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fl=05 *a code=0823 owner=0047 element=06A6 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0824 owner=0047 element=06A7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0825 owner=0047 element=06A8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0826 owner=0047 element=00A2 universal=3FFF unitName="none" type=00 size=0047 fl=04 *a code=0827 owner=0047 element=00A3 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=0828 owner=0042 element=01F5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0829 owner=004A element=06A9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=082A owner=004A element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=082B owner=004A element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=082C owner=004A element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=082D owner=004A element=0439 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=082E owner=004A element=043A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=082F owner=004A element=0440 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0830 owner=004A element=0437 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0831 owner=004A element=043E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0832 owner=004A element=043D universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0833 owner=004A element=0177 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0834 owner=004A element=0172 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0835 owner=004A element=0144 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0836 owner=004A element=0164 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0837 owner=004A element=015F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0838 owner=004A element=0173 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0839 owner=004E element=06AA universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=083A owner=004E element=06AA universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=083B owner=0050 element=06A9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=083C owner=0050 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=083D owner=0050 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=083E owner=0050 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=083F owner=0050 element=0439 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0840 owner=0050 element=043A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0841 owner=0050 element=0440 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0842 owner=0050 element=0437 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0843 owner=0050 element=043E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0844 owner=0050 element=043D universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0845 owner=0050 element=0177 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0846 owner=0050 element=0172 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0847 owner=0050 element=0144 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0848 owner=0050 element=0164 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0849 owner=0050 element=015F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=084A owner=0050 element=0173 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=084B owner=0058 element=06AA universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=084C owner=0058 element=001C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=084D owner=002B element=02AC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=084E owner=0004 element=06AB universal=3FFF unitName="second" type=07 size=0002 fl=05 *a code=084F owner=004C element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0850 owner=004D element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0851 owner=0052 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0852 owner=005C element=06AC universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0853 owner=005C element=06AC universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0854 owner=005C element=06AD universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0855 owner=005C element=06AD universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0856 owner=005C element=06AE universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=0857 owner=005C element=06AE universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=0858 owner=005C element=06AF universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0859 owner=005C element=06AF universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=085A owner=005C element=06B0 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=085B owner=005C element=06B0 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=085C owner=005D element=06B1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=085D owner=005D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=085E owner=005D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=085F owner=005D element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0860 owner=005D element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0861 owner=005D element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0862 owner=005D element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0863 owner=005D element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0864 owner=005D element=062D universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0865 owner=005D element=062E universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0866 owner=005D element=06B2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0867 owner=005D element=06B3 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0868 owner=005D element=06B4 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0869 owner=005D element=06B5 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=086A owner=005D element=06B6 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=086B owner=005D element=06B7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=086C owner=005D element=06B8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=086D owner=005D element=06B9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=086E owner=005D element=06BA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=086F owner=005D element=06BB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0870 owner=005D element=06BC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0871 owner=005D element=06BD universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0872 owner=005D element=06BE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0873 owner=005D element=06BF universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=0874 owner=005D element=06C0 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=0875 owner=005D element=06C1 universal=3FFF unitName="meter" type=00 size=0000 fl=05 *a code=0876 owner=005D element=06C2 universal=3FFF unitName="meter" type=00 size=0000 fl=05 *a code=0877 owner=0053 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0878 owner=005D element=06BF universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=0879 owner=005D element=06C0 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=087A owner=005D element=06C1 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=087B owner=005D element=06C2 universal=3FFF unitName="meter" type=00 size=0018 fl=05 > ,h(AY`@i@yH0;N<ٟHu?[?{Y?U? v fi?r?)`@ V;IB=BcD DD v v7%{< 1%A=%9%>y))QE-E)95ia5>Y BaBiBi"BiɄI郩Ƀi) rB%=> ,?-(AY-^@@yr6;]<ٟH`T??`*Z?`Ɓ`?kl@Af Q?v?)-^@ V;IC"U="\D`ib4=a fa f a f@a f fQ B n n17Ի 1L=v99 >y  QE E 9`a> B)B)B)"B)Ʉ9YaIiiɃii) rBt= ]> ,G(A@i@Yo@!@yN7;ǖ<ٟH`?q?[?i?@f$?i?)o@ \V;IC"=",LD V V7EB 1EF=Uo89U>yyyQE}Ey9p;a> BBB"BɄIɃi) rBE=> ,`(AYo@ @y78;<ٟH@?@q?`K2\?i ? g?j?)o@ ؒV;IC"1="FqDI&C=)$ * *7RD= 1RU=R `89R>yTTQEVET9ZaZ>X B`B`Bd"BdɄhhlIl|Ƀ|i) ArBJ=> ,z(AYw@@y7;gS<ٟH`o?!?J\?` ?5Ùf ?e?)w@ ːV;IC"=",LDI()(a .a . a .@a . .B 6 67F^ 1FL=J9J>yHHQEJEL9NW;a^>` BhBhBh"BhɄIɃi ) arBg=I)l>> ,6(Aɞ Ys@n@y8;<ٟH M?y,?|d\?$? g?g?)s@ V;I"="qCD . .7b" 1bG=f{89f>yddQEfEd9j.paj> BABABA"BAɄQQQIQQɃQiY)a qrB]=> ,(AYwh@@y>2;/<ٟH?@e?HZ? RݦC?`ꘙGf?n?)wh@ V;I" ="YBD $$a .a . a .@a . , 2 27b 1bJ=b~9f>yddQEfEd9jWdaj>l BBB"BɄ)))I)1Ƀ1i1)9 QrBJ=> ,eȻ(AY?c@@y5;-p<ٟH?7?Z?@0@ ?@ ]fTm?`q?)?c@ >V;IC"v="QD$i&= * *7Rx< 1RM=RV99R>yTTQEVET9ZкaZ>\ B`B`Bd"BdɄIɃ i ) )rBe8= )> ,=(A i@Yk@X@yl9;d-<ٟH?@?;\??i? g -g?@l?)k@ V;IC&=&qCD v vN7ElY 1EA=E.99E>yIIQEMEI9UL#;aU>Y BiBiBi"BiɄqI郙Ƀi) rB=T> ,(AYNj@@y:1;%<ٟH ? Ʀ?@Z?鿦X?P'f ?@m?)Nj@ кV;IC"П="DDI&=)$a ja j a j@a j h r r7%: 1%L=%9%>y))QE-E)95qa5>9 BABIBI"BIɄQyyIyyɃyi) rBc=ѭ |G Y ;> ,(AYa@@y);zi<ٟH`~?P?}W? J`?@u=e~l?r?)a@ V;I"v="QDIX)X b b7%R< 1%J=%9%>y))QE-E)95#+a5>9 BaBiBi"BiɄqqI郙Ƀi) rB=I)>f > ,>/(Aɞ Y_W@ΐ@yx-;W$<ٟH`?@B?l~X?? M]`eC?@z?)_W@ 9V;I"="WD . .A7R; 1RS=V99V>yTTQEVET9ZITaZ>\ BtBtBt"BtɄx|IɃi!)! 9rBU1=N> ,I(AYOe@@yar0;<ٟH??Y?  "?\`Jf+r?p?)Oe@ ެV;IC" ="YBD $&A ((Rئ 1RJ=R89V>yTTQEVET9Z;aZ>\ BlBlB|"B|Ʉ   I Ƀi)9 QrBJ=x> ,c(AYg@[@yQ/0;<ٟH??Y?妿=?헙`f~?@n?)g@  V;I&=*DYD:=i:< B B%7< 1C=%9%>y!!QE-E)9-VG:a->1 BaBaBa"BaɄqqqIqqɃi) rB= >> ,Di}(A i@Y.`@.`@y.u7;._<ٟ.Ht?\?*K[?@U? f`Ek?q?).`@ .CV;I,>}=>=D J J7V 1VR=V99V>yXXQEZEX9^Pa^>` BdBhBh"BhɄlppIppɃpit)t rB=h%> ,:=(AY&b@&3@y&V6;&7<ٟ&H?@??#[? j8@?(fs?p?)&b@ &oV;I$BC=B+@DID)FC=  7E; 1MA=Mi9M>yIQQEUEQ9U :a]>a BiBiBi"BqɄyyI郁ɃiQ)Y irB=U+> ,N((AY"0c@"@y"G5;"<ٟ"H?8? ~Z?1?x`fM|?`n?)"0c@ "}V;I"C>d=>^DI|)~A  A7== 1EJ=E]9E>yIIQEMEI9M9aU>Y BaBaBa"BiɄqqyIyyɃyi) rBd=It>)l>2> ,˼(AɞYa@@yab2;<ٟHv?Z?hY? S?_`JLfv?o?)a@ V;IC^`=^GD % %{7}< 1F=ޅ9>yށމQEEމ9$a> BBB"BɄIɃi) 9rBu==Zgot command run ./Missions/lab_range_test.xml"\Loading Mission: ./Missions/lab_range_test.xml!B"lDefineArg lab_range_test.MissionTimeout = 2.000000 min!B"nDefineArg lab_range_test.ContactLabel = 50.000000 count! B " tDefineArg lab_range_test.TrackingUpdatePeriod = 5.000000 s! B " pDefineArg lab_range_test.NumberOfPings = 10.000000 count! B " ZDefineArg lab_range_test.ContactDepth = nan ma aM aM aM aU aU aU aU a] a a a a a a a a a a a   / Construct Wait."% , LAB TEST MISSION - ping remote xponder Maximum duration of mission 2 The acoustic address of the asset to be tracked 50 How long to wait between acoustic queries 5 Number of return pings to request with each acoustic query (more than 1 will activate oneway mode) 10 The acoustic address of the asset to be tracked NaN 8> ,(AYn^@ݗ@y/P,;5<ٟH@X?p?UX? }?`@e s?p?)n^@ V;I2=2cD 6A6A=rJRunning ./Missions/lab_range_test.xml > >7EL* 1MN=MKu9M>yIQQEUEQ9UUa> '>Aggregate::uninitialize Default1 (DUninitialize GoToSurfaceComponent.q(NAggregate::uninitialize Default:CheckIn"Cm{ e?C?,FCm]rG>?u7͔i?NiإCm?CmkݽCmkPQ?41?v𢑿Cm^t?iKW?Sm Cm J?ZCm8>bCm<=:CiBCiJCiRCijCirCiɄw:IɃi) rB >>> ,(AY"d@@y1;<ٟH@?)?Y? "@? ʜ =f I?@m?)"d@ V;IB=BUDFyhhQEjEh9n2:a~>.Tracking...Ʉ9AIAAɃAiA)I rBU= E> ,(AiY]@8@y5;-<ٟHO?3?νZ?? !fe?r?)]@ QV;IC"5="tgD 2 2%7< 1G= 99 >y  QEE9a>9.MTracking...ɄyyIyyɃyi) rBc=8L> ,gb2(AYW@D@yEY3;<ٟH ?@.?Y?*秿?`o&kf.U?@v?)W@ V;IC"#="KDI$)$ . .7R 1RQ=RxѸ9R>yTTQEVET9ZbaZ>\.fTracking...ɄhhIllɃyiy) rBq=R> ,T9L(AYGR@@yg1;/<ٟH?F?1+Y??I?_ 0f`4E?y?)GR@ GV;IC"̧="ZNDIP)RA V V7rN; 1rF=vB9v>yttQEvEt9z׺az>.-Tracking...Ʉ19IɃi) 1rBM=) CEO}GYq әYҙI%l>)!Y> ,if(AɞYU@t@yQ+;_<ٟH??&W?g?lo/je\V?v?)U@ V;ICB=BCMD  7ݝ 1?=ޥ(h9>yޡޡQEEޡ9L:a>.MTracking...ɄYYIYYɃYia)a yrB=M?_> ,(AY_@e@yN/;J<ٟHj? "l?w8Y?>e?㌙es?p?)_@ V;ICB=BUD FAD  N7]j< 1eN=e+99e>yaiQEmEi9m5^;au>.Tracking...ɄIɃi) rB-=&&f> ,uʙ(AY6^@@yJ6;P<ٟHT?k?SZ?6?` `Pfii?r?)6^@ DV;I"="nD,i.< 2 27V< 1VW=Z99Z>yXXQEZE\9nan>p.zTracking...ɄyI郁Ƀi) rB= Pl> ,(A@i@Yg@G@yG3;8<ٟH?`?}Z??禿@;?  hf`?l?)g@ V;I"޾="jD . .76%W 16N=:i9:>y88QE:E<9>B;aB>@.JTracking...ɄPPIPPɃPiT)T `rBn<;9s> ,Dͽ(AY?U@@y%+;B<ٟH ?? W?`k?`jre`Q?w?)?U@ V;I2v=2QDI4)64= f f7nSü 1nD=n9r>yppQErEp9vֱav>x.Tracking...Ʉ IɃi) 1rBM+=by> ,%](AYyIIQEMEI9U:aU>Y.mTracking...ɄyyIyyɃi) rBg=Ix>)[J> ,7(Aɞ=YX@@yY4;y<ٟH`?? )Z?@٧?$i9fN?w?)X@ TV;IC2Y=2RD f f7nG 1nQ=r89r>yppQErEt9v6av>x.mTracking...ɄyyIyyɃi) rBc=t> ,r(AYU@ @y3;0<ٟH?e?@)Y?a s?``zf`kE?`y?)U@ AV;IC2=2;D 44 > >7F 1FO=Jq9J>yHHQENEL9NEraR>P.ZTracking...Ʉ``I``Ƀ`id)d prB=> ,W4(AYUW@Đ@yo-;%<ٟH??WX?(刺`?qe W?@v?)UW@ ʴV;IC6<=6SD< F F7f< 1fF=f y9f>yhhQEjEh9n09an>p.zTracking....zfupdate period (5.000000 s) has elapsed, querying....z(*** querying DAT ***"Cx*CxɄI  Ƀ i ) )rBE&= ?A> ,N(A@i Ya@!@y3;<ٟH}?P?wVZ?I ? wf)w?o?)a@ V;IC"="iDVT****** received valid address query ******VR****** received valid ping request ******Z*entering command mode Z Zc7v< 1:=d99>yQEE9<;a>. Tracking...ɄI郹Ƀi) rB5=ᰙ> ,h(AY^@@yM6;?<ٟH`Y?=?`qZ?@{? 灙 fIg?`r?)^@ YV;ICB=BҀDIFC=)FR= .DAT read: UART Wakeup DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP commRate: 800DAT read: %T****** received valid address query ******%R****** received valid ping request ****** % %J7݅< 1@=ޅ89>yމމQEEމ9gia>.Tracking...ɄIɃi) yrB>~> ,(AY ]@x@y<2;@<ٟH`G??@Y??WGf`eg?r?) ]@ V;IC6`=6GDIp)rAvT****** received valid address query ******vR****** received valid ping request ****** v v7-ME< 1-c=-49->y11QE5E19= a=>A.MTracking...ɄYaIaaɃaia)i rBU=Il>)p>G  AYA¦> ,Z(Aɞ =Y+a@@yu3;q<ٟHw? Y?y<E<9B:aB>D.NTracking...Ʉ11I19Ƀ9i) rB=> ,6(AY m@|@yi-;$@<ٟH?횦?OY? p?eN?`f?) m@ V;IC"="cD $&A.T****** received valid address query ******.R****** received valid ping request ****** 2 27VO= 1VG=VY9Z>yXXQEZEX9^Dg;a^>`.jTracking...ɄppIppɃpit)t rB5=Գ> ,о(AYb@@yt^,;R<ٟH? GJ?X?C?Q̋e}?n?)b@ V;IC" ="YBD(i*<.T****** received valid address query ******.R****** received valid ping request ****** . .57:= 1:N=:p9:>y<E<9BV]aB>D.NTracking...ɄPTITTɃTiT)X drBr< !%@A> ,W(A@iYc@;@y{-;+<ٟH?@.?X?'@ ?fqe`?`m?)c@ V;ICJ*=Jp7DZT****** received valid address query ******ZR****** received valid ping request ****** ZPchecking for command mode acknowledgment Z Z7vA) 1vC=v)89v>yxxQEzEx9~:a~>.Tracking...Ʉ!I!!Ƀ!i))) ArB]3=> ,(AY_@d@ynj.;<ٟHi?%l?X?Ne? ፙ et?`p?)_@ YV;IC2 =2YBDI6=)6C=:T****** received valid address query ******>R****** received valid ping request ****** >Pchecking for command mode acknowledgment > >N7VA3< 1VN=Vs,89Z>yXXQEZEX9^"a>.Tracking...ɄIɃi) rBU=L> ,(AYra@@y1;K<ٟH {?~T? Y?M?@#f@wv?o?)ra@ nV;IC"5="tgDIP)RAVT****** received valid address query ******VR****** received valid ping request ****** VPchecking for command mode acknowledgment Z Zs7vx= 1vF=v89v>yxxQEzEx9~89a~>. Tracking...Ʉ19I99Ƀ9iA)A YrB=Ip>):> ,c}7(Aɞ%=Y\@j@y /;><ٟHG??X?ᔧ`? l_eg? s?)\@ ӛV;IC00vT****** received valid address query ******vR****** received valid ping request ****** vPchecking for command mode acknowledgment z z79>y  QE E 9a>.%Tracking...Ʉ11I11Ƀ9i9)A QrBm>="> ,YQ(AY_@@yё2;[<ٟHf? p?@Y?@i@?`8Rfj? r?)_@ %V;IC:=:qCD :A:AvT****** received valid address query ******vR****** received valid ping request ****** vPchecking for command mode acknowledgment v v7% 1-<- 99->y11QE5E19=iS:a=>A.MTracking...ɄYYIaaɃaia)i rBU=L> ,3k(AYg@@yXv7;<ٟH? ?[?-즿8?6fす?m?)g@ ٘V;I"="TD*=i*<.T****** received valid address query ******.R****** received valid ping request ****** 2Pchecking for command mode acknowledgment 2 27ݝ< 1C=ޥ:99>yޡީQEEީ9;a>.Tracking...ɄIɃi) rB = 4> ,(AiYd@m@y 4;<ٟH??@fZ?@?fs?@p?)d@ V;IC"="kD.T****** received valid address query ******.R****** received valid ping request ****** .Pchecking for command mode acknowledgment . .Z7F< 1F^=J%9J>yHHQEJEH9N\aN>P.ZTracking....Zfupdate period (5.000000 s) has elapsed, querying....^(*** querying DAT ***"C\*C\Ʉ`dIddɃdih)h trB=ca> ,(AYe@J@yY9;=<ٟH?q?\?'?⎙ 1g t?o?)e@ V;IC"="DI"C=) .T****** received valid address query ******.R****** received valid ping request ****** .Pchecking for command mode acknowledgment 2 2k 7R@o= 1RH=V899V>yTTQEZEX9Zm9a^>\.fTracking...ɄllIllɃlip)p |rB=> ,"ĸ(AYS@@@y8;R<ٟH?`.?[?X'_? S`/g\7?{?)S@ V;IC"="/DI()(.T****** received valid address query ******.R****** received valid ping request ****** RPchecking for command mode acknowledgment R R7ݵۼ 1;=ޅ9>yޑޑQEEޑ9a>.Tracking...ɄIɃi) rB=I)t>)A A s> ,2ҿ(Aɞ=Y"mZ@"ܓ@y"1;"$<ٟ"H(?ħ?Y?@?n9;f T?v?)"mZ@ "0V;I"CBGJ5=LNtgDX YT****** received valid address query ******R****** received valid ping request ****** Pchecking for command mode acknowledgment  7ݕ 1L=ޝ%9>yޙޙQEEޡ9 ;a>.Tracking...ɄIɃi) rB=K> ,|(AY_b@Λ@y.;p<ٟH?E?'Y?>?&ep?@q?)_b@ SV;I2C=2҆D 46AvT****** received valid address query ******vR****** received valid ping request ****** vPchecking for command mode acknowledgment z z7%y= 1%B=%@9%>y))QE-E)95;a5>9.MTracking...ɄQYIYYɃYiY)a yrB=ق> ,V(AYJ^@@y{ 4;E<ٟHV??JZ? `?5mfg?r?)J^@ ѾV;IC2U=2\D`ib<fT****** received valid address query ******fR****** received valid ping request ****** fPchecking for command mode acknowledgment j j=7 X 1 ^= ee99 >yQEE9oa>!.5Tracking...Ʉ9AIAAɃAiI)I arBu= > ,n1 (Ai@Y5\@@y_f0;.<ٟH=? %?\IY?@>? ~ f`-e?`s?)5\@ LV;IC00>T****** received valid address query ******>R****** received valid ping request ****** >Pchecking for command mode acknowledgment > >7Z9Z>yXXQEZEX9)a>!.5Tracking...ɄI郡Ƀi) rB-=[ > , :(AYe]@Ԗ@y},;M<ٟH L??`X?C?@ݍet?p?)e]@ V;IC2׏=20DI6=)6>>T****** received valid address query ******>R****** received valid ping request ****** >Pchecking for command mode acknowledgment B B7J 1J<Jn9J>yLLQENEL99a>.Tracking...ɄIɃi) rB==S> ,S(AYY@ @y,;H#<ٟH`? Yѧ?FX? ʧ@?| Sec?t?)Y@ EV;IC"="usDI$)&A.T****** received valid address query ******.R****** received valid ping request ****** .Pchecking for command mode acknowledgment . .7V= 1VI=Vy69V>yXXQEZEX9^/a^>`.fTracking...ɄllIppɃpip)t rB%=Ix>)p> > ,m(Aɞ%=YW@@y*;<ٟH?u?kW?맿@?x _e_?t?)W@ V;IC"="vD2T****** received valid address query ******2R****** received valid ping request ****** 2Pchecking for command mode acknowledgment 6 6s7VR; 1VJ=V,9Z>yXXQEZEX9^$a^>`.jTracking...ɄppIppɃpit)t rB=N!> ,(AY^S@͌@y-N2;(=<ٟH?t5?OiY?.V?paIfF?@y?)^S@ V;IC2=2FD 44>T****** received valid address query ******>R****** received valid ping request ****** >Pchecking for command mode acknowledgment B BN7, 15=%w99%>y))QE-E)95au>y.Tracking...ɄIɃi) IrBe='> ,Fy(AY_@1@y.;r<ٟHg?@Yo?Y?}h? ʐe w?o?)_@ V;IC2<=2SDbyQEE9 xx;a >.%Tracking...Ʉ)1I11Ƀ1i9)9 QrBm= #%.> ,&T(A@i@Yqb@@y 6;D<ٟH@?D? [?=?Mfu?o?)qb@ 5V;IC2=2;DvT****** received valid address query ******vR****** received valid ping request ****** vPchecking for command mode acknowledgment z zN7Ѽ 1\=d99>y  QE E 9f:a>.-Tracking...Ʉ19I99Ƀ9iA)A arB}={ 5> ,@1(AYc@@y;;O<ٟH`?3?j\?<, ?fugx?n?)c@ ^V;IC2&=2BADfT****** received valid address query ******fR****** received valid ping request ****** fPchecking for command mode acknowledgment f fs7 P; 1 J= E99 >yQEE99a>!.-Tracking....5fupdate period (5.000000 s) has elapsed, querying....5(*** querying DAT ***"C1*C1ɄAAIAAɃIiI)Q arB}G=7;> , (AYX@@yT 7;q<ٟH@??pZ?@٧?2sHf X?u?)X@  V;IC2=2DI8)8>T****** received valid address query ******>R****** received valid ping request ****** >Pchecking for command mode acknowledgment B B7ݵ7= 1@=޽W.9>y޹޹QEE޹9Ka>.Tracking...ɄIɃi) rB%=Ip>)t> B> ,(Aɞ=Y\@d@y;;<ٟHE??@;\?@?zg@$_?s?)\@ V;IC"U="\D*T****** received valid address query *******R****** received valid ping request ****** *Pchecking for command mode acknowledgment . .76 1:a=:Y99:>y<E<9B:aB>D.JTracking...ɄPPITTɃTiT)X drBr< }G!9 iYiIH> ,"(AY[@@y7;W<ٟH6?_?`i%[?@?`,z@nf@_?s?)[@ 0V;I2\=2HD>T****** received valid address query ******>R****** received valid ping request ****** >Pchecking for command mode acknowledgment B B7f 1fE=f49f>yhhQEjEh9nɹan>p.zTracking...Ʉ|IɃi)  !rB="=sN> ,<(AY7\@@y9;8<ٟH=?`|?[? ?n9g`Of?`r?)7\@ ĞV;ICF=FqCD HHLiN<VT****** received valid address query ******VR****** received valid ping request ****** VPchecking for command mode acknowledgment V V7^Z 1^K=b89b>y`dQEfEd9f29aj>h.rTracking...ɄxxIxxɃxi|)| rB-= [U> ,xV(A@i@YY@_@y9;<ٟH"?@̧?k[?ŧ?sZ6g@(X? u?)Y@ pV;IC2<=2SDvT****** received valid address query ******vR****** received valid ping request ****** vPchecking for command mode acknowledgment v v57uo< 18=u]9>yQEE9 #a >.%Tracking...Ʉ)1I11Ƀ1i9)9 rB=[> ,Sp(AYU@@y8; k<ٟH?@G?@E,[? q?Oh3g@L?w?)U@ V;IC2=2^DvT****** received valid address query ******vR****** received valid ping request ****** vPchecking for command mode acknowledgment z z7,/< 1J= 9 >y  QEE9a>.-Tracking...Ʉ99I99ɃAiA)A YrBu=mb> ,.(AYO@?@yb(6;6<ٟH`?ln?@Z?Ug/?O` fY4?|?)O@ WV;I"=&uDI&=)&R=I`)`fT****** received valid address query ******fR****** received valid ping request ****** fPchecking for command mode acknowledgment j j7 < 1 \= 9 >yQEE9a>!.-Tracking...Ʉ9AIAAɃAiA)I arBd=I)l>Jh> ,}(AɞYX@@ya;;e<ٟH??@[? mܧ@? glg@L?`w?)X@ V;IC2=2wD>T****** received valid address query ******>R****** received valid ping request ****** >Pchecking for command mode acknowledgment B B7f`; 1fN=fR99j>yhhQEjEh9=/;a=>A.UTracking...ɄIɃi) rB==n> ,(AYZ@@y@8;"<ٟH$?`Iʧ?/[?`ç@?`/qg@U?u?)Z@ V;IC2̧=2ZND>T****** received valid address query ******>R****** received valid ping request ****** >Pchecking for command mode acknowledgment B B7F* 1JN=JE9J>yLLQENEL9U9a>.Tracking...ɄIɃi) rB9u> ,'(AYS@d@y̹/;g3<ٟH@?+?X?`%@^? _7eE?y?)S@ V;IC2y=2GD 46A8i:<>T****** received valid address query ******>R****** received valid ping request ****** >Pchecking for command mode acknowledgment B B 7Jһ 1JJ=Jͨ9J>yLLQENEL9RaR>T.^Tracking...Ʉ`dIddɃdih)h trBy= i{> ,(A@i YJ@@y5;<ٟHb?Oɨ?Y?J¨?9/f r? ?)J@ V;IC"="qCD2T****** received valid address query ******2R****** received valid ping request ****** 2Pchecking for command mode acknowledgment 2 27F 1FK=Jck99J>yHHQENEL9RCaR>P.ZTracking...Ʉ``I`dɃdid)h prB~=> ,Wv (AYX@?@yx1;<ٟH`? gާ?`tTY?@ק@?o@M"f`U?`v?)X@  V;ICF=JnDRT****** received valid address query ******RR****** received valid ping request ****** RPchecking for command mode acknowledgment R R7Z&)= 1ZH=^{39^>y``QEbE`9f;af>d.nTracking...ɄttItxɃxix)| rB%=> ,Q%(AYR@6@y`3;<ٟH?@>?}Y?7P?Z ~f@?z?)R@ пV;IC2=2kDI6=)6C=I|)~AT****** received valid address query ******R****** received valid ping request ******  Pchecking for command mode acknowledgment] 8failed to enter command mode  7Eb 1MA=M89M>yIQQEUEQ9Ua]>a.mTracking....ufupdate period (5.000000 s) has elapsed, querying....u(*** querying DAT ***"Cq*CqɄI郁Ƀi) rBh=I)> ,,?(AɞYFZ@@y9;<ٟH&?|ǧ?`[? %@?`^q~6gU?u?)FZ@ V;IBU=B\D T****** received valid address query ****** R****** received valid ping request *******entering command mode  )7ma 1m9=uP99>yމމQEEމ9;a>.Tracking...ɄIɃi) rB%=)q } C G  ) Y) ҅ !9҅ g;> ,>Y(AYY@c@y?;C<ٟH!?@̧?@&]?@Cŧ ?|dgG?w?)Y@ V;IC2=2.dDf(DAT read: user:13> jFDAT read: Command '+++' not found j"DAT read: Error jT****** received valid address query ******nR****** received valid ping request ******nQuerying Benthos address 50 with 10 pings in terminal homing one-way mode.v8****** ping requested ****** v v7% < 1-a=-Ȋ99->y11QE5E195Da=>A.MTracking...ɄaaIaaɃaii)i rB=!> ,r(AY[@`@y<;<ٟH`9??Xc\? |?qQgU?@u?)[@ V;ICB=BD DDHiJ<R(DAT read: user:14> RBDAT read: Tx time:16:44:31.3452 V$Ping request sent.VyމޑQEEޑ9 :a>.Tracking...ɄIɃi) 9rBU= ` > ,(Ai@YxU@@y;;.<ٟH`?@T?`[?` q?[X`}tg7checking for new query: numPingsReceived=0 elapsed TxPingTime=0.398024 B Bg7F+ѽ 1Fq=J`G9J?yHLQENEL9RaR?P.ZTracking...Ʉ``I``Ƀdid)h prBf=3> ,k(AYa@@y5;Z<ٟH{??S?Z?L? 0f`j?q?)a@ /V;IC"="D2checking for new query: numPingsReceived=0 elapsed TxPingTime=0.798545 2 27V= 1VH=VV9Z>yXXQEZEX9^l;a^>`.jTracking...ɄppIppɃpit)t rB=> ,Gt(AY[f@ʟ@y*:;<ٟH ??Y\?-?p CZgot?o?)[f@ ժV;IC2=2/DI6p=)6=I8):ABchecking for new query: numPingsReceived=0 elapsed TxPingTime=1.206970 B B7%E 1%C=-Z99->y))QE-E195Ƿ:a5>9.MTracking...ɄYYIYYɃYia)a yrBR=It>)E> ,M(AɞYa@G@y%5;$K<ٟH`?PN? 0Z?@&G?낙¢f@h?@r?)a@ V;IC"="usDfchecking for new query: numPingsReceived=0 elapsed TxPingTime=1.620654 j j7e}= 1eF=m^9m>yiiQEuEq9uau>y.Tracking...ɄI郡Ƀi) rBt=p> ,*(AY~b@@yJ4;A<ٟH ?C?Z?<? ]f`vp?p?)~b@ V;IC2=6HDvchecking for new query: numPingsReceived=0 elapsed TxPingTime=2.028747 z z7ݽC@= 1E=9>yQEE9G9a>.Tracking...ɄIɃi) rB-=X> ,l(AY8g@@yj8;D <ٟH@?@? t[?<5? T g?@m?)8g@ aV;I2=2cD 6A6Ab=ib%=jDDAT read: Rx Time:16:44:33.4748 j6received an acoustic signalnPDAT read: Bearing 69.2, -5.0 (Local) r~Local bearing/azimuth received: Bearing 69.2, -5.0 (Local) vDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 16:44:33.4748 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 208,-0.14, 0.823, 0.494, 0.783, 0.743, PHS= 0.076,-0.206, 0.025, RAW= 140.3, 8.2, CAL= 140.8, 5.0, ROT= 69.2, -5.0 Ygot valid direction response: 16:44:33.4748 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 208,-0.14, 0.823, 0.494, 0.783, 0.743, PHS= 0.076,-0.206, 0.025, RAW= 140.3, 8.2, CAL= 140.8, 5.0, ROT= 69.2, -5.0 %)?%p<%R#Rx 1: Read range and direction messages.-direction in vehicle frame: [ 0.353756 forward, 0.931268 starboard, -0.087156 keelward ]-not publishing receive ping time as it could be a packet for anyone-Fpublishing direction and range infoy!%>?bDZ?OY%>!!!! !)%DI%㥛=i%R!%t@%C>%nF@ %¸=)%#?I%¸!I%w䝤??["?!Eo?%ƴ>%5> %#?)%¸Echecking for new query: numPingsReceived=1 elapsed TxPingTime=2.444346 M MZ7Mi 1U3=U99U>yYYQE]EY9]:ae>a.Tracking....direction in vehicle frame: [ 0.353756 forward, 0.931268 starboard, -0.087156 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998992,-0.044809,-0.002814;0.044866,0.998682,0.024905;0.001694,-0.025006,0.999686 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.395033 north, 0.916369 east, -0.064931 down ].relPosInFSK: [ 0.106127 forward, 0.279381 starboard, -0.026147 keelward ].%|relPosInNED: [ 0.118510 north, 0.274911 east, -0.019479 down ].e*Combining 10 samples..mCould not read vehicle position; cannot calculate contact position.2CizCm>CmM=0+?R^?{4ƚCm>?bDZ?OCm#?Cm¸Cmw:V?y#?̉aCm 9H?&!R?9QCm?ZCm>bCm=:CiBCiJCiRCijCirCiɄIɃi) rB'> > ,i'(A@i@Y`@@yv9;0<ٟH p?`c?[?[@?.gje?r?)`@ V;IC"?="ID.DDAT read: Rx Time:16:44:33.9748 .6received an acoustic signal6PDAT read: Bearing 67.4, -5.3 (Local) 6~Local bearing/azimuth received: Bearing 67.4, -5.3 (Local) >DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 RDAT read: 16:44:33.9748 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.00, 1.064, 0.784, 1.041, 1.002, PHS= 0.058,-0.174, 0.024, RAW= 142.2, 8.6, CAL= 142.6, 5.3, ROT= 67.4, -5.3 VYgot valid direction response: 16:44:33.9748 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.00, 1.064, 0.784, 1.041, 1.002, PHS= 0.058,-0.174, 0.024, RAW= 142.2, 8.6, CAL= 142.6, 5.3, ROT= 67.4, -5.3 ZR#Rx 2: Read range and direction messages.^direction in vehicle frame: [ 0.382652 forward, 0.919263 starboard, -0.092371 keelward ]^not publishing receive ping time as it could be a packet for anyonebFpublishing direction and range infoyXZiL`}?RJ%j?{]UYXXXXX X)ZCIZhm=iZ-2ZZ&I@ Zq=)Z?IZqXIZNL?ؾ?TK?Zpe>ZZ> Z?)Zqnchecking for new query: numPingsReceived=2 elapsed TxPingTime=2.834024 n n57v 1v{=zM89z ?yxxQE~E|9EMaE?I.UTracking....direction in vehicle frame: [ 0.382652 forward, 0.919263 starboard, -0.092371 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998955,-0.045621,-0.002830;0.045677,0.998648,0.024801;0.001695,-0.024904,0.999688 ].=8rangeToContact_ = 0.300000 m.=direction in world frame: [ 0.424085 north, 0.902864 east, -0.070626 down ].ErelPosInFSK: [ 0.114796 forward, 0.275779 starboard, -0.027711 keelward ].M|relPosInNED: [ 0.127226 north, 0.270859 east, -0.021188 down ].M*Combining 10 samples..MCould not read vehicle position; cannot calculate contact position.2CIzCICM5o@c?wj\?q6Q`CMiL`}?RJ%j?{]UCM?CMqCM)^+H?t~U?Լ[CCMxq6$?k@=C?hkCMڐ?ZCM>bCMG>:CIBCIJCIRCIjCIrCIɄI郹Ƀi) rBu=l> ,A(AY&^@&Z@y&25;&D<ٟ&H@]?}? Z?u?Q[fg?`r?)&^@ &VV;I$Ŗ=VZNDbDDAT read: Rx Time:16:44:34.4747 b6received an acoustic signaljPDAT read: Bearing 67.5, -4.7 (Local) j~Local bearing/azimuth received: Bearing 67.5, -4.7 (Local) rDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0  DAT read: 16:44:34.4747 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.10, 0.750, 0.493, 0.730, 0.692, PHS= 0.054,-0.155, 0.023, RAW= 142.1, 8.0, CAL= 142.5, 4.7, ROT= 67.5, -4.7 Ygot valid direction response: 16:44:34.4747 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.10, 0.750, 0.493, 0.730, 0.692, PHS= 0.054,-0.155, 0.023, RAW= 142.1, 8.0, CAL= 142.5, 4.7, ROT= 67.5, -4.7 R#Rx 3: Read range and direction messages.direction in vehicle frame: [ 0.381397 forward, 0.920773 starboard, -0.081939 keelward ]not publishing receive ping time as it could be a packet for anyone%Fpublishing direction and range infoyр/Wh?Jh v?YL> )I/]=iRj<,@5>,@ =)˖?IIsuiw[?oW?K?*>š> ˖?)=checking for new query: numPingsReceived=3 elapsed TxPingTime=3.251085 = =s7MH; 1MD=M#9U>yQQQEUEQ9]a]>a.uTracking....}direction in vehicle frame: [ 0.381397 forward, 0.920773 starboard, -0.081939 keelward ].}8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998946,-0.045821,-0.002765;0.045876,0.998639,0.024811;0.001624,-0.024911,0.999688 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.423103 north, 0.904085 east, -0.060123 down ].relPosInFSK: [ 0.076279 forward, 0.184155 starboard, -0.016388 keelward ].|relPosInNED: [ 0.084621 north, 0.180817 east, -0.012025 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCL>CR ?T`?tǐCр/Wh?Jh v?C˖?CCб?Rˋh%?uQCD>?g-sB?dLeȮC?ZC(9>bCM=:CBCJCRCjCrCɄIɃi) rB=h> ,[(AYZ@ @y4;<ٟH`*??DZ?Ǻ?#s1f X?u?)Z@ @V;I"="qCDI&=)&C=I()*A.A,2checking for new query: numPingsReceived=3 elapsed TxPingTime=3.626919 2 2 7b7 1fS=fR9f>ydhQEjEh9jqan>p.vTracking...Ʉ||I|Ƀi)  ArB=Ix>)i>> , zu(AɞY[]@ʖ@y5;# <ٟHJ?@? Z?⎧?{ }f`?s?)[]@ xV;I.\=2HD>DDAT read: Rx Time:16:44:34.9748 >6received an acoustic signalFPDAT read: Bearing 68.6, -7.3 (Local) F~Local bearing/azimuth received: Bearing 68.6, -7.3 (Local) NDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 bDAT read: 16:44:34.9748 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 0, 0.61,-2.064,-2.524,-2.122,-2.161, PHS= 0.093,-0.318, 0.024, RAW= 140.9, 10.6, CAL= 141.4, 7.3, ROT= 68.6, -7.3 fYgot valid direction response: 16:44:34.9748 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 0, 0.61,-2.064,-2.524,-2.122,-2.161, PHS= 0.093,-0.318, 0.024, RAW= 140.9, 10.6, CAL= 141.4, 7.3, ROT= 68.6, -7.3 fR#Rx 4: Read range and direction messages.jdirection in vehicle frame: [ 0.361919 forward, 0.923509 starboard, -0.127065 keelward ]nnot publishing receive ping time as it could be a packet for anyonenFpublishing direction and range infoydfŸ)?qfb?dddd d)fEIfv=ifТff@ fw>)f@?IfwdIfg;L_?ۣ;?, u?fI~>f]<> f@?)fwzchecking for new query: numPingsReceived=4 elapsed TxPingTime=4.049601 z z77; 1F= >89 >y  QE E 92U:a>.-Tracking....5direction in vehicle frame: [ 0.361919 forward, 0.923509 starboard, -0.127065 keelward ].58processing response from DAT.ErotationFromVehicleToNavigationFrame_ = [ 0.998937,-0.046012,-0.002773;0.046067,0.998631,0.024784;0.001629,-0.024885,0.999689 ].M8rangeToContact_ = 0.300000 m.Mdirection in world frame: [ 0.403871 north, 0.908754 east, -0.105141 down ].UrelPosInFSK: [ 0.108576 forward, 0.277053 starboard, -0.038119 keelward ].]|relPosInNED: [ 0.121161 north, 0.272626 east, -0.031542 down ].]*Combining 10 samples..eCould not read vehicle position; cannot calculate contact position.2CazCe>Cezb˻?7T^;?̡4VbCeŸ)?qfb?bCe#=:CaBCaJCaRCajCarCaɄI郹Ƀi) 9rB=]> ,O(AY0Z@@y3;<ٟH%?`ȧ? Z? ?M}yf`b?s?)0Z@ V;I"="DYDVDDAT read: Rx Time:16:44:35.4747 Z6received an acoustic signal^PDAT read: Bearing 68.8, -4.7 (Local) ^~Local bearing/azimuth received: Bearing 68.8, -4.7 (Local) fDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 zDAT read: 16:44:35.4747 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.35, 1.222, 0.956, 1.195, 1.159, PHS= 0.059,-0.160, 0.021, RAW= 140.7, 8.0, CAL= 141.2, 4.7, ROT= 68.8, -4.7 ~Ygot valid direction response: 16:44:35.4747 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.35, 1.222, 0.956, 1.195, 1.159, PHS= 0.059,-0.160, 0.021, RAW= 140.7, 8.0, CAL= 141.2, 4.7, ROT= 68.8, -4.7 ~R#Rx 5: Read range and direction messages.direction in vehicle frame: [ 0.360409 forward, 0.929189 starboard, -0.081939 keelward ] not publishing receive ping time as it could be a packet for anyone Fpublishing direction and range infoy|~?/?Y~L>|||| |)~CI~q=i~ #~1<~)@~5>~ϸ@ ~=)~`?I~|I~4uѧ?[%0\?Bչ?~v>~& > ~`?)~En}GUchecking for new query: numPingsReceived=5 elapsed TxPingTime=4.496102Yq ӝ;Yҙ m m7e< 10=9>yQEE95EVa5>9.MTracking....direction in vehicle frame: [ 0.360409 forward, 0.929189 starboard, -0.081939 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998919,-0.046398,-0.002744;0.046452,0.998613,0.024791;0.001589,-0.024892,0.999689 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.403052 north, 0.913217 east, -0.059866 down ].relPosInFSK: [ 0.072082 forward, 0.185838 starboard, -0.016388 keelward ].|relPosInNED: [ 0.080610 north, 0.182643 east, -0.011973 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCL>CIs?N?tǐC?/?C`?CC"ࢴ?;`?PeCe?vV9?ݴA C'ܓ?ZC;>bC=:CBCJCRCjCrCɄQYIYYɃYia)a rB5->> ,A,(AYO@l@y$K-;h<ٟH@?@2k?W? d,?fbeoL?x?)O@ /V;I2 =20D 6A6Apir=zDDAT read: Rx Time:16:44:35.9747 z6received an acoustic signalPDAT read: Bearing 118.5, 16.2 (Local) ~Local bearing/azimuth received: Bearing 118.5, 16.2 (Local) DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 =DAT read: 16:44:35.9747 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 512,-0.39, 0.534,-2.656,-2.595,-2.312, PHS= 2.842,-0.301,-0.298, RAW= 90.0, -14.2, CAL= 91.5, -16.2, ROT= 118.5, 16.2 EYgot valid direction response: 16:44:35.9747 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 512,-0.39, 0.534,-2.656,-2.595,-2.312, PHS= 2.842,-0.301,-0.298, RAW= 90.0, -14.2, CAL= 91.5, -16.2, ROT= 118.5, 16.2 EpAIEsc?PtIu޿.3'TϿE_E3} E]@)EÐ>mchecking for new query: numPingsReceived=6 elapsed TxPingTime=4.872902 m m7}ץ= 1}d=ޅE9>yށށQEEމ9ia>.Tracking....direction in vehicle frame: [ -0.458213 forward, 0.843923 starboard, 0.278991 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998861,-0.047642,-0.002644;0.047693,0.998556,0.024706;0.001463,-0.024804,0.999691 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ -0.417033 north, 0.857614 east, 0.300966 down ].relPosInFSK: [ -0.091643 forward, 0.168785 starboard, 0.055798 keelward ].|relPosInNED: [ -0.083407 north, 0.171523 east, 0.060193 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCCǃuL?1%Е?CϔZSݿKi??C]@CÐ>Cf#Zqa\v?dzѮ?C8ڿ"iq?C?Cf@ZC/>bCѪ:CBCJCRCjCrCɄIɃi) rB= !!> ,(A@i@YfV@Տ@y80;O<ٟH??)Y?` x? p@%f`zV?@v?)fV@ V;IC"y="GDZDDAT read: Rx Time:16:44:37.2792 Z6received an acoustic signal^PDAT read: Bearing 67.4, -6.8 (Local) b~Local bearing/azimuth received: Bearing 67.4, -6.8 (Local) jDAT read: Range 7 to 50 : 457.1 m (trip time 304.7 ms) speed 0.0 zDAT read: 16:44:37.2792 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 511,-0.24,-2.222,-2.581,-2.258,-2.297, PHS= 0.070,-0.241, 0.024, RAW= 142.1, 10.1, CAL= 142.6, 6.8, ROT= 67.4, -6.8 ~Ygot valid direction response: 16:44:37.2792 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 511,-0.24,-2.222,-2.581,-2.258,-2.297, PHS= 0.070,-0.241, 0.024, RAW= 142.1, 10.1, CAL= 142.6, 6.8, ROT= 67.4, -6.8 R#Rx 7: Read range and direction messages. direction in vehicle frame: [ 0.381592 forward, 0.916716 starboard, -0.118404 keelward ] not publishing receive ping time as it could be a packet for anyone Fpublishing direction and range infoy(l?U?EOYC )BI)\=iv<,@J4>&I@ =)?IIya.?#,YK??>q"5> ?)%checking for new query: numPingsReceived=7 elapsed TxPingTime=5.267979 - -75 1=O==999=>yAAQEEEA9M;aM>Q.MTracking....direction in vehicle frame: [ 0.381592 forward, 0.916716 starboard, -0.118404 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998898,-0.046860,-0.002699;0.046913,0.998592,0.024744;0.001536,-0.024843,0.999690 ].y> ,Y(AYX@@y:;<ٟH?1?[?٧?trXgY?t?)X@ V;ICR\=RHDZchecking for new query: numPingsReceived=7 elapsed TxPingTime=5.657691 ^ ^7Dž: 1@=99>yQEE9*:a> .Tracking...ɄI郩Ƀi) rB=h > ,(AY"c@@y9; <ٟH?`9? \[?`2`?ȝQ#g킙?l?)"c@ IV;IC2<=2SDI6C=)6R=I8):ABDDAT read: Rx Time:16:44:37.7793 B6received an acoustic signalJPDAT read: Bearing 75.4, -5.5 (Local) J~Local bearing/azimuth received: Bearing 75.4, -5.5 (Local) RDAT read: Range 7 to 50 : 457.2 m (trip time 304.8 ms) speed 0.0 fDAT read: 16:44:37.7793 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.65,-2.082,-2.877,-2.290,-2.318, PHS= 0.231,-0.515, 0.012, RAW= 133.4, 8.2, CAL= 134.6, 5.5, ROT= 75.4, -5.5 jYgot valid direction response: 16:44:37.7793 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.65,-2.082,-2.877,-2.290,-2.318, PHS= 0.231,-0.515, 0.012, RAW= 133.4, 8.2, CAL= 134.6, 5.5, ROT= 75.4, -5.5 jAhjR#Rx 8: Read range and direction messages.direction in vehicle frame: [ 0.250909 forward, 0.963254 starboard, -0.095846 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyhjP?m!?aVXYjChhhh h)jFIjDl>ij jDjY@ j =)jq?Ij ĽhIjb}?C'_?/[}W?j|o>j1?> jq?)j ĽUchecking for new query: numPingsReceived=8 elapsed TxPingTime=6.114886 ] ]7m(< 1mA=m{9m>yޱޱQEEޱ9C;a>.Tracking....direction in vehicle frame: [ 0.250909 forward, 0.963254 starboard, -0.095846 keelward ].8processing response from DAT.-rotationFromVehicleToNavigationFrame_ = [ 0.998969,-0.045307,-0.002824;0.045364,0.998660,0.024914;0.001692,-0.025016,0.999686 ].uzC?ZCCbCC:CBCJCRCjCrCɄIIɃIiQ)Y rB=/>I)p>4> ,}(AɞYe@@y5;*<ٟH@?7?`Z? ?f?l?)e@ V;ICB=BWDNDDAT read: Rx Time:16:44:38.2792 N6received an acoustic signalRPDAT read: Bearing 64.9, -7.5 (Local) V~Local bearing/azimuth received: Bearing 64.9, -7.5 (Local) ^DAT read: Range 7 to 50 : 457.1 m (trip time 304.7 ms) speed 0.0 rDAT read: 16:44:38.2792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.01,-1.078,-1.354,-1.091,-1.127, PHS= 0.044,-0.184, 0.021, RAW= 144.6, 10.9, CAL= 145.1, 7.5, ROT= 64.9, -7.5 vYgot valid direction response: 16:44:38.2792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.01,-1.078,-1.354,-1.091,-1.127, PHS= 0.044,-0.184, 0.021, RAW= 144.6, 10.9, CAL= 145.1, 7.5, ROT= 64.9, -7.5 vR#Rx 9: Read range and direction messages.zdirection in vehicle frame: [ 0.420570 forward, 0.897822 starboard, -0.130526 keelward ]znot publishing receive ping time as it could be a packet for anyone~Fpublishing direction and range infoytv8۟?b(,8? /YvCtttt t)vCIvX94=ivjv "@ v >)v?Iv tIvCjSd?9НL?I'Q?v>vSC> v?)v 5checking for new query: numPingsReceived=9 elapsed TxPingTime=6.481369 5 57Y; 1Q=&9>y  QE E 9%:ae>i.Tracking....direction in vehicle frame: [ 0.420570 forward, 0.897822 starboard, -0.130526 keelward ].%8processing response from DAT.]rotationFromVehicleToNavigationFrame_ = [ 0.998980,-0.045067,-0.002762;0.045122,0.998671,0.024920;0.001636,-0.025019,0.999686 ].] > ,s*(AYc@@y3;!<ٟH?`3?eZ?@, ?@`vf?`m?)c@ HV;IC2=2PDBDDAT read: Rx Time:16:44:38.7793 B6received an acoustic signalFPDAT read: Bearing 67.1, -8.9 (Local) J~Local bearing/azimuth received: Bearing 67.1, -8.9 (Local) RDAT read: Range 7 to 50 : 457.2 m (trip time 304.8 ms) speed 0.0 bDAT read: 16:44:38.7793 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.59, 1.786, 1.315, 1.736, 1.701, PHS= 0.080,-0.343, 0.020, RAW= 142.4, 12.2, CAL= 142.9, 8.9, ROT= 67.1, -8.9 fYgot valid direction response: 16:44:38.7793 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.59, 1.786, 1.315, 1.736, 1.701, PHS= 0.080,-0.343, 0.020, RAW= 142.4, 12.2, CAL= 142.9, 8.9, ROT= 67.1, -8.9 jT#Rx 10: Read range and direction messages.ndirection in vehicle frame: [ 0.384439 forward, 0.910094 starboard, -0.154710 keelward ]nnot publishing receive ping time as it could be a packet for anyonenFpublishing direction and range infoyhj[~?M(}?jÿYjChhhh h)jFIj ף=ijj ףj@ j>)j ?IjhIj3jyZ> j ?)j z z7- 1\= b9 >y  QE E 9: a>.-Tracking....5direction in vehicle frame: [ 0.384439 forward, 0.910094 starboard, -0.154710 keelward ].58processing response from DAT.MrotationFromVehicleToNavigationFrame_ = [ 0.998971,-0.045263,-0.002742;0.045317,0.998662,0.024909;0.001611,-0.025007,0.999686 ].M ,LD(AY>l@@y3;<ٟH? ? [Z?@񠦿`i? @uf `?h?)>l@ V;IC"="_D $$(i*%=(( . .57vw< 1zL=zS9z>y||QE~E|97.;a> .Tracking...Ʉ!!I!)Ƀ)i))1 IrBe7= s0> ,g'^(A@iYk@8@y$.;`<ٟH ?@2?Y??@c?be?g?)k@ V;IC"}="D V V7v0= 1vK=v>9v>yxxQEzEx9~7a]>a.uTracking...ɄI郁Ƀi) rBg=Z> ,x(AY{h@@y<;g<ٟH`?? z\?ݦ@D?`h g9|?m?){h@ V;IC2}=2=D v v7 ` 1 H= :9 >yQEE9=a=>A.MTracking...ɄIɃi) !rB]=B$> ,Dߑ(AY]@)@y'A;<ٟH N?? ]?󈧿?`Zr$hU?t?)]@ "V;ICb=b/DIb=)b4=I)A%A! - -7}4\ 1}C=ޅ099>yށށQEEމ9GMa>.Tracking...ɄIQQɃQiY)Y qrB=Il>)l>Sp*> ,ȫ(AɞY_@(@yyB6;E<ٟHf?Cp? Z? i?@{@Mf@g?@r?)_@ V;IC.=.`D : :9 7~M= 1~R=W9>y QE E 9 d$:a>.%Tracking...ɄQQIQQɃYiY)a yrBP=T1> ,:(AY]@@y1;<ٟH@M?`?Y??w o8f]?t?)]@ V;IC"}="=D * *7R: 1RQ=R79R>yTTQEVET9Z3aZ>X.bTracking...ɄhhIhhɃlil)p |rB_=)ҥW= ҩG1 };Yy~7> ,vp(AY^@7@yk/;@<ٟH \?~? )Y?x`? ŀ@yemg?s?)^@ IV;IC"r="s[D $&A(i*<,.4< 2 27b< 1bH=b9f>yddQEfEd9jE9aj>|. Tracking...ɄI99Ƀ9iA)A rB =  => ,sG(A@i Ye@`@yA6;<ٟH? ?#[?`@(?@f@w? o?)e@ kV;ICF=FqCD R R7Z8¼ 1ZK=^~99^>y\`QEbE`9fI;af>h.rTracking...ɄxxIxxɃxi|) ArBU1=D> ,&(AY d@{@y5;l<ٟH?&+?fZ?#?@ f u?o?) d@ vV;IC"z="D V V7=ߝ= 1=B=E~9E>yAAQEEEI9MaM>Q.eTracking...ɄqqIqqɃqiy) rBp=J> ,-(AYgd@֝@y1;<ٟH`?J%?yZ?@A`?@=f@~?@n?)gd@ V;IC"="hDI&R=)&C=I`)bAdd j jZ77 1N=9>y  QE E 98a>.-Tracking...Ʉ11IɃi) !rB]=It>)>NQ> ,F(AɞYf@;@yf4;}><ٟH?`)? Z?/?ꠙیf?@l?)f@ vV;IC"U="\D V V^ 7~LA 1~J=89>yQE E 9 =:a >.%Tracking...Ʉ11I11Ƀ9i9)9 QrBm>=W> ,`(AYh@@y1;cU<ٟH? a? Z?Rۦ C?`3@6f?k?)h@ CV;IC"П="DD . .k 7R\Ǽ 1RQ=R۸9R>yTTQEVET9Z{:aZ>\.fTracking...ɄhhIllɃlil)p |rB  =]> ,z(AY&d@@y5;r<ٟH?)? Z?O" ?@[ft?o?)&d@ #V;IC2=2WD 46A:yLLQENEL9R̰aR>T.ZTracking....^fupdate period (5.000000 s) has elapsed, querying....=(*** querying DAT ***"C9*C9ɄIIIIIɃIiQ)Q rB== )d> ,j(Ai@Yh@@y?;X<ٟH`? -?@%]?qܦ`E? @gx? n?)h@ V;IC2\=2HD>T****** received valid address query ******>R****** received valid ping request ******>Querying Benthos address 50 with 10 pings in terminal homing one-way mode.F8****** ping requested ****** F F7Nc 1NJ=R;99R>yPPQEVET9V:aV>X.bTracking...ɄhhIhhɃhil)l xrB  =k> ,G(AY5a@@yN?;2<ٟHw?Y?ul]?RQ?Q|Gg`?s?)5a@ EV;IC2=2.dDB(DAT read: user:15> BBDAT read: Tx time:16:44:45.0496 F$Ping request sent.FyhhQEjEh9nan>p.zTracking...Ʉ|IɃi )  !rB="=q> ,#(AYk@@y=;h<ٟH? W?8]?^?`3g\?`j?)k@ V;IVП=VDDIZ=)XI\)^Abchecking for new query: numPingsReceived=0 elapsed TxPingTime=0.411972 f fZ7n 1nI=n⳸9r>yppQErEp9v:B;av>x.Tracking...Ʉ IɃi) 1rBM*=I)p>Bx> ,(AɞYe@#@yA<;<<ٟH`? ?\?v $?g 4z?n?)e@ V;I"#="GDVchecking for new query: numPingsReceived=0 elapsed TxPingTime=0.812602 Z Z7}ڠ= 1}@=ޅ˷9>yށށQEEމ9Hʺa>.Tracking...ɄI郱Ƀi) rB=D~> ,(AYY@N@yW7;<ٟH`!?ͧ?PZ?Ƨ?zf_?s?)Y@ vV;IC"v="QDfchecking for new query: numPingsReceived=0 elapsed TxPingTime=1.220776 j jg7 2 1 R= f9 >yQEE97sa>!.-Tracking...ɄIɃi) 9rBe= n}G  Y 7> ,(AY<]@@yҍ:;;z<ٟHH?=?}[?Ґ@? Qg@n?p?)<]@ V;IC6=69D :A:|Af=if%=jchecking for new query: numPingsReceived=0 elapsed TxPingTime=1.628719 n n7` 1H=89>yQEE9%܃:a%>).=Tracking...ɄAIIIIɃIiQ)Q irB== kV> ,/(AiYS@>@yR7;a<ٟH?@.?Z? x'Z?`f Af`K?w?)S@ $V;I"v="QDNchecking for new query: numPingsReceived=0 elapsed TxPingTime=2.014545 N N7V%< 1VS=ZA9Z>yXXQE^E\9^+Bab>`.jTracking...ɄppIppɃpit)t rB=>> ,YjI(AY\T@ˍ@yݭ9;Om<ٟH@?%? H[?@a?h5gL?`w?)\T@ =V;I"="DYD.DDAT read: Rx Time:16:44:47.1792 26received an acoustic signal6PDAT read: Bearing 67.4, -4.4 (Local) 6~Local bearing/azimuth received: Bearing 67.4, -4.4 (Local) >DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 RDAT read: 16:44:47.1792 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208, 0.13,-3.025, 2.997,-3.045,-3.085, PHS= 0.056,-0.157, 0.025, RAW= 142.2, 7.8, CAL= 142.6, 4.4, ROT= 67.4, -4.4 VYgot valid direction response: 16:44:47.1792 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208, 0.13,-3.025, 2.997,-3.045,-3.085, PHS= 0.056,-0.157, 0.025, RAW= 142.2, 7.8, CAL= 142.6, 4.4, ROT= 67.4, -4.4 ZR#Rx 1: Read range and direction messages.Zdirection in vehicle frame: [ 0.383163 forward, 0.920489 starboard, -0.076719 keelward ]^not publishing receive ping time as it could be a packet for anyone^Fpublishing direction and range infoyTVR켅?St?.0ۣYV>TTTT T)VEIVB`e=iV VV&I@ VnF=)V?IVnFTIVEY?zT?|N?V>V$8 > V?)VnFMchecking for new query: numPingsReceived=1 elapsed TxPingTime=2.481431 M M 7ݝ; 1/=ޥb89>yޡޡQEEީ99a>.%Tracking....-direction in vehicle frame: [ 0.383163 forward, 0.920489 starboard, -0.076719 keelward ].-8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998886,-0.047109,-0.002833;0.047165,0.998582,0.024708;0.001665,-0.024814,0.999691 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.426023 north, 0.903037 east, -0.055038 down ].relPosInFSK: [ 0.114949 forward, 0.276147 starboard, -0.023016 keelward ].|relPosInNED: [ 0.127807 north, 0.270911 east, -0.016511 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC>CL/Im?Nnc?+nCR켅?St?.0ۣC?CnFC8[?+ijV?:zW萿C^C??B-C?ZC>bC>:CBCJCRCjCrCɄIɃi) 1rB>6i> ,9Gc(AYU@~@y=8;܍= ݍ?)ݍPwVUchecking for new query: numPingsReceived=2 elapsed TxPingTime=2.919547 ] ]s7m < 1m>=޽YQ9>yQEE9 NG9a >.%Tracking....mdirection in vehicle frame: [ 0.321824 forward, 0.945352 starboard, -0.052336 keelward ].m8processing response from DAT.}rotationFromVehicleToNavigationFrame_ = [ 0.998890,-0.047024,-0.002811;0.047079,0.998586,0.024703;0.001646,-0.024808,0.999691 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.365887 north, 0.930180 east, -0.029872 down ].relPosInFSK: [ 0.096547 forward, 0.283606 starboard, -0.015701 keelward ].|relPosInNED: [ 0.109766 north, 0.279054 east, -0.008961 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCC:%Q?Îq&?e C*Ę?߶R@?yoU˪C?CPwVC>7Ҡ??dZCj?"7l?l#꧖C?ZC>bC=:CBCJCRCjCrCɄQQIQQɃYiY)a qrBB>Ip>)l>> ,A(}(AɞYV@v@yڝ?;e<ٟH? ? \?`u?hg@L?w?)V@ V;IC2=2*4D>DDAT read: Rx Time:16:44:48.1791 B6received an acoustic signalFPDAT read: Bearing 67.4, -5.1 (Local) F~Local bearing/azimuth received: Bearing 67.4, -5.1 (Local) NDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 bDAT read: 16:44:48.1791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.47, 2.072, 1.805, 2.051, 2.012, PHS= 0.055,-0.164, 0.023, RAW= 142.2, 8.4, CAL= 142.6, 5.1, ROT= 67.4, -5.1 fYgot valid direction response: 16:44:48.1791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.47, 2.072, 1.805, 2.051, 2.012, PHS= 0.055,-0.164, 0.023, RAW= 142.2, 8.4, CAL= 142.6, 5.1, ROT= 67.4, -5.1 jR#Rx 3: Read range and direction messages.ndirection in vehicle frame: [ 0.382774 forward, 0.919555 starboard, -0.088894 keelward ]nnot publishing receive ping time as it could be a packet for anyonenFpublishing direction and range infoydf<^?`"4l?YfL>dddd d)fCIfGa=if'fjf&I@ fK=)f?IfKdIfN)M?Z?\>?f>f> f?)fKzchecking for new query: numPingsReceived=3 elapsed TxPingTime=3.246075 ~ ~7dd 1 {= 99  ?y QEE99a?!.-Tracking....=direction in vehicle frame: [ 0.382774 forward, 0.919555 starboard, -0.088894 keelward ].=8processing response from DAT.MrotationFromVehicleToNavigationFrame_ = [ 0.998895,-0.046906,-0.002924;0.046964,0.998591,0.024704;0.001761,-0.024814,0.999691 ].M8rangeToContact_ = 0.200000 m.Udirection in world frame: [ 0.425380 north, 0.902511 east, -0.067269 down ].]relPosInFSK: [ 0.076555 forward, 0.183911 starboard, -0.017779 keelward ].]|relPosInNED: [ 0.085076 north, 0.180502 east, -0.013454 down ].e*Combining 10 samples..eCould not read vehicle position; cannot calculate contact position.2CazCeL>Ce5?W1e?ZG4Ce<^?`"4l?Ce?CeKCe񍈴ǵ?β?™CeVZm9?Zz_?y8Ce7?ZCe8>bCe<=:CaBCaJCaRCajCarCaɄyI郁Ƀi) ArB={> ,(AYY@@yh39;<ٟH?ڧ?][?oӧ?bsk&gW?@u?)Y@  V;IB =BYBDDDAT read: Rx Time:16:44:48.6793 %6received an acoustic signal-PDAT read: Bearing 68.1, -6.2 (Local) 5~Local bearing/azimuth received: Bearing 68.1, -6.2 (Local) checking for new query: numPingsReceived=3 elapsed TxPingTime=3.667352  7E< 1/=[9>yQEE9UP:a > .Tracking...Ʉ)I郙Ƀi) rBU>ܤ> ,ְ(AYZ@F@y1:;<ٟH,?{?`[??@w Pg@`\?@t?)Z@ V;IC2r=2s[D 6A6A@ k=) #?IkݽI\wae? ?qJm?ľ>)>  #?)kݽchecking for new query: numPingsReceived=4 elapsed TxPingTime=4.090152  7%t< 1%Y=-\89->y))QE-E195e:a=>9.MTracking....Udirection in vehicle frame: [ 0.370806 forward, 0.922409 starboard, -0.107999 keelward ].U8processing response from DAT.erotationFromVehicleToNavigationFrame_ = [ 0.998923,-0.046319,-0.002846;0.046375,0.998617,0.024766;0.001695,-0.024872,0.999689 ].m8rangeToContact_ = 0.500000 m.udirection in world frame: [ 0.413001 north, 0.906645 east, -0.086176 down ].relPosInFSK: [ 0.185403 forward, 0.461205 starboard, -0.054000 keelward ].|relPosInNED: [ 0.206500 north, 0.453322 east, -0.043088 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC?CI?X`?NiإCI?X`?NiإC #?CkݽC&<љn?'T;?C&<љn?'T;?C~Y?ZC>bCtS>:CBCJCRCjCrCɄ99I9AɃAiA)I rBE> > ,ձ(A@i@Y]@'@yCt8;6d<ٟHN?e? Z[?@?@↙`g k?`q?)]@ (V;I"="TDZDDAT read: Rx Time:16:44:49.1792 Z6received an acoustic signal^PDAT read: Bearing 65.4, -7.4 (Local) b~Local bearing/azimuth received: Bearing 65.4, -7.4 (Local) fDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 zDAT read: 16:44:49.1792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.16, 0.614, 0.294, 0.594, 0.555, PHS= 0.054,-0.217, 0.024, RAW= 144.1, 10.8, CAL= 144.6, 7.4, ROT= 65.4, -7.4 Ygot valid direction response: 16:44:49.1792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.16, 0.614, 0.294, 0.594, 0.555, PHS= 0.054,-0.217, 0.024, RAW= 144.1, 10.8, CAL= 144.6, 7.4, ROT= 65.4, -7.4 %R#Rx 5: Read range and direction messages.-direction in vehicle frame: [ 0.412814 forward, 0.901663 starboard, -0.128796 keelward ]-not publishing receive ping time as it could be a packet for anyone-Fpublishing direction and range infoy!%Qk?^}l?OZ_|Y%>!!!! !)%CI%/]=i%?5^%<% @%A>%!@ % A>)%?I% A!I%Jީ#?Ʋ;?\*?%aL>%r>A> %?)% Achecking for new query: numPingsReceived=5 elapsed TxPingTime=4.482315  7.ٻ 1P=9>yQEE9=c:a=>A.MTracking....direction in vehicle frame: [ 0.412814 forward, 0.901663 starboard, -0.128796 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998939,-0.045968,-0.002815;0.046024,0.998632,0.024825;0.001670,-0.024929,0.999688 ].8rangeToContact_ = 0.300000 m.5direction in world frame: [ 0.453658 north, 0.884664 east, -0.107533 down ].=relPosInFSK: [ 0.123844 forward, 0.270499 starboard, -0.038639 keelward ].|relPosInNED: [ 0.136097 north, 0.265399 east, -0.032260 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC>Cld>?CoO?ksȣCQk?^}l?OZ_|C?C AC/ol|k?j'2M?"3M_C|;?@+O?x&[JC'i?ZC>bC] >:CBCJCRCjCrCɄIɃi) rB- >9> ,m(AY]@K@y,(8;\5<ٟHP? ?M[?Ԇ?g@e?r?)]@ ƯV;ICVU=V\DbDDAT read: Rx Time:16:44:49.6793 f6received an acoustic signaljPDAT read: Bearing 65.2, -7.4 (Local) j~Local bearing/azimuth received: Bearing 65.2, -7.4 (Local) rDAT read: Range 7 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0  DAT read: 16:44:49.6793 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.04, 2.087, 1.782, 2.070, 2.032, PHS= 0.051,-0.206, 0.023, RAW= 144.3, 10.9, CAL= 144.8, 7.4, ROT= 65.2, -7.4 Ygot valid direction response: 16:44:49.6793 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.04, 2.087, 1.782, 2.070, 2.032, PHS= 0.051,-0.206, 0.023, RAW= 144.3, 10.9, CAL= 144.8, 7.4, ROT= 65.2, -7.4 R#Rx 6: Read range and direction messages.%direction in vehicle frame: [ 0.415959 forward, 0.900217 starboard, -0.128796 keelward ]%not publishing receive ping time as it could be a packet for anyone%Fpublishing direction and range infoy?jH?OZ_|Y? )I`P=iRj<E/!@B>?!@ )?IIfl?DŃ?gE?(>\A> ?)=checking for new query: numPingsReceived=6 elapsed TxPingTime=4.871126 E E7M; 1UR=UC9U>yYYQE]EY9e=?8ae>i.uTracking....direction in vehicle frame: [ 0.415959 forward, 0.900217 starboard, -0.128796 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998940,-0.045951,-0.002810;0.046006,0.998633,0.024803;0.001666,-0.024906,0.999688 ].8rangeToContact_ = 0.500000 m.direction in world frame: [ 0.456719 north, 0.883081 east, -0.107596 down ].relPosInFSK: [ 0.207979 forward, 0.450108 starboard, -0.064398 keelward ].|relPosInNED: [ 0.228359 north, 0.441540 east, -0.053798 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC?C?jH?OZ_|C?jH?OZ_|C?CCx\:?c2B?>QlCx\:?c2B?>QlC?ZC>bCi>:CBCJCRCjCrCɄIɃi) rB=R> ,si(AY[@k@y=;7<ٟH9?`R?`p\?`̤?@u{gu_?`s?)[@ ~V;I"}="=DI$)&a=I()*A2DDAT read: Rx Time:16:44:50.1792 26received an acoustic signal6PDAT read: Bearing 68.1, -5.3 (Local) :~Local bearing/azimuth received: Bearing 68.1, -5.3 (Local) BDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 RDAT read: 16:44:50.1792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.04, 2.604, 2.324, 2.577, 2.541, PHS= 0.059,-0.172, 0.022, RAW= 141.4, 8.5, CAL= 141.9, 5.3, ROT= 68.1, -5.3 ZYgot valid direction response: 16:44:50.1792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.04, 2.604, 2.324, 2.577, 2.541, PHS= 0.059,-0.172, 0.022, RAW= 141.4, 8.5, CAL= 141.9, 5.3, ROT= 68.1, -5.3 ZR#Rx 7: Read range and direction messages.^direction in vehicle frame: [ 0.371393 forward, 0.923869 starboard, -0.092371 keelward ]bnot publishing receive ping time as it could be a packet for anyonebFpublishing direction and range infoyXZ{?oV?{]UYZ>XXXX X)XIZq=iZ 0ZX9Z@ Zq=)Z #?IZqXIZ@tu? @??Zt>Z,> Z #?)Zqnchecking for new query: numPingsReceived=7 elapsed TxPingTime=5.262090 n ng7v 1vQ=v!F99z>yxxQEzEx9a>.=Tracking....direction in vehicle frame: [ 0.371393 forward, 0.923869 starboard, -0.092371 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998929,-0.046179,-0.002884;0.046237,0.998623,0.024778;0.001736,-0.024885,0.999689 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.413552 north, 0.907745 east, -0.070521 down ].relPosInFSK: [ 0.111418 forward, 0.277161 starboard, -0.027711 keelward ].%|relPosInNED: [ 0.124065 north, 0.272324 east, -0.021156 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC>C-#ㅼ?T?q6Q`C{?oV?{]UC #?CqC ¿?- m?COw?!"@ ?ƂTX CX?ZCn>bC=:CBCJCRCjCrCɄIɃi) rBm>It>)> ,5C(Aɞ%=%=Y&]@& @y&:;&<ٟ&H`N?`쐧?[??`zPg@^?s?)&]@ &V;I&CF5=FtgDDDAT read: Rx Time:16:44:50.6793  6received an acoustic signal=PDAT read: Bearing 70.7, -3.3 (Local) E~Local bearing/azimuth received: Bearing 70.7, -3.3 (Local) }DAT read: Range 7 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -X#Rx 8: Read range message, but no direction.not publishing receive ping time as it could be a packet for anyoneyځYڅ?فchecking for new query: numPingsReceived=8 elapsed TxPingTime=5.690567  7= = 1=*=E9E>yAIQEMEI9O9a>.Tracking....Mdirection in vehicle frame: [ 0.371393 forward, 0.923869 starboard, -0.092371 keelward ].M8processing response from DAT.]rotationFromVehicleToNavigationFrame_ = [ 0.998939,-0.045971,-0.002846;0.046028,0.998633,0.024775;0.001703,-0.024880,0.999689 ].e8rangeToContact_ = 0.500000 m.direction in world frame: [ 0.413365 north, 0.907831 east, -0.070510 down ].relPosInFSK: [ 0.185697 forward, 0.461935 starboard, -0.046185 keelward ].|relPosInNED: [ 0.206683 north, 0.453916 east, -0.035255 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC?C{?oV?{]UC{?oV?{]UCCC5 t?+ ?n$n^ C5 t?+ ?n$n^ C^?ZCg>bCS>:CBCJCRCjCrCɄIɃia)a yrBB>R> ,2(AYY@@ys4;#<ٟH?|ѧ?bQZ?bʧ?rLf`tW?u?)Y@ V;ICV=VqCDrDAT read: 16:44:50.6793 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 497, 0.16,-2.256,-2.526,-2.291,-2.328, PHS= 0.068,-0.154, 0.022, RAW= 138.6, 6.4, CAL= 139.3, 3.3, ROT= 70.7, -3.3 vYgot valid direction response: 16:44:50.6793 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 497, 0.16,-2.256,-2.526,-2.291,-2.328, PHS= 0.068,-0.154, 0.022, RAW= 138.6, 6.4, CAL= 139.3, 3.3, ROT= 70.7, -3.3 zX#Rx 9: Read direction message, but no range.~direction in vehicle frame: [ 0.329966 forward, 0.942236 starboard, -0.057564 keelward ]ytv>+?u&?`8.ytttt t)vBIvC=iv-tvT@v=v@ vk=)v?IvktIvWJ ?g!_?b]?v>vKf= v?)vkchecking for new query: numPingsReceived=9 elapsed TxPingTime=6.077550  g7%m. 1%s=-9-?y))QE5E195κa5 ?9.MTracking...ɄYYIYYɃYia)a yrBS=@> ,K(AYa@Q@ya8;3<ٟH?M?[?@F? 2 g`4o?p?)a@ LV;IC"y="GD &A$R=iR<ZDDAT read: Rx Time:16:44:51.1792 Z6received an acoustic signal^PDAT read: Bearing 68.2, -4.9 (Local) b~Local bearing/azimuth received: Bearing 68.2, -4.9 (Local) jDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 5DAT read: 16:44:51.1792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.33, 2.486, 2.223, 2.462, 2.426, PHS= 0.056,-0.158, 0.021, RAW= 141.3, 8.2, CAL= 141.8, 4.9, ROT= 68.2, -4.9 uYgot valid direction response: 16:44:51.1792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.33, 2.486, 2.223, 2.462, 2.426, PHS= 0.056,-0.158, 0.021, RAW= 141.3, 8.2, CAL= 141.8, 4.9, ROT= 68.2, -4.9 T#Rx 10: Read range and direction messages.direction in vehicle frame: [ 0.370011 forward, 0.925092 starboard, -0.085417 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyqu@?U![?b$ݵYu>qqqq q)uCIuB`e=iu!u1ubd@ u%=)u:\?Iu%qIugb? }???u⸽>uD|> u:\?)u%  75p; 1=-==/89=>yAAQEEEA9E ;aM>.Tracking....direction in vehicle frame: [ 0.370011 forward, 0.925092 starboard, -0.085417 keelward ].8processing response from DAT) =GQi ӑYґ. rotationFromVehicleToNavigationFrame_ = [ 0.998962,-0.045460,-0.002813;0.045516,0.998655,0.024838;0.001681,-0.024941,0.999688 ]. 8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.411589 north, 0.909158 east, -0.063454 down ].relPosInFSK: [ 0.111003 forward, 0.277528 starboard, -0.025625 keelward ].|relPosInNED: [ 0.123477 north, 0.272747 east, -0.019036 down ].%*Combining 10 samples..%Could not read vehicle position; cannot calculate contact position.2C!zC%>C%7wj??+u=C%@?U![?b$ݵC%:\?C%%C%I-?p 3t? "d0~C%,ku{W?A[?}>C%ݥ?ZC%>bC%=:C!BC!JC!RC!jC!rC!ɄiiIiiɃqiq)y rB J> !!> ,e(Ai@YYV@ȏ@yn1;=<ٟH??NY? @x?`l -f`R?w?)YV@ JV;I"@="DfDDAT read: Rx Time:16:44:51.6792 j6received an acoustic signalnPDAT read: Bearing 65.0, -8.1 (Local) n~Local bearing/azimuth received: Bearing 65.0, -8.1 (Local) vDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 16:44:51.6792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.43, 0.699, 0.380, 0.682, 0.645, PHS= 0.050,-0.221, 0.022, RAW= 144.5, 11.5, CAL= 145.0, 8.1, ROT= 65.0, -8.1 Ygot valid direction response: 16:44:51.6792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.43, 0.699, 0.380, 0.682, 0.645, PHS= 0.050,-0.221, 0.022, RAW= 144.5, 11.5, CAL= 145.0, 8.1, ROT= 65.0, -8.1 %T#Rx 11: Read range and direction messages.-direction in vehicle frame: [ 0.418402 forward, 0.897266 starboard, -0.140901 keelward ]-not publishing receive ping time as it could be a packet for anyone-Fpublishing direction and range infoyMu?$Z/g?:N ¿Y )IL=iMbX9<vh!@M>p!@ >)6?IIaw?%Uλ$??>#N> 6?)  7ݕ= 1U=ޝ 9>yޙޙQEEޡ9pa>.Tracking....direction in vehicle frame: [ 0.418402 forward, 0.897266 starboard, -0.140901 keelward ].8processing response from DAT.]rotationFromVehicleToNavigationFrame_ = [ 0.998897,-0.046867,-0.002707;0.046919,0.998592,0.024729;0.001545,-0.024829,0.999691 ].]8rangeToContact_ = 0.300000 m.edirection in world frame: [ 0.459822 north, 0.879893 east, -0.119802 down ].erelPosInFSK: [ 0.125521 forward, 0.269180 starboard, -0.042270 keelward ].|relPosInNED: [ 0.137947 north, 0.263968 east, -0.035941 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCC>Q?}_e&>:?s(mvCMu?$Z/g?:N ¿C6?CCG~bCA >:CBCJCRCjCrCɄ))I))Ƀ1i1)9 rB$>0> ,(AYnZ@ݓ@yS8;V<ٟH(?ħ?6[?ॽ?st gzX?@u?)nZ@ ZV;IC"N="/pD V V7r6 1rj=v99v>yttQEzEx9z:a~>|. Tracking...ɄIɃ!i!)! 9rB]4=> ,(AYX@b@y5;<ٟH?uܧ?AZ?Oէ ?Bn`f@fS?`v?)X@ :V;IC"="^DI&=)&C=I,).A R R7j 1jL=j9j>yllQEnEl9rar>t.~Tracking...Ʉ  I  Ƀ i) )rBE'=Il>)@> ,d(Aɞ==Y^@@yL3;a<ٟH`Y?`X?TZ?`H{ ?ifk?q?)^@ V;IC"="hD 2 276Q#< 1:Q=:ָ9:>y8E<9Bs:aB>D.JTracking...ɄPPIPTɃTiT)X !rB]5=(> ,A(AY c@z@y7;{<ٟH ?H;?e[? 3?aRfn?p?) c@ V;I"\="HD V V7v7 1vC=v $99v>yxxQEzEx9~:a~>.Tracking...ɄI郑Ƀi) rBn=,S> ,(AY]]@̖@y;9;x<ٟHJ?`?d[?Ž?u n'gZ?t?)]]@ V;IC2=2CMD 46Ary11QE5E19=Dܺa=>A.UTracking...ɄaaIaaɃiii)q !rBm= *;> ,'(AiY]g@̠@ymW<;<ٟH? ?@\?7?@g{?m?)]g@ GV;ICJ8=J]D  Z7Ml< 1MH=M89M>yQQQEUEQ9]D;a]>a.uTracking...ɄyI郁Ƀi) rBf=?e> ,(AYxc@@y$=;lv<ٟH?`4? \?,-@ ? ͉`g n?p?)xc@ V;IC2=2wD > >7F4< 1FW=Jh89J>yHHQENEL9N aR>P.ZTracking...Ʉ11I19Ƀ9i9)A YrBu?=K > ,4(AY ]@y@yT:;<ٟHF?\?q[?@񓧿?x`[g+]? t?) ]@ YV;I2=2/|DI6R=)6a=I8)8 > >7F; 1FJ=Je9J>yHHQENEL9RaR>P.ZTracking...Ʉ``I``Ƀdid)d prB~=I{>)p>v> ,N(AɞYg@-@y|:;:<ٟH?`[?U\?覿`;?`Rg~?`m?)g@ ~V;IC"}="D V V7vo< 1vE=v%9v>yxxQEzEx9~N;a~>.Tracking...Ʉ!!I!!Ƀ!i))) ArB]4=G> ,dh(AYs]@@y4;<ٟHL??NqZ?`c?w5f]?t?)s]@ V;IC2=29D v v7- 1-F=-d9->y11QE5E19=Ga=>A.UTracking...ɄaaIaaɃaii)i rBW=" > ,-?(AYMU@@y>;; <ٟH? ? [?n?]`gg@?y?)MU@ V;IC2ڇ=2'D 6A4lin4= v v7-A 1-J=-995>y11QE5E19=D!a=>A.UTracking...ɄaaIaaɃaii)i rBV= G AfA! Q YU AfA&> ,(A@i@YuY@@y=;<ٟH?@ԧ?@a\?@1ͧ?Qm@g$Q?@v?)uY@ AV;IC"&="BAD . .R 7J< 1JU=Jқ89J>yLLQENEL9R!:aR>T.ZTracking...Ʉ`dIddɃdid)h trB}F=Z,> ,Q(AY:Z@@yl7;!<ٟH%?#ȧ?@u[??3r f W?u?):Z@ V;IC"<="SD . .7F< 1FK=FU9J>yHHQEJEH9NKt9aN>P.ZTracking....Zfupdate period (5.000000 s) has elapsed, querying....Z(*** querying DAT ***"C\*C\Ʉ`dIddɃdid)h trB=K3> ,(AYof@ޟ@y27;a <ٟH@??oj[?` ,?Wf?@m?)of@ öV;I2]=20DI6=)6C=I8):A>T****** received valid address query ******>R****** received valid ping request ******BQuerying Benthos address 50 with 10 pings in terminal homing one-way mode.F8****** ping requested ****** J J7-*= 1-A=-u9->y11QE5E19];a>.Tracking...Ʉ!I!!Ƀ!i))) ArB}=It>)l>'9> ,(AɞYg@@y#6;D<ٟH?`d? j1[?ꦿ8?}f@ꇙ?l?)g@ ڲV;IC2&=2BADB(DAT read: user:16> FBDAT read: Tx time:16:44:57.9995 F$Ping request sent.FyhhQEjEh9n9an>p.zTracking...Ʉ|IɃi )  !rB}E=@> ,?(AYd@p@yؾ5;U<ٟH`?`+?Z?@$`? ٷf@Xu?o?)d@ xV;IC2=2W*D:checking for new query: numPingsReceived=0 elapsed TxPingTime=0.401255 : :7RV 1VL=V|9V>yXXQEZEX9Zea^>`.fTracking...ɄllIppɃpip)t rB=8G> ,e(AYZ@5@yV3; <ٟH,?1?Y?'?@Vz@jf`? t?)Z@ UV;IC"Y="RD &A&AR=iR%=Vchecking for new query: numPingsReceived=0 elapsed TxPingTime=0.812359 Z Z7r_= 1vF=v9v>yxxQEzEx9z;3a~>. Tracking...ɄI!!Ƀ!i))1 arB}E= *+M> ,;7(A@i YT@@y4:5;<ٟH`?#"?*Z? b? nDfS?v?)T@ V;IC"=",LDvchecking for new query: numPingsReceived=0 elapsed TxPingTime=1.224449 z z7ݭƻ 1?=ޭ589>yޱޱQEEޱ9a>.Tracking...ɄIɃi) rB=ZT> ,"Q(AYX@ @yR:;<ٟH ??״[?n٧@?r (Tg $W?@u?)X@ vV;IC".="{DVchecking for new query: numPingsReceived=0 elapsed TxPingTime=1.619983 V V7vI= 1vW=vc99v>yxxQEzEx9:a>.Tracking...ɄIɃi) rB5=H>Z> ,j(AY[@@y9;<ٟH 5?$? ϙ[?ʫ?u5g@Z?t?)[@ V;I2k=2oDI6a=)6p=I4)6A>checking for new query: numPingsReceived=0 elapsed TxPingTime=2.018462 B Bg7JF 1JP=J9J>yLLQENEL9Rh:aR>T.^Tracking...Ʉ`dIddɃdid)h rB%=I{>)%a> ,)̈́(AɞY9U@@y7;|<ٟH??}Z?@k?`Sjf`N? w?)9U@ V;IC2`=2?D>DDAT read: Rx Time:16:45:00.1292 B6received an acoustic signalFPDAT read: Bearing 65.1, -8.0 (Local) F~Local bearing/azimuth received: Bearing 65.1, -8.0 (Local) NDAT read: Range 7 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 16:45:00.1292 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 209,-0.29, 3.104, 2.779, 3.085, 3.048, PHS= 0.052,-0.225, 0.023, RAW= 144.4, 11.4, CAL= 144.9, 8.0, ROT= 65.1, -8.0 Ygot valid direction response: 16:45:00.1292 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 209,-0.29, 3.104, 2.779, 3.085, 3.048, PHS= 0.052,-0.225, 0.023, RAW= 144.4, 11.4, CAL= 144.9, 8.0, ROT= 65.1, -8.0  R#Rx 1: Read range and direction messages.direction in vehicle frame: [ 0.416938 forward, 0.898217 starboard, -0.139173 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoy  pp?Q1?H@lY ?     ) EI T=i fff j< K!@ %K> !@ 5>) Oo?I 5 I a ?X"j{ ? ڮ> T:K> Oo?) 5checking for new query: numPingsReceived=1 elapsed TxPingTime=2.497478  78 1%(=%y9%>y!)QE-E)9u<̺au>y.Tracking....Mdirection in vehicle frame: [ 0.416938 forward, 0.898217 starboard, -0.139173 keelward ].M8processing response from DAT.]rotationFromVehicleToNavigationFrame_ = [ 0.998891,-0.047004,-0.002804;0.047059,0.998586,0.024715;0.001639,-0.024820,0.999691 ].]8rangeToContact_ = 0.500000 m.edirection in world frame: [ 0.458517 north, 0.880804 east, -0.118100 down ].relPosInFSK: [ 0.208469 forward, 0.449108 starboard, -0.069587 keelward ].|relPosInNED: [ 0.229258 north, 0.440402 east, -0.059050 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC?Cpp?Q1?H@lбCpp?Q1?H@lCOo?C5C~VX?׊/? ;C~VX?׊/? ;C\?ZC|>bCj>:CBCJCRCjCrCɄIɃi) 1rB9>Pg> ,;(AYo]@ޖ@y17;k<ٟHK?㔧?[? ?8f l?@q?)o]@ V;IC"޾="jD.DDAT read: Rx Time:16:45:00.6291 26received an acoustic signal6PDAT read: Bearing 65.5, -8.4 (Local) 6~Local bearing/azimuth received: Bearing 65.5, -8.4 (Local) >DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 RDAT read: 16:45:00.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.17, 2.298, 1.962, 2.276, 2.240, PHS= 0.053,-0.234, 0.020, RAW= 144.0, 11.8, CAL= 144.5, 8.4, ROT= 65.5, -8.4 VYgot valid direction response: 16:45:00.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.17, 2.298, 1.962, 2.276, 2.240, PHS= 0.053,-0.234, 0.020, RAW= 144.0, 11.8, CAL= 144.5, 8.4, ROT= 65.5, -8.4 ZR#Rx 2: Read range and direction messages.fdirection in vehicle frame: [ 0.410245 forward, 0.900199 starboard, -0.146083 keelward ]jnot publishing receive ping time as it could be a packet for anyonejFpublishing direction and range infoyTVVyrA?++o?/8ٲ¿YV>TTTT T)VCIVY=iVoV ףVvh!@ VQ >)VT?IVQ TIVPڞ?=1r? 7?VQ0>V=S> VT?)VQ zchecking for new query: numPingsReceived=2 elapsed TxPingTime=2.841543 ~ ~7 NS= 1 s= }ݷ9 ?yQEE9gH;a?!.5Tracking....=direction in vehicle frame: [ 0.410245 forward, 0.900199 starboard, -0.146083 keelward ].=8processing response from DAT.MrotationFromVehicleToNavigationFrame_ = [ 0.998937,-0.046002,-0.002795;0.046058,0.998630,0.024829;0.001649,-0.024931,0.999688 ].M8rangeToContact_ = 0.300000 m.Udirection in world frame: [ 0.451029 north, 0.883736 east, -0.124833 down ].]relPosInFSK: [ 0.123073 forward, 0.270060 starboard, -0.043825 keelward ].e|relPosInNED: [ 0.135309 north, 0.265121 east, -0.037450 down ].e*Combining 10 samples..eCould not read vehicle position; cannot calculate contact position.2CazCe>Cei 찼?%H?3!7pCeVyrA?++o?/8ٲ¿CeT?CeQ CeQ?j?mˤ,Ce+@q?OG? YCep?ZCe>bCe >:CaBCaJCaRCajCarCaɄyyIyyɃi) rB=|m> ,(AYV@T@y5;ϋ<ٟH ?D? cZ?`& ?kfP?w?)V@ V;IV̧=VZND bAbAf5p!@ 50 >)56?I50 1I5ۺ}?G?@4N=?5>5n?K> 56?)50 uchecking for new query: numPingsReceived=3 elapsed TxPingTime=3.295443 } }7ݍf˼ 14= KU9 >yQEE9޺a>!.5Tracking....=direction in vehicle frame: [ 0.418607 forward, 0.897706 starboard, -0.137445 keelward ].=8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998900,-0.046800,-0.002771;0.046854,0.998596,0.024722;0.001611,-0.024825,0.999691 ].8rangeToContact_ = 0.500000 m.direction in world frame: [ 0.459987 north, 0.880267 east, -0.116369 down ].relPosInFSK: [ 0.209304 forward, 0.448853 starboard, -0.068722 keelward ].|relPosInNED: [ 0.229994 north, 0.440134 east, -0.058184 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC?C#Cv?\?yjȗC#Cv?\?yjȗC6?C0 CAptmp?t&+?F1XʭCAptmp?t&+?F1XʽC)m?ZCY>bCk>:CBCJCRCjCrCɄ!!I!!Ƀ!iA)I YrB > at> ,R`(Ai@Y X@@yL5;<ٟH ??WZ?{⧿`?sfX?u?) X@ ˗V;ICBП=BDD checking for new query: numPingsReceived=3 elapsed TxPingTime=3.652129  )UY= Q 7n}GEfAa ;YfA7 1%A=%O9%>y))QE-E)959a5>9.MTracking...ɄQYIYYɃYia)a rB=z> ,C;(AY*R@@y5;b<ٟH? H?`=Z?AG?f fK?w?)*R@ ˕V;IC"ȯ="-XDrDDAT read: Rx Time:16:45:01.6291 v6received an acoustic signalzPDAT read: Bearing 66.6, -6.9 (Local) z~Local bearing/azimuth received: Bearing 66.6, -6.9 (Local) DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 -DAT read: 16:45:01.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.06,-1.938,-2.198,-1.955,-1.988, PHS= 0.046,-0.166, 0.018, RAW= 142.9, 10.2, CAL= 143.4, 6.9, ROT= 66.6, -6.9 5Ygot valid direction response: 16:45:01.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.06,-1.938,-2.198,-1.955,-1.988, PHS= 0.046,-0.166, 0.018, RAW= 142.9, 10.2, CAL= 143.4, 6.9, ROT= 66.6, -6.9 5R#Rx 4: Read range and direction messages.=direction in vehicle frame: [ 0.394271 forward, 0.911108 starboard, -0.120137 keelward ]Enot publishing receive ping time as it could be a packet for anyoneEFpublishing direction and range infoy15$y;?@6'?rjƹIY5>1111 1)1I5j<=i5)5t<5@5K6>5- @ 5Ϣ=)5,ɔ?I5Ϣ1I5c@?Ba??C!Pf?5>5$7> 5,ɔ?)5Ϣ]checking for new query: numPingsReceived=4 elapsed TxPingTime=4.066110 ] ]- 7mi< 1mk=u79u?yqqQEuEy9} a?.Tracking....direction in vehicle frame: [ 0.394271 forward, 0.911108 starboard, -0.120137 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998873,-0.047377,-0.002776;0.047431,0.998569,0.024703;0.001602,-0.024807,0.999691 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.436849 north, 0.894105 east, -0.098687 down ].relPosInFSK: [ 0.118281 forward, 0.273332 starboard, -0.036041 keelward ].|relPosInNED: [ 0.131055 north, 0.268231 east, -0.029606 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC>C^FsG?mF~?]sC$y;?@6'?rjƹIC,ɔ?CϢCOg?>4*?R¥QCȞ*hW?9?8CC?ZCU>bC3>:CBCJCRCjCrCɄIɃi) rB=s> ,(AYY@w@yc8;!<ٟH@?Jۧ?A5[?ӧ?z`*g@S_?s?)Y@ V;IC"="_DI&=)&R=IP)RAZDDAT read: Rx Time:16:45:02.1291 Z6received an acoustic signalbPDAT read: Bearing 66.4, -6.3 (Local) b~Local bearing/azimuth received: Bearing 66.4, -6.3 (Local) jDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 ~DAT read: 16:45:02.1291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.20,-2.351,-2.611,-2.367,-2.403, PHS= 0.048,-0.164, 0.020, RAW= 143.2, 9.7, CAL= 143.6, 6.3, ROT= 66.4, -6.3 Ygot valid direction response: 16:45:02.1291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.20,-2.351,-2.611,-2.367,-2.403, PHS= 0.048,-0.164, 0.020, RAW= 143.2, 9.7, CAL= 143.6, 6.3, ROT= 66.4, -6.3  R#Rx 5: Read range and direction messages.direction in vehicle frame: [ 0.397931 forward, 0.910829 starboard, -0.109734 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyHw?uY[%?,=Y )ID=i' ף<@-\->g @ z0=)V?Iz0ὩIAΘ?^?p?-ox?T,> V?)z0-checking for new query: numPingsReceived=5 elapsed TxPingTime=4.464309 = =7Ep; 1E==E89E>yIIQEMEI9U:a>.Tracking....direction in vehicle frame: [ 0.397931 forward, 0.910829 starboard, -0.109734 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998912,-0.046539,-0.002818;0.046595,0.998607,0.024778;0.001661,-0.024882,0.999689 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.439756 north, 0.893770 east, -0.088253 down ]. relPosInFSK: [ 0.119379 forward, 0.273249 starboard, -0.032920 keelward ].|relPosInNED: [ 0.131927 north, 0.268131 east, -0.026476 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCC\?it|?%ڠCHw?uY[%?,=CV?Cz0C? ?ɗ)?C]$?ę?—Cψ?ZCH>bC>:CBCJCRCjCrCɄI郑Ƀi) rBM1>Il>)i>> ,x(Aɞ%=YV@%@y@.*;C<ٟH?@?sW? x?``Eeg?`s?)V@ V;IC*n=*EeDZDDAT read: Rx Time:16:45:02.6291 Z6received an acoustic signal^PDAT read: Bearing 67.6, -5.8 (Local) b~Local bearing/azimuth received: Bearing 67.6, -5.8 (Local) jDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 zDAT read: 16:45:02.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.32, 3.131, 2.856, 3.107, 3.071, PHS= 0.055,-0.171, 0.021, RAW= 141.9, 9.1, CAL= 142.4, 5.8, ROT= 67.6, -5.8 Ygot valid direction response: 16:45:02.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.32, 3.131, 2.856, 3.107, 3.071, PHS= 0.055,-0.171, 0.021, RAW= 141.9, 9.1, CAL= 142.4, 5.8, ROT= 67.6, -5.8 R#Rx 6: Read range and direction messages. direction in vehicle frame: [ 0.379120 forward, 0.919813 starboard, -0.101056 keelward ] not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyF~C?no?+hg޹YL> )IGa=i/1<@">@ 4Q=)?I4QϽI#R)h N?| ;?8>?k>J!> ?)4QϽchecking for new query: numPingsReceived=6 elapsed TxPingTime=4.890589  7; 1P=_9>y11QE5E99=8a=>A.Tracking....direction in vehicle frame: [ 0.379120 forward, 0.919813 starboard, -0.101056 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998900,-0.046822,-0.002597;0.046872,0.998593,0.024810;0.001431,-0.024904,0.999689 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.421672 north, 0.903284 east, -0.079189 down ].relPosInFSK: [ 0.075824 forward, 0.183963 starboard, -0.020211 keelward ].|relPosInNED: [ 0.084334 north, 0.180657 east, -0.015838 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCL>C"2i?}+~1?}¾BCF~C?no?+hg޹C?C4QϽCI?]D?ٚ7CRRܪ?u?"jECP(?ZC8>bC=:CBCJCRCjCrCɄaaIaaɃaii) rB >ȍ> ,9(AY.T@.0@y.1;.P<ٟ.H?G?4Y?\@b?{`0fYa?t?).T@ .%V;I.CBU=B\DNDDAT read: Rx Time:16:45:03.1291 R6received an acoustic signalVPDAT read: Bearing 67.3, -6.9 (Local) V~Local bearing/azimuth received: Bearing 67.3, -6.9 (Local) ^DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 rDAT read: 16:45:03.1291 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 1,-0.46,-3.136, 2.821, 3.118, 3.081, PHS= 0.062,-0.217, 0.021, RAW= 142.2, 10.2, CAL= 142.7, 6.9, ROT= 67.3, -6.9 vYgot valid direction response: 16:45:03.1291 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 1,-0.46,-3.136, 2.821, 3.118, 3.081, PHS= 0.062,-0.217, 0.021, RAW= 142.2, 10.2, CAL= 142.7, 6.9, ROT= 67.3, -6.9 zR#Rx 7: Read range and direction messages.zdirection in vehicle frame: [ 0.383111 forward, 0.915856 starboard, -0.120137 keelward ]~not publishing receive ping time as it could be a packet for anyone~Fpublishing direction and range infoytv!?6K IN?rjƹIYv>tttt t)vEIv}=iv?5^tv@vK6>ve@ vϢ=)vY?IvϢtIvsu'?\v?c?vP1>v'7> vY?)vϢchecking for new query: numPingsReceived=7 elapsed TxPingTime=5.269248  o7 1H=uU99}>yyyQE}Ey9a>.Tracking....direction in vehicle frame: [ 0.383111 forward, 0.915856 starboard, -0.120137 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998888,-0.047061,-0.002709;0.047114,0.998582,0.024785;0.001538,-0.024885,0.999689 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.425650 north, 0.899518 east, -0.098437 down ].relPosInFSK: [ 0.114933 forward, 0.274757 starboard, -0.036041 keelward ]. |relPosInNED: [ 0.127695 north, 0.269855 east, -0.029531 down ]. *Combining 10 samples..MCould not read vehicle position; cannot calculate contact position.2CIzCM>CMI,Dl?qt7?]sCM!?6K IN?rjƹICMY?CMϢCMX}NNX?5OE?0>ltm=CMA/=??,z03CM*}?ZCM*>bCM>:CIBCIJCIRCIjCIrCIɄiI郩Ƀi) rB% >> ,S(AY&_@&@y&7;&<ٟ&H d?s??[? y QEuEq9}U;a}>.Tracking...ɄIɃi) rB== ݚ> ,m(A@iY"_@"@y"Z3;"g<ٟ"H _? z?`-Z?s?`)uf {?n?)"_@ "zV;I >#=>KDNDDAT read: Rx Time:16:45:03.6291 R6received an acoustic signalVPDAT read: Bearing 65.6, -8.3 (Local) V~Local bearing/azimuth received: Bearing 65.6, -8.3 (Local) ^DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 rDAT read: 16:45:03.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.27, 1.590, 1.263, 1.568, 1.534, PHS= 0.053,-0.227, 0.020, RAW= 143.8, 11.7, CAL= 144.4, 8.3, ROT= 65.6, -8.3 vYgot valid direction response: 16:45:03.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.27, 1.590, 1.263, 1.568, 1.534, PHS= 0.053,-0.227, 0.020, RAW= 143.8, 11.7, CAL= 144.4, 8.3, ROT= 65.6, -8.3 vR#Rx 8: Read range and direction messages.~direction in vehicle frame: [ 0.408778 forward, 0.901145 starboard, -0.144356 keelward ]~not publishing receive ping time as it could be a packet for anyone~Fpublishing direction and range infoytve[#i)? -?'ЌCz¿Yttttt t)vCIvY=ivrhv ףvK!@ vV>)vC?IvVtIvJx?@&O?IЬ?v>vWxO> vC?)vVchecking for new query: numPingsReceived=8 elapsed TxPingTime=6.078051  )7%ػ 1-P=-)+9->y)1QE5E19= a=>A.MTracking....udirection in vehicle frame: [ 0.408778 forward, 0.901145 starboard, -0.144356 keelward ].u8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998947,-0.045803,-0.002741;0.045858,0.998638,0.024887;0.001598,-0.024986,0.999687 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.449441 north, 0.884801 east, -0.123005 down ].relPosInFSK: [ 0.122633 forward, 0.270343 starboard, -0.043307 keelward ].|relPosInNED: [ 0.134832 north, 0.265440 east, -0.036902 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCC/(d?iaNM?l)Q,Ce[#i)? -?'ЌCz¿CC?CVCK.B?q?䢿Ci?UJP?E}C#?ZC>bC >:CBCJCRCjCrCɄIɃi) rB=> ǡ> ,t(AYO@@y1;N<ٟH@?Vy?@Y?rr"?c;f@0I?x?)O@ V;ICNv=NQDZDDAT read: Rx Time:16:45:04.1292 Z6received an acoustic signalbPDAT read: Bearing 64.7, -8.3 (Local) b~Local bearing/azimuth received: Bearing 64.7, -8.3 (Local) DAT read: Range 7 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 16:45:04.1292 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.09, 2.431, 2.119, 2.416, 2.379, PHS= 0.048,-0.217, 0.021, RAW= 144.8, 11.7, CAL= 145.3, 8.3, ROT= 64.7, -8.3 %Ygot valid direction response: 16:45:04.1292 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.09, 2.431, 2.119, 2.416, 2.379, PHS= 0.048,-0.217, 0.021, RAW= 144.8, 11.7, CAL= 145.3, 8.3, ROT= 64.7, -8.3 mR#Rx 9: Read range and direction messages.udirection in vehicle frame: [ 0.422882 forward, 0.894613 starboard, -0.144356 keelward ]unot publishing receive ping time as it could be a packet for anyoneuFpublishing direction and range infoy!%!6~?i?'ЌCz¿Y%?!!!! !)!I%D=i%?5^%1<%?!@!%:M"@ !)%?I!!I%5+qx?O-?HG$?%>%,Q> %?)!checking for new query: numPingsReceived=9 elapsed TxPingTime=6.538927  7; 11={x9>y!)QE-E)9-a5>1.Tracking....direction in vehicle frame: [ 0.422882 forward, 0.894613 starboard, -0.144356 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998856,-0.047748,-0.002714;0.047801,0.998552,0.024693;0.001531,-0.024795,0.999691 ].8rangeToContact_ = 0.500000 m.direction in world frame: [ 0.464940 north, 0.876705 east, -0.123368 down ].relPosInFSK: [ 0.211441 forward, 0.447306 starboard, -0.072178 keelward ].|relPosInNED: [ 0.232470 north, 0.438352 east, -0.061684 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC?C!6~?i?'ЌCzC!6~?i?'ЌCz¿C?CCC،6?# ?t CC،6?# ?t C?ZCo>bC n>:CBCJCRCjCrCɄQQIQYɃYiY)a yrB!>W> ,y;(AYP@X@y{Y1;~<ٟH@?`\?Y?@U6?gm-+fS?w?)P@ =V;ICV=V,LDIZC=)Z4=I)A-DDAT read: Rx Time:16:45:04.6291 56received an acoustic signal=PDAT read: Bearing 66.5, -7.3 (Local) =~Local bearing/azimuth received: Bearing 66.5, -7.3 (Local) MDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 uDAT read: 16:45:04.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.01, 2.320, 2.015, 2.297, 2.262, PHS= 0.054,-0.203, 0.020, RAW= 143.0, 10.7, CAL= 143.5, 7.3, ROT= 66.5, -7.3 }Ygot valid direction response: 16:45:04.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.01, 2.320, 2.015, 2.297, 2.262, PHS= 0.054,-0.203, 0.020, RAW= 143.0, 10.7, CAL= 143.5, 7.3, ROT= 66.5, -7.3 T#Rx 10: Read range and direction messages.direction in vehicle frame: [ 0.395517 forward, 0.909627 starboard, -0.127065 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyy}d &P??yyyy y)yI}/]=i};O} ף<}@}t;?>}J @ }w>)}?I}wyI}`d?Ú Y}>> }?)}w  57ݵ» 1`=޽ʷ9>y޹޹QEE9 :a>.Tracking....direction in vehicle frame: [ 0.395517 forward, 0.909627 starboard, -0.127065 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998866,-0.047530,-0.002706;0.047582,0.998561,0.024731;0.001527,-0.024831,0.999691 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.438156 north, 0.892674 east, -0.105600 down ].relPosInFSK: [ 0.118655 forward, 0.272888 starboard, -0.038119 keelward ]. |relPosInNED: [ 0.131447 north, 0.267802 east, -0.031680 down ]. *Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC>CdS.`?=lv?̡4VbCd &P??bC>:CBCJCRCjCrCɄaaIiiɃi) rB- >Ix>)p>> ,(Aɞ=Y.W@@y 4;<ٟH?`?@Y??@t1f/Z?@u?).W@ tV;IC"̧="ZND f f7 ; 1 V= W89 >yQEE9l;a>!.-Tracking...ɄI郹Ƀi) rB=Z> ,(AY[@^@y8;<ٟH9? 㬧?1[??zg_?s?)[@ V;IC2y=2GD b b7һ 1J= E99 >y  QEE9>:a>.-Tracking...Ʉ99I99ɃAiA)A arB}C='> ,(AY ^@z@y5;<ٟHS? ?`7Z?僧 ?*z4f _? t?) ^@ V;IC"="vD $&A*yhhQEnEl9n)*:ar>p.zTracking...ɄIɃi )  !rB=&= }> ,r(AiY^@w@y#6;<ٟHR?J?Z??wbf@k\?t?)^@ V;I"="1D . .7J 1JN=J889N>yLLQEREP9VqaV>X.-Tracking...Ʉ19I99Ƀ9iA)A YrBu@=mGҁҙ ;YL:> ,s"(AYc@b@y@V5;<ٟH?@,?JZ?@%? P ƪf+v?o?)c@ V;IC2=2nD > >57Fq= 1FK=J~:9J>yHHQEJEH9N*:aN>P.ZTracking...Ʉ``I``Ƀ`id)d prB~=d> ,-\<(AY0e@@y5;<ٟH??o[?@?@M`xf$}? n?)0e@ AV;I"ŷ="aDI&=)$I()( 2 27V? 1VH=V79Z>yXXQEZEX9^o9a^>`.jTracking...ɄppIppɃpit)t rB=Ip>)K> ,5V(Aɞ=Yf@]@y+:;~<ٟH? Q?`W2\?@2?tEg{?n?)f@ 5V;IC2.=2{D f f7 << 1 D=  '99 >yQEE9:a>!.5Tracking...Ʉ9AIAAɃAiI)I arB}D=v> ,8p(AYf@h@yFB;#<ٟH? ?XP^?*4?଎`&Qh@Qr? o?)f@ HV;IC2=2DYD v v7~ 1~K=899>yQE E 9 Z7a >.%Tracking...Ʉ11I11Ƀ1i9)9 QrBm<=]> ,_(AY\@@y@;/<ٟH @??w]?ޛ? hr h@U?t?)\@ V;IC&=&;D *A*A`i` f fw 7u 1uC=u3y9>yމޑQEEޑ9Ea>.Tracking...ɄIɃi) rB= > ,ƣ(AiYV@@y*:;:)<ٟH?@z?`[?$~?C`>Eg`xD?y?)V@ pV;IC2=2UD > >)7F< 1FZ=F9J>yHHQEJEH9N!aN>P.ZTracking...Ʉ``I``Ƀ`id)d prB~=*> ,(AY[@@yjf6;-<ٟH6?+?Z??@"u`fUZ?u?)[@ 2V;IC2]=20D > >7R= 1RI=R9V>yTTQEVET9Z:aZ>\.fTracking...ɄhlIllɃlip)p |rB=> ,~(AY_@@y4;% <ٟH _?iz?{Z?`Js ? zf`?s?)_@ CV;IC25=2tgDI6=)6R=I8):A > >N7FK> 1FL=JN9J>yHHQEJEH9:a> .Tracking...Ʉ))I))Ƀ)i1)1 IrBe8=I{>)^> ,Z(Aɞ%=%=Yc@ @y0; <ٟH@?1?`uY?+ ?@Df{?o?)c@ ?V;IC2*=2uD B B- 7J< 1JJ=J09J>yLLQENEL9R:aR>T.ZTracking....^fupdate period (5.000000 s) has elapsed, querying....^(*** querying DAT ***"C\*C\ɄddIddɃhih)h trBI=e> ,6 (AY&Y@& @y&"60;&<ٟ&H?@ѧ?#Y?ʧ?uf%\? u?)&Y@ &V;I&CB=B[ZDJT****** received valid address query ******JR****** received valid ping request ******NQuerying Benthos address 50 with 10 pings in terminal homing one-way mode.n8****** ping requested ****** r rs7  % 1 C= o69 >yQEE9>a=>A.MTracking...ɄYYIYYɃYia)a rB=> ,s%(AYGW@@yr0;\<ٟH ?@?'Y?@ ? rolf |U?v?)GW@ 5V;IC"޾="jD &A&AR=iR=V(DAT read: user:17> ZBDAT read: Tx time:16:45:10.9494 Z$Ping request sent.ZyaaQEmEi9m2'am>.Tracking...ɄI郱Ƀi) rB> > ,>(A@i@YcT@ҍ@yA\6;V<ٟH?@^%?` wZ?:`b?Ee@fJ?@x?)cT@ V;IC"n="EeDjchecking for new query: numPingsReceived=0 elapsed TxPingTime=0.407267 j j7uŻ 1c=C}99 >y  QE E 9a>9.MTracking...ɄQYIyyɃyi) rBr=) 5 }GM gAa ӕ ;Yҕ gA> ,X(AYR@@ydY4;{P<ٟH? :B?Y?2;L?`Gd*f`I?x?)R@ V;I"C="҆DVchecking for new query: numPingsReceived=0 elapsed TxPingTime=0.806759 V Vs7u= 1uC=ޕB9>yޙޙQEEޙ9+ a>.Tracking...ɄIɃi) )rBe=> ,r(AY\@C@y:;?<ٟH D??S[?@P ?@Ag1g? r?)\@ V;I"=";DI&=)&yddQEfEd9jyY;aj>l.vTracking...ɄxIɃi!)! rB-=Ip>)l>"> ,(Aɞ==Y]@G@yW/;<ٟH Q??`Y??`߈eo?`q?)]@ V;I2&=2BAD>checking for new query: numPingsReceived=0 elapsed TxPingTime=1.608182 > > 7V; 1VL=Vչ9V>yXXQEZEX9^.9an>p.vTracking...ɄI!!Ƀ!i!)) rB=$)> ,Y(AY\@@y.;j<ٟHA? ?X??􅙿el?r?)\@ V;IC"="ED.checking for new query: numPingsReceived=0 elapsed TxPingTime=2.008359 . . 7] ; 1]?=e9e>yaaQEeEi9mBŹau>q.Tracking...ɄIɃi) yrB= 0> ,5(AY R@y@yj5;%7<ٟH?J?Z? CF?Xa[f6F? y?) R@ V;IC"̧="ZND &A$$i&<2DDAT read: Rx Time:16:45:13.0791 26received an acoustic signal6PDAT read: Bearing 65.6, -7.2 (Local) :~Local bearing/azimuth received: Bearing 65.6, -7.2 (Local) BDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 RDAT read: 16:45:13.0791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464, 0.07,-1.307,-1.578,-1.321,-1.356, PHS= 0.046,-0.178, 0.020, RAW= 144.0, 10.6, CAL= 144.4, 7.2, ROT= 65.6, -7.2 VYgot valid direction response: 16:45:13.0791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464, 0.07,-1.307,-1.578,-1.321,-1.356, PHS= 0.046,-0.178, 0.020, RAW= 144.0, 10.6, CAL= 144.4, 7.2, ROT= 65.6, -7.2 V+?Vp<ZR#Rx 1: Read range and direction messages.^direction in vehicle frame: [ 0.409847 forward, 0.903503 starboard, -0.125333 keelward ]^not publishing receive ping time as it could be a packet for anyone^Fpublishing direction and range infoyXZ85A:?ֻ]~?cK YXXXXX X)XIZj<=iZE6XZ| @Zq=>ZK!@ Z>)ZC?IZXIZ S?1u?Ǧ{?Z>Z<> ZC?)Zjchecking for new query: numPingsReceived=1 elapsed TxPingTime=2.428073 n n7a; 13=f99>yQEE 9 y7a>.%Tracking....direction in vehicle frame: [ 0.409847 forward, 0.903503 starboard, -0.125333 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998873,-0.047392,-0.002768;0.047446,0.998569,0.024682;0.001595,-0.024785,0.999692 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.452053 north, 0.885893 east, -0.104129 down ]. relPosInFSK: [ 0.122954 forward, 0.271051 starboard, -0.037600 keelward ].|relPosInNED: [ 0.135616 north, 0.265768 east, -0.031239 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCC12Jy?@'wX?gښM@C85A:?ֻ]~?cK CC?CC+[?(V?KcCCo,m?*;Y?&\1C?ZC>bC >:CBCJCRCjCrCɄI郑Ƀi) rBM1> 66> , (A i@Y.W@@yq5;<ٟH??`QZ? ?w1f\?t?).W@ иV;IC2V=2DjDDAT read: Rx Time:16:45:13.5790 j6received an acoustic signalnPDAT read: Bearing 67.0, -6.0 (Local) r~Local bearing/azimuth received: Bearing 67.0, -6.0 (Local) zDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 DAT read: 16:45:13.5790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.19,-1.484,-1.728,-1.500,-1.534, PHS= 0.046,-0.150, 0.018, RAW= 142.6, 9.4, CAL= 143.0, 6.0, ROT= 67.0, -6.0 Ygot valid direction response: 16:45:13.5790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.19,-1.484,-1.728,-1.500,-1.534, PHS= 0.046,-0.150, 0.018, RAW= 142.6, 9.4, CAL= 143.0, 6.0, ROT= 67.0, -6.0 %R#Rx 2: Read range and direction messages.-direction in vehicle frame: [ 0.388591 forward, 0.915462 starboard, -0.104528 keelward ]-not publishing receive ping time as it could be a packet for anyone-Fpublishing direction and range infoy!%+?k}wK?4ޮ`ºY%L>!!!! !)!I!i%%t<%&I@%'>%@ %Pw=)%?I%Pwֽ!I%8!!/? `j?cP{?% D>% (> %?)%Pwֽechecking for new query: numPingsReceived=2 elapsed TxPingTime=2.850309 m m7ݝ= 1g=ޝ59>yޡޡQEEޡ9:a>.Tracking....direction in vehicle frame: [ 0.388591 forward, 0.915462 starboard, -0.104528 keelward ].8processing response from DAT.=rotationFromVehicleToNavigationFrame_ = [ 0.998902,-0.046765,-0.002769;0.046819,0.998596,0.024768;0.001606,-0.024870,0.999689 ].=8rangeToContact_ = 0.200000 m.Edirection in world frame: [ 0.430857 north, 0.898604 east, -0.082898 down ].MrelPosInFSK: [ 0.077718 forward, 0.183092 starboard, -0.020906 keelward ].|relPosInNED: [ 0.086171 north, 0.179721 east, -0.016580 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCL>C U?Qђo?^LXMhC+?k}wK?4ޮ`ºC?CPwֽC0U?`l?w9C%+?]?8CՏ?ZC8>bCz=:CBCJCRCjCrCɄI郹Ƀi) rB"> d<> ,(AY&NY@&@y&K1;&6<ٟ&H@? ֧?\Y?ϧ?@x)f!f? s?)&NY@ & V;I$>=BTD DDAT read: Rx Time:16:45:14.0791  6received an acoustic signalPDAT read: Bearing 67.3, -7.4 (Local) ~Local bearing/azimuth received: Bearing 67.3, -7.4 (Local) -DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 UDAT read: 16:45:14.0791 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 0, 0.54,-2.816, 3.096,-2.853,-2.890, PHS= 0.069,-0.253, 0.022, RAW= 142.2, 10.7, CAL= 142.7, 7.4, ROT= 67.3, -7.4 ]Ygot valid direction response: 16:45:14.0791 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 0, 0.54,-2.816, 3.096,-2.853,-2.890, PHS= 0.069,-0.253, 0.022, RAW= 142.2, 10.7, CAL= 142.7, 7.4, ROT= 67.3, -7.4 ]R#Rx 3: Read range and direction messages.edirection in vehicle frame: [ 0.382692 forward, 0.914854 starboard, -0.128796 keelward ]enot publishing receive ping time as it could be a packet for anyonemFpublishing direction and range infoyY]"~?(|F?OZ_|Y]>YYYY Y)]EI]O=i]7]X9<]@]t;?>]e@ ] A>)]Y?I] AYI]|bf?R4?pz;C0?]ձ>]b@> ]Y?)] Achecking for new query: numPingsReceived=3 elapsed TxPingTime=3.270730  7m 1u;=u9u>yqyQE}Ey9}X:a>.Tracking....direction in vehicle frame: [ 0.382692 forward, 0.914854 starboard, -0.128796 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998914,-0.046506,-0.002705;0.046559,0.998608,0.024804;0.001548,-0.024903,0.999689 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.424672 north, 0.898990 east, -0.107099 down ].relPosInFSK: [ 0.114808 forward, 0.274456 starboard, -0.038639 keelward ].|relPosInNED: [ 0.127401 north, 0.269697 east, -0.032130 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC>Cb[d?bCu>:CBCJCRCjCrCɄAAIAAɃAiI)I rB+>IC> ,i (AYg@@yC/;l<ٟH@??Y?馿6?`|e?i?)g@ V;IC"@="DI&=)&C=IP)PTVAZchecking for new query: numPingsReceived=3 elapsed TxPingTime=3.635436 Z Z7}= 1}\=}9>yށށQEEށ9;a>.-Tracking...ɄIiɃqiy) rB>It>)i>NtI> ,~'(AɞYIl@@yo/;y<ٟH?;?Y?A`i?صe:?@h?)Il@ 9V;IC.v=2D>DDAT read: Rx Time:16:45:14.5790 >6received an acoustic signalBPDAT read: Bearing 64.4, -8.5 (Local) F~Local bearing/azimuth received: Bearing 64.4, -8.5 (Local) NDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 bDAT read: 16:45:14.5790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.42, 2.615, 2.297, 2.600, 2.563, PHS= 0.047,-0.223, 0.022, RAW= 145.0, 11.9, CAL= 145.6, 8.5, ROT= 64.4, -8.5 fYgot valid direction response: 16:45:14.5790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.42, 2.615, 2.297, 2.600, 2.563, PHS= 0.047,-0.223, 0.022, RAW= 145.0, 11.9, CAL= 145.6, 8.5, ROT= 64.4, -8.5 fR#Rx 4: Read range and direction messages.jdirection in vehicle frame: [ 0.427340 forward, 0.891927 starboard, -0.147809 keelward ]nnot publishing receive ping time as it could be a packet for anyonenFpublishing direction and range infoydfBuEY?ک?%)k¿YfL>dddd d)fCIf@=ifZddfp!@fȭT>f"@ f>)fޏ?IfdIf{~tU?{Nn?Ӕ|c?fs">fT> fޏ?)fzchecking for new query: numPingsReceived=4 elapsed TxPingTime=4.048393 ~ ~^ 7 ; 1 R= 9>yQEE9ż:a%>!.5Tracking....Edirection in vehicle frame: [ 0.427340 forward, 0.891927 starboard, -0.147809 keelward ].E8processing response from DAT.UrotationFromVehicleToNavigationFrame_ = [ 0.999020,-0.044191,-0.002677;0.044245,0.998707,0.025014;0.001568,-0.025108,0.999683 ].]8rangeToContact_ = 0.200000 m.edirection in world frame: [ 0.466152 north, 0.875600 east, -0.126596 down ].erelPosInFSK: [ 0.085468 forward, 0.178385 starboard, -0.029562 keelward ].m|relPosInNED: [ 0.093230 north, 0.175120 east, -0.025319 down ].m*Combining 10 samples..mCould not read vehicle position; cannot calculate contact position.2CqzCuL>Cu[9?ΩT?uPIxECuBuEY?ک?%)k¿Cuޏ?CuCurݷ?%Uj?G홿CuIgn?-?2L4CuEq?ZCuR3>bCu=:CqBCqJCqRCqjCqrCqɄI郙Ƀi) rB=ZP> ,|A(AYbj@ѣ@y1;<ٟH?Ŧ?`Z?U? f? j?)bj@ ܬV;IC"="]rD.DDAT read: Rx Time:16:45:15.0791 26received an acoustic signal6PDAT read: Bearing 64.5, -9.1 (Local) 6~Local bearing/azimuth received: Bearing 64.5, -9.1 (Local) >DAT read: Range 7 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 RDAT read: 16:45:15.0791 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.24,-2.865, 3.084,-2.882,-2.917, PHS= 0.048,-0.238, 0.020, RAW= 144.9, 12.5, CAL= 145.5, 9.1, ROT= 64.5, -9.1 VYgot valid direction response: 16:45:15.0791 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.24,-2.865, 3.084,-2.882,-2.917, PHS= 0.048,-0.238, 0.020, RAW= 144.9, 12.5, CAL= 145.5, 9.1, ROT= 64.5, -9.1 VR#Rx 5: Read range and direction messages.Zdirection in vehicle frame: [ 0.425093 forward, 0.891225 starboard, -0.158158 keelward ]Znot publishing receive ping time as it could be a packet for anyone^Fpublishing direction and range infoyTVG з4?fs?@\~>ĿYV?TTTT T)VFIVD=iVFsV ףVj"@ V">)V)?IV"TIV磜 |X?4iR?ϔ?V>V]> V)?)V"jchecking for new query: numPingsReceived=5 elapsed TxPingTime=4.447376 j j7rq6 1rM=v~89v>yttQEvEt9zaz>|. Tracking....direction in vehicle frame: [ 0.425093 forward, 0.891225 starboard, -0.158158 keelward ].8processing response from DAT.%rotationFromVehicleToNavigationFrame_ = [ 0.999009,-0.044423,-0.002701;0.044477,0.998698,0.024977;0.001588,-0.025072,0.999684 ].-8rangeToContact_ = 0.500000 m.-direction in world frame: [ 0.464059 north, 0.875146 east, -0.136996 down ].5relPosInFSK: [ 0.212546 forward, 0.445613 starboard, -0.079079 keelward ].u|relPosInNED: [ 0.232030 north, 0.437573 east, -0.068498 down ].}*Combining 10 samples..}Could not read vehicle position; cannot calculate contact position.2CyzC}?C}G з4?fs?@\~>C}G з4?fs?@\~>ĿC})?C}"C}i%&?xl2?KC}i%&?xl2?KC}O?ZC} >bC}m>:CyBCyJCyRCyjCyrCyɄIɃi) rB5=V> ,W[(AYq_@@y2;L<ٟHc?t?Z?@m?͂VXf`h?r?)q_@  V;IC"r="s[D &A&A(i(2DDAT read: Rx Time:16:45:15.5791 26received an acoustic signal:PDAT read: Bearing 64.5, -8.6 (Local) :~Local bearing/azimuth received: Bearing 64.5, -8.6 (Local) BDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 VDAT read: 16:45:15.5791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.11, 2.558, 2.235, 2.542, 2.506, PHS= 0.048,-0.227, 0.021, RAW= 145.0, 12.1, CAL= 145.5, 8.6, ROT= 64.5, -8.6 ZYgot valid direction response: 16:45:15.5791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.11, 2.558, 2.235, 2.542, 2.506, PHS= 0.048,-0.227, 0.021, RAW= 145.0, 12.1, CAL= 145.5, 8.6, ROT= 64.5, -8.6 Zp?Pf׎?S&r#ÿYZ>XXXX X)ZCIXiZrhZ1X Z`>)XIZ`XIZKUad?ozX?$g?Zl>ZV> X)Z`checking for new query: numPingsReceived=6 elapsed TxPingTime=4.883182  A7ݵ 10=޽o89>yQEE9<a>.Tracking....direction in vehicle frame: [ 0.425671 forward, 0.892437 starboard, -0.149535 keelward ].8processing response from DAT.=rotationFromVehicleToNavigationFrame_ = [ 0.998949,-0.045758,-0.002728;0.045811,0.998642,0.024814;0.001589,-0.024913,0.999688 ].=8rangeToContact_ = 0.300000 m.Edirection in world frame: [ 0.465869 north, 0.875473 east, -0.128505 down ].ErelPosInFSK: [ 0.127701 forward, 0.267731 starboard, -0.044861 keelward ].|relPosInNED: [ 0.139761 north, 0.262642 east, -0.038551 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC>C5LX?"?h_1C40>?Pf׎?S&r#ÿCC`CbC>:CBCJCRCjCrCɄ  IɃi) rB(> !\> ,;u(A@i@Y&{^@&@y&Ki5;&D6<ٟ&H X??Z?|?'f`f?r?)&{^@ &tV;I&C>=>9DjDDAT read: Rx Time:16:45:16.0791 n6received an acoustic signalrPDAT read: Bearing 66.1, -8.1 (Local) v~Local bearing/azimuth received: Bearing 66.1, -8.1 (Local) ~DAT read: Range 7 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 16:45:16.0791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.01,-1.496,-1.804,-1.517,-1.550, PHS= 0.051,-0.209, 0.018, RAW= 143.4, 11.4, CAL= 143.9, 8.1, ROT= 66.1, -8.1 %Ygot valid direction response: 16:45:16.0791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.01,-1.496,-1.804,-1.517,-1.550, PHS= 0.051,-0.209, 0.018, RAW= 143.4, 11.4, CAL= 143.9, 8.1, ROT= 66.1, -8.1 -R#Rx 7: Read range and direction messages.5direction in vehicle frame: [ 0.401100 forward, 0.905133 starboard, -0.140901 keelward ]5not publishing receive ping time as it could be a packet for anyone5Fpublishing direction and range infoy)-쒕??:N ¿Y-?)))) )))I-`P=i-V-t<-- @-%K>- @ ->)-7?I-)I-Kz|? ^?DFT?-C>-K> -7?)-Mchecking for new query: numPingsReceived=7 elapsed TxPingTime=5.272068 U U7ew 1ec=e89e>yiiQEmEi9uxau>y.Tracking....direction in vehicle frame: [ 0.401100 forward, 0.905133 starboard, -0.140901 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998943,-0.045875,-0.002768;0.045929,0.998637,0.024804;0.001626,-0.024904,0.999689 ].8rangeToContact_ = 0.500000 m.direction in world frame: [ 0.442019 north, 0.889008 east, -0.119517 down ].relPosInFSK: [ 0.200550 forward, 0.452567 starboard, -0.070451 keelward ].|relPosInNED: [ 0.221010 north, 0.444504 east, -0.059759 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC?C쒕??:N C쒕??:N ¿C7?CCHA J?OBr?`ƃ[CHA J?OBr?`ƃ[Cf?ZC>bCPb>:CBCJCRCjCrCɄIɃi) rB=ږc> , (AYV@@ypR.;E<ٟH?@&? X?`e{? i`LeyO?w?)V@ V;I2=2nDfchecking for new query: numPingsReceived=7 elapsed TxPingTime=5.658547 f f7VY= 1 Q= 9 >yQEE9!a>!.-Tracking...Ʉ99IAAɃAiA)I irB=ѥ}GfA o;YfAi> ,h(AYO@7@yFu5;<ٟH ?n?Z?g .?Qমf`6? |?)O@ gV;ICJӗ=J:DINC=)LI)DDAT read: Rx Time:16:45:16.5791 6received an acoustic signal%PDAT read: Bearing 66.5, -7.1 (Local) %~Local bearing/azimuth received: Bearing 66.5, -7.1 (Local) 5DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 ]DAT read: 16:45:16.5791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.12,-1.639,-1.896,-1.655,-1.688, PHS= 0.045,-0.164, 0.017, RAW= 143.0, 10.4, CAL= 143.5, 7.1, ROT= 66.5, -7.1 eYgot valid direction response: 16:45:16.5791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.12,-1.639,-1.896,-1.655,-1.688, PHS= 0.045,-0.164, 0.017, RAW= 143.0, 10.4, CAL= 143.5, 7.1, ROT= 66.5, -7.1 aamR#Rx 8: Read range and direction messages.udirection in vehicle frame: [ 0.395691 forward, 0.910028 starboard, -0.123601 keelward ]unot publishing receive ping time as it could be a packet for anyoneuFpublishing direction and range infoyae=S??A7XYe>aaaa a)aIeQ8=ie'eCeJ @ e=)e?IeaIe/??XŪ?=?eE>e9> e?)echecking for new query: numPingsReceived=8 elapsed TxPingTime=6.087235  - 7ݝE 1A=ޥ߆99>yޡީQEEީ9=a>.Tracking....direction in vehicle frame: [ 0.395691 forward, 0.910028 starboard, -0.123601 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998859,-0.047667,-0.002769;0.047721,0.998557,0.024623;0.001591,-0.024727,0.999693 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.438471 north, 0.892910 east, -0.102252 down ].relPosInFSK: [ 0.118707 forward, 0.273008 starboard, -0.037080 keelward ].U|relPosInNED: [ 0.131541 north, 0.267873 east, -0.030676 down ].U*Combining 10 samples..UCould not read vehicle position; cannot calculate contact position.2CQzCU>CU^c?*Cx?K@5CU=S??A7XCU?CUCUStQX?ox$?@LjiCU? u?u`?.-CUH?ZCU&>bCU>:CQBCQJCQRCQjCQrCQɄI郱Ƀi) rB- >I%l>)%l>mp> ,n(AɞYJ@^@yn12;<ٟHl?,?`\Y?O? K,Ff`0?}?)J@ ͟V;IC"U="\DZDDAT read: Rx Time:16:45:17.0791 Z6received an acoustic signal^PDAT read: Bearing 66.6, -7.8 (Local) b~Local bearing/azimuth received: Bearing 66.6, -7.8 (Local) fDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 zDAT read: 16:45:17.0791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.22,-1.319,-1.586,-1.337,-1.367, PHS= 0.045,-0.175, 0.015, RAW= 142.9, 11.1, CAL= 143.4, 7.8, ROT= 66.6, -7.8 ~Ygot valid direction response: 16:45:17.0791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.22,-1.319,-1.586,-1.337,-1.367, PHS= 0.045,-0.175, 0.015, RAW= 142.9, 11.1, CAL= 143.4, 7.8, ROT= 66.6, -7.8 R#Rx 9: Read range and direction messages. direction in vehicle frame: [ 0.393473 forward, 0.909263 starboard, -0.135716 keelward ] not publishing receive ping time as it could be a packet for anyone Fpublishing direction and range infoy!.?[D? M _Y )Ii333u<@aF>- @ 'g >),ɔ?I'g ID(?x!O?*?É>F> ,ɔ?)'g %checking for new query: numPingsReceived=9 elapsed TxPingTime=6.478228 - -75 = 1=Q==9=>yAAQEEEA9M\ƺaM>Q.]Tracking....mdirection in vehicle frame: [ 0.393473 forward, 0.909263 starboard, -0.135716 keelward ].m8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998831,-0.048258,-0.002719;0.048311,0.998529,0.024600;0.001528,-0.024702,0.999694 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.436733 north, 0.892290 east, -0.114376 down ].relPosInFSK: [ 0.118042 forward, 0.272779 starboard, -0.040715 keelward ].|relPosInNED: [ 0.131020 north, 0.267687 east, -0.034313 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCCݢ8?~16u?ؤC!.?[D? M _C,ɔ?C'g C82[C?Y7!?|YuCv0p?f}}?gGC̎?ZC>bC*>:CBCJCRCjCrCɄ19I99Ƀ9i9)A YrB=v> ,#(AYR@i@ym4;'A<ٟH?;?Y?4Q?@\bf vG?x?)R@ V;ICBП=BDDNDDAT read: Rx Time:16:45:17.5790 N6received an acoustic signalVPDAT read: Bearing 67.5, -6.5 (Local) V~Local bearing/azimuth received: Bearing 67.5, -6.5 (Local) ^DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 rDAT read: 16:45:17.5790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.42,-2.893, 3.127,-2.914,-2.947, PHS= 0.050,-0.165, 0.018, RAW= 142.0, 9.8, CAL= 142.5, 6.5, ROT= 67.5, -6.5 vYgot valid direction response: 16:45:17.5790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.42,-2.893, 3.127,-2.914,-2.947, PHS= 0.050,-0.165, 0.018, RAW= 142.0, 9.8, CAL= 142.5, 6.5, ROT= 67.5, -6.5 vT#Rx 10: Read range and direction messages.zdirection in vehicle frame: [ 0.380223 forward, 0.917941 starboard, -0.113203 keelward ]znot publishing receive ping time as it could be a packet for anyonezFpublishing direction and range infoytvkU? N._?5YvL>tttt t)tIvL=iv(vtv,@ vV=)v˖?IvV轩tIvKLf;?y7۴?vJ]?v<>v-> v˖?)vV  R 7¼ 1L=%89%>y!)QE-E)9- ;a5>1.ETracking....Mdirection in vehicle frame: [ 0.380223 forward, 0.917941 starboard, -0.113203 keelward ].M8processing response from DAT.erotationFromVehicleToNavigationFrame_ = [ 0.998878,-0.047278,-0.002753;0.047331,0.998574,0.024687;0.001582,-0.024789,0.999691 ].e8rangeToContact_ = 0.200000 m.mdirection in world frame: [ 0.423065 north, 0.901462 east, -0.091554 down ].mrelPosInFSK: [ 0.076045 forward, 0.183588 starboard, -0.022641 keelward ].u|relPosInNED: [ 0.084613 north, 0.180292 east, -0.018311 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCL>C@Sw?F|?Z]/CkU? N._?5C˖?CVC2?p^T? )CC#[?S?6cpCg?ZC8>bCI=:CBCJCRCjCrCɄ!!I))Ƀ)i) rB >|> , z(AY]@@y"T8;,<ٟHL??`U[?`C? @ g@d?r?)]@ V;IC  $$*yttQEvEt9zU;az>x.uTracking...ɄI郁Ƀi) rBg= 99> ,X(Ai@Y\Y@˒@y";;z<ٟH?2֧?` \?Χ@?Or {g^V?@u?)\Y@ V;IC2=2FD : :7B: 1B<F99F>yDDQEJEH9JaJ>L.VTracking...Ʉ\\I\\Ƀ\i`)` lrBz<> ,/*(AYu[@@yw:;<ٟH4??@[?@: ?}@Ngqa?@s?)u[@ כV;ICBv=BQD N NN7V-< 1VH=ZY9Z>yXXQEZE\9^$:ab>`.jTracking...ɄppIppɃpit)t rB=> , D(AYX@ @y0;<ٟH?`?@u=Y?`ڧ`?|f0b?t?)X@  V;IC"5="tgDI&=)&R=I()(,, . .57j< 1jH=n;9n>yllQErEp9rr_ar>t.~Tracking...Ʉ  I  Ƀ i) )rBE(=I=p>)9 > ,](AɞY/b@@y3;<ٟH?H?o.Z?A? scf?m?)/b@ -V;IC" ="YBD V V 7% 1%E=-R89->y))QE-E)95!9;a5>9.MTracking...ɄYYIYYɃaia)a yrBS=J> ,Uw(AY[@@y^-;<ٟH@6?@c?@X??B je`p?q?)[@ XV;I2=2hD v vA7%= 1-J=-P9->y11QE5E195 a>.Tracking...ɄI郹Ƀi) rB=v4> ,(AY_@ @y0;e<ٟHe?`q?wY?j ?=zf {?n?)_@ EV;IC.=2FD 02A\i^y  QE E9:a>!.-Tracking...Ʉ99I9AɃAiA)I YrBuC= 99|\> ,Su(A@i@Y]@@y5;f<ٟH`G??ܨZ?q@? `rfzp?p?)]@ V;ICF*=Fp7D ^ ^R 7vox 1vL=v0N99v>yxxQEzEx9~ Ka>.Tracking...Ʉ!!I!!Ƀ)i))1 ArB]6=D> ,Q(AY^@k@y2:;<ٟH]?D|?[?t?6 @Fgs?o?)^@ VV;IC"`="?D * *7F; 1FQ=F199J>yHHQEJEH9NH:aN>P.ZTracking...Ʉ11I11Ƀ1i9)9 QrBm<=) Ce}Gґҡ ;Yn> ,,(AY_@1@yHd9;P<ٟHf?`o?[?}h?`2,gu?o?)_@ VV;IC2=2DYDI6C=)64=I8):A<< B B7Jc< 1JJ=J9J>yLLQENEL9RQt9aR>T.^Tracking...ɄddIddɃdih)h trB=I=x>)9> ,(Aɞ%=%=Y;\@@y +8;p<ٟH`=?`)?4[?ݠ? bglm? q?);\@ eV;IC"="D . . 7F= 1FK=J9B9J>yHHQEJEH9NaN>P.ZTracking...Ʉ``I``Ƀ`id)d prB~=> ,(AYY@G@yպ3;7^<ٟH`!?Χ? Y?ǧ ?vXwfk?q?)Y@ V;IC2=2%D f fs7n 1nE=no+9r>yppQErEp9v[8av>x.Tracking...Ʉ IɃi) 1rBM+=> ,<,(AYZ@R@y08;c<<ٟH`-?? )[?W@?g f?`r?)Z@ ޯV;IC"="_D $&Alin< v vA7%1c= 1-E=-`,99->y11QE5E19=R9a=>A.MTracking....Ufupdate period (5.000000 s) has elapsed, querying....U(*** querying DAT ***"CQ*CQɄaaIaaɃaii)i rBW= 99a> ,F(A i YRL@@ybG1;!#<ٟH~?@?X?%@?W^(f C?z?)RL@ ȭV;I"R="\fDVT****** received valid address query ******VR****** received valid ping request ******ZQuerying Benthos address 50 with 10 pings in terminal homing one-way mode.^8****** ping requested ****** b b7&; 1== 9 >y  QE E 9u׆a}>.Tracking...ɄIɃ i )1 ArB}=> ,t`(AY/Y@@yR 3;zQ<ٟH?@ا?Y?ѧ?ǃ`haf~i?@r?)/Y@ V;ICBӗ=B:DJ(DAT read: user:18> NBDAT read: Tx time:16:45:23.8493 ^$Ping request sent.byށށQEEށ9u;a>.Tracking...ɄIɃi) !rB=> ,Oz(AY^@ @y3;,<ٟHY?ȁ?@qZ?z?Ycfx? o?)^@ bV;IC2#=2KDI6=)6C=I8):ABchecking for new query: numPingsReceived=0 elapsed TxPingTime=0.396090 B B7J< 1JO=N569N?yLPQEREP9R:aV?T.^Tracking...ɄddIddɃdih)h trB=I=l>)=p>> ,_)(Aɞ==YnV@ݏ@y3;<ٟH?@?BY?`x?szf@Y?u?)nV@ V;IC"="PD.checking for new query: numPingsReceived=0 elapsed TxPingTime=0.795124 2 257V; 1VI=V79Z>yXXQEZEX9^!a^>`.jTracking...ɄppIppɃpit)t rB=> ,(AY'\@@yL3;{<ٟHyhhQEjEh9=V:a=>A.UTracking...ɄyI郁Ƀi) rBf=I> ,(AYZ@,@y56;4/<ٟH+?꿧? Z?`?f`5e?r?)Z@ YV;IC2=2ED 6A6|A8i8>checking for new query: numPingsReceived=0 elapsed TxPingTime=1.607315 B B7F: 1JN=JX99J>yHLQENEL9]׹a]>a.uTracking...ɄI郁Ƀi) rBg= 99 > ,(Ai@YjY@ْ@y5;<ٟH@?@ԧ?UTZ?ͧ?t`6f@Z? u?)jY@ V;IC2=29Dfchecking for new query: numPingsReceived=0 elapsed TxPingTime=2.021560 j j7ݝI2 1;=ޝGb9>yޡޡQEEޡ9̹a>.Tracking...ɄIɃi) rB = 5> ,5(AYT@=@yw>3;<ٟH ??Y?`f?FjgfO?`w?)T@ 3V;IC2`=2?DzDDAT read: Rx Time:16:45:25.9790 z6received an acoustic signal~PDAT read: Bearing 63.9, -9.1 (Local) ~Local bearing/azimuth received: Bearing 63.9, -9.1 (Local) DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 5DAT read: 16:45:25.9790 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 225,-0.40,-0.772,-1.081,-0.784,-0.818, PHS= 0.042,-0.218, 0.019, RAW= 145.5, 12.5, CAL= 146.1, 9.1, ROT= 63.9, -9.1 =Ygot valid direction response: 16:45:25.9790 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 225,-0.40,-0.772,-1.081,-0.784,-0.818, PHS= 0.042,-0.218, 0.019, RAW= 145.5, 12.5, CAL= 146.1, 9.1, ROT= 63.9, -9.1 ER#Rx 1: Read range and direction messages.Mdirection in vehicle frame: [ 0.434402 forward, 0.886725 starboard, -0.158158 keelward ]Mnot publishing receive ping time as it could be a packet for anyoneMFpublishing direction and range infoyAEP,>?oG `?@\~>ĿYE>AAAA A)EEIE1,=iEd;_E㥛E1#@ E">)E?IE"AIEʁ46?g#ht ?Ďҥ?Eq!>EW`> E?)E"checking for new query: numPingsReceived=1 elapsed TxPingTime=2.501282  A7}s; 1}/=}Lr9>yށށQEEށ9Qa>.Tracking.... direction in vehicle frame: [ 0.434402 forward, 0.886725 starboard, -0.158158 keelward ]. 8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998889,-0.047055,-0.002735;0.047108,0.998584,0.024718;0.001568,-0.024819,0.999691 ].%8rangeToContact_ = 0.300000 m.%direction in world frame: [ 0.475443 north, 0.868954 east, -0.137379 down ].mrelPosInFSK: [ 0.130321 forward, 0.266017 starboard, -0.047447 keelward ].u|relPosInNED: [ 0.142633 north, 0.260686 east, -0.041214 down ].u*Combining 10 samples..uCould not read vehicle position; cannot calculate contact position.2CqzCu>Cu+GX?/n?TKCuP,>?oG `?@\~>ĿCu?Cu"CuA?u $? fCuZm?x?tCu?ZCux>bCu>:CqBCqJCqRCqjCqrCqɄIɃi) 1rB9>_> ,s(AYS@;@yԱ4;[<ٟH?.?Z?@' [?e8f@J?@x?)S@ QV;ICfn}Gp| =YBD %L;Y)I֙)֙DDAT read: Rx Time:16:45:26.4790 6received an acoustic signalPDAT read: Bearing 64.2, -9.1 (Local) ~Local bearing/azimuth received: Bearing 64.2, -9.1 (Local) DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 16:45:26.4790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.22,-2.228,-2.549,-2.242,-2.277, PHS= 0.045,-0.228, 0.020, RAW= 145.3, 12.5, CAL= 145.8, 9.1, ROT= 64.2, -9.1 Ygot valid direction response: 16:45:26.4790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.22,-2.228,-2.549,-2.242,-2.277, PHS= 0.045,-0.228, 0.020, RAW= 145.3, 12.5, CAL= 145.8, 9.1, ROT= 64.2, -9.1 R#Rx 2: Read range and direction messages.direction in vehicle frame: [ 0.429753 forward, 0.888987 starboard, -0.158158 keelward ] not publishing receive ping time as it could be a packet for anyone Fpublishing direction and range infoy$d?H)r?@\~>ĿY )CIQ8=ixi ף<:M"@4"@ )l?II%oC?R? }'ʎ?|>3^> l?)%checking for new query: numPingsReceived=2 elapsed TxPingTime=2.873210 % %E 7\; 1T=Gp89>yQEE9a> .5Tracking....Edirection in vehicle frame: [ 0.429753 forward, 0.888987 starboard, -0.158158 keelward ].E8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998883,-0.047178,-0.002757;0.047231,0.998579,0.024699;0.001588,-0.024802,0.999691 ]. 8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.471010 north, 0.871371 east, -0.137337 down ].relPosInFSK: [ 0.128926 forward, 0.266696 starboard, -0.047447 keelward ].|relPosInNED: [ 0.141303 north, 0.261411 east, -0.041201 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCCt֘?&4?TKC$d?H)r?@\~>ĿCl?CCiר7?}?Zf_LCYZ%?MwlF?d?C?ZCׅ>bC>:CBCJCRCjCrCɄyyIyyɃi) rB]3>I={>)9I > ,W/(AɞYL@@yh}+;<ٟH{??,dW??WR`oe8?|?)L@ VV;IC&=&vD6DDAT read: Rx Time:16:45:26.9790 66received an acoustic signal:PDAT read: Bearing 64.2, -9.1 (Local) >~Local bearing/azimuth received: Bearing 64.2, -9.1 (Local) FDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 VDAT read: 16:45:26.9790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.08,-1.857,-2.167,-1.870,-1.904, PHS= 0.043,-0.219, 0.019, RAW= 145.3, 12.5, CAL= 145.8, 9.1, ROT= 64.2, -9.1 ^Ygot valid direction response: 16:45:26.9790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.08,-1.857,-2.167,-1.870,-1.904, PHS= 0.043,-0.219, 0.019, RAW= 145.3, 12.5, CAL= 145.8, 9.1, ROT= 64.2, -9.1 ^R#Rx 3: Read range and direction messages.bdirection in vehicle frame: [ 0.429753 forward, 0.888987 starboard, -0.158158 keelward ]bnot publishing receive ping time as it could be a packet for anyonefFpublishing direction and range infoy\^$d?H)r?@\~>ĿY\\\\\ \)\I^ 0=i^A`^㥛<\\\ \)\I\\I^eRxB?܅5?0O,I?^>^^^> \)\rchecking for new query: numPingsReceived=3 elapsed TxPingTime=3.236691 r r7z{= 1zq=~ٹ9~?y||QE~E|95a? .Tracking....%direction in vehicle frame: [ 0.429753 forward, 0.888987 starboard, -0.158158 keelward ].%8processing response from DAT.urotationFromVehicleToNavigationFrame_ = [ 0.998838,-0.048119,-0.002617;0.048169,0.998536,0.024631;0.001428,-0.024728,0.999693 ].}8rangeToContact_ = 0.300000 m.}direction in world frame: [ 0.471850 north, 0.870917 east, -0.137338 down ].relPosInFSK: [ 0.128926 forward, 0.266696 starboard, -0.047447 keelward ].|relPosInNED: [ 0.141555 north, 0.261275 east, -0.041201 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCCt֘?&4?TKC$d?H)r?@\~>ĿCCC"%Sx?q=@?l]_VC_qv2?|X?/kGC?ZCŅ>bC>:CBCJCRCjCrCɄAIIIIɃIiQ)Q arB=V/> ,*I(AY.Q@@y~]0;4<ٟH?NX?[X?|Q`yޙޙQEEޡ9:a>.Tracking...ɄIɃi ) rB=,Y> ,c(AYR@W@y0;D<ٟH? XXXX X)XIXiZv>ZtZ!@ Z>)Z?IZXIZ#m?@6?;z?Z >ZE3M> Z?)Znchecking for new query: numPingsReceived=4 elapsed TxPingTime=4.043566 r r9 7z 1zT=zf9z>y|1QE5E19=:a=>A.UTracking....direction in vehicle frame: [ 0.413698 forward, 0.899445 starboard, -0.140901 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998878,-0.047286,-0.002686;0.047338,0.998574,0.024688;0.001515,-0.024788,0.999692 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.455599 north, 0.882092 east, -0.119763 down ].%relPosInFSK: [ 0.082740 forward, 0.179889 starboard, -0.028180 keelward ].%|relPosInNED: [ 0.091120 north, 0.176418 east, -0.023953 down ].-*Combining 10 samples..-Could not read vehicle position; cannot calculate contact position.2C)zC-L>C-nBtl.??bC-=:C)BC)JC)RC)jC)rC)ɄI郱Ƀi) rB> 99@> ,|(A@iYQ@[@yO-;ܚ<ٟH?`LL?X? EC?8l@e`R?@w?)Q@ V;IC"@="D &A&A2DDAT read: Rx Time:16:45:27.9789 26received an acoustic signal6PDAT read: Bearing 67.1, -9.5 (Local) :~Local bearing/azimuth received: Bearing 67.1, -9.5 (Local) RDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 rDAT read: 16:45:27.9789 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.65, 0.280,-0.219, 0.226, 0.195, PHS= 0.082,-0.370, 0.016, RAW= 142.3, 12.8, CAL= 142.9, 9.5, ROT= 67.1, -9.5 vYgot valid direction response: 16:45:27.9789 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.65, 0.280,-0.219, 0.226, 0.195, PHS= 0.082,-0.370, 0.016, RAW= 142.3, 12.8, CAL= 142.9, 9.5, ROT= 67.1, -9.5 zR#Rx 5: Read range and direction messages.}direction in vehicle frame: [ 0.383787 forward, 0.908552 starboard, -0.165048 keelward ]}not publishing receive ping time as it could be a packet for anyone}Fpublishing direction and range infoyxzI? Je?G ſYxxxxx x)zFIz=izpzoz@ z)>)z ?Iz)xIzbP8?7ɭ?d`2b?z>zd> z ?)z)checking for new query: numPingsReceived=5 elapsed TxPingTime=4.470996  7= 1<=ָ9>yQEE9=,a=>9.MTracking....direction in vehicle frame: [ 0.383787 forward, 0.908552 starboard, -0.165048 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998872,-0.047406,-0.002641;0.047457,0.998567,0.024729;0.001465,-0.024827,0.999691 ].8rangeToContact_ = 0.200000 m. direction in world frame: [ 0.426230 north, 0.893154 east, -0.143542 down ].UrelPosInFSK: [ 0.076757 forward, 0.181710 starboard, -0.033010 keelward ].]|relPosInNED: [ 0.085246 north, 0.178631 east, -0.028708 down ].]*Combining 10 samples..]Could not read vehicle position; cannot calculate contact position.2CYzCYC]9`?f#IB?h栿C]I? Je?G ſC] ?C])C]郮ҵ?+`W_?HUeC]>^ZG?&? _¿C]?ZC]6>bC]=:CYBCYJCYRCYjCYrCYɄI郹Ƀi) rBu>nk%> ,M(AYRM@@y=(;8<ٟH ??ϙV?+ ? D_e@lF?@z?)RM@ ;V;ICV=VtD-DDAT read: Rx Time:16:45:28.4788 -6received an acoustic signal=PDAT read: Bearing 66.8, -7.3 (Local) =~Local bearing/azimuth received: Bearing 66.8, -7.3 (Local) MDAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 Uunknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 uDAT read: 16:45:28.4788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.29,-1.248,-1.507,-1.266,-1.297, PHS= 0.045,-0.166, 0.016, RAW= 142.7, 10.6, CAL= 143.2, 7.3, ROT= 66.8, -7.3 }Ygot valid direction response: 16:45:28.4788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.29,-1.248,-1.507,-1.266,-1.297, PHS= 0.045,-0.166, 0.016, RAW= 142.7, 10.6, CAL= 143.2, 7.3, ROT= 66.8, -7.3 X#Rx 6: Read direction message, but no range.direction in vehicle frame: [ 0.390749 forward, 0.911685 starboard, -0.127065 keelward ]not publishing receive ping time as it could be a packet for anyoneyy}]?c\,?}@ }w>)};?I}wyI}˨;?qJ?rՑ?}>}ձ=> };?)}wchecking for new query: numPingsReceived=6 elapsed TxPingTime=4.876990  7ݵ 1N=޽0C9>y޹QEE9a>.Tracking...ɄIɃi) rB}=>+> ,R(AYI@@ys%; <ٟH@W?ب?`bU?Ҩ?3X|d@??{?)I@ V;ICB=BDI)A5DDAT read: Rx Time:16:45:28.9789 56received an acoustic signalEPDAT read: Bearing 64.2, -9.4 (Local) E~Local bearing/azimuth received: Bearing 64.2, -9.4 (Local) UDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 DAT read: 16:45:28.9789 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.50,-1.807,-2.120,-1.821,-1.853, PHS= 0.042,-0.223, 0.018, RAW= 145.3, 12.8, CAL= 145.8, 9.4, ROT= 64.2, -9.4 Ygot valid direction response: 16:45:28.9789 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.50,-1.807,-2.120,-1.821,-1.853, PHS= 0.042,-0.223, 0.018, RAW= 145.3, 12.8, CAL= 145.8, 9.4, ROT= 64.2, -9.4 R#Rx 7: Read range and direction messages. direction in vehicle frame: [ 0.429387 forward, 0.888229 starboard, -0.163326 keelward ] not publishing receive ping time as it could be a packet for anyone Fpublishing direction and range infoy{?G `l?$vzĿY )FI1,=iZdt<:M"@d>4"@ '>)l?I'IJJA6?Z3?L7Q[V?\>d> l?)'echecking for new query: numPingsReceived=7 elapsed TxPingTime=5.306328 m m 7,= 19=ʸ9>yQEE9Ƙa>Q.]Tracking....edirection in vehicle frame: [ 0.429387 forward, 0.888229 starboard, -0.163326 keelward ].m8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998821,-0.048481,-0.002525;0.048529,0.998517,0.024657;0.001325,-0.024751,0.999693 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.471769 north, 0.870138 east, -0.142459 down ]. relPosInFSK: [ 0.085877 forward, 0.177646 starboard, -0.032665 keelward ]. |relPosInNED: [ 0.094354 north, 0.174028 east, -0.028492 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCCp豠?L?}C{?G `l?$vzĿCl?C'C '?7B@ˆF?n,C)v1? H*?z<¿C$x?ZC42>bC<=:CBCJCRCjCrCɄiiIqqɃqiq)y rBM1>I=t>)=t>;}2> ,p(AɞY O@y@yp';<ٟH ?z?@sV? s ?hkd R?w?) O@ V;ICB8=B]DIF=)F=DDAT read: Rx Time:16:45:29.4789 6received an acoustic signalPDAT read: Bearing 64.7, -9.3 (Local) ~Local bearing/azimuth received: Bearing 64.7, -9.3 (Local) %checking for new query: numPingsReceived=7 elapsed TxPingTime=5.668434 - -g7M 1Mh=U-89U>yaaQEeEi9ur;au>.Tracking...ɄIɃi) rBE=`8> ,K(AYOU@@y$;2<ٟH?? V? h?v}d@e?@t?)OU@ V;IC2=2tDBDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 DAT read: 16:45:29.4789 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.27, 3.002, 2.676, 2.985, 2.952, PHS= 0.046,-0.232, 0.018, RAW= 144.7, 12.7, CAL= 145.3, 9.3, ROT= 64.7, -9.3 Ygot valid direction response: 16:45:29.4789 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.27, 3.002, 2.676, 2.985, 2.952, PHS= 0.046,-0.232, 0.018, RAW= 144.7, 12.7, CAL= 145.3, 9.3, ROT= 64.7, -9.3 R#Rx 8: Read range and direction messages.direction in vehicle frame: [ 0.421741 forward, 0.892199 starboard, -0.161604 keelward ]Fpublishing direction and range infoyډڍb\0?+?oĿYډىډډډ ۉ)ۍCIۍj<=iۍhmۉۍ!@ۍb>ۍ:M"@ ܍6&>)܍?I܍6&܉Iݍ0Zk[?K;%?X?܍/>܍a> ݍ?)ݍ6&checking for new query: numPingsReceived=8 elapsed TxPingTime=6.092353  7< 1B=Ƹ9>yQEE9:a>.Tracking....direction in vehicle frame: [ 0.421741 forward, 0.892199 starboard, -0.161604 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998892,-0.046993,-0.002515;0.047041,0.998585,0.024802;0.001346,-0.024893,0.999689 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.463026 north, 0.875140 east, -0.140486 down ].%relPosInFSK: [ 0.084348 forward, 0.178440 starboard, -0.032321 keelward ].%|relPosInNED: [ 0.092605 north, 0.175028 east, -0.028097 down ].-*Combining 10 samples..-Could not read vehicle position; cannot calculate contact position.2C)zC)C-X ֗??{\XC-b\0?+?oĿC-?C-6&C-ZxS?MQg?,EeŜC-G7?Fg&?dn[sC-pŊ?ZC-:3>bC-=:C)BC)JC)RC)jC)rC)ɄIɃi) rB]>>> ,(((AYQ@l@y}.;!<ٟH?NK?YX?`DC?CnetT?v?)Q@ V;IC"k="oD$i$2DDAT read: Rx Time:16:45:29.9790 26received an acoustic signal6PDAT read: Bearing 63.9, -10.0 (Local) 6~Local bearing/azimuth received: Bearing 63.9, -10.0 (Local) BDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 RDAT read: 16:45:29.9790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.12,-2.329,-2.659,-2.342,-2.374, PHS= 0.042,-0.241, 0.017, RAW= 145.5, 13.4, CAL= 146.1, 10.0, ROT= 63.9, -10.0 VYgot valid direction response: 16:45:29.9790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.12,-2.329,-2.659,-2.342,-2.374, PHS= 0.042,-0.241, 0.017, RAW= 145.5, 13.4, CAL= 146.1, 10.0, ROT= 63.9, -10.0 ZR#Rx 9: Read range and direction messages.Zdirection in vehicle frame: [ 0.433256 forward, 0.884385 starboard, -0.173648 keelward ]^not publishing receive ping time as it could be a packet for anyone^Fpublishing direction and range infoyTVSobu?tL?ٖNs:ƿYV>TTTT T)TIV1,=iVvVCV1#@ V¸2>)V?IV¸2TIV]D ?I%F ?a?V0>Vhn> V?)V¸2jchecking for new query: numPingsReceived=9 elapsed TxPingTime=6.466402 j j7r 1rZ=v99v>yttQEzEx9zaz>|. Tracking....direction in vehicle frame: [ 0.433256 forward, 0.884385 starboard, -0.173648 keelward ].8processing response from DAT.%rotationFromVehicleToNavigationFrame_ = [ 0.998873,-0.047398,-0.002663;0.047450,0.998567,0.024736;0.001486,-0.024835,0.999690 ].-8rangeToContact_ = 0.300000 m.-direction in world frame: [ 0.474473 north, 0.866894 east, -0.152872 down ].5relPosInFSK: [ 0.129977 forward, 0.265315 starboard, -0.052094 keelward ].5|relPosInNED: [ 0.142342 north, 0.260068 east, -0.045861 down ].5*Combining 10 samples..=Could not read vehicle position; cannot calculate contact position.2C9zC=>C=&F?dJ?YC=Sobu?tL?ٖNs:ƿC=?C=¸2C=7 A8?)?R({C=Qp]?4?Y7LÿC=?ZC='>bC=>:C9BC9JC9RC9jC9rC9ɄQQIQYɃYi) rB= 99TE> ,(A@iYLY@@y3;;<ٟH?`֧?@Y? ϧ?uf f?r?)LY@ V;I"5="tgD &A&A.DDAT read: Rx Time:16:45:30.4789 26received an acoustic signal6PDAT read: Bearing 65.1, -8.6 (Local) 6~Local bearing/azimuth received: Bearing 65.1, -8.6 (Local) >DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 RDAT read: 16:45:30.4789 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.00,-2.395,-2.691,-2.411,-2.444, PHS= 0.044,-0.203, 0.018, RAW= 144.4, 12.0, CAL= 144.9, 8.6, ROT= 65.1, -8.6 VYgot valid direction response: 16:45:30.4789 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.00,-2.395,-2.691,-2.411,-2.444, PHS= 0.044,-0.203, 0.018, RAW= 144.4, 12.0, CAL= 144.9, 8.6, ROT= 65.1, -8.6 ZT#Rx 10: Read range and direction messages.Zdirection in vehicle frame: [ 0.416302 forward, 0.896846 starboard, -0.149535 keelward ]^not publishing receive ping time as it could be a packet for anyone^Fpublishing direction and range infoyTV#fg?uCy?S&r#ÿYVL>TTTT T)TIVX94=iV;OVtV!@ V`>)VOo?IV`TIVE|?DHu?cȝ?Vq>VU> VOo?)V` j j7r5 1rJ=rM99v>yttQEvEt9z;az>9.MTracking....Udirection in vehicle frame: [ 0.416302 forward, 0.896846 starboard, -0.149535 keelward ].U8processing response from DAT.erotationFromVehicleToNavigationFrame_ = [ 0.998914,-0.046507,-0.002742;0.046561,0.998607,0.024806;0.001584,-0.024907,0.999689 ].e8rangeToContact_ = 0.200000 m.mdirection in world frame: [ 0.457371 north, 0.879960 east, -0.128383 down ].urelPosInFSK: [ 0.083260 forward, 0.179369 starboard, -0.029907 keelward ].|relPosInNED: [ 0.091474 north, 0.175992 east, -0.025677 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCL>C1$P?3?C#fg?uCy?S&r#ÿCOo?C`C@9Mj??#HOJCE?9(?U8nC?ZC74>bCV=:CBCJCRCjCrCɄQYIYYɃYia)a rBu=K> ,1(AYWc@Ɯ@yJ/;<ٟH@?.6?dY?=/? e ⏙?k?)Wc@ nV;IC"="yddQEfEd9jH;aj>l.vTracking...Ʉx|I||Ƀ|i) rB5=mR> ,K(AYX@@y6;<ٟH ?? Z?`{㧿?wf@\?t?)X@ V;IFv=FQDIH)JA R RN7Z< 1ZK=Zv99Z>y\\QE^E\9br`ab>d.jTracking...ɄptIttɃtit)x rB%=)1 5CѕGҩ ;YIA)Ei>]:]<X> ,e(Aɞ %=jU=j\DIn=)nC= M Mg7U&< 1]@=]9]>yaaQEeEa9mam>q.}Tracking...ɄI郉Ƀi) rBn=_> ,Tn(AYHS@@y6;`<ٟH? 7? tZ?/T?f`f`mK?x?)HS@ ުV;IC"="uD f f7 1X= 1 O= 79 >yQEE9Gºau>y.Tracking...ɄI郙Ƀi) rBr=nf> ,I(AYI@@yk8;B<ٟH[?Ѩ?{rZ? ʨ?C`g'?~?)I@ V;I2=2ED`ib< f f9 7  1 J= h89 >yQEE9?a>!.-Tracking...Ʉ99I9AɃAiA)I YrBuA= 99=1l> ,l#(A@i@YS@S@yX5;2f<ٟH?`D-?`IZ?(&\?@1g ɸf@L?w?)S@ VV;ICJ=JFD LNA V V7^: 1^O=b9b>y``QEfEd9fQ;af>h.rTracking...ɄxxIxxɃxi|)| rB-=[s> ,(AYW[@Ɣ@y.;Q<ٟH3??`dX?@?@߈exo?`q?)W[@ AV;IC2=2WD : : 7B< 1BN=F9F>yDHQEJEH9J ;aJ>L.VTracking...Ʉ\)I))Ƀ1i1)9 IrBe:=Cy> ,(AYW@t@y${+;Q]<ٟH?@?W?'{?󃙿boe`j?r?)W@ ,V;IC2=2DI8)8 > >)7FCE= 1FJ=J=9J>yHHQEJEL9NaR>P.ZTracking...Ʉ``I``Ƀ`id)d prB~=I=l>)=l>+> ,д(AɞY\@ @y8;fP<ٟHA? ?k8[? ? hg@[i?q?)\@ V;I"?="IDI&=)&R= . .7Fz 1FJ=JH99J>yHHQEJEH9N:aN>P.ZTracking...Ʉ``I``Ƀ`id)d prB~=zU> ,(AY[@]@y!>;><ٟH 9? B? \? `?\;g)g?q?)[@ 3V;IC2=2DYD f f^ 7 l< 1 C= Je99 >yQEE9PPa>!.-Tracking...ɄAAIAAɃAiI)I arB}F=> ,3l4(AY/T@@ycT5;<ٟH? (?.'Z? z!\?/tf2Y?`u?)/T@ V;IC2׏=20Dpip v vR 7% 1-H=-9->y11QE5E19=a=>A.MTracking...ɄYYIaaɃaia)i rBU= 99(g> ,EN(A@iY#V@@yG8;X<ٟH? ?CZ?B t? u`gY?u?)#V@ |V;IC2c=2A5D 6A4 f fN7n); 1nO=n89r>yppQErEp9v:av>x.uTracking...ɄI郁Ƀi) rBi=> ,"h(AY,^@@y3;<ٟHT?䈧?Z?ց ?̋bf q?p?),^@ wV;IC2=2nD : :7Fpj= 1FP=FS9F>yHHQEJEH9NU#;aN>P.ZTracking....Zfupdate period (5.000000 s) has elapsed, querying....^(*** querying DAT ***"C\*C\ɄddIddɃdih)h xrB=y> ,(AYd@@y.;;<ٟH?d#?0Y?? eņ?l?)d@ dV;IC2?=2IDI4)4>T****** received valid address query ******>R****** received valid ping request ******BQuerying Benthos address 50 with 10 pings in terminal homing one-way mode.F8****** ping requested ****** HH݅* 1;=ލ9>yމޑQEEޑ9u:a>. Tracking...ɄyyIyyɃyi) rB=I=x>)9U |Ga y ӭ ;Yҩ U> ,כ(Aɞ=Ye@M@y!;;<ٟH?W?;a\? &?1dg|?m?)e@ ϏV;IC"="9DI$)$2(DAT read: user:19> 2BDAT read: Tx time:16:45:36.7491 6$Ping request sent.6y\\QE^E\9bO9ab>d.jTracking...Ʉ99IAAɃAiA)I rB=ͬ> ,ᳵ(AYb@.@yW!4;<ٟH??? yZ? 8@?–)f|?`n?)b@ \V;IC"="DYD.checking for new query: numPingsReceived=0 elapsed TxPingTime=0.402333 00V&< 1VK=V֊9Z>yXXQEZEX9^wa^>`.jTracking...ɄppIppɃpit)t rB=> ,(AYh@@y7;.p<ٟH? ?x[?bڦC?@{f`Q?j?)h@ V;IC2=2[ZDb=ib<fchecking for new query: numPingsReceived=0 elapsed TxPingTime=0.820793 j jA7%y: 1%C=%c89%>y))QE-E)95>:a5>9.MTracking...ɄQQIYYɃYia)a yrBP= =?A=;A߹> ,4i(A@iY?X@@y6;<ٟH ??Z?@৿?t`f`Y? u?)?X@ EV;IC2=2uD 6A6\Azchecking for new query: numPingsReceived=0 elapsed TxPingTime=1.229461 z zs7mV= 1mF=mM9m>yqqQEuEq9}Ȟa}>.Tracking...ɄI郡Ƀi) rBx=> ,oE(AY\@^@yH8-;<ٟHF?d?6{X??@`e`u?`p?)\@ ˼V;IC"<="SDVchecking for new query: numPingsReceived=0 elapsed TxPingTime=1.624452 V V57ݍr 1H=ޕູ9>yޙޙQEEޙ9G:a>.Tracking...ɄIɃi) rB=> , )(AYe\@ԕ@y.;o<ٟH@? ?X? ?@?e`Mm?q?)e\@ 8V;IC.y=2GDI4)6A:checking for new query: numPingsReceived=0 elapsed TxPingTime=2.022058 > >N7FR 1F\=F89F>yHHQEJEH9N9:aN>P.ZTracking...Ʉ\`I``Ƀ`id)d prB~=I=t>)=>> ,36(Aɞ %=Y[@>@yq2;s<ٟH8?`? Y?` ?@ч 7Nf m?q?)[@ V;IC:#=:KDI<)>>JDDAT read: Rx Time:16:45:38.8788 J6received an acoustic signalRPDAT read: Bearing 67.5, -6.0 (Local) R~Local bearing/azimuth received: Bearing 67.5, -6.0 (Local) ZDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 jDAT read: 16:45:38.8788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464, 0.18, 1.451, 1.194, 1.431, 1.397, PHS= 0.050,-0.159, 0.018, RAW= 142.0, 9.4, CAL= 142.5, 6.0, ROT= 67.5, -6.0 rYgot valid direction response: 16:45:38.8788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464, 0.18, 1.451, 1.194, 1.431, 1.397, PHS= 0.050,-0.159, 0.018, RAW= 142.0, 9.4, CAL= 142.5, 6.0, ROT= 67.5, -6.0 rR#Rx 1: Read range and direction messages.vdirection in vehicle frame: [ 0.380587 forward, 0.918818 starboard, -0.104528 keelward ]vnot publishing receive ping time as it could be a packet for anyonezFpublishing direction and range infoypr/ȉ[?Sf?4ޮ`ºYr>pppp p)pIrL=ir"pr@r'>r,@ rPw=)r˖?IrPwֽpIrvW^*O? Ûz?;7?rR>ru'> r˖?)rPwֽ checking for new query: numPingsReceived=1 elapsed TxPingTime=2.444290  9 7I; 1B=%99%>y!!QE%E!9-1a->1.ETracking....Mdirection in vehicle frame: [ 0.380587 forward, 0.918818 starboard, -0.104528 keelward ].M8processing response from DAT.]rotationFromVehicleToNavigationFrame_ = [ 0.998928,-0.046201,-0.002723;0.046254,0.998621,0.024833;0.001572,-0.024932,0.999688 ].e8rangeToContact_ = 0.300000 m.edirection in world frame: [ 0.422514 north, 0.902574 east, -0.082715 down ].mrelPosInFSK: [ 0.114176 forward, 0.275646 starboard, -0.031359 keelward ].u|relPosInNED: [ 0.126754 north, 0.270772 east, -0.024815 down ].u*Combining 10 samples..uCould not read vehicle position; cannot calculate contact position.2CqzCu>Cuj:?/-?/:Cu/ȉ[?Sf?4ޮ`ºCu˖?CuPwֽCu;{9?.UT?N1hCuh7{x ?8,>:?N,CuW?ZCu>bCu>:CqBCqJCqRCqjCqrCqɄI郑Ƀi) rBo=> ,P(AY>M@@y /;<ٟH?%?nRX? j ?@;X`e>?@{?)>M@ V;IC"U="\D.DDAT read: Rx Time:16:45:39.3787 .6received an acoustic signal6PDAT read: Bearing 65.4, -7.8 (Local) 6~Local bearing/azimuth received: Bearing 65.4, -7.8 (Local) >DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 RDAT read: 16:45:39.3787 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.34,-0.011,-0.274,-0.025,-0.057, PHS= 0.041,-0.173, 0.017, RAW= 144.1, 11.2, CAL= 144.6, 7.8, ROT= 65.4, -7.8 VYgot valid direction response: 16:45:39.3787 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.34,-0.011,-0.274,-0.025,-0.057, PHS= 0.041,-0.173, 0.017, RAW= 144.1, 11.2, CAL= 144.6, 7.8, ROT= 65.4, -7.8 VR#Rx 2: Read range and direction messages.Zdirection in vehicle frame: [ 0.412429 forward, 0.900824 starboard, -0.135716 keelward ]Znot publishing receive ping time as it could be a packet for anyoneZFpublishing direction and range infoyTV%'=e?sN? M _YVL>TTTT T)TIV'=iV&1VCV!@ V'g >)V?IV'g TIV4 OZ?0[?OL;!?V>VWZJ> V?)V'g fchecking for new query: numPingsReceived=2 elapsed TxPingTime=2.841108 j j 7U< 1 K= 59 >yQEE9a]>a.Tracking....direction in vehicle frame: [ 0.412429 forward, 0.900824 starboard, -0.135716 keelward ].8processing response from DAT. rotationFromVehicleToNavigationFrame_ = [ 0.998845,-0.047977,-0.002671;0.048028,0.998542,0.024651;0.001484,-0.024751,0.999693 ]. 8rangeToContact_ = 0.200000 m.Udirection in world frame: [ 0.455016 north, 0.883082 east, -0.114569 down ].]relPosInFSK: [ 0.082486 forward, 0.180165 starboard, -0.027143 keelward ].]|relPosInNED: [ 0.091003 north, 0.176616 east, -0.022914 down ].e*Combining 10 samples..eCould not read vehicle position; cannot calculate contact position.2CazCeL>Ce;?w?ԝg˛Ce%'=e?sN? M _Ce?Ce'g CebCe_=:CaBCaJCaRCajCarCaɄIɃi )  !rB>n.> ,)j(AYW@H@yo2;7<ٟH ?? Y?槿?x@MfV^?t?)W@ ֭V;IC2y=2GD:p<R#Rx 3: Read range and direction messages.=direction in vehicle frame: [ 0.434932 forward, 0.883898 starboard, -0.171929 keelward ]=not publishing receive ping time as it could be a packet for anyone=Fpublishing direction and range infoyF4?KH?!ƿY> )FI #=ik"@,m>N#@ ;0>)Ӈ?I;0Iӏ?Ҙ?HS$c?_>+=m> Ӈ?);0checking for new query: numPingsReceived=3 elapsed TxPingTime=3.303458  7ݭo 13=ޭ89>yQEE9&6;a>.MTracking....]direction in vehicle frame: [ 0.434932 forward, 0.883898 starboard, -0.171929 keelward ].]8processing response from DAT.mrotationFromVehicleToNavigationFrame_ = [ 0.998906,-0.046684,-0.002723;0.046737,0.998600,0.024774;0.001562,-0.024874,0.999689 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.475498 north, 0.866633 east, -0.151162 down ].relPosInFSK: [ 0.130479 forward, 0.265169 starboard, -0.051579 keelward ].|relPosInNED: [ 0.142649 north, 0.259990 east, -0.045349 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC>C %*?┈?hCF4?KH?!ƿCӇ?C;0CIUB?n?^?7Cѐn?Nt?>HYÿCԈ?ZC>bC>:CBCJCRCjCrCɄI郉Ƀi) rB(> =@A=@A> ,*(AiY]@r@yl2;}<ٟHG?@e?Y?a?@Mfo?@q?)]@ V;IC6U=6\D :A:ANDDAT read: Rx Time:16:45:40.3788 N6received an acoustic signalVPDAT read: Bearing 64.0, -9.6 (Local) V~Local bearing/azimuth received: Bearing 64.0, -9.6 (Local) ^checking for new query: numPingsReceived=3 elapsed TxPingTime=3.646220 b b7r< 1vl=z!9z?y||QEE9 u:a?!.=Tracking...ɄYaIaaɃaii)q rBE=@> ,/l(AY \@{@y 7;0<ٟH ;??+[?ͣ@?`i`f`ke?r?) \@ 5V;ICV=VUD5DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 UDAT read: 16:45:40.3788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.23,-2.027,-2.359,-2.041,-2.074, PHS= 0.044,-0.241, 0.019, RAW= 145.4, 13.0, CAL= 146.0, 9.6, ROT= 64.0, -9.6 eYgot valid direction response: 16:45:40.3788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.23,-2.027,-2.359,-2.041,-2.074, PHS= 0.044,-0.241, 0.019, RAW= 145.4, 13.0, CAL= 146.0, 9.6, ROT= 64.0, -9.6 eR#Rx 4: Read range and direction messages.mdirection in vehicle frame: [ 0.432232 forward, 0.886207 starboard, -0.166769 keelward ]mFpublishing direction and range infoyae@{T?u[?8_XſYaaaaa a)eCIeX94=ieve㥛ee#@ e+>)e5?Ie+aIeס(?*? ?e}>eg> e5?)e+checking for new query: numPingsReceived=4 elapsed TxPingTime=4.076699  57ݝeǻ 1?=ޝB99>yޡޡQEEޡ9a>.Tracking....direction in vehicle frame: [ 0.432232 forward, 0.886207 starboard, -0.166769 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998930,-0.046172,-0.002802;0.046227,0.998623,0.024801;0.001653,-0.024904,0.999688 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.472461 north, 0.869183 east, -0.145949 down ].relPosInFSK: [ 0.129670 forward, 0.265862 starboard, -0.050031 keelward ].|relPosInNED: [ 0.141738 north, 0.260755 east, -0.043785 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCC{ ?$?_C@{T?u[?8_XſC5?C+CǬ z$?5?hjCjVbC#>:CBCJCRCjCrCɄiIqqɃqiy) rB>j> ,E(AY_@@y827;!<ٟH`e?q?u[?lj ?(Efrq?@p?)_@ OV;IC"="DYDI`)bAjDDAT read: Rx Time:16:45:40.8789 j6received an acoustic signalrPDAT read: Bearing 63.9, -9.8 (Local) r~Local bearing/azimuth received: Bearing 63.9, -9.8 (Local) zDAT read: Range 7 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 ]DAT read: 16:45:40.8789 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.10,-0.469,-0.788,-0.482,-0.514, PHS= 0.041,-0.230, 0.017, RAW= 145.5, 13.2, CAL= 146.1, 9.8, ROT= 63.9, -9.8 mYgot valid direction response: 16:45:40.8789 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.10,-0.469,-0.788,-0.482,-0.514, PHS= 0.041,-0.230, 0.017, RAW= 145.5, 13.2, CAL= 146.1, 9.8, ROT= 63.9, -9.8 mAmAmR#Rx 5: Read range and direction messages.direction in vehicle frame: [ 0.433520 forward, 0.884923 starboard, -0.170209 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyim\Ⱦ?ؤZJQ?rlſYm?iiii i)iIm'=imkmCm1#@ m%/>)m?Im%/iIm<$??iYG<+?m->mckk> m?)m%/Mchecking for new query: numPingsReceived=5 elapsed TxPingTime=4.571237 M M7]K,; 1]%=eX9e>yaiQEmEi9m1h:au>q.Tracking....direction in vehicle frame: [ 0.433520 forward, 0.884923 starboard, -0.170209 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998950,-0.045734,-0.002795;0.045789,0.998642,0.024847;0.001655,-0.024949,0.999687 ].e8rangeToContact_ = 0.500000 m.mdirection in world frame: [ 0.473302 north, 0.868142 east, -0.149381 down ].mrelPosInFSK: [ 0.216760 forward, 0.442462 starboard, -0.085105 keelward ].u|relPosInNED: [ 0.236651 north, 0.434071 east, -0.074690 down ].u*Combining 10 samples..uCould not read vehicle position; cannot calculate contact position.2CyzC}?C}\Ⱦ?ؤZJQ?rlɵC}\Ⱦ?ؤZJQ?rlſC}?C}%/C}O8J?gM8?C}O8J?gM8?ÿC}+?ZC}>>bC}Tr>:CyBCyJCyRCyjCyrCyɄIɃi)I=x>)=l> rBEs>Q> ,(Aɞ Y[@6@yV5;I<ٟH@8?>? @mZ? ?` fh?`r?)[@ WV;IC"F="X6DI$)&C=ZDDAT read: Rx Time:16:45:41.3788 Z6received an acoustic signal^PDAT read: Bearing 64.5, -8.9 (Local) b~Local bearing/azimuth received: Bearing 64.5, -8.9 (Local) jDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 zDAT read: 16:45:41.3788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.02,-0.494,-0.776,-0.505,-0.537, PHS= 0.040,-0.195, 0.017, RAW= 145.0, 12.3, CAL= 145.5, 8.9, ROT= 64.5, -8.9 ~Ygot valid direction response: 16:45:41.3788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.02,-0.494,-0.776,-0.505,-0.537, PHS= 0.040,-0.195, 0.017, RAW= 145.0, 12.3, CAL= 145.5, 8.9, ROT= 64.5, -8.9 R#Rx 6: Read range and direction messages. direction in vehicle frame: [ 0.425328 forward, 0.891718 starboard, -0.154710 keelward ] not publishing receive ping time as it could be a packet for anyone Fpublishing direction and range infoyՑ8?f6?jÿY> )I #=iGp!@[>j"@ >))?IIoj\?WTÏV?\#_2?>>[> )?)checking for new query: numPingsReceived=6 elapsed TxPingTime=4.884185  w 7ݕ5 1=Ѹ9 ?yQEE9a ?.=Tracking....Edirection in vehicle frame: [ 0.425328 forward, 0.891718 starboard, -0.154710 keelward ].E8processing response from DAT)a a~G.rotationFromVehicleToNavigationFrame_ = [ 0.998928,-0.046204,-0.002763;0.046259,0.998621,0.024813;0.001613,-0.024914,0.999688 ].8rangeToContact_ = 0.300000 m L;Y.-direction in world frame: [ 0.465872 north, 0.874691 east, -0.133712 down ].mrelPosInFSK: [ 0.127598 forward, 0.267515 starboard, -0.046413 keelward ].u|relPosInNED: [ 0.139762 north, 0.262407 east, -0.040113 down ].u*Combining 10 samples..}Could not read vehicle position; cannot calculate contact position.2CyzC}>C}ӁW$U?%?$uçC}Ց8?f6?jÿC})?C}C}7۵? 7 H?K#C}4?akx?VguC}Nk?ZC}Z>bC}>:CyBCyJCyRCyjCyrCyɄI郑Ƀi) rB (>|> ,(AY\@@yYY7;-o<ٟHA?@? [? ? )f3m? q?)\@ V;I2=2CMDBDDAT read: Rx Time:16:45:41.8788 B6received an acoustic signalFPDAT read: Bearing 66.6, -7.9 (Local) F~Local bearing/azimuth received: Bearing 66.6, -7.9 (Local) DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 16:45:41.8788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.11, 0.614, 0.340, 0.594, 0.564, PHS= 0.045,-0.180, 0.015, RAW= 142.9, 11.3, CAL= 143.4, 7.9, ROT= 66.6, -7.9 Ygot valid direction response: 16:45:41.8788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.11, 0.614, 0.340, 0.594, 0.564, PHS= 0.045,-0.180, 0.015, RAW= 142.9, 11.3, CAL= 143.4, 7.9, ROT= 66.6, -7.9 R#Rx 7: Read range and direction messages.direction in vehicle frame: [ 0.393379 forward, 0.909045 starboard, -0.137445 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyl -?C7?yjȗY )IQ8=iQ8u<@I>- @ 0 >),ɔ?I0 I? 7w?ѐ)])?+>J> ,ɔ?)0  checking for new query: numPingsReceived=7 elapsed TxPingTime=5.306111  57%{< 1%A=-^89->y))QE-E)95i9a=>9.MTracking....direction in vehicle frame: [ 0.393379 forward, 0.909045 starboard, -0.137445 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998932,-0.046112,-0.002798;0.046167,0.998625,0.024831;0.001649,-0.024933,0.999688 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.434700 north, 0.893082 east, -0.115930 down ].relPosInFSK: [ 0.118014 forward, 0.272713 starboard, -0.041233 keelward ].|relPosInNED: [ 0.130410 north, 0.267925 east, -0.034779 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCC]@$$6?߯"t?'Cl -?C7?yjȗC,ɔ?C0 COG?a%?e̍ΡCO")r!?n7O7!?d}얭Cs?ZC->bC>:CBCJCRCjCrCɄIɃi)! rB nh> ,(AY&d@&/@y&d6;&]<ٟ&H?`? [?`?Pf ?`k?)&d@ &CV;I&CB=BTDLiN4=^DDAT read: Rx Time:16:45:42.3787 b6received an acoustic signaljPDAT read: Bearing 65.8, -7.8 (Local) n~Local bearing/azimuth received: Bearing 65.8, -7.8 (Local) UDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 ]4<]<-eX#Rx 8: Read range message, but no direction.enot publishing receive ping time as it could be a packet for anyoneyaYeL>achecking for new query: numPingsReceived=8 elapsed TxPingTime=5.690676  7; 1N=39>yQEMEQ9] ;a]>Y.Tracking....direction in vehicle frame: [ 0.393379 forward, 0.909045 starboard, -0.137445 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998978,-0.045110,-0.002783;0.045166,0.998668,0.024944;0.001654,-0.025045,0.999685 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.433807 north, 0.893531 east, -0.115820 down ]. relPosInFSK: [ 0.078676 forward, 0.181809 starboard, -0.027489 keelward ].|relPosInNED: [ 0.086761 north, 0.178706 east, -0.023164 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCL>C$?كE?S'~ &Cl -?C7?yjȗCCC75?E`ƨ?#ZSC~?ҋ͗?ց^hCk5?ZC6>bC=:CBCJCRCjCrCɄAAIAIɃIiI)Q rBL> 11U> ,-(AiY*b@@y7;'<ٟH?YI?vR[?`B? @fF?l?)*b@ V;IC"="CMD &A&ABDAT read: 16:45:42.3787 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.28,-0.936,-1.199,-0.951,-0.982, PHS= 0.042,-0.173, 0.017, RAW= 143.7, 11.2, CAL= 144.2, 7.8, ROT= 65.8, -7.8 FYgot valid direction response: 16:45:42.3787 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.28,-0.936,-1.199,-0.951,-0.982, PHS= 0.042,-0.173, 0.017, RAW= 143.7, 11.2, CAL= 144.2, 7.8, ROT= 65.8, -7.8 FX#Rx 9: Read direction message, but no range.Jdirection in vehicle frame: [ 0.406130 forward, 0.903681 starboard, -0.135716 keelward ]yDF . ?;:t~? M _DDDD D)DIF1,=iF&1FCF!@ F'g >)F?IF'g DIF_7?n?; ?Fc>FH> F?)F'g Zchecking for new query: numPingsReceived=9 elapsed TxPingTime=6.069385 Z Z 7r2 1r]=r e89r>yttQEvEt9zgaz>|. Tracking...ɄyIyyɃyi) rBb= > ,\9(AYa@U@y6;=<ٟH?M?![?`FF@?y}f@? l?)a@ V;IC"=".dD.DDAT read: Rx Time:16:45:42.8788 26received an acoustic signal6PDAT read: Bearing 64.1, -9.5 (Local) 6~Local bearing/azimuth received: Bearing 64.1, -9.5 (Local) >DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 RDAT read: 16:45:42.8788 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.50,-0.741,-1.035,-0.752,-0.784, PHS= 0.039,-0.207, 0.016, RAW= 145.3, 12.9, CAL= 145.9, 9.5, ROT= 64.1, -9.5 VYgot valid direction response: 16:45:42.8788 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.50,-0.741,-1.035,-0.752,-0.784, PHS= 0.039,-0.207, 0.016, RAW= 145.3, 12.9, CAL= 145.9, 9.5, ROT= 64.1, -9.5 ZT#Rx 10: Read range and direction messages.Zdirection in vehicle frame: [ 0.430811 forward, 0.887221 starboard, -0.165048 keelward ]^not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyTVVi?d?G ſYV>TTTT T)VFIVw=iVSVoV"@ V)>)Vf3?IV)TIV$hš=? ?~?Vu>Ve> Vf3?)V)  7}Y< 1'=ޕ9>yޡޡQE E 9 \a>.%Tracking....direction in vehicle frame: [ 0.430811 forward, 0.887221 starboard, -0.165048 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998962,-0.045458,-0.002785;0.045513,0.998653,0.024929;0.001648,-0.025030,0.999685 ].8rangeToContact_ = 0.300000 m.%direction in world frame: [ 0.470473 north, 0.870573 east, -0.144078 down ].-relPosInFSK: [ 0.129243 forward, 0.266166 starboard, -0.049514 keelward ].5|relPosInNED: [ 0.141142 north, 0.261172 east, -0.043223 down ].5*Combining 10 samples..5Could not read vehicle position; cannot calculate contact position.2C1zC5>C5 Y 4 ?̎G?"YC5Vi?d?G ſC5f3?C5)C5bC5>:C1BC1JC1RC1jC1rC1Ʉ!)I))Ƀ)i1)I ArB>¡> ,nmS(AYY@q@y2;QT<ٟH?dۧ?Y?_ԧ?!Z_fi? r?)Y@ V;IC2=2WDI\)^AfDDAT read: Rx Time:16:45:43.3788 j6received an acoustic signalnPDAT read: Bearing 64.4, -9.5 (Local) n~Local bearing/azimuth received: Bearing 64.4, -9.5 (Local) vDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 16:45:43.3788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.28,-2.982, 2.970,-2.998,-3.031, PHS= 0.045,-0.238, 0.018, RAW= 145.0, 12.9, CAL= 145.6, 9.5, ROT= 64.4, -9.5 Ygot valid direction response: 16:45:43.3788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.28,-2.982, 2.970,-2.998,-3.031, PHS= 0.045,-0.238, 0.018, RAW= 145.0, 12.9, CAL= 145.6, 9.5, ROT= 64.4, -9.5 AA%T#Rx 11: Read range and direction messages.-direction in vehicle frame: [ 0.426160 forward, 0.889464 starboard, -0.165048 keelward ]-not publishing receive ping time as it could be a packet for anyone-Fpublishing direction and range infoy!%Q74F?)~v?G ſY!!!!! !)%CI%Q8=i%Fs%t<%p!@!%"@ !)%ޏ?I!!I%9$C?û_Kh??%R>%?f> %ޏ?)! e e7uK| 1r=#9?yQEE9|Ua?.Tracking....direction in vehicle frame: [ 0.426160 forward, 0.889464 starboard, -0.165048 keelward ].8processing response from DAT.erotationFromVehicleToNavigationFrame_ = [ 0.998913,-0.046542,-0.002731;0.046596,0.998605,0.024818;0.001572,-0.024918,0.999688 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.466882 north, 0.872502 east, -0.144085 down ].relPosInFSK: [ 0.127848 forward, 0.266839 starboard, -0.049514 keelward ].|relPosInNED: [ 0.140065 north, 0.261751 east, -0.043226 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCCznՒR]?o W?"YCQ74F?)~v?G ſCޏ?CC{?? W-I!C.2f?@h?Adq¿C+?ZC>bCm>:CBCJCRCjCrCɄI郹Ƀi) I=p>)=e>rB}Y>> ,@m(Aɞ =YT@%@y:0; <ٟH@??Y? a? zf`?@t?)T@ V;I  I&C=)$ f f7}ʢ9}>yށށQEEށ9Ta>.Tracking...ɄIɃi1)9 IrB=!> , (AYS@\@yD0;ܹ<ٟH?o,?XX? %`Z?pfV?@v?)S@ V;IC"R="\fD V Vg7; 1<9>y  QE E 9Ha>.-Tracking...Ʉ1QIYYɃYiY)a rBa='> ,(AY Y@z@yQ2;@<ٟH?ڧ?`Y? ӧ`?@1Jf@gg?r?) Y@ V;ICBŷ=BaDF=iFyXXQEZEX9nh:an>p.zTracking...ɄI郹Ƀi) rB5= 99.> ,Ӻ(A@i@Yb@4@y L3;*T<ٟH@?u??;Z?@Z8?ifщ?k?)b@ CV;I"R="\fD $$ . .s7^; 1bI=b89b>yddQEfEd9jR?;aj>l.Tracking...ɄIɃiY)Y qrBE=4> ,(AY^@+@yT:;Z<ٟHZ?J?  \?x? `_g j?`q?)^@ V;ICR=RqCD XXf 1fJ=fv99f>yhhQEjEh9nOa~>.Tracking...Ʉ9AIAAɃAiA)I arBU=n;> ,ҍ(AY6Z@@y=4;};<ٟH%?@>ȧ?5Z? %`?Aff?r?)6Z@ V;ICf=fDIl)nArAp v v 7EA= 1EC=Mu9M>yIIQEMEQ9UXau>y.Tracking...ɄI郹Ƀi) rB=I=x>)=t>4B> ,Vd(Aɞ=YR@:@yc/;<ٟH@? >?}X? 7M?@NkeBQ?`w?)R@ PV;IC"U="\DI&=)&R= . .76k 16Y=:C9:>y88QE:E<9>aB>@.JTracking...ɄPTITTɃTiT)X drBr<х|Gҙҩ ;YV*H> ,?"(AYQ@@y1;I<ٟH`?@P?6Y?IA?c`;fH?x?)Q@ V;IC2=2DYD f f7 H 1 A= 89 >yQEE9Ca>!.-Tracking...Ʉ9AIAAɃAiA)I rB=?aN> ,DP<(AYW@@yN2;<ٟH?? Y?`맿?p^fV?v?)W@  V;ICF=FWDi  7Mc 1UD=U.'89U>yYYQE]EY9e(:ae>i.uTracking...ɄI郉Ƀi) rB5= !!;U> ,U(Ai@Y]@@y5;fj<ٟH`N?@#?ZZ? 􉧿?+xfl?`q?)]@ V;IC2#=2KD 44 v v 7~WH 1~R=89>yQE E 9 :a >.%Tracking...Ʉ11I11Ƀ1i9)9 QrBm==mf[> ,o(AY&`@@y9;{<ٟH@k?i?[?>b?@8g`n?p?)&`@ V;IC2=2D > > 7F΁= 1FR=Fh#99F>yHHQEJEH9N7L:aN>P.ZTracking...Ʉ\`I``Ƀ`id)d prB~=LNb> ,⫉(AY_@@y}9;p<ٟH@e?q? [?|j?;gem?q?)_@ 1V;IC"n="EeDI()(*A*A . .Z7F 1FJ=Fk69J>yHHQEJEH9NM#aN>P.ZTracking...Ʉ``I``Ƀ`id)d prB~=I=p>)=p>wh> ,„(Aɞ%=YTX@Ñ@yi;8;<ٟH?~?[?<ߧ?p kg T?v?)TX@ LV;I:=>C=)>C= J J7fb 1fF=f}9j>yhhQEjEh9n an>p.zTracking....zfupdate period (5.000000 s) has elapsed, querying....z(*** querying DAT ***"Cx*CxɄI  Ƀ i ) )rBE&=n> ,b(AYRa@@y04;<ٟH`y?V?ʘZ?O?r f@A}?@n?)Ra@ 1V;IC2d=2^D>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 Fs7N= 1NM==9=>yAAQEEEA9M+;aM>Q.-Tracking...ɄYaIaaɃaii)i rB=[u> ,=(AYkg@ڠ@yAk4; <ٟH?@?*Z?  3?@ff`앙?@i?)kg@  V;IC"="UDR ZBDAT read: Tx time:16:45:49.6990 Z$Ping request sent.ZyQEE9b:a>.Tracking...ɄIɃi) arB= 99<{> ,(A@i@Ybd@ѝ@y4;y11QE5E19=na=>A.MTracking...ɄYaIaaɃaia)i rBT=i> , (AY_@@y2;<ٟH@d?s? Y?l@?~nVf?`m?)_@ ˟V;IC"z="Dfchecking for new query: numPingsReceived=0 elapsed TxPingTime=0.810746 f f57u~= 1uF=u9u>yyyQE}Ey9 a>.Tracking...ɄI郩Ƀi) rB~=ƈ> ,$(AY*_@@y 5;<ٟH `?`%y? Z?q`?[checking for new query: numPingsReceived=0 elapsed TxPingTime=1.204263 > >7F{ 1FZ=J89J>yHHQEJEL9NaN>P.ZTracking...Ʉ``I``Ƀ`id)d prB~=I={>)=>O> ,P>(Aɞ=YXY@ǒ@yB7; <ٟH ?D֧? [? ϧ?@~@f`kc? s?)XY@ NV;IC"N="/pDI&=)&p=2checking for new query: numPingsReceived=0 elapsed TxPingTime=1.604824 2 27:= 1:L=:o89>>y<E<9BpaB>D.NTracking...ɄTTITTɃXiX)X drBr<) CA iە> ,X(AYK^@@y>4;~<ٟHV? ?@PZ? @?@؇f]r?p?)K^@ V;I,LZ=^cD b;Y`rchecking for new query: numPingsReceived=0 elapsed TxPingTime=2.026463 r r75I 1A=U 9 >y  QE E 95%:a5>9.MTracking...ɄIɃi) rBU=> ,_r(AYa@q@y0;x<ٟHv?@v[? ~Y?T@?教|f`||?n?)a@ =V;IC"="ED*=i*%=2DDAT read: Rx Time:16:45:51.8287 26received an acoustic signal:PDAT read: Bearing 64.0, -8.9 (Local) :~Local bearing/azimuth received: Bearing 64.0, -8.9 (Local) BDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 VDAT read: 16:45:51.8287 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208,-0.09,-0.024,-0.340,-0.036,-0.072, PHS= 0.044,-0.224, 0.021, RAW= 145.5, 12.3, CAL= 146.0, 8.9, ROT= 64.0, -8.9 ZYgot valid direction response: 16:45:51.8287 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208,-0.09,-0.024,-0.340,-0.036,-0.072, PHS= 0.044,-0.224, 0.021, RAW= 145.5, 12.3, CAL= 146.0, 8.9, ROT= 64.0, -8.9 Z>XZR#Rx 1: Read range and direction messages.^direction in vehicle frame: [ 0.433093 forward, 0.887972 starboard, -0.154710 keelward ]bnot publishing receive ping time as it could be a packet for anyonebFpublishing direction and range infoyXZ*d'̷?C/Ej?jÿYXXXXX X)ZEIZX94=iZB`eZ1Ze#@ Z>)Z5?IZXIZc3?c?5R?Zg>Z)I\> Z5?)Znchecking for new query: numPingsReceived=1 elapsed TxPingTime=2.428575  7ݼ 1==9>yQEE9]>C:a]>a.mTracking....direction in vehicle frame: [ 0.433093 forward, 0.887972 starboard, -0.154710 keelward ].8processing response from DAT. rotationFromVehicleToNavigationFrame_ = [ 0.998958,-0.045567,-0.002694;0.045620,0.998649,0.024889;0.001556,-0.024986,0.999687 ]. 8rangeToContact_ = 0.300000 m.Udirection in world frame: [ 0.472910 north, 0.870904 east, -0.133728 down ].]relPosInFSK: [ 0.129928 forward, 0.266392 starboard, -0.046413 keelward ].e|relPosInNED: [ 0.141873 north, 0.261271 east, -0.040118 down ].e*Combining 10 samples..eCould not read vehicle position; cannot calculate contact position.2CazCaCe)z? ?$uçCe*d'̷?C/Ej?jÿCe5?CeCebCeG>:CaBCaJCaRCajCarCaɄIɃi )  !rB}> 99> ,;(Ai@Y@b@@y7;<ٟH?G?ch[?@?fc|? n?)@b@ V;IC"=";D &A$ZDDAT read: Rx Time:16:45:52.3286 Z6received an acoustic signal^PDAT read: Bearing 65.0, -9.1 (Local) b~Local bearing/azimuth received: Bearing 65.0, -9.1 (Local) jDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 zDAT read: 16:45:52.3286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495,-0.00,-0.121,-0.425,-0.137,-0.168, PHS= 0.043,-0.213, 0.016, RAW= 144.5, 12.5, CAL= 145.0, 9.1, ROT= 65.0, -9.1 =Ygot valid direction response: 16:45:52.3286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495,-0.00,-0.121,-0.425,-0.137,-0.168, PHS= 0.043,-0.213, 0.016, RAW= 144.5, 12.5, CAL= 145.0, 9.1, ROT= 65.0, -9.1 ER#Rx 2: Read range and direction messages.Mdirection in vehicle frame: [ 0.417299 forward, 0.894901 starboard, -0.158158 keelward ]Mnot publishing receive ping time as it could be a packet for anyoneMFpublishing direction and range infoyAE'+jD?O?@\~>ĿYEL>AAAA A)ECIE 0=iEZEoEp!@ E">)E6?IE"AIE.\`k?ب)7?5A?E>E&a> E6?)E"checking for new query: numPingsReceived=2 elapsed TxPingTime=2.862725   7E 1EE=E99E>yIIQEMEI9U?9a>.Tracking....direction in vehicle frame: [ 0.417299 forward, 0.894901 starboard, -0.158158 keelward ].8processing response from DAT.UrotationFromVehicleToNavigationFrame_ = [ 0.998964,-0.045415,-0.002807;0.045471,0.998656,0.024889;0.001673,-0.024990,0.999686 ].]8rangeToContact_ = 0.200000 m.edirection in world frame: [ 0.457294 north, 0.878698 east, -0.137007 down ].erelPosInFSK: [ 0.083460 forward, 0.178980 starboard, -0.031632 keelward ].|relPosInNED: [ 0.091459 north, 0.175740 east, -0.027401 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCL>CEo]?k x?Зq2C'+jD?O?@\~>ĿC6?C"Cai?dV~?ZzCkOD?$L?^qC?ZC3>bCN=:CBCJCRCjCrCɄIɃi)! 1rB>a> ,%(AYV@@ycH5;<ٟH?? 8HZ?`|?]n f S?v?)V@ V;I>=>DDDAT read: Rx Time:16:45:52.8286  6received an acoustic signalPDAT read: Bearing 65.6, -8.3 (Local) ~Local bearing/azimuth received: Bearing 65.6, -8.3 (Local) %DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 MDAT read: 16:45:52.8286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.14, 0.255,-0.019, 0.239, 0.208, PHS= 0.043,-0.183, 0.016, RAW= 143.9, 11.6, CAL= 144.4, 8.3, ROT= 65.6, -8.3 eYgot valid direction response: 16:45:52.8286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.14, 0.255,-0.019, 0.239, 0.208, PHS= 0.043,-0.183, 0.016, RAW= 143.9, 11.6, CAL= 144.4, 8.3, ROT= 65.6, -8.3 uR#Rx 3: Read range and direction messages.direction in vehicle frame: [ 0.408778 forward, 0.901145 starboard, -0.144356 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyime[#i)? -?'ЌCz¿Yiiiii i)iIiimZd;im @m4QO>mK!@ mV>)mC?ImViIm*i?L<8?[ƶ?mE>mO> mC?)mV]checking for new query: numPingsReceived=3 elapsed TxPingTime=3.287046 e e7= 1A=ʸ9>yQEE9Za>).=Tracking....Edirection in vehicle frame: [ 0.408778 forward, 0.901145 starboard, -0.144356 keelward ].E8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998899,-0.046826,-0.002766;0.046880,0.998594,0.024733;0.001604,-0.024835,0.999690 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.450342 north, 0.884322 east, -0.123155 down ].relPosInFSK: [ 0.081756 forward, 0.180229 starboard, -0.028871 keelward ].|relPosInNED: [ 0.090068 north, 0.176864 east, -0.024631 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCCV?:}b?<lCe[#i)? -?'ЌCz¿CC?CVCø|?{}?js8CHM'f?_]L?BCpŌ?ZC5>bCu=:CBCJCRCjCrCɄ  I  Ƀ i) qrB >?> ,(AYU@@y<9;H`<ٟH`?`9?T<[? o?g`'gYK?w?)U@ YV;ICB=BEDIp)rAvAvAzchecking for new query: numPingsReceived=3 elapsed TxPingTime=3.643639 z z75S 15i=E399M>yYaQEmEi9uMιa}>.Tracking...ɄIɃi) rB=I=l>)=p>O&> ,!(AɞYW@@y<;_<ٟH`??*\?f?{g@g@AK?`w?)W@ V;I"k="oDI$)&C=2DDAT read: Rx Time:16:45:53.3285 66received an acoustic signal:PDAT read: Bearing 65.8, -7.6 (Local) :~Local bearing/azimuth received: Bearing 65.8, -7.6 (Local) BDAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 Funknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 VDAT read: 16:45:53.3285 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510, 0.28,-0.564,-0.827,-0.579,-0.611, PHS= 0.043,-0.172, 0.017, RAW= 143.7, 11.0, CAL= 144.2, 7.6, ROT= 65.8, -7.6 ZYgot valid direction response: 16:45:53.3285 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510, 0.28,-0.564,-0.827,-0.579,-0.611, PHS= 0.043,-0.172, 0.017, RAW= 143.7, 11.0, CAL= 144.2, 7.6, ROT= 65.8, -7.6 ^X#Rx 4: Read direction message, but no range.bdirection in vehicle frame: [ 0.406322 forward, 0.904108 starboard, -0.132256 keelward ]bnot publishing receive ping time as it could be a packet for anyoney\^تP.?"s?) \\\\ \)\I\i^ 0^C<^ @^ D>^!@ ^>)^?I^\I^]?ENr0?Yq%z?^>>^E> ^?)^nchecking for new query: numPingsReceived=4 elapsed TxPingTime=4.044724 r r7v*= 1zO=z3 99z>yx|QE~E|9]9ae>a.uTracking...ɄI郁Ƀi) rBE=Q> , (AYb@-@y&<;e<ٟH@?Q@? \?8?L`фgs?o?)b@ V;I"#="KD.DDAT read: Rx Time:16:45:53.8286 26received an acoustic signal6PDAT read: Bearing 65.7, -8.7 (Local) 6~Local bearing/azimuth received: Bearing 65.7, -8.7 (Local) >DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 RDAT read: 16:45:53.8286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.50, 0.300, 0.027, 0.285, 0.255, PHS= 0.041,-0.184, 0.014, RAW= 143.8, 12.1, CAL= 144.3, 8.7, ROT= 65.7, -8.7 VYgot valid direction response: 16:45:53.8286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.50, 0.300, 0.027, 0.285, 0.255, PHS= 0.041,-0.184, 0.014, RAW= 143.8, 12.1, CAL= 144.3, 8.7, ROT= 65.7, -8.7 VR#Rx 5: Read range and direction messages.Zdirection in vehicle frame: [ 0.406779 forward, 0.900917 starboard, -0.151261 keelward ]^not publishing receive ping time as it could be a packet for anyone^Fpublishing direction and range infoyTV˞?DN?ni\ÿYTTTTT T)TIV'=iVjVE/!@ V|>)Vtƒ?IV|TIV3\6?7%?EPh?V>V5X> Vtƒ?)V|checking for new query: numPingsReceived=5 elapsed TxPingTime=4.479869  A7 1,=9>yQEE9%(J;a%>).}Tracking....direction in vehicle frame: [ 0.406779 forward, 0.900917 starboard, -0.151261 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998967,-0.045355,-0.002871;0.045413,0.998659,0.024856;0.001740,-0.024961,0.999687 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.447009 north, 0.885035 east, -0.129988 down ].relPosInFSK: [ 0.081356 forward, 0.180183 starboard, -0.030252 keelward ].|relPosInNED: [ 0.089402 north, 0.177007 east, -0.025998 down ].-*Combining 10 samples..-Could not read vehicle position; cannot calculate contact position.2C)zC)C-5 QӴ?q3??vJlC-˞?DN?ni\ÿC-tƒ?C-|C-01 ? -)?)kC- Uv˛?Skh3R?fzesC-G2?ZC-A5>bC-=:C)BC)JC)RC)jC)rC)ɄI郉Ƀi) rB>w:> ,r (AY8Y@@y2;0<ٟH ? ا?Y?ѧ?@Sf`ie? s?)8Y@ =V;I"5="tgDN%4"@ %'>)%l?I%'!I%n=? M?:?%*>%Vc> %l?)%'Echecking for new query: numPingsReceived=6 elapsed TxPingTime=4.867052 M M7]= 1]k=]۹9e?yaaQEeEa9mZam?q.Tracking....direction in vehicle frame: [ 0.429387 forward, 0.888229 starboard, -0.163326 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998914,-0.046516,-0.002725;0.046570,0.998607,0.024801;0.001568,-0.024901,0.999689 ].8rangeToContact_ = 0.200000 m.direction in world frame: [ 0.470029 north, 0.871086 east, -0.142416 down ].relPosInFSK: [ 0.085877 forward, 0.177646 starboard, -0.032665 keelward ].|relPosInNED: [ 0.094006 north, 0.174217 east, -0.028483 down ]. *Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCCp豠?L?}C{?G `l?$vzĿCl?C'CH{;?P L?'ҹ*CB?#) ?:¿C?ZCe2>bC=:CBCJCRCjCrCɄiiIiiɃqiq)y rBE> 99b> ,1^'(AiYX@J@y %2;-<ٟH? ݧ? SY?`֧?``Df@d?@s?)X@ nV;IC  &A$5DDAT read: Rx Time:16:45:54.8287 56received an acoustic signal=PDAT read: Bearing 83.2, -1.2 (Local) E~Local bearing/azimuth received: Bearing 83.2, -1.2 (Local) UDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 ]DAT read: 16:45:54.8287 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.93, 0.952,-0.296, 0.444, 0.430, PHS= 0.518,-0.682,-0.001, RAW= 124.5, 3.2, CAL= 126.8, 1.2, ROT= 83.2, -1.2 eYgot valid direction response: 16:45:54.8287 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.93, 0.952,-0.296, 0.444, 0.430, PHS= 0.518,-0.682,-0.001, RAW= 124.5, 3.2, CAL= 126.8, 1.2, ROT= 83.2, -1.2 mR#Rx 7: Read range and direction messages.direction in vehicle frame: [ 0.118378 forward, 0.992748 starboard, -0.020942 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoyim2vN??_2qYm>iiii i)mFIm?im.mom^ @md=m @ m<)m޹?ImiIm|9x?_ܳ?{盬?mM=md= m޹?)mchecking for new query: numPingsReceived=7 elapsed TxPingTime=5.320544  g7+9>yQEE9mƸau>q.Tracking....direction in vehicle frame: [ 0.118378 forward, 0.992748 starboard, -0.020942 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998912,-0.046561,-0.002718;0.046614,0.998605,0.024799;0.001560,-0.024899,0.999689 ].8rangeToContact_ = 0.300000 m.-direction in world frame: [ 0.164492 north, 0.986373 east, 0.003362 down ].5relPosInFSK: [ 0.035513 forward, 0.297824 starboard, -0.006283 keelward ].5zrelPosInNED: [ 0.049348 north, 0.295912 east, 0.001008 down ].=*Combining 10 samples..=Could not read vehicle position; cannot calculate contact position.2C9zC=>C=p.?3ƍ?yC=2vN??_2qC=޹?C=C=VYD?U7?sdaׅP?C=䋼?4S=]?:k?C= ?ZC=>bC= J=:C9BC9JC9RC9jC9rC9ɄI郹Ƀi) rBm6>K> ,:A(AYV@2@y'.;,<ٟH ?` ? tX?@Fy?P~@ed?s?)V@ ʹV;Ib=fkDDDAT read: Rx Time:16:45:55.3286 6received an acoustic signalPDAT read: Bearing 63.8, -9.5 (Local) ~Local bearing/azimuth received: Bearing 63.8, -9.5 (Local) DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 -X#Rx 8: Read range message, but no direction.not publishing receive ping time as it could be a packet for anyoneyڹYڽL>ٹchecking for new query: numPingsReceived=8 elapsed TxPingTime=5.691963  - 7A ; 1<=*9>y  QEE9X"a>.Tracking....direction in vehicle frame: [ 0.118378 forward, 0.992748 starboard, -0.020942 keelward ].8processing response from DAT.%rotationFromVehicleToNavigationFrame_ = [ 0.998900,-0.046816,-0.002657;0.046868,0.998593,0.024799;0.001493,-0.024896,0.999689 ].%8rangeToContact_ = 0.200000 m.mdirection in world frame: [ 0.164744 north, 0.986331 east, 0.003368 down ].urelPosInFSK: [ 0.023676 forward, 0.198550 starboard, -0.004188 keelward ].uzrelPosInNED: [ 0.032949 north, 0.197266 east, 0.000674 down ].}*Combining 10 samples..}Could not read vehicle position; cannot calculate contact position.2CyzC}L>C}їk>?PSj?Rٶ'qC}2vN??_2qCyCyC}Yޠ? 4g @?@F?C}Z W??Uk?C}?ZC}J>bC}=:CyBCyJCyRCyjCyrCyɄIɃi)A YrB>> u> ,[(AYC_@@yy0; <ٟHa?\w? u`Y?`kp?ꚙ;fn?m?)C_@ V;I"U="\DI$)&A:DAT read: 16:45:55.3286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495,-0.01,-1.766,-2.064,-1.776,-1.809, PHS= 0.038,-0.211, 0.017, RAW= 145.7, 12.9, CAL= 146.2, 9.5, ROT= 63.8, -9.5 BYgot valid direction response: 16:45:55.3286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495,-0.01,-1.766,-2.064,-1.776,-1.809, PHS= 0.038,-0.211, 0.017, RAW= 145.7, 12.9, CAL= 146.2, 9.5, ROT= 63.8, -9.5 BABABX#Rx 9: Read direction message, but no range.Fdirection in vehicle frame: [ 0.435451 forward, 0.884953 starboard, -0.165048 keelward ]y@Bawqm?8~Q?G ſ@@@@ @)BCIB=iBbXBCBN#@ B)>)BӇ?IB)@IBN?YP{.?M\?B>BCh> BӇ?)B)Rchecking for new query: numPingsReceived=9 elapsed TxPingTime=6.057960 V V7vb 1v]=v89z>yxxQEzEx99W;a ? .Tracking...Ʉ!)I))Ƀ)i))1 rBM=I=p>)=l>> ,Nt(AɞY[@@y)6;4<ٟH`6??OZ?@{?K cf tt?o?)[@ V;I"\="HDI&=)$2DDAT read: Rx Time:16:45:55.8287 26received an acoustic signal6PDAT read: Bearing 68.2, -9.8 (Local) :~Local bearing/azimuth received: Bearing 68.2, -9.8 (Local) BDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 bDAT read: 16:45:55.8287 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.61, 1.338, 0.803, 1.269, 1.244, PHS= 0.090,-0.398, 0.010, RAW= 141.2, 13.1, CAL= 141.8, 9.8, ROT= 68.2, -9.8 jYgot valid direction response: 16:45:55.8287 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.61, 1.338, 0.803, 1.269, 1.244, PHS= 0.090,-0.398, 0.010, RAW= 141.2, 13.1, CAL= 141.8, 9.8, ROT= 68.2, -9.8 jT#Rx 10: Read range and direction messages.direction in vehicle frame: [ 0.365949 forward, 0.914937 starboard, -0.170209 keelward ]not publishing receive ping time as it could be a packet for anyone%Fpublishing direction and range infoyhjók?~Uҁ*G?rlſYj>hhhh h)jFIjQ=ij˾j #jbd@ j%/>)j:\?Ij%/hIj_#]?i0`?a?j>ji> j:\?)j%/ 5 57G 1:=d99 >y  QE E 9ukau>y.Tracking....direction in vehicle frame: [ 0.365949 forward, 0.914937 starboard, -0.170209 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998927,-0.046223,-0.002789;0.046278,0.998619,0.024858;0.001636,-0.024961,0.999687 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.407619 north, 0.901007 east, -0.148433 down ].UrelPosInFSK: [ 0.109785 forward, 0.274481 starboard, -0.051063 keelward ].]|relPosInNED: [ 0.122286 north, 0.270302 east, -0.044530 down ].]*Combining 10 samples..]Could not read vehicle position; cannot calculate contact position.2CYzC]>C]-?͌?T$C]ók?~Uҁ*G?rlſC]:\?C]%/C]c(N?tvաL?Tl|̦C]OXWn?~ ?&0¿C]W?ZC]e>bC]p=:CYBCYJCYRCYjCYrCYɄI郹Ƀi) rBu> > ,ˎ(AYcV@ҏ@ymn1;L<ٟH`?1?`J>Y?@D`t?-f@h?r?)cV@ V;IC".="{D.DDAT read: Rx Time:16:45:56.3286 .6received an acoustic signal6PDAT read: Bearing 66.2, -8.5 (Local) 6~Local bearing/azimuth received: Bearing 66.2, -8.5 (Local) >DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 nDAT read: 16:45:56.3286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.21,-0.197,-0.475,-0.216,-0.245, PHS= 0.044,-0.186, 0.014, RAW= 143.3, 11.8, CAL= 143.8, 8.5, ROT= 66.2, -8.5 rYgot valid direction response: 16:45:56.3286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.21,-0.197,-0.475,-0.216,-0.245, PHS= 0.044,-0.186, 0.014, RAW= 143.3, 11.8, CAL= 143.8, 8.5, ROT= 66.2, -8.5 vT#Rx 11: Read range and direction messages.zdirection in vehicle frame: [ 0.399113 forward, 0.904910 starboard, -0.147809 keelward ]znot publishing receive ping time as it could be a packet for anyonezFpublishing direction and range infoytv08?u?%)k¿YvL>tttt t)vCIvX94=ivv>vB`evK @ v>)vh?IvtIv(Ҙ6R?V?B0 .?v>vtR> vh?)v - -7K= 1L=T9>yQQQEUEQ9]ʺa]>a.Tracking....direction in vehicle frame: [ 0.399113 forward, 0.904910 starboard, -0.147809 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998898,-0.046862,-0.002707;0.046915,0.998591,0.024814;0.001541,-0.024914,0.999688 ].58rangeToContact_ = 0.200000 m.5direction in world frame: [ 0.440899 north, 0.888614 east, -0.126389 down ].=relPosInFSK: [ 0.079823 forward, 0.180982 starboard, -0.029562 keelward ].E|relPosInNED: [ 0.088180 north, 0.177723 east, -0.025278 down ].E*Combining 10 samples..ECould not read vehicle position; cannot calculate contact position.2CAzCEL>CEeG1@o?hj*?uPIxECE08?u?%)k¿CEh?CECE.?R?E:5p♿CE'7?No? 9-CE?ZCE5>bCE=:CABCAJCARCAjCArCAɄIɃi )  !ѱrB )> L;Y> ,O(AY_@a@yFH-;)U<ٟHi?`Il?זX?~e ?͢ e?@l?)_@ V;IC"1="FqD*=i*%=.p<, 2 27^t. 1b_=bd59b>yddQEfEd9j(X;aj>l.vTracking...Ʉ||I||Ƀ|i)  !rB=$= 99e> ,0(A@i@Yd@U@yn2;h<ٟH ?@k?'Z?@S? Uf`x?j?)d@ V;I"\="HD $$ R R 7v 1vH=vZR99v>yxxQEzEx9~:a~>.Tracking...Ʉ!!I!!Ƀ!i))) ArB]5=> ,[(AYa`@Й@yh0;g<ٟHn?@e?Y?@^? ۗ@f Z~?`n?)a`@  V;I*8=*]D  7E< 1MD=M9M>yIQQEUEQ9Uحa]>a.mTracking...ɄyyI郁Ƀi) rBe=> ,6(AY*R@*R@y*17;*c<ٟ*H?j=?Z?36O?@Wg fK?w?)*R@ *V;I(6ŷ=6aDIp)rAtvA z z7e&; 1mH=m99m>yqqQEuEq9};a}>.Tracking...ɄI郡Ƀi) rBu=I=t>)9> ,(Aɞ Y&V@&D@y&1;&6<ٟ&H?@?`[fY?@&|?`Gu9f[?@u?)&V@ &V;I$B=BnDIF=)D v v7~֊ 1~R=~l|9>yQEE9 С:a >.%Tracking...Ʉ)1I11Ƀ1i9)9 QrBm;= > ,)(AY&W@&u@y&\8;&K<ٟ&H@?a? 6[??@tg X? u?)&W@ &ÝV;I$>}=>D N N7R= 1VO=Vґ99V>yXXQEZEX9^Fx8a^>`.fTracking...ɄlpIppɃpip)t rB=> ,+C(AY\@@y7;<ٟHB? ?`[Z?ߙ?wfp?p?)\@ V;IC.=.PD6yDDQEFED9JO:a~>. Tracking...ɄI!!Ƀ!i!)) ArB]4= 11A> ,](A@i@YwX@@yc6;v<ٟH? ;?Z?` ݧ`?R}tf]b?`s?)wX@ V;IC2=2ED 44 B B 7F/ 1JJ=Jɷ9J>yHLQENEL9R*aR>T.ZTracking...Ʉ``I`dɃdid)h prB}F=];> ,w(AYl@>@y<~9;-<ٟH? ^? =\?@㗦p? в/g p?`h?)l@ ͗V;IC"n="EeD . .7F< 1FK=F%89J>yHHQEJEH9N;aN>P.ZTracking...Ʉ``I``Ƀ`id)d prB~=#$> ,Z(AYj@@yu+:;<ٟH?æ?eR\?ZW?驙lEgH? j?)j@ V;IC2=2CMDI`)`dfA f f7 빼 1 C= 779 >yQEE9-a>!.-Tracking...Ʉ9AIAAɃAiA)I arB}D=I9)9DM*> ,~5(AɞYi@A@y4;<ٟH@?Φ?Z?`ǦM?`:f K?`h?)i@ #V;IC"C="+@DI&C=)$ v v7~S 1~K=^9>yQE E 9 `a >  Software Fault.%Tracking...Ʉ11I11Ƀ9i9)A Q-"mSoftware Fault in component: DeadReckonUsingMultipleVelocitySourcesrBu@= 51> ,8(AYc@}@y+G1;9<ٟH?:?Y?3 ?(f?l?)c@ yxxQEzEx9~aU>.eTracking...ɄqqIqqɃqiy) "Clearing failed state for component DeadReckonUsingMultipleVelocitySources  rBa=)  Cu G҉ ҡ ;Y *_7> ,W(AY]@@y :;6<ٟHG?=?[?ђ?`Wg@.f?@r?)]@ (V;I"="ҀD(i*<,.< . .76 = 16S=:=99:>y88QE:E<9>aB>.FTracking....Jfupdate period (5.000000 s) has elapsed, querying....J(*** querying DAT ***"CH*CHɄPPIPPɃTiT)T `rBn< 99=> ,&(A@iYY@C@yv8;/<ٟH ?Χ? [?@Cǧ?`q gV?u?)Y@ V;I:=:9D <<FT****** received valid address query ******FR****** received valid ping request ******JQuerying Benthos address 50 with 10 pings in terminal homing one-way mode.N8****** ping requested ****** R R7v{ 1vC=v̸9v>yxxQEzEx9~za~>.Tracking...Ʉ!I!!Ƀ!i))) ArB]3=4qD> ,ǡ(AY4Z@@y<;<ٟH$?@ȧ?@X\?D ?n`gR?u?)4Z@ V;IC2v=2QD>(DAT read: user:21> BBDAT read: Tx time:16:46:02.6489 B$Ping request sent.B99r>yppQErEt9v8av>x.Tracking...ɄIɃi) )rB=J> ,~,(AY_@ @yxu9;ds<ٟHe?,r?[?j?`܈.gm?p?)_@ zV;IC2=2CMDI8)8<<Bchecking for new query: numPingsReceived=0 elapsed TxPingTime=0.404268 F F7f 1fG=f9f>yhhQEjEh9n:an>p.vTracking...Ʉ|IɃi)  !rB5!=I=x>)9aQ> ,\F(AɞYT@@yfH6;s<ٟH`?@!?`qZ? d? h fM?w?)T@ checking for new query: numPingsReceived=0 elapsed TxPingTime=0.806954 > > 7FN< 1FN=J09J>yHHQEJEH9N'^aN>P.ZTracking...Ʉ``I``Ƀ`id)d prB~=UW> ,33`(AYT@@yWM1;<ٟH`?!?`.Y?`,@c?@o )fOU?v?)T@ V;IB=F1D checking for new query: numPingsReceived=0 elapsed TxPingTime=1.229102  7M% 1M?=MI:9M>yQQQEUEQ9]M7a]>a.mTracking...ɄyI郁Ƀi) rBe=a]> ,z(AYV@@y`4;<ٟH ?`%? Z?@`z?.tfY?@u?)V@ #V;I2=2]rDxiz<~{>~?checking for new query: numPingsReceived=0 elapsed TxPingTime=1.632563   7E= 1MJ=M89M>yIQQEUEQ9U:a]>a.mTracking...ɄyyIy郁Ƀi) rBd= =?A9d> ,(A@iY|G@@y-;'<ٟH`B? ?W?n쨿@?K e0?~?)|G@ ʱV;I"}="=D &A&rAfchecking for new query: numPingsReceived=0 elapsed TxPingTime=2.029318 j j^ 7 W 1 N= [9 >yQEE9'a>.Tracking...ɄIɃi) rB5=}j> ,ĭ(AYD@~@y0; <ٟH? ?lX?`?`:@f@??)D@ V;I2=2FDBDDAT read: Rx Time:16:46:04.7786 B6received an acoustic signalFPDAT read: Bearing 68.6, -5.5 (Local) F~Local bearing/azimuth received: Bearing 68.6, -5.5 (Local) RDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 bDAT read: 16:46:04.7786 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 224, 0.47, 3.085, 2.794, 3.054, 3.018, PHS= 0.062,-0.181, 0.021, RAW= 140.9, 8.7, CAL= 141.4, 5.5, ROT= 68.6, -5.5 fYgot valid direction response: 16:46:04.7786 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 224, 0.47, 3.085, 2.794, 3.054, 3.018, PHS= 0.062,-0.181, 0.021, RAW= 140.9, 8.7, CAL= 141.4, 5.5, ROT= 68.6, -5.5 jR#Rx 1: Read range and direction messages.ndirection in vehicle frame: [ 0.363197 forward, 0.926769 starboard, -0.095846 keelward ]nnot publishing receive ping time as it could be a packet for anyonenFpublishing direction and range infoydf|̞>?qG?aVXYf>dddd d)fDIf}=ifX9f1f@ f =)f@?If ĽdIfZq(l?-R?*ht?fF>fM>> f@?)f Ľzchecking for new query: numPingsReceived=1 elapsed TxPingTime=2.438581 ~ ~7  < 1 J= *89 >yQEE9aa>!.-Tracking....=direction in vehicle frame: [ 0.363197 forward, 0.926769 starboard, -0.095846 keelward ].=8processing response from DAT.MrotationFromVehicleToNavigationFrame_ = [ 0.998794,-0.049026,-0.002698;0.049078,0.998494,0.024536;0.001491,-0.024639,0.999695 ].M8rangeToContact_ = 0.300000 m.Udirection in world frame: [ 0.408100 north, 0.909929 east, -0.074057 down ].]relPosInFSK: [ 0.108959 forward, 0.278031 starboard, -0.028754 keelward ].e|relPosInNED: [ 0.122430 north, 0.272979 east, -0.022217 down ].e*Combining 10 samples..eCould not read vehicle position; cannot calculate contact position.2CazCe>Ce8q ?-_A?3VqCe|̞>?qG?aVXCe@?Ce ĽCeBW?#J{x?Ce|N?Ͷ"?]hCe?ZCeË>bCe=:CaBCaJCaRCajCarCaɄIɃi!)! rB >8q> ,w(AY0F@@y]*;<ٟH2?`?`V?`(`?I@Ke@40?`~?)0F@ bV;IB=BvDID)FANDDAT read: Rx Time:16:46:05.2786 N6received an acoustic signalVPDAT read: Bearing 64.5, -8.8 (Local) V~Local bearing/azimuth received: Bearing 64.5, -8.8 (Local) ^DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 rDAT read: 16:46:05.2786 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.27, 0.226,-0.098, 0.211, 0.175, PHS= 0.047,-0.229, 0.020, RAW= 145.0, 12.2, CAL= 145.5, 8.8, ROT= 64.5, -8.8 vYgot valid direction response: 16:46:05.2786 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.27, 0.226,-0.098, 0.211, 0.175, PHS= 0.047,-0.229, 0.020, RAW= 145.0, 12.2, CAL= 145.5, 8.8, ROT= 64.5, -8.8 ttvR#Rx 2: Read range and direction messages.zdirection in vehicle frame: [ 0.425443 forward, 0.891960 starboard, -0.152986 keelward ]~not publishing receive ping time as it could be a packet for anyone~Fpublishing direction and range infoytv5W`v:?dx?8C ÿYttttt t)vCIv@=iv~jv ףvj"@ vnF>)v)?IvnFtIvbn\?5j~YW?J/?vc>v#[> v)?)vnFchecking for new query: numPingsReceived=2 elapsed TxPingTime=2.846551  7ݵ= 12=޽`9>y޹QEE99a>).=Tracking....Edirection in vehicle frame: [ 0.425443 forward, 0.891960 starboard, -0.152986 keelward ].E8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998803,-0.048837,-0.002600;0.048886,0.998501,0.024598;0.001394,-0.024696,0.999694 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.468325 north, 0.873624 east, -0.132105 down ].relPosInFSK: [ 0.127633 forward, 0.267588 starboard, -0.045896 keelward ].|relPosInNED: [ 0.140498 north, 0.262087 east, -0.039631 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCC3@GV?) ?߸C5W`v:?dx?8C ÿC)?CnFCcZ?~ ?OܳJCw ?mOL?0C&?ZC0>bC>:CBCJCRCjCrCɄIIIIIɃIiQ)Q rB (>I=l>)=p>9w> ,{(AɞY*J@*@y*A,;*"<ٟ*Hh?`?ுW? ?8S@=e@w9?`|?)*J@ * V;I*C>=>nDIBR=)@NDDAT read: Rx Time:16:46:05.7786 R6received an acoustic signalVPDAT read: Bearing 64.5, -9.0 (Local) V~Local bearing/azimuth received: Bearing 64.5, -9.0 (Local) ~DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 16:46:05.7786 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.13, 0.605, 0.289, 0.590, 0.556, PHS= 0.045,-0.223, 0.019, RAW= 145.0, 12.4, CAL= 145.5, 9.0, ROT= 64.5, -9.0 Ygot valid direction response: 16:46:05.7786 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.13, 0.605, 0.289, 0.590, 0.556, PHS= 0.045,-0.223, 0.019, RAW= 145.0, 12.4, CAL= 145.5, 9.0, ROT= 64.5, -9.0 R#Rx 3: Read range and direction messages.direction in vehicle frame: [ 0.425211 forward, 0.891473 starboard, -0.156434 keelward ]not publishing receive ping time as it could be a packet for anyoneFpublishing direction and range infoy1d6?g@?p ĿY )IQ8=iZd㥛<k]> | >)I| IhV?W_?xsEt?W>wZ]> )| }checking for new query: numPingsReceived=3 elapsed TxPingTime=3.297388  N7ݕ> 1L=ޕk89>yޙޙQEEޙ9:a>.uTracking....}direction in vehicle frame: [ 0.425211 forward, 0.891473 starboard, -0.156434 keelward ].}8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998829,-0.048302,-0.002628;0.048352,0.998527,0.024633;0.001435,-0.024732,0.999693 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.467593 north, 0.873490 east, -0.135544 down ].%relPosInFSK: [ 0.127563 forward, 0.267442 starboard, -0.046930 keelward ].-|relPosInNED: [ 0.140278 north, 0.262047 east, -0.040663 down ].-*Combining 10 samples..-Could not read vehicle position; cannot calculate contact position.2C)zC)C-T*S?:t?@C-1d6?g@?p ĿC)C-| C-=D?Ns`?YѤC-ʼ ? ?z)YC-b&?ZC-+>bC->:C)BC)JC)RC)jC)rC)ɄI郑Ƀi) rBM1>%~> ,W(AYS@ @yrX0;<ٟH?10?X? X)`V?v f\?u?)S@  V;IC"<="SD.checking for new query: numPingsReceived=3 elapsed TxPingTime=3.630702 . .7b| 1bm=b>99f?yddQEfEd9jS;aj?l.vTracking...ɄxxI||Ƀ|i) rB5=t > ,#1(AYU@\@y.;5<ٟH ?d ?,gX?o? e f?s?)U@ vV;ICBȯ=B-XDr=ir=zDDAT read: Rx Time:16:46:06.2785 z6received an acoustic signal~PDAT read: Bearing 65.5, -8.5 (Local) ~Local bearing/azimuth received: Bearing 65.5, -8.5 (Local) DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 5DAT read: 16:46:06.2785 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.01,-0.097,-0.400,-0.115,-0.148, PHS= 0.047,-0.208, 0.018, RAW= 143.9, 11.8, CAL= 144.5, 8.5, ROT= 65.5, -8.5 =Ygot valid direction response: 16:46:06.2785 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.01,-0.097,-0.400,-0.115,-0.148, PHS= 0.047,-0.208, 0.018, RAW= 143.9, 11.8, CAL= 144.5, 8.5, ROT= 65.5, -8.5 E=E<ER#Rx 4: Read range and direction messages.Mdirection in vehicle frame: [ 0.410138 forward, 0.899966 starboard, -0.147809 keelward ]Mnot publishing receive ping time as it could be a packet for anyoneMFpublishing direction and range infoyAEdj?? #?%)k¿YEL>AAAA A)AIE@=iETEtEvh!@ E>)ET?IEAIEH8P,? 溄?粩%?2?E>ES> ET?)Emchecking for new query: numPingsReceived=4 elapsed TxPingTime=4.069333 m m7݅T; 1>=ޥT9>yQEEGiy ӭL;Yҩ9-1 :a->1.ETracking....direction in vehicle frame: [ 0.410138 forward, 0.899966 starboard, -0.147809 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998895,-0.046918,-0.002657;0.046970,0.998588,0.024803;0.001489,-0.024901,0.999689 ].m8rangeToContact_ = 0.200000 m.udirection in world frame: [ 0.451736 north, 0.883133 east, -0.126531 down ].relPosInFSK: [ 0.082028 forward, 0.179993 starboard, -0.029562 keelward ].|relPosInNED: [ 0.090347 north, 0.176627 east, -0.025306 down ].*Combining 10 samples. =@A9.ECould not read vehicle position; cannot calculate contact position.2CAzCEL>CEt?ޝ ?uPIxECEdj?? #?%)k¿CET?CECEg ?l$1?x陿CEh5=?J,B?8s{+2CE?ZCE4>bCE=:CABCAJCARCAjCArCAɄaaIaaɃai) rB l>7> ,N /(A@iY]X@̑@y3/.;!!!! !)%FI%ʡ=i%󽾉%u<%@% j>%@ %%/>)%?I%%/!I%,?b~Ǡ? [?%(>%ʰi> %?)%%/Mchecking for new query: numPingsReceived=5 elapsed TxPingTime=4.469203 M M7]U; 1]M=e+69e>yaaQEeEa9mx:am?q.Tracking....direction in vehicle frame: [ 0.385029 forward, 0.907073 starboard, -0.170209 keelward ].8processing response from DAT.}rotationFromVehicleToNavigationFrame_ = [ 0.998909,-0.046621,-0.002658;0.046672,0.998602,0.024817;0.001497,-0.024914,0.999689 ].}8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.426690 north, 0.892095 east, -0.148669 down ].relPosInFSK: [ 0.115509 forward, 0.272122 starboard, -0.051063 keelward ].|relPosInNED: [ 0.128007 north, 0.267628 east, -0.044601 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzC>Cլ?qj?T$C1R?ЦZ{?rlſC?C%/CՈ~b? ?զC!ZkN?=I|h ?ÿC?ZC>bC>:CBCJCRCjCrCɄ)I11Ƀ1i1)9 rB=> ,H(AYa@d@y17;<ٟH?L?`Y[?VE?\ Df@|?n?)a@ V;IC"n="EeDVDDAT read: Rx Time:16:46:07.2785 Z6received an acoustic signal^PDAT read: Bearing 66.9, -7.5 (Local) ^~Local bearing/azimuth received: Bearing 66.9, -7.5 (Local) fDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 zDAT read: 16:46:07.2785 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.25, 1.421, 1.165, 1.403, 1.373, PHS= 0.044,-0.164, 0.015, RAW= 142.6, 10.8, CAL= 143.1, 7.5, ROT= 66.9, -7.5 ~Ygot valid direction response: 16:46:07.2785 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.25, 1.421, 1.165, 1.403, 1.373, PHS= 0.044,-0.164, 0.015, RAW= 142.6, 10.8, CAL= 143.1, 7.5, ROT= 66.9, -7.5 R#Rx 6: Read range and direction messages. direction in vehicle frame: [ 0.388981 forward, 0.911952 starboard, -0.130526 keelward ] not publishing receive ping time as it could be a packet for anyone Fpublishing direction and range infoy|~y? ".? /Y~L>|||| |)~CI~X94=i~'|~&I@~A>~ @ ~ >)~t?I~ |I~@,dxh?|3*?Gui?~>~&@> ~t?)~ echecking for new query: numPingsReceived=6 elapsed TxPingTime=4.876758  )7}< 1}9=}j99}>yށށQEEށ91.;a>.Tracking....direction in vehicle frame: [ 0.388981 forward, 0.911952 starboard, -0.130526 keelward ].8processing response from DAT.=rotationFromVehicleToNavigationFrame_ = [ 0.998963,-0.045451,-0.002804;0.045507,0.998654,0.024890;0.001669,-0.024991,0.999686 ].=8rangeToContact_ = 0.200000 m.Edirection in world frame: [ 0.429859 north, 0.896307 east, -0.108878 down ].MrelPosInFSK: [ 0.077796 forward, 0.182390 starboard, -0.026105 keelward ].|relPosInNED: [ 0.085972 north, 0.179261 east, -0.021776 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCL>CxxEr?ғ$X?ηTCy? ".? /Ct?C C?? ?첞VLC]mς?,X?|l߻Cwҏ?ZC7>bC=:CBCJCRCjCrCɄ IɃi) 1rBM>J> ,Cb(AYT@g@y|D0;<ٟH`?? X?f? luf@n[?@u?)T@ QV;ICR=RTDIT)VA^DDAT read: Rx Time:16:46:07.7786 ^6received an acoustic signalfPDAT read: Bearing 64.6, -9.4 (Local) f~Local bearing/azimuth received: Bearing 64.6, -9.4 (Local) DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 16:46:07.7786 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.51, 0.849, 0.538, 0.834, 0.802, PHS= 0.042,-0.220, 0.017, RAW= 144.9, 12.8, CAL= 145.4, 9.4, ROT= 64.6, -9.4 %Ygot valid direction response: 16:46:07.7786 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.51, 0.849, 0.538, 0.834, 0.802, PHS= 0.042,-0.220, 0.017, RAW= 144.9, 12.8, CAL= 145.4, 9.4, ROT= 64.6, -9.4 %A!-R#Rx 7: Read range and direction messages.5direction in vehicle frame: [ 0.423176 forward, 0.891205 starboard, -0.163326 keelward ]unot publishing receive ping time as it could be a packet for anyoneuFpublishing direction and range infoy!%YN?QB?$vzĿY%>!!!! !)%FI%1,=i%Ga%C<%!@%d>%i"@ %'>)%ZQ?I%'!I%UWHnE?R4j?^?%>%|d> %ZQ?)%'checking for new query: numPingsReceived=7 elapsed TxPingTime=5.318782  w 7K 1D=I9>yQEE9moau>q.Tracking....direction in vehicle frame: [ 0.423176 forward, 0.891205 starboard, -0.163326 keelward ].8processing response from DAT.rotationFromVehicleToNavigationFrame_ = [ 0.998890,-0.047035,-0.002690;0.047087,0.998584,0.024763;0.001521,-0.024862,0.999690 ]. 8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.464421 north, 0.874100 east, -0.142345 down ].relPosInFSK: [ 0.126953 forward, 0.267362 starboard, -0.048998 keelward ].|relPosInNED: [ 0.139326 north, 0.262230 east, -0.042703 down ].%*Combining 10 samples..%Could not read vehicle position; cannot calculate contact position.2C!zC%>C%۫q??`s? =C%YN?QB?$vzĿC%ZQ?C%'C%5r?U^`?z8ݥC%3??A$9?Y8¿C%?ZC%C>bC%>:C!BC!JC!RC!jC!rC!ɄIɃi) IrBe4>I=x>)=i>s> ,|(AɞY4R@@y3;Tk<ٟH?$H?Y?!A`G?gfL?x?)4R@ V;IC"="^DI&=)$.checking for new query: numPingsReceived=7 elapsed TxPingTime=5.651036 2 257fW>< 1ft=f099f?yhhQEjEh9nan ? .-Tracking...ɄI  Ƀ i)! qrB=[> ,x(AY;U@@y/;<ٟH?@?X?@i? KteoZ?u?);U@ V;IC"="*4D.DDAT read: Rx Time:16:46:08.2784 26received an acoustic signal6PDAT read: Bearing 63.6, -10.4 (Local) 6~Local bearing/azimuth received: Bearing 63.6, -10.4 (Local) >DAT 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 RDAT read: 16:46:08.2784 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.33,-0.730,-1.053,-0.742,-0.773, PHS= 0.038,-0.237, 0.016, RAW= 145.8, 13.8, CAL= 146.4, 10.4, ROT= 63.6, -10.4 VYgot valid direction response: 16:46:08.2784 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.33,-0.730,-1.053,-0.742,-0.773, PHS= 0.038,-0.237, 0.016, RAW= 145.8, 13.8, CAL= 146.4, 10.4, ROT= 63.6, -10.4 ZX#Rx 8: Read direction message, but no range.^direction in vehicle frame: [ 0.437331 forward, 0.880997 starboard, -0.180519 keelward ]^not publishing receive ping time as it could be a packet for anyoneyTVu69?91?lE@ǿTTTT T)VCIV=iV!rVoVƇ#@ V9>)Vq?IV9TIV p|? g ?蚾d?V42>V`~u> Vq?)V9jchecking for new query: numPingsReceived=8 elapsed TxPingTime=6.070170 j j7r) 1rH=v*9v>ytxQEzEx9zm:a~>. Tracking...ɄI!Ƀ!i!)) rB=> ,TU(AY:S@@yq.;<ٟH?7?@xX? 0@S?@j`e`Q?w?):S@ V;IC" ="8D(i*<2DDAT read: Rx Time:16:46:08.7786 66received an acoustic signal:PDAT read: Bearing 65.1, -9.8 (Local) :~Local bearing/azimuth received: Bearing 65.1, -9.8 (Local) BDAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 VDAT read: 16:46:08.7786 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.20, 0.850, 0.514, 0.830, 0.800, PHS= 0.046,-0.242, 0.015, RAW= 144.3, 13.1, CAL= 144.9, 9.8, ROT= 65.1, -9.8 ZYgot valid direction response: 16:46:08.7786 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.20, 0.850, 0.514, 0.830, 0.800, PHS= 0.046,-0.242, 0.015, RAW= 144.3, 13.1, CAL= 144.9, 9.8, ROT= 65.1, -9.8 Z4Z!@ Z%/>)ZOo?IZ%/XIZSzŋb??Ӵ!!?Zl>Z`k> ZOo?)Z%/checking for new query: numPingsReceived=9 elapsed TxPingTime=6.503607  57; 1<= 9>yQEE9a>.5Tracking....=direction in vehicle frame: [ 0.414892 forward, 0.893808 starboard, -0.170209 keelward ].E8processing response from DAT.UrotationFromVehicleToNavigationFrame_ = [ 0.998880,-0.047247,-0.002665;0.047299,0.998575,0.024723;0.001494,-0.024822,0.999691 ].8rangeToContact_ = 0.300000 m.direction in world frame: [ 0.456449 north, 0.877157 east, -0.149165 down ].relPosInFSK: [ 0.124468 forward, 0.268143 starboard, -0.051063 keelward ].|relPosInNED: [ 0.136935 north, 0.263147 east, -0.044749 down ].*Combining 10 samples..Could not read vehicle position; cannot calculate contact position.2CzCCݿ?)8?)?T$C %?t?rlſCOo?C%/C1O?Kf?<#-f馿C0qu6?-?!ÿCX?ZC>bC8 >:CBCJCRCjCrCɄ!!I!!Ƀ)ii)q rB> 99m> ,/(AiYHP@@yv-;a1<ٟH? f?X?_1?@_ Ͷe ~E?y?)HP@ ̑V;IC:=:DYD <>AFDDAT read: Rx Time:16:46:09.2785 F6received an acoustic signalNPDAT read: Bearing 63.4, -10.5 (Local) N~Local bearing/azimuth received: Bearing 63.4, -10.5 (Local) VDAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 jDAT read: 16:46:09.2785 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.05,-0.723,-1.047,-0.734,-0.764, PHS= 0.037,-0.239, 0.015, RAW= 145.9, 13.9, CAL= 146.6, 10.5, ROT= 63.4, -10.5 nYgot valid direction response: 16:46:09.2785 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.05,-0.723,-1.047,-0.734,-0.764, PHS= 0.037,-0.239, 0.015, RAW= 145.9, 13.9, CAL= 146.6, 10.5, ROT= 63.4, -10.5 nT#Rx 10: Read range and direction messages.rdirection in vehicle frame: [ 0.440261 forward, 0.879182 starboard, -0.182236 keelward ]vnot publishing receive ping time as it could be a packet for anyonevFpublishing direction and range infoyln8l=-? YA"?m~SǿYnL>llll l)nCInP=injtln"@nUlx>n#@ nf;>)n?Inf;lInh?*h҄?Kb?nU>ny> n?)nf;  7. = 1W=#9>yQEE9%*xa%>).5Tracking....Edirection in vehicle frame: [ 0.440261 forward, 0.879182 starboard, -0.182236 keelward ].E8processing response from DAT.UrotationFromVehicleToNavigationFrame_ = [ 0.998863,-0.047606,-0.002651;0.047657,0.998559,0.024679;0.001472,-0.024777,0.999692 ].U8rangeToContact_ = 0.200000 m.]direction in world frame: [ 0.481392 north, 0.861471 east, -0.161649 down ].erelPosInFSK: [ 0.088052 forward, 0.175836 starboard, -0.036447 keelward ].m|relPosInNED: [ 0.096278 north, 0.172294 east, -0.032330 down ].m*Combining 10 samples..mCould not read vehicle position; cannot calculate contact position.2CizCmL>Cmb˗?"́?g$1Cm8l=-? YA"?m~SǿCm?Cmf;Cmǘ?² ?[ZmCmYE7?Tc*?6DĿCmև?ZCmm0>bCm-=:CiBCiJCiRCijCirCiɄI郉Ƀi) rBj= > , (AYI@+@y">,;Q<ٟH^?` Ϩ?yW?yȨ`?N‡e4?@}?)I@ V;IC"="`D V VZ7; 1I=%g9%>y!!QE-E)9-.a->1.ETracking...ɄQQIQQɃQiY)Y qrBM=> ,(AY;[@@yB.;BP<ٟH`2? ?X?ڰ@?Qe`Wi?r?);[@ V;IC"="*4DI`)`fAd j j^ 7 [5 1 L= 89 >yQEE9p;a>!.5JTimed out from 2021-05-18T16:44:35.6Z"58lab_range_test is completed."5JUninitializing Mission lab_range_test15 .5LAggregate::uninitialize lab_range_testq5.50Uninitializing Tracking.5 /58Uninitialize Wait Component.a aaaaaaaaaaaaaaaaaaa!!!!!ɄIɃi) 9rBu=I=t>)=t>> ,(AɞY&^@@y\q3; <ٟH`T?E? (Z?6@?`z)nf`?t?)&^@ V;IC"'="^DI&C=)&R= V V7r= 1vL=vLO99v>ytxQEzEx9zdi:a~>" .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. 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"?bfy?o?)e@  V;IC2̧=2ZNDIh)h r r7%; 1-<-9->y11QE5E19=ba=>A BIBIBQ"BQɄYaaIaaɃaii)i rBW=I]t>)]p>j? ,(Aɞ=Ywa@@y"F7;U<ٟHz?zT?.@[?4M?@f j?q?)wa@ V;I2Y=2RDI6=)6C= > >A7F; 1FU=Fw.99F>yHHQEJEH9NkaN>P BXBXBX"BXɄ```I``Ƀ`id)d prB}E=>? ,!0(AYW@E@y3;r<ٟH ?$?rZ?秿 ?;hfM?w?)W@ 8V;IC"k="oD . . 7FF< 1FJ=F9J>yHHQEJEH9N>aN>P BXBXBX"BXɄ```I``Ƀdid)h prB~=}? ,!sJ(AYS@@yx3;<ٟH`?0?iY?) \?bXof=?z?)S@ EV;IC6̧=6ZND>< B B7f< 1fF=fɠ9f>yhhQEjEh9n.an>p BtBtBx"BxɄ|IɃi )  !rB=$= YY)ҵ Y= ұ  O}G) 9 y Yy ? ,oJd(Ai@Yy\@@y3;<ٟH@?@ ?"Z?@ ?{ Qpfa?s?)y\@ ȨV;IC2=2.dD 6A6A B B7J< 1JN=J59J>yLLQENEL9 +;a > B!B!B!"B!Ʉ111I19Ƀ9i9)A QrBu?=^? ,&~(AY"g@@yX5;M <ٟH??+[?` 4?ച )f`?m?)"g@ V;IC"=";D . .7F" 1FK=FS89J>yHHQEJEH9NZ;aN>P BXBXBX"BXɄ```I``Ƀ`id)d prB}E=;? ,(AY\d@˝@y1;r<ٟH?%?`Y??U5f@y))QE-E)95Qa5>9 BABIBI"BIɄQYIɃi) rB =IY)Y ? ,w۱(Aɞ%=Ycd@ҝ@y^D0;S<ٟH@?`s%?Y?@?@fxr?p?)cd@ V;ICR=R.dDIV=)T ))=F 1=I=E[9E>yAAQEEEA9M{ 7aM>Q BaBaBa"BaɄqqqIqqɃqiy) rB^=N? ,5(AYb@A@y_6;2<ٟH? >?:6[?`7@ ?`wfu]?`t?)b@ V;IC2̧=2ZND n n7%ΰ 1-L=-D99->y11QE5E19=a=>A BIBIBQ"BQɄYaaIaaɃaii)i rBV=Z? ,(AY`@]@yA3;<ٟHt?\? *aZ?U? u@wf`[? u?)`@ BV;IC"]=&0D*=i( . .^ 7Fp= 1FU=J9J>yHHQEJEL9N~aR>P BXBXBX"BXɄ```I`dɃdid)h trBS= YY&? ,l(A@iY`@$@yW6;/<ٟHr?@`?%[?`QY?vf`U\?t?)`@ V;IC2=2;D 6A6A > >s7FG 1FJ=J89J>yHHQENEL9NaR>P BXBXBX"BXɄ```IddɃdid)h trB=[? ,MI(AYg^@֗@y>0;u><ٟHW??ZY?'~?ࠀfg?s?)g^@ >V;IC2=2 >E 7bN: 1bG=bu9b>yddQEfEd9j3aj>l BpBtBt"BtɄxx|I||Ƀ|i) rB5=u1 ? ,W$3(AY6Y@@y'5;k<ٟH?@Bا?̈Z? ѧ? göfL?w?)6Y@ V;I28=2]DI4)6A > >7F= 1FN=F>\99J>yHHQEJEH9N.ѺaN>  BBB"BɄ)))I))Ƀ)i1)1 IrBe8=I]x>)]i>? ,M(Aɞ=YHS@@y(8;?<ٟH`?7?Z?/Y?`Ngz2?|?)HS@ wV;I2=2nDI4)4 f f7n< 1nE=n*89r>yppQErEp9vav>x BqBqBq"BqɄI郁Ƀi) rBh=C? ,f(AY]\@̕@yK3; <ٟH@??ƥ? Z? ? k}ifrQ?w?)]\@ V;I2ŷ=2aD v vs7%< 1-E=-<9->y11QE5E195/;a=>A BIBIBI"BQɄIɃi) rB=* ? ,ij(AY`@]@y['4;C<ٟHt?\?`sZ?U`?@ˁfg?r?)`@ DV;ICŖ=RZNDyQQQEUEQ9] :a]>a BiBiBq"BqɄyI郁Ƀi) rBg= YY7U&? ,ޏ(A@iY_@e@y# .;d<ٟH j?@ l?X?>e`?be@k?@r?)_@ ]V;IC2g=2o+D 6A4 > >7F 1FW=F9F>yHHQEJEH9NLaN>  BBB"BɄ)))I)1Ƀ1i1)9 QrBm==}G҉ҡ ;Y,? ,Yl(AYa@A@y4v/;<ٟH?kN?WKY?G?e_r?p?)a@ MV;IC2U=2\D > >7FE= 1FJ=F`89F>yHHQEJEH9N>:aN>P BXBXBX"BXɄ```I``Ƀ`id)d prB}D=g3? ,^G(AYY@@yYs,;<ٟH?ҧ?`6X?b˧`?nieU?v?)Y@ V;IC2Y=2RDI4)6A > >7F. 1FJ=F9F>yHHQEJEH9Nf#aN>P BTBXBX"BXɄ\``I``Ƀ`id)d prB~=I]l>)]l>ޒ9? ,'(AɞYc@@y~0;Ԣ<ٟH@?4:?ҷY?;3@? nfs?p?)c@ V;IC2=2TDI6=)6> > >57FJ ; 1FJ=J099J>yHHQEJEL9N<;aR>P BXBXBX"BXɄ```IddɃdid)h trB=y@? ,(AYP@P@yJ&.;P<ٟH ?\?`7NX?@KV`yddQEfEd9faj>h BpBpBp"BpɄxxxI||Ƀ|i|) rB5=F? ,(AYiZ@ؓ@y8<;<ٟH@'?@pŧ?d\??]DgA?@y?)iZ@ V;IC2=2D`ib< f f7]= 1e@=e :9e>yiiQEmEi9u3;au>y BBB"BɄI郙Ƀi) rBs= YYgL? ,l5(Ai@YO^@@y<:; <ٟHU? ? 4[?@?o`GgqT?u?)O^@ V;I2R=2\fD 46A v v7~h5 1~Q=и9>yQE E 9 g:a > B!B!B!"B!Ʉ111I11Ƀ9i) rB =CS? ,O(AYm@M@y$3;~<ٟH@ ? %?`aZ? ~?T"pf`?j?)m@ V;I2=2,LD b bE 7Ҽ 1J= ք9 >y  QEE9s;a> B)B)B)"B)Ʉ99AIAAɃAiA)I arB}D=Y? ,ji(AYj@ @y7;.<ٟH?}¦?$[?* \? 瘙@Uf~?m?)j@ V;I"v="QDI()*A . .7V; 1VP=Z 99Z>yXXQEZEX9^ab>` BhBhBh"BhɄpttIttɃtix)x rB%=I]p>)YR`? ,D(AɞYf@v@y,E:;q<ٟH`?` ?j7\?G@+?`lHg`~m?p?)f@ V;I2<=2SDI6=)6R= > >Z7F ; 1FL=Jl99J>yHHQEJEH9N7aN>P BXBXBX"BXɄ9AAIAAɃAiI)I arB}E=:f? ,*(AYvd@@y:8;?<ٟH`?$?[? Q`? @%g>g?@r?)vd@ V;IC>=>DYD J J7R; 1RH=VPP9V>yTTQEZEX9Za^>\ BdBdBd"BdɄlllIppɃpip)t rB]=m? ,(AY}\@@y8;zl<ٟH`@??\J[?ྜ@? g gL?w?)}\@ &V;IC2ŷ=2aD4i6< > > 7F < 1FL=Ft9J>yHHQEJEH9NuaN>P BXBXBX"BXɄ```I``Ƀ`id)d prB~= YYjt? ,I(AiY)]@@y7;<ٟH@H?A?x+[? ?wm@4f`R?`v?))]@ V;IC2 =2YBD 44 f fk 7n 1nE=ry9r>yppQErEp9vO9av>x BBB"BɄIɃi)! 1rBM-=) UO}Gyґ ;Y#.z? ,(AY g@z@yp66;<ٟH`?`O?U6[? 4?@ fe|?@n?) g@ V;ICB=B/D  7] = 1eB=exI9e>yaiQEmEi9m;;au>q } }Software Fault BBB"BɄI郙Ƀi) -"Software Fault in component: DeadReckonUsingMultipleVelocitySourcesrBu=? ,&(AYdf@ӟ@y+3;<ٟH ?? lZ?y,?&aef {?n?)df@ ћV;IC"@="DIP)RAV8DAT read: user:22>Lowpower ZRe-entering command mode due to deviceResponse_: user:22>Lowpower Z Z7v[< 1vR=v9v>yxxQEzEx9~Va> BBB"BɄIɃi!)! 9"UClearing failed state for component DeadReckonUsingMultipleVelocitySources U rB]=I]t>)Y?? ,8g(Aɞ%=%=Yk@f@y9X5;ˀ<ٟH??`[0[? `h?@fe?j?)k@ әV;IC"n="EeDI&=)&= . .7FDP 1FP=J89J>yHHQEJEH9N:aN> BTBTBX"BXɄ\``I``Ƀ`id)d prB~=i? ,-C8(AY`@i@y#0;<ٟHu?[?iY?U@?`vfu? p?)`@ V;I2=2qCD > >Z7R? 1RI=RL9R>yTTQEVET9ZXaZ>^ BdBdBd"BdɄhllIllɃlip)p |rB=Q? ,OR(AY`@P@y1;<ٟH`t?]?gY?`V? Ύ1f0u?p?)`@ ,V;IC2<=2SD8i8 > >R 7F< 1FL=Jb89J>yHHQEJEL9~a> BBB"BɄ!!!I!)Ƀ)i))1 IrBe6= YYF|? ,k(AiYf@*@y1;!<ٟH@? ?Y? `0?K6#f}?n?)f@ V;IC"="UD $$ . .576; 16L=:;9:>y88QE:E89>:aB>@ BHBHBH"BHɄPPTITTɃTiT)X drBr<c? ,ԅ(AYbh@ѡ@y6 2;}<ٟH ??8Z?ަ B?`Af 1vC=v89v>yxxQEzEx9~9a~> B BB"BɄ!!!I!!Ƀ!i))) ArBw=? ,(AYa@,@y9/;q<ٟH~?@O?` eY? H?ʆ`ee`m?q?)a@ V;IC6C=6+@DIp)rA v vA7%9; 1%F=-טּ9->y)1QE5E195a=>9 BIBIBI"BIɄYYaIaaɃaia)i rBU=I]{>)]>? ,](Aɞ==Yna@ݚ@y*;t<ٟH{?jT?lX? M`?5tTem? r?)na@ >V;IC2=29DI6 >)64= v vg7~ջ 1M=P9>y  QE E 9 !Ƹa> B!B!B!"B!Ʉ111I99Ƀ9iA)A YrBu?=? ,nh(AYc@@y-;<ٟH?9?X?,3 ?_{e@u?`p?)c@  V;I2}=2=D : :7B"; 1BR=FC99F>yDDQEJEH9J :aJ>L BTBTBT"BTɄ\\\I``Ƀ`i`)d prB}D==ʺ? ,A(AYNi@@y8;<ٟH ?Bצ?[? Ϧ`M?Sg@?m?)Ni@ V;I"="uD*=i*R= . .7V~]= 1VH=V099Z>yXXQEZEX9^2:a^>` BhBhBh"BhɄpppIppɃpit)t rB= YY? ,3(A@iY1g@@y-6;<ٟH ?`?`3[?@5?@f#?m?)1g@ V;IC:̧=:ZND >A>A F F7f 1fH=f89j>yhhQEjEh9n%an>p BxBxBx"BxɄIɃi )  !rBE&=? , (AY^@G@y1; <ٟH\?~?Y?w@?z;f0a?t?)^@ V;IC.=.FDrG|  9Y9 E E 7UA= 1UB=U#9]>yYYQE]Ea9e^ae>i ByByBy"ByɄI郉Ƀi) rBl=E? ,:(AYa@`@y%5; /<ٟH? L?Z?E?@k@f`0e?s?)a@ UV;IC2=2kDI4)4 > >7F& 1FX=F 99J>yHHQEJEH9N:aN>P BXBXBX"BXɄ```I``Ƀ`id)d prB}E=I]l>)]l>? ,XT(AɞY`@N@y3;3<ٟH@t? ]?\Z?@V ?yfe?s?)`@ V;IC"?="IDI&C=)&C= V V7v< 1vD=vQ9v>yxxQEzEx9~a~> BBB"BɄ!!!I!!Ƀ!i))) ArBw=? ,`n(AYra@@y*/;<ٟH@{?lT?OXY?M?`3#e p? q?)ra@ V;IC6&=6BAD r r7% 1%F=%9->y))QE-E)95f29a5>9 BIBIBI"BIɄYYYIYYɃYia)a yrBS=(? ,$d(AYN_@@y45;<ٟHa?v?Z?`o@? |fob?s?)N_@ V;IC"="rODb=ib< f f)7Eb< 1EI=E[W99E>yIIQEMEI9U=(aU>Q BaBaBi"BiɄqqyIyyɃyi) rBa= YY)? ,=(AiY\@l@yw1;<ٟHF?໛?Y?? w ?f@]?t?)\@ bV;IC"N="/pD $$ . .A7F = 1FW=J9J>yHHQEJEH9NBaN>P BXBXBX"BXɄ```I``Ƀdid)h prB}E=_T? ,C(AY#b@@y7;2<ٟH?I?[[?@wB?=2f@o?p?)#b@ HV;IC"޾="jD . . 7F 1FJ=F/`99J>yHHQEJEH9N:aN>P BXBXBX"BXɄ```I``Ƀ`id)d prB~=D<? ,{(AYmV@܏@yJ2;<ٟH??@Y?y?nPIfS?v?)mV@ vV;IC2=2DYDI8):A N N7r̈ 1rE=rM9v>yttQEvEt9zaaz>| B B B "B ɄIɃi!)! 9rBU0=I]p>)]i>f? ,J(AɞY_Z@Γ@y¾5;<ٟH'?`ŧ?`Z??v`ַf[?t?)_Z@ FV;I2d=2^DI6=)4 > >57F+= 1FP=J 99J>yHHQEJEH9N:a>  BBB"BɄ)))I))Ƀ1i1)9 IrBe9=;N? , (AYe@@y 3;<ٟH??|RZ?t`?h@oaf@|?`n?)e@ V;IC2=2nD f f7= 1=@=Eʸ9E>yAAQEEEA9MH;aM>Q BaBaBa"BaɄqqqIqqɃqiy) rB`=x? ,‡#(AY[@M@y1;"<ٟH9?@?@Y??r ;fX?u?)[@ V;I2=2PDpir= v v 7% 1-L=-:9->y)1QE5E1957a=>A BIBIBI"BIɄIɃi) rB%= YY%? ,x`=(A@iYuk@@y3;vY<ٟH??@Z? ~c?`ᣙpfz?k?)uk@ V;ICBn=BEeD DD  7< 1K=%z89%>y!!QE-E)9-;a->1 BABABA"BAɄQQQIQQɃYiY)a yrBP=i? ,>=W(AYh@K@y -;X<ٟH?ݦ?`yDHQEJEH9J XaJ>| B B B "B ɄIɃ!i!)) 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UJ ?{\g@x?n?)a@ )V;IC"y="GD * *- 7Rb 1RI=R79R>yTTQEVET9ZaZ>\ B`BdBd"BdɄhllIllɃlip)p |rB= ? ,e,(AY_@?@y+7;<ٟHg?n?`B[?`g`?񋙿xf>q?`p?)_@ GV;IC"<="SD . . 7NwA< 1RJ=R(|9R>yTTQEVET9Z:aZ>X B)B)B)"B)Ʉ1YYIYYɃYia)a rBd=/ ? ,1,(AYc@d@y_3;a;<ٟH ? ,?cZ?@_%`?tf?`l?)c@  V;IC"="W*DI&C=)&C=&=i$ . .k 7^J% 1bH=be 9b>yddQEfEd9f:aj>h BBB"BɄI郱Ƀi) rB = YYF& ? ,,(Ai@Y]@S@yI7;~Z<ٟHP? ?(-[?U? Gf j?q?)]@ V;IC2n=2EeD f f7_h= 1F=K99>y  QE E 9[a>9 BABIBI"BIɄQIɃi) rB5=n}G 9YAA, ? ,jh,(AYa@B@y /;<ٟH?cN?^Y?vG@?ꗙe@~?`n?)a@ }V;IR&=RBAD - - 7}v 1}C=ޅd9>yށށQEEމ9ڕ:a> BBB"BɄ11I19Ƀ9i9)A yrB=)3 ? ,xC,(AYg@@y3;j<ٟH ?`k?@dZ?`L`1?`) cf ?@k?)g@ V;IC"="vD $&AIP)P TT=[= 1=O=E99E>yAAQEEEI9M:aM>Q BaBaBa"BaɄqqqIyyɃyiy) rBq=I]{>)]i>R9 ? ,X,(Aɞ %=Ynb@ݛ@y7*;;ny<ٟH? BE?A\?`=@?ʼnDeg{n?p?)nb@ YV;IC"="^D . . 7bɼ 1bR=f;99f>yddQEfEd9jaj>l B B B "B ɄIɃi) rB=<@ ? ,-(AYc@@yt0;;Nj<ٟH@?:?J\? {3@?` fgp? p?)c@ YV;IC.=2CMD : :7nS 1nH=rt59r>yppQErEp9vgJ9av>x B!B!B!"B!Ʉ)11I1QɃQiY)Y !rB]=eF ? ,-(AYo@ @yf1; l<ٟH?`9r?FNZ?k?ř,fˬ?e?)o@ V;IC"="rODI&=)&>(i*a= N N 7% ; 1%F=%ཹ9%>y))QE-E)95s;a5>q BBB"BɄI郹Ƀi) rB= YYL ? ,`4-(Ai@Y[h@ʡ@y} 6;F<ٟH`?V?4[?`ߦ@?f?k?)[h@ 0V;IC"k="oD . .7F= 1FT=JA99J>yHHQEJEH9NaN>P BXBXBX"BXɄ9AAIAAɃAiI)I arB}F=wS ? ,ۈN-(AY`@b@y2;پ<ٟH@u?x\?Y?rU?ߐ@Cf(w?o?)`@ V;IC2=2tD f f 7 ; 1 C= 9 >yQEE9 au>y BBB"BɄI郡Ƀi) rBv=\Y ? ,wdh-(AYb@D@y3;<ٟH? z>?jZ?Z7?Ӕ@Y{fz?n?)b@ V;I2#=2KD 46AIp)p v v 7-=% 1-H=-ɇ89->y11QE5E19=y:a=>A BQBQBQ"BQɄaaiIiiɃiii)q rBE=I]p>)]p>` ? ,=-(Aɞ=Yf@8@y3;K1<ٟH? H?@dZ? +@/?bfu?l?)f@ V;IC2=2PD j j 7 ; 1 L= ~9 >yQEE9P:a>! B1B1B1"B1ɄAAAIAAɃAiI)I arB}F=Cf ? ,T-(AYGi@@y}95;:<ٟH ?צ?@y [? UЦK?o-f`?`l?)Gi@ V;I2=2nD : :{7F< 1FS=Jt89J>yHHQEJEH9NM:az>| B B B "B Ʉ!I!!Ƀ!i!)) ArB]4=el ? ,-(AYn@@ys8;<ٟH??a2\?Jz?`g@?h?)n@ 1V;IC2޾=2jD4i6= > >7FR 1FJ=J99J>yHHQEJEL9N:aR>P BXBXBX"BXɄ```I`dɃdid)h trB}F= YYs ? ,-(Ai@Yb@@yG2;<ٟH?`zC?(&Z?@i<? Yfw?o?)b@ ;V;IC"="DYD 2 2- 7VE 1VH=Vmq9Z>yXXQEZEX9^Bna^>` BhBhBh"BhɄpppIppɃpit)t rB=)A A y ? ,V-(AY2c@2%@y20;2<ٟ2H?D0?Y?N) ?કf d|?n?)2c@ 27V;I2CH\dj8=n]D |Y|   7%; 1%B=-'9->y))QE-E)95ɵ9a=>9 BIBIBI"BIɄYaaIaaɃaii)i rBW=<׀ ? ,†.(AYh@@yX8;<ٟH`?@4?`[?`ڦD? g`O?l?)h@ 0V;I"="^DIX)ZA b b9 7%: 1%K=%p99%>y))QE-E)95;:a5>9 BABIBI"BIɄQQYIYYɃYia)a yrBQ=IY)]l> ? ,c.(AɞYh@#@y04;s<ٟH?@?`Z?٦C?h@f ?k?)h@ ,V;IC2̧=2ZND 44 - - 75Ԃ 1=I==\#9=>yAAQEEEA9MH7aM>Q BYBaBa"BaɄiiqIqqɃqiy)y rB]=x+ ? ,<7.(AYj@@ydl2;<ٟH?Gæ?`m_Z?*@W?`'Mf`蔙?i?)j@ V;IC00 f f7 D9 >y QEE9:a>! B)B)B)"B1ɄI郩Ƀi) rB{= ? ,Q.(AY^@ @y6;s<ٟH`Y?(?[?@z?fm? q?)^@ V;IC2=2kD: >E 7Fs< 1F<J<99J>yHHQEJEL9NnuaR>P BXBXBX"BXɄ```I`dɃdid)h trB= YY#= ? ,j.(Ai@Yv\@@yw1;^<ٟH@?)?@Y?@/@?@ 8f+k?r?)v\@  Z ZZ7v 1vE=v8I9z>yxxQEzEx9#a>! B1B1B1"B1ɄaaaIaaɃaii)i rBh=% ? ,Є.(AYi@@y|4;<ٟH? 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ArB]2= ? ,=/(AYb@@y4;<ٟH?J?` Z? C`?Nf@w?@o?)b@ V;IC2z=2DI`)bA f f7E&< 1E?=Ew-99M>yIIQEMEI9U;aU>Y BiBiBi"BiɄyyyIyyɃyi) rBc=I]l>)]i>' ? ,K/(AɞYc@@y.;;(<ٟH? 2?X?+ ?`+e`T?`m?)c@ FV;IC]=0D A  N7ݝ&}: 16=ޥj9>yީީQEEީ99a> BBB"BɄQQYIYYɃYia)a yrB= ? ,Ҫ0(AY]@@yJJ(;<ٟH`N?)?@DW??G e z?o?)]@ V;IC2U=2\D f f 7~ 1i=ڄ9>y  QE E 9a>9 BABABI"BIɄQyyIyyɃyi) rB]=: ? ,ǃ"0(AY-^@@yc *;Z<ٟHU? c?W?@ǁ?VAe`x?p?)-^@ V;IC"="vD&yQE E 9 C9a > BABABI"BIɄQI郹Ƀi) rB= YYc ? ,Z<0(A@i YJq@@ys);<ٟH0?V?`hfX?FP@?̙0e`?d?)Jq@ |V;IC"K="zDI$)&C= 2 2A7Fa 1FR=JW9J>yHHQEJEH9Nk;a^>` BhBhBh"BhɄyI郁Ƀi) rBx=-L ? ,78V0(AY._@@y/;k<ٟH`?x?`7Y?@q@?e;z?@o?)._@ V;I"5="tgD . .7bƒ 1bG=bqs99f>yddQEfEd9j6aj>l BtBtBt"BtɄx||I||Ƀ|i) rB5!=)q q G  1 Y1 w ? ,p0(AY]@[@y.;<ٟHR??DX?Յ ?`e mw?o?)]@ V;IC2`=2GDI4)6A88 > >7F= 1FN=J99J>yHHQEJEH9N|ʹaN>P BXBXBX"BXɄ```I``Ƀdid)h prB=I]x>)]p>]" ? ,0(Aɞ%=Y6f@@y;e,;`<ٟH?!? X? 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Y?/'?Ɨ]fu~?`n?)c@ 3V;I"ŷ="aD $$ 2 2 7r= 1rH=vM9v>yttQEzEx9zaz>| B B B "B Ʉ!I!!Ƀ!i!)) ArBU2=M6v ? ,41(AYY@*@yNr2;<ٟH@ ?ϧ?Y?@ȧ@?yHNf_?`t?)Y@ $V;IC2П=2DD > > 7F 1FP=J89J>yHHQENEL9NMaR>P BXBXBX"BXɄ99AIAAɃAiI)I arB}G=k`| ? ,O1(AY\@9@yT@3;a;<ٟH@D?? Z?𗧿?hf f?r?)\@ mV;IC"n="EeD$i&< . .7F= 1FJ=F79J>yHHQEJEH9Nr:aN>P BXBXBX"BXɄ```I``Ƀdid)d prB~= YYWI ? , 2(A@iY[@@y3;<ٟH0??u#Z? ?y~f`_?@t?)[@ V;IC"y="GDI$)&> V Vs7rd 1vD=vV79v>ytxQEzEx9za~> B B B "BɄ!!I!!Ƀ!i))) ArB]4=nr ? ,'2(AYR@W@y?6;;<ٟH?=?`_Z? 5 Q?af@F?x?)R@ `V;IC"="CMD f f^ 7 έ; 1 H= 89>yQEE9 a>! B1B1B1"B1ɄAAAIAAɃIiI)Q arBG=EZ ? ,zA2(AYZ@1@y_t5;<ٟH ,?@?|Z?g?U|fa?s?)Z@ 4V;I2=2yIQQEUEQ9U;a]>a BiBiBi"BqɄyyI郁Ƀi) rBf=IY)]> ? ,?T[2(AɞY;U@@yF+;<ٟH?Z?W?@i?@uhe@\?u?);U@ V;IC6\=6HD 88 B B^ 7JL< 1JV=Nչ9N>yLPQEREP9RaV>T B\B\B\"B`ɄdddIhhɃhih)l xrB  = ? , 1u2(AYY@I@y *;<ٟH@"?`ͧ? W?@Ƨ?`艙@]e,q?q?)Y@ V;IC"="WD . .7Fe< 1FK=Ff9J>yHHQEJEH9N:aN>P BXBXBX"BXɄ```I``Ƀdid)d prB~=f ? , 2(AYZ@W@yE,;<ٟH.?`?)X? ? ߈ eo?q?)Z@ ,V;IC2}=2=D8i:< B B7bEƼ 1fF=f%S89f>yhhQEjEh9n9an>p BtBtBt"BxɄ|IɃi )  !rB=#= YY" ? ,2(AiYld@۝@yxr4;~=<ٟH`?%?LZ? ?젙 Mf?@l?)ld@ CV;I2=2.dDI6=)6C= > > 7F= 1FN=F99J>yHHQEJEH9N1@;aN>! B)B)B)"B1Ʉ9AAIAAɃAiI)I rB >2 ? ,v2(AYk@ @yq2;<ٟH?@D?TzZ?``?@E@,Yf?f?)k@ V;I"="`D V Vw 7v[L 1~D=Ex9E>yQYQE]EY9e;ae>q BBB"BɄI郹Ƀi) rB=N0 ? ,&2(AY6c@63@y6w3;6;<ٟ6H?/?eZ?`n( ?vfˆ?`l?)6c@ 6SV;I6Cr1=rFqDIY)]A m mk 7f< 11=89>y  QE E 9G a> BBB"BɄI!!Ƀ!i))) rB=Iեx>)եp>) UGiҁ ӱYұY ? ,2(Aɞ YX@@yb(;˜<ٟH? ?W? ٧@?8`W e r?`q?)X@ V;IC"y="GD $&A Z Z^ 7r_7 1r^=v9v>yttQEvEt9ztqaz>y BBB"BɄI郹Ƀi) rB=B ? ,+3(AY{Z@@ys+;Pi<ٟH)?}ç?W?׼?`Hzne yl?`r?){Z@  V;IC"Y="RD . .7R`3< 1RN=R89R>yTTQEVET9ZK:aZ>\ BdBdBd"BdɄhl|I||Ƀ|i) rB5 =n ? ,+3(AYn@l@yL/;]<ٟH@? |?@bY? u@?vÙe?e?)n@ V;I.n=2EeD4i6= > >w 7^Γ< 1bH=b99b>yddQEfEd9f;aj>x ~ ~Software Fault BB B "B Ʉ199I99Ƀ9iA)A y-"Software Fault in component: DeadReckonUsingMultipleVelocitySourcesrB= ՙԙS ? ,!E3(A@i@YQl@@y@+;X#<ٟH??HX?@Ÿh?he?`g?)Ql@ cV;IC"="DYDI&C=)$ v v7%; 1%D=%9->y))QE-E)95Ma5> BaBaBa"BaɄqqqIqqɃqi) "Clearing failed state for component DeadReckonUsingMultipleVelocitySources  rB=~ ? ,p_3(AY^^@͗@y);׹<ٟHW?N?`W? ~?@ώ2e@v?p?)^^@ V;ICBv=BQD = = 7} 1}D=ޅ9>yށށQEEމ9"a> BBB"BɄIɃi) 1rBM= ? ,Ky3(AYT@@yht';^<ٟH? "?V?`l`a?pd|X?v?)T@ V;IC" ="YBDIP)RA Z Z- 7re 1rU=r9r>yttQEvEt9zMaz> B)B)B)"B)Ʉ1IɃi) 9rBM=I՝p>)՝l>v ? ,$3(AɞY]@@y,;r<ٟHH?ݙ?JgX?@"@?`em?r?)]@ V;IC6c=:A5D 8:A F F7bT 1bL=b0U99f>yddQEfEd9j+;aj>| B B B "B Ʉ9I99Ƀ9iA)A YrBuA=K ? ,3(AYM^@@y/;<ٟHV?@?P3Y?`?@eNq? q?)M^@ cV;ICf=fnD r r7%h]= 1%D=-89->y)1QE5E1959a]>Y BiBiBi"BiɄI郡Ƀi) rB=¢ ? ,f3(AYa@@yAj*;HJ<ٟH@}? R? W?eK?נFMe?l?)a@ 9V;IC"="DRyxxQEzEx9~o:a]>a BqBqBq"BqɄI郁Ƀi) rBh= ՙԙ= ? ,մ3(AiY}`@@y%/;"<ٟH p?c?WY?\?eQ~?n?)}`@ 7V;IC"R=&\fDI&=)&> f fg7  1 H=H999>yQEE9a%>! B1B1B1"B1ɄAAAIAIɃIiI)Q rB= Sending 178 bytes from file Logs/20210518T161005/Express0010.lzma9 ? ,`3(AYmgZ@m֓@ym0;m<<ٟmH`(?`ħ?`yQQQE]EY9]˺a]>a BqBqBq"BqɄI郁Ƀi) rB= ? ,/l4(AY`@@yYB1;^<ٟH@p?|c?oY?\ ?떙`I(f Y}?n?)`@ V;I"#="KDI()*A . .7F؄ 1F=Fs 89J?yHHQEJEH9N;aN?P BXBXBX"BXɄ```I``Ƀ`id)d prB~=Iեx>)ե> }G) A i Yi o ? ,F.4(AɞYf^@՗@y˒/;[<ٟHW?? Y?7~ ?`WeYz?@o?)f^@ ?V;IC"̧="ZND &A$ 2 2 7VP; 1VH=V:9Z>yXXQEZEX9^u%a^>` BhBhBh"BhɄpppIppɃpit)t rB=uxMoved sent file to Logs/20210518T161005/Express0010.lzma.baku$SBD MOMSN=15648767 ? ,"H4(AYrX@@y*;<ٟH?? W?]ݧ?v4Ve ^?@u?)rX@ 7V;ICF=FFD R R !7ZI= 1ZJ=Z@9^>y\\QE^E\9bab>d BlBlBl"BlɄtttIttɃtix)x rB%= ? ,a4(AYFY@@y);YK<ٟH? ֧? zW?!Ч@?J/9eh?@s?)FY@ V;IC"=".D*=i*4= 2 2Z7:, 1:O=:9:>y<E<9B9aB>D BHBLBL"BLɄPTTITTɃTiX)X rBE(= աԡD ? ,#{4(Ai@YT`@Ù@yg-;<ٟH`n?/f?`{X?@`_?@Ke z?`o?)T`@ V;IR]=R0DIVC=)V4= ^ ^7v= 1vC=v"99v>yxxQEzEx9~;a>! B1B1B1"B1ɄIɃi) !rB]=.% ? ,04(AY R@@y .;2<ٟH@? I?`cJX?aB H?]_ |eE?y?) R@ ƼV;IC.̧=2ZND b bs7~׏ 1~I=H69>yQE E 9 a > B!B!B!"B!Ʉ1QYIYYɃYiY)a rB-=W+ ? ,4(AYne@ݞ@y-;<<ٟH?@?JX? ? e݆?l?)ne@ ոV;IC"<="SDI`)` f f 7; 1J=c9>y  QE E 9";a>9 BABABI"BIɄQyyIyyɃyi) rB=I՝l>)՝l>h>2 ? ,y))QE-E)95M9a5>9 BIBIBI"BIɄQyyIyyɃyi) rB=(i8 ? ,F4(AYe@@y-V*;o<ٟH`?`c? & X? ?`YJe@L?k?)e@ V;IC"="/|D * * 7^}< 1bQ=b189b>yddQEfEd9f#+aj>h BpBpBp"BpɄxxxIx|Ƀ|i|) rBi=> ? , 4(AY_@p@yN*;<ٟH _? 2{?@X?t?H (]et?p?)_@ #V;IC2=2D4i6= > > 7F= 1FN=J!79J>yHHQEJEH9N aN>P BXBXBX"BXɄ```I``Ƀdid)h prB~= աԡzE ? ,5(AiYe@o@y /;}/<ٟH?? nY?? E@e`yhhQEjEl9n:ar>p BxBxBx"BxɄI Ƀ i ) )rBE&=ۤK ? ,05(AYcd@ҝ@y=(;+<<ٟH?%?ݏW?? e҆?`m?)cd@ mV;IC  . . 7F9F>yHHQEJEH9NFaN>x BBB "B ɄIɃi!)! 9rBU0=fR ? ,J5(AY^@@y*;/<ٟH@[??W?@y?@u@\e`t?p?)^@ eV;IC2*=2uDI`)bA f fw 7M< 1U<Ub89U>yYYQE]EY9eԺae>y BBB"BɄI郩Ƀi) rB=I՝t>)՝i>mX ? ,d5(Aɞ =Yo@G@y7/;%<ٟH?fn?Y?_g@? e` ?g?)o@ V;I"<="SD $&A ddJ 1O= 5N99 >y  QE E9V;a>9 BIBIBI"BIɄY I  Ƀ i ) )rBE=)! !э3Gҡҹ Y^ ? ,j~5(AYi@ @y_/;:<ٟH?Ѧ?`kY?ʦM?4 e@s?k?)i@ V;IB=B;D v v7%z 1%H=%9%>y))QE-E)95Ma5>9 BABIBI"BIɄQyyIyyɃyi) qrB=e ? ,E5(AYe@l@y1(;F<ٟH?`y ?`bW?`&?˟4e$? m?)e@ V;I"="PD$i&4= * * 7rT< 1rN=r9r>yttQEvEt9zaz>| BB B "B Ʉ9I99Ƀ9iA)A yrBR= ՙԙ?k ? ,h5(Ai@Yb@5@yk/;<ٟH?@1??`ZOY?J8`?  oey?`o?)b@ V;IC"r="s[DI&>)&= 00b1< 1bL=b99b>yddQEfEd9jaj>l BpBpBt"BtɄxx|I| Ƀ i)! 1rBm?=xr ? ,5(AY]@}@yW`/;<ٟHG??@ Y??Z eo?`q?)]@ V;I"U="\D * * 7N: 1RL=Rߵ9R>yTTQEVET9ZaZ>X B`B`Bd"BdɄhhlIl|Ƀ|i) 9rBU/=y ? ,5(AYZe@ɞ@y)1;<<ٟH`?? [Y?@? .`2%fᆙ?l?)Ze@ ϒV;Ib=brODIh)jA n n7%=J 1-B=-89->y)1QE5E195;a]>a BBB"BɄI郱Ƀi9)A rB=Iՙ)՝l>. ? ,5(Aɞ Y,^@@ym0;ч<ٟHT?ˆ? \Y?ց`?ԉ fHp? q?),^@ JV;IC"="qCD $$ 2 2 7vD 1vN=z9z>yxxQE~E|9a> BBB"BɄAAAIIIɃIiy)y rBn= ? , 6(AYY@ @y[2;<ٟH?mЧ?Y?sɧ`?`ovsKf@I\?u?)Y@ V;IC"<="SD V V 7r3< 1rK=rX89r>yttQEvEt9zaz> BBB"BɄIɃi) !rB]=B ? ,i36(AY_@v@y6;Ҕ<ٟH`^?e{?`Z?*t?`tf q?`p?)_@ IV;IC" ="YBD`ib< f f{!7늼 1H=  %99 >y QEE9:a>1 BIBQBQ"BQɄIɃi) rB= ՙԙ( ? ,-@M6(A@i@Y[@@y6b4;dd<ٟH5?@? :Z? ?DDfk?q?)[@ V;ICF޾=FjDIJ=)J4=  9 7== 1=G=E몸9E>yAAQEEEA9MaM>Q BaBaBa"BaɄqqqIqqɃqiy) rB_=DS ? ,g6(AYU\@ĕ@y/;}<ٟH@??`?Y?>?`<ep? q?)U\@ V;IC2C=2+@D : :7B5 1FW=FF9F>yHHQEJEH9JK9aN>! B)B)B)"B)Ʉ99AIAAɃAiA)I arB}D= ; ? ,6(AY\@E@y"n3;<ٟHD?A?@ Z?0`?`mffq?p?)\@ V;I2=23DI4)6A > >7FR 1FJ=Jx99J>yHHQEJEH9Nl9aN>P BXBXBX"BXɄ```I``Ƀdid)h arBe=Iեp>)աd ? ,|њ6(Aɞ%=%=Yg@P@yH05;&<ٟH ??Z?榿@9?Q f p?j?)g@ V;IC2=2UD 6A6A B B !7Fq = 1JJ=J&89J>yLLQENEL9RTZ;aR>T BXBXBX"B\ɄhptIttɃtix)x rB-=EGYq әYҡM ? ,6(AYu\@@y77;,<ٟH@? ?/[?> ?`fd?r?)u\@ V;ICB=B%D N N 7rH< 1rE=r^89v>yttQEvEt9zt\az>| B B B "B ɄIɃi!)! 9rBU0=)w ? ,6(AY_@@y2/;(<ٟHe? r?Y?-k? PTe{? o?)_@ %V;IC2*=2p7Dxiz<  7EA< 1MD=M9M>yIQQEUEQ9Up:a]>a BiBiBi"BqɄyyI郁Ƀi) rBf= աԡ頹 ? ,b6(A@iY&d@@y@0;W<ٟH?F)?RY?@P"?@of@>?l?)&d@ "V;IC2ȯ=2-XDI6=)6C= v v7m(= 1uH=u$89u>yyyQE}Ey9:a> BBB"BɄI郱Ƀi) rB~=3 ? ,u?7(AY_@4@y6,;/<ٟHh?`o? ْX?Nh?`ꋙ şe`s?q?)_@ WV;IC2k=6oD v v 7%< 1-O=- 9->y11QE5E19=a=>A BIBIBQ"BQɄYaaIaaɃaii)i rB-=@ ? ,H7(AY^@@y|v0;(<ٟHZ?@ր?`bY?y?f r?p?)^@ nV;ICRy=RGDIX)X ^ ^Z7f" 1fP=j 99j>yhhQEjEh9nan>p BxBxBx"BxɄIɃ i ) !rB=%=Iեt>)եp> ? ,57(Aɞ==Yc@@yx-;`7<ٟH?@s1?X?@* ? `e8?m?)c@ V;ICBY=BRD DFA N N7V1< 1VL=Z׸9Z>yXXQEZE\9%:a%>) B9B9B9"B9ɄIIIIIIɃIiQ)Q irBI=W ? ,O7(AY*h@*@y*u-;*<ٟ*H?`|? Y?ۦ`A?e *?j?)*h@ *ϡV;I(R=R9D ^ ^7fȼ 1fH=f(A9j>yhhQEjEh9n:an>p BxBxBx"BxɄIɃi )  rBg= ? ,i7(AY&d@&5@y&4;&K<ٟ&H`??V;I&C2=2DYD4i6< > >R 7r< 1rI=rN99v>yttQEvEt9zaz> B)B)B)"B)ɄYYaIaaɃaii)i !rB]= ՙԙP ? ,7(AiY&"g@&@y&4;& <ٟ&H? ?Z?`3? >fa?m?)&"g@ &_V;I$>`=>GDI@)B> v v57L= 1H=6p9 >y  QE E 958:a5>9 BIBIBI"BIɄyyyIyyɃi) rB= ? ,;q7(AY9^@@y3;.<ٟH@U??3Z?@?6Aufe? s?)9^@ aV;ICb̧=bZND E E 7ݕo 1A=ޝ(9>yޙޡQEEޡ9{(a> BBB"BɄ IɃi) rB=P, ? ,@7(AY^@}@y~0;?<ٟHS??`(jY?@?ր.f?g?s?)^@ AV;IC"="3DIP)RA Z Z 7r{ 1rW=rX9r>yttQEvEt9zHbaz> BBB"BɄIɃi) rB=I՝x>)ՙ ? ,7(Aɞ YX`@Ǚ@y[4;ވ<ٟHm?@f?rZ?_?``|fip?p?)X`@ V;I"\="HD $$ 2 2k 7F< 1FP=Jg99J>yHHQEJEL9Nw::a^>` BhBhBh"BhɄIɃ i ) ArB==X> ? ,7(AYW@@y-;R<)( (ٟH? ?`kpX?@駿?``tWeZ?u?)W@ דV;ICZGdp Y=ҀD 5 57eU= 1e==m>s9m>yiiQEmEi9u a> BBB"BɄYYaIaaɃaia)i rB=%? ,8(AYW@7@yu+;<ٟH ?@?W?秿`?hrte@jY?v?)W@ V;I"="rODPiP V V9 7%N 1-N=-T9->y11QE5E19]u8a]>a BiBiBi"BqɄI郡Ƀi) rB= ՙԙO? ,8(A i YS@7@yi);<ٟH?`m.?OIW?' Z?h+:eP? x?)S@ V;IC"v="QDI&=)&R= f f 7E ; 1EI=E9E>yIIQEMEI9U7aU>Y BiBiBi"BiɄqI郙Ƀi) rBs=z ? ,w88(AYT@@yJ );<ٟH`?)?~W?` #@\?q'!eX?`v?)T@ 5V;IC"="*4D V V7v 1vP=v9v>yxxQEzEx9~8a~> B BB"BɄ!!I!!Ƀ!i))) rBw=a? ,]R8(AYBU@@y*;<ٟH`??qW?Oi?@u5Ze\?u?)BU@ V;ICBy=BGDIH)JA R Rg7Z< 1ZN=Z܏89Z>y\\QE^E\9b9ab>d BhBhBl"BlɄpttIttɃtix)x rB%=Iեt>)եl>f? ,:l8(Aɞ%=YFW@@yB(;WB<ٟH? ?W??]eg?s?)FW@ V;ICZ=ZrOD \\ f fR 7n; 1nG=rǸ9r>yppQEvEt9vq:av>x BBB"BɄIɃi)! 1rBM-=Sending 651 bytes from file Logs/20210518T164428/Express0001.lzmas!? ,<8(AYX@@y*#+;$<ٟH` ?z?W?`⧿ ?|cdec? t?)X@ V;IC"=".dD V Vk 7< 1F=%789%>y!!QE-E)9-9a->1 BABABA"BAɄQQQIQYɃYiY)a yrBP='? ,k8(AYhQ@׊@y;,;F~<ٟH?~T? >W?M=?h }e O? x?)hQ@ V;IC2=2;Dr=irp= v v7% " 1-J=-<-89->y11QE5E195/a> BBB"BɄIɃi) rB= աԡxMoved sent file to Logs/20210518T164428/Express0001.lzma.bak$SBD MOMSN=15648772,-? ,:ι8(AiYZ@N@y4 :;9<ٟH-?@? [?? yAg`]?t?)Z@ cV;IBŷ=BaDIBR=)BC= v v 7~= 1~M= :9>yQE E 9 =;a > B!B!B!"B!Ʉ111I11Ƀ9i9)A YrBm?=4? , 8(AYNn@@y,6;2 <ٟH ?@W?`[?`@?Fcf`p?g?)Nn@ V;IC"="]rD . .9 7Nڇ< 1RQ=R9R>yTTQEVET9ZW;aZ>X B`B`B`"BdɄhhlIllɃlip)p |rB =:? ,8(AYCe@@yk9;<ٟH??@[?`?󝙿^-g'?l?)Ce@ V;IC2y=2GDI4)4 > >N7Fd, 1FL=J89J>yHHQEJEH9N24aN>P BXBXBX"BXɄ999I99ɃAiA)I YrBuB=Iեl>)եi>A? ,W_9(Aɞ=Y l@{@y~5;<ٟH? W?Y4[?g?ԯf`͘?h?) l@ V;IC"="ӒD $$ . .7b= 1bG=b9f>yddQEfEd9j ;aj>| B B B "B ɄI郹Ƀi) rB=G? ,y)1QE5E195&a]>a BiBiBi"BqɄIɃi)  !rB]=u}Gґҩ YN? ,P;9(AYk@(@ykV8;c<ٟH?র?` [??@f?`` g`‹?k?)k@ V;I^=bWDf=if< n nE 7vh 1vN=v89v>yxxQEzEx9~:a~> BBB"BɄAAAIAAɃAiI)I rBh= աԡʹT? , T9(A@i@Yg@'@ygz3;&<ٟH`?a?@Z??馿`:?Kof)?m?)g@ 7V;IC"="rODI&=)$ V V7% 1%G=%(=9%>y))QE-E)95웺a5>y+4Initialize Wait Component. BBB"BɄIɃi) rB=([? ,>n9(AYnb@ݛ@y?K5;<ٟH@?D?Z?=?$ff w?@o?)nb@ ПV;IC"="y  QE E 9Ӻa> BBB"BɄIɃi) rB5=wb? ,9(AY[@B@yT4;K<ٟH8?`u?`=Z?@\ ?@2 fh?@r?)[@  V;IC"ӗ=":DIP)RA V Vk 7r 1rL=r9r>yttQEvEt9zaz> B)B)B)"B)Ʉ1YYIYYɃYia)a rBM=I՝x>)՝e>l:h? ,9(Aɞ%=YY@a@y91;<ٟH"?P̧? qhY?@dŧ?`|u4'f`[?@u?)Y@ V;IC:=:yptQEvEt9vaz>x B!B!B!"B!Ʉ111IYYɃYiY)a yrBQ=qcn? ,![9(AYO@%@y0;<ٟH? o?X?h,?`Uf@:?{?)O@ V;IC2=2FD > > 7n'< 1rJ=r9r>yttQEvEt9zJaz>x BBB"B ɄIɃi!)! 9rBU/=Ku? ,79(AYb@f@y4;<ٟH?fyLLQENEL9Rt;aR>T BXBXBX"B\Ʉ``dIddɃdih)h trBI= աԡu{? ,{9(A@i@Y<\@@yĉ.; <ٟH@>??`X?Π? z6e `?t?)<\@ V;IC"="3DI$)$ 2 2k 7rԆ 1rE=r w9v>yttQEvEt9zaz>| B)B)B)"B)Ʉ19IɃi) 9rBU=o^? , :(AYpZ@ߓ@y}K,;<ٟH )? 5ħ? 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