*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="CommandLine"
*n code=0009 name="CommandLine ThreadHandler"
*n code=000A name="logger"
*n code=000B name="logger ThreadHandler"
*n code=000C name="LogSplitter"
*n code=000D name="Config/Navigation"
*n code=000E name="Config/Guidance"
*n code=000F name="Config/Simulator"
*n code=0010 name="Config/Control"
*n code=0011 name="Config/secure"
*n code=0012 name="Config/Servo"
*n code=0013 name="Config/BIT"
*n code=0014 name="Config/vehicle"
*n code=0015 name="Config/workSite"
*n code=0016 name="Config/Sample"
*n code=0017 name="Config/Sensor"
*n code=0018 name="Config/Science"
*n code=0019 name="Config/logger"
*n code=001A name="Config/Estimation"
*n code=001B name="Config/Derivation"
*n code=001C name="Config/Dock"
*n code=001D name="Config/Battery"
*n code=001E name="VerticalControl"
*n code=001F name="HorizontalControl"
*n code=0020 name="SpeedControl"
*n code=0021 name="LoopControl"
*n code=0022 name="BuoyancyServo"
*n code=0023 name="ElevatorServo"
*n code=0024 name="MassServo"
*n code=0025 name="RudderServo"
*n code=0026 name="ThrusterServo"
*n code=0027 name="DeadReckonUsingMultipleVelocitySources"
*n code=0028 name="NavChart"
*n code=0029 name="UniversalFixResidualReporter"
*n code=002A name="AHRS_M2"
*n code=002B name="BPC1"
*n code=002C name="DataOverHttps"
*n code=002D name="DataOverHttps ThreadHandler"
*n code=002E name="Depth_Keller"
*n code=002F name="NAL9602"
*n code=0030 name="Onboard"
*n code=0031 name="Onboard ThreadHandler"
*n code=0032 name="Power24vConverter"
*n code=0033 name="Radio_Surface"
*n code=0034 name="Radio_Surface ThreadHandler"
*n code=0035 name="AMEcho"
*n code=0036 name="DAT"
*n code=0037 name="DepthRateCalculator"
*n code=0038 name="PitchRateCalculator"
*n code=0039 name="SpeedCalculator"
*n code=003A name="TempGradientCalculator"
*n code=003B name="YawRateCalculator"
*n code=003C name="ElevatorOffsetCalculator"
*n code=003D name="CTD_Seabird"
*n code=003E name="CTD_Seabird ThreadHandler"
*n code=003F name="PAR_Licor"
*n code=0040 name="WetLabsBB2FL"
*n code=0041 name="WetLabsBB2FL ThreadHandler"
*n code=0042 name="SBIT"
*n code=0043 name="IBIT"
*n code=0044 name="CBIT"
*n code=0045 name="MissionManager"
*n code=0046 name="Reporter"
*n code=0047 name="NavChartDb"
*n code=0048 name="NavChartDb ThreadHandler"
*n code=0049 name="Startup"
*n code=004A name="Startup:A.GoToSurface"
*n code=004B name="Startup:StartupSatComms"
*n code=004C name="Startup:StartupSatComms:A"
*n code=004D name="Startup:StartupSatComms:B"
*n code=004E name="Default"
*n code=004F name="Default:A.Wait"
*n code=0050 name="Default:B.GoToSurface"
*n code=0051 name="Default:CheckIn"
*n code=0052 name="Default:CheckIn:Read_GPS"
*n code=0053 name="Default:CheckIn:Read_Iridium"
*n code=0054 name="Default:CheckIn:Read_Iridium:A_Timeout"
*n code=0055 name="Default:CheckIn:Read_Iridium:A_Timeout:A.Execute"
*n code=0056 name="Default:CheckIn:Read_Iridium:A_Timeout:B"
*n code=0057 name="Default:CheckIn:C.Wait"
*n code=0058 name="Default:CheckIn:D"
*n code=0059 name="Default:CheckIn:E"
*n code=005A name="Default:D"
*n code=005B name="Default:E.Execute"
*n code=005C name="lab_range_test"
*n code=005D name="lab_range_test:A."
*n code=005E name="lab_range_test:B.Wait"
*e code=0000 elementURI="acoustic_receive_time" type=04
*e code=0001 elementURI="acoustic_transmit_time" type=04
*e code=0002 elementURI="acoustic_contact_direction_vehicle_frame" type=14 blobType=11 fixedSize=0003
*e code=0003 elementURI="acoustic_contact_address" type=04
*e code=0004 elementURI="acoustic_contact_range" type=04
*e code=0005 elementURI="concentration_of_colored_dissolved_organic_matter_in_sea_water" type=04
*e code=0006 elementURI="depth" type=04
*e code=0007 elementURI="depth_rate" type=04
*e code=0008 elementURI="direction_of_sea_water_velocity" type=04
*e code=0009 elementURI="distance_from_shore" type=04
*e code=000A elementURI="downwelling_photosynthetic_photon_flux_in_sea_water" type=04
*e code=000B elementURI="downward_sea_water_velocity" type=04
*e code=000C elementURI="eastward_sea_water_velocity" type=04
*e code=000D elementURI="fix_distance_made_good" type=04
*e code=000E elementURI="fix_horizontal_path_length_since_last_fix" type=04
*e code=000F elementURI="fix_residual_distance" type=04
*e code=0010 elementURI="fix_residual_bearing" type=04
*e code=0011 elementURI="fix_residual_percent_distance_traveled" type=04
*e code=0012 elementURI="grid_latitude" type=04
*e code=0013 elementURI="grid_longitude" type=04
*e code=0014 elementURI="height_above_sea_floor" type=04
*e code=0015 elementURI="horizontal_path_length_since_last_fix" type=04
*e code=0016 elementURI="northward_sea_water_velocity" type=04
*e code=0017 elementURI="latitude" type=04
*e code=0018 elementURI="latitude_fix" type=04
*e code=0019 elementURI="location_fix" type=14 blobType=11 fixedSize=0002
*e code=001A elementURI="longitude" type=04
*e code=001B elementURI="longitude_fix" type=04
*e code=001C elementURI="mission_started" type=04
*e code=001D elementURI="mass_concentration_of_chlorophyll_in_sea_water" type=04
*e code=001E elementURI="mass_concentration_of_oxygen_in_sea_water" type=04
*e code=001F elementURI="mass_concentration_of_petroleum_hydrocarbons_in_sea_water" type=04
*e code=0020 elementURI="mole_concentration_of_nitrate_in_sea_water" type=04
*e code=0021 elementURI="platform_average_current" type=04
*e code=0022 elementURI="platform_average_power" type=04
*e code=0023 elementURI="platform_battery_charge" type=04
*e code=0024 elementURI="platform_battery_charge_usage" type=04
*e code=0025 elementURI="platform_battery_energy_usage" type=04
*e code=0026 elementURI="platform_battery_voltage" type=04
*e code=0027 elementURI="platform_battery_fully_charged" type=04
*e code=0028 elementURI="platform_battery_discharging" type=04
*e code=0029 elementURI="platform_buoyancy_position" type=04
*e code=002A elementURI="platform_communications" type=04
*e code=002B elementURI="platform_conversation" type=04
*e code=002C elementURI="platform_course" type=04
*e code=002D elementURI="platform_distance_wrt_ground" type=04
*e code=002E elementURI="platform_distance_wrt_sea_water" type=04
*e code=002F elementURI="platform_elevator_angle" type=04
*e code=0030 elementURI="platform_fault" type=04
*e code=0031 elementURI="platform_fault_leak" type=04
*e code=0032 elementURI="platform_magnetic_orientation" type=04
*e code=0033 elementURI="platform_mass_position" type=04
*e code=0034 elementURI="platform_orientation" type=04
*e code=0035 elementURI="platform_orientation_matrix" type=14 blobType=11 fixedSize=0003,0003
*e code=0036 elementURI="platform_pitch_angle" type=04
*e code=0037 elementURI="platform_pitch_rate" type=04
*e code=0038 elementURI="platform_pressure" type=04
*e code=0039 elementURI="platform_propeller_rotation_rate" type=04
*e code=003A elementURI="platform_relative_humidity" type=04
*e code=003B elementURI="platform_roll_angle" type=04
*e code=003C elementURI="platform_roll_rate" type=04
*e code=003D elementURI="platform_rudder_angle" type=04
*e code=003E elementURI="platform_speed_wrt_ground" type=04
*e code=003F elementURI="platform_speed_wrt_sea_water" type=04
*e code=0040 elementURI="platform_temperature" type=04
*e code=0041 elementURI="platform_vehicle_power" type=04
*e code=0042 elementURI="platform_velocity_wrt_ground" type=14 blobType=11 fixedSize=0003
*e code=0043 elementURI="platform_velocity_wrt_sea_water" type=14 blobType=11 fixedSize=0003
*e code=0044 elementURI="platform_x_sea_water_velocity" type=04
*e code=0045 elementURI="platform_x_velocity_wrt_ground" type=04
*e code=0046 elementURI="platform_x_velocity_wrt_sea_water" type=04
*e code=0047 elementURI="platform_x_velocity_current" type=04
*e code=0048 elementURI="platform_y_sea_water_velocity" type=04
*e code=0049 elementURI="platform_y_velocity_wrt_ground" type=04
*e code=004A elementURI="platform_y_velocity_wrt_sea_water" type=04
*e code=004B elementURI="platform_y_velocity_current" type=04
*e code=004C elementURI="platform_yaw_angle" type=04
*e code=004D elementURI="platform_yaw_rate" type=04
*e code=004E elementURI="platform_z_sea_water_velocity" type=04
*e code=004F elementURI="platform_z_velocity_wrt_ground" type=04
*e code=0050 elementURI="platform_z_velocity_wrt_sea_water" type=04
*e code=0051 elementURI="platform_z_velocity_current" type=04
*e code=0052 elementURI="projection_x_coordinate" type=04
*e code=0053 elementURI="projection_y_coordinate" type=04
*e code=0054 elementURI="projection_zone" type=04
*e code=0055 elementURI="sea_floor_depth_below_geoid" type=04
*e code=0056 elementURI="sea_water_density" type=04
*e code=0057 elementURI="sea_water_electrical_conductivity" type=04
*e code=0058 elementURI="sea_water_potential_density" type=04
*e code=0059 elementURI="sea_water_potential_temperature" type=04
*e code=005A elementURI="sea_water_pressure" type=04
*e code=005B elementURI="sea_water_rhodamine" type=04
*e code=005C elementURI="sea_water_salinity" type=04
*e code=005D elementURI="sea_water_sigma_t" type=04
*e code=005E elementURI="sea_water_sigma_theta" type=04
*e code=005F elementURI="sea_water_speed" type=04
*e code=0060 elementURI="sea_water_temperature" type=04
*e code=0061 elementURI="speed_of_sound_in_sea_water" type=04
*e code=0062 elementURI="surface_eastward_sea_water_velocity" type=04
*e code=0063 elementURI="surface_northward_sea_water_velocity" type=04
*e code=0064 elementURI="time" type=04
*e code=0065 elementURI="time_fix" type=04
*e code=0066 elementURI="upward_derivative_of_sea_water_temperature" type=04
*e code=0067 elementURI="volume_backwards_scattering_coefficient_of_radiative_flux_in_sea_water" type=04
*e code=0068 elementURI="controlThread.enableBroadcast" type=02
*e code=0069 elementURI="CycleStarter.enableBroadcast" type=02
*e code=006A elementURI="CycleStarter.time" type=00
*e code=006B elementURI="CommandLine.enableBroadcast" type=02
*e code=006C elementURI="NAL9602.strobeMode" type=02
*e code=006D elementURI="DDM.DDMModeCmd" type=02
*e code=006E elementURI="DDM.DDMMode" type=02
*e code=006F elementURI="WetLabsUBAT.enableUBAT" type=02
*e code=0070 elementURI="IBIT.IBITRunning" type=02
*e code=0071 elementURI="CBIT.GFActive" type=02
*e code=0072 elementURI="CommandLine.platform_conversation" type=00
*e code=0073 elementURI="logger.enableBroadcast" type=02
*e code=0074 elementURI="LogSplitter.enableBroadcast" type=02
*e code=0075 elementURI="LogSplitter.platform_communications" type=00
*e code=0076 elementURI="DeadReckonUsingMultipleVelocitySources.loadAtStartup" type=01
*e code=0077 elementURI="DeadReckonUsingMultipleVelocitySources.accuracyPremultiplier" type=01
*e code=0078 elementURI="DeadReckonUsingMultipleVelocitySources.allowableFailures" type=01
*e code=0079 elementURI="DeadReckonUsingMultipleVelocitySources.orientationStaleAfter" type=01
*e code=007A elementURI="DeadReckonUsingMultipleVelocitySources.velocityStaleAfter" type=01
*e code=007B elementURI="DeadReckonUsingMultipleVelocitySources.verbosity" type=01
*e code=007C elementURI="DeadReckonUsingSpeedCalculator.loadAtStartup" type=01
*e code=007D elementURI="DeadReckonUsingSpeedCalculator.accuracyPremultiplier" type=01
*e code=007E elementURI="DeadReckonUsingSpeedCalculator.allowableFailures" type=01
*e code=007F elementURI="DeadReckonUsingSpeedCalculator.orientationStaleAfter" type=01
*e code=0080 elementURI="DeadReckonUsingSpeedCalculator.velocityStaleAfter" type=01
*e code=0081 elementURI="DeadReckonUsingSpeedCalculator.verbosity" type=01
*e code=0082 elementURI="DeadReckonWithRespectToWater.loadAtStartup" type=01
*e code=0083 elementURI="DeadReckonWithRespectToWater.accuracyPremultiplier" type=01
*e code=0084 elementURI="DeadReckonWithRespectToWater.allowableFailures" type=01
*e code=0085 elementURI="DeadReckonWithRespectToWater.orientationStaleAfter" type=01
*e code=0086 elementURI="DeadReckonWithRespectToWater.velocityStaleAfter" type=01
*e code=0087 elementURI="DeadReckonWithRespectToWater.verbosity" type=01
*e code=0088 elementURI="DeadReckonWithRespectToSeafloor.loadAtStartup" type=01
*e code=0089 elementURI="DeadReckonWithRespectToSeafloor.accuracyPremultiplier" type=01
*e code=008A elementURI="DeadReckonWithRespectToSeafloor.allowableFailures" type=01
*e code=008B elementURI="DeadReckonWithRespectToSeafloor.orientationStaleAfter" type=01
*e code=008C elementURI="DeadReckonWithRespectToSeafloor.velocityStaleAfter" type=01
*e code=008D elementURI="DeadReckonWithRespectToSeafloor.verbosity" type=01
*e code=008E elementURI="DeadReckonUsingDVLWaterTrack.loadAtStartup" type=01
*e code=008F elementURI="DeadReckonUsingDVLWaterTrack.accuracyPremultiplier" type=01
*e code=0090 elementURI="DeadReckonUsingDVLWaterTrack.allowableFailures" type=01
*e code=0091 elementURI="DeadReckonUsingDVLWaterTrack.orientationStaleAfter" type=01
*e code=0092 elementURI="DeadReckonUsingDVLWaterTrack.velocityStaleAfter" type=01
*e code=0093 elementURI="DeadReckonUsingDVLWaterTrack.verbosity" type=01
*e code=0094 elementURI="DeadReckonUsingCompactModelForecast.loadAtStartup" type=01
*e code=0095 elementURI="DeadReckonUsingCompactModelForecast.accuracyPremultiplier" type=01
*e code=0096 elementURI="DeadReckonUsingCompactModelForecast.allowableFailures" type=01
*e code=0097 elementURI="DeadReckonUsingCompactModelForecast.orientationStaleAfter" type=01
*e code=0098 elementURI="DeadReckonUsingCompactModelForecast.velocityStaleAfter" type=01
*e code=0099 elementURI="DeadReckonUsingCompactModelForecast.verbosity" type=01
*e code=009A elementURI="LBLNavigation.loadAtStartup" type=01
*e code=009B elementURI="LBLNavigation.speedOfSound" type=01
*e code=009C elementURI="LBLNavigation.pingDistanceError" type=01
*e code=009D elementURI="LBLNavigation.angleThreshold" type=01
*e code=009E elementURI="LBLNavigation.lookbackCount" type=01
*e code=009F elementURI="LBLNavigation.lookbackThreshold" type=01
*e code=00A0 elementURI="NavChart.loadAtStartup" type=01
*e code=00A1 elementURI="NavChart.UseChartAltitude" type=01
*e code=00A2 elementURI="NavChartDb.charts" type=01
*e code=00A3 elementURI="NavChartDb.cycleTimeout" type=01
*e code=00A4 elementURI="UniversalFixResidualReporter.loadAtStartup" type=01
*e code=00A5 elementURI="UniversalFixResidualReporter.verbosity" type=01
*e code=00A6 elementURI="WorkSite.loadAtStartup" type=01
*e code=00A7 elementURI="WorkSite.writeInterval" type=01
*e code=00A8 elementURI="WorkSite.verbosity" type=01
*e code=00A9 elementURI="ExternalSim.loadAtStartup" type=01
*e code=00AA elementURI="ExternalSim.SimDaemonServer" type=01
*e code=00AB elementURI="InternalSim.loadAtStartup" type=01
*e code=00AC elementURI="NavigationSim.loadAtStartup" type=01
*e code=00AD elementURI="Config/Simulator.mass" type=00
*e code=00AE elementURI="Config/Simulator.volume" type=00
*e code=00AF elementURI="Config/Simulator.effDragCoef" type=00
*e code=00B0 elementURI="Config/Simulator.Xuabu" type=00
*e code=00B1 elementURI="Config/Simulator.centerOfMassX" type=00
*e code=00B2 elementURI="Config/Simulator.centerOfMassY" type=00
*e code=00B3 elementURI="Config/Simulator.centerOfMassZ" type=00
*e code=00B4 elementURI="Config/Simulator.centerOfBuoyX" type=00
*e code=00B5 elementURI="Config/Simulator.centerOfBuoyY" type=00
*e code=00B6 elementURI="Config/Simulator.centerOfBuoyZ" type=00
*e code=00B7 elementURI="Config/Simulator.cylinderLength" type=00
*e code=00B8 elementURI="Config/Simulator.cylinderRadius" type=00
*e code=00B9 elementURI="Config/Simulator.lowerRudX" type=00
*e code=00BA elementURI="Config/Simulator.lowerRudY" type=00
*e code=00BB elementURI="Config/Simulator.lowerRudZ" type=00
*e code=00BC elementURI="Config/Simulator.upperRudX" type=00
*e code=00BD elementURI="Config/Simulator.upperRudY" type=00
*e code=00BE elementURI="Config/Simulator.upperRudZ" type=00
*e code=00BF elementURI="Config/Simulator.portElevX" type=00
*e code=00C0 elementURI="Config/Simulator.portElevY" type=00
*e code=00C1 elementURI="Config/Simulator.portElevZ" type=00
*e code=00C2 elementURI="Config/Simulator.stbdElevX" type=00
*e code=00C3 elementURI="Config/Simulator.stbdElevY" type=00
*e code=00C4 elementURI="Config/Simulator.stbdElevZ" type=00
*e code=00C5 elementURI="Config/Simulator.designOmega" type=00
*e code=00C6 elementURI="Config/Simulator.designPropEff" type=00
*e code=00C7 elementURI="Config/Simulator.designSpeed" type=00
*e code=00C8 elementURI="Config/Simulator.designThrust" type=00
*e code=00C9 elementURI="Config/Simulator.designTorque" type=00
*e code=00CA elementURI="Config/Simulator.dropWt1Mass" type=00
*e code=00CB elementURI="Config/Simulator.dropWt1Volume" type=00
*e code=00CC elementURI="Config/Simulator.dropWt1X" type=00
*e code=00CD elementURI="Config/Simulator.dropWt1Y" type=00
*e code=00CE elementURI="Config/Simulator.dropWt1Z" type=00
*e code=00CF elementURI="Config/Simulator.movableMass" type=00
*e code=00D0 elementURI="Config/Simulator.centerOfMovableMassX" type=00
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*e code=0101 elementURI="Config/Simulator.speedRud" type=00
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*e code=0103 elementURI="Config/Simulator.centerHystElev" type=00
*e code=0104 elementURI="Config/Simulator.speedElev" type=00
*e code=0105 elementURI="Config/Simulator.aspectRatio" type=00
*e code=0106 elementURI="Config/Simulator.finArea" type=00
*e code=0107 elementURI="Config/Simulator.CDc" type=00
*e code=0108 elementURI="Config/Simulator.dCL" type=00
*e code=0109 elementURI="Config/Simulator.initPitch" type=00
*e code=010A elementURI="Config/Simulator.initRoll" type=00
*e code=010B elementURI="Config/Simulator.initYaw" type=00
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*e code=0113 elementURI="Config/Simulator.initMassPosition" type=00
*e code=0114 elementURI="Config/Simulator.initBuoyancyPosition" type=00
*e code=0115 elementURI="Config/Simulator.density" type=00
*e code=0116 elementURI="Config/Simulator.eastCurrent" type=00
*e code=0117 elementURI="Config/Simulator.magneticVariation" type=00
*e code=0118 elementURI="Config/Simulator.mixedLayerDepth" type=00
*e code=0119 elementURI="Config/Simulator.northCurrent" type=00
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<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="lab_range_test">

    <Description>
        LAB TEST MISSION - ping remote xponder
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:minute/><Value>2</Value></DefineArg>

    <DefineArg Name="ContactLabel"><Description>
        The acoustic address of the asset to be tracked
    </Description><Units:count/><Value>50</Value></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries
    </Description><Units:second/><Value>5</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of return pings to request with each acoustic query (more than 1
        will activate oneway mode)
    </Description><Units:count/><Value>5</Value></DefineArg>

    <DefineArg Name="ContactDepth"><Description>
        The acoustic address of the asset to be tracked
    </Description><Units:meter/><Value>NaN</Value></DefineArg>
    

<!-- Missions should always start with a timeout. -->

    <Timeout Duration="MissionTimeout"/>

    <Estimation:Tracking>
        <Parallel/>
        <Setting><Estimation:Tracking.contactDepthSetting/><Arg Name="ContactDepth"/></Setting>
        <Setting><Estimation:Tracking.contactLabelSetting/><Arg Name="ContactLabel"/></Setting>
        <Setting><Estimation:Tracking.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
        <Setting><Estimation:Tracking.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
    </Estimation:Tracking>

    <Guidance:Wait>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Arg Name="MissionTimeout"/></Setting>
    </Guidance:Wait>

</Mission>

=eJRunning ./Missions/lab_range_test.xml��-�2
,l����(�AY�(��@�����@y��#;��i�<ٟH]��?�<��?���Y?�������?`�v���|td���b�?u��?)�(��@	���V;I���C��"��=�"nD*T****** received valid address query *******R****** received valid ping request ******.�Querying Benthos address 50 with 5 pings in terminal homing one-way mode..8****** ping requested ******	�2��2Ʊ��b�,��
1bG=�bW�9f�>y�d��dQEf�F��d9�j����aj�>��l�r
'v>Aggregate::uninitialize Default1v
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�direction in vehicle frame: [ 0.331389 forward, 0.935814 starboard, -0.120137 keelward ]�.
8processing response from DAT�.
�rotationFromVehicleToNavigationFrame_ = [ 0.999312,-0.037007,-0.002497;0.037058,0.999006,0.024791;0.001577,-0.024866,0.999690 ]�.
8rangeToContact_ = 0.500000 m�.��direction in world frame: [ 0.365651 north, 0.925607 east, -0.097727 down ]�.��relPosInFSK: [ 0.165695 forward, 0.467907 starboard, -0.060068 keelward ]�.�|relPosInNED: [ 0.182825 north, 0.462804 east, -0.048864 down ]�.�(Combining 5 samples.�.��Could not read vehicle position; cannot calculate contact position.:C��C��C�Q�vN{5�?p��0��?rjƹI����C�Q�vN{5�?p��0��?rjƹI����C���?�C�Ϣ���C�:�U�f�?ť�6���?��
N����C�:�U�f�?ť�6���?��
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2BDAT read: Tx time:02:49:29.7405
2$Ping request sent.2<transmitted an acoustic signal2:publishing transmit ping time��0	�6��60�3��E
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�<ٟH����?�<ޡ?`!\?�)ס�@q��?�Z��� i7e�����? h��?)���@	��wV;I���2	�=�2YBD��z�<i�x��~?��~�?	�
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,y�U��(�AY����@����@y��';���A�<ٟH ��?��ҡ?@�[?`�ˡ��v��?�ٺ�����d�����?�f��?)����@	�xV;I���C��2?�=�2�ID	�>��>�2��F�<�
1FW=�F&��9F�>y�H��HQEJ�F��H9�N�t9�aN�>��P�.VTracking...Ʉ\��`I�`�`Ƀ`i�`)�d	�prB~=I�
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,Ցo��(�Aɞ��%=Y����@��v��@y��";��ܟ�<ٟH����?��k�?���Y?Ce���#��?�Y���@U@d� H��?`k��?)����@	�V�V;I���C��8��:c�=��@�:A5D	�V��;Y�T	�V�A��TfDDAT read: Rx Time:02:49:31.8702 
j6received an acoustic signalnPDAT read: Bearing  70.9,  -6.2 (Local)
n~Local bearing/azimuth received:
 Bearing  70.9,  -6.2 (Local)
z�DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0
-zJRead range message, but no direction.z�not publishing receive ping time as it could be a packet for anyoney�xY�z��>��x	�~��~�^3��

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8processing response from DAT�.]
�rotationFromVehicleToNavigationFrame_ = [ 0.999351,-0.035929,-0.002472;0.035979,0.999040,0.024976;0.001572,-0.025049,0.999685 ]�.]
8rangeToContact_ = 0.300000 m�.e
�direction in world frame: [ 0.364655 north, 0.926019 east, -0.097545 down ]�.m
�relPosInFSK: [ 0.099417 forward, 0.280744 starboard, -0.036041 keelward ]�.u
|relPosInNED: [ 0.109397 north, 0.277806 east, -0.029264 down ]�.u
(Combining 5 samples.�.��Could not read vehicle position; cannot calculate contact position.:C��C���>�C�:��`s�?�}�߶��?��]�s���C�Q�vN{5�?p��0��?rjƹI����C��C��C�-R}k
�?�������?���H����C��lYσV�?qR����?>�`������C�D�?bC�<�>jC��=BC�JC�RC�ZC�rC�zC�Ʉ����I����Ƀ�i�Q)�Q	�irB�>:?b�2
,�l���(�AY�a��@�����@y�/x;���z�<ٟH����?���?��X? ���`��? *�����c����?�l��?)�a��@	�#�V;I���RM�=�R�"DI�X)�X
DAT read: 02:49:31.8702 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464,-0.06, 2.335, 2.028, 2.291, 2.263, PHS= 0.068,-0.191, 0.013, RAW= 138.4,   9.3, CAL= 139.1,   6.2, ROT=  70.9,  -6.2


Ygot valid direction response:
 02:49:31.8702 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464,-0.06, 2.335, 2.028, 2.291, 2.263, PHS= 0.068,-0.191, 0.013, RAW= 138.4,   9.3, CAL= 139.1,   6.2, ROT=  70.9,  -6.2

DDAT read: Rx Time:02:49:32.3701 
6received an acoustic signal%PDAT read: Bearing  72.8,  -4.7 (Local)
%~Local bearing/azimuth received:
 Bearing  72.8,  -4.7 (Local)
u�DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0
��y��y}0Read range and messages.��direction in vehicle frame: [ 0.325304 forward, 0.939422 starboard, -0.107999 keelward ]��not publishing receive ping time as it could be a packet for anyone�Fpublishing direction and range infoy�y�}�J�����?iϙu��?��Niإ��Y�}�L>��y��y��y��y	�y)�yI�}�C�=i�}��C���}��T<��}#�@��}6&>��}O`@	�}k��=)�}bd�?I�}k�ݽ��yI�}�
q[9��?��S���?t}_��?��}0�>��}<'>	�}bd�?)�}k�ݽ	��
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1=,=�E��9E�>y�A��AQEM�F��I9�-��a��>����.�Tracking...�.��direction in vehicle frame: [ 0.325304 forward, 0.939422 starboard, -0.107999 keelward ]�.�8processing response from DAT�.u�rotationFromVehicleToNavigationFrame_ = [ 0.999340,-0.036248,-0.002403;0.036297,0.999029,0.024958;0.001496,-0.025029,0.999686 ]�.u8rangeToContact_ = 0.200000 m�.}�direction in world frame: [ 0.359026 north, 0.929421 east, -0.085301 down ]�.��relPosInFSK: [ 0.065061 forward, 0.187884 starboard, -0.021600 keelward ]�.�|relPosInNED: [ 0.071805 north, 0.185884 east, -0.017060 down ]�.�(Combining 5 samples.�.��Could not read vehicle position; cannot calculate contact position.:C��C��L>�C���:ӧ�?�d��?��,�F���C��J�����?iϙu��?��Niإ���C�bd�?�C�k�ݽ�C���c��a�?�,�|��?�aFn8x���C��;�3G��?��ҽ�?�hb�Fֵ��C����?bC�X>>jC��=BC�JC�RC�ZC�rC�zC�Ʉ)��1I�1�1Ƀ1i�9)�9	�QrB�=>;ih�2
,NG���(�AY���@�����@y��A*;���7�<ٟH@���?�G{�?���[?@t��@��?�����`<He��>��?@m��?)���@	��V;I���C��2J�=�2�,DrDAT read: 02:49:32.3701 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.06, 2.390, 2.115, 2.345, 2.318, PHS= 0.068,-0.159, 0.012, RAW= 136.3,   7.7, CAL= 137.2,   4.7, ROT=  72.8,  -4.7
vYgot valid direction response:
 02:49:32.3701 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.06, 2.390, 2.115, 2.345, 2.318, PHS= 0.068,-0.159, 0.012, RAW= 136.3,   7.7, CAL= 137.2,   4.7, ROT=  72.8,  -4.7
zDDAT read: Rx Time:02:49:32.8702 
z6received an acoustic signal
PDAT read: Bearing  69.6,  -8.6 (Local)

~Local bearing/azimuth received:
 Bearing  69.6,  -8.6 (Local)

JRead direction message, but no range.

�direction in vehicle frame: [ 0.294714 forward, 0.952066 starboard, -0.081939 keelward ]
�not publishing receive ping time as it could be a packet for anyoney�

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,�!���(�A��i��@Y����@��v��@y�Z�$;����<ٟH@n��?��ۢ? Z?�/բ�`���? ]����ɒd�`�t�?@q��?)����@	�w�V;I���C��"�=�"�9DI�&R=)�&R=Z�DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0
nDAT read: 02:49:32.8702 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.66,-1.431,-1.860,-1.491,-1.517, PHS= 0.082,-0.299, 0.010, RAW= 139.8,  11.8, CAL= 140.4,   8.6, ROT=  69.6,  -8.6
rYgot valid direction response:
 02:49:32.8702 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.66,-1.431,-1.860,-1.491,-1.517, PHS= 0.082,-0.299, 0.010, RAW= 139.8,  11.8, CAL= 140.4,   8.6, ROT=  69.6,  -8.6
v0Read range and messages.v�direction in vehicle frame: [ 0.344653 forward, 0.926744 starboard, -0.149535 keelward ]zFpublishing direction and range infoy�p�r/6�
��?v
�	��?�S&r�#ÿY�r��>��p��p��p��p	�p)�rFI�r��=i�r�����r
�#<��ry(@��rB�R>��r�@	�r`�>)�r�|�?I�r`����pI�r|�c-{�?�K��,�?\+�'�?��r���>��r׻R>	�r�|�?)�r`��	�

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�.Tracking...�.�direction in vehicle frame: [ 0.344653 forward, 0.926744 starboard, -0.149535 keelward ]�.8processing response from DAT�.%�rotationFromVehicleToNavigationFrame_ = [ 0.999320,-0.036783,-0.002511;0.036834,0.999012,0.024859;0.001595,-0.024934,0.999688 ]�.-8rangeToContact_ = 0.300000 m�.5�direction in world frame: [ 0.378316 north, 0.916879 east, -0.127317 down ]�.=�relPosInFSK: [ 0.103396 forward, 0.278023 starboard, -0.044861 keelward ]�.=|relPosInNED: [ 0.113495 north, 0.275064 east, -0.038195 down ]�.E(Combining 5 samples.�.E�Could not read vehicle position; cannot calculate contact position.:CA�CE��>�CE:�e�&x�?~-�D!��?h_�1�����CE/6�
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,�����(�AY����@�����@y���";�����<ٟH@��?�`c�?`HEY?��\������?�i����Qd��$U�?�w��?)����@	�<�V;I���C��R��=�R�ED��!
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-
DDAT read: Rx Time:02:49:33.3701 
5
6received an acoustic signal=
PDAT read: Bearing  72.0,  -5.6 (Local)
=
~Local bearing/azimuth received:
 Bearing  72.0,  -5.6 (Local)
M
�DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0
u
DAT read: 02:49:33.3701 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.39, 2.150, 1.868, 2.106, 2.080, PHS= 0.066,-0.168, 0.011, RAW= 137.1,   8.6, CAL= 138.0,   5.6, ROT=  72.0,  -5.6
}
Ygot valid direction response:
 02:49:33.3701 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.39, 2.150, 1.868, 2.106, 2.080, PHS= 0.066,-0.168, 0.011, RAW= 137.1,   8.6, CAL= 138.0,   5.6, ROT=  72.0,  -5.6
�ׅ
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0Read range and messages.�
�direction in vehicle frame: [ 0.307542 forward, 0.946518 starboard, -0.097583 keelward ]�
�not publishing receive ping time as it could be a packet for anyone�
Fpublishing direction and range infoyځ
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�direction in vehicle frame: [ 0.307542 forward, 0.946518 starboard, -0.097583 keelward ]�.�
8processing response from DAT�.�
�rotationFromVehicleToNavigationFrame_ = [ 0.999282,-0.037818,-0.002481;0.037868,0.998976,0.024739;0.001542,-0.024815,0.999691 ]�.8rangeToContact_ = 0.200000 m�.
�direction in world frame: [ 0.343013 north, 0.936340 east, -0.074900 down ]�.
�relPosInFSK: [ 0.061508 forward, 0.189304 starboard, -0.019517 keelward ]�.5|relPosInNED: [ 0.068603 north, 0.187268 east, -0.014980 down ]�.5(Combining 5 samples.�.5�Could not read vehicle position; cannot calculate contact position.:C1�C5�L>�C5\p�p~�?�l)�;�?��'����C5锥AŮ�?�Oa�I�?A��_1����C5|٠?�C5+Ƚ�C5w�����?f�6`e��?/��Э���C5d�f����?Tǰ~��?�G���,���C5S�?bC5�?>jC5�=BC1JC1RC1ZC1rC1zC1Ʉy��yI��郁Ƀ�i��)��	��rBM>�{�2
,�����(�AY����@��#��@y��";��2��<ٟH`���? ��?��Y?@g���`���?`����@�Pd���~�?`o��?)����@	�ŘV;I���C��B��=�B*4DzDDAT read: Rx Time:02:49:33.8701 
z6received an acoustic signal
PDAT read: Bearing 120.1,   6.5 (Local)

~Local bearing/azimuth received:
 Bearing 120.1,   6.5 (Local)
]
�DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0
-e
JRead range message, but no direction.e
�not publishing receive ping time as it could be a packet for anyoney�Y
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1�<=ޥ���9��>yޡ�ީQE��F�ީ9��M;�a��>����.Tracking...�.M�direction in vehicle frame: [ 0.307542 forward, 0.946518 starboard, -0.097583 keelward ]�.U8processing response from DAT�.e�rotationFromVehicleToNavigationFrame_ = [ 0.999332,-0.036456,-0.002480;0.036507,0.999023,0.024897;0.001570,-0.024971,0.999687 ]�.e8rangeToContact_ = 0.200000 m�.m�direction in world frame: [ 0.341738 north, 0.936818 east, -0.074750 down ]�.��relPosInFSK: [ 0.061508 forward, 0.189304 starboard, -0.019517 keelward ]�.�|relPosInNED: [ 0.068348 north, 0.187364 east, -0.014950 down ]�.�(Combining 5 samples.�.��Could not read vehicle position; cannot calculate contact position.:C��C��C�\p�p~�?�l)�;�?��'����C�锥AŮ�?�Oa�I�?A��_1����C��C��C��C�+:�?)�5n���?܎N����C���M���?buDBi��?xfHB�"���C�J�?bC��?>jC���=BC�JC�RC�ZC�rC�zC�I�
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���@��?�|�����Bd� J��?�n��?)���@	���V;I���C��Z��=�Z�<D	�^�A��^�AvDAT read: 02:49:33.8701 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 512,-0.31, 0.260,-2.134,-2.092,-1.381, PHS= 1.637,-0.709,-0.726, RAW=  89.6,  -1.7, CAL=  89.9,  -6.5, ROT= 120.1,   6.5
zYgot valid direction response:
 02:49:33.8701 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 512,-0.31, 0.260,-2.134,-2.092,-1.381, PHS= 1.637,-0.709,-0.726, RAW=  89.6,  -1.7, CAL=  89.9,  -6.5, ROT= 120.1,   6.5
zJRead direction message, but no range.~�direction in vehicle frame: [ -0.498287 forward, 0.859590 starboard, 0.113203 keelward ]y�x�z�2]���߿4��&Á�?��5����?��x��x��x��x	�x)�xI�z7��?i�z�5���z#�9���z+�?��z����z���?	�z�V�)�z*'@I�z�V�=��xI�z��K
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rBDAT read: Tx time:02:50:00.4401
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,����(�AY�*��@�����@y�0d";���H�<ٟHJ��?��?`�iY?u������?�|����Ld�lh�?�s��?)�*��@	��zV;I���C��2?�=�2�IDI�4)�6C=��:�<i�:�<FDDAT read: Rx Time:02:50:02.5698 
F6received an acoustic signalJPDAT read: Bearing  71.8,  -6.0 (Local)
N~Local bearing/azimuth received:
 Bearing  71.8,  -6.0 (Local)
V�DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0
��Z�>��Z4<-ZJRead range message, but no direction.Z�not publishing receive ping time as it could be a packet for anyoney�XY�Z��>��X	�b��b�w3��z�<�
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�.�Tracking...�.��direction in vehicle frame: [ -0.498287 forward, 0.859590 starboard, 0.113203 keelward ]�.�8processing response from DAT�.��rotationFromVehicleToNavigationFrame_ = [ 0.999303,-0.037250,-0.002478;0.037300,0.998996,0.024812;0.001551,-0.024888,0.999689 ]�.�8rangeToContact_ = 0.300000 m�.��direction in world frame: [ -0.465701 north, 0.874471 east, 0.135731 down ]�.��relPosInFSK: [ -0.149486 forward, 0.257877 starboard, 0.033961 keelward ]�.�|relPosInNED: [ -0.139710 north, 0.262341 east, 0.040719 down ]�.�(Combining 5 samples.�.��Could not read vehicle position; cannot calculate contact position.:C��C���>�C�a�_ \"ÿ�����?����Tc�?�C��2]���߿4��&Á�?��5����?�C�*'@�C��V�=�C�%h�����&BGU3��?��+٤?�C��P��ݿ^��Ъ��?�T��_�?�C�j�@bC�Q�>jC��BC�JC�RC�ZC�rC�zC�Ʉ��I��Ƀi�!)��	��rB'>
�L�2
,k~6��(�AY����@����@y�:,,;��.A�<ٟH����?`�R�?�h\?��K��`4��?�囙����e��r��?�l��?)����@	�,�V;I���C��2��=�2rODjDAT read: 02:50:02.5698 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 225,-0.42, 0.136,-0.214, 0.078, 0.050, PHS= 0.083,-0.219, 0.014, RAW= 137.4,   9.0, CAL= 138.2,   6.0, ROT=  71.8,  -6.0
~Ygot valid direction response:
 02:50:02.5698 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 225,-0.42, 0.136,-0.214, 0.078, 0.050, PHS= 0.083,-0.219, 0.014, RAW= 137.4,   9.0, CAL= 138.2,   6.0, ROT=  71.8,  -6.0

DDAT read: Rx Time:02:50:03.0699 


6received an acoustic signal
PDAT read: Bearing  69.1,  -7.9 (Local)

~Local bearing/azimuth received:
 Bearing  69.1,  -7.9 (Local)
5
�DAT read: Range 7 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0
]
0Read range and messages.e
�direction in vehicle frame: [ 0.310624 forward, 0.944768 starboard, -0.104528 keelward ]e
�not publishing receive ping time as it could be a packet for anyonee
Fpublishing direction and range infoy�Q
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1�==ޕL�99��>yޙ�ޙQE��F�ޡ9��Y;�a��>��)�.=Tracking...I�-t>)�-l>�.-�direction in vehicle frame: [ 0.310624 forward, 0.944768 starboard, -0.104528 keelward ]�.58processing response from DAT�.��rotationFromVehicleToNavigationFrame_ = [ 0.999358,-0.035732,-0.002627;0.035787,0.999048,0.024931;0.001734,-0.025009,0.999686 ]�.�8rangeToContact_ = 0.500000 m�.��direction in world frame: [ 0.344054 north, 0.935384 east, -0.081758 down ]�.��relPosInFSK: [ 0.155312 forward, 0.472384 starboard, -0.052264 keelward ]�.�|relPosInNED: [ 0.172027 north, 0.467692 east, -0.040879 down ]�.%(Combining 5 samples.�.%�Could not read vehicle position; cannot calculate contact position.:C!�C%?�C%��C��?���;�?4ޮ�`ª��C%��C��?���;�?4ޮ�`º��C%g�?�C%Pwֽ�C%�5�Y��?_�w���?��޾�C%�5�Y��?_�w���?��޾�C%c�?bC%u�>jC%'0>BC!JC!RC!ZC!rC!zC!Ʉ����I����Ƀ�i��)��	��rB}X>1�S�2
,�ZP��(�Aɞ��%=Y�۬�@��R��@y�2';�����<ٟH���?�T��?��Z?@z�����?� ������d��${�?�o��?)�۬�@	���V;I���C��2M�=�2�"DVDAT read: 02:50:03.0699 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.19,-0.030,-0.342,-0.066,-0.092, PHS= 0.058,-0.205, 0.012, RAW= 140.4,  11.1, CAL= 140.9,   7.9, ROT=  69.1,  -7.9
ZYgot valid direction response:
 02:50:03.0699 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.19,-0.030,-0.342,-0.066,-0.092, PHS= 0.058,-0.205, 0.012, RAW= 140.4,  11.1, CAL= 140.9,   7.9, ROT=  69.1,  -7.9
^DDAT read: Rx Time:02:50:03.5698 
^6received an acoustic signalbPDAT read: Bearing  71.9,  -6.0 (Local)
b~Local bearing/azimuth received:
 Bearing  71.9,  -6.0 (Local)
fJRead direction message, but no range.j�direction in vehicle frame: [ 0.353352 forward, 0.925338 starboard, -0.137445 keelward ]j�not publishing receive ping time as it could be a packet for anyoney�d�f}	$HS��?�)�5_��?y��jȗ����d��d��d��d	�d)�fCI�fh�m=i�f��Q���f��D<��f�@��f�aF>��fc@	�f�0
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��? ����@��d�`���?�n��?)����@	��V;I���C��"��=�"cD	�&�A��&�AI�$)�$6�DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0
FDAT read: 02:50:03.5698 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.06,-0.628,-0.950,-0.680,-0.707, PHS= 0.075,-0.198, 0.012, RAW= 137.3,   9.0, CAL= 138.1,   6.0, ROT=  71.9,  -6.0
JYgot valid direction response:
 02:50:03.5698 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.06,-0.628,-0.950,-0.680,-0.707, PHS= 0.075,-0.198, 0.012, RAW= 137.3,   9.0, CAL= 138.1,   6.0, ROT=  71.9,  -6.0
��L��N�AN0Read range and messages.R�direction in vehicle frame: [ 0.308974 forward, 0.945309 starboard, -0.104528 keelward ]RFpublishing direction and range infoy�L�N�JE�<��?^���?�?4ޮ�`º�Y�N��>��L��L��L��L	�L)�NBI�N���=i�N��J���L��N�]@��N|� >��NZB@	�NPw�=)�NK��?I�NPwֽ��LI�N�L�E=.�?���u���?��']�	�?��NMR�>��N� >	�NK��?)�NPwֽ	�n��nyR3��vō=�
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�direction in vehicle frame: [ 0.308974 forward, 0.945309 starboard, -0.104528 keelward ]�.M
8processing response from DAT�.m
�rotationFromVehicleToNavigationFrame_ = [ 0.999338,-0.036299,-0.002556;0.036351,0.999029,0.024908;0.001650,-0.024985,0.999686 ]�.�
8rangeToContact_ = 0.300000 m�.�
�direction in world frame: [ 0.342960 north, 0.935787 east, -0.081739 down ]�.�
�relPosInFSK: [ 0.092692 forward, 0.283593 starboard, -0.031359 keelward ]�.�
|relPosInNED: [ 0.102888 north, 0.280736 east, -0.024522 down ]�.�
(Combining 5 samples.�.�
�Could not read vehicle position; cannot calculate contact position.:C�C��>�C��񘯺�?r���a&�?/��:���C�JE�<��?^���?�?4ޮ�`º��CK��?�C�C�0�s�V�?i��G���?��l4>���C��Q��?�����?[�s�촿�C��?bC��>jC��=BCJCRCZCrCzCɄ����I�
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��<ٟH���?�뼢?��a\?�ĵ��@���?��� @�e�{�?@o��?)����@	���V;I���C��"1�=�"�#DZDDAT read: Rx Time:02:50:04.0698 
Z6received an acoustic signalbPDAT read: Bearing  70.1,  -7.5 (Local)
b~Local bearing/azimuth received:
 Bearing  70.1,  -7.5 (Local)
j�DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

DAT read: 02:50:04.0698 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.07,-0.106,-0.390,-0.142,-0.166, PHS= 0.056,-0.180, 0.009, RAW= 139.3,  10.7, CAL= 139.9,   7.5, ROT=  70.1,  -7.5
%
Ygot valid direction response:
 02:50:04.0698 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.07,-0.106,-0.390,-0.142,-0.166, PHS= 0.056,-0.180, 0.009, RAW= 139.3,  10.7, CAL= 139.9,   7.5, ROT=  70.1,  -7.5
%
0Read range and messages.-
�direction in vehicle frame: [ 0.337468 forward, 0.932244 starboard, -0.130526 keelward ]-
�not publishing receive ping time as it could be a packet for anyone5
Fpublishing direction and range infoy�!
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Tracking...�.�direction in vehicle frame: [ 0.337468 forward, 0.932244 starboard, -0.130526 keelward ]�.
8processing response from DAT�.]�rotationFromVehicleToNavigationFrame_ = [ 0.999329,-0.036543,-0.002644;0.036598,0.999020,0.024883;0.001732,-0.024964,0.999687 ]�.]8rangeToContact_ = 0.300000 m�.e�direction in world frame: [ 0.371133 north, 0.922257 east, -0.108180 down ]�.m�relPosInFSK: [ 0.101240 forward, 0.279673 starboard, -0.039158 keelward ]�.m|relPosInNED: [ 0.111340 north, 0.276677 east, -0.032454 down ]�.�(Combining 5 samples.�.��Could not read vehicle position; cannot calculate contact position.:C��C��C�����?H@_B*��?fT�����C��±|��?�f���?�
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�KĀ�?�>���?Q�4ѝ���C��<����?�R� ��?��z𱱻��C�,�?bC���>jC��=BC�JC�RC�ZC�rC�zC�	�)��)Ʉ���II�I�IɃIi�I)�Q	��rBE0>�"g�2
,���(�A���@i�Y���@��Z��@y�L?!;��v��<ٟH����?��M�?�f�Y?G���2��?���� �'d�����?`i��?)���@	�t�V;I���C��^g�=�^o+Dm
DDAT read: Rx Time:02:50:04.5696 
u
6received an acoustic signal�
PDAT read: Bearing  71.7,  -6.5 (Local)
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~Local bearing/azimuth received:
 Bearing  71.7,  -6.5 (Local)
E�DAT read: Range 7 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0
M�unknown deviceResponse_: Range 7 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0
DAT read: 02:50:04.5696 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.18,-0.035,-0.303,-0.073,-0.097, PHS= 0.058,-0.162, 0.008, RAW= 137.5,   9.6, CAL= 138.3,   6.5, ROT=  71.7,  -6.5
Ygot valid direction response:
 02:50:04.5696 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.18,-0.035,-0.303,-0.073,-0.097, PHS= 0.058,-0.162, 0.008, RAW= 137.5,   9.6, CAL= 138.3,   6.5, ROT=  71.7,  -6.5
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F6received an acoustic signalJPDAT read: Bearing  70.7,  -6.5 (Local)
N~Local bearing/azimuth received:
 Bearing  70.7,  -6.5 (Local)
V�DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0
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�direction in vehicle frame: [ 0.311974 forward, 0.943322 starboard, -0.113203 keelward ]�.

8processing response from DAT�.��rotationFromVehicleToNavigationFrame_ = [ 0.999389,-0.034861,-0.002520;0.034913,0.999076,0.025053;0.001644,-0.025126,0.999683 ]�.�8rangeToContact_ = 0.300000 m�.��direction in world frame: [ 0.344532 north, 0.934420 east, -0.090320 down ]�.��relPosInFSK: [ 0.093592 forward, 0.282997 starboard, -0.033961 keelward ]�.M|relPosInNED: [ 0.103360 north, 0.280326 east, -0.027096 down ]�.U(Combining 5 samples.�.U�Could not read vehicle position; cannot calculate contact position.:CQ�CQ�CU6����?��\��?����Tc���CUp&�b��?,	6��/�?��5������CU�-�?�CU�V��CU�����u�?K�!���?���U
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DAT read: 02:50:33.2694 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 224, 0.27,-1.206,-1.469,-1.239,-1.265, PHS= 0.055,-0.160, 0.011, RAW= 138.6,   9.6, CAL= 139.3,   6.5, ROT=  70.7,  -6.5
-
Ygot valid direction response:
 02:50:33.2694 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 224, 0.27,-1.206,-1.469,-1.239,-1.265, PHS= 0.055,-0.160, 0.011, RAW= 138.6,   9.6, CAL= 139.3,   6.5, ROT=  70.7,  -6.5
5
DDAT read: Rx Time:02:50:33.7694 
5
6received an acoustic signalE
PDAT read: Bearing  69.2,  -8.1 (Local)
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�direction in vehicle frame: [ 0.328390 forward, 0.937734 starboard, -0.113203 keelward ]e
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Tracking...�.�
�direction in vehicle frame: [ 0.328390 forward, 0.937734 starboard, -0.113203 keelward ]�.�
8processing response from DAT�.�
�rotationFromVehicleToNavigationFrame_ = [ 0.999347,-0.036048,-0.002505;0.036100,0.999038,0.024913;0.001604,-0.024987,0.999686 ]�.�
8rangeToContact_ = 0.300000 m�.�
�direction in world frame: [ 0.361846 north, 0.927822 east, -0.090629 down ]�.�
�relPosInFSK: [ 0.098517 forward, 0.281320 starboard, -0.033961 keelward ]�.�
|relPosInNED: [ 0.108554 north, 0.278347 east, -0.027189 down ]�.�
(Combining 5 samples.�.�Could not read vehicle position; cannot calculate contact position.:C
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�?����Tc���Cn��V�?�4���
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s3���Cw�?bC��>jCQ�=BC
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Ʉ9��9I�9�9Ƀ9i�A)�I	�arB��=�>�2
,kd���(�AY���@�����@y��(;��^|�<ٟH����?��j�?�Y?@#d��%��?@������c��؎�?�l��?)���@	��V;I���C��2��=�23DI�6�=)�4��pi�p]
DAT read: 02:50:33.7694 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 481,-0.49,-2.842, 3.130,-2.878,-2.904, PHS= 0.058,-0.206, 0.010, RAW= 140.3,  11.3, CAL= 140.8,   8.1, ROT=  69.2,  -8.1
e
Ygot valid direction response:
 02:50:33.7694 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 481,-0.49,-2.842, 3.130,-2.878,-2.904, PHS= 0.058,-0.206, 0.010, RAW= 140.3,  11.3, CAL= 140.8,   8.1, ROT=  69.2,  -8.1
m
DDAT read: Rx Time:02:50:34.2693 
m
6received an acoustic signal�
PDAT read: Bearing  69.1,  -8.2 (Local)
�
~Local bearing/azimuth received:
 Bearing  69.1,  -8.2 (Local)
�ץ
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JRead direction message, but no range.�
�direction in vehicle frame: [ 0.351564 forward, 0.925500 starboard, -0.140901 keelward ]�
�not publishing receive ping time as it could be a packet for anyoneyڡ
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15=��1�9�>y�	��IQEU�F��Q9�]a�9�a]�>��a�.uTracking...Ʉ����I��郉Ƀ�i��)��	�QrB�>S�E�2
,�<��(�AY���@�����@y��*;�����<ٟH@���?��?��
\?�����P��?O����v@e� ^��?j��?)���@	���V;I���"u=�"�Dj�DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0
~DAT read: 02:50:34.2693 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.27, 2.157, 1.839, 2.120, 2.095, PHS= 0.059,-0.211, 0.010, RAW= 140.4,  11.4, CAL= 140.9,   8.2, ROT=  69.1,  -8.2

Ygot valid direction response:
 02:50:34.2693 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.27, 2.157, 1.839, 2.120, 2.095, PHS= 0.059,-0.211, 0.010, RAW= 140.4,  11.4, CAL= 140.9,   8.2, ROT=  69.1,  -8.2


0Read range and messages.
�direction in vehicle frame: [ 0.353091 forward, 0.924653 starboard, -0.142629 keelward ]
Fpublishing direction and range infoy�	
�

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Tracking...�.m
�direction in vehicle frame: [ 0.353091 forward, 0.924653 starboard, -0.142629 keelward ]�.m
8processing response from DAT�.�
�rotationFromVehicleToNavigationFrame_ = [ 0.999373,-0.035309,-0.002594;0.035363,0.999062,0.024991;0.001709,-0.025068,0.999684 ]�.�
8rangeToContact_ = 0.200000 m�.�
�direction in world frame: [ 0.385324 north, 0.914894 east, -0.120391 down ]�.�
�relPosInFSK: [ 0.070618 forward, 0.184931 starboard, -0.028526 keelward ]�.�
|relPosInNED: [ 0.077065 north, 0.182979 east, -0.024078 down ]�.�
(Combining 5 samples.�.�
�Could not read vehicle position; cannot calculate contact position.:C�
�C�
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,`#1��(�Aɞ��Y�Ȭ�@��?��@y��_&;��0��<ٟH����?�{��?�!�Z? �����	��?Ց�����d��}�?@o��?)�Ȭ�@	���V;I���C��>J�=�>�,DvDDAT read: Rx Time:02:50:34.7695 
v6received an acoustic signal=
PDAT read: Bearing  71.6,  -6.6 (Local)
=
~Local bearing/azimuth received:
 Bearing  71.6,  -6.6 (Local)
M
�DAT read: Range 7 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0
u
DAT read: 02:50:34.7695 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX=   1,-0.13,-2.445,-2.784,-2.499,-2.525, PHS= 0.076,-0.215, 0.011, RAW= 137.7,   9.7, CAL= 138.4,   6.6, ROT=  71.6,  -6.6
uYgot valid direction response:
 02:50:34.7695 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX=   1,-0.13,-2.445,-2.784,-2.499,-2.525, PHS= 0.076,-0.215, 0.011, RAW= 137.7,   9.7, CAL= 138.4,   6.6, ROT=  71.6,  -6.6
}0Read range and messages.}�direction in vehicle frame: [ 0.313557 forward, 0.942588 starboard, -0.114937 keelward ]��not publishing receive ping time as it could be a packet for anyone�Fpublishing direction and range infoy�y�}]R�R�?��n�)�?�N�Z�l��Y�}?��y��y��y��y	�y)�}EI�}㥛=i�}�(\���}X94<��}��@��}-\->��}#�@	�}���=)�}���?I�}��뽩�yI�}��)���?��$��1�?6�����?��}MM�>��}|->	�}���?)�}���	���������Ʋ���X�<�
1M2=�M���9M�>y�Q��QQEU�F��Q9�]���a]�>��a�.�Tracking...�.��direction in vehicle frame: [ 0.313557 forward, 0.942588 starboard, -0.114937 keelward ]�.�8processing response from DAT�.5�rotationFromVehicleToNavigationFrame_ = [ 0.999337,-0.036321,-0.002539;0.036373,0.999028,0.024895;0.001632,-0.024970,0.999687 ]�.58rangeToContact_ = 0.500000 m�.=�direction in world frame: [ 0.347446 north, 0.933153 east, -0.092232 down ]�.=�relPosInFSK: [ 0.156779 forward, 0.471294 starboard, -0.057469 keelward ]�.�|relPosInNED: [ 0.173723 north, 0.466576 east, -0.046116 down ]�.�(Combining 5 samples.�.��Could not read vehicle position; cannot calculate contact position.:C��C�?�C�]R�R�?��n�)�?�N�Z�l���C�]R�R�?��n�)�?�N�Z�l���C����?�C�����C����<�?�q|:c��?��,\�����C����<�?�q|:c��?��,\�����C�Ap�?bC���>jC��1>BC�JC�RC�ZC�rC�zC�Ʉ����I����Ƀ�i��)��	�YrB�?>q�R�2
,��J��(�AY�k��@�����@y�v�';���&�<ٟH����?`c��?�K[?`~~�����?� ���@m�d�(��?n��?)�k��@	�Q�V;I���Bӗ=�B�:D	�F�A��F�AI�H)�HRDDAT read: Rx Time:02:50:35.2694 
V6received an acoustic signalZPDAT read: Bearing  69.1,  -8.0 (Local)
Z~Local bearing/azimuth received:
 Bearing  69.1,  -8.0 (Local)
f�DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0
��d��d-jJRead range message, but no direction.j�not publishing receive ping time as it could be a packet for anyoney�hY�j��>��h	�n������n�^���vb�<�
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�direction in vehicle frame: [ 0.313557 forward, 0.942588 starboard, -0.114937 keelward ]�.�
8processing response from DAT�.�
�rotationFromVehicleToNavigationFrame_ = [ 0.999344,-0.036121,-0.002558;0.036174,0.999035,0.024918;0.001655,-0.024994,0.999686 ]�.�
8rangeToContact_ = 0.300000 m�.=�direction in world frame: [ 0.347258 north, 0.933224 east, -0.092216 down ]�.E�relPosInFSK: [ 0.094067 forward, 0.282776 starboard, -0.034481 keelward ]�.E|relPosInNED: [ 0.104178 north, 0.279967 east, -0.027665 down ]�.M(Combining 5 samples.�.M�Could not read vehicle position; cannot calculate contact position.:CI�CM��>�CM���
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�?�1B�����CM]R�R�?��n�)�?�N�Z�l���CI�CI�CM�飃`��?�J'���?Ji�� T���CM���	{9�?������?Œf{p����CM�v�?bCMW�>jCM[�=BCIJCIRCIZCIrCIzCIɄ����I����Ƀ�i��)��	��rB	>�X�2
,}�d��(�AY�Ϻ�@��F��@y��I);���1�<ٟH���?`o��?@�\?@^���`���?����:)e�����? g��?)�Ϻ�@	���V;I���"��=�"�;D>DAT read: 02:50:35.2694 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.01,-3.084, 2.900,-3.118, 3.140, PHS= 0.055,-0.196, 0.010, RAW= 140.4,  11.3, CAL= 140.9,   8.0, ROT=  69.1,  -8.0
BYgot valid direction response:
 02:50:35.2694 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.01,-3.084, 2.900,-3.118, 3.140, PHS= 0.055,-0.196, 0.010, RAW= 140.4,  11.3, CAL= 140.9,   8.0, ROT=  69.1,  -8.0
FJRead direction message, but no range.F�direction in vehicle frame: [ 0.353266 forward, 0.925113 starboard, -0.139173 keelward ]y�@�BJ�Y��?���F���?H�@�l�����@��@��@��@	�@)�BCI�B�Ga=i�B9�H���B
�#<��B�@��B��I>��Bc@	�B5�>)�B�^�?I�B5����@I�B���:m�?�:�T���?���9j�?��B���>��B��I>	�B�^�?)�B5��	�r��rƱ��z*�:�
1zJ=�~S�89�>y���QE�F��9�%mk;�a%�>��)�.}Tracking...Ʉ����I��郙Ƀ�i��)��	�
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BBDAT read: Tx time:02:51:01.8393
B$Ping request sent.F<transmitted an acoustic signalF:publishing transmit ping time��@	�F��FyR3��R���
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b6received an acoustic signalfPDAT read: Bearing  69.7,  -7.3 (Local)
j~Local bearing/azimuth received:
 Bearing  69.7,  -7.3 (Local)
r�DAT read: Range 7 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0
-vJRead range message, but no direction.v�not publishing receive ping time as it could be a packet for anyoney�tY�t��t	�z��z�2��
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�>���.-Tracking...�.5�direction in vehicle frame: [ 0.353266 forward, 0.925113 starboard, -0.139173 keelward ]�.58processing response from DAT�.U�rotationFromVehicleToNavigationFrame_ = [ 0.999337,-0.036299,-0.002709;0.036355,0.999031,0.024821;0.001805,-0.024903,0.999688 ]�.U8rangeToContact_ = 0.300000 m�.]�direction in world frame: [ 0.386413 north, 0.914859 east, -0.117124 down ]�.e�relPosInFSK: [ 0.105980 forward, 0.277534 starboard, -0.041752 keelward ]�.e|relPosInNED: [ 0.115924 north, 0.274458 east, -0.035137 down ]�.m(Combining 5 samples.�.m�Could not read vehicle position; cannot calculate contact position.:Ci�Ci�Cm� Oa!�?d��i��?�I�Y�`���CmJ�Y��?���F���?H�@�l����Cm�^�?�Cm5���Cm7+�51��?��u궐�?v
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DAT read: 02:51:03.9690 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208,-0.20, 0.944, 0.623, 0.904, 0.876, PHS= 0.065,-0.209, 0.013, RAW= 139.7,  10.5, CAL= 140.3,   7.3, ROT=  69.7,  -7.3
5
Ygot valid direction response:
 02:51:03.9690 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208,-0.20, 0.944, 0.623, 0.904, 0.876, PHS= 0.065,-0.209, 0.013, RAW= 139.7,  10.5, CAL= 140.3,   7.3, ROT=  69.7,  -7.3
=
DDAT read: Rx Time:02:51:04.4689 
=
6received an acoustic signalE
PDAT read: Bearing  68.7,  -8.7 (Local)
M
~Local bearing/azimuth received:
 Bearing  68.7,  -8.7 (Local)
]
�DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0
��Y
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0Read range and messages.m
�direction in vehicle frame: [ 0.344124 forward, 0.930287 starboard, -0.127065 keelward ]m
�not publishing receive ping time as it could be a packet for anyonem
Fpublishing direction and range infoy�a
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Tracking...�.�
�direction in vehicle frame: [ 0.344124 forward, 0.930287 starboard, -0.127065 keelward ]�.�
8processing response from DAT�.�
�rotationFromVehicleToNavigationFrame_ = [ 0.999377,-0.035207,-0.002614;0.035261,0.999066,0.024983;0.001732,-0.025060,0.999684 ]�.�
8rangeToContact_ = 0.200000 m�.�
�direction in world frame: [ 0.376492 north, 0.920486 east, -0.104682 down ]�.�
�relPosInFSK: [ 0.068825 forward, 0.186057 starboard, -0.025413 keelward ]�.|relPosInNED: [ 0.075298 north, 0.184097 east, -0.020936 down ]�.(Combining 5 samples.�.
�Could not read vehicle position; cannot calculate contact position.:C	�C
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>�? Ѩ\? �6��@?��? ����@��e�@,��?l��?)�*��@	�*��V;I�*��C��B��=�B�<D	�F~A��F�AjDAT read: 02:51:04.4689 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 479,-0.04,-0.382,-0.686,-0.415,-0.439, PHS= 0.053,-0.203, 0.009, RAW= 140.7,  11.9, CAL= 141.3,   8.7, ROT=  68.7,  -8.7
nYgot valid direction response:
 02:51:04.4689 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 479,-0.04,-0.382,-0.686,-0.415,-0.439, PHS= 0.053,-0.203, 0.009, RAW= 140.7,  11.9, CAL= 141.3,   8.7, ROT=  68.7,  -8.7
rDDAT read: Rx Time:02:51:04.9690 
v6received an acoustic signalvPDAT read: Bearing  72.3,  -7.7 (Local)
z~Local bearing/azimuth received:
 Bearing  72.3,  -7.7 (Local)
zJRead direction message, but no range.~�direction in vehicle frame: [ 0.359072 forward, 0.920971 starboard, -0.151261 keelward ]
�not publishing receive ping time as it could be a packet for anyoney�x�z������?`��L�x�?ni���\ÿ��x��x��x��x	�x)�zCI�z�Y=i�z;�O���z�t<��z�)@��zȭT>��zh�@	�z�|>)�z.z�?I�z�|���xI�z2�\�H�?y^Vſ0�?���V�?��z�n�>��zF9T>	�z.z�?)�z�|�	�
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DAT read: 02:51:04.9690 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.63, 2.119, 1.577, 2.013, 1.991, PHS= 0.124,-0.370, 0.007, RAW= 136.9,  10.7, CAL= 137.7,   7.7, ROT=  72.3,  -7.7

Ygot valid direction response:
 02:51:04.9690 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.63, 2.119, 1.577, 2.013, 1.991, PHS= 0.124,-0.370, 0.007, RAW= 136.9,  10.7, CAL= 137.7,   7.7, ROT=  72.3,  -7.7

0Read range and messages.%
�direction in vehicle frame: [ 0.301292 forward, 0.944072 starboard, -0.133986 keelward ]%
Fpublishing direction and range infoy�
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�direction in vehicle frame: [ 0.301292 forward, 0.944072 starboard, -0.133986 keelward ]�.�
8processing response from DAT�.�
�rotationFromVehicleToNavigationFrame_ = [ 0.999303,-0.037244,-0.002533;0.037295,0.998996,0.024818;0.001606,-0.024895,0.999689 ]�.�
8rangeToContact_ = 0.300000 m�.�
�direction in world frame: [ 0.336076 north, 0.935238 east, -0.111277 down ]�.�
�relPosInFSK: [ 0.090387 forward, 0.283221 starboard, -0.040196 keelward ]�.�
|relPosInNED: [ 0.100823 north, 0.280571 east, -0.033383 down ]�.�
(Combining 5 samples.�.�
�Could not read vehicle position; cannot calculate contact position.:C�
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DDAT read: Rx Time:02:51:05.4688 


6received an acoustic signal
PDAT read: Bearing  71.4,  -6.5 (Local)

~Local bearing/azimuth received:
 Bearing  71.4,  -6.5 (Local)
-
�DAT read: Range 7 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0
-
�unknown deviceResponse_: Range 7 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0
U
DAT read: 02:51:05.4688 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 479, 0.22, 1.428, 1.163, 1.391, 1.367, PHS= 0.057,-0.160, 0.009, RAW= 137.9,   9.6, CAL= 138.6,   6.5, ROT=  71.4,  -6.5
]
Ygot valid direction response:
 02:51:05.4688 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 479, 0.22, 1.428, 1.163, 1.391, 1.367, PHS= 0.057,-0.160, 0.009, RAW= 137.9,   9.6, CAL= 138.6,   6.5, ROT=  71.4,  -6.5
��]
�=��]
4<]
JRead direction message, but no range.e
�direction in vehicle frame: [ 0.316909 forward, 0.941676 starboard, -0.113203 keelward ]m
�not publishing receive ping time as it could be a packet for anyoney�Y
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1�G=��899��>y�����QE��F���9��h�:�a��>����.�Tracking...Ʉ����I��郉Ƀ�i��)��	��rB>[=�2
,q���(�AY����@��%��@y��l-;���@�<ٟH���?��Q�? "�\?�VJ���4��?@
������e�@j��?�l��?)����@	�?�V;I���C��2M�=�2�"DI�6C=)�6R=zDDAT read: Rx Time:02:51:05.9689 
z6received an acoustic signal
PDAT read: Bearing  69.0,  -8.0 (Local)

~Local bearing/azimuth received:
 Bearing  69.0,  -8.0 (Local)

�DAT read: Range 7 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0
�
DAT read: 02:51:05.9689 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.51, 1.088, 0.793, 1.055, 1.030, PHS= 0.054,-0.193, 0.011, RAW= 140.5,  11.2, CAL= 141.0,   8.0, ROT=  69.0,  -8.0
�
Ygot valid direction response:
 02:51:05.9689 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX=   0, 0.51, 1.088, 0.793, 1.055, 1.030, PHS= 0.054,-0.193, 0.011, RAW= 140.5,  11.2, CAL= 141.0,   8.0, ROT=  69.0,  -8.0
�
0Read range and messages.�
�direction in vehicle frame: [ 0.354880 forward, 0.924495 starboard, -0.139173 keelward ]�
�not publishing receive ping time as it could be a packet for anyone�
Fpublishing direction and range infoyڡ
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1u0=�u�89}�>y�y��yQE}�F��y9��;�a��>����.�Tracking...�.��direction in vehicle frame: [ 0.354880 forward, 0.924495 starboard, -0.139173 keelward ]�.�8processing response from DATI�))�-p>�.=�rotationFromVehicleToNavigationFrame_ = [ 0.999358,-0.035723,-0.002646;0.035778,0.999049,0.024931;0.001753,-0.025009,0.999686 ]�.=8rangeToContact_ = 0.200000 m�.E�direction in world frame: [ 0.387486 north, 0.914418 east, -0.117020 down ]�.��relPosInFSK: [ 0.070976 forward, 0.184899 starboard, -0.027835 keelward ]�.�|relPosInNED: [ 0.077497 north, 0.182884 east, -0.023404 down ]�.�(Combining 5 samples.�.��Could not read vehicle position; cannot calculate contact position.:C��C��L>�C�@S��|+�?��
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