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J`?{`fה?@i?)a@ V;IqC"r=&s[D . .76 = 16M=6199:>y88QE:|E89>Ŵ:a>> BDBDBD"BDɄLLLILLɃPiP)T \9drBj)=>)\> ,ZXp(AɞYa@@yNT7; c<ٟH|?Q? -[?@5J?Jf? k?)a@ ҋV;I2=2.dDI8):A<>A V VJ7^ < 1^E=b9b>y``QEf|Ed9f\7af> BlBlBl"BlɄx I Ƀi) 19ArBM+=\> ,_rp(AYiY@ؒ@y3;<ٟH@?է? 9Y?ͧ?`tf u?o?)iY@  V;IrC"="wD 2 2k7~Ț< 1F=9>y QE |E 9 a> BBB"B!Ʉ))1I11Ƀ1i1)9 Q9arBm;="\> ,*;p(AYV@k@y 5;u<ٟH ? ?`GZ?`z? ۈfm?@q?)V@ V;IqC2Y=2RD v vJ7] 1eD=e89e>yiiQEm|Ei9ud:au> BBB"BɄI郙Ƀi) 9rBq= 11)\> ,Hp(AiY V@x@y6;}]<ٟH? ? Z?`o?-fj?q?) V@ V;IpC2=2uDpiptt v vo7~= 1~Q=o89>y QE |E 9 &a > BBB"BɄ)))I)1Ƀ1i1)9 I9rB=>/\> ,p(AY$R@@y6;<ٟH?JI?%oZ? BC?tfY? u?)$R@ ׳V;IsCB&=BBAD  7E)N 1MF=M#9M>yIQQEU|EQ9Uǖa]> BaBaBi"BiɄqqyIyyɃyi) 9rBb=&6\> ,p(AYZ@@y@7;<ٟH@$? ʧ?`.Z?§?`yfh}?m?)Z@ V;I2r=2s[D j jo7r< 1rQ=r79v>yttQEv|Et9z";az> BBB"BɄIɃi)! 19ArBM-=I1)5l>uP<\> ,]p(Aɞ%=Y*V@@y5;B<ٟH`??Z?m? 6f`{?n?)*V@ /V;IrC:=:lDIH)JALL N N7V< 1VN=Z1и9Z>yX\QE^|E\9^Ꞻab> BdBdBd"BdɄlllIppɃpip)t 9rBa=8C\> , q(AYf[@Ք@yk0;3<ٟH 4??4Y?*?fQ?j?)f[@ lV;I6=:^D v v7-[ 1-C=-M!9->y11QE5|E19=:a=> BIBIBI"BIɄQIɃi) 9rB =bI\> ,^'q(AYJY@@y);?<ٟH?z֧? gW?ϧ`?_=>e Ԑ?@k?)JY@ aV;I>=B.dD  7E; 1MH=M9M>yIQQEU|EQ9U}%a]> BaBaBi"BiɄqqyIyyɃyi) 9rBc= 11XJP\> ,7Aq(A"@i Y.P@.T@y.i-;.5<ٟ.H@?\?W?` V2?  4ef?`s?).P@ .V;I,j#=jKD9i=yaaQEe|Ea9mD%am> BqByBy"ByɄI郉Ƀi) 9rBk=)Y Y ѵ G Y zV\> ,,[q(AY"Y@"T@y".;"]d<ٟ"H`"? ͧ?ॱX?4Ƨ`?Ke׋?k?)"Y@ "V;I"tCJr=Js[D Z Z7҅< 1M=%Ru89%>y!!QE%|E)95;a> BBB"BɄIɃi) 9!rBM=ҧ\\> ,uq(AYX@@y m.;_<ٟH@?`?X? ܧ@?@e@A?l?)X@ V;IqC*<=*SD=>Zgot command run ./Missions/lab_range_test.xml"B\Loading Mission: ./Missions/lab_range_test.xml 2 297m:޻ 1m7=me9m>yqqQEu|Eq9}ùa}>Ʉw:I郑Ƀi)!B"lDefineArg lab_range_test.MissionTimeout = 2.000000 min!B"nDefineArg lab_range_test.ContactLabel = 50.000000 count !eBe@"tDefineArg lab_range_test.TrackingUpdatePeriod = 5.000000 s!B$@"pDefineArg lab_range_test.NumberOfPings = 10.000000 count!B"ZDefineArg lab_range_test.ContactDepth = nan ma9irB>aaaaaaaaaaaaaaaa%a%a%a % /Construct Wait.", LAB TEST MISSION - ping remote xponder Maximum duration of mission 2 The acoustic address of the asset to be tracked 50 How long to wait between acoustic queries 5 Number of return pings to request with each acoustic query (more than 1 will activate oneway mode) 10 The acoustic address of the asset to be tracked NaN =JRunning ./Missions/lab_range_test.xmlI%l>)%i>jc\> ,Ɏq(Aɞ =YdZ@ӓ@yW1;mz<ٟH (?>ŧ?OY?@F?x *f? k?)dZ@ V;IrC"=",LDIP)PVAVAVT****** received valid address query ******VR****** received valid ping request ******ZQuerying Benthos address 50 with 5 pings in terminal homing one-way mode.Z8****** ping requested ****** Z Z7} 1}J=}89}>yށށQE|Eށ9:a> '>Aggregate::uninitialize Default1 (DUninitialize GoToSurfaceComponent.q(NAggregate::uninitialize Default:CheckIn" bCI=:CBCJCRCjCrCɄQQIQQɃQiY)Y 9rB*>i\> ,㨨q(AYh]@ז@yo8;/g<ٟH@K?d?"[??%g1?k?)h]@ V;ItCb=b/DM.DAT read: UART Wakeup UDAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP UcommRate: 800]T****** received valid address query ******]R****** received valid ping request ****** ] ]c7݅g 1[=ލ-99>yމމQE|Eޑ9\:a>.Tracking...ɄIIIQɃQiQ)Y q9rB=Rp\> ,q(AY7Y@@yF-7;0<ٟH?`Oا? Z?ѧ? ;f2?m?)7Y@ bV;IpCE5=MtgDT****** received valid address query ******R****** received valid ping request ******  7U= 1A=O9>y!!QE%|E!9-a->.]Tracking...ɄaiIiiɃiii) 9rB> 11,v\> ,]q(AiYP@C@y`-;ǁ<ٟH?]?W?W0?& eo?q?)P@ OV;IsC"="rOD&%=i&=(*<.T****** received valid address query ******.R****** received valid ping request ****** . .75Ҽ 1\=%ӹ9%>y!!QE%|E)9-4a->.=Tracking...ɄIIIIIɃIiQ)Q 9rB="|\> ,;q(AYP@=@yW.;M<ٟH ?`A^?@WX?zW1? e i?r?)P@ KV;IqC"#="KD.T****** received valid address query ******.R****** received valid ping request ****** E E7eW 1eF=mr89m>yiiQEu|Eq9+a>.Tracking...ɄIɃi) Q9arBm=Ճ\> ,r(AY+Z@@y3;$<ٟH@%?ȧ?Y? ?C{f`惙?m?)+Z@ ǑV;ItC"="lD*T****** received valid address query *******R****** received valid ping request ****** * *7NM= 1RX=RP99R>yTTQEV|ET9ZE;aZ>.Tracking...ɄIɃi) I9rB=I=t>)=l>\> ,)r(Aɞ YsV@@y2.;<ٟH`? ? eX?Dr?q@ev? p?)sV@ xV;IsC"y="GDI()*A2A02T****** received valid address query ******2R****** received valid ping request ****** 6 6-7Fg 1FL=Jb9J>yHHQEJ|EH9NQaN>.Tracking...ɄIɃi)! 19rB=\> ,Cr(AYDX@@y3;ݔ<ٟH?@N?rY?<৿ ? h^~fq?p?)DX@ V;I"="rOD*T****** received valid address query ******.R****** received valid ping request ****** . .V7e; 1m==mT99m>yqqQEu|Eq9}U:a}>.Tracking...ɄIɃi) 9rB=\> ,n]r(AYW@l@y0;9<ٟH ?? t!Y?䧿? f@s?p?)W@ V;IF5=FtgD hDAT read: Forwarding Delay UpTx time:16:05:03.1387 unknown deviceResponse_: Forwarding Delay UpTx time:16:05:03.1387 T****** received valid address query ******R****** received valid ping request ****** eo< 1eJ=m9m>yiqQEu|Eq9}ίa}>.Tracking...ɄI郙Ƀi) 9rBw= 11:\> ,}wr(A@i YaV@Џ@y`~+;<ٟH? ? uW?dp?ᔙ`oe`{?`o?)aV@ V;IrC"="`D~=i~<;T****** received valid address query ******R****** received valid ping request ******   7]fӻ 1eK=e3R9e>yiiQEm}Ei9mau>.}Tracking...ɄI郉Ƀi) 9rBk=#\> ,Yr(AYZ@>@y2;D <ٟH-? ?Y?`?`?m?)Z@ V;IqC2=2FDfT****** received valid address query ******fR****** received valid ping request ****** f f7 ؼ 1 P= /99 >yQE}E-|GA]ZA ӉY҉9X:a>.Tracking...ɄIɃi) 9rB==M\> ,a5r(AY5\@@yu;;6<ٟHyPPQER}EP9Vw9aV>.^Tracking...ɄddIddɃdih)h t9|rB=I5p>)14\> ,r(Aɞ %=Y#T@@ym7;<ٟH?s)?`Z?9"V?fgx?n?)#T@ V;ItC"="ӒDI&=)&R=I()*A,.A.T****** received valid address query ******.R****** received valid ping request ****** 2 27u+= 1u==u29}>yyyQE}}Ey9a>.Tracking...ɄI郡Ƀi) 9rBv=,_\> ,_r(AY8R@@y8;e<ٟH`? )H?@Z?@?? }g`q?p?)8R@ KV;IsC2`=2?DBT****** received valid address query ******BR****** received valid ping request ****** F F7Jݽ 1NY=Nn89R>yPPQER}EP9V#aV>.^Tracking....bfupdate period (5.000000 s) has elapsed, querying....b(*** querying DAT ***"C`*Cb ɄhhIhhɃhil)p |9rB =׊\> ,r(AYV@3@y8#:;˴<ٟH? ? e[?`5v?@eDgu? o?)V@ ܱV;IpC2=2tD:T****** received valid address query ******:R****** received valid ping request ****** : :7RU= 1VI=V6N89V>yXXQEZ}EX9Z/:a^>.fTracking...ɄllIllɃlip)p |9 rB= 11p\> ,Us(A i@YW@q@yz;;<ٟH? ?`[?`Vx?`\og x?n?)W@ uV;IqC"="rOD &A$R%=iRp=V?V4<VT****** received valid address query ******VR****** received valid ping request ****** Z Z7ݥL 1;=ޭD89>yޱޱQE}Eޱ98a>.Tracking...ɄIɃi) A9QrB]=B\> ,|,s(AY!R@@y2;V<ٟH?KI? 9fY?PB@?`Ąv]f&j? r?)!R@ UV;IrC2=2hDT****** received valid address query ******R****** received valid ping request ******  7Ek< 1MQ=MԮ9M>yIQQEU}EQ9U[Ǻa]>.eTracking...ɄqqIqyɃyiy) 9rBa=\> ,WFs(AY\@@y-;<ٟHA??{X??@e ?j?)\@ V;I2y=2GDfT****** received valid address query ******fR****** received valid ping request ****** f f7 v 1 N= S9 >yQE}E9R;a>.%Tracking...Ʉ11IQQɃQiY)Y q9rB=I5x>)1\> ,4`s(Aɞ=YW@@y32;2<ٟH??@jY?駿}?@ٟ`{Ff ?l?)W@ fV;IqC2̧=2ZNDI4)4I8):A<<BT****** received valid address query ******BR****** received valid ping request ****** B B7f-; 1fN=f699f>yhhQEj}Eh9nĺan>.rTracking...ɄxxIxxɃ|i|) 9!rB-=c\> , zs(AY3`@@y86;"h<ٟH l?h?CZ?@oa?覙fP? k?)3`@ rV;I2޾=6jD>T****** received valid address query ******>R****** received valid ping request ****** B B7m"< 1m@=u/99u>yqqQE}}Ey9} ;a>.Tracking...ɄI郡Ƀi) 9rB=:\> ,s(AYW@L@y1;<ٟH ? ?\Y?槿?X9f=y?@o?)W@ V;IoC"="hD*T****** received valid address query *******R****** received valid ping request ****** . .%7Fe 1FZ=FX9J>yHHQEJ}EH9N1a}>.Tracking...ɄI郹Ƀi) 9rB= 11 \> ,­s(A@iYaQ@Њ@y%,;O<ٟH@?`T?@GW?MN7?`ࡄeGi?r?)aQ@ 1V;IqC"="rOD &A$*=i*=24<2<2T****** received valid address query ******2R****** received valid ping request ****** 6 67:e˼ 1>L=>a9>>y@@QEB}E@9F6aF>.JTracking...ɄPPIPPɃTiT)X `9hrBn<J\> ,s(AYQZ@@y,*;v<ٟH'?Ƨ?`W?@v@?Ee ?k?)QZ@ xV;ItC"5="tgD.T****** received valid address query ******.R****** received valid ping request ****** . .7F < 1FI=F9J>yHHQEJ}EH9N/;aN>.VTracking...Ʉ\\I\\Ƀ\i`)` l9trBz<)ҍX= ҍC~G =;Y9\> ,x{s(AY`@i@y *;K<ٟH v? [?W? U ?Be?`f?)`@ V;IsC2=2WDfT****** received valid address query ******fR****** received valid ping request ****** f f7 } 1 C= P9 >yQE}E9:a>.-Tracking...Ʉ19I99Ƀ9iA)A Y9irBuA=I5p>)5p>Q%\> ,Ts(AɞY`@@yN);2<ٟH@q? b?eW?`[?@3e ? g?)`@ (V;IoC&#=&KDI&=)&C=Ip)rAvAvAvT****** received valid address query ******vR****** received valid ping request ****** v v-7-[? 1-H=-9->y11QE5}E19=a=>.ETracking...ɄQQIQYɃYiY)a q9rBO=d ]> ,0t(AYa@@y(;G<ٟH}?R? DW?L? e @?f?)a@ V;IqC2=2usDfT****** received valid address query ******fR****** received valid ping request ****** f f7= 1?=o9>yQE}E99a>.Tracking...Ʉ  I Ƀi) 19ArBM=7 ]> , /t(AYW@@ys,;`<ٟH ??5X?'x?e|?o?)W@ V;I:.=:{DRT****** received valid address query ******RR****** received valid ping request ****** R R7Z< 1Z`=^W99^>y\`QEb}E`9bdaf>.jTracking....nfupdate period (5.000000 s) has elapsed, querying....n(*** querying DAT ***"Cl*ClɄttIttɃtix)x 9rB%= 99]> ,Ht(A@i YLa@@yF,;<ٟHy?@V?@WX?O?సe@?h?)La@ V;IrC"="9D &A$(i*<.p<.p<.T****** received valid address query ******.R****** received valid ping request ****** 2 2{7ݍv 1==ޕɷ9>yޑޙQE}Eޙ9H=;a>.Tracking...ɄI郹Ƀi) 9rB=J]> ,Gbt(AYa@@y++;<<ٟH|?R?l X?K?`e`R? h?)a@ YV;I2*=2uD>T****** received valid address query ******>R****** received valid ping request ****** B B7F= 1J\=JW9J>yLLQEN}EL9RU8aR>.VTracking...Ʉ\`I``Ƀ`i`)d 9rBs]> ,|t(AYR@@yM2;F<ٟH?B?-EY?<E? Ifh?r?)R@ ݎV;IsC"8="]D*T****** received valid address query *******R****** received valid ping request ****** . .7F 1FK=F99J>yHHQEJ}EH9N*aN>.VTracking...Ʉ\\I\\Ƀ\i`)` l9trBz)5{>\%]> ,N}t(Aɞ%=%=YS@@y0;F<ٟH`?&:?X?@E3I?Tuf6w?o?)S@ V;I"="nDI&=)&=IP)RAVATVT****** received valid address query ******VR****** received valid ping request ****** V V7v< 1vD=v9v>yxxQEz}Ex9~(9a~>. Tracking...ɄIɃi)! 99IrBU.=+]> ,St(AYI@*@y73,;*<ٟH`^?`#Ϩ?QW?Ȩ? j~@eed?s?)I@ V;I"="UDfT****** received valid address query ******fR****** received valid ping request ****** j jV7  1 H= ,9 >yQE}E9N7a>.-Tracking...Ʉ11I99Ƀ9iA)A Y9irBu@=m2]> ,.t(AYS@^@y-;<ٟH ?9,? .X?@y%`S?|ez?@o?)S@ V;IqC2=2DYDvT****** received valid address query ******vR****** received valid ping request ****** v v7ݽEG; 1?=z89>yQE}E9>;a>. Tracking...Ʉ19I99Ƀ9iA)A 9rB= 11T8]> ,t(Ai@YR@o@y1;Կ<ٟH`?`MK?Y?@`DyXXQEZ}EX9^A(a^>.fTracking...ɄhhIllɃlil)p |9rB  =>]> ,t(AYbL@х@ydW2;$<ٟH~?@?X?%?~Jf`c?s?)bL@ ַV;I"`="GD.T****** received valid address query ******.R****** received valid ping request ****** . .J7F= 1FL=Fl79J>yHHQEJ}EH9NaN>.VTracking...Ʉ\\I\\Ƀ\i`)` l9trBz<ѥ Gҽ AfA L;Y AfAE]> ,7u(AY P@x@y)72;I<ٟH?`j?Y? c'?``Ffh?r?) P@ wV;IpCB\=BHDJT****** received valid address query ******JR****** received valid ping request ****** N N7- 1-A=-9->y11QE5}E19=:a=>.MTracking...ɄQYIYYɃYi) 9rB =I5l>)5e>pK]> ,1u(Aɞ==YO@)@y: :;x2<ٟH? p?[?h$? @EAge?`r?)O@ V;IqC"="^DI&=)&=I,).A002T****** received valid address query ******6R****** received valid ping request ****** 6 67V< 1VS=Vw99Z>yXXQEZ}EX9^˸a^>.Tracking...ɄI郹Ƀi) 9rB= R]> ,tKu(AYXQ@NJ@y%:;8<ٟH?:V? V[?N7?`Yg^f?@r?)XQ@ ٵV;IrC"y="GD.T****** received valid address query ******.R****** received valid ping request ****** . .76 1:N=:279:>y8}E<9B:aB>.FTracking...ɄLLIPPɃPiP)T `9hrBn<X]> ,Qeu(AY[@(@y=;4@<ٟH6?@?Ou\?@?fg R?`k?)[@ ̱V;IuC"C="+@DVT****** received valid address query ******VR****** received valid ping request ******]V.Timeout requesting ping V-V(Communications Fault Z Z Z Z Z Z Z17v 1vC=v89v>yxxQEz}Ex9~E;a~>. Tracking...ɄIɃi!)! 99I-"MLCommunications Fault in component: DATrBU1= 11_]> ,,u(A i@Y_@n@yZ2;*<ٟHj?@k?Y?d? `^fϝ?g?)_@ حV;IsCB`=BGD DFAi<Powering down      7]\= 1])=]ޯ9]>yaaQEe}Ea9mK:am>.}Tracking....}fupdate period (5.000000 s) has elapsed, querying....}(*** querying DAT ***"Cy*CyɄyI郁Ƀi) 9rB>e]> ,u(AYa@F@y6;|<ٟH@?~N? Z? 6G?.`f ?`h?)a@ V;IqC2̧=2ZND ~ ~7] 1eq=eR.99e?yiiQEm}Ei9m-:au?.}Tracking...ɄI郑Ƀi) 9rBm=!l]> ,u(AY"\@@y@8;Fj<ٟHyHHQEJ}EH9JaN>.RTracking...ɄXXIX\Ƀ\i\)` h9p"vNClearing failed state for component DAT vrBz)5x>v s]> ,u(Aɞ%=YT@@yB3;q<ٟH@? `"?@Y?[\?@Ɍ]hf@yHHQEJ}EH9NaN>.VTracking...ɄX\I\\Ƀ\i`)` l9trBz<3y]> ,Nu(AYW@@y3;<ٟH? ?Y? 맿~?&`cf}?@n?)W@ V;IsCFŷ=FaD V V7Z = 1^G=^ɶ9^>y``QEb}E`9fk:af>.jTracking...ɄptIttɃtit)x 9rB%=X]> ,vv(AYC]@@y ]2;`<ٟHJ?`k?1Y?b`?7Kf@L?k?)C]@ V;IqC2=2iD : :V7B,; 1BN=BF9B>yDDQEF}ED9J:aJ>.RTracking...ɄTXIXXɃXiX)\ Q9arBm;= 11E]> ,Nv(AiY)g@@yL/;s<ٟH`?!?ZY?,+?ƙe@?e?))g@ V;IpC2޾=2jD 6A6A`ib= f fw7j: 1nE=no9n>yppQEr}Ep9v>;av>.zTracking...ɄIɃ i )  9rBw=p]> ,+4v(AYX@I@yAY(;G<ٟH? bݧ?@W?֧?& eJ? m?)X@ V;IqC25=2tgD v vg7%M 1-E=-39->y11QE5}E195+a=>.ETracking...ɄQQIQYɃYiY)a 9 rB=W]> ,Nv(AYNd@@y.;L?<ٟH?&?X? ? ?e3?`f?)Nd@ 3V;ItCFY=FRDPowering up "Initializing DAT. } }=7 1A= Y99>yQE}E9 X;a>.Tracking...ɄI郩Ƀi) 9rB=)ҹ ҹ ~G5fAA uo;YufAI=t>)=>ꁙ]> ,gv(Aɞ=Y[@@yK1;:<ٟH0??@[Y?`?@@w)f ?l?)[@ V;IrC2&=2BADI6=)6>I8)8 > >7F 1Fa=Fu 99J>yHHQEJ}EH9NJaN>.VTracking...ɄX\I\\Ƀ\iI)I a9qrB}F=i]> ,v(AYE\@@yv-;<ٟH>? ?_X?>`?੫ e?j?)E\@ OV;I2=29D : :7BP 1FK=F49F>yHHQEJ~EH9J9aN>.RTracking...ɄXXIXXɃ\i\)` h9prBv<]> ,pv(AY2Q@@y$3;$<ٟH??X?ӓY?`y<~E<9B\aB>.FTracking...ɄLPIPPɃPiP)T `9hrBn< 11ٽ]> ,.qv(AiYUX@đ@y[a5;I<ٟH@?R?EZ?,ߧ?)f`V{?n?)UX@ #V;IqC2k=2oD 44:=i:< > >7j< 1jD=jz89n>yllQEn~El9r ;ar>.zTracking...Ʉ|IɃi )  !91rB="=]> ,Mv(AYb@V@y(0;<ٟH ?8=?`vY?;6`?`@fy11QE5~E195K;a=>.ETracking....Mfupdate period (5.000000 s) has elapsed, querying....M(*** querying DAT ***"CI*CIɄYYIYYɃaia)i y9rBT=й]> ,(v(AY_@@y,;<ٟHe?2r?YX? mk?`ߵe#?h?)_@ V;IsC2=2cD v v17]; 1eG=e9e>yiiQEm~Ei9uau>.}Tracking...ɄI郑Ƀi) 9rBm=I5l>)5l>]> ,`w(Aɞ%=YZ@@yl1;<ٟH$? +ʧ?\Y?4ç@?혙`-f?@n?)Z@ ̽V;IrC2=2DI`)` f f=7nn= 1nS=nF99n>yppQEr~Ep9v,av>.zTracking...Ʉ  I  Ƀ i) )99rBE(=(]> ,w(AYY@L@yQ5;=<ٟH!?ͧ?LZ?Ƨ?@3f?@l?)Y@ V;IsCB=B_D J J7Rzu 1VN=V99V>yTXQEZ~EX9Zތa^>.bTracking...ɄhhIhhɃlil)p x9rB  =? ]> ,6w(AYaX@Б@y);[<ٟH??IW?mާ?I3eŠ?l?)aX@ V;IuC"="WD . .7^ 1bI=bo9b>y`dQEf~Ed9faaj>.nTracking...ɄttIttɃxix)x 9rB%= 11]> ,Pw(Ai@YR@M@y/;y<ٟH ?Z=?X?`6H?en?q?)R@ qV;IqC2y=2GD8i:< > >7Bnz 1FN=F|99F>yHHQEJ~EH9J;޺aN>.RTracking...ɄXXIXXɃXi\)\ h9qrB}F=9]> ,.pjw(AYfV@Տ@y9;(<ٟH?g?G[? u?@0gkd?r?)fV@ V;IsC2N=2/pD B B7F"= 1JJ=J99J>yLLQEN~EL9R`:aR>.VTracking...Ʉ\`I``Ƀ`i`)d p9xrB~=]> ,Qw(AY)P@@y-;<ٟH`?zh?`]X?a+?v@²e\?@u?))P@ nV;I"n="EeD * *7F/ 1FK=F9F>yHHQEJ~EH9NaR>.VTracking...Ʉ\\I\\Ƀ\i`)` l9trBz)5p>}G ) Y) v0]> ,t'w(AɞY}V@@y6;r<ٟH ??^Z?` t?u`f@|o?p?)}V@ V;IJ=JwDI)  k7< 1A=%A99%>y!)QE-~E)9-`:a5>.ETracking...ɄIQIQQɃQiY)Y q9rBO=fZ]> ,w(AYT@7@yF:;K<ٟH@?H?'_[?``?Hg@h?q?)T@ קV;I2#=2KD  7]q0 1eF=e%99e>yiiQEm~Ei9mau>.}Tracking...ɄI郑Ƀi) 9rBm=9B]> ,w(AYT@@y}.;H<ٟH ?P ??X?[?@ev~?n?)T@ ǤV;IrC2}=2=D f fV7 X 1 P= 69 >yQE~E9uau>.Tracking...ɄI郑Ƀi) 9rBn= 11kl]> ,(w(A@i@Y"T@@y6/;<ٟH`?@ )?[X?@J"`U?`Ze|?n?)"T@ V;IsC2 =2D6%=i6< > >c7F= 1FS=Frw89F>yHHQEJ~EH9N:aN>.VTracking...ɄXXI\\Ƀ\i\)` l9prBv<DT^> ,-x(AYW@@yW5;<ٟH??@EZ?@맿@}?ɳfE?@m?)W@ BV;I:=:WD @@Jc 1JJ=N$p99N>yPPQER~EP9Vņ:aV>.ZTracking...Ʉ`dIddɃdid)h t9|rB=}^> ,lx(AY\V@ˏ@yS1;<ٟH ??z)Y? p?Tr*f >{?o?)\V@ V;IqCBv=BQD llv 1vE=zy%9z>yxxQEz~E|9~a>. Tracking....fupdate period (5.000000 s) has elapsed, querying....(*** querying DAT ***"C*CɄ!!I!!Ƀ!i))) A9QrB]5=I1)5l> ^> ,G9x(AɞYZ@9@y6; <ٟH`,?%?8Z?緧?of`?`m?)Z@ ΘV;ItC"="cDI()( . .7F< 1FQ=F.f99J>yHHQEJ~EH9N%:aN>.VTracking...Ʉ\\I\\Ƀ\i`)` l9trBz<]^> ,y$Sx(AY4T@@yyE2;<ٟH?`"(?`MY?@*!W?`HfPv?o?)4T@ aV;IsC2v=2QD f f7 / 1 C= 29 >yQE~E9a>.-Tracking...Ʉ11I99Ƀ9iA)A 9rB=^> ,lx(AYG@@y *;<ٟH E?? V??騿`?@j[e@Q?w?)G@ V;IpC2z=2D v v7%ֆ= 1-H=-+9->y11QE5~E195wua=>.ETracking...ɄQQIQYɃYiY)a y9rBP= 11b!^> ,چx(Ai@YEN@@y1;A<ٟH?冨?@Y?? ]t`?f@Y?u?)EN@ V;IrC2=2`Dn=in< r r7zrV 1zN=z99~>y||QE~~E|9;a>.Tracking...Ʉ!I!!Ƀ!i))) A9QrB]3='^> ,x(AYgR@֋@yy#1;H<ٟH`?D?@%X? =D?`m$f@bh?r?)gR@ ܒV;IsC2=2hD > >7FC; 1FQ=FJ9J>yHHQEJ~EH9N7:aN>.VTracking...Ʉ\\I\\Ƀ\i`)` l9trBz<-^> , x(AYnY@ݒ@y;;p <ٟH?է?[?@ͧ?~{g@?l?)nY@ V;IqC"'="^D . . 7F= 1FJ=Fi99J>yHHQEJ~EH9N1 ;aN>.VTracking...Ʉ\\I\\Ƀ\i`)` l9trBxI5p>)5i>'4^> ,jx(Aɞ=Y^M@͆@yW<;<ٟH?Ε?[?i` ?oqgT?u?)^M@ V;I:.=:{DI@)@ F F7f 1fF=f69f>yhhQEj~Eh9nHjan>)vY= vC.%Tracking...MGayɄI ӡYҡ郙Ƀi)au:u< 9rB=;^> ,VGx(AY]@P@y;;`n<ٟH`P? ?`\??xg@?`j?)]@ V;IrC2=2usD B B%7Je 1JN=JR29J>yLLQEN~Ex9z;a~>.Tracking...ɄIɃi)! 19ArBM-=lA^> ,%"y(AY&X@&7@y&OD<;&g<ٟ&H?{ߧ?@R\?`ק@? g t?@o?)&X@ &gV;I&qCŖ=RZND Z Z7= 1=@=E79E>yAAQEE~EI9MĺaM>.}Tracking...ɄI郉Ƀi) 9rB= 11:H^> ,!y(A i Y`@@yR9;<ٟHq?@a?[?`Z ? B@7g+?i?)`@ rV;IrC"n="EeDV%=iV=^DAT read: bVDAT read: Teledyne Benthos DAT-900 Series b bV7% < 1%L=%Bʸ9%>y))QE-~E)95;a5>.Tracking...ɄIɃi) )9qrB=EN^> ,n;y(AY|S@@ywM/;z<ٟH?x3?`X?@,@O?8 e`]t?p?)|S@ HV;ItC"="uD b b7~p1= 1L=й9>y  QE ~E 9a>.%Tracking...Ʉ))I11Ƀ1iQ)Y q9rB]=G-U^> ,Uy(AYX@8@y,;o_<ٟH? ާ? B X?`ק?Je:? l?)X@ =V;IqC"&="BAD V V7S 1J=ظ9>y  QE ~E 9:a>.%Tracking...Ʉ)1I11Ƀ1iY)Y q9rB^=I5t>)5l>aV[^> ,voy(Aɞ %=Y_@g@y(;<ٟHj?k?tW?e@?@ַe ʟ?@h?)_@ V;ItC"<="SDI()( . .{7e< 1eD=md 9m>yiiQEm~Eq9u ;au>.Tracking....fupdate period (5.000000 s) has elapsed, querying....(*** querying DAT ***"C*CɄIɃi) 9!rB-=Bb^> ,l|y(AY&Y@&5@y&-;&c<ٟ&H !?`Χ?^X?#ȧ ?`Re?k?)&Y@ &V;I$>n=>EeDJ:DAT read: MF Frequency Band NvDAT read: Directional Acoustic Transponder version 8.14.2 RBDAT read: May 18 2021 16:05:28 R Rw7< 1O=Z?99>y!!QE%~E!9-a->.UTracking...ɄaaIaiɃiii)a y9rB>lih^> ,Hy(AYCY@@yoR*;<ٟH@?֧?}W?QЧ?ݪ@LJe@@?j?)CY@ jV;IsCR=RusD ^ ^77f< 1 L= 9 >yQE~E9e#a=>.ETracking...ɄQQIqyɃyiy) 9rBr= 11}n^> ,y(A i YY@@yQ3; <ٟH ?ڧ?@Y? ӧ?B jf{?n?)Y@ V;I"П="DD(i*< . .7?= 1K=o99 >y  QE ~E 9|a>.%Tracking...Ʉ11I11Ƀ1i9) 9rBm=U{u^> ,y(AY]@@yNi<;d<ٟHK?@-?@<\? ?ध'g⋙?j?)]@ V;ItC"="[ZDVLDAT read: Features enabled [Bearing] ZDAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP ^commRate: 800 ^ ^7ݭ< 14=ޭ͞99>yޱ޹QE~E޹9:a>.Tracking...ɄIɃi) 9rB={^> ,y(AY]@5@y6;w<ٟHO?@u?Z?4?󨙿f@F?j?)]@ V;IqC2=2UD v v7% 1-d=-9->y11QE5~E1958a=>.ETracking...ɄQQIQɃi) 9rB=I1)1㌂^> ,h z(AɞYY@@y3;<ٟH?ѧ?@VY?ʧ?`pf`K? m?)Y@ V;IrCF=F`DI)A  c70< 1K=9>y!!QE%~E!9-Aa->.5Tracking...ɄAAIAAɃAiI)I a9qrB}F=n}GAfA1 ];YeAfA^> ,.$z(AYM@@y4;<ٟH??Y? ?|f a?s?)M@ V;I21=2FqD > >7F< 1FT=J=89J>yHHQEJ~EH9N5xaz>.Tracking...ɄIɃi)! 19ArBM-=^> ,g>z(AY{S@@y 6;<ٟH? 3? eZ?,N?5`ft?o?){S@ V;ItC2k=2oD : :7F 1FK=F89F>yHHQEJ~EH9Ne:aN>.VTracking...ɄXXI\\Ƀ\i\)` l9trBv< 11ȕ^> ,AXz(AiYH@;@yy5;k<ٟH R?`ި?ˬY?tר?@_v@mf Z?u?)H@ V;I"޾="jD(i(.*entering command mode 2 27Fd 1FJ=JO*9J>yHHQEJ~EL9NISaN>.VTracking...Ʉ\\I\\Ƀ\i`)` l9trBz<^> ,rz(AY'V@@y4;l<ٟH@?! ?sZ?l? ^Of@?`m?)'V@ 'V;IqC2=2uDBDAT read: BPchecking for command mode acknowledgment R R97ݵ < 19=޽(9>yQEE9q;a>. Tracking...ɄIɃi!)! 99IrBU=ڢ^> ,fz(AYT@g@yq/;<ٟH??`X?^?`,e=? n?)T@ V;IrC2=2cD :Pchecking for command mode acknowledgment : :%7B 1F`=F^9F>yHHQEJEH9NxϹaN>.Tracking...Ʉ!!I!!Ƀ!i))) A9QrB]5=I5p>)1^> , ӥz(AɞY Y@|@y/;/x<ٟH`?`ڧ? fX?`ӧ?=eR?@k?) Y@ NV;ItC2=2usDI`)` fPchecking for command mode acknowledgment hhnD< 1rE=r.9r>yptQEvEt9vZ:az>.uTracking...ɄI郁Ƀi) 9rBi=,/^> ,z(AY]@[@yVF*;<ٟH`R?{?W?օ`? Heয়?@h?)]@ qV;IrC2̧=2ZND rPchecking for command mode acknowledgment v v7% 1-F=-mU9->y11QE5E195:a=>.ETracking....Mfupdate period (5.000000 s) has elapsed, querying....M(*** querying DAT ***"CI*CIɄaiIiiɃiiq)y 9rB=^> ,׊z(AYX@@y|';ʔ<ٟH`? ?@V?`ܧ?d呙?@k?)X@ V;ItC@@ rPchecking for command mode acknowledgment v v17-Ƹ9->y))QE5E195ֺa5>.ETracking...ɄQQIQQɃQiY)a q9rBP= 15?A@^> ,dz(AiYV@@y-;m<ٟH??@$HX?`%o?\@׾e@?k?)V@ V;IsC2=2usD:R=i8 >Pchecking for command mode acknowledgment > >7F!< 1F<J99J>yHHQEJEL9Nea >.Tracking...Ʉ!)I))Ƀ)i1)1 I9YrBe8=(^> ,%A {(AYT@@y/;2<ٟH?;*?ItX?i#R?j@_e`?m?)T@ +V;IrC2̧=2ZND :Pchecking for command mode acknowledgment > >7F 1FJ=F089F>yHHQEJEH9NGaN>.VTracking...ɄXXI\\Ƀ\i`)` l9trBz< S^> ,T'{(AY"L@@y)-;&<ٟH|? Ψ?\W?%?@}3e#d?s?)"L@ ؆V;IqC"g="xD 2Pchecking for command mode acknowledgment 00V)= 1VH=Vԕ9Z>yXXQEZEX9^^a^>.fTracking...ɄhlIllɃlip)p |9 rB=I5t>)1:^> ,@{(Aɞ=YG@S@yz*;<ٟHG?@p?V?娿?r\OeX?`v?)G@ V;IrC:F=:X6DI@)BA FPchecking for command mode acknowledgment F F7f 1fH=fnҸ9f>yhhQEjEh9nean>.vTracking...ɄxxI||Ƀ|i) 9)rB5=)q q fA % L;Y- fAe^> ,Z{(AYV@@y1;<ٟH??FY?t?\6fx?@o?)V@ ޽V;I2=2DYD nPchecking for command mode acknowledgment r rV7-L= 1-D=5995>y11QE5E19=;aE>.MTracking...ɄYYIYYɃYia)a y9rBS=7^> ,t{(AYQ@e@yJ/;t<ٟH ?`K?`)X? E>?`釙em?q?)Q@ ,V;IsC2=2uD vPchecking for command mode acknowledgment v vJ7}OZ= 1E=ޅ9>yށމQEEމ9a>.Tracking...ɄI郩Ƀi) 9rB}= 15@Av^> ,b{(A@iY=U@@y 3.;<ٟH?d?@UX?`c?}`be w?o?)=U@ :V;ItC2Y=2RDb%=i` fPchecking for command mode acknowledgment f f7n 1nU=r9r>yppQErEp9v:av>.~Tracking...Ʉ I  Ƀ i) )99rBE'=?^> ,c{(AY)Z@@y{+;X<ٟH&?ȧ?yW? ?`yoe M?l?))Z@ V;IsC@@ NPchecking for command mode acknowledgment N N7Vyڸ9Z>yXXQEZEX9^:an>.vTracking...Ʉ|IɃi!)! 99IrBU1=^> ,?{(AY`@R@yw-;<ٟHt?@C]?sX?rV?e`??j?)`@ V;IrC2=2vD :Pchecking for command mode acknowledgment > >J7Fw< 1F<Fʞ89F>yHHQEJEH9N;aN>.Tracking...Ʉ!!I!!Ƀ)i))1 A9QrBe7=I1)5i>^> ,{(AɞYJ_@@y.;<ٟH b?v?X?o? Qeb?@j?)J_@ {V;IuC"="ӌDI,), .Pchecking for command mode acknowledgment 2 27:< 1:L=:hl89:>y<E<9BaB>.JTracking...ɄPPIPPɃPiT)T `9hrBn<e^> ,{(AYV@@y ';<ٟH`?@ ? 5V?Cl?R?d?`n?)V@ êV;IrC2=2_D >Pchecking for command mode acknowledgment > >J7Ff 1FI=J拹9J>yHHQEJEH9N%5aN>.VTracking...Ʉ\\I\\Ƀ\i`)` l9trBz<_> ,|(AY\@R@y~/;8<ٟHE?`F?`BX?@a?y@e?`j?)\@ 9V;ItC2=2ED bPchecking for command mode acknowledgment f f7ʼ 1 C= 399 >yQEE9;a>.%Tracking....-fupdate period (5.000000 s) has elapsed, querying....-(*** querying DAT ***"C)*C)Ʉ99I99ɃAiA)I Y9irBuC= 99' _> ,)|(A@i@YN@8@y0;<ٟH@?~?xX?@w?&| fa?t?)N@ V;I" ="YBDbC=i` fPchecking for command mode acknowledgment j j7==O 1EG=E89E>yIIQEMEI9U8aU>.]Tracking...ɄiiIiiɃqiq)y 9rB[=V_> ,/C|(AYS@u@y/;<ٟH?:?oX? 4`I?4ebu?@p?)S@ V;IsC2=2qCD fPchecking for command mode acknowledgment f f7E=: 1MJ=M^m9M>yIQQEUEQ9Uv:a]>.eTracking...ɄqqIqyɃyiy) 9rBa=G_> ,e]|(AYP@^@yE';@<ٟH@?[?܃V?kU.?@ d6}?`o?)P@ 5V;IuC2'=2^D :Pchecking for command mode acknowledgment : :7BR= 1BW=Fn9F>yDDQEJEH9J30aJ>.RTracking...ɄXXIXXɃXi\)` h9trBzB+_> ,yhhQEjEh9nKan>.vTracking...ɄxxI||Ƀ|i|) 9!rB-=i$_> ,a|(AY]K@̄@ye.;<ٟH`r?+?X?@q ?@oe`U?v?)]K@ V;IsC2=2[ZD :Pchecking for command mode acknowledgment > >w7F=E 1FN=FY;99F>yHHQEJEH9NںaN>.Tracking...Ʉ!!I))Ƀ)i))1 I9YrBe7==GQa ӕo;Yґ|=*_> ,M|(AYR@P@yO5;]g<ٟH?q=?Z? T6@I?Jf:l?q?)R@ V;IrC2=29D >Pchecking for command mode acknowledgment B B7F 1JJ=Jf99J>yLLQENEL9Rq;aR>.VTracking...Ʉ\`I``Ƀ`i`)d p9xrB~= 11%1_> ,`|(A@iYL@&@y7;<ٟH@?`?sZ?ט`?%q@f EU?u?)L@ :V;IqC"=&qCD*=i*= .Pchecking for command mode acknowledgment . .J7Fc< 1FK=F89J>yHHQEJEH9NaN>.VTracking...ɄX\I\\Ƀ\i`)` l9trBz<'P7_> ,`|(AYNO@@y'8;p<ٟH?v?gZ?`so !?cvgZ?t?)NO@ CV;IBR=F\fD  Pchecking for command mode acknowledgment  7E= 1M?=MR69M>yIQQEUEQ9]WA:a]>.mTracking...ɄqyIyyɃyi) 9rBb=y=_> ,|(AY#T@@y84;ʤ<ٟH ? J)?@Y?9"W?`@f s? p?)#T@ nV;IrC"ȯ="-XD nPchecking for command mode acknowledgment n n7%f 1-L=-U9->y11QE5E195:a=>.ETracking...ɄQQIQYɃYiY)a y9rBP=I1)5i>"aD_> ,_^}(AɞYfI@Ղ@yaw2;o<ٟHY?Ԩ? KX?ͨ?o`Nf`T?v?)fI@ ‹V;IqC2U=2\DI`)` fPchecking for command mode acknowledgment f f7n; 1nO=rm9r>yppQErEp9vYav>.~Tracking...ɄI郉Ƀi) 9rBj=J_> ,;,}(AYZ@@y@0;M<ٟH)?`ç?=Y?6?@@f?@l?)Z@ ,V;IsC2=2qCD >Pchecking for command mode acknowledgment > >7F7ϼ 1FO=JO9J>yHHQEJEH9N߭;aN>.VTracking...Ʉ\\I\\Ƀ\i`)` l9trBz<sQ_> ,F}(AYN@ @yj`.;)<ٟH`?L?0X?z?`{~ e d?s?)N@ V;ItC2U=2\D :Pchecking for command mode acknowledgment > >V7V< 1VH=V%9Z>yXXQEZEX9^iab>.fTracking...ɄllIllɃpip)p |9 rB= 11qW_> ,_}(Ai@YQ@}@yY*;b<ٟH?@ Z?GW?`|S3?IUek?r?)Q@ BV;IsC2=2cD:4=i:= BPchecking for command mode acknowledgment B Bo7~; 1~E=~c9>yQEE9 <:a >.Tracking....fupdate period (5.000000 s) has elapsed, querying....(*** querying DAT ***"C*CɄ))I))Ƀ1i1)9 I9YrBe:=]_> ,uy}(AYXZ@Ǔ@y`C-;R<ٟH'?ŧ?NX? `?ɢ`je?`l?)XZ@ ۿV;I2=2ED 6A4 :Pchecking for command mode acknowledgment > >7F 1FR=FL89J>yHHQEJEH9N>;aN>.VTracking...ɄX\I\\Ƀ\i`)` l9trBz<Xd_> ,j}(AYV@@yb0;<ٟH@?`Y?pX?`us?K> fe{?n?)V@ ܻV;ItC"v="QD VPchecking for command mode acknowledgment V V%7v;< 1vD=v89v>yxxQEzEx9~a~>. Tracking...ɄIɃi!)! 99IrBU1=I5l>)1mj_> ,^}(Aɞ%=YU@@yQ-;<ٟH??"X?` g?@Ð/ebw?p?)U@ V;I:̧=:ZNDIp)p vPchecking for command mode acknowledgment v v7~Q 1~I=+9>yQE E 9 a >.Tracking...Ʉ))I))Ƀ)i1)1 q9rBL=q_> ,]}(AY9J@@yޫ,;{<ٟHd?HǨ?W??j ze@P?w?)9J@ V;IsC2v=2QD nPchecking for command mode acknowledgment n nw7MM; 1UE=]Ƿ9]>yYYQEeEa9eZae>.uTracking...ɄI郁Ƀi) 9rBh=)ҡ ҡ) QYYw_> ,78}(AYK@M@yC,;@<ٟHx??`kW?c@?@Wte`Z?u?)K@ V;I25=2tgD >Pchecking for command mode acknowledgment > >%7F9< 1FX=Jη9J>yHHQEJEH9N1 :aN>.VTracking...Ʉ\\I\`Ƀ`ih)p i9yrBK= 11~_> ,}(A@i@YQ@n@yu.;{<ٟH?3K? CX?`pD@>?t@en?q?)Q@ dV;ItC"r="s[D*%=i*= .Pchecking for command mode acknowledgment . .{7FVA 1FJ=F,89J>yHHQEJEH9N:aN>.VTracking...ɄX\I\\Ƀ\i`)` l9trBz<_> ,_~(AY%X@@y\,;<ٟH ?`?lX?,⧿@?—e`~?n?)%X@ ֭V;IsCB=BWD JPchecking for command mode acknowledgment N N7V 1VH=Z_9Z>yXXQE^E\9^:ab>.fTracking...ɄllIlpɃpix) !91rB=#=W(_> ,\.~(AY[@f@y2;<ٟH:?(?Y?`?l]fOz?n?)[@ UV;ItC"="wD .Pchecking for command mode acknowledgment]28failed to enter command mode 2 2o7 = 1 E= }99 >yQEE9}:a}>.Tracking...ɄI郹Ƀi) 9rB=I5{>)5p>f_> ,H~(Aɞ=YW@`@y6;~<ٟH ??Z?j姿?=Vf*o?p?)W@ /V;IsC&ȯ=&-XDI()*A2*entering command mode 2 27: 1:T=:&99>>y<E<9BYaB>.JTracking...ɄLPIPPɃPiP)T t9|rB=9_> ,b~(AY\@v@y~;;<ٟH:?`? D[?@? -sg]?l?)\@ ޢV;IqC2K=2zDj&DAT read: user:1> nFDAT read: Command '+++' not found r"DAT read: Error r(setting verbose to 3 z z=7%= 1-?=-(.99->y11QE5E19=:a=>.MTracking...ɄQQIY郱Ƀi) 9rB=c_> ,Z|~(AYT@@y-0;Ȱ<ٟH?)? X?"V?\fgu? p?)T@ :V;IuC"="[ZDf&DAT read: user:2> jTDAT read: Verbose | 3 j set verbose to 3j6setting DatVerbose to 27440 v v7~] 1~M=~9~>yQEE9 0a >.Tracking...Ʉ!)I))Ƀ)i1)1 I9YrBe8= 11K_> ,r5~(A@i YaS@Ќ@y/;L<ٟH@?@,5?X?V.N?@es?p?)aS@ lV;ItC"\="HDR=iR<V&DAT read: user:3> ZTDAT read: DatVerbose | 27440 Z.set DatVerbose to 27440^6setting transmit power to 8 ~ ~7 # 1:=69>yyyQEEށ9Ma>.Tracking...ɄIɃi) 9rB%=u_> ,~(AY?R@@y}0;O<ٟH?OG?`X?q@@? fxr?p?)?R@ YV;IsC:=:iDN&DAT read: user:4> RTDAT read: TxPower | 8 (Max) R.set transmit power to 8R4setting local address to 7 Z Z7b/= 1bb=f 89f>yddQEfEh9jйaj?.rTracking....vfupdate period (5.000000 s) has elapsed, querying....v(*** querying DAT ***"Ct*CtɄx|I||Ƀ|i) 9rB =d__> ,~(AYO@5@y.;aq<ٟH?@n? AX?g#? oqezm?q?)O@ V;I6n=6EeDB&DAT read: user:5> FTDAT read: LocalAddr | 7 F,set local address to 7JT****** received valid address query ******JR****** received valid ping request ******J6setting remote address to 0 R R7Z3 1ZK=^9^>y\\QEbE`9bDab>.jTracking...ɄppIppɃpit)t 9rB=I5t>)5x>_> ,~(Aɞ=Y.FN@.@y.2R:;.6<ٟ.H ?@B?[?@? K@DJg@f?@r?).FN@ .ZV;I.uCB޾=BjDIH)JAR&DAT read: user:6> VTDAT read: RemoteAddr | 0 V.set remote address to 0VT****** received valid address query ******VR****** received valid ping request ******ZQuerying Benthos address 50 with 10 pings in terminal homing one-way mode.n8****** ping requested ****** r r7۝; 16=%99%>y!!QE%E!9-չa->.}Tracking...ɄI郉Ƀi) 99IrB=_> ,r~(AY&H@&?@y&;;&<ٟ&HQ?ި?`8[?4ר@?@oyg$S?u?)&H@ &ՔV;I&tCB=BTDJ&DAT read: user:7> NBDAT read: Tx time:16:05:52.3213 R$Ping request sent.Ry``QEbEd9ffaf>.nTracking...ɄttIttɃtix)x 9rB%= _> ,(AY"CH@"@y"\5;"b<ٟ"HK? ?ଔY?ਿ`?pfyޙޡQEEޡ9"a>.Tracking...ɄIɃi) 9rB= ))$_> ,j1(A@iYS@I@y3;<ٟH? -?ϠY?&Q?@Pwf`~? n?)S@ V;IsC>r=>s[D~4=i|checking for new query: numPingsReceived=0 elapsed TxPingTime=0.821888  c7'< 1S=9%>y!!QE%E!9-n;a->.=Tracking...ɄAIIIIɃIiQ)Q i9yrBK=3_> ,5K(AYXR@Nj@yu2;<ٟH?E?@6QY?>??@,Xf`{?n?)XR@ V;IqC28=2]Dfchecking for new query: numPingsReceived=0 elapsed TxPingTime=1.217205 f f=7  ; 1 L= o9 >yQEE9a>.Tracking...ɄIɃi) 9rB%=R_> ,e(AYR@>@y;;i<ٟH`?>?`q[?`s7 H?``gl?q?)R@ V;IsC2=2ED>=>B?Bchecking for new query: numPingsReceived=0 elapsed TxPingTime=1.611810 B Bc7Jȼ 1JR=J99N>yLLQEREP9R9aR>.ZTracking...Ʉ``I``Ƀ`id)d p9xrB~=I5x>)5{>_> ,~(AɞYHQ@@y^;;<ٟH??W?[?@O`8?@0{`kg^?s?)HQ@ }V;ItC:r=:s[DI@)@Fchecking for new query: numPingsReceived=0 elapsed TxPingTime=2.017276 J J7f< 1fG=fd79j>yhhQEjEh9nan>.vTracking...Ʉx|I||Ƀ|i) 9)rB5= _> ,PƘ(AYQ@j@y5;+j<ٟH?K?@'Z?D@>?`ȇfl?`q?)Q@ V;IsC"="ED2DDAT read: Rx Time:16:05:54.4510 66received an acoustic signal:PDAT read: Bearing 69.4, -2.3 (Local) :~Local bearing/azimuth received: Bearing 69.4, -2.3 (Local) BDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 %DAT read: 16:05:54.4510 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 432, 0.05,-1.271,-1.528,-1.298,-1.340, PHS= 0.065,-0.144, 0.027, RAW= 140.0, 5.5, CAL= 140.6, 2.3, ROT= 69.4, -2.3 -Ygot valid direction response: 16:05:54.4510 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 432, 0.05,-1.271,-1.528,-1.298,-1.340, PHS= 0.065,-0.144, 0.027, RAW= 140.0, 5.5, CAL= 140.6, 2.3, ROT= 69.4, -2.3 5R#Rx 1: Read range and direction messages.}direction in vehicle frame: [ 0.351558 forward, 0.935305 starboard, -0.040132 keelward ]}not publishing receive ping time as it could be a packet for anyone}Fpublishing direction and range infoy15Q?)?.='Y11111 1)5CI5=i5t5/<5a@5 =5= @ 5l$=)5 ?I5l$1I5U?pC?p5'L?5E>5>= 5 ?)5l$checking for new query: numPingsReceived=1 elapsed TxPingTime=2.496021  7 1-=59>yQQQEUEQ9]489a]>.mTracking....direction in vehicle frame: [ 0.351558 forward, 0.935305 starboard, -0.040132 keelward ].8processing response from DAT. rotationFromVehicleToNavigationFrame_ = [ 0.998872,-0.047399,-0.002777;0.047453,0.998565,0.024828;0.001596,-0.024932,0.999688 ]. 8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.395481 north, 0.918300 east, -0.017874 down ].relPosInFSK: [ 0.105467 forward, 0.280592 starboard, -0.012040 keelward ].%|relPosInNED: [ 0.118644 north, 0.275490 east, -0.005362 down ].%*Combining 10 samples..%Could not read vehicle position; cannot calculate contact position.2C!zC!C%jM?`F6?;$S~/C%Q?)?.='C% ?C%l$C%ƶy_?:?2uC%pO?<b?sMC%h?ZC% >bC%=:C!BC!JC!RC!jC!rC!ɄI郁Ƀi) 9QrB]3>K_> ,(AYS@@y$8;<ٟH`? 9?VZ?2`K? Mg`o?p?)S@ #V;I"="^~D2DDAT read: Rx Time:16:05:54.9510 26received an acoustic signal6PDAT read: Bearing 69.9, -1.5 (Local) :~Local bearing/azimuth received: Bearing 69.9, -1.5 (Local) BDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 RDAT read: 16:05:54.9510 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.17,-0.921,-1.169,-0.948,-0.990, PHS= 0.066,-0.135, 0.027, RAW= 139.5, 4.6, CAL= 140.1, 1.5, ROT= 69.9, -1.5 VYgot valid direction response: 16:05:54.9510 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.17,-0.921,-1.169,-0.948,-0.990, PHS= 0.066,-0.135, 0.027, RAW= 139.5, 4.6, CAL= 140.1, 1.5, ROT= 69.9, -1.5 XXZR#Rx 2: Read range and direction messages.^direction in vehicle frame: [ 0.343542 forward, 0.938772 starboard, -0.026177 keelward ]^not publishing receive ping time as it could be a packet for anyone^Fpublishing direction and range infoyXZr_?l ?P!ΚYXXXXX X)XIZ+=iZq= XZ@Zl=ZC~@ ZPw<)Zy(?IZPwּXIZ>o;?bV@?6V?M?Z>Z_= Zy(?)ZPwּjchecking for new query: numPingsReceived=2 elapsed TxPingTime=2.834561 n n7 = 1 o= 989 ?yQEE99a?.-Tracking....5direction in vehicle frame: [ 0.343542 forward, 0.938772 starboard, -0.026177 keelward ].58processing response from DAT.ErotationFromVehicleToNavigationFrame_ = [ 0.998879,-0.047261,-0.002810;0.047316,0.998571,0.024840;0.001632,-0.024945,0.999687 ].E8rangeToContact_ = 0.300000 m.Mdirection in world frame: [ 0.387533 north, 0.921848 east, -0.003815 down ].UrelPosInFSK: [ 0.103063 forward, 0.281632 starboard, -0.007853 keelward ].U|relPosInNED: [ 0.116260 north, 0.276554 east, -0.001144 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCCPOb?h&A?:GCr_?l ?P!ΚCy(?CPwּC3j6ý?D+?i%RCW?5?ym?oC?ZC>bC=:CBCJCRCjCrCɄIQIQQɃQiY)Y 9rB= 99_> ,(AiY*R@*"@y*4;*<ٟ*H?G@?MY?@39 F?kທf~q?p?)*R@ *pV;I*rC>׏=>0DlilvDDAT read: Rx Time:16:05:55.4508 v6received an acoustic signal~PDAT read: Bearing 69.3, -1.5 (Local) ~~Local bearing/azimuth received: Bearing 69.3, -1.5 (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 -DAT read: 16:05:55.4508 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.32,-2.394,-2.653,-2.421,-2.466, PHS= 0.068,-0.143, 0.030, RAW= 140.1, 4.7, CAL= 140.7, 1.5, ROT= 69.3, -1.5 }Ygot valid direction response: 16:05:55.4508 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.32,-2.394,-2.653,-2.421,-2.466, PHS= 0.068,-0.143, 0.030, RAW= 140.1, 4.7, CAL= 140.7, 1.5, ROT= 69.3, -1.5 }X#Rx 3: Read direction message, but no range.direction in vehicle frame: [ 0.353354 forward, 0.935123 starboard, -0.026177 keelward ]not publishing receive ping time as it could be a packet for anyoneyy}*X?O1?P!Κyyyy y)yI}C=i}n}<}C~@}=})@ y)}Tњ?IyyI}5?i3^?F!fִ?}}+>}_= }Tњ?)ychecking for new query: numPingsReceived=3 elapsed TxPingTime=3.264905  {7MΓ 1U@=U9U>yYYQE]EY9eGae>.Tracking...ɄIɃi) 9ArBm=$_> ,qY(AY`O@ψ@y5;H<ٟH?@pu?`Y?Sn`?]fQh?@r?)`O@ V;IV޾=VjD-checking for new query: numPingsReceived=3 elapsed TxPingTime=3.653573 - -c7en= 1eP=m[989u>yyyQE}Ey9a>.Tracking...ɄIɃi) 9rB=& `> ,2(AYJQ@@y4;<ٟH?@V?Y?O`5?O7f Lo?q?)JQ@ -V;IsC"="[ZDZDDAT read: Rx Time:16:05:55.9508 Z6received an acoustic signal^PDAT read: Bearing 118.7, 9.8 (Local) ^~Local bearing/azimuth received: Bearing 118.7, 9.8 (Local) fDAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 junknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 mDAT read: 16:05:55.9508 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 512,-0.45,-3.049, 0.897, 0.983, 1.486, PHS= 1.745,-0.545,-0.518, RAW= 90.6, -6.0, CAL= 91.3, -9.8, ROT= 118.7, 9.8 Ygot valid direction response: 16:05:55.9508 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 512,-0.45,-3.049, 0.897, 0.983, 1.486, PHS= 1.745,-0.545,-0.518, RAW= 90.6, -6.0, CAL= 91.3, -9.8, ROT= 118.7, 9.8 ם=ם<X#Rx 4: Read direction message, but no range.direction in vehicle frame: [ -0.473216 forward, 0.864347 starboard, 0.170209 keelward ]not publishing receive ping time as it could be a packet for anyoneyڙڝB +I޿*l?rl?ٙڙڙڙ ۙ)۝BI۝)\?i۝ ۝۝g?۝Pwֽ۝W? ܝ%/)ܝԖ@Iܝ%/>ܙIݝUs{?#nA߿}i&ܝsiܝؽ ݝԖ@)ݝ%/>checking for new query: numPingsReceived=4 elapsed TxPingTime=4.109994  J7}wa 1}-=}>9>yށށQEEށ9P:a>.Tracking...ɄIɃi) I9arB>I5l>)5t>?6`> , (AɞY Q@|@yvx7;<ٟH@?@Z?@:Z?S5?.{ f_?s?) Q@ V;I"=";DI()(2DDAT read: Rx Time:16:05:56.4508 26received an acoustic signal6PDAT read: Bearing 67.4, -4.5 (Local) :~Local bearing/azimuth received: Bearing 67.4, -4.5 (Local) BDAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 Bunknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 VDAT read: 16:05:56.4508 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511,-0.25, 1.271, 0.957, 1.243, 1.197, PHS= 0.069,-0.197, 0.030, RAW= 142.2, 7.8, CAL= 142.6, 4.5, ROT= 67.4, -4.5 ZYgot valid direction response: 16:05:56.4508 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511,-0.25, 1.271, 0.957, 1.243, 1.197, PHS= 0.069,-0.197, 0.030, RAW= 142.2, 7.8, CAL= 142.6, 4.5, ROT= 67.4, -4.5 ZX#Rx 5: Read direction message, but no range.^direction in vehicle frame: [ 0.383111 forward, 0.920364 starboard, -0.078459 keelward ]bnot publishing receive ping time as it could be a packet for anyoneyXZ?ys?5;XXXX X)ZCIZO=iZ^IZZ&I@ Z|٠=)Z?IZ|٠XIZ{ɭ(XX?}? ?Z]>Z˰ > Z?)Z|٠jchecking for new query: numPingsReceived=5 elapsed TxPingTime=4.450599 n n7  1 }=  99  ?yQEE9a ?.Tracking...ɄIɃi) 9)rB5=` `> ,3(AYO@@y6;<ٟH?r?+Z?`k@$? Et@f`X?@u?)O@ V;ItC"="hD2DDAT read: Rx Time:16:05:56.9509 26received an acoustic signal6PDAT read: Bearing 75.9, -4.2 (Local) 6~Local bearing/azimuth received: Bearing 75.9, -4.2 (Local) bDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 rDAT read: 16:05:56.9509 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 0, 0.68, 0.782,-0.057, 0.551, 0.513, PHS= 0.265,-0.526, 0.024, RAW= 132.7, 6.8, CAL= 134.1, 4.2, ROT= 75.9, -4.2 vYgot valid direction response: 16:05:56.9509 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 0, 0.68, 0.782,-0.057, 0.551, 0.513, PHS= 0.265,-0.526, 0.024, RAW= 132.7, 6.8, CAL= 134.1, 4.2, ROT= 75.9, -4.2 zR#Rx 6: Read range and direction messages.zdirection in vehicle frame: [ 0.242961 forward, 0.967267 starboard, -0.073238 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoytv]V??YvL>tttt t)vEIv>ivvv8= v?)vQ checking for new query: numPingsReceived=6 elapsed TxPingTime=4.891132 5 57E#= 1E8=MC9M>yIIQEMEQ9Թa>.Tracking....direction in vehicle frame: [ 0.242961 forward, 0.967267 starboard, -0.073238 keelward ].8processing response from DAT.%rotationFromVehicleToNavigationFrame_ = [ 0.998858,-0.047698,-0.002779;0.047752,0.998552,0.024753;0.001594,-0.024858,0.999690 ].%8rangeToContact_ = 0.200000 m.-direction in world frame: [ 0.288755 north, 0.956099 east, -0.049948 down ].UrelPosInFSK: [ 0.048592 forward, 0.193453 starboard, -0.014648 keelward ].U|relPosInNED: [ 0.057751 north, 0.191220 east, -0.009990 down ].]*Combining 10 samples..]Could not read vehicle position; cannot calculate contact position.2CYzC]L>C])P?Gn?4Q6ٔC]]V??C]?C]Q C]g`j.?`7Gy?.EduC]3c8z?r]?gxC]ᄣ?ZC]C>bC]l=:CYBCYJCYRCYjCYrCYɄIɃi) Y9rB>?H`> ,?M(AYX@@yj%;p<ٟH? ? MV?ڧ`?-kdf?@l?)X@ vV;IsC"C="+@DZDDAT read: Rx Time:16:05:57.4508 Z6received an acoustic signal^PDAT read: Bearing 69.7, -2.8 (Local) b~Local bearing/azimuth received: Bearing 69.7, -2.8 (Local) jDAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 junknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 zDAT read: 16:05:57.4508 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 495,-0.01, 1.855, 1.541, 1.816, 1.770, PHS= 0.082,-0.185, 0.031, RAW= 139.8, 5.9, CAL= 140.3, 2.8, ROT= 69.7, -2.8 Ygot valid direction response: 16:05:57.4508 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 495,-0.01, 1.855, 1.541, 1.816, 1.770, PHS= 0.082,-0.185, 0.031, RAW= 139.8, 5.9, CAL= 140.3, 2.8, ROT= 69.7, -2.8 AX#Rx 7: Read direction message, but no range. direction in vehicle frame: [ 0.346522 forward, 0.936769 starboard, -0.048850 keelward ]not publishing receive ping time as it could be a packet for anyoneyQh-?t0j?s!D )BI=ip=<y(@B=t@ +H=)?I+HII`x?jVd?g?w>= ?)+H-checking for new query: numPingsReceived=7 elapsed TxPingTime=5.269158 - -=7݅ 1F=ލ9>yމމQEEމ95;a>.Tracking...ɄI郹Ƀi) 9rB=)5X= 5Cѝ|GҭfA :YfA 99kr`> ,g(A@iY-Y@@yRJ,;<ٟH ?gا? zW? ѧ?婙He萙?k?)-Y@ V;IuC"="TD`ib=jchecking for new query: numPingsReceived=7 elapsed TxPingTime=5.661776 j j7u< 1%Q=%99->y1yQEEށ9.9a>.Tracking...ɄIɃi) 9!rB-=>Z `> ,z(AY6M@@yw:/;n<ٟH ??29X?ꐨ ?H Me@#m?q?)6M@ V;IsC2=2UDjDDAT read: Rx Time:16:05:57.9509 j6received an acoustic signalnPDAT read: Bearing 68.3, -7.2 (Local) r~Local bearing/azimuth received: Bearing 68.3, -7.2 (Local) vDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 DAT read: 16:05:57.9509 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.59,-1.495,-1.996,-1.558,-1.601, PHS= 0.103,-0.351, 0.028, RAW= 141.2, 10.5, CAL= 141.7, 7.2, ROT= 68.3, -7.2 Ygot valid direction response: 16:05:57.9509 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.59,-1.495,-1.996,-1.558,-1.601, PHS= 0.103,-0.351, 0.028, RAW= 141.2, 10.5, CAL= 141.7, 7.2, ROT= 68.3, -7.2 R#Rx 8: Read range and direction messages.direction in vehicle frame: [ 0.366831 forward, 0.921806 starboard, -0.125333 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoy)z?cvxo?cK Y )FI=iFB`<ϸ@f;>G@ >)k?II< Z?:cmʱ?=9?/>:> k?)checking for new query: numPingsReceived=8 elapsed TxPingTime=6.140946  %7-e: 1m:=u89u>yqqQE}Ey9}&\a}>.Tracking....direction in vehicle frame: [ 0.366831 forward, 0.921806 starboard, -0.125333 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998845,-0.047981,-0.002674;0.048032,0.998537,0.024830;0.001478,-0.024930,0.999688 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.410499 north, 0.905981 east, -0.103386 down ].MrelPosInFSK: [ 0.073366 forward, 0.184361 starboard, -0.025067 keelward ].U|relPosInNED: [ 0.082100 north, 0.181196 east, -0.020677 down ].]*Combining 10 samples..]Could not read vehicle position; cannot calculate contact position.2CYzCYC]qD!Ȳ?.%?#C])z?cvxo?cK C]k?C]C]m|?]p1?Rpi,C]xE?-?ŃwC]s?ZC]9>bC]#=:CYBCYJCYRCYjCYrCYɄIɃi) Y9irBuX>&`> ,W(AY}d@@y+;<ٟH?`#?`KX? ?7Й`ve 跙?@c?)}d@ GV;ItC"̧="ZND2DDAT read: Rx Time:16:05:58.4508 26received an acoustic signal:PDAT read: Bearing 70.5, -1.4 (Local) :~Local bearing/azimuth received: Bearing 70.5, -1.4 (Local) BDAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 Bunknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 VDAT read: 16:05:58.4508 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.22,-3.126, 2.902, 3.126, 3.084, PHS= 0.070,-0.138, 0.027, RAW= 138.8, 4.4, CAL= 139.5, 1.4, ROT= 70.5, -1.4 ZYgot valid direction response: 16:05:58.4508 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.22,-3.126, 2.902, 3.126, 3.084, PHS= 0.070,-0.138, 0.027, RAW= 138.8, 4.4, CAL= 139.5, 1.4, ROT= 70.5, -1.4 ZpZE̛= Z?)Z+ȼEchecking for new query: numPingsReceived=9 elapsed TxPingTime=6.484658  7 1@=9>yQEE9;a>.Tracking...ɄIɃi)a y9rBG>I=>)=l>,`> ,1(Aɞ%=Yb@ @y4;%R<ٟH@?>B? kZ? ;? Ù`f ?`e?)b@ V;I"="TDI$)&A2DDAT read: Rx Time:16:05:58.9509 26received an acoustic signal6PDAT read: Bearing 66.7, -5.0 (Local) :~Local bearing/azimuth received: Bearing 66.7, -5.0 (Local) BDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 RDAT read: 16:05:58.9509 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.52, 2.678, 2.371, 2.654, 2.610, PHS= 0.064,-0.195, 0.029, RAW= 142.8, 8.4, CAL= 143.3, 5.0, ROT= 66.7, -5.0 VYgot valid direction response: 16:05:58.9509 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.52, 2.678, 2.371, 2.654, 2.610, PHS= 0.064,-0.195, 0.029, RAW= 142.8, 8.4, CAL= 143.3, 5.0, ROT= 66.7, -5.0 ZT#Rx 10: Read range and direction messages.^direction in vehicle frame: [ 0.394040 forward, 0.914951 starboard, -0.087156 keelward ]^not publishing receive ping time as it could be a packet for anyone^Fpublishing direction and range infoyTV5\7?4 HG?OYTTTTT T)VFIVo=iVGVhVQ @ V¸=)V\?IV¸TIV+?9w-?zu?V'>V> V\?)V¸ j j=7=< 1E=E99E ?yIIQEMEI9U<aU ?.]Tracking....edirection in vehicle frame: [ 0.394040 forward, 0.914951 starboard, -0.087156 keelward ].e8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998966,-0.045372,-0.002759;0.045427,0.998653,0.025061;0.001618,-0.025160,0.999682 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.435056 north, 0.898033 east, -0.065286 down ].relPosInFSK: [ 0.078808 forward, 0.182990 starboard, -0.017431 keelward ]. |relPosInNED: [ 0.087011 north, 0.179607 east, -0.013057 down ].m*Combining 10 samples..mCould not read vehicle position; cannot calculate contact position.2CizCiCmN,?H9l?mxّCm5\7?4 HG?OCm\?Cm¸Cm@]F?V,5Z?~Cm6D?>?FCmQ?ZCm7>bCm2=:CiBCiJCiRCijCirCiɄ I  Ƀ i) 9rB#>3`> ,π(AY\@(@yA7;W<ٟH C?P? X [?@? f?i?)\@ ĚV;IsC2G=2DI6=)64= f fV7@= 1N=W89>y  QE E 9a>.eTracking...ɄiqIqqɃqi) 9rB%=9`> ,-(AYWf@Ɵ@yZ3;<ٟH?`{?sZ?@I ?Й`)f??b?)Wf@ V;I=D׽A׹  c7< 1==9>yQEE91;a>.%Tracking...Ʉ1QIQQɃQiY)Y q9rB= 11@`> ,j(A i YXd@ǝ@yV2;fT<ٟH?H&?%Y?1 ?]Ù@Jf`֩?e?)Xd@ V;Iӗ=%:D}%=i}<  7Vƽ 1I=9>yQE E 9 a >.Tracking...Ʉ))I))Ƀ)iQ)Y i9rB= F`> ,(AY\@@y%#0;K<ٟH@C? ?@Y?@ ?ݫbfU?`j?)\@ V;ItC2 =28D 44 : :77 1Z=%X9%>y!!QE-E)9-B#a->.=Tracking...ɄIIIIIɃIiQ)y 9rBo=/L`> ,z6(AY}O@@y@';r<ٟH?r?DmV? l ?`?dm?`r?)}O@  V;IsC2K=2zD:;:p; > >7nr= 1nN=rѬ9r>yptQEvEt9v?az>.eTracking...ɄqqIqqɃqi) 9rB=I5l>)5p>S`> ,7TP(AɞYE@@yF,; :<ٟH*?e? l9W?` ?@`ڈe@F?y?)E@ 'V;I2=2DI4)6A > >7r = 1rJ=r999v>yttQEvEt9zCaz>.%Tracking...Ʉ11I11Ƀ1i) 9!rB-=NZ`> ,1j(AYC@p|@yX0;a<ٟH ? :?@)X?`4? R f 7?|?)C@ LV;IvC2ӗ=2:D > >=7~ 1~H=99>yQE E 9 dJa >.=Tracking...ɄIIIIIɃIiQ)y 99rBE="``> ,[(AYH@=@y2;x<ٟHR?;ި?@X?Tר?iUfpN?w?)H@ V;IuC"="tD(( . .{7h= 1J=89 >y  QE E 9:a>.ETracking...ɄIQIQQɃQiY)y 9rBo= 11m |Gy ґ ӽ o;Y !g`> ,杁(A@i^*=bp7Di< - -7=>q 1EF=E9E>yIIQEMEI9UaU>.eTracking...ɄqqIqqɃqiy)y 9rBb=Jm`> ,@(AY$T@@y7;p<ٟH?^)?`TyZ?)"U?`4f@y?n?)$T@ V;IBY=BRD  7}< 1}G=}'99>yށށQEEށ9p\;a>.Tracking...ɄI郩Ƀi) 9rB|=04t`> ,ܡс(AYNN@@ye1;<ٟH`?K? X?o?z!f?`?`t?)NN@ %V;IsC>=BuDrpy))QE-E195ca=>.ETracking...ɄQQIQQɃYiY)a q9rBO=I5>)5l>\z`> ,u(Aɞ=YU@Z@y!Q);<ٟH`? K ?F$W?`k? d"*e z?o?)U@ ʻV;IBY=BRDID)FA ^ ^7fꀽ 1fP=j᝹9j>yhhQEnEl9~;a>. Tracking...Ʉ99I99Ƀ9iA)A Y9irBuC=D`> ,R(AYTV@Ï@y{1;5<ٟH?@*?TY?4@q?->fTu?p?)TV@ V;IB =B8D J J7Rdռ 1VM=V99V>yTXQEZEX9Z9a^>.%Tracking....-fupdate period (5.000000 s) has elapsed, querying....-(*** querying DAT ***"C)*C)Ʉ19I99Ƀ9iA)A Y9irBu@=n`> ,,(AYb@@@y>6;<ٟH?@>? Z?@7?`R`f@? h?)b@ V;IrC2=2lD<<BT****** received valid address query ******BR****** received valid ping request ******BQuerying Benthos address 50 with 10 pings in terminal homing one-way mode.J8****** ping requested ****** J Jc7fP= 1fH=j`(99j>yhhQEjEh9nTt;ar>.vTracking...Ʉ|IɃi)  i9rB= 11`> ,9(Ai@Yb@`@y:2;Z"<ٟH@? ZBDAT read: Tx time:16:06:05.2212 Z$Ping request sent.ZyllQEnEl9r?8ar>.vTracking...Ʉ|IɃi)  !91rB=#=ـ`> ,eR(AYb@q@yZ0;>5<ٟH?K?lY?@D?D)f?`f?)b@ $V;IuC2̧=2ZNDvchecking for new query: numPingsReceived=0 elapsed TxPingTime=0.411109 v vF7ݍN< 1?=ޕѱ9>yޙޙQEEޙ9Xa>.Tracking...ɄIɃi) 9rB=誚`> ,@l(AYS@S@y4;R<ٟH ?7-?`Y?(&T?f`8q?p?)S@ @V;IsCB8=B]D = 9? checking for new query: numPingsReceived=0 elapsed TxPingTime=0.819601  7*p< 1E=_ 99>yQEE9a>.Tracking...Ʉ  I  Ƀ i) )99rBE=I5t>)5p>s`> ,(Aɞ%=YS@@y^/;_s<ٟH ?@9?/vX?u2L?@Jem?q?)S@ V;I===[ZDIֱ)ֱchecking for new query: numPingsReceived=0 elapsed TxPingTime=1.246502  17zS 1K=J9>yQEE9ata>.Tracking...ɄIɃi )  !99rBA`> ,w(AYGO@@y9+;&G<ٟH?@v?{W?o?`ye 4h? s?)GO@ ]V;I I ) i )$I$$ɣ$ $ɤ(*dA(i*,E(i,.fA).Ļ ,I, L)PɥPPPPɦVfAiTIVFTIVCiVfA TZF)XX XXXɧ\\ \\b`Fɶ``beAI`)`i`)dIddɷfF dɸhjeAhijsEhilfA) I !)!ɹ!!!%Cɺ)i)I-$F)I)i-A 15`F)1]=eWDchecking for new query: numPingsReceived=0 elapsed TxPingTime=1.645462  7ݭ{U 1M=ޭx9>yޱQEE9a>.Tracking...ɄIɃi!)! Y9rB=`> ,O(AYKN@@y,;l<ٟH? G? W?`?@el?@r?)KN@ "V;ItC=d==^DMAIUchecking for new query: numPingsReceived=0 elapsed TxPingTime=2.040482 QQe3= 1mO=m89m>yiqQEuEq9}4a}>.Tracking...ɄI郙Ƀi) 9rBq= 11δ`> ,R)Ԃ(AiYT@s@y1;<ٟH?+?`2Y?`)$S?`=>f`|?n?)T@ V;IsCm=mFD}%=i}=DDAT read: Rx Time:16:06:07.3509 6received an acoustic signalPDAT read: Bearing 68.2, -4.5 (Local) ~Local bearing/azimuth received: Bearing 68.2, -4.5 (Local) DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 16:06:07.3509 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 465,-0.34,-1.411,-1.749,-1.447,-1.493, PHS= 0.077,-0.212, 0.030, RAW= 141.3, 7.8, CAL= 141.8, 4.5, ROT= 68.2, -4.5 Ygot valid direction response: 16:06:07.3509 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 465,-0.34,-1.411,-1.749,-1.447,-1.493, PHS= 0.077,-0.212, 0.030, RAW= 141.3, 7.8, CAL= 141.8, 4.5, ROT= 68.2, -4.5 R#Rx 1: Read range and direction messages.direction in vehicle frame: [ 0.370223 forward, 0.925624 starboard, -0.078459 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoy?ύf?5;Y> )BI-=iY<h@'g >bd@ |٠=):\?I|٠I<^?oG=?r:.-? 2>| > :\?)|٠checking for new query: numPingsReceived=1 elapsed TxPingTime=2.466006  7  1@=+E99>yQEE9%:a%>.5Tracking....=direction in vehicle frame: [ 0.370223 forward, 0.925624 starboard, -0.078459 keelward ].=8processing response from DAT.MrotationFromVehicleToNavigationFrame_ = [ 0.998884,-0.047151,-0.002715;0.047204,0.998575,0.024891;0.001538,-0.024991,0.999686 ].U8rangeToContact_ = 0.300000 m)eY= eC.mdirection in world frame: [ 0.413382 north, 0.908809 east, -0.056400 down ].relPosInFSK: [ 0.111067 forward, 0.277687 starboard, -0.023538 keelward ]ҹ ̺Y! E yƸ<.|relPosInNED: [ 0.124015 north, 0.272643 east, -0.016920 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC>Cpn?+.?d]WFC?ύf?5;C:\?C|٠C㓚m?ٞr?1JSCuDt?q?ିCk?ZC>bC=:CBCJCRCjCrCɄIIIIIɃIiQ)Q q9rBB>}`> ,(AYT@@yȤ(;[<ٟH ? ?`V? `W?e?j?)T@ țV;I25=2tgDRDDAT read: Rx Time:16:06:07.8509 V6received an acoustic signalZPDAT read: Bearing 67.8, -5.0 (Local) Z~Local bearing/azimuth received: Bearing 67.8, -5.0 (Local) bDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 16:06:07.8509 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 497,-0.19,-1.120,-1.448,-1.153,-1.196, PHS= 0.072,-0.207, 0.029, RAW= 141.7, 8.3, CAL= 142.2, 5.0, ROT= 67.8, -5.0 Ygot valid direction response: 16:06:07.8509 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 497,-0.19,-1.120,-1.448,-1.153,-1.196, PHS= 0.072,-0.207, 0.029, RAW= 141.7, 8.3, CAL= 142.2, 5.0, ROT= 67.8, -5.0 R#Rx 2: Read range and direction messages.udirection in vehicle frame: [ 0.376403 forward, 0.922347 starboard, -0.087156 keelward ]}not publishing receive ping time as it could be a packet for anyone}Fpublishing direction and range infoyss(c?ރ?OY )It=iSh<G@V>@ ¸=)ww?I¸Ii?˩~???M>}> ww?)¸checking for new query: numPingsReceived=2 elapsed TxPingTime=2.889102  7= 1==9>yQE-E)95u89a5>.ETracking....direction in vehicle frame: [ 0.376403 forward, 0.922347 starboard, -0.087156 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998888,-0.047074,-0.002573;0.047123,0.998577,0.024975;0.001394,-0.025069,0.999685 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.419327 north, 0.905501 east, -0.065061 down ].relPosInFSK: [ 0.112921 forward, 0.276704 starboard, -0.026147 keelward ].|relPosInNED: [ 0.125798 north, 0.271650 east, -0.019518 down ].e*Combining 10 samples..mCould not read vehicle position; cannot calculate contact position.2CizCiCm#b?̤?{4ƚCmss(c?ރ?OCmww?Cm¸Cmo?6'?r۷b? Cm5HA??קCmތ?ZCm>bCm>:CiBCiJCiRCijCirCiɄIɃi) )99rB8>`> ,(AYbO@ш@y(;<ٟH@?t?`6V?4n?e`x? p?)bO@ >V;IrC>=BWDNDDAT read: Rx Time:16:06:08.3508 N6received an acoustic signalRPDAT read: Bearing 67.2, -5.4 (Local) V~Local bearing/azimuth received: Bearing 67.2, -5.4 (Local) ZDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 nDAT read: 16:06:08.3508 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.07,-2.058,-2.365,-2.084,-2.126, PHS= 0.063,-0.195, 0.026, RAW= 142.4, 8.7, CAL= 142.8, 5.4, ROT= 67.2, -5.4 rYgot valid direction response: 16:06:08.3508 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.07,-2.058,-2.365,-2.084,-2.126, PHS= 0.063,-0.195, 0.026, RAW= 142.4, 8.7, CAL= 142.8, 5.4, ROT= 67.2, -5.4 v>vp;vR#Rx 3: Read range and direction messages.zdirection in vehicle frame: [ 0.385796 forward, 0.917772 starboard, -0.094108 keelward ]znot publishing receive ping time as it could be a packet for anyonezFpublishing direction and range infoytv:+>?c^?|ӄ{YvL>tttt t)vCIv%=ivGvvW@ v=)vQ ?IvtIvm~=?2#V\?6*?vi>vO> vQ ?)v checking for new query: numPingsReceived=3 elapsed TxPingTime=3.244065  7%z 1%l=%`!79%?y))QE-E)95a5?.ETracking....Mdirection in vehicle frame: [ 0.385796 forward, 0.917772 starboard, -0.094108 keelward ].M8processing response from DAT.]rotationFromVehicleToNavigationFrame_ = [ 0.998858,-0.047716,-0.002577;0.047765,0.998549,0.024875;0.001386,-0.024969,0.999687 ].e8rangeToContact_ = 0.200000 m.edirection in world frame: [ 0.429062 north, 0.900381 east, -0.072244 down ].mrelPosInFSK: [ 0.077159 forward, 0.183554 starboard, -0.018822 keelward ].u|relPosInNED: [ 0.085812 north, 0.180076 east, -0.014449 down ].u*Combining 10 samples..uCould not read vehicle position; cannot calculate contact position.2CqzCuL>Cu?[ɸ~?oECu:+>?c^?|ӄ{CuQ ?CuCu?ځ: ?~0KCu-lu?V?tzn~Cu#?ZCue8>bCu=:CqBCqJCqRCqjCqrCqɄIɃi) I9YrBe=I5x>)5l> `> ,w!(Aɞ=Y:R@@y);<ٟH?LG? W?@=? T7e`(?`n?):R@ V;IsC2=2vDId)fAvDDAT read: Rx Time:16:06:08.8509 z6received an acoustic signal~checking for new query: numPingsReceived=3 elapsed TxPingTime=3.645040  o7ݥT= 1C=ޭ89>yQEE9U:a>.-Tracking...ɄIɃi) A9rB=#5`> ,B;(AYY@5@y=2;}<ٟH ?)ϧ?`2Y?`#ȧ?ŜEUf?`m?)Y@ }V;IuCF=FDYD PDAT read: Bearing 67.3, -4.5 (Local) ~Local bearing/azimuth received: Bearing 67.3, -4.5 (Local) %DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 EDAT read: 16:06:08.8509 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497, 0.03, 0.122,-0.150, 0.101, 0.060, PHS= 0.058,-0.166, 0.026, RAW= 142.3, 7.9, CAL= 142.7, 4.5, ROT= 67.3, -4.5 MYgot valid direction response: 16:06:08.8509 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497, 0.03, 0.122,-0.150, 0.101, 0.060, PHS= 0.058,-0.166, 0.026, RAW= 142.3, 7.9, CAL= 142.7, 4.5, ROT= 67.3, -4.5 UR#Rx 4: Read range and direction messages.]direction in vehicle frame: [ 0.384716 forward, 0.919694 starboard, -0.078459 keelward ]]Fpublishing direction and range infoyQUEZD1?-"n?5;YU>QQQQ Q)QIUhm=iU)QU\@U0 >Ue@ U|٠=)UY?IU|٠QIU1N?Fꌵ+?44?U D>U* > UY?)U|٠uchecking for new query: numPingsReceived=4 elapsed TxPingTime=4.064659 } }J7݅ 1L=ލв99>yޑޑQEEޑ9P;a>.Tracking....direction in vehicle frame: [ 0.384716 forward, 0.919694 starboard, -0.078459 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998917,-0.046449,-0.002726;0.046502,0.998608,0.024912;0.001565,-0.025012,0.999686 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.426945 north, 0.902506 east, -0.056572 down ].relPosInFSK: [ 0.115415 forward, 0.275908 starboard, -0.023538 keelward ].|relPosInNED: [ 0.128083 north, 0.270752 east, -0.016971 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC>Cԋ?#9{?d]WFCEZD1?-"n?5;CY?C|٠Cx e?~0S?Zo0`Ca<S?DeU?C?ZC>bC(>:CBCJCRCjCrCɄ19I99Ƀ9i9)A 9rBU> `> ,~rU(AYV@4@y35;P<ٟH? P? YZ?% v?ȑdfv?`o?)V@ V;I"="DZDDAT read: Rx Time:16:06:09.3508 Z6received an acoustic signal^PDAT read: Bearing 69.8, -3.4 (Local) b~Local bearing/azimuth received: Bearing 69.8, -3.4 (Local) jDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 zDAT read: 16:06:09.3508 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496, 0.14,-0.823,-1.105,-0.857,-0.897, PHS= 0.069,-0.164, 0.025, RAW= 139.7, 6.5, CAL= 140.2, 3.4, ROT= 69.8, -3.4 ~Ygot valid direction response: 16:06:09.3508 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496, 0.14,-0.823,-1.105,-0.857,-0.897, PHS= 0.069,-0.164, 0.025, RAW= 139.7, 6.5, CAL= 140.2, 3.4, ROT= 69.8, -3.4 AAR#Rx 5: Read range and direction messages. direction in vehicle frame: [ 0.344690 forward, 0.936841 starboard, -0.059306 keelward ] not publishing receive ping time as it could be a packet for anyone Fpublishing direction and range infoy͍ h?F?Cg]YL> )BIO=i'< @V=ۚ@ s=)I?IsIщg?OU8k?PAZ?ޚ>Y= I?)s%checking for new query: numPingsReceived=5 elapsed TxPingTime=4.458795 - -7=4== 1=O==U99E>yAAQEEEA9MtaM>.UTracking....]direction in vehicle frame: [ 0.344690 forward, 0.936841 starboard, -0.059306 keelward ].]8processing response from DAT.mrotationFromVehicleToNavigationFrame_ = [ 0.998900,-0.046815,-0.002776;0.046870,0.998591,0.024867;0.001608,-0.024970,0.999687 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.388125 north, 0.920866 east, -0.036948 down ].relPosInFSK: [ 0.068938 forward, 0.187368 starboard, -0.011861 keelward ].|relPosInNED: [ 0.077625 north, 0.184173 east, -0.007390 down ].*Combining 10 samples.. Could not read vehicle position; cannot calculate contact position.2C zC L>C SA쥱?F ?AgJC ͍ h?F?Cg]C I?C sC r<߳?i?wD~C  ?@E}w?X'ꢿC 7?ZC <>bC =:C BC JC RC jC rC ɄI郁Ƀi) 9rB> 99G`> ,rMo(A@iYuS@@yu9;9<ٟH`?f4?[?`-@Q?K.g f?`r?)uS@ V;I2\=2HD6C=i64=BDDAT read: Rx Time:16:06:09.8509 B6received an acoustic signalFPDAT read: Bearing 70.3, -2.4 (Local) J~Local bearing/azimuth received: Bearing 70.3, -2.4 (Local) RDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 bDAT read: 16:06:09.8509 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 497, 0.29, 0.681, 0.408, 0.647, 0.606, PHS= 0.071,-0.154, 0.026, RAW= 139.0, 5.5, CAL= 139.7, 2.4, ROT= 70.3, -2.4 fYgot valid direction response: 16:06:09.8509 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 497, 0.29, 0.681, 0.408, 0.647, 0.606, PHS= 0.071,-0.154, 0.026, RAW= 139.0, 5.5, CAL= 139.7, 2.4, ROT= 70.3, -2.4 jR#Rx 6: Read range and direction messages.ndirection in vehicle frame: [ 0.336800 forward, 0.940645 starboard, -0.041876 keelward ]nnot publishing receive ping time as it could be a packet for anyonenFpublishing direction and range infoydf?CU? ۷pYf>dddd d)dIfsh=if-ff= f= ?)f+zchecking for new query: numPingsReceived=6 elapsed TxPingTime=4.856300 ~ ~7 U~ 1 M= > 99 >yQEE9Ua>.-Tracking....5direction in vehicle frame: [ 0.336800 forward, 0.940645 starboard, -0.041876 keelward ].58processing response from DAT.ErotationFromVehicleToNavigationFrame_ = [ 0.998881,-0.047219,-0.002830;0.047275,0.998574,0.024805;0.001655,-0.024911,0.999688 ].E8rangeToContact_ = 0.300000 m.Mdirection in world frame: [ 0.380822 north, 0.924443 east, -0.019483 down ].MrelPosInFSK: [ 0.101040 forward, 0.282193 starboard, -0.012563 keelward ].]|relPosInNED: [ 0.114247 north, 0.277333 east, -0.005845 down ].]*Combining 10 samples..]Could not read vehicle position; cannot calculate contact position.2CYzC]>C]"ݹ?Mu?xC]?CU? ۷pC]= ?C]+C]C??!iҿ?!wC]˒,c_?iSy ?ļΎUC]S ?ZC]>bC]=:CYBCYJCYRCYjCYrCYɄyyI郁Ƀi) 9rB=e/`> ,E*(AYU@q@ya/;<ٟH?(?@X? N_?`e}?n?)U@ ˎV;ItC2 =2YBD>DDAT read: Rx Time:16:06:10.3508 >6received an acoustic signalFPDAT read: Bearing 68.0, -5.4 (Local) F~Local bearing/azimuth received: Bearing 68.0, -5.4 (Local) NDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 DAT read: 16:06:10.3508 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 497,-0.50,-2.217,-2.549,-2.251,-2.292, PHS= 0.071,-0.212, 0.026, RAW= 141.5, 8.7, CAL= 142.0, 5.4, ROT= 68.0, -5.4  Ygot valid direction response: 16:06:10.3508 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 497,-0.50,-2.217,-2.549,-2.251,-2.292, PHS= 0.071,-0.212, 0.026, RAW= 141.5, 8.7, CAL= 142.0, 5.4, ROT= 68.0, -5.4  R#Rx 7: Read range and direction messages.direction in vehicle frame: [ 0.372944 forward, 0.923069 starboard, -0.094108 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoy  Q?,lj?|ӄ{Y L>     ) I i Y  @ |> @ =) ?I  I 3m?iA,?N#?  >  > ?) checking for new query: numPingsReceived=7 elapsed TxPingTime=5.292852  %7ݍ0 1=ލ_9>yޑޑQEEޑ9C9a>.Tracking....direction in vehicle frame: [ 0.372944 forward, 0.923069 starboard, -0.094108 keelward ].8processing response from DAT.ErotationFromVehicleToNavigationFrame_ = [ 0.998890,-0.047030,-0.002682;0.047082,0.998581,0.024893;0.001508,-0.024992,0.999687 ].E8rangeToContact_ = 0.200000 m.Mdirection in world frame: [ 0.415848 north, 0.906571 east, -0.072101 down ].UrelPosInFSK: [ 0.074589 forward, 0.184614 starboard, -0.018822 keelward ].U|relPosInNED: [ 0.083170 north, 0.181314 east, -0.014420 down ].]*Combining 10 samples..]Could not read vehicle position; cannot calculate contact position.2CYzC]L>C]+k@?Rql?oEC]Q?,lj?|ӄ{C]?C]C] GTJ?IqjN5?=o7OC]/|B?e?$:~1uC][?ZC]9>bC]T=:CYBCYJCYRCYjCYrCYɄI郹Ƀi) 9QrB]U>Y`> ,u(AY"P@"@y"N/;" K<ٟ"H?`b?kX?[-?`eh?r?)"P@ "8V;I"uCB=F`DfDDAT read: Rx Time:16:06:10.8509 j6received an acoustic signalrPDAT read: Bearing 66.2, -6.6 (Local) r~Local bearing/azimuth received: Bearing 66.2, -6.6 (Local) ~DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 p<- X#Rx 8: Read range message, but no direction. not publishing receive ping time as it could be a packet for anyoney Y > %checking for new query: numPingsReceived=8 elapsed TxPingTime=5.669042 % %7E\'= 1E=MǷ9U?yQEE9a ?.Tracking....direction in vehicle frame: [ 0.372944 forward, 0.923069 starboard, -0.094108 keelward ].8processing response from DAT.5rotationFromVehicleToNavigationFrame_ = [ 0.998864,-0.047576,-0.002675;0.047628,0.998557,0.024813;0.001491,-0.024913,0.999689 ].58rangeToContact_ = 0.300000 m.=direction in world frame: [ 0.416344 north, 0.906338 east, -0.072172 down ].=relPosInFSK: [ 0.111883 forward, 0.276921 starboard, -0.028232 keelward ].E|relPosInNED: [ 0.124903 north, 0.271901 east, -0.021652 down ].E*Combining 10 samples..ECould not read vehicle position; cannot calculate contact position.2CIzCM>CMBMIa?y7?e蜿CMQ?,lj?|ӄ{CICICMK?Mf?+CMECPb?׺ø? X'yCMZ?ZCM6>bCM=:CIBCIJCIRCIjCIrCIɄAAIA郁Ƀi) 9rB'>I5l>)5p>F`> ,޼(Aɞ%=YzS@@y|3;;<ٟH ?3?`͔Y?,@O?ຍ of`s?`p?)zS@ ~V;IsC2g=2xDI4)4JDAT read: 16:06:10.8509 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.28,-2.593,-2.925,-2.618,-2.659, PHS= 0.062,-0.222, 0.026, RAW= 143.3, 10.0, CAL= 143.8, 6.6, ROT= 66.2, -6.6 Ygot valid direction response: 16:06:10.8509 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.28,-2.593,-2.925,-2.618,-2.659, PHS= 0.062,-0.222, 0.026, RAW= 143.3, 10.0, CAL= 143.8, 6.6, ROT= 66.2, -6.6 %X#Rx 9: Read direction message, but no range.-direction in vehicle frame: [ 0.400871 forward, 0.908896 starboard, -0.114937 keelward ]yzdާ?? ?NZl )CI}=iScQ @¸2>K @ =)h?I뽩Ir2 ?Po?vK?nX>%I3> h?)checking for new query: numPingsReceived=9 elapsed TxPingTime=6.096294  7< 1@=99>yQEE92]:a>.Tracking...ɄIɃi)  9rB >(k`> ,(փ(AYP@p@yv7;+<ٟH?@|k? Z?Fd@(? },fta?s?)P@ V;ItCB=BlDvDDAT read: Rx Time:16:06:11.3508 z6received an acoustic signal~PDAT read: Bearing 66.5, -6.4 (Local) ~~Local bearing/azimuth received: Bearing 66.5, -6.4 (Local)  DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 5DAT read: 16:06:11.3508 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.15, 2.817, 2.502, 2.793, 2.753, PHS= 0.060,-0.207, 0.025, RAW= 143.0, 9.8, CAL= 143.5, 6.4, ROT= 66.5, -6.4 =Ygot valid direction response: 16:06:11.3508 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.15, 2.817, 2.502, 2.793, 2.753, PHS= 0.060,-0.207, 0.025, RAW= 143.0, 9.8, CAL= 143.5, 6.4, ROT= 66.5, -6.4 ET#Rx 10: Read range and direction messages.Mdirection in vehicle frame: [ 0.396264 forward, 0.911345 starboard, -0.111469 keelward ]Mnot publishing receive ping time as it could be a packet for anyoneMFpublishing direction and range infoy9=uc\?9)? -V:Y=L>9999 9)9I=u=i=S=<=@=%/>=J @ ==)=?I=佩9I=?𩀸?Б㞌?=O/>= .> =?)= e e_7uH 1uR=}t399}>yyyQEEށ9a>.Tracking....direction in vehicle frame: [ 0.396264 forward, 0.911345 starboard, -0.111469 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998861,-0.047640,-0.002805;0.047695,0.998554,0.024786;0.001620,-0.024891,0.999689 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.439099 north, 0.893924 east, -0.089957 down ].relPosInFSK: [ 0.079253 forward, 0.182269 starboard, -0.022294 keelward ].|relPosInNED: [ 0.087820 north, 0.178785 east, -0.017991 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCL>CXI?[6T?m.ԖCuc\?9)? -V:C?CC~DZ{?mMk?\lCA0?o?dsCu?ZC7>bCڳ=:CBCJCRCjCrCɄIɃi) 9YrBe=O`> ,h(AY [@x@yz0;d<ٟH/?级?"Y? ?@Tf닙?k?) [@ ^V;IqC"y="GDjDDAT read: Rx Time:16:06:11.8509 j6received an acoustic signalnPDAT read: Bearing 66.2, -6.4 (Local) r~Local bearing/azimuth received: Bearing 66.2, -6.4 (Local) zDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 16:06:11.8509 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.02,-1.928,-2.233,-1.950,-1.989, PHS= 0.057,-0.199, 0.025, RAW= 143.4, 9.8, CAL= 143.8, 6.4, ROT= 66.2, -6.4 Ygot valid direction response: 16:06:11.8509 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.02,-1.928,-2.233,-1.950,-1.989, PHS= 0.057,-0.199, 0.025, RAW= 143.4, 9.8, CAL= 143.8, 6.4, ROT= 66.2, -6.4 %A%A%T#Rx 11: Read range and direction messages.-direction in vehicle frame: [ 0.401030 forward, 0.909258 starboard, -0.111469 keelward ]-not publishing receive ping time as it could be a packet for anyone-Fpublishing direction and range infoy!%>{?JE? -V:Y%>!!!! !)!I%xi=i%K!%- @!%K @ !)%h?I!!I%Ȥ??% ?%8>%#-> %h?)!  7ݵ 18=޽r9>y޹޹QEE9_F;a>.UTracking....]direction in vehicle frame: [ 0.401030 forward, 0.909258 starboard, -0.111469 keelward ].]8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998924,-0.046295,-0.002693;0.046348,0.998614,0.024948;0.001534,-0.025046,0.999685 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.442570 north, 0.892223 east, -0.089830 down ].relPosInFSK: [ 0.120309 forward, 0.272777 starboard, -0.033441 keelward ].|relPosInNED: [ 0.132771 north, 0.267667 east, -0.026949 down ]. *Combining 10 samples.. Could not read vehicle position; cannot calculate contact position.2C zC >C pLmJ̾?.u?4 #C >{?JE? -V:C h?C C  T*&?e8t!?f<C +S?DU?JHC E?ZC  >bC >:C BC JC RC jC rC ɄiiIiiɃiiq)q 9ArBM1> 99}a> ,*p (Ai@YY@7@yq/;q<ٟH!?Χ?X?ȧ?@覙`ep?k?)Y@ rV;I2ӗ=2:Db%=i` f f%7nx 1nn=r/9r?yppQErEt9vav?.Tracking...ɄAAIAIɃIiI)Q i9rBZ=х}Gҙұ L;YGa> ,K$(AYZ@@y,;1G<ٟH %?`ɧ?9X?@§?GUe3?l?)Z@ -V;IuC"}="D . .7F= 1FP=F9J>yHHQEJEH9N8aN>.VTracking...Ʉ\\I\\Ƀ\i`)` l9trBz<Wa> ,l&>(AYEY@@y2[6;<ٟH`?eק?Z?0Ч?'`dfG?@m?)EY@ V;IsCF=FDYDN4y\\QE^E\9bab>.jTracking...ɄppIppɃpit)t 9rB=I5>)5l>a> ,KX(AɞY[@S@yy/;<ٟH :?1?`fX?M`? - >7F4 1FM=F9F>yHHQEJEH9NpR:aN>.vTracking...ɄxxI||Ƀ|i)! 99irBuA=a> ,q(AYcb@қ@y3;A<ٟH?E? 4Z?x>?b]sf ?e?)cb@ _V;IB.=B{D R R7V$= 1ZH=Z!99Z>yX\QE^E\9b:ab>.fTracking...ɄllIppɃpip)t 9rBV="a> ,(AY_@@yR5;f<ٟH_?z?Z?`s?``f?h?)_@ V;ItC2=2vD:A:A > > 7FN; 1FM=F589F>yHHQEJEH9N5aN>.VTracking...ɄXXI\\Ƀ\i`)` l9trBz< 99(a> ,͑(AiYX@K@yN3;<ٟH?`ݧ? Y?@֧`?@if@L{?n?)X@ V;IJ=JDYDC=i=  7% 1%A=%٧9%>y))QE-E)95a5>.ETracking...ɄIIIQQɃQiQ)Y q9rBL=/a> ,Pn(AYk]@ږ@yO5;sP<ٟHK??xZ?@㍧?ϣfZ?k?)k]@ ۤV;IuC"޾=&jD r r7%6< 1-J=-G89->y11QE5E195:a=>.MTracking...ɄQQIYYɃYia)a y9rBQ=x6a> ,Iل(AYOV@@y3;<ٟH@?@?@"Y?p?@ufv?o?)OV@ HV;ItCBY=BRDrpyIIQEMEI9U aU>.eTracking...ɄiqIqqɃqiy)y 9rB_=I=l>)9.1 ,-#(Aɞ=YKY@@yk7; <ٟH? ק? Z?ϧ`? `f ?`m?)KY@ V;IBk=BoDID)FA N N7V< 1VT=Zp99Z>yXXQE^E\9bw:ab>.fTracking...ɄllIlpɃpip)t 9rB=fCa> , (AY1d@@y;5;u <ٟH?(? Z?@! ?ߺfภ? g?)1d@ V;IF=JusD R R7ZK; 1ZJ=Z9^>y``QEbE`9fW;af>.nTracking...ɄptIttɃtit)x 9rB%=;CIa> ,&(AYK@T@y.;)<ٟHx?@? X?󥨿?x@e]?t?)K@ V;IqC2=2W*D@BA B B7J 1JL=Jى9N>yLLQEzEx9~a~>. Tracking...ɄIɃi!)! 99IrBU0= 11+Pa> ,@(Ai@YhQ@׊@yT3;U<ٟH?@T?>Y?`M:?ypf@_?@t?)hQ@ V;IsCB=BWDF4=iF< N N7V2= 1VI=V999V>yXXQEZEX9^:a^>.fTracking....ffupdate period (5.000000 s) has elapsed, querying....f(*** querying DAT ***"Cd*CdɄllIppɃpip)t y9rBS=) U }GUVa> ,uZ(AYP@h@y1;<ٟH?[? X?T@4? |#f`b?s?)P@ \V;I:AfA> =>YBDD ^o;Y^AfAT****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with 10 pings in terminal homing one-way mode.8****** ping requested ******  7M 1M@=M9U>yQQQEUEQ9]a]>.mTracking...ɄIɃi) !9rB=\a> ,lt(AY]@e@y980;<ٟH`R?%?1Y?5?z`f?j?)]@ ĕV;IrCF=FqCD &DAT read: user:9> BDAT read: Tx time:16:06:18.1711 $Ping request sent.yiiQEuEq9u;a}>.Tracking...ɄI郙Ƀi) 9rBq=I1)5p>Fgca> ,cF(Aɞ%=Y`@e@y+;;<ٟHv?[? X? CU`?!~ce`?f?)`@ ÓV;IsC6v=6QDIp)rAvchecking for new query: numPingsReceived=0 elapsed TxPingTime=0.398932 z z7]< 1D=XD9>yQEE9^f:a>.Tracking...ɄIɃi) 9)rB5=̑ia> ,1#(AYS@4@y);,<ٟH?.? W?(O?@9e@݄?m?)S@ BV;IB=B 1V^=Zcb9Z>yXXQE^E\9bdab>.fTracking...ɄllIlpɃpip)t 9rB=ypa> ,(AYW@3@y!0;N<ٟH?`?@X?:觿~?ע !f@?@l?)W@ DV;IF=F9DLLRchecking for new query: numPingsReceived=0 elapsed TxPingTime=1.197898 V V 7vN 1vG=vu99v>yxxQEzEx9~u:a~>. Tracking...ɄIɃi!)! 99IrBU/= 11sva> ,ۅ(AiYV@b@yb2;<ٟH?E? pY?Fv?@OLf`B?m?)V@ zV;IM`=M?Diim<}checking for new query: numPingsReceived=0 elapsed TxPingTime=1.662337  c7ݕ; 12=ޕn89>yޙޙQEEޙ9ca>.Tracking...ɄIɃi) 9rB=|a> ,ȳ(AYQ@>@yMQ9;Pm<ٟH`?N?@Z?nG;? Ј'*g l?q?)Q@ V;I) )-)ɶ111I1)9i9)9I99ɷ9 9ɸAAAiAAiII)I III Q)UfAɹQQQYɺ]fAiYIYYIaieA aa)au1=uFqDchecking for new query: numPingsReceived=0 elapsed TxPingTime=2.067540  7ݝpI= 1J=ޝ99>yޡޡQEEޡ9+˺a>.5Tracking...ɄAAIAIɃIii)q 9rB>xa> ,#(AYV@+@yO9;A<ٟH? ?<[?`@s?4g?l?)V@ ܕ(= ݕϸ?)ݕ¸2uchecking for new query: numPingsReceived=1 elapsed TxPingTime=2.502650 u u 7 17=979>yQEE9&:a>.Tracking....direction in vehicle frame: [ 0.331845 forward, 0.942325 starboard, -0.043619 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998899,-0.046819,-0.002833;0.046876,0.998590,0.024910;0.001662,-0.025015,0.999686 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.375579 north, 0.926551 east, -0.021073 down ].relPosInFSK: [ 0.099554 forward, 0.282697 starboard, -0.013086 keelward ].|relPosInNED: [ 0.112674 north, 0.277965 east, -0.006322 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCCY-gV|?`.?'̊CbC=:CBCJCRCjCrCɄIɃi) 99IrBUT>I5x>)5t>߉a> ,nj)(Aɞ=Yr]@@yo7;<ٟHK??<[? s? 䭙f?i?)r]@ "V;IvC\= HDIֱ)ֵADDAT read: Rx Time:16:06:20.8006 6received an acoustic signalPDAT read: Bearing 70.4, -2.9 (Local) ~Local bearing/azimuth received: Bearing 70.4, -2.9 (Local) DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0  DAT read: 16:06:20.8006 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 495, 0.16,-0.119,-0.394,-0.154,-0.194, PHS= 0.070,-0.157, 0.024, RAW= 139.0, 6.0, CAL= 139.6, 2.9, ROT= 70.4, -2.9 Ygot valid direction response: 16:06:20.8006 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 495, 0.16,-0.119,-0.394,-0.154,-0.194, PHS= 0.070,-0.157, 0.024, RAW= 139.0, 6.0, CAL= 139.6, 2.9, ROT= 70.4, -2.9 R#Rx 2: Read range and direction messages.direction in vehicle frame: [ 0.335022 forward, 0.940851 starboard, -0.050593 keelward ]%not publishing receive ping time as it could be a packet for anyone%Fpublishing direction and range infoyop?مs?|rQ穿YL> )BI)\=i <C@Pw=I@ 4QO=)nF?I4QOI$$?b?I!F?{W>ߡ= nF?)4QO=checking for new query: numPingsReceived=2 elapsed TxPingTime=2.865671 99Mr 1Mi=U9U>yQQQE]EY9];a]>.mTracking....udirection in vehicle frame: [ 0.335022 forward, 0.940851 starboard, -0.050593 keelward ].u8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998937,-0.046001,-0.002803;0.046057,0.998627,0.024975;0.001650,-0.025077,0.999684 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.377915 north, 0.925416 east, -0.028018 down ].relPosInFSK: [ 0.067004 forward, 0.188170 starboard, -0.010119 keelward ].|relPosInNED: [ 0.075583 north, 0.185083 east, -0.005604 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCL>CE3'?O?- Cop?مs?|rQ穿CnF?C4QOC_JhY?QSΰ?:vC2Ѧ/?`?DN ӰCo?ZC=>bC˚=:CBCJCRCjCrCɄIɃi) 9rB=oʐa> ,QC(AYCX@@y0;U<ٟH?@:?#Y?L৿@?磙f?l?)CX@ ٵV;In=nWDEDDAT read: Rx Time:16:06:21.3005 M6received an acoustic signalUPDAT read: Bearing 70.7, -2.2 (Local) U~Local bearing/azimuth received: Bearing 70.7, -2.2 (Local) eDAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 munknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 DAT read: 16:06:21.3005 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 510, 0.31,-1.009,-1.273,-1.043,-1.083, PHS= 0.070,-0.146, 0.025, RAW= 138.6, 5.2, CAL= 139.3, 2.2, ROT= 70.7, -2.2 Ygot valid direction response: 16:06:21.3005 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 510, 0.31,-1.009,-1.273,-1.043,-1.083, PHS= 0.070,-0.146, 0.025, RAW= 138.6, 5.2, CAL= 139.3, 2.2, ROT= 70.7, -2.2 X#Rx 3: Read direction message, but no range.direction in vehicle frame: [ 0.330271 forward, 0.943105 starboard, -0.038388 keelward ]not publishing receive ping time as it could be a packet for anyoneyڙڝ\t$(#? !-?.ٙڙڙڙ ۙ)ۙIۙi۝۝<۝T@۝޹=۝@ ܝnF=)ܝ?IܝnFܙIݝoV3?W?u PI?ܝS>ܝS= ݝ?)ݝnFchecking for new query: numPingsReceived=3 elapsed TxPingTime=3.254255  7{m< 1R=^9>yQEE9mպa>.Tracking...ɄIɃi)! 9 rB>a> ,)](AY[@1@yB/;w<ٟH8?L?`nX?`l ?`Pe@.?`k?)[@ V;ItC>=BUDHJAJchecking for new query: numPingsReceived=3 elapsed TxPingTime=3.620519 N N7ݥj 1M=޵uo9>y޹QEE9P:a>.Tracking...Ʉ IɃi!)) 9 rB= 11a> ,v(AiYY@ @yG5;<ٟH?ѧ?qZ?ʧ?f}?n?)Y@ tV;IqC2=2,LD6C=i6<BDDAT read: Rx Time:16:06:21.8006 B6received an acoustic signalJPDAT read: Bearing 121.5, 7.1 (Local) J~Local bearing/azimuth received: Bearing 121.5, 7.1 (Local) RDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 bDAT read: 16:06:21.8006 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 512,-0.45,-1.612, 2.859, 2.848,-2.887, PHS= 1.271,-0.493,-0.563, RAW= 88.1, -2.4, CAL= 88.5, -7.1, ROT= 121.5, 7.1 fYgot valid direction response: 16:06:21.8006 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 512,-0.45,-1.612, 2.859, 2.848,-2.887, PHS= 1.271,-0.493,-0.563, RAW= 88.1, -2.4, CAL= 88.5, -7.1, ROT= 121.5, 7.1 jR#Rx 4: Read range and direction messages.ndirection in vehicle frame: [ -0.518492 forward, 0.846102 starboard, 0.123601 keelward ]nnot publishing receive ping time as it could be a packet for anyonenFpublishing direction and range infoyhjO?%g|࿺3D?A7X?Yhhhhh h)jCIj!?ijjj j:?j+j? j)j@Ij=hIj i&dQ"?,࿑,j"j, j@)j=zchecking for new query: numPingsReceived=4 elapsed TxPingTime=4.035968 ~ ~%7 & 1 U= 99 >yQEE9)4aE>.UTracking....direction in vehicle frame: [ -0.518492 forward, 0.846102 starboard, 0.123601 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998916,-0.046468,-0.002775;0.046523,0.998607,0.024894;0.001614,-0.024996,0.999686 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ -0.478367 north, 0.865927 east, 0.146064 down ].relPosInFSK: [ -0.103698 forward, 0.169220 starboard, 0.024720 keelward ].|relPosInNED: [ -0.095673 north, 0.173185 east, 0.029213 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCCtDE?yFFP?CO?%g|࿺3D?A7X?C@C=CK~*?UZB?Cm޿,=f۬?m=?C@ZCW1>bCý:CBCJCRCjCrCɄaaIaaɃaii) 99rB>9a> ,ؐ(AYL@@yP3;<ٟH? ? nY??`r H~fW?u?)L@ V;ItCb=bvDnDDAT read: Rx Time:16:06:22.3006 n6received an acoustic signalvPDAT read: Bearing 67.6, -5.6 (Local) v~Local bearing/azimuth received: Bearing 67.6, -5.6 (Local) DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 MDAT read: 16:06:22.3006 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 511,-0.27, 3.084, 2.742, 3.050, 3.008, PHS= 0.072,-0.221, 0.028, RAW= 141.9, 8.9, CAL= 142.4, 5.6, ROT= 67.6, -5.6 }Ygot valid direction response: 16:06:22.3006 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 511,-0.27, 3.084, 2.742, 3.050, 3.008, PHS= 0.072,-0.221, 0.028, RAW= 141.9, 8.9, CAL= 142.4, 5.6, ROT= 67.6, -5.6 }R#Rx 5: Read range and direction messages.direction in vehicle frame: [ 0.379252 forward, 0.920134 starboard, -0.097583 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyy}(ŨE?cq?A_1Yyyyyy y)}BI}t=i}Mb}B`<}@}>}@ }+=)}?I}+ȽyI}:䏎P?'R?Eʦ?}<>}> }?)}+Ƚchecking for new query: numPingsReceived=5 elapsed TxPingTime=4.507289  w7U\= 1U*=]|9]>yYYQE]Ea9eZae>.Tracking....direction in vehicle frame: [ 0.379252 forward, 0.920134 starboard, -0.097583 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998841,-0.048062,-0.002746;0.048115,0.998535,0.024749;0.001552,-0.024852,0.999690 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.422933 north, 0.902983 east, -0.075822 down ].%relPosInFSK: [ 0.075850 forward, 0.184027 starboard, -0.019517 keelward ].m|relPosInNED: [ 0.084587 north, 0.180597 east, -0.015164 down ]ѽ|GfA :YfA.*Combining 10 samples..%Could not read vehicle position; cannot calculate contact position.2C!zC!C%oj?:B"/?'C%(ŨE?cq?A_1C%?C%+ȽC%関nv?¹?C%T?Xo=?0iC%?ZC%8>bC%;=:C!BC!JC!RC!jC!rC!Ʉ9I郁Ƀi) 9ArBMR>D.a> ,x(AYAU@@yN<;xxxx x)zFIz>iz~ zoz@ z%=)z?Iz%xIz۴!?/2)?[=?z,e>z'k> z?)z%checking for new query: numPingsReceived=6 elapsed TxPingTime=4.849138  7-[ 1-u=5995?y11QE=E99EP;aE?.MTracking....Udirection in vehicle frame: [ 0.242725 forward, 0.966327 starboard, -0.085417 keelward ].]8processing response from DAT.mrotationFromVehicleToNavigationFrame_ = [ 0.998891,-0.047000,-0.002873;0.047057,0.998583,0.024833;0.001702,-0.024941,0.999687 ].m8rangeToContact_ = 0.300000 m.udirection in world frame: [ 0.287782 north, 0.955681 east, -0.062091 down ].relPosInFSK: [ 0.072817 forward, 0.289898 starboard, -0.025625 keelward ].|relPosInNED: [ 0.086335 north, 0.286704 east, -0.018627 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC>Cf)?*U?+u=Cw?@?Ty'?b$ݵC?C%CU<@?L\Y?|(CRk?/?]ʯC?ZCʒ>bCа=:CBCJCRCjCrCɄ19I99Ƀ9i9)A 9 rB>I5p>)5l>a> ,TĆ(AɞYw^@@y8;X<ٟHW??R[?'}? [g?i?)w^@ BV;IqC2*=2p7DI4)6A>DDAT read: Rx Time:16:06:23.3006 B6received an acoustic signalFPDAT read: Bearing 66.2, -6.4 (Local) F~Local bearing/azimuth received: Bearing 66.2, -6.4 (Local) NDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 DAT read: 16:06:23.3006 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495,-0.02,-2.578,-2.881,-2.599,-2.638, PHS= 0.056,-0.198, 0.024, RAW= 143.3, 9.8, CAL= 143.8, 6.4, ROT= 66.2, -6.4  Ygot valid direction response: 16:06:23.3006 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495,-0.02,-2.578,-2.881,-2.599,-2.638, PHS= 0.056,-0.198, 0.024, RAW= 143.3, 9.8, CAL= 143.8, 6.4, ROT= 66.2, -6.4  R#Rx 7: Read range and direction messages.direction in vehicle frame: [ 0.401030 forward, 0.909258 starboard, -0.111469 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoy  >{?JE? -V:Y L>     ) CI B`e=i J < Q @ %/> K @ =) h?I 佩 I #?ϣM?aJM? |> 0> h?) checking for new query: numPingsReceived=7 elapsed TxPingTime=5.267857  {7< 1A= 9>yQEE9B.;a>.%Tracking....-direction in vehicle frame: [ 0.401030 forward, 0.909258 starboard, -0.111469 keelward ].-8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998943,-0.045877,-0.002817;0.045933,0.998632,0.024975;0.001668,-0.025078,0.999684 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.442186 north, 0.892411 east, -0.089855 down ].relPosInFSK: [ 0.080206 forward, 0.181852 starboard, -0.022294 keelward ].|relPosInNED: [ 0.088437 north, 0.178482 east, -0.017971 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCL>Ctb?@)I F?m.ԖC>{?JE? -V:Ch?CCMZУ?[?JyfCF#iL?fl? ѷC[-?ZC6>bC=:CBCJCRCjCrCɄ19I99Ƀ9i9)A 9rB>@a> ,Qlކ(AYY@+@yd8;4<ٟH?`Ч?@O[?ȧ`? g`慙?@l?)Y@ ˨V;IuCR=R_D-DDAT read: Rx Time:16:06:23.8007 56received an acoustic signalEPDAT read: Bearing 69.5, -7.2 (Local) M~Local bearing/azimuth received: Bearing 69.5, -7.2 (Local) Uchecking for new query: numPingsReceived=7 elapsed TxPingTime=5.664252 ] ]7݅&= 1O=ލv9>yޑޙQEEޙ9ེa>.Tracking...ɄIɃi) 99yrB=ja> ,C(AYT@i@y8;<ٟH??JZ?```?@𒙿gw? o?)T@ UV;ItC2=2WDzDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 16:06:23.8007 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 0, 0.60, 0.340,-0.197, 0.261, 0.221, PHS= 0.115,-0.374, 0.025, RAW= 140.0, 10.4, CAL= 140.5, 7.2, ROT= 69.5, -7.2 %Ygot valid direction response: 16:06:23.8007 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 0, 0.60, 0.340,-0.197, 0.261, 0.221, PHS= 0.115,-0.374, 0.025, RAW= 140.0, 10.4, CAL= 140.5, 7.2, ROT= 69.5, -7.2 %A%A-R#Rx 8: Read range and direction messages.5direction in vehicle frame: [ 0.347446 forward, 0.929286 starboard, -0.125333 keelward ]5Fpublishing direction and range infoy)-@ )))) ))-EI-=i-|-<-a@-9>-@ ->)-C?I-)I-Jjj?H?X?->-9> -C?)-Mchecking for new query: numPingsReceived=8 elapsed TxPingTime=6.067114 M M7]& 1eM=eG9e>yaiQEmEi9mau>.Tracking....direction in vehicle frame: [ 0.347446 forward, 0.929286 starboard, -0.125333 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998889,-0.047034,-0.002809;0.047089,0.998581,0.024870;0.001635,-0.024975,0.999687 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.390614 north, 0.914756 east, -0.103159 down ].%relPosInFSK: [ 0.104234 forward, 0.278786 starboard, -0.037600 keelward ].%|relPosInNED: [ 0.117184 north, 0.274427 east, -0.030948 down ].-*Combining 10 samples..-Could not read vehicle position; cannot calculate contact position.2C)zC->C-;L?fƠ?gښM@C-@ bC-=:C)BC)JC)RC)jC)rC)ɄIɃi)1 9rBm5> 99Qa> ,~(A@iYL@ @y5;*<ٟH ?@P? Y?7@?f@d?s?)L@ +V;IsC2=2kDb%=ib<jDDAT read: Rx Time:16:06:24.3006 j6received an acoustic signalnPDAT read: Bearing 68.0, -4.6 (Local) r~Local bearing/azimuth received: Bearing 68.0, -4.6 (Local) zDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 DAT read: 16:06:24.3006 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.23,-1.198,-1.456,-1.220,-1.257, PHS= 0.056,-0.155, 0.022, RAW= 141.5, 7.9, CAL= 142.0, 4.6, ROT= 68.0, -4.6 Ygot valid direction response: 16:06:24.3006 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.23,-1.198,-1.456,-1.220,-1.257, PHS= 0.056,-0.155, 0.022, RAW= 141.5, 7.9, CAL= 142.0, 4.6, ROT= 68.0, -4.6 %R#Rx 9: Read range and direction messages.-direction in vehicle frame: [ 0.373400 forward, 0.924197 starboard, -0.080199 keelward ]-not publishing receive ping time as it could be a packet for anyone-Fpublishing direction and range infoy!%U ?Y$?zꇴY%L>!!!! !)%CI%B`e=i%R%X9<%@%0 >%@ %l=)%?I%l!I%Fi?Fk?c,?%>%* > %?)%lEchecking for new query: numPingsReceived=9 elapsed TxPingTime=6.470436 M M7]L< 1]K=]9]>yaaQEeEa9mR$am>.}Tracking....direction in vehicle frame: [ 0.373400 forward, 0.924197 starboard, -0.080199 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998841,-0.048044,-0.002775;0.048098,0.998535,0.024798;0.001580,-0.024902,0.999689 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.417293 north, 0.906901 east, -0.058292 down ].relPosInFSK: [ 0.074680 forward, 0.184839 starboard, -0.016040 keelward ].|relPosInNED: [ 0.083459 north, 0.181380 east, -0.011658 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCL>Cls:?}׼Ѩ?ƻlCU ?Y$?zꇴC?ClCx&]?fv7?geCi?~T?4C~حCܑ?ZC9>bC=:CBCJCRCjCrCɄIɃi) 9rB=L|a> ,+(AYM@@y%+;v<ٟH? ?1W?)`? ode n? r?)M@ kV;ItC2=2PDBDDAT read: Rx Time:16:06:24.8007 B6received an acoustic signalFPDAT read: Bearing 65.9, -7.1 (Local) F~Local bearing/azimuth received: Bearing 65.9, -7.1 (Local) RDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 bDAT read: 16:06:24.8007 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.53,-1.763,-2.084,-1.785,-1.824, PHS= 0.057,-0.216, 0.024, RAW= 143.7, 10.5, CAL= 144.1, 7.1, ROT= 65.9, -7.1 fYgot valid direction response: 16:06:24.8007 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.53,-1.763,-2.084,-1.785,-1.824, PHS= 0.057,-0.216, 0.024, RAW= 143.7, 10.5, CAL= 144.1, 7.1, ROT= 65.9, -7.1 jT#Rx 10: Read range and direction messages.ndirection in vehicle frame: [ 0.405199 forward, 0.905835 starboard, -0.123601 keelward ]nnot publishing receive ping time as it could be a packet for anyonenFpublishing direction and range infoyhj;R7?m2g?A7XYj>hhhh h)jFIjxi=ij/]jj @ j=)j8?IjhIjH?-jjVB;> j8?)j z z=7ݽ@ż 16=39>yQEE98a>.Tracking....%direction in vehicle frame: [ 0.405199 forward, 0.905835 starboard, -0.123601 keelward ].%8processing response from DAT.}rotationFromVehicleToNavigationFrame_ = [ 0.998844,-0.047998,-0.002611;0.048048,0.998536,0.024834;0.001416,-0.024931,0.999688 ].}8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.448079 north, 0.888141 east, -0.102126 down ].relPosInFSK: [ 0.121560 forward, 0.271750 starboard, -0.037080 keelward ].|relPosInNED: [ 0.134424 north, 0.266442 east, -0.030638 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC>C6#?R[ [d?K@5C;R7?m2g?A7XC8?CC4?1d ?H;}_CyAU?ڛk?!$C@?ZCk>bC >:CBCJCRCjCrCɄIIIQQɃQiQ)Y 9rB+>9da> ,E(AY'Y@@yi 7;"<ٟH? N٧?@Z?`ҧ?@ +f?l?)'Y@ V;I2=2CMD88 > >74u 1k= :9 ?y  QE E 9;a?.%Tracking...Ʉ11I11Ƀ1i9)9 Q9arBm==I5x>)5p>Ӎa> , _(Aɞ%=YX@ @y33;4<ٟH?? Y? ڧ`? 4`f@셙?l?)X@ BV;IB޾=BjDIH)H R R7ZW< 1ZP=^/#9^>y``QEbE`9f-af>.jTracking...ɄaaIiiɃiii)q 9rBZ=(a> , y(AY\@@yi6;^J<ٟHB??`Z?࿙? W kf?k?)\@ V;IuCB=BPD J Jc7RӼ 1VK=V$99V>yXXQEZEX9Z:a^>.bTracking...ɄhhIhlɃlil)p x9rB  =a> ,rl(AYS@@y84;?2<ٟH?33?Y?',`R?`cfe?s?)S@ fV;ItCB=BiDprA v v17%,< 1%B=-A9->y))QE-E195L.a=>.ETracking...ɄQQIQQɃYiY)a q9rBO= 11:a> ,A(AiYbN@ч@y7;s<ٟH?_?I~Z?.~?@qf`V?u?)bN@ V;I2C=2҆DrR=ir= v v7%= 1-J=-99->y11QE5E195G˺a=>.ETracking...ɄQQIQYɃYiY)a y9rBP=a> ,GLJ(AYDS@@y9;<ٟH?w7? 6[?%0P?y9g^?t?)DS@ ͒V;IBy=BGD eى 1eF=m/89m>yiiQEuEq9u:a}>.Tracking...ɄI郙Ƀi) 9rBq=)  m ~Gҁ ҙ o;Y  !; =]a> ,w(AYX@@ye9;v<ٟH@?y?@Y[?`ܧ`?4gy?n?)X@ gV;IsCB=BcDHJ4< N N7V|< 1VW=V9Z>yXXQEZEX9^Z:a^>.fTracking...ɄhlIlpɃpip)t 9rB=I5l>)1Da> ,(Aɞ=Yj\@ٕ@y+5;[C<ٟH???fcZ??3vf? l?)j\@ V;IqCB =BYBDID)D J J7R 1VJ=V/19V>yTXQEZEX9Z-:a^>.bTracking...ɄhhIhhɃlil)p x9 rB  =;b> ,.(AYT@C@y2;vI<ٟH?)?@܁Y? -a?󂙿nYf}h?r?)T@ ~V;IsCB޾=BjD N N7b8!= 1bI=b9f>yddQEfEd9jaj>.rTracking...ɄxxIxxɃxi|)| 9!rB-=$ b> ,j.(AYX@e@y}J-;2(<ٟH`?ۧ?BX? է?Ne@S?`m?)X@ V;ItC2*=2p7DBA@ B Bk7JQ 1JM=J]]9N>yLLQENEP9R:aR>.ZTracking...Ʉ!I!!Ƀ!i))) A9QrB]5= 11b> ,bH(AiYZ@;@y5;<ٟH,??}Z?Ƿ?Wfँ?@m?)Z@ $V;I2=2]rD:C=i:< > >7Fm= 1FK=J99J>yHHQEJEH9N:aN>.VTracking...Ʉ\\I\\Ƀ\i`)` l9trBz<*b> ,Bb(AYO\@@y%0;u<ٟH>?`?@GY??f`?@k?)O\@ UV;IsC2r=2s[D f fV7P 1A=%@W9%>y!!QE-E)9-9a->.]Tracking...ɄiiIiiɃqiq) 19ArBM=2Ub> ,|(AYf@@yJ4;v<ٟH@??Z?@$? ǙTf!?d?)f@ V;IvCB=B[ZD  7= 1EH=Eg"99E>yIIQEMEI9MI;aU>.}Tracking....fupdate period (5.000000 s) has elapsed, querying....(*** querying DAT ***"C*CɄI郱Ƀi) 9rB =I5x>)5l><%b> ,Q(AɞYa@A@yE/;<ٟH?wN?8CY?G`??e ?h?)a@ ȱV;IrC2=2/DIl)lrT****** received valid address query ******rR****** received valid ping request ******vQuerying Benthos address 50 with 10 pings in terminal homing one-way mode.v8****** ping requested ****** v v7EyIIQEMEI9UaU>.Tracking...ɄI郱Ƀi) 9rB = g+b> ,Rӯ(AY^@<@yV5;|<ٟH[??Z? w?vf?i?)^@ ݮV;IuC2=2uD:(DAT read: user:10> >BDAT read: Tx time:16:06:31.1210 B$Ping request sent.ByddQEfEd9jyaj>.rTracking...ɄxxIxxɃxi|)Y i9rB=IP2b> ,9Ɉ(AYR@@yB0;q<ٟH@?@@?X?@:E?&f`\q?p?)R@ V;IsC.k=2oD:checking for new query: numPingsReceived=0 elapsed TxPingTime=0.402304 : :k7nѻ 1nI=nN9r>yppQErEp9vnav>.~Tracking...Ʉ  I  Ƀ i) I9yrBJ= 11x8b> ,(Ai@YK@Z@yC0;<ٟH y?i?^X??pfU?`v?)K@ +V;IJR=J\fDR4=iR<Zchecking for new query: numPingsReceived=0 elapsed TxPingTime=0.813892 Z Z7rH 1rJ=v8>79v>yttQEvEx9zaz>.%Tracking...Ʉ11I11Ƀ1i9)9 Q9rBO=>b> ,f(AYB@F|@yO!2;E<ٟH?|=? X?`6`?`W (Df[yiiQEmEq9u,a>.Tracking...ɄIɃi) 9!rB-=Eb> ,?(AYE@]@yY0;F<ٟH.? ?`'X?F@?k` f9Q?@w?)E@ V;IvCRȯ=R-XD>c? checking for new query: numPingsReceived=0 elapsed TxPingTime=1.633507|G1 ];YY  7 15=g9>yQEE9Z:a>.=Tracking...ɄAAIIIɃIiy)y 9rB=I5p>)1ʴKb> ,r1(Aɞ%=%=YU@@y$3;=<ٟH ??Y?` @d? bdf@톙?`l?)U@ V;IrCB=B3DI|)| checking for new query: numPingsReceived=0 elapsed TxPingTime=2.037843  7EB+ 1Eh=M 99M>yIQQEUEQ9U`;a]>.eTracking...ɄqqIq1Ƀ1i9)9 q9rB=bRb> ,gJ(AYkT@ڍ@y)4;ۑ<ٟH`?$? Y? Z?@[@f`q?p?)kT@ V;IvC-=5EDDDAT read: Rx Time:16:06:33.2507 6received an acoustic signalPDAT read: Bearing 66.3, -6.0 (Local) ~Local bearing/azimuth received: Bearing 66.3, -6.0 (Local) DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 16:06:33.2507 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 465,-0.34, 0.718, 0.394, 0.694, 0.651, PHS= 0.063,-0.213, 0.028, RAW= 143.3, 9.4, CAL= 143.7, 6.0, ROT= 66.3, -6.0 Ygot valid direction response: 16:06:33.2507 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 465,-0.34, 0.718, 0.394, 0.694, 0.651, PHS= 0.063,-0.213, 0.028, RAW= 143.3, 9.4, CAL= 143.7, 6.0, ROT= 66.3, -6.0 בוAR#Rx 1: Read range and direction messages.direction in vehicle frame: [ 0.399746 forward, 0.910647 starboard, -0.104528 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyڑڕYjveo?d/$?4ޮ`ºYڑّڑڑڑ ۑ)ەCIە%=iەZەB`<ەQ @ە'>ە @ ܕPw=)ܕ?IܕPwֽܑIݕ dh?we?j?ܕQ>ܕ,(> ݕ?)ݕPwֽEchecking for new query: numPingsReceived=1 elapsed TxPingTime=2.644995 AAݵbH< 1=޽F89>y޹޹QEE9ka>.Tracking....direction in vehicle frame: [ 0.399746 forward, 0.910647 starboard, -0.104528 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998886,-0.047102,-0.002756;0.047156,0.998578,0.024847;0.001582,-0.024949,0.999687 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.442078 north, 0.893131 east, -0.082971 down ].relPosInFSK: [ 0.119924 forward, 0.273194 starboard, -0.031359 keelward ].m |relPosInNED: [ 0.132623 north, 0.267939 east, -0.024891 down ].u *Combining 10 samples..u Could not read vehicle position; cannot calculate contact position.2Cq zCq Cu 8R?O|?/:Cu Yjveo?d/$?4ޮ`ºCu ?Cu PwֽCu U?T.%?$Z}Cu uyJ?䇔?=Cu ;?ZCu />bCu >:Cq BCq JCq RCq jCq rCq Ʉ1 9 I9 9 Ƀ9 i )  9 rB >9Xb> ,d(AYV@!@yw0;D0<ٟH ?7? GX?Ur?' f U?m?)V@ bV;IsCI)i) I "`ɣ ɤ$&dA$i$$i(()( (I( (),ɥ,,,,ɦ,i0I00I2Ci0 04)44 444ɧ48 888ɶ8<>eAI<)ۅ| @ ܅=)܅r?I܅佩܁I݅ص?f,?܅$.> ݅r?)݅checking for new query: numPingsReceived=2 elapsed TxPingTime=2.902662  7= 1=93?yQE E)9=:a=/?.ETracking....udirection in vehicle frame: [ 0.404202 forward, 0.907852 starboard, -0.111469 keelward ].u8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998900,-0.046824,-0.002686;0.046877,0.998590,0.024923;0.001516,-0.025021,0.999686 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.446145 north, 0.890435 east, -0.089894 down ].relPosInFSK: [ 0.121261 forward, 0.272356 starboard, -0.033441 keelward ].|relPosInNED: [ 0.133844 north, 0.267130 east, -0.026968 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCC1X ?"tFn?4 #C?8q? Ϊ ? -V:Cr?CC!??լC*/?h*Ϣp~?.chEC?ZCň>bC >:CBCJCRCjCrCɄIɃi) )99rBE> 99^b> ,_~(A@i@Y.\@.@y.2;.]<ٟ.H`A?.?Y??``ZfW?j?).\@ .V;I.pCE=E1DMR=iM<]DDAT read: Rx Time:16:06:34.2506 ]6received an acoustic signalmPDAT read: Bearing 67.2, -6.4 (Local) m~Local bearing/azimuth received: Bearing 67.2, -6.4 (Local) }DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 DAT read: 16:06:34.2506 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.06,-0.455,-0.795,-0.486,-0.526, PHS= 0.067,-0.224, 0.025, RAW= 142.3, 9.7, CAL= 142.8, 6.4, ROT= 67.2, -6.4 Ygot valid direction response: 16:06:34.2506 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.06,-0.455,-0.795,-0.486,-0.526, PHS= 0.067,-0.224, 0.025, RAW= 142.3, 9.7, CAL= 142.8, 6.4, ROT= 67.2, -6.4 R#Rx 3: Read range and direction messages.direction in vehicle frame: [ 0.385101 forward, 0.916118 starboard, -0.111469 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyڡڥe||?/P? -V:YڥL>١ڡڡڡ ۡ)ۥBIۥL7=iۥB`eۥ<ۥ\@ۥ-\->ۥW@ ܡ)ܥQ ?IܡܡIݥT-?AB?lrYۙ?ܥo>ܥٹ-> ݥQ ?)ݡchecking for new query: numPingsReceived=3 elapsed TxPingTime=3.274692  72 1^=89>yQEE9;a>.Tracking....direction in vehicle frame: [ 0.385101 forward, 0.916118 starboard, -0.111469 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998933,-0.046113,-0.002729;0.046167,0.998621,0.024976;0.001573,-0.025075,0.999684 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.426808 north, 0.899892 east, -0.089604 down ].%relPosInFSK: [ 0.077020 forward, 0.183224 starboard, -0.022294 keelward ].-|relPosInNED: [ 0.085362 north, 0.179978 east, -0.017921 down ].-*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCL>C0?s?m.ԖCe||?/P? -V:CQ ?CCO#]~Cڵ?!޼n ?LBYC 7 WP? 9?{BAC_?ZCL8>bCҮ=:CBCJCRCjCrCɄ))I))Ƀ1i9)A 9 rB-->eb> ,I(AY]V@̏@yX4;<ٟH?`?@~Y?o?~ f@Ɓ?@m?)]V@ yV;IrC=<==SDUV>U4<]checking for new query: numPingsReceived=3 elapsed TxPingTime=3.663707 YYmx = 1mR=u89u>yqqQE}Ey9}na>.Tracking...ɄI郙Ƀi) 9rB=lb> ,-`(AYX@n@yo2;F<ٟH?ۧ?WY?ԧ`?PMf)?@l?)X@ ܒV;IsC2=2hDBDDAT read: Rx Time:16:06:34.7506 B6received an acoustic signalFPDAT read: Bearing 70.2, -3.2 (Local) J~Local bearing/azimuth received: Bearing 70.2, -3.2 (Local) rDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 DAT read: 16:06:34.7506 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496, 0.05, 1.313, 1.030, 1.278, 1.238, PHS= 0.071,-0.164, 0.025, RAW= 139.2, 6.3, CAL= 139.8, 3.2, ROT= 70.2, -3.2  Ygot valid direction response: 16:06:34.7506 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496, 0.05, 1.313, 1.030, 1.278, 1.238, PHS= 0.071,-0.164, 0.025, RAW= 139.2, 6.3, CAL= 139.8, 3.2, ROT= 70.2, -3.2  R#Rx 4: Read range and direction messages.direction in vehicle frame: [ 0.338210 forward, 0.939414 starboard, -0.055822 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoy  ފ:?YG?ᢔY      ) I sh=i '  |@ z0= y(@ d=)  Ԝ?I d I T?sD?fҐ@[? '> pQ=  Ԝ?) dchecking for new query: numPingsReceived=4 elapsed TxPingTime=4.111339  97%< 1%2=%9->y)iQEmEq9u3:au>.Tracking....direction in vehicle frame: [ 0.338210 forward, 0.939414 starboard, -0.055822 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998913,-0.046544,-0.002723;0.046597,0.998603,0.024933;0.001558,-0.025033,0.999685 ].8rangeToContact_ = 0.200000 m.Mdirection in world frame: [ 0.381529 north, 0.923757 east, -0.033302 down ].UrelPosInFSK: [ 0.067642 forward, 0.187883 starboard, -0.011164 keelward ].]|relPosInNED: [ 0.076306 north, 0.184751 east, -0.006660 down ].]*Combining 10 samples..]Could not read vehicle position; cannot calculate contact position.2CYzCYC]P?@7Х ?O O݆C]ފ:?YG?ᢔC] Ԝ?C]dC]CLj?U?HG{C]qyj?nj?SWI C]Q?ZC]/=>bC]F=:CYBCYJCYRCYjCYrCYɄI郹Ƀi) 99rBI>I=>)=p>rb> ,2;̉(Aɞ==Yq[@@y7;;S<ٟH 4??@Z?z?f`?k?)q[@ őV;ItCB=BUDIp)pzDDAT read: Rx Time:16:06:35.2505 z6received an acoustic signal~PDAT read: Bearing 70.3, -3.5 (Local) ~~Local bearing/azimuth received: Bearing 70.3, -3.5 (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 5DAT read: 16:06:35.2505 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 495, 0.17, 0.417, 0.141, 0.382, 0.344, PHS= 0.068,-0.159, 0.023, RAW= 139.1, 6.6, CAL= 139.7, 3.5, ROT= 70.3, -3.5 =Ygot valid direction response: 16:06:35.2505 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 495, 0.17, 0.417, 0.141, 0.382, 0.344, PHS= 0.068,-0.159, 0.023, RAW= 139.1, 6.6, CAL= 139.7, 3.5, ROT= 70.3, -3.5 EX#Rx 5: Read direction message, but no range.Mdirection in vehicle frame: [ 0.336466 forward, 0.939715 starboard, -0.061049 keelward ]Mnot publishing receive ping time as it could be a packet for anyoney9=Y?1$?.xA9999 9)9I=C=i="=j<=O`@=== @ =5z=)== ?I=5z9I=[]?~}܋m?JRo^?=>=6x= == ?)=5zechecking for new query: numPingsReceived=5 elapsed TxPingTime=4.472531 e e7u 1uj=}xT99}?yyyQE}Eށ9e:a?.Tracking...ɄI郡Ƀi) 9rB5=yb> ,(AYR@@y]9;0~<ٟH?C?@K[?R<D?I8go?p?)R@ V;IuC2ŷ=2aDzDDAT read: Rx Time:16:06:35.7506 z6received an acoustic signal~PDAT read: Bearing 65.5, -8.0 (Local) ~Local bearing/azimuth received: Bearing 65.5, -8.0 (Local) DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 uDAT read: 16:06:35.7506 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.53,-0.840,-1.182,-0.863,-0.900, PHS= 0.056,-0.238, 0.022, RAW= 144.0, 11.4, CAL= 144.5, 8.0, ROT= 65.5, -8.0 mYgot valid direction response: 16:06:35.7506 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.53,-0.840,-1.182,-0.863,-0.900, PHS= 0.056,-0.238, 0.022, RAW= 144.0, 11.4, CAL= 144.5, 8.0, ROT= 65.5, -8.0 iiR#Rx 6: Read range and direction messages.direction in vehicle frame: [ 0.410658 forward, 0.901106 starboard, -0.139173 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyim?tp6H?[?H@lYiiiii i)mFImB`e=imFsmX9mvh!@ m5>)mT?Im5iIm:A?'Uq?õm(M> mT?)m5checking for new query: numPingsReceived=6 elapsed TxPingTime=4.950624  7uk< 1u#=}89}>yyyQE}Ey9 a>.Tracking....direction in vehicle frame: [ 0.410658 forward, 0.901106 starboard, -0.139173 keelward ].8processing response from DAT.5rotationFromVehicleToNavigationFrame_ = [ 0.998875,-0.047335,-0.002834;0.047391,0.998568,0.024838;0.001655,-0.024944,0.999687 ].58rangeToContact_ = 0.200000 m.=direction in world frame: [ 0.452670 north, 0.883848 east, -0.117912 down ].relPosInFSK: [ 0.082132 forward, 0.180221 starboard, -0.027835 keelward ].|relPosInNED: [ 0.090534 north, 0.176770 east, -0.023582 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCC|?`T?O|?o!C?tp6H?[?H@lCT?C5C K^;-?R b?%CA;x/?M6{H?3}/Cy?ZC5>bCi=:CBCJCRCjCrCɄI郩Ƀi) I9rB^>LAb> ,(AY&T@&@y& ;;&<ٟ&H?0*? ڇ[?`" W?dgo?`p?)&T@ &V;I&tCN#=NKD DDAT read: Rx Time:16:06:36.2505  6received an acoustic signalPDAT read: Bearing 67.6, -5.9 (Local) ~Local bearing/azimuth received: Bearing 67.6, -5.9 (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 MDAT read: 16:06:36.2505 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.44,-0.983,-1.304,-1.013,-1.052, PHS= 0.066,-0.207, 0.024, RAW= 141.9, 9.3, CAL= 142.4, 5.9, ROT= 67.6, -5.9 ]Ygot valid direction response: 16:06:36.2505 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.44,-0.983,-1.304,-1.013,-1.052, PHS= 0.066,-0.207, 0.024, RAW= 141.9, 9.3, CAL= 142.4, 5.9, ROT= 67.6, -5.9 ]X#Rx 7: Read direction message, but no range.edirection in vehicle frame: [ 0.379052 forward, 0.919649 starboard, -0.102793 keelward ]enot publishing receive ping time as it could be a packet for anyoneyY]gQbB?pRm?zBPYYYY Y)]BI]+=i]S]<]@]6&>]@ ]B=)]?I]BҽYI];hT?z2'sHr?ʆ?]I>]$> ]?)]Bҽ}checking for new query: numPingsReceived=7 elapsed TxPingTime=5.284819  %7ݕ 1=ޕU89?yޙޙQEEޙ9s):a?.Tracking...ɄIɃi) 9rB= 11&b> ,(A@iYX@Y@y5;<ٟH ?@ ݧ?@.dZ?`է`?5Vfj?m?)X@ TV;IB`=B?DHiHNchecking for new query: numPingsReceived=7 elapsed TxPingTime=5.659582 R R7edD 1eN=m9U9u>yyyQE}Ey9C:a>.Tracking...ɄIɃi) )9ArBU=Pb> ,3(AYzd@@yu5;^!<ٟH?P$?`Z?`?@fu?f?)zd@ V;IB#=BKDRDDAT read: Rx Time:16:06:36.7507 R6received an acoustic signalVPDAT read: Bearing 67.5, -6.4 (Local) V~Local bearing/azimuth received: Bearing 67.5, -6.4 (Local) bDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 rDAT read: 16:06:36.7507 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 1,-0.25,-0.230,-0.569,-0.263,-0.302, PHS= 0.068,-0.223, 0.024, RAW= 142.0, 9.7, CAL= 142.5, 6.4, ROT= 67.5, -6.4 vYgot valid direction response: 16:06:36.7507 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 1,-0.25,-0.230,-0.569,-0.263,-0.302, PHS= 0.068,-0.223, 0.024, RAW= 142.0, 9.7, CAL= 142.5, 6.4, ROT= 67.5, -6.4 v4xxxx x)zEIzC=izZdxz@z-\->z,@ z=)z˖?Iz佩xIz謊 B?%?:?z>zf,> z˖?)zchecking for new query: numPingsReceived=8 elapsed TxPingTime=6.078659  7%D< 1-N=-k9->y11QE5E19=3k;a}>.Tracking....direction in vehicle frame: [ 0.380299 forward, 0.918122 starboard, -0.111469 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998977,-0.045144,-0.002769;0.045199,0.998664,0.025038;0.001635,-0.025137,0.999683 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.421225 north, 0.902529 east, -0.089499 down ].relPosInFSK: [ 0.114090 forward, 0.275437 starboard, -0.033441 keelward ].|relPosInNED: [ 0.126368 north, 0.270759 east, -0.026850 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC>C-4??4 #C;ȕV?Aa? -V:C˖?CC5F,?V}T?*e=|~C'Z?:%?9yg鶿C+?ZC>bCf>:CBCJCRCjCrCɄyyI郁Ƀi) 9)rBE0>8b> ,,M(AYd@@yR26;?<ٟH?`H*?Z?"` ?`Hf@D?e?)d@ ˋV;IuC"C="҆DZDDAT read: Rx Time:16:06:37.2506 Z6received an acoustic signal^PDAT read: Bearing 66.6, -7.0 (Local) b~Local bearing/azimuth received: Bearing 66.6, -7.0 (Local) fDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 zDAT read: 16:06:37.2506 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.12,-1.811,-2.161,-1.840,-1.880, PHS= 0.065,-0.237, 0.025, RAW= 142.9, 10.4, CAL= 143.4, 7.0, ROT= 66.6, -7.0 ~Ygot valid direction response: 16:06:37.2506 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.12,-1.811,-2.161,-1.840,-1.880, PHS= 0.065,-0.237, 0.025, RAW= 142.9, 10.4, CAL= 143.4, 7.0, ROT= 66.6, -7.0 R#Rx 9: Read range and direction messages. direction in vehicle frame: [ 0.394188 forward, 0.910914 starboard, -0.121869 keelward ] not publishing receive ping time as it could be a packet for anyone Fpublishing direction and range infoyl+^:?R4&?UM7P2YL> )BI=i!r<@9>- @ 5=),ɔ?I5If#?xn?&8?t>D9> ,ɔ?)5%checking for new query: numPingsReceived=9 elapsed TxPingTime=6.484839 - -75Q= 1=I==c79=>yAAQEEEA9MaM>.]Tracking....edirection in vehicle frame: [ 0.394188 forward, 0.910914 starboard, -0.121869 keelward ].e8processing response from DAT.urotationFromVehicleToNavigationFrame_ = [ 0.998975,-0.045189,-0.002780;0.045244,0.998662,0.025052;0.001644,-0.025152,0.999682 ].u8rangeToContact_ = 0.200000 m.}direction in world frame: [ 0.434797 north, 0.894947 east, -0.100106 down ].relPosInFSK: [ 0.078838 forward, 0.182183 starboard, -0.024374 keelward ].|relPosInNED: [ 0.086959 north, 0.178989 east, -0.020021 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCL>CM*.?LQ?ЬvCl+^:?R4&?UM7P2C,ɔ?C5C-$ B?$ ?+6rCJx ?o&h?NCx,?ZCI7>bC=:CBCJCRCjCrCɄI郩Ƀi) 9rB}=)I QO}GYI=l>)=l>bb> ,^g(Aɞ=Yte@@yɋ7;X<ٟH?? V[?@u `?ę wf``?d?)te@  V;ItC2=2FDIp)rAzDDAT read: Rx Time:16:06:37.7507 z6received an acoustic signal~PDAT read: Bearing 66.1, -7.1 (Local) ~Local bearing/azimuth received: Bearing 66.1, -7.1 (Local) DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 5DAT read: 16:06:37.7507 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.00, 0.364, 0.063, 0.344, 0.307, PHS= 0.053,-0.200, 0.022, RAW= 143.4, 10.5, CAL= 143.9, 7.1, ROT= 66.1, -7.1 Ygot valid direction response: 16:06:37.7507 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.00, 0.364, 0.063, 0.344, 0.307, PHS= 0.053,-0.200, 0.022, RAW= 143.4, 10.5, CAL= 143.9, 7.1, ROT= 66.1, -7.1 T#Rx 10: Read range and direction messages.direction in vehicle frame: [ 0.402035 forward, 0.907243 starboard, -0.123601 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyکڭ?J?#?A7XYڭ>٩ککک ۩)ۭCIۭY=iۭLۭX9<ۭ- @ۭf;>ۭ @ ܭ=)ܭ7?IܭܩIݭ|?D\xH%?_E?ܭs>ܭ9;> ݭ7?)ݭ U U)7} 14=>89>yQEE9u9au>.Tracking....direction in vehicle frame: [ 0.402035 forward, 0.907243 starboard, -0.123601 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998982,-0.045025,-0.002801;0.045081,0.998669,0.025064;0.001668,-0.025165,0.999682 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.442319 north, 0.891045 east, -0.101949 down ].relPosInFSK: [ 0.120611 forward, 0.272173 starboard, -0.037080 keelward ].|relPosInNED: [ 0.132696 north, 0.267313 east, -0.030585 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC>CPT?CdHk?K@5C?J?#?A7XC7?CCg+?>=?i IQCN?/cp?z+TCp?ZC݈>bC>:CBCJCRCjCrCɄ  IɃi) y9rBE>Kb> ,:(AY`@@y2;<ٟHq?a?`Y?@qZ?㵙 _f ? h?)`@ кV;I2̧=2ZNDbA` f fo7] < 1ed=eK9e>yiiQEmEi9mau?.}Tracking...ɄI郉Ƀi) 9rBm=rtb> ,(AYQ@=@yv.;Y<ٟH`?AN? EX?Gy88QE>E<9BaB>.FTracking...ɄLLILPɃPiP)T \9drBj< 11b> ,M(Ai@Y{O@@yCJ.;<ٟH?bs?`X?l? (FeLo?q?){O@ V;ItC2ŷ=2aD6p=i6> > >7Rj 1VF=V+ٶ9V>yXXQEZEX9Z4a^>.bTracking...ɄhhIhhɃhil)l x9rB  =̆b> ,Ί(AYW@j@y/;g<ٟH ??X?䧿?`eH?k?)W@ OV;IuCV=VrOD%pyiiQEuEq9u;a}>.Tracking...ɄI郙Ƀi) 9rB=b> ,Υ(AY\@Y@y-.;z<ٟH F? Ϝ?X?`񕧿?e?@k?)\@ V;IsC2=2ED  7e& 1eJ=m)9m>yiiQEuEq9ue:a}>.Tracking...ɄI郑Ƀi) 9rB=I=t>)9eb> ,0(AɞYU@B@y3;֊<ٟH`?O?Y?Al?`F}fp?p?)U@ ϭV;I2\=2HDI`)bA f f97n\; 1nT=nL99r>yppQErEp9vav>.~Tracking...Ʉ I  Ƀ i ) )9rB=kb> ,Jb(AYn]@ݖ@y+>3;V<ٟHK?Ŕ?Y?`@? gf?m?)n]@ VV;ItC2=2,LD>A>A B B7FW; 1JO=J޷9J>yLLQENEL9R;aR>.VTracking...Ʉ\`I``Ƀ`i`)d p9xrB~=b> ,56(AY_@=@y)U4;<ٟHg?@n? QZ?g?`T@f/?j?)_@ שV;IpC"y="GD . .w7b 1bG=b5*89b>yddQEfEd9j9:aj>.nTracking...ɄttItxɃxix)| 9!rB%= 11b> ,P(AiY=_@@yp5;z<ٟHa?w?@ѓZ? p? 𨙿 f?j?)=_@ ܥV;ItC2v=2Dba=ib< f f7nD= 1nI=-)89->y11QE5E19=-a=>.MTracking...ɄaiIqqɃyi) 9rBc=pb> ,i(AY[@I@y30;k<ٟH9?`ح?Y?즧?^@xfnj?k?)[@ V;I&g=&xD f f=7  1 G= Q9 >yQEE9ya>.-Tracking...Ʉ9I郹Ƀi) 9rB=ib> ,΃(AYV@@yX/;<ٟH? 3?X?Up?S@e`?m?)V@ aV;IvC>=B[ZD r rc7M 1MF=U_9U>yYYQE]EY9eκae>.mTracking...ɄyyI郁Ƀi) !91rB==I5l>)5p>e n}Gy ґ ӽ o;Yҹ /b> ,D(AɞY3W@@yE~3;2<ٟH? V?Y?G@x? of`?l?)3W@ 7V;ItCR=R1DIX)ZA ^ ^7f) 1fS=f99j>yhhQEjEh9nd9an>.vTracking...Ʉ||I||Ƀ|i) A9QrB]6=:b> ,_|(AY!O@@yE8; <ٟH?yy? Z?Br?|ga?s?)!O@ V;I2=2vD > >7F:= 1FN=J_999J>yHHQEJEH9N#aN>.VTracking....Zfupdate period (5.000000 s) has elapsed, querying....Z(*** querying DAT ***"CX*CXɄ99IAAɃAiA)I a9qrBv="b> ,Xы(AYM@,@y*;;<ٟH?Տ?>[?{ ?w #`g[?`t?)M@ ֗V;I2g=2xD:T****** received valid address query ******>R****** received valid ping request ******>Querying Benthos address 50 with 10 pings in terminal homing one-way mode.F8****** ping requested ****** F Fk7N ; 1NI=R89R>yPPQERET9V۹aV>.^Tracking...ɄddIddɃdih)h 9rB= 99MNb> ,9(A@iYL@e@yI{;;"<ٟH?`F?4T[?蔨`?ugogsY?t?)L@ V;IsC6=6CMD>R=i<F(DAT read: user:11> FBDAT read: Tx time:16:06:44.0209 J$Ping request sent.JyQEE9 oa >.Tracking...Ʉ!)I))Ƀ)i))1 I9YrBe7=x5c> ,(AYM@K@ym9;<ٟH ?ٍ?Z?@@?`w>g[?`t?)M@ yށށQEEށ99a>.Tracking...ɄI郩Ƀi) 9rBz=?_c> ,(AYsN@@yC9;<ٟH`?@i? |Z?@}?@u~`2g_b? s?)sN@ cV;IsCB`=B?D-checking for new query: numPingsReceived=0 elapsed TxPingTime=0.826984 - -17ecw 1eK=mm9m>yiiQEuEq9u <9a}>.Tracking...ɄI郙Ƀi) 9rBr=I={>)9 c> ,8(Aɞ%=Y,Q@@yRr6;On<ٟH?X? 9Z? Q@4?l`Hf m?@q?),Q@ {V;IrC2 =2YBDIp)rAvchecking for new query: numPingsReceived=0 elapsed TxPingTime=1.223112 v v7%'W; 1-N=-!9->y11QE5E19= \:a=>.Tracking...ɄI1Ƀ1i9)9 Q9arB}=rc> ,PR(AYkS@ڌ@yQ5;@<ٟH ?4?&Z?-@N?ʎ@fs?p?)kS@ V;IsCF=FDchecking for new query: numPingsReceived=0 elapsed TxPingTime=1.631037  7EK= 1EH=Mѷ9M>yIIQEMEI9U0:aU>.eTracking...ɄqqIqqɃqiy)y a9rB=Κc> ,zl(AYX@h@y~2;!`<ٟH ?ۧ?ࢉY?ԧ`? yOf`P?k?)X@ V;ItCV=VusDfchecking for new query: numPingsReceived=0 elapsed TxPingTime=2.026590 f f7n]( 1nR=r9r>yppQErEt9v:av>.~Tracking...Ʉ  I  Ƀ i) )99rBE)= 99]!c> ,X(AiYS@`@y%+;7 <ٟH?+?@^yW?Y%R?[`de@T?m?)S@ V;IvC6=6^D>=i><FDDAT read: Rx Time:16:06:46.1505 F6received an acoustic signalJPDAT read: Bearing 70.6, -2.5 (Local) N~Local bearing/azimuth received: Bearing 70.6, -2.5 (Local) VDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 fDAT read: 16:06:46.1505 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 208, 0.05, 2.878, 2.598, 2.841, 2.800, PHS= 0.074,-0.158, 0.026, RAW= 138.7, 5.5, CAL= 139.4, 2.5, ROT= 70.6, -2.5 jYgot valid direction response: 16:06:46.1505 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 208, 0.05, 2.878, 2.598, 2.841, 2.800, PHS= 0.074,-0.158, 0.026, RAW= 138.7, 5.5, CAL= 139.4, 2.5, ROT= 70.6, -2.5 nR#Rx 1: Read range and direction messages.direction in vehicle frame: [ 0.331845 forward, 0.942325 starboard, -0.043619 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyhjj`= jϸ?)j¸2=checking for new query: numPingsReceived=1 elapsed TxPingTime=2.478565 U UR7e` 1e4=mq9m>yiiQEmEq9{a>.%Tracking....mdirection in vehicle frame: [ 0.331845 forward, 0.942325 starboard, -0.043619 keelward ].m8processing response from DAT.}rotationFromVehicleToNavigationFrame_ = [ 0.998884,-0.047160,-0.002611;0.047210,0.998574,0.024915;0.001433,-0.025011,0.999686 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.375900 north, 0.926423 east, -0.020994 down ].relPosInFSK: [ 0.099554 forward, 0.282697 starboard, -0.013086 keelward ].|relPosInNED: [ 0.112770 north, 0.277927 east, -0.006298 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCCY-gV|?`.?'̊CbC=:CBCJCRCjCrCɄ11I19Ƀ9i9)A 9rB%>#'c> ,:(AY.la@.ۚ@y.3;.<ٟ.Hz?U?4Z?M@?6?vfG?g?).la@ .V;I.rC^ŷ=^aDrDDAT read: Rx Time:16:06:46.6505 r6received an acoustic signalvPDAT read: Bearing 69.6, -2.8 (Local) z~Local bearing/azimuth received: Bearing 69.6, -2.8 (Local) DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 %DAT read: 16:06:46.6505 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.17,-3.113, 2.913,-3.141, 3.102, PHS= 0.064,-0.145, 0.025, RAW= 139.9, 5.9, CAL= 140.4, 2.8, ROT= 69.6, -2.8 -Ygot valid direction response: 16:06:46.6505 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.17,-3.113, 2.913,-3.141, 3.102, PHS= 0.064,-0.145, 0.025, RAW= 139.9, 5.9, CAL= 140.4, 2.8, ROT= 69.6, -2.8 5?5<5R#Rx 2: Read range and direction messages.=direction in vehicle frame: [ 0.348156 forward, 0.936163 starboard, -0.048850 keelward ]Enot publishing receive ping time as it could be a packet for anyoneEFpublishing direction and range infoy15.-/H?4 ?s!DY11111 1)5CI5o=i5z5<5E@5B=5 @ 5+H=)5|?I5+H1I5J?Ð?BO1?5Ʊ>5= 5|?)5+H]checking for new query: numPingsReceived=2 elapsed TxPingTime=2.853643 ] ]7md; 1m[=m99u>yqqQE}Ey9};a}>.Tracking....direction in vehicle frame: [ 0.348156 forward, 0.936163 starboard, -0.048850 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998960,-0.045516,-0.002742;0.045571,0.998648,0.025018;0.001600,-0.025117,0.999683 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.390377 north, 0.920277 east, -0.026368 down ].relPosInFSK: [ 0.104447 forward, 0.280849 starboard, -0.014655 keelward ].|relPosInNED: [ 0.117113 north, 0.276083 east, -0.007910 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCCF+a?Z_m?m5gC.-/H?4 ?s!DC|?C+HCls ?;X? ,Y3Coj?wr?>x7?C?ZCZ>bC=:CBCJCRCjCrCɄIɃi) y9rB=&-c> ,"(AY&Z@&>@y&:<;&p%<ٟ&H ,??\?``?۟`Wg?@l?)&Z@ &øV;I&uCU=\D AAI9)=AMDDAT read: Rx Time:16:06:47.1504 M6received an acoustic signalUPDAT read: Bearing 69.7, -4.0 (Local) U~Local bearing/azimuth received: Bearing 69.7, -4.0 (Local) eDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 DAT read: 16:06:47.1504 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 495, 0.32, 1.612, 1.326, 1.578, 1.539, PHS= 0.068,-0.169, 0.023, RAW= 139.7, 7.2, CAL= 140.3, 4.0, ROT= 69.7, -4.0 Ygot valid direction response: 16:06:47.1504 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 495, 0.32, 1.612, 1.326, 1.578, 1.539, PHS= 0.068,-0.169, 0.023, RAW= 139.7, 7.2, CAL= 140.3, 4.0, ROT= 69.7, -4.0 R#Rx 3: Read range and direction messages.direction in vehicle frame: [ 0.346091 forward, 0.935604 starboard, -0.069756 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyڑڕRY&?C/\x?&k۱YڕL>ّڑڑڑ ۑ)ەBIەC=iەV-ەj<ە @ە>ەt@ ܕ5=)ܕ?Iܕ5ܑIݕm?<O.h?\0?ܕs>ܕ}> ݕ?)ݕ5checking for new query: numPingsReceived=3 elapsed TxPingTime=3.369120  7 1=h99>yQEE9<ͺa>.Tracking....direction in vehicle frame: [ 0.346091 forward, 0.935604 starboard, -0.069756 keelward ].8processing response from DAT. rotationFromVehicleToNavigationFrame_ = [ 0.998922,-0.046323,-0.002872;0.046380,0.998613,0.024918;0.001714,-0.025024,0.999685 ]. 8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.388991 north, 0.920020 east, -0.047416 down ].relPosInFSK: [ 0.069218 forward, 0.187121 starboard, -0.013951 keelward ].|relPosInNED: [ 0.077798 north, 0.184004 east, -0.009483 down ].%*Combining 10 samples..%Could not read vehicle position; cannot calculate contact position.2C!zC%L>C%~KG?=bC%T=:C!BC!JC!RC!jC!rC!Ʉ9AIAAɃAiA)I a9qrB}7>I-p>)-l>G4c> ,7ӌ(Aɞ=Y]@@y0;<ٟH@H?ٙ?GY? ⒧?` f@\?h?)]@ CV;IsC$$I$)(i()(I(*ɣ, ,ɤ,.dA,i,,i00)0 0I0 4)6fAɥ4448ɦ8i8I88I ,(AY^@ @y-7;q<ٟH@Y?A?`mZ?@z`?Cf?j?)^@ V;I5ȯ=5-XDDDAT read: Rx Time:16:06:47.6505 6received an acoustic signalPDAT read: Bearing 68.1, -5.1 (Local) ~Local bearing/azimuth received: Bearing 68.1, -5.1 (Local) DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 16:06:47.6505 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 1,-0.44, 1.667, 1.346, 1.634, 1.593, PHS= 0.070,-0.203, 0.026, RAW= 141.4, 8.4, CAL= 141.9, 5.1, ROT= 68.1, -5.1 Ygot valid direction response: 16:06:47.6505 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 1,-0.44, 1.667, 1.346, 1.634, 1.593, PHS= 0.070,-0.203, 0.026, RAW= 141.4, 8.4, CAL= 141.9, 5.1, ROT= 68.1, -5.1 AR#Rx 4: Read range and direction messages.Udirection in vehicle frame: [ 0.371511 forward, 0.924163 starboard, -0.088894 keelward ]Unot publishing receive ping time as it could be a packet for anyoneUFpublishing direction and range infoyk?ɲ&H?Y> )EI)\=i;O<@Q >@ K=) #?IKI=6by?/2V?su?w>x>  #?)K checking for new query: numPingsReceived=4 elapsed TxPingTime=4.187637  17u9< 1=A99>yQEE99a>.Tracking.... direction in vehicle frame: [ 0.371511 forward, 0.924163 starboard, -0.088894 keelward ]. 8processing response from DAT.erotationFromVehicleToNavigationFrame_ = [ 0.998944,-0.045860,-0.002795;0.045916,0.998634,0.024954;0.001647,-0.025056,0.999685 ].e8rangeToContact_ = 0.300000 m.mdirection in world frame: [ 0.413406 north, 0.908090 east, -0.066843 down ].relPosInFSK: [ 0.111453 forward, 0.277249 starboard, -0.026668 keelward ].|relPosInNED: [ 0.124022 north, 0.272427 east, -0.020053 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC>C5?b7r?iλNCk?ɲ&H?C #?CKCYr俿?5gqo?mˆCk N>u??Ca?ZC{>bC=:CBCJCRCjCrCɄIɃi) 99rB~>bAc> ,(AYYU@Ȏ@yr8;<ٟH@? '?Z? @f?e@g o?p?)YU@ V;I===9DIE>)E=֝=i֝<DDAT read: Rx Time:16:06:48.1505 6received an acoustic signalPDAT read: Bearing 67.1, -6.7 (Local) ~Local bearing/azimuth received: Bearing 67.1, -6.7 (Local) DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 16:06:48.1505 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.26, 0.129,-0.210, 0.098, 0.060, PHS= 0.065,-0.226, 0.024, RAW= 142.4, 10.1, CAL= 142.9, 6.7, ROT= 67.1, -6.7 Ygot valid direction response: 16:06:48.1505 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.26, 0.129,-0.210, 0.098, 0.060, PHS= 0.065,-0.226, 0.024, RAW= 142.4, 10.1, CAL= 142.9, 6.7, ROT= 67.1, -6.7 R#Rx 5: Read range and direction messages.direction in vehicle frame: [ 0.386467 forward, 0.914894 starboard, -0.116671 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoy"޻?6bF?mu"޽Y )BI=ilg<@J4>@ |=) ?I|ゥI3?s#?4`?A>X3>  ?)|%checking for new query: numPingsReceived=5 elapsed TxPingTime=4.494644 % %w75' 15=5V89=?y99QE=E99EaE?.UTracking....]direction in vehicle frame: [ 0.386467 forward, 0.914894 starboard, -0.116671 keelward ].]8processing response from DAT.mrotationFromVehicleToNavigationFrame_ = [ 0.998891,-0.046988,-0.002816;0.047044,0.998584,0.024841;0.001644,-0.024946,0.999687 ].m8rangeToContact_ = 0.300000 m.udirection in world frame: [ 0.428887 north, 0.898350 east, -0.094996 down ].}relPosInFSK: [ 0.115940 forward, 0.274468 starboard, -0.035001 keelward ].|relPosInNED: [ 0.128666 north, 0.269505 east, -0.028499 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCC5=?K z?{롿C"޻?6bF?mu"޽C ?C|CbC>:CBCJCRCjCrCɄI郡Ƀi) 9rB= 99Gc> ,S{!(AiYV@)@yvv7;'<ٟH??lZ?v?f`rt?o?)V@ ݫV;IrC00BDDAT read: Rx Time:16:06:48.6505 B6received an acoustic signalFPDAT read: Bearing 67.1, -7.1 (Local) J~Local bearing/azimuth received: Bearing 67.1, -7.1 (Local) RDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 rDAT read: 16:06:48.6505 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.12,-0.185,-0.536,-0.217,-0.255, PHS= 0.066,-0.237, 0.023, RAW= 142.4, 10.4, CAL= 142.9, 7.1, ROT= 67.1, -7.1 vYgot valid direction response: 16:06:48.6505 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.12,-0.185,-0.536,-0.217,-0.255, PHS= 0.066,-0.237, 0.023, RAW= 142.4, 10.4, CAL= 142.9, 7.1, ROT= 67.1, -7.1 zR#Rx 6: Read range and direction messages.~direction in vehicle frame: [ 0.386140 forward, 0.914122 starboard, -0.123601 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyxzjD?5l|@?A7XYxxxxx x)xIz+=iz!rzjx z=)xIzxIzM5?U ?kz.:> x)z5checking for new query: numPingsReceived=6 elapsed TxPingTime=4.868578 = =7]+9>yQEE9UF9aU>.eTracking....mdirection in vehicle frame: [ 0.386140 forward, 0.914122 starboard, -0.123601 keelward ].m8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998899,-0.046820,-0.002799;0.046876,0.998591,0.024858;0.001632,-0.024962,0.999687 ].8rangeToContact_ = 0.300000 m.%direction in world frame: [ 0.428363 north, 0.897840 east, -0.101920 down ].-relPosInFSK: [ 0.115842 forward, 0.274237 starboard, -0.037080 keelward ].|relPosInNED: [ 0.128509 north, 0.269352 east, -0.030576 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCC2ӧ?ĥ&O?K@5CjD?5l|@?A7XCCC U r?c|=?kZVOCPYNj?u:g?brC?ZC>bC>:CBCJCRCjCrCɄIɃi) 9irBu>%Nc> ,`W;(AYl_@ۘ@yk8;<ٟHb?3u?8[?m?ٳ`kg?`h?)l_@ ŧV;ItC2=2D>DDAT read: Rx Time:16:06:49.1504 >6received an acoustic signalFPDAT read: Bearing 66.1, -7.1 (Local) F~Local bearing/azimuth received: Bearing 66.1, -7.1 (Local) NDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 nDAT read: 16:06:49.1504 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.00,-0.306,-0.606,-0.326,-0.363, PHS= 0.053,-0.199, 0.021, RAW= 143.5, 10.5, CAL= 143.9, 7.1, ROT= 66.1, -7.1 vYgot valid direction response: 16:06:49.1504 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.00,-0.306,-0.606,-0.326,-0.363, PHS= 0.053,-0.199, 0.021, RAW= 143.5, 10.5, CAL= 143.9, 7.1, ROT= 66.1, -7.1 vptttt t)vCIvY=ivKv1v @ t)v7?IttIv/?Z_E?Ɖ٠g?v;>v:L<> v7?)t-checking for new query: numPingsReceived=7 elapsed TxPingTime=5.304082 - -o7݅M= 1<ޅc79>yމމQEEމ9(;a>.Tracking....direction in vehicle frame: [ 0.402035 forward, 0.907243 starboard, -0.123601 keelward ].8processing response from DAT.UrotationFromVehicleToNavigationFrame_ = [ 0.998949,-0.045760,-0.002809;0.045816,0.998637,0.024998;0.001662,-0.025100,0.999684 ].U8rangeToContact_ = 0.200000 m.]direction in world frame: [ 0.442973 north, 0.890712 east, -0.102013 down ].erelPosInFSK: [ 0.080407 forward, 0.181449 starboard, -0.024720 keelward ].e|relPosInNED: [ 0.088595 north, 0.178142 east, -0.020403 down ].m*Combining 10 samples..mCould not read vehicle position; cannot calculate contact position.2CzCL>Cu兢?Y ҵ9?yFFPC?J?#?A7XC7?CCI{#?%^?@]h䔿CSY??t@mCA?ZCj6>bCq=:CBCJCRCjCrCɄ)I))Ƀ)i1)1 9rB%,> Uc> ,f1U(AYY@1@y>;<ٟH`? Ч?@c\?bȧ?@gς?@l?)Y@ V;IsC"="qCD &A&AI()(.checking for new query: numPingsReceived=7 elapsed TxPingTime=5.648634 . .7E 1Ea=M99M>yQyQE}Ey9a>.mTracking...ɄyI郁Ƀi) 9rB=I1)5>A7[c> , o(Aɞ=Y-\@@y5;C<ٟHhhhh h)jEIj=ijI̾j㥛jt@ j0 >)j?Ij0 hIj.xn?Uvz+?w@?j >j1F> j?)j0 checking for new query: numPingsReceived=8 elapsed TxPingTime=6.073829  7< 1M=S9>yQYQE]EY9e}3:ae>.mTracking....direction in vehicle frame: [ 0.343643 forward, 0.928988 starboard, -0.137445 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998930,-0.046156,-0.002775;0.046211,0.998620,0.024970;0.001619,-0.025072,0.999684 ].8rangeToContact_ = 0.300000 m.]direction in world frame: [ 0.385982 north, 0.915290 east, -0.115158 down ].erelPosInFSK: [ 0.103093 forward, 0.278696 starboard, -0.041233 keelward ].|relPosInNED: [ 0.115795 north, 0.274587 east, -0.034547 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC>CJ_Ld?&0H)?'C??o"D?yjȗC?C0 C5^?p:AՒ?-/Cg?kW;J?RT18zC?ZC>bC%=:CBCJCRCjCrCɄI郡Ƀi) a9qrB}7>bc> ,}舍(AYU@N@y.;<ٟH`?@Q ?@xX? `i?` e?m?)U@ V;ItC2?=2ID>DDAT read: Rx Time:16:06:50.1504 >6received an acoustic signalFPDAT read: Bearing 68.5, -5.2 (Local) F~Local bearing/azimuth received: Bearing 68.5, -5.2 (Local) NDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 ^DAT read: 16:06:50.1504 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.24, 1.051, 0.793, 1.027, 0.992, PHS= 0.054,-0.155, 0.019, RAW= 141.0, 8.4, CAL= 141.5, 5.2, ROT= 68.5, -5.2 fYgot valid direction response: 16:06:50.1504 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.24, 1.051, 0.793, 1.027, 0.992, PHS= 0.054,-0.155, 0.019, RAW= 141.0, 8.4, CAL= 141.5, 5.2, ROT= 68.5, -5.2 fAfAfR#Rx 9: Read range and direction messages.jdirection in vehicle frame: [ 0.364993 forward, 0.926588 starboard, -0.090633 keelward ]jnot publishing receive ping time as it could be a packet for anyonenFpublishing direction and range infoydf^~ \?R?0L3YfL>dddd d)fCIf/]=ifRdf@fQ >f@ f޹=)f?If޹dIf!?Yv?hV?f>f> f?)f޹zchecking for new query: numPingsReceived=9 elapsed TxPingTime=6.475844 z z%7 1K= ΍9 >y  QE E9h a>.Tracking....-direction in vehicle frame: [ 0.364993 forward, 0.926588 starboard, -0.090633 keelward ].-8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998895,-0.046925,-0.002666;0.046977,0.998585,0.024910;0.001494,-0.025007,0.999686 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.407982 north, 0.910417 east, -0.068496 down ].%relPosInFSK: [ 0.072999 forward, 0.185318 starboard, -0.018127 keelward ].-|relPosInNED: [ 0.081596 north, 0.182083 east, -0.013699 down ].m*Combining 10 samples..mCould not read vehicle position; cannot calculate contact position.2CizCmL>CmMD?yO}?Cm^~ \?R?0L3Cm?Cm޹CmȪ?Q"N?_Cm+`?ᝣ""?zcCm"?ZCmt:>bCm=:CiBCiJCiRCijCirCiɄIɃi) i9yrB$>;Lhc> ,͢(AYx`@@y..;<ٟHp?c?@X? ]?<`eC?h?)x`@ ٟV;IsCF=F[ZDIJ=)JC=~=i| DDAT read: Rx Time:16:06:50.6505  6received an acoustic signalPDAT read: Bearing 66.8, -7.2 (Local) ~Local bearing/azimuth received: Bearing 66.8, -7.2 (Local) -DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 UDAT read: 16:06:50.6505 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 0, 0.51, 0.444, 0.125, 0.418, 0.382, PHS= 0.058,-0.213, 0.021, RAW= 142.7, 10.5, CAL= 143.2, 7.2, ROT= 66.8, -7.2 ]Ygot valid direction response: 16:06:50.6505 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 0, 0.51, 0.444, 0.125, 0.418, 0.382, PHS= 0.058,-0.213, 0.021, RAW= 142.7, 10.5, CAL= 143.2, 7.2, ROT= 66.8, -7.2 ]T#Rx 10: Read range and direction messages.edirection in vehicle frame: [ 0.390836 forward, 0.911888 starboard, -0.125333 keelward ]mnot publishing receive ping time as it could be a packet for anyonemFpublishing direction and range infoyY]Իs?r/.?cK Y]>YYYY Y)]EI]hm=i]Z]1<]e@]f;>]@ ]>)];?I]YI]/ $?JwY?\Ll?].t>]:r<> ];?)]  7ݕ{< 1A=ޕ9>yޙޙQEEޙ9vH;a>.Tracking....direction in vehicle frame: [ 0.390836 forward, 0.911888 starboard, -0.125333 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998955,-0.045632,-0.002658;0.045685,0.998642,0.025022;0.001512,-0.025117,0.999683 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.431897 north, 0.895963 east, -0.103515 down ].relPosInFSK: [ 0.117251 forward, 0.273566 starboard, -0.037600 keelward ].|relPosInNED: [ 0.129569 north, 0.268789 east, -0.031055 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC>C> 8#?#N?gښM@CԻs?r/.?cK C;?CCⷕ?r_3?/̟C*cf2?bC>:CBCJCRCjCrCɄiqIqqɃqiy)y 9!rB- > 11snc> ,R(A@i@Yf@}@y8;<ٟH?9 ?[? ?g`"?`f?)f@ V;I2ŷ=2aD v v7e$; 1eN=e`99m>yiiQEmEi9u:au>.Tracking...ɄI郑Ƀi) 9rBo=[uc> ,x֍(AY[@m@ym5;<ٟH:?٫?ytZ??-f?m?)[@ V;IuCB=BhDprp< v v17%; 1-N=-Ѹ9->y11QE5E19= Ka=>.MTracking...ɄYYIYYɃYia)a 9rB%=e{c> ,R(AYmg@ܠ@ySF;;U<ٟH`? |? ^\?@/?ę@hg?d?)mg@ ܖV;ItCF=FUD HHIL)NA V V7Z 1ZR=^,p99^>y``QEbE`9f|j;af>.nTracking...ɄttIttɃtix)x 9rB%=I5l>)5l>,mc> ,b- (AɞYQ`@@yNe6;ޕ<ٟHm?`f?`&Z?_? f?i?)Q`@ V;I2z=2D > >7FI= 1FM=FD9F>yHHQEJEH9NaN>.VTracking...ɄXXI\\Ƀ\i)! 19arBm>=ѝGұ o;Yc> , $(AY,R@@yڒ2;<ٟH`? H?`KY?A??:YRf@p?q?),R@ kV;IrCB8=B]DNANA R Rk7V;] 1ZH=Zy9Z>y\\QE^E\9b5ab>.fTracking...ɄlpIppɃpip)t 9rB=zc> ,=(AYFT@@yQ7;y<ٟH`?@A'?5Z?@ Y?@݉ fn?p?)FT@ V;IqC2*=2p7DI6=)64=:=i:= > >7F 1FM=F>99J>yHHQEJEH9N(:aN>.VTracking...ɄX\I\\Ƀ\i`)` l9trBz< 11^c> ,W(A@iY{S@@y%1;<ٟH@?@3?Y?,@O?`͍4f s?`p?){S@ ÌV;ItCJy=JGD  7Ex< 1M?=MT9M>yQQQEUEQ9Uma]>.eTracking...ɄqqIqyɃyiy) 9rBa=ӛc> ,_q(AYW@F@y5;<ٟH` ? 3? yDZ? 秿? Ȝ0f?@m?)W@ V;IuC2g=2xD4<  7EE= 1MJ=M99M>yIQQEUEQ9U:a]>.eTracking...ɄqqIqyɃyiy) 9rBXc> ,Cu(AY`T@ύ@y,;X<ٟH?%?W?`kZ?Be`t?p?)`T@ EV;IpC2c=2A5D 6A4I`)bA f fc7n 1nQ=r9r>yppQErEt9vav>.~Tracking...Ʉ  I  Ƀ i) 9rBv=I5x>)5>|c> ,vP(AɞYM@j@y/;%<ٟH?l? uX??C~ed?s?)M@ V;IsCB=B^D N NV7V)= 1VM=V99V>yXXQEZEX9^a^>.fTracking...ɄhlIllɃlip)p |9 rB=c> ,,(AYY@A@yr8;/<ٟH ?`Χ? [?@cǧ`?@2@[g@v?@o?)Y@ V;IqCF=FcDLL R Rc7Z ; 1ZJ=^99^>y\\QEbE`9bi;ab>.jTracking...ɄppIppɃpit)t 9rB=c> ,Sَ(AYS@3@y8;<ٟH ?m/?`sZ?'(U?~>g c?s?)S@ V;ItCB=BWDIFR=)FC=N=iN< r rV7z|= 1zF=z,79~>y||QEE9a>.Tracking...Ʉ!!I!!Ƀ)i))1 A9QrBe7= 99!c> ,(Ai@YU@9@y0;<ٟH@??@BX?`k? /f r?p?)U@ ƹV;IsCF&=FBAD R R7Ze 1ZO=Z9^>y\\QE^E`9b#:ab>.jTracking....jfupdate period (5.000000 s) has elapsed, querying....n(*** querying DAT ***"Cl*ClɄttIttɃtix)x q9rB`= c> ,I (AYU@D@y{.; <ٟH?` ?`hX?" i?`3@^e? n?)U@ 6V;IvCBC=B+@DvT****** received valid address query ******vR****** received valid ping request ******vQuerying Benthos address 50 with 10 pings in terminal homing one-way mode.~8****** ping requested ****** ~ ~7E< 1MA=M9M>yIQQEUEQ9U)P7a>.Tracking...ɄIɃi) Q9arB=3c> ,$&(AYW@@y/*;a<ٟH`?9?+W?駿@}?I@Ue?@l?)W@ yV;IpCF.=F{D JAHI)A (DAT read: user:12> BDAT read: Tx time:16:06:56.9708 $Ping request sent.y99QE=E99E>:aE>.UTracking...ɄaaIaaɃaii)i 9rBW=I=p>)=l>c> ,Ot@(AɞYM@ @y-;!N<ٟH ?@폨?W?`< ?@႙[e@i?r?)M@ V;IrC2c=2A5Dfchecking for new query: numPingsReceived=0 elapsed TxPingTime=0.394332 f f7ݽ 1B=޽89>yQEE9=a>.Tracking...ɄIɃi) 9rB%=Ec> ,OZ(AYCR@@ygM.;[<ٟH?@F?`J@X?1@`B?~@ej?r?)CR@ V;ItCB=BUDRchecking for new query: numPingsReceived=0 elapsed TxPingTime=0.793342)T T ^ ^7  ~G%gA-m = 1-T=1Mp7 e;YegA9%>y!!QE-E)9-:a->.=Tracking...ɄIIIIIɃIiQ)Y i9yrB=oc> ,5*t(AYNZ@@yDt-;*8<ٟH`'? kƧ? 7\X??{e R?m?)NZ@ V;IuCB1=B#DJ=iJ{>bchecking for new query: numPingsReceived=0 elapsed TxPingTime=1.201137 b b7jZO 1jP=j/ 9n>yllQErEp9r1;ar>.zTracking...ɄIɃi )  !91rB=%= 5?A1Wc> ,(A@iYV@)@y%6;$<ٟH?` ?֚Z? w?Rf2o?p?)V@ wV;I2n=2EeDchecking for new query: numPingsReceived=0 elapsed TxPingTime=1.613890  7E;~= 1MC=M?99M>yQQQEUEQ9UȈa]>.eTracking...ɄqqIyyɃyiy) 9rBa=c> ,৏(AYT@Q@y0;%<ٟH`?3?X?M`?`'fq?q?)T@ ԡV;IsC2ŷ=2aDv>v;?vchecking for new query: numPingsReceived=0 elapsed TxPingTime=2.014780 z z7ݽkK 1C=޽yQEE9 a>.JTimed out from 2021-05-18T16:05:26.3Z"8lab_range_test is completed."JUninitializing Mission lab_range_test1 .LAggregate::uninitialize lab_range_testq.0Uninitializing Tracking. /8Uninitialize Wait Component.a aaaaaaaaaaaaaaaaaaa!!!!!Ʉ IɃi) 19ArBM=ic> ,(AY_@#@y8;{<ٟH f?p?@[?]i? Ѫ=g?@j?)_@ V;IBU=B\DIp)pzDDAT read: Rx Time:16:06:59.1004 z6received an acoustic signal~PDAT read: Bearing 65.4, -6.9 (Local) ~Local bearing/azimuth received: Bearing 65.4, -6.9 (Local)  DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 5DAT read: 16:06:59.1004 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 209,-0.39, 2.942, 2.633, 2.924, 2.884, PHS= 0.054,-0.207, 0.025, RAW= 144.1, 10.3, CAL= 144.6, 6.9, ROT= 65.4, -6.9 =Ygot valid direction response: 16:06:59.1004 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 209,-0.39, 2.942, 2.633, 2.924, 2.884, PHS= 0.054,-0.207, 0.025, RAW= 144.1, 10.3, CAL= 144.6, 6.9, ROT= 65.4, -6.9 ER#Rx 1: Read range and direction messages.Mdirection in vehicle frame: [ 0.413266 forward, 0.902651 starboard, -0.120137 keelward ]Mnot publishing receive ping time as it could be a packet for anyoneMFpublishing direction and range infoyAE2r?QGT ?rjƹIYAAAAA A)AIE/]=iESEE!@ EϢ=)E?IEϢAIE3>{?4 c?Av|?E>E8> E?)EϢechecking for new query: numPingsReceived=1 elapsed TxPingTime=2.434280 m m%7U 1]A=]f99]>yaaQEeEa9mL;am>".Started mission Default@ ':Aggregate::initialize Default1 (@Initialize GoToSurfaceComponent. (No depth rate setting specified. Using default value of nan m/s. (~No pitch setting specified. Using default value of nan degrees. (No speed setting specified. Using default value of 1.000000 m/s. (No surface timeout specified. Using default value of 1000.000000 seconds.(nReceived pitch timeout configuration 60.000000 seconds.'4Initialize Wait Component. BBB"BɄXz:!I!!Ƀ!i!)) A9IrBU>I1)5i>c> ,Jۏ(Aɞ%=%=Y)Q@@y^9;'.<ٟH? Y?<[?Q5?` ;ge?r?))Q@ gV;IrC2=2PDBDDAT read: Rx Time:16:06:59.6004 B6received an acoustic signalJPDAT read: Bearing 65.3, -7.3 (Local) J~Local bearing/azimuth received: Bearing 65.3, -7.3 (Local) RDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 fDAT read: 16:06:59.6004 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.22, 1.398, 1.069, 1.378, 1.338, PHS= 0.056,-0.224, 0.025, RAW= 144.2, 10.7, CAL= 144.7, 7.3, ROT= 65.3, -7.3 jYgot valid direction response: 16:06:59.6004 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.22, 1.398, 1.069, 1.378, 1.338, PHS= 0.056,-0.224, 0.025, RAW= 144.2, 10.7, CAL= 144.7, 7.3, ROT= 65.3, -7.3 nR#Rx 2: Read range and direction messages.rdirection in vehicle frame: [ 0.414480 forward, 0.901144 starboard, -0.127065 keelward ]rnot publishing receive ping time as it could be a packet for anyonerFpublishing direction and range infoylnc ׆?zn,?n!@ nw>)n?InwlIn2"I?^ ???nJ>nlo@> n?)nw~checking for new query: numPingsReceived=2 elapsed TxPingTime=2.825137  7ZW 1a=̜89>yQEE9%{a%> B1B1B1"B1ɄAAAIAAɃAiI)I a9rB=c> ,x(AY*B@*W|@y*ɰ0;*<ٟ*H?\,@ =)?IIQ]j? M?2k.?>> ?)checking for new query: numPingsReceived=3 elapsed TxPingTime=3.265945  7--= 1-9=M{9M>yQQQEUEQ9]oa]> BaBiB"BɄIɃi) y9 rB)>d> ,K(AYM@F@y*-;U/<ٟH?? W? ݆ ? ~`Ze :e?s?)M@ zV;IrC =@A9˕=̕FD=i< DDAT read: Rx Time:16:07:00.6003  6received an acoustic signal PDAT read: Bearing 67.1, -5.8 (Local)  ~Local bearing/azimuth received: Bearing 67.1, -5.8 (Local) % DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 E DAT read: 16:07:00.6003 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.02, 1.606, 1.322, 1.583, 1.546, PHS= 0.056,-0.180, 0.023, RAW= 142.5, 9.2, CAL= 142.9, 5.8, ROT= 67.1, -5.8 M Ygot valid direction response: 16:07:00.6003 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.02, 1.606, 1.322, 1.583, 1.546, PHS= 0.056,-0.180, 0.023, RAW= 142.5, 9.2, CAL= 142.9, 5.8, ROT= 67.1, -5.8 U R#Rx 4: Read range and direction messages.u direction in vehicle frame: [ 0.387132 forward, 0.916470 starboard, -0.101056 keelward ]} not publishing receive ping time as it could be a packet for anyone Fpublishing direction and range infoyQ U P'h ?ES?+hg޹YU L>Q Q Q Q Q )U CIU B`e=iU Q8U jU @ U 4Q=)U ?IU 4QϽQ IU &tad+?;*52C?Pb?U >U ,#> U ?)U 4QϽ checking for new query: numPingsReceived=4 elapsed TxPingTime=3.918932 7U 1] <] Ι9] s>ya a QEe Ea 9m :am s> Bq By By "By Ʉ I 郉 Ƀ i ) 9rB%>ʷ d> ,I,(ALiN@Y U@ @y +; 3<ٟ H?@? ıW?@! f?Ԟveƅ?@m?) U@ nV;I uCI)i)I飁ɣ ɤ餉iifA) I )fAɥ饙ɦiIIi 馡)駩 ɧ鶱 eAɶI)i)Iɷ ɸiifA)D I )fAɹɺiII!i-A ))))u}=u=D=DDAT read: Rx Time:16:07:01.1004 =6received an acoustic signalMPDAT read: Bearing 67.0, -8.6 (Local) M~Local bearing/azimuth received: Bearing 67.0, -8.6 (Local) ]DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 16:07:01.1004 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.59,-1.764,-2.246,-1.814,-1.852, PHS= 0.084,-0.350, 0.023, RAW= 142.5, 11.9, CAL= 143.0, 8.6, ROT= 67.0, -8.6 %Ygot valid direction response: 16:07:01.1004 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.59,-1.764,-2.246,-1.814,-1.852, PHS= 0.084,-0.350, 0.023, RAW= 142.5, 11.9, CAL= 143.0, 8.6, ROT= 67.0, -8.6 -R#Rx 5: Read range and direction messages.5direction in vehicle frame: [ 0.386338 forward, 0.910155 starboard, -0.149535 keelward ]5not publishing receive ping time as it could be a packet for anyone5Fpublishing direction and range infoy!%b¹??S&r#ÿY%>!!!! !)%FI%1=i%33!!%ȭT>%@ %`>)%?I%`!I%G;?F?Oxp?%m>%U> %?)%`checking for new query: numPingsReceived=5 elapsed TxPingTime=4.278138  7ݝi 1=91?yQEE9x;a1? BB9B9"B9ɄIIIIIIɃQiQ)Y 9rB >d> ,ٙF(AYT@.@y-;<ٟH?`8?|%X? }^?e`Jt?p?)T@ oV;ItC=%tDׅp<ׅ<checking for new query: numPingsReceived=5 elapsed TxPingTime=4.514958  7= 1=899?y QE E 9 ua9? ByByBy"ByɄIɃi) 9!rB-=d> ,w`(AYhY@ג@yH1;<ٟH`?ԧ?_Y?Χ?@@g2f{?n?)hY@ V;IuCMU=M\DIY)]AmDDAT read: Rx Time:16:07:01.6002 m6received an acoustic signal}PDAT read: Bearing 70.4, -3.4 (Local) }~Local bearing/azimuth received: Bearing 70.4, -3.4 (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 DAT read: 16:07:01.6002 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 495, 0.27, 2.250, 1.961, 2.212, 2.173, PHS= 0.073,-0.168, 0.024, RAW= 138.9, 6.5, CAL= 139.6, 3.4, ROT= 70.4, -3.4 Ygot valid direction response: 16:07:01.6002 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 495, 0.27, 2.250, 1.961, 2.212, 2.173, PHS= 0.073,-0.168, 0.024, RAW= 138.9, 6.5, CAL= 139.6, 3.4, ROT= 70.4, -3.4 X#Rx 6: Read direction message, but no range. direction in vehicle frame: [ 0.334861 forward, 0.940399 starboard, -0.059306 keelward ] not publishing receive ping time as it could be a packet for anyoney; ]n?%*u>?Cg] )BI=i1,<'@V=I@ s=)nF?IsIw"+?IG&Λ? ?>= nF?)sEchecking for new query: numPingsReceived=6 elapsed TxPingTime=4.942842 E E7u 1}C=}l99}>yށށQEEށ9:a> BBB"BɄiiiIiiɃiiq)qIՅt>)Ձ I9rBb>d> ,Nz(Aɞ= Yd@,@y*7;a<ٟH?5 ??[?@? [Sf?g?)d@ wV;IsC2=2DYD^DDAT read: Rx Time:16:07:02.1003 ^6received an acoustic signalbPDAT read: Bearing 66.1, -6.6 (Local) f~Local bearing/azimuth received: Bearing 66.1, -6.6 (Local) nDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 =DAT read: 16:07:02.1003 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.51, 2.320, 2.016, 2.299, 2.260, PHS= 0.056,-0.200, 0.024, RAW= 143.5, 10.0, CAL= 143.9, 6.6, ROT= 66.1, -6.6 EYgot valid direction response: 16:07:02.1003 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.51, 2.320, 2.016, 2.299, 2.260, PHS= 0.056,-0.200, 0.024, RAW= 143.5, 10.0, CAL= 143.9, 6.6, ROT= 66.1, -6.6 MR#Rx 7: Read range and direction messages.Udirection in vehicle frame: [ 0.402457 forward, 0.908195 starboard, -0.114937 keelward ]Unot publishing receive ping time as it could be a packet for anyoneUFpublishing direction and range infoyIM*?߂?NZlYML>IIII I)MFIMB`e=iMLIMJ @M¸2>M @ M=)M7?IM뽩IIM-)1?E58 ? #?M8>Mi2> M7?)Mchecking for new query: numPingsReceived=7 elapsed TxPingTime=5.323099  7ݥjb 1Y=ޥm99>yީީQEEީ9p;a> BBB"BɄIɃi1)9 9rB>$d> ,7(AY&S@&2@y&t3;&><ٟ&H?@6/?:Y? 8(U?`f)g?r?)&S@ &xV;I&tCBȯ=B-XDZDDAT read: Rx Time:16:07:02.6003 ^6received an acoustic signalfPDAT read: Bearing 66.9, -7.1 (Local) j~Local bearing/azimuth received: Bearing 66.9, -7.1 (Local) DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 EDAT read: 16:07:02.6003 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.30, 0.040,-0.322, 0.007,-0.032, PHS= 0.068,-0.246, 0.024, RAW= 142.6, 10.5, CAL= 143.1, 7.1, ROT= 66.9, -7.1 }G-fAI qYufA%Ygot valid direction response: 16:07:02.6003 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.30, 0.040,-0.322, 0.007,-0.032, PHS= 0.068,-0.246, 0.024, RAW= 142.6, 10.5, CAL= 143.1, 7.1, ROT= 66.9, -7.1 ׁׁR#Rx 8: Read range and direction messages.direction in vehicle frame: [ 0.389329 forward, 0.912768 starboard, -0.123601 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyځڅ:Oj?Ke5?A7XYځفځځځ ہ)ۅBIۅC=iۅm{ہۅ&I@ۅf;>ۅ @ ܅=)܅t?I܅܁I݅3\z?D܅7;> ݅t?)݅checking for new query: numPingsReceived=8 elapsed TxPingTime=5.841905  7[ 1=ޅ-9>yށމQEEމ9va> BBB"BɄI1Ƀ9i9)A Y9irBe>*d> ,(AYLN@@yh64; <ٟH ??@Y??{ ˆf``?t?)LN@ kV;IsC"="D(i*<2checking for new query: numPingsReceived=8 elapsed TxPingTime=6.093433 6 6F7= 1%=%89%+?y!)QE-E)9-I(a5+? BYBYBY"BYɄiiqIqqɃqiq) 9rB= Ձԁy1d> ,@ǐ(A@i Y_@Q@y7;:<ٟH@h?m?`1[?}f ?Zf@?i?)_@ V;I"="/D2DDAT read: Rx Time:16:07:03.1004 26received an acoustic signal6PDAT read: Bearing 67.3, -6.6 (Local) 6~Local bearing/azimuth received: Bearing 67.3, -6.6 (Local) BDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 bDAT read: 16:07:03.1004 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 497,-0.16, 1.573, 1.222, 1.540, 1.500, PHS= 0.069,-0.234, 0.025, RAW= 142.3, 9.9, CAL= 142.7, 6.6, ROT= 67.3, -6.6 fYgot valid direction response: 16:07:03.1004 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 497,-0.16, 1.573, 1.222, 1.540, 1.500, PHS= 0.069,-0.234, 0.025, RAW= 142.3, 9.9, CAL= 142.7, 6.6, ROT= 67.3, -6.6 jR#Rx 9: Read range and direction messages.jdirection in vehicle frame: [ 0.383348 forward, 0.916424 starboard, -0.114937 keelward ]nnot publishing receive ping time as it could be a packet for anyonenFpublishing direction and range infoydf`Ȉ?XS?NZlYf>dddd d)dIfO=ifoffe@ f=)fY?If뽩dIfk+[+?:?yIv?f>f0> fY?)fchecking for new query: numPingsReceived=9 elapsed TxPingTime=6.583511  7ݝ 1(=ޝE89>yޡޡQEEޡ9Ԑ;a> BBB"BɄIIIIIɃQiQ)Y 9rB%,>[ 8d> ,(AYQ@@ym2;wR<ٟH?NP?@,Y?^I`;?kCfi?`r?)Q@ V;IRC=R҆D%DDAT read: Rx Time:16:07:03.6003 %6received an acoustic signal5PDAT read: Bearing 67.6, -6.2 (Local) 5~Local bearing/azimuth received: Bearing 67.6, -6.2 (Local) EDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 DAT read: 16:07:03.6003 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.03, 0.744, 0.405, 0.711, 0.671, PHS= 0.069,-0.222, 0.025, RAW= 142.0, 9.5, CAL= 142.4, 6.2, ROT= 67.6, -6.2 Ygot valid direction response: 16:07:03.6003 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.03, 0.744, 0.405, 0.711, 0.671, PHS= 0.069,-0.222, 0.025, RAW= 142.0, 9.5, CAL= 142.4, 6.2, ROT= 67.6, -6.2 בו4<T#Rx 10: Read range and direction messages.direction in vehicle frame: [ 0.378841 forward, 0.919138 starboard, -0.107999 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyڑڕ]rG>?u7͔i?NiإYڕL>ّڑڑڑ ۑ)ۑIۑiەScۑە@ە)>ە@ ܕk=)ܕ?IܕkݽܑIݕwo;G?Hvŕ?b?ܕ>ܕ@)> ݕ?)ݕkݽ  7 @q; 1 h= 9>yQEE9Πa> B)B)B)"B)ɄYYYIYYɃYia)a 9rB>4>d> ,J(AYP@@y53;M<ٟH?Ka?(Y?IZ/?`~tf8c?s?)P@ V;IuC"k="oDI`)bA f fR7\ 1]=ą89 >y  QE E 9Qa> BABABA"BAɄQQQIQQɃQi) !9qrB}=IՅl>)Յl>Ed> ,Tp(Aɞ =YXT@Ǎ@y3;׬<ٟH?%?``Y?`Y? rft?p?)XT@ 5V;ItC:<=:SD v v{7%|ټ 1%H=%;9->y))QE-E)95:a5> BABABA"BAɄQQQIQQɃYiy) 9rBq=GKd> ,O/(AY9L@@yP1;<ٟH|??X? ? #t@h=f gY?u?)9L@ $V;IsC2n=2EeD88 > >97< 1L=9>y  QE E 9n"a> B9BABA"BAɄIQQIQQɃQiY)Y q9rB^=2/Rd> ,o)I(AYS@Y@yO/;T<ٟH?,?@lX?@%@T? et?`p?)S@  V;I"=".dD&=i&< . .76 16T=:9:>y88QE:E89>;aB> BDBDBD"BDɄLLPIPPɃPiP)T `9hrBn< ՁԁXXd> ,c(A@iY]@@y2;G<ٟH M?D?@Y?3?`5Zf@?i?)]@ qV;IuCB=BD R R7V8= 1ZF=Zq89Z>y\\QE^E\9bC:;ab> BdBdBh"BhɄpppIppɃpit)t 9rB=C^d> ,|(AYS@@y|0;<ٟH ?I1?`X?g*P?`ȏfu? p?)S@ WV;ItC2ӗ=6:D<< B B7J^ 1JL=NS9N>yPPQEREP9VEaV> BXBXBX"BXɄ`ddIddɃdih)h t9|rB=jed> ,ø(AYW@@y-;S<ٟH@?? 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Xէ?@UX?Χ? e`?`l?)_Y@ V;ItC2=2UD v v7}< 1E=ޅB9>yމމQEEމ9.:a> BBB"BɄI郱Ƀi) 9rB=(}rd> ,mpʑ(AY\@Q@y$2;-<ٟHE?t?Y?q ?➙Bf?l?)\@ V;IuCBY=BRDrArA v vo7%X 1-P=-799->y11QE5E19=:a=> BABABI"BIɄQQIɃi) 9rB =)y y|G = o;Y9 xd> ,J(AY_b@Λ@y3;af<ٟH?E?#Z?>?ߥ`f ?`k?)_b@ V;IsCRr=Rs[DV=iV= ^ ^Z7f< 1fP=j}89j>yhhQEjEl9n:ar> BtBtBt"BtɄ||IɃi)  !91rB="= Ձԅ?A ~d> ,1%(AiYc@@y1;ӷ<ٟH?:?,Y?{3 ?`̯@;fE?i?)c@ ;V;IvCB<=BSD N Nk7r 1vI=v49v>ytxQEzEx9z ]9a~> BBB"BɄIɃi!)! 99IrBU/=6d> ,(AYS_@˜@y1;<ٟH`b?@hv?`uY?ko?2 f?i?)S_@ V;IBk=BoD N N7V< 1VN=V9V>yXXQEZEX9^ya^> B`B`Bd"BdɄhhlIllɃlip)p 9rBX=d> ,1(AY}[@@yX+;\Y<ٟH5?g?@W?? .ke@x?`l?)}[@ (V;ItCB=B/|DIH)JA R R7ZAR< 1ZJ=Zl`9Z>y\\QE^E\9bbab> BdBhBh"BhɄpppIppɃpit)t 9rB=IՅp>)Յp>B˒d> ,K(Aɞ=Yf^@՗@yT3;d<ٟH@W?R?Z?7~?@sf`㋙?`k?)f^@ V;IRr=Rs[D Z Z7b 1fI=f99f>yhhQEjEh9n e:an> BpBpBt"BtɄxx|I||Ƀ|i) 9)rB5=d> ,ޓe(AYBb@@y.6;<ٟH ?@G?<[?@?6cfŞ?`g?)Bb@ V;IsCBU=B\D tt~4: 1~G=c89>yQE E 9 C:a > BBB"BɄ)))I)1Ƀ1i1)9 Q9arBm;=id> ,m(AYV@]@y-4;<ٟH? ?@Y?`x?Y`ft?p?)V@ ȒV;IuC2=2.dDr=ir< v v7==; 1=J=EƸ9E>yAIQEMEI9M[aU> BYBYBY"BYɄiiiIqqɃqiq)y 9rB]= Չԍ@A d> ,H(A i Y]@.@y0;Vw<ٟHO?@?`[dY?ई?ڧ`f6? k?)]@ V;ItC2=2PD f f7 K 1 I=s9>yQEE9 ;a%> B)B)B)"B)Ʉ99AIAAɃAiA)I 9rB=1d> ,$(AYU@J@y';+<ٟH?8 ?V?i?Bd ?n?)U@ vV;IB=B.dD N N7^a< 1^P=^W9b>y``QEbE`9fn af> BlBlBl"BlɄtttIttɃtix)x 9rB%=@d> ,"̒(AY{D@}@yq*; @<ٟH ?"? V?p@? `NeSG?y?){D@ V;IsC2=29DI8):A > >7r) 1rH=v89v>yttQEvEx9z۩az> BBB"BɄIɃi)! 19ArBM.=IՅx>)Յl>5Cd> ,(Aɞ%=Y}J@@yI-;7<ٟHg?è?W? m?m'eS? w?)}J@ V;IB=B,LD R R7Zڗ< 1ZN=Zl99Z>y\\QE^E\9b:ab> BhBhBh"BhɄpppIppɃpit)t 9rBV=+d> ,N(AYZ@@y#3;<ٟH)?`3ç?dY?&?`}dfM~? n?)Z@ HV;ItCB=BkD J JR7R< 1VK=VU99V>yTXQEZEX9ZU;a^> B`B`B`"B`ɄhhlIllɃlip)p |9 rB=>Ud> ,(AY^@i@yc7;z<ٟH]?F|? [?t?`tf ?j?)^@ V;IF޾=FjD=ieG E EV7yґ ӹYҹݵ 1;=99>yQEE9:a> B9B9B9"B9'=Done Waiting.E'E8Uninitialize Wait Component.ɄIIQIQQɃQiY)Y q9rB= ՁԁPd> ,j4(AiYa@r@y3;=<ٟHu?`[?x>Z?rT?q~fq? g?)a@ kV;IvCB=B^D  7EG 1MQ=M 9M>yQQQEUEQ9]':a]> BaBaBi"Biqm(mJAggregate::initialize Default:CheckInmɄyyyIyyɃi) 9rBe=gd> ,GN(AYuk@@y:;<ٟH`??Dh\?}Y? ֙aZg?? a?)uk@ V;ItCB=BED v vc7]ȼ 1eI=eņ99e>yiiQEmEi9m?M;au> ByByB"BɄI郑Ƀi) 9rBo=Md> ,!h(AYg@9@y=;2T<ٟH@??`\?覿 3?`*ř@g ϩ?d?)g@ V;I5?=5IDIA)EA U U7e; 1e;=e589e>yiiQEmEi9u_au> ByBB"BɄI郑Ƀi) 9rB=IՅp>)Յ>+yd> ,7(AɞY`@/@yV[9;ӭ<ٟH@r?` `?ǜ[?@X? h+g ? i?)`@  V;I46dAI4)4i4)8I88ɣ8 8ɤ<>dA=-9->y11QE5E195a=> BABABA"BAɄQQYIYYɃYiY)a 9rB>d> ,؛(AYj@@yt6;\<ٟH`? eʦ?d[?æK?Ι,f? c?)j@ YV;IuC` ``dɶdddId)dih)hIhhɷh hɸlii) I9 9)EfAɹAAAAɺAiAIIIIIiI II)Q˽ =̽8D  7փ 1a=~Ը9>yQEE9K;a> B)B)B)"B)ɄYYYIYaɃaia)i 9rB=d> ,г(AYh@@yo:;5<ٟH??`3\?㦿`7?` Mg ?e?)h@ vV;ItC]=]uDm=iml> } }7ݍ}= 1Q=ލ99>yޑޑQEEޑ9'a> BBB"BɄI郹Ƀi) 9rB= ՁԁJd> ,ϓ(A@i@Y|_@@yC2;t<ٟH d?s?TY?`l?fSfፙ? k?)|_@ ]V;Ir =rYBD M M-7"I 1E=9>yQEE9%a> BBB"BɄ IɃi) 19ArBM=d> ,@j(AYP@T@yF,9;<ٟH@?Q]? Z? V3?y%g@]? t?)P@ עV;IsCBC=B+@D  7eR 1eS=eX99e>yiiQEmEi9ucau> ByBB"BɄI郑Ƀi) 9rBo=Se> ,D(AYV@@y6;<ٟH?Y?`}Z? %@u?`f~s?p?)V@ *V;IuC2k=2oDIh)h r r7vC= 1zR=z¸9z>y||QE~E|9:a> BBB"BɄ!!!I!!Ƀ!i))) A9QrB]6=IՁ)Յp>Ge> ,&(AɞYL@;@y.; <ٟH ?=B^~D J JJ7VM{< 1VO=V9V>yXXQEZEX9^lGa^> BdBdBd"BdɄhllIllɃpip)t y9rBf= e> ,6(AYvT@@y W2;<ٟH ?$?QY? @Y?ĖJfe|?n?)vT@ ȗV;ItCB=BvD N N7V$ 1VJ=V*99V>yXXQEZEX9^;a^> BdBdBd"BdɄlllIlpɃpip)t 9 rB=oe> ,^P(AYV@G@y#1;<ٟH??@{PY?`@u?nyhhQEjEh9n::an> BtBtBt"BtɄ|||I|Ƀi)  9)rB5!= Ձԁ)ҩ ұG)9 iYi-e> ,j(A@i@Y O@|@y`-;b<ٟH?6z?.W?s?l`ek?`r?) O@ V;I2=2vD B B=7J3I 1JN=Na,9N>yLtQEzEx9z az> BBB"BɄIɃi)! 19ArBM.=!e> ,(AYwC@|@yջ,;&T<ٟH ?>3?/9W?,?cyeI? y?)wC@ V;ItCB=BUD N N7V 1VI=V 9V>yXXQEZEX9^ia^> B`BdBd"BdɄhllIllɃlip)p y9rBP=?'e> , g(AYV@ @y61;?<ٟH ? ?C Y?@ r?@ &f4?m?)V@ sV;IsC" ="8DIP)P Z Z7v) 1vF=z-99z>yx|QE~E|9:;a> BBB"BɄ!!!I))Ƀ)i))1 I9rB{=IՅt>)Յl>i-e> ,A(Aɞ%==Y,b@@yЂ3;7<ٟH`? 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