.546158 and range: 66.80 m.huGi=hqhqhqhqgygyjgyrgyereZe:e*e@颵؂Bɢτ) Mi)}项iA I I ԡ O >~%,PLA2?2i@2B>ٱ2 3&=2HݿM=?D?iݿZ?s'?`ä??i2?I2i^;09XYX=ZEyZE^E^>`Q 5f 5b‹?Q 9f 5bo)bBYdyf@Q IjJ@bqDIb:ib:b 5ynBɮnN AnE~!?|checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270163:i DNOT Ignoring new targets: 66.55 m."i+*i+ ProNav: ac range: 66.546158 m, nav range: 65.680733 m, bearing: 34.422998 deg, approach rate: 0.039491 m/s, LOS rate: -0.598201 deg/s, cmd heading: 4.599644 deg, new cmd heading: 4.126292 deg. i؈HeadingCmd: 0.072017 target range: 66.546158 and range: 66.80 m.h}=hhhhggjgrgereZe:e*e8m@EU EUEU$EQ"EU:*EUVL:VEU4ZEQae@ae@ae@ae@uڂBɢu)뀽)q ujMiq)}U yyi}R Bi Bi Bi Bi Bm =Bi Bi Bm O;Bm 6EAq Iy I O >%,-ZjLA2 ?2@2Ѫٱ2!F(=2HHݿj ?Jr?Oݿ1?Y??O?i2 ?I2O^;2CY>BBy>IlieMb@Mb@Mb@aaaa a9e|?5^?X9v?Mb`?Ye-?ye=aeAe^A a)aaYeAbDVD8y#<%<=ٔ0Q->9Y=EyE E>Q 5 5?Q 9 5))BY0?Q E:y@Q IJ@{DIL;iK; 5yBɮ AE:iDNOT Ignoring new targets: 66.55 m."iN#*iN# ProNav: ac range: 66.546158 m, nav range: 65.697952 m, bearing: 34.161017 deg, approach rate: 0.037547 m/s, LOS rate: -0.571089 deg/s, cmd heading: 4.126292 deg, new cmd heading: 3.602484 deg. i HeadingCmd: 0.062875 target range: 66.546158 and range: 66.80 m.h Ā=h h h)h1g1g1jg1rg5Be9re9Ze9:e9*eE`=@颵܂BɢO) oMi)项ia  BDAT read: Rx Time:04:29:29.0230  TRx dataTimestamp_ set to:1764908970.047601 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027884AQ Ia Iq O} >M%,LAvf?vK@@v#ٱvM(=vH@ܿ`Ւ`n ??5ܿ [?`??ivf?Ivs^;vCYIByIbDVD8y%*=%-O=ٔ-Q-->91Y1=5Ey5E=E=>AQ 5E 5Ed?Q 9M 5Ex )EBYIyM @Q IMJ@EDIE:iE;E 5y]}Bɮ] A]E:iyDNOT Ignoring new targets: 66.55 m."i7*i7 ProNav: ac range: 66.546158 m, nav range: 65.711662 m, bearing: 33.925227 deg, approach rate: 0.037238 m/s, LOS rate: -0.640292 deg/s, cmd heading: 3.602484 deg, new cmd heading: 3.131013 deg. iyHeadingCmd: 0.054646 target range: 66.546158 and range: 66.80 m.h_=hhhhggjgrgereZe:e*e @ނBɢ^) oJi)ViiY@ @@4@@xA@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277797q^Ax>Ee EeEe"Ea"Ee,:*Eexv:VEe(3ZEaa@a@a@a@AA Iq ԙ I O >:%,OLA2?2[@2üٱ2&=2Hۿ]??ܿPm_?@פ??i2?I2i^;2CY>>By>IIBi>)Bp9Y=EyEE>Q 5 5?Q 9 5z)BYc,?Q E:y- @Q IJ@DI;i; 5yɮ AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 66.55 m."iz'*iz' ProNav: ac range: 66.546158 m, nav range: 65.719917 m, bearing: 33.681310 deg, approach rate: 0.019824 m/s, LOS rate: -0.585678 deg/s, cmd heading: 3.131013 deg, new cmd heading: 2.643254 deg. i HeadingCmd: 0.046133 target range: 66.546158 and range: 66.80 m.h u<=h h h h g gjgrgBereZe:e*e%u6@MBɢM')I U(QiQDAT read: 04:29:29.0230 LVL= 27584, 22977, 15058, 28947, AGC= 61, IDX= 437, 0.18, 1.792, 2.991,-1.919,-3.020, PHS=-1.369,-0.227, 1.057, RAW= 238.1, 5.2, CAL= 236.5, 6.1, ROT= 273.5, -6.1 Ygot valid direction response: 04:29:29.0230 LVL= 27584, 22977, 15058, 28947, AGC= 61, IDX= 437, 0.18, 1.792, 2.991,-1.919,-3.020, PHS=-1.369,-0.227, 1.057, RAW= 238.1, 5.2, CAL= 236.5, 6.1, ROT= 273.5, -6.1 PDAT read: Bearing 332.1, -80.2 (Local) ~Local bearing/azimuth received: Bearing 332.1, -80.2 (Local) DAT read: Range 11 to 50 : 67.4 m (Round-trip 89.9 ms) speed -0.2 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.060703,-0.992483,0.106264]Fpublishing direction and range infoyY]xcw?3~SlO4?Y]̆BY]k]Y]: ]q)]=I]d;i]rh]K?]@]޹=]&@ ]^ =)]P@I]^ ڽYY]mݿ<߾@?D? ]@)]%I]+>i]^ ڽYY]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.)U)qqiu4BBIBLBB =BBBT;B6Eԩ-@) @)@-05@)^AI = < (DAT read: user:18>  BDAT read: Tx time:04:29:30.3290  $Ping request sent. 敭%,]LANi?N@NYѼٱN~*=NHUۿΨ?5?aۿuy*?@8@?C?iNi?INL^;NCYXyXbDf VDf8yn;%nP=ٔnґQ-n>9pYp=rEyrEr}Ev>tQ 5z 5v?Q 9~ 5v)vBY|y~v @Q I~J@vDIv;iv;v 5y{Bɮ  A Ei!i%5LAj%IB"j%IB:j%x*?"p%$lM@}ߨPys *@p%xcw?3~SlO4?*j%+>2j%^ ڽ*p%ZbM@AL@@ƻ@p%Z-? R^Ѧ?d ?j%B j%kBi%63㞊?i%!j%,Bj%&:?j%xrj%̊Brj%҄Bzj%b ?U addTargetRange:: Added new target pos. range: 67.400002 m, deltaT: 3.783981 s, deltaX: 0.599998 m, approachRate: 0.158563 m/s, rangeRepo size: 4 e Added new target pos. range: 67.143349 m, bearing: 28.685018 deg, lat: 36.779373 deg, lon: -121.859585 deg, deltaT: 3.783981 s, deltaX: 0.597191 m, approachRate: 0.157821 m/s, posRepo size: 4 :iimDNOT Ignoring new targets: 67.14 m."im*iiq ProNav: ac range: 67.143349 m, nav range: 66.411453 m, bearing: 31.273639 deg, approach rate: 0.000000 m/s, LOS rate: -0.585678 deg/s, cmd heading: 2.643254 deg, new cmd heading: 2.178723 deg. iHeadingCmd: 0.038026 target range: 67.143349 and range: 67.40 m.h =hhhhggjgrgereZe:eP@*e*?Bɢ) Qi)4is A= .AIY Iq O > w{%,LA2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5021636C?6}@6ٱ6kN(=6H3ڿ i??ȿڿ?B??i6C?I6D^;4YB?ByFIbDNVDN8yVU;%VN=ٔVWQ-V>9Z ?YZ ?=ZEyZEZE^>`Q 5f 5bH~?Q 9f 5b)bBYdyf @Q IfJ@bDIb:ib:b 5ylɮn Al:iDNOT Ignoring new targets: 67.14 m."i*i ProNav: ac range: 67.143349 m, nav range: 66.425758 m, bearing: 31.043199 deg, approach rate: 0.034650 m/s, LOS rate: -0.558058 deg/s, cmd heading: 2.178723 deg, new cmd heading: 1.717952 deg. iSE EE%E"E:*EF:VE 4ZEa@a@a@a@HeadingCmd: 0.029984 target range: 67.143349 and range: 67.40 m.hڠ<hhhhggjgrgereZe:e*e?5Bɢ5Bo)9 =dRi9)=,?99iE*"AxAzAwAB &>B GCB IB VBB B B ȺDB g;B 6EA ؟AI I O >Y %,LA ːCZGjzA]ɪ9]zAY](Ay?A1YBByI i]Mb@Mb@Mb@YYYY Y9]Cl?V-?{Gz?Y]/?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010984y]=]#9"?Y"?=EyEE>Q 5 5m?Q 9 5O)BYa2?Q E:y @Q IJ@DI:iV: 5yyBɮ AE EE(E"E :*ET:VEc44ZEBEN"Թ A I I O >IO%, LA2?2m?25ٱ2+=2Hrٿ-Q?mX?` ٿ8vE? m??i2?I2EQ^;2CY9PYT=VEyVEVxEV>XQ 5^ 5Zib?Q 9b 5Z)ZÆBY`ybb @Q IbJ@ZDIZ:iZ:Z 5yfpBɮji AjE:ix~DNOT Ignoring new targets: 67.14 m."i~9*i~9  ProNav: ac range: 67.143349 m, nav range: 66.456184 m, bearing: 30.529988 deg, approach rate: 0.031031 m/s, LOS rate: -0.649852 deg/s, cmd heading: 1.113293 deg, new cmd heading: 0.691815 deg. iHeadingCmd: 0.012074 target range: 67.143349 and range: 67.40 m.hE<hhhhg!g!jg!rg!e)re)Ze):e1*e5 A ԙ I I O >%s%,p#LA6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7623256+?6?6rٱ6.(=6H@ؿ`s$?^z?`ؿsM? ??i6+?I6g^;6CYBNByF Ii Mb@Mb@Mb@     9 ˡE?ʡE?I +?Y '?y = 94<   ^A) K A yY  AbDVD8yP=%<=ٔDQ->9Y=EyEȼE>Q 5 52U?B$>BB!IB`BBBBBc;B6EBBHCBCBBC4Q 9 5)ˆBY *?Q E :y J @Q I J@DIOA >E}  E} E} 'Ey "E} :*E} C:VE} '4ZEy BE} ; ;a :E} >;a  AY Ia Iy O >B%,K=LA@2ݴ?2 ?2ٱ2!$=2H$ؿ` c??!7ؿŏ ?@??i2ݴ?I2 ^;0Y IbDJVDJ8yR;%R[=ٔR^Q-R>9TYT=VEyVEZEZ>XQ 5b 5Z J?Q 9b 5Z)Z҆BY`yb@Q IbJ@Z™DIZ+;iZ8;Z 5yjnBɮjAh:ix}DNOT Ignoring new targets: 67.14 m."i}(*i}( ProNav: ac range: 67.143349 m, nav range: 66.477798 m, bearing: 30.067786 deg, approach rate: 0.024908 m/s, LOS rate: -0.590867 deg/s, cmd heading: 0.194703 deg, new cmd heading: 359.767585 deg. i+HeadingCmd: 6.279129 target range: 67.143349 and range: 67.40 m.h@hhhhggjgrgereZe:e*e3@Bɢ 2)  Mi ) l  i +9A! I) I9 OM >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518336Y M%,'WLAD%=DR=E EE"E"E:*E H:VE(3ZEa@a@a@a@YOBy IbD5VD58yM;%U@=ٔQ->9Y=EyE 9EM>aQ 5 5eN Aq Iy I O >V%,qLAYRBy IBDAT read: Rx Time:04:29:32.8236 TRx dataTimestamp_ set to:1764908973.826849checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023418iMb@Mb@Mb@ 9Zd;O?`"?Mbp?Y~*?y=; A1A A) AYfAbDVD8yfS<%<=ٔQ->9Y=EyEE>Q 5 5/?Q 9 50)BYJ-?Q E:y@Q I%J@ԙDIa:i: 5y-lBɮ-A-EI:iQ]DNOT Ignoring new targets: 67.14 m."i]3*i]3u ProNav: ac range: 67.143349 m, nav range: 66.503326 m, bearing: 29.570541 deg, approach rate: 0.035354 m/s, LOS rate: -0.628625 deg/s, cmd heading: 359.241586 deg, new cmd heading: 358.773309 deg. iuΏ}HeadingCmd: 6.261775 target range: 67.143349 and range: 67.40 m.h}w`@hyhyhyhyggjgbEqjEu#4rEu+0E EE$E"E*EP:VE4ZEBExA zA yA A I I1 O= >߮%,@LA2Su?2Z?2$ٱ2(=2H 1)ֿ`_?1??ֿz?`?e?i2Su?I2}^;0Y>UBy>IbDJ׿VDJ8yN4n<%Re=ٔR 9Q-R>9PYT=VEyVEV[EZ>XQ 5^ 5Z%?Q 9^ 5Z)ZBY`yb@Q IbJ@ZܙDIZ+;iZ;Z 5yvcBɮzrAzE:i)=DNOT Ignoring new targets: 67.14 m."im$*im$ ProNav: ac range: 67.143349 m, nav range: 66.507927 m, bearing: 29.362981 deg, approach rate: 0.011639 m/s, LOS rate: -0.525054 deg/s, cmd heading: 358.773308 deg, new cmd heading: 358.358224 deg. i:pHeadingCmd: 6.254531 target range: 67.143349 and range: 67.40 m.h%@hhhhggjgrgereZe:e*e@Z @5Bɢ5k)1 5MLi9)=S99i]01 AI IQ Ia Ou >T%,LAiI(DAT read: user:19> BDAT read: Tx time:04:29:34.0790 $Ping request sent.9Y=EyEE>Q 5 5*?Q 9 5)BY)?Q E:y@Q IJ@DI:i: 5yɮaAii&LAjB"jB:ji?"px><%@TsPbuu@pC9?Zt h,=?*j{2jz0*p}tHDfM@"2=l@@DB@pު?5?+F2?jaB j2kBi's?iejyBj's?jjrj6Bzj2?Qe addTargetRange:: Added new target pos. range: 67.800003 m, deltaT: 3.780384 s, deltaX: 0.400002 m, approachRate: 0.105810 m/s, rangeRepo size: 4 u Added new target pos. range: 67.541161 m, bearing: 29.188111 deg, lat: 36.779379 deg, lon: -121.859585 deg, deltaT: 3.780384 s, deltaX: 0.397812 m, approachRate: 0.105231 m/s, posRepo size: 4 :iy}DNOT Ignoring new targets: 67.54 m."i*i ProNav: ac range: 67.541161 m, nav range: 67.106117 m, bearing: 28.811548 deg, approach rate: 0.000000 m/s, LOS rate: -0.525054 deg/s, cmd heading: 358.358224 deg, new cmd heading: 357.895216 deg. iHeadingCmd: 6.246450 target range: 67.541161 and range: 67.80 m.h@hh)h)h)g1g1jg1rg={Be9re9ZeA:eE@3P@*em8?Bɢ)) -Ki))-)1i52 AU .AIy I O >[%,LA2XI?2.?2+ٱ2 -=2H0Կ fQ`I?@V?`,LԿ`u? ??i2XI?I2rv^;2CYVQByZIbDb'VDbа8yjO %jX=ٔjNQ-j>9n ?Yn ?=nEynErhEr>pQ 5z 5r ?Q 9z 5rԿ)rBYxyz@Q IzJ@rDIr;irj;r" 5ybBɮAB*** querying acoustic contact ***ii:i)5DNOT Ignoring new targets: 67.54 m."i5R#*i5R#E ProNav: ac range: 67.541161 m, nav range: 67.106209 m, bearing: 28.597999 deg, approach rate: 0.000245 m/s, LOS rate: -0.571151 deg/s, cmd heading: 357.895219 deg, new cmd heading: 357.468131 deg. iEMHeadingCmd: 6.238996 target range: 67.541161 and range: 67.80 m.hMۥ@hIhIhQhQgQgQjgQrgYeYreYZeY:eY*ee`?颍Bɢ) }Oi)7顑i4AiAiA ؟Aߥ =ߥ =? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755495I I O >E  E E 'E "E :*E $:VE '4ZE a @a @a @a @ ~%,%>LAy??2ٱ +=H ‰ӿl+?`p?ӿthrR?Z?@?iy?I S^;CY]ByII%=)<==i}Mb@Mb@Mb@yyyy y9}K7?n?Mbp?Y})?y}V>};} A}A }A)} AyY}=AbDVD8y[3=%=ٔOQ->9"?Y"?=EyEE>Q 5 5?Q 9 5)BYk-?Q E:y@Q IJ@DI:i: 5yɮ)A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006910:i15DNOT Ignoring new targets: 67.54 m."i=$*i=$M ProNav: ac range: 67.541161 m, nav range: 67.113655 m, bearing: 28.290403 deg, approach rate: 0.013942 m/s, LOS rate: -0.575863 deg/s, cmd heading: 357.468141 deg, new cmd heading: 356.853045 deg. iMUHeadingCmd: 6.228261 target range: 67.541161 and range: 67.80 m.hUM@hQhQhQhQgQgYjgYrg]BeYreaZea:ea*eeY?颕Bɢmㇽ) Ji)ח顙i+6BB@IBzBBBBB;;B6EE@A @A@E^1@A1 ^A V>Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259442Ai Iy I O >K%,LA2t?2Z?27ٱ2,=2Hҿ@d? U? ҿ?ȓ?`}?i2t?I2 c^;2CE> E>E<E<"E>>:*E>Ǚ:VE<ZE<BE>;aF:E>;aF D)JAJthhlnz~AinC IllIpirA rVrF)pp v-~Av`弉ttttI)i)I` I~AtiF!i!!)! !I!Y!Y5bBy5#IbDMVDM8y}=%}s=ٔ}jQ-}?9Y=EyE E?Q 5 5?Q 9 5K) BYy@Q IJ@DIK:i: 5yɮA:i15DNOT Ignoring new targets: 67.54 m."i=!*i=!m ProNav: ac range: 67.541161 m, nav range: 67.116798 m, bearing: 28.093834 deg, approach rate: 0.009047 m/s, LOS rate: -0.565762 deg/s, cmd heading: 356.853041 deg, new cmd heading: 356.459928 deg. immuHeadingCmd: 6.221399 target range: 67.541161 and range: 67.80 m.hu@hqhqhqhqgygyjgyrgyereZe:e*e?ɢ) Gi)ni7A I) IA O] >q -%,LA>j?>?><ٱ>3X.=>H+ҿy?ۥ?=Kҿ@]R@?uå??i>j?I>{<^;>CY]ByIbD-VD-\8y=׼%=O=ٔE7Q-E>9AYA=EEyMEMEM>QQ 5] 5U 늊?Q 9] 5U-)UBYaye2@Q IeJ@U DIU;iU;U. 5ymXBɮmAmE:iDNOT Ignoring new targets: 67.54 m."i(*i( ProNav: ac range: 67.541161 m, nav range: 67.118500 m, bearing: 27.868267 deg, approach rate: 0.004452 m/s, LOS rate: -0.590242 deg/s, cmd heading: 356.459923 deg, new cmd heading: 356.008810 deg. iHeadingCmd: 6.213526 target range: 67.541161 and range: 67.80 m.h4@hhhhggjgrgereZe:e*es@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.782298Bɢf) Ji)?!i%39 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014795B B B MIB BB =B B B ";B 6EA9 IA IQ Oa X %,b+LA2?2l?2{^@ٱ2-=2H%pѿӽ@m?`?kѿ@/ ? ?@?i2?I26l^;2CY_B$G/{Ay I%/9%/{AY% A9=AԱiMb@Mb@Mb@ 9?Mb?{Gzt?Yf&?y>ף; AA ^A)AYG AbDVD8y(<% 1=ٔ Q- >9Y=EyE ӼE>!Q 5% 5%Zߊ?Q 9- 5%)%BY-)?Q E-:y-@Q I5J@%DI% ;i%* ;%9 5y9ɮ=A9:iaeDNOT Ignoring new targets: 67.54 m."im`!*im`!} ProNav: ac range: 67.541161 m, nav range: 67.114349 m, bearing: 27.606914 deg, approach rate: -0.008961 m/s, LOS rate: -0.564343 deg/s, cmd heading: 356.008803 deg, new cmd heading: 355.486081 deg. i}HeadingCmd: 6.204402 target range: 67.541161 and range: 67.80 m.hw@hhhhggjgrgoBereZe:e*e6@Bɢ) Ii)5iѳ:A I I O >9 s?%,;ELA>&?>? ?>Eٱ>L-=>H пj??*п 矨?ﱥ?`'?i>&?I>}O^;>CYJlByJ/IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518866bDZVDZ8yb=%bx=ٔbKdQ-f?9dYd=fEyfEj2Ej?lQ 5r 5n6׊?Q 9r 5nޟ)n#BYpyr@Q IvJ@nDIn';in:n 5yxɮzbAx B*** querying acoustic contact ***i i :i%DNOT Ignoring new targets: 67.54 m."i%'!*i%'!5 ProNav: ac range: 67.541161 m, nav range: 67.109909 m, bearing: 27.421111 deg, approach rate: -0.013467 m/s, LOS rate: -0.563566 deg/s, cmd heading: 355.486075 deg, new cmd heading: 355.114450 deg. i5쀼=HeadingCmd: 6.197917 target range: 67.541161 and range: 67.80 m.h=UU@h9h9hAhAgAgAjgArgIeIreIZeI:eI*eU Y@yɢ}ᆣ) Ci)T顁iz<}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775016i A .AI I E  E E E "E D:*E خ:VE ZE a @a @a @a @O >k%, _LA E?E*?EHٱEE+=EHBп`?P?@)<п TӢ ?@qw?`?iE?IE\O^;ECYmgBym)IiMb@Mb@Mb@ 9K7?n?Y)?yV> A A)|AYz AbD5ۿVD58yE%E4=ٔE8Q-M>9M ?YM ?=UEyUEUXüE]>YQ 5e 5]ˊ?Q 9e 5])],BYmk-?Q Em:ym@Q ImJ@]$DI] ;i]r;] 5yuWBɮ}~Ay:iDNOT Ignoring new targets: 67.54 m."iK%*iK% ProNav: ac range: 67.541161 m, nav range: 67.105347 m, bearing: 27.158719 deg, approach rate: -0.010050 m/s, LOS rate: -0.578045 deg/s, cmd heading: 355.114458 deg, new cmd heading: 354.589655 deg. i<HeadingCmd: 6.188757 target range: 67.541161 and range: 67.80 m.hL @hhhhggjgrg]BereZe:e*ek @Bɢk) BiBmYIBmBBiBiBmɺDBm;Bm~6EB-GCB-GCB)B- =B- =C-T4@ @@ 5@@xA@yAԙ ^A >e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275359A I I O >%,xLAE2 E2E0E0"E2:*E2ą:VE0ZE0BE2  A?>N&?>Nٱ>߶/=>H`kο Ѓ?v?Ͽ ϩ???i> A?I>4w^;>CYJuByJ;IPbDVVDV8y=%`=ٔ-{Q-->91Y1=5Ey5E=E=>AQ 5M 5EŠ?Q 9M 5E)E3BYIyMO@Q IMJ@E,DIE:iEy:EG 5yYɮ] AY:iDNOT Ignoring new targets: 67.54 m."i!%*i!% ProNav: ac range: 67.541161 m, nav range: 67.099777 m, bearing: 26.946905 deg, approach rate: -0.015183 m/s, LOS rate: -0.577473 deg/s, cmd heading: 354.589653 deg, new cmd heading: 354.165999 deg. iHeadingCmd: 6.181363 target range: 67.541161 and range: 67.80 m.h@hhhhggjgrgereZe:e*e @ɢQ) R?i)i">? n?)EI鬿iBҽ5T****** received valid address query ******5R****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.^A) A ؟AI I O >{$%,l͒LA2B?2p?2aSٱ2/=2H"sͿ  t? ?@Ϳ_?@??i2B?I2p>^;2CYNtByR9IbDZڿVDZ8yb׻%bP=ٔb$8Q-f>9f"?Yf"?=fEyfEjڼEj>lQ 5r 5n?Q 9r 5nv)n;BYpyr@Q IvJ@n5DIn;inr;n# 5yzPBɮzAzE|iih LAjB"jB:j>"p,q]{-@X,|P[X@pn5A?e H\zBP?*j鬿2jBҽ*p|?ÈN@G;^=@ՙ@p;6`q?T8?rIv?jA jFtBi<Ӟ?iEjABjmŸ?jEjABrjmBzj>E addTargetRange:: Added new target pos. range: 68.199997 m, deltaT: 3.779451 s, deltaX: 0.399994 m, approachRate: 0.105834 m/s, rangeRepo size: 4 U Added new target pos. range: 67.940086 m, bearing: 25.683098 deg, lat: 36.779384 deg, lon: -121.859594 deg, deltaT: 3.779451 s, deltaX: 0.398926 m, approachRate: 0.105551 m/s, posRepo size: 4 :iQ]DNOT Ignoring new targets: 67.94 m."i]*iYm ProNav: ac range: 67.940086 m, nav range: 67.213081 m, bearing: 25.908611 deg, approach rate: 0.000000 m/s, LOS rate: -0.577473 deg/s, cmd heading: 354.165990 deg, new cmd heading: 353.709399 deg. iiuHeadingCmd: 6.173394 target range: 67.940086 and range: 68.20 m.huq@hqhhhggjgrgereZe:e Q@*e?(DAT read: user:20> %BDAT read: Tx time:04:29:37.8790 %$Ping request sent.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255007Bm %>Bi Bm fIBm BBi Bi Bm ȺDBm ;Bm `6Eԁ A .AI I O% >*%,<ڬLAV?Vy?VWcYٱV0.=VH $̿+5?+?`o̿')???iV?IVh^;VCYnyByn@IAiMb@Mb@Mb@ 9NbX9?Dl?{Gzt?Y%?yO >ף; A A A)AY( AbDVD8y<%8=ٔ cQ->9 ?Y ?=EyEPE>Q 5 5î?Q 9  5s)EBY \)?Q E :y /@Q I J@>DI:i:' 5yOBɮA:iAEDNOT Ignoring new targets: 67.94 m."iE"*iM"U ProNav: ac range: 67.940086 m, nav range: 67.207825 m, bearing: 25.658367 deg, approach rate: -0.011942 m/s, LOS rate: -0.568555 deg/s, cmd heading: 353.709406 deg, new cmd heading: 353.208893 deg. i]eHeadingCmd: 6.164658 target range: 67.940086 and range: 68.20 m.heD@hahahahagagijgirgmeBeireqZeq:eq*eu w?颡ɢٗ) v=i)ɿ顩i!AA ؟AI I O >}1%,0LA2?2?2\ٱ2.=2H`@ʿ?`D? l?? ˿ 0a?`gʥ?`?i2?I2-n^;0Y>}By>EIBchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754895 DD HJ<bDNVDNİ8yV<%Vc=ٔZQ-Z>9Z"?YZ"?=ZEy^E^E^>`Q 5f 5b?Q 9f 5b)bNBYhyj?Q IjJ@bFDIb::ib:b* 5ylɮnAl~B*** querying acoustic contact ***i|i|:i DNOT Ignoring new targets: 67.94 m."i  *i   ProNav: ac range: 67.940086 m, nav range: 67.201790 m, bearing: 25.455557 deg, approach rate: -0.016724 m/s, LOS rate: -0.562070 deg/s, cmd heading: 353.208890 deg, new cmd heading: 352.803240 deg. i%%HeadingCmd: 6.157578 target range: 67.940086 and range: 68.20 m.h% @h)h)h)h)g)g)jg1rg1e1re1Ze1Թ:e*e@-? Bɢ ĭ)  ;i )^ļiMCB9 7%,lLA]d?]?]`ٱ]‘0=]HɿO9?`N?Rɿ?@? ?i]d?I][T^;]CYByJIi5Mb@Mb@Mb@1111 195%C? rh?5t<15A 51A)5fA1Y5 AbDM9VDM8y]<%]2=ٔ]Q-]>9aYa=eEyeEefEm>qQ 5} 5uz?Q 9} 5uzx)uZBY}(?Q E}:y}|?Q I}J@uODIu:ius:u. 5yɮ-gA):iQUDNOT Ignoring new targets: 67.94 m."iU*i]m ProNav: ac range: 67.940086 m, nav range: 67.192017 m, bearing: 25.199173 deg, approach rate: -0.020372 m/s, LOS rate: -0.534512 deg/s, cmd heading: 352.803231 deg, new cmd heading: 352.290403 deg. imtuHeadingCmd: 6.148627 target range: 67.940086 and range: 68.20 m.hu@hqhqhqhqgqgqjgyrg}^BeyreyZe:echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258913*e@:5?颹ɢ7) m9i)7ɼiICB B rIB BB B B B {;B @6E9y@y @y@}/@yi^A FӅ>E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511673ԙ A I I O > =%,:LAE& E&E&$E$"E&:*E&P:VE&4ZE$BE$a*2E$a*JE&);a*:E&*;a*J?JC}?JLdٱJ0=JH=ȿ` ?^?@!ȿȧ ΅?I?@?iJ?IJs\^;HYVByVTIbD^VD^ɰ8yf/=%fh=ٔj&Q-j>9hYh=jEynEnGEn>pQ 5v 5r딊?Q 9v 5rr)rcBYxyz/?Q IzJ@rWDIrG:ir:r1 5y|ɮ~)A:i!%DNOT Ignoring new targets: 67.94 m."i-E)*i-E)= ProNav: ac range: 67.940086 m, nav range: 67.183098 m, bearing: 25.002628 deg, approach rate: -0.026858 m/s, LOS rate: -0.591950 deg/s, cmd heading: 352.290393 deg, new cmd heading: 351.897258 deg. i=jEHeadingCmd: 6.141766 target range: 67.940086 and range: 68.20 m.hEX@hAhAhAhIgIgIjgIrgIeQreQZeQ:eQ*e]z?BɢF) 5i) ͼ  i QDAa Ii Iy O > D%,wLA2e%?2 ?2gٱ22=2H`ƿ#q ?@vo? $ǿw`? 5?/?i2e%?I2dS^;2CY>By>eIIB>)B>F=F=FAADbDJVDJư8yRً=%RM=ٔRQ-V>9TYT=VEyVEZEZ>\Q 5 5^?Q 9 5^l)^mBYy%?Q I%J@^_DI^HZ1  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266829A .AI I B >B B IB BB =B B B n;B 66EO- >Y J%,.LAR?Rѣ?RkٱRnC2=RHpſȀ\?|~?`ſmI`4x?,=??iR?IR'm^;PYbBybiIiuMb@Mb@Mb@qqqq q9u~jt? rh?Mb?Yu$?yqu9 ?Y ?=Ey EeͼE>Q 5 5?Q 9 5e)yBYC(?Q E:yM?Q IJ@hDI:i:9 5yɮcA:iDNOT Ignoring new targets: 67.94 m."i#*i#  ProNav: ac range: 67.940086 m, nav range: 67.155716 m, bearing: 24.536653 deg, approach rate: -0.035955 m/s, LOS rate: -0.573119 deg/s, cmd heading: 351.453039 deg, new cmd heading: 350.965144 deg. i HeadingCmd: 6.125497 target range: 67.940086 and range: 68.20 m.h@hhhhggjgrgcBe!re!Ze!:e!*e% "n@QɢU/s)Y ],iY)]ּYYi]Fԉ A ؟AI! I1 OE >Q%,GLA2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7706924:$e?:SJ?:=pٱ: |6=:HĿ9Z"?YZ"?=ZEyZE^E^>`Q 5f 5b]|?Q 9f 5b_)bBYdyf?Q IjJ@bpDIb:ib:b_< 5ylɮn AYuB*** querying acoustic contact ***iqiq:iDNOT Ignoring new targets: 67.94 m.ԉ"i*i=M ProNav: ac range: 67.940086 m, nav range: 67.141068 m, bearing: 24.328893 deg, approach rate: -0.036926 m/s, LOS rate: -0.523836 deg/s, cmd heading: 350.965145 deg, new cmd heading: 350.549543 deg. iMoUHeadingCmd: 6.118244 target range: 67.940086 and range: 68.20 m.hU@hQhQhQhYgYgYjgYrgieireiZei:eq*eu @ɢZ_) &i)vܼiFi>Թ@ @@@@=@=BDAT read: Rx Time:04:29:40.3742 %TRx dataTimestamp_ set to:1764908981.387584-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025014Eu  Eu Eq Eq "Eu :*Eu :VEq ZEq a} @a} @a} @a} @ ^A >A wAzA ! AM.AIQIiOu>Y%,PfLAYByxI  AUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274763B>BFCBIBƁBB =BBBD;B 6EiMb@Mb@Mb@ 9ˡE?Pn?y&1|?Y'?y>`; A GA)AY AbDVD8y*%;%=ٔQ->9 ?Y ?=EyEE>Q 5  5fr?Q 9  5W)BY )+?Q E:y!?Q IJ@{DI;i7;@ 5yɮA:iAEDNOT Ignoring new targets: 67.94 m."iMm**iMm*] ProNav: ac range: 67.940086 m, nav range: 67.117088 m, bearing: 24.036923 deg, approach rate: -0.048931 m/s, LOS rate: -0.595998 deg/s, cmd heading: 350.549542 deg, new cmd heading: 349.965414 deg. i]WeHeadingCmd: 6.108049 target range: 67.940086 and range: 68.20 m.he#u@hahahahigigijgirgmiBeqreqZeq:eq*e} @ ѐC%XGIq9YoABɢꐽ) 0&i)&iGG<iV39AIE#u@IIM@I @I@M4@I@U@U@U@U!- DAT read: 04:29:40.3742 LVL= 24288, 25585, 14194, 24435, AGC= 59, IDX= 450,-0.18,-0.350, 0.338, 2.255, 0.938, PHS=-1.186,-0.555, 1.273, RAW= 224.3, 4.3, CAL= 223.2, 5.0, ROT= 286.8, -5.0 5 Ygot valid direction response: 04:29:40.3742 LVL= 24288, 25585, 14194, 24435, AGC= 59, IDX= 450,-0.18,-0.350, 0.338, 2.255, 0.938, PHS=-1.186,-0.555, 1.273, RAW= 224.3, 4.3, CAL= 223.2, 5.0, ROT= 286.8, -5.0 = PDAT read: Bearing 274.2, -68.6 (Local) E ~Local bearing/azimuth received: Bearing 274.2, -68.6 (Local) M DAT read: Range 11 to 50 : 68.4 m (Round-trip 91.2 ms) speed 0.0 m/s U R#Rx 1: Read range and direction messages.] ^direction in FSK: [0.287932,-0.953677,0.087156]u Fpublishing direction and range infoy  &8ym?\҄O?Y ̈B  ^ c r7  s_) ;I Ηi { ? z@ `= Qy@  ¸=) -@I ¸   ,_Ͽc?1v?  v?) 蘽I LJi ¸   T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.E]  E] E] #EY "E] :*E] VL:VE] 3ZEY BE] 3si`%,ILA2?22o?28xٱ2V4=2HIة@䄪?ĥ? ;? N~? ?i2?I2s^;2CY>By>IbDFVDF8yNFQ=%NR=ٔR"Q-R>9R"?YV"?=VEyVEVjEV>\Q 5b 5^Ok?Q 9b 5^P)^BY`ybG?Q IbJ@^DI^>:i^:^ED 5yjFBɮjAhiYi]xLAj]FB"j]FB:j]Q>"p]%|3@ t>P3i[ #@p]&8ym?\҄O?*j]LJ2j]¸*p]P^N@U <@R@p]hg?;3U?J`?j]MA j]wBi]̗7О?i]O)oj]4Bj]̗7О?jYjYrj]=Bzj]a> addTargetRange:: Added new target pos. range: 68.400002 m, deltaT: 3.779979 s, deltaX: 0.200005 m, approachRate: 0.052912 m/s, rangeRepo size: 4 - Added new target pos. range: 68.137917 m, bearing: 24.348833 deg, lat: 36.779389 deg, lon: -121.859594 deg, deltaT: 3.779979 s, deltaX: 0.197830 m, approachRate: 0.052336 m/s, posRepo size: 4 q:iDNOT Ignoring new targets: 68.14 m."i*i ProNav: ac range: 68.137917 m, nav range: 67.620796 m, bearing: 23.619288 deg, approach rate: 0.000000 m/s, LOS rate: -0.595998 deg/s, cmd heading: 349.965424 deg, new cmd heading: 349.496493 deg. iHeadingCmd: 6.099864 target range: 68.137917 and range: 68.40 m.h2@hhhhggjgrgereZe:eQ@*e?颩ɢvT)  i)顱iG BDAT read: Tx time:04:29:41.6289 $Ping request sent. = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249851f%,LAD zD E& E&E&%E$"E&:*E&F:VE& 4ZE$a*@a*@a*@a*@>"C?>P(?>}ٱ>J2=>H` Ѵ? ί?Ca`%`?@I??i>"C?I>\^;>CY^ƁBybIbDjʿVDj{8y=% D=ٔ :9Y=EyEBļE>!Q 5% 5%c?Q 9- 5%I)%BY)y-?Q I-J@%DI!i%:%G 5y5ABɮ]A]ѦE:iDNOT Ignoring new targets: 68.14 m."iQ*iQ ProNav: ac range: 68.137917 m, nav range: 67.595795 m, bearing: 23.385275 deg, approach rate: -0.059502 m/s, LOS rate: -0.557139 deg/s, cmd heading: 349.496490 deg, new cmd heading: 349.028304 deg. i~HeadingCmd: 6.091693 target range: 68.137917 and range: 68.40 m.h&@hhhhggjgrgereZeQ:eQ*eU?EBɢEZc)Q UiY)e^aaimPHAM?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502168B>BBIBځBBBBǺDB;B6EBBBB =B =Cf41AU.AIaIO>Y ۸l%,>\LA:?:?:+ ٱ:_2=:H x`۩?(?`r2qH!?`>??i:?I: ^;8YFÁByFIIJC=)J<|Ab A A)AY AbD5VD58yE%EF=ٔMUGQ-M>9M ?YU ?=UEyU!EUɼEU>YQ 5e 5]v\?Q 9e 5]B)]BYm$*?Q Em:ym?Q ImJ@]DI]:i]:]K 5yqɮuAy:iDNOT Ignoring new targets: 68.14 m."iV#*iV# ProNav: ac range: 68.137917 m, nav range: 67.575714 m, bearing: 23.154658 deg, approach rate: -0.049721 m/s, LOS rate: -0.571198 deg/s, cmd heading: 349.028295 deg, new cmd heading: 348.566934 deg. iHeadingCmd: 6.083641 target range: 68.137917 and range: 68.40 m.h/@hhhhggjgrglBereZe:e*e@U ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7538979颙ɢ1ݏ) gi)顡iHԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005864Թ s%,8LA6?6?6`˂ٱ6/=6H@}ɺ09Z"?YZ"?=ZEyZ%E^ E^>`Q 5f 5bU?Q 9f 5b<)bBYdyfE?Q IjJ@bDIb:ib:bN 5ylɮnAlzB*** querying acoustic contact ***i|i|:i DNOT Ignoring new targets: 68.14 m."i *i % ProNav: ac range: 68.137917 m, nav range: 67.555298 m, bearing: 22.939557 deg, approach rate: -0.053090 m/s, LOS rate: -0.559515 deg/s, cmd heading: 348.566929 deg, new cmd heading: 348.136605 deg. i%-HeadingCmd: 6.076130 target range: 68.137917 and range: 68.40 m.h-o@h)h)h)h)g)g1jg1rg1e1re9Ze9:e9*e=b6?mBɢmM)i mhiq)u3$qqiu\IEe EeEe%Ea"Ee>:*Ee|;:VEe 4ZEaam@am@am@am@ y%,0LAA2AAA0B6>B4B6IB6BB6 =B4B4B6;B66EBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513733Y΁ByIiMb@Mb@Mb@ 9J +?(\?t<fAK A A)AY AbDVD8y@=%,=ٔQ->9Y=Ey*EE>Q 5 5.M?Q 9 54)ʇBY,?Q E:y:?Q IJ@DI1;i0;S 5y@Bɮ A ЦE:iDNOT Ignoring new targets: 68.14 m."i3*i3 ProNav: ac range: 68.137917 m, nav range: 67.530952 m, bearing: 22.669786 deg, approach rate: -0.049594 m/s, LOS rate: -0.549745 deg/s, cmd heading: 348.136600 deg, new cmd heading: 347.596881 deg. i{ HeadingCmd: 6.066710 target range: 68.137917 and range: 68.40 m.h }"@h h hhggjgrghBereZe:e*e%x/?颭BɢAQ) i)顱iL+II bEȻ 4jE 4rEȮ1/Eu  Eu Eu #Eq "Eu :*Eu VL:VEu 3ZEq BEu ԙ E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269946!݆%,LADzDE EE$E"E:*E[:VE4ZEa@a@a@a@>?>J~?>鰇ٱ>)=>HͲ??@w@?%??i>?I>4y^;9`Y`=bEyf2EfּEf>hQ 5n 5j@?Q 9n 5j()jBYpyr9?Q IrJ@jDIj;ij;jxY 5ytɮvAt:iDNOT Ignoring new targets: 68.14 m."i"*i"- ProNav: ac range: 68.137917 m, nav range: 67.482941 m, bearing: 22.249763 deg, approach rate: -0.067178 m/s, LOS rate: -0.568915 deg/s, cmd heading: 347.200946 deg, new cmd heading: 346.756557 deg. i-%5HeadingCmd: 6.052043 target range: 68.137917 and range: 68.40 m.h5W@h1h1h1h1g1g9jg9rg9eAreAZeA:eA*eE@i@BɢBފ) i)ZAicIBeGCBeIBeBBe =BaBeȺDBe;BeB6EOY>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521892! %,.6LA2_W?2%;!! %A)%A!Y%AbD9VD9yMH<%MA=ٔU@)Q-U>9Y=Ey6EeE>Q 5 5e:?Q 9 5 )BY,?Q E:y?Q IK@DI;i;G] 5yɮAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774026:i!-DNOT Ignoring new targets: 68.14 m."i- *i- = ProNav: ac range: 68.137917 m, nav range: 67.448997 m, bearing: 22.002508 deg, approach rate: -0.077181 m/s, LOS rate: -0.562497 deg/s, cmd heading: 346.756546 deg, new cmd heading: 346.261801 deg. iEEHeadingCmd: 6.043408 target range: 68.137917 and range: 68.40 m.hEc@hIhIhIhIgIgIjgQrgUZBeQreQZeY:eY*e]`OT@颅Bɢ2) i)k顑iRIi>E5 E5E5'E1"E5:*E5z:VE5'4ZE1BE5A=>AqIIO]>Qiߩ Iߩ  BDAT read: Rx Time:04:29:44.1242  TRx dataTimestamp_ set to:1764908985.171281 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027364ԁ }%,PLA6?6?61ٱ6/=6HZŪ8??`dI T?ӥ?`?i6?I6Gw^;6CY^By^IIb>)bC=f=f=bDjVDj8yrC=%rQ=ٔvQ-v>9tYt=vEyv:EzmEz>|Q 5 5~4?Q 9 5~9)~BYy ,?Q I K@~ȚDI~2:i~:~` 5yɮA5B*** querying acoustic contact ***i1i1:i9EDNOT Ignoring new targets: 68.14 m."iEv#*iEv#U ProNav: ac range: 68.137917 m, nav range: 67.417793 m, bearing: 21.788798 deg, approach rate: -0.083428 m/s, LOS rate: -0.571638 deg/s, cmd heading: 346.261795 deg, new cmd heading: 345.834187 deg. YiUłeHeadingCmd: 6.035945 target range: 68.137917 and range: 68.40 m.hew&@hahahahagigijgirgieqreqZeq:eq*e}`WS @颥BɢМ) i)顩iIEA EEEE%EA"EA*EEM:VEE 4ZEAaM@aM@aM@aM@Թ B] >B] FCB]  IB] BBY BY BY B] ;B] f6Ee'%,jLA:DAT read: 04:29:44.1242 LVL= 29264, 26321, 22178, 31171, AGC= 55, IDX= 434,-0.01,-0.608,-0.116, 1.888, 0.595, PHS=-1.101,-0.666, 1.249, RAW= 220.0, 4.8, CAL= 219.4, 5.5, ROT= 290.6, -5.5 >Ygot valid direction response: 04:29:44.1242 LVL= 29264, 26321, 22178, 31171, AGC= 55, IDX= 434,-0.01,-0.608,-0.116, 1.888, 0.595, PHS=-1.101,-0.666, 1.249, RAW= 220.0, 4.8, CAL= 219.4, 5.5, ROT= 290.6, -5.5 BPDAT read: Bearing 265.8, -64.4 (Local) F~Local bearing/azimuth received: Bearing 265.8, -64.4 (Local) JDAT read: Range 11 to 50 : 68.4 m (Round-trip 91.2 ms) speed 0.0 m/s JR#Rx 1: Read range and direction messages.R^direction in FSK: [0.350222,-0.931750,0.095846]RFpublishing direction and range infoy " j?{faVX?Y "Pr"f"V "y)"7I"팿i"~*";ߟ?" u@"="xu@ " =)":M@I" Ľ "VT'0ƿ Udf?>ɾ? "pq?)"lʬI" i" Ľ ^T****** received valid address query ******^R****** received valid ping request ******^Querying Benthos address 50 with one ping in standard two-way mode.v%?vR?vLٱv_)=vH ణ?@R?~:"b?`??iv%?IvY^;tY-By-IԩieMb@Mb@Mb@aaaa a9eS㥛?(\?y&1|?Ye$?yez>e`;eOAe A ex A)e AaYeAbDVD8y<%"=ٔQ->9Y=Ey?E8E>Q 5 5-?Q 9 5)BY)?Q E:y?Q IK@ӚDI;iB;d 5y%;Bɮ%tA%ƦEi i"O$kLAj "j :j"P>"p"J7@lfOKWAw@p" j?{faVX?*j" 2j" Ľ*p"EYWRO@ ;:@lI@p"Ąek?d=? addTargetRange:: Added new target pos. range: 68.400002 m, deltaT: 3.784163 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 68.137932 m, bearing: 22.720515 deg, lat: 36.779389 deg, lon: -121.859583 deg, deltaT: 3.784163 s, deltaX: 0.000015 m, approachRate: 0.000004 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 68.14 m."i*iM ProNav: ac range: 68.137932 m, nav range: 67.732407 m, bearing: 22.252899 deg, approach rate: 0.000000 m/s, LOS rate: -0.571638 deg/s, cmd heading: 345.834198 deg, new cmd heading: 345.240733 deg. iIUHeadingCmd: 6.025588 target range: 68.137932 and range: 68.40 m.hU@hQhQhQhQgYgYjgYrg]IBeareZe:e*e ?颵Bɢ=}) hi)45项iI BDAT read: Tx time:04:29:45.4289 $Ping request sent.A %,v8LA2C?2(?2zٱ2|-=2HY@)?`9?TޡYR@R? ?`?i2C?I2f^;2CY>ByBIbDJVDJ8yV =%V=ٔV$Q-V?9XYX=ZEyZBE^E^?pQ 5v 5ru)?Q 9v 5r )rBYtyv?Q IvK@rٚDIr:irK:rg 5y~9Bɮ.AE:iYeDNOT Ignoring new targets: 68.14 m."ie2"*im2" ProNav: ac range: 68.137932 m, nav range: 67.706062 m, bearing: 22.086674 deg, approach rate: -0.089861 m/s, LOS rate: -0.567217 deg/s, cmd heading: 345.240736 deg, new cmd heading: 344.908162 deg. iHeadingCmd: 6.019783 target range: 68.137932 and range: 68.40 m.h@hhhhggjgrgereZe:e*e ?-B1ɢ5쓽) ~i)Ti 9Iԉ% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499368Թ E]  E] E] %EY "E] :*E] ~:VE] 4ZEY ae @ae @ae @ae @5%,!=LAF!ݯ?FM?FiٱF_1=FH х ?`c?`ڢjɱ?k ??iF!ݯ?IFce^;DYfByfI hhhjAbDnVDn8yv ռ%zE=ٔziQ-z>9z ?Y~ ?=~Ey~FE~׼E~>Q 5  5#?Q 9 5)BYy ?Q IK@DI:i:3k 5yɮZA!:iAMDNOT Ignoring new targets: 68.14 m."iM *iM ] ProNav: ac range: 68.137932 m, nav range: 67.668106 m, bearing: 21.859960 deg, approach rate: -0.094145 m/s, LOS rate: -0.562645 deg/s, cmd heading: 344.908161 deg, new cmd heading: 344.454488 deg. i]eHeadingCmd: 6.011865 target range: 68.137932 and range: 68.40 m.he3a@hahihihigigijgqrgqeqreqZeq:ey*e}?颥Bɢ#) i)#顩iIԩB>BB IB,BBBBǺDB;B6Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.751490GyA1eڤ9eyAYeA wU%,LAY~By~IiMb@Mb@Mb@ 9x&1?~jt?Mbp?YA ?y>;9A A )@YAbDVD8y!<%?=ٔQ->9Y=EyJEE>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003604Q 5 5?Q 9 5)'BY$?Q E:yK?Q IK@DI ;iG ;n 5yɮ+A:i1=DNOT Ignoring new targets: 68.14 m."i=*i=M ProNav: ac range: 68.137932 m, nav range: 67.635101 m, bearing: 21.627952 deg, approach rate: -0.076370 m/s, LOS rate: -0.537105 deg/s, cmd heading: 344.454499 deg, new cmd heading: 343.990269 deg. iMu]HeadingCmd: 6.003763 target range: 68.137932 and range: 68.40 m.h]@hYhYhYhYgagajgarge1BeireiZei:ei*em`@v?额Bɢ5) i)=顡iHAu>IaIqO}Y>ԙ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255416 X=%,CLA2l.?2?2⏽ٱ2į*=2H pU?`?(hB@?`F?@?i2l.?I2H^;2CYBByBILbDJVDJ8yz_;%zY=ٔzQ-z>9|Y|=~Ey~NEIcE> Q 5 5 4?Q 9 5 ) 2BYy?Q IK@ DI :i ; =r 5y!ɮ%#A!EB*** querying acoustic contact ***iAiA:iIMDNOT Ignoring new targets: 68.14 m."iU*iUe ProNav: ac range: 68.137932 m, nav range: 67.602150 m, bearing: 21.425415 deg, approach rate: -0.088076 m/s, LOS rate: -0.541627 deg/s, cmd heading: 343.990265 deg, new cmd heading: 343.585002 deg. iewmHeadingCmd: 5.996689 target range: 68.137932 and range: 68.40 m.hm@hihihqhqgqgqjgyrgyeyreyZey:e*eq?颭BɢB) i) 项iHchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507487E% E%E%&E!"E%:*E%e:VE%4ZE!a-@a-@a-@a-@! B >B B ( IB 6BB B B ȺDB ;B 6EBFCBFCBBBC4g%,LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759465V ԫ?V9?VjiٱV%=VHa\?T? 2??! Y ?c??iV ԫ?IV:0^;TYzByzII%%>)%l>M=Mp=iEMb@Mb@Mb@AAAA A9Eףp= ?㥛 ?YE?yE>EEAEA Eb A)E@AYEAbD] VD]8ye\W=%m5=ٔmQ-m>9qYq=uEyuSE}E}>Q 5 5?Q 9 5R)=BY#?Q E:yd?Q IK@DI(;i*(;0v 5yɮA:iDNOT Ignoring new targets: 68.14 m."i@*i@ ProNav: ac range: 68.137932 m, nav range: 67.559113 m, bearing: 21.184839 deg, approach rate: -0.095189 m/s, LOS rate: -0.532438 deg/s, cmd heading: 343.584989 deg, new cmd heading: 343.103543 deg. isHeadingCmd: 5.988286 target range: 68.137932 and range: 68.40 m.h @hhhhggjgrg$BereZe:e*e@%Bɢ-)) -i))5 11i5HHQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011458E5  E5 E5 %E1 "E5 :*E5 3:VE5 4ZE1 BE5 ] 9hYh=jEyjVEjEn>!Q 5% 5%?Q 9- 5%v)%GBY)y-?Q I-K@%DI%:i%:%Ry 5y56Bɮ=A=EY:iyDNOT Ignoring new targets: 68.14 m."i*i ProNav: ac range: 68.137932 m, nav range: 67.523468 m, bearing: 20.993888 deg, approach rate: -0.098355 m/s, LOS rate: -0.527175 deg/s, cmd heading: 343.103543 deg, new cmd heading: 342.721445 deg. i2qHeadingCmd: 5.981617 target range: 68.137932 and range: 68.40 m.hii@hhhhggjgrgereZe:e*e`@颍Bɢ) ^i) 项iGi>echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264924-@) @1@515@1AAzAEzAԉIIO!>Ա  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515511E=  E= E= !E9 "E= ,:*E= [:VE= c3ZE9 aE @aM @aM @aM @ny%,YLA2&?2 ?2Iٱ2t+=2H`Z? @G?`??@̔%E?Ua??i2&?I2K,^;2CYn BynIbDzVDz8y#=%G=ٔTQ->9 Y = Ey ZE JӼE>Q 5% 5 ?Q 9% 5)QBY!y%?Q I%K@ DIf;ia;| 5y)ɮ5eA1:iQ]DNOT Ignoring new targets: 68.14 m."i]*iem ProNav: ac range: 68.137932 m, nav range: 67.481689 m, bearing: 20.779723 deg, approach rate: -0.104799 m/s, LOS rate: -0.537550 deg/s, cmd heading: 342.721435 deg, new cmd heading: 342.292849 deg. imuuHeadingCmd: 5.974137 target range: 68.137932 and range: 68.40 m.hu",@hyhyhyhygygyjgrgereZe:e*e@#@Թ颽Bɢt|) A־i)S i`GB>BB4 IB@BBBBǺDB;Bt6Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768813A %,49LAYr ByrI ttxzAiuMb@Mb@Mb@qqqq q9uX9v?MbX9?{GztYu?yu!>uףuAufA u A)u@qYuAbDVD8y<%A=ٔQ->9Y=Ey_EE>BDAT read: Rx Time:04:29:47.9241 TRx dataTimestamp_ set to:1764908988.950887checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020603Q 5 5?Q 9 5)[BY #?Q E:y;?Q IK@DI9;i; 5yɮWA:i DNOT Ignoring new targets: 68.14 m."i *i 5 ProNav: ac range: 68.137932 m, nav range: 67.443977 m, bearing: 20.553447 deg, approach rate: -0.088419 m/s, LOS rate: -0.530818 deg/s, cmd heading: 342.292854 deg, new cmd heading: 341.840059 deg. i5r=HeadingCmd: 5.966235 target range: 68.137932 and range: 68.40 m.h=e@h9h9h9h9gAgAjgArgEBeAreIZeI:eI*eM[ @bE}J4jE}3rE}ӣ0E EE$E"EO:*EA:VE4ZEBE qu checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272057ԙ %,SLAjj`?jE?jnٱjd.=jH@?]7ڣ?@??ӲI?å?@?ijj`?Ij(^;hY%By-IbDVD8y<%D=ٔU1Q->9"?Y"?=EycE TE >AQ 5M 5E(?Q 9M 5E)EeBYQyUu?Q IUK@EDIE;iEQ;E> 5yYɮ];AYi}B*** querying acoustic contact ***iyiy:iDNOT Ignoring new targets: 68.14 m."i*i ProNav: ac range: 68.137932 m, nav range: 67.401535 m, bearing: 20.327573 deg, approach rate: -0.100555 m/s, LOS rate: -0.535479 deg/s, cmd heading: 341.840067 deg, new cmd heading: 341.388045 deg. itHeadingCmd: 5.958345 target range: 68.137932 and range: 68.40 m.hĪ@hhhhggjgrgereZe:e*e` @mۂBɢm0)i m̾ii)u%qqiu[Fb$ݵ?YBԙ^q^= n);IiLZ?o@&o@ %=)C@I%>H+Y|a1?{b>? #1?)-%Ig3i%@ @@+5@A>A>E EE%E"Ey:*EV:VE 4ZEa@a@a@a@T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.A II!O->B >B B G IB OBB = B B ȺDB v;B 76EѺ%,mLAiIA(DAT read: user:23> &BDAT read: Tx time:04:29:49.2289 &$Ping request sent.&`A  A)d@YA15@AbD=VD=8yMp<%M=ٔM!9Q-M>9QYQ=UEyUhE]iE]>aQ 5m 5eQ?Q 9m 5e;)eqBYmS!?Q Em:ym?Q IuK@e'DIe;ie ;e 5y}5Bɮ}A}Eii]LAjB"jB:j>"p_diR=@r*V}NL0?@p؛g?F>b$ݵ?*jg32j%*pݢ'wO@ʦEP9@O`7@pɁ ?+!?ζd?jA j{BiR_?i Tl4jBjx̞?jejyBrj؆Bzj͵> addTargetRange:: Added new target pos. range: 68.300003 m, deltaT: 3.780427 s, deltaX: -0.099998 m, approachRate: -0.026452 m/s, rangeRepo size: 4  Added new target pos. range: 68.038315 m, bearing: 21.912151 deg, lat: 36.779388 deg, lon: -121.859579 deg, deltaT: 3.780427 s, deltaX: -0.099617 m, approachRate: -0.026351 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 68.04 m."i*i ProNav: ac range: 68.038315 m, nav range: 67.422836 m, bearing: 20.344599 deg, approach rate: 0.000000 m/s, LOS rate: -0.535479 deg/s, cmd heading: 341.388045 deg, new cmd heading: 340.807426 deg. iHeadingCmd: 5.948212 target range: 68.038315 and range: 68.30 m.hW@hhhhggjgrgBe re Ze :e @3Q@*eг?=قBɢ=͛n)A EiA)EAAiEE%,&ĆLA2?2f?2ٱ2~+=2H!A? [p?? ?@=벿-?g`?(?i2?I2=^;0 8)8888<>~Ai>I<<@I@iB A BbPFF)DD F$~AFDHHHIH)HiH)LIN1~AN̼L lprA~Arףippitv3A)t tItYtY=By=IbDUVDU8y>%=ٔ6:Q-5?9 ?Y ?=EykE9E5?Q 5 5A?Q 9 58)vBYyn?Q IK@,DI:i: 5yɮA:iDNOT Ignoring new targets: 68.04 m."i+*i+ ProNav: ac range: 68.038315 m, nav range: 67.392937 m, bearing: 20.215807 deg, approach rate: -0.123486 m/s, LOS rate: -0.532153 deg/s, cmd heading: 340.807424 deg, new cmd heading: 340.549727 deg. iysHeadingCmd: 5.943714 target range: 68.038315 and range: 68.30 m.h2@hhhhggjgrge re Ze :e *e ?=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498877uׂBɢ}򙌽)y }ľi)顁iӦEE%  E% E! E! "E% I:*E% X:VE! ZE! a- @a- @a- @a- @%,kLA6z?6?6k/ٱ67-=6H? T_f??I?A?H??i6z?I6=8^;6CpY~'By IbDVD8ymj=%mL=ٔuAJQ-u>9qYq=uEyuoE}ݼE}>Q 5 5?Q 9 5)BYy ?Q IK@4DI:i: 5yɮrA:iDNOT Ignoring new targets: 68.04 m."i*i ProNav: ac range: 68.038315 m, nav range: 67.342110 m, bearing: 20.005488 deg, approach rate: -0.126774 m/s, LOS rate: -0.524979 deg/s, cmd heading: 340.549735 deg, new cmd heading: 340.128788 deg. i1pHeadingCmd: 5.936367 target range: 68.038315 and range: 68.30 m.h@hhhhggjgrgereZe:e*eu?5ՂBɢ=x)9 =᭾i9)=9AiE!EBqBuM IBuTBBu =BqBuǺDBuR;Bu!6EUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0035299Au؟AIIO>a u%,c{LAYY]5Bye' I iiimAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.254105iUMb@Mb@Mb@QQQQ Q9U-?(\?MbP?YU??yUz>U:QUA U A)UM@QYU3AbDmVDmð8y}!=%}:=ٔ}Q-}>9"?Y"?=EysEE>Q 5 5?Q 9 5ռ)BY?Q E:yG?Q IK@=DI ;i,:q 5yɮAE EE"E"E:*Eą:VE(3ZEBED%,?VLA2A6?2l?2ٱ2)=2HwȻ?@@?@??UM?*? ?i2A6?I2vN^;2CY>=By>0 IbDFVDF8yNa/=%Rn=ٔR Q-R?9PYT=VEyVwEVTEV?XQ 5^ 5ZK?Q 9b 5Zz)ZBY`yb`?Q IbK@ZCDIZ;iZ8;Zp 5ydɮf@h:ixzDNOT Ignoring new targets: 68.04 m."i}*i} ProNav: ac range: 68.038315 m, nav range: 67.250168 m, bearing: 19.614822 deg, approach rate: -0.124007 m/s, LOS rate: -0.499355 deg/s, cmd heading: 339.689650 deg, new cmd heading: 339.346916 deg. iwdHeadingCmd: 5.922721 target range: 68.038315 and range: 68.30 m.h@hhhhggjgrgereZe:e*e E?ԹЂBɢBe >Be ECBe f IBe iBBe =Ba Ba Be |;Be 46EԹ q } ːC G /{Ag%,LA9/{AYA>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.049673~?~ѓ?~ٱ~,=~Hо?4??O? ^8?`/s??i~?I~p^;~CYPByH IbD%VD%ð8yR=%2=ԩٔ0=:Q->9Y=Ey|EҼE>Q 5 5j?Q 9 59)BYy?Q IK@LDIT:i;~ 5yɮF@EB*** querying acoustic contact ***ii:i DNOT Ignoring new targets: 68.04 m."i *i  ProNav: ac range: 68.038315 m, nav range: 67.190331 m, bearing: 19.383513 deg, approach rate: -0.128821 m/s, LOS rate: -0.498416 deg/s, cmd heading: 339.346911 deg, new cmd heading: 338.883893 deg. i d%HeadingCmd: 5.914639 target range: 68.038315 and range: 68.30 m.h%D@h!h)h)h)g)g)jg1rg1e1re1Ze1:e9*e= @e΂BɢmmY)i mzii)m9iqiuBAM>AIIO`>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262091E- E-E)E)"E-:*E-*5:VE)ZE)BE-) a=bD VD8yE&=%E@=ٔMQ-M>9IYQ=UE]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514144y]EeEm>Q 5 5q쉊?Q 9% 5)BY!y!Q I%K@AUDI^=i^= 5yɮ@E:i)-DNOT Ignoring new targets: 68.04 m."i5^*i5^E ProNav: ac range: 68.038315 m, nav range: 67.129730 m, bearing: 19.144362 deg, approach rate: -0.112603 m/s, LOS rate: -0.444773 deg/s, cmd heading: 338.883879 deg, new cmd heading: 338.405158 deg. iEKMHeadingCmd: 5.906284 target range: 68.038315 and range: 68.30 m.hMH@hIhIhIhIgIgQjgQrgQeQreYZeY:eY*e]:@颍ʂBɢN) ai)7顑iAD9 zD= ?AEE  EE EE "EA "EE >:*EE a9:VEE (3ZEA aM @aU @aU @aU @ԙ s%,Ks#LA>Ҽ?>?>ٱ>],=>HQ? E1?? ?h?a?@P?i>Ҽ?I>Bi^;>CYJdByJa IbDVVDV8yZpz=%^g=ٔ^U:Q-^>9`Y`=bEybEbEf ?dQ 5j 5fꉊ?Q 9n 5f)fBYlyn?Q InK@f[DIf@;if+;fE 5ytɮv@t:i DNOT Ignoring new targets: 68.04 m."i!2*i!2% ProNav: ac range: 68.038315 m, nav range: 67.088829 m, bearing: 18.996890 deg, approach rate: -0.172664 m/s, LOS rate: -0.622932 deg/s, cmd heading: 338.405165 deg, new cmd heading: 338.110044 deg. i--HeadingCmd: 5.901134 target range: 68.038315 and range: 68.30 m.h-ּ@h1h1h1h1g1g1jgrgereZe:e*e>@ @-ȂBɢ-f])) 5JHԁi1):顱i@BYB] IB]}BBYBYB]ƺDB];B]Z6E@ @@0@BĝBDAT read: Rx Time:04:29:51.7237 TRx dataTimestamp_ set to:1764908992.735770ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027785BECBBBCu5A1I9IQO]v> Z%,^L=LA2{j?2O?2ٱ20=2H`?`O?@? D? ???i2{j?I2^;2CY>uBy>v Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.270143E EE&E"E:*EE7:VE4ZEBE 9Y=EyE䳼E>Q 5 5艊?Q 9 5)BQ A+:YQ E:y?Q IK@dDI:i> 5yɮ@:i%DNOT Ignoring new targets: 68.04 m."i%8*i%85 ProNav: ac range: 68.038315 m, nav range: 67.021904 m, bearing: 18.762765 deg, approach rate: -0.142030 m/s, LOS rate: -0.497359 deg/s, cmd heading: 338.110046 deg, new cmd heading: 337.641341 deg. i5c=HeadingCmd: 5.892953 target range: 68.038315 and range: 68.30 m.h=@h9h9hAhAgAgAjgArgIeIreIZeI:eQ*eU @}łBɢ}(B) i)d顁i0?DAT read: 04:29:51.7237 LVL= 24640, 26465, 18098, 27987, AGC= 55, IDX= 458, 0.13, 2.650, 2.673,-1.413,-2.306, PHS=-1.226,-1.260, 0.848, RAW= 209.2, 15.5, CAL= 211.2, 18.8, ROT= 298.8, -18.8 Ygot valid direction response: 04:29:51.7237 LVL= 24640, 26465, 18098, 27987, AGC= 55, IDX= 458, 0.13, 2.650, 2.673,-1.413,-2.306, PHS=-1.226,-1.260, 0.848, RAW= 209.2, 15.5, CAL= 211.2, 18.8, ROT= 298.8, -18.8 PDAT read: Bearing 270.1, -51.3 (Local) ~Local bearing/azimuth received: Bearing 270.1, -51.3 (Local) DAT read: Range 11 to 50 : 68.0 m (Round-trip 90.7 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.456052,-0.829555,0.322266]Fpublishing direction and range infoyqu/?R꿪ɜL?YuBqu@`uaguF uSm)u7Iu휿iuGuY?ui@uc>uk@ u>)u@IuqquΝw`ʋ?|?޷T? utB?)uRIu߸iuqqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.) Y %,9WLA2?2 ?2ȏٱ24=2H0?fb?`2}?9?@@T?? ?i2?I2ye^;0YJ{ByN} I PPbDVVDV8yr<%re=ٔr$:Q-r>9tYt=vEyvEvgEz?|Q 5~ 5~n牊?Q 9 5~P)~ňBQ A :YQ Eg:y=?Q IK@~kDI~M:i~P?~ 5y ɮ@iiNLAjyB"jyB:j>"pȚU>@yL[S_5@p/?R꿪ɜL?*j߸2j*pBQ5s5@pLAD?"M?Ն;D?jA jtBiA/ ?iE9jaBjjO)ojBrjBzjц>  addTargetRange:: Added new target pos. range: 68.000000 m, deltaT: 3.779474 s, deltaX: -0.300003 m, approachRate: -0.079377 m/s, rangeRepo size: 4 M Added new target pos. range: 67.737816 m, bearing: 17.852446 deg, lat: 36.779388 deg, lon: -121.859583 deg, deltaT: 3.779474 s, deltaX: -0.300499 m, approachRate: -0.079508 m/s, posRepo size: 4 :iIUDNOT Ignoring new targets: 67.74 m."iU*iQe ProNav: ac range: 67.737816 m, nav range: 66.857727 m, bearing: 18.299580 deg, approach rate: 0.000000 m/s, LOS rate: -0.497359 deg/s, cmd heading: 337.641331 deg, new cmd heading: 337.274112 deg. iaHeadingCmd: 5.886544 target range: 67.737816 and range: 68.00 m.h^@hhhhggjgrgereZe:eQ@*eht? ÂBɢ QA) &i)i> BDAT read: Tx time:04:29:52.9789 $Ping request sent.ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252821B] >B] DCB] IB] BBY BY BY B] ;B] v6E~%,qLA,:ι?:?:^ٱ:IB:=:H lE?~?@n? ?ⰳd?@7?@a?i:ι?I:q^;8YnByn Iaa aa aa aa iMb@Mb@Mb@ 9/$?Q?~jt?Y?y\><@A OA)@YAbD VD 8y==%=6=ٔE8Q-E>9AYA=EEyMEU+EU>YQ 5e 5]E扊?Q 9e 5])]ՈBQ AeT:Ye ?Q Ee:yeZ?Q IeK@]tDI]z:i]};]~ 5y7Bɮ@EB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 67.74 m."i*i ProNav: ac range: 67.737816 m, nav range: 66.783424 m, bearing: 18.067756 deg, approach rate: -0.172166 m/s, LOS rate: -0.537756 deg/s, cmd heading: 337.274113 deg, new cmd heading: 336.809959 deg. i vHeadingCmd: 5.878443 target range: 67.737816 and range: 68.00 m.h4@hhhhg!g!ԁjgrg BereZe:e*e%?UBɢ]x4)Y ]нiY)X顡iI~< '"%,v݊LA:v?:[?:ٱ:S7=:H@q?p`W?_?%?6䳿` ? ٦?K?i:v?I:hG^;:C`YjByj IbDvVDv8y ڸ<% a=ٔ ںQ->9Y=EyE%ݼE%>1Q 5E 55削?Q 9E 55)5BYAyM?Q IMK@5{DI5O;i5?a;5 5yaɮey@a:iDNOT Ignoring new targets: 67.74 m."i*i ProNav: ac range: 67.737816 m, nav range: 66.721672 m, bearing: 17.879438 deg, approach rate: -0.171799 m/s, LOS rate: -0.524395 deg/s, cmd heading: 336.809961 deg, new cmd heading: 336.432983 deg. ioHeadingCmd: 5.871863 target range: 67.737816 and range: 68.00 m.hN@hhhhggjgrgereZe:e*e ]?Bɢ'5) (i) <]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758696顑i `;IIO$> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010849a E%  E% E% )E! "E% :*E% ?:VE% FA4ZE! a- @a- @a- @a- @L(%,LA2(?2= ?2ٱ2[6=2H? #a`Þ?O?0n?`|?@Ȧ?X?i2(?I2P2^;2CYNByR IIVp=)Vi>bDZVDZ8yb=%bO=ٔf7Q-f>9dYd=fEyjEjkԼEj>lQ 5r 5n䉊?Q 9r 5n)nBYtyv?Q IvK@nDIn:in:n 5yxɮz)@xԱ:iDNOT Ignoring new targets: 67.74 m."i*i% ProNav: ac range: 67.737816 m, nav range: 66.653595 m, bearing: 17.676916 deg, approach rate: -0.174630 m/s, LOS rate: -0.520034 deg/s, cmd heading: 336.432989 deg, new cmd heading: 336.027539 deg. i%m-HeadingCmd: 5.864787 target range: 67.737816 and range: 68.00 m.h-V@h)h)h1h1g1g1jg9rg9e9re9ZeA:eA*eEk?Bɢ)%) )i)źiu9BB IB؂BBBBB4;B6EII}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265195IOK> .%,ՔLAbchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514747Y~By~ IE EE$E"E:*Ea9:VE4ZEBEeuף9Y=EyEE>Q 5 5㉊?Q 9 5{)BY#?Q E:y?Q IK@DIs:i:, 5yɮ@:iiuDNOT Ignoring new targets: 67.74 m."iu *iu  ProNav: ac range: 67.737816 m, nav range: 66.577751 m, bearing: 17.431828 deg, approach rate: -0.157873 m/s, LOS rate: -0.510743 deg/s, cmd heading: 336.027549 deg, new cmd heading: 335.536828 deg. iiHeadingCmd: 5.856223 target range: 67.737816 and range: 68.00 m.h-f@hhhhggjgrgBereZe:e*e?-Bɢ5 )1 5@Լi1)511i=}7Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.768390y I5%,nLA2}?2(c?2Րٱ2I4=2H d?>`ۍ?@F-?`- ???@?i2}?I25^;0YNByR IbDZVDZ8ybؤ=%bn=ٔb\9Q-b?9dYd=fEyfEj4xEj?lQ 5- 5nL㉊?Q 9- 5nv)n BY)y-Q?Q I-K@nDIn8ԁԩA @AA AAB >B CCB !IB BB B B źDB t;B 6E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272846 <%,aLAR *?R5?R됽ٱRI3=RHۮ?,{?@? EW? $?a??iR *?IR`^;RCY~łBy I  iMb@Mb@Mb@ 9K7A?oʡ?~jt?Y "?y-><M@A OA)@Y\@bDVD8y-r=%55=ٔ5ɸQ-5>91Y9==Ey=E=E=>AQ 5M 5Er≊?Q 9U 5EHn)EBYU'?Q EU:yUp?Q IUK@EDIE;iE:E 5y]:BɮeO@eEԡB*** querying acoustic contact ***ii:i DNOT Ignoring new targets: 67.74 m."i*i ProNav: ac range: 67.737816 m, nav range: 66.441010 m, bearing: 17.006262 deg, approach rate: -0.167772 m/s, LOS rate: -0.533960 deg/s, cmd heading: 335.175496 deg, new cmd heading: 334.684823 deg. i%MtMHeadingCmd: 5.841352 target range: 67.737816 and range: 68.00 m.hM[@hIhIhIhIgIgQjgQrgU!BeQreYZeY:eY*e]@wM@Bɢ|) `)=i)i"4 1 B%,& LAN?NAԪ?N命ٱNe-=NHc?1?`Z?@?/<`8???iN?INWR^;NCYb͂Byb IbDnVDn8yvD=%vb=ٔvᬺQ-v>9z ?Yz ?=zEyzE~ ڼE~>Q 5  5ቊ?Q 9  5h)*BY y 7?Q I K@DI:iu:G 5yɮ@:iAEDNOT Ignoring new targets: 67.74 m."iM"*iM"] ProNav: ac range: 67.737816 m, nav range: 66.378098 m, bearing: 16.810491 deg, approach rate: -0.182610 m/s, LOS rate: -0.568786 deg/s, cmd heading: 334.684815 deg, new cmd heading: 334.292910 deg. i]uHeadingCmd: 5.834512 target range: 67.737816 and range: 68.00 m.hR@hhhhggjgrgereZe:e*e8'@Bɢ%)! %=i!)%w!)i-_2i - BDAT read: Rx Time:04:29:55.4733 - TRx dataTimestamp_ set to:1764908996.5227605 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035859E  E {E E "E غ:*E 5":VE ZE a @a @a @a @cI%,7&LA 2?2"~?2Tٱ2)=2H@+?(5v?@ ??`5>.?0?`G?i2?I2;^;0YNςByR IbDZؿVDZ8ybP<%bM=ٔb&9Q-b>9f"?Yf"?=fEyfEjzּEj>lQ 5r 5nቊ?Q 9r 5nCa)n9BYpyr?Q IrK@nDIn;in;n 5yxɮz@x:ieDNOT Ignoring new targets: 67.74 m."iu*iu ProNav: ac range: 67.737816 m, nav range: 66.307022 m, bearing: 16.594799 deg, approach rate: -0.178357 m/s, LOS rate: -0.541839 deg/s, cmd heading: 334.292899 deg, new cmd heading: 333.861062 deg. iwHeadingCmd: 5.826975 target range: 67.737816 and range: 68.00 m.hv@hhhhggjgrgereZe:e*em @mBɢm)i m\=ii)u6顱iE0vG)Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.291003BeBCBe4!IBeBBaBe?DBaBe;Be(7E@ @@=5@AU>AU>ԙ9Y2AAIIO > |9O%,؂By> IIB=)BPMDAT read: 04:29:55.4733 LVL= 32752, 32753, 20082, 32755, AGC= 58, IDX= 441, 0.11, 0.106, 0.056, 2.428, 1.129, PHS=-0.920,-1.028, 1.255, RAW= 207.6, 6.3, CAL= 207.8, 6.4, ROT= 302.2, -6.4 ]Ygot valid direction response: 04:29:55.4733 LVL= 32752, 32753, 20082, 32755, AGC= 58, IDX= 441, 0.11, 0.106, 0.056, 2.428, 1.129, PHS=-0.920,-1.028, 1.255, RAW= 207.6, 6.3, CAL= 207.8, 6.4, ROT= 302.2, -6.4 ePDAT read: Bearing 242.2, -52.5 (Local) e~Local bearing/azimuth received: Bearing 242.2, -52.5 (Local) uDAT read: Range 11 to 50 : 67.7 m (Round-trip 90.3 ms) speed 0.0 m/s uR#Rx 1: Read range and direction messages.a@a a@a a@a a@a bDVD8E EvE#E"E:*E:VE3ZEBEc;a2Ed;aJE h;a:E h;ay=%9=ٔ :Q->9Y=EyEE>^direction in FSK: [0.529555,-0.840920,0.111469]Fpublishing direction and range infoyx?::K -V:?YfBrN ):Ikiף?5g@z0=fh@ =)Ǩ@I佩c:7V?HxW? >d? ?)nI_ i佩Q 5 5ቊ?Q 9 5Y)IBQ A%+:Y!Q E%:y%?Q I%K@DIV:i> 5y)ɮ-@1MT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.iiALAj߆B"j߆B:jp4>"pT A@vs ZL;w@px?::K -V:?*j_ 2j*pzaϢP@eԋ3@H@pEE ve??Y:?jA jBiL{?i=2{Uj>Bjj=_jBrjȄBzjp> addTargetRange:: Added new target pos. range: 67.699997 m, deltaT: 3.796079 s, deltaX: -0.300003 m, approachRate: -0.079030 m/s, rangeRepo size: 4  Added new target pos. range: 67.436356 m, bearing: 17.032606 deg, lat: 36.779388 deg, lon: -121.859577 deg, deltaT: 3.796079 s, deltaX: -0.301460 m, approachRate: -0.079414 m/s, posRepo size: 4 :i-DNOT Ignoring new targets: 67.44 m."i-*i)= ProNav: ac range: 67.436356 m, nav range: 66.391716 m, bearing: 16.834866 deg, approach rate: 0.000000 m/s, LOS rate: -0.541839 deg/s, cmd heading: 333.861067 deg, new cmd heading: 333.322489 deg. i9EHeadingCmd: 5.817575 target range: 67.436356 and range: 67.70 m.h)@hhhhggjgrgereZe:eP@*e Ŀ?Bɢ)M/: =i)i- BDAT read: Tx time:04:29:56.8289 $Ping request sent.! @"V%,YLA2,?2V?2P̑ٱ2b(=2H?@$k?h?ͫ?@R`5?2?X?i2,?I2/5^;2CY>ByB IbDJֿVDJ8yVy8=%V`=ٔV=zQ-V>9Z ?YZ ?=ZEyZE^+ܼE^>pQ 5v 5rቊ?Q 9v 5rdS)rVBQ Av :YtQ EvT:yvR?Q IzK@rDIr:irO?r 5|yɮ%@):iDNOT Ignoring new targets: 67.44 m."i&+*i&+ ProNav: ac range: 67.436356 m, nav range: 66.321983 m, bearing: 16.638770 deg, approach rate: -0.212613 m/s, LOS rate: -0.598520 deg/s, cmd heading: 333.322493 deg, new cmd heading: 332.929895 deg. i눼HeadingCmd: 5.810723 target range: 67.436356 and range: 67.70 m.hq@hhhhggjgrgereZe:e*e$?]Bɢ])] ]|=iY)eWaaie%+QB% >B! B% M!IB% %BB! B! B% ĺDB% ;B% P7EBeCCBeCCBeʔCBaBaCeb4ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505729P\%,"sLA-Yx?-]?-:ٱ-w&=-H@S ?`ڱ]M??@?jR;??s?i-Yx?I-3^;-CYE˂ByE IQaa aa aa aa iMb@Mb@Mb@ 9T㥛 ?K7A`?MbP?Y!?y+>:7@ A "A)@Y@bD5VD58yE%E3=ٔEHQ-E>9IYI=MEyMEU/3EU>YQ 5e 5]S≊?Q 9e 5]K)]bBQ AeT:Ye&?Q Ee:ym?Q ImK@]ǛDI];i];] 5yu=Bɮu)@uEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 67.44 m."i*i ProNav: ac range: 67.436356 m, nav range: 66.230942 m, bearing: 16.397139 deg, approach rate: -0.207653 m/s, LOS rate: -0.551882 deg/s, cmd heading: 332.929894 deg, new cmd heading: 332.445981 deg. i|HeadingCmd: 5.802277 target range: 67.436356 and range: 67.70 m.hA@hhhhggjgrgBereZe:e*e?}Bɢ}H) T=i)-顡ip) 3c%,mLAY By  I bD%VD%8y5=%5^=ٔ5Q-5>99Y9==EyEEEEE>IQ 5U 5M≊?Q 9U 5MbE)MlBYQyQQ I]K@MΛDIM;iM{;M- 5yaɮe@a:iDNOT Ignoring new targets: 67.44 m."i*iԹ ProNav: ac range: 67.436356 m, nav range: 66.157852 m, bearing: 16.200369 deg, approach rate: -0.197022 m/s, LOS rate: -0.531002 deg/s, cmd heading: 332.445989 deg, new cmd heading: 332.052021 deg. irHeadingCmd: 5.795401 target range: 67.436356 and range: 67.70 m.hs@hhhhggjgrgereZe:e*ep? Bɢ ܼ)  h >i)`i'E  E E )E "E *E =:VE FA4ZE a @a @a @a @9 ]i%,=HLA2x2?2?2C%ٱ2YY$=2H`?7? F?z? sq@?@`|??i2x2?I29+^;2CY>By> IbDFVDF8yN<%RT=ٔRh_Q-R>9PYT=VEyVEVӼEV>\Q 5r 5^㉊?Q 9r 5^>)^wBYpyrb?Q IvK@^֛DI^;i^;^ 5yxɮz@x:iDNOT Ignoring new targets: 67.44 m."i%*i%5 ProNav: ac range: 67.436356 m, nav range: 66.079887 m, bearing: 15.994768 deg, approach rate: -0.202089 m/s, LOS rate: -0.533556 deg/s, cmd heading: 332.052023 deg, new cmd heading: 331.640344 deg. i5t5HeadingCmd: 5.788216 target range: 67.436356 and range: 67.70 m.h=9@h9h9h9h9g9gAjgArgAeAreIZeI:eI*eMu?Bɢڼ) >i!)%^M!)i-9/%BACBZ!IB/BBBBúDB;BV7E ;PExceeded connect timeout, disconnecting. @ @@/@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.516605AU؟AIYIqO}z>iԙ NEp%,"LA6U?6~š?6Hٱ6HG%=6HI?ځVP?`,m?%?`E? ?u?i6U?I6@^;6 CYBByDrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763032i=Mb@Mb@Mb@9999 99=Zd;O?Q?{GztY=j?y=(>=ף= @=@ =A)99Y=@bDUۿVDU8yeq%e>=ٔm$Q-m>9m"?Ym"?=mEyuEuļEu>Q 5 5䉊?Q 9 57)BY"?Q E:bE%J4jE%4rE%L0E EE'E"Eغ:*Ea9:VE'4ZEBEi1)5L11i="i}>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015271 @  @ @ 25@ Ay I I O > pov%,LA2钄?2x?2|ٱ2&=2H+?`zh`?Ȑ?S??ܝK?`Ǥ?I?i2钄?I2)^;2CY>By>!In=n=bDzVDz8y)=%Q=ٔ^Q- >9 Y = Ey EԼE>Q 5% 5削?Q 9% 551)BY!y%U?Q I-K@DI:i2: 5y1ɮ5H@1:iY]DNOT Ignoring new targets: 67.44 m."ie *ie u ProNav: ac range: 67.436356 m, nav range: 65.915619 m, bearing: 15.568257 deg, approach rate: -0.213509 m/s, LOS rate: -0.549188 deg/s, cmd heading: 331.191611 deg, new cmd heading: 330.786297 deg. iuD{HeadingCmd: 5.773310 target range: 67.436356 and range: 67.70 m.h@hhhhggjgrgereZe:e*e @Bɢl) 4>i)7i1N B >B @CB `!IB 4BB =B B B ;B W7E nManaging dock network, ignoring radio surface power off checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5210114|%,LAEx݁?E?E<ٱE0=EH/?0`?E?/ ?@´#?|? ?iEx݁?IE5^;ECY]By] !IiMb@Mb@Mb@ 9&1?ףp= ?{GztY?y>@@  A)l@Y@bD VD 8yY<%9=ٔl:Q-%>9% ?Y% ?=%Ey%E-JDE->1Q 5= 557牊?Q 9= 55l*)5BYE<?Q EE:yE?Q IEK@5DI5:i5:5 5yMBBɮMN@UyEmB*** querying acoustic contact ***iiii:iy}DNOT Ignoring new targets: 67.44 m."i}= *i=  ProNav: ac range: 67.436356 m, nav range: 65.829391 m, bearing: 15.356263 deg, approach rate: -0.194954 m/s, LOS rate: -0.479930 deg/s, cmd heading: 330.786307 deg, new cmd heading: 330.361773 deg. i [HeadingCmd: 5.765901 target range: 67.436356 and range: 67.70 m.hB@hhhhggjg!rg%BeAreAZeA:eI*eM`<<@a颽BɢB6ļ) F>i)xijԹ %,LAJx?Jh?JŐٱJS4=JHe?y?T?`?Ӵ?4z??iJx?IJ,^;JCPYnByn IbDvVDv8yF%_=ٔh":Q->9 "?Y "?= Ey E OE>Q 5 5艊?Q 9% 5$)BY!y%?Q I%K@DI;i; 5y)ɮ5@1:iQ]DNOT Ignoring new targets: 67.44 m."i]k *iek m ProNav: ac range: 67.436356 m, nav range: 65.756493 m, bearing: 15.180836 deg, approach rate: -0.199480 m/s, LOS rate: -0.480568 deg/s, cmd heading: 330.361770 deg, new cmd heading: 330.010532 deg. im[uHeadingCmd: 5.759770 target range: 67.436356 and range: 67.70 m.hu P@hhhhggjgrgereZe:e*e @Bɢ) ;>i)iF checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2749099 E  E E E "E 7:*E 3:VE ZE a @a @a @a @%%,(LAF[~?F#?F֏ٱFT:=FHVr?`9-L? ?I?㴿`?12?_?iF[~?IFDB^;FCYRByR!I TTXXbD^VD^8yf9=%fN=ٔfN:Q-j>9hYh=jEyjEn ׼En>pQ 5v 5ruꉊ?Q 9v 5r)rBYtyvd?Q IzK@rDIr):irW:r< 5y|Aɮ~@I:iDNOT Ignoring new targets: 67.44 m."i9*i9 ProNav: ac range: 67.436356 m, nav range: 65.675774 m, bearing: 14.990689 deg, approach rate: -0.194566 m/s, LOS rate: -0.458896 deg/s, cmd heading: 330.010535 deg, new cmd heading: 329.629779 deg. i%Q]HeadingCmd: 5.753125 target range: 67.436356 and range: 67.70 m.h]@hahahahigigjgrge B5>B5?CB5f!IB59BB5 =B1B5ºDB5;B587EreqZey:e*e` @-Bɢ-X)1 5p>i1)5 11i5h1 ݓ%,/lBLAJ{?J?JٱJf5=JH Z?;U?L??D4?? E?iJ{?IJ8^;HYVByV!Ib(DAT read: user:26> fBDAT read: Tx time:04:30:00.6788 f$Ping request sent.fIM@Md@ MjA)M?@IYM\@bDe+VDe԰8DzDAAE EyE#Eԙ"EƱ:*E:VE3ZEBE@;a2EA;aJEr;a:Er;ayu 7%@=ٔ~;Q->9Y=EyEʼE>Q 5 5쉊?Q 9 55)BY?Q E:yź?Q IK@DI:i@: 5yɮ@ii3LAjޅB"jޅB:js>"p,٤1C@A%CK=3P @pĕFZ?=YUM7P2?*jft2j5*p“]"P@q>Brj+Bzj%>e addTargetRange:: Added new target pos. range: 67.199997 m, deltaT: 3.781942 s, deltaX: -0.500000 m, approachRate: -0.132207 m/s, rangeRepo size: 4  Added new target pos. range: 66.934753 m, bearing: 13.602021 deg, lat: 36.779388 deg, lon: -121.859577 deg, deltaT: 3.781942 s, deltaX: -0.501602 m, approachRate: -0.132631 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 66.93 m."i*i ProNav: ac range: 66.934753 m, nav range: 65.585388 m, bearing: 14.788161 deg, approach rate: 0.000000 m/s, LOS rate: -0.458896 deg/s, cmd heading: 329.629792 deg, new cmd heading: 329.208154 deg. iHeadingCmd: 5.745766 target range: 66.934753 and range: 67.20 m.hQݷ@hhhhggjgrgӁBereZe:eP@*e ?额|Bɢ) Vu>i)5顱ip}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251170 Ė%,c\LA:~x?:iX?:Ōٱ:4=:H?ࢷc?`ף? s?@3}?yt? ?i:~x?I:J^;8YJByJ!!IbDRVDRǰ8ynmN=%nT=ٔn:Q-r>9pYp=rEyrEvEv>xQ 5~ 5z ?Q 9~ 5z)zBY|y~i?Q IK@z DIz:iz:zT 5y ɮ @ :i15DNOT Ignoring new targets: 66.93 m."i=*i=M ProNav: ac range: 66.934753 m, nav range: 65.504601 m, bearing: 14.610732 deg, approach rate: -0.241143 m/s, LOS rate: -0.530259 deg/s, cmd heading: 329.208151 deg, new cmd heading: 328.852861 deg. irHeadingCmd: 5.739565 target range: 66.934753 and range: 67.20 m.h@hhhhggjgrgereZe:e*e,?5xBɢ52Qx)1 5G>i1)=D99i==%E EEE"E[:*E:VEZEa@a@a@a@IIO>1a ƐCB >B B m!IB >BB =B B B ր;B ,7EE GU yAm 5A 9 yAY Au checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754850ԙ %, 2vLAU v?Ut?Uo\ٱU@5=UH`Ia?Vb?с?  @ M@ ) @ Y @bD% VD%8y5X%57=ٔ5:Q-=>99Y9==Ey=EE̼EE>iIQ 5 5MA?Q 9 5M )MBY?Q E:y?Q IK@MDIM1;iM;M< 5yGBɮ@pEB*** querying acoustic contact ***ii:i  DNOT Ignoring new targets: 66.93 m."i]*i]% ProNav: ac range: 66.934753 m, nav range: 65.405495 m, bearing: 14.408831 deg, approach rate: -0.213703 m/s, LOS rate: -0.436020 deg/s, cmd heading: 328.852872 deg, new cmd heading: 328.448465 deg. i%}G-HeadingCmd: 5.732507 target range: 66.934753 and range: 67.20 m.h-p@h)h)h)h)g1g1jg1rg5Be9re9Ze9:e9*e=M@?msBɢm)q u>iq)uAqqiu(Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006918E E~E%E"Ey:*E(:VE 4ZEBE6?` ??i.9s?I.^;. CYBByB*!IbDJ VDJ8yVY=%Vg=ٔZ ;Q-Z>9XYX=^Ey^E^E^>`Q 5f 5b?Q 9f 5b)bĉBYhyj?Q IjK@bDIb:ib`:bS 5ylɮn@p:i DNOT Ignoring new targets: 66.93 m."i *i  ProNav: ac range: 66.934753 m, nav range: 65.325691 m, bearing: 14.249508 deg, approach rate: -0.237064 m/s, LOS rate: -0.473862 deg/s, cmd heading: 328.448470 deg, new cmd heading: 328.129438 deg. iXHeadingCmd: 5.726939 target range: 66.934753 and range: 67.20 m.hC@hhhhggjgrgereZe:e*e?5oB=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259047ɢ5'[)Q U՘>iY)]6YYi] )  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510862E  E yE $E "E غ:*E :VE 4ZE a @a @a @a @d%,թLAJwqp?J?J[.ٱJ69=JH?nOҹ?Q9Y=EyEsּE>)Q 5= 5-g?Q 9E 5-)-̉BYAyE?Q IEK@-"DI- i;i-Jj;- 5yQɮ]@Y:iDNOT Ignoring new targets: 66.93 m."i*i ProNav: ac range: 66.934753 m, nav range: 65.229950 m, bearing: 14.062102 deg, approach rate: -0.227034 m/s, LOS rate: -0.445052 deg/s, cmd heading: 328.129446 deg, new cmd heading: 327.754091 deg. iK=HeadingCmd: 5.720388 target range: 66.934753 and range: 67.20 m.h=k @hAhAhAhABYBYB]y!IB]HBB] =BYBYB];B]=7EB?CB@CBB =B =C>5ggjgrgereZe:e*e@?Q颍jBɢ(j) W>i)iB i>echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765586q@y @@?0@AzAwAԁAIIO>ԩ %,dLA2m?2?2ٱ2^>=2H`T?)?@?-?Oe?@j???i2m?I2^;2CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014684TYVByZ@!I \\Ee EeEe%Ea"Ee:*Ee:VEe 4ZEaBEe'Ļl@ @)@Y(@bDĿVDu8y%6=%%9=ٔ%:Q-%>9)Y)=-Ey-E5ҼE5>9Q 5E 5=?Q 9E 5=)=ԉBYE ?Q EE:yE~?Q IMK@=*DI=:i=:= 5yQɮu@q:iDNOT Ignoring new targets: 66.93 m."i *i  ProNav: ac range: 66.934753 m, nav range: 65.130592 m, bearing: 13.870595 deg, approach rate: -0.224674 m/s, LOS rate: -0.433709 deg/s, cmd heading: 327.754086 deg, new cmd heading: 327.370492 deg. ioFHeadingCmd: 5.713693 target range: 66.934753 and range: 67.20 m.hֶ@hhhhggjgrgÁBe re Ze :e *e5@eBɢ)) ô>iI)MTIIiM! %,LA2j?2'?2ٱ2>=2H`?e!9?@U? ??@js?ǧ?`?i2j?I2'2^;2 CY^!BybI!IbDjVDj8yrw*=%ra=ٔrg;Q-v>9tYt=vEyvEz Ez>|Q 5  5~X?Q 9  5~w)~ډBY y ?Q IK@~0DI~:i~:~ 5yɮ^@:iAEDNOT Ignoring new targets: 66.93 m."iM?*iM?] ProNav: ac range: 66.934753 m, nav range: 65.046829 m, bearing: 13.712587 deg, approach rate: -0.235369 m/s, LOS rate: -0.444561 deg/s, cmd heading: 327.370502 deg, new cmd heading: 327.054085 deg. i]fKeHeadingCmd: 5.708170 target range: 66.934753 and range: 67.20 m.heU@hahahahagigijgirgieireqZeq:eq*eu@颭aBɢ,) >i)2K 项iXYBYBYB]!IB]WBB] =BYBYB]Ҁ;B]'7Eԁ e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770817;%,ALAYߘg??ٱ6=HI? @qy??`?@)T? ?>?iߘg?I'!^;CY3By_!IiuMb@Mb@Mb@qqqq q9uK7A`?S㥛?ԙYu ?yu$>uu@u @ q)qqYu@bDVD8yA=%=ٔX;Q->9Y=EyE%E>Q 5 5?Q 9 5)BY?Q E:y ?Q IK@:DI;iB; 5yMBɮ@gE B*** querying acoustic contact ***i i :iDNOT Ignoring new targets: 66.93 m."i*i- ProNav: ac range: 66.934753 m, nav range: 64.918518 m, bearing: 13.477396 deg, approach rate: -0.241778 m/s, LOS rate: -0.444048 deg/s, cmd heading: 327.054073 deg, new cmd heading: 326.582772 deg. i-*K5HeadingCmd: 5.699944 target range: 66.934753 and range: 67.20 m.h5e@h9h9h9h9g9g9jgArgEBeAreAZeA:eI*eM@ @uZBɢ}B\)y }>iy)} u 顁i A=>bE4jEm4rE.Eu EuEqEq"Eu%:*EuVL:VEqZEqBEu;a2Eu;aJEu;a:Eu;aԩIIO> %,ELA2ӭd?2~Ai>tI<i)v iod;ijI%}B@I! @ @@%@5@!IIOb>1U DAT read: 04:30:03.1716 LVL= 32752, 32753, 23858, 32755, AGC= 55, IDX= 425, 0.40,-0.148,-0.461, 1.866, 0.740, PHS=-0.785,-1.155, 1.082, RAW= 201.1, 8.3, CAL= 201.5, 9.1, ROT= 308.5, -9.1 ] Ygot valid direction response: 04:30:03.1716 LVL= 32752, 32753, 23858, 32755, AGC= 55, IDX= 425, 0.40,-0.148,-0.461, 1.866, 0.740, PHS=-0.785,-1.155, 1.082, RAW= 201.1, 8.3, CAL= 201.5, 9.1, ROT= 308.5, -9.1 m PDAT read: Bearing 230.0, -46.1 (Local) m ~Local bearing/azimuth received: Bearing 230.0, -46.1 (Local) u DAT read: Range 11 to 50 : 66.5 m (Round-trip 88.7 ms) speed 0.1 m/s } R#Rx 1: Read range and direction messages.E  E E #E "E g:*E E7:VE 3ZE a @a @a @a @ ^direction in FSK: [0.614680,-0.772758,0.158158] Fpublishing direction and range infoy  syt?}*o@\~>?Y B   2] ) 7I Hi ד ~? `@ V> a@ ">) L@I " O˰?{H?.? ;?) I fi "  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Y oJ%,)+LAB>BB!IBqBB =BBB;B6E1Y y bDVD8ye%'=ٔQ->9Y=EyEE>Q 5 5 ?Q 9 5)BYyQ IL@HDI:i:a 5y ɮ @ ii%LAjyB"jyB:jCN>"p2{z[D@Ȱ߹I,$@psyt?}*o@\~>?*jf2j"*pd`P@PpE"*@}k}%@pObvG?1eL@?\;!?jQA jBi!!?ij˜BjL{?jo}jBrjBzjOW> addTargetRange:: Added new target pos. range: 66.500000 m, deltaT: 3.779468 s, deltaX: -0.699997 m, approachRate: -0.185210 m/s, rangeRepo size: 4  Added new target pos. range: 66.237236 m, bearing: 11.532476 deg, lat: 36.779393 deg, lon: -121.859590 deg, deltaT: 3.779468 s, deltaX: -0.697517 m, approachRate: -0.184554 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 66.24 m."i*i  ProNav: ac range: 66.237236 m, nav range: 64.982094 m, bearing: 12.067974 deg, approach rate: 0.000000 m/s, LOS rate: -0.382657 deg/s, cmd heading: 326.334773 deg, new cmd heading: 325.978092 deg. i%(DAT read: user:27> -BDAT read: Tx time:04:30:04.3788 -$Ping request sent.-i)8iY;i I ~@Iԉ% @)  @) @- L0@) I I O >Թ 0%,HDLA2_?2q?2{ٱ2T.=2H?P`y?HO?E`;E(@E @ EM@)AAYE@ U%m`=ٔm[;Q-u>9qYq=}Ey}E}AtE}>Q 5 5?Q 9 5)BY?Q E:yp?Q IL@NDI#T;iMrI@I}@y @y@}5@yIIOn>5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502743) }Z%,^LA2*9\?2?2exٱ2g,=2HP6?`n5?$?@?IJ?@=??i2*9\?I2-L^;2CYN[ByN!IbDZVDZð8yb%bj=ٔb7;Q-b>9dYd=fEyfEjEj>lQ 5r 5nF?Q 9r 5n)nBYpyr?Q IrL@nTDIn;in:n 5yxɮz)@x:iDNOT Ignoring new targets: 66.24 m."i%O*i%O- ProNav: ac range: 66.237236 m, nav range: 64.801491 m, bearing: 11.752703 deg, approach rate: -0.275423 m/s, LOS rate: -0.476683 deg/s, cmd heading: 325.656890 deg, new cmd heading: 325.346694 deg. i5Z5HeadingCmd: 5.678371 target range: 66.237236 and range: 66.50 m.h57@h9h9h9h9g9g9jgArgAeAreAZeI:eI*eMC?HBɢ$<) = ?i)Miq;i%!)I-7@I))checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754829EU EUEU"EQ"EU:*EU=:VEU(3ZEQae@ae@ae@ae@@ @@/@IIIYOe4>YBBB!IBBBBBBD;B6Eԉ E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007188ֆ%,0xLA0=CKY?=ʊ?='yuٱ=|*==H@?="?@E??@`q?jN? /?i=CKY?I=1^;=CYUoByU!IiMb@Mb@Mb@ 9/$?L7A`?~jtx?Y&?y+>;@@  @)@Y@bDVD8yL=%+=ٔ:Q->9 Y = Ey  EüE>Q 5 5?Q 9% 5)BY% ?Q E%:y%ӥ?Q I%L@]DI;iT; 5y1ɮ5@1:iY]DNOT Ignoring new targets: 66.24 m."i]*ieԉ  ProNav: ac range: 66.237236 m, nav range: 64.673668 m, bearing: 11.534607 deg, approach rate: -0.267173 m/s, LOS rate: -0.456759 deg/s, cmd heading: 325.346690 deg, new cmd heading: 324.909647 deg. i PHeadingCmd: 5.670743 target range: 66.237236 and range: 66.50 m.hv@hhhhggjgrg%ЁBeareaZea:ei*em@?BBɢ@l;) D?i)p99i=X';iEAAIMv@IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259596Ա@ @@W3@A>A>E] E]E]$EY"E]:*E] H:VE]4ZEYBE];am2E];amJE];au:E];auA I I) O= > k%,aLA2V?2{-?2qٱ2,=2H@s?@?$?W?[t4?` ? q?i2V?I2x`^;2 CY>By>!IIB=)Bp;bDJVDJ8yR>%R{=ٔR4;Q-R ?9TYT=VEyVEV=EZ ?X`Q 5b 5Z ?Q 9b 5Z)ZBYdyfu?Q IfL@ZcDIZ(;iZ);Z 5yjSBɮj@j^EmB*** querying acoustic contact ***iiii:iy}DNOT Ignoring new targets: 66.24 m."i*i ProNav: ac range: 66.237236 m, nav range: 64.585487 m, bearing: 11.386620 deg, approach rate: -0.257698 m/s, LOS rate: -0.433067 deg/s, cmd heading: 324.909640 deg, new cmd heading: 324.613264 deg. i#FHeadingCmd: 5.665570 target range: 66.237236 and range: 66.50 m.hZL@hhhhggjgrgereZe:e*e_??Bɢx<) "?ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510898)Li;i   I ZL@I="5;EV>iE>@ @@3@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762885A! I) I9 A OU >E  E E #E "E :*E ,:VE 3ZE a @a @a @a @F%,gLAFS?F2ͅ?F?|nٱF-=FH@Q?`0~?ɢ?e?L@8˭? ?`?iFS?IF>^;F CYZByZ!IbDjVDj8yvb=%vE=ٔz:Q-z>9|Y|=~Ey~EԼE>Q 5% 5&?Q 9% 5)"BY!y%?Q I%L@kDI B;i2;< 5y1ɮ5(@1BBB!IBBBBBB#;Bu6EG-/{AEAu9u/{AYuA:iDNOT Ignoring new targets: 66.24 m."i*i ProNav: ac range: 66.237236 m, nav range: 64.471146 m, bearing: 11.198008 deg, approach rate: -0.260192 m/s, LOS rate: -0.429957 deg/s, cmd heading: 324.613264 deg, new cmd heading: 324.235379 deg. iDHeadingCmd: 5.658975 target range: 66.237236 and range: 66.50 m.hS@hhhhggjgrgereZe:e*eǒ@=:Bɢ=Y<)9 =+?i9)EAAiEx;iM9IIIuS@IqIMr绝checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015570@ @@/@yAIIYIiO}>ԡ }%,ALA6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266868:Q?:t?:Djٱ:.=:HP?~?w?B?*@P?ͥ??i:Q?I: ^;:CY^Byb!IE% E%E%&E!"E%y:*E%a9:VE%4ZE!BE%e#9YY=]Ey]EeEe>qQ 5 5u,?Q 9 5u)u-BY?Q E:yJ?Q IL@utDIu;iu̘;u( 5yɮ@:i -DNOT Ignoring new targets: 66.24 m."i5*i5E ProNav: ac range: 66.237236 m, nav range: 64.342995 m, bearing: 10.987587 deg, approach rate: -0.305293 m/s, LOS rate: -0.502284 deg/s, cmd heading: 324.235391 deg, new cmd heading: 323.813717 deg. iEeMHeadingCmd: 5.651616 target range: 66.237236 and range: 66.50 m.hM ڴ@hIhihihigqgqjgqrguBeyreyZey:ey*e}@5Bɢ<) 2?i)i=;i!I ڴ@Iԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5194115" @  @ @ 4@ A zA yA A .AI! I1 O= >*%,cLA2ւN?2&?2rgٱ2/=2H]?@ \&~?M? E? a?? d?i2ւN?I221^;0Y>By>!I @@@BA F9V ?YV ?=VEyVEZEZ?\Q 5b 5^32?Q 9b 5^Ѻ)^6BY`yb?Q IbL@^zDI^G:i^:^, 5yhɮj,@j_E:iq}DNOT Ignoring new targets: 66.24 m."i}c*i}c ProNav: ac range: 66.237236 m, nav range: 64.243149 m, bearing: 10.826042 deg, approach rate: -0.285701 m/s, LOS rate: -0.462964 deg/s, cmd heading: 323.813722 deg, new cmd heading: 323.490135 deg. iS HeadingCmd: 5.645968 target range: 66.237236 and range: 66.50 m.h-ū@h)h)h)h)g1g1jg1rg1e9re9Ze9:e9*e=7@e1Bɢe^<)a e??ii)m/iiim*;iu #qqIuū@Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770804EE EEEE'EA"EE:*EE=:VEE'4ZEAaM@aU@aU@aU@BBB("IBփBB =BBBF;B6EBqBu?CBuǓCBu =Bu =Cu4Ii@i @i@m/@iA ؟AI I O >= BDAT read: Rx Time:04:30:06.8708 = TRx dataTimestamp_ set to:1764909007.866754E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023812q F%,LAYYuBy}"IiMb@Mb@Mb@ 97A`?'1Z?I +?Y?y">94<@ @)@Y@bDVD8y&=%= =ٔ=Q-E>9e"?Ye"?=eEye EmEm>qQ 5} 5u9?Q 9} 5uIJ)uDBY}?Q E}:y}?Q IL@uDIu;ium;u# 5yɮ@:iDNOT Ignoring new targets: 66.24 m."i *i - ProNav: ac range: 66.237236 m, nav range: 64.099083 m, bearing: 10.572160 deg, approach rate: -0.278603 m/s, LOS rate: -0.492073 deg/s, cmd heading: 323.490135 deg, new cmd heading: 322.981246 deg. i-#a5HeadingCmd: 5.637086 target range: 66.237236 and range: 66.50 m.h5c@h1h1h1h1g1g9jg9rg]BeYreaZea:ea*eeL @y颕,Bɢ><) uG?checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278301i)iv;if%Ic@IE] E]E]#EY"E]7:*E]E7:VE]3ZEYBE];ae2E];aeJE]R;am:E]S;am@ @@/@A .AI! IA Om >1 %,'LA6LI?6?6Zٱ66=6H{&? @x?`A?`?@˧W?Ц? )?i6LI?I67^;6 CYBByF "IbDNVDN8yVԱ<%V=ٔVB/?Q 9f 5bq)bKBYdyfP?Q IfL@bDIb~:ib:b=& 5ynYBɮn@nVEzB*** querying acoustic contact ***i|i|:iDNOT Ignoring new targets: 66.24 m."i M *i M  ProNav: ac range: 66.237236 m, nav range: 64.018639 m, bearing: 10.435979 deg, approach rate: -0.291527 m/s, LOS rate: -0.494138 deg/s, cmd heading: 322.981259 deg, new cmd heading: 322.708555 deg. ib%HeadingCmd: 5.632327 target range: 66.237236 and range: 66.50 m.h%<@h!h!h!h)g)g)jg)rg)e1reZe:e*e+@%DAT read: 04:30:06.8708 LVL= 27024, 29681, 18866, 31379, AGC= 59, IDX= 432, 0.23, 2.485, 1.976,-2.026,-3.020, PHS=-0.677,-1.242, 0.949, RAW= 195.6, 9.9, CAL= 195.9, 11.4, ROT= 314.1, -11.4 -Ygot valid direction response: 04:30:06.8708 LVL= 27024, 29681, 18866, 31379, AGC= 59, IDX= 432, 0.23, 2.485, 1.976,-2.026,-3.020, PHS=-0.677,-1.242, 0.949, RAW= 195.6, 9.9, CAL= 195.9, 11.4, ROT= 314.1, -11.4 5PDAT read: Bearing 224.9, -40.8 (Local) 5~Local bearing/azimuth received: Bearing 224.9, -40.8 (Local) =DAT read: Range 11 to 50 : 65.8 m (Round-trip 87.8 ms) speed 0.2 m/s ER#Rx 1: Read range and direction messages.M^direction in FSK: [0.682183,-0.703958,0.197657]MFpublishing direction and range infoyGAur?? ӆg4L?YBisI z);IO-ir?|Z@;0>Z@ %K>)2m@I%Kn%?\Q?"̉?z0PZB? ?)_y0IEMi%KeT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.)Bɢ=) J?i)/id;i&I<@II)@ @@0@A?A?A؟AIIOi>A  (DAT read: user:28>  BDAT read: Tx time:04:30:08.1288  $Ping request sent. 9%"?Y-"?=-Ey-'E-ʼE->BYBYB]N"IB]BBYBYBYB]i;B]6EqQ 5} 5uD?Q 9} 5u)uVBYy?Q IL@uDIu:iu:u) 5yɮ@i!i%BLAj%B"j%B:j%d8>"p%LZF@GL)@p%GAur?? ӆg4L?*j%EM2j%%K*p% ꗹO@%&@!qs_*@p%VXs?jt?/RY?j%7A j%|Bi%@?i%eyj%/Bj%@?j!j%˜Brj%XBzj%6> addTargetRange:: Added new target pos. range: 65.800003 m, deltaT: 3.778652 s, deltaX: -0.699997 m, approachRate: -0.185250 m/s, rangeRepo size: 4  Added new target pos. range: 65.540207 m, bearing: 10.317379 deg, lat: 36.779396 deg, lon: -121.859590 deg, deltaT: 3.778652 s, deltaX: -0.697029 m, approachRate: -0.184465 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 65.54 m."i*i ProNav: ac range: 65.540207 m, nav range: 64.173553 m, bearing: 10.186909 deg, approach rate: 0.000000 m/s, LOS rate: -0.494138 deg/s, cmd heading: 322.708543 deg, new cmd heading: 322.262051 deg. iHeadingCmd: 5.624534 target range: 65.540207 and range: 65.80 m.h.@hhhhggjgrgereZe :e @3sP@*e 0&?=%BɢE<)A E9U?iA)EKAik;ib(I.@Iԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251830@ @@0@A-.AIAIQO]> m%,HGLA2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5028126 D?6Z{?6tLٱ6:=6H?`z;?ࠜ?V?6?MV???i6 D?I6^;6 ClYrByr"IiMb@Mb@Mb@bE3jE3rEd/Eu EutEqEq"Eu:*Euv:VEqZEqBEub;a2Eud;aJEu`;a:Eu`;a 9gfffff?(\?:v?Y3?y.>T<@@ @)Y@bD@VD8yw%3=ٔ;Q->9 ?Y ?=Ey,EⲼE>Q 5 5mK?Q 9 53)aBY?Q E:y?Q IL@DI& ;i ;- 5yXBɮh@:i!%DNOT Ignoring new targets: 65.54 m."i-;*i-;= ProNav: ac range: 65.540207 m, nav range: 64.050285 m, bearing: 9.973108 deg, approach rate: -0.290250 m/s, LOS rate: -0.504387 deg/s, cmd heading: 322.262040 deg, new cmd heading: 321.833625 deg. i=fEHeadingCmd: 5.617056 target range: 65.540207 and range: 65.80 m.hE@hAhAhAhAgAgIjgIrgMBeQreQZeQ:eQ*e]H?颅!Bɢ/<) *P?i)O޼顉i;io*I@I  @  @ @ /0@ 1AYIaIqO{>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754917a %,#aLA2yA?2iy?2)jDٱ2)?=2H?|5?@cq??"߰܊?z??i2yA?I2"^;0Y>ڃBy>-"IbDF4VDFܰ8yNq>%Nu=ٔRp;Q-R?9PYP=REyV/EVEV?XQ 5^ 5ZP?Q 9^ 5Z8)ZiBY`ybp?Q IbL@ZDIZ;iZf;Z0 5yfYBɮf@d:ixzDNOT Ignoring new targets: 65.54 m."i~*i~  ProNav: ac range: 65.540207 m, nav range: 63.958134 m, bearing: 9.815519 deg, approach rate: -0.277328 m/s, LOS rate: -0.474943 deg/s, cmd heading: 321.833623 deg, new cmd heading: 321.517994 deg. i LYHeadingCmd: 5.611547 target range: 65.540207 and range: 65.80 m.h̑@hhhhggjgrge!re!Ze!:e!*e%m?9UBɢV$=) a^?i)ڼ项i8;it+Ȋ@Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007128i%@! @!@-0@)A1zA5tAEe Ee|Ee"Ea"Eeg:*EeP$:VEe(3ZEaau@au@au@au@II1O=r>BYBYB]f"IB] BBYBYBYB]p;B]6Eԑ % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258912%,CzLAB??B!v?B ;ٱB==BH`.8?M~?`D?)?dy?@?@?iB??IB> ^;B CYN߃ByN3"I TTbD]<VD]8ԡyQ<%+=ٔS;Q->9Y=Ey4EE>Q 5 5X?Q 9 5)uBYy*?Q IL@DI;ih;4 5yɮ@:i15DNOT Ignoring new targets: 65.54 m."i5g*i=gE ProNav: ac range: 65.540207 m, nav range: 63.824299 m, bearing: 9.589884 deg, approach rate: -0.280281 m/s, LOS rate: -0.473521 deg/s, cmd heading: 321.517987 deg, new cmd heading: 321.065781 deg. iMXUHeadingCmd: 5.603655 target range: 65.540207 and range: 65.80 m.hU$Q@hQhQhQhQgQgQjgYrgYeYreYZea:ea*ee 5?颕Bɢ<) c?i)~#Ӽ顙i;i-I$Q@I @  @ @ 1@ ߅9?߅*?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511844IIO5p>Em Em~Em$Ei"Em:*Em(:VEm4ZEiBEmF-=2H`jx?` ;??By>E"IiMb@Mb@Mb@ 9$C?-?Mb`Y?y?5>@ @)Y(@bD0VDٰ8y-=%-j=ٔ-i;Q-->91Y1=5Ey58E5e߼E=>AQ 5M 5E ^?Q 9M 5E)E{BYM ?Q EM:yMٞ?Q IML@EDIEo:iE:E8 5y]]Bɮ]@]MEuB*** querying acoustic contact ***checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766881iqiq:iYeDNOT Ignoring new targets: 65.54 m."ies*ims ProNav: ac range: 65.540207 m, nav range: 63.720108 m, bearing: 9.416751 deg, approach rate: -0.276188 m/s, LOS rate: -0.459687 deg/s, cmd heading: 321.065773 deg, new cmd heading: 320.718948 deg. iQRHeadingCmd: 5.597601 target range: 65.540207 and range: 65.80 m.h@hhhhggjgrgBere Ze:e*er@}Bɢ5!=) l?i)=ͼ顁iEЄ;i n/I@IA@ @@Z3@IIO=P>i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018902E%  E% E% %E! "E% :*E% *5:VE% 4ZE! a- @a- @a- @a- @ԙ "+%,鵮LA>3:?> q?>H.ٱ>v>=>H/? >+b??)?ങhǥ?`ӧ??i>3:?I>^;>CYVByV:"IbDbVDbð8yf/%jP=ٔjx;Q-j>9lYl=nEyn<ErƼEr>tQ 5v 5vd?Q 9z 5v)vBYxyz?Q IzL@vDIv:iv`:vs; 5B>BBs"IBBBBBBf;B6Eyɮ|@!:iAMDNOT Ignoring new targets: 65.54 m."iM)*iM)] ProNav: ac range: 65.540207 m, nav range: 63.601707 m, bearing: 9.222610 deg, approach rate: -0.321793 m/s, LOS rate: -0.528626 deg/s, cmd heading: 320.718936 deg, new cmd heading: 320.329937 deg. i]qeHeadingCmd: 5.590812 target range: 65.540207 and range: 65.80 m.he@hahahihigigijgirgqeqreqZeq:ey*e}B@颥Bɢ6=) Si?i)Ǽ顩iy;qi[?1yyI}@Iy-@) @)@-4@)A5>A5>IIO > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270939ԡ x 2%,eLA6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5230656h7?6o?63+'ٱ6#==6H`?qP?Խ?`x?@Ѯ@?B?t?i6h7?I6^;6 CYHyHIV4>)V%ף;%@%V@ %@)%t@!Y%=@bD]VD]Ȱ8ye%m3=ٔmy;Q-m>9qY=Ey@E<E>Q 5 5Jl?Q 9 5)BYx?Q E:y?Q IL@œDI:i;y? 5yɮ@:i!%DNOT Ignoring new targets: 65.54 m."i%*i-] ProNav: ac range: 65.540207 m, nav range: 63.475529 m, bearing: 9.009206 deg, approach rate: -0.271509 m/s, LOS rate: -0.460108 deg/s, cmd heading: 320.329943 deg, new cmd heading: 319.902298 deg. i]R]HeadingCmd: 5.583348 target range: 65.540207 and range: 65.80 m.heʪ@hahahahagagajgirgmBereZe:e*e- @Bɢ&=) 7k?i)aiim7f;im(3qqIuʪ@Iq@ @@05@IaIqO]>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775718) -48%,hLA2@j5?24m?2~ٱ2:@=2H 4?`ߗ{??`k&?e@d?` ??i2@j5?I2^;2 CYRByR5"IbDZVDZ8yb%bi=ٔfQ;Q-f>9dYd=jEyjDEjڼEj?lQ 5r 5nq?Q 9r 5n})nBYtyv?Q IvL@nȜDIn:iny:nB 5yz^Bɮz@zNE:i%DNOT Ignoring new targets: 65.54 m."i%*i%5 ProNav: ac range: 65.540207 m, nav range: 63.379524 m, bearing: 8.848880 deg, approach rate: -0.284293 m/s, LOS rate: -0.475485 deg/s, cmd heading: 319.902292 deg, new cmd heading: 319.581156 deg. i5Y=HeadingCmd: 5.577744 target range: 65.540207 and range: 65.80 m.h=|@h9h9h9hAgAgAjgArgAeIreIZeI:eI*eU  @} Bɢ}}G=) j?i)ݻ顁i X;i՗4I|@I5@1 @1@5/@1QBDAT read: Rx Time:04:30:10.6197 TRx dataTimestamp_ set to:1764909011.652656checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030795IIO>Eu EuEu Eq"Eu:*Eu*:VEu3ZEqa}@a}@a}@a}@ mx>iԁ͂GB>BBy"IBBB =BBBl;B6EEɢ9AYEAԹ % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278972f_>%,HLA22?2ڿj?2Uٱ2>=2Hs?!h?%b?e? O?ӧ??i22?I2 ^;2CDYRByRD"IbDZ VDZ8yb"h=%bJ=ٔbq;Q-f>9dYd=fEyfHEj¼Ej>lQ 5r 5nx?Q 9r 5nx)nBYpyvO?Q IvL@nМDIn;in;nF 5y ɮ  @:iDNOT Ignoring new targets: 65.54 m."i*i컝u ProNav: ac range: 65.540207 m, nav range: 63.266174 m, bearing: 8.662238 deg, approach rate: -0.250862 m/s, LOS rate: -0.413809 deg/s, cmd heading: 319.581163 deg, new cmd heading: 319.207217 deg. i}T=ԩHeadingCmd: 5.571217 target range: 65.540207 and range: 65.80 m.hiG@hhhhggjgrgereZe:e*e @5Bɢ5=)1 5r?i1)=499i=D;iEC6AAIEiG@IiIq)uyA@ @@4@A zA zADAT read: 04:30:10.6197 LVL= 32752, 31969, 23090, 32755, AGC= 62, IDX= 437,-0.07,-0.873,-1.555, 0.709,-0.183, PHS=-0.588,-1.327, 0.848, RAW= 190.5, 11.1, CAL= 190.5, 13.4, ROT= 319.5, -13.4 Ygot valid direction response: 04:30:10.6197 LVL= 32752, 31969, 23090, 32755, AGC= 62, IDX= 437,-0.07,-0.873,-1.555, 0.709,-0.183, PHS=-0.588,-1.327, 0.848, RAW= 190.5, 11.1, CAL= 190.5, 13.4, ROT= 319.5, -13.4 PDAT read: Bearing 220.2, -36.3 (Local) ~Local bearing/azimuth received: Bearing 220.2, -36.3 (Local) DAT read: Range 11 to 50 : 65.1 m (Round-trip 86.8 ms) speed 0.1 m/s  R#Rx 1: Read range and direction messages.%^direction in FSK: [0.739705,-0.631767,0.231748]%Fpublishing direction and range infoy.\˨?: Rop7] A?Y3B|2Z )>I+i#۩Y?aT@aF>aT@ |o>)Eq@I|ocy8y?—?:Յ? ou?)GI4i|oMT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.E EEE"E:*E.:VEZEBE  kFE%, LA20?2\h?2u}ٱ2==2Hɯ?9?3?`?@D@?ϱ?0?i20?I2*^;2 CY^BybF"I ddliMMb@Mb@Mb@IIII I9MB`"?K7A`?MbpYM?yM+>MM@Ml@ MV@)M@IYM@bDeVDe8yuw<%u@=ٔ}!;Q-}>9Y=EyLE겼E>Q 5 5^?Q 9 5q)BY?Q E:yo?Q IL@؜DI ;i* ;I 5yɮ@ii LAjB"jB:jZp@>"p;cnsG@Ǿ{Dcv4 .@p.\˨?: Rop7] A?iI(DAT read: user:29> BDAT read: Tx time:04:30:11.9288 $Ping request sent.- addTargetRange:: Added new target pos. range: 65.099998 m, deltaT: 3.784779 s, deltaX: -0.700005 m, approachRate: -0.184953 m/s, rangeRepo size: 4  Added new target pos. range: 64.842743 m, bearing: 10.767515 deg, lat: 36.779396 deg, lon: -121.859588 deg, deltaT: 3.784779 s, deltaX: -0.697464 m, approachRate: -0.184281 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 64.84 m."i*i ProNav: ac range: 64.842743 m, nav range: 63.164417 m, bearing: 8.600153 deg, approach rate: 0.000000 m/s, LOS rate: -0.413809 deg/s, cmd heading: 319.207224 deg, new cmd heading: 318.883961 deg. iHeadingCmd: 5.565575 target range: 64.842743 and range: 65.10 m.h1@hhhhggjg rg e re Ze:e`fFP@*ey?Bɢu!>=) Yu?i)i3; iO7I1@I@ @@/@9AII)O5> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251703a E  E E $E "E 7:*E VE 4ZE a @a @a @a @rK%,0LA.%-?.ve?.{ٱ.9=.Hh?@%??P?@̫ ?4??i.%-?I. ^;.CY>By>9"IBPBPBRm"IBRBBR =BPBPBR;BR6EBaBaBaBe =BaCe4bDJVDJ8yf]%fU=ٔj;Q-j>9hYh=jEynPEnܼEn>pQ 5v 5r_?Q 9v 5rl)rBYxyz?Q IzL@rߜDIr:ir:rM 5y~aBɮ~@~DEB*** querying acoustic contact ***ii:i!-DNOT Ignoring new targets: 64.84 m."i-s*i-s9E ProNav: ac range: 64.842743 m, nav range: 63.051582 m, bearing: 8.425711 deg, approach rate: -0.303585 m/s, LOS rate: -0.470178 deg/s, cmd heading: 318.883965 deg, new cmd heading: 318.534463 deg. iEWMHeadingCmd: 5.559475 target range: 64.842743 and range: 65.10 m.hM8@hIhIhQhQgQgQjgYrgYeYreYZea:ea*ee}?颍BɢU=) Zq?i1)511i5,%;i=E999I=8@IA@ @@/@achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502538A5؟AIAIaO}Y>ԑԹ ZR%,ILA"checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754675Vw_+?V)c?V^ ٱV6=VHX2?@͍??&?;@?4Ҧ??iVw_+?IV];V CYj׃Byj)"IE= E=vE=(E9"E=:*E=:VE=c44ZE9BE=DV@ ?@)^@Y@bD VD 8yam%7=ٔ%e;Q-%>9%"?Y%"?=-Ey-TE- E->1Q 5= 55?Q 9= 55f)5BYEo ?Q EE:yE?Q IEL@5DI5:i5V:5Q 5yIɮU@Q:iq}DNOT Ignoring new targets: 64.84 m."i}*i ProNav: ac range: 64.842743 m, nav range: 62.921329 m, bearing: 8.234862 deg, approach rate: -0.291308 m/s, LOS rate: -0.427714 deg/s, cmd heading: 318.534451 deg, new cmd heading: 318.151968 deg. iCHeadingCmd: 5.552799 target range: 64.842743 and range: 65.10 m.h@hhhhggjgrgȁBereZe:e*ec?BɢD)=) rl?i)2i ;i:iiIm@Iii>!@! @!@%/@!A->A-?Am.AIyIO~>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006539 9 ÂX%,dcLA6(?6H`?6D*ٱ6&<=6Hq?E?`7?f?gتĞ? ? ?i6(?I6^;6CY^ڃByb-"IIb4=)b4=f=f=bDjVDj8yrZ<%ra=ٔvf;Q-v>9v ?Yv ?=zEyzXEzlEz>|Q 5 5~?Q 9 5~a)~BY y E?Q I L@~DI~:i~:~.T 5ybBɮ@EE:i9EDNOT Ignoring new targets: 64.84 m."iE*iEU ProNav: ac range: 64.842743 m, nav range: 62.814297 m, bearing: 8.080171 deg, approach rate: -0.294708 m/s, LOS rate: -0.426656 deg/s, cmd heading: 318.151960 deg, new cmd heading: 317.842055 deg. iU4C]HeadingCmd: 5.547390 target range: 64.842743 and range: 65.10 m.h]9@hYhYhYhagagajgargaeireiZei:ei*eu`0?额Bɢ8K=) ^o?i)顡i;i]<I9@Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259859q@q @q@u0@yE] E]}E]"EY"E]g:*E]k&:VE](3ZEYam@am@am@am@IA؟AI IO%M>BBB`"IBBBBBB;B6Ei checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510517ԙ ^%,z}LA2>&?2^?27ٱ2>=2H@?g X?d??@ge?kѧ?@?i2>&?I2^;2CYN؃ByR*"IbDZVDZ8y%G=ٔU;Q->9"?Y"?=%Ey%\E%TȼE%>)Q 55 5-?Q 95 5-Y\)-BY1y=?Q I=L@-DI-6;i-_N;-W 5yYɮe@i:iDNOT Ignoring new targets: 64.84 m."in*iny ProNav: ac range: 64.842743 m, nav range: 62.692188 m, bearing: 7.906149 deg, approach rate: -0.285842 m/s, LOS rate: -0.408160 deg/s, cmd heading: 317.842061 deg, new cmd heading: 317.493343 deg. i5:MHeadingCmd: 5.541304 target range: 64.842743 and range: 65.10 m.hU]R@hQhQhQhQgQgYjgYrgYeYreaZea:ea*ee N?Bɢ-,=) p?i)Jbi:i=I]R@Iԡmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763376bEjEƨ3rE)0E] E]E]&EY"E]:*E],:VE]4ZEYBE]; e%,F}LA2#?2s[?2Hٱ2==2H? 1`j? /?`Z?@'$@((?`|?!?i2#?I2 ^;2 CY>ՃBy>&"Ii=Mb@Mb@Mb@9999 99=ˡE? rh?y&1|Y=?y=C >=`=t@=(@ =(@)=t@9Y=@bDUVDU8y]n%eE=ٔe?;Q-e>9e ?Ym ?=mEym`EmǼEu>qQ 5} 5u?Q 9 5uV)uBYU ?Q E:yލ?Q IL@uDIu:iu:uc[ 5yɮ@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014620:iDNOT Ignoring new targets: 64.84 m."i*i ProNav: ac range: 64.842743 m, nav range: 62.564014 m, bearing: 7.734356 deg, approach rate: -0.321045 m/s, LOS rate: -0.431181 deg/s, cmd heading: 317.493339 deg, new cmd heading: 317.149054 deg. iFEHeadingCmd: 5.535295 target range: 64.842743 and range: 65.10 m.h#!@hhhhggjgrgBereZe:e*e5@%Bɢ%EU=)) -o?i))-11i5:i5u?99I=#!@I9MmY@ @@/@A ؟AII)O5q>! u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267832Ee  Ee Ee %Ea "Ee a:*Ee A:VEe 4ZEa au @au @au @au @hk%,ALAB$B$B&Z"IB&BB$B$B$B&;B&6EV ?V(X?ViҼٱV?IB=VH`4??? L(? }L?`D?@?iV ?IV^;VCYbփByb("I dddfAbDnVDn8yv;%vS=ٔv};Q-v>9z"?Yz"?=zEyzdEzE~>Q 5  5ԩ A! I) IA OM >Mr%,)LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770632<E EE"E"E:*E.:VE(3ZEBE+D;G@ @)Yf@bDVD8yB=%;=ٔQ->9Y=EyiEE>Q 5 5淊?Q 9 5L)BYq?Q E:y ?Q I L@ DIQ:i:b 5yfBɮN@x%,{LA:E?:S?: ٱ:2e?=:H?}?|? ?5 ?@?@?i:E?I:^;:CYF݃ByJ0"IbDRVDR8yZ %Z`=ٔZ9^ ?Y^ ?=^Ey^lEbtEb>dQ 5j 5fn?Q 9j 5faH)fBYhyj?Q IjL@fDIfu:if):fe 5lypɮr@t:i DNOT Ignoring new targets: 64.84 m."iIݻ*iIݻ% ProNav: ac range: 64.842743 m, nav range: 62.204918 m, bearing: 7.263013 deg, approach rate: -0.301339 m/s, LOS rate: -0.386927 deg/s, cmd heading: 316.486541 deg, new cmd heading: 316.204556 deg. i%1-HeadingCmd: 5.518811 target range: 64.842743 and range: 65.10 m.h-@h)h)h1h1g1g1jg1rg9e9re9ZeA:eA*eE @mBɢmo=)q utx?iq)uLgzqqi}T:i}CI@I@ @@04@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278566 E= E=E=#E9"E=7:*E=*:VE=3ZE9aE@aM@aM@aM@Ae؟AIiIyO8>BE>BE>CBET"IBEBBABABABE;BE7E9a - DAT read: 04:30:14.4184 LVL= 32752, 32753, 24642, 32755, AGC= 60, IDX= 424, 0.19,-1.324,-2.196, 0.099,-0.734, PHS=-0.488,-1.416, 0.789, RAW= 185.2, 11.6, CAL= 185.2, 14.1, ROT= 324.8, -14.1 = Ygot valid direction response: 04:30:14.4184 LVL= 32752, 32753, 24642, 32755, AGC= 60, IDX= 424, 0.19,-1.324,-2.196, 0.099,-0.734, PHS=-0.488,-1.416, 0.789, RAW= 185.2, 11.6, CAL= 185.2, 14.1, ROT= 324.8, -14.1 E PDAT read: Bearing 214.4, -32.2 (Local) E ~Local bearing/azimuth received: Bearing 214.4, -32.2 (Local) U DAT read: Range 11 to 50 : 64.1 m (Round-trip 85.5 ms) speed 0.3 m/s U R#Rx 1: Read range and direction messages.e ^direction in FSK: [0.792526,-0.559066,0.243615]e Fpublishing direction and range infoy  G^\?Ee9 .?Y 3B    B`  ) <I #i }? I? N@ 4QO> N@  d{>) g@I d{   ËtF?i7lu?ҌI?  ?) OI uFi d{  } T****** received valid address query ******} R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.e~%,LAbx?b CP?bƨٱbAF=bH=??????3}???ibx?Ib];b CY5B9yE;"IM=M=U@AQbDUĿVDUu8ye)=%m?=ٔmώ;Q-m>9u"?Yu"?=uEyuqEUѼE]>Q 5 52Ɋ?Q 9 5B)BYyU?Q IL@DIh/"p5$LI@ A68/@p5G^\?Ee9 .?*j5uF2j5d{*p5#aN@ٔ$'@܏ -@p5٢FU?~Va'?xX;?j58A j5 tBi5Tڋޞ?i5j5Bj1j1j5/Brj5AxBzj5>=iu addTargetRange:: Added new target pos. range: 64.099998 m, deltaT: 3.783127 s, deltaX: -1.000000 m, approachRate: -0.264332 m/s, rangeRepo size: 4  Added new target pos. range: 63.846275 m, bearing: 10.718840 deg, lat: 36.779396 deg, lon: -121.859588 deg, deltaT: 3.783127 s, deltaX: -0.996468 m, approachRate: -0.263398 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 63.85 m."i*i ProNav: ac range: 63.846275 m, nav range: 62.063835 m, bearing: 7.084916 deg, approach rate: 0.000000 m/s, LOS rate: -0.386927 deg/s, cmd heading: 316.204564 deg, new cmd heading: 315.813559 deg. iHeadingCmd: 5.511986 target range: 63.846275 and range: 64.10 m.h1b@hhhhggjgrgere!Ze!:e-`fP@*e5`L?颽Bɢ:=) %?i!)%h!!i%:i-LmE))I-1b@I1m(DAT read: user:30> uBDAT read: Tx time:04:30:15.6788 u$Ping request sent.u %,lLA2?2M?2rٱ2cI=2H7? @?@W?`,? ދ?(??i2?I2P^;2CYBByB>"Ii Mb@Mb@Mb@     9 `"?"~j?~jtx?Y >y S= ;  @ )  Y @bD%ܿVD%8y5L2<%5N=ٔ5jd;Q-5>9yYy=}Ey}uE}"ҼE>Q 5 5.ъ?Q 9 5>)ÊBYB>Q E:y?Q IL@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249429DI;i; m 5yɮ@=E:i1=DNOT Ignoring new targets: 63.85 m."i='*i='㻝M ProNav: ac range: 63.846275 m, nav range: 61.950581 m, bearing: 6.951576 deg, approach rate: -0.336743 m/s, LOS rate: -0.397188 deg/s, cmd heading: 315.813549 deg, new cmd heading: 315.546384 deg. iM5uHeadingCmd: 5.507323 target range: 63.846275 and range: 64.10 m.hu;@hqhqhqhygygyjgyrg}BereZe:e*e?Bɢ=) ?i) Cn^  i <ʡ9iFI;@I@ @@ 1@ AU.AIYIqO}z>u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501708EM  EM ~EM #EI "EM :*EM (:VEM 3ZEI a] @a] @a] @a] @! G GyA Q9 GyAY ABE >BE =CBE N"IBE BBE =BA BE DBE ;BE 67E %,2LAY~By~7"IbD VD 8y%%I=ٔ%Q-%>9% ?Y- ?=-Ey-yE-E->1Q 5= 55ي?Q 9E 55M:)5ȊBYAyAQ IEL@5$DI5;i5;5p 5yIɮMC@QmB*** querying acoustic contact ***iiii:i  DNOT Ignoring new targets: 63.85 m."iԻ*iԻ% ProNav: ac range: 63.846275 m, nav range: 61.829174 m, bearing: 6.807652 deg, approach rate: -0.312825 m/s, LOS rate: -0.371573 deg/s, cmd heading: 315.546380 deg, new cmd heading: 315.257969 deg. i%*-HeadingCmd: 5.502290 target range: 63.846275 and range: 64.10 m.h-@h)h)h)h)g1g1jg1rg9e9re9Ze9:e9*eEn?mBɢm=l=)i u?iq)u}Qqqiu<ˉ8i}GyI@I)@) @)@- 5@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753927IAIQOmV>1a ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005244d %,LLAEn EnEn&El"En7:*EnV:VEn4ZElBEn;ar2En;arJEn;ar:En;avY5By5>"I 999=AiMb@Mb@Mb@ 9?)\(?{Gzt?Y?yG=ף;1@(@ @)^@Y <<bD VD8y<%>=)ٔiQ-u>9qYq=uEyu}EyE}>Q 5 5㊊?Q 9 5+5)̊BY?Q E:yq?Q IL@+DI~ ;i;nt 5yɮ@:iDNOT Ignoring new targets: 63.85 m."iջ*iջ ProNav: ac range: 63.846275 m, nav range: 61.687038 m, bearing: 6.640892 deg, approach rate: -0.317456 m/s, LOS rate: -0.373310 deg/s, cmd heading: 315.257982 deg, new cmd heading: 314.923699 deg. i*HeadingCmd: 5.496456 target range: 63.846275 and range: 64.10 m.h@hhhhggjgrgereZe:e*eZ?5߁Bɢ5hh=)1 5I?i9)=C99i=MiEgIAAIE@II@ @@5@YII Om>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257221ԩ .%,fLA2c ?2E?2Resٱ2۬C=2H?$Or7?P?`?Ҧ`l?r?@?i2c ?I2c^;2 CY>By>M"IbDJVDJ8yR߆=%Rc=ٔROB>B;CBZ"IBBB =BBDB;BZ7EB>CB>CBŔCBB =C26  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761331Q %,`LA:k ?:B?:mbٱ:??=:H*?`Ȗ?? f!? 4}M? ?C?i:k ?I:B];: CY^By^\"IbDfVDfư8yncp=%rF=ٔr$;Q-r>9tYt=vEyvEvԼEv>xQ 5~ 5z?Q 9 5z,)zӊBYy!z?Q IL@z7DIzr;izn;z { 5y iBɮ @4E:i1=DNOT Ignoring new targets: 63.85 m."iEϻ*iEϻm ProNav: ac range: 63.846275 m, nav range: 61.437157 m, bearing: 6.366107 deg, approach rate: -0.332070 m/s, LOS rate: -0.363523 deg/s, cmd heading: 314.672689 deg, new cmd heading: 314.373012 deg. iuR&uHeadingCmd: 5.486844 target range: 63.846275 and range: 64.10 m.h:@hhhhg gjg!rg)e1reqZe:e*e@3@uفBɢ}t=)y }?iy)%顁i9i K  I :@I-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0136999@ @@!5@E EE$E"E:*E;J:VE4ZEBEi @%,C9LA02=^?2(@?2Oٱ2 @=2Hf?@@B?@>?@\?``?@?T?i2=^?I2^;0checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265307YBy_"I==ԉiuMb@Mb@Mb@qqqq q9ujt?"~j?~jtx?Yu?yuS=u;qq u@)ut@qYu@AAAAbD VD8y<%=ٔ. ;Q->9Y=EyEEE>Q 5 5 ?Q 9 5&)؊BY?Q E:yw?Q IL@@DI8:i: 5yɮa@:iDNOT Ignoring new targets: 63.85 m."iл*iл- ProNav: ac range: 63.846275 m, nav range: 61.258602 m, bearing: 6.173303 deg, approach rate: -0.336742 m/s, LOS rate: -0.364674 deg/s, cmd heading: 314.373008 deg, new cmd heading: 313.986283 deg. i-&5HeadingCmd: 5.480094 target range: 63.846275 and range: 64.10 m.h5\@h1h1h1h1g1g1jg9rg=ƁBe9re9ZeA:eA*eE`&@uցBɢu=)q u8?iq)}yyi}iZMI\@IԹ@ @@5@AzAzAIIO>= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518063 E  E E &E "E y:*E n:VE 4ZE a @a @a @a @B >B ~~Ai>TI>F%=ٔ%|;Q-%?9!Y!=%Ey-E-XE-?1Q 5] 552 ?Q 9] 55#)5ڊBYayet?Q IeL@5EDI5;;i5;5* 5yiɮm@iB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 63.85 m."iBɻ*iBɻ ProNav: ac range: 63.846275 m, nav range: 61.161488 m, bearing: 6.069965 deg, approach rate: -0.330191 m/s, LOS rate: -0.351909 deg/s, cmd heading: 313.986282 deg, new cmd heading: 313.779279 deg. i!HeadingCmd: 5.476481 target range: 63.846275 and range: 64.10 m.hV?@hhhhggjg!rg!e!re!Ze):e)*e-$@额ԁBɢ3=) ?i) 顡i6i'NIV?@I-@1 @1@5/@1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769382IIO!>A = BDAT read: Rx Time:04:30:18.1669 E TRx dataTimestamp_ set to:1764909019.214805E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022339R%,9LA2?2:?2j0ٱ2V-9=2H@?ON@ ?P? ?O뤿?`N#?@(?i2?I2];2CbEE4jEE4rEE/Eb EbEb$E`"EbƱ:*Eb*:VEb4ZE`BEb?;aj2EbA;ajJEbg;an:Ebg;an!Y]By]{"Ii-Mb@Mb@Mb@)))) )9-Zd;?!rh?y-l=-t<)-@ -@)-@)Y-p@bDU(VDUѰ8ye;%e7=ٔe-:Q-e>9iYi=mEymEuüEu>yQ 5 5}U?Q 9 5})}ߊBY?Q E:ys?Q IL@}LDI} :i}:} 5yjBɮ@5E:iDNOT Ignoring new targets: 63.85 m."iѻ*iѻ ProNav: ac range: 63.846275 m, nav range: 61.010689 m, bearing: 5.910034 deg, approach rate: -0.344677 m/s, LOS rate: -0.366453 deg/s, cmd heading: 313.779273 deg, new cmd heading: 313.458624 deg. i'HeadingCmd: 5.470885 target range: 63.846275 and range: 64.10 m.h~@hhhhggjgrgׁBereZe:e*e @=ҁBɢ=䉎=)9 E?iA)E2AAiEaºiMOIQIU~@IQI@ @@/@A5؟AI9IQԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273446O>ԡ J~%,_LA6 ?6[7?6L(ٱ68=6Hy? yt? ??ؤ Q? ?<%m[=ٔu:Q-u>y9}"?Y}"?=EyEE>Q 5 5?Q 9 5)BYyp?Q IL@RDIO?Y|B2b );I9ȾiNbDl?ON@>ON@ ">)@I"ՙy?3&?"Q? t?)8I i"ET****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.ԡ@ @@/@A>A?Bm>BiBm"IBmBBm =BiBiBm3;Bmx7EAII)Oew>iߡ Iߥ A (DAT read: user:31>  BDAT read: Tx time:04:30:19.5303  $Ping request sent. 295?2ٱ29=2HnO?4 ??`G?7@Ԃ?@5?`;?i2b>I2];2 CYN-ByN"IbDV$VDVΰ8yr1=%rS=ٔr8;Q-v>9tYt=vEyvEzټEz>|Q 5 5~(?Q 9 5~)~BYyn?Q I L@~YDI~ :i~:~ 5yɮ@i1i5LAj5zB"j5zB:j5="p5cC*xI@CiƢAgE(#@p5O}_?*j5 2j5"*p5!{W_N@=@gUݐ!@p5]+M?kGpP?vG?j5@ j5`wBi5۴1?i5k+yj5Bj1j1j1rj5sBzj5=e addTargetRange:: Added new target pos. range: 63.000000 m, deltaT: 3.782485 s, deltaX: -1.099998 m, approachRate: -0.290814 m/s, rangeRepo size: 4 m Added new target pos. range: 62.748238 m, bearing: 5.504863 deg, lat: 36.779396 deg, lon: -121.859588 deg, deltaT: 3.782485 s, deltaX: -1.098038 m, approachRate: -0.290295 m/s, posRepo size: 4 :iquDNOT Ignoring new targets: 62.75 m."i}*iy ProNav: ac range: 62.748238 m, nav range: 60.750301 m, bearing: 5.639734 deg, approach rate: 0.000000 m/s, LOS rate: -0.347364 deg/s, cmd heading: 313.191440 deg, new cmd heading: 312.928280 deg. i1EHeadingCmd: 5.461629 target range: 62.748238 and range: 63.00 m.hMŮ@hYhYhYhagagjgrgereZe:eO@*e?úBɢu1=)q u1?iq)}yyi}<iQRIŮ@I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251526u@y @y@}/@yD=DR=E EE'E"E:*EVE'4ZEBE Q %,oLA2gb>2{2?2ٱ2|X7=2H@$?`?ો? ?FD`Eڀ? ??i2gb>I2^;0YB,ByB"IiMb@Mb@Mb@ 9'1Z?T㥛 ?{Gzt?Y?y>ף;@ @)t@Yz@echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502542bD}VD}°8y%@=ٔ;Q->9Y=EyE6̼E>Q 5 53?Q 9 5)BY?Q E:y7p?Q IL@`DI%;iG;r 5ykBɮ@1:iIMDNOT Ignoring new targets: 62.75 m."iUѻ*iuѻ ProNav: ac range: 62.748238 m, nav range: 60.599792 m, bearing: 5.480758 deg, approach rate: -0.346724 m/s, LOS rate: -0.367139 deg/s, cmd heading: 312.928286 deg, new cmd heading: 312.609548 deg. i'HeadingCmd: 5.456066 target range: 62.748238 and range: 63.00 m.h@hhhhggjgrgځBereZe:e*eS?额ˁBɢ=) n?i)r顡iiSI@Ia@ @@/@IyIO>ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755229E  E E "E "E I:*E A:VE (3ZE a @a @a @a @Be >Be =CBe "IBe -BBe =Ba Ba Be ;Be S7EԹ %,@5LA2>2/?2|ڻٱ2g;=2H`H? Gb?~J?I26];2 CYB;ByB"IIF%=)Fa=bDNVDN8yV=%VX=ٔV;Q-V>9XYX=ZEyZE^+E^>`Q 5f 5b=?Q 9j 5b )bBYhyjm?Q IjL@bfDIb:ibW:b 5ynlBɮr @r,E~B*** querying acoustic contact ***i|i|:i  DNOT Ignoring new targets: 62.75 m."i'ػ*i'ػ% ProNav: ac range: 62.748238 m, nav range: 60.466980 m, bearing: 5.342326 deg, approach rate: -0.361812 m/s, LOS rate: -0.377950 deg/s, cmd heading: 312.609535 deg, new cmd heading: 312.332064 deg. i%,-HeadingCmd: 5.451223 target range: 62.748238 and range: 63.00 m.h-kp@h)h)h)h)g)g1jg1rg1e1re9Ze9:e9*e=?mɁBɢmδ=)i m?ii)uQwqqiu'(iTIkp@I q@ @@0@I1IAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006796O]>ԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258511 Š%,7OLA2>2BH-?2ٱ2n@=2H?5Ϭ? ?{?`|v?`o??i2>I2^;2CY>9By>"IDPzDPEV EVEV%ET"EV:*EV.:VEV 4ZETBEV: :1@@ @)YbD VD8y%;=ٔN;Q->9Y=EyEE>Q 5 5J?Q 9 5)BY2 ?Q E:y{l?Q IL@nDIb:i: 5yɮ-@:i!%DNOT Ignoring new targets: 62.75 m."i-gܻ*i-gܻ= ProNav: ac range: 62.748238 m, nav range: 60.306240 m, bearing: 5.174903 deg, approach rate: -0.369018 m/s, LOS rate: -0.385384 deg/s, cmd heading: 312.332065 deg, new cmd heading: 311.996331 deg. i=R0EHeadingCmd: 5.445363 target range: 62.748238 and range: 63.00 m.hEj@@hAhAhAhAgAgAjgIrgMBeIreIZeQ:eQ*eU >~?ƁBɢw=) ?i)x/i<i{VIj@@I@ @@@I)I9OE0>}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510664I %,iLA8V>Vپ*?VWٱVZ@=VH@^$?@bHE??@N??`ߪq??`?iV>IV];TYfFByf"IbDnVDn8yv=%vY=ٔvb;Q-z>9xYx=zEyzE~׼E~>Q 5  5T?Q 9  5O)BY y i?Q IL@tDI>:i:Қ 5ymBɮt@-E:iAEDNOT Ignoring new targets: 62.75 m."iM<ۻ*iM<ۻ] ProNav: ac range: 62.748238 m, nav range: 60.166435 m, bearing: 5.031016 deg, approach rate: -0.371604 m/s, LOS rate: -0.383343 deg/s, cmd heading: 311.996320 deg, new cmd heading: 311.707881 deg. i]c/eHeadingCmd: 5.440329 target range: 62.748238 and range: 63.00 m.he,@hahahahagigijgirgieqreqZeq:eq*e}?颽ŁBɢ;=) Z?i)iNirWI,@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763290I@I @I@M1@Q yyԑE EEE"E :*E,:VEZEa@a@a@a@$GI)IAE/{AY9/{AYAB >B B "IB ABB  =B B B ;B 57EO]3>Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014635Dz%,LA2S>2$(?2sP0ٱ2A=2HW?@hZ? ?@O? f?@.??i2S>I2];2 C`YbQByf"I dfAbDn#VDnͰ8yvY[=%vK=ٔvЃ;Q-z>9xYx=zEyzE~mμE~>Q 5  54`?Q 9  5)BY y Vg?Q IL@{DI:i2:Y 5yɮ@:iAEDNOT Ignoring new targets: 62.75 m."iM^ڻ*iM^ڻ] ProNav: ac range: 62.748238 m, nav range: 60.015270 m, bearing: 4.877412 deg, approach rate: -0.374817 m/s, LOS rate: -0.381825 deg/s, cmd heading: 311.707868 deg, new cmd heading: 311.399888 deg. i].eHeadingCmd: 5.434953 target range: 62.748238 and range: 63.00 m.he#@hahahahagigijgirgieqreqZeq:eq*eu@颥ÁBɢI=) ?i)\@顩i8?=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267036E E{EE"E*E5":VEZEBEN".-%?.\-ٱ.H=.H`.?@Dֹ?@VJ?`)?;`E?`h?@%?i.>I.];. CYBSByB"IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518812i=Mb@Mb@Mb@9999 99=x&?V-?y&1|?Y=7 ?y=h>=`;=@=(@ =@)=^@9Y=p@bD]VD]8ym8<%mB=ٔu ;Q-u>9qYq=}Ey}E}HE}>Q 5 5Wl?Q 9 5)BY ?Q E:yg?Q IL@DI{:i : 5yɮ@:iDNOT Ignoring new targets: 62.75 m."ie޻*ie޻ ProNav: ac range: 62.748238 m, nav range: 59.856407 m, bearing: 4.714192 deg, approach rate: -0.377485 m/s, LOS rate: -0.388867 deg/s, cmd heading: 311.399881 deg, new cmd heading: 311.072578 deg. i1HeadingCmd: 5.429241 target range: 62.748238 and range: 63.00 m.hW@hhhhggjgrgBereZe:e*e~Y@%Bɢ-=)) -?i))-h911i5{ui=Z99I=W@I9@ @@@QA=.AIQIiO]>qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770655E  E E #E "E :*E .:VE 3ZE a @a @a @a @ԡ B% >B% >>:#?>J):ٱ>ykI=>H l? = ? ?®?Oڣ(S *?`?i>>I>];9^ ?Y^ ?=^Ey^EbɼEb>dQ 5j 5fw?Q 9j 5f)fBYhyjKe?Q IjL@fDIf`:if6:f^ 5yrnBɮr@tB*** querying acoustic contact ***ii:i DNOT Ignoring new targets: 62.75 m."i,ݻ*i,ݻ- ProNav: ac range: 62.748238 m, nav range: 59.710743 m, bearing: 4.566163 deg, approach rate: -0.379628 m/s, LOS rate: -0.386729 deg/s, cmd heading: 311.072578 deg, new cmd heading: 310.775803 deg. i-05HeadingCmd: 5.424061 target range: 62.748238 and range: 63.00 m.h5葭@h1h1h1h1g1g9jg9rg9e9reAZeA:eA*eEk @auBɢ}!=)y }?iy)}:顁ii[I葭@I@ @@4@EBDAT read: Rx Time:04:30:22.0168 MTRx dataTimestamp_ set to:1764909022.996717Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026102ԑA-؟AI1IIOU2>  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274699=%,LA2>2' ?2U;ٱ2>E=2H?;???4j+?`m?i2>I2 ^;0EB EBEB"E@"EBg:*EBg:VEB(3ZE@BEB;aJ2EB;aJJEB.;aJ:EB/;aJYN]ByR"IIVp>)V;V=V=iMb@Mb@Mb@ 9"~j?㥛 ?{Gz?YS?y>#<@@ t@)@Y(@bDVD8yR==%:=ٔ;Q->9"?Y"?=EyEE>Q 5 5?Q 9 5)BY?Q E%:y%vg?Q I%L@DI*:i:4 5y)ɮ-@):iquDNOT Ignoring new targets: 62.75 m."i}jֻ*i}jֻ ProNav: ac range: 62.748238 m, nav range: 59.552013 m, bearing: 4.400768 deg, approach rate: -0.358849 m/s, LOS rate: -0.374914 deg/s, cmd heading: 310.775793 deg, new cmd heading: 310.444125 deg. i+HeadingCmd: 5.418272 target range: 62.748238 and range: 63.00 m.h|b@hhhhggjgrgBereZe:e*e i @UBɢU׵=)Q U?iQ)]%;YYi]~1iej]aaIe|b@Iiue>iu>@ @@05@ I9IIDAT read: 04:30:22.0168 LVL= 32752, 32753, 23506, 32755, AGC= 62, IDX= 425,-0.33,-2.735, 2.700,-1.235,-2.264, PHS=-0.370,-1.274, 0.984, RAW= 186.5, 6.8, CAL= 186.5, 6.2, ROT= 323.5, -6.2 Ygot valid direction response: 04:30:22.0168 LVL= 32752, 32753, 23506, 32755, AGC= 62, IDX= 425,-0.33,-2.735, 2.700,-1.235,-2.264, PHS=-0.370,-1.274, 0.984, RAW= 186.5, 6.8, CAL= 186.5, 6.2, ROT= 323.5, -6.2 PDAT read: Bearing 195.2, -36.2 (Local) ~Local bearing/azimuth received: Bearing 195.2, -36.2 (Local) DAT read: Range 11 to 50 : 61.8 m (Round-trip 82.4 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.799155,-0.591344,0.107999]Fpublishing direction and range infoyY]>>?=ǐI⿄Niإ?Y]3wBYYY][ Y)]>I]pi]o]m{?]RP@]=]RP@ ]k=)].@I]kݽYY]6YG?P/'?!E #? ]a?)]I]e#i]kݽYYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.O >1a %,\LA2>2S?2 ^;ٱ2%<=2H? @w?? ?@t? A?i2>I2];2CYRYByR"IbDZVDZ8yv%v[=ٔv;Q-z>9xYx=zEy~EҼE> Q 5 5 A?Q 9 5 ) BY!y%e?Q I%L@ DI O;i P; z 5y5oBɮ5b@5$EiiLAj6vB"j6vB:j\@"p~^H@bT3By:@p>>?=ǐI⿄Niإ?*je#2jkݽ*pKՁN@ujYqjH@p"G ?UK!vw?j jmuBiH?i9NjʍBjjjrjmBzjG= addTargetRange:: Added new target pos. range: 61.799999 m, deltaT: 3.777569 s, deltaX: -1.200001 m, approachRate: -0.317665 m/s, rangeRepo size: 4  Added new target pos. range: 61.553001 m, bearing: 358.748733 deg, lat: 36.779396 deg, lon: -121.859588 deg, deltaT: 3.777569 s, deltaX: -1.195236 m, approachRate: -0.316404 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 61.55 m."i*i ProNav: ac range: 61.553001 m, nav range: 59.415630 m, bearing: 4.260264 deg, approach rate: 0.000000 m/s, LOS rate: -0.374914 deg/s, cmd heading: 310.444119 deg, new cmd heading: 310.158884 deg. iHeadingCmd: 5.413294 target range: 61.553001 and range: 61.80 m.h9@hhhhggjgrg e re Ze1(DAT read: user:32> BDAT read: Tx time:04:30:23.2803 $Ping request sent.B;CB"IBUBB =BBDB;B6Ea@ @@@IYIiO}z>ԉm checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250831Թ '%,6LA2b>2?2W;ٱ2Q0=2H=?`Ie?.P? 8?bJ|F?`.?i2b>I2J];0YR\ByR"IbDXVDXyvlu<%vJ=ٔv;Q-v>9xYx=zEyzEz!E~>Q 5  5?Q 9  5A)BY y b?Q I M@DI:i: 5ypBɮB@%E:iAEDNOT Ignoring new targets: 61.55 m."iEۻ*iMۻU ProNav: ac range: 61.553001 m, nav range: 59.267994 m, bearing: 4.109785 deg, approach rate: -0.376113 m/s, LOS rate: -0.384308 deg/s, cmd heading: 310.158890 deg, new cmd heading: 309.857186 deg. i]/]HeadingCmd: 5.408028 target range: 61.553001 and range: 61.80 m.he@hahahahagagajgirgieireiZeq:eq*eu`?额Bɢl=) ^?i)(8;顩iiP `I@IԑU@Y @Y@]/@aI IQO>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502962bE)jE-3rE-0E EE E"E:*EA:VE3ZEBEp%2m?2 <ٱ2N-=2H#h?` ??`d?Ҟq?_?i2:>I2F];2 CYNVByR"I TVATVA%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754873iMMb@Mb@Mb@IIII I9ME?㥛 ?~jth?YM?yIMD;M1@M@ MG@)Mt@IYM@bDeVDe8yuzɼ%uB=ٔ} z;Q-}>9yY=EyEsE>Q 5 56?Q 9 5)BY ?Q E:y^?Q IM@DI ;i; 5yɮ@:iDNOT Ignoring new targets: 61.55 m."iAٻ*iAٻ ProNav: ac range: 61.553001 m, nav range: 59.107563 m, bearing: 3.949848 deg, approach rate: -0.380018 m/s, LOS rate: -0.379877 deg/s, cmd heading: 309.857187 deg, new cmd heading: 309.536447 deg. i-HeadingCmd: 5.402430 target range: 61.553001 and range: 61.80 m.h@hhhhggjgrgBereZe:e*e ?颵Bɢ ]=) l?i);项ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006775a E  E E "E "E Ʊ:*E VL:VE (3ZE a @a @a @a @B >B B "IB PBB =B B B ;B 6EU %,)7LA06d>6Q|?6%<ٱ61=6HƎ?@겠? Q? ?4缄 :??i6d>I6];6 CYRQByR"IbD^VD^ɰ8y % Q=ٔ  ;Q- >9Y=EyEE>AQ 5M 5E?Q 9M 5ES)EBYIyM\?Q IMM@EDIE:iEW:E 5y]qBɮ}@yB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 61.55 m."iKӻ*iKӻ  ProNav: ac range: 61.553001 m, nav range: 58.956749 m, bearing: 3.800829 deg, approach rate: -0.372956 m/s, LOS rate: -0.369457 deg/s, cmd heading: 309.536441 deg, new cmd heading: 309.237646 deg. i )=HeadingCmd: 5.397215 target range: 61.553001 and range: 61.80 m.h=@h9h9h9h9g9gAjgArgAeAreAZeI:eI*eM`4?Bɢ =) a?i);ixibI@I)5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259611@ @@@IIIYOm5>I ? F? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511084'=%,uQLAE2 E2wE0E0"E2:*E2:VE0ZE0BE2ج>> ?>A<ٱ>F6=>Hp??l?@?`b=7Ʀ?@Q?i>ج>I>^;> CYJPByJ"Ii%Mb@Mb@Mb@!!!! !9%Mb?~jt?Mb`Y%?y%>%%@%@ %t@)%@!Y!bD VDʰ8y.%?=ٔ;Q->9Y=EyE*E>Q 5 5P?Q 9 5)Y?Q E:y^?Q IM@DI:i:Ժ 5yɮ@:i%DNOT Ignoring new targets: 61.55 m."i%dܻ*i%dܻ= ProNav: ac range: 61.553001 m, nav range: 58.799862 m, bearing: 3.641721 deg, approach rate: -0.378975 m/s, LOS rate: -0.385365 deg/s, cmd heading: 309.237634 deg, new cmd heading: 308.918573 deg. i=P0EHeadingCmd: 5.391646 target range: 61.553001 and range: 61.80 m.hE^@hAhAhAhAgIgIjgIrgMBeQreQZeQ:eQ*e]`?颅Bɢ=) k?i)6;顉ii;dI^@II}U=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762868y5@1 @1@54@1A .AI I Թ O >j%, kLA6 >6?6hZ<ٱ6.==6H?_S6?[? ?@8(P(?@?i6 >I6];6 CYJRByJ"IR=R=V@AV@AbD^1VD^ڰ8yfQ<%j[=ٔjDŽ;Q-n>9n ?Yr ?=rEyrErƼEv>xQ 5 5zNɋ?Q 9 5z)zBYy \?Q I M@zDIz=;iz2;z 5yɮ@:iY]DNOT Ignoring new targets: 61.55 m."ieӻ*ieӻq} ProNav: ac range: 61.553001 m, nav range: 58.660236 m, bearing: 3.501594 deg, approach rate: -0.368003 m/s, LOS rate: -0.370205 deg/s, cmd heading: 308.918582 deg, new cmd heading: 308.637663 deg. i}`)HeadingCmd: 5.386744 target range: 61.553001 and range: 61.80 m.h4`@hhhhggjg)rg)e1re1Ze1:e1*e= @颅BɢY=) R?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014928i)q<顩iŻi4}eI4`@IEq Eu~Eu(Eq"Eq*Eu(:VEuc44ZEqa@a@a@a@ѼBM>BMi9 I= AE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267002 N!%,|LA2p>2?2o<ٱ2D=2H@Y?@v?&?4? @@ꍨ??i2p>I2];2 CYNKByR"IbDZVDZ8yb %bK=ٔbU;Q-f>9dYd=fEyfEj Ej>lQ 5r 5n Ջ?Q 9r 5n)lYpyvYZ?Q IvM@nDIn;in ;n 5yzrBɮzq@z&E:iDNOT Ignoring new targets: 61.55 m."iλ*iλ ProNav: ac range: 61.553001 m, nav range: 58.510574 m, bearing: 3.352953 deg, approach rate: -0.363371 m/s, LOS rate: -0.361816 deg/s, cmd heading: 308.637670 deg, new cmd heading: 308.339630 deg. i%%HeadingCmd: 5.381542 target range: 61.553001 and range: 61.80 m.h%5@h!h!h!h!g!g)jg)rg)e)re)Ze1:eQ*eU.O@颭Bɢ=) ԥ?i)D!<i@λifI5@I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519679DDE EE%E"E:*E?:VE 4ZEBE] Y "y'%,CXLA2>2NR?2܅<ٱ2G=2H@a-?E?`?@z)?Xˠi ? *?i2>I2j];2CY>NBy>"Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770865iUMb@Mb@Mb@QQQQ Q9Up= ף?Dl?Mb`YU?yUO >QQU@ UG@)U@QYU(@bDm VDm8y}g<%}?=ٔ}2;Q-}>9Y=EyE棼E>Q 5 5i⋊?Q 9 5#)BY ?Q E:yP?Q IM@ɝDIH;i;U 5yɮ<@E:iDNOT Ignoring new targets: 61.55 m."iػ*iػ ProNav: ac range: 61.553001 m, nav range: 58.343616 m, bearing: 3.197946 deg, approach rate: -0.406766 m/s, LOS rate: -0.378729 deg/s, cmd heading: 308.339628 deg, new cmd heading: 308.028731 deg. iG-HeadingCmd: 5.376115 target range: 61.553001 and range: 61.80 m.h# @hhhhggjgrgBereZe:e*e u@5B1ɢ==)9 =٦?i9)E\2ԑXGBDAT read: Rx Time:04:30:25.7653 TRx dataTimestamp_ set to:1764909026.774852checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023937M 9I YU AE  E E $E "E ,:*E ;J:VE 4ZE a @a @a @a @BM >BM =CBM "IBM ABBM =BI BM DBM ;BM 6EԹ V-%,3LA2yT>2 ?2i<ٱ2&F=2H T?tL? ?`Q? K%٨?`?i2yT>I2n];2 CYN?ByR"IbDZȿVDZy8ybH%bW=ٔb;Q-f>9dYd=fEyfEjƼEj>lQ 5r 5n\?Q 9r 5n@)nBYpyrUN?Q IvM@nϝDInM;in8;n 5yxɮz0@x B*** querying acoustic contact ***i i :iDNOT Ignoring new targets: 61.55 m."i%λ*i%λ5 ProNav: ac range: 61.553001 m, nav range: 58.193981 m, bearing: 3.060496 deg, approach rate: -0.392583 m/s, LOS rate: -0.361539 deg/s, cmd heading: 308.028718 deg, new cmd heading: 307.753114 deg. i5j%=HeadingCmd: 5.371305 target range: 61.553001 and range: 61.80 m.h=@h9h9h9hAgAgAjgArgAeIreIZeI:eI*eM8 @Bɢ=) A?i)%DBԹ DAT read: 04:30:25.7653 LVL= 32752, 32753, 29602, 32755, AGC= 64, IDX= 424,-0.01, 0.706,-0.239, 2.075, 1.093, PHS=-0.285,-1.287, 0.938, RAW= 183.3, 6.6, CAL= 183.2, 6.1, ROT= 326.8, -6.1  Ygot valid direction response: 04:30:25.7653 LVL= 32752, 32753, 29602, 32755, AGC= 64, IDX= 424,-0.01, 0.706,-0.239, 2.075, 1.093, PHS=-0.285,-1.287, 0.938, RAW= 183.3, 6.6, CAL= 183.2, 6.1, ROT= 326.8, -6.1  PDAT read: Bearing 189.6, -33.8 (Local)  ~Local bearing/azimuth received: Bearing 189.6, -33.8 (Local)  DAT read: Range 11 to 50 : 60.6 m (Round-trip 80.8 ms) speed 0.3 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.832026,-0.544463,0.106264] Fpublishing direction and range infoy   ? ۺ=lO4?Y frB s ) @I 둾i j p? L@ = L@ ^ =) @I ^ ڽ }Z ?+~d?ӄd-W? _?) I Vi ^ ڽ 5 T****** received valid address query ******5 R****** received valid ping request ******= Querying Benthos address 50 with one ping in standard two-way mode.׋4%,LAD zD"@AE& E&E$E$"E&:*E&:VE$ZE$BE& BT ?Bb9<ٱB@=BH`|? T6J? c_?Cz?@z 政Q?;?iB z>IBv];B CY=4By="IiMb@Mb@Mb@ 9?rh|?~jthY?y=D@@ 1@)Y@bDVD8y+2%+=ٔ};Q->9Y=EyE ࢼE >1Q 5= 55;?Q 9= 55)5BYE?Q EE:yEIG?Q IEM@5םDI5:i5w:5 5ymsBɮm@iiiLAjoqB"joqB:jX@"p˳7I@h^n@p@p? ۺ=lO4?*jV2j^ ڽ*pM*N@bt @pDS!?45 <cD?j- jpBij"̟?ijBj۴1?jk+yjBrjmBzjI=U addTargetRange:: Added new target pos. range: 60.599998 m, deltaT: 3.779782 s, deltaX: -1.200001 m, approachRate: -0.317479 m/s, rangeRepo size: 4  Added new target pos. range: 60.359200 m, bearing: 357.415607 deg, lat: 36.779408 deg, lon: -121.859588 deg, deltaT: 3.779782 s, deltaX: -1.193802 m, approachRate: -0.315839 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 60.36 m."i*i ProNav: ac range: 60.359200 m, nav range: 59.394199 m, bearing: 2.820847 deg, approach rate: 0.000000 m/s, LOS rate: -0.361539 deg/s, cmd heading: 307.753106 deg, new cmd heading: 307.385087 deg. iHeadingCmd: 5.364882 target range: 60.359200 and range: 60.60 m.h@hhhhggjgrg؁BereZe:eLN@*e`?UBɢUR=)Y ]ޠ?iY)]W %BDAT read: Tx time:04:30:27.0288 %$Ping request sent.%I :%,LANBҞ>Np3?N<ٱN.@=NH?b? ?`a?@O SU? ?iNBҞ>IN];NCY~3By~"IbD VD 8y%n=ٔ%;Q-%?9!Y!=%Ey%E-ټE-?1Q 5= 55?Q 9= 55|)5BY9yED?Q IEM@5ݝDI5{;i5f;5 5yIɮM@I:iquDNOT Ignoring new targets: 60.36 m."i}2ͻ*i}2ͻ ProNav: ac range: 60.359200 m, nav range: 59.263359 m, bearing: 2.709775 deg, approach rate: -0.421713 m/s, LOS rate: -0.358790 deg/s, cmd heading: 307.385096 deg, new cmd heading: 307.162461 deg. i($HeadingCmd: 5.360996 target range: 60.359200 and range: 60.60 m.hH@hhhhggjgrgereZe:e*e`?Bɢ=) ?i)c<iilIH@I}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250875QEe EeEe%Ea"Eeغ:*Ee0:VEe 4ZEaam@am@am@am@B>BB"IB-BBBBDBl;B6EBBBÔCB =B =CÛ 6@ @@+0@I)IAOM1>yԡ % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502592ߜA%,LA23=>2?2<ٱ2?=2H@W?@ϧ߿@?? j?@dP??i23=>I2[];2 C@Yb'Byb"IIfR=)fp=bDpVDpy]g%eF=ٔeb;Q-m>9iYi=mEymEuEu>yQ 5 5}?Q 9 5})}BYyB?Q IM@}DI}:i}:}m 5ytBɮ@E:iDNOT Ignoring new targets: 60.36 m."iq*iq ProNav: ac range: 60.359200 m, nav range: 59.102764 m, bearing: 2.574967 deg, approach rate: -0.389392 m/s, LOS rate: -0.327752 deg/s, cmd heading: 307.162459 deg, new cmd heading: 306.892114 deg. iHeadingCmd: 5.356278 target range: 60.359200 and range: 60.60 m.hf@hhhhggjg!rg!e!re!Ze):e)*e-?频ɢp3=) Н?i)>'u<顡iDiImIf@IԱU@Q @Y@]0@Yߍ%=ߍ>@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756475Ee EeEe)Ea"Ee:*Eea9:VEeFA4ZEaBEeb;am2Eec;auJEe$;au:Ee%;auIIO^> SG%,8 LA6>6?6!<ٱ6>=6H? '߿ ? >?? `YÛ@Hԧ??i6>I6];6 CYPyPrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006811ti=Mb@Mb@Mb@9999 99=}?5^I?A`"?9iYi=mEymEuEu>yQ 5 5}"?Q 9 5})}BY?Q E:y\7?Q IM@}DI}:i}:} 5yɮ@:iDNOT Ignoring new targets: 60.36 m."i鳻*i鳻 ProNav: ac range: 60.359200 m, nav range: 58.938492 m, bearing: 2.447998 deg, approach rate: -0.405875 m/s, LOS rate: -0.314583 deg/s, cmd heading: 306.892120 deg, new cmd heading: 306.637476 deg. iHeadingCmd: 5.351833 target range: 60.359200 and range: 60.60 m.h8B@hhhhggjgrgЁBereZe:e*eѷ?颽Bɢ=) ?i)=ׂ<iimnI8B@I@ @@3@IIO_>1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258719Eu  Eu }Eu %Eq "Eu ,:*Eu k&:VEu 4ZEq a} @a} @a} @a} @B >B 2<?2[S<ٱ2љ@=2Hh?޿@LŨ?ĸ??M)H? e?i2j>I2];2CYb Byb"IbDj VDj8yr%rS=ٔr;Q-v>9tYt=vEyvEzżEz>|Q 5 5~.?Q 9 5~)~BYy4?Q I M@~DI~;i~:~W 5yɮ@@-B*** querying acoustic contact ***i)i)9:iAEDNOT Ignoring new targets: 60.36 m."iM*iM] ProNav: ac range: 60.359200 m, nav range: 58.780144 m, bearing: 2.327060 deg, approach rate: -0.407714 m/s, LOS rate: -0.312230 deg/s, cmd heading: 306.637463 deg, new cmd heading: 306.394937 deg. i]eHeadingCmd: 5.347600 target range: 60.359200 and range: 60.60 m.he@hahahahagagijgirgieireqZeq:eq*eu ?颥Bɢ<=) {?i)-L<顩iTi|oI@I@ @@5@IIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510931iԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762764T%,XTLAbE5 4jE5r 4rE5xE0E EEE"Eg:*EA:VEZEBE;a2E;aJEl;a:El;aB>B>Bi=ٱB"@=BH3?@޿W?-?4???iB>IBC^;B CYN'ByR"I TTi-Mb@Mb@Mb@)))) )9-Zd;?ʡE?MbPY->y--=--@-@ -G@)))Y-@bDEVDEð8yM<%MC=ٔUa;Q-U>ԙ9Y=EyEfE>Q 5 5=?Q 9 5)BY>Q E:y*?Q IM@DI;i; 5yvBɮ@E:iAMDNOT Ignoring new targets: 60.36 m."iMu*iMu} ProNav: ac range: 60.359200 m, nav range: 58.607594 m, bearing: 2.204732 deg, approach rate: -0.394591 m/s, LOS rate: -0.280567 deg/s, cmd heading: 306.394937 deg, new cmd heading: 306.149561 deg. i}]HeadingCmd: 5.343318 target range: 60.359200 and range: 60.60 m.hv@hhhhggjgrgځBereZe:e*e`*@ɢ=) 3?i)I<iRi!pIv@Ii@i @q@u!5@qIIO (>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014647 8[%,4nLA>>>B>>U =ٱ>#<=>H MZ?@$}ݿh??`\?x߉~??i>>I>%];> CY^ By^"IbDj VDj8yr/%rR=ٔr;Q-r>9tYt=vEyvEv߼Ez>xQ 5 5zI?Q 9 5z)zBYyI(?Q IM@zDIz ;iz:zf 5yɮ^@:i1=DNOT Ignoring new targets: 60.36 m."iE#*iE#M ProNav: ac range: 60.359200 m, nav range: 58.455257 m, bearing: 2.098314 deg, approach rate: -0.412263 m/s, LOS rate: -0.288746 deg/s, cmd heading: 306.149569 deg, new cmd heading: 305.936180 deg. iUUHeadingCmd: 5.339593 target range: 60.359200 and range: 60.60 m.h]ݪ@hYhYhYhYgYgYjgargaeareaZei:ei*em@@颙ɢY=) ?i)<顡i i>qIݪ@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267285qE5 E5E5$E1"E5Ʊ:*E5:VE54ZE1a=@aE@aE@aE@M@Q @Q@U/@QB>B>CBf"IB BB =BBDB;B`6EIIO>ePExceeded connect timeout, disconnecting.ԙ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518711 a%,]LAJ>J5.>Jz=ٱJ4=JH~?ܿ?|? ?=`H΢ ?|?iJ>IJ];HY^By^u"IbDfVDf8yT%H=ٔ{;Q- >9 Y = Ey EƼE>Q 5% 58W?Q 9% 5߮)BY!y-%?Q I-M@DIq:i: 5y1ɮ5@5E:iDNOT Ignoring new targets: 60.36 m."i*i ProNav: ac range: 60.359200 m, nav range: 58.289299 m, bearing: 1.984011 deg, approach rate: -0.393997 m/s, LOS rate: -0.272135 deg/s, cmd heading: 305.936167 deg, new cmd heading: 305.706912 deg. iHeadingCmd: 5.335592 target range: 60.359200 and range: 60.60 m.h,@hhhhggjgrgere Ze :e *e jR@}Bɢ8=) ߙ?i)`<顉i,isrI,@I@ @@/@IA}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772901IO<>EE EEEE#EA"EE:*EE3:VEE3ZEABEE] )%p<-=-=iMb@Mb@Mb@ 9bX9?Q?YE>y\=@@ 1@)@YbDVD8yJ{=%>=ٔQ->9Y=EyEE>Q 5 5e?Q 9 5)BY>Q E:y?Q IM@ DI ;i* ; 5yɮ>@:iDNOT Ignoring new targets: 60.36 m."i%Ð*i%ÐQe ProNav: ac range: 60.359200 m, nav range: 58.114937 m, bearing: 1.871101 deg, approach rate: -0.389719 m/s, LOS rate: -0.253124 deg/s, cmd heading: 305.706918 deg, new cmd heading: 305.480422 deg. ie绝HeadingCmd: 5.331639 target range: 60.359200 and range: 60.60 m.hʜ@hhhhggjgrgցBereZe:e*e* @qɢuX)=)q uK?iq)}eB B T"IB BB =B B B ;B A6EO >ԩ m nManaging dock network, ignoring radio surface power offBn%,ѻLAVax>VX+=ٱV0=VH@?@ۿެ?@C??@'wi`? 7?iVm>IV];V CYbBybr"IbDnVDn8yr>%vZ=ٔv^9v"?Yz"?=zEyzEzdE~>|Q 5 5~Kr?Q 9  5~)~BY y 8?Q I M@~DI~:i~:~ 5yUxBɮ]U@]EB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 60.36 m."i*i ProNav: ac range: 60.359200 m, nav range: 57.960899 m, bearing: 1.775171 deg, approach rate: -0.430554 m/s, LOS rate: -0.268849 deg/s, cmd heading: 305.480429 deg, new cmd heading: 305.288060 deg. iHeadingCmd: 5.328282 target range: 60.359200 and range: 60.60 m.hI@hhhhggjgrgereZe:e*e0 @ɢ=) F?i)nq<)i-i-tt11I5I@I1AԡDAT read: 04:30:29.5119 LVL= 32752, 30705, 23746, 32755, AGC= 60, IDX= 422,-0.03,-1.043,-2.123, 0.039,-0.756, PHS=-0.185,-1.322, 0.751, RAW= 176.8, 8.5, CAL= 176.6, 9.0, ROT= 333.4, -9.0 Ygot valid direction response: 04:30:29.5119 LVL= 32752, 30705, 23746, 32755, AGC= 60, IDX= 422,-0.03,-1.043,-2.123, 0.039,-0.756, PHS=-0.185,-1.322, 0.751, RAW= 176.8, 8.5, CAL= 176.6, 9.0, ROT= 333.4, -9.0 PDAT read: Bearing 187.1, -28.2 (Local) -~Local bearing/azimuth received: Bearing 187.1, -28.2 (Local) ]DAT read: Range 11 to 50 : 59.3 m (Round-trip 79.1 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.883146,-0.442246,0.156434]Fpublishing direction and range infoyֺB?1Mܿp ?Y3mBw\ @ @@/@)<Ip=iL7A@?|E@>CE@ | >)4@I| ^U?({?=3 ? ;}?)I*i| T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.AII)O=r> } (DAT read: user:34>  BDAT read: Tx time:04:30:30.8287  $Ping request sent. 2yB>2D5=ٱ20=2H?`*ۿD?`';??j`?U?i2[c>I2];2 CEF EF{EF&ED"EF:*EF5":VEF4ZEDBEFyMm=Mף;MG@M@ M@)M@IYMp@bDVD8ٔ;Q->9Y=Ey EPE>Q 5 5恌?Q 9 5)BY>Q E:y?Q IM@DI$a 5S{%,(LA2Y>2!>2<=ٱ23=2H?`~ڿLˮ??.?&l? k?i2Y>I2];0Y> By>g"I @@DFAbDJVDJ8 TVCyf%r<ٔzQ; GQ- >%zA9- ?9=5AY- ?=MEyMEmȠ9mzAYm^AeE}>y?MAQ 5% 5,?Q 9% 5i)݊BY!y% ?Q I%M@DI:i:` 5=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502651yQɮU@Q:iDNOT Ignoring new targets: 59.06 m.2i"il*il ProNav: ac range: 59.064308 m, nav range: 58.333637 m, bearing: 358.308678 deg, approach rate: -0.408582 m/s, LOS rate: -0.263023 deg/s, cmd heading: 305.040428 deg, new cmd heading: 304.841302 deg. i𻝏HeadingCmd: 5.320485 target range: 59.064308 and range: 59.30 m.hiA@hhhhggjgrgereZe:e *e ?B5>B5=CB5A"IB5BB5 =B1B5DB5;B516EYɢ]gE=)Y ] ?ia)e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754534 9%,2U LA2IN>2>2͒E=ٱ2y";=2H/?'ٿ?L?`+8?8 毨`C[??i2IN>I2m];2CY>By>y"IbDJVDJ8yRH=%RM=ٔR;Q-R>9TYT=VEyVEVټEZ>XQ 5^ 5Z?Q 9b 5Z)ZۊBY`ybp ?Q IbM@Z#DIZ;iZ;Z 5yfyBɮj@jE:iQUDNOT Ignoring new targets: 59.06 m.2iq"i}1*i}1 ProNav: ac range: 59.064308 m, nav range: 58.189526 m, bearing: 358.217620 deg, approach rate: -0.398036 m/s, LOS rate: -0.252125 deg/s, cmd heading: 304.841315 deg, new cmd heading: 304.658748 deg. i滝HeadingCmd: 5.317298 target range: 59.064308 and range: 59.30 m.hO'@hhhhԙggjgrgereZe:e*e`lE?ɢ=) ƚ?i)N<iJ1 i\DwIO'@II)wA@ @@/@AyAzAxAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.010261IIOG>E EyE'E"E:*E:VE'4ZEa@a@a@a@! xc%,#/#LA6 dD>6>6K=ٱ6v;=6HP?`UٿT?`v?Y?@{ X?P?i6 dD>I6];6 CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258384Y By x"IiMb@Mb@Mb@ 9jt?Dl?{Gzt?Y?yO=V@ G@)V@Y@bD 'VD а8y%=ٔ9!Y!=%Ey%E-E->1Q 5= 55~?Q 9= 55)5֊BY=?Q EE:yE ?Q IEM@5+DI5A:i5I:5 5yIɮM@I:iDNOT Ignoring new targets: 59.06 m.2i"i**i* ProNav: ac range: 59.064308 m, nav range: 57.969212 m, bearing: 358.075889 deg, approach rate: -0.433681 m/s, LOS rate: -0.280052 deg/s, cmd heading: 304.658757 deg, new cmd heading: 304.374222 deg. i!HeadingCmd: 5.312332 target range: 59.064308 and range: 59.30 m.h@hhhhggjgrgBereZe:e*eBf?!颵BɢN|=) i?i)5<项iɢ#iщxI@I]@Y @Y@]/@YU"?UQ?]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510807YB5 >B5 E  E zE $E "E g:*E  :VE 4ZE BE ;a 2E ;a JE a :E a y %,W =LA b̏C)b1~Ab94``fCfE~Aifj==bDVDɰ8y<%x=ٔQ-?9Y=EyEE?Q 5 5?Q 9 58)ӊBYyQ IM@0DI:ii: 5yzBɮ@ %B*** querying acoustic contact ***i!i!:i15DNOT Ignoring new targets: 59.06 m.2i1"i=m*i=mM ProNav: ac range: 59.064308 m, nav range: 57.829269 m, bearing: 357.985181 deg, approach rate: -0.426337 m/s, LOS rate: -0.277015 deg/s, cmd heading: 304.374212 deg, new cmd heading: 304.192356 deg. iM|UHeadingCmd: 5.309158 target range: 59.064308 and range: 59.30 m.Qh]@hYhYhYhYgYgYjgargaeareaZei:ei*emh?颙ɢ<=) .?i)<顡i$&iYyI@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765889@ @@ 0@IIO>ԁԩ} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017190 %,.WLAE" E"E"%E "E":*E"*5:VE" 4ZE a&@a&@a&@a*@:/>:s>:yZ=ٱ:6=:Hu?$ؿ`?`mE??`K̦?6?i:/>I:];: CYBy"IiMb@Mb@Mb@ 9-?l?Mb?Y?>y=< 1@)l@YbDVD8y <%E=ٔ 9Y=Ey E%FE%>!Q 55 5%Ɍ?Q 95 5%})%ҊBY5J>Q E5:y5 ?Q I5M@%7DI%T;i%j;% 5yAɮE@A:iamDNOT Ignoring new targets: 59.06 m.2ii"iu*iu ProNav: ac range: 59.064308 m, nav range: 57.660336 m, bearing: 357.876022 deg, approach rate: -0.406632 m/s, LOS rate: -0.263518 deg/s, cmd heading: 304.192365 deg, new cmd heading: 303.973410 deg. i"񻝏HeadingCmd: 5.305337 target range: 59.064308 and range: 59.30 m.hRũ@hhhԑhggjgrgBereZe:e*e@ɢ(_=)  ?i)N<ib)iCTzIRũ@IR>i>@ @@0@A?A>I I!O-->ԹiߙIߙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266833 %,pLA2%>2t>23a=ٱ27=2H༬?׿M???Õ" (?h?i2%>I2 ];0Yy"IbD-VD-ư8y=;%=[=ٔEg;Q-E>9AYI=MEyM$EMּEM>QQ 5] 5U<֌?Q 9] 5U)UъBYaye?Q IeM@U=DIU;iU;U 5ym{Bɮm@mE:iDNOT Ignoring new targets: 59.06 m.2i"i+*i+ ProNav: ac range: 59.064308 m, nav range: 57.508144 m, bearing: 357.779119 deg, approach rate: -0.408564 m/s, LOS rate: -0.260830 deg/s, cmd heading: 303.973416 deg, new cmd heading: 303.779097 deg. iHeadingCmd: 5.301945 target range: 59.064308 and range: 59.30 m.h@hhhhggjgrgereZe:e*e7@Bɢ=) i)<i,i2{ I @I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518702B>BBBB =BBB;B,6EE E~EE"E,:*E(:VEZEBE9i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770512T%,{LA,2x >2Z>2Le=ٱ27=2H@?ֿ`n|?`{?@S?q1@qզ? ?i2x >I2?];2 CYN$ByN"I PPTVAbDZVDZ8yr <%rP=ٔvV0;Q-v>9tYt=zEyz(EzټEz>|Q 5 5~+䌊?Q 9 5~)~ϊBY y Z?Q I M@~CDI~::i~h:~< 5yɮ{@:i9EDNOT Ignoring new targets: 59.06 m.2iA"iE*iEU ProNav: ac range: 59.064308 m, nav range: 57.346664 m, bearing: 357.677985 deg, approach rate: -0.410654 m/s, LOS rate: -0.257913 deg/s, cmd heading: 303.779084 deg, new cmd heading: 303.576248 deg. iU컝]HeadingCmd: 5.298405 target range: 59.064308 and range: 59.30 m.h]@hYhahahagagajgirgieireiZei:ei*eu` = @ɢD=) ?i!)%-4=]BDAT read: Rx Time:04:30:33.3098 mTRx dataTimestamp_ set to:1764909034.342399uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.032338IOA>bE4jEm4rEƖ/E EE"E"E:*ET:VE(3ZEa@a@a@a@ %,vLA2[>2L>2βk=ٱ2`~3=2H?`1RֿI?t?A?Q`0r`td??i2[>I2];2 CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274477YF"ByF"IliMb@Mb@Mb@ 9#~j?Mb?y&1|?Y?y=`;t@ ^@)@YG@bDVD8y%޻%%8=ٔ- ^;Q-->9)Y)=-Ey-,EUWEU>YQ 5e 5]k?Q 9e 5]b)]ˊBYe ?Q Em:ymK ?Q ImM@]JDI]:i]t:]' 5y}Bɮ@E:iDNOT Ignoring new targets: 59.06 m.2i"i*i- ProNav: ac range: 59.064308 m, nav range: 57.147205 m, bearing: 357.547773 deg, approach rate: -0.436739 m/s, LOS rate: -0.286109 deg/s, cmd heading: 303.576254 deg, new cmd heading: 303.314924 deg. i5UHeadingCmd: 5.293844 target range: 59.064308 and range: 59.30 m.hU,g@hYhYhYhYgYgYjgargeBeareaZei:ei*em @5Bɢ=W=)A M?iI)]OBBBBBBB ;BR6E)5@I5%115ѕY?LrR?d/v%? 5őq?)5ѽI5JҾi5%11 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 g:*E =:VE 4ZE BE ;a 2E ;a JE Ȕ;a :E Ȕ;a A ؟AI I O >a ݮ%,u[LA2>2>2*p=ٱ21=2H`?Yտ@?7? ? 3W|3?&?i2>I2];0Y>!By>"IbDFVDF8yRn%Vf=ٔV7];Q-V>9Z"?YZ"?=ZEyZ0EZּEZ>\Q 5b 5^?Q 9f 5^)^NJBYdyf?Q IfM@^PDI^:i^\:^: 5yj|Bɮn@nEiYi]fLAj]eB"j]eB:j]@"p]Y|8 BDAT read: Tx time:04:30:34.6287 $Ping request sent.ԑ U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251487ĵ%,.LAE& E&E$E$"E&:*E&rN:VE$ZE$a*@a*@a*@a*@:<=:*ڭ>:u=ٱ:1=:H[?#տ)?`(G?,?p` *??i:<=I:];8Y^ Byb"IIf=)fy}=}C<}@}@ }1@)}@yY}@ԙbD-VDְ8y%;=ٔ=;Q->9Y=Ey4E E>Q 5 5?Q 9 5Ί)ƊBY?Q E:y?Q IM@WDI:i:  5y}Bɮ@EB*** querying acoustic contact ***ii:i DNOT Ignoring new targets: 57.47 m.2i "i Ь*i Ь ProNav: ac range: 57.469528 m, nav range: 57.011436 m, bearing: 356.174049 deg, approach rate: -0.408018 m/s, LOS rate: -0.302170 deg/s, cmd heading: 303.116173 deg, new cmd heading: 302.854380 deg. i%@ %HeadingCmd: 5.285806 target range: 57.469528 and range: 57.70 m.h%S%@h!h)h)h)g)g)jg1rg5%BereZe:e*e?=BɢE=)A Ev?iA)E=IIiMz+9iU %,WLA6c=6>6Dz=ٱ63=6H7?|Կfj?`??E?JC*o??i6c=I6];4Y^Byby"IbDjVDjǰ8yrN%rX=ٔrL=;Q-r>9tYt=vEyv8EzeмEz>|Q 5 5~- ?Q 9 5~()~ĊBYy?Q IM@~^DI~;i~;~X 5yɮL@:i1=DNOT Ignoring new targets: 57.47 m.2i9"iEX*iEXU ProNav: ac range: 57.469528 m, nav range: 56.857567 m, bearing: 356.061903 deg, approach rate: -0.407562 m/s, LOS rate: -0.297852 deg/s, cmd heading: 302.854385 deg, new cmd heading: 302.629486 deg. iUF]HeadingCmd: 5.281881 target range: 57.469528 and range: 57.70 m.h]+@hYhYhYhYgagajgargaeireiZei:ei*em?颙ɢt=) q?i)ld =顡iKB=CBBB =BBDB;Bc6E@ @@/@E] E]EYEY"E]:*E]3:VEYZEYBE]b;am2E]c;amJE];au:E];au!Ae.AIiIyO9>Q checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005490ԁ %, LA2r=2 >2 ~=ٱ2G6=2H`P? ӿ \??@ _?:G`دĦ??i2r=I2q];2 CYBByBz"IbDJVDJ8yzO;%zI=ٔz7;Q-~>9~ ?Y~ ?=~Ey<EAļE> Q 5 5 .?Q 9 5 Y) ŠBYy ?Q IM@ dDI G:i ;  5y!ɮ%B@!:iIMDNOT Ignoring new targets: 57.47 m.2iI"iU˨*iU˨e ProNav: ac range: 57.469528 m, nav range: 56.691185 m, bearing: 355.942266 deg, approach rate: -0.409263 m/s, LOS rate: -0.295145 deg/s, cmd heading: 302.629481 deg, new cmd heading: 302.389506 deg. ie mHeadingCmd: 5.277692 target range: 57.469528 and range: 57.70 m.hm@hihihihigqgqjgqrgyeyreyZey:ey*eIX?颭Bɢ =) \?i)a =顱i>iI@IԙU@Q @Q@U/@Q-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261288AaIIO-N>E} E}zE}#Ey"E}:*E} :VE}3ZEya@a@a@a@ %,%LA6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510083B/=B>Bԩ=ٱBMI8=BHh?`Yӿ ?? x? dR-?`?iB/=IB];B CY5By5o"I AAIMAiMb@Mb@Mb@ 9X9v? rh?I +?Y>yC >94<@l@ ^@)@Y3@bD VD8y%%;=ٔi;Q->9Y=Ey @E  E >Q 5} 5>?Q 9} 5)BY}?Q E:y?Q IM@kDI:i: 5y~Bɮ@E:iDNOT Ignoring new targets: 57.47 m.2i"it*it ProNav: ac range: 57.469528 m, nav range: 56.511822 m, bearing: 355.804611 deg, approach rate: -0.393940 m/s, LOS rate: -0.303293 deg/s, cmd heading: 302.389495 deg, new cmd heading: 302.113315 deg. i HeadingCmd: 5.272872 target range: 57.469528 and range: 57.70 m.h^@hhhhg g jg rg )BereZe:e*e8?UBɢ],=)Y ]ɖ?ia)e=aaieAiuQqqIu^@Iy!@! @!@-/@)3G/{AA}Q9/{AY[AI9IQO]v>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761527Bu>Bu?CBu."IBu܃BBu =BqBuºDBu;BuJ6EI Eu  Eu Eu %Eq "Eu :*Eu ,:VEu 4ZEq BEu 2)N=ٱ2ʖ8=2H}? ҿO?u?ཌྷ?@mK ¦`X?@Z?i2&=I2];0@YBByBd"IbDJݿVDJ8yfM8%f`=ٔfg;Q-f>9hYh=jEyjDEjƼEn>pQ 5v 5rL?Q 9v 5rw)rBYtyv_?Q IvM@rqDIr::ir%:r 5yxɮ~n@|:i%DNOT Ignoring new targets: 57.47 m.2i!"i-[*i-[5 ProNav: ac range: 57.469528 m, nav range: 56.361549 m, bearing: 355.690529 deg, approach rate: -0.432670 m/s, LOS rate: -0.329346 deg/s, cmd heading: 302.113310 deg, new cmd heading: 301.884538 deg. i=EHeadingCmd: 5.268879 target range: 57.469528 and range: 57.70 m.hE@hAhAhAhAgAgIjgIrgIeIreQZeQ:eQ*eU j@Bɢ=) m?i)!:= i zDi ԁI@I1Ea>iE>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015582@ @@/@ԩIIO>> = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267610%,|YLAE EEE"EI:*E*5:VEZEa@a@a@a@Vqܙ=V >V=ٱVb5=VHu?TJҿ߃?r?`?`˗1??iVqܙ=IVdž^;TYb Byfg"Ili}Mb@Mb@Mb@yyyy y9}Gz?K7?Mb`?Y}p>y}I >};}@}@ }G@)} @yY}z@AAAAbDٿVD8y#<%==ٔC;Q->9Y=EyHE,E>Q 5 5[?Q 9 5Z|)BY|?Q E:y?Q IM@xDI:iZ:$ 5yBɮ`@EB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 57.47 m.2i"i*i ProNav: ac range: 57.469528 m, nav range: 56.183460 m, bearing: 355.555714 deg, approach rate: -0.411176 m/s, LOS rate: -0.312251 deg/s, cmd heading: 301.884526 deg, new cmd heading: 301.614043 deg. iHeadingCmd: 5.264158 target range: 57.469528 and range: 57.70 m.h%s@h!h!h!h!g!g!jg)rg-8Be)re1Ze1:e1*e5@uBɢ}b=) ?i)J2=顑i-]Gi}oIs@Iam@i @i@m/@iIIO(>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518079ԑԹ ;%,OsLA2-^=2'>2=ٱ23=2H ˤ?ѿ?`n??aҗ? p??i2-^=I2O^;2 CYNByRV"IbDZVDZ8ybl%bZ=ٔb7;Q-f>9dYd=fEyfLEjຼEj>lQ 5- 5ni?Q 9- 5ny)nBY)y- ?Q I-M@nDIn4B)B-"IB-̃BB)B)B)B- ;B-]6EBBBCB =B =Cp06E= E=E=&E9"E=:*E=ga:VE=4ZE9BE= iߑ Iߑ  BDAT read: Rx Time:04:30:37.1078  TRx dataTimestamp_ set to:1764909038.116150 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024764! $%,,LAY~By~<"IbD VD 8yʽ%%D=ٔ%Q-%>9)Y)=-Ey-PE-E->1Q 5= 55x?Q 9E 55v)5BYAyAQ IEM@5DI5;i5;5+ 5yMBɮM@Q:iq}DNOT Ignoring new targets: 57.47 m.2iy"i}*i򶻝 ProNav: ac range: 57.469528 m, nav range: 55.856888 m, bearing: 355.310066 deg, approach rate: -0.422493 m/s, LOS rate: -0.319891 deg/s, cmd heading: 301.381359 deg, new cmd heading: 301.121316 deg. i[HeadingCmd: 5.255558 target range: 57.469528 and range: 57.70 m.h-@hhhhggjgrgereZe:e*e@` @Bɢ4=) P?i)_ =i|LiGI-@I9U@Q @Q@Y@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275973I)IQaO;>E] E]E]%EY"E]g:*E]L_:VE] 4ZEYa}@a}@a}@a@ԑԹ P%,LABDAT read: 04:30:37.1078 LVL= 30704, 27953, 22114, 32755, AGC= 66, IDX= 428, 0.15, 0.842,-0.455, 1.739, 0.939, PHS= 0.005,-1.349, 0.756, RAW= 170.6, 6.4, CAL= 170.1, 5.8, ROT= 339.9, -5.8 JYgot valid direction response: 04:30:37.1078 LVL= 30704, 27953, 22114, 32755, AGC= 66, IDX= 428, 0.15, 0.842,-0.455, 1.739, 0.939, PHS= 0.005,-1.349, 0.756, RAW= 170.6, 6.4, CAL= 170.1, 5.8, ROT= 339.9, -5.8 NPDAT read: Bearing 171.5, -23.8 (Local) R~Local bearing/azimuth received: Bearing 171.5, -23.8 (Local) VDAT read: Range 11 to 50 : 56.2 m (Round-trip 75.0 ms) speed 0.3 m/s ZR#Rx 1: Read range and direction messages.^^direction in FSK: [0.934287,-0.341901,0.101056]bFpublishing direction and range infoy[>?y鶲տ+hg޹?Y`Bw1mbV )BI ף;i7A?>@=>@ 4Q=)ֽ@I4QϽp .?@FZ?Sie3? ~b?)mtIi4QϽnT****** received valid address query ******nR****** received valid ping request ******nQuerying Benthos address 50 with one ping in standard two-way mode.-1D=-D&>-89=ٱ-s)=-H?@~п 3?=?x?C~ñ'?>?i-1D=I-];- CYEByE7"IԑimMb@Mb@Mb@iiii i9me;O?ףp= ?y&1|?Ym>ym>m`;m@m@ m^@)m7@iYmf@ <4<bDVD8y%'=ٔ;Q->9Y=EyUEE>Q 5 5{?Q 9 5*s)BYe?Q Ee:ye-?Q IeM@DI)h?y鶲տ+hg޹?*j2j4QϽ*pF7K@a 0?p?%MPY{J?j j_Bi䟊?i!pjRBjR4Mٟ?j!pjBrjS_Bzj^C@ addTargetRange:: Added new target pos. range: 56.200001 m, deltaT: 3.779914 s, deltaX: -1.500000 m, approachRate: -0.396834 m/s, rangeRepo size: 4 - Added new target pos. range: 55.977875 m, bearing: 355.000727 deg, lat: 36.779417 deg, lon: -121.859640 deg, deltaT: 3.779914 s, deltaX: -1.491653 m, approachRate: -0.394626 m/s, posRepo size: 4 :i)5DNOT Ignoring new targets: 55.98 m.2i1"i5*i9e ProNav: ac range: 55.977875 m, nav range: 55.831482 m, bearing: 354.988809 deg, approach rate: 0.000000 m/s, LOS rate: -0.319891 deg/s, cmd heading: 301.121321 deg, new cmd heading: 300.788993 deg. iimHeadingCmd: 5.249758 target range: 55.977875 and range: 56.20 m.hm@hqhqhqhqgqgqԹjgrg/BereZe:eL@*e MJ?]Bɢ]L=)Y ]?iY)e3%=aaieOimVGiiIm@Ii(DAT read: user:36> BDAT read: Tx time:04:30:38.3787 $Ping request sent.BABE!IBEBBE =BABABE$;BEu6EEm  Em }Em Ei "Em ~ ;*Em k&:VEm 3ZEi BEm V 6%,LA2`=2*>26ؐ=ٱ2'(=2Hh?`пe%? (??@n[)??i2`=I2N ^;0YNσByN"IbDZVDZ8yrI%r=ٔv>;Q-v?9tYt=zEyzXEz Ez?Q 5% 5?Q 9% 5p)BY)y-?Q I-M@DIG:i:2 5y5Bɮ59@5E:iy}DNOT Ignoring new targets: 55.98 m.2i"iL*iL ProNav: ac range: 55.977875 m, nav range: 55.708279 m, bearing: 354.891153 deg, approach rate: -0.425464 m/s, LOS rate: -0.337986 deg/s, cmd heading: 300.788991 deg, new cmd heading: 300.593248 deg. iHeadingCmd: 5.246342 target range: 55.977875 and range: 56.20 m.h@hhhhggjgrgereZe:e*e ?额Bɢ>) ?i)R'=顩iQi II@Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252200@ @@0@)A1I9IQO]v>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505070bE˻ 4jE˔4rE0Em  Em Em 'Ei "Em :*Em H:VEm '4ZEi a @a @a @a @Ա K%, LA22<2}>2q=ٱ2~4(=2H?οi?zJ?^?`"j??i22yu=u;u@u@ ut@)qqYu@bD!VD˰8y%8=ٔ ;;Q->9Y=Ey]EE>Q 5 5#?Q 9 5n)BY>>Q E:y>Q IM@DI:i:y6 5yBɮ@ E B*** querying acoustic contact ***i i :iDNOT Ignoring new targets: 55.98 m.2i"i%*i%󓻝 ProNav: ac range: 55.977875 m, nav range: 55.532181 m, bearing: 354.778439 deg, approach rate: -0.402901 m/s, LOS rate: -0.258699 deg/s, cmd heading: 300.593238 deg, new cmd heading: 300.367097 deg. i컝HeadingCmd: 5.242395 target range: 55.977875 and range: 56.20 m.h@hhhhggjgrgBe re Ze :e*es6?]Bɢ] {=)a ez?ia)'*+=i !Si 8 I@I@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758194YA؟AIIO%>ԁ Ҹ%,\LA0:2<:! u>:m1=ٱ:+=:H@p?Ϳw?hB?x?@j?`?i:29j"?Yj"?=jEyjaEnEn>pQ 5v 5r^?Q 9v 5rzl)rBYxyz>>Q IzM@rDIr:ir:r9 5y~Bɮ~'@:i!-DNOT Ignoring new targets: 55.98 m.2i)"i-*i-= ProNav: ac range: 55.977875 m, nav range: 55.382946 m, bearing: 354.684024 deg, approach rate: -0.401542 m/s, LOS rate: -0.254726 deg/s, cmd heading: 300.367104 deg, new cmd heading: 300.177764 deg. iE黝EHeadingCmd: 5.239090 target range: 55.977875 and range: 56.20 m.hE@hIhIhIhIgIgIjgQrgQeQreQZeQB>BB!IBBBBBB/;B6Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.015545:e*e Q?UBɢU޸=)Y ]w?iY)]-=YYi]`Uie礅aiIm@IiE EE E"EI:*E:VE3ZEBEԹU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266679 ܠ%,7LA2fD<2ok>2*=ٱ2`+=2H?u̿`1д?@k?`.'?vಿ`Ul?@?i2fD9hYh=jEyjeEjEj>pQ 5v 5r?Q 9v 5rPj)rBYtyvq>Q IzM@rDIr::ir:rA= 5y|ɮ~@|:i!%DNOT Ignoring new targets: 55.98 m.2i!"i-#*i-#= ProNav: ac range: 55.977875 m, nav range: 55.220188 m, bearing: 354.582533 deg, approach rate: -0.402984 m/s, LOS rate: -0.252030 deg/s, cmd heading: 300.177771 deg, new cmd heading: 299.974191 deg. i=滝UHeadingCmd: 5.235538 target range: 55.977875 and range: 56.20 m.h]@hahahihigqgqjgqrgqereZe:e*e>?MBɢM =)I Mq?iI)Ux41=QQi]ViuRyyI}@Iy-@) @)@-?5@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519002E E|E'E"EƱ:*EP$:VE'4ZEa@a@a@a@AyIIOd>A ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770714 %,*)LA2;2>1a>2`=ٱ24=2HK$?'|˿@!?,?8? &8'o? %?i2;I2h];2 CYZByZ!IiMb@Mb@Mb@ 9Gz?sh|??~jthY>y=D(@ )d@Y@bDVD8y$%8=ٔ+;Q->9Y = Ey iEǷE>Q 5- 5Mэ?Q 9- 5)h)BY5^>Q E5:y5a>Q I5M@DI?F;idE;&A 5yEBɮE@M E:i  DNOT Ignoring new targets: 55.98 m.2i "i*i% ProNav: ac range: 55.977875 m, nav range: 55.032974 m, bearing: 354.478561 deg, approach rate: -0.400248 m/s, LOS rate: -0.223039 deg/s, cmd heading: 299.974204 deg, new cmd heading: 299.765554 deg. i%̻-HeadingCmd: 5.231896 target range: 55.977875 and range: 56.20 m.h-k@h)h)h)h1g1g1jg1rg5Be9re9Ze9:e9*eE @māBɢm=)uu ug?iq)u:}4=qqiu{Xi}yIk@IG>iA@ @@@BU>BU>CBU!IBUgBBQBQBUDBUC;BU6EAiiIyIO~>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022744E EE%E"Ey:*EP:VE 4ZEBE2CP=ٱ2^1=2H4?EDʿ`D?h?I?=H Ee &? ?i2:@I2];2 CYNByR!I TV<bDZVDZ8ybƔ%ba=ٔf*;Q-f>9dYd=jEyjmEjܼEj>lQ 5r 5nލ?Q 9r 5nvf)nBYtyve>Q IvM@nDIn:in:nND 5yxɮz@xy:iDNOT Ignoring new targets: 55.98 m.2i"i*i ProNav: ac range: 55.977875 m, nav range: 54.880657 m, bearing: 354.395356 deg, approach rate: -0.421543 m/s, LOS rate: -0.230912 deg/s, cmd heading: 299.765555 deg, new cmd heading: 299.598684 deg. i5LӻEHeadingCmd: 5.228983 target range: 55.977875 and range: 56.20 m.hES@hAhAhIhIgIgIjgyrgyeyreyZe:e*e`@ƁBɢ-=) `?i)87=i{9ZiIS@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274960I!ԩ@ @@ 5@ AU.AIaIqO{> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528823 E5  E5 E5 &E1 "E5 :*E5 .:VE5 4ZE1 aU @W%,g\LAa@a@a@r@r`+M>r"=ٱr0/=rH`D?k ɿa?if?Z?`N``ӥ?s?ir@Ir];r CY%wBy%!I))iMb@Mb@Mb@ 9gfffff?Mb?MbpY3>y@=@ @ @)Y@bDVD8y⌽%7=ٔ 5:Q- >9  ?Y  ?=EyqEE>Q 5% 5?Q 9% 5d)|BY-e>Q E-:y-a>Q I-M@DII:i;3H 5y1ɮ5@9UB*** querying acoustic contact ***iQiQ:iYeDNOT Ignoring new targets: 55.98 m.2ia"imh*imh} ProNav: ac range: 55.977875 m, nav range: 54.685139 m, bearing: 354.309347 deg, approach rate: -0.460862 m/s, LOS rate: -0.203458 deg/s, cmd heading: 299.598680 deg, new cmd heading: 299.426048 deg. i},HeadingCmd: 5.225970 target range: 55.977875 and range: 56.20 m.h&;@hhhhggjgrgBereZe:e*e*V@ȁBɢ=) 3W?iA)M:=IIiM)[iURQQIU&;@IY }@y @y@}4@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.778814A؟AIIO>) 5 GI a 9 Y AQ %,vLA2+@2`B>2f=ٱ26-=2H_T?@3ǿ@s?U?Hj?@Ԓdz`?`5?i2+@I2];2 CY>mBy>!IbDFVDF8yRJ%Rd=ٔR:Q-R>9V"?YV"?=VEyVuEVEZ>XQ 5^ 5Z?Q 9b 5Zc)ZuBY`yb!>Q IbM@ZDIZo;iZ:ZSK 5B>BBs!IBCBB =BBBg;B6E}BDAT read: Rx Time:04:30:40.8558 TRx dataTimestamp_ set to:1764909041.902788checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031786yBɮv@ E:iDNOT Ignoring new targets: 55.98 m.2i"i_I*i_I ProNav: ac range: 55.977875 m, nav range: 54.527660 m, bearing: 354.241575 deg, approach rate: -0.407910 m/s, LOS rate: -0.176054 deg/s, cmd heading: 299.426040 deg, new cmd heading: 299.290105 deg. i  HeadingCmd: 5.223598 target range: 55.977875 and range: 56.20 m.1h '@h1h1h9h9g9g9jg9rgAeAreAZeA:eA*eM| @额ʁBɢv=) Q?i)<=顡i]E EE%E"E:*E,:VE 4ZEBEd2@5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283137A I! I1 O= >Թ #%,䆐LAE[u@E@+>Eq=ٱE)=EH s?Ŀ`ߟ?aP?y?Z7(~??iE[u@IEK];E CY]bBy]!IbDmVDm8ykR%;=ٔ^;Q->9Y=EyyExPE>Q 5 5|?Q 9 5b)lBYy>Q IM@ĞDI2:i:'O 5yɮ.@:iDNOT Ignoring new targets: 55.98 m.2i"i]*i] ProNav: ac range: 55.977875 m, nav range: 54.333347 m, bearing: 354.162655 deg, approach rate: -0.475090 m/s, LOS rate: -0.193646 deg/s, cmd heading: 299.290092 deg, new cmd heading: 299.131689 deg. i2HeadingCmd: 5.220833 target range: 55.977875 and range: 56.20 m.h%@h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5Z @éBɢe=)a eJ?ia)e@?=iiimA^iu-qqIu@Iyԙm𕭼DAT read: 04:30:40.8558 LVL= 28560, 29009, 21298, 32755, AGC= 64, IDX= 424,-0.11,-2.231, 2.690,-1.550,-2.172, PHS= 0.043,-1.376, 0.578, RAW= 165.4, 8.7, CAL= 165.1, 9.1, ROT= 344.9, -9.1 Ygot valid direction response: 04:30:40.8558 LVL= 28560, 29009, 21298, 32755, AGC= 64, IDX= 424,-0.11,-2.231, 2.690,-1.550,-2.172, PHS= 0.043,-1.376, 0.578, RAW= 165.4, 8.7, CAL= 165.1, 9.1, ROT= 344.9, -9.1 PDAT read: Bearing 168.7, -19.1 (Local) ~Local bearing/azimuth received: Bearing 168.7, -19.1 (Local) DAT read: Range 11 to 50 : 54.7 m (Round-trip 73.0 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.5^direction in FSK: [0.953321,-0.257226,0.158158]=Fpublishing direction and range infoy}g?cvп@\~>?YZBoQq2S m@i @q@u/@yE EE&E"Eغ:*E.:VE4ZEa@a@a@a@))@I 0=i ?8@|>!k8@ ">)@I"C:?7U?LhO? uJ?)oIZi"-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.AIIO>I = (DAT read: user:37> E BDAT read: Tx time:04:30:42.2287 E $Ping request sent.E ye/9Y=Ey~EE>Q 5- 5?Q 95 5`)dBY5>Q E5:y5g>Q I5M@ʞDI;i; S 5y=BɮE@AIii LAjYB"jYB:j(@"piMI@_Ug,TB;!@p}g?cvп@\~>?*jZ2j"*pX K@_RS@px|%W?_iaZkf?jݬ jJXBim>쟊?ij-Bje㟊?jj-BrjXBzj@ addTargetRange:: Added new target pos. range: 54.700001 m, deltaT: 3.790303 s, deltaX: -1.500000 m, approachRate: -0.395747 m/s, rangeRepo size: 4 - Added new target pos. range: 54.483097 m, bearing: 354.294919 deg, lat: 36.779418 deg, lon: -121.859638 deg, deltaT: 3.790303 s, deltaX: -1.494778 m, approachRate: -0.394369 m/s, posRepo size: 4 :i)5DNOT Ignoring new targets: 54.48 m.2i1"i5*i1E ProNav: ac range: 54.483097 m, nav range: 54.237717 m, bearing: 354.283930 deg, approach rate: 0.000000 m/s, LOS rate: -0.193646 deg/s, cmd heading: 299.131686 deg, new cmd heading: 298.950533 deg. iIUHeadingCmd: 5.217671 target range: 54.483097 and range: 54.70 m.hU)@hQhYhYhYgYgYjgarge݁BeareZe:eYK@*e@?ρBɢ=) ^D?i)LB=i%\_i-b))I-)@I)1199yB>BBG!IB BB =BBB;B6EB>CB>CBƓCB =B =C 5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255216E EEE"E:*E0:VEZEBE A ?A .A I I O= >u1%,m LAV@V>>V1=ٱV\'=VH`?(¿6?`k?M?`c⪴`ؤ?q?iV@IV];V CYzMByz!IbD VD 8y/c%V=ٔ;Q->9% ?Y% ?=%Ey%E%*rE->1Q 55 55.?Q 9= 55_Q ==tI)5\BY9y=vP>Q I=N@5ОDI5:i5:5OV 5yAɮM@I:iquDNOT Ignoring new targets: 54.48 m.2iq"i}4*i}4 ProNav: ac range: 54.483097 m, nav range: 54.070808 m, bearing: 354.228564 deg, approach rate: -0.474595 m/s, LOS rate: -0.157917 deg/s, cmd heading: 298.950522 deg, new cmd heading: 298.839448 deg. iHeadingCmd: 5.215732 target range: 54.483097 and range: 54.70 m.hG@hhhhggjgrgereZe:e*e?сBɢ|=) >?i)UD=iqi`iOIG@I-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506949@ @@/@A؟AIIO%N> = >? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759193E  E E %E "E :*E *5:VE 4ZE a- @a- @a- @a5 @;7%,LA Y%SBy%!IiMb@Mb@Mb@ 9^I +?yt<D;l@ @ @)@Y(@bDVD8y<%==ٔ Q- >9 "?Y "?=EyEE>Q 5% 5y??Q 9% 5^)TBY->Q E-:y-:>Q I-N@מDI\:i:Z 5y5Bɮ=L@=EUB*** querying acoustic contact ***iQiQ:iaeDNOT Ignoring new targets: 54.48 m.2ia"im%*im%} ProNav: ac range: 54.483097 m, nav range: 53.869049 m, bearing: 354.166094 deg, approach rate: -0.466171 m/s, LOS rate: -0.144880 deg/s, cmd heading: 298.839436 deg, new cmd heading: 298.714028 deg. i}HeadingCmd: 5.213543 target range: 54.483097 and range: 54.70 m.hYզ@hhhhggjgrgBereZe:e*e?ӁBɢ=) ??i) F=ipqaiꈿ I Yզ@Iq@ @@/@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.012310ԙAIIO l> B! B! B% (!IB% BB% =B! B! B% ;B% 6E=%,LA2Y@2=2aA=ٱ2)=2H?ƾ?`m?? ɟ9ⴿv%??i2Y@I2#];2 CY>k!I@@bDJ'VDJа8Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.262979TyZ%Zc=ٔZ;Q-Z>9\Y\=^Ey^EbvEb>dQ 5j 5f N?Q 9j 5f1^)fNBYhyj$>Q IjN@fܞDIf:if:f<] 5ypɮr@p:i  DNOT Ignoring new targets: 54.48 m.2i "i*iE E}E"E"EC:*Ek&:VE(3ZEBE,;a2E.;aJEÀ;a:EÀ;a ProNav: ac range: 54.483097 m, nav range: 53.699848 m, bearing: 354.117565 deg, approach rate: -0.470083 m/s, LOS rate: -0.135249 deg/s, cmd heading: 298.714034 deg, new cmd heading: 298.616671 deg. iwHeadingCmd: 5.211844 target range: 54.483097 and range: 54.70 m.hmǦ@hhhhggjgrgereZe:e*e?额ՁBɢ&R=) 3?i)HI=顡i Pbi!ImǦ@Im@i @i@m/@iAuxAzAurAAIIOf>iQIQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515150! rD%,ޑLA2ij@2L=2è=ٱ2K-=2H@0? #?@?`?Ša?@?i2ij@I2];2 CY>EBy>u!IbDFAVDF8yNm'=%RK=ٔR:Q-R>9TYT=VEyVEVEV>XQ 5^ 5ZN^?Q 9b 5Zm])ZFBY`ybH>Q IbN@ZDIZ~:iZ2:Z` 5yfBɮf@@jE:ix~DNOT Ignoring new targets: 54.48 m.2i||"i*i ProNav: ac range: 54.483097 m, nav range: 53.510971 m, bearing: 354.065411 deg, approach rate: -0.470484 m/s, LOS rate: -0.130372 deg/s, cmd heading: 298.616663 deg, new cmd heading: 298.511987 deg. inHeadingCmd: 5.210017 target range: 54.483097 and range: 54.70 m.hv@hhh!h!g!g!jg!rg)e)re)Ze):e)*e5?]ׁBɢ]=)a e6?ia)egK=aaie?cim]iiIuv@Iqq@q @q@u0@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.767403)D%=D%=bEqjEqrEuĮ10E EE$E"E:*E|;:VE4ZEaM@aU@aU@aU@AIIO-N>Qԁ e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018878J%,r-LAZ^@Z =Zĩ=ٱZ/=ZH? G0?@?j?b2 ?W?iZ^@IZ)];Z CYf@Byfo!IYiUMb@Mb@Mb@QQQQ Q9U/$?~jt?Q?YU&>yU9Y=EyE4ļE>Q 5 5Zo?Q 9 5\)ABYx>Q E:y>Q IN@DIG:iP:d 5yɮ@:iY]DNOT Ignoring new targets: 54.48 m.2iY"ie*ie ProNav: ac range: 54.483097 m, nav range: 53.312737 m, bearing: 354.012120 deg, approach rate: -0.440488 m/s, LOS rate: -0.118857 deg/s, cmd heading: 298.511997 deg, new cmd heading: 298.405018 deg. iYHeadingCmd: 5.208150 target range: 54.483097 and range: 54.70 m.h*@hhhhggjgrgBereZe:e*e/.@]ځBɢ]Е=)Y ]3?iY)eN=aaiediÚI*@Iԁ]@a @a@e/@aB>B?CB!IBBB =BBB;B6Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.271673IIԱO>E EE%E"E:*E:VE 4ZEBE {v??i:- @I: ];: CYF8ByFf!IIJ;>)J=bDR_VDR8yV(%ZY=ٔZ9Q-Z>9\Y\=^Ey^Eb Eb>`Q 5f 5b0~?Q 9j 5b\)bQ IjN@bDIb:ib:bg 5yrBɮr@rE:i DNOT Ignoring new targets: 54.48 m.2i "i 8*i8} ProNav: ac range: 54.483097 m, nav range: 53.140118 m, bearing: 353.967414 deg, approach rate: -0.478540 m/s, LOS rate: -0.124339 deg/s, cmd heading: 298.405009 deg, new cmd heading: 298.315306 deg. icHeadingCmd: 5.206584 target range: 54.483097 and range: 54.70 m.hW@hhhhggjgrgԹereZe:e*e@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5230535܁Bɢ51w=)1 5-?i9)=P=99i=diEΉAAIEW@II%@! @)@->0@)A5?A5>I!I1O=Q>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774883D zD ?AE  E E E "E :*E VE ـ3ZE a= @aE @aE @aE @i !W%,e6aLAYz9By~g!IiMb@Mb@Mb@ 9gfffff?~jt?Mb?Y3>y=<@d@ @) AY\@bD]VD8y!;%:=ٔQ->9Y=EyEE>Q 5 5?Q 9 5[)8BY>Q E:y.>Q IN@DI:i:k 5yɮ @QB*** querying acoustic contact ***ii:i DNOT Ignoring new targets: 54.48 m.2i "i*i% ProNav: ac range: 54.483097 m, nav range: 52.938545 m, bearing: 353.905637 deg, approach rate: -0.440168 m/s, LOS rate: -0.135414 deg/s, cmd heading: 298.315315 deg, new cmd heading: 298.191291 deg. i%wMHeadingCmd: 5.204420 target range: 54.483097 and range: 54.70 m.hM@hIhIhIhIgIgQjgQrgUBeQreYZeY:eY*e]5 @颵߁Bɢ<=) ,?i)SR=项ieiI@I-BDAT read: Rx Time:04:30:44.7035 -TRx dataTimestamp_ set to:1764909045.6877665checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029118ԁ@ @@0@I!I1OER>ԡB >B B !IB BB B B ºDB o;B 6E ^%,zLA2g@2N=2X=ٱ2]0=2H`?@h`?`u? ?`qd=??i2g@I2a];2 CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278854YF6ByFc!IbDNWVDN8yv u%vZ=ٔvx:Q-v>9xYx=zEyzEzXE~>Q 5 5,?Q 9 5bZ)3BYy`>Q IN@DI2 ;i ;o 5yBɮP@E EE$E"E[:*ER:VE4ZEBE]DAT read: 04:30:44.7035 LVL= 32096, 32753, 26674, 32755, AGC= 67, IDX= 416, 0.01,-1.944, 2.835,-1.402,-1.954, PHS= 0.112,-1.449, 0.508, RAW= 161.0, 9.3, CAL= 160.9, 9.9, ROT= 349.1, -9.9 eYgot valid direction response: 04:30:44.7035 LVL= 32096, 32753, 26674, 32755, AGC= 67, IDX= 416, 0.01,-1.944, 2.835,-1.402,-1.954, PHS= 0.112,-1.449, 0.508, RAW= 161.0, 9.3, CAL= 160.9, 9.9, ROT= 349.1, -9.9 mPDAT read: Bearing 164.2, -15.2 (Local) u~Local bearing/azimuth received: Bearing 164.2, -15.2 (Local) }DAT read: Range 11 to 50 : 53.0 m (Round-trip 70.7 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.967337,-0.186279,0.171929]Fpublishing direction and range infoy15 i%l?)ǿ!?Y5TB15`}552h 1)5CI5B`=i5x5J ?53@56&>53@ 5;0>)5g@I5;0115? j?M}ר? 5U7?)5&I5tBi5;011T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 9 d%,8۔LA6P@6_~=6U=ٱ6xs-=6H?# ?1??3@jS? ?i6P@I6];6 CY^9By^f!I ``bDjvVDj8yrfR<%rK=ٔr/]9Q-v>9tYt=vEyvEzjѼEz>|Q 5 5~~?Q 9 5~Y)~/BYy>Q I N@~DI~\:i~:~xr 5yɮ&@iaie'LAje)SB"je)SB:je@"pezsI@ć 5#$ '"@pe i%l?)ǿ!?*jetB2je;0*peqCJ@l gpf@pe!כ?D5?je jePBie\؟?ieewjeBjajajarjeQRBzje@e addTargetRange:: Added new target pos. range: 53.000000 m, deltaT: 3.781676 s, deltaX: -1.700001 m, approachRate: -0.449536 m/s, rangeRepo size: 4 u Added new target pos. range: 52.790337 m, bearing: 352.368954 deg, lat: 36.779418 deg, lon: -121.859638 deg, deltaT: 3.781676 s, deltaX: -1.692760 m, approachRate: -0.447622 m/s, posRepo size: 4 :iquDNOT Ignoring new targets: 52.79 m.2iq"i}*iy ProNav: ac range: 52.790337 m, nav range: 52.579655 m, bearing: 353.804908 deg, approach rate: 0.000000 m/s, LOS rate: -0.136886 deg/s, cmd heading: 298.087596 deg, new cmd heading: 297.982086 deg. iHeadingCmd: 5.200768 target range: 52.790337 and range: 53.00 m.hl@hhhhggjgrgereZe:eJ@*e@J?Bɢ(,=) U*?i)V=im@giIl@IIq)uxAߕ%=ߕ%=(DAT read: user:38> BDAT read: Tx time:04:30:45.9287 $Ping request sent.Ii E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249476`#k%,LA2*@2LT=2s=ٱ2=/=2H@?^͵?o??@ŵ,H@ݥ?$?i2*@I2^];2 C@YB7ByBc!Ii Mb@Mb@Mb@     9 v/?)\(?~jt?Y x>y Ga= < @ @ (@) A Y @bD%VD%(8y5<%5E=ٔ5/Q-5>3GGyA9 %9%GyAY%%AY=-Ey-E-iE->QQ 5] 5U?Q 9] 5UX)U+BYe]>Q Ee:ye.>Q IeN@UDIU:iU:Ucv 5ymBɮmb@E:iDNOT Ignoring new targets: 52.79 m.2i"i-*i-= ProNav: ac range: 52.790337 m, nav range: 52.381615 m, bearing: 353.743061 deg, approach rate: -0.431677 m/s, LOS rate: -0.135319 deg/s, cmd heading: 297.982084 deg, new cmd heading: 297.857923 deg. i=wEHeadingCmd: 5.198601 target range: 52.790337 and range: 53.00 m.hEZ@hAhAhAhIgIgijgqrgu'BeqreqZeq:ey*e}@?ԩBɢeH=) x'?i)w8Y=igiӊIZ@IBm>BiBm IBmBBm =BiBiBmc;Bm6E@ @@ 3@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501124E EEE"E:*EV:VEZEBE> r%,LA6!l@6*=6s6=ٱ650=6H?@~B?D??@:@?+?i6!l@I6];6CliIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753389Y-ByX!IAAbDVD78ya+%4=ٔQ->9 ?Y ?=EyEüE>  Q 5 5 3ю?Q 9 5 W) 'BYy#>Q IN@ DI V:i : iz 5y-Bɮ-@-E:iiuDNOT Ignoring new targets: 52.79 m.2iq"iuh*i}h ProNav: ac range: 52.790337 m, nav range: 52.177719 m, bearing: 353.681327 deg, approach rate: -0.452748 m/s, LOS rate: -0.137615 deg/s, cmd heading: 297.857911 deg, new cmd heading: 297.733960 deg. i{HeadingCmd: 5.196438 target range: 52.790337 and range: 53.00 m.h8I@hhhhggjgrgereZe:e*e?Bɢ=)  ?i)[=i٬hiYYI]8I@IaA@ @@0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005713AE ؟AIQ Ii i O} >D zD @AE  E E #E "E %:*E 0:VE 3ZE a- @a- @a- @a- @8x%,xLARH@R[=R3H=ٱR0=RH?朿 ?@Syh=94<@@ l@)9AY3@bDVD,8y+<%X=ٔ8Q->9"?Y"?=EyE ԼE >Q 5% 5ގ?Q 9- 5#W)"BYMx>Q EM:yM:7>Q IMN@DIc=iP=c} 5yQɮU@QB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 52.79 m.2i"i|*i| ProNav: ac range: 52.790337 m, nav range: 52.020737 m, bearing: 353.629873 deg, approach rate: -0.410823 m/s, LOS rate: -0.135063 deg/s, cmd heading: 297.733956 deg, new cmd heading: 297.630737 deg. i-w%HeadingCmd: 5.194636 target range: 52.790337 and range: 53.00 m.h%v:@h!h!h!h!g)g)jg)rg-LBe1re1Ze1:e1*e5@?a颍Bɢ=) 1"?i)V]=顑iiiUIv:@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257811I@ @@/5@A>A>ԑAA II Ia Om > B] >BY BY BY B] =BY BY B] ;B] 6EB%?CB%?CB!B!B!C%5^~%,FLA20?2I?6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5092436@6$<6^=ٱ6/=6H?`O@f? ??R W.O?e?i6@I6];6 CYE%ByEN!IbDUVDUP8y%R=ٔRQ->9Y=EyEʼE>E EE"E"E*E,:VE(3ZEBE;a2E;aJE9;a:E9;aԱQ 5 5h?Q 9 5NV)BYyg->Q IN@DIV:iA:π 5yɮ@:iDNOT Ignoring new targets: 52.79 m.2i"i>*i > ProNav: ac range: 52.790337 m, nav range: 51.840004 m, bearing: 353.572312 deg, approach rate: -0.522452 m/s, LOS rate: -0.166973 deg/s, cmd heading: 297.630739 deg, new cmd heading: 297.515216 deg. iʘ%HeadingCmd: 5.192620 target range: 52.790337 and range: 53.00 m.h%)@h!h!h!h!g!g)jg)rg)e)re)Ze1:e1*e5 M.?eBɢeh=)a ef?ia)m*_=iiimJjiuI)@I@ @@/@AIIOf>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761136 F%,!LA2@2R<2/t=ٱ2C/=2HL?`c`G?@B?(?ujV(?v?i2@I2];0Y>(By>R!I DDbDFVDF78yfq<%jW=ٔj }Q-j>9lYl=nEynEr\ɼEr>tQ 5v 5vw?Q 9z 5vU)vBYxyz#>Q IzN@v DIv:iv::v 5yBɮw@E:i!-DNOT Ignoring new targets: 52.79 m.2i)"i-$*i5$E ProNav: ac range: 52.790337 m, nav range: 51.665657 m, bearing: 353.518346 deg, approach rate: -0.463105 m/s, LOS rate: -0.143830 deg/s, cmd heading: 297.515227 deg, new cmd heading: 297.406930 deg. iEMHeadingCmd: 5.190730 target range: 52.790337 and range: 53.00 m.hMv@hIhIhIhIgIgIjgQrgQeQreQZeY:eY*e]@颍BɢO=) ]?i)a=顑iWkiՋIv@I@ @@/@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014317D=D<E EE!E"Ey:*EA:VEc3ZEa@a@a@a@)IiIO?>Q- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265431y t}%,Y10LA23@2j;2K=ٱ2o.=2H? =(?`i'm??8#%? ?i23@I2V];2 CY%By%D!I ))iMb@Mb@Mb@ 9ʡE?(\µ?Mb?Y>y=<jA )OAY@bDVD,8yJ%7=ٔq8Q->9Y=EyE E >Q 5 5?Q 9 5T)BY%>Q E%:y%:>Q I%N@'DI;iB; 5y)ɮ-+@)9:iY]DNOT Ignoring new targets: 52.79 m.2iY"ie0*ie0u ProNav: ac range: 52.790337 m, nav range: 51.463348 m, bearing: 353.449709 deg, approach rate: -0.453374 m/s, LOS rate: -0.154419 deg/s, cmd heading: 297.406927 deg, new cmd heading: 297.269115 deg. iuM}HeadingCmd: 5.188325 target range: 52.790337 and range: 53.00 m.h}@hyhyhyhyggjgrgABereZe:e*e+@Bɢt=) ?i)# c=igkie$ I @I B>BB IB؂BBBBBj;B6Ei@ @@/@AzAzAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517408IIE EE#E"E:*EVL:VE3ZEBE ԑ X%,ILA6!@6k@6:=ٱ6.=6H?<ρ?? K%u`E?" ɥ??i6!@I6];6 CYF ByF/!IbDN^VDN8yVQ%Vd=ٔZ鞹Q-Z>9XYX=ZEy^E^ZȼE^>`Q 5f 5b?Q 9f 5bS)b BYhyj2>Q IjN@b,DIb:ib2:b 5ynBɮnK@p:iDNOT Ignoring new targets: 52.79 m.2i "i g-*i g- ProNav: ac range: 52.790337 m, nav range: 51.300304 m, bearing: 353.395722 deg, approach rate: -0.456387 m/s, LOS rate: -0.151600 deg/s, cmd heading: 297.269121 deg, new cmd heading: 297.160803 deg. i%HeadingCmd: 5.186434 target range: 52.790337 and range: 53.00 m.h%E@h!h!h)h)g)g)jg)rg1e1re1Ze1:e1*e=@eBɢe=)i m) ?ii)mfd=iiimNliuXbqyI}E@Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769044Ա@ @@/@IYIiOu= ߍ >ߍ 4= BDAT read: Rx Time:04:30:48.4013  TRx dataTimestamp_ set to:1764909049.467036 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022383bEm 3jEm 3rEm20E  E E &E "E :*E |;:VE 4ZE a @a @a @a @9 %,&cLAvc@v@v"=ٱv?5=vH`I???@Dr?` <0`M??ivc@IvŸ];tYUBy] !IiMb@Mb@Mb@ 9K7A`?ʡE?{Gzt?Y>y=ף;7@A @)9AY@bDjVD8yV%%4=ٔ%8Q-%>9)Y)=-Ey-E5TE5>9Q 5E 5=.?Q 9E 5=R)=BYEN>Q EE:yE>Q IEN@=3DI= ;i=q ;= 5yQɮU @Q:iy}DNOT Ignoring new targets: 52.79 m.2iy"i*i ProNav: ac range: 52.790337 m, nav range: 51.097446 m, bearing: 353.333441 deg, approach rate: -0.447770 m/s, LOS rate: -0.138019 deg/s, cmd heading: 297.160794 deg, new cmd heading: 297.035738 deg. i|HeadingCmd: 5.184252 target range: 52.790337 and range: 53.00 m.hd@hhhhggjgrg%HBe!re)Ze):e)*e-B @}Bɢ}Ƶ=)y }?iy)ƥf=iܰli۩Id@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274237]@Y @Y@]/@YIIOH>1a B >B ACB IB ĂBB =B B úDB J;B 6Eଞ%,z}LA:DAT read: 04:30:48.4012 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 426,-0.04, 1.691, 0.023, 2.102, 1.549, PHS= 0.244,-1.481, 0.509, RAW= 157.1, 7.8, CAL= 156.6, 8.1, ROT= 353.4, -8.1 >Ygot valid direction response: 04:30:48.4012 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 426,-0.04, 1.691, 0.023, 2.102, 1.549, PHS= 0.244,-1.481, 0.509, RAW= 157.1, 7.8, CAL= 156.6, 8.1, ROT= 353.4, -8.1 BPDAT read: Bearing 157.3, -11.2 (Local) B~Local bearing/azimuth received: Bearing 157.3, -11.2 (Local) FDAT read: Range 11 to 50 : 51.3 m (Round-trip 68.5 ms) speed 0.4 m/s JR#Rx 1: Read range and direction messages.N^direction in FSK: [0.983463,-0.113791,0.140901]NFpublishing direction and range info`y "BMkx?6F`!:N ?Y"3MB " " )"EI"#y>i"h"M?"~{/@"'g >".@ ">)"4`@I" "|غM?DM?yGҎBp? "ς%?)"~ I"i" nT****** received valid address query ******nR****** received valid ping request ******nQuerying Benthos address 50 with one ping in standard two-way mode.E EE$E"E:*EA:VE4ZEBE9Y=EyEE>Q 5% 5>?Q 9% 50R)BY!y!Q I%N@9DIV:i,: 5y5Bɮ5g@5Ei i"<~LAj"eLB"j"eLB:j"@"p"p\Mv I@.yBawF@p"BMkx?6F`!:N ?*j"2j"*p" 5HI@`T !@p"K.O? ͼG)?j" j"AJBi"⟊?i"j"Bj j"!pj"Brj"KBzj"3@m addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 3.779994 s, deltaX: -1.700001 m, approachRate: -0.449736 m/s, rangeRepo size: 4  Added new target pos. range: 51.098652 m, bearing: 352.304235 deg, lat: 36.779418 deg, lon: -121.859640 deg, deltaT: 3.779994 s, deltaX: -1.691685 m, approachRate: -0.447536 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 51.10 m.2i"i*i ProNav: ac range: 51.098652 m, nav range: 50.939159 m, bearing: 353.087596 deg, approach rate: 0.000000 m/s, LOS rate: -0.138019 deg/s, cmd heading: 297.035747 deg, new cmd heading: 296.916312 deg. i!MHeadingCmd: 5.182167 target range: 51.098652 and range: 51.30 m.hMPԥ@hQhQhQhQgQgQjgYrgaeareZe:e`fI@*e~?Bɢ@=) >i) hth=  i mi*IPԥ@I@ @@/@A?A?IAIQO]v>(DAT read: user:39> BDAT read: Tx time:04:30:49.7286 $Ping request sent.By> !IbDF8VDF8yRd%V`=ٔVQ-V>9XYX=ZEyZEZ>NEZ>\Q 5b 5^ L?Q 9f 5^Q)^BYdyf>Q IfN@^>DI^:i^\:^ 5yhɮnI@lzB*** querying acoustic contact ***ixix:iDNOT Ignoring new targets: 51.10 m.2i"i &*i &% ProNav: ac range: 51.098652 m, nav range: 50.777195 m, bearing: 353.040098 deg, approach rate: -0.495844 m/s, LOS rate: -0.145877 deg/s, cmd heading: 296.916301 deg, new cmd heading: 296.821001 deg. i%|-HeadingCmd: 5.180504 target range: 51.098652 and range: 51.30 m.h-ƥ@h)h)h)h)g)g1jg1rg1e9re9Ze9:e9*e=?mBɢm=)i mb>ii)ui=qqiu2mi}$yyI}ƥ@I @  @@b0@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250939IIO=IE EEE"E*E*5:VEZEa@a@a@a@qԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503328N%,ELA2;@2@2?=ٱ2Qa4=2H?@lw?@}?~?KK`v?t?i2;@I2'];2 CYBByB Iyi}Mb@Mb@Mb@yyyy y9}%C?Dl?Y}Z>y}O=}}M@}A }@)}fAyY} @bD,VDհ8y:%;=ٔQ->9Y=EyEɻE>Q 5 5w\?Q 9 5Q)BY>Q E:yV=Q IN@DDI:i: 5yBɮ@E:iDNOT Ignoring new targets: 51.10 m.2i"i2*i2 ProNav: ac range: 51.098652 m, nav range: 50.586334 m, bearing: 352.988800 deg, approach rate: -0.438125 m/s, LOS rate: -0.118199 deg/s, cmd heading: 296.821006 deg, new cmd heading: 296.718024 deg. iQXHeadingCmd: 5.178707 target range: 51.098652 and range: 51.30 m.h@h!h!h!h!g!g!jg)rg-:Be)re)Ze1:e1*e5?eBɢez=)a e>ia)ek=iiimmim_qqIu@Iy@ @@y0@B>BB IBBB =BBBZ;B6EIIOI>echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754798E EE%E"Eg:*EX:VE 4ZEBE;a2E;aJEq;a:Eq;a !%,y LA26n@2g@2R֨=ٱ2@.=2H9?F?=x?@k?E w??i26n@I2];0YRтByR IbDZ VDZ8yvý%vW=ٔvE:Q-v>9xYx=zEyzEzKͼE~>Q 5  5j?Q 9  5P)BY y =Q I N@JDI:i:՜ 5yɮ,@:iAEDNOT Ignoring new targets: 51.10 m.2iA"iM*iM] ProNav: ac range: 51.098652 m, nav range: 50.419605 m, bearing: 352.945560 deg, approach rate: -0.438907 m/s, LOS rate: -0.114203 deg/s, cmd heading: 296.718034 deg, new cmd heading: 296.631269 deg. i]QeHeadingCmd: 5.177192 target range: 51.098652 and range: 51.30 m.he@hahahahagagijgirgieireqZeq:eq*eu?颥 Bɢ=) >i)Bl=顩iBmi/checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006894I@Iu@q @q@u95@qAyzA}wA IqIO:>1m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258699E  E E *E "E :*E :VE (N4ZE a @a @a @a @a ո%, LAM@@}=ٱJ.=H@p?驰?@n?`ss@??IX) ??iM@I]; CY5ςBy5 IiMb@Mb@Mb@ 9+?:v?~jth?Y>yT=D;"A @)AYQAbDVD8y%;=ٔ?:Q->9Y=EyEE>Q 5 5z?Q 9 5HP)BYS>Q E:y h=Q IN@PDIg:iN: 5yBɮX@):i9EDNOT Ignoring new targets: 51.10 m.2iA"iEMͺ*iMMͺ] ProNav: ac range: 51.098652 m, nav range: 50.230877 m, bearing: 352.906435 deg, approach rate: -0.431283 m/s, LOS rate: -0.089745 deg/s, cmd heading: 296.631263 deg, new cmd heading: 296.552719 deg. i]>$]HeadingCmd: 5.175821 target range: 51.098652 and range: 51.30 m.heT@hahahahagagajgirgm@BeireqZeq:eq*eu?Bɢl=) >i)3m=imiI%T@I!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511574Y@ @@0@II)O=Q> Mx>MCG/{A?9 /{AY OAԁB >B BCB IB BB =B B ĺDB ;B 6EԱ U%,LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762853Y%ƂBy% I11Ee EeEe#Ea"EeƱ:*Ee0:VEe3ZEaBEe@;am2EeB;amJEe݉;am:Ee݉;aubD=VD=8y?>%Q=ٔQ->9Y=EyEE>Q 5 5`?Q 9 5P)BYyQ IN@UDI:i: 5yBɮ @:iDNOT Ignoring new targets: 51.10 m.2i"iZϺ*iZϺ ProNav: ac range: 51.098652 m, nav range: 50.062153 m, bearing: 352.871204 deg, approach rate: -0.432620 m/s, LOS rate: -0.090640 deg/s, cmd heading: 296.552716 deg, new cmd heading: 296.482016 deg. i%HeadingCmd: 5.174587 target range: 51.098652 and range: 51.30 m.h8@hhhhggjgrge re Ze :e *e k@=Bɢ=S=)9 EѴ>iA)Eپn=AAiEmiM捿IIIM8@IQԑ@ @@5@IqIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014759 6%,LA2~@2Qw@2R=ٱ2j%=2H? 픵?P?* .?@ <??i2~@I2];2 CYBByB IbDJVDJ8yf%fW=ٔfK:Q-f>9hYh=jEyjEncQEn>pQ 5v 5ro?Q 9v 5rO)rډBYtyv=Q IvN@r[DIr:irq:rc 5y~Bɮ~@~ EB*** querying acoustic contact ***ii:i!%DNOT Ignoring new targets: 51.10 m.2i)"i-*i- ProNav: ac range: 51.098652 m, nav range: 49.897381 m, bearing: 352.840347 deg, approach rate: -0.432806 m/s, LOS rate: -0.081319 deg/s, cmd heading: 296.482010 deg, new cmd heading: 296.420093 deg. iHeadingCmd: 5.173507 target range: 51.098652 and range: 51.30 m.h^@hhhhggjgrgereZe:e*eA@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270801Bɢ _=)  ˢ>i )o=imi I^@I!Em EmEm$Ei"Em ;*EmT:VEm4ZEia}@a}@a}@a}@1E@I @I@U?5@QA}>A}>IIAOmx>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522970 %,;2LAJ*@JL#@JN=ٱJ6'=JH?M5?@23?`vG l?ƨC`??iJ*@IJw];J CYVByV Ii5Mb@Mb@Mb@1111 195MbX9? rh?Mbp?Y5>y5C =5;5@1 5@)5A1Y5GAbDMVDM8y]%]B=ٔ]P9Q-]>9aYa=eEyeEmƼEm>qQ 5u 5u ?Q 9} 5uO)uӉBY}x>Q E}:y}pQ I}N@uaDIu;iu;u 5yɮYA:iDNOT Ignoring new targets: 51.10 m.2i"i*i ProNav: ac range: 51.098652 m, nav range: 49.712265 m, bearing: 352.816721 deg, approach rate: -0.438873 m/s, LOS rate: -0.056220 deg/s, cmd heading: 296.420101 deg, new cmd heading: 296.372674 deg. iͺHeadingCmd: 5.172679 target range: 51.098652 and range: 51.30 m.h@hhhhggjgrg7BereZe:e*e C@Bɢ6`=) >i)p=imi%I@IIB]>BYB]s IB]sBB] =B]>DBYB];B]7EBACBACBĔCB =B =CIJ5y@ @@/@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775112ԑA.AIIOf>E} E}zE}%Ey"E}g:*E} :VE} 4ZEyBE};a2E};aJE}v;a:E}v;aԩ %,fLLA2d־@2@2٭=ٱ2v'=2H{? \κ?@?޹?@& iOޤ??i2d־@I2M];0@YRByV I XZ<bD^ VD^8yfvǽ%fT=ٔf9Q-j>9j ?Yj ?=jEyjEnؼEn>pQ 5v 5ry?Q 9v 5r P)r͉BYtyv˼Q IzN@rfDIr:ir:rs 5y~Bɮ~ A~E:i!%DNOT Ignoring new targets: 51.10 m.2i!"i-k*i-k= ProNav: ac range: 51.098652 m, nav range: 49.542835 m, bearing: 352.796964 deg, approach rate: -0.439086 m/s, LOS rate: -0.051376 deg/s, cmd heading: 296.372672 deg, new cmd heading: 296.333024 deg. i= EHeadingCmd: 5.171987 target range: 51.098652 and range: 51.30 m.hE뀥@hAhAhAhAgIgIjgIrgIeQreQZeQ:eQ*eU># @颅Bɢ=) u>i)Ȁq=顉iJ=mi;I뀥@IBDAT read: Rx Time:04:30:52.1990 TRx dataTimestamp_ set to:1764909053.252917checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030039i@i @i@m/@iԱA؟AIIOA>u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278791 E  E E (E "E 7:*E A:VE c44ZE a @a @a @a @ $%,VfLAl]f@]@]6=ٱ] -=]H`#?AA? ?I?@|8X?0?i]f@I]];]CYBy IAi%Mb@Mb@Mb@!!!! !9%w/?y%t<%;!%A !)% A!Y%AbD=VD=8yE%M4=ٔM9Q-M>9U"?YU"?=UEyUE]E]>aQ 5e 5eƏ?Q 9m 5enP)eʼnBYm>Q Em:ymQ ImN@emDIe;ie;ej 5yyɮ}gAy:iDNOT Ignoring new targets: 51.10 m.2i"i*i ProNav: ac range: 51.098652 m, nav range: 49.338821 m, bearing: 352.784064 deg, approach rate: -0.449232 m/s, LOS rate: -0.028524 deg/s, cmd heading: 296.333030 deg, new cmd heading: 296.307122 deg. iPHeadingCmd: 5.171535 target range: 51.098652 and range: 51.30 m.h7}@hhhhggjgrg&BereZe:e*e @mBɢmڔ=)u @ u]>iq)uscr=qqiuއlDAT read: 04:30:52.1990 LVL= 26400, 32753, 29538, 32755, AGC= 65, IDX= 419,-0.13,-2.123, 2.421,-2.060,-2.417, PHS= 0.396,-1.400, 0.313, RAW= 147.6, 7.9, CAL= 147.2, 8.6, ROT= 2.8, -8.6 Ygot valid direction response: 04:30:52.1990 LVL= 26400, 32753, 29538, 32755, AGC= 65, IDX= 419,-0.13,-2.123, 2.421,-2.060,-2.417, PHS= 0.396,-1.400, 0.313, RAW= 147.6, 7.9, CAL= 147.2, 8.6, ROT= 2.8, -8.6 PDAT read: Bearing 153.2, -1.8 (Local) ~Local bearing/azimuth received: Bearing 153.2, -1.8 (Local)  DAT read: Range 11 to 50 : 49.7 m (Round-trip 66.3 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.987576,0.048301,0.149535]Fpublishing direction and range infoy< 8?sغ?S&r#?YFB gbs )AI>i33A>$@0 >l$@ `>)+H=I`-7?)k?v? @>) I+H=i`5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.iJI7}@II)@ @@4@IAy I I O >BE >BA BE G IBE OBBE =BA BA BE ;BE 7EY %,$LA(DAT read: user:40> BDAT read: Tx time:04:30:53.5286 $Ping request sent.6@>/@>=ٱ>OW1=>H?п?? Ѿθ? *@tj A??i>6@I>];> CYNByN IbDVVDV8yr7%rd=ٔvH:Q-v>9tYt=zEyzEzEz>|Q 5 5~+ԏ?Q 9 5~P)~BY y Q I N@~rDI~z:i~P:~ 5yBɮAE9EE EEEE$EA"EE:*EE*5:VEE4ZEABEEi)xr=iOliVI;z@Ia@ @@/@ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250976A.AII OE>Թ 0%,LA2@2Q@2o=ٱ2Й0=2H?`/?@ȳ?ʮ6?z@@n@??i2@I2];2CY>uBy>u IXZ@AbDZVDZn8ybҘ%fM=ٔf9Q-f>9f ?Yj ?=jEyjEjμEj>lQ 5r 5nB㏊?Q 9r 5n5Q)nBYtyv)Q IvN@nxDIn:inS:n 5yxɮz*AxB*** querying acoustic contact ***ii:i!%DNOT Ignoring new targets: 49.51 m.2i!"i-ê*i-ê= ProNav: ac range: 49.505444 m, nav range: 49.011982 m, bearing: 352.770435 deg, approach rate: -0.458631 m/s, LOS rate: -0.018661 deg/s, cmd heading: 296.286257 deg, new cmd heading: 296.271634 deg. i=EHeadingCmd: 5.170916 target range: 49.505444 and range: 49.70 m.hE$x@hAhAhAhAgIgIjgIrgIeIreQZeQ:eQ*eU};?颅"Bɢْ=) $>i)'ns=顉io}ki^I$x@ԙI=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503083U@Q @Q@U/@QbE4jEr 4rE_0EU EU~EU"EQ"EU:*EU(:VEU(3ZEQa]@a]@a]@a]@A؟AIIOC> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754930 [%,ճLA2@2b@2=ٱ2<-=2H@?`u?N?K?YnA??i2@I2];2CYRmByRl Ii-Mb@Mb@Mb@)))) )9-tV?y&1|?~jthY->y-`;-D-A-9A ))- A)Y-fAbDEܿVDE8yUL %UB=ٔU7Q-e>9e"?Ye"?=eEyeEmüEm>qQ 5 5u?Q 9 5uQ)uBY>Q E:y=Q IN@u~DIu_iy)}+s=yiji^I%x@IB>BACB! IB1BB =B?DBúDB;B6E!Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006928&a>i >Ee EeEe'Ea"Ee;*EeT:VEe'4ZEaBEemy B%,LA6H@@69@6~}=ٱ6.=6H6?F?I?5ÿՖ?@fFi@??i6H@@I6d];6CY^_BybZ IbDjVDj8yrk%rR=ٔrl_Q-r>9tYt=vEyvEz$мEz>|Q 5 5~B?Q 9 5~R)~BYyW Q I N@~DI~;i~ ;~ 5yɮA:i1=DNOT Ignoring new targets: 49.51 m.2i9"iE8*iE8U ProNav: ac range: 49.505444 m, nav range: 48.628956 m, bearing: 352.772579 deg, approach rate: -0.487743 m/s, LOS rate: 0.005707 deg/s, cmd heading: 296.271668 deg, new cmd heading: 296.275958 deg. iU '9]HeadingCmd: 5.170991 target range: 49.505444 and range: 49.70 m.h]x@hYhYhYhYgagajgargaeireiZei:ei*em ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258995颥'BɢJ=) =i)8Et=顩i4iia\Ix@IQjZX)@) @)@-/@)ԉAyIIO^>ԹU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510915Da zDa Em  Em Em %Ei "Em :*Em ;J:VEm 4ZEi au @au @au @au @ p%,RLA@,@!=ٱ/=Hy??@$N?yĿ`? ]??i@Ix]; CYXByQ IiEMb@Mb@Mb@AAAA A9Ev/?Mbp?Mbp?YEx>yE;E;EjAEA E @)E5 AAYE A ae=bDmVDm8y`%2=ٔȹQ->9Y=EyEZE>Q 5 5?Q 9 5\S)BY}>Q E:yyQ IN@DIWL;i ;;$ 5ymBɮm$AmE:iDNOT Ignoring new targets: 49.51 m.2i"iy9*iy9 ProNav: ac range: 49.505444 m, nav range: 48.419769 m, bearing: 352.779181 deg, approach rate: -0.430483 m/s, LOS rate: 0.013644 deg/s, cmd heading: 296.275957 deg, new cmd heading: 296.289217 deg. i9HeadingCmd: 5.171222 target range: 49.505444 and range: 49.70 m.hz@hhhhggjgrgBereZe:e*e?颅*Bɢ΅=)  =i)t=顉i3hiTIz@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763071$?) B B B IB BB B B B D;B 6Ey @y  @y @} /@y A zA U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014871ԁ A .AI I O >&,LA2[@2@2=ٱ2\/=2H k?K??ſ -{?@y謿R<@K? =?i2[@I2];2 CE> E>E<E<"E>[:*E>|;:VE<ZE<BE>;aF:E>;aFYJMByND IbDVVDV8ybl%f^=ٔf趺Q-j>9n ?Yr ?=rEyrEvEz>yQ 5 5}M#?Q 9 5}T)}BYy*'Q IN@}DI};i};} 5yɮ{A:i-DNOT Ignoring new targets: 49.51 m.2i)"i59*i59E ProNav: ac range: 49.505444 m, nav range: 48.244164 m, bearing: 352.786947 deg, approach rate: -0.474679 m/s, LOS rate: 0.021068 deg/s, cmd heading: 296.289208 deg, new cmd heading: 296.304796 deg. iE9:EHeadingCmd: 5.171494 target range: 49.505444 and range: 49.70 m.hm|@hihihihigigqjgqrgqeqreyZey:ey*e}`S@ԩm,Bɢmă=)i m8=ii)ut=qqiu˽gi}KyyI}|@IiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267174@ @@/@ A ؟AI I) O= >) d&,LA2ZJ@2C@2w=ٱ2+=2H@2^?`X{??ƿ m?hǬ7`k? ?i2ZJ@I2Ѥ];2 CY>@By>5 IbDFVDF8yN/y%NN=ٔR3TQ-R>9R"?YV"?=VEyV EVżEV>XQ 5^ 5Z1?Q 9^ 5ZT)ZBY`yb0Q IbN@ZDIZ\:iZu:Z 5yfBɮfAfEvB*** querying acoustic contact ***itit:ix~DNOT Ignoring new targets: 49.51 m.2i|"i9*i9 ProNav: ac range: 49.505444 m, nav range: 48.072933 m, bearing: 352.796519 deg, approach rate: -0.465453 m/s, LOS rate: 0.026112 deg/s, cmd heading: 296.304808 deg, new cmd heading: 296.324020 deg. i&?:HeadingCmd: 5.171830 target range: 49.505444 and range: 49.70 m.h@hhhhg!g!jg!rg!e)re)Ze):e)*e- @.Bɢ=) =i)t=ifi@I@I}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519129u@q @q@u1@qE E~E$E"E7:*E(:VE4ZEa@a@a@a@AII O-N>Ai - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770897 G  E 9I YM @AY &,Zb6LA$B1@B{@BJj=ٱB؛2=BH VO???`ABȿJ]?歿6\>?`?iB1@IB];@Y^9Byb, IiuMb@Mb@Mb@qqqq q9uI +?{Gzt~jth?Yu9>yuףuD;u@uOA uM@)u AqYu3AbD̿VD}8y%;=ٔ(ܺQ->9Y=EyEE>Q 5 5B?Q 9 5U)BY>>Q E:yNQ IN@DI~ ;i ; 5yɮA:iDNOT Ignoring new targets: 49.51 m.2i"iG:*iG:  ProNav: ac range: 49.505444 m, nav range: 47.866051 m, bearing: 352.815471 deg, approach rate: -0.474473 m/s, LOS rate: 0.043653 deg/s, cmd heading: 296.324014 deg, new cmd heading: 296.362082 deg. i ǟ:HeadingCmd: 5.172494 target range: 49.505444 and range: 49.70 m.h@hhhhggjgrg%Be!re!Ze!:e!*e-sS @U0BɢU#y=)Y ]PBBIBBB =BBBY;B6Eq @  @ @ ;3@ A?A?BDAT read: Rx Time:04:30:55.9985 TRx dataTimestamp_ set to:1764909057.031557checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024834AYIaIyOZ>ԱE EE"E"E:*E,:VE(3ZEBEc;a2Ed;aJE9;a:E9;a &,>PLA2@2=@2=ٱ2T/=2H???@;?(ɿ`gM?έܴ@֥?E?i2@I26];2 CYB0ByB I`bDJVDJ8yfUI%fX=ٔjQ-j>9hYl=nErchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275096ynEMѼEM>QQ 5] 5UR?Q 9] 5UW)UBYaye;YQ IeN@UDIU:iU;U 5ymBɮmuAmE:iDNOT Ignoring new targets: 49.51 m.2i"ic:*ic: ProNav: ac range: 49.505444 m, nav range: 47.680176 m, bearing: 352.834895 deg, approach rate: -0.474115 m/s, LOS rate: 0.049739 deg/s, cmd heading: 296.362072 deg, new cmd heading: 296.401072 deg. i:HeadingCmd: 5.173174 target range: 49.505444 and range: 49.70 m.h@hhhhggjgrgereZe:e*e#v @2Bɢ%s=) i)t=iqdi I @I @ @@/5@IIOA>DAT read: 04:30:55.9985 LVL= 31648, 32753, 31538, 32755, AGC= 62, IDX= 430, 0.28, 1.401,-0.390, 1.201, 1.076, PHS= 0.426,-1.422, 0.080, RAW= 139.9, 10.8, CAL= 139.3, 11.7, ROT= 10.7, -11.7 Ygot valid direction response: 04:30:55.9985 LVL= 31648, 32753, 31538, 32755, AGC= 62, IDX= 430, 0.28, 1.401,-0.390, 1.201, 1.076, PHS= 0.426,-1.422, 0.080, RAW= 139.9, 10.8, CAL= 139.3, 11.7, ROT= 10.7, -11.7 PDAT read: Bearing 153.2, 6.0 (Local) ~Local bearing/azimuth received: Bearing 153.2, 6.0 (Local) DAT read: Range 11 to 50 : 49.3 m (Round-trip 65.8 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.962197,0.181809,0.202787]Fpublishing direction and range infoyթuQ?dUE? ?Y3EB{2{ )>I>i ף=E@A>@ Q>)t;?>IQf ?܏!6[?D? r>)Ֆ@It;?>iQ T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I <&,-jLAehZ@eS@e=ٱeG2=eH 0? (?/?1ʿ=?[xaʹQ4?@-?iehZ@Ie];e CY-,By- Ii Mb@Mb@Mb@     9 \(\?MbpY >y   A A ) b A Y AbD-VD-8y5%5)=ٔ=Q-=>99YA=EEyEEEEM>IQ 5U 5Md?Q 9U 5MSX)MxBY]>Q E]:y]_Q I]N@MDIMV:iM:M' 5yaɮmAiii,bLAjlDB"jlDB:j$@"p&0<G@B,!!@=l#@pթuQ?dUE? ?*jt;?>2jQ*pSH@Gq^@pki?QI⡿0?jۿ jBBith?iVpjBjm>쟊?jj-Brj>Bzj@2@ addTargetRange:: Added new target pos. range: 49.299999 m, deltaT: 3.779759 s, deltaX: -0.400002 m, approachRate: -0.105827 m/s, rangeRepo size: 4  Added new target pos. range: 49.106415 m, bearing: 357.980701 deg, lat: 36.779419 deg, lon: -121.859638 deg, deltaT: 3.779759 s, deltaX: -0.399029 m, approachRate: -0.105570 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 49.11 m.2i"i*i(DAT read: user:41> BDAT read: Tx time:04:30:57.2786 $Ping request sent.B>BBIBBB =B>DBB`;B6EBBBȓCBB =CȌ5ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250809 &,LAE= E=E='E9"E=O:*E==:VE='4ZE9BE= <2E= <JE=Ȕ;:E=ɔ;yYBy I <bD&VDϰ8y%h=ٔQ->9Y=EyEE>Q 5 5s?Q 9 5NY)pBYyQ IN@DI:i :; 5yBɮJA:iDNOT Ignoring new targets: 49.11 m.2i"i :*i : ProNav: ac range: 49.106415 m, nav range: 47.349941 m, bearing: 353.098936 deg, approach rate: -0.491761 m/s, LOS rate: 0.058625 deg/s, cmd heading: 296.448214 deg, new cmd heading: 296.489057 deg. i:%HeadingCmd: 5.174710 target range: 49.106415 and range: 49.30 m.h%:@h!h!h!h!g)g)jg)rg)eqreqZeq:eq*eu@w?6Bɢ4$a=) i)t=iai⍿I:@I@ @@4@ԡI IO%,>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502768 '&,ϝLA2x@2³@2=ٱ2!6=2H??`I?FͿ@?@wo?@?i2x@I2];2CYNByRITTbDZ2VDZڰ8ybI%bZ=ٔfzQ-f>9dYd=fEyfEjUEj>lQ 5r 5n?Q 9r 5npZ)niBYtyvsQ IvN@nDInV:in:n 5yxɮzWAxB*** querying acoustic contact ***ii:i%DNOT Ignoring new targets: 49.11 m.2i!"i%:*i-:5 ProNav: ac range: 49.106415 m, nav range: 47.168568 m, bearing: 353.124994 deg, approach rate: -0.484067 m/s, LOS rate: 0.069813 deg/s, cmd heading: 296.489059 deg, new cmd heading: 296.541375 deg. i5:EHeadingCmd: 5.175623 target range: 49.106415 and range: 49.30 m.hE@hAhAhAhAgAgIjgIrgIeIreQZeQ:eQ*eU`2?%8Bɢ%0f`=)! -i))-jt=))i-#`]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755046iučqqI}@Iy@ @@/@EM EMEIEI"EM:*EM|;:VEIZEIaU@aU@aU@aU@IqIO>1 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006835Y 8F-&,*LAY~ By~IiMb@Mb@Mb@ 9\(\?Mb`~jthYyD"AA @) AYAbDVD8y;%;=ٔQ->9Y=Ey"EE>Q 5 5z?Q 9 5[)_BYQ E:yloQ IN@DI:iz:O 5yBɮAE:iDNOT Ignoring new targets: 49.11 m.2i"i:*i%:- ProNav: ac range: 49.106415 m, nav range: 46.957077 m, bearing: 353.154494 deg, approach rate: -0.485324 m/s, LOS rate: 0.068001 deg/s, cmd heading: 296.541378 deg, new cmd heading: 296.600644 deg. i5:1=HeadingCmd: 5.176658 target range: 49.106415 and range: 49.30 m.h=.@h9h9hAhAgAgAjgIrgM0BeIreIZeI:eQ*eU!?}:Bɢ72[=) 0i)6t=顁i_iB>BBCBIBЁBBBBĺDBI;B6E))I5.@I19@ @@/@A>A ?IIIYmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258808iOu6>E5 E5E5(E1"E5:*E51]:VE5c44ZE1BE59XY\=^Ey^&Ebchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510752fWYEf>hQ 5n 5j@?Q 9n 5j\)jWBYpyrʁQ IrN@jŸDIj';ij;j 5ytɮvAt:iDNOT Ignoring new targets: 49.11 m.2i"i:*i:- ProNav: ac range: 49.106415 m, nav range: 46.777596 m, bearing: 353.184135 deg, approach rate: -0.484340 m/s, LOS rate: 0.080294 deg/s, cmd heading: 296.600637 deg, new cmd heading: 296.660146 deg. i-;5HeadingCmd: 5.177696 target range: 49.106415 and range: 49.30 m.h5@h1h1h1h1g9g9jgArgAeAreAZeI:eI*eM`a?u;Bɢ}zV=)y }dɽiy)}s=顁i]iI@Iԑ@ @@/@IyIO=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762816E  E E %E "E :*E F:VE 4ZE a @a @a @a @ *\:&,sLA|ι@@* =ٱOC4=H@?`?'?Tп@J?&@t? ?i|ι@IA]; CYByII)>)e>==i5Mb@Mb@Mb@1111 195ʡE?Mb`?Y5->y55;59A5 A 5@)11Y5AbDMVDMZ8y]˂%]2=ٔ]tQ-]>9aYa=eEye+EeEEm>qQ 5} 5u۳?Q 9} 5uc^)uOBY}->Q E}:y}Q I}N@uɟDIu:iu_:u 5y’BɮAE:iDNOT Ignoring new targets: 49.11 m.2i"i:*i:m ProNav: ac range: 49.106415 m, nav range: 46.563595 m, bearing: 353.221251 deg, approach rate: -0.466946 m/s, LOS rate: 0.081360 deg/s, cmd heading: 296.660141 deg, new cmd heading: 296.734716 deg. im;mHeadingCmd: 5.178998 target range: 49.106415 and range: 49.30 m.huZ@hqhqhqhqgqgqjgyrg}=BeyreyZe:e*en@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014860=Bɢe3W=) ߽i) zs=i$\iVIZ@I@ @@@)A)I1IAOU>B>BCCBIBBB =BBźDBD;B6EA } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266793?A&,<LA(FE{@Ft@F;Ο=ٱF:*=FHt?11?b?`hп?+@@F??iFE{@IF];F CbE 4jE-4rE/EN ENELEL"EN:*ENT:VELZELBEN 9QYQ=UEyU.EU(E}>yQ 5 5}?Q 9 5}_)}IBYyˉQ IN@}ΟDI}:i}:} 5yɮ,A:iDNOT Ignoring new targets: 49.11 m.2i"i:*i := ProNav: ac range: 49.106415 m, nav range: 46.390118 m, bearing: 353.253815 deg, approach rate: -0.456538 m/s, LOS rate: 0.086017 deg/s, cmd heading: 296.734727 deg, new cmd heading: 296.800098 deg. i=k;=HeadingCmd: 5.180139 target range: 49.106415 and range: 49.30 m.hEå@hAhAhAhAgAgAjgIrgIeIreIZeQ:eq*eu@ >Biɢ  |iG&,LAPYrByrI z9IYI=MEyM2EUEU>QQ 5e 5Udѐ?Q 9e 5U`)UABYayaQ IeN@UԟDIUb:iU :UI 5yuĒBɮuaAqB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 49.11 m.2i"i:*i: ProNav: ac range: 49.106415 m, nav range: 46.204151 m, bearing: 353.288997 deg, approach rate: -0.475219 m/s, LOS rate: 0.090267 deg/s, cmd heading: 296.800106 deg, new cmd heading: 296.870753 deg. i2%;HeadingCmd: 5.181372 target range: 49.106415 and range: 49.30 m.hͥ@hhhhggjgrgereZe:e*e@@Bɢ|H=) ni)r=iaYi 8  Iͥ@IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772787q@q @q@u/@yE EEE"E :*E;J:VEZEa@a@a@a@AIIOH> BDAT read: Rx Time:04:30:59.7444  TRx dataTimestamp_ set to:1764909060.810796 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023848! M&,8LA|YByIiMb@Mb@Mb@ 9!rh?Mbp?y&1|?Yl>y;`;OA5 A jA)AYAbDVD8yW%C=ٔQ->9Y=Ey7EE>Q 5 5?Q 9 56b);BYu>Q E:yQ IN@ڟDI~ ;i; 5yɮA:i  DNOT Ignoring new targets: 49.11 m.2i"i:*i:% ProNav: ac range: 49.106415 m, nav range: 46.017086 m, bearing: 353.322681 deg, approach rate: -0.447148 m/s, LOS rate: 0.080842 deg/s, cmd heading: 296.870757 deg, new cmd heading: 296.938398 deg. i%;-HeadingCmd: 5.182553 target range: 49.106415 and range: 49.30 m.h-yץ@h)h)h1h1B >BECBIBBB =BBƺDBA;B6Eg)g1jg1rg5CBe1re9Ze9:e9*e=$ @颭ABɢ:E=) )i) r=iFWiጿIyץ@I-PExceeded connect timeout, disconnecting.1M;>iM>]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277098@ @@/@Eu EuEu#Eq"Eu:*Eu1]:VEu3ZEqBEu ԁ {T&,[RLA2̂@2|@2m=ٱ2(=2H|? ?^!?ҿ@?`ưʏ ??i2̂@I2t];2CfDAT read: 04:30:59.7444 LVL= 21424, 30049, 24994, 32755, AGC= 65, IDX= 403, 0.26, 1.901, 0.014, 1.592, 1.498, PHS= 0.505,-1.439, 0.050, RAW= 137.1, 10.1, CAL= 136.7, 11.1, ROT= 13.3, -11.1 jYgot valid direction response: 04:30:59.7444 LVL= 21424, 30049, 24994, 32755, AGC= 65, IDX= 403, 0.26, 1.901, 0.014, 1.592, 1.498, PHS= 0.505,-1.439, 0.050, RAW= 137.1, 10.1, CAL= 136.7, 11.1, ROT= 13.3, -11.1 nPDAT read: Bearing 149.0, 8.9 (Local) r~Local bearing/azimuth received: Bearing 149.0, 8.9 (Local) vDAT read: Range 11 to 50 : 46.2 m (Round-trip 61.7 ms) speed 0.2 m/s vR#Rx 1: Read range and direction messages.z\direction in FSK: [0.954973,0.225746,0.192522]~Fpublishing direction and range infoyPR|l#$?؁??M?YR8BPRSRauRa P)RAIRG?iR'1RL=Rf$@RJ4>R@ RaF>)R,m>IRaFPPR<ܗ??]±]? R>)R3IR,m>iRaFPPT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Y)y)bDEVDE8ٔUeQ-U>9QYYQ=eEye;EeEe>iQ 5u 5m ?Q 9u 5mc)m6BY1y5Q I5N@mDIm2jRaF*pR8pF@!vgy [@pR'%ģ?P}̳`O˞e?jRc jR6BiRA韊?iR<*jRBjRA韊?jR<*jRBrjR6BzjRb@ addTargetRange:: Added new target pos. range: 46.200001 m, deltaT: 3.779871 s, deltaX: -3.099998 m, approachRate: -0.820133 m/s, rangeRepo size: 4  Added new target pos. range: 46.021591 m, bearing: 355.527429 deg, lat: 36.779419 deg, lon: -121.859618 deg, deltaT: 3.779871 s, deltaX: -3.084824 m, approachRate: -0.816119 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 46.02 m.2i"i*iԁ ProNav: ac range: 46.021591 m, nav range: 45.642426 m, bearing: 355.527453 deg, approach rate: 0.000000 m/s, LOS rate: 0.080842 deg/s, cmd heading: 296.938403 deg, new cmd heading: 297.008277 deg. iHeadingCmd: 5.183773 target range: 46.021591 and range: 46.20 m.hw@hhhhggjgrgereZe:eG@*e@d?]BBɢ]YD=) ,i)rgq=顡iUiIw@I=@9 @9@=/@9Թ]=]=e(DAT read: user:42> mBDAT read: Tx time:04:31:01.0786 u$Ping request sent.u Z&,lLA}1@}*@Ա}Ta=ٱ}-=}He??T? kӿl?@<eg0?`?i}1@I}ޔ];} C checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248640$GzA5AE 9EzAYEAYm݁BymI}=}=iMb@Mb@Mb@ 9)\(?Mb?YG>y< A A)AYAbD VD 8yz%<ٔ%ϏQ-->99Y9=EEyE@E=E>Q 5 5x?Q 9 5e).BYQ>Q E:yQ IN@DIV:i_:n 5yŒBɮ=AE:iDNOT Ignoring new targets: 46.02 m.2i"i;*i; ProNav: ac range: 46.021591 m, nav range: 45.394844 m, bearing: 355.601257 deg, approach rate: -0.459593 m/s, LOS rate: 0.137752 deg/s, cmd heading: 297.008290 deg, new cmd heading: 297.156703 deg. i|;HeadingCmd: 5.186363 target range: 46.021591 and range: 46.20 m.h@hhhhggjg!rg%?Be!re)Ze):e)*e-r?]DBɢ];=)Y ]LiY)e p=aaie]TimdqqIu@IqB>BBrIBBB =BBBb;B6E@ @@@- nManaging dock network, ignoring radio surface power offA) 9 II ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501608I O >a&,QLAE EE%E"E:*E;J:VE 4ZEBEx@>پ@>=ٱ>/=>H`VL??A? ?ԿS?K|NT?@#?i>@I>g];>C D)HHHHJCHiNDILLIN̏CiRb~A RP)PP RAPTTVsCV(~AIVļ)TiX)XIZ(~AZX X\\ii!%~A)! !I!Y!Y5ցBy5IbDMVDM8yUQ_%U=ٔ}AźQ-}2?9Y=EyCE--E>?Q 5 5 ?Q 9 5of)+BYyţQ IN@DI;i;x 5yɮtA:i DNOT Ignoring new targets: 46.02 m.2i"i5A;*i5A;E ProNav: ac range: 46.021591 m, nav range: 45.295376 m, bearing: 355.632462 deg, approach rate: -0.412252 m/s, LOS rate: 0.129614 deg/s, cmd heading: 297.156696 deg, new cmd heading: 297.219243 deg. iE5m;MHeadingCmd: 5.187454 target range: 46.021591 and range: 46.20 m.hM@hIhIhQhQgqgqjgyrgyeyreyZey:e*eG?ɢ&"=)) 5[i1)5@0p=11i5Ri=@99I=@IAQ@ @@0@AyAzAzAAi߹I߹checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752936A5.AI9IqO}{>iԙ g&,F^LA2@2@2=ٱ2'1=2H@r3? ?9?kԿ9?̭K; (?`6?i2@I2ի];2 CYׁByIbD-VD-8y= ;%=L=ٔEcEQ-E>9E ?YM ?=MEyMGEM&ǼEM>QQ 5 5U?Q 9 5Ug)U&BYyQ IO@UDIU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256716 +m&,7LA2D@2=@2:a=ٱ23=2H?Ch?e? +տ?'`?/?i2D@I2];0ÝByI)-AiMb@Mb@Mb@ 9%C?Mbp?{Gzt?YZ>y;ף;AK A )YzAbDVD8y\<%A=ٔ8;Q->9Y=EyKEﵼE>Q 5 5(?Q 9 5i) BY`>Q E:yŨQ IO@DI;i; 5yɮAB]>BYB]`IB]BB] =BYBYB];B]6EB%ECB%DCB%”CB!B!C%¨5:iDNOT Ignoring new targets: 46.02 m.2i"i=&;*i%=&;U ProNav: ac range: 46.021591 m, nav range: 44.944508 m, bearing: 355.748301 deg, approach rate: -0.436652 m/s, LOS rate: 0.145339 deg/s, cmd heading: 297.330511 deg, new cmd heading: 297.451809 deg. iU;]HeadingCmd: 5.191514 target range: 46.021591 and range: 46.20 m.h] @hYhYhahagagajgirgmCBeireZe:e*ee?FBɢ6-=) jrii)mln=iqiu8HOi}滋I @I5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509680 EM EMEM"EI"EMs:*EM:VEM(3ZEIBEMi0) 4t&,LA2@2M@2ޘ=ٱ27-=2H @?X?.r?տ ?`@8??i2@I2];2 CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760811YFāByFIbDRѿVDR8yVJ%V_=ٔZ2Q-Z>9Z"?Y^"?=^Ey^OE^޼Eb>`Q 5f 5b5?Q 9f 5bj)bBYhyjޭQ IjO@bDIb:ib\:b 5ynȒBɮr!Ar E:iDNOT Ignoring new targets: 46.02 m.2i"ib-;*ib-; ProNav: ac range: 46.021591 m, nav range: 44.786865 m, bearing: 355.803120 deg, approach rate: -0.434377 m/s, LOS rate: 0.151583 deg/s, cmd heading: 297.451815 deg, new cmd heading: 297.561839 deg. i;HeadingCmd: 5.193434 target range: 46.021591 and range: 46.20 m.h0@hhhhggjgrgereZe:e*e @EGBɢE}=)I M,iI)Mm=IIiM|MiU|YYI]0@IYIi)mwA1 @  @ @ 3@ AA?AYYIiIyOZ>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014043DI zDM ?AEU  EU EU &EQ "EU O:*EU T:VEU 4ZEQ a] @a] @a] @a] @ԉ !z&,^LA4YBy IiMb@Mb@Mb@ 9-?ytt<fA  A)AY AbDVD8y-_%,=ٔQ->9Y=EyTEE>Q 5  5E?Q 9  5l)BYM>Q E:yKQ IO@DI;i; 5yɮA:iAEDNOT Ignoring new targets: 46.02 m.2iI"iMtA;*iMtA;] ProNav: ac range: 46.021591 m, nav range: 44.588993 m, bearing: 355.880804 deg, approach rate: -0.428895 m/s, LOS rate: 0.169130 deg/s, cmd heading: 297.561836 deg, new cmd heading: 297.717892 deg. i]Ú;eHeadingCmd: 5.196157 target range: 46.021591 and range: 46.20 m.heF@hahahihigigijgqrguABeqreqZeq:ey*e}#@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264832ԙ颵HBɢLJ =) 4i)Hl=项iKi#IF@I9@9 @9@E5@AԹB]>BYB]MIB]BB] =BYBYB];B]7EIqIO> E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516840(ہ&,LAE EE$E"E:*Ega:VE4ZEBE3xO@>H@>=ٱ>Hp?`/?`? ֿ?@Uﲿ]??i>xO@I>j];> CYJByNIbDVVDV8y^M%^u=`ٔbQ-b?9dYd=fEyfWEftEf?hQ 5n 5j Q?Q 9r 5j\n)jBYpyr}ǾQ IrO@jDIj;ij;j 5yvɒBɮvAx:iDNOT Ignoring new targets: 46.02 m.2i"i#?;*i#?; ProNav: ac range: 46.021591 m, nav range: 44.452152 m, bearing: 355.938821 deg, approach rate: -0.392937 m/s, LOS rate: 0.167107 deg/s, cmd heading: 297.717892 deg, new cmd heading: 297.834282 deg. i;HeadingCmd: 5.198189 target range: 46.021591 and range: 46.20 m.hW@hhhhggjgrgereZe:e*e`u@aɢm=)m9 mii)mk=qqiugIi5+኿19I=W@I9@ @@/@IaIqOY>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768734A &,ӥ!LA2@2@2}=ٱ2M#=2H?` ??d׿ޭ?Cx`Aﲿ`Z??i2@I2];2CY>By>IbDJVDJ8yN]<%RL=ٔR$tQ-R>9TYT=VEyV[EVcѼEZ>X!Q 5% 5Z^?Q 9- 5Z"p)Z BY)y-̾Q I-O@Z DIZ%=BDAT read: Rx Time:04:31:03.5422 TRx dataTimestamp_ set to:1764909064.591151 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022140U ProNav: ac range: 46.021591 m, nav range: 44.288048 m, bearing: 356.011309 deg, approach rate: -0.399334 m/s, LOS rate: 0.177049 deg/s, cmd heading: 297.834278 deg, new cmd heading: 297.979793 deg. i];]HeadingCmd: 5.200728 target range: 46.021591 and range: 46.20 m.h]^l@hahahahagagajgirgieireiZei:eq*ef @D)D-%=E5 E5E5&E1"E5m:*E5xv:VE54ZE1aE@aE@aE@aE@}IBɢ}K=)y }iy).j=顁iIGi򍊿I^l@Ie>iI@ @@/@I I1O=Q>y checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272749ԡ (4&,%;LAyx@á@멖=ٱG+=H`3?f?`?`,ؿ?^`вX?`?ix@I]; CYByIB>BB:IBuBBBBǺDB;B7EiMb@Mb@Mb@ 9> ףp=?~jth{Gz?Y>yD#<Ab A "A)1AY AbDVD8y%-=ٔ›Q->9Y=Ey`E*E>Q 5 5m?Q 9 5r)BY>Q E;y&˾Q IO@DIh;i ; 5yɮA%B*** querying acoustic contact ***i!i!:i9DNOT Ignoring new targets: 46.02 m.2i"i!?;*i!?;ԡ ProNav: ac range: 46.021591 m, nav range: 44.104828 m, bearing: 356.092102 deg, approach rate: -0.377374 m/s, LOS rate: 0.167098 deg/s, cmd heading: 297.979789 deg, new cmd heading: 298.142045 deg. i;HeadingCmd: 5.203560 target range: 46.021591 and range: 46.20 m.h@hhhhggjgrgLBe-DAT read: 04:31:03.5422 LVL= 25136, 31729, 32178, 32755, AGC= 65, IDX= 413, 0.16,-0.315,-2.222,-0.926,-0.720, PHS= 0.507,-1.457,-0.250, RAW= 127.5, 13.9, CAL= 127.2, 15.1, ROT= 22.8, -15.1 5Ygot valid direction response: 04:31:03.5422 LVL= 25136, 31729, 32178, 32755, AGC= 65, IDX= 413, 0.16,-0.315,-2.222,-0.926,-0.720, PHS= 0.507,-1.457,-0.250, RAW= 127.5, 13.9, CAL= 127.2, 15.1, ROT= 22.8, -15.1 =PDAT read: Bearing 149.3, 18.3 (Local) =~Local bearing/azimuth received: Bearing 149.3, 18.3 (Local) ]DAT read: Range 11 to 50 : 44.6 m (Round-trip 59.5 ms) speed 0.3 m/s uR#Rx 1: Read range and direction messages.}\direction in FSK: [0.890034,0.374136,0.260505]}Fpublishing direction and range infoy'{?[?QfJ0?Yf2B0b{} )I?i~;k@Ulx>q@ V>)%>IV>?T>K?Q? >)O=xI%>iVreZe:eLF@*e`?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.bEJ4jEŔ4rE(0E9 E=E=#E9"E9*E=F:VE=3ZE9BE=V &,]ULAi0I02(DAT read: user:43> 6BDAT read: Tx time:04:31:04.8786 6$Ping request sent.:]@>CW@>=ٱ>z.=>Hl?`W?@f?ؿlp?gN¥??i>]@I>];> CYBywI AbDVD8y6}%Y=ٔpXQ->9Y=EydEPżE>Q 5 5y?Q 9 5s)BY y ϾQ I O@DI::i: 5yUВBɮUM AU+Ei1i5FLAj51B"j51B:j5܀@"p51/#xC@ΟJ0@q֣o%'@p5'{?[?QfJ0?*j5%>2j5V*p5g]ŶE@ DBsqu"@p5&G?23y ?j5B j5-Bi5nJş?i5]j5WBj1j5j5Brj5/Bzj5.@ addTargetRange:: Added new target pos. range: 44.599998 m, deltaT: 3.780180 s, deltaX: -1.600002 m, approachRate: -0.423261 m/s, rangeRepo size: 4  Added new target pos. range: 44.428352 m, bearing: 358.999888 deg, lat: 36.779419 deg, lon: -121.859614 deg, deltaT: 3.780180 s, deltaX: -1.593239 m, approachRate: -0.421472 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 44.43 m.2i"i*i- ProNav: ac range: 44.428352 m, nav range: 43.935940 m, bearing: 356.634106 deg, approach rate: 0.000000 m/s, LOS rate: 0.167098 deg/s, cmd heading: 298.142047 deg, new cmd heading: 298.261538 deg. i)UHeadingCmd: 5.205646 target range: 44.428352 and range: 44.60 m.hU@hQhQhQhQgYgYjgYrgYeareaZea:ea*ee@q?UJBɢU=)Q UPiQ)]]h=YYi]XCie쉿aaIe@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2507899 lXDI zDI EU  EU EU %EQ "EU s:*EU Ǚ:VEU 4ZEQ a] @a] @a] @a] @ @  @ @ %5@ I) IA OU >a D&,tDoLAY=ByEfIbDVDɰ8y %H=ٔQ-%>19AYA=MEyMhE]Ee>qQ 5} 5uچ?Q 9} 5uu)uBYyQ IO@uDIuS:iu:u 5yɮ A:iDNOT Ignoring new targets: 44.43 m.2i"i[;*i[; ProNav: ac range: 44.428352 m, nav range: 43.774151 m, bearing: 356.710739 deg, approach rate: -0.403756 m/s, LOS rate: 0.191950 deg/s, cmd heading: 298.261548 deg, new cmd heading: 298.415380 deg. i;HeadingCmd: 5.208331 target range: 44.428352 and range: 44.60 m.h@hhhhggjgrgmchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502629ereZe:e*e?KBɢ`d=) i)g=ioAi%Ӕ))I-@I)Y}0:Ļ@ @@/@A>A>B>BFCB!IB`BBBBB;B7EԉAa Iy I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754750Ա 4)&,MLAE EEE"E:*EV:VEZEBExô@>輻@>4=ٱ>4.=>H/?Q ?p?`ٿ2?`zG²ͥ??i>ô@I>];> CYJByJ`IiuMb@Mb@Mb@qqqq q9uˡE?~jtx~jth?Yu>yuĻuD;uAu A uA)uAqYu AbDVDǰ8y굼%R=ٔin9Q->9Y=EylEJE>Q 5 5?Q 9 5^w)BY>Q E:yܾQ IO@#DIH;in; 5yҒBɮ A:iDNOT Ignoring new targets: 44.43 m.2i"i\x;*i\x;  ProNav: ac range: 44.428352 m, nav range: 43.615150 m, bearing: 356.792379 deg, approach rate: -0.421348 m/s, LOS rate: 0.217134 deg/s, cmd heading: 298.415391 deg, new cmd heading: 298.579266 deg. i ;HeadingCmd: 5.211191 target range: 44.428352 and range: 44.60 m.h¦@hhhhggjgrge!re!Ze!:e!*e%?ԑ)ɢEF<)A EmiA)]bf=YYi]T?im7iiIu¦@Iq}R=}p=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0068682A @A  @A @E /@I  A .AI I O >ؖ&,LAN]p@Ni@N=ٱN*=NH"??)? Thڿ:?@pI? ?iN]p@INw];N CYZByZHII^=)^M?bDbVDb8y4Ž%J=ٔ9Q->9 ?Y ?=EypE%μE%>)Q 55 5-ڡ?Q 95 5-jy)-BY1y5QQ I=O@-)DI-:i-:-U# 5yAɮE AA]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258838:iq}DNOT Ignoring new targets: 44.43 m.2iy"i}};*i}}; ProNav: ac range: 44.428352 m, nav range: 43.445919 m, bearing: 356.882609 deg, approach rate: -0.417309 m/s, LOS rate: 0.223366 deg/s, cmd heading: 298.579261 deg, new cmd heading: 298.760423 deg. id;HeadingCmd: 5.214353 target range: 44.428352 and range: 44.60 m.hۦ@hhhhggjgrgereZe:e*e]?ɢ<) ˾i).]e=i =i}ψIۦ@IE EE#E"E:*E:VE3ZEa@a@a@a@YGyAUs9]yAY]Ai@i @i@u/@qi I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5125509 A ؟AI I O >q&,νLA6@6@6us=ٱ6-*=6H`? 9z"?Y~"?=~Ey~tE~ּE>Q 5  5?Q 9  5z{)BQ A+:YQ E:yQ IO@/DI:i>'& 5B%>B!B%IB%GBB% =B!B!B%;B%/7E9yAɮE AA:iimDNOT Ignoring new targets: 44.43 m.2ii"iu;*iu; ProNav: ac range: 44.428352 m, nav range: 43.279804 m, bearing: 356.974610 deg, approach rate: -0.414009 m/s, LOS rate: 0.230175 deg/s, cmd heading: 298.760425 deg, new cmd heading: 298.945132 deg. i;HeadingCmd: 5.217577 target range: 44.428352 and range: 44.60 m.hd@hhhhggjgrgereZe:e*e M?LBɢ<) Ͼi)d=i:ieId@Iu@q @q@u0@yAxAzAxAqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765087AIIO%M>E5 E5E5$E1"E5[:*E5c:VE54ZE1BE59dYd=fEyfxEjEj>lQ 5r 5n?Q 9r 5n})nBQ Ar :YpQ Er:yrNQ IvO@n4DIn;inrL?no( 5yzԒBɮz Az,EB*** querying acoustic contact ***iiԙ:iDNOT Ignoring new targets: 44.43 m.2i"i;*i; ProNav: ac range: 44.428352 m, nav range: 43.114727 m, bearing: 357.069661 deg, approach rate: -0.398373 m/s, LOS rate: 0.230259 deg/s, cmd heading: 298.945140 deg, new cmd heading: 299.135969 deg. i;HeadingCmd: 5.220908 target range: 44.428352 and range: 44.60 m.h@hhhhggjgrge re Ze :e *e ٽ@Qɢ]B<)Y ]%־iY)]xb=aaie` 8ieiiI@I-@) @)@-I0@)A1I9IQO]v>ߕ>ߕ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271040E5  E5 E5 %E1 "E5 :*E5 1]:VE5 4ZE1 a= @a= @a= @a= @ λ&,@LAZ%l@Zpe@Z7+=ٱZ<=ZH?@s??C>ܿ?@fnA\٣?@?iZ%l@IZ~];ZCY-`By-!I IIQUAbD}տVD}8yŽ%<=ٔQ->9Y=Ey}EE>Q 5- 52̑?Q 9= 5)BQ AE9YAQ EMy:yMQ IUO@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524213;DIc=ix?* 5y1ɮ= A9:iyDNOT Ignoring new targets: 44.43 m.2i"iN;*iN; ProNav: ac range: 44.428352 m, nav range: 42.931156 m, bearing: 357.179313 deg, approach rate: -0.397307 m/s, LOS rate: 0.238338 deg/s, cmd heading: 299.135976 deg, new cmd heading: 299.356217 deg. i;HeadingCmd: 5.224751 target range: 44.428352 and range: 44.60 m.h*1@hhhhggjgrgereZe:e*eҠ@ɢ<) i)@`=!i%A5i-z)1I5*1@I1@ @@0@B=>B9B=IB=3BB= =B9B=ȺDB=;B=67EBFCBFCBƓCB =B =C5QII O% > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774733y E=  E9 E= #E9 "E= :*E9 VE= 3ZE9 BE= xy94; A 9A)GAY AbD̿VD}8y@Q%I=ٔ<ĺQ->9Y=EyEؼE>Q 5 5ّ?Q 9 5A)ڈBQ AT:Y>Q E:yYQ IO@ADI ;i:- 5yՒBɮ A-E:iDNOT Ignoring new targets: 44.43 m.2i"i?;*i?;- ProNav: ac range: 44.428352 m, nav range: 42.766708 m, bearing: 357.284062 deg, approach rate: -0.460089 m/s, LOS rate: 0.294190 deg/s, cmd heading: 299.356208 deg, new cmd heading: 299.566509 deg. i-<5HeadingCmd: 5.228422 target range: 44.428352 and range: 44.60 m.h5;O@h1h9h9h9g9g9jgArgE BeAreAZeA:eA*eMC @Qyɢ}Jp<)y }i)Q_=顁iz 3i}I;O@I@  @@!5@A->A->ԁIIO%M>-BDAT read: Rx Time:04:31:07.3399 5TRx dataTimestamp_ set to:1764909068.3802425checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033269ԩ &,J%LA2绲@22@29ҏ=ٱ2}=2H@ Q?ˬ? ˽? |xݿWS?^??i2绲@I2I];0YNOByN IbDVݿVDV8y^%^\=ٔ^sQ-b>9`Y`=bEybEf6Ef>hQ 5n 5j`摊?Q 9n 5jo)jԈBYlyrQ IrO@jFDIj{;ijw;j31 5ytɮv- At:iDNOT Ignoring new targets: 44.43 m.2i"i;*i;- ProNav: ac range: 44.428352 m, nav range: 42.612820 m, bearing: 357.385699 deg, approach rate: -0.413909 m/s, LOS rate: 0.274357 deg/s, cmd heading: 299.566496 deg, new cmd heading: 299.770504 deg. i- ;5HeadingCmd: 5.231982 target range: 44.428352 and range: 44.60 m.h5fl@h1h1h1h1g9g9jg9rg9eAreAZeA:eA*eE@^= @}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282891yɢl<) i)^=顁i0iԍ Ifl@IԱE EE&E"E:*Ez:VE4ZEa@a@a@a@q@q @q@u3@qII)Ou> U DAT read: 04:31:07.3399 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 423,-0.10,-0.080,-1.918,-0.744,-0.290, PHS= 0.311,-1.583,-0.498, RAW= 124.8, 20.8, CAL= 124.5, 23.9, ROT= 25.5, -23.9 ] Ygot valid direction response: 04:31:07.3399 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 423,-0.10,-0.080,-1.918,-0.744,-0.290, PHS= 0.311,-1.583,-0.498, RAW= 124.8, 20.8, CAL= 124.5, 23.9, ROT= 25.5, -23.9 e PDAT read: Bearing 153.8, 20.3 (Local) m ~Local bearing/azimuth received: Bearing 153.8, 20.3 (Local) u DAT read: Range 11 to 50 : 42.9 m (Round-trip 57.3 ms) speed 0.3 m/s } R#Rx 1: Read range and direction messages. \direction in FSK: [0.825192,0.393596,0.405142] Fpublishing direction and range infoy! % dg?OFN0??Y% +B! % % %  ! )% @I% d;>i% ʿ% % 'g @% ޹>% ^ @ % >)% >I% վ! ! % 5bV?&W_1?;w+B? % =)% I% >i% վ! !  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.1 4 &,?LA2`@2[Y@2;=ٱ2P/!=2H&? O??ϥ?޿`'?p@ñ'??i2`@I2];2CYBEByBIIF,>)Fp;F=F=Bb1>BbICBbIBbBBb =B`BbɺDBb;Bb.7EimMb@Mb@Mb@iiii i9mgfffff?Mb`Ym3>ym̼mm AmA mfA)mAiYm A@A@AbDVD8yN?%<=ٔQ->9Y=EyEͼE>)Q 5] 5-?Q 9] 5-Q)-̈BYe>Q Ee:ye& Q ImO@-MDI-a 2j]վ*p]h o:C@tX.@p]aO??Q񳱿* +?j]$= j]Bi]~ ?i] j]7BjYjYj]Brj])Bzj]@= addTargetRange:: Added new target pos. range: 42.900002 m, deltaT: 3.788047 s, deltaX: -1.699997 m, approachRate: -0.448779 m/s, rangeRepo size: 4 E Added new target pos. range: 42.737236 m, bearing: 355.745643 deg, lat: 36.779419 deg, lon: -121.859614 deg, deltaT: 3.788047 s, deltaX: -1.691116 m, approachRate: -0.446435 m/s, posRepo size: 4 :iImDNOT Ignoring new targets: 42.74 m.2ii"iu*iq ProNav: ac range: 42.737236 m, nav range: 42.426624 m, bearing: 357.522480 deg, approach rate: 0.000000 m/s, LOS rate: 0.274357 deg/s, cmd heading: 299.770500 deg, new cmd heading: 300.029913 deg. iHeadingCmd: 5.236510 target range: 42.737236 and range: 42.90 m.h}@hhhhggjgrgEBereZe:e@3sE@*e`v?)ɢ-#<)1 5i1)5[=11i5j-i=w9AIE}@IA(DAT read: user:44> BDAT read: Tx time:04:31:08.6285 $Ping request sent.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250175&,XLA 2@2<@2%=ٱ2li$=2H]??7Ǥ?޿?l`;`t?@>?i2@I2 ];2 CYB9ByBIbDJVDJ8yz"w%zW=ٔz@2Q-~>9|Y|=EyEE> Q 5 5 (?Q 9 5 ) ňBYy Q IO@ SDI ;i 8; Q8 5y!ɮ% A!EB*** querying acoustic contact ***iAiA:iIUDNOT Ignoring new targets: 42.74 m.2iQ"iU;*i];m ProNav: ac range: 42.737236 m, nav range: 42.274693 m, bearing: 357.638079 deg, approach rate: -0.443904 m/s, LOS rate: 0.338963 deg/s, cmd heading: 300.029911 deg, new cmd heading: 300.261938 deg. imԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502183D zD E  E E #E "E :*E n:VE 3ZE a @a @a @a @ &,JrLAPJA@J@JÉ=ٱJ"&=JH?@w?f?`T߿-? &5Ǥ? ?iJA@IJ4];JCY~2ByIbDE VDE8y%B=ٔ4Q->9Y=EyE0ϼE>Q 5 5?Q 9 5)BYyQ IO@YDI[BBIBBB =BBʺDBA;B6E @  @ @ 2@ )  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006142bE4jE#4rE?/E  E E E "E :*E L_:VE ZE BE N" &,쾌LA2dS@2L@2=ٱ2=2H??j?6߿?S @ɣ?@?i2dS@I2];2 CY>*By>IxiuMb@Mb@Mb@qqqq q9uV-?ˡEMbpYu>yu'uu5 AuA q)utAqYu AbD*VDӰ8y%H=ٔ Q->9Y=EyEw߼E>Q 5 5_?Q 9 5)BY>Q E:yCQ IO@_DI:iV:? 5yɮu A:iDNOT Ignoring new targets: 42.74 m.2i"iI;*iI;  ProNav: ac range: 42.737236 m, nav range: 41.931515 m, bearing: 357.922276 deg, approach rate: -0.447900 m/s, LOS rate: 0.392174 deg/s, cmd heading: 300.543596 deg, new cmd heading: 300.832644 deg. i n3<HeadingCmd: 5.250520 target range: 42.737236 and range: 42.90 m.hC@hhhhggjgrg%Be!re!Ze!:e!*e%`1?QɢU8 <)Q UiY)]V=YYi]J%ie`.aaIeC@I!y@y @y@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258442A.AIIOh>Iy .&,MLA6 @6T@6=ٱ6cx=6Hz?Z? ʸ?ICqz?@氿묰3?`?i6 @I6];6CY^ BybIbDj VDj8yrXM%rX=ٔr;Q-r>9v ?Yv ?=vEyvEzEz>|Q 5 5~?+?Q 9 5~l)~BYyQ IO@~eDI~Y;i~:~B 5yޒBɮ A8E:i1=DNOT Ignoring new targets: 42.74 m.2i9"iE;*iE;U ProNav: ac range: 42.737236 m, nav range: 41.775024 m, bearing: 358.063246 deg, approach rate: -0.413041 m/s, LOS rate: 0.373471 deg/s, cmd heading: 300.832649 deg, new cmd heading: 301.115644 deg. iU*<]>]?echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510479imHeadingCmd: 5.255459 target range: 42.737236 and range: 42.90 m.hm,@hihihqhqgqgqjgyrgyeyreyZey:e*eeL?颭KBɢ%<) ui)T=顱i("iI,@IDD4=E EE'E"Ea:*EAr:VE'4ZEa@a@a@a@@ @@/@ԉAIIOI>- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764485 &,^LAB60>B4B6IB6BB4B4B6ɺDB6;B66E>@>ء@>#=ٱ>x #=>H5P??o?@2N?2 aW??i>@I> ];> CY^BybIԹiMb@Mb@Mb@ 9rh|?ktMb`Y>y 0K AA |A)AY AbD VD8y-#V%-7=ٔ5Q)Q-5>91Y9==Ey=E=6E=>AQ 5M 5E4:?Q 9M 5Eו)EBYU>Q EU:yU!Q IUO@ElDIEP;iE;EF 5y]Bɮ]\Aa:iDNOT Ignoring new targets: 42.74 m.2i"ig;*ig; ProNav: ac range: 42.737236 m, nav range: 41.593422 m, bearing: 358.233846 deg, approach rate: -0.406602 m/s, LOS rate: 0.383635 deg/s, cmd heading: 301.115638 deg, new cmd heading: 301.458322 deg. i/<HeadingCmd: 5.261440 target range: 42.737236 and range: 42.90 m.h]@hhhhggjgrg.BereZe:e*e@ɢ\7<) *i)},R=yyi}viȂI]@Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014768E@A @A@E/@IE EE%E"E:*Ec:VE 4ZEBE 9  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266055@&,9LAFhR@FK@Fڬ=ٱF =FH#????@!? l? ?iFhR@IF];FCYVByVIbD\VD\yf<%fd=ٔf[Q-f>9j"?Yj"?=jEyjEnWEn>pQ 5v 5r F?Q 9v 5r)rBYtyvq$Q IvO@rrDIr:irh:rI 5y|ɮ~5A|B*** querying acoustic contact ***ii:i!-DNOT Ignoring new targets: 42.74 m.2i)"i-;*i-;E ProNav: ac range: 42.737236 m, nav range: 41.448875 m, bearing: 358.374075 deg, approach rate: -0.402491 m/s, LOS rate: 0.391829 deg/s, cmd heading: 301.458322 deg, new cmd heading: 301.739755 deg. iEE3}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518112iDzD@AE EE$E"E ;*Ega:VE4ZEa @a @a @a @ԙ E ͂Gm&,) LA/{AA2/96/{AY6A%E@%@%%|=ٱ%ˀ =%H ?@+5??@T?氿 }?`6?i%E@I%];!Y ByIbDVD8y _Zq%7=ٔ|5Q->checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7722329 Y=EyE%E%>aQ 5} 5e.V?Q 9} 5eu)eBYyy}*'Q I}O@ezDIek;ieAl;e,N 5yBɮA9E:iDNOT Ignoring new targets: 42.74 m.2i"i!;*i!; ProNav: ac range: 42.737236 m, nav range: 41.254566 m, bearing: 358.568854 deg, approach rate: -0.392597 m/s, LOS rate: 0.395400 deg/s, cmd heading: 301.739753 deg, new cmd heading: 302.131140 deg. i4< HeadingCmd: 5.273183 target range: 42.737236 and range: 42.90 m.h 뽨@h h h h g gjgrge1re9Ze9:e9*e=@ؐ@mIBɢmX?<)i m(iq)umN=qqiui}GyyI}뽨@Iԡ@ @@/@BaBaBexIBe׀BBe =BaBaBe;Bek6EA II!O5> BDAT read: Rx Time:04:31:11.0877  TRx dataTimestamp_ set to:1764909072.158815 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023171E  E E 'E "E :*E x:VE '4ZE BE F-@2@2Pv=ٱ2;%=2H? ? ?j`?` [Ů ?@?i2>@I2՞];2 CYNByRIi}Mb@Mb@Mb@yyyy y9} +?y&1Y}>y}`e}} A}A }A)yyY}AbDVD8y9%Q=ٔxQ->9Y=EyEE>Q 5 5&a?Q 9 5L)BYq>Q E:yH1Q IO@DIA:i#:9Q 5yɮA:iDNOT Ignoring new targets: 42.74 m.2i"i;*i; ProNav: ac range: 42.737236 m, nav range: 41.121868 m, bearing: 358.714739 deg, approach rate: -0.389497 m/s, LOS rate: 0.429586 deg/s, cmd heading: 302.131150 deg, new cmd heading: 302.423860 deg. iD<HeadingCmd: 5.278292 target range: 42.737236 and range: 42.90 m.h%@h!h!h!h!g!g!jg)rg--Be)re)Ze1:e1*e5@B @aɢe@:)a ec"ia)mL=iiim2iuWI@I!@ @@,0@A>A?checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279622AIIO%n>9 ~ &,'LA2K@2D@2\r=ٱ2&=2H?? C?`+ ?@ GϤ??i2K@I2J];2 CY^By^I `` df=bDjVDj8yrKr%rW=ٔr&Q-v>9tYt=vEyvEzEz>|Q 5 5~l?Q 9 5~m)~BYy 3Q I O@~DI~:i~:~T 5yɮAeDAT read: 04:31:11.0877 LVL= 29744, 32753, 32754, 32755, AGC= 59, IDX= 417, 0.18, 0.219,-1.629,-0.416,-0.099, PHS= 0.421,-1.484,-0.361, RAW= 125.9, 16.9, CAL= 125.4, 18.1, ROT= 24.6, -18.1 uYgot valid direction response: 04:31:11.0877 LVL= 29744, 32753, 32754, 32755, AGC= 59, IDX= 417, 0.18, 0.219,-1.629,-0.416,-0.099, PHS= 0.421,-1.484,-0.361, RAW= 125.9, 16.9, CAL= 125.4, 18.1, ROT= 24.6, -18.1 }PDAT read: Bearing 141.7, 20.6 (Local) }~Local bearing/azimuth received: Bearing 141.7, 20.6 (Local) DAT read: Range 11 to 50 : 41.3 m (Round-trip 55.1 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.864243,0.395681,0.310676]Fpublishing direction and range infoy9=YAlh?fGR?\?Y=3%B9=0t99 9)=;I=P>i=󽿉=Ը= @=>= @ =?>)=>I=?99=G,Gu?w.?5$? ==)=z䖾I=>i=?995T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.e addTargetRange:: Added new target pos. range: 41.299999 m, deltaT: 3.780031 s, deltaX: -1.600002 m, approachRate: -0.423278 m/s, rangeRepo size: 4 :iamDNOT Ignoring new targets: 42.74 m.2iiE EE#E"E :*E&p:VE3ZEa@a@a@a@"i ;*i;- ProNav: ac range: 42.737236 m, nav range: 40.979095 m, bearing: 358.876562 deg, approach rate: -0.344181 m/s, LOS rate: 0.391465 deg/s, cmd heading: 302.423865 deg, new cmd heading: 302.748635 deg. )iu3<}HeadingCmd: 5.283960 target range: 42.737236 and range: 41.30 m.h}4@hyhhhggjgrgereZe:e`fD@*ef?=HBɢ=|<)A mY#ii)m)>J=iqiuziu3yyI}4@Iy@ @@0@YAM.AIqIO>iI (DAT read: user:45> % BDAT read: Tx time:04:31:12.4285 - $Ping request sent.5 BY B] lIB] ̀BBY BY B] ʺDB] ;B] 6EBICBICBBBCRJ5w&,ZALA ^X@^@^o=ٱ^@,=^HAl?@?'?`?f?@Iۭ}??i^X@I^];^CY5By5IiMb@Mb@Mb@ 9tV?X9vY>y}b AA A)AYAbDڿVD8y z% 7=ٔ Q-M>9M ?YM ?=UEyUEUEU>YQ 5e 5]z?Q 9e 5]5)]BYe>Q Em:ym:Q ImO@]DI];i]H;]X 5yuBɮuAu:EiIiM_*LAjM$B"jM$B:jM} @"pMjwrA@wYeG0@7)@pMYAlh?fGR?\?*jM>2jM?*pM$lC@ÏSŷ&@pMC17?,:ƿЍwH?jM= jMeBiM.ZD?iMKzbhjMBjMnJş?jM<*jMWBrjM!BzjM?@:iDNOT Ignoring new targets: 42.74 m.2i"i<*i< ProNav: ac range: 42.737236 m, nav range: 40.814953 m, bearing: 359.073877 deg, approach rate: -0.384174 m/s, LOS rate: 0.463669 deg/s, cmd heading: 302.748627 deg, new cmd heading: 303.144836 deg. i$T<HeadingCmd: 5.290875 target range: 42.737236 and range: 41.30 m.hN@hhhh g g jg rg,BereZe:e*e ?EGBɢU:)Q U)iY)]-2H=YYi]ie~iiiImN@Iq-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244568@ @@1@E EEE"E:*E:VEZEBE   checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495750y&,"[LA2@2P@2j=ٱ2)=2H>?K?? p78?`DZQ1?~?i2@I2];2 CYBByBIbDJVDJ8PyV%Vd=ٔV<5Q-V>9XYX=ZEyZEZ+E^>`Q 5b 5b?Q 9f 5b))bBYdyfE EEE"E*EV:VEZEa@a@a@a@! t&,uLA|YByII%=)%=bDMVDM8y{=%==ٔQ->9Y=EyEE>Q 5 5?Q 9 5߬)yBYyQ IO@DI);i;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002025h_ 5yBɮA;E:iIuDNOT Ignoring new targets: 42.74 m.2iq"iuk;*iuk; ProNav: ac range: 42.737236 m, nav range: 40.532467 m, bearing: 359.425614 deg, approach rate: -0.327913 m/s, LOS rate: 0.411639 deg/s, cmd heading: 303.456617 deg, new cmd heading: 303.850769 deg. iV<<HeadingCmd: 5.303196 target range: 42.737236 and range: 41.30 m.hɳ@hhhhggjgrgereZe:e*e X?)颍EBɢ;) ~(i)C=顑i0 izIɳ@IB4>BB_IBÀBB =BBB;B6E@ @@3@YII O >M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251786ԁ E  E E %E "E *E 1]:VE 4ZE BE a 2E a JE ;a :E ;a r#&,JyLA2$ @2o@2%ka=ٱ28&=2H`???`-?`{??)ˤ??i2$ @I2w];2 CYBByBIi Mb@Mb@Mb@     9 Gz?L7A`尿~jth?Y >y + D;  A tA  A) -A Y AYbD} VD}8yO<%J=ٔQ->9Y=EyEIE>Q 5 5?Q 9 5N)sBY>Q E:y)DQ IO@DI:i1:b 5yBɮADE:iDNOT Ignoring new targets: 42.74 m.2i"i<*i< ProNav: ac range: 42.737236 m, nav range: 40.395695 m, bearing: 359.608887 deg, approach rate: -0.382217 m/s, LOS rate: 0.513898 deg/s, cmd heading: 303.850773 deg, new cmd heading: 304.218554 deg. ik<HeadingCmd: 5.309616 target range: 42.737236 and range: 41.30 m.h_@hhhh g g jg rg^BereZe:e*e\^?mDBɢm`º)i m&ii)uHA=qqiudi};yyyI}_@I)@) @)@-/@1ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.504292IAIYOmV> )&,&TLA6w@6´@6t]=ٱ6`(=6H@?= ?b?`>?@$ ??i6w@I6];6CYFByFIbDNVDN8yVM%VZ=ٔV(Q-Z>9XYX=ZEyZE^}ԼE^>`Q 5f 5b>?Q 9f 5b)boBYdyfFQ IfO@bDIb:ib`:b(f 5ylɮn$Alchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.756002:i DNOT Ignoring new targets: 42.74 m.2i"i<*i<% ProNav: ac range: 42.737236 m, nav range: 40.268120 m, bearing: 359.784859 deg, approach rate: -0.338735 m/s, LOS rate: 0.468717 deg/s, cmd heading: 304.218565 deg, new cmd heading: 304.571619 deg. i-sV<-HeadingCmd: 5.315778 target range: 42.737236 and range: 41.30 m.h-@h)h1h1h1g1g1jg9rg9e9re9ZeA:eA*eE@G2@uCBɢu0-)y }a.iy)ժ?=顁iiwI@IV>i>AE EEE"EV:*Ek:VEZEa@a@a@a@Y@Y @Y@e/@aIIO>aԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.010170Թ B />B HCB SIB BB =B B ɺDB @;B 6E0&,e9LAFwp@Fi@FZ[[=ٱF&=FH@|?`H??7`?e`h Ϥ?y?iFwp@IF];FCYnBynIiMb@Mb@Mb@ 9v/?yt;AGA K A)AYzAbD VD8y=%:=ٔQ->9Y=EyEE>Q 5 5 ?Q 9 5j)iBY_>Q E:ycMQ IO@DIb:ik:j 5yBɮ?AEE:i9=DNOT Ignoring new targets: 42.74 m.2i9"iEO<*iEObE Ż 4jE 4rE Ͱ/E EEE"E:*EVEZEBE,9Y=EyE ϼE>!Q 5- 5%L?Q 9- 5%ĺ)%eBY)y-OQ I5O@%DI%:i%:%Sm 5y9ɮ=A9UB*** querying acoustic contact ***iQiQ:iamDNOT Ignoring new targets: 42.74 m.2ii"im <*im <} ProNav: ac range: 42.737236 m, nav range: 40.006317 m, bearing: 0.174616 deg, approach rate: -0.320551 m/s, LOS rate: 0.486225 deg/s, cmd heading: 304.988000 deg, new cmd heading: 305.353689 deg. iv^<HeadingCmd: 5.329427 target range: 42.737236 and range: 41.30 m.h@hhhhggjgrgereZe:e*eb@ɢ4) 2i) ;=ij~i~)tI@I@ @@@I1IAOU>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763769E EE(E"E:*EVEc44ZEa@a@a@a@I =&,:LA2{֬@2ϳ@2yS=ٱ2tY'=2H@*?Y?@?= #?^/l?A?i2{֬@I2];2 CLBDAT read: Rx Time:04:31:14.8857 TRx dataTimestamp_ set to:1764909075.942585checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022021YM׀ByUyIB7>BICBFIBBB =BBʺDBn;B7EiMb@Mb@Mb@ 9v/?Q뱿Mb`?Yy\;A )CAYAbDݿVD8y[% =ٔ ɺQ->9Y=EyEqE>Q 5 5͒?Q 9 5)^BY5>Q E:yQQ IO@DI:i:wr 5yɮA:i DNOT Ignoring new targets: 42.74 m.2i"i <*i <% ProNav: ac range: 42.737236 m, nav range: 39.821754 m, bearing: 0.459803 deg, approach rate: -0.313063 m/s, LOS rate: 0.485986 deg/s, cmd heading: 305.353688 deg, new cmd heading: 305.926684 deg. i-Z^<-HeadingCmd: 5.339428 target range: 42.737236 and range: 41.30 m.h-ܪ@h1h1h1h1g1g9jg9rg=\Be9re9ZeA:eA*eE@w @mABɢ1;) 4i)7=i'iqIܪ@I @  @ @ 4@ A zA xA- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2686099 E  E E #E "E *E |:VE 3ZE BE 3gC&,DLAlC@<@.L=ٱq,=H?4?@?%?Zi??ilC@I`];C )CiTII!i%r~A %D!)!) -ƒA-94))15 ~AI5\)1i1)9I=~A==TF 99AAiAAiAA)A IIIYIYUҀByUrIbDmVDm8y}%}=ٔ}ڻQ-'?9Y=EyEE'?Q 5 5Ԓ?Q 9 5Z)ZBYyUQ IO@DIG:i2:t 5yBɮAFE:iDNOT Ignoring new targets: 42.74 m.2i"i<*i< ProNav: ac range: 42.737236 m, nav range: 39.740246 m, bearing: 0.591772 deg, approach rate: -0.307853 m/s, LOS rate: 0.499458 deg/s, cmd heading: 305.926686 deg, new cmd heading: 306.191163 deg. id<HeadingCmd: 5.344044 target range: 42.737236 and range: 41.30 m.hh@hhhhggjgrgereZe:e*e @5@Bɢ5)5< 56i1)=G6=99i=iEkpAE-A>IEh@II)DAT read: 04:31:14.8857 LVL= 25008, 32753, 32754, 32755, AGC= 60, IDX= 429,-0.42,-2.706, 1.623, 2.629, 3.015, PHS= 0.664,-1.347,-0.430, RAW= 117.1, 12.7, CAL= 118.1, 14.1, ROT= 31.9, -14.1 Ygot valid direction response: 04:31:14.8857 LVL= 25008, 32753, 32754, 32755, AGC= 60, IDX= 429,-0.42,-2.706, 1.623, 2.629, 3.015, PHS= 0.664,-1.347,-0.430, RAW= 117.1, 12.7, CAL= 118.1, 14.1, ROT= 31.9, -14.1 PDAT read: Bearing 131.1, 28.5 (Local) ~Local bearing/azimuth received: Bearing 131.1, 28.5 (Local) DAT read: Range 11 to 50 : 39.8 m (Round-trip 53.1 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.823394,0.512518,0.243615]Fpublishing direction and range infoy%>Y?-f? .?Y3Ba )<I)?ij(ܾM@b>A@ d{>)Ӈ?Id{Ӗ,? XN,? O)CcIӇ?id{T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. @  @ @ /@ aIIO>ԁ (J&,*LAr(DAT read: user:46> vBDAT read: Tx time:04:31:16.1785 z$Ping request sent.z9Y=EyEE>Q 5 5ޒ?Q 9 5)VBYyQ IO@ DI#;i/;x 5yɮJAiiLLAjB"jB:j @"p3R@@+R4@8Q#@p%>Y?-f? .?*jӇ?2jd{*p#S!C@[ &0!@pz4?<-gp?j  j Bi8v?i.TjBj8v?j E] E]E]%EY"E]O:*E]ga:VE] 4ZEYa@a@a@a@jrjBzj{@ addTargetRange:: Added new target pos. range: 39.799999 m, deltaT: 3.780034 s, deltaX: -1.500000 m, approachRate: -0.396822 m/s, rangeRepo size: 4  Added new target pos. range: 39.649338 m, bearing: 351.909186 deg, lat: 36.779407 deg, lon: -121.859627 deg, deltaT: 7.560065 s, deltaX: -3.087898 m, approachRate: -0.408449 m/s, posRepo size: 4 :i  DNOT Ignoring new targets: 39.65 m.2i "i5*i1E ProNav: ac range: 39.649338 m, nav range: 38.264782 m, bearing: 359.130112 deg, approach rate: 0.000000 m/s, LOS rate: 0.499458 deg/s, cmd heading: 306.191151 deg, new cmd heading: 306.594529 deg. iAEHeadingCmd: 5.351084 target range: 39.649338 and range: 39.80 m.hE<@hIhIhIhIgigijgqrgqeqreqZey:e}`fC@*e}@̗?ɢл) I<@Iԡ@9 Y 7A@ @@/@IIO]>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.254185 B 2>B B :IB BB =B B ɺDB ;B 7EQ&,hxDLA2@2@2!H=ٱ2J(=2Hm?n?ٜ?_+?`\?B?i2@I2l];2 CYBy\IԹiMb@Mb@Mb@ 9ʡE?L7A`尿Mb`Y>y+A  A)YGAbDVDư8y%Ӽ%%C=ٔ-DQ-->9)Y)=-Ey5E5CE5>9Q 5E 5=钊?Q 9E 5=)=PBYM>Q EM:yMTQ IMO@=ȠDI=:i=:={ 5yQɮUvAYLm uAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLLu}Entering USBL mode with 120.000000 count pings at 39.799999 m (mode 2.000000 count ).L}1M}:iDNOT Ignoring new targets: 39.65 m.2i"i<*i< ProNav: ac range: 39.649338 m, nav range: 38.130371 m, bearing: 359.345278 deg, approach rate: -0.339628 m/s, LOS rate: 0.545594 deg/s, cmd heading: 306.594542 deg, new cmd heading: 307.026381 deg. iy<HeadingCmd: 5.358621 target range: 39.649338 and range: 39.80 m.hy@hhhhggjgrgPBereZe:e*eF?颭?Bɢty/) y?i)81=顱i]bi:lu>Iy@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503134Em EiEm#Ei"Ema:*EiVEm3ZEiBEm(A ?IIO%M>9 iߝ AIߙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754405:W&,Q^LABa@B@BF=ٱB_(=BH`s??@a?7k?@= ??iBa@IB];B CY^By^]IbDjVDj8yri;%ra=ٔrQ-r>9tYt=vEyvEvEz>xQ 5 5z?Q 9 5z)zKBYyVQ IO@zΠDIz8;iz3;z~ 5y BɮAj-^@1M-qM--B*** querying acoustic contact ***i)i-x:i9EDNOT Ignoring new targets: 39.65 m.2iA"iE<*iE<} ProNav: ac range: 39.649338 m, nav range: 38.015018 m, bearing: 359.535093 deg, approach rate: -0.319605 m/s, LOS rate: 0.527512 deg/s, cmd heading: 307.026374 deg, new cmd heading: 307.407150 deg. i}Yq<HeadingCmd: 5.365267 target range: 39.649338 and range: 39.80 m.hD@hhhhggjgrgereZe:e*eiV?频ɢ;) >i).=项i1ijGj>ID@IANJκ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008147DqzDqE} EyE} Ey"E}:*EyVE}3ZEya@a@a@a@@ @@/@Ա ^A 8j>I9 II OU > ]&,KzLAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260325ԱYByXIi=Mb@Mb@Mb@9999 99=(\?v/Mb`Y=>y=xi9=A=\A = A)=-A9Y=pAbD]VD]8ym%m=ٔmQ-m>9qYq=uEyuEuE}>yQ 5 5}?Q 9 5})}DBY>Q E:yURQ IO@}֠DI};i}`;}w 5yBɮAPEjqMM:iDNOT Ignoring new targets: 39.65 m.2iB55>B1B5-IB5BB5 =B1B1B5;B5,7EBBBBBC@5"im<*im< ProNav: ac range: 39.649338 m, nav range: 37.848385 m, bearing: 359.802602 deg, approach rate: -0.314635 m/s, LOS rate: 0.507328 deg/s, cmd heading: 307.407144 deg, new cmd heading: 307.944499 deg. ih<HeadingCmd: 5.374645 target range: 39.649338 and range: 39.80 m.h@hhhhggjgrgQBere!Ze!:e!*e%`C0?qɢuH)  Ai)G+=顡irڻih~e>I@I< @  @ @ /@ !^A*b> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511334E  E E %E "E ;*E c:VE 4ZE BE @d&,LABت@Bұ@B9=ٱB=1=BH^?CG?Et?:B?`@3 ??iBت@IBg];BCYRByRQIbDZVDZ8yb %b=ٔfTQ-f ?9f"?Yf"?=fEyfEjEj ?lQ 5r 5n ?Q 9r 5n)n?BYpyv YQ IvO@nڠDIn:inG:n; 5yxɮzAxj M  Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLL Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:iDNOT Ignoring new targets: 39.65 m.2i"i(<*i(< ProNav: ac range: 39.649338 m, nav range: 37.750278 m, bearing: 359.970574 deg, approach rate: -0.303866 m/s, LOS rate: 0.521613 deg/s, cmd heading: 307.944488 deg, new cmd heading: 308.281301 deg. in<HeadingCmd: 5.380524 target range: 39.649338 and range: 39.80 m.h@-@hhhhggjgrgereZe:e*e@?颡ɢ5) Ci)ϗ)=顩iԻigI>I@-@I  uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762265AY>i>5@1 @1@5/@1@=wA@=xAq^A% j>AY Ia Iy O >ԙ % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014534j&,.LAZă@Z}@Z2=ٱZh,=ZH?م?Jnp?`Yzl?rU:? ?iZă@IZ];ZCYfByfIIbDnVDn8yv%vG=ٔz-Q-z>9xY|=~Ey~E~ϼE~>Q 5  5^?Q 9  5]):BYy[Q IO@DI;i{;щ 5yBɮ;AD5=D5=E= E=E=$E9"E=:*E=B:VE=4ZE9aE@aE@aE@aE@:iYeDNOT Ignoring new targets: 39.65 m.2ia"ie<*ie< ProNav: ac range: 39.649338 m, nav range: 37.624989 m, bearing: 0.191796 deg, approach rate: -0.315789 m/s, LOS rate: 0.559438 deg/s, cmd heading: 308.281299 deg, new cmd heading: 308.725206 deg. i<HeadingCmd: 5.388271 target range: 39.649338 and range: 39.80 m.hl@hhhhggjgrge re Ze):e)*e5y@ԉ颽>BɢU) Fi))'=iAλie?>Il@I@ @@:5@Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268168^A j>! B- :>B) B- IB- BB- =B) B- ʺDB- ;B- 87EA I I O >9 q&,LA2=<@25@2 ,=ٱ2X*=2HD~??/e?l t?qJ@N? ?i2=<@I2~];2CY>By>GIiMb@Mb@Mb@ 9`"?T㥛 MbpY>yAA ^ A)(AYGA <bDVDǰ8y-R %-F=ٔeQ->9Y=EyEE>Q 5 5?Q 9 5)4BY>Q E:y_Q IO@DI:i: 5yɮJA:iDNOT Ignoring new targets: 39.65 m.2i"i%<*i%< ProNav: ac range: 39.649338 m, nav range: 37.492840 m, bearing: 0.435677 deg, approach rate: -0.312595 m/s, LOS rate: 0.578926 deg/s, cmd heading: 308.725206 deg, new cmd heading: 309.214674 deg. i o<HeadingCmd: 5.396814 target range: 39.649338 and range: 39.80 m.h@hhhhggjgrg?BereZe!:e!*e%@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518090 )ɢ-hv)1 5Gi1)5ԁ$=11i5Ȼi=3b9=3>I=@IAEM EMEIEI"EMa:*EMxv:VEIZEIBEM(1A.AIIO>a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770121sx&,`LA Z@Z@Z֒%=ٱZ'=ZH&K??U?%A?s`鰤?m?iZ@IZ];Z CYnByr:ItvAbD-VD-ð8y=mQ%=I=ٔEQ-E>9E ?YE ?=MEyMEMEM>QQ 5] 5U)?Q 9] 5Uq)U/BYayeAbQ IeO@UDIU:iU:U 5yiɮmAiB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 39.65 m.2i"i&<*i&< ProNav: ac range: 39.649338 m, nav range: 37.372955 m, bearing: 0.663810 deg, approach rate: -0.305441 m/s, LOS rate: 0.583100 deg/s, cmd heading: 309.214685 deg, new cmd heading: 309.672404 deg. id<HeadingCmd: 5.404803 target range: 39.649338 and range: 39.80 m.h&@hhhhggjgrgereZe:e*ea$ @?BɢB|) Li)!=iKûi `  y'>I &@Iiu@q @y@}/@y^AEqbD>BDAT read: Rx Time:04:31:18.6340 TRx dataTimestamp_ set to:1764909079.719939checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024692Au؟AԑIIOe>EU EUEU%EQ"EU:*EUVL:VEU 4ZEQae@ae@ae@ae@ /~&,LA:Z@:@:m=ٱ:*=:H`?@&?XQ``@?`zL??i:Z@I:];:CTYZByZ+IbDbVDb8yj:~%jR=ٔn,Q-n>9n"?Yr"?=rEyrEr@Er>tQ 5z 5v3?Q 9~ 5vU)v*BYy dQ I O@vDIvK;iv];v^ 5y5Bɮ5A]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276995mQE:i-DNOT Ignoring new targets: 39.65 m.2iq"i<*i<BBJCBIBBB =BBB;B,7E9} ProNav: ac range: 39.649338 m, nav range: 37.255802 m, bearing: 0.893517 deg, approach rate: -0.258938 m/s, LOS rate: 0.509305 deg/s, cmd heading: 309.672417 deg, new cmd heading: 310.133264 deg. i}i<HeadingCmd: 5.412847 target range: 39.649338 and range: 39.80 m.h 6@hhhhggjgrgereZe:e*e@! @!ɢ=N)9 E/Si)U=顡i>i^e==>I 6@Ia@ @@?5@ DAT read: 04:31:18.6340 LVL= 29488, 32753, 32754, 32755, AGC= 57, IDX= 427, 0.41,-2.115, 2.151, 3.128,-2.631, PHS= 0.618,-1.456,-0.568, RAW= 115.3, 15.4, CAL= 116.3, 17.1, ROT= 33.7, -17.1 % Ygot valid direction response: 04:31:18.6340 LVL= 29488, 32753, 32754, 32755, AGC= 57, IDX= 427, 0.41,-2.115, 2.151, 3.128,-2.631, PHS= 0.618,-1.456,-0.568, RAW= 115.3, 15.4, CAL= 116.3, 17.1, ROT= 33.7, -17.1 - PDAT read: Bearing 128.0, 30.4 (Local) - ~Local bearing/azimuth received: Bearing 128.0, 30.4 (Local) = DAT read: Range 11 to 50 : 38.5 m (Round-trip 51.4 ms) speed 0.3 m/s = R#Rx 1: Read range and direction messages.E \direction in FSK: [0.795176,0.530316,0.294040]E Fpublishing direction and range infoy;r?%Z??YB0s )9I?5?i5^sh@>@ Θ>)?IΘd?,f;? c)ʉI?iΘe T****** received valid address query ******e R****** received valid ping request ******e Querying Benthos address 50 with 120 pings in terminal homing one-way mode.bE4jE4rE '0Em  Em Em #Ei "Em 2:*Em [:VEm 3ZEi BEm $*Ա AM.AIQIaOu>)&&,LA>;c@>\@>G=ٱ>i1=>Hn? U?q`N@?묿姢3?`?i>;c@I>];yAA )YA-AA-AAbDVD8y`<%#=ٔaQ->9 ?Y ?=EyE=E>Q 5 5@?Q 9 5j)$BY>Q E:yAfQ IO@DI ;iy; 5yɮAii5LAjkB"jkB:j<@"p3'ɤ>@I W4@ i9&@p;r?%Z??*j?2jΘ*p"b݌A@!WolR&@p{?:glOȿkg?jd jBi?iGjBj.ZD?j.TjBrjBzj@% addTargetRange:: Added new target pos. range: 38.500000 m, deltaT: 3.779888 s, deltaX: -1.299999 m, approachRate: -0.343925 m/s, rangeRepo size: 4 5(DAT read: user:47> =BDAT read: Tx time:04:31:19.9785 =$Ping request sent.=ImNv@Iq@ @@4@ԙ^A/[8>AII!O-> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251193E]  E] E] %EY "E] :*E] &p:VE] 4ZEY ae @ae @ae @ae @ J&,X3LA-#@-<@-=ٱ-G*=-H?r?>7s`{?qY? ?i-#@I-];-CYeBymIIu=)u9Y=EyEE>Q 5 5 K?Q 9 5)BYyI%ŵ@I!@ @@/@]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505185^A> B<>BBIBwBBBBB;B.7EAm؟AIyIO>1 Y 5&,6vMLAN>N>?Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755008]{@]߯@]k=ٱ] -=]H?@j?:{t@p?Z'̠?`H?i]{@I]Ě];YYByIE EEE"E:*Ega:VEZEBE yCףAA A)AYAbDVDy"%7=ٔ|Q->9"?Y"?=EyE㉼E>Q 5 5RV?Q 9 5+)BYS>Q E:yklQ IO@ DI:i:" 5yBɮA)[E:iDNOT Ignoring new targets: 38.35 m.2i"i<*i<5 ProNav: ac range: 38.354542 m, nav range: 36.435486 m, bearing: 354.090993 deg, approach rate: -0.327899 m/s, LOS rate: 0.551715 deg/s, cmd heading: 311.026625 deg, new cmd heading: 311.537589 deg. i5l|<5HeadingCmd: 5.437356 target range: 38.354542 and range: 38.50 m.h=@h9h9h9h9g9g9jgrg+BereZe:e*e0?>BɢrY) T^i9)E3=AAiEiM I I O >|&,=hLA:@:Ϊ@:<ٱ:6=:H Sn??@_ Qc?@' WA@צ??i:@I:];:CY^By^I ddbDjVDj8yrB<%ra=ٔrsλQ-r>9tYt=vEyvEvEz>xQ 5~ 5zp_?Q 9 5z)zBYynQ IO@zDIz;iz):zN 5y ɮA-B*** querying acoustic contact ***i)i):i9=DNOT Ignoring new targets: 38.35 m.2i9"iEi1<*iEi1 =x>=CyA%Q9%yAY-^AIIOa>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510788&,LABR?>BPBRIBRmBBR =BPBR˺DBR;BR;7E\YByIi]Mb@Mb@Mb@YYYY Y9]rh|?x&{GztY]>y]7Y]GA]\A ]A)YYY]3AbD}VD}8y<%2=ٔQ->9Y=Ey EE>Q 5 5&k?Q 9 5)BY=>Q E:ymQ IP@DIL ;i;d 5yɮA:i!-DNOT Ignoring new targets: 38.35 m.2i)"i5&<*i5&E} E}E}(Ey"E}:*E}:VE}c44ZEyBE}9xYx=zEyzEzE~?|Q 5  5s?Q 9  5x) BYyIpQ IP@DI :i:a 5yBɮTA%\E:iAMDNOT Ignoring new targets: 38.35 m.2iI"iM )<*iM )<echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015037m ProNav: ac range: 38.354542 m, nav range: 36.044369 m, bearing: 354.773547 deg, approach rate: -0.329061 m/s, LOS rate: 0.591140 deg/s, cmd heading: 312.503476 deg, new cmd heading: 312.907680 deg. im; checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266747ԁ D =D <E  E E #E "E :*E i:VE 3ZE a @a @a @a @ &,=eLAau :@uV3@u<ٱu0T=uH?"?`T!@V ?k^??iu :@IuCM^;qYtByIbDVD8yŸ% 9=ٔ ܰQ- >9 Y=EyE !E>Q 5% 5h~?Q 9- 5)BY)y-bqQ I-P@"DI:i6:: 5y1ɮ=}A9:iYeDNOT Ignoring new targets: 38.35 m.2ia"im+<*im+<} ProNav: ac range: 38.354542 m, nav range: 35.900871 m, bearing: 355.035815 deg, approach rate: -0.326001 m/s, LOS rate: 0.598208 deg/s, cmd heading: 312.907686 deg, new cmd heading: 313.434303 deg. i}و<HeadingCmd: 5.470460 target range: 38.354542 and range: 38.50 m.h@hhhhggjgrgereZe:e*e׳@ɢ&ռ) 5ei)p =iLiPD=I@IuDDAT read: Rx Time:04:31:22.1576 uTRx dataTimestamp_ set to:1764909082.995571PDAT read: Bearing 122.4, 36.3 (Local) ~Local bearing/azimuth received: Bearing 122.4, 36.3 (Local) DAT read: Range 11 to 50 : 37.5 m (trip time 25.0 ms) speed 0.2 DAT read: 04:31:22.1576 LVL= 19600, 27873, 28530, 32755, AGC= 59, IDX= 172, 0.45,-0.258,-2.230,-1.445,-0.853, PHS= 0.697,-1.332,-0.636, RAW= 109.7, 14.1, CAL= 111.4, 16.1, ROT= 38.6, -16.1 Ygot valid direction response: 04:31:22.1576 LVL= 19600, 27873, 28530, 32755, AGC= 59, IDX= 172, 0.45,-0.258,-2.230,-1.445,-0.853, PHS= 0.697,-1.332,-0.636, RAW= 109.7, 14.1, CAL= 111.4, 16.1, ROT= 38.6, -16.1 R#Rx 1: Read range and direction messages.\direction in FSK: [0.750869,0.599410,0.277315]Fpublishing direction and range infoyqur?^.?/?YuBquLuluro q)u;Iun2?iu~u"ux?ud{>u?@ @@/@ uޏ>)uiw,?IuޏqquWβ?z8M#ƿA+(@  checking for new query: numPingsReceived=1, elapsed TxPingTime=2.770795&,^LA2@2@2⴯<ٱ2>`=2H? 3? ȣ4?H-??i2@I2];0YRkByRIIV0>)V=E% E%E%%E!"E%m:*E%:VE% 4ZE!BE%VyEףEEvAE-A EA)AAYE\AbD]VD]8ym(%mR=ٔu_ƻQ-u>9Y=EyE[E>Q 5  5i?Q 9  5P)BY >Q E:yzQ IP@(DI?;i;± 5yɮAiioLAjoB"joB:ja@"p#@R- <@o!kd6@=`$@pr?^.?/?*jiw,?2jޏ*p>bQ8A@J㛊&F̧T%@p/%`8?#D¿K?j j! Biə$?iUj[Bjə$?jKzbhjrj Bzj@m addTargetRange:: Added new target pos. range: 37.500000 m, deltaT: 2.773540 s, deltaX: -1.000000 m, approachRate: -0.360550 m/s, rangeRepo size: 4  Added new target pos. range: 37.358696 m, bearing: 351.107152 deg, lat: 36.779398 deg, lon: -121.859690 deg, deltaT: 2.773540 s, deltaX: -0.995846 m, approachRate: -0.359052 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 37.36 m.2i"i*i ProNav: ac range: 37.358696 m, nav range: 35.475464 m, bearing: 354.028718 deg, approach rate: 0.000000 m/s, LOS rate: 0.598208 deg/s, cmd heading: 313.434294 deg, new cmd heading: 313.923203 deg. iHeadingCmd: 5.478993 target range: 37.358696 and range: 37.50 m.hS@hhhhggjgrg=BereZe:eB@*eௐ?ɢ<1)) 5Cii1)=(=AaimM荻iM(S=IS@I }@y @y@}/@yi]AI]AeDDAT read: Rx Time:04:31:22.6575 mTRx dataTimestamp_ set to:1764909083.499901uPDAT read: Bearing 122.1, 37.2 (Local) u~Local bearing/azimuth received: Bearing 122.1, 37.2 (Local) DAT read: Range 11 to 50 : 37.4 m (trip time 24.9 ms) speed 0.2 DAT read: 04:31:22.6575 LVL= 18624, 28993, 31282, 32755, AGC= 56, IDX= 507,-0.26,-2.638, 1.699, 2.448, 3.052, PHS= 0.695,-1.308,-0.648, RAW= 108.9, 14.2, CAL= 110.6, 16.3, ROT= 39.4, -16.3 Ygot valid direction response: 04:31:22.6575 LVL= 18624, 28993, 31282, 32755, AGC= 56, IDX= 507,-0.26,-2.638, 1.699, 2.448, 3.052, PHS= 0.695,-1.308,-0.648, RAW= 108.9, 14.2, CAL= 110.6, 16.3, ROT= 39.4, -16.3 R#Rx 2: Read range and direction messages.\direction in FSK: [0.741674,0.609218,0.280667]Fpublishing direction and range infoyae,Xʻ?! )~?rwkq?YeBaeHeAqe2z a)e8Ie1?ieleT%eH?e}>e0? e>)ex 0?Ieaae9}q?'3BfǿvkL? e G)e|Iex 0?ieaachecking for new query: numPingsReceived=2, elapsed TxPingTime=3.039645A^A õ=a A I I) O5 >0&,79LAFH@F@F<ٱFm=FHU?@F?I[?)\h6`?@?iFH@IF];DYrpByrIbDVD8y{<%B=ٔDлQ-%>9!Y)=-Ey-E5`E5>9Q 5E 5=l?Q 9E 5= )=BYAyE{Q IEP@=/DI=:i=:=Q 5QyUBɮ]A]]EiiaLAj B"j B:jOh@"prJS;@g6@J(-$@p,Xʻ?! )~?rwkq?*jx 0?2j*p_:A@VduTAy&@p-N[0?sAd0M?jä j Bi^"?ijBjjjrj4Bzj6i@ addTargetRange:: Added new target pos. range: 37.400002 m, deltaT: 0.504330 s, deltaX: -0.099998 m, approachRate: -0.198280 m/s, rangeRepo size: 4  Added new target pos. range: 37.259075 m, bearing: 351.666195 deg, lat: 36.779398 deg, lon: -121.859708 deg, deltaT: 0.504330 s, deltaX: -0.099621 m, approachRate: -0.197531 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 37.26 m.2i"i*ichecking for new query: numPingsReceived=2, elapsed TxPingTime=3.274992 ProNav: ac range: 37.259075 m, nav range: 35.550858 m, bearing: 351.672510 deg, approach rate: 0.000000 m/s, LOS rate: 0.598208 deg/s, cmd heading: 313.923199 deg, new cmd heading: 314.411620 deg. iHeadingCmd: 5.487518 target range: 37.259075 and range: 37.40 m.h@hhhhggjgrgereZe:e@3B@*eQc?颩ɢT;) fi)>W=顱ïiڰKD=I@IDAzDEAAEM EMEM$EI"EM:*EM:VEM4ZEIa]@a]@a]@a]@y@ @@/@^Aeا=AIIO> DDAT read: Rx Time:04:31:23.1574  TRx dataTimestamp_ set to:1764909084.003302 PDAT read: Bearing 121.2, 38.4 (Local)  ~Local bearing/azimuth received: Bearing 121.2, 38.4 (Local)  DAT read: Range 11 to 50 : 37.2 m (trip time 24.8 ms) speed 0.2  DAT read: 04:31:23.1574 LVL= 20368, 28017, 27986, 32755, AGC= 56, IDX= 506,-0.08,-2.353, 1.981, 2.699,-2.968, PHS= 0.717,-1.290,-0.661, RAW= 107.8, 13.8, CAL= 109.6, 15.9, ROT= 40.4, -15.9  Ygot valid direction response: 04:31:23.1574 LVL= 20368, 28017, 27986, 32755, AGC= 56, IDX= 506,-0.08,-2.353, 1.981, 2.699,-2.968, PHS= 0.717,-1.290,-0.661, RAW= 107.8, 13.8, CAL= 109.6, 15.9, ROT= 40.4, -15.9 % R#Rx 3: Read range and direction messages.M \direction in FSK: [0.732403,0.623324,0.273959]U Fpublishing direction and range infoy  Zo?VD?ψ.?Y B O qm Rm ) I P7?i  L7) ? Ϣv> G? q>) J4?I q na?h/ʿA? OY) ufv B J>B KCB IB XBB B B ̺DB ;B @7En&,LA2j@2@2<ٱ2p~=2H@I?zP?@#wU`)?֫୼ǯ?`?i2j@I2^;2 CIJ4?iqBchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.634729YNjByNIiMMb@Mb@Mb@IIII I9MV-?ˡEMbpYM>yM什MII MA)IIYMA <bDVD8y\߼%2=ٔQ->9Y=Ey"E)E>Q 5 5,?Q 9 5)BY2?Q E:y%{Q IP@6DI;iO;R 5y% Bɮ%A%fEii6LAj>B"j>B:j @"p\٭$;@t57@0aN$@pZo?VD?ψ.?*jJ4?2jq*p׆A@NєXT>&@pX2RUD?7vL5?jĒ j6 Bis %?iD1jBjjjBrj Bzj@ addTargetRange:: Added new target pos. range: 37.200001 m, deltaT: 0.503401 s, deltaX: -0.200001 m, approachRate: -0.397299 m/s, rangeRepo size: 4  Added new target pos. range: 37.060585 m, bearing: 352.545602 deg, lat: 36.779398 deg, lon: -121.859708 deg, deltaT: 0.503401 s, deltaX: -0.198490 m, approachRate: -0.394298 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 37.06 m.2i"i*i ProNav: ac range: 37.060585 m, nav range: 35.397472 m, bearing: 351.947834 deg, approach rate: 0.000000 m/s, LOS rate: 0.598208 deg/s, cmd heading: 314.411612 deg, new cmd heading: 314.967987 deg. iHeadingCmd: 5.497229 target range: 37.060585 and range: 37.20 m.hL@h!h)h)h)g)g)jg1rg5PBe1re1Ze1:e=B@*e=`B?颡ɢܼ) ii)j=顩iYiw4I#d=IL@Ichecking for new query: numPingsReceived=3, elapsed TxPingTime=3.778936!Ee EeEe(Ea"Ee2:*Eec:VEec44ZEaBEe$*\&,?!LA6Ygot valid direction response: 04:31:23.6572 LVL= 19216, 27233, 28242, 32755, AGC= 55, IDX= 504, 0.08,-2.417, 1.914, 2.603,-3.051, PHS= 0.736,-1.274,-0.674, RAW= 106.9, 13.5, CAL= 108.6, 15.5, ROT= 41.4, -15.5 6R#Rx 4: Read range and direction messages.>\direction in FSK: [0.722830,0.637260,0.267238]>Fpublishing direction and range infoy l!?=:ʳod?֚n?YBKajRn )7Ij_? c>)8?Ic9GN?*4̿2(L ? <j)pI8?icchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.084422ԉ @ @ =e<ٱ ׉= Hs?R?@?sZ?d@7? ?i @I  ^;  CY%_By%IbD=VD=8yMZZ%MF=ٔUQ-U>9QYY=]Ey]&E]E]>Q 5 5 ?Q 9 5,)BYyU{Q IP@=DI:i : 5yɮ]Aii5z LAj B"j B:jk@"pLҌ:@Us[Am7@#@p l!?=:ʳod?֚n?*j8?2jc*plA@^K@}/, S&@p&&U?%C 躻2(?j~ je BiR?iR_}jaBj^"?jjrj BzjG@ addTargetRange:: Added new target pos. range: 36.900002 m, deltaT: 0.504157 s, deltaX: -0.299999 m, approachRate: -0.595051 m/s, rangeRepo size: 4  Added new target pos. range: 36.761711 m, bearing: 353.481350 deg, lat: 36.779398 deg, lon: -121.859708 deg, deltaT: 0.504157 s, deltaX: -0.298874 m, approachRate: -0.592819 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 36.76 m.2i"i*i ProNav: ac range: 36.761711 m, nav range: 35.230541 m, bearing: 352.197527 deg, approach rate: 0.000000 m/s, LOS rate: 0.598208 deg/s, cmd heading: 314.967999 deg, new cmd heading: 315.486835 deg. iHeadingCmd: 5.506284 target range: 36.761711 and range: 36.90 m.h{3@hh!h!h!g!g!jg)rg)e)re)Ze):e5@3sB@*e5@*?yɢ}) oi)<顁iH6|iF$H=ԱI{3@II)=@9 @A@E/@A@M=@M=^A%Pz=Uchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.287648E EE&E"E:*EVL:VE4ZEa@a@a@a@AQ Ia Iq O} > &,>A;LA2@2ޮ@2 ?<ٱ2e=2H ?*S?f@&]R?@ᇿ`y?`?i2@I2#^;2CYBbByBIbDJVDJ8yf<%fh=ٔfٻQ-f>9hYh=jEyj*EnEn>pQ 5v 5r?Q 9v 5r)rBYxyzn{Q IzP@rBDIr:ir:r 5y|ɮ~?AB*** querying acoustic contact ***ii:i)-DNOT Ignoring new targets: 36.76 m.2i)"i5S<<*i5S<))BLCBIBSBB =BBB;BL7E@ @)@%00@1 *.8?р%Ϳl΅? (u)qI) &,.ULAv@v]@v\<ٱvL=vH?)L?@Y`?`b٭`낿N?P?iv@Ivx=^;vCYQByIIiMb@Mb@Mb@ 9K?ʡE{GztY^>y-ףAA GA)YBAbD %VD ϰ8y7%*=ٔQ->9!Y!=%Ey%.E-:E->1Q 5= 55?Q 9= 552)5BY=P>Q E=:y= ~Q IEP@5JDI5:i5:55 5yM BɮMAMgEii@LAj B"j B:j@"pMzY+::@^]7@J#@pRp5?.TB?]^|5?*j)|? ԇ>)t;??Iԇ4.?P=οb@? 34)'lIt;??iԇEchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.092588@ @@/@ԩ^Ae 3=Aa zAa A I I O > 2&,nLA2D@2@2v;ٱ2W=2H ?]F?`@sIV?c\zHe??i2D@I2Y^;2CYROByRIbDZGVDZ8yv%vw=ٔvBQ-v?9xYx=zEyz2Ez:E~?checking for new query: numPingsReceived=6, elapsed TxPingTime=5.290917!Q 5- 5%Ŀ?Q 9- 5%!)%BY)y-}Q I-P@%ODI%:i%:%# 5yYɮ]AYii1#aLAjB"jB:j2@"pnj9@"fb7@j#@p )hp?7D?;f$?*jt;??2jԇ*pb5EA@\gŬ1AV&@pl== P?J!+µ-Dm?jXF j) Bip?i`sjזBj^"?jR_}jזBrj Bzj@% addTargetRange:: Added new target pos. range: 36.599998 m, deltaT: 0.505898 s, deltaX: -0.300003 m, approachRate: -0.593011 m/s, rangeRepo size: 4 U Added new target pos. range: 36.462982 m, bearing: 354.872911 deg, lat: 36.779398 deg, lon: -121.859699 deg, deltaT: 0.505898 s, deltaX: -0.298882 m, approachRate: -0.590794 m/s, posRepo size: 4 :iQ]DNOT Ignoring new targets: 36.46 m.2iY"iY*iYm ProNav: ac range: 36.462982 m, nav range: 34.763912 m, bearing: 354.222352 deg, approach rate: 0.000000 m/s, LOS rate: 0.658592 deg/s, cmd heading: 316.546702 deg, new cmd heading: 317.014181 deg. iiE} E}E}&Ey"E}:*E}[:VE}4ZEya@a@a@a@HeadingCmd: 5.532941 target range: 36.462982 and range: 36.60 m.h @hhhhggjgrgereZe:eLB@*ea?ԱɢZU) =wi)7<iNw_i%@!%B KCB IB IBB =B B B ;B U7EI I O% > )I>?iV2?,m>^? >)\wA?Is18?jϿ~*ƀ? 09 &,ӈLA)-h*nI-\wA?i-))checking for new query: numPingsReceived=7, elapsed TxPingTime=5.666798f@f@f p;ٱfV=fH? :? ԁ9Y=Ey7Ec;E>Q 5 5ʓ?Q 9 5C')BY?Q E:yQ IP@WDIs:i:1 5y ɮ-A1i)i-ϾLAj-B"j-B:j-݃@"p-W6=C9@E=8@2Ɲx#@p-k;s?"Q(?<?*j-\wA?2j-*p-A9UA@>C h'XS7'@p-ïA?8/W3ZNAC?j-0 j- Bi-3?i-oj-Bj-s %?j-2_|zj)rj- Bzj-q"@ addTargetRange:: Added new target pos. range: 36.799999 m, deltaT: 0.509498 s, deltaX: 0.200001 m, approachRate: 0.392545 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=7, elapsed TxPingTime=5.794919 Added new target pos. range: 36.662098 m, bearing: 355.439903 deg, lat: 36.779398 deg, lon: -121.859698 deg, deltaT: 0.509498 s, deltaX: 0.199116 m, approachRate: 0.390808 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 36.66 m.2i"i!*i!U ProNav: ac range: 36.662098 m, nav range: 34.635616 m, bearing: 354.758531 deg, approach rate: 0.000000 m/s, LOS rate: 0.658592 deg/s, cmd heading: 317.014187 deg, new cmd heading: 317.615201 deg. iQ]HeadingCmd: 5.543431 target range: 36.662098 and range: 36.80 m.h]c@hYhYhYhYgYgYjgarge?BereZe:e`ffB@*e 5?ɢ$3) wi)f<iUi `=  } DDAT read: Rx Time:04:31:25.6569  TRx dataTimestamp_ set to:1764909086.524648 PDAT read: Bearing 118.7, 43.0 (Local)  ~Local bearing/azimuth received: Bearing 118.7, 43.0 (Local)  DAT read: Range 11 to 50 : 36.5 m (trip time 24.3 ms) speed 0.2 E DAT read: 04:31:25.6569 LVL= 21632, 32753, 32754, 32755, AGC= 53, IDX= 501, 0.03,-2.476, 1.885, 2.501,-3.130, PHS= 0.755,-1.223,-0.696, RAW= 104.9, 13.1, CAL= 106.3, 15.1, ROT= 43.7, -15.1 I&,/LA6X @6@6l:ٱ6=6H?-?@C@?P U@I??i6X @I6];4YnLBynI vy? V>)@C?IVj}?v@P<пA!? )eiI@C?iVchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.103161bDvVDv8ym$k%uQ=ٔuQ-u>9yYy=}Ey};E};E>Q 5 5ӓ?Q 9 5+)BYyLQ IP@]DI:i-: 5yBɮAhEiiՓLAjsB"jsB:j@"p;<$ɷa9@5ZA8@JL_"@pRЇV?r?KX?QfJ0?*j@C?2jV*pRG]3A@wr'@p$ZF?H-]a[RD?j+ j Bi;8'?ikjTBj;8'?j`sj"Brj BzjT@M addTargetRange:: Added new target pos. range: 36.500000 m, deltaT: 0.497377 s, deltaX: -0.299999 m, approachRate: -0.603163 m/s, rangeRepo size: 4 ] Added new target pos. range: 36.363224 m, bearing: 355.943145 deg, lat: 36.779398 deg, lon: -121.859695 deg, deltaT: 0.497377 s, deltaX: -0.298874 m, approachRate: -0.600900 m/s, posRepo size: 4 :iYamDNOT Ignoring new targets: 36.36 m.2ii"ii*ii} ProNav: ac range: 36.363224 m, nav range: 34.512821 m, bearing: 355.478113 deg, approach rate: 0.000000 m/s, LOS rate: 0.658592 deg/s, cmd heading: 317.615189 deg, new cmd heading: 318.130321 deg. iyHeadingCmd: 5.552422 target range: 36.363224 and range: 36.50 m.hp@hhhhggjgrgereZe:e@B@*el?)ɢ-L/)) -yi))5cM<11i5Li=U;9=1^n&,MLA6 #@6V@63豺ٱ69=6H ??s2@?=V?b?`?i6 #@I6߿];4LYRMByRITVAbD^ VD^8yf;%fj=ٔfUQ-f?9hYh=jEyj>En <En?pQ 5v 5rۓ?Q 9v 5r/)rBYxyz‿Q IzP@rcDIr:irB:r 5y|ɮ~AB*** querying acoustic contact ***ii:i)-DNOT Ignoring new targets: 36.36 m.2i)"i5&Q<*i5&Q  >)I >?ZIпַTT? N)WhIi ^A<5checking for new query: numPingsReceived=9, elapsed TxPingTime=6.606562BR>BMCBIB?BB =BBBÀ;Bh7EIIOm5>- checking for new query: numPingsReceived=9, elapsed TxPingTime=6.8027811 E  E E E "E :*E VE ZE BE q%9Y=EyCEE>Q 5  5瓊?Q 9  5=5)BY n?Q E :y vyQ IP@kDIz ;i; 5yBɮaAqEiiLAjB"jB:j@"pWJCA9@o V"8@w^"@pX?&%Z?V!}?*j2j *pڈA@XjֿǛR/'@p[ތ=?$Rς/Ӄ?j jBin'?ijrjwBjn'?jjrjTBrj Bzj@m addTargetRange:: Added new target pos. range: 36.299999 m, deltaT: 0.504212 s, deltaX: -0.200001 m, approachRate: -0.396660 m/s, rangeRepo size: 4 } Added new target pos. range: 36.164619 m, bearing: 356.077003 deg, lat: 36.779398 deg, lon: -121.859694 deg, deltaT: 0.504212 s, deltaX: -0.198605 m, approachRate: -0.393891 m/s, posRepo size: 4 :iyDNOT Ignoring new targets: 36.16 m.2i"i*i ProNav: ac range: 36.164619 m, nav range: 34.256317 m, bearing: 356.077019 deg, approach rate: 0.000000 m/s, LOS rate: 0.731407 deg/s, cmd heading: 318.618134 deg, new cmd heading: 319.317522 deg. iHeadingCmd: 5.573142 target range: 36.164619 and range: 36.30 m.h.W@hhhhggjgrg3BereZe:e`f&B@*e`W?ɢ%*) /{i)<i;ig565;I.W@I!a@i @qDDAT read: Rx Time:04:31:26.6566 TRx dataTimestamp_ set to:1764909087.534423PDAT read: Bearing 118.3, 43.8 (Local) ~Local bearing/azimuth received: Bearing 118.3, 43.8 (Local) DAT read: Range 11 to 50 : 36.0 m (trip time 24.0 ms) speed 0.2 @q@DAT read: 04:31:26.6566 LVL= 19520, 29297, 30514, 32755, AGC= 55, IDX= 500,-0.45, 2.813, 0.884, 1.495, 2.157, PHS= 0.758,-1.228,-0.706, RAW= 104.7, 13.1, CAL= 106.1, 15.2, ROT= 43.9, -15.2 %Ygot valid direction response: 04:31:26.6566 LVL= 19520, 29297, 30514, 32755, AGC= 55, IDX= 500,-0.45, 2.813, 0.884, 1.495, 2.157, PHS= 0.758,-1.228,-0.706, RAW= 104.7, 13.1, CAL= 106.1, 15.2, ROT= 43.9, -15.2 %T#Rx 10: Read range and direction messages.-\direction in FSK: [0.695344,0.669144,0.262189]-Fpublishing direction and range infoyLaA@?ج*i?;f$?YB@Lqr2w )Ii/j4? j>? ԇ>)%D?Iԇ0+?I_vп? ڈ)jI%D?iԇ checking for new query: numPingsReceived=10, elapsed TxPingTime=7.105039I^A }<I I O >Ա &, ?LA2\@2U@2<ܻٱ2=2H@4?0? R ? E4@{?֑??i2\@I2];0YNDByRITVAAbDZ4VDZܰ8yf%fu=ٔfQ-j?9hYh=jEyjFErchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.306904nެ<Ev?xQ 5~ 5z?Q 9~ 5z9)z݇BYywQ IP@zqDIz;izr;z 5y Bɮ A rEii3LAjvB"jvB:j '@"p{N=c8@=z7@ʥ"@pLaA@?ج*i?;f$?*j%D?2jԇ*pF@@@V|?\2(@p.;?nwHĬ0Nn?j jBi ?i enjIBj;8'?jojwBrjBzj@] addTargetRange:: Added new target pos. range: 36.000000 m, deltaT: 0.505563 s, deltaX: -0.299999 m, approachRate: -0.593396 m/s, rangeRepo size: 4 m Added new target pos. range: 35.865738 m, bearing: 356.581201 deg, lat: 36.779398 deg, lon: -121.859693 deg, deltaT: 0.505563 s, deltaX: -0.298882 m, approachRate: -0.591186 m/s, posRepo size: 4 :iiuDNOT Ignoring new targets: 35.87 m.2iq"iq*iqy ProNav: ac range: 35.865738 m, nav range: 34.133923 m, bearing: 356.490436 deg, approach rate: 0.000000 m/s, LOS rate: 0.731407 deg/s, cmd heading: 319.317518 deg, new cmd heading: 319.807888 deg. iHeadingCmd: 5.581701 target range: 35.865738 and range: 36.00 m.hK@hhhhggjgrgereZe:eB@*eN}?ɢ@P) -}i)<i3i|3IK@II)E] E]EYEY"E]:*E]1]:VEYZEYae@ae@ae@ae@@ @@/@^Av<ԡI IO%,>DDAT read: Rx Time:04:31:27.1566 TRx dataTimestamp_ set to:1764909088.036975PDAT read: Bearing 117.7, 44.2 (Local) ~Local bearing/azimuth received: Bearing 117.7, 44.2 (Local) DAT read: Range 11 to 50 : 36.0 m (trip time 24.0 ms) speed 0.2  DAT read: 04:31:27.1566 LVL= 21488, 28097, 31522, 32755, AGC= 55, IDX= 499,-0.15, 2.067, 0.137, 0.747, 1.403, PHS= 0.766,-1.220,-0.700, RAW= 104.6, 12.9, CAL= 106.0, 14.9, ROT= 44.0, -14.9  Ygot valid direction response: 04:31:27.1566 LVL= 21488, 28097, 31522, 32755, AGC= 55, IDX= 499,-0.15, 2.067, 0.137, 0.747, 1.403, PHS= 0.766,-1.220,-0.700, RAW= 104.6, 12.9, CAL= 106.0, 14.9, ROT= 44.0, -14.9  T#Rx 11: Read range and direction messages. \direction in FSK: [0.695153,0.671301,0.257133] Fpublishing direction and range infoy>?~' L{?Fht?YSm"{ )ID?i(333?f>h? %>) D?I%Ai Am ?AB U>B B B B =B B ͺDB ;B 7EBULCBULCBQBU =BU =CU 5 ? пF? h)AfI D?i% checking for new query: numPingsReceived=11, elapsed TxPingTime=7.6545011i&, LA2{@2t@2ٱ2 =2H6J?`T?`]E.? _ӂ???i2{@I2];2CYNEByNIiMb@Mb@Mb@ 9~jt? ףp= Mb`Y?yQA A)\AYAbD%VD%8y5;%U6=ٔUHQ-]>9YYY=]Ey]KEe<Ee>iQ 5 5mO?Q 9 5m/>)m܇BY?Q E:yxQ IP@mxDIm;im%;m 5yɮAii]LAj"j:jS@"pR?%8@<Ȅ8@eoq"@p>?~' L{?Fht?*j D?2j%*p`5@@N[O[-(@p~:lX?,#E& Z=j?jx jBi:?ii]njGBjji]njBrjBzjV@U addTargetRange:: Added new target pos. range: 36.000000 m, deltaT: 0.502552 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 35.866035 m, bearing: 356.893159 deg, lat: 36.779398 deg, lon: -121.859692 deg, deltaT: 0.502552 s, deltaX: 0.000298 m, approachRate: 0.000592 m/s, posRepo size: 4 :iaeDNOT Ignoring new targets: 35.87 m.2ia"i*i ProNav: ac range: 35.866035 m, nav range: 33.985077 m, bearing: 356.910273 deg, approach rate: 0.000000 m/s, LOS rate: 0.731407 deg/s, cmd heading: 319.807898 deg, new cmd heading: 320.486921 deg. iHeadingCmd: 5.593552 target range: 35.866035 and range: 36.00 m.ha@hhhhchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.810929ggjgrgJBereZe:e*e!?IɢU*!)Q Uv|iQ)UjM A} .AI I O >&,$LA G\>)IG\ (\?Nп͘*? \)+cIiG\2checking for new query: numPingsReceived=12, elapsed TxPingTime=8.111600v@v@vAٱv=vHzb?`?@S N@GF? }`#?ɼ?w?iv@Iv^;vCY9 ?Y ?=EyOE)<E> Q 5 5 ?Q 9 5 B) ڇBYylwQ IP@ DI f:i : ; 5yIɮMAIii"LAjDB"jDB:jlt@"pV8@H:S7@~ "@po.C? N_?N=?*j2jG\*pB@@SK§n2'@pl2S? r5zD5?jE׿ jBiC ?i^ oj!Bj:?jj!BrjBzj|@ addTargetRange:: Added new target pos. range: 35.700001 m, deltaT: 0.507126 s, deltaX: -0.299999 m, approachRate: -0.591567 m/s, rangeRepo size: 4  Added new target pos. range: 35.567154 m, bearing: 357.122397 deg, lat: 36.779396 deg, lon: -121.859692 deg, deltaT: 0.507126 s, deltaX: -0.298882 m, approachRate: -0.589363 m/s, posRepo size: 4 :i  DNOT Ignoring new targets: 35.57 m.2i "i*iE ProNav: ac range: 35.567154 m, nav range: 33.668022 m, bearing: 357.180395 deg, approach rate: 0.000000 m/s, LOS rate: 0.731407 deg/s, cmd heading: 320.486929 deg, new cmd heading: 321.081047 deg. iAMHeadingCmd: 5.603921 target range: 35.567154 and range: 35.70 m.hMSS@hIhIhIhIgIgQjgQrgQeQreYZeY:e]A@*e}b?ɢ%L@)! %i!)-<))i-V$i5>-9=jI=SS@IY@ @@@checking for new query: numPingsReceived=12, elapsed TxPingTime=8.314984^Ayb]:E EE(E"E:*ErN:VEc44ZEa@a@a@a@1AIIO>Q &,F>LA2[Ĩ@2@2'lٱ2bK=2H@}?א?䷿ `?u???i2[Ĩ@I2];2CYB@ByBIbDJVDJ8yf<%f^=ٔfQ-f>9hYh=jEyjSEnQ<En>tQ 5} 5v?Q 9 5vF)tYy0vQ IP@vDIvLBBBB =BBB;B7Eii+ һIÝ@Iqiu>q@ @@/@ԉ checking for new query: numPingsReceived=13, elapsed TxPingTime=8.818727^A rg:E%  E% E% %E! "E% :*E% L_:VE% 4ZE! BE% q%F&,HPZLAY57By5I9=AԩiMb@Mb@Mb@ 9y&1?sh|?{GztY`?yף3 AVA A)YpAbDVD8yf%.=ٔQ->9"?Y"?=EyWEE>Q 5 5?Q 9  59L)؇BY ?Q E :y rrQ IP@DI ;i ; 5yBɮAsE:iAEDNOT Ignoring new targets: 35.57 m.2iA"iM^<*iM^<] ProNav: ac range: 35.567154 m, nav range: 33.398273 m, bearing: 357.772548 deg, approach rate: -0.354590 m/s, LOS rate: 0.776678 deg/s, cmd heading: 321.601670 deg, new cmd heading: 322.270167 deg. i]iEq=ʿEVnE"?@ @@/@EB>E? Er>)E8?IErAAEbê?i__[ƿ@m0? EoD)E> ӾIE8?iErAAchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.127907^Au AIIO>1  checking for new query: numPingsReceived=14, elapsed TxPingTime=9.322834k&, tLA2@2@27ٱ2B>2H½?D?} ?z ?=9Y=Ey[E<E>Q 5 5L%?Q 9 5P)ׇBYyoQ IP@DII;i#; 5yBɮA|Eiyi}4cLAj} B"j} B:j}k@"p}d(NC7@o4@2<60@p}#pk?Q?1*?*j}8?2j}r*p}ު!=@DB” &mצ3@p}jQ?ny5;?j}L j} Ai}?i}絤j}ܧBj} ?j}^ oj}GBrj}}Bzj}@u addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 0.506941 s, deltaX: -0.299999 m, approachRate: -0.591783 m/s, rangeRepo size: 4  Added new target pos. range: 35.268364 m, bearing: 353.709255 deg, lat: 36.779395 deg, lon: -121.859693 deg, deltaT: 1.005954 s, deltaX: -0.298790 m, approachRate: -0.297022 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 35.27 m.2i"i*i ProNav: ac range: 35.268364 m, nav range: 33.122345 m, bearing: 357.997948 deg, approach rate: 0.000000 m/s, LOS rate: 0.776678 deg/s, cmd heading: 322.270154 deg, new cmd heading: 322.903639 deg. iHeadingCmd: 5.635732 target range: 35.268364 and range: 35.40 m.hW@hhhhggjgrgereZe:e@3A@*e /?E@BɢM4kM)  i ) Ԇ<  i =2i%BNCBBB =BBBB7E^A -»A ?A >ԙ A I I) O5 >#&,GˏLA2dN@2G@2Tٱ2>2H ;? ?Nx?_?C?{? .?i2dN@I2w];2Cԑchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.826835Y9Y=EyaE$<E>Q 5 554?Q 9 5V)ևBYA?Q E:ynQ IP@DI ;iX: 5y!Bɮ'A}E addTargetRange:: Added new target pos. range: 35.599998 m, deltaT: 0.500853 s, deltaX: 0.199997 m, approachRate: 0.399313 m/s, rangeRepo size: 4 :i%DNOT Ignoring new targets: 35.27 m.2i!"i%P<*i%P<5 ProNav: ac range: 35.268364 m, nav range: 32.938042 m, bearing: 358.399635 deg, approach rate: -0.333295 m/s, LOS rate: 0.730473 deg/s, cmd heading: 322.903641 deg, new cmd heading: 323.711451 deg. i=<=HeadingCmd: 5.649831 target range: 35.268364 and range: 35.60 m.h=j˴@hAhAhAhAgAgAjgIrgMVBeIreIZeQ:eUA@*eU`6?颁ɢU*) i)<顉i5 i#"穼Ij˴@I @  @@/@^A ]nu DDAT read: Rx Time:04:31:29.6561 } TRx dataTimestamp_ set to:1764909090.556698 PDAT read: Bearing 115.8, 45.5 (Local)  ~Local bearing/azimuth received: Bearing 115.8, 45.5 (Local)  DAT read: Range 11 to 50 : 35.3 m (trip time 23.5 ms) speed 0.2  DAT read: 04:31:29.6561 LVL= 19392, 32337, 32546, 32755, AGC= 53, IDX= 510,-0.01, 1.829,-0.084, 0.526, 1.140, PHS= 0.791,-1.179,-0.657, RAW= 104.8, 11.8, CAL= 106.2, 13.5, ROT= 43.8, -13.5  Ygot valid direction response: 04:31:29.6561 LVL= 19392, 32337, 32546, 32755, AGC= 53, IDX= 510,-0.01, 1.829,-0.084, 0.526, 1.140, PHS= 0.791,-1.179,-0.657, RAW= 104.8, 11.8, CAL= 106.2, 13.5, ROT= 43.8, -13.5  T#Rx 16: Read range and direction messages. \direction in FSK: [0.701818,0.673019,0.233445] Fpublishing direction and range infoyy } |Ju?XJ_?%E?Y} 3 By } K} Q~} " y )} 5I} ~J?i} y閿} '1(}  ?} BR>} @? } :Fq>)} EC?I} :Fqy y } \:?$|bhпxǞ/? } @)} ERI} EC?i} :Fqy y  checking for new query: numPingsReceived=16, elapsed TxPingTime=10.097203 Aq I I O >)&,ꗩLA2'@2sy@2-Լٱ2>2H`{?X?@*;T?su??@?i2'@I2L];2C 8):E~A888<F \? |o>) \B?I |o <>jF?\JܥпVmm? "7) ]QI O >&1&,(LAI \B?i |o checking for new query: numPingsReceived=17, elapsed TxPingTime=10.6053976@6ү@6fٱ6>6H%?a??P`` ?F( Q???i6@I6];6CB~\>B|B~IB~DBB|B|B~κDB~ ;B~7EԱYE7ByMIbDCVD8y[%=ٔQ->9Y=EyiE6R<E>Q 5 5CI?Q 9 5w_)YyjQ IP@DI|:i: 5yɮOAi i LAj "j :j pP@"p ]Q8@6V7@;L @p p~?v{m?] A?*j \B?2j |o*p lOь@@Ӷ f>ύ'@p L?\t@?j F j fBi .?i msj Bj :?j oj !Brj QBzj s@m addTargetRange:: Added new target pos. range: 35.299999 m, deltaT: 0.502757 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 35.169132 m, bearing: 358.661217 deg, lat: 36.779396 deg, lon: -121.859693 deg, deltaT: 0.502757 s, deltaX: 0.000183 m, approachRate: 0.000364 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 35.17 m.2i"i*i ProNav: ac range: 35.169132 m, nav range: 32.829498 m, bearing: 358.903343 deg, approach rate: 0.000000 m/s, LOS rate: 0.730473 deg/s, cmd heading: 324.160341 deg, new cmd heading: 324.889112 deg. iHeadingCmd: 5.670385 target range: 35.169132 and range: 35.30 m.hs@hhhhggjgrgereZe:e*ep?]BBɢ]f?)a eia)eޏy8&,΋LA"DDAT read: Rx Time:04:31:30.6559 "TRx dataTimestamp_ set to:1764909091.563404&PDAT read: Bearing 116.7, 45.6 (Local) *~Local bearing/azimuth received: Bearing 116.7, 45.6 (Local) 2DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed 0.2 VDAT read: 04:31:30.6559 LVL= 18704, 32753, 32754, 32755, AGC= 54, IDX= 508, 0.44, 2.417, 0.498, 1.120, 1.730, PHS= 0.789,-1.187,-0.653, RAW= 105.1, 11.8, CAL= 106.5, 13.6, ROT= 43.5, -13.6 vV)@v"@-Ygot valid direction response: 04:31:30.6559 LVL= 18704, 32753, 32754, 32755, AGC= 54, IDX= 508, 0.44, 2.417, 0.498, 1.120, 1.730, PHS= 0.789,-1.187,-0.653, RAW= 105.1, 11.8, CAL= 106.5, 13.6, ROT= 43.5, -13.6 -T#Rx 18: Read range and direction messages.5\direction in FSK: [0.705036,0.669054,0.235142]5Fpublishing direction and range infoy " Ӧ?C)h?#?Y" B "I"" ) I i""+' "BR> "s>) I"s "L?E?<п\J? "uƄ)"SI i"s v ٱvf>vH`1s?Qu? @![??U??ivV)@Iv];vC checking for new query: numPingsReceived=18, elapsed TxPingTime=11.135738YM:ByMIiMb@Mb@Mb@ 9RQ?+MbY?y AA -A)AYpAbD)VD)ye3<%e-=ٔm`MQ-m>9iYq=uEyunE}S<E}>Q 5 5&V?Q 9 5~d)Y?Q E:yaeQ IP@DI^;i; 5y$BɮRA~Ei i"LAj"{ B"j"{ B:j"1@"p"~ 8@wT7@#  f @p" Ӧ?C)h?#?*j 2j"s*p"*g[@@ʿPҿ6@TC"(@p"9)v?KN πљF&?j" j"Bi",?i"lj"\Bj",?j j rj"Bzj"b@ addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 0.503949 s, deltaX: -0.299999 m, approachRate: -0.595297 m/s, rangeRepo size: 4  Added new target pos. range: 34.870247 m, bearing: 359.498773 deg, lat: 36.779397 deg, lon: -121.859693 deg, deltaT: 0.503949 s, deltaX: -0.298885 m, approachRate: -0.593086 m/s, posRepo size: 4 :iTStopped intercept timer at range: 35.00 m.DNOT Ignoring new targets: 34.87 m.2i"i*i% ProNav: ac range: 34.870247 m, nav range: 32.717030 m, bearing: 359.234355 deg, approach rate: 0.000000 m/s, LOS rate: 0.730473 deg/s, cmd heading: 324.889122 deg, new cmd heading: 325.603000 deg. i!-HeadingCmd: 5.682844 target range: 34.870247 and range: 35.00 m.h-ٵ@h)hIhIhIgQgQjgQrgUNBeYreYZeY:e]A@*ee`L?MCBɢMC)I MBiI)U GA U ka @i  @i @m /@q E  E E "E "E :*E T:VE (3ZE a @a @a @a @9Q Y =gA@- =@) y} L?} Ai ^A&ּDDAT read: Rx Time:04:31:31.1559 TRx dataTimestamp_ set to:1764909092.067353PDAT read: Bearing 116.9, 45.6 (Local) ~Local bearing/azimuth received: Bearing 116.9, 45.6 (Local) DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed 0.2 DAT read: 04:31:31.1559 LVL= 19808, 32545, 32322, 32755, AGC= 54, IDX= 508,-0.23, 0.842,-1.072,-0.444, 0.157, PHS= 0.787,-1.185,-0.645, RAW= 105.3, 11.8, CAL= 106.8, 13.5, ROT= 43.2, -13.5 Ygot valid direction response: 04:31:31.1559 LVL= 19808, 32545, 32322, 32755, AGC= 54, IDX= 508,-0.23, 0.842,-1.072,-0.444, 0.157, PHS= 0.787,-1.185,-0.645, RAW= 105.3, 11.8, CAL= 106.8, 13.5, ROT= 43.2, -13.5 T#Rx 19: Read range and direction messages.\direction in FSK: [0.708827,0.665633,0.233445]Fpublishing direction and range infoyMMWK?FL?%E?Y`M!B~ )IxI?i%>?? :Fq>)A?I:FqUhN?DxuxԨϿ3"-? 7ʂ)RIA?i:Fq=checking for new query: numPingsReceived=19, elapsed TxPingTime=11.611029AB^>BBBBBBB;B7E=PExceeded connect timeout, disconnecting.AIIqIO?B&,|* LA@Ym7ByuIiuMb@Mb@Mb@qqqq q9u}?5^I?{GzMbYuM?yuףqu Au A uA)uAqYuAbD7VD߰8y% =ٔQ->ԩ9Y=EytEE>Q 55%f?Q 95j)Y?Q E:ymfQ IP@DI#;i"";'5yɮdAiAiEO LAjA"jA:jE@"pEE󣟑8@157@l1G @pEMMWK?FL?%E?*jEA?2jE:Fq*pE3Gu^@@vџ[ݿPY'@pE=! ?6|Kr?jE jEBiEa,?iEvjE7BjEZ ?jEmsjE7BrjE\BzjE@% addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 0.503949 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 34.870369 m, bearing: 359.197236 deg, lat: 36.779397 deg, lon: -121.859695 deg, deltaT: 0.503949 s, deltaX: 0.000122 m, approachRate: 0.000242 m/s, posRepo size: 4 :i1=DNOT Ignoring new targets: 34.87 m.2i9"i9*iAU ProNav: ac range: 34.870369 m, nav range: 32.590778 m, bearing: 359.396743 deg, approach rate: 0.000000 m/s, LOS rate: 0.730473 deg/s, cmd heading: 325.602986 deg, new cmd heading: 326.433635 deg. iQUHeadingCmd: 5.697342 target range: 34.870369 and range: 35.00 m.h]P@hYhYhYhYgYmchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.842917gYjgqrguVBeqreqZeq:ey*e}`5?颥DBɢ,:) "i)|<顱iiIP@IYE EE#E"E:*ER:VE3ZEBE' DDAT read: Rx Time:04:31:31.6557 % TRx dataTimestamp_ set to:1764909092.571300- PDAT read: Bearing 117.2, 45.4 (Local) - ~Local bearing/azimuth received: Bearing 117.2, 45.4 (Local) = DAT read: Range 11 to 50 : 34.7 m (trip time 23.1 ms) speed 0.2 e DAT read: 04:31:31.6557 LVL= 19264, 29617, 29666, 32755, AGC= 54, IDX= 506,-0.03, 0.226,-1.694,-1.051,-0.458, PHS= 0.785,-1.191,-0.637, RAW= 105.8, 11.8, CAL= 107.2, 13.5, ROT= 42.8, -13.5 m Ygot valid direction response: 04:31:31.6557 LVL= 19264, 29617, 29666, 32755, AGC= 54, IDX= 506,-0.03, 0.226,-1.694,-1.051,-0.458, PHS= 0.785,-1.191,-0.637, RAW= 105.8, 11.8, CAL= 107.2, 13.5, ROT= 42.8, -13.5 m T#Rx 20: Read range and direction messages.u \direction in FSK: [0.713457,0.660668,0.233445]u Fpublishing direction and range infoy! % Cp?;1$?%E?Y% B! % @K% s% s ! )! I% H?i% r% o#% \?! % |? ! )% t;??I! ! ! % FhI&,( LAB@B曱@B(ٱBs >BH@s? ?4d?`O?`?٫?iB@IB@];B CYn?BynIbDVDȰ8y%=%%U=ٔ-Q-->9M ?Ye ?=eEyexEmz=Em>Q 55q?Q 95n)YybQ IP@áDIu;ii;5y'Bɮ?A)iqiu.$ LAjuI B"juI B:ju@"puEN8@o6@Kv$ @puCp?;1$?%E?*jut;??2jq*pu/ͯ/@@\pS=ȿrk'@A(@puT{J?oves?juA ju~Biu-L?iuXUsjuBjqjqjqrjuBzju@ addTargetRange:: Added new target pos. range: 34.700001 m, deltaT: 0.503947 s, deltaX: -0.299999 m, approachRate: -0.595299 m/s, rangeRepo size: 4 5 Added new target pos. range: 34.571484 m, bearing: 359.664841 deg, lat: 36.779397 deg, lon: -121.859695 deg, deltaT: 0.503947 s, deltaX: -0.298885 m, approachRate: -0.593089 m/s, posRepo size: 4 :i15DNOT Ignoring new targets: 34.57 m.2i1"i9*i9 ProNav: ac range: 34.571484 m, nav range: 32.460705 m, bearing: 359.672241 deg, approach rate: 0.000000 m/s, LOS rate: 0.730473 deg/s, cmd heading: 326.433646 deg, new cmd heading: 327.047745 deg. iHeadingCmd: 5.708060 target range: 34.571484 and range: 34.70 m.hm@hhhhggjgrgereZe:eYA@*e O? EBɢ !W)  i )n<i7ik;=I=m@IAYchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.347913@ @@/@^AEU EUEU$EQ"EU :*EU:VEU4ZEQau@a}@a}@a}@ԁA- ؟AI1 II OU >ԩ xP&,B LA2@2A۱@2%6ٱ2>2H??4`P?iQ@¦??{?i2@I2];2CYB;ByBIIF<)Fp;bDJUVDJ8y~ DDAT read: Rx Time:04:31:32.1557  TRx dataTimestamp_ set to:1764909093.075572PDAT read: Bearing 116.9, 45.3 (Local) ~Local bearing/azimuth received: Bearing 116.9, 45.3 (Local) -DAT read: Range 11 to 50 : 34.7 m (trip time 23.1 ms) speed 0.2 MDAT read: 04:31:32.1557 LVL= 20080, 32753, 32754, 32755, AGC= 53, IDX= 506, 0.14, 2.517, 0.591, 1.246, 1.820, PHS= 0.799,-1.185,-0.618, RAW= 106.1, 11.3, CAL= 107.6, 13.0, ROT= 42.4, -13.0 UYgot valid direction response: 04:31:32.1557 LVL= 20080, 32753, 32754, 32755, AGC= 53, IDX= 506, 0.14, 2.517, 0.591, 1.246, 1.820, PHS= 0.799,-1.185,-0.618, RAW= 106.1, 11.3, CAL= 107.6, 13.0, ROT= 42.4, -13.0 ]T#Rx 21: Read range and direction messages.e\direction in FSK: [0.719529,0.657020,0.224951]eFpublishing direction and range infoy  0%1a? 4N?:/2?Y   pN   ) 5I DL?i  ?5 ? I> va? Vh>) q=?I Vh   ru?憡_"οKɛ}M+?%}N=ٔ}lQ-}>9"?Y"?=Ey|E<E>  Nx) JI q=?i Vh  checking for new query: numPingsReceived=21, elapsed TxPingTime=12.618833Q 55%|?Q 95s)ևBYy`Q IP@ɡDIg;ih;5y+BɮAEi i ,D LAj "j :j @"p \݌ 8@D;Ӷ6@If@p 0%1a? 4N?:/2?*j q=?2j Vh*p X8M7@@Tuf¿Ď'@p ~t ?C,qd)?j 4 j Bi  )?i vj -Bj  )?j XUsj rj Bzj 6@ addTargetRange:: Added new target pos. range: 34.700001 m, deltaT: 0.504272 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 34.571484 m, bearing: 359.746039 deg, lat: 36.779398 deg, lon: -121.859695 deg, deltaT: 0.504272 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 34.57 m.2i"i*i- ProNav: ac range: 34.571484 m, nav range: 32.432079 m, bearing: 359.946536 deg, approach rate: 0.000000 m/s, LOS rate: 0.730473 deg/s, cmd heading: 327.047735 deg, new cmd heading: 327.598663 deg. i)B9B9B=IB=IBB9B9B9B=;B=7EBNCBNCBB =B =Cx4ԑunManaging dock network, ignoring radio surface power offHeadingCmd: 5.717675 target range: 34.571484 and range: 34.70 m.h2@hhhhggjgrgereZe:e*e۸?EFBɢM%U)M" M݂iI)MZ$^i>5@1 @1@54@1ߵ=ߵ=checking for new query: numPingsReceived=21, elapsed TxPingTime=12.851954E]  E] EY EY "E] :*E] ]t:VEY ZEY BE] SW&,Sza LAHba@b[@bRٱby>bH>?t?@R`.?]Ql=?H?`?iba@Ib];bCYn4BynIieMb@Mb@Mb@aaaa a9eT㥛 ?/${GztYe?yeeףaeA a)aaYeAbD},VD}հ8yFԼ%#=ٔ1fQ->9Y=EyE=E>DDAT read: Rx Time:04:31:32.6555 TRx dataTimestamp_ set to:1764909093.579502PDAT read: Bearing 117.1, 45.0 (Local) ~Local bearing/azimuth received: Bearing 117.1, 45.0 (Local) DAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed 0.1 DAT read: 04:31:32.6555 LVL= 22192, 32753, 32754, 32755, AGC= 53, IDX= 504, 0.38, 1.002,-0.917,-0.248, 0.311, PHS= 0.793,-1.182,-0.602, RAW= 106.6, 11.3, CAL= 108.1, 12.9, ROT= 41.9, -12.9  Ygot valid direction response: 04:31:32.6555 LVL= 22192, 32753, 32754, 32755, AGC= 53, IDX= 504, 0.38, 1.002,-0.917,-0.248, 0.311, PHS= 0.793,-1.182,-0.602, RAW= 106.6, 11.3, CAL= 108.1, 12.9, ROT= 41.9, -12.9  T#Rx 22: Read range and direction messages.\direction in FSK: [0.725526,0.650977,0.223250]Fpublishing direction and range infoy:Q7?96E?Nu?Y BV )I K?iK%?j? f>)6;?If?fK? ͿA? Zo)jII6;?ifUchecking for new query: numPingsReceived=22, elapsed TxPingTime=13.122886Q 55?Q 95x)؇BY?Q E:y _Q IP@ѡDI =i =V 5yɮAiie LAj B"j B:jUQ;"pxt8@O6@Yl@p:Q7?96E?Nu?*j6;?2jf*p-Ak @@XV4?tj? (@p0tC?xl5_wh?XO7t?j= j`Bi# ?ifujABj,?jfujABrjjBzjkP; addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.503930 s, deltaX: -0.299999 m, approachRate: -0.595319 m/s, rangeRepo size: 4  Added new target pos. range: 34.272591 m, bearing: 0.182739 deg, lat: 36.779397 deg, lon: -121.859695 deg, deltaT: 0.503930 s, deltaX: -0.298893 m, approachRate: -0.593124 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 34.27 m.2i"i*i ProNav: ac range: 34.272591 m, nav range: 32.104195 m, bearing: 0.182682 deg, approach rate: 0.000000 m/s, LOS rate: 0.730473 deg/s, cmd heading: 327.598658 deg, new cmd heading: 328.367994 deg. iHeadingCmd: 5.731102 target range: 34.272591 and range: 34.40 m.h1e@hhhh!g!g!jg!rg%NBe)re)Ze):e-@33A@*e5y?=HBɢ= 5l)A ĒiA)MhO^&,$~ LA>@>T@>J`ٱ>>>Hch?i@I>Nj];>CYJ9ByJIbDRVDRð8yZ%<%ZB=ٔ^Q-^>9\Y\=bEybEb<Ef>lQ 5v5n[?Q 9v5nf|)nڇBY|y~ ]Q I~P@nءDIn!;inۤ;n5y/BɮAEMB*** querying acoustic contact ***iIiI:iiuDNOT Ignoring new targets: 34.27 m.2iy"i}e\<*i}e\< ProNav: ac range: 34.272591 m, nav range: 31.965118 m, bearing: 0.477043 deg, approach rate: -0.362570 m/s, LOS rate: 0.770734 deg/s, cmd heading: 328.367983 deg, new cmd heading: 328.959244 deg. iP<HeadingCmd: 5.741422 target range: 34.272591 and range: 34.40 m.h@hhhhggjgrgereZe:e*e?颁ɢ) i)OB<顩i7i I@IiiIiDDAT read: Rx Time:04:31:33.1556 TRx dataTimestamp_ set to:1764909094.085814PDAT read: Bearing 117.7, 44.8 (Local) ~Local bearing/azimuth received: Bearing 117.7, 44.8 (Local) DAT read: Range 11 to 50 : 34.5 m (trip time 23.0 ms) speed 0.2 DAT read: 04:31:33.1556 LVL= 20320, 29777, 29426, 32755, AGC= 53, IDX= 505,-0.32, 1.066,-0.850,-0.167, 0.382, PHS= 0.786,-1.187,-0.594, RAW= 107.0, 11.3, CAL= 108.6, 13.0, ROT= 41.4, -13.0 Ygot valid direction response: 04:31:33.1556 LVL= 20320, 29777, 29426, 32755, AGC= 53, IDX= 505,-0.32, 1.066,-0.850,-0.167, 0.382, PHS= 0.786,-1.187,-0.594, RAW= 107.0, 11.3, CAL= 108.6, 13.0, ROT= 41.4, -13.0 e@a @i@m/@iBc>BOCBIBSBB =BBBB7ET#Rx 23: Read range and direction messages.\direction in FSK: [0.730886,0.644363,0.224951]Fpublishing direction and range infoy B{jc?\9)?:/2?Y B`OQtr )IL7I?ibQ ?_? Vh>)8?IVhw ?o\,*̿ʽ-? ?g)+JI8?iVhEchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.667170^A! A .AI I O >= checking for new query: numPingsReceived=23, elapsed TxPingTime=13.862792Ķe&,I LAE> E>E>"E<"E>m:*E>T:VE>(3ZE<BE>VVͨ;a^:E>Ψ;a^l5@5޲@5unٱ5=P>5HC?4?`}k?@ ͭ? ? ϗ?i5@I5V];1YyI iMb@Mb@Mb@ 9I +?(\µMbPY9>y A!A A)YA <bD VD 8y/0;%)=ٔ%cQ-%>9% ?YM ?=MEyMEM<EU>QQ 5]5U)?Q 9]5U)UއBYe>Q Ee:ye^Q IeP@UDIU7;iU8;UC5yɮA ii} LAj} B"j} B:j?-<"p[qY9@e-r%6@C@p B{jc?\9)?:/2?*j8?2jVh*p3@@jG]³?Y(@p?p?8C4?ﺞɛ ?j> jDBi[0?i6T2xjBj )?jvjrjAzjG< addTargetRange:: Added new target pos. range: 34.500000 m, deltaT: 0.506312 s, deltaX: 0.099998 m, approachRate: 0.197504 m/s, rangeRepo size: 4  Added new target pos. range: 34.372620 m, bearing: 0.605864 deg, lat: 36.779398 deg, lon: -121.859696 deg, deltaT: 0.506312 s, deltaX: 0.100029 m, approachRate: 0.197564 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 34.37 m.2i"i *i  ProNav: ac range: 34.372620 m, nav range: 31.983316 m, bearing: 0.698890 deg, approach rate: 0.000000 m/s, LOS rate: 0.770734 deg/s, cmd heading: 328.959232 deg, new cmd heading: 329.751677 deg. iEHeadingCmd: 5.755252 target range: 34.372620 and range: 34.50 m.hE+@hAhAhAhAgAgIjgIrgM]BeIreQZeQ:eU@A@*eU? JBɢ )}W)  &i )G1<iөi&̟I+@I!DDAT read: Rx Time:04:31:33.6554 TRx dataTimestamp_ set to:1764909094.587455PDAT read: Bearing 118.2, 44.5 (Local) ~Local bearing/azimuth received: Bearing 118.2, 44.5 (Local) DAT read: Range 11 to 50 : 34.2 m (trip time 22.8 ms) speed 0.2 DAT read: 04:31:33.6554 LVL= 19952, 32033, 31074, 32755, AGC= 54, IDX= 503,-0.12,-0.512,-2.418,-1.722,-1.185, PHS= 0.775,-1.189,-0.582, RAW= 107.6, 11.4, CAL= 109.2, 13.1, ROT= 40.8, -13.1 Ygot valid direction response: 04:31:33.6554 LVL= 19952, 32033, 31074, 32755, AGC= 54, IDX= 503,-0.12,-0.512,-2.418,-1.722,-1.185, PHS= 0.775,-1.189,-0.582, RAW= 107.6, 11.4, CAL= 109.2, 13.1, ROT= 40.8, -13.1 T#Rx 24: Read range and direction messages.\direction in FSK: [0.737295,0.636416,0.226651]Fpublishing direction and range infoy"?7]?+#?YBM!}by )6IffF?i'1va?%K>?  j>)K6?I jכS8? g*˿Ue]? 6^)FLIK6?i jchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.1309111% P;a @  @ @ ?0@ ԉ -checking for new query: numPingsReceived=24, elapsed TxPingTime=14.362794DD<E EE(E"E2:*Ega:VEc44ZEa@a@a@a@^AԱA؟AIIO?o&,5' LAJ$@JA@J}ٱJ+>JH@?,?G4¿`9 ?ҳ͛?)??iJ$@IJ];HY9U"?YU"?=UEyUE]f<E]>aQ 5m5e?Q 9m5eg)eBYiym\Q ImP@eDIe~:ieG;e 5y2BɮAiYi]ݘ LAj]KB"j]KB:j]~;"p]T9@fg`5@?I4@p]"?7]?+#?*j]K6?2j] j*p]rRn?@>?B(@p]{m]Y?<<'WW}?V*S?j]y> j]Ai]M"?i]>Qj]Bj]M"?j]vj]Brj]Azj]7<- addTargetRange:: Added new target pos. range: 34.200001 m, deltaT: 0.501641 s, deltaX: -0.299999 m, approachRate: -0.598036 m/s, rangeRepo size: 4 ] Added new target pos. range: 34.073730 m, bearing: 0.440749 deg, lat: 36.779398 deg, lon: -121.859696 deg, deltaT: 0.501641 s, deltaX: -0.298889 m, approachRate: -0.595823 m/s, posRepo size: 4 :iY]DNOT Ignoring new targets: 34.07 m.2ia"ia*ia ProNav: ac range: 34.073730 m, nav range: 31.734762 m, bearing: 1.064629 deg, approach rate: 0.000000 m/s, LOS rate: 0.770734 deg/s, cmd heading: 329.751670 deg, new cmd heading: 330.561947 deg. iHeadingCmd: 5.769394 target range: 34.073730 and range: 34.20 m.hី@hhhhggjgrgereZe:eA@*en?KBɢ!\) %냿i!)%<5DDAT read: Rx Time:04:31:34.1554 =TRx dataTimestamp_ set to:1764909095.091497EPDAT read: Bearing 118.0, 44.3 (Local) E~Local bearing/azimuth received: Bearing 118.0, 44.3 (Local) UDAT read: Range 11 to 50 : 34.2 m (trip time 22.8 ms) speed 0.2 }DAT read: 04:31:34.1554 LVL= 22112, 30561, 29682, 32755, AGC= 54, IDX= 503, 0.03, 2.365, 0.441, 1.155, 1.676, PHS= 0.791,-1.190,-0.565, RAW= 108.0, 11.0, CAL= 109.6, 12.6, ROT= 40.4, -12.6 Ygot valid direction response: 04:31:34.1554 LVL= 22112, 30561, 29682, 32755, AGC= 54, IDX= 503, 0.03, 2.365, 0.441, 1.155, 1.676, PHS= 0.791,-1.190,-0.565, RAW= 108.0, 11.0, CAL= 109.6, 12.6, ROT= 40.4, -12.6 T#Rx 25: Read range and direction messages.\direction in FSK: [0.743198,0.632511,0.218143]Fpublishing direction and range infoy15 *G?=?'$?Y115`V5aw5s 1)1I5~J?i5Q5ף5:F?5 D>5G? 5z0a>)5J4?I5z0a115&?}.ʿ5sqj? 5V)5YDI5J4?i5z0a11checking for new query: numPingsReceived=25, elapsed TxPingTime=14.638827!ii̇w],Iី@IB-e>B)B-IB-]BB)B)B)B-;B-7Ea+@ @@/0@ԑ^A;I I O >Թ  checking for new query: numPingsReceived=25, elapsed TxPingTime=14.866922ru&,` LAbE=4jE=4rE=m0E EE&E"Ea:*EL_:VE4ZEBE(JE;a>:E;a>nm@nf@nYٱn>nH@? q? ˄¿e@?  ?`0W??inm@In}];lY:ByIԑi]Mb@Mb@Mb@YYYY Y9]x&1?RQMbY]A?y]½]] A] A ]pA)]GAYY]pAbDӿVD8ye%6=ٔ׻Q->9Y=EyEɠ<E>Q 55m?Q 95)BY?Q E:y\Q IP@DI6;iy;5y ɮAiaie LAja"ja:je|v*<"ped3kR9@'V5@o`@pe *G?=?'$?*jeJ4?2jez0a*pe'?@q-?is(@peXY?nA9y?d#n3?jek> jelAieni5?ieGKjeBje )?je6T2xjeBrjeRAzje< addTargetRange:: Added new target pos. range: 34.200001 m, deltaT: 0.504042 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 34.073875 m, bearing: 0.596118 deg, lat: 36.779398 deg, lon: -121.859697 deg, deltaT: 0.504042 s, deltaX: 0.000145 m, approachRate: 0.000288 m/s, posRepo size: 4 :iQUDNOT Ignoring new targets: 34.07 m.2iQ"iQ*iY ProNav: ac range: 34.073875 m, nav range: 31.665413 m, bearing: 1.293466 deg, approach rate: 0.000000 m/s, LOS rate: 0.770734 deg/s, cmd heading: 330.561949 deg, new cmd heading: 331.281545 deg. iHeadingCmd: 5.781954 target range: 34.073875 and range: 34.20 m.h@hhhhggjgrgOBereZe:e*e E?EMBɢEm)A EiI)MEۄ? E[>)E$+3?IE[AAEwyM?7ZoBɿǫ? EQ)E%@IE$+3?iE[AAchecking for new query: numPingsReceived=26, elapsed TxPingTime=15.135020 @  @ @ /@  checking for new query: numPingsReceived=26, elapsed TxPingTime=15.373519I^AE EE#E"E:*Ega:VE3ZEa@a@a@a@II O?S~&, LA(6@6@6Nٱ6P>6H5??8ÿ/?5/?h?>?i6@I6];4YFOByFIIJC=)J9\Y\=^Ey^Eb =Eb>dQ 5j5f˔?Q 9j5f)fBYhyjWQ InP@fDIf;if ;fN 5ypɮrApii LAjB"jB:j<"p=9@A5@-@p$e?f#?AzUmD?*j$+3?2j[*pHgݗ?@ e&?IQ(@p)?LdЕ?RV?! ?j18? jAin%*?iŦ}jBjn%*?jŦ}jrjAzj<5 addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.504248 s, deltaX: -0.299999 m, approachRate: -0.594944 m/s, rangeRepo size: 4 E Added new target pos. range: 33.774982 m, bearing: 1.308386 deg, lat: 36.779398 deg, lon: -121.859699 deg, deltaT: 0.504248 s, deltaX: -0.298893 m, approachRate: -0.592750 m/s, posRepo size: 4 :iAMDNOT Ignoring new targets: 33.77 m.2iI"i*i  ProNav: ac range: 33.774982 m, nav range: 31.510532 m, bearing: 1.308381 deg, approach rate: 0.000000 m/s, LOS rate: 0.770734 deg/s, cmd heading: 331.281551 deg, new cmd heading: 331.998591 deg. iHeadingCmd: 5.794468 target range: 33.774982 and range: 33.90 m.hIl@hhh!h!g!gIjgIrgQeQreQZeQ:eU@3@@*e] ǝ?颥NBɢpe) Pi)P><iHi94'IIl@Iԉ@ @@0@DDAT read: Rx Time:04:31:35.1551 TRx dataTimestamp_ set to:1764909096.107557PDAT read: Bearing 118.8, 44.0 (Local) ~Local bearing/azimuth received: Bearing 118.8, 44.0 (Local) DAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed 0.2 %DAT read: 04:31:35.1551 LVL= 23472, 32753, 31634, 32755, AGC= 55, IDX= 500, 0.43, 1.814,-0.110, 0.632, 1.127, PHS= 0.789,-1.192,-0.540, RAW= 108.9, 10.8, CAL= 110.5, 12.3, ROT= 39.5, -12.3 5Ygot valid direction response: 04:31:35.1551 LVL= 23472, 32753, 31634, 32755, AGC= 55, IDX= 500, 0.43, 1.814,-0.110, 0.632, 1.127, PHS= 0.789,-1.192,-0.540, RAW= 108.9, 10.8, CAL= 110.5, 12.3, ROT= 39.5, -12.3 5T#Rx 27: Read range and direction messages.Beh>BaBeIBemBBaBaBeϺDBe ;Be7E^A}2\direction in FSK: [0.753912,0.621477,0.213030]Fpublishing direction and range infoyDT\ ?e$?AzUmD?Y3B[{ )7II?iuq= H?IIOH>? )|0?I H]?@h?`sÿ`6] Y?& ??"?i A9@I ]; Y!y!imMb@Mb@Mb@iiii i9mX9v?ʡEy&1|Ym>ym-m`imn"A i)iiYmAbDVDl8y`:%!=ٔhQ->9Y=EyE%9<E%>)Q 5]5-gڔ?Q 9e5-)-BYm?Q Em:ymIRQ ImP@-DI-BQjrj4Azj[i>DAT read: Range 11 to 50 : 33.6 m (trip time 22.4 ms) speed 0.2 DAT read: 04:31:35.6550 LVL= 21424, 31201, 32754, 32755, AGC= 55, IDX= 499,-0.27,-1.167,-3.064,-2.314,-1.828, PHS= 0.763,-1.191,-0.530, RAW= 109.4, 11.1, CAL= 111.0, 12.7, ROT= 39.0, -12.7 -Ygot valid direction response: 04:31:35.6550 LVL= 21424, 31201, 32754, 32755, AGC= 55, IDX= 499,-0.27,-1.167,-3.064,-2.314,-1.828, PHS= 0.763,-1.191,-0.530, RAW= 109.4, 11.1, CAL= 111.0, 12.7, ROT= 39.0, -12.7 5T#Rx 28: Read range and direction messages.=\direction in FSK: [0.758133,0.613924,0.219846]EFpublishing direction and range infoyB?̃C?F#?YfBSy )ISC?irf?aF>? b>)@.?Ib68`@P? ǿ?  =)5Fm@i @i@m/@q@u=@u=I@.?ibchecking for new query: numPingsReceived=28, elapsed TxPingTime=16.1666819 ^A 8I I O >&,2 LA,2}@2Iw@2ٱ2 >2H??_ÿh%?Z?`?@?i2}@I2];2CYNXByRIbDZ߿VDZ8yr[=%rw=ٔrQ-r?9tYt=vEyvEz<Ez ?9GQ 55= 䔊?Q 95=)=Bo9Y*kAYyPQ IP@=DI=% ? % ȭT>)% ,?I% ȭT! % ($G?exs ſb9MK? % 3)% i;I% ,?i% ȭTu checking for new query: numPingsReceived=30, elapsed TxPingTime=16.648699B k>B PCB IB |BB =B B B ;B 7E^A =IY Ii Ou >c&,:L LA2@í@2@2亣ٱ2">2HC?l?`f!ĿĬ?E q?`t+?(?i2@í@I2}];2CHYnNBynI xx|~AbDVD8y5K%5C=ٔ5߻Q-5>9AYA=EEyMEU<E]>Q 55f?Q 95)BYyMQ IP@ DI+J? Q>)D +?IQ7?73ևſB㤚? 7/)w7ID +?iQMchecking for new query: numPingsReceived=31, elapsed TxPingTime=16.986513! ^A] BA I I O >B&,f LA2checking for new query: numPingsReceived=31, elapsed TxPingTime=17.1428726 @6U@6Nٱ6D#>6Hi? /?YĿܲ@ ?#?8?|?i6 @I6Q];4YBdByFILiMb@Mb@Mb@ 9^I +?ytĻ A?#A )vAYAbDVD8y=%8=ٔȻQ->9Y!=%Ey%E%<E%>IQ 5U5Mz?Q 9U5M)MBY]>Q E]:y]EQ I]P@MDIM:iM:M5/5yaɮeAiiYi]W LAj]B"j]B:j]X<"p]O~9@`"4@Bsx@p]֊0\P?Y8k? ?*j]D +?2j]Q*p]9~L>@T.P4?Q>'@p]w?}Q4F?)?j]Q? j]Ai]!.?i]_j]4Bj]!.?j]ăj]Brj]Azj]N=5 addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 0.504530 s, deltaX: -0.299999 m, approachRate: -0.594611 m/s, rangeRepo size: 4 m Added new target pos. range: 33.177616 m, bearing: 1.515273 deg, lat: 36.779399 deg, lon: -121.859702 deg, deltaT: 0.504530 s, deltaX: -0.298664 m, approachRate: -0.591965 m/s, posRepo size: 4 :iiuDNOT Ignoring new targets: 33.18 m.2iq"i}*iy ProNav: ac range: 33.177616 m, nav range: 30.975330 m, bearing: 1.990623 deg, approach rate: 0.000000 m/s, LOS rate: 0.760310 deg/s, cmd heading: 334.017670 deg, new cmd heading: 334.627931 deg. iHeadingCmd: 5.840359 target range: 33.177616 and range: 33.30 m.h9@hhhhggjgrg}BereZe:e`f@@*e``V?eSBɢel)a euwia)m-;iiim iu⾉quaLIu9@Iy@ @@%0@!@-zA@)-DDAT read: Rx Time:04:31:37.1548 =TRx dataTimestamp_ set to:1764909097.875151]PDAT read: Bearing 117.9, 40.3 (Local) }~Local bearing/azimuth received: Bearing 117.9, 40.3 (Local) DAT read: Range 11 to 50 : 33.3 m (trip time 22.2 ms) speed 0.2  Z#Rx 32: Read range message, but no direction.y1Y11M checking for new query: numPingsReceived=32, elapsed TxPingTime=17.429543E  E E #E "E m:*E ]t:VE 3ZE a @a @a @a @^A BJA zA wAA A1 IA IY Oe >.6&,? LAN[T@NM@NٱNa$>NH K? ?@[Ŀ@u?e?@9j?6y?iN[T@IN];LY`y`bDjVDjȰ8yr욺%r^=ٔvʻQ-v>9tYt=vEyvEz<Ez>|Q 5 5l?Q 9 5Q)BY y BQ I P@DI:i:d25yɮA addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 0.503957 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 :iDNOT Ignoring new targets: 33.18 m.2i"i><*i>< ProNav: ac range: 33.177616 m, nav range: 30.850113 m, bearing: 2.228320 deg, approach rate: -0.349984 m/s, LOS rate: 0.667060 deg/s, cmd heading: 334.627934 deg, new cmd heading: 335.105244 deg. i<HeadingCmd: 5.848690 target range: 33.177616 and range: 33.30 m.hx(@hhhhggjgrgereZe:e*e?-TBɢ-1@)) -(xi))5Kx;1qiu> i}.v޾yeIIx(@IDAT read: 04:31:37.1548 LVL= 23680, 32753, 32242, 32755, AGC= 56, IDX= 513, 0.22, 1.534, 0.075, 0.775, 1.016, PHS= 0.620,-0.896,-0.285, RAW= 113.6, 8.5, CAL= 115.0, 9.7, ROT= 35.0, -9.7 Ygot valid direction response: 04:31:37.1548 LVL= 23680, 32753, 32242, 32755, AGC= 56, IDX= 513, 0.22, 1.534, 0.075, 0.775, 1.016, PHS= 0.620,-0.896,-0.285, RAW= 113.6, 8.5, CAL= 115.0, 9.7, ROT= 35.0, -9.7 Z#Rx 33: Read direction message, but no range.Bm>BB!IBBB =BBB;B7EBuOCBuOCBqBu =Bu =CuÕ95\direction in FSK: [0.807441,0.565376,0.168489]yY]9i?\?RV?Y]\]]} Y)YI]R?i]B`e]둾]?]>]t@ ]-\->)]a?I]-\-Y)M@I @I@M5@I]S r?`o+ÜE? ]"[)]HI]a?i]-\-checking for new query: numPingsReceived=33, elapsed TxPingTime=17.695925a^AuJMԉ A I I % DDAT read: Rx Time:04:31:37.6546 5 TRx dataTimestamp_ set to:1764909098.379569U PDAT read: Bearing 121.3, 42.9 (Local) ] ~Local bearing/azimuth received: Bearing 121.3, 42.9 (Local)  DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed 0.2  Z#Rx 34: Read range message, but no direction.y) Y- B) O > checking for new query: numPingsReceived=34, elapsed TxPingTime=17.921659P&,} LAE EE)E"E:*EVL:VEFA4ZEBE nH,)??ĿS7 ,??@Q? "? Gv?in̟@Inݣ];nCYbByII%<)%a=-=)yi-Mb@Mb@Mb@)))) )9-X9v?333333~jthY->y--D-MA-n"A -A)-A)Y-pAbD%VDϰ8yһ%.=ٔ-䣻Q-->91Y1==Ey=EE<EE>iQ 5u5m~?Q 9}5m)mBY}>Q E}:y}BQ I}P@m DIm8:im:m65y@BɮAEiyi}J LAj}B"j}B:j}@"p}f;:@+BƖ2@f(@p}9i?\?RV?*j}a?2j}-\-*p}@]&i?@&~׿t |%@p}.H=?]!v-ކdy?j} j}Ai}{P?i}*)j}ߕBjyj}}j}Brj}wAzj}o =5 addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.504418 s, deltaX: -0.299999 m, approachRate: -0.594743 m/s, rangeRepo size: 4 E Added new target pos. range: 32.878922 m, bearing: 359.323064 deg, lat: 36.779399 deg, lon: -121.859703 deg, deltaT: 1.008375 s, deltaX: -0.298695 m, approachRate: -0.296214 m/s, posRepo size: 4 :iamDNOT Ignoring new targets: 32.88 m.2ii"im*iq} ProNav: ac range: 32.878922 m, nav range: 30.683308 m, bearing: 2.244228 deg, approach rate: 0.000000 m/s, LOS rate: 0.667060 deg/s, cmd heading: 335.105255 deg, new cmd heading: 335.755833 deg. iyԡHeadingCmd: 5.860045 target range: 32.878922 and range: 33.00 m.h}@hhhhggjgrgwBereZe:e@@*e_?? VBɢ p) yi)9;iiإؾrPI}@IADAT read: 04:31:37.6546 LVL= 24704, 32753, 32754, 32755, AGC= 54, IDX= 511, 0.41, 0.924,-0.987,-0.179, 0.255, PHS= 0.771,-1.197,-0.478, RAW= 111.1, 10.5, CAL= 112.6, 11.9, ROT= 37.4, -11.9 Ygot valid direction response: 04:31:37.6546 LVL= 24704, 32753, 32754, 32755, AGC= 54, IDX= 511, 0.41, 0.924,-0.987,-0.179, 0.255, PHS= 0.771,-1.197,-0.478, RAW= 111.1, 10.5, CAL= 112.6, 11.9, ROT= 37.4, -11.9 Z#Rx 35: Read direction message, but no range.\direction in FSK: [0.777342,0.594323,0.206204]y?,}!?Fa5d?` )6IB`E?iL7j%3?f;>? ȭT>)'?IȭTz=?d 0Vÿ0XR? ) ;I'?iȭTchecking for new query: numPingsReceived=35, elapsed TxPingTime=18.163113@ @@?5@^A tE A .AI I O >ά&, LAfR@f@fpٱf'>fHQ?k?@,ſH` V?|9 ?Y ?=EyE<E>!Q 5-5% ?=DDAT read: Rx Time:04:31:38.1546 =TRx dataTimestamp_ set to:1764909098.879105EDAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed 0.2 MZ#Rx 36: Read range message, but no direction.y9Y99Uchecking for new query: numPingsReceived=36, elapsed TxPingTime=18.406395QQ 9]5%)%BYYy]@Q I]P@%%DI%T;i%;%95yaɮmAii9i=BC LAj9"j9:j=l="p=\29@2Gj3@UP|@p=?,}!?Fa5d?*j='?2j=ȭT*p=̭֊>@uen?PTv<(@p=hvҹ?7?[)?j=u? j=VAi=.?i=pZ<j=Bj=.?j=_j=Brj=Azj=#= addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.499536 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DD=E EE%E"E&:*E1]:VE 4ZEa@a@a@a@ Added new target pos. range: 32.878922 m, bearing: 2.160127 deg, lat: 36.779399 deg, lon: -121.859704 deg, deltaT: 0.499536 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 32.88 m.2i"i*i ProNav: ac range: 32.878922 m, nav range: 30.566563 m, bearing: 2.281592 deg, approach rate: 0.000000 m/s, LOS rate: 0.667060 deg/s, cmd heading: 335.755844 deg, new cmd heading: 336.249291 deg. i HeadingCmd: 5.868657 target range: 32.878922 and range: 33.00 m.h  ̻@h hhhggjgrgereZe:e!*eE`?颍WBɢ<) vi)j ;顑ip i=ԾMI ̻@Iԁ}@y @y@}4@yԩchecking for new query: numPingsReceived=36, elapsed TxPingTime=18.654741BI BI BM :IBM BBM =BI BI BM >;BM 7E^A OA >A > A ؟AI I O >E&,x LAB:5@B.@B^ٱBH)>BH (z?`(?_ſi@? ? ?n?iB:5@IBB];BCYVqByVIbDz9VDz8y-=%-I=ٔ=ϻQ->9"?Y"?= Ey E=ʪ<E=>aQ 55e.?Q 95eT)eBYyM>Q IP@e,DIex ?  4QO>) 0"?I 4QO  d~i2?0KOl(?   ) G7I 0"?i 4QOm checking for new query: numPingsReceived=38, elapsed TxPingTime=19.172886A I I O>õ&, LA@@΂@m½ٱU*>H??ſEsf?@:ZeD?/?j?i@I];CY]xBy]I aaaeAiMb@Mb@Mb@ 9 ףp= ?v/yxit!A A)AYAbD)VD)y=<%=%=ٔEQ-E>9AYI=MEyMEM <EM>QQ 5]5UQ Ee:ye21Q IeP@U3DIU:iU:UA5ymHBɮm}AEii LAjB"jB:j="prb 9@05-8g3@ 7_]@p_T!QC?p?o?*j0"?2j4QO*pMAu>@J ?l](@poT%?0E?.-?j~? jAi-PC?idjBjjpZ<jBrjAzjRB=M addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.509676 s, deltaX: -0.099998 m, approachRate: -0.196200 m/s, rangeRepo size: 4 } Added new target pos. range: 32.779243 m, bearing: 2.181175 deg, lat: 36.779399 deg, lon: -121.859705 deg, deltaT: 0.509676 s, deltaX: -0.099678 m, approachRate: -0.195571 m/s, posRepo size: 4 :iy}DNOT Ignoring new targets: 32.78 m.2iy"i*iԩ ProNav: ac range: 32.779243 m, nav range: 30.247459 m, bearing: 2.726902 deg, approach rate: 0.000000 m/s, LOS rate: 0.672139 deg/s, cmd heading: 336.818676 deg, new cmd heading: 337.442906 deg. iHeadingCmd: 5.889490 target range: 32.779243 and range: 32.90 m.hv@hhhhggjg rg ~Be re Ze:e*e@ɏ?DDAT read: Rx Time:04:31:39.1544 TRx dataTimestamp_ set to:1764909099.892857PDAT read: Bearing 122.4, 42.1 (Local)  ~Local bearing/azimuth received: Bearing 122.4, 42.1 (Local) EDAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.2 MZ#Rx 39: Read range message, but no direction.yYBUchecking for new query: numPingsReceived=39, elapsed TxPingTime=19.432816}[Bɢ}~) _qi)@Ľ9顁i(ivɾ-URIv@IE  E E &E "E :*E L_:VE 4ZE a@a@a@a@ rg:1 @9  @9 @= /@9 1 B} l>By B} LIB} BB} =By By B} ;B} @8E DAT read: 04:31:39.1544 LVL= 21040, 29617, 27042, 32755, AGC= 54, IDX= 509,-0.01,-0.167,-2.075,-1.221,-0.843, PHS= 0.778,-1.187,-0.423, RAW= 112.7, 9.7, CAL= 114.1, 11.0, ROT= 35.9, -11.0  Ygot valid direction response: 04:31:39.1544 LVL= 21040, 29617, 27042, 32755, AGC= 54, IDX= 509,-0.01,-0.167,-2.075,-1.221,-0.843, PHS= 0.778,-1.187,-0.423, RAW= 112.7, 9.7, CAL= 114.1, 11.0, ROT= 35.9, -11.0  Z#Rx 40: Read direction message, but no range. \direction in FSK: [0.795159,0.575599,0.190809]yQ U U ? U D>)U g ?IU DQ U J ErH?9]=? U )U -IU g ?iU D checking for new query: numPingsReceived=40, elapsed TxPingTime=19.676212^A=OaAU.AIIO?&,Q LAX5.@5"(@5̽ٱ5B,>5H?@iJ?`Mƿ?Q `y?^?`c?i5.@I5];5CY}uByIEDDAT read: Rx Time:04:31:39.6542 MTRx dataTimestamp_ set to:1764909100.394292ePDAT read: Bearing 124.5, 42.3 (Local) m~Local bearing/azimuth received: Bearing 124.5, 42.3 (Local) DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.2 Z#Rx 41: Read range message, but no direction.yAYEBAchecking for new query: numPingsReceived=41, elapsed TxPingTime=19.932747bEjEr 4rEÃ0E EE'E"E:*EC:VE'4ZEBE;a:E?;aiMb@Mb@Mb@ 9Zd;O?T㥛 ~jtYj>yD AA)3 AYQAbD 'VD а8y]`%e<ٔeHQ-e>9e ?Ym ?=mEymEm3<Em>Q 55@S?Q 95з)BY>Q E:yN.Q IP@>DI:i:G5yLBɮAEiAiE< LAjEB"jEB:jEV="pE-h)9@TT2@&"Z@pE@$#C??Rh'@pE 3 ??4?jE? jEXAiEh6?iENjEޗBjEh6?jENjE4BrjEAzjEV= addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 1.005511 s, deltaX: -0.500000 m, approachRate: -0.497260 m/s, rangeRepo size: 4 M Added new target pos. range: 32.281097 m, bearing: 3.006867 deg, lat: 36.779400 deg, lon: -121.859706 deg, deltaT: 1.005511 s, deltaX: -0.498146 m, approachRate: -0.495416 m/s, posRepo size: 4 :iIUDNOT Ignoring new targets: 32.28 m.2iQ"iQ*iQe ProNav: ac range: 32.281097 m, nav range: 30.084427 m, bearing: 3.006857 deg, approach rate: 0.000000 m/s, LOS rate: 0.672139 deg/s, cmd heading: 337.442900 deg, new cmd heading: 338.398599 deg. iHeadingCmd: 5.906170 target range: 32.281097 and range: 32.40 m.hX@hhhhggjgrgfBereZe:e@33@@*eD?^BɢdU) iti)>vi9iE0aeGIeX@Ia DAT read: 04:31:39.6542 LVL= 23424, 32753, 32754, 32755, AGC= 55, IDX= 507, 0.08,-0.484,-2.382,-1.529,-1.130, PHS= 0.748,-1.207,-0.443, RAW= 112.8, 10.6, CAL= 114.2, 11.9, ROT= 35.8, -11.9  Ygot valid direction response: 04:31:39.6542 LVL= 23424, 32753, 32754, 32755, AGC= 55, IDX= 507, 0.08,-0.484,-2.382,-1.529,-1.130, PHS= 0.748,-1.207,-0.443, RAW= 112.8, 10.6, CAL= 114.2, 11.9, ROT= 35.8, -11.9  Z#Rx 42: Read direction message, but no range. \direction in FSK: [0.793633,0.572386,0.206204]y  5Cqe?0g$P?Fa5d? [   ) 7I |??i ~ ⾩ d? q=>  ? ȭT>) ?I ȭT VyR5?xں{^i? 4s) V.=I ?i ȭT% checking for new query: numPingsReceived=42, elapsed TxPingTime=20.1766411 M & @  @ @ /@ Y ԑ^A8RDDAT read: Rx Time:04:31:40.1542 TRx dataTimestamp_ set to:1764909100.900115PDAT read: Bearing 123.0, 42.0 (Local) ~Local bearing/azimuth received: Bearing 123.0, 42.0 (Local) DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.2 Z#Rx 43: Read range message, but no direction.yYchecking for new query: numPingsReceived=43, elapsed TxPingTime=20.434237E EEE"Em:*EX:VEZEa@a@a@a@AU؟AIaIqO}#?Ԣ&,Vc= LAV"@Vnx@VѽٱV,>VH$??@/ƿ //?/`u?_]?a?iV"@IV];TYjByjIIv=)vbDEVDEɰ8y}j=%=ٔقQ->9"?Y"?=EyE<E>Q 55,e?Q 95A)'BYy+Q IP@GDIh:i:dL5yɮ3A)ii|9 LAj"j:js="pǍ9@ˎ -z2@`@@p5Cqe?0g$P?Fa5d?*j?2jȭT*pu1=@&R t?.Cr(@pa?ӝ4?ܚ;?j? jAil6?i.|{jBjjjBrj Azjgo= addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.505823 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 32.281097 m, bearing: 3.412308 deg, lat: 36.779400 deg, lon: -121.859706 deg, deltaT: 0.505823 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iVStarting intercept timer at range: 32.40 m.DNOT Ignoring new targets: 32.28 m.2i"i*i ProNav: ac range: 32.281097 m, nav range: 29.881466 m, bearing: 3.351568 deg, approach rate: 0.000000 m/s, LOS rate: 0.672139 deg/s, cmd heading: 338.398608 deg, new cmd heading: 339.107553 deg. i!-HeadingCmd: 5.918543 target range: 32.281097 and range: 32.40 m.h-d@h)h)h)h)g)g1jg1rg1e1re9Ze9:e9*e= Y?a颭`Bɢ'vo) qmi)CX顱iEiZ PId@IBa>BOCB_IBÀBBBBκDB;B8EDAT read: 04:31:40.1542 LVL= 25840, 32753, 32482, 32755, AGC= 55, IDX= 507, 0.17, 1.360,-0.565, 0.307, 0.659, PHS= 0.802,-1.179,-0.397, RAW= 113.1, 9.0, CAL= 114.5, 10.2, ROT= 35.5, -10.2 Ygot valid direction response: 04:31:40.1542 LVL= 25840, 32753, 32482, 32755, AGC= 55, IDX= 507, 0.17, 1.360,-0.565, 0.307, 0.659, PHS= 0.802,-1.179,-0.397, RAW= 113.1, 9.0, CAL= 114.5, 10.2, ROT= 35.5, -10.2 Z#Rx 44: Read direction message, but no range. \direction in FSK: [0.801249,0.571525,0.177085]y,fԣ?oI?ki?d~ )IOM?iy閿C˾?| >? K6>)?IK6,ߖ`?c?B9? ܮ) I?iK6-checking for new query: numPingsReceived=44, elapsed TxPingTime=20.684748ԑ @  @ @ /5@ ^AM 4|E DDAT read: Rx Time:04:31:40.6541  TRx dataTimestamp_ set to:1764909101.405921 PDAT read: Bearing 124.2, 41.8 (Local)  ~Local bearing/azimuth received: Bearing 124.2, 41.8 (Local)  DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.3  Z#Rx 45: Read range message, but no direction.y Y fB 5checking for new query: numPingsReceived=45, elapsed TxPingTime=20.948101E EEE"E :*Ek:VEZEBEN"RH P? >m?>ƿU\\?hB?X?`|`?iRװ@IR!];RCYfByjIiMb@Mb@Mb@ 9 ףp= ?QI +YQ>yu94An"A A)b AY(AbDVD8y5<%=ٔWQ->9Y=EyEY<E>Q 55v?Q 95o)/BYF>Q E:y(Q IQ@ODIe ;i ; Q5y OBɮ 6A EiiY LAjA"jA:j="p 0 9@ǣ;G2@LYD]@p,fԣ?oI?ki?*j?2jK6*p=@Q =@fFx&@p?p??̇?j@ jAiN3X@ X8>) ?IX8e R1d?UW O? i\)30#I ?iX8Uchecking for new query: numPingsReceived=46, elapsed TxPingTime=21.190845Y@Y @Y@]4@a)Y ^A} Q   ͂G j9 Y tfAI I1 OU >&, |y LA&DDAT read: Rx Time:04:31:41.1541 &TRx dataTimestamp_ set to:1764909101.907457.PDAT read: Bearing 126.0, 41.5 (Local) .~Local bearing/azimuth received: Bearing 126.0, 41.5 (Local) 6DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.2 :Z#Rx 47: Read range message, but no direction.y$Y$$>checking for new query: numPingsReceived=47, elapsed TxPingTime=21.437288LDyzD}AAE EE"E"Es:*E:VE(3ZEa@a@a@a@]^{@]t@]ڽٱ]&R,>]H۠?L?2Sƿy߿ ?6෿P?`P?,^?i]^{@I]½];]CYBy#IbD5VD58yU#=%U4=ٔ]ZٻQ-]>9aYa=eEyE2=E>Q 55…?Q 95)6BYy"Q IQ@WDI;i;U5yɮAi$i&z LAj$"j$:j& ="p&`x9@8#2@vJ@p&݋F?C??*j& ?2j&X8*p&G=@T?i&WDj&MBj&-PC?j$j&ޗBrj&NAzj&=] addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.501536 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.981535 m, bearing: 4.645306 deg, lat: 36.779401 deg, lon: -121.859706 deg, deltaT: 0.501536 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 31.98 m.2i"i*i ProNav: ac range: 31.981535 m, nav range: 29.663195 m, bearing: 4.002910 deg, approach rate: 0.000000 m/s, LOS rate: 0.672139 deg/s, cmd heading: 339.809260 deg, new cmd heading: 340.443013 deg. iHeadingCmd: 5.941852 target range: 31.981535 and range: 32.10 m.h#@hhhhggjgrgereZe:e*e@?dBɢ]^~) Wii))wi@R]iNî6I#@I@ @@15@DAT read: 04:31:41.1541 LVL= 22512, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.36, 1.203,-0.704, 0.187, 0.537, PHS= 0.768,-1.196,-0.394, RAW= 114.0, 9.6, CAL= 115.3, 10.9, ROT= 34.7, -10.9  Ygot valid direction response: 04:31:41.1541 LVL= 22512, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.36, 1.203,-0.704, 0.187, 0.537, PHS= 0.768,-1.196,-0.394, RAW= 114.0, 9.6, CAL= 115.3, 10.9, ROT= 34.7, -10.9  Z#Rx 48: Read direction message, but no range.\direction in FSK: [0.807311,0.559009,0.189095]y͠0~?̕mf?oG4?W )6ID?i^ɾ?+>@ B>) ?IBd_?5,(q? ׽)DY,I ?iB=checking for new query: numPingsReceived=48, elapsed TxPingTime=21.691685BMQ>BMLCBMrIBMҀBBM =BIBM̺DBM);BM8E) ^A} TIq ԑ I Om>خ&,֗ LADDAT read: Rx Time:04:31:41.6539 %TRx dataTimestamp_ set to:1764909102.408798-PDAT read: Bearing 127.3, 41.4 (Local) -~Local bearing/azimuth received: Bearing 127.3, 41.4 (Local) =DAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed 0.3 EZ#Rx 49: Read range message, but no direction.y!Y%fA!Mchecking for new query: numPingsReceived=49, elapsed TxPingTime=21.939093AEe EeEaEa"Ee:*Ee1]:VEaZEaBEe 9Y=EyEE>Q 55K?Q 95)>BY?Q E:y!Q IQ@_DI ;i:Y5ySBɮ Ai!i%) LAj%sA"j%sA:j%+="p%꣓9@͵1@QcI@p%͠0~?̕mf?oG4?*j% ?2j%B*p%gw 5!l=@&,@ { '@p%H?jX?:FU?j%e @ j%aAi%2F?i%*{j%Bj%2F?j!j%Brj% Azj%m=U addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.501341 s, deltaX: -0.299999 m, approachRate: -0.598394 m/s, rangeRepo size: 4 e Added new target pos. range: 31.681353 m, bearing: 4.173197 deg, lat: 36.779401 deg, lon: -121.859706 deg, deltaT: 0.501341 s, deltaX: -0.300182 m, approachRate: -0.598759 m/s, posRepo size: 4 :iamDNOT Ignoring new targets: 31.68 m.i2ii"i*i ProNav: ac range: 31.681353 m, nav range: 29.506226 m, bearing: 4.320351 deg, approach rate: 0.000000 m/s, LOS rate: 0.672139 deg/s, cmd heading: 340.443020 deg, new cmd heading: 341.122935 deg. iHeadingCmd: 5.953718 target range: 31.681353 and range: 31.80 m.h܄@hhhhggjgrgmBereZe:e?@*eV?EfBɢM)I MojiI)MIQiUhiU诨Y])aI]܄@IYIi)myA@ @@O1@ԙDAT read: 04:31:41.6539 LVL= 26656, 32753, 32754, 32755, AGC= 55, IDX= 503, 0.42,-0.061,-1.961,-1.064,-0.717, PHS= 0.759,-1.199,-0.391, RAW= 114.2, 9.8, CAL= 115.5, 11.0, ROT= 34.5, -11.0 Ygot valid direction response: 04:31:41.6539 LVL= 26656, 32753, 32754, 32755, AGC= 55, IDX= 503, 0.42,-0.061,-1.961,-1.064,-0.717, PHS= 0.759,-1.199,-0.391, RAW= 114.2, 9.8, CAL= 115.5, 11.0, ROT= 34.5, -11.0 Z#Rx 50: Read direction message, but no range.\direction in FSK: [0.808985,0.556000,0.190809]y'3??P@ml? h )7IMB?ix'1Ⱦ ?%/>@  D>)%?I D @.`?xؽP=ξ? }ͽ).I%?i D checking for new query: numPingsReceived=50, elapsed TxPingTime=22.193041 ^A B4A zA zAIi Iy O >U&, LA2@2C@2߽ٱ2d->2H?)?ueƿ3s޿ ??9q?Z?i2@I2S];2CYBByB5IbDJVDJ8yR%=%R=ٔVQ-V?9TYT=ZEyZEzu=Ez?|Q 55~g?Q 95~()~BBYy zQ I Q@~dDI~::i~:~ \5yɮA5B*** querying acoustic contact ***i1i1:iAEDNOT Ignoring new targets: 31.68 m.2iA"iM:<*iM:<} ProNav: ac range: 31.681353 m, nav range: 29.393091 m, bearing: 4.501358 deg, approach rate: -0.407086 m/s, LOS rate: 0.653815 deg/s, cmd heading: 341.122924 deg, new cmd heading: 341.486327 deg. i}<HeadingCmd: 5.960061 target range: 31.681353 and range: 31.80 m.hѸ@hhhhggjgrgereZe:e*ek?]gBɢer"?[TY?mVѫ?Yp` )6I@?iˡž@¸2>@ +H>)?I+H+b?Xbn)qԇ? .c)l1I?i+Hchecking for new query: numPingsReceived=51, elapsed TxPingTime=22.455713D=<D=<EM EMEM$EI"EM:*EMrN:VEM4ZEIa]@a]@a]@a]@ԙ@ @@4@^AJI1IAOMt>iߑ Iߑ  checking for new query: numPingsReceived=51, elapsed TxPingTime=22.687086B L>B KCB IB BB =B B B 2;B 8E B9B=NCB=˕CB= =B= =C=6|&, LA6pf@6_@6Bٱ6/>6HJ?`!? ƿ ݿ?@x%??V?i6pf@I6ļ];6CY^By^3IbDfVDf8ye[%e?=ٔedQ-e>9iYi=mEymEu<Eu>Q 55C?Q 95Y)IBYy/Q IQ@jDIl:i:_5yVBɮAEi)i-iV LAj-rA"j-rA:j-`="p-(ɰ9@vRh`1@Q 1@p->"?[TY?mVѫ?*j-?2j-+H*p-hH=@F@Rz'@p-b[?X#?4"?j-%@ j-FAi-iT?i-G6j-(v@ [>):\?I[7=峋G?eAC2G䴀yd? M)6WDI:\?i[}checking for new query: numPingsReceived=52, elapsed TxPingTime=22.955107E] E]E]!EY"E]2:*E]R:VE]c3ZEYBE]$*i m&,v LA 6@@6@65ٱ61>6H` 2??yƿmݿ@9?CD`G??S?i6@@I6b];6CYNByRCIV=TimMb@Mb@Mb@iiii i9mMb?V-~jtYm?ymhmmAm A i)iiYm\AyybDϿVD8y~=%G=ٔ0Q->9Y=EyE<E>Q 55?Q 95)NBYj?Q E:yBQ IQ@qDI ;i ;Lc5y[BɮzAEi1i5 LAj5A"j5A:j5<="p5gc9@a塪01@axý@p5uw?T?AzUmD?*j5:\?2j5[*p5xKo<@8p(j@?p(@p5# NM?G( )۶?JL?j5Q3@ j5Ai5vMI4?i5`цj5DBj1j5G6j1rj5Azj5{Ӿ= addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.504129 s, deltaX: -0.299999 m, approachRate: -0.595084 m/s, rangeRepo size: 4 % Added new target pos. range: 31.381983 m, bearing: 5.568870 deg, lat: 36.779402 deg, lon: -121.859704 deg, deltaT: 0.504129 s, deltaX: -0.298876 m, approachRate: -0.592856 m/s, posRepo size: 4 :i!-DNOT Ignoring new targets: 31.38 m.2i)"i)*i)= ProNav: ac range: 31.381983 m, nav range: 29.134789 m, bearing: 5.338638 deg, approach rate: 0.000000 m/s, LOS rate: 0.653815 deg/s, cmd heading: 342.043989 deg, new cmd heading: 342.575439 deg. iAEHeadingCmd: 5.979069 target range: 31.381983 and range: 31.50 m.hET@hIhIhIhIgIgI]checking for new query: numPingsReceived=52, elapsed TxPingTime=23.191025jgYrge~BeareaZea:em?@*em@-?jBɢd.) %_i)ػim{i%)E7IET@IQq@ @@@ ^A&t@IAIQO]U>ԙ  DDAT read: Rx Time:04:31:43.1536  TRx dataTimestamp_ set to:1764909103.919353 PDAT read: Bearing 130.4, 40.2 (Local) % ~Local bearing/azimuth received: Bearing 130.4, 40.2 (Local) 5 DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.3 U DAT read: 04:31:43.1536 LVL= 23856, 32753, 32754, 32755, AGC= 54, IDX= 501,-0.47,-1.239,-3.124,-2.190,-1.871, PHS= 0.734,-1.208,-0.363, RAW= 115.7, 10.0, CAL= 117.0, 11.2, ROT= 33.0, -11.2 ] Ygot valid direction response: 04:31:43.1536 LVL= 23856, 32753, 32754, 32755, AGC= 54, IDX= 501,-0.47,-1.239,-3.124,-2.190,-1.871, PHS= 0.734,-1.208,-0.363, RAW= 115.7, 10.0, CAL= 117.0, 11.2, ROT= 33.0, -11.2 e T#Rx 53: Read range and direction messages.e \direction in FSK: [0.822698,0.534266,0.194234]m Fpublishing direction and range infoy  |K1S? ?mVѫ?Y 3A  0]   ) 6I m;?i  #۹ <@ ¸2> @  +H>) r?I +H   S6|p/n?ߥ{ֲD ?  %) 1I r?i +H   checking for new query: numPingsReceived=53, elapsed TxPingTime=23.458620Ee  Ee Ee %Ea "Ee O:*Ee T:VEe 4ZEa am @am @am @am @ ,&,3 LALR@R@RxٱR 1>RHR??~ƿ@ܿ{Y?%`??SS?iR@IRז];RCY5By=IIbDMҿVDM8y}<%}K=ٔuQ->9Y=EyE[<E>Q 55͕?Q 95)TBY!y%Q I%Q@xDI>:il:f5y)ɮ-WA1i9i= LAj=BA"j=BA:j=茳="p=_f9@W40@,RM@p=|K1S? ?mVѫ?*j=r?2j=+H*p=<8<@ T@BU'@p=DJ?.̴?:]hR?i=Nj=Bj=}>R?j9j=Brj=jAzj== addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.503700 s, deltaX: -0.100000 m, approachRate: -0.198532 m/s, rangeRepo size: 4  Added new target pos. range: 31.282356 m, bearing: 5.023184 deg, lat: 36.779403 deg, lon: -121.859704 deg, deltaT: 0.503700 s, deltaX: -0.099627 m, approachRate: -0.197789 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 31.28 m.2i"i*i ProNav: ac range: 31.282356 m, nav range: 29.052004 m, bearing: 5.596001 deg, approach rate: 0.000000 m/s, LOS rate: 0.653815 deg/s, cmd heading: 342.575432 deg, new cmd heading: 343.132384 deg. i-HeadingCmd: 5.988790 target range: 31.282356 and range: 31.40 m.h-+@h1h1h1h1g1g1jg9rg9e9re9Ze9:eE`ff?@*eE4?颭lBɢ ) ]i)dF顱i:i_:I+@Iechecking for new query: numPingsReceived=53, elapsed TxPingTime=23.695091}@y @@@BT>BMCBIBBB =BBͺDB;B8E^A Q9) A I! II Ou >1(&, LANDDAT read: Rx Time:04:31:43.6534 RTRx dataTimestamp_ set to:1764909104.423401VPDAT read: Bearing 132.7, 40.7 (Local) V~Local bearing/azimuth received: Bearing 132.7, 40.7 (Local) ^DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.3 hrDAT read: 04:31:43.6534 LVL= 25888, 32753, 32754, 32755, AGC= 55, IDX= 498, 0.49,-0.844,-2.728,-1.805,-1.452, PHS= 0.710,-1.231,-0.398, RAW= 115.3, 10.9, CAL= 116.5, 12.2, ROT= 33.5, -12.2 zYgot valid direction response: 04:31:43.6534 LVL= 25888, 32753, 32754, 32755, AGC= 55, IDX= 498, 0.49,-0.844,-2.728,-1.805,-1.452, PHS= 0.710,-1.231,-0.398, RAW= 115.3, 10.9, CAL= 116.5, 12.2, ROT= 33.5, -12.2 zT#Rx 54: Read range and direction messages.~\direction in FSK: [0.815053,0.539472,0.211325]~Fpublishing direction and range infoyLN#0?Z=ZC?\ ?YNALN eLL L)N7IN5?iNhN˾N@NB>N!@ N^ Z>)N?IN^ ZLLN lOQ?x-r~6? N&)NBIN?iN^ ZLLchecking for new query: numPingsReceived=54, elapsed TxPingTime=23.963797YByTIE EE$E"E>:*EL_:VE4ZEBEytt AA ) AY=AbDMVDM8yL=% =ٔQ->9Y=EyEE>Q 55yޕ?Q 95g)\BY>Q E:y6Q IQ@DIq;i:Fk5y_Bɮ*AEiLiN LAjNA"jNA:jN="pNT2H@?@?}3ƿۿ`? ᜺]?+?V?i2@I2|];2CJDDAT read: Rx Time:04:31:44.1534 NTRx dataTimestamp_ set to:1764909104.927463RPDAT read: Bearing 136.8, 39.8 (Local) R~Local bearing/azimuth received: Bearing 136.8, 39.8 (Local) ZDAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.3 nDAT read: 04:31:44.1534 LVL= 27584, 32753, 32754, 32755, AGC= 55, IDX= 498, 0.36, 1.856,-0.001, 0.944, 1.329, PHS= 0.629,-1.285,-0.429, RAW= 116.5, 13.0, CAL= 117.5, 14.4, ROT= 32.5, -14.4 rYgot valid direction response: 04:31:44.1534 LVL= 27584, 32753, 32754, 32755, AGC= 55, IDX= 498, 0.36, 1.856,-0.001, 0.944, 1.329, PHS= 0.629,-1.285,-0.429, RAW= 116.5, 13.0, CAL= 117.5, 14.4, ROT= 32.5, -14.4 rT#Rx 55: Read range and direction messages.v\direction in FSK: [0.816895,0.520419,0.248690]vFpublishing direction and range infoyHJ w$?rF?l?YHHJkHH H)HIJ%!?iJzJ۾J!@JVh>J?@ J>)J6?IJHHJu ?e8W1EzU? JoEy)JvhIJ6?iJHH-checking for new query: numPingsReceived=55, elapsed TxPingTime=24.470766yE EE&E"E[:*Ee:VE4ZEa@a@a@a@ԑYրBywI ԹbDVDŰ8yW=%=ٔ!кQ->9Y=EyE<E>Q 55]?Q 95)fBYyQ IQ@DI;i;p5y xBɮ A EiHiJ[; LAjHUchecking for new query: numPingsReceived=55, elapsed TxPingTime=24.705391BEM>BEKCBEIBEBBE =BABE̺DBE#;BE8E"jH:jJ?x="pJT od9@GIN8<-0@e͋@pJ w$?rF?l?*jJ6?2jJ*pJirD~ <@ 6@AE*@pJUv9;?5?zq ?jJ$@ jJoAiJW*r/?iJuDjJBjJ??jJC׏jJBrjJ*AzjJ=E  addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.504062 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u  Added new target pos. range: 31.083971 m, bearing: 5.244738 deg, lat: 36.779401 deg, lon: -121.859707 deg, deltaT: 0.504062 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iq } DNOT Ignoring new targets: 31.08 m.2iy "iy *iy  ProNav: ac range: 31.083971 m, nav range: 28.395683 m, bearing: 5.839712 deg, approach rate: 0.000000 m/s, LOS rate: 0.653815 deg/s, cmd heading: 343.784840 deg, new cmd heading: 344.607704 deg. i HeadingCmd: 6.014539 target range: 31.083971 and range: 31.20 m.h w@h h h h g g jg rg e re Ze :e *e G? pBɢ +Z) l &Mi )   i hi- 􋉾) - PI- w@I1 @  @ @ 0@ 1DDAT read: Rx Time:04:31:44.6532 TRx dataTimestamp_ set to:1764909105.435352%PDAT read: Bearing 138.3, 39.5 (Local) %~Local bearing/azimuth received: Bearing 138.3, 39.5 (Local) =DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.3 ]DAT read: 04:31:44.6532 LVL= 30032, 32753, 32754, 32755, AGC= 55, IDX= 496, 0.37, 0.784,-1.068,-0.114, 0.271, PHS= 0.614,-1.294,-0.429, RAW= 116.9, 13.3, CAL= 117.9, 14.7, ROT= 32.1, -14.7 }Ygot valid direction response: 04:31:44.6532 LVL= 30032, 32753, 32754, 32755, AGC= 55, IDX= 496, 0.37, 0.784,-1.068,-0.114, 0.271, PHS= 0.614,-1.294,-0.429, RAW= 116.9, 13.3, CAL= 117.9, 14.7, ROT= 32.1, -14.7 T#Rx 56: Read range and direction messages.\direction in FSK: [0.819394,0.514005,0.253758]Fpublishing direction and range infoyG:y8?Pr?N=?Y3APu )I/?iˡ@,m>@ G\>)l?IG\}L?l˪)l ? g\)=nIl?iG\checking for new query: numPingsReceived=56, elapsed TxPingTime=24.981653^A%PabEjEm4rE).0E] E]E]$EY"E]:*E]|:VE]4ZEYBE]5H?V?ſڿ ?Pĺؼ?E?+Y?i5@I5w];5C A)AAIIqIqiu`eIqqIyiy }Ty)yׁ ؁ׁׁׁ؉؍5~AI؍#)؉i)I# Cii) IYYMByMIiUMb@Mb@Mb@QQQQ Q9UX9v?MbX9I +YU>yUʡU94U9AQ UpA)QQYUAbD>VD8y9=%%=ٔhQ->9Y=EyE=E>Q 55?Q 95~)oBY?Q E%:y%Q I%Q@DI;iO;t5y)ɮ-A)iYi][ LAj]FA"j]FA:j]o="p]A{99@q/@bSeC?@checking for new query: numPingsReceived=56, elapsed TxPingTime=25.211004ԙp]G:y8?Pr?N=?*j]l?2j]G\*p] &p;@1V@x'?*@p]v?p]ɣ?Nf9)I?j]5@ j]Ai]q5#?i]J޸j]!Bj]vMI4?j]Nj]DBrj]Azj]= addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.507889 s, deltaX: -0.300001 m, approachRate: -0.590683 m/s, rangeRepo size: 4 % Added new target pos. range: 30.784386 m, bearing: 5.859287 deg, lat: 36.779399 deg, lon: -121.859707 deg, deltaT: 0.507889 s, deltaX: -0.299585 m, approachRate: -0.589864 m/s, posRepo size: 4 :i!-DNOT Ignoring new targets: 30.78 m.2i)"i1*iQm ProNav: ac range: 30.784386 m, nav range: 28.063194 m, bearing: 6.113619 deg, approach rate: 0.000000 m/s, LOS rate: 0.653815 deg/s, cmd heading: 344.607714 deg, new cmd heading: 345.245236 deg. iiHeadingCmd: 6.025666 target range: 30.784386 and range: 30.90 m.hB@hhhhggjgrgBereZe:e`f>@*e`?%rBɢ%uw)! -JHi))-#))i-5i5ك15`iE D̿E o#E ȴ@E >E 0@ E >)E ?IE ⾩A A E s|]?I4 u6ĩ? E 0I)I1O>4< &, LAE  E E #E"E 2:*E T:VE 3ZEa@a@a@a@)=TI=?i=⾩99checking for new query: numPingsReceived=57, elapsed TxPingTime=25.544453Eh@Ea@E2ٱEB+>EH`??ſ\ڿe? @q?9?=Y?iEh@IE&d];AYMByMIU@AUAAbD]MVD]8yh=%;=ٔQ->9Y=EyE<E>Q 55:?Q 95)vBYylQ IQ@DIu:i:x5y|BɮAEi9i=2| LAj9"j9:j=o="p=_j=7@Rc$,@P,شh*@p=?~lA?hVs?*j=?2j=*p=3q8@2'Vmb??N<1@p=P-?z$$N? ڳd?j=? j=Ai=I3"J?i=.j=Bj=W*r/?j=J޸j=Brj=Azj=Zm= addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.505204 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 30.784386 m, bearing: 3.353383 deg, lat: 36.779399 deg, lon: -121.859709 deg, deltaT: 0.505204 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 30.78 m.2i"i*i ProNav: ac range: 30.784386 m, nav range: 27.822456 m, bearing: 6.110818 deg, approach rate: 0.000000 m/s, LOS rate: 0.653815 deg/s, cmd heading: 345.245244 deg, new cmd heading: 345.810458 deg. iHeadingCmd: 6.035531 target range: 30.784386 and range: 30.90 m.h#@hhhhggjgrg e re Ze :e *e`?颽tBɢ~w) B%NCB%IB%.BB% =B!B%κDB%;B%8Emchecking for new query: numPingsReceived=57, elapsed TxPingTime=25.717186@ @@@@=@= ^A X;A- >A- >I I O% >ib&&,7ǚ LA rDDAT read: Rx Time:04:31:45.6530 vTRx dataTimestamp_ set to:1764909106.447335zPDAT read: Bearing 138.9, 39.8 (Local) z~Local bearing/azimuth received: Bearing 138.9, 39.8 (Local) DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed 0.3 %DAT read: 04:31:45.6530 LVL= 26896, 32753, 32754, 32755, AGC= 56, IDX= 510, 0.47,-0.336,-2.203,-1.250,-0.888, PHS= 0.654,-1.270,-0.407, RAW= 116.6, 12.2, CAL= 117.7, 13.6, ROT= 32.3, -13.6 5Ygot valid direction response: 04:31:45.6530 LVL= 26896, 32753, 32754, 32755, AGC= 56, IDX= 510, 0.47,-0.336,-2.203,-1.250,-0.888, PHS= 0.654,-1.270,-0.407, RAW= 116.6, 12.2, CAL= 117.7, 13.6, ROT= 32.3, -13.6 5T#Rx 58: Read range and direction messages.=\direction in FSK: [0.821562,0.519370,0.235142]=Fpublishing direction and range infoyprFq;J?jl ?#?YrApripp p)r8Irl'?ir\rNbоrS>@r^ Z>rx@ rs>)rZQ?Irsppr, 8?B4N? rys)rZIrZQ?irspp]checking for new query: numPingsReceived=58, elapsed TxPingTime=25.986710YByII=)=E  E E &E "E V:*E :VE 4ZE BE 9yE+E`EhAEVA A)EMAAYEAbD]VVD]8y<%-=ٔQ->9Y=EyEE>Q 55`%?Q 95)BY?Q E:yQ IQ@DI:iA:|5yɮ%A!ipir# LAjrA"jrA:jrS="pr& 9@P%t/@2-_¬@prFq;J?jl ?#?*jrZQ?2jrs*prb~;@16 @5 (@prѴl?ޅ?AX?R`24?jriP@ jrAirI=?irJjrBjpjpjprjrAzjrU= addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.506779 s, deltaX: -0.299999 m, approachRate: -0.591973 m/s, rangeRepo size: 4  Added new target pos. range: 30.486708 m, bearing: 6.723512 deg, lat: 36.779399 deg, lon: -121.859709 deg, deltaT: 0.506779 s, deltaX: -0.297678 m, approachRate: -0.587392 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 30.49 m.2i"i*i ProNav: ac range: 30.486708 m, nav range: 27.633924 m, bearing: 6.415963 deg, approach rate: 0.000000 m/s, LOS rate: 0.653815 deg/s, cmd heading: 345.810456 deg, new cmd heading: 346.427984 deg. iHeadingCmd: 6.046309 target range: 30.486708 and range: 30.60 m.h]{@hh!h!h!g!g!jg)rg)e)re)Ze):e5>@*e57?q额vBɢ=p) :i)y9顡i*ir"dI]{@Ichecking for new query: numPingsReceived=58, elapsed TxPingTime=26.223705ԡ z @  @ @ /@  G9 m9 YwiAAE=UDDAT read: Rx Time:04:31:46.1529 UTRx dataTimestamp_ set to:1764909106.952885ePDAT read: Bearing 141.4, 39.1 (Local) m~Local bearing/azimuth received: Bearing 141.4, 39.1 (Local) }DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.3 ^A_>DAT read: 04:31:46.1529 LVL= 27840, 32753, 32754, 32755, AGC= 56, IDX= 509, 0.40, 0.477,-1.364,-0.396,-0.027, PHS= 0.606,-1.292,-0.413, RAW= 117.5, 13.3, CAL= 118.5, 14.7, ROT= 31.5, -14.7 Ygot valid direction response: 04:31:46.1529 LVL= 27840, 32753, 32754, 32755, AGC= 56, IDX= 509, 0.40, 0.477,-1.364,-0.396,-0.027, PHS= 0.606,-1.292,-0.413, RAW= 117.5, 13.3, CAL= 118.5, 14.7, ROT= 31.5, -14.7 T#Rx 59: Read range and direction messages.\direction in FSK: [0.824731,0.505396,0.253758]Fpublishing direction and range infoyQU2d?! <4,?N=?YUAQUlQQ Q)QIU"?iUB`UtӾU?@U,m>U]@ UG\>)UL ?IUG\QQU[Qr?$R3h]k? U#T.)U}mIUL ?iUG\QQchecking for new query: numPingsReceived=59, elapsed TxPingTime=26.494677I DU=DQIO? 0&,R) LAE EE#E"E:*EF:VE3ZEa"@a"@a"@a"@jt@j@j_ٱj^~->jH"*?`?xſMٿu.? ";?!q?U?ijt@Ijj];jCYMByMIQbDlVD8y؛=%=ٔQ->9Y=Ey E =E>1Q 55558?Q 9=55)5BY9y=t Q I=Q@5DI5:i5>:55ymBɮmZAiii LAjA"jA:j_="pz"%(9@/ .@4ep@p2d?! <4,?N=?*jL ?2jG\*p -@׵G;@ؕ @V h)@pbd}f?ԇt^?|MY?jO@ j=AiPh3?iڵj BjjjrjbAzjK= addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.505550 s, deltaX: -0.100000 m, approachRate: -0.197805 m/s, rangeRepo size: 4 % Added new target pos. range: 30.387077 m, bearing: 6.791434 deg, lat: 36.779399 deg, lon: -121.859709 deg, deltaT: 0.505550 s, deltaX: -0.099630 m, approachRate: -0.197073 m/s, posRepo size: 4 :i)-DNOT Ignoring new targets: 30.39 m.2i)"i)*i1= ProNav: ac range: 30.387077 m, nav range: 27.423227 m, bearing: 6.750600 deg, approach rate: 0.000000 m/s, LOS rate: 0.653815 deg/s, cmd heading: 346.427987 deg, new cmd heading: 347.118399 deg. i9MHeadingCmd: 6.058359 target range: 30.387077 and range: 30.50 m.hU@hQhQhQhQgQgQjgYrgYeYreYԉZe:e>@*ev?wBɢ1^) G1i)tyEidi%8f!%yKI%@I)BY>BMCBIBQBB =BBB:;B8E%checking for new query: numPingsReceived=59, elapsed TxPingTime=26.727123=FΞԱ@ @@@^AyaII O > D6&,G LA5O@5ZH@5ٱ5d.>5HI?.`?5ſؿxK?G༿@H?*?S?i5O@I5];5CYM%ByMIeDDAT read: Rx Time:04:31:46.6527 eTRx dataTimestamp_ set to:1764909107.455425mPDAT read: Bearing 140.7, 39.7 (Local) u~Local bearing/azimuth received: Bearing 140.7, 39.7 (Local) DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.2 ԑDAT read: 04:31:46.6527 LVL= 28848, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.46,-1.300, 3.115,-2.208,-1.859, PHS= 0.661,-1.264,-0.394, RAW= 116.8, 11.9, CAL= 117.9, 13.2, ROT= 32.1, -13.2 Ygot valid direction response: 04:31:46.6527 LVL= 28848, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.46,-1.300, 3.115,-2.208,-1.859, PHS= 0.661,-1.264,-0.394, RAW= 116.8, 11.9, CAL= 117.9, 13.2, ROT= 32.1, -13.2 T#Rx 60: Read range and direction messages.\direction in FSK: [0.824740,0.517358,0.228351]Fpublishing direction and range infoyae.BEd?763? :?YeAaepaa a)aE- E-E)E)"E-:*E-ga:VE)ZE)BE-#e@ ek>)el?Iekaaem/ C?`2p? eH c)e UIel?iekaa]checking for new query: numPingsReceived=60, elapsed TxPingTime=27.044153i]Mb@Mb@Mb@YYYY Y9]-?MbY]?>y]@]]"AY ]ZA)]AYY]AbDeVD 8y=%-=ٔQ->9Y=EyE<E>yQ 55}I?Q 95}i)}BYl>Q E:y Q IQ@}DI}:i}:}ƅ5yɮAiaie% LAjeA"jeA:jeO>"pe<֕8@ܰ!/@et{@pe.BEd?763? :?*jel?2jek*pe֜g:;@@6S4c(@pe 5? \h??jex@ jeAie/tX@?iejeBjePh3?jeڵje BrjeEAzje=e addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.502540 s, deltaX: -0.299999 m, approachRate: -0.596966 m/s, rangeRepo size: 4 m Added new target pos. range: 30.088009 m, bearing: 8.130446 deg, lat: 36.779399 deg, lon: -121.859708 deg, deltaT: 0.502540 s, deltaX: -0.299068 m, approachRate: -0.595114 m/s, posRepo size: 4 :iquDNOT Ignoring new targets: 30.09 m.2iy"iy*iy ProNav: ac range: 30.088009 m, nav range: 27.283934 m, bearing: 7.072035 deg, approach rate: 0.000000 m/s, LOS rate: 0.653815 deg/s, cmd heading: 347.118410 deg, new cmd heading: 347.755546 deg. iHeadingCmd: 6.069479 target range: 30.088009 and range: 30.20 m.h-9@hhhhggjgrgBereZe:e@33>@*e ?uyBɢuڮ`)q u)iy)}Pyyi}ضiZ}QI-9@I checking for new query: numPingsReceived=60, elapsed TxPingTime=27.231747 @  @ @ 5@ @ yA@ zAIDDAT read: Rx Time:04:31:47.1527 TRx dataTimestamp_ set to:1764909107.960021PDAT read: Bearing 143.7, 39.0 (Local) ~Local bearing/azimuth received: Bearing 143.7, 39.0 (Local) DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.3 ^AIbAzAxA=DAT read: 04:31:47.1527 LVL= 28064, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.41, 0.597,-1.242,-0.267, 0.099, PHS= 0.600,-1.296,-0.410, RAW= 117.8, 13.4, CAL= 118.7, 14.7, ROT= 31.3, -14.7 UYgot valid direction response: 04:31:47.1527 LVL= 28064, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.41, 0.597,-1.242,-0.267, 0.099, PHS= 0.600,-1.296,-0.410, RAW= 117.8, 13.4, CAL= 118.7, 14.7, ROT= 31.3, -14.7 ]T#Rx 61: Read range and direction messages.m\direction in FSK: [0.826490,0.502514,0.253758]mFpublishing direction and range infoyy91r?7X?N=?Ym )I?iT㥿Ѿx@|o>Ԗ@ G\>) ?IG\,?:ﺵIˢ!? )vH?8?ſ!׿$?ӹ@??9Y=EyE=E>Q 55[?Q 95V)BYy Q IQ@DI;iC;35yBɮYAEiip LAj"j:jZ>"p`"o8@AhB=.@ addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.504596 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 30.088009 m, bearing: 8.244903 deg, lat: 36.779400 deg, lon: -121.859707 deg, deltaT: 0.504596 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 30.09 m.2i"i*i- ProNav: ac range: 30.088009 m, nav range: 27.142105 m, bearing: 7.650946 deg, approach rate: 0.000000 m/s, LOS rate: 0.653815 deg/s, cmd heading: 347.755557 deg, new cmd heading: 348.418296 deg. i)5HeadingCmd: 6.081047 target range: 30.088009 and range: 30.20 m.h5@h1h9h9h9g9g9jgArgAeareaZea:ei*emO?颵{BɢU) .!i)Z项i BiN7I@IԁAAAABS>BB@IBzBB =BBͺDB@;B8EBMMCBMMCBMĔCBM =BM =CMP6%checking for new query: numPingsReceived=61, elapsed TxPingTime=27.735634A@I @I@M/@I^AS-PԩIIIaOm> mF&,n LA2D@2S=@2Mٱ2/>2H`I??`tſֿM? C υ?`M?Q?i2D@I2x];2C8:<>DDAT read: Rx Time:04:31:47.6525 BTRx dataTimestamp_ set to:1764909108.463485FPDAT read: Bearing 144.6, 38.9 (Local) F~Local bearing/azimuth received: Bearing 144.6, 38.9 (Local) NDAT read: Range 11 to 50 : 29.9 m (trip time 19.9 ms) speed 0.3 jDAT read: 04:31:47.6525 LVL= 30640, 32753, 32754, 32755, AGC= 55, IDX= 505, 0.39,-0.671,-2.510,-1.535,-1.177, PHS= 0.608,-1.289,-0.402, RAW= 117.8, 13.1, CAL= 118.7, 14.4, ROT= 31.3, -14.4 vYgot valid direction response: 04:31:47.6525 LVL= 30640, 32753, 32754, 32755, AGC= 55, IDX= 505, 0.39,-0.671,-2.510,-1.535,-1.177, PHS= 0.608,-1.289,-0.402, RAW= 117.8, 13.1, CAL= 118.7, 14.4, ROT= 31.3, -14.4 zT#Rx 62: Read range and direction messages.~\direction in FSK: [0.827614,0.503197,0.248690]~Fpublishing direction and range infoy@BQ{?v1?l?YB3A@Bw@@ @)B7IB?iBB;@B j>@ B>)@IB@@B|s2$?|ms? BC)BQjI@iB@@Mchecking for new query: numPingsReceived=62, elapsed TxPingTime=28.014227YMBy IԱEE EEEE"EA"EE:*EEX:VEE(3ZEABEEq%y=ļ== A=A =A)=|A9Y=QAbDuIVDu8yD=%-=ٔ8Q->9Y=EyEV<E>Q 55m?Q 95)BY>Q E:yվQ IQ@DI;i:T5yBɮAEi@iB LAjBOA"jBOA:jB>"pB4`R8@կ-@¾@pBQ{?v1?l?*j@2jB*pB `R':@덤@uƒE)@pB' 礡?3?ʡ&?jB$@ jB9AiB3?iB _jBBj@jBAЈjBBrjBAzjB> addTargetRange:: Added new target pos. range: 29.900000 m, deltaT: 0.503464 s, deltaX: -0.300001 m, approachRate: -0.595874 m/s, rangeRepo size: 4  Added new target pos. range: 29.788750 m, bearing: 8.872632 deg, lat: 36.779400 deg, lon: -121.859704 deg, deltaT: 0.503464 s, deltaX: -0.299259 m, approachRate: -0.594400 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 29.79 m.2i"i*i ProNav: ac range: 29.788750 m, nav range: 26.985004 m, bearing: 8.506778 deg, approach rate: 0.000000 m/s, LOS rate: 0.653815 deg/s, cmd heading: 348.418304 deg, new cmd heading: 349.031865 deg. iHeadingCmd: 6.091755 target range: 29.788750 and range: 29.90 m.h@hhhhggjgrgBereZe :e `f=@*e  ?}}Bɢ}W)y }iy)Βc顁iȻi4D;I@II@I @I@M4@I5checking for new query: numPingsReceived=62, elapsed TxPingTime=28.240046^A5 PA5 ?A5 >9 I I O >L&,6 LA@Տ@\ٱ֫/>H??Gſ@[ֿ ?z?? R?i@Ic];CY]ByIbDVD8y=%o=ٔ:Q-?9Y=EyE"<E?Q 55z?Q 95)BYyϾQ IQ@ĢDI2:i;Q5yBɮA B*** querying acoustic contact ***ii:i%DNOT Ignoring new targets: 29.79 m.2i!"iR&<*iR&< ProNav: ac range: 29.788750 m, nav range: 26.842281 m, bearing: 8.695694 deg, approach rate: -0.437098 m/s, LOS rate: 0.581643 deg/s, cmd heading: 349.031874 deg, new cmd heading: 349.411709 deg. i<HeadingCmd: 6.098385 target range: 29.788750 and range: 29.90 m.h%@hhhhggjgrgereZe:e*e ?DDAT read: Rx Time:04:31:48.1524 TRx dataTimestamp_ set to:1764909108.967575PDAT read: Bearing 147.6, 37.8 (Local) ~Local bearing/azimuth received: Bearing 147.6, 37.8 (Local) DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.3  DAT read: 04:31:48.1524 LVL= 30032, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.31, 1.015,-0.783, 0.214, 0.576, PHS= 0.541,-1.314,-0.406, RAW= 119.3, 14.5, CAL= 119.9, 15.9, ROT= 30.1, -15.9 %Ygot valid direction response: 04:31:48.1524 LVL= 30032, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.31, 1.015,-0.783, 0.214, 0.576, PHS= 0.541,-1.314,-0.406, RAW= 119.3, 14.5, CAL= 119.9, 15.9, ROT= 30.1, -15.9 -T#Rx 63: Read range and direction messages.5\direction in FSK: [0.832052,0.482324,0.273959]=Fpublishing direction and range infoy83+??|c?ψ.?YAPu )6I~ ?i'1;ϾgB@>@ q>)|?Iq=BEy?! &|#? zF)I|?iqchecking for new query: numPingsReceived=63, elapsed TxPingTime=28.528891ɢ2k)E EE E"E*EVE3ZEa@a@a@a@ i)iifͻi%H<=%j=%)/I%%@I!1Q@ @@/@@=@=^Al;I)I9OE>aB} M>B} LCB} lIB} BB} =By B} ̺DB} +;B} 8Ei1 I5 A= checking for new query: numPingsReceived=63, elapsed TxPingTime=28.743027ԉ S&,d?P LA2@2j@2ٱ2_/>2H`?@7d?ſ`fտ3?~d??@R?i2@I2u];0YBkByB.IIF<)F;bDJVDJ8yfj=%f\=ٔfeq:Q-f>9hYh=jEyj!EjK<En>pQ 5v5r?Q 9v5rf)rBYtyvʾQ IvQ@rʢDIr:ir:r5yxɮ~A|ii= LAjA"jA:j>"p#8@/,@%Gy`6 @p83+??|c?ψ.?*j|?2jq*pUn1:@SMr@Z*@p'IT?k"?ߖQX?j}@ jAiY(?i&6jƛBj3?jjBrj7AzjB> addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.504090 s, deltaX: -0.199999 m, approachRate: -0.396752 m/s, rangeRepo size: 4  Added new target pos. range: 29.589094 m, bearing: 8.599182 deg, lat: 36.779399 deg, lon: -121.859704 deg, deltaT: 0.504090 s, deltaX: -0.199656 m, approachRate: -0.396071 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 29.59 m.2i"i*i  ProNav: ac range: 29.589094 m, nav range: 26.652220 m, bearing: 8.910945 deg, approach rate: 0.000000 m/s, LOS rate: 0.581643 deg/s, cmd heading: 349.411714 deg, new cmd heading: 349.865019 deg. i 5HeadingCmd: 6.106297 target range: 29.589094 and range: 29.70 m.h5f@h9h9h9h9g9g9jgArgAeAreAZeA:eM@3=@*eM`?q颭BɢD[)  i)pi Իi\"55)If@IԩM@I @I@U/@QDDAT read: Rx Time:04:31:48.6522 TRx dataTimestamp_ set to:1764909109.480876 PDAT read: Bearing 147.4, 38.8 (Local)  ~Local bearing/azimuth received: Bearing 147.4, 38.8 (Local) -DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.3 E EE#E"E:*E[:VE3ZEBE'm@  A>)'g ?I Aa? ? f)FpI'g ?i Aechecking for new query: numPingsReceived=64, elapsed TxPingTime=29.052660^A! I I O > Z&,j LA6?@6^8@6ٱ6g.>6H s?? Ŀ@!տ``?@Q` S?{?ST?i6?@I6i];6CY^tBy^9IieMb@Mb@Mb@aaaa a9e(\?~jthMbp?Ye>yeDe;eAe?A eCA)efAaYe AbDVDy$=%==ٔ":Q->9Y=Ey%E<E>Q 55̘?Q 95/)̈BY>Q E:yQ IQ@ѢDIT;i(S;W5yBɮAE=checking for new query: numPingsReceived=64, elapsed TxPingTime=29.254684i!i%^ LAj%RA"j%RA:j%;>"p%ul88@=XV-@n@p% v?tL?l39Y?*j%'g ?2j% A*p%Ndx:@gFD@j՞#)@p%IK_Wk?4CC ?<aCw?j%'@ j%Ai%xR(?i%zxj%Bj!j%j%Brj%Azj%&>= addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.513301 s, deltaX: -0.300001 m, approachRate: -0.584455 m/s, rangeRepo size: 4 m Added new target pos. range: 29.290215 m, bearing: 10.491386 deg, lat: 36.779399 deg, lon: -121.859703 deg, deltaT: 0.513301 s, deltaX: -0.298880 m, approachRate: -0.582270 m/s, posRepo size: 4 :iiuDNOT Ignoring new targets: 29.29 m.2iq"iq*iy ProNav: ac range: 29.290215 m, nav range: 26.493851 m, bearing: 9.340166 deg, approach rate: 0.000000 m/s, LOS rate: 0.581643 deg/s, cmd heading: 349.865020 deg, new cmd heading: 350.390853 deg. iHeadingCmd: 6.115474 target range: 29.290215 and range: 29.40 m.h@hhhhggjgrgBereZe:e`ff=@*eq?mBɢu$K)q uiq)uxyyi}ۻi}p+Y'I@IM@I @I@Q@Q)  DDAT read: Rx Time:04:31:49.1522  TRx dataTimestamp_ set to:1764909109.986893% PDAT read: Bearing 147.1, 39.1 (Local) - ~Local bearing/azimuth received: Bearing 147.1, 39.1 (Local) M DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.3  DAT read: 04:31:49.1522 LVL= 28016, 32753, 32754, 32755, AGC= 55, IDX= 503, 0.34, 0.090,-1.768,-0.795,-0.449, PHS= 0.641,-1.274,-0.391, RAW= 117.4, 12.3, CAL= 118.4, 13.6, ROT= 31.6, -13.6  Ygot valid direction response: 04:31:49.1522 LVL= 28016, 32753, 32754, 32755, AGC= 55, IDX= 503, 0.34, 0.090,-1.768,-0.795,-0.449, PHS= 0.641,-1.274,-0.391, RAW= 117.4, 12.3, CAL= 118.4, 13.6, ROT= 31.6, -13.6  T#Rx 65: Read range and direction messages. \direction in FSK: [0.827845,0.509294,0.235142] Fpublishing direction and range infoy  }?h"L?#?Y ^A t'A yAzA zA pm E  E E E "E :*E X:VE ZE a @a @a @a @ ) I $?i o '1Ⱦ #@ [> A@ s>) 0 ?I s mM;?@rξ%E? >7) V[I 0 ?i s  checking for new query: numPingsReceived=65, elapsed TxPingTime=29.543367Y A .AI I O >Da&,7R LARP@R@R8#ٱRe.>RH?*?ڝĿ Կj ?`ʿ4? ?T?iRP@IRAb];PY^By^MIbDfVDf8y=%J=ٔ:Q->9  ?Y  ?= Ey )E5<E5>9Q 5E5=ħ?Q 9E5=)=؈BYAyEQ IEQ@=עDI=~:i=:=5yqɮuuAqiiA) LAj"j:jO>"p.m?8@Xƫ-@0ݨ@p}?h"L?#?*j0 ?2js*pP4!"):@OĠ@@ (@pq?1p?Y`KUD?je@ jIAiVED?iukjBjj _jrjAzj,> addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.506017 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 29.290215 m, bearing: 11.636384 deg, lat: 36.779399 deg, lon: -121.859702 deg, deltaT: 0.506017 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i15DNOT Ignoring new targets: 29.29 m.2i1"i9*i9m ProNav: ac range: 29.290215 m, nav range: 26.339729 m, bearing: 9.676351 deg, approach rate: 0.000000 m/s, LOS rate: 0.581643 deg/s, cmd heading: 350.390863 deg, new cmd heading: 350.838285 deg. iiuHeadingCmd: 6.123283 target range: 29.290215 and range: 29.40 m.hu@hqhqhqhqgqgyjgyrgyeyreyZe:e*e` ?ԉBɢS) Si)~i#iD#QI%@I)I1)5xABBBIBƁBB =BBB;B8Echecking for new query: numPingsReceived=65, elapsed TxPingTime=29.759039@ @@/@@@Ա^AA ؟AIA Ia O > ] DDAT read: Rx Time:04:31:49.6520 e TRx dataTimestamp_ set to:1764909110.488541u PDAT read: Bearing 147.8, 39.0 (Local) } ~Local bearing/azimuth received: Bearing 147.8, 39.0 (Local)  DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.3  DAT read: 04:31:49.6520 LVL= 30304, 32753, 32754, 32755, AGC= 55, IDX= 501, 0.27,-1.294, 3.135,-2.176,-1.842, PHS= 0.650,-1.261,-0.378, RAW= 117.5, 11.9, CAL= 118.5, 13.2, ROT= 31.5, -13.2  Ygot valid direction response: 04:31:49.6520 LVL= 30304, 32753, 32754, 32755, AGC= 55, IDX= 501, 0.27,-1.294, 3.135,-2.176,-1.842, PHS= 0.650,-1.261,-0.378, RAW= 117.5, 11.9, CAL= 118.5, 13.2, ROT= 31.5, -13.2  T#Rx 66: Read range and direction messages. \direction in FSK: [0.830112,0.508694,0.228351] Fpublishing direction and range infoya e uH?rȻ7G? :?Ye Aa e `va a a )a Ie ff&?ie she 7e ?@e ȭT>e ]@ e k>)e L ?Ie ka a e :\0G?y쥿=uo? e Q3)e qUIe L ?ie ka a  checking for new query: numPingsReceived=66, elapsed TxPingTime=30.032351ag&,W] LAB@B @BԵٱB%/>BH`j4?ࢃ?@OcĿ@ӿd&?;? y?`gT?iB@IB!];B CYNByNWIbE3jE3rEn/ER ERER%EP"ER:*ERg:VER 4ZEPBER,y=u<=9=A =A)=A9Y=AbDuۿVDu8y7<%"=ٔ:Q->9"?Y"?=Ey.E<E>Q 55?Q 95)BY>Q E:y.Q IQ@ޢDI+;i+;G5yBɮWAEiiAD LAjA"jA:j|Y>"p'8@3~-@ {@puH?rȻ7G? :?*jL ?2jk*p^9@}'LP]@ؒh'@pKS?Ɔy?Fhx?j@ jlAi=C?igjBjjzxjBrjAzj`jB>m addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.501648 s, deltaX: -0.299999 m, approachRate: -0.598027 m/s, rangeRepo size: 4 } Added new target pos. range: 28.991339 m, bearing: 12.169070 deg, lat: 36.779399 deg, lon: -121.859697 deg, deltaT: 0.501648 s, deltaX: -0.298876 m, approachRate: -0.595788 m/s, posRepo size: 4 :iy}DNOT Ignoring new targets: 28.99 m.2iy"i*i ProNav: ac range: 28.991339 m, nav range: 26.208517 m, bearing: 10.878114 deg, approach rate: 0.000000 m/s, LOS rate: 0.581643 deg/s, cmd heading: 350.838295 deg, new cmd heading: 351.412362 deg. iHeadingCmd: 6.133303 target range: 28.991339 and range: 29.10 m.hD@hhhhggjgrgĂBereZe:e=@*e?=Bɢ=\?)9 =QiA)egaaieimzimjImD@IqԁiI%checking for new query: numPingsReceived=66, elapsed TxPingTime=30.262953=@9 @9@=/@9ԩ ^A] dA.AIIO>DDAT read: Rx Time:04:31:50.1519 TRx dataTimestamp_ set to:1764909110.993618PDAT read: Bearing 151.7, 38.5 (Local) ~Local bearing/azimuth received: Bearing 151.7, 38.5 (Local) DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.3 EDAT read: 04:31:50.1519 LVL= 31856, 32753, 32754, 32755, AGC= 57, IDX= 500, 0.11,-0.476,-2.294,-1.316,-0.945, PHS= 0.572,-1.304,-0.415, RAW= 118.3, 14.0, CAL= 119.1, 15.4, ROT= 30.9, -15.4 MYgot valid direction response: 04:31:50.1519 LVL= 31856, 32753, 32754, 32755, AGC= 57, IDX= 500, 0.11,-0.476,-2.294,-1.316,-0.945, PHS= 0.572,-1.304,-0.415, RAW= 118.3, 14.0, CAL= 119.1, 15.4, ROT= 30.9, -15.4 MT#Rx 67: Read range and direction messages.U\direction in FSK: [0.827256,0.495103,0.265556]]Fpublishing direction and range infoy.ux?dďï?<?YAp| )9In?iy馿DD4=E EE'E"E:*E|:VE'4ZEa@a@a@a@Pp&,R LAzԾr$@5z>6 @ >) ?I3?w#8? )w^zI ?iVchecking for new query: numPingsReceived=67, elapsed TxPingTime=30.565994r]C@r<@rNsٱr|/>rHO??(Ŀ@#8ӿ`>?@%`޼?@g? aT?ir]C@Iro];rCYByhIbD ɿVD z8y=m=%=.=ٔEf:Q-E>9E ?YM ?=MEyM3EM <EM>QQ 5}5yU͖?Q 95U,)UBYyՌQ IQ@UDIU;iU;Ui5yɮAiip LAj"A"j"A:jeT>"pKlj7@ӳ֛,@g @p.ux?dďï?<?*j ?2j*ppIm9@gg@DCAlC)@pr_)??@fC5v?j;@ jjAiS+?imojݚBjS+?jmojBrjAzjyeT>e addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.505077 s, deltaX: -0.100000 m, approachRate: -0.197990 m/s, rangeRepo size: 4 u Added new target pos. range: 28.891712 m, bearing: 11.884231 deg, lat: 36.779399 deg, lon: -121.859693 deg, deltaT: 0.505077 s, deltaX: -0.099627 m, approachRate: -0.197250 m/s, posRepo size: 4 :iqDNOT Ignoring new targets: 28.89 m.2i"i*i ProNav: ac range: 28.891712 m, nav range: 25.983850 m, bearing: 11.884196 deg, approach rate: 0.000000 m/s, LOS rate: 0.581643 deg/s, cmd heading: 351.412359 deg, new cmd heading: 351.981635 deg. iHeadingCmd: 6.143239 target range: 28.891712 and range: 29.00 m.hi@hhhhggjgrgereZe:e=@*e ?eBɢeEb=)a eia)mF%iiim bi,NIi@IԩBBBIBBBBBB;B8E%@) @)@-/@)@5@5@5@5checking for new query: numPingsReceived=67, elapsed TxPingTime=30.766956 A ؟AI) I9 OE >Dtv&, LA^)@^u@^oٱ^x.>^Hh?C?ÿ@ҿ`aV?¢¼?@?V?i^)@I^U];^CY By zIbDMVDM8y>=%U=ٔ:Q->9"?Y"?=Ey7E<E>UDDAT read: Rx Time:04:31:50.6517 eTRx dataTimestamp_ set to:1764909111.499801PDAT read: Bearing 153.5, 37.8 (Local) ~Local bearing/azimuth received: Bearing 153.5, 37.8 (Local) DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed 0.3 DAT read: 04:31:50.6517 LVL= 31280, 32753, 32754, 32755, AGC= 57, IDX= 498,-0.00,-2.623, 1.854, 2.849,-3.066, PHS= 0.545,-1.319,-0.412, RAW= 119.1, 14.6, CAL= 119.8, 15.9, ROT= 30.2, -15.9 Ygot valid direction response: 04:31:50.6517 LVL= 31280, 32753, 32754, 32755, AGC= 57, IDX= 498,-0.00,-2.623, 1.854, 2.849,-3.066, PHS= 0.545,-1.319,-0.412, RAW= 119.1, 14.6, CAL= 119.8, 15.9, ROT= 30.2, -15.9 T#Rx 68: Read range and direction messages.\direction in FSK: [0.831209,0.483775,0.273959]Fpublishing direction and range infoyY]C?<+?ψ.?Y]AYEe EeEe%Ea"Ee:*Ee:VEe 4ZEaBEaam2EaamJEe{;au:Ee|;au]0zYY Y)YI] ?i]Ԩ]Ҿ]6 @]w>]a@ ]q>)]V?I]qYY]//2?X屎j ? ]l})]I]V?i]qYYchecking for new query: numPingsReceived=68, elapsed TxPingTime=31.064613Q 55/ޖ?Q 95)BYyxQ IQ@DIF:i:K5yBɮAEiYi] LAj]A"j]A:j]P>"p] +8C7@_@+@GU@p]C?<+?ψ.?*j]V?2j]q*p]ֈC9@0@t>x2Y)@p]*?<@?rc;^?j]8@ j]Ai]3!?i]P|tj]BjYjYjYrj]_Azj]1X> addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.506183 s, deltaX: -0.299999 m, approachRate: -0.592670 m/s, rangeRepo size: 4  Added new target pos. range: 28.592878 m, bearing: 11.692872 deg, lat: 36.779399 deg, lon: -121.859693 deg, deltaT: 0.506183 s, deltaX: -0.298834 m, approachRate: -0.590367 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 28.59 m.2i"i*i- ProNav: ac range: 28.592878 m, nav range: 25.796640 m, bearing: 12.096665 deg, approach rate: 0.000000 m/s, LOS rate: 0.581643 deg/s, cmd heading: 351.981641 deg, new cmd heading: 352.497305 deg. i)5HeadingCmd: 6.152238 target range: 28.592878 and range: 28.70 m.h5#@h1h1h1hQgYgYjgYrgYeareaZea:ee@3<@*em ~?UBɢ]\;)Y ]xiY)]VYaiewieim!sIm#@Ii}a>i}> @  @ @ /@ Q  checking for new query: numPingsReceived=68, elapsed TxPingTime=31.271055A] .AIa Iq O >Q|&,' LA VGdmh9qYu~dAm@m.@m_ٱm'.>mHY?џ?ݢÿѿm?Y`? k? 9W?im@Imy<ף@A A)AYG AbDVD8yM=%,=ٔ#:Q->9 ?Y ?=Ey<E<E>Q 55햊?Q 95) BYJ>Q E:yayQ IQ@DIQ;iC;ޫ5y Bɮ CA -B*** querying acoustic contact ***i)i):i9EDNOT Ignoring new targets: 28.59 m.2iA"iU<*iUMC@ Md>)M%?IMdIIM jY?#e՟? MaI)McNIM%?iMdIIchecking for new query: numPingsReceived=69, elapsed TxPingTime=31.542728Bɢ B)  ܾi ) O iSidI==9 I=@I9Eu EuyEu'Eq"Eu:*EuT:VEu'4ZEqa@a@a@a@@ @@/@ԩ A% ؟AI) I9 OU >B F>B KCB IB BB =B B B -;B 8E&,QLA<Rchecking for new query: numPingsReceived=69, elapsed TxPingTime=31.774780YnBynIbDvVDv8y)<%=ٔQ- ?9%"?Y%"?=%Ey%?E%E- ?)Q 555-?Q 9=5-)-BY9y9Q I=Q@-DI-;i-;-5yEBɮMYAIiyi}j LAj}A"j}A:j}UfZ>"p}\".b18@%ꔙ+@gB{V@p}q"?Th?@|[?*j}%?2j}d*p}6;9@JaB@Q] [Qz&@p}`~?i X?`(?j}@ j}Ai}o?i}bmj}.Bj}=C?j}bmj}Brj}RAzj}o^> addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.499675 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 28.592569 m, bearing: 12.220101 deg, lat: 36.779401 deg, lon: -121.859692 deg, deltaT: 0.499675 s, deltaX: -0.000309 m, approachRate: -0.000618 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 28.59 m.2i"i*i ProNav: ac range: 28.592569 m, nav range: 25.790161 m, bearing: 12.461201 deg, approach rate: 0.000000 m/s, LOS rate: 0.478377 deg/s, cmd heading: 352.871150 deg, new cmd heading: 353.174408 deg. iHeadingCmd: 6.164056 target range: 28.592569 and range: 28.70 m.h?@hhhhggjgrgereZe:e*e༪? Bɢ E])  Uݾi )gAi'*i󽉧gI?@I!Թ@ @@'0@IAIQO]T>uDDAT read: Rx Time:04:31:51.6515 TRx dataTimestamp_ set to:1764909112.507973PDAT read: Bearing 154.6, 38.2 (Local) ~Local bearing/azimuth received: Bearing 154.6, 38.2 (Local) DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.3 DAT read: 04:31:51.6515 LVL= 27472, 32753, 32754, 32755, AGC= 58, IDX= 496,-0.21, 1.656,-0.176, 0.811, 1.171, PHS= 0.587,-1.302,-0.404, RAW= 118.4, 13.6, CAL= 119.2, 14.9, ROT= 30.8, -14.9 Ygot valid direction response: 04:31:51.6515 LVL= 27472, 32753, 32754, 32755, AGC= 58, IDX= 496,-0.21, 1.656,-0.176, 0.811, 1.171, PHS= 0.587,-1.302,-0.404, RAW= 118.4, 13.6, CAL= 119.2, 14.9, ROT= 30.8, -14.9 T#Rx 70: Read range and direction messages.\direction in FSK: [0.830078,0.494826,0.257133]Fpublishing direction and range infoyy}{[?&p:?Fht?Y}3Ay}Pkyy y)}:I}E?i}𧦿}ξ} A@}s>}%@ }%>)} ?I}%yy}Q-m?E8JGIr? })}rI} ?i}%yy5 checking for new query: numPingsReceived=70, elapsed TxPingTime=32.056118Em  Ei Em $Ei "Em :*Ei VEm 4ZEi BEm 2H??D&ÿ õп ?K`F?@?@W?i2@I2z];2CY>By>Ili Mb@Mb@Mb@     9 tV?Mb?~jtxY >y < Ļ  A A) 9A Y  AbD% VD%ʰ8y-X<%5I=ٔ5_T;Q-5>99Y9==Ey=CEEI=EE>IQ 5M5My ?Q 9U5M)MBYU>Q EU:yUkQ I]Q@MDIM;iMv;M55yaɮe&Aaii LAjYA"jYA:jd}>"pVJ!i|7@w;,@e@p{[?&p:?Fht?*j ?2j%*pHaJ08@BN @)(@pѠ$j?V٤Y?ܴ S?j@ jqAil3?iq\jBjl3?jjBrjsAzjOc>] addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.508497 s, deltaX: -0.300001 m, approachRate: -0.589976 m/s, rangeRepo size: 4  Added new target pos. range: 28.293692 m, bearing: 14.178092 deg, lat: 36.779399 deg, lon: -121.859692 deg, deltaT: 0.508497 s, deltaX: -0.298878 m, approachRate: -0.587767 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 28.29 m.2i"i*i ProNav: ac range: 28.293692 m, nav range: 25.431633 m, bearing: 12.740938 deg, approach rate: 0.000000 m/s, LOS rate: 0.478377 deg/s, cmd heading: 353.174411 deg, new cmd heading: 353.584741 deg. i HeadingCmd: 6.171218 target range: 28.293692 and range: 28.40 m.h z@h h hhggjgrgBereZe:e`ff<@*e%:?颍Bɢ%<) پi)&b顙checking for new query: numPingsReceived=70, elapsed TxPingTime=32.281925i%Ai-;O彉-Z#=-߼I-z@I19@ @@0@A^A ;A >A >a } DDAT read: Rx Time:04:31:52.1514  TRx dataTimestamp_ set to:1764909113.010258 PDAT read: Bearing 161.2, 37.5 (Local)  ~Local bearing/azimuth received: Bearing 161.2, 37.5 (Local)  DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed 0.3  DAT read: 04:31:52.1514 LVL= 30384, 32753, 32754, 32755, AGC= 58, IDX= 512,-0.42, 2.478, 0.771, 1.729, 2.157, PHS= 0.423,-1.341,-0.473, RAW= 119.5, 17.8, CAL= 119.9, 19.2, ROT= 30.1, -19.2  Ygot valid direction response: 04:31:52.1514 LVL= 30384, 32753, 32754, 32755, AGC= 58, IDX= 512,-0.42, 2.478, 0.771, 1.729, 2.157, PHS= 0.423,-1.341,-0.473, RAW= 119.5, 17.8, CAL= 119.9, 19.2, ROT= 30.1, -19.2  T#Rx 71: Read range and direction messages. \direction in FSK: [0.817029,0.473615,0.328867] Fpublishing direction and range infoyy } %?/BO?f& ?Y} Ay } vy y y )y I} u>i} 㥫} -} {@} >} @ } >)} |?I} y y } ;Ku?lFg݁ v? } $)} _tI} |?i} y y  checking for new query: numPingsReceived=71, elapsed TxPingTime=32.551319I I) O= >G&,;BLAE" E"E"!E "E":*E"1]:VE"c3ZE a&@a&@a&@a&@Q@@ٱk.>H?ӣ?o¿@п`?Gx3?೐?OX?i@IZz];CYUŁByUI YYbD VD8yK=%5=ٔ+:Q->9Y=EyHE%`<E->)Q 555-n?Q 9=5-*)-(BY9y=aQ I=Q@-DI-~:i-2:-@5yeBɮeAeEii@LAjA"jA:j:q>"p66@Ep*@Hۈz"@p%?/BO?f& ?*j|?2j*pilY7@ޒ@R &+@pl4Z;?)?C{?j@ jFAilT?iljiBjS+?jjݚBrj"Azj*`h>5 addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.502285 s, deltaX: -0.199999 m, approachRate: -0.398178 m/s, rangeRepo size: 4 E Added new target pos. range: 28.094440 m, bearing: 13.497473 deg, lat: 36.779399 deg, lon: -121.859692 deg, deltaT: 0.502285 s, deltaX: -0.199251 m, approachRate: -0.396689 m/s, posRepo size: 4 :iAMDNOT Ignoring new targets: 28.09 m.2iI"iI*iI] ProNav: ac range: 28.094440 m, nav range: 25.141657 m, bearing: 13.002093 deg, approach rate: 0.000000 m/s, LOS rate: 0.478377 deg/s, cmd heading: 353.584741 deg, new cmd heading: 354.026023 deg. iYeHeadingCmd: 6.178920 target range: 28.094440 and range: 28.20 m.he@hahahihigigijgirgqeqreqZeq:eu@33<@*e}@?yBe7>BeICBeIBeBBe =BaBeʺDBe4;Be8EB-LCB-KCB)B- =B- =C-5颅Bɢȟ6) оi)顉i  i$ս=I@Ichecking for new query: numPingsReceived=71, elapsed TxPingTime=32.783566M@Q @Q@U0@Qԩ^A-IIO> U&,\LA2p8@21@2jٱ2A.>2H`?@b?#¿ Kοb? 0?;?@X?i2p8@I20];2CYBǁByBIbDZVDZ8y~b<%~m=ٔIq:Q- ?9Y!=-Ey-KE=r<EE?Q 55)?Q 9%5)1BeDDAT read: Rx Time:04:31:52.6512 mTRx dataTimestamp_ set to:1764909113.515723PDAT read: Bearing 154.7, 37.6 (Local) ~Local bearing/azimuth received: Bearing 154.7, 37.6 (Local) Y1yRWQ IQ@ DID=i=n55DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed 0.4 EU EUEU%EQ"EU:*EUxv:VEU 4ZEQBEU eȴ@ e,m>)ea?Ie,maaeKI?rk}:#՚Z? eyɮ A iaieaLAje[A"je[A:jeW>"peZ7@ b5DK+@cI䖓@pes;?B:xl?gz}"Er?*jea?2je,m*pe88@u I@ C&@peͮT?|-EC?,6?jeH@ jeAielC?ieFCVje Bjel3?jeljeBrjeAzjeōl>)eWIea?ie,maamchecking for new query: numPingsReceived=72, elapsed TxPingTime=33.106701 addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.505465 s, deltaX: -0.300001 m, approachRate: -0.593515 m/s, rangeRepo size: 4  Added new target pos. range: 27.794556 m, bearing: 14.953126 deg, lat: 36.779399 deg, lon: -121.859691 deg, deltaT: 0.505465 s, deltaX: -0.299885 m, approachRate: -0.593285 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 27.79 m.2i "i *i ProNav: ac range: 27.794556 m, nav range: 25.090940 m, bearing: 13.235873 deg, approach rate: 0.000000 m/s, LOS rate: 0.478377 deg/s, cmd heading: 354.026026 deg, new cmd heading: 354.423643 deg. ieHeadingCmd: 6.185860 target range: 27.794556 and range: 27.90 m.he@hihihihigigijgqrgqeqreqZeq:e}`f;@*e}@?Bɢ?)  bѾi ) E  iniRǽߠ=ʼI@I9@ @@0@ checking for new query: numPingsReceived=72, elapsed TxPingTime=33.287052A ^A ?I I O >=&,wLAA@@iٱ.>H?%?¿Ϳ?`? ?6X?iA@I];CY=сBy=IIiMb@Mb@Mb@ 9 +?y&1|?QY>y`;uz@A A) AY\ AbD VD 8y>.=%/=ٔ%s:Q-%>9)Y)=-Ey-PE-o<E5>1Q 5=55:?Q 9E55J)59BYE>Q EE:yEH]Q IEQ@5DI5;i5";5@5yUBɮUAUE:iy}DNOT Ignoring new targets: 27.79 m.2iy"i&<*i&< ProNav: ac range: 27.794556 m, nav range: 24.901625 m, bearing: 13.444921 deg, approach rate: -0.523700 m/s, LOS rate: 0.582679 deg/s, cmd heading: 354.423652 deg, new cmd heading: 354.844918 deg. iK<HeadingCmd: 6.193212 target range: 27.794556 and range: 27.90 m.he.@hahihhggjgrgBereZe:e*e L?BɢSB) %ɾi)è  i tiC% I%.@I!I)))DDAT read: Rx Time:04:31:53.1512 TRx dataTimestamp_ set to:1764909114.015434PDAT read: Bearing 155.9, 35.8 (Local) ~Local bearing/azimuth received: Bearing 155.9, 35.8 (Local) DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed 0.4 DAT read: 04:31:53.1512 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509,-0.10,-2.222, 2.322,-2.952,-2.696, PHS= 0.576,-1.220,-0.300, RAW= 120.8, 12.1, CAL= 121.5, 13.3, ROT= 28.5, -13.3 Ygot valid direction response: 04:31:53.1512 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509,-0.10,-2.222, 2.322,-2.952,-2.696, PHS= 0.576,-1.220,-0.300, RAW= 120.8, 12.1, CAL= 121.5, 13.3, ROT= 28.5, -13.3 T#Rx 73: Read range and direction messages.\direction in FSK: [0.855246,0.464361,0.230050] Fpublishing direction and range infoyaI\-^?=Y?gz}"Er?Y )9It?i(V@@ )>I)ZH?$R?7? g<)SmXI>i=checking for new query: numPingsReceived=73, elapsed TxPingTime=33.561634E EE#E"E:*E n:VE3ZEa@a@a@a@@ @@@5@!^A ̼I9 II Oe >B <>B JCB  IB !BB =B B ˺DB ;B 8EQ 5 checking for new query: numPingsReceived=73, elapsed TxPingTime=33.790798&,,ELA2պ@25@2Fٱ29X.>2H ?$ ? J¿+̿`!? ¿?`?NY?i2պ@I2{i];0Y>ցBy>I F9TYT=VEyVSEV<EZ>XQ 5^5ZH?Q 9b5Z5)ZABY`ybSQ IbQ@ZDIZ:iZ;ZU5ydɮjAhiiLAj"j:j|>"p~7@,>O)@0-雪@paI\-^?=Y?gz}"Er?*j>2j*pM 8@{"Ky@&@pxz?Ny׹?zhg?j@ jAivhm?i#ajBjlC?j#aj.Brj1Azj> addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.499711 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 27.794882 m, bearing: 14.152807 deg, lat: 36.779401 deg, lon: -121.859687 deg, deltaT: 0.499711 s, deltaX: 0.000326 m, approachRate: 0.000653 m/s, posRepo size: 4 :i15DNOT Ignoring new targets: 27.79 m.2i1"i5*i ProNav: ac range: 27.794882 m, nav range: 25.024010 m, bearing: 14.434354 deg, approach rate: 0.000000 m/s, LOS rate: 0.582679 deg/s, cmd heading: 354.844911 deg, new cmd heading: 355.260581 deg. iHeadingCmd: 6.200467 target range: 27.794882 and range: 27.90 m.h9j@hhhhggjgrgereZe:e*e yu?9UBɢ]-B)a m\ƾi)顡isi_h ~βI 9j@I a@ @@#5@DDAT read: Rx Time:04:31:53.6510 TRx dataTimestamp_ set to:1764909114.524865PDAT read: Bearing 158.8, 37.1 (Local) ~Local bearing/azimuth received: Bearing 158.8, 37.1 (Local) UDAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.0 ԑDAT read: 04:31:53.6510 LVL= 30448, 32753, 32754, 32755, AGC= 57, IDX= 507,-0.36, 2.278, 0.463, 1.472, 1.808, PHS= 0.572,-1.300,-0.380, RAW= 119.4, 13.6, CAL= 120.1, 14.9, ROT= 29.9, -14.9 Ygot valid direction response: 04:31:53.6510 LVL= 30448, 32753, 32754, 32755, AGC= 57, IDX= 507,-0.36, 2.278, 0.463, 1.472, 1.808, PHS= 0.572,-1.300,-0.380, RAW= 119.4, 13.6, CAL= 120.1, 14.9, ROT= 29.9, -14.9 E EE!E"E:*EX:VEc3ZEBEx*'@ %>)0?I%tw?&ՠWT0? ;!)rI0?i% checking for new query: numPingsReceived=74, elapsed TxPingTime=34.107250^A *I I O- >Թ )H&, LA2@2@2/߽ٱ2",>2H?@?`X ¿}˿ ?v ¿׻?c?[?i2@I2];0YBρByBIiMb@Mb@Mb@ 9bX9?I +y94tM@A A)AY AbD VD 8y=ټ%=3=ٔE>f:Q-E>9AYA=EEyEXEM<EM>QQ 5]5UZ?Q 9]5U)UHBYe>Q Ee:yeoQ IeQ@UDIU~:iUe:US5ymBɮmAԩEchecking for new query: numPingsReceived=74, elapsed TxPingTime=34.295010iicLAjA"jA:j&̎>"pi7@YA}*@@޾9G@pq|?Y/?Fht?*j0?2j%*p7@uԊm@hL;K'@pD@?h4?l ?jl@ jAi] addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.509431 s, deltaX: -0.299999 m, approachRate: -0.588891 m/s, rangeRepo size: 4 e Added new target pos. range: 27.496014 m, bearing: 15.979867 deg, lat: 36.779400 deg, lon: -121.859685 deg, deltaT: 0.509431 s, deltaX: -0.298868 m, approachRate: -0.586671 m/s, posRepo size: 4 :iiDNOT Ignoring new targets: 27.50 m.2i"i*i ProNav: ac range: 27.496014 m, nav range: 24.806557 m, bearing: 15.145039 deg, approach rate: 0.000000 m/s, LOS rate: 0.582679 deg/s, cmd heading: 355.260569 deg, new cmd heading: 355.816505 deg. iHeadingCmd: 6.210169 target range: 27.496014 and range: 27.60 m.h@hhhhggjgrgnBereZe:e;@*eZ`?MBɢM=)Q UξiQ)UQQiUi]Y]WIe@Ia@ @@4@^Ae rAe >Ae ? DDAT read: Rx Time:04:31:54.1508  TRx dataTimestamp_ set to:1764909115.024457 PDAT read: Bearing 157.7, 36.0 (Local)  ~Local bearing/azimuth received: Bearing 157.7, 36.0 (Local)  DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.4  DAT read: 04:31:54.1508 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 505, 0.21,-1.888, 2.601,-2.654,-2.388, PHS= 0.602,-1.250,-0.310, RAW= 120.5, 11.9, CAL= 121.2, 13.1, ROT= 28.8, -13.1  Ygot valid direction response: 04:31:54.1508 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 505, 0.21,-1.888, 2.601,-2.654,-2.388, PHS= 0.602,-1.250,-0.310, RAW= 120.5, 11.9, CAL= 121.2, 13.1, ROT= 28.8, -13.1  T#Rx 75: Read range and direction messages.% \direction in FSK: [0.853502,0.469216,0.226651]% Fpublishing direction and range infoy  줶O?>?+#?Y fA  ) 8I ?i R @ ȭT> a@  j>) ?I  j rN?Ё}?APr? x<) wUI ?i  j M checking for new query: numPingsReceived=75, elapsed TxPingTime=34.567211 E)  E- E- #E) "E) *E- h:VE- 3ZE) a5 @a5 @a5 @a5 @Aq I I O >V&,xLA=}h@=a@=!޽ٱ=X+>=H??^ʿ@?8¿`I?t1?^?i=}h@I=Lp];=CY-ہBy5IbDmVDm8yufZ=%}B=ٔ}Ÿ:Q-}>9Yԡ=Ey\Em<E>Q 55k?Q 95)OBYy}fQ IQ@#DI2;i; 5yɮAiiLAjA"jA:jp>"psz67@jGυ)@hg5@p줶O?>?+#?*j?2j j*pNv8@Q@vV%@p Tϗ[?O9?j:?j@ jAiVZ?ilTWj1BjlC?jlTWj BrjAzj>} addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.499592 s, deltaX: -0.300001 m, approachRate: -0.600492 m/s, rangeRepo size: 4  Added new target pos. range: 27.197142 m, bearing: 15.551602 deg, lat: 36.779401 deg, lon: -121.859683 deg, deltaT: 0.499592 s, deltaX: -0.298872 m, approachRate: -0.598232 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 27.20 m.2i"i*i ProNav: ac range: 27.197142 m, nav range: 24.747381 m, bearing: 15.725667 deg, approach rate: 0.000000 m/s, LOS rate: 0.582679 deg/s, cmd heading: 355.816492 deg, new cmd heading: 356.303763 deg. iHeadingCmd: 6.218674 target range: 27.197142 and range: 27.30 m.h`@hhhhggjgrgB6>BICB IB,BBBBʺDB;B~8EereZe:e%L;@*e%Y?MBɢM_E=)Q UžiQ)UْQQi}Łi}II`@I4>i>checking for new query: numPingsReceived=75, elapsed TxPingTime=34.7993851@1 @1@53@1@==@== ^AU 9 A I I O >÷&,LAZDDAT read: Rx Time:04:31:54.6506 bTRx dataTimestamp_ set to:1764909115.532118rPDAT read: Bearing 160.7, 36.9 (Local) z~Local bearing/azimuth received: Bearing 160.7, 36.9 (Local) eDAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.4 bE-J4jE-#4rE-30E EE%E"E:*EP:VE 4ZEBE ^[`@ ^ A>)^m?I^ A\\^cRF?]%|xZ? ^Ayɻ)^eqI^m?i^ A\\checking for new query: numPingsReceived=76, elapsed TxPingTime=35.123863YByI iMb@Mb@Mb@ 9Gz?/$I +Y>y94A 1A)@YAbD=VD=8ym=%u=ٔuQ-u>9qYy=}Ey}bE}E}>ԩQ 55X?Q 95O )YBY>Q E:y~Q IQ@+DIA;i<;5y Bɮ Ai\i^9LAj^.A"j^.A:j^͑>"p^ Iٖ6@9)@׸{@p^?jFG?l39Y?*j^m?2j^ A*p^,k7@Cl@]謠&@p^ro?O?p?j^b@ j^\Ai^4?i^Tj^Bj\j^FCVj\rj^fAzj^ڏ> addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.507661 s, deltaX: -0.299999 m, approachRate: -0.590944 m/s, rangeRepo size: 4  Added new target pos. range: 26.897947 m, bearing: 16.316319 deg, lat: 36.779401 deg, lon: -121.859682 deg, deltaT: 0.507661 s, deltaX: -0.299194 m, approachRate: -0.589359 m/s, posRepo size: 4 :i  DNOT Ignoring new targets: 26.90 m.2i"i*ie ProNav: ac range: 26.897947 m, nav range: 24.550220 m, bearing: 16.097878 deg, approach rate: 0.000000 m/s, LOS rate: 0.582679 deg/s, cmd heading: 356.303758 deg, new cmd heading: 356.923424 deg. iamHeadingCmd: 6.229489 target range: 26.897947 and range: 27.00 m.hmW@hihihihqgqgqjgqrg}sBereZe:e;@*e?Bɢ)) i)뱥iB? i[%I%W@I!]checking for new query: numPingsReceived=76, elapsed TxPingTime=35.306038 @  @ @ 2@  ^A )DDAT read: Rx Time:04:31:55.1506 TRx dataTimestamp_ set to:1764909116.031341PDAT read: Bearing 160.0, 37.6 (Local) ~Local bearing/azimuth received: Bearing 160.0, 37.6 (Local) DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.3 =DAT read: 04:31:55.1506 LVL= 27296, 32753, 32754, 32755, AGC= 55, IDX= 503,-0.31, 2.410, 0.544, 1.555, 1.877, PHS= 0.634,-1.288,-0.367, RAW= 118.6, 12.2, CAL= 119.5, 13.5, ROT= 30.5, -13.5 EYgot valid direction response: 04:31:55.1506 LVL= 27296, 32753, 32754, 32755, AGC= 55, IDX= 503,-0.31, 2.410, 0.544, 1.555, 1.877, PHS= 0.634,-1.288,-0.367, RAW= 118.6, 12.2, CAL= 119.5, 13.5, ROT= 30.5, -13.5 ET#Rx 77: Read range and direction messages.M\direction in FSK: [0.837822,0.493515,0.233445]MFpublishing direction and range infoy2Lp?s .?%E?Yj )IM"?i/ݤm绾;z@^ Z>{@ :Fq>){F?I:Fq<C? )c"? qļ)4ZI{F?Am.AIIO ?'&,LAi:Fq*checking for new query: numPingsReceived=77, elapsed TxPingTime=35.590527DXzDZ@AE^ E^E\E\"E^:*E^X:VE\ZE\ab@ab@ab@ab@YByIbDVD8ԩy5=%?=ٔQ->9 ?Y ?=EyfEE>IQ 5U5M>?Q 9U5M )MaBYQyQQ IUQ@M2DIM%:iM:Mc5y]Bɮe AEii~LAj"j:jm>"pժ#6@А*@@p2Lp?s .?%E?*j{F?2j:Fq*p(݅7@#zO@0b•%@pK?jx `o?(Ez?j{@ j.Ai~xN?i@IjBj~xN?jTjBrj Azj8>- addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.499223 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 26.897947 m, bearing: 17.302312 deg, lat: 36.779402 deg, lon: -121.859682 deg, deltaT: 0.499223 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iaeDNOT Ignoring new targets: 26.90 m.2ia"ia*ii} ProNav: ac range: 26.897947 m, nav range: 24.515919 m, bearing: 16.363068 deg, approach rate: 0.000000 m/s, LOS rate: 0.582679 deg/s, cmd heading: 356.923420 deg, new cmd heading: 357.420742 deg. iyHeadingCmd: 6.238169 target range: 26.897947 and range: 27.00 m.h@hhhhggjgrgereZe:e*e$?EBɢE2)A EiA)EMIIiM6#iMc8QUIU@IYAAB!B!B%. IB%;BB% =B!B!B%;B%Q8E@ @@@5@^AI_checking for new query: numPingsReceived=77, elapsed TxPingTime=35.807484 A؟AI I) O] >) &,:WLAZV@Zx@Z@ٽٱZ*>ZHU?? ƿ6,?`˞¿ ?`%?@`?iZV@IZr];XY%By%IbD5VD58yE<=%EU=ٔM;Q-M>9]"?Y]"?=eEyejEu=E}>Q 55ߞ?Q 95 )hBYy\Q IQ@7DI;i;5yɮ ADDAT read: Rx Time:04:31:55.6503 TRx dataTimestamp_ set to:1764909116.548435PDAT read: Bearing 161.3, 37.4 (Local) ~Local bearing/azimuth received: Bearing 161.3, 37.4 (Local) eDAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.3 mB*** querying acoustic contact ***iiii:iy}DNOT Ignoring new targets: 26.90 m.2iy"i <*i <E EE"E"E:*E=:VE(3ZEBEȴ@ Gt>)a?IGtwo&,"O:LABƼ@B@Bt׽ٱBЀ+>BHb?ɣ?`ſ@6?l¿ A?"8?``?iBƼ@IBp];@YjByj IIn=)nyuuDu7@uA uA)ujAqYu(AbDѿVD8yf=%.=ٔ:Q-M>9QYY=]Ey]oE]<E]>aQ 55e󱗊?Q 95e )epBYl>Q E:yhQ IQ@e?DIe;ieY;e5yBɮ AEiqiu#LAjuA"juA:ju>"pud:6@>j)@Y @pu ?_?4ӋHP?*jua?2juGt*pu6@cYZ@/ @]:?K%@puM?vE?:`Ķ?juzA juAiu(9?iu-8juaBjuM addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.517094 s, deltaX: -0.400000 m, approachRate: -0.773553 m/s, rangeRepo size: 4 ] Added new target pos. range: 26.499479 m, bearing: 19.479853 deg, lat: 36.779400 deg, lon: -121.859680 deg, deltaT: 0.517094 s, deltaX: -0.398468 m, approachRate: -0.770591 m/s, posRepo size: 4 :iY]DNOT Ignoring new targets: 26.50 m.2ia"i*i ProNav: ac range: 26.499479 m, nav range: 23.987230 m, bearing: 17.225097 deg, approach rate: 0.000000 m/s, LOS rate: 0.488638 deg/s, cmd heading: 357.824404 deg, new cmd heading: 358.256014 deg. iHeadingCmd: 6.252747 target range: 26.499479 and range: 26.60 m.h@hDDAT read: Rx Time:04:31:56.1503 TRx dataTimestamp_ set to:1764909117.039672PDAT read: Bearing 158.9, 37.3 (Local) ~Local bearing/azimuth received: Bearing 158.9, 37.3 (Local) DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.4 !=DAT read: 04:31:56.1503 LVL= 25008, 32753, 32754, 32755, AGC= 54, IDX= 500, 0.08,-2.420, 1.960, 2.986,-3.030, PHS= 0.712,-1.248,-0.312, RAW= 118.5, 10.0, CAL= 119.6, 11.2, ROT= 30.4, -11.2 EYgot valid direction response: 04:31:56.1503 LVL= 25008, 32753, 32754, 32755, AGC= 54, IDX= 500, 0.08,-2.420, 1.960, 2.986,-3.030, PHS= 0.712,-1.248,-0.312, RAW= 118.5, 10.0, CAL= 119.6, 11.2, ROT= 30.4, -11.2 ET#Rx 79: Read range and direction messages.M\direction in FSK: [0.846087,0.496396,0.194234]UFpublishing direction and range infoytB%?ϑ?mVѫ?Ya )6IE6?iww]@¸2>0@ +H>)?I+HLW?xI~!h=A? MԼ)2I?i+Hmchecking for new query: numPingsReceived=79, elapsed TxPingTime=36.579933hhhggjgrgBereZe:e*er?E] E]E]%EY"E]:*E] n:VE] 4ZEYam@am@am@am@额BɢV") i)g{顡i)r+iHY垠=vBI@IIm@i @i@u2@q^AU7ƙB %>B GCB M IB TBB =B B ɺDB ;B <8Ey A I I O > checking for new query: numPingsReceived=79, elapsed TxPingTime=36.814953&,TLA2E@2@2սٱ21C*>2Hn?ǖ?`PÿuA?@¿ӯ??c?i2E@I2];2CYN&ByR IbDZֿVDZ8yz=%~Y=ٔ-.;Q-->i9Y=EyrE<E>Q 555?Q 9]5)wBYaym_Q ImQ@EDI1"p- K?k6@N*@'V|@p-tB%?ϑ?mVѫ?*j-?2j-+H*p-)',7@MT1!@oa#@p-FqL?ۍ?2'?j- A j-eAi-Srb?i-+j-@Bj-~xN?j-@Ij-aBrj-Azj->] addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.491237 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 26.498705 m, bearing: 20.353869 deg, lat: 36.779402 deg, lon: -121.859677 deg, deltaT: 0.491237 s, deltaX: -0.000774 m, approachRate: -0.001576 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 26.50 m.2i"i*i ProNav: ac range: 26.498705 m, nav range: 24.119659 m, bearing: 18.014027 deg, approach rate: 0.000000 m/s, LOS rate: 0.488638 deg/s, cmd heading: 358.256017 deg, new cmd heading: 358.656245 deg. iHeadingCmd: 6.259732 target range: 26.498705 and range: 26.60 m.hO@hhhhggjgrgereZe:e*e௭?5Bɢ5X#)1 5ׂi1)=K99i=.iE Aԑ%wI%O@I)@ @@/5@  -DDAT read: Rx Time:04:31:56.6501 =TRx dataTimestamp_ set to:1764909117.548881]PDAT read: Bearing 162.1, 37.2 (Local) e~Local bearing/azimuth received: Bearing 162.1, 37.2 (Local) Թ%DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.3 E EE$E"Ey:*E:VE4ZEBE5a@ 5f>)5V?I5f115UvT?,|<)vŸ? 5D)5U)QI5V?i5f11 checking for new query: numPingsReceived=80, elapsed TxPingTime=37.152611 ^A cA zA A .AII)O5>&,qLA>checking for new query: numPingsReceived=80, elapsed TxPingTime=37.318890Y 3By $ IiMb@Mb@Mb@ 9Q?S㥛MbPY>y/ݼ @A A)@YAbDVD8y=&Q=%E!=ٔ]Q-e>9m ?Yu ?=}Ey}xEE>Q 55ԗ?Q 95e)BY&>Q E: yYQ IQ@LDI"p}IFR6@jR^)@Ye@p}[q?=lya?Nu?*j}V?2j}f*p}e -r6@6~ @iSNN$@p}C?V֎Ƨ%?X?j}A j}Ai}NM?i}-u6j}Bj}NM?j}-8jyrj} Azj}>e addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.509209 s, deltaX: -0.300001 m, approachRate: -0.589151 m/s, rangeRepo size: 4 m Added new target pos. range: 26.199846 m, bearing: 19.966993 deg, lat: 36.779402 deg, lon: -121.859669 deg, deltaT: 0.509209 s, deltaX: -0.298859 m, approachRate: -0.586908 m/s, posRepo size: 4 :iquDNOT Ignoring new targets: 26.20 m.2iq"i*i ProNav: ac range: 26.199846 m, nav range: 24.130573 m, bearing: 19.821218 deg, approach rate: 0.000000 m/s, LOS rate: 0.488638 deg/s, cmd heading: 358.656239 deg, new cmd heading: 359.143271 deg. iHeadingCmd: 6.268232 target range: 26.199846 and range: 26.30 m.h\@hhhhggjgrgBereZe:eL:@*e?5Bɢt) Vni)诼i2itw=ڴI\@I15DDAT read: Rx Time:04:31:57.1501 =TRx dataTimestamp_ set to:1764909118.048939MPDAT read: Bearing 163.3, 36.7 (Local) M~Local bearing/azimuth received: Bearing 163.3, 36.7 (Local) a@a @a@e0@a]DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.4 @=@=DAT read: 04:31:57.1501 LVL= 28592, 32753, 32754, 32755, AGC= 55, IDX= 498,-0.46,-2.092, 2.350,-2.912,-2.618, PHS= 0.628,-1.270,-0.338, RAW= 119.4, 11.9, CAL= 120.2, 13.1, ROT= 29.8, -13.1 Ygot valid direction response: 04:31:57.1501 LVL= 28592, 32753, 32754, 32755, AGC= 55, IDX= 498,-0.46,-2.092, 2.350,-2.912,-2.618, PHS= 0.628,-1.270,-0.338, RAW= 119.4, 11.9, CAL= 120.2, 13.1, ROT= 29.8, -13.1 T#Rx 81: Read range and direction messages. \direction in FSK: [0.845183,0.484041,0.226651] Fpublishing direction and range infoy9=H ?޽ą?+#?Y99=o99 9)9I= ?i=\=V=^@=ȭT>=C@Y = j>)=%?I= j99=̀pO?.X(/ω6]f? =q))=ĹTI=%?i= j99m checking for new query: numPingsReceived=81, elapsed TxPingTime=37.612514E  E E E "E 7:*E ;J:VE ZE a @a @a @a @ԉ ^A oMB >B FCB s IB sBB =B B ǺDB Ձ;B Q8EBICBHCBB =B =Cd5AIIO>&,ՐLAYvKByvA Ix ||checking for new query: numPingsReceived=81, elapsed TxPingTime=37.822674bD˿VD|8y-=%-6=ٔ)Q-5>91Y1=5Ey5|E9E=>AQ 5M5E嗊?Q 9M5E)EBYIyIQ IUQ@ESDIE;iE;Ea5y]ēBɮ] A]˦Eii!LAjA"jA:joy>"pw5$6@6oD\)@4̍@pH ?޽ą?+#?*j%?2j j*pxm}6@^9 @o~p$@p9VWC?h?`:?jA jAia?iJ<jBj~xN?jjBrjAzj m> addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.500058 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 26.199013 m, bearing: 19.524694 deg, lat: 36.779402 deg, lon: -121.859669 deg, deltaT: 0.500058 s, deltaX: -0.000834 m, approachRate: -0.001667 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 26.20 m.2i"i*i ProNav: ac range: 26.199013 m, nav range: 23.962336 m, bearing: 20.078805 deg, approach rate: 0.000000 m/s, LOS rate: 0.488638 deg/s, cmd heading: 359.143258 deg, new cmd heading: 359.529212 deg. iHeadingCmd: 6.274969 target range: 26.199013 and range: 26.30 m.h@hhhhggjgrgereZe:e*e?BɢU)%/- %NAi!)%!!i%x6i-\15{ܼI5@I1@ @@4@!^AU֣AIIOi>IDDAT read: Rx Time:04:31:57.6499  TRx dataTimestamp_ set to:1764909118.556304% PDAT read: Bearing 163.1, 36.7 (Local) - ~Local bearing/azimuth received: Bearing 163.1, 36.7 (Local)  DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed 0.3 EM  EM EM 'EI "EM :*EM :VEM '4ZEI BEM *'@ [>)0?I[Sоpf?T1bW? x)EI0?i[u checking for new query: numPingsReceived=82, elapsed TxPingTime=38.162109E)&,LAYrWByrP IYiMMb@Mb@Mb@IIII I9MQ?y&1|MbpYIyM`廙MM@MA I)M@IYM AbDVD8yM=%-/=ٔ1Q-5>91Y1==Ey=E9E=>AQ 5M5E?Q 9M5E)EBYU>Q EU:yUh.Q IUQ@EZDIE ;iE ;Ey5y]ȓBɮ] Ae̦Ei1i5|LAj5A"j5A:j5,>"p57Y=5@h)@0lJT{@p5ƚ?s̿+?AzUmD?*j50?2j5[*p5=g6@~; @/Vf#@p5|x?̾=G?dl'?j5vA j5=Ai5CX?i5`>j5Bj5CX?j1j5Brj5 Azj5> addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.507365 s, deltaX: -0.500000 m, approachRate: -0.985484 m/s, rangeRepo size: 4 5checking for new query: numPingsReceived=82, elapsed TxPingTime=38.326916M Added new target pos. range: 25.700933 m, bearing: 19.715089 deg, lat: 36.779403 deg, lon: -121.859669 deg, deltaT: 0.507365 s, deltaX: -0.498079 m, approachRate: -0.981698 m/s, posRepo size: 4 :iIUDNOT Ignoring new targets: 25.70 m.2iQ"iQ*iQԁ ProNav: ac range: 25.700933 m, nav range: 23.880762 m, bearing: 20.247435 deg, approach rate: 0.000000 m/s, LOS rate: 0.488638 deg/s, cmd heading: 359.529219 deg, new cmd heading: 359.995099 deg. iHeadingCmd: 6.283100 target range: 25.700933 and range: 25.80 m.h'@hhhhggjgrgBereZe:e9@*e`?EBɢM2)Q UR,iy)顉i;iгJ=jI'@IԱI @I  @I @U 0@Q @e yA@e yA  DDAT read: Rx Time:04:31:58.1498  TRx dataTimestamp_ set to:1764909119.055331 PDAT read: Bearing 163.1, 36.6 (Local)  ~Local bearing/azimuth received: Bearing 163.1, 36.6 (Local)  DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.3 - DAT read: 04:31:58.1498 LVL= 25728, 32753, 32754, 32755, AGC= 53, IDX= 510, 0.13,-2.837, 1.561, 2.594, 2.860, PHS= 0.689,-1.254,-0.309, RAW= 119.1, 10.4, CAL= 120.1, 11.6, ROT= 29.9, -11.6 5 Ygot valid direction response: 04:31:58.1498 LVL= 25728, 32753, 32754, 32755, AGC= 53, IDX= 510, 0.13,-2.837, 1.561, 2.594, 2.860, PHS= 0.689,-1.254,-0.309, RAW= 119.1, 10.4, CAL= 120.1, 11.6, ROT= 29.9, -11.6 5 T#Rx 83: Read range and direction messages.= \direction in FSK: [0.849191,0.488306,0.201078]= Fpublishing direction and range infoy   g‘,?>Qh@?o?Y A d ) 5I Nb0?i  ?5 9> 4QO>) I 4QO :,oMx?pA|J }? ) n9I E]  E] E] $EY "E] :*E] =:VE] 4ZEY am @am @am @am @i 4QO } checking for new query: numPingsReceived=83, elapsed TxPingTime=38.631496^A ೼A A ?A؟AIIO?&,4LAV`@V0Z@VyͽٱV.>VH?ٸ?@! 5vb?&Ŀ+?k?*`?iV`@IV];VCYzmByzk I <bD VD 8yf=%2=ٔ%/9%"?Y%"?=%Ey%E->=E->11Q 5=55 ?Q 9E55L)5BYAyEQ IEQ@5aDI5P:i5:5y5yIɮM AB] >B]DCB] IB]BB] =BYB]ƺDB];B]j8EqiaieLAjeA"jeA:je >"peSik5@)@;K@pe g‘,?>Qh@?o?*ja2je4QO*pe=6@!@d"@pe/A?K ^? addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.499027 s, deltaX: -0.099998 m, approachRate: -0.200387 m/s, rangeRepo size: 4 - Added new target pos. range: 25.600760 m, bearing: 22.050045 deg, lat: 36.779403 deg, lon: -121.859669 deg, deltaT: 0.499027 s, deltaX: -0.100174 m, approachRate: -0.200739 m/s, posRepo size: 4 :i)5DNOT Ignoring new targets: 25.60 m.2i1"i1*i9E ProNav: ac range: 25.600760 m, nav range: 23.710045 m, bearing: 20.640770 deg, approach rate: 0.000000 m/s, LOS rate: 0.488638 deg/s, cmd heading: 359.995092 deg, new cmd heading: 0.446132 deg. iAmHeadingCmd: 0.007786 target range: 25.600760 and range: 25.70 m.hm%;hqhqhqhqgqgqjgyrgyeyreyZey:e@39@*e?Bɢ) 2i)ni\W?i%;3I%;Ichecking for new query: numPingsReceived=83, elapsed TxPingTime=38.831043a @  @ @2@^A:WԑAM.AIYIqO>Թ m DDAT read: Rx Time:04:31:58.6496 u TRx dataTimestamp_ set to:1764909119.564752 PDAT read: Bearing 164.1, 36.4 (Local)  ~Local bearing/azimuth received: Bearing 164.1, 36.4 (Local)  DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.3 &,LAE: E:E:"E8"E:,:*E:*5:VE:(3ZE8BE:H??>8m@ j?`"(Ŀn?b?`9b?iԢ@I\];CDAT read: 04:31:58.6496 LVL= 26704, 32753, 32754, 32755, AGC= 54, IDX= 508,-0.02, 1.474,-0.407, 0.630, 0.895, PHS= 0.681,-1.257,-0.309, RAW= 119.3, 10.6, CAL= 120.2, 11.7, ROT= 29.8, -11.7 Ygot valid direction response: 04:31:58.6496 LVL= 26704, 32753, 32754, 32755, AGC= 54, IDX= 508,-0.02, 1.474,-0.407, 0.630, 0.895, PHS= 0.681,-1.257,-0.309, RAW= 119.3, 10.6, CAL= 120.2, 11.7, ROT= 29.8, -11.7 T#Rx 84: Read range and direction messages.\direction in FSK: [0.849736,0.486648,0.202787]Fpublishing direction and range infoyC]1?J5>%? ?Y3APh )6IV.?i`堿gB@q=>C@ Q>)%?IQW4t?V0_j0wt? aL)95  ?Y5  ?=5 Ey5 E= 3<<E= >A Q 5M 5E &?Q 9M 5E )E BYM >Q EM :yU ̡Q IU Q@E lDIE :iE :E 5y] ͓Bɮ] U AY ii$LAjjA"jjA:j,>"p+N5@LS(@s @pC]1?J5>%? ?*j%?2jQ*pz 5@u!@<'.z"@pb:?X≴? 7b^?jA j8AiDm R?i&jBjDm R?j jrjAzj*>  addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.509421 s, deltaX: -0.300001 m, approachRate: -0.588906 m/s, rangeRepo size: 4  Added new target pos. range: 25.301918 m, bearing: 22.400672 deg, lat: 36.779403 deg, lon: -121.859669 deg, deltaT: 0.509421 s, deltaX: -0.298841 m, approachRate: -0.586630 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 25.30 m.2i "i *i   ProNav: ac range: 25.301918 m, nav range: 23.335751 m, bearing: 21.056680 deg, approach rate: 0.000000 m/s, LOS rate: 0.488638 deg/s, cmd heading: 0.446132 deg, new cmd heading: 1.143823 deg. i  HeadingCmd: 0.019963 target range: 25.301918 and range: 25.40 m.h o<h h h h g g! jg! rg% Be! re) Ze) :e- `ff9@*e- k? Bɢ _0ڼ) i ) Ɂ  i zaFi p< = S=I oQ UPwV>)QIUPwVQQU-m?yk!" ? U[_)U)AIQiUPwVQQchecking for new query: numPingsReceived=85, elapsed TxPingTime=39.603306DzDE EE&E"E>:*ET:VE4ZEa@a@a@a@}UM@I @I@M*3@I@Q@U=B >BB IBBB =BBB;BY8Echecking for new query: numPingsReceived=85, elapsed TxPingTime=39.838711^AAxAzAxAYA]؟AIIOW?>&,#LA>/@>(@>ĮȽٱ>v\+>>H 4?`b?`t``vx?@QĿ ?7?f?i>/@I>];>C T)VI~AZDXZX\i^TI\`Idid fDd)dh hhhlppIp)pip)tIv1~Att t~C||ii)  I Y YBy% I bDVD8y=%=ٔ-;Q->9%"?Y%"?=%Ey%E%<E->IQ 5U5M)>?Q 9]5Mp)MƉBYYy]}Q I]Q@MuDIM:iMG:M5yeѓBɮe AͦEi1i5LAj1"j1:j5B>"p5U.9y5@m[l(@Rj @p5Hd)?K"_}?hٜ?*j12j5PwV*p5(dy5@$"@} "@p5H?Q??j́?j5WA j5ˬAi5۸NZ?i5j56Bj5CX?j5&j56Brj5Azj5&> addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.499182 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 25.302010 m, bearing: 23.370943 deg, lat: 36.779403 deg, lon: -121.859662 deg, deltaT: 0.499182 s, deltaX: 0.000092 m, approachRate: 0.000183 m/s, posRepo size: 4 :iAMDNOT Ignoring new targets: 25.30 m.2iI"iI*iI] ProNav: ac range: 25.302010 m, nav range: 23.377541 m, bearing: 22.621600 deg, approach rate: 0.000000 m/s, LOS rate: 0.488638 deg/s, cmd heading: 1.143823 deg, new cmd heading: 1.696985 deg. iYHeadingCmd: 0.029618 target range: 25.302010 and range: 25.40 m.hb<hhhhggjgrgereZe:e5DDAT read: Rx Time:04:31:59.6494 ETRx dataTimestamp_ set to:1764909120.572476ePDAT read: Bearing 163.3, 36.0 (Local) u~Local bearing/azimuth received: Bearing 163.3, 36.0 (Local) DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.4 *eo ?bE jE J4rE Ł/E EEE"E:*Ega:VEZEBE; 5[`@ 5+>)5m?I5+115Az?Xԅi2N? 5f)5.I5m?i5+11checking for new query: numPingsReceived=86, elapsed TxPingTime=40.181328Bɢȼ) +i)iGdLi bLA2 x@2Zq@2ƽٱ2*>2H?=?]޻Դ@}? =3ĿAѸ?+? h?i2 x@I2V];0|Y~By~ IiMb@Mb@Mb@ 9gfffff?yt<D;@ )z@YAbDVD8yK^=%=ٔ:Q->9 ?Y ?=EyE<E>Q 558S?Q 95Q =tI)ԉBYa>Q E:y9Q IR@}DId;i ;H5yՓBɮ[ AΦEiir$LAjA"jA:j>"po{j5@!m(@u81ҭ@p}-h?j%C?8_X?*jm?2j+*pQ֣5@WNc=#@S㰜` @piFi?zR?<?jA jAiکum?i򄿵j Bjj&jBrj7Azj> addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.508542 s, deltaX: -0.299999 m, approachRate: -0.589920 m/s, rangeRepo size: 4 DDAT read: Rx Time:04:32:00.1494 TRx dataTimestamp_ set to:1764909121.071450PDAT read: Bearing 164.4, 35.7 (Local) ~Local bearing/azimuth received: Bearing 164.4, 35.7 (Local) DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.4 DAT read: 04:32:00.1494 LVL= 23664, 32753, 32754, 32755, AGC= 51, IDX= 505, 0.49, 1.999, 0.076, 1.140, 1.348, PHS= 0.753,-1.227,-0.252, RAW= 119.5, 8.5, CAL= 120.6, 9.6, ROT= 29.4, -9.6  Ygot valid direction response: 04:32:00.1494 LVL= 23664, 32753, 32754, 32755, AGC= 51, IDX= 505, 0.49, 1.999, 0.076, 1.140, 1.348, PHS= 0.753,-1.227,-0.252, RAW= 119.5, 8.5, CAL= 120.6, 9.6, ROT= 29.4, -9.6  T#Rx 87: Read range and direction messages.\direction in FSK: [0.859013,0.484029,0.166769]Fpublishing direction and range infoy8 }?%pbU?8_X?Yp\ )3IiV%{@$@ )G\?IƷ%n?ꟷ(Ә? Q)%IG\?i5checking for new query: numPingsReceived=87, elapsed TxPingTime=40.611031] Added new target pos. range: 25.003166 m, bearing: 24.029369 deg, lat: 36.779403 deg, lon: -121.859662 deg, deltaT: 0.508542 s, deltaX: -0.298843 m, approachRate: -0.587647 m/s, posRepo size: 4 :iY]DNOT Ignoring new targets: 25.00 m.2ia"ia*iau ProNav: ac range: 25.003166 m, nav range: 23.151993 m, bearing: 22.888547 deg, approach rate: 0.000000 m/s, LOS rate: 0.488638 deg/s, cmd heading: 1.696985 deg, new cmd heading: 2.218504 deg. iq}HeadingCmd: 0.038720 target range: 25.003166 and range: 25.10 m.h}=hyhyhyhyggjgrgɂBereZe:e9@*e $ ?BɢҼ) piD%=D%<E- E-E-$E)"E-,:*E-X:VE-4ZE)a5@a5@a=@a=@9)= AiPi =  QһI =IQB>BECB IBBBBBǺDBց;BM8Em checking for new query: numPingsReceived=87, elapsed TxPingTime=40.847481ԁ @  @ @ /@ ԩ ^A!Au؟AIyIO?&,cLAFDDAT read: Rx Time:04:32:00.6491 JTRx dataTimestamp_ set to:1764909121.576829ZPDAT read: Bearing 166.1, 35.6 (Local) Z~Local bearing/azimuth received: Bearing 166.1, 35.6 (Local) bDAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.3 vDAT read: 04:32:00.6491 LVL= 22976, 32753, 32754, 32755, AGC= 52, IDX= 503, 0.16, 1.511,-0.414, 0.655, 0.881, PHS= 0.732,-1.250,-0.269, RAW= 119.6, 9.2, CAL= 120.7, 10.3, ROT= 29.3, -10.3 UYgot valid direction response: 04:32:00.6491 LVL= 22976, 32753, 32754, 32755, AGC= 52, IDX= 503, 0.16, 1.511,-0.414, 0.655, 0.881, PHS= 0.732,-1.250,-0.269, RAW= 119.6, 9.2, CAL= 120.7, 10.3, ROT= 29.3, -10.3 ]T#Rx 88: Read range and direction messages.\direction in FSK: [0.858016,0.481496,0.178802]Fpublishing direction and range infoyDE EE"E"E:*Ek:VE(3ZEBE F@ FX8>)F?IFX8DDFvdN?c/w^O{? F澻)F$IF?iFX8DD5checking for new query: numPingsReceived=88, elapsed TxPingTime=41.187965= @=a@=Ԁ½ٱ=#,>=H@p? ?؞F@V?ěĿ@F?Q?h?i= @I=؅];9YBy II4=);ԹiMb@Mb@Mb@ 9I +??{Gzt?Y9>yL=ף;A 5 A)M@YzAbD%VD%8y5L=%=<ٔ=?;Q-=v>9E"?YE"?=EEyEEE<EMv>IQ 5u5MMp?Q 9}5Md)MBY}>Q E}:y}=Q I}R@MDIMO;iMw:M5yړBɮAϦEiDiFdLAjFA"jFA:jF6>"pFd!b25@- dI'@^(9@pF+t?7Rb??*jF?2jFX8*pF m?(5@H/QP#@f@ @pF(xh?q?&a??jFA jFFAiF\g?iFGDdjFdBjF۸NZ?jFjFBrjF߷AzjF> addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 1.004353 s, deltaX: -0.300001 m, approachRate: -0.298701 m/s, rangeRepo size: 4 - Added new target pos. range: 24.704449 m, bearing: 24.531310 deg, lat: 36.779404 deg, lon: -121.859658 deg, deltaT: 1.004353 s, deltaX: -0.298717 m, approachRate: -0.297423 m/s, posRepo size: 4 :iIMDNOT Ignoring new targets: 24.70 m.2iQ"iQ*iQe ProNav: ac range: 24.704449 m, nav range: 22.984282 m, bearing: 23.955146 deg, approach rate: 0.000000 m/s, LOS rate: 0.488638 deg/s, cmd heading: 2.218504 deg, new cmd heading: 2.924199 deg. iaHeadingCmd: 0.051037 target range: 24.704449 and range: 24.80 m.h Q=hhhhggjgrgBereZe:e8@*e ?-checking for new query: numPingsReceived=88, elapsed TxPingTime=41.350883 Bɢ5=)1 5(@ )>)?I))`o?u`=ѩ? @)II?i)checking for new query: numPingsReceived=89, elapsed TxPingTime=41.624157AIIO ?!&,نLA2yW@2P@2G⿽ٱ2B->2H@?`y?@칿`qΫ? ĿN?u?@g?i2yW@I2w];2CYBԂByB IDlzDnAAEv EvEv$Et"Ev:*Ev*5:VEv4ZEtaz@az@az@az@bDʿVD{8y=%M=ٔR;Q->9ԱY=EyE<E>Q 55k?Q 95')BYyA=Q IR@DI:i:"5yɮ.Aii0LAj A"j A:j>>"p~#5@lSo'@ಶ-@pxa?zS/?G ?*j?2j)*p~6o 5@*߫ox#@N@S@p;;}?a\l?L?jA jhAiUn?ijBj\g?jjdBrj{Azj>E addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504279 s, deltaX: -0.199999 m, approachRate: -0.396604 m/s, rangeRepo size: 4 U Added new target pos. range: 24.505220 m, bearing: 24.818719 deg, lat: 36.779405 deg, lon: -121.859655 deg, deltaT: 0.504279 s, deltaX: -0.199228 m, approachRate: -0.395076 m/s, posRepo size: 4 :iY]DNOT Ignoring new targets: 24.51 m.2iY"iY*ia ProNav: ac range: 24.505220 m, nav range: 23.060349 m, bearing: 24.594773 deg, approach rate: 0.000000 m/s, LOS rate: 0.488638 deg/s, cmd heading: 2.924199 deg, new cmd heading: 3.336897 deg. iHeadingCmd: 0.058240 target range: 24.505220 and range: 24.60 m.hn=hhhhggjgrgereZe:e8@*eD-?ɢiȐ) =BE>BABE(!IBEBBE =BABABE݁;BEW8Ei)}ayyi}[in=ן=In=I1@1 @1@5/@9checking for new query: numPingsReceived=89, elapsed TxPingTime=41.855801^A ?BɺI A) I1 II OU >W'&,BLA2@2@2Vٱ2D,>2H?H/? 0!)2`?@Ŀ%? `W?@%j?i2@I2@];0YBByB IbDJտVDJ8yRW=%R\=ٔR;Q-R>9TYT=VEyVEZV<EZ>\Q 5b5^ ?Q 9b5^)^BY`ybg=Q IbR@^DI^X:i^P:^W5yhɮUAQmB*** querying acoustic contact ***iiii:iy}DNOT Ignoring new targets: 24.51 m.2iy"iq<*iq< ProNav: ac range: 24.505220 m, nav range: 22.897612 m, bearing: 24.754136 deg, approach rate: -0.469628 m/s, LOS rate: 0.463160 deg/s, cmd heading: 3.336897 deg, new cmd heading: 3.657885 deg. iS<HeadingCmd: 0.063842 target range: 24.505220 and range: 24.60 m.h=hhhhggjgrgereZe:e*e@?Bɢ0w) =i)峼iTV_i=F:I=IMDDAT read: Rx Time:04:32:01.6488 UTRx dataTimestamp_ set to:1764909122.586347]PDAT read: Bearing 168.0, 35.4 (Local) ]~Local bearing/azimuth received: Bearing 168.0, 35.4 (Local) DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.4 @ @@@E EEE"E*EVEZEBE; UV@ Uf;>)Uw?IUf;QQU@"?Q*)0o? U8|)U'IUw?iUf;QQ9checking for new query: numPingsReceived=90, elapsed TxPingTime=42.197491^A9AzAa checking for new query: numPingsReceived=90, elapsed TxPingTime=42.361610A I9 IY O >ԑ -&,|LAF@F@FٱFq*>FH@? W?`yq=V@GA  A)7@YAbDVD8y>=%6=ٔR;Q->9 Y = Ey E<E>Q 5%5m?Q 9%5k) BY%>Q E%:y%=Q I%R@DII:iR:A 5y5ޓBɮ5gA1iiLAjA"jA:j>"p 4@8V29'@I0@p;w?TNu??m~S?*jw?2jf;*pYSCz4@t}#@b$ZA @pڧp?jV?j}?jcA jAia?iw f j3BjjGDdj3BrjAzj>q addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.505239 s, deltaX: -0.300001 m, approachRate: -0.593781 m/s, rangeRepo size: 4  Added new target pos. range: 24.206678 m, bearing: 25.906620 deg, lat: 36.779405 deg, lon: -121.859654 deg, deltaT: 0.505239 s, deltaX: -0.298542 m, approachRate: -0.590893 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 24.21 m.2i"i*i5 ProNav: ac range: 24.206678 m, nav range: 22.714176 m, bearing: 25.057178 deg, approach rate: 0.000000 m/s, LOS rate: 0.463160 deg/s, cmd heading: 3.657885 deg, new cmd heading: 4.061749 deg. i1=HeadingCmd: 0.070891 target range: 24.206678 and range: 24.30 m.h=>/=h9h9h9h9gAgAjgArgE΂BeIreIZei:emL8@*em!?颽BɢLg) =i)Qici>/==pF;I>/=Il>i>]DDAT read: Rx Time:04:32:02.1487 ]TRx dataTimestamp_ set to:1764909123.088688mPDAT read: Bearing 167.5, 34.9 (Local) m~Local bearing/azimuth received: Bearing 167.5, 34.9 (Local) }DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4 ԡDAT read: 04:32:02.1487 LVL= 23360, 32753, 32754, 32755, AGC= 55, IDX= 499, 0.45,-0.886,-2.799,-1.724,-1.534, PHS= 0.750,-1.220,-0.234, RAW= 120.0, 8.3, CAL= 121.1, 9.4, ROT= 28.9, -9.4 Ygot valid direction response: 04:32:02.1487 LVL= 23360, 32753, 32754, 32755, AGC= 55, IDX= 499, 0.45,-0.886,-2.799,-1.724,-1.534, PHS= 0.750,-1.220,-0.234, RAW= 120.0, 8.3, CAL= 121.1, 9.4, ROT= 28.9, -9.4 T#Rx 91: Read range and direction messages.\direction in FSK: [0.863709,0.476793,0.163326]Fpublishing direction and range infoyY]9e?U|ƃ?$vz?Y]AY]@[YY Y)]7I]@?i](]o] @]V>]E@ ]'>)]^ ?I]'YY]bf/?viC?z? ]Y:)]XI]^ ?i]'YYchecking for new query: numPingsReceived=91, elapsed TxPingTime=42.628849@ @@@E E{E&E"E:*E5":VE4ZEa @a @a @a @^A ] ;BU > PExceeded connect timeout, disconnecting.BQ BU M!IBU %BBQ BQ BQ BU ;BU 98EB ECB ECB ʓCB =B =C ʈ5 A I I O > 5&,/2LA.checking for new query: numPingsReceived=91, elapsed TxPingTime=42.865433=l&@=@=׻ٱ=(>=H@?K?1@䝿?9Ŀ`϶??p?i=l&@I=];=CiYuBy}!IbDVD8y <% 5=ٔ 7K;Q->9Y=EyEx<E>!Q 5-5%ڳ?Q 9-5%)%BY)y-v=Q I5R@%DI%:i%q:%25y=Bɮ=SA=ЦEi!i%LAj%A"j%A:j%>"p% H@4@R&@ߛ@p%9e?U|ƃ?$vz?*j%^ ?2j%'*p%Xjb t4@X_0$@|2g@p%x7@?6E[*?Fߌ1.?j%!A j%;Ai%?eu?i%=^j%-Bj%کum?j%j% Brj%Azj%> addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.502341 s, deltaX: -0.099998 m, approachRate: -0.199065 m/s, rangeRepo size: 4  Added new target pos. range: 24.106840 m, bearing: 26.185848 deg, lat: 36.779406 deg, lon: -121.859653 deg, deltaT: 0.502341 s, deltaX: -0.099838 m, approachRate: -0.198746 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 24.11 m.2i"i*i ProNav: ac range: 24.106840 m, nav range: 22.610611 m, bearing: 25.369262 deg, approach rate: 0.000000 m/s, LOS rate: 0.463160 deg/s, cmd heading: 4.061749 deg, new cmd heading: 4.484005 deg. iHeadingCmd: 0.078261 target range: 24.106840 and range: 24.20 m.hG=hhhhggjgrgereZe:e@338@*eB?ɢV) `>i)i׃hi%G=%=%EU3;I%G=I)ԙ@ @@@DDAT read: Rx Time:04:32:02.6484 TRx dataTimestamp_ set to:1764909123.591557PDAT read: Bearing 167.9, 34.4 (Local) ~Local bearing/azimuth received: Bearing 167.9, 34.4 (Local) DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 =DAT read: 04:32:02.6484 LVL= 21584, 32753, 32754, 32755, AGC= 55, IDX= 497, 0.10,-1.873, 2.484,-2.708,-2.534, PHS= 0.763,-1.221,-0.218, RAW= 120.4, 7.9, CAL= 121.4, 9.0, ROT= 28.6, -9.0 EYgot valid direction response: 04:32:02.6484 LVL= 21584, 32753, 32754, 32755, AGC= 55, IDX= 497, 0.10,-1.873, 2.484,-2.708,-2.534, PHS= 0.763,-1.221,-0.218, RAW= 120.4, 7.9, CAL= 121.4, 9.0, ROT= 28.6, -9.0 ET#Rx 92: Read range and direction messages.M\direction in FSK: [0.867174,0.472798,0.156434]UFpublishing direction and range infoy9ͽ?TB?p ?YAPT )ISC?iId;_|@0 >@ | >)r>I| 0C?xy?֨~? ;)3 Ir>i|  checking for new query: numPingsReceived=92, elapsed TxPingTime=43.151318E  E ~E E "E :*E (:VE 3ZE BE c;a 2E d;a JE ;a :E ;a ^A5 ; I1 IA OM >;&,LA2h@2a@2ٱ2>'>2H?y{?w࢓?Ŀ`p?`?@s?i2h@I2];2CYN ByN/!IiMb@Mb@Mb@ 9 ףp= ?J +?Mb`YQ>yH=l@1A )YAbDVD8yE=}DDAT read: Rx Time:04:32:03.1484 TRx dataTimestamp_ set to:1764909123.848493PDAT read: Bearing 165.2, 38.8 (Local) ~Local bearing/azimuth received: Bearing 165.2, 38.8 (Local) checking for new query: numPingsReceived=92, elapsed TxPingTime=43.382885%G=ٔM\;Q->9)Y)=5Ey5Ee<Em>Q 55Ƙ?Q 95r)$BY>Q E:yY=Q IR@DI-"p-My4@)% S&@AZ @p-9ͽ?TB?p ?*j-r>2j-| *p-5c!4@J҈t#@\E@p-`\WOI? 9J?R~"V?j-A j-Ai-Nf?i-\ j-Bj-\g?j-w f j-Brj-Azj-kj> addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.502869 s, deltaX: -0.500000 m, approachRate: -0.994295 m/s, rangeRepo size: 4  Added new target pos. range: 23.608765 m, bearing: 26.386328 deg, lat: 36.779405 deg, lon: -121.859651 deg, deltaT: 0.502869 s, deltaX: -0.498075 m, approachRate: -0.990468 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 23.61 m.2i"i*i% ProNav: ac range: 23.608765 m, nav range: 22.453562 m, bearing: 26.232481 deg, approach rate: 0.000000 m/s, LOS rate: 0.463160 deg/s, cmd heading: 4.484005 deg, new cmd heading: 4.918559 deg. i!%HeadingCmd: 0.085845 target range: 23.608765 and range: 23.70 m.h-ϯ=h)h)h)h)g)g)jg1rg5Be1reYZea:ee@37@*ee?%Bɢ-I1)) u*>iq)uӺqqiuYGmi}ϯ=}=}OH;Iϯ=I!)@) @)@-/@)- DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 U DAT read: 04:32:03.1484 LVL= 22656, 32753, 32754, 32755, AGC= 54, IDX= 513,-0.21,-1.654, 2.320,-2.864,-2.596, PHS= 1.044,-1.322,-0.312, RAW= 115.2, 5.8, CAL= 116.6, 6.7, ROT= 33.4, -6.7 ] Ygot valid direction response: 04:32:03.1484 LVL= 22656, 32753, 32754, 32755, AGC= 54, IDX= 513,-0.21,-1.654, 2.320,-2.864,-2.596, PHS= 1.044,-1.322,-0.312, RAW= 115.2, 5.8, CAL= 116.6, 6.7, ROT= 33.4, -6.7 ] T#Rx 93: Read range and direction messages.e \direction in FSK: [0.829146,0.546721,0.116671]m Fpublishing direction and range infoy  G^?W#~?mu"޽?Y   X   ) 6I ˡ?i L7 w @ 4Q= S>@  |=) ;?I |ゥ   +6G?ڻB|m &-ֹ?  M) ϽI ;?i |ゥ   checking for new query: numPingsReceived=93, elapsed TxPingTime=43.635757Q E  E E #E "E :*E 3:VE 3ZE a @a @a @a @^AM };AQ AU >I)I9OE>C&, LA6-@6z@6Jﯽٱ6%>BN>BNDCBNm!IBN>BBN =BLBNƺDBN;BN*8E6H?3=`i~?Ŀ@??v?i6-@I6z];4Y5 By5,!II==)=p;bDEVDE8UnManaging dock network, ignoring radio surface power offye %e:=ٔe;Q-m>9iYi=mEyED<E>Q 55֘?Q 95).BYy=Q IR@DI.:i:5y Bɮ AѦEiYi]ILAj]ݼA"j]ݼA:j]?"p]4[&3@[;})@) @p]G^?W#~?mu"޽?*j];?2j]|*p]ӑA3@3 q(@U t@p]JOyJ?v̞N?K#Є?j]~@A j]Ai]on-?i] j]Bj]Nf?j]\ j]-Brj]SAzj]p>] addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.506689 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.608381 m, bearing: 31.994212 deg, lat: 36.779405 deg, lon: -121.859650 deg, deltaT: 0.506689 s, deltaX: -0.000383 m, approachRate: -0.000757 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 23.61 m.2i"i*i ProNav: ac range: 23.608381 m, nav range: 22.290565 m, bearing: 26.570869 deg, approach rate: 0.000000 m/s, LOS rate: 0.463160 deg/s, cmd heading: 4.918559 deg, new cmd heading: 5.280351 deg. iHeadingCmd: 0.092160 target range: 23.608381 and range: 23.70 m.h!=hhhhggjgrgereZe:e*e@{?iDDAT read: Rx Time:04:32:03.6481 TRx dataTimestamp_ set to:1764909124.355853PDAT read: Bearing 169.6, 33.7 (Local) ~Local bearing/azimuth received: Bearing 169.6, 33.7 (Local) checking for new query: numPingsReceived=93, elapsed TxPingTime=43.888378颭Bɢ^+) 4$>i)iiqi!=[q=@/;I-!=I1ԑ@ @@@@zA@zAԹ E DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4  DAT read: 04:32:03.6481 LVL= 22736, 32753, 32754, 32755, AGC= 55, IDX= 510, 0.24,-1.216, 3.139,-2.035,-1.870, PHS= 0.756,-1.228,-0.208, RAW= 120.9, 8.0, CAL= 121.9, 9.1, ROT= 28.1, -9.1  Ygot valid direction response: 04:32:03.6481 LVL= 22736, 32753, 32754, 32755, AGC= 55, IDX= 510, 0.24,-1.216, 3.139,-2.035,-1.870, PHS= 0.756,-1.228,-0.208, RAW= 120.9, 8.0, CAL= 121.9, 9.1, ROT= 28.1, -9.1  T#Rx 94: Read range and direction messages. \direction in FSK: [0.871024,0.465084,0.158158]e Fpublishing direction and range infoy1 ^Au qZ;5 0{9n?4f6?@\~>?Y5 fA1 5 X1 1 1 )5 7E  E E &E "E غ:*E =:VE 4ZE  BE 5 )@ 5 ">)5 >I5 "I 1 1 5 ~Grw??-?ҵiA2? 5 |<)5 VI5 >i5 "1 1 checking for new query: numPingsReceived=94, elapsed TxPingTime=44.220295IO>J&,-LAz@z:@zIٱzH%>zH@?9}# ˸y`?܀Ŀ@?k?@x?iz@Iz];xԉYBy8!IiMb@Mb@Mb@ 9V-?Zd;O?{GztY>yj<=ףV@A A) @YAbDVD8y=%=ٔC;Q->9Y=EyE?g<E>Q 55n옊?Q 95g)9BY>Q E:yڲ=Q IR@DI;i;>5y ɮ A i i &LAj A"j A:j >"p Vf74@0Ж%@] @p 0{9n?4f6?@\~>?*j >2j "*p ۗ3@/,YG#@(*@p "= =?CUh?l.ɪj?j A j Ai Am?i l j (Bj j j Brj eAzj ܧ>] addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503810 s, deltaX: -0.400002 m, approachRate: -0.793953 m/s, rangeRepo size: 4 e Added new target pos. range: 23.209927 m, bearing: 26.708298 deg, lat: 36.779405 deg, lon: -121.859650 deg, deltaT: 0.503810 s, deltaX: -0.398455 m, approachRate: -0.790883 m/s, posRepo size: 4 :iimDNOT Ignoring new targets: 23.21 m.2ii"iq*iq ProNav: ac range: 23.209927 m, nav range: 22.049320 m, bearing: 26.818868 deg, approach rate: 0.000000 m/s, LOS rate: 0.463160 deg/s, cmd heading: 5.280351 deg, new cmd heading: 5.756527 deg. iHeadingCmd: 0.100470 target range: 23.209927 and range: 23.30 m.hf=hhhhggjgrg˂BereZe:eL7@*e`k?DDAT read: Rx Time:04:32:04.1481 TRx dataTimestamp_ set to:1764909124.867723IPDAT read: Bearing 171.8, 33.9 (Local) ~Local bearing/azimuth received: Bearing 171.8, 33.9 (Local) DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4 DAT read: 04:32:04.1481 LVL= 25072, 32753, 32754, 32755, AGC= 54, IDX= 510,-0.16,-1.645, 2.744,-2.452,-2.254, PHS= 0.711,-1.240,-0.241, RAW= 120.8, 9.2, CAL= 121.7, 10.3, ROT= 28.3, -10.3 Ygot valid direction response: 04:32:04.1481 LVL= 25072, 32753, 32754, 32755, AGC= 54, IDX= 510,-0.16,-1.645, 2.744,-2.452,-2.254, PHS= 0.711,-1.240,-0.241, RAW= 120.8, 9.2, CAL= 121.7, 10.3, ROT= 28.3, -10.3 T#Rx 95: Read range and direction messages.\direction in FSK: [0.866288,0.466448,0.178802]Fpublishing direction and range infoyR?I??Ya )6I6?iRvV@l$>@ X8>)'>IX8'?d?F2[? c<)#I'>iX8]checking for new query: numPingsReceived=95, elapsed TxPingTime=44.448788Bɢ-0)) 54>i1)511i5@vif=0R=cE;If=Iyu @q  @q @u 5@q ԡ - checking for new query: numPingsReceived=95, elapsed TxPingTime=44.638943^A= r;E  E E $E "E %:*E F:VE 4ZE a @a @a @a @I I O >R&,JLAVY@VjVH?K ,`? ?|Ŀƴ?#V? |?iVY@IV{];VCYrByrF!IxbD&VDϰ8y%j=%-M=ٔ-;Q-m>9qYq=uEyuEu=E}>yQ 55}Q?Q 95})}BBYy=Q IR@}DI};i}.;}5yBɮJAȦEiAiEƈ7LAjA"jA:jEb>"pEJC4@k%@v @pER?I??*jE'>2jEX8*pEŸu|3@G[x_$@SVޱ@pEZ,?1`?Ca?jE"A jEAiE@g?iEjEBjE@g?jE=^jArjEEAzjEx%> addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.265667 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.209927 m, bearing: 27.600251 deg, lat: 36.779405 deg, lon: -121.859649 deg, deltaT: 0.265667 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 23.21 m.2i"i*iB>BBCB!IBRBB =B?DBĺDBӁ;B:8E ProNav: ac range: 23.209927 m, nav range: 21.909163 m, bearing: 27.209492 deg, approach rate: 0.000000 m/s, LOS rate: 0.463160 deg/s, cmd heading: 5.756527 deg, new cmd heading: 6.149001 deg. iHeadingCmd: 0.107320 target range: 23.209927 and range: 23.30 m.h=hhhhggjgrgereZe:e*e?颵Bɢл) ZJ>i)ZެiFzi==u@ =>)= >I=99=|?6suњ?͘K? =<)=Z I= >i=99checking for new query: numPingsReceived=96, elapsed TxPingTime=44.948807^A [R:y I I O >>X&,dLA2@2i<2>ٱ2($>2H?r?l?.Ŀ=?`f[?@}?i2@I2];0Y>*ByBS!IDFAHJ@AbDJVDJ8ybY=%bQ=ٔf 0;Q-f>9dYh=jEyjEjL<Ej>|Q 55~N ?Q 95~Q)~KBY y =Q I R@~ģDI~:i~:~-#5yɮAYchecking for new query: numPingsReceived=96, elapsed TxPingTime=45.146870iqiuHWLAjuA"juA:jul>"pu[X3@Pה$@OV @pu0& ?32?j?*ju >2ju*pu~6F3@зl0#@6Bs@puYO(?!?Egf0?juA ju1Aiu5e?iu juBjuNf?ju ju(BrjuAzjuG> addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.507050 s, deltaX: -0.500000 m, approachRate: -0.986096 m/s, rangeRepo size: 4 5 Added new target pos. range: 22.711132 m, bearing: 27.352506 deg, lat: 36.779405 deg, lon: -121.859649 deg, deltaT: 0.507050 s, deltaX: -0.498795 m, approachRate: -0.983719 m/s, posRepo size: 4 :i1=DNOT Ignoring new targets: 22.71 m.2i9"i9*iAM ProNav: ac range: 22.711132 m, nav range: 21.712208 m, bearing: 27.336408 deg, approach rate: 0.000000 m/s, LOS rate: 0.463160 deg/s, cmd heading: 6.149000 deg, new cmd heading: 6.504192 deg. iIHeadingCmd: 0.113520 target range: 22.711132 and range: 22.80 m.h|=bEU4jEU3rEU²0E EE&E"E:*EC:VE4ZEBE,;a:E>;ahhhhggjg1rg1e9ԉreZe:e6@*eV?%Bɢ%fػ)) -\>i))-IK))i-~i5|=5W;=5Ru DAT read: 04:32:05.1478 LVL= 21488, 32753, 32754, 32755, AGC= 54, IDX= 507,-0.18,-1.677, 2.694,-2.463,-2.318, PHS= 0.743,-1.226,-0.189, RAW= 121.8, 7.9, CAL= 122.7, 9.1, ROT= 27.3, -9.1 } Ygot valid direction response: 04:32:05.1478 LVL= 21488, 32753, 32754, 32755, AGC= 54, IDX= 507,-0.18,-1.677, 2.694,-2.463,-2.318, PHS= 0.743,-1.226,-0.189, RAW= 121.8, 7.9, CAL= 122.7, 9.1, ROT= 27.3, -9.1 } T#Rx 97: Read range and direction messages. \direction in FSK: [0.877433,0.452877,0.158158] Fpublishing direction and range infoyi m wx:7?Db?@\~>?Yi i m Si i i )i Im ?5>?im 휿m 7Am J @m 0 >m  @ m ">)m >Im "i i m .`}ڭ? 5?]\ѧ? m "<)m 1 Im >im "i i  checking for new query: numPingsReceived=97, elapsed TxPingTime=45.450645 \^&,~LA2{@2<2 ٱ2#>2H`p?ס ?ڒ?@Ŀ,?pW?~?i2{@I2];2CY>0ByB[!IiMb@Mb@Mb@ 9Gz?Q?~jthYp>y<D@ A AԹ)YGAbDVD8yP<%9=ٔ5A;Q-5>99Y9==Ey=E={<EE>AQ 5M5E?Q 9u5E)ETBYu>Q E}:y}=Q I}R@EˣDIE;iE<;E'5y BɮAɦEiiuvxLAj"j:jK>"p RIp3@>l$@$XO @pwx:7?Db?@\~>?*j>2j"*pf)LP<3@J@K0 $@^@pH ]?;? K?jI A jAiht?iUjBj@g?jUjBrj^Azj>= addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.507457 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.711132 m, bearing: 27.510600 deg, lat: 36.779405 deg, lon: -121.859648 deg, deltaT: 0.507457 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 22.71 m.2i"i*i ProNav: ac range: 22.711132 m, nav range: 21.545898 m, bearing: 27.707461 deg, approach rate: 0.000000 m/s, LOS rate: 0.463160 deg/s, cmd heading: 6.504192 deg, new cmd heading: 6.916722 deg. iHeadingCmd: 0.120720 target range: 22.711132 and range: 22.80 m.h;=hhhhggjgrgBereZe:e*e&?mBɢq) Dg>i)⩼顉i#i;=hBCCB!IBbBBBBźDB؁;BB8E^A} H<A A >i  DDAT read: Rx Time:04:32:05.6475  TRx dataTimestamp_ set to:1764909126.387883 PDAT read: Bearing 173.3, 32.2 (Local)  ~Local bearing/azimuth received: Bearing 173.3, 32.2 (Local) AM .AIY Ii Ou >mef&,ӚLADAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 rDAT read: 04:32:05.6475 LVL= 24560, 32753, 32754, 32755, AGC= 53, IDX= 504, 0.12, 0.245,-1.689,-0.537,-0.381, PHS= 0.727,-1.264,-0.200, RAW= 122.3, 8.6, CAL= 123.1, 9.7, ROT= 26.9, -9.7 x5Ygot valid direction response: 04:32:05.6475 LVL= 24560, 32753, 32754, 32755, AGC= 53, IDX= 504, 0.12, 0.245,-1.689,-0.537,-0.381, PHS= 0.727,-1.264,-0.200, RAW= 122.3, 8.6, CAL= 123.1, 9.7, ROT= 26.9, -9.7 =T#Rx 98: Read range and direction messages.E\direction in FSK: [0.879048,0.445966,0.168489]EFpublishing direction and range infoy))!?*G궊?RV?Y3A_ )5I:?iʡLD@`> @ -\->)va>I-\-fʝ?qϽ?lɄ? *"=) wIva>i-\-checking for new query: numPingsReceived=98, elapsed TxPingTime=45.997116@[<i垽ٱ!#>H ? f@[?? Ŀ׳?`>??i@I];CY5Byb!IbDVDð8y<%,=ٔ4;Q->9 ?Y ?=EyEze<E>!Q 5-5%P3?Q 955%H)%^BY1y5]=Q I5R@%ңDI%W:i%:%.+5y=Bɮ=AEʦEiiӘLAjA"jA:j>"p5 73@ #@w2p@p))!?*G궊?RV?*jva>2j-\-*p#U2@P;#@A-@p 1h?CV`?L[K}?jA jAiRi?iq j̐BjRi?j j̐BrjAzj)> addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.505653 s, deltaX: -0.400000 m, approachRate: -0.791056 m/s, rangeRepo size: 4 % Added new target pos. range: 22.312927 m, bearing: 27.402353 deg, lat: 36.779405 deg, lon: -121.859649 deg, deltaT: 0.505653 s, deltaX: -0.398205 m, approachRate: -0.787506 m/s, posRepo size: 4 :i!-DNOT Ignoring new targets: 22.31 m.2i)"i)*i)] ProNav: ac range: 22.312927 m, nav range: 21.322542 m, bearing: 27.759707 deg, approach rate: 0.000000 m/s, LOS rate: 0.463160 deg/s, cmd heading: 6.916722 deg, new cmd heading: 7.351523 deg. iHeadingCmd: 0.128308 target range: 22.312927 and range: 22.40 m.h>c>hhhhggjgrgereZe:e`ff6@*e 5?%Bɢ%F)! %hp>i!)-q))i-[i5>c>5X#=5jBc>IYchecking for new query: numPingsReceived=98, elapsed TxPingTime=46.160412@ @@@@@@@YE EE"E"E>:*Ea9:VE(3ZEBEm @ m;0>)m,>Im;0i9OE>n&,ٺLA.h9,Y.;dAYz:o?n̕?oi? i>=)I,>i;0rchecking for new query: numPingsReceived=99, elapsed TxPingTime=46.472252ԉYAByp!IiMb@Mb@Mb@ 9MbX9?/$?MbpY?y<@ 9A)@YA <p<bDVD8y+=%=ٔ]Q-]>9]"?Ye"?=eEyeEeEe>iQ 5u5m^J?Q 9u5m )mhBY?Q E:y=Q IR@mۣDIm;im;m/5yɮAԹiisLAjA"jA:j>"pu3z3@b"#@~yj@p7s/?HM:?!?*j,>2j;0*pa 2@U_G'#@n".@p7\?^?i?j:A jAi{ku?ijؐBjjjrjAzj0>] addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.503624 s, deltaX: -0.199999 m, approachRate: -0.397119 m/s, rangeRepo size: 4 m Added new target pos. range: 22.113707 m, bearing: 27.070325 deg, lat: 36.779405 deg, lon: -121.859649 deg, deltaT: 0.503624 s, deltaX: -0.199221 m, approachRate: -0.395574 m/s, posRepo size: 4 :iimDNOT Ignoring new targets: 22.11 m.2ii"i*i ProNav: ac range: 22.113707 m, nav range: 21.071621 m, bearing: 28.059155 deg, approach rate: 0.000000 m/s, LOS rate: 0.463160 deg/s, cmd heading: 7.351522 deg, new cmd heading: 7.854031 deg. iHeadingCmd: 0.137079 target range: 22.113707 and range: 22.20 m.h\^ >hhhhggjgrgBereZe:e@336@*e"?mBɢmF)q u>iq)umѥqqiui}\^ >}=}7ϣ:I\^ >Ichecking for new query: numPingsReceived=99, elapsed TxPingTime=46.662941C>i>D=DE EE&E"E:*E3:VE4ZEa@a@a@a@)@) @)@-$4@)Aq Iy I B >B BCB !IB qBB =B B ĺDB ;B P8EO > t&,LA2{@22=2xٱ2f!>2H?? (@??|Ŀ@*?`??i2{@I2];0YbJByb{!IbD VD8y]=% y==DDAT read: Rx Time:04:32:06.6471 MTRx dataTimestamp_ set to:1764909127.395612UPDAT read: Bearing 173.7, 30.9 (Local) U~Local bearing/azimuth received: Bearing 173.7, 30.9 (Local) eDAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.4 DAT read: 04:32:06.6471 LVL= 21104, 32305, 31890, 32755, AGC= 52, IDX= 500, 0.02,-1.056,-2.996,-1.809,-1.697, PHS= 0.742,-1.254,-0.157, RAW= 123.3, 7.8, CAL= 124.1, 9.0, ROT= 25.9, -9.0 ٔAQ 5E5EY?Q 9M5EZ )EoBYgot valid direction response: 04:32:06.6471 LVL= 21104, 32305, 31890, 32755, AGC= 52, IDX= 500, 0.02,-1.056,-2.996,-1.809,-1.697, PHS= 0.742,-1.254,-0.157, RAW= 123.3, 7.8, CAL= 124.1, 9.0, ROT= 25.9, -9.0 V#Rx 100: Read range and direction messages.\direction in FSK: [0.888483,0.431424,0.156434]Fpublishing direction and range infoyAYIyʯ=Q IR@EDIE2E @ E| >)Eq>IE| AAEL#U?1?ڗ4S? ETj=)E IEq>iE| AAchecking for new query: numPingsReceived=100, elapsed TxPingTime=46.994820iAiEQLAjEA"jEA:jEV>"pEdK3@Tr"@6t, @pEZsn? xs?p ?*jEq>2jE| *pEzz2@-+#@xJc@pEeI;?R=?}׷\p?jEA jE֓AiEo?iEijE͏BjEo?jEq jEBrjE#AzjE{> addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.504105 s, deltaX: -0.400002 m, approachRate: -0.793489 m/s, rangeRepo size: 4  Added new target pos. range: 21.714897 m, bearing: 27.288557 deg, lat: 36.779406 deg, lon: -121.859651 deg, deltaT: 0.504105 s, deltaX: -0.398809 m, approachRate: -0.791124 m/s, posRepo size: 4 !:i!EDNOT Ignoring new targets: 21.71 m.2iA"iI*iI] ProNav: ac range: 21.714897 m, nav range: 20.892469 m, bearing: 27.806705 deg, approach rate: 0.000000 m/s, LOS rate: 0.463160 deg/s, cmd heading: 7.854031 deg, new cmd heading: 8.217528 deg. iY]HeadingCmd: 0.143423 target range: 21.714897 and range: 21.80 m.hu>hhhhggjgrgereZe:e5@*eɼ?%Bɢ%J)! %Ȋ>i!)-))i-Kԇi5u>5=5[I1@ @@/@QAzA checking for new query: numPingsReceived=100, elapsed TxPingTime=47.168926A .AI I E  E }E E "E :*E k&:VE ZE BE r;a 2E s;a JE À;a :E Ā;a O= >ԁ {&,ՓLA@M=FuٱB5!>H ? kM]@? ?HĿ`Tʲ??ބ?i@I#];Y=TBy=!I AAAEAiMb@Mb@Mb@ 9jt?/$?MbpY?y@ A A)@Y\@bDVDð8yoF=%G=ٔyo;Q->9 ?Y ?=EyE<E> Q 55 Ai?Q 95  ) vBY?Q E:y)=Q IR@ DI :i $: K65y!Aɮ%AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 21.71 m.2i"i:&<*i:&< ProNav: ac range: 21.714897 m, nav range: 20.722614 m, bearing: 28.001241 deg, approach rate: -0.503437 m/s, LOS rate: 0.581314 deg/s, cmd heading: 8.217528 deg, new cmd heading: 8.609782 deg. i< HeadingCmd: 0.150269 target range: 21.714897 and range: 21.80 m.h !>h h h h ggjgrgBereZe:e*eB?-DDAT read: Rx Time:04:32:07.1471 5TRx dataTimestamp_ set to:1764909127.897465=PDAT read: Bearing 175.4, 30.9 (Local) E~Local bearing/azimuth received: Bearing 175.4, 30.9 (Local) MDAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.4 q}DAT read: 04:32:07.1471 LVL= 23760, 32753, 32754, 32755, AGC= 52, IDX= 499, 0.46, 0.734,-1.209,-0.019, 0.120, PHS= 0.716,-1.284,-0.183, RAW= 123.3, 8.7, CAL= 124.0, 9.9, ROT= 26.0, -9.9 Ygot valid direction response: 04:32:07.1471 LVL= 23760, 32753, 32754, 32755, AGC= 52, IDX= 499, 0.46, 0.734,-1.209,-0.019, 0.120, PHS= 0.716,-1.284,-0.183, RAW= 123.3, 8.7, CAL= 124.0, 9.9, ROT= 26.0, -9.9 V#Rx 101: Read range and direction messages.\direction in FSK: [0.885410,0.431843,0.171929]Fpublishing direction and range infoy15e1HU?n6R?!?Y115\55 1)1I5K7?i5Z5Zd;15|>5c @ 5;0>)5V>I5;0115'Ȉ?mXv?Do]? 5̓n=)5I5V>i5;011checking for new query: numPingsReceived=101, elapsed TxPingTime=47.437134Bɢ:) B>i)NiNi!>I۞=;I!>I)@ @@@ԡA ؟AI! I1 O= > s&,\LABchecking for new query: numPingsReceived=101, elapsed TxPingTime=47.670818Yz`Byz!IAAbD  VD 8yy=%Z=ٔ%Q-%>9%"?Y%"?=-Ey-E-E->1Q 5=55y?Q 9=55r )5}BYAyAQ IER@5DI5q:i5:595yMBɮMAM˦EiiimpLAji"ji:jmw)>"pmM :3@d?"@ @pme1HU?n6R?!?*jmV>2jm;0*pmڞ V2@ TP8#@C-8@pmj?sR?0 ݚQ?jmA jmAimY>?imҶjm|Bjmht?jmҶjirjm{Azjm>DzDAAE EE%E"EO:*E,:VE 4ZEa@a@a@a@5 addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.501853 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 21.714897 m, bearing: 27.658863 deg, lat: 36.779406 deg, lon: -121.859652 deg, deltaT: 0.501853 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iImDNOT Ignoring new targets: 21.71 m.2ii"iu*iq} ProNav: ac range: 21.714897 m, nav range: 20.560406 m, bearing: 27.865754 deg, approach rate: 0.000000 m/s, LOS rate: 0.581314 deg/s, cmd heading: 8.609782 deg, new cmd heading: 9.055033 deg. iHeadingCmd: 0.158040 target range: 21.714897 and range: 21.80 m.hF!>hԩhhhggjgrgereZe:e*e ??MBɢMz;)I Um>iQ)UXQQiUs`i]F!>Y]0r:I]F!>IaBU>BUACBU!IBUBBQBQBQBQBUN8EB BCB BCB ĔCB =B =C Đ5@ @@/@5DDAT read: Rx Time:04:32:07.6468 =TRx dataTimestamp_ set to:1764909128.399442EPDAT read: Bearing 174.7, 30.0 (Local) E~Local bearing/azimuth received: Bearing 174.7, 30.0 (Local) UDAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.4 }DAT read: 04:32:07.6468 LVL= 20704, 30417, 32754, 32755, AGC= 52, IDX= 497, 0.01,-1.110,-3.054,-1.842,-1.753, PHS= 0.745,-1.255,-0.132, RAW= 124.1, 7.5, CAL= 124.8, 8.7, ROT= 25.2, -8.7 Ygot valid direction response: 04:32:07.6468 LVL= 20704, 30417, 32754, 32755, AGC= 52, IDX= 497, 0.01,-1.110,-3.054,-1.842,-1.753, PHS= 0.745,-1.255,-0.132, RAW= 124.1, 7.5, CAL= 124.8, 8.7, ROT= 25.2, -8.7 V#Rx 102: Read range and direction messages.\direction in FSK: [0.894416,0.420880,0.151261]Fpublishing direction and range infoy152zS?GJ?ni\?Y5fA15P5v1 1)1I5R>?i5ף5+5 @5 >5'g @ 5|>)5z0>I5|115fl}?̔ی ?E/@? 5o1=)5I5z0>i5|11checking for new query: numPingsReceived=102, elapsed TxPingTime=47.942448i ^A $<Iy I O >~%&,0+"LA 2#@2E=2ٱ2m >2H?@xL[?H? YĿI ?@??i2#@I2];2CYBgByB!IbDJVDJɰ8yb=%bQ=ٔb;Q-f>9dYd=fEyfEjh=Ej>lQ 55n?Q 95n )nBYyl=Q I R@nDIn:in:n<5yɮAiiimuLAjmA"jmA:jm>"pmᥛ2@jYx6!@LU @pm2zS?GJ?ni\?*jmz0>2jm|*pmN]T 2@d."@VCY@pmm4?yWjģ?ߴna?jmA jmJAimnsy?im:+jm/Bjm{ku?jmjm|BrjmâAzjm> addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.501977 s, deltaX: -0.500000 m, approachRate: -0.996062 m/s, rangeRepo size: 4  Added new target pos. range: 21.216700 m, bearing: 27.762307 deg, lat: 36.779406 deg, lon: -121.859653 deg, deltaT: 0.501977 s, deltaX: -0.498198 m, approachRate: -0.992471 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 21.22 m.2i"i*i ProNav: ac range: 21.216700 m, nav range: 20.345625 m, bearing: 27.852590 deg, approach rate: 0.000000 m/s, LOS rate: 0.581314 deg/s, cmd heading: 9.055033 deg, new cmd heading: 9.501650 deg. iHeadingCmd: 0.165835 target range: 21.216700 and range: 21.30 m.h)>hhhhggjgrge!re!Ze!:e%L5@*e%-?频ɢy;) >i)Ǝ顙iD?i)>0;I)>Iqchecking for new query: numPingsReceived=102, elapsed TxPingTime=48.175793a@i @i@m0@iE EE#E"EƱ:*E:VE3ZEBE@;a2EA;aJEg;a:Eg;a ^AoM;A?A?ԙIIO> iA IA M DDAT read: Rx Time:04:32:08.1468 M TRx dataTimestamp_ set to:1764909128.903638] PDAT read: Bearing 185.5, 31.3 (Local) ] ~Local bearing/azimuth received: Bearing 185.5, 31.3 (Local) m DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.4  DAT read: 04:32:08.1468 LVL= 23008, 32753, 32754, 32755, AGC= 52, IDX= 513,-0.45, 0.156,-1.754,-0.564,-0.214, PHS= 0.472,-1.495,-0.394, RAW= 124.0, 16.3, CAL= 123.8, 17.6, ROT= 26.2, -17.6  Ygot valid direction response: 04:32:08.1468 LVL= 23008, 32753, 32754, 32755, AGC= 52, IDX= 513,-0.45, 0.156,-1.754,-0.564,-0.214, PHS= 0.472,-1.495,-0.394, RAW= 124.0, 16.3, CAL= 123.8, 17.6, ROT= 26.2, -17.6  V#Rx 103: Read range and direction messages. \direction in FSK: [0.855258,0.420839,0.302370] Fpublishing direction and range infoyI M !zF^?c?-JZ?YI I M YM I I )I IM >iM )\M ^ɾM c @M >M 3I @ M nF>)M  >IM nFI I M \?@~U?Wj? M =)M IM  >iM nFI I  checking for new query: numPingsReceived=103, elapsed TxPingTime=48.444618*R&,<LAXzZ@z=zP፽ٱzET >zH? @E@?D?HĿ?@W?b?izZ@IzJ];zCYu}Byu!II}%=)}%=iMb@Mb@Mb@ 9Mb??Mb`Y?y<K A A)@Y@bDVD8y-=%-+=ٔ-/;Q-->91Y1=5Ey5E=c<E=>AQ 5m5E;?Q 9m5E )EBYm:?Q Em:ym3=Q IuR@EDIE;iE!;E8A5y} Bɮ}A}̦Eiqiu49LAjq"jq:ju!>"pu! bP%2@yS!@.^B@pu!zF^?c?-JZ?*ju >2junF*pu1W0@8"@h!@puږV?wF?J? ?juA ju‡Aiu)*D4?iuAsHjulBjqju:+jqrjuAzju>- addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.504196 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 21.216700 m, bearing: 28.050387 deg, lat: 36.779406 deg, lon: -121.859653 deg, deltaT: 0.504196 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i9=DNOT Ignoring new targets: 21.22 m.2i9"ia*iau ProNav: ac range: 21.216700 m, nav range: 20.109877 m, bearing: 28.076907 deg, approach rate: 0.000000 m/s, LOS rate: 0.581314 deg/s, cmd heading: 9.501649 deg, new cmd heading: 10.063403 deg. iq}HeadingCmd: 0.175640 target range: 21.216700 and range: 21.30 m.h}3>hyhyhyhyggjgrgBereZe:e*eI ?‚Bɢg;)9 ==>i9)E$AAiE$iM3>IM6};IM3>IIchecking for new query: numPingsReceived=103, elapsed TxPingTime=48.679901%@! @)@-/@1E EE!E"E:*E,:VEc3ZEa@a@a@a@! BE >BE @CBE !IBE BBE =BA BE úDBE ;BE >8E^A5 q:I I O >?&,VLAxV@=Yٱ; >H@?Onͳ?<|?1Ŀ__??@?iV@I];CYy <<bD VD8yK:%^=DDAT read: Rx Time:04:32:08.6465 TRx dataTimestamp_ set to:1764909129.407428PDAT read: Bearing 176.5, 29.4 (Local) ~Local bearing/azimuth received: Bearing 176.5, 29.4 (Local) DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.4 =DAT read: 04:32:08.6465 LVL= 21968, 32753, 32754, 32755, AGC= 53, IDX= 510, 0.08,-0.586,-2.535,-1.302,-1.208, PHS= 0.724,-1.282,-0.138, RAW= 124.6, 8.0, CAL= 125.3, 9.2, ROT= 24.7, -9.2 EYgot valid direction response: 04:32:08.6465 LVL= 21968, 32753, 32754, 32755, AGC= 53, IDX= 510, 0.08,-0.586,-2.535,-1.302,-1.208, PHS= 0.724,-1.282,-0.138, RAW= 124.6, 8.0, CAL= 125.3, 9.2, ROT= 24.7, -9.2 EV#Rx 104: Read range and direction messages.M\direction in FSK: [0.896821,0.412492,0.159881]MFpublishing direction and range infoyb²?Cf?Čsv?Y3AU )5IX9?iO - @5>! @ l$>)>Il$? =?ch ? ۥ=ٔelk;Q-e>9iYi=mEymEu<Eu>yQ 5}5)ўI>il$checking for new query: numPingsReceived=104, elapsed TxPingTime=48.950726}u?Q 95}y )}BYy>Q IR@}DI}R;i}S;}D5yɮAiiMZLAjA"jA:jO>"pѵe瀫2@},!@ @pb²?Cf?Čsv?*j>2jl$*p 1@Ve"@%7%@p1Y?Q_?beG?jA jAi|?i3ZjCBjnsy?jij͏BrjAzj> addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503790 s, deltaX: -0.400000 m, approachRate: -0.793981 m/s, rangeRepo size: 4 % Added new target pos. range: 20.817898 m, bearing: 27.943805 deg, lat: 36.779407 deg, lon: -121.859653 deg, deltaT: 0.503790 s, deltaX: -0.398802 m, approachRate: -0.791603 m/s, posRepo size: 4 :i!-DNOT Ignoring new targets: 20.82 m.2i)"i)*i)= ProNav: ac range: 20.817898 m, nav range: 19.962973 m, bearing: 28.169087 deg, approach rate: 0.000000 m/s, LOS rate: 0.581314 deg/s, cmd heading: 10.063403 deg, new cmd heading: 10.559327 deg. iAEHeadingCmd: 0.184295 target range: 20.817898 and range: 20.90 m.hEշ<>hIhIhIhIgIgIjgrgereZe:e`f4@*e@֨?ɢP;)  >i))5}11i57i=շ<>9=7;I=շ<>IAA@ @@@ checking for new query: numPingsReceived=104, elapsed TxPingTime=49.183075q E  E E #E "E 7:*E P:VE 3ZE BE ;a 2E ;a JE );a :E *;a ^A- r;I I O >ћ&,)qLAVH]?@ت`?w?Ŀ???iV@IV];VCYbByb!IiuMb@Mb@Mb@qqqq q9urh|?{Gz?Mb`?Yu>yu#=u;u@u5 A u A)u@qYup@bD3VD۰8y=%B=ٔm?;Q->9Y=EyE3<E>Q 55 ?Q 95 )BY>Q E:y(>Q IR@DI:i4:H5y%BɮAͦEB*** querying acoustic contact ***ii:iQ]DNOT Ignoring new targets: 20.82 m.2ia"is<*is< ProNav: ac range: 20.817898 m, nav range: 19.774031 m, bearing: 28.354891 deg, approach rate: -0.533480 m/s, LOS rate: 0.529632 deg/s, cmd heading: 10.559326 deg, new cmd heading: 10.934480 deg. iRr<ԩHeadingCmd: 0.190843 target range: 20.817898 and range: 20.90 m.hClC>hhhhggjgrg˂BereZe:e*e2?-DDAT read: Rx Time:04:32:09.1465 5TRx dataTimestamp_ set to:1764909129.911470=PDAT read: Bearing 177.7, 29.4 (Local) E~Local bearing/azimuth received: Bearing 177.7, 29.4 (Local) UDAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.4 uDAT read: 04:32:09.1465 LVL= 21088, 32753, 32754, 32755, AGC= 53, IDX= 510,-0.25,-1.295, 3.059,-2.001,-1.893, PHS= 0.700,-1.286,-0.151, RAW= 124.7, 8.6, CAL= 125.3, 9.8, ROT= 24.7, -9.8 }Ygot valid direction response: 04:32:09.1465 LVL= 21088, 32753, 32754, 32755, AGC= 53, IDX= 510,-0.25,-1.295, 3.059,-2.001,-1.893, PHS= 0.700,-1.286,-0.151, RAW= 124.7, 8.6, CAL= 125.3, 9.8, ROT= 24.7, -9.8 V#Rx 105: Read range and direction messages.\direction in FSK: [0.895251,0.411770,0.170209]Fpublishing direction and range infoy15ž?ٞnZ?rl?Y115`R11 1)1I5333?i555J @5`>1 5%/>)1I5%/115:X?M1JӴ?? 5$=)5msI1i5%/11checking for new query: numPingsReceived=105, elapsed TxPingTime=49.456108 ÂBɢ *<)  >i)ieiEClC>EŞ=ED^;IEClC>IQQ@Q @Q@U0@Q ^A ] ;A zA  checking for new query: numPingsReceived=105, elapsed TxPingTime=49.686794I I O >I&, `LA2 @2ռ=26ٱ2ܪ>2H ? ๿= -?r?>Ŀð?`?>?i2 @I2{];0Y>By>!I @@bDF6VDFް8EV EVEV"ET"EVg:*EVg:VEV(3ZETaZ@aZ@aZ@aZ@pyw=%%]=ٔ%HJ;Q-%>9)Y)=-Ey-E-<E->1Q 5E55Ι?Q 9E55)5BYAyM0>Q IMR@5DI5";i5#;5vK5yYɮ]%AaiiimUzLAji"ji:jmt=?"pmZ"2@'JF$!@9)X @pmž?ٞnZ?rl?*ji2jm%/*pm&ay1@<ʼn"#@!*@pmSa5?μi?iF?jmA jmˋAim]?im jmBjm|?jm:+jmBrjmAzjm*> addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504042 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.817898 m, bearing: 28.701616 deg, lat: 36.779407 deg, lon: -121.859653 deg, deltaT: 0.504042 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :i%DNOT Ignoring new targets: 20.82 m.2i!"i%*i)U ProNav: ac range: 20.817898 m, nav range: 19.638153 m, bearing: 28.515074 deg, approach rate: 0.000000 m/s, LOS rate: 0.529632 deg/s, cmd heading: 10.934480 deg, new cmd heading: 11.346954 deg. iY]HeadingCmd: 0.198042 target range: 20.817898 and range: 20.90 m.h]qJ>hahahahagagajgirgieireiZeq:eq*e i?B>BB!IBBB =BBB́;B%8Eyɢ}T<)} }>i)T蓼顁iiqJ>q[;IqJ>I i@i @q@u?5@yi9I=AEDDAT read: Rx Time:04:32:09.6462 MTRx dataTimestamp_ set to:1764909130.415770UPDAT read: Bearing 178.2, 28.8 (Local) U~Local bearing/azimuth received: Bearing 178.2, 28.8 (Local) eDAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 DAT read: 04:32:09.6462 LVL= 22128, 32753, 32754, 32755, AGC= 53, IDX= 507, 0.22,-0.006,-1.962,-0.708,-0.613, PHS= 0.710,-1.304,-0.139, RAW= 125.2, 8.4, CAL= 125.7, 9.6, ROT= 24.3, -9.6 Ygot valid direction response: 04:32:09.6462 LVL= 22128, 32753, 32754, 32755, AGC= 53, IDX= 507, 0.22,-0.006,-1.962,-0.708,-0.613, PHS= 0.710,-1.304,-0.139, RAW= 125.2, 8.4, CAL= 125.7, 9.6, ROT= 24.3, -9.6 V#Rx 106: Read range and direction messages.\direction in FSK: [0.898640,0.405752,0.166769]Fpublishing direction and range infoyAEk?[9?8_X?YE3AAEpVAA A)AIE5?iEy馿EVE @EQ >Eh @ E+>)E%>IE+AAE}=?UVض?H{ݑ? E=)EoIE%>iE+AAchecking for new query: numPingsReceived=106, elapsed TxPingTime=49.958508^A y; A I I O >&,m<LAYrByr!IxxbDzRVDz8y%<%-B=ٔ-Q-->9)Y1=5Ey5E5E5>9Q 5E5=hߙ?Q 9E5=)=BYIyIQ IMR@=DI=:i=::=O5yU*BɮU.AYiqiuLAjuA"juA:juv >"pufB2@pO} @j  @puk?[9?8_X?*ju%>2ju+*pu`BF#1@3x"@9VA@puXJ0?؜??:9O?juA juAiu(Sȃ?iuAjuEBjqju3ZjuEBrjuFAzjuc> addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.504300 s, deltaX: -0.500000 m, approachRate: -0.991473 m/s, rangeRepo size: 4 % Added new target pos. range: 20.319696 m, bearing: 28.317620 deg, lat: 36.779407 deg, lon: -121.859654 deg, deltaT: 0.504300 s, deltaX: -0.498201 m, approachRate: -0.987907 m/s, posRepo size: 4 :i!-DNOT Ignoring new targets: 20.32 m.2i)"i)*i)= ProNav: ac range: 20.319696 m, nav range: 19.409636 m, bearing: 28.488068 deg, approach rate: 0.000000 m/s, LOS rate: 0.529632 deg/s, cmd heading: 11.346953 deg, new cmd heading: 11.779850 deg. i9EHeadingCmd: 0.205597 target range: 20.319696 and range: 20.40 m.hER>hAhAhAhIgIgIjgIrgQeQreQZeQ:e]`ff4@*e] 4?颅ĂBɢJWg<) >i)9顉checking for new query: numPingsReceived=106, elapsed TxPingTime=50.191006i}iR>*j;IR>IbEU3jEUc3rEUJ0E E|EE"E:*EP$:VEZEBEe?Y] fAY ] K] v] Bz Y )] 4I] E6?i] 33] h] R/ @] 0 >] @ ] ">)] >I] "Y Y ] LELތ?prF?#? ] ]=)] K I] >i] "Y Y M checking for new query: numPingsReceived=107, elapsed TxPingTime=50.475906a A I I OE > &,LA]@]@=]2ٱ]ޑ!>]H8?@rE6? c? Ŀ)!??`*?i]@I]b];]CYBy!IIiMb@Mb@Mb@ 9x&1?:v?y&1|?Y?yT=`;@ A A)@Y@bD]VD8y =% 0=ٔ ̯;Q- >9Y=EyE8=E>AQ 5M5E?Q 9M5E)EBYM;?Q EM:yMS>Q IMR@EDIEo:iE:ES5y]/Bɮ]A]ΦEiiLAj¡A"j¡A:j?"pu@2@' %b- @xq @p.{¡M?jK?@\~>?*j>2j"*po 1@ 4"@6b6:H@p.?BR?鵡?jA jOAivƎ?iqj׎Bj(Sȃ?jjrjAzjZ> addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.504554 s, deltaX: -0.100000 m, approachRate: -0.198196 m/s, rangeRepo size: 4  Added new target pos. range: 20.220089 m, bearing: 28.765599 deg, lat: 36.779408 deg, lon: -121.859654 deg, deltaT: 0.504554 s, deltaX: -0.099607 m, approachRate: -0.197417 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 20.22 m.2i"i!*i!5 ProNav: ac range: 20.220089 m, nav range: 19.253872 m, bearing: 28.575607 deg, approach rate: 0.000000 m/s, LOS rate: 0.529632 deg/s, cmd heading: 11.779850 deg, new cmd heading: 12.269451 deg. i1]HeadingCmd: 0.214142 target range: 20.220089 and range: 20.30 m.h] H[>hYhYhYhYgagajgargeׂBeireiZei:emL4@*eu@/?łBɢ P<) >i)Yi<ؙi H[>D;I H[>Iq=checking for new query: numPingsReceived=107, elapsed TxPingTime=50.700558@ @@5@E EE#E"E:*E3:VE3ZEa@a@a@a@ԡB! B! B% "IB% ǃBB% =B! B% ºDB% ΁;B% &8E^A < AI IQ m DDAT read: Rx Time:04:32:10.6459 u TRx dataTimestamp_ set to:1764909131.423303} PDAT read: Bearing 179.8, 28.1 (Local) } ~Local bearing/azimuth received: Bearing 179.8, 28.1 (Local)  DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.4  DAT read: 04:32:10.6459 LVL= 22672, 32753, 32754, 32755, AGC= 53, IDX= 503, 0.46,-1.805, 2.525,-2.482,-2.392, PHS= 0.689,-1.321,-0.134, RAW= 126.0, 8.8, CAL= 126.4, 10.0, ROT= 23.6, -10.0  Ygot valid direction response: 04:32:10.6459 LVL= 22672, 32753, 32754, 32755, AGC= 53, IDX= 503, 0.46,-1.805, 2.525,-2.482,-2.392, PHS= 0.689,-1.321,-0.134, RAW= 126.0, 8.8, CAL= 126.4, 10.0, ROT= 23.6, -10.0  V#Rx 108: Read range and direction messages. \direction in FSK: [0.902441,0.394267,0.173648] Fpublishing direction and range infoyi m 0?L;?ٖNs:?Ym Ai m Xm m  i )m 5Im Nb0?I!O5>G޶&,LAiL7 L @nF>0 @ ¸2>)B>I¸2XJs?EN?wϒ? xZ=)c4IB>i¸2.checking for new query: numPingsReceived=108, elapsed TxPingTime=50.986050l@G=K}ٱ!>H@޺?5U@᥿`4*?`[?@Ŀ:?? p?i@I];CYBy"II<)=bDVVD8y<%==ٔv,;Q- >9 Y = Ey E;<E>Q 5%5?Q 9%5_)ÊBY!y-Z>Q I-R@"DI:iy:V5yqɮuAqiieLAj^A"j^A:j?"pL1@栟j@  @p0?L;?ٖNs:?*jB>2j¸2*pKma0@A\"@$@pyEM?D&~?B }?jA jAiym?iGj;Bjym?jGjCBrjAzjݏ? addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.502979 s, deltaX: -0.299999 m, approachRate: -0.596445 m/s, rangeRepo size: 4 5 Added new target pos. range: 19.921223 m, bearing: 28.773716 deg, lat: 36.779408 deg, lon: -121.859654 deg, deltaT: 0.502979 s, deltaX: -0.298866 m, approachRate: -0.594192 m/s, posRepo size: 4 :i1=DNOT Ignoring new targets: 19.92 m.2i9"i9*i9m ProNav: ac range: 19.921223 m, nav range: 19.071688 m, bearing: 28.773663 deg, approach rate: 0.000000 m/s, LOS rate: 0.529632 deg/s, cmd heading: 12.269451 deg, new cmd heading: 12.732443 deg. iquHeadingCmd: 0.222223 target range: 19.921223 and range: 20.00 m.hupc>hyhyhyhygygyjgrgereZe:e4@*e@\? IɢMn<)Q US>iQ)Uz(QQiUAi]pc>Ye;Iepc>Iichecking for new query: numPingsReceived=108, elapsed TxPingTime=51.1989361E% E%E%$E!"E%:*E%*:VE%4ZE!BE%;a52E%;a5JE%g;a=:E%g;a=׿ѼI @I  @Q @U 0@Q i 1 9  G1 Q ԑ j9 Y tfA^Ar;DDAT read: Rx Time:04:32:11.1458 TRx dataTimestamp_ set to:1764909131.930772PDAT read: Bearing 179.8, 27.7 (Local) ~Local bearing/azimuth received: Bearing 179.8, 27.7 (Local) xDAT read: Range 11 to 50 : 19.8 m (trip time 13.2 d 0.4 MDAT read: 04:32:11L= 21232, 32753, 32754, 32755, AGC= 52, IDX= 503, 0.06,-0.349,-2.306,-1.021,-0.952, PHS= 0.705,-1.309,-0.113, RAW= 126.2, 8.2, CAL= 126.7, 9.4, ROT= 23.3, -9.4 U!unknown deviceResponse_: 04:32:11L= 21232, 32753, 32754, 32755, AGC= 52, IDX= 503, 0.06,-0.349,-2.306,-1.021,-0.952, PHS= 0.705,-1.309,-0.113, RAW= 126.2, 8.2, CAL= 126.7, 9.4, ROT= 23.3, -9.4 q ]](Communications Faulta ] a ] a ] a ] a ] m\#Rx 109: Read range message, but no direction.iIfA}checking for new query: numPingsReceived=109, elapsed TxPingTime=51.480690ԹA5.AIA&ULCommunications Fault in component: DATIQO]?J&,9LAv0@vK>vMtٱv >vH@O?BY@稣@lV? O?@Ŀ??`֌?iv0@Iv^];vCY ɃBy "IiuMb@Mb@Mb@qqqq q9u)\(?y&1?~jtx?YuG?yu`e=u;u@u A qԉ)u@qYu@ <bDMVD8yf=% =ٔX{;Q->9 ?Y ?=EyE<E>Q 55N?Q 95)ЊBY?Q E:yq>Q IR@,DI ;i; ;[5y4Bɮ\AϦEB*** querying acoustic contact ***ii:i DNOT Ignoring new targets: 19.92 m.2i "i 0;*i 0; ProNav: ac range: 19.921223 m, nav range: 18.783772 m, bearing: 29.013407 deg, approach rate: -0.505025 m/s, LOS rate: 0.426973 deg/s, cmd heading: 12.732442 deg, new cmd heading: 13.219268 deg. iZC<%HeadingCmd: 0.230720 target range: 19.921223 and range: 20.00 m.h%Al>h)h)h)h)g)g)jg1rg5Be1re1Ze1:e9*e= ]AmǂBɢmb<)i m ?ii)mqqiuiuAl>}=};I}Al>IyԹDzDE% E%E%#E!"E%:*E%;J:VE%3ZE!a-@a-@a-@a-@1@1 @1@50@1B->B)B-5"IB-BB- =B)B)B-ҁ;B-*8Ee Powering downie Ie e e ^Au rg: A ؟AI I O >4&,MLAF6p@F5 >FmٱFk!>FHŦ? GI¿@%@sQ?E?Ŀ?`^?ӌ?iF6p@IFǏ];DYRՃByR&"IbD^=VD^8yba=%f_=ٔf=;Q-f>9j"?Yj"?=jEyj En<En>pQ 5v5r,?Q 9v5r[)rيBYtyvcy>Q IzR@r2DIrj;irf;r2_5y|ɮ~A|:i!%DNOT Ignoring new targets: 19.92 m.2i!"i--;*i--; ProNav: ac range: 19.921223 m, nav range: 18.604471 m, bearing: 29.162033 deg, approach rate: -0.489263 m/s, LOS rate: 0.409468 deg/s, cmd heading: 13.219268 deg, new cmd heading: 13.519380 deg. iW;<HeadingCmd: 0.235958 target range: 19.921223 and range: 20.00 m.hq>hhhhgg)jg)rg)E5 5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE5=Transitioning to midcourse guidance. Received last range of 20.000000 m 29955910.400000 min ago.E=1F=e9reAZeA:eA*eAuȂBɢuI<)q u?iq)}7yyi}àiq>M=+IQ@ @@/@Eu EuEu$Eq"Euy:*Eu*:VEu4ZEqBEu&,:LAHYԃBy%"Ii Mb@Mb@Mb@     9 Zd;O?X9v?~jth?Y j>y }= D; @ A @) @ Y @bD%4VD%ܰ8y5"%5=ٔ=Q-=>99Y9==Ey=EEEE>IQ 5U5MjA?Q 9U5M)MBYUh>Q E]:y]>Q I]R@M:DIM:iM:Mc5ye9Bɮe*AeЦE:iDNOT Ignoring new targets: 19.92 m.2i"i;*i; ProNav: ac range: 19.921223 m, nav range: 18.355757 m, bearing: 29.360364 deg, approach rate: -0.479760 m/s, LOS rate: 0.387756 deg/s, cmd heading: 13.519380 deg, new cmd heading: 13.921410 deg. ih1<HeadingCmd: 0.242974 target range: 19.921223 and range: 20.00 m.hKx>hhhhggjgrgʂBRg@1FCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeereZe:e*eɂBɢ<) ?i)|i*0iKx>w=t:IKx>II)@ @@0@@%yA@!^A= 8<De =De %=Eu  Eu Eu %Eq "Eu غ:*Eu ,:VEu 4ZEq a @a @a @a @ B] >B] ?CB] T"IB] BB] =BY BY B] ځ;B] 08EB@CB@CB˓CB =B =C\5Ay I & NClearing failed state for component DATq I O >&,TLA|YBy5"IbDVD8y=%W=ٔQ->9Y=EyEE>Q 55P?Q 95\)BYyQ IR@@DI:i: g5y>BɮAqLAggregate::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,-121.859630e reZe:e*e颥Bɢ{)  9i).|顩iBHI)m@i @i@m2@i^AE] ;QAqIyIO>ԁ Q&,`xnLAE EE#E"E:*E0:VE3ZEBE;a2E;aJE݉;a:E݉;aB@B >BٯXٱB>BH 1?Ŀ K ?@2? ,LĿ@?v?!?iB@IB,}];BCYRByR="IbDZVDZǰ8yb =%bX=ٔb3\9dYd=fEyfEj:a=Ej>lQ 5r5n_?Q 9v5n)nBY|yK>Q IR@nFDInƼ;in;n]j5yɮAYj?KKff%j @f!g!fQfQrfYeareZe:e*eBɢ:m)  \Y;iH>)> (kpHeading = 0.400000&, bLA:V@:'>:JPٱ:l=>:H?!ſ));?C'?f}Ŀ ? ?ړ?i:V@I:];:CYFByJM"IiMb@Mb@Mb@ 9rh|?x&?y&1|?Y>y7=`;t@A )@YbD5VD58yEE|=%EB=ٔE|;Q-E>9M ?YM ?=MEyMEM<EM>QQ 5]5Ur?Q 9]5UF)UBY]A>Q E]:ye>Q IeR@UMDIU:iUI:URn5yɔBɮAѦE1K Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminalKB*** querying acoustic contact ***iifffgffrfereZe:e*eE- E-E-$E)"E-:*E-,:VE-4ZE)a5@a5@a5@a5@颩ɢM) h#=i)[{项ihf ɧ>+Tn;I@ @I B >B B f"IB  BB B B B ;B =8E@ @@05@@=@=^Au&$<)A؟AIIO>Q %&,E)LA2@2@d/>2EJٱ2>2HI~? ƿLR?? ĿF?`]?`*?i2@I2];2CY>By>J"IbDJVDJ8yfZ%fS=ٔj%;Q-j>9j"?Yn"?=nEyn!En:<Er>pQ 5v5r5?Q 9v5r)rBYxyzD>Q IzR@rSDIr:ir~:rnq5y|ɮ~Af!f!f!g!f!f)rf)e)re)Ze):e1*e1ɢJJN) @=i)zi72  ɧ > In&zI6`@ 6`@I!q@ @@/@^A( <ԡEM EMEM&EI"EM:*EM H:VEM4ZEIBEM dO&,`LAYByO"IiMb@Mb@Mb@ 9RQ?x&?Mbp?Y?y;^@A z@)@Y @bDVD8y%p<%#=ٔQ->9Y=Ey&EE>Q 55蔚?Q 95)BY?Q E:yX>Q IR@[DI&;i&%;u5yϔBɮAҦEff!f!g!f!f!rf!ereZe:e*e߃BɢjN) 2=i);z!i%t-+t ɧ--?-c{ =i->)5vwxI5 @ 5 @I1a@ @@5@) EU  EU EU "EQ "EU 7:*EU *:VEU (3ZEQ a] @a] @a] @a] @B >B B s"IB BB =B B B ށ;B 38E^A% <A- xAzA) a Am .AIy I O >&,VLAJ@J`H>>J18ٱJ|>JH j?`)=ȿ@Ï?{ ?1SĿ@???iJ@IJ];H P)VM~ATTVTTiXIXXIXi\ ^`e\)\\ \^D````Ib94)`id)dIf-~AfDd djCjiAhihhiln~A)l lIlYlYvByvb"I xx|~AbDVD8y=%e=ٔC9 ?Y ?=Ey)E%0'=E%>1Q 5E55?Q 9M55g)5BYQyUȠ>Q I]R@5aDI5;i5};5x5yiɮuMAqff)f)g)f)f1rf1e1re1Ze1:e9*e9颁ɢu) =i)PTy顩ioML ɧ@S?駵=)=i> ?I@ @I}@y @y@/@^A]r<UPowering upU"Initializing DAT.A؟AIIO>AbE4jE#4rEַ/E  E E 'E "E :*E ;J:VE '4ZE BE ;a- 2E ;a- JE ;a5 :E ;a5 q &,y[LA}<@}`D>}/ٱ}E>}Ha?ȿ@.'`k?? Ŀ?Q?@?i}<@I}'];}CYYyc"Ii-Mb@Mb@Mb@)))) )9-w/?T㥛 ?~jthY-?y-=-D)-|A -@)-@)Y-@bDEVDE8yU1;%U+=ٔU;Q-]>9]"?Y]"?=]Ey].EedX<Ee>iQ 5u5mᷚ?Q 9u5m_)mBYu?Q Eu:y}>Q I}R@miDIm:im:m}5y֔BɮzAӦEf)f1f1g1f9f9rfaeareiZei:eq*eqރBɢNs&) =i)xiW%p ɧ%ă?-R=i-D*?)-`bI-4@ -4@I1y@ @@4@^A.ۼԡA .AI I O% > :&,$ LA:q@:fK>:'ٱ:>:H`2X?ɿ@Q IjR@boDIb:ib.:b5yIɮM;AImB*** querying acoustic contact ***iiiifqfqfqgqfyfyrfyeyreZe:e*e颩ɢ) P=i)*w项i ɧ6?n=i:?6It@ t@IE E~E#E"E*E(:VE3ZEa@a@a@a@I)yAԱBu>BqBu"IBu#BBqBqBqBu;Bu8E@ @@/@@=@=^AmH\Am>Am>A؟AIIOb> 9  &,&LA:@:Q>:/nٱ:Z>:HN?tʿ%~@j??9ÿ |?`?\?i:@I:=^;:CYByt"II%p<)%<bD5 VD58yu<%u>=ٔ}ژ;Q-}>9}"?Y"?=Ey6Eg<E>Q 55ך?Q 95)'BYy>Q IR@vDI;i;5yܔBɮ<AfffgffrfereZe:e*e݃Bɢ)  0=i ) /u  i `ثZ ɧ?+k=irP?5InC@ nC@I!E EzE$E"E%:*E :VE4ZEBE;a2E;aJEv;a:Ev;a9}#!@) @Y@m/@iGVb9Y^Ai Ա ^A wAI IO->Sc&,VELAB@B@hX>BHnٱBz>BH@2D?>˿~ s? e?ÿ ??@?iB@IBW]^;BCYNByNz"IXonly read 0 of 1 data item for altitude. Device response is::BD, +409.85, +1827.56, +90.6 a@a a@a% a%@a% a%@a% bD)VD)y=ӗ<%='=ٔ=d;Q-=>9AYA=EEyE;EM]<EM>QQ 5]5U.욊?Q 9]5U)U-BQ A]+:YYQ E]:y]>Q IeR@U~DIU:iU>U5ymєBɮmAmʦEfffgffrfereZe:e*e܃BɢR) =i)siͬ0 ɧE?7=ik?j\I@ @IDDE% E%xE%#E!"E%:*E%:VE%3ZE!a-@a-@a-@a-@B>BB"IB(BBBBB;B7E E@I @I@M4@I^A l9 Aq Iy I O >N&,_LA2J<:2_>2uٱ2p>2H7?4̿X ;?#? Wÿ R? xw?f?i2J<:I2[D^;0Y>By>{"IDFBAbDJVDJ8yRB;%RU=ٔRr;Q-V>9TYT=VEyV?EZ*<EZ>\Q 5b5^Y?Q 9b5^)^2BQ Ab :Y`Q Ef:yf>Q IfR@^DI^w:i^_?^G5yjؔBɮjAj˦EfqfqfqgqfyfyrfyeyreyZe:e*eۃBɢ ͻ) l=i)n(riӕ ɧ?b=iw? |I2@ 2@I    I@ @@/@@)@-yAq^AGAzAwAE= E=zE9E9"E=:*E= :VE9ZE9BE=;aM2E=;aMJE9aU:E9aUA .Aԩ I I Ou >M&,yLABBٱB!>BH(?;)Ϳ`??@'?^Ŀo?@?^?iB9 ?Y ?=EyCE-<E>1Q 5=55?Q 9=55)59BQ A=T:Y=,?Q E=:y=a>Q I=R@5DI5n:i5:55yMޔBɮMAIfifqfqgqfqfqrfqeqreyZey:ey*ey颭ڃBɢ) N >i) p顱i'x_ ɧ}?駽o=ikڌ? 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B! B% ;B% 7EEe  Ee Ee $Ea "Ee :*Ee C:VEe 4ZEa BEa am 2Ea am JEe >;au :Ee >;au A I I O >ҥ&,lLAfg>f0~?fٱfp>fH KC? ` `?A?k?ʿq?`#??ifg>If];fCYzBy~4#II <) =bD%VD%8yE'=%Ei=ٔE|;Q-M>9IYI=UEyUE=E>Q 55H?Q 95԰)BYy_M?Q IS@DI:id::5yɮAB*** querying acoustic contact ***iifAfAfAgAfAfArfIeIreIZeI:eI*eI颽BɢkS<) u>i)iǼyɧ&@>i,@I,@ ,@IQ%@) @)@-/@)ԁAqIIO>Թ &,]LA8F>F ?FJٱF^p>FH?f@ׯ?@i?`?Xtʿ@ݳ??c?iF>IF^;FCYRByR*#IbD^VD^8yf0%fQ=ٔfA;Q-f>9hYh=jEyjEnA=En>pQ 5v5rgT?Q 9v5r)rBYtyvQ?Q IvS@rDIr):ir;r5y~Bɮ~A~Efff!g!f!f!rf!e!re)Ze):e)*e)]Bɢ] <)Y ]h>ia)eaaieȼm4ɧm@m!Q>iu -@qqIu,@ u,@IqE EE&E"E:*E=:VE4ZEa-@a-@a=@a=@gGQ9YMAԩ}@ @@@A] .AIi Iy O >  DAT read:  VDAT read: Teledyne Benthos DAT-900 Series &,u<LA6rl>6%?6ٱ6*Oq>6Hw?e@޽? 7??(ʿ???i6rl>I6D^;6CYBByB1#IliuMb@Mb@Mb@qqqq q9uy&1?T㥛 ?S㥛?Yu`?yu>u/=ٔ:Q->9 ?Y ?=EyE7=E>Q 55`?Q 95O) BYe ?Q E:yc]?Q IS@'DI:i:H5yɮAfffgffrfereZe:e*e颭BɢwY<) '?i)n 顱i[ʼIɧ@駽+>i-@I-@ -@IBBB5#IBBBBBB;B7EE EE%E"E7:*E3:VE 4ZEBE;a-2E;a-JE;a-:E;a5}p>i}>1%@! @!@%/@)A5xAzA1I! I1 OE >Y &,\LA2>2 *?21fٱ2N]p>2Ha/?[?@?^?`5ɿ ?`??i2>I2@^;0Y>By>8#I @@bDJVDJ8yR=%R\=ٔV64;Q-V>9TYT=VEyVEZY=EZ>\Q 5b5^xk?Q 9b5^L)^-BY`yfsb?Q IfS@^-DI^;i^=:^5yhɮjAhfxfxf|9g|fYfYrfYeYreaZea:ea*ea颵Bɢ(<) ?i)w%i˼uɧC@K6>iZ.@IZ.@ Z.@Iu@q @q@u/@qiIiIyO9>ԑE= E=E="E9"E=g:*E=0:VE=(3ZE9aE@aE@aE@aE@ P?&,LA->-.?-ٱ-ܵl>-H r? ? ,?H ?@~ȿR?kP?"?i->I-k^;ԉ-CYBy;#Ii5Mb@Mb@Mb@1111 195S㥛?Q?~jt?Y5$?y5=5<15K A 5@)5V@1Y1bDMVDM8y]8<%]1=ٔ]H;Q-e>9aYa=mEymEm!=Em>qQ 5}5ux?Q 9}5u>)u=BY} ?Q E:ywd?Q IS@u5DIu4:iu_:u5y BɮAEfffgffrfereZe:e*e@]A颍Bɢ<) ?i)8顑i4ͼيɧ&@駝q>i=/@I=/@ =/@IԹU@Q @Y@]/@YIIOI>B B B ;#IB BB B B B ;B 6EB>CBBBBC84 E=  E= xE= &E9 "E= :*E= :VE= 4ZE9 BE= vo3?vN}ٱvi>vH>p?@Ca ??@?Tȿ`N? ?(?iv ~>Iv"^;vCYBy8#I <<bD VD8y-=%-a=ٔ-E ;Q-->91Y1=5Ey5E=vS=EE>AQ 5M5E?Q 9U5E2)EIBYQyUZi?Q IUS@E;DIE;iE;E5yYɮeAa}B*** querying acoustic contact ***iyiyfffgffrfereZe:e*eBɢ=) ?i)iμUɧUa@Uj>iU/@QYI]/@ ]/@IYi@ @@ /0@ A>A?IIO>Iy K&,ё3LA2?2XN8?2ؼٱ2K_e>2H@ ?`B?r? qU?Vǿ?"l?0?i2?I2 ^;2CYNByR'#IIV<)V=bDZVDZ8ybه%bQ=ٔfxB;Q-f>9dYd=jEyjEjC=Ej>lQ 5r5n?Q 9r5n͖)nVBYtyv5n?Q IvS@nBDIn:inl:n&5yxɮz3AxfffgffrfereZe:e*eBɢd<) ?i) ;޻iм!ɧ @ָ>E EE"E"Ey:*E*:VE(3ZEa @a @a @a @iճ0@  I ճ0@ ճ0@IQ@ @@1@II!U:DAT read: MF Frequency Band ]vDAT read: Directional Acoustic Transponder version 8.15.0 ]BDAT read: Dec 5 2025 04:32:23 Oe>ԉԩ 3&,PmMLA.S?.=?. Ҽٱ.he>.Hz?$ ?O??0ǿ`^?`qm?0?i.S?I.];.CY@yB(#Ii Mb@Mb@Mb@     9 %C?T㥛 ?{Gz?Y Z?y > ף< O@  A @) ?@ Y @bD%ֿVD%8y-W;%5D=ٔ5F:Q-5>91Y9==Ey=E=K8=EE>AQ 5M5E?Q 9U5E)EcBYUR?Q EU:yUv?Q IUS@EIDIEw:iE:E5yeBɮeaAafffgffrf e re Ze :e *e}Bɢ}<) ?i)ϻ顁iPѼܽɧ@Ա駍}>i1@I1@ 1@Im@i @i@m3@iB}>ByByByB} =ByByB}Ā;B}7ED=D4=E EE$E"EO:*EC:VE4ZEBE ;a-:E>;a-A؟AIIOf> 9 ]&,MHgLA67F ?6B?6e<˼ٱ6d>6H:?>?k??`׷ƿf??X?2?i67F ?I6l];6CYBy/#I@AbD˿VD|8y<%3=ٔ;Q->9"?Y"?=EyE-=E>Q 55?Q 95)qBYy{?Q IS@QDI5;i1;5yBɮAEfIfQfQgQfQfQrfYeYreYZea:ea*eaBɢ%\<)! %@ ?i!)-))i-@Ӽ58ٽɧ5@5>i5e2@19I=e2@ =e2@I9II)MyA@ @@1@AzA9E EEE"E:*ER:VEZEa%@a%@a%@a%@AIIYIiOu>i m LDAT read: Features enabled [Bearing] u DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP u commRate: 600I&,4LA, ?F?Züٱub>HN?h?9Y=EyEH>=E>aQ 55(?Q 95){BY?Q E:yFx?Q IS@WDIۓi/3@I/3@ /3@I5@1 @9@=?5@9ԑAE.AIQIaOiԹ Ba Ba Be 5#IBe BBa Ba Ba Be Հ;Be #7ED zD AAE%  E% E% %E! "E% :*E% ?:VE% 4ZE! BE% ZH{a?`!i@ E???ſ``?Y?V2?iZ0?IZ];ZCY=By=+#IbDMVDM8y=%d=ٔ3;Q->9 ?Y ?=EyEHY=E>Q 55۵?Q 95)BYy}?Q IS@]DI:i):|5y Bɮ#AEB*** querying acoustic contact ***iifYfYfYgYfafarfaeareaZei:ei*eiBɢ0=) 2 ?i)-i+ּҽɧYA>i[3@ I[3@ [3@I@ @@0@A؟AIIO%n>! &,ٴLA2?2P?2<ٱ2|e>2HB?$ ?4F?J?ſ/?p? 31?i2?I2^;2C|YBy #IbDÿVDt8yE;%MN=ٔM;Q-M>9U"?YU"?=UEyUEUYQ 5e5]5?Q 9m5]V)]BYiym?Q ImS@]dDI]>:i]:]5yqɮumAyfffgffrfereZe:e*ebEeJ4jEe4rEep/E EE&E"EI:*E3:VE4ZEa@a@a@a@Bɢ =) D ?i)~ix׼ Ͻɧ A C>i4@I4@ 4@I!V>i>9@ @@/@AA>A.AI)IIYO{>ԁ o&,LA2K?2qU?2Cٱ2f>2H?@2h?@? ?2ſȕ?Z? .?i2K?I2`];2CY>By>%#IIBR=)BF=Di5Mb@Mb@Mb@1111 195Pn?|?5^?{Gzt?Y1y5=5ף;11 5@)5@1Y5@bDUVDU8Yye0<%eH=ٔma:Q-m>9m ?Ym ?=uEyuEu?=Eu>yQ 55}Ȝ?Q 95}z)}BY?Q E:y?Q IS@}kDI}H:i}Q:}5yɮHAfffgffrfereZe:e*eBɢ =)  ?i)iؼB̽ɧ A R>i n5@  I n5@ n5@Iq@q @q@}/@yB>BB(#IBBB =BBDBӀ;B7EԉE EzE%E"E:*E :VE 4ZEBEԱ &,qLA2P"?2dZ?2 ٱ24h>2H`F?`8? ?0l?`)Ŀ@? ?,?i2P"?I2];2CY>By>$#IbDF$VDFΰ8yN %NX=ٔR-;Q-R>9R"?YV"?=VEyVEVE=EV>XQ 5^5Zќ?Q 9^5Zv)ZBY`ybg?Q IbS@ZqDIZ;iZ;Z5yfBɮfAfEfxfxfxgxfxfxrf|e|re|Ze|:e*e-Bɢ-=)1 5?i1)5u11i5X[ڼ=.Ƚɧ=< AEK>iE:+6@AAIE:+6@ E:+6@IIԹ@ @@@A.AI I!O-->  evGy]9YYAy]i?]geAE-  E- E) E) "E- :*E- c:VE) ZE) a5 @a5 @a5 @a5 @9  *entering command mode-&,qLAc'?^?K͝ٱxg>H? 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V?\=|A (@)Yp@bD-VD-8y5=%=C=ٔ=:Q-=>9E"?YE"?=EEyEEMC=EM>IQ 5U5M9 sm&,LA6Kx?6 ?6ǧٱ6S`>6H?`z@ޠ? ?F?t??;?i6Kx?I6^;4YzByz#IbDVD8y-_%-K=ٔ-D:Q-5>91Y1=5Ey=E=GR=E=>AQ 5M5E??Q 9M5Ew)EZBYIyU?Q IUS@EDIE:iE:ED5Ee EeEaEa"Ee:*Ee:VEaZEaam@am@am@am@yqɮu@qB*** querying acoustic contact ***iifffgffrfereZe:e*e2Bɢ=) Hs?i)];i rɧGA??i_D@I_D@ _D@IA=@9 @A@E*0@AAizAmxAyA .AI I O >ԙ t&,LA2}?2?2ٱ2a>2H?6??@?`|@s?@?i9?i2}?I2];0Y>By>#IiMb@Mb@Mb@ 9~jt?S㥛?t="@fA @)Y@bDmVDm8y}BM<%}E=ٔ(:Q->9 ?Y ?=EyEM=E>Q 55B?Q 95)iBYF!?Q E:y?Q IS@DI ;i ; H5yBɮ@EfffgffrfereZe:e*e,Bɢ8=)! %cw?i!)-<))i5EX9hɧEJAE#"?iMrE@IIIMrE@ MrE@IayBBB#IBBBBBB;B7E@ @@4@Eu Eu}Eu%Eq"Eu:*Euk&:VEu 4ZEqBEu?8 z&,1LABl?BR?BI|ٱBFa>BHr?n (?@&?9dYd=fEyf Ej[=Ej>lQ 5r5nD?Q 9r5nx)nwBYpyr&?Q IvT@nDIn:in:ntK5yxɮz@xfffgffrfere!Ze!:e!*e!U'BɢU¡=)Q Unz?iQ)](E} E}E}"Ey"E}:*E}E7:VE}(3ZEya@a@a@a@) ́&,LA: ?:>?:$Nٱ:^>:H@y0?n? ]?`?@:!i??`#@?i: ?I:^;:CYFByF#IbDRVDR8yVy%ZL=ٔZ:Q-Z>9XY\=^Eyb$EbS=Eb>dQ 5r5fEF?Q 9r5f)fBYtyvپ?Q IzT@fDIf\;if¿;fN5yɮ]@f)f)f)g)f)f)rf1e1re1Ze1:e1*e9颭!BɢZS=) y?i)*<imeVRɧucQA}'?i}/G@I/G@ /G@I1@ @@@A>A>YA؟AIIOb>BBB#IB BB =BBB;B6Eԁ E  E E E "E Ʊ:*E *5:VE ZE BE @;a 2E A;a JE ;a :E ;a +&,d!LA02:Ά?2m?2(ٱ20\>2H ??Ӓ?m?`A@^e?O?@PC?i2:Ά?I2];2CYBByB#Ii5Mb@Mb@Mb@1111 195v?ʡE?V-?Y5?y5>5<5@1 5@)5(@1Y5@bDMVDM8yUC<%]@=ٔ]:Q-]>9e"?Ye"?=eEye(EmL=Em>qQ 5}5uG?Q 9}5u)uBY}?Q E}:y}?Q IT@uDIue;iu;uR5yɮ@fffgffrfereZe:e*eBɢ=) s?i)-)<i)GɧTAkR*?i8H@I8H@ 8H@I@ @@@ԡAIIOK>Թ 7 &,?;LA2vb?2G?2?źٱ2\>2H૨?`~ 1??`;?ۮߧX? M?rC?i2vb?I2\^;2CY>By>#IIB<)Ba=F=F=bDJVDJ8yR+%RW=ٔRM6;Q-V>9TYT=VEyV,EZX=EZ>`\Q 5f5^zH?Q 9f5^)^BYdyf?Q IfT@^DI^*;i^+;^V5yhɮn@lbEJ4jE#4rE/EE EEEE#EA"EEU:*EE:VEE3ZEAaM@aU@aU@aU@fyfyfygyfyfyrfereZe:e*eBɢ=) :~?i)6<iX&:<ɧXA,?i +H@  I +H@ +H@I@ @@/@AI!I9OEQ>A -&,ULA2?2Ƨ?2GYٱ2Z]>2H t?$4`???[h"+?y?` A?i2?I2^;2CY>By>#IiMb@Mb@Mb@ 9Zd;O?V-?~jt?Yj?yh>D<A @)@Y(@bD%VD%8y5U%5B=ٔ5I;Q-5>99Y9==Ey=0EE===EE>IQ 55McI?Q 95M)MBY ?Q E:y?Q IT@MDIMBABE#IBEBBE =BABABEa;BE6EmB*** querying acoustic contact ***iiiifffgffrfereZe:e*eBɢ)=) {?i)E<i%1F%Z0ɧ-[A-S/?i-!`H)IIM!`H UI@IQIE] E]EYEY"E]:*E]C:VEYZEYBE]3;au:E]>;au@ @@/@AzAwAAQIYIqqO{>ԡ O2&,+nLA6Y?6>?6I(:ٱ6?_>6H?U ???ѩeV@n?9XYX=ZEyZ4E^AL=E^>`Q 5f5bI?Q 9f5b)bBYdyfG?Q IjT@b'DIb:iby:b]5ylɮn,@lf|ffgffrfe re Ze :e *e = Bɢ=i =)9 =y?iA)EePE] E]E]&EY"E]:*E].:VE]4ZEYae@ae@ae@ae@ &,ΈLA2h?2Ԭ?2lL.;ٱ20`>2H?@y`"3?@9?#h?`e ?kBy>#I TTXZAbD^VD^8yfa%fH=ٔfO;Q-j>9hYh=jEyj8EnJ=En>tQ 5z5vI?Q 9z5v)vBYxyz?Q IzT@v/DIv:iv:v`5yɮZ@f)f1f1g9fAfArfIeQreQZeQ:eQ*eQ颅Bɢ=) >{?i) h]<顉iLɧbA駕4?iaFIaF TbK@I]@Y @Y@e0@aIiIyOBABABE#IBEBBABABABEL;BE6EYEm  Em Em #Ei "Em U:*Em R:VEm 3ZEi BEm ;au 2Em ;a} JEm ;a} :Em ;a} y D&,ŭLA2Tq?2V?22b;ٱ2^>2H@?'*2?@ [?J?飿`B r a?>?i2Tq?I2];0YNByR#IiMMb@Mb@Mb@IIII I9Mn?S㥛?Mbp?YM?yM$>M;M@MOA M@)M@IYM@bDeVDe8yuS%}@=ٔ}B;Q-}>9Y=Ey=E8<=E>Q 55I?Q 95!)BY?Q E:y?Q IT@7DI;i;\d5yɮAfffgffrfereZe:e*eBɢ %=)  x?i ) j<  iY CɧDeAi7?iEIE %:L@I!)Q@ @@O0@AA>IQIaOm>ԁԩ jn&,LAY~By~w#I < p<bDVD8E% E%E!E!"E%:*E%C:VE!ZE!a-@a-@a-@a-@y5)%=N=ٔ=Q-=>9AYA=EEyEAEEEM>IQ 5U5MYI?Q 9U5M)MƍBYyQ IT@M?DIMIt:HƟ?%]?? \?@t`???i:s?I:=];:CYFByFs#IIR<)R9YB>B=CBs#IBBBBBBM;B6EBBBB =BCL4=Ey]EE]H=E]>aQ 5m5eH?Q 9m5e)eˍBY]?Q E:y?Q IT@eGDIe;ie ;ek5yBɮAEB*** querying acoustic contact ***iifffgffrfereZe:e*e!颍Bɢؤ=) y?i)6<顩iuɧkA駽pr9i h&,=LA 2?2Pն?2) <ٱ2 Z]>2H*?uY??`?@s? @?i2?I2^;0Yn܄Bynj#IbDzVDz8yX%V=ٔ;Q->9 Y = Ey IEB\=E>Q 5%5G?Q 9%5)ύBY!y%b?Q I%T@NDII;i;n5y1ɮ5LA1fQfQfQgQfYfYrfYeYreaZea:ea*ea颍Bɢ b=) x?i)u<顙iZ xԼɧ1nA駥>?i‹CI‹C N@II@Q @Q@U4@QA]yAzA]xAiIIO >ԙE= E=E="E9"E=[:*E=rN:VE=(3ZE9aE@aE@aE@aM@ :h&, LA2Hf?2zK?2~@<ٱ2\>2H@s?QF?]?@=^?`wP`KL?B?i2Hf?I2|];2CPY5ڄBy=h#I 9=AAEAiMb@Mb@Mb@ 9!rh?A`"?:v?Yl?y=T<@9A @)@Y@bD VD8yԻ%=ٔFu;Q->9Y=EyNE=E>Q 5 5?F?Q 9 5)׍BY ' ?Q E:y`?Q IT@WDI]:i:ws5yɮZAf9f9fAgAfAfArfAeIreIZeI:eI*eI}Bɢ}ߠ=)y |?i) <顁i }ɧqA駍g^A?iBIB O@IB>BW&,#LA2_ʟ?2?2Hic<ٱ2%^>2H`u?ˣ??Sֺ?`~y l`Y?c>?i2_ʟ?I2];2C 8)8888<Qԁ &,R=LA2D?2O)?25<ٱ2Oa>2H`ŵ?@ ? L? ?-sj`&?`9?i2D?I2Q];2CE ExE%E"EƱ:*E:VE 4ZEa @a @a @a @YׄByQbD%VD%8yeG%mA=ٔm;Q-m>9qYq=uEyuUE}B;=E}>Q 55@C?Q 956)BYy2?Q IT@cDI\:i:y5y!ɮ%vA)fIfIfIgIfIfIrfQeQreQZeQ:eY*eY颅ׂBɢh=) ?i)/<顉iM 冼ɧ-vA駝tD?iWAIWA P@IA@A @A@M/@IAU?AU>ԁA]؟AIaIqOZ>Ա &,гWLAV?VƦ?V<ٱVC0b>VH`dΰ?% ? ?`c? g?`2 ? 7?iV?IV];TY]τBy]Z#IIe4<)e=B}>B}>CB};#IB}BB} =ByB}DB}y;B}6EԱi]Mb@Mb@Mb@YYYY Y9] rh?B`"۹?Mb?Y]C ?y]=]<]@]A ]@)]@YY]@bDuVDuȰ8y%:=ٔ;Q->9"?Y"?=EyZE4=E>Q 55@?Q 95د)BY ?Q E:y,?Q IT@kDI:ij;_}5yܔBɮhAzEB*** querying acoustic contact ***iifffgffrfereZe:e*eЂBɢ$=) ?i)<!i%F -Wɧ- yA-U=G?i-ێ@))I5ێ@ 5ڐQ@I1E EE#E"E:*EP:VE3ZEBE: 9 &,QqLA2@?2 &?2<ٱ2#b>2H?@.3-? ??? ?Aޓ ?6?i2@?I2^;2CYNӄByR_#IbDZ VDZ8ybh<%bl=ٔbr;Q-f?9dYd=fEyf]Ejg=Ej?lQ 5-5n>?Q 9-5nܪ)nBY)y-?Q I5T@nqDIn^7bE4jEƶ4rEƓ/E= E=xE='E9"E=:*E=:VE='4ZE9aM@aM@aM@aM@iԙ }&,`LA2é?2F?2<ٱ2 b>2H`@:?)4 +?A?SW?@p?꼕@?46?i2é?I2];0YBՄByBa#IbDJ#VDJͰ8yZ<%ZK=ٔZ;Q-Z>9\Y\=^Ey^aEbG=Eb>dQ 5j5f B}>ByB}.#IB}BB} =ByByB}k;B}6EE-  E- E- %E) "E- ;*E- a9:VE- 4ZE) BE- A6H|?9;`/??? ??9?i6D?I6 ];4YFByFo#I HJAiMb@Mb@Mb@ 9uV?zG?/$?Yr?y =<@A @)Y@bD-VD-8y=U=%=B=ٔE4;Q-E>9AYA=MEyMfEM==EM>QQ 5]5U8?Q 9]5U&)UBYe, ?Q Ee:yea?Q IeT@UDIU ;iU& ;U5yiɮm@ifffgffrfereZe:e*eMBɢM=)I M=?iQ)u׷A >G {A! ] L9] {AY] BIAQ &,h LA2ծ?2G?2<ٱ2)F_>2Hb@=!??}9dYd=fEyfjEfjS=Ef>Er ErEr"Ep"Er:*ErV:VEr(3ZEpav@av@av@av@hQ 5z5jX5?Q 9e5j)jBYiym?Q ImT@jDIjܜYԉ *&,LA,:[\?:A?:<ٱ:`>:HcĠ`8\?`? qg?@L2`V? 8?i:[\?I:@];8Y^By^z#IB%>B!B%(#IB%BB!B!B%ºDB%M;B%6EiMb@Mb@Mb@ 9ʡE?"~j?y&1?Y?yS=`<@A @)@YG@bDVDy7r<%:=ٔ;Q->9Y=EynEC8=E>Q 550?Q 95A)BY?Q E:yH?Q IT@DIu ;i ;Ҏ5yɮT@DAT read: VDAT read: Teledyne Benthos DAT-900 Series f9f9f9g9f9f9rfAeAreAZeA:eA*eIuBɢu,=)y }?iy)}A5>AqIIԹO`> &,LA69س?6k?6I<ٱ6&_>6H%4?@A?Ʀԗ?@e^`?9?i69س?I6/^;6C\YbByb#IIf<)fp;j=j=bDnVDn8yv =%vZ=ٔv;Q-z>9xYx=zEyzrE~T=E~>Q 5 5,?Q 9 5ȍ)BY y ?Q IT@DI:i):5yϔBɮ{@pE5B*** querying acoustic contact ***i1i1fAfAfAgAfIfIrfIeIreIZeI:eQ*eQ}Bɢ=) 7?i)V<顁iI;ɧA駕]R?iI I@ @@?5@AE.AIIIYOm5>E E{E#E"E:*E5":VE3ZEa @a @a @a @A &,7 LA22H0/? {? VR?{ߟ?@c9Z ?YZ ?=ZEyZvE^XA=E> Q 5 5 '?Q 95 ) BYy/?Q IT@ DI :i 6: 5y!ɮ%M@)fIfIfIgIfIfIrfQeQreQZeQ:eQ*eY颅Bɢ/=) –?i)y<顉iiZ<ɧA駝jT?iI I@ @!@% 5@!IA}؟AIIO?>B>B?CB.#IBBB =BBB;BW6EBBBƔCB =BC 6qE  E E E "E :*E C:VE ZE BE ;a :E >;a ԡ . &,&LA2ø?2?2o =ٱ20]>2H&@&?@?rִ 9?i qk?W=?i2ø?I2];2CYBByB#IiMb@Mb@Mb@ 99v?q= ףp?~jt?Y?y==@ )@Y@bD.VDװ8y-k=%-B=ٔ5!x;Q-5>95"?Y5"?==Ey=zE=@=EE>AQ 5M5Ev"?Q 9M5E)EBYU/?Q EU:yUD?Q IUT@EDIE:yiE:E95yɮ@f!f!f!g!f!f!rf)e)re)Ze):e)*e1}Bɢ}c=)y ٛ?i)*<顁ig.4S<ɧ"A駍ZV?iI I-@) @)@-5@)A1zA1ԩI)I9OMR> U :DAT read: MF Frequency Band }&,S^@LAN"O?NS4?NN =ٱN[>NH 6`?Z?7 ?aA?Q??iN"O?IN^;NCYZ By^#IEb EbEb$E`"EbC:*Eb.:VEb4ZE`af@aj@aj@aj@ hhbDrVDr8yzz<%zN=ٔzK;Q-~>9|Y|=Ey~EdM=E> Q 55 ?Q 95 {) !BYy?Q IT@ DI ;i ; 5y!ɮ%U@!fIfIfIgIfIfIrfQeQreQZeQ:eQ*eY颅Bɢ@=)Ylk W?i)<顉i?4<ɧFA駝`qX?iI I@ @@/@ II!O5->vDAT read: Directional Acoustic Transponder version 8.15.0 BDAT read: Dec 5 2025 04:32:44 1a @&,q9ZLA2ѽ?2?2D =ٱ2f[>2H`y@|@s? ?Ռ`?@U LB`BbA#IBbBB`B`B`Bb;Bb"6EY-By-#IiMb@Mb@Mb@ 9Mb?X9v?Q?Y ?y=< @)?@Y3@bDVD8y%<=ٔ6;Q->9Y=EyE9=E>Q 55?Q 95t)(BY #?Q E :y ?Q I T@DI:i:}51yɮu@fffgffrfereZe:e*e%Bɢ%V=)) -?i))-<11i52W=<ɧ=A=+Z?i999I9 9IAD<D%=E EEE"E:*EZ:VEZEBE6ԉԹ j&,{tLA2o?2 U?2v=ٱ2]h^>2H]/ÿ ??2?@G}?@Q:?i2o?I2^;2C :LC):=~A:T88>YCTI@@IBfCiBu@ @D)FPJF&C F-~AFDDDJCHIJt)HiH)NCIN-~AN#N>F LRCPPiPPYPYZByZ#IbDb VDb8yj=%j]=ٔn!);Q-n>9YYY=]EyeEV=E>Q 552?Q 95n).BYyt?Q IT@DI;i[K;5yBɮ@eEUB*** querying acoustic contact ***iQiQfafafagafafarfieireiZei:ei*eqԑBɢ=) ĥ?i)1s<iqr<ɧA d\?iI I@ @@/@A?A>I)I9OM1>E EE#E"E:*EVL:VE3ZEa@a@a@a@ R#&,LA6LDAT read: Features enabled [Bearing] :DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP :commRate: 600>1?>a?>=ٱ>_>>H`qſ j;??@QHĿv?@?7?i>1?I>];9IYI=MEyMEUT=EU>YQ 55]?Q 95]Qh)]5BY!y%?Q I%T@]ŦDI]:i]:]\5y9ɮ=d@9fffgffrfereZe:e*e颽xBɢ=) Z?i)M= i VE; <ɧEAms4^?iqyI IBBBZ#IBτBBBBB;B,6E 3I D zD @AE  E E E "E :*E .:VE ZE BE ; |)&,ʧLAY}By}#Ii Mb@Mb@Mb@     9 v/?:v?{Gz?Y x)?y = ף<  @  @) V@ Y (@bD-GVD-8yEb%E;=ٔMQ-M>9IYQ=UEyUE]E]>aQ 5u5eK?Q 9u5e`)e9BY}+?Q E}:y}?Q I}T@eΦDIeO;ieBM;e25yɮ@fffgffrfereZe:e*e%qBɢ%>)) -w?i))5ʌ=11i5E*<ɧE?AEe`?iAAIII IQIQ-;O@ @@/@yA.AIIO->Ա d0&,LA22?2,?2=ٱ21a>2Hʿ@4 P?ID?'ɿ?1P5?5?i22?I2];2C@YB#ByB#IbDJOVDJ8bE-3jE-3rE- x/ER ERER!EP"ER:*ER;J:VERc3ZEPaZ@aZ@aZ@aZ@y==%_=ٔI;Q->9% ?Y% ?=%Ey%E-=E->1Q 5555?Q 9=55Z)5) i?i)=顱i =ɧRA駽_b?iI Iԩ`k@ @@@AzAyAA ؟A Iq I O >׎6&,LAB6>B4B6g#IB6ڄBB6 =B4B4B6;B6f6ElYEByE#I IIiMb@Mb@Mb@ 9?1Zd?Q?Y,?y"=u<@A @)?@Y@bDVDİ8y%==ٔQ->9"?Y"?=EyEE> Q 55 X?Q 95 S) ?BY.?Q E:y?Q IT@ ߦDI & ;i r; '5y!ɮ-R@)fIfIfIgIfIfQrfQeQreQZeY:eY*eY颍aBɢ+>) c?i)\ =顙iJ%?=ɧA駥/d?iI I1111E EE%E"E:*E|;:VE 4ZEBEb;a2Ed;aJE;a:E;a 1u@q @q@q@qa A .AI I O >y<&,ZLA2t?2Z?2>=ٱ2z_>2HϿQ@??`'ο@*?&@j?`7?i2t?I2^;0YBByB#IbDJVDJ8yb|%b`=ٔf;Q-f>9j ?Yj ?=nEynErw=Er>xQ 5~5z蜊?Q 9~5zM)zABYy`?Q I T@zDIzDX;izW;z]5yBɮ@[EA ux>uCff f gf)MGe/{Ayf)rf\9/{AYXAereZe:e*eYBɢP>) ?i ) 3=  i (e5')=ɧ5A=We?i999I9 9IAi@ @@ /@ E EwE'E"E*E:VE'4ZEa@a@a@a@A؟AI!I1O=r>ԑ C&,6LAEu?E?E\ =ٱEC[>EHk7ѿ.?`?Qп?L C?=?iEu?IE];ECY]Bye#IbD}VD}8yE%>=ٔ:Q->9"?Y"?=EyEԙB=E>Q 55ޜ?Q 95F)CBYy?Q IT@DI`:i6:5yɮ@MB*** querying acoustic contact ***iIiIfYfYfYgYfYfYrfaeareaZea:ea*eiu*entering command mode额QBɢ5 >) ?i)e=顡i^7=ɧ̐Amg?iI IQ@Y @Y@e0@aAA?AaAe?ABm>BiBmm#IBm߄BBm =BiBiBmj;Bm6EA.AI!I1O9DAT read: &DAT read: user:1> (setting verbose to 3E  E E %E "E :*E a9:VE 4ZE BE ; 2H{ҿN?*?ѿ=?GY`,?>?i2?I2h];2CY@y@IF%=)F=i5Mb@Mb@Mb@1111 195@5^I ?B`"۹?9e ?Ye ?=mEymEmT=Em>qQ 5}5u=Ԝ?Q 9}5u?)uDBYH2?Q E:y8@Q IT@uDIu9;iu;u5yɮfffgffrfereZe:e*e%IBɢ-~ >)) -?i))5=11i5 E F=ɧEߑAE_ei?iAAIII III&DAT read: user:1> TDAT read: Verbose | 3  set verbose to 3 6setting DatVerbose to 27440@ @@4@!A؟AIIOh>Qy  &DAT read: user:2>  TDAT read: DatVerbose | 27440  .set DatVerbose to 27440 6setting transmit power to 8wP&,BLAEF EFEF&ED"EFغ:*EFZ:VEF4ZEDaJ@aJ@aJ@aJ@VGE?Vx*?VH&=ٱV[>VHӿ+a?j?9ҿt?`T7??@\=?iVGE?IV];VCYM ByU#IbDeVDe8yu%u<ٔ}:Q-}>9}"?Y}"?=}Ey}E:J=E>Q 55ɜ?Q 95E9)EBYy@Q IT@DIf;ir; 5yBɮ-@ZEfffgffrfereZe:e*eABɢ >) ?i ) :=  i "U=ɧA'k?iI IQ@ @@4@ԁAIIO J>&DAT read: user:3> TDAT read: TxPower | 8 (Max) .set transmit power to 86setting local address to 11Ա pV&,\LAB$B$B&g#IB&ڄBB& =B$B$B&;B&6EBU?CBU?CBUCBU =BU =CU:4F?FK?Fz)=ٱFMA]>FHԿ@r@=? 7?Qӿ,?a3,k?:?iF?IF];FCYRByR#Ii5Mb@Mb@Mb@1111 195MbX?B`"۹?~jth?Y5*?y15D;5@1 5@)5V@1Y53@bDM#VDMͰ8y]e%]L=ٔ];Q-]>9aYa=eEyeEmJ=Em>qQ 5}5uM?Q 95u2)uDBY,?Q E:y.@Q IT@u DIua eTDAT read: LocalAddr | 11 e.set local address to 11m\Setting time to: 4:32:53 And date to:12/5/2025ereZeԹ:e*e8Bɢ5>)1 5W?i1)5$=99i=o#Ece=ɧEAEȟl?iAAAIA IIIYE EE%E"E*E3:VE 4ZEBE  &DAT read: user:5>  NDAT read: Fri Dec 5, 2025 04:32:53  fLocal DAT time set to Fri Dec 5, 2025 04:32:53  2Acoustic response timeout 6setting remote address to 89 e ]&,ӾvLA^k?^P?^/,=ٱ^l]>^H#ֿ`=k?{?@տ?&?)9?i^k?I^];^CYrByr#I ttxzAbD~8VD~8yU;% O=ٔ `;Q- >9 ?Y ?=EyES=E>!Q 5%5%?Q 9-5%,)%CBY)y-|@Q I-T@%DI%U;i%;%5y=Bɮ=J@=QEfYfYfYgYfafarfaeareaZei:em3@*emGD@额0Bɢz>) ^?i)(=顡i$?s=ɧ̔A駭n?iI IA@A @A@E/@A]&DAT read: user:6> eTDAT read: RemoteAddr | 8 e.set remote address to 8e2Acoustic response timeoutmQuerying Benthos address 50 with one ping in standard two-way mode.A؟AIIO?>1E E{E#E"E:*E5":VE3ZEa@a@a@a@Y c&,~LA 6?6?6X30=ٱ6Q\>6HP׿7 m|? ??ֿ??@uM?@;?i6?I6];6CYNByR#IbDZGVDZ8b&DAT read: user:7> fBDAT read: Tx time:04:32:53.6572 f$Ping request sent.f9"?Y"?=EyE ?=E>Q 55?Q 95O&)BBYy@Q IT@DI:iN:5yBɮ@PE B*** querying acoustic contact ***i i f1f1f9g9f9f9rf9@= EAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@EEpTransitioning to terminal guidance at range 19.799999 m @E1AMeIreIZeI:eI*eU`{3E@额'Bɢ@ >) ?i),-=顡i%H=ɧA駭o?iI Iy@ @@@BIBIBMT#IBMʄBBM =BIBIBM;BM6EԙA5.AIAIQO]v>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250992E  E ~E &E "E ,:*E (:VE 4ZE BE 6H ~ؿ@4??]e׿?r^?w:?i6}?I6];4YFByFv#IPi-Mb@Mb@Mb@)))) )9-(\? ףp= ?Y-'?y-Q=--"@-9A -@)-?@)Y-@bDIVDIye-D%mN=ٔm ;Q-m>9u ?Yu ?=uEyuE}fM=E>Q 55?Q 95R )@BYA)?Q E:y:@Q IT@%DIJ;i=;>5yɮv@fYfYfYgYfYfarfabfe@1AeeCompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@e mAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeeireiZei:ei*emgE@颽Bɢ>) ű?i)82=i='I=ɧAp?iI II)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503509m@i @i@m/@iAIIOf>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754982q&,3LAE6 E4E6#E4"E6:*E4VE63ZE4a:@a:@a:@a:@>?>K?>!06=ٱ>'a>>Hٿ`W?`G?:ؿJ?Ħ`?2?i>?I>o];>CYJԄByJ`#IIN<|)N4<=a= <<bD%:VD%8y5%5N=ٔ5:Q-5>99Y9==Ey=EEL=EE>IQ 5U5M ?Q 9U5Mq)M>BYQyU|@Q IUT@M.DIM:iM/;M5yaɮe@aqL}}~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalL Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLLEntering USBL mode with 120.000000 count pings at 19.799999 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 66.414185 m.jgrgfB$Terminal guidance.qEGInitialize.dInitializing internal variables to default values.ZTransitioning guidance mode to: UNINITIALIZED iDRollout timeout set to 300.00 sec.VIIR filter is initialized with decay: 0.00.bTransitioning guidance mode to: TERMINAL_GUIDANCE i??Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAUninitialize.AA>Uninitialize WaypointComponent.ereZe:e*e ۘE@ԄB!06=)  i)82=7i  Iu@q @q@u/@q)A؟AIIOE>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007060Qԉ BA BA BE ;#IBE BBE =BA BA BE ;BE 6E+w&,LAY%τBy%Z#IYiMb@Mb@Mb@ 9Gz?RQ?~jtx?Yp?y=;@ @)l@Y@bD>VD8yo%@=ٔQ->9"?Y"?=EyEE>Q 55.?Q 95)YP?Q E:yd@Q IT@6DIi ;i,:l5y Bɮ @ j%^@1M%qM%=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259050h=K?hEhE;hEL?hAiEgAgAjgIrgMBeIreIZeQ:eQ*eUE@颅τBɢXE2=)?& 89i)82=顉ij:'i 5@)L? (kpHeading = 0.800000I; (kiHeading = 0.004000 IK?IA U&Changing to mode: 1E EE$E"E:*E|;:VE4ZEBEb;a2Ed;aJE;a:E;aԙ@ @@@AzAAAԱAm Iq I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510972 W}&,LA6?6l@6m==ٱ6k`>6Hۿ>?I?ڿ@W?@c?@|3?i6?I6o];6CYFʄByFT#IbDN2VDNڰ8yVd˼%V`=ٔV١;Q-V>9ZYZ=ZEyX^=E^>`Q 5f5b^{?Q 9f5b)`Ydyf @Q IfT@b>DIbS:ib:b5ynBɮnE@nFEjxqMzMzhhhhhi g g jg rg ereZe:e*eUE@[=P?[=P?"[=:>*[= @IɢMܜ/=)I M iQԱ)U422=i/'i)XCII Y>i >mr@i @i@m0@qIIO=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762992bEƻ 4jEƔ4rE/E} E}}E}"Ey"E}:*E}k&:VE}(3ZEya@a@a@a@ 9 F=&,LA6c?6I@6f}<=ٱ6_>6Hݿ ?u?ۿ/?@Q?@R4?i6c?I6q^;6CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014888YVׄByVc#I XXXXbDbVDb8yn=% E=ٔ 'Q- >9Y=EyWR=E>Q 5%5n?Q 9-5 )=BY)y-: @Q I-T@FDI|:i:?5y5Bɮ=&@=EEjQMUUCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLLU UAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLhahahahahiiigigijgirgqeqreqZeq:ey*e}2F@[["[*[>: @颭΄Bɢ*6=) &,,LAY]ĄByeM#IiMb@Mb@Mb@ 9-?Mb?{Gzt?Y5?y=ף;"@A @)@Yz@bDVD8y%%%3=ٔ-Q-->9)Y)=-Ey15E5>9Q 5E5=`?Q 9E5=)9YM ?Q EM:yM @Q IMT@=ODI=:i=:=:5yQɮUK@YuB*** querying acoustic contact ***iqiuxhhhhhiggjgrgBereZe:e*elF@[ ?[ ?"[>*[< @ɢO-=) Лi) .2=i'i|D@II=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519002r5)m0@q @q@u0@q5>GIa맿9Y¤AQ^A #I I O > BDAT read: Rx Time:04:32:56.0797  TRx dataTimestamp_ set to:1764909177.054777 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772006ԁ E!  E% E% &E! "E! *E% .:VE% 4ZE! a- @a- @a- @a- @#~&,BFLA2!?2(b@2u==ٱ2 i>2H@e߿`jQ4b?`?޿9 Y = Ey  =E >Q 55U?Q 9%5<)&,`LAB`B?Bȓ@BkA=ٱBf>BH 6 3 ? ?߿Z? 3^? '?iB`B?IBS];BCYNByN=#IIR >)RC=iUMb@Mb@Mb@QQQQ Q9U1Zd?&1?Mbp?YU"?yU=U;U@UA U@)U@QYUp@bDmVDmŰ8y}%}C=ٔ ;Q->9Y=Ey5=E>Q 552G?Q 95)YR?Q E:y@Q IT@^DI ;i ;5yBɮ@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275096h1hAhAhAhIiIgQgYjgargmBeireqZey:e*eF@E  E E E "E :*E rN:VE ZE BE q;a=2E s;a=JE X;aE:E X;aM[R?[R?"[*>*[@̈́Bɢk&=) X.i) 1=i &i%T9@!IIIIIQQQQ1  DAT read: 04:32:56.0797 LVL= 32752, 26161, 29826, 32755, AGC= 55, IDX= 105,-0.24, 0.228, 2.535, 1.237, 1.440, PHS=-1.110, 1.140,-0.248, RAW= 307.7, 2.2, CAL= 305.5, -1.2, ROT= 204.5, 1.2  Ygot valid direction response: 04:32:56.0797 LVL= 32752, 26161, 29826, 32755, AGC= 55, IDX= 105,-0.24, 0.228, 2.535, 1.237, 1.440, PHS=-1.110, 1.140,-0.248, RAW= 307.7, 2.2, CAL= 305.5, -1.2, ROT= 204.5, 1.2  PDAT read: Bearing 96.4, -19.9 (Local)  ~Local bearing/azimuth received: Bearing 96.4, -19.9 (Local)  DAT read: Range 11 to 50 : 13.8 m (Round-trip 18.4 ms) speed -0.7 m/s  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.909762,-0.414602,-0.020942] Fpublishing direction and range infoyi m V:l?؈ڿ_2qYm \Ai m m 1fm t i )m 7Im {im ?m }m $ګ@m nF=m @ m )m md@Im 7&,~LA2?2@2E=ٱ2`>2HI`g?=? @?'`? 2?i2?I2g ^;2CY>By>;#IbDbVDbİ8dyjֻ%n1=ٔn=;Q-n>9lYp=rEypr%=Er>tQ 5z5v7?Q 9~5v_)v;BY|y~@Q I~T@vhDIv:iv:v5yɮ@!i9i=sLAj=[A"j=[A:j=@"p=uD)VvOH Ylҿp=V:l?؈ڿ_2q*j=-2j=<*p=1Y&@9wbQjPp=y6?J8^3:*Yj= j=*4Ai=߅~쟊?i=Nj=Bj=vƎ?j=qj=;Brj=+mAzj=x@} addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 "i}(*i}( Added new target pos. range: 13.745461 m, bearing: 325.188816 deg, lat: 36.779409 deg, lon: -121.859652 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 :iDNOT Ignoring new targets: 13.75 m.2iPowering the camera and arming the capture device at range: 13.80 m.lFinal approach. Armed for intercept at range: 13.80 m.\Transitioning guidance mode to: FINAL_APPROACH i@"i*i ProNav pure pursuit: ac range: 13.745461 m, nav range: 14.823002 m, bearing: 313.206678 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 113.660106 deg, new cmd heading: 313.206678 deg. HeadingCmd: 5.466488 target range: 13.745461 and range: 13.80 m.hx@hh:h33?hggjgrgereZe:e+@*e4?[["[*[@̄Bɢ>%=) 5i)1=  i \&i o75@)33? (kpHeading = 0.700000I: (kiHeading = 0.001000Ix@Im&DAT read: user:8> mBDAT read: Tx time:04:32:57.4572 u$Ping request sent.u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251099q &,}LAYBy &#IbD5VD58ayU梽%mC=ٔuQ-}>9Y=EyE>Q 55)?Q 95 ):BYyQ IT@pDI;iv;5yuBɮ% @%:E:iDNOT Ignoring new targets: 13.75 m.Bu>BqBu"IBueBBqBqBqBu;Bu7EBBBBBC?v42i"i vպ*i vպ  ProNav pure pursuit: ac range: 13.745461 m, nav range: 15.086143 m, bearing: 313.164496 deg, approach rate: 0.592426 m/s, LOS rate: -0.093311 deg/s, cmd heading: 313.206685 deg, new cmd heading: 313.164496 deg. %HeadingCmd: 5.465752 target range: 13.745461 and range: 13.80 m.h%p@h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e5P?[q[q"[q*[qԉ ɢ \=)  i)7u1=i\&iV2@Ip@I!I)))checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503141Q*@ @@o0@@yA@yAE EE$E"E:*E[:VE4ZEBEa2EaJEC;a:EC;aԱ^A I I O > &,"LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.758381Y By #I i-Mb@Mb@Mb@)))) )9-(\?|?5^?I +?Y-z?y-=-94<- @-A -@)-@)Y-@bD]VD]8y}%}9=ٔQ->9Y=EyE>Q 55?Q 95)*[S{@˄BɢkU=) ܽi)1=i&is\1@I@Ie,@a @a@e5@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007105^A E  E E #E "E %:*E *5:VE 3ZE a @a @a @a @I I O >9 &,fLA:q?:+ @:Q=ٱ:P>:H$`@,? O?`?@-?K?i:q?I:^;:CYFByF#IbDRVDR8yVkk=%Zl=ٔZEf?tQ 5z5v?Q 9~5v4)tY|y~@Q I~U@vDIvT;iv/;v5y pBɮ  @ :i)5DNOT Ignoring new targets: 13.75 m.2i1"i=D:*i=D:M ProNav pure pursuit: ac range: 13.745461 m, nav range: 15.546296 m, bearing: 313.145385 deg, approach rate: 0.617208 m/s, LOS rate: 0.043013 deg/s, cmd heading: 313.130869 deg, new cmd heading: 313.145385 deg. MHeadingCmd: 5.465418 target range: 13.745461 and range: 13.80 m.hM@hQhQhQhQgQgQjgYrgYeYreYZea:ea*ee?[["[*[M@颕ʄBɢ=) Xi))0=顡i]&ic1@I@I.@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260414I^AqIIO>BY BY B] "IB] UBBY BY BY B] ;B] 6E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511000ԡ &,ALA2?27 @2T=ٱ2^FP>2HVRB??mpR??`PL?i2?I2^;2CY>By>#IEF EFuEF'ED"EF:*EF:VEF'4ZEDBEDaJ2EDaJJEFhd;aJ:EFid;aJiMb@Mb@Mb@ 9bX9??{Gzt?YE?y=ף;9@A @)@Yz@bDҿVD8yz%8=ٔ;Q->9Y=Ey:=E>Q 55Y?Q 9 5V);BY q?Q E :y @Q I U@DI:i:5yɮ`@q:iDNOT Ignoring new targets: 13.75 m.2i"ix:*ix: ProNav pure pursuit: ac range: 13.745461 m, nav range: 15.807485 m, bearing: 313.174341 deg, approach rate: 0.579219 m/s, LOS rate: 0.063153 deg/s, cmd heading: 313.145377 deg, new cmd heading: 313.174341 deg. HeadingCmd: 5.465923 target range: 13.745461 and range: 13.80 m.h@hhhhggjgrgȂBereZe:e*e8:?[q?[q?"[,>*[@ɄBɢL=) ̼i) 0=i*"&i `3@I@I>i>ԡE1@A @A@E3@A@M=@M=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763445^A I! I9 OE > &,LA>?>_P @>X=ٱ> P>>H1d@? ?r_?u?I>i ^;)b>bDjVDj8yrn=%r]=ٔrI6;Q-r>9tYt=vEytz==Ez>xQ 55z?Q 95zL)z:BYy@Q IU@zDIzY;izD;z5yɮ@:i1=DNOT Ignoring new targets: 13.75 m.2i9"iEa:*iEa:U ProNav pure pursuit: ac range: 13.745461 m, nav range: 16.027716 m, bearing: 313.211545 deg, approach rate: 0.614947 m/s, LOS rate: 0.102456 deg/s, cmd heading: 313.174337 deg, new cmd heading: 313.211545 deg. UHeadingCmd: 5.466573 target range: 13.745461 and range: 13.80 m.hU*@hYhYhYhYgYgYjgargaeareaZei:ei*em @[["[*[~@额ȄBɢ4=) 0i)V0=顩i%i5@I*@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.01546153@1 @1@5/@1E EE#E"EC:*E*:VE3ZEa@a@a@a@^AUFӅIIO>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267052Y2&,LA@0@Oa=ٱYQ>H4??:7? ?HI?i@I];CYBy%#IbD VD 8y=P%E6=ٔUM;Q-U>9aYi=mEyq}_=E>B!B!B%"IB%KBB!B!B!B%b;B%6EqQ 55?Q 95{)8BYy@Q IU@DI=i=5yjBɮe@ 9E:i)5DNOT Ignoring new targets: 13.75 m.2i1"i5-;*i=-;e ProNav pure pursuit: ac range: 13.745461 m, nav range: 16.299829 m, bearing: 313.289006 deg, approach rate: 0.542655 m/s, LOS rate: 0.151895 deg/s, cmd heading: 313.211548 deg, new cmd heading: 313.289006 deg. mHeadingCmd: 5.467925 target range: 13.745461 and range: 13.80 m.hm=@hihqhqhqgqgqjgyrgyeyreyZey:ey*e@[A[A"[A*[Ev@UDŽBɢUb=)Y ]iYmDDAT read: Rx Time:04:32:59.6075 uTRx dataTimestamp_ set to:1764909180.583529}PDAT read: Bearing 112.5, -9.8 (Local) }~Local bearing/azimuth received: Bearing 112.5, -9.8 (Local) DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.5 DAT read: 04:32:59.6075 LVL= 32752, 26769, 32754, 32755, AGC= 60, IDX= 197, 0.43,-0.947, 1.097,-0.360,-0.077, PHS=-0.767, 1.220,-0.327, RAW= 317.8, -1.4, CAL= 316.4, -4.6, ROT= 193.6, 4.6 Ygot valid direction response: 04:32:59.6075 LVL= 32752, 26769, 32754, 32755, AGC= 60, IDX= 197, 0.43,-0.947, 1.097,-0.360,-0.077, PHS=-0.767, 1.220,-0.327, RAW= 317.8, -1.4, CAL= 316.4, -4.6, ROT= 193.6, 4.6 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.968830,-0.234385,-0.080199]Fpublishing direction and range infoyimJ %pQοzꇴYmf~Aiimhm i)m<ImZDim(?mlm5~@m+ȼm @ ml)m@X@Iml=iimdd#tQӿ"Vnl: m%5)mi&,B8LA6@6@6d=ٱ6`O>6H3Nn!ھ?`?ޤ?``? L?i6@I6];6CY]Bye&#IԑiMb@Mb@Mb@ 9zG?kt?{Gz?Y ?y =#<O@9A @)@Yp@bDVD8y;%$=ٔ:Q->9 ?Y ?=EyE P=E >Q 55Λ?Q 95M)6BY?Q E:yv@Q IU@DI:i:5y-dBɮ-@-8EiiX%LAje}A"je}A:j@"p0d.P' WڊlRpJ %pQοzꇴ*j92jl=*p,z(@a##F pA?J| 㿆Fj= jFAi|!H埊?iv&jbBjjj׎BrjAzj@} addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 2.773402 s, deltaX: 2.099999 m, approachRate: 0.757193 m/s, rangeRepo size: 2  Added new target pos. range: 15.837158 m, bearing: 321.817380 deg, lat: 36.779409 deg, lon: -121.859652 deg, deltaT: 2.773402 s, deltaX: 2.091698 m, approachRate: 0.754199 m/s, posRepo size: 2 :iDNOT Ignoring new targets: 15.84 m.2i"i*i% ProNav: ac range: 15.837158 m, nav range: 16.589809 m, bearing: 313.360749 deg, approach rate: 0.000000 m/s, LOS rate: 0.151895 deg/s, cmd heading: 313.289002 deg, new cmd heading: 313.425279 deg. i%;-HeadingCmd: 5.470303 target range: 15.837158 and range: 15.90 m.h- @h)h)h)h)g)g1jg1rg5Be1re9Ze9:e]/@*e] ?颭ńBɢ=) Ăi)/=顱iSo%ԹiCA@I @ImDDAT read: Rx Time:04:33:00.1077 mTRx dataTimestamp_ set to:1764909181.088737}PDAT read: Bearing 114.0, -9.1 (Local) ~Local bearing/azimuth received: Bearing 114.0, -9.1 (Local) DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.6 DAT read: 04:33:00.1077 LVL= 31136, 28145, 32754, 32755, AGC= 57, IDX= 503,-0.49, 1.763,-2.539, 2.313, 2.599, PHS=-0.734, 1.190,-0.330, RAW= 318.5, -1.5, CAL= 317.1, -4.6, ROT= 192.9, 4.6 Ygot valid direction response: 04:33:00.1077 LVL= 31136, 28145, 32754, 32755, AGC= 57, IDX= 503,-0.49, 1.763,-2.539, 2.313, 2.599, PHS=-0.734, 1.190,-0.330, RAW= 318.5, -1.5, CAL= 317.1, -4.6, ROT= 192.9, 4.6 R#Rx 2: Read range and direction messages.bdirection in FSK: [-0.971621,-0.222531,-0.080199]Fpublishing direction and range infoyim#ÅV2{̿zꇴYmAimymmi i)m9Imm;imQ?mmK@mPwּ59@1 @1@1@1m @ ibE4jEǶ4rEͰ/E EE$E"Ey:*E,:VE4ZEa@a@a@a@)mxW@Iiiim4|g}U/ QԿ>  mda4)m!6&,TLA6checking for new query: numPingsReceived=2, elapsed TxPingTime=3.276689LYuByu%#I yybDVD8y %I=ٔQ->9?Y?=EyEE>Q 55߿?Q 95)5BYyQ IU@DI :i[:5y\Bɮ@/EiAiEޭELAjEA"jEA:jEZ@"pE!4hI*[/ί=ܹ } TpE#ÅV2{̿zꇴ*jE :2jA*pEB}PL)@aY3$8MpEo5I8?]俪1RjE! jEHAiE3?iE;jEkBjE3?jE;jEBrjEȀAzjEZ@U addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.505208 s, deltaX: 0.300001 m, approachRate: 0.593817 m/s, rangeRepo size: 3   Added new target pos. range: 16.135973 m, bearing: 321.133317 deg, lat: 36.779418 deg, lon: -121.859628 deg, deltaT: 0.505208 s, deltaX: 0.298815 m, approachRate: 0.591469 m/s, posRepo size: 3 :i VStarting intercept timer at range: 16.20 m.DNOT Ignoring new targets: 16.14 m.2i"i*iM ProNav: ac range: 16.135973 m, nav range: 16.097675 m, bearing: 321.133374 deg, approach rate: 0.000000 m/s, LOS rate: 0.151895 deg/s, cmd heading: 313.425278 deg, new cmd heading: 313.553890 deg. iQBBB"IBFBB =BBBd;B6EUHeadingCmd: 5.472548 target range: 16.135973 and range: 16.20 m.hU@hQhQhYhYgYgYjgYrgaeareaZea:ee@330@*em?ĄBɢ) =) p{i)/=i7&%i%mH@!!I%@I)DDAT read: Rx Time:04:33:00.6078 %TRx dataTimestamp_ set to:1764909181.5925965PDAT read: Bearing 116.0, -7.7 (Local) 5~Local bearing/azimuth received: Bearing 116.0, -7.7 (Local) UDAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.5 DAT read: 04:33:00.6078 LVL= 32752, 31537, 32754, 32755, AGC= 58, IDX= 504,-0.25,-1.906, 0.060,-1.404,-1.103, PHS=-0.700, 1.208,-0.345, RAW= 319.9, -1.9, CAL= 318.7, -5.0, ROT= 191.3, 5.0 Ygot valid direction response: 04:33:00.6078 LVL= 32752, 31537, 32754, 32755, AGC= 58, IDX= 504,-0.25,-1.906, 0.060,-1.404,-1.103, PHS=-0.700, 1.208,-0.345, RAW= 319.9, -1.9, CAL= 318.7, -5.0, ROT= 191.3, 5.0 R#Rx 3: Read range and direction messages.bdirection in FSK: [-0.976883,-0.195201,-0.087156]Fpublishing direction and range infoyGYB$B,UȿOY3A1{ ):I333i?ףv@@ ¸)%U@I¸=/pxտ/\Ǡ 2) A=IpuH@V!7u? ? u 7Z?pF?@L?iu@ Iu ^;uC-Ga쬿9YAY]Bye##IiMb@Mb@Mb@ 9Q?㥛 ?y&1|?Y(?y=`;9@A @)Y@bDVD8yλ%=ٔC/;Q->9?Y?=EyEwb=E>Q 5-5>?Q 955T)1BY5H?Q E5:y5@Q I5U@DIO;i; 5y=WBɮ=F@E.EiieLAjA"jA:j@"pkI/jW [VʁpGYB$B,UȿO*jp<2j¸=*p)|)@+Q$~RpP?go㿑]mj" jKAiR$ڟ?iVjiBjjv&jkBrjAzja@% addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503859 s, deltaX: 0.199999 m, approachRate: 0.396934 m/s, rangeRepo size: 4 5 Added new target pos. range: 16.335215 m, bearing: 321.440605 deg, lat: 36.779418 deg, lon: -121.859627 deg, deltaT: 0.503859 s, deltaX: 0.199242 m, approachRate: 0.395431 m/s, posRepo size: 4 :i5=TStopped intercept timer at range: 16.40 m.=DNOT Ignoring new targets: 16.34 m.2i9"iA*iau ProNav: ac range: 16.335215 m, nav range: 16.367113 m, bearing: 321.529047 deg, approach rate: 0.000000 m/s, LOS rate: 0.151895 deg/s, cmd heading: 313.553877 deg, new cmd heading: 313.741582 deg. iq}HeadingCmd: 5.475823 target range: 16.335215 and range: 16.40 m.h}9@hyhyhyhygygjgrgۂBereZe:e`ff0@*e`?A颽„Bɢd=) |i)cI/=i $i\DBI9@IDDAT read: Rx Time:04:33:01.1081 TRx dataTimestamp_ set to:1764909182.095475PDAT read: Bearing 116.3, -5.7 (Local) ~Local bearing/azimuth received: Bearing 116.3, -5.7 (Local)  DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.7 -DAT read: 04:33:01.1081 LVL= 32752, 22497, 3275, AGC= 60, IDX= 507,-0.11,-0.922, 1.001,-0.486,-0.118, PHS=-0.702, 1.165,-0.412, RAW= 321.7, -0.6, CAL= 320.3, -3.7, ROT= 189.7, 3.7 5!unknown deviceResponse_: 04:33:01.1081 LVL= 32752, 22497, 3275, AGC= 60, IDX= 507,-0.11,-0.922, 1.001,-0.486,-0.118, PHS=-0.702, 1.165,-0.412, RAW= 321.7, -0.6, CAL= 320.3, -3.7, ROT= 189.7, 3.7 q 55(Communications Faulta 5 a 5 a 5 a 5 a 5 =X#Rx 4: Read range message, but no direction.iIfAEchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.043098IY)YE%  E% E! E! "E% :*E% n:VE! ZE! a- @a5 @a5 @a5 @ 9@  @ @ o0@ q ԙ ^AAEAIQ&eLCommunications Fault in component: DATIaOu ?&,LA(2r@2 @2Kn=ٱ2=R>2H>@dվ? E?`X@? Sڭ`n?E?i2r@I2];2Cԁ-Powering downi)I)11BqBqBqBqBu =BqBqBu;Bu6EYBy#IIR=)p=iMb@Mb@Mb@ 9}?5^I?X9v?Mbp?YM"?y}=;O@ @)@Yf@ԩbDVD8y% =ٔ:Q->9??Y??=EyE\<E>Q 55y?Q 95)+BY#?Q E:y@Q IU@DIo:iw:'5yiɮm@iB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 16.34 m.2i"i6 *i6  ProNav: ac range: 16.335215 m, nav range: 16.747145 m, bearing: 321.443958 deg, approach rate: 0.640115 m/s, LOS rate: -0.140069 deg/s, cmd heading: 313.741570 deg, new cmd heading: 313.575254 deg. i+HeadingCmd: 5.472920 target range: 16.335215 and range: 16.40 m.h*"@hhhhggjgrgBereZe:e*e@]AE  E E E "E :*E *5:VE ZE BE 9]?Y]?=]Ey]E]Ee>aQ 5m5e??Q 9u5e)e'BYqyqQ IuU@eǧDIe';ieD;eH5y}QBɮ@-E:iVStarting intercept timer at range: 16.40 m.DNOT Ignoring new targets: 16.34 m.2i"i#*i# ProNav: ac range: 16.335215 m, nav range: 16.974682 m, bearing: 321.394840 deg, approach rate: 0.671215 m/s, LOS rate: -0.142953 deg/s, cmd heading: 313.575242 deg, new cmd heading: 313.478322 deg. iςHeadingCmd: 5.471229 target range: 16.335215 and range: 16.40 m.hO@hhhhggjgrgE Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeETransitioning to midcourse guidance. Received last range of 16.400000 m 29955912.533333 min ago.E1FereZe:e*eBɢ%=) ti)%].=!!i%T5$i-WU6))I-O@I1:@ @@0@)E EE$E"E,:*E:VE4ZEa@a@a@a@^A%Y Aq Iy I O >&,wLA 6\2 @6$@6wv=ٱ6R>6H`qO?v?@[?`׮ ?ZD?i6\2 @I6J];6CYBy% #IbDEVDE8yUf%]K=ٔ]];Q-e>9iYi=mEyuEu>Eu>Q 55aq?Q 95C)"BYy+@Q IU@ЧDI+ ;ij;5yɮ9@:iDNOT Ignoring new targets: 16.34 m.2i"i*i九 ProNav: ac range: 16.335215 m, nav range: 17.233295 m, bearing: 321.384526 deg, approach rate: 0.635691 m/s, LOS rate: -0.024973 deg/s, cmd heading: 313.478335 deg, new cmd heading: 313.458016 deg. i6HeadingCmd: 5.470874 target range: 16.335215 and range: 16.40 m.hg@hhhhggjgrgRg@1FCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeereZe:e *e UBɢ]v[=)Y ]iY)]Z.=YYie#ief0iiImg@iI>i>A@A @A@E0@ABqBqԡBqBqBqBqBqBu;Bu6EBBBBBC4^Am # E5  E5 }E5 #E1 "E5 غ:*E5 k&:VE5 3ZE1 BE5 &,LALYBy"I iEMb@Mb@Mb@AAAA A9Ejt?J +?MbPYE ?yEH=EE|@E9A A)AAYE@bD]VD]8yme%m:=ٔmQ-m>9qYq=uEyuE}E}>Q 55_?Q 95)BYA!?Q E:y @Q IU@٧DI&, LA2e @2NX@2jz=ٱ2cP>2H`bw;ط? ?@@3?@[H#?G?i2e @I2];2CY>By>#IbDFVDF8yN<%Rm=ٔRb#;Q-R?9V?YV?=VEyVEV-=EV?XQ 5^5ZcQ?Q 9b5Z )ZBY`yb@@Q IbU@ZߧDIZ;iZ;Z 5ydɮfV@hEr ErEr$Ep"Er:*ErA:VEr4ZEpav@av@av@az@|j?KKffR%fgffrfereZe:e!*e!IɢM 1=)Q U)V& (kpHeading = 0.400000 I  II)i)^AYAII O >ԁ Q&,-! LABBB"IBABBBBB;B6EIv @i@{=ٱZ P>H@+@?`E? e?@y@5?`UH?iv @I];CYBy"IiMb@Mb@Mb@ 9}?5^I?+?~jtxYM"?y=Ļf@A ) @Y\@ <bD'VDа8y%+=ٔJN:Q->9Y=EyE=E>Q 55C=?Q 95)BY"?Q E:yd@Q IU@DI ;i ;$5y>Bɮ @ "E1K% %Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminalK%%B*** querying acoustic contact ***i!i%f1f1f1g1f1f1rf9e9re9Ze9:eA*eAiɢm<.=)q u:iq)u9c.=qqiu##}0=ɧ:>駅.ԡ /&,I; LA2{ @2m@2W~=ٱ2DP>2Hj(Y/'?@C?p@U?3?F?i2{ @I2];2CY>By>#IbDF1VDFڰ8yN=%Ry=ٔR:Q-R?9TYT=VEyVEVE=EV?XQ 5^5ZI/?Q 9b5Zɨ)ZBY`ybh@Q IbU@ZDIZ;iZ;Z'5yf9BɮfS@hfafifigififirfieireqZeq:eq*eq颥Bɢ9=) p=i)}.=顩i"ym=ɧ.?駵7 =Թi""IEX EXI@zA@^AI6AAIIO+>E EEE"E:*E;J:VEZEa @a @a @a @9 e&,9cU LANw@Nj@N=ٱNuO>NHyq???`?믿?@H?iNw@IN];NCYbByf#IbDrNVDr8yv%zE=ٔzA[:Q-z>9~c?Y~c?=~Ey~E~=E>Q 5 5q?Q 95)BYye @Q IU@DIG:i;W+5yɮ%'@!fffgffrfereZe:e*eɢ1=) B PExceeded connect timeout, disconnecting.B!B!B%"IB%7BB!B!B!B%;B%6EiE  E ~E %E "E *E (:VE 4ZE BE ;a 2E ;a JE ;a :E ;a ԙ DB&,9o LAPowering up"Initializing DAT.Re@RW@RJ(=ٱRlL>RH`(cbֳ?(? h?L"`?L?iRe@IR];RCYnByn"IieMb@Mb@Mb@aaaa a9e/$?~jt?~jtYe1(?ye=eDe|@a e@)aaYayybD}/VD}ذ8y %A=ٔb:Q->9Y=EyE =E>Q 55b ?Q 95h)BY(?Q E:y5!@Q IU@DI ;i] ; /5y3Bɮ2@!EfffgffrfereZe:e*eqɢz.=) 9i)z.=iKh"8Y=ɧ?er=i I I ^A-*ԡAYIaIqOY> 4)"&,M LA2=@2o0@2=ٱ2fE>2H @ ??`2?S y?W?i2=@I2_];2CY>vByB"IDFAbDJDVDJ8yRY%R[=ٔV;Q-V>9TYT=VEyVEZ =EZ>bEM3jEMc3rEMϚ.Ef EfuEf#Ed"Ef:*Ef:VEf3ZEdan@an@a=@a=@\Q 55^o?Q 95^)^BYy "@Q IU@^ DI^_=i^h=^O25yɮ@ f)fafagififirfereZe:e*eBɢ{)=) `i)w.=i g"=ɧG?9=iI I^A߼A9IIIYOmx>) B B B "IB -BB B B B v;B 6E% nManaging dock network, ignoring radio surface power offS(&, LA b @ @ =ٱ |=> HWGv➯??Q?钰Iq? c?i b @I ]; CYuBy"IiMb@Mb@Mb@ 9S㥛?{Gz?y&1Y$&?y#=`e@9A @)YQ@bDVDð8y%,=ٔ;Q->9Y=EyE<E>!Q 5-5%㚊?Q 9-5Q%)%BYU&?Q EU:yU #@Q IUU@%DI%;i%;;%65ye-Bɮe@e EB*** querying acoustic contact ***iiffE E|EE"EƱ:*EP$:VEZEBE@;a2EA;aJE};a:E};afgf f rf ereZe:e*ee~BɢeMs)=)a e0i)h.=顑i!=ɧ?駝i=iP IP  P I^A"9ԁAII)O=>ԩ ͂G {A M T9M {AYM CQA܇.&,9 LA2۽@42r@25=ٱ26>2H| mD =G?;?@_?ΰ@ե?`l?i2۽@I2)];0YBfByB"I Ji9)EvJ.=AAiEc~!M2J=ɧMq?M'=iMgQQIUg UgIQԙ^A9E EE$E"Eg:*E.:VE4ZEa@a@a@a@AIIO%> (f5&,/ LA:P@:B @:C%=ٱ:72>:H @H{ߩ??P?`! h4?&q?i:P@I:d];:CYJ`ByJ"IIN<)NR=R=bDVVDV8y^%^J=ٔbL;Q-b>9`Y`=bEybEf<Ef>hQ 5n5jš?Q 9n5jL)j΍BYpyrd$@Q IrU@j"DIj;ij;j<5yv'Bɮv|@vE|fffgffrfere!Ze!:e!*e!U}BɢU =)Q U@iiQ)U+.=YYi]!e3+=ɧe@eS=ieYaiImY mYIi^AU+)A.AIIO>BBBy"IBBBBBB;B6EYE  E E 'E "E [:*E 3:VE '4ZE BE 2H@^ 搨?? D>X?r(?p?i2@I2];2CYNRByN"IiMMb@Mb@Mb@IIIQI I9MHzG?I +?I +YM=*?yM94=M9M@M"A M@)M@IYM @bDmVDm8y}N{%}>=ٔ}=;Q->9 ?Y ?=EyEG<E>Q 55?Q 95R)BY*?Q E:yK%@Q IU@+DI<:i:@5yBɮ@EfffgffrfereZe:e*e%|Bɢ%N=)- -i1)5-=19i=1 Eo9=ɧE*@Mv=iMII I^AhԁAIIOL>Ա wB&,6Z !LA2d9@2+!@2%=ٱ23>2H`Ҵ"Ƨ? 1?[>? I?n?i2d9@I2];0Y>[By>"IDFAAbDJVDJ8Ee EeEe%Ea"Ee:*Ee*5:VEe 4ZEaam@am@am@am@y}/=%}K=ٔ}C;Q->9Y=Ey E<E>ԹQ 55l?Q 95)BYy%@Q IU@4DI;in;3D5yɮ@fffgffrfereZe:e!*e!m{Bɢm=)q uh~iq)}͚-=yyi}i@ RU=ɧt'@駝g>iAIA AI^AԽAIIO9 B B B `"IB BB =B B B ;B 6EBABABABABE =CEUv4"H&,w$!LAm@m"!@me1=ٱm'3>mHP 9?`tr?j}AP? qⱿF?n?im@Im];mCYFBy"I iMb@Mb@Mb@ 9MbX?I +?MbY*?y )@Y\@bD VD8y$%3=ٔ:Q->9Y=EyE]<E>Q 55?E EvE#E"E:*E:VE3ZEBEDIǪimiqIu uIy@=@=!^A]N!Ae>Ae>AAIIO>Qy N&,f>!LA2.@2S!"@2=ٱ25>2H1mS 훦?=?୞?'?Ek?i2.@I2.];2CYZCByZ"IbDbVDbŰ8yj1%jw=ٔn\:Q-n?9rc?Yrc?=rEyrEr<Ev?tQ 5z5vt?Q 9~5v~)vBY|y~&@Q I~U@vEDIv;iv;vK5yɮ @ f)f1f1g1f1f1rf1e9re9Ze9:e9*eAmyBɢml =)i m ׽iq)u,=qqiu:\=ɧFE@駅>ihIh hIqԡt'^A0VDzDE E}E&E"E:*Ek&:VE4ZEa@a@a@a@IIO> U&,W!LA2@2"@2=ٱ2W;>2H@[`?`6? ?a3By>"IbDFVDF8yNբ%NN=ٔRd#:Q-R>9PYT=VEyVEV<EV>XQ 5^5Z`a?Q 9^5Z~)ZBY`yb%'@Q IbU@ZMDIZ;iZ;ZN5yfBɮf@hfififigifqfqrfqeqreqZey:ey*ey颥wBɢ=) H i)3,=顩i=ɧ1T@駽)>iI I^A:yB)B)B-G"IB-BB- =B)B)B-;B-6EIiIyO9>) E  E E #E "E [:*E .:VE 3ZE BE 2H(|?@?@N1?@3U?@U?i2x@I2];2CYB0ByB"IIF<)Fp99Y=EyE<E>Q 5%5L?Q 9%52{)BY-(?Q E-:y-(@Q I-U@WDIiUQQI] ]IYyU[ԩ ^A} A yAzA zAI I O >b&,΋!LA27@2@*$@2ff=ٱ2֥O>E: E:xE:(E8"E:U:*E::VE:c44ZE8a>@a>@a>@a>@@2HPv;?f?`+\?!ɱV?D?i27@I2*];0-JBattery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-NBattery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-RBattery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-RBattery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-VBattery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-ZBattery stick #40 (s/n: 0270) reported TERMINATE_CHARGE_ALARM. Status code: 0x40C0.-^Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-^Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-bBattery stick #51 (s/n: 0BDF) reported TERMINATE_CHARGE_ALARM. Status code: 0x40C0.-fBattery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-fBattery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-jBattery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.nCalculating totals. Valid battery stick count: 15. Valid reserve battery stick count: 1.FH)Fb~ADDɶD-vFailed to receive data from all sticks prior to timeout. Will not retry this scan cycle.Yz.Byz"IbD VD 8y.%J=ٔQ->9!Y!=%Ey%E-<E->1Q 5=559?Q 9=55x)5BY9y=(@Q I=U@5_DI5:i5:5U5yIɮM@IfqfqfqgqfqfqrfyeyreyZey:ey*e颭uBɢ&y=)  i)+=顱iY>=ɧrr@@A>i I   I  ԙ@@@@ I I O >B B B ("IB փBB =B B B ;B 6Eh&,_!LAtY='ByE"IbDοVD~8y%A=ٔQ->9Y=Ey"EE>Q 55$?Q 95lt)vBYyQ IU@hDI i=X*9AIEX* EX*IaIIO=>9a Go&,XX!LA2@2F%@2n=ٱ2&b>2HK4?B?^[~J?W:?@&?i2@I2i^;2CYN,ByR"I TTTVA9imMb@Mb@Mb@iiii i9mx&?p= ף?~jthYm7)?ym=mDm@mKA m@)m/@iYm=@bDؿVD8y<%M=ٔDQ->9Y=Ey&Eo=E>Q 550?Q 95pq)pBY*?Q E:y+@Q IU@pDI(;i?';\5yɮo@B*** querying acoustic contact ***iifffgffrfereZe:e*e%rBɢ-=)) -> i))-@*=11i5$=P=ɧ=@=;Y>i=k99IEk EkIAII O=iDzDbE5ƻ 4jE5ƙ4rE5(90E EE%E"EU:*E[:VE 4ZEa@a@a@a@ԑ v&,@3!LA.K@.&@.`=ٱ.d>.Hmq ZЬ?`sR?@N?谿"P?"?i.K@I.];,YBByB"IbDJVDJ8yr?%rV=ٔrUQ-v>9tYt=vEyv)Ez=Ez>|Q 55~?Q 95~n)~iBYy,@Q I U@~xDI~;i~:~D`5yBɮ@Ef1f1f1g9f9f9rf9eAreAZeA:eA*eAԙ pBɢ <) %i)-g*=))i-d5k=ɧ5Ԏ@5*d>i599I= =I9A.AIIO>BBB"IBǃBBBBB;B6EE  E E &E "E :*E a9:VE 4ZE BE b;a 2E d;a JE $;a :E %;a ! K,|&,!LA6o@6'@6:=ٱ6f>6H@o h߿0?? `M?zEv? |!?i6o@I6v];6CYBByB"IiMMb@Mb@Mb@IIII I9MB`"?Zd;O?Mb`YM.?yMj<=MM@M A M @)M\@IYMz@ qqbD}VD}8y;%@=ٔQ->9 ?Y ?=Ey.E=E>Q 55癊?Q 95:k)aBY>/?Q E:y+@Q IU@DIy);i(;c5yBɮ@EfffgffrfereZe:e*enBɢ<) i))= Ciaaqކ=ɧ@駵X$q><9Y9AiI I!A]؟AIaIqOY>Qԁ ,&, "LAD2<D2<E6 E6E6#E4"E6y:*E6E7:VE63ZE4a:@a:@a:@a:@>.@>ħ(@>3=ٱ>f>>H ߿ ?I??#}? ?i>.@I>G];>CY^By^z"IIbp<)b49v"?Yv"?=zEyz2EzS"=Ez>qQ 5}5uә?Q 95u/h)uZBYy,@Q IU@uDIus;iu:uwg5yɮk@fffgffrfereZe:e*elBɢt<) l&i)/ )=ijG_=ɧ@|>i I   I QAM.AIYIqO}>ԁԩB B B "IB BB B B B ;B 6E D>&,&"LA2Ӹ@2i)@2{=ٱ2g>2Hy,~(޿? w?LX?s`? ?i2Ӹ@I2];2CY:By:x"IbDFVDFǰ8yR%VO=ٔZ\Q-^>9b ?Yb ?=bEyb6Ef"=Ef>hQ 5j5j?Q 9n5jZe)jTBYlyn-@Q IrU@jDIj;ij;jj5yvBɮv*@vEfff!g!f)f)rf1e1reAZeA:eI*eQԹjBɢ^<)! %%i!)%{(=!!i%U=ɧU@UO>iUGYYI]G ]GIaE} E}EyEy"E}:*E},:VEyZEyBE}O;a2E}P;aJE}9;a:E}9;aAIIO J> 9 C&&,{@"LA67@6ͨ*@6'Yu=ٱ6Gg>6H g@Jݿ@?,8?@| Q?@s?@o ?i67@I6];6CYBByBy"Ii Mb@Mb@Mb@     9 kt? rh?9AYA=EEyE:EE=EM>IQ 5U5Mͨ?Q 9]5M9b)MKBY][0?Q E]:y]-@Q I]U@MDIM7 ;iM ;M|n5ymBɮm@iB*** querying acoustic contact ***iifffgffrfereZe:e*eMhBɢ] <)Y ]@ iY)e7'=aaiem̤=ɧm@m >imwsiiIuws uwsIqA؟AIIO&>9E EE%E"E:*E3:VE 4ZEa@a@a@a@i DP&,{Z"LA 2@2+@2n=ٱ2h>2H K`F^ܿ?K?`^?έ@??i2@I2];0YRByRn"I TTTTbD^"VD^̰8yf9%fQ=ٔf8Q-f>9j"?Yj"?=jEyj>Enx*=En>pQ 5v5r?Q 9v5rn_)rBBYtyv.@Q IvU@rDIr):ir:rq5y|ɮ~O@|fff!g!f!f!rf!e!re)Ze):e)*e)UfBɢ]<)Y ].iY)eu'=aaieRm=ɧm@m>imiiIu uIqiAIIO>Bu>BqBu!IBuBBqBqBqBu;Bu6EB1B1B1B5 =B1C5Ĝ;4ԙE  E E !E "E Ʊ:*E k:VE c3ZE BE @;a 2E A;a JE Ҽ;a :E Ӽ;a |&,_t"LAF@F,@Fpg=LٱF i>FH/`,gۿ?S?H ?`@J? ?iF@IFK];FCY^ Bybi"IiMb@Mb@Mb@ 9@5^I ?~jt?MbpYb0?y<K A )z@Y@bDVD8y"%==ٔo}Q->9Y=EyBE=E>Q 55|?Q 95S\):BY~0?Q E:y /@Q IU@DI:i;u5yޓBɮ4@Efffgffrfere Ze :e *e =dBɢ=x<)9 =L2iA)Ew&=AAiETMa=ɧM_@M0>iUI QQIUI UI IYA.AIIO >! Jb&,{1"LAE& E&E&"E$"E&[:*E&?:VE&(3ZE$a*@a*@a*@a*@:}@:-@:a=ٱ: j>:H`Zoڿ@զ?@Z?: CA? 0-? ?i:}@I:ͱ];:CY^Bybe"I f9v ?Yv ?=vEyvFEzL6=Ez>||Q 55~h?Q 9 5~Y)~3BY y 0@Q I U@~DI~l,;i~:~x5yؓBɮ@Ef9f9f9g9fAfArfAeAreAZeI:eI*eIbBɢd<) 4i)F&=ig%=ɧ%@%F>i-i ))I-i -i I))IQIaOm>QBq Bq Bu !IBu BBq Bq Bq Bu ;Bu 6Eԁ d&, "LA6!@60.@6mIZ=ٱ6^0k>6HUoٿݥ?`Z?r(b?@Eu??i6!@I6];6CY>ByBY"IIF<)FF=F=bDJVDJ8yR;%RN=ٔVWQ-V>9TYT=ZEyZJEZe1=EZ>\Q 5b5^KS?Q 9b5^W)^,BYdyf61@Q IfU@^DI^W:i^:^p|5yjѓBɮj'@hfffgf!f!rf!e!re!Ze!:e)*e)U`BɢULizL IzL zL IAEm EmEm&Ei"EmƱ:*Em,:VEm4ZEiBEia}2Eia}JEm9;a}:Em9;a}IQIaOm>ԉԱ =t&,"LA2"@20@2 T=ٱ2_Al>2H̊@uؿˤ? _?O ? ;;?`=?i2"@I2];2CYNByR`"Ii]Mb@Mb@Mb@YYYY Y9]zG?Mbpy&1Y] 7?y]]`e]@]5 A ]l@)YYYYbDuVDu8y<%==ٔdQ->9Y=EyNE*=E>Q 55G;?Q 95T)!BY7?Q E:y/@Q IU@ɨDIH:i/:75y˓Bɮn@EԹB*** querying acoustic contact ***iifffgffrfereZe:e*e]Bɢ<) %2i!)%%=!!i%-R=ɧ- @-;>i-^i 11I5^i 5^i I9IIO=DazDeAAEq Eu~Eu"Eq"Eq*Eu(:VEu(3ZEqa}@a}@a}@a}@9 &,"LAY~By~P"I  bDVDy%։%%Q=ٔ%Q-%>9)Y)=-Ey-RE-E5>1Q 5u55%?Q 9u555Q)5BYyyyQ I}U@5ҨDI5ia Ia a IIyIO=B>BB!IBBBBBB;B6EAqEu  Eu Eu %Eq "Eu g:*Eu .:VEu 4ZEq BEu ;a} 2Eu ;a} JEu ;a} :Eu ;a ԙ ̼&,"LA6`=$@6/2@6H=ٱ6Mj>6H`&Wxֿ?,]?Z_? ?A ?i6`=$@I6];6CYZByZR"I \\``iEMb@Mb@Mb@AAAA A9E\(\?Mb9qYq=uEyuVE}0=E}>Q 55 ?Q 95dN) BY:?Q E:y1@Q I U@ۨDIi)#=i1JY0=ɧ@>iҽ Iҽ ҽ IA>A>IiIyO=ԙ د&,v#LAbE53jE53rE5+/E EE$E"EƱ:*E3:VE4ZEa@a@a@a@ZZ%@ZFM3@Z;B=ٱZ 3k>ZH\"oտ@%?Q?B q? (E?`?iZZ%@IZj];ZCYbBybN"IbDnVDn8yv%vT=ٔv3pQ-v>9xYx=zEyzZEz8=E~>Q 55q?Q 9 5K)BY y 2@Q I U@DI):iW:5yɮ@f9f9f9g9fAfArfAeAreAZeI:eI*eIuVBɢu<)y }bAiy)16#=顁iy ֹ=ɧ@駍þ>iI IIIO= ) B >B @CB !IB BB =B B B ;B 6EE&,*S)#LA 6u&@6Sh4@6d==ٱ6pDm>6H`P`fԿž?F?mBy><"I F9TYT=VEyV^EV'3=EZ>XQ 5b5Z?Q 9b5ZtI)ZBY`yb4@Q IbU@ZDIZ@;iZ;Z5yjBɮj@jEfffgffrfereZe:e*eEM EM~EIEI"EM>:*EM(:VEIZEIqBEMi"I" "IAI!I9OEQ>ԙ1Iu&9qYu#A P&,/C#LA2'@25@2%9=ٱ2n%m>2Hx}Yӿɲ?5?U@0?@a[Y?*?i2'@I2W];2CY:By:8"IIB<)@B=B=Pi Mb@Mb@Mb@     9 ʡE?y&1Y =?y `e ̼  K A @) d@ Y @bD%VD%°8y5%5A=ٔ:Q->9Y=EybEr$=E>Q 55Ƙ?Q 95F)BY=?Q E:y4@Q IU@DI:i:5yBɮq@EB*** querying acoustic contact ***iifffgffrfereZe:e*e5PBɢ51<)9 =Xi9)=K!=99i=xEC=ɧE@E>iMBIIIMB MBIIAazAexAA؟AIIO>D9zD=@AEE EEEAEA"EE:*EEVL:VEAZEAaM@aM@aM@aM@DAT read: VDAT read: Teledyne Benthos DAT-900 Series ! '&,$ ]#LA.(@.6@.z4=ٱ.{qm>.HͧJҿ-?#?`?`b?`?i.(@I.u];,YNڃByR,"IbDZVDZ8yr@%vO=ٔvH5Q-v>9z"?Yz"?=zEyzfEz<=Ez>|Q 5 5󯘊?Q 9 5D)܌BY y5@Q IU@DIl:iy::5yBɮ@%EfAfAfAgAfAfArfIeIreIZeI:eI*eQ}MBɢ}<) `fi)!=顁i76W=ɧ@駍]>i|I| |IB>BB!IBBBBBúDB;B6E)Ae.AIiIO>QEe  Ee Ee "Ea "Ee :*Ee [:VEe (3ZEa BEe 2H<@x6ѿĕ?@f ?+l?᥿l??i2e)@I2˾];2CYN҃ByR""Ii%Mb@Mb@Mb@!!!! !9%-?MbV-Y%5>?y%%%@%b A %l@)!!Y!bD=VD=8yM%MD=ٔUPQ-U>Y9] ?Y] ?=eEyejEe-=Ee>iQ 5u5m떘?Q 9u5m`B)mΌBY}e>?Q E}:y}7@Q I}U@m DImX ;im] ;mߘ5yɮ-@fffgffrfereZe:e*eJBɢʵ<) pi)D =i&=ɧA>iإIإ إIԁAIIO$>Ա DU =DQ E]  E] E] EY "E] Ʊ:*E] i:VE] 3ZEY ae @ae @ae @ae @ &,)#LA2*@28@2ϩ+=ٱ2N_n>2H`#п@ͅ?`?l?@s? ?i2*@I2º];2CYF̃ByF"I LLPPbDVVDV8y^%^S=ٔb Q-b>9)Y1=5Ey5nE=v4=E=>IQ 5]5M~?Q 9]5MS@Q =etI)MBYiym'8@Q ImV@MDIM^;iM;Md5y}Bɮ}&@ԩfffgffrfereZe:e*e%GBɢ%4ɷ<)) -Jui))5Eu=11i5=]=ɧ=sAE˅>iEAAIE EIIAU؟AIYIiO}>B >B B !IB BB B B B ;B 6EBe@CBe@CBaBe =Be =Ceɲ5) (&,Л#LA2,@2::@2(=ٱ24l>2H" Kο*>??:@¦?`^s=?@O ?i2,@I2k];2CY:ǃBy:"IbDF,VDFհ8yJV߼%NN=ٔNQ-N>9R"?YR"?=REyRrER>=EV>TQ 5Z5Vg?Q 9^5V>)VBY\y^H9@Q I^V@VDIVh;iV;V5yfBɮf@fEf|f|fgffrf e re Ze :e*eDBɢ<) 8zi)=i ]mE=ɧEAM>iMqyI} }IE- E-E-%E)"E-:*E-A:VE- 4ZE)BE-eiԙ &,#LA2E-@2}8;@2$=ٱ2Ch>2H:˿?`q?@c@B?͜ ?&?i2E-@I2@];0Y:By:"Ii~Mb@Mb@Mb@|||| |9~Zd;?~jtY~9?y~~̼~@~ A ~@)||Y~Q@:DAT read: MF Frequency Band %vDAT read: Directional Acoustic Transponder version 8.15.0 -BDAT read: Dec 5 2025 04:33:13 bD5pVD58yE d%E@=ٔEQ-E>9IYI=MEyMwEM.=EU>YQ 5e5]?N?Q 9e5]<)]BYe:?Q Ee:ye:@Q IeV@]'DI]/:i]Z:]r5yuBɮu@uEB*** querying acoustic contact ***iiifffgffrfereZe:e*e@Bɢ<) i)ƺ=iY&%u=ɧ%, A%F>i%ODIIIMOD MODIQA.AԙIIOA>DzDE% E%E%!E!"E%:*E%;J:VE%c3ZE!a-@a-@a-@a-@ :&, R#LA6o.@6xb<@6 #=ٱ6ݟh>6HrY@ɿPy?L+?``=? 0` F?`3'?i6o.@I6D];6CYBByB!IIFp<)F%=F=F=bDNVDN+8yV%VU=ٔVQ-Z>9Z ?YZ ?=ZEyZ{E^B=E^>`Q 5f5b[7?Q 9f5b;)bBYdyf?;@Q IjV@b0DIbl:ib :bͦ5ylɮn@lf|ffgffrfe re Ze :e *e ==Bɢ=b<)9 =_iA)E=AAiEM@=ɧMAAME6>iM8QQIU8 U8IQBU>BUACBU!IBUBBU =BQBUĺDBUS;BU6EA؟AIIO>EE  EE EE "EA "EE I:*EE =:VEE (3ZEA BEE }/@2o=@2"=ٱ2g>2Hrǿd?@?(+?CV ?d(?i2>}/@I2_^;2CYBByB!Ii5Mb@Mb@Mb@1111 195`"?y&1|/$Y57?y5`廙515 A 5@)5z@1Y5@bDMVDM$8y]%]?=ٔe.:Q-e>9e"?Ye"?=eEyeEm=Em>qQ 5}5u ?Q 9}5u9)uBY}7?Q E:y?=@Q IV@u:DIu ;iu ;u5yBɮ@EfffgffrfereZe:e*e:Bɢ+<) i) =i=ɧA t>i K  I K KIqAe.AIqIO>ԙ=LDAT read: Features enabled [Bearing] MDAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP McommRate: 600 D= =D= <EE  EE EE &EA "EE :*EE *5:VEE 4ZEA aM @aM @aM @aM @L &, $LA2ݚ0@2r>@2&!=ٱ2ue>2HſY ?[@|?. w?U,?i2ݚ0@I2^;2CPYVByV!IdfAAbDj|VDj8yvg%vR=ٔzIQ-z>9z ?Yz ?=~Ey~E6=E >Q 5%5?Q 9%5[8)BY!y-\>@Q I-V@CDIH;iI;5y=Bɮ=@Afffg f f rf e reZe:e1*e1颅6Bɢ<) \i)=顉iMY=ɧ|A駝->i I   IIIO >BU >BU BCBU !IBU qBBU =BQ BQ BU ;;BU 6E! v &,C+$LAB.1@Bÿ?@B7!=ٱBed>BH@%`3ÿSw?{?%GW?+.?iB.1@IB^;BCYNByR!I TTbD^cVD^8yjAn%jL=ٔn:Q-n>9pYp=rEyrEv1?=Ev>x|Q 5 5z?Q 9 5z=7)z~BY y ?@Q IV@zLDIzjv;izUw;zr5yBɮ%T@%EfQfQfQgQfYfYrfYeYreaZea:ea*ea颍3BɢB<) i)/=顙i=ɧpA駥0>iYIY YIE EE%E"Ey:*E=:VE 4ZEBEQԁ ^ &,QE$LA22@2@@2!=ٱ20d>2H7M@`?`ׯ?@Z:!D?3/?i22@I2v|^;2CY^Byb!IiMMb@Mb@Mb@IIII I9M5^I ?I +YM8?yMYM9M@MK A I)Md@IYMQ@bDmJVDm8y}y%}@=ٔ}9Q->9Y=EyE0%=E>Q 55^՗?Q 95E6)sBY&8?Q E:yGA@Q IV@VDI3;iH;&5yɮ@B*** querying acoustic contact ***iifffgffrfereZe:e*e /Bɢ ۍ<) i),=i=ɧ%wA%>i%&:!!I%&: %&:I)I9IIOU=ԁbE4jE<3rE 0E EEE"Eغ:*EE7:VEZEa@a@a@a@Ա  &,x_$LA24@2A@2A#=ٱ2Ud>2H" 使T? @Į?f H?.?i24@I2$-^;2CYNByR!I TV<bDZ[VDZ8yb"<%bW=ٔfj:Q-f>9dYd=fEyfEj{;=Ej>lQ 5r5nz?Q 9r5n5)niBYpyvdB@Q IvV@n^DIn;in:nz5yz{Bɮz@zEfffgffrfereZe:e*eԹ+BɢΝ<) i)D=ixq=ɧ A >iI IIYIiO}=B>BB!IBbBBBBB=;B6EE%  E% E! E! "E% 7:*E% Ar:VE! ZE! BE% ;aU 2E% ;a] JE% H;a] :E% H;ae A  &,ty$LA x>CJ3GT\v;9tYv8A+5@!C@5E$=ٱ+b>H!g@C?`b?=?2?i+5@I ^;CY-By-!II54=)5=iMb@Mb@Mb@ 9 +?9IYI=MEyMEM#=EM>YQ 5]5]i?Q 9e5]4)]_BYe6?Q Ee:yeB@Q IeV@]iDI]:i]o:]o5ymuBɮu@uEfffgffrfereZe:e*e'Bɢ/g<) i).=i8"{M=ɧA!A?iaIa aIA}zAzA}yAIIO>ABDAT read: Rx Time:04:33:17.8791 %TRx dataTimestamp_ set to:1764909202.130721q*entering command modeԙ E  E E $E "E I:*E ,:VE 4ZE a- @a- @a- @a- @ל$ &,X$LAnI6@nnH`gy`SF?  @?J?3?inI6@In];nCYvByv!IbDMVD8y =% `=ٔT:Q->9Y=EyEC=E%>!Q 5-5%?Q 9-5%4)%WBY1y5C@Q I5V@%qDI%;i%;%5y=pBɮE@AfafafagafifirfieireiZei:eq*eq额#BɢV<) i)T=顡i!=ɧ#A駵?i$'I$' $'IIYIiuDAT read: }&DAT read: user:1> }(setting verbose to 3ԉO=ԙB>BB!IBRBBBBźDBk;B6E% &DAT read: user:1> 5 TDAT read: Verbose | 3 5 set verbose to 3m !DAT read: user:2>04:33:17.8791 LVL= 3952, 3057, 5202, 5555, AGC= 37, IDX= 141,-0.25,-2.069,-0.844,-2.744,-1.751, PHS=-0.216, 0.953,-1.037, RAW= 354.2, 3.5, CAL= 353.9, 0.8, ROT= 156.1, -0.8 u 8DAT read: $Error in header u *Received a bad header 6setting DatVerbose to 27440 * &,;$LAzz7@zmE@zO'=ٱzK9a>zHthp?`)+?`褿:? 3?izz7@Iz];zCY By !IbD=_VD=8yMiE%MF=ٔuj:Q-u>9qYq=}Ey}E}[7=E}>Q 55t?Q 953)MBYyD@Q IV@{DI;i;C5yɮu@fffgffrfe re Ze):e1*e9颍BɢQ<) i)-bH=)1i5~}=ɧw&A駭,?iIE EE%E"E:*E$:VE 4ZEBE! ;1 &,!$LA68@6 F@6(=ٱ6`b>6Hʧ;U??/J??@31?i68@I6X];4Y>ByB!I DDDFAr&DAT read: user:3> vTDAT read: TxPower | 8 (Max) v.set transmit power to 8zPDAT read: user:4>Rx Time:04:33:18.8794 zTRx dataTimestamp_ set to:1764909203.140510~6setting local address to 11iEMb@Mb@Mb@AAAA A9En?9m"?Ym"?=mEymEu-=E>Q 55Y?Q 9543)BBY6?Q E:yF@Q IV@DIZ:i:35y5jBɮ5@5EQMB*** querying acoustic contact ***iiiifyfyfygyfyfyrfereZe:e*eBɢ<) !i)G=i'џ=ɧV)Afx?i tP19I=tP =tPIAAQAQIQIqԁO[>E EzEE"Eg:*E :VEZEa@a@a@a@DAT read: TDAT read: LocalAddr | 11 .set local address to 11\Setting time to: 4:33:23 And date to:12/5/2025ԩ )7 &,$LAUHRC3}`4?.?Hi? +?iU9@IU];QYBy!IbDJVD8yU%Q=ٔV:Q->9Y=EyE F=E >Q 55.C?Q 953)9BYyNG@Q IV@DI:iW:|5y-dBɮ-@-EfIfQfQgQfQfQrfQeQreYZeY:eY*eYB>BCCBy!IBHBBBBB;B6EBUBCBUBCBQBU =BU =CU5颭Bɢx<) i) o=项iwx=ɧ+AU ?i!I! !Iԡ&DAT read: user:5> uDAT read: 04:33:22.1515 LVL= 27712, 19377, 32754, 32755, AGC= 53, IDX= 464,-0.02,-1.048, 0.182,-1.773,-0.771, PHS=-0.175, 0.998,-1.046, RAW= 355.1, 2.5, CAL= 354.8, -0.4, ROT= 155.2, 0.4 }Ygot valid direction response: 04:33:22.1515 LVL= 27712, 19377, 32754, 32755, AGC= 53, IDX= 464,-0.02,-1.048, 0.182,-1.773,-0.771, PHS=-0.175, 0.998,-1.046, RAW= 355.1, 2.5, CAL= 354.8, -0.4, ROT= 155.2, 0.4 8DAT read: $Error in header *Received a bad headerIIO5.>uPchecking for time setting acknowledgmentE  E }E #E "E :*E k&:VE 3ZE BE ; &,$LA2;@2H@21 ,=ٱ2pg>2HՆ` ']?`T/?@?p(?i2;@I2];2CY>ByB!Ili Mb@Mb@Mb@     9 9v?Zd;O{GzY 4?y j ף   A )  Y Q@ u9Y=EyE8=E>Q 55+?Q 952)/BY(5?Q E:yRG@Q IV@DI ;i; ;5yBɮ@EfffgffrfereZe:e*e-Bɢ-t<)) -勾i1)5&=11i5=Sv>ɧ=.A=yB ?iEAAIE EIIII!Ou= BDAT read: Rx Time:04:33:23.1519 TRx dataTimestamp_ set to:1764909204.146721Pchecking for time setting acknowledgment1a D =D R=D &,k%LAE2 E2E2 E0"E2 ;*E2|;:VE23ZE0a6@a6@a6@a6@>6<@>E)J@>tS.=ٱ>g>>H_}}?2]/?`ȥ`K? 5(?i>6<@I>];>CY^By^!IIbC=)bp;f=f=bDjaVDj8yrf_;%rW=ٔrK:Q-v>9tYt=vEyvEzL=Ez>|Q 55~U?Q 95~2)~$BYyH@Q I V@~DI~:i~l:~95yɮ|@f19f9f9g9fAfArfAeAreAZeI:eI*eIBɢ\<) %i)L=i0>ɧY0A ?i е  I е еIUPchecking for time setting acknowledgmentIIO=aԑB>BBm!IB>BB =BBB;B7E5 DAT read: 04:33:23.1519 LVL= 24720, 16561, 31602, 32115, AGC= 52, IDX= 468, 0.00, 2.015,-3.103, 1.229, 2.219, PHS=-0.102, 1.005,-1.035, RAW= 357.2, 1.5, CAL= 356.8, -1.4, ROT= 153.2, 1.4 = Ygot valid direction response: 04:33:23.1519 LVL= 24720, 16561, 31602, 32115, AGC= 52, IDX= 468, 0.00, 2.015,-3.103, 1.229, 2.219, PHS=-0.102, 1.005,-1.035, RAW= 357.2, 1.5, CAL= 356.8, -1.4, ROT= 153.2, 1.4 E 8DAT read: $Error in header E *Received a bad header Pchecking for time setting acknowledgmentԹ RK &,dx.%LA:]=@:/PK@:/=ٱ:)g>:H cD?or-q? Ÿ?(?i:]=@I:];:CYRByR!IbDZtVDZ8yb3(%bL=ٔf v:Q-f>9dYd=fEyfEjQ8=Ej>lQ 5r5n?Q 9r5n2)nBYpyvpHQ IvV@nDIn:in:n5yzBɮz@xfffgffrfe!re!Ze!:e!*e!U BɢUᯅ<)Q ]0iY)]=YYi]e>ɧe2Aes?ie΁󿉧iiIm΁ m΁IiԑIIIO=E EE%E"E,:*E?:VE 4ZEBE@2ˆL@2׸0=ٱ2IBd>2HU3?ਤ"@-?Y`4E?-?i2->@I2];2CYBByB!IbBDAT read: Rx Time:04:33:24.1523 bTRx dataTimestamp_ set to:1764909205.154625fPchecking for time setting acknowledgmentiMb@Mb@Mb@ 9Q?Mb/$Y5?yb A @)@Y=@bDVD08y<%;=ٔ39Q->9Y=EyE2=E>Q 55p㖊?Q 952) BY6?Q E:yGQ IV@DIZ:iA:5yBɮ@Ef!f!f!g!f)f)rf)e)re)Ze1:e1*e1eBɢe<)a e~ia)e=iiim}Bo>ɧ25A?iR.򿉧IR. R.IIqIO=!DzDE= E=E=&E9"E=:*E=3:VE=4ZE9aE@aE@aE@aE@QuPchecking for time setting acknowledgmentԁ 'X &,3b%LAn?@n*M@n2=ٱnKd>nHb ?zo % ?`X1F?-?in?@InW^;nCYzxByz!I ||bD VD %8y:%V=ٔ%{:Q-%>9!Y!=%Ey%E-1I=E->1Q 555̖?Q 95573)5BYyFQ IV@5DI5@ >ɧ S7A T?i  񿉧I  IA%?A%>QB]>BYB]`!IB]4BB] =BYBYB];B]#7EDAT read: 04:33:24.1523 LVL= 21744, 17313, 28978, 30643, AGC= 54, IDX= 456,-0.01,-1.899,-0.836,-2.734,-1.765, PHS=-0.032, 0.974,-1.013, RAW= 359.6, 0.8, CAL= 359.3, -2.0, ROT= 150.7, 2.0  Ygot valid direction response: 04:33:24.1523 LVL= 21744, 17313, 28978, 30643, AGC= 54, IDX= 456,-0.01,-1.899,-0.836,-2.734,-1.765, PHS=-0.032, 0.974,-1.013, RAW= 359.6, 0.8, CAL= 359.3, -2.0, ROT= 150.7, 2.0 8DAT read: $Error in header *Received a bad headerAaIiIyO>Pchecking for time setting acknowledgmentyԩEE  EE EE $EA "EE :*EE ?:VEE 4ZEA BEE e9Y=EyEE>Q 55b?Q 95l3)BY^6?Q E:yfGQ IV@ĩDI ;i;5yɮ(@fffgffrfereZeԱ:e*eBɢw<) xi)?;=iLQ >ɧ9A?i￉  I  IA!I)IAOM1>BDAT read: Rx Time:04:33:25.1527 TRx dataTimestamp_ set to:1764909206.162771Pchecking for time setting acknowledgment bEJ4jE4rE̲/E  E E #E "E :*E 0:VE 3ZE a @a @a @a @9 /7e &,*%LA2-B@2v P@2Z75=ٱ2f>2H+?@, ~ u? c{?e*?i2-B@I2P];2CYNxByR!I V9!Y)=-Ey-E-=E->1Q 5E55a?Q 9E553)5BYAyEEQ IMV@5ͩDI5< ;i5 ;55yUBɮUT@UEfqfqfygyfyfyrfyereZe:e*e颵Bɢo<) \~i)6~ =项i4q>ɧ;AD8?iI I=Pchecking for time setting acknowledgmentA!I1IAOM>AB=>B=BCB=Z!IB=/BB= =B9B=ĺDB=ŀ;B=+7Ei  DAT read: 04:33:25.1527 LVL= 25008, 16321, 30066, 30019, AGC= 54, IDX= 460, 0.23,-1.903,-0.847,-2.704,-1.741, PHS=-0.059, 0.940,-1.007, RAW= 359.1, 1.5, CAL= 358.8, -1.4, ROT= 151.2, 1.4 % Ygot valid direction response: 04:33:25.1527 LVL= 25008, 16321, 30066, 30019, AGC= 54, IDX= 460, 0.23,-1.903,-0.847,-2.704,-1.741, PHS=-0.059, 0.940,-1.007, RAW= 359.1, 1.5, CAL= 358.8, -1.4, ROT= 151.2, 1.4 % 8DAT read: $Error in header - *Received a bad header Pchecking for time setting acknowledgmentak &,%LA 2XXC@2JQ@2Χ5=ٱ2g>2H\nx?`Uhf@??['?i2XXC@I2];2CYN~ByR!IIV=)VbDZ+VDZ԰8yb<%bP=ٔfK9Q-f>9dYd=fEyjEj(>=Ej>lQ 5r5n?Q 9r5nz4)nۋBYtyvCQ IvV@n֩DIn:in:n]5yz Bɮz@xfffgffrfereZe:e*eUBɢmbh<)i miii)m? =iiiup}>ɧ}=A}H?i}yyI} IE EE!E"E:*E]t:VEc3ZEBE G!9e.9iYm+Aԙ Ir &,%LA2RD@2|R@2<6=ٱ2t?g>2H@B ?ri ¿`?Ѧ ?(?i2RD@I2];2CY:By:!IjDAT read: 04:33:26.1531 LVL= 27696, 17745, 31394, 32755, AGC= 53, IDX= 464,-0.33, 0.310, 1.369,-0.493, 0.503, PHS=-0.092, 0.910,-1.040, RAW= 359.1, 2.7, CAL= 358.8, -0.2, ROT= 151.2, 0.2 nYgot valid direction response: 04:33:26.1531 LVL= 27696, 17745, 31394, 32755, AGC= 53, IDX= 464,-0.33, 0.310, 1.369,-0.493, 0.503, PHS=-0.092, 0.910,-1.040, RAW= 359.1, 2.7, CAL= 358.8, -0.2, ROT= 151.2, 0.2 rBDAT read: Rx Time:04:33:26.1531 rTRx dataTimestamp_ set to:1764909207.178362v@DAT read: $Low SNR acquisition v2Received low SNR in chirpxiMMb@Mb@Mb@IIII I9Mn?Q:v]Pchecking for time setting acknowledgmentYIyMuMԼM1@MA I)M@IYMz@bDmVDm8yAP<%9=ٔ\ :Q->9Y!=%Ey%E%*=E->1Q 555?j?Q 9555)5ˋBY6?Q E:ybDQ IV@5DI5ɧu@Au?i}>쿉yyI}> }>IE EE"E"E:*E0:VE(3ZEa@a@a@a@A.AIIOj>1UPchecking for time setting acknowledgmenta sx &,p%LA6E@6GS@6T6=ٱ6f>6H~TY?@gſc@O?Ȧ`֗?(?i6E@I6X];6CY>{ByB!IDDbDJVDJ8yR%Rb=ٔV+PQ-V>9V ?YV ?=VEyVEZAV=EZ>\Q 5b5^U?Q 9b5^5)^BY`yf0CQ IfV@^DI^;i^:^c5yhɮj@hfxfxf|g|f|f|rf|ereZe:e*e5Bɢ5;l<)1 5z[i19)E^[ =AAiE-qM>ɧMAAM!?iMJ뿉IIIUJ UJIQB>BCCBBB =BBźDBÀ;B-7EBDAT read: Rx Time:04:33:26.6532 TRx dataTimestamp_ set to:1764909207.675086Pchecking for time setting acknowledgmentA ؟AII!O5 >iԑE EE%E"E:*E:VE 4ZEBEx2HDk ? a|ǿ @?榿)?.?i2F@I2];2CYBzByB!I DDDDi Mb@Mb@Mb@     9 5^I ?Qy&1Y 8?y  `   A @) jA ԙY 3@bDVD8y% 6=ٔ5O:Q-=>9E"?YM"?=MEyME}U.=E}>Q 559?Q 956)BY8?Q E:yAQ IV@DI ɧ-DA2?i  꿉  I   IA%>A%?A9IAIQOeU>DAT read: 04:33:26.6532 LVL= 28832, 17777, 32754, 32755, AGC= 53, IDX= 465,-0.19,-0.762, 0.270,-1.594,-0.590, PHS=-0.070, 0.905,-1.048, RAW= 0.0, 2.6, CAL= 359.8, -0.3, ROT= 150.2, 0.3 Ygot valid direction response: 04:33:26.6532 LVL= 28832, 17777, 32754, 32755, AGC= 53, IDX= 465,-0.19,-0.762, 0.270,-1.594,-0.590, PHS=-0.070, 0.905,-1.048, RAW= 0.0, 2.6, CAL= 359.8, -0.3, ROT= 150.2, 0.3 8DAT read: $Error in header *Received a bad headerUPchecking for time setting acknowledgment E  E E E "E :*E a9:VE ZE a @a @a @a @ &,h&LA21H@2#V@27=ٱ2Sc>2HM >?]`rɿ@v?ি'?`.?i21H@I2];2CYRwByR!IbDZVDZİ8yb%f_=ٔfQ-f>9dYh=jEyjEjX=Ej>lQ 5r5n#?Q 9v5n7)nBYtyv@Q IvV@nDIn:in:n5yzBɮz\@~Efffgf!f!rf!e!re!Ze!:e)*e)U߃BɢUs<)Y ]OiY)]/ =Yaieea>ɧmEAmA?imZ鿉iiImZ mZIq Pchecking for time setting acknowledgmentAIIO>B>BDCBT!IB*BB =B>DBƺDB܀;BI7EB}CCB}CCByB} =B} =C}+51 BDAT read: Rx Time:04:33:27.6536  TRx dataTimestamp_ set to:1764909208.682731 Pchecking for time setting acknowledgmentY E &,K1&LA6jI@6\W@6:7=ٱ6c>6H],n?fU̿`FK? e妿j4??.?i6jI@I6];6CYRsByR!IbDf&VDfϰ8yn%rK=ٔr8Q-v>9tYx=zEyzEzA=E~>Q 55 ?Q 958)BYym?Q IV@DIN;iO;5y-ݒBɮ-@1fififigqfqfqrfyeyreyZe:e*e颽كBɢ:|<) DMi)P =iPo>ɧGA?ir迉Ir rIYE} E}E}#Ey"E}:*E}R:VE}3ZEyBE}c;a2E}d;aJE};a:E};aA .AI1IQO}>5Pchecking for time setting acknowledgmentԁԱ  &,J&LA2RJ@2X@2i6=ٱ2se>2H 1@?n οR];? 3˦ ^?+?i2RJ@I2];2CVDAT read: 04:33:27.6536 LVL= 28144, 17121, 31330, 32755, AGC= 52, IDX= 469, 0.02, 0.642, 1.559,-0.281, 0.726, PHS= 0.018, 0.877,-1.051, RAW= 3.6, 1.9, CAL= 3.4, -0.8, ROT= 146.6, 0.8 ZYgot valid direction response: 04:33:27.6536 LVL= 28144, 17121, 31330, 32755, AGC= 52, IDX= 469, 0.02, 0.642, 1.559,-0.281, 0.726, PHS= 0.018, 0.877,-1.051, RAW= 3.6, 1.9, CAL= 3.4, -0.8, ROT= 146.6, 0.8 ^8DAT read: $Error in header ^*Received a bad headerYbxByb!IIf=)fp;j=j=Pchecking for time setting acknowledgmentiMb@Mb@Mb@ 9Zd;?/$9% ?Y% ?=%Ey%E-$1=E->1Q 5=55?Q 9E559)5}BYER;?Q EE:yE@Q IEV@5DI5:i5:55yIԱɮUN@fffgffrfereZe:e*euӃBɢ}8b<)y }6i)}=顁i!>ɧIA駽X!?i.翉I. .IAzAyAD?AzDE EEE"E:*E0:VEZEa@a@a@a@A؟AI!I1OEQ>5Pchecking for time setting acknowledgment 1 yĘ &,d&LA2K@2Y@2z5=ٱ2]9f>2H@^ ?@JorпE7`#?讦?)?i2K@I2];2CYNhByN!IbDV?VDV8y^%^c=ٔbxQ-b>9b"?Yb"?=bEybEfV=Ef>hQ 5n5j ە?Q 9n5j:)jmBYpyr>Q IrV@jDIj;ij;j5yvڒBɮv@vEf ffgffrfereZe:e*e!MσBɢMލ<)I M8NiQ)U=QQiU ]#>ɧ]EKAeG"?iaaaIa aIiB}>B}CCByByByByB}źDB};B}Y7E BDAT read: Rx Time:04:33:28.6540 TRx dataTimestamp_ set to:1764909209.691328Pchecking for time setting acknowledgmentAaIqIO>1E EEE"EI:*Ez:VEZEBEM@>?Z@>y4=ٱ>;uh>>H@?`xjѿ +?^@?&?i>M@I>~];>CYbcByb!IiMb@Mb@Mb@ 9X9v?MbQY3?y A )AYz@bD>VDyJ%.=ٔQ->9Y=EyE=E>Q 55?Q 95\<)ZBYz5?Q E:y>Q IV@!DI:i:,5yגBɮ2@E B*** querying acoustic contact ***i i fffgffrf!e!re!Ze!:e!*e)UȃBɢU.h<)Y ]IiY)]T=YYi]o e &>ɧeJMAeK;$?iiiiIi iIqAIIOE>DAT read: 04:33:28.6540 LVL= 24912, 17073, 28322, 27875, AGC= 52, IDX= 457, 0.23, 1.950, 2.727, 0.940, 1.932, PHS= 0.121, 0.840,-1.035, RAW= 7.6, 0.9, CAL= 7.6, -1.5, ROT= 142.4, 1.5 Ygot valid direction response: 04:33:28.6540 LVL= 24912, 17073, 28322, 27875, AGC= 52, IDX= 457, 0.23, 1.950, 2.727, 0.940, 1.932, PHS= 0.121, 0.840,-1.035, RAW= 7.6, 0.9, CAL= 7.6, -1.5, ROT= 142.4, 1.5 8DAT read: $Error in header *Received a bad header]Pchecking for time setting acknowledgmentA D D 4=E  E E %E "E =;*E E7:VE 4ZE a @a @a @a @Cӥ &,n&LA2:N@2,\@23=ٱ2O$f>2H?@@ҿ`?x?`G*?i2:N@I2d];2CYNoByR!I TTTVAbDZ)VDZҰ8ybE=%bq=ٔfQ-f?9dYh=jEyjEjtc=Ej?YQ 5e5]ߪ?Q 9e5]=)]KBYaye=Q ImV@])DI]:i][:]F5yuԒBɮuF@uEfffgffrfereZe:e*eÃBɢq<) (i)-=i* k1)>ɧNAce%?iI IPchecking for time setting acknowledgmentA-.AI1IAIOU>qB>BBG!IB BBBBB;Bj7E BDAT read: Rx Time:04:33:29.6544  TRx dataTimestamp_ set to:1764909210.699301 Pchecking for time setting acknowledgmentԡ  &,Q&LAFqO@F{d]@Fa2=ٱFpc>FH@^ ?OӿW?`:Z0?`.?iFqO@IF];FCYZ`ByZ!IbDjJVDj8yr{%rH=ٔvQ-v>9v ?Yv ?=zEyzEz>=Ez>|Q 55~?Q 95~>)~;BY y {ɧ-FPA- &?i)11I1 1I9Em Em~Em$Ei"Em:*Em(:VEm4ZEiBEm, &,"&LA6֯P@6j^@6!1=ٱ6Ya>6H+?.{%տ`G?;36?^3?i6֯P@I6z];6CZDAT read: 04:33:29.6544 LVL= 24416, 17473, 30578, 32211, AGC= 53, IDX= 461, 0.46, 2.065, 2.737, 1.002, 2.005, PHS= 0.161, 0.776,-1.048, RAW= 10.6, 1.4, CAL= 10.7, -0.9, ROT= 139.3, 0.9 ^Ygot valid direction response: 04:33:29.6544 LVL= 24416, 17473, 30578, 32211, AGC= 53, IDX= 461, 0.46, 2.065, 2.737, 1.002, 2.005, PHS= 0.161, 0.776,-1.048, RAW= 10.6, 1.4, CAL= 10.7, -0.9, ROT= 139.3, 0.9 b8DAT read: $Error in header b*Received a bad headerYfZByf!IPchecking for time setting acknowledgmentiUMb@Mb@Mb@QQQQ Q9U +?Zd;OˡEYU6?yUjU'QQ U@)QQYU@bDmbVDm8y}#Ѽ%A=ٔx8Q->9"?Y"?=EyE;=E>Q 55,{?Q 95@)'BY8?Q E:y:Q IV@ɧQA'?iI I)bE3jEā3rEĝ/Em EmEm Ei"Emg:*Em.:VEm3ZEia}@a}@a@a@AIIOI>5Pchecking for time setting acknowledgmentYԁ [ &,&LA2#Q@2_@2N0=ٱ2a>2HjX'?ʔ`<ֿa0\?f? `2?i2#Q@I2M];2CY:WBy:!II>%=)<@Bp=bDFBVDF8yN%NZ=ٔRQ-R>9PYP=VEyVEVF=EV>XQ 5^5Z7e?Q 9~5ZfB)ZBYy9Q IV@ZDDIZ%B!B%A!IB%BB% =B%?DB!B%;B%k7EfqfqfqgqffrfereZe:e*eBɢ%U<)! % 6i!)% =!!i-; -c1>ɧ5!SA5](?Qi1YYIY YIaBDAT read: Rx Time:04:33:30.6548 TRx dataTimestamp_ set to:1764909211.711332Pchecking for time setting acknowledgmentA.AIIO$>ԑEu EuEu%Eq"Eu:*EuC:VEu 4ZEqBEuc;a2Eud;aJEu>;a:Eu>;a ͂G U Pchecking for time setting acknowledgmente c+9a Ym (A y ^? ZA9 &,&LAv!S@va@v0=ٱv8a>vHe:C?oX]׿-?\d?@93?iv!S@Iv,];vCYJBy{!I only read 0 of 1 data item for BIT error. Device response is::TS,00061108222596,35.0, 0.0,1494.8, 0 a @a  a @a  a @a  a @a bDDVD8y%Om%-4=ٔ-0Q-->95 ?Y5 ?=5Ey5E=)=E=>AQ 5E5EJ?Q 9M5ED)EBQ AM+:YIQ EMn:yM^8Q IMV@EODIE:iE>E5y]˒Bɮ]@]EuB*** querying acoustic contact ***iqiqfffgffrfereZe:e*eBɢ?<)! %Di!)%[=!!i%P M@\4>ɧMTAM}*?iQQQIQ QIYAe؟AIqIO;>DAT read: 04:33:30.6548 LVL= 24816, 18545, 30754, 32755, AGC= 54, IDX= 466,-0.36, 0.957, 1.529,-0.157, 0.882, PHS= 0.177, 0.692,-1.083, RAW= 13.6, 2.7, CAL= 13.7, 0.8, ROT= 136.3, -0.8 Ygot valid direction response: 04:33:30.6548 LVL= 24816, 18545, 30754, 32755, AGC= 54, IDX= 466,-0.36, 0.957, 1.529,-0.157, 0.882, PHS= 0.177, 0.692,-1.083, RAW= 13.6, 2.7, CAL= 13.7, 0.8, ROT= 136.3, -0.8 8DAT read: $Error in header *Received a bad header5Pchecking for time setting acknowledgment) E  E E $E "E غ:*E 0:VE 4ZE a @a @a @a @! &, 'LA:{ET@:8b@:70=ٱ:ۭb>:H@:[?s}ؿ5K?% ?0?i:{ET@I:];:CYDyF|!IHHbDN/VDNذ8yV;%Vf=ٔZ)Q-Z>9Z"?YZ"?=ZEy^E^8[=Eb>`Q 5f5b!6?Q 9f5btF)bBQ Aj :YhQ EjA:yj%7Q IjV@bWDIb:ibO?b5ylɮr @pfffgf f rf e re Ze:e*e=BɢE:C<)A E"8iA)E=AAiM M 6>ɧUUAU*?iQQQIQ QIYPchecking for time setting acknowledgmentQA.AIIO=yB%>B!B%4!IB%BB% =B%>DB!B%;B%_7E BDAT read: Rx Time:04:33:31.6551  TRx dataTimestamp_ set to:1764909212.719059 Pchecking for time setting acknowledgment L &,3'LA:H{U@:mc@:+.=ٱ:Fd>:HKWo?b>@ٿ? ֥ [?,?9^ ?Yb ?=bEybEb>=Eb>dQ 5j5f?Q 9j5fH)f݊BQ An9YlQ En:yn5Q InV@f`DIf; ;ifܛ?f5yrȒBɮr@tf f f g f f rfereZe:e*eEBɢE<)I MIiI)M2=IIiMK UL}9>ɧ]VA]+?iYYYIY YIaE= E=E=&E9"E=:*E=a9:VE=4ZE9BE=;aE2E=;aEJE=%;aM:E=%;aMԱA؟AIIO> Pchecking for time setting acknowledgment g3 &,lM'LAJDAT read: 04:33:31.6551 LVL= 22912, 15729, 27026, 27955, AGC= 53, IDX= 452, 0.46, 2.684, 3.106, 1.473, 2.493, PHS= 0.292, 0.657,-1.065, RAW= 18.4, 1.5, CAL= 18.8, -0.5, ROT= 131.2, 0.5 NYgot valid direction response: 04:33:31.6551 LVL= 22912, 15729, 27026, 27955, AGC= 53, IDX= 452, 0.46, 2.684, 3.106, 1.473, 2.493, PHS= 0.292, 0.657,-1.065, RAW= 18.4, 1.5, CAL= 18.8, -0.5, ROT= 131.2, 0.5 R8DAT read: $Error in header R*Received a bad headerV؞V@Vld@Vښ-=ٱVDf>VHL@p?=ڿz??f)?iV؞V@IV];VC~Pchecking for time setting acknowledgmentY:Byg!Iaa aa aa aa iMb@Mb@Mb@ 9(\?+ηˡEY.?yvA @)Yp@bD5HVD58yE*%E(=ٔEmQ-E>9M"?YM"?=uEyuEu:=Eu>yQ 55}?Q 95}dK)}NJBQ AT:Y0?Q E:y95Q IV@}kDI};i} ;}5yŒBɮ@EfffgffrfereZe :e)*e)uBɢu=r<)q u=iy)}Ym=yyi} =>ɧ XA駅,?iI IDE@AzDAEM EMEM$EI"EM:*EM;J:VEM4ZEIaU@aU@aU@aU@AIIOn>ABDAT read: Rx Time:04:33:32.6554 TRx dataTimestamp_ set to:1764909213.474794Pchecking for time setting acknowledgmenta ] &,Ig'LA2W@2e@2,=ٱ2b?g>2H``b?}+ۻۿz;*? ߕ?@(?i2W@I2 ];2CYR@ByRo!I VBbBCBb"!IBbBBb =Bb?DBbĺDBb;BbT7EBBBB =B =C( 5yvj=%vz=ٔv&*Q-v?9xYx=zEyz E~6o=E ? Q 5 5 K?Q 95 CM) BYy4Q IV@ rDI d:i : 5y!ɮ%V@!yfffgffrfereZe:e*e 颅BɢM<) 'i)d=顉i _?>ɧXA駥-?iI IuPchecking for time setting acknowledgmentԩAIIAOU2>EU EQEU!EQ"EU:*EQVEUc3ZEQBEU+EHG9? ¿ݿ@@? Ci?`^&?iEm/Z@IE];ECYU99Y9=EEyEEEV=EE>IQ 5U5Mڔ?Q 9U5MBP)MBY]Q1?Q E]:y]0Q I]V@M|DIMs:iMo:M"5yeʒBɮe@eEB*** querying acoustic contact ***iifffgffrfereZe:e*eBɢVϪ<)  i)1o=ib FB>ɧYA 4.?i+=I IAIIO%+>DAT read: 04:33:32.6554 LVL= 24976, 20193, 29778, 31635, AGC= 55, IDX= 456, 0.15,-2.338,-2.051, 2.642,-2.623, PHS= 0.387, 0.617,-1.062, RAW= 22.7, 0.7, CAL= 23.2, -1.2, ROT= 126.8, 1.2 Ygot valid direction response: 04:33:32.6554 LVL= 24976, 20193, 29778, 31635, AGC= 55, IDX= 456, 0.15,-2.338,-2.051, 2.642,-2.623, PHS= 0.387, 0.617,-1.062, RAW= 22.7, 0.7, CAL= 23.2, -1.2, ROT= 126.8, 1.2 8DAT read: $Error in header *Received a bad headerPchecking for time setting acknowledgment1 EE  EE EE %EA "EE :*EE *:VEE 4ZEA aM @aM @aM @aM @o &,\'LAY)By S!IbD5*VD5Ӱ8yEѽ%E^=ٔEQ-E>9IYI=MEyMEUEU>YQ 5m5]?Ɣ?Q 9m5]R)]BYqyyQ I}V@]DI]Χ;i]6;]&5yǒBɮ@fffgffrfereZe:e*eBDAT read: Rx Time:04:33:33.6558 TRx dataTimestamp_ set to:1764909214.482834Pchecking for time setting acknowledgment1}Bɢ}<)y };iy)=顁i ɧsZA駍.?iI IA!I)IIO]3>aB>BB!IBBB =BBźDB;B\7Eԑ Pchecking for time setting acknowledgmentԹ &,bٴ'LA2Q[@2Ci@2*=ٱ2rhg>2H`vl?@tb¿z޿@wd?`WΧ?(?i2Q[@I2];2CY:'By:Q!I@@bDF(VDFѰ8yN%NV=ٔRQ-R>9PYP=REyVEV&==EV>XQ 5^5Ẕ?Q 95Z]U)ZBYy/Q I%V@ZDIZBfɧ[AH/?i=I IE% E%E!E!"E%:*E%V:VE!ZE!BE%] Pchecking for time setting acknowledgment { &,N'LA:DAT read: 04:33:33.6558 LVL= 27408, 22385, 32754, 32755, AGC= 54, IDX= 460,-0.21, 2.784, 2.898, 1.377, 2.398, PHS= 0.488, 0.545,-1.065, RAW= 28.2, 0.4, CAL= 28.7, -1.5, ROT= 121.3, 1.5 >Ygot valid direction response: 04:33:33.6558 LVL= 27408, 22385, 32754, 32755, AGC= 54, IDX= 460,-0.21, 2.784, 2.898, 1.377, 2.398, PHS= 0.488, 0.545,-1.065, RAW= 28.2, 0.4, CAL= 28.7, -1.5, ROT= 121.3, 1.5 B8DAT read: $Error in header B*Received a bad headerRy\@Rlj@R,=ٱRU2e>RH?@¿߿`4`?@ӓb?@,?iRy\@IRh];RCrPchecking for time setting acknowledgmentYv!ByzI!I |||~AiMb@Mb@Mb@ 9n?x&~jtYV.?y7G@A )"AY @bDVD8y TԼ% )=ٔ {:Q-->9- ?Y- ?=5Ey5E5^=E5>9Q 5E5=~?Q 9E5=Y)=mBYMr/?Q EM:yM-Q IMV@=DI=7;i= ;=-5yUĒBɮU8@]EfyfyfygyfyfyrfereZe:e*e颵yBɢ+<) /i)L<项iv rJ>ɧ[A /?iYP=o}I ID!zD%?AE5 E5E1E1"E5:*E5 H:VE1ZE1a=@a=@a=@a=@AI I!O5O>BDAT read: Rx Time:04:33:34.6561 TRx dataTimestamp_ set to:1764909215.490711Pchecking for time setting acknowledgmentI &,'LAB6>B6CCB6 IB6BB6 =B6>DB4B6;B6f7EB]@Bk@BZH,=ٱBO[c>BHl@?@¿n z? k`g)?/?iB]@IBw];BCYJByN@!IbD!VD˰8y0%%[=ٔ%̄Q-%>9)Y)=-Ey-E5L=E5>AQ 5M5EY?Q 9M5E[)E^BYQyU+Q IUV@EDIE>;iE?;E05ye’Bɮe@eEfffgffrfereZe:e*esBɢr<) 1i)9<i4, )M>ɧ\A0?i=I I IUPchecking for time setting acknowledgmentAIIO%M>yE= E=E9E9"E=:*E=x:VE9ZE9BE=xHvۺ? ÿ`df`V?`d? ,?i_@I%];CYBy3!IiMb@Mb@Mb@ 9Gz?ʡE rhY0?yC t@ A )AYp@ <<bD VDʰ8yN%O=ٔ>9Q->9Y=Ey"E=E>Q 55q?Q 95D_)NBY1?Q E:y*Q IV@DIɧ]d\A]QP0?iae[ =e!eIa aIiԩAIIOD>DAT read: 04:33:34.6561 LVL= 23840, 18913, 32754, 32755, AGC= 55, IDX= 463, 0.05,-1.501,-1.436,-2.960,-1.948, PHS= 0.549, 0.556,-1.057, RAW= 29.8, -0.6, CAL= 30.3, -2.5, ROT= 119.7, 2.5 Ygot valid direction response: 04:33:34.6561 LVL= 23840, 18913, 32754, 32755, AGC= 55, IDX= 463, 0.05,-1.501,-1.436,-2.960,-1.948, PHS= 0.549, 0.556,-1.057, RAW= 29.8, -0.6, CAL= 30.3, -2.5, ROT= 119.7, 2.5 8DAT read: $Error in header *Received a bad headerPchecking for time setting acknowledgment bEʻ 4jEm4rE/E=  E= E= "E9 "E= غ:*E= 0:VE= (3ZE9 aM @aM @aM @aM @ &,E(LAtYBy1!II%<)%=bD5VD58yE%ET=ٔEQ-M>9IYI=MEyM&EUEU>YQ 5e5]]?Q 9e5]}b)]>BYayaQ IeV@]DI]:i]:]75yuBɮu@qfffgffrfereZe:e*eBDAT read: Rx Time:04:33:35.6563 TRx dataTimestamp_ set to:1764909216.498848Pchecking for time setting acknowledgmentfBɢpœ<) /i)W<i@S>ɧ\A0?i@~=I I ^A#A!zA!Bm>BmBCBm IBmӂBBiBiBmĺDBm;Bmw7EPExceeded connect timeout, disconnecting.iAiIyIO>m Pchecking for time setting acknowledgmenta &, 6(LAJ:Db@J6p@J-=ٱJ}j>JHH,`E? ſs\?.`?"?iJ:Db@IJ];JCYV ByV0!IbD^VD^8yfZ%fR=ٔfa`:Q-j>9hYh=jEyj*En"=En>pQ 5v5rjI?Q 9v5re)r.BYtyz'(Q IzV@rDIr:irB:r";5y~Bɮ~@~EYfffgffrfereZe:e*e_Bɢ$ȟ<) L#i)<iDU>ɧ\A<0?iq=ZVI IE EE$E"E2:*EE7:VE4ZEBE$*Ա Y &,O(LA>DAT read: 04:33:35.6563 LVL= 22848, 20465, 32754, 32755, AGC= 56, IDX= 465, 0.13,-2.343,-2.310, 2.443,-2.812, PHS= 0.571, 0.547,-1.073, RAW= 30.8, -0.6, CAL= 31.3, -2.4, ROT= 118.7, 2.4 BYgot valid direction response: 04:33:35.6563 LVL= 22848, 20465, 32754, 32755, AGC= 56, IDX= 465, 0.13,-2.343,-2.310, 2.443,-2.812, PHS= 0.571, 0.547,-1.073, RAW= 30.8, -0.6, CAL= 31.3, -2.4, ROT= 118.7, 2.4 B8DAT read: $Error in header F*Received a bad headernPchecking for time setting acknowledgment gc@ YZq@ 5-=ٱ fh> H@?)8ſ @a-? ?&?i gc@I =]; CY-By-8!IiMb@Mb@Mb@ 9M?/$lYn2?y^@ @)AYz@bDVD8y<%+=ٔCQ->9 "?Y "?=MEyM/EUL=EU>YQ 5e5]0?Q 9e5]jj)]BYe3?Q Ee:ye'Q IeV@]ĪDI]E:i],:]^?5yqɮu@qfffgffrfereZe:e*eMVBɢMg<)Q U*iQ)Uɧm\Au#0?iquM1=qIq qIy@R=@=E  E E "E "E 7:*E c:VE (3ZE a@a@a@a@^A}4eBDAT read: Rx Time:04:33:36.6566 TRx dataTimestamp_ set to:1764909217.506690Pchecking for time setting acknowledgmentAII O>9 BY BY B] IB] ɂBB] =B] ?DBY B] *;B] 7E nManaging dock network, ignoring radio surface power off &,2vj(LABd@B~~r@B"-=ٱBRf>BH?uſ "H(?Z ?)?iBd@IB)];@YZBy^>!I ``bDfVDf8y~<%~l=ٔ9Q-?9 Y = Ey 3EV=E?Q 5-5?Q 9-5m) BY1y5d&Q I5V@˪DI%-;i7;WB5yEBɮE@EEfqfyfygyfyfyrfereZe:e*e  PBɢ <) @i)L<iw%8[>ɧ%]A%0?i!%T=EJII IIIPchecking for time setting acknowledgment1^AM?eAU>AU ?E EE%E"Ey:*Ee:VE 4ZEBE Pchecking for time setting acknowledgmentԙ  &,(LAYBy2!IiMb@Mb@Mb@ 9tV?Cl绿lY2?y;߽t@A @)AY @bDVD8y3%@=ٔQ->9 ?Y ?=Ey7EE>Q 55 ?Q 95pq)BY5?Q E:y(Q IW@ժDIi:iP; F5yBɮv@E B*** querying acoustic contact ***iifffgff!rf!e!re!Ze!:e)*e)ԉIBɢp<) i)y<ip%V^>ɧE;]AEW0?iAM>=III III^A=XԱ]DAT read: 04:33:36.6566 LVL= 24048, 24737, 32754, 32755, AGC= 54, IDX= 468, 0.16,-2.126,-2.130, 2.633,-2.617, PHS= 0.593, 0.531,-1.078, RAW= 31.9, -0.6, CAL= 32.4, -2.4, ROT= 117.6, 2.4 uYgot valid direction response: 04:33:36.6566 LVL= 24048, 24737, 32754, 32755, AGC= 54, IDX= 468, 0.16,-2.126,-2.130, 2.633,-2.617, PHS= 0.593, 0.531,-1.078, RAW= 31.9, -0.6, CAL= 32.4, -2.4, ROT= 117.6, 2.4 }8DAT read: $Error in header *Received a bad headerA؟AIIOg>Pchecking for time setting acknowledgmentE  E E #E "E :*E F:VE 3ZE a @a @a @a @ ' &,ѝ(LA>f@>qt@>/=ٱ>__>>H x?֟ſK)n`b%?@fॿı?@K6?i>f@I>)];9v"?Yv"?=vEyv;Ez=Ez>xQ 55z?Q 95zt)zBYye&Q IW@zݪDIz;iz:zOI5yɮ@BDAT read: Rx Time:04:33:37.6569 TRx dataTimestamp_ set to:1764909218.514805Pchecking for time setting acknowledgment$failed to set timef ffgfQfQrfQeYreYZeY:eY*eY颍BBɢ<) i)<顑iC5a>ɧD]A駥1?i=:I I@zA@zAB>BCCB IBĂBB =B>DBźDBY;B7EBBCBBB =B =CVg5!^A3JE \Setting time to: 4:33:38 And date to:12/5/2025AY q I I O >E- &,?(LA2g@27u@2T0=ٱ2[>2H t ? ſ@@e?+@?nBy>9!IbDFοVDF~8yNh%RO=ٔRL:Q-R>9TYT=VEyV?EVK5=EV>XQ 5^5ZⓊ?Q 9b5Zx)ZԉBY`ybK%Q IbW@ZDIZ3;iZ/;ZL5yfBɮf@jEfxfxfxgxfxfxrf|e|re|Ze:e*e-;Bɢ-<)1 5 i1)5<11i5Ed>ɧE:]AE0?iAEl=AIA AIIE E}E%E"E:*Ek&:VE 4ZEBEԁ!DAT read: user:7>04:33:37.2815 LVL= 20112, 21025, 31090, 32627, AGC= 53, IDX= 471, 0.24,-2.838,-2.896, 1.868, 2.915, PHS= 0.632, 0.517,-1.091, RAW= 33.4, -0.7, CAL= 34.1, -2.4, ROT= 115.9, 2.4 8DAT read: $Error in header *Received a bad headerchecking for new query: numPingsReceived=4, elapsed TxPingTime=41.070404ԡ M checking for new query: numPingsReceived=4, elapsed TxPingTime=41.208305.4 &,(LA@YEByE6!IiMb@Mb@Mb@ 9 rh?`"Q롿Y,?y\@A  @) AYbDVD8y\%6=ٔQ->9Y=EyCEE> Q 55 ̓?Q 95 |) BY/?Q E:y&Q IW@ DI ;i y; P5y%Bɮ%@-EfIfIfIgIfIfIrfQeQreQZeQ:e]0@*e]`B@颅3Bɢ!w<) |i)4<顑i.Fg>ɧK]A駝s 1?i=I IԩE EEE"E:*Ea9:VEZEa@a@a@a@^A5z:BDAT read: Rx Time:04:33:38.2818 TRx dataTimestamp_ set to:1764909219.523975checking for new query: numPingsReceived=4, elapsed TxPingTime=41.461651I9 II Ou > B >B B B B =B B B h;B 7EW: &,,a(LA2Hj@2x@2<3=ٱ2YZ>2H? c1ƿi@m@h?z@G? O??i2Hj@I2];0YRByR8!IXZ@AbDbVDb8yjs<%j_=pٔn;Q-r>9tYt=vEyvGEz=Ez>Q 5 5?Q 9 5)BYy$Q IW@DI;iDA;S5y!ɮ%@)fYfYfagafafarfi@m mAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@mupTransitioning to terminal guidance at range 16.799999 m @u1AuereZe:e*eB@M+BɢM <)I MCiI)Mضɧ}7]A} 0?iy} =&I I@@@@checking for new query: numPingsReceived=4, elapsed TxPingTime=41.712151 9E EE$E"E:*Ec:VE4ZEBEa2EaJE;a:E;aII)O5>i  checking for new query: numPingsReceived=4, elapsed TxPingTime=41.965050tCA &,L)LA1Y=By=9!IAAiMb@Mb@Mb@ 9oʡ?Pn9!Y!=-Ey-LE-E->1Q 5=55T?Q 9=55Ä)5BYEk0?Q EE:yEA%Q IEW@5DI5:i5:5W5yUBɮU@QmB*** querying acoustic contact ***iiiifqfqfqgyfyfyrfybf}@1A}Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeereZe:e*e C@颽$Bɢ<) i)<iK; m>ɧ+]A0?i눕=I IIIIYO>aEDAT read: 04:33:38.2818 LVL= 21536, 22513, 32050, 32755, AGC= 54, IDX= 474, 0.45, 0.900, 0.813,-0.684, 0.393, PHS= 0.609, 0.465,-1.121, RAW= 34.3, 0.6, CAL= 34.8, -1.2, ROT= 115.2, 1.2 MYgot valid direction response: 04:33:38.2818 LVL= 21536, 22513, 32050, 32755, AGC= 54, IDX= 474, 0.45, 0.900, 0.813,-0.684, 0.393, PHS= 0.609, 0.465,-1.121, RAW= 34.3, 0.6, CAL= 34.8, -1.2, ROT= 115.2, 1.2 ]8DAT read: $Error in header ]*Received a bad headerX#Rx 5: Read direction message, but no range.`direction in FSK: [-0.425686,0.904629,-0.020942]yo>ۿ^ѷ?_2q TW2} )6Im?i{>|@?+<|? )@I<43?IVg"2H\?wƿv1`?@զ@?JA?i29l@I2];0YBByB>!IbDJ VDJ8yz<%z`=ٔ~:Q-~>9|Y=EyOE=E> Q 55 铓?Q 95 m) BYy#Q IW@  DI @;i <; Z5y!ɮ%l@!qL==~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalLE EAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLLEMEntering USBL mode with 120.000000 count pings at 16.799999 m (mode 0.000000 count ).LM1MMeBDAT read: Rx Time:04:33:39.2821 eTRx dataTimestamp_ set to:1764909220.530911mchecking for new query: numPingsReceived=5, elapsed TxPingTime=42.468243DmmAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1Eu uAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFuuAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlFuuInitialize.FuuAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1Gu uInitialize.qG}G}qE}g}h7gh7FAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1GDReached init depth of 65.547493 m.jgrgfB$Terminal guidance.qEGInitialize.dInitializing internal variables to default values.ZTransitioning guidance mode to: UNINITIALIZED iDRollout timeout set to 300.00 sec.ԙVIIR 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*e8C@B66=)  i)<97iIIIO=B>BBBB =BBBd;B7E checking for new query: numPingsReceived=5, elapsed TxPingTime=42.720043 M &,8)LA2Im@2<{@2;8=ٱ2H[>2H?%=ǿ@ [@Ȯ? u@>?;?i2Im@I2];2CYBByB1!IbDJVDJ8yfG%fM=ٔf}p:Q-f>9hYh=jEyjSEn+=En>pQ 5v5r?Q 9v5r)rvBYtyv "Q IvW@rDIry:ir:rw^5y~Bɮ~@~Ej^@1MqME EEE"EI:*Ee:VEـ3ZEBE % 4=% <{T &,R)LADAT read: 04:33:39.2821 LVL= 25888, 24561, 32754, 32755, AGC= 54, IDX= 461,-0.42,-1.711,-1.799, 3.030,-2.182, PHS= 0.573, 0.428,-1.115, RAW= 34.5, 1.4, CAL= 34.9, -0.4, ROT= 115.1, 0.4 Ygot valid direction response: 04:33:39.2821 LVL= 25888, 24561, 32754, 32755, AGC= 54, IDX= 461,-0.42,-1.711,-1.799, 3.030,-2.182, PHS= 0.573, 0.428,-1.115, RAW= 34.5, 1.4, CAL= 34.9, -0.4, ROT= 115.1, 0.4 J8DAT read: $Error in header N*Received a bad header~X#Rx 6: Read direction message, but no range.`direction in FSK: [-0.424189,0.905547,-0.006981]yQU(Nv%ۿ*=?a|QU eU_U Q)QIU!?iU">URU%?U+mHFx2?aǿ P?@Z?6?imOn@Im];mCY} ByyI<)p;iMb@Mb@Mb@ 9Zd;O?QˡEY~*?y\'@A  @)YAbDVD8yP4%-=ٔɱQ->9Y=Ey =E>Q 55j?Q 95Z)]BY.?Q E:y"Q IW@DI@:i:b5y-Bɮ-L@-EjAqMEMEhqhqhqhqhqgqgyjgyrg}tBeyreZe:e*eC@[.?[.?"[n@*[p@ Bɢ|<) `9i)_<ii-𿉧))I)I)bE54jE53rE50E EE$E"E[:*ErN:VE4ZEa@a@a@a@}BDAT read: Rx Time:04:33:40.2824 }TRx dataTimestamp_ set to:1764909221.538760checking for new query: numPingsReceived=6, elapsed TxPingTime=43.476116^AII O >) B >B DCB IB ɂBB B B ƺDB >;B 7EZ &,l)LAJwVo@J I}@J'1=ٱJLi>JHo}?ȿwIϿ? ;9`?`#?iJwVo@IJ]];HY^By 7!IbD%VD%ư8y5<%5j=ٔ5T,Q-5>99Y9==Ey9Ev;=EE>IQ 5M5M[?Q 9U5M)MKBYQyU Q IUW@M$DIM;iMw;Me5yaɮe@ajyM}}Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLL} Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLhhhhhggjgrgereZe:e*e@C@[["[*[&q@ɢr<) # d; |? ϸ? ) @I ;  4Ǵ?`hk)Wݕ? aH) `̼I @i ; checking for new query: numPingsReceived=7, elapsed TxPingTime=44.084591I O >|ab &,])LAYmBym3!Ii Mb@Mb@Mb@     9  rh?V-¿Zd;OY ,?y h j< @   @) A Y (AbD%VD%8y5;%5&=ٔ5Q-5>99Y9==Ey9EEE>IQ 5U5M/D?Q 9U5M)M1BYU0?Q EU:yU Q IUW@M/DIM:iM:Mi5yeBɮe @aB*** querying acoustic contact ***iixhhhhhggjgrg{BereZe:e*e@D@[0?[0?"[j@*[6q@ɢ$<) ;i)w<iPim͞quسIqIqEchecking for new query: numPingsReceived=7, elapsed TxPingTime=44.2322271Ga^AH~IIO>E%  E% E! E! "E% :*E% &p:VE! ZE! a- @a- @a- @a- @ԉ  BDAT read: Rx Time:04:33:41.2826  TRx dataTimestamp_ set to:1764909222.546757 checking for new query: numPingsReceived=7, elapsed TxPingTime=44.484100͂h &,)LAfPq@fB@f/=ٱfy>fH,@ ?zʿO\r?ޥ`(? ?ifPq@IfI^;fCY% By%.!I ))bD5VD5ɰ8yE͡%E\=ٔMQ-M>9IYI=UEyQU=EU>YQ 5e5]Q3?Q 9e5]4)]BYiymQ ImW@]7DI]:i]:]-m5yqɮuE@qhhhhhggjgrgereZe:e*e1BD@[["[*[Ks@ Bɢjn<) i)0u<i[i]qy}:eIyIyB>BECB IBĂBBBBǺDB ;B7Eԡ^A#I)I9OMt>]checking for new query: numPingsReceived=7, elapsed TxPingTime=44.735111 E=  E= E= "E9 "E= a:*E= 1]:VE= (3ZE9 BE= (2H@_?@"˿`M k@G? `,??i2_r@I2^;2CY:By:#!IbDFVDFȰ8yJUG%NV=ٔN}Q-N>9PYP=REyPV1=EV>TQ 5Z5V7"?Q 9^5V~)VBY9y=Q IEW@V?DIVd?{J`INy })4I?i>^?;`? +ȼ)^ @I+<4K?}U$U|? "h)](I^ @i+<[a[a"[a*[e6at@qɢuZ<)q uPchecking for new query: numPingsReceived=8, elapsed TxPingTime=45.118362iq)H<i6i1YJ=IIԁ m checking for new query: numPingsReceived=8, elapsed TxPingTime=45.239082q ^A I I O >Vv &,)LA2ups@2@2v+=ٱ2RR{>2H`x^?@kI˿ @?St? ?i2ups@I2^;2CY:By:%!Ii-Mb@Mb@Mb@)))) )9-Cl?9aYa=eEyae=Ee>Eu EuEqEq"Eu:*Eu H:VEqZEqa}@a}@a}@a}@Q 55N?Q 95~)BY$?Q E:yQ IW@IDIL ;i;t5yBɮ}@EhhhhhggjgrgBereZe:e*e@4D@[$?[$?"[&@*[_nt@M BɢM"<)I MqiI)U3!Bm>BmFCBiBiBm =BiBiBm;Bm^7EBDCBDCBǔCBBC4Q  checking for new query: numPingsReceived=8, elapsed TxPingTime=45.743145z| &,W)LAY~By~!II) = =bDdVD 8ye6I%mJ=ٔmQ-m>9qYq=uEyquE}>yQ 55}?Q 95})}ԈBYyQ IW@}QDI}:i}y:}9x5yɮ @hhhhhggjgrgereZe:e*eD@[["[*[ɢ<) ` i ) *<  i Qim7im% >IqIq^AmmIIO>E EEE"E>:*Ex:VEZEBE̓qۿ~i?{JaԱeSe_e e)e6Ie?ier>ere:\?ae#? a)e.@IaaeF~C#?v`@ᅥy? e;)e$̻Ie.@ia checking for new query: numPingsReceived=9, elapsed TxPingTime=46.050423 b &,2*LA6u@6?ʁ@6;(=ٱ6Erh>6Hg`?ɿ SC,?M?'?i6u@I6^;6CYBByB!IiMb@Mb@Mb@ 9x?Pn:vYK?yT@^A 7@)9AYpAbDMzVDM8yeM%eK=ٔm/Q-m>9qYq=uEyy}B=E>Q 55W?Q 95)BYm?Q E:yQ IW@YDIZ;in;{5yBɮ'@B*** querying acoustic contact ***ichecking for new query: numPingsReceived=9, elapsed TxPingTime=46.246967ԹihhhhhggjgrgBereZe:e*e@E@[=m?[=m?"[=]/@*[=(Ow@颵 Bɢ;<) 0i)߼<项iiG#=>II^A7IIO=>E EE$E"E:*E:VE4ZEa@a@a@a@ m BDAT read: Rx Time:04:33:43.2831 m TRx dataTimestamp_ set to:1764909224.562816u checking for new query: numPingsReceived=9, elapsed TxPingTime=46.5001649 &,N (*LA2Gv@2Q@2N(=ٱ2q[>2H[? ȿ`ť`9M?@M{:? n=?i2Gv@I2];2CYNByR!IbDZVDZ*8ybԼ%bU=ٔbQ-f>9dYd=fEydj1=Ej>lQ 5-5n?Q 9-5n)nBY)y-Q I5W@n`DIn 8IIBu>BuECBu IBuBBqBqBqBu;Bud7E^A{S IqIO>checking for new query: numPingsReceived=9, elapsed TxPingTime=46.7510729i E  E E E "E >:*E R:VE ZE BE a 2E a JE ;a :E ;a Xw &,A*LA MDAT read: 04:33:43.2831 LVL= 17072, 22897, 32098, 31011, AGC= 52, IDX= 455,-0.01,-1.424,-1.546,-2.946,-1.903, PHS= 0.582, 0.402,-1.087, RAW= 35.6, 1.3, CAL= 36.1, -0.4, ROT= 113.9, 0.4 UYgot valid direction response: 04:33:43.2831 LVL= 17072, 22897, 32098, 31011, AGC= 52, IDX= 455,-0.01,-1.424,-1.546,-2.946,-1.903, PHS= 0.582, 0.402,-1.087, RAW= 35.6, 1.3, CAL= 36.1, -0.4, ROT= 113.9, 0.4 ]8DAT read: $Error in header ]*Received a bad headerZ#Rx 10: Read direction message, but no range.`direction in FSK: [-0.405132,0.914232,-0.006981]yG;ٿNgbA?a|BqYb} #y)4I?i>"?޹<K!? )~t?I;"Y$?v8FX~? Tw)I~t?i;checking for new query: numPingsReceived=10, elapsed TxPingTime=47.026871zw@т@((=ٱT>H`@>?|qȿ@ @?~`f?H?izw@I];CY By !Iy}AbDVD+8yU[%]'=iٔeQ->9Y=Eyq<E>Q 55f͒?Q 95d)BYyQ IW@jDIiEIYIq@zA@zAԙ^AUA]4=A]p;IIO>checking for new query: numPingsReceived=10, elapsed TxPingTime=47.255104 ] &,[*LA2fx@2}H@2z)=ٱ22O>2HO?ȿ5 +?-? R?i2fx@I2 ^;2CLYb߂Byb IEe EeEe&Ea"Ee[:*Ee:VEe4ZEaam@am@am@am@iMb@Mb@Mb@ 9B`"?~jtY?yD@A M@)OAYbDVD)8yʽ%j=ٔCs:Q-?9Y=Ey1=E?Q 55’?Q 95Ƽ)BY?Q E:yfQ IW@pDI:i:j5yɮ@hhhhhggjg rg sBe re Ze:e*e`E@[?[?"[@*[y@Bɢ8<)  i ) ٮ< )i-i55Ӗ==Hl>I9I9 M&Changing to mode: 1M5BDAT read: Rx Time:04:33:44.2833 =TRx dataTimestamp_ set to:1764909225.571442Echecking for new query: numPingsReceived=10, elapsed TxPingTime=47.508877:@ @@0@^AIAIQOeU>B- >B) B- IB- BB) B) B) B- ;B- 7E!  checking for new query: numPingsReceived=10, elapsed TxPingTime=47.759426Ȝ &,u*LA2oy@2H@2 +=ٱ2QI>2H 8?ݟǿq iq? ``9?/[?i2oy@I2];2CYBԂByB IbDJVDJ$8yRun%V\=ٔV:Q-V>9TYX=ZEyXZR =EZ>\Q 5b5^W?Q 9f5^)^nBYdyfQ IfW@^wDI^:i^:^5yhɮj@l|hhhhhg g jg rg e reZe:e*e}E@[["[*[~z@Bɢڸ<) ʽi)<iigo=v>II:@ @@@1Eu EuEqEq"Eum:*EuX:VEqZEqBEuVQmDAT read: 04:33:44.2833 LVL= 16800, 21409, 27938, 28259, AGC= 53, IDX= 457, 0.25, 0.913, 0.711,-0.685, 0.411, PHS= 0.604, 0.345,-1.140, RAW= 37.9, 2.4, CAL= 38.2, 0.9, ROT= 111.8, -0.9 Ygot valid direction response: 04:33:44.2833 LVL= 16800, 21409, 27938, 28259, AGC= 53, IDX= 457, 0.25, 0.913, 0.711,-0.685, 0.411, PHS= 0.604, 0.345,-1.140, RAW= 37.9, 2.4, CAL= 38.2, 0.9, ROT= 111.8, -0.9 8DAT read: $Error in header *Received a bad headerZ#Rx 11: Read direction message, but no range.^direction in FSK: [-0.371322,0.928371,0.015707]y9=bٽ׿7?y&?9=A=S="m =cn)=5I=?i=ף>=둿=V)?=+==*? =<)=|?I=9=MSO??z D[u1? =dd)=)I=|?i=]checking for new query: numPingsReceived=11, elapsed TxPingTime=48.047157ԉ &,z*LAF5&z@Fe @F*-=ٱFC>FH  ?T3ǿ@ ?`=L? c?iF5&z@IF^;FCYZ͂ByZ IIf=)f=f=f=YiMb@Mb@Mb@ 9E?S㥻lY?y/ݽ@A  @)AYzAbDVD+8y%;=ٔ:Q->9y>Yy>=EyUE<E>Q 55?Q 95)]BY ?Q E:yQ IW@~DI;i;{5yBɮ@checking for new query: numPingsReceived=11, elapsed TxPingTime=48.263111B*** querying acoustic contact ***iihhhhhggjgrgCBereZe:e*e`&F@EBɢE8<)I MiI)m1HIyIyԉ-:@) @)@-P5@)^AB=bEǻ 4jE4rEdz0E} E}EyEy"E}O:*E};J:VEyZEya@a@a@a@ԱAmAIyIO>M BDAT read: Rx Time:04:33:45.2835 M TRx dataTimestamp_ set to:1764909226.578768U checking for new query: numPingsReceived=11, elapsed TxPingTime=48.516117 ک &,T*LA2Gz@2n[@2m0=ٱ2e;>2Hdk??1tƿZ@?@ 9zc>Y~c>=~Ey~WE~`<E>Q 5 5ٛ?Q 9 5)MBYyoQ IW@DIu:i:ː5yɮ%@!hAhAhIhIhIgIgIjgQrgQeQreQZeQ:eQ*e] LF@颕BɢNߢ<) i)<顩i7B<Ai[=>IIB>BFCB IBBBBBB ;B7Eq@q @y@y@ychecking for new query: numPingsReceived=11, elapsed TxPingTime=48.767124^AD%K=G 1 u Q 9q Yu AA /AI I O >E  E E 'E "E :*E F:VE '4ZE BE jH /o?` ſ:$2z?#f?yy?ij~S{@Ij ^;hYrƂByr I-DAT read: 04:33:45.2835 LVL= 24496, 29905, 32754, 32755, AGC= 55, IDX= 459, 0.38, 0.861, 0.628,-0.754, 0.369, PHS= 0.594, 0.304,-1.167, RAW= 38.8, 3.3, CAL= 38.8, 2.2, ROT= 111.2, -2.2 5Ygot valid direction response: 04:33:45.2835 LVL= 24496, 29905, 32754, 32755, AGC= 55, IDX= 459, 0.38, 0.861, 0.628,-0.754, 0.369, PHS= 0.594, 0.304,-1.167, RAW= 38.8, 3.3, CAL= 38.8, 2.2, ROT= 111.2, -2.2 m8DAT read: $Error in header m*Received a bad headerbDuIVDu8y<%A=ٔ;Q->9>Y>=EyYE<E>Q 55?Q 958)~B`~-\-?~k=~-\-? ~nF=)~Ul?I~nF|~TvW?+|k? ~S)~mI~Ul?i~nFchecking for new query: numPingsReceived=12, elapsed TxPingTime=49.050735DIۓI19I59@1 @1@5 0@1^A @=i߭%=߭%=checking for new query: numPingsReceived=12, elapsed TxPingTime=49.271389A ?AI I O% >ԑ s &,1 *LA6/{@6ۄ@68=ٱ6s/>6H ? ȈſC^2?n`??i6/{@I6^;4Y^Byb I ddddEE EEEE&EA"EE:*EEA:VEE4ZEAaM@aM@aM@aM@ieMb@Mb@Mb@aaaa a9eFx?ʡEˡEYe ?yeye'e?@eb A e7@)aaYeAbD}0VD}ٰ8y%K=ٔ);Q->9`>Y`>=Ey\En<E>Q 55݁?Q 95q)+BYU?Q E:yQ IW@DIM:i:5yBɮAEԁhhhhhggjgrg2BereZe:e*e_F@ BɢЏ<) i)t<iƊi!!I!I!BDAT read: Rx Time:04:33:46.2837 %TRx dataTimestamp_ set to:1764909227.5879735checking for new query: numPingsReceived=12, elapsed TxPingTime=49.525673@ @@0@ԡ^Aa5=AxJAIIO->B>BB IBBB =BBB;B7E checking for new query: numPingsReceived=12, elapsed TxPingTime=49.775036 k &,*LA2|@2@2"==ٱ2_->2H`` ?nſ5(^Ω?,?`ʁ?i2|@I2];0Y:‚By: IbDF)VDFҰ8yJ=%N[=ٔnb3;Q-n>9r;>Yr;>=rEyr^ErR<Ev>tQ 5z5vu?Q 9~5v~)vBY|y~Q I~W@vDIv;iv;v\5y ɮ 6@ hIhQhQhQhQgQgQjgrgereZe:e*eRF@Bɢ^a<) i)<ie:i%!!I)I):@ @@@EM EMEM"EI"EM:*EMV:VEM(3ZEIBEM6MDAT read: 04:33:46.2837 LVL= 18192, 20257, 28658, 29459, AGC= 53, IDX= 461, 0.33, 2.086, 1.820, 0.444, 1.592, PHS= 0.596, 0.273,-1.192, RAW= 39.8, 4.0, CAL= 39.6, 3.0, ROT= 110.4, -3.0 UYgot valid direction response: 04:33:46.2837 LVL= 18192, 20257, 28658, 29459, AGC= 53, IDX= 461, 0.33, 2.086, 1.820, 0.444, 1.592, PHS= 0.596, 0.273,-1.192, RAW= 39.8, 4.0, CAL= 39.6, 3.0, ROT= 110.4, -3.0 U8DAT read: $Error in header ]*Received a bad headerA]tZAIaIyO{>Z#Rx 13: Read direction message, but no range.^direction in FSK: [-0.348094,0.935997,0.052336]yB-Gֿz?yoU˪?G!Oo s)5Iu?iƋ>u1?5=;0? PwV=)Ϣ?IPwVXz?WA7v%8O? B)P|IϢ?iPwVchecking for new query: numPingsReceived=13, elapsed TxPingTime=50.0503811 Y  &,h+LAJD|@JU@JA=ٱJ->JH`൵?ſ 4 k?m7[??iJD|@IJ ^;JCYfByf IiUMb@Mb@Mb@QQQQ Q9UHzG?rh|Q롿YU= ?yUU\QUK A U@)UOAQYUzAbDmVDm8y}QK%}<=ٔ}/;Q-}>9>Y>=EyaE;E>Q 55g?Q 95)BY?Q E:ytQ IW@DIr;i;45yBɮ@E-B*** querying acoustic contact ***i1i1h9h9h9h9hAgAgAjgArgM,BeIreIZeI:eI*eU@G@mchecking for new query: numPingsReceived=13, elapsed TxPingTime=50.279247颕Bɢ*<) i)-<顡iDiIIa%9@! @!@%0@)@-=@->^A.I>ԉA%eAI)I9EM EMEIEI"EMx;*EMg:VEIZEIaU@aU@aU@aU@O]v>Ա  BDAT read: Rx Time:04:33:47.2838  TRx dataTimestamp_ set to:1764909228.594754 checking for new query: numPingsReceived=13, elapsed TxPingTime=50.532108( &,Л*+LA6Q|@6."@6NF=ٱ66H?Eſ;7E@?j֨`.?A?i6Q|@I6];6CLYRByR IIV<)V;Z=Z=bD^1VD^ڰ8yf;%fW=ٔjQ;Q-j>9n^>Yn^>=rEyrdEr;Ev>xQ 5~5z[?Q 95z)zBYylQ I W@zDIzD=;iz0;zk5yɮ@hihihqhqhqgqgqjgyrgereZe:e*e`iOG@BɢT<)  i)<i{iIB5>B1B5y IB5xBB1B1B5ȺDB5;B57EBuFCBuFCBu“CBu =Bu =Cu=4Im:@i @i@i@i^AEEx>checking for new query: numPingsReceived=13, elapsed TxPingTime=50.784019A5oAIAIQOY! E  E E %E "E :*E 1]:VE 4ZE BE +2H `?pĿ[1`ͤ?? ?i2@=|@I27];2CY@y@bDJQVDJ8ٔRl;Q-R>9V9>YV9>=VEyVgEZNEZ>XDAT read: 04:33:47.2846 LVL= 16688, 18289, 27122, 28243, AGC= 53, IDX= 462, 0.29, 1.319, 1.043,-0.330, 0.831, PHS= 0.590, 0.257,-1.204, RAW= 40.0, 4.4, CAL= 39.7, 3.5, ROT= 110.3, -3.5 %Ygot valid direction response: 04:33:47.2846 LVL= 16688, 18289, 27122, 28243, AGC= 53, IDX= 462, 0.29, 1.319, 1.043,-0.330, 0.831, PHS= 0.590, 0.257,-1.204, RAW= 40.0, 4.4, CAL= 39.7, 3.5, ROT= 110.3, -3.5 %8DAT read: $Error in header %*Received a bad headerQ 5]5ZO?Q 9]5Z )ZBYayeQ IeW@ZDIZ=rr¸2?rnF=ra1? r5z=)ri?Ir5zprrrD?EL4j'Wq~? r%)r5Iri?ir5zchecking for new query: numPingsReceived=14, elapsed TxPingTime=51.058701hhhhhggjgrgereZe:e*eքG@eBɢe<)a e"ii)m4ԡ A lzAI I O >o= &,]^+LA2|@2?@2;XS=ٱ2>2HJ ?`Kÿ q&6+?@h`?@?i2|@I2|$^;2CY:By: Ii~Mb@Mb@Mb@|||| |9~ˡE?nX9vY~?y~V~|~ A |)~fA|Y~AE EE#E"E:*Ega:VE3ZEa%@a%@a-@a-@bD-pVD-8y=N<%=<ٔE{;Q-E>9E>YE>=EEyMjEMNEM>ԑQ 55@?Q 95m)ׇBY ?Q E:yQ IW@DI/:i:5yɮD@hhhhhggjgrg8BereZe!:e!*e%mG@颕BɢY7<) i)Wk<顙i3iIIiAIABDAT read: Rx Time:04:33:48.2848 TRx dataTimestamp_ set to:1764909229.604370checking for new query: numPingsReceived=14, elapsed TxPingTime=51.542168E9@A @A@E35@I@Q@QB ">B GCB B B B B B <;B 7E^AV݅>I I O >  checking for new query: numPingsReceived=14, elapsed TxPingTime=51.791100[e &,/x+LA>{@>D@>Z=ٱ> >>HqH?*¿ |? P@+?.?i>{@I> ^;>CYRByR I TTTVAbD^8VD^8yf $%fR=ٔfΕ;Q-f>9hYh=jEyjmEj'En>pQ 5v5r;4?Q 9v5r)rȇBYtyv/Q IvW@rDIr>:ir:r5yxɮ~d@|h!h!h!h!h!g!g)jg)rg)e)re)Ze1:e1*e5#G@eBɢeΤ<)a eia)mҳEDAT read: 04:33:48.2848 LVL= 17120, 18673, 26274, 27379, AGC= 54, IDX= 464, 0.31, 1.301, 1.023,-0.372, 0.811, PHS= 0.591, 0.257,-1.227, RAW= 39.9, 4.6, CAL= 39.6, 3.7, ROT= 110.4, -3.7 ]Ygot valid direction response: 04:33:48.2848 LVL= 17120, 18673, 26274, 27379, AGC= 54, IDX= 464, 0.31, 1.301, 1.023,-0.372, 0.811, PHS= 0.591, 0.257,-1.227, RAW= 39.9, 4.6, CAL= 39.6, 3.7, ROT= 110.4, -3.7 e8DAT read: $Error in header e*Received a bad headerZ#Rx 15: Read direction message, but no range.^direction in FSK: [-0.347846,0.935328,0.064532]yCֿ6G'5?P0?BHf j)6IK?iVaF2?l=;0?  A=)Ϣ?I AUC~?mok~f? ܲ)``IϢ?i AIIIO>- checking for new query: numPingsReceived=15, elapsed TxPingTime=52.077885y M &,5 +LA2{@2 DŽ@2PHb=ٱ2;>2H=`?@]` G"^?@[E@4?s?i2{@I2*^;2CYRByR Ii-Mb@Mb@Mb@)))) )9-V-?Dl~jtY-|>y-O --@-A - @)-A)Y)bDEKVDE8yM|<%MB=ٔU;Q-U>9YYY=]Ey]qE]Ee>aQ 5m5e&?Q 9u5e)eBYu?Q Eu:yuQ IuW@eīDIe:ie;e5yBɮ@Ehhhhhggjgrg9BereZe:e*eH@Bɢ/x<) ݽi)z<iiII]checking for new query: numPingsReceived=15, elapsed TxPingTime=52.294975Yi@q @q@uO5@qԁE= E=E=$E9"E=a:*E=T:VE=4ZE9aE@aE@aE@aM@^AII O>ԩ BDAT read: Rx Time:04:33:49.2850  TRx dataTimestamp_ set to:1764909230.610815 checking for new query: numPingsReceived=15, elapsed TxPingTime=52.548161 v &,e+LA:E{@:@:6i=ٱ:=:H@2צ? FH?@"@?`a?i:E{@I:E^;8YJByJ IbDZ:VDZ8yf|%fS=ٔfI;Q-j>9hYh=rEyrtEv\Ev>xQ 5U5zN?Q 9U5z)zBYyy}Q I}W@zʫDIz$BBBB =BBɺDBh;B7EB*** querying acoustic contact ***iih9h9h9h9hAgAgAjgIrgIeIreQZe:e*efVH@ԹBɢ?<) i)'<i i   II!:@ @@^0@@>@=mchecking for new query: numPingsReceived=15, elapsed TxPingTime=52.799507^A IQ Ia Om >Ee  Ee Ee %Ea "Ee :*Ee V:VEe 4ZEa BEe #9Y=EywEgE>!Q 5-5% ?Q 9-5%7)%BY)y-@Q I-W@%ѫDI%h:i%:%5y=Bɮ=@9UZ#Rx 16: Read direction message, but no range.]^direction in FSK: [-0.365269,0.927289,0.081939]y\^}-_G`׿DY??\^D^aR^m ^sq)^5I^I ?i^~>^p^@.?^q=^,? ^=)^?I^\^-?wŸw KH? ^ി)^I^?i^uchecking for new query: numPingsReceived=16, elapsed TxPingTime=53.074642hhhhhggjgrgereZe:e*e 5H@Bɢ_< ) ڽi )s<ii=1>II@ @@ 0@1mchecking for new query: numPingsReceived=16, elapsed TxPingTime=53.303066^Ae FӅ>a I I O > &,+LA YtytbEJ4jEm4rE 0E EE"E"Em:*ErN:VE(3ZEa@a@a@a@iMb@Mb@Mb@ 9'1Z?Onÿ{GzY?yף@fA @)YQAbDVD8ٔQ->9Y=Ey{EE>Q 55?Q 95)BY\?Q E:y#Q IW@ثDIi ;i;_5yɮh h h h h ggjgrg+BereZe:e*e%ӻH@MBɢMC<)I UPҽiQ)UMIaIaqBDAT read: Rx Time:04:33:50.2852 TRx dataTimestamp_ set to:1764909231.620102checking for new query: numPingsReceived=16, elapsed TxPingTime=53.557808@ @@@ԙBE(>BEHCBABABABABABE;BE8E^Am9> I I O >߅ =߁  checking for new query: numPingsReceived=16, elapsed TxPingTime=53.807484 &,u+LA2 z@2+@2}=ٱ2i=2H```W?lW?@g??i2 z@I2];2CLYRByR IbDZVDZ8yb<%f<ٔf9dYh=jEyj~EjEj> tvCpQ 5%5r?Q 9-5vGrw)rBYyQ IW@rޫDIr]II E- E-E-!E)"E-O:*E-:VE-c3ZE)BE- ,?=;*? ԇ=)?IԇbPm?9.״? s/)립I?iԇ]checking for new query: numPingsReceived=17, elapsed TxPingTime=54.107307^A;>1 I I! Om >Κ &,DP,LA2y@2ȃ@2>т=ٱ2U|=2HP>?殿;v)|? OW@4??i2y@I2^];2CY:By: I@BA|i5Mb@Mb@Mb@1111 195ˡE?M¿S㥛Y5?y5n5/ݼ5@5|A 1)11Y5AbDM VDM8y]B%]A=ٔ];Q-e>9aYa=eEyeEmfEm>qQ 5}5u㑊?Q 9}5us)utBY} ?Q E:yQ IW@uDIuz ;iu ;uT5yBɮ@@Ehhhhhggjgrg;BereZe:e*e@!I@Bɢ<) 詽i)\<i}~i›=x>II Echecking for new query: numPingsReceived=17, elapsed TxPingTime=54.311832:@ @@@)^A0ƀ>IIO (>E EE$E"E:*EL_:VE4ZEa%@a-@a-@a-@Q BDAT read: Rx Time:04:33:51.2853  TRx dataTimestamp_ set to:1764909232.626765 checking for new query: numPingsReceived=17, elapsed TxPingTime=54.564114ԁ &,/-,LAF=1y@F鑃@Fn,=ٱFY=FH5 `#%?V+,zf?{°@䊹?u?iF=1y@IF];FCY^By\bDjVDj8Br)>BpBrs IBrsBBr =BpBpBrV;Br7Ey~;%P=ٔֈ;Q->9 Y=EyEE%>1Q 5E55Ց?Q 9M55()5dBYIyUQ IUW@5DI5;i5@;Y55yiɮm9@iB*** querying acoustic contact ***iih!h!h!h!h)g)g)jg)rg)eQreQZeQ:eQ*e]WI@=BɢEz<)E ELiA)Eg%IqIyԉ)@1 @5@=0@9Mchecking for new query: numPingsReceived=17, elapsed TxPingTime=54.815071Ա^Am Q|>EE  EE EE %EA "EE :*EE n:VEE 4ZEA BEE   &,-G,LA6x@6JV@6kv=ٱ6z=6H=@?;K4]0m9?+-?@X?i6x@I6];6CjDAT read: 04:33:51.2853 LVL= 19952, 20689, 32754, 32755, AGC= 53, IDX= 454, 0.06,-1.424,-1.667,-3.094,-1.898, PHS= 0.576, 0.276,-1.240, RAW= 38.9, 4.7, CAL= 38.5, 3.8, ROT= 111.5, -3.8 nYgot valid direction response: 04:33:51.2853 LVL= 19952, 20689, 32754, 32755, AGC= 53, IDX= 454, 0.06,-1.424,-1.667,-3.094,-1.898, PHS= 0.576, 0.276,-1.240, RAW= 38.9, 4.7, CAL= 38.5, 3.8, ROT= 111.5, -3.8 r8DAT read: $Error in header r*Received a bad headerYvByv IbD~VD~8y % J=ٔɁ;Q->9Y=EyEE>!Q 5-5%Ǒ?Q 9-5%)%UBY1y5Q I5W@%DI%:i%:%N5=Z#Rx 18: Read direction message, but no range.E^direction in FSK: [-0.365695,0.928372,0.066274]yPRmg׿&dE9?{S?PRMRPR R)R5IRt?iRO>RRR-?PR,? P)R?IPPRxj?abs4>´? RB)R@IR?iP]checking for new query: numPingsReceived=18, elapsed TxPingTime=55.090569yeBɮe@mEhhhhhggjgrgereZe:e*e@I@ԹBɢ\̲<) 讽i)<i1i!=m>II9@ @@/@@]=@]=^A]Ct>IIOf>U%=Q]checking for new query: numPingsReceived=18, elapsed TxPingTime=55.3193219 4 &,`,LA2MIx@2@2YL=ٱ2=2Hk?@@*njwU;?@?i2MIx@I2];0YBByB IIF=)Fp;Er ErEr!Ep"ErO:*Erxv:VErc3ZEpav@av@av@av@imMb@Mb@Mb@iiii i9mv/?{GzĿS㥛Ymx ?ym#im@mA m@)mAiYmAbDܿVD8yl %B=ٔm;Q->9Y=EyEE>Q 55(?Q 95 )CBY?Q E:y2Q IW@DI;i;5yɮ@hhhhhggjgrg=BereZe:e*eI@5Bɢ5<)9 =Xi9)=<99i=/iEEI=EUjh>IIIIBDAT read: Rx Time:04:33:52.2856 TRx dataTimestamp_ set to:1764909233.635660checking for new query: numPingsReceived=18, elapsed TxPingTime=55.573009@ @@0@AB*>BBBBBBB;Bv7EBHCBHCBB =B =CƧo4^AM(s>iIIO>e checking for new query: numPingsReceived=18, elapsed TxPingTime=55.823036ԙ 1 &,bz,LAY~By~ IbDVD8y%f%%R=ٔ%Q-->9)Y)=-Ey-E5E5>9Q 5E5=ᩑ?Q 9E5=>)=4BYAyAQ IMW@=DI=:i=:=c5yUBɮU AQhhhhhggjgrgereZe:e*e`6I@Bɢl<) ýi)`<i%-i%%]V=-i>I)I)E  E E $E "E D:*E &p:VE 4ZE BE 1q(?l='?  A=)?I A7 0?Tt\z v? :ķ)ݣI?i Auchecking for new query: numPingsReceived=19, elapsed TxPingTime=56.098434:@ @@#5@@@yA 9 ^A g>uchecking for new query: numPingsReceived=19, elapsed TxPingTime=56.327171AڗAIIO >E& &,N,LA,2,Uw@2ࣂ@2TG=ٱ2&=2H ʞ?`Hgd1̷? C?i2,Uw@I2=];2CY>By> IiUMb@Mb@Mb@QQQQ Q9Ukt?/$ÿ9?Y?=EyEE>Q 55?Q 95)BY?Q E:yQ IW@ DI;i ;5yBɮiAEhhhhhg!g!jg!rg%UBe!re)Ze):e)*e51J@颽݂Bɢ6o<) ½i)<ii =5\>IIԁԅEM EMEM"EI"EM :*EM1]:VEM(3ZEIa]@a]@a]@a]@@ @@5@ԱBDAT read: Rx Time:04:33:53.2858 TRx dataTimestamp_ set to:1764909234.642709checking for new query: numPingsReceived=19, elapsed TxPingTime=56.580055^A i> B5 +>B1 B5 ` IB5 dBB1 B1 B1 B5 ~;B5 7EA I! I1 OE >lf, &,~,LA2v@2Qg@2==ٱ2%=2H<`{? e@!jp l??i2v@I2];2CY:By: I <<bDF$VDFΰ8yNȉ%N[=ٔNo;Q-N>9PYP=REyREV~EV>XQ 5^5Z?Q 9^5Z)Z BY\y^Q IbW@ZDIZy:iZ:Z5dyfBɮjAjEvB*** querying acoustic contact ***itith|h|h|h|h|ggjgrge re Ze :e *e /`J@=ڂBɢ=u<)9 =II99checking for new query: numPingsReceived=19, elapsed TxPingTime=56.8311391E} E}E}%Ey"E}:*E}T:VE} 4ZEyBE}#i u DAT read: 04:33:53.2858 LVL= 16304, 19121, 28082, 31459, AGC= 54, IDX= 475, 0.36,-1.582,-1.774, 3.056,-2.041, PHS= 0.561, 0.312,-1.231, RAW= 37.4, 4.3, CAL= 37.1, 3.3, ROT= 112.9, -3.3 } Ygot valid direction response: 04:33:53.2858 LVL= 16304, 19121, 28082, 31459, AGC= 54, IDX= 475, 0.36,-1.582,-1.774, 3.056,-2.041, PHS= 0.561, 0.312,-1.231, RAW= 37.4, 4.3, CAL= 37.1, 3.3, ROT= 112.9, -3.3  8DAT read: $Error in header  *Received a bad header Z#Rx 20: Read direction message, but no range. ^direction in FSK: [-0.388479,0.919658,0.057564]y1 5 y+ؿj-im?`8.y?1 5 ?5 J5 m 5 z)5 6I5 ?i5 w>5 h5 '?5 `=5 %? 5 k=)5 8?I5 k1 5 ^?m\l17? 5 )5 LᙽA IQ Ia Om >I5 8?i5 k checking for new query: numPingsReceived=20, elapsed TxPingTime=57.127190B3 &,,LAjOXv@jr%@jǘ=ٱj_=jH e1@U?t~@V v oӶ?}?ijOXv@Ij];jCYBy IabDm;VDm8y%;=ٔF;Q->9Y=EyE%E->aQ 55ew?Q 95e)eBYyQ IW@eDIeKIIchecking for new query: numPingsReceived=20, elapsed TxPingTime=57.336048]:@Y @Y@]I5@Y@e=@e=Թ^A [>E  E E 'E "E :*E 1]:VE '4ZE a @a @a @a @ A AI I O >C9 &,0),LA*BDAT read: Rx Time:04:33:54.2861 *TRx dataTimestamp_ set to:1764909235.653242.checking for new query: numPingsReceived=20, elapsed TxPingTime=57.590694xY%By% IiMb@Mb@Mb@ 9V-?ףp= ÿV-Y ?yz@A  @)|AYAbD<VD8yo%-=ٔQ->9c?Yc?=EyEB51>B1B5M IB5TBB1B1B5ʺDB5);B56EEU>Q 554e?Q 95( )BY6?Q E:yQ IW@#DI;i;(5yBɮA!h1h1h1h9h9g9gYjgarge;BeareaZea:ei*emJ@颽ӂBɢ<) i) <iUiIƠ={Q>IIU:@Q @Q@U)1@Q^A-`R>Q checking for new query: numPingsReceived=20, elapsed TxPingTime=57.843136A I) I9 OE >y @ &,+-LAEN ENEN&EL"ENm:*ENR:VEN4ZELBENV9Y=EyEuE>Q 55X?Q 95)#)ӆBYy Q IW@*DIy:i:!5yɮAhhhhhggjgrge re Ze :e *eRK@=тBɢ= <)9 =iA)EjIIDAT read: 04:33:54.2861 LVL= 18800, 18897, 32754, 32755, AGC= 55, IDX= 462, 0.24,-1.638,-1.835, 2.980,-2.106, PHS= 0.570, 0.316,-1.242, RAW= 37.4, 4.2, CAL= 37.2, 3.2, ROT= 112.8, -3.2 Ygot valid direction response: 04:33:54.2861 LVL= 18800, 18897, 32754, 32755, AGC= 55, IDX= 462, 0.24,-1.638,-1.835, 2.980,-2.106, PHS= 0.570, 0.316,-1.242, RAW= 37.4, 4.2, CAL= 37.2, 3.2, ROT= 112.8, -3.2 8DAT read: $Error in header *Received a bad headerEZ#Rx 21: Read direction message, but no range.M^direction in FSK: [-0.386911,0.920426,0.055822]yim='ؿW t?ᢔ?impImIm m)m7Im?imʡ>mimQ =m6&? md=)md?Imdim](?ᅩ޷?? m+ra@a @a@e?5@aԉ)mjImd?imdchecking for new query: numPingsReceived=21, elapsed TxPingTime=58.134792Ա^AMsP>A I I O > checking for new query: numPingsReceived=21, elapsed TxPingTime=58.3470843F &,:-LAYrByv IԹiMb@Mb@Mb@ 9-?333333ÿQ롿Y??y\@ 7@)AYfAbDVD8yp%F=ٔQ->9Y=EyEE>Q 55G?Q 9 5')BY ^?Q E :y DQ I W@1DI:i:5yBɮ'A EhAhAhAhAhAgAgAjgIrgMCBeIreIZeQ:eQ*eU 7K@}͂Bɢ<) i)<顉ii=>>IIbEjE#4rE30E EEE"E:*EL_:VEZEa@a@a@a@ 9@  @ @ @ @yA@^AG>BDAT read: Rx Time:04:33:55.2863 TRx dataTimestamp_ set to:1764909236.663601checking for new query: numPingsReceived=21, elapsed TxPingTime=58.601128AIIOn>B= 2>B= ICB= 4 IB= @BB= =B9 B9 B= ;B= 6EA C M &,6-LA2oJt@2@2ݝ=ٱ2_f=2H@W;?`7Y%r!?R?i2oJt@I2i];2CY:By: IbDDVDDyN|%Nb=ٔNO:Q-N>9PYP=VEyVE^jEb>lQ 5n5n8?Q 9r5n*)nBYpyrQ IrW@n8DIn9:in:n5ytɮzAx B*** querying acoustic contact ***i i h!h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e58fK@]ʂBɢeB;<)a eia)ecIqIqchecking for new query: numPingsReceived=21, elapsed TxPingTime=58.851040 :@ @@5@/{A =h9=/{AY=~dA^A=z:>AE EE$E"E:*EV:VE4ZEBE<ai߁ I߁  DAT read: 04:33:55.2863 LVL= 18912, 17713, 31218, 31475, AGC= 54, IDX= 480, 0.25,-3.072, 3.052, 1.578, 2.779, PHS= 0.534, 0.318,-1.245, RAW= 36.4, 4.7, CAL= 36.0, 3.8, ROT= 114.0, -3.8  Ygot valid direction response: 04:33:55.2863 LVL= 18912, 17713, 31218, 31475, AGC= 54, IDX= 480, 0.25,-3.072, 3.052, 1.578, 2.779, PHS= 0.534, 0.318,-1.245, RAW= 36.4, 4.7, CAL= 36.0, 3.8, ROT= 114.0, -3.8  8DAT read: $Error in header  *Received a bad header Z#Rx 22: Read direction message, but no range.% ^direction in FSK: [-0.405842,0.911537,0.066274]y  Rٿ:DܗO+?{S? I 1E y z) 6I 9?i Т> )\ "? = | ? ԇ=) ?I ԇ J,b?}}ʬv4? ʺ) ڨI ?i ԇE checking for new query: numPingsReceived=22, elapsed TxPingTime=59.127022Ա S &,P-LA:?s@:jۀ@:v=ٱ:=:H-3 Ԓ?KջYŅ@ɳ`³??i:?s@I:];8YRxByVy I ````bDn VDn8y~;%D=ٔ7:Q->9 ?Y  ?= Ey E >E >Q 5%5>(?Q 9%5`.)BY!y%W Q I-X@@DI:iW:5y5Bɮ5 A5 Eh9hAhAhAhIgYgYԙjgirgereZe :e*e ɡK@额ƂBɢ_<) Hi)P<顡i4im=z0>IIchecking for new query: numPingsReceived=22, elapsed TxPingTime=59.355885}9@y @y@1@ԹD ?AzD E  E E %E "E :*E |:VE 4ZE a @a @a @a @^A ;> AU AIY Ii O >4Z &,>j-LA BDAT read: Rx Time:04:33:56.2866  TRx dataTimestamp_ set to:1764909237.670860checking for new query: numPingsReceived=22, elapsed TxPingTime=59.608200Rr@RS@R=ٱR{'=RH@>?xIb[N׳?`?iRr@IR];RCYZwBy^x IiMb@Mb@Mb@ 9Zd;O?@5^I ¿L7A`堿Yj?yb+@bA E@) AY3AbD}VD}8yֻ%1=B6>BB IB'BB =BBB7;B6Eٔ9Q->9c?Yc?=EyEE> Q 555 [?Q 955  3) BY= ?Q E=:y=Q I=X@ JDI ;i 2; 5yEBɮEJAMEhhhhhggjgrgDBereZe:e*eK@ ÂBɢ5<)1 5i1)5<19i=i=EnǢ=E">IAIA:@ @@0@@=@=^Ak1>checking for new query: numPingsReceived=22, elapsed TxPingTime=59.859070A .A I! I1 O= >a &,!w-LAE6 E6E6&E4"E6 :*E6T:VE64ZE4BE6N"f)r@f@fcğ=ٱf̘=fH?@# . %@] L?N?if)r@If ];fCY=fBy=c IbDMVDM8y]_%]b=ٔe:Q-e?9e ?Ym ?=mEymEmȼEm?qQ 55u?Q 95ul6)uuBYy^ Q IX@uQDIu;iu2;u5yBɮAhhhhQhQgQgYjgYrgYeYreaZea:ea*eeL@Bɢ Lf<) t2i){}<i]i@=%H>I!I!eDAT read: 04:33:56.2866 LVL= 22464, 18769, 32754, 32755, AGC= 53, IDX= 483, 0.37, 2.340, 2.254, 0.745, 1.934, PHS= 0.508, 0.365,-1.233, RAW= 34.2, 4.3, CAL= 34.0, 3.3, ROT= 116.0, -3.3 iuYgot valid direction response: 04:33:56.2866 LVL= 22464, 18769, 32754, 32755, AGC= 53, IDX= 483, 0.37, 2.340, 2.254, 0.745, 1.934, PHS= 0.508, 0.365,-1.233, RAW= 34.2, 4.3, CAL= 34.0, 3.3, ROT= 116.0, -3.3 u8DAT read: $Error in header }*Received a bad headerZ#Rx 23: Read direction message, but no range.^direction in FSK: [-0.437644,0.897304,0.057564]y15L$\ܿ;?`8.y?15W5QI5 5)55I5J ?i5H>5ҝ5?5`=5? 5k=)5@I5k159&?c ¬_Lh? 5)5hI5@i5kchecking for new query: numPingsReceived=23, elapsed TxPingTime=60.140301:@ @@2@ԡ^A h`0>  checking for new query: numPingsReceived=23, elapsed TxPingTime=60.363106A] AI I O >:g &,iR-LAB)q@B@B P=ٱB=BH?[U3(@c?@?iB)q@IB];BCYNYByNS IPIV<)TV=Vp=ieMb@Mb@Mb@aaaa a9e?rh|MbYe ?yeee@a a)aaYe AbD}VD}8y~%G=ٔ{*:Q->9c?Yc?=EyEoE>Q 55q?Q 95:)bBYF#?Q E:yQ IX@YDIE:i:O5yɮ+Ahhhhhggjgrg!BereZe:e*e8L@%Bɢ%T<)! %Ei!)-'H<))i-_i55rP=5>I1I9DQDQEY E]E]#EY"EY*E]g:VE]3ZEYam@am@am@am@:@ @@@5@^A4a)>EBDAT read: Rx Time:04:33:57.2869 MTRx dataTimestamp_ set to:1764909238.679580Uchecking for new query: numPingsReceived=23, elapsed TxPingTime=60.616940AIIOm>B:>BJCBIBBB =BB˺DB];B6EBICBICBBBCNh5! jm &,NC-LA>zq@>@>ʠ=ٱ>c=>Hv4 /?uYz:??i>zq@I>];>CYFSByFL IbDR VDR8yZ6%ZY=ٔZ~":Q-^>9\Y\=^Ey^EbEb>dQ 5j5fy䐊?Q 9j5ff>)fQBYhyjWQ InX@faDIf;if;f5yrBɮrRArExB*** querying acoustic contact ***iihhhhhggjg!rg!e!re!Ze!:e!*e-iL@checking for new query: numPingsReceived=23, elapsed TxPingTime=60.867119颵BɢTfJ<) Ki) <项ii=:>II@ @@@@zA@zA!^Ae<>EY E]E]&EY"EY*E]V:VE]4ZEYBEYae2EYamJE];am:E];amA.AIIOe>Iu DAT read: 04:33:57.2876 LVL= 23792, 19937, 32754, 32755, AGC= 54, IDX= 455,-0.42,-0.008,-0.069,-1.580,-0.371, PHS= 0.465, 0.347,-1.253, RAW= 33.5, 5.4, CAL= 33.1, 4.5, ROT= 116.9, -4.5 } Ygot valid direction response: 04:33:57.2876 LVL= 23792, 19937, 32754, 32755, AGC= 54, IDX= 455,-0.42,-0.008,-0.069,-1.580,-0.371, PHS= 0.465, 0.347,-1.253, RAW= 33.5, 5.4, CAL= 33.1, 4.5, ROT= 116.9, -4.5 } 8DAT read: $Error in header  *Received a bad header Z#Rx 24: Read direction message, but no range. ^direction in FSK: [-0.451040,0.889048,0.078459]yA E uܿs?5;?A E \E MA A )E 6IE {>iE >E NbE ?E =E h? E |٠=)E @IE |٠A E 0EW?p/ڷ? E /)E 6IE @iE |٠ checking for new query: numPingsReceived=24, elapsed TxPingTime=61.142666y :Vt &,0-LA6Mp@6~@6t=ٱ6'=6H a ?؆/7)? ?i6Mp@I6];6CYVPByVH IbD^VD^8yfYa%fH=ٔjO:Q-j>9j ?Yj ?=nEynEnEn>pQ 5z5rӐ?Q 9~5rzB)r>BYyQ IX@riDIr;iri;r-5y%Bɮ%jA!IhIhQhQhQhQgQgQjgYrgYeYreYZeY:ea*emL@Bɢ\<)  lHi)<99iEi}}У=}j >IyIqchecking for new query: numPingsReceived=24, elapsed TxPingTime=61.371746-9@) @)@-_1@)ԡEe  Ee Ee $Ea "Ee >:*Ee T:VEe 4ZEa au @au @au @au @^Aq A I I O >M BDAT read: Rx Time:04:33:58.2880 M TRx dataTimestamp_ set to:1764909239.686831U checking for new query: numPingsReceived=24, elapsed TxPingTime=61.624180z &,g-LABR)p@B~@Bs=ٱB=BH * h?` Z 9 ~??iBR)p@IB.];@YRUByRN Iԩ ABM8>BMICBMIBMBBM =BIBMʺDBM;BM7EiMb@Mb@Mb@ 9ףp= ?X9v:vY?yԼ@A z@) AYAbDVD8y 7<% +=ٔ  :Q->9Y=EyE]}E>!Q 5-5%?Q 9-5%$G)%*BY-"?Q E-:y5 Q I5X@%rDI%s:i%:%Y5y=Bɮ=9A=Ehahahahahagigijgirgm1BeireqZeq:eq*euVL@颥Bɢk<) :6i) W<顩ih޼i=Μ>IIi@i @i@m1@q^A>checking for new query: numPingsReceived=24, elapsed TxPingTime=61.878796AIIO>1 ^ &,.LAE EE%E"EO:*EF:VE 4ZEBE iJ >G?Pw=0? q=)*'@Iqg{?c3/ п? /ȿ)bֽI*'@iqchecking for new query: numPingsReceived=25, elapsed TxPingTime=62.154545@ @@@5@A^A5ER>qA I I O > checking for new query: numPingsReceived=25, elapsed TxPingTime=62.381004ԙ A &,`.LA2!Fo@28}@2l=ٱ2O=2H ?@J,@6 ׁH`J7?k?i2!Fo@I2];2CY>=By>0 IiMb@Mb@Mb@ 9J +?`"V-Y(?yAfA )YAbDVD8y-d%-C=ٔ5Jd9Q-5>91Y9==Ey=E=wE=>AQ 5M5E?Q 9M5EN)EBYU+?Q EU:yUb Q IUX@EDIE ;iE* ;E 5y]Bɮ]Aah!h!h!h!h!g!g)jg)rg-Be1re1Ze1:e9*e=<) Wi)<顡i[ۼiuY==IIE= E=E=$E9"E=:*E=:VE=4ZE9aM@aM@aM@aM@E:@A @A@EC5@A^A=ط=AExAzAExAychecking for new query: numPingsReceived=25, elapsed TxPingTime=62.631577A؟AIIO>B53>B1B5IB5BB5 =B1B1B5ŀ;B5T7Eԩ ಍ &,t9.LA6n@6Z|@6T"=ٱ6=6H ?hf/ ~^`l?@?i6n@I6w];6CYB9Z"?YZ"?=^Ey^E^E^>`Q 5f5b`?Q 9f5bR)bBYhyj Q IjX@bDIby:ib:b= 5ynBɮnArE~B*** querying acoustic contact ***i|i|h h h h h g g jgrgereZe:e*e%\kM@MBɢMY.<)I U~QiQ)UՌQ &,YS.LA2pn@2fc|@2Z=ٱ2S~=2H@-@?񦻿` R\x`e )? ?i2pn@I2];2CYN7ByN) IbDVVDV8yvͼ%zF=ٔz9Q-z>9~ ?Y~ ?=~Ey~EmE>Q 5 5y?Q 95V)BYy6!Q IX@DI(;i(;5y!ɮ%EA!hahihihihqgqgqjgyrgyeyreyZe:e*eĠM@颭Bɢ&r<<) fSi)#<项i ؼi1=r=II1&DAT read: user:8> BDAT read: Tx time:04:34:00.6060 $Ping request sent.BUHCBUIBUBBU =BQBUɺDBU;BU7EAIIO>4 &,$^r.LAFtn@F|@FQ$=ٱFW=FHO:?`X@tQFp _>??iFtn@IFU];DYR5ByR' Ii5Mb@Mb@Mb@1111 195S㥛?y&1{GzY5$&?y5`彙5ף5A5A 5@)5 A1Y5GAbDMVDM8y]ƻ%]$=ٔ]WQ-]>9aYa=eEyeEe;Em>qQ 5}5uZc?Q 9}5u[)uυBY}(?Q E}:y} Q I}X@uDIu:iu:u35yBɮGAhhhhhggjgrgEBereZe:e*eM@颭BɢW<)  Li)v<顱iռi==IIܪ&A C-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504343=GA@A @A@E0@AUGyAyf9GyAY`A^A5Sk=iAAIQIaOm>E  E E &E "E :*E Ar:VE 4ZE BE  &,$.LABchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754901Y%+By% I 11AEAbDUVDU8yuUQy%uI=ٔQ->9Y=EyEE>Q 55Q?Q 95`)BYyQ IX@DI a;i\b;5yɮAhhhhhggjgrg!e!re!Ze!:e!*e- N@Bɢ /<)  Yi)<iNӼi_Τ=o3=IIԡ1@1 @1@5/@1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008007 ^A A zA tAE  E E E "E :*E T:VE ـ3ZE a% @a% @a% @a% @)AIIQIaOu> &,n.LA2 sm@2e{@2[p=ٱ2 =2H@3q?@t JR~h`?`?i2 sm@I2];2CYR,ByR IiMMb@Mb@Mb@IIII I9Msh|??y&1:vYM)?yIMԼMAI M@)IIYMpA}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259443bDVD8yA;%+=ٔV9Q->9Y=EyE9E>Q 55@;?Q 95d)BY,?Q E:yF!Q IX@DIU;i ;5yBɮAEhhhhhggjgrg@Be!re!ZeA:eA*eM[VN@Bm.>BiBmIBmځBBm =BiBiBm0;Bm7E颕BɢpL<) .Mi) f<iѼiy="=IIY@Y @Y@]0@Y@a@eC=- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511056A ^A} :=A ؟AI I O > &,4.LA6m/m@6"{@65=ٱ6=6H@ɟY?ꊼ|V5]d?@?i6m/m@I6g];6CY IbDFVDFŰ8yN;%N]=ٔRQ-R>9R"?YV"?=VEyVEVm7EV>XQ 5^5ZY*?Q 9^5Zh)ZBY`yb!Q IbX@ZDIZ;iZ;Z) 5yfBɮf}AfEmB*** querying acoustic contact ***iiiihqhqhqhqhqggE EE&E"EO:*E:VE4ZEBE ԩ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014951+ &,n.LA2fl@2z@2F=ٱ2v@=2H{@?`e@iV?7`2? ?i2fl@I2];2CY:By: I)B>F=F=iMb@Mb@Mb@ 9sh|??A`"I +Yyٽ9A A jA)b AYAbDVD8y-k%-A=ٔ5Q-5>91Y=EyEE>Q 55F?Q 95m)BY:,?Q E:yB!Q IX@DI;i ;#5yɮ Ah!h!h!h!h!g)g)jg)rg->Be1reQZeQ:eQ*e] N@颥BɢП <) ai)G<顩i;μi(=sɵ=IIԩ@ @@0@D@AzDE EE%E"Es:*EAr:VE 4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267531^Am(=B} 0>By B} IB} ЁBB} =By By B} 7;B} 7EB5HCB1B1B1B1C5h5 Ii Iy O >H[ &,.LANil@Nz@N=ٱN=NH`'?wLi?ܳh?&?iNil@IN];NCYZByZ IbDb"VDb̰8hyno<%nO=ٔn &Q-r>9pYp=rEyrEvO6Ev>xQ 5~5z?Q 9~5zp)zvBY|y~!Q IX@zɬDIzy:iz:zN'5y Bɮ A "Eh1h1h1h1h1g1g9jg9rg9e9reAZeA:eA*eEN@uBɢuA<)q uQiq)}ˆ0@A@MxA@MyADAT read: 04:34:02.7994 LVL= 25008, 19217, 32754, 32755, AGC= 55, IDX= 270, 0.35,-1.542,-1.059,-2.729,-1.547, PHS= 0.107, 0.533,-1.225, RAW= 16.6, 7.4, CAL= 16.4, 7.4, ROT= 133.6, -7.4 Ygot valid direction response: 04:34:02.7994 LVL= 25008, 19217, 32754, 32755, AGC= 55, IDX= 270, 0.35,-1.542,-1.059,-2.729,-1.547, PHS= 0.107, 0.533,-1.225, RAW= 16.6, 7.4, CAL= 16.4, 7.4, ROT= 133.6, -7.4 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.683876,0.718140,0.128796]Fpublishing direction and range infoy)OmIg?OZ_|?Y@BaK )7I"=ir?̜V> A>C>  A>);@I As.zͿ8;H8-? )I;@i A checking for new query: numPingsReceived=1, elapsed TxPingTime=2.556231^A%=II OM>)E EE#E"Em:*E|:VE3ZEBEV9hYh=jEyjEjEn>Q 5%5 ?Q 9-5u)eBY)y-!Q I-X@ҬDI :ip:*5y19ɮ5AYi1i5 >.LAj5@B"j5@B:j5f@"p5(*im> Added new target pos. range: 48.017170 m, bearing: 357.555874 deg, lat: 36.779418 deg, lon: -121.859626 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 :i DNOT Ignoring new targets: 48.02 m.2iPowering the camera and arming the capture device at range: 48.20 m.i%"iU*iUq ProNav pure pursuit: ac range: 48.017170 m, nav range: 48.525562 m, bearing: 355.757037 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 223.965782 deg, new cmd heading: 355.757037 deg. HeadingCmd: 6.209132 target range: 48.017170 and range: 48.20 m.h5@hhhhiagigq DDAT read: Rx Time:04:34:03.2996  TRx dataTimestamp_ set to:1764909244.475351PDAT read: Bearing 190.6, 44.4 (Local) ~Local bearing/azimuth received: Bearing 190.6, 44.4 (Local) -DAT read: Range 11 to 50 : 48.5 m (trip time 32.3 ms) speed -0.5 mDAT read: 04:34:03.2996 LVL= 24496, 20817, 32754, 32755, AGC= 53, IDX= 512, 0.23, 1.672, 2.498, 0.347, 1.948, PHS=-0.173, 0.596,-1.644, RAW= 10.3, 12.4, CAL= 10.1, 14.5, ROT= 139.9, -14.5 }Ygot valid direction response: 04:34:03.2996 LVL= 24496, 20817, 32754, 32755, AGC= 53, IDX= 512, 0.23, 1.672, 2.498, 0.347, 1.948, PHS=-0.173, 0.596,-1.644, RAW= 10.3, 12.4, CAL= 10.1, 14.5, ROT= 139.9, -14.5 }R#Rx 2: Read range and direction messages.^direction in FSK: [-0.740557,0.623607,0.250380]Fpublishing direction and range infojgy  翀>Pj?=9?Y BB  _ QQ  ) 5I &1i u? nҿ X8> k]> J4> >) E@I    kտNk6l Ta? +) O\I E@i   checking for new query: numPingsReceived=2, elapsed TxPingTime=3.043938rgereZe:e@H@*e` d?ԑ颥BɢX<) Hi)<顩iʼi<#=I5@I &Changing to mode: 2 :@  @ @ 0@ E  E E "E "E :*E k:VE (3ZE a @a @a @a @i߹ I߹  checking for new query: numPingsReceived=2, elapsed TxPingTime=3.276072^A箵=IIIYBiBiBmIBmƁBBiBiBiBm';Bm7EO? &,2/LA2+6l@2(z@2;њ=ٱ2is=2H?8b%z?oU,ٴ?P?i2+6l@I2];2CY> By>I @@@BAi-Mb@Mb@Mb@)))) )9-oʡ?X9v:vY--?y--Լ-"A-5 Aԉ ))- A)Y-AbD VD8y#%=ٔQ->9Y=EyE%qE%>)Q 555-֏?Q 955-z)-KBY5/?Q E5:y="Q I=X@-߬DI-:i-:-/5yBɮA!EMAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR1NResuming normal ranging with 1.000000 count pings 48.500000 m (mode 1.000000 count ).1NqNii'l/LAjCAB"jCAB:jA="poRx3A㰥U!>@Bg1(@p翀>Pj?=9?*jE@2j*p6p(F@?,@֚Ĵ-1@pB?'omg?K A?j$F@ j64Bi?i)jgBjR$ڟ?jjrjCBzj@- addTargetRange:: Added new target pos. range: 48.500000 m, deltaT: 0.502814 s, deltaX: 0.299999 m, approachRate: 0.596641 m/s, rangeRepo size: 2 ] Added new target pos. range: 48.316036 m, bearing: 3.931157 deg, lat: 36.779417 deg, lon: -121.859626 deg, deltaT: 0.502814 s, deltaX: 0.298866 m, approachRate: 0.594387 m/s, posRepo size: 2 :iaeDNOT Ignoring new targets: 48.32 m.2iaePowering the camera and arming the capture device at range: 48.50 m.ia"im*ii ProNav: ac range: 48.316036 m, nav range: 48.766422 m, bearing: 356.039491 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 355.757042 deg, new cmd heading: 355.757042 deg. iHeadingCmd: 6.209132 target range: 48.316036 and range: 48.50 m.hhhhhiggjgrgIBԹereZe:e*e f?%Bɢ%d<)) -\fi))-<))i-H3ȼiUY]}PIYIYDDAT read: Rx Time:04:34:03.7997 TRx dataTimestamp_ set to:1764909244.979542PDAT read: Bearing 208.1, 41.0 (Local) ~Local bearing/azimuth received: Bearing 208.1, 41.0 (Local) DAT read: Range 11 to 50 : 48.6 m (trip time 32.4 ms) speed -0.5 DAT read: 04:34:03.7997 LVL= 26096, 19361, 32754, 32755, AGC= 52, IDX= 513, 0.15, 0.281, 1.152,-0.794, 0.355, PHS= 0.028, 0.842,-1.193, RAW= 6.6, 3.7, CAL= 6.5, 1.7, ROT= 143.5, -1.7 Ygot valid direction response: 04:34:03.7997 LVL= 26096, 19361, 32754, 32755, AGC= 52, IDX= 513, 0.15, 0.281, 1.152,-0.794, 0.355, PHS= 0.028, 0.842,-1.193, RAW= 6.6, 3.7, CAL= 6.5, 1.7, ROT= 143.5, -1.7 %R#Rx 3: Read range and direction messages.5^direction in FSK: [-0.803503,0.594561,0.029666]5Fpublishing direction and range infoysK ? `?YfBBeK )4IB`E  E E #E "E *E T:VE 3ZE BE \Q-z?-checking for new query: numPingsReceived=3, elapsed TxPingTime=3.7797719Y=EyETE>Q 55ŏ?Q 95~)/LAjAB"jAB:jٱ>"pw_VxsC);<@J ?psK ? `?*jJ @2j*p$G@頎B @/_@pz@p?;ǿ?8΄?jR@ jF>Bi:n?ikjBj:n?jfjBrjb>Bzj@ addTargetRange:: Added new target pos. range: 48.599998 m, deltaT: 0.504191 s, deltaX: 0.099998 m, approachRate: 0.198335 m/s, rangeRepo size: 3  Added new target pos. range: 48.415657 m, bearing: 7.200844 deg, lat: 36.779406 deg, lon: -121.859608 deg, deltaT: 0.504191 s, deltaX: 0.099621 m, approachRate: 0.197585 m/s, posRepo size: 3 :iVStarting intercept timer at range: 48.60 m.DNOT Ignoring new targets: 48.42 m.2iPowering the camera and arming the capture device at range: 48.60 m.i"i*i  ProNav: ac range: 48.415657 m, nav range: 47.596535 m, bearing: 358.036124 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 355.757042 deg, new cmd heading: 355.757042 deg. i 5HeadingCmd: 6.209132 target range: 48.415657 and range: 48.60 m.h1h1h1h1h1i1g9g9jg9rg9eAreAZeA:eELH@*eE?1m{Bɢup<)y 6Ri)<iƼiI hԨIII)`5@ @@0@@=@=Q4=<DDAT read: Rx Time:04:34:04.3000 TRx dataTimestamp_ set to:1764909245.487966^A "5= PDAT read: Bearing 201.0, 49.3 (Local)  ~Local bearing/azimuth received: Bearing 201.0, 49.3 (Local) % DAT read: Range 11 to 50 : 49.1 m (trip time 32.7 ms) speed -0.7 Iq I O > DAT read: 04:34:04.3000 LVL= 25136, 18737, 24866, 22467, AGC= 58, IDX= 4, 0.10,-1.118,-0.573,-2.282,-1.099, PHS= 0.084, 0.572,-1.227, RAW= 14.8, 7.2, CAL= 14.6, 7.0, ROT= 135.4, -7.0  Ygot valid direction response: 04:34:04.3000 LVL= 25136, 18737, 24866, 22467, AGC= 58, IDX= 4, 0.10,-1.118,-0.573,-2.282,-1.099, PHS= 0.084, 0.572,-1.227, RAW= 14.8, 7.2, CAL= 14.6, 7.0, ROT= 135.4, -7.0  R#Rx 4: Read range and direction messages.E ^direction in FSK: [-0.706719,0.696919,0.121869]E Fpublishing direction and range infoy5Mp9)M?UM7P2?YfDB0b1I"a W):I1=in?V A>>w> 5=)E>@I5uпy}J@q3<ҿ? )>IE>@i5] checking for new query: numPingsReceived=4, elapsed TxPingTime=4.081663y  &,Ef/LA2k@2y@2T=ٱ2=2H@ ?@ۥ@Y: ?Z??i2k@I2#];2CY>ByBIEe EeEe!Ea"EeO:*Ee[:VEec3ZEaam@am@am@am@iMb@Mb@Mb@ 9Dl?i|?5:vYO-?y A)YAbDNVD8yȅ%;=ٔ"0Q->9Y=EyE5E>Q 55㱏?Q 9 5)*BY  0?Q E :y ;#Q I X@DI:i:65y9ɮ=A9QjYN]N]i)i-:_/LAj-CB"j-CB:j-t@"p-UXټHA b A@9[!h'@p-5Mp9)M?UM7P2?*j-E>@2j-5*p-~7xG@$>e!wuNUϻ&@p-@ICN?,UْuSɾ?j-f j-C>Bi-01Z?i-Kj-Bj-01Z?j-Kj-Brj-L>Bzj-t@ addTargetRange:: Added new target pos. range: 49.099998 m, deltaT: 0.508424 s, deltaX: 0.500000 m, approachRate: 0.983431 m/s, rangeRepo size: 4  Added new target pos. range: 48.913761 m, bearing: 358.915497 deg, lat: 36.779404 deg, lon: -121.859602 deg, deltaT: 0.508424 s, deltaX: 0.498104 m, approachRate: 0.979702 m/s, posRepo size: 4 :i%TStopped intercept timer at range: 49.10 m.%DNOT Ignoring new targets: 48.91 m.2i!-Powering the camera and arming the capture device at range: 49.10 m.i)"iQ*iQm ProNav: ac range: 48.913761 m, nav range: 47.574692 m, bearing: 358.915503 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 355.757042 deg, new cmd heading: 355.757042 deg. iHeadingCmd: 6.209132 target range: 48.913761 and range: 49.10 m.hhhhhiggjgrgFBereZe:ěH@*eDL?5checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283681xBɢ<) hi)01<iļiiQIIԁB/>BBIBBB =BBB;B7E-3@ @@/@Ա^A "= DDAT read: Rx Time:04:34:04.8000  TRx dataTimestamp_ set to:1764909245.987269 PDAT read: Bearing 202.9, 48.0 (Local)  ~Local bearing/azimuth received: Bearing 202.9, 48.0 (Local)  DAT read: Range 11 to 50 : 49.2 m (trip time 32.8 ms) speed -0.5 - DAT read: 04:34:04.8000 LVL= 23888, 18417, 30610, 31283, AGC= 55, IDX= 501, 0.05,-1.860,-1.261,-3.024,-1.844, PHS= 0.086, 0.628,-1.224, RAW= 13.5, 6.2, CAL= 13.4, 5.7, ROT= 136.6, -5.7 5 Ygot valid direction response: 04:34:04.8000 LVL= 23888, 18417, 30610, 31283, AGC= 55, IDX= 501, 0.05,-1.860,-1.261,-3.024,-1.844, PHS= 0.086, 0.628,-1.224, RAW= 13.5, 6.2, CAL= 13.4, 5.7, ROT= 136.6, -5.7 5 R#Rx 5: Read range and direction messages.M ^direction in FSK: [-0.722982,0.683690,0.099320]M Fpublishing direction and range infoy  Զw"o+f?hܸm?Y DB P] G w 3z) 7I =i ?  :Fq> k= |o> %=) k@I %˽ yҿ3ʭ~һ? ) ߽I k@i %˽ m checking for new query: numPingsReceived=5, elapsed TxPingTime=4.553398ԡ AM .AIY Ii Ou >/ &,/LAr8k@r̬y@r r=ٱr"J=rH$`?@5`A?@.j@M3? ?ir8k@Ir)];rCYByI%=%a=bDUyVDU8yeV%eA=ٔPBQ->9 ?Y ?=EyE0JE>Q 55X?Q 95)BYyP#Q IX@DIi;i;i:5yBɮAjNCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRMAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR)iij//LAj DB"j DB:jsk:"p<ŷAu,C@@x@pԶw"o+f?hܸm?*jk@2j%˽*pR٫G@ޚl?$k{$@pƯéZI?cKAR?*´?j\= j?Bìc?iB|jBjjB|jrj=?Bzju“: addTargetRange:: Added new target pos. range: 49.200001 m, deltaT: 0.499303 s, deltaX: 0.100002 m, approachRate: 0.200284 m/s, rangeRepo size: 4  Added new target pos. range: 49.013241 m, bearing: 0.064442 deg, lat: 36.779404 deg, lon: -121.859593 deg, deltaT: 0.499303 s, deltaX: 0.099480 m, approachRate: 0.199237 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 49.01 m.2iPowering the camera and arming the capture device at range: 49.20 m.i"i*i  ProNav: ac range: 49.013241 m, nav range: 47.809998 m, bearing: 0.064590 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 355.757042 deg, new cmd heading: 355.757042 deg. i HeadingCmd: 6.209132 target range: 49.013241 and range: 49.20 m.hhhhhiggjgrgere!EI EMEM#EI"EI*EMk:VEM3ZEIBEM &,yW/LADDAT read: Rx Time:04:34:05.3003 TRx dataTimestamp_ set to:1764909246.492524PDAT read: Bearing 203.5, 47.7 (Local) ~Local bearing/azimuth received: Bearing 203.5, 47.7 (Local) DAT read: Range 11 to 50 : 49.7 m (trip time 33.1 ms) speed -0.5 DAT read: 04:34:05.3003 LVL= 22512, 22513, 32370, 30371, AGC= 55, IDX= 504, 0.02,-0.962,-0.358,-2.110,-0.945, PHS= 0.085, 0.631,-1.209, RAW= 13.2, 6.1, CAL= 13.1, 5.5, ROT= 136.9, -5.5 Ygot valid direction response: 04:34:05.3003 LVL= 22512, 22513, 32370, 30371, AGC= 55, IDX= 504, 0.02,-0.962,-0.358,-2.110,-0.945, PHS= 0.085, 0.631,-1.209, RAW= 13.2, 6.1, CAL= 13.1, 5.5, ROT= 136.9, -5.5 R#Rx 6: Read range and direction messages.^direction in FSK: [-0.726801,0.680128,0.095846]Fpublishing direction and range infoy^ = j>  =)4@I Ľfbҿ);vlpF?  )EٽI4@i Ľ checking for new query: numPingsReceived=6, elapsed TxPingTime=5.057307ԱY-By-Ii-Mb@Mb@Mb@)))) )9-X9v?q= ףpX9vY-3?y-뽙-)-K A ))-A)Y-AbDevVDe8yu"S%u=ٔuQ->9"?Y"?=Ey EE>Q 55?Q 95)BYG6?Q E:y"Q IX@DI( jABiGu?i\]jcBj̀c?j\]jBrj@BzjG; addTargetRange:: Added new target pos. range: 49.700001 m, deltaT: 0.505255 s, deltaX: 0.500000 m, approachRate: 0.989599 m/s, rangeRepo size: 4  Added new target pos. range: 49.511345 m, bearing: 0.366766 deg, lat: 36.779405 deg, lon: -121.859593 deg, deltaT: 0.505255 s, deltaX: 0.498104 m, approachRate: 0.985847 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 49.51 m.2iPowering the camera and arming the capture device at range: 49.70 m.i"i*i ProNav: ac range: 49.511345 m, nav range: 48.233284 m, bearing: 0.368368 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 355.757042 deg, new cmd heading: 355.757042 deg. iHeadingCmd: 6.209132 target range: 49.511345 and range: 49.70 m.hhhhh i g g)jg1rg5MBe1re1Ze9:e=H@*e=?颅qBɢl<)  i)z<iin II>i> = checking for new query: numPingsReceived=6, elapsed TxPingTime=5.292697 _-@  @ @ 5@ @ yA@ zA^A} &ּB 1>B B rIB BB B B B ;B 7E1 A I I O% >Y &,/LA )k@ y@ 4G=ٱ L= H!@? N U7ٶ?Elٹ?^?i )k@I %^; CYEByEIbDuWVDu8y%=ٔqQ-?9Y=E1]>GyEu/{A9/{AYA?);E?Q 55Cr?Q 95 )BYy"Q IX@ DI:i:B5yEBɮMwAM(EeB*** querying acoustic contact ***ߡߥR=DDAT read: Rx Time:04:34:05.8004 TRx dataTimestamp_ set to:1764909246.995570PDAT read: Bearing 202.7, 48.1 (Local) ~Local bearing/azimuth received: Bearing 202.7, 48.1 (Local) DAT read: Range 11 to 50 : 49.8 m (trip time 33.2 ms) speed -0.5 DAT read: 04:34:05.8004 LVL= 23328, 21489, 28050, 31187, AGC= 55, IDX= 505, 0.03,-2.262,-1.687, 2.886,-2.239, PHS= 0.079, 0.596,-1.202, RAW= 13.8, 6.6, CAL= 13.7, 6.3, ROT= 136.3, -6.3 Ygot valid direction response: 04:34:05.8004 LVL= 23328, 21489, 28050, 31187, AGC= 55, IDX= 505, 0.03,-2.262,-1.687, 2.886,-2.239, PHS= 0.079, 0.596,-1.202, RAW= 13.8, 6.6, CAL= 13.7, 6.3, ROT= 136.3, -6.3 R#Rx 7: Read range and direction messages. ^direction in FSK: [-0.718601,0.686710,0.109734] Fpublishing direction and range infoy,+ovq?,=?Y3GB [Sm y)Iʡ=iu?#ۙϢv>=Gt> z0=)?@Iz0Ὡp?{ѿ)%O7? I)I?@iz0Ὡ-checking for new query: numPingsReceived=7, elapsed TxPingTime=5.559135i1i5 addTargetRange:: Added new target pos. range: 49.799999 m, deltaT: 0.503046 s, deltaX: 0.099998 m, approachRate: 0.198786 m/s, rangeRepo size: 4 :iDNOT Ignoring new targets: 49.51 m.2iPowering the camera and arming the capture device at range: 49.80 m.i"i1<*i1< ProNav: ac range: 49.511345 m, nav range: 48.433777 m, bearing: 0.529022 deg, approach rate: 0.561794 m/s, LOS rate: 0.448301 deg/s, cmd heading: 355.757042 deg, new cmd heading: 356.077018 deg. iM<HeadingCmd: 6.214716 target range: 49.511345 and range: 49.80 m.h@hhhhiggjgrgere9Ze9:e=`fH@*eE ?Y颭nBɢ(ܤ;) i)<顱i^i꿉I@I5+@9 @9@=}0@9^A  E EE"E"E:*EV:VE(3ZEBEF-e checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795435 Z= &,K/LAbl@bEy@b)=ٱb=bHe?aq @|?°`9?(?ibl@Ib];bCYjBynI ppprAbDtVDty~%T=ٔQ->9  ?Y  ?= Ey E !<E >Q 5=5a?Q 9E5)߄BYAyEB"Q IEX@DI&;i;E5yMBɮMAQԹiik/LAjqFB"jqFB:jj;"p*FA A@G'IDz@p,+ovq?,=?*j?@2jz0*pn n"H@ h#?bj:&@pNb"?|S۳l?Y۹q?j1> jABiL E?i3j̘BjjB|jrjBBzjK6<:iDNOT Ignoring new targets: 49.51 m.2iPowering the camera and arming the capture device at range: 49.80 m.i"i=;*i=;- ProNav: ac range: 49.511345 m, nav range: 48.633995 m, bearing: 0.689224 deg, approach rate: 0.509613 m/s, LOS rate: 0.406080 deg/s, cmd heading: 356.077023 deg, new cmd heading: 356.396103 deg. i-9<5HeadingCmd: 6.220285 target range: 49.511345 and range: 49.80 m.h5 @h1h1h9h9i9g9g9jgArgAeAreAZei:ei*emfL?颵kBɢW;) 犾i)N<项iٽi ࿉I @I(@ @@/@DDAT read: Rx Time:04:34:06.3006 TRx dataTimestamp_ set to:1764909247.504539PDAT read: Bearing 205.6, 47.4 (Local) -~Local bearing/azimuth received: Bearing 205.6, 47.4 (Local) UDAT read: Range 11 to 50 : 50.0 m (trip time 33.3 ms) speed -0.6 DAT read: 04:34:06.3006 LVL= 27312, 22129, 32690, 32755, AGC= 56, IDX= 507,-0.00,-2.408,-1.815, 2.760,-2.403, PHS= 0.097, 0.633,-1.165, RAW= 13.1, 5.5, CAL= 13.1, 4.7, ROT= 136.9, -4.7 Ygot valid direction response: 04:34:06.3006 LVL= 27312, 22129, 32690, 32755, AGC= 56, IDX= 507,-0.00,-2.408,-1.815, 2.760,-2.403, PHS= 0.097, 0.633,-1.165, RAW= 13.1, 5.5, CAL= 13.1, 4.7, ROT= 136.9, -4.7 R#Rx 8: Read range and direction messages.^direction in FSK: [-0.727707,0.680976,0.081939]Fpublishing direction and range infoy*`IL| ??YHBjqV )8I=iJ "? j> = j> =)4@I~ҿc#{!p? /)dĽI4@ichecking for new query: numPingsReceived=8, elapsed TxPingTime=6.077744^A AE ؟AII IY Oe >D zD E  E E &E "E =-;*E L_:VE 4ZE a @a @a @a @9 g &,v/LANR[l@NMz@N=ٱN:=NH`@A?ɣ7@z`↦?`0f.?{?iNR[l@IN];NCY%By%Ichecking for new query: numPingsReceived=8, elapsed TxPingTime=6.298995iMb@Mb@Mb@ 9kt?v/:vY 0?yx齙ԼA A  A)x AYA <<bDzVD8y%f<%1=ٔQ->9"?Y"?=EyEB<E>Q 55hK?Q 95)˄BY2?Q E:y"Q IX@DIf:iM:I5yBɮA'EPExceeded connect timeout, disconnecting.ii^J/LAj=GB"j=GB:j'%<"p B͉Ҹ@@VS@p*`IL| ??*j4@2j*p| iXH@ p"mi?w($@p(k07yG?lhN.?go?jM{? jBBiFR?i6~jӖBj01Z?jjӖBrj&CBzjsBuICBu`IBuBBqBqBuʺDBu;Bu7E"i*i ProNav: ac range: 49.810356 m, nav range: 48.787708 m, bearing: 0.852306 deg, approach rate: 0.000000 m/s, LOS rate: 0.406080 deg/s, cmd heading: 356.396102 deg, new cmd heading: 356.706698 deg. iHeadingCmd: 6.225707 target range: 49.810356 and range: 50.00 m.h8@hhhhiggjgrgEBereZe:eI@*e`?iBɢdÅ;)i m䄾iq)}1<顁iFci^/ֿI8@I96&@ @@@^A-A>A>i  DDAT read: Rx Time:04:34:06.8007  TRx dataTimestamp_ set to:1764909248.003468 PDAT read: Bearing 207.9, 46.4 (Local) A I I  ~Local bearing/azimuth received: Bearing 207.9, 46.4 (Local)  DAT read: Range 11 to 50 : 50.1 m (trip time 33.4 ms) speed -0.6 O- >E DAT read: 04:34:06.8007 LVL= 31680, 28657, 32754, 32755, AGC= 53, IDX= 508, 0.02, 2.505, 3.133, 1.383, 2.502, PHS= 0.105, 0.676,-1.163, RAW= 12.4, 4.7, CAL= 12.4, 3.5, ROT= 137.6, -3.5 M Ygot valid direction response: 04:34:06.8007 LVL= 31680, 28657, 32754, 32755, AGC= 53, IDX= 508, 0.02, 2.505, 3.133, 1.383, 2.502, PHS= 0.105, 0.676,-1.163, RAW= 12.4, 4.7, CAL= 12.4, 3.5, ROT= 137.6, -3.5 U R#Rx 9: Read range and direction messages.] ^direction in FSK: [-0.737078,0.673045,0.061049]] Fpublishing direction and range infoy   t$g}Rʔ?.xA?Y fHB { o  ) 5I = =i V-? /ݔ k]> = k]> 5z=) `@I 5z .@Xӿ\xkc&\"? ) FI `@i 5z  checking for new query: numPingsReceived=9, elapsed TxPingTime=6.577534O &,0LAFZl@Fz@Fݻx=ٱFS >FH@ ?|@g t???iFZl@IF];FCY^ՁBy^IbDjVDj)8y%l=ٔQ-?9 Y = Ey E <E?Q 5E5:?Q 9E5<)BYAyEr!Q IEX@&DI$:i$:"L5yIɮU-AQii80LAjGB"jGB:j(="p7bdBP@@Z2'`@p t$g}Rʔ?.xA?*j`@2j5z*p vqH@b^#@W#@p)AX?S?{6>?j@ jCBiR?iޯ.gjBjR?j\]jBrjCBzj< addTargetRange:: Added new target pos. range: 50.099998 m, deltaT: 0.498929 s, deltaX: 0.099998 m, approachRate: 0.200426 m/s, rangeRepo size: 4  Added new target pos. range: 49.910282 m, bearing: 2.362699 deg, lat: 36.779403 deg, lon: -121.859593 deg, deltaT: 0.498929 s, deltaX: 0.099926 m, approachRate: 0.200281 m/s, posRepo size: 4 :i  DNOT Ignoring new targets: 49.91 m.2i 5Powering the camera and arming the capture device at range: 50.10 m.i1"i9*i9M ProNav: ac range: 49.910282 m, nav range: 48.896717 m, bearing: 1.063617 deg, approach rate: 0.000000 m/s, LOS rate: 0.406080 deg/s, cmd heading: 356.706711 deg, new cmd heading: 356.999584 deg. iIMHeadingCmd: 6.230818 target range: 49.910282 and range: 50.10 m.E] E]E]$EY"E]:*E]&p:VE]4ZEYBE]} &,k0LAB%=B=VDDAT read: Rx Time:04:34:07.3010 ^TRx dataTimestamp_ set to:1764909248.513048jPDAT read: Bearing 209.0, 47.3 (Local) n~Local bearing/azimuth received: Bearing 209.0, 47.3 (Local) vDAT read: Range 11 to 50 : 50.6 m (trip time 33.7 ms) speed -0.5 x5DAT read: 04:34:07.3010 LVL= 22768, 20945, 32754, 32755, AGC= 54, IDX= 511, 0.03,-3.022,-2.435, 2.133,-3.039, PHS= 0.120, 0.649,-1.155, RAW= 13.4, 4.9, CAL= 13.4, 3.8, ROT= 136.6, -3.8 =Ygot valid direction response: 04:34:07.3010 LVL= 22768, 20945, 32754, 32755, AGC= 54, IDX= 511, 0.03,-3.022,-2.435, 2.133,-3.039, PHS= 0.120, 0.649,-1.155, RAW= 13.4, 4.9, CAL= 13.4, 3.8, ROT= 136.6, -3.8 =T#Rx 10: Read range and direction messages.E^direction in FSK: [-0.724977,0.685577,0.066274]EFpublishing direction and range infoyXZӛ3| ??{S?YZfJBXZXZQX X)Z6IZ=iZ$&?Z דZ|o>Z%=Z|o> Zԇ=)Zk@IZԇXXZG8jH0ҿs-量 =? Z)Z!IZk@iZԇXXechecking for new query: numPingsReceived=10, elapsed TxPingTime=7.084342Y%сBy-II5<)5<5=5=!i]Mb@Mb@Mb@YYYY Y9]"~?q= ףpX9vY]3?y]뽙]] A]A ]A)]AYY]AbDuZVDu8yt%=ٔQ->9Y=Ey!EE>Q 55!?Q 95)BY6?Q E:yC!Q IX@2DIz:i]:P5yBɮCA&EiXiZ 0LAjZIB"jZIB:jZM<"pZ{lEBS.GA@[P @pZӛ3| ??{S?*jZk@2jZԇ*pZh.g3H@I5h?` $@Ee EeEaEa"Ee:*EeT:VEaZEaam@am@am@am@pZIR?)>ߗ?Q`X?jZk? jZ]EBiZW ^_?iZjZRBjXjZjZcBrjZDBzjZ4< addTargetRange:: Added new target pos. range: 50.599998 m, deltaT: 0.509580 s, deltaX: 0.500000 m, approachRate: 0.981200 m/s, rangeRepo size: 4  Added new target pos. range: 50.408386 m, bearing: 1.364352 deg, lat: 36.779403 deg, lon: -121.859592 deg, deltaT: 0.509580 s, deltaX: 0.498104 m, approachRate: 0.977480 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 50.41 m.2iPowering the camera and arming the capture device at range: 50.60 m.i"i*i ProNav: ac range: 50.408386 m, nav range: 49.203941 m, bearing: 1.368530 deg, approach rate: 0.000000 m/s, LOS rate: 0.406080 deg/s, cmd heading: 356.999590 deg, new cmd heading: 357.427816 deg. i  HeadingCmd: 6.238292 target range: 50.408386 and range: 50.60 m.h @h hhhQiQgQgYjgYrgeVBeareaZei:emLI@*em@?%bBɢ% ;)) -}IiQ)UsBi Bm GIBm BBi Bi Bi Bm π;Bm a7EBABABABE =BE =CE4^A ,ԉ A I IA OU >v &,E90LA3n@W&|@y!^=ٱM+>H@NM Ke?Ŀ :?@rB? ?i3n@I ^;CYByIQbD-5VD-ݰ8yeC߽%e=ٔmQ-m?9iYi=mEy$EO=E?Q 55?Q 95j)BYyQ IX@9DI[:i:rS5y ɮ A):iquDNOT Ignoring new targets: 50.41 m.2iq}Powering the camera and arming the capture device at range: 50.60 m.iy"i}<*i}< ProNav: ac range: 50.408386 m, nav range: 49.383835 m, bearing: 1.517642 deg, approach rate: 0.603714 m/s, LOS rate: 0.498591 deg/s, cmd heading: 357.427815 deg, new cmd heading: 357.724951 deg. id<HeadingCmd: 6.243478 target range: 50.408386 and range: 50.60 m.h@hhhhiggjgrgereZe:e*e?5aBɢ=趌)9 =i9)=&<9AiE 췼ieiiIm@IiDDAT read: Rx Time:04:34:07.8011 TRx dataTimestamp_ set to:1764909249.013975PDAT read: Bearing 191.5, 56.3 (Local) ~Local bearing/azimuth received: Bearing 191.5, 56.3 (Local) DAT read: Range 11 to 50 : 50.7 m (trip time 33.8 ms) speed -0.5 DAT read: 04:34:07.8011 LVL= 26352, 23489, 32498, 32755, AGC= 51, IDX= 512, 0.03,-1.996,-1.739, 2.916,-1.960, PHS= 0.065, 0.266,-1.451, RAW= 23.9, 13.7, CAL= 22.5, 15.7, ROT= 127.5, -15.7 Ygot valid direction response: 04:34:07.8011 LVL= 26352, 23489, 32498, 32755, AGC= 51, IDX= 512, 0.03,-1.996,-1.739, 2.916,-1.960, PHS= 0.065, 0.266,-1.451, RAW= 23.9, 13.7, CAL= 22.5, 15.7, ROT= 127.5, -15.7 T#Rx 11: Read range and direction messages.-^direction in FSK: [-0.586050,0.763755,0.270600]-Fpublishing direction and range infoyrOg'⿊p?RlyQ?YJBf[~ )3I=i'1>^>Gt>> K>);k@IKOWSZw`%J? ֿ)tI;k@iK]checking for new query: numPingsReceived=11, elapsed TxPingTime=7.585028ԁ@ @@/@^A LAzAwAԩA II!O5>E} E}E}#Ey"E}:*E}rN:VE}3ZEyBE}#2H` ?2"ſ@017@c?K쩿` ?@io?i2o@I2[];0Y^ÁBy^IbDnCVDn8ya<%H=ٔ Q->9Y=Ey(E =E>aQ 55e?Q 95e,)eBYyQ IX@eCDIeƒi(?ʑw>K=w> Q =)E>@IQ Uп-},ȹ? (x)<IE>@iQ checking for new query: numPingsReceived=12, elapsed TxPingTime=8.136599A .AI I O >9 E  E E E "E 2:*E :VE ZE a @a @a @a @׷ &,l0LAMp@M~@M+ >=ٱMzKJ>MH?oƿ`sp? }?X?iMp@IM];MCY}ByI checking for new query: numPingsReceived=12, elapsed TxPingTime=8.314987iMb@Mb@Mb@ 9tV?:vY2?y̽Լ@A A)Y AB>>BJCB4IBpBB =BB˺DB;B@7EbD%,VD%հ8y=t%=1=ٔEvQ-E>9E ?Y ?=Ey,E =E>Q 55ꎊ?Q 95k)rBY4?Q E:yQ IX@MDI @2jQ *pw02NSI@V @9iO)@p_8Z? kﺮ?*h?jH@ jJBi ?i\j BjR?j6~jrj~GBzj=  addTargetRange:: Added new target pos. range: 52.500000 m, deltaT: 0.506883 s, deltaX: 1.799999 m, approachRate: 3.551114 m/s, rangeRepo size: 4 = Added new target pos. range: 52.302193 m, bearing: 3.546470 deg, lat: 36.779403 deg, lon: -121.859590 deg, deltaT: 0.506883 s, deltaX: 1.793736 m, approachRate: 3.538756 m/s, posRepo size: 4 :i9EDNOT Ignoring new targets: 52.30 m.2iAEPowering the camera and arming the capture device at range: 52.50 m.iA"iI*iI} ProNav: ac range: 52.302193 m, nav range: 49.873577 m, bearing: 2.125971 deg, approach rate: 0.000000 m/s, LOS rate: 0.498591 deg/s, cmd heading: 358.158564 deg, new cmd heading: 358.647120 deg. iyHeadingCmd: 6.259573 target range: 52.302193 and range: 52.50 m.hlN@hhhhiggjgrggBereZe:e@J@*e`?[Bɢ ;)  ,i ) |_im4?i@ @@@ DDAT read: Rx Time:04:34:08.8024  TRx dataTimestamp_ set to:1764909250.020148 PDAT read: Bearing 215.3, 49.9 (Local)  ~Local bearing/azimuth received: Bearing 215.3, 49.9 (Local)  DAT read: Range 11 to 50 : 52.7 m (trip time 35.1 ms) speed -0.5  DAT read: 04:34:08.8024 LVL= 23952, 18609, 31154, 32755, AGC= 52, IDX= 500,-0.14, 1.067, 1.527,-0.108, 0.982, PHS= 0.187, 0.590,-1.134, RAW= 17.1, 4.6, CAL= 17.2, 3.5, ROT= 132.8, -3.5  Ygot valid direction response: 04:34:08.8024 LVL= 23952, 18609, 31154, 32755, AGC= 52, IDX= 500,-0.14, 1.067, 1.527,-0.108, 0.982, PHS= 0.187, 0.590,-1.134, RAW= 17.1, 4.6, CAL= 17.2, 3.5, ROT= 132.8, -3.5  T#Rx 13: Read range and direction messages. ^direction in FSK: [-0.678174,0.732361,0.061049] Fpublishing direction and range infoy  T4♳忕]no?.xA?Y RB ] H y ) 4I |?>i = ? & Θ> l= `> 5z=) V@I 5z ] Ձ̿&%T? ) !I V@i 5z M checking for new query: numPingsReceived=13, elapsed TxPingTime=8.587803ԙ ^A A >A >E EE$E"E:*Eg:VE4ZEBE<nHw?-?}ǿzJ?]`!?>?in<q@InU^;nCY~By}IbDUVD8y- %-;=ٔ5_.Q-5>95"?Y5"?=5Ey=1E==E=>AQ 5M5E׎?Q 9M5E)EaBYQyU}Q IUX@EVDIE ;iE ;E^5y]Bɮ]hA].EiiJ0LAjRB"jRB:j3 ="pvC@tA%u9C@c\ @pT4♳忕]no?.xA?*jV@2j5z*p>OdrI@0 ]?OZ·)@p4?0H?'a(|=?j? jKBi+(?iQj3BjW ^_?jj BrjIBzjĦ= addTargetRange:: Added new target pos. range: 52.700001 m, deltaT: 0.499290 s, deltaX: 0.200001 m, approachRate: 0.400570 m/s, rangeRepo size: 4  Added new target pos. range: 52.501442 m, bearing: 1.924485 deg, lat: 36.779404 deg, lon: -121.859592 deg, deltaT: 0.499290 s, deltaX: 0.199249 m, approachRate: 0.399065 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 52.50 m.2iPowering the camera and arming the capture device at range: 52.70 m.i"i*i ProNav: ac range: 52.501442 m, nav range: 50.253212 m, bearing: 2.149311 deg, approach rate: 0.000000 m/s, LOS rate: 0.498591 deg/s, cmd heading: 358.647113 deg, new cmd heading: 359.007257 deg. iHeadingCmd: 6.265859 target range: 52.501442 and range: 52.70 m.h@hhhhigchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.819090gjgrgereZe:eYJ@*eN(?ԁYBɢ9h) ӭi)zU<iiI@Ie0@a @i@i@uԱ DDAT read: Rx Time:04:34:09.3026  TRx dataTimestamp_ set to:1764909250.528318 PDAT read: Bearing 223.0, 52.1 (Local)  ~Local bearing/azimuth received: Bearing 223.0, 52.1 (Local) ^A u DAT read: Range 11 to 50 : 53.0 m (trip time 35.3 ms) speed -0.5  DAT read: 04:34:09.3026 LVL= 25984, 17729, 32754, 32755, AGC= 53, IDX= 503,-0.41,-2.624,-2.269, 2.436,-2.808, PHS= 0.286, 0.584,-1.083, RAW= 20.4, 2.8, CAL= 20.7, 1.1, ROT= 129.3, -1.1  Ygot valid direction response: 04:34:09.3026 LVL= 25984, 17729, 32754, 32755, AGC= 53, IDX= 503,-0.41,-2.624,-2.269, 2.436,-2.808, PHS= 0.286, 0.584,-1.083, RAW= 20.4, 2.8, CAL= 20.7, 1.1, ROT= 129.3, -1.1  T#Rx 14: Read range and direction messages. ^direction in FSK: [-0.633264,0.773698,0.019197] Fpublishing direction and range infoy   dp?C i!?]~?Y TB e AE  ) 5I n>i ? K> +H= > nF<) m@I nF SوmſOyhp? ޿) h*HI m@i nF U checking for new query: numPingsReceived=14, elapsed TxPingTime=9.159515A I I O >) &,0LAY5By5zIDD<E EE!E"E:*EAr:VEc3ZEa@a@a@a@qiMb@Mb@Mb@ 9kt?1ZdQY 0?y"۽z@pA fA)1AY AbD=1VD=ڰ8yut%u%=ٔ}Q-}>9yY=Ey6EE>Q 55c?Q 95r)MBYi2?Q E:y*Q IX@bDI':iZ:c5yBɮlA-Eiiϡ0LAj3SB"j3SB:j@"p@lD@q;7?pdp?C i!?]~?*jm@2jnF*p'?I@;9M&@pPF?!4&нa0A?jܿ jiNBi轟?ijBj ?jQjrjLBzjL=U addTargetRange:: Added new target pos. range: 53.000000 m, deltaT: 0.508170 s, deltaX: 0.299999 m, approachRate: 0.590352 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=14, elapsed TxPingTime=9.323029 Added new target pos. range: 52.800308 m, bearing: 358.083798 deg, lat: 36.779410 deg, lon: -121.859594 deg, deltaT: 0.508170 s, deltaX: 0.298866 m, approachRate: 0.588123 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 52.80 m.2iPowering the camera and arming the capture device at range: 53.00 m.lFinal approach. Armed for intercept at range: 53.00 m.\Transitioning guidance mode to: FINAL_APPROACH i@"i*i ProNav: ac range: 52.800308 m, nav range: 51.178764 m, bearing: 2.164585 deg, approach rate: 0.000000 m/s, LOS rate: 0.498591 deg/s, cmd heading: 359.007256 deg, new cmd heading: 359.512425 deg. iHeadingCmd: 6.274675 target range: 52.800308 and range: 53.00 m.h$@hh:h33?hggjgrgBere Ze :e J@*e ?BD>BKCB'IBfBB =BBB;BE7EԙVBɢw ) Ȭi)<ii )33? %(kpHeading = 0.700000I%: -(kiHeading = 0.001000QI]$@Ia5/@9 @9@=4@9 ^A FӅU DDAT read: Rx Time:04:34:09.8027 U TRx dataTimestamp_ set to:1764909251.030349e PDAT read: Bearing 229.2, 52.9 (Local) e ~Local bearing/azimuth received: Bearing 229.2, 52.9 (Local)  DAT read: Range 11 to 50 : 53.1 m (trip time 35.4 ms) speed -0.5  DAT read: 04:34:09.8027 LVL= 24992, 16369, 29122, 32371, AGC= 52, IDX= 503, 0.33,-2.048,-1.756, 2.963,-2.308, PHS= 0.362, 0.597,-1.056, RAW= 22.4, 1.3, CAL= 22.9, -0.7, ROT= 127.1, 0.7  Ygot valid direction response: 04:34:09.8027 LVL= 24992, 16369, 29122, 32371, AGC= 52, IDX= 503, 0.33,-2.048,-1.756, 2.963,-2.308, PHS= 0.362, 0.597,-1.056, RAW= 22.4, 1.3, CAL= 22.9, -0.7, ROT= 127.1, 0.7  T#Rx 15: Read range and direction messages. `direction in FSK: [-0.603163,0.797524,-0.012217] Fpublishing direction and range infoyQ U ycM4BQ?I:YU fTBQ U aU ?U q U s~)U 4IU X>iU ?U +U +>U ޹ U +H)U @IU +H1 &,V0LA\fAs@f;@fHj=ٱf6'o>fH`?r9Y=Ey:E=E>Q 55?Q 95~)=BYyQ IX@kDI`:i:f5yBɮ~Aiiim=0LAjmSB"jmSB:jm.@"pmb]?uAE@apmycM4BQ?I:*jm @2jm+H<*pmy I@"MIqR$@pm`*>a?|8f[u?jmo jmOBimŸ?im:E EE"E"E:*Ei:VE(3ZEBE."8 &,0LA"Ygot valid direction response: 04:34:10.3028 LVL= 25776, 16609, 32754, 32755, AGC= 54, IDX= 505, 0.11,-1.147,-0.927,-2.496,-1.483, PHS= 0.439, 0.601,-1.057, RAW= 24.9, 0.2, CAL= 25.4, -1.7, ROT= 124.6, 1.7 "T#Rx 16: Read range and direction messages.&`direction in FSK: [-0.567594,0.822774,-0.029666]&Fpublishing direction and range infoy}$z) LO*T? `Y3UBd@ )6I>i#?K/>d;> )- @I<\)ٶ9Q[o? _kԿ)xI- @i<Vchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.1560302ot@0@ڛ<ٱr q>H0k(?ɿ@dͿ?@{P?@?i2ot@I:+^;YuByudIiMb@Mb@Mb@ 9K7?:vy&1YI,?yԽ`d@VAD)zD-@AbEjE3rEƒ/EU EUEU!EQ"EU:*EU[:VEUc3ZEQam@am@am@am@ A)AYG AbDVD8yU%=ٔQ->9 Y=Ey@E=E>)Q 5=5-?Q 9=5-c)-(BYUz.?Q EU:yUQ IUX@-wDI-;i-;-k5yiɮmAiiia0LAjfTB"jfTB:j%@"pAУ#> r6E@=Q4p}$z) LO*T? `*j- @2j<*p [8J@Nͪ =c@ #@p/.i?-"^hu?jV] jPBi?i}Z!jBj轟?jjBrjoPBzjG@!- addTargetRange:: Added new target pos. range: 53.299999 m, deltaT: 0.506822 s, deltaX: 0.200001 m, approachRate: 0.394617 m/s, rangeRepo size: 4 = Added new target pos. range: 53.099838 m, bearing: 356.204218 deg, lat: 36.779414 deg, lon: -121.859635 deg, deltaT: 0.506822 s, deltaX: 0.199249 m, approachRate: 0.393135 m/s, posRepo size: 4 :iYeDNOT Ignoring new targets: 53.10 m.2ia"ia*iau ProNav: ac range: 53.099838 m, nav range: 52.108879 m, bearing: 358.600743 deg, approach rate: 0.000000 m/s, LOS rate: 0.498591 deg/s, cmd heading: 359.939631 deg, new cmd heading: 0.491638 deg. iqHeadingCmd: 0.008581 target range: 53.099838 and range: 53.30 m.h <hhhhggjgrgBereZe:e`fJ@*e'?checking for new query: numPingsReceived=16, elapsed TxPingTime=10.330868颅QBɢ_) 'i)Nȥ<顉iiWI BBIBVBB =BB̺DB;BC7EQe/@q @y@}P0@ 7y> CM Ga y P9 Y A^AU i DDAT read: Rx Time:04:34:10.8029  TRx dataTimestamp_ set to:1764909252.036569 PDAT read: Bearing 236.7, 56.5 (Local)  ~Local bearing/azimuth received: Bearing 236.7, 56.5 (Local)  DAT read: Range 11 to 50 : 53.4 m (trip time 35.6 ms) speed -0.5 DAT read: 04:34:10.8029 LVL= 23984, 17825, 32146, 32627, AGC= 51, IDX= 506,-0.01, 2.407, 2.540, 0.998, 2.032, PHS= 0.477, 0.553,-1.077, RAW= 27.6, 0.6, CAL= 28.1, -1.3, ROT= 121.9, 1.3 Ygot valid direction response: 04:34:10.8029 LVL= 23984, 17825, 32146, 32627, AGC= 51, IDX= 506,-0.01, 2.407, 2.540, 0.998, 2.032, PHS= 0.477, 0.553,-1.077, RAW= 27.6, 0.6, CAL= 28.1, -1.3, ROT= 121.9, 1.3 %T#Rx 17: Read range and direction messages.AAIIIaOm>@ &,1LA2u@2&ā@2H<ٱ2Ep>2H@φ?uɿ`S` '?@?`?i2u@I2 ^;2CN`direction in FSK: [-0.528302,0.848753,-0.022687]NFpublishing direction and range infoy4࿱Er(?NGY;YUB]E} s)3IX9>ih ?#ۉϢ>+<> ޹))@I޹< %Kq( 1Ѡt[? Yο)p*I)@i޹<]checking for new query: numPingsReceived=17, elapsed TxPingTime=10.650793Y]By]`IbDuVDu°8yk%Q=ٔ1Q->9Y=EyDEu;=E>Q 55?Q 95E)BYyQ IX@DI:i:o5yBɮA,Eii&W1LAjTB"jTB:j @"pF NG &,D1LA^>w@^i@^m<ٱ^ۣo>^H"`A?jbɿU2 ?{m??i^>w@I^^;^CYjByjZI llppbDv&VDvϰ8y%I=ٔ-ZQ-->99YA=EEyMHE]=E]>qQ 55uw?Q 95u)uBYy/Q IX@uDIuI;iu;ur5=DDAT read: Rx Time:04:34:11.3032 MTRx dataTimestamp_ set to:1764909252.552425ePDAT read: Bearing 238.0, 58.1 (Local) u~Local bearing/azimuth received: Bearing 238.0, 58.1 (Local) yBɮA5EaDAT read: Range 11 to 50 : 53.9 m (trip time 35.9 ms) speed -0.4 B*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 53.20 m.2i-DAT read: 04:34:11.3032 LVL= 26656, 18513, 32754, 32755, AGC= 54, IDX= 509,-0.20,-3.091,-3.017, 1.761, 2.808, PHS= 0.486, 0.503,-1.092, RAW= 29.5, 1.3, CAL= 29.8, -0.6, ROT= 120.2, 0.6 5Ygot valid direction response: 04:34:11.3032 LVL= 26656, 18513, 32754, 32755, AGC= 54, IDX= 509,-0.20,-3.091,-3.017, 1.761, 2.808, PHS= 0.486, 0.503,-1.092, RAW= 29.5, 1.3, CAL= 29.8, -0.6, ROT= 120.2, 0.6 5T#Rx 18: Read range and direction messages.=`direction in FSK: [-0.502992,0.864227,-0.010472]"ieG <*ieG iE?EƋE?E޹BA BA BA BE =BA BE ˺DBE ;BE S7E^AQ A.AIIO>N &,=1LA2y@2@2S^<ٱ2n>2H$?`VLɿ'[칾?@>ʋ?@!?i2y@I2<^;2CY>By>UIQiMb@Mb@Mb@ 9q= ףp?J + rhY+?yȽC M@lA  A)AYbDVD°8yVn%"=ٔQ->9 ?Y ?=EyME,=E>Q 55 e?Q 95 )BY-?Q E:yoQ IX@DI:i:v5yBɮAiiZ#1LAjVB"jVB:j@"ps;ue4G@ccupi|+˜h?/;r*jC@2j+<*p"!DJ@Q [ *MA%@pN\N?ӭuO尿?jb j$RBih?irZ4jBjj}Z!jrjSBzjY@uDDAT read: Rx Time:04:34:11.8033 }TRx dataTimestamp_ set to:1764909253.043222PDAT read: Bearing 240.7, 58.6 (Local) ~Local bearing/azimuth received: Bearing 240.7, 58.6 (Local) DAT read: Range 11 to 50 : 54.0 m (trip time 36.0 ms) speed -0.4 DAT read: 04:34:11.8033 LVL= 24496, 18865, 31650, 32755, AGC= 54, IDX= 509, 0.45,-2.933,-2.889, 1.880, 2.930, PHS= 0.522, 0.509,-1.095, RAW= 30.4, 0.8, CAL= 30.8, -1.1, ROT= 119.2, 1.1 Ygot valid direction response: 04:34:11.8033 LVL= 24496, 18865, 31650, 32755, AGC= 54, IDX= 509, 0.45,-2.933,-2.889, 1.880, 2.930, PHS= 0.522, 0.509,-1.095, RAW= 30.4, 0.8, CAL= 30.8, -1.1, ROT= 119.2, 1.1 T#Rx 19: Read range and direction messages.`direction in FSK: [-0.487770,0.872761,-0.019197]Fpublishing direction and range infoyqu16m7߿Y?]~YuXBqu_uIu{ q)qIuˡ?iuM?u(u?ud2V &, Y1LA:5z@:8@:&<ٱ:+m><:Hת -?@2ɿƭ@BBT? لna?$?i:5z@I:^;:CYFByFJIbDRVDR8yV9%ZG=ٔZQ-Z>9\Y\=^Ey^QEb{3=Eb>dQ 5f5fU?Q 9j5f)fBYhyjJQ IjX@fDIf:if~:fz5ypɮrdApiqiu&B1LAju0WB"ju0WB:ju[@"putt%=:M4yG@U<pu16m7߿Y?]~*ju%@2junF<*pu(]J@Nwۋ k$@pu]?#=?ju^d juRBiuZ?iuS z:juBjuZ?jurZ4juBrjuYSBzju] @:i!-DNOT Ignoring new targets: 53.70 m.2i)"i-62<*i562iX94X9A?Vh>4? >)x?IBA?,LU]9a? /)LhIx?ichecking for new query: numPingsReceived=20, elapsed TxPingTime=12.181665^A5Ae ؟AIy I O > Ee  Ee Ee 'Ea "Ee :*Ee P:VEe '4ZEa am @am @am @am @i I A checking for new query: numPingsReceived=20, elapsed TxPingTime=12.351078[\ &,Rs1LAB&6>B&ICB&IB&QBB& =B$B&ʺDB&ƀ;B&X7EBKCBJCBCB =B =C5Zj{@Z@Z`8;ٱZ)l>ZH@R)C?,ɿ t߽?f}.B?&?iZj{@pIZi];XYpBy5II<)4<==i%Mb@Mb@Mb@!!!! !9% rh?i|?5+Y%,?y%%%d@! %A)%A!Y% AbDEVDE8yM%M3=ٔU,׻Q-U>9]"?Y]"?=]Ey]VE]!)=Ee>aQ 5m5egD?Q 9u5e)eBYus/?Q Eu:yuQ IuX@eDIe ;ie;e~5yBɮA4EiiJc1LAj`XB"j`XB:jy@"p.{19zI6H@dyk+@pwQ Կ~# ^*?=9?*jx?2j*pG@d`_""8@pn%?)ƿzj/z?jJ j=Binԝ?iV1jBjh?jS z:jrjTBzj` @u addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 0.513009 s, deltaX: 0.299999 m, approachRate: 0.584784 m/s, rangeRepo size: 4  Added new target pos. range: 54.094669 m, bearing: 348.834726 deg, lat: 36.779413 deg, lon: -121.859670 deg, deltaT: 1.003806 s, deltaX: 0.396866 m, approachRate: 0.395361 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 54.09 m.2iEMZTarget missed at range: 54.30 m. Rolling out.iMMNTransitioning guidance mode to: ROLLOUT iM@hIhIhU;hUL?hUiQgQgQjgYrg]zBeYreYZeY:ee`f&K@*ee@8f?-GB-`8;)5 5־i1)5F<15{6i1i=ž9)=L? (kpHeading = 0.800000I; (kiHeading = 0.004000II &Changing to mode: 11DDAT read: Rx Time:04:34:12.8036 TRx dataTimestamp_ set to:1764909254.057053DAT read: Range 11 to 50 : 54.5 m (trip time 36.3 ms) speed -0.4 Z#Rx 21: Read range message, but no direction.yYZBchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.608467m1@i @i@u/@qa E  E E &E "E :*E Ar:VE 4ZE BE N" H ە?9ɿR$>R?q@H:? '?i x|@I ]; CYhBy*IbDVD8yE%E=ٔMQ-M>9IYI=MEyM[EUo=EU>YQ 5e5]41?Q 9m5])]΃BYiymQ ImX@]DI];i]r;]5yqɮu( Ay1O Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseqOEntering Midcourse tracking update period 60.000000 s sec at 54.299999 m (mode 5.000000 count ).qOO addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.500822 s, deltaX: 0.200001 m, approachRate: 0.399345 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 54.09 m.hhhh h i g g jgrgq=zAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy= {@Uninitialize Buoyancy Component.reZe:e@K@*e(?;) o i.9)Lÿ6ii&II@ @@@!5DDAT read: Rx Time:04:34:13.3038 IUTRx dataTimestamp_ set to:1764909254.564160}PDAT read: Bearing 245.6, 59.3 (Local) ~Local bearing/azimuth received: Bearing 245.6, 59.3 (Local) DAT read: Range 11 to 50 : 54.8 m (trip time 36.5 ms) speed -0.4 DAT read: 04:34:13.3038 LVL= 18896, 15777, 21746, 23891, AGC= 58, IDX= 3, 0.46,-0.668,-0.677,-2.193,-1.132, PHS= 0.566, 0.500,-1.105, RAW= 32.0, 0.5, CAL= 32.5, -1.3, ROT= 117.5, 1.3  Ygot valid direction response: 04:34:13.3038 LVL= 18896, 15777, 21746, 23891, AGC= 58, IDX= 3, 0.46,-0.668,-0.677,-2.193,-1.132, PHS= 0.566, 0.500,-1.105, RAW= 32.0, 0.5, CAL= 32.5, -1.3, ROT= 117.5, 1.3  T#Rx 22: Read range and direction messages. `direction in FSK: [-0.461630,0.886782,-0.022687] Fpublishing direction and range infoy9=۞WݿZE`?NGY;Y=3[B9=I===T =S])=:I=`?i=?=p=5?=5<=6? =޹)=?@I=޹<99=vڡ?-4￈TK:? =Ŀ)= I=?@i=޹<99 checking for new query: numPingsReceived=22, elapsed TxPingTime=13.196350^A V݅A zA A A q E  E E E "E *E i:VE ZE a @a @a @a @ԙ A I I O >k &,!1LA2h}@2@2w6:ٱ2j>2H8"?8ɿp߿ ?`W?)?i2h}@I2V^;2CYRvByR<Inchecking for new query: numPingsReceived=22, elapsed TxPingTime=13.359053B=2>B9B=IB=LBB= =B9B9B=;B=77Ei]Mb@Mb@Mb@YYYY Y9]HzG?/$ rhY]=*?y]1]C Y]A ]K A)]AYY]p AbDuVDu8y=%>=̻ٔQ->9Y=EyQ3=E>Q 55 ?Q 95)BY-?Q E:y%Q I-X@DI0=i0=ކ5yUBɮUA]3EkN@OOii31LAj^ZB"j^ZB:jY@"pT(39O4H@3 p۞WݿZE`?NGY;*j?@2j޹<*p*wlJ@IPFc9#@p>9"ls?Z!f@17$?j2  jVBizWʟ?i@(j"BjjjrjUBzj\@5 addTargetRange:: Added new target pos. range: 54.799999 m, deltaT: 0.507107 s, deltaX: 0.299999 m, approachRate: 0.591590 m/s, rangeRepo size: 4 E Added new target pos. range: 54.592236 m, bearing: 357.695406 deg, lat: 36.779413 deg, lon: -121.859670 deg, deltaT: 1.007929 s, deltaX: 0.497566 m, approachRate: 0.493652 m/s, posRepo size: 4 MDNOT Ignoring new targets: 54.59 m.hIhIhIhIhIiIgIgQjgQrgUBreQZey:e}`ffK@*e} h?[-?[-?"[ʾ@*[@w6:) = i69)6ii<II@ @@@DDAT read: Rx Time:04:34:13.8039 TRx dataTimestamp_ set to:1764909255.063261PDAT read: Bearing 247.5, 60.8 (Local) ~Local bearing/azimuth received: Bearing 247.5, 60.8 (Local) DAT read: Range 11 to 50 : 54.9 m (trip time 36.6 ms) speed -0.4 DAT read: 04:34:13.8039 LVL= 24784, 25169, 32754, 32755, AGC= 54, IDX= 500, 0.07,-1.681,-1.746, 3.052,-2.162, PHS= 0.584, 0.461,-1.113, RAW= 33.7, 0.8, CAL= 34.2, -0.9, ROT= 115.8, 0.9 Ygot valid direction response: 04:34:13.8039 LVL= 24784, 25169, 32754, 32755, AGC= 54, IDX= 500, 0.07,-1.681,-1.746, 3.052,-2.162, PHS= 0.584, 0.461,-1.113, RAW= 33.7, 0.8, CAL= 34.2, -0.9, ROT= 115.8, 0.9 T#Rx 23: Read range and direction messages.`direction in FSK: [-0.435177,0.900208,-0.015707]Fpublishing direction and range infoy.W$ۿum?y&Y[B`Qb )6I?i1>v?d<? )Y@I<Зꢰ?* b ? )PpIY@i<% checking for new query: numPingsReceived=23, elapsed TxPingTime=13.631123A ^A vI I O >r &,1LAJ@J.|@J[ٱJBl>JHl:߿=2? yɿ`x_޿ ?`o_? dR? %&?iJ@IJ4^;HYr{ByrBIxxbDVD8y5<%5P=ٔEQ-E>9IYI=MEyIUmD=EU>iQ 5u5m?Q 9u5m)mBYqyuQ IuX@míDIm;im;mA5yɮ}A=EkO1Piix 1LAjZB"jZB:ju@"p~7H@JK4p}p.W$ۿum?y&*jY@2j<*pdPJ@`&0T$@E EE$E"EO:*E~:VE4ZEBE gy &,21LA^`direction in FSK: [-0.411373,0.911091,-0.026177]^Fpublishing direction and range infoy9=:Sڿ%'?P!ΚY=\B9=P_=Q]9 9)=7I=7!?i=>=?5= ?=;=W? =Pwּ)=BY?I=Pw<99=˶?ib&6jq? =-)=QI=BY?i=Pw<99Y=sByE8Iuchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.2178151DqzDqE EE&E"E:*EL_:VE4ZEa@a@a@a@iMb@Mb@Mb@ 9S㥛?/${GzY$&?y#A )x AY AbDVD8y~%=ٔQ->9Y!=%EyAEEM>IQ 5U5M;?Q 9U5Mq)MBY])?Q E]:y]Q I]X@MϭDIM:iM(:M5yBɮABBBB =BBB;B17E[)?[)?"[@*[ @) i9)tp6ii519AIAIqԉ 9Թ  = =% DDAT read: Rx Time:04:34:14.8041 % TRx dataTimestamp_ set to:1764909256.0726475 PDAT read: Bearing 253.6, 61.6 (Local) 5 ~Local bearing/azimuth received: Bearing 253.6, 61.6 (Local) E DAT read: Range 11 to 50 : 55.2 m (trip time 36.8 ms) speed -0.4 e DAT read: 04:34:14.8041 LVL= 22912, 32753, 32754, 32755, AGC= 54, IDX= 502, 0.17,-2.147,-2.276, 2.551,-2.674, PHS= 0.629, 0.442,-1.103, RAW= 35.6, 0.4, CAL= 36.2, -1.3, ROT= 113.8, 1.3 m $@i  @i @m 0@i @u @u @} @}  Ygot valid direction response: 04:34:14.8041 LVL= 22912, 32753, 32754, 32755, AGC= 54, IDX= 502, 0.17,-2.147,-2.276, 2.551,-2.674, PHS= 0.629, 0.442,-1.103, RAW= 35.6, 0.4, CAL= 36.2, -1.3, ROT= 113.8, 1.3  T#Rx 25: Read range and direction messages. `direction in FSK: [-0.403441,0.914724,-0.022687] Fpublishing direction and range infoy! % Fٿ*kE?NGY;Y! ! % Y% ! ! )% 6I% %!?i% M>% /% ?% ;% ?!? % ޹)% M;?I% ޹^H`#ܿ?D˿ w ۿC??/?@ ?i^ A@I^^;\YjuByj:IEr ErEr'Ep"Er :*Erga:VEr'4ZEpBErN"9Y=%Ey!%=E%>)Q 555-?Q 955-)-BY1y=I Q I=X@-حDI-;i-;-"5yEBɮEAE;EiYi]@2LAjY"jY:j]x%@"p]Y/6#n &I@D&p]Fٿ*kE?NGY;*j]M;?2j]޹<*p]J4kJ@˂Ꞓ{%@p]D:^? Fֺ^fz?j]|ſ j]WBi]Ʋ?i]W+j]BjYjYj]FBrj]WXBzj]w@- addTargetRange:: Added new target pos. range: 55.200001 m, deltaT: 0.505307 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 54.990845 m, bearing: 358.360686 deg, lat: 36.779414 deg, lon: -121.859671 deg, deltaT: 0.505307 s, deltaX: 0.000126 m, approachRate: 0.000249 m/s, posRepo size: 4 eDNOT Ignoring new targets: 54.99 m.hahahahahaiigigijgirgireqZe:e*e@GV?uchecking for new query: numPingsReceived=25, elapsed TxPingTime=14.870999[y[y"[y*[}k@9H) <iL9)顽7ZiiV!=IIm '@i  @i @m 0@i Iy I O >A M DDAT read: Rx Time:04:34:15.3043 U TRx dataTimestamp_ set to:1764909256.579615u PDAT read: Bearing 252.4, 60.9 (Local) } ~Local bearing/azimuth received: Bearing 252.4, 60.9 (Local)  DAT read: Range 11 to 50 : 55.7 m (trip time 37.1 ms) speed -0.4 P &,b'2LADAT read: 04:34:15.3043 LVL= 19536, 23073, 30546, 32755, AGC= 56, IDX= 505,-0.24, 2.893, 2.794, 1.342, 2.412, PHS= 0.582, 0.426,-1.115, RAW= 34.8, 1.3, CAL= 35.2, -0.4, ROT= 114.8, 0.4 %Ygot valid direction response: 04:34:15.3043 LVL= 19536, 23073, 30546, 32755, AGC= 56, IDX= 505,-0.24, 2.893, 2.794, 1.342, 2.412, PHS= 0.582, 0.426,-1.115, RAW= 34.8, 1.3, CAL= 35.2, -0.4, ROT= 114.8, 0.4 %T#Rx 26: Read range and direction messages.-`direction in FSK: [-0.419442,0.907755,-0.006981]-Fpublishing direction and range infoy)"ڿlT ?a|9Y^BPL!ZRw )8I?i>R|?޹-Hۿ.? _M˿ڿ ?W?@@? ?i-ׁ@I-e^;)Y}pBy}4IbEĻ 4jEr 4rEĝ/E EE$E"E:*EX:VE4ZEa@a@a@a@aiMb@Mb@Mb@ 9Gz?nktYp?yV 0!A  A) AY=AAAbDVDư8y w% =ٔ qQ- >9Y=Ey =E>aQ 5m5eލ?Q 9m5e )eBYm!?Q Em:ym? Q ImY@eDIe:ie:eח5yyɮ}Ayiij%2LAj]B"j]B:j <"p_Oz>F7;jh/I@ :ؿp)"ڿlT ?a|*j;@2j;*p$K@`$? ,&@pE,ӓN?Zw"?(!w?j-? j&YBȋ?i!RjbBj̑?jW+jrj5YBzj,P@% addTargetRange:: Added new target pos. range: 55.700001 m, deltaT: 0.506968 s, deltaX: 0.500000 m, approachRate: 0.986256 m/s, rangeRepo size: 4 5 Added new target pos. range: 55.488949 m, bearing: 0.561413 deg, lat: 36.779414 deg, lon: -121.859664 deg, deltaT: 0.506968 s, deltaX: 0.498104 m, approachRate: 0.982516 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 55.49 m.hYhYhYhYhYiagagajgargmBreiZei:emK@*em ]?checking for new query: numPingsReceived=26, elapsed TxPingTime=15.376011BC>BKCBBB =BB˺DB؀;Bq7E[%!?[%!?"[%@*[%&p@ԑz)  iq9){c4ii!I!I1 X*@  @ @ @ I I! O5 > >GԹ {A  Wh9 {AY dA!6 &,@2LA6m@6Yf@65ٱ6|s>6HbڿOw?ѯʿ@Q;dٿ?n?@4?@B?i6m@I6-^;4YlylbDzVDz8ٔ(Q-$?9Y = Ey  =E $?Q 55֍?Q 95 )vBY!y% Q I%Y@DI;i;"5y)ɮ))UDNOT Ignoring new targets: 55.49 m.hYhYhYhYhaiagagajgargireiZei:ei*em?[["[*[@ԙ5) i 9)顭S]\iiIIDDAT read: Rx Time:04:34:15.8043 TRx dataTimestamp_ set to:1764909257.079442PDAT read: Bearing 254.0, 59.9 (Local) ~Local bearing/azimuth received: Bearing 254.0, 59.9 (Local) %DAT read: Range 11 to 50 : 55.7 m (trip time 37.1 ms) speed -0.4 DAT read: 04:34:15.8043 LVL= 15152, 28209, 27426, 28659, AGC= 54, IDX= 505, 0.07,-2.529,-2.607, 2.201,-3.023, PHS= 0.596, 0.461,-1.103, RAW= 34.1, 0.6, CAL= 34.6, -1.2, ROT= 115.4, 1.2 Ygot valid direction response: 04:34:15.8043 LVL= 15152, 28209, 27426, 28659, AGC= 54, IDX= 505, 0.07,-2.529,-2.607, 2.201,-3.023, PHS= 0.596, 0.461,-1.103, RAW= 34.1, 0.6, CAL= 34.6, -1.2, ROT= 115.4, 1.2 T#Rx 27: Read range and direction messages.`direction in FSK: [-0.428841,0.903137,-0.020942]Fpublishing direction and range infoyO lF"rۿ~N?_2qY0;1n"k o)6Iu?i1>/:\?+<#? ).@I<%|gL?{%\? 翿)7"I.@i<checking for new query: numPingsReceived=27, elapsed TxPingTime=15.660996-+@) @)@-B1@)I9IQO]>E EEE"E:*E:VEZEBE'6H-ؿ@+?MɿOwWؿa!?`~??v+?i6@I6];6CY^fBy^)I ``dfAbDjVDj8yr%ؼ%r<ٔvQ-v>9tYt=vEytz ==Ez>|Q 55~ʍ?Q 95~)~jBYy Q I Y@~DI~:i~:~5yBɮADEi1i5E2LAj5]B"j5]B:j5v_="p5WiW7!I@S~Cp5O lF"rۿ~N?_2q*j5.@2j5<*p5!oGK@@3uR]#@p5tQv?.aX}?nU?j5>@ j5;ZBi5T|Q?i5ɻj5ĔBj1j1j1rj5"ZBzj5h@ addTargetRange:: Added new target pos. range: 55.700001 m, deltaT: 0.499827 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 55.490700 m, bearing: 3.125850 deg, lat: 36.779414 deg, lon: -121.859664 deg, deltaT: 0.499827 s, deltaX: 0.001751 m, approachRate: 0.003503 m/s, posRepo size: 4 DNOT Ignoring new targets: 55.49 m.hhhhhiggjgrgre!Ze!:e!*e%?[a[a"[a*[ep@uؾ)q uiu9)y}}AiyiIIDDAT read: Rx Time:04:34:16.3045 )=TRx dataTimestamp_ set to:1764909257.587846EPDAT read: Bearing 253.8, 61.2 (Local) M~Local bearing/azimuth received: Bearing 253.8, 61.2 (Local) ]DAT read: Range 11 to 50 : 56.0 m (trip time 37.3 ms) speed -0.4 }DAT read: 04:34:16.3045 LVL= 18096, 22369, 25218, 28435, AGC= 55, IDX= 507, 0.43,-0.501,-0.613,-2.084,-0.997, PHS= 0.598, 0.429,-1.131, RAW= 35.1, 1.3, CAL= 35.5, -0.5, ROT= 114.5, 0.5 Ygot valid direction response: 04:34:16.3045 LVL= 18096, 22369, 25218, 28435, AGC= 55, IDX= 507, 0.43,-0.501,-0.613,-2.084,-0.997, PHS= 0.598, 0.429,-1.131, RAW= 35.1, 1.3, CAL= 35.5, -0.5, ROT= 114.5, 0.5 T#Rx 28: Read range and direction messages.S.@ @@4@II%`direction in FSK: [-0.414677,0.909927,-0.008727]-Fpublishing direction and range infoy15sQڿ3Dn?B7߁Y5`B15F5aW5b 5o)57I5?i5>5Đ5 ?5޹<5? 55)5?I55<1O|>15*v6?w>/*V̖? 56)5jI5?i55<11checking for new query: numPingsReceived=28, elapsed TxPingTime=16.216257QD zD ?AE  E E E "E :*E ~:VE 3ZE a @a @a @a @y &,t2LAB:L>B:LCB8B8B: =B8B:̺DB: ;B:7EbDDAT read: Rx Time:04:34:16.8046 jTRx dataTimestamp_ set to:1764909257.847953PDAT read: Bearing 252.9, 62.3 (Local) %~Local bearing/azimuth received: Bearing 252.9, 62.3 (Local) }DAT read: Range 11 to 50 : 56.1 m (trip time 37.4 ms) speed -0.4 Z#Rx 29: Read range message, but no direction.ydYff`Bdchecking for new query: numPingsReceived=29, elapsed TxPingTime=16.431669%@%H@%縼ٱ%E_>%H ׿@I ?Ӣȿ`׿ ?a?j?`9Y=Ey=E>!Q 5-5%Q?Q 9-5%)%[BY-?Q E5:y5 Q I5Y@%DI%s:i%:%5y9ɮ= A9idifDv2LAjf_B"jf_B:jfj="pf̭,-7BmI@}6߿pfsQڿ3Dn?B7߁*jf?2jf5<*pfrK@+nB4 @vQK~#@pf Ekn?% B{ܬ?.SU?jfI@ jf[Bif|Ο?ifjfcBjf-?5=K!? ;)~t?IhD?!d tޡ? .3)I~t?iE 1@I  @I @M 0@I IY Ii Ou > checking for new query: numPingsReceived=30, elapsed TxPingTime=16.665703 r &,lv2LA2r$@2@2ʼٱ2'X>2HֿI?sǿ@Gֿ@? S?@?G?i2r$@I2. ^;2CEB EBEB&E@"EB:*EB1]:VEB4ZE@BEBq%  DAT read: 04:34:17.3048 LVL= 22064, 29297, 32754, 32755, AGC= 52, IDX= 510, 0.04,-0.507,-0.680,-2.107,-1.017, PHS= 0.612, 0.382,-1.134, RAW= 37.0, 1.7, CAL= 37.4, 0.0, ROT= 112.6, -0.0  Ygot valid direction response: 04:34:17.3048 LVL= 22064, 29297, 32754, 32755, AGC= 52, IDX= 510, 0.04,-0.507,-0.680,-2.107,-1.017, PHS= 0.612, 0.382,-1.134, RAW= 37.0, 1.7, CAL= 37.4, 0.0, ROT= 112.6, -0.0 % Z#Rx 32: Read direction message, but no range.9 M ^direction in FSK: [-0.384295,0.923210,0.000000] &,]2LAyCTKؿ݅+?0Vqr )4I?i>&MQ%?<'? )?I̞,?yJdF՞? ȁ)³I?iEchecking for new query: numPingsReceived=32, elapsed TxPingTime=17.2198948@@ ׼ٱS>H@տi?ǿ#Կ`L?@H?.L?[N?i8@I];CY[ByII=)<= i}Mb@Mb@Mb@yyyy y9}/$?p= ף~jtY}&?E EE"E"E:*ET:VE(3ZEa@a@a@a@y}}y}?A }x A)} AyY} AbDNVD8y-5%-%=ٔ5WIQ-5>91Y9==Ey9==E=>aQ 5m5e?Q 9m5e$)eEBYu<?Q Eu:yuQ IuY@e DIeU;ie;e55yBɮG ACEii2LAj[`B"j[`B:jI!s="p-,5hx;(I@pCTKؿ݅+?*j?2j*pԴOK@\M/ @nhJ <%$@p8 l?`".7/?~!?j}Q@ jR\BiM*&ȟ?i}gjBjT|Q?j}gjBrjW\Bzj҉s=- addTargetRange:: Added new target pos. range: 56.299999 m, deltaT: 0.506024 s, deltaX: 0.200001 m, approachRate: 0.395240 m/s, rangeRepo size: 4 ] Added new target pos. range: 56.089584 m, bearing: 3.400958 deg, lat: 36.779414 deg, lon: -121.859624 deg, deltaT: 0.506024 s, deltaX: 0.199253 m, approachRate: 0.393762 m/s, posRepo size: 4 eDNOT Ignoring new targets: 56.09 m.hahahahahaiagigijgirgmVBreqZeq:eu`f&L@*eu@?[<?[<?"[@*[]@ ׼) i9)Gʵdii!!I!I19BmN>BiBiBiBm =BiBiBm^;Bm8EBBBBB =CƔ5DDAT read: Rx Time:04:34:17.8048 TRx dataTimestamp_ set to:1764909258.858039 PDAT read: Bearing 255.0, 63.6 (Local) %~Local bearing/azimuth received: Bearing 255.0, 63.6 (Local) EDAT read: Range 11 to 50 : 56.3 m (trip time 37.5 ms) speed -0.3 UZ#Rx 33: Read range message, but no direction.yYechecking for new query: numPingsReceived=33, elapsed TxPingTime=17.420631a 6@  @ @ 2@ I I O >) &,R*2LA 6?@6%9@67ٱ6T>6H wԿح? ǿA`ӿ@㶷?`?`l]?@M?i6?@I6_^;6CYB\ByBIbDJ6VDJް8yQ;%%=ٔ%߬Q-%?9!Y)=-Ey)-d=E-?1Q 5=55$?Q 9=55()5>BYAyEQ IEY@5DI5;i5@;5ѫ5yIɮMB AI addTargetRange:: Added new target pos. range: 56.299999 m, deltaT: 0.504062 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 56.09 m.hhhhhiggjgrgreZe:e*e1 ?[["[*[@7) 7i9)+׵iiII54=5a=]DAT read: 04:34:17.8048 LVL= 18240, 24865, 30818, 32755, AGC= 56, IDX= 510, 0.19,-1.185,-1.364,-2.796,-1.694, PHS= 0.611, 0.375,-1.146, RAW= 37.1, 2.0, CAL= 37.5, 0.4, ROT= 112.5, -0.4 eYgot valid direction response: 04:34:17.8048 LVL= 18240, 24865, 30818, 32755, AGC= 56, IDX= 510, 0.19,-1.185,-1.364,-2.796,-1.694, PHS= 0.611, 0.375,-1.146, RAW= 37.1, 2.0, CAL= 37.5, 0.4, ROT= 112.5, -0.4 eZ#Rx 34: Read direction message, but no range.u^direction in FSK: [-0.382674,0.923857,0.006981]y9=_f}ؿ~b=!=%?=5==6'? =;)=S?I=仩9=&??ܖ Ggm? =.)=q: I=S?i=仝checking for new query: numPingsReceived=34, elapsed TxPingTime=17.682568i7@ @@/@IIO=ԙE EE&E"Ea:*EL_:VE4ZEBE(2Hӿ}?qǿ`m`Yҿ &?? "a?L?i2ʅ@I2I];0YBfByB(ILbDJVDJȰ8yvL=%vM=ٔzN&Q-z>9xY|=~Ey|~.=E>Q 5 5s?Q 9 5-)4BYyQ IY@DI:i>:K5yɮ%A!i1i5c)2LAj5`B"j5`B:j5$="p5lzߒ5d*I@_?p5_f}ؿ~b?j5@ j5[Bi5?i5]kj5RBj1j5j1rj5Q]Bzj57=u addTargetRange:: Added new target pos. range: 56.400002 m, deltaT: 0.503862 s, deltaX: 0.100002 m, approachRate: 0.198472 m/s, rangeRepo size: 4  Added new target pos. range: 56.189438 m, bearing: 5.314886 deg, lat: 36.779414 deg, lon: -121.859621 deg, deltaT: 1.007924 s, deltaX: 0.099854 m, approachRate: 0.099069 m/s, posRepo size: 4 DNOT Ignoring new targets: 56.19 m.hhhhhiggjgrgreZe:e@33L@*e`t?[["[*[%@|)  i9)顕絉ីiiIIuDAT read: 04:34:18.3049 LVL= 19344, 27313, 32210, 32755, AGC= 54, IDX= 512,-0.49, 0.237,-0.019,-1.039,-0.036, PHS= 0.375, 0.062,-1.047, RAW= 42.1, 9.5, CAL= 40.1, 10.0, ROT= 109.9, -10.0 Ygot valid direction response: 04:34:18.3049 LVL= 19344, 27313, 32210, 32755, AGC= 54, IDX= 512,-0.49, 0.237,-0.019,-1.039,-0.036, PHS= 0.375, 0.062,-1.047, RAW= 42.1, 9.5, CAL= 40.1, 10.0, ROT= 109.9, -10.0 Z#Rx 36: Read direction message, but no range.^direction in FSK: [-0.335208,0.926003,0.173648]yAE]gStտyѡ?ٖNs:?AEKEjE} A)E6IE>iE}=EEE$+3? E¸2>)Eۄ?IE¸2AE}^q?hbX?[7 ? E )E,)IEۄ?iE¸2checking for new query: numPingsReceived=36, elapsed TxPingTime=18.172771]9@a @a@m/@mIIO>D ?AzD E  E E 'E "E :*E VL:VE '4ZE a @a @a @a @! Bm K>Bi Bm IBm QBBi Bi Bi Bm ;Bm 48E &,2LA2DDAT read: Rx Time:04:34:18.8050 6TRx dataTimestamp_ set to:1764909259.865823BPDAT read: Bearing 228.0, 56.3 (Local) TZ~Local bearing/azimuth received: Bearing 228.0, 56.3 (Local) jDAT read: Range 11 to 50 : 56.6 m (trip time 37.7 ms) speed -0.3 rZ#Rx 37: Read range message, but no direction.y4Y6fbB4zchecking for new query: numPingsReceived=37, elapsed TxPingTime=18.431877U@N@ٱ\T>HҿV?ȿ @cѿ@؈?@r}? W?L?iU@I ^;CYTByIAiMb@Mb@Mb@ 9J +?K79Y=Ey=E>Q 55?Q 95D4)(BYn ?Q E:y]Q IY@ DI:i:5yBɮj ALEi4i6i2LAj6aB"j6aB:j6<="p6OZ2EJ@:A_#@p6]gStտyѡ?ٖNs:?*j6ۄ?2j6¸2*p6RpsQJ@,;@t3@p6h\N?ݝ?@em?j6ى@ j6RBi6!ݞ?i6j6ڨBj4j6ɻj4rj6]Bzj6=E addTargetRange:: Added new target pos. range: 56.599998 m, deltaT: 0.503922 s, deltaX: 0.199997 m, approachRate: 0.396881 m/s, rangeRepo size: 4  Added new target pos. range: 56.388416 m, bearing: 4.678693 deg, lat: 36.779414 deg, lon: -121.859620 deg, deltaT: 0.503922 s, deltaX: 0.198978 m, approachRate: 0.394860 m/s, posRepo size: 4 DNOT Ignoring new targets: 56.39 m.hhhhhggjgrg0BreZe:eLL@*e?[%n ?[%n ?"[%@*[%@])Y ](ܾi]9)Y]]/iaiaII%9@! @!@%/@!I1IAOUu>DAT read: 04:34:18.8050 LVL= 19168, 21745, 32754, 32755, AGC= 54, IDX= 512,-0.27,-1.418,-1.318,-2.613,-1.485, PHS= 0.169, 0.212,-1.173, RAW= 28.4, 11.6, CAL= 26.9, 12.7, ROT= 123.1, -12.7 %Ygot valid direction response: 04:34:18.8050 LVL= 19168, 21745, 32754, 32755, AGC= 54, IDX= 512,-0.27,-1.418,-1.318,-2.613,-1.485, PHS= 0.169, 0.212,-1.173, RAW= 28.4, 11.6, CAL= 26.9, 12.7, ROT= 123.1, -12.7 -Z#Rx 38: Read direction message, but no range.-^direction in FSK: [-0.532741,0.817224,0.219846]y#/G\7 W&?F#?JT )IV->iY>$>4QO>va> b>) @IbYf4`bEvU￙t? ̿)UOI @ibMchecking for new query: numPingsReceived=38, elapsed TxPingTime=18.672892) &,6?3LAE EE#E"E:*E?:VE3ZEBE ܆@>A֍@>{ٱ>;S>>Hyѿ'?}-ȿ Yп ׵?`3/?`=?@N?i>܆@I>Q^;>CYvWByvIbDVD8y .b<%=ٔ Q-?9Y!=%Ey!%MW=E%?)Q 555-t?Q 955-98)- BY9y=PQ I=Y@-&DI-;i-;-w5yAɮEY AAmDNOT Ignoring new targets: 56.39 m.hihqhqhqhqgqgqjgyrgyreyZe:e*e?[["[*[g@{) پi9)顽/͸iiIIDDAT read: Rx Time:04:34:19.3052 TRx dataTimestamp_ set to:1764909260.370146PDAT read: Bearing 255.5, 63.5 (Local) ~Local bearing/azimuth received: Bearing 255.5, 63.5 (Local) DAT read: Range 11 to 50 : 56.9 m (trip time 37.9 ms) speed -0.3 Z#Rx 39: Read range message, but no direction.yYcB=checking for new query: numPingsReceived=39, elapsed TxPingTime=18.939896I{9u9@q @q@}0@yyIIO>ԡ - =- <M DAT read: 04:34:19.3052 LVL= 16480, 17281, 23698, 22675, AGC= 57, IDX= 2,-0.09, 1.882, 1.717, 0.317, 1.417, PHS= 0.567, 0.344,-1.144, RAW= 36.9, 2.9, CAL= 37.0, 1.6, ROT= 113.0, -1.6 U Ygot valid direction response: 04:34:19.3052 LVL= 16480, 17281, 23698, 22675, AGC= 57, IDX= 2,-0.09, 1.882, 1.717, 0.317, 1.417, PHS= 0.567, 0.344,-1.144, RAW= 36.9, 2.9, CAL= 37.0, 1.6, ROT= 113.0, -1.6 U Z#Rx 40: Read direction message, but no range.e ^direction in FSK: [-0.390579,0.920146,0.027922]y) - (O>ؿwq?|p}?) - `@- C- \ - X)- 9I- &?i- >- n- $?- 4QO=- MQ%? - <)- q?I- 伩) - ߃?S6{R*d%? - )- @QI- q?i- 伝 checking for new query: numPingsReceived=40, elapsed TxPingTime=19.178823 &,!*3LAy]e@]A_@]ٱ]JQ>]HпM?&ȿ`Ͽ??y ? P?i]e@I]B+^;]CYdBy&IE5 E5E1E1"E5:*E5R:VE1ZE1a=@a=@a=@a=@iMb@Mb@Mb@ 9K7A?x&y&1Y ?y7 ` b A) AYbDVD8y`=%%=ٔ瓺Q->9Y= Ey  ! =E >Q 55w?Q 95B>)BY?Q E%:y%Q I%Y@.DI;i3#<պ5yiɮmAiiiy3LAjbB"jbB:j>"p=D$6OT "J@Ccq(S?p(O>ؿwq?|p}?*jq?2j*plaRamK@>} !@뗵V&@p%?wO@?Lc?jlA jk[Bi/@?ԡi3]jYBj?jjRBrj^Bzj>= addTargetRange:: Added new target pos. range: 56.900002 m, deltaT: 0.504323 s, deltaX: 0.300003 m, approachRate: 0.594863 m/s, rangeRepo size: 4  Added new target pos. range: 56.687298 m, bearing: 8.835310 deg, lat: 36.779412 deg, lon: -121.859619 deg, deltaT: 0.504323 s, deltaX: 0.298882 m, approachRate: 0.592639 m/s, posRepo size: 4 DNOT Ignoring new targets: 56.69 m.h h h hhggjgrgABreZe9:e=@3sL@*eEl?[?[?"[@*[@B.>BICBIBVBB =BBʺDBȁ;BX8EDDAT read: Rx Time:04:34:19.8052 TRx dataTimestamp_ set to:1764909260.874668PDAT read: Bearing 257.3, 64.0 (Local) ~Local bearing/azimuth received: Bearing 257.3, 64.0 (Local) DAT read: Range 11 to 50 : 56.9 m (trip time 37.9 ms) speed -0.3 Z#Rx 41: Read range message, but no direction.yY checking for new query: numPingsReceived=41, elapsed TxPingTime=19.436676])Y ](ܾi]9)am# iiII9- 9@)  @) @- 5@) Ia Iq O} > &,'C3LA2E@2@2ٱ2sS>2H1KϿ`Yk?2{ȿ@5@Ϳ~?C"?';?@M?i2E@I2O^;2CYBiByB,IF=Fa=J@AHbDJٿVDJ8y-<%-=ٔ-/ϺQ-5 ?91Y1=5Ey1=uT=E=?AQ 5M5EOq?Q 9M5E B)EBYIyMQ IUY@E3DIE~:iE:E5yYɮ]AY addTargetRange:: Added new target pos. range: 56.900002 m, deltaT: 0.504522 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 56.69 m.hhhhhggjgrgreZe:e*e?[["[*[V*@DAT read: 04:34:19.8052 LVL= 18224, 22753, 30802, 32547, AGC= 55, IDX= 498,-0.16, 2.518, 2.331, 0.930, 2.036, PHS= 0.584, 0.340,-1.150, RAW= 37.5, 2.8, CAL= 37.6, 1.4, ROT= 112.4, -1.4 Ygot valid direction response: 04:34:19.8052 LVL= 18224, 22753, 30802, 32547, AGC= 55, IDX= 498,-0.16, 2.518, 2.331, 0.930, 2.036, PHS= 0.584, 0.340,-1.150, RAW= 37.5, 2.8, CAL= 37.6, 1.4, ROT= 112.4, -1.4 Z#Rx 42: Read direction message, but no range. ^direction in FSK: [-0.380957,0.924270,0.024432]y$)aؿ$%?{J?0GXRx #)7I?i{>336'?+H='? +<)?I+ȼBݐ؝?Z >"? `)$%II?i+ȼ-checking for new query: numPingsReceived=42, elapsed TxPingTime=19.680531)5)1 5׾i59)9==#i9iAAAIAII5399@ @@/@IIO(>AEE EEEE$EA"EE:*EE;J:VEE4ZEABEE; 2HmͿ`u?ȿ T L˿ܳ?Q9? ^?L?i29e@I2j?^;0YBkByB.IbDJVDJ8y;%?=ٔS׹Q->9Y=Ey%=E>!Q 5-5%h?Q 9-5%]G)%BY)y-Q I-Y@%:DI%u:i%:%T5y]Bɮ]A]KEqii>X3LAjcB"jcB:jK2>"p}F5_: zUJ@Ի9F?p$)aؿ$%?{J?*j?2j+ȼ*pQzK@I+h#@a7 '@p6?KN*?u??jAA j[Bi?iB#HjwBj/@?j]kjYBrjz]Bzj#`= addTargetRange:: Added new target pos. range: 57.200001 m, deltaT: 0.504173 s, deltaX: 0.299999 m, approachRate: 0.595032 m/s, rangeRepo size: 4  Added new target pos. range: 56.983116 m, bearing: 10.013449 deg, lat: 36.779408 deg, lon: -121.859607 deg, deltaT: 1.008695 s, deltaX: 0.295818 m, approachRate: 0.293268 m/s, posRepo size: 4 MDNOT Ignoring new targets: 56.98 m.hIhQhQhQhQgQgQjgYrgYreYZeY:e]L@*ee ׿il?.?0<Srg sn)5IX9?i> ד+?s=+? nF=)Q?InFO?xza6? >A)qIQ?inFEchecking for new query: numPingsReceived=44, elapsed TxPingTime=20.186312ԡ9bE4jE#4rEȭ<0EU  EU EU &EQ "EU :*EU :VEU 4ZEQ a] @ae @ae @ae @e 9@a  @a @e 4@a Iq I O > B >B GCB !IB `BB =B B ȺDB ;B A8EH &,,w3LA*DDAT read: Rx Time:04:34:20.8054 2TRx dataTimestamp_ set to:1764909261.881826:PDAT read: Bearing 255.4, 65.4 (Local) >~Local bearing/azimuth received: Bearing 255.4, 65.4 (Local) DAT read: Range 11 to 50 : 57.2 m (trip time 38.1 ms) speed 0.0 Z#Rx 45: Read range message, but no direction.y,Y,,%checking for new query: numPingsReceived=45, elapsed TxPingTime=20.455437 }y>}CgG !Y-lBy=/IM.9IYU+AiMb@Mb@Mb@ 9Gz?V-¿S㥛Y>yh/ݼE@A  A) AY AbDVD8y;%"=ٔQ->9Y!=%Ey!%E%>)Q 555-w^?Q 955- M)-BY=>Q E=:y]Q I]Y@-BDI-q;i-u;-5yaɮeAii,i.ox3LAj.cB"j.cB:j.&>"p.ޥ4vhxJ@PC@p.> ׿il?.?*j.Q?2j.nF*p. `qK@[!@WN(@p.ae?2O9+?u+?j.A j.[Bi.*o?i.O`j./Bj.?j.O`j.wBrj.6_Bzj.y%> addTargetRange:: Added new target pos. range: 57.200001 m, deltaT: 0.502985 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 56.981167 m, bearing: 9.289676 deg, lat: 36.779408 deg, lon: -121.859577 deg, deltaT: 0.502985 s, deltaX: -0.001949 m, approachRate: -0.003875 m/s, posRepo size: 4 %DNOT Ignoring new targets: 56.98 m.h!h)h)h)h)g)g)jg1rg54BreQZeQ:eY*e]@$?[>[>"[B@*[*@) Ǿi9)I!iiIIDAT read: 04:34:20.8054 LVL= 20784, 25457, 31522, 31731, AGC= 55, IDX= 500,-0.08, 3.012, 2.793, 1.421, 2.563, PHS= 0.551, 0.275,-1.186, RAW= 38.5, 4.5, CAL= 38.1, 3.6, ROT= 111.9, -3.6 Ygot valid direction response: 04:34:20.8054 LVL= 20784, 25457, 31522, 31731, AGC= 55, IDX= 500,-0.08, 3.012, 2.793, 1.421, 2.563, PHS= 0.551, 0.275,-1.186, RAW= 38.5, 4.5, CAL= 38.1, 3.6, ROT= 111.9, -3.6 Z#Rx 46: Read direction message, but no range.%^direction in FSK: [-0.372252,0.926005,0.062791]y++׿=g ֡?֏ ?0Qqc"{ {)7IV ?ǐ>Η,?|٠=;*? =)?I|?T/yU1a? )e堽I?iMchecking for new query: numPingsReceived=46, elapsed TxPingTime=20.690453! E 9@A  @I @M /@I IY Ii Ou >, &,43LA :Vi@:b@:gٱ:L>:Hvɿ@?v&ȿ:*EFF:VEF'4ZEDBEFԙ % DAT read: 04:34:21.3055 LVL= 16208, 22577, 30098, 32755, AGC= 53, IDX= 502,-0.00,-2.364,-2.649, 2.325,-2.843, PHS= 0.581, 0.239,-1.159, RAW= 40.7, 4.3, CAL= 40.4, 3.3, ROT= 109.6, -3.3 - Ygot valid direction response: 04:34:21.3055 LVL= 16208, 22577, 30098, 32755, AGC= 53, IDX= 502,-0.00,-2.364,-2.649, 2.325,-2.843, PHS= 0.581, 0.239,-1.159, RAW= 40.7, 4.3, CAL= 40.4, 3.3, ROT= 109.6, -3.3 - Z#Rx 48: Read direction message, but no range.5 ^direction in FSK: [-0.334895,0.940495,0.057564]y  Tnտb‰?`8.y?  P? 1X u  ) 5I j?i jt> Z o5? `= J4?  k=) G?I k  X29?}]?[￰NLЎ)?  +.) 4qI G?i kU checking for new query: numPingsReceived=48, elapsed TxPingTime=21.192595Y &,{i3LA|#@m@ٱI>Hǿ`?ǿ`paNƿ ?2T?t?]?i#@I];CYpBy%4IiuMb@Mb@Mb@qqqq q9uʡE?/$ÿZd;OYu>yuujquA uG A)u AqYu\ ADDR=E EE&E"E:*ET:VE4ZEa@a@a@a@bD VD8y%$=ٔz:Q->9Y=Ey <E >Q 55O?Q 95jU)BYl>Q E%:y% Q I%Y@NDI;i ;{5y-}Bɮ-iA-TEiiHܘ3LAjRdB"jRdB:j`2>"py 3yEJ@ET^SQI @pTnտb‰?`8.y?*jG?2jk*p|QHeZK@lE}H#@`hHD*@p8 >6?Lo?cs?jCA jZBif^Q?iWjBj*o?j3]j/Brjq_BzjD-> addTargetRange:: Added new target pos. range: 57.299999 m, deltaT: 0.506619 s, deltaX: 0.099998 m, approachRate: 0.197384 m/s, rangeRepo size: 4 ] Added new target pos. range: 57.080784 m, bearing: 9.995326 deg, lat: 36.779406 deg, lon: -121.859576 deg, deltaT: 0.506619 s, deltaX: 0.099617 m, approachRate: 0.196631 m/s, posRepo size: 4 BBB.IBkBBBBB;B 8EDNOT Ignoring new targets: 57.08 m.hhhhh g gjg9rgEABreAZeI:eU`fL@}DDAT read: Rx Time:04:34:21.8055 TRx dataTimestamp_ set to:1764909262.890773PDAT read: Bearing 259.5, 68.3 (Local) ~Local bearing/azimuth received: Bearing 259.5, 68.3 (Local) DAT read: Range 11 to 50 : 57.3 m (trip time 38.2 ms) speed 0.1 Z#Rx 49: Read range message, but no direction.yyYyychecking for new query: numPingsReceived=49, elapsed TxPingTime=21.447123*e`)?[-l>[-l>1"[-f1@*[- @])a eѾieԞ9)ae)ea ? &,<3LA2Sk@2d@2{ٱ2wG>2H`pſ?@gǿ@aĿ@{Q?R??a?i2Sk@I2n^;0YB|ByBCIFAAF@AbDJVDJ8y=%=ٔL;Q-?9 Y = Ey  T=E?Q 55XJ?Q 9%5X)BY!y% Q I%Y@RDII;i;&5y)ɮ5A19DAT read: 04:34:21.8055 LVL= 14896, 18817, 26162, 26867, AGC= 54, IDX= 502,-0.03, 2.914, 2.604, 1.314, 2.431, PHS= 0.585, 0.218,-1.161, RAW= 41.5, 4.5, CAL= 41.1, 3.6, ROT= 108.9, -3.6 Ygot valid direction response: 04:34:21.8055 LVL= 14896, 18817, 26162, 26867, AGC= 54, IDX= 502,-0.03, 2.914, 2.604, 1.314, 2.431, PHS= 0.585, 0.218,-1.161, RAW= 41.5, 4.5, CAL= 41.1, 3.6, ROT= 108.9, -3.6 Z#Rx 50: Read direction message, but no range.^direction in FSK: [-0.323278,0.944218,0.062791]ytԿ> 7?֏ ?0:I2f h)6I?id;_>}l9?|٠=7? =)H?IGK*o?OQnB wA? )`)/;IH?i checking for new query: numPingsReceived=50, elapsed TxPingTime=21.696651E addTargetRange:: Added new target pos. range: 57.299999 m, deltaT: 0.502328 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 57.08 m.hAhAhAhAhIgIgIjgIrgIreZe:e*eD?[["[*[ @ {)  ži 29)15.53Di1iAAAIIIie9@a @a@e0@aIqIO:>E EE%E"E[:*EC:VE 4ZEBE;a:E>;aԑ DDAT read: Rx Time:04:34:22.3056  TRx dataTimestamp_ set to:1764909263.394534 PDAT read: Bearing 260.1, 69.1 (Local)  ~Local bearing/azimuth received: Bearing 260.1, 69.1 (Local)  DAT read: Range 11 to 50 : 57.5 m (trip time 38.3 ms) speed -0.2  DAT read: 04:34:22.3056 LVL= 18176, 21793, 29042, 30659, AGC= 56, IDX= 503,-0.06, 2.666, 2.332, 1.054, 2.180, PHS= 0.588, 0.197,-1.170, RAW= 42.2, 4.9, CAL= 41.7, 4.0, ROT= 108.3, -4.0  Ygot valid direction response: 04:34:22.3056 LVL= 18176, 21793, 29042, 30659, AGC= 56, IDX= 503,-0.06, 2.666, 2.332, 1.054, 2.180, PHS= 0.588, 0.197,-1.170, RAW= 42.2, 4.9, CAL= 41.7, 4.0, ROT= 108.3, -4.0  T#Rx 51: Read range and direction messages. ^direction in FSK: [-0.313228,0.947113,0.069756] Fpublishing direction and range infoy   Կ!HN?&k۱?Y fB G !U rq w) 8I +?i ^I> • )2H;ÿ '?qǿŜ@y¿ )?/?@u? 2d?i2@I2];0YBByBFIIF<)FR=bDNVDNɰ8yfU<%fN=ٔf7;Q-f>9hYh=jEyhn!=En>Q 55"pE1A)L K@%+@p Կ!HN?&k۱?*j?2j5*pKC*TK@} >$@{-+@p}]H?{R?8}?j!A jZBi A?ijRj%BjjWjrje`Bzj.6>ԙ addTargetRange:: Added new target pos. range: 57.500000 m, deltaT: 0.503761 s, deltaX: 0.200001 m, approachRate: 0.397015 m/s, rangeRepo size: 4  Added new target pos. range: 57.280003 m, bearing: 10.490869 deg, lat: 36.779406 deg, lon: -121.859573 deg, deltaT: 1.006089 s, deltaX: 0.199219 m, approachRate: 0.198013 m/s, posRepo size: 4 DNOT Ignoring new targets: 57.28 m.hhhhhggjgrgreZe :e L@*e &7?[I[I"[I*[Mň@e)a e¾ieŝ9)im4mOiiiqqqIqIy @  @ @ p0@ II)O= >%=checking for new query: numPingsReceived=51, elapsed TxPingTime=22.191271E  E E $E "E ;*E R:VE 4ZE a @a @a @a @! B B B :IB uBB B B B ;B 8EBuGCBuHCBu˕CBu =BqCu˫6H &,3LADDAT read: Rx Time:04:34:22.8056 TRx dataTimestamp_ set to:1764909263.896282PDAT read: Bearing 263.7, 70.2 (Local) "~Local bearing/azimuth received: Bearing 263.7, 70.2 (Local) &DAT read: Range 11 to 50 : 57.5 m (trip time 38.3 ms) speed 0.0 *Z#Rx 52: Read range message, but no direction.yY.checking for new query: numPingsReceived=52, elapsed TxPingTime=22.449774nMj@nc@nVܼٱnE>nHPm"?`ǿyڪ?p?x?`e?inMj@In];nCYByRIi%Mb@Mb@Mb@!!!! !9%/$?~jtÿV-Y%>y%%%d@%pA %K A)% A!Y% AbDmVDm8y}j=%}&=ٔO;Q->9Y=Ey<E>Q 55:?Q 95Bb)ӂBYv>Q E:yQ IY@_DI;i/;5yɮA addTargetRange:: Added new target pos. range: 57.500000 m, deltaT: 0.501748 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 57.28 m.hAhAhAhAhAgAgIjgIrgMKBreIZeQ:eQ*eUV?[uv>[uv>"[u[6@*[u @Vܼ) ¾it9)顭U; ]iiI!I AAIA)A9@ @@0@I!IIO]v>DAT read: 04:34:22.8056 LVL= 16368, 19857, 28306, 29859, AGC= 57, IDX= 503,-0.14, 2.464, 2.092, 0.844, 1.956, PHS= 0.610, 0.181,-1.157, RAW= 43.5, 4.6, CAL= 43.0, 3.6, ROT= 107.0, -3.6 Ygot valid direction response: 04:34:22.8056 LVL= 16368, 19857, 28306, 29859, AGC= 57, IDX= 503,-0.14, 2.464, 2.092, 0.844, 1.956, PHS= 0.610, 0.181,-1.157, RAW= 43.5, 4.6, CAL= 43.0, 3.6, ROT= 107.0, -3.6 Z#Rx 53: Read direction message, but no range.^direction in FSK: [-0.291795,0.954418,0.062791]yǿĬҿF?֏ ??Mn t)9I(?iX9> \B?l=7 @? =)Q ?IF]?s 8 ? )IQ ?ichecking for new query: numPingsReceived=53, elapsed TxPingTime=22.704420Iy { &,B4LAE2 E2E2&E0"E2:*E2T:VE24ZE0BE23@>ߒ@>&ϼٱ>?B>>HOI4?@ǿ ۿ`@x? #?(8?Zi?i>@I>];>CYnBynYI v9Y=Ey 0=E>!YQ 5m5%5?Q 9m5%f)%˂BYyQ IY@%eDI%Q=/ݔ=G?9=|E?i9i=)4LAj=PfB"j=PfB:j=S+>"p=1K/dK@b?vZ @p=mU=dѿ!n?֏ ?*j=\?2j=*p=ŎK@2=+"@WG2>;+@p= ? "?]D?j=A j=\Bi=٩]?i=`qj=ɜBj=٩]?j9j=Brj=t`Bzj=<> 9)=\?I999=*4?57HɌ? =.)=ʥI=\?i999checking for new query: numPingsReceived=54, elapsed TxPingTime=22.967648 addTargetRange:: Added new target pos. range: 57.799999 m, deltaT: 0.503386 s, deltaX: 0.299999 m, approachRate: 0.595963 m/s, rangeRepo size: 4 - Added new target pos. range: 57.578869 m, bearing: 9.586208 deg, lat: 36.779404 deg, lon: -121.859573 deg, deltaT: 1.005134 s, deltaX: 0.298866 m, approachRate: 0.297340 m/s, posRepo size: 4 5DNOT Ignoring new targets: 57.58 m.h1h1h1h1h1g1g1jg9rg9re9Ze9:eE`fL@*eE?[["[*[@&ϼ) i19)eAhii)))I)I)ԁ9@ @@0@IIOd>ԩ checking for new query: numPingsReceived=54, elapsed TxPingTime=23.199116  &,,4LA^@X@Ӿٱ~A>HCC?ǿ * ?ٗ?b ? l?i^@Ix];CYByaI iMb@Mb@Mb@ ԩ9 r?jtĿ:vY>y Լz@A  A)Y AbD8VD8y <%;=ٔ;Q->9Y=Ey =E>Q 55-.?Q 951j)BY>Q E;y7Q IY@jDI:i:5y{Bɮ6ASEEm EmEm#Ei"Em[:*EmV:VEm3ZEiau@au@au@au@iaiaja"ja:je9>"pe1K/dK@b?vZ @pemU=dѿ!n?֏ ?*ja2ja*peIժK@G3$@YHkd#+@pe?nMs?HT(*?je!A je'\Bie8B"L?ie`jeBjef^Q?je`jeBrje`Bzje9>DNOT Ignoring new targets: 57.58 m.hhhhhggjgrgMBreZe!:e!*e%M?[>[>"[e@*[t@B5>B1B5GIB5BB5 =B1B1B5;B58EӾ) Ri^9)bGriiIImDDAT read: Rx Time:04:34:23.8058 uTRx dataTimestamp_ set to:1764909264.909979}PDAT read: Bearing 272.3, 72.9 (Local) ~Local bearing/azimuth received: Bearing 272.3, 72.9 (Local) DAT read: Range 11 to 50 : 57.8 m (trip time 38.5 ms) speed 0.0 DAT read: 04:34:23.8058 LVL= 15424, 22113, 31474, 31683, AGC= 56, IDX= 505,-0.34, 2.886, 2.412, 1.208, 2.314, PHS= 0.674, 0.143,-1.150, RAW= 46.4, 4.2, CAL= 46.1, 2.8, ROT= 103.9, -2.8 5Ygot valid direction response: 04:34:23.8058 LVL= 15424, 22113, 31474, 31683, AGC= 56, IDX= 505,-0.34, 2.886, 2.412, 1.208, 2.314, PHS= 0.674, 0.143,-1.150, RAW= 46.4, 4.2, CAL= 46.1, 2.8, ROT= 103.9, -2.8 5T#Rx 55: Read range and direction messages.=^direction in FSK: [-0.239941,0.969558,0.048850]EFpublishing direction and range infoyqueο3?s!D?Yqqu@<uaVuz u{)u8IuD,?iun>u33u4QO?uQ =uM? u+H=)uf?Iu+Hqqu?Rq%w? uU)u Iuf?iu+Hqqchecking for new query: numPingsReceived=55, elapsed TxPingTime=23.498167@ @@ 0@IIO> )  &,F4LA2Ռ@2Γ@2ٱ21A>2H@qݷM?`lǿt:l@ ?`Օ??l?i2Ռ@I2^;0YBByBdIchecking for new query: numPingsReceived=55, elapsed TxPingTime=23.702974bDJVDJ8yAu<%Z=ٔѫ;Q->9Y=Ey !=E >Q 5=5X(?Q 9=5m)BY9y=JQ I=Y@oDI);im;5yIɮMAIii=:4LAj"j:jq$>"pb +.CK@N6 o@peο3?s!D?*jf?2j+H*pOK@?n!@he)@p. ?Ք4?& |?jA j]Bic?iq4jBjjjrjx`Bzj;;> addTargetRange:: Added new target pos. range: 57.799999 m, deltaT: 0.510311 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 57.578838 m, bearing: 9.200993 deg, lat: 36.779403 deg, lon: -121.859577 deg, deltaT: 0.510311 s, deltaX: -0.000031 m, approachRate: -0.000060 m/s, posRepo size: 4 DNOT Ignoring new targets: 57.58 m.hhhhhggjgrgreZe:e*e͌?[["[*[h@-)) -qi-Н9))5L5|zi1i199I9I9IMyA)MyA9@ @@0@IIOC>IE EE$E"E:*ErN:VE4ZEBEp%U ВU V?U A=U U? U Q =)U &Q?IU Q Q Q U )h?[nY`=? U ʜ)U IU &Q?iU Q Q Q  checking for new query: numPingsReceived=56, elapsed TxPingTime=23.971458 &,B``4LA 2K@2D@2ٱ2 @>2H1X?@ǿ벿4? p?`?@m?i2K@I2];2CYRByRcIbDZ,VDZհ8yzȿ%z]=ٔzҷ;Q-~>9|Y|=~Ey|Q=E> Q 55 "?Q 95 mq) BYybQ IY@ tDI :i ; P5y%yBɮ%A%]EiiwZ4LAjgB"jgB:j>"p3mr(CL+DL@Sҁ@p8 ˿xA?(א¢?*j&Q?2jQ *pdñK@ B& @3(@pTN ?} ?}x?j5A j_Bi/{?icjnBj٩]?j`qjrj`BzjJl2>u addTargetRange:: Added new target pos. range: 58.099998 m, deltaT: 0.497398 s, deltaX: 0.299999 m, approachRate: 0.603137 m/s, rangeRepo size: 4  Added new target pos. range: 57.877689 m, bearing: 8.213176 deg, lat: 36.779404 deg, lon: -121.859584 deg, deltaT: 0.497398 s, deltaX: 0.298851 m, approachRate: 0.600829 m/s, posRepo size: 4 DNOT Ignoring new targets: 57.88 m.hhhhhggjgrgreZe:e M@*e D?[["[*[^@) iq9)QiiIIU9@Q @Q@U5@QIaiIyO=checking for new query: numPingsReceived=56, elapsed TxPingTime=24.207037ԡE  E E E "E :*E c:VE ZE a @a @a @a @ B5 >B1 B5 SIB5 BB1 B1 B1 B5 ;B5 48Ee DDAT read: Rx Time:04:34:24.8059 e TRx dataTimestamp_ set to:1764909265.911265m PDAT read: Bearing 283.4, 75.1 (Local) u ~Local bearing/azimuth received: Bearing 283.4, 75.1 (Local)  DAT read: Range 11 to 50 : 57.9 m (trip time 38.6 ms) speed -0.1  DAT read: 04:34:24.8059 LVL= 16368, 20865, 26610, 28995, AGC= 58, IDX= 506, 0.28,-1.394,-1.968,-3.139,-2.033, PHS= 0.741, 0.110,-1.150, RAW= 49.1, 3.6, CAL= 48.9, 1.8, ROT= 101.1, -1.8  Ygot valid direction response: 04:34:24.8059 LVL= 16368, 20865, 26610, 28995, AGC= 58, IDX= 506, 0.28,-1.394,-1.968,-3.139,-2.033, PHS= 0.741, 0.110,-1.150, RAW= 49.1, 3.6, CAL= 48.9, 1.8, ROT= 101.1, -1.8  T#Rx 57: Read range and direction messages. ^direction in FSK: [-0.192427,0.980808,0.031411] Fpublishing direction and range infoya e C8qȿtqb?Iz?Ye gBa e ?e Qe g e Cq)e :Ie -=?ie G=e 33e a[?e =e |Z? e =)e ?Ie a a e Õ>? ',w/2? e S)e Ie ?ie a a  checking for new query: numPingsReceived=57, elapsed TxPingTime=24.474434$ &,R{4LA@bRÍ@b@b|ٱbdF?>bHv`vb?)ǿGǮ`?c? l? bp?ibRÍ@Ibj];bCYByfI-=-=iMb@Mb@Mb@ 9(\?MbX9Ŀ/$Y>y!M@pA 5 A) AY AbDpVD8y<%&=ٔ;Q->9Y=Ey%<E%>IQ 5U5M?Q 9U5Mu)MBYUB>Q EU ;yUfQ I]Y@MzDIM#:iM:M5yaɮAԡi i *Rz4LAj fB"j fB:j >"p Da2&D,IL@#>?p C8qȿtqb?Iz?*j ?2j *p jK@9F@h62(@p 63;?6 p$? pn?j 2@ j t_Bi ?i _j ˙Bj c?j q4j Brj 2aBzj d)>5 addTargetRange:: Added new target pos. range: 57.900002 m, deltaT: 0.503888 s, deltaX: -0.199997 m, approachRate: -0.396908 m/s, rangeRepo size: 4 e Added new target pos. range: 57.678623 m, bearing: 7.872978 deg, lat: 36.779404 deg, lon: -121.859591 deg, deltaT: 0.503888 s, deltaX: -0.199066 m, approachRate: -0.395060 m/s, posRepo size: 4 eDNOT Ignoring new targets: 57.68 m.hahahihihigigijgqrgu[BreqZeq:eu@3L@*e}[?[B>[B>"[4$@*[\@|) ¾i9)XiiII!9@ @@}0@IIOg>5checking for new query: numPingsReceived=57, elapsed TxPingTime=24.711100 E  E E E "E :*E n:VE ZE BE a% 2E a% JE ;a% :E ;a% % &,N*4LA|6@a/@gٱB=>H ĩj?prǿ@Z`??o?`&s?i6@I*];CY5By5iIbDMVDM28y}Ҁ<%}T=ٔ;Q->9Y=EDDAT read: Rx Time:04:34:25.3061 TRx dataTimestamp_ set to:1764909266.415440PDAT read: Bearing 289.7, 75.8 (Local) ~Local bearing/azimuth received: Bearing 289.7, 75.8 (Local) DAT read: Range 11 to 50 : 58.2 m (trip time 38.8 ms) speed -0.2 DAT read: 04:34:25.3061 LVL= 15728, 21489, 26418, 27939, AGC= 56, IDX= 508, 0.13,-0.657,-1.267,-2.414,-1.323, PHS= 0.768, 0.100,-1.135, RAW= 50.2, 3.2, CAL= 50.1, 1.2, ROT= 99.9, -1.2 Ygot valid direction response: 04:34:25.3061 LVL= 15728, 21489, 26418, 27939, AGC= 56, IDX= 508, 0.13,-0.657,-1.267,-2.414,-1.323, PHS= 0.768, 0.100,-1.135, RAW= 50.2, 3.2, CAL= 50.1, 1.2, ROT= 99.9, -1.2 T#Rx 58: Read range and direction messages.^direction in FSK: [-0.171891,0.984893,0.020942]Fpublishing direction and range infoyyƿp>?_2q?YhBp=S2g #m)8ID?i=GK`?d=T_? <)-?IE?.r B۬? ؛)kfI-?i-checking for new query: numPingsReceived=58, elapsed TxPingTime=24.982876y15, =E5>9Q 55=?Q 95=?y)=BYyQ IY@=DI=+"p/#o\L@TN!Qm?pyƿp>?_2q?*j-?2j*p)Z'+L@-D7@T- '@p7~K?vHT ?Q?j@ j]aBi$?i"jBj?jcjnBrj7bBzj(> addTargetRange:: Added new target pos. range: 58.200001 m, deltaT: 0.504175 s, deltaX: 0.299999 m, approachRate: 0.595030 m/s, rangeRepo size: 4  Added new target pos. range: 57.977474 m, bearing: 7.386554 deg, lat: 36.779407 deg, lon: -121.859603 deg, deltaT: 0.504175 s, deltaX: 0.298851 m, approachRate: 0.592753 m/s, posRepo size: 4 DNOT Ignoring new targets: 57.98 m.hhhhhggjg!rg!re!Ze!:e-M@*e-߅?[["[*[̇@g) vi9)8_Uii I I Q9@ @@00@IIO>= %== =E checking for new query: numPingsReceived=58, elapsed TxPingTime=25.215212y Q6+ &,4LAY@矕@>ٱ=>Hkp?`olǿ U@?/އ?}?`Jt?i@I];CYByoIi5Mb@Mb@Mb@1111 195(\?MbX9Ŀy&1Y1y15`5d@5A 5 A)5 A1Y5 AbDMVDM^8yUl<%]M=ٔ];Q-]>9aYa=eEyae=Em>iQ 5u5m?Q 9}5m|)mBY}~>Q E} ;y}sQ I}Y@mDIm:im:ms5ybEUJ4jEU( 4rEU@o/E EE%E"E:*EL_:VE 4ZEa@a@a@a@ɮAiB]#>BYBYBYԁBYBYBYB];B]A8EDNOT Ignoring new targets: 57.98 m.hhhhhggjgrg]BreZe:e*e?[5~>[5~>"[1*[5GV@DDAT read: Rx Time:04:34:25.8061 TRx dataTimestamp_ set to:1764909266.919450PDAT read: Bearing 291.7, 76.4 (Local) ~Local bearing/azimuth received: Bearing 291.7, 76.4 (Local) DAT read: Range 11 to 50 : 58.2 m (trip time 38.8 ms) speed -0.2 DAT read: 04:34:25.8061 LVL= 17824, 23889, 28498, 28403, AGC= 58, IDX= 508,-0.02,-2.628, 3.029, 1.894, 2.987, PHS= 0.770, 0.087,-1.137, RAW= 50.7, 3.4, CAL= 50.5, 1.5, ROT= 99.5, -1.5 Ygot valid direction response: 04:34:25.8061 LVL= 17824, 23889, 28498, 28403, AGC= 58, IDX= 508,-0.02,-2.628, 3.029, 1.894, 2.987, PHS= 0.770, 0.087,-1.137, RAW= 50.7, 3.4, CAL= 50.5, 1.5, ROT= 99.5, -1.5 T#Rx 59: Read range and direction messages.^direction in FSK: [-0.164991,0.985948,0.026177]Fpublishing direction and range infoy3ZmſN?P!Κ?YEQ]Ro n):IE?i-=7b?s=ܢa? Pw<)H?IPwּE>G? aT|;? cҚ)rIH?iPwּchecking for new query: numPingsReceived=59, elapsed TxPingTime=25.483025u>)! %pi%9)!-e-i)i)1qIqIq-vGAQ9Y9Aԩ-9@) @)@-_0@)I9IIO]> l2 &,N4LAchecking for new query: numPingsReceived=59, elapsed TxPingTime=25.719103-@- @-ٱ-t8=>Թ-H 1ᗿr?|ǿj @솋?@? e?/t?i-@I-g];-CYEByEtIIIbD]VD]o8ye<%mJ=ٔm;Q-m>9qY=Ey=E>Q 556 ?Q 953)BYyQ IY@DI6:iB:5ywBɮA\EiiEغ4LAjgB"jgB:j">"p!#vrݔL@^jH?p3ZmſN?P!Κ?*jH?2jPwּ*p*zL@ @g'@p\6ѷ?(Oz?,(.cH?jA j|`Bi/s?ijsBj/s?jj˙BrjbBzj>} addTargetRange:: Added new target pos. range: 58.200001 m, deltaT: 0.504010 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 57.977718 m, bearing: 8.483233 deg, lat: 36.779408 deg, lon: -121.859606 deg, deltaT: 0.504010 s, deltaX: 0.000244 m, approachRate: 0.000484 m/s, posRepo size: 4 DNOT Ignoring new targets: 57.98 m.hhhhhggjgrgreZe:e*e?[["[*[Uˆ@) =iw9)jyii!!!I!I)19@ @@05@E EE$E"E>:*EA:VE4ZEBEi߱I߱DDAT read: Rx Time:04:34:26.3062 TRx dataTimestamp_ set to:1764909267.423590PDAT read: Bearing 297.4, 77.0 (Local) ~Local bearing/azimuth received: Bearing 297.4, 77.0 (Local) DAT read: Range 11 to 50 : 58.4 m (trip time 38.9 ms) speed -0.1 DAT read: 04:34:26.3062 LVL= 16320, 22001, 27810, 29651, AGC= 56, IDX= 509,-0.20,-3.009, 2.614, 1.500, 2.585, PHS= 0.790, 0.073,-1.130, RAW= 51.7, 3.2, CAL= 51.6, 1.2, ROT= 98.4, -1.2  Ygot valid direction response: 04:34:26.3062 LVL= 16320, 22001, 27810, 29651, AGC= 56, IDX= 509,-0.20,-3.009, 2.614, 1.500, 2.585, PHS= 0.790, 0.073,-1.130, RAW= 51.7, 3.2, CAL= 51.6, 1.2, ROT= 98.4, -1.2  T#Rx 60: Read range and direction messages. ^direction in FSK: [-0.146051,0.989055,0.020942] Fpublishing direction and range infoyG̱¿.pW?_2q?YiB?Ul s)8Iq=J?i=ףqf?d=f? <)?IՏ?$ܜ5< k? )?eI?i5 checking for new query: numPingsReceived=60, elapsed TxPingTime=25.9869639 D8 &,4LA^{@^Cu@^aٱ^?H=>^H t?ۃǿV@+?||?`r?>t?i^{@I^];^CY~By~nIbD VD e8yDͼ%%b=ٔ%L;Q-%>9)Y)=-Ey)-=E->1Q 5=55?Q 9E55c)5{BYAyEQ IEY@5DI5{;i5;5'5yIɮMAQii4LAjhB"jhB:j>"p A; ] N&L@洹m~?pG̱¿.pW?_2q?*j?2j*p -a:6L@I@B,m'@pZ ?CSÛ?T?jw@ jaBikdH?igj Bj/{?j_jsBrjcBzj<> addTargetRange:: Added new target pos. range: 58.400002 m, deltaT: 0.504140 s, deltaX: 0.200001 m, approachRate: 0.396717 m/s, rangeRepo size: 4  Added new target pos. range: 58.176956 m, bearing: 8.053308 deg, lat: 36.779409 deg, lon: -121.859609 deg, deltaT: 0.504140 s, deltaX: 0.199238 m, approachRate: 0.395203 m/s, posRepo size: 4 DNOT Ignoring new targets: 58.18 m.hhhhhggjgrgreZe:e@33M@*eృ?[["[*[)@a) ⽾i9)pii   I I 9@ @@/@IIO>checking for new query: numPingsReceived=60, elapsed TxPingTime=26.223095AiE  E E E "E a:*E rN:VE ZE a @a @a @a @By By By By By By By B} ;B} -8Eԙ  DDAT read: Rx Time:04:34:26.8062  TRx dataTimestamp_ set to:1764909267.927358 PDAT read: Bearing 305.5, 77.4 (Local)  ~Local bearing/azimuth received: Bearing 305.5, 77.4 (Local)  DAT read: Range 11 to 50 : 58.4 m (trip time 38.9 ms) speed -0.2 % DAT read: 04:34:26.8062 LVL= 15984, 22001, 26354, 27091, AGC= 56, IDX= 508, 0.49,-2.684, 2.893, 1.793, 2.873, PHS= 0.828, 0.065,-1.124, RAW= 52.8, 2.7, CAL= 52.8, 0.5, ROT= 97.2, -0.5 - Ygot valid direction response: 04:34:26.8062 LVL= 15984, 22001, 26354, 27091, AGC= 56, IDX= 508, 0.49,-2.684, 2.893, 1.793, 2.873, PHS= 0.828, 0.065,-1.124, RAW= 52.8, 2.7, CAL= 52.8, 0.5, ROT= 97.2, -0.5 - T#Rx 61: Read range and direction messages.n> &,Έ4LAZ(@Zsݖ@ZP ٱZ]<>ZHڎa?4u?uǿRh?Tq?`Ds?u?%u?iZ(@IZ"];ZC^direction in FSK: [-0.125328,0.992077,0.008727]Fpublishing direction and range infoyh`! Z?B7߁?Yp>f i)IS?i=;ߏk?A=k? 5<)%?I5P ͫ?5 tj6vf=~? )#/DI%?i5Y=By=pI}checking for new query: numPingsReceived=61, elapsed TxPingTime=26.533869i-Mb@Mb@Mb@)))) )9-S㥛?~jtÿ:vY-ݤ>qy--Լ-M@-ZA -5 A)-5 A)Y- AbDVDyP<%/=ٔS;Q->9Y=Ey%<E%>!Q 5U5%?Q 9U5%[)%nBYU˶>Q EU;yUQ IUY@%DI%2;i%;%=5yaɮeAaiiY4LAj"j:j4>"p(I9 7*LtH!L@c>?ph`! Z?B7߁?*j%?2j5*p`PL@ܨ@R&@pwE&?Sol?ٰ K?j@ jbBiR򤟊?iOjBjkdH?jgj BrjKdBzjp> addTargetRange:: Added new target pos. range: 58.400002 m, deltaT: 0.503768 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 58.176949 m, bearing: 7.509181 deg, lat: 36.779410 deg, lon: -121.859612 deg, deltaT: 0.503768 s, deltaX: -0.000008 m, approachRate: -0.000015 m/s, posRepo size: 4 EDNOT Ignoring new targets: 58.18 m.hIhIhIhIhIgIgIjgQrgUYBreQZeQ:eY*e]@2?[˶>[˶>"[@*[\@P )! %Ri%q9)!%v-펹i)i)11I1I1ԡ9@ @@/5@II%checking for new query: numPingsReceived=61, elapsed TxPingTime=26.727764O=q>E  E E E "E :*E F:VE ZE BE #H34? t? lǿ$꘍?ޝ2@ac?fl?u?ikG@I5];YByvIbDVD[8y<%`=ٔl;Q->9Y=EyT=E>Q 55?Q 95u)eBYyDQ IY@DI;io;k5yɮA-DNOT Ignoring new targets: 58.18 m.h)h1h1h1h1g1g1jg9rg9re9Ze9:eA*eEC?[a[a"[a*[e@}DDAT read: Rx Time:04:34:27.3063 TRx dataTimestamp_ set to:1764909268.431485PDAT read: Bearing 311.9, 77.6 (Local) ~Local bearing/azimuth received: Bearing 311.9, 77.6 (Local) DAT read: Range 11 to 50 : 58.5 m (trip time 39.0 ms) speed -0.1 DAT read: 04:34:27.3063 LVL= 16240, 21633, 25282, 27091, AGC= 56, IDX= 510, 0.14,-1.105,-1.838,-2.909,-1.848, PHS= 0.845, 0.056,-1.105, RAW= 53.7, 2.4, CAL= 53.8, -0.0, ROT= 96.2, 0.0 Ygot valid direction response: 04:34:27.3063 LVL= 16240, 21633, 25282, 27091, AGC= 56, IDX= 510, 0.14,-1.105,-1.838,-2.909,-1.848, PHS= 0.845, 0.056,-1.105, RAW= 53.7, 2.4, CAL= 53.8, -0.0, ROT= 96.2, 0.0 T#Rx 62: Read range and direction messages.`direction in FSK: [-0.107999,0.994151,-0.000000]Fpublishing direction and range infoyy}ץoH?Y}jBy}p?}T}b y)yI}QX?i}B`e=}p}o?}+=}vap? })}?+) tiJ9){ViiIII}yy}6: q?psE)N? },)}-I}?i}yyuchecking for new query: numPingsReceived=62, elapsed TxPingTime=27.011391)%9@! @!@%/@!I1IAOM1>Q- checking for new query: numPingsReceived=62, elapsed TxPingTime=27.231579ԁ wK &,R05LAY֧@!@FٱI;>Hצ?t? Fǿ9(A?]r ֨0?@G?\w?i֧@I];CYByyIDD=E EE"E"E:*EP:VE(3ZEa@a@a@a@B$>BBBBBBB;B8EBBGCBÓCB =B =Ch+4ieMb@Mb@Mb@yaaaa a9eQ?SÿS㥛Ye(>yee/ݼe@a e A)aaYe AbDVD8y5;%==ٔ=.;Q-=>9AYA=EEyAE<EM>IQ 5U5M?Q 9]5M)MVBY]̮>Q E];y] Q I]Y@MDIMr;iMD;M5yaɮm{AiDDAT read: Rx Time:04:34:27.8063 TRx dataTimestamp_ set to:1764909268.935433PDAT read: Bearing 313.3, 78.5 (Local) ~Local bearing/azimuth received: Bearing 313.3, 78.5 (Local) DAT read: Range 11 to 50 : 58.5 m (trip time 39.0 ms) speed -0.2 DAT read: 04:34:27.8063 LVL= 17952, 23249, 25634, 26867, AGC= 56, IDX= 510,-0.08, 2.793, 2.039, 0.976, 2.052, PHS= 0.844, 0.032,-1.120, RAW= 54.3, 2.9, CAL= 54.2, 0.6, ROT= 95.8, -0.6 Ygot valid direction response: 04:34:27.8063 LVL= 17952, 23249, 25634, 26867, AGC= 56, IDX= 510,-0.08, 2.793, 2.039, 0.976, 2.052, PHS= 0.844, 0.032,-1.120, RAW= 54.3, 2.9, CAL= 54.2, 0.6, ROT= 95.8, -0.6 T#Rx 63: Read range and direction messages.^direction in FSK: [-0.101051,0.994826,0.010472]Fpublishing direction and range infoyCv޹l/?/;r?Y FZ"d h)IbX?io=)\_r?4QO=*r? +<)?I+ĮK?\Č;-!\cΩ? ʒ)sNI?i+=checking for new query: numPingsReceived=63, elapsed TxPingTime=27.507002ii";5LAjiB"jiB:j_P>"p6<FL@TA?pCv޹l/?/;r?*j?2j+*pNB\L@BY{@ addTargetRange:: Added new target pos. range: 58.500000 m, deltaT: 1.008075 s, deltaX: 0.099998 m, approachRate: 0.099197 m/s, rangeRepo size: 4 m Added new target pos. range: 58.276661 m, bearing: 7.403351 deg, lat: 36.779411 deg, lon: -121.859615 deg, deltaT: 1.008075 s, deltaX: 0.099712 m, approachRate: 0.098914 m/s, posRepo size: 4 mDNOT Ignoring new targets: 58.28 m.hihqhqhqhqgqgqjgyrg}jBreyZey:e}@M@*e殺?ԩ[̮>[̮>"[Y@*[,@5F)1 5¾i=9)9==ji9iAiiIiIi 9@  @ @ 1@ I I O > hR &,TJ5LAN{@N@N:ٱN[9>NHE EE%E"E:*Ega:VE 4ZEBEQd@>]@>My;ٱ>;8>>H ? q?ƿ@MW?@4o ?{?i>Qd@I>];>CYNByR|I TVAbDZVDZ8y=%L=ٔ;Q->9Y!=%Ey!%<E%>)Q 555-[?Q 955-")-DBY9y=.Q I=Y@-DI-D;i-;-5yErBɮE>AIu addTargetRange:: Added new target pos. range: 58.799999 m, deltaT: 0.503485 s, deltaX: 0.299999 m, approachRate: 0.595845 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 58.28 m.hyhyhyhyhyggjgrgreZe:e`ffM@*eo,?[["[*[UD@My;) viU9)ÆpiiII@ @@/@IIO>=checking for new query: numPingsReceived=64, elapsed TxPingTime=28.240667AyD@AzD@AE E)E(E"E:*E0;VEc44ZEa @a @a @a @B %>B B MIB BB =B B B h;B 7E DDAT read: Rx Time:04:34:28.8064  TRx dataTimestamp_ set to:1764909269.943326 PDAT read: Bearing 327.5, 78.8 (Local)  ~Local bearing/azimuth received: Bearing 327.5, 78.8 (Local)  DAT read: Range 11 to 50 : 58.7 m (trip time 39.1 ms) speed -0.1  DAT read: 04:34:28.8064 LVL= 17456, 21681, 27122, 28595, AGC= 57, IDX= 511, 0.18,-1.601,-2.420, 2.852,-2.385, PHS= 0.885, 0.010,-1.090, RAW= 56.2, 2.3, CAL= 56.3, -0.2, ROT= 93.7, 0.2  Ygot valid direction response: 04:34:28.8064 LVL= 17456, 21681, 27122, 28595, AGC= 57, IDX= 511, 0.18,-1.601,-2.420, 2.852,-2.385, PHS= 0.885, 0.010,-1.090, RAW= 56.2, 2.3, CAL= 56.3, -0.2, ROT= 93.7, 0.2  T#Rx 65: Read range and direction messages. `direction in FSK: [-0.064532,0.997910,-0.003491] Fpublishing direction and range infoy   F)NW?QC1mlY jB 0D T i o) 9I \b?i #<  {? l$= {? d) S?I d; pTZ;E?Pۃ? r) 6$I S?i d;  checking for new query: numPingsReceived=65, elapsed TxPingTime=28.506489! ^ &,RI~5LA2@2̷@2C;ٱ29>2H?l? Mƿ?d@@w? gz?i2@I2];2CYfByftIiMb@Mb@Mb@ 9On?Onÿ~jtY>yļ@A A)b AY AԱbDVD8y%/=ٔU|;Q-U>9YYY=]EyY]D<E]>aQ 5m5eKꌊ?Q 9m5e)e7BY>Q E;yoQ IY@eDIe&MF-M@4 ʿp F)NW?QC1ml*jS?2jd;*pJhp~L@.#@dC$@pُA?ܪOS?.S?j@ jsdBi?i4jCBjlƢ?jOjBrjeBzj> addTargetRange:: Added new target pos. range: 58.700001 m, deltaT: 0.504408 s, deltaX: -0.099998 m, approachRate: -0.198249 m/s, rangeRepo size: 4  Added new target pos. range: 58.475967 m, bearing: 7.141073 deg, lat: 36.779411 deg, lon: -121.859619 deg, deltaT: 1.007893 s, deltaX: 0.199306 m, approachRate: 0.197746 m/s, posRepo size: 4 -DNOT Ignoring new targets: 58.48 m.h)h)h)h)h)g)g1jg1rg5lBre1Ze9:e=YM@*e=@o?[}>[}>"[}9@*[}t@C;) Ǿi9)顕f׌iiIIchecking for new query: numPingsReceived=65, elapsed TxPingTime=28.743259@ @@/@IIO> E  E E $E "E :*E ga:VE 4ZE BE @>@>);ٱ>K 9>>H?0g?ƿ@Ay?qE~?`cz?i>@I>H];>CYNByRqIV@ATbDZVDZ8yvh%vt=ٔv;Q-v ?9xYx=zEyxz =E~ ?qQ 5}5u挊?Q 95u)u.BYyQ IY@uDIu:iuB:u5yɮADNOT Ignoring new targets: 58.48 m.hhhhhggjgrgreZe:e*eh?[["[*[&ˊ@);) ʾis9)‹i i  II]DDAT read: Rx Time:04:34:29.3066 eTRx dataTimestamp_ set to:1764909270.446977mDAT read: Range 11 to 50 : 59.0 m (trip time 39.3 ms) speed -0.1 mZ#Rx 66: Read range message, but no direction.yYY]lBYuchecking for new query: numPingsReceived=66, elapsed TxPingTime=28.998390Q@ @@/@IIO>yԩ  checking for new query: numPingsReceived=66, elapsed TxPingTime=29.247967k &,ۆ5LAL-Jl@-e@-<ٱ-7>-HqǴ?c?ƿ? ڂ@?8|?i-Jl@I-];-CYuByuxIIp<)==a=bDfVD8ym<%m4=ٔu";Q-u>9yYy=}Eyy<E>E EE#E"E:*Eg:VE3ZEa@a@a@a@Q 55⌊?Q 95G)"BYyQ IY@DIv;i;5yɮXA addTargetRange:: Added new target pos. range: 59.000000 m, deltaT: 0.503651 s, deltaX: 0.299999 m, approachRate: 0.595649 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 58.48 m.hhhhhggjgrgreZe:eM@*e`8?[)[)"[)*[-Z@=<)A E\ľiEe9)AEPEiAiIIQIQIQB->BHCBBBBBɺDB;;B7Eԩ9@ @@@II O*>mDDAT read: Rx Time:04:34:29.8066 mTRx dataTimestamp_ set to:1764909270.951036uDAT read: Range 11 to 50 : 59.0 m (trip time 39.3 ms) speed -0.1 }Z#Rx 67: Read range message, but no direction.yiYiichecking for new query: numPingsReceived=67, elapsed TxPingTime=29.502455 ڸr &,j5LAR2@R}@RE-<ٱR5>RH l? ^?eƿ-॓?/5-B?~?iR2@IR];RCbchecking for new query: numPingsReceived=67, elapsed TxPingTime=29.751093YfByfwIiMb@Mb@Mb@ 9㥛 ?㥛 ¿S㥛Y>y/ݼZA ) AY AbD^VD8y%V=ٔvq;Q->9Y=Ey}<E>Q 55ތ?Q 95R)BY>Q E";yFQ IY@DI{:ib:5yɮaA% addTargetRange:: Added new target pos. range: 59.000000 m, deltaT: 0.504059 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 58.48 m.h!h!h)h)h)g)g)jg1rg5dBre1Ze1:e9*e=8/?[]>[]>"[Y*[]2~@mE-<) pi9)5iiIII1)1 9@ @@@I1IQOu6>E EE E"E*ErN:VE3ZEBExuFSuG?uuKM? uq)uǏ?Iuq=qquFl)?/u -B; u1Q)ub=IuǏ?iuq=qq checking for new query: numPingsReceived=68, elapsed TxPingTime=30.021803a x &,<5LAYByyI -<-=bD5zVD589yE@;%ES=ٔMQ-M>9IYI=MEyQUEU>Q 55<ی?Q 95w) BYyQ IY@DIu:i;5yɮVAii$5LAjkB"jkB:jwW>"pf['̓,naL@sqpI Ͽ.[69?{]U*jǏ?2jq=*pKK@ a7X3@_V6X@p_??Sd?jƚA j(]Bi%W?i2jTBjjjBrjfBzj<> addTargetRange:: Added new target pos. range: 59.000000 m, deltaT: 0.504345 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 58.775696 m, bearing: 19.286034 deg, lat: 36.779411 deg, lon: -121.859619 deg, deltaT: 1.512055 s, deltaX: 0.299728 m, approachRate: 0.198226 m/s, posRepo size: 4 DNOT Ignoring new targets: 58.78 m.h hhhhggjgrgreZe!:e!*e%?[A[A"[A*[AQ)Y ]i]<9)Y]+]GiYiaaaIaIichecking for new query: numPingsReceived=68, elapsed TxPingTime=30.2556769@ @@ 0@!I9IQOe>iԙbEM4jEM3rEMȐ'0E  E E #E "E :*E i:VE 3ZE a= @a= @a= @a= @B C>B JCB GIB BB B B ˺DB 4;B 7E  DDAT read: Rx Time:04:34:30.8066  TRx dataTimestamp_ set to:1764909271.959219 PDAT read: Bearing 218.5, 83.4 (Local)  ~Local bearing/azimuth received: Bearing 218.5, 83.4 (Local)  DAT read: Range 11 to 50 : 59.0 m (trip time 39.3 ms) speed -0.1  DAT read: 04:34:30.8066 LVL= 15808, 25649, 27746, 31891, AGC= 54, IDX= 513,-0.05,-1.074,-1.818,-2.685,-1.522, PHS= 0.549,-0.251,-1.207, RAW= 57.1, 11.9, CAL= 53.9, 14.5, ROT= 96.1, -14.5  Ygot valid direction response: 04:34:30.8066 LVL= 15808, 25649, 27746, 31891, AGC= 54, IDX= 513,-0.05,-1.074,-1.818,-2.685,-1.522, PHS= 0.549,-0.251,-1.207, RAW= 57.1, 11.9, CAL= 53.9, 14.5, ROT= 96.1, -14.5  T#Rx 69: Read range and direction messages. ^direction in FSK: [-0.102879,0.962666,0.250380] Fpublishing direction and range infoy   yyuKVB(?=9?Y = 1d bl |) 6I D ?i  ~  ? ȭT> p? >) ?I BD}?-5n? ˙) KTI ?i  checking for new query: numPingsReceived=69, elapsed TxPingTime=30.522762    &,$5LA:sf@:_@:_<ٱ:X5>:Hߎ?@:O?Bƿ?```?~?i:sf@I:Q];:C~܃Gaz9ԑY@YByzI AyL?IAiMb@Mb@Mb@ 9&1?~jtÿY>y̼A A) AY AbDxVD8y{;%$=ٔ_;Q->9Y=Eyed&=Ee>iQ 5u5m֌?Q 9u5mY)mBYu>Q Eu$;yuQ IuY@mDIm:imI:m5yɮNAiic5LAjkB"jkB:j7`>"pj00ߠ(JL@ o-@p yyuKVB(?=9?*j?2j*pi[yJ@NO3'@8l8@pJh>a?&#B?UeU?j9A jPBi1[H?il- addTargetRange:: Added new target pos. range: 59.000000 m, deltaT: 0.503838 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 58.778236 m, bearing: 12.545628 deg, lat: 36.779411 deg, lon: -121.859619 deg, deltaT: 0.503838 s, deltaX: 0.002541 m, approachRate: 0.005042 m/s, posRepo size: 4 eDNOT Ignoring new targets: 58.78 m.hahahahahagigijgirgmpBreqZeq:eq*eu`U?[>[>"[J@*[+@%_<)) -Ǿi-9)15șU|iQiaaaIiIichecking for new query: numPingsReceived=69, elapsed TxPingTime=30.760300 9@  @ @/@I!I1O=> E  E E E "E O:*E 1]:VE ZE BE :H:?@H?`ƿ@ٽ?e`Fߎh?@?i:@I:,];:CYnBynyIbDvzVDv8y3%=ٔ>;Q-?9 Y = Ey  =E?Q 55ӌ?Q 9%5)BY!y%`Q I%Y@DI:i:z 5y)ɮ5SA1]DNOT Ignoring new targets: 58.78 m.hYhYhYhYhYgYgajgargareaZei:ei*eme?[["[*[w@v<) XȾi 9)W~iiI=DDAT read: Rx Time:04:34:31.3068 ETRx dataTimestamp_ set to:1764909272.463450MPDAT read: Bearing 351.2, 79.9 (Local) M~Local bearing/azimuth received: Bearing 351.2, 79.9 (Local) ]DAT read: Range 11 to 50 : 59.3 m (trip time 39.5 ms) speed -0.1 DAT read: 04:34:31.3068 LVL= 12432, 13585, 17154, 15891, AGC= 56, IDX= 3,-0.36, 1.595, 0.679,-0.236, 0.788, PHS= 0.909,-0.064,-1.068, RAW= 59.5, 2.6, CAL= 59.4, 0.1, ROT= 90.6, -0.1 Ygot valid direction response: 04:34:31.3068 LVL= 12432, 13585, 17154, 15891, AGC= 56, IDX= 3,-0.36, 1.595, 0.679,-0.236, 0.788, PHS= 0.909,-0.064,-1.068, RAW= 59.5, 2.6, CAL= 59.4, 0.1, ROT= 90.6, -0.1 T#Rx 70: Read range and direction messages.^direction in FSK: [-0.010472,0.999944,0.001745]Fpublishing direction and range infoyAEn :r'Sщ?n p\?YE3mBAE0E5EC E>)E8IE9h?iEoE9E?E9=Em? E:)Eg?IE亩AAEvbuv?S'v\!?I E63)Ez!I checking for new query: numPingsReceived=70, elapsed TxPingTime=31.263319y S &,I26LAr@r@r<ٱrL2>rHx?@jB?޷ſ!?:ŵ,?@?ir@Ir];rCY5By=vIbDVD8yU% >=Yٔ}i4;Q->E EE%E"E:*Ee:VE 4ZEa@a@a@a@9Y=Ey <E >Q 55ό?Q 95X)BY!y%>Q I%Y@ŮDI:i:$5B5G>B5KCB5@IB5zBB5 =B1B5̺DB50;B1ymqBɮm\AmdEiiim*6LAjmOlB"jmOlB:jmM >"pm ~㿮`M@ҝoe?pmn :r'Sщ?n p\?*jmg?2jm*pmDL@$z2 @J gd$@pmK]4?C da?H_Ǫi?jmYA jmofBimn:$Ɵ?im{0ZjmUBjijmjmUBrjmPgBzjmj>5 addTargetRange:: Added new target pos. range: 59.299999 m, deltaT: 0.504231 s, deltaX: 0.299999 m, approachRate: 0.594964 m/s, rangeRepo size: 4 = Added new target pos. range: 59.077877 m, bearing: 7.927238 deg, lat: 36.779411 deg, lon: -121.859623 deg, deltaT: 0.504231 s, deltaX: 0.299641 m, approachRate: 0.594253 m/s, posRepo size: 4 eDNOT Ignoring new targets: 59.08 m.hhhhhggjgrgreZe:e`fM@*e@?[["[*[Y@<) 8˾iM9)ꟶBviiII]DDAT read: Rx Time:04:34:31.8067 eTRx dataTimestamp_ set to:1764909272.970014mPDAT read: Bearing 353.3, 79.9 (Local) m~Local bearing/azimuth received: Bearing 353.3, 79.9 (Local) yDAT read: Range 11 to 50 : 59.1 m (trip time 39.4 ms) speed -0.1 DAT read: 04:34:31.8067 LVL= 14912, 23073, 24146, 27795, AGC= 54, IDX= 498, 0.20, 2.045, 1.122, 0.210, 1.234, PHS= 0.913,-0.067,-1.068, RAW= 59.6, 2.6, CAL= 59.5, 0.1, ROT= 90.5, -0.1 Ygot valid direction response: 04:34:31.8067 LVL= 14912, 23073, 24146, 27795, AGC= 54, IDX= 498, 0.20, 2.045, 1.122, 0.210, 1.234, PHS= 0.913,-0.067,-1.068, RAW= 59.6, 2.6, CAL= 59.5, 0.1, ROT= 90.5, -0.1 T#Rx 71: Read range and direction messages.^direction in FSK: [-0.008727,0.999960,0.001745]Fpublishing direction and range infoyY]~75߁,?n p\?Y]flBY]@:]!Z]R^ ]l)]6I]^i?i]L7Y]%?Y]? Y)]-?IYYY]m<≠?eє0f? ]ӆ)]9B;I]-?iYYY%checking for new query: numPingsReceived=71, elapsed TxPingTime=31.543518@ @@/@IIOg>ԩ  &,AL6LA6M@61G@6<ٱ61>6H ?!9?@ſh7?;@ᑿb?s?i6M@I6 ];6CYNByNI^checking for new query: numPingsReceived=71, elapsed TxPingTime=31.771025iuMb@Mb@Mb@qqqq q9u?V-¿~jtYǔ>yuhuļuz@uCA u|A)ub AqYuf AbD~VD 8y=%M=ٔ`G;Q->9Y=Ey;<E>Q 55̌?Q 95)ށBY>Q E+;yQ IY@ȮDI8:iA:'5ymBɮAmEii>6LAjkB"jkB:jP>"pqNU*pM@<.N?p~75߁,?n p\?*j-?2j*p@= ѭL@\Cq @.qSe$@pIll,? B%0O?D"z\?jA jneBi ?i̇j?Bj ?j̇jCBrjgBzjP> addTargetRange:: Added new target pos. range: 59.099998 m, deltaT: 0.506564 s, deltaX: -0.200001 m, approachRate: -0.394818 m/s, rangeRepo size: 4 - Added new target pos. range: 58.878624 m, bearing: 8.354672 deg, lat: 36.779412 deg, lon: -121.859626 deg, deltaT: 0.506564 s, deltaX: -0.199253 m, approachRate: -0.393342 m/s, posRepo size: 4 5DNOT Ignoring new targets: 58.88 m.h1h1h1h1h1g9g9jg9rg=`BreAZeA:eĚM@*eE@^?ԩ[>[>"[Ϲ@*[3@5<)1 53i59)1==oi9i9AAIAI @  @ @30@IIIiO9>E EE#E"E ;*E~:VE3ZEBERQ:H?@0.?`ſڣM?s@6?@?i:@I:];:CYNByNxIbDVYVDV8yr%rW=ٔr>;Q-r>9tYt=vEytz<Ez>|Q 55~Ɍ?Q 95~)~ԁBYyQ IY@~̮DI~-:i~9:~ +5yɮ0Aiip^6LAjlB"jlB:j^>"p`p? {8M@b#I-?peJqu?%B`?]~?*jHd?2jnF*pa4L@^[5 @ ,&@pОKg?Ћ?H S ?jA jfBiy_g?ijjBjjjUBrjhBzj'>e addTargetRange:: Added new target pos. range: 59.400002 m, deltaT: 0.505577 s, deltaX: 0.300003 m, approachRate: 0.593387 m/s, rangeRepo size: 4 m Added new target pos. range: 59.177502 m, bearing: 8.021967 deg, lat: 36.779412 deg, lon: -121.859626 deg, deltaT: 0.505577 s, deltaX: 0.298878 m, approachRate: 0.591162 m/s, posRepo size: 4 uDNOT Ignoring new targets: 59.18 m.hqhqhqhyhygygyjgyrgreZe:e@3M@*eם?[q[q"[q*[uڌ@%"<) i9)fZhiiIIchecking for new query: numPingsReceived=72, elapsed TxPingTime=32.2757009@ @@O1@IIO!>1E EEE"Es:*E[:VEZEa @a @a @a @BE M>BE LCBA BA BE =BA BA BE $;BE 7EBJCBJCBȕCB =BC6a  DDAT read: Rx Time:04:34:32.8069  TRx dataTimestamp_ set to:1764909273.979475 PDAT read: Bearing 2.9, 80.2 (Local)  ~Local bearing/azimuth received: Bearing 2.9, 80.2 (Local)  DAT read: Range 11 to 50 : 59.4 m (trip time 39.6 ms) speed -0.1  DAT read: 04:34:32.8069 LVL= 14192, 20657, 23762, 26579, AGC= 53, IDX= 500,-0.46, 0.900,-0.060,-0.925, 0.091, PHS= 0.911,-0.106,-1.060, RAW= 61.1, 3.0, CAL= 60.8, 0.6, ROT= 89.2, -0.6  Ygot valid direction response: 04:34:32.8069 LVL= 14192, 20657, 23762, 26579, AGC= 53, IDX= 500,-0.46, 0.900,-0.060,-0.925, 0.091, PHS= 0.911,-0.106,-1.060, RAW= 61.1, 3.0, CAL= 60.8, 0.6, ROT= 89.2, -0.6  T#Rx 73: Read range and direction messages. \direction in FSK: [0.013961,0.999848,0.010472] Fpublishing direction and range infoy  `5<}֗?3[?/;r?Y p7 P \ g) 5I L7i?i  ? PwV= ԇ? +<) SF?I + |R|?_뿛[D? ףּ) \XI SF?i +  checking for new query: numPingsReceived=73, elapsed TxPingTime=32.547073 &,`6LA0:ޔ@:jכ@:uK<ٱ:Y2>:H?`U$?tſ`ߘ@]?@`铿`S-??i:ޔ@I:];:CYNByRIiMb@Mb@Mb@ 9RQ?Dl~jtY>yO @ZA ) AY AbD=TVD=8yMZT=%M6=ٔuM:Q-u>9yYy=}Eyy}^<E>Q 55*ƌ?Q 95>)ȁBY>Q E6;y Q IY@ЮDI;i;/5yɮAii~6LAjlB"jlB:ja.>"pW\p?xM@ ?p`5<}֗?3[?/;r?*jSF?2j+*p{L@]I7 @]X*%@pJ} addTargetRange:: Added new target pos. range: 59.400002 m, deltaT: 0.503884 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ԉ Added new target pos. range: 59.178246 m, bearing: 8.011403 deg, lat: 36.779413 deg, lon: -121.859630 deg, deltaT: 0.503884 s, deltaX: 0.000744 m, approachRate: 0.001476 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.18 m.hhhhhggjgrgvBreZe:e*e?[>[>"[D0@*[ڇ@5uK<)1 5¾i=*9)9==_i9iAAII9@ @!@%_0@!I1IAOMR>Թchecking for new query: numPingsReceived=73, elapsed TxPingTime=32.779064 E  E E %E "E :*E :VE 4ZE BE 52H#?@?@8\ſ ͍b?@`ҷ?}?i2"@I2];2CHYNByNIPRAbDVJVDVܱ8y~%~_=ٔ~;Q->9Y=Ey <E >Q 55{Ì?Q 95չ)BYyQ IY@ӮDI:i:*25y)ɮ-A)UDNOT Ignoring new targets: 59.18 m.hQhQhQhQhYgYgYjgYrgYreaZea:ea*ee ?[["[*[]ʌ@x<) þi9)WiiDDAT read: Rx Time:04:34:33.3070 TRx dataTimestamp_ set to:1764909274.483495%PDAT read: Bearing 9.7, 80.1 (Local) %~Local bearing/azimuth received: Bearing 9.7, 80.1 (Local) 5DAT read: Range 11 to 50 : 59.6 m (trip time 39.7 ms) speed -0.1 ]DAT read: 04:34:33.3070 LVL= 15648, 22897, 26498, 28563, AGC= 52, IDX= 501, 0.13, 2.866, 1.874, 1.044, 2.052, PHS= 0.915,-0.133,-1.052, RAW= 62.2, 3.2, CAL= 61.8, 0.7, ROT= 88.2, -0.7 eYgot valid direction response: 04:34:33.3070 LVL= 15648, 22897, 26498, 28563, AGC= 52, IDX= 501, 0.13, 2.866, 1.874, 1.044, 2.052, PHS= 0.915,-0.133,-1.052, RAW= 62.2, 3.2, CAL= 61.8, 0.7, ROT= 88.2, -0.7 mT#Rx 74: Read range and direction messages.u\direction in FSK: [0.031409,0.999432,0.012217]uFpublishing direction and range infoyNz{?` X?I:?YfnB =qYg o)4Iq=j?i'1𧆿?d=? +H<)j ?I+HIII)xA8? n_J? p2) eIj ?i+Hchecking for new query: numPingsReceived=74, elapsed TxPingTime=33.059113]9@Y @Y@e?5@aIqIO> checking for new query: numPingsReceived=74, elapsed TxPingTime=33.282902 'k &,U6LArf@r_@rE<ٱrd=1>rH@1?q?&@ſ@ki?𼩿O & ?σ?irf@Ir];p!YBy|IbDnVD8D}=D}%=E EE$E"E:*EL_:VE4ZEa@a@a@a@BABQ>BBBBBBͺDB;B7Ey=%=-=ٔE:Q-E>9AYA=EEyIm<Em>qQ 5}5u ?Q 9}5uA)uBYyyQ IY@uخDIu:iu:uT65yɮAiqiu6LAjumB"jumB:ju1 >"pu`}a?sM@ïͥ6?puNz{?` X?I:?*juj ?2ju+H*pu"L@I& @@N>i%@pu.g'?f`\?b{?juA ju?gBiuQǟ?iu_hjusBjuQ+?jujqrju0iBzju>= addTargetRange:: Added new target pos. range: 59.599998 m, deltaT: 0.504020 s, deltaX: 0.199997 m, approachRate: 0.396804 m/s, rangeRepo size: 4 Im Added new target pos. range: 59.377983 m, bearing: 7.931367 deg, lat: 36.779414 deg, lon: -121.859631 deg, deltaT: 0.504020 s, deltaX: 0.199738 m, approachRate: 0.396289 m/s, posRepo size: 4 mDNOT Ignoring new targets: 59.38 m.hihihqhqhqgqgqjgyrgyreyZey:e}M@*e}`i?[["[*[ @E<) ˾i9)LiiIMDDAT read: Rx Time:04:34:33.8070 UTRx dataTimestamp_ set to:1764909274.987506]PDAT read: Bearing 15.2, 81.3 (Local) e~Local bearing/azimuth received: Bearing 15.2, 81.3 (Local) uDAT read: Range 11 to 50 : 59.6 m (trip time 39.7 ms) speed -0.2 DAT read: 04:34:33.8070 LVL= 16064, 22961, 27730, 30259, AGC= 54, IDX= 501,-0.22, 0.802,-0.200,-1.010, 0.009, PHS= 0.895,-0.165,-1.063, RAW= 62.7, 4.0, CAL= 62.1, 2.0, ROT= 87.9, -2.0 Ygot valid direction response: 04:34:33.8070 LVL= 16064, 22961, 27730, 30259, AGC= 54, IDX= 501,-0.22, 0.802,-0.200,-1.010, 0.009, PHS= 0.895,-0.165,-1.063, RAW= 62.7, 4.0, CAL= 62.1, 2.0, ROT= 87.9, -2.0 T#Rx 75: Read range and direction messages.\direction in FSK: [0.036621,0.998720,0.034899]Fpublishing direction and range infoyQU_/ ?Vނ?Xޡ?YQQU>UYURl U3v)U6IUe?iU(UbU?U5=U? U5=)U^?IU5QQU{;:C? yNs꿸M.? U)Uv΍IU^?iU5QQchecking for new query: numPingsReceived=75, elapsed TxPingTime=33.551155Iy9@ @@D0@IIO>ԡ T &,+6LA6@6N@6W<ٱ60>6H??`?!ſ u`o?Ū`J ?`a?i6@I6R];6CRchecking for new query: numPingsReceived=75, elapsed TxPingTime=33.786846YRByVIi5Mb@Mb@Mb@1111 195NbX9?y5t5Լ5@5A 1)11Y5 AbDMZVDM8y]<%]o=ٔ] ;Q-]?9aYa=eEyam<Em?iqQ 5}5m?Q 9}5m)mBY3>Q E1;yQ IY@mۮDIm51;im90;mI95yɮAiyi}L36LAjy"jy:j}^ >"p} pbe@ʘM@/c@p}_/ ?Vނ?Xޡ?*j}^?2j}5*p}GhL@3ceK @=Y(@p}~9)?~???j}^A j}+fBi}ģ?i}6"oj}Bj}y_g?j}ej}sBrj} iBzj}j> addTargetRange:: Added new target pos. range: 59.599998 m, deltaT: 0.504011 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 59.377983 m, bearing: 8.059704 deg, lat: 36.779413 deg, lon: -121.859632 deg, deltaT: 0.504011 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.38 m.hhhhhggjgrgeBreZe:e*e@L?[U3>[U3>"[U@*[U@eW<) Ri9)顝˱DiiIIԡE EE&E"E;*EVL:VE4ZEBEmUDDAT read: Rx Time:04:34:34.3071 ]TRx dataTimestamp_ set to:1764909275.491307ePDAT read: Bearing 20.3, 80.7 (Local) e~Local bearing/azimuth received: Bearing 20.3, 80.7 (Local) }DAT read: Range 11 to 50 : 59.7 m (trip time 39.8 ms) speed -0.1 DAT read: 04:34:34.3071 LVL= 17040, 26273, 30034, 32627, AGC= 54, IDX= 502, 0.25,-2.507, 2.748, 1.962, 2.972, PHS= 0.907,-0.179,-1.054, RAW= 63.5, 3.9, CAL= 62.9, 1.7, ROT= 87.1, -1.7 Ygot valid direction response: 04:34:34.3071 LVL= 17040, 26273, 30034, 32627, AGC= 54, IDX= 502, 0.25,-2.507, 2.748, 1.962, 2.972, PHS= 0.907,-0.179,-1.054, RAW= 63.5, 3.9, CAL= 62.9, 1.7, ROT= 87.1, -1.7 T#Rx 76: Read range and direction messages.\direction in FSK: [0.050571,0.998280,0.029666]Fpublishing direction and range infoyY]Jf?SUp? `?Y]nBY]B]f]Ru ]s)YI]'1h?i]K7]y醿]A܍?]'g=]? ]<)]Q?I]YY](,-?BKZM? ]&3|)]I]Q?i]YYchecking for new query: numPingsReceived=76, elapsed TxPingTime=34.054722 } &,`6LAJ @JX@Jk<ٱJb0>JH@>??Ŀi j?͖@7?H?iJ @IJ];JCY^By^If=dbDjgVDj8y <% P=ٔ ե:Q->9Y=Ey6<E>!Q 5-5%?Q 9-5%Q =-tI)%BY)y5Q I5Z@%߮DI%v;i%;%<5yAɮMAIiiq6LAjmB"jmB:jK >"p,,K@R M@~L;?pJf?SUp? `?*jQ?2j*p;XL@K@@ ,'@pG( ?0z?z 8r?j@ jgBiC`?i"'jVBjQ+?j_hjjBrjTiBzj|> addTargetRange:: Added new target pos. range: 59.700001 m, deltaT: 0.503801 s, deltaX: 0.100002 m, approachRate: 0.198496 m/s, rangeRepo size: 4  Added new target pos. range: 59.477612 m, bearing: 7.703206 deg, lat: 36.779414 deg, lon: -121.859636 deg, deltaT: 0.503801 s, deltaX: 0.099628 m, approachRate: 0.197754 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.48 m.hhhhhg!g!jg!rg)re)ZeQ:eUM@*eU?[["[*[S@checking for new query: numPingsReceived=76, elapsed TxPingTime=34.291050k<) Ǵi9)@;iiIIV>i> a@a @a@e5@aIqIO:>9E EEE"E:*Ec:VEZEa@a@a@BY>BMCBGIBBB =BBκDB;B\7Ea% @m DDAT read: Rx Time:04:34:34.8071 m TRx dataTimestamp_ set to:1764909275.995321u PDAT read: Bearing 23.2, 80.6 (Local) } ~Local bearing/azimuth received: Bearing 23.2, 80.6 (Local)  DAT read: Range 11 to 50 : 59.7 m (trip time 39.8 ms) speed -0.2  DAT read: 04:34:34.8071 LVL= 13904, 22113, 26290, 28723, AGC= 55, IDX= 502,-0.09, 1.495, 0.460,-0.313, 0.691, PHS= 0.906,-0.186,-1.048, RAW= 63.9, 3.9, CAL= 63.3, 1.7, ROT= 86.7, -1.7  Ygot valid direction response: 04:34:34.8071 LVL= 13904, 22113, 26290, 28723, AGC= 55, IDX= 502,-0.09, 1.495, 0.460,-0.313, 0.691, PHS= 0.906,-0.186,-1.048, RAW= 63.9, 3.9, CAL= 63.3, 1.7, ROT= 86.7, -1.7  T#Rx 77: Read range and direction messages. \direction in FSK: [0.057539,0.997902,0.029666] Fpublishing direction and range infoyi m \u?vB? `?Yi i m P6m aVm f m 3p)m 7Im g?im v>m $m ?i m i? i )m ?Ii i i m gv?zW@-=H@@?@? Ŀ \e?ә撗?`?i=-@I=];=CY By IԙiMMb@Mb@Mb@IIII I9MQ?@5^I ¿S㥛YMu>yMbM/ݼIMCA MA)Mx AIYM AbDWVD8y1<% =ٔ-:Q-->91Y1=5Ey1=s<E=>9Q 5E5=Զ?Q 9M5=_)=BYU/>Q EU=;yU;Q IUZ@=DI=(;i=';=uA5yiɮmAqiiW6LAjmB"jmB:jz >"pg ` @CLM@um;?p\u?vB? `?*j?2j*pAL@ÿ ,q@6'@px ?E{8?:%{T?j@ jgBiڰ?i2ϟjABjj6"ojABrjiBzjc> addTargetRange:: Added new target pos. range: 59.700001 m, deltaT: 0.504014 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 59.478653 m, bearing: 7.748380 deg, lat: 36.779414 deg, lon: -121.859636 deg, deltaT: 0.504014 s, deltaX: 0.001041 m, approachRate: 0.002066 m/s, posRepo size: 4 MDNOT Ignoring new targets: 59.48 m.hIhIhIhIhIgQgQjgQrgUuBreYZeY:eY*e]?[/>checking for new query: numPingsReceived=77, elapsed TxPingTime=34.795017[/>"[r@*[@x<) pio9) .iiII9@ @@0@IIO>E  E E $E "E :*E L_:VE 4ZE BE 'H@5?`?@Ŀ P bU?p??ipl@I];CYByIbD-\VD-8yu%u=ٔ}:Q-}?9yYy=Ey<E?Q 55ᴌ?Q 95L)BYyCQ IZ@DI;i;C5yɮADNOT Ignoring new targets: 59.48 m.hhhhhggjgrgreZe:e*e?[["[*[@%DDAT read: Rx Time:04:34:35.3072 %TRx dataTimestamp_ set to:1764909276.499441-PDAT read: Bearing 26.8, 80.0 (Local) 5~Local bearing/azimuth received: Bearing 26.8, 80.0 (Local) EDAT read: Range 11 to 50 : 59.9 m (trip time 39.9 ms) speed -0.2 eDAT read: 04:34:35.3072 LVL= 16032, 24145, 27314, 30067, AGC= 56, IDX= 503, 0.40,-2.031,-3.097, 2.423,-2.854, PHS= 0.925,-0.199,-1.050, RAW= 64.5, 3.8, CAL= 63.9, 1.4, ROT= 86.1, -1.4 mYgot valid direction response: 04:34:35.3072 LVL= 16032, 24145, 27314, 30067, AGC= 56, IDX= 503, 0.40,-2.031,-3.097, 2.423,-2.854, PHS= 0.925,-0.199,-1.050, RAW= 64.5, 3.8, CAL= 63.9, 1.4, ROT= 86.1, -1.4 uT#Rx 78: Read range and direction messages.}\direction in FSK: [0.067995,0.997386,0.024432]}Fpublishing direction and range infoy!%h?2x?{J?Y%oB!%>%Q^%j %su)%8I%l?i%K%ff%)?%ԇ=%? %+<)%hY?I%+ȼ!!%u~1?>D#)KXy ? % w)%2I%hY?i%+ȼ!!checking for new query: numPingsReceived=78, elapsed TxPingTime=35.063217G*<) ǾiF9)(i iQQQIYIY9@ @@ /@ II)O5.>9i  checking for new query: numPingsReceived=78, elapsed TxPingTime=35.298969 &,l57LA|@K@<ٱY.>H k&?@?@IĿ`AC D? 4??i@IC];CAyA}@ABW>BBBBBBͺDBɀ;Bo7EbEJ4jE4rE١/Em EmEm'Ei"Em :*Emk:VEm'4ZEiBEmN"<2EmO"<JEmҼ;:EmӼ;YByIiEMb@Mb@Mb@AAAA A9E!rh?Q:vYElg>yE\EԼE@A A)EAAYE AUAAUAAbD]_VD]8G-DDAT read: Rx Time:04:34:35.8072 -TRx dataTimestamp_ set to:1764909277.0033955PDAT read: Bearing 31.9, 79.9 (Local) 5~Local bearing/azimuth received: Bearing 31.9, 79.9 (Local) MDAT read: Range 11 to 50 : 59.9 m (trip time 39.9 ms) speed -0.2 mDAT read: 04:34:35.8072 LVL= 14704, 20961, 24466, 25891, AGC= 55, IDX= 503, 0.02, 2.317, 1.228, 0.486, 1.493, PHS= 0.927,-0.219,-1.050, RAW= 65.3, 4.0, CAL= 64.6, 1.7, ROT= 85.4, -1.7 uYgot valid direction response: 04:34:35.8072 LVL= 14704, 20961, 24466, 25891, AGC= 55, IDX= 503, 0.02, 2.317, 1.228, 0.486, 1.493, PHS= 0.927,-0.219,-1.050, RAW= 65.3, 4.0, CAL= 64.6, 1.7, ROT= 85.4, -1.7 }T#Rx 79: Read range and direction messages.\direction in FSK: [0.080164,0.996340,0.029666]Fpublishing direction and range infoy)-\Y?=AG? `?Y))-p9-Q-_ -#e)-7I-Om?i-A`)-?-5=-ZQ? -<)-ɾ?I-))-"zm?+Z|b? -]t)-OʏI-ɾ?i-))checking for new query: numPingsReceived=79, elapsed TxPingTime=35.5670669Y@yy=%=ٔN9Q->9Y=Ey^<E > Q 5U5 ?Q 9]5 ) uBY]È>Q E]F;y]UQ I]Z@ DI ?&>"p-&"@*LhfɺM@dLS?p-\Y?=AG? `?*j-ɾ?2j)*p-WCM@AƂ @fN`'@p-j k ?V<ؿ?"(ma?j-@ j-2hBi-w̟?i-j-Bj-C`?j-"'j)rj-iBzj-X> addTargetRange:: Added new target pos. range: 59.900002 m, deltaT: 1.008074 s, deltaX: 0.200001 m, approachRate: 0.198399 m/s, rangeRepo size: 4 % Added new target pos. range: 59.677681 m, bearing: 7.287629 deg, lat: 36.779414 deg, lon: -121.859641 deg, deltaT: 1.008074 s, deltaX: 0.199028 m, approachRate: 0.197434 m/s, posRepo size: 4 -DNOT Ignoring new targets: 59.68 m.h)h)1h)hIhIgQgQjgQrgUBreYZeY:e]@3M@*e]y?[È>[È>"[yP@*[z@<) Ǿi}9)YiiII  9@  @ @ 1@ I I O >a , &,;9O7LA@B<Fchecking for new query: numPingsReceived=79, elapsed TxPingTime=35.803127>@>b@><ٱ>+>>H`? 7?22Ŀ652?@b`~_?`?i>@I>]];>CYNByRI9bDZ^VDXyM%M=ٔUU:Q-U2?9QYQ=UEyy}<E/?Q 55H?Q 95)nBYylQ IZ@DI:i;J5ylBɮADNOT Ignoring new targets: 59.68 m.h h h h h g g jgrgre1Ze9:e9*e= ?[["[*[@<) ˾i9)Lii11I1IAi9@ @@0@ II)O5->Ei EiEm$Ei"Ei*EiVEm4ZEiBEi2EiJEi:Eiԑ=DDAT read: Rx Time:04:34:36.3073 =TRx dataTimestamp_ set to:1764909277.507370MPDAT read: Bearing 40.7, 80.5 (Local) M~Local bearing/azimuth received: Bearing 40.7, 80.5 (Local) ]DAT read: Range 11 to 50 : 60.0 m (trip time 40.0 ms) speed -0.1 DAT read: 04:34:36.3073 LVL= 15344, 22289, 26434, 27379, AGC= 56, IDX= 504,-0.38, 1.396, 0.291,-0.419, 0.590, PHS= 0.907,-0.255,-1.053, RAW= 66.1, 4.7, CAL= 65.3, 2.9, ROT= 84.7, -2.9 Ygot valid direction response: 04:34:36.3073 LVL= 15344, 22289, 26434, 27379, AGC= 56, IDX= 504,-0.38, 1.396, 0.291,-0.419, 0.590, PHS= 0.907,-0.255,-1.053, RAW= 66.1, 4.7, CAL= 65.3, 2.9, ROT= 84.7, -2.9 T#Rx 80: Read range and direction messages.\direction in FSK: [0.092252,0.994450,0.050593]Fpublishing direction and range infoy9=2@Sڝ?|]͇?|rQ?Y=pB9=;=W=Bg =j)=8I='1h?i=\=Ȇ=7?===? =4QO=)=8?I=4QO99=Ysp?XY鿺3/? =p)=I=8?i=4QO99checking for new query: numPingsReceived=80, elapsed TxPingTime=36.070698 @ &,+i7LAV_%@V@VN@<ٱV\*>VH??zÿ (`&#?@s*h瘿@r(?`ڌ?iV_%@IV?];VCY~By~IbD}VD 8y50<%5L=ٔ5:Q-5>9AYA=EEyAM˜<EM>QQ 5e5U?Q 9e5U,)UcBYiym}Q ImZ@UDIU>+;iUq+;UnN5ԡyhBɮAvEiiimx`7LAjmoB"jmoB:jma>"pmC@sM@n1@pm2@Sڝ?|]͇?|rQ?*jm8?2jm4QO*pmQnL@}N}@؈eY)@pm8v0B?gREU?Nd#?jms@ jmgBim*?im jmBjijm2ϟjmVBrjm jBzjm> addTargetRange:: Added new target pos. range: 60.000000 m, deltaT: 0.503975 s, deltaX: 0.099998 m, approachRate: 0.198420 m/s, rangeRepo size: 4  Added new target pos. range: 59.777309 m, bearing: 7.390238 deg, lat: 36.779414 deg, lon: -121.859642 deg, deltaT: 0.503975 s, deltaX: 0.099628 m, approachRate: 0.197685 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.78 m.hhhhhgg!jg!rg!re!Ze):e-N@*e-Xo?checking for new query: numPingsReceived=80, elapsed TxPingTime=36.307045[["[*[d@N@<) ɾi[9)Ķ ii  II@ @@/@IIO>>BT>BBBBBBB;B7EE EE!E"E:*E~:VEc3ZEBE,<2E,<JE4;:E4; M DDAT read: Rx Time:04:34:36.8072 M TRx dataTimestamp_ set to:1764909278.011369U PDAT read: Bearing 46.0, 80.3 (Local) ] ~Local bearing/azimuth received: Bearing 46.0, 80.3 (Local) m DAT read: Range 11 to 50 : 59.9 m (trip time 39.9 ms) speed -0.1  DAT read: 04:34:36.8072 LVL= 17328, 26097, 25058, 26547, AGC= 57, IDX= 503, 0.08, 1.272, 0.146,-0.543, 0.467, PHS= 0.908,-0.276,-1.054, RAW= 66.8, 5.0, CAL= 65.9, 3.3, ROT= 84.1, -3.3  Ygot valid direction response: 04:34:36.8072 LVL= 17328, 26097, 25058, 26547, AGC= 57, IDX= 503, 0.08, 1.272, 0.146,-0.543, 0.467, PHS= 0.908,-0.276,-1.054, RAW= 66.8, 5.0, CAL= 65.9, 3.3, ROT= 84.1, -3.3  T#Rx 81: Read range and direction messages. \direction in FSK: [0.102622,0.993053,0.057564] Fpublishing direction and range infoyI M D^rE?]_?`8.y?YM oBI &,7LA6b@6\@6<ٱ6)>6HV?? ÿ` W?ٯ1L?@c?i6b@I6];6CYNByN|IIR<)Rp;uCueua ug)u9Iurh?iuOuy醿u;?u¸=u8? uk=)u?Iukqquq!?hر鿚>lgy%h%ļ%jA! !)%A!Y%\ AbDmsVDm8y9%/=ٔ:Q->9!Y!=%Ey!%փ<E->QQ 5]5UD?Q 9]5U)UVBYe>Q EeT;yexQ IZ@UDIUf;iU;UR5yɮAiqiuE7LAjunB"junB:juEs>"pu2@4OM@[|m{ @puD^rE?]_?`8.y?*ju?2juk*pu&5{L@%@pݩS*@pu-  addTargetRange:: Added new target pos. range: 59.900002 m, deltaT: 0.503999 s, deltaX: -0.099998 m, approachRate: -0.198410 m/s, rangeRepo size: 4  Added new target pos. range: 59.677330 m, bearing: 7.187166 deg, lat: 36.779414 deg, lon: -121.859649 deg, deltaT: 0.503999 s, deltaX: -0.099979 m, approachRate: -0.198372 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.68 m.hhhhhggjgrg}BreZe:e@3M@*e@?![5>[5>"[5c@*[5q@e<)a eѾim$9)imǶmiiiqqqIqIyI)zAchecking for new query: numPingsReceived=81, elapsed TxPingTime=36.8121959@ @@/@I)I9OEs>Iy E  E E 'E "E :*E R:VE '4ZE a @a @a @a @v &,"ǜ7LAYnByrIbDzQVDz8y-=%-p=ٔ-Q--?91Y1=5Ey15E=?AQ 5E5Eަ?Q 9M5E)EMBYIyIQ IMZ@EDIE:iE:EwU5yQɮUAYDNOT Ignoring new targets: 59.68 m.hhhhhggjgrgreZe:e*e ?DDAT read: Rx Time:04:34:37.3074  TRx dataTimestamp_ set to:1764909278.515445PDAT read: Bearing 55.3, 80.5 (Local) %~Local bearing/azimuth received: Bearing 55.3, 80.5 (Local) MDAT read: Range 11 to 50 : 60.2 m (trip time 40.1 ms) speed -0.2 QuDAT read: 04:34:37.3074 LVL= 17968, 24945, 25778, 28659, AGC= 57, IDX= 505,-0.31, 0.577,-0.566,-1.223,-0.210, PHS= 0.888,-0.311,-1.058, RAW= 67.7, 5.7, CAL= 66.7, 4.5, ROT= 83.3, -4.5 }Ygot valid direction response: 04:34:37.3074 LVL= 17968, 24945, 25778, 28659, AGC= 57, IDX= 505,-0.31, 0.577,-0.566,-1.223,-0.210, PHS= 0.888,-0.311,-1.058, RAW= 67.7, 5.7, CAL= 66.7, 4.5, ROT= 83.3, -4.5 T#Rx 82: Read range and direction messages.\direction in FSK: [0.116311,0.990109,0.078459]Fpublishing direction and range infoyZƽ?4(?5;?YpB0Fqad o)ISc?id;lE>?%=\? |٠=)?I|٠Rq?d"6ty? i)%̽I?i|٠checking for new query: numPingsReceived=82, elapsed TxPingTime=37.088470[["[*[) žiH9)nʶiiII9@ @@/@IIO">ԁԩ checking for new query: numPingsReceived=82, elapsed TxPingTime=37.314873  &,̶7LA}ޗ@PExceeded connect timeout, disconnecting.}؞@}%o<ٱ}8l,>}H@??6ÿ(?mݰ/홿@q??i}ޗ@I}];yYByIBA<B)B)B)B)B- =B)B)B-;B-7EBMCBMCBCB =B =D%=D=E EE%E"E:*E:VE 4ZEBExyquju@uA uA)qqYqbDNVD8y%=ٔб:Q->9Y=Ey<E>DDAT read: Rx Time:04:34:37.8073 TRx dataTimestamp_ set to:1764909279.019507 PDAT read: Bearing 48.2, 78.5 (Local)  ~Local bearing/azimuth received: Bearing 48.2, 78.5 (Local) DAT read: Range 11 to 50 : 60.0 m (trip time 40.0 ms) speed -0.2 EDAT read: 04:34:37.8073 LVL= 17696, 23905, 24338, 26099, AGC= 57, IDX= 504, 0.12, 1.819, 0.655, 0.010, 0.992, PHS= 0.929,-0.292,-1.026, RAW= 68.2, 4.6, CAL= 67.3, 2.3, ROT= 82.7, -2.3 MYgot valid direction response: 04:34:37.8073 LVL= 17696, 23905, 24338, 26099, AGC= 57, IDX= 504, 0.12, 1.819, 0.655, 0.010, 0.992, PHS= 0.929,-0.292,-1.026, RAW= 68.2, 4.6, CAL= 67.3, 2.3, ROT= 82.7, -2.3 MT#Rx 83: Read range and direction messages.U\direction in FSK: [0.126962,0.991095,0.040132]]Fpublishing direction and range infoy!L@?Y f ?.='?YpB Ea]_ e)Im?iS:\?l=Y? l$=)?Il$Wns? #l鿈s?Q 5m5 g)PI?il$}checking for new query: numPingsReceived=83, elapsed TxPingTime=37.583248?Q 9}5)@BY}7s>Q E}_;y}+Q I}Z@DI6[Y>"[)@*[@5V<)1 5̾i59)9=׶= i9iAAAaIiIi}9@ @@/@II!O-N>checking for new query: numPingsReceived=85, elapsed TxPingTime=38.831055ԑ E  E E %E "E :*E e:VE 4ZE a @a @a @a @g&,R 8LA2zӘ@2̟@2<ٱ2s[,>2H?X? 3ÿ@!??@Sro?f?i2zӘ@I2ջ];2CYRByRIIV%=)V4<bD^hVD^8yr:a%rW=ٔr9Q-v>9tYt=vEytzŝ<Ez>|Q 55~o?Q 95~ )~BYy]Q I Z@~DI~0;i~;~+g5ayaɮeAaDDAT read: Rx Time:04:34:39.3076 TRx dataTimestamp_ set to:1764909280.535505PDAT read: Bearing 67.2, 77.8 (Local) ~Local bearing/azimuth received: Bearing 67.2, 77.8 (Local) DAT read: Range 11 to 50 : 60.5 m (trip time 40.3 ms) speed -0.1 DAT read: 04:34:39.3076 LVL= 16368, 20433, 22674, 25795, AGC= 56, IDX= 507,-0.21, 1.047,-0.164,-0.712, 0.260, PHS= 0.889,-0.379,-1.016, RAW= 70.8, 6.1, CAL= 69.8, 4.9, ROT= 80.2, -4.9 Ygot valid direction response: 04:34:39.3076 LVL= 16368, 20433, 22674, 25795, AGC= 56, IDX= 507,-0.21, 1.047,-0.164,-0.712, 0.260, PHS= 0.889,-0.379,-1.016, RAW= 70.8, 6.1, CAL= 69.8, 4.9, ROT= 80.2, -4.9 T#Rx 86: Read range and direction messages.\direction in FSK: [0.169587,0.981807,0.085417]Fpublishing direction and range infoy$ ?+Fj?b$ݵ?YrB?OX d)8Ic?iJ ¾J 2+?^ =I? %=)$+?I%dv?)ܧ?iiE"8LAjqB"jqB:j8="pʔ\q$@/UC̖M@;N @p$ ?+Fj?b$ݵ?*j$+?2j%*p"lPM@ sm @kkm-@p[y?Ђy?|?? [)NٽI$+?i%%checking for new query: numPingsReceived=86, elapsed TxPingTime=39.102970jc@ jhBig+?i(HjBjj[3jӛBrjDjBzj=U addTargetRange:: Added new target pos. range: 60.500000 m, deltaT: 0.504190 s, deltaX: 0.299999 m, approachRate: 0.595012 m/s, rangeRepo size: 4  Added new target pos. range: 60.274715 m, bearing: 5.657419 deg, lat: 36.779415 deg, lon: -121.859667 deg, deltaT: 0.504190 s, deltaX: 0.298882 m, approachRate: 0.592795 m/s, posRepo size: 4 DNOT Ignoring new targets: 60.27 m.hhhhhggjgrgreZe:e@N@*e+ף?[["[*[g8@ <) w;i\9)15ڶ=wi9i9AAIAIAԉ9@ @@@IIOD>Թ= checking for new query: numPingsReceived=86, elapsed TxPingTime=39.335175 Y &,a78LAE@E @Enu<ٱE|*>EH:?I?cÿ.?`m`9??iE@IEi];ECYByIbDbAA?ABX>BMCBBB =BBB3;B7E1VD8DqDu<E EE&E"E:*EC:VE4ZEBE;a:E>;ay =%4=ٔ77:Q->9QYY=]EyY<E>Q 55Ö?Q 95)BYymQ IZ@DI):i:_k5yɮAEDNOT Ignoring new targets: 60.27 m.hAhAhIhIhIgIgIjgQrgQreQZeQ:eQ*e])?[["[*[ct@nu<) Gži(9)=޶Eii DDAT read: Rx Time:04:34:39.8075  TRx dataTimestamp_ set to:1764909281.039415PDAT read: Bearing 63.8, 76.7 (Local) ~Local bearing/azimuth received: Bearing 63.8, 76.7 (Local) -DAT read: Range 11 to 50 : 60.3 m (trip time 40.2 ms) speed -0.1 MDAT read: 04:34:39.8075 LVL= 16320, 23025, 24658, 26947, AGC= 57, IDX= 506, 0.19, 2.412, 1.169, 0.629, 1.590, PHS= 0.924,-0.375,-1.005, RAW= 71.3, 5.4, CAL= 70.3, 3.5, ROT= 79.7, -3.5 UYgot valid direction response: 04:34:39.8075 LVL= 16320, 23025, 24658, 26947, AGC= 57, IDX= 506, 0.19, 2.412, 1.169, 0.629, 1.590, PHS= 0.924,-0.375,-1.005, RAW= 71.3, 5.4, CAL= 70.3, 3.5, ROT= 79.7, -3.5 Y]T#Rx 87: Read range and direction messages.e\direction in FSK: [0.178469,0.982050,0.061049]mFpublishing direction and range infoy  ]?JNl?.xA?Y 3qB  ? Y R` Ci) 9I Dl?i  ף &I? = = ? 5z=) / ?I 5z   }je ?'L翉:`? ~Y) -9I / ?i 5z  checking for new query: numPingsReceived=87, elapsed TxPingTime=39.603527IIU9@Q @Q@Q@QIaIqO}{>ԉԱ [=&,PQ8LA2checking for new query: numPingsReceived=87, elapsed TxPingTime=39.838928Ԇ@@<ٱ)>H?@*? ?ÿQ ;? ,B֛l??iԆ@I];CYuBy}Iԙi Mb@Mb@Mb@     9 ~jt?QQY D>y \  @ A A)  Y \ A%@A%@AbD%DVD%ױ8y5;%57=ٔ=l:Q-=>99Y9=EEyAE1 =EE>IQ 5U5MF?Q 9U5M)MBY]Au>Q E]];y]UQ I]Z@M DIM:iM:M o5yaɮmAiiAiEƅB8LAjENpB"jENpB:jE="pE4űq%@Z$"ʺM@K.W @pE]?JNl?.xA?*jE/ ?2jE5z*pEA"M@nbI@M *@pE! $ ? xSBR:?Od4K?jE@ jEiBiEŸ?iE56jEBjEŸ?jE56jArjEjBzjE=5 addTargetRange:: Added new target pos. range: 60.299999 m, deltaT: 0.503910 s, deltaX: -0.200001 m, approachRate: -0.396898 m/s, rangeRepo size: 4 e Added new target pos. range: 60.076263 m, bearing: 6.485349 deg, lat: 36.779415 deg, lon: -121.859669 deg, deltaT: 0.503910 s, deltaX: -0.198452 m, approachRate: -0.393824 m/s, posRepo size: 4 eDNOT Ignoring new targets: 60.08 m.hahahihihigigijgqrguBreqZeq:eu`f&N@*e}c?E EEE"E*ErN:VEZEa@a@a@a@[Au>[Au>"[@*[f@<) Ѿi9)ᶉ]ii9AIAIAIQ)UxA9@ @@0@IIO>DDAT read: Rx Time:04:34:40.3076 %TRx dataTimestamp_ set to:1764909281.543412-PDAT read: Bearing 75.4, 76.5 (Local) -~Local bearing/azimuth received: Bearing 75.4, 76.5 (Local) =DAT read: Range 11 to 50 : 60.5 m (trip time 40.3 ms) speed -0.1 eDAT read: 04:34:40.3076 LVL= 14832, 22673, 25842, 26851, AGC= 55, IDX= 507,-0.18,-0.177,-1.428,-1.920,-0.958, PHS= 0.883,-0.424,-1.005, RAW= 72.5, 6.6, CAL= 71.5, 5.7, ROT= 78.5, -5.7 mYgot valid direction response: 04:34:40.3076 LVL= 14832, 22673, 25842, 26851, AGC= 55, IDX= 507,-0.18,-0.177,-1.428,-1.920,-0.958, PHS= 0.883,-0.424,-1.005, RAW= 72.5, 6.6, CAL= 71.5, 5.7, ROT= 78.5, -5.7 mT#Rx 88: Read range and direction messages.u\direction in FSK: [0.198382,0.975080,0.099320]uFpublishing direction and range infoy"bd?W3?hܸm?YrB9Xd h)7IJ b?iپp?=? %=)^?I%˽ްf${?+ent)IO? 'T)mI^?i%˽checking for new query: numPingsReceived=88, elapsed TxPingTime=40.106892 i&,Xk8LAY}By}I bD4VDȱ8yJ2%y=ٔQ-?9Y=EyE?Q 55U?Q 95)BYyQ IZ@ DIl:i:q5y ɮ A iIiMCb8LAjMqB"jMqB:jMn="pM7b"9I'@2DbM@i@:@pM"bd?W3?hܸm?*jM^?2jM%˽*pMU. M@!L@Nx.@pMO֗BBBBBBBB1;B7EbE5-4jE5Ȼ 4rE5Ȳ/E EEE"E>:*Ee:VEZEBE2H? i?@rÿ@9u?@ǃ@6!?@|?i2™@I2W];2CY>ByBIbDV-VDV8y*<%E=ٔC :Q->9Y=Ey6<E>Q 5U5ߏ?Q 9U5x)BYYy]cQ I]Z@DI0A E  E E $E "E m:*E k:VE 4ZE a @a @a @a @'&,{8LAV9@V3@VI<ٱVء)>VHn??¿O`?`~9b?Ȍ?iV9@IVF];TYnBynI tv4<bDzYVDz8y%@<%-R=ٔ-#9Q-->91Y1=5Ey15=E5>EDDAT read: Rx Time:04:34:41.3077 MTRx dataTimestamp_ set to:1764909282.551448UPDAT read: Bearing 75.2, 74.6 (Local) U~Local bearing/azimuth received: Bearing 75.2, 74.6 (Local) mDAT read: Range 11 to 50 : 60.6 m (trip time 40.4 ms) speed -0.1 DAT read: 04:34:41.3077 LVL= 19920, 30097, 32754, 32755, AGC= 53, IDX= 508,-0.17, 0.279,-0.990,-1.418,-0.505, PHS= 0.886,-0.440,-0.958, RAW= 74.2, 6.3, CAL= 73.2, 4.9, ROT= 76.8, -4.9 Ygot valid direction response: 04:34:41.3077 LVL= 19920, 30097, 32754, 32755, AGC= 53, IDX= 508,-0.17, 0.279,-0.990,-1.418,-0.505, PHS= 0.886,-0.440,-0.958, RAW= 74.2, 6.3, CAL= 73.2, 4.9, ROT= 76.8, -4.9 T#Rx 90: Read range and direction messages.\direction in FSK: [0.227516,0.970021,0.085417]Fpublishing direction and range infoyIMg=*L@?i ?b$ݵ?YMfrBIMMMuM M)M5IMb?iMGᾉM}?uMå?Mz0=MƇ? M%=)M?IM%IIMO坰,?z濯ԘӺ? MhL)MX(IM?iM%IIchecking for new query: numPingsReceived=90, elapsed TxPingTime=41.115093Q 55?Q 95)BYyQ IZ@DIz;i;y5yɮAiIiMJ8LAjMqB"jMqB:jM#="pMGx+@aUHM@ψӠ@pMg=*L@?i ?b$ݵ?*jM?2jM%*pMWiוE9M@0pJ@@% ,@pM r+q?掃3E?^q?jM@ jMiBiMʟ?iMEp njMmBjMŸ?jMX^jMmBrjMfjBzjM⡼= addTargetRange:: Added new target pos. range: 60.599998 m, deltaT: 0.504063 s, deltaX: 0.299999 m, approachRate: 0.595162 m/s, rangeRepo size: 4  Added new target pos. range: 60.375122 m, bearing: 4.675952 deg, lat: 36.779415 deg, lon: -121.859685 deg, deltaT: 0.504063 s, deltaX: 0.298889 m, approachRate: 0.592960 m/s, posRepo size: 4 DNOT Ignoring new targets: 60.38 m.hhhhhggjgrgreZe:eLN@*eĐ?I[["[*[@I<) ӾiȚ9)붉dbiiIIJ>i>9@ @@1@IIO J>ychecking for new query: numPingsReceived=90, elapsed TxPingTime=41.351040ԡ 7-&,Â8LAFt@Fm@FT<ٱFv(>FH9?w?`¿< R?FE I@~?N?iFt@IF0];FCLB^<A\BbN>BbLCB`B`Bb =B`B`Bb;Bb7EYnByn}IIr<)r=bDeVVDe8y>%D=ٔ9Q->E EEE"E:*EF:VEZEBEIQ 5e5Mn?Q 9m5MC)MրBYqy}Q I}Z@MDIM;iM[;M|5yɮADNOT Ignoring new targets: 60.38 m.hhhhhggjgrgreZe:e*e N?[["[*[@UDDAT read: Rx Time:04:34:41.8076 UTRx dataTimestamp_ set to:1764909283.055455]PDAT read: Bearing 71.6, 74.1 (Local) e~Local bearing/azimuth received: Bearing 71.6, 74.1 (Local) uDAT read: Range 11 to 50 : 60.5 m (trip time 40.3 ms) speed -0.2 DAT read: 04:34:41.8076 LVL= 14224, 20721, 24002, 25843, AGC= 56, IDX= 507, 0.21, 1.357, 0.045,-0.394, 0.528, PHS= 0.931,-0.438,-0.966, RAW= 74.4, 5.6, CAL= 73.3, 3.6, ROT= 76.7, -3.6 Ygot valid direction response: 04:34:41.8076 LVL= 14224, 20721, 24002, 25843, AGC= 56, IDX= 507, 0.21, 1.357, 0.045,-0.394, 0.528, PHS= 0.931,-0.438,-0.966, RAW= 74.4, 5.6, CAL= 73.3, 3.6, ROT= 76.7, -3.6 T#Rx 91: Read range and direction messages.\direction in FSK: [0.229596,0.971259,0.062791]Fpublishing direction and range infoyQU);@ec?N?֏ ?YUrBQU7UPU] Ud)U8IUVn?iUAྉUKwU6?U+=U? U=)UuY?IUQQUAqC?ǦH_ב? UDK%T<) ݾiњ9)-ﶉ 7iiII)UOɽIUuY?iUQQchecking for new query: numPingsReceived=91, elapsed TxPingTime=41.6228269@ @@61@IIOb>!  checking for new query: numPingsReceived=91, elapsed TxPingTime=41.8549844&,r8LAtt@@<ٱ]'>HI??¿?*B?u< ???it@Ie];CYUByUIa@a a@a  a @a  a @a  bDcVD8y=r=%=1=ٔ=ܸQ-=>9AYA=EEyAMc<EM>IQ 5]5M?Q 9]5M)MɀBQ A]+:YYQ E]3;y]Q I]Z@MDIM;iM>M5ymcBɮmvAmEiiim8LAjmqB"jmqB:jm="pm(t+@LeEM@։G@pm);@ec?N?֏ ?*jmuY?2jm*pmMsNM@p}@@))@pmr/??9MS;b?jm@ jmpjBimԟ?im>\jm~Bjm꾗ş?jijm8BrjmjBzjm = addTargetRange:: Added new target pos. range: 60.500000 m, deltaT: 0.504007 s, deltaX: -0.099998 m, approachRate: -0.198407 m/s, rangeRepo size: 4  Added new target pos. range: 60.274532 m, bearing: 5.480114 deg, lat: 36.779415 deg, lon: -121.859685 deg, deltaT: 0.504007 s, deltaX: -0.100590 m, approachRate: -0.199580 m/s, posRepo size: 4 DNOT Ignoring new targets: 60.27 m.hhhhhggjgrgreZe:e@N@*e@? <)  վi9)򶉢K7ii!!I!I!E= E=E=&E9"E=:*E=g:VE=4ZE9aE@aM@aM@aM@9@ @@?5@IIO@>MDDAT read: Rx Time:04:34:42.3078 MTRx dataTimestamp_ set to:1764909283.559447UPDAT read: Bearing 77.5, 73.0 (Local) ]~Local bearing/azimuth received: Bearing 77.5, 73.0 (Local) mDAT read: Range 11 to 50 : 60.8 m (trip time 40.5 ms) speed -0.1 DAT read: 04:34:42.3078 LVL= 17872, 26833, 29890, 30195, AGC= 53, IDX= 509,-0.18, 0.467,-0.867,-1.253,-0.344, PHS= 0.913,-0.478,-0.953, RAW= 75.8, 6.2, CAL= 74.8, 4.6, ROT= 75.2, -4.6 Ygot valid direction response: 04:34:42.3078 LVL= 17872, 26833, 29890, 30195, AGC= 53, IDX= 509,-0.18, 0.467,-0.867,-1.253,-0.344, PHS= 0.913,-0.478,-0.953, RAW= 75.8, 6.2, CAL= 74.8, 4.6, ROT= 75.2, -4.6 T#Rx 92: Read range and direction messages.\direction in FSK: [0.254623,0.963709,0.080199]Fpublishing direction and range infoyIM"{K??zꇴ?YM3sBIMEMhMt Mu)M5IM^i?iMjMsMV?Mk=M? Ml=)M?IMlIIMWQ?$L +>wCɛ? MaE)Ml޽IM?iMlIIchecking for new query: numPingsReceived=92, elapsed TxPingTime=42.122841 ;&,78LAB@BFߡ@B1 <ٱB8'>BH (?i?*w¿Ug'?@u $㛿?`a?iB@IB];BCY^By^IfAAfAAbDjxVDj8yrC;%r|=ٔrqQ-r ?9tYt=vEytvI<Ez ?xQ 5~5zv?Q 95z)zBQ A :YQ E;yQ IZ@zDIz:izD?z5yɮqAii8LAjKrB"jKrB:j+="p6N.@0M@Mn@p"{K??zꇴ?*j?2jl*pvLeM@~@Z4T+@pB?]?>W?jˌ@ j/kBi⟊?iO jzBjʟ?j1S_jzBrj(kBzj=e addTargetRange:: Added new target pos. range: 60.799999 m, deltaT: 0.503992 s, deltaX: 0.299999 m, approachRate: 0.595246 m/s, rangeRepo size: 4 m Added new target pos. range: 60.573414 m, bearing: 4.279651 deg, lat: 36.779416 deg, lon: -121.859686 deg, deltaT: 0.503992 s, deltaX: 0.298882 m, approachRate: 0.593028 m/s, posRepo size: 4 uDNOT Ignoring new targets: 60.57 m.hqhqhqhyhygygyjgyrgreZe:e`ffN@*eU+?1 <) [Ծi9)顽g7iiIIchecking for new query: numPingsReceived=92, elapsed TxPingTime=42.359570M9@Q @U@U/@QIyIO= BH>BKCBBB =BB̺DB݀;Bx7EBLCBLCBƔCB =B =C161Ee EeEaEa"Ee:*Ee n:VEaZEaBEeF-D>b? m <_F)m $uӽIm q?im 5i i  checking for new query: numPingsReceived=93, elapsed TxPingTime=42.626747Y 8A&,2H`a"?%?u¿`H)?<䴿@篛@??i2 @I2@];2CYRByRI XXaa aa aa aa iMb@Mb@Mb@ 9'1Z?p= ף:vY">yԼAZA )AY AbD5qVD58yE=<%E(=ٔMҹQ-M>9QYQ=UEyQU]q<E]>YQ 5e5]?Q 9e5]6)]BQ AmT:YmS>Q Em;ym$Q IZ@]DI]!;i];]5yɮZAii 9LAj}qB"j}qB:jv="p^\.@#M@w@p?7j)?&k۱?*jq?2j5*psJVM@-1!F@~*@p|?i)}?""?j1@ jjBi՟?iYojBBjԟ?jEp njBBrjkBzj8=% addTargetRange:: Added new target pos. range: 60.599998 m, deltaT: 0.503883 s, deltaX: -0.200001 m, approachRate: -0.396919 m/s, rangeRepo size: 4 U Added new target pos. range: 60.372814 m, bearing: 4.936860 deg, lat: 36.779417 deg, lon: -121.859692 deg, deltaT: 0.503883 s, deltaX: -0.200600 m, approachRate: -0.398108 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 60.37 m.hYhYhYhYhYgYgajgargeBreZe:eLN@*ew?[S>[S>"[*!@*[ƌ@#<)  ׾i9)`608i i  IIAchecking for new query: numPingsReceived=93, elapsed TxPingTime=42.8634349@ @@05@IIOmx>qEE  EE EE #EA "EE :*EE 1]:VEE 3ZEA aM @aU @aU @aU @ԙ BH&,J!9LA22HM?`R?@¿ <`B?@s*@f@ ??i2ByBIbDJVDJ8yz.%z|=ٔz^aQ-z ?9|Y|=~Ey|<E ? Q 55 H?Q 95 ) BYy7Q IZ@%DDAT read: Rx Time:04:34:43.3079 -TRx dataTimestamp_ set to:1764909284.5674325PDAT read: Bearing 80.6, 72.5 (Local) 5~Local bearing/azimuth received: Bearing 80.6, 72.5 (Local) EDAT read: Range 11 to 50 : 60.9 m (trip time 40.6 ms) speed -0.1 mDAT read: 04:34:43.3079 LVL= 14304, 21441, 22674, 25715, AGC= 56, IDX= 510,-0.18, 0.349,-0.989,-1.349,-0.450, PHS= 0.901,-0.494,-0.943, RAW= 76.5, 6.5, CAL= 75.5, 5.0, ROT= 74.5, -5.0 uYgot valid direction response: 04:34:43.3079 LVL= 14304, 21441, 22674, 25715, AGC= 56, IDX= 510,-0.18, 0.349,-0.989,-1.349,-0.450, PHS= 0.901,-0.494,-0.943, RAW= 76.5, 6.5, CAL= 75.5, 5.0, ROT= 74.5, -5.0 }T#Rx 94: Read range and direction messages.}\direction in FSK: [0.266221,0.959964,0.087156]Fpublishing direction and range infoy)-?U ?}?O?Y-sB)-7-S-X -sd))I-f?i--shq-?-V=-+? -¸=)-Bo?I-¸))-eT ?%=%=checking for new query: numPingsReceived=94, elapsed TxPingTime=43.367214 @N&, ;9LAA0A2AAB6T>B6LCB6@IB6zBB4B4B6ͺDB6Ȁ;B6j7EVl@V@VO<ٱV{)>VHx?/?@{¿Bp?`Irw? ?iVl@IV$];TYnBynIbDvPVDv8yU<%I=ٔ[#9Q->9 Y = Ey  [<E>Q 55E?Q 9%5)BY!y%I  checking for new query: numPingsReceived=95, elapsed TxPingTime=43.870857+U&,հU9LAL [ԛ@ ͢@ `<ٱ (> H`r?Rl?"D¿S?}`S?n?i [ԛ@I פ]; CYmBymII=)4y j@A )1AY AbD=MVD=߱8yMY<%M7=ٔM8Q-M>9QYQ=UEyQ]<E]>YQ 5e5]?Q 9m5])]BYm0L>Q Em;ymQ ImZ@]'DI]* ;i];]E5yyɮ}dAyiaieD9LAjeKrB"jeKrB:jeމ="pe B0@gM@;; @pe^|:.?άV?Cg]?*je6?2jes*pe?s9M@dp@nHI)@pe<_*?OŶ?w.?jel@ jekBie*cꟊ?ie,UmjeBjeڻzܟ?jajeBBrjeClBzje=M addTargetRange:: Added new target pos. range: 60.799999 m, deltaT: 0.505118 s, deltaX: -0.100002 m, approachRate: -0.197978 m/s, rangeRepo size: 4 U Added new target pos. range: 60.573559 m, bearing: 5.218687 deg, lat: 36.779417 deg, lon: -121.859693 deg, deltaT: 0.505118 s, deltaX: -0.098133 m, approachRate: -0.194278 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 60.57 m.hYhYhYhYhYgagajgirgmBreiZeq:eu`ffN@*euVA?[0L>[0L>"[ɲ@*[@`<) fi9)_8iiII!E- E-E)E)"E->:*E-i:VE)ZE)a5@a5@a5@a5@9@ @@/@IIOF>i1I1=DDAT read: Rx Time:04:34:44.3078 =TRx dataTimestamp_ set to:1764909285.575609MPDAT read: Bearing 79.0, 71.1 (Local) M~Local bearing/azimuth received: Bearing 79.0, 71.1 (Local) ]DAT read: Range 11 to 50 : 60.8 m (trip time 40.5 ms) speed -0.1 DAT read: 04:34:44.3078 LVL= 14192, 20081, 24050, 27011, AGC= 55, IDX= 510,-0.19,-0.443,-1.812,-2.138,-1.266, PHS= 0.925,-0.501,-0.917, RAW= 77.6, 6.0, CAL= 76.5, 3.9, ROT= 73.5, -3.9 Ygot valid direction response: 04:34:44.3078 LVL= 14192, 20081, 24050, 27011, AGC= 55, IDX= 510,-0.19,-0.443,-1.812,-2.138,-1.266, PHS= 0.925,-0.501,-0.917, RAW= 77.6, 6.0, CAL= 76.5, 3.9, ROT= 73.5, -3.9 T#Rx 96: Read range and direction messages.\direction in FSK: [0.283358,0.956599,0.068015]Fpublishing direction and range infoy9=!"??$Lv?,::si?Y99=p7=qN=] =i)=7I=l?i=A=j=-\?=Pw==? ='g=)=Y3?I='g99=5;>}?)F/My)n#? ==)=ȒԽI=Y3?i='g99checking for new query: numPingsReceived=96, elapsed TxPingTime=44.139004! Q[&,pzo9LA2@2 @2<ٱ2'>2H ?9W?¿P?۵` ^ ?I?i2@I2];2CYRByRIbDZBVDZձ8yvK %vd=ٔvQ-v>9xYx=zEyxz<E~>|Q 5 5b}?Q 9 5)BYyQ IZ@)DI:i2:g5yɮqA!iqiud9LAjq"jq:ju="puR.)1@L@Isz@pu!"??$Lv?,::si?*juY3?2ju'g*pu!MkyM@ΩY@rI}*@pu-]$?xq?3?ju͚@ jukBiu&埊?iuh}juқBju⟊?juh}jqrjutlBzjuȧ=m addTargetRange:: Added new target pos. range: 60.799999 m, deltaT: 0.503059 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 60.573559 m, bearing: 4.691200 deg, lat: 36.779418 deg, lon: -121.859699 deg, deltaT: 0.503059 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 60.57 m.hhhhhggjgrgreZe:e*e?[["[*[7T@<) i9)8iiIIchecking for new query: numPingsReceived=96, elapsed TxPingTime=44.3754129@ @@0@I1IqO>Be]>BeNCBeGIBeBBe =BaBeκDBeр;Be{7EQE= E=E=#E9"E=:*E=T:VE=3ZE9BE=,b&,h9LAJAK@JD@J0<ٱJ(>JHN?@@?@!¿@G?@'MF??iJAK@IJy];JCYfByfIQiMb@Mb@Mb@ 9'1Z?i|?5Y">y̼jACA )AY\ AbDPVD8y~%#=ٔ{1Q->9Y=EyVj<E>Q 5 5{?Q 95N)BY]L>Q E;y[Q IZ@,DIQ;i:Η5yAɮEAAyiiU9LAjqB"jqB:jn="plrQ1@-L@P-6 @pZ ~[?X2ë?Cg]?*j?2js*pkM@S@!B)@pEZ/?B¡%?PV J?j@ j^kBi|3ڟ?i&}yjBjڻzܟ?j&}yjқBrj\lBzjX= addTargetRange:: Added new target pos. range: 60.599998 m, deltaT: 0.507741 s, deltaX: -0.200001 m, approachRate: -0.393903 m/s, rangeRepo size: 4  Added new target pos. range: 60.375820 m, bearing: 4.935969 deg, lat: 36.779417 deg, lon: -121.859697 deg, deltaT: 0.507741 s, deltaX: -0.197739 m, approachRate: -0.389448 m/s, posRepo size: 4 DNOT Ignoring new targets: 60.38 m.h h h h h g g jgrgBreZe:e=LN@*e=?[}]L>[}]L>"[}@*[}x@0<) Ѿi9)checking for new query: numPingsReceived=97, elapsed TxPingTime=44.879032顕wK8iiIIԩ9@ @@/@II O%> E9  E= E= &E9 "E9 *E= V:VE= 4ZE9 aE @aE @aE @aE @ch&,09LA2p@2@2<ٱ2)>2H?`(?`.¿`@S*?d`񯚿`?6?i2p@I2];2CYBByBI DDbDJVDJ8yfQ=%f=ٔfQ-f?9hYh=jEyhn`<En?pQ 5v5rrz?Q 9v5r)rxBYtyv_Q IvZ@r.DIr:iru:rl5y|EDDAT read: Rx Time:04:34:45.3079 MTRx dataTimestamp_ set to:1764909286.591436UPDAT read: Bearing 81.7, 70.3 (Local) U~Local bearing/azimuth received: Bearing 81.7, 70.3 (Local) mDAT read: Range 11 to 50 : 60.9 m (trip time 40.6 ms) speed -0.1 DAT read: 04:34:45.3079 LVL= 13232, 21473, 27698, 29779, AGC= 56, IDX= 511,-0.27,-0.468,-1.859,-2.153,-1.289, PHS= 0.923,-0.524,-0.908, RAW= 78.5, 6.2, CAL= 77.5, 4.2, ROT= 72.5, -4.2 Ygot valid direction response: 04:34:45.3079 LVL= 13232, 21473, 27698, 29779, AGC= 56, IDX= 511,-0.27,-0.468,-1.859,-2.153,-1.289, PHS= 0.923,-0.524,-0.908, RAW= 78.5, 6.2, CAL= 77.5, 4.2, ROT= 72.5, -4.2 T#Rx 98: Read range and direction messages.\direction in FSK: [0.299898,0.951156,0.073238]Fpublishing direction and range infoyIMy1?[Yo??YMsBIM3MSM2l MSt)IIMIl?iM$MrhM^?Mk=M"? MQ =)Mp?IMQ IIMM?(BDc? MI9Թ)M۽IMp?iMQ IIchecking for new query: numPingsReceived=98, elapsed TxPingTime=45.158882ɮ~QAiIiMڥ9LAjMrB"jMrB:jMX="pM<22@,^L@) [@pMy1?[Yo??*jMp?2jMQ *pMd~M@hg7@x*@pM&V?kĕ?-M?jM@ jMkBiMŋ埊?iMކjMBjM&埊?jMh}jIrjMlBzjMϬ= addTargetRange:: Added new target pos. range: 60.900002 m, deltaT: 0.508086 s, deltaX: 0.300003 m, approachRate: 0.590457 m/s, rangeRepo size: 4  Added new target pos. range: 60.674713 m, bearing: 4.485910 deg, lat: 36.779418 deg, lon: -121.859699 deg, deltaT: 0.508086 s, deltaX: 0.298893 m, approachRate: 0.588272 m/s, posRepo size: 4 DNOT Ignoring new targets: 60.67 m.hhhhhggjgrgreZe:e%@3sN@*e%a?[["[*[@<) ɾi`9)y8ii))I)I)9@ @@0@IIOG> DDAT read: Rx Time:04:34:45.8078  TRx dataTimestamp_ set to:1764909286.845531 checking for new query: numPingsReceived=98, elapsed TxPingTime=45.3958899 BY A] <Be V>Ba Ba Ba Be =Ba Ba Be ɀ;Be p7E.n&,K9LA2tǜ@2@2 <ٱ2])>2H 3?>?@~¿g2?@G?` ?i2tǜ@I2 ];2CY^BybIbDjVDj8MGyEZ<%UB=aٔuݹQ->9Y@9Y=Ey<E>Q 55x?Q 95)mBYyaQ IZ@D=DR=bEJ4jE4rE١/E EE"E"E:*E:VE(3ZEBE'5yɮ:ADNOT Ignoring new targets: 60.67 m.hhhhhg g jgrgreZe:e*e@*?5PDAT read: Bearing 78.7, 69.8 (Local) =~Local bearing/azimuth received: Bearing 78.7, 69.8 (Local) MDAT read: Range 11 to 50 : 60.8 m (trip time 40.5 ms) speed -0.1 mDAT read: 04:34:45.8078 LVL= 14656, 22513, 29682, 32755, AGC= 56, IDX= 510, 0.08,-0.001,-1.395,-1.684,-0.840, PHS= 0.941,-0.510,-0.888, RAW= 78.7, 5.5, CAL= 77.6, 3.0, ROT= 72.4, -3.0 }Ygot valid direction response: 04:34:45.8078 LVL= 14656, 22513, 29682, 32755, AGC= 56, IDX= 510, 0.08,-0.001,-1.395,-1.684,-0.840, PHS= 0.941,-0.510,-0.888, RAW= 78.7, 5.5, CAL= 77.6, 3.0, ROT= 72.4, -3.0 }T#Rx 99: Read range and direction messages.\direction in FSK: [0.301956,0.951884,0.052336]Fpublishing direction and range infoy)-`I=S?` (u?yoU˪?Y-3sB)-@9-W-s -))I-`p?i-\-Sc-Fѯ?- =--\? -PwV=)-??I-PwV))-F?me? -fz8)-7AŽI-??i-PwV))checking for new query: numPingsReceived=99, elapsed TxPingTime=45.657104[["[*[x@ <) Ǿi@9)`8iiII A9@ @@/@IIOc>qԡ  DDAT read: Rx Time:04:34:46.3080  TRx dataTimestamp_ set to:1764909287.349942 PDAT read: Bearing 171.7, 55.3 (Local)  ~Local bearing/azimuth received: Bearing 171.7, 55.3 (Local) - checking for new query: numPingsReceived=99, elapsed TxPingTime=45.903748xu&,9LA@`@<ٱ)>H??@> ¿@KP`?@Ӷ9?1?i@I];YyԉiMb@Mb@Mb@ 9y뽙ף@A )AY3 A bDVDj8y%2=ٔQ- >9 Y = Ey<E>Q 5%5Lw?Q 9%5)cBY%=>Q E-;y-ZQ I-Z@3DIr;i; 5y1ɮ5=A1iqiuh9LAjuLrB"juLrB:ju`="puz5uJ2@|L@t̢\ @pu`I=S?` (u?yoU˪?*ju??2juPwV*puTۊM@ 5x{@/SS(@pu%RV6?pG?cs]w?juC@ juVlBiu-Aꟊ?iu B#tjuBjuŋ埊?ju&}yjuBrjumBzjuZ= addTargetRange:: Added new target pos. range: 60.799999 m, deltaT: 0.502705 s, deltaX: -0.100002 m, approachRate: -0.198928 m/s, rangeRepo size: 4  Added new target pos. range: 60.574650 m, bearing: 5.326105 deg, lat: 36.779418 deg, lon: -121.859697 deg, deltaT: 0.502705 s, deltaX: -0.100063 m, approachRate: -0.199050 m/s, posRepo size: 4 DNOT Ignoring new targets: 60.57 m.hhhhhggjgrgBreZe:e`ffN@*e`,?[=>[=>"[Q@*[F@<) e̾ieS9)ae# e9iaiiiiIiIqyE  E E &E "E s:*E 1:VE 4ZE a@a@a@a@Թ9@ @@@I IO-N>eDAT read: Range 11 to 50 : 61.1 m (trip time 40.7 ms) speed -0.1 DAT read: 04:34:46.3080 LVL= 13424, 20401, 27410, 28307, AGC= 56, IDX= 512,-0.46,-1.263,-2.035,-2.248,-1.140, PHS=-0.021,-0.849,-1.152, RAW= 75.0, 35.2, CAL= 70.5, 42.8, ROT= 79.5, -42.8 Ygot valid direction response: 04:34:46.3080 LVL= 13424, 20401, 27410, 28307, AGC= 56, IDX= 512,-0.46,-1.263,-2.035,-2.248,-1.140, PHS=-0.021,-0.849,-1.152, RAW= 75.0, 35.2, CAL= 70.5, 42.8, ROT= 79.5, -42.8 V#Rx 100: Read range and direction messages.\direction in FSK: [0.133712,0.721443,0.679441]Fpublishing direction and range infoyQU߉Uv?N?U+?YUftBQUp4UOUk Un)QIU1iUXYUtU6?UnF?U? Ut;??)UΚ?IUt;?QQUy.~?&~⿇t/p? U I)U_3IUΚ?iUt;?QQchecking for new query: numPingsReceived=100, elapsed TxPingTime=46.159512 y{&,;9LA2E=@26@2<ٱ2c)>2H ?9? ,`8ct?@B? ?i2E=@I2 ];0YRByRIIT)V=bDZVDZY8yrh%vt=ٔv+_Q-v?9xYx=zEyxz<Ez?|Q 55~v?Q 9 5~)~\BY y iQ I Z@~5DI~:i~:~ 5yɮQAiiF9LAj~sB"j~sB:jـ,>"pW3lG @5HHZE@QIbD@p߉Uv?N?U+?*jΚ?2jt;?*pЖB@l,BICBBB =BBʺDBހ;Bl7E}99@ @@/@E EE%E"E:*Eą:VE 4ZEBEI  PDAT read: Bearing 82.5, 69.4 (Local)  ~Local bearing/azimuth received: Bearing 82.5, 69.4 (Local)  DAT read: Range 11 to 50 : 60.9 m (trip time 40.6 ms) speed -0.1  DAT read: 04:34:46.8079 LVL= 14320, 22897, 30770, 32099, AGC= 58, IDX= 511,-0.03,-0.809,-2.206,-2.466,-1.630, PHS= 0.923,-0.532,-0.880, RAW= 79.5, 6.0, CAL= 78.4, 3.8, ROT= 71.6, -3.8  Ygot valid direction response: 04:34:46.8079 LVL= 14320, 22897, 30770, 32099, AGC= 58, IDX= 511,-0.03,-0.809,-2.206,-2.466,-1.630, PHS= 0.923,-0.532,-0.880, RAW= 79.5, 6.0, CAL= 78.4, 3.8, ROT= 71.6, -3.8  V#Rx 101: Read range and direction messages. \direction in FSK: [0.314955,0.946790,0.066274] Fpublishing direction and range infoyq u :g9(?EL?{S?Yu sBq u 7u qYu 2x u c})u :Iu Il?iu '1u Gau Κ?u Pw=u %? u ԇ=)u ?Iu ԇq q u _K5?Pg? u 4)u nԽIu ?iu ԇq q U checking for new query: numPingsReceived=101, elapsed TxPingTime=46.681190ۋ&, :LA :{@:!u@:<ٱ:A(>:H}??q -? f??i:{@I:];:CY5By5Ii=Mb@Mb@Mb@9999 99=/$?v//$Y=1>y=x齙=9=ZA 9)=A9Y=\ AbDuVDu8y5<%/=ٔECQ->9Y=Ey<E>Q 5 5Zt?Q 9 5)RBY4>Q E;yQ IZ@8DI>;i: 5yɮ<AAii@:LAjrB"jrB:j2="pɫ3@n|sL@=xI@p:g9(?EL?{S?*j?2jԇ*p5nM@"c`@ev)@p4m9"?$2?ƽЕ6?j@ jlBij⟊?iCdwjBjj⟊?jCdwjBrj!mBzj{2= addTargetRange:: Added new target pos. range: 60.900002 m, deltaT: 0.505761 s, deltaX: -0.199997 m, approachRate: -0.395438 m/s, rangeRepo size: 4  Added new target pos. range: 60.669254 m, bearing: 5.321080 deg, lat: 36.779418 deg, lon: -121.859697 deg, deltaT: 0.505761 s, deltaX: -0.204285 m, approachRate: -0.403915 m/s, posRepo size: 4 DNOT Ignoring new targets: 60.67 m.hhhhhggjg rg Bre Ze :e @3sN@*eE ?[U4>[U4>"[Ub@*[U.]@<) Ѿi9)額t ;9iiIIDDAT read: Rx Time:04:34:47.3080 TRx dataTimestamp_ set to:1764909288.358567PDAT read: Bearing 39.0, 48.2 (Local) ~Local bearing/azimuth received: Bearing 39.0, 48.2 (Local) %DAT read: Range 11 to 50 : 61.1 m (trip time 40.7 ms) speed -0.1 y@ @@/@I5\#Rx 102: Read range message, but no direction.yYftB=checking for new query: numPingsReceived=102, elapsed TxPingTime=46.951801IO>ԡ E5  E5 E5 $E1 "E5 2:*E5 R:VE5 4ZE1 a= @a= @a= @a= @&,x$:LA2@2E@2\<ٱ2<'>2H??@D@Y?@&'`*6??i2@I2];0@YBByBIHJ@AbDNVDN~8yfһ%fs=ٔfQ-f?9hYh=jEyhj|<En?pQ 5r5rs?Q 9v5r )rKBYtyvQ IvZ@r:DIr:irS:r5yxɮ~EA|EDAT read: 04:34:47.3080 LVL= 13664, 21745, 28130, 28963, AGC= 56, IDX= 512, 0.34,-0.937,-1.905,-2.104,-2.181, PHS= 1.346, 0.321, 0.034, RAW= 78.0, -26.7, CAL= 80.9, -26.1, ROT= 69.1, 26.1 MYgot valid direction response: 04:34:47.3080 LVL= 13664, 21745, 28130, 28963, AGC= 56, IDX= 512, 0.34,-0.937,-1.905,-2.104,-2.181, PHS= 1.346, 0.321, 0.034, RAW= 78.0, -26.7, CAL= 80.9, -26.1, ROT= 69.1, 26.1 M\#Rx 103: Read direction message, but no range.U^direction in FSK: [0.320361,0.838941,-0.439939]y&ɀ?ߓ?=w*'ܿ`5Tm #q)8II?iZ>C =@?{? Z;)^?IZ;>${:WI^?iZ;>checking for new query: numPingsReceived=103, elapsed TxPingTime=47.168583 addTargetRange:: Added new target pos. range: 61.099998 m, deltaT: 0.254731 s, deltaX: 0.199997 m, approachRate: 0.785130 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 60.67 m.hhhhhggjgrgreZe:ěN@*e?[I[I"[I*[M @\<) Ӿi9) #9iiIII)!@! @!@%/0@)I9IIOU2>DDAT read: Rx Time:04:34:47.8080 TRx dataTimestamp_ set to:1764909288.859162DAT read: Range 11 to 50 : 61.1 m (trip time 40.7 ms) speed -0.1 \#Rx 104: Read range message, but no direction.yYchecking for new query: numPingsReceived=104, elapsed TxPingTime=47.410603 A A @AB 1>B HCB SIB BB =B B ɺDB ;B 7EBBKCB˕CB =B =C)6T܎&,T>:LA2@2@2-<ٱ2&>2H l\?`9?@k?F嘿?@?i2@I2O];0YBByBI DDbDJVDJ8yfX%fJ=ٔf-Q-f>9hYh=jEyhjҕ<En>lpQ 5v5rq?Q 9v5r )rBBYxyzQ IzZ@r*p L@%B@]ǂ)-2p H!J?|??~ӿj @ j xfBi i?i ,@ij 8Bj E EE%E"Em:*E;J:VE 4ZEBEU1a %= 4= DDAT read: Rx Time:04:34:48.3080  TRx dataTimestamp_ set to:1764909289.366869 PDAT read: Bearing 77.9, 69.5 (Local) % ~Local bearing/azimuth received: Bearing 77.9, 69.5 (Local) ƕ&,r7X:LA:DAT read: Range 11 to 50 : 61.1 m (trip time 40.7 ms) speed -0.1 B\#Rx 105: Read range message, but no direction.y)Y))Bchecking for new query: numPingsReceived=105, elapsed TxPingTime=47.9435889=-@=&@=<ٱ=Y&>=H?b?@[MH@v+?d`$`D?8?i=-@I=\^;=CYMByMIiMb@Mb@Mb@ 9S㥛?!rhI +Y$>yl罙9@CA |A)AY AbD VD8y=%+=ٔQ->9)Y)=-Ey)5d<E5>9Q 5E5=p?Q 9E5= )=7BYE2>Q EE;yEZQ IeZ@=?DI=;i=;=γ5yqɮu:Aq addTargetRange:: Added new target pos. range: 61.099998 m, deltaT: 0.507707 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 60.87 m.hhhhhggjgrgBreZe:e*e ?[=2>[=2>"[=I@*[=R@aE EE#E"E:*Ek:VE3ZEa@a@a@a@%<)) -Ǿi59)15h599i1i9YYIYIa9@ @@ 0@IIO%o>UDAT read: 04:34:48.3080 LVL= 13104, 22161, 26162, 29635, AGC= 56, IDX= 512, 0.15,-1.858,-3.005, 3.057,-2.554, PHS= 0.797,-0.407,-0.717, RAW= 78.8, 4.8, CAL= 77.7, 1.5, ROT= 72.3, -1.5 ]Ygot valid direction response: 04:34:48.3080 LVL= 13104, 22161, 26162, 29635, AGC= 56, IDX= 512, 0.15,-1.858,-3.005, 3.057,-2.554, PHS= 0.797,-0.407,-0.717, RAW= 78.8, 4.8, CAL= 77.7, 1.5, ROT= 72.3, -1.5 e\#Rx 106: Read direction message, but no range.m\direction in FSK: [0.303929,0.952335,0.026177]y15ҭˑs?R[y?P!Κ?15035V52f 5s)1I51L?i5Nbо5P75x ?5=5^? 5Pw<)5?I5Pwּ15᳠(?Η&J? 57)5I5?i5Pwּchecking for new query: numPingsReceived=106, elapsed TxPingTime=48.172497ԑ &, r:LA:vg@:`@:?<ٱ:c%>:H'? 6j?( Г?` Kg@??i:vg@I:^;:CY^By^I fi>9@ @@65@IIO>B,>BBBB =BBB(;B7EE EEE"EO:*EX:VEZEBE 2H`B?N?@ `?@8??i2ç@I2];2CY=By=IIE<)E;i5Mb@Mb@Mb@1111 195ʡE?!rhZd;OY5=y15j5@5ZA 5A)11Y5 AbDmVDme8y;%4=ٔ!Q->9Y=Eyύ<E>Q 551m?Q 95*)&BY8(>Q E;yQ IZ@CDI;i:5y]BɮAE addTargetRange:: Added new target pos. range: 61.099998 m, deltaT: 0.500122 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 60.87 m.hhhhhggjgrgBreZe:e*eI?[8(>[8(>"[T|@*[,@S<)  ׾i9)L9ii   I I)9@ @@@5@DDAT read: Rx Time:04:34:49.3081 TRx dataTimestamp_ set to:1764909290.374284PDAT read: Bearing 97.7, 68.0 (Local) ~Local bearing/azimuth received: Bearing 97.7, 68.0 (Local)  DAT read: Range 11 to 50 : 61.2 m (trip time 40.8 ms) speed -0.1 \#Rx 108: Read range message, but no direction.yYtBUchecking for new query: numPingsReceived=108, elapsed TxPingTime=48.940224IaIqOb>QE  E E "E "E :*E VE (3ZE a @a @a @a @y &,Q:LARW@Rߥ@R<ٱR%>RH ?2?yu?`巿`H??iRW@IR];RCDAT read: 04:34:49.3081 LVL= 14256, 21201, 27234, 29299, AGC= 56, IDX= 513, 0.02,-2.199, 2.913, 2.774,-2.809, PHS= 0.713,-0.516,-0.744, RAW= 81.6, 8.1, CAL= 80.8, 7.6, ROT= 69.2, -7.6 -Ygot valid direction response: 04:34:49.3081 LVL= 14256, 21201, 27234, 29299, AGC= 56, IDX= 513, 0.02,-2.199, 2.913, 2.774,-2.809, PHS= 0.713,-0.516,-0.744, RAW= 81.6, 8.1, CAL= 80.8, 7.6, ROT= 69.2, -7.6 -\#Rx 109: Read direction message, but no range.5\direction in FSK: [0.351988,0.926614,0.132256]y|~ǖּ?үѦ?) ?|~7~R~bj ~sr)|I~+6?i~~v>~K?~>~J? ~>)~#?I~|~>$?$Nl ? ~li+)~I~#?i~Mchecking for new query: numPingsReceived=109, elapsed TxPingTime=49.180157Y]ByeIbDVDq8y):%W=ٔQ->9Y=5Ey9=,<EE>IYQ 5u5Mk?Q 9}5M)MBYyy}Q I}Z@MEDIM;iMR;M5yɮ AiiE:LAjsB"jsB:jЖ="pj2u5@?L@Ei @pǖּ?үѦ?) ?*j#?2j*px>8M@ߵ=ߵ<DDAT read: Rx Time:04:34:49.8080 TRx dataTimestamp_ set to:1764909290.875163DAT read: Range 11 to 50 : 61.1 m (trip time 40.7 ms) speed 0.0 \#Rx 110: Read range message, but no direction.yYftBchecking for new query: numPingsReceived=110, elapsed TxPingTime=49.426559B A <B 3>B ICB B B =B B ʺDB O;B 7E *&,:LAVd$@V@V<ٱV8&>VH`yy?X? 2e b?`z@h?k?iVd$@IV];VCYnBynIttbDzVDz8yEᮼ%EU=ٔMCQ-M>9IYI=UEyQUѥ<EU>yQ 55}kj?Q 95}@)}BYyQ IZ@}GDI}K:i}W:}m5E EE&E"E[:*ErN:VE4ZEBE)  DDAT read: Rx Time:04:34:50.3082  TRx dataTimestamp_ set to:1764909291.382295 PDAT read: Bearing 85.7, 67.6 (Local)  ~Local bearing/azimuth received: Bearing 85.7, 67.6 (Local) % DAT read: Range 11 to 50 : 61.4 m (trip time 40.9 ms) speed -0.1 {&,s:LA46\#Rx 111: Read range message, but no direction.yYuB:checking for new query: numPingsReceived=111, elapsed TxPingTime=49.960178id@]@<ٱ'>H? _?&!G Q? xZ–?`t?iid@Iݰ];Y5By5I 99iEMb@Mb@Mb@AAAA A9Eq= ףp?i|?5S㥛YE=yEE/ݼAECA EA)AAYE AbD]!VD]8ymv<%m9=ٔm=Q-m>9qY=Ey<E>Q 55h?Q 95) BY*>Q E;y8Q IZ@IDIC;i;G5yɮA- addTargetRange:: Added new target pos. range: 61.400002 m, deltaT: 0.507132 s, deltaX: 0.300003 m, approachRate: 0.591568 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 60.97 m.hIhQhQhQhQgQgQjgYrg]BreYZeY:e]@3N@*ee@?ԉ[*>[*>"[g@*[@<) ǾiM9)ui9ii I I E EE%E"E :*EP:VE 4ZEa@a@a@a@9@ @@`3@IIOB>ԹiIUDAT read: 04:34:50.3082 LVL= 13392, 25073, 23986, 27635, AGC= 60, IDX= 2,-0.13,-1.542,-2.969, 3.116,-2.376, PHS= 0.935,-0.549,-0.835, RAW= 81.3, 5.5, CAL= 80.2, 2.8, ROT= 69.8, -2.8 eYgot valid direction response: 04:34:50.3082 LVL= 13392, 25073, 23986, 27635, AGC= 60, IDX= 2,-0.13,-1.542,-2.969, 3.116,-2.376, PHS= 0.935,-0.549,-0.835, RAW= 81.3, 5.5, CAL= 80.2, 2.8, ROT= 69.8, -2.8 m\#Rx 112: Read direction message, but no range.u\direction in FSK: [0.344886,0.937373,0.048850]yp>:? ?s!D?P4a] k)<I)\o?iD U>? =$+? +H=)I?I+HH՜?,k㿱F? M,)ĽII?i+Hchecking for new query: numPingsReceived=112, elapsed TxPingTime=50.195145 ;&,O:LA`z椟@z1@zr<ٱzn)>zH \?@`?AA)`? ո;<? 7?iz椟@Iz];zCY-By5IbDmVDm8yAJ%Y=ٔ갺Q->9Y=Eye<E>Q 55Jg?Q 9 5)BY y'Q IZ@KDI;i;5DDAT read: Rx Time:04:34:50.8081 TRx dataTimestamp_ set to:1764909291.886880PDAT read: Bearing 84.7, 68.2 (Local) ~Local bearing/azimuth received: Bearing 84.7, 68.2 (Local) DAT read: Range 11 to 50 : 61.2 m (trip time 40.8 ms) speed 0.0 \#Rx 113: Read range message, but no direction.yYtBchecking for new query: numPingsReceived=113, elapsed TxPingTime=50.445610yɮTAii:LAjsB"jsB:j>"pB5@II,L@@pp>:? ?s!D?*jI?2j+H*pPjM@^%@@Mbs,'@poG3y?xR?2y?j@ j(mBi럊?iKj{Bjj,@ijrjzkBzj = addTargetRange:: Added new target pos. range: 61.200001 m, deltaT: 0.504585 s, deltaX: -0.200001 m, approachRate: -0.396367 m/s, rangeRepo size: 4  Added new target pos. range: 60.968052 m, bearing: 7.471023 deg, lat: 36.779412 deg, lon: -121.859690 deg, deltaT: 1.512596 s, deltaX: 0.000854 m, approachRate: 0.000565 m/s, posRepo size: 4 DNOT Ignoring new targets: 60.97 m.hhhhhggjg)rg)re)Ze):e5N@*e5f?[q[q"[q*[uō@r<) 1Ѿi+9)顭\(s9iiIIBU0>BUHCBQBQBQBQBUɺDBUn;BU7E %9@! @)@-2@)UGIQIqqO^>9YIAbEajEe#4rEeַ/E EE"E"E:*EF:VE(3ZEBE5FH`??k: @)? ^ѕ ?э?iF@IF(];FCY~By~Ii%Mb@Mb@Mb@!!!! !9%1Zd?X9vS㥛Y%"=y%!%@%A %|A)%x A!Y! qqbD}VD}8y=%;=ٔvQ->9Y=Eyx<E>Q 55e?Q 95<)BY0&>Q E;yjQ IZ@MDI};i;a5yɮAMDNOT Ignoring new targets: 60.97 m.hIhihihihqgqgqjgqrg}BreyZey:ey*e}?[0&>[0&>"[O;@*[Z@X<) Ǿi 9){9i!i199I9IIQDDAT read: Rx Time:04:34:51.3083 TRx dataTimestamp_ set to:1764909292.397036PDAT read: Bearing 87.7, 68.0 (Local) ~Local bearing/azimuth received: Bearing 87.7, 68.0 (Local) DAT read: Range 11 to 50 : 61.5 m (trip time 41.0 ms) speed -0.1 DAT read: 04:34:51.3083 LVL= 16880, 30417, 29762, 32755, AGC= 62, IDX= 3,-0.33,-1.845, 3.017, 2.814,-2.668, PHS= 0.924,-0.553,-0.846, RAW= 81.1, 5.8, CAL= 80.0, 3.4, ROT= 70.0, -3.4 %Ygot valid direction response: 04:34:51.3083 LVL= 16880, 30417, 29762, 32755, AGC= 62, IDX= 3,-0.33,-1.845, 3.017, 2.814,-2.668, PHS= 0.924,-0.553,-0.846, RAW= 81.1, 5.8, CAL= 80.0, 3.4, ROT= 70.0, -3.4 -V#Rx 115: Read range and direction messages.5\direction in FSK: [0.341418,0.938039,0.059306]5Fpublishing direction and range infoyIDl?ih uX-?4Q=¸? s=)a?Is|?rZ->$? V-)iнIa?is}checking for new query: numPingsReceived=115, elapsed TxPingTime=50.965992OZ>qԡ E  E E $E "E >:*E H:VE 4ZE a @a @a @a @hN&,';LA2o@2@2<ٱ2X(>2H40?@?@3 p?@ B?W?i2o@I2}];2CYBByBIIF<)F<bDJVDJi8yj˼%jk=ٔn̺Q-r?9pYt=vEytv7<Ev?|Q 55~-d?Q 9 5~)~BY yzQ IZ@~ODI~);i~3;-checking for new query: numPingsReceived=115, elapsed TxPingTime=51.195415y~f5yɮ?Ai i i;LAj uB"j uB:j >"p С4@ -7L@Ai @p DDAT read: Rx Time:04:34:51.8082 TRx dataTimestamp_ set to:1764909292.899389PDAT read: Bearing 86.1, 68.0 (Local) ~Local bearing/azimuth received: Bearing 86.1, 68.0 (Local) DAT read: Range 11 to 50 : 61.4 m (trip time 40.9 ms) speed -0.1  DAT read: 04:34:51.8082 LVL= 17792, 31953, 29074, 32147, AGC= 59, IDX= 498, 0.00,-2.143, 2.709, 2.497,-2.986, PHS= 0.945,-0.543,-0.844, RAW= 81.0, 5.4, CAL= 79.8, 2.6, ROT= 70.2, -2.6 % Ygot valid direction response: 04:34:51.8082 LVL= 17792, 31953, 29074, 32147, AGC= 59, IDX= 498, 0.00,-2.143, 2.709, 2.497,-2.986, PHS= 0.945,-0.543,-0.844, RAW= 81.0, 5.4, CAL= 79.8, 2.6, ROT= 70.2, -2.6 - V#Rx 116: Read range and direction messages.- \direction in FSK: [0.338389,0.939912,0.045363]5 Fpublishing direction and range infoyّ+?J?99?YuBE|q });Iq?i  bX?=aF? 9=) Ԝ?I97Ǿ?uM ay? :n.)BE JCBA BA BA BA BE ʺDBE j;BE 7Ep6&,T@;LA2AZ@2S@2Q<ٱ2j&>2H7?`??W@մ?Z?i2AZ@I2];2CYBByBIbDJVDJe8yVݼ%VM=ٔV*(Q-Z>9XYX=ZEyX^<E>!Q 5%5%b?Q 9-5%+)%BY)y-Q I-Z@%QDI%):i%:%5y1ɮ]kAYD=D%=E EE&E"Em:*Ex:VE4ZEBEV"p D4@L@ .,2@p ّ+?J?99?*j Ԝ?2j 9*p /y}M@v*6L.#@޴=;:'@p ]t?=?Ke<~M?j rA j #mBi m柊?i j Bj m柊?j Kj {Brj CoBzj ,>  addTargetRange:: Added new target pos. range: 61.400002 m, deltaT: 0.502353 s, deltaX: -0.099998 m, approachRate: -0.199060 m/s, rangeRepo size: 4 ] Added new target pos. range: 61.168427 m, bearing: 9.189015 deg, lat: 36.779418 deg, lon: -121.859677 deg, deltaT: 0.502353 s, deltaX: -0.098194 m, approachRate: -0.195468 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 61.17 m.hYhYhYhahagagajgargireiZei:em@3N@*e|?[["[*[*@Q<) %Ѿi%9)QU!UC9iYiIIUchecking for new query: numPingsReceived=116, elapsed TxPingTime=51.7023549@ @@@IIO>>)a  DDAT read: Rx Time:04:34:52.3082  TRx dataTimestamp_ set to:1764909293.403343 PDAT read: Bearing 86.1, 67.7 (Local)  ~Local bearing/azimuth received: Bearing 86.1, 67.7 (Local)  DAT read: Range 11 to 50 : 61.4 m (trip time 40.9 ms) speed -0.1 - DAT read: 04:34:52.3082 LVL= 17584, 30401, 29170, 30819, AGC= 58, IDX= 498, 0.38,-1.891, 2.965, 2.764,-2.735, PHS= 0.945,-0.539,-0.828, RAW= 81.3, 5.2, CAL= 80.1, 2.1, ROT= 69.9, -2.1 ?o&, Z;LA"Ygot valid direction response: 04:34:52.3082 LVL= 17584, 30401, 29170, 30819, AGC= 58, IDX= 498, 0.38,-1.891, 2.965, 2.764,-2.735, PHS= 0.945,-0.539,-0.828, RAW= 81.3, 5.2, CAL= 80.1, 2.1, ROT= 69.9, -2.1 "V#Rx 117: Read range and direction messages.&\direction in FSK: [0.343429,0.938464,0.036644]&Fpublishing direction and range infoyD??V?(א¢?YDvq cx):Ii S>?޹=? Q =)y(?IQ Rǔ@R@R<ٱR$>RH? g?rzj?ָ$^`y?ܔ?iRǔ@IR];RCd?W/C?,Sf? }-)Iy(?iQ ^checking for new query: numPingsReceived=117, elapsed TxPingTime=51.994019YByIiMb@Mb@Mb@ 91Zd?X9vV-Yy )YAAbDVD8y>K<%(=ٔӥQ->9Y!=%Ey!%Ep<E%>)Q 5u5-`?Q 9u5-)-BY}&>Q E};y}Q I}Z@-SDI-:i-:-5yɮRAii_Y;LAj"j:j-'>"p )5@[zbL@6w@pD??V?(א¢?*jy(?2jQ *p`VC+M@5 G#@UyN%@pv?Ľs?E{z?jbA jmBi̔S쟊?ijBjc韊?jo[1jrjpBzj>5 addTargetRange:: Added new target pos. range: 61.400002 m, deltaT: 0.503954 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 61.168427 m, bearing: 9.347671 deg, lat: 36.779419 deg, lon: -121.859667 deg, deltaT: 0.503954 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 EDNOT Ignoring new targets: 61.17 m.hihihihihigigijgqrgu{BreqZeq:ey*e}?E EEE"E:*E?:VEZEa@a@a@a@[&>[&>"[*[m@<) Ǿi9)"49iiAIAIIUC>iQ9@ @@@%checking for new query: numPingsReceived=117, elapsed TxPingTime=52.203556I1IIOUu>qԙ 7&,t;LAjϠ@jɧ@j\<ٱj#>jH`2?&K?S?}`U7e?๕?ijϠ@Ij];jCYEByEI YYbDVD8yR=%d=ٔعQ->9Y=Ey<E>Q 5 5w_?Q 9 5q)BYyQ I%Z@UDIѪ;i;M5y)ɮ-A)UDNOT Ignoring new targets: 61.17 m.hQhYhYhYhYgYgYjgargareaZea:ea*em +?DDAT read: Rx Time:04:34:52.8082 TRx dataTimestamp_ set to:1764909293.907488PDAT read: Bearing 89.5, 67.6 (Local) ~Local bearing/azimuth received: Bearing 89.5, 67.6 (Local) DAT read: Range 11 to 50 : 61.4 m (trip time 40.9 ms) speed 0.0 DAT read: 04:34:52.8082 LVL= 17280, 30497, 29170, 29875, AGC= 58, IDX= 498,-0.15, 2.022, 0.581, 0.389, 1.187, PHS= 0.938,-0.561,-0.841, RAW= 81.6, 5.7, CAL= 80.5, 3.1, ROT= 69.5, -3.1 Ygot valid direction response: 04:34:52.8082 LVL= 17280, 30497, 29170, 29875, AGC= 58, IDX= 498,-0.15, 2.022, 0.581, 0.389, 1.187, PHS= 0.938,-0.561,-0.841, RAW= 81.6, 5.7, CAL= 80.5, 3.1, ROT= 69.5, -3.1 V#Rx 118: Read range and direction messages.\direction in FSK: [0.349695,0.935302,0.054079]Fpublishing direction and range infoy!Gfa? .?ʾ7?YC!w t)I p?iKWK?%=ֳ? k]=)C?Ik]t>b?^ygp -JW9? +)ʽIC?ik]checking for new query: numPingsReceived=118, elapsed TxPingTime=52.471127Q[["[*[@\<)  i9)F$ 9iiIIB;>BBBB =BB˺DB\;B7EBICBICBĔCB =B =CĪ5=9@A @A@A@AIQIaOuW>yE EEE"E:*E$:VEZEBEZH`4d?$.?~F@yx?`"㓿ui? ?iZ @IZ];ZCY~ByIiMb@Mb@Mb@ 91Zd?X9vV-Yy@CA A) AY AbDVDz8y r<% E=ٔ  IQ->9Y=EyĄ<E>Q 55]?Q 95 !)BYyQ IZ@WDIK:i6:5yɮAiiIz;LAj"j:jv->"pAc5@l'CL@\)v @p!Gfa? .?ʾ7?*jC?2jk]*p"uM@B@/$@r'@p?qE r?l ?jz!A jlBirԟ?ijBjjjrjpBzj!'> addTargetRange:: Added new target pos. range: 61.400002 m, deltaT: 0.504145 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 61.168484 m, bearing: 9.685855 deg, lat: 36.779419 deg, lon: -121.859659 deg, deltaT: 0.504145 s, deltaX: 0.000057 m, approachRate: 0.000114 m/s, posRepo size: 4 DNOT Ignoring new targets: 61.17 m.hhhhhggjgrg|BreZe:e *e @Q.?[Q[Q"[Q*[U@DDAT read: Rx Time:04:34:53.3083 TRx dataTimestamp_ set to:1764909294.411412PDAT read: Bearing 88.1, 67.8 (Local) ~Local bearing/azimuth received: Bearing 88.1, 67.8 (Local) DAT read: Range 11 to 50 : 61.5 m (trip time 41.0 ms) speed -0.2 DAT read: 04:34:53.3083 LVL= 17120, 28465, 27762, 31731, AGC= 58, IDX= 499, 0.17,-1.360,-2.801,-3.005,-2.208, PHS= 0.950,-0.548,-0.842, RAW= 81.2, 5.3, CAL= 80.1, 2.5, ROT= 69.9, -2.5 Ygot valid direction response: 04:34:53.3083 LVL= 17120, 28465, 27762, 31731, AGC= 58, IDX= 499, 0.17,-1.360,-2.801,-3.005,-2.208, PHS= 0.950,-0.548,-0.842, RAW= 81.2, 5.3, CAL= 80.1, 2.5, ROT= 69.9, -2.5 V#Rx 119: Read range and direction messages.\direction in FSK: [0.343333,0.938200,0.043619]Fpublishing direction and range infoy9g)?~?GU?YvBB1orl {)I33s?iI PW g?q=? ¸2=)y(?I¸2oȨ?lWOҷ? OZ-f"<) pi9)% 9i i II)C׾Iy(?i¸2-checking for new query: numPingsReceived=119, elapsed TxPingTime=52.97922599@ @@/@I)I9OE>a E  E E E "E O:*E &p:VE ZE a @a @a @a @&,;LAFLA@F:@F<ٱF $>FH`t?@g?tQ\`H?`c`v?n?iFLA@IF];FCY^By^I f9xYx=~Ey|~?<E~?Q 5 5\?Q 9 5~")tBYyQ IZ@YDI;i;5yɮ$A1iiT;LAjuB"juB:j4<>"p4q 5@]L@;a@p9g)?~?GU?*jy(?2j¸2*p_R5M@N%@ V&@pG_?2?K|P?j/A jlBiPh"ן?i+jBjm柊?jjBrjpBzj8)> addTargetRange:: Added new target pos. range: 61.500000 m, deltaT: 0.503924 s, deltaX: 0.099998 m, approachRate: 0.198440 m/s, rangeRepo size: 4 % Added new target pos. range: 61.268105 m, bearing: 10.530672 deg, lat: 36.779418 deg, lon: -121.859658 deg, deltaT: 0.503924 s, deltaX: 0.099621 m, approachRate: 0.197690 m/s, posRepo size: 4 MDNOT Ignoring new targets: 61.27 m.hIhIhQhQhQgQgQjgYrgYreaZea:eN@*e/?[["[*[@<) ¾ih9)?'9iiII Y9@ @@/@IIOA>ԉDDAT read: Rx Time:04:34:53.8083 TRx dataTimestamp_ set to:1764909294.915380PDAT read: Bearing 88.9, 67.3 (Local) ~Local bearing/azimuth received: Bearing 88.9, 67.3 (Local) DAT read: Range 11 to 50 : 61.5 m (trip time 41.0 ms) speed 0.0 DAT read: 04:34:53.8083 LVL= 15424, 24785, 30322, 32755, AGC= 57, IDX= 499,-0.28, 1.374,-0.052,-0.232, 0.540, PHS= 0.937,-0.547,-0.815, RAW= 81.8, 5.3, CAL= 80.7, 2.4, ROT= 69.3, -2.4 Ygot valid direction response: 04:34:53.8083 LVL= 15424, 24785, 30322, 32755, AGC= 57, IDX= 499,-0.28, 1.374,-0.052,-0.232, 0.540, PHS= 0.937,-0.547,-0.815, RAW= 81.8, 5.3, CAL= 80.7, 2.4, ROT= 69.3, -2.4 V#Rx 120: Read range and direction messages.\direction in FSK: [0.353165,0.934623,0.041876]Fpublishing direction and range infoyi@?gNo? ۷p?Y@<`rv )9I;o?i1 ףP3?I? +=)Tњ?I+=A ?+9o? *)ITњ?i+ T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.B <A =B 4>B ICB B B B B ʺDB b;B 7E &,h;LA6y@6@s@6'd<ٱ6$&>6H@?` ?^t?x?鳹;,`\? ?i6y@I6];4YNByNIIR<)R49xYx=zEyx~<E~>Q 5 5U[?Q 9 5$)_BY y Q IZ@[DI:i:5yɮAii;LAjuB"juB:j8>"ps-5@:OL@[@pi@?gNo? ۷p?*jTњ?2j+*p]$M@C&䷓%@.׿&@pE?0?*F?j,A jlBiPڟ?iPj{BjPڟ?jjBrjfpBzj.>Ee EeEe'Ea"Eea:*Ee:VEe'4ZEaBEe(9  DDAT read: Rx Time:04:34:54.3083  TRx dataTimestamp_ set to:1764909295.419332 PDAT read: Bearing 88.9, 67.5 (Local)  ~Local bearing/azimuth received: Bearing 88.9, 67.5 (Local)  DAT read: Range 11 to 50 : 61.7 m (trip time 41.1 ms) speed 0.0  DAT read: 04:34:54.3083 LVL= 16592, 26593, 27186, 29555, AGC= 57, IDX= 500, 0.06,-1.846, 3.000, 2.809,-2.690, PHS= 0.947,-0.548,-0.828, RAW= 81.6, 5.2, CAL= 80.4, 2.3, ROT= 69.6, -2.3  Ygot valid direction response: 04:34:54.3083 LVL= 16592, 26593, 27186, 29555, AGC= 57, IDX= 500, 0.06,-1.846, 3.000, 2.809,-2.690, PHS= 0.947,-0.548,-0.828, RAW= 81.6, 5.2, CAL= 80.4, 2.3, ROT= 69.6, -2.3  R#Rx 1: Read range and direction messages. \direction in FSK: [0.348291,0.936527,0.040132] Fpublishing direction and range infoy  gJ? =?.='?Y vB @ g 2j ss) I nr?i I S K? ޹= ? l$=) |?I l$ v? ,'M Ԧd? +) $hI |?>&,1D;LAil$%2Acoustic response timeout-Querying Benthos address 50 with one ping in standard two-way mode.@모@\<ٱF&>H%? ?@P'"? 㹿 Q뒿?ے?i@Iv];CYByIiEMb@Mb@Mb@AAAA A9EZd;O?q= ףpI +YEj=yE뽙E9E@A E|A)Ex AAYE AbD}VD}l8yu<%'=ٔQ->9Y=Ey_<E>Q 55tY?Q 95%)JBY z>Q E ;y Q I [@]DIB;i;5yɮAiiV;LAjuB"juB:j5E>"ph5@㪵CQL@@pgJ? =?.='?Eu EuEu$Eq"Eu:*EurN:VEu4ZEqa}@a}@a}@a}@*j|?2jl$*p7 ;ҥM@7'@{&@pCp?.x?㞹?j8A j.mBiM)ޟ?i!jnBjjPj{BrjpBzj9> addTargetRange:: Added new target pos. range: 61.700001 m, deltaT: 0.503952 s, deltaX: 0.200001 m, approachRate: 0.396865 m/s, rangeRepo size: 4  Added new target pos. range: 61.466446 m, bearing: 11.026484 deg, lat: 36.779417 deg, lon: -121.859649 deg, deltaT: 0.503952 s, deltaX: 0.199242 m, approachRate: 0.395358 m/s, posRepo size: 4 DNOT Ignoring new targets: 61.47 m.hhhhhggjgrgBre Ze :e N@*e u?A[Uz>[Uz>"[U^c@*[U@\<) ¾iޚ9)額o*9iiIII)yA2Acoustic response timeoutu9@y @y@}0@yIIO>qԙ &,*;LA@@ϖ<ٱaz%>H"??@%?ْc??i@I+];YāByIbDVDI8y(<%g=ٔGQ->9Y=Ey 5<E ?]DDAT read: Rx Time:04:34:54.8083 ]TRx dataTimestamp_ set to:1764909295.923355mPDAT read: Bearing 90.4, 67.4 (Local) m~Local bearing/azimuth received: Bearing 90.4, 67.4 (Local) }DAT read: Range 11 to 50 : 61.5 m (trip time 41.0 ms) speed -0.1 ԑDAT read: 04:34:54.8083 LVL= 15392, 29265, 27042, 27459, AGC= 56, IDX= 500,-0.44, 1.732, 0.275, 0.086, 0.881, PHS= 0.953,-0.561,-0.839, RAW= 81.7, 5.4, CAL= 80.6, 2.6, ROT= 69.4, -2.6 EYgot valid direction response: 04:34:54.8083 LVL= 15392, 29265, 27042, 27459, AGC= 56, IDX= 500,-0.44, 1.732, 0.275, 0.086, 0.881, PHS= 0.953,-0.561,-0.839, RAW= 81.7, 5.4, CAL= 80.6, 2.6, ROT= 69.4, -2.6 ER#Rx 1: Read range and direction messages.M\direction in FSK: [0.351479,0.935096,0.045363]UFpublishing direction and range infoyY]3~?ۑ6QN?99?Y]vBY] <]Qr]i ]Ck)]8I]s?i]]V]?]=]? ]9=)] ?I]9YY]Hz?\u,F? ]+)] /I] ?Q 55W?Q 95i]9Bm3>BiBmYIBmBBm =BiBiBmL;Bm7EB')9BYyQ I[@_DIy =i =g5yɮAYY2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.iYi]@;LAj]uB"j]uB:j]G>"p]m65@P1L@Kԯ;@p]3~?ۑ6QN?99?*j] ?2j]9*p]SڂM@rZ'@1'@p]Ac8?݂d?|(?j]:A j]lBi] 5ş?i]t'j]Bj]Ph"ן?j]+j]Brj]qBzj]v?> addTargetRange:: Added new target pos. range: 61.500000 m, deltaT: 0.504023 s, deltaX: -0.200001 m, approachRate: -0.396809 m/s, rangeRepo size: 4  Added new target pos. range: 61.267048 m, bearing: 11.189926 deg, lat: 36.779417 deg, lon: -121.859646 deg, deltaT: 0.504023 s, deltaX: -0.199398 m, approachRate: -0.395613 m/s, posRepo size: 4 ԹDNOT Ignoring new targets: 61.27 m.hhhhh!g!g!jg!rg!re)Ze):e-N@*e-?[q[q"[q*[uȌ@ϖ<) i9),ݣ9iiIIE} E}EyEy"E},K;*E}:VEyZEyBE}L 2Acoustic response timeout $&, @>N@><ٱ>$>>HN? ??ZВ? ?i>@I>];9QYQ=]EyY]}<E]>aQ 5m5eV?Q 9m5e()e(BYm>Q Eu;yuEQ Iu[@e`DIe ;ie%;e5yɮADNOT Ignoring new targets: 61.27 m.hhhhhggjgrgxBreZe!:e!*eM`?[>[>"[0G@*[@<) pi9)b-"9iiIImDDAT read: Rx Time:04:34:55.3084 uTRx dataTimestamp_ set to:1764909296.427448}PDAT read: Bearing 89.5, 67.0 (Local) }~Local bearing/azimuth received: Bearing 89.5, 67.0 (Local) DAT read: Range 11 to 50 : 61.8 m (trip time 41.2 ms) speed 0.1 DAT read: 04:34:55.3084 LVL= 14928, 24993, 25842, 29091, AGC= 54, IDX= 501,-0.02, 2.741, 1.277, 1.095, 1.877, PHS= 0.966,-0.555,-0.826, RAW= 81.9, 5.0, CAL= 80.8, 1.9, ROT= 69.2, -1.9 Ygot valid direction response: 04:34:55.3084 LVL= 14928, 24993, 25842, 29091, AGC= 54, IDX= 501,-0.02, 2.741, 1.277, 1.095, 1.877, PHS= 0.966,-0.555,-0.826, RAW= 81.9, 5.0, CAL= 80.8, 1.9, ROT= 69.2, -1.9 R#Rx 1: Read range and direction messages.!-\direction in FSK: [0.354912,0.934312,0.033155]-Fpublishing direction and range infoyquwƮ߶?Ԗij?B3?Yu3wBquP:uaud uq)u6IuKw?iu{utSuc?u¸=uJ? u=)u#?IuqquyC ?dO{]? uR*)uW&Iu#?iuqqU2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode.9@ @@?0@I IO%o>I E  E E !E "E >:*E X:VE c3ZE a @a @a @a @k &,)6H`A}?`A? hҿ@ /?@a??i6[T@I6O];4YRByRIb2Acoustic response timeoutbDZVDZZ8y =%`=ٔ`:Q->9!Y!=%Ey!-<E->1Q 5E55U?Q 9E55))5BYAyEiQ IM[@5bDI5F;i5G;55yQɮ]AYiiO["p&5@"L@%oT@pwƮ߶?Ԗij?B3?*j#?2j*pȿM@aR(@p-%@pP?%-Ʈ?͵6~?j7FA jMmBiM`ݟ?ii3$jmBjPڟ?j!j{BrjqBzjǰG> addTargetRange:: Added new target pos. range: 61.799999 m, deltaT: 0.504093 s, deltaX: 0.299999 m, approachRate: 0.595127 m/s, rangeRepo size: 4  Added new target pos. range: 61.565910 m, bearing: 11.795157 deg, lat: 36.779417 deg, lon: -121.859641 deg, deltaT: 0.504093 s, deltaX: 0.298862 m, approachRate: 0.592872 m/s, posRepo size: 4 DNOT Ignoring new targets: 61.57 m.hhhhhggjgrgreZe:e`fN@*e ?[1[1"[1*[55@Mt0<)Q U$iU9)QU.UD9iYiYYaIaIamG>iiim9@i @i@m05@iIyIO>ԡ}DDAT read: Rx Time:04:34:55.8083 }TRx dataTimestamp_ set to:1764909296.931326PDAT read: Bearing 89.2, 67.3 (Local) ~Local bearing/azimuth received: Bearing 89.2, 67.3 (Local) DAT read: Range 11 to 50 : 61.7 m (trip time 41.1 ms) speed -0.1 DAT read: 04:34:55.8083 LVL= 15552, 29617, 29922, 31891, AGC= 56, IDX= 500, 0.36, 2.790, 1.323, 1.127, 1.918, PHS= 0.974,-0.550,-0.835, RAW= 81.6, 4.9, CAL= 80.4, 1.7, ROT= 69.6, -1.7 Ygot valid direction response: 04:34:55.8083 LVL= 15552, 29617, 29922, 31891, AGC= 56, IDX= 500, 0.36, 2.790, 1.323, 1.127, 1.918, PHS= 0.974,-0.550,-0.835, RAW= 81.6, 4.9, CAL= 80.4, 1.7, ROT= 69.6, -1.7 R#Rx 1: Read range and direction messages.\direction in FSK: [0.348419,0.936869,0.029666]Fpublishing direction and range infoyy}}L?WZ՚? `?Y}vBy}<}s}t }|)}8I}Xy?i} }U}K?}%=}? }<)}|?I}yy}L< ?)<\@? }+)}Z6I}|?i}yyU 2Acoustic response timeout] Querying Benthos address 50 with one ping in standard two-way mode. Aq Au AAB} .>B} HCB} `IB} BB} =By B} ɺDB} H;B} 7E vG  E 9A YE @A&,ɰC2H?`f?sW?J?Ĕ?i2냢@I2W];0LYZȁByZI `b<bDfVDfE8y~+<%~N=ٔ7Q->9Y= Ey  m<E >D==D=<bE 4jE 4rEa0EE EEEE#EA"EE:*EEz:VEE3ZEABEEx"p}d\tj5@EL@iD,?p}L?WZ՚? `?*j|?2j*pcT M@0iN*@{@%@pO?{kJd?@v% !?juRA j`lBi]tȟ?i<}j Bjjt'jnBrjqBzjI>% addTargetRange:: Added new target pos. range: 61.700001 m, deltaT: 0.503878 s, deltaX: -0.099998 m, approachRate: -0.198458 m/s, rangeRepo size: 4 e Added new target pos. range: 61.465813 m, bearing: 12.548725 deg, lat: 36.779417 deg, lon: -121.859640 deg, deltaT: 0.503878 s, deltaX: -0.100098 m, approachRate: -0.198655 m/s, posRepo size: 4 mDNOT Ignoring new targets: 61.47 m.hihihihqhqggjgrgreZe:eN@*eO?[![!"[!*[%d@]I<)Y ]i]Ú9)Y]0]9iaiaaiII2Acoustic response timeout9@ @@?5@IIO>>)  DDAT read: Rx Time:04:34:56.3084  TRx dataTimestamp_ set to:1764909297.435315 PDAT read: Bearing 93.7, 67.6 (Local)  ~Local bearing/azimuth received: Bearing 93.7, 67.6 (Local)  DAT read: Range 11 to 50 : 61.8 m (trip time 41.2 ms) speed 0.0  DAT read: 04:34:56.3084 LVL= 13808, 27489, 25922, 29043, AGC= 56, IDX= 501,-0.15, 1.192,-0.258,-0.446, 0.354, PHS= 0.940,-0.567,-0.845, RAW= 81.7, 5.7, CAL= 80.6, 3.2, ROT= 69.4, -3.2  Ygot valid direction response: 04:34:56.3084 LVL= 13808, 27489, 25922, 29043, AGC= 56, IDX= 501,-0.15, 1.192,-0.258,-0.446, 0.354, PHS= 0.940,-0.567,-0.845, RAW= 81.7, 5.7, CAL= 80.6, 3.2, ROT= 69.4, -3.2  R#Rx 1: Read range and direction messages. \direction in FSK: [0.351293,0.934600,0.055822] Fpublishing direction and range infoy  PR{?jF>?ᢔ?Y 3wB 5 ak Be sq) I ףp?i & QX ? %= ? d=) ?I d ؽW?9Eip{? 8+) &̽I ?i d  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.C &,]:H ?`I?]@i?ǺR`z??i:@I:];:CYLyPIV<)V|iMb@Mb@Mb@ 9|?5^?|?5^~jtY=yҽļ@CA A)x AY3 AbDVD&8y5:%=6=ٔ=y&:Q-=>9AYA=EEyAEs<EE>IQ 5u5MS?Q 9}5M-)M~BY}+>Q E};y}*߿Q I}[@MfDIM;iMd;M+5yɮAii3["pCF5@J0L@AkO~ @pPR{?jF>?ᢔ?*j ?2jd*p5rM@JX*@go`(@pg/? >c?ivlW?jRA jkBiw?iFj)Bj]tȟ?ji3$jrjqBzjU>= addTargetRange:: Added new target pos. range: 61.799999 m, deltaT: 0.503989 s, deltaX: 0.099998 m, approachRate: 0.198414 m/s, rangeRepo size: 4 M Added new target pos. range: 61.565434 m, bearing: 12.608465 deg, lat: 36.779415 deg, lon: -121.859633 deg, deltaT: 0.503989 s, deltaX: 0.099621 m, approachRate: 0.197665 m/s, posRepo size: 4 mDNOT Ignoring new targets: 61.57 m.hihihihqhqgqgqjgqrg}BreyZey:e}`fN@*e}?[+>[+>"[@*[*E@<) ̾i9)19iiII 1EU EUEU&EQ"EUm:*EUc:VEU4ZEQa]@a]@a]@a]@9@ @@ 5@IIOE>iAI2Acoustic response timeoutYԁ 9&,pxw9Y=EyE>Q 55S?Q 95.)~BYyQ I[@hDI+;i;5yɮA=DDAT read: Rx Time:04:34:56.8083 =TRx dataTimestamp_ set to:1764909297.939499MPDAT read: Bearing 90.6, 67.1 (Local) ~Local bearing/azimuth received: Bearing 90.6, 67.1 (Local) DAT read: Range 11 to 50 : 61.7 m (trip time 41.1 ms) speed 0.0 DAT read: 04:34:56.8083 LVL= 14256, 26257, 27874, 29811, AGC= 56, IDX= 500, 0.17, 1.908, 0.425, 0.233, 1.027, PHS= 0.982,-0.557,-0.838, RAW= 81.8, 4.9, CAL= 80.6, 1.7, ROT= 69.4, -1.7 Ygot valid direction response: 04:34:56.8083 LVL= 14256, 26257, 27874, 29811, AGC= 56, IDX= 500, 0.17, 1.908, 0.425, 0.233, 1.027, PHS= 0.982,-0.557,-0.838, RAW= 81.8, 4.9, CAL= 80.6, 1.7, ROT= 69.4, -1.7 -R#Rx 1: Read range and direction messages.5\direction in FSK: [0.351687,0.935648,0.029666]5Fpublishing direction and range infoy9=E0 ? 8 ? `?Y=vB9=7=f=l =st)9I=Zd{?i==+V=3?=%=9 =<)9I=99EDNOT Ignoring new targets: 61.57 m.hIhIhIhIhIgIgIjgQrgQreQZeQ:e]N@*e]>?=h' ?yV3oZ ? =*)=>ȯI9i=992Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.B *>B B fIB BB  =B B B J;B [Q[Q"[Q*[Qԁ) "̾i9)顭k39iiIIq@q @q@}5@yIIO^>DIzDIE] E]E]%EY"E]:*E]F:VE] 4ZEYBE]32H&??X?|F듿 w?@?i2o @I2=];2CYBҁByBIiMb@Mb@Mb@ 9kt?~jtY =y̽@ A)AY AbD%VVD%8y5==%5V=ٔ5:Q-=>99Y9==EyAE=EE>IQ 5U5MR?Q 9U5M/)M~BYUt>Q EU;y]Q I][@MiDIM;iM;M5yaɮeXAaԹiqiu |"puzӝ5@,@L@k&,?puE0 ? 8 ? `?*jq2ju*pu%Tt*rM@#z",@_;K&%@pua?3:ЀK?e7X?juaA jukBiu9?iu̽juBju 5ş?juFjumBrjuCrBzjuhHb>E addTargetRange:: Added new target pos. range: 61.700001 m, deltaT: 0.504184 s, deltaX: -0.099998 m, approachRate: -0.198337 m/s, rangeRepo size: 4  Added new target pos. range: 61.465233 m, bearing: 13.434343 deg, lat: 36.779415 deg, lon: -121.859626 deg, deltaT: 0.504184 s, deltaX: -0.100201 m, approachRate: -0.198738 m/s, posRepo size: 4 DNOT Ignoring new targets: 61.47 m.hhhhhggjgrgreZe:e*eI?[t>[t>"[n@*[#@8_<) ¾iƙ9)顝49iiIIUDDAT read: Rx Time:04:34:57.3084 ]TRx dataTimestamp_ set to:1764909298.444711mPDAT read: Bearing 92.7, 67.0 (Local) u~Local bearing/azimuth received: Bearing 92.7, 67.0 (Local) DAT read: Range 11 to 50 : 61.8 m (trip time 41.2 ms) speed 0.1 DAT read: 04:34:57.3084 LVL= 13744, 26193, 26098, 28659, AGC= 56, IDX= 502,-0.35, 1.329,-0.153,-0.336, 0.459, PHS= 0.973,-0.566,-0.839, RAW= 82.0, 5.2, CAL= 80.8, 2.2, ROT= 69.2, -2.2 Ygot valid direction response: 04:34:57.3084 LVL= 13744, 26193, 26098, 28659, AGC= 56, IDX= 502,-0.35, 1.329,-0.153,-0.336, 0.459, PHS= 0.973,-0.566,-0.839, RAW= 82.0, 5.2, CAL= 80.8, 2.2, ROT= 69.2, -2.2 R#Rx 1: Read range and direction messages.\direction in FSK: [0.354845,0.934137,0.038388]Fpublishing direction and range infoyY]^ȵ?]r?.?Y]3wBY]5]Qf]e ]o)YI]y?i]`]V]0?]޹=]J? ]nF=)]#?I]nFYY]Ʊt?>ّ? ]))]F\I]#?i]nFYY2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.9@ @@S4@I)IYOmV>Em  Em Ei Ei "Em I:*Em v:VEi ZEi au @au @au @au @A yH*&,d!2H;R??`Y־`z: ?p >L`??i2U@I2k];0Y>ЁByBI DDR2Acoustic response timeoutbDNMVDN8yrW%rP=ٔvMu:Q-v>9xYx=zEyx~<E~>Q 5 5 Q?Q 951)~BYyQ I[@kDI"pA\5@0GL@Л'@p^ȵ?]r?.?*j#?2jnF*p/yenM@bܓc,@MIhD&@p Qi??p%?jcA jskBiB?ipjBjw?j<}jrjqBzjmd>5 addTargetRange:: Added new target pos. range: 61.799999 m, deltaT: 0.505212 s, deltaX: 0.099998 m, approachRate: 0.197934 m/s, rangeRepo size: 4 E Added new target pos. range: 61.564850 m, bearing: 13.557814 deg, lat: 36.779413 deg, lon: -121.859625 deg, deltaT: 0.505212 s, deltaX: 0.099617 m, approachRate: 0.197179 m/s, posRepo size: 4 MDNOT Ignoring new targets: 61.56 m.hIhIhIhIhIgIgQjgQrgYreYZeY:e]`fN@*e]R?[y[y"[y*[}tX@d<) 7ži9)顝d69iiII9@ @@/@IIO>Q]DDAT read: Rx Time:04:34:57.8084 ]TRx dataTimestamp_ set to:1764909298.947371mPDAT read: Bearing 92.7, 66.6 (Local) m~Local bearing/azimuth received: Bearing 92.7, 66.6 (Local) iDAT read: Range 11 to 50 : 61.8 m (trip time 41.2 ms) speed -0.1 DAT read: 04:34:57.8084 LVL= 15920, 27521, 25762, 29523, AGC= 57, IDX= 501,-0.02, 1.080,-0.417,-0.593, 0.198, PHS= 0.984,-0.570,-0.835, RAW= 82.2, 5.0, CAL= 81.1, 1.9, ROT= 68.9, -1.9 Ygot valid direction response: 04:34:57.8084 LVL= 15920, 27521, 25762, 29523, AGC= 57, IDX= 501,-0.02, 1.080,-0.417,-0.593, 0.198, PHS= 0.984,-0.570,-0.835, RAW= 82.2, 5.0, CAL= 81.1, 1.9, ROT= 68.9, -1.9 R#Rx 1: Read range and direction messages.\direction in FSK: [0.359799,0.932441,0.033155]Fpublishing direction and range infoyY]~?"h?B3?YYY]0>]k]d ]Ss)]9I]m{?i]]U]?]¸=]-? ]=)]?I]YY]4?.YgN]8GkM? ].()]XI]?i]YY2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.B <A 4<B +>B B rIB BB =B B B ?;B 7EBHCBHCBɓCB =B =Cɲ\5ԙ S01&,n6HMz?@? ;@'??{?i6@I6];6CYBҁByBIbDJ\VDJ8yf_B<%fL=ٔfz:Q-f>9hYh=jEyhjTu<En>pQ 5r5rP?Q 9v5ri2)r~BYtyvQ Iv[@rmDIrG:iru:r5yxɮ~BA|DDR=E% E%E%&E!"E%:*E%V:VE%4ZE!BE%F-"p&6@L@En ^T@p~?"h?B3?*j?2j*psM@`1<,@r!%@pV-?;֪?B{w?jEdA jkBiy򳟊?iE'joBj9?j̽joBrj`rBzj1q> addTargetRange:: Added new target pos. range: 61.799999 m, deltaT: 0.502660 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 61.564926 m, bearing: 13.614927 deg, lat: 36.779413 deg, lon: -121.859617 deg, deltaT: 0.502660 s, deltaX: 0.000076 m, approachRate: 0.000152 m/s, posRepo size: 4 DNOT Ignoring new targets: 61.56 m.hhhhhggjgrgreZe:e*e^?q[["[*[`@<) ¾i9)顽79iiII2Acoustic response timeout]9@a @i@m/@iIIIԩOI>m DDAT read: Rx Time:04:34:58.3085 m TRx dataTimestamp_ set to:1764909299.451381u PDAT read: Bearing 90.1, 66.0 (Local) } ~Local bearing/azimuth received: Bearing 90.1, 66.0 (Local)  DAT read: Range 11 to 50 : 62.0 m (trip time 41.3 ms) speed 0.1  DAT read: 04:34:58.3085 LVL= 14496, 23953, 26482, 29171, AGC= 55, IDX= 502, 0.31,-2.523, 2.252, 2.080, 2.851, PHS= 1.011,-0.554,-0.815, RAW= 82.4, 4.2, CAL= 81.2, 0.6, ROT= 68.8, -0.6  Ygot valid direction response: 04:34:58.3085 LVL= 14496, 23953, 26482, 29171, AGC= 55, IDX= 502, 0.31,-2.523, 2.252, 2.080, 2.851, PHS= 1.011,-0.554,-0.815, RAW= 82.4, 4.2, CAL= 81.2, 0.6, ROT= 68.8, -0.6  R#Rx 1: Read range and direction messages. \direction in FSK: [0.361605,0.932273,0.010472] Fpublishing direction and range infoyi m $?.M-?/;r?Ym xBi m 8m ]m rg m q)m 7Im sh?im m ףPm X?m Q =m g? m +<)m `?Im +i i m GMI?5TwU@? m -')m ;EIm `?im +i i  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode. l7&,#FH?@?@t 'O?y:?@?iF@IF];DY^BybIieMb@Mb@Mb@aaaa a9eˡE?Zd;O{GzYe=yejeףe@eA a)ex AaYe A <bDWVD8ԩy=%-=ٔ3[:Q->9Y=EyT<E>Q 55O?Q 953)~BY=Q E;yQ I[@nDI:i: 5yXBɮ A Eiqium"pu0܎U6@/_L@7A-n?pu$?.M-?/;r?*ju`?2ju+*pu{M@\Du-@ z"@puav?qB?7຋{?jukA julBiuGYΟ?iutjuŔBjqjupjqrjurBzjubs> addTargetRange:: Added new target pos. range: 62.000000 m, deltaT: 0.504010 s, deltaX: 0.200001 m, approachRate: 0.396819 m/s, rangeRepo size: 4  Added new target pos. range: 61.764164 m, bearing: 13.963802 deg, lat: 36.779413 deg, lon: -121.859616 deg, deltaT: 0.504010 s, deltaX: 0.199238 m, approachRate: 0.395305 m/s, posRepo size: 4 DNOT Ignoring new targets: 61.76 m.hhhhhggjgrgBreZe:eO@*e`Υ?[=[="[@*[]@#è<) Ǿi9)99iiII E= E=E=$E9"E=>:*E=T:VE=4ZE9aE@aM@aM@aM@2Acoustic response timeout@ @@/@IIOi> 9 $=&,@>@>U<ٱ>$>>H^?`? A x?j#q ? ?i>@I>];>CYZByZII^<)^;bDfbVDf8ynw%nn=ٔnҁ:Q-r?9pYp=rEypv<Ev?xQ 5~5ztN?Q 9~5z4)z~BY|y~Q I[@zpDIz:iz:z5y ɮ A 5DNOT Ignoring new targets: 61.76 m.h1h1h1h9h9g9g9jg9rgAreAZeA:eA*eE?4=R=DDAT read: Rx Time:04:34:58.8085 TRx dataTimestamp_ set to:1764909299.955751 PDAT read: Bearing 96.6, 66.6 (Local)  ~Local bearing/azimuth received: Bearing 96.6, 66.6 (Local) DAT read: Range 11 to 50 : 62.0 m (trip time 41.3 ms) speed -0.1 EDAT read: 04:34:58.8085 LVL= 15792, 27729, 25074, 29843, AGC= 57, IDX= 502,-0.22, 0.281,-1.215,-1.384,-0.583, PHS= 0.966,-0.587,-0.845, RAW= 82.4, 5.6, CAL= 81.4, 3.0, ROT= 68.6, -3.0 MYgot valid direction response: 04:34:58.8085 LVL= 15792, 27729, 25074, 29843, AGC= 57, IDX= 502,-0.22, 0.281,-1.215,-1.384,-0.583, PHS= 0.966,-0.587,-0.845, RAW= 82.4, 5.6, CAL= 81.4, 3.0, ROT= 68.6, -3.0 MR#Rx 1: Read range and direction messages.U\direction in FSK: [0.364377,0.929780,0.052336]UFpublishing direction and range infoy/Q?w?yoU˪?Y=Qla t)9IKw?iEQX+=oٵ? PwV=)@?IPwV[["[*[@>?/*k4޷? ')<ƽI@?iPwV2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.U<) XȾi9);9iiI IB6>BICBIBBB =BBʺDB@;B7E9@ @@/@IIO>1DzDAAE% E%E%%E!"E%:*E%k:VE% 4ZE!BE% :Hh?܄?ƶY`?tm??i:@I:];8YZBy^IiMMb@Mb@Mb@IIII I9MZd;?+η{GzYMy=yMvIIM-A MfA)IIYM AbD>VD8yc<%<=ٔ:Q->9Y=EyCW<E>Q 5-5!M?Q 956)~BYn=Q E;yQ I[@qDIi"p5e6@#tֶL@8III @p5/Q?w?yoU˪?*j5@?2j5PwV*p53_M@V-@cp'@p5Oo?}b?2?j5nA j5jBi5?i589j5Bj5y򳟊?j5E'j1rj5rBzj5{u> addTargetRange:: Added new target pos. range: 62.000000 m, deltaT: 0.504370 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 61.765614 m, bearing: 14.254095 deg, lat: 36.779413 deg, lon: -121.859616 deg, deltaT: 0.504370 s, deltaX: 0.001450 m, approachRate: 0.002874 m/s, posRepo size: 4 DNOT Ignoring new targets: 61.77 m.hhhhhggjg rg Bre Ze :e*em3?[5n=[5n="[5_@*[5L@e<)i mQim49)imQvm })Iw?iQEVL3? =c? 4QO=) #?I4QOpkg?5C5? %)^ŽI #?i4QO2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.9@ @@/@I)I9OER>Ա E  E E $E "E :*E X:VE 4ZE a @a @a @a @J&,t,=LA22Acoustic response timeoutVH@VB@V@<ٱV_#>VH@Q?j?eM?V b^? ?iVH@IV];VC\YnBynIbD~BVD~8yx<%X=ٔ t:Q- >9 Y=Ey^u<E>Q 5%5L?Q 9%57)x~BY)y-Q I-[@sDI::i:5y1ɮ5iA9iAiEv=LAjEvwB"jEvwB:jEX{>"pE3D 7@wVkL@Ng. @pEźR4?ռ?|rQ?*jE #?2jE4QO*pEmBR5vM@ui.-@>5.j'@pEwz?T1?x9?jEalA jEkBiEjb?iEjEUBjEjb?jEjEBrjErBzjE{> addTargetRange:: Added new target pos. range: 62.099998 m, deltaT: 0.504624 s, deltaX: 0.099998 m, approachRate: 0.198164 m/s, rangeRepo size: 4  Added new target pos. range: 61.865234 m, bearing: 14.075510 deg, lat: 36.779413 deg, lon: -121.859612 deg, deltaT: 0.504624 s, deltaX: 0.099621 m, approachRate: 0.197416 m/s, posRepo size: 4 DNOT Ignoring new targets: 61.87 m.hhhhhggjgrgreZe:e O@*e?[["[*[@@<) i;9)=9iiII9@ @@0@IIO>DDAT read: Rx Time:04:34:59.8085 TRx dataTimestamp_ set to:1764909300.963393%PDAT read: Bearing 97.4, 65.6 (Local) -~Local bearing/azimuth received: Bearing 97.4, 65.6 (Local) =DAT read: Range 11 to 50 : 62.0 m (trip time 41.3 ms) speed 0.0 ]DAT read: 04:34:59.8085 LVL= 17184, 30337, 27442, 29971, AGC= 57, IDX= 502, 0.38, 1.836, 0.305, 0.164, 0.952, PHS= 0.985,-0.602,-0.832, RAW= 83.3, 5.3, CAL= 82.3, 2.6, ROT= 67.7, -2.6 eYgot valid direction response: 04:34:59.8085 LVL= 17184, 30337, 27442, 29971, AGC= 57, IDX= 502, 0.38, 1.836, 0.305, 0.164, 0.952, PHS= 0.985,-0.602,-0.832, RAW= 83.3, 5.3, CAL= 82.3, 2.6, ROT= 67.7, -2.6 mR#Rx 1: Read range and direction messages.u\direction in FSK: [0.379066,0.924257,0.045363]uFpublishing direction and range infoy=6oB?&?99?YxB Cv2k u)I(|?iT?q='ܷ? 9=)E>?I9뭪BE?COU*`8? #).IE>?i92Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.A A B 0>B B IB BB =B B B <;B 7EA Q&,F=LA2&x@2qq@2/<ٱ2#>2H@'=?O?7? t喿@g?,?i2&x@I2];2CYRByRI XXXZADlDn<bDfjVDf8y%C=ٔn:Q->9Y=EyE EE&E"E;*ErN:VE4ZEBE8CQ 55J?Q 9568)i~BYy&Q I[@tDIG:i:5yɮwAiIiM;==LAjMwB"jMwB:jMz>"pMKvEi7@P L@M&2j@pM=6oB?&?99?*jME>?2jM9*pM'6tM@L9j-@m'z&@pM) GԄ?3{?,P2?jMUkA jMkBiM7?iMBXjMBjIjIjMBrjMsBzjM2|>% addTargetRange:: Added new target pos. range: 62.000000 m, deltaT: 0.503018 s, deltaX: -0.099998 m, approachRate: -0.198797 m/s, rangeRepo size: 4 5 Added new target pos. range: 61.765190 m, bearing: 14.019629 deg, lat: 36.779413 deg, lon: -121.859612 deg, deltaT: 0.503018 s, deltaX: -0.100044 m, approachRate: -0.198888 m/s, posRepo size: 4 5DNOT Ignoring new targets: 61.77 m.h9h9h9h9h9g9g9jgArgAreAZeA:eMO@*eM$@?[i[i"[i*[mXF@}/<)y ⵾i9)顅e?9iiII2Acoustic response timeout9@ @ @ 0@IIYIOE0>yԡ - DDAT read: Rx Time:04:35:00.3086 - TRx dataTimestamp_ set to:1764909301.4673515 PDAT read: Bearing 99.6, 65.3 (Local) = ~Local bearing/azimuth received: Bearing 99.6, 65.3 (Local) M DAT read: Range 11 to 50 : 62.1 m (trip time 41.4 ms) speed -0.1 m DAT read: 04:35:00.3086 LVL= 13904, 26273, 22802, 27427, AGC= 57, IDX= 503,-0.16, 0.101,-1.436,-1.564,-0.773, PHS= 0.975,-0.618,-0.835, RAW= 83.7, 5.6, CAL= 82.7, 3.2, ROT= 67.3, -3.2 u Ygot valid direction response: 04:35:00.3086 LVL= 13904, 26273, 22802, 27427, AGC= 57, IDX= 503,-0.16, 0.101,-1.436,-1.564,-0.773, PHS= 0.975,-0.618,-0.835, RAW= 83.7, 5.6, CAL= 82.7, 3.2, ROT= 67.3, -3.2 } R#Rx 1: Read range and direction messages. \direction in FSK: [0.385304,0.921100,0.055822] Fpublishing direction and range infoy) - ,3Ө?3y?ᢔ?Y- fxB) - P6- f- Y - #k)) I- y?i- ?5- U- ?- +=- ? - d=)- Y?I- d) ) - DG]?ك`MB(&? - 3")- ɽI- Y?i- d) )  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.W&, ``=LAYEByEIyiMb@Mb@Mb@ 9S㥫?+η/$Y/]=yjAA ) AYbD%lVD%8y];%]0=ٔeQ-e>9Y=EyE>Q 55DI?Q 95c9)W~BYg=Q E;y=Q I[@vDI=;iI;5y ɮ nAiYi]]=LAj]uwB"j]uwB:j]hr>"p]g 67@Ii}L@ϊD6 @p],3Ө?3y?ᢔ?*j]Y?2j]d*p] M@Sx,@ď" '@p]oGPR?ͦ@s?s}^?j]cA j]lBi]6?i]pj]ՙBjYjYj]UBrj]3sBzj]|>E EEE"E:*EF:VEZEa@a@a@a@Ա addTargetRange:: Added new target pos. range: 62.099998 m, deltaT: 0.503958 s, deltaX: 0.099998 m, approachRate: 0.198426 m/s, rangeRepo size: 4  Added new target pos. range: 61.864807 m, bearing: 13.563469 deg, lat: 36.779413 deg, lon: -121.859612 deg, deltaT: 0.503958 s, deltaX: 0.099617 m, approachRate: 0.197669 m/s, posRepo size: 4 DNOT Ignoring new targets: 61.86 m.hhhhhggjgrgBreZe:eE O@*eE?[g=[g="[m@*[`@) Qin9)A9iiII2Acoustic response timeout9@ @@/@IIO> +]&,C;z=LA2f٤@2ҫ@2U<ٱ2Q$>2HW?J?BڼrTz2?ɽ`*?@˓?i2f٤@I2O];2CYBByBI DF<bDJVDJ'8yzP%z{=ٔ~y;Q-~ ?9|Y=Ey=E ? Q 55 BH?Q 95 2:) K~BYyQ I[@ wDI ;i ;  5y!ɮ%A!MDNOT Ignoring new targets: 61.86 m.hIhQhQhQhQgQgQjgYrgYreYZea:ea*ee`1?[["[*[ߊ@U<) 1i9)顝=B9iiIIDDAT read: Rx Time:04:35:00.8085 TRx dataTimestamp_ set to:1764909301.972111PDAT read: Bearing 97.6, 64.5 (Local) ~Local bearing/azimuth received: Bearing 97.6, 64.5 (Local)  DAT read: Range 11 to 50 : 62.0 m (trip time 41.3 ms) speed -0.1 5DAT read: 04:35:00.8085 LVL= 15184, 25121, 24242, 27283, AGC= 58, IDX= 502, 0.13, 0.162,-1.397,-1.507,-0.738, PHS= 1.002,-0.613,-0.813, RAW= 84.3, 5.0, CAL= 83.2, 2.1, ROT= 66.8, -2.1 EYgot valid direction response: 04:35:00.8085 LVL= 15184, 25121, 24242, 27283, AGC= 58, IDX= 502, 0.13, 0.162,-1.397,-1.507,-0.738, PHS= 1.002,-0.613,-0.813, RAW= 84.3, 5.0, CAL= 83.2, 2.1, ROT= 66.8, -2.1 ER#Rx 1: Read range and direction messages.M\direction in FSK: [0.393677,0.918518,0.036644]UFpublishing direction and range infoyX=kT2?:d?(א¢?YxBP;!b^ j):IA?i PS?¸=޹? Q =);?IQ gǁ?q#⿤U.? )-I;?iQ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. ֐CB=%>B=GCB=IB=BB= =B9B=ɺDB=;B=7EYYqX9YK@@ @@2@IIIOu>AbE-4jE4rE/EU EUEU'EQ"EU>:*EU1]:VEU'4ZEQBEUZH@??;R?޽sj??iZ@IZ];ZCYvByvII=)4===iMb@Mb@Mb@ 9?J +Zd;OYL=yȽj@ |A)x AY AbDwVD8y/%,=ٔ:Q->9Y=Ey%*<E%>)Q 555-F?Q 955-d;)-8~BY50=Q E5;y5HQ I=[@-xDI-:i-:-$5yAɮEAAaii7~=LAj wB"j wB:jG{>"p;olP8@+P]L@:y\"@pX=kT2?:d?(א¢?*j;?2jQ *poȒM@Ċ.-@^Eg%@pNՌ?Y۠?V-?jmA jkBi1?iBjMBjjBXjrjKsBzj2|> addTargetRange:: Added new target pos. range: 62.000000 m, deltaT: 0.504760 s, deltaX: -0.099998 m, approachRate: -0.198111 m/s, rangeRepo size: 4  Added new target pos. range: 61.763649 m, bearing: 14.099757 deg, lat: 36.779413 deg, lon: -121.859613 deg, deltaT: 0.504760 s, deltaX: -0.101158 m, approachRate: -0.200408 m/s, posRepo size: 4 DNOT Ignoring new targets: 61.76 m.hhhhhggjgrgBreZe:eO@*e?[0=[0="[@*[=@0<) pi9)C9iiII DDAT read: Rx Time:04:35:01.3086 TRx dataTimestamp_ set to:1764909302.475810PDAT read: Bearing 100.4, 64.3 (Local) ~Local bearing/azimuth received: Bearing 100.4, 64.3 (Local) DAT read: Range 11 to 50 : 62.1 m (trip time 41.4 ms) speed 0.0 MDAT read: 04:35:01.3086 LVL= 14800, 27057, 24834, 30115, AGC= 59, IDX= 504,-0.44, 0.420,-1.130,-1.224,-0.458, PHS= 0.979,-0.627,-0.811, RAW= 84.7, 5.4, CAL= 83.7, 2.9, ROT= 66.3, -2.9 UYgot valid direction response: 04:35:01.3086 LVL= 14800, 27057, 24834, 30115, AGC= 59, IDX= 504,-0.44, 0.420,-1.130,-1.224,-0.458, PHS= 0.979,-0.627,-0.811, RAW= 84.7, 5.4, CAL= 83.7, 2.9, ROT= 66.3, -2.9 ]R#Rx 1: Read range and direction messages.e\direction in FSK: [0.401433,0.914490,0.050593]eFpublishing direction and range infoyu5?Xx倀C?|rQ?YfxB9ia u);Iz?i O8?=? 4QO=)?I4QOk?ԑ E}  E} E} !Ey "E} :*E} |;:VE} c3ZEy a @a @a @a @j&, =LA&2Acoustic response timeoutJ+@J$@J<ٱJ">LJH`&? ?W!t?使 ᘿt@?]?iJ+@IJT];HY^BybIbDjNVDj8yr=%rw=ٔr:Q-r?9tYt=vEytz|<Ez?xQ 55zUE?Q 95z;<)z*~BYyQ I[@zyDIz:iz2:z'5yɮ]Ai!i%s=LAj%swB"j%swB:j%mv>"p%㜞 ~8@,)cIL@Q>- @p%u5?Xx倀C?|rQ?*j%?2j%4QO*p%KM@Йg -@BT6&@p%5l?(a8 ? ?j%[hA j%%lBi%h.B?i%Bj%̘Bj%1?j%Bj%̘Brj%gsBzj%t|>e addTargetRange:: Added new target pos. range: 62.099998 m, deltaT: 0.503699 s, deltaX: 0.099998 m, approachRate: 0.198528 m/s, rangeRepo size: 4 m Added new target pos. range: 61.863266 m, bearing: 13.819587 deg, lat: 36.779413 deg, lon: -121.859614 deg, deltaT: 0.503699 s, deltaX: 0.099617 m, approachRate: 0.197771 m/s, posRepo size: 4 uDNOT Ignoring new targets: 61.86 m.hqhqhqhyhygygyjgyrgreZe:e O@*e@ޫ?[["[*[d@<) i9)/E9iiII@ @@?5@I9IYO>DDAT read: Rx Time:04:35:01.8086 TRx dataTimestamp_ set to:1764909302.979329 PDAT read: Bearing 101.0, 63.5 (Local)  ~Local bearing/azimuth received: Bearing 101.0, 63.5 (Local) DAT read: Range 11 to 50 : 62.1 m (trip time 41.4 ms) speed 0.0 EDAT read: 04:35:01.8086 LVL= 14992, 27569, 24946, 29459, AGC= 59, IDX= 503,-0.09,-0.959,-2.551,-2.625,-1.858, PHS= 1.001,-0.649,-0.812, RAW= 85.3, 5.3, CAL= 84.4, 2.9, ROT= 65.6, -2.9 MYgot valid direction response: 04:35:01.8086 LVL= 14992, 27569, 24946, 29459, AGC= 59, IDX= 503,-0.09,-0.959,-2.551,-2.625,-1.858, PHS= 1.001,-0.649,-0.812, RAW= 85.3, 5.3, CAL= 84.4, 2.9, ROT= 65.6, -2.9 MR#Rx 1: Read range and direction messages.U\direction in FSK: [0.412575,0.909517,0.050593]UFpublishing direction and range infoyԚg?1E6?|rQ?Y:kra s)I ?i$&;O⏾?q=)? )C?IQa54?? ^ɯܷ? )O+IC?iu2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode.B) A- <B5 ">B1 B5 IB5 BB1 B1 B5 ȺDB5 ;B5 7E! q&,(=LAFXX@FQ@F<ٱFI1">FH?? ߖ?@Q06`.??iFXX@IF$];FCYbBybIbDjOVDj8|y\=%H=ٔ8N:Q- >9 Y = Ey Z<E>E EE&E"E>:*EVL:VE4ZEBEa%2Ea%JE;a%:E;a-)Q 55-C?Q 95-F=)-~BYyQ I[@-{DI-"p-qh9@dGJ!L@F @p-Ԛg?1E6?|rQ?*j-C?2j)*p-L]ÓM@~x<,@&@p-VX?026?K!s?j-aA j-lBi-0鯼?i-j-Bj-h.B?j-Bj-Brj-KsBzj-w>  addTargetRange:: Added new target pos. range: 62.099998 m, deltaT: 0.503519 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 61.862816 m, bearing: 13.423411 deg, lat: 36.779413 deg, lon: -121.859617 deg, deltaT: 0.503519 s, deltaX: -0.000450 m, approachRate: -0.000894 m/s, posRepo size: 4 %DNOT Ignoring new targets: 61.86 m.h!h!h!h!h!g)g)jg)rg)re1Ze1:e1*e5ۄ?[Y[Y"[Y*[]@m<)i m*im9)quFu9iyiyyIIU2Acoustic response timeout@ @@/5@IIO >!Yy  DDAT read: Rx Time:04:35:02.3087  TRx dataTimestamp_ set to:1764909303.483299 PDAT read: Bearing 101.6, 62.7 (Local)  ~Local bearing/azimuth received: Bearing 101.6, 62.7 (Local) % DAT read: Range 11 to 50 : 62.3 m (trip time 41.5 ms) speed -0.1 M DAT read: 04:35:02.3087 LVL= 14000, 25841, 23922, 27459, AGC= 58, IDX= 504, 0.17, 2.047, 0.440, 0.392, 1.144, PHS= 1.005,-0.659,-0.796, RAW= 86.1, 5.2, CAL= 85.2, 2.7, ROT= 64.8, -2.7 U Ygot valid direction response: 04:35:02.3087 LVL= 14000, 25841, 23922, 27459, AGC= 58, IDX= 504, 0.17, 2.047, 0.440, 0.392, 1.144, PHS= 1.005,-0.659,-0.796, RAW= 86.1, 5.2, CAL= 85.2, 2.7, ROT= 64.8, -2.7 U R#Rx 1: Read range and direction messages.] \direction in FSK: [0.425307,0.903823,0.047106]e Fpublishing direction and range infoy  P88?׃m?P7V?Y 3yB 6 d r] Ck) :I ף?i 9( K hY? ޹= V? A=) Ð?I A %&ҳq?.῰!b3[? ) 7I Ð?i A  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.ax&,=LAYnBynI prAtvAYiMb@Mb@Mb@ 9I +?MbXZd;OY94=yʽ@-A fA)Y AbD!VD!y-%59=ٔ5Q-5>99Y9==Ey9EEE>AQ 5M5E"B?Q 9U5EW>)E~BYu=Q Eu;yuQ Iu[@E|DIE;iE;E$/5yɮAi9i=_=LAj=?xB"j=?xB:j=wa>"p=8e:@X L@x)`c@p=P88?׃m?P7V?*j=Ð?2j=A*p=XM@J*@{h~)&@p=P>?k&l#?+?j=UA j=XnBi=)_ߟ?i=PCj= Bj=6?j=pj9rj=LsBzj=N'u>E EE$E"E:*EP:VE4ZEa@a@a@a@ addTargetRange:: Added new target pos. range: 62.299999 m, deltaT: 0.503970 s, deltaX: 0.200001 m, approachRate: 0.396851 m/s, rangeRepo size: 4  Added new target pos. range: 62.062054 m, bearing: 12.632564 deg, lat: 36.779413 deg, lon: -121.859619 deg, deltaT: 0.503970 s, deltaX: 0.199238 m, approachRate: 0.395337 m/s, posRepo size: 4 DNOT Ignoring new targets: 62.06 m.hhhhhggjgrgBreZe:e`f&O@*e-?[m=[m="[m-@*[mLJ@y)y }Qi}9)顅0H9ԁiiIIe2Acoustic response timeoute9@a @a@m3@iIyIO\>Ա X0~&,'=LA2s@2@2M~<ٱ2">2H`2? C?c`8??oy8? ?i2s@I2-];2CYBByBIbDJ_VDJ8yfٌ=%fd=ٔfx:Q-f>9hYh=jEyhj=<En>pQ 5r5r@?Q 9v5r7?)r}BYtyvQ Iv[@r}DIrh:ir:rE25yxɮ~IA|%DNOT Ignoring new targets: 62.06 m.h!h!h!h!h!g)g)jg)rg)re)Ze1:e1*e5`?[Q&DAT read: user:9> DAT read: 0 8unknown deviceResponse_: 0 q (Communications Faulta  a  a  a  a  DAT read: Ok :unknown deviceResponse_: Ok (DAT read: user:10> BDAT read: Tx time:04:35:03.2566 $Ping request sent.BBBB =BBBۀ;B`7EBGCBB”CBB =C!5@ @@/@I&LCommunications Fault in component: DATIO>DzD@AE EE%E"E:*EL_:VE 4ZEBE#LA~٥@~Ҭ@~=<ٱ~#>~HaR? z?@kn ?ھb?Ŕ?i~٥@I~S];|Y By IiMb@Mb@Mb@ 9kt?:vY 0=yԽ̼A A)Y <bDtVD8y%;=ٔ_:Q->9Y=Eyr<<E>Powering downiIQ 55>?Q 95N@)}BY=Q E;yIQ I[@DI;i;65yɮVA%DNOT Ignoring new targets: 62.06 m.h!h!h!h!h)g)g)qjgrgBreZe:e*e`]A[=[="[W@*[j@ =<)  Ri9)JZ:iiII!@ @@@IIO!>ԙE  E E #E "E m:*E [:VE 3ZE a @a @a @a @ sA&,5/>LA^!@^l@^O<ٱ^%>^Hn?c?e M?3.? %?i^!@I^];\YjByjIIn<)np;bD5[VD58ye;%eQ=ٔe.9Q-e>9iYi=mEyiu ;<Eu>qQ 55uO=?Q 95uIA)u}BYyQ I[@uDIu):iu:u95yɮNADNOT Ignoring new targets: 62.06 m.hhhhhg!g!jg!rg!E- -Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE-5Transitioning to midcourse guidance. Received last range of 62.299999 m 29955914.666667 min ago.E51FEreAZeA:eA*eA[i[i"[i*[mN@}O<)y }oi}D9)顅UL:iiII9@ @@/@II O*>AA@AB(>BHCBBB =BBɺDBˀ;BS7E) V)&,I>LA ER ERER$EP"ER:*ERe:VER4ZEPBERxnHf?I? h|0?u`V ֙?@u?inU&@In];nCY By IbD%QVD%8y5^ռ%5M=ٔ=:Q-=>9AYA=EEyAEI<EE>IQ 5U5M;?Q 9U5MIB)M}BYYyQ I[@MDIM$ԙ S&,b>LA6vL@6E@6<ٱ60$>6H?2?`g j`N? h@m?@2?i6vL@I6];4PYRByRIi-Mb@Mb@Mb@)))) )9-{Gz?)\(Y-#=y-GὙ)-@--A -A)-b A)Y- A9=@AbDEJVDE8yU>%UH=ٔUF:Q-]>9YYY=eEyae:<Ee>iQ 5u5m9?Q 9u5mTC)m}BYu=Q E};y}SQ I}[@mDIm;im;m@5yɮAqLAggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalDAggregate::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@ffHBrfL?Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )q@A:Initialize WaypointComponent.ZNavigating to waypoint: 36.779130,-121.859630reZe:eq*eq[=[="[@*[e@ɢ ?)? 8oAi W:)   i 55I=AE EEE"E:*EF:VEZEa@a@a@a@9@ @@@I1IIO]3>! h~&,|>LA2q@2Qj@22<ٱ22">2H[?? =S k?`Iz`;? 9?i2q@I2ģ];0YBByBI DFAbDJ_VDJ8yzX%zP=ٔ~?T9|Q->9Y=Ey F:<E >Q 557?Q 95VD)}BYyQ I%[@DI;i3;C5y)ɮ-A)qPEEAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalPEMEntering Terminal tracking update period 2.000000 s sec at 62.299999 m (mode 0.000000 count ).PMPUf]f]>fagafafarfaq=ezmAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy=m {mɧ<駽@:ie=)> (kpHeading = 0.400000I: (kiHeading = 0.001000 I0? 0?II)iB}&>B}GCB}IB}BByByB}ȺDB}݀;B}c7E)IIOA>E EE&E"E:*EV:VE4ZEBEa2EaJE;a:E;aQԁ 1h&,>LAQYفByIi]Mb@Mb@Mb@YYYY Y9]J +?:vY]H=y]ԽY]@]A ]fA)YYY] AbDunVDu8yF%3=ٔQ->9Y=EyE>Q 55P6?Q 95E)}BY=Q E;yQ I[@DI:i:G5y1ɮ5A1:kE@PE1Qe}B*** querying acoustic contact ***iyiyfffgffrfereZe:e*e[=[="[@*[Q@Bɢ@) i)㘌im>ɧj=[:;;iA=I9D1? 9D1?IIIO >ԁԱE  E E $E "E :*E xv:VE 4ZE a @a @a @a @ &,>LA2@2@2_<ٱ2p!>2H@??` w"`-?ms @m?`R?i2@I2=];2CY:By:I @@bDF^VDF8yN9>%Np=ٔN":Q-N?9PYP=REyPV <EV?XQ 5Z5Z5?Q 9^5ZqF)Z~}BY\y^Q I^[@ZDIZI;iZw;ZJ5ydɮfAdBkp1QrqQrftfxfxgxfxfxrfxe|re|Ze|:e|*e[![!"[!*[%@5߁Bɢ5_|;)1 58H=i1)=p799i=PEYm>ɧE=E;iE>IIIM1? M1?IIԹNJκ$G Et*9AYM'ABqAu<B}*>B}HCByByB} =ByB}ɺDB};B}7E^A FӅI I O >A w&,uZ>LA:@:ݭ@:]K<ٱ:d">:H??p@7?_( 5?Z?i:@I:\];:CD@DB=bE 4jE 3rE n/EF EFEF"ED"EF:*EFL_:VEF(3ZEDBEF'9 Y = Ey?<E>Q 5%53?Q 9%5G)l}BY!y- Q I-[@DI:i:N5y1ɮ5 A1JkIqQMMrCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalqPMMAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalfYfYfYgafafarfaeareaZei:ei*ei[["[*[\ @颽܁BɢeR;) P==i)@_8im>ɧn=;iɭw>I1? 1?I5:_G@9@9@9@9IIIOk>iԙ &,a3>LA2`@2@2+<ٱ2R">2H`7? ? V鹿@3? 뿿@$ F??i2`@I2];2CY:By:Ii-Mb@Mb@Mb@)))) )9-S㥫?A`"S㥛Y-/]=y-ٽ-/ݼ)--A ))))Y- AbDexVDe8yu <%}C=ٔQ->9Y=Ey)<E>Q 55'2?Q 95H)Y}BY=Q E;yJQ I[@DIIW;iV;AR5yɮAf f fgPowering up%"Initializing DAT.f)f)rf)e)re)Ze1:e1q*e1[=[="[ߥ@*[L=@%فBɢ%8~;)! -t=i))-8))i-LU!m>ɧU>UE:;i]`>YYI]e2? ]e2?IYE EE#E"E:*Ec:VE3ZEa@a@a@a@ԩI I! O5 > ˾&,>LA:*@:#@:V<ٱ:#>:H`Q? ? Pṿ` ?`*`X??i:*@I:];8YBByBIbDJVDJJ8yRe%VX=ٔVSd8Q-V>9XYX=ZEyXZ;<EZ>\Q 5b5^0?Q 9f5^I)^H}BYdyfQ If[@^DI^\:i^h:^U5yhɮjYAlf|f|fqgqfyfyrfyeyreZe:e*e[["[*[1a@颵ׁBɢ\;) 2=i)]9i")m>ɧz1> Iz2? z2?IB7>BICBIBBB =BBʺDB<;B7EIAIQOeU>DzDAAE EE(E"E:*ET:VEc44ZEBEHJh??`ֹ  ?` `?औ?iH@Id];CYByI Ai=Mb@Mb@Mb@9999 99=&1?Mb~jtY=P=y==ļ=z@=CA =A)= A9Y= AbDUVDUX8yeV=%e1=ٔeEùQ-m>9iYi=mEyqu<Eu>yQ 55}/?Q 95}J)}5}BYw=Q E;yQ I[@}DI}:i}:}Y5yVBɮAfffgffrfereZe:e*e[w=i[w="[3@*[K]@ӁBɢ E;) =i)$[9i5m>ɧS>2L)ԑE  E E $E "E m:*E VE 4ZE a @a @a @a @ &,1?LAPbOg@b`@b<ٱbı#>bH?n|?}`H!?*^?@?ibOg@Ibu];bCYnBynIbDtVDty~ <%e=ٔ|9Q->9Y = Ey   ,<E >Q 5=5.?Q 9=5K)&}BYAyEPQ IE[@DI&;i;\5yIɮMAIB*** querying acoustic contact ***iifffgffrfereZe:e*e[["[*[{@颕ЁBɢ@;)  =i)!9iZ,Am>ɧ*n>>AA?AB8>BJCBBB =BBB+;B7EBHCBBBBCǓ5! &,@>@><ٱ>n#>>H ?d?}&@I>];>CYJByJI|bD VD 8yNF%-=ٔa8Q->9!Y!=%Ey!-<E->1Q 5=55c-?Q 9E55M)5}BYAyEQ IE[@5DI5]$;i5(;5`5yQɮU7AYfffgffrfereZe:e*e[["[*[@)ÚBɢ]l;)Y ],=iY)]c9YYieZm#Qm>ɧm>mZQԁ &,J{e?LAJ@J @JZ<ٱJ\">JHy?M?:$W?-`*3?e?iJ@IJD];JCYZByZIIb<)bf=fp=YiMb@Mb@Mb@ 9S㥫?J +Zd;OY/]=yȽj@-A )Y AbDVD8y.=%`=ٔ39Q->9Y=Ey F<E>Q 5 5c,?Q 9 5 N)}BY =Q E ;y {Q I[@DI:iR:d5yɮAf9fAfAgAfAfArfAeIreIZeI:eI*eI[m=[m="[m@*[m@颅ʁBɢ;) =i)9顉i^r^m>ɧ+>qRH@?y7?సgr???iRҧ@IR];RCYbBybIbDjVDj8yr%r\=ٔvv Q-v>9tYt=vEytz=<<Ez>|Q 55~c+?Q 95~ O)~|BYy Q I [@~DI~:i~h:~>g5yɮYAf1f1f9g9f9f9rf9eAreAZeA:eA*eAPExceeded connect timeout, disconnecting.B=>BBBB =BB˺DB ;B7E[![!"[!*[%@uǁBɢub;;)y }=iy)}9yyi}Bom>ɧޥ>駅ֱE EE#E"EO:*Ega:VE3ZEBE H`?'?@Z@G ?`q? 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Es;?IAe9AAIIOf>) EU  EU EU #EQ "EU >:*EU :VEU 3ZEQ a] @a] @a] @a] @,&,̛@LAY~"By~ IiMb@Mb@Mb@ 9K7A?㥛 ytA )YG AbDaVD8y7=%L=ٔQ->9c?Yc?=EyEE>Q 55,?Q 955^)Y|BYH>Q E;yLQ I\@DIf:iV:ّ5yɮA B*** querying acoustic contact ***i i fffgffrf!e!re!Ze!:e!*e)UBɢ]^<)Y ]>iY)];YYieɧmY?m_-=im;?iiIm;? m;?Iq }wAyI9AzAwAAI I!O-N>yBAB=>BBIBBB =BBBu;B 8Eԩ E]  E] E] &EY "E] :*E] P:VE] 4ZEY BE] q%2H X?`p??& `??i2@I2];2CY^#By\bDj\VDj8y~\;%~U=ٔEQ->9Y= Ey E 1=E >Q 55 .?Q 95_)P|BY!y%Q I%\@DI;iM;15y)ɮ-A)fQfQfQgQfQfQrfQeYreYZeY:ea*ea颍Bɢa<) Ҏ>i);顑iܠ o>ɧg?8=i 9&,DR@LA28@2i1@25-<ٱ2|>2H?p?eʵ@V#?` ??i28@I2ڡ];2CYR!ByR I TTTTli5Mb@Mb@Mb@1111 195+?y5t511 5A)11Y5p AbDMVDM8y]K %]G=ٔ]5Q-]>9aYa=eEyeEm<Em>qQ 55ux0?Q 95uJa)uC|BY0>Q E;yQ I\@uDIuGH;iu}G;u˘5yVBɮAEfffgffrfereZe:e*e颥BɢSn<) >i).;顩i7@o>ɧy?[5G=i=?I=? =?IE EE'E"EO:*E|:VE'4ZEa%@a%@a%@a%@9A9IAIYOmV>9a p@&,/ALA2s@2^l@2{<ٱ2 >2H ?_?%db@zJ?/N??i2s@I2/];2CY>By> IbDJVDJW8BTBTBVIBVBBV =BTBTBVi;BV7EybL%bT=ٔb Q-b>9dYd=fEyfEfe<Ej>h9Q 5u5j2?Q 9u5jb)j7|BYqyuГQ I}\@jDIji))542=;11i5񋰼=to>ɧ=؄?=یT=i=2k>?AAIE2k>? E2k>?IAIMX?)M?9A?A?iAaIiIyO9>E% E%E%"E!"E%:*E%i:VE%(3ZE!BE!a-2E!a5JE%;a5:E%;a5ԑ %F&,ALAV@Vˢ@V<ٱVEO!>VH`?+6?@Tpb@m?<d-?X?iV@IV];VCYvByz I !%<ԙbDVDO8y%%%6=ٔU4Q-]>9aYi=uEyuEk<E>Q 55g5?Q 95d))|BYyQ I\@DIh:i>:05yɮAfffgffrfereZe:e*e颅Bɢ<) >i)=9N;顩i낰ƶo>ɧ?駵d=i|??I|?? |??I9AM.AIYIqO{>E5  E5 E5 E1 "E5 :*E5 L_:VE5 (N3ZE1 a= @a= @a= @a= @ M&,6ALA2!ݪ@2lֱ@2p<ٱ2Z">2H`?? ;໎? r MA??i2!ݪ@I2+:^;2CY:By> IiMb@Mb@Mb@ 9Cl?Dl/$Yd;>yOz@A )K AYG AbDVDC8y%%-\=ٔ-Q-->95 ?Y5 ?=5Ey5E=0<E=>AQ 5E5E=8?Q 9M5EXf)E|BYMkI>Q EM;yMQ IM\@EDIEA:iE;EV5yYɮ]AYuB*** querying acoustic contact ***iqiqfffgffrfereZe:e*e)额Bɢ<) >i)`g\;顡ihPo>ɧ˗??r=iJo@?IJo@? Jo@?I9 G-GyAI 9GyAYٛAAII)O=P>AAAAB>>BBBB =BBBZ;B7EIq bE˻ 4jE˶4rE0E5  E5 E5 'E1 "E5 :*E5 T:VE5 '4ZE1 BE5 3RH`F??y`?X#`` V? ?iRc@IR];RCYBy IbDuVD8Qy/;%'=ٔT˺Q->9Y=EyEe<E>Q 55#i9 )= Cu;9 9 i= M [Xp>ɧM ?M  =iM ZA?I Q IU ZA? U ZA?IQ A wAzA Ai Iy I O >Z&,\YmALAJ}L@JE@J<ٱJ-#>JH@7?@ܹ?ݗ?0輕c??iJ}L@IJ];JCYVByVIaimMb@Mb@Mb@iiii i9mx&1? rh~jtYmA`>ymCmļm@m-A mfA)m AiYm AE EE$E"Em:*E1]:VE4ZEa@a@a@a@bDvVD8y|9%V=ٔ2Q->9Y=EyE<E>Q 55@?Q 95nj){BYl>Q Ef;y~Q I\@DI{:i:5yɮ?Af!f!f!g!f)f)rf)e)re)Ze):e1*e1ewBɢe{=)a e>ii)mc};iiimاuPp>ɧu?u=iuB?yyI}B? }B?IAIIO>Թ BU ;>BQ BU IBU BBU =BQ BQ BU B;BU 7E^a&,ALAY~ByI  AbDVD8yEJ%MU=ٔMQ-M>9QYQ=UEyUEUEU>YQ 5e5]D?Q 9m5]Zl)]{BYiyiQ Im\@]DI]~:i]:]L5yɮAf!f!f!g!f!f!rf)e)re)Ze):e)*e1erBɢe<)a e֑>ia)mh;iiimup>ɧu?u̔=iuD?qyI}D? }D?IyDzDAAE EEE"EO:*E]t:VEZEBE !Qԁ g&,ALA @k@<ٱj(>H`t?@%?J1X }M?ߒ`&?@?i @I4];CYByIQiMb@Mb@Mb@ 9?ˡES㥛Y>y什/ݼd@A A)K AYG AbD`VD8y <%4=ٔ,ɻQ->9Y=EyEN=E>Q 55I?Q 9 5n){BY j>Q EH;y|Q I\@DIk;iJj;L5yɮ}AfAfAfAgAfAfArfIeIreIZeI:eI*eQ}mBɢ}:*<) h>i);iK氼 *q>ɧ %? =i OE?IOE? OE?IAE?AE?yI9IQOeV>E EE%E"E:*ER:VE 4ZEa@a@a@a@ԡ n&,ALAY~By~I < <bDfVD8y%`%%k=ٔ%Q--?9)Y)=-Ey-E5E5?9Q 5U5=M?Q 9e5=p)={BYiyiQ Im\@=DI=;i=;=P5yuTBɮuA}EB*** querying acoustic contact ***iifffgffrfereZe:e*ehBɢ<) u>i)ە;iksq>ɧ?=i8F?I8F? 8F?IԱIIO=B A <B2>BICBIBځBB =BBʺDB>;B7EBBJCBēCB =B =C 5  DAT read:  VDAT read: Teledyne Benthos DAT-900 Series E  E E E "E :*E x:VE ZE BE ?82H?`T?@ ?O#rw?. k*)?@ ?i2M@I2];2CY>ByBIIFp;)F;bDJYVDJ8yb+%bQ=ٔb9dYd=fEyfEf<Ej>hQ 5r5jR?Q 9r5j-s)j{BYpyrlzQ Ir\@jïDIj;ij;j5yzVBɮzAzEfffgffrfereZe:e*ecBɢH%<) V>i)Ɣ;iJJq>ɧ?yn=i%GH?!!I%GH? %GH?I) --I5)5II))O==aԁ A{&,xALA0:@:醳@:Ǧ<ٱ:tp*>:H$?_?O@@? 4:4?ƍ?i:@I:m];8Y^By^IimMb@Mb@Mb@iiii i9mOn?ˡEX9vYm>yimim-A mfA)iiYmp AbDlVD8y}%:=ٔ+\Q->9Y=EyE{<E>Q 55Y?Q 95v){BY >Q E*;y#lQ I\@ǯDI:iZ:5y ɮ A f)f1f1g1f1f1rf9e9re9Ze9:e9*eAE] E]E]$EY"E]:*E]L_:VE]4ZEYae@ae@ae@ae@颅]Bɢ7<) >i)Х;顉i܍p:r>ɧ?駕=iPJ?IPJ? PJ?IAvAzAԉIIO=Թ B ,>B HCB IB ЁBB =B B ɺDB B;B 7E&,+NBLA2Ҭ@2/̳@2pg<ٱ22*>2H`@0??zcI?@9=??i2Ҭ@I2<];0YRByRIXZAAbDZ`VDZ8yfy%f]=ٔj_Q-j>9hYh=jEynEn<En>pQ 5 5r[_?Q 95r^x)r{BYyiQ I\@r˯DIr;ir;rп5y!ɮ%6A!fAfIfIgIfIfIrfIeQreQZeQ:eQ*eQ颅XBɢ<)3ͼ >i);顉i ܱr>ɧ^@駕_c=iK?IK? K?IIyIO=Em EmEm%Ei"EmO:*Emx:VEm 4ZEiBEm Hஇ??`5J#?>V`<[?`?ia@I];CYByI iMb@Mb@Mb@ 9}?5^I?+ηZd;OYM>yvjA )b AY AbD~VD 8y6%,=ٔQ->9Y=EyE =E >Q 55]g?Q 95{)x{BY>Q E ;yjQ I\@ЯDIA:i(:5y)ɮ-A)fIfQfQgQfQfQrfQeQreYZeY:eY*eY颍RBɢ<) >i)Oҵ;顑iDQ!s>ɧ0 @駝=iְM?IְM? ְM?IAA؟AIIOF>:DAT read: MF Frequency Band qEi EmEm$Ei"Ei*EmT:VEm4ZEia}@a}@a}@a}@ԙ "O&,Ki ) ;  i Įs>ɧe@+=iJBBIBƁBBBBB:;B7EAIIO-,> E  E E #E "E :*E k:VE 3ZE BE xVH?@e? m}?-¿|t>?&?iV@IVr];TYbBybI f9xYx=zEyzEz,J=E~>Q 55 t?Q 9 5)X{BY y eQ I \@ׯDI6:i:w5yXBɮgAEf9f9f9gAfAfArfAeAreAZeI:eI*eIԹuGBɢ0Y<) >i);i=t>ɧ}@g=i(P?I(P? (P?ItIYIiOu>A +a&,oBLAY~By~II<)yj9M@A A)5 AYbD0VDı8y%@=ٔQ->9Y=EyEE>Q 55a|?Q 95ǃ)G{BY>Q E;y^Q I\@ܯDI ;i ;/5yɮAAE= E=E=$E9"E=:*E=~:VE=4ZE9aM@aM@aM@aM@fffgffrfereZe:e*eEABɢMZ<)i uƥ>iq)u;qqiuٳ}Ɵt>ɧ}#@}j>i}S?IS? S?IǼaIIO]>LDAT read: Features enabled [Bearing] DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 600 =Wy>=֐Cԑ3GzA 9 zAY% AB ->B B IB BB B B B #;B 7EԹ H&,BLAF@F @F<;ٱF,9>FHeP??Ӛ`w5`,?@"ÿ=g`U?cz?iF@IFˎ];FCYrByrIbDz`VDz8y<%V=ٔ w/Q- >9 Y = Ey E!l=E>Q 5%5 ?Q 9%5~)7{BY!y- YQ I-\@DI:i>:5y1ɮ5_A1fYfYfYgYfafarfaeareaZea:ei*ei颕i);顙iu>ɧ+@駭7 >iWT?IWT? WT?IԑbE4jErEA.EM EMEM%EI"EMO:*EM|:VEM 4ZEIBEM ! s&,pBLA @  @ :ٱ I ;> H@&?7? aչN F?@cXÿQB?w?i @I ]; CYByIbD)VD8yf<%%:=ٔ-ȇQ-5>99Y9==Ey=EE<EE>IQ 5U5M?Q 9U5M)M&{BYQy]*VQ I]\@MDIM ;iM7;Mc5yaɮe)AafffgffrfereZe:e*ee5Bɢem<)a e>ia)m;iiimquzu>ɧuX5@u>iuRV?qyI}RV? }RV?IyIIO >EU EUEU$EQ"EU:*EUrN:VEU4ZEQae@ae@ae@ae@I &,MBLA$Fzr@Fk@FxfٱFI=>FH?L?@E?ѕÿL? ? pt?iFzr@IF];FCYNByNI PPi%Mb@Mb@Mb@!!!! !9%x?/$y&1Y%K>y%%`e!! !)% A!Y% AbD=VD=8yM%MX=ٔUBQ-U>9QYY=]Ey]E]&=Ee>aQ 5m5e?Q 9m5e6)e{BYui>Q Eu;yugMQ Iu\@eDIe:iei));顑ijMVv>ɧ=@駝>i0X?I0X? 0X?IIYiIO=BIAIB])>BYB]IB]ƁBBYBYBYB];B]7Eԙ Ee  Ee Ee #Ea "Ee ,:*Ee L_:VEe 3ZEa BEe VHk?g?`PHEy?ÿ.e??`fp?iV^د@IV`];VCY^BybIbDjVDj8yW<%O=ٔKQ- >9 Y = Ey EO=E>Q 5E5?Q 9E5){BYAyE(JQ IE\@DI:i:5yQɮUVAQfffgffrfereZe:e*e *BɢO=) %;>i!)%;!!i%B=v>ɧ=F@={>iE$Z?AAIE$Z? E$Z?IAAYA]?IIO=! dz&,3BLA6>@67@6M>ٱ6eB>6H`'? =?nͭ?`3Ŀr?X'? l?i6>@I6];6CYBByBI|i=Mb@Mb@Mb@9999 99=V-? rhI +Y=>y=C=949=A =A)=K A9Y= A IM<bDUVDU}8ye:<%eD=ٔeQ-e>9iYi=mEymEu<Eu>yQ 55}?Q 95})}{BY1>Q E ;y,;Q I\@}DI}:i}:}5yZBɮ;AEfffgffrfereZe:e*e#Bɢ=) >i);iR\w>ɧO@I<&>i+\?  E EE&E"E[:*EX:VE4ZEa@a@a@a@I +\? %+\?I!!AYIiIyO>I} *entering command modeBM '>BI BM IBM ˁBBI BI BI BM ;BM 7EB HCB HCB B =B =C 74ԁ &, CLA2Ω@2@2Ļٱ2(D>2H_?L=?m{ ?Ŀ Sx?`w?h?i2Ω@I2 ];2CY>ByBIIF=)F=F=F=bDJVDJ|8yZ{ =%ZW=ٔZ>Q-Z>9\Y\=^Ey^Eb =Eb>dQ 5j5f?Q 9j5f )fzBYhyj7Q Ij\@fDIf:if:f5yr\BɮrArEfff g f f rf e reZe:e*eEBɢEe8=)Er EQ>iA)M'ɧU8X@UM,>iUƕ^?Iƕ^? ƕ^?IUDAT read: U&DAT read: user:1> ](setting verbose to 3AID%AAzD%@AE- E-E- E)"E-:*E-[:VE-3ZE)BE- 1 &DAT read: user:1>  TDAT read: Verbose | 3  set verbose to 3 6setting DatVerbose to 27440Y _&,$CLA1f@@ٱnG>H@(?` ?@R5@?`PĿ~?X? d?if@I];CYByIiMb@Mb@Mb@ 9Cl?i|?5yqt(A  A)5 AY\ AbDVDyk% =ٔEQ->9Y=EyE<E> Q 55 񼌊?Q 95 F) zBYݽ>Q Ee;ye.Q Ie\@ DI 4ia)e; ɧu?c@u:5>iu a?qqI a?  a?IAyAzAzA]&DAT read: user:2> eTDAT read: DatVerbose | 27440 m.set DatVerbose to 27440m6setting transmit power to 8AIIO >E5 E5E5%E1"E5I:*E5i:VE5 4ZE1a=@a=@a=@a=@ԉԱ d&,>CLAY~By~IbD VD p8y=%%=ٔ%Q-%?9)Y)=-Ey-E-E-?1Q 5=55sČ?Q 9E55.)5zBYAyAQ IE\@5DI5/;i5L ;5B5yIɮMAQ&DAT read: user:3> TDAT read: TxPower | 8 (Max) .set transmit power to 86setting local address to 11B*** querying acoustic contact ***iif f f g f f rfereZe:e*eEBɢEc>=)I M>iI)Mixɧ]i@] %;>i]Xb?YYI]Xb? ]Xb?IaԙAAAAB>BGCBIBՁBB =BBȺDB;B7EAIIO >m &DAT read: user:4> u TDAT read: LocalAddr | 11 u .set local address to 11} \Setting time to: 4:35:25 And date to:12/5/2025EU  EU }EQ EQ "EU :*EU k&:VEQ ZEQ BEU ; @>j@>(ٱ>"L>>H ??@ƺY޿@t?ſ@?`l?S\?i>@I>];>CYNByRI TTTVAbDZVDZ`8y ό% L=ٔ Q- >9Y=EyE=E>!Q 5-5%dΌ?Q 9-5%)%zBY)y-'Q I-\@%DI%::i%:%5y9ɮ=A9fYfYfagafafarfaeareiZei:ei*ei额 Bɢ2=) >i)z<顡iF\z>ɧxr@駭A>ihd?Ihd? hd?I&DAT read: user:5> NDAT read: Fri Dec 5, 2025 04:35:25 fLocal DAT time set to Fri Dec 5, 2025 04:35:25 2Acoustic response timeout6setting remote address to 8%1AIIO>I &,MHrCLA&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.$Fyl@Fe@FE4BٱF0O>FHp=?X?Ϻ&޿?ƿ`cF?f? SX?iFyl@IF?];FCYRByRIi-Mb@Mb@Mb@)))) )9-Gz?ktMbY-p>y- 0--7@-A -A)))Y- A bDVDm8yڃ<%>=E EE&E"E:*E.:VE4ZEa @a @a @a @ٔ mQ- >9Y=EyE=<EE>qQ 5}5uٌ?Q 95u)uzBY¾>Q E;y9Q I\@u DIub:iu(:u5y_BɮAfffgffrfereZe:e*ef6@QuBɢ-=) r?i) <顑i={>ɧ{@駝gI>if?If? f?Im yAIIOf>&DAT read: user:7> BDAT read: Tx time:04:35:25.6791 $Ping request sent.B ECB IB BB B B ǺDB $;B 7E&,+CLA2y@2ݹ@2yPٱ2D0Q>2H u?? sBݿ`?`a]ƿ?@?U?i2y@I2^];2C9TYT=VEyVEZ)=EZ>\Q 5b5^㌊?Q 9b5^)^zBY`ybsQ If\@^DI^:i^:^5yhɮhhfxfxfxg|f|f|rf|@~ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@pTransitioning to terminal guidance at range 62.299999 m @1Ae re Ze :e *e `6@=Bɢ=VI=)A E8?iA)EE$ɧMt@MX O>iMwh?QQIUwh? Uwh?IYaaaai5AI5A=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251709ԩE% E%E%#E!"E%g:*E% H:VE%3ZE!BE%;a-2E%;a5JE%;a5:E%;a5AII On>  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5029591&,CLAN`@NBZ@NK`ٱNR>NH???N@dܿ?`ƿ`; ?-? R?iN`@IN}];NCYZByZI^=^p=pbDjVDj8y %<ٔQ-%>9)Y1==Ey=EM#=EM>aQ 5}5eZ?Q 95e')ezBYyQ I\@eDIe;ie9;eo5yɮ5Afffgffrfbf@1ACompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeereZe:e *e 57@颭Bɢ/=) |?i),<项i#¼:}>ɧ˅@0V>iUj?IUj? Uj?I Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754960AYIaIqOY>1E EE"E"Ey:*Ega:VE(3ZEa%@a%@a%@a%@a 9&,IۿCLA2׳@2к@22H?`? ȹ~ۿO? ƿ@j?`')? 7R?i2׳@I28];2CY:By:I XG%/{A99eQ9e/{AYeMAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007065iMb@Mb@Mb@ 9?Mbyt(A  A)Y3 AbDMVDMx8yq=%1=ٔQ->9Y=EyE=E>Q 55?Q 95h)zBY >Q E  ;y Q I\@DI"\;iV;i5y%aBɮ%A%EqL==~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalEB*** querying acoustic contact ***iAiADMMAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1EU UAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFU]Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlF]]Initialize.F]]Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1G] ]Initialize.qG]G]qE]geh7geh7FeeAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1GmmDReached init depth of 65.029037 m.jgirgufBu$Terminal guidance.qEuGuuInitialize.udInitializing internal variables to default values.uZTransitioning guidance mode to: UNINITIALIZED iq}DRollout timeout set to 300.00 sec.}VIIR filter is initialized with decay: 0.00.bTransitioning guidance mode to: TERMINAL_GUIDANCE i??Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAUninitialize.AA>Uninitialize WaypointComponent.eBA<B>BBIBBBBBB9;B7EreZe:e*e@7@BԑU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259162 bEJ4jE3rEʲ0E%  E% E% %E! "E% g:*E% E7:VE% 4ZE! BE! a5 2E! a5 JE% S;a= :E% S;a= 1&,CLA2M@2F@2Oqrٱ2:RT>2H??` ڿ ~?@+ǿ`M?X?@O?i2M@I2];2CYBByBIbDJVDJ8y % j=ٔPQ->9 ?Y ?=EyE(=E>!Q 5-5%?Q 9-5%)%zBY1y5WQ I5\@%DI%e:i%::%t5y9ɮEAAheк@hehahihigigijgirgqeqreqZeqԹ:e*e7@ɢ 4<) Wi)},<i¼ig?)L? (kpHeading = 0.800000I; %(kiHeading = 0.004000% I%к@I%AAzAAAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510971A=IQIaOmW>9 = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762965o[&,gCLAF@F@F/ɁٱF"Y>FH A?)#?p ٿǥ?@Wǿ`8?`?@G?iF@IF];FCYn BynI pptvAimMb@Mb@Mb@iiii i9mK7A?:vI +Ym >ymԼm94imA m A)m AiYm AbDVD8yf<%B=ٔ"Q->9Y=Eyx=E>Q 55E EE$E"E:*EC:VE4ZEa@a@a@a@{?Q 95)zBY>Q E ;yQ I\@$DI+;i;"5y]dBɮ]A]EhhhhhggjgrgBereZe:e*e1k8@[>[>"[@*[ƹ@% Bɢ%E,<)) -Pi))M|,Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015008qBu >Bu DCBu IBu BBq Bq Bu ƺDBu m;Bu 7Eԙ B&, DLAY~ By~I  4=bDVD8y%G%%R=ٔ-Q-->9)Y)=-Ey)5E5>9Q 5E5=?Q 9E5=Щ)=zBYAyAQ IM\@=)DI=:i=u:=5yQɮUAQhyhyhyhyhygygjgrgereZe:e*e8@[["[*[颽 Bɢ&<) i) m,<iļivR?IIqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267012E EE%E"E>:*E&p:VE 4ZEBEn &,@+DLAhei@e@e!ٱe<m>eH`?L?W~/ؿ?Xʿc?\?-$?iei@Ie];eCY} By}IiMb@Mb@Mb@ 9x&?I +~jtY7>y9D @A 5 A)5 AY\ AbDVD8y}I;%}=ٔԆQ->9Y=Eyh=E>Q 55+?Q 95)zBY>Q E;y޾Q I\@/DI ;i; 5yɮAhhhhhggjgrg݂BereZe:e*eK9@[ >[ >"[ E@*[ E$@ɢ%)<)! %Zi!)%^,<))i-żi-T8?11I1I1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771098E EEE"E,:*Ega:VEZEa@a@a@a@)e:WQ ^A I  BDAT read: Rx Time:04:35:28.1628  TRx dataTimestamp_ set to:1764909329.068461 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026800I) OE >P&,EDLAz0@z*@zٱzjo>zH?a]?͹ V?׿j ?ʿ?ϳ??iz0@Iz];zCYBy II%>)p<==A@AA@AB% >B!B%IB%BB% =B!B!B%;B%7EBECBECBCB =B =C5AbDVDo8yVu<%Z=ٔQ->9Y=Ey7,=E>Q 55h6?Q 95)zBYy־Q I\@4DI;i;P5ygBɮA=B*** querying acoustic contact ***i9i9hAhAhAhAhIgIgIjgIrgieqreqZeq:eq*e}9@[["[*[@ɢF.<)  :i)d,<iGżi"?II!))IIa%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275763ԑD=D4=E EEE"E:*Ec:VEZEBE3y&,W_DLAYByI))bD5VD5e8yE<%EQ=ٔMQ-M>9IYQ=UEyQUEU>YQ 5e5]>B?Q 9e5]I)]zBYiyiQ Im\@]9DI]:i]:]5yqɮuAqԙhhhhhggjgrgereZe:e*e:@DAT read: 04:35:28.1628 LVL= 31216, 32753, 32754, 32755, AGC= 64, IDX= 220,-0.38,-2.604, 1.820, 2.812, 3.110, PHS= 0.672,-1.245,-0.341, RAW= 118.1, 11.0, CAL= 119.1, 12.2, ROT= 30.9, -12.2 Ygot valid direction response: 04:35:28.1628 LVL= 31216, 32753, 32754, 32755, AGC= 64, IDX= 220,-0.38,-2.604, 1.820, 2.812, 3.110, PHS= 0.672,-1.245,-0.341, RAW= 118.1, 11.0, CAL= 119.1, 12.2, ROT= 30.9, -12.2 PDAT read: Bearing 144.3, 32.1 (Local) ~Local bearing/azimuth received: Bearing 144.3, 32.1 (Local) DAT read: Range 11 to 50 : 59.7 m (Round-trip 79.6 ms) speed 0.0 m/s %R#Rx 1: Read range and direction messages.[ [ "[ *[ MBɢMF~7<u\direction in FSK: [0.838686,0.501943,0.211325]uFpublishing direction and range info)I  }6 @ }^ Z>)} ?I}^ Zyy}d?:/^}2uq? }>j)}DI} ?i ؕ ? IIi}^ Zyy=T****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.@zA@zA- &DAT read: user:8> 5 BDAT read: Tx time:04:35:29.5291 5 $Ping request sent.5 E  E E "E "E *E a9:VE (3ZE a @a @a @a @a&,3yDLAY|y|iMb@Mb@Mb@ 9x?I +MbYK>y@A  A)Y AbDVDz8yj:%A=ٔQ->9Y=EyE>Q 55M?Q 9 5)zBY >Q E ;y FھQ I \@>DI:it:o5yɮEiiedDLAjmB"jmB:j="p}$H@S=@WΣu")@pz?ʌ?\ ?*j ?2j^ Z*pqcK@_@xU>4@pȿcm?f5|aN?iSi?j@ j^BiO?i j0Bjh.B?jjrjkBzj ƣ>m addTargetRange:: Added new target pos. range: 59.700001 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 "im*im} Added new target pos. range: 59.469139 m, bearing: 6.505715 deg, lat: 36.779413 deg, lon: -121.859622 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 :iDNOT Ignoring new targets: 59.47 m.2iPowering the camera and arming the capture device at range: 59.70 m.i"i*i ProNav pure pursuit: ac range: 59.469139 m, nav range: 58.883888 m, bearing: 18.327223 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 334.493297 deg, new cmd heading: 18.327223 deg. HeadingCmd: 0.319870 target range: 59.469139 and range: 59.70 m.h ƣ>hhhhiggjgrgBereZe:eM@*e.V?[U>[U>"[U@*[Uzk@iɢm7<) I ƣ>I)߅<߅<checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252318B%>B%ECB!B!B!B!B!B%};B%7E^AV݅QIIO>y $&,IDLA2@2@2wٱ2\>2HJP?@?N 9yԿP?`3BɿN?^?UA?i2@I2];0Y: By:I <<@@bDFVDF{8yN%Nb=rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503007ٔva;Q-v>9tYt=zEyxzD=Ez>|Q 55~WX?Q 95~>)~zBY y ¾Q I \@~BDI~u:i~>:~5yjBɮAE:i9=DNOT Ignoring new targets: 59.47 m.2iAEPowering the camera and arming the capture device at range: 59.70 m.iA"iM;*iM;U ProNav pure pursuit: ac range: 59.469139 m, nav range: 58.782230 m, bearing: 18.410853 deg, approach rate: -0.277397 m/s, LOS rate: 0.228598 deg/s, cmd heading: 18.327223 deg, new cmd heading: 18.410853 deg. eHeadingCmd: 0.321330 target range: 59.469139 and range: 59.70 m.he^>hahahahaiigigijgirgieqreqZeq:eq*e}?[["[*[߼@颭BɢP1&<) @i)ܖ,<顱iǼi}>I^>IYE EE&E"E>:*E?:VE4ZEBEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756213 Y*&,DLAY By IiMb@Mb@Mb@ 9tV?~jthMbY>yD @VA )Y A <<bDVD8y;%)=ٔQ->9Y= Ey  E >Q 55e?Q 95)zBY>Q E%;y%Q I%\@HDI:i:5y)ɮ-A):iQ]DNOT Ignoring new targets: 59.47 m.2iY]Powering the camera and arming the capture device at range: 59.70 m.iY"iel;*iel;u ProNav pure pursuit: ac range: 59.469139 m, nav range: 58.650776 m, bearing: 18.508642 deg, approach rate: -0.277510 m/s, LOS rate: 0.206903 deg/s, cmd heading: 18.410853 deg, new cmd heading: 18.508642 deg. uHeadingCmd: 0.323037 target range: 59.469139 and range: 59.70 m.hue>hyhyhyhyiygygyjgrgBereZe:e*e9?[>[>"[p@*[V@颽Bɢn(<) vi),<iȼi->Ie>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007025@=@=E EE#E"E[:*ER:VE3ZEa@a@a@a@^AN؅II!OM>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2595971&,DLA6@6Y@6l~ٱ6QqL>6HW??cҿ ? ǿ`׏?b?`M\?i6@I6];6CY>By>IbDFVDF8yN<%R{=ٔRV;Q-R ?9PYT=VEyTV=EV ?XB`Abp<Bf>BdBdBdBf =BdBfǺDBfx;Bf7EQ 5^5Zn?Q 9n5Z)ZzBYpyr4Q Ir\@ZKDIZ;iZ;Z5ytɮvAt:iDNOT Ignoring new targets: 59.47 m.2i%Powering the camera and arming the capture device at range: 59.70 m.i!"i%`;*i%`;5 ProNav pure pursuit: ac range: 59.469139 m, nav range: 58.558578 m, bearing: 18.573377 deg, approach rate: -0.279677 m/s, LOS rate: 0.196678 deg/s, cmd heading: 18.508643 deg, new cmd heading: 18.573377 deg. =HeadingCmd: 0.324167 target range: 59.469139 and range: 59.70 m.h=)>h9h9h9hAiAgAgAjgArgIeIreIZeI:eI*eU ;?[q[q"[q*[u|@!ɢ%h0<)) -k;i))-y,<))i-djɼiUl>QYI])>IYQychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511009^AuIIO>E EE%E"E:*Eg:VE 4ZEBE 2H`޿?-?fS bѿ?.?ǿ &I?p? 5`?i2@I26];0@YBByBIIF=)F=J=J=bDNVDN8yVb%VI=ٔVI;Q-Z>9XYX=ZEyX^=E^>`Q 5f5bz?Q 9f5b)bzBYdyfpQ Ij\@bPDIb :ib~:b3#5ynlBɮn.A5B*** querying acoustic contact ***i1i1:iamDNOT Ignoring new targets: 59.47 m.2iimPowering the camera and arming the capture device at range: 59.70 m.ii"iu[;*iu[; ProNav pure pursuit: ac range: 59.469139 m, nav range: 58.442368 m, bearing: 18.652743 deg, approach rate: -0.280605 m/s, LOS rate: 0.192021 deg/s, cmd heading: 18.573376 deg, new cmd heading: 18.652743 deg. HeadingCmd: 0.325552 target range: 59.469139 and range: 59.70 m.h>hhhhiggjgrgereZe!:e!*e-@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766763[["[*[@Bɢb[<)  i)H,<iʼi >  I >I1Ա^AAxAzAvAI I)O5> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014959 E  E E "E "E :*E i:VE (3ZE a @a @a @a @=&,ByDLA6ʞ@6@6Uٱ6KJ>6H`-?@@?`aYпM?ǿ?4?^?i6ʞ@I6];4YBByBIli Mb@Mb@Mb@     9 y&1?:vy T t  @ A  A)  Y \ A!%BAbD%VD%8y5k=%5B=ٔ=WA;Q-=>9AYA=EEyAE=EE>IQ 5U5M?Q 9U5M)MzBY]>Q Ee$;yeݘQ Ie\@MTDIM,;iM,;M&5yiɮmAi:i DNOT Ignoring new targets: 59.47 m.2i5Powering the camera and arming the capture device at range: 59.70 m.i9"i=R;*i=R;M ProNav pure pursuit: ac range: 59.469139 m, nav range: 58.331791 m, bearing: 18.730999 deg, approach rate: -0.259966 m/s, LOS rate: 0.184327 deg/s, cmd heading: 18.652743 deg, new cmd heading: 18.730999 deg. UHeadingCmd: 0.326918 target range: 59.469139 and range: 59.70 m.hUa>hQhyhyhyiygygyjgrgBereZe:e*e@:g@[>[>"[S@*[@Bɢ7.<) :i)`N,<i ʼi a>11I5a>I1 E&Changing to mode: 2 imѐC/Gv|AE9Ev|AYMLAy 1?-Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267888]9@Y @a@e0@a@myA@mxAB>BBBBBBB{;B7E9a ^A #A ؟@I I O >E&,vELAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5190666 @6b@6n@ٱ6IM>6H`"? ?KӮpϿ ci?[Wȿ`)?|?_[?i6 @I6y];6CXY^By^IbDjVDj8yrы%rG=ٔvO;Q-v>9v">Yv">=zEyzEz2=Ez>|Q 55~܏?Q 95~)~zBYy Q I \@~XDI~:i~:~z*5yɮ=A:i9EDNOT Ignoring new targets: 59.47 m.2iAEPowering the camera and arming the capture device at range: 59.70 m.iA"iMuY;*iMuY;] ProNav pure pursuit: ac range: 59.469139 m, nav range: 58.222828 m, bearing: 18.805917 deg, approach rate: -0.275993 m/s, LOS rate: 0.190115 deg/s, cmd heading: 18.730998 deg, new cmd heading: 18.805917 deg. ]HeadingCmd: 0.328225 target range: 59.469139 and range: 59.70 m.h]! >hahahahaiagagajgirgieireqZeq:eq*eu~@颥Bɢx <) `i)+<顩io4˼i! >I! >IbE 4jEm4rEϚ/Eq EuEu%Eq"Eq*EuT:VEu 4ZEqBEu; 9 MHK&,iR/ELAYBy I iuMb@Mb@Mb@qqqq q9ux&1?yutuTu @uA q)u AqYu= AbDVD8y=%1=ٔQ->9n>Yn>=Ey EE>Q 55}?Q 95)zBY>Q E);yQ I\@]DI;$;i";.5yoBɮAE:iDNOT Ignoring new targets: 59.47 m.2iPowering the camera and arming the capture device at range: 59.70 m.i"i2O;*i2O; ProNav pure pursuit: ac range: 59.469139 m, nav range: 58.105862 m, bearing: 18.889187 deg, approach rate: -0.253933 m/s, LOS rate: 0.181144 deg/s, cmd heading: 18.805917 deg, new cmd heading: 18.889187 deg. HeadingCmd: 0.329679 target range: 59.469139 and range: 59.70 m.h˨>hhhhiMBDAT read: Rx Time:04:35:32.0113 MTRx dataTimestamp_ set to:1764909332.846778Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024018ggjgrgłBereZe:e*etV @B9ɢuP0<)A E;iA)E,QQIU˨>IQE EE'E"EI:*Ea9:VE'4ZEa@a@a@a@_5@ @@@5@i^A #ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275885I A) A) B5 >B1 B1 B1 B5 =B1 B1 B5 ;B5 8EII OU >1R&,3IELA2 @2W@2 ٱ2dL>2HR>??!@˿Ѣ? Uȿ?`?]?i2 @I25];2CY>By>I DF<bDJVDJ8yND%Rq=ٔR;h!h!h!h!i!g)igjgrgereZe:e*e * @Bɢ"<) i ) A+<  i S̼i-oR>))I-oR>I1_3@ @@ 5@@=@=ԙ}DAT read: 04:35:32.0113 LVL= 25136, 32753, 32754, 32755, AGC= 58, IDX= 428, 0.31, 0.562,-1.359,-0.242,-0.066, PHS= 0.730,-1.249,-0.221, RAW= 121.3, 8.7, CAL= 122.2, 9.8, ROT= 27.8, -9.8 Ygot valid direction response: 04:35:32.0113 LVL= 25136, 32753, 32754, 32755, AGC= 58, IDX= 428, 0.31, 0.562,-1.359,-0.242,-0.066, PHS= 0.730,-1.249,-0.221, RAW= 121.3, 8.7, CAL= 122.2, 9.8, ROT= 27.8, -9.8 PDAT read: Bearing 152.2, 28.3 (Local) ~Local bearing/azimuth received: Bearing 152.2, 28.3 (Local) DAT read: Range 11 to 50 : 58.5 m (Round-trip 78.1 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.871673,0.459581,0.170209]Fpublishing direction and range infoyIMo?YGīi?rl?YMjBIM0bII I)M:IMH:?iM;ߟMMbMP~@M|>M@ M%/>)MUl>IM%/IIM{2;0?el他?N<ׯO? M3<)MIMUl>iM%/IIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E EE#E"Em:*Ec:VE3ZEBEV 3TX&,bELAJe@J@JUٱJ I>JH&X?B? 즧#ɿg?*]ȿ|?` ?`Ra?iJe@IJ ];JCYrByrIbDVD8y%[%-C=ٔ-j;Q-5>91Y1==Ey= EEb=EM>QQ 5]5U?Q 9]5UP)UzBYYy]qQ Ie\@UeDIU;iU;U&55yiɮmAiiiogVELAjiB"jiB:j/z>"peI@7#2:@q~#@po?YGīi?rl?*jUl>2j%/*pSFK@8>+@;.@p$M?u.e?o֢?jYA j0ZBiu?idDTjBjjPCj̘BrjfBzj6>&DAT read: user:9> BDAT read: Tx time:04:35:33.2291 $Ping request sent.hhhhiggjgrgereZe:e@M@*e?mBɢm<) i)++<顱i̼iʣ>Iʣ>Ii}0@ @@0@ԉii Im Au checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251124^A} I I O >E  E E &E "E I:*E =:VE 4ZE a @a @a @a @Թ }^&,P|ELA6@6e @6Zٱ6J/G>6H o?5Q?@ǿ@?@t.ȿu?೽? ee?i6@I6.];4YBByBIIF=)F;F=F=iMb@Mb@Mb@ 95^I ?y&1I +Y>y`e94@A )K AY AbD-VD-8y=R<%=I=ٔ=>;Q-E>9AYA=EEyEEM=EM>QQ 5U5Uɸ?Q 9]5U)UzBY]V>Q Ee2;yeNhQ Ie]@UhDIUF;iU[;U85ymrBɮmAmEB*** querying acoustic contact ***ii:i5DNOT Ignoring new targets: 58.27 m.2i1=Powering the camera and arming the capture device at range: 58.50 m.i9"i=*;*iE*;M ProNav: ac range: 58.274860 m, nav range: 57.547848 m, bearing: 18.326583 deg, approach rate: -0.246313 m/s, LOS rate: 0.149203 deg/s, cmd heading: 19.095587 deg, new cmd heading: 19.219844 deg. iM;ԑHeadingCmd: 0.335450 target range: 58.274860 and range: 58.50 m.h >hhhhiggjgrgЂBereZe:e*eo?BɢIg<)! %:i!)%+QQI] >Iachecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503608 .@  @ @ o0@ B>BBIBBB =BBB;B'8EBBBœCBBC\5^A- I I O > ee&,ELAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548756@6މ@6hٱ6D>6H8?`2~?ſi? ȿ`Om?@w?h?i6@I6x];6CYbBybIhj@AbDjVDju8yv%vO=ٔzh;Q-z>9xYx=zEyzE~=E~>Q 5 5q?Q 9 5)zBYyXQ I]@lDI:i,:<5yɮ A!:iAEDNOT Ignoring new targets: 58.27 m.2iIMPowering the camera and arming the capture device at range: 58.50 m.iI"iU3;*iU3;e ProNav: ac range: 58.274860 m, nav range: 57.446835 m, bearing: 18.385850 deg, approach rate: -0.267388 m/s, LOS rate: 0.157159 deg/s, cmd heading: 19.219845 deg, new cmd heading: 19.338587 deg. ieϏ;mHeadingCmd: 0.337522 target range: 58.274860 and range: 58.50 m.hmϬ>hihihihiiigqgqjgqrgqeyreyZey:ey*e?颭BɢR<) i)\+<顱ivͼiϬ>IϬ>IDU@AzDUAAEe EeEe%Ea"Ee:*Ee|;:VEe 4ZEaBEeI k&,ʋELA YByIiuMb@Mb@Mb@qqqq q9uyutqu @q uA)u AqYu AbDVD[8y4 %1=ٔQ->9Y=EyEE>Q 55Y͍?Q 95t)zBYٓ>Q E7;yhQ I]@pDI:iR:$@5yɮA:iDNOT Ignoring new targets: 58.27 m.2iPowering the camera and arming the capture device at range: 58.50 m.i"i+;5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258987i*i+; ProNav: ac range: 58.274860 m, nav range: 57.333485 m, bearing: 18.454933 deg, approach rate: -0.245996 m/s, LOS rate: 0.150222 deg/s, cmd heading: 19.338588 deg, new cmd heading: 19.477026 deg. iv;HeadingCmd: 0.339938 target range: 58.274860 and range: 58.50 m.hc >hhhhiggjgrgBereZe:e*e?=Bɢ=M1<)a e˼ia)e*qqIuc >IqEm EmEm"Ei"Emغ:*EmA:VEm(3ZEiau@a}@a}@a}@(@ @@0@ԙ ^A=  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510875B A <B >B B B B =B B ƺDB ǁ;B >8EAm eAIy I O >r&,IELA(:~@:x@:69ٱ:#>>:Hë??N¿ )?}ǿ>`?r?i:~@I:'];8Yj Byj I llllbDvVDv<8yG=%a=ٔ59%^>Y%^>=%Ey%E%M=E%>)Q 555-Ս?Q 9=5-)-zBY9y=JQ I=]@-tDI-:i-:-OC5yEuBɮEAME:iiuDNOT Ignoring new targets: 58.27 m.2iquPowering the camera and arming the capture device at range: 58.50 m.iq"i}$;*i}$; ProNav: ac range: 58.274860 m, nav range: 57.242744 m, bearing: 18.506940 deg, approach rate: -0.250781 m/s, LOS rate: 0.143961 deg/s, cmd heading: 19.477027 deg, new cmd heading: 19.581206 deg. i;HeadingCmd: 0.341757 target range: 58.274860 and range: 58.50 m.h>hhhhiggjgrgereZe:e*e?5Bɢ52<)1 5;i1)=S+<99i=μiE>AAIE>IIԁ&@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762818^AD)D-<EE EEEE%EA"EE:*EEVL:VEE 4ZEABEE'x&,nELAB@B@B ;ٱB>>BH@C?@OO?`R j`i/?sǿ47a ? Xs?iB@IB9];BCYJ"ByJ I TTbDVVDVW8\ybc<%bP=ٔf;Q-f>9f>Yf>=fEyfEjH=Ej>)Q 555-ߍ?Q 955-)-zBY1y=]hhhhiggjgrgereZe:e*e :@Bɢr2<) ;i)+<i_[μi>I>I_$@ @@0@!^A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267408I I O >A EU  EU EU $EQ "EU =;*EU 1]:VEU 4ZEQ a] @a] @a] @a] @_~&,ELAYbByb IiUMb@Mb@Mb@QQQQ Q9U(\? rh:vYUz>yUCUTU @UpA Q)U5 AQYU AbDm}VDm 8y}fx%}?=ٔQ->9Y=EyEE>Q 55鍊?Q 95)yzBY>Q E6;y87Q I]@{DI ;ia;xJ5yɮAB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 58.27 m.2iPowering the camera and arming the capture device at range: 58.50 m.i"i!;*i!; ProNav: ac range: 58.274860 m, nav range: 57.035320 m, bearing: 18.622028 deg, approach rate: -0.255090 m/s, LOS rate: 0.141267 deg/s, cmd heading: 19.694352 deg, new cmd heading: 19.811801 deg. iD;HeadingCmd: 0.345781 target range: 58.274860 and range: 58.50 m.h; >hhhhiggjgrg ‚Be re Ze :e *e@ Bɢ%[&<)! %{i!)-+QYI]; >IYIu>q}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520181K!@ @ @ /@ BM>BIBIBIBM =BIBMǺDBM;BM88Eq^Am #ԩ IA IQ Oe >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770877TӅ&,oFLA2Ѿ@2>@2;ٱ2}=>2H 5?R?`-@!I?Eǿ`Cu ?s?i2Ѿ@I2v];2CY:!By: II>R>)>49TYT=VEyVEVƕ=EZ>XQ 5^5Z?Q 9b5Z)ZrzBY`ybQ Ib]@ZDIZ~:iZ:ZM5yfxBɮjAh:iimDNOT Ignoring new targets: 58.27 m.2iiuPowering the camera and arming the capture device at range: 58.50 m.iq"iu;y*i; ProNav: ac range: 58.274860 m, nav range: 56.938374 m, bearing: 18.672390 deg, approach rate: -0.248369 m/s, LOS rate: 0.129243 deg/s, cmd heading: 19.811802 deg, new cmd heading: 19.912697 deg. il;HeadingCmd: 0.347542 target range: 58.274860 and range: 58.50 m.h >hhhhiggjgrgereZe:e*e@E EEE"E>:*E;J:VEZEBEQQIe >I-@) @)@-0@)ԩ}BDAT read: Rx Time:04:35:35.7102 TRx dataTimestamp_ set to:1764909336.627152checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024261^AiIIO> &,`2FLAMtH@MA@M̡;ٱM=>MH@Z? Z?<WiS?`@ǿ*4|?`|s?iMtH@IMP];MCYyi5Mb@Mb@Mb@1111 195> ףp=? rhy&1|Y5>y15`15ZA 5A)11Y5p AE@AAbDMfVDM 8y]W:%]1=ٔ]Jp;Q-e>9aYa=eEym Em/=Em>qQ 5}5u?Q 9}5u )umzBY}9>Q E9;yQ I]@uDIu:iu:uQ5yɮA:iDNOT Ignoring new targets: 58.27 m.2iPowering the camera and arming the capture device at range: 58.50 m.i"i;*i;checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274976 ProNav: ac range: 58.274860 m, nav range: 56.820656 m, bearing: 18.732347 deg, approach rate: -0.263064 m/s, LOS rate: 0.134263 deg/s, cmd heading: 19.912698 deg, new cmd heading: 20.032860 deg. iu;HeadingCmd: 0.349639 target range: 58.274860 and range: 58.50 m.h>hhhhiggjgrgBereZe:e*e E @$Bɢ$<) @i)*<iEμi>I>IE% E%E%'E!"E%:*E%1]:VE%'4ZE!a=@aE@aE@aE@Ie@a @i@m/@q@@zAG{A%9%{AY-Ai^A Ia Iq  DAT read: 04:35:35.7102 LVL= 24432, 32753, 32754, 32755, AGC= 56, IDX= 433,-0.33, 1.822,-0.079, 1.201, 1.289, PHS= 0.636,-1.323,-0.132, RAW= 127.1, 9.6, CAL= 127.3, 10.8, ROT= 22.7, -10.8  Ygot valid direction response: 04:35:35.7102 LVL= 24432, 32753, 32754, 32755, AGC= 56, IDX= 433,-0.33, 1.822,-0.079, 1.201, 1.289, PHS= 0.636,-1.323,-0.132, RAW= 127.1, 9.6, CAL= 127.3, 10.8, ROT= 22.7, -10.8  PDAT read: Bearing 163.0, 22.9 (Local)  ~Local bearing/azimuth received: Bearing 163.0, 22.9 (Local)  DAT read: Range 11 to 50 : 57.7 m (Round-trip 77.0 ms) speed 0.2 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.906197,0.379071,0.187381] Fpublishing direction and range infoyy } Yv?d\NB?0i?Y} fBy } p_y y y )} 8I} "?i} X} +} @} +>} 2@ } A>)} b>I} Ay y } -gGN?Rw9?Qi} Ay y  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.O >A5 AAA5 AAB= >B= FCB9 B9 B= =B9 B9 B9 B= <8Eԑ &,'LFLAZ@Zе@ZN) <ٱZP>>ZH?r?2;u`˲`=\?ǿ?r?iZ@IZe];ZCY/By IbDAVD8y==%=M=ٔ=>;Q-=>9AYA=EEyE#EM=EM>qQQ 5}5U;?Q 9}5Ul)UhzBYyQ I]@UDIU>:iU2:UEU5yɮEAiiSHFLAjeB"jeB:j긐>"pb J@5@:=r%@pYv?d\NB?0i?*jb>2jA*pr`nbJ@B/%/@Q ~T,@pH?2*L?wU@Z?jxA jUBi)?i'y&jBju?j'y&jBrj^Bzj>5 addTargetRange:: Added new target pos. range: 57.700001 m, deltaT: 3.780054 s, deltaX: -0.799999 m, approachRate: -0.211637 m/s, rangeRepo size: 3 E Added new target pos. range: 57.478531 m, bearing: 16.195269 deg, lat: 36.779411 deg, lon: -121.859662 deg, deltaT: 3.780054 s, deltaX: -0.796329 m, approachRate: -0.210666 m/s, posRepo size: 3 :iAMDNOT Ignoring new targets: 57.48 m.2iImPowering the camera and arming the capture device at range: 57.70 m.ii"iu*iq ProNav: ac range: 57.478531 m, nav range: 55.710056 m, bearing: 16.193887 deg, approach rate: 0.000000 m/s, LOS rate: 0.134263 deg/s, cmd heading: 20.032859 deg, new cmd heading: 20.145112 deg. iHeadingCmd: 0.351599 target range: 57.478531 and range: 57.70 m.h>hhhhiggjgrgereZe:eL@*e F?-&Bɢ-S ?<)) -===JqI=>IAԡ(DAT read: user:10> BDAT read: Tx time:04:35:37.0291 $Ping request sent. c&,7fFLAYn+Byr I tttvAbD7VD߰8y%_==%===Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249676ٔUQ-U>9YYY=]Ey]&E]E]>aQ 5m5e?Q 9m5eп)ebzBYiyqQ IM]@eDIeRhqhyhyhyiygygjgrgereZe:e*e ?)Bɢ/< )! -;i))5?+<19ieμiu'ߴ> I'ߴ>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501964) 5 !@1  @1 @5 K5@5 E%  E% E% %E! "E% :*E% R:VE% 4ZE! a5 @a5 @a5 @a5 @Q ^AU ;AAԉIIO?^&,&FLAzchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753262Y~By~ IiMb@Mb@Mb@BBBIBBB =BBBɁ;BH8E 97A`?MbP~jthY>yDM@A A)Y A <<LBattery at maximum, disabling chargingI?bD9VD8y-N%=ٔQ->9 ?Y ?=Ey*EE> Q 55 &?Q 95 ) _zBY>Q E4;y~Q I]@ DI :i : ]5yIɮMAIB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 57.48 m.2iPowering the camera and arming the capture device at range: 57.70 m.lFinal approach. Armed for intercept at range: 57.70 m.\Transitioning guidance mode to: FINAL_APPROACH i@"i ;*i ;E ProNav: ac range: 57.478531 m, nav range: 55.456348 m, bearing: 16.298589 deg, approach rate: -0.289964 m/s, LOS rate: 0.112541 deg/s, cmd heading: 20.240595 deg, new cmd heading: 20.355000 deg. iEM;EHeadingCmd: 0.355262 target range: 57.478531 and range: 57.70 m.hM>hIhM:hM33?hIgQgQjgyrg}łBereZe:e*e?)U,Bɢ] <)Y ]iY)]*mI=)m33? (kpHeading = 0.700000I: (kiHeading = 0.001000vaI>I@ @@0@iߩIߩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007003Y E  E E 'E "E D:*E VE '4ZE BE 1,&,-ѥFLA6@6}@6]`<ٱ6=>6H?@?,؄? %<@Cr?ǿ z ?'s?i6@I6];6CY>3By>% II bDN=VDN8yV=%VD=ٔV J9XYX=ZEyZ.E^>E^>`Q 5f5bB(?Q 9f5b.)b\zBYdyf坼Q If]@bDIb:ibz:ba5yQɮU=AY:iyDNOT Ignoring new targets: 57.48 m.2i"i:*i:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257606 ProNav: ac range: 57.478531 m, nav range: 55.341904 m, bearing: 16.335730 deg, approach rate: -0.280708 m/s, LOS rate: 0.091288 deg/s, cmd heading: 20.355000 deg, new cmd heading: 20.429437 deg. i';HeadingCmd: 0.356561 target range: 57.478531 and range: 57.70 m.h(>hhhhggjgrgereZe:e*ezH?.Bɢ8<)  6Ӣ=K4I(>I@ @@\1@A^AeI9IIOeU>qM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509384ԙ E}  E} E} #Ey "E} >:*E} P:VE} 3ZEy a @a @a @a @)&,FLA2@2,@2s<ٱ2A~=>2H?rKx?`{?ޭj t?ǿ`b??s?i2@I2 ^;2CYr7Byr) Iv=v=imMb@Mb@Mb@iiii i9mCl?ymt9Y=Ey2E=E>Q 552?Q 95)]zBY>Q E<;yGhyhyhyhygygyjgrgBereZe:e*eU T @额1Bɢ*58<) `P<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761447Աi)x +<iμi^&>v=#/I^&>IB!A!B->B)B-IB-BB- =B)B-ȺDB-;B-<8EBFCBFCBBBC75y@y @y@}0@y^AUfcIIO> ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013441&,ҍFLA2q@25<2<ٱ2P<>2Hs?`]`[*? ?$u?lǿ0\q?Xt?i2q@I2,P^;2CY:9PYP=REyR5EV =EV>TQ 5^5VX;?Q 9^5V)V^zBY\y^ !=Q I^]@VDIV:iVP:Vh5y`ɮf Ad:itzDNOT Ignoring new targets: 57.48 m.2ix"i~&:*i~&: ProNav: ac range: 57.478531 m, nav range: 55.122562 m, bearing: 16.394837 deg, approach rate: -0.302367 m/s, LOS rate: 0.079187 deg/s, cmd heading: 20.495536 deg, new cmd heading: 20.547890 deg. i ; HeadingCmd: 0.358628 target range: 57.478531 and range: 57.70 m.h">hhhhggjgrgereZe!:e!*e%r@U2BɢUU=E<)Q Ue@=e"&Ie">IaE5 E5E5$E1"E5:*E5A:VE54ZE1BE5 Q ?&,]FLA5@5<5GO<ٱ5![<>5H:?, ҕ?@z?@s?Yǿih?t?i5@I5^;5CYABy5 I1iuMb@Mb@Mb@qqqq q9u5^I ?y&1?~jtx?Yu>yu`9Y=Ey9EI<E>i I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517642yQ 55}G?Q 95})}azBYĘ>Q E1;y-=Q I]@}DI};i};}nl5yɮA:iDNOT Ignoring new targets: 57.48 m.2i"ift:*ift: ProNav: ac range: 57.478531 m, nav range: 54.977093 m, bearing: 16.421220 deg, approach rate: -0.293762 m/s, LOS rate: 0.053417 deg/s, cmd heading: 20.547890 deg, new cmd heading: 20.600794 deg. i:HeadingCmd: 0.359552 target range: 57.478531 and range: 57.70 m.h(>hhhhggjgrgBereZe:e*e`i@6BɢBB<)! %0μi-(>5=5JOI5(>I1EM EMEM&EI"EM:*EMk:VEM4ZEIaU@aU@a]@a]@a@ @@0@^AJRII)O=r>ԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769447B% >B! B% IB% BB! B! B% ǺDB% ;B% 48EԹ #&,+ GLARZ@R"=Rq<ٱR@<>RHH?;@lb?B>?p?@Jǿ@M@e? t?iRZ@IR<];RCYZGByZ< I \\`bAbDf*VDfӰ8yn=%nl=ٔr$;Q-r?9pYp=rEyr<Ev*=Ev?xQ 5~5zO?Q 9~5z;)zczBY|yY>Q I]@zDIz;iz;z:o5y ɮ A -B*** querying acoustic contact ***i)i):i1=DNOT Ignoring new targets: 57.48 m.2i9"iE`:*iE`:M ProNav: ac range: 57.478531 m, nav range: 54.882812 m, bearing: 16.436935 deg, approach rate: -0.294212 m/s, LOS rate: 0.049127 deg/s, cmd heading: 20.600793 deg, new cmd heading: 20.632279 deg. iUѳ:UHeadingCmd: 0.360101 target range: 57.478531 and range: 57.70 m.hU/_>hYhYhYhYgYgYjgargaeareaZei:ei*em`>@额8Bɢ=I/_>Iԑ1@1 @1@50@1^A 2IqIO>%BDAT read: Rx Time:04:35:39.5087 -TRx dataTimestamp_ set to:1764909340.406757-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022446DQzDU@AE] E]E]#EY"E]:*E]1]:VE]3ZEYBE]+2H? y@ќ??m?! ǿ@HH?u?i2@I2X];2CYB?ByB3 I F9hYh=jEyj@Ej=En>pQ 5v5rY?Q 9v5rȾ)rezBYtyv@>Q Iv]@rDIr::ir%:rr5yzBɮ~A|:i!%DNOT Ignoring new targets: 57.48 m.2i!"i-M:*i-M:= ProNav: ac range: 57.478531 m, nav range: 54.764153 m, bearing: 16.454945 deg, approach rate: -0.295518 m/s, LOS rate: 0.044948 deg/s, cmd heading: 20.632279 deg, new cmd heading: 20.668375 deg. i=:EHeadingCmd: 0.360731 target range: 57.478531 and range: 57.70 m.hE±>hAhAhAhAgAgIjgIrgIeIreQZeQ:eQ*eU. @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273497=;BɢEDQ6<)A EMo=UyQ I±>I5 @1 @9@=00@AA^Ai%] DAT read: 04:35:39.5087 LVL= 23904, 25633, 32754, 32755, AGC= 65, IDX= 434, 0.27,-2.730, 1.571,-3.140, 2.960, PHS= 0.694,-1.345, 0.139, RAW= 134.7, 5.7, CAL= 134.9, 6.7, ROT= 15.1, -6.7 e Ygot valid direction response: 04:35:39.5087 LVL= 23904, 25633, 32754, 32755, AGC= 65, IDX= 434, 0.27,-2.730, 1.571,-3.140, 2.960, PHS= 0.694,-1.345, 0.139, RAW= 134.7, 5.7, CAL= 134.9, 6.7, ROT= 15.1, -6.7 m PDAT read: Bearing 168.6, 14.5 (Local) u ~Local bearing/azimuth received: Bearing 168.6, 14.5 (Local) } DAT read: Range 11 to 50 : 56.6 m (Round-trip 75.5 ms) speed 0.1 m/s } R#Rx 1: Read range and direction messages.ԉ  \direction in FSK: [0.958879,0.258725,0.116671] Fpublishing direction and range infoy1 5 Eh+#?wR3?mu"޽?Y5 fbB1 5 `]5 !d1 1 )5 AI5 1?i5 (5 V>5 v@5 %=5 K@ 5 |=)5 V>I5 |ゥ1 1 5 P@?nה3?m͉A? 5 >)5 `ʽI5 V>i5 |ゥ1 1  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A ڗAI I O% >E}  E} E} $Ey "E} [:*E} =:VE} 4ZEy a @a @a @a @9&,N@GLA,FPD@F@p=F<ٱF6>FH}?`B֟?i?m? ƿғ@? A|?iFPD@IF];FCYNEByN: Ii5Mb@Mb@Mb@1111 195Q??Mb?Y5(>y5L=5<57@5A 5A)11Y5 AbDM!VDM˰8y]<%]3=ٔe:Q-e>9e?Ye?=mEymDE<E>Q 55be?Q 95)jzBYL>Q E+;yd>Q I]@DI:i$:v5yɮAiYi]D:GLAj]aB"j]aB:j]>"p]]@@K@0Ҡ,-@Qp "P@p]Eh+#?wR3?mu"޽?*j]V>2j]|*p]B~J@y0@u addTargetRange:: Added new target pos. range: 56.599998 m, deltaT: 3.780316 s, deltaX: -1.100002 m, approachRate: -0.290982 m/s, rangeRepo size: 4 ԁ Added new target pos. range: 56.382980 m, bearing: 17.568758 deg, lat: 36.779411 deg, lon: -121.859662 deg, deltaT: 3.780316 s, deltaX: -1.095551 m, approachRate: -0.289804 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 56.38 m.2i"i*i ProNav: ac range: 56.382980 m, nav range: 54.622120 m, bearing: 16.464468 deg, approach rate: 0.000000 m/s, LOS rate: 0.044948 deg/s, cmd heading: 20.668374 deg, new cmd heading: 20.711535 deg. iHeadingCmd: 0.361484 target range: 56.382980 and range: 56.60 m.h~>hhhhggjgrgBereZe:eLL@*ea?e>Bɢm&:<)i mW}t&=}BI}~>(DAT read: user:11> BDAT read: Tx time:04:35:40.8291 $Ping request sent.BGCBIBBBBBȺDB;B28EePExceeded connect timeout, disconnecting.5@A @A@E0@AԹ^AAA II IY Oe > 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250870_&,4ZGLAB@B=B><ٱB2>BHE?䘳K?˴?Nk?ſ|*6? ?iB@IBz];@`YbAByb5 IIf=)dj=j=bDnVDn8yvd%vf=ٔv*:Q-v>9xYx=zEyzHE~=E~>Q 5 5Hn?Q 9 5H)nzBY y r>Q I]@DI~:i:y5yɮA:iAEDNOT Ignoring new targets: 56.38 m.2iA"iMK9*iMK9] ProNav: ac range: 56.382980 m, nav range: 54.513622 m, bearing: 16.470235 deg, approach rate: -0.326858 m/s, LOS rate: 0.017408 deg/s, cmd heading: 20.711534 deg, new cmd heading: 20.723091 deg. i]9eHeadingCmd: 0.361686 target range: 56.382980 and range: 56.60 m.he.>hahahahagigijgirgieqreqZeq:eq*eu?颥@Bɢz-<) |:i)=,<顩iͼi.>=x!I.>ID<DE EE&E"E:*EL_:VE4ZEBE3checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502897A H&,tGLA!Y0By! I  bD%VD%8yM%M6=ٔUQ-U>9YYY=]Ey]LE]Ee>aQ 5m5ey?Q 9m5em)eszBYqyqQ Iu]@eDIe;ieY;e}5y}Bɮ}AæE:iDNOT Ignoring new targets: 56.38 m.2i"i,9*i,9 ProNav: ac range: 56.382980 m, nav range: 54.374882 m, bearing: 16.477643 deg, approach rate: -0.308626 m/s, LOS rate: 0.016521 deg/s, cmd heading: 20.723091 deg, new cmd heading: 20.737945 deg. i9HeadingCmd: 0.361945 target range: 56.382980 and range: 56.60 m.hP>hhhhggjgrgereZe:e*e N?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754956%CBɢ%4<)! %i!)-Ӯ+<))i-nͼi5P>5ߵ=5ƞI5P>I9I@ @@0@E- E-E-#E)"E-:*E-xv:VE-3ZE)a5@a=@a=@a=@ ii>G zA!e9mzAYm1Ay^Av ߥ >ߥ %@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007100ԩ B !>B B  IB BB B B B ;B <8EI I O- >] nManaging dock network, ignoring radio surface power offq&,CsGLA2@2@=2[f<ٱ21>2H?w٣?L? HZ?ſfL?`n?i2@I2];0Y:=By:0 Ii%Mb@Mb@Mb@!!!! !9%)\(?Zd;?y&1|?Y%G>y%y=%`;!%pA %|A)%K A!Y%= AbD= VD=8yM=%M\=ٔU;Q-U>9QYQ=UEyUPE]=E]>aQ 5m5eD?Q 9m5e)ewzBYuP>Q Eu%;yu<>Q Iu]@eDIe:ie:e5yyɮ:AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 56.38 m.2i"i*i ProNav: ac range: 56.382980 m, nav range: 54.255890 m, bearing: 16.477155 deg, approach rate: -0.319804 m/s, LOS rate: -0.001315 deg/s, cmd heading: 20.737945 deg, new cmd heading: 20.736966 deg. i HeadingCmd: 0.361928 target range: 56.382980 and range: 56.60 m.hN>hhhhggjgrgBereZe:e*e? FBɢ z<) i)u+<i%ͼiN>%=%ƽI%N>I!@ @@O0@^Am:ԩIIO$>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258919D1zD5AAbEJ4jE 4rEͰ/E= E=E=&E9"E=2:*E=P:VE=4ZE9BE=$*9AYA=EEyMTEMEM>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510954QQ 5e5U?Q 9m5U)U|zBYiyiQ Im]@UDIU[;iU`:U5yqɮ}UAy:iDNOT Ignoring new targets: 56.38 m.2i"i*i ProNav: ac range: 56.382980 m, nav range: 54.126884 m, bearing: 16.476623 deg, approach rate: -0.320327 m/s, LOS rate: -0.001324 deg/s, cmd heading: 20.736967 deg, new cmd heading: 20.735901 deg. iHeadingCmd: 0.361910 target range: 56.382980 and range: 56.60 m.hhhhhggjgrgereZe:e*ez?JBɢ[<) pi)0+<i̼i K= =VͽI I@ @@0@1^A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763995I) IA OM >EE  EE EE !EA "EE :*EE :VEE c3ZEA aM @aM @aM @aM @Y &,N)GLAVM@V>V<ٱV7>VH@(?@??:?Mƿӕ?z?iVM@IV];TYj;Byj. IiMb@Mb@Mb@ 9%C?x&?Mb`?YZ>y7=;M@A A)Y AbD-VDְ8yi;%B=ٔ:Q->9Y=EyXEq=E>Q 55?Q 95\)zBY>Q E!;y>Q I]@DI:i:55yBɮbAĦE:i!%DNOT Ignoring new targets: 56.38 m.2i!"i-ȑ*i-ȑ1E ProNav: ac range: 56.382980 m, nav range: 53.988686 m, bearing: 16.469941 deg, approach rate: -0.328672 m/s, LOS rate: -0.015931 deg/s, cmd heading: 20.735901 deg, new cmd heading: 20.722504 deg. iE@鹝MHeadingCmd: 0.361676 target range: 56.382980 and range: 56.60 m.hM->hIhIhIhIgIgQjgQrgUBeYreYZeY:eY*e]@颍MBɢ&<)  i)c*<顑is̼i->=CiI->IIxA)wA @ @@00@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015074BqAu4<B}>ByByByB} =ByByB};B}.8E^A aIIOH>ԉԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266831q&,GLA2\@2Y>2<ٱ2;>2H`s?Í?@Y?(?ࠠƿY@?u?i2\@I2(];0YR2ByR# IbDZVDZ8y5[3%5T=ٔ=:Q-=>99Y9=EEyE[EEG=EE>IQ 5U5M?Q 9U5M=)MzBYYy]>Q I]]@MðDIM;iM;M5yaɮeAa:iDNOT Ignoring new targets: 56.38 m.2i"iW*iW ProNav: ac range: 56.382980 m, nav range: 53.862747 m, bearing: 16.462210 deg, approach rate: -0.327377 m/s, LOS rate: -0.020145 deg/s, cmd heading: 20.722504 deg, new cmd heading: 20.707004 deg. iyHeadingCmd: 0.361405 target range: 56.382980 and range: 56.60 m.h! >hhhhggjgrgereZe:e*e@@PBɢ;)| kiD=D4=E EE'E"EV:*Ee:VE'4ZEBE9Z=I! >I!ԑ@ @@o0@Թ}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518964^Ah{̽AzAxAIyIO> -&,GLAf#@f>f<ٱf\L<>fH?`¿Ab?`?#? Xƿw3f?@s?if#@IfJ];dY0By%! IbDeVDe8yB%D=ٔIt:Q->9Y=Ey_EU<E]>qQ 55u&?Q 95u)uzBYyw>Q I]@uȰDIuhhhhggjgrgereZe:e*e@d@颭TBɢ;) Ti)(<顱iK˼i-ٸ>=I-ٸ>IE  E E $E "E :*E  H:VE 4ZE a@a@a@a@!@ @@0@@@^AINI A AI I O > BDAT read: Rx Time:04:35:43.3072  TRx dataTimestamp_ set to:1764909344.189471 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026622Bm >Bm FCBm IBm BBm =Bi Bi Bm ;Bm 58EB-GCB-GCB)B)B)C-V41&,VHLA 2f@2)>2RJ<ٱ2[;>2H`k?KĿ@.R?%? ?ƿӈH?Ou?i2f@I2h];0Y>7By>) Ii5Mb@Mb@Mb@1111 195x?Mb?Mb`Y5K>y5=55d@5A 5|A)5b A1Y5 AbDMVDM8y] =%]N=ٔev49Q-e>9ec?Yec?=eEyecEmN<Em>qQ 5}5uڸ?Q 9}5u)qY4>Q E;y>Q I]@ṵDIu;iu;u5yBɮAŦEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 56.38 m.2i"iȹ*iȹ ProNav: ac range: 56.382980 m, nav range: 53.583530 m, bearing: 16.443788 deg, approach rate: -0.380401 m/s, LOS rate: -0.021963 deg/s, cmd heading: 20.685605 deg, new cmd heading: 20.670064 deg. i HeadingCmd: 0.360761 target range: 56.382980 and range: 56.60 m.h>hhhhggjgrgBereZe:e*e@. @WBɢ;) x|i)%e(-ۙ=-3[iI->I)q!@ @@0@iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275064ԙ^ADzDE% E%E%%E!"E%>:*E%|;:VE% 4ZE!BE% &,y)HLAPY~.By~ IbDVD8y%;%%N=ٔ%Q-%>9- ?Y- ?=-Ey-gE-E->1}DAT read: 04:35:43.3072 LVL= 23488, 29297, 25890, 32755, AGC= 66, IDX= 418,-0.07,-2.299, 2.086,-2.582,-2.849, PHS= 0.652,-1.303, 0.223, RAW= 137.9, 4.9, CAL= 137.9, 5.7, ROT= 12.1, -5.7 Ygot valid direction response: 04:35:43.3072 LVL= 23488, 29297, 25890, 32755, AGC= 66, IDX= 418,-0.07,-2.299, 2.086,-2.582,-2.849, PHS= 0.652,-1.303, 0.223, RAW= 137.9, 4.9, CAL= 137.9, 5.7, ROT= 12.1, -5.7 PDAT read: Bearing 175.4, 11.3 (Local) ~Local bearing/azimuth received: Bearing 175.4, 11.3 (Local) DAT read: Range 11 to 50 : 55.5 m (Round-trip 74.0 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.972949,0.208582,0.099320]Fpublishing direction and range infoy9=?7e"?4Ѳ?hܸm?Y=^B9=[=qr="e 9)=BI=y&?i=Ȧ=Zd>=( @=%==( @ =%=)=@X>I=%˽99=7U?.T?@Z 3? =^h>)=維I=@X>i=%˽99T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Q 5e55LĎ?Q 9e55u)5zBYiyiQ Im]@5ѰDI5"=i5#=5!5yyɮ}Ayi9i=+,HLAj=&]B"j=&]B:j= >"p=wM[J@B^'@q8@p=?7e"?4Ѳ?hܸm?*j=@X>2j=%˽*p=Ҵ1)I@F_3@xLȞ?@p=-m?ڽ??x2:?j=A j=MBi=5]?i=.j=ΎBj9j9j9rj=UBzj=aޒ>U addTargetRange:: Added new target pos. range: 55.500000 m, deltaT: 3.779747 s, deltaX: -1.099998 m, approachRate: -0.291024 m/s, rangeRepo size: 4 e Added new target pos. range: 55.287449 m, bearing: 20.362945 deg, lat: 36.779411 deg, lon: -121.859662 deg, deltaT: 3.779747 s, deltaX: -1.095531 m, approachRate: -0.289843 m/s, posRepo size: 4 :iamDNOT Ignoring new targets: 55.29 m.2ii"i*i ProNav: ac range: 55.287449 m, nav range: 53.439648 m, bearing: 16.435459 deg, approach rate: 0.000000 m/s, LOS rate: -0.021963 deg/s, cmd heading: 20.670065 deg, new cmd heading: 20.650395 deg. iHeadingCmd: 0.360417 target range: 55.287449 and range: 55.50 m.h>hhhhggjgrge)re)Ze):e-K@*e5l?额[Bɢ5֕;) i)z&<顡iʼi%>-f=-vnI->I) (DAT read: user:12> - BDAT read: Tx time:04:35:44.5791 5 $Ping request sent.5 A>Ae@AAe@AyBu>BuGCBuIBu BBu =BqBqBu;BuD8Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.244533AuAIIO?<&,?NHLAN@N =>N3<ٱN7>NHq?`[ƿ? ? ? Bſ|?`gz?iN@IN];NCYVByZ I \\i=Mb@Mb@Mb@9999 99=rh|?)\(?MbpY=>y=Ga===7@=A =A)=K A9Y== AbDU!VDU˰8ye%m%e =ٔe_T:Q-e>9mc?Ymc?=mEymmEQ=E>Q 55֎?Q 95)zBY>Q E;yͪ>Q I]@ذDI(:iR:d5yBɮA:iY]DNOT Ignoring new targets: 55.29 m.2iY"ie*ie ProNav: ac range: 55.287449 m, nav range: 53.216415 m, bearing: 16.424215 deg, approach rate: -0.399870 m/s, LOS rate: -0.020224 deg/s, cmd heading: 20.650396 deg, new cmd heading: 20.627815 deg. i HeadingCmd: 0.360023 target range: 55.287449 and range: 55.50 m.hT>hhhhggjgrg˂BereZe:e*e ;?`Bɢ;) i)%`$5=/IT>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.495680𕭼IDDE EE%E"E:*EVL:VE 4ZEBE] 2k<ٱ25>2H`c? ;ǿ???ſ`? f}?i2M@I2!];2CYRByRIbDZVDZ8yb!?%b#=ٔb/9Q-f>9dYd=fEyfrEjX<Ej>lQ 5r5ns䎊?Q 9r5n)nzBYpyvf>Q Iv]@nްDIn:in:n5yxɮzAx:iAEDNOT Ignoring new targets: 55.29 m.2iA"iMϹ*iMϹ] ProNav: ac range: 55.287449 m, nav range: 53.035778 m, bearing: 16.413291 deg, approach rate: -0.372932 m/s, LOS rate: -0.022631 deg/s, cmd heading: 20.627815 deg, new cmd heading: 20.605891 deg. i]%eHeadingCmd: 0.359641 target range: 55.287449 and range: 55.50 m.he">hahahihigigijgqrgqeqreqZeq:ey*e}`@?颥dBɢe1) 'i)!<顩iY6ɼi">W=I#I">I!5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002404 @  @@2@^AK@AE] E]E] EY"E]:*E]T:VE]3ZEYam@am@am@am@A .AI! I1 OE >q X"&,׉HLA2/@2O>2<ٱ2)?3>2HU?lȿ ]?D?? dCſ5I?`ǀ?i2/@I2];2CY:By:IB-$>B)B-IB-BB- =B)B-ɺDB-ρ;B-V8Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.251834iMb@Mb@Mb@ 9Mb?~jt?MbpY>yD=d@pA fA) AYf AbD VD8y%<=ٔ5rQ->9 ?Y ?=EyvE<E>Q 55?Q 95)zBY>Q E ;y>Q I]@DI;i:r5yBɮAE:iDNOT Ignoring new targets: 55.29 m.2i"i.*i.- ProNav: ac range: 55.287449 m, nav range: 52.869076 m, bearing: 16.405750 deg, approach rate: -0.388157 m/s, LOS rate: -0.017614 deg/s, cmd heading: 20.605892 deg, new cmd heading: 20.590762 deg. i-5HeadingCmd: 0.359377 target range: 55.287449 and range: 55.50 m.h56>h1h9h9h9g9g9jgArgEÂBeAreAZeA:eI*eMʛ?QiBɢh) @2i)c<iȼi6>=%%I%6>I!I1)1@ @@4@ԁԱ^A.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504614A I I O% >Ee  Ea Ee $Ea "Ee :*Ea VEe 4ZEa BEe q%J#}<ٱJţ1>JH {H?`ɿ@Fm??? ſ*@?@?iJt@IJ];JCYRByRIIV=)Vp<bD\VD\yfԍ<%fZ=ٔf\Q-j>9hYh=jEyjzEv$<Ez>Q 5 5P?Q 95B)zBYy>Q I]@DIh:i ;5y!ɮ%A!=B*** querying acoustic contact ***iAiA:iIMDNOT Ignoring new targets: 55.29 m.2iI"iUo*iUo ProNav: ac range: 55.287449 m, nav range: 52.724022 m, bearing: 16.397888 deg, approach rate: -0.382923 m/s, LOS rate: -0.020811 deg/s, cmd heading: 20.590763 deg, new cmd heading: 20.574996 deg. iYHeadingCmd: 0.359101 target range: 55.287449 and range: 55.50 m.h$ܷ>hhhhggjgrgereZe:e*e@?-lBɢ-3)) -3i))U$!]̞=]/ͼI]$ܷ>IaԱ@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756354^AKAIIO%o> .&,HLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.010371YBy IE% E%E%#E!"E%:*E%ga:VE%3ZE!a@a@a@a@gG5{AIQ}9}{AY} AiMb@Mb@Mb@ 9/$? rh?Y1>yC =A A) AY AbD޿VD8y ]<%  =ٔ Q- >9Y=EyEE>Q 55O ?Q 95)zBY>Q E;y>Q I]@DInhhhhggjgrgނBereZe:e*e@{@-qBɢ-zں)) -5i))595<11i56Ǽi= ҷ>=`==ּI= ҷ>IAq @ @@@5@BA<B>BFCBIBBB =BBȺDBс;BS8Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260604ԡ ^A I_A >A ? AM ؟AIQ Ia Ou >&6&,HLA2ф<2o>2Z<ٱ2;[+>2H?̿D? ް?̷?Ŀ#}@P? ʋ?i2фQ I^]@VDIV:iV0;V5ybBɮbA`:itvDNOT Ignoring new targets: 55.29 m.2it"izr*izr ProNav: ac range: 55.287449 m, nav range: 52.397018 m, bearing: 16.390977 deg, approach rate: -0.408773 m/s, LOS rate: -0.015021 deg/s, cmd heading: 20.570578 deg, new cmd heading: 20.561133 deg. i۹ HeadingCmd: 0.358859 target range: 55.287449 and range: 55.50 m.h n>h h hhggjgrgereZe:e*e%@MtBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.511589ɢHk) Ci)V=<iƼin>=λIn>II]>i]>ԉ@ @@4@^AqڼbE4jE3rE30EU EUEU$EQ"EUy:*EUV:VEU4ZEQBEU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764099 L<&,HLA2ɛ<2\w>2NQ<ٱ2W*>2H?`Ϳ@;? =??@]ÿ ɔ@0? @?i2ɛ9j ?Yj ?=jEyjEj<En>pQ 5r5rk$?Q 9v5rP)r}zBYtyvz>Q Iv]@rDIr:irG:r5yxɮ~LA|:i%DNOT Ignoring new targets: 55.29 m.2i!"i- *i- 5 ProNav: ac range: 55.287449 m, nav range: 52.236481 m, bearing: 16.383748 deg, approach rate: -0.392119 m/s, LOS rate: -0.017710 deg/s, cmd heading: 20.561134 deg, new cmd heading: 20.546632 deg. i=EHeadingCmd: 0.358606 target range: 55.287449 and range: 55.50 m.hEB>hAhAhAhAgAgAjgIrgIeIreIZeQ:eQ*eU E @颅xBɢfM) ]i)V<顉iIżiB>w=lIB>I5@1 @1@5/@1 BDAT read: Rx Time:04:35:47.0553 TRx dataTimestamp_ set to:1764909347.971318checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036077^AUѼE1 E5E1E1"E1*E5xv:VE1ZE1a=@a=@a=@a=@I Aa Iq I O >B >B B IB BB =B B ǺDB ρ;B N8E3C&,Hm ILA&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267704>~G<>br~>><ٱ><)>>H@?ο@7??y?@?`ÿ ?ڎ?i>~G];>CYFByFIiMb@Mb@Mb@ 9 rh?X9v?~jth?YC>y<D;M@A |A)b AY= AbD-޿VD-8y0=%>=ٔVQ->9Y=EyE<E>Q 552?Q 95)Y>Q E;y>Q I]@DI;i;_5yBɮAE:i1UDNOT Ignoring new targets: 55.29 m.2iQ"i]*i] ProNav: ac range: 55.287449 m, nav range: 52.065083 m, bearing: 16.376549 deg, approach rate: -0.390565 m/s, LOS rate: -0.016459 deg/s, cmd heading: 20.546633 deg, new cmd heading: 20.532187 deg. i𹝏HeadingCmd: 0.358354 target range: 55.287449 and range: 55.50 m.h6z>hhhhggjg)Qrg-BeireZe:e*eb$ @=}Bɢ=.) Ti)I<顁iGżi6z>X=ʡ:I6z>IyU @Q @Q@]3@Y-DAT read: 04:35:47.0553 LVL= 22320, 29377, 24898, 32755, AGC= 66, IDX= 415, 0.04,-0.998,-2.741,-1.088,-1.376, PHS= 0.480,-1.320, 0.245, RAW= 143.1, 7.1, CAL= 142.7, 7.8, ROT= 7.3, -7.8 =Ygot valid direction response: 04:35:47.0553 LVL= 22320, 29377, 24898, 32755, AGC= 66, IDX= 415, 0.04,-0.998,-2.741,-1.088,-1.376, PHS= 0.480,-1.320, 0.245, RAW= 143.1, 7.1, CAL= 142.7, 7.8, ROT= 7.3, -7.8 =PDAT read: Bearing 183.6, 7.0 (Local) E~Local bearing/azimuth received: Bearing 183.6, 7.0 (Local) MDAT read: Range 11 to 50 : 54.0 m (Round-trip 72.1 ms) speed 0.4 m/s ^AuAyzAyR#Rx 1: Read range and direction messages.\direction in FSK: [0.982717,0.125889,0.135716]Fpublishing direction and range infoy?,Kkr?Űg!? M _?YXBԱ 0WrBa )I>iHz> @=e@ 'g >)w>I'g R)5?~>43?ueXĈ? Cs>)Iw>i'g D) zD- ?AIq I O > 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 D:*E 1]:VE 4ZE BE 1:c<ٱ:(>:H?Ͽm?(?g?@aÿL`??i:=I:];8Yj ByjIbDvVDv8y$%R=ٔBQ->9!Y!=%Ey%E%<E->)Q 5U5-q>?Q 9]5-))YYy]o>Q I]]@-DI-;i-:-ĸ5yaɮmYAii!i% ILAj%+WB"j%+WB:j%y>"p%tnJ@&щl@1j53@p%?,Kkr?Űg!? M _?*j%w>2j%'g *p%i .*H@2@.B@p%:ZX?& =?Po8h?j%A j%GBi%?$ ?i% j%Bj%?$ ?j%Aj%MBrj%QBzj%˞> addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 3.780282 s, deltaX: -1.500000 m, approachRate: -0.396796 m/s, rangeRepo size: 4 % Added new target pos. range: 53.792618 m, bearing: 20.532058 deg, lat: 36.779412 deg, lon: -121.859647 deg, deltaT: 3.780282 s, deltaX: -1.494831 m, approachRate: -0.395428 m/s, posRepo size: 4 :i!-DNOT Ignoring new targets: 53.79 m.2i)"iM*iI] ProNav: ac range: 53.792618 m, nav range: 52.407936 m, bearing: 17.769889 deg, approach rate: 0.000000 m/s, LOS rate: -0.016459 deg/s, cmd heading: 20.532187 deg, new cmd heading: 20.519146 deg. iaHeadingCmd: 0.358127 target range: 53.792618 and range: 54.00 m.h`\>hhhhggjgrgereZeU(DAT read: user:13> ]BDAT read: Tx time:04:35:48.4291 e$Ping request sent.eD=;I`\>I5@1 @9@=%5@9 ^Ae yb] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251772I I O >P&,BILA Z4=Z4>Z=<ٱZ'>ZH?#.п@n??6?pÿ`tg`? ?iZ4=IZ];ZCYdyfIEz EzEz#Ex"Ez:*Ez:VEz3ZExa~@a~@a~@a~@iMb@Mb@Mb@ 9l?~jt?~jth?Y>y=d@A A) AYf AbDCVD8y%6=ٔQ->9Y=EyEx<E>Q 55{M?Q 95إ)~zBYo>Q E:y>Q I]@DII:i:5y ɮ \A -B*** querying acoustic contact ***i)i):i1=DNOT Ignoring new targets: 53.79 m.2i9"iE*iEU ProNav: ac range: 53.792618 m, nav range: 52.218094 m, bearing: 17.761633 deg, approach rate: -0.437517 m/s, LOS rate: -0.019097 deg/s, cmd heading: 20.519145 deg, new cmd heading: 20.502572 deg. iU ]HeadingCmd: 0.357837 target range: 53.792618 and range: 54.00 m.h]v6>hYhYhYhYgYgajgargeBeareiZei:ei*em ?额Bɢk ) si) <顡i(üi-v6>-1=-4I)a @ @@4@AAB>BBIBBBBBB;B68EBFCBFCBBBCĶS5^A_;checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501508II OK>ԑԹ V&,E\ILA2%P=2ި>2<ٱ2 '>2H@?п`j??`v?wÿ ??i2%P=I2H];0PYRByRIbD^<VD^8yf%f^=ٔfQ-f>9hYh=jEyjEji<En>pQ 5r5rY?Q 9v5rk)rzBYtyv>Q Iv]@r DIr::ir:r5yzBɮ~A~E%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753330:iDNOT Ignoring new targets: 53.79 m.2i"i&*i& ProNav: ac range: 53.792618 m, nav range: 52.062958 m, bearing: 17.753684 deg, approach rate: -0.400088 m/s, LOS rate: -0.020562 deg/s, cmd heading: 20.502572 deg, new cmd heading: 20.486626 deg. iHeadingCmd: 0.357559 target range: 53.792618 and range: 54.00 m.h>hhhhggjgrgereZe:e*eҐ?%Bɢ%)! -i))-<))i-üi5>5 =5I9IA)EyADQDUa=E EEE"E:*Ek:VEZEBEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005416! 0\&,&vILA28i=2ό>2Â<ٱ2%>2H?2п@0B?`?k? Hÿ)z??i28i=I2̬];2CYNByNIbDV4VDVܰ8y^;+=%bK=ٔbpQ-b>9`Yd=fEyfEfz<Ef>hQ 5n5j*g?Q 9n5jԢ)jzBYpyr>Q Ir]@jDIjY;ij#;jl5ytɮvMAx|:iDNOT Ignoring new targets: 53.79 m.2i"i%.*i%.5 ProNav: ac range: 53.792618 m, nav range: 51.892879 m, bearing: 17.743750 deg, approach rate: -0.444200 m/s, LOS rate: -0.026029 deg/s, cmd heading: 20.486626 deg, new cmd heading: 20.466694 deg. i5>=HeadingCmd: 0.357211 target range: 53.792618 and range: 54.00 m.h=c>h9h9h9h9gAgAjgArgAeIreIZeI:eI*eM?}Bɢ})y }wi)L<顁i9l¼ic>=I@ @@@ Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260262Y^AEHu<IIOE>E EEE"EI:*E|;:VEZEa@a@a@a@qԡ B >B B B B =B B B ;B 8E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509360c&,aILA2Fف=2 >2\}<ٱ2#>2H?cѿ.?`E?^? ÿ`طpg?A?i2Fف=I2];0YB ByBI DDDFAi]Mb@Mb@Mb@YYYY Y9](\?Mb?Mb?Y]z>y]@=]<]z@]ZA ]|A)] AYY]= A mp=ٔѺQ->9Y=EyEp<E>Q 55*u?Q 95)zBY>Q E:yx>Q I]@DI:i:.5yBɮAE:iDNOT Ignoring new targets: 53.79 m.2i"i)*i) ProNav: ac range: 53.792618 m, nav range: 51.713852 m, bearing: 17.727867 deg, approach rate: -0.417038 m/s, LOS rate: -0.037126 deg/s, cmd heading: 20.466694 deg, new cmd heading: 20.434819 deg. iㇺHeadingCmd: 0.356655 target range: 53.792618 and range: 54.00 m.hx>hhhhg g jg rg BereZe:e*e`?EBɢE?B)A M&iI)M2U=]IY @ @@/@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761265^A}U<IIO>Di zDm @AEu  Eu Eu $Eq "Eu [:*Eu a9:VEu 4ZEq BEu 9!Y!=%Ey%E-E->9Q 5E5=灏?Q 9E5=f)=zBYIyIQ IM]@=DI=1;i=2;=5yYɮ]DAa:i1=DNOT Ignoring new targets: 53.79 m.2i9"iE *iE ] ProNav: ac range: 53.792618 m, nav range: 51.551003 m, bearing: 17.713324 deg, approach rate: -0.391964 m/s, LOS rate: -0.035115 deg/s, cmd heading: 20.434820 deg, new cmd heading: 20.405641 deg. i]eHeadingCmd: 0.356146 target range: 53.792618 and range: 54.00 m.heX>hahahahagagijgirgieqreqZeq:eq*eu@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013507颵Bɢ) }i);项i iX>=:Ie@a @a@a@a^A]8<AazAewAA؟AIIO>Yu checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271039Ա p&,ILAE EE&E"E:*Ega:VE4ZEa@a@a@a@Y%By% IiMb@Mb@Mb@ 9On?y&1?~jt?Y>y`e=D<@ A)K AY AbDVD8yD<%?=ٔQ->9"?Y"?=EyEE>Q 55?Q 95)zBY>Q E:yC>Q I]@#DI;i;Q5yɮAB*** querying acoustic contact ***ii:i)-DNOT Ignoring new targets: 53.79 m.2i)"i5a*i5aE ProNav: ac range: 53.792618 m, nav range: 51.370152 m, bearing: 17.693572 deg, approach rate: -0.449805 m/s, LOS rate: -0.049298 deg/s, cmd heading: 20.405641 deg, new cmd heading: 20.365999 deg. iEqMHeadingCmd: 0.355454 target range: 53.792618 and range: 54.00 m.hM>hIhIhIhQgQgQjgYrg]тBeYreYZeY:ea*ee R@qBɢ) zi) /;ixci%>%}ޝ=% I!BAB>BBIBBB =BBB};B7E@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517486ԩ^Ac<I I O > w&,?ILA:n=::>:c<ٱ:C>:Hϗ? hҿ^?o? C? ~7P?h?i:n=I:];:CYFByF IIJt>)J;J=Jp=bDRVDR8yZ {%Z_=ٔZQ-Z>9\Y\=^Ey^Ebi2=Eb>dQ 5j5f?Q 9j5fћ)fzBYhyj>Q Ij]@f(DIf:if\:f5yrBɮrOApchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769511:iDNOT Ignoring new targets: 53.79 m.2i"i7y*i%7y- ProNav: ac range: 53.792618 m, nav range: 51.214561 m, bearing: 17.673579 deg, approach rate: -0.422604 m/s, LOS rate: -0.054471 deg/s, cmd heading: 20.365999 deg, new cmd heading: 20.325890 deg. i-_Ǻ5HeadingCmd: 0.354754 target range: 53.792618 and range: 54.00 m.h5G>h1h9h9h9g9g9jgArgAeAreAZeI:eI*eM@C@uBɢ}s:)y }Viy)};顁iǿiG>ӝ=;R =IG>I @ @@@EE EEEE%EA"EEm:*EE;J:VEE 4ZEABEEV) Y 8}&,tILA2=2>2U^<ٱ2E>2Hx?@!ҿ@{Q??8?ӿ??i2=I2];2CY^By^ IbDf/VDfذ8yr=<%rG=ٔr6hQ-r>9tYt=vEyvEv}\<Ez>|Q 55~n?Q 95~)~zBYy>Q I]@~-DI~q:i~:~5y BɮA:i1=DNOT Ignoring new targets: 53.79 m.2i9"iEt*iEtM ProNav: ac range: 53.792618 m, nav range: 51.040604 m, bearing: 17.649969 deg, approach rate: -0.425162 m/s, LOS rate: -0.057901 deg/s, cmd heading: 20.325890 deg, new cmd heading: 20.278509 deg. iUӺ]HeadingCmd: 0.353927 target range: 53.792618 and range: 54.00 m.h]5>hYhYhYhYgYgajgargaeareaZei:ei*em{ @额Bɢj/) (i);顡i i5>ȝ=I,=I5>I)M@I @I@M0@I-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277106^A==AU?AU? Q]ƐCG-91Y5TAE= E=E9E9"E=:*E=R:VE9ZE9aE@aE@aM@aM@QIiIO[>ԉ B >B B IB BB B B B f;B 7E DAT read: 04:35:50.9032 LVL= 25056, 32753, 29746, 32755, AGC= 66, IDX= 425, 0.01,-1.623, 2.969,-1.486,-1.928, PHS= 0.406,-1.341, 0.398, RAW= 149.8, 6.2, CAL= 149.1, 6.6, ROT= 0.9, -6.6  Ygot valid direction response: 04:35:50.9032 LVL= 25056, 32753, 29746, 32755, AGC= 66, IDX= 425, 0.01,-1.623, 2.969,-1.486,-1.928, PHS= 0.406,-1.341, 0.398, RAW= 149.8, 6.2, CAL= 149.1, 6.6, ROT= 0.9, -6.6  PDAT read: Bearing 187.4, 0.8 (Local)  ~Local bearing/azimuth received: Bearing 187.4, 0.8 (Local)  DAT read: Range 11 to 50 : 52.5 m (Round-trip 70.0 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.993250,0.015603,0.114937] Fpublishing direction and range infoy  [N?PÔ?NZl?Y RB a  2t ) I ;>i 㥫 > T'@ k= ۋ&@ =) 6V<ٱ6>6H ? ӿ@z?^?@0?`rQIÊྱ?s?i6k=I6#];6CYBByB Ionly read 0 of 1 data item for altitude. Device response is::BD, +401.51, , +8700 a@a a@a a@a a@a bDVDŰ8y'%0=ٔQ->9Y=EyE#<E>Q 55?Q 95)zBQ A+:YQ E:y>Q I]@4DI:i>n5y-Bɮ5A5EiiJLAj1QB"j1QB:j>"pf`I@VZ?z7P @p[N?PÔ?NZl?*j<2j*p+AUPH@:TWZ/@L.@p9=Y?[!u/?PC]?jzA jhFBiH ?iUj܌Bj5]?jUjBrjԉ addTargetRange:: Added new target pos. range: 52.500000 m, deltaT: 3.779569 s, deltaX: -1.500000 m, approachRate: -0.396871 m/s, rangeRepo size: 4 - Added new target pos. range: 52.298588 m, bearing: 17.540166 deg, lat: 36.779413 deg, lon: -121.859643 deg, deltaT: 3.779569 s, deltaX: -1.494030 m, approachRate: -0.395291 m/s, posRepo size: 4 :i)5DNOT Ignoring new targets: 52.30 m.2i1"i5*i1e ProNav: ac range: 52.298588 m, nav range: 51.059391 m, bearing: 17.881251 deg, approach rate: 0.000000 m/s, LOS rate: -0.057901 deg/s, cmd heading: 20.278509 deg, new cmd heading: 20.221896 deg. iamHeadingCmd: 0.352939 target range: 52.298588 and range: 52.50 m.hma>hihqhqhqgqgqjgyrgyeyreyZey:e@J@*eI`?-Bɢ-})) -i1)5;11i5Yi=a>===;=I=a>IaԹ @ @@@-(DAT read: user:14> 5BDAT read: Tx time:04:35:52.1291 5$Ping request sent.5G&,O+JLA2=23>2ϭL<ٱ2 '>2H5r? _ӿғ?Q?&?`@ST?`?i2=I2K];0Y:By: I <<@@bDFVDF8yR)=%Vt=ٔVQ-V?9XYX=ZEyZE`^b|<Ef?hQ 5n5jÏ?Q 9r5j)jzBQ Ar :YpQ Er:yv>Q Iv]@j8DIjFL;ij)N?jX5yxɮ~A|:i1=DNOT Ignoring new targets: 52.30 m.2i9"iE*iE] ProNav: ac range: 52.298588 m, nav range: 50.918236 m, bearing: 17.861001 deg, approach rate: -0.443844 m/s, LOS rate: -0.063849 deg/s, cmd heading: 20.221897 deg, new cmd heading: 20.181286 deg. i]麝mHeadingCmd: 0.352230 target range: 52.298588 and range: 52.50 m.hmzW>hihihihigqgqjgrgereZe:e*eF?MBɢMg)I M؅iI)UY;}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249273Qyi}ϽizW>=M=IzW>I-@) @)@-/@)^A%.=IIO<>- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501372I E]  E] E] (EY "E] I:*E] [:VE] c44ZEY ae @am @am @am @;&,)EJLA2B=2 O>2W3F<ٱ2RD>2H =g?Fӿye=eT9Y=EyE-#<E>Q 55_ҏ?Q 95)zBQ AT:Y>Q E:y >Q I]@?DI:i:#5yBɮA¦EB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 52.30 m.2i"iF*iF ProNav: ac range: 52.298588 m, nav range: 50.723389 m, bearing: 17.824808 deg, approach rate: -0.453098 m/s, LOS rate: -0.084486 deg/s, cmd heading: 20.181286 deg, new cmd heading: 20.108622 deg. i HeadingCmd: 0.350962 target range: 52.298588 and range: 52.50 m.h ?>h h h h ggjgrg‚BereZe:e*e%@}?MBɢM8X)Q UsiQ)U;QQiU"i?>߮=U\=I?>IA9A9BE>BEGCBEIBEBBE =BABEȺDBEe;BE7EY @ @@@}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753709y^A==AyAzAzAԩ A! I1 IA OM >EY&,^JLA2=2>2E<ٱ2 >2H[?ӿ&?"8?&?KԮ?ٰ?i2=I2];2CY:By:IbDF!VDF˰8yJV:%N]=ٔNȸQ-N>9PYP=REyRER*E<EV>TQ 5Z5Vޏ?Q 9^5VQ =^tI)VzBY\y^c>Q I^^@VDDIV;iV";V]5ydɮfAdrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005263ԙ:iDNOT Ignoring new targets: 52.30 m.2i"i*i ProNav: ac range: 52.298588 m, nav range: 50.557758 m, bearing: 17.792939 deg, approach rate: -0.422667 m/s, LOS rate: -0.081593 deg/s, cmd heading: 20.108622 deg, new cmd heading: 20.044674 deg. iRHeadingCmd: 0.349846 target range: 52.298588 and range: 52.50 m.h>h h h h ggqjgyrgyeyreyZey:e*e?Bɢ[]) 9i);imi>=Pl=I>IE EE#E"E:*E]t:VE3ZEBE; checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257184! &,xJLA2+=2ĵ>2C<ٱ2 >2HQ?@-ԿI3?x?b ?@) N`? ?i2+=I2];2CYNByR IIVC=)V=V=V=bDZVDZİ8yb <%bG=ٔfP˹Q-f>9dYh=jEyjEj%<Ej>lQ 5r5n쏊?Q 9r5nh)nzBYtyv>Q Iv^@nJDIn:inu:n5yxɮzAzE:i%DNOT Ignoring new targets: 52.30 m.2i!"i%غ*i-غ5 ProNav: ac range: 52.298588 m, nav range: 50.373936 m, bearing: 17.756417 deg, approach rate: -0.474717 m/s, LOS rate: -0.094661 deg/s, cmd heading: 20.044674 deg, new cmd heading: 19.971364 deg. i5=-=HeadingCmd: 0.348566 target range: 52.298588 and range: 52.50 m.hE@w>hAhAhAhAgAgAjgIrgIeIreIZeQ:eQ*eU`?=Bɢ=Ow)9 E iA)EP;AAiEĻiM@w>M=M}5|=IM@w>Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512383!@) @1@9@9)E% E%E%'E!"E%:*E%;J:VE%'4ZE!a-@a-@a-@a5@^A5u \=YI) I9 BI BI BI BI BM =BI BI BM d;BM 7EBBBBBC4Ou >ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761195k&,DJLA2>=2>2D?<ٱ2 m >2HiE?sԿ??j? 꿿 x臿_?࠳?i2>=I2];0Y:By: IiMMb@Mb@Mb@IIII I9M rh?~jt?y&1|?YM>yM=M`;M@MA I)M AIYM AbDeVDe8yuz<%u@=ٔu Q-}>9yYy=EyEz)<E>Q 55?Q 95)zBY>Q E:y>Q I^@PDIP;i;5yBɮAE:iDNOT Ignoring new targets: 52.30 m.2i"iKۺ*iKۺ ProNav: ac range: 52.298588 m, nav range: 50.177704 m, bearing: 17.715733 deg, approach rate: -0.460564 m/s, LOS rate: -0.095861 deg/s, cmd heading: 19.971364 deg, new cmd heading: 19.889677 deg. io/HeadingCmd: 0.347140 target range: 52.298588 and range: 52.50 m.ha>hhhhggjgrgBereZe:e*e @-Bɢ-Oh)1 5Γqi1);顱iia>?={=Ia>I @ @@@^AJz=A?A?ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014719IIO>E5  E5 E1 E1 "E5 O:*E5 k:VE1 ZE1 BE5 FBF<<ٱF T >FH@"9?Կ I?>?L?_@ ??iF=IF];FCYRByR IbDbVDb8yj%nU=ٔrQ-r>9tYt=vEyvEzyC<Ez>Q 5 5 ?Q 9 5)zBYy>Q I^@VDI4;i&< 5yɮA:iDNOT Ignoring new targets: 52.30 m.2i"i;ں*i;ں ProNav: ac range: 52.298588 m, nav range: 49.999874 m, bearing: 17.677598 deg, approach rate: -0.443273 m/s, LOS rate: -0.095396 deg/s, cmd heading: 19.889676 deg, new cmd heading: 19.813136 deg. i.HeadingCmd: 0.345804 target range: 52.298588 and range: 52.50 m.hH >hhhhggjgrgereZe:e*eO @Bɢ~) di));i\i%H >%=%@'=I-H >I)echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266316@ @@0@^A|=IQIaOu>1 i I - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521268&,HJLAE EE"E"E:*EP:VE(3ZEa"@a"@a"@a"@$Rv=R`2>R;<<ٱRX>RHyE=E#9Y=EyE<E>Q 5 5;?Q 9 5)zBY >Q E :y ?Q I ^@]DI;iT;5yBɮcAE]B*** querying acoustic contact ***iYiY:iamDNOT Ignoring new targets: 52.30 m.2ii"im*im ProNav: ac range: 52.298588 m, nav range: 49.798157 m, bearing: 17.628974 deg, approach rate: -0.472527 m/s, LOS rate: -0.114363 deg/s, cmd heading: 19.813136 deg, new cmd heading: 19.715494 deg. iLQHeadingCmd: 0.344100 target range: 52.298588 and range: 52.50 m.h->hhhhggjgrgBereZe:e*e @%Bɢ%\i) çi);顉iQi->==I->IB >BBIBBB =BBBv;B7E!@! @!@%0@!echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769301^Ax=IaIqOZ>ԙ v&,JLA6@=6$>609<ٱ6T>6H$?@0տ?w?)?`Tо`e<? ?XfBDAT read: Rx Time:04:35:54.6010 jTRx dataTimestamp_ set to:1764909355.527704nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023926i6@=I6d];6CY~By~IbD%VD%8y==%EN=ٔM Q-M>9IYI=UEyUE]"<Ee>iQ 5u5m|%?Q 9u5m)mzBYqyu?Q I}^@mcDIm;imz;m95yɮ.A:iDNOT Ignoring new targets: 52.30 m.2i"i*i ProNav: ac range: 52.298588 m, nav range: 49.621063 m, bearing: 17.585130 deg, approach rate: -0.466458 m/s, LOS rate: -0.115895 deg/s, cmd heading: 19.715495 deg, new cmd heading: 19.627494 deg. iTHeadingCmd: 0.342564 target range: 52.298588 and range: 52.50 m.hd>hhhhggjgrgereZe:e*eU @ Bɢ  镼) \i) ;iָid>=Y=Id>IE EEE"E:*Eą:VEZEBE,! .ҽ&,4JLA6Z>6 °>69<<ٱ6Q>6H$?bտ!?3?? I`ŀ@? "?i6Z>I6];6CY^ By^IbDjVDjİ8yr/+%rP=ٔr9Q-r>9tYt=vEyvEz0<Ez>||Q 55~2?Q 9 5~>)~zBY y ?Q I ^@~iDI~/;i~[0;~5yBɮA:i9EDNOT Ignoring new targets: 52.30 m.2iA"iE*iEU ProNav: ac range: 52.298588 m, nav range: 49.441654 m, bearing: 17.539680 deg, approach rate: -0.459706 m/s, LOS rate: -0.116880 deg/s, cmd heading: 19.627495 deg, new cmd heading: 19.536265 deg. iUU]HeadingCmd: 0.340972 target range: 52.298588 and range: 52.50 m.he瓮>hahahahagagajgirgieireiZeq:eq*eu> @颥Bɢ) i)[;顩i i瓮>X=m=I瓮>I@ @@0@^A=1uDAT read: 04:35:54.6010 LVL= 28416, 32753, 32754, 32755, AGC= 69, IDX= 419,-0.24, 1.360,-0.251, 1.717, 1.190, PHS= 0.272,-1.396, 0.484, RAW= 155.9, 7.2, CAL= 155.3, 7.4, ROT= 354.7, -7.4 IIQuYgot valid direction response: 04:35:54.6010 LVL= 28416, 32753, 32754, 32755, AGC= 69, IDX= 419,-0.24, 1.360,-0.251, 1.717, 1.190, PHS= 0.272,-1.396, 0.484, RAW= 155.9, 7.2, CAL= 155.3, 7.4, ROT= 354.7, -7.4 OD>PDAT read: Bearing 191.7, -5.2 (Local) D=DR=E% E%E!E!"E%:*E%VL:VE!ZE!a-@a-@a-@a-@]~Local bearing/azimuth received: Bearing 191.7, -5.2 (Local) eDAT read: Range 11 to 50 : 50.8 m (Round-trip 67.8 ms) speed 0.4 m/s mR#Rx 1: Read range and direction messages.u^direction in FSK: [0.987431,-0.091601,0.128796]uFpublishing direction and range infoy]q ?g-sOZ_|?Y3KBo )EIC>i!>X$.@>x-@  A>)@I AF]?B B IB BB =B B B ;B 8Eԁ  (DAT read: user:15>  BDAT read: Tx time:04:35:56.0291  $Ping request sent. 2HL>2Z+><ٱ2Ӧ>2H? տ?? ?`k@HŇ?к?i2o>I2o];2CYbBybIIf=)fp=j=jp=YiMb@Mb@Mb@ 9S?l?y&1|?Y>y=`;jAA A)K AY AbDVD°8yN%%8=ٔ%9Q-%>9)Y)=-Ey-E-;E5>9Q 5=5=pB?Q 9E5=)=zBYE>Q EE:yE?Q IE^@=oDI=4:i==:=5yIɮUAqiiKLAjlJB"jlJB:jBu>"pF4:-H@U.׊H@p]q ?g-sOZ_|?*jq2j A*pSйqH@(|h'@b%"@pDA?iҎ7WA?뺺?jc?A jCBiWZ?iQEjBjJ韊?jjΎBrj.GBzj~> addTargetRange:: Added new target pos. range: 50.799999 m, deltaT: 3.780781 s, deltaX: -1.700001 m, approachRate: -0.449643 m/s, rangeRepo size: 4  Added new target pos. range: 50.606194 m, bearing: 13.748954 deg, lat: 36.779419 deg, lon: -121.859643 deg, deltaT: 3.780781 s, deltaX: -1.692394 m, approachRate: -0.447631 m/s, posRepo size: 4 :i)5DNOT Ignoring new targets: 50.61 m.2i1"i5*i1E ProNav: ac range: 50.606194 m, nav range: 49.795654 m, bearing: 17.288911 deg, approach rate: 0.000000 m/s, LOS rate: -0.116880 deg/s, cmd heading: 19.536265 deg, new cmd heading: 19.428712 deg. iAmHeadingCmd: 0.339095 target range: 50.606194 and range: 50.80 m.hmܝ>hihihqhqgqgqjgqrgyeyreyZey:e}`ffI@*e<,?Bɢl) i)Nm;iiܝ>=ӫ=Iܝ>Iԑ@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252336ԱE  E E #E "E :*E E7:VE 3ZE BE N" &,W.KLA:{>:x>:=<ٱ:n >:H ?`տq1? ? ?꽿 x?@[?i:{>I:n];:CYBByBIbDNVDN8yVS%V_=ٔVMQ-Z>9XYX=ZEyZE^ <E^>`Q 5f5b5O?Q 9f5b`~)bzBYdyfX?Q Ij^@buDIb0;ib;b5ylɮnAl:iDNOT Ignoring new targets: 50.61 m.2i"i V*i V ProNav: ac range: 50.606194 m, nav range: 49.626110 m, bearing: 17.248514 deg, approach rate: -0.483928 m/s, LOS rate: -0.115700 deg/s, cmd heading: 19.428712 deg, new cmd heading: 19.347641 deg. iS%HeadingCmd: 0.337680 target range: 50.606194 and range: 50.80 m.h%f>h!h!h!h!g)g)jg)rg)e1re1Ze1:e1*e5@p?eBɢeüԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503109) i ) `;  i nXif>*=%yv=If>IQ@Q @Y@]\0@Y^A5h=AaIiIyO|> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755874- ͂G= yAQ } 09 yAY A9 E  E E $E "E :*E ?:VE 4ZE a @a @a @a @&,!HKLAZ >Z>Zh?<ٱZ!>ZH ?!տ@!?&?W? iI?`ؼ?iZ >IZ];XYfByfIiMMb@Mb@Mb@IIII I9M +?l?Mbp?YM>yIM;M@I MA)M AIYIbDeVDe°8yu%}>=ٔ}59Q-}>9Y=EyE;E>Q 55^?Q 95{)zBY>Q E:y?Q I^@{DI:i:v5yBɮAEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 50.61 m.2i"iN*iN ProNav: ac range: 50.606194 m, nav range: 49.421227 m, bearing: 17.199753 deg, approach rate: -0.476697 m/s, LOS rate: -0.113921 deg/s, cmd heading: 19.347641 deg, new cmd heading: 19.249715 deg. i|PHeadingCmd: 0.335971 target range: 50.606194 and range: 50.80 m.ha>hhhhggjgrgBereZe:e*e ?I额Bɢ1) Ѿi)Dx;顡iRia>=8=Ia>IAIAMAABIBIBMIBMBBIBIBIBM;BM"8Ey@ @@0@>?@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007969yԡ^A ǫ=A I I1 OM > W&,aKLA:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260336fV >f >faC<ٱfK_>fH?`Hտ:F?;>?d?m lZ@? ?ifV >If];fCYByI !!!!bD5%VD5ϰ8yE8=%EN=ٔE-:Q-M>9IYI=MEyMEU|;EU>YQ 5e5]l?Q 9e5]By)]zBYayeJ?Q Ie^@]DI]:i]l:]5yqɮu,Aq:iDNOT Ignoring new targets: 50.61 m.2i"i*i ProNav: ac range: 50.606194 m, nav range: 49.231922 m, bearing: 17.153978 deg, approach rate: -0.478302 m/s, LOS rate: -0.116100 deg/s, cmd heading: 19.249715 deg, new cmd heading: 19.157814 deg. iyTHeadingCmd: 0.334367 target range: 50.606194 and range: 50.80 m.h%2>hhhhggjgrgereZe:e*e&?BɢmƼ) Qƾi)e;iji %2> '=  =I%2>bE3jE4rE©]0E EE&E"E:*E[:VE4ZEBExchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511066 1 ?&,7{KLA2B>2>2<>H<ٱ2>2HR?ֿ`j?[??*:l,??i2B>I2];2CYRByRIbDZ1VDZڰ8yb^-%bS=ٔf{H:Q-f>9f ?Yj ?=jEyjEj;Ej>lQ 5r5nz?Q 9r5nv)nzBYtyv?Q Iv^@nDIn:in:nP5yzĒBɮzAzE:i%DNOT Ignoring new targets: 50.61 m.2i!"i%*i%5 ProNav: ac range: 50.606194 m, nav range: 49.046837 m, bearing: 17.108448 deg, approach rate: -0.477298 m/s, LOS rate: -0.117858 deg/s, cmd heading: 19.157815 deg, new cmd heading: 19.066410 deg. i5WHeadingCmd: 0.332772 target range: 50.606194 and range: 50.80 m.h a>hhhhggjgrgereZe:e*e @@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763114颽ÂBɢl) оi)Z/M;i Yi a> =2=I a>I5]>i1E EE$E"Em:*E1]:VE4ZEa@a@a@a@@ @@0@@!@%xAABU >BQ BU IBU BBQ BQ BQ BQ BU 8Ei ^Ae 2=% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015003ԑ A I I O >m&,vŖKLA2;>22>2FM<ٱ2.=2H`?&ֿ@)?`i??Б`Y? Y?i2;>I2i];0Y>By>IiMb@Mb@Mb@ 9v?㥛 ?Y>y=jA A)K AYf AbDVDð8y%%-<=ٔ-L9:Q-->91Y1=5Ey5E=8;E=>9Q 5E5=?Q 9M5=t)=zBYM>Q EM:yMx?Q IM^@=DI=P;i=;= 5yYɮ]AY:iDNOT Ignoring new targets: 50.61 m.2i"i%U*i%U5 ProNav: ac range: 50.606194 m, nav range: 48.837917 m, bearing: 17.056932 deg, approach rate: -0.463662 m/s, LOS rate: -0.114819 deg/s, cmd heading: 19.066410 deg, new cmd heading: 18.962938 deg. i5!R=HeadingCmd: 0.330966 target range: 50.606194 and range: 50.80 m.h=Vt>h9h9hAhAgigijgirgmBeqreqZeq:eq*eu=@颅łBɢD@ݼ)qB ؾi)/7;顉iGRiVt>̵==IVt>Iq@q @q@}0@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267404 E- E-E-"E)"E-:*E-F:VE-(3ZE)BE-&,~KLA6w>6P>6U<ٱ6G0=6H?p*ֿ Z ? m??Z@2 v1?C?i6w>I6,k];6CY>By>IIB!>)B9V"?YV"?=ZEyZEZ:EZ>\Q 5%5^?Q 9%5^q)^zBY!y-?Q I-^@^DI^:i^p:^y5y5ȒBɮ5 A5Eechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519078:iamDNOT Ignoring new targets: 50.61 m.2ii"im *im } ProNav: ac range: 50.606194 m, nav range: 48.652832 m, bearing: 17.010856 deg, approach rate: -0.485792 m/s, LOS rate: -0.121395 deg/s, cmd heading: 18.962938 deg, new cmd heading: 18.870435 deg. i*^HeadingCmd: 0.329351 target range: 50.606194 and range: 50.80 m.h>hhhhggjgrgereZe:e*e;@ƂBɢ) i)!;iDKi>=d=I>IQq@q @q@u5@qy^A/= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771531A I I O > E]  E] E] #EY "E] >:*E] n:VE] 3ZEY a @a @a @a @}&,KLABS>BT<ٱB=BH?]+ֿ?`nm?`Q?5 ?@?iB~>IBn\];BCY^By^IiEMb@Mb@Mb@AAAA A9EZd;?X9v?MbP?YE>yE}=E:EAEA A)AAYE AbD]VD]8ymg;%m<=ٔdQ->9Y=EyEf8E>Q 55"?Q 95o)zBYx?Q E:y&>Q I^@DI;i:X5yɮAEB*** querying acoustic contact ***ii:i DNOT Ignoring new targets: 50.61 m.2i "i5 *i5 E ProNav: ac range: 50.606194 m, nav range: 48.434319 m, bearing: 16.962783 deg, approach rate: -0.506589 m/s, LOS rate: -0.111953 deg/s, cmd heading: 18.870435 deg, new cmd heading: 18.773855 deg. iELEHeadingCmd: 0.327666 target range: 50.606194 and range: 50.80 m.hMç>hIBQAQBU>BQBUIBU߁BBQBQBQBU;BU8EBGCBGCBBBCw4hIhhggjgrgBereZe:e*ez @ ȂBɢ w ݼ) li)[;ib iç>-==I%ç>I!ԱUBDAT read: Rx Time:04:35:58.4985 ]TRx dataTimestamp_ set to:1764909359.307994echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025627@ @@@5@^A :_=A yAzA zA AA IY Iq O} > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274969!&,tKLA2 >2]>2ߋV<ٱ2=2H ?`5-ֿ@ ӫ?n??QIъ@˾?`?i2 >I2];2CY:By:IlbDn VDn8yvP%zS=ٔz9Q-z>9|Y|=~Ey~EWT9E> Q 5 5 V?Q 95 l) zBYy2>Q I^@ DI :i : 5y%̒Bɮ% A%E:iAMDNOT Ignoring new targets: 50.61 m.2iI"iU*iUe ProNav: ac range: 50.606194 m, nav range: 48.247467 m, bearing: 16.921302 deg, approach rate: -0.493916 m/s, LOS rate: -0.110074 deg/s, cmd heading: 18.773854 deg, new cmd heading: 18.690571 deg. ierImHeadingCmd: 0.326212 target range: 50.606194 and range: 50.80 m.hmB>hihihihigigqjgqrgqeqreyZey:ey*e}Ʋ @颭ʂBɢ) Ri):顱iiB>(ȝ==IB>IE EE$E"ED:*EL_:VE4ZEBE1ie뱿eˡ?e/@eϢ=eLB/@ e5=)eP5@Ie5aae?54?|!V?$BJ? e'?)eIeie5aa T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.a ^A ==ԑ A)I9IQOe>&,LLA2>2Y>2-a<ٱ2J=2H`? @.ֿ嗫? n? ?ܺ*?`??i2>I2Շ^;2CY:By:I <<@V(DAT read: user:16> ZBDAT read: Tx time:04:35:59.7291 Z$Ping request sent.Z9Y=EyE톸E=>aQ 55E EE%E"E:*Ec:VE 4ZEa@a%@a%@a%@ʐ?Q 9u5i)zBYy5>Q I^@DI=i=%5yɮIAii`KLAjBB"jBB:je>"psAG@q;G"@pz ?hKUM7P2?*j2j5*prEG@PM=%@L5@pz?1}\?I?j,A j"=Bi[?iMjBjH ?jj܌BrjABzjwh> addTargetRange:: Added new target pos. range: 48.900002 m, deltaT: 3.780307 s, deltaX: -1.899998 m, approachRate: -0.502604 m/s, rangeRepo size: 4 ԉBM>BMFCBMIBMЁBBM =BIBIBMs;BM7E% Added new target pos. range: 48.712856 m, bearing: 12.858655 deg, lat: 36.779423 deg, lon: -121.859643 deg, deltaT: 3.780307 s, deltaX: -1.893337 m, approachRate: -0.500842 m/s, posRepo size: 4 :i!%DNOT Ignoring new targets: 48.71 m.2i!"i-*i) ProNav: ac range: 48.712856 m, nav range: 48.397491 m, bearing: 16.719633 deg, approach rate: 0.000000 m/s, LOS rate: -0.110074 deg/s, cmd heading: 18.690570 deg, new cmd heading: 18.559391 deg. iHeadingCmd: 0.323922 target range: 48.712856 and range: 48.90 m.h+٥>hhhhggjgrgereZe:e@3sH@*e@4e?]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251086颅̂Bɢw) i)|h:顉ifԱi+٥>ԝ=M*=I+٥>I  2D@ @@3@%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505440Ee EeEe$Ea"Ee:*Ee[:VEe4ZEaBEe9Y=Ey EE>Q 55g䐊?Q 95e)zBYa?Q E:y?>Q I^@DI,:i=:!5yВBɮAE:i!%DNOT Ignoring new targets: 48.71 m.2i!"i-\*i-\= ProNav: ac range: 48.712856 m, nav range: 48.061577 m, bearing: 16.654263 deg, approach rate: -0.567402 m/s, LOS rate: -0.111189 deg/s, cmd heading: 18.559391 deg, new cmd heading: 18.427739 deg. i=|KEHeadingCmd: 0.321625 target range: 48.712856 and range: 48.90 m.hE>hAhAhAhAgAgIjgIrgMxBeIreQZeQ:eQ*eU@?颅΂BɢL)  i) -:顉ii> ޝ==I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.758875ԩ@ @@5@ i߁ I߁  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011052^A O=E  E E %E "E :*E X:VE 4ZE a @a @a @a @9 I I Oe>&, LLLA20>2U׷>2_k<ٱ2؋=2H`?`@ֿ? |?v?hk?@4?i20>I2&`;2CY:݁By:IiMb@Mb@Mb@ 9Mb??~jth?Y?yL=D;AA A)K AYbDVDǰ8y-k%-5=ٔ-:Q-->91Y1=5Ey5E=w ;E=>B>BBIBˁBBBBB_;B7EQ 559?Q 95b)Y&?Q E:y>Q I^@DI:i:%5yԒBɮAB*** querying acoustic contact ***ii:iq}DNOT Ignoring new targets: 48.71 m.2iy"i*i⺝ ProNav: ac range: 48.712856 m, nav range: 47.829197 m, bearing: 16.607512 deg, approach rate: -0.489886 m/s, LOS rate: -0.099035 deg/s, cmd heading: 18.427739 deg, new cmd heading: 18.333784 deg. i>5HeadingCmd: 0.319985 target range: 48.712856 and range: 48.90 m.hգ>hhhhggjgrgvBereZe:e*e`?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263173ЂBɢ ) i)K9ii%գ>%=%)y=I%գ>II)@ @@4@Q^A :=I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514782ԉ .&,fLLAFG>F`>F k<ٱFy=FH`q?Cֿ ?@|~??@;a@4?H?iFG>IFCa;DYn߁BynIv=v=vAAvAAbDzVDz8yD<% N=ٔ QQ- >9Y=EyEܗ9E>!Q 5-5%?Q 9-5%`)%zBY)y->Q I-^@%ñDI%:i%:%o(5y1ɮ=A9Ea EeEe$Ea"Ea*Ee n:VEe4ZEaBEe#hhhhggjgrgereZe:e*ei?]тBɢ]J)Y eia)e:=aaie qim$>m=m|=Im$>qIy@ @@/@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.767114^AI=AxAzAwAIIO>  &,nhLLAR>R6>RWo<ٱR=RH@?@wDֿ?`P?6?G$Hf??iR>IR )a;PY~ہBy~IbD  VD 8y%k%%H=ٔ%7:Q-%>9)Y)=-Ey-E5E9E5> AAIQ 5}5M\?Q 95MD^)IYy">{AQ I^@MɱDIMi<iMThIhI]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019615hIhggjgrgereZe:e*eO@Dm=Dm%=E EEE"E;*EV:VEZEa@a@a@a@颵҂Bɢ<)Q ]2i)0顩iid>k=y=Id>IB!>BGCBIBƁBBBBBj;B7E@ @@)5@!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270817^A n=I I) O= > 5&&,LLA2[>2ط>2n<ٱ2x=2H`?`9Bֿ ?|?`?d`ݍ??i2[>I2a;0YIiMb@Mb@Mb@ 9rh|?:v?{Gz?Y>yT=#<tA A) AY AbD}VD}8yb:%F=ٔQ->9Y=EyE E>Q 55#?Q 95[)zBY[>Q E:yJ>Q I^@бDI;i;/5yɮA:iDNOT Ignoring new targets: 48.71 m.2i"i*i ProNav: ac range: 48.712856 m, nav range: 47.235554 m, bearing: 16.484754 deg, approach rate: -0.512862 m/s, LOS rate: -0.109207 deg/s, cmd heading: 18.172709 deg, new cmd heading: 18.087240 deg. iGHeadingCmd: 0.315682 target range: 48.712856 and range: 48.90 m.h>hhhhg g jg rgBereZe:e*eO@EӂBɢE)I MiI)MtIIiUtӦiU>U=]g=I]>IYI@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522956qbE=4jE=Nj3rE=dz/E EE#E"E:*E :VE3ZEBEԡ [,&,ҳLLA6>S>6[>6hp<ٱ6=6HI?Bֿn?@y??@d෿ D??i6>S>I6>a;4@YB܁ByBI DDHJAbDNVDN8yV;%VZ=ٔV^|9Q-Z>9XYX=ZEyZE^ E^>`Q 5f5b1?Q 9f5bY)bzBYdyjB>Q Ij^@bֱDIb::ib:b25rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775014ynܒBɮvAvE:i DNOT Ignoring new targets: 48.71 m.2i"i?*i?- ProNav: ac range: 48.712856 m, nav range: 47.053009 m, bearing: 16.445741 deg, approach rate: -0.485431 m/s, LOS rate: -0.104146 deg/s, cmd heading: 18.087239 deg, new cmd heading: 18.008911 deg. i->-HeadingCmd: 0.314315 target range: 48.712856 and range: 48.90 m.h5>h1h1h1h1g1g1jg9rg9e9reAZeA:eA*eEmQ@uԂBɢu~3)y }{iy)} yyiei> =*==I>I@! @!@)@)Ա^AUV=BDAT read: Rx Time:04:36:02.1961 TRx dataTimestamp_ set to:1764909363.091708checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029195A I I O > D zD AAE  E E 'E "E :*E :VE '4ZE a @a @a @a @OG3&,QLLAV`>VŶ>V]t<ٱVnD=VH?)ֿ[?\?@R?Tl՜??iV`>IV8_;VChYnԁBynIBU<AQB]&>B]HCB]IB]BB] =BYB]ɺDB]r;B]7EiMb@Mb@Mb@ 9V-?Q?~jt?Y>yu=D<AA ) AY= AbDVD8y %;=ٔ:Q->9Y=Ey#E1E>Q 55 B?Q 9M5W)zBYM>Q EU:yU>Q IU^@ݱDIh)h)h)h)g)g)jg1rg5Be1re1Ze1:e9*e=`^ @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279008MՂBɢM`)I M"iQ)U\fQQiUWi]& >]]=}=I}& >Iy@ @@@1^A ~E=a  DAT read: 04:36:02.1961 LVL= 32496, 32753, 27954, 32755, AGC= 67, IDX= 417,-0.26, 2.211, 0.648, 2.648, 2.067, PHS= 0.245,-1.374, 0.536, RAW= 158.1, 6.7, CAL= 157.5, 6.6, ROT= 352.5, -6.6  Ygot valid direction response: 04:36:02.1961 LVL= 32496, 32753, 27954, 32755, AGC= 67, IDX= 417,-0.26, 2.211, 0.648, 2.648, 2.067, PHS= 0.245,-1.374, 0.536, RAW= 158.1, 6.7, CAL= 157.5, 6.6, ROT= 352.5, -6.6  PDAT read: Bearing 192.3, -7.9 (Local)  ~Local bearing/azimuth received: Bearing 192.3, -7.9 (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: [0.984874,-0.129661,0.114937] Fpublishing direction and range infoy  _&?NZl?Y fi ;߯ L7 ? r0@ |= /@ =) @I 뽩 ?Z?f?N?n6? [*?) I i 뽩  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.AI IQ Ii Ou >9&,LLAEE EEEE(EA"EEƱ:*EE=:VEEc44ZEABEE@;aU2EEB;aUJEEȔ;aU:EEɔ;aU$ >>)Kw<ٱx=H? ֿHŨ? ;??]@鎿DE?@ ?i$ >Il^;Y݁ByIbDVD8y'=%9=ٔ9Q->9Y=Ey(EE>Q 55R?Q 9-5lT){BY)y->Q I-^@DI[;i;:5y=Bɮ=AEEii LLAj;B"j;B:jVZ>"p G@_"*U8+X@p_&?NZl?*j 2j*pq9zF@[#@PE@pwA(??oc1?jgA j6Bim i\?iLPjBjWZ?jQEjBrj2;Bzjb>AM addTargetRange:: Added new target pos. range: 47.099998 m, deltaT: 3.783341 s, deltaX: -1.800003 m, approachRate: -0.475771 m/s, rangeRepo size: 4 ] Added new target pos. range: 46.920551 m, bearing: 12.227751 deg, lat: 36.779431 deg, lon: -121.859675 deg, deltaT: 3.783341 s, deltaX: -1.792305 m, approachRate: -0.473736 m/s, posRepo size: 4 :iyDNOT Ignoring new targets: 46.92 m.2i"i*i ProNav: ac range: 46.920551 m, nav range: 46.799500 m, bearing: 12.692747 deg, approach rate: 0.000000 m/s, LOS rate: -0.109379 deg/s, cmd heading: 17.908930 deg, new cmd heading: 17.809991 deg. iHeadingCmd: 0.310843 target range: 46.920551 and range: 47.10 m.h&>hhhhggjgrgereZe:ěG@*e@6?9ɢ=)A EiA)EhAAiEꓢiM&>M| =UU=IU&>IQ(DAT read: user:17> BDAT read: Tx time:04:36:03.4791 $Ping request sent.A&,ޑMLAjchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.248777YByI=a=bD%VD%8y55=%5L=ٔ=Q-=>99Y9==EyE,EEEE>IQ 5U5Mta?Q 9U5MR)M{BYQyYQ I]^@MDIM:iMS:M>5yaɮeAa:iDNOT Ignoring new targets: 46.92 m.2i"i1*i%1] ProNav: ac range: 46.920551 m, nav range: 46.609856 m, bearing: 12.632933 deg, approach rate: -0.491265 m/s, LOS rate: -0.155575 deg/s, cmd heading: 17.809991 deg, new cmd heading: 17.689878 deg. ie\HeadingCmd: 0.308747 target range: 46.920551 and range: 47.10 m.h >hhhhgD=D<E  E E $E "E :*E VL:VE 4ZE a5@a5@a5@a5@IgqjgrgereZe:e*e`6e?%ւBɢ% )) -i))--))i-#$iu >u<+=}Ҩ=I} >IyB!>BGCBIBƁBBBBȺDB;B8EBBBB =B =C%5q-@) @)@-/@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500918ԙ ^A5 S=A5 yAzA5 zA II Ia Ou >`G&, MLAN >Np>N9<ٱNAZ=NH`?տ#?4?{?vG?4?iN >IN=`;NCYZ؁ByZIiuMb@Mb@Mb@qqqq q9uMb?T㥛 ?I +?Yu?yu=u949Y=Ey0EnE>Q 55r?Q 95MO) {BY?Q E:y>Q I^@DIz;i; B5yBɮ\AE:iDNOT Ignoring new targets: 46.92 m.2i"i4=*i4=  ProNav: ac range: 46.920551 m, nav range: 46.386951 m, bearing: 12.560906 deg, approach rate: -0.509469 m/s, LOS rate: -0.165416 deg/s, cmd heading: 17.689877 deg, new cmd heading: 17.545131 deg. i]HeadingCmd: 0.306220 target range: 46.920551 and range: 47.10 m.hȜ>hhhhgg!jg!rg%Be!re)Ze):e)*e-?]ׂBɢ]m$)Y ]iY)eCaaieڟimȜ>m4=my=ImȜ>Iqychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752888@ @@@E EE!E"E:*Exv:VEc3ZEBE3m >m =u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005083 cM&,{:MLAY]By]IbDmVDm8y}@=%}N=ٔQ->9Y=Ey4EE>Q 55?Q 95L){BYyQ I^@DIo;i;E5yɮA:iDNOT Ignoring new targets: 46.92 m.2i1"i=Z7*i=Z7M ProNav: ac range: 46.920551 m, nav range: 46.193138 m, bearing: 12.497695 deg, approach rate: -0.489451 m/s, LOS rate: -0.160300 deg/s, cmd heading: 17.545130 deg, new cmd heading: 17.418179 deg. iMUHeadingCmd: 0.304005 target range: 46.920551 and range: 47.10 m.hU}>hQhQhQhQgYgYjgYrgYeareaZea:ea*ee`[?颡ɢ) i)]项iri}>>==I}>I@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256851E- E-E-#E)"E-:*E-R:VE-3ZE)a5@a5@a5@a5@^Ae=Q Ia I O >A A B >B FCB B B =B B ǺDB ;B 8EHT&,PVTMLA2j >2 ʴ>2<ٱ2+=2H ?տ?!?@t?@LÐQ;??i2j >I2P^;2CYRByRITVAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508892iMb@Mb@Mb@ 9%C?Q?Q?YZ?y\=u<"A^A )Y A <p;bD+VD԰8y-̻%D=ٔ:Q->9Y=Ey9E5HE>Q 55둑?Q 959J){BY?Q E:y>Q I^@DI;i:#I5y Bɮ ;A E-B*** querying acoustic contact ***i)i):i9=DNOT Ignoring new targets: 46.92 m.2i9"iE D*iE DM ProNav: ac range: 46.920551 m, nav range: 45.983612 m, bearing: 12.426500 deg, approach rate: -0.502338 m/s, LOS rate: -0.171468 deg/s, cmd heading: 17.418179 deg, new cmd heading: 17.275141 deg. iU眻HeadingCmd: 0.301508 target range: 46.920551 and range: 47.10 m.hD_>hhhhggjgrgBereZe:e*e?=؂Bɢ=)9 =i9)E xAAiEiMD_>MZJ=QM=ImD_>Iq@ @ @ @ ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761273^A- =A- ?A- ?I I ԩ O E  E E $E "E :*E F:VE 4ZE BE :>:LJ<ٱ:O=:H@?`cտ?@? ?@??i: >9\Y\=^Ey^<EbEb>dQ 5f5f+?Q 9j5fG)f{BYhyj>Q Ij^@fDIf :if~:fVL5yɮA:iDNOT Ignoring new targets: 46.92 m.2i"i ?6*i ?6] ProNav: ac range: 46.920551 m, nav range: 45.799381 m, bearing: 12.363438 deg, approach rate: -0.463609 m/s, LOS rate: -0.159332 deg/s, cmd heading: 17.275140 deg, new cmd heading: 17.148508 deg. i]̑eHeadingCmd: 0.299298 target range: 46.920551 and range: 47.10 m.he=>hahahahagigijgirgiereZe:e*e @!ɢ%)) mii)mkiqiuiu=>}U=}O=I}=>IyԩMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013223 @ @@@^A w= I I! O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264819a&,c MLA2-K >2T>2c<ٱ2ſ=2H?@տӕ?#??`3??i2-K >I2D`^;2CY>By>IpbDf)VDfҰ8y+ͼ%E=ٔ:Q->9 Y = Ey @E::E>Q 5%5D?Q 9%5>E) {BY!y%>Q I%^@ DID;i;O5y5Bɮ5DA1:iQ]DNOT Ignoring new targets: 46.92 m.2iY"ieX*ieXu ProNav: ac range: 46.920551 m, nav range: 45.591286 m, bearing: 12.291482 deg, approach rate: -0.545150 m/s, LOS rate: -0.189364 deg/s, cmd heading: 17.148508 deg, new cmd heading: 17.003940 deg. iuGHeadingCmd: 0.296775 target range: 46.920551 and range: 47.10 m.h>hhhhggjgrgereZe:e*e@E EE%E"E:*EVE 4ZEa@a@a@a@ɢ MO")  i)顩i7i>)a==I>I! B}>ByB}IB}ˁBB} =ByByB};B}!8E @  @ @ @ 9]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516824^A=a A9 IQ Ii O >h&,MLA2 >2 >2!p<ٱ2'׾=2HT?yտ?f??uݴ M`0ѷ?`K?i2 >I2^;2CYN݁ByRI9iMb@Mb@Mb@ 9NbX9?{Gz?I +?Y?yף=94<AA  A) AY\ AbD,VDհ8y-ݼ%==ٔhp9Q->9Y=EyEE~׹E>Q 55?Q 95ZB)${BY8?Q E:y?Q I^@DI;i:S5y ɮ sA :i15DNOT Ignoring new targets: 46.92 m.2i1"i={Y*i={YM ProNav: ac range: 46.920551 m, nav range: 45.372520 m, bearing: 12.209713 deg, approach rate: -0.506256 m/s, LOS rate: -0.190138 deg/s, cmd heading: 17.003940 deg, new cmd heading: 16.839615 deg. iMeHeadingCmd: 0.293907 target range: 46.920551 and range: 47.10 m.hez>hihqhyhygygjgrgBereZe:e*e`%@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768973ɢ) 2i)J䡻imiz>m==Iz>Ii@ @@@@=@=E EE#E"E*Ex:VE3ZEBE] [?n&,»MLA>ͤ >>$g>>xT<ٱ>1=>H?`տa7?Z??@uV ??i>ͤ >I>z^;>CY^BybIbDj VDj8y]Z<%eS=ٔe:Q-e>9iYi=mEymIEmeEm>qQ 5}5uCБ?Q 95u?)u({BYym?Q I^@uDIub;iu:uW5yBɮAEԙ:iIuDNOT Ignoring new targets: 46.92 m.2iq"i}Q*iQ ProNav: ac range: 46.920551 m, nav range: 45.176109 m, bearing: 12.135751 deg, approach rate: -0.483406 m/s, LOS rate: -0.182825 deg/s, cmd heading: 16.839615 deg, new cmd heading: 16.691049 deg. iKHeadingCmd: 0.291314 target range: 46.920551 and range: 47.10 m.h'>hhhhggjgrgereZe:e*ex @>G)MقBUR9QYUAɢ])Y ]iY)]Paaie$!i'>+|=r=I'>IiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273826]@Y @Y@Y@YDzD@AE  E E %E "E O:*E ;J:VE  4ZE a-@aU@aU@a]@^AE e=B} <A} <B >B B B B =B B B ;B 8E IY Iq O} >4;u&,MLA2 >2>2<ٱ2=2H@?տ@?O??@v ɿ @ʹ?@?i2 >I2^;2CeDAT read: 04:36:05.9436 LVL= 32752, 32753, 27954, 32755, AGC= 66, IDX= 423, 0.13,-0.537,-2.146,-0.101,-0.692, PHS= 0.257,-1.409, 0.547, RAW= 157.9, 6.7, CAL= 157.3, 6.6, ROT= 352.7, -6.6 mYgot valid direction response: 04:36:05.9436 LVL= 32752, 32753, 27954, 32755, AGC= 66, IDX= 423, 0.13,-0.537,-2.146,-0.101,-0.692, PHS= 0.257,-1.409, 0.547, RAW= 157.9, 6.7, CAL= 157.3, 6.6, ROT= 352.7, -6.6 uPDAT read: Bearing 191.9, -7.8 (Local) u~Local bearing/azimuth received: Bearing 191.9, -7.8 (Local) DAT read: Range 11 to 50 : 45.3 m (Round-trip 60.4 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.985321,-0.126222,0.114937]Fpublishing direction and range infoy15Ͽ?4\ (NZl?Y535B1511 1)5BI5>i5Z51 ?5A`0@15/@ 1)5@I1115.! ?+wx? 9qYq=uEyuNE}&:E}>Q 55U䑊?Q 95R<)-{BQ A+:YQ E:yx?Q I^@"DI];i5?Z5yɮAi1i5\qMLAj54B"j54B:j55[>"p5_ۣV;F@#ˆ!@p5Ͽ?4\ (NZl?*j5tw2j1*p5='^sE@X9&#@;? m@p5ҡw'?yubҕ(?~p?j51A j5/Bi5B~Z?i5/|@j5wBj5B~Z?j1j5Brj53Bzj5W> addTargetRange:: Added new target pos. range: 45.299999 m, deltaT: 3.787459 s, deltaX: -1.799999 m, approachRate: -0.475252 m/s, rangeRepo size: 4  Added new target pos. range: 45.125988 m, bearing: 12.294604 deg, lat: 36.779431 deg, lon: -121.859675 deg, deltaT: 3.787459 s, deltaX: -1.794563 m, approachRate: -0.473817 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 45.13 m.2i1"i=*i9E ProNav: ac range: 45.125988 m, nav range: 44.920609 m, bearing: 12.035354 deg, approach rate: 0.000000 m/s, LOS rate: -0.182825 deg/s, cmd heading: 16.691049 deg, new cmd heading: 16.498772 deg. iIMHeadingCmd: 0.287958 target range: 45.125988 and range: 45.30 m.hM8o>hQhqhqhqgqgjgrgereZe:e`fF@*e4?QɢU )Q U*iQ)]6YYi]>ie8o>e[=eY=Ie8o>Ia)(DAT read: user:18> BDAT read: Tx time:04:36:07.2790 $Ping request sent.[|&,$MLA:1 >:V>:<ٱ:=:H -?Oֿ`R?`H??_sފ?`?i:1 >I:tb;:CYFӁByFIbDNVDN8yV%VY=ٔZKQ-Z>9|Y|=~Ey~RE~;E~>Q 5 5&?Q 9 59)1{BQ A :YQ E:y5?Q I^@)DIe;ie?\5yBɮ% A%E=B*** querying acoustic contact ***i9i9:iIMDNOT Ignoring new targets: 45.13 m.2iI]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250867"i]t*i]tm ProNav: ac range: 45.125988 m, nav range: 44.728428 m, bearing: 11.960623 deg, approach rate: -0.547345 m/s, LOS rate: -0.213755 deg/s, cmd heading: 16.498773 deg, new cmd heading: 16.348668 deg. iuûuHeadingCmd: 0.285338 target range: 45.125988 and range: 45.30 m.h}>hyhyhyhygygyjgrgereZe:e*eY?颵؂Bɢ==)  i) ˻项i铼i>=>I>IiM@I @I@M0@I@UzA@UyA^A%<=IIO>ԙ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502790E  E E %E "E :*E V:VE 4ZE a @a @a @a @ Kԃ&,NLABz>BzECBzIBzƁBBz =BxBxBz;Bz8E}v >} >}h<ٱ}/l=}H@? `ֿ̩?@F?`)? #l;??i}v >I}`;}CYɁByIaMaM aMaM aMaM aMaU iUMb@Mb@Mb@QQQQ Q9Up= ף?bX9ȶ?:v?YU?yUE=UT9yY=EyWEzE>Q 55?Q 956)7{BQ AT:Y?Q E:y?Q I^@1DIC:i :`5ԩyɮY A:iDNOT Ignoring new targets: 45.13 m.2i"iNp*iNp ProNav: ac range: 45.125988 m, nav range: 44.498413 m, bearing: 11.864755 deg, approach rate: -0.501478 m/s, LOS rate: -0.210091 deg/s, cmd heading: 16.348669 deg, new cmd heading: 16.155943 deg. i>HeadingCmd: 0.281974 target range: 45.125988 and range: 45.30 m.h^>hhhhggjgrgBereZe :e *e Z?ɢԈ&) i)]ܻii^>w=m>I^>IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756411@ @@@ ^A 3=A zA vAIa Iq O} > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006687&,u)NLA2= >23>2F<ٱ2h=2H :?`տ@[? ]-? ? j ??i2= >I2)_;2CY>By>IDF@AbDFVDF8yN,%Rr=ٔRQ-R?9TYT=VEyVZEV՟EV?XQ 5^5Z?Q 9b5ZD4)Z<{BY`yb(?Q Ib^@Z6DIZ:iZ:Zc5yfBɮf Ah:ix~DNOT Ignoring new targets: 45.13 m.2i|"i~q*iq  ProNav: ac range: 45.125988 m, nav range: 44.328686 m, bearing: 11.793725 deg, approach rate: -0.503088 m/s, LOS rate: -0.211345 deg/s, cmd heading: 16.155943 deg, new cmd heading: 16.013340 deg. idHeadingCmd: 0.279486 target range: 45.125988 and range: 45.30 m.h>hhhhggjg!rg!e!re!Ze):e)*e-@?E EE E"E :*Eą:VE3ZEBEN"==E>IE>IIQ@ @@0@^A!>I)I9OE0>y}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258770ԩ ѐ&,pCNLA2 >2>2<ٱ2o=2H?տ`3? $?#?`l۵@c Ѹ?`R?i2 >I23^;2CPYRByRIIV=)V=bD^!VD^˰8yf%fG=ٔfQ-f>9hYh=jEyj^EnmEn>pQ 5v5r!?Q 9v5rq1)rA{BYtyv?Q Iv^@r=DIr.:ir::rzg5y|ɮ~ A|:iDNOT Ignoring new targets: 45.13 m.2i"ii*ii ProNav: ac range: 45.125988 m, nav range: 44.123127 m, bearing: 11.707083 deg, approach rate: -0.482969 m/s, LOS rate: -0.204518 deg/s, cmd heading: 16.013341 deg, new cmd heading: 15.839249 deg. i%HeadingCmd: 0.276447 target range: 45.125988 and range: 45.30 m.hx>hhhhggjgrgereZe:e*eӱ?ɢD5)  i)i M i x> Ȟ=>Ix>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511123E EE$E"E:*E H:VE4ZEa@a@a@a@?BIB>BFCBIBBB =BBB~;B7EBFCBFCBB =B =Cƨ%6ԩ@ @@/@߅ X?߅ ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763017 ^A > AIIQIaOu> &,(aNLA2/j >2I>2K <ٱ2=2Hk?`տ?R??]?1᏿u??i2/j >I2];2CY>ÁBy>IiMb@Mb@Mb@ 9w/?sh|??~jtx?Y?y=;AA  A)x AY AbD}VD}8y;%$=ٔղQ->9Y=EycE !E>Q 55:5?Q 95.)D{BY?Q E:y?Q I^@FDIa;iv;k5yBɮ AE:iDNOT Ignoring new targets: 45.13 m.2i"iWv*iWv ProNav: ac range: 45.125988 m, nav range: 43.869888 m, bearing: 11.603947 deg, approach rate: -0.525774 m/s, LOS rate: -0.215366 deg/s, cmd heading: 15.839250 deg, new cmd heading: 15.631789 deg. iŻHeadingCmd: 0.272826 target range: 45.125988 and range: 45.30 m.h߯>hhhhg g jg rg BereZe:e*e;@EׂBɢMƏ-)I M iI)UQQiU65i]߯>]ݞ=],>I]߯>IYE[RSchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016486@ @@@E EEE"E:*E1]:VEZEBEQ A I I1 O= >} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266718/&,4{NLA$R>R>Ru<ٱR=RH* ?(տw?? ?@괿`㬷??iR>IRj-^;RCYZByZI bp9pYp=rEyrgEv>̺Ev>xQ 5~5z2D?Q 9~5zw+)zF{BY|y?Q I^@zLDIz;iz;z%o5y ɮ i A -B*** querying acoustic contact ***i)i):i15DNOT Ignoring new targets: 45.13 m.2i9"i=p*i=pM ProNav: ac range: 45.125988 m, nav range: 43.676132 m, bearing: 11.524331 deg, approach rate: -0.508632 m/s, LOS rate: -0.209927 deg/s, cmd heading: 15.631788 deg, new cmd heading: 15.471851 deg. iMUHeadingCmd: 0.270035 target range: 45.125988 and range: 45.30 m.hUA>hQhQhYhYgYgYjgargaeareaZea:ei*em @频ɢL) i)Y 顡iɖiA>D=R- >IA>IQ] aԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519425@ @@@@yA@zAE EE"E"E ;*E;J:VE(3ZEa@a@a@a@ԩ B #>B GCB IB BB =B B ȺDB N;B 7E^A *> A)I1IAOU>&,NLA"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770887:e>:dz>:k<ٱ:i=:H \ ?`տǨ?`? ?`COv R?=?i:e>I:^;8YBByBI DDimMb@Mb@Mb@iiii i9mQ?~jt?MbPYm?ym=mmOAm^A i)m AiYm AbDVD8y t<%&=ٔᗺQ->9Y=EylETE>ԱQ 55W?Q 95)()E{BYU ?Q E:y>Q I^@UDI,3;i_:ts5yBɮm AE:i DNOT Ignoring new targets: 45.13 m.2i"ii*ii% ProNav: ac range: 45.125988 m, nav range: 43.421062 m, bearing: 11.423610 deg, approach rate: -0.513098 m/s, LOS rate: -0.203800 deg/s, cmd heading: 15.471850 deg, new cmd heading: 15.269226 deg. i%}HeadingCmd: 0.266498 target range: 45.125988 and range: 45.30 m.hvr>hhhhggjgrgBereZe:e*e`@ւBɢ"F1)a eia)eCaaieimvr>m=mu >Imvr>IqyyBDAT read: Rx Time:04:36:09.7410 TRx dataTimestamp_ set to:1764909370.658710checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023722  @  @ @ 1@ E  E E #E "E :*E R:VE 3ZE BE aߥ%=ߥ=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275650A5.AI9IQO] ?aD&,0׻NLA2l>2>2Nc<ٱ2ܶ=2H  ?` տ@y]? ? ?@o6@i`<Ӷ??i2l>I2_;2CY:By:qIbDFVDF8yN5%N"=ٔNYQ-N>9R ?YR ?=REyRqEV{o:EV>TQ 5~5V3l?Q 9~5V$)VD{BY|y~>Q I^@V]DIVT)hhhhggjg!rg!eAreAZeI:eI*eM`H @ՂBɢ $=)  i ) {ioi>=F>I>IAq@ @@/@DAT read: 04:36:09.7410 LVL= 32336, 32753, 29346, 32755, AGC= 67, IDX= 413, 0.03, 2.274, 0.687, 2.739, 2.166, PHS= 0.210,-1.434, 0.528, RAW= 158.7, 7.7, CAL= 158.2, 7.8, ROT= 351.8, -7.8 %Ygot valid direction response: 04:36:09.7410 LVL= 32336, 32753, 29346, 32755, AGC= 67, IDX= 413, 0.03, 2.274, 0.687, 2.739, 2.166, PHS= 0.210,-1.434, 0.528, RAW= 158.7, 7.7, CAL= 158.2, 7.8, ROT= 351.8, -7.8 5PDAT read: Bearing 192.6, -8.4 (Local) =~Local bearing/azimuth received: Bearing 192.6, -8.4 (Local) eDAT read: Range 11 to 50 : 43.4 m (Round-trip 57.9 ms) speed 0.5 m/s mR#Rx 1: Read range and direction messages.}^direction in FSK: [0.980619,-0.141310,0.135716]Fpublishing direction and range infoԉyZP:a?2{n¿ M _?Y-BP~r )CI= W>iP+?E1@ > 0@ 'g >)p{@I'g ?AC?΃F?udbL4? ,?)R ITi'g T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DzD?AE EE%E"E:*E H:VE 4ZEa@a@a@a@^A P > B <A <B '>B HCB lIB BB =B B ɺDB ;B 7EA ؟AI I O >Iy&,jNLAxY~By~fIiMb@Mb@Mb@ (DAT read: user:19> BDAT read: Tx time:04:36:11.0790 $Ping request sent.9"?Y"?=EyvEE>Q 55?Q 95!)A{BY?Q E:y9>Q I^@fDI;i;"|5yBɮ\ Aii^NLAj,B"j,B:jI>"p~2E@ Nppx@pZP:a?2{n¿ M _?*jT2j'g *pVtE@ >$ @p@p}`1?zY?{+IJ?jA j(Bit^?i DjBj[?jjrj+Bzj_H>} addTargetRange:: Added new target pos. range: 43.400002 m, deltaT: 3.780128 s, deltaX: -1.899998 m, approachRate: -0.502628 m/s, rangeRepo size: 4  Added new target pos. range: 43.234665 m, bearing: 11.299667 deg, lat: 36.779431 deg, lon: -121.859675 deg, deltaT: 3.780128 s, deltaX: -1.891323 m, approachRate: -0.500333 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 43.23 m.2i"i*i ProNav: ac range: 43.234665 m, nav range: 42.918533 m, bearing: 11.220606 deg, approach rate: 0.000000 m/s, LOS rate: -0.200794 deg/s, cmd heading: 15.059196 deg, new cmd heading: 14.865527 deg. iHeadingCmd: 0.259452 target range: 43.234665 and range: 43.40 m.hք>hh!hh)g)g)jg1rg5zBe9reYZea:ee@3E@*em?ԂBɢoN) i))i}i%ք>%4=%>I%ք>I!@ @@-3@Qm checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248877y ^A M>A A ?EE  EE EE $EA "EE :*EE 1]:VEE 4ZEA BEA aU 2EA aU JEE ;a] :EE ;a] AE .AIQ Ia Ou >r1&,J$NLA^>^8>^<ٱ^Ŀ=^H ?@ߛտ̤? ? ?QPT@\??i^>I^*];^CYfByfbIbDrVDr8yve%zR=ٔzF:Q-z>9~ ?Y~ ?=~Ey~zE?FE> Q 55 ܎?Q 95 () ?{BYy>Q I^@ lDI u:i ; 5y!ɮ%z A!:iAMDNOT Ignoring new targets: 43.23 m.2iI"iUk*iUke ProNav: ac range: 43.234665 m, nav range: 42.722336 m, bearing: 11.144834 deg, approach rate: -0.531056 m/s, LOS rate: -0.206039 deg/s, cmd heading: 14.865526 deg, new cmd heading: 14.713285 deg. iemHeadingCmd: 0.256795 target range: 43.234665 and range: 43.40 m.hmz>hihihihigqgqjgyrgyeyreyZey:e*e?-ӂBɢ-Ko)- 5i1)5%/11i5'i=z>=D==>I=z>IAichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501866@! @!@%/@!ԑ 7y>C=gG^A]>uzA5A09zAYwA AQ Ia Iq O} >] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7528521&, OLAJH>J]>J<<ٱJ=PJH 2?yտ@? ?`?@FԷ?*?iJH>IJ];JCDn=Dn4=Ev EvEv&Et"Ev :*EvVL:VEv4ZEtaz@az@az@az@Y%By%WIbD5VD58yE/%EF=ٔENVQ-M>9IYI=MEyM~EU EU>YQ 5e5]D?Q 9e5])]={BYaye>Q Im^@]sDI]q:i]\:]5yuBɮu AuEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 43.23 m.2i"ia*ia ProNav: ac range: 43.234665 m, nav range: 42.512085 m, bearing: 11.063417 deg, approach rate: -0.507697 m/s, LOS rate: -0.197571 deg/s, cmd heading: 14.713284 deg, new cmd heading: 14.549646 deg. iɴHeadingCmd: 0.253939 target range: 43.234665 and range: 43.40 m.hR>hhhhggjgrgereZe:e*e@?%҂Bɢ%`)) -#i))-8))i-iHi5R>5%X==H>I=R>I9B*>BBYIBBB =BBB ;B7EPExceeded connect timeout, disconnecting.@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005052^A5 M>! Ae ؟AIq I O >>>&,&OLAJK%=J >J;ٱJV=JHN%? Wտ@?w?h?_T|ٶ?`?iJK%=IJ];JCYVByVSI|i5Mb@Mb@Mb@1111 195 r?Zd;O?Y5?y5j<=55OA1 1)5 A1Y5\ AbD}VD}8yo%F=ٔ-Q->9"?Y"?=EyE-E>Q 55?Q 950)>{BY?Q E:y>Q I^@zDI:i:5yɮ A:iDNOT Ignoring new targets: 43.23 m.2i"ii=*ii= ProNav: ac range: 43.234665 m, nav range: 42.304867 m, bearing: 10.995373 deg, approach rate: -0.501843 m/s, LOS rate: -0.165595 deg/s, cmd heading: 14.549645 deg, new cmd heading: 14.412892 deg. i HeadingCmd: 0.251552 target range: 43.234665 and range: 43.40 m.h {ˀ>h h h h g g jgchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257069rg%[Be!re!Ze!:e)*e-@9?UтBɢ]*e)Y ]$iY)]'4AYaie;ie{ˀ>mk=m>Im{ˀ>Ii@ @@@bE4jE#4rEí<0E  E E (E "E :*E R:VE c44ZE BE ,AzAzA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508964Ae .AIi Iy ԁ O (&,ޫ@OLANW=NЭ>N;ٱN+q=NHT,?`4տf? O?#?@I@@w?@|?iNW=IN"^;LYVByVQIbDrVDr8yzo%~T=ٔ~I_Q-~>9 ?Y ?=EyEػE> Q 55 ؾ?Q 95 ) YyX>Q I_@ DI :i ; 5y% Bɮ%- A-E:iIUDNOT Ignoring new targets: 43.23 m.2iQQ"i]L=*i]L=m ProNav: ac range: 43.234665 m, nav range: 42.111469 m, bearing: 10.931947 deg, approach rate: -0.502322 m/s, LOS rate: -0.165497 deg/s, cmd heading: 14.412893 deg, new cmd heading: 14.285458 deg. impuHeadingCmd: 0.249328 target range: 43.234665 and range: 43.40 m.huO>hqhqhqhygygyjgyrgyereZe:e*e s^?颵ЂBɢlJn) l$i)HI项i}iO>}=S>IO>Iԁ-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762115vE EE$E"E>:*EVE4ZEa @a @a @a @Q@Q @Q@Q@YԩAAB.>BBGIBBBBBB#;B7E nManaging dock network, ignoring radio surface power off ^A W> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015257A ؟AI I O>D2&,/^OLAF/=F~>F;ٱFA=FH`e3?`%տT?'?#?`s[q??iF/=IFT_;FCYVByZGIiMb@Mb@Mb@ 9/$?/$?Mb`Y1?y,=9AtA )AY( AAAbD+VD԰8y%&=ٔ^,Q->9"?Y"?=EyEE>Q 55Ӓ?Q 95:)Y?Q E :y >Q I _@DIe;i;c5yBɮ A:i9=DNOT Ignoring new targets: 43.23 m.2i9"iEs;*iEs;U ProNav: ac range: 43.234665 m, nav range: 41.855862 m, bearing: 10.851880 deg, approach rate: -0.520000 m/s, LOS rate: -0.163881 deg/s, cmd heading: 14.285458 deg, new cmd heading: 14.124347 deg. iU]HeadingCmd: 0.246516 target range: 43.234665 and range: 43.40 m.h]n|>hYhYhYhagagajgirgmkBeireiZei:eq*eu`@!]΂Bɢes[)a ed'ia)e`)Taiimyzimn|>u4=u>Iun|>IqIuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2648459EM EMEIEI"EMl;*EMk:VEIZEIBEMZFrS;ٱr=rH9?ԿY?@? ?سzjL? ?iro=Ir^;rCY-By-MII5=)5p<bD=GVD=8ym2<%u'=ٔuvQ-u>9yYy=}Ey}E}E}>Q 552璊?Q 95x)Yy>Q I_@DI;i2;5yɮe A:i-DNOT Ignoring new targets: 43.23 m.2i)"i-8*i-8= ProNav: ac range: 43.234665 m, nav range: 41.601479 m, bearing: 10.772060 deg, approach rate: -0.511867 m/s, LOS rate: -0.161596 deg/s, cmd heading: 14.124347 deg, new cmd heading: 13.963731 deg. i=ޓEHeadingCmd: 0.243713 target range: 43.234665 and range: 43.40 m.hy>hhhhggjgrgereZe:e*e/@ԙ颥͂Bɢ"\) $i)^顩iocviy>=>Iy>Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768943EM EMEM%EI"EM,:*EMAr:VEM 4ZEIa]@a]@a]@a]@ @  @ @ 0@! B ,>B B @IB zBB =B B B N;B 7EBHCBHCBB =B =Cɼ5! A I I O >&,*OLA62=6J>6;ٱ6]ժ=6H@? Կ@˝??2&?G``@RT??i62=I6^;6CY>By>WI|i=Mb@Mb@Mb@9999 99='1Z? ףp= ?~jtx?Y=?y=Q8==;=OA=A = A)= A9Y=\ AbDUAVDU8ye=%eL=ٔe?Q-m>9iYi=mEymEuѻEu>yQ 55}?Q 95}E)}A{BYT?Q E:yL>Q I_@}DI}Z:i}:})5yBɮJ AEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 43.23 m.2i"i=*i=BDAT read: Rx Time:04:36:13.5383 TRx dataTimestamp_ set to:1764909374.438902checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022083 ProNav: ac range: 43.234665 m, nav range: 41.401367 m, bearing: 10.707049 deg, approach rate: -0.508679 m/s, LOS rate: -0.166054 deg/s, cmd heading: 13.963731 deg, new cmd heading: 13.833082 deg. i򗻝HeadingCmd: 0.241433 target range: 43.234665 and range: 43.40 m.h+:w>hhhhggjgrg^BereZe:e *e XA @颵˂Bɢp) i)Xf项i@[si+:w>B=S>I+:w>I1@ @@/@AIIOj>Y checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272889ԁ Ee  Ee Ee 'Ea "Ee :*Ee c:VEe '4ZEa BEe '^:ٱU=HdI?@zԿ {? ?c.?w4rKk?D?i=I ^;CYBy^I 4<<bDVD8y^<%B=ٔ9Y=EyEE>Q 55?Q 95 )E{BYy>Q I_@DI(:i:֙5y ɮ  AE:i9=DNOT Ignoring new targets: 43.23 m.2i9"iE9*iE9U ProNav: ac range: 43.234665 m, nav range: 41.191216 m, bearing: 10.639093 deg, approach rate: -0.499703 m/s, LOS rate: -0.162413 deg/s, cmd heading: 13.833082 deg, new cmd heading: 13.696476 deg. iU]HeadingCmd: 0.239049 target range: 43.234665 and range: 43.40 m.h](t>hYhYhYhYgYgajgargaeareiZei:ei*em @额ʂBɢf) i)n顡i9pi(t>&ӟ= >I(t>II)e@a @a@e/@aԉDAT read: 04:36:13.5383 LVL= 32144, 31473, 28322, 32755, AGC= 66, IDX= 418,-0.11, 1.932, 0.344, 2.420, 1.810, PHS= 0.224,-1.421, 0.566, RAW= 159.3, 6.9, CAL= 158.7, 6.8, ROT= 351.3, -6.8 %Ygot valid direction response: 04:36:13.5383 LVL= 32144, 31473, 28322, 32755, AGC= 66, IDX= 418,-0.11, 1.932, 0.344, 2.420, 1.810, PHS= 0.224,-1.421, 0.566, RAW= 159.3, 6.9, CAL= 158.7, 6.8, ROT= 351.3, -6.8 -PDAT read: Bearing 190.1, -8.3 (Local) -~Local bearing/azimuth received: Bearing 190.1, -8.3 (Local) 5DAT read: Range 11 to 50 : 41.4 m (Round-trip 55.2 ms) speed 0.4 m/s =R#Rx 1: Read range and direction messages.E^direction in FSK: [0.981540,-0.150197,0.118404]EFpublishing direction and range infoy5h?mbے9ÿEO?Y%B}zn )BIB`e>iT㵿`?1@Ϣ=E1@ =)3@I{ʆ?G#?7о? m/?)I|ieT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.A.AIIO=r>ԩ &,OLA"(DAT read: user:20> &BDAT read: Tx time:04:36:14.8290 *$Ping request sent.*BӹٱBp=BH@P?lԿ? ~?Z5?O`R:? g?P?iBB=IB+^;BCYBy\I  bDVD8yec%eS=ٔmSQ-m>9m ?Yu ?=uEyuEuEu>ԹQ 55_?Q 95 )I{BYy6>Q I_@DIh:i:M5yBɮB AE EE#E"E:*ErN:VE3ZEa%@a%@a%@a-@ii`VOLAj$B"j$B:jy(>"p-H=D@t4ֆ@p5h?mbے9ÿEO?*j|2j*pJM:D@(t悕@A%cu@po̠c?mΕ?Z?jL@ j!Biyh?i%ZjKBjm i\?jMjKBrj#Bzj5> addTargetRange:: Added new target pos. range: 41.400002 m, deltaT: 3.780725 s, deltaX: -2.000000 m, approachRate: -0.528999 m/s, rangeRepo size: 4  Added new target pos. range: 41.242760 m, bearing: 9.442375 deg, lat: 36.779431 deg, lon: -121.859678 deg, deltaT: 3.780725 s, deltaX: -1.991905 m, approachRate: -0.526858 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 41.24 m.2i"i*i ProNav: ac range: 41.242760 m, nav range: 40.955608 m, bearing: 10.168270 deg, approach rate: 0.000000 m/s, LOS rate: -0.162413 deg/s, cmd heading: 13.696476 deg, new cmd heading: 13.562549 deg. iHeadingCmd: 0.236711 target range: 41.242760 and range: 41.40 m.hgdr>hhhhggjgrg e re Ze):e5@3D@*e58?}ȂBɢ}Ҡe) i)Mw顁imB'>BBBB =BBBi;B7Ei gdr> ]= >I gdr>Iu@q @y@}/@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250920^AA 9 Aq I I O >&&,t_OLAY By SIiMb@Mb@Mb@ 9 r?+?~jt?Y?y=D<A )Y AbD VD8y: %>=ٔQ->9Y=EyEE>Q 551(?Q 95 )P{BY?Q E:y>Q I_@DI;iD;5yɮ~ A:i1=DNOT Ignoring new targets: 41.24 m.2i9"iE>*iE>U ProNav: ac range: 41.242760 m, nav range: 40.744286 m, bearing: 10.101177 deg, approach rate: -0.522667 m/s, LOS rate: -0.166803 deg/s, cmd heading: 13.562549 deg, new cmd heading: 13.427667 deg. iU]HeadingCmd: 0.234357 target range: 41.242760 and range: 41.40 m.h]Ho>hYhYhYhYgYgajgargeeBeireiZei:ei*em6?额ƂBɢ,t) i)顡ijiHo>=>IHo>I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503637]@Y @Y@]/@aE EE&E"E>:*EVE4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754981A ؟AI I O >I \ &,B'PLA:ps=:>:`ٱ:4=:H`?ԿR?b?PF?l?ٴ??i:ps=I:`^;:CYFByF]ILLbDRVDR8yVD*=%Va=ٔZaQ-Z>9Z"?Yz"?=zEyzE~E~>Q 5 57?Q 9 5)V{BY y `>Q I _@DI\:i:85yBɮc AE:iAEDNOT Ignoring new targets: 41.24 m.2iA"iM)4*iM)4] ProNav: ac range: 41.242760 m, nav range: 40.557377 m, bearing: 10.042953 deg, approach rate: -0.503309 m/s, LOS rate: -0.157509 deg/s, cmd heading: 13.427667 deg, new cmd heading: 13.310682 deg. i]!eHeadingCmd: 0.232315 target range: 41.242760 and range: 41.40 m.he m>hahahahagigijgirgieireqZeq:eq*e}ʷ?颥łBɢt) i)7顩iVgi m> =>I m>I1m@i @i@m/@iYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006770^AE0>AU?AU>E EEE"E*Ec:VEZEa@a@a@a@ԉAa Ii Iy B (>B B GIB BB B B B q;B 7EO >Թ 2&,PLA2'X=2ƪ>2ٱ2gʦ=2H e?Rӿ8`?(?:K?d*`6s?@WӴ? ?i2'X=I2^;2CY>By>jIiMb@Mb@Mb@ 9?i|?5?~jt?Yf?yq=A^A )b AY AbDVD8y-R=%-C=ٔ-~TQ-5>91Y1}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258970=EyEqE>Q 55oH?Q 959)_{BYG?Q E:y>Q I_@DI:i);5yɮ A=B*** querying acoustic contact ***i9i9:iy}DNOT Ignoring new targets: 41.24 m.2i"iO*iOԑ ProNav: ac range: 41.242760 m, nav range: 40.338417 m, bearing: 9.962814 deg, approach rate: -0.493858 m/s, LOS rate: -0.181733 deg/s, cmd heading: 13.310682 deg, new cmd heading: 13.149534 deg. iKHeadingCmd: 0.229503 target range: 41.242760 and range: 41.40 m.hk>hhhhggjgrg }BeIreIZeI:eQ*eU%?额‚BɢrK\) Vi)顡iTdik> =Z>Ik>I@ @@@@zA@yA= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512172^A% ( >E  E E 'E "E 2:*E T:VE '4ZE BE $** &,Dj4PLA>52=>I>>лٱ>$E=>H`k?Gӿ` J??P?z?悴??i>52=I>^^;>CYFByFhIbDRVDR8yV%ZN=ٔZXQ-Z>9\Y\=^Ey^E^DEb>`Q 5f5bW?Q 9j5b )bf{BYhyj>Q Ij_@bDIbM;ib;bJ5yn!Bɮr; ArE:i DNOT Ignoring new targets: 41.24 m.2i "io`*io`% ProNav: ac range: 41.242760 m, nav range: 40.143700 m, bearing: 9.891374 deg, approach rate: -0.532236 m/s, LOS rate: -0.196217 deg/s, cmd heading: 13.149534 deg, new cmd heading: 13.005963 deg. i%-HeadingCmd: 0.226997 target range: 41.242760 and range: 41.40 m.h-qh>h)h1h1h1g1g1jg9rg9e9re9Ze9:eA*eE?mBɢu0x)q ufiq)umڊqyi}ai}qh>f0=S>Iqh>IԱ%@) @)@-0@)E?EQ?Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763127^A >܃G{AA]9e{AYedA I) I9 OE > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014914) cb&,1NPLAY|y~iI  bDݿVD8y%;%%D=ٔ%Q-->9)Y)=-Ey-E5E5>9Q 5E5=h?Q 9E5=)=o{BYAyAQ IE_@=DzDI=:i=:=5yQɮU7 AQDyzDyE EE&E"EO:*E|:VE4ZEa@a@a@a@:iqDNOT Ignoring new targets: 41.24 m.2i"iZ*iZ ProNav: ac range: 41.242760 m, nav range: 39.930382 m, bearing: 9.812285 deg, approach rate: -0.511573 m/s, LOS rate: -0.190682 deg/s, cmd heading: 13.005963 deg, new cmd heading: 12.846940 deg. i|HeadingCmd: 0.224221 target range: 41.242760 and range: 41.40 m.hKe>hhhhggjgrgereZe:e*eY@Bɢ-g) i)Ǝi5'_iKe>D=Z>IKe>I B%>BGCBYIBBBBBȺDB;B 8E@ @@0@Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267354^A >i I I O >V&,J hPLA Y~BymIiMb@Mb@Mb@ 9K7A?~jt?9Y=EyE E >Q 5%5y?Q 9%5 ){{BY-?Q E-:y->Q I-_@βDI<;i:;5y=&Bɮ=< AEE:iyDNOT Ignoring new targets: 41.24 m.2i"ip*ip ProNav: ac range: 41.242760 m, nav range: 39.717636 m, bearing: 9.720770 deg, approach rate: -0.486554 m/s, LOS rate: -0.210417 deg/s, cmd heading: 12.846940 deg, new cmd heading: 12.662930 deg. iHeadingCmd: 0.221010 target range: 41.242760 and range: 41.40 m.hfPb>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519461hhhhggjgrgBereZe:e*e\7@%Bɢ%Ĺa)) -i))5Ԓ11i5'S\i=fPb>=Z==h>I=fPb>IAibE-4jEę4rEĝ/E EE%E"E:*EX:VE 4ZEBE#II IY m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770966O} >At &,PLA2=2>2vIٱ2wW=2Hy?@ӿ5?? _? %`.?`4%??i2=I2 `;2CLYbBybxIbDn VDn8yv5=%vX=ٔvQ-z>9xYx=zEyzE~,E~>Q 5 5ڇ?Q 9 5){BY y >Q I_@ԲDI:i:5yɮ A:iAEDNOT Ignoring new targets: 41.24 m.2iA"iMs*iMs] ProNav: ac range: 41.242760 m, nav range: 39.536240 m, bearing: 9.643614 deg, approach rate: -0.498283 m/s, LOS rate: -0.212915 deg/s, cmd heading: 12.662930 deg, new cmd heading: 12.507910 deg. i]»eHeadingCmd: 0.218304 target range: 41.242760 and range: 41.40 m.he#_>hahahahagigijgirgieqreqZeq:eq*euY @颥Bɢn)  i)顩i.Zi#_>k=D>I#_>I@ @@0@BDAT read: Rx Time:04:36:17.2858 TRx dataTimestamp_ set to:1764909378.222935checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028059^A>ID=D<E EE#E"E:*Ee:VE3ZEa@a@a@a@IO>B*>BHCBfIBBB =BBɺDB;B8E! &&,؛PLA2|=2쳝>2%iٱ28$=2H }?@)iӿ ?f?c?F@!??@?i2|=I2`;2CYJByJvIxchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274911iMb@Mb@Mb@ 9RQ?K?I +?Y?y^=94<A  A)K AY A@AbDVD8y6޻%8=ٔ%Q-%>9)Y)=-Ey-E5uE5>9Q 5E5= ?Q 9E5=)={BYE?Q EE:yE >Q IM_@=۲DI=;i=D;=ӹ5yU*BɮU& AQuB*** querying acoustic contact ***iqiq:iyDNOT Ignoring new targets: 41.24 m.2i"iㅻ*iㅻ ProNav: ac range: 41.242760 m, nav range: 39.317245 m, bearing: 9.539878 deg, approach rate: -0.491473 m/s, LOS rate: -0.234105 deg/s, cmd heading: 12.507909 deg, new cmd heading: 12.299282 deg. i8ֻHeadingCmd: 0.214663 target range: 41.242760 and range: 41.40 m.h[>hhhhgIgIjgYrgeBeireqZey:e*e @!颥BɢV) F i)Y顩iWi[>&=Y>I[>I9@9 @9@=/@9I DAT read: 04:36:17.2858 LVL= 31504, 32753, 29746, 32755, AGC= 66, IDX= 408,-0.04,-2.081, 2.633,-1.620,-2.215, PHS= 0.236,-1.390, 0.551, RAW= 158.7, 6.7, CAL= 158.1, 6.6, ROT= 351.9, -6.6  Ygot valid direction response: 04:36:17.2858 LVL= 31504, 32753, 29746, 32755, AGC= 66, IDX= 408,-0.04,-2.081, 2.633,-1.620,-2.215, PHS= 0.236,-1.390, 0.551, RAW= 158.7, 6.7, CAL= 158.1, 6.6, ROT= 351.9, -6.6  PDAT read: Bearing 187.9, -6.9 (Local)  ~Local bearing/azimuth received: Bearing 187.9, -6.9 (Local) % DAT read: Range 11 to 50 : 39.5 m (Round-trip 52.7 ms) speed 0.4 m/s - R#Rx 1: Read range and direction messages.- ^direction in FSK: [0.983463,-0.139967,0.114937]5 Fpublishing direction and range infoy$wx?1sNZl?YB{2t )Iq>i뱿V ?E1@|=r0@ =)@I뽩\L?p?#Ǣ2?2*[ ? ,?)Ii뽩M T****** received valid address query ******M R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode.y ^A} ,a>E  E E $E "E :*E :VE 4ZE BE p%,&,PLA2ѳ=2>2ٱ2}=2H ?@Gӿ`UW?B?i?T`oB? ?`?i2ѳ=I2a;2CY>By>IbDfVDf8ynWH=%rb=ٔrQ-r>9tYt=vEyvEvλEv>xQ 55z?Q 95z)z{BY9y=>Q I=_@zDIz"pw&CwYC@?&l" I@p$wx?1sNZl?*j2j*p<%qLC@Si6@nlNB@pŷWc?@װ?+:?څ?j@ jcBiJf[?iWjBjjLPjrjBzj&> addTargetRange:: Added new target pos. range: 39.500000 m, deltaT: 3.779665 s, deltaX: -1.900002 m, approachRate: -0.502690 m/s, rangeRepo size: 4  Added new target pos. range: 39.349697 m, bearing: 8.913287 deg, lat: 36.779431 deg, lon: -121.859679 deg, deltaT: 3.779665 s, deltaX: -1.893063 m, approachRate: -0.500855 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 39.35 m.2i"i*i% ProNav: ac range: 39.349697 m, nav range: 39.124775 m, bearing: 9.325721 deg, approach rate: 0.000000 m/s, LOS rate: -0.234105 deg/s, cmd heading: 12.299282 deg, new cmd heading: 12.122975 deg. i!-HeadingCmd: 0.211586 target range: 39.349697 and range: 39.50 m.h-X>h)h)h)h)g)g1jg9rg9e9re9ZeA:eEC@*eE`2?颭Bɢ!+n)I MiQ)U>QQiUzUi]X>]ޕ=]>I]X>IaE(DAT read: user:21> UBDAT read: Tx time:04:36:18.6290 ]$Ping request sent.] A= .AIA IQ Oe >i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2468813&,zPLAJЮ=JH>JµٱJ}R=JH ? $ӿy??@o?z??@?iJЮ=IJ `;JCYRByV{IbD^VD^ð8yfY%fL=ٔf֑Q-f>9j ?Yj ?=jEyjEnqǻEn>pQ 5v5r?Q 9v5rE)r{BYtyv>Q Iv_@rDIrq:ir\:r}5y~.Bɮ~& A~EL Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLL%Entering USBL mode with 120.000000 count pings at 39.500000 m (mode 2.000000 count ).L%1M%:i15DNOT Ignoring new targets: 39.35 m.2i1"i=i*i=iM ProNav: ac range: 39.349697 m, nav range: 38.927334 m, bearing: 9.230965 deg, approach rate: -0.508984 m/s, LOS rate: -0.245512 deg/s, cmd heading: 12.122974 deg, new cmd heading: 11.932501 deg. iMໝUHeadingCmd: 0.208261 target range: 39.349697 and range: 39.50 m.hU|BU>hQhQhQEe EeEe#Ea"Ee:*EeP:VEe3ZEaam@am@am@am@hQgigqjgqrgqeyreyZey:ey*e},?颭BɢCk) Oi)h顱iSԹi|BU>^=>I|BU>IB->BByIBBB =BBB;B8EBaBaBaBe =BaCe";55@9 @9@=05@9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.499923^A]F>Ae ؟AIq I O >9 9&,7TPLA2q=2%>2!pٱ2=2H?@ҿ7k?`G?@!v?\?w? ?i2q=I24`;2CY:By:zIvonly read 2 of 4 data items for water velocity. Device response is::WS,-3268,-32768,V az@az az@az az@az az@az z;z<bD~-VD~ְ8y |% F=ٔEQ->9"?Y"?=EyE5лE>!Q 5-5%Ɠ?Q 9-5%)%{BQ A5+:Y1Q E5:y5[>Q I5_@%DI%:i%,>%h5y9ɮ=. AAjU^@1MUqM]:iamDNOT Ignoring new targets: 39.35 m.2ii"iu*iu ProNav: ac range: 39.349697 m, nav range: 38.724369 m, bearing: 9.133352 deg, approach rate: -0.494286 m/s, LOS rate: -0.238966 deg/s, cmd heading: 11.932501 deg, new cmd heading: 11.736253 deg. iڻHeadingCmd: 0.204836 target range: 39.349697 and range: 39.50 m.hQ>hhhhggjgrgereZe:e*e [?BɢOd) i)   i >QiQ>%4=%D(>I%Q>I)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750543Eu EuEu"Eq"Eu :*Eu:VEu(3ZEqBEuN"A zA ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003962A9 II IY Oe >ԙ Q@&,/QLA>`=>,>>ڶٱ>=>H ߖ? ҿ @? ? !?X᳿ ږ?` ?B?i>`=I>_;>CYbByb{IbDjVDjŰ8yrz;%rM=ٔrǸQ-v>9tYt=vEyvEz Ez>|Q 55~֓?Q 95~<)~{BQ A :YQ E :y >Q I _@~DI~I:i~"P?~5y2Bɮ@ AEj)qM-M-:i9EDNOT Ignoring new targets: 39.35 m.2iA"iEև*iMևU ProNav: ac range: 39.349697 m, nav range: 38.528297 m, bearing: 9.039115 deg, approach rate: -0.491689 m/s, LOS rate: -0.237519 deg/s, cmd heading: 11.736253 deg, new cmd heading: 11.546821 deg. iUWٻ]HeadingCmd: 0.201530 target range: 39.349697 and range: 39.50 m.he]N>hahahahagagajgirgieireiZeq:eq*eu`*?额BɢKh) ~i)V;顡iW%Pi]N>Ϡ=>I]N>Iq@ @@3@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254895Ա^AIE EE$E"E:*EX:VE4ZEa@a@a@a@B:>BICBIBBB =BBʺDB};B8EA I I O > F&,aQLAf=f.S>fq¼ٱf:=fH9? ҿ|] >?`?@rX?@y?P?if=Ifq_;fCYzByztIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507681a a  a a  a a  a a  i Mb@Mb@Mb@     9 K7A?Q?~jthY  ?y \= D fA A b A)  A Y  AbD%VD%8y5>ݼ%56=ٔ=TQ-=>99Y9==EyEEE)EE>IQ 5U5M瓊?Q 9U5M)M{BQ A]T:Y]G?Q E]:y]~>Q I]_@MDIMz:iM3:M5yaɮer AajyMCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLL Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLB*** querying acoustic contact ***iix:iDNOT Ignoring new targets: 39.35 m.2i"iRm*iRm ProNav: ac range: 39.349697 m, nav range: 38.307182 m, bearing: 8.946535 deg, approach rate: -0.492696 m/s, LOS rate: -0.207481 deg/s, cmd heading: 11.546822 deg, new cmd heading: 11.360593 deg. i۽HeadingCmd: 0.198280 target range: 39.349697 and range: 39.50 m.h K>hhhhggjgrgBereZe :eA*eM@m?颕Bɢ_) i){=顙i?Ni K>B=>I K>I @ @@/5@9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758615a ^A E  E E %E "E *E ]t:VE 4ZE BE p%jM&,6QLA 2=2e?>2ɼٱ2|A=2H? Uҿm u~D??@7.:??q?i2=I2^;2CYVByVkI^AA\bDbVDbİ8yj#%jd=ٔjQ-j>9lYl=nEynEr9Er>tQ 5z5v?Q 9z5v)v{BYxyzn>Q Iz_@vDIv :iv<;v5y+BɮE:i)-DNOT Ignoring new targets: 39.35 m.2i)"i5dm*i5dmE ProNav: ac range: 39.349697 m, nav range: 38.130272 m, bearing: 8.872815 deg, approach rate: -0.495756 m/s, LOS rate: -0.207544 deg/s, cmd heading: 11.360593 deg, new cmd heading: 11.212469 deg. iE꽻MHeadingCmd: 0.195695 target range: 39.349697 and range: 39.50 m.hM$dH>hIhIhIhIgQgQjgQrgYeYreYZeY:ea*ee`q@颍Bɢ{}) Vi)-顑iLi$dH>=Ց>I$dH>IM@Q @Q@U0@Qqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011752ԙ^A'>A>A> A I I O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262604S&,7PQLA2;̇=2͇>2Ǽٱ26[=2H? oҿ#'??>­ ?Z??i2;̇=I2 ^;2CY:By:^IIB!>)BbDFVDF8PyRQ%RN=ٔV0:Q-V>9TYT=VEyVEZZEZ>\Q 5b5^a?Q 9b5^)^{BY`yf>Q If_@^ DI^G:i^:^55yhɮj Ah:i|~DNOT Ignoring new targets: 39.35 m.2i|"ixj*ixj ProNav: ac range: 39.349697 m, nav range: 37.933620 m, bearing: 8.791722 deg, approach rate: -0.494537 m/s, LOS rate: -0.204988 deg/s, cmd heading: 11.212469 deg, new cmd heading: 11.049444 deg. iHeadingCmd: 0.192849 target range: 39.349697 and range: 39.50 m.hAzE>hh!h!h!g!g!jg)rg)e)re)Ze):e)*e5@@EE EEEE#EA"EED:*EEx:VEE3ZEAaM@aM@aM@aM@uBɢu%v)  i)sȱiJiAzE> =>IAzE>I B=@>B=KCB=IB=BB= =B9B=˺DB=;B=#8E @  @ @ /@ ->-=5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517018^A->! A I I O >(Z&,0jQLA2i؂=2J>2@~żٱ2~N=2H@? ѿ '??6@+?"˩?6?i2i؂=I2t];2CYRByRiI|i]Mb@Mb@Mb@YYYY Y9]~jt?Dl?MbpY]?y]O=]]|A]A ]x A)]5 AYY] AbD}ݿVD}8y=%<=ٔ:Q->9Y=EyEѵE>Q 55?Q 95){BY?Q E:y8>Q I_@DIb6;i9;5y.Bɮ AE:i DNOT Ignoring new targets: 39.35 m.2i}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766741"iOj*iOj ProNav: ac range: 39.349697 m, nav range: 37.713276 m, bearing: 8.702273 deg, approach rate: -0.501685 m/s, LOS rate: -0.204849 deg/s, cmd heading: 11.049444 deg, new cmd heading: 10.869501 deg. irHeadingCmd: 0.189709 target range: 39.349697 and range: 39.50 m.hBB>hhhhggjgrgwBereZe:e*e L@-Bɢ5eh)1 5i1)5n19i=Hi=BB>EH!=E7>IEBB>IA)EU EUEU&EQ"EU :*EU[:VEU4ZEQBEUN"M BDAT read: Rx Time:04:36:21.0833 U TRx dataTimestamp_ set to:1764909382.003030U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024279ԁ AY Ii Iy O > ! ! \a&,QLA>>GHTl9lYlvI~=v$U>v¼ٱv\=vHܾ?ѿ/H ? ɲ?խX? ??ivI~=Iv-s];vCY~By\I p< <bDVD8y%U%%Q=ٔ%]:Q-->9)Y)=-Ey-E5ݝE5>9Q 5E5=&?Q 9E5=)={BYAyEC>Q IM_@=DI=:i=h:=k5QyQɮ] AY:iyDNOT Ignoring new targets: 39.35 m.2i"im*im ProNav: ac range: 39.349697 m, nav range: 37.517178 m, bearing: 8.622353 deg, approach rate: -0.507209 m/s, LOS rate: -0.207795 deg/s, cmd heading: 10.869502 deg, new cmd heading: 10.708826 deg. i$HeadingCmd: 0.186904 target range: 39.349697 and range: 39.50 m.hc?>hhhhggjgrgereZe:e*e: @Bɢw) 6 i)iFimc?>u2=u8q>Iuc?>IqI)xA%@! @!@%/@)@-=@-=ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.270625EU EUEU#EQ"EU:*EUV:VEU3ZEQae@ae@ae@ae@!BM>BMVCBMIBMBBM =BM=DBMպDBMn;BMF8E^A#>I I O% >9 >g&,bQLADAT read: 04:36:21.0833 LVL= 26160, 32369, 28098, 32755, AGC= 65, IDX= 414,-0.02, 0.608,-0.977, 1.058, 0.439, PHS= 0.271,-1.372, 0.575, RAW= 158.4, 5.9, CAL= 157.6, 5.5, ROT= 352.4, -5.5 Ygot valid direction response: 04:36:21.0833 LVL= 26160, 32369, 28098, 32755, AGC= 65, IDX= 414,-0.02, 0.608,-0.977, 1.058, 0.439, PHS= 0.271,-1.372, 0.575, RAW= 158.4, 5.9, CAL= 157.6, 5.5, ROT= 352.4, -5.5 %PDAT read: Bearing 184.2, -5.9 (Local) %~Local bearing/azimuth received: Bearing 184.2, -5.9 (Local) -DAT read: Range 11 to 50 : 37.5 m (Round-trip 50.1 ms) speed 0.4 m/s 5R#Rx 1: Read range and direction messages.=^direction in FSK: [0.986652,-0.131647,0.095846]=Fpublishing direction and range infoylnŜ?#aVX?YnBln0fnq~nm l)nAIn>inn33?n;0@nB=nx 0@ n =)n:@In Ľlln\}?b?RtM? nR+?)nB4ѽInin Ľll]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with 120 pings in terminal homing one-way mode.s|= +>ٱG|=H?&ѿv??`/ΰk? ?3?is|=I];CYByPI i5Mb@Mb@Mb@1111 195S㥛??~jtxY5?y5L=5Ļ11 5b A)5 A1Y5\ AbDM VDM8y]h+%]8=ٔ] :Q-]>9aYa=eEyeEe=Em>qQ 5}5u8?Q 9}5u)u{BY}|?Q E}:y}>Q I}_@uDIu:iu_:uL5y1BɮW AEilin"QLAjnwB"jnwB:jn^k>"pnDoB@wGGLNΦ @pnŜ?#aVX?*jn2jn Ľ*pn #SbB@`Rr@*t@pnV=|?0S?rDZ?jn @ jnBin)S?inklXjnΉBjnJf[?jnWjlrjnBzjn^>U addTargetRange:: Added new target pos. range: 37.500000 m, deltaT: 3.779669 s, deltaX: -2.000000 m, approachRate: -0.529147 m/s, rangeRepo size: 4 e Added new target pos. range: 37.366802 m, bearing: 8.080686 deg, lat: 36.779431 deg, lon: -121.859683 deg, deltaT: 3.779669 s, deltaX: -1.982895 m, approachRate: -0.524621 m/s, posRepo size: 4 :iamDNOT Ignoring new targets: 37.37 m.2ii"im*ii ProNav: ac range: 37.366802 m, nav range: 37.239769 m, bearing: 8.108881 deg, approach rate: 0.000000 m/s, LOS rate: -0.207795 deg/s, cmd heading: 10.708826 deg, new cmd heading: 10.502829 deg. iHeadingCmd: 0.183309 target range: 37.366802 and range: 37.50 m.hW;>hhhhggjgrgXBereZe:eB@*e@?5Bɢ5k)1 5i19)]YYi]DieW;>e M=eC>IeW;>Ii@ @@/@i(DAT read: user:22> BDAT read: Tx time:04:36:22.3790 $Ping request sent.ԙ I I! O- >m&,QLA2=2>2irٱ2$=2H?Pѿݤk ? 0?` f͗?Zn??i2=I2l_;2CY:By:LIbDFVDF8yNau%NZ=ٔRL:Q-R>9PYP=REyREV;EV>XQ 5^5ZH?Q 9^5Z)Z{BY`yb{>Q Ib_@Z%DIZa;iZ ;Z5ydɮfn AdvB*** querying acoustic contact ***itit:i1=DNOT Ignoring new targets: 37.37 m.2i9"i=u*i=uM ProNav: ac range: 37.366802 m, nav range: 37.049877 m, bearing: 8.038136 deg, approach rate: -0.573470 m/s, LOS rate: -0.214743 deg/s, cmd heading: 10.502829 deg, new cmd heading: 10.360614 deg. iMĻuHeadingCmd: 0.180827 target range: 37.366802 and range: 37.50 m.hu*9>hyhyhyhygygyjgrgereZe:e*e"?ԑUBɢU)Y ]iY)]YaieBi*9>^=K>I*9>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250935%@) @)@)@)^A >IiIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502787 t&,1QLAD zD E& E&E&$E$"E&m:*E&;J:VE&4ZE$a*@a*@a*@a*@B~<A|BM>BNCByIBBB =BBκDB;Ba8EY]tBy]9Im@AibDmVDm8y}z%==ٔQ->9Y=EyEE>Q 55Y?Q 95){BYyQ I_@,DIW-;i.;Y5y5BɮA:iDNOT Ignoring new targets: 37.37 m.2i"i_*i_ ProNav: ac range: 37.366802 m, nav range: 36.830971 m, bearing: 7.955651 deg, approach rate: -0.516106 m/s, LOS rate: -0.195628 deg/s, cmd heading: 10.360614 deg, new cmd heading: 10.194664 deg. 1i}HeadingCmd: 0.177930 target range: 37.366802 and range: 37.50 m.h}f36>hyhyhyhygygjgrgereZe:e*e o?Bɢ) i)%ļ!!i%>}@i-f36>-u=-o(>I-f36>Ii>i>M@Q @Q@Y@YiEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.758037ԉ^Am &>I I O >Թ z&,pQLAB*=BF>Bj¼ٱBx=BH? zҿaw?^?uL?N??iB*=IBA_;@YNByNIIi%Mb@Mb@Mb@!!!! !9%K7A??~jthY% ?y%<%D%A%A %K A)!!Y% A}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006655bDVD8y_=%E=ٔrQ->9Y=EyE;E>Q 55j?Q 95){BY5?Q E:yߪ>Q I_@3DI:i;5yɮ A:i!%DNOT Ignoring new targets: 37.37 m.2i)"i-1*i-1= ProNav: ac range: 37.366802 m, nav range: 36.624313 m, bearing: 7.891828 deg, approach rate: -0.499672 m/s, LOS rate: -0.155187 deg/s, cmd heading: 10.194664 deg, new cmd heading: 10.066298 deg. i=EHeadingCmd: 0.175690 target range: 37.366802 and range: 37.50 m.hE3>hAhAhIhIgIgIjgIrgU9BeQreQZeY:eY*e]?颅Bɢ)  iԑ)V]ȼ顑i)r>i3>ԋ= I>I3>IEu EuEu%Eq"Eu ;*EuL_:VEu 4ZEqBEuRIaIyO>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258821 ́&,RLA6=6">6ٱ6߳=6H,?ѿt?@r?@; l9? ??i6=I6v!^;6CYB|ByBCIbDJVDJ8yR*޼%R_=ٔV9TYT=ZEyZEZ*EZ>\Q 5b5^Sy?Q 9b5^;)^{BYdyfc>Q If_@^9DI^:i^S:^*5yj8Bɮj AjE:i|DNOT Ignoring new targets: 37.37 m.2i"i52*i52 ProNav: ac range: 37.366802 m, nav range: 36.441769 m, bearing: 7.835120 deg, approach rate: -0.499033 m/s, LOS rate: -0.155800 deg/s, cmd heading: 10.066298 deg, new cmd heading: 9.952315 deg. iHeadingCmd: 0.173701 target range: 37.366802 and range: 37.50 m.h1>h!h!h!h!g!g!jg)rg)e)re)Ze):e1*e5>x?]Bɢe)a eia)e۶˼aiimmuѠ=ug>Iu1>Iq@ @@0@^A8e>II!O- >checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510772D]=D]%=Ee EeEe$Ea"Eem:*EerN:VEe4ZEaam@am@am@am@B%1>B%ICB%fIB%BB% =B%>DB%ʺDB%ȁ;B%W8EBKCBMCBƘCB =B =C7I K&,u!RLA.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765626:䂉=<:v>:ٱ:̓=:H1? nҿ&^?f?`$? Q?`)??i:䂉=I:4 _;:CYZ}By^DIiMb@Mb@Mb@ 9p= ף?9Y=EyE;E>Q 55?Q 95W){BY3?Q E:yȣ>Q I_@@DID;ij;5yɮ A:i  DNOT Ignoring new targets: 37.37 m.2i "is,*is,% ProNav: ac range: 37.366802 m, nav range: 36.217041 m, bearing: 7.769266 deg, approach rate: -0.511322 m/s, LOS rate: -0.150769 deg/s, cmd heading: 9.952316 deg, new cmd heading: 9.819789 deg. i%-HeadingCmd: 0.171388 target range: 37.366802 and range: 37.50 m.h-?/>h)h)h)h)g1g1jg1rg55Be9re9Ze9:e9*e=@%@mBɢm~)q u iq)uϼqqiu3:i}?/>}=}T">I}?/>Iԩ@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014804^AEm  Em Em &Ei "Em :*Em k:VEm 4ZEi BEm 9 &,?;RLA:=:>:Pӽٱ:yq=:HC?@-ҿ?@j ?@{?Fg޹?޻??i:=I:/_;8YFByFVIbDNVDNİ8yV=%V]=ٔZ:Q-Z>9XYX=ZEyZE^ο;E^>`Q 5f5b?Q 9f5b)b{BYdyj>Q Ij_@bFDIbG:ib:b;5lynhYhYhYhYgagajgirgieqreqZeq:ey*e`@=BɢU4X~)Y ]iiY)]s ӼYYi] -8iev->eӡ=em%>Iev->Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267547@ @@0@9^A">AA II IY a Om >iߡ Iߡ  DDAT read: Rx Time:04:36:24.5557  TRx dataTimestamp_ set to:1764909385.275606 PDAT read: Bearing 186.3, -5.9 (Local)  ~Local bearing/azimuth received: Bearing 186.3, -5.9 (Local)  DAT read: Range 11 to 50 : 35.7 m (trip time 23.8 ms) speed 0.6 m DAT read: 04:36:24.5557 LVL= 28592, 32753, 28498, 32755, AGC= 65, IDX= 420, 0.10, 2.577, 1.006, 3.032, 2.443, PHS= 0.236,-1.392, 0.545, RAW= 158.5, 6.8, CAL= 157.9, 6.8, ROT= 352.1, -6.8 } Ygot valid direction response: 04:36:24.5557 LVL= 28592, 32753, 28498, 32755, AGC= 65, IDX= 420, 0.10, 2.577, 1.006, 3.032, 2.443, PHS= 0.236,-1.392, 0.545, RAW= 158.5, 6.8, CAL= 157.9, 6.8, ROT= 352.1, -6.8 } R#Rx 1: Read range and direction messages. ^direction in FSK: [0.983542,-0.136478,0.118404] Fpublishing direction and range infoy  P{,y?xEO?Y B o  Ro ) I q>i -  ? 1@ = A`0@ =) U@I  "H(9?~? i{v?&,URLAE EE$E"E:*Ez:VE4ZEa@a@a@a@ a0,?) HI0 iBchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.590850A`Ab?ABb+>BbHCBb`IBbBBb =B`BbɺDBb;Bb>8Ev=v~Z>v ٱv(=vH ?<4ҿ@d?@M)?s?X``?@??iv=Iv[_;t9Y]By]UIbDm VDm8y»%<=ٔ:Q->9Y=EyE#:E>Q 55?Q 95){BYy.>Q I_@MDI:i: 5yɮ AiiQRLAjAB"jAB:j >"p3fL}A@*X7j>n@pP{,y?xEO?*j0 2j*pDzA@>=?@m @pYt?)oQ?R8f?j@ j Bi/?ixJVj[Bjjj[Brj9BzjO> addTargetRange:: Added new target pos. range: 35.700001 m, deltaT: 2.773500 s, deltaX: -1.799999 m, approachRate: -0.648999 m/s, rangeRepo size: 4  Added new target pos. range: 35.564224 m, bearing: 7.836644 deg, lat: 36.779431 deg, lon: -121.859683 deg, deltaT: 2.773500 s, deltaX: -1.802578 m, approachRate: -0.649929 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 35.56 m.2i"i5*i1= ProNav: ac range: 35.564224 m, nav range: 35.805683 m, bearing: 7.644853 deg, approach rate: 0.000000 m/s, LOS rate: -0.153536 deg/s, cmd heading: 9.705820 deg, new cmd heading: 9.565190 deg. iAEHeadingCmd: 0.166944 target range: 35.564224 and range: 35.70 m.hEb*>hIhIhIhIgigijgqrgqeqreqZey:e}A@*e}?Bɢtu) ri) ּi95ib*>=-'>I-b*>I1qchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.773430E@A @I@M0@Iԑ^AM [Z&> Aq Iy I O >IV&,oRLA:=:w>:ٱ:=:H?`ҿu?&?`z?`t`@4??`n?i:=I:^;8YF~ByFFIDDAT read: Rx Time:04:36:25.0555 %TRx dataTimestamp_ set to:1764909385.779386-PDAT read: Bearing 186.0, -6.2 (Local) -~Local bearing/azimuth received: Bearing 186.0, -6.2 (Local) =DAT read: Range 11 to 50 : 35.4 m (trip time 23.6 ms) speed 0.4 QmDAT read: 04:36:25.0555 LVL= 28368, 29089, 26194, 31955, AGC= 63, IDX= 498,-0.43,-0.570,-2.136,-0.106,-0.705, PHS= 0.236,-1.387, 0.554, RAW= 158.8, 6.7, CAL= 158.2, 6.5, ROT= 351.8, -6.5 uYgot valid direction response: 04:36:25.0555 LVL= 28368, 29089, 26194, 31955, AGC= 63, IDX= 498,-0.43,-0.570,-2.136,-0.106,-0.705, PHS= 0.236,-1.387, 0.554, RAW= 158.8, 6.7, CAL= 158.2, 6.5, ROT= 351.8, -6.5 uR#Rx 2: Read range and direction messages.}^direction in FSK: [0.983414,-0.141712,0.113203]}Fpublishing direction and range infoy!%.' x?(tN#¿5?Y% B!%n%q%Rf %|)%?I!i%7% ?%a1@%|=% 0@ %V=iMb@Mb@Mb@ 9K7A?Mbp?~jth?Y ?y;D;AtA x A) AY AAA)%p{@I%V轩!!%>]'\?Ht?dðgý? %8K-?)%hI%Ti%V轩!!checking for new query: numPingsReceived=2, elapsed TxPingTime=3.043426bDVD8yuh%MC=ٔMy9Q-U>9QYQ=UEyUE]4E]>aQ 55e侔?Q 95e,)e|BY ?Q E:y">Q I_@eTDIe]"p%x<WA@P!zg@p%.' x?(tN#¿5?*j%T2j%V*p%Mż[A@!/,C@yJs@p%Veπ?dG?h-6X?j%@ j% Bi%Ǜ},?i%`[j%ډBj%)S?j%klXj%KBrj% Bzj%i>m addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 0.503780 s, deltaX: -0.299999 m, approachRate: -0.595497 m/s, rangeRepo size: 4 } Added new target pos. range: 35.265366 m, bearing: 7.491741 deg, lat: 36.779430 deg, lon: -121.859683 deg, deltaT: 0.503780 s, deltaX: -0.298859 m, approachRate: -0.593232 m/s, posRepo size: 4 :iyDNOT Ignoring new targets: 35.27 m.2i"i*i ProNav: ac range: 35.265366 m, nav range: 35.484982 m, bearing: 7.557230 deg, approach rate: 0.000000 m/s, LOS rate: -0.153536 deg/s, cmd heading: 9.565190 deg, new cmd heading: 9.432885 deg. iHeadingCmd: 0.164635 target range: 35.265366 and range: 35.40 m.h (>hh!h!h!g!g!jg)rg-UBe)re)Ze):e5@3A@*e5]¹?yBɢ I~) i)tڼi3i (> ="(>I (>Iq@q @q@u/@q@}yA@yԩchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.275009^A O'>A >A > A .AI I O >)&,RLA2q=2ܐ>2Wٱ2=2HT?@ѿ7?@??:@|?갺? J?i2q=I2eH^;2CYbByb\IId)f4<bDnVDn8yvճ=%vM=ٔv_9Q-v>9z ?Yz ?=zE|yz E~dE~>Q 5 5Δ?Q 9 5) |BYy>Q I_@[DIb;i;.5yɮw A!:iAMDNOT Ignoring new targets: 35.27 m.2iI"iM*iM] ProNav: ac range: 35.265366 m, nav range: 35.292931 m, bearing: 7.507472 deg, approach rate: -0.529352 m/s, LOS rate: -0.137894 deg/s, cmd heading: 9.432885 deg, new cmd heading: 9.332828 deg. ie\|eHeadingCmd: 0.162889 target range: 35.265366 and range: 35.40 m.heC&>hihihihigigijgqrgqeqreqZey:ey*e}?颥Bɢۄ) gi)\ݼi1iC&>!= &>IC&>IM@Q @Q@U1@QDDAT read: Rx Time:04:36:25.5554 TRx dataTimestamp_ set to:1764909386.285907PDAT read: Bearing 186.1, -6.2 (Local) ~Local bearing/azimuth received: Bearing 186.1, -6.2 (Local) DAT read: Range 11 to 50 : 35.3 m (trip time 23.5 ms) speed 0.4 DAT read: 04:36:25.5554 LVL= 27232, 31009, 26994, 32563, AGC= 63, IDX= 497,-0.06, 0.734,-0.836, 1.197, 0.605, PHS= 0.231,-1.397, 0.547, RAW= 158.7, 6.9, CAL= 158.1, 6.8, ROT= 351.9, -6.8 Ygot valid direction response: 04:36:25.5554 LVL= 27232, 31009, 26994, 32563, AGC= 63, IDX= 497,-0.06, 0.734,-0.836, 1.197, 0.605, PHS= 0.231,-1.397, 0.547, RAW= 158.7, 6.9, CAL= 158.1, 6.8, ROT= 351.9, -6.8 R#Rx 3: Read range and direction messages.^direction in FSK: [0.983059,-0.139910,0.118404]Fpublishing direction and range infoy9^8u?1EO?Y3 B`j!yri 3)IDl>iв1 ?E1@Ϣ=r0@ =)@I ^&C?,?5JȾ? ,?)BGCBYIBBB =BBBŁ;BM8EQ^AQ3(>A ؟AI I OE >ԁ U checking for new query: numPingsReceived=3, elapsed TxPingTime=3.785143H&,RLAFU*w=F z>F~ٱF8=FH?ѿp??ӝ?ආQ?`ܷ?@?iFU*w=IF^;FCY^By^ZIaiMb@Mb@Mb@ 9?:v?9"?Y"?=EyE ."E >Q 55v┊?Q 95)|BYv?Q E:yI>Q I%_@cDI:i:J5y->Bɮ-z A-EiiMLRLAj B"j B:j4&>"prDHA@k9樧@p9^8u?1EO?*j2j*pՎUKMA@$@B@pӀ],}?~?p8@?jg@ jj Bi5tF?i`\j}Bj5tF?jj[Brj Bzjt>5 addTargetRange:: Added new target pos. range: 35.299999 m, deltaT: 0.506521 s, deltaX: -0.100002 m, approachRate: -0.197430 m/s, rangeRepo size: 4 m Added new target pos. range: 35.165462 m, bearing: 7.226276 deg, lat: 36.779429 deg, lon: -121.859683 deg, deltaT: 0.506521 s, deltaX: -0.099903 m, approachRate: -0.197234 m/s, posRepo size: 4 :iquDNOT Ignoring new targets: 35.17 m.2iq"i}*iyԉ ProNav: ac range: 35.165462 m, nav range: 34.900146 m, bearing: 7.471124 deg, approach rate: 0.000000 m/s, LOS rate: -0.137894 deg/s, cmd heading: 9.332828 deg, new cmd heading: 9.196841 deg. iHeadingCmd: 0.160515 target range: 35.165462 and range: 35.30 m.h^$>hhhhggjgIrgMQBeIreIZeI:eU`fA@*eU\?颽Bɢh) i)*ig/i^$>B=B%>I^$>IDDAT read: Rx Time:04:36:26.0551 TRx dataTimestamp_ set to:1764909386.792417PDAT read: Bearing 185.2, -5.7 (Local) ~Local bearing/azimuth received: Bearing 185.2, -5.7 (Local) DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.5 DAT read: 04:36:26.0551 LVL= 28992, 30833, 28450, 32755, AGC= 63, IDX= 510, 0.26, 1.159,-0.439, 1.604, 1.002, PHS= 0.258,-1.396, 0.557, RAW= 158.2, 6.4, CAL= 157.5, 6.3, ROT= 352.5, -6.3 %Ygot valid direction response: 04:36:26.0551 LVL= 28992, 30833, 28450, 32755, AGC= 63, IDX= 510, 0.26, 1.159,-0.439, 1.604, 1.002, PHS= 0.258,-1.396, 0.557, RAW= 158.2, 6.4, CAL= 157.5, 6.3, ROT= 352.5, -6.3 %R#Rx 4: Read range and direction messages.5^direction in FSK: [0.985457,-0.129738,0.109734]=Fpublishing direction and range infoy7Rވ?@A,=?Y3 B@qqx"o )I>i!? 0@=/@ z0=)@Iz0ὩC?ˬѦ?9I? .*?)I iz0Ὡechecking for new query: numPingsReceived=4, elapsed TxPingTime=4.059978}@y @y@}0@yԱE] E]E]"EY"E]:*E]F:VE](3ZEYBE]A yAzA A II)O=>&,RLAchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.286902VL=V|/>VB¼ٱVb=VH@w?ѿa`_??ܴ@R? ??iVL=IVh{^;TYbBybdI n49Y=EyEɼE>Q 55I?Q 95)|BYy%>Q I_@jDIC:i:5yUBBɮUT A]E iiRLAj B"j B:jR>"p@A@QyH?M!4o@p7Rވ?@A,=?*j 2jz0*pA@℉@(kV@pY?҈hޛH?L,f?j @ j|Bi/?i\RZjBj/?j\RZjBrj Bzj/>- addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.506510 s, deltaX: -0.500000 m, approachRate: -0.987147 m/s, rangeRepo size: 4 ] Added new target pos. range: 34.667366 m, bearing: 7.364653 deg, lat: 36.779426 deg, lon: -121.859684 deg, deltaT: 0.506510 s, deltaX: -0.498096 m, approachRate: -0.983389 m/s, posRepo size: 4 :iYeDNOT Ignoring new targets: 34.67 m.2ia"ia*iau ProNav: ac range: 34.667366 m, nav range: 34.405582 m, bearing: 7.364624 deg, approach rate: 0.000000 m/s, LOS rate: -0.137894 deg/s, cmd heading: 9.196841 deg, new cmd heading: 9.067208 deg. iyHeadingCmd: 0.158253 target range: 34.667366 and range: 34.80 m.h ">hhhhggjgrgereZe:e`ffA@*e?Bɢ I1m) i)-ijO-i ">]=%>I% ">I!)DDAT read: Rx Time:04:36:26.5551 TRx dataTimestamp_ set to:1764909387.295898PDAT read: Bearing 185.1, -6.0 (Local) ~Local bearing/azimuth received: Bearing 185.1, -6.0 (Local)  DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.5 =DAT read: 04:36:26.5551 LVL= 26176, 31201, 25746, 32755, AGC= 62, IDX= 510,-0.23, 0.284,-1.269, 0.735, 0.150, PHS= 0.236,-1.374, 0.541, RAW= 158.5, 6.7, CAL= 157.9, 6.7, ROT= 352.1, -6.7 UYgot valid direction response: 04:36:26.5551 LVL= 26176, 31201, 25746, 32755, AGC= 62, IDX= 510,-0.23, 0.284,-1.269, 0.735, 0.150, PHS= 0.236,-1.374, 0.541, RAW= 158.5, 6.7, CAL= 157.9, 6.7, ROT= 352.1, -6.7 UR#Rx 5: Read range and direction messages.e^direction in FSK: [0.983745,-0.136506,0.116671]mFpublishing direction and range infoy]˄z?^S)ymu"޽?Y@fyd )>Iq>i;߯~ ? 1@|=A`0@ |=)U@I|ゥd8?80?-? ,?)mI0 i|ゥchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.564760@ @@/@Y E  E E E "E m:*E 1]:VE ZE a @a @a @a @B A <B '>B HCB fIB BB =B B B ;B m8Eԑ ^A H%>IIAOm?checking for new query: numPingsReceived=5, elapsed TxPingTime=4.792954l&, SRLA O==S>ǼٱY=H)?-п|l@?q? O~???iO==I^;CYmBymqI Ai=Mb@Mb@Mb@9999 99=p= ף?+?~jt?Y=?y===D<=9A=A 9)=A9Y== AbD]VD]8yu]=%}=ٔ}Q-}>9Y=EyEĻE>Q 55r ?Q 95\)/|BY?Q E:y>Q I_@tDI;;iL;F5yɮ AiiRLAj"j:j<="psK A@̺'-@p]˄z?^S)ymu"޽?*j0 2j|*p܀A@ r@jf@p8 ?hN?̾ý?x{@?j@ jBiȳJ?iWajBjj`[j[Brj]Bzj>E addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.503481 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 34.667397 m, bearing: 6.734046 deg, lat: 36.779426 deg, lon: -121.859684 deg, deltaT: 0.503481 s, deltaX: 0.000031 m, approachRate: 0.000061 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 34.67 m.2i"i*i  ProNav: ac range: 34.667397 m, nav range: 34.091476 m, bearing: 7.192784 deg, approach rate: 0.000000 m/s, LOS rate: -0.137894 deg/s, cmd heading: 9.067208 deg, new cmd heading: 8.916262 deg. i HeadingCmd: 0.155618 target range: 34.667397 and range: 34.80 m.h\Z>hhhhggjg!rg%OBe!re!Ze!:e)*e-`LO?i额Bɢp_) x޾i)顡i,+i \Z> |= >I \Z>IDDAT read: Rx Time:04:36:27.0548 TRx dataTimestamp_ set to:1764909387.799519PDAT read: Bearing 184.1, -5.7 (Local) ~Local bearing/azimuth received: Bearing 184.1, -5.7 (Local) DAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed 0.4 DAT read: 04:36:27.0548 LVL= 28800, 31665, 27922, 32755, AGC= 63, IDX= 507, 0.07, 0.758,-0.826, 1.203, 0.600, PHS= 0.261,-1.381, 0.560, RAW= 158.2, 6.2, CAL= 157.5, 6.0, ROT= 352.5, -6.0  Ygot valid direction response: 04:36:27.0548 LVL= 28800, 31665, 27922, 32755, AGC= 63, IDX= 507, 0.07, 0.758,-0.826, 1.203, 0.600, PHS= 0.261,-1.381, 0.560, RAW= 158.2, 6.2, CAL= 157.5, 6.0, ROT= 352.5, -6.0  R#Rx 6: Read range and direction messages.^direction in FSK: [0.986014,-0.129811,0.104528]@ @@@Fpublishing direction and range infoybE4jE3rE/EM  EM EM %EI "EM :*EM R:VEM 4ZEI BEI ae 2EI am JEM ;am :EM ;am .nl?1&64ޮ`º?Y Bp{m )?Iˡ>iİ)\? 0@k=/@ Pw=)@IPwֽtwj?68?Rջ? *?)[߽I ԙ iPwֽ checking for new query: numPingsReceived=6, elapsed TxPingTime=5.114918 ^Ae D->Ae ?Ae >=checking for new query: numPingsReceived=6, elapsed TxPingTime=5.294705IAIyO?&,SLA42;-=27<>24̼ٱ2=2H?`DпKsBv?/? 煙?? ?i2;-=I2'|^;2CY>By>IbDJVDJ8yRq=%RU=ٔR~Q-V>9TYT=VEyVEZ/EZ>\Q 5^5^F?Q 9b5^)^:|BY`yb>Q Ib_@^zDI^;i^;^ 5yjEBɮj AhiiR+RLAj B"j B:j="p"e`@@Q@e$h @p.nl?1&64ޮ`º?*j 2jPwֽ*p W@@&tBj@ӳ'S@p氉? `pѾ?Zf*|?j@ jBiV;?i$]j؉BjV;?j`\jBrjBzj=% addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.503621 s, deltaX: -0.399998 m, approachRate: -0.794244 m/s, rangeRepo size: 4 5 Added new target pos. range: 34.268921 m, bearing: 6.964029 deg, lat: 36.779428 deg, lon: -121.859685 deg, deltaT: 0.503621 s, deltaX: -0.398476 m, approachRate: -0.791221 m/s, posRepo size: 4 :i15DNOT Ignoring new targets: 34.27 m.2i1"i9*i9M ProNav: ac range: 34.268921 m, nav range: 34.028564 m, bearing: 7.012581 deg, approach rate: 0.000000 m/s, LOS rate: -0.137894 deg/s, cmd heading: 8.916262 deg, new cmd heading: 8.813146 deg. iIUHeadingCmd: 0.153818 target range: 34.268921 and range: 34.40 m.hU>hQhQhQhQgYgYjgargereZe!:e-@33A@*e5 H?e}Bɢe$h)a eVξii)mkiiim{)iu>ԑ~==?>I>IM@I @I@M/@QiaIamDDAT read: Rx Time:04:36:27.5546 uTRx dataTimestamp_ set to:1764909388.303630}PDAT read: Bearing 183.4, -5.0 (Local) }~Local bearing/azimuth received: Bearing 183.4, -5.0 (Local) DAT read: Range 11 to 50 : 34.1 m (trip time 22.7 ms) speed 0.5 DAT read: 04:36:27.5546 LVL= 28144, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.40, 1.554,-0.032, 1.973, 1.378, PHS= 0.277,-1.365, 0.551, RAW= 157.6, 6.0, CAL= 156.9, 5.8, ROT= 353.1, -5.8 Ygot valid direction response: 04:36:27.5546 LVL= 28144, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.40, 1.554,-0.032, 1.973, 1.378, PHS= 0.277,-1.365, 0.551, RAW= 157.6, 6.0, CAL= 156.9, 5.8, ROT= 353.1, -5.8 R#Rx 7: Read range and direction messages.^direction in FSK: [0.987675,-0.119522,0.101056]Fpublishing direction and range infoyimЀ?Gk+hg޹?YmfBimmmm i)m@Imҍ>imRmV ?mx 0@mPw=mLB/@ m4Q=)mP5@Im4QϽiim]3c6?Kj?ṄA? m'?)mI׽Imim4QϽiichecking for new query: numPingsReceived=7, elapsed TxPingTime=5.563138EE  EE EE &EA "EE :*EE VL:VEE 4ZEA B] #>B] GCB] yIB] BB] =BY B] ȺDB] ;B] n8Eam @am @am @am @^A 9 > IQ Ia Ou >&,cSLAR=R >RѼٱR=RH ?@Eпy82?d?!? S? ?iR=IRځ^;RChYnBynIttbDvVDv8y55=%5B=ٔ5Q-5>99YA=MEyM#E]4&Ee>iQ 5u5m.?Q 9u5m)mF|BYyy}s>Q I}_@mDIm;im;mR5yɮf AiinSLAjB"jB:ji<>"pT1S,@@c=#Sv @pЀ?Gk+hg޹?*j2j4QϽ*p(鷺@@?0?@5 ~@p?DM)??\V?j@ jBii2?i\VjBjjjrj?BzjM=E addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.504111 s, deltaX: -0.300003 m, approachRate: -0.595113 m/s, rangeRepo size: 4  Added new target pos. range: 33.969856 m, bearing: 7.343035 deg, lat: 36.779428 deg, lon: -121.859685 deg, deltaT: 0.504111 s, deltaX: -0.299065 m, approachRate: -0.593252 m/s, posRepo size: 4 checking for new query: numPingsReceived=7, elapsed TxPingTime=5.801315:i5DNOT Ignoring new targets: 33.97 m.2i1"iA*ii ProNav: ac range: 33.969856 m, nav range: 33.812084 m, bearing: 6.935680 deg, approach rate: 0.000000 m/s, LOS rate: -0.137894 deg/s, cmd heading: 8.813146 deg, new cmd heading: 8.693037 deg. iHeadingCmd: 0.151722 target range: 33.969856 and range: 34.10 m.h ]>hhhhggjgrgereZe:e% A@*e%?颵zBɢ^) i)c!!i-z'ie ]>m=uC>Iu ]>I1@ @@/@Y  DDAT read: Rx Time:04:36:28.0544  TRx dataTimestamp_ set to:1764909388.807279 PDAT read: Bearing 183.2, -5.1 (Local)  ~Local bearing/azimuth received: Bearing 183.2, -5.1 (Local)  DAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed 0.4  DAT read: 04:36:28.0544 LVL= 27312, 31121, 30498, 32755, AGC= 64, IDX= 503,-0.18,-0.863,-2.440,-0.439,-1.031, PHS= 0.270,-1.363, 0.548, RAW= 157.7, 6.2, CAL= 157.0, 6.0, ROT= 353.0, -6.0  Ygot valid direction response: 04:36:28.0544 LVL= 27312, 31121, 30498, 32755, AGC= 64, IDX= 503,-0.18,-0.863,-2.440,-0.439,-1.031, PHS= 0.270,-1.363, 0.548, RAW= 157.7, 6.2, CAL= 157.0, 6.0, ROT= 353.0, -6.0  R#Rx 8: Read range and direction messages. ^direction in FSK: [0.987109,-0.121202,0.104528] Fpublishing direction and range infoy  OVe?B 4ޮ`º?Y 3B j y "w ) I q=>i v I ? '0@ k= ^/@ Pw=) '@I Pwֽ g*)?ȝ/x?@5l? (?) ۽I 5i Pwֽ  checking for new query: numPingsReceived=8, elapsed TxPingTime=6.066499^A5 A>E]  E] E] $EY "E] :*E] g:VE] 4ZEY BE] xh&,}=8SLAFU =F&+>F͵ռٱFQ~=FH ?` п~@?@?&a?3J?E?iFU =IFW^;FChYrByrIi%Mb@Mb@Mb@!!!! !9%S㥛?X9v?y&1?Y%$?y%}=%`e<%OA%A !)% A!Y%f AbDVD8yK<%0=ٔQ->9Y=Ey(EEE>Q 5-5JB?Q 9-5p)V|BY5 ?Q E5:y=l>Q I=_@DIa}=u?'?ts~?j]˂@ j]Bi]x-?i]rYj]Bj]i2?j]\RZj]Brj]Bzj]/<= addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 0.503649 s, deltaX: -0.299999 m, approachRate: -0.595651 m/s, rangeRepo size: 4 E Added new target pos. range: 33.671001 m, bearing: 7.024554 deg, lat: 36.779427 deg, lon: -121.859684 deg, deltaT: 0.503649 s, deltaX: -0.298855 m, approachRate: -0.593379 m/s, posRepo size: 4 :iIMDNOT Ignoring new targets: 33.67 m.2iI"iQ*iQ ProNav: ac range: 33.671001 m, nav range: 33.478420 m, bearing: 7.000691 deg, approach rate: 0.000000 m/s, LOS rate: -0.137894 deg/s, cmd heading: 8.693037 deg, new cmd heading: 8.560772 deg. iHeadingCmd: 0.149414 target range: 33.671001 and range: 33.80 m.h>hhhhggjgrgqBereZe:e`f@@*e`2?wBɢ![)9 =bi9)=AAiEr?&iE>M+¢=M>IM>IIchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.3030059@ @@/@Y ^A <>A xAzA wAIq I O >p&,RSLA2j<2Ӗ~>2SMۼٱ2 =2H@E?Ͽ]K|?2?`h?X?h?i2jiR/RV ?R~{/@R%=R.@ R =)R@IR ĽPPRvc?6?킹? R}%?)RLn̽IRi0iR ĽPPchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.571585y-`=%-b=ٔ-sQ-->91Y9==Ey=,E=0(E=>AQ 5M5E Q?Q 9M5E)Ea|BY y >Q I_@EDIEBBIBBB =BBB;Bs8EB5GCB5GCB5“CB5 =B5 =C5A5iPiRSSLAjRB"jRB:jR1>"pRjj/@@"͂? _4> @pRKx ?^PnaVX?*jRi02jR Ľ*pR T{@@HR/w@Z|@pR?҇ܕ?5?jR@ jRBiRB*?iRPjRkBjPjRrYjR؉BrjR0BzjR0=5 addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 0.504189 s, deltaX: -0.200001 m, approachRate: -0.396678 m/s, rangeRepo size: 4 E Added new target pos. range: 33.471764 m, bearing: 7.545160 deg, lat: 36.779427 deg, lon: -121.859684 deg, deltaT: 0.504189 s, deltaX: -0.199238 m, approachRate: -0.395165 m/s, posRepo size: 4 :iamDNOT Ignoring new targets: 33.47 m.2ii"ii*ii} ProNav: ac range: 33.471764 m, nav range: 33.297283 m, bearing: 6.935231 deg, approach rate: 0.000000 m/s, LOS rate: -0.137894 deg/s, cmd heading: 8.560772 deg, new cmd heading: 8.455122 deg. iyHeadingCmd: 0.147570 target range: 33.471764 and range: 33.60 m.h>hhhhggjgrgereZe:e@@*e?-uBɢ-w\)1I }iy)顁i6$i>֢=>I>I@ @@/@qmchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.810072ԩ ^A ;>Aa Iq I O >_9&,oSLA2l<2{>2eٱ2=2H`?=Ͽ@x@?@'? @K??w?i2l9aYa=mEym0EmdEm>qQ 5}5ugc?Q 9}5uP)us|BY,?Q E:y>Q I_@uDIu:iu_:ut5yɮ" AB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 33.47 m.2i"ij*ij ProNav: ac range: 33.471764 m, nav range: 33.070255 m, bearing: 6.825889 deg, approach rate: -0.571208 m/s, LOS rate: -0.276995 deg/s, cmd heading: 8.455122 deg, new cmd heading: 8.234938 deg. iwHeadingCmd: 0.143727 target range: 33.471764 and range: 33.60 m.h->hhhhggjgrgBereZe:e*e0?rBɢ\)! %i!uDDAT read: Rx Time:04:36:29.0541 uTRx dataTimestamp_ set to:1764909389.815222}PDAT read: Bearing 182.1, -4.3 (Local) ~Local bearing/azimuth received: Bearing 182.1, -4.3 (Local) DAT read: Range 11 to 50 : 33.3 m (trip time 22.2 ms) speed 0.4 DAT read: 04:36:29.0541 LVL= 28528, 30609, 27250, 32755, AGC= 64, IDX= 500,-0.38,-0.124,-1.721, 0.274,-0.316, PHS= 0.294,-1.360, 0.547, RAW= 157.0, 5.8, CAL= 156.3, 5.6, ROT= 353.7, -5.6 Ygot valid direction response: 04:36:29.0541 LVL= 28528, 30609, 27250, 32755, AGC= 64, IDX= 500,-0.38,-0.124,-1.721, 0.274,-0.316, PHS= 0.294,-1.360, 0.547, RAW= 157.0, 5.8, CAL= 156.3, 5.6, ROT= 353.7, -5.6 T#Rx 10: Read range and direction messages.^direction in FSK: [0.989217,-0.109210,0.097583]Fpublishing direction and range infoyquϪ?#@7A_1?Yu3Bqupouwurj q)qIu+>iu{u1 ?u^/@u4Q=q u+=)qIu+Ƚqqu>V$k?0;*?Zy ? ub%?)uнIqiu+Ƚqq checking for new query: numPingsReceived=10, elapsed TxPingTime=7.079146a)e&aaieU#im->mp=m4L>Iu->IqEM EMEM&EI"EM:*EMc:VEM4ZEIBEMԹ % checking for new query: numPingsReceived=10, elapsed TxPingTime=7.311298A .AI I O >&,ֈSLAP e< $x> `ٱ = H ?[ο@`??Ĵ ? ?`?i e9} ?Y} ?=}Ey}4EE>Q 55s?Q 953)|BYy;>Q I_@DI:i;5yOBɮ7 AEii,tSLAjB"jB:jy="p=-Vh@@ @pϪ?#@7A_1?*j2j+Ƚ*pwWGX@@{:ZYj@%\~e@pO6?=?(޽?jR@ jBiz6?iBSjBjj\VjBrjBzj= addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 0.503754 s, deltaX: -0.299999 m, approachRate: -0.595527 m/s, rangeRepo size: 4  Added new target pos. range: 33.172825 m, bearing: 7.155467 deg, lat: 36.779427 deg, lon: -121.859682 deg, deltaT: 0.503754 s, deltaX: -0.298939 m, approachRate: -0.593422 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 33.17 m.2i "i *i  ProNav: ac range: 33.172825 m, nav range: 32.882347 m, bearing: 6.962206 deg, approach rate: 0.000000 m/s, LOS rate: -0.276995 deg/s, cmd heading: 8.234938 deg, new cmd heading: 8.008673 deg. i%HeadingCmd: 0.139778 target range: 33.172825 and range: 33.30 m.h%!>h!h!h)h)g)g)jg)rg1e1re1Ze9:e=`f@@*e=`O?epBɢeW)i m9ii)mZiqiuB"iu!>}d=}/>I}!>IyR>i>@ @@@@zA@zADDAT read: Rx Time:04:36:29.5541 TRx dataTimestamp_ set to:1764909390.319557PDAT read: Bearing 181.4, -4.3 (Local) ~Local bearing/azimuth received: Bearing 181.4, -4.3 (Local) DAT read: Range 11 to 50 : 33.2 m (trip time 22.1 ms) speed 0.5 DAT read: 04:36:29.5541 LVL= 27488, 32753, 29282, 32755, AGC= 64, IDX= 499, 0.01, 1.559,-0.049, 1.957, 1.353, PHS= 0.308,-1.358, 0.560, RAW= 157.0, 5.5, CAL= 156.2, 5.2, ROT= 353.8, -5.2 Ygot valid direction response: 04:36:29.5541 LVL= 27488, 32753, 29282, 32755, AGC= 64, IDX= 499, 0.01, 1.559,-0.049, 1.957, 1.353, PHS= 0.308,-1.358, 0.560, RAW= 157.0, 5.5, CAL= 156.2, 5.2, ROT= 353.8, -5.2 T#Rx 11: Read range and direction messages.^direction in FSK: [0.990059,-0.107555,0.090633]Fpublishing direction and range infoyc!?{0L3?YB`kbr )I->iҭ)\? =!z.@ ޹=)e@I޹?\Uu?m%?art? %?)ýIiݽi޹checking for new query: numPingsReceived=11, elapsed TxPingTime=7.579161B=>B9B=IB=ЁBB= =B9B9B=;B=l8EE} E}E}$Ey"E}:*E} H:VE}4ZEyBE} <2E} <JE};:E};^A +>! AE ؟AIQ Ii O >F&,SLAr=r<| checking for new query: numPingsReceived=11, elapsed TxPingTime=7.817563-o7<-d0u>-Vٱ-=-H?&ο@+傿#X??``)?@γ?`?i-o79U"?YU"?=]Ey]9E]ʽE]>aQ 5m5e눕?Q 9u5e_)e|BYu ?Q Eu:yua>Q Iu_@eDIe:ie:eX"5y}dBɮ}~ AiisSLAjJB"jJB:jyq="p@فB_@@0u Z8)y@pc!?{0L3?*jiݽ2j޹*p`}(!O@@D_9K@XS0!( @pmY?ǻʇ?5?jY@ jyBi~4E?i n;QjBjjBSjBrjBzj>j= addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.504335 s, deltaX: -0.099998 m, approachRate: -0.198278 m/s, rangeRepo size: 4  Added new target pos. range: 33.072998 m, bearing: 7.118420 deg, lat: 36.779427 deg, lon: -121.859681 deg, deltaT: 0.504335 s, deltaX: -0.099827 m, approachRate: -0.197938 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 33.07 m.2i"i*i ProNav: ac range: 33.072998 m, nav range: 32.636280 m, bearing: 7.033701 deg, approach rate: 0.000000 m/s, LOS rate: -0.276995 deg/s, cmd heading: 8.008673 deg, new cmd heading: 7.730645 deg. iHeadingCmd: 0.134925 target range: 33.072998 and range: 33.20 m.h) >hhhhggjgrgBereZe:e@@*e?MmBɢU/G)Q UߘiQ)]~YYi] i}) >}=}>I}) >IQ-@) @)@5/@1DDAT read: Rx Time:04:36:30.0538 TRx dataTimestamp_ set to:1764909390.823781PDAT read: Bearing 181.3, -4.0 (Local) ~Local bearing/azimuth received: Bearing 181.3, -4.0 (Local) DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.6 DAT read: 04:36:30.0538 LVL= 32096, 32753, 31282, 32755, AGC= 65, IDX= 496, 0.42, 0.870,-0.745, 1.261, 0.665, PHS= 0.307,-1.365, 0.552, RAW= 156.7, 5.6, CAL= 156.0, 5.4, ROT= 354.0, -5.4  Ygot valid direction response: 04:36:30.0538 LVL= 32096, 32753, 31282, 32755, AGC= 65, IDX= 496, 0.42, 0.870,-0.745, 1.261, 0.665, PHS= 0.307,-1.365, 0.552, RAW= 156.7, 5.6, CAL= 156.0, 5.4, ROT= 354.0, -5.4  T#Rx 12: Read range and direction messages. ^direction in FSK: [0.990108,-0.104065,0.094108] Fpublishing direction and range infoy%aJ?.&|ӄ{?YB`}2z )AI/>iRO ? /@+=@.@ =)@ILۄ? ?0*8? +$?)_ʽIiwֽi= checking for new query: numPingsReceived=12, elapsed TxPingTime=8.088346Ee  Ee Ee %Ea "Ee :*Ee ;J:VEe 4ZEa am @au @au @au @ԁ ^Au ,>Թ AIIO>&&,GSLAF,FٱFB=FH?`Ϳ@d??[z? ?`W?iF,5checking for new query: numPingsReceived=12, elapsed TxPingTime=8.31882499Y9==Ey==EEuEE>IQ 5u5Mr?Q 9u5M/)M|BYqyus>Q Iu_@MDIM;iM:M%5ygBɮ AiiԸSLAjLB"jLB:j="pwW @@̂ fqI@p%aJ?.&|ӄ{?*jiwֽ2j*pū@@4\z@y!#@pk>Š?Yy?AϿ?j{@ jvBị+?i⹯Rj^Bjx-?j⹯RjkBrjBzj= addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.504224 s, deltaX: -0.500000 m, approachRate: -0.991623 m/s, rangeRepo size: 4  Added new target pos. range: 32.574909 m, bearing: 6.985209 deg, lat: 36.779426 deg, lon: -121.859681 deg, deltaT: 0.504224 s, deltaX: -0.498089 m, approachRate: -0.987832 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 32.57 m.2i"i*i ProNav: ac range: 32.574909 m, nav range: 32.377148 m, bearing: 6.980663 deg, approach rate: 0.000000 m/s, LOS rate: -0.276995 deg/s, cmd heading: 7.730645 deg, new cmd heading: 7.500848 deg. iHeadingCmd: 0.130914 target range: 32.574909 and range: 32.70 m.hs>hhhhgg!jg!rg!e)re)Ze):e-Y@@*e-/3?}jBɢ}pbQ) i)顡i(is>V3=>Is>I@ @@/@!DDAT read: Rx Time:04:36:30.5538 TRx dataTimestamp_ set to:1764909391.326857DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.6 Z#Rx 13: Read range message, but no direction.yYchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.574117^A A>By A} <B >B FCB IB BB =B B B Ӂ;B V8EE  E E ,E "E :*E F:VE g4ZE BE G-&,ASLAJeMJ"ٱJ'`=JH#?xnͿD :?? 1?/? 7?iJeM9IYI=MEyMBEUEU>YQ 5e5]?Q 9e5])]|BYaym>Q Im_@]DI]:i]:]T)5yqɮu Aq addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.503076 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 :iDNOT Ignoring new targets: 32.57 m.2i"iD*iD ProNav: ac range: 32.574909 m, nav range: 32.163113 m, bearing: 6.872462 deg, approach rate: -0.567847 m/s, LOS rate: -0.288973 deg/s, cmd heading: 7.500848 deg, new cmd heading: 7.283007 deg. i6HeadingCmd: 0.127112 target range: 32.574909 and range: 32.70 m.h)>hhhhggjgrgereZe:e*e@i?hBɢ XV)   i ) S ii)>F=%E>I%)>I!)@ @@/@@=@=Mchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.825139I^A)]>AyAzAxAqI I! O- >ԙ  DDAT read: Rx Time:04:36:31.0535  TRx dataTimestamp_ set to:1764909391.835232 PDAT read: Bearing 180.4, -3.3 (Local) % ~Local bearing/azimuth received: Bearing 180.4, -3.3 (Local) 5 DAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed 0.6 C&,SLABDAT read: 04:36:31.0535 LVL= 28832, 32753, 32754, 32755, AGC= 65, IDX= 509, 0.30, 0.740,-0.879, 1.110, 0.519, PHS= 0.323,-1.353, 0.547, RAW= 156.2, 5.4, CAL= 155.4, 5.2, ROT= 354.6, -5.2 FYgot valid direction response: 04:36:31.0535 LVL= 28832, 32753, 32754, 32755, AGC= 65, IDX= 509, 0.30, 0.740,-0.879, 1.110, 0.519, PHS= 0.323,-1.353, 0.547, RAW= 156.2, 5.4, CAL= 155.4, 5.2, ROT= 354.6, -5.2 JT#Rx 14: Read range and direction messages.N^direction in FSK: [0.991465,-0.093721,0.090633]NFpublishing direction and range infoyQN NٱN7=NH`)?Ϳ@??!z?ϱ? D?iN iU/U1 ?U!z.@U=U^-@ U޹=)U @IU޹QQU?h?<2? U8!?)U-IUiU޹QQchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.121458E EE!E"E:*E=:VEc3ZEa@a@a@a@ԑiMb@Mb@Mb@ 9S㥛?EԸ?Mb?Y?y=<A  A)AY A p<p<bDUVDU8y<%(=ٔ Q->9Y=%Ey%GE%\ĻE%>IQ 5U5M?Q 9]5M))M|BY].?Q E]:y]u>Q I]_@MDIM;iM:M-5ykBɮ AEiQiUqtSLAjUB"jUB:jU>"pU^?@Lyd6mT@pUX?2b`50L3?*jU2jU޹*pUEV?@YR.@ULm @pU'ڈ?#I?D?jUr@ jUAiU;^.?iUCJjU2BjU;^.?jU n;QjU^BrjU{AzjU9= addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.508375 s, deltaX: -0.400002 m, approachRate: -0.786824 m/s, rangeRepo size: 4 - Added new target pos. range: 32.176331 m, bearing: 7.270313 deg, lat: 36.779426 deg, lon: -121.859680 deg, deltaT: 1.011451 s, deltaX: -0.398579 m, approachRate: -0.394066 m/s, posRepo size: 4 :i)-DNOT Ignoring new targets: 32.18 m.2i)"i5*i1 ProNav: ac range: 32.176331 m, nav range: 31.935156 m, bearing: 6.832545 deg, approach rate: 0.000000 m/s, LOS rate: -0.288973 deg/s, cmd heading: 7.283008 deg, new cmd heading: 6.986487 deg. iHeadingCmd: 0.121937 target range: 32.176331 and range: 32.30 m.h5=hhhhggjgrgBereZe:e`f&@@*e`P? fBɢ lE) Ti) i+yi=5==c=Ȇ>IE5=IA wy> e%=auchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.328876G@ @@@Wf9YbAy?A ^AU .@>I1IAOU>#&,TLA2 ;21e>2Ûٱ2Ǐ=2H/?@̿񥎿e?@?J@???i2 ;I2];2CYJ́ByJIbDDAT read: Rx Time:04:36:31.5534 bTRx dataTimestamp_ set to:1764909392.335397fPDAT read: Bearing 180.5, -3.8 (Local) j~Local bearing/azimuth received: Bearing 180.5, -3.8 (Local) rDAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.4 xDAT read: 04:36:31.5534 LVL= 29664, 32497, 31042, 32755, AGC= 65, IDX= 508,-0.18,-1.523,-3.109,-1.138,-1.719, PHS= 0.298,-1.345, 0.537, RAW= 156.7, 5.8, CAL= 156.0, 5.6, ROT= 354.0, -5.6 Ygot valid direction response: 04:36:31.5534 LVL= 29664, 32497, 31042, 32755, AGC= 65, IDX= 508,-0.18,-1.523,-3.109,-1.138,-1.719, PHS= 0.298,-1.345, 0.537, RAW= 156.7, 5.8, CAL= 156.0, 5.6, ROT= 354.0, -5.6 T#Rx 15: Read range and direction messages.%^direction in FSK: [0.989775,-0.104030,0.097583]%Fpublishing direction and range infoy`b,=?gA_1?YbfB`bsb~bBy `)`Ibu>ib(bx ?b /@b4Q=b@.@ b+=)b@Ib+Ƚ``b(P?7m? ? b#?)b`ϽIbiwֽib+Ƚ``Echecking for new query: numPingsReceived=15, elapsed TxPingTime=9.596134bDVVDV8y[%O=ٔ(ۺQ->9Y=EyKEE>Q 55Ε?Q 95)|BYy>Q I`@óDI2:i:15y ɮ  A B5>B1B5IB5BB5 =B1B1B5ԁ;B5W8Ei`ib%wTLAjbA"jbA:jbA="pb:\r?@Ҝ `@pb,=?gA_1?*jbiwֽ2jb+Ƚ*pb퇄ߊ?@%4yk @b{C@pbk?%3p?z?jb[c@ jbVAib0?ib{UjbBjb0?jb⹯Rj`rjb AzjbO=D<D<E EE"E"ED:*Ek:VE(3ZEBE1I4=I@ @@/@Ichecking for new query: numPingsReceived=15, elapsed TxPingTime=9.833282^A} 4#>ԙ I I O > &,@-TLAqYȁByIAiMb@Mb@Mb@ 9~jt?9Y=EyOEE>!Q 5U5%+ᕊ?Q 9U5%۰)%|BY]?Q E]:y]R>Q I]`@%ʳDI%y;i%;%45yoBɮ3 AEDDAT read: Rx Time:04:36:32.0531 TRx dataTimestamp_ set to:1764909392.839434PDAT read: Bearing 179.4, -3.2 (Local) ~Local bearing/azimuth received: Bearing 179.4, -3.2 (Local) DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed 0.4 DAT read: 04:36:32.0531 LVL= 25888, 31185, 29410, 32755, AGC= 64, IDX= 505, 0.14,-0.848,-2.471,-0.480,-1.077, PHS= 0.331,-1.348, 0.554, RAW= 156.1, 5.2, CAL= 155.3, 4.9, ROT= 354.7, -4.9 Ygot valid direction response: 04:36:32.0531 LVL= 25888, 31185, 29410, 32755, AGC= 64, IDX= 505, 0.14,-0.848,-2.471,-0.480,-1.077, PHS= 0.331,-1.348, 0.554, RAW= 156.1, 5.2, CAL= 155.3, 4.9, ROT= 354.7, -4.9 %T#Rx 16: Read range and direction messages.-^direction in FSK: [0.992086,-0.092033,0.085417]-Fpublishing direction and range infoyyX*?!hyb$ݵ?YA eyr )@Ix>iD ?].@޹=x-@ %=)@I%iiI5TLAjA"jA:jF>"p7@(T?@6}@qt-@pyX*?!hyb$ݵ?*jq2j%*p>$?@_@Y @p7́?1ʿ?z? z=#*?,U?r,? !?)Iqi%mchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.103058jz@ j!Aih!?iõIjBj;^.?j n;Qj2BrjAzj#= addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.504037 s, deltaX: -0.399998 m, approachRate: -0.793588 m/s, rangeRepo size: 4 ԡ Added new target pos. range: 31.578665 m, bearing: 7.177442 deg, lat: 36.779426 deg, lon: -121.859680 deg, deltaT: 0.504037 s, deltaX: -0.398466 m, approachRate: -0.790549 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 31.58 m.2i"i*i ProNav: ac range: 31.578665 m, nav range: 31.512869 m, bearing: 6.624971 deg, approach rate: 0.000000 m/s, LOS rate: -0.288973 deg/s, cmd heading: 6.757647 deg, new cmd heading: 6.491095 deg. i HeadingCmd: 0.113291 target range: 31.578665 and range: 31.70 m.h =h h hhggjgrgwBbE!jE%Ŕ4rE%Ř0E EE#E"E:*Ee:VE3ZEa@a@a@a@ereZe:e@3?@*e[?EbBɢMP)I MiI)M~'IQiU&iu=}==}!>I}=Iy@ @@/@  checking for new query: numPingsReceived=16, elapsed TxPingTime=10.338391^A A- ?A- ?I I O >-&,#ITLA@o]>sٱA=H =?"˿OU(s?(?gm?`A?`?i@I];CYByI)-BAbD-VD-8y=G%E]=ٔEjQ-E>9IYI=MEyMSEMEM>QQ 5]5Uo?Q 9e5U)U|BYayep>Q Ie`@UѳDIU:iU:U085ymmBɮuZ AuEiAiAjA"jA:jE="pE7@(T?@6}@qt-@pEyX*?!hyb$ݵ?*jA2jA*pEW)7+?@qt @` @pEARB?>:I~ٽ?DMD?jEk@ jEYAiE2?iEs?NjEBjAjEs?NjArjEAzjE$/=:iDNOT Ignoring new targets: 31.58 m.2i"i*i ProNav: ac range: 31.578665 m, nav range: 31.325222 m, bearing: 6.541420 deg, approach rate: -0.561059 m/s, LOS rate: -0.251309 deg/s, cmd heading: 6.491095 deg, new cmd heading: 6.322994 deg. i廝HeadingCmd: 0.110357 target range: 31.578665 and range: 31.70 m.h=hhhhggjgrgereZe:e*e f?`Bɢ/k) Ҟi)!i%/i%=-'=-2>I-=IAM@I @I@M0@I^AY >IIO<>-DDAT read: Rx Time:04:36:32.5531 -TRx dataTimestamp_ set to:1764909393.344671=PDAT read: Bearing 179.2, -3.4 (Local) =~Local bearing/azimuth received: Bearing 179.2, -3.4 (Local) MDAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed 0.4 mDAT read: 04:36:32.5531 LVL= 28624, 30833, 29266, 32755, AGC= 64, IDX= 505,-0.40,-0.826,-2.448,-0.450,-1.051, PHS= 0.327,-1.353, 0.557, RAW= 156.3, 5.2, CAL= 155.5, 5.0, ROT= 354.5, -5.0 }Ygot valid direction response: 04:36:32.5531 LVL= 28624, 30833, 29266, 32755, AGC= 64, IDX= 505,-0.40,-0.826,-2.448,-0.450,-1.051, PHS= 0.327,-1.353, 0.557, RAW= 156.3, 5.2, CAL= 155.5, 5.0, ROT= 354.5, -5.0 }T#Rx 17: Read range and direction messages.^direction in FSK: [0.991608,-0.095481,0.087156]Fpublishing direction and range infoy)-WA?$)uqO?Y))-o-qx-Rr )))I-l>i-/-?-.@)--@ -¸=)-z@I-¸))-($ ϫ?$ ~"?*vg? -FU"?)-I-)Ľi-¸))checking for new query: numPingsReceived=17, elapsed TxPingTime=10.603761iAuAAAqB}!>B}GCByByB} =ByByB}ˁ;B}P8EDzDAAE EE$E"E:*EF:VE4ZEBE36!ٱ6.=6H`'C?`=˿x?0/?`}? )? ?i6@I6];6CYBÁByBIbDJVDJ8yf#<%fS=ٔf|Q-j>9hYh=jEyjWEntEn>pQ 5v5r|?Q 9v5rC)r|BYtyv>Q Iz`@r׳DIr:ir:r;5y|ɮ~J A|iaieVTLAja"ja:je4="peHYP?@ 8@@peWA?$)uqO?*je)Ľ2je¸*pe0?@ȥ* @ la @pe:b?$ ?elK7P¼?je]]@ jeAieD?iemIRje܈Bje0?jaje܈BrjeMAzje=M addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.505237 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 31.578865 m, bearing: 6.328432 deg, lat: 36.779426 deg, lon: -121.859679 deg, deltaT: 0.505237 s, deltaX: 0.000200 m, approachRate: 0.000396 m/s, posRepo size: 4 :iY]DNOT Ignoring new targets: 31.58 m.2ia"ie*iachecking for new query: numPingsReceived=17, elapsed TxPingTime=10.842065ԩu ProNav: ac range: 31.578865 m, nav range: 31.162867 m, bearing: 6.656608 deg, approach rate: 0.000000 m/s, LOS rate: -0.251309 deg/s, cmd heading: 6.322994 deg, new cmd heading: 6.127967 deg. iHeadingCmd: 0.106953 target range: 31.578865 and range: 31.70 m.hH =hhhhggjgrgeQreYZea:e*e@A?U^BɢUS)Q UњiY)]YYi]HieH =e=e>IeH =Ii@ @@/@= DDAT read: Rx Time:04:36:33.0528 = TRx dataTimestamp_ set to:1764909393.847801M PDAT read: Bearing 178.8, -3.2 (Local) M ~Local bearing/azimuth received: Bearing 178.8, -3.2 (Local) ] DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.5 E DAT read: 04:36:33.0528 LVL= 25072, 27441, 27618, 31907, AGC= 63, IDX= 502,-0.06,-1.997, 2.668,-1.631,-2.225, PHS= 0.329,-1.346, 0.550, RAW= 156.1, 5.3, CAL= 155.3, 5.0, ROT= 354.7, -5.0 M Ygot valid direction response: 04:36:33.0528 LVL= 25072, 27441, 27618, 31907, AGC= 63, IDX= 502,-0.06,-1.997, 2.668,-1.631,-2.225, PHS= 0.329,-1.346, 0.550, RAW= 156.1, 5.3, CAL= 155.3, 5.0, ROT= 354.7, -5.0 M T#Rx 18: Read range and direction messages.U ^direction in FSK: [0.991936,-0.092019,0.087156]] Fpublishing direction and range infoy9 = ^?^|O?Y= A9 = a= 1k= k = |^A mf!>A zA yA)= ?I= r>i= I= ?= ].@= q== x-@ 9 )= @I9 9 9 = p???PXpp? = `!?)= ƻI= qi9 9 9 E  E E E "E :*E 1]:VE ZE a @a @a @a @! % checking for new query: numPingsReceived=18, elapsed TxPingTime=11.154712A I I O >0&,~TLAN@N@U>NٱND=NHJ?ʿN{?6? 6X??C?iN@INS];NCYfƁByfIYiMb@Mb@Mb@ 9 ףp= ?L7A`?y&1|YQ>y+=`A )|AY AbD=VD=8yE$<%M-=ٔMǺQ-M>9QYQ=UEyU\E]zE]>aQ 5m5e?Q 9m5e4)e|BYm>Q Eu:yua>Q Iu`@e޳DIe;ie;e?5y}pBɮ}U A}Eii_BvTLAjA"jA:j="p;dt>@?L'T Gë@p^?^|O?*jq2j*p[3>@*_X @E151 @p$]c$?,JDX?)?jX@ jAig-?i/Rj҈Bjj/Rj҈Brj]Azj= addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503130 s, deltaX: -0.500000 m, approachRate: -0.993779 m/s, rangeRepo size: 4  Added new target pos. range: 31.080776 m, bearing: 6.292184 deg, lat: 36.779426 deg, lon: -121.859680 deg, deltaT: 0.503130 s, deltaX: -0.498089 m, approachRate: -0.989980 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 31.08 m.2i"i*i ProNav: ac range: 31.080776 m, nav range: 30.920551 m, bearing: 6.283948 deg, approach rate: 0.000000 m/s, LOS rate: -0.251309 deg/s, cmd heading: 6.127967 deg, new cmd heading: 5.889938 deg. iHeadingCmd: 0.102799 target range: 31.080776 and range: 31.20 m.h0=hhhhggjg rg _Be reZe:e@33?@*e?E]BɢE~Z)A EǖiA)MIIiMiU0=U#֣=U>IU0=IYchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.344945ԙ @  @@@Ա^AM "x> Ay I I iߙ Iߙ  DDAT read: Rx Time:04:36:33.5527  TRx dataTimestamp_ set to:1764909394.351679 PDAT read: Bearing 178.3, -2.6 (Local)  ~Local bearing/azimuth received: Bearing 178.3, -2.6 (Local)  DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.6  DAT read: 04:36:33.5527 LVL= 29520, 32385, 31442, 32755, AGC= 64, IDX= 501, 0.18, 1.833, 0.196, 2.179, 1.589, PHS= 0.346,-1.348, 0.547, RAW= 155.5, 5.1, CAL= 154.7, 4.9, ROT= 355.3, -4.9  Ygot valid direction response: 04:36:33.5527 LVL= 29520, 32385, 31442, 32755, AGC= 64, IDX= 501, 0.18, 1.833, 0.196, 2.179, 1.589, PHS= 0.346,-1.348, 0.547, RAW= 155.5, 5.1, CAL= 154.7, 4.9, ROT= 355.3, -4.9  T#Rx 19: Read range and direction messages. ^direction in FSK: [0.992995,-0.081639,0.085417] Fpublishing direction and range infoy  p_?bM洿b$ݵ?Y Ps ~ z ) @I &>i D 1 ? -@ K= 3,@ %=) o@I %OE >%&,ΗTLAo5~?vO?ȘX? ?)V@Ii%checking for new query: numPingsReceived=19, elapsed TxPingTime=11.619283BJ>BHBJIBJBBJ =BHBHBJŁ;BJI8EBYBYBYBYBYC]5E5 E5E1E1"E5:*E5 H:VE1ZE1BE5,}Q ٱ}=}HP?`z9ʿ/?=?T``I??@+?i}@I}^;}CYByI %4<%bD-VD-8y]%];=ٔeQ-e>9aYi=mEym`EmEm>qQ 55u#?Q 95uS)u|BYyO>Q I`@uDIu;iu ;uC5yɮ Aii遖TLAj"j:jV="p*>@L!Ly=@pp_?bM洿b$ݵ?*j2j%*puVD>@Z @M Uj @py=6? V?_\?j}e@ jbAi Iv=I-checking for new query: numPingsReceived=19, elapsed TxPingTime=11.850194 @getADC uart error serial timeout Puart error - getPosition..serial timeoutq (Communications Fault ^A% 6>DDAT read: Rx Time:04:36:34.0524 TRx dataTimestamp_ set to:1764909394.855963PDAT read: Bearing 178.4, -2.7 (Local) ~Local bearing/azimuth received: Bearing 178.4, -2.7 (Local) DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.4  DAT read: 04:36:34.0524 LVL= 25568, 27569, 24466, 32755, AGC= 63, IDX= 499,-0.36,-1.743, 2.941,-1.397,-1.967, PHS= 0.326,-1.330, 0.526, RAW= 155.6, 5.5, CAL= 154.8, 5.3, ROT= 355.2, -5.3 Ygot valid direction response: 04:36:34.0524 LVL= 25568, 27569, 24466, 32755, AGC= 63, IDX= 499,-0.36,-1.743, 2.941,-1.397,-1.967, PHS= 0.326,-1.330, 0.526, RAW= 155.6, 5.5, CAL= 154.8, 5.3, ROT= 355.2, -5.3 T#Rx 20: Read range and direction messages.%^direction in FSK: [0.992233,-0.083320,0.092371]%Fpublishing direction and range infoyy^?ɶwT{]U?YfAck_ )?Iy>iq=?-@ =,@ q=)a@Iql䨦?L%ߎ?d,h? 5?)lýIiq=checking for new query: numPingsReceived=20, elapsed TxPingTime=12.115360IAI&bCommunications Fault in component: DockingStepperIO?2-&,TLAE^ E^E^%E\"E^:*E^g:VE^ 4ZE\ab@ab@ab@ab@YByIԑi-Mb@Mb@Mb@)))) )9-MbX9??{GztY-?y-L=-ף)-A - A)-A)Y)bDuVDu8yƺ%=ٔQ->9Y=EyfEE>Q 5=5;?Q 9E5 )|BYEm?Q EE:yEF>Q IE`@DIT&@}uOsbQ@puy^?ɶwT{]U?*ju2juq*pu(ekC>@ ק¿ @sd @pu &??QM?ju]@ juAiu]Z1?iu]KjuBjqjqju҈BrjuAzjue=Թ addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.504284 s, deltaX: -0.400002 m, approachRate: -0.793207 m/s, rangeRepo size: 4  Added new target pos. range: 30.682281 m, bearing: 6.538421 deg, lat: 36.779427 deg, lon: -121.859679 deg, deltaT: 0.504284 s, deltaX: -0.398472 m, approachRate: -0.790173 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 30.68 m.2i"i*i- ProNav: ac range: 30.682281 m, nav range: 30.470148 m, bearing: 6.361783 deg, approach rate: 0.000000 m/s, LOS rate: -0.251309 deg/s, cmd heading: 5.664218 deg, new cmd heading: 5.376255 deg. i)UHeadingCmd: 0.093833 target range: 30.682281 and range: 30.80 m.hU+=hQhQhQhQgYgaDDAT read: Rx Time:04:36:34.5523 TRx dataTimestamp_ set to:1764909395.111202checking for new query: numPingsReceived=20, elapsed TxPingTime=12.358420jgrgOBereZe!:e->@*eU`>?]YBɢ]p|Q)Y ]eiY)eUaaieUi+=>=!>I+=I :Uninitialize Docking Stepper. Powering downI)i@@ ^A 0>UPDAT read: Bearing 178.0, -2.2 (Local) ]~Local bearing/azimuth received: Bearing 178.0, -2.2 (Local) uDAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed 0.4 DAT read: 04:36:34.5523 LVL= 24480, 28289, 26722, 31827, AGC= 63, IDX= 498,-0.07, 0.504,-1.120, 0.835, 0.264, PHS= 0.341,-1.340, 0.527, RAW= 155.2, 5.3, CAL= 154.4, 5.2, ROT= 355.6, -5.2 Ygot valid direction response: 04:36:34.5523 LVL= 24480, 28289, 26722, 31827, AGC= 63, IDX= 498,-0.07, 0.504,-1.120, 0.835, 0.264, PHS= 0.341,-1.340, 0.527, RAW= 155.2, 5.3, CAL= 154.4, 5.2, ROT= 355.6, -5.2 T#Rx 21: Read range and direction messages.^direction in FSK: [0.992949,-0.076403,0.090633]Fpublishing direction and range infoyAE=?\)0L3?YEAAE_EnEbh ES|)AIE>iEEy?E-\-@Eq=Eiw,@ E޹=)E@IE޹AAE\ ?H[.\?!pe? E9?)EMIEiFiE޹AAchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.620667AI!I19OE?`5&,TLABLAN<BLBLBNIBNځBBN =BLBLBNǁ;BNK8EEn EnElEl"En,:*EnT:VElZElBEn5eٱ5W=5Hd?=ȿ th?Q?@H ?e??i5];@I5i#^;5CYByIbDVD8yE;%>=ٔHQ->9Y=EyjEE>Q 55L?Q 95b)}BYy>Q I`@DI:!i:KL5y)ɮ- A1iihTLAjA"jA:j="p=hD>@K)2ʡM~e@p=?\)0L3?*jiF2j޹*pfz>@g:F @4V*_9 @pJP?Nh"D?5/D?j4R@ jAiW!4?iINjBjW!4?jINj܈BrjAzjW= addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.502155 s, deltaX: -0.199999 m, approachRate: -0.398281 m/s, rangeRepo size: 4 % Added new target pos. range: 30.482985 m, bearing: 6.230503 deg, lat: 36.779427 deg, lon: -121.859679 deg, deltaT: 0.502155 s, deltaX: -0.199297 m, approachRate: -0.396883 m/s, posRepo size: 4 :i!-DNOT Ignoring new targets: 30.48 m.2i)"i)*i1e ProNav: ac range: 30.482985 m, nav range: 30.263275 m, bearing: 6.230481 deg, approach rate: 0.000000 m/s, LOS rate: -0.251309 deg/s, cmd heading: 5.376255 deg, new cmd heading: 5.156352 deg. iamHeadingCmd: 0.089995 target range: 30.482985 and range: 30.60 m.hmwO=hihihihigigijgqrgqeqreZe:e>@*e-?WBɢhd) ri)iGi5wO==.)==8>I=wO=I9QDDAT read: Rx Time:04:36:35.0520 TRx dataTimestamp_ set to:1764909395.615091PDAT read: Bearing 177.3, -1.7 (Local) ~Local bearing/azimuth received: Bearing 177.3, -1.7 (Local) checking for new query: numPingsReceived=21, elapsed TxPingTime=12.866322ԁ ^A 0">A- .AI1 IA OU >"<&,TLA(YuByuI%DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.4 EDAT read: 04:36:35.0520 LVL= 25888, 30641, 28066, 32755, AGC= 64, IDX= 495, 0.17, 1.006,-0.623, 1.321, 0.750, PHS= 0.358,-1.328, 0.527, RAW= 154.7, 5.0, CAL= 153.9, 4.8, ROT= 356.1, -4.8 UYgot valid direction response: 04:36:35.0520 LVL= 25888, 30641, 28066, 32755, AGC= 64, IDX= 495, 0.17, 1.006,-0.623, 1.321, 0.750, PHS= 0.358,-1.328, 0.527, RAW= 154.7, 5.0, CAL= 153.9, 4.8, ROT= 356.1, -4.8 UT#Rx 22: Read range and direction messages.]^direction in FSK: [0.994185,-0.067777,0.083678]]Fpublishing direction and range infoy N]?$LeYU]k?YA ewm )@IK>i3,@¸=o+@ =)>@I{~2?oV(?*~{? '?)YI)gi}checking for new query: numPingsReceived=22, elapsed TxPingTime=13.119819iMb@Mb@Mb@ 9T㥛 ? rh?Mb`Y?yC<9AA )YG A)-AAbD5VD58yE<%eB=ٔeQ-e>9m ?Ym ?=mEymoEuEu>yԁQ 55}f^?Q 95}")}}BY?Q E:yXg>Q I`@}DI};i};}O5yxBɮ AE EEE"E:*EF:VEZEa@a@a@a@ii/TLAjA"jA:j="pF=@c|Oԇ#@p N]?$LeYU]k?*j)g2j*p~o{=@% @{޿T @pn l?o/a?;?j,a@ jtAi콦#?i~GjBj]Z1?j]Kj҈BrjCAzj9r= addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.504133 s, deltaX: -0.400000 m, approachRate: -0.793441 m/s, rangeRepo size: 4 } Added new target pos. range: 30.084515 m, bearing: 6.759993 deg, lat: 36.779426 deg, lon: -121.859678 deg, deltaT: 0.504133 s, deltaX: -0.398470 m, approachRate: -0.790406 m/s, posRepo size: 4 :iyDNOT Ignoring new targets: 30.08 m.2i"i*i ProNav: ac range: 30.084515 m, nav range: 30.032988 m, bearing: 6.419091 deg, approach rate: 0.000000 m/s, LOS rate: -0.251309 deg/s, cmd heading: 5.156352 deg, new cmd heading: 4.944375 deg. iHeadingCmd: 0.086296 target range: 30.084515 and range: 30.20 m.h»=hhhhggjgrgKBereZe:e@33>@*e@y?]VBɢ][)a eߙia)e2 aaie0im»=A=Q>I»=IԹ^A4>AzAzAA ؟A I = DDAT read: Rx Time:04:36:35.5519 M TRx dataTimestamp_ set to:1764909396.130944e PDAT read: Bearing 176.9, -1.9 (Local) m ~Local bearing/azimuth received: Bearing 176.9, -1.9 (Local) I  DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4  Z#Rx 23: Read range message, but no direction.yA YE AA  checking for new query: numPingsReceived=23, elapsed TxPingTime=13.395638O >C&,T ULAB5@Bt@>B_ٱB=BH j?`[+ȿ6`? /X?M*?`??iB5@IBw/^;BCYLyNI\I%<)%p;bDUVDU8y%j=ٔٙQ-?9"?Y"?=EyrE?E?Q 55l?Q 95 )}BYy3c>Q I`@DI:i:R5yɮ A-B*** querying acoustic contact ***i1i1e addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.268693 s, deltaX: -0.200001 m, approachRate: -0.744347 m/s, rangeRepo size: 4 :iamDNOT Ignoring new targets: 30.08 m.2ii"im*iu ProNav: ac range: 30.084515 m, nav range: 29.859819 m, bearing: 6.382444 deg, approach rate: -0.519166 m/s, LOS rate: -0.110506 deg/s, cmd heading: 4.944375 deg, new cmd heading: 4.870656 deg. i=JHeadingCmd: 0.085009 target range: 30.084515 and range: 30.00 m.h0=hhhhggjgrgereZe:e>@*e?-UBɢ-$ n)1 5i1)5 11i5Ni=0==Q=EŐ>IE0=IA@U=@U=DAT read: 04:36:35.5519 LVL= 26144, 29361, 30066, 32755, AGC= 63, IDX= 510,-0.39,-0.712,-2.335,-0.388,-0.966, PHS= 0.356,-1.324, 0.534, RAW= 155.0, 4.9, CAL= 154.1, 4.7, ROT= 355.9, -4.7 Ygot valid direction response: 04:36:35.5519 LVL= 26144, 29361, 30066, 32755, AGC= 63, IDX= 510,-0.39,-0.712,-2.335,-0.388,-0.966, PHS= 0.356,-1.324, 0.534, RAW= 155.0, 4.9, CAL= 154.1, 4.7, ROT= 355.9, -4.7 Z#Rx 24: Read direction message, but no range.^direction in FSK: [0.994087,-0.071257,0.081939]y?#g;(=? frru )?IE>ix9?"-@%=!,@ =)@I1?;}F?V ? K?)Iiichecking for new query: numPingsReceived=24, elapsed TxPingTime=13.632624B%!>B!B%IB%ЁBB!B!B!B%́;B%Q8EE EE&E"E:*Ex:VE4ZEBE#A .AI I O >A 2I&,&ULApr%=DDAT read: Rx Time:04:36:36.0516 !=TRx dataTimestamp_ set to:1764909396.636533ePDAT read: Bearing 176.9, -1.2 (Local) ~Local bearing/azimuth received: Bearing 176.9, -1.2 (Local) -DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.4 DAT read: 04:36:36.0516 LVL= 25904, 30897, 31730, 32755, AGC= 62, IDX= 507, 0.01,-1.941, 2.713,-1.643,-2.199, PHS= 0.359,-1.327, 0.512, RAW= 154.3, 5.2, CAL= 153.5, 5.1, ROT= 356.5, -5.1 AYMByMIeYgot valid direction response: 04:36:36.0516 LVL= 25904, 30897, 31730, 32755, AGC= 62, IDX= 507, 0.01,-1.941, 2.713,-1.643,-2.199, PHS= 0.359,-1.327, 0.512, RAW= 154.3, 5.2, CAL= 153.5, 5.1, ROT= 356.5, -5.1 mT#Rx 25: Read range and direction messages.u^direction in FSK: [0.994183,-0.060807,0.088894]uFpublishing direction and range infoy  dY?"?Y A  0e x { ) >I η>i #۩ o? Z,@ ޹= v+@ K=) o@I K   =E-8yS?zl@=?U֮")A? 5@?) KI 5zi K  checking for new query: numPingsReceived=25, elapsed TxPingTime=14.004065iMb@Mb@Mb@ 9T㥛 ? rh?Yyx A )|AYA <4<bDVD8y}%=ٔQ->9 ?Y ?=EyxEE>Q 55C?Q 95x)}BY?Q E:yb>Q I`@ DI:i=:W5y|BɮAEi i (ULAj A"j A:j ="p EHP=@z&A@p dY?"?*j 5z2j K*p G=@l( @&$9 @p '?%?;?hΧ꠾?j Fa@ j Ai [Q?i ^Dj ȈBj j wKj ȈBrj Azj #=i addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.505589 s, deltaX: -0.400000 m, approachRate: -0.791156 m/s, rangeRepo size: 4  Added new target pos. range: 29.486921 m, bearing: 6.905763 deg, lat: 36.779426 deg, lon: -121.859677 deg, deltaT: 0.774282 s, deltaX: -0.597593 m, approachRate: -0.771803 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 29.49 m.2i"i*i ProNav: ac range: 29.486921 m, nav range: 29.578621 m, bearing: 6.380614 deg, approach rate: 0.000000 m/s, LOS rate: -0.110506 deg/s, cmd heading: 4.870656 deg, new cmd heading: 4.743363 deg. ichecking for new query: numPingsReceived=25, elapsed TxPingTime=14.126696HeadingCmd: 0.082787 target range: 29.486921 and range: 29.60 m.hd=hhhhggjgrg?BereZe:e=@*eg~?U RBɢU Q)Q U iY )] k2 Y Y i] i d= s= >I d=I E  E E #E "E :*E &p:VE 3ZE a @a @a @a @ԡ ^A ;>A >A > ͂G ]5h9iYukdAA؟AII O=?eDDAT read: Rx Time:04:36:36.5515 uTRx dataTimestamp_ set to:1764909397.140052PDAT read: Bearing 176.2, -1.0 (Local) ~Local bearing/azimuth received: Bearing 176.2, -1.0 (Local) DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.4 Z#Rx 26: Read range message, but no direction.yiYm3Aichecking for new query: numPingsReceived=26, elapsed TxPingTime=14.4013158wR&,WJULA P@  3> ٱ l4= H|?`ƿԗU?j?@8`l}? ߱??i P@I dC^; CY%ŁBy%IbD5VD58yEr=%ES=ٔMԺQ-M>9M"?YM"?=MEyM|EUEU>YQ 5e5]/?Q 9e5]j)] }BYaym/V>Q Im`@]DI]:i]:]N[5yuBɮu AuE} addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.503519 s, deltaX: -0.200001 m, approachRate: -0.397206 m/s, rangeRepo size: 4 :iy}DNOT Ignoring new targets: 29.49 m.2iy"i*i⺝ ProNav: ac range: 29.486921 m, nav range: 29.386404 m, bearing: 6.343841 deg, approach rate: -0.514327 m/s, LOS rate: -0.099039 deg/s, cmd heading: 4.743363 deg, new cmd heading: 4.669337 deg. i@5HeadingCmd: 0.081495 target range: 29.486921 and range: 29.40 m.h=hhhhggjgrgere Ze :e `ff=@*e ?5QBɢ5ֺ\)1 5Ћi1)= 99i=G(iE=E=E->IE=IIADAT read: 04:36:36.5515 LVL= 23296, 29361, 29442, 32755, AGC= 60, IDX= 506, 0.38,-0.695,-2.332,-0.402,-0.967, PHS= 0.374,-1.320, 0.521, RAW= 154.1, 4.8, CAL= 153.2, 4.7, ROT= 356.8, -4.7  Ygot valid direction response: 04:36:36.5515 LVL= 23296, 29361, 29442, 32755, AGC= 60, IDX= 506, 0.38,-0.695,-2.332,-0.402,-0.967, PHS= 0.374,-1.320, 0.521, RAW= 154.1, 4.8, CAL= 153.2, 4.7, ROT= 356.8, -4.7  Z#Rx 27: Read direction message, but no range.^direction in FSK: [0.995083,-0.055634,0.081939]y+.?3<|?[rs )<I|>iB`?!,@=D +@ =)SF@IJ6̤e?>?"? r?)=Idi-checking for new query: numPingsReceived=27, elapsed TxPingTime=14.640639A]@AA]AABe>BaBaBaBe =BaBaBe;BeE8E^A5D->E EE$E"E,:*ER:VE4ZEBENX&,cULA6@@6 />6vZٱ6=6HS?@2!ƿ'~?Do???W?}?i6@@I6 ^;6C9Z ?YZ ?=ZEyZEZW*E^>`Q 5f5bգ?Q 9f5bf)b(}BYdyf,R>Q If`@bDIbG:ibS:b^5yhɮn Al:iDNOT Ignoring new targets: 29.49 m.2i "i ܺ*i ܺ ProNav: ac range: 29.486921 m, nav range: 29.197557 m, bearing: 6.308705 deg, approach rate: -0.515747 m/s, LOS rate: -0.096578 deg/s, cmd heading: 4.669337 deg, new cmd heading: 4.598610 deg. i0%HeadingCmd: 0.080261 target range: 29.486921 and range: 29.40 m.h%_=h!h)h)h)g)g)jg1rg1e1re1Ze1:e9*e=J?DDAT read: Rx Time:04:36:37.0513 TRx dataTimestamp_ set to:1764909397.643773PDAT read: Bearing 176.3, -1.0 (Local) ~Local bearing/azimuth received: Bearing 176.3, -1.0 (Local) -PBɢ52Sg)1 5i1)5 19i=Qi=_=E=Eg>IE_=IA5DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.4 @@^AeU>DAT read: 04:36:37.0513 LVL= 27584, 32465, 29938, 32755, AGC= 61, IDX= 504,-0.14,-3.013, 1.625,-2.719, 3.005, PHS= 0.367,-1.335, 0.515, RAW= 154.1, 5.1, CAL= 153.3, 5.0, ROT= 356.7, -5.0 Ygot valid direction response: 04:36:37.0513 LVL= 27584, 32465, 29938, 32755, AGC= 61, IDX= 504,-0.14,-3.013, 1.625,-2.719, 3.005, PHS= 0.367,-1.335, 0.515, RAW= 154.1, 5.1, CAL= 153.3, 5.0, ROT= 356.7, -5.0 T#Rx 28: Read range and direction messages.^direction in FSK: [0.994543,-0.057345,0.087156]=Fpublishing direction and range infoy)K? G\O?YAk~t )=Im>iHᪿ ?K=<+@ ¸=)8@I¸1ta?5L\)?'G-?  |?)IQki¸checking for new query: numPingsReceived=28, elapsed TxPingTime=15.009712A؟AIIO>- checking for new query: numPingsReceived=28, elapsed TxPingTime=15.1348191 ^&,}ULAbEUJ4jEU 4rEUT/E< E<E>'E<"E<*E<VE>'4ZE:̿ٱ:T=:H`?@^ſ˘n? s?e ?@??i:y@I:];:CYŔByRIxi5Mb@Mb@Mb@1111 195Zd;?y&1?Mb?Y5>y5`e<5<15 A 55 A)5fA1Y5zAAAbDMɿVDMz8yP=%6=ٔԪQ->9 "?Y "?= Ey E4E>Q 5%5K?Q 9%5B)4}BY%>Q E%:y%G>Q I-`@DI:i:b5y5Bɮ5 A1ii3iULAjA"jA:j)="p";D><@5E"W6@p)K? G\O?*jQk2j¸*p<@x@5 @pX?.5u?e&X?j?@ jAil"?ivyuOjBj콦#?j]Kjrj{Azj?= addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.503721 s, deltaX: -0.299999 m, approachRate: -0.595566 m/s, rangeRepo size: 4  Added new target pos. range: 28.988720 m, bearing: 5.975067 deg, lat: 36.779425 deg, lon: -121.859678 deg, deltaT: 1.007240 s, deltaX: -0.498201 m, approachRate: -0.494620 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 28.99 m.2i"i*i ProNav: ac range: 28.988720 m, nav range: 28.810095 m, bearing: 6.245719 deg, approach rate: 0.000000 m/s, LOS rate: -0.096578 deg/s, cmd heading: 4.598610 deg, new cmd heading: 4.511222 deg. iHeadingCmd: 0.078736 target range: 28.988720 and range: 29.10 m.h+@=hhhhggjgrgBBereZe:e=@*e 3?UNBɢUR)Q UuiY)]+YYi]huie+@=e.=e_>I+@=I!DDAT read: Rx Time:04:36:37.5512 TRx dataTimestamp_ set to:1764909398.150227PDAT read: Bearing 175.4, 0.1 (Local) ~Local bearing/azimuth received: Bearing 175.4, 0.1 (Local) DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.4 =DAT read: 04:36:37.5512 LVL= 23072, 28753, 26962, 32755, AGC= 59, IDX= 503, 0.19,-0.751,-2.397,-0.493,-1.045, PHS= 0.396,-1.307, 0.508, RAW= 153.2, 4.6, CAL= 152.3, 4.5, ROT= 357.7, -4.5 EYgot valid direction response: 04:36:37.5512 LVL= 23072, 28753, 26962, 32755, AGC= 59, IDX= 503, 0.19,-0.751,-2.397,-0.493,-1.045, PHS= 0.396,-1.307, 0.508, RAW= 153.2, 4.6, CAL= 152.3, 4.5, ROT= 357.7, -4.5 MT#Rx 29: Read range and direction messages.M^direction in FSK: [0.996114,-0.040008,0.078459]UFpublishing direction and range infoyr *?4iQ{5;?YA ZQpRi );I>iKJ ?D +@l=*@ |٠=)@I|٠G ? q?s9? $?)GIQl$i|٠mchecking for new query: numPingsReceived=29, elapsed TxPingTime=15.416853Q^Ae >Ai zAm yAy A I I O > e&,iULA2[V@2'>2ٱ2=2HV?1ſ`X? x? V6?`Eʲ?@?i2[V@I2 ^;2CYBЁByBIbDJۿVDJ8yRI<%Rd=ٔR9Q-V>9TYT=VEyVEZODEZ>\Q 5b5^Ŗ?Q 9b5^_)^?}BY`yfC>Q If`@^$DI^P;i^* ;^e5yhɮj Ahrchecking for new query: numPingsReceived=29, elapsed TxPingTime=15.638902iiRULAjA"jA:j="p \<@=]%~;F"@pr *?4iQ{5;?*jQl$2j|٠*ptdc<@uZ @4 @pB4?Թg?*ռ?jfX@ j Aiu '?izoDjRBjj~GBE>BEFCBABABE =BABABE;BE.8EYjBrj3Azj= addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.506454 s, deltaX: -0.100000 m, approachRate: -0.197452 m/s, rangeRepo size: 4  Added new target pos. range: 28.889103 m, bearing: 6.764707 deg, lat: 36.779425 deg, lon: -121.859676 deg, deltaT: 0.506454 s, deltaX: -0.099617 m, approachRate: -0.196695 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 28.89 m.2i"i*i ProNav: ac range: 28.889103 m, nav range: 28.650383 m, bearing: 6.535947 deg, approach rate: 0.000000 m/s, LOS rate: -0.096578 deg/s, cmd heading: 4.511222 deg, new cmd heading: 4.438601 deg. iHeadingCmd: 0.077468 target range: 28.889103 and range: 29.00 m.h=hhh h g g jg rgereZe:e=@*e?E5 E5E5$E1"E5:*E5?:VE54ZE1BE5] I=IԁԹDDAT read: Rx Time:04:36:38.0510 TRx dataTimestamp_ set to:1764909398.651086^A0> PDAT read: Bearing 175.5, -0.1 (Local)  ~Local bearing/azimuth received: Bearing 175.5, -0.1 (Local) u DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed 0.4 u DAT read: 04:36:38.0510 LVL= 24560, 32193, 25970, 32755, AGC= 60, IDX= 501,-0.29, 2.681, 1.027, 2.946, 2.395, PHS= 0.388,-1.323, 0.507, RAW= 153.3, 4.9, CAL= 152.5, 4.8, ROT= 357.5, -4.8 A I I O > Ygot valid direction response: 04:36:38.0510 LVL= 24560, 32193, 25970, 32755, AGC= 60, IDX= 501,-0.29, 2.681, 1.027, 2.946, 2.395, PHS= 0.388,-1.323, 0.507, RAW= 153.3, 4.9, CAL= 152.5, 4.8, ROT= 357.5, -4.8  T#Rx 30: Read range and direction messages. ^direction in FSK: [0.995544,-0.043466,0.083678] Fpublishing direction and range infoy,?!0viX?<+@%=X*@ =)i@I9J?O ?IQbõ? ?)QIѸ2ink&,FULA.checking for new query: numPingsReceived=30, elapsed TxPingTime=16.009495r5@r@#>r~ٱrp=rH`?Ŀ pc?}}?7O?N??ir5@Ir3];rCYz؁ByzIIE<)EԹonly read 3 of 4 data items for beam range. Device response is::RA, 2.30, 88.76, 86.04, 84.00 a@a a@a a@a a@a bD%VD%8y-=%54=ٔU޹Q-]>9YYY=]Ey]Ee Ee>iQ 55mז?Q 95m@)mL}BQ A+:YQ E:yr?>Q I`@m,DIm;im>mh5yBɮr AEiieULAjA"jA:j="p;lv<@~"=Q#@p,?!0vI=I@=@=E= E=E=%E9"E=:*E=1]:VE= 4ZE9aE@aE@aE@aE@^A>A A IY I  DDAT read: Rx Time:04:36:38.5509  TRx dataTimestamp_ set to:1764909399.155571 PDAT read: Bearing 175.9, 0.7 (Local)  ~Local bearing/azimuth received: Bearing 175.9, 0.7 (Local)  DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.4  Z#Rx 31: Read range message, but no direction.y Y A  checking for new query: numPingsReceived=31, elapsed TxPingTime=16.408943O >r&,ULAY܁ByI p<bDVDyH<%N=ٔQ->9Y=EyEE > Q 55 薊?Q 95 L) W}BQ A :Y!Q E%:y!Q I%`@ 2DI ,;i Z? %k5y)ɮ-N A)MB*** querying acoustic contact ***iIiIe addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.504485 s, deltaX: -0.200001 m, approachRate: -0.396445 m/s, rangeRepo size: 4 :iaeDNOT Ignoring new targets: 28.59 m.2ia"im*im} ProNav: ac range: 28.589985 m, nav range: 28.213398 m, bearing: 6.476657 deg, approach rate: -0.516443 m/s, LOS rate: -0.077667 deg/s, cmd heading: 4.350849 deg, new cmd heading: 4.292342 deg. i}#HeadingCmd: 0.074915 target range: 28.589985 and range: 28.50 m.hKm=hhhhggjgrgereZe:e<@*eD?JBɢR) Zi)ki X iKm==>>IKm=IADAT read: 04:36:38.5509 LVL= 26928, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.04,-0.492,-2.160,-0.257,-0.774, PHS= 0.384,-1.341, 0.473, RAW= 152.5, 5.5, CAL= 151.7, 5.6, ROT= 358.3, -5.6 %Ygot valid direction response: 04:36:38.5509 LVL= 26928, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.04,-0.492,-2.160,-0.257,-0.774, PHS= 0.384,-1.341, 0.473, RAW= 152.5, 5.5, CAL= 151.7, 5.6, ROT= 358.3, -5.6 -Z#Rx 32: Read direction message, but no range.5^direction in FSK: [0.994789,-0.029525,0.097583]yB=>B9B=IB=ځBB9B9B=ǺDB=;B=8EBBFCBBBC4M"xP?o];A_1?0i )=I>i㥫->X*@ =Us)@ +=)@I+Ƚ(}?7Ht?qR? f/?)@ŽIi+Ƚmchecking for new query: numPingsReceived=32, elapsed TxPingTime=16.661098^Aut>DqzDqyEM  EM EI EI "EM ,:*EM :VEI ZEI BEM ԙ x&,ULA2B@2`>2ٱ2͖=2H+? ÿ皿k?@?] %s?Ѳ??i2B@I2^;2CYNByRIbDfVDf8yCC=%R=ٔ)4Q->9 ?Y ?=EyEE>DDAT read: Rx Time:04:36:39.0507 TRx dataTimestamp_ set to:1764909399.660268ԑPDAT read: Bearing 174.8, 1.3 (Local) ~Local bearing/azimuth received: Bearing 174.8, 1.3 (Local) DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed 0.4 IQ 55M?Q 95MW)Mc}BQ A9YQ Eb:y7>Q I`@M8DIMӹiu>)@=+(@ =)@Ion? r?dKoq? s?)IiMchecking for new query: numPingsReceived=33, elapsed TxPingTime=16.937649iiAULAjA"jA:j>"p+;@PPyD߿Rdh?$@pK$?r;& ϑU]k?*j2j*pJBs;@¥ @ @p44爅?ُ Q?e ǵ?j.e@ jCAie?iH&<jBj!?j^DjBrjAzj= addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.504697 s, deltaX: -0.299999 m, approachRate: -0.594415 m/s, rangeRepo size: 4  Added new target pos. range: 28.091724 m, bearing: 7.377162 deg, lat: 36.779425 deg, lon: -121.859675 deg, deltaT: 1.009182 s, deltaX: -0.498260 m, approachRate: -0.493727 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 28.09 m.2i"i*iAM ProNav: ac range: 28.091724 m, nav range: 28.015030 m, bearing: 6.659354 deg, approach rate: 0.000000 m/s, LOS rate: -0.077667 deg/s, cmd heading: 4.292341 deg, new cmd heading: 4.211786 deg. iQUHeadingCmd: 0.073510 target range: 28.091724 and range: 28.20 m.hU*=hYhYhhggjgrgereZe:e@33<@*eW?HBɢ5@)9 =Di9)=399iE) iE*=EB=M/4 >IM*=II@Y@Y checking for new query: numPingsReceived=33, elapsed TxPingTime=17.150976^A% M>E  E E #E "E :*E V:VE 3ZE a @a @a @a @ AQ IY Ii Ou >HJ&,7VLA>=@>>>ٱ>p=>H`Y?Lÿ̈́$?`?&~?f??i>=@I>*^;>CYJByJI LLLNAaa aa aa aa% i%Mb@Mb@Mb@!!!! !9%?l?Q?Y%?y%=%u<%A%x A !)%A!Y%AbD=VD=ð8yE9=%E==ٔMLQ-M>9QYQ=UEyUEUE]>YQ 5e5] ?Q 9m5]')]r}BQ AmT:Ymh?Q Em:yma>Q Im`@]?DI] ;i]2 ;]p5yyɮ} Ay:iDNOT Ignoring new targets: 28.09 m.2i"i(*i( ProNav: ac range: 28.091724 m, nav range: 27.810331 m, bearing: 6.615139 deg, approach rate: -0.675317 m/s, LOS rate: -0.146941 deg/s, cmd heading: 4.211786 deg, new cmd heading: 4.122706 deg. iuHeadingCmd: 0.071955 target range: 28.091724 and range: 28.20 m.h ]=hhhhgg jgIrgMqBeIreQZeQ:eQ*eU`9?mGBɢm,F)y }#i)m:顱iSF i  ]== >]DDAT read: Rx Time:04:36:39.5505 eTRx dataTimestamp_ set to:1764909400.161945mPDAT read: Bearing 174.9, 1.8 (Local) m~Local bearing/azimuth received: Bearing 174.9, 1.8 (Local) DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed 0.4 DAT read: 04:36:39.5505 LVL= 20768, 31649, 27570, 32755, AGC= 59, IDX= 496,-0.05, 2.982, 1.307,-3.104, 2.672, PHS= 0.412,-1.320, 0.463, RAW= 151.4, 5.1, CAL= 150.6, 5.2, ROT= 359.4, -5.2 Ygot valid direction response: 04:36:39.5505 LVL= 20768, 31649, 27570, 32755, AGC= 59, IDX= 496,-0.05, 2.982, 1.307,-3.104, 2.672, PHS= 0.412,-1.320, 0.463, RAW= 151.4, 5.1, CAL= 150.6, 5.2, ROT= 359.4, -5.2 T#Rx 34: Read range and direction messages.^direction in FSK: [0.995830,-0.010429,0.090633]Fpublishing direction and range infoI ]=Iyaezp?I[0L3?Ye3Aae Qe{ek a)e;Ie>ieeV>e)@eK=e8(@ e޹=)e@Ie޹aaeCC,Q1?$?BѶ? e1y ?)eʶIeD+ie޹aachecking for new query: numPingsReceived=34, elapsed TxPingTime=17.4290929^A >AIIO>aԑ  checking for new query: numPingsReceived=34, elapsed TxPingTime=17.654770B >B B IB BB B B B ;B 7Eo&,VLAB@BE>BٱB=BH`3?@ ¿ `t??DW,У?G?^?iB@IB$^;@D=D9Y=EyEF(E>E EE$E"Em:*EVL:VE4ZEBEVQ I`@FDIS:i:Et5yBɮ AEiiO] VLAjWA"jWA:j>"p.)O;@v|܌ҿB&@pzp?I[0L3?*jD+2j޹*p'+V;@D : @f} @pVe*z?ƁeY/?)&f?j`@ jAiHJ?i;jBjjzoDjrjAzj+=] addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.501677 s, deltaX: -0.300001 m, approachRate: -0.597997 m/s, rangeRepo size: 4 m Added new target pos. range: 27.792898 m, bearing: 7.324920 deg, lat: 36.779425 deg, lon: -121.859674 deg, deltaT: 0.501677 s, deltaX: -0.298826 m, approachRate: -0.595655 m/s, posRepo size: 4 ԁ:iqDNOT Ignoring new targets: 27.79 m.2i"i*i ProNav: ac range: 27.792898 m, nav range: 27.606117 m, bearing: 6.607224 deg, approach rate: 0.000000 m/s, LOS rate: -0.146941 deg/s, cmd heading: 4.122706 deg, new cmd heading: 3.997428 deg. iHeadingCmd: 0.069768 target range: 27.792898 and range: 27.90 m.h=hhhhggjgrgereZe:e`f;@*e ?UFBɢU։<)Q ]iY)]]YYi]! ie=e=e >Ie=IiԩeDDAT read: Rx Time:04:36:40.0502 eTRx dataTimestamp_ set to:1764909400.663631uPDAT read: Bearing 175.1, 2.8 (Local) u~Local bearing/azimuth received: Bearing 175.1, 2.8 (Local) DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.4 ^A >DAT read: 04:36:40.0502 LVL= 25440, 29729, 31170, 32755, AGC= 63, IDX= 509, 0.25,-2.347, 2.265,-2.186,-2.657, PHS= 0.412,-1.316, 0.427, RAW= 150.4, 5.6, CAL= 149.7, 5.8, ROT= 0.3, -5.8 Ygot valid direction response: 04:36:40.0502 LVL= 25440, 29729, 31170, 32755, AGC= 63, IDX= 509, 0.25,-2.347, 2.265,-2.186,-2.657, PHS= 0.412,-1.316, 0.427, RAW= 150.4, 5.6, CAL= 149.7, 5.8, ROT= 0.3, -5.8 eT#Rx 35: Read range and direction messages.}\direction in FSK: [0.994867,0.005209,0.101056]Fpublishing direction and range infoyaeG[w?d13Vu?+hg޹?YeAae`ce!tey a)e?Iaiere>e'@e+=em7'@ e4Q=)e;Ie4QϽaaeоpv?1V!?3X¸? e?)e#bƽIe;ie4QϽaa checking for new query: numPingsReceived=35, elapsed TxPingTime=17.982323A I I1 O] > 9&,4VLA2@2*>2T ٱ2\=2H?d¿@@@??? c? ?i2@I2^;0YrByrIiMb@Mb@Mb@ 9#~j?y&1?:v?Y?y`e=T<"A K A)fAYbDVDŰ8y-%=%-@=ٔ5^Q-5>99Y9==Ey=E=EE>AQ 5M5E+-?Q 9M5E)E}BY?Q E:y|>Q I`@EMDIE;iE;Ew5yɮQ Achecking for new query: numPingsReceived=35, elapsed TxPingTime=18.158827iix*VLAj'A"j'A:j>"pS@;@ǿD?3{%@pG[w?d13Vu?+hg޹?*j;2j4QϽ*pMT:@'5@~ٺʫ@p,>db`?\w?)n?jq@ jAi??i ;3jBjHJ?jH&<jrjAzj> addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.501686 s, deltaX: -0.400000 m, approachRate: -0.797311 m/s, rangeRepo size: 4  Added new target pos. range: 27.394434 m, bearing: 8.002735 deg, lat: 36.779424 deg, lon: -121.859671 deg, deltaT: 0.501686 s, deltaX: -0.398464 m, approachRate: -0.794250 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 27.39 m.2i"i*ie ProNav: ac range: 27.394434 m, nav range: 27.340860 m, bearing: 7.222246 deg, approach rate: 0.000000 m/s, LOS rate: -0.146941 deg/s, cmd heading: 3.997428 deg, new cmd heading: 3.869535 deg. iamHeadingCmd: 0.067536 target range: 27.394434 and range: 27.50 m.hmaP=hihqhqhqgqgqjgyrg}BeyreyZey:e;@*e W?E EEE"E:*ER:VEZEa@a@a@a@mEBɢm4)i uiq)u-8qqiu i}aP=}4&=>IaP=I@@=1 ^A >u DDAT read: Rx Time:04:36:40.5502 u TRx dataTimestamp_ set to:1764909401.167674} PDAT read: Bearing 174.9, 3.3 (Local)  ~Local bearing/azimuth received: Bearing 174.9, 3.3 (Local)  DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.4  DAT read: 04:36:40.5502 LVL= 22032, 32753, 24802, 32755, AGC= 60, IDX= 509,-0.19,-3.108, 1.504,-2.964, 2.859, PHS= 0.417,-1.310, 0.415, RAW= 149.9, 5.6, CAL= 149.2, 5.8, ROT= 0.8, -5.8  Ygot valid direction response: 04:36:40.5502 LVL= 22032, 32753, 24802, 32755, AGC= 60, IDX= 509,-0.19,-3.108, 1.504,-2.964, 2.859, PHS= 0.417,-1.310, 0.415, RAW= 149.9, 5.6, CAL= 149.2, 5.8, ROT= 0.8, -5.8  T#Rx 36: Read range and direction messages. \direction in FSK: [0.994784,0.013891,0.101056] Fpublishing direction and range infoyq u =cD?TᲺr?+hg޹?Yq q u Vu u ` q )u <Iu >iu u z>u p'@q u r&@ q )u dw&, NVLA Y-By-IbD=VD=ư8yL<%E=ٔQ->9"?Y"?=EyEE>Q 55!??Q 95&)}BYyQ I`@TDI:i:{5yBɮ [ A Aii,JVLAj"j:j`>"pd@;@z&Z?3{%@p=cD?TᲺr?+hg޹?*jd<2j*p%#:@ 5 @(O]@pi&}U?x?b??jX@ jAi"?i.+jBje?j;jBrjVAzjaV> addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.504043 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 27.394434 m, bearing: 8.503832 deg, lat: 36.779423 deg, lon: -121.859671 deg, deltaT: 0.504043 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 27.39 m.2i"i*iE ProNav: ac range: 27.394434 m, nav range: 27.042124 m, bearing: 7.236805 deg, approach rate: 0.000000 m/s, LOS rate: -0.146941 deg/s, cmd heading: 3.869535 deg, new cmd heading: 3.748960 deg. iAMHeadingCmd: 0.065432 target range: 27.394434 and range: 27.50 m.hM=hIhIhIhIgIgQjgQrgQeQreYZe:e*e?mDBɢm?6)i mii)uqiH i=n6=N >I=Ichecking for new query: numPingsReceived=36, elapsed TxPingTime=18.662893AAB>BBIBBBBBȺDBL;B7EyEU EUEU&EQ"EU:*EU1]:VEU4ZEQBEU3 A .AI I9 OM >&,jjVLA"DDAT read: Rx Time:04:36:41.0500 &TRx dataTimestamp_ set to:1764909401.671423*PDAT read: Bearing 173.8, 3.9 (Local) *~Local bearing/azimuth received: Bearing 173.8, 3.9 (Local) 2DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.4 FDAT read: 04:36:41.0500 LVL= 23984, 29809, 29490, 32755, AGC= 62, IDX= 506, 0.19,-2.616, 1.972,-2.494,-2.967, PHS= 0.453,-1.299, 0.429, RAW= 149.3, 4.8, CAL= 148.6, 5.0, ROT= 1.4, -5.0 JYgot valid direction response: 04:36:41.0500 LVL= 23984, 29809, 29490, 32755, AGC= 62, IDX= 506, 0.19,-2.616, 1.972,-2.494,-2.967, PHS= 0.453,-1.299, 0.429, RAW= 149.3, 4.8, CAL= 148.6, 5.0, ROT= 1.4, -5.0 NT#Rx 37: Read range and direction messages.N\direction in FSK: [0.995897,0.024339,0.087156]RFpublishing direction and range infoy "d?\y`?O?Y"A "]"qt"2s )">I">i"E">" &@"="%@ "¸=)"+U"ٱUs=UH?@S@d??YO?o?B?iU t@IU];UCԱY ByI IM<bDeVDe8yGx<%)=ٔQ->9% ?Y% ?=%Ey%E-l6E->1Q 5=55S?Q 9=55)5}BY9y= w>Q I=`@5\DI5%"p"3IB:@ addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.503749 s, deltaX: -0.500000 m, approachRate: -0.992558 m/s, rangeRepo size: 4 m Added new target pos. range: 26.896515 m, bearing: 8.855420 deg, lat: 36.779423 deg, lon: -121.859667 deg, deltaT: 0.503749 s, deltaX: -0.497919 m, approachRate: -0.988427 m/s, posRepo size: 4 :iimDNOT Ignoring new targets: 26.90 m.2ii"i*i ProNav: ac range: 26.896515 m, nav range: 26.830429 m, bearing: 7.845458 deg, approach rate: 0.000000 m/s, LOS rate: -0.146941 deg/s, cmd heading: 3.748960 deg, new cmd heading: 3.606586 deg. iHeadingCmd: 0.062947 target range: 26.896515 and range: 27.00 m.hA=hhhhggjgrgereZe:e;@*e?eCBɢe1)a e,ia)m iiim iA=CH=i>IA=Ichecking for new query: numPingsReceived=37, elapsed TxPingTime=19.166826 Em  Em Em %Ei "Em 7:*Em ՚:VEm 4ZEi au @au @au @au @^A  >A >A >1 CA ؟A G1 I9 II a O >¡&,AcVLA:B=9,:AԉW@>+%ٱK=H/?FC`??:` ??@?iW@IZ^;CYBy IDDAT read: Rx Time:04:36:41.5500 TRx dataTimestamp_ set to:1764909402.175489PDAT read: Bearing 174.3, 4.4 (Local) ~Local bearing/azimuth received: Bearing 174.3, 4.4 (Local) -DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.4 UDAT read: 04:36:41.5500 LVL= 25808, 32753, 29874, 32755, AGC= 62, IDX= 506,-0.25,-2.745, 1.869,-2.640,-3.077, PHS= 0.434,-1.292, 0.393, RAW= 148.8, 5.5, CAL= 148.1, 5.8, ROT= 1.9, -5.8 ]Ygot valid direction response: 04:36:41.5500 LVL= 25808, 32753, 29874, 32755, AGC= 62, IDX= 506,-0.25,-2.745, 1.869,-2.640,-3.077, PHS= 0.434,-1.292, 0.393, RAW= 148.8, 5.5, CAL= 148.1, 5.8, ROT= 1.9, -5.8 ]T#Rx 38: Read range and direction messages.\direction in FSK: [0.994334,0.032985,0.101056]Fpublishing direction and range infoy\%*?w?+hg޹?Ydt )I?5>iB`L7>6&@ =m%@ 4Q=)=I4QϽ4m3?V*z?ގ? ]?)mĽI=i4QϽechecking for new query: numPingsReceived=38, elapsed TxPingTime=19.457533iMb@Mb@Mb@ 9MbX9?V-?Mb?Y?yh=< A )AYQAbD VD ð8y=z=%=4=ٔEQ-E>9E"?YE"?=EEyMEMdEM>QQ 55Uf?Q 95U)U}BY?Q E:y&>Q I`@UcDIU;iU7;Uσ5yɮ AԹii6;VLAj"j:je">"pM}x+~:@Fc?6}@p\%*?w?+hg޹?*j=2j4QϽ*p.H:@)u)@ '@p}|`wE?T ?b_R?jц@ jEAia ?i<#jˉBja ?j.+jBrjAzj2d> addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.504066 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 26.896515 m, bearing: 9.106423 deg, lat: 36.779423 deg, lon: -121.859664 deg, deltaT: 0.504066 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 26.90 m.2i"i*i ProNav: ac range: 26.896515 m, nav range: 26.570116 m, bearing: 8.414835 deg, approach rate: 0.000000 m/s, LOS rate: -0.146941 deg/s, cmd heading: 3.606586 deg, new cmd heading: 3.468298 deg. iHeadingCmd: 0.060533 target range: 26.896515 and range: 27.00 m.hw=hhhhggjgrg%Be!re!Ze!:e!*e-`j?颱ɢ*) i)Z项i iw=Y=f>Iw=I@@Be >Ba Be  IBe BBe =Ba Be ǺDBe >;Be 7E checking for new query: numPingsReceived=38, elapsed TxPingTime=19.670769^A >E  E E $E "E :*E C:VE 4ZE  BE ; ;a% :E >;a% A I I O >)&,9VLARsA@R\>Rk&ٱR=RH?@?@?`&2ޤ?*? ?iRsA@IRm];RCYybD%VD%8yU{%]y=ٔ]YQ-] ?9aYa=eEyeEeUEe ?qiQ 55m1t?Q 95mǐ)m}BYyΈ>Q I`@miDIm;imK:m5yBɮ AEB*** querying acoustic contact ***ii:i!UDNOT Ignoring new targets: 26.90 m.2iQ"ie~"*i~"  ProNav: ac range: 26.896515 m, nav range: 26.405672 m, bearing: 8.371688 deg, approach rate: -0.538077 m/s, LOS rate: -0.142062 deg/s, cmd heading: 3.468298 deg, new cmd heading: 3.381466 deg. iMHeadingCmd: 0.059018 target range: 26.896515 and range: 27.00 m.hUq=hQhYhahqgygjgrgereZe :e *e q?UBBɢU6 .)Y ]iYae4=mDDAT read: Rx Time:04:36:42.0497 uTRx dataTimestamp_ set to:1764909402.679712}PDAT read: Bearing 174.2, 4.2 (Local) }~Local bearing/azimuth received: Bearing 174.2, 4.2 (Local) DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.4 ԡDAT read: 04:36:42.0497 LVL= 24864, 30129, 29346, 32755, AGC= 62, IDX= 503, 0.11,-2.392, 2.193,-2.280,-2.724, PHS= 0.435,-1.321, 0.401, RAW= 149.0, 5.6, CAL= 148.4, 5.9, ROT= 1.6, -5.9 Ygot valid direction response: 04:36:42.0497 LVL= 24864, 30129, 29346, 32755, AGC= 62, IDX= 503, 0.11,-2.392, 2.193,-2.280,-2.724, PHS= 0.435,-1.321, 0.401, RAW= 149.0, 5.6, CAL= 148.4, 5.9, ROT= 1.6, -5.9 T#Rx 39: Read range and direction messages.\direction in FSK: [0.994315,0.027774,0.102793]Fpublishing direction and range infoyqu4LIm?[p?zBP?YuAq)ib i q= _g= W>I q=Iu auuur q)qIuR>iuuO>uBo&@u+=u%@ uB=)u A I % checking for new query: numPingsReceived=39, elapsed TxPingTime=20.176186IY Ou >e&,`VLANO0@N8>N(ٱN=NH? 8 W?o?M ??`?iNO0@IN/];NCYV'ByV IbEjEJ4rE.Ee EeEe%Ea"Ee>:*EerN:VEe 4ZEaau@au@au@au@iMb@Mb@Mb@ ԩ9RQ?ˡE?9Y=EyEE>Q 55߅?Q 95')}BYA?Q E:y>Q I`@pDI:i(:Z5yBɮY AEiyi}gVLAj}A"j}A:j}E^>"p}/X:@l،?YiK@p}4LIm?[p?zBP?*j}<2j}Bҽ*p}зtA9@#ɡ@w@p}uHzvO?L;?~,R?j}x@ j}jAi}g?i}K(j}ۉBjyj}K(j}Brj}Azj}bp>U addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.504223 s, deltaX: -0.400000 m, approachRate: -0.793299 m/s, rangeRepo size: 4 e Added new target pos. range: 26.497807 m, bearing: 8.525447 deg, lat: 36.779423 deg, lon: -121.859663 deg, deltaT: 0.504223 s, deltaX: -0.398708 m, approachRate: -0.790738 m/s, posRepo size: 4 :iaeDNOT Ignoring new targets: 26.50 m.2ii"im*ii} ProNav: ac range: 26.497807 m, nav range: 26.204309 m, bearing: 8.529405 deg, approach rate: 0.000000 m/s, LOS rate: -0.142062 deg/s, cmd heading: 3.381466 deg, new cmd heading: 3.263937 deg. iyHeadingCmd: 0.056966 target range: 26.497807 and range: 26.60 m.hUi=hhhhggjgrgBereZe:e:@*e@J?iɢu$)uR uxTiq)uyyi} iUi=t=>IUi=IDDAT read: Rx Time:04:36:42.5497 TRx dataTimestamp_ set to:1764909403.188863PDAT read: Bearing 174.8, 5.0 (Local) ~Local bearing/azimuth received: Bearing 174.8, 5.0 (Local) DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.4 DAT read: 04:36:42.5497 LVL= 28864, 32737, 32754, 32755, AGC= 62, IDX= 503,-0.37, 3.087, 1.403,-3.112, 2.770, PHS= 0.420,-1.321, 0.358, RAW= 148.2, 6.4, CAL= 147.6, 6.9, ROT= 2.4, -6.9 Ygot valid direction response: 04:36:42.5497 LVL= 28864, 32737, 32754, 32755, AGC= 62, IDX= 503,-0.37, 3.087, 1.403,-3.112, 2.770, PHS= 0.420,-1.321, 0.358, RAW= 148.2, 6.4, CAL= 147.6, 6.9, ROT= 2.4, -6.9 ^A >T#Rx 40: Read range and direction messages.M\direction in FSK: [0.991887,0.041572,0.120137]MFpublishing direction and range infoy)vψ?7!H?rjƹI?Yp )I= >iK>~%@=$@ Ϣ=)+=IϢ?\?ig&? >)I+=iϢchecking for new query: numPingsReceived=40, elapsed TxPingTime=20.476137A1 IA IQ O] >1 G&,"VLA2@2`>28~+ٱ29=2Hk?^@T`?>?,n?Cv?x?i2@I2$^;2CYB$ByB IbDJVDJ8yrQ%r\=ٔrQ-r>9tYt=vEyvEzEz>xQ 5E5z]?Q 9M5z)z}BYIyM7>Q IM`@zvDIz2"p fH:@ =?1sw @p)vψ?7!H?rjƹI?*j+=2jϢ*pQ)9@@Bh@p+ؙ+?23?F~"V?j?@ jyAivvA?i !j؊Bjg?j|'jˉBrjFAzja> addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.509151 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 26.497807 m, bearing: 9.097297 deg, lat: 36.779423 deg, lon: -121.859662 deg, deltaT: 0.509151 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 26.50 m.2i"i*i ProNav: ac range: 26.497807 m, nav range: 26.034456 m, bearing: 8.582166 deg, approach rate: 0.000000 m/s, LOS rate: -0.142062 deg/s, cmd heading: 3.263937 deg, new cmd heading: 3.155813 deg. iHeadingCmd: 0.055079 target range: 26.497807 and range: 26.60 m.hܚa=hhhhggjgrgereZe:e*e7?ABɢ%;&)! %ji!)%!!i- i-ܚa=-=5(>I5ܚa=I1@I@M=ByA}<checking for new query: numPingsReceived=40, elapsed TxPingTime=20.683496PExceeded connect timeout, disconnecting.B >BECB IB'BBBBƺDB7;B7EEm EmEm#Ei"Em:*EmR:VEm3ZEiBEia}2Eia}JEm;a}:Em;a}A^A]>qAIIO> DDAT read: Rx Time:04:36:43.0494  TRx dataTimestamp_ set to:1764909403.691585 PDAT read: Bearing 173.0, 4.9 (Local)  ~Local bearing/azimuth received: Bearing 173.0, 4.9 (Local)  DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.4 5 DAT read: 04:36:43.0494 LVL= 24784, 29585, 29090, 32755, AGC= 63, IDX= 500, 0.06,-2.805, 1.772,-2.714, 3.116, PHS= 0.464,-1.299, 0.409, RAW= 148.4, 5.0, CAL= 147.8, 5.2, ROT= 2.2, -5.2 E Ygot valid direction response: 04:36:43.0494 LVL= 24784, 29585, 29090, 32755, AGC= 63, IDX= 500, 0.06,-2.805, 1.772,-2.714, 3.116, PHS= 0.464,-1.299, 0.409, RAW= 148.4, 5.0, CAL= 147.8, 5.2, ROT= 2.2, -5.2 M T#Rx 41: Read range and direction messages.U \direction in FSK: [0.995150,0.038230,0.090633]] Fpublishing direction and range infoԡ y  ,~eE?՘6ے?0L3?Y A ` s q ) ?I h>i E sh> %@ ¸= %@ ޹=) nF=I ޹ j: ?9uZ?d\ ? >) "9I nF=i ޹  checking for new query: numPingsReceived=41, elapsed TxPingTime=20.981134q&,VLA@N=.ٱ =H?^d꠿n?P? 0 Oϥ?/??i@I^;CqY&By  II5=)549Y=EyE E>Q 55 ?Q 95)~BYB?Q E:y>Q I`@~DI6;i;<5y ɮ  A iiBVLAjA"jA:j>"p\!B9@1mo?,)$@p,~eE?՘6ے?0L3?*jnF=2j޹*p?uys9@}s@K0 @pdH]@S?OiH? UX?jU~@ jAi ?ig#j2Bja ?jg#jrj>AzjRz>ԡchecking for new query: numPingsReceived=41, elapsed TxPingTime=21.187298 addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.502722 s, deltaX: -0.500000 m, approachRate: -0.994585 m/s, rangeRepo size: 4 E Added new target pos. range: 25.999332 m, bearing: 8.874638 deg, lat: 36.779423 deg, lon: -121.859660 deg, deltaT: 0.502722 s, deltaX: -0.498474 m, approachRate: -0.991550 m/s, posRepo size: 4 :iAMDNOT Ignoring new targets: 26.00 m.2iI"iQ*iy ProNav: ac range: 25.999332 m, nav range: 25.780544 m, bearing: 8.867295 deg, approach rate: 0.000000 m/s, LOS rate: -0.142062 deg/s, cmd heading: 3.155813 deg, new cmd heading: 3.002311 deg. iHeadingCmd: 0.052400 target range: 25.999332 and range: 26.10 m.hV=hhhhggjgrgBereZe:e:@*e ?ɢ}!)1 5Zi1)=+99i=b= iEV=E0=E>IEV=IIE} E}E}$Ey"E}[:*E}F:VE}4ZEya@a@a@a@^A > ߕ =ߕ < DDAT read: Rx Time:04:36:43.5493  TRx dataTimestamp_ set to:1764909404.196262 PDAT read: Bearing 172.8, 4.8 (Local)  ~Local bearing/azimuth received: Bearing 172.8, 4.8 (Local)  DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.4  DAT read: 04:36:43.5493 LVL= 30528, 32753, 32754, 32755, AGC= 64, IDX= 499, 0.45,-1.709, 2.861,-1.615,-2.071, PHS= 0.464,-1.307, 0.412, RAW= 148.5, 5.0, CAL= 147.9, 5.2, ROT= 2.1, -5.2  Ygot valid direction response: 04:36:43.5493 LVL= 30528, 32753, 32754, 32755, AGC= 64, IDX= 499, 0.45,-1.709, 2.861,-1.615,-2.071, PHS= 0.464,-1.307, 0.412, RAW= 148.5, 5.0, CAL= 147.9, 5.2, ROT= 2.1, -5.2  T#Rx 42: Read range and direction messages. \direction in FSK: [0.995216,0.036493,0.090633] Fpublishing direction and range infoy  K?Yj2?0L3?Y A @w   ) @I AqIyIO> |&iK>H%@4%@ )Q =Ig?fq?"TC? N>)LTIQ =ichecking for new query: numPingsReceived=42, elapsed TxPingTime=21.475170,WLAHYayabD}VD}8yu:%V=ٔQ->9Y=EyEE>Q 5 5?Q 95)~BYyQ I`@DI:i:5yBɮE AEEii WLAj2A"j2A:jE>"p9@3>?c@pK?Yj2?0L3?*jQ =2j*p_)c\9@eʤ8P@s @pbđU? SX?OT?jz@ jAi?i/#j)Bjg?jjrjAzj > addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.504677 s, deltaX: -0.100000 m, approachRate: -0.198147 m/s, rangeRepo size: 4  Added new target pos. range: 25.899717 m, bearing: 8.774393 deg, lat: 36.779423 deg, lon: -121.859660 deg, deltaT: 0.504677 s, deltaX: -0.099615 m, approachRate: -0.197384 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 25.90 m.2i"i *i = ProNav: ac range: 25.899717 m, nav range: 25.598972 m, bearing: 8.816746 deg, approach rate: 0.000000 m/s, LOS rate: -0.142062 deg/s, cmd heading: 3.002311 deg, new cmd heading: 2.894241 deg. i9EHeadingCmd: 0.050514 target range: 25.899717 and range: 26.00 m.hEN=hAhAhAhAgIgIjgIrgIeIreQZeQ:eU:@*eUg ?Թɢ[$) pVi)Ti[ iN=D=.>IN=IB= >B=DCB=( IB=6BB9B9B9B=<;B=7EBFCBECBB =B =CL-5checking for new query: numPingsReceived=42, elapsed TxPingTime=21.692064nManaging dock network, ignoring radio surface power off"EE EEEAEA"EE:*EEM:VEAZEABEE] I mDDAT read: Rx Time:04:36:44.0491 mTRx dataTimestamp_ set to:1764909404.700283}PDAT read: Bearing 173.2, 5.2 (Local) ~Local bearing/azimuth received: Bearing 173.2, 5.2 (Local) DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.4 DAT read: 04:36:44.0491 LVL= 25696, 32753, 32210, 32755, AGC= 61, IDX= 497,-0.05, 1.874, 0.167, 1.955, 1.525, PHS= 0.451,-1.313, 0.386, RAW= 148.2, 5.5, CAL= 147.5, 5.9, ROT= 2.5, -5.9 Ygot valid direction response: 04:36:44.0491 LVL= 25696, 32753, 32210, 32755, AGC= 61, IDX= 497,-0.05, 1.874, 0.167, 1.955, 1.525, PHS= 0.451,-1.313, 0.386, RAW= 148.2, 5.5, CAL= 147.5, 5.9, ROT= 2.5, -5.9 T#Rx 43: Read range and direction messages.\direction in FSK: [0.993756,0.043388,0.102793]Fpublishing direction and range infoyimz?\8=6?zBP?YmAim`dim} i)m=Imy>imbmˡ>m~%@m =mS$@ mB=)m¸2=ImBҽiim`m?fm ?C@҃? mrq>)mpSƽIm¸2=imBҽI!I9OU?$&,'.WLARchecking for new query: numPingsReceived=43, elapsed TxPingTime=21.994593!M@M =ME6ٱMCx=MH ?y@{ x??`Vܦ?ij?W?iM@IM^;IYM(ByM I iiAiMb@Mb@Mb@ 9x&1?T㥛 ?YA?y=x A )AY(AbDVD8y ;% =ٔ[Q->9Y=EyE|:E>AQ 5M5Eԗ?Q 9M5E)E#~BYMD?Q EU:yUv>Q IU`@EDIEM:iE4:E5y}Bɮ} A}Eiip,WLAjA"jA:jΙ>"p =p9@e?ӞXq @pz?\8=6?zBP?*j¸2=2jBҽ*pH9@M addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.504021 s, deltaX: -0.299999 m, approachRate: -0.595212 m/s, rangeRepo size: 4  Added new target pos. range: 25.600723 m, bearing: 8.706317 deg, lat: 36.779423 deg, lon: -121.859661 deg, deltaT: 0.504021 s, deltaX: -0.298994 m, approachRate: -0.593217 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 25.60 m.2iiIchecking for new query: numPingsReceived=43, elapsed TxPingTime=22.196753"i*i ProNav: ac range: 25.600723 m, nav range: 25.312183 m, bearing: 8.728654 deg, approach rate: 0.000000 m/s, LOS rate: -0.142062 deg/s, cmd heading: 2.894241 deg, new cmd heading: 2.721032 deg. i HeadingCmd: 0.047491 target range: 25.600723 and range: 25.70 m.h B=h h h h g1g1jg1rg=Be9re9Ze9:e=@39@*eEC?q颵@Bɢl ) xAi)đ项i iB=ݻ=n>IB=IEU EUEU'EQ"EU>:*EU0:VEU'4ZEQae@ae@ae@ae@ԡ  @9 @9 uDDAT read: Rx Time:04:36:44.5490 uTRx dataTimestamp_ set to:1764909405.203329}PDAT read: Bearing 160.1, 2.0 (Local) ~Local bearing/azimuth received: Bearing 160.1, 2.0 (Local) DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.4 DAT read: 04:36:44.5490 LVL= 23072, 27057, 28242, 32755, AGC= 59, IDX= 512, 0.25,-0.016,-2.101, 0.124,-0.836, PHS= 0.922,-1.220, 0.916, RAW= 149.9, -5.8, CAL= 149.7, -7.2, ROT= 0.3, 7.2 Ygot valid direction response: 04:36:44.5490 LVL= 23072, 27057, 28242, 32755, AGC= 59, IDX= 512, 0.25,-0.016,-2.101, 0.124,-0.836, PHS= 0.922,-1.220, 0.916, RAW= 149.9, -5.8, CAL= 149.7, -7.2, ROT= 0.3, 7.2 T#Rx 44: Read range and direction messages.^direction in FSK: [0.992101,0.005195,-0.125333]Fpublishing direction and range infoyqu8J?@Gu?cK YuAqu ZuiuRn q)u;Iu1l?iu(u~j?up'@u4QϽum7'@ u)u;Iu>qquCb/ա? ^G?i u^k?)u z=Iu;iu>qqchecking for new query: numPingsReceived=44, elapsed TxPingTime=22.462603^A~>AxAzAzAIqIO?,&,9UWLA2@2=2ګ9ٱ2ܡ=2H[? k ؼ??c`r3?0?@ ?i2@I2+^;2CYR)ByR IbDnVDn8yr2;%v-=ٔvOQ-v>9Y=EyEۻE>!Q 5%5%痊?Q 9-5%3)%1~BY)y-s>Q IM`@%DI%;i%d;%5yYɮ] AYԉiaieXMWLAje6A"je6A:je#<>"pej39@&ES?%x pe8J?@Gu?cK *je;2je>*pe29@ [s @byh %pezsb"?PN?ТVjeO@ jeAie(+?iey&2je@|Bje?jaje2BrjeAzje'>  addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.503046 s, deltaX: -0.200001 m, approachRate: -0.397579 m/s, rangeRepo size: 4  Added new target pos. range: 25.401495 m, bearing: 7.342975 deg, lat: 36.779423 deg, lon: -121.859661 deg, deltaT: 0.503046 s, deltaX: -0.199228 m, approachRate: -0.396044 m/s, posRepo size: 4 :i%DNOT Ignoring new targets: 25.40 m.2i!"i!*i!U ProNav: ac range: 25.401495 m, nav range: 25.118137 m, bearing: 8.666833 deg, approach rate: 0.000000 m/s, LOS rate: -0.142062 deg/s, cmd heading: 2.721032 deg, new cmd heading: 2.586952 deg. iQ]HeadingCmd: 0.045151 target range: 25.401495 and range: 25.50 m.h]8=hYhYhYhagagajgrgereZe:e9@*e?AA@AB>BB4 IB@BBBBBY;B7Echecking for new query: numPingsReceived=44, elapsed TxPingTime=22.702332颩ɢ !) ;i)顱i* i8=̥=Mx>I8=IE% E%E%$E!"E%I:*E%[:VE%4ZE!BE% Ygot valid direction response: 04:36:45.0488 LVL= 23920, 30865, 29266, 32755, AGC= 61, IDX= 510,-0.27, 2.405, 0.687, 2.481, 2.033, PHS= 0.474,-1.301, 0.404, RAW= 148.0, 4.9, CAL= 147.4, 5.2, ROT= 2.6, -5.2  T#Rx 45: Read range and direction messages. \direction in FSK: [0.994859,0.045176,0.090633] Fpublishing direction and range infoyI M  ?CX!?0L3?YM AI M p]M xM Rr I )M =IM !>iM +M >M MQ%@M %=M $@ M ޹=)M 9=IM ޹I I M E3B&? 3?Q? M l@>)M |IM 9=iM ޹I I  checking for new query: numPingsReceived=45, elapsed TxPingTime=22.975813I I O >&,SpWLAԙ@@G=Td;ٱE=H?`n@2?l?Zsj? +? ?i@I"^;CY$By IiMb@Mb@Mb@Թ 9V-?A`"?Mb`Y|>yY=A A K A)YAbDVD8y%=ٔ*HQ->9 Y = Ey E E >9Q 5M5=T?Q 9U5=)=?~BY}v?Q E}:y}]>Q I}`@=DI= "p㳅78@GWQc%?gl3@p ?CX!?0L3?*j9=2j޹*poN8@woy @# @p9V?܉8&? ?jk@ jAin?iCN$j#Bjjc#j)BrjAzj?> addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.505066 s, deltaX: -0.299999 m, approachRate: -0.593980 m/s, rangeRepo size: 4  Added new target pos. range: 25.102554 m, bearing: 8.523147 deg, lat: 36.779423 deg, lon: -121.859661 deg, deltaT: 0.505066 s, deltaX: -0.298941 m, approachRate: -0.591884 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 25.10 m.2i"i*i ProNav: ac range: 25.102554 m, nav range: 24.841217 m, bearing: 8.602595 deg, approach rate: 0.000000 m/s, LOS rate: -0.142062 deg/s, cmd heading: 2.586952 deg, new cmd heading: 2.425794 deg. iHeadingCmd: 0.042338 target range: 25.102554 and range: 25.20 m.hj-=hhhhggjgrgBe re)Ze):e-@339@*e5@ ?额ABɢ[|#)  bi)L顡i ij-=S=>Ij-=I@@@@E EE'E"E:*E|;:VE'4ZEa@a@a@a@ I I9 Oe >y&,bWLADDAT read: Rx Time:04:36:45.5487 TRx dataTimestamp_ set to:1764909406.211360PDAT read: Bearing 171.2, 5.8 (Local) ~Local bearing/azimuth received: Bearing 171.2, 5.8 (Local) DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.4 DAT read: 04:36:45.5487 LVL= 22064, 27345, 28914, 32755, AGC= 60, IDX= 509, 0.04,-1.182,-2.898,-1.116,-1.570, PHS= 0.491,-1.283, 0.411, RAW= 147.7, 4.4, CAL= 147.1, 4.7, ROT= 2.9, -4.7 Ygot valid direction response: 04:36:45.5487 LVL= 22064, 27345, 28914, 32755, AGC= 60, IDX= 509, 0.04,-1.182,-2.898,-1.116,-1.570, PHS= 0.491,-1.283, 0.411, RAW= 147.7, 4.4, CAL= 147.1, 4.7, ROT= 2.9, -4.7 T#Rx 46: Read range and direction messages.\direction in FSK: [0.995361,0.050423,0.081939]Fpublishing direction and range infoyiX9n>$@nF=O$@ =)4QO=Im>?] :&?ϳ? >)ЦI4QO=i]checking for new query: numPingsReceived=46, elapsed TxPingTime=23.483597Y%By II<)C=bDVD8y';%p=ٔQ-?9Y=EyEE?iQ 5u5m ?Q 9u5m)mH~BYqyyQ I}`@mDIm:im:m5yɮ Aii속WLAjA"jA:j f>"p^OU8@cW^+?Tic@pU addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.502965 s, deltaX: -0.100000 m, approachRate: -0.198822 m/s, rangeRepo size: 4  Added new target pos. range: 25.002939 m, bearing: 8.862863 deg, lat: 36.779424 deg, lon: -121.859661 deg, deltaT: 0.502965 s, deltaX: -0.099615 m, approachRate: -0.198056 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 25.00 m.2i"i*i ProNav: ac range: 25.002939 m, nav range: 24.688641 m, bearing: 8.568361 deg, approach rate: 0.000000 m/s, LOS rate: -0.142062 deg/s, cmd heading: 2.425794 deg, new cmd heading: 2.330658 deg. iHeadingCmd: 0.040678 target range: 25.002939 and range: 25.10 m.h&=hhhhggjgrgereZe:e9@*e`?IɢMMW')I U_iQ)U@%QQiU- i}&=}s=B>I&=IIIO%M>1B}>ByByByByByByB}p;B}7E- checking for new query: numPingsReceived=46, elapsed TxPingTime=23.706932E  E E "E "E :*E ,:VE (3ZE BE 9iYi=EyEZwE>Q 55r?Q 95)R~BYyW>Q I`@DI;i;?5y Bɮ = A EEB*** querying acoustic contact ***iAiA:iquDNOT Ignoring new targets: 25.00 m.2iy"i}i*i}i ProNav: ac range: 25.002939 m, nav range: 24.497534 m, bearing: 8.541075 deg, approach rate: -0.508577 m/s, LOS rate: -0.073181 deg/s, cmd heading: 2.330658 deg, new cmd heading: 2.275660 deg. iHeadingCmd: 0.039718 target range: 25.002939 and range: 25.10 m.h"=hhhhggjgrgereZe:e*e`l?DDAT read: Rx Time:04:36:46.0484 TRx dataTimestamp_ set to:1764909406.716529PDAT read: Bearing 171.0, 6.1 (Local) ~Local bearing/azimuth received: Bearing 171.0, 6.1 (Local) DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.4 DAT read: 04:36:46.0484 LVL= 23632, 27425, 26338, 32755, AGC= 59, IDX= 506, 0.40,-2.293, 2.271,-2.235,-2.685, PHS= 0.495,-1.282, 0.406, RAW= 147.5, 4.4, CAL= 146.8, 4.7, ROT= 3.2, -4.7 -Ygot valid direction response: 04:36:46.0484 LVL= 23632, 27425, 26338, 32755, AGC= 59, IDX= 506, 0.40,-2.293, 2.271,-2.235,-2.685, PHS= 0.495,-1.282, 0.406, RAW= 147.5, 4.4, CAL= 146.8, 4.7, ROT= 3.2, -4.7 -T#Rx 47: Read range and direction messages.5\direction in FSK: [0.995083,0.055634,0.081939]5Fpublishing direction and range infoy]gO!?[|??YfAP\!kf );Ip>AɢE.J*)I M`iI)MZIIiM@ iU"=U#=U>I]"=IYai;>S$@(#@ )d=IՆO?ZЙj?-Je"-ӳ? Q>)žId=ichecking for new query: numPingsReceived=47, elapsed TxPingTime=24.004049II!OUt>ԑԹ E checking for new query: numPingsReceived=47, elapsed TxPingTime=24.210752N&,WLAJX@J=Jj?ٱJ=JH?޺j? ??1ٳ?^?iJX@IJ];JCYbByb IiMMb@Mb@Mb@IIII I9MV-?/$?Mb`YM>yM,=III M A)MAIYM AY]AAbDe/VDeذ8yuם%uV=E} E}E}%Ey"E}:*E}L_:VE} 4ZEya@a@a@a@ٔ<ǺQ->9Y=EyEsE>Q 55+?Q 95)[~BY>Q E:yL?>Q I`@DI=:i[:t5yɮ[ AiiۭWLAjA"jA:jf >"py. %8@֘jv?3l1@p]gO!?[|??*jd=2j*pI#48@sxꨋ @P * @pmZ?,o"?u0f?j]l@ jAiKcT#?iت!jBj}?jjBrj%AzjX> addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.505169 s, deltaX: -0.300001 m, approachRate: -0.593863 m/s, rangeRepo size: 4 ԑ Added new target pos. range: 24.704056 m, bearing: 8.674755 deg, lat: 36.779424 deg, lon: -121.859661 deg, deltaT: 0.505169 s, deltaX: -0.298883 m, approachRate: -0.591650 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 24.70 m.2i"i*i ProNav: ac range: 24.704056 m, nav range: 24.393095 m, bearing: 8.497704 deg, approach rate: 0.000000 m/s, LOS rate: -0.073181 deg/s, cmd heading: 2.275660 deg, new cmd heading: 2.223425 deg. iHeadingCmd: 0.038806 target range: 24.704056 and range: 24.80 m.h =hhhhggjgrgbBe re Ze :e8@*e ʥ?Yɢm,-)y i)ؔ顡/G A9Y=A1i> i ===I  =IIYIiOuz>DDAT read: Rx Time:04:36:46.5483 TRx dataTimestamp_ set to:1764909407.219435PDAT read: Bearing 171.4, 6.4 (Local) ~Local bearing/azimuth received: Bearing 171.4, 6.4 (Local) DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.4 DAT read: 04:36:46.5483 LVL= 21808, 28129, 27250, 32755, AGC= 60, IDX= 505,-0.14, 2.749, 1.034, 2.795, 2.371, PHS= 0.480,-1.292, 0.381, RAW= 147.1, 5.1, CAL= 146.6, 5.4, ROT= 3.4, -5.4 Ygot valid direction response: 04:36:46.5483 LVL= 21808, 28129, 27250, 32755, AGC= 60, IDX= 505,-0.14, 2.749, 1.034, 2.795, 2.371, PHS= 0.480,-1.292, 0.381, RAW= 147.1, 5.1, CAL= 146.6, 5.4, ROT= 3.4, -5.4 T#Rx 48: Read range and direction messages.\direction in FSK: [0.993810,0.059043,0.094108]Fpublishing direction and range infoy,zI? :?|ӄ{?YA0Umrj )<I>iB`o>O$@K=#@ =)s=IIp ]?{?B? {>){Is=ichecking for new query: numPingsReceived=48, elapsed TxPingTime=24.479855 W&,WLAF;@F!=F@ٱF=FHz?`P ?????iF;@IF ^;DY^$By^ IbDj^VDj8yrN=%rT=ٔrhQ-r>9tYt=vEyvEzEz>|Q 55~-;?Q 95~ρ)~d~BYy;>Q I`@~DI~;i~:~˰5yBɮ+ AEii9 WLAj A"j A:j!>"pRl.gZ8@bD&?Qr@p,zI? :?|ӄ{?*js=2j*p4s87@  @:Jp @pM?{o?!?jh@ jƿAi;?i>"jABj;?j>"jrjAzj>e addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.502906 s, deltaX: -0.199999 m, approachRate: -0.397686 m/s, rangeRepo size: 4  Added new target pos. range: 24.504831 m, bearing: 8.618525 deg, lat: 36.779425 deg, lon: -121.859660 deg, deltaT: 0.502906 s, deltaX: -0.199224 m, approachRate: -0.396147 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 24.50 m.2i"i*i ProNav: ac range: 24.504831 m, nav range: 24.245617 m, bearing: 8.618500 deg, approach rate: 0.000000 m/s, LOS rate: -0.073181 deg/s, cmd heading: 2.223425 deg, new cmd heading: 2.167508 deg. iHeadingCmd: 0.037830 target range: 24.504831 and range: 24.60 m.h=hhhhggjgrgereZe:e8@*e?Be<Ae<Bm>BiBiBiBm =BiBmźDBm;Bm7Echecking for new query: numPingsReceived=48, elapsed TxPingTime=24.714840=BBɢ=')9 EhiA)EeAAiE iM=m'=m=Iu=IqE EE$E"E:*E0:VE4ZEBE3I I I O > DDAT read: Rx Time:04:36:47.0480  TRx dataTimestamp_ set to:1764909407.724787 PDAT read: Bearing 170.6, 6.8 (Local)  ~Local bearing/azimuth received: Bearing 170.6, 6.8 (Local)  DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4  DAT read: 04:36:47.0480 LVL= 24512, 30193, 30002, 32755, AGC= 60, IDX= 502, 0.16, 3.053, 1.326, 3.085, 2.653, PHS= 0.502,-1.282, 0.388, RAW= 146.7, 4.6, CAL= 146.2, 4.9, ROT= 3.8, -4.9  Ygot valid direction response: 04:36:47.0480 LVL= 24512, 30193, 30002, 32755, AGC= 60, IDX= 502, 0.16, 3.053, 1.326, 3.085, 2.653, PHS= 0.502,-1.282, 0.388, RAW= 146.7, 4.6, CAL= 146.2, 4.9, ROT= 3.8, -4.9  T#Rx 49: Read range and direction messages. \direction in FSK: [0.994155,0.066032,0.085417]% Fpublishing direction and range infoy  ?9s?b$ݵ?Y A _ u 2u ) I ?i  > #@ l= N#@ %=) ԇ=I % ;icQ}?TK?bq? U>) ZI ԇ=i % = checking for new query: numPingsReceived=49, elapsed TxPingTime=24.985600&,WLA,v|!@v@=v@ٱvw=vH`?`&r-G??J???iv|!@Iv[^;vCY%&By% IbD]VD]ư8y;%?=ٔ9Q->9Y=EyEEڻE>iqQ 5}5uO?Q 9}5u)up~BYyy}b8>Q I}`@uDIuG:iuh:u5yɮ" AiibWLAjA"jA:j>"pw7@`Kw?v x@p?9s?b$ݵ?*jԇ=2j%*pT7@{ @dtA_ @p9Q?X#??jk@ jAivG?i`jBj}?jت!jBrjѿAzj>5 addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.505352 s, deltaX: -0.400000 m, approachRate: -0.791527 m/s, rangeRepo size: 4  Added new target pos. range: 24.106188 m, bearing: 8.878052 deg, lat: 36.779424 deg, lon: -121.859660 deg, deltaT: 0.505352 s, deltaX: -0.398643 m, approachRate: -0.788843 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 24.11 m.2i"i*i  ProNav: ac range: 24.106188 m, nav range: 23.977129 m, bearing: 8.673163 deg, approach rate: 0.000000 m/s, LOS rate: -0.073181 deg/s, cmd heading: 2.167508 deg, new cmd heading: 2.094709 deg. i HeadingCmd: 0.036560 target range: 24.106188 and range: 24.20 m.h}=hhhhAgIgIjgIrgIeQreQZeQ:eU@338@*eU#?ɢ%) di)i i}=!=Q=I}=iIchecking for new query: numPingsReceived=49, elapsed TxPingTime=25.219130IԙbE4jE4rE/E EEE"E7:*EVEZEa@a@a@a@ ^A- d=I I O >&, XLA:% @:=:>ٱ:=:Ho?@d@?V?`󹴿`Hҧ?@??i:% @I:5^;:CYB$ByB IPiMb@Mb@Mb@ 9v?X9v?Mb`Y>y<K A )9AYA !%bD-VD-8eDDAT read: Rx Time:04:36:47.5480 mTRx dataTimestamp_ set to:1764909408.227382uPDAT read: Bearing 171.2, 7.0 (Local) u~Local bearing/azimuth received: Bearing 171.2, 7.0 (Local) DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4 DAT read: 04:36:47.5480 LVL= 27616, 30897, 31826, 32755, AGC= 59, IDX= 502,-0.33, 2.449, 0.723, 2.472, 2.067, PHS= 0.484,-1.299, 0.361, RAW= 146.5, 5.3, CAL= 145.9, 5.7, ROT= 4.1, -5.7 Ygot valid direction response: 04:36:47.5480 LVL= 27616, 30897, 31826, 32755, AGC= 59, IDX= 502,-0.33, 2.449, 0.723, 2.472, 2.067, PHS= 0.484,-1.299, 0.361, RAW= 146.5, 5.3, CAL= 145.9, 5.7, ROT= 4.1, -5.7 T#Rx 50: Read range and direction messages.\direction in FSK: [0.992509,0.071144,0.099320]Fpublishing direction and range infoyim??aS}6?hܸm?YiimkmxmR| i)m;Im>imEmԸ>m_#@mq=m"@ m%=)mC=Im%˽iimSJ-Y?lRd?{*? m"q>)mY ImC=im%˽iichecking for new query: numPingsReceived=50, elapsed TxPingTime=25.486673y5"%5P=ٔ=q:Q-=>99Y9=EEyEEEEE>IQ 5u5M]?Q 9u5M)My~BY}V>Q E}:y}>Q I}`@MĴDIM1;iM;M;5yBɮR AEiiimmXLAji"ji:jm>"pm{L7@v8p?~]'@pm??aS}6?hܸm?*jmC=2jm%˽*pmQd7@7" @:N_ @pm @?jňv?$#E?jm9m@ jmTAimL?imo,ujmfBjmL?jm/5 jirjmAzjm> addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.502595 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.106188 m, bearing: 8.947818 deg, lat: 36.779424 deg, lon: -121.859659 deg, deltaT: 0.502595 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 24.11 m.2i"i*i ProNav: ac range: 24.106188 m, nav range: 23.821096 m, bearing: 8.789548 deg, approach rate: 0.000000 m/s, LOS rate: -0.073181 deg/s, cmd heading: 2.094709 deg, new cmd heading: 2.039300 deg. i!eHeadingCmd: 0.035592 target range: 24.106188 and range: 24.20 m.hmo=hihihihigigijgqrgu\BeqreqZey:ey*e}ι?-CBɢ-()) -xi))5-11i5!@ i=o==z,==ɩ=I=o=IAB]>BYBYBYBYBYB]ƺDB];B]8E checking for new query: numPingsReceived=50, elapsed TxPingTime=25.723532^A- ɯ=I I O >! E  E E %E "E :*E n:VE 4ZE BE ] ٱrkџ=rH`?`m @?`'??`|?F?ir0@IrC^;pY&By IbD=ٿVD=8yMuQ<%M:=ٔUԤ9Q-U>9QYY=]Ey]E]E]>aQ 5m5eln?Q 9m5e()e~BYqyu>Q Iu`@eʴDIe;ie;eʻ5yyɮ}; A:iDNOT Ignoring new targets: 24.11 m.2i"iS7*iS7 ProNav: ac range: 24.106188 m, nav range: 23.622997 m, bearing: 8.789819 deg, approach rate: -0.522957 m/s, LOS rate: 0.000724 deg/s, cmd heading: 2.039300 deg, new cmd heading: 2.039848 deg. i7HeadingCmd: 0.035602 target range: 24.106188 and range: 24.20 m.hx=hhhhggjgrgereZe:e*e@k?颱ɢs() Xfi)@WiB~ )m=iuDDAT read: Rx Time:04:36:48.0477 }TRx dataTimestamp_ set to:1764909408.731816PDAT read: Bearing 171.2, 7.2 (Local) ~Local bearing/azimuth received: Bearing 171.2, 7.2 (Local) DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 DAT read: 04:36:48.0477 LVL= 28480, 32753, 32754, 32755, AGC= 60, IDX= 499, 0.06, 1.717,-0.021, 1.736, 1.336, PHS= 0.483,-1.312, 0.355, RAW= 146.4, 5.5, CAL= 145.8, 5.9, ROT= 4.2, -5.9 Ygot valid direction response: 04:36:48.0477 LVL= 28480, 32753, 32754, 32755, AGC= 60, IDX= 499, 0.06, 1.717,-0.021, 1.736, 1.336, PHS= 0.483,-1.312, 0.355, RAW= 146.4, 5.5, CAL= 145.8, 5.9, ROT= 4.2, -5.9 T#Rx 51: Read range and direction messages.\direction in FSK: [0.992032,0.072850,0.102793]Fpublishing direction and range infoyy}r⸾?Q"0P?zBP?Y}Ay}@o}} y)}<I}K>i}刺}µ>}Ƈ#@} =}4"@ }B=)}Q =I}Bҽyy}Oi?!?:B?̺*u? }V>)}AŽI}Q =i}Bҽyychecking for new query: numPingsReceived=51, elapsed TxPingTime=25.991421iEx=Eu6=EZ=IEx=IIY^AM =I I O >ԉ  checking for new query: numPingsReceived=51, elapsed TxPingTime=26.226789&,[?XLAR0@R@=R=>ٱR=RH?ǶQ` ?@-?q٧?鬳??iR0@IR^;PY^,By^ IiEMb@Mb@Mb@AAAA A9E)\(?y&1?Mb`YEG?yE`e9Y=%Ey%E%E%>)Q 5U5-2?Q 9U5-~)-~BY]T?Q E]:y]=Q I]`@-дDI-?;i-;-B5yeBɮe1 Aaii.XLAjݼA"jݼA:j&>"pM7k7@>+䒄?~X4i@pr⸾?Q"0P?zBP?*jQ =2jBҽ*p{^437@Jm! @( @p.A?zs?X*X?j a@ jyAi\?i "jsBjjت!jABrjQAzj1> addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504434 s, deltaX: -0.500000 m, approachRate: -0.991210 m/s, rangeRepo size: 4  Added new target pos. range: 23.608250 m, bearing: 8.670329 deg, lat: 36.779424 deg, lon: -121.859660 deg, deltaT: 0.504434 s, deltaX: -0.497938 m, approachRate: -0.987123 m/s, posRepo size: 4 :i 5DNOT Ignoring new targets: 23.61 m.2i9"iE*iI ProNav: ac range: 23.608250 m, nav range: 23.414942 m, bearing: 8.683553 deg, approach rate: 0.000000 m/s, LOS rate: 0.000724 deg/s, cmd heading: 2.039848 deg, new cmd heading: 2.040446 deg. i-HeadingCmd: 0.035613 target range: 23.608250 and range: 23.70 m.h5j=h1h9h9h9gagijgyԑrgdBereZe:e@37@*e?DBɢ$) Bi)i ij=B=X=Ij=IDDAT read: Rx Time:04:36:48.5476 TRx dataTimestamp_ set to:1764909409.235484PDAT read: Bearing 171.4, 7.7 (Local) ~Local bearing/azimuth received: Bearing 171.4, 7.7 (Local) DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.4 ԱDAT read: 04:36:48.5476 LVL= 27632, 32753, 32754, 32755, AGC= 60, IDX= 499,-0.48, 2.115, 0.368, 2.113, 1.736, PHS= 0.480,-1.323, 0.333, RAW= 145.8, 5.9, CAL= 145.3, 6.4, ROT= 4.7, -6.4 Ygot valid direction response: 04:36:48.5476 LVL= 27632, 32753, 32754, 32755, AGC= 60, IDX= 499,-0.48, 2.115, 0.368, 2.113, 1.736, PHS= 0.480,-1.323, 0.333, RAW= 145.8, 5.9, CAL= 145.3, 6.4, ROT= 4.7, -6.4 T#Rx 52: Read range and direction messages.\direction in FSK: [0.990426,0.081428,0.111469]Fpublishing direction and range infoyH j?f7tش? -V:?Y̼Ak )I>iX~>4"@B=:M"@ =)=I佩ny?*?xy? v>)-ԽI=i佩checking for new query: numPingsReceived=52, elapsed TxPingTime=26.495684^A% = AQ IY Iq O >f=&,+ZXLA^@^d=^ >ٱ^ =^H?`p z|J@? ?FW`jݧ?`e??i^@I^:"^;^CYn0Byn I~@A|bD VD8y:<%S=ٔ-ߣQ-->99IY9=]EyeEeջEm>iQ 5u5m?Q 9u5m})m~BYyy}=Q I}`@m״DAAAAAAB>BBBB =BBźDB;B7EB]DCB]DCBYBYBYC]P5Im:iml;m5yɮ AiYI]Aechecking for new query: numPingsReceived=52, elapsed TxPingTime=26.731106i9i=+OXLAj=A"j=A:j= >"p=4QH7@8s2 ?>_/@p=H j?f7tش? -V:?*j==2j=*p=.P6@xb @yq"@p=gw.?n?( ?j=h@ j=BAi=[>?i=Bj=މBj=[>?j=`j=fBrj=|Azj=> addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503668 s, deltaX: -0.100000 m, approachRate: -0.198544 m/s, rangeRepo size: 4  Added new target pos. range: 23.508511 m, bearing: 8.995066 deg, lat: 36.779424 deg, lon: -121.859659 deg, deltaT: 0.503668 s, deltaX: -0.099739 m, approachRate: -0.198025 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 23.51 m.2i!"i!*i!5 ProNav: ac range: 23.508511 m, nav range: 23.185947 m, bearing: 8.889018 deg, approach rate: 0.000000 m/s, LOS rate: 0.000724 deg/s, cmd heading: 2.040446 deg, new cmd heading: 2.041051 deg. iQ]HeadingCmd: 0.035623 target range: 23.508511 and range: 23.60 m.h]{=hYhYhYhYgagajgargaeireiZei:em7@*emE?颽EBɢ**$) *i)٥i5i{=K=R=E EE#E"E:*E3:VE3ZEBEe% j"@% =% p!@ % ޹=)% ¸=I% ޹! ! % cxps?SH k?.e9? % W>)% MI% ¸=i% ޹! !  checking for new query: numPingsReceived=53, elapsed TxPingTime=27.001059A I I O >! Z&,sXLAY/By I Achecking for new query: numPingsReceived=53, elapsed TxPingTime=27.234879iMb@Mb@Mb@ 9Mb?~jt?~jthY?yD<DAb A )"AYfAbDVDð8y?I%=ٔ Q- >9 Y=EyEE>Q 5%5-?Q 9%51})~BY-?Q E-:y-+=Q I-`@DI:i:5y5Bɮ5; A=EiiimhoXLAjmA"jmA:jm'>"pmp57@\@SXA@pm.=?[T8?0L3?*jm¸=2jm޹*pm4;թ6@6 @iv" @pm1??ud^?%P?jmo@ jmNAimJ?im addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.505291 s, deltaX: -0.300001 m, approachRate: -0.593720 m/s, rangeRepo size: 4  Added new target pos. range: 23.209671 m, bearing: 9.384247 deg, lat: 36.779424 deg, lon: -121.859658 deg, deltaT: 0.505291 s, deltaX: -0.298840 m, approachRate: -0.591421 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 23.21 m.2iE% E%E%%E!"E%g:*E%L_:VE% 4ZE!a-@a-@a-@a-@"i1*i9E ProNav: ac range: 23.209671 m, nav range: 22.914948 m, bearing: 9.029441 deg, approach rate: 0.000000 m/s, LOS rate: 0.000724 deg/s, cmd heading: 2.041051 deg, new cmd heading: 2.041818 deg. iIMHeadingCmd: 0.035636 target range: 23.209671 and range: 23.30 m.hM=hIhQhQhQgQgqjgyrg}bBeyreyZe:eL7@*e!?FBɢ5#) ;i)#ii=Y=LJ=I=IqԹ ^A ~=A yAzA E DDAT read: Rx Time:04:36:49.5473 M TRx dataTimestamp_ set to:1764909410.244520] PDAT read: Bearing 171.6, 8.4 (Local) e ~Local bearing/azimuth received: Bearing 171.6, 8.4 (Local)  DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.4  DAT read: 04:36:49.5473 LVL= 29376, 32753, 32754, 32755, AGC= 58, IDX= 511, 0.35,-2.651, 1.880,-2.678,-3.027, PHS= 0.477,-1.332, 0.305, RAW= 145.0, 6.4, CAL= 144.6, 7.0, ROT= 5.4, -7.0  Ygot valid direction response: 04:36:49.5473 LVL= 29376, 32753, 32754, 32755, AGC= 58, IDX= 511, 0.35,-2.651, 1.880,-2.678,-3.027, PHS= 0.477,-1.332, 0.305, RAW= 145.0, 6.4, CAL= 144.6, 7.0, ROT= 5.4, -7.0  T#Rx 54: Read range and direction messages. \direction in FSK: [0.988141,0.093407,0.121869] Fpublishing direction and range infoyI M rUIڞ?3т?UM7P2?YM ̸AI M rM M  I )M :IM X9>iM ~M (>M p!@M =M !@ M 5=)M =IM 5I I M հ o?ßJ?~Y? M >)M OA I I O>#$&,ZXLAhI=i55checking for new query: numPingsReceived=54, elapsed TxPingTime=27.554684M5@Mi=M}?ٱM=MH?$CӤb?Y?`Pf@v?`?@&?iM5@IM`];MCY9Y=EyEꩼE>Q 55.?Q 95|)~BYy1=Q I`@DI:i:5yBɮ% A%Eii7XLAjA"jA:j$>"pѼ6@1@|s2$o@prUIڞ?3т?UM7P2?*j=2j5*p \6@!,# @@p 9?og 8?Y`\?jh@ jAi ?ijFBjjo,ujsBrjAzj"> addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503745 s, deltaX: -0.199999 m, approachRate: -0.397024 m/s, rangeRepo size: 4  Added new target pos. range: 23.010448 m, bearing: 9.231696 deg, lat: 36.779424 deg, lon: -121.859658 deg, deltaT: 0.503745 s, deltaX: -0.199223 m, approachRate: -0.395483 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 23.01 m.2i"i*i ProNav: ac range: 23.010448 m, nav range: 22.737171 m, bearing: 9.068875 deg, approach rate: 0.000000 m/s, LOS rate: 0.000724 deg/s, cmd heading: 2.041818 deg, new cmd heading: 2.042336 deg. iEHeadingCmd: 0.035645 target range: 23.010448 and range: 23.10 m.hE=hAhAhAhAgIgIjgIrgIeQreQZeQ:e]7@*e] ?GBɢE) ୼i)%p!!i%?i-=5`=]_=I]=IY@i@i@i@iB>BCCB: IBEBBBBĺDB;B7Echecking for new query: numPingsReceived=54, elapsed TxPingTime=27.738983)Ei EmEiEi"Ei*Em0:VEiZEiBEm;a}2Em;a}JEm݉;a}:Em݉;a} AY I I O >G*&,XLA2}@2=2J?ٱ2ޝ=2H ? QϤ9*?? =?P??i2}@I2Ys];2CYR:ByR- I Z4iEE)\>Evh!@E5=E @ E>)EB=IEAAE7Žt?J}d?O? E\>)E&4IEB=iEAAchecking for new query: numPingsReceived=55, elapsed TxPingTime=28.006723HeadingCmd: 0.036540 target range: 23.010448 and range: 23.10 m.h =hhhhggjgrgereZe:e6@*e`ʗ?EHBɢEkA )I MܼiI)M+i ki =h= =I =IA!IIIiO[> checking for new query: numPingsReceived=55, elapsed TxPingTime=28.2432449 E  E E E "E :*E .:VE 3ZE a @a @a @a @01&,XLA2v@2@=2M?ٱ2=2H@?S۳`;ܤ`?j? Ĵ@?R?,?i2v@I2K];2CYBDByB9 IiMb@Mb@Mb@ 9^I +?yt<`;jA A A) AYpAbDVD&8y =%-=ٔeQ->9Y=Ey EQۺE> Q 55 ט?Q 95 {) ~BY>Q E:yK=Q I`@ DI  ;i  ; 5y%Bɮ% A%EiqiuׯXLAjuA"juA:ju1E+>"pusd6@ ]n!@| @pu\sn=? 7o?) ?*juB=2ju*puW)!6@?NC{ @zS=F@pu}/?t@-?ѤD?jum@ ju Aiu(?iuȩjuBju\?jujuމBrjuhAzju=%>u addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.502978 s, deltaX: -0.300001 m, approachRate: -0.596450 m/s, rangeRepo size: 4  Added new target pos. range: 22.711145 m, bearing: 9.583070 deg, lat: 36.779424 deg, lon: -121.859658 deg, deltaT: 0.502978 s, deltaX: -0.299303 m, approachRate: -0.595062 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 22.71 m.2i"i*i ProNav: ac range: 22.711145 m, nav range: 22.301012 m, bearing: 9.270750 deg, approach rate: 0.000000 m/s, LOS rate: 0.073863 deg/s, cmd heading: 2.093592 deg, new cmd heading: 2.160289 deg. iHeadingCmd: 0.037704 target range: 22.711145 and range: 22.80 m.ho=hhhhggjgrgXBereZe:e*e ?IBɢ) @0i)iio=o=T=Io=IA>A?UDDAT read: Rx Time:04:36:50.5469 ]TRx dataTimestamp_ set to:1764909411.252620ePDAT read: Bearing 170.3, 9.0 (Local) m~Local bearing/azimuth received: Bearing 170.3, 9.0 (Local) }DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.4 DAT read: 04:36:50.5469 LVL= 28960, 32673, 31378, 32755, AGC= 59, IDX= 507, 0.26, 1.967, 0.196, 1.917, 1.554, PHS= 0.515,-1.313, 0.319, RAW= 144.4, 5.6, CAL= 144.0, 6.1, ROT= 6.0, -6.1 Ygot valid direction response: 04:36:50.5469 LVL= 28960, 32673, 31378, 32755, AGC= 59, IDX= 507, 0.26, 1.967, 0.196, 1.917, 1.554, PHS= 0.515,-1.313, 0.319, RAW= 144.4, 5.6, CAL= 144.0, 6.1, ROT= 6.0, -6.1 T#Rx 56: Read range and direction messages.\direction in FSK: [0.988891,0.103937,0.106264]Fpublishing direction and range infoyY]To?o\O ?O4?Y]AY] q]]z Y)];I] ?i]b]S>]K!@]+=]| @ ]^ =)]Pw=I]^ ڽYY]n\b? rO?GҸ? ]>)]QƽI]Pw=i]^ ڽYYchecking for new query: numPingsReceived=56, elapsed TxPingTime=28.512665AQIYIqO}z>B >B ACB A IB JBB =B ?DB úDB ;B 7E ^Z7&,8XLA2h@2=2)?ٱ2p=2H?q⤿0??@`'?@B? L?i2h@I2];0Rchecking for new query: numPingsReceived=56, elapsed TxPingTime=28.746725YVLByVC IbDbVDb$8yfI=%ju=ٔjQ-j?9hYl=nEyn En\Er?pQ 5v5rC嘊?Q 9z5r'{)r~BYxyz=Q Iz`@rDIr:ir:r5y|ɮ Aii*XLAjKA"jKA:j#2->"p^5Х)6@ Oj@Ղ_l @pTo?o\O ?O4?*jPw=2j^ ڽ*pt\5@a900P @ @p#"?+9GD?^?jRn@ jrAi?i5j|Bj(?jM addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.505122 s, deltaX: -0.299999 m, approachRate: -0.593914 m/s, rangeRepo size: 4 ] Added new target pos. range: 22.411661 m, bearing: 9.690811 deg, lat: 36.779424 deg, lon: -121.859657 deg, deltaT: 0.505122 s, deltaX: -0.299484 m, approachRate: -0.592895 m/s, posRepo size: 4 :iaeDNOT Ignoring new targets: 22.41 m.2ia"ii*ii} ProNav: ac range: 22.411661 m, nav range: 22.148657 m, bearing: 9.532527 deg, approach rate: 0.000000 m/s, LOS rate: 0.073863 deg/s, cmd heading: 2.160289 deg, new cmd heading: 2.209615 deg. iyHeadingCmd: 0.038565 target range: 22.411661 and range: 22.50 m.hf=hhhhggjgrgereZe:e6@*e@s?JBɢ) q;i)-iZif=u=f=If=IEA EEEE%EA"EA*EEA:VEE 4ZEABEEU=Q]DDAT read: Rx Time:04:36:51.0467 eTRx dataTimestamp_ set to:1764909411.755580mPDAT read: Bearing 170.1, 9.8 (Local) m~Local bearing/azimuth received: Bearing 170.1, 9.8 (Local) }DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.4 DAT read: 04:36:51.0467 LVL= 26384, 32721, 30866, 32755, AGC= 58, IDX= 505,-0.19,-0.619,-2.380,-0.692,-1.040, PHS= 0.523,-1.295, 0.304, RAW= 143.7, 5.5, CAL= 143.2, 6.1, ROT= 6.8, -6.1 Ygot valid direction response: 04:36:51.0467 LVL= 26384, 32721, 30866, 32755, AGC= 58, IDX= 505,-0.19,-0.619,-2.380,-0.692,-1.040, PHS= 0.523,-1.295, 0.304, RAW= 143.7, 5.5, CAL= 143.2, 6.1, ROT= 6.8, -6.1 T#Rx 57: Read range and direction messages.\direction in FSK: [0.987343,0.117734,0.106264]Fpublishing direction and range infoyY] P?b#?O4?Y]AY]g]]x Y)]:I]T?i]¥]㥛>] @] =]@ Y)]=IYYY],?(4=?j 0? ]?z>)]ĽI]=iYYYchecking for new query: numPingsReceived=57, elapsed TxPingTime=29.014618I =&,XLA ^@@=?ٱ9?=H 4?+$o 8??O?@|??i^@I#O];Y XBy Q IiMb@Mb@Mb@ 9Mb?y&1?Mbp?Y?y`<;@K A |A)AYGAAAbD zVD 8y?=%*=ٔQ->9!Y!=%Ey%E-2(E->1Q 5=55?Q 9=55Xz)5~BY=E?Q E=:y=>>Q IEa@5DAI5:i5O+;55yMBɮU AQiil[XLAjA"jA:j1:>"p=5@@$d@p P?b#?O4?*j=2j*piE}v5@Nˑ@ڰB @p%&~3?M?r-v헫?j|@ jAiYs ?iijj?jȩj|BrjAzj|,> addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.502960 s, deltaX: -0.299999 m, approachRate: -0.596467 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=57, elapsed TxPingTime=29.250952 Added new target pos. range: 22.112839 m, bearing: 10.418129 deg, lat: 36.779423 deg, lon: -121.859656 deg, deltaT: 0.502960 s, deltaX: -0.298822 m, approachRate: -0.594128 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 22.11 m.2i"i*i ProNav: ac range: 22.112839 m, nav range: 21.871740 m, bearing: 9.651198 deg, approach rate: 0.000000 m/s, LOS rate: 0.073863 deg/s, cmd heading: 2.209615 deg, new cmd heading: 2.280670 deg. iHeadingCmd: 0.039805 target range: 22.112839 and range: 22.20 m.h #=hhhhggjgrggBereZe:e@336@*e ?LBɢ%)! %e g @e B=a e V=)a Ie V轩a a e Wu@5-?Cts?~kD? e n>)e 4ҽIa ie V轩a a  checking for new query: numPingsReceived=58, elapsed TxPingTime=29.518692I I O >lD&,XYLA2[@2W=2,?ٱ2=2H`}?`;ͤ!? t?`{M?`f?@P?i2[@I2fK];2CY:YBy:S I@bDVQVDV8y^?.<%^|=ٔnI.:Q-r?9pYp=rEyrEvEv?xQ 5~5z?Q 9=5zy)z~BY9y==Q IEa@zDIz$"p!&cƷ5@N@R1@pĢ??5?*j2jV*p/= addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.503831 s, deltaX: -0.100000 m, approachRate: -0.198480 m/s, rangeRepo size: 4 M Added new target pos. range: 22.013231 m, bearing: 10.362482 deg, lat: 36.779423 deg, lon: -121.859656 deg, deltaT: 0.503831 s, deltaX: -0.099607 m, approachRate: -0.197700 m/s, posRepo size: 4 :iIMDNOT Ignoring new targets: 22.01 m.2iI"i*i ProNav: ac range: 22.013231 m, nav range: 21.706287 m, bearing: 9.739668 deg, approach rate: 0.000000 m/s, LOS rate: 0.073863 deg/s, cmd heading: 2.280670 deg, new cmd heading: 2.332767 deg. iHeadingCmd: 0.040714 target range: 22.013231 and range: 22.10 m.h4&=hhhhggjgrgereZe:e6@*es?mMBɢu)q uB@CBZ IB^BB =BBºDB;B7Ei߹I߽Achecking for new query: numPingsReceived=58, elapsed TxPingTime=29.755060AIIOh>E] E]EYEY"E]y:*E];J:VEYZEYBE]9AYA=EEyMEMEM>QQ 5}5U?Q 9}5Uy)U~BYyy =Q Ia@U DIU;iU:U`5yBɮB AEB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 22.01 m.2i"ij:*ij:  ProNav: ac range: 22.013231 m, nav range: 21.493132 m, bearing: 9.765792 deg, approach rate: -0.531228 m/s, LOS rate: 0.065751 deg/s, cmd heading: 2.332767 deg, new cmd heading: 2.385532 deg. i :DDAT read: Rx Time:04:36:52.0463 %TRx dataTimestamp_ set to:1764909412.763539-PDAT read: Bearing 170.2, 10.6 (Local) 5~Local bearing/azimuth received: Bearing 170.2, 10.6 (Local) EDAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4 eDAT read: 04:36:52.0463 LVL= 26704, 32753, 32498, 32755, AGC= 59, IDX= 502,-0.40, 0.051,-1.717,-0.049,-0.374, PHS= 0.527,-1.298, 0.281, RAW= 142.9, 5.8, CAL= 142.5, 6.4, ROT= 7.5, -6.4 uYgot valid direction response: 04:36:52.0463 LVL= 26704, 32753, 32498, 32755, AGC= 59, IDX= 502,-0.40, 0.051,-1.717,-0.049,-0.374, PHS= 0.527,-1.298, 0.281, RAW= 142.9, 5.8, CAL= 142.5, 6.4, ROT= 7.5, -6.4 uT#Rx 59: Read range and direction messages.}\direction in FSK: [0.985266,0.129713,0.111469]}Fpublishing direction and range infoy!%ײL?am? -V:?Y%̬A!%Ph!%~ !)%;I%y?i%$%;ߏ>%@%4Q=%,@ %=)% >I%佩!!%%9!V?CIQ ?`q˝? %S>)%o%νI% >i%佩!!checking for new query: numPingsReceived=59, elapsed TxPingTime=30.023371HeadingCmd: 0.041635 target range: 22.013231 and range: 22.10 m.h߉*=hhhhggjgrgereZe:e5@*e`*6?=OBɢ=e )9 =h>=i9)=ܲAAiENiE߉*=m̉=m=Im߉*=Iq@}zA@}zA 9^AZ= checking for new query: numPingsReceived=59, elapsed TxPingTime=30.258776A .AI I O >Y D] %=D] R=bE ˻ 4jE #4rE n/Ee  Ee Ee %Ea "Ee ,:*Ee VL:VEe 4ZEa au @au @au @au @~Q&,eFYLA1O@N=e?ٱ=HI?Ⳳ@sܤ@? ?? 2??iO@Id];CYwByx IiMb@Mb@Mb@ 9jt?Mb?y&1|?Y?y=`; A)AYpA p<4<bDVD8yQ=%4=ٔU8Q->9 ?Y ?=EyE(E>Q 55,?Q 95Ox)~BY ?Q E:y>Q Ia@DI:i1:X5yBɮ AiAiE0YLAjEA"jEA:jEH#D>"pEd^525@1ʓsS@MU!/@pEײL?am? -V:?*jE >2jE*pEyj4@F&@>h @pE>5c,?"?+z?jE5@ jEAiE+p?iEUjEBjE?jE!jEBrjEAzjER:>5 addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504128 s, deltaX: -0.500000 m, approachRate: -0.991812 m/s, rangeRepo size: 4 E Added new target pos. range: 21.514832 m, bearing: 10.974481 deg, lat: 36.779423 deg, lon: -121.859653 deg, deltaT: 0.504128 s, deltaX: -0.498400 m, approachRate: -0.988637 m/s, posRepo size: 4 :iAMDNOT Ignoring new targets: 21.51 m.2iI"iM*iI] ProNav: ac range: 21.514832 m, nav range: 21.258459 m, bearing: 10.425306 deg, approach rate: 0.000000 m/s, LOS rate: 0.065751 deg/s, cmd heading: 2.385532 deg, new cmd heading: 2.444078 deg. iYeHeadingCmd: 0.042657 target range: 21.514832 and range: 21.60 m.heQ.=hahihihigigijgqrguBeqreqZeq:ey*e x?EPBɢE?)A Eę=iI)MmIIiM)iUQ.=Yu=u2=IuQ.=Iy-DDAT read: Rx Time:04:36:52.5463 -TRx dataTimestamp_ set to:1764909413.268716=PDAT read: Bearing 170.1, 10.8 (Local) E~Local bearing/azimuth received: Bearing 170.1, 10.8 (Local) UDAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4 }DAT read: 04:36:52.5463 LVL= 25968, 32753, 29906, 32755, AGC= 60, IDX= 501, 0.00, 1.865, 0.086, 1.757, 1.434, PHS= 0.533,-1.304, 0.278, RAW= 142.7, 5.8, CAL= 142.3, 6.4, ROT= 7.7, -6.4 Ygot valid direction response: 04:36:52.5463 LVL= 25968, 32753, 29906, 32755, AGC= 60, IDX= 501, 0.00, 1.865, 0.086, 1.757, 1.434, PHS= 0.533,-1.304, 0.278, RAW= 142.7, 5.8, CAL= 142.3, 6.4, ROT= 7.7, -6.4 T#Rx 60: Read range and direction messages.\direction in FSK: [0.984807,0.133151,0.111469]Fpublishing direction and range infoy)-ӟ?] ? -V:?Y))-pe)-t ))-<I-r?i-y馿-V>-e@)-\@ ))- >I)))-kb?Y?g? -CN>)-dνI- >i)))checking for new query: numPingsReceived=60, elapsed TxPingTime=30.529602ԁ^A/=Ա A I I O >Bu >Bq Bu s IBu sBBq Bq Bq Bu };Bu 7EW&,6`YLA2H@2~=22)?ٱ2)w=2H ?Tz uԤ@e?`B? ?B??i2H@I2Z];2CBchecking for new query: numPingsReceived=60, elapsed TxPingTime=30.762724YN{ByN} IbDZVDZ8y<%j=ٔ%9Q-%>9!Y!=-Ey-!E-%E->1Q 5e55;?Q 9e55w)5 BYaye>Q Iea@5DI5;i5z;5f5yuBɮu AuEԙiiim2QYLAji"ji:jmoF>"pmV805@j@P/@pmӟ?] ? -V:?*jm >2ji*pmLz4@W$]@Q @pmK ? [W?.( J?jm@ jm|Aim/?im jmBjijmijirjmAzjmT;>E EE"E"Eغ:*E*:VE(3ZEBE=W@=¸==@ =+=)=>I=+Ƚ99=Ҷmd??U+?!C#f? =C>)=oI=>i=+Ƚ99checking for new query: numPingsReceived=61, elapsed TxPingTime=31.031057^A D%=! A ؟AI I) O= >R]&,DyYLAMG@MI=MV?ٱM=MH? muɤ@̀?`? u:ݧ?q?G?iMG@IM ];IYBy IiߩIߩchecking for new query: numPingsReceived=61, elapsed TxPingTime=31.267124iMb@Mb@Mb@ 9}?5^I?:v?9M"?YM"?=UEyU&EUOREU>YQ 55]P?Q 95]v)]BY?Q E:y,>Q Ia@]!DI]:;i];]5yBɮ AEii_qYLAjA"jA:jE>"p394@OK<@|@plH?H?A_1?*j>2j+Ƚ*p\y4@&@p @pS\?Sp(&K?fx?j?@ jͣAiM?i( jBjM?jUjrjۦAzj0D>% addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.502709 s, deltaX: -0.400000 m, approachRate: -0.795688 m/s, rangeRepo size: 4 5 Added new target pos. range: 21.116331 m, bearing: 11.074726 deg, lat: 36.779423 deg, lon: -121.859651 deg, deltaT: 0.502709 s, deltaX: -0.398420 m, approachRate: -0.792547 m/s, posRepo size: 4 :i99DAzDAEM EMzEM$EI"EM7:*EM :VEM4ZEIaU@aU@aU@aU@]DNOT Ignoring new targets: 21.12 m.2iY"iY*iam ProNav: ac range: 21.116331 m, nav range: 20.857050 m, bearing: 10.977276 deg, approach rate: 0.000000 m/s, LOS rate: 0.065751 deg/s, cmd heading: 2.493404 deg, new cmd heading: 2.557951 deg. iiuHeadingCmd: 0.044645 target range: 21.116331 and range: 21.20 m.huU6=hqhyhyhygygyjgrgBereZe:e@335@*e?颵TBɢ') =i)DiiU6=暦=n=IU6=I@]=@]=i^A} ==e DDAT read: Rx Time:04:36:53.5459 e TRx dataTimestamp_ set to:1764909414.275413u PDAT read: Bearing 170.5, 11.0 (Local) u ~Local bearing/azimuth received: Bearing 170.5, 11.0 (Local)  DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.4 ԑ  DAT read: 04:36:53.5459 LVL= 28320, 32753, 32146, 32755, AGC= 60, IDX= 497,-0.10,-0.246,-2.035,-0.365,-0.670, PHS= 0.526,-1.320, 0.261, RAW= 142.4, 6.2, CAL= 142.0, 6.9, ROT= 8.0, -6.9 = Ygot valid direction response: 04:36:53.5459 LVL= 28320, 32753, 32146, 32755, AGC= 60, IDX= 497,-0.10,-0.246,-2.035,-0.365,-0.670, PHS= 0.526,-1.320, 0.261, RAW= 142.4, 6.2, CAL= 142.0, 6.9, ROT= 8.0, -6.9 = T#Rx 62: Read range and direction messages.M \direction in FSK: [0.983096,0.138165,0.120137]M Fpublishing direction and range infoya e "u?e?rjƹI?Ye Aa e ne e } a )e <Ie ?ie e ˡ>e @e k=e @ e Ϣ=)e 5>Ie Ϣa a e js4j?47?5ˉ? e >)e \޽Ie 5>ie Ϣa a  checking for new query: numPingsReceived=62, elapsed TxPingTime=31.556911A I I O >d&,YLABH@B=B>ٱBj=BH?~?:?iЧ??`?iBH@IB<];BCY~By~ IbD5VD58y+=%l=ٔT9Q-?9Y=Ey%*E%H9E->)Q 555-_?Q 9=5-u)-,BY9y=,>Q I=a@-&DI-:i-:-5yaɮm Aii i ^YLAj VA"j VA:j -NK>"p CC4@ @t t@p "u?e?rjƹI?*j 5>2j Ϣ*p 旎.4@R=@]ck @p +M?'j?1q5?j @ j uAi y?i ϳ j Bj j ( j Brj {Azj C%F>m addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.503988 s, deltaX: -0.200001 m, approachRate: -0.396836 m/s, rangeRepo size: 4  Added new target pos. range: 20.917120 m, bearing: 11.375527 deg, lat: 36.779423 deg, lon: -121.859651 deg, deltaT: 0.503988 s, deltaX: -0.199211 m, approachRate: -0.395270 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 20.92 m.2i"i*i ProNav: ac range: 20.917120 m, nav range: 20.685205 m, bearing: 11.086820 deg, approach rate: 0.000000 m/s, LOS rate: 0.065751 deg/s, cmd heading: 2.557951 deg, new cmd heading: 2.605330 deg. iHeadingCmd: 0.045472 target range: 20.917120 and range: 21.00 m.hj@:=hhhhggjg1rg9e9re9Ze9:e=5@*eE?颍VBɢ) =i)n顙iij@:===Ij@:=IB>B?CB IBBBBBB;B7EB}@CB}@CB}ĔCB} =B} =C}ĸ 65checking for new query: numPingsReceived=62, elapsed TxPingTime=31.770866E EEE"E:*E*5:VEZEBE;a2E;aJE;a:E;aI^A=Am .Aq I I O >]k&,`tYLABL@Bc=BJ>ٱB?=BH@?՜T`ࣱ? 9b ?Yb ?=bEyb.Ef:Ef>hQ 5n5jn?Q 9n5jt)j9BYlyrD->Q Ira@j,DIjj;ij;j5ytɮv At B*** querying acoustic contact ***i i :iDNOT Ignoring new targets: 20.92 m.2i"iQ,:*i%Q,:- ProNav: ac range: 20.917120 m, nav range: 20.503014 m, bearing: 11.099193 deg, approach rate: -0.549708 m/s, LOS rate: 0.037663 deg/s, cmd heading: 2.605330 deg, new cmd heading: 2.630296 deg. i5ډ:5HeadingCmd: 0.045907 target range: 20.917120 and range: 21.00 m.h5P <=h1h9h9h9g9g9jgArgAeAreAZeI:eI*eM ?uWBɢ}ۼ)y }=iy)}!顁i iP <=2==IP <=Iߙߝ4=DDAT read: Rx Time:04:36:54.0457 TRx dataTimestamp_ set to:1764909414.779677PDAT read: Bearing 170.3, 10.7 (Local) ~Local bearing/azimuth received: Bearing 170.3, 10.7 (Local) DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.4 YDAT read: 04:36:54.0457 LVL= 27968, 32753, 31538, 32755, AGC= 60, IDX= 510, 0.27, 0.021,-1.777,-0.091,-0.409, PHS= 0.531,-1.324, 0.273, RAW= 142.6, 6.0, CAL= 142.2, 6.7, ROT= 7.8, -6.7 Ygot valid direction response: 04:36:54.0457 LVL= 27968, 32753, 31538, 32755, AGC= 60, IDX= 510, 0.27, 0.021,-1.777,-0.091,-0.409, PHS= 0.531,-1.324, 0.273, RAW= 142.6, 6.0, CAL= 142.2, 6.7, ROT= 7.8, -6.7 T#Rx 63: Read range and direction messages.\direction in FSK: [0.983982,0.134789,0.116671]Fpublishing direction and range infoy7$|? @?mu"޽?Y̤A@m2{ )I?ixƋ>&I@Pw=@ |=)'g >I|ゥkX&_?^{?*p? j+>)׽I'g >i|ゥuchecking for new query: numPingsReceived=63, elapsed TxPingTime=32.082417ԁ^A=ԩA- ؟AI1 IA U checking for new query: numPingsReceived=63, elapsed TxPingTime=32.274914O] >E  E E &E "E ,:*E a9:VE 4ZE a @a @a @a @ q&,^YLAYBy Ii%Mb@Mb@Mb@!!!! !9%X9v?V-?{Gzt?Y%>y%m=%ף;%@! %|A)% A!Y%A =<9bDEVDE8yU=%U2=ٔ]Q-]>9]"?Y]"?=eEye2EeEe>iQ 5u5m?Q 9u5ms)mIBY}>Q E}:y}<>Q I}a@m4DIm;im&:m5yBɮ Aԩii:YLAj&A"j&A:jIH>"pV04@FKU @zʼ&@p7$|? @?mu"޽?*j'g >2j|*p-3@V-k@dц{y @pĚO?ĬB?1dF.4?jY{@ jAi͔$?id} jBj͔$?jd} jrjAzjIH> addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504264 s, deltaX: -0.400000 m, approachRate: -0.793235 m/s, rangeRepo size: 4  Added new target pos. range: 20.518652 m, bearing: 11.206727 deg, lat: 36.779422 deg, lon: -121.859651 deg, deltaT: 0.504264 s, deltaX: -0.398468 m, approachRate: -0.790197 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 20.52 m.2i"i*i ProNav: ac range: 20.518652 m, nav range: 20.207579 m, bearing: 11.206702 deg, approach rate: 0.000000 m/s, LOS rate: 0.037663 deg/s, cmd heading: 2.630296 deg, new cmd heading: 2.665102 deg. i  HeadingCmd: 0.046515 target range: 20.518652 and range: 20.60 m.h M>=hhhhggjgrgBereZe!:e%4@*e%?UYBɢU\)Q U>iQ)UYYi]Ui]M>=e=e=IeM>=IDDAT read: Rx Time:04:36:54.5457 TRx dataTimestamp_ set to:1764909415.284560PDAT read: Bearing 171.0, 11.1 (Local) ~Local bearing/azimuth received: Bearing 171.0, 11.1 (Local) DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.4 DAT read: 04:36:54.5457 LVL= 29904, 32753, 32754, 32755, AGC= 60, IDX= 510,-0.17,-0.855,-2.642,-0.975,-1.266, PHS= 0.513,-1.330, 0.247, RAW= 142.3, 6.7, CAL= 141.9, 7.3, ROT= 8.1, -7.3 Ygot valid direction response: 04:36:54.5457 LVL= 29904, 32753, 32754, 32755, AGC= 60, IDX= 510,-0.17,-0.855,-2.642,-0.975,-1.266, PHS= 0.513,-1.330, 0.247, RAW= 142.3, 6.7, CAL= 141.9, 7.3, ROT= 8.1, -7.3 T#Rx 64: Read range and direction messages. \direction in FSK: [0.981999,0.139759,0.127065] Fpublishing direction and range infoyl? Ѡ?\@|=@ w>)>Iw"Wf? qtH&?N? o>)I>iw-checking for new query: numPingsReceived=64, elapsed TxPingTime=32.544029^A-z= A} .AI I O >B B B IB BB B B B ;B 7E1 U checking for new query: numPingsReceived=64, elapsed TxPingTime=32.778755r=x&,YLAY By  IbDVD8y-t=%-\=ٔ1Q-5>95 ?Y5 ?==Ey=6E9E=>AQ 5M5E?Q 9M5Er)EUBYQyQQ IUa@E9DIEe;iE;E95y]Bɮ] A]EE EE%E"E7:*ET:VE 4ZEBE;a2E;aJEͨ;a:EΨ;aii;6YLAj"j:jBL>"pC 8&4@S6@HA@pl? Ѡ?2jw*p|B3@uW%@():@p#&b?PP ? ?j9@ j Ai?i֖ j:BjM?j jBrjȠAzjϗH> addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504883 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.518658 m, bearing: 11.459912 deg, lat: 36.779423 deg, lon: -121.859650 deg, deltaT: 0.504883 s, deltaX: 0.000006 m, approachRate: 0.000011 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 20.52 m.2i"i!*i!5 ProNav: ac range: 20.518658 m, nav range: 20.097923 m, bearing: 11.223762 deg, approach rate: 0.000000 m/s, LOS rate: 0.037663 deg/s, cmd heading: 2.665102 deg, new cmd heading: 2.698515 deg. i1}HeadingCmd: 0.047098 target range: 20.518658 and range: 20.60 m.h}@=hyhyhyhygygjgrgereZe:e*e@?颕\Bɢ<׼) >i)F顡ii@=D=0=I@=I DDAT read: Rx Time:04:36:55.0454 TRx dataTimestamp_ set to:1764909415.787504PDAT read: Bearing 169.6, 10.7 (Local) ~Local bearing/azimuth received: Bearing 169.6, 10.7 (Local) DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.4 DAT read: 04:36:55.0454 LVL= 26800, 32417, 29682, 32755, AGC= 59, IDX= 507, 0.19,-0.526,-2.317,-0.637,-0.971, PHS= 0.548,-1.301, 0.290, RAW= 142.6, 5.4, CAL= 142.3, 6.0, ROT= 7.7, -6.0 Ygot valid direction response: 04:36:55.0454 LVL= 26800, 32417, 29682, 32755, AGC= 59, IDX= 507, 0.19,-0.526,-2.317,-0.637,-0.971, PHS= 0.548,-1.301, 0.290, RAW= 142.6, 5.4, CAL= 142.3, 6.0, ROT= 7.7, -6.0 T#Rx 65: Read range and direction messages.\direction in FSK: [0.985554,0.133252,0.104528]Fpublishing direction and range infoy?sXqh?4ޮ`º?Y̠Ah~s );II ?i+z>&I@=\@ Pw=) >IPwֽJpi?[}w |?|( ? 4>)uI >iPwֽ checking for new query: numPingsReceived=65, elapsed TxPingTime=33.0469289 ^A5 K=Aa I Ա & dClearing failed state for component DockingStepperq I O >~&,uYLAD@@=?ٱN=H ?b@դh??祶?@ܵ?`?iD@IP];CYBy II=)8>5checking for new query: numPingsReceived=65, elapsed TxPingTime=33.282944iMb@Mb@Mb@ 9Gz?i|?5?{Gz?Yp>yq=#<5 A )YAbDVD8y=%(=ٔZQ->9Y=Ey;EE> Q 55 ?Q 95 q) hBYI>Q E:y\=>Q Ia@ ADI :i : x5y!ɮ%g A)i i wfYLAj *A"j *A:j 0F>"p >3@JW@_Rp"@p ?sXqh?4ޮ`º?*j >2j Pwֽ*p z8(c3@Dtv@߈ @p Z?@PUX?IϬ?j s@ j Ai (?i j ,Bj ͔$?j d} j rj ?Azj \H> addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.502944 s, deltaX: -0.500000 m, approachRate: -0.994146 m/s, rangeRepo size: 4 E E}E"E"Eg:*Ek&:VE(3ZEaE@aE@aE@aE@ Added new target pos. range: 20.020632 m, bearing: 11.111939 deg, lat: 36.779422 deg, lon: -121.859651 deg, deltaT: 0.502944 s, deltaX: -0.498026 m, approachRate: -0.990221 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 20.02 m.2i"i*i ProNav: ac range: 20.020632 m, nav range: 19.781076 m, bearing: 11.220167 deg, approach rate: 0.000000 m/s, LOS rate: 0.037663 deg/s, cmd heading: 2.698515 deg, new cmd heading: 2.730496 deg. iHeadingCmd: 0.047656 target range: 20.020632 and range: 20.10 m.h3C=hhhhggjgrgBereZe:e4@*e`)?=^Bɢ=ϼ)9 =V+>i9)EcAAiE*RiM3C=M=M=IM3C=I  4Initializing EZServoServo.)  DDAT read: Rx Time:04:36:55.5454  TRx dataTimestamp_ set to:1764909416.291354 PDAT read: Bearing 171.2, 11.1 (Local)  ~Local bearing/azimuth received: Bearing 171.2, 11.1 (Local)  DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.4 - DAT read: 04:36:55.5454 LVL= 29504, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.28,-0.651,-2.439,-0.769,-1.055, PHS= 0.506,-1.339, 0.242, RAW= 142.4, 6.9, CAL= 142.0, 7.6, ROT= 8.0, -7.6 5 Ygot valid direction response: 04:36:55.5454 LVL= 29504, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.28,-0.651,-2.439,-0.769,-1.055, PHS= 0.506,-1.339, 0.242, RAW= 142.4, 6.9, CAL= 142.0, 7.6, ROT= 8.0, -7.6 5 T#Rx 66: Read range and direction messages.= \direction in FSK: [0.981569,0.137951,0.132256]E Fpublishing direction and range infoy  h i?z\?) ?Y @s   ) <I 7?i Zd w> @ Ϣ= @ >) 5>I  7=_?vS5? v? &>) kI 5>i  ] checking for new query: numPingsReceived=66, elapsed TxPingTime=33.550713 8Initializing DockingStepper.I ^A7=yB>BB IBBBBBB|;B7EAIIQIaOu?2:&,"ZLAchecking for new query: numPingsReceived=66, elapsed TxPingTime=33.7869076E@6=6R@ٱ6l=6H@?tlिo?C?Ӷ? ?@?i6E@I6;];6CYBByB IHHbDNVDN8yR<%V%=ٔV;Q-V>9XYX=ZEyZ@E^^9E^>\Q 5b5^?Q 9f5^p)^|BYdyfr=>Q Ifa@^IDI^:i^:^5ynBɮnO AnEiiZLAj"j:jدI>"pd#Φ3@3E@I.@ph i?z\?) ?*j5>2j*pdž G3@m .@x=`\@p?q+)?n~C?j1v@ j8Ai$?inp jSBjjnp jBrjWAzj J>- addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.503850 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 1E Added new target pos. range: 20.020586 m, bearing: 11.284968 deg, lat: 36.779422 deg, lon: -121.859650 deg, deltaT: 0.503850 s, deltaX: -0.000046 m, approachRate: -0.000091 m/s, posRepo size: 4 :iAEDNOT Ignoring new targets: 20.02 m.2iA"iI*iIE  E E !E "E :*E F:VE c3ZE BE ei))-|))i-i5E=5V=5h4=I5E=YI9ԉDDAT read: Rx Time:04:36:56.0451  TRx dataTimestamp_ set to:1764909416.802399PDAT read: Bearing 171.0, 10.8 (Local) ~Local bearing/azimuth received: Bearing 171.0, 10.8 (Local) -DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.4 UDAT read: 04:36:56.0451 LVL= 29248, 32753, 32754, 32755, AGC= 60, IDX= 504, 0.08,-0.399,-2.186,-0.505,-0.802, PHS= 0.505,-1.339, 0.253, RAW= 142.8, 6.8, CAL= 142.4, 7.4, ROT= 7.6, -7.4 eYgot valid direction response: 04:36:56.0451 LVL= 29248, 32753, 32754, 32755, AGC= 60, IDX= 504, 0.08,-0.399,-2.186,-0.505,-0.802, PHS= 0.505,-1.339, 0.253, RAW= 142.8, 6.8, CAL= 142.4, 7.4, ROT= 7.6, -7.4 mT#Rx 67: Read range and direction messages.u\direction in FSK: [0.982960,0.131155,0.128796]uFpublishing direction and range infoy  쮼?ht?Ḡ?OZ_|?Y A  @r ^A C=  ) I G?i  7> W@ = @  A>) >I  A   *RM?⁖?#M'? c>) I >i  A   checking for new query: numPingsReceived=67, elapsed TxPingTime=34.104866A ؟AI I O >nc&,mY9"?Y"?=EyEEXJ:E>Q 55͙?Q 95mo)BY?Q E:y?>Q Ia@QDI;ic;5yBɮo AE-checking for new query: numPingsReceived=67, elapsed TxPingTime=34.290924i9i=Z3ZLAj=A"j=A:j=5C>"p= wI3@gyul@p?7@p=쮼?ht?Ḡ?OZ_|?*j=>2j= A*p=V!0p2@ZDv5 @3d- @p=?] addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.511045 s, deltaX: -0.400000 m, approachRate: -0.782709 m/s, rangeRepo size: 4 m Added new target pos. range: 19.622168 m, bearing: 10.915453 deg, lat: 36.779422 deg, lon: -121.859651 deg, deltaT: 0.511045 s, deltaX: -0.398418 m, approachRate: -0.779615 m/s, posRepo size: 4 :iq}DNOT Ignoring new targets: 19.62 m.2i"i*i ProNav: ac range: 19.622168 m, nav range: 19.300842 m, bearing: 11.228373 deg, approach rate: 0.000000 m/s, LOS rate: 0.037663 deg/s, cmd heading: 2.767024 deg, new cmd heading: 2.802848 deg. iHeadingCmd: 0.048919 target range: 19.622168 and range: 19.70 m.h6_H=hhhhggjgrgBereZe:e@33@*e?E EE#E"E:*E3:VE3ZEaE@aE@aE@aM@>G/{A=89=/{AYE5A颽dBɢټ) >i)6iSi6_H=a==I 6_H=I  DDAT read: Rx Time:04:36:56.5450  TRx dataTimestamp_ set to:1764909417.302936 PDAT read: Bearing 170.0, 10.8 (Local)  ~Local bearing/azimuth received: Bearing 170.0, 10.8 (Local)  DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.5 1 U DAT read: 04:36:56.5450 LVL= 26656, 32753, 30018, 32755, AGC= 59, IDX= 504,-0.43,-0.647,-2.432,-0.754,-1.077, PHS= 0.532,-1.309, 0.279, RAW= 142.7, 5.8, CAL= 142.3, 6.4, ROT= 7.7, -6.4 ] Ygot valid direction response: 04:36:56.5450 LVL= 26656, 32753, 30018, 32755, AGC= 59, IDX= 504,-0.43,-0.647,-2.432,-0.754,-1.077, PHS= 0.532,-1.309, 0.279, RAW= 142.7, 5.8, CAL= 142.3, 6.4, ROT= 7.7, -6.4 e T#Rx 68: Read range and direction messages.m \direction in FSK: [0.984807,0.133151,0.111469]^A u Fpublishing direction and range infoy  ӟ?] ? -V:?Y A  h  Bu  ) ;I '1?i P َ> e@ 4Q= \@  =) >I 佩   -]?$?*?  >) ϽI >i 佩  = checking for new query: numPingsReceived=68, elapsed TxPingTime=34.587704A I I O >D&,DYZLALvF@v=v[Bٱv;C=vH@?y ) w??`- xA?:??ivF@IvBJ];vCYBy I AbDVD8y7V%>=ٔ%+ Q-%>9!Y!=-Ey-IEm8Em>qQ 5}5uQ?Q 9}5uSn)uBYy?>Q Ia@uXDIu.:iu:u5yBɮ AEB>BB IBɂBB =BBBc;B7EiiNcSZLAjbA"jbA:jF>"p= 3@?ꁰ@(R@pӟ?] ? -V:?*j >2j*pw492@`p @ƥ H @pqh`?@?Z?jk@ jIAi_g`?i q j?Bj_g`?j q jrj%AzjF>u addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.500537 s, deltaX: -0.200001 m, approachRate: -0.399572 m/s, rangeRepo size: 4  Added new target pos. range: 19.422926 m, bearing: 11.083487 deg, lat: 36.779423 deg, lon: -121.859651 deg, deltaT: 0.500537 s, deltaX: -0.199242 m, approachRate: -0.398056 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 19.42 m.2i"i*i ProNav: ac range: 19.422926 m, nav range: 19.143084 m, bearing: 11.083463 deg, approach rate: 0.000000 m/s, LOS rate: 0.037663 deg/s, cmd heading: 2.802848 deg, new cmd heading: 2.837137 deg. iHeadingCmd: 0.049517 target range: 19.422926 and range: 19.50 m.hJ=hhhhggjgrgereZe:e3@*eri?颍fBɢ Ӽ)  >i)顑i$iJ="=ߍ=IJ=Ichecking for new query: numPingsReceived=68, elapsed TxPingTime=34.797947E EE"E"E:*EE7:VE(3ZEBE;a%2E;a%9JER;aE:ES;aMY ^A =} DDAT read: Rx Time:04:36:57.0448 } TRx dataTimestamp_ set to:1764909417.803376 PDAT read: Bearing 169.6, 10.4 (Local)  ~Local bearing/azimuth received: Bearing 169.6, 10.4 (Local)  DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.4  DAT read: 04:36:57.0448 LVL= 23536, 31537, 27122, 32755, AGC= 58, IDX= 501,-0.01,-1.167,-2.946,-1.262,-1.602, PHS= 0.537,-1.299, 0.296, RAW= 143.1, 5.4, CAL= 142.7, 6.0, ROT= 7.3, -6.0  Ygot valid direction response: 04:36:57.0448 LVL= 23536, 31537, 27122, 32755, AGC= 58, IDX= 501,-0.01,-1.167,-2.946,-1.262,-1.602, PHS= 0.537,-1.299, 0.296, RAW= 143.1, 5.4, CAL= 142.7, 6.0, ROT= 7.3, -6.0  T#Rx 69: Read range and direction messages. \direction in FSK: [0.986461,0.126369,0.104528] Fpublishing direction and range infoyy } 5)?0&,?4ޮ`º?Y} Ay } [} 1{} i y )} :I} x ?i} E} P>} @} =} e@ } Pw=)} w>I} Pwֽy y }  +6O?+D$o?ĻK? } >)} 6½I} w>i} Pwֽy y % checking for new query: numPingsReceived=69, elapsed TxPingTime=35.068573ԉ A .AIIO>@]&, xZLA^yC@^:=^Cٱ^=^H ?&cG^??;>u? I??i^yC@I^0H];\YmBym I 4<bDVD8y<%,=ٔ1ZQ->9 ?Y ?=EyNEUE>Q 55?Q 95m)BYy-?>Q Ia@`DI:il: 5yBɮ AEiQiUjsZLAjUA"jUA:jU:?>"pU|2@Z1_U@k+?pU5)?0&,?4ޮ`º?*jUw>2jUPwֽ*pU 2@s @7@pUEF?sn??jU`@ jUYAiU?iU:jUBjQjU jU?BrjU&AzjUE> addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.500440 s, deltaX: -0.299999 m, approachRate: -0.599471 m/s, rangeRepo size: 4  Added new target pos. range: 19.124111 m, bearing: 10.691645 deg, lat: 36.779423 deg, lon: -121.859651 deg, deltaT: 0.500440 s, deltaX: -0.298815 m, approachRate: -0.597104 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 19.12 m.2i"i*i  ProNav: ac range: 19.124111 m, nav range: 18.893824 m, bearing: 11.074302 deg, approach rate: 0.000000 m/s, LOS rate: 0.037663 deg/s, cmd heading: 2.837137 deg, new cmd heading: 2.875328 deg. i  HeadingCmd: 0.050184 target range: 19.124111 and range: 19.20 m.1}checking for new query: numPingsReceived=69, elapsed TxPingTime=35.298931hM=hyhyhyhyggjgrgereZe:e@333@*ee?jBɢ؄ܼ) >i)iݜi-M=-Ʀ=-=I-M=I1DzDbE3jEƨ3rEd/E E}E$E"E:*Ek&:VE4ZEa@a@a@a@a^AU G)=ԑ A I I O >Ew&,8ZLA2=@2@։=2fE:DDAT read: Rx Time:04:36:57.5446 :TRx dataTimestamp_ set to:1764909418.307241BPDAT read: Bearing 169.6, 10.1 (Local) B~Local bearing/azimuth received: Bearing 169.6, 10.1 (Local) JDAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.5 ^DAT read: 04:36:57.5446 LVL= 26144, 32753, 32754, 32755, AGC= 59, IDX= 499, 0.31, 0.725,-1.061, 0.642, 0.296, PHS= 0.531,-1.311, 0.303, RAW= 143.5, 5.5, CAL= 143.1, 6.1, ROT= 6.9, -6.1 bYgot valid direction response: 04:36:57.5446 LVL= 26144, 32753, 32754, 32755, AGC= 59, IDX= 499, 0.31, 0.725,-1.061, 0.642, 0.296, PHS= 0.531,-1.311, 0.303, RAW= 143.5, 5.5, CAL= 143.1, 6.1, ROT= 6.9, -6.1 bT#Rx 70: Read range and direction messages.f\direction in FSK: [0.987136,0.119457,0.106264]fFpublishing direction and range infoy8:iڞ?b?O4?Y:3A8: f:: 8):;I:?i:Χ:">:J @: =: @ :^ =):Ϣ=I:^ ڽ88:Zތ6?wa?dH/? :>):ŽI:Ϣ=i:^ ڽ88~checking for new query: numPingsReceived=70, elapsed TxPingTime=35.568794ٱ2c=2H?`8JS2?'?@ `Y?>?s?i2=@I20];2CYBy IiMb@Mb@Mb@ 9v?Q?Mb`?Y>yu=;d@5 A A)YAbDVD8y ;%.=ٔ5wQ->9Y=EyREټE>Q 55?Q 95l)BY5>Q E5:y=B>Q I=a@gDIL"p:m8H2@ "@T@p:iڞ?b?O4?*j:Ϣ=2j:^ ڽ*p:G QwF2@Dl @D@p:_?}t?/x?j:`S@ j:3Ai: ?i:Q j:Bj8j:5gfj8rj:?Azj:fB>)= addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503865 s, deltaX: -0.300001 m, approachRate: -0.595400 m/s, rangeRepo size: 4 M Added new target pos. range: 18.825296 m, bearing: 10.244169 deg, lat: 36.779423 deg, lon: -121.859652 deg, deltaT: 0.503865 s, deltaX: -0.298815 m, approachRate: -0.593045 m/s, posRepo size: 4 :iimDNOT Ignoring new targets: 18.83 m.2ii"iq*iq ProNav: ac range: 18.825296 m, nav range: 18.656242 m, bearing: 10.877365 deg, approach rate: 0.000000 m/s, LOS rate: 0.037663 deg/s, cmd heading: 2.875328 deg, new cmd heading: 2.908740 deg. iHeadingCmd: 0.050767 target range: 18.825296 and range: 18.90 m.h'O=hhhhggjgrgBereZe:e`f2@*e@.?B)B)B- IB-ӂBB)B)B)B-d;B)mmBɢmY/Ӽ)i m>ii)uqqiub i}'O=}ɦ=}Q5=I}'O=Iy%checking for new query: numPingsReceived=70, elapsed TxPingTime=35.802830Y^Au =A zA zAEe  Ee Ea Ea "Ee :*Ee P:VEa ZEa BEe ; &, MZLA6;@6F=6ǾFٱ6=6H?")"[ ?`5? Zը?F???i6;@I6\;6CYBByB IbDJVDJl8yRӻ%Rt=ٔVUcQ-V?9V"?YZ"?=ZEyZVEZ2WEZ?\Q 5b5^?Q 9b5^4k)^BYdyfA>Q Ifa@^lDI^:i^P:^5yj Bɮj AnEzB*** querying acoustic contact ***ixix:iDNOT Ignoring new targets: 18.83 m.2i"i ֋7*i ֋7 ProNav: ac range: 18.825296 m, nav range: 18.495565 m, bearing: 10.877647 deg, approach rate: -0.538233 m/s, LOS rate: 0.000955 deg/s, cmd heading: 2.908740 deg, new cmd heading: 2.909310 deg. i7%HeadingCmd: 0.050777 target range: 18.825296 and range: 18.90 m.h%O=h!h!h!h!g)g)jg)rg1e1re1Ze1:e1*e=)?eoBɢe~wļ)a e >iiԉ) 5  i !iO==̦=M=IO=IDDAT read: Rx Time:04:36:58.0444 TRx dataTimestamp_ set to:1764909418.812812PDAT read: Bearing 169.9, 10.5 (Local) ~Local bearing/azimuth received: Bearing 169.9, 10.5 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4  DAT read: 04:36:58.0444 LVL= 24256, 30241, 27378, 32755, AGC= 58, IDX= 497,-0.17,-2.933, 1.583,-3.027, 2.930, PHS= 0.522,-1.302, 0.282, RAW= 143.0, 5.9, CAL= 142.7, 6.5, ROT= 7.3, -6.5 Ygot valid direction response: 04:36:58.0444 LVL= 24256, 30241, 27378, 32755, AGC= 58, IDX= 497,-0.17,-2.933, 1.583,-3.027, 2.930, PHS= 0.522,-1.302, 0.282, RAW= 143.0, 5.9, CAL= 142.7, 6.5, ROT= 7.3, -6.5 T#Rx 71: Read range and direction messages.%\direction in FSK: [0.985518,0.126248,0.113203]%Fpublishing direction and range infoy"]?(?5?YfA^!vj ):Iˡ?i𧦿Nb>@B=e@ V=)w>IV轩GtJ?c2GI?U? *>)HSѽIw>iV轩Mchecking for new query: numPingsReceived=71, elapsed TxPingTime=36.074696^AM}=ԹA.AIIOD>m checking for new query: numPingsReceived=71, elapsed TxPingTime=36.308296 x&,&ZLAE EE%E"E:*EF:VE 4ZEa2@a2@a2@a6@5:@5=5WGٱ5@=5H? $ȥ>?`?PH`? y??i5:@I5\;5CYuByu IiMb@Mb@Mb@ 9x&1?:v?Mb`?YA?yT= A)YAY]AAbD]޿VD]8ym$%m1=ٔuQ-u>9u ?Y} ?=}Ey}ZE}GE}>Q 55(?Q 95,j)BY?Q E:y->Q Ia@tDI ;i;5yɮ AiiZLAjΕA"jΕA:j*=>"p0Zt2@b̠@_]@p"]?(?5?*jw>2jV*pزL4"2@жm @r׭V @pF_B?X+)?:\vF?jX@ jAi+' ?i! jBjj:jBrjAzjqA?> addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.505571 s, deltaX: -0.100000 m, approachRate: -0.197797 m/s, rangeRepo size: 4  Added new target pos. range: 18.725679 m, bearing: 10.584424 deg, lat: 36.779423 deg, lon: -121.859653 deg, deltaT: 0.505571 s, deltaX: -0.099617 m, approachRate: -0.197039 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 18.73 m.2i"i *i  ProNav: ac range: 18.725679 m, nav range: 18.251961 m, bearing: 10.701309 deg, approach rate: 0.000000 m/s, LOS rate: 0.000955 deg/s, cmd heading: 2.909310 deg, new cmd heading: 2.910199 deg. iHeadingCmd: 0.050793 target range: 18.725679 and range: 18.80 m.h P=h!h!h!h!g!g!jg)rg-Be)re1Ze1:e52@*e5?erBɢe/)i m=ii)miiimL#iu P=uЦ=u=I} P=Iy!DDAT read: Rx Time:04:36:58.5443 TRx dataTimestamp_ set to:1764909419.315584PDAT read: Bearing 183.3, 15.9 (Local) ~Local bearing/azimuth received: Bearing 183.3, 15.9 (Local) DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.4  DAT read: 04:36:58.5443 LVL= 28784, 32753, 32578, 32755, AGC= 59, IDX= 512, 0.10, 0.552,-0.842, 0.398, 0.490, PHS= 0.164,-1.287,-0.135, RAW= 138.7, 18.5, CAL= 137.6, 19.7, ROT= 12.4, -19.7 Ygot valid direction response: 04:36:58.5443 LVL= 28784, 32753, 32578, 32755, AGC= 59, IDX= 512, 0.10, 0.552,-0.842, 0.398, 0.490, PHS= 0.164,-1.287,-0.135, RAW= 138.7, 18.5, CAL= 137.6, 19.7, ROT= 12.4, -19.7 T#Rx 72: Read range and direction messages.\direction in FSK: [0.919508,0.202167,0.337095]Fpublishing direction and range infoy-Oll?U|?M?Y̔AppB );I'>ijq= @MQ>`@ x >)k]>Ix 9;9?vCԀ?lsV? >)Ik]>ix Echecking for new query: numPingsReceived=72, elapsed TxPingTime=36.575497^A-=c=QA] ؟AIa Iq O >q Bi Bi Bm IBm ؂BBm =Bi Bi Bm i;Bm 7EB?CB?CB˓CBB =CK5&,ZLA6u2@6=6 Hٱ6=6Hg?㱿,ְ?`?0?c??i6u2@I6Ҽ\;6CYBByB IbDJοVDJ~8yR=%Rm=ٔVCQ-V?9V"?YV"?=VEyZ^EZ<>EZ?\Q 5b5^t6?Q 9b5^hi)^BYdyf,>Q Ifa@^yDI^:i^:^5yjBɮj Ahii2ZLAj6A"j6A:jB>>"pa" 1@ @&(@p-Oll?U|?M?*jk]>2jx *pFLgr0@Ib@pK@p&>#h??zdP?Gcz?jۈ@ jAi?ibbjrBjjjrjAzjn?>%checking for new query: numPingsReceived=72, elapsed TxPingTime=36.810955- addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.502772 s, deltaX: -0.199999 m, approachRate: -0.397792 m/s, rangeRepo size: 4 E Added new target pos. range: 18.526514 m, bearing: 14.574972 deg, lat: 36.779423 deg, lon: -121.859653 deg, deltaT: 0.502772 s, deltaX: -0.199165 m, approachRate: -0.396135 m/s, posRepo size: 4 :iAEDNOT Ignoring new targets: 18.53 m.2iA"iI*iI] ProNav: ac range: 18.526514 m, nav range: 18.078814 m, bearing: 10.711186 deg, approach rate: 0.000000 m/s, LOS rate: 0.000955 deg/s, cmd heading: 2.910199 deg, new cmd heading: 2.910860 deg. iYeHeadingCmd: 0.050804 target range: 18.526514 and range: 18.60 m.heP=hahahahagigijgirgieireqZeq:eu2@*eu ?颥tBɢ ּ) =i)p顩ia $iP=Ҧ=,=IP=IQEM EMEM$EI"EM[:*EM?:VEM4ZEIBEMDDAT read: Rx Time:04:36:59.0440 TRx dataTimestamp_ set to:1764909419.819262PDAT read: Bearing 170.1, 10.1 (Local) ~Local bearing/azimuth received: Bearing 170.1, 10.1 (Local) DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.4  DAT read: 04:36:59.0440 LVL= 28208, 32753, 32114, 32755, AGC= 59, IDX= 509, 0.49,-0.621,-2.389,-0.699,-1.028, PHS= 0.508,-1.317, 0.284, RAW= 143.5, 6.1, CAL= 143.1, 6.7, ROT= 6.9, -6.7 % Ygot valid direction response: 04:36:59.0440 LVL= 28208, 32753, 32114, 32755, AGC= 59, IDX= 509, 0.49,-0.621,-2.389,-0.699,-1.028, PHS= 0.508,-1.317, 0.284, RAW= 143.5, 6.1, CAL= 143.1, 6.7, ROT= 6.9, -6.7 % T#Rx 73: Read range and direction messages.- \direction in FSK: [0.985977,0.119316,0.116671]5 Fpublishing direction and range infoy] ?rȿ?mu"޽?YA0nr} )IJ ?iush>J @^ = @ |=)Ϣ=I|ゥZ,+?i?WQig? X>)Ԩ۽IϢ=i|ゥM checking for new query: numPingsReceived=73, elapsed TxPingTime=37.078381Q 6@&,ZLA:2,@:h=:xJٱ:l2=:H?7@ݤ? ?DlL?w?W?i:2,@I:\;:CYRByR IbDZտVDZ8ybbP;%bH=ٔbQ-f>9dYd=fEyfbEjEj>lQ 5r5n~G?Q 9r5nh)nBYpyr ,>Q Iva@nDIn:in~:n~5yxɮz Axi i nZLAj A"j A:j y3>"p `W`1@*M@ƶ@p ] ?rȿ?mu"޽?*j Ϣ=2j |*p a@31@cG@%d( k @p }F?X?R,o?j G@ j Ai P?i j=vj Bj ?j ! j Brj Azj ?>E addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503678 s, deltaX: -0.400000 m, approachRate: -0.794157 m/s, rangeRepo size: 4 U Added new target pos. range: 18.128094 m, bearing: 10.065508 deg, lat: 36.779423 deg, lon: -121.859653 deg, deltaT: 0.503678 s, deltaX: -0.398420 m, approachRate: -0.791022 m/s, posRepo size: 4 :iQ]DNOT Ignoring new targets: 18.13 m.2iY"iY*iYm ProNav: ac range: 18.128094 m, nav range: 17.875099 m, bearing: 10.720599 deg, approach rate: 0.000000 m/s, LOS rate: 0.000955 deg/s, cmd heading: 2.910860 deg, new cmd heading: 2.911637 deg. iiuHeadingCmd: 0.050818 target range: 18.128094 and range: 18.20 m.hu*&P=hqhqhyhyggjgrgereZe:e@332@*e`?vBɢI޼) ,=i) i=%i*&P=զ=,=I*&P=I &Changing to mode: 2Qi)I)5checking for new query: numPingsReceived=73, elapsed TxPingTime=37.315140e@i @m@m0@i@q@uyAE] E]E]&EY"E]:y*E]E7:VE]4ZEYa@a@a@a@^Am =ԩ A I I O > DDAT read: Rx Time:04:36:59.5440  TRx dataTimestamp_ set to:1764909420.323384 PDAT read: Bearing 169.6, 10.1 (Local)  ~Local bearing/azimuth received: Bearing 169.6, 10.1 (Local)  DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.4 - DAT read: 04:36:59.5440 LVL= 26672, 32753, 31826, 32755, AGC= 58, IDX= 509,-0.06,-0.830,-2.588,-0.908,-1.244, PHS= 0.516,-1.299, 0.292, RAW= 143.5, 5.8, CAL= 143.1, 6.4, ROT= 6.9, -6.4 5 Ygot valid direction response: 04:36:59.5440 LVL= 26672, 32753, 31826, 32755, AGC= 58, IDX= 509,-0.06,-0.830,-2.588,-0.908,-1.244, PHS= 0.516,-1.299, 0.292, RAW= 143.5, 5.8, CAL= 143.1, 6.4, ROT= 6.9, -6.4 '&,<[LAT#Rx 74: Read range and direction messages.\direction in FSK: [0.986570,0.119388,0.111469]Fpublishing direction and range infoyI7?r8? -V:?Y0hR| ):I?iE>4Q= =)I佩7(H=2?y'9d?dV˹? >)GνIi佩>checking for new query: numPingsReceived=74, elapsed TxPingTime=37.597031@-A+@-,=-TKٱ-r=-H?XM`P?@1?#u@g?Ƨ??i-A+@I-];-CYBy IԱiMb@Mb@Mb@ 9"~j?Q?~jtxYS?y\=ĻM@ A A)jAY\A p<4<bDVD8y ];%  =ٔ,׹Q->9Y=EygEkE>!Q 5M5%r]?Q 9M5%g)%BYU?Q EU:yU1 >Q IUa@%DI%;i%;%"5y]Bɮ]A]EiiS[LAj"j:j"4>"pD%w1@ܲqP@n*@pI7?r8? -V:?*j2j*pV1@[ @Y9<׶@pDFY ?C??jH@ jAis}'?ij[jBjP?jQ jrjAzjQo7>B B B  IB ݂BB B B B s;B 7EM addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504122 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 18.128094 m, bearing: 10.079113 deg, lat: 36.779423 deg, lon: -121.859654 deg, deltaT: 0.504122 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :iY]DNOT Ignoring new targets: 18.13 m.2iY"i*i ProNav: ac range: 18.128094 m, nav range: 17.593801 m, bearing: 10.263713 deg, approach rate: 0.000000 m/s, LOS rate: 0.000955 deg/s, cmd heading: 2.911637 deg, new cmd heading: 2.912637 deg. iHeadingCmd: 0.050835 target range: 18.128094 and range: 18.20 m.hy8P=hhhhggjgrgBereZe:e*e`?yBɢ=)9 ==iA)E3AAiE0&iMy8P=M٦=IIMy8P=IQEchecking for new query: numPingsReceived=74, elapsed TxPingTime=37.820072@! @!@%O5@)Em  Em Em $Ei "Em %:*Em H:VEm 4ZEi BEm ;a 2Em ;a JEm ;a :Em ;a  ^Au V=1 AIIO>Ҏ&,4[LADDAT read: Rx Time:04:37:00.0437 TRx dataTimestamp_ set to:1764909420.827432PDAT read: Bearing 170.7, 10.0 (Local) ~Local bearing/azimuth received: Bearing 170.7, 10.0 (Local) "DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.4 6DAT read: 04:37:00.0437 LVL= 30864, 32753, 32754, 32755, AGC= 59, IDX= 506, 0.19,-0.639,-2.407,-0.711,-1.021, PHS= 0.484,-1.342, 0.266, RAW= 143.7, 6.9, CAL= 143.3, 7.6, ROT= 6.7, -7.6 :Ygot valid direction response: 04:37:00.0437 LVL= 30864, 32753, 32754, 32755, AGC= 59, IDX= 506, 0.19,-0.639,-2.407,-0.711,-1.021, PHS= 0.484,-1.342, 0.266, RAW= 143.7, 6.9, CAL= 143.3, 7.6, ROT= 6.7, -7.6 NT#Rx 75: Read range and direction messages.R\direction in FSK: [0.984446,0.115646,0.132256]RFpublishing direction and range infoyKG?ǰM?) ?YAx );I>iƫ'1> @Ϣ=Q @ >)|=Iv{Z3?(\??&]˾? >)I|=ichecking for new query: numPingsReceived=75, elapsed TxPingTime=38.100266e8)@e@=e]{Kٱeh=eH?@=2V@?@^?Zq l? ?`?ie8)@Iew\;aԉY By  IbD%VD%8y] %]>=ٔQ->9Y=EylECE>Q 558p?Q 95f)BYy>Q I a@DIC"pU[1@3ՍO@iM@pKG?ǰM?) ?*j|=2j*p0gGS1@Gpz@|~ @pc0;?HtTN?j-Hyh?j;@ jrAiq} ?i橛jhBjjj[jBrjAzj7> addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504048 s, deltaX: -0.500000 m, approachRate: -0.991969 m/s, rangeRepo size: 4  Added new target pos. range: 17.630074 m, bearing: 9.762488 deg, lat: 36.779423 deg, lon: -121.859654 deg, deltaT: 0.504048 s, deltaX: -0.498020 m, approachRate: -0.988041 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 17.63 m.2i"i*i= ProNav: ac range: 17.630074 m, nav range: 17.367701 m, bearing: 10.269127 deg, approach rate: 0.000000 m/s, LOS rate: 0.000955 deg/s, cmd heading: 2.912637 deg, new cmd heading: 2.913488 deg. iAEHeadingCmd: 0.050850 target range: 17.630074 and range: 17.70 m.hM HP=hIhIhIhIgIgIjgQrgQeQreQZeY:e]@31@*e}e?Թ|Bɢ) =i)0i0'i HP=!ݦ=ĺ=I HP=I@ @@0@checking for new query: numPingsReceived=75, elapsed TxPingTime=38.322914E  E E "E "E :*E *5:VE (3ZE a5 @a5 @a5 @a= @^A ˺= A I I O >&,XO[LAYBy II<)4<%=%=QiMb@Mb@Mb@ 9'1Z??~jtxY?y< @A A)@YfAbDVD8y7R=%F=ٔ Q- >9 Y =EypEE>Q 5%5?Q 9%5,f)BY%?Q E-:y-=Q I-a@DI;i ;S*5y1ɮ5A1UB*** querying acoustic contact ***iQiQ:iYeDNOT Ignoring new targets: 17.63 m.2ia"ie;*im;} ProNav: ac range: 17.630074 m, nav range: 17.161131 m, bearing: 10.313798 deg, approach rate: -0.542126 m/s, LOS rate: 0.118647 deg/s, cmd heading: 2.913488 deg, new cmd heading: 3.003906 deg. i}#Y;}HeadingCmd: 0.052428 target range: 17.630074 and range: 17.70 m.h˾V=hhhhggDDAT read: Rx Time:04:37:00.5436 TRx dataTimestamp_ set to:1764909421.331447PDAT read: Bearing 170.1, 10.3 (Local) ~Local bearing/azimuth received: Bearing 170.1, 10.3 (Local) DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.4 DAT read: 04:37:00.5436 LVL= 29344, 32753, 32754, 32755, AGC= 57, IDX= 506,-0.30,-1.700, 2.824,-1.779,-2.096, PHS= 0.498,-1.318, 0.273, RAW= 143.5, 6.4, CAL= 143.1, 7.1, ROT= 6.9, -7.1 %Ygot valid direction response: 04:37:00.5436 LVL= 29344, 32753, 32754, 32755, AGC= 57, IDX= 506,-0.30,-1.700, 2.824,-1.779,-2.096, PHS= 0.498,-1.318, 0.273, RAW= 143.5, 6.4, CAL= 143.1, 7.1, ROT= 6.9, -7.1 -T#Rx 76: Read range and direction messages.5\direction in FSK: [0.985145,0.119216,0.123601]5Fpublishing direction and range infoyH8lN?NEꄾ?A7X?Y̌Ar )9I>i9Ƌ>J @= @ =)Ϣ=IjgIrgMmBeIreIZeI:eU1@*eU B#?,*?ROU?'X? H>)IϢ=imchecking for new query: numPingsReceived=76, elapsed TxPingTime=38.603069额~BɢKnټ) =i)i))i˾V=ߦ=)=I˾V=Iԑy@y @y@}0@@@@@ԩBBBBBBBBr;B7Ee checking for new query: numPingsReceived=76, elapsed TxPingTime=38.830650 A I I O >Em  Em Ei Ei "Em :*Em [:VEi ZEi BEm ] 9pYp=rEyrtEvٻEv>xQ 5~5z?Q 9~5ze)zBY|y~=Q Ia@zDIz;iz;z-5y Bɮ >AEqiim6U[LAj>A"j>A:ja0>"p+YHB!E1@b@ /U@pH8lN?NEꄾ?A7X?*jϢ=2j*p'0@Ұ@FH @pH&|?D?){l?j =@ jՇAi\(?i6j Bjjj=vj BrjAzjv6>] addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504015 s, deltaX: -0.100000 m, approachRate: -0.198408 m/s, rangeRepo size: 4 m Added new target pos. range: 17.530457 m, bearing: 9.869058 deg, lat: 36.779423 deg, lon: -121.859655 deg, deltaT: 0.504015 s, deltaX: -0.099617 m, approachRate: -0.197647 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 17.53 m.2i"i*i ProNav: ac range: 17.530457 m, nav range: 16.963081 m, bearing: 10.218064 deg, approach rate: 0.000000 m/s, LOS rate: 0.118647 deg/s, cmd heading: 3.003906 deg, new cmd heading: 3.101219 deg. iHeadingCmd: 0.054126 target range: 17.530457 and range: 17.60 m.h]=hhhhggjgrgereZe:e*e?颭Bɢt) =i)z顱i_*i]=g=-{=I]=IԩmDDAT read: Rx Time:04:37:01.0434 uTRx dataTimestamp_ set to:1764909421.836475PDAT read: Bearing 170.1, 10.0 (Local) ~Local bearing/azimuth received: Bearing 170.1, 10.0 (Local) DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.4 DAT read: 04:37:01.0434 LVL= 30000, 32753, 32754, 32755, AGC= 57, IDX= 503, 0.02,-1.556, 2.966,-1.623,-1.945, PHS= 0.491,-1.327, 0.277, RAW= 143.8, 6.5, CAL= 143.4, 7.2, ROT= 6.6, -7.2 @ @@0@A>A>%Ygot valid direction response: 04:37:01.0434 LVL= 30000, 32753, 32754, 32755, AGC= 57, IDX= 503, 0.02,-1.556, 2.966,-1.623,-1.945, PHS= 0.491,-1.327, 0.277, RAW= 143.8, 6.5, CAL= 143.4, 7.2, ROT= 6.6, -7.2 %T#Rx 77: Read range and direction messages.M\direction in FSK: [0.985540,0.114031,0.125333]Fpublishing direction and range infoyquo?[1?cK ?YufAqu0uqq q)qIuZd>iu#۩uҍ>uK @uV=u- @ u>)u=IuqquZ`?`̖3?#4? u>)u])Iu=iuqqchecking for new query: numPingsReceived=77, elapsed TxPingTime=39.121487A5.AI9IIO]> &,[LArchecking for new query: numPingsReceived=77, elapsed TxPingTime=39.333359  G{A!5l9{AY[hADzDE E}E$E"E,:*Ek&:VE4ZEa@a@a@a@=$ @=z==D4Oٱ=C==H`0?򽰿`J?? K?h??i=$ @I="\;=CYmBym Ii-Mb@Mb@Mb@)))) )9-w/?Mb?MbY-?y-<-)- A -fA)-@)Y-AbDEVDE8yU<%U=ٔ]=Q-]>9] ?Ye ?=eEyeyEeiEe>iQ 5u5mw?Q 9u5md)m BY}?Q E}:y}=Q Ia@mDImG;im)G;m25yɮAiiΈu[LAjډA"jډA:j)>"p%]0@+Ccp?NG@po?[1?cK ?*j=2j*p#0@WRZ@t|up @ptƙ?'&?YIg?j2@ jAi (?iqjBjs}'?j6jBrjAzj@1> addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.505028 s, deltaX: -0.300001 m, approachRate: -0.594029 m/s, rangeRepo size: 4 E Added new target pos. range: 17.231642 m, bearing: 9.497279 deg, lat: 36.779425 deg, lon: -121.859655 deg, deltaT: 0.505028 s, deltaX: -0.298815 m, approachRate: -0.591680 m/s, posRepo size: 4 :iAMDNOT Ignoring new targets: 17.23 m.2iI"iI*iI ProNav: ac range: 17.231642 m, nav range: 16.951891 m, bearing: 9.948307 deg, approach rate: 0.000000 m/s, LOS rate: 0.118647 deg/s, cmd heading: 3.101219 deg, new cmd heading: 3.223092 deg. i HeadingCmd: 0.056254 target range: 17.231642 and range: 17.30 m.h&jf=hhhhggjgrguBereZe:eL1@*edr?Bɢ'/) =i) i ,i&jf==Th=I&jf=I)5>i5>uDDAT read: Rx Time:04:37:01.5432 uTRx dataTimestamp_ set to:1764909422.339512PDAT read: Bearing 168.9, 9.9 (Local) ~Local bearing/azimuth received: Bearing 168.9, 9.9 (Local) DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4 DAT read: 04:37:01.5432 LVL= 26896, 32753, 32130, 32755, AGC= 56, IDX= 501, 0.37,-0.956,-2.716,-1.020,-1.371, PHS= 0.518,-1.300, 0.307, RAW= 143.9, 5.6, CAL= 143.5, 6.1, ROT= 6.5, -6.1 Ygot valid direction response: 04:37:01.5432 LVL= 26896, 32753, 32130, 32755, AGC= 56, IDX= 501, 0.37,-0.956,-2.716,-1.020,-1.371, PHS= 0.518,-1.300, 0.307, RAW= 143.9, 5.6, CAL= 143.5, 6.1, ROT= 6.5, -6.1 T#Rx 78: Read range and direction messages. \direction in FSK: [0.987946,0.112562,0.106264] Fpublishing direction and range infoyqulWA?h^*м?O4?YuAquiqu} q)u8Iu?iuffu/>u @u+=uJ @ u^ =)uV=Iu^ ڽ @  @ @ 2@ qquYڣ?oʿ?Bܲfظ? u>)unǽIuV=iu^ ڽqq5 checking for new query: numPingsReceived=78, elapsed TxPingTime=39.633488Q Am ؟AIy I O >N@&,i[LAf @fz=fDOٱf==fH3?`uD???.Ƕ??if @If\;fCYBy I  BBBBBBBBN;B7EbD=VD=8yM%u=ٔuLQ-} ?9}"?Y}"?=}Ey}|E%E ?Q 5 5?Q 95d)BYy =Q Ia@DIt"pe-wC0@%~?t?%?pelWA?h^*м?O4?*jeV=2je^ ڽ*pekx0@@Tiq@peZl ?5 addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503037 s, deltaX: -0.299999 m, approachRate: -0.596376 m/s, rangeRepo size: 4 E Added new target pos. range: 16.932838 m, bearing: 9.480432 deg, lat: 36.779425 deg, lon: -121.859656 deg, deltaT: 0.503037 s, deltaX: -0.298803 m, approachRate: -0.593999 m/s, posRepo size: 4 :iaeDNOT Ignoring new targets: 16.93 m.2ia"ii*ii} ProNav: ac range: 16.932838 m, nav range: 16.774103 m, bearing: 9.777877 deg, approach rate: 0.000000 m/s, LOS rate: 0.118647 deg/s, cmd heading: 3.223092 deg, new cmd heading: 3.301523 deg. iychecking for new query: numPingsReceived=78, elapsed TxPingTime=39.834969HeadingCmd: 0.057622 target range: 16.932838 and range: 17.00 m.hl=hhhhggjgrgereZe:e1@*e?!E EE"E"E:*E=:VE(3ZEBE; = DDAT read: Rx Time:04:37:02.0430 E TRx dataTimestamp_ set to:1764909422.843408M PDAT read: Bearing 169.1, 10.3 (Local) M ~Local bearing/azimuth received: Bearing 169.1, 10.3 (Local) ] DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.4 q  DAT read: 04:37:02.0430 LVL= 23280, 30417, 26866, 32755, AGC= 55, IDX= 499,-0.13, 2.027, 0.266, 1.950, 1.615, PHS= 0.513,-1.304, 0.291, RAW= 143.6, 5.9, CAL= 143.1, 6.5, ROT= 6.9, -6.5  Ygot valid direction response: 04:37:02.0430 LVL= 23280, 30417, 26866, 32755, AGC= 55, IDX= 499,-0.13, 2.027, 0.266, 1.950, 1.615, PHS= 0.513,-1.304, 0.291, RAW= 143.6, 5.9, CAL= 143.1, 6.5, ROT= 6.9, -6.5  T#Rx 79: Read range and direction messages. \direction in FSK: [0.986376,0.119365,0.113203] Fpublishing direction and range infoyA E 4c?шg?5?YE AA E ZE vE h A )E 7IE S?iE y馿E >E g @E B=E @ E V=)E Ϣ=IE V轩A A E I-?Q u?&p8? E >)E #ҽIE Ϣ=iE V轩A A  checking for new query: numPingsReceived=79, elapsed TxPingTime=40.104061\e&,/[LA:@:x=:Oٱ:2=:H}?`@? ?⛷`?׶??i:@I:E];:CYBy I 4<p;bDVDư8y<%F=ٔ3Q->9Y=EyEʺE>Q 55Ț?Q 95d)BYy=Q Ia@DIg:i:~85yɮ5AQiyi}f[LAj}A"j}A:j}T/>"p}AxAKh0@ư? =) ?p}4c?шg?5?*j}Ϣ=2j}V*p}Ϫ $0@zT@i @p}6F0?b[z?+?j}2@ j}$Ai}?i}Jj}Bj}t"?j}Jjyrj}Azj} '.> addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.503896 s, deltaX: -0.299999 m, approachRate: -0.595359 m/s, rangeRepo size: 4  Added new target pos. range: 16.634024 m, bearing: 9.810322 deg, lat: 36.779425 deg, lon: -121.859657 deg, deltaT: 0.503896 s, deltaX: -0.298815 m, approachRate: -0.593009 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 16.63 m.2i"i*i% ProNav: ac range: 16.634024 m, nav range: 16.492399 m, bearing: 9.744339 deg, approach rate: 0.000000 m/s, LOS rate: 0.118647 deg/s, cmd heading: 3.301522 deg, new cmd heading: 3.393380 deg. i!-HeadingCmd: 0.059226 target range: 16.634024 and range: 16.70 m.h-r=h)h)hIhIgQgQjgQrgQeYreYZeY:e]@30@*e]z?Bɢڼ) =i)a it&.ir==$=Ir=I@ @@45@checking for new query: numPingsReceived=79, elapsed TxPingTime=40.339863D=Dp=bEe4jEec3rEeA/E EzE#E"E:*E :VE3ZEa@a@a@a@^A =A I I O > L&,S [LAYǂBy IiMb@Mb@Mb@ 9~jt?~jth?MbpY?yD;A A)@Y=AbDVDİ8yV=%F=ٔQ->9Y=EyEE>Q 55pښ?DDAT read: Rx Time:04:37:02.5429 TRx dataTimestamp_ set to:1764909423.347505PDAT read: Bearing 168.5, 10.3 (Local) ~Local bearing/azimuth received: Bearing 168.5, 10.3 (Local) %DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 MDAT read: 04:37:02.5429 LVL= 25072, 31281, 28706, 32755, AGC= 55, IDX= 498, 0.15,-1.654, 2.864,-1.730,-2.079, PHS= 0.527,-1.295, 0.305, RAW= 143.6, 5.4, CAL= 143.2, 6.0, ROT= 6.8, -6.0 UYgot valid direction response: 04:37:02.5429 LVL= 25072, 31281, 28706, 32755, AGC= 55, IDX= 498, 0.15,-1.654, 2.864,-1.730,-2.079, PHS= 0.527,-1.295, 0.305, RAW= 143.6, 5.4, CAL= 143.2, 6.0, ROT= 6.8, -6.0 UT#Rx 80: Read range and direction messages.]\direction in FSK: [0.987526,0.117755,0.104528]]Fpublishing direction and range infoyE=ϙ?w6%?4ޮ`º?YAa1z"p )Iy?i¥(>=@ Pw=)=IPwֽQ 9u5c)BYu?Q Eu:yu@=Q I}a@DID) ½I=iPwֽchecking for new query: numPingsReceived=80, elapsed TxPingTime=40.611008ii=[LAjzA"jzA:j{K.>"p;}:0@x?Z݊|?pE=ϙ?w6%?4ޮ`º?*j=2jPwֽ*ph /@&O@ 7@pDG?LV#b?\ j?j/@ jAiK?i,jj0Bjj,jjBrj8Azj-> addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.504097 s, deltaX: -0.200001 m, approachRate: -0.396751 m/s, rangeRepo size: 4 1U Added new target pos. range: 16.434814 m, bearing: 9.752304 deg, lat: 36.779425 deg, lon: -121.859657 deg, deltaT: 0.504097 s, deltaX: -0.199209 m, approachRate: -0.395180 m/s, posRepo size: 4 :iY]DNOT Ignoring new targets: 16.43 m.2ia"ii*iqU ProNav: ac range: 16.434814 m, nav range: 16.277559 m, bearing: 9.711970 deg, approach rate: 0.000000 m/s, LOS rate: 0.118647 deg/s, cmd heading: 3.393380 deg, new cmd heading: 3.490476 deg. iQ]HeadingCmd: 0.060920 target range: 16.434814 and range: 16.50 m.h]y=hYhYhYhYgYgYjgargaereZe :e 0@*e \?uBɢuؼ)y }=iy)} i/iy==Z=Iy=IYB!B!B% IB%BB!B!B!B%T;B%7EU@Y @]@]_0@Y^A5\=ԙ  DDAT read: Rx Time:04:37:03.0426  TRx dataTimestamp_ set to:1764909423.603371 PDAT read: Bearing 170.3, 10.8 (Local)  ~Local bearing/azimuth received: Bearing 170.3, 10.8 (Local)  checking for new query: numPingsReceived=80, elapsed TxPingTime=40.855392A I I O >E  E E &E "E *E 3:VE 4ZE BE 91YY=]Ey]E]zEe>aQ 5m5eI뚊?Q 9u5eKc)eBYqyu7=Q Iua@eDIe;ie;eo?5yɮAB*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 16.43 m.2i"ie;*ie; ProNav: ac range: 16.434814 m, nav range: 16.078299 m, bearing: 9.786069 deg, approach rate: -0.534059 m/s, LOS rate: 0.201061 deg/s, cmd heading: 3.490476 deg, new cmd heading: 3.640510 deg. i;%HeadingCmd: 0.063539 target range: 16.434814 and range: 16.50 m.h% =h!h)h)h)g)g)jg1rg1eQreQZeY:eY*e] K?颥Bɢ|ļ) >i)  i0i ==:=I =Iԉ@ @@L5@==DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.4 ]DAT read: 04:37:03.0426 LVL= 29312, 32753, 32754, 32755, AGC= 57, IDX= 496,-0.44, 2.805, 1.019, 2.714, 2.420, PHS= 0.487,-1.355, 0.250, RAW= 143.2, 7.2, CAL= 142.8, 7.9, ROT= 7.2, -7.9 }Ygot valid direction response: 04:37:03.0426 LVL= 29312, 32753, 32754, 32755, AGC= 57, IDX= 496,-0.44, 2.805, 1.019, 2.714, 2.420, PHS= 0.487,-1.355, 0.250, RAW= 143.2, 7.2, CAL= 142.8, 7.9, ROT= 7.2, -7.9 T#Rx 81: Read range and direction messages.\direction in FSK: [0.982699,0.124144,0.137445]Fpublishing direction and range infoy  \-Er?iyoǿ?yjȗ?Y ̀A  r   ) 9I X>i p > @ > W@ 0 >) >I 0   a].?H?ef? 7e>) W;I >i 0  checking for new query: numPingsReceived=81, elapsed TxPingTime=41.117455Թ^Aا= A I! I9 OE >uc&,\LAFDDAT read: Rx Time:04:37:03.5426 NTRx dataTimestamp_ set to:1764909424.108775\jPDAT read: Bearing 170.2, 11.1 (Local) r~Local bearing/azimuth received: Bearing 170.2, 11.1 (Local) DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.4 Z#Rx 82: Read range message, but no direction.yDYDD5checking for new query: numPingsReceived=82, elapsed TxPingTime=41.407036e8@em=e4REu Eu|Eu"Eq"Eu%:*EuP$:VEu(3ZEqa}@a}@a}@a}@ٱe=eH@r?Vi@J??`̷=? ? ?ie8@Ier\;eCYׂBy IieMb@Mb@Mb@aaaa a9eMb?y&1|?{Gzt?Ye?ye`;eף;ae|A e9A)ez@aYepAquBAbDVDİ8y*=%=ٔ5;Q->9Y=EyEE>Q 55l?Q 95b)$BY?Q E:y =Q Ia@ǵDI:i(:C5yBɮAEiDiF+\LAjFJA"jFJA:jF/>"pFy/@y6d?@pF\-Er?iyoǿ?yjȗ?*jF>2jF0 *pF&lN/.@5̑My@3n @pFL`0?Ļr?!$-`?jF+@ jFwAiF:st?iFPjF3BjFK?jFqjDrjF{AzjFG1> addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.761270 s, deltaX: -0.400000 m, approachRate: -0.525437 m/s, rangeRepo size: 4  Added new target pos. range: 16.036396 m, bearing: 9.843921 deg, lat: 36.779424 deg, lon: -121.859657 deg, deltaT: 0.761270 s, deltaX: -0.398418 m, approachRate: -0.523360 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 16.04 m.2i"i*i ProNav: ac range: 16.036396 m, nav range: 15.749451 m, bearing: 9.919382 deg, approach rate: 0.000000 m/s, LOS rate: 0.201061 deg/s, cmd heading: 3.640510 deg, new cmd heading: 3.851878 deg. i  HeadingCmd: 0.067228 target range: 16.036396 and range: 16.10 m.h ή=hhh1h1g1g1jg9rg=lBe9re9ZeA:eE0@*eE?颵Bɢgμ) t>i)+ 项i.2iή=[=ј=Iή=I 5DAT read: 04:37:03.5426 LVL= 30128, 32753, 32754, 32755, AGC= 57, IDX= 511,-0.04,-2.892, 1.609,-2.992, 3.003, PHS= 0.491,-1.349, 0.244, RAW= 142.9, 7.2, CAL= 142.5, 7.9, ROT= 7.5, -7.9 EYgot valid direction response: 04:37:03.5426 LVL= 30128, 32753, 32754, 32755, AGC= 57, IDX= 511,-0.04,-2.892, 1.609,-2.992, 3.003, PHS= 0.491,-1.349, 0.244, RAW= 142.9, 7.2, CAL= 142.5, 7.9, ROT= 7.5, -7.9 MZ#Rx 83: Read direction message, but no range.U\direction in FSK: [0.982036,0.129287,0.137445]y  <6l?XV|}?yjȗ?  u   ) I Zd>i  #y> @  ,@ )  >I   N/y??=g|޴?g̎? ߚ>) \I  >i }checking for new query: numPingsReceived=83, elapsed TxPingTime=41.612949- @)  @) @- 0@1 9 B B B !IB BB B B B B;B 7EBBBBB =CNy4^AE =y AyIDDAT read: Rx Time:04:37:04.0422 TRx dataTimestamp_ set to:1764909424.610273checking for new query: numPingsReceived=83, elapsed TxPingTime=41.856678I O-?Z &,'\LA0E EE%E"EƱ:*EL_:VE 4ZEBE@;a2EA;aJE;a:E;a@h=Sٱs=H@?`aX?V?`Zo? a??i@I\;CY]By]!IbD}VD}8y=%0=ٔgVQ->9Y=EyE5E>Q 55i?Q 95^b)+BYy`=Q Ia@εDIF;idE;H5yBɮnAE:i!-DNOT Ignoring new targets: 16.04 m.2i)"i5i;*i5i;M ProNav: ac range: 16.036396 m, nav range: 15.512971 m, bearing: 10.010205 deg, approach rate: -0.523621 m/s, LOS rate: 0.204169 deg/s, cmd heading: 3.851877 deg, new cmd heading: 4.036292 deg. iMӺ;UHeadingCmd: 0.070447 target range: 16.036396 and range: 16.10 m.hUMF=hQhQhQhQgYgYjgYrgYeareaZea:ea*emd?ԁ额Bɢ) 3>i)DO 顡iG94iMF=Eݦ=a7=IMF=I9@9 @9@E/@AԱ=PDAT read: Bearing 168.9, 11.0 (Local) E~Local bearing/azimuth received: Bearing 168.9, 11.0 (Local) UDAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4 uDAT read: 04:37:04.0422 LVL= 26560, 32689, 31218, 32755, AGC= 56, IDX= 508, 0.27,-2.610, 1.888,-2.711,-3.034, PHS= 0.527,-1.316, 0.279, RAW= 142.9, 5.9, CAL= 142.5, 6.6, ROT= 7.5, -6.6 }Ygot valid direction response: 04:37:04.0422 LVL= 26560, 32689, 31218, 32755, AGC= 56, IDX= 508, 0.27,-2.610, 1.888,-2.711,-3.034, PHS= 0.527,-1.316, 0.279, RAW= 142.9, 5.9, CAL= 142.5, 6.6, ROT= 7.5, -6.6 T#Rx 84: Read range and direction messages.\direction in FSK: [0.984874,0.129661,0.114937]Fpublishing direction and range infoy15m/b(?M=q?NZl?Y5xA15g55y 1)58I5y?i5r5َ>15B=1 5=)1I5뽩115S?U!6v?? 5>q>)5lfԽI1i5뽩11checking for new query: numPingsReceived=84, elapsed TxPingTime=42.117546^Ae = A I I O >|d&,vA\LA`YBy% !IbDuVDu8y<9=%[=ٔQ->9Y=UEy]EmDDAT read: Rx Time:04:37:04.5422 TRx dataTimestamp_ set to:1764909425.117179PDAT read: Bearing 169.4, 11.7 (Local)  ~Local bearing/azimuth received: Bearing 169.4, 11.7 (Local) E>!Q 55%M'?Q 95%a)%2BYyQ Ia@%յDI%"pmufi.@)桴@^ Nd?pmm/b(?M=q?NZl?*jm >2jm뽝uDAT read: 04:37:04.5422 LVL= 25712, 32369, 29490, 32755, AGC= 55, IDX= 508,-0.24, 2.822, 1.044, 2.698, 2.406, PHS= 0.518,-1.316, 0.248, RAW= 142.2, 6.5, CAL= 141.8, 7.2, ROT= 8.2, -7.2 }Ygot valid direction response: 04:37:04.5422 LVL= 25712, 32369, 29490, 32755, AGC= 55, IDX= 508,-0.24, 2.822, 1.044, 2.698, 2.406, PHS= 0.518,-1.316, 0.248, RAW= 142.2, 6.5, CAL= 141.8, 7.2, ROT= 8.2, -7.2 }T#Rx 85: Read range and direction messages.E EEE"E*E*5:VEZEa@a@a@a@*pmO'-@V(y@|M@pm|(V?LUq.@?N addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.749529 s, deltaX: -0.600000 m, approachRate: -0.800503 m/s, rangeRepo size: 4 y:Ol?|R?cK ?Ypdq~2s )7I?i}>@V=bd@ >)C>I= vbr?u.?.GWd׼? >)8IC>i=checking for new query: numPingsReceived=85, elapsed TxPingTime=42.441284m Added new target pos. range: 15.438773 m, bearing: 10.174531 deg, lat: 36.779424 deg, lon: -121.859657 deg, deltaT: 0.749529 s, deltaX: -0.597623 m, approachRate: -0.797331 m/s, posRepo size: 4 :iiuDNOT Ignoring new targets: 15.44 m.2iq"iu*iq ProNav: ac range: 15.438773 m, nav range: 15.274627 m, bearing: 10.116103 deg, approach rate: 0.000000 m/s, LOS rate: 0.204169 deg/s, cmd heading: 4.036292 deg, new cmd heading: 4.226816 deg. iHeadingCmd: 0.073772 target range: 15.438773 and range: 15.50 m.h=hhhhggjgrgereZe:e/@*e ?mBɢm>ij)q u|A>iq)uɊ qqiu'6i=ئ=Ѝ=I=I!M checking for new query: numPingsReceived=85, elapsed TxPingTime=42.606926Q % @  @ @ 0@ @ >@ =y B->B)B-"!IB-BB)B)B)B-!;B-x7E^Av=%DDAT read: Rx Time:04:37:05.0419 -TRx dataTimestamp_ set to:1764909425.619801MPDAT read: Bearing 169.1, 11.7 (Local) U~Local bearing/azimuth received: Bearing 169.1, 11.7 (Local) DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4 Z#Rx 86: Read range message, but no direction.y!Y%pA!checking for new query: numPingsReceived=86, elapsed TxPingTime=42.880558II1O=!?&,+i\LATEj EjEj$Eh"Ej:*Ej H:VEj4ZEhBEje9Y=EyEuE>Q 55B?Q 957a)=BY ?Q E:yr=Q Ia@DI&:i:HQ5yBɮ AiiimҪg\LAjm oA"jm oA:jm7A>"pm8LW-@LQ@m ?pm:Ol?|R?cK ?*jmC>2jm*pm_,@IY3@Ś}@pmmG?e?au ?jm'0@ jmfAimXc?imdjmBjm?jm_ajmBrjmnAzjm- 7>U addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.761497 s, deltaX: -0.500000 m, approachRate: -0.656601 m/s, rangeRepo size: 4  Added new target pos. range: 14.940740 m, bearing: 10.811095 deg, lat: 36.779424 deg, lon: -121.859657 deg, deltaT: 0.761497 s, deltaX: -0.498034 m, approachRate: -0.654019 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 14.94 m.2i"i*i ProNav: ac range: 14.940740 m, nav range: 14.932289 m, bearing: 10.241825 deg, approach rate: 0.000000 m/s, LOS rate: 0.204169 deg/s, cmd heading: 4.226816 deg, new cmd heading: 4.473642 deg. iHeadingCmd: 0.078080 target range: 14.940740 and range: 15.00 m.hJ=hhhhggjgrgBereZe:e.@*e"?UBɢ])Y ]e>iY)]u aaie߉8ieJ=m4Ҧ=mD=ImJ=IqDAT read: 04:37:05.0419 LVL= 26608, 32753, 30178, 32755, AGC= 55, IDX= 505, 0.07,-3.062, 1.436, 3.097, 2.798, PHS= 0.526,-1.317, 0.255, RAW= 142.2, 6.3, CAL= 141.8, 6.9, ROT= 8.2, -6.9 Ygot valid direction response: 04:37:05.0419 LVL= 26608, 32753, 30178, 32755, AGC= 55, IDX= 505, 0.07,-3.062, 1.436, 3.097, 2.798, PHS= 0.526,-1.317, 0.255, RAW= 142.2, 6.3, CAL= 141.8, 6.9, ROT= 8.2, -6.9 Z#Rx 87: Read direction message, but no range.\direction in FSK: [0.982608,0.141596,0.120137]yr?q?1ݦ?rjƹI?gu )I?iu\>z0= Ϣ=)IϢ5⩳t?,o?vg? %>)FIiϢchecking for new query: numPingsReceived=87, elapsed TxPingTime=43.125458} 9 @  @ @ 0@ i mDDAT read: Rx Time:04:37:05.5417 }TRx dataTimestamp_ set to:1764909426.128684PDAT read: Bearing 168.8, 11.8 (Local) ~Local bearing/azimuth received: Bearing 168.8, 11.8 (Local) DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.4 Z#Rx 88: Read range message, but no direction.yqYu3kAqchecking for new query: numPingsReceived=88, elapsed TxPingTime=43.393421D5?AzD5@AEE EExEE!EA"EEm:*EE:VEEc3ZEAaM@aM@aM@aM@^AM=ԉI)I9OE?#&,M\LAR`@Rn=R%oSٱR_=RH-? e έ?`??3j?@q??iR`@IR];PYnByn'!IieMb@Mb@Mb@aaaa a9eZd;?Mb?Mb?Ye>ye=e9Y=EyEQ;E>Q 55Y?Q 95_`)GBY>Q E:yt=Q Ia@DI";i;U5yBɮ AEii\<\LAjEjA"jEjA:jhB>"pG,@)[<*@V9r%?pr?q?1ݦ?rjƹI?*j2jϢ*pi C,@o@ @p!?U( P?G8?jV.@ jbAiE?ijfBj ?jjgBrjiAzj~8>  addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.508883 s, deltaX: -0.300000 m, approachRate: -0.589527 m/s, rangeRepo size: 4  Added new target pos. range: 14.641925 m, bearing: 10.909814 deg, lat: 36.779423 deg, lon: -121.859657 deg, deltaT: 0.508883 s, deltaX: -0.298815 m, approachRate: -0.587197 m/s, posRepo size: 4 :i!%DNOT Ignoring new targets: 14.64 m.2i!"i)*i)= ProNav: ac range: 14.641925 m, nav range: 14.603474 m, bearing: 10.347244 deg, approach rate: 0.000000 m/s, LOS rate: 0.204169 deg/s, cmd heading: 4.473642 deg, new cmd heading: 4.687798 deg. i9EHeadingCmd: 0.081818 target range: 14.641925 and range: 14.70 m.hE=hAhAhAhAgAgAjgrgBereZe:e`ff-@*e -?Bɢ|O)! %e>i!)E{AIiM#:iM=U˦=U߹=IU=IQYYYYDAT read: 04:37:05.5417 LVL= 26288, 31969, 29170, 32755, AGC= 55, IDX= 503, 0.44,-2.126, 2.368,-2.254,-2.560, PHS= 0.536,-1.310, 0.262, RAW= 142.1, 6.0, CAL= 141.7, 6.6, ROT= 8.3, -6.6 Ygot valid direction response: 04:37:05.5417 LVL= 26288, 31969, 29170, 32755, AGC= 55, IDX= 503, 0.44,-2.126, 2.368,-2.254,-2.560, PHS= 0.536,-1.310, 0.262, RAW= 142.1, 6.0, CAL= 141.7, 6.6, ROT= 8.3, -6.6 Z#Rx 89: Read direction message, but no range.\direction in FSK: [0.982968,0.143400,0.114937]y>yt?2QZ?NZl?f|q )IL7 ?i$>,@Pw=G@ =)V>I뽩%܌|?}|!?(? q>) ֽIV>i뽝]checking for new query: numPingsReceived=89, elapsed TxPingTime=43.640968ԡBQBQBU;!IBUBBQBQBQBU;BUN7Em@i @i@mh2@i@uzA@uzA } DDAT read: Rx Time:04:37:06.0416  TRx dataTimestamp_ set to:1764909426.631438 PDAT read: Bearing 169.2, 12.3 (Local)  ~Local bearing/azimuth received: Bearing 169.2, 12.3 (Local)  DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.4 % Z#Rx 90: Read range message, but no direction.y Y ffA ^Au _=} checking for new query: numPingsReceived=90, elapsed TxPingTime=43.907192I I O >[*&,q\LAE2 E2E2"E0"E2g:*E2rN:VE2(3ZE0BE2;a62E2;a:JE2X;a::E2X;a:F@Fr=FTٱFl=FH@?Vv~3? ?`Z ? ڸ?3?iF@IF?];FCYByE!IbD%VD%81y}=%}B=ٔ@Q->9Y=EyE:E>Q 55#k?Q 95_)OBYy=Q I a@DI:i:Y5y1ɮ5 A1ii{i\LAj}eA"j}eA:jiE>"pSa52,@2Pt@Xc|`?p>yt?2QZ?NZl?*jV>2j*p&b+@< @w@pӒs?D,.?a~?jh-@ j]Ai?iFojjBBjXc?jdjrjcAzjC> addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.502754 s, deltaX: -0.300000 m, approachRate: -0.596714 m/s, rangeRepo size: 4 m Added new target pos. range: 14.343110 m, bearing: 11.070241 deg, lat: 36.779421 deg, lon: -121.859656 deg, deltaT: 0.502754 s, deltaX: -0.298815 m, approachRate: -0.594356 m/s, posRepo size: 4 :iimDNOT Ignoring new targets: 14.34 m.2ii"iq*iq ProNav: ac range: 14.343110 m, nav range: 14.192740 m, bearing: 10.942441 deg, approach rate: 0.000000 m/s, LOS rate: 0.204169 deg/s, cmd heading: 4.687798 deg, new cmd heading: 4.870429 deg. iHeadingCmd: 0.085005 target range: 14.343110 and range: 14.40 m.h=hhhhggjgrgereZe:e,@*e?Bɢ%_})! %>i!)%'z!)i-5@!%<]DAT read: 04:37:06.0416 LVL= 25264, 29873, 28274, 32755, AGC= 55, IDX= 501,-0.07, 1.399,-0.389, 1.256, 0.970, PHS= 0.531,-1.313, 0.243, RAW= 141.6, 6.3, CAL= 141.3, 7.0, ROT= 8.7, -7.0 mYgot valid direction response: 04:37:06.0416 LVL= 25264, 29873, 28274, 32755, AGC= 55, IDX= 501,-0.07, 1.399,-0.389, 1.256, 0.970, PHS= 0.531,-1.313, 0.243, RAW= 141.6, 6.3, CAL= 141.3, 7.0, ROT= 8.7, -7.0 }Z#Rx 91: Read direction message, but no range.\direction in FSK: [0.981126,0.150133,0.121869]y!%Yae?87?UM7P2?!%b%t%rn !)!I%?i%b%x>%2+@%z0=%h@ %5=)%|>I%5!%UZ?z~x?3.K8? %&>)% 8I%|>i%5checking for new query: numPingsReceived=91, elapsed TxPingTime=44.152397ԉ^A =I I O >Թ ?1&,m<\LA%gGYDDAT read: Rx Time:04:37:06.5415 TRx dataTimestamp_ set to:1764909427.142098PDAT read: Bearing 168.9, 11.9 (Local) ~Local bearing/azimuth received: Bearing 168.9, 11.9 (Local) qr9YnA@,x=Sٱ\=H ?B-?&?` `m?@(X??i@I];CEu EuEu'Eq"Eu:*EuL_:VEu'4ZEqa}@a}@a}@a}@Y-ByW!IMvDAT read: Range0 : 14.3 m (trip time 9.5 ms) speed 0.4 unknown deviceResponse_: Range0 : 14.3 m (trip time 9.5 ms) speed 0.4 q (Communications Faulta  a  a  a  a  %DAT read: 04:37:06.5415 LVL= 24256, 31393, 26802, 32755, AGC= 56, IDX= 500, 0.29,-2.426, 2.063,-2.556,-2.861, PHS= 0.537,-1.314, 0.261, RAW= 142.1, 6.0, CAL= 141.7, 6.7, ROT= 8.3, -6.7 mYgot valid direction response: 04:37:06.5415 LVL= 24256, 31393, 26802, 32755, AGC= 56, IDX= 500, 0.29,-2.426, 2.063,-2.556,-2.861, PHS= 0.537,-1.314, 0.261, RAW= 142.1, 6.0, CAL= 141.7, 6.7, ROT= 8.3, -6.7 uZ#Rx 92: Read direction message, but no range.u\direction in FSK: [0.982768,0.143370,0.116671]i 9r?@Y?mu"޽?^zh )8Ix ?i'1ˡ>,@only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 76.18, 82.90 a@a a@a a@a a@a bDVD8Pw=G@ |=)V>I|ゥj~?CP?tqں? _>)8׽IV>i|}checking for new query: numPingsReceived=92, elapsed TxPingTime=44.483517yd=% =ٔ:Q->9Y=EyEMB;E>Q 5-5 ?Q 9-5^)YBQ A-+:Y)Q E-:y-=Q I-a@DI};i?L]5y=ǔBɮ= A=EUB*** querying acoustic contact ***iQiQ:iDNOT Ignoring new targets: 14.34 m.2i"i5$;*i5$; ProNav: ac range: 14.343110 m, nav range: 13.943451 m, bearing: 11.012178 deg, approach rate: -0.504178 m/s, LOS rate: 0.143562 deg/s, cmd heading: 4.870429 deg, new cmd heading: 5.012396 deg. i];HeadingCmd: 0.087483 target range: 14.343110 and range: 14.40 m.h1*=hhhhggjgrgereZe:e*e]A颅BɢTve) Ζ>i)P顉iwQ?i1*==@=I1*=IU@Q @Q@U^0@Q9 ^A Pڀ=I & LCommunications Fault in component: DATI O% >K7&,\LA2l@2o}=2RQٱ2=2H`?} Ц?`?LX'? ?|?i2l@I2l];2CY:1By:]!IBHBHBJZ!IBJ/BBHBHBHBJ׀;BJ-7EbDFVDF8yZ=%^=ٔ^:Q-^?9`Y`=bEybEb;Eb?hQ 5n5j=?Q 9n5jf^)j^BQ An :YlQ En:yn=Q Ina@jDIj:ijL?j^5ytɮz Ax:iDNOT Ignoring new targets: 14.34 m.2i"i&;*i%&;5 ProNav: ac range: 14.343110 m, nav range: 13.797867 m, bearing: 11.053303 deg, approach rate: -0.510427 m/s, LOS rate: 0.145707 deg/s, cmd heading: 5.012396 deg, new cmd heading: 5.095513 deg. i5T;=HeadingCmd: 0.088933 target range: 14.343110 and range: 14.40 m.h="=h9h9h9h9g9g9jgArgAEEI MAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeEMUTransitioning to midcourse guidance. Received last range of 14.400000 m 29955916.800000 min ago.EU1FUeYreYZeY:eY*eYBɢx) ٚ>i )9AiE0@i]"='==I"=I Powering downi I qE E{E$E"EU:*E5":VE4ZEBE;a2E;aJE?z;a:E@z;a@ @@3@ԡ^A = A! I9 II O] >|=&,\LA2@2Ё=2UOٱ2i=2H?pBq1??@?@hٹ??i2@I2];0Y:2By:^!IbDBVDB8yJj:%JL=ٔN:Q-N>9LYL=REyRERw;ER>TQ 5Z5V㜛?Q 9Z5V])VfBQ A^9Y\Q E^b:y^>Q I^a@VDIV:iV;?V`5yf̔Bɮf AfE:itzDNOT Ignoring new targets: 14.34 m.2ix"iz#;*iz#;  ProNav: ac range: 14.343110 m, nav range: 13.599172 m, bearing: 11.109610 deg, approach rate: -0.497641 m/s, LOS rate: 0.143084 deg/s, cmd heading: 5.095513 deg, new cmd heading: 5.209773 deg. i ; HeadingCmd: 0.090928 target range: 14.343110 and range: 14.40 m.hL8=hhhhggjgrgRg@1FCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE% %Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangee!re!Ze):e)*e)ԡBɢD) >i)iCiL8=u=_-~=IL8=I @ @@?5@bEMJ4jEM#4rEMȲ0E E}E%E"Eg:*Ek&:VE 4ZEa@a@a@a@^A0=AzAA I I O >) 3D&,U]LA>-@>م=> Lٱ>=>H^?n祿`Բ?R?պ@~?? S?i>-@I>Yt];>CYFDByFt!IIJ<)J9IYI=MEyUEU;EU>YQ 5e5]?Q 9e5]\)]pBQ AmT:Ym>?Q Em:ym$I>Q Ima@] DI]:i]:]d5yqɮuF AyqLAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal1K Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminalqKNo longer in Terminal. Resuming normal ranging with 1.000000 count pings.qKKDAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqFAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlF Uninitialize.qGGGZTransitioning guidance mode to: UNINITIALIZED i?Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqAInitialize.A Initialize.q@ffuHBrfyNavigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )q@A:Initialize WaypointComponent.ZNavigating to waypoint: 36.779130,-121.859630ereZe:e*e=DBɢ=,)9 =89i9)EэAAiEDEII@ @ @ D5@ ABBBy!IBHBBBBB;B57Eq^AM |=A .Aԡ I & NClearing failed state for component DATq I E  E xE &E "E :*E :VE 4ZE BE q;a 2E s;a JE To;a :E To;a O >K&,6.]LA:<@:a=:Hٱ:=:H?@X=k#?z?κ=? ??i:<@I:];:CY%FBy-v!IbD=VD=Ȱ8yM.<%MJ=ٔMx:Q-U>9U ?YU ?=UEy]E]k;E]>aQ 5m5e?Q 9m5e[)eyBYiymJ>Q Iua@eDIeP:ie::eh5y}ҔBɮ}d Ayj?KKff$,9@fgffrfereZe:e*eCBɢ) ;i)6ifDK>}>ɧ=:;i=)> (kpHeading = 0.400000=}=IH HI@Iq@ @@05@@@^A0f=ԩA؟AIIOf> Q&,vH]LAu5N@u=uĞGٱu=uH ?@粿@2?? R@Q?`/?@?iu5N@IuNM];uCYLBy~!IiuMb@Mb@Mb@qqqq q9u)\(?ʡE?9 "?Y "?= Ey Ee;E>Q 5%5қ?Q 9%5Z)BY%4?Q E%:y%ms>Q I-a@DI;i ;l5y5ؔBɮ15E1KM MAggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminalKMfYfYfYgYfYfYrfaeareaZea:ei*ei频ɢ) `ɧJK>駭 "l9 =IJ|H kI@I]@Y @Y@]1@Y^A5jZX<AaIyIO>! X&,Ca]LAB$B$B&!IB&bBB$B$B$B&;B&O7EB B B B B C Y4YTBy!I !!)-AbD5 VD58yE3=%El=ٔMQ-M?9IYI=MEyMEUEU?Q 55ᛊ?Q 95X)BYyQ Ia@DI:i:=o5yɮ& AB*** querying acoustic contact ***iifffgffrf e re Ze :e *eIɢU)Q U=iQ)](aYYi]FeW}>ɧe>e*ham|[?^&,{]LA6Hp@6n=6QDٱ6i=6H ?Aò??@mQ$?w?E?i6Hp@I6 ];6C@Y>RByB!IbDNVDN8yVݻ%VU=ٔVo;Q-V>9Z ?YZ ?=ZEyZEZY1<E^>`Q 5b5bb?Q 9f5bW)bBYdyfw>Q Ifa@b#DIbP:ib:b{r5yjޔBɮn` AnEf|f|f|g|ffrfereZe :e *e 5BBɢ53)9 =ɧM0>MIMhҎIMG U4J@IQ@ @@'5@@=@=^A`;ԱA؟AIIOE>D@AzDE E{E$E"E:*E5":VE4ZEa@a@a@a@ ]'e&,Н]LA2@2ڠ=2wBٱ2=2H?@MT`:?@?޽L? ? ?i2@I2A\;2CYPyPli=Mb@Mb@Mb@9999 99=p= ף?{Gz?Mbp?Y=?y=ף==;=@=A 9)99Y=(AbDuVDu8ٔ n:Q->9"?Y"?=EyE?<E>Q 55?Q 95lV)BY?Q E:y:k>Q Ia@*DIH;i%H;Hv5yɮfffgffrfereZe:e*eɢS) %=i!)%*!!i%H-}>ɧ->5M15_I5;G 5zJ@I9 @ @@1@BE>BABE!IBEvBBABABABE;BEN7E9^A hW<A zAzA a A= .AII Ia Ou >E  E E &E "E 7:*E *:VE 4ZE BE ;a 2E ;a JE g;a :E g;a Qk&,-y]LA2@2=2Aٱ2F=2H`#?ϴ@٢d?@?6|G9?X? 6?i2@I2w)];2CY:MBy:!II>4<)>B=B=bDF'VDFа8yNA%N<ٔR9Q-R>9R ?YR ?=VEyVEVe<EV>XQ 5^5Z?Q 9^5Z;U)ZBY`ybkp>Q Iba@Z1DIZ;iZ';Zy5yfBɮf AfE9fffgffrfereZe:e*eABɢ() ɧ? (IUGG `J@I@ @@?5@5Powering up="Initializing DAT.i^A[R;AIIOn>ԑ e9r&,7T]LA-I@-=-Bٱ->-H?@-`U q϶? ^?`(\???i-I@I-];-CԡYVBy!IiMb@Mb@Mb@ 9X9v?ʡE?{Gz?Y>y=#<|A A)Y @DD<E EE$E"E:*E;J:VE4ZEa@a@a@a@bD8VD8yU=%U&=ٔ] Q-]>9YYY=]EyeEe8<Ee>iQ 5u5mE(?Q 9}5mS)mBY}?Q E}:y}u>Q I}a@m9DIm&:im:m}5yɮv AfffgffrfereZe:e*eɢ) '=i)iQJF}>ɧD/?6 =iv?5IF 9K@Ia@a @i@m0@i^A=r Am؟AIyIO> BA BA BE !IBE {BBE =BA BA BE ;BE M7Esx&,r]LA2N'@20=2Cٱ2 >2H?`ݹšYBy>!IbDF3VDF۰8yN<%N=ٔR?Q-R ?9R"?YR"?=VEyVEV&<EV ?XQ 5^5ZO5?Q 9^5ZRQ =^tI)ZBY`ybO|>Q Ibb@Z>DIZ;iZ;Z5yfBɮf Adfxfxfxgxfxfxrfxe|re|Ze|:e*e-@Bɢ-)) 5H=i1)511i5tK=}>ɧ=B?E=iE."?AE(IEF EyK@II@ @@/5@^APaA>A? E E{E"E"E%:*E5":VE(3ZEBE;a2E;aJE?z;a:E@z;aAI!I9OeU>1Y /~&, ]LA6_@6I=6WFٱ6. >6HM?請iPn5?0?wȨ? R? ?i6_@I6\];6CY^VBy^!I ``fAfAbDjVDj8yrO%rH=ٔvKQ-v>9tYt=vEyzEzщ<Ez>|Q 55~F?Q 95~QQ)~BY y >Q I b@~DDI~:i~:~35yɮ A-B*** querying acoustic contact ***i)i)f9f9f9g9fAfArfAeAreAZeI:eI*eIu?Bɢ})y }X3=iy)}Y顁i~L~>ɧ[?駍/=iG8?3IhRF MK@IQ@ @@05@ CG Ud9QY]Z`Aԁ^AYԱDzD?AE EE%E"E:*E.:VE 4ZEa@a@a@a@A I I O > u&,^LA2)@2f=2AIٱ2Z>2H?U׽@Š"U?`v?@¿@%?{??i2)@I2 ];2CY>PByB!IiMb@Mb@Mb@ 9S㥛?Q?Y$?yu=?@ A A)Y@bDҿVD8y%<=ֺٔQ->9Y=EyE<E>Q 55X?Q 95O)ƀBY?Q E:ye>Q Ib@LDIm ;i;5yBɮ AEf!f!f!g)f)f)rf)e)re1Ze1:eA*eAԱ>Bɢ%)! %=i!)%))i-M5S~>ɧ5uv?5'+E=i5Q?15mgWI=E =&L@I9@ @@2@^ATBBBBB =BBB;B67EA .AII)O5> E  E E #E "E :*E *:VE 3ZE BE ] 2H@?lmm?eh?7ÿ@?ˑ?ߞ?i2@I2;4];2CY:WBy:!IbDB VDB8yJ=%Ja=ٔNnMQ-N>9R ?YR ?=REyRERܹ<ER>TQ 5Z5V{h?Q 9Z5VN)V̀BY\y^m>Q I^b@VRDIV:iV;V+5y`ɮbt AdftftftgtftftrfxexrexZex:ex*e|e=Bɢe)a mN=ii)mbiiimXNuŃ~>ɧu?uLW=i}c?y}qI}$E }qL@I-@1 @1@5)5@1^A ׽AyAzA9A]؟AIaIqOY>i &,DJ^LAR3@R>R@{RٱR!>RH@?6p2d?U?Ŀ@qL?Pj?E?iR3@IR];RCYvYByz!II<)=%=%=bDMVDM8y;%5=ٔ E!Q-%>bEjEJ4rEQ/E EE&E"Eغ:*E|:VE4ZEa@a@a@a@9m"?Y"?=EyEz<E>Q 55|?Q 95CM)ՀBYyRw>Q Ib@ZDI:i:J5yBɮ AfffgffrfereZe!:e!*e!i颍ɧ?駥_2o=i-}? 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V?ο k??% ?i2Ɇ>I2]];2CY:By:W"IbDFVDF8yJי=%NT=ٔNbC:Q-j>9hYh=jEyn: EnQ=En>pQ 5v5r겝?Q 9v5r#)rЁBYxyz2?Q Izb@r۶DIr:ir%:rZ5y~Bɮ~ A~Ef)f)f1g1AfIfIrfIeIreQZeQ:eQ*eQ颅BɢА;) >i)p3顉iɅM%>ɧf@駥ޅ8>i{*@I< ,9U@IE5 E5E5"E1"E5y:*E5C:VE5(3ZE1a@a@a@a@Q@Y @Y@a@aA>A>iIqIO>ԙBi Bi Bm s"IBm BBi Bi Bi Bm ;Bm O7E &,i`LA2ò>2#?2.tٱ2j>2H"?޿~?@?` ?ο :H?? ?i2ò>I2];2CYNByR["I TTTVAieMb@Mb@Mb@aaaa a9e{Gz?Pn??Ye?ye>e9Y=Ey> E6=E>Q 55$?Q 95)BY?Q E:yh;?Q Ib@DI;i];&5yBɮ A f9fAfAgAfAfArfIeIreIZeQ:eQ*eY颍Bɢ@@;) 5 >i9)=99i=PBEa>ɧEr@EJ-B>iEr0@IIIM=< MU@IqE- E-E-'E)"E-7:*E-F:VE-'4ZE)BE-;a52E-;a5JE-;a=:E-;a=uTм @  @ @ 4@ I I O > &,p`LA2ֻ>2R(?2Snٱ2l>2HD?i??? 2ο'?&?` ?i2ֻ>I2%-^;2CYNByRb"IbDZVDZ8yb<%bZ=ٔb:Q-f>9dYd=fEyfB EjdW=Ej>lQ 5r5n ͝?Q 9r5n7)nBYpyrd@?Q Ivb@nDIn;in:nf5yxɮzAx B*** querying acoustic contact ***i i fffgff!rf!e!re!Ze!:e)*e)UBɢUT|; C)Q >i -vGAY)eiyi}h4Z9YVAD>ɧ3}@J>i)5@IO; ftV@I )@ @@/@IIO%M>D1zD5AAE= E=E=#E9"E=%:*E=*5:VE=3ZE9aE@aE@aE@aE@Qy &&,K`LA"DAT read: &VDAT read: Teledyne Benthos DAT-900 Series F>F ?FٱF*l>FH\?`?qb?k?Uο?@B$?@ ?iF>IF]^;FCY Byh"IiMb@Mb@Mb@ 9y&1?X9v?I +?Y`?y=9<@A "A)?@Y@bDVD8y0<%;=ٔ:Q->9Y=EyG E5=E>Q 55<۝?Q 95) BY7 ?Q E:yB?Q Ib@DI:i:95y="Bɮ=A9QfyfyfygyffrfereZe:e*e Bɢ۬;) N>i) PiK?l>ɧ ۄ@ T>i ;@  I-: 5"W@I1BBB"IB-BBBBB ;B^7Eԁ@ @@/@ԱAyAzAA I! I9 EE  EE EE )EA "EE ,:*EE =:VEE FA4ZEA BEE  )-&,r5`LARԮ>Rq4?R ٱR=l>RH ^?) ȫ???.ο@ϴ?`,?` ?iRԮ>IRTj^;PYrByrs"IIv=)vp;bD~VD~8y>=%W=ٔ :Q- >9 Y=EyJ EU=E>Q 5%5A睊?Q 9%5P)BY)y-G?Q I-b@DIq:i:5y1ɮ=tA9fYfYfYgYfYfarfaeareaZea:ei*ei颕 Bɢ6<) ?i)6ݼ顙i60҅>ɧ[@駭_]>i!f@@ISc: bW@Iԩ@ @@/@ AE ؟AII IY Om >1 74&,`LA2:@>2j?2Q1ٱ2#m>2H#?Ȯ? y?@z?ο@o?]H?@c ?i2:@>I2o];2CY: By:k"IbDFVDF8yNj%NR=ٔN:Q-R>9R"?YR"?=REyRN EV8V=EV>XQ 5^5ZP?Q 9^5Zn)Z0BY\y^L?Q Ibb@ZDIZD;iZ;Z5yf(BɮfAfEftftfxgxfxfxrfxexre|Ze|:e|*e|颽BɢZ/<) V?i)ټi*K>ɧ@D=D4=bE3jE3rE0E EE"E"Eg:*EE7:VE(3ZEaM@aM@aM@aU@~f>imE@iI59 ]X@Ii!@! @!@%0@!ԁAyIIO>ԩ B B B "IB 2O?2Pٱ2Hl>2H1Y? 콰??@g?Ϳ`9?.?@ ?i2 >I2G^;2CY:By:"I@i%Mb@Mb@Mb@!!!! !9%E?v/?~jt?Y%?y%x=%D<%@%A % A)!!Y%=@bDEVDE8y]=%e>=ٔe|p;Q-e>9iYi=mEymS Eu66=Eu>Q 557?Q 95 )BBY  ?Q E :y M?Q I b@DI:iA:5y5Bɮ5A5EfyfyfygyffrfereZe:e*eBɢB/<)  ?i)#ռiE4Wӆ>ɧ@q>iOFI-9 Y@I ԩ@ @@@A>A?E E{E$E"EI:*E5":VE4ZEBE A&,ǺaLA6B>6p?6ٱ6a*k>6H!?/|?t?F? WͿ%̳? ?@?i6B>I6$x^;6CYNByNz"I PPbDZVDZ8yb+ݼ%bU=ٔb֎;Q-f>9dYd=fEyfW EjM@=Ej>llQ 5r5no ?Q 9v5n+)nQBYtyvSR?Q Ivb@n DIn:in.:n 5yxɮzA|B*** querying acoustic contact ***iiff!f!g!f!f!rf!e)re)Ze):e)*e)]Bɢ]Zw<)Y ] ?ia)eYҼaaie\mC>ɧm&@my>imDAqqIum8 u Y@Iq@ @@/0@ :DAT read: MF Frequency Band vDAT read: Directional Acoustic Transponder version 8.15.0 BDAT read: Dec 5 2025 04:37:19 AIIOC>1DzDE EE#E"EU:*EE7:VE3ZEa%@a%@a%@a%@i JG&,aLA6W>6"?6 &ٱ6D!l>6Hࠬ?z?B??#Ϳ`?+?I?i6W>I6];6CY^$By^"I9iMMb@Mb@Mb@IIII I9M#~j?+η?~jtx?YM?yMv=M;M|@M A MjA)M@IYM @bDeVDe8yufK=%u@=ٔ}\~;Q-}>9yYy=}Ey}[ E+5=E>Q 55?Q 95)`BY?Q E:yEN?Q Ib@DI;i;5y#BɮAfffgffrfereZe:e*eBɢ8e<) ?i ) ڋμ  i Wݘч>ɧg@w>ieg=Iѻ7 cZ@I!@ @@%0@B>BB"IBKBBBBB ;B^7EByByByByByC}A4qIIO=>ԑ E%  E% |E% "E! "E% :*E% P$:VE% (3ZE! BE% 32=?'?2ٱ2n>2HhW?[G?e?e?̿ ۲? i?` ?i2>I2p_;2CY:+By:"IbDFVDF8yJ=%NY=ٔNE;Q-N>9PYP=REyR_ ER)?=EV>TQ 5Z5V$?Q 9^5V)VlBY\y^R?Q I^b@VDIV;iV;V5y`ɮfAdftftftgxf|f|rfe re Ze :e *e ԑ额BɢP<) :?i)ʼ顡i/;X>ɧ@駵a>i;D8IK7 j[@Im@i @i@m`0@iAqzAuzAIIO<> LDAT read: Features enabled [Bearing]  DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP  commRate: 600 p\T&,JRaLAj'i>j+?juXٱjSn>jH? @`?@?` ?̿f?`j??ij'i>Ijs^;jCYr.Byr"IIv<)v%=bD~VD~8y l<% C=ٔ ދ;Q->9Y=Eyc E5=E>!Q 5-5%N1?Q 9-5%)%zBY)y-xW?Q I5b@% DI%:i%\:%5y=(Bɮ=A=EfYfafagafafarfaeireiZei:ei*eiE EE&E"Eغ:*E3:VE4ZEa@a@a@a@]Bɢe<)i ?i)|CƼ顙i_Ɲ>ɧ<@mc>i3I(g6 [@I!@ @@0@IIIYOmV>QB >B B "IB PBB B B B ;B A7Ey aZ&, %laLAJE>J0?JEٱJn>JH?;`P?V? ?MZ̿߱?`Ć??iJE>IJm ^;JCYV+ByZ"Ii]Mb@Mb@Mb@YYYY Y9]p= ף?MbX9?Y]?y]ʡ=]]f@Y ]@)YYY]@bDuVDu8y%C=ٔ;Q->9Y=Eyg E8=E>Q 55=?Q 95s)BY?Q E:yV?Q Ib@'DI,:i:e5yɮAfffgffrfereZe:e*eQ额Bɢv<) ?i)6r¼顡i>ɧv@駭^>i1I5 i\@Im@i @i@m^0@iE E~E$E"E:*E(:VE4ZEBEeԁԩ @na&,*aLA2\h>2~5?2 ٱ2In>2H;?}@ݰ?? N?˿`^?`#??i2\h>I2^;2CYN2ByR"IbDZVDZ8ybZ#=%bX=ٔbw;Q-b>9dYd=fEyfk EflD=Ej>hQ 5r5jH?Q 9r5j)jBYpyr<[?Q Irb@j-DIj;ijQ;j5yxɮzAxB*** querying acoustic contact ***iifffgffrfereZe:e*eBɢx<) l"?i)[iS[>ɧ@>i0I5  ]@IԱ@ @@2@A>A>II!OM> E-  E- E) E) "E- :*E- =:VE) ZE) aM @aM @aU @aU @9 g&,aLA2H?2:?2vmٱ2"j>2Hs?@wV?8?`?5˿ ʰ?@7??i2H?I2+];0YN;ByN"I PPi%Mb@Mb@Mb@!!!! !9%uV?L7A`?Y%r?y%+=!%O@! %d@)%@!Y%p@bD=VD=8yMa=%MB=ٔM;Q-M>9QY=Eyo E(=E>Q 55U?Q 95)BY} ?Q E:yX?Q Ib@5DI7;i;5y#BɮBAEf f f g f f rfereZe:e*eEBɢE˂<)I M(?iI)MйIIiUqUt>ɧU@]3>i]0YYI]RU4 ]c]@IaBQBQBQBQBQBQBQBU;BU@7E@ @@2@IiIyO>9a E  E E #E "E y:*E A:VE 3ZE BE ?>B>?>`ٱ>d>>Hx?z}`ٺ?@֧??<ʿ@@?fT?#?i>?I>'];>CYZ@ByZ"IbDbVDb8yj<%jR=ٔn!;Q-n>9lYp=rEyrs ErOH=Er>tQ 5z5v`?Q 9z5v)vBY|y~]?Q I~b@v;DIv8;ivD;v5yɮA f)f)f)g)f)f)rf1e1re1Ze1:e1*e9eBɢe<)i m-?ii)mjiiimuV>ɧu@}Ξ>i}?2yyI}3 }p^@I-@1 @1@505@1iAyIIOA>ԩ/G)Uc9QYU8`A U *entering command modet&,6H? v?@? oG?`gmɿX?? ,?i6Q ?I6];6C\YbOByb"IbDjVDj8yr=%rI=ٔvd;Q-v>9tYt=vEyzw Ezq3=E~>Q 5 5>l?Q 9 5w)BYy9b?Q Ib@BDI;i~ ;X 5yɮ%A!fafafigififqrfqeqreyZey:ey*eBɢ2<) y6?i)"ǰid>ɧ@ޣ>iV2I2 (_@Em Em|EiEi"Em:*EmP$:VEiZEiau@au@au@au@I@ @@@5@AxAzAwADAT read: %&DAT read: user:1> -(setting verbose to 3A.AIIOj>BM >BI BM "IBM [BBI BI BI BM ;BM >7E z&,maLABL)?BG?BqٱB0]>BH?@J*?l}?`?ȿ`f,?b?3?iBL)?IB];BCYRSByR"IIV=)Vye/]=e# TDAT read: Verbose | 3  set verbose to 36setting DatVerbose to 27440bDVDð8yѫ<%==ٔ;Q->9 ?Y ?=Ey| E*=E>Q 55w?Q 95)BY?Q E:y b?Q Ib@IDI:ik:5y)BɮAEf!f!f!g!f!f!rf!e)re)Ze):e)*e)]݂Bɢ]3u<)a e:?ia)e/aiim ѫuv>ɧu @u֨>iu1A2qyI}1A2 }_@Iy@ @@/5@)E% E%E%"E!"E%U:*E%P:VE%(3ZE!BE%;a52E%;a5JE%);a=:E%*;a=IIO%M>Q- &DAT read: user:2> 5 TDAT read: DatVerbose | 27440 = .set DatVerbose to 27440= 6setting transmit power to 8ԁ ż&,IbLA2^?2ƙL?21hgٱ2_>2HF?iϽ?@?h?Wȿ?@&?@1?i2^?I2 ];0YNeByR"IbDZVDZ8yv=%vZ=ٔv;Q-v>9xYx=zEyz EzqF=E~>Q 55{?Q 9 5B)ÂBY y f?Q I b@ODI:i :d5yɮA5B*** querying acoustic contact ***i1i1fAfAfAgAfAfArfAeIreIZeI:eI*eIY颅ڂBɢ=) E?i)7顉ib>ɧ@駕v2>i1I1 ~`@II@I @Q@U4@Q&DAT read: user:3> TDAT read: TxPower | 8 (Max) .set transmit power to 86setting local address to 11ԩIIO>>ԱbEjE3rE[/EM EMEM$EI"EMƱ:*EM,:VEM4ZEIa]@a]@a]@a]@ = &DAT read: user:4> E TDAT read: LocalAddr | 11 E .set local address to 11M \Setting time to: 4:37:28 And date to:12/5/2025R&,37!bLAFϱ?F7|Q?F^ٱFb>FH@? @ǿ? CS?@3?@%ȿ ?3?@i,?iFϱ?IFɫ];FCYRlByR"IԹi-Mb@Mb@Mb@)))) )9-K7A?~jt?I +?Y- ?y-=-94<-"@-A - @)))Y-@bDAVDAyU<%U5=ٔ];Q-]>9YYY=]Ey] Ee-=Ee>Q 55،?Q 953)ЂBY?Q E:yu?Q Ib@VDIE:i:h5yɮABBB"IBeBBBBB€;B7Ef1f1f9g9f9f9rf9e9reAZea:ea*ea颵ԂBɢ>X=) K?i)Ġ项imE=>ɧ@Ѳ>i0I0 Ma@IIxA)yA}@y @y@}95@yA?A>IIO-O>&DAT read: user:5> NDAT read: Fri Dec 5, 2025 04:37:28 fLocal DAT time set to Fri Dec 5, 2025 04:37:28 2Acoustic response timeout6setting remote address to 8 1 EU  EU EU #EQ "EU g:*EU *5:VEU 3ZEQ BEU ;a] 2EU ;ae JEU ;ae :EU ;ae &,:bLA2?2dV?2Tٱ2 g>2H@c?@k@E???Jȿl?`?h$?i2?I2n];2CYB|ByB"I DDDFAbDJ VDJ8yR=%Vk=ٔV;Q-V?9TYX=ZEyZ EZa=EZ?\Q 5b5^?Q 9b5^j)^ڂBYdyfbz?Q Ifb@^\DI^:i^:^`5yj.BɮjAnEf|f|f|g|f|frfereZe:e *e R6@5тBɢ5"p<=)=l]< =YU?i9)=a9AiEUѲEӎ>ɧM@M>iM90IIIM90 Ma@IQ&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.@ @@/@IqIO>Aq &DAT read: user:7>  BDAT read: Tx time:04:37:28.6966  $Ping request sent. 6H?`L3?`k#?@)?`Кǿ`Z??"?i6Z#?I6];6CYRByV#IbDf1VDfڰ8y S=%D=ٔ;Q->9Y!=%Ey% E-e5=E->1Q 5E55Ҟ?Q 9E55)5BYIyM?Q IMb@5cDI5b;i5hL;5 5yaɮe;AafffgDD%=E EE"E"E:*EF:VE(3ZEa@a@a@a@ffrf@ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@pTransitioning to terminal guidance at range 14.400000 m @1AereZe:e*ey6@̂BɢS^$=y)y 8]?i)R顑i4U>ɧ=@駝1>iw/Iw/ ʧb@Iq@q @q@}o2@yIAIQOe4>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251075BBB"IByBBBBB;B7EBBBBBC)3 "&,nbLA2@(?2~ `?2PAٱ2Uh>2H1|?'`U??@?`Cƿ`'??(%?i2@(?I2"];2CYNByR#IiMMb@Mb@Mb@IIII I9Mx&1? ףp= ?~jt?echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503146YM?yMQ=M9Y=Ey E;=E>Q 55񧞊?Q 95)BY?Q E:yÄ?Q Ib@jDI:i:5y#BɮbAEfffgffrfbf@1ACompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeereZe:e*e@*)7@ȂBɢd^8=) g?i)%B!!i%ͷ-dl>ɧ-@-k>i-.)1I5. 5-gc@I1@ @@/@AzAII)OM>E EE'E"E7:*E,:VE'4ZEBE;a2E;aJE9;a:E9;a checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754943A &,gbLA,2+-?2d?2ŗ8ٱ2{g>2HR??@?F?Xƿ??@x'?i2+-?I2];2CYNByN#IIR4=)R=bDVVDV8y^=%bW=ٔb;Q-b>9dYd=fEyf EfAM=Ef>hQ 5n5j?Q 9r5jo)jBYpyr3?Q Irb@jpDIj$:ij:j"5ytɮv+AxqL~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalL  Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLL Entering USBL mode with 120.000000 count pings at 14.400000 m (mode 0.000000 count ).L1MB*** querying acoustic contact ***iiD%%Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1E- -Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqF--Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlF--Initialize.F--Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1G- -Initialize.qG5G5qE5g5h7g=h7F==Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1G=EDReached init depth of 66.309196 m.jgArgEfBE$Terminal guidance.qEEGEEInitialize.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??U]Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@] ]Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqA]]Uninitialize.A]A]]>Uninitialize WaypointComponent.eYreYZea:ea*eeH7@颍Bŗ8)  i)BOiI)imAImAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007403Y}& E EE%E"E%:*E[:VE 4ZEa@a@a@a@ @  @@55@ԁ A] ؟AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2590284&, kbLA0272?2i?2 1ٱ2,&g>2H!? d?$P? "?eſr?C?(?i272?I2];0Y>By>+#IiMMb@Mb@Mb@IIII I9My&1?`"?V-?YM`?yM=M9}"?Y"?=Ey Eo;=E>Q 55-?Q 95)BY ?Q E:y?Q Ib@wDI7 ;i ;&5y)BɮAEj^@1MqMhd?hh;hL?higgjgrgBereZe:e*e7@Bɢt))7 89i)Bii%1P/!)%L? %(kpHeading = 0.800000I-; -(kiHeading = 0.004000- I-d?I-ABBB#IBBBBBBˀ;B7EM8Ƽ U&Changing to mode: 1ԉ@ @@/@AzAAAԹ}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510953A I I O > E  E E !E "E :*E a9:VE c3ZE BE ;a 2E ;a JE $;a :E %;a ^&,EbLA2 7?2Bn?2f*ٱ2?d>2H ?`? ?ǯ?X?uſ@GK?*A? .?i2 7?I2^;0Y:By:>#IbDFVDF8yJ,=%NZ=ٔNb;Q-N>9RYR=REyPR9R=EV>TQ 5Z5V?Q 9^5VK)V BY\`y^?Q Ibc@V}DIV/;iV0;V*5ydɮfAdjtqMvMvhxhxh|h|h|iygygyjgrgereZe:e*e@5\8@[ ?[ ?"[Ji>*[M?ɢ}) @i @i@m/@iIIO>A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014985H&,Z)bLAR$RH? ?`v? -? Ŀ R?;?/?iR$%vE=ٔzk:Q-z>9xY|=~Ey|~C=E~>Q 5 5pƞ?Q 9 5)0BYy?Q Ic@DI:i(;-5y!ɮ%iA!j9M=ECompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLLE EAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLhIhQhQhQhQiQE} E}E}&Ey"E}:*E}|:VE}4ZEya@a@a@a@ggjgrgereZe:e*e8@[a[a"[a*[e?频ɢw^0) =i)^顙i i4IIC==Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.26689159qBBB.#IBBBBBB;BG7E@ @@4@ԡ ^A #I I O >Ի&,{bLA>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519005XYEByEp#IiMb@Mb@Mb@ 9Q? rh?L7A`?Y?yC >+=A @)@Y\@bDVDð8y%<%%.=ٔ-Q-->91Y1==Ey9EEE>qQ 55uΞ?Q 95u)uEBY ?Q E:y?Q Ic@uDIu~;iu |;u15y!ɮ%AA!hihihihihiiigigqjgqrgu=BeqreyZey:ey*e} A9@E EE'E"E7:*EA:VE'4ZEBE;a2E;aJEl;a:El;a[ ?[ ?"[J~>*[䖗?%Bɢ-*)) -=i))-O~)1i5i5\:9YIYIY5v @ @@/@ -checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771031A C gG ^A ! II IY ] Ǔ9Y Y] ^AO >y 9\? XA&,^ cLA6̾F?62~?6i(ٱ60s>6Hm? W=ே??ڰ?`Ŀ` ?*,? ?i6̾F?I6t];4YBByBx#IbDJVDJ8yRE=%Rg=ٔR9Q-V>9TYT=VEyTZ=EZ>\Q 5b5^Ԟ?Q 9b5^)^TBYdyf?Q Ifc@^DI^P ;i^ ;^45yj#BɮjAjEzB*** querying acoustic contact ***ixizxh|hhhhiggjg rg e re Ze:e*e9@[9[9"[9*[=o?IɢM)I U=iQ)U[ݍQQiU i]V>YYIaIa+OI)BDAT read: Rx Time:04:37:31.1090 TRx dataTimestamp_ set to:1764909452.298028checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027676-0"@) @)@)@)QE EE$E"E :*E&p:VE4ZEa@a@a@a@y^AMvIYIiO}>Ա E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275118^&,G%cLAR L?R?R'ٱR&t>RH`?`?`)?$?EĿ?4??iR L?IR];RCYXy\Ib=)bb=`ieMb@Mb@Mb@aaaa a9eCl?'1Z?:v?Ye?ye">e9Y=Ey2A=E>Q 55Zڞ?Q 95)gBY?Q E:y ?Q Ic@DI=7;i6;85yɮAhhhhhiggjgrgIBereZe:e*eE :@[=?[=?"[=5*>*[= ?}Bɢj) >i)挼顱i୼i_EIIԡDAT read: Range 11 to 50 : 6.2 m (Round-trip 8.3 ms) speed -0.3 m/s X#Rx 1: Read range message, but no direction.yYf@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.% %@!  @! @% 3@) E  E E E "E ҝ:*E ,:VE ZE BE ;a 2E ;a JE 9;a :E 9;a ^A- I9 II OU >L&,%?AcLA2~P?2c?2}%ٱ2l>2H`W?`>? J{?@KT?lWÿ ?U?@?i2~P?I2];2CY:By:#IbDFVDF8yNA=%NK=ٔN$:Q-N>9PYP=REyPVD=EV>XQ 5^5Zߞ?Q 9^5Z)ZyBY\y^?Q I^c@ZDIZ:iZK:Z*<5ydɮfAdhz&DAT read: user:8> ~BDAT read: Tx time:04:37:32.4466 ~$Ping request sent.~i)$苼项ii%RG@!!I!I)'@ @@0@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250841^A FӅI I O >Y bEu4jEu˶4rEu0E  E E E "E g:*E 0:VE ZE a @a @a @a @n&,ZcLA2U?2ن?22$ٱ2(1a>2H?EHX?z?"f?,¿z?l?>4?i2U?I2@];2CY8y8bDF'VDFа8yJi:%JK=ٔN?:Q-N>9PYP=REyPRC=EV>TQ 5Z5V䞊?Q 9Z5Vƚ)VBY\y^J?Q I^c@AVDIV4i)D䊼iiiA@II>i>-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506152ieo*@a @i@m/@iBBBm#IB߄BBBBBBW7Eԑ^A #Ii Iy O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754947&,tcLAJӾZ?JD?JJH@?@M@mX??@o?B`I??dA?iJӾZ?IJB];JCY^By^#I hhhjAi=Mb@Mb@Mb@9999 99=K7?MbX9?Zd;O?Y= ?y=!>=j<=@=|A 9)=@9Y=@M@AM@AbDUVDU8ye<%e0=ٔm:Q-m>9iYi=mEyiu&=Eu>yQ 55}鞊?Q 95},)}BY?Q E:y%?Q Ic@}DI}:i}:}C5yɮcAE EEE"E:*ET:VEZEBE; *[%?Bɢ^) Z#>i)yˉiSpi;@II,@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0067811^Ai I I O >Y ҁ&,cLA2}_?2$?28ٱ2DU>2H? @D?]]? s?ފ ڣ?{?oH?i2}_?I2];0Y:By:#IbDFVDFǰ8yN/̻%Nm=ٔN!;Q-R?9PYP=REyPV\=EV?XQ 5^5Z잊?Q 9^5Z<)ZBY\y^?Q Ibc@ZDIZ3;iZ;ZF5yfBɮfAfzEvB*** querying acoustic contact ***itithxhxhxhxhxi|g|g|jgrgereZe:e *e `q?[)[)"[)*[-?=Bɢ=Ǎ)A E~">iA)EAAiE*iM7@IIIIIQ1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259447.@ @@00@aDzD?AE EE&E"E%:*E,:VE4ZEa@a@a@a@^AIyIO~>ԑ= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513105Թ &,ŏcLAB>BB#IBBB =BBB;Bg7EBqBqBqBqBqCuÔ4FRd?F6?F^ٱF)T>FHr?@{( 4v? ?bi?@w|?O?J?iFRd?IF];FCYnByr#IiMb@Mb@Mb@ 9"~j?On?/$?YS?y><@A @)t@Y3@ԑbDVD°8yWA=%,=ٔ:Q->9Y=Ey"=E> Q 55 ?Q 95 ) BY?Q E:y?Q Ic@ DI Q:i : J5y%!Bɮ-A-{EhhhhhiggjgrgBereZe:e*eHD?[?[?"[=>*[?UBɢU~)Y ];>iY)]hpYYieAiP0@IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763777=1@A @A@E/@AE  E E #E "E ,:*E *5:VE 3ZE BE  z&,jcLA2'i?2Fi?2zٱ2)U>2H d?e`?? _? `? bo? I?i2'i?I2d^;2CY:By:#II>>)>l>bDFVDF8yN*%Nv=ٔNTE;Q-R?9PYP=REyPVc=EV?XQ 5^5Zl?Q 9^5Z))ZǃBY\yb?Q Ibc@ZƷDIZ;iZ3;ZM5ydɮf Adrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014998hyhyhyhyhiggjgrgereZe:e*e`R@[I[I"[I*[M?}Bɢ}$0*)y  :>i)n顁i¼iK],@IIm4@i @i@m/0@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266778^AFӅQ IY Ii O >D =D =E%  E% wE% &E! "E% :*E% :VE% 4ZE! a- @a- @a- @a5 @Ľ&,cFcLA2am?2c?2ٱ2T2HRX?`C?#?@7\?`o`Z?`q?I?i2am?I2y];0Y>By>#IbDFVDF8yNQ%RJ=ٔRID;Q-R>9TYT=VEyTV6=EV>XQ 5^5Z4?Q 9b5Z~)ZՃBY`ybK?Q Ibc@ZͷDIZ;iZ;ZTQ5ydɮf!Ahhxhxhxh|h|i|g|g|jgrgereZe :e *e /k@[)[)"[)*[-K?=Bɢ=T)A E6>iA)E[AAiM¼iM|~'@IQIQIQQDDAT read: Rx Time:04:37:34.5858 TRx dataTimestamp_ set to:1764909455.575522%PDAT read: Bearing 354.3, -32.8 (Local) -6@) @)@-0@)E~Local bearing/azimuth received: Bearing 354.3, -32.8 (Local) ]DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed -0.5 DAT read: 04:37:34.5858 LVL= 32752, 21969, 26674, 32755, AGC= 43, IDX= 195,-0.11,-1.778, 0.484,-0.171, 0.000, PHS=-1.676, 0.529,-0.215, RAW= 289.3, 13.9, CAL= 287.1, 21.0, ROT= 222.9, -21.0 Ygot valid direction response: 04:37:34.5858 LVL= 32752, 21969, 26674, 32755, AGC= 43, IDX= 195,-0.11,-1.778, 0.484,-0.171, 0.000, PHS=-1.676, 0.529,-0.215, RAW= 289.3, 13.9, CAL= 287.1, 21.0, ROT= 222.9, -21.0 R#Rx 1: Read range and direction messages. `direction in FSK: [-0.683888,-0.635508,0.358368] Fpublishing direction and range infoyX{hH!0V俥.*?Y@U2h )+I+ֿil?(\Z@Ulx>X@ f>)Px@If ML?8ʺ? ]/=@)zxIe$if5checking for new query: numPingsReceived=1, elapsed TxPingTime=2.559784B!B%>CB%#IB%BB% =B!B!B%:;B%7Ey^A#ԩ AE 2AII IY Om > checking for new query: numPingsReceived=1, elapsed TxPingTime=2.770884&,DcLA(~"0r?~C?~< ٱ~3T>~H O? a@\{?^?@]?Ě? Q?K?i~"0r?I~];~CYMByM#IE EE$E"E7:*E=:VE4ZEBE;a2E;aJEȔ;a:EȔ;aiUMb@Mb@Mb@QQQQ Q9US㥛?Dl? rh?YU?yUO >UC;Q->9?Y?=Ey E=E>Q 55?Q 95w)BY ?Q E:yߴ?Q Ic@շDI;i:U5yɮAiiZcLAj @"j @:jc@"p8a1s~otg:;Vj@pX{hH!0V俥.*?*je$2jf*pF@*-p0uPv?p4c?«CMt ?j j.@i_Mߟ?ia*jBjE?jjfBrj@zjӥ@ addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 2.777440 s, deltaX: 1.300000 m, approachRate: 0.468057 m/s, rangeRepo size: 2 "io*io Added new target pos. range: 7.470350 m, bearing: 291.881060 deg, lat: 36.779421 deg, lon: -121.859656 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 :iBNOT Ignoring new targets: 7.47 m.2iPowering the camera and arming the capture device at range: 7.50 m.%jFinal approach. Armed for intercept at range: 7.50 m.%\Transitioning guidance mode to: FINAL_APPROACH i%@"i%*i-5 ProNav pure pursuit: ac range: 7.470350 m, nav range: 6.874165 m, bearing: 296.913175 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 51.232375 deg, new cmd heading: 296.913175 deg. =|HeadingCmd: 5.182113 target range: 7.470350 and range: 7.50 m.h=ӥ@h9hE:hE33?hAgAgAjgIrgMBeIreIZeI:eU@*eU,?颅BɢB) 0F>i)顉iüi"@)533? 5(kpHeading = 0.700000I5: 5(kiHeading = 0.0010009I=ӥ@I9ԩDDAT read: Rx Time:04:37:35.0860 TRx dataTimestamp_ set to:1764909456.075505PDAT read: Bearing 357.5, -31.1 (Local) ~Local bearing/azimuth received: Bearing 357.5, -31.1 (Local) DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed -0.5 DAT read: 04:37:35.0860 LVL= 32752, 21969, 28450, 32755, AGC= 40, IDX= 501,-0.21,-2.243, 0.005,-0.741,-0.524, PHS=-1.618, 0.573,-0.261, RAW= 292.2, 13.5, CAL= 289.5, 20.6, ROT= 220.5, -20.6 %Ygot valid direction response: 04:37:35.0860 LVL= 32752, 21969, 28450, 32755, AGC= 40, IDX= 501,-0.21,-2.243, 0.005,-0.741,-0.524, PHS=-1.618, 0.573,-0.261, RAW= 292.2, 13.5, CAL= 289.5, 20.6, ROT= 220.5, -20.6 %R#Rx 2: Read range and direction messages.-`direction in FSK: [-0.711785,-0.607922,0.351842]5Fpublishing direction and range infoy2tt\]㒄?Y@"o )(IϿi!?ˡ1@:Fq>@ X>)Mv@IXE09@A @I@M 0@I@UyA@UzA,/K?d9KT? L@@)[;rIiXuchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.043996 ^Am ?΅Au e>Au > A ܏AI I O >ʩ&,dLAVchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.274896^g-{?^{?^3ٱ^&R>^H@;?@Cv?? $a?4`Vԟ? m?@8P?i^g-{?I^$^;^CYvByv#I ||bDVD8y-|%5Y=ٔ5<9=?YE?=EEyE EM=EM>QQ 5e5U?Q 9e5UMr)UBYiym`?Q Imc@UܷDIU+;iU&;UY5yɮAiidLAj@"j@:jآ@"pY%ҽfF =@p2tt\]㒄?*j2jX*pLurg@6,S!궧?pr-j?ɣ*Ld ?c?j j83@it矊?iب,jBj?jjBBrjk@zjU@Y addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.499983 s, deltaX: 0.300000 m, approachRate: 0.600021 m/s, rangeRepo size: 3  Added new target pos. range: 7.769165 m, bearing: 291.576543 deg, lat: 36.779421 deg, lon: -121.859656 deg, deltaT: 0.499983 s, deltaX: 0.298814 m, approachRate: 0.597649 m/s, posRepo size: 2 :iTStarting intercept timer at range: 7.80 m.BNOT Ignoring new targets: 7.77 m.2i6Short final. Range: 7.80 m.VTransitioning guidance mode to: SHORT_FINAL i@@"i*i  ProNav: ac range: 7.769165 m, nav range: 7.013094 m, bearing: 295.482636 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 296.913186 deg, new cmd heading: 296.913186 deg. i |HeadingCmd: 5.182113 target range: 7.769165 and range: 7.80 m.hhhhhggjgrge!re!Ze!:e%@33@*e%+e?E5 E5E5&E1"E5:*E5?:VE54ZE1a=@a=@a=@a=@颕Bɢ@S) F>i)E顙i5ļih @IIԉ]9@a @a@e0@eDDAT read: Rx Time:04:37:35.5860 TRx dataTimestamp_ set to:1764909456.584657ԱPDAT read: Bearing 359.2, -29.5 (Local) ~Local bearing/azimuth received: Bearing 359.2, -29.5 (Local) % DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed -0.5  DAT read: 04:37:35.5860 LVL= 32752, 19297, 26226, 32755, AGC= 41, IDX= 502,-0.42,-2.996,-0.720,-1.528,-1.253, PHS=-1.641, 0.578,-0.319, RAW= 293.7, 14.2, CAL= 291.2, 21.1, ROT= 218.8, -21.1 - Ygot valid direction response: 04:37:35.5860 LVL= 32752, 19297, 26226, 32755, AGC= 41, IDX= 502,-0.42,-2.996,-0.720,-1.528,-1.253, PHS=-1.641, 0.578,-0.319, RAW= 293.7, 14.2, CAL= 291.2, 21.1, ROT= 218.8, -21.1 5 R#Rx 3: Read range and direction messages.= `direction in FSK: [-0.727086,-0.584592,0.359997]= Fpublishing direction and range infoy^AE B} >By By By By By By B} f;B} 7E|JD{z⿣z0 ?YaKrf ))IJ ҿi?Su@}>@ )>)ft@I)6Tp/QlG?\? wB@)y}Iϸi) checking for new query: numPingsReceived=3, elapsed TxPingTime=3.614573 A} AI I O > &,6.dLAF?F,?F:ٱFIQ>FHh/?s%?`?`E`? 㸿0Ɲ?`?|Q?iF?IF[v^;FCYNByN#IiMb@Mb@Mb@ 9+?X9v?~jt?Yv>y=<@ (@)^@Y@bDVD8y  ;% 8=ٔ5;Q-5>9=??Y=??==Ey= E= =EE>AQ 5M5EY?QQ 95E_l)EBY?Q E:yW?Q Ic@EDIEǵi) 顑if|żi@IIE ExEE"E:*E:VEZEBE;a2E;aJETo;a:ETo;a59@1 @1@5/@1Ա DDAT read: Rx Time:04:37:36.0862  TRx dataTimestamp_ set to:1764909457.083498 PDAT read: Bearing 2.5, -27.4 (Local)  ~Local bearing/azimuth received: Bearing 2.5, -27.4 (Local) - DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.5 U DAT read: 04:37:36.0862 LVL= 32048, 18257, 26402, 32755, AGC= 42, IDX= 503, 0.22, 0.664, 2.869, 1.996, 2.315, PHS=-1.549, 0.598,-0.364, RAW= 296.6, 14.0, CAL= 294.0, 20.8, ROT= 216.0, -20.8 ] Ygot valid direction response: 04:37:36.0862 LVL= 32048, 18257, 26402, 32755, AGC= 42, IDX= 503, 0.22, 0.664, 2.869, 1.996, 2.315, PHS=-1.549, 0.598,-0.364, RAW= 296.6, 14.0, CAL= 294.0, 20.8, ROT= 216.0, -20.8 ] R#Rx 4: Read range and direction messages.e `direction in FSK: [-0.756290,-0.549477,0.355107]e Fpublishing direction and range infoy  3UZnP_S{?Y A 0} QG "g ) * I Eƿi ? 5^ @ 5z> Y3@ ޹>) :Fq@I ޹ O gii\?1RU? :E@) $xzI { i ޹  checking for new query: numPingsReceived=4, elapsed TxPingTime=4.064357^AU Ƃ G ) U 9Q YU SAAIIO>F&, LdLA,BY?Bߝ?BܼٱBKQ>BH-?#x?`G/? fi?@ ?`G ?Q?iBY?IB`^;BCYbByb#IbD]пVD]8ym8%m2=ٔu;Q-u>9yYy=}Ey} E*=E>Q 55?Q 95Nf) BYyy?Q Ic@DIfN-@p3UZnP_S{?*j{ 2j޹*pxk@$`Wz2?p:^$?,5|n%?j j'@iiK~ܟ?i)jsBj9䟊?j)jrj@zjT@= addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.498841 s, deltaX: 0.300000 m, approachRate: 0.601394 m/s, rangeRepo size: 4 M Added new target pos. range: 8.067971 m, bearing: 289.344088 deg, lat: 36.779418 deg, lon: -121.859663 deg, deltaT: 1.007993 s, deltaX: 0.298807 m, approachRate: 0.296437 m/s, posRepo size: 4 :iI2iIUzIgnoring new targets. Set target to previous: 8.07 m. 7.77 m."iQ*iQԁ ProNav: ac range: 7.769165 m, nav range: 7.404796 m, bearing: 293.572862 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 296.913186 deg, new cmd heading: 296.913186 deg. i|HeadingCmd: 5.182113 target range: 7.769165 and range: 8.10 m.hhhhhggjgrgereZe:e@33 @*e!?checking for new query: numPingsReceived=4, elapsed TxPingTime=4.284203颕Bɢ:) Z=>i)~iT$Ƽi @II>i>}9@y @@@@=@=ԹE EE E"Eg:*EC:VE3ZEa@a@a@a@ ^A  DDAT read: Rx Time:04:37:36.5863  TRx dataTimestamp_ set to:1764909457.592277% PDAT read: Bearing 6.7, -27.9 (Local) - ~Local bearing/azimuth received: Bearing 6.7, -27.9 (Local)  DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed -0.5  DAT read: 04:37:36.5863 LVL= 32752, 17361, 21074, 32755, AGC= 45, IDX= 504, 0.05, 0.383, 2.597, 1.693, 1.983, PHS=-1.498, 0.659,-0.334, RAW= 297.4, 12.5, CAL= 294.7, 18.3, ROT= 215.3, -18.3  Ygot valid direction response: 04:37:36.5863 LVL= 32752, 17361, 21074, 32755, AGC= 45, IDX= 504, 0.05, 0.383, 2.597, 1.693, 1.983, PHS=-1.498, 0.659,-0.334, RAW= 297.4, 12.5, CAL= 294.7, 18.3, ROT= 215.3, -18.3  R#Rx 5: Read range and direction messages. `direction in FSK: [-0.774862,-0.548633,0.313992] A 0AI I) O= >&,hdLA&Fpublishing direction and range infoy15迫zfv9s?Y5A155C5RR 1)5-I5wi59(?5 5x@5f_>5o@ 5Ƈ>)5~p@I5Ƈ115O5↓Lڦ?Ҷ? 5y"F@)5{_I5!i5Ƈ116checking for new query: numPingsReceived=5, elapsed TxPingTime=4.597453B8B8B8B8B8B8B8B:k;B:7ER1?R?R˼ٱRNT>RH!??{]?@d?q? b?`yM?iR1?IRuL^;RCY)y)I5%=)5y=ף< A )1@Y@bD VD 8y9%?Y%?=%Ey% E-O=E->1Q 5}55?Q 9}55_)5BY}>Q E:y?Q Ic@5DI5&C@p5迫zfv9s?*j5!2j5Ƈ*p50Ƕ@(˹O[A?p5Oxj?A@MtU_?j5 j5],@i5埊?i5*j5އBj1j5*j5Brj5!Azj5@ addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.508779 s, deltaX: 0.200000 m, approachRate: 0.393098 m/s, rangeRepo size: 4  Added new target pos. range: 8.267178 m, bearing: 289.321238 deg, lat: 36.779418 deg, lon: -121.859663 deg, deltaT: 1.516772 s, deltaX: 0.498013 m, approachRate: 0.328337 m/s, posRepo size: 4 :i2i-zIgnoring new targets. Set target to previous: 8.27 m. 7.77 m."i1*i1E ProNav: ac range: 7.769165 m, nav range: 7.614917 m, bearing: 292.651432 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 296.913186 deg, new cmd heading: 296.913186 deg. iAM|HeadingCmd: 5.182113 target range: 7.769165 and range: 8.30 m.hIhihihihigqgqjgqrguۂBeyreyZey:e} @*e}?BɢS) A>ii)I)=checking for new query: numPingsReceived=5, elapsed TxPingTime=4.788022A)M`{IQiUdƼi]Z#@YaIaI @ @@@Q E  E E (E "E :*E T:VE c44ZE BE d @ >) vap@I 闾 !>Fk(diå? f"? GF@) UI ?!i 闾 echecking for new query: numPingsReceived=6, elapsed TxPingTime=5.055716AIIO>!&,,dLAx=R?=7?=ٱ=V>=H`??? k? N@??J?i=R?I=VT^;=CYybDVD8y5w:%=4=ٔ=1;Q-=>99YA=EEyE EEE=EE>Q 55?Q 95Y)%BYy?Q Ic@DI:iK:@i5yɮAii]dLAj A"j A:j@"pQy((¼!D@pa3ỵ兗7?*j?!2j闾*pR:~Xn@{T ΔԐK?pxĞ?V b%֨?j jr;@i+?iĜ-jBj埊?jjrjAzj6@U addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.499664 s, deltaX: 0.400000 m, approachRate: 0.800537 m/s, rangeRepo size: 4  Added new target pos. range: 8.665596 m, bearing: 290.001700 deg, lat: 36.779418 deg, lon: -121.859663 deg, deltaT: 2.016436 s, deltaX: 0.896431 m, approachRate: 0.444562 m/s, posRepo size: 4 :i2izIgnoring new targets. Set target to previous: 8.67 m. 7.77 m."i*i ProNav: ac range: 7.769165 m, nav range: 7.817336 m, bearing: 291.849327 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 296.913186 deg, new cmd heading: 296.913186 deg. i|HeadingCmd: 5.182113 target range: 7.769165 and range: 8.70 m.hhhhhggjgrgereZe:e`ff!@*e4G?!UBɢU)Q UE>iQ)]p7yYYi]NdǼiF(@II59@1 @1@9@9checking for new query: numPingsReceived=6, elapsed TxPingTime=5.292165ID] ?AzD] @AbEɻ 4jEJ4rE^0Ee  Ee Ee "Ea "Ee Ʊ:*Ee a9:VEe (3ZEa au @au @au @au @y ^Au A ڗAI I O >i9(&,~dLA28t?2iY?2𼨼ٱ2iV>2H?@@??r?"@<?ਖ਼?`K?i28t?I2/^;2CYLyLRAARAAbDVVDV8y^%^\=ٔb;Q-b>9b?Yb?=fEyf Ef|7=Ef>hlQ 5r5n@?Q 9v5n:U)n/BY|y~&?Q Ic@nDIn;in߾;nnl5y!ɮ-ADDAT read: Rx Time:04:37:37.5867 TRx dataTimestamp_ set to:1764909458.600409PDAT read: Bearing 9.6, -26.2 (Local) ~Local bearing/azimuth received: Bearing 9.6, -26.2 (Local) )DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.4 B*** querying acoustic contact ***ii:iI2iIUzIgnoring new targets. Set target to previous: 7.77 m. 7.77 m."iUü*iUümDAT read: 04:37:37.5867 LVL= 32352, 17873, 24050, 32755, AGC= 45, IDX= 508,-0.33,-0.084, 2.190, 1.206, 1.549, PHS=-1.531, 0.686,-0.388, RAW= 299.0, 12.8, CAL= 296.3, 18.7, ROT= 213.7, -18.7 uYgot valid direction response: 04:37:37.5867 LVL= 32352, 17873, 24050, 32755, AGC= 45, IDX= 508,-0.33,-0.084, 2.190, 1.206, 1.549, PHS=-1.531, 0.686,-0.388, RAW= 299.0, 12.8, CAL= 296.3, 18.7, ROT= 213.7, -18.7 uR#Rx 7: Read range and direction messages.}`direction in FSK: [-0.788036,-0.525554,0.320613]Fpublishing direction and range infoB>BB#IBBBBBBg;B7E ProNav: ac range: 7.769165 m, nav range: 7.979434 m, bearing: 291.264576 deg, approach rate: 0.386106 m/s, LOS rate: -1.364517 deg/s, cmd heading: 296.913186 deg, new cmd heading: 295.767614 deg. i|HeadingCmd: 5.162119 target range: 7.769165 and range: 8.70 m.h0@hhhhggjgrgereZeyO72z-WC.j?YfA`~E] )Iÿi/?ƾ<@d>2|@ >)n@IT2?r3!A^?{3V? {G@)mdI.k#ichecking for new query: numPingsReceived=7, elapsed TxPingTime=5.613206:e*eޱ?MBɢMֺ)I MH>iI)UEvQQiUǼi]?-@YI0@I!9@ @@@@zA@)u checking for new query: numPingsReceived=7, elapsed TxPingTime=5.796640ԉ ^A }A- >A- >E  E E #E "E :*E x:VE 3ZE BE b;a 2E c;a JE ;a :E ;a A I I ԡ O >/&,4dLA2*?2[{?2њٱ2D7U>2H?4@T?u?yx?\ Y? t?M?i2*?I2J^;2CYZByZ#I \\iuMb@Mb@Mb@qqqq q9uV-?B`"۹?Mb?Yu|>yu=u9Y=Ey E =E>Q 55?Q 95N):BYf?Q E:y?Q Ic@DI:i:p5y Bɮ$AhEiimdLAj A"j A:j8e@"p"m4|ƽ~@pO72z-WC.j?*j.k#2j*p6H@z2vF ȳw7?p|VG?# bG`HĩU?j3 jE@ih ?i$jfBjj)jOBrj AzjP@ addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.508468 s, deltaX: 0.200000 m, approachRate: 0.393338 m/s, rangeRepo size: 4 - Added new target pos. range: 8.864788 m, bearing: 290.767829 deg, lat: 36.779418 deg, lon: -121.859663 deg, deltaT: 2.524904 s, deltaX: 1.095623 m, approachRate: 0.433927 m/s, posRepo size: 4 :i12i55XTarget missed at range: 8.90 m. Rolling out.5NTransitioning guidance mode to: ROLLOUT i5@h9h9h=;h=L?h=g9g9jgArgEBeAreIZeI:eM!@*eM ?}B}њ)} }de>iy)}s顁ii2@)L? (kpHeading = 0.800000I; (kiHeading = 0.004000II!mDDAT read: Rx Time:04:37:38.0869 mTRx dataTimestamp_ set to:1764909459.099222}PDAT read: Bearing 12.5, -24.6 (Local) }~Local bearing/azimuth received: Bearing 12.5, -24.6 (Local) DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed -0.4 DAT read: 04:37:38.0869 LVL= 31728, 19185, 25170, 32755, AGC= 45, IDX= 510, 0.29,-2.932,-0.709,-1.738,-1.361, PHS=-1.469, 0.697,-0.421, RAW= 301.1, 12.7, CAL= 298.5, 18.1, ROT= 211.5, -18.1 Ygot valid direction response: 04:37:38.0869 LVL= 31728, 19185, 25170, 32755, AGC= 45, IDX= 510, 0.29,-2.932,-0.709,-1.738,-1.361, PHS=-1.469, 0.697,-0.421, RAW= 301.1, 12.7, CAL= 298.5, 18.1, ROT= 211.5, -18.1 R#Rx 8: Read range and direction messages.`direction in FSK: [-0.810448,-0.496643,0.310676]Fpublishing direction and range infoyimz4W0 ̯j߿\?Ym3Aim{mJmRb i)iIm1imn2?mP׾m}*@mb>m@ m?>)mn?l@Im?iim7O KCHn? m0G)mrbImG%im?iichecking for new query: numPingsReceived=8, elapsed TxPingTime=6.062265I9@ @@1@ԁ % checking for new query: numPingsReceived=8, elapsed TxPingTime=6.300197ԩ ^A #D=D<E EE&E"E:*EV:VE4ZEa@a@a@a@A1IAIQO]?~7&,ldLA8R+?R\v?RwٱRUV>RH4N?`joEd? ?@A?G??HL?iR+?IR=i^;RCY~By~#IbD VD 8y%(=ٔ%;Q-%>9!Y!=-Ey- E-=E->1Q 5=55?Q 9=55eH)5EBYAyE?Q IEc@5DI5:i5:5t5yIɮM8AQ1Oe eAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseqOmuEntering Midcourse tracking update period 60.000000 s sec at 8.900000 m (mode 5.000000 count ).qOuOuM}}Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR1N}Resuming normal ranging with 1.000000 count pings 8.900000 m (mode 5.000000 count ).1NqNiiYdLAjA"jA:j.@"pܴ^OoC4+F{@pz4W0 ̯j߿\?*jG%2j?*p(J @[6# rhן?p#O ?Hfbu~?j jH@i>?iG&jxBj+?jjfBrjAzj,@ addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.498813 s, deltaX: 0.300000 m, approachRate: 0.601428 m/s, rangeRepo size: 4  Added new target pos. range: 9.163601 m, bearing: 290.385999 deg, lat: 36.779421 deg, lon: -121.859663 deg, deltaT: 0.498813 s, deltaX: 0.298813 m, approachRate: 0.599048 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.16 m.hhhhhggjg rg q=zAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy= {@Uninitialize Buoyancy Component.re!ZeI:eU`ff"@*eUa?DDAT read: Rx Time:04:37:38.5870 ԩTRx dataTimestamp_ set to:1764909459.608875PDAT read: Bearing 14.9, -23.6 (Local) ~Local bearing/azimuth received: Bearing 14.9, -23.6 (Local) DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.4 DAT read: 04:37:38.5870 LVL= 30144, 17777, 22658, 32675, AGC= 47, IDX= 511, 0.02, 2.026,-2.083,-3.127,-2.738, PHS=-1.417, 0.700,-0.433, RAW= 302.3, 12.5, CAL= 299.8, 17.6, ROT= 210.2, -17.6 Ygot valid direction response: 04:37:38.5870 LVL= 30144, 17777, 22658, 32675, AGC= 47, IDX= 511, 0.02, 2.026,-2.083,-3.127,-2.738, PHS=-1.417, 0.700,-0.433, RAW= 302.3, 12.5, CAL= 299.8, 17.6, ROT= 210.2, -17.6 R#Rx 9: Read range and direction messages.w) ʅ?ip9)ܡ4 ii :@  IIB%>B!B%#IB%BB!B!B%DB%N;B%7EB>CB>CBB =B =C$4]`direction in FSK: [-0.823819,-0.479474,0.302370]]Fpublishing direction and range infoyj2\=(g޿-JZ?YAuqEX )/IB`i333?-ݾ֨@f_>p@ nF>)j@InF3g7Khb? svF)K_IT'inFchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.622603M9@I @Q@U4@Q  checking for new query: numPingsReceived=9, elapsed TxPingTime=6.803289^A A zA A A 1 E EE%E"Eغ:*E|;:VE 4ZEBE2H@C? `?4?J? =>Z,?`? K?i2?I2*^;2CYZByZ#Ihi}Mb@Mb@Mb@yyyy y9}Zd;?J +?Mb?Y}>y}=yy} A }@)}1@yY}@bDϿVD8yc%=ٔ,;Q->9Y=Ey<E>Q 55 ?Q 95kA)QBY?Q E:y?Q Ic@DI:i=:oy5yɮ_AkN@OOj?qNNiidLAj5A"j5A:ja@"p1ۯOP >h@pj2\=(g޿-JZ?*jT'2jnF*pO6@ !%]?p8?:=OFx?j jWG@i-D?ihl"jkBjh ?jG&jrjAzj@% addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.509653 s, deltaX: 0.100000 m, approachRate: 0.196213 m/s, rangeRepo size: 4 5 Added new target pos. range: 9.263162 m, bearing: 290.006572 deg, lat: 36.779422 deg, lon: -121.859662 deg, deltaT: 0.509653 s, deltaX: 0.099561 m, approachRate: 0.195350 m/s, posRepo size: 4 =BNOT Ignoring new targets: 9.26 m.h9h9h9h9h9gAgAjgArgEǂBreIZeI:eM"@*eM?[u?[u?"[uF>*[u!?da) ?i%9)額5Iii;h@@IIUDDAT read: Rx Time:04:37:39.0873 ]TRx dataTimestamp_ set to:1764909460.108441ePDAT read: Bearing 18.4, -27.3 (Local) m~Local bearing/azimuth received: Bearing 18.4, -27.3 (Local) }DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed -0.4 DAT read: 04:37:39.0873 LVL= 32752, 18385, 19362, 30067, AGC= 51, IDX= 2,-0.23, 2.084,-2.014,-2.976,-2.697, PHS=-1.400, 0.728,-0.323, RAW= 299.6, 10.8, CAL= 297.0, 14.3, ROT= 213.0, -14.3 Ygot valid direction response: 04:37:39.0873 LVL= 32752, 18385, 19362, 30067, AGC= 51, IDX= 2,-0.23, 2.084,-2.014,-2.976,-2.697, PHS=-1.400, 0.728,-0.323, RAW= 299.6, 10.8, CAL= 297.0, 14.3, ROT= 213.0, -14.3 T#Rx 10: Read range and direction messages.`direction in FSK: [-0.812685,-0.527764,0.246999]Fpublishing direction and range infoyY]{꿌p࿝⩝?Y]AY]]G]K ]su)]3I]33i]5^:?]B`]T@]A>]H@ ]r>)]\m@I]rYY]8n8da|??? ]HH@)]#AI]Y3$i]rYY5checking for new query: numPingsReceived=10, elapsed TxPingTime=7.084744@ @@4@@@=)^A#IIO>Y  checking for new query: numPingsReceived=10, elapsed TxPingTime=7.306915)&F&,eLAz?z0ٮ?z}eٱzEZ>zH4?8`'?`T??㬿|?`G?E?iz?Izi^;zCYBy#IbDVDl8y%=%-R=ٔ-(Q-->191Y9==Ey9=M<=E=>AQ 5M5E& ?Q 9M5E=<)EYBYQyU[?Q IUc@EDIE{;iED;E|5yYɮ]@YkqOu1PujyN}N}iieLAj-A"j-A:j@"ppY&a<HFI@p{꿌p࿝⩝?*jY3$2jr*pAb @^R!fr|?p/?|_648FM?j js@iqjK?i&jcBj-D?jjrjAzjގ@ addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.499566 s, deltaX: 0.500000 m, approachRate: 1.000869 m/s, rangeRepo size: 4  Added new target pos. range: 9.761182 m, bearing: 293.162516 deg, lat: 36.779423 deg, lon: -121.859662 deg, deltaT: 0.499566 s, deltaX: 0.498020 m, approachRate: 0.996906 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.76 m.hhhhhggjgrgreZe:e#@*e ?[["[*[[?}e) ?i$9)|d5iiiE@!!I!I!E5 E5}E5 E1"E5V:*E5k&:VE53ZE1a=@a=@a=@a=@aDDAT read: Rx Time:04:37:39.5873 TRx dataTimestamp_ set to:1764909460.616787PDAT read: Bearing 20.3, -28.4 (Local) ~Local bearing/azimuth received: Bearing 20.3, -28.4 (Local) DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed -0.4 Mqڼel>ie>ԑB >B =CB B B  =B B B ;B e7EDAT read: 04:37:39.5873 LVL= 32752, 19073, 23986, 32755, AGC= 50, IDX= 498, 0.31,-2.654,-0.408,-1.373,-1.119, PHS=-1.433, 0.756,-0.298, RAW= 298.8, 10.3, CAL= 296.2, 13.3, ROT= 213.8, -13.3 @ @@0@E Ygot valid direction response: 04:37:39.5873 LVL= 32752, 19073, 23986, 32755, AGC= 50, IDX= 498, 0.31,-2.654,-0.408,-1.373,-1.119, PHS=-1.433, 0.756,-0.298, RAW= 298.8, 10.3, CAL= 296.2, 13.3, ROT= 213.8, -13.3 E T#Rx 11: Read range and direction messages.U `direction in FSK: [-0.808697,-0.541375,0.230050]U Fpublishing direction and range infoyc,URgz}"Er?YJ] )2Ili7A?u@X8>m@ ,m>) n@I,m` z¦҄?Ĥ? G@)%8IN#i,m% checking for new query: numPingsReceived=11, elapsed TxPingTime=7.683072Թ ^A N؅I! I1 OM >uL&,5eLAHi\I\^checking for new query: numPingsReceived=11, elapsed TxPingTime=7.811218Z??Z$?ZeٱZ3:b>ZH?n999Y9==Ey9ER=EE>IQ 5U5M2 ?Q 9U5M<5)MgBYUo?Q EU:yU?Q IUc@M&DIM3:iMs:M95yaɮeG@a"ky1P}}tCompleted lineCaptureHoming:UpdatePingUpdateRate_Midcourse1O} }Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_MidcoursejNCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRMAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRiipy'eLAj"j:j@"pw/P-=7#'C@pc,URgz}"Er?*jN#2j,m*p$R@Xa[!JJ?pD> v?vxim _/?j  j@i<b?i3jBj>?j$jrjAzjY@ addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.508346 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 9.761050 m, bearing: 294.830554 deg, lat: 36.779423 deg, lon: -121.859661 deg, deltaT: 0.508346 s, deltaX: -0.000132 m, approachRate: -0.000259 m/s, posRepo size: 4 5BNOT Ignoring new targets: 9.76 m.h1h1h1h9h9g9EE EE|EE&EA"EEU:*EEP$:VEE4ZEABEE;aU2EE;aUJEE};aU:EE};aUgyjgrgԂBreZe:e*e$?[o?[o?"[CK>*[?e) ?i9) 5ii NaE  I Ii@i @i@u3@quDDAT read: Rx Time:04:37:40.0875 uTRx dataTimestamp_ set to:1764909461.115461}PDAT read: Bearing 22.8, -29.0 (Local) ~Local bearing/azimuth received: Bearing 22.8, -29.0 (Local) DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.4 DAT read: 04:37:40.0875 LVL= 32752, 19953, 26002, 32755, AGC= 52, IDX= 500,-0.04, 2.578,-1.418,-2.395,-2.163, PHS=-1.440, 0.790,-0.276, RAW= 298.5, 9.6, CAL= 296.0, 11.8, ROT= 214.0, -11.8 Ygot valid direction response: 04:37:40.0875 LVL= 32752, 19953, 26002, 32755, AGC= 52, IDX= 500,-0.04, 2.578,-1.418,-2.395,-2.163, PHS=-1.440, 0.790,-0.276, RAW= 298.5, 9.6, CAL= 296.0, 11.8, ROT= 214.0, -11.8 T#Rx 12: Read range and direction messages.`direction in FSK: [-0.811518,-0.547376,0.204496]Fpublishing direction and range infoyquZ1vG%rG,?Yu!AqquMue q)u4IuQiuq=J?uOu@u+>uMQ@ uBR>)uQ o@IuBRqquoh=■1?Vpac? u>pG@)u8+Iud#iuBRqqM checking for new query: numPingsReceived=12, elapsed TxPingTime=8.091366 ^AU #Ia Iq O} >lS&,1yOeLA2?2Le?2)cٱ2RWf>2H?`?%?'?2d?5?0?i2?I2];2CYBByB#IbDJVDJC8yf04=%f|=ٔf7:Q-f ?9hYh=jEyhnt^=En ?pQ 5v5r ?Q 9v5r0)rpBYtyv?Q Ivc@r,DIr:iru:r 5y|ɮ~@iicGeLAj A"j A:j2@"pqS ٭A&u@pZ1vG%rG,?*jd#2jBR*pm9w@Gϴ"<>?pMd?t EBWgR?j j@iy?i"mtjrBjqjK?jhl"jcBrj1Azjc@ addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.498674 s, deltaX: 0.300000 m, approachRate: 0.601596 m/s, rangeRepo size: 4  Added new target pos. range: 10.059858 m, bearing: 295.784870 deg, lat: 36.779429 deg, lon: -121.859660 deg, deltaT: 0.498674 s, deltaX: 0.298808 m, approachRate: 0.599205 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.06 m.hhhhhggjgrgreZe:e@33$@*e@ I?[["[*[?%)c)) -w?i-9))-5-$i)i59A99I9I9checking for new query: numPingsReceived=12, elapsed TxPingTime=8.3170271}9QEe EeEaEa"Ee:*Ee?:VEaZEaam@am@am@am@ 9ԑ  DDAT read: Rx Time:04:37:40.5875  TRx dataTimestamp_ set to:1764909461.625191 PDAT read: Bearing 24.8, -27.2 (Local)  ~Local bearing/azimuth received: Bearing 24.8, -27.2 (Local) 9 @A  @A @M /@I @i @m yAB >B B #IB BB =B B DB ;B '7E] DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.4  DAT read: 04:37:40.5875 LVL= 32720, 17297, 24210, 32755, AGC= 51, IDX= 501,-0.40, 1.293,-2.671, 2.553, 2.834, PHS=-1.439, 0.823,-0.325, RAW= 300.5, 9.6, CAL= 298.0, 11.8, ROT= 212.0, -11.8  Ygot valid direction response: 04:37:40.5875 LVL= 32720, 17297, 24210, 32755, AGC= 51, IDX= 501,-0.40, 1.293,-2.671, 2.553, 2.834, PHS=-1.439, 0.823,-0.325, RAW= 300.5, 9.6, CAL= 298.0, 11.8, ROT= 212.0, -11.8  T#Rx 13: Read range and direction messages.Ա  `direction in FSK: [-0.830127,-0.518721,0.204496] Fpublishing direction and range infoy  u5e*\rG,?Y 3#A  C ^ ) 3I '1i !R? ff ԧ@ Bo@ ) hl@I qphQn? H) 9B,I MQ%i Echecking for new query: numPingsReceived=13, elapsed TxPingTime=8.657023^A%FӅI)IAOM?o[&,,qeLAB'?BX?BDaٱB]e>BHc? 5??`̈́? 8?Pu? +2?iB'?IB^;@HYN&ByN#Ii5Mb@Mb@Mb@1111 195jt?!rh?V-?Y5?y5l=5<5n@5"A 1)11Y5f@bD}VD}]8yf<% =ٔ9Q->9Y=Eychecking for new query: numPingsReceived=13, elapsed TxPingTime=8.821606<E>1Q 5u55?Q 9}55()5BY/?Q E:y?Q Ic@56DI55*[?Da) ͌?i9)5Jiig8II E} E}}E}$Ey"E}:*E}k&:VE}4ZEyBE} gƧ@ @X>)  j@I @X a, ~+] ? IE) ϯ.I 'i @X  checking for new query: numPingsReceived=14, elapsed TxPingTime=9.140488Q Y@Y @Y@]4@YqiYIYuDDAT read: Rx Time:04:37:41.5878 }TRx dataTimestamp_ set to:1764909462.379781checking for new query: numPingsReceived=14, elapsed TxPingTime=9.335596ԩ^A#II O(?Hf&,eLAz?zEܹ?zgٱz*_>zHT? fE?{? 8ּ?"?5?m=?iz?Iz];zCY*By#IbDVDQ8yMP<%M=ٔMQ-M>9QYQ=UEyQ]c=E]>Q 55e?Q 95i )BYy?Q Ic@@DI:i6:5yɮm@D@AzDE EE%E"E :*E|;:VE 4ZEa@a@a@a@iiieLAjT'A"jT'A:j%t@"p;lY!*04nA@p#j4u0q޿9h?*j'2j@X*p^C?@ PDAT read: Bearing 30.3, -24.1 (Local) ~Local bearing/azimuth received: Bearing 30.3, -24.1 (Local) 5DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.4 ԩB}>ByB}#IB}BB} =ByB}DB}ˀ;B}7E39=DAT read: 04:37:41.5878 LVL= 32752, 18753, 25810, 32755, AGC= 53, IDX= 504,-0.16, 0.967,-3.045, 2.073, 2.419, PHS=-1.350, 0.864,-0.390, RAW= 304.4, 9.2, CAL= 302.0, 10.7, ROT= 208.0, -10.7 Ygot valid direction response: 04:37:41.5878 LVL= 32752, 18753, 25810, 32755, AGC= 53, IDX= 504,-0.16, 0.967,-3.045, 2.073, 2.419, PHS=-1.350, 0.864,-0.390, RAW= 304.4, 9.2, CAL= 302.0, 10.7, ROT= 208.0, -10.7  T#Rx 15: Read range and direction messages.] `direction in FSK: [-0.867596,-0.461309,0.185667]] Fpublishing direction and range infoy.W뿏2ݿ &K{?Y3+AAId )5I̬i/]?ǾP@l$>+@ t;?>)Vh@It;?{D):KR [Z? 1*D)#I)it;? checking for new query: numPingsReceived=15, elapsed TxPingTime=9.696140 @  @ @ 25@  DDAT read: Rx Time:04:37:42.0880  TRx dataTimestamp_ set to:1764909462.882348 PDAT read: Bearing 34.1, -24.7 (Local)  ~Local bearing/azimuth received: Bearing 34.1, -24.7 (Local)  checking for new query: numPingsReceived=15, elapsed TxPingTime=9.836305^A?΅I)IQO}>m&,(eLAԡ-"?^?oٱ1[>H`?)???V?0?-D?i-"?I^;CY/By#IiMb@Mb@Mb@ 9V-?@5^I ?Q?Y>yb>\=@ A )1@Y@E EEE"E:*E;J:VEZEBE] 9Y=Ey=E>Q 55?Q 95)BY?Q E:y?Q Ic@HDI:iw:15yɮ@iiEeLAj*A"j*A:ju@"pO}+~"*?g}?p.W뿏2ݿ &K{?*j)2jt;?*p"g@k {#$?pp?M?T1S?j j4@ii?i,jBjj8_jBrj*Azjd"@M addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.502616 s, deltaX: 0.200000 m, approachRate: 0.397918 m/s, rangeRepo size: 4 ] Added new target pos. range: 10.657529 m, bearing: 293.602092 deg, lat: 36.779433 deg, lon: -121.859657 deg, deltaT: 0.502616 s, deltaX: 0.199351 m, approachRate: 0.396627 m/s, posRepo size: 4 eDNOT Ignoring new targets: 10.66 m.hahahahahagagijgirgmBreiZeq:eu`ff%@*eX?[5?[5?"[5=Z>*[5#?Eo)A E\?iM9)IM6M腸iIiuJ)qqIqIyIIUyA)QDAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.4 DAT read: 04:37:42.0880 LVL= 32752, 18337, 24018, 32755, AGC= 53, IDX= 506, 0.50, 3.044,-0.990,-2.156,-1.842, PHS=-1.295, 0.897,-0.358, RAW= 304.8, 8.0, CAL= 302.4, 8.5, ROT= 207.6, -8.5 9@ @@4@@ @ -Ygot valid direction response: 04:37:42.0880 LVL= 32752, 18337, 24018, 32755, AGC= 53, IDX= 506, 0.50, 3.044,-0.990,-2.156,-1.842, PHS=-1.295, 0.897,-0.358, RAW= 304.8, 8.0, CAL= 302.4, 8.5, ROT= 207.6, -8.5 5T#Rx 16: Read range and direction messages.=`direction in FSK: [-0.876469,-0.458207,0.147809]=Fpublishing direction and range infoyn 'RsDSݿ%)k?Y0AG] )I¥iˡe?K;@5>[@ >)5g@I:(2#Q? ¶C)ǾI;*ichecking for new query: numPingsReceived=16, elapsed TxPingTime=10.107369^A% ) I9 II OU >t&,oeLAJ2?J?Js+}ٱJTW>JH?i0ot??w?ڠ?`?J?iJ2?IJ^;JCYZ7ByZ#IbDnVDnp8yz5=%zp=ٔQ- ?9 Y=Ey@=E?)Q 555-Y?Q 955-)-BY1y5=?Q I=c@-NDI-R;i- ;-35yAɮE@Ai i ~UeLAj M/A"j M/A:j y @"p L4#T-DAD?p n 'RsDSݿ%)k?*j ;*2j *p ɟ@(X9 $Hpa?p 9Ͽ?0wG@F^AE?j a  j @i s?i 蛝j Bj Ipq?j j Brj -AUDDAT read: Rx Time:04:37:42.5881 eTRx dataTimestamp_ set to:1764909463.386561}PDAT read: Bearing 37.3, -25.2 (Local) ~Local bearing/azimuth received: Bearing 37.3, -25.2 (Local) checking for new query: numPingsReceived=16, elapsed TxPingTime=10.340984zj @E addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504225 s, deltaX: 0.300000 m, approachRate: 0.594973 m/s, rangeRepo size: 4  Added new target pos. range: 10.956338 m, bearing: 293.728111 deg, lat: 36.779433 deg, lon: -121.859657 deg, deltaT: 0.504225 s, deltaX: 0.298809 m, approachRate: 0.592611 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.96 m.hhhhhggjgrgreZe!:e%&@*e%@[#?[i[i"[i*[m=?}s+})y }K?i}T9)顅(16!ii)_$IIADD=bEIjEM4rEMų0E E|E$E"EI:*EP$:VE4ZEa@a@a@a@9@9 @9@=3@Aq- DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.4 ^A M7ԡ I B= >B9 B= #IB= BB= =B9 B9 B= Ԁ;B= 7EIA e DAT read: 04:37:42.5881 LVL= 29680, 18273, 25314, 32035, AGC= 54, IDX= 507, 0.18, 1.801,-2.242, 2.873,-3.121, PHS=-1.260, 0.924,-0.334, RAW= 305.0, 7.1, CAL= 302.6, 6.8, ROT= 207.4, -6.8 m Ygot valid direction response: 04:37:42.5881 LVL= 29680, 18273, 25314, 32035, AGC= 54, IDX= 507, 0.18, 1.801,-2.242, 2.873,-3.121, PHS=-1.260, 0.924,-0.334, RAW= 305.0, 7.1, CAL= 302.6, 6.8, ROT= 207.4, -6.8 u T#Rx 17: Read range and direction messages.O >{&,@eLA`direction in FSK: [-0.881570,-0.456962,0.118404]"Fpublishing direction and range infoy5 ,>ݿEO?Y1AsaGb #})6IGiDl? X@=@ =)g@I0١￸g]K5-v? uC)2It*i~checking for new query: numPingsReceived=17, elapsed TxPingTime=10.702181F?+?Aٱ4S>Hñ?@A?*?%?Ϟ ?!3?@sQ?iF?ILK^;CY=By#I)iMb@Mb@Mb@ 9jt?S㥛?S㥛?Y?y$>/< @)@YbDmοVDm~8yk<%$=ٔԺQ->9Y=Ey=E>Q 55?Q 958)ĄBY>?Q E:y?Q Ic@VDI3:i]:5y%Bɮ%@%UEiiBeLAj0A"j0A:jyI@"p+=~#c53l?p5 ,>ݿEO?*jt*2j*p?L$@G,$) :?p@'0?1f|2_>vf?jf! jĐ@iy?iƍjjBjjN$%DDAT read: Rx Time:04:37:43.0884 -TRx dataTimestamp_ set to:1764909463.890736EPDAT read: Bearing 40.8, -25.8 (Local) M~Local bearing/azimuth received: Bearing 40.8, -25.8 (Local) aDAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.4 jrj1Azj@Z#Rx 18: Read range message, but no direction.y!Y%9A!checking for new query: numPingsReceived=18, elapsed TxPingTime=10.868907] addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.760518 s, deltaX: 0.600000 m, approachRate: 0.788936 m/s, rangeRepo size: 4 m Added new target pos. range: 11.055916 m, bearing: 294.154733 deg, lat: 36.779433 deg, lon: -121.859656 deg, deltaT: 0.505479 s, deltaX: 0.099578 m, approachRate: 0.196997 m/s, posRepo size: 4 mDNOT Ignoring new targets: 11.06 m.hqhqhhhggjgrgBreZe:e@33'@*e?[>?[>?"[5r>*[ ?5A)9 =\?i=Z9)9=5E6=i9iEAAIIII uyAuyAE EE%E"E:*E;J:VE 4ZEBE: JH`$?UZ?@?@??ɡ?X?iJ`?IJ'^;JCYV>BXyV#I ddbDrVDr8y~A;%(=ٔ mQ- >9Y=Ey=E>)Q 55-p?Q 95-)-ӄBYy?Q Ic@-^DI-:i-:-Ȟ5yɮ@iIiMeLAjM8A"jM8A:jM@"pM8/uz$= }Y?pM9Bҋ\쿕ρ&ݿU]k?*jM*2jM򧒫*pM JS@/+$`/ҿpMAX~?f@V jM& jMҞ@iMr?iMO*jMBjM򳢣s?jIjMBrjM5AzjMQأ@uDNOT Ignoring new targets: 11.06 m.hqhyhyhhggjgrgreZe:e*eX?DDAT read: Rx Time:04:37:43.5885 -TRx dataTimestamp_ set to:1764909464.393705=PDAT read: Bearing 43.9, -25.2 (Local) E~Local bearing/azimuth received: Bearing 43.9, -25.2 (Local) Mchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.347214[A[A"[A*[E?}2)y }?i}º9)顅Y6iiVSIIE ExE'E"E[:*E:VE'4ZEa@a@a@a@  /99 ߽ 4=߽ R= DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.5  DAT read: 04:37:43.5885 LVL= 32752, 22433, 32754, 32755, AGC= 55, IDX= 511,-0.17,-1.367, 0.907,-0.326,-0.059, PHS=-1.205, 1.011,-0.311, RAW= 306.3, 5.3, CAL= 304.0, 3.4, ROT= 206.0, -3.4  Ygot valid direction response: 04:37:43.5885 LVL= 32752, 22433, 32754, 32755, AGC= 55, IDX= 511,-0.17,-1.367, 0.907,-0.326,-0.059, PHS=-1.205, 1.011,-0.311, RAW= 306.3, 5.3, CAL= 304.0, 3.4, ROT= 206.0, -3.4  T#Rx 20: Read range and direction messages. `direction in FSK: [-0.897212,-0.437599,0.059306] Fpublishing direction and range infoy  +ohR3ܿCg]?Y 3;A W  ) I q=i sh? d; @ q= ɩ@ s=) f@I s W"Z @ϟvב? dA) 1ӼI ,i s e checking for new query: numPingsReceived=20, elapsed TxPingTime=11.611714 9@  @ @ /@ B >B B #IB !BB =B B DB ـ;B 7EB=CB=CBB =B =C.X5a ^AuFӅIIO?B&,fl3fLAYMHByM#IiMb@Mb@Mb@ 9Q?T㥛 ?X9v?Y>y><@ @)@Y@bDVD8y-=%-=ٔ=Q-=>9IYI=UEyQeEm>DDAT read: Rx Time:04:37:44.0887 TRx dataTimestamp_ set to:1764909464.898113PDAT read: Bearing 62.4, -25.7 (Local)  ~Local bearing/azimuth received: Bearing 62.4, -25.7 (Local) checking for new query: numPingsReceived=20, elapsed TxPingTime=11.852405Q 55?Q 95)BY>Q E:y?Q Ic@gDI0=i!(<5yɮ@9ii3)fLAjt:A"jt:A:j7@"ps@$ze]w?p+ohR3ܿCg]?*j,2js*p&T@_ڕC%UC p7%?'2aj* j@i??iqj6Bjy?j,jjBrjC:Azj@ addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.753009 s, deltaX: 0.099999 m, approachRate: 0.132800 m/s, rangeRepo size: 4 E Added new target pos. range: 11.653396 m, bearing: 294.029451 deg, lat: 36.779434 deg, lon: -121.859656 deg, deltaT: 1.008048 s, deltaX: 0.597480 m, approachRate: 0.592710 m/s, posRepo size: 4 EDNOT Ignoring new targets: 11.65 m.hAhIhIhIhIgIgIjgqrguBreqZey:e}`ff'@*e} S?[>[>"[Eo>*[=?)  ?i~9)o6˸iiIII !?) ?EU EUEU#EQ"EU7:*EUa9:VEU3ZEQBEU;ae2EU;aeJEU$;ae:EU%;aei5 w9 DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.4 ԑ  DAT read: 04:37:44.0887 LVL= 32752, 22753, 32754, 32755, AGC= 55, IDX= 513,-0.29, 0.835, 3.055, 1.840, 1.693, PHS=-0.756, 1.407, 0.103, RAW= 306.8, -8.0, CAL= 306.7, -12.0, ROT= 203.3, 12.0  Ygot valid direction response: 04:37:44.0887 LVL= 32752, 22753, 32754, 32755, AGC= 55, IDX= 513,-0.29, 0.835, 3.055, 1.840, 1.693, PHS=-0.756, 1.407, 0.103, RAW= 306.8, -8.0, CAL= 306.7, -12.0, ROT= 203.3, 12.0  T#Rx 21: Read range and direction messages. bdirection in FSK: [-0.898376,-0.386902,-0.207912] Fpublishing direction and range infoyy } GB/ȒؿhٜʿY} @Ay y } Xy y )y I} 7Ai} ?} =} uY@} 5} )K@ } PwV)} c@I} PwV>y y } Fqv* 彿Z% } ~A)} >I}  /i} PwV>y y  checking for new query: numPingsReceived=21, elapsed TxPingTime=12.111844 9@  @ @ /@ @ @ ^AI IO5?&,"lUfLA>wa?>F?>@ٱ>O>>H %y?X?=?J`?b@C? ? pV?i>wa?I>"^;>CYJCByJ#IIN<)N<bDRVDR8\y^%^)=ٔbMQ-b>9`Y`=bEy`f=Ef>hQ 5n5j5?Q 9n5j)jBYpyr?Q Irc@jnDIj;ij:j̧5yvBɮv@vTEiDDAT read: Rx Time:04:37:44.5887 %TRx dataTimestamp_ set to:1764909465.403189=PDAT read: Bearing 39.9, -23.3 (Local) E~Local bearing/azimuth received: Bearing 39.9, -23.3 (Local) i YIfLAjDAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.5 Z#Rx 22: Read range message, but no direction.yY*pl5U@'lc%hzڞ p2k8?$8(0(ӿj+ j}@i.=?if j8|BjjqjBrj<=Azjӣ@checking for new query: numPingsReceived=22, elapsed TxPingTime=12.378362 addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.759444 s, deltaX: 0.300000 m, approachRate: 0.395026 m/s, rangeRepo size: 4 E Added new target pos. range: 11.952201 m, bearing: 290.335995 deg, lat: 36.779434 deg, lon: -121.859656 deg, deltaT: 0.502315 s, deltaX: 0.298805 m, approachRate: 0.594856 m/s, posRepo size: 4 MDNOT Ignoring new targets: 11.95 m.hIhIhIhIhIgQgQjgQrgQreYZeY:e](@*e]`"?[["[*[?@) ӕ?i'9)6{߸ii%o !!I!I)E EEE"Eg:*EAr:VEZEa@a@a@a@t9 DAT read: 04:37:44.5887 LVL= 32752, 22321, 29426, 32755, AGC= 55, IDX= 514,-0.39,-0.547, 1.545, 0.415, 0.755, PHS=-1.200, 0.835,-0.384, RAW= 306.5, 8.5, CAL= 304.3, 9.4, ROT= 205.7, -9.4  Ygot valid direction response: 04:37:44.5887 LVL= 32752, 22321, 29426, 32755, AGC= 55, IDX= 514,-0.39,-0.547, 1.545, 0.415, 0.755, PHS=-1.200, 0.835,-0.384, RAW= 306.5, 8.5, CAL= 304.3, 9.4, ROT= 205.7, -9.4  Z#Rx 23: Read direction message, but no range. `direction in FSK: [-0.888978,-0.427836,0.163326]y ! @)  @) @- /@1 A  rMaۿ$vz? 1W r ) I i U? ľ .@ >B >B ) e@I ' %OHq嫛¼fX6? A) I Z,i 'U checking for new query: numPingsReceived=23, elapsed TxPingTime=12.686320i ^AeN؅IqIO>m&, tfLAN`?NGE?NhtٱNqQ>NHU,U??@m 撿@(N?y=<@ t@)@Y@bDVD8yf=%=ٔ-Q-->99Y9=EEyAU <EU>qQ 55u鞊?Q 95u)uBY?Q E:y?Q Ic@uwDDDAT read: Rx Time:04:37:45.0890 -TRx dataTimestamp_ set to:1764909465.908374PDAT read: Bearing 52.5, -25.0 (Local) ~Local bearing/azimuth received: Bearing 52.5, -25.0 (Local) DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4 IuU;iu=ur5yɮ@DAT read: 04:37:45.0890 LVL= 32752, 17713, 27554, 32755, AGC= 58, IDX= 5,-0.45, 3.109,-0.903,-2.181,-1.975, PHS=-1.097, 1.118,-0.250, RAW= 307.7, 2.4, CAL= 305.5, -1.0, ROT= 204.5, 1.0 iiYfLAj;?A"j;?A:j("@"pv@%aoBtIy;?prMaۿ$vz?*jZ,2j'*p.o@-%MT?p?/x?Z?jn) j@ Ygot valid direction response: 04:37:45.0890 LVL= 32752, 17713, 27554, 32755, AGC= 58, IDX= 5,-0.45, 3.109,-0.903,-2.181,-1.975, PHS=-1.097, 1.118,-0.250, RAW= 307.7, 2.4, CAL= 305.5, -1.0, ROT= 204.5, 1.0  T#Rx 24: Read range and direction messages.bdirection in FSK: [-0.909823,-0.414630,-0.017452]Fpublishing direction and range infoy@3hD= LڿW7) ߑYHA1Ek ):Iji?$ګ@+=i?i_ jBj??jƍjrjAAzj@] addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.505185 s, deltaX: 0.500000 m, approachRate: 0.989736 m/s, rangeRepo size: 4 @ 5)md@I5<cIf'5kQe? kl@)V5+I-i5<uchecking for new query: numPingsReceived=24, elapsed TxPingTime=12.907742 Added new target pos. range: 11.952092 m, bearing: 297.460755 deg, lat: 36.779435 deg, lon: -121.859655 deg, deltaT: 0.257129 s, deltaX: -0.000109 m, approachRate: -0.000423 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.95 m.hhhhhggjgrgBreZe:e)@*e?[-?[-?"[-y>*[-?]ht)Y ])?ie!9)ae96e>iaimiiIiIq EE EEEE&EA"EE:*EE,:VEE4ZEABEE+VH`U!v??ѥ`3_? ^?@[?iV+?IV>^;VCYbNByb#I bD"VD̰8y#%%-=ٔ% Q-%>9)Y)=-Ey)5=E5>1Q 5=55n䞊?Q 9E55)5BYAyE?Q IEc@5DI5f:i5:55yUBɮU@UKEii"zfLAj3GA"j3GA:jVk@"p ;&[xS^˿p@3hD= LڿW7) ߑ*j-2j5<*pn@r/&fm]hp𭿐 ?;P 쿬Nn^j}1 j@iPo ?i jWBjr?jf j6Brj`EAzj@DNOT Ignoring new targets: 11.95 m.hhhhh g gjg!rg!re)Ze1:e9*e= ?DDAT read: Rx Time:04:37:45.5891 TRx dataTimestamp_ set to:1764909466.411221PDAT read: Bearing 54.8, -24.5 (Local) ~Local bearing/azimuth received: Bearing 54.8, -24.5 (Local) DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.5 Z#Rx 25: Read range message, but no direction.yYchecking for new query: numPingsReceived=25, elapsed TxPingTime=13.385304ԙ[["[*[?E)A EG?iE9)IM6MiIiUxQQIQIE1 E5E5%E1"E1*E5L_:VE5 4ZE1a=@a=@aE@aE@9 } DAT read: 04:37:45.5891 LVL= 32752, 23937, 31170, 32755, AGC= 55, IDX= 501, 0.48, 2.263,-1.749,-3.048,-2.856, PHS=-1.062, 1.152,-0.235, RAW= 308.3, 1.5, CAL= 306.3, -1.9, ROT= 203.7, 1.9  Ygot valid direction response: 04:37:45.5891 LVL= 32752, 23937, 31170, 32755, AGC= 55, IDX= 501, 0.48, 2.263,-1.749,-3.048,-2.856, PHS=-1.062, 1.152,-0.235, RAW= 308.3, 1.5, CAL= 306.3, -1.9, ROT= 203.7, 1.9  Z#Rx 26: Read direction message, but no range. bdirection in FSK: [-0.915159,-0.401727,-0.033155]yQ U r&H ٿB3Q Q U ]U y Q )U 7IU iU t?U ףpU /@U PwBE ;CBE #IBE 5BBE =BA  nManaging dock network, ignoring radio surface power offBE DBE ̀;BE 7E) ^A}#IIO>58&,@fLAYyԡiUMb@Mb@Mb@QQQQ Q9U(\?q= ףp?Zd;O?YU>yU=Uj9Y= Ey uDDAT read: Rx Time:04:37:46.0894 TRx dataTimestamp_ set to:1764909466.914328PDAT read: Bearing 56.2, -23.2 (Local) ~Local bearing/azimuth received: Bearing 56.2, -23.2 (Local) DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.5 Z#Rx 27: Read range message, but no direction.yyY}fNAychecking for new query: numPingsReceived=27, elapsed TxPingTime=13.876353-E5>1Q 5=55Dޞ?Q 9E55)5$BYE>Q EE:yEb?Q IEc@5DI5:i5:55yQɮU@Qiyi}ZfLAj}MA"j}MA:j}V@"p}qP1&9'9b4Q(cCۿp}r&H ٿB3*j}.2j}=*p}]R@la 'Q(p}cy ?W%j}T8 j}@i}JȽ?i}Cj}Bj}JȽ?jyj}WBrj}JAzj}"@ addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 1.005954 s, deltaX: 0.400000 m, approachRate: 0.397632 m/s, rangeRepo size: 4 U Added new target pos. range: 12.848310 m, bearing: 295.230888 deg, lat: 36.779439 deg, lon: -121.859654 deg, deltaT: 1.511139 s, deltaX: 0.896217 m, approachRate: 0.593074 m/s, posRepo size: 4 UDNOT Ignoring new targets: 12.85 m.hQhQhQhQhYgYgYjgYrgeBreaZea:ee)@*e E?[->[->"[- Dx>*[-b?9)9 =?i=9)9E6Exii鿉IIIS?)_?E EEE"E:*EC:VEZEBE;a2E;aJE>;a:E>;aY@ @@0@} gG /{A s9 /{AY oA! 5 DAT read: 04:37:46.0894 LVL= 32752, 22897, 32754, 32755, AGC= 56, IDX= 504, 0.33,-2.339,-0.113,-1.429,-1.212, PHS=-1.025, 1.145,-0.261, RAW= 309.7, 1.5, CAL= 307.6, -1.8, ROT= 202.4, 1.8 = Ygot valid direction response: 04:37:46.0894 LVL= 32752, 22897, 32754, 32755, AGC= 56, IDX= 504, 0.33,-2.339,-0.113,-1.429,-1.212, PHS=-1.025, 1.145,-0.261, RAW= 309.7, 1.5, CAL= 307.6, -1.8, ROT= 202.4, 1.8 = Z#Rx 28: Read direction message, but no range.E bdirection in FSK: [-0.924090,-0.380882,-0.031411]y  å$t_`ؿIz qY  ) 8I 33i \? ˡ @ ˫@ ) =b@I = 29IRSſ"Ka4Ě? <>) 'ּI x 0i =] checking for new query: numPingsReceived=28, elapsed TxPingTime=14.121165^A I I O% >]&,-fLA)eǵ?e1?eX ٱeE>eH=4 0S`?h?`X2@??e?ieǵ?Ie2^;aYKBy#IbDVD8yA%K=ٔȺQ->9Y!=-Ey)-=E->1Q 5=55ٞ?Q 9=55q)5/BY9yE?Q IEc@5DI5B:i5N:5ø5yaɮe@iDNOT Ignoring new targets: 12.85 m.hhhhhggjgrgreZe:e*e&,GfLA>ō?>r?>Qٱ>_rD>>H@_L??'z{ I? 1f?g?i>ō?I>9^;>CYFHByJ#IIN4=)N%=bDRVDR8yZA%Zc=ٔZJQ-^>9\Y\=bEy`b=Eb>dQ 5j5f՞?Q 9j5f2)f9BYhyj?Q Inc@fDIf%:if:f5ypɮr@p%DAT read: 04:37:46.5895 LVL= 32752, 22769, 32370, 32755, AGC= 56, IDX= 505, 0.18,-2.430,-0.203,-1.545,-1.341, PHS=-0.987, 1.184,-0.247, RAW= 310.4, 0.5, CAL= 308.5, -2.7, ROT= 201.5, 2.7 -Ygot valid direction response: 04:37:46.5895 LVL= 32752, 22769, 32370, 32755, AGC= 56, IDX= 505, 0.18,-2.430,-0.203,-1.545,-1.341, PHS=-0.987, 1.184,-0.247, RAW= 310.4, 0.5, CAL= 308.5, -2.7, ROT= 201.5, 2.7 5Z#Rx 30: Read direction message, but no range.Ubdirection in FSK: [-0.929385,-0.366094,-0.047106]y߄Lzn׿P7VXr~ )I|iP?|-\@5<L@ A)a@IA= Wx￿"ǿS7!? Nn=)I 1iA=mchecking for new query: numPingsReceived=30, elapsed TxPingTime=14.628455iifLAjPA"jPA:j@"pjK@(RuB7gp߄Lzn׿P7V*j 12jA=*p~%@/co>['ܳpJ6}(?FH)j: j,@iH,?i!6]jBjH,?j jBrjNAzjD@ԙ addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.505101 s, deltaX: 0.200001 m, approachRate: 0.395962 m/s, rangeRepo size: 4 B>B:CB#IB?BB =BBDB;B6E Added new target pos. range: 13.047508 m, bearing: 295.365723 deg, lat: 36.779439 deg, lon: -121.859653 deg, deltaT: 0.505101 s, deltaX: 0.199199 m, approachRate: 0.394374 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.05 m.hhhhhggjgrgreZe:e@33*@*eੜ?[i[i"[i*[mu?}Q)y }?i}-9)y顅6$ii տIIDDAT read: Rx Time:04:37:47.0898 TRx dataTimestamp_ set to:1764909467.923614PDAT read: Bearing 60.3, -21.1 (Local)  ~Local bearing/azimuth received: Bearing 60.3, -21.1 (Local)  DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.4  Z#Rx 31: Read range message, but no direction.yYXA% checking for new query: numPingsReceived=31, elapsed TxPingTime=14.881239 Ƨ9 @  @ @ 0@ ) EE  EE EE "EA "EE m:*EE V:VEE (3ZEA BEE U2H$?`cC@Xx?@?踿q{:?M?`h?i2O?I2!^;0Y>CBy>#IDAT read: 04:37:47.0898 LVL= 32752, 20465, 29154, 32755, AGC= 58, IDX= 508, 0.00,-1.005, 1.226,-0.168, 0.055, PHS=-0.957, 1.216,-0.266, RAW= 311.9, 0.1, CAL= 310.0, -3.1, ROT= 200.0, 3.1 Ygot valid direction response: 04:37:47.0898 LVL= 32752, 20465, 29154, 32755, AGC= 58, IDX= 508, 0.00,-1.005, 1.226,-0.168, 0.055, PHS=-0.957, 1.216,-0.266, RAW= 311.9, 0.1, CAL= 310.0, -3.1, ROT= 200.0, 3.1 Z#Rx 32: Read direction message, but no range.%bdirection in FSK: [-0.938318,-0.341520,-0.054079]yxz(~sBSuտʾ7xxzOzq x)z:Iztiz㥛?z'1z2@z:z"@ zk])zf_@Izk]=xz,'P௞*cSʿYz U? z;)zkIz¸2izk]=Echecking for new query: numPingsReceived=32, elapsed TxPingTime=15.128514iMb@Mb@Mb@ 9ʡE?S㥻?y/=t<d@ @)Y@BAbDVD8y6%=ٔ8Q->9Y=Ey<E>Q 55Ξ?Q 95)FBY>Q E:y?Q Ic@DIM:i:5yBɮ@JE ii~fLAj!WA"j!WA:jʈ@"pr;) )^!sDp(~sBSuտʾ7*j¸22jk]=*p*+@W_{6( Ηp^vPa?FjA jY@i?i @,jBjjjrjSAzjNߤ@u addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.504185 s, deltaX: 0.400000 m, approachRate: 0.793359 m/s, rangeRepo size: 4  Added new target pos. range: 13.445648 m, bearing: 294.597585 deg, lat: 36.779439 deg, lon: -121.859653 deg, deltaT: 0.504185 s, deltaX: 0.398140 m, approachRate: 0.789670 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.45 m.hhhhhggjgrgɂBreZe:e+@*e`%?[>[>"[=h>*[N?-׹)1 5?i5ý9)15650i9i]ǿaaIaIa iiQi9DDAT read: Rx Time:04:37:47.5899 TRx dataTimestamp_ set to:1764909468.427325PDAT read: Bearing 62.5, -19.7 (Local) ~Local bearing/azimuth received: Bearing 62.5, -19.7 (Local) DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.5  DAT read: 04:37:47.5899 LVL= 30544, 21729, 27938, 32755, AGC= 60, IDX= 509,-0.16,-2.267,-0.047,-1.484,-1.255, PHS=-0.910, 1.253,-0.272, RAW= 313.3, -0.8, CAL= 311.7, -3.9, ROT= 198.3, 3.9  Ygot valid direction response: 04:37:47.5899 LVL= 30544, 21729, 27938, 32755, AGC= 60, IDX= 509,-0.16,-2.267,-0.047,-1.484,-1.255, PHS=-0.910, 1.253,-0.272, RAW= 313.3, -0.8, CAL= 311.7, -3.9, ROT= 198.3, 3.9  T#Rx 33: Read range and direction messages. bdirection in FSK: [-0.947227,-0.313265,-0.068015] Fpublishing direction and range infoyO( Կ,::siY3[APwT"m )<IhiNb?C@d @ 'g)Ԁ]@I'g=v%K"e|ͿH/8 .:)MU!?>Q?>>ٱ>B>>H`һ 8[?X?knZ$??/?Hj?i>!?I>^;<Nchecking for new query: numPingsReceived=33, elapsed TxPingTime=15.622807YNEByR#I TTTVAbDZ׿VDZ8yb0;%b(=ٔfQ-f>9hYh=jEyhjE<En>lQ 5r5nȞ?Q 9r5n)nRBYtyv?Q Ivc@nDIn:in:n5yxɮz@|iiKYgLAjQZA"jQZA:jT@"p)Sz)ƍ 8pO( Կ,::si*j42j'g=*po|E@bѼ(pdyR?$M*-d99¿jE j¬@iצ?iNKj?BjJȽ?jCjBrjXAzj@m addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.503711 s, deltaX: 0.200000 m, approachRate: 0.397053 m/s, rangeRepo size: 4 1BQBQBU#IBU:BBU =BQBQBU;BU6E Added new target pos. range: 13.644843 m, bearing: 293.580206 deg, lat: 36.779439 deg, lon: -121.859655 deg, deltaT: 0.503711 s, deltaX: 0.199195 m, approachRate: 0.395455 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.64 m.hhhhh g gjgArgIreQZeY:e]`ff+@*e ?[ [ "[ *[ ?E>)A E?iE9)AMg6MIQIQYMDDAT read: Rx Time:04:37:48.0901 MTRx dataTimestamp_ set to:1764909468.926974]DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.8 ]Z#Rx 34: Read range message, but no direction.yIYM`AIechecking for new query: numPingsReceived=34, elapsed TxPingTime=15.878473mը9ԙ 9@  @ @ /@ ԩ E  E E $E "E Ʊ:*E ,:VE 4ZE BE ?;a 2E @;a JE 9;a :E 9;a ^A FӅIIO%>7&,ݖGgLA6?6q?6|ٱ6A[?>6H"S "?? !n?7? Y?ko?i6?I6<^;4Y>CByB#I\i Mb@Mb@Mb@     9 -?:v? rh?Y 5>y = C<  7@ @) @ Y G@bD%VD%8y5`%+=ٔ:Q->9Y=EyO`=E>Q 55;ž?Q 95)^BY>Q E:y7?Q Ic@DI,:iI:5yٔB%=<checking for new query: numPingsReceived=34, elapsed TxPingTime=16.127209ɮe@AE addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.499649 s, deltaX: 0.300000 m, approachRate: 0.600422 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.64 m.hhhhhggjgrgBre!Ze!:e%,@*e%H?[E>[E>"[EJp>*[E7?]|)Y ]G?i]9)ae6eFFiaimriiIiIqI9@ @@/@ DDAT read: Rx Time:04:37:48.5902  TRx dataTimestamp_ set to:1764909469.432234 PDAT read: Bearing 65.9, -16.8 (Local)  ~Local bearing/azimuth received: Bearing 65.9, -16.8 (Local)  DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.4  DAT read: 04:37:48.5902 LVL= 32752, 23073, 32754, 32755, AGC= 63, IDX= 496, 0.39,-0.887, 1.258,-0.221, 0.039, PHS=-0.825, 1.264,-0.304, RAW= 316.2, -1.4, CAL= 314.7, -4.6, ROT= 195.3, 4.6  Ygot valid direction response: 04:37:48.5902 LVL= 32752, 23073, 32754, 32755, AGC= 63, IDX= 496, 0.39,-0.887, 1.258,-0.221, 0.039, PHS=-0.825, 1.264,-0.304, RAW= 316.2, -1.4, CAL= 314.7, -4.6, ROT= 195.3, 4.6  T#Rx 35: Read range and direction messages. bdirection in FSK: [-0.961450,-0.263023,-0.080199] Fpublishing direction and range infoy  v+3* ^пzꇴY aA  !Z  ) ?I 33Si ʡ? 㥛 r@ +ȼ ¯@ l) &Z@I l= _L׭ѿKgTd 7) Ґ&,gagLAD^=D^4=Eb Eb{Eb"E`"Ebغ:*Eb5":VEb(3ZE`aj@aj@aj@aj@Y=9By=#I M;MbDMVDM8y}E%F=ٔQ->9Y=EyE>Q 55?Q 95;)gBYyQ Ic@DIp:i-:5yɮ@ii[gLAj`A"j`A:j@"pk)+<΃訌 ίpv+3* ^пzꇴ*j72jl=*p?CF{@K~)t\ָp܎3S?T^5W ÿjM j@it?ij Bj?j @,jBrj _Azjj@} addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.505260 s, deltaX: 0.100000 m, approachRate: 0.197919 m/s, rangeRepo size: 4  Added new target pos. range: 14.043186 m, bearing: 292.038678 deg, lat: 36.779438 deg, lon: -121.859655 deg, deltaT: 1.004909 s, deltaX: 0.398343 m, approachRate: 0.396397 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.04 m.hhhhhggjgrgreZe:e@33,@*e ?[["[*[1)1 5?i=ܿ9)9=6='Pi9iE׌AAIAIIIchecking for new query: numPingsReceived=35, elapsed TxPingTime=16.631084AaAaB}>ByByByB} =ByByB}΀;B}7EB:CB;CBƔCB =B =C65yw9 9@  @ @ /@ ^Ae QIq I O >ԩ #&,'N{gLA"DDAT read: Rx Time:04:37:49.0905 &TRx dataTimestamp_ set to:1764909469.935193*PDAT read: Bearing 67.8, -16.4 (Local) *~Local bearing/azimuth received: Bearing 67.8, -16.4 (Local) 2DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.5 6Z#Rx 36: Read range message, but no direction.y Y"iA :checking for new query: numPingsReceived=36, elapsed TxPingTime=16.888861Vn?V?VB٪ٱVm<>VHsĿ@@?@?@%Ŀ?Z? vu?ns?iVn?IV a^;TY^?By^#IqiMb@Mb@Mb@ 9"~?RQ?~jt?Y>y=<X@M@ @)Y@bDVD8y<%6=ٔ/;Q->9Y=Ey?a=E>Q 55?Q 95)qBY>Q E:y?Q Ic@DI:it:5y ɮ @ = addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.502959 s, deltaX: 0.500000 m, approachRate: 0.994117 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 14.04 m.h9h9hAhAhAgAgAjgIrgMBreIZeI:eU@33-@*eU@r?[u>[u>"[u*f>*[u?B٪) ף?i9)額|6RYiiNIIE EE%E"E:*E*:VE 4ZEBE z &,$gLA6n1?6?68ٱ6:>6Hſ@@Q?c??ƿr݇?`?`G9?\v?i6n1?I6e*^;6CY^>By^#IbDfVDf8yn%nq=ٔr;Q-r?9pYp=vEytv7 =Ev?xQ 5~5z?Q 9~5z)zyBYy?Q Id@zDIzY;iz;zz5y ɮ @ DNOT Ignoring new targets: 14.04 m.hhhhhgg!jg)rgQreYZea:ei*eW?[["[*[C?UDDAT read: Rx Time:04:37:49.5906 ]TRx dataTimestamp_ set to:1764909470.439418ePDAT read: Bearing 69.9, -14.9 (Local) e~Local bearing/azimuth received: Bearing 69.9, -14.9 (Local) uDAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.4 DAT read: 04:37:49.5906 LVL= 32752, 20209, 28738, 32755, AGC= 62, IDX= 500,-0.24,-1.546, 0.573,-0.949,-0.697, PHS=-0.747, 1.315,-0.296, RAW= 318.0, -2.9, CAL= 316.8, -6.1, ROT= 193.2, 6.1 Ygot valid direction response: 04:37:49.5906 LVL= 32752, 20209, 28738, 32755, AGC= 62, IDX= 500,-0.24,-1.546, 0.573,-0.949,-0.697, PHS=-0.747, 1.315,-0.296, RAW= 318.0, -2.9, CAL= 316.8, -6.1, ROT= 193.2, 6.1 T#Rx 38: Read range and direction messages.bdirection in FSK: [-0.968066,-0.227058,-0.106264]Fpublishing direction and range infoyY]_|;xf?0<ͿO4Y]3kAY]]N]Bp ])]>I]d;?i]Q?]P]Κ@]4QO];@ ]^ ڽ)]uW@I]^ =YY]njW$eClӿL0 ]4)]Q=I]@Q:i]^ =YYchecking for new query: numPingsReceived=38, elapsed TxPingTime=17.4035978) ?i9)6aiiZ8 I I O99@ @@D0@DzDE EEE"E:*E.:VEZEa@a@a@a@^AuIyIO~>) checking for new query: numPingsReceived=38, elapsed TxPingTime=17.638836y 7&,5 gLAB^>B^;CB^#IB^0BB\B\B^DF?F~?FٱFn9>FH[Lǿ@`@|?@u?HXǿN"?P"?m ?x?iF?IF}3^;FCB^;B^6EY=@ByE#Iu@AuAAbDVD8y]#<%<=ٔL;Q->9Y=Ey<E>qQ 55r?Q 95)BYy?Q Id@DIP&,-gLAZ?Z ?ZO3ٱZ5>ZH ʘȿ;? f?ȿvz? .?`?`}?iZ?IZ^;ZCYb6Byb#IUchecking for new query: numPingsReceived=39, elapsed TxPingTime=18.142897iMb@Mb@Mb@ 9Dl??Q?YO>y=u< @ ^@)Y@bDVD8yC%E=ٔ?;Q->9Y=Ey><E>Q 55?Q 95)BY>Q E;y?Q Id@ŸDI:i=:5yɮ@i1i5sgLAj5qmA"j5qmA:j5dˣ@"p56L,s0 _OUkXp5GWTLPͿ|ӄ{*j54:2j5=*p5PDQ0@c|**Sp5kA?WFCLz$ O3ÿj5W j5@i5?i5j5€Bj5?j5j5 Brj5jAzj5fˣ@5 addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.505140 s, deltaX: 0.200000 m, approachRate: 0.395929 m/s, rangeRepo size: 4 M Added new target pos. range: 14.840205 m, bearing: 293.272902 deg, lat: 36.779436 deg, lon: -121.859656 deg, deltaT: 0.505140 s, deltaX: 0.199197 m, approachRate: 0.394340 m/s, posRepo size: 4 MDNOT Ignoring new targets: 14.84 m.hIhIhQhQhQgQgQjgYrg]BreYZeY:e]-@*eeH4?a[>[>"[Az>*[:?O3) ?i9)=^7E)qiAiEނIIIIIIԑi I  DDAT read: Rx Time:04:37:50.5908  TRx dataTimestamp_ set to:1764909471.449168- PDAT read: Bearing 71.3, -13.8 (Local) 5 ~Local bearing/azimuth received: Bearing 71.3, -13.8 (Local) E DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.4 9@  @ @ /@  DAT read: 04:37:50.5908 LVL= 32752, 23025, 32754, 32755, AGC= 62, IDX= 502,-0.29,-0.815, 1.229,-0.267, 0.011, PHS=-0.724, 1.264,-0.322, RAW= 319.0, -2.4, CAL= 317.8, -5.6, ROT= 192.2, 5.6  Ygot valid direction response: 04:37:50.5908 LVL= 32752, 23025, 32754, 32755, AGC= 62, IDX= 502,-0.29,-0.815, 1.229,-0.267, 0.011, PHS=-0.724, 1.264,-0.322, RAW= 319.0, -2.4, CAL= 317.8, -5.6, ROT= 192.2, 5.6  T#Rx 40: Read range and direction messages. bdirection in FSK: [-0.972751,-0.210316,-0.097583] Fpublishing direction and range infoy  OM ￐ oʿA_1Y pA   Y  ) >I X9i ʡ? /ݤ )@ + 5~@  +Ƚ) V@I +=   !6 ; wԿ=񧥿  3) L-=I 5o;i +=  5 checking for new query: numPingsReceived=40, elapsed TxPingTime=18.433395^Au mI I O > s&,rgLAE" E"yE"%E "E"U:*E":VE" 4ZE a*@a*@a*@a*@>59?>d?>ńٱ>1>>Hɿo?U?@ɿƓ??{??i>59?I>1^;>CYF;ByF#IbDbVDb8yj<%j[=ٔj_;Q-j>9lY|=~Ey| <E> Q 55 ?Q 95 ڳ) BYy@Q Id@ ʸDI S:i ; 15yAɮE@AiQiU+gLAjU oA"jU oA:jU@"pUݏ-3" !nSpUOM ￐ oʿA_1*jU5o;2jU+=*pU)c@{u?+epUβ{?h.~V¿jUY jU@iU?iUT7jÙBjU?jUT7jÙBrjUelAzjU@ addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504610 s, deltaX: 0.100000 m, approachRate: 0.198174 m/s, rangeRepo size: 4  Added new target pos. range: 14.939805 m, bearing: 292.756927 deg, lat: 36.779435 deg, lon: -121.859656 deg, deltaT: 0.504610 s, deltaX: 0.099600 m, approachRate: 0.197380 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.94 m.hhhhh g g jg rg reZe1:e5.@*e=@/?[y[y"[y*[}@ń) ?i\9)页 7wii5II}checking for new query: numPingsReceived=40, elapsed TxPingTime=18.648031A@A @A@M5@IBm>Bm) % DDAT read: Rx Time:04:37:51.0910 % TRx dataTimestamp_ set to:1764909471.9513195 PDAT read: Bearing 72.3, -12.8 (Local) 5 ~Local bearing/azimuth received: Bearing 72.3, -12.8 (Local) E DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.4 &,KgLA*DAT read: 04:37:51.0910 LVL= 32752, 22753, 32754, 32755, AGC= 62, IDX= 504, 0.04, 2.654,-1.621,-3.116,-2.827, PHS=-0.700, 1.252,-0.333, RAW= 319.8, -2.5, CAL= 318.6, -5.6, ROT= 191.4, 5.6 .Ygot valid direction response: 04:37:51.0910 LVL= 32752, 22753, 32754, 32755, AGC= 62, IDX= 504, 0.04, 2.654,-1.621,-3.116,-2.827, PHS=-0.700, 1.252,-0.333, RAW= 319.8, -2.5, CAL= 318.6, -5.6, ROT= 191.4, 5.6 0FT#Rx 41: Read range and direction messages.Jbdirection in FSK: [-0.975593,-0.196714,-0.097583]JFpublishing direction and range infoyQU#?8{;W-ɿA_1YUtAQQUXQ Q)QIU333iUA?U~U)@U¸2U@ Q)UU@IQQQU߆߫տh; U2)Ud0=IUSy=D<EY E]}E]"EY"EY*E]k&:VE](3ZEYBE];ae2E];aeJE]À;ae:E]À;amn@7@ 1@)@Y@ u49Y=EyE>Q 5 5?Q 9 5+)BY  >Q E ;y@Q Id@иDI;i;5y˔Bɮ~@7EiQiUigLAjUsA"jUsA:jU)@"pU.H- V]h)mpU#?8{;W-ɿA_1*jUS<2jQ*pUt7@ٍ+mWspU%WD?*JF#\T=¿jU_ jUo@iUl,u?iUNjUBjU`|?jUmjU€BrjUgoAzjU_@ addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.502151 s, deltaX: 0.300000 m, approachRate: 0.597430 m/s, rangeRepo size: 4  Added new target pos. range: 15.238990 m, bearing: 291.963398 deg, lat: 36.779435 deg, lon: -121.859657 deg, deltaT: 0.502151 s, deltaX: 0.299185 m, approachRate: 0.595806 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.24 m.hhhhhggjg rg Bre Ze :e.@*e@!?[U >[U >"[U w>*[UԂ@ qqvG) f?-鎿9)Y-9Ai;9)9=i7=iAiE#IIIIIIIUG?)UR?Թ}checking for new query: numPingsReceived=41, elapsed TxPingTime=19.151003  69 @  @ @ 0@ @% =@% >^A K-= IY I O >M2&,mhLAnU?n ;?nTٱnH+>nH˿'? 9?˿h?@d?`O??inU?In^;nCYv=Byv#IbDVD8yE=%_=ٔ9YYY=]EyYe7=Ee>iQ 5u5m?Q 9u5m)mBDDAT read: Rx Time:04:37:51.5911 TRx dataTimestamp_ set to:1764909472.455518PDAT read: Bearing 72.9, -12.1 (Local) ~Local bearing/azimuth received: Bearing 72.9, -12.1 (Local) DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.4 DAT read: 04:37:51.5911 LVL= 32752, 21857, 32754, 32755, AGC= 62, IDX= 504, 0.39, 1.722,-2.600, 2.207, 2.507, PHS=-0.683, 1.221,-0.344, RAW= 320.4, -2.2, CAL= 319.2, -5.4, ROT= 190.8, 5.4 Ygot valid direction response: 04:37:51.5911 LVL= 32752, 21857, 32754, 32755, AGC= 62, IDX= 504, 0.39, 1.722,-2.600, 2.207, 2.507, PHS=-0.683, 1.221,-0.344, RAW= 320.4, -2.2, CAL= 319.2, -5.4, ROT= 190.8, 5.4 T#Rx 42: Read range and direction messages.bdirection in FSK: [-0.977928,-0.186550,-0.094108]Fpublishing direction and range infoy4:/K<,ڻǿ|ӄ{YxAaU )I.iI? @nFaF@ )+ U@I=Yy@Q Id@mոDImp4:/K<,ڻǿ|ӄ{*j<2j=*p}M@p> H,a`yp/-&?2yOed+zj@b jh@i?i¬jBj?jjrjqAzjs@] addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504199 s, deltaX: 0.200000 m, approachRate: 0.396668 m/s, rangeRepo size: 4 u Added new target pos. range: 15.438191 m, bearing: 292.389334 deg, lat: 36.779435 deg, lon: -121.859657 deg, deltaT: 0.504199 s, deltaX: 0.199202 m, approachRate: 0.395085 m/s, posRepo size: 4 uDNOT Ignoring new targets: 15.44 m.hqhqhqhyhygygyjgyrgreZe:e/@*eYנ?ԑ[["[*[\@T) ?i9)7ςiiM)IIIIIQE  E E E "E  ;*E L_:VE ZE a@a@a@a@ԹZ95 checking for new query: numPingsReceived=42, elapsed TxPingTime=19.655226BE >BE =CBE #IBE +BBE =BA BA BE ";BE g6Ee 9@a  @a @a @a ^A= K5 >II I O >! _ &,3hLAE*?EG?E^[4ٱEp(>EH@̿ ?@2.?K̿@Ӛ?M?}?`?iE*?IE*^;ECY]6By]#Ii-Mb@Mb@Mb@)))) )9-Mb?J +?:v?Y->y-=-T<)-@ -G@)-@)Y-f@bD=4VD=ܰ8ym5%m*=ٔ};Q-}>9Y=Ey]<E>Q 55?Q 95d)BY>Q E;y@Q Id@۸DI:i:5yǔBɮ@ 6E5DNOT Ignoring new targets: 15.44 m.h1h1h1h1h1g1g9jg9rg=BreaZea:ea*ee?DDAT read: Rx Time:04:37:52.0913 TRx dataTimestamp_ set to:1764909472.959460PDAT read: Bearing 73.1, -11.6 (Local) ~Local bearing/azimuth received: Bearing 73.1, -11.6 (Local) DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.2 DAT read: 04:37:52.0913 LVL= 32752, 26065, 32754, 32755, AGC= 64, IDX= 507,-0.22, 1.815,-2.509, 2.287, 2.606, PHS=-0.689, 1.213,-0.363, RAW= 320.8, -1.8, CAL= 319.6, -5.0, ROT= 190.4, 5.0 Ygot valid direction response: 04:37:52.0913 LVL= 32752, 26065, 32754, 32755, AGC= 64, IDX= 507,-0.22, 1.815,-2.509, 2.287, 2.606, PHS=-0.689, 1.213,-0.363, RAW= 320.8, -1.8, CAL= 319.6, -5.0, ROT= 190.4, 5.0 T#Rx 43: Read range and direction messages.bdirection in FSK: [-0.979829,-0.179832,-0.087156]Fpublishing direction and range infoyHZFfǿOY|Ae )@INb0iC?#۹$+@@ ¸)ȭT@I¸=])g/7jOֿM  1)TK=Iq=i¸=checking for new query: numPingsReceived=43, elapsed TxPingTime=19.923487[%>[%>"[%劂>*[%]@5^[4)1 5ͬ?i]9)Y]w7]`iYie+aaIaIiE EE$E"EƱ:*Ea9:VE4ZEBE@;a2EA;aJE$;a:E%;a%I  291 @1  @1 @= /@9 5 checking for new query: numPingsReceived=43, elapsed TxPingTime=20.158855^A= @>>IA IY Oe >/O&,XMhLA2?2?2ٱ2&'>2HrͿ?#?4>ͿD??? ?i2?I2O^;2CY>?By>#IFAADbDFVDF8yNxw=%N=ٔRh;Q-R?9TYT=VEyTVO<EZ?XQ 5^5Zሞ?Q 9^5Z)ZBY`yb,@Q Ibd@Z߸DIZ8;iZ;Z5ydɮfw@hiig=hLAj{A"j{A:j烣@"pl.}49lpHZFfǿO*jq=2j¸=*peZr-@%,-Cp QՔ?g`Fɿj^f jk@iV:?i}NjWBj?jNj̀Brj^yAzj4r@ addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503942 s, deltaX: 0.300000 m, approachRate: 0.595307 m/s, rangeRepo size: 4  Added new target pos. range: 15.737126 m, bearing: 292.772914 deg, lat: 36.779435 deg, lon: -121.859658 deg, deltaT: 0.503942 s, deltaX: 0.298935 m, approachRate: 0.593193 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.74 m.hhhhhggjgrgreZe:e/@*e૫?[A[A"[A*[E",@e)i m;?im9)imY 7m↹iqieII )Y)ԁDDAT read: Rx Time:04:37:52.5913 TRx dataTimestamp_ set to:1764909473.464035PDAT read: Bearing 73.6, -11.0 (Local) ~Local bearing/azimuth received: Bearing 73.6, -11.0 (Local) DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.3 DAT read: 04:37:52.5913 LVL= 32560, 22001, 32754, 32755, AGC= 64, IDX= 507,-0.02, 1.777,-2.559, 2.233, 2.561, PHS=-0.682, 1.208,-0.372, RAW= 321.2, -1.8, CAL= 320.0, -4.9, ROT= 190.0, 4.9 Ygot valid direction response: 04:37:52.5913 LVL= 32560, 22001, 32754, 32755, AGC= 64, IDX= 507,-0.02, 1.777,-2.559, 2.233, 2.561, PHS=-0.682, 1.208,-0.372, RAW= 321.2, -1.8, CAL= 320.0, -4.9, ROT= 190.0, 4.9 T#Rx 44: Read range and direction messages.bdirection in FSK: [-0.981209,-0.173014,-0.085417]Fpublishing direction and range infoyLf- =O%ƿb$ݵY0U )I.i?vUd@¸@ %)g;T@I%=5HI#׿ܽ x`1)PIq I O >bE3jE3rE0E  E E E "E >:*E |;:VE 3ZE a @a @a @a @wm&,ΊghLA2U?2:?2Uٱ2 (>2H tͿ7༌?P?ݢͿF?}?v?@?i2U?I2O,^;2CYB9ByB#ILbDJ$VDJΰ8yr%rG=ٔr;Q-r>9tYt=vEytz <Ez>xQ 55z?Q 95z)zBYyd@Q Id@zDIzj;iz;z55y ɮ@ii]hLAj"j:jSi@"pik.!WI*לpLf- =O%ƿb$ݵ*jN=2j%=*p@f,>_֩#p*~S2g?Q:-EU6򠤾jf j@i +_|?ioUjuBj?jjBrj{Azjg@ addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504575 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.737126 m, bearing: 292.587015 deg, lat: 36.779435 deg, lon: -121.859658 deg, deltaT: 0.504575 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.74 m.hhhhhggjgrgreZe:e*e ?[["[*[Wd@-U)1 5?i59)15%7=di9i=䏿AAIAII4=C=checking for new query: numPingsReceived=44, elapsed TxPingTime=20.663685Bm>BiBm#IBm&BBiBiBmDBm;Bm>6E{91@9 @9@E05@A^A5 !܃>IY I O >!  DDAT read: Rx Time:04:37:53.0916  TRx dataTimestamp_ set to:1764909473.967386 PDAT read: Bearing 73.7, -10.0 (Local)  ~Local bearing/azimuth received: Bearing 73.7, -10.0 (Local)  DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.3  DAT read: 04:37:53.0916 LVL= 32752, 27345, 32754, 32755, AGC= 64, IDX= 509, 0.15,-2.029,-0.106,-1.605,-1.256, PHS=-0.671, 1.195,-0.394, RAW= 322.1, -1.5, CAL= 320.8, -4.6, ROT= 189.2, 4.6  Ygot valid direction response: 04:37:53.0916 LVL= 32752, 27345, 32754, 32755, AGC= 64, IDX= 509, 0.15,-2.029,-0.106,-1.605,-1.256, PHS=-0.671, 1.195,-0.394, RAW= 322.1, -1.5, CAL= 320.8, -4.6, ROT= 189.2, 4.6  T#Rx 45: Read range and direction messages. bdirection in FSK: [-0.983957,-0.159366,-0.080199] Fpublishing direction and range infoy   |^/fĿzꇴY 3A  j ) I +i ? ^ɾ @ Pwּ $+@ l) VS@I l= ̣zp5aؿ\Q a0) i l= - checking for new query: numPingsReceived=45, elapsed TxPingTime=20.931208U &,fhLAR|?R?RQٱRҦ(>RHCο:?@?ͿL?`0v? g??iR|?IRn^;RCYZyu<@ @)@Y@bDUVDU8yei<%e4=ٔmv;Q-m>9iYi=mEy;E>Q 55{?Q 95)BY>Q E;y@Q Id@DI:iw:55yɮ@ii}hLAjA"jA:j@"p;&΢0#_ Cp |^/fĿzꇴ*j>2jl=*p^MUoV@̵q.pd/?@B,|6DYjp j@i&|?i,(jBj&|?j}NjWBrjR~Azj]@ addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503351 s, deltaX: 0.599999 m, approachRate: 1.192010 m/s, rangeRepo size: 4  Added new target pos. range: 16.334768 m, bearing: 292.011186 deg, lat: 36.779435 deg, lon: -121.859659 deg, deltaT: 0.503351 s, deltaX: 0.597642 m, approachRate: 1.187326 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.33 m.hhhhhggjgrguBreZe:e`ff0@*e P?[ >[ >"[ f>*[ f@)5Q)9 =?i=49)9=+7=Ɖi9ieaIIchecking for new query: numPingsReceived=45, elapsed TxPingTime=21.166979Q- 9ԁ 9@  @ @ 1@  DDAT read: Rx Time:04:37:53.5917  TRx dataTimestamp_ set to:1764909474.471285 PDAT read: Bearing 73.7, -9.9 (Local)  ~Local bearing/azimuth received: Bearing 73.7, -9.9 (Local)  DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.4  DAT read: 04:37:53.5917 LVL= 32752, 22609, 32754, 32755, AGC= 62, IDX= 509, 0.36,-3.028,-1.108,-2.606,-2.249, PHS=-0.677, 1.186,-0.401, RAW= 322.1, -1.3, CAL= 320.8, -4.3, ROT= 189.2, 4.3 Ygot valid direction response: 04:37:53.5917 LVL= 32752, 22609, 32754, 32755, AGC= 62, IDX= 509, 0.36,-3.028,-1.108,-2.606,-2.249, PHS=-0.677, 1.186,-0.401, RAW= 322.1, -1.3, CAL= 320.8, -4.3, ROT= 189.2, 4.3  T#Rx 46: Read range and direction messages.bdirection in FSK: [-0.984358,-0.159431,-0.074979]Fpublishing direction and range infoy  jˋHI O-i Η? O; ޹ `) I `= tPU#5ؿ+A?;er ]0) ٖIAIQO]?(&, hLAv?v?v~ٱvU8'>vH` gοm@U?? Wο͡? qp?`???iv?Ivq];tY]DBy]#I mp9Y=Eyu;E>E EE%E"E:*EVE 4ZEa@a@a@a@Q 55t?Q 95)ŅBYy@Q I%d@DI;i;Z5y)ɮ-)@)ii)hLAjyA"jyA:j(@"p ec-0Nsu_r4pjˋHBYB]#IB]+BB] =BYBYB];B]<6EB=CBi>Qu 9@q  @q @} l0@y @ >@ >ԁ  DDAT read: Rx Time:04:37:54.0918  TRx dataTimestamp_ set to:1764909474.975925 PDAT read: Bearing 72.8, -9.8 (Local)  ~Local bearing/azimuth received: Bearing 72.8, -9.8 (Local)  DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.3 ^A >II)O=>!/&,whLADAT read: 04:37:54.0918 LVL= 32752, 25825, 32754, 32755, AGC= 62, IDX= 511,-0.35, 1.237,-3.125, 1.662, 2.043, PHS=-0.704, 1.159,-0.426, RAW= 322.0, -0.3, CAL= 320.6, -3.4, ROT= 189.4, 3.4 Ygot valid direction response: 04:37:54.0918 LVL= 32752, 25825, 32754, 32755, AGC= 62, IDX= 511,-0.35, 1.237,-3.125, 1.662, 2.043, PHS=-0.704, 1.159,-0.426, RAW= 322.0, -0.3, CAL= 320.6, -3.4, ROT= 189.4, 3.4 T#Rx 47: Read range and direction messages."bdirection in FSK: [-0.984836,-0.163038,-0.059306]"Fpublishing direction and range infoy  @ƃ£iqĿCg]Y A d ) I X94i Z?8J?J$?JٱJ-%>JH7eο@ ??` ο t?a?Վ??iJ?IJ^;H ھ ֳ@ @ s) ԏS@I s= Q-ؿh x n0) ;I >i s= bchecking for new query: numPingsReceived=47, elapsed TxPingTime=21.964581YfKByf#IE  E E #E "E :*E c:VE 3ZE BE : y5=115@ 5@)5@1Y5@bDmVDm8y}<%}=ٔ}c;Q->9Y=EyE>Q 55gm?Q 95ԙ)ͅBY:>Q E;y/@Q Id@DI42j s=*p W@+fէ.<ʓ֦p -Z~l`?Eu\A-=j t j @i 2I?i v%v'j hBj j vY'j Brj KAzj 6@ addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.504640 s, deltaX: 0.200001 m, approachRate: 0.396324 m/s, rangeRepo size: 4  Added new target pos. range: 16.633665 m, bearing: 292.478122 deg, lat: 36.779435 deg, lon: -121.859662 deg, deltaT: 0.504640 s, deltaX: 0.199295 m, approachRate: 0.394925 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.63 m.hhhhhggjgrgBreZe:e@30@*eg?[]:>[]:>"[]]r>*[]/@m) 3?i{9)顕87diiII-=-=5checking for new query: numPingsReceived=47, elapsed TxPingTime=22.175224 =9 9@  @ @ /@ ) DDAT read: Rx Time:04:37:54.5918 TRx dataTimestamp_ set to:1764909475.479392PDAT read: Bearing 72.7, -9.6 (Local) ~Local bearing/azimuth received: Bearing 72.7, -9.6 (Local) DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.3 -DAT read: 04:37:54.5918 LVL= 32752, 26289, 32754, 32755, AGC= 61, IDX= 511,-0.12,-0.698, 1.222,-0.276, 0.113, PHS=-0.709, 1.154,-0.433, RAW= 322.1, -0.1, CAL= 320.7, -3.2, ROT= 189.3, 3.2 5Ygot valid direction response: 04:37:54.5918 LVL= 32752, 26289, 32754, 32755, AGC= 61, IDX= 511,-0.12,-0.698, 1.222,-0.276, 0.113, PHS=-0.709, 1.154,-0.433, RAW= 322.1, -0.1, CAL= 320.7, -3.2, ROT= 189.3, 3.2 =T#Rx 48: Read range and direction messages.ebdirection in FSK: [-0.985317,-0.161352,-0.055822]mFpublishing direction and range infoy^AI!I9QOu ? 8&,ThLAEpY-ĿᢔYf )=I5iF?-ݾ@@ d)id=6checking for new query: numPingsReceived=48, elapsed TxPingTime=22.493128M?M+t?MK:ٱM >MH iο׸ ud? )?@Ϳc? pS ? ~?iM?IM'^;MCYayaimAbD}VD}8y_k%,=ٔ;Q->9Y=EyE>Q 55f?Q 95ÐE E~EE"E7:*E(:VEZEa@a@a@a@)ԅBY y  @Q I d@DIf2jd=*pf3I)@J%.y@pƔ4?wYZaGDjwu jO@iѻx?iCJ$jBj +_|?jjځBrjAzj=@  addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.503467 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.633665 m, bearing: 292.296497 deg, lat: 36.779434 deg, lon: -121.859662 deg, deltaT: 0.503467 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 eDNOT Ignoring new targets: 16.63 m.hahahahahagigijgirgireqZeq:eq*eu?[["[*[ @K:) %?i9)>7iiII9%checking for new query: numPingsReceived=48, elapsed TxPingTime=22.6797039BU>BQBQBQBQBQBQBU;BU&6E9@ @@0@a ^A I I O >?>&,hLA 6Z?6??6';ٱ6>6H_Ϳ`߿$?7?@hͿ?d`?,?i6Z?I6^;6CY>UBy>#IiMb@Mb@Mb@ 9 +?Zd;O?:v?Yȶ>yj=T<@V@ @)@YbDVD8y-K=%-Q=ٔ5g;Q-5>91Y1=5Ey9=VE=>AQ 5M5Ea?Q 9M5Ei)EمBYM߼>Q EU;yU>@Q IUd@EDIE:iE:E5DDAT read: Rx Time:04:37:55.0920 TRx dataTimestamp_ set to:1764909475.983420PDAT read: Bearing 86.3, -8.4 (Local) ~Local bearing/azimuth received: Bearing 86.3, -8.4 (Local) DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.3 DAT read: 04:37:55.0920 LVL= 32752, 28977, 32754, 32755, AGC= 64, IDX= 513, 0.06,-0.499, 0.985,-0.176,-0.153, PHS=-0.244, 1.182,-0.068, RAW= 323.5, -12.9, CAL= 323.7, -16.4, ROT= 186.3, 16.4 Ygot valid direction response: 04:37:55.0920 LVL= 32752, 28977, 32754, 32755, AGC= 64, IDX= 513, 0.06,-0.499, 0.985,-0.176,-0.153, PHS=-0.244, 1.182,-0.068, RAW= 323.5, -12.9, CAL= 323.7, -16.4, ROT= 186.3, 16.4 T#Rx 49: Read range and direction messages.bdirection in FSK: [-0.953521,-0.105270,-0.282341]Fpublishing direction and range infoy^1=@IxҿYA1q )@I#yiK?C.@fɴ@ C)_P@IC>Aߛ[O Yؿ [̿ .)e>IVBiC>=checking for new query: numPingsReceived=49, elapsed TxPingTime=22.954775yUBɮ]@@],EiiZhLAjuA"juA:j`@"px5%0%V]Hqp^1=@Ixҿ*jVB2jC>*pjC~1@9.p ?j[߼>"[]">*[>@%';)! %3?iM9)IMyD7MiIiUQQIYIY aexAE EzE&E"E:*E :VE4ZEBE IQ Ii O >e'E&,iLA2%?2T?2u;ٱ2O>2H`ͿY? V!?@9Ϳ?nV? ?i2%?I2^;2CY:WBy:$IbDFѿVDF8yJ<%NT=ٔNMH;Q-N>P9PYP=VEyTVEV>XQ 5^5Z[?Q 9^5Z)ZޅBY`yb@Q Ibd@ZDIZ;iZ;Z5ydɮf$@dDNOT Ignoring new targets: 16.93 m.hhhhhg g jg9rgAreAZeI:eq*eG?[["[*[*@5u;)9 =?i=l9)9=I7=ωiAiEAIIIIiMʰ9DDAT read: Rx Time:04:37:55.5920 TRx dataTimestamp_ set to:1764909476.487382PDAT read: Bearing 79.1, -16.6 (Local) ~Local bearing/azimuth received: Bearing 79.1, -16.6 (Local) DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.3 DAT read: 04:37:55.5920 LVL= 32752, 22305, 32754, 32755, AGC= 65, IDX= 513, 0.23,-1.775, 0.046,-1.152,-1.107, PHS=-0.566, 1.199,-0.088, RAW= 314.8, -6.9, CAL= 314.3, -10.4, ROT= 195.7, 10.4 Ygot valid direction response: 04:37:55.5920 LVL= 32752, 22305, 32754, 32755, AGC= 65, IDX= 513, 0.23,-1.775, 0.046,-1.152,-1.107, PHS=-0.566, 1.199,-0.088, RAW= 314.8, -6.9, CAL= 314.3, -10.4, ROT= 195.7, 10.4 T#Rx 50: Read range and direction messages.bdirection in FSK: [-0.946876,-0.266155,-0.180519]Fpublishing direction and range infoy.L5&ѿlE@ǿY!W )AI`ix?X9Fѯ@Ϣɉ@ 9)XZ@I9>RNP<_!@п F8)Z=I]7i9>-checking for new query: numPingsReceived=50, elapsed TxPingTime=23.455095-9@) @)@-1@)E EE#E"E,:*EAr:VE3ZEa%@a%@a%@a%@! ^AE >IQ Ia Om >= %== =E checking for new query: numPingsReceived=50, elapsed TxPingTime=23.687078BU >BU 2HrRͿ ?@&??̿@t?`^ds E??i2u?I2^;2CY:_By: $II>=)>C=B=@bDFԿVDF8yN=%NI=ٔR ;Q-R>9PYP=REyTVN˻EV>XQ 5^5ZU?Q 9^5Z)ZBY\yb@Q Ibd@ZDIZS:iZ>:Zr 5ydɮf@dtiiD1iLAjtA"jtA:j@"ptoGU0Ksp.L5&ѿlE@ǿ*j]72j9>*pAfC@;fpj-&e p`MХ?z01De˿jSk j@iEEӠ?is j?|BjjHSS$jrj>Azjb@% addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503962 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 16.932047 m, bearing: 297.220625 deg, lat: 36.779434 deg, lon: -121.859661 deg, deltaT: 0.503962 s, deltaX: -0.000311 m, approachRate: -0.000617 m/s, posRepo size: 4 5DNOT Ignoring new targets: 16.93 m.h1h1h9h9h9g9g9jgArgAreAZe:e*e]m?[i[i"[i*[m1@#;) ?i29)顝O7׈iiIIU9@Y @Y@]?5@aADDAT read: Rx Time:04:37:56.0923 TRx dataTimestamp_ set to:1764909476.991451PDAT read: Bearing 72.5, -9.9 (Local) ~Local bearing/azimuth received: Bearing 72.5, -9.9 (Local) DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.4 DAT read: 04:37:56.0923 LVL= 27488, 19569, 24530, 32755, AGC= 67, IDX= 3, 0.47, 1.532,-2.814, 1.974, 2.351, PHS=-0.718, 1.163,-0.421, RAW= 321.6, -0.3, CAL= 320.1, -3.3, ROT= 189.9, 3.3 Ygot valid direction response: 04:37:56.0923 LVL= 27488, 19569, 24530, 32755, AGC= 67, IDX= 3, 0.47, 1.532,-2.814, 1.974, 2.351, PHS=-0.718, 1.163,-0.421, RAW= 321.6, -0.3, CAL= 320.1, -3.3, ROT= 189.9, 3.3 T#Rx 51: Read range and direction messages.bdirection in FSK: [-0.983476,-0.171644,-0.057564]Fpublishing direction and range infoys+WxJ'mſ`8.yY3A`kqL_ )CI7i/ݔ?P׾@Dz@ k)T@Ik=Ri:mnp׿fik=Echecking for new query: numPingsReceived=51, elapsed TxPingTime=23.963123^A >I I O >i E  E E $E "E :*E ?:VE 4ZE BE b;a 2E c;a JE ;a% :E ;a% .;R&,[IiLA2/e?2^J?2.;ٱ2X>2H@̿ p?9+?Ê̿(?vA8??i2/e?I2^;2CYBiByB$Ij/GpxM钿9IYM&AYiMb@Mb@Mb@ 9^I +?K?~jt?YX>y^=D<n@ )Yz@ p<bD VD8y<=%:=ٔ:Q->9Y=EyOϻE>Q 55O?Q 95)BY5>Q E;ym@Q Id@ DI:i4:K5yBɮ@+Eiis?iLAjA"jA:jK@"pK;H 1]VAlps+WxJ'mſ`8.y*j>2jk=*pwQP@h/gpںܔjK? fQ q³j j@iwy?iN&jBjwy?jjhBrj{Azj^@ addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504069 s, deltaX: 0.400000 m, approachRate: 0.793541 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=51, elapsed TxPingTime=24.190968 Added new target pos. range: 17.330448 m, bearing: 292.379458 deg, lat: 36.779434 deg, lon: -121.859661 deg, deltaT: 0.504069 s, deltaX: 0.398401 m, approachRate: 0.790370 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.33 m.hhh!h!h!g!g!jg)rgMBreIZeI:eU`ff1@*eU'?[5>[5>"[Z0|>*[m@.;) {?i9)zU7iiIIԉԱMƱ9 9@  @ @ 0@ @ =@ = DDAT read: Rx Time:04:37:56.5923  TRx dataTimestamp_ set to:1764909477.496197 PDAT read: Bearing 73.6, -10.8 (Local)  ~Local bearing/azimuth received: Bearing 73.6, -10.8 (Local)  DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.4  DAT read: 04:37:56.5923 LVL= 32752, 20337, 32754, 32755, AGC= 63, IDX= 500,-0.13,-1.863, 0.101,-1.386,-1.059, PHS=-0.702, 1.205,-0.371, RAW= 320.6, -1.5, CAL= 319.3, -4.6, ROT= 190.7, 4.6  Ygot valid direction response: 04:37:56.5923 LVL= 32752, 20337, 32754, 32755, AGC= 63, IDX= 500,-0.13,-1.863, 0.101,-1.386,-1.059, PHS=-0.702, 1.205,-0.371, RAW= 320.6, -1.5, CAL= 319.3, -4.6, ROT= 190.7, 4.6  T#Rx 52: Read range and direction messages. bdirection in FSK: [-0.979448,-0.185069,-0.080199] Fpublishing direction and range infoy  I,ǦWSǿzꇴY  qO  ) ?I F3i q=? 󽾩 @ Pwּ T@ l) U@I l= rr]ֿ=uI 1) IqIO>Y&,(hiLA>?>?>N;ٱ>)>>H̿ S?1?`4$̿`&?)y*?|?i>?I>#^;9\Y\=^Ey`bEb>dQ 5j5f?I?Q 9n5f~)fBYlyn:@Q Ind@fDIf ;if7!;f05ypɮr!@tii_iLAj"j:jJ@"pz+i0Y3 B<pI,ǦWSǿzꇴ*j#=2jl=*p\"߸@⅍;@/vUpE}?t{YtNOڹjR~ j@i!3|?iZ jBjjCJ$jBrj̊Azjc@5 addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504746 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 17.330448 m, bearing: 292.796600 deg, lat: 36.779434 deg, lon: -121.859661 deg, deltaT: 0.504746 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MDNOT Ignoring new targets: 17.33 m.hIhIhIhIhQgQgQjgQrgQreYZeY:eY*e]x?[["[*[#:@=N;)9 =Ҳ?i=9)AEV[7E)iaimqqIqIychecking for new query: numPingsReceived=52, elapsed TxPingTime=24.695065B>BB#IB?BBBBB;B(6Euر9m9@q @q@}/@y! ] DDAT read: Rx Time:04:37:57.0925 ] TRx dataTimestamp_ set to:1764909477.999308m PDAT read: Bearing 73.0, -11.1 (Local) m ~Local bearing/azimuth received: Bearing 73.0, -11.1 (Local) } DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.4  DAT read: 04:37:57.0925 LVL= 32752, 22257, 32754, 32755, AGC= 62, IDX= 502, 0.19,-0.239, 1.746, 0.254, 0.590, PHS=-0.726, 1.202,-0.380, RAW= 320.3, -1.1, CAL= 318.9, -4.2, ROT= 191.1, 4.2  Ygot valid direction response: 04:37:57.0925 LVL= 32752, 22257, 32754, 32755, AGC= 62, IDX= 502, 0.19,-0.239, 1.746, 0.254, 0.590, PHS=-0.726, 1.202,-0.380, RAW= 320.3, -1.1, CAL= 318.9, -4.2, ROT= 191.1, 4.2  T#Rx 53: Read range and direction messages. bdirection in FSK: [-0.978657,-0.192005,-0.073238] Fpublishing direction and range infoyY ] (a?)Q. 힓ȿY] AY Y ] VY Y )] >I] #9i] #ۙ?] \¾] @] nF] |@ ] Q )] uU@I] Q =Y Y ] A8@9p96ֿ_䖍Q ] _2)] &I I O >`&,FiLAb ?b9y?b7z;ٱb'>bH@-̿*y?`6?˿@?:z?`?ib ?Ib^;bCYjhByj$I llprAE EEE"E:*E;J:VEZEBEy===<=@=?@ =@)=@9Y9bD})VD}Ұ8ԉyͼ<%(=ٔG:Q->9Y=Ey׻E>Q 55mB?Q 9 5z)BY >Q E ;y @Q I d@DI%[>"[>*[8@7z;) {?i09)!%a7%gi!i-))I)I1Աchecking for new query: numPingsReceived=53, elapsed TxPingTime=25.199087 9 @  @ @ 5@  DDAT read: Rx Time:04:37:57.5926  TRx dataTimestamp_ set to:1764909478.503406 PDAT read: Bearing 73.4, -11.9 (Local)  ~Local bearing/azimuth received: Bearing 73.4, -11.9 (Local)  DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.4 DAT read: 04:37:57.5926 LVL= 32752, 24801, 32242, 32755, AGC= 62, IDX= 503,-0.27, 1.470,-2.818, 1.990, 2.292, PHS=-0.720, 1.219,-0.345, RAW= 319.5, -1.7, CAL= 318.2, -4.9, ROT= 191.8, 4.9 Ygot valid direction response: 04:37:57.5926 LVL= 32752, 24801, 32242, 32755, AGC= 62, IDX= 503,-0.27, 1.470,-2.818, 1.990, 2.292, PHS=-0.720, 1.219,-0.345, RAW= 319.5, -1.7, CAL= 318.2, -4.9, ROT= 191.8, 4.9 %T#Rx 54: Read range and direction messages.-bdirection in FSK: [-0.975290,-0.203749,-0.085417]-Fpublishing direction and range infoy  d,54Vpʿb$ݵY 3A ` } ) I Q8i 1? ף Eq@  g@ %) >V@I %= &>w\YտUFzH H3) OIIIYO?3h&,pѤiLADIzDM?AbE4jE4rE//EU EUEU%EQ"EU7:*EUC:VEU 4ZEQae@ae@ae@ae@YmnBy$I@AbDVD8yY<%$=ٔQ->9Y=EyE>Q 55y;?Q 95v)BYyQ Id@DI:iB:5yɮe@iiQiU7iLAjUA"jUA:jU@"pU4Qc1'Xn G@]pUd,54Vpʿb$ݵ*jU;2jU%=*pU+s@l+;00npUBO4?y#CIv~ɻjUށ jU@iUWԒ?iU%!jUBjU1?jU%!jQrjULAzjU@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504098 s, deltaX: 0.199999 m, approachRate: 0.396746 m/s, rangeRepo size: 4  Added new target pos. range: 17.828499 m, bearing: 293.660062 deg, lat: 36.779436 deg, lon: -121.859660 deg, deltaT: 0.504098 s, deltaX: 0.199200 m, approachRate: 0.395161 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.83 m.hhhhhggjgrgreZe:e`f1@*ḛ?[9[9"[9*[9Q)Q U?iU9)Y]g7]̂iYieaaIaIiB>BB#IBIBBBBB;B 6E}checking for new query: numPingsReceived=54, elapsed TxPingTime=25.702887ԑ 9 @  @ @ @5@ @Q @Q 5 DDAT read: Rx Time:04:37:58.0927 5 TRx dataTimestamp_ set to:1764909479.007484E PDAT read: Bearing 73.3, -11.9 (Local) E ~Local bearing/azimuth received: Bearing 73.3, -11.9 (Local) ] DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.4  DAT read: 04:37:58.0927 LVL= 32752, 22673, 32754, 32755, AGC= 60, IDX= 504, 0.07, 2.103,-2.183, 2.626, 2.923, PHS=-0.717, 1.223,-0.341, RAW= 319.4, -1.9, CAL= 318.2, -5.0, ROT= 191.8, 5.0  Ygot valid direction response: 04:37:58.0927 LVL= 32752, 22673, 32754, 32755, AGC= 60, IDX= 504, 0.07, 2.103,-2.183, 2.626, 2.923, PHS=-0.717, 1.223,-0.341, RAW= 319.4, -1.9, CAL= 318.2, -5.0, ROT= 191.8, 5.0  T#Rx 55: Read range and direction messages. bdirection in FSK: [-0.975142,-0.203718,-0.087156] Fpublishing direction and range infoy1 5 ^4nmʿO^A I I O >kp&,iLAYAX )<IP7iD?b@ ¸)I¸=/['հ$fRտƵ9 O3)O =Ii¸=6checking for new query: numPingsReceived=55, elapsed TxPingTime=25.988995Ie?e?e$;ٱe>eHk˿_n?A?[ʿ?{` ??ie?Ie ^;eCYzBy,$IE EE&E"EU:*Ea9:VE4ZEBE;a2E;aJE$;a:E%;ai]Mb@Mb@Mb@YYYY Y9]Q?ʡE?y&1?Y]µ>y]-=]`e9)Y1=5Ey15;E5>aQ 5e5e`4?Q 9m5e)r)eBYmF>Q Em;ym4@Q Imd@e$DIe:ie:er 5yyɮ@iiziLAjlA"jlA:j|ϣ@"p[{197 S.p^4nmʿO*j2j¸=*p^D1@w] ڦ]0[F>"[ v>*[4@$;) R?i9)n7ii 11I1I9checking for new query: numPingsReceived=55, elapsed TxPingTime=26.207144ԡ 9 9@  @ @ 0@ DDAT read: Rx Time:04:37:58.5928 TRx dataTimestamp_ set to:1764909479.511306PDAT read: Bearing 73.1, -12.3 (Local) ~Local bearing/azimuth received: Bearing 73.1, -12.3 (Local) DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.4 -DAT read: 04:37:58.5928 LVL= 32752, 21729, 32754, 32755, AGC= 62, IDX= 505,-0.39,-0.693, 1.344,-0.149, 0.145, PHS=-0.737, 1.244,-0.338, RAW= 319.0, -1.9, CAL= 317.7, -5.0, ROT= 192.3, 5.0 =Ygot valid direction response: 04:37:58.5928 LVL= 32752, 21729, 32754, 32755, AGC= 62, IDX= 505,-0.39,-0.693, 1.344,-0.149, 0.145, PHS=-0.737, 1.244,-0.338, RAW= 319.0, -1.9, CAL= 317.7, -5.0, ROT= 192.3, 5.0 =T#Rx 56: Read range and direction messages.Ebdirection in FSK: [-0.973328,-0.212220,-0.087156]EFpublishing direction and range infoy%ΪY*˿OYAT )>IFH@ʿ@L?L?@39ʿ~Ң?D>x ? 2?iF?IFu-^;DY^oBy^$IdIv<)v;E EEE"E1;*E:VEZEa@a@a@a@bD  VD 8y-7%--=ٔ5@Q-5>91Y1=5Ey9=P[E=>aQ 5m5e..?Q 9m5en)e BYiyu@Q Iud@e)DIeW:ie :e$5y}Bɮ}@}!Eii=iLAjA"jA:jt@"p*^դ1gHPKGp%ΪY*˿O*jR;2j*p]@Fn0e@pB]=CB]#IB]NBB] =BYB]DB];B]-6EBII aV ) <I @i 㥛?  @ +ȼ 6@ |٠) z?W@I |٠= O OxԿ^: 74) ݀&,'jLAԡYtBy%$IEE EEEE"EA"EE:*EEa9:VEE(3ZEABEEy=t<n@?@ )@Yz@ ];]bD]VD]8y<%=ٔQ->9Y=EyE> Q 555 T&?Q 955 h) BY=>Q E=;y=@Q I=d@ 0DI C;i .; X)5yAɮE8@IiaieY6jLAjeiA"jeiA:je%@"peAX1q'>(!pe%5/C4 ̿5;*je;:2je|٠=*peX2@0cM}peY?-@P0je je@ieJ?ie,!jeBjeeLۉ?je,!jarjeAzjeq@ addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.507636 s, deltaX: 0.299999 m, approachRate: 0.590973 m/s, rangeRepo size: 4  Added new target pos. range: 18.426565 m, bearing: 293.905114 deg, lat: 36.779436 deg, lon: -121.859660 deg, deltaT: 0.507636 s, deltaX: 0.299175 m, approachRate: 0.589350 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.43 m.hh h)h)h)g)g)jg1rg5Bre1Ze1:e=2@*e=ȴ?qEJTimed out from 2025-12-05T04:28:00.1Z8EqmfCompleted lineCaptureHoming:MicromodemComms:CheckIn8m qmAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInpmVCompleted lineCaptureHoming:MicromodemComms[>[>"[Zx>*[@) {?iN9){7{imchecking for new query: numPingsReceived=57, elapsed TxPingTime=27.214981iII yA 91 @  @ @ /@ @ =@ =DDAT read: Rx Time:04:37:59.5931 %TRx dataTimestamp_ set to:1764909480.519273-PDAT read: Bearing 71.8, -13.0 (Local) -~Local bearing/azimuth received: Bearing 71.8, -13.0 (Local) EDAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.4 eDAT read: 04:37:59.5931 LVL= 32752, 22097, 32754, 32755, AGC= 61, IDX= 508,-0.42,-1.213, 0.823,-0.650,-0.348, PHS=-0.763, 1.216,-0.346, RAW= 318.5, -1.2, CAL= 317.0, -4.3, ROT= 193.0, 4.3 mYgot valid direction response: 04:37:59.5931 LVL= 32752, 22097, 32754, 32755, AGC= 61, IDX= 508,-0.42,-1.213, 0.823,-0.650,-0.348, PHS=-0.763, 1.216,-0.346, RAW= 318.5, -1.2, CAL= 317.0, -4.3, ROT= 193.0, 4.3 qmT#Rx 58: Read range and direction messages.}bdirection in FSK: [-0.971627,-0.224318,-0.074979]}Fpublishing direction and range infoy!%^[:Ppr̿]1Y%̔A!!%QV! !)%=I%SCi!%&%K@%% @ %`)%DW@I%`=!!%ABXuyEԿ o %m4)%T{2Hhɿ}-{?@ X?@fgɿ@?@Ys`N?6?i2?I2^;2CEj Ej}Ej!Eh"Ejg:*Ejk&:VEjc3ZEhar@ar@ar@ar@pYqBy!$I bD-VD-8y=Uf%=1=ٔE Q-E>9AYA=EEyAmoEm>qQ 5}5u?Q 9}5ud)uBYyy}@Q Id@u6DIuK:iu6:uj-5yɮm@ii;!jLAj5A"j5A:j@"p$`"23}<9p^[:Ppr̿]1*jq:2j`=*p*@tB%>CB%#IB%SBB% =B!B!B%;B%?6Echecking for new query: numPingsReceived=58, elapsed TxPingTime=27.719048)e99 9@  @! @! @) Y  DDAT read: Rx Time:04:38:00.0933  TRx dataTimestamp_ set to:1764909481.023288 PDAT read: Bearing 72.4, -13.9 (Local)  ~Local bearing/azimuth received: Bearing 72.4, -13.9 (Local)  DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4  DAT read: 04:38:00.0933 LVL= 32752, 21329, 30322, 32755, AGC= 61, IDX= 510, 0.06, 1.516,-2.717, 2.111, 2.374, PHS=-0.757, 1.237,-0.308, RAW= 317.6, -1.9, CAL= 316.3, -5.1, ROT= 193.7, 5.1  Ygot valid direction response: 04:38:00.0933 LVL= 32752, 21329, 30322, 32755, AGC= 61, IDX= 510, 0.06, 1.516,-2.717, 2.111, 2.374, PHS=-0.757, 1.237,-0.308, RAW= 317.6, -1.9, CAL= 316.3, -5.1, ROT= 193.7, 5.1  T#Rx 59: Read range and direction messages.- bdirection in FSK: [-0.967703,-0.235900,-0.088894]- Fpublishing direction and range infoy  7mk<1οY fA QS rv ) I Ai V? - a@  @ K) o]X@I K= D{ XӿB(- ?e5) n =I F9i K= M checking for new query: numPingsReceived=59, elapsed TxPingTime=27.991207ԁ ^A}>IIE= E=~E="E9"E=:*E=(:VE=(3ZE9BE=;aE2E=;aEJE=;aM:E=;aMԩ]checking for new query: numPingsReceived=59, elapsed TxPingTime=28.222895 OA?˒&,g`WjLA '?  ? %f;ٱ > HBȿ"2>?`Yd?ȿ??l-?4?i '?I |^; CY%hBy%$IiEMb@Mb@Mb@AAAA A9Erh|?RQ?{Gz?YE>yAE#9Y=EyEV>Q 55[?Q 95])!BY*>Q E ;y@Q Id@@DI;ii;45yɮ@ii}AjLAj͕A"j͕A:j4@"p\2T^(p7mk<1ο*jF92jK=*p8?B@܎v0]VpĆAC??Y-itjއ j@i?Cݑ?ijBj?Cݑ?ja jBrjAzj.@DDAT read: Rx Time:04:38:00.5933 TRx dataTimestamp_ set to:1764909481.527840 PDAT read: Bearing 71.8, -14.2 (Local)  ~Local bearing/azimuth received: Bearing 71.8, -14.2 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4 EDAT read: 04:38:00.5933 LVL= 32752, 23985, 32754, 32755, AGC= 61, IDX= 511,-0.42,-0.852, 1.219,-0.242, 0.033, PHS=-0.784, 1.231,-0.319, RAW= 317.3, -1.4, CAL= 315.9, -4.6, ROT= 194.1, 4.6 MYgot valid direction response: 04:38:00.5933 LVL= 32752, 23985, 32754, 32755, AGC= 61, IDX= 511,-0.42,-0.852, 1.219,-0.242, 0.033, PHS=-0.784, 1.231,-0.319, RAW= 317.3, -1.4, CAL= 315.9, -4.6, ROT= 194.1, 4.6 MT#Rx 60: Read range and direction messages.Ubdirection in FSK: [-0.966748,-0.242830,-0.080199]]Fpublishing direction and range infoyA<\yp7jϿzꇴY] )I9Hih?S6@+ȼn@ l)X@Il=ZԺL%]ҿu\Y 5)[e*>"[e>*[e@u%f;)y }R?i}9)y顅7uiiIIIA?) ?E} E}E}#Ey"E}:*E},:VE}3ZEya@a@a@a@i  Z9B >B =CB #IB NBB =B B B ;B 76E} 9@y  @y @y @y @ @  checking for new query: numPingsReceived=60, elapsed TxPingTime=28.727915Ա ^A>I!IAOm?bS&,|jLA??c;ٱ>H ~ǿ @F`?p? Hǿg?@_l`@*? ?i?ID^;CY%gBy%$II-=)-R=qiMb@Mb@Mb@ 9Gz?:v?~jtx?Yp>y=;@(@ )@Y@bDVD8y% =ٔ ?Q- >9Y=Ey~E>Q 5%5 ?Q 9-5`X)'BY->Q E- ;y-@Q I-d@GDI ;i ;<95y=Bɮ=@= Eii!ajLAj"j:j5@"pE220rP(pA<\yp7jϿzꇴ*jO92jl=*px9I@ Y0;pNX\?O "p뼿j jN@iny ?i(bj,BjjYj_BrjyAzjt@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504552 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.725281 m, bearing: 294.015592 deg, lat: 36.779437 deg, lon: -121.859659 deg, deltaT: 0.504552 s, deltaX: -0.000212 m, approachRate: -0.000420 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.73 m.hhhhhggjgrgBreZe:e*e`?iIDDAT read: Rx Time:04:38:01.0936 TRx dataTimestamp_ set to:1764909482.031284DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.4 Z#Rx 61: Read range message, but no direction.yYAchecking for new query: numPingsReceived=61, elapsed TxPingTime=28.982632[>[>"[%K>*[@c;)  ?i@9)67tii!I!I!ԡ AIEY E]EYEY"EY*E]X:VEYZEYBE]b;am2E]c;amJE]q;am:E]q;am̓G !9YA 9@  @ @ @  checking for new query: numPingsReceived=61, elapsed TxPingTime=29.231987 ^AI Iy I O >&,1jLA$E?E=w?E(:ٱEK>EH Fǿ]!Y?`pw?`ƿ?D6V? '?iE?IE ^;AY]UBy]#IbDm VDm8y%9=ٔNQ->9Y=EyHE>Q 55?Q 95[T)+BYyr@Q Id@LDIu:i:=5yBɮ@ addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.503444 s, deltaX: 0.400002 m, approachRate: 0.794530 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 18.73 m.h h h h h ggjgrgreZe:e@333@*e?[9[9"[9*[=r@U(:)Q U?iU9)Y] 7]]tiYieaaIaIiiul9]DDAT read: Rx Time:04:38:01.5936 eTRx dataTimestamp_ set to:1764909482.536572uPDAT read: Bearing 79.1, -8.4 (Local) u~Local bearing/azimuth received: Bearing 79.1, -8.4 (Local) DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.4 DAT read: 04:38:01.5936 LVL= 32752, 23297, 32754, 32755, AGC= 62, IDX= 513, 0.43,-0.019, 1.718, 0.345, 0.513, PHS=-0.430, 1.250,-0.212, RAW= 323.1, -7.7, CAL= 322.7, -11.1, ROT= 187.3, 11.1 Ygot valid direction response: 04:38:01.5936 LVL= 32752, 23297, 32754, 32755, AGC= 62, IDX= 513, 0.43,-0.019, 1.718, 0.345, 0.513, PHS=-0.430, 1.250,-0.212, RAW= 323.1, -7.7, CAL= 322.7, -11.1, ROT= 187.3, 11.1 T#Rx 62: Read range and direction messages.bdirection in FSK: [-0.973339,-0.124688,-0.192522]Fpublishing direction and range infoyaejF%gnφ뿿MȿYaaae[a a)e>Ie(ܾie?eYes@e e:@ eaF)eS7Q@IeaF>aae>5D':L8Gؿ{; e4/)eRD >Ieb@ieaF>aa 9@  @ @ @ %checking for new query: numPingsReceived=62, elapsed TxPingTime=29.505667ԙDzDAAE EE!E"Eg:*EF:VEc3ZEa@a@a@a@^AII O > B >B >CB #IB DBB =B B B ;B 6E checking for new query: numPingsReceived=62, elapsed TxPingTime=29.736067l&,زjLAJE?Jt?JuFZ:ٱJ>JH ƿ( A? }?8vƿ h1?`HKJ?Y?iJE?IJ!^;JClYnWByn$I vp9 Y = Ey >E>yQ 55};?Q 95}P)}0BYy+@Q Id@}QDI}:i}y:}@5yBɮ@ii2WjLAjA"jA:j@"p O,2lnvx& t*pώCf@6mn1]( pXU?7 ʿj j6@i?iOT-*jzBjjj,Brj Azj !@% addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.505288 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 19.123823 m, bearing: 285.822250 deg, lat: 36.779437 deg, lon: -121.859659 deg, deltaT: 1.008732 s, deltaX: 0.398542 m, approachRate: 0.395092 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 19.12 m.hYhYhahahaggjgrgreZe:e*eE?[["[*[t+@ 5uFZ:)y ?iT9)額7siiII! -xA-xA1}DDAT read: Rx Time:04:38:02.0938 }TRx dataTimestamp_ set to:1764909483.039270PDAT read: Bearing 71.2, -14.8 (Local) ~Local bearing/azimuth received: Bearing 71.2, -14.8 (Local) DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.4 DAT read: 04:38:02.0938 LVL= 30432, 20897, 26450, 32483, AGC= 65, IDX= 3,-0.07, 1.873,-2.312, 2.504, 2.781, PHS=-0.807, 1.234,-0.322, RAW= 316.9, -1.2, CAL= 315.4, -4.3, ROT= 194.6, 4.3 Ygot valid direction response: 04:38:02.0938 LVL= 30432, 20897, 26450, 32483, AGC= 65, IDX= 3,-0.07, 1.873,-2.312, 2.504, 2.781, PHS=-0.807, 1.234,-0.322, RAW= 316.9, -1.2, CAL= 315.4, -4.3, ROT= 194.6, 4.3 T#Rx 63: Read range and direction messages.bdirection in FSK: [-0.964985,-0.251360,-0.074979]Fpublishing direction and range infoyy}1([]Hп]1Y}Ay}v}Q}Rg }~)}AI}Ni}?}/ݤ}@}}'@ }`)}^Y@I}`=yy}!C ҿ! }*<6)}2H%ƿ/3? n?ſ?R_{?'?i2Xm?I2^;2CY>XBy>$I @@@@iMb@Mb@Mb@ 9x&1?zG?y&1?YA>y =`e<n@l@ )@Y@bDVD8y;;%=ٔ٭Q->9Y = Ey  E >Q 55J?Q 95 L)9BY5/>Q E5 ;y5@Q I5d@WDI%;i;E5yEBɮE@EEiifjLAjaA"jaA:j@"p\22>[Lp1([]Hп]1*j82j`=*pd/-@p 1pw*p4ۯ?xQ &`HjH jh@i?ijBjny ?jjBrjwAzj&@ addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.502698 s, deltaX: 0.299999 m, approachRate: 0.596778 m/s, rangeRepo size: 4  Added new target pos. range: 19.422632 m, bearing: 293.813363 deg, lat: 36.779436 deg, lon: -121.859658 deg, deltaT: 0.502698 s, deltaX: 0.298809 m, approachRate: 0.594411 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.42 m.hhhhhggjgrgreZe:e3@*e@L?[/>[/>"[>*[@D7) 3?i(9)s7siiIIDDAT read: Rx Time:04:38:02.5938 TRx dataTimestamp_ set to:1764909483.543606PDAT read: Bearing 71.2, -15.2 (Local) ~Local bearing/azimuth received: Bearing 71.2, -15.2 (Local) DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.4 -DAT read: 04:38:02.5938 LVL= 32752, 22801, 32466, 32755, AGC= 62, IDX= 499, 0.31, 2.403,-1.779, 3.045,-2.969, PHS=-0.810, 1.235,-0.313, RAW= 316.5, -1.2, CAL= 315.1, -4.4, ROT= 194.9, 4.4 5Ygot valid direction response: 04:38:02.5938 LVL= 32752, 22801, 32466, 32755, AGC= 62, IDX= 499, 0.31, 2.403,-1.779, 3.045,-2.969, PHS=-0.810, 1.235,-0.313, RAW= 316.5, -1.2, CAL= 315.1, -4.4, ROT= 194.9, 4.4 =T#Rx 64: Read range and direction messages.=bdirection in FSK: [-0.963528,-0.256375,-0.076719]EFpublishing direction and range infoy 8rhп.0ۣYY~ )>I)\Oi{?AWİ@,@ nF)Y@InF=«0[3ҿ0I 6)ӑBU =CBU #IBU :BBQ BQ BQ BU ;BU 6Ei  checking for new query: numPingsReceived=64, elapsed TxPingTime=30.743246^AI IyO>枼&,_jLA>/?>]?>xyٱ>#>>H@ſ w6`1?׊??[ſrA?.C?Fq?`?i>/?I>F^;>CYFLByF#IbDRԿVDR8yZr%ZL=ٔ^pɺQ-^>9\Y`=bEy`bR;Eb>dQ 5n5f?Q 9n5fI)f?BYlyn@Q Ind@f\DIf;if ;f[I5ytɮv@tiiqjLAj"j:j!@"pж2/$ѨYp 8rhп.0ۣ*j!k82jnF=*p;m2@ Z 1u.#{p؎%Ȳ?"Vp9 j5 j@i%P?iܱRjBj?jjBrj?Azj!@= addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.504336 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 19.422504 m, bearing: 293.837620 deg, lat: 36.779436 deg, lon: -121.859657 deg, deltaT: 0.504336 s, deltaX: -0.000128 m, approachRate: -0.000253 m/s, posRepo size: 4 UDNOT Ignoring new targets: 19.42 m.hQhQhQhQhQgYgYjgargireyZey:e*eS?[["[*[@exy)i u(?iut9)y}a7@tiiIIA]9DDAT read: Rx Time:04:38:03.0941 TRx dataTimestamp_ set to:1764909484.048433PDAT read: Bearing 71.1, -15.7 (Local) ~Local bearing/azimuth received: Bearing 71.1, -15.7 (Local) DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.4 9@ @@@5@qDAT read: 04:38:03.0941 LVL= 32752, 22705, 32754, 32755, AGC= 63, IDX= 502,-0.16, 1.352,-2.789, 2.019, 2.285, PHS=-0.831, 1.255,-0.310, RAW= 316.1, -1.2, CAL= 314.6, -4.4, ROT= 195.4, 4.4 Ygot valid direction response: 04:38:03.0941 LVL= 32752, 22705, 32754, 32755, AGC= 63, IDX= 502,-0.16, 1.352,-2.789, 2.019, 2.285, PHS=-0.831, 1.255,-0.310, RAW= 316.1, -1.2, CAL= 314.6, -4.4, ROT= 195.4, 4.4 T#Rx 65: Read range and direction messages.bdirection in FSK: [-0.961254,-0.264773,-0.076719]%Fpublishing direction and range infoy8Ǘ< п.0ۣYAX )?IjTiף?R&@@ )CZ@Ih,;Kѿd>pt| 17)TI! I1 O= >&,kLA2m8?2?2eٱ2i>2HyĿ[=*? m?Ŀ,? W?b?@ ?i2m8?I22^;2CY@y@i-Mb@Mb@Mb@)))) )9-Cl?&1?y-=-t<)-?@ ))-@)Y-@bDEVDE8ٔUQ-]>9YYa=eEyae;Ee>yqQ 55u?Q 95uE)uDBY>Q E";y@Q Id@u`DIu;iu;uM5yBɮr@EiikLAj]A"j]A:j<@"p-&3@%sp8Ǘ< п.0ۣ*j'72j*p*&" @sv2H_bpYJ]?JDb@έj jAi¡?iQ!jBjjjB%checking for new query: numPingsReceived=65, elapsed TxPingTime=31.247784rjAzj@ addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.504827 s, deltaX: 0.500000 m, approachRate: 0.990438 m/s, rangeRepo size: 4 % Added new target pos. range: 19.920517 m, bearing: 294.061193 deg, lat: 36.779436 deg, lon: -121.859658 deg, deltaT: 0.504827 s, deltaX: 0.498013 m, approachRate: 0.986501 m/s, posRepo size: 4 %DNOT Ignoring new targets: 19.92 m.h!h)h)h)h)g)gIjgQrgUkBreQZeQ:e]4@*e]@,?[>[>"[MC>*[@ e)  R?ic9)_7tiiII!ԩIH?){?I ) @ @@85@@zA@yA DDAT read: Rx Time:04:38:03.5941  TRx dataTimestamp_ set to:1764909484.551387 PDAT read: Bearing 70.6, -16.8 (Local)  ~Local bearing/azimuth received: Bearing 70.6, -16.8 (Local)  DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.4  DAT read: 04:38:03.5941 LVL= 32752, 22449, 32754, 32755, AGC= 62, IDX= 502, 0.09, 2.061,-2.076, 2.764, 3.014, PHS=-0.851, 1.239,-0.293, RAW= 315.1, -1.0, CAL= 313.5, -4.2, ROT= 196.5, 4.2 % Ygot valid direction response: 04:38:03.5941 LVL= 32752, 22449, 32754, 32755, AGC= 62, IDX= 502, 0.09, 2.061,-2.076, 2.764, 3.014, PHS=-0.851, 1.239,-0.293, RAW= 315.1, -1.0, CAL= 313.5, -4.2, ROT= 196.5, 4.2 % T#Rx 66: Read range and direction messages.- bdirection in FSK: [-0.956245,-0.283253,-0.073238]- Fpublishing direction and range infoy  AeĎ<[ ҿY W ) >I #Yi ?  ,@ 5 h@ Q ) ~[@I Q = /cD<:п~KX =8) ǒI I! O- >G&,C(kLAb?b t?bٱbR>bH`4NĿJD)?>? "Ŀ@?:b?Z?@X?ib?Ib*^;bCYj=Byj#IIr4=)r=bDvտVDv8E EEE"Eغ:*E3:VEZEa @a @a @a @y.%<ٔQ->9Y=EyME>Q 55靊?Q 95B)IBYy@Q Id@dDI,;i;P5yɮg@qiiI#kLAj"j:j@"pX0 3Pe!YWpAeĎ<[ ҿ*j62jQ =*pY, @lo61n Ρ[puc?򡡭H:Yi}j j?Aiާu?iCjBjjjBrjAzj"@= addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.502954 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 19.920517 m, bearing: 294.889310 deg, lat: 36.779436 deg, lon: -121.859658 deg, deltaT: 0.502954 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 UDNOT Ignoring new targets: 19.92 m.hQhQhQhQhYgYgYjgYrgYreaZea:ea*ee`L?B>BB#IB0BBBBDB;B$6EB=CB=CBB =B =C5[["[*[@) ?if9)C7%ui!iEiqIqIy5checking for new query: numPingsReceived=66, elapsed TxPingTime=31.751902e9@ @@4@9^A% }>a IY I O >&,jBkLA2?2?2Aٱ2)>2H@ÿK,'?ߞ?ÿ`j?=h?O??i2?I2]:^;2CY:>By:#IFDDAT read: Rx Time:04:38:04.0943 JTRx dataTimestamp_ set to:1764909485.055452NPDAT read: Bearing 70.1, -17.5 (Local) N~Local bearing/azimuth received: Bearing 70.1, -17.5 (Local) VDAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.4 zDAT read: 04:38:04.0943 LVL= 32752, 23601, 32754, 32755, AGC= 62, IDX= 504, 0.29,-2.015, 0.142,-1.288,-1.044, PHS=-0.869, 1.231,-0.288, RAW= 314.5, -0.8, CAL= 312.8, -4.0, ROT= 197.2, 4.0 ~Ygot valid direction response: 04:38:04.0943 LVL= 32752, 23601, 32754, 32755, AGC= 62, IDX= 504, 0.29,-2.015, 0.142,-1.288,-1.044, PHS=-0.869, 1.231,-0.288, RAW= 314.5, -0.8, CAL= 312.8, -4.0, ROT= 197.2, 4.0 ~T#Rx 67: Read range and direction messages.bdirection in FSK: [-0.952951,-0.294988,-0.069756]Fpublishing direction and range infoyDF~Ңҿ&k۱YFfADDF1\D D)DIFv^iFh?FtFb@FdFR@ F5)FFF\@IF5=DDF?gҴa'Ͽس񲆌 F8)F{7dy;=<@ )Y@bDVD8yx;%(=̺ٔQ->9Y=Ey13E>Q 55㝊?Q 95>?)OBY>Q E);y@Q Id@iDI:i4:T5E E|EE"E:*EP$:VEZEBEO;a52EP;a5JE};a5:E};a5yiɮmQ@iiDiFCkLAjFA"jFA:jF@"pF向D3:#apF~Ңҿ&k۱*jFo52jF5=*pF=ߕA.!@m(/\(2h!spFYʿ0?ݼż>S3jFB jFr AiF ?iFGjFBjF¡?jDjDrjFUAzjF`@ addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.504065 s, deltaX: 0.299999 m, approachRate: 0.595160 m/s, rangeRepo size: 4 E Added new target pos. range: 20.219128 m, bearing: 295.318724 deg, lat: 36.779437 deg, lon: -121.859658 deg, deltaT: 0.504065 s, deltaX: 0.298611 m, approachRate: 0.592405 m/s, posRepo size: 4 EDNOT Ignoring new targets: 20.22 m.hAhAhIhIhIgIgIjgQrgUbBreQZeQ:eUL4@*e]?a[>[>"[ǵ>*[ٯ@A)  ?i9)Y7GwiiIIEchecking for new query: numPingsReceived=67, elapsed TxPingTime=32.256195ԑ% ͹9 @  @ @ O0@ @% =@% =DDAT read: Rx Time:04:38:04.5943 TRx dataTimestamp_ set to:1764909485.559278PDAT read: Bearing 70.0, -18.0 (Local) ~Local bearing/azimuth received: Bearing 70.0, -18.0 (Local) DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.3 EDAT read: 04:38:04.5943 LVL= 32352, 22577, 29170, 32755, AGC= 61, IDX= 504, 0.45,-3.035,-0.858,-2.286,-2.055, PHS=-0.878, 1.242,-0.275, RAW= 314.0, -0.9, CAL= 312.3, -4.1, ROT= 197.7, 4.1 MYgot valid direction response: 04:38:04.5943 LVL= 32352, 22577, 29170, 32755, AGC= 61, IDX= 504, 0.45,-3.035,-0.858,-2.286,-2.055, PHS=-0.878, 1.242,-0.275, RAW= 314.0, -0.9, CAL= 312.3, -4.1, ROT= 197.7, 4.1 MT#Rx 68: Read range and direction messages.Ubdirection in FSK: [-0.950223,-0.303255,-0.071497]UFpublishing direction and range infoyǀ:hćhӿ MY`~1Xq )=I`i?̌^@k@ C)A\@IC=,NU |1 zοe- r9) ;IIO?"&,QfkLAxm{?ma?m,㖻ٱmc>mHA¿2Y?-?&¿@"? ar?0?¬?im{?Im:^;iY5By#I  4<<bDVD8y%w%%=ٔ-WRQ-->EU EUEU#EQ"EUy:*EU=:VEU3ZEQa]@a]@a]@a]@9aYa=eEya E>Q 55-ݝ?Q 95y;)UBYy@Q Id@nDI%:i:XY5yɮ@iQiU6ckLAjQ"jQ:jU)ܤ@"pUr63T4r90>!pUǀ:hćhӿ M*jUtJ52jUC=*pUz!@Lk)Z+2B\ pU`" ?v(¹~EEjUZ jUAiU?iUl`jUmBjUާu?jUCjUBrjUɠAzjUi@ addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.503826 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.219128 m, bearing: 295.180707 deg, lat: 36.779439 deg, lon: -121.859657 deg, deltaT: 0.503826 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.22 m.hhhhhgg jg rg re Ze:e*eL?![Q[Q"[Q*[U>@,㖻) ?i.9)額7yiiII yAyAB>B;CB#IB!BB =BBDB;B#6E}checking for new query: numPingsReceived=68, elapsed TxPingTime=32.759068IE ۺ9ԁ  9@!  @! @- /@) ԩ 5DDAT read: Rx Time:04:38:05.0944 5TRx dataTimestamp_ set to:1764909486.063333=PDAT read: Bearing 69.5, -18.7 (Local) E~Local bearing/azimuth received: Bearing 69.5, -18.7 (Local) UDAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.3 uDAT read: 04:38:05.0944 LVL= 32752, 22433, 32754, 32755, AGC= 59, IDX= 506,-0.48,-2.958,-0.754,-2.181,-1.953, PHS=-0.903, 1.244,-0.272, RAW= 313.4, -0.7, CAL= 311.7, -3.9, ROT= 198.3, 3.9 }Ygot valid direction response: 04:38:05.0944 LVL= 32752, 22433, 32754, 32755, AGC= 59, IDX= 506,-0.48,-2.958,-0.754,-2.181,-1.953, PHS=-0.903, 1.244,-0.272, RAW= 313.4, -0.7, CAL= 311.7, -3.9, ROT= 198.3, 3.9 T#Rx 69: Read range and direction messages.bdirection in FSK: [-0.947227,-0.313265,-0.068015]Fpublishing direction and range infoy15O( Կ,::siY53A155W5 1)5;I5+gi5d;?5C5 @5+H5 @ 5'g)5Ԁ]@I5'g=115W"  СͿzV# 5:)5*QIIO?&,㨇kLAV?V3?V=ٱV >VH* (`n?в? bo`? u?$?-?iV?IV{^;VCY^2Byb#IxE EE"E"EƱ:*Ea9:VE(3ZEBE?;a2EA;aJE$;a:E%;aiMb@Mb@Mb@ 9(\?1Zd?:v?Y>y"=T<n@@ )Y@bDVD8yF%=ٔVQ->9Y=EyB2E>Q 5 5֝?Q 9 57)^BY y>Q E 9;y G@Q I d@sDIs:i:^5yɮ @ii kLAjA"jA:jD@"pG>3{7u)ypO( Կ,::si*j42j'g=*pNn[!@9}72<(/pKV?̚,t㽿j j Ai4M?is%jtBj?jjBrj9AzjLפ@ addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.504055 s, deltaX: 0.100000 m, approachRate: 0.198392 m/s, rangeRepo size: 4  Added new target pos. range: 20.318254 m, bearing: 295.475190 deg, lat: 36.779440 deg, lon: -121.859657 deg, deltaT: 0.504055 s, deltaX: 0.099127 m, approachRate: 0.196659 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.32 m.hhhhhggjg!rg%GBre!Ze!:e-`ff4@*e-'?[my>[my>"[m{>*[mG@=) ?i9)顥7|iiII9 checking for new query: numPingsReceived=69, elapsed TxPingTime=33.265594I@ @@@q ^A >I I O >"&,dkLA2?2?2ACǻٱ2>2H}fE ??@qCʉ? ^x?R.? ʬ?i2?I2N^;2CY:1By:#IbDFVDF8yJ2%Nx=ٔNOQ-N?9PYP=REyPREV?TQ 5Z5Vӝ?Q 9Z5V5)VbBY\y^@Q I^d@VvDIVb;iV+;V`5y`ɮf"@dzDNOT Ignoring new targets: 20.32 m.hxhxhxhxhxg|g|jg|rg|reZe:e*e@6t?[![!"[!*[%@DDAT read: Rx Time:04:38:05.5944 TRx dataTimestamp_ set to:1764909486.571237PDAT read: Bearing 68.7, -19.8 (Local) ~Local bearing/azimuth received: Bearing 68.7, -19.8 (Local) DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.3 DAT read: 04:38:05.5944 LVL= 32752, 21585, 32498, 32755, AGC= 60, IDX= 506,-0.47, 2.879,-1.201,-2.595,-2.376, PHS=-0.926, 1.219,-0.264, RAW= 312.4, -0.3, CAL= 310.6, -3.5, ROT= 199.4, 3.5 Ygot valid direction response: 04:38:05.5944 LVL= 32752, 21585, 32498, 32755, AGC= 60, IDX= 506,-0.47, 2.879,-1.201,-2.595,-2.376, PHS=-0.926, 1.219,-0.264, RAW= 312.4, -0.3, CAL= 310.6, -3.5, ROT= 199.4, 3.5 T#Rx 70: Read range and direction messages.bdirection in FSK: [-0.941463,-0.331542,-0.061049]Fpublishing direction and range infoy{"w |7տ.xAYQT~ )<IVmi1?+!z@x@ 5z)`^@I5z=CL>bm˿*Z7"v $;)J;IUd3i5z=checking for new query: numPingsReceived=70, elapsed TxPingTime=33.534374uACǻ)q u?iu9)y}t7}~iyiIIE EE&E"Eغ:*E=:VE4ZEa@a@a@a@!e9iB>BB#IBBB =BBB;B6E9@ @@@@%yA@!Q5 checking for new query: numPingsReceived=70, elapsed TxPingTime=33.770908ԁ ^A >II Ii O >}G&,;kLA2_%?2 ?2Kٱ2>2H߿ l'??̿@v?T |?/?@?i2_%?I29^;2CY:7By:#II>=)>9PYP=REyPV\uEV>XQ 5^5ZYΝ?Q 9^5Z3)ZiBY\yb|@Q Ibd@ZzDIZ>:iZ:Z}d5yfBɮf{@fEiiim&kLAji"ji:jmD@"pmK 3 ò"RLpm{"w |7տ.xA*jmUd32jm5z=*pm_!@F'2`pm/ ?0_b쿥#-jm? jm" Aim=k?im(!jmBjm4M?jml`jmBrjmAzjm@% addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.507904 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 20.318010 m, bearing: 295.912417 deg, lat: 36.779440 deg, lon: -121.859656 deg, deltaT: 0.507904 s, deltaX: -0.000244 m, approachRate: -0.000481 m/s, posRepo size: 4 UDNOT Ignoring new targets: 20.32 m.hQhQhQhQhQgQgYjgYrgYreYZea:ea*ee6? [["[*[h|@K) ?i9)顽7iiIIMDDAT read: Rx Time:04:38:06.0946 UTRx dataTimestamp_ set to:1764909487.076354]PDAT read: Bearing 68.4, -20.6 (Local) e~Local bearing/azimuth received: Bearing 68.4, -20.6 (Local) }DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.2 DAT read: 04:38:06.0946 LVL= 32752, 22385, 32482, 32755, AGC= 60, IDX= 507, 0.47,-0.856, 1.376,-0.012, 0.196, PHS=-0.949, 1.225,-0.251, RAW= 311.7, -0.3, CAL= 309.9, -3.5, ROT= 200.1, 3.5 Ygot valid direction response: 04:38:06.0946 LVL= 32752, 22385, 32482, 32755, AGC= 60, IDX= 507, 0.47,-0.856, 1.376,-0.012, 0.196, PHS=-0.949, 1.225,-0.251, RAW= 311.7, -0.3, CAL= 309.9, -3.5, ROT= 200.1, 3.5 T#Rx 71: Read range and direction messages.1Ebdirection in FSK: [-0.937343,-0.343019,-0.061049]EFpublishing direction and range infoyIM6`Lտ.xAYMAIIMqWM~ I)IIMriM̜?MM @IM@ I)M_@IIIIMM\wVdǁ5ɿx*r M<)Mۦ;IM)2iIII5checking for new query: numPingsReceived=71, elapsed TxPingTime=34.086731GU?9QYUuA9E EE E"E:*E3:VE3ZEBEb;a2Ec;aJE;a:E;ai @  @ @! @! ԉ  checking for new query: numPingsReceived=71, elapsed TxPingTime=34.274914^AE }>II Ii O >&,ukLA!Y2By#IiMb@Mb@Mb@ 9 rh?A`"?~jt?YC>y=D<@(@ @)Y3@bDVD8y%=ٔQ->9Y=EyE>Q 55jȝ?Q 95/)pBY>Q E5;y@Q Id@DI:iZ:i5yBɮ-@ Ei1i5kLAj5A"j5A:j5v@"p5×3S3*I(T#p56`Lտ.xA*j5)22j1*p5/H7YX"@F==O2&np5'B[[y?!_6k@BlTj5y j5Ai5^͠?i5O8j5nBj5=k?j5s%j5tBrj5uAzj5@E addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.505117 s, deltaX: 0.300001 m, approachRate: 0.593924 m/s, rangeRepo size: 4 U Added new target pos. range: 20.616804 m, bearing: 296.609592 deg, lat: 36.779441 deg, lon: -121.859655 deg, deltaT: 0.505117 s, deltaX: 0.298794 m, approachRate: 0.591534 m/s, posRepo size: 4 UDNOT Ignoring new targets: 20.62 m.hYhYhYhYhYgYgYjgargeLBreaZea:em@34@*em?[>[>"[uB>*[@) ?i9)顥Ҭ7iiIII9 DDAT read: Rx Time:04:38:06.5946  TRx dataTimestamp_ set to:1764909487.579825PDAT read: Bearing 67.5, -21.0 (Local) ~Local bearing/azimuth received: Bearing 67.5, -21.0 (Local) -DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.3 =9@9 @9@=N0@9}DAT read: 04:38:06.5946 LVL= 32752, 29057, 32434, 32755, AGC= 61, IDX= 507, 0.36,-1.126, 1.098,-0.272,-0.056, PHS=-0.968, 1.199,-0.260, RAW= 311.3, 0.3, CAL= 309.4, -2.9, ROT= 200.6, 2.9 Ygot valid direction response: 04:38:06.5946 LVL= 32752, 29057, 32434, 32755, AGC= 61, IDX= 507, 0.36,-1.126, 1.098,-0.272,-0.056, PHS=-0.968, 1.199,-0.260, RAW= 311.3, 0.3, CAL= 309.4, -2.9, ROT= 200.6, 2.9 T#Rx 72: Read range and direction messages.bdirection in FSK: [-0.934861,-0.351391,-0.050593]Fpublishing direction and range infoy  B0aA'X1}ֿ|rQ穿Y    q ~ ) =I wi x?  ܭ@ ; 3ͬ@ 4QO) `@I 4QO=   Ȇ`Cjɿ(_u? Xl<) 0I / 2i 4QO=  qmchecking for new query: numPingsReceived=72, elapsed TxPingTime=34.573551De %=De <Eu  Eu Eu 'Eq "Eu Ʊ:*Eu E7:VEu '4ZEq a} @a} @a} @a} @^Ae ->Iq I O >ԡ B >B 9CB #IB BB =B B DB -;B 5ES&,MkLAJ ?J7?J$ٱJ>JH@}CyG??`)~?uށ??A?iJ ?IJ$W^;JCY0By#IbD% VD%8y5Q%5h=ٔ=pQ-=>9AYA=EEyAEEE>IQ 5U5Msĝ?Q 9U5echecking for new query: numPingsReceived=72, elapsed TxPingTime=34.778938M<-)MvBYaye@Q Ied@MDIMyc;iMc;Ml5yqɮu[@qyi9i=kLAj=A"j=A:j=@"p=$E3Kb؆+Q^ >p=B0aA'X1}ֿ|rQ穿*j=/ 22j=4QO=*p= >R"@ҖU2p="p?ܪuƝas j= j=Ai=eȠ?i=j=Bj9j=O8j9rj=Azj=SD@ addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.503471 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.616076 m, bearing: 296.547669 deg, lat: 36.779441 deg, lon: -121.859653 deg, deltaT: 0.503471 s, deltaX: -0.000729 m, approachRate: -0.001447 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.62 m.hhhhhggjgrgreZe:e*e5?[ [ "[ *[ r@=$)9 =?i=T9)9=7=IiAiEAIIIII%.9ԡ@ @@?5@^A(`>I DDAT read: Rx Time:04:38:07.0948  TRx dataTimestamp_ set to:1764909488.083437% PDAT read: Bearing 67.2, -21.7 (Local) % ~Local bearing/azimuth received: Bearing 67.2, -21.7 (Local) 5 DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.3 ] DAT read: 04:38:07.0948 LVL= 32752, 22993, 29874, 32755, AGC= 61, IDX= 509, 0.26,-0.177, 2.062, 0.703, 0.909, PHS=-0.984, 1.198,-0.250, RAW= 310.7, 0.4, CAL= 308.8, -2.9, ROT= 201.2, 2.9 e Ygot valid direction response: 04:38:07.0948 LVL= 32752, 22993, 29874, 32755, AGC= 61, IDX= 509, 0.26,-0.177, 2.062, 0.703, 0.909, PHS=-0.984, 1.198,-0.250, RAW= 310.7, 0.4, CAL= 308.8, -2.9, ROT= 201.2, 2.9 m T#Rx 73: Read range and direction messages.m bdirection in FSK: [-0.931130,-0.361161,-0.050593]u Fpublishing direction and range infoy  /=D׿|rQ穿Y A   Y t  ) I m{i X?  @ ; iw@  ) `@I    H&ynqS7ǿ@{?I O >  =) ػI a1i    checking for new query: numPingsReceived=73, elapsed TxPingTime=35.048992 &,c' lLAE EvE%E"E:*E:VE 4ZEBE;a2E;aJE h;a:E h;a RW?R?RN$ٱRa<>RH}Z?Z?ѻ0+w?@u?`?|?iRW?IRP^;RCY~3By~#I iMb@Mb@Mb@ 9L7A`?Cl?y;=t< @)|@Y@bDVD8y%et<%%<=ٔ%/Q-->9)Y)=-Ey)57E5>9Q 5E5=?Q 9E5=^*)=~BYM>Q EM9;yM@Q IMd@=DI=8:i=:=o5yQɮU&@YiIiMWlLAjMQA"jMQA:jMͥ@"pM({uy3^T6P(pM/=D׿|rQ穿*jMa12jI*pMܤa"@Oi?2O`pM3;.?;X_HH2!jMY jMTAiM7Oנ?iMnjMBjMeȠ?jIjMBrjMmAzjMC@E addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.503612 s, deltaX: 0.299999 m, approachRate: 0.595695 m/s, rangeRepo size: 4 u Added new target pos. range: 20.914858 m, bearing: 296.869782 deg, lat: 36.779443 deg, lon: -121.859653 deg, deltaT: 0.503612 s, deltaX: 0.298782 m, approachRate: 0.593279 m/s, posRepo size: 4 }DNOT Ignoring new targets: 20.91 m.hyhyhyhyhyggjgrgGBreZe:e5@*eN?[>[>"[uz>*[@N$)) -?i-b9))-7-i)mchecking for new query: numPingsReceived=73, elapsed TxPingTime=35.283005iuqqIqIy 1=9A @A  @A @E /@A Y % DDAT read: Rx Time:04:38:07.5948 % TRx dataTimestamp_ set to:1764909488.5873235 PDAT read: Bearing 66.2, -21.7 (Local) 5 ~Local bearing/azimuth received: Bearing 66.2, -21.7 (Local) E DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.3 m DAT read: 04:38:07.5948 LVL= 32752, 29745, 31346, 32755, AGC= 61, IDX= 509, 0.18,-1.070, 1.157,-0.196, 0.031, PHS=-0.999, 1.171,-0.271, RAW= 310.8, 1.0, CAL= 308.7, -2.2, ROT= 201.3, 2.2 u Ygot valid direction response: 04:38:07.5948 LVL= 32752, 29745, 31346, 32755, AGC= 61, IDX= 509, 0.18,-1.070, 1.157,-0.196, 0.031, PHS=-0.999, 1.171,-0.271, RAW= 310.8, 1.0, CAL= 308.7, -2.2, ROT= 201.3, 2.2 u T#Rx 74: Read range and direction messages.} bdirection in FSK: [-0.931004,-0.362984,-0.038388] Fpublishing direction and range infoy! % c;׿.Y! ! ! % 1t% rz ! )! I% wi% T?% % ^@% 5<% i@ % nF)% `@I% nF=! ! % n￝=cqǿz⻒? %  =)% ;ᕼI% E1i% nF=! !  checking for new query: numPingsReceived=74, elapsed TxPingTime=35.550976^Aux>IIԙO> : &,*lLAR!N?RO3?R3ٱR>RH : J4?d?\m?sr?? ɭ?iR!N?IR)^;RCDlzDn@AbEe4jEe3rEe'0Ev EvEv"Et"Ev:*EvF:VEv(3ZEta@a@a@a@Y=7By=#IbD]VD]8yuU<%2=ٔ.Q->9Y=EyPLE>!Q 5-5%C?Q 9-5%6')%BYqyup@Q Iud@%DI%%.{8(pc;׿.*jE12jnF=*pvpA"@v\ݖ2lxpGܡ?q쿸nj jAi9ǿΠ?i|G)jBj^͠?j(!jBrjAzjî@BE>BE6CBE#IBEBBE =BE@DBEDBE;BE5E addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.503886 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.914858 m, bearing: 296.718257 deg, lat: 36.779443 deg, lon: -121.859652 deg, deltaT: 0.503886 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.91 m.hhhhhg!g!jg)rg)re)Ze):e1*e5 #?[q[q"[q*[up@3) һ?i9)顭7iiII%=%=-checking for new query: numPingsReceived=74, elapsed TxPingTime=35.787193Ai  @  @ @ /@ ԙ  DDAT read: Rx Time:04:38:08.0950  TRx dataTimestamp_ set to:1764909489.091399 PDAT read: Bearing 65.9, -22.8 (Local)  ~Local bearing/azimuth received: Bearing 65.9, -22.8 (Local)  DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.2 % DAT read: 04:38:08.0950 LVL= 31088, 20897, 28386, 32035, AGC= 60, IDX= 511, 0.13,-1.042, 1.204,-0.128, 0.076, PHS=-1.016, 1.173,-0.248, RAW= 309.8, 1.0, CAL= 307.8, -2.3, ROT= 202.2, 2.3 - Ygot valid direction response: 04:38:08.0950 LVL= 31088, 20897, 28386, 32035, AGC= 60, IDX= 511, 0.13,-1.042, 1.204,-0.128, 0.076, PHS=-1.016, 1.173,-0.248, RAW= 309.8, 1.0, CAL= 307.8, -2.3, ROT= 202.2, 2.3 U T#Rx 75: Read range and direction messages.] bdirection in FSK: [-0.925125,-0.377536,-0.040132]] Fpublishing direction and range infoy  b;GӍ)ؿ.='Y fA py Q n #}) <I J i $? } c@ o@ l$) a@I l$= ) I C0i l$= } checking for new query: numPingsReceived=75, elapsed TxPingTime=36.059479^AM#>IQIiOu>/&,+IlLAfr?f?fdaٱf^>fH @)1??`&UܥJ`d,??Ҭ?ifr?If{^;fCY~6ByQE EE#E"EC:*EE7:VE3ZEBE,;a2E-;aJER;a:ES;aiEMb@Mb@Mb@AAAA A9EK7?y&1?yE`=AAE?@ E@)AAYE@bD}ѿVD}8y[% =ٔQ->9Y=EyϼE>Q 55˴?Q 95#)BY՗>Q E3;yp@Q Id@DIZ:iw:Ux5yɮ@ii{ElLAjA"jA:j)ѥ@"pFI֟3-` "x=pb;GӍ)ؿ.='*jC02jl$=*p^C#@-2p&|?CU`Xc#Vj jAi ؠ?iNjBj9ǿΠ?jO8jBrjAzj@M 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 ] Added new target pos. range: 21.212667 m, bearing: 296.894255 deg, lat: 36.779443 deg, lon: -121.859653 deg, deltaT: 0.504076 s, deltaX: 0.297810 m, approachRate: 0.590803 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.21 m.hhhhhggjgrgUBreZe:eL5@*eu?[-՗>[-՗>"[-u>*[-p@mda)i uR?iug9y)q顝&7ڌiiII]9e>i>checking for new query: numPingsReceived=75, elapsed TxPingTime=36.291378U9@Q @Q@]/@YԱ ^A 8j>I I O >S&,FblLA2?2?2xٱ2@>2H1? ?@h??ɬ?i2?I2%^;0Y>;By>#IIB<)B=bDFVDFm8yRO<%Rq=ٔRGQ-R?9TYT=VEyTVȃEZ?XQ 5^5Z ?Q 9b5Z{!)ZBY`yb@Q Ibe@ZDIZQ;iZ;ZK{5ydɮf@huDNOT Ignoring new targets: 21.21 m.hqiyIyDDAT read: Rx Time:04:38:08.5950 TRx dataTimestamp_ set to:1764909489.595722PDAT read: Bearing 64.5, -22.5 (Local) ~Local bearing/azimuth received: Bearing 64.5, -22.5 (Local) DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.3 ԹDAT read: 04:38:08.5950 LVL= 32752, 30241, 32754, 32755, AGC= 61, IDX= 511, 0.10,-2.417,-0.212,-1.533,-1.294, PHS=-1.021, 1.127,-0.283, RAW= 310.2, 1.9, CAL= 308.0, -1.3, ROT= 202.0, 1.3 Ygot valid direction response: 04:38:08.5950 LVL= 32752, 30241, 32754, 32755, AGC= 61, IDX= 511, 0.10,-2.417,-0.212,-1.533,-1.294, PHS=-1.021, 1.127,-0.283, RAW= 310.2, 1.9, CAL= 308.0, -1.3, ROT= 202.0, 1.3 T#Rx 76: Read range and direction messages.bdirection in FSK: [-0.926945,-0.374510,-0.022687]Fpublishing direction and range infoy&q퍾׿NGY;Y!v )=I!iA?`吾hhhhggjgrgreZe:e*e f??@=@ ޹)ܢa@I޹<D+X#y,F<ƿx`f? =)QI|0i޹<%checking for new query: numPingsReceived=76, elapsed TxPingTime=36.563908[I[I"[I*[M@}x)y }_?i}9)顅ֻ7iiIIo9E E{E%E"Es:*E5":VE 4ZEa@a@a@a@ %9@) @)@-0@)B%q>B%2CB%#IB%&BB% =B!B%DB%;B%5EB9CB8CBƗCB =B =C)i615 checking for new query: numPingsReceived=76, elapsed TxPingTime=36.795376^AM >IY Ii O} >Y '~&,|lLA6B?6(?6ٱ6>6H@V*gV)?j?tuj? ??i6B?I6 ^;6CYN7ByR#IbDZVDZo8yb%bH=ٔb]Q-b>9dYd=fEydjFmEj>hQ 5r5j?Q 9r5j)jBYpyr@Q Ire@jDIjD;ij;j~5yzBɮz@z EiiO flLAjA"jA:jj@"p$Z]3I I O >7&&, lLAxt?e?Vٱ/>H@@3.??` @X???it?I%5^;CY%y =C<@@ )Y@ <bDVDf8yl<%&=ٔ\cQ->9Y=Ey4EE>Q 55?Q 95)BYʚ>Q E/;y?Q Ie@DI{:i:,5yɮN@  addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.503338 s, deltaX: 0.300001 m, approachRate: 0.596023 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 21.21 m.hhhhhggjgrgKBreZe:e 5@*e  ?[Mʚ>[Mʚ>"[Me>*[M$?]V)Y )?i9)7ƗiiIIDDAT read: Rx Time:04:38:09.5952 TRx dataTimestamp_ set to:1764909490.603379 PDAT read: Bearing 65.5, -18.4 (Local)  ~Local bearing/azimuth received: Bearing 65.5, -18.4 (Local) DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed -0.3 EDAT read: 04:38:09.5952 LVL= 32752, 27505, 32754, 32755, AGC= 61, IDX= 513, 0.06, 1.329,-2.718, 2.079, 2.384, PHS=-0.953, 1.227,-0.349, RAW= 314.4, 0.8, CAL= 312.5, -2.3, ROT= 197.5, 2.3 MYgot valid direction response: 04:38:09.5952 LVL= 32752, 27505, 32754, 32755, AGC= 61, IDX= 513, 0.06, 1.329,-2.718, 2.079, 2.384, PHS=-0.953, 1.227,-0.349, RAW= 314.4, 0.8, CAL= 312.5, -2.3, ROT= 197.5, 2.3 MT#Rx 78: Read range and direction messages.Ubdirection in FSK: [-0.952949,-0.300464,-0.040132]UFpublishing direction and range infoyw~Ӝ:ӿ.='Yqk )IsiV?!@d<n@ l$)\@Il$=9z0Ͽ_Ęڋ? 8)^I5il$=uchecking for new query: numPingsReceived=78, elapsed TxPingTime=37.5669409Em  Em Em &Ei "Em [:*Em k:VEm 4ZEi a} @a} @a} @a} @ 9@  @ @ /@ B} `>B} 0CB} #IB} +BB} =By B} DB} ;B} 6E checking for new query: numPingsReceived=78, elapsed TxPingTime=37.802830^A}>I9IaO>-&,@lLA88ϵ??ٱ>H?F 1??ұ 5Äb? ?f?iϵ?Iv^;CY8By#I bDVD8y}%,=ٔxaQ->9Y=Ey:E>Q 55?Q 95)BYy?Q Ie@DIU;i;P5yɮ@iiÝlLAjA"jA:j{@"p+q>4PudQpw~Ӝ:ӿ.='*j52jl$=*p1 @zi/3޲GDdpTps?+๿j j@i&?iX1c%j߀Bjjnj߀BrjAAzj@= addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504319 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 21.509081 m, bearing: 290.925247 deg, lat: 36.779443 deg, lon: -121.859653 deg, deltaT: 1.007657 s, deltaX: 0.297916 m, approachRate: 0.295653 m/s, posRepo size: 4 UDNOT Ignoring new targets: 21.51 m.hQhQhQhQhQgQgYjgYrgYreaZea:ea*ee?[["[*[?Թ5)Q U8?i]9)Y])7]iYieaaIaIiU99@ @@0@YDDAT read: Rx Time:04:38:10.0953 TRx dataTimestamp_ set to:1764909491.112218 PDAT read: Bearing 62.0, -24.3 (Local) ~Local bearing/azimuth received: Bearing 62.0, -24.3 (Local) %DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.3 MDAT read: 04:38:10.0953 LVL= 32752, 21233, 26098, 32755, AGC= 60, IDX= 2, 0.21, 1.784,-2.269, 2.725, 2.970, PHS=-1.084, 1.089,-0.289, RAW= 308.8, 3.0, CAL= 306.4, -0.3, ROT= 203.6, 0.3 UYgot valid direction response: 04:38:10.0953 LVL= 32752, 21233, 26098, 32755, AGC= 60, IDX= 2, 0.21, 1.784,-2.269, 2.725, 2.970, PHS=-1.084, 1.089,-0.289, RAW= 308.8, 3.0, CAL= 306.4, -0.3, ROT= 203.6, 0.3 UT#Rx 79: Read range and direction messages.]bdirection in FSK: [-0.916350,-0.400344,-0.005236]eFpublishing direction and range infoyACR`p:ٿsNruYfARe )<IiZd?iw@PwV=D @ )clc@I; ;9U\Aÿ֎w? :?)HWIR.i;checking for new query: numPingsReceived=79, elapsed TxPingTime=38.086170q E5  E5 uE5 "E1 "E5 :*E5 :VE5 (3ZE1 BE5 p;aE 2E5 q;aE JE5 gd;aE :E5 hd;aE ^A #>I I O >K]4&,DNlLA,YyiMb@Mb@Mb@ 9MbX?v/?~jt?Y>yx=<@?@ )Y@bD׿VD8ٔQ->9Y=EyE>!Q 5-5%L?Q 9-5%)%BY->=checking for new query: numPingsReceived=79, elapsed TxPingTime=38.307014Q E=3;y=~@Q IEe@%DI% q;i%n;%5yIɮIIi9i=.lLAj=A"j=A:j=]@"p=Fp3LJ|a!Xp=ACR`p:ٿsNru*j=R.2j=;*p=::#@i><3ĔKZp= k6?gxa[uU,uj= j=Ai=qG᠊?i=d,j=Bj9j=oEj=Brj=Azj= @ addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.508839 s, deltaX: 0.199999 m, approachRate: 0.393049 m/s, rangeRepo size: 4  Added new target pos. range: 21.708239 m, bearing: 297.252383 deg, lat: 36.779443 deg, lon: -121.859653 deg, deltaT: 0.508839 s, deltaX: 0.199158 m, approachRate: 0.391396 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.71 m.hhhhhggjgrgVBreZe:e5@*e  q?Ա[>[>"[>*[c~@y)y R?i9)顭A7@iiII9I) DDAT read: Rx Time:04:38:10.5953  TRx dataTimestamp_ set to:1764909491.612749  PDAT read: Bearing 62.0, -25.2 (Local)  ~Local bearing/azimuth received: Bearing 62.0, -25.2 (Local) - DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.3 A @A  @A @E /@A @a @a  DAT read: 04:38:10.5953 LVL= 32752, 28513, 32754, 32755, AGC= 62, IDX= 499,-0.46,-2.521,-0.260,-1.537,-1.321, PHS=-1.098, 1.106,-0.260, RAW= 307.9, 2.6, CAL= 305.6, -0.7, ROT= 204.4, 0.7  Ygot valid direction response: 04:38:10.5953 LVL= 32752, 28513, 32754, 32755, AGC= 62, IDX= 499,-0.46,-2.521,-0.260,-1.537,-1.321, PHS=-1.098, 1.106,-0.260, RAW= 307.9, 2.6, CAL= 305.6, -0.7, ROT= 204.4, 0.7  T#Rx 80: Read range and direction messages. bdirection in FSK: [-0.910616,-0.413074,-0.012217] Fpublishing direction and range infoy  Ι#jgoڿI:Y ao  ) >I Di h?  @ 9= 㭪@ +H) &Qd@I +H< G0c:1? D@) |A=I -i +H< 5 checking for new query: numPingsReceived=80, elapsed TxPingTime=38.6005401 E]  E] E] EY "E] :*E] *:VE] 3ZEY am @am @am @am @^AƂ>IIO>V;&,BB/CBB#IBB5BB@B@B@BB%;BB6EԁYCBy#II4=)a=bDտVD8y<%<ٔQ->9Y=EyE>Q 55?Q 95})ņBY!y!Q I%e@DI3;i/;#5y)ɮ-@1iiH7lLAjA"jA:jXo@"py3!/؀#пpΙ#jgoڿI:*j-2j+H<*p&M$@w3]kNypIb?Eog$By?j jl"Ai?i|jkBj ؠ?jj_BrjAzjѥ@ addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.500531 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 21.707966 m, bearing: 298.000609 deg, lat: 36.779444 deg, lon: -121.859653 deg, deltaT: 0.500531 s, deltaX: -0.000273 m, approachRate: -0.000545 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.71 m.hhhhhggjgrgreZe:e*e`?checking for new query: numPingsReceived=80, elapsed TxPingTime=38.810982[["[*[) $?i9)Z7ߥiiIIԹR9E 9@A  @A @M /@I  DDAT read: Rx Time:04:38:11.0955  TRx dataTimestamp_ set to:1764909492.116596 PDAT read: Bearing 61.1, -25.8 (Local)  ~Local bearing/azimuth received: Bearing 61.1, -25.8 (Local)  DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.4  DAT read: 04:38:11.0955 LVL= 32752, 23249, 31282, 32755, AGC= 58, IDX= 501,-0.23,-2.463,-0.197,-1.461,-1.244, PHS=-1.117, 1.092,-0.261, RAW= 307.4, 3.0, CAL= 305.1, -0.4, ROT= 204.9, 0.4  Ygot valid direction response: 04:38:11.0955 LVL= 32752, 23249, 31282, 32755, AGC= 58, IDX= 501,-0.23,-2.463,-0.197,-1.461,-1.244, PHS=-1.117, 1.092,-0.261, RAW= 307.4, 3.0, CAL= 305.1, -0.4, ROT= 204.9, 0.4  T#Rx 81: Read range and direction messages. bdirection in FSK: [-0.907022,-0.421025,-0.006981] Fpublishing direction and range infoy  @ PwV= ff@ ) d@I ; ؿߜAp9wHk{̪? x@) VI ?-i ;  checking for new query: numPingsReceived=81, elapsed TxPingTime=39.080170 Cm vG {A 9 {AY A^A #>I E  E }E $E "E :*E k&:VE 4ZE BE \ C&,mLA?Ί?мٱ>H橿 @Q?@?s Y?@+,?`T?i?I ^;CYuBByu#Ichecking for new query: numPingsReceived=81, elapsed TxPingTime=39.314957i]Mb@Mb@Mb@YYYY Y9]n?!rh?Zd;O?Y]V>y]l=]j<]n@]@ ]@)]O@YY]@bD ͿVD ~8y}Wl%=ٔQ->9Y=Ey=E>Q 55𒝊?Q 95; )ӆBY>Q E0;y`?Q Ie@DI2;iy;Z5yxBɮ_@E iiOvmLAj A"j A:jp2@"pD[>"[>*[F`?-м)) -)?i-9))575i1i599I9IAIMF?)MJ?1 U DDAT read: Rx Time:04:38:11.5955 U TRx dataTimestamp_ set to:1764909492.619398e PDAT read: Bearing 59.5, -25.9 (Local) e ~Local bearing/azimuth received: Bearing 59.5, -25.9 (Local) u DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.3  DAT read: 04:38:11.5955 LVL= 32752, 24657, 32370, 32755, AGC= 57, IDX= 501,-0.05, 2.730,-1.295,-2.550,-2.313, PHS=-1.139, 1.063,-0.281, RAW= 307.3, 3.8, CAL= 304.9, 0.7, ROT= 205.1, -0.7  Ygot valid direction response: 04:38:11.5955 LVL= 32752, 24657, 32370, 32755, AGC= 57, IDX= 501,-0.05, 2.730,-1.295,-2.550,-2.313, PHS=-1.139, 1.063,-0.281, RAW= 307.3, 3.8, CAL= 304.9, 0.7, ROT= 205.1, -0.7  T#Rx 82: Read range and direction messages. `direction in FSK: [-0.905501,-0.424168,0.012217] Fpublishing direction and range infoyQ U T%ۿI:?YQ Q Q U Q`U r~ Q )U 9IU ʑiU b?U ;ߏU @U ԇ=U I@ U +H<)U Re@IU +HQ Q U _ԬhM%`^Ű? 9 U L@)U EIU c-iU +HQ Q  checking for new query: numPingsReceived=82, elapsed TxPingTime=39.588200a E 9@A  @A @E /5@A @M =@M =E EEE"E:*E,:VEZEa@a@a@a@ԉB\>BB#IB?BB =BBB-;B'6E^A!I1IAOM?pL&,.4mLAFp)?F?F&XٱFK>FHf&5?S?Zޥ??z?iFp)?IF^;DYV?ByZ#IbDbȿVDby8yjM%jE=ٔj~ Q-n>9lYl=nEylrEr>tQ 5z5v֎?Q 9z5vO )v݆BYxyz?Q Ize@vDIv;ivo;v5ysBɮ<@ii8'mLAj"j:j@"p,}W3J"4?pT%ۿI:?*jc-2j+H*p{|$@ì؂3np48?2 _bjD?j j Aiݠ?i jBjjM= jkBrjAzj @U addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.502802 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 22.006733 m, bearing: 297.247538 deg, lat: 36.779445 deg, lon: -121.859651 deg, deltaT: 0.502802 s, deltaX: 0.000032 m, approachRate: 0.000064 m/s, posRepo size: 4 mDNOT Ignoring new targets: 22.01 m.hiihihqhqhqgqgqjgyrgyreyZey:e*eV?[["[*[?checking for new query: numPingsReceived=82, elapsed TxPingTime=39.818993&X) ?i9)7iiIIԙa) @1  @1 @5 !5@9  DDAT read: Rx Time:04:38:12.0957  TRx dataTimestamp_ set to:1764909493.128153 PDAT read: Bearing 58.2, -26.6 (Local)  ~Local bearing/azimuth received: Bearing 58.2, -26.6 (Local)  DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed -0.3 = DAT read: 04:38:12.0957 LVL= 32752, 21313, 30194, 32755, AGC= 58, IDX= 503, 0.13,-1.169, 1.100,-0.138, 0.098, PHS=-1.166, 1.046,-0.281, RAW= 306.6, 4.2, CAL= 304.2, 1.4, ROT= 205.8, -1.4 E Ygot valid direction response: 04:38:12.0957 LVL= 32752, 21313, 30194, 32755, AGC= 58, IDX= 503, 0.13,-1.169, 1.100,-0.138, 0.098, PHS=-1.166, 1.046,-0.281, RAW= 306.6, 4.2, CAL= 304.2, 1.4, ROT= 205.8, -1.4 E T#Rx 83: Read range and direction messages.M `direction in FSK: [-0.900050,-0.435101,0.024432]M Fpublishing direction and range infoy  #^5쿝 ۿ{J?Y 3A AS u ) :I }?i T? <@ Q = @ +<) }e@I +ȼ \*�2ؑBPŲ? A) MI 8>,i +ȼ  checking for new query: numPingsReceived=83, elapsed TxPingTime=40.125065E  E E #E "E s:*E VE 3ZE BE h0I!I9OU?T&,PTmLA2~?2c?2ٱ2S>2HL ̧9? r?:\^Bw}??@ͩ?i2~?I2r^;2CY:ABy:#I <<@@iMb@Mb@Mb@ 9/$?v/?I +?Y1>yx=9<X@?@ )f@Y@ bDVD8y-;%-=ٔ-cQ-->91Y1=5Ey1=h&E=>AQ 5M5E?Q 9M5E)EBYM>Q EM6;yM?Q IMe@EDIE:iE:Eg5yYɮ]@Ychecking for new query: numPingsReceived=83, elapsed TxPingTime=40.324745ii3HmLAjqA"jqA:jH@"pvw484i#e Ngp?p#^5쿝 ۿ{J?*j8>,2j+ȼ*p D$@Ő3-cD_54p7/8?g$C6 j j%Aio?i> j[Bj 頊?jjBrj|Azjq,@ addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.508755 s, deltaX: 0.299999 m, approachRate: 0.589673 m/s, rangeRepo size: 4  Added new target pos. range: 22.305468 m, bearing: 297.729150 deg, lat: 36.779446 deg, lon: -121.859651 deg, deltaT: 0.508755 s, deltaX: 0.298735 m, approachRate: 0.587188 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.31 m.hhhhhggjgrgVBreZe:e`ff6@*e3?[>[>"[M>*[?5)1 5?i59)9=w7=Ui9iEAAIAIA)Q9} DDAT read: Rx Time:04:38:12.5957  TRx dataTimestamp_ set to:1764909493.628354 PDAT read: Bearing 56.9, -27.1 (Local)  ~Local bearing/azimuth received: Bearing 56.9, -27.1 (Local)  DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed -0.3 5 DAT read: 04:38:12.5957 LVL= 32752, 21745, 29586, 32755, AGC= 57, IDX= 503, 0.38,-2.310,-0.048,-1.266,-1.027, PHS=-1.181, 1.025,-0.282, RAW= 306.1, 4.6, CAL= 303.7, 2.1, ROT= 206.3, -2.1 = Ygot valid direction response: 04:38:12.5957 LVL= 32752, 21745, 29586, 32755, AGC= 57, IDX= 503, 0.38,-2.310,-0.048,-1.266,-1.027, PHS=-1.181, 1.025,-0.282, RAW= 306.1, 4.6, CAL= 303.7, 2.1, ROT= 206.3, -2.1 = T#Rx 84: Read range and direction messages.M 9@I  @I @M 00@I  `direction in FSK: [-0.895884,-0.442774,0.036644] Fpublishing direction and range infoy  I D\EhgVܿ(א¢?Y T s ) 9I +i 33? Nb `@ l= ;@ Q =) wpf@I Q  H\+D os4? @B) I >+i Q  M checking for new query: numPingsReceived=84, elapsed TxPingTime=40.634933ԉ bEajEec3rEe7/E  E zE $E "E :*E  :VE 4ZE a @a @a @a @^Am(>IBf>B0CԩB#IBDBB =BBDB*;B,6EIO>!>\&,}YsmLAY~:By~#IbD VD 8y%)=ٔ%Q-%>9!Y!=%Ey)-E->1Q 5=55ᄝ?Q 9=55y)5BY9yAQ IEe@5DI5&;i5";55yIɮM@Ii9i=6hmLAj=rA"j=rA:j= @"p=f3vF#-E'?p=I D\EhgVܿ(א¢?*j=>+2j=Q *p=)H%@83B;p=djM?Ð!twIj= j=(Ai=?i=fFj=ӂBj=?j= j=Brj=Azj=H@% addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.500201 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 mchecking for new query: numPingsReceived=84, elapsed TxPingTime=40.829185} Added new target pos. range: 22.306017 m, bearing: 298.306293 deg, lat: 36.779447 deg, lon: -121.859650 deg, deltaT: 0.500201 s, deltaX: 0.000549 m, approachRate: 0.001098 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.31 m.hhhhhggjgrgreZe:e*e ?[I[I"[I*[IY)Y ]?i]9)a顥7NŹiiII9- 9q i I 5 DDAT read: Rx Time:04:38:13.0958 E TRx dataTimestamp_ set to:1764909494.137248m PDAT read: Bearing 54.8, -26.1 (Local) u ~Local bearing/azimuth received: Bearing 54.8, -26.1 (Local)  DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.3  DAT read: 04:38:13.0958 LVL= 32752, 26977, 32754, 32755, AGC= 57, IDX= 505,-0.27, 2.821,-1.229,-2.456,-2.176, PHS=-1.185, 0.992,-0.324, RAW= 306.9, 5.5, CAL= 304.5, 3.9, ROT= 205.5, -3.9  Ygot valid direction response: 04:38:13.0958 LVL= 32752, 26977, 32754, 32755, AGC= 57, IDX= 505,-0.27, 2.821,-1.229,-2.456,-2.176, PHS=-1.185, 0.992,-0.324, RAW= 306.9, 5.5, CAL= 304.5, 3.9, ROT= 205.5, -3.9  T#Rx 85: Read range and direction messages. `direction in FSK: [-0.900495,-0.429514,0.068015] Fpublishing direction and range infoy9 = :>쿘'(}ۿ,::si?Y= A9 9@  @ @ 0@ 9 = ai=  9 )9 I= i= }?= T㥾= g@= == @ = 'g=)= e@I= 'g9 9 = MwO;I<? = W`A)= ĽI= ,i= 'g9 9  checking for new query: numPingsReceived=85, elapsed TxPingTime=41.113640ԑ Eq  Eu Eu %Eq "Eq *Eu ;J:VEu 4ZEq BEu I)IAOM?]d&,kmLA20?2?21 ٱ2)>2H@,@M@?@?휿`[? $? j?i20?I2^;0@YFym=m9Y=EyE>Q 55?Q 95)BY>Q E:;y?Q Ie@DI:iV:#5yɮj@iqiuȈmLAju>A"ju>A:ju@"put -4S>?#}g`a?pu:>쿘'(}ۿ,::si?*ju,2ju'g*pu{n$@Sߊ3Bpuvv.?^Xx֣juw juu#Aiu8ܠ?iuK ju#Bju 頊?juM= ju[BrjuAzju&@ addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.508894 s, deltaX: 0.100000 m, approachRate: 0.196505 m/s, rangeRepo size: 4 - Added new target pos. range: 22.405598 m, bearing: 297.135596 deg, lat: 36.779446 deg, lon: -121.859651 deg, deltaT: 0.508894 s, deltaX: 0.099581 m, approachRate: 0.195681 m/s, posRepo size: 4 5DNOT Ignoring new targets: 22.41 m.h9h9hAhAhIgIgQjgaDDAT read: Rx Time:04:38:13.5958 TRx dataTimestamp_ set to:1764909494.394391PDAT read: Bearing 54.3, -27.6 (Local) ~Local bearing/azimuth received: Bearing 54.3, -27.6 (Local) DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.4 rgeLBreiZeq:eu6@Z#Rx 86: Read range message, but no direction.yYAԡ*e`[?checking for new query: numPingsReceived=86, elapsed TxPingTime=41.378582[=>[=>"[=u7>*[=?M1 )Q U)?iU49)QU7ULιiQi}IIU99@ @@0@ = DAT read: 04:38:13.5958 LVL= 32752, 20353, 30370, 32755, AGC= 57, IDX= 505,-0.09, 2.587,-1.430,-2.631,-2.379, PHS=-1.215, 0.994,-0.296, RAW= 305.5, 5.4, CAL= 303.2, 3.6, ROT= 206.8, -3.6 E Ygot valid direction response: 04:38:13.5958 LVL= 32752, 20353, 30370, 32755, AGC= 57, IDX= 505,-0.09, 2.587,-1.430,-2.631,-2.379, PHS=-1.215, 0.994,-0.296, RAW= 305.5, 5.4, CAL= 303.2, 3.6, ROT= 206.8, -3.6 E Z#Rx 87: Read direction message, but no range.M `direction in FSK: [-0.890824,-0.449988,0.062791]y  aMՙܿ֏ ?   O v  ) I i v~? P @ = V@  =) qf@I   {#"¥(NIY Ii O} >j&,-mLAp%<ɮ?%j?%*lٱ%>%H䉿@ 7??L .YL?%? `?i%<ɮ?I%/^;%CY58BD9zD=?AEE EE}EE#EA"EE:*EEk&:VEE3ZEAaM@aM@aM@aM@y5#I]=]p=bDeVDe8yu%uM=ٔ}p Q-}>9yYy=EyE>Q 55{?Q 95M) BYy?Q Ie@¹DIӁ;i;5yɮ@ii=mLAjִA"jִA:jM@"p5) #49W$gݐ?paMՙܿ֏ ?*jD +2j*pS %@ҘU3Rhp+b?`AL쿍>ɺ j jb(Ai?i jBjo?j jӂBrjҴAzjI@M addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.257143 s, deltaX: 0.200001 m, approachRate: 0.777780 m/s, rangeRepo size: 4 m Added new target pos. range: 22.604759 m, bearing: 297.765818 deg, lat: 36.779447 deg, lon: -121.859650 deg, deltaT: 0.257143 s, deltaX: 0.199162 m, approachRate: 0.774517 m/s, posRepo size: 4 Br>B2CBBB =BBDB;B5EB0CB0CB”CB =B =C.55DNOT Ignoring new targets: 22.60 m.h1h1h1h1h1g9g9jg9rg9reAZeA:eE@36@*eE ?[["[*[j?*l) ?i9)顽7չiiIIIA?)X?DDAT read: Rx Time:04:38:14.0960 TRx dataTimestamp_ set to:1764909494.891203PDAT read: Bearing 52.7, -27.3 (Local) ~Local bearing/azimuth received: Bearing 52.7, -27.3 (Local) checking for new query: numPingsReceived=87, elapsed TxPingTime=41.846638a@i @i@u 1@q1a ^A >I I O >vq&,mLADAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.4 yDAT read: 04:38:14.0960 LVL= 32752, 22241, 32306, 32755, AGC= 58, IDX= 507, 0.05,-0.030, 2.218, 1.023, 1.295, PHS=-1.222, 0.969,-0.316, RAW= 305.7, 6.0, CAL= 303.3, 4.8, ROT= 206.7, -4.8 UYgot valid direction response: 04:38:14.0960 LVL= 32752, 22241, 32306, 32755, AGC= 58, IDX= 507, 0.05,-0.030, 2.218, 1.023, 1.295, PHS=-1.222, 0.969,-0.316, RAW= 305.7, 6.0, CAL= 303.3, 4.8, ROT= 206.7, -4.8 UT#Rx 88: Read range and direction messages.]`direction in FSK: [-0.890238,-0.447743,0.083678]]Fpublishing direction and range infoytv|;ՈҧܿU]k?YvAttvVv2~ t)v:Ivjivbx?vʡv/@vPw=v e@ v=$ ?R?Jd ٱ>HNI|I`;?@?@qh5V9 ?@.??i$ ?)vf@Ivttvمvᅮ'LI$Z*ۺ? vB)vB׽Iv<+ivttchecking for new query: numPingsReceived=88, elapsed TxPingTime=42.147461I^;CYm7Bym#IEM EM{EM$EI"EM:*EM5":VEM4ZEIBEM;aU2EM;a]JEM>z;a]:EM?z;a]ԡiMb@Mb@Mb@ 9 +?v/?:v?Yv>yx=<X@@ )O@Y=@ 15;bDeVDe8y%=ٔk/Q->9Y=Ey,E>Q 55v?Q 95)BY%>Q EF;y_@Q Ie@ǹDI;i;_5y ɮ @ itivmLAjv;A"jv;A:jv#@"pvrc4Bҵ$=?pv|;ՈҧܿU]k?*jv<+2jv*pv # %@SC8ذQ4ֿpv0mل?orsc‘>(jv jv)Aiv?ivUjvBjtjvK jvBrjv.Azjv"B@ addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.745621 s, deltaX: 0.299999 m, approachRate: 0.402348 m/s, rangeRepo size: 4  Added new target pos. range: 22.904057 m, bearing: 297.470401 deg, lat: 36.779447 deg, lon: -121.859651 deg, deltaT: 0.745621 s, deltaX: 0.299297 m, approachRate: 0.401407 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.90 m.hhhhhggjgrgABreZe:e7@*eʄ?[E%>[E%>"[E8>*[Ew_@uJd )q up?iu79)y}K7}iyiIIDDAT read: Rx Time:04:38:14.5960 TRx dataTimestamp_ set to:1764909495.394220PDAT read: Bearing 52.0, -28.0 (Local) ~Local bearing/azimuth received: Bearing 52.0, -28.0 (Local) checking for new query: numPingsReceived=88, elapsed TxPingTime=42.348137 } 19 @  @ @ /@ 9mDAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.4 DAT read: 04:38:14.5960 LVL= 32752, 20561, 30370, 32755, AGC= 60, IDX= 507, 0.17, 0.299, 2.557, 1.375, 1.638, PHS=-1.237, 0.964,-0.308, RAW= 305.1, 6.1, CAL= 302.7, 4.9, ROT= 207.3, -4.9 Ygot valid direction response: 04:38:14.5960 LVL= 32752, 20561, 30370, 32755, AGC= 60, IDX= 507, 0.17, 0.299, 2.557, 1.375, 1.638, PHS=-1.237, 0.964,-0.308, RAW= 305.1, 6.1, CAL= 302.7, 4.9, ROT= 207.3, -4.9 T#Rx 89: Read range and direction messages.`direction in FSK: [-0.885370,-0.456973,0.085417]Fpublishing direction and range infoyIM\TAdB ?ݿb$ݵ?YIIIMQPMv I)M<IMViMv?M-Mff@M^ =MA@ M%=)Mkg@IM%IIMSrԃ:϶tzQ? MQC)MUڽIMJ*iM%IIchecking for new query: numPingsReceived=89, elapsed TxPingTime=42.610073^AIIO?>z&,rmLA<U?:??&ٱ\>H%|Ue a=???@|w Ƥ?7?ɥ?iU?I!*^;CY+By#IbDVD8y=gN%=4=ٔ=QQ-E>9AYi=uEyqE EEE"E:*E,:VEZEa@a@a@a@#JE>Q 55r?Q 95)%BYy@Q Ie@˹DIQY;iY;m5y)ɮ-~@1ԡiiC;mLAj"j:j[L@"pViOG4&$xcM?p\TAdB ?ݿb$ݵ?*jJ*2j%*p㯇T%@zD4G+ؿp i?IdFpPt␿j  j*Ait5R?i jjBj?j j#BrjAzjB@ addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.504230 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 BA<B >B 4CB #IB ?BB  =B B DB K;B 5EM Added new target pos. range: 22.904057 m, bearing: 297.755899 deg, lat: 36.779447 deg, lon: -121.859650 deg, deltaT: 0.504230 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MDNOT Ignoring new targets: 22.90 m.hIhIhQhQhQgQgQjgYrgyreZe:e*e%DAT read: 04:38:15.0962 LVL= 32688, 18417, 23282, 32595, AGC= 59, IDX= 509, 0.41, 1.337,-2.713, 2.393, 2.663, PHS=-1.224, 0.953,-0.314, RAW= 305.4, 6.2, CAL= 303.0, 5.1, ROT= 207.0, -5.1 IIeYgot valid direction response: 04:38:15.0962 LVL= 32688, 18417, 23282, 32595, AGC= 59, IDX= 509, 0.41, 1.337,-2.713, 2.393, 2.663, PHS=-1.224, 0.953,-0.314, RAW= 305.4, 6.2, CAL= 303.0, 5.1, ROT= 207.0, -5.1 mZ#Rx 91: Read direction message, but no range.u`direction in FSK: [-0.887479,-0.452193,0.088894]yȪ_:f],һܿ?GZ S);Iis?ĠJ@k=%:@ K=)8g@IK;Q￳S/И;˻? BC)I޽I*iKchecking for new query: numPingsReceived=91, elapsed TxPingTime=43.128448IO?-ނ&,[ nLArk?r?rE+ٱr2>rH(q?-\A?`?`0[B@v?;C??irk?Ir^;rCY/By#I)iUMb@Mb@Mb@QQQQ Q9Uq= ףp?Q?~jt?YUk>yU=U9Y=Ey.E>9Q 5E5=~m?Q 9M5=)=3BYMd>Q EMK;yM7@Q IMe@=ϹDI=<:i=:= 5yUnBɮU@]EE] E]E]!EY"E]:*E].:VE]c3ZEYBE][d>"[6>*[M7@E+) p?i9)7iE >Ա 9@  @ @ 4@ @ @ =DAT read: 04:38:15.5963 LVL= 31840, 17825, 22578, 32659, AGC= 59, IDX= 510,-0.31,-1.936, 0.319,-0.880,-0.605, PHS=-1.229, 0.969,-0.320, RAW= 305.7, 6.1, CAL= 303.3, 4.9, ROT= 206.7, -4.9 EYgot valid direction response: 04:38:15.5963 LVL= 31840, 17825, 22578, 32659, AGC= 59, IDX= 510,-0.31,-1.936, 0.319,-0.880,-0.605, PHS=-1.229, 0.969,-0.320, RAW= 305.7, 6.1, CAL= 303.3, 4.9, ROT= 206.7, -4.9 MZ#Rx 93: Read direction message, but no range.U`direction in FSK: [-0.890106,-0.447677,0.085417]yr9}{d>qܿb$ݵ?`|E2X )IOibx? ף/@^ = e@ %=)f@I%C[ H eHI? B)ڽI<+i%checking for new query: numPingsReceived=93, elapsed TxPingTime=43.627171^AI!I1OE>}&,,nLAVj?V?VV0ٱVn>VH:_?O=??En?j?G?\?iVj?IV?^;VCYm%Bym#I}=}=DIzDIbDUVDU8ym+%m(=ٔu Q-u>9yY=Ey=<E>Q 55h?Q 95)?BYy=@Q IEe@ӹDIM8qܿb$ݵ?*j<+2j%B>B5CB#IB:BB =BBDB~;B5E*pA2$@ 84QԔڿp{1qߑ?#%(@jɦ jq&Ai5tՠ?i!97jPBjjUjrjCAzj@ addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.505076 s, deltaX: 0.100000 m, approachRate: 0.197991 m/s, rangeRepo size: 4  Added new target pos. range: 23.303429 m, bearing: 296.517709 deg, lat: 36.779447 deg, lon: -121.859652 deg, deltaT: 0.505076 s, deltaX: 0.099586 m, approachRate: 0.197171 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.30 m.h hhhhggPExceeded connect timeout, disconnecting.jg9rg9re9Ze9:eE`ff7@*eEF?[["[*[=@V0) ׺?iU9)&7iiIIDDAT read: Rx Time:04:38:16.0965 TRx dataTimestamp_ set to:1764909496.907251PDAT read: Bearing 68.9, -26.8 (Local) ~Local bearing/azimuth received: Bearing 68.9, -26.8 (Local) DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.3 Z#Rx 94: Read range message, but no direction.yYA5checking for new query: numPingsReceived=94, elapsed TxPingTime=43.870945I@9U 9@Y  @Y @] 85@Y i /G/{AI9/{AYSA^A>ԹIIDAT read: 04:38:16.0965 LVL= 32016, 18001, 25378, 32755, AGC= 59, IDX= 512,-0.21,-2.626,-0.036,-1.469,-1.597, PHS=-0.927, 1.606, 0.084, RAW= 306.6, -7.0, CAL= 306.3, -10.8, ROT= 203.7, 10.8 O ?'&,^OnLA Ygot valid direction response: 04:38:16.0965 LVL= 32016, 18001, 25378, 32755, AGC= 59, IDX= 512,-0.21,-2.626,-0.036,-1.469,-1.597, PHS=-0.927, 1.606, 0.084, RAW= 306.6, -7.0, CAL= 306.3, -10.8, ROT= 203.7, 10.8  Z#Rx 95: Read direction message, but no range.bdirection in FSK: [-0.899444,-0.394828,-0.187381]yqu/>N*Dٿ0iǿqu}uQFu"c u)qIuOmiuh?u1=u<@u5u@ uA)uc@IuA>quyZZe/F uA)u@=Iu.iuA>*checking for new query: numPingsReceived=95, elapsed TxPingTime=44.198830tE EE$E"E:*ET:VE4ZEBE\ 9IYI=UEyQUEU>yQ 55}dc?Q 95}f)}NBQ A+:YQ E%;yQ Ie@}عDI}:i}?}]5yNBɮ@EiYi]f:nLAj]ѼA"j]ѼA:j]@"p]~F:5H"ݐͰp]/>N*Dٿ0iǿ*j].2j]A>*p]H @73> 5ɓyp]d8x?AU }ѿj]a j]Ai]􍄹%?i]j]oBj]M 頊?j]IjYrj]ǻAzj]@ addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.502792 s, deltaX: 0.300001 m, approachRate: 0.596671 m/s, rangeRepo size: 4  Added new target pos. range: 23.602461 m, bearing: 291.714149 deg, lat: 36.779446 deg, lon: -121.859653 deg, deltaT: 0.502792 s, deltaX: 0.299032 m, approachRate: 0.594743 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.60 m.hhhhhggjgrgreZe:e@37@*eĭ?DDAT read: Rx Time:04:38:16.5965 TRx dataTimestamp_ set to:1764909497.407243-DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.3 -Z#Rx 96: Read range message, but no direction.yY5checking for new query: numPingsReceived=96, elapsed TxPingTime=44.358601a)a e-?ie}9)ae7e+iiiIIIR?)O?A- `9q 9@  @ @ /@ @ @ = checking for new query: numPingsReceived=96, elapsed TxPingTime=44.606853ԙ ^AV>IIO5?Ǜ&,MiqnLADR?R?EV EVEV#ET"EV:*EVB:VEV3ZETaZ@aZ@aZ@aZ@R n<ٱRf>RHKM?`1?@3?II?9S ? W??iR?IR?.^;RCYfByf#IbDnVDn8yvtB%v4=ٔzлQ-z>9xYx=zEy|~~E~>Q 5 5A_?Q 9 5)ZBQ A :YQ E;y@Q Ie@ܹDI;i?5yɮn@A)A)B5>B1B5#IB55BB5 =B1B1B5~;B55Em addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.499992 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 23.60 m.hqhqhqhqhqgqgyjgyrgyreyZe:e*ex}?nManaging dock network, ignoring radio surface power off n<) i?ic9)顽7# iiII@ @@05@ԹeDDAT read: Rx Time:04:38:17.0966 mTRx dataTimestamp_ set to:1764909497.915558PDAT read: Bearing 62.9, -25.0 (Local) ~Local bearing/azimuth received: Bearing 62.9, -25.0 (Local) DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.2 Z#Rx 97: Read range message, but no direction.yaYe3Aachecking for new query: numPingsReceived=97, elapsed TxPingTime=44.883266^A%8j>I)IAOM> &,0nLAJDAT read: 04:38:17.0966 LVL= 32752, 18721, 24402, 32755, AGC= 59, IDX= 513,-0.26,-1.835,-0.194,-1.119,-1.071, PHS=-0.661, 0.922,-0.092, RAW= 309.2, -2.5, CAL= 307.9, -6.0, ROT= 202.1, 6.0 VYgot valid direction response: 04:38:17.0966 LVL= 32752, 18721, 24402, 32755, AGC= 59, IDX= 513,-0.26,-1.835,-0.194,-1.119,-1.071, PHS=-0.661, 0.922,-0.092, RAW= 309.2, -2.5, CAL= 307.9, -6.0, ROT= 202.1, 6.0 nZ#Rx 98: Read direction message, but no range.vbdirection in FSK: [-0.921453,-0.374163,-0.104528]xy15UCߊ|mVr:K׿4ޮ`º155!I5R_ 1)1I5L7)i51l?5j5@5¸25@ 5Pwֽ)5ua@I5Pw=15&R$0|Ŀй 5>)5a0=I5@`0i5Pw=checking for new query: numPingsReceived=98, elapsed TxPingTime=45.180973C?q?.?ٱ>H ?`>2?`{?`Kʚ?@D,?b??iC?I}^;CYBy#I Aa5a5 a5a5 a5a= a=a= i=Mb@Mb@Mb@999Ee EeEaEa"Ee:*Ee:VEaZEaBEey===j<99 =G@)=9@9Y=@bDVD8y׳<%&=ٔQ->9Y=Ey9E>Q 55Z?Q 95)gBQ AT:Y>Q ES;y@Q Ie@߹DI;i6;?5yɮ@!iiznLAjiA"jiA:j'@"p)5!RSpUCߊ|mVr:K׿4ޮ`º*j@`02jPw=*pt@1r61̿\pD?%4'FG^ɿj jO@i&柊?iKl|*j)wBj5tՠ?j!97jPBrjtAzjV@ addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.508315 s, deltaX: 0.199999 m, approachRate: 0.393455 m/s, rangeRepo size: 4  Added new target pos. range: 23.801672 m, bearing: 289.354530 deg, lat: 36.779444 deg, lon: -121.859654 deg, deltaT: 1.008307 s, deltaX: 0.199211 m, approachRate: 0.197570 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.80 m.hhhhhggjgrg1BreZe:e%`f7@*e% W?[e>[e>"[eJ>*[e@.?) ?i9)7ii!I!IQ}DDAT read: Rx Time:04:38:17.5965 TRx dataTimestamp_ set to:1764909498.419970PDAT read: Bearing 65.2, -41.6 (Local) ~Local bearing/azimuth received: Bearing 65.2, -41.6 (Local) DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.2 Z#Rx 99: Read range message, but no direction.yyY}Aychecking for new query: numPingsReceived=99, elapsed TxPingTime=45.385349 @ @@0@ ^A- }>I9 II O] >ר&,nLA2%?2 ?2OBٱ2 >2H ?`~-1?~?\]?M檿G? k?h?i2%?I2?^;0Y:By:#IB@AB@AbDFVDF8yN%N=ٔN Q-R?9PYP=REyPV8EV?XQ 5^5Z9X?Q 9^5Z)ZoBY\y^f@Q Ibe@ZDIZ:iZ:Z5ydɮfN@d~ addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504412 s, deltaX: -0.199999 m, approachRate: -0.396499 m/s, rangeRepo size: 4 ~DNOT Ignoring new targets: 23.80 m.hhhhhggjg rg re Ze:e@37@*em?[["[*[Wf@OB) ?i9))-n7-i)i511I1I9DAT read: 04:38:17.5965 LVL= 32752, 18017, 24050, 32755, AGC= 58, IDX= 513,-0.37,-2.914,-0.551,-1.331,-1.719, PHS=-1.094, 1.213, 0.344, RAW= 291.9, -4.6, CAL= 291.5, -9.5, ROT= 218.5, 9.5 Ygot valid direction response: 04:38:17.5965 LVL= 32752, 18017, 24050, 32755, AGC= 58, IDX= 513,-0.37,-2.914,-0.551,-1.331,-1.719, PHS=-1.094, 1.213, 0.344, RAW= 291.9, -4.6, CAL= 291.5, -9.5, ROT= 218.5, 9.5 \#Rx 100: Read direction message, but no range.bdirection in FSK: [-0.771875,-0.613977,-0.165048]y/g3迱v㿩G ſaF] ):I1iC? >@l͢@ ))t@I)>u ᅲed`?H3 b@@)y¥=Ii)>checking for new query: numPingsReceived=100, elapsed TxPingTime=45.6284419@ @@C4@DzD@AbEjErE$Z/Eu EuwEu$Eq"Eu:*Eu:VEu4ZEqa}@a}@a}@a}@B5d>B51CB5#IB50BB5 =B1B5DB5~;B55E^A>II!O5>a} DDAT read: Rx Time:04:38:18.0967  TRx dataTimestamp_ set to:1764909498.922901 PDAT read: Bearing 44.2, -28.9 (Local)  ~Local bearing/azimuth received: Bearing 44.2, -28.9 (Local)  DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.2  \#Rx 101: Read range message, but no direction.yy Y} Ay  checking for new query: numPingsReceived=101, elapsed TxPingTime=45.885353ԉ &,׾nLA2_?2 E?2'PDٱ2>2H`i"?F a?`7?`f? 铫@?^??i2_?I2$^;2CY^By^#IbDhVDhy%%%C=ٔ%Q-%>9)Y)=-Ey)-kE5>1Q 5]55T?Q 9e55)5yBYaye@Q Iee@5DI5;i5:55yiɮm@qiinLAj2A"j2A:jRU@"pxwr2]7X-Ͷwp/g3迱v㿩G ſ*j2j)>*pT}=*@!?2LS7pʦ&?C:鿆tbrҿj jQAio5?isjnBjjj)wBrjAzjw@ addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.502931 s, deltaX: 0.299999 m, approachRate: 0.596502 m/s, rangeRepo size: 4 - Added new target pos. range: 23.899555 m, bearing: 304.980575 deg, lat: 36.779444 deg, lon: -121.859654 deg, deltaT: 1.007343 s, deltaX: 0.097883 m, approachRate: 0.097170 m/s, posRepo size: 4 -DNOT Ignoring new targets: 23.90 m.h1h1hQhQhQgQgQjgYrgYreYZeY:ee8@*ee ~?q[["[*[@'PD) ?i9)v7iiII 9@ @@5@uDAT read: 04:38:18.0967 LVL= 32752, 19409, 26978, 32755, AGC= 62, IDX= 2, 0.40, 3.061,-0.962,-2.102,-1.799, PHS=-1.321, 0.882,-0.347, RAW= 303.8, 8.3, CAL= 301.4, 9.0, ROT= 208.6, -9.0 Ygot valid direction response: 04:38:18.0967 LVL= 32752, 19409, 26978, 32755, AGC= 62, IDX= 2, 0.40, 3.061,-0.962,-2.102,-1.799, PHS=-1.321, 0.882,-0.347, RAW= 303.8, 8.3, CAL= 301.4, 9.0, ROT= 208.6, -9.0 %\#Rx 102: Read direction message, but no range.E`direction in FSK: [-0.867174,-0.472798,0.156434]y擽뿹v,TB޿p ?Kbi )>Iia?@V>aU@ | >))i@I| m!ʘ|܈Ԇ䰿Nh? D)VI)i| checking for new query: numPingsReceived=102, elapsed TxPingTime=46.184971E]  E] E] "EY "E] :*E] rN:VE] (3ZEY BE] ;am 2E] ;am JE] W;am :E] X;am ^A >I I O > &,UnLAl=DDAT read: Rx Time:04:38:18.5967 ETRx dataTimestamp_ set to:1764909499.427034ePDAT read: Bearing 43.1, -29.1 (Local) m~Local bearing/azimuth received: Bearing 43.1, -29.1 (Local) DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.3 DAT read: 04:38:18.5967 LVL= 32752, 21281, 26610, 32755, AGC= 59, IDX= 498, 0.21, 2.196,-1.828,-2.960,-2.652, PHS=-1.334, 0.868,-0.352, RAW= 303.6, 8.6, CAL= 301.2, 9.7, ROT= 208.8, -9.7 Ygot valid direction response: 04:38:18.5967 LVL= 32752, 21281, 26610, 32755, AGC= 59, IDX= 498, 0.21, 2.196,-1.828,-2.960,-2.652, PHS=-1.334, 0.868,-0.352, RAW= 303.6, 8.6, CAL= 301.2, 9.7, ROT= 208.8, -9.7 V#Rx 103: Read range and direction messages.]?]$z?]=Fٱ]>]HK?ΣD? ?Ӄ?@@<Ũ?M? ?i]?I]^;]CYBy#II<)p<== `direction in FSK: [-0.863779,-0.474866,0.168489] Fpublishing direction and range infoyAE 5d޿RV?YAAAE!SEg A)E;IEiE?5^?EX9E@E`>E8@ E-\->)EZ;i@IE-\-AAEXQUJYx'? EE)EIE[(iE-\-AAmchecking for new query: numPingsReceived=103, elapsed TxPingTime=46.446514ieMb@Mb@Mb@aaaa a9eCl?)\(?S㥛?YeO>yeG=e/9Y= Ey  >E >Q 5=5_P?Q 9=5)BYE n>Q EEd;yE@Q IEe@DI;iy;85yIɮM`@IiAiETnLAjA"jA:jE@"pE, ؤ4Xo`&v@pE 5d޿RV?*jE[(2jE-\-*pEek8+t%@33QP5,?pE{H#?qSXĞ|?jE jE+AiE5Nؠ?iEdAjEЇBjAjAjArjE׿AzjE(@ addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.899555 m, bearing: 296.715442 deg, lat: 36.779444 deg, lon: -121.859654 deg, deltaT: 0.504133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.90 m.hhhhhg1g9jg9rg=,Bre9ZeA:eA*eE?[ n>[ n>"[?>*[,@=F) ?i|9)顽7O"iiII I)19@ @@^1@checking for new query: numPingsReceived=103, elapsed TxPingTime=46.628117a E]  E] yE] &EY "E] U:*E] :VE] 4ZEY am @am @am @am @^A (>I I O >B&,lnLAB8A:<B>O>B>.CB>#IB>+BB> =B<B>DB>;B>s5EB=4CB=3CB=CB= =B= =C={6hYmBym#IbDԿVD8y<%=ٔQ-?9Y=EyE?Q 55M?Q 95)BYyQ Ie@DI:i:5yLBɮ @EDNOT Ignoring new targets: 23.90 m.hhhhhggjgargareiZeq:ey*e@?DDAT read: Rx Time:04:38:19.0969 TRx dataTimestamp_ set to:1764909499.936567%PDAT read: Bearing 42.3, -29.4 (Local) -~Local bearing/azimuth received: Bearing 42.3, -29.4 (Local) ]DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 [["[*[) ?i9)8&iiDAT read: 04:38:19.0969 LVL= 32752, 19537, 27442, 32755, AGC= 58, IDX= 500, 0.05,-3.022,-0.759,-1.880,-1.577, PHS=-1.343, 0.862,-0.348, RAW= 303.2, 8.7, CAL= 300.8, 9.9, ROT= 209.2, -9.9 %Ygot valid direction response: 04:38:19.0969 LVL= 32752, 19537, 27442, 32755, AGC= 58, IDX= 500, 0.05,-3.022,-0.759,-1.880,-1.577, PHS=-1.343, 0.862,-0.348, RAW= 303.2, 8.7, CAL= 300.8, 9.9, ROT= 209.2, -9.9 %V#Rx 104: Read range and direction messages.-`direction in FSK: [-0.859924,-0.480595,0.171929]5Fpublishing direction and range infoyYIYIaf~|޿!?YfAQL2k ):Im竿i\?-V@|>@ ;0>)i@I;0=Nmr9c? ~vE)޵Iq(i;0checking for new query: numPingsReceived=104, elapsed TxPingTime=46.9410489@ @@5@)Y ^A >I I O% >iߙ Iߙ  checking for new query: numPingsReceived=104, elapsed TxPingTime=47.1343126&, z oLA%@?%n?%Jٱ%&>%H B?[?g?9? J =T?`\?#?i%@?I% ^;%CYMByM#IiMMb@Mb@Mb@IIII I9MMbX?:v?y&1?YMJ>yM=M`9yYy=}EyyE>E EqE"E"E1:*E$ :VE(3ZEBE;a2E;aJEU;a:EU;aQ 55J?Q 95)BYf>Q Ek;y?Q Ie@DI3;iD;5yɮ@i)i-nLAj-A"j-A:j-ێ@"p-59}4\B'b@p-f~|޿!?*j-q(2j-;0*p-Շ%@s5$Μ?p-4ȩ?p?k[/*?j-  j-,Ai-JԠ?i-?zj-Bj-JԠ?j-?zj)rj->Azj-ߎ@ addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.509533 s, deltaX: 0.299999 m, approachRate: 0.588773 m/s, rangeRepo size: 4  Added new target pos. range: 24.196917 m, bearing: 296.430522 deg, lat: 36.779444 deg, lon: -121.859655 deg, deltaT: 0.509533 s, deltaX: 0.297361 m, approachRate: 0.583596 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.20 m.hhhhhggjgrg"Bre!Ze!:e%L8@*e-@\9?A[mf>[mf>"[mM>*[m"?}J)y ?i9)顅P8,iiIIA@A @I@M/@IDDAT read: Rx Time:04:38:19.5969 TRx dataTimestamp_ set to:1764909500.437858PDAT read: Bearing 41.4, -30.0 (Local) ~Local bearing/azimuth received: Bearing 41.4, -30.0 (Local) DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.2 EDAT read: 04:38:19.5969 LVL= 32752, 19697, 25650, 32755, AGC= 58, IDX= 500,-0.07, 0.273, 2.551, 1.443, 1.739, PHS=-1.364, 0.857,-0.340, RAW= 302.6, 8.8, CAL= 300.1, 10.2, ROT= 209.9, -10.2 MYgot valid direction response: 04:38:19.5969 LVL= 32752, 19697, 25650, 32755, AGC= 58, IDX= 500,-0.07, 0.273, 2.551, 1.443, 1.739, PHS=-1.364, 0.857,-0.340, RAW= 302.6, 8.8, CAL= 300.1, 10.2, ROT= 209.9, -10.2 UV#Rx 105: Read range and direction messages.]`direction in FSK: [-0.853196,-0.490609,0.177085]]Fpublishing direction and range infoy-@aMC$f߿ki?YL2d )IiZd[?{@nF>@ K6>)uj@IK6is,-Z? /F)Iϩ'iK6checking for new query: numPingsReceived=105, elapsed TxPingTime=47.404247ԙ ^A <->I I O >x]&,G'oLA6J?6/?6Kٱ6X>6H@ ?ƚ?9?p? : n?@t?.?i6J?I64^;6CYNByR#ITTZAAZBAbDZVDZ8yb%bk=ٔfQ-f?9dYd=jEyhjEj?lQ 5r5nFH?Q 9r5n)nBYtyv?Q Ive@nDIn:in:n5yxɮz>@xi)i-oLAj)"j):j-Nǥ@"p- 4-'\&#@p--@aMC$f߿ki?*j-ϩ'2j-K6*p-]xA%@H2555`?p- \v?i쿾J뚰?j-i j-`.Ai-kޠ?i-j-Bj-5Nؠ?j-j-ЇBrj-Azj-o@E addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.501291 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 24.196917 m, bearing: 296.825323 deg, lat: 36.779444 deg, lon: -121.859653 deg, deltaT: 0.501291 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 24.20 m.hYhYhYhahagagajgargireiZei:ei*em>u?y[["[*[ ?K) d?i9)顭8 0iiII=checking for new query: numPingsReceived=105, elapsed TxPingTime=47.634827i@q @q@u/@qԩDzDE E{E$E"E:*E5":VE4ZEa@a@a@a@BeJ>Be-CBaBaBaBaBeDBe;Ba^A8j>IIO> DDAT read: Rx Time:04:38:20.0971  TRx dataTimestamp_ set to:1764909500.939653 PDAT read: Bearing 41.2, -30.7 (Local)  ~Local bearing/azimuth received: Bearing 41.2, -30.7 (Local)  DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed -0.1 = DAT read: 04:38:20.0971 LVL= 32752, 18065, 24210, 32755, AGC= 58, IDX= 502,-0.23, 0.255, 2.544, 1.448, 1.729, PHS=-1.371, 0.860,-0.325, RAW= 302.1, 8.7, CAL= 299.6, 9.9, ROT= 210.4, -9.9 E Ygot valid direction response: 04:38:20.0971 LVL= 32752, 18065, 24210, 32755, AGC= 58, IDX= 502,-0.23, 0.255, 2.544, 1.448, 1.729, PHS=-1.371, 0.860,-0.325, RAW= 302.1, 8.7, CAL= 299.6, 9.9, ROT= 210.4, -9.9 E V#Rx 106: Read range and direction messages.M `direction in FSK: [-0.849670,-0.498498,0.171929]M Fpublishing direction and range infoy  f0Re߿!?Y A F ^ ) I |i (\? ff w@ |> T@ ;0>) k@I ;0 .뭜d1[X? F) XI 'i ;0 u checking for new query: numPingsReceived=106, elapsed TxPingTime=47.903561 TF&,&AoLAYnByn#IbDz VDz8y<% F=ٔ Q- >9 Y=EyE>9Q 5E5=JE?Q 9E5=)=BYIyIQ IMe@=DI=G:i=:=`5yQɮU@Yi!i%F#I1 II OU >a r&, [oLARDDAT read: Rx Time:04:38:20.5970 RTRx dataTimestamp_ set to:1764909501.443205ZPDAT read: Bearing 40.5, -31.1 (Local) Z~Local bearing/azimuth received: Bearing 40.5, -31.1 (Local) bDAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 f\#Rx 107: Read range message, but no direction.yPYRAPfchecking for new query: numPingsReceived=107, elapsed TxPingTime=48.396996rܴ?r ?rMٱrD>rH޴?o@=?`Z?Ҳ?j@]? ?b?irܴ?Ir^;pY~By~#IiMb@Mb@Mb@ 95^I ?&1?S㥛?YX>y=/<n@V@ 1)Y3@bDmVDm°8y5%5,=ٔ=Q-=>99Y9==EyAE ռEE>iQ 5u5mB?Q 9u5m)mBYuq>Q E}a;y}O?Q I}e@mDIm:im:m5yɮ"@- addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503552 s, deltaX: -0.100000 m, approachRate: -0.198590 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 24.50 m.h1h1h1h1h1g1g9jg9rg=3BreaZea:ee8@*ee?[q>[q>"[]>*[O?M) ?i-9)1585)Uۓk@IU¸2QUᅱ>0;r? U~GG)U*/IUڋ&iU¸2- checking for new query: numPingsReceived=108, elapsed TxPingTime=48.670784^A }>I I O >Ա E  E yE &E "E %:*E :VE 4ZE a @a @a @a @&,toLAAABG>BB#IB0BBBBB,;B5EB?Bܽ?B#NٱBb>BH`6W? ?H? E?P쯿vѩ??s?iB?IB3^;BCYNByLIR<)R;bDZVDZ8yb;%b}=ٔbQ-b ?9dYd=fEydfEj ?hQ 5r5j??Q 9r5j)jŇBYtyv?Q Ive@jDIj$;ij7%;jQ5yxɮz@x}DNOT Ignoring new targets: 24.50 m.hyhyhhhggjgrgreZe:e*e`;?ԙ[["[*[?E#N)I mĹ?iu9)qu&8u@iqi}yyIyIDDAT read: Rx Time:04:38:21.0971 TRx dataTimestamp_ set to:1764909501.948113PDAT read: Bearing 39.6, -31.9 (Local) ~Local bearing/azimuth received: Bearing 39.6, -31.9 (Local) DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed -0.1 DAT read: 04:38:21.0971 LVL= 32752, 22913, 28306, 32755, AGC= 59, IDX= 502, 0.18, 1.437,-2.553, 2.676, 2.933, PHS=-1.394, 0.842,-0.301, RAW= 300.7, 8.9, CAL= 298.2, 10.2, ROT= 211.8, -10.2  Ygot valid direction response: 04:38:21.0971 LVL= 32752, 22913, 28306, 32755, AGC= 59, IDX= 502, 0.18, 1.437,-2.553, 2.676, 2.933, PHS=-1.394, 0.842,-0.301, RAW= 300.7, 8.9, CAL= 298.2, 10.2, ROT= 211.8, -10.2 V#Rx 109: Read range and direction messages.`direction in FSK: [-0.836461,-0.518628,0.177085]Fpublishing direction and range infoy$IFNۘki?YAYn );IniPW?L@>ۋ@ K6>)7l@IK61YÝO (N6? X= C ؁G {A - 9- {AY5 A} checking for new query: numPingsReceived=109, elapsed TxPingTime=49.149071! ^Am>IyIO>s&,"loLAE EE#E"E:*Ee:VE3ZEBEp;a"2Eq;a&JE\;a&:E\;a&>.?>\?>VOٱ>;`>>H ?X?`O??;?_u?ş?i>.?I>T^;>CYJByJ#IXiMb@Mb@Mb@ 9RQ?B`"۹?L7A`?YB>y=+=X@@ ^@)Y@bDVD8yHμ%=ٔˮQ- >9Y=EyhPE>Q 5%5Q E]s;y]-?Q I]e@DI)b]m@IX8K4,=b0? ?  I@)8IS$iX8checking for new query: numPingsReceived=110, elapsed TxPingTime=49.419044h!h!h!h!h!g)g)jg)rg-#Bre1Ze1:e58@*e5!?[^>[^>"[(>*[p-?VO) )?i]9)顭 8 HiiII zAyA 5 9Q @  @ @ 4@ = checking for new query: numPingsReceived=110, elapsed TxPingTime=49.651615q ^A0e>E ExE)E"E:*E:VEFA4ZEa@a@a@a@IIO?&,oLAB2F>B0B0B0B2 =B0B0B2;B2{5E\r?rg?rNٱrT->rH@4:?? ?! ?B@ԩ?o??ir?IrG%^;pY~By#I  bDѿVD8y%d<%%%=ٔ%Ӡ9Q-->9)Y)=-Ey)5ҼE5>9Q 5E5=9?Q 9E5=)=BYAyE?Q IMe@=DI=S:i=:=#5yU:BɮU'@UEi1i5oLAj1"j1:j5@"p5tt~S4])A@p5_&/:)S࿖?*j5S$2j5X8*p5/DVDc&@F5Ч ?p5"Ú^1??νfj?j5 j53Ai5,蠊?i5ƹ j5Bj5,蠊?j1j5Brj5Azj5ڥ@ addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.503357 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.495234 m, bearing: 297.243415 deg, lat: 36.779446 deg, lon: -121.859653 deg, deltaT: 0.503357 s, deltaX: -0.000036 m, approachRate: -0.000072 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.50 m.hhhhhggjgrgreZe :e*e`0?[["[*[\?N)  ?i39){ 8 NiiIIDDAT read: Rx Time:04:38:22.0973 TRx dataTimestamp_ set to:1764909502.956617-PDAT read: Bearing 38.2, -33.6 (Local) -~Local bearing/azimuth received: Bearing 38.2, -33.6 (Local) =DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.2 mDAT read: 04:38:22.0973 LVL= 32752, 20321, 27122, 32755, AGC= 57, IDX= 504, 0.00,-2.031, 0.279,-0.724,-0.504, PHS=-1.425, 0.828,-0.264, RAW= 299.0, 8.9, CAL= 296.5, 10.2, ROT= 213.5, -10.2 uYgot valid direction response: 04:38:22.0973 LVL= 32752, 20321, 27122, 32755, AGC= 57, IDX= 504, 0.00,-2.031, 0.279,-0.724,-0.504, PHS=-1.425, 0.828,-0.264, RAW= 299.0, 8.9, CAL= 296.5, 10.2, ROT= 213.5, -10.2 }V#Rx 111: Read range and direction messages.`direction in FSK: [-0.820707,-0.543214,0.177085]Fpublishing direction and range infoyR:C1nbki?Y3AaOi )9IffiS?+<@ʘ@ K6>)W{n@IK6K,|ٜ&~?bgl? /G@)uI^#iK6checking for new query: numPingsReceived=111, elapsed TxPingTime=49.931431=9@9 @9@=2@9A ^A] x>Ii Iy O > checking for new query: numPingsReceived=111, elapsed TxPingTime=50.154800q&,KsoLA!?Ϙ?NٱTi>HԼ?}~?r? 淺?Ӱz?v?۟?i?I^;YyiMb@Mb@Mb@ 9x?~jt?l?YK7>y==(@ )9@Y@@AAAE ErE%E"EU:*E?:VE 4ZEBE;a2E;aJE|Y;a:E}Y;abDܿVD8y:%0=ٔ9Q->9Y=Ey ^E >Q 556?Q 95)BYjS>Q E%;y%?Q I%e@DIA:i:05y)ɮ- @)iQiU79oLAjUZA"jUZA:jUZ@"pU_;Y4k*@pUR:C1nbki?*jU^#2jUK6*pUkޜC"'@v15| ?pUИK~?3?Z?jU jU9AiU#?iUxW jUևBjUq젊?jU( jUBrjU.AzjU^@} addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.505147 s, deltaX: 0.299999 m, approachRate: 0.593885 m/s, rangeRepo size: 4  Added new target pos. range: 24.793955 m, bearing: 297.855216 deg, lat: 36.779446 deg, lon: -121.859651 deg, deltaT: 0.505147 s, deltaX: 0.298721 m, approachRate: 0.591355 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.79 m.hhhhhggjgrg,BreZe:e`f8@*e@?[jS>[jS>"[] >*[?N) ?io9) 8qSiiIII9@ @@/@%DDAT read: Rx Time:04:38:22.5973 -TRx dataTimestamp_ set to:1764909503.4595425PDAT read: Bearing 37.5, -34.1 (Local) 5~Local bearing/azimuth received: Bearing 37.5, -34.1 (Local) EDAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.2 mDAT read: 04:38:22.5973 LVL= 32752, 18929, 26498, 32755, AGC= 56, IDX= 504,-0.02, 1.287,-2.700, 2.606, 2.812, PHS=-1.422, 0.817,-0.249, RAW= 298.4, 8.9, CAL= 295.9, 10.2, ROT= 214.1, -10.2 uYgot valid direction response: 04:38:22.5973 LVL= 32752, 18929, 26498, 32755, AGC= 56, IDX= 504,-0.02, 1.287,-2.700, 2.606, 2.812, PHS=-1.422, 0.817,-0.249, RAW= 298.4, 8.9, CAL= 295.9, 10.2, ROT= 214.1, -10.2 q}V#Rx 112: Read range and direction messages.`direction in FSK: [-0.814973,-0.551779,0.177085]Fpublishing direction and range infoy!%rB+ki?Y!!!%I%g !)%8I%i%&Q?%~%r@!%C@ !)%&o@I!!!%vr%~J? Я? %KG@)%.I%"i!!!checking for new query: numPingsReceived=112, elapsed TxPingTime=50.423515^A #>I I O >ԡ i&,OoLA20?2]̹?2\Nٱ2?>2Hj? w??oG? ȩ? }?G?i20?I21>^;0YRByR#IbDZVDZ8yvR<%vs=ٔv^Q-v?9xYx=zEyxzE~?Q 554?Q 9 5)BY y ?Q I e@DI:i: 5yɮ@iQiU#ioLAjQ"jQ:jU{@"pUėO44Dm\+@pUrB+ki?*jU"2jQ*pUM+n)\P'@oss5l7w?pU;L?4ʘ׈0쿂%T?jU jU:AiUH=4 ?iUX~ jUɇBjUz5?jUxW jU؇BrjUAzjU!@m addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.502925 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 y} Added new target pos. range: 24.793955 m, bearing: 298.089020 deg, lat: 36.779447 deg, lon: -121.859651 deg, deltaT: 0.502925 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.79 m.hhhhhggjgrgreZe:e*e9[?[["[*[Q?\N) o?ig9)R8WiiII}checking for new query: numPingsReceived=112, elapsed TxPingTime=50.659218U9@Q @Q@U/@QԡbEijEm4rEmz:0E E}E$E"Eҝ:*Ek&:VE4ZEa@a@a@a@B]<A]p<BeE>BaBaBaBe =BaBaBe~;Bem5E^A5@o>IAIQOew>% =% %=5 DDAT read: Rx Time:04:38:23.0975 5 TRx dataTimestamp_ set to:1764909503.963620= PDAT read: Bearing 37.3, -34.1 (Local) E ~Local bearing/azimuth received: Bearing 37.3, -34.1 (Local) U DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.2 u DAT read: 04:38:23.0975 LVL= 32752, 17777, 24210, 32755, AGC= 54, IDX= 506,-0.09, 1.599,-2.404, 2.907, 3.110, PHS=-1.409, 0.814,-0.247, RAW= 298.5, 8.8, CAL= 296.0, 10.0, ROT= 214.0, -10.0  Ygot valid direction response: 04:38:23.0975 LVL= 32752, 17777, 24210, 32755, AGC= 54, IDX= 506,-0.09, 1.599,-2.404, 2.907, 3.110, PHS=-1.409, 0.814,-0.247, RAW= 298.5, 8.8, CAL= 296.0, 10.0, ROT= 214.0, -10.0  V#Rx 113: Read range and direction messages. `direction in FSK: [-0.816443,-0.550698,0.173648] Fpublishing direction and range infoy1 5 ;8L )h}PٖNs:?Y5 A1 1 5 qE5 ^ 1 )5 6I5 Zi5 NbP?5 |5 @5 nF>5 MQ@ 5 ¸2>)5 Q o@I5 ¸21 1 5 aTZ?}? 5 -bG@)5 ~ I5 d#i5 ¸21 1  checking for new query: numPingsReceived=113, elapsed TxPingTime=50.927094 &,,pLA2'?2T?2Nٱ2>2H`]?p? ??`L??_?i2'?I2+^;2CY>ByB#IIF<)FbDJDVDJ8yfO%fL=ٔf89Q-f>9hYh=jEyhjEn>Q 5 52?Q 9 5)BY y $?Q I e@DI[:i$:5yɮ=@9iaieoLAjeA"jeA:je 3@"peȲcg4+. *\@pe;8L )h}PٖNs:?*jed#2je¸2*pef'@5961GY?peɹNq?S`t ?je je8Aiel?ie[jeBjel?jajeևBrjeAzje8B@ addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.504078 s, deltaX: 0.200001 m, approachRate: 0.396766 m/s, rangeRepo size: 4  Added new target pos. range: 24.993101 m, bearing: 297.578800 deg, lat: 36.779449 deg, lon: -121.859651 deg, deltaT: 0.504078 s, deltaX: 0.199146 m, approachRate: 0.395070 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.99 m.hhhhhggjgrgre Ze :e 9@*e ?[q[q"[q*[u\$?N) ո?i9)額8]iiIIi@i @i@m/@ichecking for new query: numPingsReceived=113, elapsed TxPingTime=51.1655811^Am8j>IyIO>E EwEE"E:*E:VEZEBE;a2E;aJEk;a :Ek;a a d&,pLA2I)?2v?2|Mٱ2>2H#?Kjj? ?? ~Ԭ?}?`?i2I)?I2H^;2CY:By:#IvDDAT read: Rx Time:04:38:23.5975 vTRx dataTimestamp_ set to:1764909504.467369zPDAT read: Bearing 36.3, -34.5 (Local) ~~Local bearing/azimuth received: Bearing 36.3, -34.5 (Local)  DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.2 -DAT read: 04:38:23.5975 LVL= 32752, 17601, 23314, 32755, AGC= 54, IDX= 506,-0.18,-0.162, 2.111, 1.161, 1.354, PHS=-1.414, 0.801,-0.238, RAW= 298.0, 8.9, CAL= 295.5, 10.3, ROT= 214.5, -10.3 5Ygot valid direction response: 04:38:23.5975 LVL= 32752, 17601, 23314, 32755, AGC= 54, IDX= 506,-0.18,-0.162, 2.111, 1.161, 1.354, PHS=-1.414, 0.801,-0.238, RAW= 298.0, 8.9, CAL= 295.5, 10.3, ROT= 214.5, -10.3 =V#Rx 114: Read range and direction messages.E`direction in FSK: [-0.810845,-0.557279,0.178802]EFpublishing direction and range infoytvrA:ῖ?YtttvDv[ t)tIvivVM?vFsvBo@v>v @ vX8>)vKo@IvX8ttvYG￵S" ?y `? v F@)v7Ivj"ivX8ttchecking for new query: numPingsReceived=114, elapsed TxPingTime=51.450928iMb@Mb@Mb@ 9~jt?&1? rh?YD>y=C =n@ )Y3@9 =p<9bDUSVDU8yN=%-=ٔ99Q->9Y=Ey_jE>Q 5u5/?Q 9u5)BY}Ua>Q E}q;y} ?Q I}e@ DI:i:5y7Bɮ@itiv`pLAjt"jt:jvE@"pvFC4 2+O_@pvrA:ῖ?*jvj"2jvX8*pv( &5'@ 6b35?pv0lĶ?uHI쿢Ìko?jv jv9Aiv@ұ?ivܧ jvBjv@ұ?jvܧ jtrjvAzjvE@ addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.503749 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.993101 m, bearing: 297.710091 deg, lat: 36.779449 deg, lon: -121.859650 deg, deltaT: 0.503749 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.99 m.hhhhh g g jg rg5BreZe:e*e`?[UUa>[UUa>"[U>*[U ?au|M)q u?iuO9)y}t8}diyiII I)@ @@/@checking for new query: numPingsReceived=114, elapsed TxPingTime=51.667480ԡԹ ^A (`>I I O >E  E tE %E "E ҝ:*E v:VE 4ZE a @a @a @a @ &,5pLABH>BBBBBBB~;B`5EBU-CBU-CBUCBU =BU =CU;5JX?J=?JLٱJ>JH?c`s??,?f?`\|?ɟ?iJX?IJ&^;JCY]By]#IbDLVD8yt%]=ٔ>:Q->9Y=EyE >!ԙQ 55%-?Q 95%)% BYyO?Q Ie@%DI%4@ 9>)Co@I9mL)i mǶ?im9)iu8uhiqiuyyIyIyxQAF?g@? d%G@) I4"i9checking for new query: numPingsReceived=115, elapsed TxPingTime=51.938995A@A @A@A@A^Am #>Iq I O > checking for new query: numPingsReceived=115, elapsed TxPingTime=52.170807) &,OpLA--~?-Zc?-&Lٱ->-H?Y\@e?@? ?Cޱ *?}?ϟ?i--~?I-^;)Y}By#I bD]VD8y&;%G=ٔ 09Q->9Y!=-Ey)=E=>YQ 5e5]S+?Q 9e5]a)],BYiymt?Q Ime@]DI];i]!;]5yyɮ}b@yi!i%->pLAj%UA"j%UA:j%R@"p%.3'4!+0BC@p%"X"0lE@?E ErEE"E:*E?:VEZEBE;a2E;aJE|Y;a:E}Y;a*j%4"2j%9*p%4R&@v6TЮ3z?p%(ů?h@2*A?j%} j%b5Ai%栊?i%j%Bj!j%xW j!rj%%Azj%P9@e addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.504128 s, deltaX: 0.299999 m, approachRate: 0.595085 m/s, rangeRepo size: 4  Added new target pos. range: 25.291954 m, bearing: 296.678549 deg, lat: 36.779449 deg, lon: -121.859651 deg, deltaT: 0.504128 s, deltaX: 0.298853 m, approachRate: 0.592812 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.29 m.hhhhhggjgrgreZe:e`ff9@*e?[A[A"[A*[Et?&L) ?i.9)J8Lnii  IIADDAT read: Rx Time:04:38:24.5977  TRx dataTimestamp_ set to:1764909505.476887PDAT read: Bearing 34.1, -34.0 (Local) ~Local bearing/azimuth received: Bearing 34.1, -34.0 (Local) =DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed -0.2 @ @@@DAT read: 04:38:24.5977 LVL= 32752, 17393, 22514, 32755, AGC= 55, IDX= 508,-0.35,-0.081, 2.161, 1.218, 1.431, PHS=-1.410, 0.775,-0.257, RAW= 298.2, 9.5, CAL= 295.7, 11.5, ROT= 214.3, -11.5 Ygot valid direction response: 04:38:24.5977 LVL= 32752, 17393, 22514, 32755, AGC= 55, IDX= 508,-0.35,-0.081, 2.161, 1.218, 1.431, PHS=-1.410, 0.775,-0.257, RAW= 298.2, 9.5, CAL= 295.7, 11.5, ROT= 214.3, -11.5 V#Rx 116: Read range and direction messages.`direction in FSK: [-0.809514,-0.552213,0.199368]Fpublishing direction and range infoy   0bǺi?Y    C W ) I zi ffF?  ۋ@ )> i&@ M>) `o@I M   pq'd#?C{7? 3G@) )I "i M  5checking for new query: numPingsReceived=116, elapsed TxPingTime=52.463505A ^A I I O >&,-ipLA2°?2?2њKٱ2>2H`?T\?Y?jI?`p?@? ?i2°?I2'^;2CY> By>#Ii5Mb@Mb@Mb@1111 195#~j?y&1?~jt?Y5%>y5`=5=5@5l@ 5G@)5O@1Y5z@MAAIbDUVDU08ym%mU=ٔu9Q-u>9qYy=}EyyME>Q 55(?Q 95)8BYdM>Q E;y6@Q Ie@DIG;iqF;5yɮ@iAiEQ^pLAjA"jA:jE@"pE%dy4j+l<l+@pE 0bǺi?*jE"2jEM*pEDg-ք&@n"L6V$?pE)+}?fP쿾̼$?jE jE&4AiEOݠ?iE&jEBjEl?jE[jEBrjE^AzjE$@echecking for new query: numPingsReceived=116, elapsed TxPingTime=52.675137 addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.505390 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.291954 m, bearing: 296.519568 deg, lat: 36.779449 deg, lon: -121.859652 deg, deltaT: 0.505390 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 5DNOT Ignoring new targets: 25.29 m.h1h1h9h9h9g9g9jgArgE;BreIQZeq:eq*eu`E?[dM>[dM>"[?*[-6@њK) {?i9)8>siiIIIq)uzAE E{E$E"Eg:*E5":VE4ZEa@a@a@a@9@ @@/@@ zA@ zAA1A1B=E>B9B=#IB=+BB9B9B9B=~;B=c5Eyԩ ^A V>I I O > DDAT read: Rx Time:04:38:25.0977  TRx dataTimestamp_ set to:1764909505.979375 PDAT read: Bearing 33.2, -33.3 (Local) % ~Local bearing/azimuth received: Bearing 33.2, -33.3 (Local) 5 DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed -0.2 U DAT read: 04:38:25.0977 LVL= 32752, 18801, 23186, 32755, AGC= 54, IDX= 508, 0.47, 1.951,-2.119,-3.063,-2.835, PHS=-1.395, 0.760,-0.273, RAW= 298.6, 9.8, CAL= 296.1, 12.1, ROT= 213.9, -12.1 ] Ygot valid direction response: 04:38:25.0977 LVL= 32752, 18801, 23186, 32755, AGC= 54, IDX= 508, 0.47, 1.951,-2.119,-3.063,-2.835, PHS=-1.395, 0.760,-0.273, RAW= 298.6, 9.8, CAL= 296.1, 12.1, ROT= 213.9, -12.1 e V#Rx 117: Read range and direction messages.m `direction in FSK: [-0.811572,-0.545354,0.209619]m Fpublishing direction and range infoy  F f^0?sῶ9h?Y    qI Z  ) 6I \i \B? Ƌ Ŧ@ %/> _@  @X>) n@I @X   >L3Zo?u~m?  DG@) b.I 1#i @X   checking for new query: numPingsReceived=117, elapsed TxPingTime=52.942875 &,!spLA2ޘ?2-ô?2RJٱ2џ>2H@0?@bMJ?U?@q?2`G? }??i2ޘ?I2^;2C@Y}By}#IbDVDyR%E=ٔE:Q->9Y=Ey~E>Q 55 &?Q 95Ǿ)EBYy?Q I%e@DI$4@pEF f^0?sῶ9h?*jE1#2jE@X*pE*)x+%@2ĭ6L56F@pE?ot5i?jEn jE/AiEL ?iEJjEBjE栊?jE&jEBrjEAzjE@ addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.502488 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.291803 m, bearing: 295.815332 deg, lat: 36.779446 deg, lon: -121.859653 deg, deltaT: 0.502488 s, deltaX: -0.000151 m, approachRate: -0.000300 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.29 m.hhhhhggjgrgreZe!:e!*e%?[a[a"[a*[e?uRJ)y }Q?i}'9)y}8}SxiyiIԩIiaIamchecking for new query: numPingsReceived=117, elapsed TxPingTime=53.179241q@q @q@u-0@qE EE#E"EC:*E*:VE3ZEBE+;a2E,;aJEg;a:Eg;a^A x>I I O- >&&,KpLAfDDAT read: Rx Time:04:38:25.5977 jTRx dataTimestamp_ set to:1764909506.483594nPDAT read: Bearing 31.9, -32.6 (Local) lr~Local bearing/azimuth received: Bearing 31.9, -32.6 (Local) zDAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed -0.2 DAT read: 04:38:25.5977 LVL= 32752, 18993, 21586, 32755, AGC= 56, IDX= 508, 0.26, 2.293,-1.794,-2.744,-2.495, PHS=-1.394, 0.746,-0.293, RAW= 299.0, 10.2, CAL= 296.5, 13.0, ROT= 213.5, -13.0 %Ygot valid direction response: 04:38:25.5977 LVL= 32752, 18993, 21586, 32755, AGC= 56, IDX= 508, 0.26, 2.293,-1.794,-2.744,-2.495, PHS=-1.394, 0.746,-0.293, RAW= 299.0, 10.2, CAL= 296.5, 13.0, ROT= 213.5, -13.0 %V#Rx 118: Read range and direction messages.-`direction in FSK: [-0.812513,-0.537791,0.224951]-Fpublishing direction and range infoydft7g5ῃ:/2?Ydddf1JfRT d)f8Ifnif>?ff<@fK6>fʘ@ fVh>)fW{n@IfVhddf@~fGLې?w? fG@)fg5If^#ifVhddMchecking for new query: numPingsReceived=118, elapsed TxPingTime=53.447685Y}By}#IIC=)==iMb@Mb@Mb@ 9ˡE?V-?y=t=V@ ^@)YbDVD?8yY<%0=ٔQ->9Y=EyE>Q 55"?Q 95)TBYP>Q E;y@Q Ie@DI:i4: 5 y ɮ z@idif4pLAjd"jd:jf @"pf Ȍ4~4+ǽ@pft7g5ῃ:/2?*jf^#2jfVh*pfgԐ,%@6DXWU%@pft2i?LH$?jf jfQ-AifDԘ?ifdjfYBjfOݠ?jdjfBrjfAzjf@ addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.504219 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.291803 m, bearing: 295.509072 deg, lat: 36.779445 deg, lon: -121.859653 deg, deltaT: 0.504219 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.29 m.hhhhhggjgrg>BreZe:e*e?[EP>[EP>"[EC?*[E.@Y)Y ]{?i]b9)Y]8Z~iiIIAI@I @I@M0@Ichecking for new query: numPingsReceived=118, elapsed TxPingTime=53.683903a ^AY Ii Iy O >D zD E  E E $E "E :*E A:VE 4ZE a @a @a @a @B% C>B! B% #IB% &BB% =B! B! B% ~;B% D5E(-&,2pLA9Y By#I p<bDVDl8y]%]a=ٔaQ-e>9aYa=eEyaiE>Q 55< ?Q 95)_BYyQ Ie@DI%:i:5yɮ@DNOT Ignoring new targets: 25.29 m.hhhhhggjgrg!re!Ze!:e!*e% |?[["[*[)  ?i9)顥8miiIIDDAT read: Rx Time:04:38:26.0979 TRx dataTimestamp_ set to:1764909506.988886PDAT read: Bearing 32.1, -32.1 (Local) ~Local bearing/azimuth received: Bearing 32.1, -32.1 (Local) DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed -0.2 5DAT read: 04:38:26.0979 LVL= 32752, 20065, 21970, 32755, AGC= 56, IDX= 510, 0.15,-1.835, 0.355,-0.611,-0.355, PHS=-1.378, 0.755,-0.300, RAW= 299.7, 10.0, CAL= 297.1, 12.7, ROT= 212.9, -12.7 =Ygot valid direction response: 04:38:26.0979 LVL= 32752, 20065, 21970, 32755, AGC= 56, IDX= 510, 0.15,-1.835, 0.355,-0.611,-0.355, PHS=-1.378, 0.755,-0.300, RAW= 299.7, 10.0, CAL= 297.1, 12.7, ROT= 212.9, -12.7 =V#Rx 119: Read range and direction messages.M`direction in FSK: [-0.819078,-0.529885,0.219846]UFpublishing direction and range infoyjUƭ5Ȭi࿶F#?YAaNU )INbiGA?aRb@¸2>@ b>)m@Ib\nntUHy?Y7aD? ۩H@)= 3IO$ibchecking for new query: numPingsReceived=119, elapsed TxPingTime=53.966644ԑ9u 9@q  @q @u /@q @ @ XG  -9 Y *AԹ  checking for new query: numPingsReceived=119, elapsed TxPingTime=54.188248^A > I)IQO}>(5&,pLAE> E>E>%E<"E>Ʊ:*E>F:VE> 4ZE<BE>>;aF2E>?;aJJE>;aJ:E>;aJ%h?%M?%!Iٱ%q6>%H ?`2@P?"u?}?Pڲ!?ϯ???i%h?I%D^;ԙ!YBy#I iMb@Mb@Mb@ 9bX9?X9v?Mb?YE6>y==@ )Y@bDVDr8y%=ٔ:Q->9Y=Ey E>Q 55?Q 95H)oBY`>Q Er;y?Q Ie@DI:i:U5yɮa@iiIpLAjA"jA:j@"prǨ4'r+(^Q@pjUƭ5Ȭi࿶F#?*jO$2jb*p $@o9SK7!g@p??/N,!t>\?j^ jt$Aiȫ~?i& jBjL ?jJjBrjAzj5@E addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.505292 s, deltaX: 0.300001 m, approachRate: 0.593718 m/s, rangeRepo size: 4 DDAT read: Rx Time:04:38:26.5979 TRx dataTimestamp_ set to:1764909507.491399PDAT read: Bearing 31.6, -31.3 (Local) ~Local bearing/azimuth received: Bearing 31.6, -31.3 (Local) DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed -0.2 DAT read: 04:38:26.5979 LVL= 32752, 17089, 22690, 32755, AGC= 57, IDX= 510, 0.14, 2.932,-1.174,-2.156,-1.882, PHS=-1.368, 0.753,-0.319, RAW= 300.3, 10.2, CAL= 297.8, 13.0, ROT= 212.2, -13.0 Ygot valid direction response: 04:38:26.5979 LVL= 32752, 17089, 22690, 32755, AGC= 57, IDX= 510, 0.14, 2.932,-1.174,-2.156,-1.882, PHS=-1.368, 0.753,-0.319, RAW= 300.3, 10.2, CAL= 297.8, 13.0, ROT= 212.2, -13.0 V#Rx 120: Read range and direction messages. `direction in FSK: [-0.824505,-0.519219,0.224951] Fpublishing direction and range infoyXb꿨~p࿃:/2?YBX )9Ii@?S@K6>R@ Vh>)m@IVhIu~uġ+=yӥ? GH)$6I%iVh-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with 120 pings in terminal homing one-way mode.m Added new target pos. range: 25.590412 m, bearing: 293.807179 deg, lat: 36.779442 deg, lon: -121.859654 deg, deltaT: 0.505292 s, deltaX: 0.298609 m, approachRate: 0.590963 m/s, posRepo size: 4 mDNOT Ignoring new targets: 25.59 m.hqhqhqhqhqgqgqjgyrg}5BreZe:e@39@*eÙ?Թ[`>[`>"[ ?*[?!I) 3?i9)8ii!!I!I!E '9 9@  @ @ /@  ia Ia m 2Acoustic response timeoutAE EE#E"Eg:*EC:VE3ZEBI>BB#IB!BB =BBBL~;B5Ea @a @a @a @^A_>I1IAOM?N=&,pLAv?vj?vGٱvM>vH {?(@|D? k?`?\?@R? IJ?`C?iv?Iv*^;vCYBy#IbDVDN8!y%߷<%E*=ٔE#:Q-M>9YY=EyfE>Q 55?Q 95ŵ)}BYy9?Q Ie@!DI";iX;5yɮ@iispLAj"j:jׁ@"p5 *@pXb꿨~p࿃:/2?*j%2jVh*pؘ$#@֘w7q Pܽ@pH4RE?Z{W,/?j jAi+eV?iRIjvBjDԘ?jjBrjAzjH@U addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.502513 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.590759 m, bearing: 292.758498 deg, lat: 36.779440 deg, lon: -121.859654 deg, deltaT: 0.502513 s, deltaX: 0.000347 m, approachRate: 0.000691 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.59 m.hhhhhggjgrgDDAT read: Rx Time:04:38:27.0981 TRx dataTimestamp_ set to:1764909507.995481PDAT read: Bearing 15.1, -37.9 (Local) ~Local bearing/azimuth received: Bearing 15.1, -37.9 (Local) DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.2  DAT read: 04:38:27.0981 LVL= 32752, 17313, 21746, 32755, AGC= 57, IDX= 512, 0.15, 1.267,-2.606, 3.043,-3.052, PHS=-1.862, 0.491,-0.231, RAW= 287.4, 15.2, CAL= 285.8, 22.3, ROT= 224.2, -22.3 Ygot valid direction response: 04:38:27.0981 LVL= 32752, 17313, 21746, 32755, AGC= 57, IDX= 512, 0.15, 1.267,-2.606, 3.043,-3.052, PHS=-1.862, 0.491,-0.231, RAW= 287.4, 15.2, CAL= 285.8, 22.3, ROT= 224.2, -22.3 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.663293,-0.645024,0.379456]%Fpublishing direction and range infoyZkv9O NkI?YACT )IViZd>Dl@ԇ>@ SF>)oz@ISFǾ֠$:mq??reZe1:e=:@*e=U,? m;@)𡇾IiSFǾ2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.[["[*[9? G)  ?Qi 9)iu*8u5iqi}yyIyIyԁ5 99 u 2Acoustic response timeoutԩ @  @ @ 4@ @ @ E EE$E"Ey:*EX:VE4ZEBEIAIaO ?RF&,qLA%?%E?%Eٱ%U>%H?`?X?`?GZ? Ϟ?@0?i%?I%H^;%CY5By5#II=<)=y=`<@?@ G@)f@Yz@@AbDVD<8y v|% =ٔ!f:Q->9Y=EyFE>!Q 5-5%t?Q 9-5%/)%BY5V>Q E5};y5?Q I5e@%%DI% ;i%;%A5y9ɮ=@9iipLAjA"jA:j @"pKD,160J٥#@pZkv9O NkI?ߕ=ߕ4=DDAT read: Rx Time:04:38:27.5981 TRx dataTimestamp_ set to:1764909508.499630PDAT read: Bearing 15.3, -22.9 (Local) ~Local bearing/azimuth received: Bearing 15.3, -22.9 (Local) DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.3 DAT read: 04:38:27.5981 LVL= 30704, 14593, 19698, 32755, AGC= 55, IDX= 512, 0.13,-0.024, 1.787, 0.974, 1.555, PHS=-1.477, 0.277,-0.625, RAW= 300.9, 23.0, CAL= 300.8, 29.0, ROT= 209.2, -29.0 Ygot valid direction response: 04:38:27.5981 LVL= 30704, 14593, 19698, 32755, AGC= 55, IDX= 512, 0.13,-0.024, 1.787, 0.974, 1.555, PHS=-1.477, 0.277,-0.625, RAW= 300.9, 23.0, CAL= 300.8, 29.0, ROT= 209.2, -29.0 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.763475,-0.426692,0.484810]Fpublishing direction and range infoy4bn8.NۿY6?Yw9L )7IViҍ>  @>@ ?)i@I"1sm\ IP? ;H){;Iq(i2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.*j2jSFǾ*p3YU`,@'4J@pr̉?n%鿒Q?j` jcAi'?ijܑBjjjYBrjAzj @ addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 1.008231 s, deltaX: 0.299999 m, approachRate: 0.297550 m/s, rangeRepo size: 4  Added new target pos. range: 25.889482 m, bearing: 304.465451 deg, lat: 36.779440 deg, lon: -121.859654 deg, deltaT: 0.504082 s, deltaX: 0.298723 m, approachRate: 0.592608 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.89 m.hhhhhggjg!rg%$Bre)Ze):e)*e-`7?[V>[V>"[?*[?ԡE) {?i9)8iiIIR91@1 @1@5/@1] 2Acoustic response timeout ^AU n>Ia Iq O >2H ?`?O?`ˊ?Mgç? ?@?i2 M?I2%^;0YVByV#IbDbVDbQ8yf%ja=ٔjl9Q-j>9hYl=nEylnQ|Er>pQ 5v5r?Q 9z5rg)rBYxyz?Q Ize@r'DIr:ir:rl!5yɮU@iiqLAj"j:jM@"phq3m]:[&QZ)@p4bn8.NۿY6?*jq(2j*p.U @uL$i6 #@p1 a?"E=뿔Z?jI jAi؟?ijBjȫ~?jdjvBrjAzjGO@MDNOT Ignoring new targets: 25.89 m.hQhQhQhQhQgQgQBeH>BaBe#IBeBBe =BaBaBe2~;Be 5EbEjE4rE.E EwE#E"EƱ:*E:VE3ZEBE?;2E@;JEk;:Ek;jgrgreZe:e*e?[["[*[?QE)! %?i-9)Q] 8]iYiIId9DDAT read: Rx Time:04:38:28.0983 TRx dataTimestamp_ set to:1764909509.004051PDAT read: Bearing 29.6, -30.5 (Local) ~Local bearing/azimuth received: Bearing 29.6, -30.5 (Local) DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed -0.2 DAT read: 04:38:28.0983 LVL= 30944, 17057, 20978, 32307, AGC= 59, IDX= 2, 0.05,-2.071, 0.106,-0.894,-0.593, PHS=-1.375, 0.744,-0.345, RAW= 300.9, 10.7, CAL= 298.4, 13.9, ROT= 211.6, -13.9 %Ygot valid direction response: 04:38:28.0983 LVL= 30944, 17057, 20978, 32307, AGC= 59, IDX= 2, 0.05,-2.071, 0.106,-0.894,-0.593, PHS=-1.375, 0.744,-0.345, RAW= 300.9, 10.7, CAL= 298.4, 13.9, ROT= 211.6, -13.9 -R#Rx 1: Read range and direction messages.5`direction in FSK: [-0.826785,-0.508642,0.240228]5Fpublishing direction and range infoy#*bu+4oF࿋ؼʿ?YfAxBQ 3~);Iiv>?ףt;?>r@ Ulx>)\l@IUlxQyq+{kr,:? H)M>I%iUlxM2Acoustic response timeoutUQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.e9@a @a@i@i1^A >I I O >Y 8bS&,/1NqLABO?B|?BEٱB>BH O??`gG?0?@'4?@ׇ?@?iBO?IBڀ^;BCYRByR#IbDbVDb|8ynһ%nI=ٔrS9Q-v>9xYx=zEyx~hPE~> 2Acoustic response timeoutQ 55'?Q 95JQ =tI)BYy3?Q If@*DI3;i;.%5y%BɮJ@Eii_B@qLAjA"jA:j;@"p-bou52d *M *@p#*bu+4oF࿋ؼʿ?*j%2jUlx*pi=,"@:D8q @p-n?[^?j  jAi ?i-joBj+eV?j& joBrj,Azj@ addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.504421 s, deltaX: 0.299999 m, approachRate: 0.594740 m/s, rangeRepo size: 4 - Added new target pos. range: 26.188196 m, bearing: 290.963734 deg, lat: 36.779430 deg, lon: -121.859658 deg, deltaT: 1.008570 s, deltaX: 0.298714 m, approachRate: 0.296175 m/s, posRepo size: 4 -DNOT Ignoring new targets: 26.19 m.h1h1h11h9h9g9g9jgArgAreAZeA:eEL:@*eM ?[i[i"[i*[m3?E) 5?i9)顥!85iiII1E EE&E"E:*E H:VE4ZEa@a@a@a@q5`9I9)=xAԉDDAT read: Rx Time:04:38:28.5983 TRx dataTimestamp_ set to:1764909509.507993PDAT read: Bearing 28.5, -30.2 (Local) ~Local bearing/azimuth received: Bearing 28.5, -30.2 (Local) DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed -0.2  DAT read: 04:38:28.5983 LVL= 31584, 17905, 21266, 32755, AGC= 56, IDX= 498,-0.04, 2.110,-2.004,-3.005,-2.691, PHS=-1.380, 0.731,-0.359, RAW= 301.1, 11.0, CAL= 298.5, 14.7, ROT= 211.5, -14.7 - Ygot valid direction response: 04:38:28.5983 LVL= 31584, 17905, 21266, 32755, AGC= 56, IDX= 498,-0.04, 2.110,-2.004,-3.005,-2.691, PHS=-1.380, 0.731,-0.359, RAW= 301.1, 11.0, CAL= 298.5, 14.7, ROT= 211.5, -14.7 - R#Rx 1: Read range and direction messages.= `direction in FSK: [-0.824731,-0.505396,0.253758]= Fpublishing direction and range infoy-v2dnb4,N=?Y`{ES )8Iףi";?η}*@ D>@ G\>)n?l@IG\Eg←Rӿߚ|? G)&EIG%iG\e 2Acoustic response timeoute Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 9@  @ @ V3@ @ @ =Թ ^A ->I I O>mZ&,kqLA:i?:ϭ?:/Dٱ:I5>:H ?`E-?=?@?(?@I? ӟ?i:i?I:X^;:CYFBhyr{#I ttxzAiMb@Mb@Mb@ 9K7A`?Mb?Mb?Y+>y>=l@ ^@)|@Yp@bDVDb8y%$=ٔ W8Q- >9Y=Ey;9E>U2Acoustic response timeoutQ 55 ?Q 95ܬ)BYY>Q Ey;y?Q If@-DI ;i;)5y#Bɮ@Ei)i-`qLAj)"j):j-P@"p->@J%5C߇x*[1@p--v2dnb4,N=?*j-G%2j-G\*p-D+F"@ F8S}^ @p-;{_T?E#r?j-4 j-1Ai-v?i-_+j-"Bj- ?j-RIj-"Brj-Azj-¢@% addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.503942 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 26.188196 m, bearing: 290.625775 deg, lat: 36.779425 deg, lon: -121.859658 deg, deltaT: 0.503942 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 =DNOT Ignoring new targets: 26.19 m.h9h9h9h9h9gAgAjgArgE'BreIZeI:eI*eM !?[mY>[mY>"[mi'?*[m?/D) ?iu9)額 #8TiiIIB@>B,CB#IB BB =BBB};B4EBaBaE EyEE"Es:*E:VEZEBE ;a2E ;aJEr;a:Er;aBaBe =Be =Ce51= 9@9  @9 @= f4@A  DDAT read: Rx Time:04:38:29.0984  TRx dataTimestamp_ set to:1764909510.012019 PDAT read: Bearing 28.0, -29.9 (Local)  ~Local bearing/azimuth received: Bearing 28.0, -29.9 (Local) - DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed -0.2 M DAT read: 04:38:29.0984 LVL= 32752, 16145, 21938, 32755, AGC= 55, IDX= 499,-0.12, 1.657,-2.449, 2.821,-3.138, PHS=-1.386, 0.734,-0.368, RAW= 301.3, 11.1, CAL= 298.8, 14.9, ROT= 211.2, -14.9 Q  Ygot valid direction response: 04:38:29.0984 LVL= 32752, 16145, 21938, 32755, AGC= 55, IDX= 499,-0.12, 1.657,-2.449, 2.821,-3.138, PHS=-1.386, 0.734,-0.368, RAW= 301.3, 11.1, CAL= 298.8, 14.9, ROT= 211.2, -14.9  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.826604,-0.500609,0.257133] Fpublishing direction and range infoy  #gswFht?Y 3A  ? U ) 7I shi m;? j G@ aF> @ %>) k@I % HM|`d #\? G) pFI 6&i % ] 2Acoustic response timeout] Querying Benthos address 50 with 120 pings in terminal homing one-way mode.ԉ ^A .ą>I I O >>b&,ͫqLA2)?2?2)Eٱ2l>2H ?f?@y3?@?.ೢ?"?T?i2)?I2#%^;2CY>By>x#IbDFVDFm8yN.%NI=ٔRQ-R>9PYP=VEyTVmEV>XQ 5^5Z ?Q 9^5Z)ZBY`yb?Q Ibf@Z0DIZq:iZ~:Z,5ydɮf@diiĀqLAjLA"jLA:j~@"p5 *ƽQ*p @p#gswFht?*j6&2j%*p!@en4s8.F @pOӲ?DCq*?j jAi{?i>.jXBjv?j_+jXBrj"AzjgR@% addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504026 s, deltaX: 0.100000 m, approachRate: 0.198403 m/s, rangeRepo size: 4 5 Added new target pos. range: 26.287292 m, bearing: 290.021349 deg, lat: 36.779423 deg, lon: -121.859664 deg, deltaT: 0.504026 s, deltaX: 0.099096 m, approachRate: 0.196609 m/s, posRepo size: 4 5DNOT Ignoring new targets: 26.29 m.h1h1h9h9h9g9g9jgArgAreAZeA:eE`ff:@*eM?[ [ "[ *[ -?)E) ?i9)!%r$8%䕺i!i-))I)I1 92Acoustic response timeout@ @@/@Ee EaEe%Ea"EeU:*EaVEe 4ZEaa@a@a@a@^A(`>I I1 9 OM > DDAT read: Rx Time:04:38:29.5984  TRx dataTimestamp_ set to:1764909510.515314 PDAT read: Bearing 26.9, -29.9 (Local)  ~Local bearing/azimuth received: Bearing 26.9, -29.9 (Local)  DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed -0.1  DAT read: 04:38:29.5984 LVL= 32752, 16625, 23394, 32755, AGC= 55, IDX= 499,-0.27, 1.006,-3.086, 2.184, 2.513, PHS=-1.405, 0.729,-0.374, RAW= 301.1, 11.4, CAL= 298.5, 15.4, ROT= 211.5, -15.4  Ygot valid direction response: 04:38:29.5984 LVL= 32752, 16625, 23394, 32755, AGC= 55, IDX= 499,-0.27, 1.006,-3.086, 2.184, 2.513, PHS=-1.405, 0.729,-0.374, RAW= 301.1, 11.4, CAL= 298.5, 15.4, ROT= 211.5, -15.4  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.822026,-0.503739,0.265556] Fpublishing direction and range infoy  9] N`A<?Y @ b[ ) I ׳i :? | }*@ %K> @ >) n?l@I -)a^3YŹ4? G) 5JI G%i  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.4h&,UkqLA2J^?2vC?2UFٱ2>2H ΅? q?3(?_? yC r? ??i2J^?I25^;0Y>By>v#IiMb@Mb@Mb@ 97A`?X9v? rh?Y>y=C =@ )O@Y@bDVDv8yE%E'=ٔEQ-E>9IYI=MEQyIusNEu>yQ 5}5}?Q 95}Ш)}ʈBYD>Q E;y@Q If@}3DI}o:i}:}015yɮ@iiqLAj"j:j@"pOݛ5^2{*8J@p9] N`A<?*jG%2j*p3!@=}l8ξޞe@pęq&?ݳD+?jc jLAi{#?i9+jBj{?jjrj!Azj@= addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.503295 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 26.287292 m, bearing: 290.008636 deg, lat: 36.779420 deg, lon: -121.859664 deg, deltaT: 0.503295 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 26.29 m.hqhqhqhqhygygyjgyrg}BreZe:e*e@Y?[D>[D>"[6.?*[@-UF)) -3?i-9)15&85 i1i=9aIaIiԁ2Acoustic response timeout 9Ա ]>i B) B) B- #IB- BB- =B) B- DB- ~};B- 4EE}  Ey E} &Ey "E} :*Ey VE} 4ZEy BE} ;a% 2E} ;a- JEy a- :Ey a5 9@  @ @ /5@ @9 @= xA DDAT read: Rx Time:04:38:30.0986 TRx dataTimestamp_ set to:1764909511.019524PDAT read: Bearing 25.7, -30.4 (Local) ~Local bearing/azimuth received: Bearing 25.7, -30.4 (Local) DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed -0.2 DAT read: 04:38:30.0986 LVL= 29456, 16881, 20130, 31219, AGC= 55, IDX= 500, 0.46,-2.611,-0.407,-1.407,-1.082, PHS=-1.427, 0.720,-0.369, RAW= 300.5, 11.6, CAL= 297.9, 15.9, ROT= 212.1, -15.9 Ygot valid direction response: 04:38:30.0986 LVL= 29456, 16881, 20130, 31219, AGC= 55, IDX= 500, 0.46,-2.611,-0.407,-1.407,-1.082, PHS=-1.427, 0.720,-0.369, RAW= 300.5, 11.6, CAL= 297.9, 15.9, ROT= 212.1, -15.9 uR#Rx 1: Read range and direction messages.}`direction in FSK: [-0.814712,-0.511068,0.273959]}Fpublishing direction and range infoy  H֦zZψ.?YAsAN y)I𧶿iQ8?ԧ@4QO>`@ q>)l@Iq^AE>IIIYOm ?'q&,qLA^ YxYᅵgc2? GH)NI4%iq2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.v霏?v?vwFٱv>vHA?^@B?@?? +`̨?`??iv霏?Iv^;tY%ڄBy%h#II=%=)==e=e=bDVDt8y-:%-#=ٔ5@Q-5>91Y1=5Ey1=BE=>AQ 5u5Ev?Q 9}5E)EوBYyy}1@Q I}f@E5DIEI;iEC&;E55yɮ@ii?qLAjA"jA:j"@"pO5Y,+A"@p  H֦zZψ.?*j4%2jq*pk9"@v<8ɩ@p-X+$?K)~?j jAifzF?iH\.j/BjfzF?j-jrjAzjP&@] addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.504210 s, deltaX: 0.300001 m, approachRate: 0.594992 m/s, rangeRepo size: 4  Added new target pos. range: 26.585909 m, bearing: 290.304385 deg, lat: 36.779422 deg, lon: -121.859665 deg, deltaT: 0.504210 s, deltaX: 0.298616 m, approachRate: 0.592246 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.59 m.hhhhhggjgrgreZe:e@3:@*eg?[["[*[1@wF) E?i9)'8%>i!i%))I)I)2Acoustic response timeout9) 9@  @ @ 2E  E E %E "E g:*E a9:VE 4ZE aE @aE @aM @aM @@Q I  DDAT read: Rx Time:04:38:30.5985  TRx dataTimestamp_ set to:1764909511.523337 PDAT read: Bearing 25.8, -30.4 (Local)  ~Local bearing/azimuth received: Bearing 25.8, -30.4 (Local)  DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed -0.1  DAT read: 04:38:30.5985 LVL= 32752, 17137, 23010, 32755, AGC= 55, IDX= 500, 0.20, 2.871,-1.191,-2.205,-1.880, PHS=-1.431, 0.733,-0.369, RAW= 300.6, 11.4, CAL= 298.0, 15.5, ROT= 212.0, -15.5  Ygot valid direction response: 04:38:30.5985 LVL= 32752, 17137, 23010, 32755, AGC= 55, IDX= 500, 0.20, 2.871,-1.191,-2.205,-1.880, PHS=-1.431, 0.733,-0.369, RAW= 300.6, 11.4, CAL= 298.0, 15.5, ROT= 212.0, -15.5 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.817205,-0.510646,0.267238]Fpublishing direction and range infoy  CC&z 7W֚n?Y A  B Y ) I +i ;? @ %K> Bo@ c>) hl@I c fx^`vl*I!I9OE>9x&,qLA -? ? Iٱ ++> H@?@?@r?@v?U:?_?9?i -?I i^; CY%لBy%g#IiMb@Mb@Mb@ 9/$?q= ףp?L7A`?Y>y=+=V@ t@)f@YbDVDz8y%=ٔӺQ->9Y=EyE>!Q 5-5%Z?Q 9-5%=)%BY-F>Q E5;y5S?Q I5f@%9DI%b:i%k:%*:5y9ɮ=@AYiiZ~qLAjA"jA:j@"p[O5&&| +O| P@pCC&z 7W֚n?*jMQ%2jc*p2!@wK8SvB@pZ˾%?&}j?jx j Ai៊?i7l~-jBj{?j7l~-jBrj@Azj@ addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.503813 s, deltaX: -0.100000 m, approachRate: -0.198487 m/s, rangeRepo size: 4 5 Added new target pos. range: 26.486336 m, bearing: 289.522186 deg, lat: 36.779420 deg, lon: -121.859665 deg, deltaT: 0.503813 s, deltaX: -0.099573 m, approachRate: -0.197639 m/s, posRepo size: 4 =DNOT Ignoring new targets: 26.49 m.h9hAhAhAhAgAgIjgIrgM BreQZeq:e}:@*e}v?[F>[F>"[%?*[&S?=I)A E3?iE9)AE4)8EiIiuqyIyIyIW?)I?2Acoustic response timeoutԉB% D>B% -CB% #IB% BB% =B! B% DB% U};B% 4E 9 E-  E- E) E) "E- :*E- 1]:VE) ZE) BE- ;ae 2E- ;am JE- ;a :E- ;a i @i  @i @m /@q @ =@  DDAT read: Rx Time:04:38:31.0987  TRx dataTimestamp_ set to:1764909512.027340 PDAT read: Bearing 25.0, -30.7 (Local)  ~Local bearing/azimuth received: Bearing 25.0, -30.7 (Local)  DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.0  DAT read: 04:38:31.0987 LVL= 32752, 17297, 23202, 32755, AGC= 55, IDX= 502, 0.01,-2.936,-0.708,-1.709,-1.391, PHS=-1.443, 0.728,-0.363, RAW= 300.1, 11.5, CAL= 297.6, 15.7, ROT= 212.4, -15.7 Ygot valid direction response: 04:38:31.0987 LVL= 32752, 17297, 23202, 32755, AGC= 55, IDX= 502, 0.01,-2.936,-0.708,-1.709,-1.391, PHS=-1.443, 0.728,-0.363, RAW= 300.1, 11.5, CAL= 297.6, 15.7, ROT= 212.4, -15.7 R#Rx 1: Read range and direction messages.%`direction in FSK: [-0.812828,-0.515836,0.270600]%Fpublishing direction and range infoy  Vx -MRlyQ?Y 3A C Z ) I 9i 5^:? #۹ @ M> 6@ K>) @m@I K u\:/|g2n? H) LI $i K =2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.^A>IIO?eg&,irLA4%s?%X?%-Lٱ%k>%HZ??`? %?#l?4?`?i%s?I%L^;%CYτByZ#I bDVD8y-%'=ٔQ-> QQ9G/{AY=Ey 3m9/{AY4iAE%>ymi?m AqQ 5u5uO?ԡQ 95uڡ)uBYy?Q If@u5yɮI@iirLAjHA"jHA:j⾡@"pD5c-:+@pVx -MRlyQ?*j$2jK*pDX!@7-i 8Z9@p~R9?4X=W쾷b?j j"Ai韊?i{ 1jBj{#?j>.jBrj Azj@} addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.504003 s, deltaX: 0.299999 m, approachRate: 0.595233 m/s, rangeRepo size: 4  Added new target pos. range: 26.785360 m, bearing: 289.604445 deg, lat: 36.779420 deg, lon: -121.859665 deg, deltaT: 0.504003 s, deltaX: 0.299025 m, approachRate: 0.593299 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.79 m.hhhhhggjgrgreZe:e`f:@*e#?[A[A"[A*[E˚?}-L)y }?i}9)顅*8+iii߱I߱2Acoustic response timeoutIIE  E E #E "E ,:*E P:VE 3ZE a @a @a @a @!  9E 9@A  @A @M /@I A m DDAT read: Rx Time:04:38:31.5987 m TRx dataTimestamp_ set to:1764909512.531413} PDAT read: Bearing 23.5, -31.2 (Local) } ~Local bearing/azimuth received: Bearing 23.5, -31.2 (Local)  DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.1  DAT read: 04:38:31.5987 LVL= 31440, 17073, 22066, 32755, AGC= 55, IDX= 502,-0.21, 1.064,-2.980, 2.321, 2.635, PHS=-1.469, 0.713,-0.358, RAW= 299.4, 11.8, CAL= 296.8, 16.4, ROT= 213.2, -16.4  Ygot valid direction response: 04:38:31.5987 LVL= 31440, 17073, 22066, 32755, AGC= 55, IDX= 502,-0.21, 1.064,-2.980, 2.321, 2.635, PHS=-1.469, 0.713,-0.358, RAW= 299.4, 11.8, CAL= 296.8, 16.4, ROT= 213.2, -16.4  R#Rx 1: Read range and direction messages.`direction in FSK: [-0.802720,-0.525285,0.282341]Fpublishing direction and range infoyi m U|-G"Ix?Yi i m zm Bm 2V i )i Im 1im +6?m Km m7@m BR>m å@ m C>)m %n@Im Ci i m A{9S >c7?L̴? m tbH@)m gRIm (#im Ci i e2Acoustic response timeouteQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.^AUs>IYiIqO} ?ڦ&,{(rLA2ܮ?2?2ONٱ2>2H 5 ?8I???@µ ǩ??S?i2ܮ?I2^;0YZ΄By^X#IiMb@Mb@Mb@ 9p= ף?|?5^?+?Y>y==@?@ @)Yp@bD;VDα8ydT%=ٔ~Q->9Y=EyCE>Q 55?Q 95)BY]x.>Q E];yey?Q Ief@>DIw[ x.>"[ G+?*[ y?=ON)9 =?i=9)AEY,8EpiAiMIIIIII2Acoustic response timeoutM9I@ @@/@B?>B,CB#IBBB =BBDBu};B4EDzD?AE EEE"E%:*E,:VEZEBE;a2E;aJE8;a :E9;a q ^A ->I I O >d&,'BrLADDAT read: Rx Time:04:38:32.0988 TRx dataTimestamp_ set to:1764909513.039294PDAT read: Bearing 23.5, -31.7 (Local) ~Local bearing/azimuth received: Bearing 23.5, -31.7 (Local) &DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed -0.1 0:DAT read: 04:38:32.0988 LVL= 32752, 17265, 23202, 32755, AGC= 54, IDX= 503, 0.39,-2.694,-0.452,-1.426,-1.127, PHS=-1.465, 0.720,-0.343, RAW= 299.1, 11.5, CAL= 296.5, 15.8, ROT= 213.5, -15.8 BYgot valid direction response: 04:38:32.0988 LVL= 32752, 17265, 23202, 32755, AGC= 54, IDX= 503, 0.39,-2.694,-0.452,-1.426,-1.127, PHS=-1.465, 0.720,-0.343, RAW= 299.1, 11.5, CAL= 296.5, 15.8, ROT= 213.5, -15.8 BR#Rx 1: Read range and direction messages.F`direction in FSK: [-0.802380,-0.531084,0.272280]FFpublishing direction and range infoy(鿱n ^ m?YAqCZ )6IiQ8? @M>ʘ@ 0>)W{n@I0C3ZڸH?Y~? tH@)VMI^#i0V2Acoustic response timeoutVQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.7?c?Pٱo>Hb?@t??`?]?@u?6?i7?I ^;CYuÄByuK#IbDYVD8y5>%57=ٔ5ۼQ-=>99Y9==Ey9EoIEE>IԑQ 55M?Q 95M9)MBYy?Q If@M@DIMډIQIaOm?;&,brLADDAT read: Rx Time:04:38:32.5988 TRx dataTimestamp_ set to:1764909513.543407PDAT read: Bearing 23.0, -32.4 (Local) ~Local bearing/azimuth received: Bearing 23.0, -32.4 (Local) "DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.0 :DAT read: 04:38:32.5988 LVL= 32752, 17169, 23666, 32755, AGC= 56, IDX= 503, 0.06, 2.203,-1.833,-2.788,-2.505, PHS=-1.473, 0.718,-0.326, RAW= 298.5, 11.4, CAL= 295.8, 15.7, ROT= 214.2, -15.7 TThjYgot valid direction response: 04:38:32.5988 LVL= 32752, 17169, 23666, 32755, AGC= 56, IDX= 503, 0.06, 2.203,-1.833,-2.788,-2.505, PHS=-1.473, 0.718,-0.326, RAW= 298.5, 11.4, CAL= 295.8, 15.7, ROT= 214.2, -15.7 nR#Rx 1: Read range and direction messages.r`direction in FSK: [-0.796224,-0.541113,0.270600]rFpublishing direction and range infoy'O-z.PRlyQ?YCr\ )8IDi7?y馾@%K>4@ K>)Co@IKB![=IfoH? $Q?@?1q?@?䶿???i?I^;CYDŽByO#IiMb@Mb@Mb@ 9S?1Zd?X9v?Y>y"=<@@ )@Yf@bD%VD%8y5E<%5=ٔ5LQ-=>9YYY=]EyYe3Ee>iQ 5u5m?Q 9u5m̛)m$BYu&@>Q Eu;yu?Q If@mDDImu;im;mK5yɮ@ii.brLAj"j:jP@"pv-g5`]-/[@p'O-z.PRlyQ?*j4"2jK*px|8"@VGG 8|t]uj@po1i?_=Щ]x?j jAisȦ?iY-jBjsȦ?j7l~-jڌBrjAzji@ addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.504113 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 26.884577 m, bearing: 290.034106 deg, lat: 36.779420 deg, lon: -121.859665 deg, deltaT: 0.504113 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 26.88 m.hahahahahagagjgrgBreZe:e*e(?[&@>[&@>"[?*[?W) ͬ?i9)c/8@ii!!I!I!)iI2Acoustic response timeouta B P>B .CB s#IB BB =B B DB j};B 4E 9bEM˻ 4jEM4rEMp/E  E E #E "E :*E .:VE 3ZE BE 2 >)I`v_ og?=[ ? t@G@)-IIi2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Ա^Ax>IIO?&,HlrLAb؉?b ?bsZٱb>bH`di?@C?ݾ?@?B:U?`p?o?ib؉?Ib ^;`YnByn>#IbDv!VDv8y~l%~(=ٔQ->9Y = Ey -p5E5>1Q 5=55?Q 9E55)52BYAyEo?Q IEf@5FDI5::i5G:5O5y$Bɮ@iirLAjA"jA:jˡ@"p "4Ҙ5VwZ-hk#@p%,KȞBW<?*j2j*psh`"@?9JEv_@peh[? )ԐC?j jAi}'퟊?iCĵ1jPBjj/jrjAzja@% addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.503937 s, deltaX: 0.200001 m, approachRate: 0.396877 m/s, rangeRepo size: 4 U Added new target pos. range: 27.084742 m, bearing: 289.696129 deg, lat: 36.779420 deg, lon: -121.859665 deg, deltaT: 0.503937 s, deltaX: 0.200165 m, approachRate: 0.397202 m/s, posRepo size: 4 UDNOT Ignoring new targets: 27.08 m.hQhYhYhYhYgYgYjgargareqZey:e}@33;@*e}5!?[["[*[Io?UsZ)Q U5?iU9)Y]08iiII2Acoustic response timeout@ @@/@)EE  EE EA EA "EE C:*EE *:VEA ZEA au @au @au @au @^A 8j>I I O >I %&,_)rLA2X*?2?2Z_ٱ2Vf>2H?z@-3?h? ?ɹ?@??i2X*?I2"+^;2CY:By:?#IFDDAT read: Rx Time:04:38:33.5988 JTRx dataTimestamp_ set to:1764909514.551435NPDAT read: Bearing 22.9, -33.0 (Local) N~Local bearing/azimuth received: Bearing 22.9, -33.0 (Local) VDAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.0 jDAT read: 04:38:33.5988 LVL= 32752, 20065, 23682, 32755, AGC= 55, IDX= 503, 0.31, 2.376,-1.646,-2.602,-2.333, PHS=-1.473, 0.732,-0.313, RAW= 298.3, 11.0, CAL= 295.7, 14.9, ROT= 214.3, -14.9 nYgot valid direction response: 04:38:33.5988 LVL= 32752, 20065, 23682, 32755, AGC= 55, IDX= 503, 0.31, 2.376,-1.646,-2.602,-2.333, PHS=-1.473, 0.732,-0.313, RAW= 298.3, 11.0, CAL= 295.7, 14.9, ROT= 214.3, -14.9 nR#Rx 1: Read range and direction messages.r`direction in FSK: [-0.798322,-0.544578,0.257133]rFpublishing direction and range infoyDFfًA/mFht?YFADDFaND D)F7IFDiFZd;?FAF&@F D>Fi&@ F%>)F`o@IF%DDF9Ud1{??n"?_? F"G@)FBEIF"iF%DD%2Acoustic response timeout%Querying Benthos address 50 with 120 pings in terminal homing one-way mode.1iMb@Mb@Mb@ 9V-?~jt?X9v?Yh>y=@@ )O@YbDE-VDE8y);%$=ٔ2Q->9Y=Ey0E>Q 5-5?Q 9-5)?BY5]2>Q E5;y5?Q I5f@IDI;iy;AT5y9ɮ=@9iDiFJrLAjFA"jFA:jFH@"pF4v5tXH-d~@pFfًA/mFht?*jF"2jF%*pF|&R.!@}axY"9s @pFTb0;?'@"n<Ϯ?jF jF AiF"dݟ?iF|,jFBjDjFY-jFBrjFAzjF:@ addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.504091 s, deltaX: -0.200001 m, approachRate: -0.396755 m/s, rangeRepo size: 4 U Added new target pos. range: 26.885588 m, bearing: 289.439372 deg, lat: 36.779420 deg, lon: -121.859665 deg, deltaT: 0.504091 s, deltaX: -0.199154 m, approachRate: -0.395075 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 26.89 m.hYahYhhhggjgrgBreZe:e;@*e{*?[]2>[]2>"[/?*[϶?UZ_)Q }ͬ?i}9)y顅[28$iiIIJ>i>=2Acoustic response timeoutQ@Q @Q@U5@Q@]=@]=ԑB ]>B /CB g#IB ڄBB =B B DB };B 4EBBBʔCB =B =Cʉ5 E]  E] sE] 'EY "E] :*E] Z:VE] '4ZEY BE] I I O >&,5rLAY%By-=#IbD=(VD=8y]/%]r=ٔ]Q-e?9aYa=mEyimEm?qQ 5}5u#?Q 9}5u")uHBYyyyQ I}f@uKDIu:iu:u6W5yɮ@DNOT Ignoring new targets: 26.89 m.hhhhhggjgrgreZe:e*e@?[["[*[) x?iD9) ~38 &i i II DDAT read: Rx Time:04:38:34.0990 TRx dataTimestamp_ set to:1764909515.055888%PDAT read: Bearing 20.8, -33.7 (Local) %~Local bearing/azimuth received: Bearing 20.8, -33.7 (Local) =DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed -0.1 mDAT read: 04:38:34.0990 LVL= 32752, 18577, 22514, 32755, AGC= 53, IDX= 505, 0.03, 2.513,-1.522,-2.439,-2.179, PHS=-1.489, 0.702,-0.303, RAW= 297.3, 11.5, CAL= 294.6, 16.0, ROT= 215.4, -16.0 }Ygot valid direction response: 04:38:34.0990 LVL= 32752, 18577, 22514, 32755, AGC= 53, IDX= 505, 0.03, 2.513,-1.522,-2.439,-2.179, PHS=-1.489, 0.702,-0.303, RAW= 297.3, 11.5, CAL= 294.6, 16.0, ROT= 215.4, -16.0 }R#Rx 1: Read range and direction messages.`direction in FSK: [-0.783551,-0.556841,0.275637]Fpublishing direction and range infoy  8HrΏ ?Y fA   H W ) 5I i F3? " , @ M> "@ 5>) p@I 5   $PWS¥/7?Ot*r? F@) LI !i 5  2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.9@ @@/@1^A0e>I9IIaOm>iߩ Iߩ  2Acoustic response timeoutԉ u&,rLAY~By~/#IbD-VD-8yE4^%EM=ٔAQ-E>9IYI=MEyIQEU>QQ 5]5U?Q 9e5Ux)USBYayaQ Ief@UMDIU ;iUu:UZ5ym!BɮuP@qE EyE&E"E:*E:VE4ZEa@a@a@a@iQiUrLAjUzA"jUzA:jUN@"pUn M5` }F.G&2@pU8HrΏ ?*jU!2jU5*pU`Ѳ"@*9C @pUD pG?b<?jUU jUgAiU ?iU m*jUBjQjQjQrjUAzjU+@ addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.504453 s, deltaX: 0.299999 m, approachRate: 0.594702 m/s, rangeRepo size: 4  Added new target pos. range: 27.184937 m, bearing: 290.606074 deg, lat: 36.779420 deg, lon: -121.859665 deg, deltaT: 0.504453 s, deltaX: 0.299349 m, approachRate: 0.593413 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.18 m.hhhhhggjgrgreZe:eL;@*e?[A[A"[A*[Aq)y }?i}9)y}48}iyiII5&DAT read: user:9> 5DAT read: 0 =8unknown deviceResponse_: 0 q ==(Communications Faulta = a = a = a = a = EDAT read: Ok E:unknown deviceResponse_: Ok E(DAT read: user:10> MBDAT read: Tx time:04:38:35.0467 M$Ping request sent.MI1 &M LCommunications Fault in component: DATII O] >9 ʟ&,]rLA2%?2@ ?22H?X@?,?`?vR???i2%?I2f^;2CYNByR4#Ii%Mb@Mb@Mb@!!!! !9% rh?|?5^?+?Y%C >y%=%=%@! %@)%f@!Y%@bDVD8y<%D=ٔQ->9Y=EyGE>Q 55윊?Q 95Œ)`BY33>Q E;yP?Q If@ODI:i:T^5yɮ@DNOT Ignoring new targets: 27.18 m.hhhhhggjg rg Bre Ze :e *e]A[533>[533>"[5%?*[5P?EB3CBa#IBԄBB =BBDBz};B4E@ @@/@@@zAE EE$E"E:*EF:VE4ZEBEp;a2Er;aJE;a:E;a=Powering downi=I=EEA^AA>II O >i &, sLA fH?fte?f7qٱfN>fH ? NM@w??@)N?j@~"??`?ifH?IfZ^;fCYrByr #IIv<)v9Y=EyUE>!Q 5-5%꜊?Q 9-5%3)%lBY)y-?Q I-f@%QDI%%:i%S:%a5y9ɮ=@9eDNOT Ignoring new targets: 27.18 m.hahahahihigigijgirgqEu uAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeEu}Transitioning to midcourse guidance. Received last range of 27.299999 m 29955916.800000 min ago.E}1FreZe:e*e[Y[Y"[Y*[]?7q) ?i9)顝GiiIIi9@ @@0@ԙE EzE!E"Es:*E :VEc3ZEa@a@a@a@^Ax>I I1 O] > &,t$sLA6?6͡?6mvٱ6 4>6HI?B@DN?s? p?广iϮ? 7?+?i6?I6-^;6CY>ByB&#IPi Mb@Mb@Mb@     9 /$?Cl?I +?Y 1>y ;= 94= @ @ @) |@ Y bD%VD%8y5=%5H=ٔ=SQ-=>99YA=EEyAED9EE>IQ 5U5M蜊?Q 9U5M)MzBY]5>Q E];y]?Q I]f@MSDIM;iM;MCe5yeBɮm@mץEDNOT Ignoring new targets: 27.18 m.hhhhhggjgrgBRg@1FCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeE Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangereZe:e*e[5>[5>"[/?*[6?mv) ?iپ9)OºiiII 9@  @@@^A5s>I9&UNClearing failed state for component DATq UIQO}>B >B 5CB T#IB ʄBB B B DB };B 4E! E  E E &E "E :*E *:VE 4ZE BE ;a 2E ;a JE g;a :E g;a &,3R>sLA2@?2%?2{ٱ2L>2H@ ?6@ ?@1f??>az??`i?i2@?I2-^;2CYBByB#IbDJVDJt8yRi%RT=ٔR^Q-V>9TYT=VEyTZYEZ>|\Q 5=5^!眊?Q 9=5^)^BY9yEV?Q IEf@^UDI^G{Aq9{AY7A^AU#>aIIO>ԁ &,*XsLA2?2D?2Nٱ2;>2H?J,Ӿ? Z?"? Һ???i2?I2w^;2CY:By:#I <<@@bDFVDF@8yN\A<%NK=ٔRSQ-R>9PYP=VEyTV9EV>XQ 5^5Z9圊?Q 9^5ZZ)ZBY`yb?Q Ibf@ZWDIZ;iZ{;Z'l5ydɮf:@dqPrrAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalPrzEntering Terminal tracking update period 2.000000 s sec at 27.299999 m (mode 0.000000 count ).PzPzfffgffrf q= z Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy=  { ɧ]v=]DE;ie/Ӓa)m> (kpHeading = 0.400000I: (kiHeading = 0.001000 >IL LIIM)MUiUԉԹ^A{u>IIO> &,xrsLA6 ?6?6 ٱ6V1>6H*?@ d?`L?@k?g@]? ?K?i6 ?I6^;6CY@y@i Mb@Mb@Mb@     9 /$?q= ףp?Mb?Y y = =  @ @)  Y Q@bD%VD%r8y5%5A=ٔ51Q-=>99Y9==Ey9Ec<EE>IQ 5U5M✊?Q 9U5M)MBYU7>Q EU;yUu?Q I]f@MZDIM;iMv;Mo5yaɮe=@a:k}@P}1Q}B*** querying acoustic contact ***iifffgffrfereZe:e*e[=7>[=7>"[=6?*[=u?MBɢUJm;)q uT=iq)}8yyi};ڼQq>ɧp>駅';iF"I] ]IAAB>B7CBN#IBńBB =B?DBDB};B4E^AM^W>IQIiOu>!Dm<Dm4=E EwE&E"E:*E:VE4ZEBE;a2E;aJEk;a:Ek;aQy &,asLA2h?2M?2ٱ2c>2Hw?m?b??By>##IbDZVDZz8yb =%bQ=ٔf^Q-f>9dYh=jEyhjPEn>tQ 5~5v?Q 95v)vBY y ?Q I f@v\DIv͐;iv:;vFs5y!ɮ%@!BkI1QMqQUfififigifqfqrfqeqreyZey:ey*e[["[*[#?uBɢ!;) (=i)^" 9iܼ v>ɧ?>GIaIqO}{>E ExE%E"E:*E:VE 4ZEa@a@a@a@ J&,sLA2zԂ?2?2ٱ2J>2H ? `/?`2? ~?o!@?`?@?i2zԂ?I2(&^;2CYNByN#IIR=)Rp9Y=Ey,E>Q 55bޜ?Q 95^)BY:0>Q E;y-@Q If@^DI,:i:w5yɮ%@JkqQrCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalqPAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalfffgffrfereZe:e*e[ :0>[ :0>"[ CvN?*[ R-@%iBɢ%u;)! %=i!)-e9))i-޼5|>ɧ5@>5%N) B >B 6CB H#IB BB =B B DB };B 4ED zD @AbEjEJ4rE˻0E  E uE E "E :*E :VE ZE BE ;a 2E ;a JE hd;a :E id;a )&,BsLA2G?2?,?2ٱ2>2HR?;G?&?@7?e@/O???i2G?I26 ^;2C@YBByB#IbDNVDNY8yVӲ%VZ=ٔV[Q-V>9XYX=ZEyXZ+<E^>`Q 5f5b$ܜ?Q 9f5b)bljBYdyf@Q Iff@b`DIb%:ib:bIz5ylɮnh@lf|f|f|gffrfereZe :e *e [)[)"[)*[-@颽^BɢM<) @=i)E9i༩̈́>ɧy>}=Powering upE"Initializing DAT. &,musLA63?6_?6錽ٱ6>6H D?`b?@?y?`?Y?`?i63?I6];6CY#IbDJVDJF8yN= ;%RK=ٔRD9Q-R>9TYT=VEyTVH6EZ>XQ 5^5Zٜ?Q 9b5Zo)ZՉBY`yb@Q Ibf@ZbDIZ:iZ;Z}5ydɮfa@hlfxf|f|g|f|f|rfereZe:e*e [)[)"[)*[-@=QBɢ='<)9 =>iA)E9AAiE⼩M6>ɧM>Mtɗ1a ;&,jPsLAY~By~#I   A9iMb@Mb@Mb@ 9X9v?Q?9Y=EyE>Q 556ל?Q 95)BY0>Q E;y@Q If@dDI;i;5yɮ@B*** querying acoustic contact ***iifffgffrfereZe:e*e[0>[0>"["J?*[k@CBɢ3<) #>i)?:io'弩%>ɧ%>-KB=5CB=A#IB=BB= =B=@DB=DB=};B=5EB5CB5CBB =B =Cyl6IU  U IY^AMqI IO-,>Em Em~EmEi"Em:*Em(:VEmـ3ZEiBEm;au2Em;auJEm;au:Em;a}ԑ ,&&,T5 tLAR?Rˏ?RٱRp>RH ?6n?`?@M?뮽?? ?iR?IR^;RCYbByf#IbD%VD%N8y5 <%=S=ٔ=BQ-=>9AYA=EEyAE5EE>IQ 5U5M՜?Q 9]5M>)MBYYy]@Q I]f@MfDIM:iM;M 5yaɮek@ifffgffrfԑereZe:e*e[["[*[@8BɢKo<) A>i)Y8:i0/缩^>ɧO>rE ErE"E"E:*E?:VE(3ZEa@a@a@a@ M &,['tLA2 %?29 ?2"ٱ2[>2H[? Q?`?,?a@?@!? S?i2 %?I2"^;2CYRByR #Ii-Mb@Mb@Mb@)))) )9-zG?`"?{Gz?Y- =y-=-#=-@) -@)))Y-@bDVDb8y>%D=ٔԺQ->9Y=Ey E>Q 55yҜ?Q 95)BY)>Q E;y2@Q If@hDIA:i:5yɮ @fffgffrfere Ze :e *e [-)>[-)>"[-'[?*[-U2@=+BɢE0Li<)A EG>iA)E c:IIiM݆鼩U>ɧU?UBj!QB= >B9 B= 5#IB= BB= =B9 B= DB= };B9 E  E ~E $E "E s:*E (:VE 4ZE BE ;a 2E ;a JE a :E a ԑ E&,#AtLAF_?F?FӓٱF(>FH4?@.?O?`?{MEv? {??iF_?IF! ^;FCYNByR#IIb<)bbDfVDf8y~Ҽ%~T=ٔ~ Q->9Y=Ey E >Q 55$М?Q 95j~) BYy%@Q I%f@jDI;iQ;5y)ɮ-\@)fIfIfQgQfQfQrfQeQreYZeY:eY*eY[["[*[i@Bɢ/u<) RV>i)k:i뼩Ɛ>ɧ.?}6H@#e???K?Q? ??i6ҏ~?I6];6CYRByR"IbDZVDZ8yb4%fN=ٔfSQ-f>9hYh=jEyhjEj>lQ 5r5n͜?Q 9v5n})nBYtyv@Q Ivf@nlDIn~:in:n5yz Bɮz~@~֥Efffgf!f!rf!e!re!Ze):e)*e)[I[I"[I*[Mq@eBɢe4<)eS mrf>ii)m`:iiimuא>ɧu,?u =i}ZKyyI}J }JIE% E%|E%%E!"E% ;*E%P$:VE% 4ZE!a-@a-@a-@a-@ԙ59@ =@  >^A'=A AI) IA O] > d&,EttLAV}?V3Ț?VwٱV>VH@?jּ???ƾ ʲ? ?`?iV}?IV*^;VCY^Byb"IiMb@Mb@Mb@ 9V-?i|?5?~jt?Y=y==@ @ )O@Y@bDVD8y2%;=ٔQ->9Т>YТ>=Ey EeE>Q 55c˜?Q 95^{)%BY->Q E;y?Q If@nDI:i4:X5yɮ@ B*** querying acoustic contact ***i i fffgff!rf!e!re!Ze!:e)*e)AAB>B6CB.#IBBBBBB};B 5E5Bɢ=Đ<)9 =~>i9)=%l:9AiE𼩧M>ɧME5 E5E5$E1"E5U:*E5|;:VE54ZE1BE5;a=2E5;a=JE5;aE:E5;aEAuAIyIO~>I G% /{A9 ] 9] /{AYe A#&,tLA^|?^'?^wٱ^>^H`?>ӻ??m?Gz έ? `f?ڔ?i^|?I^];\YvqByv"I xxbD VD p8y%V=ٔ:Q->9% ?Y% ?=%Ey% E-QE->)Q 55-Tɜ?Q 95-y)-1BYyr?Q If@-pDI-:i)<:i:󼩧>ɧJ?$a"=i   I t tI zAxAIU9^A-QJ>A}2AyIIO^>EM EM|EM#EI"EM:*EMP$:VEM3ZEIau@au@au@au@ԩ ))&,tLA2)K{?2?2Pؓٱ2p >2HN(?Ǩğ? ?@Dl?@`v?C?@?i2)K{?I2a^;0  0=   @ ) f@ Y =@bD%VD%s8y5P%5H=ٔ=;Q-=>9=?Y=?=EEyE EEt@EE>IQ 5U5MƜ?Q 9U5Mcx)M?BY]4>Q E];y]@Q I]f@MrDIMP;iM;M@5yaɮe@ifffgffrfereZe:e*eBɢ뎞<) >i)E:iK>ɧ%Z[?%{/=i%O$IIIM MIaԩ9$B>B5CB(#IBBB =BBB~;B5E@@yA^A > DA zDE AAEM  EM EM $EI "EM :*EM .:VEM 4ZEI BEM N;a] 2EM O;a] JEM ;ae :EM ;ae A ܏AI I O >d0&,3jtLAB.z?Bn?B&ޓٱB]>BH cj?@=?@?u?w?M?`ǧ?iB.z?IB4^;BCYHyJ"IbDbVDb8yjU;%jQ=ٔnQ-n>l9~?Y?=Ey E3E> Q 55 Ĝ?Q 95 v) MBYy@Q I]f@ tDI P#i ) [;  i 5/>ɧ5Ek?5d7<=i=F99I=1^A5>Ae Aa Iq I O >6&,EtLA2|y?2jo?2qٱ2>2H@ɫ?`pO?(?`?F@r?)??i2|y?I2.^;2CY:dBy:"IbDFVDFn8yN@h%NN=ٔNkH9Q-R>9R??YR??=REyR EV3EV>XQ 5^5Zq?Q 9^5Zku)ZZBYyS@Q If@ZwDIZ'Xi) ;顙ighH>ɧ {?駥H=i?I? ?IE E}E%E"E%:*Ek&:VE 4ZEa@a @a @a @9q`Tԑ^ALz>I I O > <&, tLAY~hBy~"IԙiMb@Mb@Mb@ 9+?Zd;?l?Y>y==@@ )@Y@bDVDr8y<%8=ٔQ->9Y=Ey EE>Q 55?Q 95Es)iBYMN>Q E;y?Q If@yDIo:i:5yɮY@B*** querying acoustic contact ***iif!f!f!g!f)f)rf)e)re)Ze):e1*e1B]<A]<B]>B]7CB]"#IB]BB] =B]?DB]DB] ~;B],5E}ÃBɢ3<) >i)ZN';顁id&f>ɧ ?駕-X=iI I9bE4jE3rE0E  E E &E "E :*E *:VE 4ZE BE @E>^A8]L>I I O ! C&,uLA2v?2vR?2+ٱ2 >2H/?@$w@k?`?v? ͽpa?s ??i2v?I2];2CY:jBy:"IbDBVDBn8yJh<%J`=ٔN>:Q-N>9PYP=REyR ER|üEV>TQ 5Z5V?Q 9Z5Vq)VuBY\y^?Q I^f@V{DIV;iV;V05y`ɮb.@dftftftgtftfxrfxexrexZex:e|*e|%Bɢ%<)) -y>i))-7;))i-a56>ɧ5Ҏ?=d=i=99I= =IA5o9^A/>IyIO=!E- E-E)E)"E-:*E-3:VE)ZE)a5@a5@a5@a5@Qy I&,8)uLA6u?6ݖ?6ٱ6X >6He?Wl)?~?`2?ܽ@Z???i6u?I6^;6CYNgByR"I TTVAVAi-Mb@Mb@Mb@)))) )9-&1?Q?Mb?Y-P>y-=-=- @-@ -(@)-|@)Y-=@ M4=ٔu{9Q-u>9yYy=Ey EE>Q 55漜?Q 95n)BYt>Q E^;yz?Q If@DI@;iZ;5yBɮL@ͥEYfffgffrfereZe:e*e%Bɢ%2<)! %H>i!)-N;))i-eH5>ɧ5?5t=i599I= =I9-z9^Ah5=IiIyԁO9>B]>B]8CB]#IB]BB] =BYB]DB]"~;B]<5EB6CB6CBB =BCȶ6ԩD zD E%  E% E% 'E! "E% :*E% *5:VE% '4ZE! BE% b;a5 2E% c;a5 JE% ;a5 :E% ;a5 P&,CuLA2t?2Y?2ڑٱ2>2H@?`bo?`:r?@V?@u b7??f?i2t?I2^;0YNfByR"IbDZVDZx8yv%zR=ٔzI:Q-z>9|Y|=~Ey~ E*E>Q 5 5?Q 95l)BYy?Q If@DI:iu:Y5y!ɮ%^@!fAfAfAgIfIfIrfIeIreIZeQ:eQ*eQ颅Bɢ=) >i)Z`;顉izÑ>ɧ?駕ݲ=iFIF FIԱۺ9@@zA^AS=IIO > 9 W&,]uLA2fs?2ŕ?2^ٱ2L>2H?W囶?sd?@0??U`??@,?i2fs?I22^;2CY:UBy:"IbDFVDFi8yJ%JP=ٔN;Q-N>9PYP=REyR ER];EV>TQ 5Z5V ?Q 9^5V4j)VBY\y^?Q I^f@VDIV;iV ;VDz5ydɮfd@dftftftgtfxfxrfxexrexZe|:e|*e|颥Bɢg<) ?>i),u;顩i8>ɧW?駽=iI IE EE$E"E:*E3:VE4ZEa@a@a@a@9^Au<I!IyO>9i (6]&,iwuLA 2՟r?25?26ٱ2J=2H )?`J'1?`V?5?ӱ+ñ?蠿?`W?i2՟r?I2^;2CY^`By^"IiMb@Mb@Mb@ 9|?5^?Zd;? ףp= ?YM>y=Q8=@AAB>BBBB =BBDB~;B25E @)@Y@bD%VD%k8y-A=%53=ٔ5;Q-=>99Y9==Ey= EEEE>IQ 5U5M񹜊?Q 9U5M}g)MBYU#u>Q EU];y]A?Q I]f@MDIMm ;iM;MĶ5yaɮe@a}B*** querying acoustic contact ***iyiyfffgffrfereZe:e*eBɢ =) 6>i);iQ>ɧ? =iI IIp<);q99^AļE EEE"EI:*EA:VEZEBE id&,SBuLA6Hq?6P?6[ٱ6->6H`d? .=o? 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X? ?@@>H?`? ˜?i2Er?I2 ^;2CY:eBy:"IbDFVDF8yJmY=%NM=LٔR{;Q-R>9PYT=VEyV !EV3<EV>XQ 5^5Zg?Q 9^5ZL)Z,BY`yb?Q Ibg@ZDIZb;iZ+;Z5yfBɮfN@fĥEfxfxfxgxfxfxrfxe|re|Ze|:e*e5Bɢ5Bm=)1 5B1?i9)=q<99i=9E>ɧE @E8=iMufIIIMuf MufIQ UUI])]E EE"E"E7:*E.:VE(3ZEa@a@a@a@AyAzAzAII)O=P>! ѝ&, yvLA6cs?6?6P[ٱ6>6H@?`:?`g?Q?`G@f? ?Ŝ?i6cs?I6^;6CYRaByR"I|i-Mb@Mb@Mb@)))) )9-y&1?X9v?~jt?Y-`>y-=-=- @-@A9A=AABE>BE9CBE"IBE~BBE =BE?DBEDBE};BE4EB 8CB 8CB B =B C .6 ))-@)Y-@bDmVDmw8y}u%}==ٔe;Q->9Y=Ey!E^%<E>Q 55?Q 95H)Q E;y?Q Ig@DI;i;5yɮ@B*** querying acoustic contact ***iifffgQfQfQrfYeYreYZeY:eY*ea颭Bɢe=) 7?i)<i,>ɧ@r=iI IIyIO=1D=D<E EE%E"EƱ:*E=:VE 4ZEBE?;a2E@;aJEȔ;a:EȔ;aQԁ &,JӓvLA2t?2J?2CjTٱ2*>2H ?`JQn?y?)?;9tYt=vEyv!Ezi<Ez>|Q 55~?Q 95~E)~JBYy=?Q Ig@~DI~;i~F:~75yɮ@f1f1f1g1f9f9rf9e9reAZeA:eA*eAYuBɢu|؂=)y }>?iy)}bɧ@駍U=iI Iԁ^AIAIQOeU>ԱE EE$E"Eغ:*E*:VE4ZEa@a@a@a@ g&,vLARSgv?R?R)LٱR>RH R?`["?I?@?Zɘ? ?@Y?iRSgv?IR^;RCYZgByZ"II^=)^;b=b=iuMb@Mb@Mb@qqqq q9uCl?Mb?Q?Yud>yu>u\=u@u@ q)u@qYqbDVDQ8y<%?=ٔ5;Q->9Y=Ey!Ep<E>Q 55x?Q 956A)ZBYT>Q E;yo?Q Ig@DI5;i-;5yɮ2@fffgff!rf!e!re!Ze!:e)*e)UՂBɢ]=)Y ]H?iY)]%ɧm@m=imKiiImK mKIqDAT read: %VDAT read: Teledyne Benthos DAT-900 Series ^AmHՀAu?Au?AIIOC>B=>B=:CB9B9B= =B9B=DB=};B=5E D zD ?AE  E E #E "E :*E X:VE 3ZE BE 2H?`6l ?:?C?>?`K.? ?i2x?I2];2CY:eBy:"IbDFVDFl8yNi%N]=ٔN;Q-R>9PYP=REyR!EVא<EV>XQ 5^5Z2?Q 9^5Z=)ZhBY\y^7?Q Ibg@ZDIZM;iZj;Z25ydɮfG@dftftfxgxfxfxrfxexre|Ze|:e|*e|-ȂBɢ- =)) -N?i))5T/<11i5P=v>ɧ="@=)D>i=FAAIEF EFIA9^A]mYIQIaOm>Aqԩ $&,dvLA6y?6И?6ȁ<ٱ6>6H ݇?`{??=? 0H?ɟ?`_?i6y?I6^;6CYNcByR"IbDXVDXybgO%bH=ٔbV;Q-b>9dYd=fEyf!Ef<Ej>hQ 5r5j뼜?Q 9r5jj9)jvBYpyr?Q Irg@jDIj{;ijw;j5ytɮzr@xfffgffrfere!Ze!:e!*e!MBɢU/=)Q UT?iQ)U{y:ɧe)@eݮ>ie*aaIm* m*IiE EE%E"EU:*EE7:VE 4ZEa@a@a@a@@=zA@=zAq^A[Z&IIAOu6>ԩ > &,?vLA2b{?2\ԙ?2'@4ٱ2!>2H?ٍ ?`-?b?@渿`(??@?i2b{?I2];2CY:iBy:"I TTVATBr>Br;CBr"IBryBBpBpBpBr~;Br;5EiMMb@Mb@Mb@IIII I9M r?`"?~jt?YM>yM=M=M @M @ M@)M@IYIbDiVDiy<%>=ٔ;Q->9Y=Ey"!EP<E>Q 55 ?Q 954)BY>Q E;y?Q Ig@źDIv;i;5yɮ@B*** querying acoustic contact ***iifffgffrfereZe:e*e颥Bɢ=) `?i)RG<顩ibJvN>ɧ0@p >ipIp pI^A aE EE#E"E7:*E*5:VE3ZEBE;a2E;aJE;a:E;aIIO > CMGM9 Y JA) ] :DAT read: MF Frequency Band e vDAT read: Directional Acoustic Transponder version 8.15.0 m BDAT read: Dec 5 2025 04:38:47 U&,/RwLA02}?2:ך?2:+ٱ2 $>2H?/FN??@Y?9\e?`y?@C?i2}?I2];0Y;Q-R>9PYT=VEyV&!EVH<EV>XQ 5^5Z?Q 9^5Z 1)ZBYyy}?Q Ig@ZʺDIZwɧ}7@}|>i}Lby ILb LbI^AUIIO>AD}%=D}4=E EE%E"E;*E:VE 4ZEa@a@a@a@i N2&,'.wLA02~?2jɛ?2\!ٱ2[%>2H&?:˥??]? ?D? |?i2~?I26^;0Y"IiMb@Mb@Mb@ 9?ʡE?X9v?Y>y=<@ @ )Y@bDVDz8y5J;%C=ٔ;Q->9Y=Ey*!E-<E>Q 55.?Q 95T,)BY>Q E:yv?Q Ig@кDI{:iA:5yؓBɮ@Efffgffrfe re Ze :e *e =Bɢ==)A ESo?iA)EB_ɧM>@M>iUQQIU UIY@m=@m=^A`=ԉIIO=ԹB>BBBB =BBB#~;BJ5E E  E zE "E "E :*E  :VE (3ZE BE b;a 2E c;a JE v;a :E v;a &,=HwLA2 À?27?2ٱ2C%>2Hɾ?`??@?@2A? ??i2 À?I2];0YLyLIR%=)R=V=V=bDZVDZd8\ٔf;Q-f>9dYh=jEyj.!Ej<Ej>lQ 5r5n,?Q 9v5nC()nBYtyvR?Q Ivg@nպDIn:in:n5yxɮxfffgffrfereZe:e!*e!额zBɢՠ=) w?i)tm<顡iV U@>ɧ3E@駭>iI I^A=IIO]>A BD&,;bwLA6?6?6UW ٱ6I#>6H@Y?S8?%?B?| J?#^?@?i6?I6L^;6CYByByB"IbDJVDJq8yR?!=%R<ٔVj;Q-V>9TYT=VEyZ2!EZ<EZ>\Q 5b5^"œ?Q 9b5^#)^BYdyf-?Q Ifg@^ںDI^;i^:^b5yhɮj@hf!f!f!g!f)f)rf)e)re)Ze1:e1*e1DYzD]@AEe EeEaEa"Eey:*Ee3:VEaZEaam@am@am@am@LDAT read: Features enabled [Bearing] DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP commRate: 600颕mBɢ\ =)]S ?i)x<顙ir!چ>ɧ7L@駥_#>iz Iz z I^AgE=IIIO (>qԡ _n&,Q|wLA2iG?2,?2ٱ2!>2H?[ 5?4? ~?G@`??}?i2iG?I2^;2CY:zBy8A@AB@ABDBDBF"IBFtBBF =BDBDBDBDyiMb@Mb@Mb@ 9l?T㥛 ?Q?Y>y>\=@ @)@YbDVDy;%:=ٔ9;Q->9Y=Ey6!ED<E>Q 55Ü?Q 95)ˋBY>Q E:y?Q Ig@DI";i;95yɮ@ B*** querying acoustic contact ***i i fffgffrfere!Ze!:e!*e!U]Bɢ-=) 7?i)9Ӄ<i #>ɧwT@)>i%I% %I@y@}yA^AM>bE3jEc3rEA/Em EmEm%Ei"Em:*Em*5:VEm 4ZEiBEmx nV&,9cwLA2҂?2췞?2Dٱ2ߙ>2H`?B`?@? G?pz!?@? ?i2҂?I2];2CYNsByR"I TTTVAbD^VD^t8yv%vX=ٔv 9xYx=zEyz:!E~z8<E~>Q 5 5Ü?Q 9 5)؋BY y ?Q Ig@DI:i>:5yɮI@fffgffrfereZe:e*eNBɢ=) [?i)R<i$ 9<>ɧ [@ ѭ/>i `S󿉧  >I`S `SI^Al,>IQIaOu=D}=D}<E EE"E"E7:*EX:VE(3ZEa@a@a@a@1a &,G>wLA2?2?2d6¼ٱ2>2H8?*?G?!3?@ 7F?{'?`n?i2?I2%^;2CY:}By:"Ii%Mb@Mb@Mb@!!!! !9%{Gz?"~j?y&1?Y%>y%S=%`<%@! %@)!!Y%@bD=VD=8yM;=%MD=ٔMJ9QYQ=UEyU>!E]o;E]>aQ 5m5eYŜ?Q 9m5e)eBYmB>Q Em:yu?Q Iug@eDIeA:ieI:e)5yɮ@1fAfAfAgAfAfArfIeIreIZeI:eI*eQ}>Bɢ}*=) ӏ?i)z<顁iM&>>ɧrc@駕?5>iq򿉧Iq qIaB>B:CBBBBBB~;BC5EBE;CBE;CBEƓCBE =BE =CEX4`k@>@>^A:n>II)O5>ԉE  E E 'E "E %:*E 1]:VE '4ZE BE ;a 2E ;a JE ;a :E ;a Թ 9IYI=MEyUB!EUEU>aQ 5u5eƜ?Q 9u5e)eBYqyyQ I}g@eDIeX;ie[O;e5yɮ@fffgffrfereZe:eI*eIu.Bɢ}[=)y }?iy)}( <顁i'P>ɧk@駍%<>ip񿉧Ipԑ pI ^A>AIIOe> ґ&,wLA2?2&Ξ?2rٱ2G>>2H?: @4? D?kt? ]?K?ڹ?i2?I2G^;0YNByN#IIf<)fp=j=hbDnVDnx8yv=%vP=ٔzո9xYx=zEyzF!E~ E~>Q 5 5AȜ?Q 9 5 )BY y?Q Ig@DIS:i: 5yƓBɮ@ED9zD=?AEE EEEE$EA"EE:*EEA:VEE4ZEAaM@aM@aU@aU@fQfYfigififirfieireqZeq:eq*eq颥 Bɢ=) ?i)s<顩iHj)\>ɧvr@駵LA>i𿉧I I*entering command mode%\1 DAT read:  &DAT read: user:1>  (setting verbose to 3Q ^A FӅ>A5 ؟AIA IQ O] >?&,wLAB A B>BB"IBoBB =BBDB&~;BE5EZb?ZG?Z_0ٱZH=ZH`Ww?`:?_%?`M?@5D&r? ??iZb?IZ];ZCYbByb#IiMb@Mb@Mb@ 9ʡE?Cl?Zd;O?Y->y;=j<@@ t@)@YG@bDVDk8y;%<=ٔy9"?Y"?=EyK!E߼E>Q 55kʜ?Q 95)BY>Q E:yr?Q Ig@DI:iV:5y ɮ @ %B*** querying acoustic contact ***i!i!f1f1f1g1f1f9rf9e9re9Ze9:eA*eAmBɢm=)q u?iq)u+ɧz@駅H>i￉I IAEM EMEM"EI"EMO:*EM*5:VEM(3ZEIBEM mTDAT read: Verbose | 3 m set verbose to 3m6setting DatVerbose to 27440@]@]@]@]qԙ  &DAT read: user:2>  TDAT read: DatVerbose | 27440  .set DatVerbose to 27440 6setting transmit power to 8A I I O > &,oxLA T? $:? :ٱ b= H`7?c???U_1[@ߺ? ?i T?I ^; CYeBye"IbDuVDu{8y/Ǽ%H=ٔ?t9Y=EyO!E़E>Q 55̜?Q 95l)BYyp?Q Ig@DIS:i:~5yɮK@fYfYfYgYfYfYrfYeareaZea:ea*eaBɢ&=) ?i)><in,:?>ɧ`@O>iD )I-D -DI1AyIIO=>YE EE$E"EI:*E0:VE4ZEa@a@a@a@&DAT read: user:3> TDAT read: TxPower | 8 (Max) .set transmit power to 86setting local address to 11ԉ & &, 2xLA0:~?:y)?:Ǭ;ٱ:Q=:H`u?? ?$f? 4~߸?@?i:~?I:f^;:CYBByB#I DDHJAiMb@Mb@Mb@ 9^I +?!rh?~jt?YX>yl=<?@ ^@)Y@ 5p<5bD5VD58yE&d=%MO=ٔMRt9IYQ=UEyUS!EUwEU>YQ 5e5]Μ?Q 9m5]F)]BYm!?Q Em:ym?Q Img@] DI]:i]:]5yqɮ}@yfffgffrfereZe:e*e]&DAT read: user:4> eTDAT read: LocalAddr | 11 e.set local address to 11m\Setting time to: 4:38:56 And date to:12/5/2025额BɢF=) c?i)3<i+->ɧA@5U>ijIj jIԑAE.AIIIYOe4>B>B6CBBB =BBDBc~;BS5EԹ E  E E E "E U:*E xv:VE ZE BE ;a 2E ;a JE ;a :E ;a  &DAT read: user:5>  NDAT read: Fri Dec 5, 2025 04:38:56  fLocal DAT time set to Fri Dec 5, 2025 04:38:56  2Acoustic response timeout 6setting remote address to 8&,5~LxLABGLX\v#[9tYvWAYBy#IbD VD8yǣ<%==ٔQ->9 ?Y% ?=%Ey%W!E%E%>)Q 555-Pќ?Q 955-)-BY9y9Q I=g@-DI-:i-):-5yEȓBɮEs@MEfififigififqrfqeqreqZeq:ey*e}@I86@ށBɢA=) ٬?i ) <  i mO/4 >ɧ~@[>ieIe eI!]&DAT read: user:6> eTDAT read: RemoteAddr | 8 e.set remote address to 8m2Acoustic response timeoutmQuerying Benthos address 50 with one ping in standard two-way mode.A؟AIIOJ>9 &,AfxLA2dy?2u?2<ٱ2=2H ŧ?`͚#'??@?@ `Nε?`?i2dy?I2k^;2CDLzDLER ER{ER%EP"ER:*ER5":VER 4ZEPaV@aZ@aZ@aZ@YZByZ#Ib&DAT read: user:7> fBDAT read: Tx time:04:38:56.6582 f$Ping request sent.f9~"?Y"?=Ey[!E`E> Q 55 Ӝ?Q 95 ) BYy!?Q I%g@ DI ,;i -; 5y)ɮ-@)fIfIfQgQfQfQrfQ@U UAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@pTransitioning to terminal guidance at range 27.299999 m @1AereZe:e*e 6@]ρBɢ]>)Y ]?iY)es^ɧm@ua>iA쿉IA AIQIAIiO:>quchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250903ԡ A AAA B >B 4CB B B =B @DB DB x~;B H &,xLA2gv?2].?2:<ٱ2 =2H8N?`y !?`1?@[?}}暿)??i2gv?I2^;2CYbByb#IIf<)f9Y=Ey_!E8ռE>Q 55֜?Q 95C)BY?Q E:y4?Q Ig@DI:i: 5yBɮ!@EB*** querying acoustic contact ***iifffgffrfbf@1ACompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeereZe:e*en7@颭Bɢn=) ?i)%8<项i1 >ɧ@h>i QQ뿉  I QQ QQIE EE#E"E[:*E*5:VE3ZEBE  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7584741&&,+xLA2s?2ϕ?2ir=ٱ2=2H@?NV@脶? &t?`?b_bq? 9?i2s?I2;^;2CY:By>#IbDFVDFj8yN=%N[=ٔR9PYT=VEyVc!EVEV>XQ 5^5Zٜ?Q 9^5ZK)Z"BY`ybձ?Q Ibg@Z$DIZQ;iZ+;Z#5ydɮf@dqL]]~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalL] ]Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLLemEntering USBL mode with 120.000000 count pings at 27.299999 m (mode 0.000000 count ).Lm1MmDuuAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1Eu }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.qGGqEgh7gh7FAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1GDReached init depth of 66.305313 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*eg7@Bir=)  i)8<L7iIIIO=D=D4=E EE E"E:*Ek:VE3ZEa@a@a@a@=p=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007366)a {[,&,ԳxLA2$p?291Y1=Eyg!EټE>Q 55ݜ?Q 95))#BY ?Q E:y֭?Q Ig@,DI :iH:'5yɮ@j^@1MqMhϕ?hhhhggjgrgBereZe :e *e 7@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259043AMBɢMQ<)M}" M89iI)Ud8Ieϕ?IeAAzAAABM_>BM0CBM"IBMjBBM =BIBMDBMh~;BM65EaAI!I9OER>ԉbEQjEU3rEU]%0E  E E !E "E :*E rN:VE c3ZE BE ``?@?i2'n?I2&^;2CYBByB#IbDRVDRc8yZrZ%ZR=ٔ^V9]Y]=]EyYeCۼEe>iQ 5u5m✊?Q 955m)m$BY1y5}?Q I=g@m3DIm*[!}?ɢ<) @i) 0<i1if࿉I I IIO >Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762896Թ l9&,߇xLA6k?6#?6tE=ٱ65o=6H?@<Ҹ???Ѐ?Π?@ ?i6k?I6^;6CD@zDB@AEF EFEF$ED"EF:*EF':VEF4ZEDaJ@aJ@aJ@aJ@YNByN #IVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015406bD^VD^N8yfѭ<%fI=ٔjB9hYh=nEylnԼEn>pQ 5v5r 朊?Q 9v5r8)pYxyz+?Q Izg@r:DIr:iry:r.5y|ɮt@jMCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLL Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLh)h)h)h)h)g)g1jg1rg1e1re9Ze9:e9*e="8@[a[a"[a*[e+?uBɢu<)q u;iq)u6BM ,CBM "IBM eBBM  =BI BM DBM C~;BM 5EB%4CB%3CB%˘CB% =B% =C%}7y ^A ?΅>I I O >A&,/QyLA2oh?2a^?2\=ٱ2PF=2H c?p?? ?f? k I? ?i2oh?I2^;2CY:By:(#Ii~Mb@Mb@Mb@|||| |9~!rh?1Zd?y&1?Y~l?y~"=~`e<~@~@ ~@)~@|Y~@bDuVDu^8y}D<%-=ٔB9Y=EyE>Q 55`뜊?Q 95)#BY6 ?Q E:y?Q Ig@BDI:i:25yBɮ@EB*** querying acoustic contact ***iixhhhhhggjgrg,BereZe:e*eE9@[6 ?[6 ?"[]L>*[v?E5 E5E5%E1"E5:*E5 H:VE5 4ZE1BE1a=2E5IIO>A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770850q u+G&,wyLA2_f?2?2&Pu=ٱ2G=2H ?? ?,E?S?SÞ?@N?i2_f?I2^;2CY@y@IF>)Fp;F=F=bDJVDJ'8ٔf9dYh=jEyhjeEj>lQ 5r5n?Q 9v5n)n!BYtyv?Q Ivg@nHDIn`:in:n55yxɮx|hhh!h!h!g!g!jg)rg)e)re)Ze):e)*e5s9@[Q[Q"[Q*[U?aɢe2<)a mI I O5 > -UM&,7yLAbchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274899YBy##IiMb@Mb@Mb@ 9%C?A`"?y&1?YZ?y=|@ @)@Y=@bDXVD8yQ%<ԹٔQ->9Y=EyE%>YBI>BB"IB[BB =BBBH~;B5EQ 55]7?Q 95])]BY'?Q E:yb?Q Ig@]QDI]6*[b?Bɢ"<) S@ 9>)w@I9q0 ЃK[?V!? Ե>@)!I"i9  T****** received valid address query ****** R****** received valid ping request ******% Querying Benthos address 50 with 120 pings in terminal homing one-way mode.9 i-&DAT read: user:8> 5BDAT read: Tx time:04:39:00.4582 5$Ping request sent.5IIO%?V&,[yLAF`?L7?=ٱ'־=H 6? ;@˒?`?@E??k` ·?P?iF`?I$^;CY5By=$#IbDeaVDe8iyu:%}=ٔ}9Y=Ey*E>Q 55T?Q 95F)BYy?Q Ig@YDI2:iK:>5ybBɮ@ii*IyLAj B"j B:j>b@"p W9̦o6E&@pKc R'lE@?*j"2j9*pο'!@ł \@H4@pVǘG?왚Ne1?j jAiG?ijvBjG?j|,jrj Bzj5@ addTargetRange:: Added new target pos. range: 34.599998 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 "i*i  Added new target pos. range: 34.451984 m, bearing: 285.375517 deg, lat: 36.779420 deg, lon: -121.859664 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 :i DNOT Ignoring new targets: 34.45 m.2iPowering the camera and arming the capture device at range: 34.60 m.i"i*i- ProNav pure pursuit: ac range: 34.451984 m, nav range: 34.625202 m, bearing: 285.064520 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 67.059439 deg, new cmd heading: 285.064520 deg. 5HeadingCmd: 4.975315 target range: 34.451984 and range: 34.60 m.h55@h1h1h1h1i1g1g9jg9rg9e9reAZeA:eELA@*eE?[a[a"[a*[e?}Bɢ}J<)}1= } zchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250238IIO> ,\&,uuyLAz/ ^?zA?z˞=ٱz--=zH@?@Z5?7?$?@ъ?eԳ?3?iz/ ^?Iz ^;xYBy#IiMb@Mb@Mb@ 9+?&1?~jth?Yv>y=D;l@ @)Y@bDZVD8y#ؽ%D=ٔdX9Y=EyƼE>Q 55T?Q 9 5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502368)BY?Q E:y?Q Ig@`DI$k;i9j;=B5y!ɮ%U@!:iIUDNOT Ignoring new targets: 34.45 m.2iQUPowering the camera and arming the capture device at range: 34.60 m.iQ"i]$*i]$m  ProNav pure pursuit: ac range: 34.451984 m, nav range: 34.806061 m, bearing: 284.883318 deg, approach rate: 0.435324 m/s, LOS rate: -0.433884 deg/s, cmd heading: 285.064529 deg, new cmd heading: 284.883318 deg. uHeadingCmd: 4.972152 target range: 34.451984 and range: 34.60 m.hu@hqhqhqhqiqgqgyjgyrg}!BeyreZe:e*e@/?[?[?"[ZGO>*[?颽Bɢ1 <) @i)<i.iI@IA@AABB>B+CB"IBKBB =BBB~;B?5E^A?΅>II!O5q>)E  E E #E "E ;*E :VE 3ZE BE .N9dYd=fEydjiEj>hQ 5r5j?Q 9r5jG)jBYpyr_?Q Irg@jfDIj;ij;jmE5yxɮza@xB*** querying acoustic contact ***ii:i%DNOT Ignoring new targets: 34.45 m.2i!%Powering the camera and arming the capture device at range: 34.60 m.i!"i-j*i-j=  ProNav pure pursuit: ac range: 34.451984 m, nav range: 34.963387 m, bearing: 284.723891 deg, approach rate: 0.432306 m/s, LOS rate: -0.436109 deg/s, cmd heading: 284.883311 deg, new cmd heading: 284.723891 deg. EHeadingCmd: 4.969369 target range: 34.451984 and range: 34.60 m.hE@hAhAhAhAiAgAgIjgIrgIeIreQZeQ:eQ*eU?[q[q"[q*[uT_?颉ɢ<) {;i)<顑iJ-i I@I1-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006266a^A]>IIOf>ԑԹ i&,&TyLAE2 E2E2$E0"E2:*E2x:VE24ZE0a:@a:@a:@a:@>|X?>gd?>R.=iBAIBAFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258590ٱ>d|=>H\?,- ?? M?a?Z~ *.?`?i>|X?I>^;9yYy=EyE>Q 55d ?Q 95í) BYy(?Q Ig@mDIO;ixP;8I5yVBɮ@E:iIUDNOT Ignoring new targets: 34.45 m.2iQ}Powering the camera and arming the capture device at range: 34.60 m.iy"i*iԑ  ProNav pure pursuit: ac range: 34.451984 m, nav range: 35.149708 m, bearing: 284.533294 deg, approach rate: 0.421110 m/s, LOS rate: -0.428489 deg/s, cmd heading: 284.723894 deg, new cmd heading: 284.533294 deg. HeadingCmd: 4.966043 target range: 34.451984 and range: 34.60 m.h@hhhhiggjgrgereZe:e*eRe?[1[1"[1*[5(?EBɢET<)A EiI)MzB ,CB "IB bq&,yLA22V?28?2xM=ٱ2с=2HZ?? /? ?@*j? ?`5?i22V?I2]];0Y:ByV#Ii5Mb@Mb@Mb@1111 195S??~jtx?Y5>y5=5;5@5V@ 5@)5l@1Y5(@bDMVDMF8y]i%]2=ٔ]09aYa=eEyaeEm>iQ 5}5m?Q 9}5m)mBY}>Q E}:y}?Q I}g@msDIm8:im:mM5yɮ1@Ա:iDNOT Ignoring new targets: 34.45 m.2iPowering the camera and arming the capture device at range: 34.60 m.i"i*i  ProNav pure pursuit: ac range: 34.451984 m, nav range: 35.325462 m, bearing: 284.355126 deg, approach rate: 0.412520 m/s, LOS rate: -0.416103 deg/s, cmd heading: 284.533305 deg, new cmd heading: 284.355126 deg. HeadingCmd: 4.962933 target range: 34.451984 and range: 34.60 m.hYО@hhhhiggjgrg[>"[X>*[?Bɢl<)) -i))5zj<19i=+iEaaIeYО@IiE ^Am> ? %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015039A} 4AI I O >1 w&,yLA2TT?2?2Ř=ٱ2=2H?\ji?o?@/?Z?`踿@xȹ?E?i2TT?I2X^;2CY:By: #IbDFVDFz8yJ7%JX=ٔND9R>YR>=REyRi!EV+ļEV>XQ 5^5ZY?Q 9^5Z )ZBY\yb͠?Q Ibg@ZyDIZ#;iZ;ZSP5yfYBɮf@fE:ixzDNOT Ignoring new targets: 34.45 m.2ix~Powering the camera and arming the capture device at range: 34.60 m.i|"i}J*i}J뻝  ProNav pure pursuit: ac range: 34.451984 m, nav range: 35.478081 m, bearing: 284.198997 deg, approach rate: 0.403898 m/s, LOS rate: -0.411410 deg/s, cmd heading: 284.355119 deg, new cmd heading: 284.198997 deg. HeadingCmd: 4.960208 target range: 34.451984 and range: 34.60 m.h@hhhhiggjgrgereZe:e*e@$@Bɢ<) li)%S i@  A>) Gt@I A   pau58M?4]Q]?  A@) #I nFi A   checking for new query: numPingsReceived=1, elapsed TxPingTime=2.534193^A>B;>B+CB"IB#BB =BBDBK;B5EA*AIIO ?Ҷ&,zLAJ2O?Jƃ?J=ٱJ}8=JH6e?@}{V?E?`2??t??iJ2O?IJ];JCYbByb"IhhQiMb@Mb@Mb@ 9x&1?kt?~jthYA>y =D@@ @)@Yf@bDVD8yM%=ٔ@g9>Y>=%Ey%l!E%E%>)Q 555-?Q 955-o)-BY=>Q E=:y=?Q I=g@-DI-v:i-<:-U5yAɮE@IiiyLAj_B"j_B:jw!@"pf =;o)}!6dzs=@pýKA[Qɯ0i?*jnF2jA*p+@+g,AuL8Q@pfd5Q?2*v*RU?ji  j@i ?i8j(Bj}'퟊?jjBrjBzj@ addTargetRange:: Added new target pos. range: 36.500000 m, deltaT: 2.768735 s, deltaX: 1.900002 m, approachRate: 0.686235 m/s, rangeRepo size: 2  Added new target pos. range: 36.343056 m, bearing: 279.550971 deg, lat: 36.779419 deg, lon: -121.859664 deg, deltaT: 2.768735 s, deltaX: 1.891071 m, approachRate: 0.683009 m/s, posRepo size: 2 :i DNOT Ignoring new targets: 36.34 m.2i  Powering the camera and arming the capture device at range: 36.50 m.i "i*i% ProNav: ac range: 36.343056 m, nav range: 35.687031 m, bearing: 283.874804 deg, approach rate: 0.000000 m/s, LOS rate: -0.411410 deg/s, cmd heading: 284.199008 deg, new cmd heading: 283.693969 deg. i%;) iv@I B rWC│Z ?T]? ??@) q$I i B  checking for new query: numPingsReceived=2, elapsed TxPingTime=3.038075^A>A5$EAIAIQOe ?S&,.X%zLA2t{M?2㢂?2s=ٱ2\=2Hf? ?`??x?nxV?`Ң?i2t{M?I2^;2CY:By>#IbDFVDF8yN=%N'=ٔN 9R>YR>=REyRo!EVqEV>h Q 55 "?Q 95 ) BYy?Q Ig@ DI :i 6: Y5y!ɮ%@!iimYzLAjB"jB:jh@"p`+;I7HTE@pE7dP@roG4?*j2jB*pa@oAW_ @pm>? w'r?j[  j@iF(E?i("2jTBj"dݟ?jjvBrjMBzjD@u addTargetRange:: Added new target pos. range: 36.599998 m, deltaT: 0.504047 s, deltaX: 0.099998 m, approachRate: 0.198391 m/s, rangeRepo size: 3  Added new target pos. range: 36.442623 m, bearing: 280.473783 deg, lat: 36.779417 deg, lon: -121.859664 deg, deltaT: 0.504047 s, deltaX: 0.099567 m, approachRate: 0.197536 m/s, posRepo size: 3 :iVStarting intercept timer at range: 36.60 m.DNOT Ignoring new targets: 36.44 m.2iPowering the camera and arming the capture device at range: 36.60 m.i"i*i ProNav: ac range: 36.442623 m, nav range: 35.826130 m, bearing: 283.378986 deg, approach rate: 0.000000 m/s, LOS rate: -0.411410 deg/s, cmd heading: 283.693956 deg, new cmd heading: 283.289650 deg. iHeadingCmd: 4.944337 target range: 36.442623 and range: 36.60 m.h8@hhhhiggjgrgereZe:eLB@*emR?BɢI<) Ыi)<i(i__I8@I checking for new query: numPingsReceived=2, elapsed TxPingTime=3.2756824@ @@0@E EE%E"E:*E=:VE 4ZEa@a@a@a@1^A>A OAI! I1 OM >Q  DDAT read: Rx Time:04:39:03.6359  TRx dataTimestamp_ set to:1764909544.931352 PDAT read: Bearing 7.7, -29.9 (Local)  ~Local bearing/azimuth received: Bearing 7.7, -29.9 (Local)  DAT read: Range 11 to 50 : 36.6 m (trip time 24.4 ms) speed -0.4  DAT read: 04:39:03.6359 LVL= 31984, 22465, 26818, 32755, AGC= 51, IDX= 511,-0.42, 0.770, 2.837, 2.172, 2.240, PHS=-1.369, 0.641,-0.112, RAW= 291.8, 9.6, CAL= 289.3, 11.8, ROT= 220.7, -11.8  Ygot valid direction response: 04:39:03.6359 LVL= 31984, 22465, 26818, 32755, AGC= 51, IDX= 511,-0.42, 0.770, 2.837, 2.172, 2.240, PHS=-1.369, 0.641,-0.112, RAW= 291.8, 9.6, CAL= 289.3, 11.8, ROT= 220.7, -11.8  R#Rx 3: Read range and direction messages. `direction in FSK: [-0.742113,-0.638318,0.204496] Fpublishing direction and range infoy  {Nc}0vmrG,?Y | W h ) 3I d;i $? B`彩 +> Z@ BR>) 6v@I BR ލbR:a1M?%&O? U?@) I+I i BR  checking for new query: numPingsReceived=3, elapsed TxPingTime=3.542320 &,z?zLABV?>BTBVf"IBV BBV =BTBVDBV~;BV]5EBm+CBm+CBmCBm =Bm =Cm06vAK?v?v=ٱvX=vH?B@?? 1?5?@O!?`?ivAK?Iv"^;vC9YEByM"IiMb@Mb@Mb@ 9&1?EԸ?Y>y=@@ @)@Y @bDTVD8y %)=ٔ;Q-%>9%>Y%>=%Ey%r!E-9E->1Q 5=55'?Q 9=55 )5ދBY=>Q EE:yEZ?Q IEg@5DI5 :i5:5^5yIɮm@iiiE;zLAj"j:jJ@"p﬏.~ ;Ӫy$C7ěT@p{Nc}0vmrG,?*j2jBR*pBՊG@+~ }A=C @p_2?qx\E?j  j<@iElA C=A =A- _AI9 II OU >St&,Z[zLA2DDAT read: Rx Time:04:39:04.1362 2TRx dataTimestamp_ set to:1764909545.4352146PDAT read: Bearing 341.2, -39.4 (Local) :~Local bearing/azimuth received: Bearing 341.2, -39.4 (Local) BDAT read: Range 11 to 50 : 37.1 m (trip time 24.7 ms) speed -0.3 RDAT read: 04:39:04.1362 LVL= 26160, 15201, 23538, 27875, AGC= 50, IDX= 513,-0.16,-0.111, 1.485, 1.590, 1.548, PHS=-1.557,-0.018,-0.002, RAW= 269.5, 19.8, CAL= 270.6, 27.1, ROT= 239.4, -27.1 VYgot valid direction response: 04:39:04.1362 LVL= 26160, 15201, 23538, 27875, AGC= 50, IDX= 513,-0.16,-0.111, 1.485, 1.590, 1.548, PHS=-1.557,-0.018,-0.002, RAW= 269.5, 19.8, CAL= 270.6, 27.1, ROT= 239.4, -27.1 XZR#Rx 4: Read range and direction messages.^`direction in FSK: [-0.453155,-0.766243,0.455545]bFpublishing direction and range infoy02U5Fݿ Х'?Y2fB020f2a;2[ 2l)22I2Kǿi2t2o2g@2;>2!@ 2*>)2ȴ@I2*002/|`6?]? 2w&@)2I2%i2*00nchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.046472vqH?v_?v=ٱv=vHR? W??p?? t?`?ivqH?Iv>^;tYnBy"II =) p=bDDVDױ8y`%L=ٔ;Q- >9>Y>=Eyv!EE>Q 55,?Q 95)֋BYy%6?Q I%g@DId;i;a5y5MBɮ5@5Ei0i2[zLAj2B"j2B:j2@"p2 o0PLOjFNA pjAI I) O= >Y&,6vzLA]F?]N~?]=ٱ]F =]H@iX?ky2???`F? 1 \I?y?i]F?I]^;]CYpBy"IDDAT read: Rx Time:04:39:04.6362 TRx dataTimestamp_ set to:1764909545.939025DAT read: Range 11 to 50 : 37.1 m (trip time 24.7 ms) speed -0.3 X#Rx 5: Read range message, but no direction.yYchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.537791iMb@Mb@Mb@ 9|?5^?#~j?{GztY>y=ף@ @ @)7@Y@bDVD8yѶ;%0=ٔ=;Q->9>YY>=}Ey}y!E}E>Q 552?Q 95)̋BY>Q E;yȘ?Q Ig@DI:i &<e5yPBɮ@EEB*** querying acoustic contact ***iAiA addTargetRange:: Added new target pos. range: 37.099998 m, deltaT: 0.503811 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 :iDNOT Ignoring new targets: 36.94 m.2iPowering the camera and arming the capture device at range: 37.10 m.i"i'û*i'ûB<>BBG"IBBB =BBDBa~;B5E ProNav: ac range: 36.940948 m, nav range: 35.874191 m, bearing: 280.109331 deg, approach rate: 0.345386 m/s, LOS rate: -0.341232 deg/s, cmd heading: 282.536922 deg, new cmd heading: 282.227732 deg. iHeadingCmd: 4.925803 target range: 36.940948 and range: 37.10 m.h.@hhhhiggjgrguBereZe:e*e4c?eBɢe~<)a msii)mo ؟@ )>)y@I)IaIqO?&,zLA'9#3B?/,Pp? 9 <@)W I #i)checking for new query: numPingsReceived=6, elapsed TxPingTime=5.066691>A?>Xcy?>3=ٱ>1=>H?`@#? G?`S4?j+? ߍ?@ݝ?i>A?I>o^;>CYFeByF"IbDRVDR8TyZ!%Z=ٔ^ص;Q-^>9^>Y^>=bEyb}!EbEE>IQ 5U5M9?Q 9U5MɄ)MBYQy]V?Q I]g@MDIM:iM:Mtj5yɮ@ii1 A AI I O >x:&,{zLA;??/w?=ٱ{=Hk?G??`Kr??@+&v?\?i;??IE];CY[By"Ii]Mb@Mb@Mb@YYYY Y9]Pn?#~j?y&1|Y]>yYuDDAT read: Rx Time:04:39:05.6363 }TRx dataTimestamp_ set to:1764909546.947414PDAT read: Bearing 7.5, -34.6 (Local) ~Local bearing/azimuth received: Bearing 7.5, -34.6 (Local) DAT read: Range 11 to 50 : 37.2 m (trip time 24.8 ms) speed -0.3 DAT read: 04:39:05.6363 LVL= 28864, 22481, 25522, 29875, AGC= 54, IDX= 498, 0.23,-2.123,-0.097,-0.600,-0.655, PHS=-1.367, 0.603, 0.010, RAW= 287.1, 8.7, CAL= 285.0, 9.2, ROT= 225.0, -9.2 Ygot valid direction response: 04:39:05.6363 LVL= 28864, 22481, 25522, 29875, AGC= 54, IDX= 498, 0.23,-2.123,-0.097,-0.600,-0.655, PHS=-1.367, 0.603, 0.010, RAW= 287.1, 8.7, CAL= 285.0, 9.2, ROT= 225.0, -9.2 R#Rx 7: Read range and direction messages.`direction in FSK: [-0.698011,-0.698011,0.159881]Fpublishing direction and range infoyy}:V(VČsv?Yyy}p}W}c }t)}6Iyi}5^?} #<}X@y},@ }l$>)}S{@I}l$yy}F/e)2V?JR5E? }:@)}MI}i}l$yychecking for new query: numPingsReceived=7, elapsed TxPingTime=5.584158]`]@Y Y)]M@YY]@9B7>B*CB("IBփBBBBB};B4EbD-VD-8y%=ٔb:Q->9@?Y@?=Ey!E.E>Q 55>@?Q 9 5)BY w>Q E ;y x?Q I g@DI:i:o5yɮ=J@9iyi}nzLAj}(B"j}(B:j}2@"p}B9ZT9{@p}:V(VČsv?*j}2j}l$*p}Db@A,2`m@p}_+! ?)J<11?j} j}@i}?i}+j}iBj}Nz?j}+jyrj}zBzj}ɜ@ addTargetRange:: Added new target pos. range: 37.200001 m, deltaT: 0.503613 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 37.039764 m, bearing: 281.460913 deg, lat: 36.779407 deg, lon: -121.859664 deg, deltaT: 0.503613 s, deltaX: -0.000366 m, approachRate: -0.000727 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 37.04 m.2i%Powering the camera and arming the capture device at range: 37.20 m.i!"i!*i!U ProNav: ac range: 37.039764 m, nav range: 36.369164 m, bearing: 280.729439 deg, approach rate: 0.000000 m/s, LOS rate: -0.341232 deg/s, cmd heading: 281.863220 deg, new cmd heading: 281.503364 deg. iY]HeadingCmd: 4.913160 target range: 37.039764 and range: 37.20 m.h]8@hahahahaiagagajgirgmkBeireiZe:e*e>?BɢG<) (i)<id[ i\I8@IiE  E E %E "E :*E &p:VE 4ZE BE DDAT read: Rx Time:04:39:06.1365 TRx dataTimestamp_ set to:1764909547.452510PDAT read: Bearing 9.2, -35.7 (Local) ~Local bearing/azimuth received: Bearing 9.2, -35.7 (Local) DAT read: Range 11 to 50 : 37.5 m (trip time 25.0 ms) speed -0.3 5DAT read: 04:39:06.1365 LVL= 30592, 21553, 26002, 32179, AGC= 54, IDX= 500, 0.32,-0.939, 1.135, 0.638, 0.547, PHS=-1.384, 0.633, 0.047, RAW= 286.4, 7.9, CAL= 284.4, 7.1, ROT= 225.6, -7.1 =Ygot valid direction response: 04:39:06.1365 LVL= 30592, 21553, 26002, 32179, AGC= 54, IDX= 500, 0.32,-0.939, 1.135, 0.638, 0.547, PHS=-1.384, 0.633, 0.047, RAW= 286.4, 7.9, CAL= 284.4, 7.1, ROT= 225.6, -7.1 ER#Rx 8: Read range and direction messages.IIO ?n}&,HjzLA.`direction in FSK: [-0.694298,-0.708994,0.123601].Fpublishing direction and range infoyY]'7H7TA7X?Y]BY]w]1T]e ]})YI]&i]J "?]@=]@]0 >]֞@ ]=)]d{@I]YY]^_P D?zh? ]9@)] I]Q i]YYzchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.117502J9QYY=]Ey]!E]^E]>aQ 55e1G?Q 95ez)eBYy@?Q Ig@eDIe`;ie;es5yɮZ@iYi]zLAj]ZB"j]ZB:j] @"p]K9\liy: [,u@p]'7H7TA7X?*j]Q 2j]*p]~hج@f6S0"BRO@p]@SI?DG{¢G?j] j]f@i]ZJ?i]J߲4j]ƎBj]?jYj]Brj]Bzj]@ addTargetRange:: Added new target pos. range: 37.500000 m, deltaT: 0.505096 s, deltaX: 0.299999 m, approachRate: 0.593945 m/s, rangeRepo size: 4  Added new target pos. range: 37.338470 m, bearing: 281.181317 deg, lat: 36.779411 deg, lon: -121.859664 deg, deltaT: 0.505096 s, deltaX: 0.298706 m, approachRate: 0.591385 m/s, posRepo size: 4 :iVStarting intercept timer at range: 37.50 m.DNOT Ignoring new targets: 37.34 m.2iPowering the camera and arming the capture device at range: 37.50 m.i"i*i ProNav: ac range: 37.338470 m, nav range: 36.632812 m, bearing: 281.274793 deg, approach rate: 0.000000 m/s, LOS rate: -0.341232 deg/s, cmd heading: 281.503351 deg, new cmd heading: 281.129237 deg. iHeadingCmd: 4.906631 target range: 37.338470 and range: 37.50 m.h@hhhhiggjg!rg!e!re!Ze):e-B@*e- R?AuBɢu<)y }iy)<顙ii2I@IEe EeEe#Ea"Ee:checking for new query: numPingsReceived=8, elapsed TxPingTime=6.299068*Ee;J:VEe3ZEaa@a@a@a@ "@ @@0@qԡ ^A1 I) IQ O} >=&,zLA$^DDAT read: Rx Time:04:39:06.6365 ^TRx dataTimestamp_ set to:1764909547.956497bPDAT read: Bearing 9.2, -36.3 (Local) f~Local bearing/azimuth received: Bearing 9.2, -36.3 (Local) nDAT read: Range 11 to 50 : 37.5 m (trip time 25.0 ms) speed -0.3 ~DAT read: 04:39:06.6365 LVL= 31024, 19617, 25698, 30419, AGC= 53, IDX= 500, 0.47,-2.243,-0.184,-0.665,-0.767, PHS=-1.374, 0.629, 0.058, RAW= 286.1, 7.7, CAL= 284.1, 6.8, ROT= 225.9, -6.8 Ygot valid direction response: 04:39:06.6365 LVL= 31024, 19617, 25698, 30419, AGC= 53, IDX= 500, 0.47,-2.243,-0.184,-0.665,-0.767, PHS=-1.374, 0.629, 0.058, RAW= 286.1, 7.7, CAL= 284.1, 6.8, ROT= 225.9, -6.8  R#Rx 9: Read range and direction messages.`direction in FSK: [-0.691017,-0.713075,0.118404]Fpublishing direction and range infoy\^cŸLGҁ濯EO?Y\\^0y^L^bd ^v)^5I^;߯i^%!?^hm=^ɟ@^ >^߫@ ^=)^-U|@I^\\^o"bN ?7j?`L?'??`+s??iu$8?Iu];qYGBy"IqiUMb@Mb@Mb@QQQQ Q9U~jt?#~j?I +YU>yQU94U@U@ U@)UE@QYU3@bDm@VDmӱ8y}@%}=ٔ úQ->9Y=Ey!EBE>Q 556N?Q 95u)BY>Q E;y?Q Ih@DI:i:Kx5yɮ@i\i^?7zLAj\"j\:j^ϙ@"p^n5%9z:01]@p^cŸLGҁ濯EO?*j^2j^*p^iRM}@葨p1BmB@p^fJP?i{T$/N\?j^ j^@i^?i^Ͳ2j^hBj\j^^1j^iBrj^ Bzj^@} addTargetRange:: Added new target pos. range: 37.500000 m, deltaT: 0.503987 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 37.338203 m, bearing: 280.392692 deg, lat: 36.779411 deg, lon: -121.859666 deg, deltaT: 0.503987 s, deltaX: -0.000267 m, approachRate: -0.000530 m/s, posRepo size: 4 :iTStopped intercept timer at range: 37.50 m.DNOT Ignoring new targets: 37.34 m.2iPowering the camera and arming the capture device at range: 37.50 m.i"i*i ProNav: ac range: 37.338203 m, nav range: 37.009235 m, bearing: 281.027237 deg, approach rate: 0.000000 m/s, LOS rate: -0.341232 deg/s, cmd heading: 281.129248 deg, new cmd heading: 280.785057 deg. i%HeadingCmd: 4.900624 target range: 37.338203 and range: 37.50 m.h%ќ@h)h)h)h)i)g)g)jg1rg5aBe1re1Ze9:e9*e=?ԙ颭Bɢ <) I I O >Y&,r{LAYz8Byz"IbDAVDԱ8yͽ%=ٔ%Q--?99YA=EEyM!EMEM?qQ 5}5uXR?Q 9}5us)uBYyQ Ih@uDIu:iu:uz5ySBɮ@EB*** querying acoustic contact ***ii:iVStarting intercept timer at range: 37.50 m.DNOT Ignoring new targets: 37.34 m.2iPowering the camera and arming the capture device at range: 37.50 m.i"iIȻ*i IȻ= ProNav: ac range: 37.338203 m, nav range: 37.107079 m, bearing: 280.920653 deg, approach rate: 0.322338 m/s, LOS rate: -0.350209 deg/s, cmd heading: 280.785061 deg, new cmd heading: 280.572455 deg. i=: =HeadingCmd: 4.896913 target range: 37.338203 and range: 37.50 m.hE@hAhAhAhAiAgAgIjgirgieqreqZeq:eq*eu[?Bɢ ]<)f3 i)-V<))i-ti5_q11I5@I9UDDAT read: Rx Time:04:39:07.1367 UTRx dataTimestamp_ set to:1764909548.459397ePDAT read: Bearing 11.0, -36.8 (Local) e~Local bearing/azimuth received: Bearing 11.0, -36.8 (Local) a}DAT read: Range 11 to 50 : 37.7 m (trip time 25.1 ms) speed -0.3 DAT read: 04:39:07.1367 LVL= 32752, 21361, 27346, 32755, AGC= 51, IDX= 503,-0.38,-2.148,-0.044,-0.537,-0.662, PHS=-1.384, 0.663, 0.081, RAW= 286.0, 7.1, CAL= 284.1, 5.0, ROT= 225.9, -5.0 Ygot valid direction response: 04:39:07.1367 LVL= 32752, 21361, 27346, 32755, AGC= 51, IDX= 503,-0.38,-2.148,-0.044,-0.537,-0.662, PHS=-1.384, 0.663, 0.081, RAW= 286.0, 7.1, CAL= 284.1, 5.0, ROT= 225.9, -5.0 T#Rx 10: Read range and direction messages.`direction in FSK: [-0.693265,-0.715394,0.087156]Fpublishing direction and range infoyQUij9/$ɢ 濝O?YUBQUUqSUj U)U3IU&iU^)?UT=U@U=Q U¸=)QIU¸QQUeDeٲ?R麃w? Up9@)U_IQiU¸QQchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.071021]@Y @Y@]V0@a@eyA@ezAԑ^A >A zA I I! OE >E  E E &E "E :*E a9:VE 4ZE a @a @a @a @ checking for new query: numPingsReceived=10, elapsed TxPingTime=7.306872o&,=0{LA6G5?6m?63=ٱ6=6H,?_Mߵ?@p?`}^? ? ?` ?i6G5?I6^;6CTY 7By"I QQbDLVDޱ8yԂ%<=ٔ-(Q-5>9QYQ=]Ey]!E]aE]>aQ 5m5eIX?Q 9m5en)eBYqy?Q Ih@eDIeW;ie;e~5yGBɮ@Eiif{LAj&B"j&B:j+@"p|/: ޝ:yM9, @pij9/$ɢ 濝O?*j2j¸*p35Z@ZgBom}9@ m=)m9}@ImiimF*!\o!c1?IV? mĈ8@)m Imimiichecking for new query: numPingsReceived=11, elapsed TxPingTime=7.574661IexA)exABE:>BABE!IBEBBABABEDBEz|;BE 4E@ @@/@! ^A >Y I I O >&,L{LAbEMJ4jEM4rEM10E" E"E"$E "E":*E":VE"4ZE BE"2yU =UU(@U@ U@)U@QYQbD@VDӱ8yR%=ٔ}Q->9Y=Ey!E%E%>)Q 555-i_?Q 955-=j)-zBY5>Q E5;y5?Q I=h@-ŻDI-f:i-:-25yAɮE@Ai9i=~={LAj=B"j=B:j=<@"p=,s9f2;V@p="jiʳ翯EO?*j=2j=*p=L?@ aBYB}߿@p=$CS w?T5)BJ ?j= j=@i=4Fs?i=@1j=-Bj9j9j=hBrj=Bzj=Q\@ addTargetRange:: Added new target pos. range: 37.799999 m, deltaT: 0.504134 s, deltaX: 0.099998 m, approachRate: 0.198357 m/s, rangeRepo size: 4  Added new target pos. range: 37.637138 m, bearing: 279.741229 deg, lat: 36.779408 deg, lon: -121.859667 deg, deltaT: 0.504134 s, deltaX: 0.099800 m, approachRate: 0.197963 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 37.64 m.2iPowering the camera and arming the capture device at range: 37.80 m.i"i*i ProNav: ac range: 37.637138 m, nav range: 37.393524 m, bearing: 279.962586 deg, approach rate: 0.000000 m/s, LOS rate: -0.350209 deg/s, cmd heading: 280.263043 deg, new cmd heading: 279.916790 deg. i HeadingCmd: 4.885469 target range: 37.637138 and range: 37.80 m.h U@h h h h i g gjgrgCBereZe9:e=`fB@*e= oG?颍~Bɢ8k<) 0(i)i<顑i}i]貿IU@I5!@1 @1@50@5DDAT read: Rx Time:04:39:08.1369 TRx dataTimestamp_ set to:1764909549.467895-PDAT read: Bearing 10.8, -37.3 (Local) -~Local bearing/azimuth received: Bearing 10.8, -37.3 (Local) =DAT read: Range 11 to 50 : 38.0 m (trip time 25.3 ms) speed -0.3 ]DAT read: 04:39:08.1369 LVL= 32752, 20385, 30802, 32755, AGC= 54, IDX= 504,-0.11, 1.752,-2.435,-2.921,-3.054, PHS=-1.376, 0.664, 0.089, RAW= 285.9, 6.9, CAL= 284.0, 4.5, ROT= 226.0, -4.5 mYgot valid direction response: 04:39:08.1369 LVL= 32752, 20385, 30802, 32755, AGC= 54, IDX= 504,-0.11, 1.752,-2.435,-2.921,-3.054, PHS=-1.376, 0.664, 0.089, RAW= 285.9, 6.9, CAL= 284.0, 4.5, ROT= 226.0, -4.5 mT#Rx 12: Read range and direction messages.u`direction in FSK: [-0.692517,-0.717122,0.078459]uFpublishing direction and range infoy]>)濨h5;?YBORx )6I i)?E=;@Ϣ=@ |٠=)q|@I|٠Hrrp ?+? E9@) hIi|٠checking for new query: numPingsReceived=12, elapsed TxPingTime=8.079163A ^AU 斅>y A ܏AI I O &,bi{LAV/?Vsg?V{=ٱV+=VH@k?d?`?`?` ?`[=?k?iV/?IV^;VCYf#Byj"IbD~IVD~۱8y %h=ٔQ->9%?Y%?=%Ey%!E-E->1Q 5=55sd?Q 9=55f)5rBYAyE?Q IEh@5ʻDI5@;i5A;5F5yQɮ]I@YE EEE"E:*E3:VEZEa@a@a@ checking for new query: numPingsReceived=12, elapsed TxPingTime=8.314951a@ii]{LAjXB"jXB:je@"p !l3:";wl@p]>)濨h5;?*j2j|٠*pGyB@FL]gBUA; @pK??(Z҆toIX?j j@iy*?ik;jUBj4Fs?jJ߲4j-Brj.Bzj_&@ addTargetRange:: Added new target pos. range: 38.000000 m, deltaT: 0.504364 s, deltaX: 0.200001 m, approachRate: 0.396541 m/s, rangeRepo size: 4  Added new target pos. range: 37.836277 m, bearing: 278.233381 deg, lat: 36.779406 deg, lon: -121.859668 deg, deltaT: 0.504364 s, deltaX: 0.199139 m, approachRate: 0.394831 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 37.84 m.2iPowering the camera and arming the capture device at range: 38.00 m.lFinal approach. Armed for intercept at range: 38.00 m.\Transitioning guidance mode to: FINAL_APPROACH i@"i*i% ProNav: ac range: 37.836277 m, nav range: 37.545277 m, bearing: 279.585287 deg, approach rate: 0.000000 m/s, LOS rate: -0.350209 deg/s, cmd heading: 279.916780 deg, new cmd heading: 279.645127 deg. i!-HeadingCmd: 4.880728 target range: 37.836277 and range: 38.00 m.h-.@h)h-:h-33?h)g1g1jg1rg1e1reIZeQ:eUC@*eU`?|Bɢ!Z<1)  ul1iq)u0B} -CB} !IB} BB}  =By B} DB} {;B} 3EB=*CB9B=˔CB= =B= =C=ˬ5 Ygot valid direction response: 04:39:08.6369 LVL= 32752, 20401, 23602, 32755, AGC= 54, IDX= 504, 0.02, 1.502,-2.709,-3.136, 3.000, PHS=-1.396, 0.619, 0.103, RAW= 284.3, 7.5, CAL= 282.4, 5.9, ROT= 227.6, -5.9  T#Rx 13: Read range and direction messages. @  @ @ @5@ @ @  `direction in FSK: [-0.670730,-0.734544,0.102793] Fpublishing direction and range infoy  Y!vݟ&azBP?Y O 2\ ) I !i v? = wȞ@ > ϸ@ B=) M;~@I Bҽ -!u3??3W? }7@) ,I hi Bҽ  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.648693Ա^A>A>A>EU EUEU&EQ"EU:*EUE7:VEU4ZEQBEU`;a]2EUa;a]JEUR;aemchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.818324:EUR;amAAIIO?&,ǟ{LA2-?2e?2a=ٱ2=2H ?}E??`$?b?``Ŷ??i2-?I2!^;2CY%ByM"IIe<)e=iMb@Mb@Mb@ 9Zd;?MbX?MbpY>y=^@ @ @)@Y@bD 1VD ű8ya%%<ٔ%c̺Q-%>9%??Y-??=-Ey-!E-a+E->1Q 5=55l?Q 9E55`)5dBYE>Q EE ;yE5?Q IEh@5һDI53;i5H;55yIɮM@Qiaie~~{LAjeZB"jeZB:je,@"pefa97;$h@peY!vݟ&azBP?*jeh2jeBҽ*pe}..&@8OpBi;c@peD?DWᅡP2h?je; je1@ie ~?ie6/jeЌBjajeͲ2jeЌBrjeBzje @ addTargetRange:: Added new target pos. range: 38.000000 m, deltaT: 0.509308 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 37.838211 m, bearing: 279.629118 deg, lat: 36.779406 deg, lon: -121.859667 deg, deltaT: 0.509308 s, deltaX: 0.001934 m, approachRate: 0.003797 m/s, posRepo size: 4 :i)5DNOT Ignoring new targets: 37.84 m.2i1"iQ*iQe ProNav: ac range: 37.838211 m, nav range: 37.691395 m, bearing: 279.391585 deg, approach rate: 0.000000 m/s, LOS rate: -0.350209 deg/s, cmd heading: 279.645129 deg, new cmd heading: 279.209369 deg. iaHeadingCmd: 4.873123 target range: 37.838211 and range: 38.00 m.h@hhhhggjgrgVBereZe:e*e Y?颕xBɢ,u<) >3i)<顙ii|I@I 1DDAT read: Rx Time:04:39:09.1371 TRx dataTimestamp_ set to:1764909550.475533PDAT read: Bearing 7.7, -39.0 (Local) %~Local bearing/azimuth received: Bearing 7.7, -39.0 (Local) 5DAT read: Range 11 to 50 : 38.3 m (trip time 25.5 ms) speed -0.3 ]DAT read: 04:39:09.1371 LVL= 32752, 24369, 28258, 32755, AGC= 56, IDX= 506, 0.17,-3.000,-0.946,-1.362,-1.504, PHS=-1.394, 0.603, 0.098, RAW= 284.1, 7.8, CAL= 282.2, 6.6, ROT= 227.8, -6.6 eYgot valid direction response: 04:39:09.1371 LVL= 32752, 24369, 28258, 32755, AGC= 56, IDX= 506, 0.17,-3.000,-0.946,-1.362,-1.504, PHS=-1.394, 0.603, 0.098, RAW= 284.1, 7.8, CAL= 282.2, 6.6, ROT= 227.8, -6.6 eT#Rx 14: Read range and direction messages.m`direction in FSK: [-0.667269,-0.735895,0.114937]mFpublishing direction and range infoy]CDZ忼}tNZl?Y3B1_bn )8Ini5^?9=߫@'g >7@ =)~t~@I뽩Fc9v}]RBf?E7G? E7@) I7i뽩checking for new query: numPingsReceived=14, elapsed TxPingTime=9.098696Y 5 0 @  @ @ /@ ԑ D=D<E EE"E"Eغ:*Ea9:VE(3checking for new query: numPingsReceived=14, elapsed TxPingTime=9.323135ZEa@a@a@a@Ա^A8j>A]0AIiIyO?-&,v{LA(:"*?:teb?:ה=ٱ:[=:H%?`s@?`?s?g?a]?S?i:"*?I:];:CYFByFu"IbDNVDN8yV %V=ٔZؑQ-Z>9^?Y^?=^Ey^!EbǼEb>`Q 5f5b t?Q 9j5b\)bZBYhyj?Q Ijh@bػDIb#;ib/;b5yrJBɮrQ@rEii"o{LAjB"jB:j@"pr9vl@ijp?iZ2jBjjp?jZ2jrjTBzj @ addTargetRange:: Added new target pos. range: 38.299999 m, deltaT: 0.498330 s, deltaX: 0.299999 m, approachRate: 0.602009 m/s, rangeRepo size: 4 5 Added new target pos. range: 38.136932 m, bearing: 279.184783 deg, lat: 36.779406 deg, lon: -121.859667 deg, deltaT: 0.498330 s, deltaX: 0.298721 m, approachRate: 0.599445 m/s, posRepo size: 4 :i9mDNOT Ignoring new targets: 38.14 m.2ii"iy*iyԉDDAT read: Rx Time:04:39:09.6371 TRx dataTimestamp_ set to:1764909550.984559%PDAT read: Bearing 7.4, -38.9 (Local) -~Local bearing/azimuth received: Bearing 7.4, -38.9 (Local) =DAT read: Range 11 to 50 : 38.3 m (trip time 25.5 ms) speed -0.4 e ProNav: ac range: 38.136932 m, nav range: 37.832844 m, bearing: 279.184912 deg, approach rate: 0.000000 m/s, LOS rate: -0.350209 deg/s, cmd heading: 279.209363 deg, new cmd heading: 278.825810 deg. iamHeadingCmd: 4.866428 target range: 38.136932 and range: 38.30 m.hmȹ@hihihihigqgqjgqrgqeyrey}DAT read: 04:39:09.6371 LVL= 32752, 21345, 31618, 32755, AGC= 55, IDX= 506, 0.44, 1.030, 3.109, 2.682, 2.543, PHS=-1.411, 0.611, 0.095, RAW= 284.2, 7.8, CAL= 282.4, 6.7, ROT= 227.6, -6.7 Ygot valid direction response: 04:39:09.6371 LVL= 32752, 21345, 31618, 32755, AGC= 55, IDX= 506, 0.44, 1.030, 3.109, 2.682, 2.543, PHS=-1.411, 0.611, 0.095, RAW= 284.2, 7.8, CAL= 282.4, 6.7, ROT= 227.6, -6.7 T#Rx 15: Read range and direction messages.`direction in FSK: [-0.669697,-0.733412,0.116671]Fpublishing direction and range infoy])n,xmu"޽?YaS{ Ze:e`f&C@*e $?)7Iij?\=,@ϸ@ |=)M;~@I|ゥv*[-??Gt^? 5n7@)d Ihi|ゥchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.607754 tBɢ ,f<)  =i)7<iBp>B1CB!IBBB =BBDB{;B3EiUJXQQI]ȹ@IYaaaaԱ  E}  E} E} %Ey "E} m:*E} X:VE} 4ZEy BE} U9A II!O5?&,c{LA>C)?>`?>Z=ٱ> =>H K?@Tx?x?G?}w?}t?4?i>C)?I>q^;>CYFByFm"IiMb@Mb@Mb@ 9n?y&1?{GzY>y`=#d@ @)z@Yf@=DDAT read: Rx Time:04:39:10.1374 ETRx dataTimestamp_ set to:1764909551.487446MPDAT read: Bearing 5.2, -38.4 (Local) M~Local bearing/azimuth received: Bearing 5.2, -38.4 (Local) eDAT read: Range 11 to 50 : 38.7 m (trip time 25.8 ms) speed -0.4 DAT read: 04:39:10.1374 LVL= 29456, 24161, 27330, 32755, AGC= 54, IDX= 509,-0.21, 0.926, 2.996, 2.560, 2.447, PHS=-1.419, 0.594, 0.069, RAW= 284.6, 8.4, CAL= 282.7, 8.3, ROT= 227.3, -8.3 Ygot valid direction response: 04:39:10.1374 LVL= 29456, 24161, 27330, 32755, AGC= 54, IDX= 509,-0.21, 0.926, 2.996, 2.560, 2.447, PHS=-1.419, 0.594, 0.069, RAW= 284.6, 8.4, CAL= 282.7, 8.3, ROT= 227.3, -8.3 T#Rx 16: Read range and direction messages.`direction in FSK: [-0.671056,-0.727217,0.144356]Fpublishing direction and range infoyAEM>Kym6,\E'ЌCz?YEBAEsEa^Ej A)E6IEˡiEb?EO=E\@EQ >E@ EV>)E}@IEVAAE'`af?JY? E7@)EE?IE1:iEVAAchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.098447ԹbD-VD-|8y-%<ٔQ->9Y=Ey!E E>Q 5 5}?Q 9 55U)JBY >Q E :y H?Q Ih@DI&Kym6,\E'ЌCz?*jE1:2jEV*pE}@i \BVKYh@pE/L?b_A*f ?jE jE@iE%+]?iEMS3jEBjAjAjEBrjEGBzjE.˛@ addTargetRange:: Added new target pos. range: 38.700001 m, deltaT: 1.011913 s, deltaX: 0.400002 m, approachRate: 0.395292 m/s, rangeRepo size: 4  Added new target pos. range: 38.538059 m, bearing: 278.590232 deg, lat: 36.779406 deg, lon: -121.859667 deg, deltaT: 1.011913 s, deltaX: 0.401127 m, approachRate: 0.396405 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 38.54 m.2i"i!*i!5 ProNav: ac range: 38.538059 m, nav range: 38.069675 m, bearing: 278.947487 deg, approach rate: 0.000000 m/s, LOS rate: -0.350209 deg/s, cmd heading: 278.825807 deg, new cmd heading: 278.363062 deg. i1=HeadingCmd: 4.858352 target range: 38.538059 and range: 38.70 m.h=w@hYhahahigqgjgrg[BereZe:eYC@*e@ƣ?pBɢb]<)! %Bi!)%^I A% ڗAI1 IA OM >;y&,{LA2I'?2h_?2;=ٱ2ǎ=2H ,p?@6%?[?X?@5?*ȼs?`?i2I'?I2]];0Y: By:h"IbDFVDFh8yN%N^=ٔNNQ-N>9R?YR?=REyR!EVCEV>XQ 5^5Z?Q 9^5ZmQ)ZABY\y^?Q I^h@ZDIZ;iZ;Z5ydɮf@dvB*** querying acoustic contact ***itit:i|~DNOT Ignoring new targets: 38.54 m.2i|"iKڻ*iKڻ ProNav: ac range: 38.538059 m, nav range: 38.201443 m, bearing: 278.815300 deg, approach rate: 0.381800 m/s, LOS rate: -0.381694 deg/s, cmd heading: 278.363076 deg, new cmd heading: 278.099616 deg. i.HeadingCmd: 4.853754 target range: 38.538059 and range: 38.70 m.h%Q@h!h!h!h!g!g!jg)rg)e)re)Ze1:e1*e5`,?nBɢ~<) VFi)O<ii!!I-Q@IYDDAT read: Rx Time:04:39:10.6374 TRx dataTimestamp_ set to:1764909551.998891PDAT read: Bearing 5.7, -39.4 (Local) ~Local bearing/azimuth received: Bearing 5.7, -39.4 (Local) %DAT read: Range 11 to 50 : 38.7 m (trip time 25.8 ms) speed -0.4 AA@A @A@M55@IuDAT read: 04:39:10.6374 LVL= 32752, 22513, 31666, 32755, AGC= 55, IDX= 509, 0.04, 1.054, 3.123, 2.713, 2.575, PHS=-1.418, 0.594, 0.094, RAW= 283.8, 8.1, CAL= 282.0, 7.5, ROT= 228.0, -7.5 B<AB>B9CB!IBBB =B?DBDB:{;B3EYgot valid direction response: 04:39:10.6374 LVL= 32752, 22513, 31666, 32755, AGC= 55, IDX= 509, 0.04, 1.054, 3.123, 2.713, 2.575, PHS=-1.418, 0.594, 0.094, RAW= 283.8, 8.1, CAL= 282.0, 7.5, ROT= 228.0, -7.5 T#Rx 17: Read range and direction messages.`direction in FSK: [-0.663406,-0.736787,0.130526]Fpublishing direction and range infoyHB:忤“翛 /?YW{ )7Ii=@>@  >)~@I l|G? y>  /G1 I I I ԙ O >u q9 Y !mAE  E E "E "E :*E ;J:VE (3ZE BE a;a 2E c;a JE ;a :E ;a  checking for new query: numPingsReceived=17, elapsed TxPingTime=10.838435`&,\|LAqYBy`"IiMb@Mb@Mb@ 9On?B`"۹?y&1|Y>y=`t@M@ G@)@Y\@bDVD]8y%-=ٔQ->9Y=Ey!EE>Q 55B?Q 95L)6BY>Q E:y?Q Ih@DI;i;5y?Bɮ@}Eii{LAj+B"j+B:j@"pc@ґ9kQe<Ը՚@pHB:忤“翛 /?*jr2j *pEp@/B@`l@p@u?'qwe[P￳\?j j@i y?i,jBjjjrjyBzj@- addTargetRange:: Added new target pos. range: 38.700001 m, deltaT: 0.511445 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 38.542946 m, bearing: 278.830866 deg, lat: 36.779406 deg, lon: -121.859667 deg, deltaT: 0.511445 s, deltaX: 0.004887 m, approachRate: 0.009555 m/s, posRepo size: 4 :iamDNOT Ignoring new targets: 38.54 m.2ii"im*ii} ProNav: ac range: 38.542946 m, nav range: 38.368214 m, bearing: 278.639293 deg, approach rate: 0.000000 m/s, LOS rate: -0.381694 deg/s, cmd heading: 278.099621 deg, new cmd heading: 277.737230 deg. iyHeadingCmd: 4.847429 target range: 38.542946 and range: 38.70 m.h$@hhhhggjgrg`BereZe:e*e`?EjBɢE6<)I MLiI)Me)@ e0 >)eBY@Ie0 aaeSSn;?hie? e_6@)e:Iesie0 aachecking for new query: numPingsReceived=18, elapsed TxPingTime=11.111778^A= }> I I) O= >} &,,|LAN$?N\?NŤ=ٱN64=NH ?k?z'? ?E?0؛?@?iN$?IN];NCY^By^R"II`)bI I B >B q ^&,DE|LA2g#?21[?2?3=ٱ2-f=2H?@??E?g?vhc?A?i2g#?I2 ];0YNByR5"Ii%Mb@Mb@Mb@!!!! !9%%C?ʡE?{GzY%Z>y%=%#!! %^@)!!Y%@bDVDj8yEڽ%@=ٔ7Q->9Y=Ey!ElE>Q 556?Q 95D)$BY">Q E:y?Q Ih@DI};i;x5yɮ@Ye addTargetRange:: Added new target pos. range: 39.200001 m, deltaT: 0.507302 s, deltaX: 0.200001 m, approachRate: 0.394244 m/s, rangeRepo size: 4 :iamDNOT Ignoring new targets: 38.84 m.2ii"i}ݻ*i}ݻ ProNav: ac range: 38.841728 m, nav range: 38.585991 m, bearing: 278.503932 deg, approach rate: 0.377712 m/s, LOS rate: -0.387478 deg/s, cmd heading: 277.468758 deg, new cmd heading: 277.140629 deg. iH1HeadingCmd: 4.837017 target range: 38.841728 and range: 39.20 m.hȚ@hhhhggjgrgBBereZe:eC@*e?颵dBɢp};) =i)ګ<i i))I-Ț@I)E EEE"E:*E:VEZEBE;a2E;aJE;a:E;achecking for new query: numPingsReceived=19, elapsed TxPingTime=11.847175ԉ@ @@L2@ԩ^A }>Ii Iy O > &,_|LA&DDAT read: Rx Time:04:39:12.1377 *TRx dataTimestamp_ set to:1764909553.503486.PDAT read: Bearing 12.7, -26.0 (Local) .~Local bearing/azimuth received: Bearing 12.7, -26.0 (Local) 6DAT read: Range 11 to 50 : 39.3 m (trip time 26.2 ms) speed -0.4 JDAT read: 04:39:12.1377 LVL= 32752, 18257, 30802, 31475, AGC= 57, IDX= 513, 0.26,-2.835,-0.479,-1.507,-1.386, PHS=-1.348, 0.951,-0.165, RAW= 299.0, 5.7, CAL= 296.7, 3.4, ROT= 213.3, -3.4 NYgot valid direction response: 04:39:12.1377 LVL= 32752, 18257, 30802, 31475, AGC= 57, IDX= 513, 0.26,-2.835,-0.479,-1.507,-1.386, PHS=-1.348, 0.951,-0.165, RAW= 299.0, 5.7, CAL= 296.7, 3.4, ROT= 213.3, -3.4 RT#Rx 20: Read range and direction messages.R`direction in FSK: [-0.834336,-0.548057,0.059306]VFpublishing direction and range infoy(*$kDЭCg]?Y*3B((*QG*Rx *z)*9I*Di*ts?*(*<@*%=*c@ *s=)*&Bn@I*s(("?Y?=ٱ4=H`?x@G??@>?@ ?$R`X?(?i"?Iy];*IV]}.\$?gak? *5G@)*߮˽I*#i*s((mchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.135153YBy<"IbDVD8y<%C=ٔ%uQ-%>9!Y!=%Ey%!E-TE->1Q 5]55h?Q 9]55?)5BYYye?Q Ieh@5DI5$:i5-:55yiɮm@iԱi(i*9`|LAj*B"j*B:j*@"p*h1ie> @ @@1@@ @ yAE EE%E"E,:*E:VE 4ZEa@a@a@a@checking for new query: numPingsReceived=20, elapsed TxPingTime=12.350453 ^AM x>I I O >9 &,`uy|LA2 ?2fX?2A=ٱ2z=2H5?_a?`?*_?@1? `?@?i2 ?I2];2CYBՃByB&"I DDbDJVDJx8yfƽ%fc=ٔf Q-f>9hYh=jEyj!EnfyEn>pQ 5v5r?Q 9v5r<)rBYtyvS?Q Ivh@rDIr:ir:rG5y|ɮ~@|B*** querying acoustic contact ***ii:iDNOT Ignoring new targets: 39.14 m.2i"iٻ*iٻ% ProNav: ac range: 39.142601 m, nav range: 38.943855 m, bearing: 278.044344 deg, approach rate: 0.372457 m/s, LOS rate: -0.380950 deg/s, cmd heading: 276.810300 deg, new cmd heading: 276.532300 deg. i%K.-HeadingCmd: 4.826399 target range: 39.142601 and range: 39.30 m.h-q@h)h)h)h)g)g1jgQrgQeYreYZeY:eY*e]@-?!e=e4=DDAT read: Rx Time:04:39:12.6378 TRx dataTimestamp_ set to:1764909554.015834PDAT read: Bearing 5.2, -39.7 (Local) ~Local bearing/azimuth received: Bearing 5.2, -39.7 (Local) B}>B}=CB}!IB}vBB} =ByB}DB}){;B}3EDAT read: Range 11 to 50 : 39.5 m (trip time 26.3 ms) speed -0.4 DAT read: 04:39:12.6378 LVL= 26224, 13409, 25314, 26499, AGC= 59, IDX= 2,-0.15,-2.756,-0.642,-1.074,-1.215, PHS=-1.439, 0.618, 0.097, RAW= 284.1, 7.9, CAL= 282.3, 6.9, ROT= 227.7, -6.9 Ygot valid direction response: 04:39:12.6378 LVL= 26224, 13409, 25314, 26499, AGC= 59, IDX= 2,-0.15,-2.756,-0.642,-1.074,-1.215, PHS=-1.439, 0.618, 0.097, RAW= 284.1, 7.9, CAL= 282.3, 6.9, ROT= 227.7, -6.9 5^Bɢ5;)9 =i9)=<99iE9iEwIIIMq@IIT#Rx 21: Read range and direction messages.`direction in FSK: [-0.668138,-0.734274,0.120137]Fpublishing direction and range infoy@ Ϣ=)W~@IϢ,[|dBf^?Ԙ? L7@)E IiϢchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.689302A@ @@0@i bEM4jEMm4rEMʖ/E  E E #E "E :*E [:VE 3ZE BE N"ԙ A AI I O >j%&,|LAYփBy("IiMb@Mb@Mb@ 9y&1?X9v?Mb`Y`>y=@d@ )@Y@bDVDo8yA;%$=ٔ Q- >9c?Yc?=Ey!EE>Q 5%5b?Q 9%56)BY-U>Q E-:y-w?Q I-h@ DI ;i?;5y1ɮ=@9i)i-m|LAj-^B"j-^B:j-@"p-͖>I:zW<[@p-?Z;??j- j-@i- 6?i-! 2j-Bj-%+]?j-! 2j)rj-_Bzj-9@ addTargetRange:: Added new target pos. range: 39.500000 m, deltaT: 0.512348 s, deltaX: 0.200001 m, approachRate: 0.390361 m/s, rangeRepo size: 4  Added new target pos. range: 39.342327 m, bearing: 276.838145 deg, lat: 36.779404 deg, lon: -121.859667 deg, deltaT: 0.512348 s, deltaX: 0.199726 m, approachRate: 0.389825 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 39.34 m.2i"i*i ProNav: ac range: 39.342327 m, nav range: 39.093212 m, bearing: 277.514006 deg, approach rate: 0.000000 m/s, LOS rate: -0.380950 deg/s, cmd heading: 276.532312 deg, new cmd heading: 276.166006 deg. iHeadingCmd: 4.820006 target range: 39.342327 and range: 39.50 m.h}=@hhhhggjgrgLBereZe:eC@*e ?}ZBɢY;)  i)l<顉i(ivII}=@IDDAT read: Rx Time:04:39:13.1380 TRx dataTimestamp_ set to:1764909554.513017PDAT read: Bearing 5.1, -41.0 (Local) ~Local bearing/azimuth received: Bearing 5.1, -41.0 (Local) DAT read: Range 11 to 50 : 39.8 m (trip time 26.5 ms) speed -0.4 -DAT read: 04:39:13.1380 LVL= 32752, 20065, 20578, 32755, AGC= 55, IDX= 500, 0.25,-0.168, 1.942, 1.549, 1.381, PHS=-1.447, 0.606, 0.125, RAW= 283.0, 7.8, CAL= 281.2, 6.5, ROT= 228.8, -6.5 5Ygot valid direction response: 04:39:13.1380 LVL= 32752, 20065, 20578, 32755, AGC= 55, IDX= 500, 0.25,-0.168, 1.942, 1.549, 1.381, PHS=-1.447, 0.606, 0.125, RAW= 283.0, 7.8, CAL= 281.2, 6.5, ROT= 228.8, -6.5 = @9 @9@=0@9UT#Rx 22: Read range and direction messages.e`direction in FSK: [-0.654455,-0.747578,0.113203]mFpublishing direction and range infoy9IL5A)翢5?Y3BaNbP )7IL7i"?>@'g >= @ V=)r@IV轩KP?ҙ?&C? e6@)[ ICiV轩checking for new query: numPingsReceived=22, elapsed TxPingTime=13.135227)^Ae 8j>Q A .AI I O >EE +&,Z|LAiIchecking for new query: numPingsReceived=22, elapsed TxPingTime=13.358498 EE%E"E:*E.:VE 4ZEa@a@a@a@ ? WU? q=ٱ t= H@f?f???f?=T H?K?i ?I ]; CYeɃBym"I1bD}VD}8y %A=ٔuQ->9 ?Y ?=Ey!EE>Q 55?Q 95#2)BYy?Q Ih@DIu:i:S5yEBɮ@~EiiEՠ|LAjB"jB:j/Κ@"p=rD9""T=V 4@p9IL5A)翢5?*jC2jV*p ծ@zcy>Cn!#@pHt=ǿ?x3nᅣ;I?jI jv@iT?io5jیBjT?jjBrjBzjњ@m addTargetRange:: Added new target pos. range: 39.799999 m, deltaT: 0.497183 s, deltaX: 0.299999 m, approachRate: 0.603398 m/s, rangeRepo size: 4 } Added new target pos. range: 39.641129 m, bearing: 277.178010 deg, lat: 36.779403 deg, lon: -121.859667 deg, deltaT: 0.497183 s, deltaX: 0.298801 m, approachRate: 0.600989 m/s, posRepo size: 4 :iy}DNOT Ignoring new targets: 39.64 m.2i"i*i ProNav: ac range: 39.641129 m, nav range: 39.240936 m, bearing: 277.203871 deg, approach rate: 0.000000 m/s, LOS rate: -0.380950 deg/s, cmd heading: 276.165995 deg, new cmd heading: 275.836957 deg. iHeadingCmd: 4.814263 target range: 39.641129 and range: 39.80 m.hq@hhhhggjgrgereZe:e`fC@*e ?5WBɢ5a;)9 =i9)=?|<99iE2iEIq@Iae@a @a@e?0@a@i@m= DDAT read: Rx Time:04:39:13.6381 TRx dataTimestamp_ set to:1764909555.021077=PDAT read: Bearing 3.9, -40.6 (Local) E~Local bearing/azimuth received: Bearing 3.9, -40.6 (Local) ԙB>BB!IBgBB =BBBW{;B3EB !8@ >) <@I    a}EZqE+?JZ? @s6@) I  i    checking for new query: numPingsReceived=23, elapsed TxPingTime=13.683279^Ae 2>Թ A AI I O >2&,|LAjB?j8 R?jH=ٱjQ=jH o??$?J?x?wf?뵹']?۹?ijB?Ij^;jCY ƒBy "IE] E]E]$EY"E]%:*E]?:VE]4ZEYBE];am2E];amJE];am:E];amchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.862323iMb@Mb@Mb@ 9K7A`?V-?Mb`Y>y=@ @)@Y=@AAbDVD8y=G߼%E,=ٔu1Q-u>9}c?Y}c?=}Ey!EڼE>Q 55J?Q 95,)BYf>Q E:y?Q Ih@DI8:ib:5y9Bɮr@uE!iiSY|LAjB"jB:jF@"p'R :8+p=5>|jf@p!Va \%cK ?*j 2j*p @A@Cd@px!?;XyIk?j j݈@i4'?i^3jBj 6?j^3jrjBzji@= addTargetRange:: Added new target pos. range: 39.900002 m, deltaT: 0.508060 s, deltaX: 0.100002 m, approachRate: 0.196832 m/s, rangeRepo size: 4 M Added new target pos. range: 39.740932 m, bearing: 276.229936 deg, lat: 36.779400 deg, lon: -121.859667 deg, deltaT: 0.508060 s, deltaX: 0.099804 m, approachRate: 0.196441 m/s, posRepo size: 4 :iI]DNOT Ignoring new targets: 39.74 m.2iY"ia*iau ProNav: ac range: 39.740932 m, nav range: 39.431438 m, bearing: 276.475828 deg, approach rate: 0.000000 m/s, LOS rate: -0.380950 deg/s, cmd heading: 275.836944 deg, new cmd heading: 275.464866 deg. iqHeadingCmd: 4.807769 target range: 39.740932 and range: 39.90 m.h>ٙ@hhhhggjgrgereZe:e@3C@*e,D?]RBɢ]q;)Y ]iY)eٙ@IqQM @I  @I @M 0@I U DDAT read: Rx Time:04:39:14.1383 U TRx dataTimestamp_ set to:1764909555.519478] PDAT read: Bearing 2.6, -41.3 (Local) e ~Local bearing/azimuth received: Bearing 2.6, -41.3 (Local) u DAT read: Range 11 to 50 : 40.2 m (trip time 26.8 ms) speed -0.4  DAT read: 04:39:14.1383 LVL= 32752, 21713, 23202, 32755, AGC= 55, IDX= 503, 0.35,-0.223, 1.879, 1.503, 1.342, PHS=-1.462, 0.583, 0.117, RAW= 282.5, 8.3, CAL= 280.8, 7.8, ROT= 229.2, -7.8  Ygot valid direction response: 04:39:14.1383 LVL= 32752, 21713, 23202, 32755, AGC= 55, IDX= 503, 0.35,-0.223, 1.879, 1.503, 1.342, PHS=-1.462, 0.583, 0.117, RAW= 282.5, 8.3, CAL= 280.8, 7.8, ROT= 229.2, -7.8  T#Rx 24: Read range and direction messages. `direction in FSK: [-0.647375,-0.749991,0.135716] Fpublishing direction and range infoyQ U ςK~@翪 M _?YU BQ Q U TU Z Q )U 7IU "iU }??U =U ǝ@U V>U Ԝ@ U 'g >)U j@IU 'g Q Q U - ;6.?5h!b? U 5@)U IU iU 'g Q Q  checking for new query: numPingsReceived=24, elapsed TxPingTime=14.130751y ^A >ԱA.AII O?:&,?n|LAY]By]"IbDm$VDm8DzD?AE EE"E"E:*EP:VE(3ZEa@a@a@a@Թchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.368757y N% 3=ٔ5Q-=>9M ?YM ?=Ey!EE>Q 555ȝ?Q 9 5')BY9yAQ IEh@DIAةn@pςK~@翪 M _?*j2j'g *ps#DX@(v C|[@pu{\?:v6r?jw jš@iξ_?i|53jBjjjrjqBzjO@ addTargetRange:: Added new target pos. range: 40.200001 m, deltaT: 0.498401 s, deltaX: 0.299999 m, approachRate: 0.601923 m/s, rangeRepo size: 4  Added new target pos. range: 40.039738 m, bearing: 277.003757 deg, lat: 36.779400 deg, lon: -121.859667 deg, deltaT: 0.498401 s, deltaX: 0.298805 m, approachRate: 0.599528 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 40.04 m.2i"i*i ProNav: ac range: 40.039738 m, nav range: 39.611111 m, bearing: 276.292276 deg, approach rate: 0.000000 m/s, LOS rate: -0.380950 deg/s, cmd heading: 275.464862 deg, new cmd heading: 275.089894 deg. iHeadingCmd: 4.801224 target range: 40.039738 and range: 40.20 m.h@hhhhggjgrgereZe:eD@*eQ?颥NBɢH;) i)׶<顩ii簽I@Iu@y @y@y@y DDAT read: Rx Time:04:39:14.6384  TRx dataTimestamp_ set to:1764909556.028658 PDAT read: Bearing 2.8, -41.2 (Local)  ~Local bearing/azimuth received: Bearing 2.8, -41.2 (Local) M DAT read: Range 11 to 50 : 40.4 m (trip time 26.9 ms) speed -0.4 B >B >CB !IB \BB =B B DB ~{;B 4Ei ^A - DAT read: 04:39:14.6384 LVL= 30400, 18929, 25906, 31539, AGC= 56, IDX= 504,-0.04,-2.885,-0.807,-1.189,-1.346, PHS=-1.438, 0.584, 0.112, RAW= 282.9, 8.1, CAL= 281.1, 7.5, ROT= 228.9, -7.5  Ygot valid direction response: 04:39:14.6384 LVL= 30400, 18929, 25906, 31539, AGC= 56, IDX= 504,-0.04,-2.885,-0.807,-1.189,-1.346, PHS=-1.438, 0.584, 0.112, RAW= 282.9, 8.1, CAL= 281.1, 7.5, ROT= 228.9, -7.5  T#Rx 25: Read range and direction messages. `direction in FSK: [-0.651751,-0.747116,0.130526] Fpublishing direction and range infoy  `%ۻ`翛 /?Y !B v I 2e 3{) 8I bi ? B`= L@ > @ >) @I  /ۍrFOYsD?.r$? 5@) I pi   checking for new query: numPingsReceived=25, elapsed TxPingTime=14.731110AIIQIaOu>FB&, }LA ԗ?#bN?=ٱ=H c ?V@Lɿ??C?a?{7@cճ?j?iԗ?I)];CYuByu!IiEMb@Mb@Mb@AAAA A9Eq= ףp?v/?~jtxYE>yEx=EĻE@A Et@)EjAAYE@bD]RVD]8ymً%m(=ٔu܂Q-u>9qYq=}Ey}!E}'E}>E EE$E"E:DDAT read: Rx Time:04:39:15.1386 TRx dataTimestamp_ set to:1764909556.278162checking for new query: numPingsReceived=25, elapsed TxPingTime=14.876541*E.:VE4ZEBEQ E:yr?Q Ih@&DI3=i~G=5yU@p`%ۻ`翛 /?*jp2j *p!8@oC6@p&Z̹?-0(;Yb?j jā@i'?iځ5jBjjjBrj'Bzj4@ addTargetRange:: Added new target pos. range: 40.400002 m, deltaT: 0.509180 s, deltaX: 0.200001 m, approachRate: 0.392790 m/s, rangeRepo size: 4  Added new target pos. range: 40.239281 m, bearing: 275.838181 deg, lat: 36.779400 deg, lon: -121.859667 deg, deltaT: 0.509180 s, deltaX: 0.199543 m, approachRate: 0.391891 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 40.24 m.2i"i*i ProNav: ac range: 40.239281 m, nav range: 39.788548 m, bearing: 276.106099 deg, approach rate: 0.000000 m/s, LOS rate: -0.380950 deg/s, cmd heading: 275.089885 deg, new cmd heading: 274.709687 deg. iHeadingCmd: 4.794589 target range: 40.239281 and range: 40.40 m.hEm@hhhhggjgrg:BereZe:e@33D@*e g?EIBɢMb ;)I MiI)M)} nF@} C>} ^S@ y )} @Iy y y } E6&5?᪈A xAzA wA AIIO >RJ&,L+}LApYzByz!I bD6VDʱ8y-K<%54=ٔ5Q-5>99Y9==Ey=!EEEM>QQ 5]5Ucڝ?Q 9e5U)U؊BYayaQ Imh@U-DIUD;iU(4;U5yqɮ}"@yj?qNNiiͫ!}LAj'"B"j'"B:j鸚@"pX9ߤEV>E*@pZ\CYV进 /?*j2j*pW'@C(֙@p>M ?ߵyᅭ & ?j jU@ifx?i56jwBjT?jo5jwBrja Bzjb@ addTargetRange:: Added new target pos. range: 40.700001 m, deltaT: 0.497453 s, deltaX: 0.299999 m, approachRate: 0.603070 m/s, rangeRepo size: 4  Added new target pos. range: 40.538086 m, bearing: 277.029212 deg, lat: 36.779403 deg, lon: -121.859668 deg, deltaT: 0.497453 s, deltaX: 0.298805 m, approachRate: 0.600670 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 40.54 m.2i"i*i ProNav: ac range: 40.538086 m, nav range: 40.094776 m, bearing: 276.427616 deg, approach rate: 0.000000 m/s, LOS rate: -0.380950 deg/s, cmd heading: 274.709689 deg, new cmd heading: 274.414402 deg. i HeadingCmd: 4.789435 target range: 40.538086 and range: 40.70 m.h  C@h h h h ggjgrgereZe:eYD@*e%?FBE EE%E"E:*E0:VE 4=checking for new query: numPingsReceived=26, elapsed TxPingTime=15.376545ZEaE@aM@aM@aM@ɢ)a eԛii)uE<顉iB B y!IB HBB =B B B {;B 4E ~Local bearing/azimuth received: Bearing 1.5, -42.3 (Local) U DAT read: Range 11 to 50 : 40.8 m (trip time 27.2 ms) speed -0.4 A I! I1 OE >8Q&,%G}LA(BDAT read: 04:39:15.6387 LVL= 30896, 19409, 30914, 29107, AGC= 56, IDX= 507, 0.02,-1.798, 0.283,-0.066,-0.238, PHS=-1.458, 0.566, 0.129, RAW= 281.8, 8.3, CAL= 280.1, 7.9, ROT= 229.9, -7.9 5Ygot valid direction response: 04:39:15.6387 LVL= 30896, 19409, 30914, 29107, AGC= 56, IDX= 507, 0.02,-1.798, 0.283,-0.066,-0.238, PHS=-1.458, 0.566, 0.129, RAW= 281.8, 8.3, CAL= 280.1, 7.9, ROT= 229.9, -7.9 5T#Rx 27: Read range and direction messages.=`direction in FSK: [-0.638011,-0.757662,0.137445]EFpublishing direction and range infoysjyjȗ?Y3#BxKx q)Ii`?>c@V>o@ 0 >)f@I0 E?EJ?E0V=ٱE=EH c?@i?*?@&??,F? ?iE?IE];ECYUBy]!IxR?9>T? y4@)EIRi0 checking for new query: numPingsReceived=27, elapsed TxPingTime=15.7911325؁GIayWj9YeAiMb@Mb@Mb@ 9 rh?`"?Mb`?Y>y=;E EE"E"EƱ:*E*:VE(3ZEBE@;a]2EB;aeJEg;am:Eg;au}DDAT read: Rx Time:04:39:16.1388 TRx dataTimestamp_ set to:1764909557.291287PDAT read: Bearing 2.3, -44.2 (Local) ~Local bearing/azimuth received: Bearing 2.3, -44.2 (Local) @@ @) AYz@BA=checking for new query: numPingsReceived=27, elapsed TxPingTime=15.910448bD-9VD-ͱ8ԩy%=ٔAQ->9Y=Ey!EƼE>Q 55杊?Q 95()ΊBY>Q E:y?Q Ih@7DI:i:5yɮ@j9NMNMiiC}LAj"B"j"B:j?(@"pW0xKl9X0>ь=W@psjyjȗ?*jR2j0 *pR@sV Cnj@p?t{}ᅧ`cp?j j@iC J?i \3jIBjC J?j^3jBrj Bzj(@} addTargetRange:: Added new target pos. range: 40.799999 m, deltaT: 0.522158 s, deltaX: 0.099998 m, approachRate: 0.191510 m/s, rangeRepo size: 4  Added new target pos. range: 40.637928 m, bearing: 276.017422 deg, lat: 36.779402 deg, lon: -121.859667 deg, deltaT: 0.522158 s, deltaX: 0.099842 m, approachRate: 0.191210 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 40.64 m.2i"i*i  ProNav: ac range: 40.637928 m, nav range: 40.225601 m, bearing: 276.015824 deg, approach rate: 0.000000 m/s, LOS rate: -0.380950 deg/s, cmd heading: 274.414407 deg, new cmd heading: 273.941602 deg. i HeadingCmd: 4.781183 target range: 40.637928 and range: 40.80 m.hs@hhhhggjgrgABeAreAZeA:eE`ffD@*eE b?@Bɢq);) {i)Ǯ<iiA  I s@I @  @ @ 0@ @ @ = DAT read: Range 11 to 50 : 41.0 m (trip time 27.3 ms) speed -0.4  % DAT read: 04:39:16.1388 LVL= 32752, 22433, 32754, 32659, AGC= 56, IDX= 508, 0.48,-0.777, 1.276, 0.986, 0.771, PHS=-1.447, 0.549, 0.171, RAW= 280.3, 8.0, CAL= 278.6, 6.7, ROT= 231.4, -6.7 - Ygot valid direction response: 04:39:16.1388 LVL= 32752, 22433, 32754, 32659, AGC= 56, IDX= 508, 0.48,-0.777, 1.276, 0.986, 0.771, PHS=-1.447, 0.549, 0.171, RAW= 280.3, 8.0, CAL= 278.6, 6.7, ROT= 231.4, -6.7 - T#Rx 28: Read range and direction messages.5 `direction in FSK: [-0.619619,-0.776183,0.116671]= Fpublishing direction and range infoy  5㿓_$H~mu"޽?Y $B  W  ) I L7i D ? /> @ 5> @ |=) <@I |ゥ #`O'f?ҿV? 3@) $fI ǥi |ゥ U checking for new query: numPingsReceived=28, elapsed TxPingTime=16.143881^A#>9A)I1IAOM?y[Z&,qk}LAZ?ZF?Z}=ٱZ=ZH?:8?S??_?.2ű??iZ?IZ];ZCYBy!II%<)%p;bD]XVD]8ym/ý%O=ٔQ->9Y=Ey!EE>Q 55?Q 95)NJBYy#?Q Ih@=DI;ie;5y;Bɮ@ jNCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRM%%Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRii/b}LAjY#B"jY#B:jm@"p\M9Ey)u?@p5㿓_$H~mu"޽?*jǥ2j|*p%^@ƻ#D^ǯ@po5ɼ?A3￶1mYھ?j! j@i[q?iX6jXBjξ_?jځ5jrj!BzjB@ addTargetRange:: Added new target pos. range: 41.000000 m, deltaT: 0.485885 s, deltaX: 0.200001 m, approachRate: 0.411622 m/s, rangeRepo size: 4 E- E-E)E)"E-g:*E-xv:DDAT read: Rx Time:04:39:16.6389 TRx dataTimestamp_ set to:1764909557.810401Echecking for new query: numPingsReceived=28, elapsed TxPingTime=16.408857VE)ZE)a@a@a@a@ Added new target pos. range: 40.837135 m, bearing: 276.503901 deg, lat: 36.779404 deg, lon: -121.859668 deg, deltaT: 0.485885 s, deltaX: 0.199207 m, approachRate: 0.409989 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 40.84 m.2i"i*i ProNav: ac range: 40.837135 m, nav range: 40.499462 m, bearing: 276.204098 deg, approach rate: 0.000000 m/s, LOS rate: -0.380950 deg/s, cmd heading: 273.941594 deg, new cmd heading: 273.628978 deg. iHeadingCmd: 4.775727 target range: 40.837135 and range: 41.00 m.hҘ@hhhh g g jg rg ereZe:eD@9*e?颭;BɢX4) i)b<顱iigIҘ@IU@Y @Y@]0@Yi- PDAT read: Bearing 2.3, -44.1 (Local) 5 ~Local bearing/azimuth received: Bearing 2.3, -44.1 (Local) u DAT read: Range 11 to 50 : 41.1 m (trip time 27.4 ms) speed -0.4 ^A} 8j>B >B B `!IB 4BB B B B {;B C4E  DAT read: 04:39:16.6389 LVL= 31216, 20401, 24178, 30931, AGC= 55, IDX= 509,-0.05,-2.507,-0.441,-0.743,-0.957, PHS=-1.448, 0.561, 0.170, RAW= 280.6, 7.8, CAL= 278.9, 6.4, ROT= 231.1, -6.4  Ygot valid direction response: 04:39:16.6389 LVL= 31216, 20401, 24178, 30931, AGC= 55, IDX= 509,-0.05,-2.507,-0.441,-0.743,-0.957, PHS=-1.448, 0.561, 0.170, RAW= 280.6, 7.8, CAL= 278.9, 6.4, ROT= 231.1, -6.4  T#Rx 29: Read range and direction messages. `direction in FSK: [-0.624050,-0.773393,0.111469] Fpublishing direction and range infoy  %+61â -V:?Y f$B y O r^ x) 7I Xi ? {.> t@ 'g > cě@ =) @I 佩 ApdbL?j]l? ]3@) I i 佩  checking for new query: numPingsReceived=29, elapsed TxPingTime=16.732601A!IAIYOe>Ob&,}LAXvt ?vD?vn=ٱv0ێ=vH?? v? '???䷿ñ?`g?ivt ?Ivm^;vCY~By!Ii}Mb@Mb@Mb@yyyy y9}ʡE?|?5^?Mb`Y}->y}=}y}jA }@)yyY}@ <bD;VDα8y%=ٔqQ->9Y=Ey!ErmE>!Q 5-5%?Q 9-5%g )%BY5>Q E5:y5{?Q I5h@%EDI%:i%o:%5y=3Bɮ=N@=mEi!i%;}LAj%#B"j%#B:j%@"p%Oe9?E@@E% E%~E%!E!eDDAT read: Rx Time:04:39:17.1391 uTRx dataTimestamp_ set to:1764909558.295888PDAT read: Bearing 1.8, -46.7 (Local) ~Local bearing/azimuth received: Bearing 1.8, -46.7 (Local) "E%:*E%(:VE%c3ZE!BE%;a2E%;aJE%;a:E%;aDAT read: Range 11 to 50 : 41.4 m (trip time 27.6 ms) speed -0.4 Z#Rx 30: Read range message, but no direction.yiYm%Bip%%+61â -V:?*j%2j%*p%u@@@c:Dsi @p%9i?Af ?j%! j%@uchecking for new query: numPingsReceived=30, elapsed TxPingTime=16.916897i%ܾQ?i%r5j%Bj%ܾQ?j!j%wBrj%"Bzj%@ addTargetRange:: Added new target pos. range: 41.400002 m, deltaT: 0.761734 s, deltaX: 0.400002 m, approachRate: 0.525120 m/s, rangeRepo size: 4  Added new target pos. range: 40.936848 m, bearing: 275.734848 deg, lat: 36.779403 deg, lon: -121.859668 deg, deltaT: 0.505777 s, deltaX: 0.099712 m, approachRate: 0.197147 m/s, posRepo size: 4 :iDNOT Ignoring new targets: 40.94 m.2i"i*i ProNav: ac range: 40.936848 m, nav range: 40.675247 m, bearing: 275.733374 deg, approach rate: 0.000000 m/s, LOS rate: -0.380950 deg/s, cmd heading: 273.628989 deg, new cmd heading: 273.194894 deg. iHeadingCmd: 4.768150 target range: 40.936848 and range: 41.40 m.h%@h!h!h!h!g!g!jg)rg-EBeIreIZeQ:eU@3D@*eU?额6Bɢ) 2i)8<顡it~iI@I @ @@/@@@zA9  DAT read: 04:39:17.1391 LVL= 32752, 21681, 28098, 32755, AGC= 56, IDX= 511, 0.28, 1.098,-3.134, 2.936, 2.667, PHS=-1.467, 0.527, 0.225, RAW= 278.1, 7.7, CAL= 276.4, 5.9, ROT= 233.6, -5.9  Ygot valid direction response: 04:39:17.1391 LVL= 32752, 21681, 28098, 32755, AGC= 56, IDX= 511, 0.28, 1.098,-3.134, 2.936, 2.667, PHS=-1.467, 0.527, 0.225, RAW= 278.1, 7.7, CAL= 276.4, 5.9, ROT= 233.6, -5.9  Z#Rx 31: Read direction message, but no range.% `direction in FSK: [-0.590275,-0.800630,0.102793]y  JÞzBP?  T m ) 8I ƻi y? fff> R@ > ^@ B=) w@I Bҽ zjCۘ? lG|9? ג0@) :7 I 0 i Bҽ= checking for new query: numPingsReceived=31, elapsed TxPingTime=17.147663^A (>i A1IIIYOu?j&,PV}LAY kBy !I bD-VD-8ym%m1=ٔuQ-u>9Y=Ey!EE>Q 551?Q 95w)BYyQ Ih@LDI.B;i/;+5yɮ@iaie}LAje$B"je$B:jezZ@"pe#W8N=ہ@3ěr@peJÞzBP?*je0 2jeBҽ*pe#I@f׮MDHj@peAhRǂ?Ͻӱᅴ ?jem" jeN@ie~v?ieA4je̋Bje[q?jer5jeXBrje#Bzje0@:iIUDNOT Ignoring new targets: 40.94 m.2iQ"i]h*i]hm ProNav: ac range: 40.936848 m, nav range: 40.849804 m, bearing: 275.532824 deg, approach rate: 0.435330 m/s, LOS rate: -0.498016 deg/s, cmd heading: 273.194890 deg, new cmd heading: 272.795511 deg. imcuHeadingCmd: 4.761180 target range: 40.936848 and range: 41.40 m.hu[@hqhqhqhqgygyjgyrgyeyreZe:e*e`?颵2Bɢ) {Ǿi)2<项ii¿I[@IE E|E(1UDDAT read: Rx Time:04:39:17.6392 eTRx dataTimestamp_ set to:1764909558.803654PDAT read: Bearing 341.3, -43.8 (Local) ~Local bearing/azimuth received: Bearing 341.3, -43.8 (Local) DAT read: Range 11 to 50 : 41.6 m (trip time 27.7 ms) speed -0.4 Z#Rx 32: Read range message, but no direction.yYY]f&B@ @@@E"E:*EP$:VEc44ZEa@a@a@a@Y%checking for new query: numPingsReceived=32, elapsed TxPingTime=17.425602Y^AM 8j>ԉ Ay BU >BU ?CBU A!IBU BBQ BQ BQ BU |;BU 4EI I  DAT read: 04:39:17.6392 LVL= 32752, 22193, 26098, 32755, AGC= 55, IDX= 512,-0.23, 1.541,-2.667,-2.770,-2.927, PHS=-1.712, 0.305, 0.113, RAW= 274.9, 13.3, CAL= 274.4, 20.0, ROT= 235.6, -20.0  Ygot valid direction response: 04:39:17.6392 LVL= 32752, 22193, 26098, 32755, AGC= 55, IDX= 512,-0.23, 1.541,-2.667,-2.770,-2.927, PHS=-1.712, 0.305, 0.113, RAW= 274.9, 13.3, CAL= 274.4, 20.0, ROT= 235.6, -20.0  Z#Rx 33: Read direction message, but no range.O} >@q&,!}LAPExceeded connect timeout, disconnecting.*`direction in FSK: [-0.530895,-0.775353,0.342020]yli}:^h7Kj?Ve )7I"ۿi(>l={@,m>@@ ¸>)x@I¸4\x*|^?iGό? -@)_nI i¸Vchecking for new query: numPingsReceived=33, elapsed TxPingTime=17.713091Ye_Bye!IYieMb@Mb@Mb@aaaa a9ee;O??~jtxYe>ye=eĻe?@e@ e@)eAaYe@bD}HVD}ڱ8y3%=ٔQ->9Y=Ey!EE>Q 55?Q 95$)BY >Q E:yy?Q Ih@TDI:i:5y6Bɮi@nEiYi]o}LAj]%B"j]%B:j]m@"p]Ni5R#<@n7W,@p]li}:^h7Kj?*j] 2j]¸*p]7+玳 @G uC@n+@p]{i?oO9-Lw?j] j]Ai]?i]j]+BjYj]A4jYrj]$Bzj]C@  addTargetRange:: Added new target pos. range: 41.599998 m, deltaT: 0.507766 s, deltaX: 0.199997 m, approachRate: 0.393876 m/s, rangeRepo size: 4  Added new target pos. range: 41.435104 m, bearing: 281.875370 deg, lat: 36.779406 deg, lon: -121.859668 deg, deltaT: 0.763723 s, deltaX: 0.498257 m, approachRate: 0.652405 m/s, posRepo size: 4 :i%DNOT Ignoring new targets: 41.44 m.2i!"i%*i!= ProNav: ac range: 41.435104 m, nav range: 41.023869 m, bearing: 275.863657 deg, approach rate: 0.000000 m/s, LOS rate: -0.498016 deg/s, cmd heading: 272.795515 deg, new cmd heading: 272.298968 deg. i9=HeadingCmd: 4.752513 target range: 41.435104 and range: 41.60 m.hE@hAhAhAhAgAgAjgIrgM"BeIreIZeQ:eUD@*eUL?颅-Bɢ$) ;i)EK<顉iiÿI@II)bEM3jEM3rEM20E EiI-DDAT read: Rx Time:04:39:18.1394 5TRx dataTimestamp_ set to:1764909559.306084E"E"E:*E~:VE(3ZEBE \l鿯EO?Y-'B)-pe-!8-T -^)-:I-hi-j>-q>-o@->-@ -=)-@I-))-.!F'\?{? -;/@)-yI-! i-))checking for new query: numPingsReceived=34, elapsed TxPingTime=17.960510Ա ^A- #> AY Ia Iy O Wx&,}LAchecking for new query: numPingsReceived=34, elapsed TxPingTime=18.146231YIByz!IbD-@VD-ӱ8yU%]]=ٔYQ-]>9aYa=eEye!EaEe>iQ 55m5?Q 95m8)mBYyQ Ih@mZDImX\l鿯EO?*j5! 2j5*p5})#\@I75OsD1/@p5N]x? q]e0pk?j5# j5@i59Q?i5s&3j5Bj5~v?j1j5Brj5Y%Bzj5"@ addTargetRange:: Added new target pos. range: 41.900002 m, deltaT: 0.502430 s, deltaX: 0.300003 m, approachRate: 0.597104 m/s, rangeRepo size: 4 ԉ Added new target pos. range: 41.733917 m, bearing: 279.357299 deg, lat: 36.779419 deg, lon: -121.859668 deg, deltaT: 0.502430 s, deltaX: 0.298813 m, approachRate: 0.594735 m/s, posRepo size: 4 :i DNOT Ignoring new targets: 41.73 m.2i -ZTarget missed at range: 41.90 m. Rolling out.i-5NTransitioning guidance mode to: ROLLOUT i5@h1h9h=;h=L?h=i9g9gAjgIrgIeIreQZeQ:eU@3D@*e]a?(Bn=)  ߾i)GJ<%8ii ÿ ) L?  (kpHeading = 0.800000I ;  (kiHeading = 0.004000II &Changing to mode: 1ԹE EE%E"E:DDAT read: Rx Time:04:39:18.6394 TRx dataTimestamp_ set to:1764909559.806782mPDAT read: Bearing 0.0, -49.9 (Local) u~Local bearing/azimuth received: Bearing 0.0, -49.9 (Local) checking for new query: numPingsReceived=34, elapsed TxPingTime=18.420727@ @@0@*Ee:VE 4ZEa@a@a@a@ ^A 8j>AI!I9IOU?&,%~LA%=&DAT read: Range 11 to 50 : 41.9 m (trip time 27.9 ms) speed -0.3 :DAT read: 04:39:18.6394 LVL= 28048, 18673, 22834, 27731, AGC= 56, IDX= 498, 0.23, 1.881,-2.387,-2.493,-2.823, PHS=-1.478, 0.480, 0.286, RAW= 275.2, 7.7, CAL= 273.5, 5.4, ROT= 236.5, -5.4 >Ygot valid direction response: 04:39:18.6394 LVL= 28048, 18673, 22834, 27731, AGC= 56, IDX= 498, 0.23, 1.881,-2.387,-2.493,-2.823, PHS=-1.478, 0.480, 0.286, RAW= 275.2, 7.7, CAL= 273.5, 5.4, ROT= 236.5, -5.4 >T#Rx 35: Read range and direction messages.BJ>BHBJ!IBJBBJ =BHBHBJ4};BJ4EBm>CBm>CBmCBm =Bm =Cm)5 `direction in FSK: [-0.549487,-0.830185,0.094108]Fpublishing direction and range infoy?.f῾!|ӄ{?YmH2Y Sl)8I/i>n>`@ >P@ =)&@I Ay쿾Wl?i? WP-@)2 Ii ichecking for new query: numPingsReceived=35, elapsed TxPingTime=18.701469nManaging dock network, ignoring radio surface power offII?ܕ:?\=ٱ=H@t?K?F:?`?R̃?`kζ?j?i?I^;CY-=ByMk!IIU=)U=iMb@Mb@Mb@ 9oʡ?J +?{GztY>y=ףM@@ @)AY@bD$VD8y%<ٔԻQ->9Y=Ey!EAEzEE>IQ 5U5M(?Q 9U5M)MBY]R>Q E]:y]>k@0 >@ Pw=)WO@IPwֽsAJ ?O? S,@) I iPwֽchecking for new query: numPingsReceived=37, elapsed TxPingTime=19.166965^As>A zA A A AIIO'?N&,s,~LAFH?F8?F\=ٱF\=FH?L? j ???@, C߰?B?iFH?IFE^;DYV9Y=%Ey!%E%>)Q 555-I4?Q 955-)-BY9y=*n?Q I=h@-kDI-;i-I;-5yE9BɮE@Ak]N@O]Oeii~LAj(B"j(B:j<@"p/H6? A*ܻ@p/(aGw4ޮ`º?*j 2jPwֽ*ph[R>"[*U>*[/*n?\=) ?iű9)b49iiÿII1E5 E5E5#E1"E5I:iQIQuDDAT read: Rx Time:04:39:19.6397 TRx dataTimestamp_ set to:1764909560.816128PDAT read: Bearing 358.8, -50.6 (Local) ~Local bearing/azimuth received: Bearing 358.8, -50.6 (Local) DAT read: Range 11 to 50 : 42.3 m (trip time 28.2 ms) speed -0.3 *E5z:VE53ZE1a@a@a@a@{@ @@0@ Z#Rx 38: Read range message, but no direction.yyYyy checking for new query: numPingsReceived=38, elapsed TxPingTime=19.430752Y^A->I1IIOU>ԉ% DAT read: 04:39:19.6397 LVL= 25200, 22161, 20338, 29011, AGC= 54, IDX= 501,-0.24,-0.005, 2.033, 1.945, 1.600, PHS=-1.502, 0.479, 0.301, RAW= 274.6, 7.7, CAL= 273.0, 5.4, ROT= 237.0, -5.4 BU >BQ BU IBU BBU =BQ BQ BU };BU +5E Ygot valid direction response: 04:39:19.6397 LVL= 25200, 22161, 20338, 29011, AGC= 54, IDX= 501,-0.24,-0.005, 2.033, 1.945, 1.600, PHS=-1.502, 0.479, 0.301, RAW= 274.6, 7.7, CAL= 273.0, 5.4, ROT= 237.0, -5.4  Z#Rx 39: Read direction message, but no range.Թ  `direction in FSK: [-0.542222,-0.834948,0.094108]y  wYJ|ӄ{? pb V rO Sq) 6I Ai }?> > ]@&,lF~LA- >-x@ -=)-]@I-)-1k쿞!%&?7x? -,,@)-I-od i-%checking for new query: numPingsReceived=39, elapsed TxPingTime=19.738674ԉY}=By}k!IDDAT read: Rx Time:04:39:20.1398 TRx dataTimestamp_ set to:1764909561.320276PDAT read: Bearing 355.1, -51.8 (Local) ~Local bearing/azimuth received: Bearing 355.1, -51.8 (Local) DAT read: Range 11 to 50 : 42.5 m (trip time 28.3 ms) speed -0.3 Z#Rx 40: Read range message, but no direction.yY*Bchecking for new query: numPingsReceived=40, elapsed TxPingTime=19.928541EU EUEQEQ"EUg:*EU*:VEQZEQBEU;a2EU;aJEUg;a:EUg;ai%Mb@Mb@Mb@!!!! !9%m?kt?~jtxY%>y% =%Ļ%d@%fA % @)%A!Y%Q@bD=JVD=ܱ8yM ;%M=ٔUQ-U>9QYQ=]EyY]E]>aQ 5m5e:C?Q 9m5e)e|BYu>Q Eu:yug?Q Iuh@etDIe ;ie/;e5y}.Bɮ}@}eEkO1PiigT~LAjS)B"jS)B:j率@"p"F6<ACn@pwYJ|ӄ{?*jod 2j*p| @Nk{DjG,8 @p}AJ?4υ¯?j& j(@i\?ivY6jBj9Q?jjeBrj!(Bzj@m addTargetRange:: Added new target pos. range: 42.500000 m, deltaT: 1.009082 s, deltaX: 0.200001 m, approachRate: 0.198201 m/s, rangeRepo size: 4 } Added new target pos. range: 42.331444 m, bearing: 278.700979 deg, lat: 36.779430 deg, lon: -121.859667 deg, deltaT: 1.263820 s, deltaX: 0.597439 m, approachRate: 0.472725 m/s, posRepo size: 4 }DNOT Ignoring new targets: 42.33 m.hyhhhhiggjgrg(BreZe:e@E@*e?[>[>"[::>*[og?) )) - = ?i5 k9)1 5 55 J9i1 i= ÿ9 9 I9 IA  0:D  %=5DAT read: 04:39:20.1398 LVL= 29680, 22049, 24690, 32435, AGC= 54, IDX= 502,-0.16, 0.842, 2.842, 2.824, 2.464, PHS=-1.520, 0.422, 0.316, RAW= 272.8, 8.3, CAL= 271.3, 6.8, ROT= 238.7, -6.8 =Ygot valid direction response: 04:39:20.1398 LVL= 29680, 22049, 24690, 32435, AGC= 54, IDX= 502,-0.16, 0.842, 2.842, 2.824, 2.464, PHS=-1.520, 0.422, 0.316, RAW= 272.8, 8.3, CAL= 271.3, 6.8, ROT= 238.7, -6.8 =Z#Rx 41: Read direction message, but no range.E`direction in FSK: [-0.515865,-0.848448,0.118404]y  v[KB |&뿯EO?  s !V r` ~) I \¿i b> ʡ> :\@ V> …@ =) P@I   }=P(G3D?)J}? ʨ*@) DI O~i mchecking for new query: numPingsReceived=41, elapsed TxPingTime=20.174234Ae#@a @e@eJ0@a@m=@m=i^Ax>IIO%?zw&,Hp~LA6V>6{2?6j=ٱ6<=6Hz?L??p?@?>t1'1??i6V>I6^;6CY>'By>P!IbDV8VDV̱8ynŽ%r<=ٔvNQ-z>9|Y= Ey MiE%>5DDAT read: Rx Time:04:39:20.6398 ETRx dataTimestamp_ set to:1764909561.824242E E~E"E"E:*E(:VE(3ZEa}@a}@a}@a}@PDAT read: Bearing 353.7, -52.8 (Local) ~Local bearing/azimuth received: Bearing 353.7, -52.8 (Local) DAT read: Range 11 to 50 : 42.5 m (trip time 28.3 ms) speed -0.2 DAT read: 04:39:20.6398 LVL= 30832, 21153, 23378, 32547, AGC= 54, IDX= 502,-0.13, 0.409, 2.403, 2.423, 2.040, PHS=-1.529, 0.408, 0.339, RAW= 271.8, 8.3, CAL= 270.3, 6.7, ROT= 239.7, -6.7 Q 55N?Q 95r)sBYya?Q Ih@{DIL =i ="5yɮ6AYgot valid direction response: 04:39:20.6398 LVL= 30832, 21153, 23378, 32547, AGC= 54, IDX= 502,-0.13, 0.409, 2.403, 2.423, 2.040, PHS=-1.529, 0.408, 0.339, RAW= 271.8, 8.3, CAL= 270.3, 6.7, ROT= 239.7, -6.7 T#Rx 42: Read range and direction messages. `direction in FSK: [-0.501082,-0.857499,0.116671] Fpublishing direction and range infoy9=Apmu"޽?Y99=px=R=R[ =#)9I=Fÿi=`>=h>=@͗@9=@ =|=)=߅@I=|"kI1PMMtCompleted lineCaptureHoming:UpdatePingUpdateRate_Midcourse1OU UAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse99='[z뿚ή?t2f? =)@)=I=[`i=|ゥ99mchecking for new query: numPingsReceived=42, elapsed TxPingTime=20.458723i9i=bt~LAj9"j9:j=g@"p=J&65aQK&Ba_@p=Apmu"޽?*j=[`2j=|*p=b g@iҮ9)顭*5su9iiÿIIq-!&@) @)@-g1@)A checking for new query: numPingsReceived=42, elapsed TxPingTime=20.666401A A AAB >B B IB ĂBB B B B ~;B P5E^AU >q I I OU >d&,~LAz!>z/?z鵧=ٱz`=zHȨ?'?9?`?} t?`C?iz!>Iz.^;xY-!By-I!I ɁG1Imi9iYu%eAiMb@Mb@Mb@ 9x&1?MbX9?YA>yʡ=M@|A M@)AY@bDVVD8yټ%-=ٔQ->9Y=EyE>Q 55Y?Q 95{)lBY>Q E:y}]?Q Ih@DI ;i ;5y 1Bɮ AfE=DNOT Ignoring new targets: 42.33 m.h9h9h9h9h9i9g9gAjgArgE!BreAZeI:eI*eM`'?[]>[]>"[]6>*[]{}]?E ExEE"EƱ:*E:VE5DDAT read: Rx Time:04:39:21.1401 ETRx dataTimestamp_ set to:1764909562.327440UPDAT read: Bearing 349.5, -53.9 (Local) ]~Local bearing/azimuth received: Bearing 349.5, -53.9 (Local) eDAT read: Range 11 to 50 : 42.9 m (trip time 28.6 ms) speed -0.2 mZ#Rx 43: Read range message, but no direction.y9Y=+B9uchecking for new query: numPingsReceived=43, elapsed TxPingTime=20.930710yZEBE@;a2EA;aJETo;a:EUo;a鵧=) ?iԯ9)顕K5"9iiÿIIԙ I ) )@  @ @ 0@  DAT read: 04:39:21.1401 LVL= 30784, 23121, 22722, 31267, AGC= 54, IDX= 504,-0.12, 0.946, 2.931, 3.025, 2.618, PHS=-1.569, 0.359, 0.363, RAW= 269.9, 8.8, CAL= 268.6, 8.0, ROT= 241.4, -8.0  Ygot valid direction response: 04:39:21.1401 LVL= 30784, 23121, 22722, 31267, AGC= 54, IDX= 504,-0.12, 0.946, 2.931, 3.025, 2.618, PHS=-1.569, 0.359, 0.363, RAW= 269.9, 8.8, CAL= 268.6, 8.0, ROT= 241.4, -8.0  Z#Rx 44: Read direction message, but no range. `direction in FSK: [-0.474033,-0.869439,0.139173]y  wVV޿L$pH@l? @x QZ X #z) I ȿi η> #۹> @ nF> @ 5>) ҆@I 5 i Q[hI?}t,? o'@) I ;zi 5 checking for new query: numPingsReceived=44, elapsed TxPingTime=21.179943^Ad>IIO?O&,>~LA2>2Ŭ-?2d=ٱ2/9=2H?Ld???b ʴ??i2>I2\^;2CY:By>>!IIB<)Bp<bDJTVDJ8yVj%V7=ٔZ0Q-Z>9\Y\=^Ey\bEb>hQ 5n5jd?Q 9n5j)jeBYpyrL[?Q Irh@jDIj< ;ij ;j5yxɮzA|ii~LAj*B"j*B:jܜ@"pÞ`A4*TB!@pwVV޿L$pH@l?*j;z2j5*p/& @wD(q@pLi_?zȢ@L?j& jAizUX?i++jBj\?j`1jrj)BzjS@ addTargetRange:: Added new target pos. range: 42.900002 m, deltaT: 0.503198 s, deltaX: 0.400002 m, approachRate: 0.794919 m/s, rangeRepo size: 4  Added new target pos. range: 42.729881 m, bearing: 280.859692 deg, lat: 36.779431 deg, lon: -121.859666 deg, deltaT: 0.503198 s, deltaX: 0.398438 m, approachRate: 0.791811 m/s, posRepo size: 4 DNOT Ignoring new targets: 42.73 m.hhhhhiggjg!rg)re)Ze):e-@3sE@*e-`M?A[q[q"[q*[u[L[?d=) _>i'9)k5B9iiÿIIE} E}E}&Ey"E}:*E}*:DDAT read: Rx Time:04:39:21.6401 TRx dataTimestamp_ set to:1764909562.830454PDAT read: Bearing 348.6, -54.9 (Local) ~Local bearing/azimuth received: Bearing 348.6, -54.9 (Local) DAT read: Range 11 to 50 : 42.9 m (trip time 28.6 ms) speed -0.2 Z#Rx 45: Read range message, but no direction.yYchecking for new query: numPingsReceived=45, elapsed TxPingTime=21.431662VE}4ZEya@a@a@a@qԙ5 u,@1  @1 @5 /@9 M =M < DAT read: 04:39:21.6401 LVL= 30096, 21361, 22306, 27891, AGC= 54, IDX= 504,-0.16,-0.013, 2.000, 2.130, 1.691, PHS=-1.602, 0.354, 0.396, RAW= 269.0, 8.7, CAL= 267.6, 7.7, ROT= 242.4, -7.7  Ygot valid direction response: 04:39:21.6401 LVL= 30096, 21361, 22306, 27891, AGC= 54, IDX= 504,-0.16,-0.013, 2.000, 2.130, 1.691, PHS=-1.602, 0.354, 0.396, RAW= 269.0, 8.7, CAL= 267.6, 7.7, ROT= 242.4, -7.7  Z#Rx 46: Read direction message, but no range. `direction in FSK: [-0.459119,-0.878213,0.133986]yI M `q3bݿQL`u&?I M uM qSM "W M l)I IM VͿiM }?>M >M <@M |>M t@ M >)M a@IM I M >'/KQ?(%~F? M _&@)M ]IM G\iM  checking for new query: numPingsReceived=46, elapsed TxPingTime=21.687706B B B IB BB B B B e~;B 5E^Ax>IIO >"&,7~LAv9>vS+?v3=ٱv=vH?`q? ?@$?\@à@g?`?iv9>Iv];vCY~ By~-!IiMb@Mb@Mb@ 9Cl?kt?y&1|?Y>y =`;A )AY=@bDUmVDU8ymN%m=ٔm˘Q-m>9qYq=uEyquE}>Q 55 q?Q 95)`BY>Q E:y?`?Q Ih@DI:i:5y4BɮOAgEi9i=)&~LAj9"j9:j=R@"p=':3gQB @p=`q3bݿQL`u&?*j=G\2j= *p=lZ @4$D~c@p=?VBn<=8}?j=& j=(Ai=Z.?i= %j=LBj=uN?j=p -j=LBrj=2*Bzj= @! addTargetRange:: Added new target pos. range: 42.900002 m, deltaT: 0.503014 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 42.729885 m, bearing: 281.284522 deg, lat: 36.779441 deg, lon: -121.859665 deg, deltaT: 0.503014 s, deltaX: 0.000004 m, approachRate: 0.000008 m/s, posRepo size: 4 =DNOT Ignoring new targets: 42.73 m.hAhAhAhIhIiIgqgyjgrgBE EEE"E:*E|;:VEZEDDAT read: Rx Time:04:39:22.1403 TRx dataTimestamp_ set to:1764909563.331628 PDAT read: Bearing 347.0, -56.1 (Local)  ~Local bearing/azimuth received: Bearing 347.0, -56.1 (Local) DAT read: Range 11 to 50 : 43.2 m (trip time 28.8 ms) speed -0.2 %Z#Rx 47: Read range message, but no direction.yY,B-checking for new query: numPingsReceived=47, elapsed TxPingTime=21.932533BE3[}>"[}:U>*[}?`?3=) >i9)页ψ5Q9iiÿIII.@ @@0@q ^A >I I O >&,v~LABDAT read: 04:39:22.1403 LVL= 27872, 21713, 19298, 27795, AGC= 53, IDX= 506,-0.20, 1.118, 3.126,-2.977, 2.836, PHS=-1.616, 0.335, 0.426, RAW= 267.7, 8.6, CAL= 266.4, 7.6, ROT= 243.6, -7.6 FYgot valid direction response: 04:39:22.1403 LVL= 27872, 21713, 19298, 27795, AGC= 53, IDX= 506,-0.20, 1.118, 3.126,-2.977, 2.836, PHS=-1.616, 0.335, 0.426, RAW= 267.7, 8.6, CAL= 266.4, 7.6, ROT= 243.6, -7.6 FZ#Rx 48: Read direction message, but no range.J`direction in FSK: [-0.440729,-0.887843,0.132256]y02gN"4ܿ:6i) ?02l2T2bK 2l)25I2οi2>2>2 @2`>2,ɔ@ 2>)2J @I202u-+u꿛wo? %? 2%@)2I2!i2Zchecking for new query: numPingsReceived=48, elapsed TxPingTime=22.187580XbK>b?(?b̈=ٱba=bHj3?_@?@?@R?Ó@ks?`?ibK>Ib^;bCYjByj!!IbDrYVDr8yzR%zg=ٔ~Q-~>9 Y =Ey%ռE->1Q 555y?Q 955)5]BYy]?Q Ih@5DI5i9)59iiMÿIIIQIQ?i>E EE#E"E:*E0:VE3ZEa@a@a@a@%DDAT read: Rx Time:04:39:22.6403 -TRx dataTimestamp_ set to:1764909563.836366=PDAT read: Bearing 342.9, -56.7 (Local) =~Local bearing/azimuth received: Bearing 342.9, -56.7 (Local) ]DAT read: Range 11 to 50 : 43.2 m (trip time 28.8 ms) speed -0.2 DAT read: 04:39:22.6403 LVL= 30896, 21873, 22642, 31171, AGC= 53, IDX= 506,-0.22,-0.846, 1.123, 1.367, 0.888, PHS=-1.631, 0.281, 0.435, RAW= 266.2, 9.2, CAL= 265.1, 8.9, ROT= 244.9, -8.9 1@ @@/@@=@=Ygot valid direction response: 04:39:22.6403 LVL= 30896, 21873, 22642, 31171, AGC= 53, IDX= 506,-0.22,-0.846, 1.123, 1.367, 0.888, PHS=-1.631, 0.281, 0.435, RAW= 266.2, 9.2, CAL= 265.1, 8.9, ROT= 244.9, -8.9  T#Rx 49: Read range and direction messages.- `direction in FSK: [-0.419092,-0.894666,0.154710]5 Fpublishing direction and range infoy!%fLhڿ 쿥j?Y!!%x%qU%rX %y)!I%пi%;ߏ>%R>%@%l$>%M@ %>)%(Lj@I%!!%AwV<꿡)?? %CD#@)%L$I%ei%!!} checking for new query: numPingsReceived=49, elapsed TxPingTime=22.475466! ^A }>I I O >0&,~LA,J\->Ja$?Jh=ٱJ:=JH??@1?`ǧ?@bǛ糿l??iJ\->IJ^;JCYVByV#!I XXbD^XVD^8yj;%jB=ٔjQ-j>9lYl=nEylr.Er>pQ 5v5r?Q 9z5r)rYBYxyz7Y?Q Izh@rDIr:ir;r5y|ɮAii~LAj"j:j檝@"pF2r2bj?Cs@pfLhڿ 쿥j?*je2j*p̧9N<"@AYDߡV@pjǎo?Ҝ5'?j>' jAie ?iJ"I"jBjZ.?j(jLBrjV+Bzj@  addTargetRange:: Added new target pos. range: 43.200001 m, deltaT: 0.504738 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 43.028694 m, bearing: 282.302691 deg, lat: 36.779453 deg, lon: -121.859663 deg, deltaT: 0.504738 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 %DNOT Ignoring new targets: 43.03 m.h!h!h!hihiiigigijgqrgqreqZeq:ey*e}`?checking for new query: numPingsReceived=49, elapsed TxPingTime=22.682379B >B B  IB BB B B B ~;B 5E[I[I"[I*[M7Y?]h=)Y ]>ԁi]k9)ǥ59iiÿII3@ @@0@ԩ ^A x>bE4jE#4rE/EE  EE xEE %EA "EE غ:*EE :VEE 4ZEA BEE  > @ "> c@ nF>) r@I nF 4/%?CZxQ? R!@) <#I ti nF  checking for new query: numPingsReceived=50, elapsed TxPingTime=22.950167O >c&,wLA\->-""?-=ٱ-=-H`ɷ?? #??잿훳0۷?.?i->I-l];-CYBy !IiMb@Mb@Mb@ 9K7?ˡE?Mb?Y>y=<@A l@)"AY@bDIVD۱8y%$=ٔgQ->9Y=EyZE>Q 55?Q 95)VBY>Q E;yU?Q Ih@DI:i:5yɮAiiLAjO-B"jO-B:j @"pلHX1v)XԱC#@pٿ^Yg8C ?*jt2jnF*p=o X#@cYE,( @p]r?Zyv,?j( jAifh*?iq#jBjb?j %jBrj+Bzj>@= addTargetRange:: Added new target pos. range: 43.500000 m, deltaT: 0.502988 s, deltaX: 0.299999 m, approachRate: 0.596434 m/s, rangeRepo size: 4  Added new target pos. range: 43.327518 m, bearing: 282.964791 deg, lat: 36.779459 deg, lon: -121.859661 deg, deltaT: 0.502988 s, deltaX: 0.298824 m, approachRate: 0.594098 m/s, posRepo size: 4 DNOT Ignoring new targets: 43.33 m.hhhhhiggjgrgBreZe:eE@*e`X?[>[>"[ R>*[U?5=)1 5H>i59)9=5=9i9iÿIIchecking for new query: numPingsReceived=50, elapsed TxPingTime=23.189655]6@Y @a@e0@aA ^A <->I I O5 >2&,&3LAD=DR=E E}EE"E:*Ek&:VEZEa%@a%@a%@a%@1Eh>E?EA=ٱE =EHz?` s`+?D? ?# [e?'?iEh>IEw];A]DDAT read: Rx Time:04:39:23.6405 eTRx dataTimestamp_ set to:1764909564.843507mPDAT read: Bearing 339.1, -58.8 (Local) m~Local bearing/azimuth received: Bearing 339.1, -58.8 (Local) }DAT read: Range 11 to 50 : 43.5 m (trip time 29.0 ms) speed -0.2 DAT read: 04:39:23.6405 LVL= 27056, 20721, 21234, 28595, AGC= 53, IDX= 508,-0.23,-2.071,-0.161, 0.180,-0.342, PHS=-1.627, 0.227, 0.479, RAW= 263.7, 9.3, CAL= 262.7, 9.1, ROT= 247.3, -9.1 Ygot valid direction response: 04:39:23.6405 LVL= 27056, 20721, 21234, 28595, AGC= 53, IDX= 508,-0.23,-2.071,-0.161, 0.180,-0.342, PHS=-1.627, 0.227, 0.479, RAW= 263.7, 9.3, CAL= 262.7, 9.1, ROT= 247.3, -9.1  T#Rx 51: Read range and direction messages.`direction in FSK: [-0.381049,-0.910927,0.158158]Fpublishing direction and range infoyY](cؿncP&@\~>?YYY]i]P]R ]o)]5I]Aпi]rh>]}?>]#G@]6&>](@ ]">)]N@I]"YY]UЈtB?*J? ] @)]%I]3i]"YY5checking for new query: numPingsReceived=51, elapsed TxPingTime=23.466478YBy!IbD!VD8yMȼ%MS=ٔUZ&Q-U>9QYY=]EyY]~E]>Q 55?Q 95)SBYyS?Q Ih@DI:i:G 5y-BɮA^EYiYi]5LAjY"jY:j]q@"p]pwE0vCi@p](cؿncP&@\~>?*j]32j]"*p]-e`i$@D]|h'@p]Ѓ&?/V?j]' j]K#Ai];B?i]bj]Bj]e ?j]q#jYrj]<,Bzj]q@ addTargetRange:: Added new target pos. range: 43.500000 m, deltaT: 0.504153 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 43.327518 m, bearing: 283.692611 deg, lat: 36.779463 deg, lon: -121.859661 deg, deltaT: 0.504153 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 43.33 m.hhhhhiggjg rg re Ze :e*eo ?[Q[Q"[Q*[U;S?A=) i>iޮ9)額5s9iiÿIIM8@I @I@M0@Q@UzA@UyAԉ checking for new query: numPingsReceived=51, elapsed TxPingTime=23.690695B- >B) B- IB- BB- =B) B) B- D;B- 5EB?CB?CBBBC@34Թ ^A U<>I I O >(&,LLA,,J+>J?JI=ٱJv=JH~?w;ǽ?t?`? x@ϸ??iJ+>IJ];JCYRByR!IIV<)VR=i-Mb@Mb@Mb@)))) )9-K7?K?Q E;y&W?Q Ih@mDIm[>"[nh>*[&W?E5 E5E1E1"E5:*E5=:VE1ZE1BE5uA?u @u| >up@ u`>)ue@Iu`qqu58r^X鿲] ?:$? ur @)u!Iu?iu`qqchecking for new query: numPingsReceived=52, elapsed TxPingTime=23.958885I=) )>i%k9)!%J5%L:i)i-ÿ)1I1I1u9@y @y@}0@}! ^A >I I O >% checking for new query: numPingsReceived=52, elapsed TxPingTime=24.194319fJ&,fLA6a>6?61=ٱ6=6H3? ɽ?)8?F? H@ C??i6a>I6];4Y>By> IbD-VD-8ym甽%mG=ٔuB#Q-}>9Y=EycE>Q 55 ?Q 95)NBYyT?Q Ih@DIQ;iL;5yɮIAiii 9)  5 8 :iiÿI!I!9@ @@3@D!zD%AAE- E-E-(E)"E-g:*E-a9:VE-c44ZE)a5@a5@a5@a5@mDDAT read: Rx Time:04:39:24.6406 mTRx dataTimestamp_ set to:1764909565.851342uPDAT read: Bearing 332.9, -59.1 (Local) }~Local bearing/azimuth received: Bearing 332.9, -59.1 (Local) DAT read: Range 11 to 50 : 43.7 m (trip time 29.1 ms) speed -0.3 DAT read: 04:39:24.6406 LVL= 29728, 19073, 18994, 26963, AGC= 55, IDX= 509,-0.18, 2.572,-1.827,-1.408,-1.937, PHS=-1.672, 0.155, 0.485, RAW= 261.8, 10.3, CAL= 261.4, 11.0, ROT= 248.6, -11.0 Ygot valid direction response: 04:39:24.6406 LVL= 29728, 19073, 18994, 26963, AGC= 55, IDX= 509,-0.18, 2.572,-1.827,-1.408,-1.937, PHS=-1.672, 0.155, 0.485, RAW= 261.8, 10.3, CAL= 261.4, 11.0, ROT= 248.6, -11.0 T#Rx 53: Read range and direction messages.`direction in FSK: [-0.358173,-0.913950,0.190809]Fpublishing direction and range infoyimMֿ?P@ml?Yiim tmJm2J mSi)m7ImֿimR>mQ>my7@mX8>mI@ m D>)m-؊@Im Diimizf迩I I O >a (&,LA2c>26?2=ٱ2=2H^? ۤ?a? o?:\¹? 6?i2c>I2^;2CYNByN!IbDVIVDV۱8yr/<%rU=ٔv Q-v>9tYt=vEyxz%üEz>Q 5%5?Q 9%5)LBY!y%nR?Q I%h@DI :i:+5y50Bɮ5>AU_Eiic|vLAj"j:jg@"p[./"MClOM @pMֿ?P@ml?*j2j D*pS*|]Y$@}DhOpm@pzȧ?Fb(?j' j"Ai]*d ?i#$jBjk`塊?jL jBrj-Bzj@ addTargetRange:: Added new target pos. range: 43.700001 m, deltaT: 0.503924 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 43.526680 m, bearing: 283.623737 deg, lat: 36.779473 deg, lon: -121.859659 deg, deltaT: 0.503924 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 43.53 m.hhhhhggjgrgre!Ze!:e!*e%\R?Qchecking for new query: numPingsReceived=53, elapsed TxPingTime=24.698359BBB IBBB =BBB;B,6E[["[*[nR?=) Q>i 9)  5 :i iÿIIԉ59I9)=yAԩ@ @@0@@@=EE  EE {EE "EA "EE %:*EE 5":VEE (3ZEA BEE ;aU 2EE ;aU JEE ?z;aU :EE @z;aU  DDAT read: Rx Time:04:39:25.1408  TRx dataTimestamp_ set to:1764909566.355331 PDAT read: Bearing 331.8, -61.2 (Local)  ~Local bearing/azimuth received: Bearing 331.8, -61.2 (Local)  DAT read: Range 11 to 50 : 43.8 m (trip time 29.2 ms) speed -0.3  DAT read: 04:39:25.1408 LVL= 25840, 19185, 18738, 24915, AGC= 54, IDX= 511,-0.08,-2.323,-0.469, 0.019,-0.561, PHS=-1.660, 0.137, 0.536, RAW= 260.2, 9.8, CAL= 259.6, 9.9, ROT= 250.4, -9.9  Ygot valid direction response: 04:39:25.1408 LVL= 25840, 19185, 18738, 24915, AGC= 54, IDX= 511,-0.08,-2.323,-0.469, 0.019,-0.561, PHS=-1.660, 0.137, 0.536, RAW= 260.2, 9.8, CAL= 259.6, 9.9, ROT= 250.4, -9.9  T#Rx 54: Read range and direction messages. `direction in FSK: [-0.330457,-0.928029,0.171929] Fpublishing direction and range infoy  h74&տ]|j!?Y 3/B d J 2I Sa) 6I zԿi I > L7 ? R@ %/> @ ;0>) ً@I ;0 Oʻ8fm11?fp? ^@) .I Ki ;0 % checking for new query: numPingsReceived=54, elapsed TxPingTime=24.970247 ^A Q>I I O >&,^LAi>?(u=ٱD=H)?ಃg?Z?`?@ ȧ 걿@O,??ii>IB];CYBy I AiMb@Mb@Mb@ 9 r?J +?~jt?Y>y=D<@A @)5AY@bDSVD8yH%=ٔZQ->9Y=EygE>Q 55?Q 95)KBY>Q E;yV?Q Ih@DIw:i_:5y ɮ ~A i i LAj .B"j .B:j @"p r)K,TD>D3M@p h74&տ]|j!?*j K2j ;0*p 9vo#&@,Ϡ!Doel@@p 3=?[CkshN?j ' j 1Ai ca?i j Bj ;B?j bj Brj -Bzj ) @ addTargetRange:: Added new target pos. range: 43.799999 m, deltaT: 0.503989 s, deltaX: 0.099998 m, approachRate: 0.198414 m/s, rangeRepo size: 4  Added new target pos. range: 43.626259 m, bearing: 284.772649 deg, lat: 36.779474 deg, lon: -121.859658 deg, deltaT: 0.503989 s, deltaX: 0.099579 m, approachRate: 0.197581 m/s, posRepo size: 4 DNOT Ignoring new targets: 43.63 m.h hhhhggjgrg(BreZe:e`fE@*e% ?5checking for new query: numPingsReceived=54, elapsed TxPingTime=25.2022749[e>[e>"[e퓀>*[eV?u(u=)q uR>i}(9)y}5}(:iyiÿIIY 9Q @Y  @Y @e /@q ԉ D =D <E  E yE &E "E :*E :VE 4ZE a @a @a @a @ DDAT read: Rx Time:04:39:25.6408  TRx dataTimestamp_ set to:1764909566.859408 PDAT read: Bearing 330.5, -61.9 (Local)  ~Local bearing/azimuth received: Bearing 330.5, -61.9 (Local)  DAT read: Range 11 to 50 : 43.8 m (trip time 29.2 ms) speed -0.3 - DAT read: 04:39:25.6408 LVL= 29344, 21073, 21346, 28531, AGC= 52, IDX= 511, 0.07, 2.918,-1.533,-1.023,-1.616, PHS=-1.647, 0.128, 0.549, RAW= 259.6, 9.6, CAL= 258.9, 9.8, ROT= 251.1, -9.8 5 Ygot valid direction response: 04:39:25.6408 LVL= 29344, 21073, 21346, 28531, AGC= 52, IDX= 511, 0.07, 2.918,-1.533,-1.023,-1.616, PHS=-1.647, 0.128, 0.549, RAW= 259.6, 9.6, CAL= 258.9, 9.8, ROT= 251.1, -9.8 ] T#Rx 55: Read range and direction messages.e `direction in FSK: [-0.319191,-0.932280,0.170209]e Fpublishing direction and range infoy  mԿ4 D ? @ +> ט@ %/>) =@I %/ Ѕ迦Xr?u)p? @) 5Q,I Hi %/  checking for new query: numPingsReceived=55, elapsed TxPingTime=25.474520Ա^A8j>IIO?Ѓ&,?LAB\>B?BP=ٱB!=BH ?I`?`? y?#`}@(??iB\>IB];BCYJByN IbDV]VDV8yn;%nD=ٔrqQ-r>9pYp=rEypvEv>Q 55ƞ?Q 95{)JBYyS?Q I%i@DIh:i:a5y)ɮ-uA)iiLAj"j:jT%@"p'[?+PVD3Uѳ@pmԿ43Aiv?i< j6Bj]*d ?j#$jBrj-Bzj-@ addTargetRange:: Added new target pos. range: 43.799999 m, deltaT: 0.504077 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 43.626259 m, bearing: 284.949468 deg, lat: 36.779477 deg, lon: -121.859655 deg, deltaT: 0.504077 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 )5DNOT Ignoring new targets: 43.63 m.h1h1h1h1h1g1g9jg9rg9re9ZeA:eA*eE`,?[["[*[+S?P=) m>iȭ9)顽m6#:iiÿIIBBBBB =BBB;Bg6Echecking for new query: numPingsReceived=55, elapsed TxPingTime=25.706432Y-9ԉ{A9@ @@@ H9 {AY DAԱ EU  EU EU %EQ "EU y:*EU VL:VEU 4ZEQ BEU &,\;LAb0e>b|?bQa=ٱbL=bH? @t?J?@?`Rũ.??ib0e>Ib];bCYڂBy IYiMb@Mb@Mb@ 9Mb?S㥻?{Gz?Y>y/=#<z@bA )AYf@bDOVD8y%+=ٔÃQ->9Y=EyޙE>Q 5 5]О?Q 9 5ӻ)IBY \>Q E ;y X?Q I i@żDI;i;!5y3BɮAM addTargetRange:: Added new target pos. range: 44.099998 m, deltaT: 0.507537 s, deltaX: 0.299999 m, approachRate: 0.591088 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 43.63 m.hQhQhQhQhQgQgQjgYrg]&BreYZeY:ee F@*eeٺ?[\>[\>"[e5>*[X?5Qa=)1 54>i5f9)9=p6=+:i9iEÿAAIAIiM9U>iU>ԁ@ @@0@%=4=checking for new query: numPingsReceived=56, elapsed TxPingTime=26.211487Ա^A x>I I O > /&,LArL>p?π=ٱ=H?`E\???$S?-?irL>I];Y%ׂBy% II-4<)-5=5p=bD=)VD=8yMo%MU=ٔM}Q-U>9Y=Ey}E>ԱQ 55 ٞ?Q 95ϸ)YyV?Q Ii@ʼDIl:iG:$5E E}E$E"E,:*Ek&:VE4ZEa@a@a@a@yɮADDAT read: Rx Time:04:39:26.6411 %TRx dataTimestamp_ set to:1764909567.867510-PDAT read: Bearing 328.5, -64.2 (Local) -~Local bearing/azimuth received: Bearing 328.5, -64.2 (Local) =DAT read: Range 11 to 50 : 44.3 m (trip time 29.5 ms) speed -0.3 eDAT read: 04:39:26.6411 LVL= 29136, 19505, 16882, 24659, AGC= 55, IDX= 1, 0.46, 2.964,-1.527,-0.963,-1.607, PHS=-1.610, 0.125, 0.600, RAW= 258.2, 8.8, CAL= 257.1, 8.6, ROT= 252.9, -8.6 mYgot valid direction response: 04:39:26.6411 LVL= 29136, 19505, 16882, 24659, AGC= 55, IDX= 1, 0.46, 2.964,-1.527,-0.963,-1.607, PHS=-1.610, 0.125, 0.600, RAW= 258.2, 8.8, CAL= 257.1, 8.6, ROT= 252.9, -8.6 mT#Rx 57: Read range and direction messages.u`direction in FSK: [-0.290734,-0.945046,0.149535]}Fpublishing direction and range infoyht@dҿ;=S&r#?Y31Bq1LA S`)7I{οi>?4@nF>|@ `>)>@I`DNOT Ignoring new targets: 43.63 m.hhhhhggjgrgreZe:e`f&F@*e@?[vW|(晝x?2? d@)#ICi`checking for new query: numPingsReceived=57, elapsed TxPingTime=26.482487[i[i"[i*[mV?}π=) T>i9)顥 62:iiÿIIt9 a @a  @a @a @a B =A 4=B B >CB IB BB B B B >;B 6E checking for new query: numPingsReceived=57, elapsed TxPingTime=26.7142819 ^A I I O> &,RLA,bq>b܂?b=ٱb=bHP????` ? k@>? &?ibq>Ib@^;`Y҂By  IiMb@Mb@Mb@ 9ʡE?)\(?yG=t<l@A @)AY@bDdVD8yj%!=ٔ]Q->9Y=EywE>Q 55 㞊?Q 951)HBY>Q E;y[?Q Ii@мDI:ik:N)5yɮAiiILAj0B"j0B:jE@"pBq&)Dt{d@pht@dҿ;=S&r#?*jC2j`*p1Q '@y4\"?EOV@pƸU?au2E\(?j) jZ8AiQ?i5iaIeAmDDAT read: Rx Time:04:39:27.1413 uTRx dataTimestamp_ set to:1764909568.371488}PDAT read: Bearing 325.6, -63.8 (Local) }~Local bearing/azimuth received: Bearing 325.6, -63.8 (Local) DAT read: Range 11 to 50 : 44.6 m (trip time 29.7 ms) speed -0.3 ԙDAT read: 04:39:27.1413 LVL= 28592, 18737, 15138, 26035, AGC= 55, IDX= 500,-0.27, 3.116,-1.397,-0.813,-1.442, PHS=-1.623, 0.090, 0.585, RAW= 257.7, 9.5, CAL= 256.9, 9.7, ROT= 253.1, -9.7 Ygot valid direction response: 04:39:27.1413 LVL= 28592, 18737, 15138, 26035, AGC= 55, IDX= 500,-0.27, 3.116,-1.397,-0.813,-1.442, PHS=-1.623, 0.090, 0.585, RAW= 257.7, 9.5, CAL= 256.9, 9.7, ROT= 253.1, -9.7 T#Rx 58: Read range and direction messages.`direction in FSK: [-0.286546,-0.943135,0.168489]Fpublishing direction and range infoyim%VҿTn(.RV?Ymf2Bimom1Im"; me)iImwϿimQ=m?mE@m)>mz@ m-\->)m[@Im-\-iimk U7A?RY? m4@)mu)Imim-\-iichecking for new query: numPingsReceived=58, elapsed TxPingTime=26.982752E EE#E"E:*E:VE3ZEBE[>"[5>*[K[?=) >i 9)  L6 @;:i iÿ11I1I9Y a @  @ @ /@ % checking for new query: numPingsReceived=58, elapsed TxPingTime=27.219572! ^A5@o>IAIQOe?a &,0LA|% T>%Tt ?%{=ٱ%=%Hv@?@i?\?A? upY??i% T>I%];%CYu΂Byu IbDVD8y儼%*=ٔ PQ->9Y=EyzE%>iQ 5u5m힊?Q 9u5m)iYqyuY?Q I}i@mּDIm:imh:m-5yɮ#AiivLAj1B"j1B:j,@"p7ʟ^u)6Dp@p%VҿTn(.RV?*j2j-\-*pSʎ=&@+b`Ej @p4?HJZ?j+ jQ7Aiϸ?iGjFBjv?jjrj/Bzjʱ@DNOT Ignoring new targets: 44.12 m.hhhhhggjgrgreZe:e*e 1%?[ [ "[ *[  Y?{=) >iR9)!%6%[B:i!i-ÿ))I)I1mDDAT read: Rx Time:04:39:27.6413 uTRx dataTimestamp_ set to:1764909568.875398}PDAT read: Bearing 324.3, -63.9 (Local) }~Local bearing/azimuth received: Bearing 324.3, -63.9 (Local) DAT read: Range 11 to 50 : 44.6 m (trip time 29.7 ms) speed -0.4 E EE$E"Eغ:*E H:VE4ZEa@a@a@a@%DAT read: 04:39:27.6413 LVL= 24512, 18737, 13858, 27715, AGC= 54, IDX= 500,-0.13, 2.932,-1.608,-1.024,-1.642, PHS=-1.607, 0.079, 0.575, RAW= 257.5, 9.7, CAL= 256.9, 9.9, ROT= 253.1, -9.9 -Ygot valid direction response: 04:39:27.6413 LVL= 24512, 18737, 13858, 27715, AGC= 54, IDX= 500,-0.13, 2.932,-1.608,-1.024,-1.642, PHS=-1.607, 0.079, 0.575, RAW= 257.5, 9.7, CAL= 256.9, 9.9, ROT= 253.1, -9.9 -T#Rx 59: Read range and direction messages.5`direction in FSK: [-0.286373,-0.942566,0.171929]5Fpublishing direction and range infoyi9m Sҿz,x<)!?Yiim_im"6 mCl)m6Im-Ϳimʡ=m33?mЏ@m-\->i m;0>)iIm;0iimP)[%&@ iR?<v? md@)m,Iiim;0iichecking for new query: numPingsReceived=59, elapsed TxPingTime=27.510317@ @@/@I^A 4(>I I O >q B >B ?CB IB BB B B ºDB ^;B 6E = <% checking for new query: numPingsReceived=59, elapsed TxPingTime=27.723877 &, JLAB^>By ?Bmt=ٱB7a=BHa?@42?r?@`?@x!`q?@?iB^>IB];BCYJ‚ByJ IbD^VD^8yz2%z^=ٔQ->9Ya=EyE>Q 55?Q 95)YyW?Q I%i@ڼDIE93@p Sҿz,x<)!?*j2j;0*pew@C&@ȯjE*v@p6\e ?:cg|H1?jU+ j2Ai ٞ?i njjvBj ٞ?jjvBrj0Bzj{@e addTargetRange:: Added new target pos. range: 44.599998 m, deltaT: 0.503910 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 44.423500 m, bearing: 284.567505 deg, lat: 36.779493 deg, lon: -121.859653 deg, deltaT: 1.007888 s, deltaX: 0.299294 m, approachRate: 0.296951 m/s, posRepo size: 4 DNOT Ignoring new targets: 44.42 m.h h hhhgg!jgIrgQreYZeaԉ:e*e5?[A[A"[A*[EW?Umt=)Y ]>i]9)Y]V6]I:iYiÿII yAwADDAT read: Rx Time:04:39:28.1413 TRx dataTimestamp_ set to:1764909569.380538PDAT read: Bearing 324.1, -64.0 (Local) ~Local bearing/azimuth received: Bearing 324.1, -64.0 (Local) DAT read: Range 11 to 50 : 44.6 m (trip time 29.7 ms) speed -0.3 DAT read: 04:39:28.1413 LVL= 24800, 16753, 16370, 25843, AGC= 53, IDX= 501, 0.01,-2.534,-0.813,-0.243,-0.854, PHS=-1.578, 0.086, 0.567, RAW= 257.7, 9.5, CAL= 257.0, 9.7, ROT= 253.0, -9.7 Ygot valid direction response: 04:39:28.1413 LVL= 24800, 16753, 16370, 25843, AGC= 53, IDX= 501, 0.01,-2.534,-0.813,-0.243,-0.854, PHS=-1.578, 0.086, 0.567, RAW= 257.7, 9.5, CAL= 257.0, 9.7, ROT= 253.0, -9.7 T#Rx 60: Read range and direction messages.`direction in FSK: [-0.288192,-0.942633,0.168489]Fpublishing direction and range infobEJ4jEm4rE?0E EE E"Eg:*E;J:VE3ZEBE;a 2E;aJE;a:E;ay>zqҿa_ *RV?Y`qA? d)5Iɿi =&?E@)>/@ -\->)FM@I-\-=S翷'DA?(-? 6@)1*IS i-\-5checking for new query: numPingsReceived=60, elapsed TxPingTime=27.996784Ա 9 9 @9  @9 @= ?5@9 5checking for new query: numPingsReceived=60, elapsed TxPingTime=28.226608^A% [>I1IAOU?ٴ &,lLAJ>J$?J}h=ٱJ-=JHv?|߿`}? Q?@֣? @?`?iJ>IJw];JCYVÂByV I|i}Mb@Mb@Mb@yyyy y9}/$?:v?Mb`?Y}&>y}=};}@}A y)}9AyY}\@bDVD8y;%=ٔQ->9Y=EyE>Q 55?Q 959)FBY>Q E;yGP?Q Ii@DI:iI:55yɮIAiiZXLAj"j:jP@"pVe)ѕ?D$Eu@p>zqҿa_ *RV?*jS 2j-\-*pK=,I$@j\EP܄ @p'DP??j?, j$Aid?ijBjj njjFBrjo1BzjО@M addTargetRange:: Added new target pos. range: 44.599998 m, deltaT: 0.505140 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 44.423500 m, bearing: 283.463483 deg, lat: 36.779493 deg, lon: -121.859654 deg, deltaT: 0.505140 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 44.42 m.h1h1h9h9h9gAgIjgqrg}BreZe:e*eH? [5>[5>"[5U>*[5+GP?E}h=)A Eף>ieڬ9)im$6mCQ:iiiuÿqqIqIyDDAT read: Rx Time:04:39:28.6413 TRx dataTimestamp_ set to:1764909569.883595PDAT read: Bearing 323.4, -63.6 (Local) ~Local bearing/azimuth received: Bearing 323.4, -63.6 (Local) DAT read: Range 11 to 50 : 44.6 m (trip time 29.7 ms) speed -0.3 DAT read: 04:39:28.6413 LVL= 29840, 18337, 20370, 32755, AGC= 55, IDX= 501, 0.12,-2.707,-0.982,-0.426,-1.025, PHS=-1.580, 0.088, 0.555, RAW= 258.0, 9.7, CAL= 257.4, 9.9, ROT= 252.6, -9.9 Ygot valid direction response: 04:39:28.6413 LVL= 29840, 18337, 20370, 32755, AGC= 55, IDX= 501, 0.12,-2.707,-0.982,-0.426,-1.025, PHS=-1.580, 0.088, 0.555, RAW= 258.0, 9.7, CAL= 257.4, 9.9, ROT= 252.6, -9.9 T#Rx 61: Read range and direction messages.`direction in FSK: [-0.294588,-0.940031,0.171929]Fpublishing direction and range infoyE EE$E"E%:*E*5:VE4ZEa @a@a@a@`@ ;0>)@I;0jf p翁z4f?PR1? #@)|,Ii;0Uchecking for new query: numPingsReceived=61, elapsed TxPingTime=28.5044699u9 @  @ @ 0@ i A A B >B @CB y IB xBB =B B úDB t;B 6EBBB̔CB =BC̍5E checking for new query: numPingsReceived=61, elapsed TxPingTime=28.730795ԑ ^A 8j>II)O5>]" &,gLA6$6>6a?6c=ٱ6N=6H?޿QI?g|?@B?@ϱ_g?`?i6$6>I6^;4YVByV IbD^dVD^8yf믽%f;=ٔfDQ-j>9hYh=nEylnEn>pQ 5v5r? ?Q 9v5r:)rEBYtyzN?Q Izi@rDIrQ;ir;rl95y|ɮ~A|iiҌxLAj1B"j1B:jѝ@"pt,*sUD,@pi9)  (6W:ii-ÿ)1I1IAԱDDAT read: Rx Time:04:39:29.1415 TRx dataTimestamp_ set to:1764909570.387409PDAT read: Bearing 321.1, -63.7 (Local) ~Local bearing/azimuth received: Bearing 321.1, -63.7 (Local) DAT read: Range 11 to 50 : 44.9 m (trip time 29.9 ms) speed -0.2 DAT read: 04:39:29.1415 LVL= 26320, 16881, 18370, 30179, AGC= 54, IDX= 503, 0.16,-1.190, 0.525, 1.107, 0.501, PHS=-1.590, 0.069, 0.561, RAW= 257.4, 9.9, CAL= 256.9, 10.3, ROT= 253.1, -10.3  Ygot valid direction response: 04:39:29.1415 LVL= 26320, 16881, 18370, 30179, AGC= 54, IDX= 503, 0.16,-1.190, 0.525, 1.107, 0.501, PHS=-1.590, 0.069, 0.561, RAW= 257.4, 9.9, CAL= 256.9, 10.3, ROT= 253.1, -10.3  T#Rx 62: Read range and direction messages.`direction in FSK: [-0.286017,-0.941395,0.178802]Fpublishing direction and range infoyNҿvxx?Y3BfAG u)6I˿iO=?`@;0>z@ X8>)[@IX8E5 E5E5#E1"E5غ:*E5,:VE53ZE1BE54翋eW??OX=? x@)~H0IiX8Uchecking for new query: numPingsReceived=62, elapsed TxPingTime=29.002529Ƨ99 @9  @9 @= 0@9 mchecking for new query: numPingsReceived=62, elapsed TxPingTime=29.234879^AiIIO>) &,"LA2֓>2?21^=ٱ239=2H;?*޿;?@ ??ڲ`«+??i2֓>I2];2CY:By: I@i]Mb@Mb@Mb@YYYY Y9]/$?EԸ?~jthY]>y]=]D]@]A ]@)]5AYY]QAbD}[VD}8y5<%!=ٔQ->9Y=EyE>Q 55?Q 95)BBY>Q E;yvI?Q Ii@DI@x;i6g;=5y/BɮAiiO˘LAj2B"j2B:j՝@"paS)g EM @pNҿvxx?*j2jX8*p )Sq#@.E7q6@pWJ?:Pw?j- jAiG?iMj[Bjd?jjFBrj1Bzjq@ addTargetRange:: Added new target pos. range: 44.900002 m, deltaT: 0.503814 s, deltaX: 0.300003 m, approachRate: 0.595464 m/s, rangeRepo size: 4  Added new target pos. range: 44.723335 m, bearing: 282.601406 deg, lat: 36.779487 deg, lon: -121.859655 deg, deltaT: 0.503814 s, deltaX: 0.298820 m, approachRate: 0.593117 m/s, posRepo size: 4 DNOT Ignoring new targets: 44.72 m.hhhhhg!g!jg!rg%#Bre)Ze):e-@3sF@*e-@c?[m>[m>"[m>*[mvI?1^=) ]>iS9)顥-6^:iԱiÿIIEx>iE> @  @ @ 4@ eDDAT read: Rx Time:04:39:29.6415 mTRx dataTimestamp_ set to:1764909570.891530uPDAT read: Bearing 317.2, -63.4 (Local) }~Local bearing/azimuth received: Bearing 317.2, -63.4 (Local) DAT read: Range 11 to 50 : 44.9 m (trip time 29.9 ms) speed -0.2 DAT read: 04:39:29.6415 LVL= 27776, 18897, 20194, 30387, AGC= 53, IDX= 503, 0.08,-1.623, 0.073, 0.699, 0.094, PHS=-1.615, 0.024, 0.560, RAW= 256.3, 10.5, CAL= 256.2, 11.5, ROT= 253.8, -11.5 Ygot valid direction response: 04:39:29.6415 LVL= 27776, 18897, 20194, 30387, AGC= 53, IDX= 503, 0.08,-1.623, 0.073, 0.699, 0.094, PHS=-1.615, 0.024, 0.560, RAW= 256.3, 10.5, CAL= 256.2, 11.5, ROT= 253.8, -11.5 T#Rx 63: Read range and direction messages.`direction in FSK: [-0.273390,-0.941015,0.199368]Fpublishing direction and range infoyim'rW:ѿu\~i?YiimlmImN mv)m5ImRοimm@ mM>)m@ImMiE E{E'E"E:*E5":VE'4ZEa@a@a@a@imc=;䒺?@m_? m4E@)m| 0 &,s0ÀLA2\>2>2;lW=ٱ2El=2HJ?޿Թ?g??Y꪿Mr?9?i2\>I2];2CYBByB IbDJ;VDJα8yvᒽ%zW=ٔzQ-z>9||Y|=EyE> Q 55 ?Q 95 w) ABYy7G?Q Ii@ DI <;i 8; .A5y!ɮ%SA)iiLAj"j:jf@"p 0t(ڵ ER;;2!@p'rW:ѿu\~i?*j@2jM*pΈ#@kZEӘ3@pH<`?li|Vu7?jr- jAi^O_?iSjBj^O_?jj[Brj 2Bzj@u addTargetRange:: Added new target pos. range: 44.900002 m, deltaT: 0.504121 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 44.723335 m, bearing: 282.879722 deg, lat: 36.779486 deg, lon: -121.859655 deg, deltaT: 0.504121 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 44.72 m.hhhhhggjgrgreZe:e*ef?[["[*[W7G?;lW=) l>i9)16Hc:iiÿIIchecking for new query: numPingsReceived=63, elapsed TxPingTime=29.738602Q@Q @Q@]/@YBaBeACBel IBenBBe =Be>DBaBe;Be6E)Y^A@o>IIOE>i߁ I߅ A DDAT read: Rx Time:04:39:30.1416  TRx dataTimestamp_ set to:1764909571.395550 PDAT read: Bearing 313.1, -63.8 (Local)  ~Local bearing/azimuth received: Bearing 313.1, -63.8 (Local)  DAT read: Range 11 to 50 : 45.2 m (trip time 30.1 ms) speed -0.2  DAT read: 04:39:30.1416 LVL= 25024, 16833, 17186, 26867, AGC= 54, IDX= 505,-0.04,-0.692, 0.988, 1.681, 1.057, PHS=-1.648,-0.024, 0.580, RAW= 254.8, 11.0, CAL= 254.9, 12.2, ROT= 255.1, -12.2  Ygot valid direction response: 04:39:30.1416 LVL= 25024, 16833, 17186, 26867, AGC= 54, IDX= 505,-0.04,-0.692, 0.988, 1.681, 1.057, PHS=-1.648,-0.024, 0.580, RAW= 254.8, 11.0, CAL= 254.9, 12.2, ROT= 255.1, -12.2  T#Rx 64: Read range and direction messages. `direction in FSK: [-0.251326,-0.944551,0.211325] Fpublishing direction and range infoy  EQvпZA9\ ?Y 4B a A "C h) 6I ҿi ļ z? N@ D> \@ ^ Z>) y@I ^ Z E  E E &E "E :*E ?:VE 4ZE BE c;a 2E d;a JE ;a :E ;a /#濆qJ?0>O? O@) CI OYi ^ Z % checking for new query: numPingsReceived=64, elapsed TxPingTime=30.010366) 6 &, ݀LA2祊>2:>2UQ=ٱ2=2H@x7?ݿJ?;?`u&?@J;޽? 6?i2祊>I2 ];2CYBByB IiMb@Mb@Mb@ 9A`"?ʡE?MbPY>y-=@ A @)KAYA@AbD-YVD-8y~%=ٔ%Q->9Y=EyUE>)Q 555%?Q 955n)?BY5p>Q E5*;y54E?Q I5i@DI [p>"[E>*[4E?UQ=)  u>i j9)  =66 k:i i5ÿ99I9I9Q@ @@p0@ԁ ^A 8j>I I O >k= &,KLA2Յ>2i>2M=ٱ2z=2H[?`ܿO?wz?G?`_?λ?i2Յ>I22];2CY:By: IbDBVDB 8NDDAT read: Rx Time:04:39:30.6416 RTRx dataTimestamp_ set to:1764909571.899421VPDAT read: Bearing 310.4, -64.3 (Local) V~Local bearing/azimuth received: Bearing 310.4, -64.3 (Local) ^DAT read: Range 11 to 50 : 45.2 m (trip time 30.1 ms) speed -0.2 rDAT read: 04:39:30.6416 LVL= 22896, 15649, 16738, 25507, AGC= 55, IDX= 505,-0.16,-2.257,-0.602, 0.130,-0.509, PHS=-1.647,-0.049, 0.594, RAW= 253.8, 11.0, CAL= 254.0, 12.3, ROT= 256.0, -12.3 vYgot valid direction response: 04:39:30.6416 LVL= 22896, 15649, 16738, 25507, AGC= 55, IDX= 505,-0.16,-2.257,-0.602, 0.130,-0.509, PHS=-1.647,-0.049, 0.594, RAW= 253.8, 11.0, CAL= 254.0, 12.3, ROT= 256.0, -12.3 vT#Rx 65: Read range and direction messages.z`direction in FSK: [-0.236369,-0.948023,0.213030]~Fpublishing direction and range infoyLN>TAο'ݝ4VAzUmD?YLLNpYN!=NbA Nc)N7INҿiN9HNb?N@LNA܍@ N[>)N5@IN[LLNix??;w}?E EE%E"E:*E|:VE 4ZEa%@a%@a%@a%@ N#{@)N}%EINViN[LL5checking for new query: numPingsReceived=65, elapsed TxPingTime=30.514170ԩy-%-o=ٔ-cQ--?91Y1=5Ey1=E=?9Q 5m5=5,?Q 9m5=)=>BYiymB?Q Imi@=DI=d;i=;=H5yyɮ}AyiLiNLAjL"jL:jNٟ@"pNTAο'ݝ4VAzUmD?*jNV2jN[*pN.Wb•%@~E P@pNk?XM#VULQ?jN- jNd-AiN9l?iNSmjNBjLjNSjNBrjN|2BzjNҝ@ addTargetRange:: Added new target pos. range: 45.200001 m, deltaT: 0.503871 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 45.022247 m, bearing: 284.015907 deg, lat: 36.779486 deg, lon: -121.859655 deg, deltaT: 0.503871 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 45.02 m.hhhh!h!g)g)jg1rg1re1Zey:ey*e}@2?[["[*[B?M=) ~h>i59)96o:iiÿII@ @@@5@ Mchecking for new query: numPingsReceived=65, elapsed TxPingTime=30.746517B<AB>B@CBS IBYBB =B?DBºDB;B7E i i G /{A^A I) 1 9 IY ,9 /{AY }}Ay f? bAO% >-aD &,^LA=>ݲ> xH=ٱ=H~?0tܿ5߸?@?i? ht Re?+?i=>I^;CY By  II=)p===a]@a] a]@a] a]@a] a]@a] bDefVDe8y}K%}D=ٔ}^0Q-}>9Y=EyE>Q 5574?Q 951)=BQ A+:YQ E ;yk@?Q Ii@DI:i>K5y2Bɮ<AXEDNOT Ignoring new targets: 45.02 m.hhhhhggjgrgreZe:e*e;?DDAT read: Rx Time:04:39:31.1418 TRx dataTimestamp_ set to:1764909572.403462PDAT read: Bearing 308.8, -65.2 (Local) ~Local bearing/azimuth received: Bearing 308.8, -65.2 (Local) DAT read: Range 11 to 50 : 45.5 m (trip time 30.3 ms) speed -0.2 DAT read: 04:39:31.1418 LVL= 24016, 15345, 16002, 26531, AGC= 54, IDX= 507,-0.40,-1.186, 0.462, 1.230, 0.566, PHS=-1.649,-0.059, 0.620, RAW= 253.1, 10.8, CAL= 253.1, 12.0, ROT= 256.9, -12.0 E EE#E"Ey:*E|;:VE3ZEBEi-9))50=65t:i1i5ÿ99I9eYgot valid direction response: 04:39:31.1418 LVL= 24016, 15345, 16002, 26531, AGC= 54, IDX= 507,-0.40,-1.186, 0.462, 1.230, 0.566, PHS=-1.649,-0.059, 0.620, RAW= 253.1, 10.8, CAL= 253.1, 12.0, ROT= 256.9, -12.0 eT#Rx 66: Read range and direction messages.m`direction in FSK: [-0.221698,-0.952692,0.207912]mFpublishing direction and range infoyfw`̿ tt|hٜ?Y6B];> g)6IoӿiqR?Iy I)[@A>[@ PwV>)z@IPwV@Cu_N?XF? @) @ISiPwVchecking for new query: numPingsReceived=66, elapsed TxPingTime=31.039297Q@Q @Q@U'5@YI^A} Ռ>I I O >= checking for new query: numPingsReceived=66, elapsed TxPingTime=31.250263q [J &,$,LAb9x>b>bD=ٱb=bH ?ۿX?`Vk?`&?@ⰵ@Z@7?G?ib9x>Ib)];bCYr}Byr I ~4<~bDEVDر8y%e=ٔ%CQ-%>9)Y)=-Ey)5q׼E5>9Q 5E5=);?Q 9E5=4)=?Q IMi@=DI=A:i=cG?=M5yQɮUAQiiRLAjH5B"jH5B:jK@"p#^V$19)ÝE=l"@pfw`̿ tt|hٜ?*jS2jPwV*pM+1~%@ɷ!E@pkZ?Ns>oC?j/ j+AiĢ?ijBj0?jjBrj3Bzj7@Q addTargetRange:: Added new target pos. range: 45.500000 m, deltaT: 0.504041 s, deltaX: 0.299999 m, approachRate: 0.595188 m/s, rangeRepo size: 4  Added new target pos. range: 45.320709 m, bearing: 283.795202 deg, lat: 36.779493 deg, lon: -121.859655 deg, deltaT: 0.504041 s, deltaX: 0.298462 m, approachRate: 0.592138 m/s, posRepo size: 4 DNOT Ignoring new targets: 45.32 m.hhhh h g1g9jgArgIreqZey:e}F@*eڨ?}D=)y }I>i}^9)y顅f@6y:iiÿIIԉY@Y @Y@e4@aDDAT read: Rx Time:04:39:31.6417 TRx dataTimestamp_ set to:1764909572.907487PDAT read: Bearing 308.0, -65.9 (Local) ~Local bearing/azimuth received: Bearing 308.0, -65.9 (Local) DAT read: Range 11 to 50 : 45.3 m (trip time 30.2 ms) speed -0.1 DAT read: 04:39:31.6417 LVL= 23376, 16289, 15458, 24515, AGC= 55, IDX= 506, 0.17,-0.579, 1.065, 1.844, 1.166, PHS=-1.642,-0.056, 0.634, RAW= 252.8, 10.5, CAL= 252.7, 11.6, ROT= 257.3, -11.6  Ygot valid direction response: 04:39:31.6417 LVL= 23376, 16289, 15458, 24515, AGC= 55, IDX= 506, 0.17,-0.579, 1.065, 1.844, 1.166, PHS=-1.642,-0.056, 0.634, RAW= 252.8, 10.5, CAL= 252.7, 11.6, ROT= 257.3, -11.6 T#Rx 67: Read range and direction messages.D=D<E% E%E%%E!"E%غ:*E%C:VE% 4ZE!a-@a-@a-@a5@E`direction in FSK: [-0.215356,-0.955609,0.201078]EFpublishing direction and range infoy/ː˿'Zo?Y35BP[?b< _)7I-ҿiB`eM"?0@f;>b"@ 4QO>)@I4QOި ݌`忲m&?TURk? =X@)JjI I O VnQ &,FLA2n>2>2ɐ@=ٱ2=2H?@aۿ=ڷ?`??`ٵ ?@X?i2n>I2`];0Y8y8bDFVDF8yV:Z%VR=ٔZQ-Z>9\Y`=bEy`f̼Ef>hQ 5r5jB?Q 9v5j)j;BQ Av9YtQ Ev:yz;?Q Izi@jDIj#T;ij?jO5yɮA iiD:LAj|4B"j|4B:jc@"ps34o#.l+Ej X%"@p/ː˿'Zo?*jo2j4QO*p~#%@EEv<9@pj0?}X& -?j. j(Ai(B9B=A IB=JBB= =B9B9B=ހ;B=87E} addTargetRange:: Added new target pos. range: 45.299999 m, deltaT: 0.504025 s, deltaX: -0.200001 m, approachRate: -0.396807 m/s, rangeRepo size: 4  Added new target pos. range: 45.121498 m, bearing: 283.594155 deg, lat: 36.779496 deg, lon: -121.859655 deg, deltaT: 0.504025 s, deltaX: -0.199211 m, approachRate: -0.395241 m/s, posRepo size: 4 DNOT Ignoring new targets: 45.12 m.ԹhhhhhggjgrgreZe:e`fF@*eT?5ɐ@=)9 =G>i=9)9=`C6=3~:iAiEÿAIIIII@I @Q@U0@Q  DDAT read: Rx Time:04:39:32.1418  TRx dataTimestamp_ set to:1764909573.411285 PDAT read: Bearing 305.3, -67.1 (Local)  ~Local bearing/azimuth received: Bearing 305.3, -67.1 (Local)  DAT read: Range 11 to 50 : 45.5 m (trip time 30.3 ms) speed -0.1  DAT read: 04:39:32.1418 LVL= 23344, 14321, 16738, 26723, AGC= 54, IDX= 507,-0.16,-2.329,-0.717, 0.112,-0.597, PHS=-1.629,-0.075, 0.665, RAW= 251.6, 10.3, CAL= 251.4, 11.2, ROT= 258.6, -11.2  Ygot valid direction response: 04:39:32.1418 LVL= 23344, 14321, 16738, 26723, AGC= 54, IDX= 507,-0.16,-2.329,-0.717, 0.112,-0.597, PHS=-1.629,-0.075, 0.665, RAW= 251.6, 10.3, CAL= 251.4, 11.2, ROT= 258.6, -11.2  T#Rx 68: Read range and direction messages. `direction in FSK: [-0.193893,-0.961602,0.194234] Fpublishing direction and range infoy  K5{ȿWqmVѫ?Y 6B 0[ 7 bA ch) 6I пi q=*? @ X8> h@ +H>) m@I +H \s俐7?8DN? J@) 7E-  E- E- &E) "E- y:*E- ;J:VE- 4ZE) BE) a5 2E) a= JE- ;a= :E- ;a= I i +H M checking for new query: numPingsReceived=68, elapsed TxPingTime=32.025936^AM 8j>IY Iq O} >9 W &,_LA2 d>2 >2X<=ٱ2=2H@?`Tڿ@|?D?@u?i󈧿@:B?ڽ?i2 d>I2z^;2CY:wBy:x I LLPPaa aa aa aa iMb@Mb@Mb@ 9V-?p= ף?Y|>y=z@ E@)AYAbDVDx8yƼ%7=ٔQ->9Y=EyE>!Q 5-5%)J?Q 9-5%$)%:BQ A-T:Y-ł>Q E-O;y562?Q I5i@%DI%;i%%;%S5yYɮ]AYii~RZLAjH5B"jH5B:j@"pCx!TBcCEl5!@pK5{ȿWqmVѫ?*j2j+H*p8&@\i:REQ@pga?췄Fmށ?j/ j1Ai]rq?iӼ joBj9l?jӼ jrj3BzjQ@ addTargetRange:: Added new target pos. range: 45.500000 m, deltaT: 0.503798 s, deltaX: 0.200001 m, approachRate: 0.396986 m/s, rangeRepo size: 4  Added new target pos. range: 45.320400 m, bearing: 284.247620 deg, lat: 36.779496 deg, lon: -121.859654 deg, deltaT: 0.503798 s, deltaX: 0.198902 m, approachRate: 0.394805 m/s, posRepo size: 4 %DNOT Ignoring new targets: 45.32 m.h!h!h!h!h!g)g)jgIrgMBreQZeQ:eUF@*eUF?[ł>[ł>"[>*[#62?X<=) >iy9)G6%:i!iMÿQQIQIYchecking for new query: numPingsReceived=68, elapsed TxPingTime=32.259232@ @@/@9q ^A% Q>IA IQ O] >] &,pyLA 6DDAT read: Rx Time:04:39:32.6417 :TRx dataTimestamp_ set to:1764909573.915496>PDAT read: Bearing 304.8, -68.1 (Local) >~Local bearing/azimuth received: Bearing 304.8, -68.1 (Local) FDAT read: Range 11 to 50 : 45.3 m (trip time 30.2 ms) speed -0.1 ZDAT read: 04:39:32.6417 LVL= 24272, 14689, 15810, 24307, AGC= 54, IDX= 506, 0.26,-1.730,-0.129, 0.707,-0.025, PHS=-1.604,-0.060, 0.687, RAW= 251.4, 9.7, CAL= 250.8, 10.3, ROT= 259.2, -10.3 ^Ygot valid direction response: 04:39:32.6417 LVL= 24272, 14689, 15810, 24307, AGC= 54, IDX= 506, 0.26,-1.730,-0.129, 0.707,-0.025, PHS=-1.604,-0.060, 0.687, RAW= 251.4, 9.7, CAL= 250.8, 10.3, ROT= 259.2, -10.3 ^T#Rx 69: Read range and direction messages.b`direction in FSK: [-0.184361,-0.966458,0.178802]fFpublishing direction and range infoy46Ws&ǿw8?Y635B46^6a96= 6^)4I6OͿi6u6;/?6h@6-\->6@ 6X8>)6Ð@I6X844DlzDn?AEr ErEr"Ep"Er:*Er*:VEr(3ZEpav@av@az@az@6d]俠"T?tqg? 6@)6 -I6w0i6X844checking for new query: numPingsReceived=69, elapsed TxPingTime=32.530411T[>?>'I8=ٱa=H@u? Lڿ8??@?'?ʼ?iT[>I^;CYkByj IAAbDVD8y=]%=E=ٔEQ-E>9AYI=MEyIMEM>qQ 5}5uQ?Q 9}5u_)u9BYy0?Q Ii@u DIu:iu):u!W5y5BɮHAYEyi4i6}zLAj6|4B"j6|4B:j6Ş@"p6 gEX" @p6Ws&ǿw8?*j6w02j6X8*p6q5&@$ LE?%B @p6Fv#?N!\:W?j6z. j61Ai6h?i6;j6Bj6Ģ?j6Smj6IBrj6'4Bzj6?Q@ addTargetRange:: Added new target pos. range: 45.299999 m, deltaT: 0.504211 s, deltaX: -0.200001 m, approachRate: -0.396661 m/s, rangeRepo size: 4  Added new target pos. range: 45.121189 m, bearing: 284.281603 deg, lat: 36.779497 deg, lon: -121.859654 deg, deltaT: 0.504211 s, deltaX: -0.199211 m, approachRate: -0.395095 m/s, posRepo size: 4 MDNOT Ignoring new targets: 45.12 m.hIhIhIhIhIgQgQjgQrgQreYZeY:e]`fF@*e]0~?[["[*[0?'I8=) >s>i9)顽K6<:iiÿIIa@a @a@a@i@q@uzAԡchecking for new query: numPingsReceived=69, elapsed TxPingTime=32.762383A1A5@AB=>B9B=. IB=;BB= =B9B9B=;B=@7E ^A 8j>I I O >bd &,0LAP]!R>]4>] 5=ٱ]%=]H<$?`BٿQ?@I? ?䷿- b??@?i]!R>I]^;]CYmhBymf Ii=Mb@Mb@Mb@9999 99=Zd;O?Q?Mb`?Y=~j>y=u==;=@= A =/@)=A9Y=AbDQVDQyeEr%eH=ٔeQ-e>9iYi=mEyiuEu>yQ 55}[W?Q 95}ˑ)yYkr>Q E`;yK-?Q Ii@}DI}u:i}:}Z5yɮaADNOT Ignoring new targets: 45.12 m.hhhhhggjgrgBreZe:e*e?[kr>[kr>"[3>*[K-? 5=) u>}DDAT read: Rx Time:04:39:33.1419 }TRx dataTimestamp_ set to:1764909574.420141PDAT read: Bearing 301.1, -69.1 (Local) ~Local bearing/azimuth received: Bearing 301.1, -69.1 (Local) DAT read: Range 11 to 50 : 45.6 m (trip time 30.4 ms) speed -0.1 DAT read: 04:39:33.1419 LVL= 22320, 13553, 13762, 21923, AGC= 53, IDX= 508,-0.14,-1.983,-0.398, 0.507,-0.267, PHS=-1.614,-0.086, 0.730, RAW= 250.0, 9.4, CAL= 249.4, 10.0, ROT= 260.6, -10.0 Ygot valid direction response: 04:39:33.1419 LVL= 22320, 13553, 13762, 21923, AGC= 53, IDX= 508,-0.14,-1.983,-0.398, 0.507,-0.267, PHS=-1.614,-0.086, 0.730, RAW= 250.0, 9.4, CAL= 249.4, 10.0, ROT= 260.6, -10.0 T#Rx 70: Read range and direction messages.`direction in FSK: [-0.160845,-0.971584,0.173648]Fpublishing direction and range infoyy}k̏Ŀ7ٖNs:?Y}f6By}0W}4}5bEijEmJ4rEm/E EE$E"E:*E H:VE4ZEBE}J@ }¸2>)}狑@I}¸2yy}>D俽"=d3?`E? }&@)}o(I}޿i}¸2yyUchecking for new query: numPingsReceived=70, elapsed TxPingTime=33.043789i9)Y]MO6]B:iYieÿaiIiIi9@ @@@^A! ! I9 IQ O] >% checking for new query: numPingsReceived=70, elapsed TxPingTime=33.2662436j &,oLAJH>J>J51=ٱJ=JHE?` 8ٿ@ն?]?`W$? T$? ?iJH>IJ>^;HYVlByVj IIZ<)Z<^=^p=bDbVDbr8yj<%jh=ٔj1Q-j>9lYl=nEylr)Er>tQ 5z5v\?Q 9z5vo)tYxyz*?Q I~i@|vDIv.;iv/;v]5yɮ FA ii㚁LAj5B"j5B:j@"p!J'u8jNFo~x[@pk̏Ŀ7ٖNs:?*j޿2j¸2*p _ I&@$MEieL@pOX?d?j/ j6AiQfZ?i8ejBj]rq?j!joBrj4Bzj@] addTargetRange:: Added new target pos. range: 45.599998 m, deltaT: 0.504645 s, deltaX: 0.299999 m, approachRate: 0.594476 m/s, rangeRepo size: 4 m Added new target pos. range: 45.419815 m, bearing: 284.574473 deg, lat: 36.779502 deg, lon: -121.859653 deg, deltaT: 0.504645 s, deltaX: 0.298626 m, approachRate: 0.591754 m/s, posRepo size: 4 mDNOT Ignoring new targets: 45.42 m.hihihihihqgqgqjgyrgyreyZey:eF@*eB?[["[*[*?51=) h|>i9)S6Q:iiÿII-9@) @)@)@)ADDAT read: Rx Time:04:39:33.6418 TRx dataTimestamp_ set to:1764909574.923428PDAT read: Bearing 300.7, -69.3 (Local) ~Local bearing/azimuth received: Bearing 300.7, -69.3 (Local) DAT read: Range 11 to 50 : 45.5 m (trip time 30.3 ms) speed -0.1 E EE"E"E%:*EA:VE(3ZEa @a @a @a @-DAT read: 04:39:33.6418 LVL= 24240, 14065, 13090, 24227, AGC= 53, IDX= 507, 0.22,-1.392, 0.194, 1.091, 0.308, PHS=-1.598,-0.070, 0.738, RAW= 250.1, 9.1, CAL= 249.3, 9.6, ROT= 260.7, -9.6 QYgot valid direction response: 04:39:33.6418 LVL= 24240, 14065, 13090, 24227, AGC= 53, IDX= 507, 0.22,-1.392, 0.194, 1.091, 0.308, PHS=-1.598,-0.070, 0.738, RAW= 250.1, 9.1, CAL= 249.3, 9.6, ROT= 260.7, -9.6 T#Rx 71: Read range and direction messages.`direction in FSK: [-0.159340,-0.973036,0.166769]Fpublishing direction and range infoyBDeĿ l#8_X?Y6B^6"3 ^)ID̿i)\^AM>IaIqO}>B<@ +>)4@I+PY 6ei,?i9? O@)z"Iݿi+checking for new query: numPingsReceived=71, elapsed TxPingTime=33.590237ԁ q &,3SǁLAJ=?>J3>Ji-=ٱJJ>JH`c?*ؿƃ?&-?@?`(C@{f??iJ=?>IJ0^;HYnfBync I vp9!Y!=-Ey)-سE->1Q 5=55kc?Q 9=55܎)1YAyEc(?Q IEi@5DI5:i5:5]a5yM,BɮM.AMPEQiirLAjG5B"jG5B:j@"pT Fm c;@pBDeĿ l#8_X?*jݿ2j+*pS&@9EVEXEu[3@po&0?szh~2 ҳ?j/ j0AiAA ?icjjBjh?j8ejBrj5Bzj:@ addTargetRange:: Added new target pos. range: 45.500000 m, deltaT: 0.503287 s, deltaX: -0.099998 m, approachRate: -0.198691 m/s, rangeRepo size: 4  Added new target pos. range: 45.320210 m, bearing: 284.121979 deg, lat: 36.779502 deg, lon: -121.859653 deg, deltaT: 0.503287 s, deltaX: -0.099606 m, approachRate: -0.197910 m/s, posRepo size: 4 DNOT Ignoring new targets: 45.32 m.hhhhhgchecking for new query: numPingsReceived=71, elapsed TxPingTime=33.770321B>B?CB IB,BBBBB;BB@CB@CBCB =B =CP5gjgrgre Ze :e F@*e ?[1[1"[1*[5c(?Ei-=)A Etp>iE49)AMV6M:iIiÿIIԉ@ @@@@=@=ԩ^AE @o>IQ Ia Om > DDAT read: Rx Time:04:39:34.1420  TRx dataTimestamp_ set to:1764909575.427428 PDAT read: Bearing 296.4, -70.3 (Local)  ~Local bearing/azimuth received: Bearing 296.4, -70.3 (Local)  DAT read: Range 11 to 50 : 45.8 m (trip time 30.5 ms) speed 0.0  DAT read: 04:39:34.1420 LVL= 25696, 14961, 12626, 24883, AGC= 53, IDX= 509,-0.25,-2.061,-0.516, 0.445,-0.373, PHS=-1.586,-0.098, 0.774, RAW= 248.6, 8.9, CAL= 247.8, 9.4, ROT= 262.2, -9.4  Ygot valid direction response: 04:39:34.1420 LVL= 25696, 14961, 12626, 24883, AGC= 53, IDX= 509,-0.25,-2.061,-0.516, 0.445,-0.373, PHS=-1.586,-0.098, 0.774, RAW= 248.6, 8.9, CAL= 247.8, 9.4, ROT= 262.2, -9.4 E  E ~E %E "E g:*E (:VE 4ZE BE ;a 2E ;a JE ;a :E ;a % T#Rx 72: Read range and direction messages.- `direction in FSK: [-0.133893,-0.977444,0.163326]- Fpublishing direction and range infoy  n_lh# ,9G$vz?Y 37B `d q: R1 3a) I ˿i 9Ƚ $F? -؊@ > e@ '>) p@I ' ._㿵?o? +@) I |ڿi ' M checking for new query: numPingsReceived=72, elapsed TxPingTime=34.046673 w &,$ၘLAYb[BybV Ii]Mb@Mb@Mb@YYYY Y9]!rh?S㥫?~jth?Y]lg>y]/]=]D;]@] A ]@)]KAYYYbDmVDm8y}#L%D=ٔQ->9Y=EyE>Q 55i?Q 95Z)Ym>Q Ed;y"?Q Ii@DI:i:Թd5yɮAiiZہLAjy6B"jy6B:j@"prXn#AKFfo@pn_lh# ,9G$vz?*j|ڿ2j'*p*~(@PE~j{@p@.?:?j/ jCAiWq?ijzBjAA ?jcjjBrj25Bzjߞ@ addTargetRange:: Added new target pos. range: 45.799999 m, deltaT: 0.504000 s, deltaX: 0.299999 m, approachRate: 0.595237 m/s, rangeRepo size: 4 % Added new target pos. range: 45.618851 m, bearing: 285.588245 deg, lat: 36.779504 deg, lon: -121.859653 deg, deltaT: 0.504000 s, deltaX: 0.298641 m, approachRate: 0.592542 m/s, posRepo size: 4 %DNOT Ignoring new targets: 45.62 m.h!h!h)h)h)g)g)jg1rg5Bre1Ze1:e=`fF@*e=?[]m>[]m>"[]j+p>*[]"?i)i mu>iuc9)Z6:i i=ÿ99I9IAchecking for new query: numPingsReceived=72, elapsed TxPingTime=34.274315@ @@@ ^AM d>Iy I O >9 ~ &,HLA&DDAT read: Rx Time:04:39:34.6419 *TRx dataTimestamp_ set to:1764909575.931425.PDAT read: Bearing 296.9, -70.0 (Local) .~Local bearing/azimuth received: Bearing 296.9, -70.0 (Local) 6DAT read: Range 11 to 50 : 45.6 m (trip time 30.4 ms) speed -0.1 JDAT read: 04:39:34.6419 LVL= 23360, 17137, 13538, 22179, AGC= 53, IDX= 508, 0.09,-0.777, 0.773, 1.706, 0.905, PHS=-1.579,-0.087, 0.757, RAW= 249.1, 8.9, CAL= 248.3, 9.4, ROT= 261.7, -9.4 NYgot valid direction response: 04:39:34.6419 LVL= 23360, 17137, 13538, 22179, AGC= 53, IDX= 508, 0.09,-0.777, 0.773, 1.706, 0.905, PHS=-1.579,-0.087, 0.757, RAW= 249.1, 8.9, CAL= 248.3, 9.4, ROT= 261.7, -9.4 NT#Rx 73: Read range and direction messages.R`direction in FSK: [-0.142418,-0.976239,0.163326]VFpublishing direction and range infoy$&ҽ:¿[IX=$vz?Y&f6B$&@[&B&4 &V)$I&ʿi&-&A?&@$&H@ $)&.)@I$$$&o$㿥?b?Eb EbEb"E`"Ebغ:*Eb0:VEb(3ZE`af@af@af@af@z .>z$>z2&= &v4@)&SI&ۿi$$$checking for new query: numPingsReceived=73, elapsed TxPingTime=34.550346ٱzBK>zH`? ׿?@:?p?5Ĥ??iz .>Iz"_^;xY\By !!!!bD-VD-8y=;%=O=ٔEQ-E>9AYA=MEyIM&EM>QQ 55UEp?Q 95U)QYy?Q Ii@UDIUj@p&ҽ:¿[IX=$vz?*j&ۿ2j$*p&Nzo6&@1Ec{J@p&1L?fnp?j&/ j&1Ai&4-?i&j&nBj&4-?j&j&Brj&~5Bzj&@ addTargetRange:: Added new target pos. range: 45.599998 m, deltaT: 0.503997 s, deltaX: -0.200001 m, approachRate: -0.396829 m/s, rangeRepo size: 4  Added new target pos. range: 45.419640 m, bearing: 284.168415 deg, lat: 36.779506 deg, lon: -121.859653 deg, deltaT: 0.503997 s, deltaX: -0.199211 m, approachRate: -0.395263 m/s, posRepo size: 4 DNOT Ignoring new targets: 45.42 m.hhhhhggjgrgreZe:eF@*e?[["[*[?2&=) v>i09)!%_6%[:i!iMÿIIIIIQA@ @@@BA<B>BB IB!BB =BBDB΀;B$7Echecking for new query: numPingsReceived=73, elapsed TxPingTime=34.778343q^A U<>I I O >ԡ O &,lLAUŜ%>Uc>U6."=ٱU>UH@?`E<׿@?A?@}?\#kDp??iUŜ%>IU.7^;QYZByT IiMb@Mb@Mb@ 9MbX?V-?y&1|?YJ>ym=`;@ A M@)AY)-@AbD5VD1y=»%E:=ٔEQ-E>9IYI=MEyIU-EU>QQ 5]5UNv?Q 9e5U~)U;BYedS>Q Ee;yeh(?Q Iei@UDIUV:iiUK,;UHl5yqɮuAqDNOT Ignoring new targets: 45.42 m.hhhhhgUDDAT read: Rx Time:04:39:35.1421 UTRx dataTimestamp_ set to:1764909576.435383]PDAT read: Bearing 293.2, -70.8 (Local) e~Local bearing/azimuth received: Bearing 293.2, -70.8 (Local) uDAT read: Range 11 to 50 : 45.9 m (trip time 30.6 ms) speed -0.1 DAT read: 04:39:35.1421 LVL= 24640, 16193, 13906, 22787, AGC= 52, IDX= 510,-0.31,-1.800,-0.285, 0.700,-0.132, PHS=-1.566,-0.108, 0.788, RAW= 247.9, 8.7, CAL= 247.0, 9.3, ROT= 263.0, -9.3 Ygot valid direction response: 04:39:35.1421 LVL= 24640, 16193, 13906, 22787, AGC= 52, IDX= 510,-0.31,-1.800,-0.285, 0.700,-0.132, PHS=-1.566,-0.108, 0.788, RAW= 247.9, 8.7, CAL= 247.0, 9.3, ROT= 263.0, -9.3 T#Rx 74: Read range and direction messages.`direction in FSK: [-0.120267,-0.979500,0.161604]Fpublishing direction and range infoyQUiLdɾVXo?YU7BQU@`UA?UR6 UY)U4IUrȿiU/ݽU^I?Ut@U|>Ui@ U6&>)U @IU6&QQU|ѕ i㿐=?VAC?E EE&E"EƱ:*Ez:VE4ZEBE@;a2EA;aJE;a:E;ag U@)UIU7ؿiU6&QQchecking for new query: numPingsReceived=74, elapsed TxPingTime=35.050236jgrg߁BreZe:e @3F@*e  ?[MdS>[MdS>"[M>*[Mh(?6."=) u>il9)顥b6:iiÿIIԙq@q @q@q@q@y@y^A #>I I O > checking for new query: numPingsReceived=74, elapsed TxPingTime=35.282413 v" &,.LAB>B>Bg=ٱBB=BH?@ֿ@m?%??3,.Ϳ?g?iB>IB];BCYJ_ByJZ IbDVVDVy8y^<%^h=ٔ^\>Q-b>9`Y`=bEy`f׼Ef>hQ 5j5j1{?Q 9n5jV)j8?iCjRBjQfZ?jcjjzBrj5Bzj릞@5 addTargetRange:: Added new target pos. range: 45.900002 m, deltaT: 0.503958 s, deltaX: 0.300003 m, approachRate: 0.595294 m/s, rangeRepo size: 4 M Added new target pos. range: 45.718143 m, bearing: 284.397650 deg, lat: 36.779506 deg, lon: -121.859653 deg, deltaT: 0.503958 s, deltaX: 0.298504 m, approachRate: 0.592319 m/s, posRepo size: 4 UDNOT Ignoring new targets: 45.72 m.hYhahahahigigqjgrg!re)Ze):eQ*e]@?[9[9"[9*[=s &?ug=)q u~>iu9)q}f6}^:iyi}ÿIIA@A @A@M0@ImDDAT read: Rx Time:04:39:35.6420 mTRx dataTimestamp_ set to:1764909576.939465uPDAT read: Bearing 293.8, -70.6 (Local) }~Local bearing/azimuth received: Bearing 293.8, -70.6 (Local) DAT read: Range 11 to 50 : 45.8 m (trip time 30.5 ms) speed -0.1 DAT read: 04:39:35.6420 LVL= 26048, 16561, 13682, 24083, AGC= 52, IDX= 509, 0.14,-1.588,-0.066, 0.893, 0.078, PHS=-1.564,-0.099, 0.771, RAW= 248.4, 8.8, CAL= 247.6, 9.3, ROT= 262.4, -9.3 Ygot valid direction response: 04:39:35.6420 LVL= 26048, 16561, 13682, 24083, AGC= 52, IDX= 509, 0.14,-1.588,-0.066, 0.893, 0.078, PHS=-1.564,-0.099, 0.771, RAW= 248.4, 8.8, CAL= 247.6, 9.3, ROT= 262.4, -9.3 T#Rx 75: Read range and direction messages.`direction in FSK: [-0.130518,-0.978187,0.161604]Fpublishing direction and range infoyim0d8д6NMo?Ym37Bimem@mr5 m^)iIm'1ȿimʽmB`E?m@mnF>m3I@ i)mC@IiiiE EE"E"Eg:*ET:VE(3ZEa@a@a@a@m="㿈ZG?J2ф? mc@)mIm_ ڿiiii%checking for new query: numPingsReceived=75, elapsed TxPingTime=35.558426) ^A5 x>IA IQ O] >Q  &,HLA2q>2Z>2&`=ٱ2`=2H?@0+ֿ@0?@?U?Y`Jvÿ?պ?i2q>I2];2CYJ]ByJX IINp<)N;R=R=bDVVDVr8ynU %rG=ٔr Q-r>9pYt=vEytv Ev>xQ 5~5zꀟ?Q 9~5z)z=BYy#?Q Ii@z!DIz:izh:zr5y ɮ Aii2 ByB} IB}BByByByB}Ȁ;B}7Echecking for new query: numPingsReceived=75, elapsed TxPingTime=35.786339 addTargetRange:: Added new target pos. range: 45.799999 m, deltaT: 0.504082 s, deltaX: -0.100002 m, approachRate: -0.198385 m/s, rangeRepo size: 4 - Added new target pos. range: 45.618538 m, bearing: 283.284783 deg, lat: 36.779506 deg, lon: -121.859653 deg, deltaT: 0.504082 s, deltaX: -0.099606 m, approachRate: -0.197598 m/s, posRepo size: 4 5DNOT Ignoring new targets: 45.62 m.h1h1h1h1h1g1g9jg9rg9re9ZeA:eE`fF@*eE`%;? G!5{AI[Y[Y}9}{AY}M A"[Y*[]ۼ#?&`=) {>i9)顝j6i:iiÿII@ @@0@Ym DDAT read: Rx Time:04:39:36.1421 m TRx dataTimestamp_ set to:1764909577.443359} PDAT read: Bearing 290.4, -70.9 (Local) } ~Local bearing/azimuth received: Bearing 290.4, -70.9 (Local) y  DAT read: Range 11 to 50 : 45.9 m (trip time 30.6 ms) speed 0.0  DAT read: 04:39:36.1421 LVL= 25120, 15697, 15138, 24979, AGC= 52, IDX= 510,-0.20, 2.705,-2.090,-1.091,-1.919, PHS=-1.558,-0.126, 0.784, RAW= 247.3, 8.8, CAL= 246.7, 9.5, ROT= 263.3, -9.5  Ygot valid direction response: 04:39:36.1421 LVL= 25120, 15697, 15138, 24979, AGC= 52, IDX= 510,-0.20, 2.705,-2.090,-1.091,-1.919, PHS=-1.558,-0.126, 0.784, RAW= 247.3, 8.8, CAL= 246.7, 9.5, ROT= 263.3, -9.5  T#Rx 76: Read range and direction messages. `direction in FSK: [-0.115071,-0.979550,0.165048] Fpublishing direction and range infoyi m qFu@yX←G ?Ym 7Bi m bm Q=m "; m a)i Im lǿim %m 9H?m N@E  E E #E "E :*E e:VE 3ZE BE x)m @Im )i i m f&,㿮"K\;$? #? m f;@)m |Im ؿim )i i  checking for new query: numPingsReceived=76, elapsed TxPingTime=36.058735^A M7>I I O >5 &,2P>2-=ٱ2c>2H?$տƳ?`?`r?`պ3?@A?i2] >I2];2CYnLBynC IiMb@Mb@Mb@ 9&1?Zd;?~jtx?YP>yy=;@ d@)OAYpA 4<p;bDVD{8y%==ٔ'Q->9Y=EyE>Q 55%?Q 95)?BYZ>Q Ey;y#?Q Ii@$DI:iR:v5yɮAii_\LAj6B"j6B:j5p@"pjI| ϳ@dFo8.@pqFu@yX←G ?*jؿ2j)*p[i?%@7$/Ff@p&6??:KᅭBhDC?j1 j,Aigς?ijtBjjCjrj6Bzjv@ addTargetRange:: Added new target pos. range: 45.900002 m, deltaT: 0.503894 s, deltaX: 0.100002 m, approachRate: 0.198459 m/s, rangeRepo size: 4 - Added new target pos. range: 45.718170 m, bearing: 283.682695 deg, lat: 36.779506 deg, lon: -121.859654 deg, deltaT: 0.503894 s, deltaX: 0.099632 m, approachRate: 0.197725 m/s, posRepo size: 4 5DNOT Ignoring new targets: 45.72 m.h1h1h1h1h1g1g9jg9rg=Bre9ZeA:eE@3F@*eE@?[Z>[Z>"[Ô>*[_#?ԉ-=)  W>i9)顽:n6]:iiÿIIchecking for new query: numPingsReceived=76, elapsed TxPingTime=36.2911769@ @@/0@@=@=Թ^A }>I I O >^ &,E|LADDAT read: Rx Time:04:39:36.6420 TRx dataTimestamp_ set to:1764909577.947383PDAT read: Bearing 291.3, -71.3 (Local) ~Local bearing/azimuth received: Bearing 291.3, -71.3 (Local) &DAT read: Range 11 to 50 : 45.8 m (trip time 30.5 ms) speed 0.0 :DAT read: 04:39:36.6420 LVL= 27504, 18033, 15138, 25891, AGC= 52, IDX= 509, 0.19, 3.009,-1.772,-0.798,-1.634, PHS=-1.539,-0.094, 0.792, RAW= 247.9, 8.3, CAL= 246.9, 8.8, ROT= 263.1, -8.8 >Ygot valid direction response: 04:39:36.6420 LVL= 27504, 18033, 15138, 25891, AGC= 52, IDX= 509, 0.19, 3.009,-1.772,-0.798,-1.634, PHS=-1.539,-0.094, 0.792, RAW= 247.9, 8.3, CAL= 246.9, 8.8, ROT= 263.1, -8.8 BT#Rx 77: Read range and direction messages.B`direction in FSK: [-0.118723,-0.981071,0.152986]FFpublishing direction and range infoy Cd˨d8C ?Y37BpkqF #e)IĿiJ?t@V>@ nF>)Y@InF"q!$x?炇z?ER ERER$EP"ERغ:*ER|;:VER4ZEPab@ab@ab@ab@\ @)ZIzؿinF checking for new query: numPingsReceived=77, elapsed TxPingTime=36.571083eb>e>e!=ٱe*>eHg?@s#տT\???_B##?o?ieb>Ie];eCYuZByT IbDVD8y}=%==ٔ.Q->9Y=EyZE>1Q 5=55?Q 9=55)5@BYAyE ?Q IEi@5'DI5`:i5:5z5yIɮmAqii|LAjy6B"jy6B:j@"ptAkk`Fr}@p Cd˨d8C ?*jzؿ2jnF*p~jm$@@87F"z?p$Ĝ?UB+ wx?j1 jm#Aiydꢊ?ijIBjgς?jj\Brj6Bzjg`@ addTargetRange:: Added new target pos. range: 45.799999 m, deltaT: 0.504024 s, deltaX: -0.100002 m, approachRate: -0.198408 m/s, rangeRepo size: 4 5 Added new target pos. range: 45.618561 m, bearing: 282.945437 deg, lat: 36.779505 deg, lon: -121.859655 deg, deltaT: 0.504024 s, deltaX: -0.099609 m, approachRate: -0.197628 m/s, posRepo size: 4 5DNOT Ignoring new targets: 45.62 m.h1h1h1h9h9g9g9jg9rgAreAZeA:eE`fF@*emZ?[["[*[ ?!=) zr>i^9)7r6e:iiÿII 9@ @@0@ByByByByByByByB};B};7Echecking for new query: numPingsReceived=77, elapsed TxPingTime=36.794640I ^A! II Iq O >H &,^*LA!]=]ʫ>] =ٱ]>]H2?ڣԿ ??@?»`56?(?i]=I]];]CY_ByZ I i}Mb@Mb@Mb@yyyy y9}(\?L7A`?~jtx?Y}G>y}+=y}z@} A }\@)}5AyY}AbD VD8y<%D=ٔ)Q->9Y=Ey JE >Q 55(?Q 95Ń)BBYR>Q E%;y%'?Q I%i@*DII:i1:#~55DDAT read: Rx Time:04:39:37.1422 =TRx dataTimestamp_ set to:1764909578.451478EPDAT read: Bearing 287.5, -72.4 (Local) M~Local bearing/azimuth received: Bearing 287.5, -72.4 (Local) ]DAT read: Range 11 to 50 : 46.1 m (trip time 30.7 ms) speed -0.1 DAT read: 04:39:37.1422 LVL= 30640, 19729, 15858, 30275, AGC= 50, IDX= 511,-0.18, 2.238,-2.552,-1.515,-2.403, PHS=-1.540,-0.105, 0.843, RAW= 246.7, 7.8, CAL= 245.6, 8.3, ROT= 264.4, -8.3 Ygot valid direction response: 04:39:37.1422 LVL= 30640, 19729, 15858, 30275, AGC= 50, IDX= 511,-0.18, 2.238,-2.552,-1.515,-2.403, PHS=-1.540,-0.105, 0.843, RAW= 246.7, 7.8, CAL= 245.6, 8.3, ROT= 264.4, -8.3 T#Rx 78: Read range and direction messages.`direction in FSK: [-0.096561,-0.984803,0.144356]Fpublishing direction and range infoy9= +:偃'ЌCz?Y=f8B9=w=M== =Cv)=2I=ſi== ׽=W?=ȉ@='g >=>+@ =V>)=7@E EwE%E"EC:*E:VE 4ZEBE-;a2E.;aJEk;a:Ek;ay1BɮAQEI=V99=BGz^i?`n!N? =ю @)= I=տi=V99checking for new query: numPingsReceived=78, elapsed TxPingTime=37.067398i9i=圂LAj=7B"j=7B:j=u@"p=3R?XQF⋃@p= +:偃'ЌCz?*j=տ2j=V*p=o)3%@oYXLF?p=8Z?MOUᅵ*7?j=b2 j=9.Ai=(?i=$j=]Bj9j=j=RBrj=6Bzj=R@A addTargetRange:: Added new target pos. range: 46.099998 m, deltaT: 0.504095 s, deltaX: 0.299999 m, approachRate: 0.595124 m/s, rangeRepo size: 4  Added new target pos. range: 45.917416 m, bearing: 283.721365 deg, lat: 36.779505 deg, lon: -121.859655 deg, deltaT: 0.504095 s, deltaX: 0.298855 m, approachRate: 0.592854 m/s, posRepo size: 4 DNOT Ignoring new targets: 45.92 m.hhhhhggjg rg Bre Ze:e G@*e ?[UR>[UR>"[U}>*[U'? =) u>i}9)額:v6U:iiÿIIQ@Q @Q@Q@Qyԡ  checking for new query: numPingsReceived=78, elapsed TxPingTime=37.302578^A} x>I I O >p &,LA:t=:q>:=ٱ:.>:H@I?"Կ Yu? T??:`6R?`?i:t=I:F];:CYFZByFT ILLbDRVDR|8yZ%^y=ٔb,rQ-f?9hYl=nEypvMмEz? Q 5%5 З?Q 9-5 ) CBY1y5%?Q I=i@ ,DI ;i ; 5yYɮeAiԁDNOT Ignoring new targets: 45.92 m.hhhhhggjgrgreZe:e*e?[["[*[ە%?==)9 =k>i=9)AEy6E:iAiMÿIIIIIԩ)@) @)@-@5@)@1@1i9I=AMDDAT read: Rx Time:04:39:37.6421 MTRx dataTimestamp_ set to:1764909578.955547]PDAT read: Bearing 287.2, -72.7 (Local) ]~Local bearing/azimuth received: Bearing 287.2, -72.7 (Local) mDAT read: Range 11 to 50 : 45.9 m (trip time 30.6 ms) speed -0.1 DAT read: 04:39:37.6421 LVL= 27872, 18369, 15346, 27939, AGC= 50, IDX= 510, 0.22,-3.067,-1.562,-0.524,-1.426, PHS=-1.540,-0.091, 0.857, RAW= 246.9, 7.5, CAL= 245.6, 7.9, ROT= 264.4, -7.9 Ygot valid direction response: 04:39:37.6421 LVL= 27872, 18369, 15346, 27939, AGC= 50, IDX= 510, 0.22,-3.067,-1.562,-0.524,-1.426, PHS=-1.540,-0.091, 0.857, RAW= 246.9, 7.5, CAL= 245.6, 7.9, ROT= 264.4, -7.9 T#Rx 79: Read range and direction messages.`direction in FSK: [-0.096657,-0.985782,0.137445]Fpublishing direction and range infoyIMY\yjȗ?YM7BIMlMGM; M#m)IIIiM5^MZd[?M@M >I M0 >)IIM0 IIMg 㿨|6Ba?Z:C? M( @D=D4=E E}E#E"E:*Ek&:VE3ZEa@a@a@a@)MOBIIiM0 IIchecking for new query: numPingsReceived=79, elapsed TxPingTime=37.569019^A- V>I9 II OU > X &,IɂLAY~`By~\ IbD VD 8B%>B!B!B!B!B!B!B%;B%N7Eym<%m?=ٔmQ-u>9qYq=uEyq}E}>Q 55?Q 95N)EBYyQ Ii@/DI:iq:5checking for new query: numPingsReceived=79, elapsed TxPingTime=37.802311yɮAiyi}'LAj}6B"j}6B:j}0-@"p}]\7e;cFS"@p}Y\yjȗ?*jy2j}0 *p}%2$@Fn@FH}?p}_7A?iyY&│t$?j}2 j}1'Ai}1?i}j}Bj}1?jyj}IBrj}'7Bzj}*@= addTargetRange:: Added new target pos. range: 45.900002 m, deltaT: 0.504069 s, deltaX: -0.199997 m, approachRate: -0.396765 m/s, rangeRepo size: 4 M Added new target pos. range: 45.718048 m, bearing: 283.213950 deg, lat: 36.779505 deg, lon: -121.859655 deg, deltaT: 0.504069 s, deltaX: -0.199368 m, approachRate: -0.395516 m/s, posRepo size: 4 MDNOT Ignoring new targets: 45.72 m.hIhIhIhIhQgQgQjgYrgYreYZeY:e]@3F@*ee?[["[*[) w>iѬ9)顝e}6k:iiÿII1@1 @9@=5@9 1^AUx>IYIqO}>U DDAT read: Rx Time:04:39:38.1423 ] TRx dataTimestamp_ set to:1764909579.459313e PDAT read: Bearing 285.2, -42.6 (Local) e ~Local bearing/azimuth received: Bearing 285.2, -42.6 (Local) u DAT read: Range 11 to 50 : 46.2 m (trip time 30.8 ms) speed -0.1 bEU3jEU<3rEUp/E  E E "E "E :*E ,:VE (3ZE BE O;a 2E P;a JE 9;a :E 9;a 5 DAT read: 04:39:38.1423 LVL= 30688, 17905, 13298, 27043, AGC= 51, IDX= 512,-0.18, 0.136, 1.429, 1.867, 1.857, PHS=-1.618,-0.383,-0.034, RAW= 257.9, 26.5, CAL= 260.4, 34.8, ROT= 249.6, -34.8 = Ygot valid direction response: 04:39:38.1423 LVL= 30688, 17905, 13298, 27043, AGC= 51, IDX= 512,-0.18, 0.136, 1.429, 1.867, 1.857, PHS=-1.618,-0.383,-0.034, RAW= 257.9, 26.5, CAL= 260.4, 34.8, ROT= 249.6, -34.8 E T#Rx 80: Read range and direction messages.M `direction in FSK: [-0.286230,-0.769648,0.570714]M Fpublishing direction and range infoyQ U  By'Qҿb!迤 IC?YU 8BQ U wU EU 3 U i)U 3IU ϿiU ľU C U @U h>U Oo@ U |?)U 'g@IU |Q Q U TO 'E> HBV2?4ɧ? U [@)U dIU ϢiU |Q Q % checking for new query: numPingsReceived=80, elapsed TxPingTime=38.114208Y l &,(゘LA2 =2e>2B<ٱ2RJ>2H ~v?@7ӿ? n?`C? {? ߷?i2 =I2];0Y>_ByBZ Ii%Mb@Mb@Mb@!!!! !9%^I +?X9v?~jtx?Y%X9>y%}=!%@% A %r@)%A!Y%GAbDmVDm8y%H=ٔǸQ->9Y=Eyu'E>!Q 555%%?9Q 9U5% )%GBYUD>Q EU;yU!?Q I]i@%2DI%b;i%d;%u5yaɮeAaiibe݂LAj8B"j8B:j"@"pllUW*uYA(/C:@p By'Qҿb!迤 IC?*jϢ2j|*p݊Dſ=DBk5@p,ɸÓnwǸ&\bm?j! j/i ?i |ިj BjjjrjB7Bzj@ addTargetRange:: Added new target pos. range: 46.200001 m, deltaT: 0.503766 s, deltaX: 0.299999 m, approachRate: 0.595513 m/s, rangeRepo size: 4 % Added new target pos. range: 46.016857 m, bearing: 269.756912 deg, lat: 36.779505 deg, lon: -121.859655 deg, deltaT: 0.503766 s, deltaX: 0.298809 m, approachRate: 0.593150 m/s, posRepo size: 4 %DNOT Ignoring new targets: 46.02 m.h!h!h!h!h)g)g)jgIrgUBreQZeQ:eUG@*e]@?[D>[D>"[>*[!?B<) Ha>i-9)62:iiÿIIchecking for new query: numPingsReceived=80, elapsed TxPingTime=38.306995a@ @@/5@ԉ^A I I O >Թ e DDAT read: Rx Time:04:39:38.6422 e TRx dataTimestamp_ set to:1764909579.963329m PDAT read: Bearing 284.3, -72.1 (Local) u ~Local bearing/azimuth received: Bearing 284.3, -72.1 (Local)  DAT read: Range 11 to 50 : 46.1 m (trip time 30.7 ms) speed -0.1  DAT read: 04:39:38.6422 LVL= 26608, 17777, 12514, 25651, AGC= 52, IDX= 511, 0.20, 3.012,-1.785,-0.738,-1.622, PHS=-1.547,-0.118, 0.840, RAW= 246.5, 8.0, CAL= 245.5, 8.6, ROT= 264.5, -8.6  Ygot valid direction response: 04:39:38.6422 LVL= 26608, 17777, 12514, 25651, AGC= 52, IDX= 511, 0.20, 3.012,-1.785,-0.738,-1.622, PHS=-1.547,-0.118, 0.840, RAW= 246.5, 8.0, CAL= 245.5, 8.6, ROT= 264.5, -8.6  T#Rx 81: Read range and direction messages. `direction in FSK: [-0.094768,-0.984204,0.149535] Fpublishing direction and range infoya e B.My~S&r#?Ye f8Ba e ge qEe 0 e 3d)e 4Ie ƿie e = W?e 쫉@e 5>e @ e `>)e @Ie `a a e p⿞DQ|y?Y? e M @)e E  E wE #E "E :*E :VE 3ZE a @a @a @a @Ie [Yտie `a a  checking for new query: numPingsReceived=81, elapsed TxPingTime=38.576649. &,LA 䉙= > <ٱ > H?ҿ@? x?i? ӧ<;@’??i 䉙=I ]; Y=YBy=S I Mpԑ9Y=Ey E>Q 55Ĩ?Q 95~)HBYy?Q Ii@4DIe:i;15y/BɮAii/LAj7B"j7B:j&@"p|hDg.%FJ6 w@pB.My~S&r#?*j[Yտ2j`*ps"@HJFTXA?p"9?? x\ء ?j4 jAie?i3yjBjydꢊ?jjBrj7Bzjŝ@ addTargetRange:: Added new target pos. range: 46.099998 m, deltaT: 0.504016 s, deltaX: -0.100002 m, approachRate: -0.198411 m/s, rangeRepo size: 4  Added new target pos. range: 45.917252 m, bearing: 281.378901 deg, lat: 36.779501 deg, lon: -121.859655 deg, deltaT: 0.504016 s, deltaX: -0.099606 m, approachRate: -0.197624 m/s, posRepo size: 4 DNOT Ignoring new targets: 45.92 m.hhhhhggjgrgreZe :e  G@*e @7?[Q[Q"[Q*[U?<) T>i9)L6ҡ:iiÿIIIyA)Թy@y @y@}@5@yBA<B%>B!B% IB%!BB% =B!B!B%;B%c7EB?CB?CBB =B =Cѣ4checking for new query: numPingsReceived=81, elapsed TxPingTime=38.810375^Ae eF>I I O > f &,4LACj=3><ٱ>H?@ѿ?4?z?` ?m?iCj=Iû];CYZByU IDDAT read: Rx Time:04:39:39.1424 TRx dataTimestamp_ set to:1764909580.467423-PDAT read: Bearing 309.9, -68.4 (Local) -~Local bearing/azimuth received: Bearing 309.9, -68.4 (Local) =DAT read: Range 11 to 50 : 46.4 m (trip time 30.9 ms) speed -0.1 eDAT read: 04:39:39.1424 LVL= 30560, 19297, 14498, 29283, AGC= 51, IDX= 513,-0.18,-0.166, 1.739, 2.402, 1.611, PHS=-1.675, 0.173, 0.748, RAW= 256.9, 6.9, CAL= 254.8, 6.0, ROT= 255.2, -6.0 mYgot valid direction response: 04:39:39.1424 LVL= 30560, 19297, 14498, 29283, AGC= 51, IDX= 513,-0.18,-0.166, 1.739, 2.402, 1.611, PHS=-1.675, 0.173, 0.748, RAW= 256.9, 6.9, CAL= 254.8, 6.0, ROT= 255.2, -6.0 mT#Rx 82: Read range and direction messages.u`direction in FSK: [-0.254047,-0.961527,0.104528]uFpublishing direction and range infoy"kLBп@4ޮ`º?Y9B`waK8 cr)3Iffֿi&1>|??z@Ϣ=N@ Pw=)Ӈ@IPwֽB/ZfB'?SS?E EE$E"E:*E,:VE4ZEBEy===`;=@= A =d@)=A9Y9bDUVDU8y*;%=ٔQ->9Y=Ey#sE>Q 55?Q 95=})KBYD>Q E;y?Q Ii@7DI:i_:Ԑ5yɮAiiBLAj8B"j8B:jC@"pTAe{'% 8FVR@p"kLBп@4ޮ`º?*j 2jPwֽ*pom?G-bVp6K*J?S+Sj8 jm?iM?i?<jBje?j$j]Brj6Bzj@% addTargetRange:: Added new target pos. range: 46.400002 m, deltaT: 0.504094 s, deltaX: 0.300003 m, approachRate: 0.595133 m/s, rangeRepo size: 4 u Added new target pos. range: 46.215969 m, bearing: 271.583258 deg, lat: 36.779493 deg, lon: -121.859656 deg, deltaT: 0.504094 s, deltaX: 0.298717 m, approachRate: 0.592583 m/s, posRepo size: 4 }DNOT Ignoring new targets: 46.22 m.hyhyhyhyhygygjgrgBreZe:e@33G@*e`KV?[D>[D>"[m>*[?<) Ha>iի9)`6ɣ:i)i-ÿ11I1I1Q checking for new query: numPingsReceived=82, elapsed TxPingTime=39.315086 @  @ @ 0@ y ^A@o>IԡIO>m &,CS8LA2p=2|>2Z.<ٱ2 a>2H?@ѿ@ʮ?w?`? ソ`Ś@~?`ݸ?i2p=I2ʺ];2CY:_By:Z I@BAbDFVDF8yN<%N=ٔNxtQ-N ?9PYP=REyPVۼEV ?XQ 5^5Z޳?Q 9^5ZR|)ZMBY\y^?Q I^i@Z9DIZ:iZ:Z5yb2BɮfAfREzDNOT Ignoring new targets: 46.22 m.hxh|h|h|h|g|g|jgrgreZe:e*e ?[)[)"[)*[-lj?=Z.<)9 =i>iE9)AEۅ6E:iAi%ÿ))I)I)DDAT read: Rx Time:04:39:39.6423 TRx dataTimestamp_ set to:1764909580.972260PDAT read: Bearing 286.9, -61.0 (Local) ~Local bearing/azimuth received: Bearing 286.9, -61.0 (Local) -DAT read: Range 11 to 50 : 46.2 m (trip time 30.8 ms) speed -0.1 EE EEyEE&EA"EE:*EE:VEE4ZEAaU@aU@aU@aU@@ @@5@ DAT read: 04:39:39.6423 LVL= 29008, 19857, 11490, 27555, AGC= 52, IDX= 512, 0.20, 0.732, 2.365,-2.990, 2.692, PHS=-1.857,-0.282, 0.557, RAW= 250.0, 14.8, CAL= 252.2, 17.8, ROT= 257.8, -17.8 Ygot valid direction response: 04:39:39.6423 LVL= 29008, 19857, 11490, 27555, AGC= 52, IDX= 512, 0.20, 0.732, 2.365,-2.990, 2.692, PHS=-1.857,-0.282, 0.557, RAW= 250.0, 14.8, CAL= 252.2, 17.8, ROT= 257.8, -17.8 T#Rx 83: Read range and direction messages.`direction in FSK: [-0.201209,-0.930626,0.305695]Fpublishing direction and range infoy9z3ɿ\-ќ?Y8BPqM, k)4I-iNb?X@ A>ڌ@ >)@Ia&( 2˵?ۦ3N? [1@)胾I'Qichecking for new query: numPingsReceived=83, elapsed TxPingTime=39.643021I^AIIO >q B >B B  IB 'BB B B B ;B f7E checking for new query: numPingsReceived=83, elapsed TxPingTime=39.821102O &,rRLA,J M=JJ>J4<ٱJF>JH ?kп`??ݠ? l?@?iJ M=IJ&];JCYVaByV\ I\^AAbDbVDbz8yfh<%jH=ٔjBQ-j>9lYl=nEyln Er>pQ 5v5rI?Q 9v5r%{)rOBYxyzg?Q I~i@rLAj 8B"j 8B:j @"p iM锄"୛iEp:X",@p 9z3ɿ\-ќ?*j 'Q2j *p (*^@Y*~FlIע]!@p 4?,%QZ΢&?j [4 j @@i Pζ?i 7n j Bj Pζ?j 7n j Brj 4Bzj @U addTargetRange:: Added new target pos. range: 46.200001 m, deltaT: 0.504837 s, deltaX: -0.200001 m, approachRate: -0.396169 m/s, rangeRepo size: 4 e Added new target pos. range: 46.016670 m, bearing: 273.817230 deg, lat: 36.779441 deg, lon: -121.859658 deg, deltaT: 0.504837 s, deltaX: -0.199299 m, approachRate: -0.394779 m/s, posRepo size: 4 eDNOT Ignoring new targets: 46.02 m.hahihihihigigijgqrgqreqZeq:e}G@*e}Z?[["[*[Gg?4<) m>i9)页Ç6 :iiÿIIԑ@ @@4@@@yADDAT read: Rx Time:04:39:40.1424 TRx dataTimestamp_ set to:1764909581.475127DAT read: Range 11 to 50 : 46.4 m (trip time 30.9 ms) speed -0.2 Z#Rx 84: Read range message, but no direction.yY9Bchecking for new query: numPingsReceived=84, elapsed TxPingTime=40.073936E] EYE]#EY"E]:*EYVE]3ZEYBE]b;am2E]d;amJE]r;am:E]r;amԱ^A->I1IQO]> v &,\kLA:R-=:>>:S<ٱ:I>:H?o#пYˬ?v?4?)m ։j? ?i:R-=I:}];:CYHyJ] IxMchecking for new query: numPingsReceived=84, elapsed TxPingTime=40.322853iMb@Mb@Mb@ 9K?Dl?Mb?Y^:>yO=<l@ A @)"AYpAbDVDb8yn;%==ٔQ->9Y=Ey}E>Q 55?Q 95y)RBYzG>Q E;y=?Q Ii@?DIn;i;5yɮA addTargetRange:: Added new target pos. range: 46.400002 m, deltaT: 0.502867 s, deltaX: 0.200001 m, approachRate: 0.397721 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.02 m.h!h!h!h!h!g!g!jg)rg-Bre)Ze):e5@33G@*e5 ?[zG>[zG>"[>*[=?MS<)Q U W>iU9)QU6Ut:iYi]ÿYaIaIa @ @ @ 5@ 1iIADDAT read: Rx Time:04:39:40.6423 TRx dataTimestamp_ set to:1764909581.979793 DAT read: Range 11 to 50 : 46.2 m (trip time 30.8 ms) speed -0.2  Z#Rx 85: Read range message, but no direction.yY8B checking for new query: numPingsReceived=85, elapsed TxPingTime=40.579803^AE 8j>Eu  Eu Eu &Eq "Eu s:*Eu =:VEu 4ZEq a} @a} @a} @a} @I I O >i ^ &,LAR =R+>RPW<ٱRY>RH?`MϿ~?`?`?%`fJ-?`Ѷ?iR =IRq];RCYbbByb^ IIj<)j9Y=Ey%NE%>)Q 555->ğ?Q 9=59-x)-UBYAyE)?Q IEi@-ADI-G;i-hH;-M5yIɮUAQ addTargetRange:: Added new target pos. range: 46.200001 m, deltaT: 0.504666 s, deltaX: -0.200001 m, approachRate: -0.396303 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.02 m.hhhhhggjgrgreZe:eG@*e`9?[["[*[)?PW<) ^X>i9),6:iiUÿYYIYIYByB}>CB} IB},BByByByB} ;B}_7E@ @@/@ AE֐C]checking for new query: numPingsReceived=85, elapsed TxPingTime=40.827297igG-- 9)Y- Aԙ^AM0e>IYIyO>  DDAT read: Rx Time:04:39:41.1425  TRx dataTimestamp_ set to:1764909582.483317 PDAT read: Bearing 276.6, -74.0 (Local)  ~Local bearing/azimuth received: Bearing 276.6, -74.0 (Local) % DAT read: Range 11 to 50 : 46.5 m (trip time 31.0 ms) speed -0.2 M DAT read: 04:39:41.1425 LVL= 28048, 17761, 11698, 27875, AGC= 57, IDX= 2,-0.14, 1.152, 2.640,-2.517, 2.791, PHS=-1.537,-0.106, 0.931, RAW= 245.3, 6.7, CAL= 243.8, 7.2, ROT= 266.2, -7.2 U Ygot valid direction response: 04:39:41.1425 LVL= 28048, 17761, 11698, 27875, AGC= 57, IDX= 2,-0.14, 1.152, 2.640,-2.517, 2.791, PHS=-1.537,-0.106, 0.931, RAW= 245.3, 6.7, CAL= 243.8, 7.2, ROT= 266.2, -7.2 &,RLAE EEE"E%:*E?:VEZEBE;a2E;aJE;a:E;aT#Rx 86: Read range and direction messages."`direction in FSK: [-0.065751,-0.989934,0.125333]"Fpublishing direction and range infoy15!_հ5cK ?Y5:B15m5aE5- 5l)59I5jĿi5ٽ5Vn?5Z@5|=5)@ 5>)5@I5115bKYհ?fѽ? 5n @)5I5ѿi511Rchecking for new query: numPingsReceived=86, elapsed TxPingTime=41.109718Y]YByeS IԙiMb@Mb@Mb@ 9Cl?T㥛 ?~jtx?Yd;>y=;z@ A @)AYA bD]VD8y%%%-=ٔ-Q-U>9YYY=]EyY]Ee>Q 55ʟ?Q 95jw)WBYGF>Q E;y?Q Ii@DDI}G;iD;5yɮAi1i5LAj5B9B"j5B9B:j5œ@"p5^`\]FT-8@p5!_հ5cK ?*j5ѿ2j5*p5]&)!@V먨F~?ɿp5[?qyr￰ qj5 6 j5O Ai5?i5L݆$j5Bj1j53yj1rj5z5Bzj5Ř@ addTargetRange:: Added new target pos. range: 46.500000 m, deltaT: 0.503524 s, deltaX: 0.299999 m, approachRate: 0.595799 m/s, rangeRepo size: 4  Added new target pos. range: 46.315426 m, bearing: 280.678210 deg, lat: 36.779441 deg, lon: -121.859658 deg, deltaT: 1.511057 s, deltaX: 0.298756 m, approachRate: 0.197713 m/s, posRepo size: 4 DNOT Ignoring new targets: 46.32 m.hhhhhg!g!jg)rg-Bre)Ze):e-@G@*e5@_?[uGF>[uGF>"[uu>*[u+?) B>i9)顭6:iiÿII]%=Yechecking for new query: numPingsReceived=86, elapsed TxPingTime=41.330685 9! Y @Y  @Y @e 0@a @m =@m =IDDAT read: Rx Time:04:39:41.6424 TRx dataTimestamp_ set to:1764909582.988028%PDAT read: Bearing 274.1, -74.3 (Local) -~Local bearing/azimuth received: Bearing 274.1, -74.3 (Local) =DAT read: Range 11 to 50 : 46.4 m (trip time 30.9 ms) speed -0.1 eDAT read: 04:39:41.6424 LVL= 30384, 24689, 22498, 29347, AGC= 53, IDX= 497, 0.40, 0.963, 2.422,-2.722, 2.577, PHS=-1.511,-0.110, 0.940, RAW= 244.7, 6.4, CAL= 243.2, 7.0, ROT= 266.8, -7.0 uYgot valid direction response: 04:39:41.6424 LVL= 30384, 24689, 22498, 29347, AGC= 53, IDX= 497, 0.40, 0.963, 2.422,-2.722, 2.577, PHS=-1.511,-0.110, 0.940, RAW= 244.7, 6.4, CAL= 243.2, 7.0, ROT= 266.8, -7.0 uT#Rx 87: Read range and direction messages.E EEE"EƱ:*EVEZEa@a@a@a@^A8j>IIO?_@ &, LA`direction in FSK: [-0.055406,-0.990999,0.121869]&Fpublishing direction and range infoy6Ԯ'^-BUM7P2?Y9Bvq`W r)5IshiGὉףp?@=ԇ@ 5=)\@I5o5<"? ? "R @)>I5пi56checking for new query: numPingsReceived=87, elapsed TxPingTime=41.624954 c< r> <ٱ v > HQ?ErͿ? ?? `Ӕ ? ?i c9iYi=uEyquEu>yԁQ 55}џ?Q 95}/v)}ZBYy?Q Ii@}GDI}#i9)6Y:iiÿIIԱBB?CB! IB1BBBBBڀ;B.7E@ @@r2@checking for new query: numPingsReceived=87, elapsed TxPingTime=41.834431^A- ·>I9 IQ O] > c &,ڃLAYjByg Ii9I=AMDDAT read: Rx Time:04:39:42.1426 MTRx dataTimestamp_ set to:1764909583.493485UPDAT read: Bearing 274.0, -74.3 (Local) ]~Local bearing/azimuth received: Bearing 274.0, -74.3 (Local) mDAT read: Range 11 to 50 : 46.7 m (trip time 31.1 ms) speed 0.0 DAT read: 04:39:42.1426 LVL= 28192, 20257, 11762, 26675, AGC= 57, IDX= 3, 0.04, 2.134,-2.668,-1.524,-2.519, PHS=-1.528,-0.103, 0.952, RAW= 244.9, 6.4, CAL= 243.3, 6.9, ROT= 266.7, -6.9 Ygot valid direction response: 04:39:42.1426 LVL= 28192, 20257, 11762, 26675, AGC= 57, IDX= 3, 0.04, 2.134,-2.668,-1.524,-2.519, PHS=-1.528,-0.103, 0.952, RAW= 244.9, 6.4, CAL= 243.3, 6.9, ROT= 266.7, -6.9 T#Rx 88: Read range and direction messages.`direction in FSK: [-0.057147,-0.991111,0.120137]Fpublishing direction and range infoyIM oK]B*.rjƹI?YM:BE E{EE"E,:*E5":VEZEBEy5=5<15 A 1)5A1Y5AbDMVDM8y]4I=%]/=ٔ]Q-]>9aYa=eEyamEm>qQ 5u5u֟?Q 9}5ut)u]BY}>>Q E};y}%?Q I}i@uJDIu:iu:u5yɮVAiIiMB߃LAjM:B"jM:B:jM@"pM8{CЕ' G B=Z@pM oK]B*.rjƹI?*jM'oп2jMϢ*pM$7] @ZF -IpM㷨&??(h+{│:CBtjM 7 jMAiM?iMW(jMBBjIjML݆$jM`BrjMk9BzjM@u addTargetRange:: Added new target pos. range: 46.700001 m, deltaT: 0.505457 s, deltaX: 0.299999 m, approachRate: 0.593521 m/s, rangeRepo size: 4  Added new target pos. range: 46.514660 m, bearing: 280.288818 deg, lat: 36.779491 deg, lon: -121.859661 deg, deltaT: 0.505457 s, deltaX: 0.298836 m, approachRate: 0.591219 m/s, posRepo size: 4 DNOT Ignoring new targets: 46.51 m.hhhhhggjgrgBreZe:e=YG@*e=Ѭ?[>>[>>"[]?>*[C%?) uL>i}9)y}g6}:iyiÿII @  @ @ I0@ I checking for new query: numPingsReceived=88, elapsed TxPingTime=42.338558ԉ ^A5 @o>Ia I O > &,WxLAB R;Bkd>BE<ٱB\ >BH@3?˿N?O??`,??iB R;IB];@YjbByj_ IppbDvVDv8y=#%=k=ٔ=kQ-E?9AYA=EEyAM$EM?qQ 5}5uY۟?Q 9}5us)u`BYyZ"?Q Ii@uLDIucl;iul;u5yɮADNOT Ignoring new targets: 46.51 m.hhhhhggjgrgreZe:e*e?[9[9"[9*[=3Z"?E<) >>i9)顕6R:iiÿIIY@Y @Y@]4@Y@a@ezADDAT read: Rx Time:04:39:42.6426 TRx dataTimestamp_ set to:1764909583.996171PDAT read: Bearing 270.7, -75.0 (Local) ~Local bearing/azimuth received: Bearing 270.7, -75.0 (Local) DAT read: Range 11 to 50 : 46.7 m (trip time 31.1 ms) speed -0.2 EDAT read: 04:39:42.6426 LVL= 26544, 18417, 12354, 27907, AGC= 54, IDX= 499,-0.21,-0.737, 0.747, 1.947, 0.902, PHS=-1.537,-0.110, 1.001, RAW= 244.1, 5.9, CAL= 242.4, 6.5, ROT= 267.6, -6.5 MYgot valid direction response: 04:39:42.6426 LVL= 26544, 18417, 12354, 27907, AGC= 54, IDX= 499,-0.21,-0.737, 0.747, 1.947, 0.902, PHS=-1.537,-0.110, 1.001, RAW= 244.1, 5.9, CAL= 242.4, 6.5, ROT= 267.6, -6.5 MT#Rx 89: Read range and direction messages.E] E]~E]$EY"E]:*E](:VE]4ZEYae@ae@ae@ae@m`direction in FSK: [-0.041606,-0.992700,0.113203]mFpublishing direction and range infoy!(`lM|3¬5?YgGB0 m)6IjĿiGὉ ?T@B=a@ V=)t@IV轩VfZ?[ġo@d? M @)7ӽIolοiV轩checking for new query: numPingsReceived=89, elapsed TxPingTime=42.626911I^A<>IIO>i By By B} ( IB} 6BBy By By B} ;B} 6E!&,yLAchecking for new query: numPingsReceived=89, elapsed TxPingTime=42.8422436@6@]>6<ٱ6~q>6H@?ʿ@?@.h? ?q"c@?#?i6@I6];6CYRZByRT IbDZVDZ8yva.%vN=ٔvM$Q-v>9xYx=zEyx~E~>Q 5-5Y?Q 955r)cBYAyE ?Q IEi@NDI;i;5yiɮmAq9i i DLAj "j :j \@"p fHԇjG]@p !(`lM|3¬5?*j olο2j V*p AS6 @g!<FQ94p G0 C#?yᅯ:`gj 87 j Ai D?i ߾u'j Bj j j rj 9Bzj r@U addTargetRange:: Added new target pos. range: 46.700001 m, deltaT: 0.502686 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 46.514668 m, bearing: 279.961254 deg, lat: 36.779491 deg, lon: -121.859661 deg, deltaT: 0.502686 s, deltaX: 0.000008 m, approachRate: 0.000015 m/s, posRepo size: 4 eDNOT Ignoring new targets: 46.51 m.hahahihihiggjgrgreZe:e*eS;?[["[*[φ ? <) d->i9)*6`:iiÿ!I!I!a@ @@.5@DDAT read: Rx Time:04:39:43.1427 TRx dataTimestamp_ set to:1764909584.499724PDAT read: Bearing 270.8, -75.0 (Local) ~Local bearing/azimuth received: Bearing 270.8, -75.0 (Local) DAT read: Range 11 to 50 : 46.8 m (trip time 31.2 ms) speed -0.2 -DAT read: 04:39:43.1427 LVL= 26944, 17505, 12882, 25827, AGC= 54, IDX= 500, 0.37, 2.545,-2.263,-1.083,-2.113, PHS=-1.523,-0.105, 0.986, RAW= 244.3, 6.0, CAL= 242.6, 6.5, ROT= 267.4, -6.5 5Ygot valid direction response: 04:39:43.1427 LVL= 26944, 17505, 12882, 25827, AGC= 54, IDX= 500, 0.37, 2.545,-2.263,-1.083,-2.113, PHS=-1.523,-0.105, 0.986, RAW= 244.3, 6.0, CAL= 242.6, 6.5, ROT= 267.4, -6.5 5T#Rx 90: Read range and direction messages.=`direction in FSK: [-0.045071,-0.992549,0.113203]=Fpublishing direction and range infoyؔA23¬5?Y3;B@iaDR2 d)I¿i= ׽j|?_q@Pw=bE-4jEr 4rE/EU EUEU%EQ"EU:*EUVL:VEU 4ZEQBEUeI I O >Թ @ !&,+)LA2@2EV>2I<ٱ2\>2H/L?`ʿ@z? ? ? :)P ??i2@I2];2CYNbByR] Ii%Mb@Mb@Mb@!!!! !9%y%ף=%94<%@% A %@)%5A!Y%AbDVD8y=%@=ٔJQ->9Y=Eym|E>Q 55䟊?Q 95zq)gBY)>Q E;y'4?Q Ii@PDI5;iZ4;ȴ5yɮAi1i5zLAj5u:B"j5u:B:j5 @"p5.(qg[+"Ge(ξ@p5ؔA23¬5?*j5ο2j1*p5Hhqg@l`1Fp57?rӐLU:Gj57 j5;@i5xXe?i5g*j5Bj1j5߾u'j5BBrj5=:Bzj5d@m addTargetRange:: Added new target pos. range: 46.799999 m, deltaT: 0.503553 s, deltaX: 0.099998 m, approachRate: 0.198586 m/s, rangeRepo size: 4  Added new target pos. range: 46.614269 m, bearing: 279.386422 deg, lat: 36.779491 deg, lon: -121.859662 deg, deltaT: 0.503553 s, deltaX: 0.099602 m, approachRate: 0.197798 m/s, posRepo size: 4 DNOT Ignoring new targets: 46.61 m.hhhhhggjgrg BreZe:e`ffG@*eJ?ԱUchecking for new query: numPingsReceived=90, elapsed TxPingTime=43.346130[])>[])>"[]7?*[]'4?I<) .>iӫ9)顕68:iiÿII I)@ @!@%4@! ^Aa Ii I O > DDAT read: Rx Time:04:39:43.6427  TRx dataTimestamp_ set to:1764909585.003483 PDAT read: Bearing 269.5, -74.7 (Local)  ~Local bearing/azimuth received: Bearing 269.5, -74.7 (Local) - DAT read: Range 11 to 50 : 46.8 m (trip time 31.2 ms) speed -0.2 U DAT read: 04:39:43.6427 LVL= 25008, 18417, 13298, 26275, AGC= 53, IDX= 500, 0.06, 1.558, 3.037,-2.047,-3.081, PHS=-1.543,-0.121, 0.989, RAW= 244.1, 6.2, CAL= 242.5, 6.8, ROT= 267.5, -6.8 ] Ygot valid direction response: 04:39:43.6427 LVL= 25008, 18417, 13298, 26275, AGC= 53, IDX= 500, 0.06, 1.558, 3.037,-2.047,-3.081, PHS=-1.543,-0.121, 0.989, RAW= 244.1, 6.2, CAL= 242.5, 6.8, ROT= 267.5, -6.8 ] T#Rx 91: Read range and direction messages.e `direction in FSK: [-0.043313,-0.992020,0.118404]e Fpublishing direction and range infoy  -:*--￯EO?Y a G 3 f) 5I ſi /}? T@ k= p@ =) rf@I  E  E {E $E "E Ʊ:*E 5":VE 4ZE a @a @a @a @ 1QῤĸJZ?05? 6 @) wvݽI οi   checking for new query: numPingsReceived=91, elapsed TxPingTime=43.6304139 \!&,JBLA6@6eO>6lg<ٱ6 >6HW?@?ɿ???a`L"?4?i6@I6];4Y]VBy]P I 4<bDVD8yV%F=ٔQ->9Y!=%Ey!%-E->qQ 5}5uR韊?Q 9}5uMp)ukBYyl2?Q Ii@uRDIu:iuS:u~5yɮAi9i=9@LAj9"j9:j=@"p=Q&DG4@p=-:*--￯EO?*j=ο2j=*p=UNJ@zG0p={[a^B?8ԗNj=8 j=@i=0 W?i=P*j=Bj= D?j=W(j=Brj=v:Bzj=E@= addTargetRange:: Added new target pos. range: 46.799999 m, deltaT: 0.503759 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 46.614269 m, bearing: 279.107814 deg, lat: 36.779490 deg, lon: -121.859663 deg, deltaT: 0.503759 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 46.61 m.hqhqhqhqhqgygyjgyrgyreZe:e*e`-"?[["[*[l2?lg<) >iO9)6:ii%ÿ))I)I)=Y>i=>B1B5>CB1B1B1B1B1B5;B56EBBBB =B =CĐZ4@ @@/@@@=Amchecking for new query: numPingsReceived=91, elapsed TxPingTime=43.851303i ^A I I O >!&,\LADDAT read: Rx Time:04:39:44.1428 TRx dataTimestamp_ set to:1764909585.507145DAT read: Range 11 to 50 : 47.0 m (trip time 31.3 ms) speed -0.2 Z#Rx 92: Read range message, but no direction.yY I iimMb@Mb@Mb@iiii i9mS㥛?ˡE?Mb?Ym$>ym=m9Y=EyE>Q 55퟊?Q 95o)oBYx>Q E;y8@?Q Ii@UDIL ;i;o5y,BɮAIE- addTargetRange:: Added new target pos. range: 47.000000 m, deltaT: 0.503662 s, deltaX: 0.200001 m, approachRate: 0.397093 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 46.61 m.h)h)h1h1h1g1g9jgArgEBreIZeI:eUG@*eU%?[x>[x>"[O-?*[8@?) >iV9)6:iiÿIIq@y @y@}/@yԙm checking for new query: numPingsReceived=92, elapsed TxPingTime=44.354233 ^A >Ii I O > !&,vLA2&@2B>2[yh<ٱ2>2H@l?ǿ@?`? (?e@T ?@?i2&@I2=];2CY:OBy:G IbDF%VDFϰ8LyR:C=%R=ٔRͼQ-R?9TYT=VEyTV)2EZ?XQ 5^5Zy?Q 9b5Z=n)ZrBY`ybiE<9)AE6E:iAiMÿIQIQIQ@ @@/@DDAT read: Rx Time:04:39:44.6427 TRx dataTimestamp_ set to:1764909586.011441PDAT read: Bearing 266.0, -74.6 (Local) ~Local bearing/azimuth received: Bearing 266.0, -74.6 (Local) DAT read: Range 11 to 50 : 46.8 m (trip time 31.2 ms) speed -0.1 DAT read: 04:39:44.6427 LVL= 25552, 20673, 13298, 26771, AGC= 53, IDX= 500, 0.32, 1.257, 2.721,-2.324, 2.916, PHS=-1.557,-0.150, 0.999, RAW= 243.3, 6.4, CAL= 241.9, 7.1, ROT= 268.1, -7.1 Ygot valid direction response: 04:39:44.6427 LVL= 25552, 20673, 13298, 26771, AGC= 53, IDX= 500, 0.32, 1.257, 2.721,-2.324, 2.916, PHS=-1.557,-0.150, 0.999, RAW= 243.3, 6.4, CAL= 241.9, 7.1, ROT= 268.1, -7.1 T#Rx 93: Read range and direction messages.%`direction in FSK: [-0.032901,-0.991786,0.123601]-Fpublishing direction and range infoy(~#`ؠߚƶA7X?Y3;BcP h)IKǿiw?Ee Ee{Ee"Ea"Ee:*Ee5":VEe(3ZEaam@am@am@am@e@=:@ =)<@IdyiNi?3? N @):I{NͿichecking for new query: numPingsReceived=93, elapsed TxPingTime=44.630241^A8j>IIO>! A A AAB! B! B% ! IB% 1BB% =B! B! B% ;B% 6E#!&,RLAchecking for new query: numPingsReceived=93, elapsed TxPingTime=44.8582126@6d;>6h[<ٱ6>6H|v?`;ƿ ?J?2? 1w6~?-?i6@I6 ];4YBHByF> IbD VD 8ye%e>=ٔmQ-m>9iYi=uEyquwEu>yQ 55}?Q 95}m)}uBYyF;?Q Ii@}XDI}:i}%:}5yɮ3AiisLAjt:B"jt:B:jd@"p|ωhsGo8 @p(~#`ؠߚƶA7X?*j{NͿ2j*p:@re GWۿpr c?c-￐fױj[8 j@is??iW)jlBjxXe?jW)jrj:Bzjr@ addTargetRange:: Added new target pos. range: 46.799999 m, deltaT: 0.504296 s, deltaX: -0.200001 m, approachRate: -0.396594 m/s, rangeRepo size: 4  Added new target pos. range: 46.614178 m, bearing: 278.592262 deg, lat: 36.779487 deg, lon: -121.859663 deg, deltaT: 1.007958 s, deltaX: -0.000092 m, approachRate: -0.000091 m/s, posRepo size: 4 DNOT Ignoring new targets: 46.61 m.hhhhhggjgrgre Ze :e `ffG@*e ?[)[)"[)*[-gF;?h[<)  >iS9)顥e6S:iiÿII)i@i @i@i@i@q@qYiIDDAT read: Rx Time:04:39:45.1429  TRx dataTimestamp_ set to:1764909586.519711%DAT read: Range 11 to 50 : 47.1 m (trip time 31.4 ms) speed -0.1 -Z#Rx 94: Read range message, but no direction.yYfԁ *!&,qZLA2@25>2;M<ٱ2{ >2H ?`ƿ'k?O?8?Q{A??i2@I2];2CYN?ByR3 IIV<)V;V=V=YiMb@Mb@Mb@ 9V-?Dl?MbP?Y=yO=: @)AYAbDVD8y2%D=ٔQ->9Y=EyoE>Q 559?Q 95lQ =tI)wBY6 >Q E;y I5?Q I j@ZDIT;i:;w5yɮ}AM addTargetRange:: Added new target pos. range: 47.099998 m, deltaT: 0.508270 s, deltaX: 0.299999 m, approachRate: 0.590236 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 46.61 m.hIhIhIhQhQgQgQjgYrg]BreYZeY:e]̌G@*ee"?[6 >[6 >"[_ ?*[?I5?;M<) .>i٫9)Ě6:i=checking for new query: numPingsReceived=94, elapsed TxPingTime=45.362453i=ÿAAIAIAԉ9@ @@@Ա^A>II O > DDAT read: Rx Time:04:39:45.6429  TRx dataTimestamp_ set to:1764909587.018855 DAT read: Range 11 to 50 : 47.1 m (trip time 31.4 ms) speed -0.1  Z#Rx 95: Read range message, but no direction.y Y  checking for new query: numPingsReceived=95, elapsed TxPingTime=45.617622A Da Da Em  Em Em 'Ei "Em :*Em .:VEm '4ZEi au @au @au @au @1!&,z5ĄLA6<@6`U/>6nE<ٱ6G_ >6H?eſ@??>?F}? ?i6<@I6b];4YR7ByR) IbDfVDf8yvB%%vZ=ٔzQ-z>9|Y|=EyvE >Q 5%5z?Q 9%5Ak)yBY)y-3?Q I-j@\DIR;iQ;5y9ɮEAA addTargetRange:: Added new target pos. range: 47.099998 m, deltaT: 0.499144 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.61 m.hhhhhggjgrgreZe:e*e ?[["[*[3?enE<)a e>ie9)im6m:iiiuÿII)@) @)@)@)BBB IB'BB =BBB;)B6E}vG+9Y(AEchecking for new query: numPingsReceived=95, elapsed TxPingTime=45.8662839^A8j>IIO>Y .7!&,!ބLA]\@](>]88<ٱ] >]H`? ҘĿh&?;?@F?`? ?i]\@I]];YDDAT read: Rx Time:04:39:46.1430 TRx dataTimestamp_ set to:1764909587.524695DAT read: Range 11 to 50 : 47.3 m (trip time 31.5 ms) speed -0.1 Z#Rx 96: Read range message, but no direction.yY3=Bchecking for new query: numPingsReceived=96, elapsed TxPingTime=46.123478Y3By$ IE EE&E"E:*E*5:VE4ZEBEO;a%2EP;a%JE;a%:E;a%)iuMb@Mb@Mb@qqqq q9u1Zd?S㥫?~jtxYu"=yu/]=uĻu@q u@)qqYuAbDMVDM8y]%])=ٔ]RԺQ-]>9aYa=eEyXE>Q 55}?Q 95Uj)Y=Q E;yg"?Q Ij@^DIQY;iiD; 5yIɮMAI addTargetRange:: Added new target pos. range: 47.299999 m, deltaT: 0.505840 s, deltaX: 0.200001 m, approachRate: 0.395383 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.61 m.hhYhhYhYgagajgargeҁBreiZei:em`fG@*em@r?[=[="[ML>*[g"?88<) B>iƫ9)̝6j:iiÿIII)ԉ9@ @@/@@=@=] checking for new query: numPingsReceived=96, elapsed TxPingTime=46.371948Թ ^A @o>I I O >v=!&,LA2@$@2!>2W0<ٱ2w >2H?ÿ Rj?@ ?`O? I?@a?i2@$@I2];2CY:&By: I <<@BAbDFVDF8yNB%Nq=ٔRݹQ-R?9PYP=VEyTVEV?XQ 5^5Z.?Q 9^5Zi)XY`yb ?Q Ibj@Z_DIZ:iZ:Z5ydɮfEAdzDNOT Ignoring new targets: 46.61 m.h|h|h|h|h|g|g|jgrgreZe:e*e F?[)[)"[)*[- ?=W0<)A E(>iE9)AEڞ6EŴ:iAiÿII@ @@0@ DDAT read: Rx Time:04:39:46.6429 TRx dataTimestamp_ set to:1764909588.031940%PDAT read: Bearing 259.8, -74.8 (Local) %~Local bearing/azimuth received: Bearing 259.8, -74.8 (Local) EDAT read: Range 11 to 50 : 47.1 m (trip time 31.4 ms) speed -0.1 DYzD]AAEe EaEe'Ea"Ee:*EaVEe'4ZEaam@am@am@am@%DAT read: 04:39:46.6429 LVL= 23408, 18625, 14898, 22835, AGC= 56, IDX= 502, 0.37, 2.359,-2.502,-1.213,-2.277, PHS=-1.545,-0.179, 1.021, RAW= 242.1, 6.4, CAL= 240.8, 7.2, ROT= 269.2, -7.2 -Ygot valid direction response: 04:39:46.6429 LVL= 23408, 18625, 14898, 22835, AGC= 56, IDX= 502, 0.37, 2.359,-2.502,-1.213,-2.277, PHS=-1.545,-0.179, 1.021, RAW= 242.1, 6.4, CAL= 240.8, 7.2, ROT= 269.2, -7.2 -T#Rx 97: Read range and direction messages.`direction in FSK: [-0.013852,-0.992018,0.125333]Fpublishing direction and range infoy  I^cK ?Y f) Y@I    zt?ۮlEo? :n@) I _ʿi   echecking for new query: numPingsReceived=97, elapsed TxPingTime=46.704079^Ax>IIO>!B <A <B B B  IB BB B B B ;B 6EI  checking for new query: numPingsReceived=97, elapsed TxPingTime=46.876335!D!&,QLA>@>@>>:@'<ٱ>e >>H?¿ IU?@K?X?焿q~??i>@I>];>CYn$Byn IbDzVDzɰ8y*%E=ٔQ->9 Y = Ey cE>Q 5%5?Q 9%5h)Y!y%?Q I%j@`DI^;i:5y)ɮ5WA1iIiMN LAjM;B"jM;B:jM0@"pM ^DGlX߄@pMI^cK ?*jM_ʿ2jM*pM;'Y{@S;G?pMf\?*W`[jM9 jM@iMp"?iM"3/jMBjM0 W?jMP*jIrjMU;BzjMs@ addTargetRange:: Added new target pos. range: 47.099998 m, deltaT: 0.507245 s, deltaX: -0.200001 m, approachRate: -0.394288 m/s, rangeRepo size: 4  Added new target pos. range: 46.913006 m, bearing: 277.869112 deg, lat: 36.779485 deg, lon: -121.859664 deg, deltaT: 2.020499 s, deltaX: 0.298828 m, approachRate: 0.147898 m/s, posRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhhhhggjgrgreZe:ěG@*e`?[["[*[?:@'<) z$>i9).6V:iiÿII1-9@) @1@1@1aDDAT read: Rx Time:04:39:47.1431 %TRx dataTimestamp_ set to:1764909588.534476MDAT read: Range 11 to 50 : 47.4 m (trip time 31.6 ms) speed 0.0 ]Z#Rx 98: Read range message, but no direction.yY=BE EE#E"EI:*EVE3ZEBEIyԉIO>Թ 'J!&,V,-LAJ@J>J<ٱJ >JH`?#¿՝?s?_?`-@j?a?iJ@IJh];HYZByZ Ii=Mb@Mb@Mb@9999 99=1Zd?l?{GzY9y===#=V@= A =jA)=A9Y=pAbDU&VDUϰ8yeQ%eD=ٔm@ƺQ-m>9iYi=uEyquEu>yQ 55} ?Q 95}ah)}xBY=Q E;y>Q Ij@}bDI}:i}:}15yɮA addTargetRange:: Added new target pos. range: 47.400002 m, deltaT: 0.502536 s, deltaX: 0.300003 m, approachRate: 0.596978 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhhhhggjgrgBreZe:e@3G@*e?uDDAT read: Rx Time:04:39:47.6430 TRx dataTimestamp_ set to:1764909588.786567ԑchecking for new query: numPingsReceived=98, elapsed TxPingTime=47.384567[=[="[t>*[><)   W>i9)6:iiÿII!MV>iI9@ @@0@@@^AƂ>II O- > DAT read: Range 11 to 50 : 47.3 m (trip time 31.5 ms) speed 0.0  Z#Rx 99: Read range message, but no direction.y Y 3=B  checking for new query: numPingsReceived=99, elapsed TxPingTime=47.632469E  E E E "E %:*E 3:VE 3ZE a @a @a @a @ Q!&,GLAY~By~ II<)a===bDVDð8yE f%EL=ٔEQ-E>9IYI=MEyIUEU>YQ 5e5] ?Q 9e5]g)]wBYayaQ Iej@]cDI]:i] :]5yiɮuAq  addTargetRange:: Added new target pos. range: 47.299999 m, deltaT: 0.499551 s, deltaX: -0.100002 m, approachRate: -0.200184 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.h h hhhggjgrgreZe:e`fG@*e% '?[A[A"[A*[AQ)Q UJQ>i]9)Y]6]_:iYieÿaaIaIiBBBIBBBBBB;B6E9@ @@0@DDAT read: Rx Time:04:39:48.1430 TRx dataTimestamp_ set to:1764909589.290970checking for new query: numPingsReceived=99, elapsed TxPingTime=47.887783^Ax>IIO>A W!&,`LA0rDAT read: Range 11 to 50 : 47.3 m (trip time 31.5 ms) speed 0.0 ~\#Rx 100: Read range message, but no direction.ydYddchecking for new query: numPingsReceived=100, elapsed TxPingTime=48.144913bE 4jE4rE҄0EE EE{EE&EA"EE:*EE5":VEE4ZEABEEr;aM2EEs;aUJEE?z;aU:EE@z;aU%E@>/} <ٱ >Hڹ?`Ϛ? ?n?0F`O?`9?i%E@I];CYBy Iԉi}Mb@Mb@Mb@yyyy y9}:v? rh?~jtY}=y}C<}D}l@y }@)yyYybDVD8yAY<%'=ٔQ->9Y=EyE>Q 55?Q 95ig)tBY6=Q E;y >Q Ij@eDI:i:5y1BɮAKE5 addTargetRange:: Added new target pos. range: 47.299999 m, deltaT: 0.505802 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 46.91 m.h9h9h9h9h9gAgAjgArgAreIZeI:eI*eM3?[m6=[m6="[m%>*[m >/} <)  W>ip9)顅i6:iiÿII 9@ @@0@Ա}DDAT read: Rx Time:04:39:48.6429 }TRx dataTimestamp_ set to:1764909589.792317checking for new query: numPingsReceived=100, elapsed TxPingTime=48.388863 ^A }>I IA OM >^!&,AzLA2/ @2g=2<ٱ2 >2H?@p? ?@u?M@z?@?i2/ @I2R];0Y:By:I Bp?Q 9~5z)g)zsBY|y|>Q Ij@zfDIz";iz;z5y ɮ A 5DNOT Ignoring new targets: 46.91 m.h1h1h1h9h9g9g9jgArgAreAZeA:eA*eMb?[i[i"[i*[mE|>}<)y }BB>i9)顅68:iiÿII@ @@/5@DAT read: Range 11 to 50 : 47.1 m (trip time 31.4 ms) speed 0.0 \#Rx 101: Read range message, but no direction.yYf!I1IAOMt>A A @AB >B B IB BB B B B ;B 6EBu>CBu>CBqBqBqCuw4E PExceeded connect timeout, disconnecting.a  DDAT read: Rx Time:04:39:49.1430  TRx dataTimestamp_ set to:1764909590.295008 DAT read: Range 11 to 50 : 47.3 m (trip time 31.5 ms) speed 0.0  \#Rx 102: Read range message, but no direction.y Y 3=B  checking for new query: numPingsReceived=102, elapsed TxPingTime=48.893780d!&,gLA2@2W=2x;ٱ2X >2HY?,T??@{?7h <@_?@?i2@I2];2CY~By~ I bD VD Ȱ81y=J =%=@=ٔEuQ-E>9AYA=MEyIMEM>QQ 5]5U?Q 9]5Uf)UpBYYye>Q Iej@UhDIU:iUu:UC5yiɮmAi addTargetRange:: Added new target pos. range: 47.299999 m, deltaT: 0.755179 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhhhhggjgrgreZe:e*e?[["[*[=>x;) P>i9)l6:iiÿIIq@q @y@} 5@yIchecking for new query: numPingsReceived=102, elapsed TxPingTime=49.144859yEm EmEm#Ei"Em:*EmP:VEm3ZEi^Ax>BEm;a%2Em;a%JEm);a%:Em*;a-IIIYO>ԡ k!&,~LA6|@6z=6&;ٱ6Jg>6H?;{? ??D} ?ര?i6|@I6p];6CYLyLi%Mb@Mb@Mb@!!!! !9%RQ?~jtx?MbPY%=y%;%%z@% A %@)%A!Y!bD=VD=8yMZ:%MI=ٔM3Q-M>9QYQ=UEyQ]jE]>aQ 5m5e?Q 9m5ef)aYm=Q Em Q Imj@eiDIe:qieu*;e5yɮA =DDAT read: Rx Time:04:39:49.6429 =TRx dataTimestamp_ set to:1764909590.799035EDAT read: Range 11 to 50 : 47.1 m (trip time 31.4 ms) speed 0.0 M\#Rx 103: Read range message, but no direction.y9Y=f&;)) - W>i59)9E36m :iiimÿqqIqIqԡ!@! @!@%@5@!^A }>I I! O- > checking for new query: numPingsReceived=103, elapsed TxPingTime=49.646385Ee  Ee Ee $Ea "Ee :*Ee 3:VEe 4ZEa am @am @am @am @9 q!&,MȅLAY~By~ I  bDVD8y%%%M=ٔ%Q-%>9)Y)=-Ey)5E5>1Q 5E55%?Q 9E55{f)1YAyIQ IMj@5jDI5;i5;5J5yQɮUAQ}DNOT Ignoring new targets: 46.91 m.hyhhhhggjgrgreZe:e*ek?[["[*[) O>i9)6c:iiÿIII)BYBYB]IB]BBYBYBYB]x;B]6E @  @ @{4@@@-nManaging dock network, ignoring radio surface power offMDDAT read: Rx Time:04:39:50.1429 MTRx dataTimestamp_ set to:1764909591.302958]DAT read: Range 11 to 50 : 47.1 m (trip time 31.4 ms) speed 0.0 ]\#Rx 104: Read range message, but no direction.yIYIIechecking for new query: numPingsReceived=104, elapsed TxPingTime=49.901711i^A(`>IIO>ԉԹ 'x!&,a4⅘LAZchecking for new query: numPingsReceived=104, elapsed TxPingTime=50.152458E9 E=E=#E9"E9*E=*5:VE=3ZE9BE==H.?@ >?̃? |?Zz`??i=C(@I=H];=CYu'Byu II}<)};ԉi%Mb@Mb@Mb@!!!! !9%/$?~jtx?Mb?Y%=y!%<%d@%G A !)%A!Y!bD=VD=8yM=%U,=ٔUúQ-U>9YYY=]EyY]E]>aQ 5m5e| ?Q 9u5eRf)erBYu?=Q EuQ Iuj@ekDIe:ie:es5yyɮ}QA addTargetRange:: Added new target pos. range: 47.099998 m, deltaT: 0.503923 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhhhhggjgrgBreZe:e*e^?[e?=[e?="[e =*[e>}{;)y } W>i}9)y}6θ:iiÿIIԹ@ @@05@UDDAT read: Rx Time:04:39:50.6428 UTRx dataTimestamp_ set to:1764909591.806906]DAT read: Range 11 to 50 : 47.0 m (trip time 31.3 ms) speed 0.0 e\#Rx 105: Read range message, but no direction.yQYUI I! O- > %O~!&,WLA2R@2@=2;ٱ2(>2H0?:d?@$ֶ?@?x?>?i2R@I2];0YN#ByR IbDZVDZ8yb/Ǽ%b=ٔbTQ-f ?9dYd=fEydjEj ?lQ 5r5n"?Q 9r5n7f)nsBYpyr >Q Irj@nlDIn;inM;n>5yxɮzqAx% addTargetRange:: Added new target pos. range: 47.000000 m, deltaT: 0.503948 s, deltaX: -0.099998 m, approachRate: -0.198430 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 46.91 m.h!h!h)h)h)g)g)jg1rg1re1Ze1:e5G@*e=`?[["[*[j > ;)  O>i .9)6:iiÿIIchecking for new query: numPingsReceived=105, elapsed TxPingTime=50.655041)@) @)@-/@)E= E=E=&E9"E=:*E=:VE=4ZE9aM@aU@aU@aU@^Au>IIO>   BQ AU <BY BY BY BY B] =BY BY B] r;B] 6Eԉ /G  9 Y Ae DDAT read: Rx Time:04:39:51.1429 m TRx dataTimestamp_ set to:1764909592.310847u DAT read: Range 11 to 50 : 47.1 m (trip time 31.4 ms) speed 0.0 u \#Rx 106: Read range message, but no direction.ya Ye ffH?S? (?໓?Q3w )?Ϯ?if[@If-];fCY}.By} IbDVD8y>=%;=ٔsQ->9Y=Ey~wE>Q 55%?Q 95f)uBYy\>Q Ij@mDI;i&;5yɮAu addTargetRange:: Added new target pos. range: 47.099998 m, deltaT: 0.503941 s, deltaX: 0.099998 m, approachRate: 0.198433 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 46.91 m.hqhqhyhyhygygyjgrgreZe:ěG@*e?[["[*[ \>;) c>i 9)6a:iiÿIIG>im9@i @i@m/@i@u=@u=iIAchecking for new query: numPingsReceived=106, elapsed TxPingTime=51.163666!^AmQ>Eu EuEu$Eq"EuƱ:*Eu:VEu4ZEqBEu@;a}2EuA;aJEu;a:Eu;aIIO>A b!&,H/LA2ċ@2L=2/;ٱ2>2H? A q??7?%v`??i2ċ@I2];0YN4ByN& I PPTT!iMb@Mb@Mb@ 9J +?9Y=EymE>Q 55)?Q 95e)wBY=Q EQ Ij@oDI:i:5y ɮ ADDAT read: Rx Time:04:39:51.6429 %TRx dataTimestamp_ set to:1764909592.815081-DAT read: Range 11 to 50 : 47.1 m (trip time 31.4 ms) speed 0.0 -\#Rx 107: Read range message, but no direction.yY5checking for new query: numPingsReceived=107, elapsed TxPingTime=51.4138379 addTargetRange:: Added new target pos. range: 47.099998 m, deltaT: 0.504234 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhh h h g gjgrgӁBreZe:e*e`蟠?[=[="[*:>*[z>/;) B>is9)6:iiÿIII9@ @@0@q checking for new query: numPingsReceived=107, elapsed TxPingTime=51.662197^A 8j>I I O >DE %=DE <ԡ E]  E] E] #EY "E] :*E] *:VE] 3ZEY ae @ae @ae @ae @ I!&,ILA6Z@6=6^ۮ;ٱ64>6H e?ܺ'?!??%eu ??i6Z@I6b];6CY~=By~0 IybDVD8y)=%N=ٔ;Q->9Y=EyEuE>Q 5 5j,?Q 9 5e)zBY y s>Q Ij@pDI":i:+5yɮABBBIBBBBBBu;B6E}DNOT Ignoring new targets: 46.91 m.hyhyhyhhggjgrg reZe:e*e% 4?ԡ[["[*[Js>^ۮ;) bS>i9)H6:iiÿII5=54==DDAT read: Rx Time:04:39:52.1429 =TRx dataTimestamp_ set to:1764909593.320937MDAT read: Range 11 to 50 : 47.1 m (trip time 31.4 ms) speed 0.0 M\#Rx 108: Read range message, but no direction.y9Y99Uchecking for new query: numPingsReceived=108, elapsed TxPingTime=51.919693@ @@/@^A >I I O > !w!&,cLANchecking for new query: numPingsReceived=108, elapsed TxPingTime=52.168682E EE'E"E:*E*5:VE'4ZEBE;a2E;aJE;a:E;a)Eb*@E@=E ;ٱEY>EH ?@DO?}??`=t?@?iEb*@IE];ECY]?By]4 IiMb@Mb@Mb@ 9Zd;O?Q?y&1?Yj=y\=`e<z@ A fA)AYA@AbDVDİ8y-:<%54=ٔ58>Q-5>91Y9==Ey9=UE=>AQ 5M5E/?Q 9M5Ee)E~BYU=Q EUQ IUj@EqDIE:iE[:E5yYɮ]AY- addTargetRange:: Added new target pos. range: 47.099998 m, deltaT: 0.505856 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 46.91 m.h1h1h1h1h1g1g1jg9rg=فBreIZeI:eI*eM ?[%=[%="[%5 >*[%>Y} ;)y }L>i}9)y顅6E:iiÿII@ @@/@5DDAT read: Rx Time:04:39:52.6428 =TRx dataTimestamp_ set to:1764909593.823560MDAT read: Range 11 to 50 : 47.0 m (trip time 31.3 ms) speed 0.0 U\#Rx 109: Read range message, but no direction.y1Y5Թ I I O >!!&,oK}LA6V@6q=6pV;ٱ6d>6H?`\8?`7?`?r@|??i6V@I6];6CY>IBy>? IbDJVDJȰ8yRh=%R=ٔR#Q-R ?9TYT=VEyTV|EZ ?XQ 5^5Z62?Q 9b5Zd)ZBY`yb>Q Ibj@ZrDIZ:iZ:Z5yf4BɮjXAh addTargetRange:: Added new target pos. range: 47.000000 m, deltaT: 0.502623 s, deltaX: -0.099998 m, approachRate: -0.198953 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhhh h g g jg rgreZe:eG@*e K?[["[*[M>pV;) d_>i9)額}6v:iԑiÿIIchecking for new query: numPingsReceived=109, elapsed TxPingTime=52.671421i@i @i@u0@qE EE&E"Ey:*E=:VE4ZEa@a@a@a@^Am#>IyIO>AABBB IBBBBBBt;B6E1 E DDAT read: Rx Time:04:39:53.1430 M TRx dataTimestamp_ set to:1764909594.326956U DAT read: Range 11 to 50 : 47.3 m (trip time 31.5 ms) speed -0.1 ] \#Rx 110: Read range message, but no direction.yI YM 3=BI e checking for new query: numPingsReceived=110, elapsed TxPingTime=52.925735 ą!&,)LAz}@zv[=z;ٱz>zH@+?y֪@U?Sk? ?` ?q`?V?iz}@Iz%];zCYePByeG IbD VD8y<%<=ٔFQ->9Y=EyME>Q 555?Q 95^d)BYy >Q Ij@tDI";i; 5yɮ!A addTargetRange:: Added new target pos. range: 47.299999 m, deltaT: 0.503396 s, deltaX: 0.299999 m, approachRate: 0.595951 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhhhhggjgrgreZe :e `fG@*e 7?[9[9"[9*[=u >e;)a em>imv9)imZ6m:iiiuÿqyIyIy)@) @)@)@)9checking for new query: numPingsReceived=110, elapsed TxPingTime=53.179863bE4jEJ4rEǺ/E EuE%E"EU:*E:VE 4ZE^A@o>IQBE;au2E;auJEhd;a}:Eid;aI O >i ;!&,!LA j@jF=j;ٱj>jH P? C3?Ψ??p¿p`1??ij@IjY];jCYvQByvI IiuMb@Mb@Mb@qqqq q9u+η??:v?Yuv=yuL=uT9Y=Ey#OE>Q 558?Q 95c)BY=Q E;y?Q Ij@uDI];ia;1 5yɮADDAT read: Rx Time:04:39:53.6429 TRx dataTimestamp_ set to:1764909594.830934 DAT read: Range 11 to 50 : 47.1 m (trip time 31.4 ms) speed -0.1 \#Rx 111: Read range message, but no direction.yYf*[}?;) Ha>i9)76:iiÿIII ) @ @@/@ԙ checking for new query: numPingsReceived=111, elapsed TxPingTime=53.679550 ^A I Ii Ou >E  E E $E "E :*E ?:VE 4ZE a @a @a @a @f!&,ʆLA2nu@2n/=2,r;ٱ2?i>2H`n? ]pσ??j?~En@??i2nu@I20];0Y:OBy:F I@BAbDF"VDF̰8LyR_>%R\=ٔRxQ-R>9TYT=VEyTVwEZ>XQ 5b5Zw;?Q 9b5ZOc)ZBY`yf'?Q Ifj@ZvDIZw;iZ;Zr5yhɮj(AhuDNOT Ignoring new targets: 46.91 m.hyhyhyhyhygygyjgrgreZe:e*e?[["[*[{'?,r;) \>i9)Լ6:iiÿIIBBB IB,BBBBBe;B6EBYBYBYB] =B] =C]4q@y @y@}>0@ DDAT read: Rx Time:04:39:54.1431  TRx dataTimestamp_ set to:1764909595.334902DAT read: Range 11 to 50 : 47.4 m (trip time 31.6 ms) speed -0.2 \#Rx 112: Read range message, but no direction.y Y =B %checking for new query: numPingsReceived=112, elapsed TxPingTime=53.933701^AU<>IIO>! ø!&,䆘LAi4I6AFchecking for new query: numPingsReceived=112, elapsed TxPingTime=54.186668E] E]E]!EY"E]:*E]:VE]c3ZEYBE]] }H? SQ@H? h??M@%i? ?i}!@I}];}CY\ByW Ii]Mb@Mb@Mb@YYYY Y9]B`"۹?T㥛 ?9Y=EyE>Q 55??Q 95vb)BY|=Q E;y?Q Ij@xDIiD;iC;5yɮA addTargetRange:: Added new target pos. range: 47.400002 m, deltaT: 0.503968 s, deltaX: 0.300003 m, approachRate: 0.595282 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhhhhg!g)jg)rg5Bre1Ze1:e=@3G@*e=.?[|=[|="[?*[?@qN;) L>i9)!%6%L:i!i-ÿ))I)I1Q@Q @Q@U/@QiDDAT read: Rx Time:04:39:54.6430 TRx dataTimestamp_ set to:1764909595.839695-DAT read: Range 11 to 50 : 47.3 m (trip time 31.5 ms) speed -0.1 -\#Rx 113: Read range message, but no direction.yY3=B5checking for new query: numPingsReceived=113, elapsed TxPingTime=54.438507ԉ ^A= 8j>IA IY Oe >I!&,>LAY~YBy~S I  AAbDfVD 8y%V%%{=ٔ-Q-- ?9)Y)=-Ey15E5 ?9Q 5E5=YB?Q 9E5=a)=BYAyAQ IMj@=yDI=:i=:=5yQɮUAQY addTargetRange:: Added new target pos. range: 47.299999 m, deltaT: 0.504793 s, deltaX: -0.100002 m, approachRate: -0.198106 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhhhhggjgrgreZe:e`fG@*e.m?[["[*[) F>if9)顽6l:iiÿIIchecking for new query: numPingsReceived=113, elapsed TxPingTime=54.687588E EE#E"E:*E3:VE3ZEa@a@a@a@ԉ!@! @!@%>0@!ԱBA=BBB. IB;BBBBBs;B6E^AM <->Iy I O > % %=% %=- DDAT read: Rx Time:04:39:55.1432 - TRx dataTimestamp_ set to:1764909596.3431815 DAT read: Range 11 to 50 : 47.6 m (trip time 31.7 ms) speed -0.1 = \#Rx 114: Read range message, but no direction.y) Y- f>B) E checking for new query: numPingsReceived=114, elapsed TxPingTime=54.941940!&,CqLAJ@JmJH?_`i|?? ?`WhP??iJ@IJ ];JCYRVByRP IIV=)V<bD^KVD^8yfgF%fP=ٔfQ-f>9hYh=jEyhnoAEn>Q 5%5E?Q 9-5=a)BY)y-j?Q I-j@{DI:i~:'5y1ɮ5A9 addTargetRange:: Added new target pos. range: 47.599998 m, deltaT: 0.503486 s, deltaX: 0.299999 m, approachRate: 0.595844 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhhhhggjgrgreZe:eG@*eah?[["[*[Cj? JG;) A>iɬ9)顝6:iiÿIII@I @I@M1@Ichecking for new query: numPingsReceived=114, elapsed TxPingTime=55.192497E EE%E"E:*E n:VE 4ZEBEIIO >Y & !&,2LA:6@:<:ݩ.;ٱ:>:H? |x??@?V9e?`&?i:6@I:ڣ];8YFaByF] IiMb@Mb@Mb@ 9ˡE?x&?Mb?Y=y7=<^ A fA)AYAbD-AVD-8y={I=%=B=ٔEiQ-E>9AYA=MEyIM#AEM>QQ 5]5UH?Q 9]5U`)UBYe{=Q Ee;ye1?Q Iej@U|DIU&;iU;U5DDAT read: Rx Time:04:39:55.6431 TRx dataTimestamp_ set to:1764909596.846884DAT read: Range 11 to 50 : 47.4 m (trip time 31.6 ms) speed 0.0 \#Rx 115: Read range message, but no direction.yY=Bchecking for new query: numPingsReceived=115, elapsed TxPingTime=55.445637y9ɮ=A9 addTargetRange:: Added new target pos. range: 47.400002 m, deltaT: 0.503703 s, deltaX: -0.199997 m, approachRate: -0.397053 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhhhhggjgrgBreZe:e@3G@*e?[%{=[%{="[%k`/?*[%1?Uݩ.;)Q ]R8>i]9)Y]6]:iYieÿaaIaIi)@) @)@-1@)Qq^AM #>Ia } checking for new query: numPingsReceived=115, elapsed TxPingTime=55.695595I O >D =D R=E  E E #E "E U:*E ,:VE 3ZE a @a @a @a @ԡ =!&,$LLA2R@2<2";ٱ2aO>2H?8 ؄t?@ٗ??nYd@?®?i2R@I2];0Y:ZBy:T I B49lYl=rEyprNEr>tQ 5z5v%K?Q 9z5v_)vBYxyz0?Q I~j@v~DIv:ivP:v'"5yɮA-DNOT Ignoring new targets: 46.91 m.h)h)h1h1h1g1g1jg9rg9re9Ze9:eA*eEG?[a[a"[a*[e0?";) G **>i9 ) Q6!ڻ:i!BABABE4 IBE@BBABABABE;BE6Eԑ` 9Y Aiÿ11I1I1@ @@?5@DDAT read: Rx Time:04:39:56.1433 TRx dataTimestamp_ set to:1764909597.351916DAT read: Range 11 to 50 : 47.7 m (trip time 31.8 ms) speed -0.2  \#Rx 116: Read range message, but no direction.yY>B checking for new query: numPingsReceived=116, elapsed TxPingTime=55.950691^A0e>IIO> i!&,HfLAchecking for new query: numPingsReceived=116, elapsed TxPingTime=56.198124Ej EjEj'Eh"EjC:*Eja9:VEj'4ZEhBEj-;a~2Ej.;aJEj$;a :Ej%;a YUByN I iMb@Mb@Mb@ 9Dl?Zd;?~jth?YO=yy=D;z@ A )AYAbDVD8yO%!=ٔQ->9Y=EyE>Q 55N?Q 95_)BY=Q Ei-#9))-6-:i)i5ÿ11IqIy1@ @@1@DDAT read: Rx Time:04:39:56.6433 TRx dataTimestamp_ set to:1764909597.854906DAT read: Range 11 to 50 : 47.7 m (trip time 31.8 ms) speed 0.0 \#Rx 117: Read range message, but no direction.yY checking for new query: numPingsReceived=117, elapsed TxPingTime=56.453651a ^A >I! I1 O= >u9!&,LA YvPByvH IbD~VD~8ye %e{=ٔaQ-m ?9iYi=mEyiqEu ?yQ 55}O?Q 95}^)}BYyQ Ij@}DI}h:i}:}_)5yɮA addTargetRange:: Added new target pos. range: 47.700001 m, deltaT: 0.502990 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhhhhggjgrgreZe:e*e?[["[*[) Z$>iҬ9)!%6%:i!i5ÿ19I9IAIY)Y]checking for new query: numPingsReceived=117, elapsed TxPingTime=56.703373qE EE%E"Eg:*Ee:VE 4ZEa@a@a@a@@ @@/@@@ԙA1A1BABABE: IBEEBBABABABEq;BE6E^AYIaIqO>  DDAT read: Rx Time:04:39:57.1433  TRx dataTimestamp_ set to:1764909598.358884 DAT read: Range 11 to 50 : 47.7 m (trip time 31.8 ms) speed -0.1  \#Rx 118: Read range message, but no direction.y Y % checking for new query: numPingsReceived=118, elapsed TxPingTime=56.957649"!&,,LAL~ 6@~{;~;ٱ~g>~H`?9l@Cf?wo?]?<¿@8b=?d?i~ 6@I~];~CYUByN IAE@AbDMVDM8y<%H=ٔ&Q->9Y=Ey.E>Q 55@R?Q 95])BYy8?Q Ij@DIL:i:,5y6BɮALE addTargetRange:: Added new target pos. range: 47.700001 m, deltaT: 0.503978 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhhhhggjgrgreZe:e*e ^׻?[![!"[!*[%8?=;)9 =.>i=9)9=f6=>:iAiEÿAIIIII @  @ @ /@ echecking for new query: numPingsReceived=118, elapsed TxPingTime=57.206310E EE$E"E,:*EǙ:VE4ZEBEIaIO5 >! K!&,LA6/@6y@6;ٱ6>6H?GS? 6a?@M?`O¿tbO? ?i6/@I6,];4YBEByB; I i5Mb@Mb@Mb@1111 195Mb?Mb?~jthY5=y5@=5D5M@1 5A)5A1Y5AbDMVDM8y]<%]M=ٔe8Q-e>9aYi=mEyimDCEm>qQ 55ueT?Q 95u\])uBY=Q E'i5լ9)1=6=^:i9i=ÿAAIAIA)A@A @A@E/@IQu checking for new query: numPingsReceived=119, elapsed TxPingTime=57.710815^A >I I O >D =D 4=E  E |E (E "E :*E P$:VE c44ZE a @a @a @a @ԁ Y3!&,l͇LA2;@2@2ګ;ٱ2n>2H?@x?V?Īw`?@vG¿@za@G??i2;@I2];2CYN8ByR* IbDZVDZ8yb%bU=ٔb%Q-f>9dYd=fEydjPEj>lQ 5M5nzV?Q 9M5n\)lYQyU ?Q IUj@nDInBBB. IB;BBBBBS;B6Ei9)>6y:iiÿIIl>i>@ @@/@@@=ԉDDAT read: Rx Time:04:39:58.1434 TRx dataTimestamp_ set to:1764909599.366942DAT read: Range 11 to 50 : 47.9 m (trip time 31.9 ms) speed 0.0 \#Rx 120: Read range message, but no direction.yY?BT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Թ^A}>IIO> ]!&,H燘LA2Acoustic response timeoutF@F@F ;ٱFC>FH`? "c?CD? ?,¿@a?,?@?iF@IF];FCbEEJ4jEE4rEE(0ER ERER&EP"ER:*ER*5:VER4ZEPBER 9Y=EyY+E>Q 5 5Y?Q 9 5P\)BY y5C?Q I5j@DIn;i;75yAɮEAA addTargetRange:: Added new target pos. range: 47.900002 m, deltaT: 0.503855 s, deltaX: 0.200001 m, approachRate: 0.396941 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhhhhggjgrgreZe:e@3G@*e?[q[q"[q*[uC? ;) ->iS9)顕6:iiÿII@ @@/@DDAT read: Rx Time:04:39:58.6433 TRx dataTimestamp_ set to:1764909599.871023DAT read: Range 11 to 50 : 47.7 m (trip time 31.8 ms) speed 0.1 X#Rx 1: Read range message, but no direction.yY>B2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.1^A x>I I O >I TE"&,"LAY~9Y=Ey  E >Q 55[?Q 95[)Y݌=Q E@Q Ij@DI{:i:X;5yɮA addTargetRange:: Added new target pos. range: 47.700001 m, deltaT: 0.504081 s, deltaX: -0.200001 m, approachRate: -0.396763 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhhhhggjgrgˁBreZe:eG@*e=?[݌=[݌="[>*[>52Acoustic response timeout9)9 =Ha>i=ͭ9)9Ep6E:iAiEÿIIIIIIDzD@AE E}E#E"Eg:*Ek&:VE3ZEa @a @a @a @@ @@/@ABA<BBB IB,BBBBB:;B6EBBBBBCǺ4ԉ^A #>I I) O5 > DDAT read: Rx Time:04:39:59.1435  TRx dataTimestamp_ set to:1764909600.374963 DAT read: Range 11 to 50 : 48.0 m (trip time 32.0 ms) speed 0.0  X#Rx 1: Read range message, but no direction.y Y @B  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode. p"&,uLAY5By& IbD-VD-8y=%=V=ٔAQ-E>9AYI=MEyIIEM>QQ 5]5U\?Q 9]5U[)UBYayaQ Iej@UDIU:iU;U>5yiɮm Ai addTargetRange:: Added new target pos. range: 48.000000 m, deltaT: 0.503940 s, deltaX: 0.299999 m, approachRate: 0.595307 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhhhhggjgrgreZe:eH@*e@N&?[["[*[)  S>i9)6Ѽ:iiÿII@ @@0@@@E2Acoustic response timeoutE  E E E "E :*E *:VE ZE BE ;a-2E ;a-JE g;a5:E g;a5^AƂ>II O->1 5 "&,4LA2+>@2u7@2# ;ٱ2>2H?%?q[ @\?@A¿cRa rA?`@I2];2CYR'ByR Ii-Mb@Mb@Mb@)))) )9-~jt?y&1|?MbY-D=y-`;-)) -fA)-A)Y-pAbD2VDڰ8ߝ=ߙDDAT read: Rx Time:04:39:59.6434 TRx dataTimestamp_ set to:1764909600.879343DAT read: Range 11 to 50 : 47.9 m (trip time 31.9 ms) speed 0.0 X#Rx 1: Read range message, but no direction.yY?B2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.y!%B=ٔQ->9Y=EyRE>Q 55^?Q 95[)BY_I=Q EQ Ij@DI:i:8B5y ɮ |A= addTargetRange:: Added new target pos. range: 47.900002 m, deltaT: 0.504380 s, deltaX: -0.099998 m, approachRate: -0.198260 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 46.91 m.hAhAhAhAhAgIgIjgIrgMBreQZeQ:eU@3G@*e]f?[}_I=[}_I="[}I>*[}># ;)  W>iV9)顕6:iiÿII1)@) @)@-/@)Y^AmU<>IyIO>M 2Acoustic response timeoutԉ D =D <E  E E &E "E ,:*E :VE 4ZE a @a @a @a @"&,NLA4Na@N@NLf;ٱNb>NHq?ɢ?C7i@Ѣ? [¿,b@ \?F?iNa@INe];LYV)ByV I^=^=bDb?VDb8yj Q<%j[=ٔj9Q-n>9lYl=rEyprEr>tQ 5z5v.`?Q 9z5v[)vBYxyz>Q I~j@tIv:iv:vsE5yɮiA-DNOT Ignoring new targets: 46.91 m.h)h)h)h1h1g1g1jg9rg9re9Ze9:e9*eE ?[a[a"[a*[e>B>BB IB!BBBBB;Bl6ELf;) [>i9)l6 :ii%ÿ!!I!I)ԉ@ @@0@DDAT read: Rx Time:04:40:00.1435 TRx dataTimestamp_ set to:1764909601.382862DAT read: Range 11 to 50 : 48.0 m (trip time 32.0 ms) speed 0.0 X#Rx 1: Read range message, but no direction.yY@B2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Ա^A(>IIO> ] 2Acoustic response timeoutA"&,hLAE^ E^E^$E\"E^I:*E^|;:VE^4ZE\BE^9Y=EyE>Q 5%5b?Q 9-5{[)BY)y)Q I-j@DIU;i1;I5y1ɮ=A9 addTargetRange:: Added new target pos. range: 48.000000 m, deltaT: 0.503519 s, deltaX: 0.099998 m, approachRate: 0.198599 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhhhhggjgrgreZe:eH@*e?[q[q"[q*[q) Q>i9)M61:iiÿ!I!I!I1)1@ @@/@@@= DDAT read: Rx Time:04:40:00.6434 TRx dataTimestamp_ set to:1764909601.887398DAT read: Range 11 to 50 : 47.9 m (trip time 31.9 ms) speed 0.0 X#Rx 1: Read range message, but no direction.yY?B2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.A ^A >I I O >o "&,bjLAB@B@B;ٱBB>BH?@?@cur,`?j¿b@5l?@?iB@IB];BCYN#ByN I9iMb@Mb@Mb@ 9Mb?~jty&1|Y@=yD`M@ @)AYA bDVD°8y6S%K=ٔ~9Q->9Y=Ey E>Q 55c?Q 95[)BYH=Q E i9) 6K:i!i%ÿ!)I)I)DzDE EE%E"E:*EE7:VE 4ZEa@a@a@a@iQ@Q @Q@U0@a IIq9Y7AԙBBBIBBB =BBB;Bd6E^A ݑ>I I) O5 > DDAT read: Rx Time:04:40:01.1432  TRx dataTimestamp_ set to:1764909602.390883 DAT read: Range 11 to 50 : 47.6 m (trip time 31.7 ms) speed 0.0  X#Rx 1: Read range message, but no direction.y Y f>B  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 3&"&,TLA5i@5ab@5;ٱ5>5H?+? cuoԪm?i¿;c`l??i5i@I5];5CYMByM IbD}VD}8y%P=ٔɨ8Q->Ա9Y=EyUE>Q 55e?Q 95[)BYy;Q Ij@I:i:IP5yɮA  addTargetRange:: Added new target pos. range: 47.599998 m, deltaT: 0.503485 s, deltaX: -0.300003 m, approachRate: -0.595853 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhhhhggjgrgreZe:e%G@*e%?[A[A"[A*[E@U;)Q ]~h>i]9)Y]6]j:iYieÿaaIaIi)@) @)@50@12Acoustic response timeoutE EE!E"E7:*E|;:VEc3ZEBE;a2E;aJEa:Ea ^A-x>IaIO>1 `,"&,8LA2g=@26@2/;ٱ2>2H@R?f?y` 7?c¿@`g?`۪?i2g=@I2];2CYZ(ByZ Ii=Mb@Mb@Mb@9999 99=A`"? rhy&1|Y=Y=y=C9= @= A =A)99Y=GAbDUVDU8yej=%eM=ٔm:Q-m>}DDAT read: Rx Time:04:40:01.6431 }TRx dataTimestamp_ set to:1764909602.895007DAT read: Range 11 to 50 : 47.4 m (trip time 31.6 ms) speed 0.0 X#Rx 1: Read range message, but no direction.yyY}=By2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.9Y=EyWXE>Q 55f?Q 95[)BYe=Q Eli9)6:iiÿI!I!5i>i5>@ @@0@@@yԡ^A>II O >i! I! % 2Acoustic response timeoutE  E E %E "E U:*E E7:VE 4ZE a @a @a @a @ p3"&,zψLA2W@2 @2:ٱ24>2H??!}/`͚? ?Z¿v^_?`$?i2W@I27];2CYNByN IbDZؿVDZ8yb>%bV=ٔb Q-b>9dYd=fEydfiqEj>hQ 5e5jh?Q 9e5j#\)jBYayeQ Imj@jDIjLim9)imJ6u:iqiÿIIԹ)@) @)@-@5@)DDAT read: Rx Time:04:40:02.1432 TRx dataTimestamp_ set to:1764909603.398916DAT read: Range 11 to 50 : 47.6 m (trip time 31.7 ms) speed 0.0 X#Rx 1: Read range message, but no direction.yYf>B2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.^Am}>IyIO> = 2Acoustic response timeoutA 9"&,鈘LA2@27@2F:ٱ2>2H`?@Z? @y`? Y¿`h[@Aa??i2@I2];2CY:)By: IB>@bDFVDF8yNDC=%NM=ER ER}ER&EP"ER;*ERk&:VER4ZEPBERA9`Y`=bEy`bMEf>dQ 5j5fBj?Q 9r5fX\)fBYtyzQ Izj@dIf;if;fZ5y ɮ iA  addTargetRange:: Added new target pos. range: 47.599998 m, deltaT: 0.503909 s, deltaX: 0.199997 m, approachRate: 0.396891 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.91 m.hhh h h g9g9jgIrgqreyZe:eG@*e ߥ?[q[q"[q*[ux@F:) b>i9)顕)6:iiÿII9&DAT read: user:9> DAT read: 120  BDAT read: Tx time:04:40:03.0581 $Ping request sent.I & LCommunications Fault in component: DATI O >A"&,\LA2U@2@2k:ٱ2>2H'?@?a;`?c¿~Zl??i2U@I2];2CY:1By:" IiUMb@Mb@Mb@QQQQ Q9Ukt?y&1YU 0=yU`eUUM@Q U@)UAQYUAbDm VDmʰ8y}=%})=ٔQ->9Y=Ey E>Q 55k?Q 95\)Y:9=Q Ei-9)額6ν:iiÿII9@ @@05@B>BBIBBBBBB;B6E-Powering downi5I555I^A8j>IIO >i /G"&, LA28@2@2)q:ٱ2d4>2H "?ų?`r& `?`8k¿$W v?W?i28@I2];2CY:By: IbDB VDB8yJR̽%J[=ٔNBQ-N>9PYP=REyPRWEV>TQ 5Z5VCm?Q 9Z5V\)TY\y^|ǾQ I^j@TIVs:iV;:V b5y`ɮbAdvDNOT Ignoring new targets: 46.91 m.hxhxhxhxhxgxgxjg|rgyE Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeETransitioning to midcourse guidance. Received last range of 47.599998 m 29955918.933333 min ago.E1FreZe:e*eY[a[a"[a*[e@)q:) O>i9)顝6:iiÿII9@ @@ 5@ԁbEĻ 4jE4rEğ/E EE%E"Ey:*E?:VE 4ZEBEԱIIO> lM"&,>{:LA2p@2i@26:ٱ2g>2H ??(D?@To¿&Sb|??i2p@I2];2CY:+By: Ii~Mb@Mb@Mb@|||| |9~/$?9)Y)=-Ey)5Q;E5>9Q 5E5=n?Q 9E5=\)9YE]0=Q EEiݭ9)顭6:iԱiÿIII)xAM9@I @I@U4@Q@a@eyAE EE$E"EC:*E=:VE4ZEa@a@a@a@^A(>I&NClearing failed state for component DATq IO B B B IB BB =B B DB ;B 6EBBBB =B =CE59 jT"&,VTLANL@N)F@Nc:ٱNl|>NH?=? rSF@*?-p¿pR`~? ?iNL@IN^];NCYZ5ByZ& IbDb,VDbհ8yjA=%jO=ٔnJQ-n>9pYp=rEypr5Er>tQ 5z5vp?Q 9z5v])tY|y~Q I~j@vDIv:ivA;v+i5y9BɮA MEqLAggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalD--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-5ZTransitioning guidance mode to: UNINITIALIZED i5?55Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1@5 5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqA55Initialize.A5 =Initialize.q@=f9fEHBrfEL?MNavigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )q@MAMM:Initialize WaypointComponent.UZNavigating to waypoint: 36.779130,-121.859630reQZeQ:eQ*eY[y[y"[y*[}E@ɢ ?)k% qAi;f:)顕',7iWIA1@1 @1@5/@1A^AUQ>IyIO>i E  E E %E "E غ:*E 3:VE 4ZE BE 5H ? -?`C`Gd?~l¿@L }? ?i5(@I5];1YE2ByE# IiMb@Mb@Mb@ 9:v?~jth?Mbp?YT=yD;; A @)|AYAAAbD VD ư8y1%+=ٔPQ-%>9!Y!=%Ey!-E->1Q 5=55/r?Q 9=55])5BY=U=Q E=~ɧبi˿ǿ)> (kpHeading = 0.400000I: e(kiHeading = 0.001000e >Ie q m qIi qqIq)qI%)%%i%ԙ@=@=^A %jr>I I O >2a"&,9 LA2-@2w@2 :ٱ2s>2H?5? !qք?gm¿VD%?@?i2-@I2x];2CLYRAByR6 IbDZVDZİ8yf=%fz=ٔfRQ-f?9hYh=jEyhjtNEn?pQ 5r5rs?Q 9v5r ])rBYtyvKQ Ivk@rDIr:ir":r6p5yxɮ~A|:k @P 1Q B*** querying acoustic contact ***iifffgffrfereZe:e*e[["[*[x@%HBɢ%R)! %[i!)%Z))i-85 >ɧ5 E] E]E]'EY"E]U:*E][:VE]'4ZEYae@ae@ae@ae@5im̿iiImF mFI^AmyZ>IyIO=AABBB IBBBBBBg;B6E! h"&,ꡉLA2@2e@2i= :ٱ2>2H?!?M`` Ё? Ko¿ gA?Ω?i2@I2];2CY:]By>X IbDFVDF8yRY >%RM=ٔV`XQ-Z>9\Y`=bEy`feEf>pQ 5v5rcu?Q 9v5r])rBYxyzZQ Izk@rD|Ir_/;ir?|;rs5yɮABkA1QEqQEfYfafagafafarfieireiZeq:e*e[1[1"[1*[5Z@ERBɢM :)I M < >ɧT駝7*iGտI I)Em EmrEm#Ei"Em:*Em?:VEm3ZEiBEm3II9O>ԁ z?n"&,»LA6Vƾ@6@6VW9ٱ6?a>6H ?0?@&u ~?b¿*{?%?i6Vƾ@I6];4Y>aByB] IiMb@Mb@Mb@ 9~jt?91Y9==Ey9=&EE>AQ 5M5E!w?Q 9U5E\)EBYUR=Q EUQ IUk@AYIE:iE3;Ecw5yaɮeAiJkyqQ}rCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalqPAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalfffgffrfereZe:e*e[R=[R="[Ͱ>*[4t>[Bɢ[:) BɧUi|߿I6 6IU^A-&l=IAIYOu>ԁԱD}<D}<E EEE"Eغ:*Ea9:VEZEa@a@a@a@5 gGM v|Aa E9 v|AY BA B B B  IB ,BB =B B DB C;B 6En'u"&,ՉLAYlByk I  bD^VD8y% `=%%K=ٔ-Q-->9)Y)=5Ey15E5>9Q 5E5=x?Q 9E5=\)=BYIyIQ IMk@