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type=01 *a code=03DB owner=001E element=0442 universal=3FFF unitName="none" type=00 size=000B fl=05 i{6N /dev/loadB3*e code=0443 elementURI="DAT.uart" type=01 *a code=03DC owner=001E element=0443 universal=3FFF unitName="none" type=00 size=000A fl=05 {6N /dev/ttyB3*e code=0444 elementURI="DAT.baud" type=01 *a code=03DD owner=001E element=0444 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 {6N @*e code=0445 elementURI="DATMMP.loadControl" type=01 *a code=03DE owner=001E element=0445 universal=3FFF unitName="none" type=00 size=000B fl=05 {6N /dev/loadB3*e code=0446 elementURI="DATMMP.uart" type=01 *a code=03DF owner=001E element=0446 universal=3FFF unitName="none" type=00 size=000A fl=05 {6N /dev/ttyB3*e code=0447 elementURI="DATMMP.baud" type=01 *a code=03E0 owner=001E element=0447 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 |6N @*e code=0448 elementURI="DDM.loadControl" type=01 *a code=03E1 owner=001E element=0448 universal=3FFF unitName="none" type=00 size=000B fl=05 )|6N /dev/loadA6*e code=0449 elementURI="DDM.uart" type=01 *a code=03E2 owner=001E element=0449 universal=3FFF unitName="none" type=00 size=000A fl=05 I|6N /dev/ttyA6*e code=044A elementURI="DDM.baud" type=01 *a code=03E3 owner=001E element=044A universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 i|6N @*e code=044B elementURI="Depth_Keller.loadControl" type=01 *a code=03E4 owner=001E element=044B universal=3FFF unitName="none" type=00 size=000B fl=05 |6N /dev/loadA0*e code=044C elementURI="Depth_Keller.ad" type=01 *a code=03E5 owner=001E element=044C universal=3FFF unitName="none" type=00 size=000E fl=05 |6N/dev/mcp3553A0*e code=044D elementURI="Depth_Keller.adRes" type=01 *a code=03E6 owner=001E element=044D universal=3FFF unitName="bit" type=1F size=0008 fl=05 |6N@*e code=044E elementURI="Depth_Keller.adTimeout" type=01 *a code=03E7 owner=001E element=044E universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 |6N>*e code=044F elementURI="Depth_Keller.adVref" type=01 *a code=03E8 owner=001E element=044F universal=3FFF unitName="volt" type=0B size=0003 fl=05 }6N @*e code=0450 elementURI="DepthKeller33X.loadControl" type=01 *a code=03E9 owner=001E element=0450 universal=3FFF unitName="none" type=00 size=000B fl=05 )}6N /dev/loadC3*e code=0451 elementURI="DepthKeller33X.uart" type=01 *a code=03EA owner=001E element=0451 universal=3FFF unitName="none" type=00 size=000A fl=05 I}6N /dev/ttyC3*e code=0452 elementURI="DepthKeller33X.baud" type=01 *a code=03EB owner=001E element=0452 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 i}6N@*e code=0453 elementURI="DockingServo.loadControl" type=01 *a code=03EC owner=001E element=0453 universal=3FFF unitName="none" type=00 size=000B fl=05 }6N /dev/loadB1*e code=0454 elementURI="DockingServo.uart" type=01 *a code=03ED owner=001E element=0454 universal=3FFF unitName="none" type=00 size=000A fl=05 }6N /dev/ttyB1*e code=0455 elementURI="DockingServo.baud" type=01 *a code=03EE owner=001E element=0455 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 }6N@*e code=0456 elementURI="DockingStepper.loadControl" type=01 *a code=03EF owner=001E element=0456 universal=3FFF unitName="none" type=00 size=000B fl=05 }6N /dev/loadB1*e code=0457 elementURI="DockingStepper.uart" type=01 *a code=03F0 owner=001E element=0457 universal=3FFF unitName="none" type=00 size=000A fl=05 ~6N /dev/ttyB1*e code=0458 elementURI="DockingStepper.baud" type=01 *a code=03F1 owner=001E element=0458 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )~6N@*e code=0459 elementURI="DUSBL_Hydroid.loadControl" type=01 *a code=03F2 owner=001E element=0459 universal=3FFF unitName="none" type=00 size=000B fl=05 I~6N /dev/loadC4*e code=045A elementURI="DUSBL_Hydroid.uart" type=01 *a code=03F3 owner=001E element=045A universal=3FFF unitName="none" type=00 size=000A fl=05 i~6N /dev/ttyC4*e code=045B elementURI="DUSBL_Hydroid.baud" type=01 *a code=03F4 owner=001E element=045B universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ~6N @*e code=045C elementURI="DVL_micro.loadControl" type=01 *a code=03F5 owner=001E element=045C universal=3FFF unitName="none" type=00 size=000B fl=05 ~6N /dev/loadB4*e code=045D elementURI="DVL_micro.uart" type=01 *a code=03F6 owner=001E element=045D universal=3FFF unitName="none" type=00 size=000A fl=05 ~6N /dev/ttyB4*e code=045E elementURI="DVL_micro.baud" type=01 *a code=03F7 owner=001E element=045E universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ~6N@*e code=045F elementURI="ElevatorServo.loadControl" type=01 *a code=03F8 owner=001E element=045F universal=3FFF unitName="none" type=00 size=000B fl=05 6N /dev/loadA4*e code=0460 elementURI="ElevatorServo.uart" type=01 *a code=03F9 owner=001E element=0460 universal=3FFF unitName="none" type=00 size=000A fl=05 )6N /dev/ttyA4*e code=0461 elementURI="ElevatorServo.baud" type=01 *a code=03FA owner=001E element=0461 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 I6N@*e code=0462 elementURI="ESPComponent.loadControl" type=01 *a code=03FB owner=001E element=0462 universal=3FFF unitName="none" type=00 size=000B fl=05 i6N /dev/loadA6*e code=0463 elementURI="ESPComponent.loadControl2" type=01 *a code=03FC owner=001E element=0463 universal=3FFF unitName="none" type=00 size=000B fl=05 6N /dev/loadA7*e code=0464 elementURI="ESPComponent.uart" type=01 *a code=03FD owner=001E element=0464 universal=3FFF unitName="none" type=00 size=000B fl=05 6N /dev/ttyTX1*e code=0465 elementURI="ESPComponent.consoleUart" type=01 *a code=03FE owner=001E element=0465 universal=3FFF unitName="none" type=00 size=000A fl=05 6N /dev/ttyA6*e code=0466 elementURI="ESPComponent.baud" type=01 *a code=03FF owner=001E element=0466 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 6N @*e code=0467 elementURI="MassServo.loadControl" type=01 *a code=0400 owner=001E element=0467 universal=3FFF unitName="none" type=00 size=000B fl=05 6N /dev/loadA5*e code=0468 elementURI="MassServo.uart" type=01 *a code=0401 owner=001E element=0468 universal=3FFF unitName="none" type=00 size=000A fl=05 )6N /dev/ttyA5*e code=0469 elementURI="MassServo.baud" type=01 *a code=0402 owner=001E element=0469 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 I6N@*e code=046A elementURI="Micromodem.loadControl" type=01 *a code=0403 owner=001E element=046A universal=3FFF unitName="none" type=00 size=0009 fl=05 i6N /dev/null*e code=046B elementURI="Micromodem.uart" type=01 *a code=0404 owner=001E element=046B universal=3FFF unitName="none" type=00 size=0009 fl=05 6N /dev/null*e code=046C elementURI="Micromodem.baud" type=01 *a code=0405 owner=001E element=046C universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 6N@*e code=046D elementURI="MultiRay.loadControl" type=01 *a code=0406 owner=001E element=046D universal=3FFF unitName="none" type=00 size=000B fl=05 ɀ6N /dev/loadC1*e code=046E elementURI="MultiRay.uart" type=01 *a code=0407 owner=001E element=046E universal=3FFF unitName="none" type=00 size=000A fl=05 逿6N /dev/ttyC1*e code=046F elementURI="MultiRay.loadControl2" type=01 *a code=0408 owner=001E element=046F universal=3FFF unitName="none" type=00 size=000B fl=05 6N /dev/loadA6*e code=0470 elementURI="MultiRay.uart2" type=01 *a code=0409 owner=001E element=0470 universal=3FFF unitName="none" type=00 size=000A fl=05 )6N /dev/ttyA6*e code=0471 elementURI="MultiRay.baud" type=01 *a code=040A owner=001E element=0471 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 I6N@*e code=0472 elementURI="NAL9602.loadControl" type=01 *a code=040B owner=001E element=0472 universal=3FFF unitName="none" type=00 size=000B fl=05 i6N /dev/loadB7*e code=0473 elementURI="NAL9602.uart" type=01 *a code=040C owner=001E element=0473 universal=3FFF unitName="none" type=00 size=000A fl=05 6N /dev/ttyS2*e code=0474 elementURI="NAL9602.baud" type=01 *a code=040D owner=001E element=0474 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 6N@*e code=0475 elementURI="NanoDVR.loadControl" type=01 *a code=040E owner=001E element=0475 universal=3FFF unitName="none" type=00 size=000B fl=05 Ɂ6N /dev/loadC4*e code=0476 elementURI="NanoDVR.uart" type=01 *a code=040F owner=001E element=0476 universal=3FFF unitName="none" type=00 size=000A fl=05 避6N /dev/ttyC4*e code=0477 elementURI="NanoDVR.baud" type=01 *a code=0410 owner=001E element=0477 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 6N @*e code=0478 elementURI="OnboardHumidity.i2c" type=01 *a code=0411 owner=001E element=0478 universal=3FFF unitName="none" type=00 size=000A fl=05 )6N /dev/i2c-0*e code=0479 elementURI="OnboardHumidity.i2cAddr" type=01 *a code=0412 owner=001E element=0479 universal=3FFF unitName="count" type=0D size=0004 fl=05 I6N'*e code=047A elementURI="OnboardPressure.i2c" type=01 *a code=0413 owner=001E element=047A universal=3FFF unitName="none" type=00 size=000A fl=05 i6N /dev/i2c-0*e code=047B elementURI="OnboardPressure.i2cAddr" type=01 *a code=0414 owner=001E element=047B universal=3FFF unitName="count" type=0D size=0004 fl=05 6N`*e code=047C elementURI="PAR_Licor.loadControl" type=01 *a code=0415 owner=001E element=047C universal=3FFF unitName="none" type=00 size=000B fl=05 6N /dev/loadB0*e code=047D elementURI="PAR_Licor.ad" type=01 *a code=0416 owner=001E element=047D universal=3FFF unitName="none" type=00 size=000E fl=05 ɂ6N/dev/mcp3553B0*e code=047E elementURI="PAR_Licor.adRes" type=01 *a code=0417 owner=001E element=047E universal=3FFF unitName="bit" type=1F size=0008 fl=05 邿6N@*e code=047F elementURI="PAR_Licor.adTimeout" type=01 *a code=0418 owner=001E element=047F universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 6N>*e code=0480 elementURI="PAR_Licor.adVref" type=01 *a code=0419 owner=001E element=0480 universal=3FFF unitName="volt" type=0B size=0003 fl=05 )6N @*e code=0481 elementURI="Phins_Multibeam.loadControl" type=01 *a code=041A owner=001E element=0481 universal=3FFF unitName="none" type=00 size=000B fl=05 I6N /dev/loadC6*e code=0482 elementURI="PNI_TCM.loadControl" type=01 *a code=041B owner=001E element=0482 universal=3FFF unitName="none" type=00 size=000B fl=05 i6N /dev/loadC7*e code=0483 elementURI="PNI_TCM.uart" type=01 *a code=041C owner=001E element=0483 universal=3FFF unitName="none" type=00 size=000A fl=05 6N /dev/ttyC7*e code=0484 elementURI="PNI_TCM.baud" type=01 *a code=041D owner=001E element=0484 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 6N@*e code=0485 elementURI="Power24vConverter.loadControl" type=01 *a code=041E owner=001E element=0485 universal=3FFF unitName="none" type=00 size=000B fl=05 Ƀ6N /dev/loadB2*e code=0486 elementURI="PowerOnly.loadControl" type=01 *a code=041F owner=001E element=0486 universal=3FFF unitName="none" type=00 size=000B fl=05 郿6N /dev/loadC1*e code=0487 elementURI="PowerOnly.loadControl2" type=01 *a code=0420 owner=001E element=0487 universal=3FFF unitName="none" type=00 size=0009 fl=05 6N /dev/null*e code=0488 elementURI="PowerOnly.loadControl3" type=01 *a code=0421 owner=001E element=0488 universal=3FFF unitName="none" type=00 size=0009 fl=05 )6N /dev/null*e code=0489 elementURI="Radio_Surface.loadControl" type=01 *a code=0422 owner=001E element=0489 universal=3FFF unitName="none" type=00 size=000B fl=05 I6N /dev/loadB6*e code=048A elementURI="RDI_Pathfinder.loadControl" type=01 *a code=0423 owner=001E element=048A universal=3FFF unitName="none" type=00 size=000B fl=05 i6N /dev/loadB4*e code=048B elementURI="RDI_Pathfinder.uart" type=01 *a code=0424 owner=001E element=048B universal=3FFF unitName="none" type=00 size=000A fl=05 6N /dev/ttyB4*e code=048C elementURI="RDI_Pathfinder.baud" type=01 *a code=0425 owner=001E element=048C universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 6N @*e code=048D elementURI="Rowe_600.loadControl" type=01 *a code=0426 owner=001E element=048D universal=3FFF unitName="none" type=00 size=000B fl=05 Ʉ6N /dev/loadB4*e code=048E elementURI="Rowe_600.uart" type=01 *a code=0427 owner=001E element=048E universal=3FFF unitName="none" type=00 size=000A fl=05 鄿6N /dev/ttyB4*e code=048F elementURI="Rowe_600.baud" type=01 *a code=0428 owner=001E element=048F universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 6N @*e code=0490 elementURI="RudderServo.loadControl" type=01 *a code=0429 owner=001E element=0490 universal=3FFF unitName="none" type=00 size=000B fl=05 )6N /dev/loadA3*e code=0491 elementURI="RudderServo.uart" type=01 *a code=042A owner=001E element=0491 universal=3FFF unitName="none" type=00 size=000A fl=05 I6N /dev/ttyA3*e code=0492 elementURI="RudderServo.baud" type=01 *a code=042B owner=001E element=0492 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 i6N@*e code=0493 elementURI="SCPI.loadControl" type=01 *a code=042C owner=001E element=0493 universal=3FFF unitName="none" type=00 size=000B fl=05 6N /dev/loadB2*e code=0494 elementURI="SCPI.uart" type=01 *a code=042D owner=001E element=0494 universal=3FFF unitName="none" type=00 size=000A fl=05 6N /dev/ttyB2*e code=0495 elementURI="SCPI.baud" type=01 *a code=042E owner=001E element=0495 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 Ʌ6N@*e code=0496 elementURI="Sonardyne_Nano.loadControl" type=01 *a code=042F owner=001E element=0496 universal=3FFF unitName="none" type=00 size=000B fl=05 酿6N /dev/loadC1*e code=0497 elementURI="Sonardyne_Nano.uart" type=01 *a code=0430 owner=001E element=0497 universal=3FFF unitName="none" type=00 size=000A fl=05 6N /dev/ttyC1*e code=0498 elementURI="Sonardyne_Nano.baud" type=01 *a code=0431 owner=001E element=0498 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )6N@*e code=0499 elementURI="ThrusterServo.loadControl" type=01 *a code=0432 owner=001E element=0499 universal=3FFF unitName="none" type=00 size=000B fl=05 I6N /dev/loadA1*e code=049A elementURI="ThrusterServo.uart" type=01 *a code=0433 owner=001E element=049A universal=3FFF unitName="none" type=00 size=000A fl=05 i6N /dev/ttyA1*e code=049B elementURI="ThrusterServo.baud" type=01 *a code=0434 owner=001E element=049B universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 6N@*e code=049C elementURI="ThrusterHE.loadControl" type=01 *a code=0435 owner=001E element=049C universal=3FFF unitName="none" type=00 size=000B fl=05 6N /dev/loadA1*e code=049D elementURI="ThrusterHE.uart" type=01 *a code=0436 owner=001E element=049D universal=3FFF unitName="none" type=00 size=000A fl=05 Ɇ6N /dev/ttyA1*e code=049E elementURI="ThrusterHE.baud" type=01 *a code=0437 owner=001E element=049E universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 醿6N@*e code=049F elementURI="VemcoVR2C.loadControl" type=01 *a code=0438 owner=001E element=049F universal=3FFF unitName="none" type=00 size=000B fl=05 6N /dev/loadB3*e code=04A0 elementURI="VemcoVR2C.uart" type=01 *a code=0439 owner=001E element=04A0 universal=3FFF unitName="none" type=00 size=000B fl=05 )6N /dev/ttyTX1*e code=04A1 elementURI="VemcoVR2C.baud" type=01 *a code=043A owner=001E element=04A1 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 I6N@*e code=04A2 elementURI="Waterlinked.loadControl" type=01 *a code=043B owner=001E element=04A2 universal=3FFF unitName="none" type=00 size=000B fl=05 i6N /dev/loadB4*e code=04A3 elementURI="Waterlinked.uart" type=01 *a code=043C owner=001E element=04A3 universal=3FFF unitName="none" type=00 size=000A fl=05 6N /dev/ttyB4*e code=04A4 elementURI="Waterlinked.baud" type=01 *a code=043D owner=001E element=04A4 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 6N@*e code=04A5 elementURI="WetLabsBB2FL.loadControl" type=01 *a code=043E owner=001E element=04A5 universal=3FFF unitName="none" type=00 size=000B fl=05 ɇ6N /dev/loadC2*e code=04A6 elementURI="WetLabsBB2FL.uart" type=01 *a code=043F owner=001E element=04A6 universal=3FFF unitName="none" type=00 size=000A fl=05 釿6N /dev/ttyC2*e code=04A7 elementURI="WetLabsBB2FL.baud" type=01 *a code=0440 owner=001E element=04A7 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 6N@*e code=04A8 elementURI="WetLabsSeaOWL_UV_A.loadControl" type=01 *a code=0441 owner=001E element=04A8 universal=3FFF unitName="none" type=00 size=000B fl=05 )6N /dev/loadB3*e code=04A9 elementURI="WetLabsSeaOWL_UV_A.uart" type=01 *a code=0442 owner=001E element=04A9 universal=3FFF unitName="none" type=00 size=000A fl=05 I6N /dev/ttyB3*e code=04AA elementURI="WetLabsSeaOWL_UV_A.baud" type=01 *a code=0443 owner=001E element=04AA universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 i6N@*e code=04AB elementURI="WetLabsUBAT.loadControl" type=01 *a code=0444 owner=001E element=04AB universal=3FFF unitName="none" type=00 size=000B fl=05 6N /dev/loadC1*e code=04AC elementURI="WetLabsUBAT.uart" type=01 *a code=0445 owner=001E element=04AC universal=3FFF unitName="none" type=00 size=000A fl=05 6N /dev/ttyC1*e code=04AD elementURI="WetLabsUBAT.baud" type=01 *a code=0446 owner=001E element=04AD universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 Ɉ6N@ 6NNLoaded Config Component "Config/vehicleN6NZOpening Config file at: Config/Estimation.cfg*n code=001F name="Config/Estimation" *e code=04AE elementURI="StratificationFrontDetector.loadAtStartup" type=01 *a code=0447 owner=001F element=04AE universal=3FFF unitName="bool" type=02 size=0001 fl=05 鈿6N*e code=04AF elementURI="StratificationFrontDetector.temperatureFront" type=01 *a code=0448 owner=001F element=04AF universal=3FFF unitName="bool" type=02 size=0001 fl=05 6N*e code=04B0 elementURI="StratificationFrontDetector.salinityFront" type=01 *a code=0449 owner=001F element=04B0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )6N*e code=04B1 elementURI="StratificationFrontDetector.highWaterMark" type=01 *a code=044A owner=001F element=04B1 universal=3FFF unitName="count" type=0D size=0004 fl=05 I6N*e code=04B2 elementURI="StratificationFrontDetector.threshold_VTHI" type=01 *a code=044B owner=001F element=04B2 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 i6NƈC*e code=04B3 elementURI="StratificationFrontDetector.threshold_VSHI" type=01 *a code=044C owner=001F element=04B3 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 6N8*e code=04B4 elementURI="StratificationFrontDetector.verbosity" type=01 *a code=044D owner=001F element=04B4 universal=3FFF unitName="count" type=0D size=0004 fl=05 6N*e code=04B5 elementURI="DepAvgTempFrontDetector.loadAtStartup" type=01 *a code=044E owner=001F element=04B5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ɉ6N*e code=04B6 elementURI="DepAvgTempFrontDetector.cntThreshold" type=01 *a code=044F owner=001F element=04B6 universal=3FFF unitName="count" type=0D size=0004 fl=05 鉿6N*e code=04B7 elementURI="DepAvgTempFrontDetector.tempHoriGradThreshold" type=01 *a code=0450 owner=001F element=04B7 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 6NC*e code=04B8 elementURI="DepAvgTempFrontDetector.verbosity" type=01 *a code=0451 owner=001F element=04B8 universal=3FFF unitName="count" type=0D size=0004 fl=05 )6N 6NTLoaded Config Component "Config/EstimationN6NlLooking for Config files in directory: Config/Gladosu/N6NdLooking for Config files in directory: Config/sim/N6N`Opening Config file at: Config/sim/Simulator.cfg)6Ni?6N?6N?6N6N$Resources/BurgerOilfieldSpillMed.nc3 6N?mass_concentration_of_petroleum_hydrocarbons_in_sea_water:kg/m36Nfalse_easting:4800006Nfalse_northing:3840000 6N"longitude_of_central_meridian:-1236NGN6N\Opening Config file at: Config/sim/Science.cfgi6NI?6Ni6N26NE/N6NbOpening Config file at: Config/sim/Derivation.cfg*e code=04B9 elementURI="Bathymetry.loadAtStartup" type=01 *a code=0452 owner=0013 element=04B9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 I6NN6NXOpening Config file at: Config/sim/Servo.cfg *?6N/?6N)1?6N2?6N)5?6NN¦6N\Opening Config file at: Config/sim/Control.cfgC?¦6NC?¦6NC?¦6N D?¦6N)D?¦6NID?¦6NiD?¦6ND?¦6ND?¦6ND?¦6ND?¦6N E?¦6N)E?¦6NIE?¦6NiE?¦6NE?¦6NE?¦6NE?¦6N F?¦6N)F?¦6NIF?¦6NF?¦6NF?¦6NF?¦6N G?¦6N)G?¦6NIG?æ6NiG?æ6NG?æ6NG?æ6NG?æ6NG?æ6N H?æ6N)H?æ6NIHæ6N#Q mۦ6N?*a code=04C7 owner=0025 element=0248 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=04 *a code=04C8 owner=0025 element=0249 universal=3FFF unitName="volt" type=0B size=0003 fl=04 *a code=04C9 owner=0025 element=0330 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=04CA owner=0025 element=0331 universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=04CB owner=0025 element=0332 universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=04CC owner=0025 element=032F universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=051C elementURI="BPC1.BattCapacity_1" type=00 *a code=04CD owner=0025 element=051C universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=051D elementURI="BPC1.BattCurrent_1" type=00 *a code=04CE owner=0025 element=051D universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=051E elementURI="BPC1.BattStatus_1" type=00 *a code=04CF owner=0025 element=051E universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=051F elementURI="BPC1.BattTemp_1" type=00 *a code=04D0 owner=0025 element=051F universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0520 elementURI="BPC1.BattVoltage_1" type=00 *a code=04D1 owner=0025 element=0520 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0521 elementURI="BPC1.BattCapacity_2" type=00 *a code=04D2 owner=0025 element=0521 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0522 elementURI="BPC1.BattCurrent_2" type=00 *a code=04D3 owner=0025 element=0522 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e 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universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0652 owner=002A element=006C universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=068A elementURI="NAL9602.SNRSatellite_0" type=00 *a code=0653 owner=002A element=068A universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=068B elementURI="NAL9602.SNRSatellite_1" type=00 *a code=0654 owner=002A element=068B universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=068C elementURI="NAL9602.SNRSatellite_2" type=00 *a code=0655 owner=002A element=068C universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=068D elementURI="NAL9602.SNRSatellite_3" type=00 *a code=0656 owner=002A element=068D universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=068E elementURI="NAL9602.SNRSatellite_4" type=00 *a code=0657 owner=002A element=068E universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=068F elementURI="NAL9602.SNRSatellite_5" type=00 *a code=0658 owner=002A element=068F universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0690 elementURI="NAL9602.SNRSatellite_6" type=00 *a code=0659 owner=002A element=0690 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0691 elementURI="NAL9602.SNRSatellite_7" type=00 *a code=065A owner=002A element=0691 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0692 elementURI="NAL9602.SNRSatellite_8" type=00 *a code=065B owner=002A element=0692 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0693 elementURI="NAL9602.SNRSatellite_9" type=00 *a code=065C owner=002A element=0693 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0694 elementURI="NAL9602.SNRSatellite_10" type=00 *a code=065D owner=002A element=0694 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0695 elementURI="NAL9602.SNRSatellite_11" type=00 *a code=065E owner=002A element=0695 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0696 elementURI="NAL9602.goodFix" type=02 *a code=065F owner=002A element=0696 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0697 elementURI="NAL9602.numSatellites" type=02 *a code=0660 owner=002A element=0697 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0698 elementURI="NAL9602.sigQuality" type=02 *a code=0661 owner=002A element=0698 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0699 elementURI="NAL9602.SOG" type=02 *a code=0662 owner=002A element=0699 universal=3FFF unitName="knot" type=0B size=0003 fl=05 *e code=069A elementURI="NAL9602.COG" type=02 *a code=0663 owner=002A element=069A universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=069B elementURI="NAL9602.time_fix" type=00 *a code=0664 owner=002A element=069B universal=0065 unitName="second" type=1F size=0008 fl=05 *e code=069C elementURI="NAL9602.latitude_fix" type=00 *a code=0665 owner=002A element=069C universal=0018 unitName="degree" type=37 size=0006 fl=05 q6N;4*e code=069D elementURI="NAL9602.longitude_fix" type=00 *a code=0666 owner=002A element=069D universal=001B unitName="degree" type=37 size=0006 fl=05 u6N;4*e code=069E elementURI="NAL9602.location_fix" type=12 blobType=11 fixedSize=0002 *a code=0667 owner=002A element=069E universal=0019 unitName="degree" type=00 size=0000 fl=05 y6N;4*e code=069F elementURI="NAL9602.platform_communications" type=00 *a code=0668 owner=002A element=069F universal=002A unitName="bool" type=02 size=0001 fl=05 *a code=0669 owner=002A element=02CE universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=066A owner=002A element=040E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=066B owner=002A element=040D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=066C owner=002A element=03AA universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=066D owner=002A element=03AB universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=066E owner=002A element=03AE universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=066F owner=002A element=03AF universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0670 owner=002A element=03B0 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0671 owner=002A element=03B1 universal=3FFF unitName="byte" type=1F size=0008 fl=04 6N 6NlSyncComponent "NAL9602" handled in the control thread.*n code=002B name="Onboard" *e code=06A0 elementURI="Onboard.enableBroadcast" type=02 *a code=0672 owner=002B element=06A0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=06A1 elementURI="Onboard.Pressure" type=02 *a code=0673 owner=002B element=06A1 universal=3FFF unitName="pascal" type=0B size=0003 fl=05 *e code=06A2 elementURI="Onboard.Temperature" type=02 *a code=0674 owner=002B element=06A2 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=06A3 elementURI="Onboard.Humidity" type=02 *a code=0675 owner=002B element=06A3 universal=3FFF unitName="percent" type=0B size=0003 fl=05 *e code=06A4 elementURI="Onboard.platform_battery_voltage" type=00 *a code=0676 owner=002B element=06A4 universal=0026 unitName="volt" type=0B size=0003 fl=05 6N#<*e code=06A5 elementURI="Onboard.platform_vehicle_power" type=00 *a code=0677 owner=002B element=06A5 universal=0041 unitName="watt" type=0B size=0003 fl=05 6N#<*e code=06A6 elementURI="Onboard.platform_average_current" type=00 *a code=0678 owner=002B element=06A6 universal=0021 unitName="milliampere" type=0B size=0003 fl=05 6N#<*e code=06A7 elementURI="Onboard.platform_average_power" type=00 *a code=0679 owner=002B element=06A7 universal=0022 unitName="watt" type=0B size=0003 fl=05 6N#<*e code=06A8 elementURI="Onboard.MainBatteryVoltage" type=02 *a code=067A owner=002B element=06A8 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=06A9 elementURI="Onboard.BackupBatteryVoltage" type=02 *a code=067B owner=002B element=06A9 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=06AA elementURI="Onboard.BatteryCurrent" type=02 *a code=067C owner=002B element=06AA universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=067D owner=002B element=03BA universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=067E owner=002B element=03BB universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=067F owner=002B element=03BC universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0680 owner=002B element=03BD universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0681 owner=002B element=0479 universal=3FFF unitName="count" type=0D size=0004 fl=04 6NCan't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now6NCan't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now6NCan't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now6NCan't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full6NCan't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now6NCan't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now6NCan't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now6NCan't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full 6N 6N\Component "Onboard" handled in its own thread.*n code=002C name="Onboard ThreadHandler" 6NFCreated PCaller Thread at -69C619006NDProtected caller Thread ID is 5163*n code=002D name="Power24vConverter" *e code=06AB elementURI="Power24vConverter.enableBroadcast" type=02 *a code=0682 owner=002D element=06AB universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=06AC elementURI="Power24vConverter.component_voltage" type=02 *a code=0683 owner=002D element=06AC universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06AD elementURI="Power24vConverter.component_avgVoltage" type=02 *a code=0684 owner=002D element=06AD universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06AE elementURI="Power24vConverter.component_current" type=02 *a code=0685 owner=002D element=06AE universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06AF elementURI="Power24vConverter.component_avgCurrent" type=02 *a code=0686 owner=002D element=06AF universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06B0 elementURI="Power24vConverter.component_discreteIn" type=02 *a code=0687 owner=002D element=06B0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0688 owner=002D element=0512 universal=3FFF unitName="bool" type=02 size=0001 fl=05 q 6N 6NSyncComponent "Power24vConverter" handled in the control thread.*n code=002E name="Radio_Surface" *e code=06B1 elementURI="Radio_Surface.enableBroadcast" type=02 *a code=0689 owner=002E element=06B1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=06B2 elementURI="Radio_Surface.component_voltage" type=02 *a code=068A owner=002E element=06B2 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06B3 elementURI="Radio_Surface.component_avgVoltage" type=02 *a code=068B owner=002E element=06B3 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06B4 elementURI="Radio_Surface.component_current" type=02 *a code=068C owner=002E element=06B4 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06B5 elementURI="Radio_Surface.component_avgCurrent" type=02 *a code=068D owner=002E element=06B5 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=06B6 elementURI="Radio_Surface.component_discreteIn" type=02 *a code=068E owner=002E element=06B6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=068F owner=002E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=06B7 elementURI="VerticalControl.verticalMode" type=02 *a code=0690 owner=002E element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=06B8 elementURI="Radio_Surface.radio_surface_power" type=02 *a code=0691 owner=002E element=06B8 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0692 owner=002E element=02CE universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0693 owner=002E element=0409 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0694 owner=002E element=03D5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 6N 6NhComponent "Radio_Surface" handled in its own thread.*n code=002F name="Radio_Surface ThreadHandler" 6NFCreated PCaller Thread at -69CC29006NDProtected caller Thread ID is 5164*n code=0030 name="TrnDataBridge" *e code=06B9 elementURI="TrnDataBridge.enableBroadcast" type=02 *a code=0695 owner=0030 element=06B9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=06BA elementURI="TrnDataBridge.reinits" type=02 *a code=0696 owner=0030 element=06BA universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=06BB elementURI="TrnDataBridge.updatetime" type=02 *a code=0697 owner=0030 element=06BB universal=3FFF unitName="epoch_second" type=1F size=0008 fl=05 ҿ6N @F~*e code=06BC elementURI="TrnDataBridge.mle_x" type=02 *a code=0698 owner=0030 element=06BC universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06BD elementURI="TrnDataBridge.mle_y" type=02 *a code=0699 owner=0030 element=06BD universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06BE elementURI="TrnDataBridge.mle_z" type=02 *a code=069A owner=0030 element=06BE universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06BF elementURI="TrnDataBridge.mle_offset_x" type=02 *a code=069B owner=0030 element=06BF universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06C0 elementURI="TrnDataBridge.mle_offset_y" type=02 *a code=069C owner=0030 element=06C0 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06C1 elementURI="TrnDataBridge.mle_offset_z" type=02 *a code=069D owner=0030 element=06C1 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06C2 elementURI="TrnDataBridge.mmse_x" type=02 *a code=069E owner=0030 element=06C2 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06C3 elementURI="TrnDataBridge.mmse_y" type=02 *a code=069F owner=0030 element=06C3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06C4 elementURI="TrnDataBridge.mmse_z" type=02 *a code=06A0 owner=0030 element=06C4 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06C5 elementURI="TrnDataBridge.mmse_offset_x" type=02 *a code=06A1 owner=0030 element=06C5 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06C6 elementURI="TrnDataBridge.mmse_offset_y" type=02 *a code=06A2 owner=0030 element=06C6 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06C7 elementURI="TrnDataBridge.mmse_offset_z" type=02 *a code=06A3 owner=0030 element=06C7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06C8 elementURI="TrnDataBridge.covar_x" type=02 *a code=06A4 owner=0030 element=06C8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06C9 elementURI="TrnDataBridge.covar_y" type=02 *a code=06A5 owner=0030 element=06C9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06CA elementURI="TrnDataBridge.covar_z" type=02 *a code=06A6 owner=0030 element=06CA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06CB elementURI="TrnDataBridge.covar_psi" type=02 *a code=06A7 owner=0030 element=06CB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=06CC elementURI="TrnDataBridge.mmse_lat" type=02 *a code=06A8 owner=0030 element=06CC universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=06CD elementURI="TrnDataBridge.mmse_lon" type=02 *a code=06A9 owner=0030 element=06CD universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=06CE elementURI="TrnDataBridge.useitorloseit" type=02 *a code=06AA owner=0030 element=06CE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=06CF elementURI="SetNav.latitude_fix" type=02 *a code=06AB owner=0030 element=06CF universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=06D0 elementURI="SetNav.longitude_fix" type=02 *a code=06AC owner=0030 element=06D0 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=06D1 elementURI="SetNav.time_fix" type=02 *a code=06AD owner=0030 element=06D1 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=06AE owner=0030 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=06D2 elementURI="TrnDataBridge.latitude" type=02 *a code=06AF owner=0030 element=06D2 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=06B0 owner=0030 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=06D3 elementURI="TrnDataBridge.longitude" type=02 *a code=06B1 owner=0030 element=06D3 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=06B2 owner=0030 element=0670 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=06B3 owner=0030 element=0678 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=06B4 owner=0030 element=0679 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=06B5 owner=0030 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=06D4 elementURI="Tracking.contact_rx_time" type=02 *a code=06B6 owner=0030 element=06D4 universal=3FFF unitName="second" type=1F size=0008 fl=04 *e code=06D5 elementURI="Tracking.range_to_contact" type=02 *a code=06B7 owner=0030 element=06D5 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=06D6 elementURI="Tracking.heading_to_contact" type=02 *a code=06B8 owner=0030 element=06D6 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=06D7 elementURI="TrnDataBridge.trn_ping" type=02 *a code=06B9 owner=0030 element=06D7 universal=3FFF unitName="none_str" type=00 size=0000 fl=05 ! ]6N@*e code=06D8 elementURI="TrnDataBridge.trn_ping_contact_id" type=02 *a code=06BA owner=0030 element=06D8 universal=3FFF unitName="enum" type=02 size=0001 fl=05 ! a6N@*e code=06D9 elementURI="TrnDataBridge.trn_ping_range_sigma" type=02 *a code=06BB owner=0030 element=06D9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ! e6N@*e code=06DA elementURI="TrnDataBridge.trn_ping_bearing_sigma" type=02 *a code=06BC owner=0030 element=06DA universal=3FFF unitName="radian" type=2F size=0004 fl=05 ! i6N@*e code=06DB elementURI="TrnDataBridge.trn_ping_contact_time" type=02 *a code=06BD owner=0030 element=06DB universal=3FFF unitName="epoch_second" type=1F size=0008 fl=05 ! m6N@*e code=06DC elementURI="TrnDataBridge.trn_ping_range_from_contact" type=02 *a code=06BE owner=0030 element=06DC universal=3FFF unitName="meter" type=0B size=0003 fl=05 ! q6N@*e code=06DD elementURI="TrnDataBridge.trn_ping_bearing_from_contact" type=02 *a code=06BF owner=0030 element=06DD universal=3FFF unitName="radian" type=2F size=0004 fl=05 ! u6N@*e code=06DE elementURI="TrnDataBridge.trn_ping_contact_lat" type=02 *a code=06C0 owner=0030 element=06DE universal=3FFF unitName="degree" type=37 size=0006 fl=05 ! y6N@*e code=06DF elementURI="TrnDataBridge.trn_ping_contact_lon" type=02 *a code=06C1 owner=0030 element=06DF universal=3FFF unitName="degree" type=37 size=0006 fl=05 ! }6N@*e code=06E0 elementURI="TrnDataBridge.trn_ping_mmse_x" type=02 *a code=06C2 owner=0030 element=06E0 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ! 6N@*e code=06E1 elementURI="TrnDataBridge.trn_ping_mmse_y" type=02 *a code=06C3 owner=0030 element=06E1 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ! 6N@*e code=06E2 elementURI="TrnDataBridge.trn_ping_mmse_z" type=02 *a code=06C4 owner=0030 element=06E2 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ! 6N@*e code=06E3 elementURI="TrnDataBridge.trn_ping_covar_x" type=02 *a code=06C5 owner=0030 element=06E3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ! 6N@*e code=06E4 elementURI="TrnDataBridge.trn_ping_covar_y" type=02 *a code=06C6 owner=0030 element=06E4 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ! 6N@*e code=06E5 elementURI="TrnDataBridge.trn_ping_covar_z" type=02 *a code=06C7 owner=0030 element=06E5 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ! 6N@1 6N 6NhComponent "TrnDataBridge" handled in its own thread.*n code=0031 name="TrnDataBridge ThreadHandler" 6NFCreated PCaller Thread at -69D239006NDProtected caller Thread ID is 51656NlLoaded Module: Sensor (Contains the sensor components)6NNLoading Module at Modules/Navigation.so*n code=0032 name="DeadReckonUsingMultipleVelocitySources" *e code=06E6 elementURI="DeadReckonUsingMultipleVelocitySources.enableBroadcast" type=02 *a code=06C8 owner=0032 element=06E6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06C9 owner=0032 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06CA owner=0032 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06CB owner=0032 element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06CC owner=0032 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06CD owner=0032 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06CE owner=0032 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06CF owner=0032 element=06D1 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=06D0 owner=0032 element=06CF universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=06D1 owner=0032 element=06D0 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *e code=06E7 elementURI="DeadReckonUsingMultipleVelocitySources.latitude" type=00 *a code=06D2 owner=0032 element=06E7 universal=0017 unitName="degree" type=37 size=0006 fl=05 *e code=06E8 elementURI="DeadReckonUsingMultipleVelocitySources.longitude" type=00 *a code=06D3 owner=0032 element=06E8 universal=001A unitName="degree" type=37 size=0006 fl=05 *e code=06E9 elementURI="DeadReckonUsingMultipleVelocitySources.depth" type=00 *a code=06D4 owner=0032 element=06E9 universal=0006 unitName="meter" type=0B size=0003 fl=05 *e code=06EA elementURI="DeadReckonUsingMultipleVelocitySources.platform_speed_wrt_ground" type=00 *a code=06D5 owner=0032 element=06EA universal=003E unitName="meter_per_second" type=0B size=0003 fl=05 *e code=06EB elementURI="DeadReckonUsingMultipleVelocitySources.platform_course" type=00 *a code=06D6 owner=0032 element=06EB universal=002C unitName="unspecified" type=0B size=0003 fl=05 *e code=06EC elementURI="DeadReckonUsingMultipleVelocitySources.horizontal_path_length_since_last_fix" type=00 *a code=06D7 owner=0032 element=06EC universal=0015 unitName="meter" type=0B size=0003 fl=05 *e code=06ED elementURI="DeadReckonUsingMultipleVelocitySources.fix_distance_made_good" type=00 *a code=06D8 owner=0032 element=06ED universal=000D unitName="meter" type=0B size=0003 fl=05 *e code=06EE elementURI="DeadReckonUsingMultipleVelocitySources.fix_horizontal_path_length_since_last_fix" type=00 *a code=06D9 owner=0032 element=06EE universal=000E unitName="meter" type=0B size=0003 fl=05 *e code=06EF elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_distance" type=00 *a code=06DA owner=0032 element=06EF universal=000F unitName="meter" type=0B size=0003 fl=05 *e code=06F0 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_bearing" type=00 *a code=06DB owner=0032 element=06F0 universal=0010 unitName="radian" type=2F size=0004 fl=05 *e code=06F1 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_percent_distance_traveled" type=00 *a code=06DC owner=0032 element=06F1 universal=0011 unitName="percent" type=0B size=0003 fl=05 *a code=06DD owner=0032 element=02D6 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=06DE owner=0032 element=02D3 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=06DF owner=0032 element=02D2 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=06E0 owner=0032 element=02D4 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=06E1 owner=0032 element=02D5 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=06E2 owner=0032 element=0042 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06E3 owner=0032 element=0043 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=06F2 elementURI="SpeedCalculator.platform_speed_wrt_sea_water" type=02 *a code=06E4 owner=0032 element=06F2 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=06F3 elementURI="DeadReckonUsingMultipleVelocitySources.elapsed_since_orientation_read" type=02 *a code=06E5 owner=0032 element=06F3 universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=06F4 elementURI="DeadReckonUsingMultipleVelocitySources.elapsed_since_velocity_read" type=02 *a code=06E6 owner=0032 element=06F4 universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=06F5 elementURI="DeadReckonUsingMultipleVelocitySources.latitude_accuracy" type=02 *a code=06E7 owner=0032 element=06F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=06F6 elementURI="DeadReckonUsingMultipleVelocitySources.velocity_source" type=02 *a code=06E8 owner=0032 element=06F6 universal=3FFF unitName="count" type=0D size=0004 fl=05 6N 6NSyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.*n code=0033 name="NavChart" *e code=06F7 elementURI="NavChart.enableBroadcast" type=02 *a code=06E9 owner=0033 element=06F7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06EA owner=0033 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06EB owner=0033 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06EC owner=0033 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06ED owner=0033 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=06F8 elementURI="NavChart.sea_floor_depth_below_geoid" type=00 *a code=06EE owner=0033 element=06F8 universal=0055 unitName="meter" type=0B size=0003 fl=05 *e code=06F9 elementURI="NavChart.height_above_sea_floor" type=00 *a code=06EF owner=0033 element=06F9 universal=0014 unitName="meter" type=0B size=0003 fl=05 *e code=06FA elementURI="NavChart.distance_from_shore" type=00 *a code=06F0 owner=0033 element=06FA universal=0009 unitName="meter" type=0B size=0003 fl=05 6ND*e code=06FB elementURI="NavChart.Height_Above_Sea_Floor_Comp" type=02 *a code=06F1 owner=0033 element=06FB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=06F2 owner=0033 element=0304 universal=3FFF unitName="bool" type=02 size=0001 fl=04 6N 6NnSyncComponent "NavChart" handled in the control thread.*n code=0034 name="UniversalFixResidualReporter" *e code=06FC elementURI="UniversalFixResidualReporter.enableBroadcast" type=02 *a code=06F3 owner=0034 element=06FC universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06F4 owner=0034 element=0308 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=06F5 owner=0034 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06F6 owner=0034 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06F7 owner=0034 element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06F8 owner=0034 element=000E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06F9 owner=0034 element=000D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06FA owner=0034 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06FB owner=0034 element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06FC owner=0034 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 1 6N 6NSyncComponent "UniversalFixResidualReporter" handled in the control thread.6NLoaded Module: Navigation (Contains the base navigation components)6NBLoading Module at Modules/Dock.so6NLoaded Module: Dock (Contains behaviors and commands for docking)6NDLoading Module at Modules/Servo.so*n code=0035 name="BuoyancyServo" *e code=06FD elementURI="BuoyancyServo.enableBroadcast" type=02 *a code=06FD owner=0035 element=06FD universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=06FE elementURI="BuoyancyServo.component_voltage" type=02 *a code=06FE owner=0035 element=06FE universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=06FF elementURI="BuoyancyServo.component_avgVoltage" type=02 *a code=06FF owner=0035 element=06FF universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0700 elementURI="BuoyancyServo.component_current" type=02 *a code=0700 owner=0035 element=0700 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0701 elementURI="BuoyancyServo.component_avgCurrent" type=02 *a code=0701 owner=0035 element=0701 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0702 elementURI="BuoyancyServo.component_discreteIn" type=02 *a code=0702 owner=0035 element=0702 universal=3FFF 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owner=0035 element=01C2 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=070E owner=0035 element=01C4 universal=3FFF unitName="count_per_cubic_centimeter" type=0B size=0003 fl=04 *a code=070F owner=0035 element=01C5 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0710 owner=0035 element=01C3 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0711 owner=0035 element=01C8 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0712 owner=0035 element=01C7 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0713 owner=0035 element=01C6 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0714 owner=0035 element=0296 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0715 owner=0035 element=029A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0716 owner=0035 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0703 elementURI="BuoyancyServo.platform_buoyancy_position" type=00 *a code=0717 owner=0035 element=0703 universal=0029 unitName="cubic_centimeter" type=0B size=0003 fl=05 Q 6N4*e code=0704 elementURI="VerticalControl.buoyancyAction" type=02 *a code=0718 owner=0035 element=0704 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 q 6N 6NxSyncComponent "BuoyancyServo" handled in the control thread.*n code=0036 name="ElevatorServo" *e code=0705 elementURI="ElevatorServo.enableBroadcast" type=02 *a code=0719 owner=0036 element=0705 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0706 elementURI="ElevatorServo.component_voltage" type=02 *a code=071A owner=0036 element=0706 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0707 elementURI="ElevatorServo.component_avgVoltage" type=02 *a code=071B owner=0036 element=0707 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0708 elementURI="ElevatorServo.component_current" type=02 *a code=071C owner=0036 element=0708 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0709 elementURI="ElevatorServo.component_avgCurrent" type=02 *a code=071D owner=0036 element=0709 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=070A elementURI="ElevatorServo.component_discreteIn" type=02 *a code=071E owner=0036 element=070A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=071F owner=0036 element=01EE universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0720 owner=0036 element=01E5 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0721 owner=0036 element=01E7 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0722 owner=0036 element=01E8 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0723 owner=0036 element=01EB universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0724 owner=0036 element=01EC universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0725 owner=0036 element=01ED universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0726 owner=0036 element=01EA universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0727 owner=0036 element=01E4 universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04 *a code=0728 owner=0036 element=01E9 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0729 owner=0036 element=01E6 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=072A owner=0036 element=02A1 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *e code=070B elementURI="ElevatorServo.platform_elevator_angle" type=00 *a code=072B owner=0036 element=070B universal=002F unitName="radian" type=2F size=0004 fl=05 -6N;*e code=070C elementURI="VerticalControl.elevatorAngleAction" type=02 *a code=072C owner=0036 element=070C universal=3FFF unitName="radian" type=2F size=0004 fl=04 6N 6NxSyncComponent "ElevatorServo" handled in the control thread.*n code=0037 name="MassServo" *e code=070D elementURI="MassServo.enableBroadcast" type=02 *a code=072D owner=0037 element=070D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=070E elementURI="MassServo.component_voltage" type=02 *a code=072E owner=0037 element=070E universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=070F elementURI="MassServo.component_avgVoltage" type=02 *a code=072F owner=0037 element=070F universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0710 elementURI="MassServo.component_current" type=02 *a code=0730 owner=0037 element=0710 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0711 elementURI="MassServo.component_avgCurrent" type=02 *a code=0731 owner=0037 element=0711 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0712 elementURI="MassServo.component_discreteIn" type=02 *a code=0732 owner=0037 element=0712 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0733 owner=0037 element=01F6 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0734 owner=0037 element=01F2 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0735 owner=0037 element=01F3 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0736 owner=0037 element=01F4 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0737 owner=0037 element=01F5 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=0738 owner=0037 element=01F1 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0739 owner=0037 element=01F7 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=073A owner=0037 element=01FA universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=073B owner=0037 element=01F9 universal=3FFF unitName="count_per_millimeter" type=0B size=0003 fl=04 *a code=073C owner=0037 element=01F8 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=073D owner=0037 element=02B7 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *e code=0713 elementURI="MassServo.platform_mass_position" type=00 *a code=073E owner=0037 element=0713 universal=0033 unitName="meter" type=0B size=0003 fl=05 *e code=0714 elementURI="VerticalControl.massPositionAction" type=02 *a code=073F owner=0037 element=0714 universal=3FFF unitName="meter" type=0B size=0003 fl=04 6N 6NpSyncComponent "MassServo" handled in the control thread.*n code=0038 name="RudderServo" *e code=0715 elementURI="RudderServo.enableBroadcast" type=02 *a code=0740 owner=0038 element=0715 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0716 elementURI="RudderServo.component_voltage" type=02 *a code=0741 owner=0038 element=0716 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0717 elementURI="RudderServo.component_avgVoltage" type=02 *a code=0742 owner=0038 element=0717 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0718 elementURI="RudderServo.component_current" type=02 *a code=0743 owner=0038 element=0718 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0719 elementURI="RudderServo.component_avgCurrent" type=02 *a code=0744 owner=0038 element=0719 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=071A elementURI="RudderServo.component_discreteIn" type=02 *a code=0745 owner=0038 element=071A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0746 owner=0038 element=0207 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0747 owner=0038 element=01FE universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0748 owner=0038 element=0200 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0749 owner=0038 element=0201 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=074A owner=0038 element=0204 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=074B owner=0038 element=0205 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=074C owner=0038 element=0206 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=074D owner=0038 element=0203 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=074E owner=0038 element=01FD universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04 *a code=074F owner=0038 element=0202 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0750 owner=0038 element=01FF universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0751 owner=0038 element=028E universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *e code=071B elementURI="RudderServo.platform_rudder_angle" type=00 *a code=0752 owner=0038 element=071B universal=003D unitName="radian" type=2F size=0004 fl=05 *e code=071C elementURI="HorizontalControl.rudderAngleAction" type=02 *a code=0753 owner=0038 element=071C universal=3FFF unitName="radian" type=2F size=0004 fl=04 16N 6NtSyncComponent "RudderServo" handled in the control thread.*n code=0039 name="ThrusterServo" *e code=071D elementURI="ThrusterServo.enableBroadcast" type=02 *a code=0754 owner=0039 element=071D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=071E elementURI="ThrusterServo.component_voltage" type=02 *a code=0755 owner=0039 element=071E universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=071F elementURI="ThrusterServo.component_avgVoltage" type=02 *a code=0756 owner=0039 element=071F universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0720 elementURI="ThrusterServo.component_current" type=02 *a code=0757 owner=0039 element=0720 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0721 elementURI="ThrusterServo.component_avgCurrent" type=02 *a code=0758 owner=0039 element=0721 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0722 elementURI="ThrusterServo.component_discreteIn" type=02 *a code=0759 owner=0039 element=0722 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0723 elementURI="ThrusterServo.platform_propeller_rotation_rate" type=00 *a code=075A owner=0039 element=0723 universal=0039 unitName="radian_per_second" type=0B size=0003 fl=05 *e code=0724 elementURI="SpeedControl.propOmegaAction" type=02 *a code=075B owner=0039 element=0724 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=075C owner=0039 element=0217 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=075D owner=0039 element=0212 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=075E owner=0039 element=0214 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=075F owner=0039 element=0215 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0760 owner=0039 element=0216 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0761 owner=0039 element=0213 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=0762 owner=0039 element=0211 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0763 owner=0039 element=021A universal=3FFF unitName="count_per_second" type=0B size=0003 fl=04 *a code=0764 owner=0039 element=021B universal=3FFF unitName="count_per_revolution" type=0B size=0003 fl=04 *a code=0765 owner=0039 element=0219 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0766 owner=0039 element=0218 universal=3FFF unitName="count" type=0D size=0004 fl=04 q6N 6NxSyncComponent "ThrusterServo" handled in the control thread.6NLoaded Module: Servo (This is the module containing motor controllers)6NJLoading Module at Modules/Guidance.so6NrLoaded Module: Guidance (Contains behaviors and commands)6NFLoading Module at Modules/Sample.so6NLoaded Module: Sample (This is a Sample Module of Sample Components)6NHLoading Module at Modules/Control.so*n code=003A name="VerticalControl" *e code=0725 elementURI="VerticalControl.enableBroadcast" type=02 *a code=0767 owner=003A element=0725 universal=3FFF unitName="bool" type=02 size=0001 fl=05 6N4Construct VerticalControl.*a code=0768 owner=003A element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=0726 elementURI="VerticalControl.depthCmd" type=02 *a code=0769 owner=003A element=0726 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=0727 elementURI="VerticalControl.depthRateCmd" type=02 *a code=076A owner=003A element=0727 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=0728 elementURI="VerticalControl.pitchCmd" type=02 *a code=076B owner=003A element=0728 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0729 elementURI="VerticalControl.pitchRateCmd" type=02 *a code=076C owner=003A element=0729 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *e code=072A elementURI="VerticalControl.buoyancyCmd" type=02 *a code=076D owner=003A element=072A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *e code=072B elementURI="VerticalControl.massPositionCmd" type=02 *a code=076E owner=003A element=072B universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=072C elementURI="VerticalControl.elevatorAngleCmd" type=02 *a code=076F owner=003A element=072C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=072D elementURI="LoopControl.periodCmd" type=02 *a code=0770 owner=003A element=072D universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=072E elementURI="SpeedControl.speedCmd" type=02 *a code=0771 owner=003A element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0772 owner=003A element=0296 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0773 owner=003A element=0297 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0774 owner=003A element=0298 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0775 owner=003A element=0299 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0776 owner=003A element=029A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0777 owner=003A element=029C universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0778 owner=003A element=029D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0779 owner=003A element=029E universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=077A owner=003A element=029F universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=077B owner=003A element=02A0 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=077C owner=003A element=02A1 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=077D owner=003A element=02A2 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=077E owner=003A element=02A3 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=077F owner=003A element=02A4 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0780 owner=003A element=02A6 universal=3FFF 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element=02AF universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=078B owner=003A element=02B1 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=078C owner=003A element=02B0 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=078D owner=003A element=02B2 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=078E owner=003A element=02B3 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=078F owner=003A element=02B4 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0790 owner=003A element=02B5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0791 owner=003A element=02B7 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0792 owner=003A element=02B8 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0793 owner=003A element=02B9 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0794 owner=003A element=02BA universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0795 owner=003A element=02BC universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0796 owner=003A element=02BB universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0797 owner=003A element=02BD universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0798 owner=003A element=02BE universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=0799 owner=003A element=02BF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=079A owner=003A element=02C0 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=079B owner=003A element=02C1 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=079C owner=003A element=02C2 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=079D owner=003A element=02C3 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=079E owner=003A element=02C4 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=079F owner=003A element=02C5 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=07A0 owner=003A element=02C6 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=07A1 owner=003A element=02C7 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07A2 owner=003A element=02C8 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07A3 owner=003A element=0291 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=07A4 owner=003A element=02C9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07A5 owner=003A element=02CB universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07A6 owner=003A element=02CC universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=07A7 owner=003A element=02CD universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=07A8 owner=003A element=02CE universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07A9 owner=003A element=02CF universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07AA owner=003A element=02D0 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07AB owner=003A element=029B universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=07AC owner=003A element=01E6 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07AD owner=003A element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07AE owner=003A element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07AF owner=003A element=0037 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07B0 owner=003A element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07B1 owner=003A element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07B2 owner=003A element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07B3 owner=003A element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=072F elementURI="VerticalControl.depth2buoyIntInternal" type=02 *a code=07B4 owner=003A element=072F universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *e code=0730 elementURI="VerticalControl.depthErrorInternal" type=02 *a code=07B5 owner=003A element=0730 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0731 elementURI="VerticalControl.depthIntegralInternal" type=02 *a code=07B6 owner=003A element=0731 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0732 elementURI="VerticalControl.dtInternal" type=02 *a code=07B7 owner=003A element=0732 universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=0733 elementURI="VerticalControl.elevatorIntegralInternal" type=02 *a code=07B8 owner=003A element=0733 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0734 elementURI="VerticalControl.massIntegralInternal" type=02 *a code=07B9 owner=003A element=0734 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0735 elementURI="VerticalControl.massPitchErrorInternal" type=02 *a code=07BA owner=003A element=0735 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0736 elementURI="VerticalControl.pitchInternal" type=02 *a code=07BB owner=003A element=0736 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0737 elementURI="VerticalControl.smoothDepthInternal" type=02 *a code=07BC owner=003A element=0737 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=07BD owner=003A element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=07BE owner=003A element=070C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07BF owner=003A element=0714 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=07C0 owner=003A element=0704 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=07C1 owner=003A element=070C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=07C2 owner=003A element=0714 universal=3FFF unitName="meter" type=0B size=0003 fl=04 6N 6N|SyncComponent "VerticalControl" handled in the control thread.*n code=003B name="HorizontalControl" *e code=0738 elementURI="HorizontalControl.enableBroadcast" type=02 *a code=07C3 owner=003B element=0738 universal=3FFF unitName="bool" type=02 size=0001 fl=05 6N8Construct HorizontalControl.*e code=0739 elementURI="HorizontalControl.horizontalMode" type=02 *a code=07C4 owner=003B element=0739 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=073A elementURI="HorizontalControl.latitudeCmd" type=02 *a code=07C5 owner=003B element=073A universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=073B elementURI="HorizontalControl.longitudeCmd" type=02 *a code=07C6 owner=003B element=073B universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=073C elementURI="HorizontalControl.headingCmd" type=02 *a code=07C7 owner=003B element=073C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=073D elementURI="HorizontalControl.headingRateCmd" type=02 *a code=07C8 owner=003B element=073D universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *e code=073E elementURI="HorizontalControl.rudderAngleCmd" type=02 *a code=07C9 owner=003B element=073E universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=073F elementURI="HorizontalControl.bearingCmd" type=02 *a code=07CA owner=003B element=073F universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=07CB owner=003B element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=0740 elementURI="HorizontalControl.kdHeadingOverride" type=02 *a code=07CC owner=003B element=0740 universal=3FFF unitName="second" type=0B size=0003 fl=04 *e code=0741 elementURI="HorizontalControl.kiHeadingOverride" type=02 *a code=07CD owner=003B element=0741 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *e code=0742 elementURI="HorizontalControl.kpHeadingOverride" type=02 *a code=07CE owner=003B element=0742 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=07CF owner=003B element=0285 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=07D0 owner=003B element=0286 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=07D1 owner=003B element=0288 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=07D2 owner=003B element=0289 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=07D3 owner=003B element=0287 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=07D4 owner=003B element=028A universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04 *a code=07D5 owner=003B element=028B universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=07D6 owner=003B element=028C universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=07D7 owner=003B element=028D universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07D8 owner=003B element=028E universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07D9 owner=003B element=028F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07DA owner=003B element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07DB owner=003B element=004D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07DC owner=003B element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07DD owner=003B element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07DE owner=003B element=003D universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0743 elementURI="HorizontalControl.headingCmdInternal" type=02 *a code=07DF owner=003B element=0743 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0744 elementURI="HorizontalControl.smoothHeadingCmdInternal" type=02 *a code=07E0 owner=003B element=0744 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0745 elementURI="HorizontalControl.headingIntegralInternal" type=02 *a code=07E1 owner=003B element=0745 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0746 elementURI="HorizontalControl.xteIntegralInternal" type=02 *a code=07E2 owner=003B element=0746 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0747 elementURI="HorizontalControl.xteInternal" type=02 *a code=07E3 owner=003B element=0747 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0748 elementURI="HorizontalControl.kxteInternal" type=02 *a code=07E4 owner=003B element=0748 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0749 elementURI="HorizontalControl.bearingInternal" type=02 *a code=07E5 owner=003B element=0749 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=074A elementURI="HorizontalControl.kpHeadingInternal" type=02 *a code=07E6 owner=003B element=074A universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *e code=074B elementURI="HorizontalControl.kiHeadingInternal" type=02 *a code=07E7 owner=003B element=074B universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 *e code=074C elementURI="HorizontalControl.kdHeadingInternal" type=02 *a code=07E8 owner=003B element=074C universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=07E9 owner=003B element=071C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07EA owner=003B element=071C universal=3FFF unitName="radian" type=2F size=0004 fl=04 6N 6NSyncComponent "HorizontalControl" handled in the control thread.*n code=003C name="SpeedControl" *e code=074D elementURI="SpeedControl.enableBroadcast" type=02 *a code=07EB owner=003C element=074D universal=3FFF unitName="bool" type=02 size=0001 fl=05 6N.Construct SpeedControl.*a code=07EC owner=003C element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=07ED owner=003C element=0293 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 *a code=07EE owner=003C element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07EF owner=003C element=0724 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 16N 6NvSyncComponent "SpeedControl" handled in the control thread.*n code=003D name="LoopControl" *e code=074E elementURI="LoopControl.enableBroadcast" type=02 *a code=07F0 owner=003D element=074E universal=3FFF unitName="bool" type=02 size=0001 fl=05 6N,Construct LoopControl.*a code=07F1 owner=003D element=072D universal=3FFF unitName="second" type=0B size=0003 fl=04 q6N 6NtSyncComponent "LoopControl" handled in the control thread.6NLoaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)6NHLoading Module at Modules/Trigger.so6N|Loaded Module: Trigger (Contains triggers for use in missions)6NLLoading Module at Modules/Simulator.so*n code=003E name="ExternalSim" *e code=074F elementURI="ExternalSim.enableBroadcast" type=02 *a code=07F2 owner=003E element=074F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=07F3 owner=003E element=0079 universal=3FFF unitName="none" type=00 size=0016 fl=04 *e code=0750 elementURI="ExternalSim.latitudeSim" type=02 *a code=07F4 owner=003E element=0750 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *e code=0751 elementURI="ExternalSim.longitudeSim" type=02 *a code=07F5 owner=003E element=0751 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *e code=0752 elementURI="ExternalSim.eastingSim" type=02 *a code=07F6 owner=003E element=0752 universal=3FFF unitName="meter" type=37 size=0006 fl=05 *e code=0753 elementURI="ExternalSim.northingSim" type=02 *a code=07F7 owner=003E element=0753 universal=3FFF unitName="meter" type=37 size=0006 fl=05 *e code=0754 elementURI="ExternalSim.utmZoneSim" type=02 *a code=07F8 owner=003E element=0754 universal=3FFF unitName="enum" type=05 size=0002 fl=05 *e code=0755 elementURI="ExternalSim.rateUSim" type=02 *a code=07F9 owner=003E element=0755 universal=3FFF unitName="meter_per_second" type=0F size=0004 fl=05 *e code=0756 elementURI="ExternalSim.rateVSim" type=02 *a code=07FA owner=003E element=0756 universal=3FFF unitName="meter_per_second" type=0F size=0004 fl=05 *e code=0757 elementURI="ExternalSim.rateWSim" type=02 *a code=07FB owner=003E element=0757 universal=3FFF unitName="meter_per_second" type=0F size=0004 fl=05 *e code=0758 elementURI="ExternalSim.ratePSim" type=02 *a code=07FC owner=003E element=0758 universal=3FFF unitName="meter_per_second" type=0F size=0004 fl=05 *e code=0759 elementURI="ExternalSim.rateQSim" type=02 *a code=07FD owner=003E element=0759 universal=3FFF unitName="meter_per_second" type=0F size=0004 fl=05 *e code=075A elementURI="ExternalSim.rateRSim" type=02 *a code=07FE owner=003E element=075A universal=3FFF unitName="meter_per_second" type=0F size=0004 fl=05 *e code=075B elementURI="ExternalSim.propThrustSim" type=02 *a code=07FF owner=003E element=075B universal=3FFF unitName="newton" type=0F size=0004 fl=05 *e code=075C elementURI="ExternalSim.propTorqueSim" type=02 *a code=0800 owner=003E element=075C universal=3FFF unitName="newton_meter" type=0F size=0004 fl=05 *e code=075D elementURI="ExternalSim.netBuoySim" type=02 *a code=0801 owner=003E element=075D universal=3FFF unitName="newton" type=0F size=0004 fl=05 *e code=075E elementURI="ExternalSim.forceXSim" type=02 *a code=0802 owner=003E element=075E universal=3FFF unitName="newton" type=0F size=0004 fl=05 *e code=075F elementURI="ExternalSim.forceYSim" type=02 *a code=0803 owner=003E element=075F universal=3FFF unitName="newton" type=0F size=0004 fl=05 *e code=0760 elementURI="ExternalSim.forceZSim" type=02 *a code=0804 owner=003E element=0760 universal=3FFF unitName="newton" type=0F size=0004 fl=05 *e code=0761 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unitName="meter" type=1F size=0008 fl=05 *e code=0768 elementURI="ExternalSim.posYDotSim" type=02 *a code=080C owner=003E element=0768 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *e code=0769 elementURI="ExternalSim.posZDotSim" type=02 *a code=080D owner=003E element=0769 universal=3FFF unitName="meter" type=0F size=0004 fl=05 *e code=076A elementURI="ExternalSim.homingSensorAddressSim" type=02 *a code=080E owner=003E element=076A universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=076B elementURI="ExternalSim.homingSensorRangeSim" type=02 *a code=080F owner=003E element=076B universal=3FFF unitName="meter" type=0F size=0004 fl=05 *e code=076C elementURI="ExternalSim.homingSensorAzimSim" type=02 *a code=0810 owner=003E element=076C universal=3FFF unitName="radian" type=0F size=0004 fl=05 *e code=076D elementURI="ExternalSim.homingSensorElevSim" type=02 *a code=0811 owner=003E element=076D universal=3FFF unitName="radian" type=0F size=0004 fl=05 *a code=0812 owner=003E element=0724 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=0813 owner=003E element=070C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0814 owner=003E element=071C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0815 owner=003E element=0714 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0816 owner=003E element=0704 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0817 owner=003E element=0683 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0818 owner=003E element=0723 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=0819 owner=003E element=070B universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=081A owner=003E element=071B universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=081B owner=003E element=0713 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=081C owner=003E element=0703 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=081D owner=003E element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 6N 6NtSyncComponent "ExternalSim" handled in the control thread.*n code=003F name="ExternalSimGazebo" *e code=076E elementURI="ExternalSimGazebo.enableBroadcast" type=02 *a code=081E owner=003F element=076E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=081F owner=003F element=0079 universal=3FFF unitName="none" type=00 size=0016 fl=04 *a code=0820 owner=003F element=0750 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0821 owner=003F element=0751 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0822 owner=003F element=0752 universal=3FFF unitName="meter" type=37 size=0006 fl=05 *a code=0823 owner=003F element=0753 universal=3FFF unitName="meter" type=37 size=0006 fl=05 *a code=0824 owner=003F element=0754 universal=3FFF unitName="enum" type=05 size=0002 fl=05 *a code=0825 owner=003F element=0755 universal=3FFF unitName="meter_per_second" type=0F size=0004 fl=05 *a code=0826 owner=003F element=0756 universal=3FFF unitName="meter_per_second" type=0F size=0004 fl=05 *a code=0827 owner=003F element=0757 universal=3FFF unitName="meter_per_second" type=0F size=0004 fl=05 *a code=0828 owner=003F element=0758 universal=3FFF unitName="meter_per_second" type=0F size=0004 fl=05 *a code=0829 owner=003F element=0759 universal=3FFF unitName="meter_per_second" type=0F size=0004 fl=05 *a code=082A owner=003F element=075A universal=3FFF unitName="meter_per_second" type=0F size=0004 fl=05 *a code=082B owner=003F element=075B universal=3FFF unitName="newton" type=0F size=0004 fl=05 *a code=082C owner=003F element=075C universal=3FFF unitName="newton_meter" type=0F size=0004 fl=05 *a code=082D owner=003F element=075D universal=3FFF unitName="newton" type=0F size=0004 fl=05 *a code=082E owner=003F element=075E universal=3FFF unitName="newton" type=0F size=0004 fl=05 *a code=082F owner=003F element=075F universal=3FFF unitName="newton" type=0F size=0004 fl=05 *a code=0830 owner=003F element=0760 universal=3FFF unitName="newton" type=0F size=0004 fl=05 *a code=0831 owner=003F element=0761 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0832 owner=003F element=0762 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0833 owner=003F element=0763 universal=3FFF unitName="meter" type=0F size=0004 fl=05 *a code=0834 owner=003F element=0764 universal=3FFF unitName="radian" type=0F size=0004 fl=05 *a code=0835 owner=003F element=0765 universal=3FFF unitName="radian" type=0F size=0004 fl=05 *a code=0836 owner=003F element=0766 universal=3FFF unitName="radian" type=0F size=0004 fl=05 *a code=0837 owner=003F element=0767 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0838 owner=003F element=0768 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0839 owner=003F element=0769 universal=3FFF unitName="meter" type=0F size=0004 fl=05 *a code=083A owner=003F element=076B universal=3FFF unitName="meter" type=0F size=0004 fl=05 *a code=083B owner=003F element=076C universal=3FFF unitName="radian" type=0F size=0004 fl=05 *a code=083C owner=003F element=076D universal=3FFF unitName="radian" type=0F size=0004 fl=05 *e code=076F elementURI="ExternalSimGazebo.timeGzSim" type=02 *a code=083D owner=003F element=076F universal=3FFF unitName="second" type=1F size=0008 fl=05 *e code=0770 elementURI="ExternalSimGazebo.timeExternalSim" type=02 *a code=083E owner=003F element=0770 universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=083F owner=003F element=0724 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=0840 owner=003F element=070C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0841 owner=003F element=071C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0842 owner=003F element=0714 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0843 owner=003F element=0704 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0844 owner=003F element=0683 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0845 owner=003F element=0723 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=0846 owner=003F element=070B universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0847 owner=003F element=071B universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0848 owner=003F element=0713 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0849 owner=003F element=0703 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=084A owner=003F element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 6N 6NSyncComponent "ExternalSimGazebo" handled in the control thread.6NLoaded Module: Simulator (This is the module containing the Simulator)6N@Loading Module at Modules/BIT.so*n code=0040 name="SBIT" *e code=0771 elementURI="SBIT.enableBroadcast" type=02 *a code=084B owner=0040 element=0771 universal=3FFF unitName="bool" type=02 size=0001 fl=05 6N@Construct Startup Built In Test.*e code=0772 elementURI="SBIT.SBITRunning" type=02 *a code=084C owner=0040 element=0772 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=084D owner=0040 element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=084E owner=0040 element=072C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=084F owner=0040 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0850 owner=0040 element=072B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0851 owner=0040 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0852 owner=0040 element=0739 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0853 owner=0040 element=073E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0854 owner=0040 element=003D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0855 owner=0040 element=0245 universal=3FFF unitName="none" type=00 size=0015 fl=04 *a code=0856 owner=0040 element=0246 universal=3FFF unitName="none" type=00 size=002B fl=04 *a code=0857 owner=0040 element=02A2 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0858 owner=0040 element=02BC universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0859 owner=0040 element=02BB universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=085A owner=0040 element=02B8 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=085B owner=0040 element=028F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=085C owner=0040 element=01E6 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=085D owner=0040 element=01F8 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=085E owner=0040 element=01FF universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 16N 6NfSyncComponent "SBIT" handled in the control thread.*n code=0041 name="IBIT" *e code=0773 elementURI="IBIT.enableBroadcast" type=02 *a code=085F owner=0041 element=0773 universal=3FFF unitName="bool" type=02 size=0001 fl=05 6NDConstruct Initiated Built In Test.*a code=0860 owner=0041 element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0861 owner=0041 element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0862 owner=0041 element=072C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0863 owner=0041 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0864 owner=0041 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0865 owner=0041 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0866 owner=0041 element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0867 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fl=04 *a code=0872 owner=0041 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0873 owner=0041 element=003B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0874 owner=0041 element=0248 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=04 *a code=0875 owner=0041 element=0249 universal=3FFF unitName="volt" type=0B size=0003 fl=04 *a code=0876 owner=0041 element=021F universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0877 owner=0041 element=021E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0878 owner=0041 element=0220 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0879 owner=0041 element=0221 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04 *a code=087A owner=0041 element=0299 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=087B owner=0041 element=02A2 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=087C owner=0041 element=028F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=087D owner=0041 element=02CE universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=087E owner=0041 element=02B8 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=087F owner=0041 element=01E6 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0880 owner=0041 element=01FF universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 q6N 6NfSyncComponent "IBIT" handled in the control thread.*n code=0042 name="CBIT" *e code=0774 elementURI="CBIT.enableBroadcast" type=02 *a code=0881 owner=0042 element=0774 universal=3FFF unitName="bool" type=02 size=0001 fl=05 !6NFConstruct Continuous Built In Test.*e code=0775 elementURI="CBIT.clearFaultCmd" type=02 *a code=0882 owner=0042 element=0775 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=0776 elementURI="CBIT.clearLeakFaultCmd" type=02 *a code=0883 owner=0042 element=0776 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=0777 elementURI="CBIT.empiricalFaultElevOffset" type=02 *a code=0884 owner=0042 element=0777 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0885 owner=0042 element=06A1 universal=3FFF unitName="pascal" type=0B size=0003 fl=04 *a code=0886 owner=0042 element=06A3 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0887 owner=0042 element=06A2 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0888 owner=0042 element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0889 owner=0042 element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=088A owner=0042 element=0512 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=088B owner=0042 element=0072 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0778 elementURI="BPC1.BattTemp_0" type=00 *a code=088C owner=0042 element=0778 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=088D owner=0042 element=051F universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=088E owner=0042 element=0524 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=088F owner=0042 element=0529 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0890 owner=0042 element=052E universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0891 owner=0042 element=0533 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0892 owner=0042 element=0538 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0893 owner=0042 element=053D universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0894 owner=0042 element=0542 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0895 owner=0042 element=0547 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0896 owner=0042 element=054C universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0897 owner=0042 element=0551 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0898 owner=0042 element=0556 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0899 owner=0042 element=055B universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=089A owner=0042 element=0560 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=089B owner=0042 element=0565 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=089C owner=0042 element=056A universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=089D owner=0042 element=056F universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=089E owner=0042 element=0574 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=089F owner=0042 element=0579 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08A0 owner=0042 element=057E universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08A1 owner=0042 element=0583 universal=3FFF unitName="celsius" type=0B 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element=05BA universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08AD owner=0042 element=05BF universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08AE owner=0042 element=05C4 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08AF owner=0042 element=05C9 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08B0 owner=0042 element=05CE universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08B1 owner=0042 element=05D3 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08B2 owner=0042 element=05D8 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08B3 owner=0042 element=05DD universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08B4 owner=0042 element=05E2 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08B5 owner=0042 element=05E7 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08B6 owner=0042 element=05EC universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08B7 owner=0042 element=05F1 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08B8 owner=0042 element=05F6 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08B9 owner=0042 element=05FB universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08BA owner=0042 element=0600 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08BB owner=0042 element=0605 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08BC owner=0042 element=060A universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08BD owner=0042 element=060F universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08BE owner=0042 element=0614 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08BF owner=0042 element=0619 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08C0 owner=0042 element=061E universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08C1 owner=0042 element=0623 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08C2 owner=0042 element=0628 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08C3 owner=0042 element=062D universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08C4 owner=0042 element=0632 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08C5 owner=0042 element=0637 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08C6 owner=0042 element=063C universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08C7 owner=0042 element=0641 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08C8 owner=0042 element=0646 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08C9 owner=0042 element=064B universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=08CA owner=0042 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08CB owner=0042 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08CC owner=0042 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08CD owner=0042 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08CE owner=0042 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08CF owner=0042 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D0 owner=0042 element=0026 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D1 owner=0042 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0779 elementURI="CBIT.shorePowerOn" type=02 *a code=08D2 owner=0042 element=0779 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=077A elementURI="GFScanner.GFScanRequested" type=02 *a code=08D3 owner=0042 element=077A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=077B elementURI="CBIT.ampHoursUsed" type=02 *a code=08D4 owner=0042 element=077B universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=077C elementURI="CBIT.platform_fault" type=00 *a code=08D5 owner=0042 element=077C universal=0030 unitName="enum" type=02 size=0001 fl=05 *e code=077D elementURI="CBIT.platform_fault_leak" type=00 *a code=08D6 owner=0042 element=077D universal=0031 unitName="enum" type=02 size=0001 fl=05 *a code=08D7 owner=0042 element=0777 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=077E elementURI="CBIT.empericalClassifierFaultDetected" type=02 *a code=08D8 owner=0042 element=077E universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=077F elementURI="CBIT.binnedDepthRate" type=02 *a code=08D9 owner=0042 element=077F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08DA owner=0042 element=021F universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08DB owner=0042 element=021E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08DC owner=0042 element=0220 universal=3FFF unitName="percent" type=0B 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elementURI="ElevatorOffsetCalculator.elevator_angle_variance" type=02 *a code=0971 owner=004C element=07C2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=07C3 elementURI="ElevatorOffsetCalculator.elevator_angle_error_bound" type=02 *a code=0972 owner=004C element=07C3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=07C4 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_speed_identifier" type=02 *a code=0973 owner=004C element=07C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=07C5 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_pitch_identifier" type=02 *a code=0974 owner=004C element=07C5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=07C6 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_mass_position_identifier" type=02 *a code=0975 owner=004C element=07C6 universal=3FFF unitName="meter" type=0B size=0003 fl=05 16N 6NSyncComponent "ElevatorOffsetCalculator" handled in the control thread.6NLoaded Module: Derivation (Contains the base derivation components)*n code=004D name="MissionManager" *e code=07C7 elementURI="MissionManager.enableBroadcast" type=02 *a code=0976 owner=004D element=07C7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0977 owner=004D element=0772 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0978 owner=004D element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=07C8 elementURI="MissionManager.mission_started" type=00 *a code=0979 owner=004D element=07C8 universal=001C unitName="count" type=0D size=0004 fl=05 6NzSyncComponent "MissionManager" handled in the control thread.*n code=004E name="Reporter" *e code=07C9 elementURI="Reporter.enableBroadcast" type=02 *a code=097A owner=004E element=07C9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 6NnSyncComponent "Reporter" handled in the control thread.*n code=004F name="NavChartDb" *e code=07CA elementURI="NavChartDb.enableBroadcast" type=02 *a code=097B owner=004F element=07CA universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=07CB elementURI="NavChartDb.closestDistance" type=02 *a code=097C owner=004F element=07CB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=07CC elementURI="NavChartDb.nextDistance" type=02 *a code=097D owner=004F element=07CC universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=07CD elementURI="NavChartDb.closestDepth" type=02 *a code=097E owner=004F element=07CD universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=07CE elementURI="NavChartDb.nextDepth" type=02 *a code=097F owner=004F element=07CE universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0980 owner=004F element=0305 universal=3FFF unitName="none" type=00 size=0023 fl=04 *a code=0981 owner=004F element=0306 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 6NbComponent "NavChartDb" handled in its own thread.*n code=0050 name="NavChartDb ThreadHandler" (6NFCreated PCaller Thread at -6BA61900(6NDProtected caller Thread ID is 5168N6N,Main Thread ID is 5059F6N&Running supervisor.6N2Handler Thread ID is 51696NFInitializing the command executive.6N2Handler Thread ID is 51706N2Handler Thread ID is 51716N4Initializing ControlThread6N2Handler Thread ID is 5172 ɿ6N6N2Handler Thread ID is 51736N2Handler Thread ID is 51746N>Initialize NavChart Navigation. 6NhInitializing UniversalFixResidualReporter component.6N2Handler Thread ID is 5175 6NHInitialize VerticalControlComponent.6N2Handler Thread ID is 51766NLInitialize HorizontalControlComponent. 6NBInitialize SpeedControlComponent.6N@Initialize LoopControlComponent.6N6ExternalSim initializing...6N2Handler Thread ID is 51776N Start=6NLCM Instance1"6N2Handler Thread ID is 5178 "6N2Initializing CTD_Seabird.#6N2Handler Thread ID is 51796N2(6N2Handler Thread ID is 51806NConnection to local simulation server failed due to: Could not connect due to error: Connection refused6NrTrying remote simulation server at tellum.shore.mbari.org'6NLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000'6NtAlready Loaded Electronic Nav Chart data from US1WC07M.000'6NLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000'6NtAlready Loaded Electronic Nav Chart data from US2WC11M.000'6NLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000'6NtAlready Loaded Electronic Nav Chart data from US3CA52M.000'6NLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000'6NtAlready Loaded Electronic Nav Chart data from US5CA50M.0006Nlgot command load ./Missions/Science/profile_station.tl&6NLoading Mission from file: ./Missions/Science/profile_station.tl&6NLoading Compiled TethysL script from file ./Missions/Science/profile_station.tx*n code=0051 name="profile_station" *e code=07CF elementURI="profile_station.MissionTimeout" type=00 *a code=0982 owner=0051 element=07CF universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0983 owner=0051 element=07CF universal=3FFF unitName="hour" type=1F size=0008 fl=05 L6N @&6NjDefineArg profile_station.MissionTimeout = 4.000000 h*e code=07D0 elementURI="profile_station.NeedCommsTime" type=00 *a code=0984 owner=0051 element=07D0 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0985 owner=0051 element=07D0 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *L6N @&6NnDefineArg profile_station.NeedCommsTime = 60.000000 min*e code=07D1 elementURI="profile_station.Lat" type=00 *a code=0986 owner=0051 element=07D1 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0987 owner=0051 element=07D1 universal=3FFF unitName="degree" type=1F size=0008 fl=05 :L6NU(?&6N`DefineArg profile_station.Lat = 36.806965 arcdeg*e code=07D2 elementURI="profile_station.Lon" type=00 *a code=0988 owner=0051 element=07D2 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0989 owner=0051 element=07D2 universal=3FFF unitName="degree" type=1F size=0008 fl=05 JL6N·&6NdDefineArg profile_station.Lon = -121.824326 arcdeg*e code=07D3 elementURI="profile_station.Radius" type=00 *a code=098A owner=0051 element=07D3 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=098B owner=0051 element=07D3 universal=3FFF unitName="meter" type=1F size=0008 fl=05 ZL6Nr@&6N^DefineArg profile_station.Radius = 300.000000 m*e code=07D4 elementURI="profile_station.YoYoMinDepth" type=00 *a code=098C owner=0051 element=07D4 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=098D owner=0051 element=07D4 universal=3FFF unitName="meter" type=1F size=0008 fl=05 jL6N@&6NfDefineArg profile_station.YoYoMinDepth = 2.000000 m*e code=07D5 elementURI="profile_station.YoYoMaxDepth" type=00 *a code=098E owner=0051 element=07D5 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=098F owner=0051 element=07D5 universal=3FFF unitName="meter" type=1F size=0008 fl=05 zL6Ni@&6NjDefineArg profile_station.YoYoMaxDepth = 200.000000 m*e code=07D6 elementURI="profile_station.YoYoMinAltitude" type=00 *a code=0990 owner=0051 element=07D6 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0991 owner=0051 element=07D6 universal=3FFF unitName="meter" type=1F size=0008 fl=05 L6N@&6NlDefineArg profile_station.YoYoMinAltitude = 7.000000 m*e code=07D7 elementURI="profile_station.YoYoPitch" type=00 *a code=0992 owner=0051 element=07D7 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0993 owner=0051 element=07D7 universal=3FFF unitName="degree" type=1F size=0008 fl=05 L6NDJW?&6NlDefineArg profile_station.YoYoPitch = 20.000000 arcdeg*e code=07D8 elementURI="profile_station.Speed" type=00 *a code=0994 owner=0051 element=07D8 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0995 owner=0051 element=07D8 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 L6N?&6N\DefineArg profile_station.Speed = 1.000000 m/s*e code=07D9 elementURI="profile_station.SurfaceDiveSpeed" type=00 *a code=0996 owner=0051 element=07D9 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0997 owner=0051 element=07D9 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 L6N&6NhDefineArg profile_station.SurfaceDiveSpeed = nan m/s*a code=0998 owner=0051 element=02CE universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=07DA elementURI="profile_station.SurfaceThreshold" type=00 *a code=0999 owner=0051 element=07DA universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=099A owner=0051 element=07DA universal=3FFF unitName="meter" type=0B size=0003 fl=05 L6N?&6NnDefineArg profile_station.SurfaceThreshold = 1.000000 m*e code=07DB elementURI="profile_station.CircleMaxError" type=00 *a code=099B owner=0051 element=07DB universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=099C owner=0051 element=07DB universal=3FFF unitName="meter" type=1F size=0008 fl=05 L6NY@&6NnDefineArg profile_station.CircleMaxError = 100.000000 m*e code=07DC elementURI="profile_station.CircleTurnToPort" type=00 *a code=099D owner=0051 element=07DC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=099E owner=0051 element=07DC universal=3FFF unitName="bool" type=02 size=0001 fl=05 L6N&6NfDefineArg profile_station.CircleTurnToPort = 0 bool*e code=07DD elementURI="profile_station.KwpHeading" type=00 *a code=099F owner=0051 element=07DD universal=3FFF unitName="radian_per_meter" type=1F size=0008 fl=04 *a code=09A0 owner=0051 element=07DD universal=3FFF unitName="radian_per_meter" type=1F size=0008 fl=05 M6N@z?&6NjDefineArg profile_station.KwpHeading = 0.010000 rad/m*e code=07DE elementURI="profile_station.MinAltitude" type=00 *a code=09A1 owner=0051 element=07DE universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09A2 owner=0051 element=07DE universal=3FFF unitName="meter" type=1F size=0008 fl=05 M6N@&6NdDefineArg profile_station.MinAltitude = 5.000000 m*e code=07DF elementURI="profile_station.MaxDepth" type=00 *a code=09A3 owner=0051 element=07DF universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09A4 owner=0051 element=07DF universal=3FFF unitName="meter" type=1F size=0008 fl=05 "M6Ni@&6NbDefineArg profile_station.MaxDepth = 205.000000 m*e code=07E0 elementURI="profile_station.MinOffshore" type=00 *a code=09A5 owner=0051 element=07E0 universal=3FFF unitName="kilometer" type=1F size=0008 fl=04 *a code=09A6 owner=0051 element=07E0 universal=3FFF unitName="kilometer" type=1F size=0008 fl=05 2M6N@@&6NfDefineArg profile_station.MinOffshore = 2.000000 km&6NjInserting Stack from file: Missions/Insert/Science.tl&6NLoading Compiled TethysL script from file Missions/Insert/Science.tx*n code=0052 name="profile_station:Science" *e code=07E1 elementURI="profile_station:Science.PeakDetectChlActive" type=00 *a code=09A7 owner=0052 element=07E1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09A8 owner=0052 element=07E1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 BM6N&6N|DefineArg profile_station:Science.PeakDetectChlActive = 0 bool*e code=07E2 elementURI="profile_station:Science.EdgeDetectChlActive" type=00 *a code=09A9 owner=0052 element=07E2 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09AA owner=0052 element=07E2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 RM6N&6N|DefineArg profile_station:Science.EdgeDetectChlActive = 0 bool*e code=07E3 elementURI="profile_station:Science.TimeWindowPeakReport" type=00 *a code=09AB owner=0052 element=07E3 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=09AC owner=0052 element=07E3 universal=3FFF unitName="minute" type=1F size=0008 fl=05 bM6N&6NDefineArg profile_station:Science.TimeWindowPeakReport = nan min*e code=07E4 elementURI="profile_station:Science.HighestChlPeakReportActive" type=00 *a code=09AD owner=0052 element=07E4 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09AE owner=0052 element=07E4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 rM6N&6NDefineArg profile_station:Science.HighestChlPeakReportActive = 0 bool*e code=07E5 elementURI="profile_station:Science.HighestSaltPeakReportActive" type=00 *a code=09AF owner=0052 element=07E5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09B0 owner=0052 element=07E5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 M6N&6NDefineArg profile_station:Science.HighestSaltPeakReportActive = 0 bool-6NEError making socket connection to simulation server at tellum.shore.mbari.org: Can not connect to invalid network address: tellum.shore.mbari.org*e code=07E6 elementURI="profile_station:Science.HighestOilPeakReportActive" type=00 *a code=09B1 owner=0052 element=07E6 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09B2 owner=0052 element=07E6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 M6N&6NDefineArg profile_station:Science.HighestOilPeakReportActive = 0 bool*e code=07E7 elementURI="profile_station:Science.PatchTracking" type=00 *a code=09B3 owner=0052 element=07E7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09B4 owner=0052 element=07E7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 M6N&6NpDefineArg profile_station:Science.PatchTracking = 0 bool*e code=07E8 elementURI="profile_station:Science.FilterWidthHorizontal" type=00 *a code=09B5 owner=003E element=0299 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=09B6 owner=0052 element=07E8 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=09B7 owner=0052 element=07E8 universal=3FFF unitName="count" type=1F size=0008 fl=05 M6N@&6NDefineArg profile_station:Science.FilterWidthHorizontal = 3.000000 count*e code=07E9 elementURI="profile_station:Science.NumProfilesSlidingwindow" type=00 *a code=09B8 owner=0052 element=07E9 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=09B9 owner=0052 element=07E9 universal=3FFF unitName="count" type=1F size=0008 fl=05 M6NY@&6NDefineArg profile_station:Science.NumProfilesSlidingwindow = 100.000000 count*e code=07EA elementURI="profile_station:Science.OffPeakFractionHorizontal" type=00 *a code=09BA owner=0052 element=07EA universal=3FFF unitName="percent" type=1F size=0008 fl=04 *a code=09BB owner=0052 element=07EA universal=3FFF unitName="percent" type=1F size=0008 fl=05 M6N?&6NDefineArg profile_station:Science.OffPeakFractionHorizontal = 80.000000 %*e code=07EB elementURI="profile_station:Science.PeakDetectNO3Active" type=00 *a code=09BC owner=0052 element=07EB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09BD owner=0052 element=07EB universal=3FFF unitName="bool" type=02 size=0001 fl=05 M6N&6N|DefineArg profile_station:Science.PeakDetectNO3Active = 0 bool*e code=07EC elementURI="profile_station:Science.PeakDetectOilActive" type=00 *a code=09BE owner=0052 element=07EC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09BF owner=0052 element=07EC universal=3FFF unitName="bool" type=02 size=0001 fl=05 M6N&6N|DefineArg profile_station:Science.PeakDetectOilActive = 0 bool 6N(oceanModelVarCount=0*e code=07ED elementURI="profile_station:Science.PeakDetectFDOMActive" type=00 *a code=09C0 owner=0052 element=07ED universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09C1 owner=0052 element=07ED universal=3FFF unitName="bool" type=02 size=0001 fl=05  N6N&6N~DefineArg profile_station:Science.PeakDetectFDOMActive = 0 bool*e code=07EE elementURI="profile_station:Science.PeakDetectSalinityActive" type=00 *a code=09C2 owner=0052 element=07EE universal=3FFF unitName="bool" type=02 size=0001 fl=04 6N&psi_Dat_ = 0.000000 6N&psi_Dvl_ = 0.000000*a code=09C3 owner=0052 element=07EE universal=3FFF unitName="bool" type=02 size=0001 fl=05 N6N&6NDefineArg profile_station:Science.PeakDetectSalinityActive = 0 bool*e code=07EF elementURI="profile_station:Science.PeakDetectPlanktivoreLMavgROIActive" type=00 *a code=09C4 owner=0052 element=07EF universal=3FFF unitName="bool" type=02 size=0001 fl=04 6NAdding new SimAcommsTarget: address = 201, lat = 36.80340 deg, lon = -121.82230 deg, depth = 25.00 m.*a code=09C5 owner=0052 element=07EF universal=3FFF unitName="bool" type=02 size=0001 fl=05 6NHSimACommsTarget:: psi_Dvl = 0.000000*N6N&6NDefineArg profile_station:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool*e code=07F0 elementURI="profile_station:Science.EdgeDetectPlanktivoreLMavgROIActive" type=00 *a code=09C6 owner=0052 element=07F0 universal=3FFF unitName="bool" type=02 size=0001 fl=04 6NNSimACommsTarget:: slantNoise = 0.050000 6NRSimACommsTarget:: bearingNoise = 0.050000 6NLSimACommsTarget:: inclNoise = 0.085000*a code=09C7 owner=0052 element=07F0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 :N6N&6NDefineArg profile_station:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool*e code=07F1 elementURI="profile_station:Science.PeakDetectPlanktivoreHMavgROIActive" type=00 *a code=09C8 owner=0052 element=07F1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09C9 owner=0052 element=07F1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 JN6N6NAdding new SimAcommsTarget: address = 202, lat = 36.79340 deg, lon = -121.83220 deg, depth = 25.00 m.&6NDefineArg profile_station:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool 6NHSimACommsTarget:: psi_Dvl = 0.000000 6NNSimACommsTarget:: slantNoise = 0.050000 6NRSimACommsTarget:: bearingNoise = 0.050000 6NLSimACommsTarget:: inclNoise = 0.085000*e code=07F2 elementURI="profile_station:Science.PeakDetectPlanktivoreDiatomsActive" type=00 *a code=09CA owner=0052 element=07F2 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09CB owner=0052 element=07F2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ZN6N&6NDefineArg profile_station:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool*e code=07F3 elementURI="profile_station:Science.PeakDetectPlanktivoreDinoflagellatesActive" type=00 6NAdding new SimAcommsTarget: address = 203, lat = 36.79340 deg, lon = -121.81220 deg, depth = 25.00 m.*a code=09CC owner=0052 element=07F3 universal=3FFF unitName="bool" type=02 size=0001 fl=04 6NHSimACommsTarget:: psi_Dvl = 0.000000*a code=09CD owner=0052 element=07F3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 jN6N 6NNSimACommsTarget:: slantNoise = 0.050000&6NDefineArg profile_station:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool 6NRSimACommsTarget:: bearingNoise = 0.050000 6NLSimACommsTarget:: inclNoise = 0.085000 6N*Simulator initialized*e code=07F4 elementURI="profile_station:Science.UpwardDerivativeOfTemperatureActive" type=00 *a code=09CE owner=0052 element=07F4 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09CF owner=0052 element=07F4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 zN6N&6NDefineArg profile_station:Science.UpwardDerivativeOfTemperatureActive = 0 bool6NBExternalSimGazebo initializing...*a code=09D0 owner=0052 element=011D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=07F5 elementURI="profile_station:Science.EnabledAanderaaO2" type=00 *a code=09D1 owner=0052 element=07F5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09D2 owner=0052 element=07F5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 N6N&6NxDefineArg profile_station:Science.EnabledAanderaaO2 = 0 bool*a code=09D3 owner=0052 element=0125 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09D4 owner=003F element=0299 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *e code=07F6 elementURI="profile_station:Science.EnabledNeilBrown" type=00 *a code=09D5 owner=0052 element=07F6 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09D6 owner=0052 element=07F6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 N6N&6NvDefineArg profile_station:Science.EnabledNeilBrown = 0 bool*a code=09D7 owner=0052 element=012D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=07F7 elementURI="profile_station:Science.EnabledSeabird" type=00 *a code=09D8 owner=0052 element=07F7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09D9 owner=0052 element=07F7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 N6N&6NrDefineArg profile_station:Science.EnabledSeabird = 1 bool*a code=09DA owner=0052 element=0160 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=07F8 elementURI="profile_station:Science.EnabledWetLabsBB2FL" type=00 *a code=09DB owner=0052 element=07F8 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09DC owner=0052 element=07F8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 N6N&6N|DefineArg profile_station:Science.EnabledWetLabsBB2FL = 1 bool*a code=09DD owner=0052 element=016E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=07F9 elementURI="profile_station:Science.EnabledWetLabsSeaOWL_UV_A" type=00 *a code=09DE owner=0052 element=07F9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09DF owner=0052 element=07F9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 N6N6N(oceanModelVarCount=0&6NDefineArg profile_station:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool*a code=09E0 owner=0052 element=017F universal=3FFF unitName="bool" type=02 size=0001 fl=04 6N*Simulator initializedA6NA6Nh׿?*e code=07FA elementURI="profile_station:Science.EnabledWetLabsUBAT" type=00 *a code=09E1 owner=0052 element=07FA universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09E2 owner=0052 element=07FA universal=3FFF unitName="bool" type=02 size=0001 fl=05 O6N&6NzDefineArg profile_station:Science.EnabledWetLabsUBAT = 0 bool*e code=07FB elementURI="profile_station:Science.LowPassWindowLength" type=00 *a code=09E3 owner=0052 element=07FB universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=09E4 owner=0052 element=07FB universal=3FFF unitName="count" type=1F size=0008 fl=05 "O6N4@&6NDefineArg profile_station:Science.LowPassWindowLength = 20.000000 count*e code=07FC elementURI="profile_station:Science.MedianFilterLen" type=00 *a code=09E5 owner=0052 element=07FC universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=09E6 owner=0052 element=07FC universal=3FFF unitName="count" type=1F size=0008 fl=05 2O6N@&6NDefineArg profile_station:Science.MedianFilterLen = 5.000000 count*e code=07FD elementURI="profile_station:Science.ShallowBound" type=00 *a code=09E7 owner=0052 element=07FD universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09E8 owner=0052 element=07FD universal=3FFF unitName="meter" type=1F size=0008 fl=05 BO6N&6NlDefineArg profile_station:Science.ShallowBound = nan m*e code=07FE elementURI="profile_station:Science.DeepBound" type=00 *a code=09E9 owner=0052 element=07FE universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09EA owner=0052 element=07FE universal=3FFF unitName="meter" type=1F size=0008 fl=05 RO6N&6NfDefineArg profile_station:Science.DeepBound = nan m*e code=07FF elementURI="profile_station:Science.DepChangeThreshForAttitudeFlip" type=00 *a code=09EB owner=0052 element=07FF universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09EC owner=0052 element=07FF universal=3FFF unitName="meter" type=1F size=0008 fl=05 bO6N@&6NDefineArg profile_station:Science.DepChangeThreshForAttitudeFlip = 2.000000 m*e code=0800 elementURI="profile_station:Science.OffPeakFractionVertical" type=00 *a code=09ED owner=0052 element=0800 universal=3FFF unitName="percent" type=1F size=0008 fl=04 *a code=09EE owner=0052 element=0800 universal=3FFF unitName="percent" type=1F size=0008 fl=05 rO6N&6NDefineArg profile_station:Science.OffPeakFractionVertical = nan %*e code=0801 elementURI="profile_station:Science.ChlPeakThresh" type=00 *a code=09EF owner=0052 element=0801 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=09F0 owner=0052 element=0801 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 O6N&6N~DefineArg profile_station:Science.ChlPeakThresh = 0.000000 ug/l*e code=0802 elementURI="profile_station:Science.ChlThreshTriggerActive" type=00 *a code=09F1 owner=0052 element=0802 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09F2 owner=0052 element=0802 universal=3FFF unitName="bool" type=02 size=0001 fl=05 O6N&6NDefineArg profile_station:Science.ChlThreshTriggerActive = 0 bool*e code=0803 elementURI="profile_station:Science.ChlLowerThresh" type=00 *a code=09F3 owner=0052 element=0803 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=09F4 owner=0052 element=0803 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 O6N&6NvDefineArg profile_station:Science.ChlLowerThresh = nan ug/l*e code=0804 elementURI="profile_station:Science.ChlUpperThresh" type=00 *a code=09F5 owner=0052 element=0804 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=09F6 owner=0052 element=0804 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 O6N&6NvDefineArg profile_station:Science.ChlUpperThresh = nan ug/l*e code=0805 elementURI="profile_station:Science.NumProfilesThresh" type=00 *a code=09F7 owner=0052 element=0805 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=09F8 owner=0052 element=0805 universal=3FFF unitName="count" type=1F size=0008 fl=05 O6N@&6NDefineArg profile_station:Science.NumProfilesThresh = 5.000000 count*e code=0806 elementURI="profile_station:Science.PlanktivoreLMavgROIPeakThresh" type=00 *a code=09F9 owner=0052 element=0806 universal=3FFF unitName="count_per_second" type=1F size=0008 fl=04 *a code=09FA owner=0052 element=0806 universal=3FFF unitName="count_per_second" type=1F size=0008 fl=05 O6N&6NDefineArg profile_station:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s*e code=0807 elementURI="profile_station:Science.GoDown" type=00 *a code=09FB owner=0052 element=0807 universal=3FFF unitName="bool" type=02 size=0001 fl=05 O6N*a code=09FC owner=0052 element=0807 universal=3FFF unitName="bool" type=02 size=0001 fl=04 &6NhDefineOutput profile_station:Science.GoDown = 1 bool*e code=0808 elementURI="profile_station:Science.PeakChl" type=00 *a code=09FD owner=0052 element=0808 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 O6N*a code=09FE owner=0052 element=0808 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 &6NnDefineOutput profile_station:Science.PeakChl = nan ug/l*e code=0809 elementURI="profile_station:Science.PeakChlDepth" type=00 *a code=09FF owner=0052 element=0809 universal=3FFF unitName="meter" type=1F size=0008 fl=05 O6N*a code=0A00 owner=0052 element=0809 universal=3FFF unitName="meter" type=1F size=0008 fl=04 &6NrDefineOutput profile_station:Science.PeakChlDepth = nan m*e code=080A elementURI="profile_station:Science.PeakChlTemperature" type=00 *a code=0A01 owner=0052 element=080A universal=3FFF unitName="celsius" type=1F size=0008 fl=05  P6N*a code=0A02 owner=0052 element=080A universal=3FFF unitName="celsius" type=1F size=0008 fl=04 &6NDefineOutput profile_station:Science.PeakChlTemperature = nan degC*e code=080B elementURI="profile_station:Science.PeakChlLatitude" type=00 *a code=0A03 owner=0052 element=080B universal=3FFF unitName="degree" type=1F size=0008 fl=05 P6N*a code=0A04 owner=0052 element=080B universal=3FFF unitName="degree" type=1F size=0008 fl=04 &6NDefineOutput profile_station:Science.PeakChlLatitude = nan arcdeg*e code=080C elementURI="profile_station:Science.PeakChlLongitude" type=00 *a code=0A05 owner=0052 element=080C universal=3FFF unitName="degree" type=1F size=0008 fl=05 *P6N*a code=0A06 owner=0052 element=080C universal=3FFF unitName="degree" type=1F size=0008 fl=04 &6NDefineOutput profile_station:Science.PeakChlLongitude = nan arcdeg*e code=080D elementURI="profile_station:Science.EdgeChl" type=00 *a code=0A07 owner=0052 element=080D universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 :P6N6N5Published init to Gazebo on topic [/lrauv/init]: id_ { data: "pontus" } initLat_: 36.6936 initLon_: -121.93990000000001 acommsAddress_: 10 *a code=0A08 owner=0052 element=080D universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 &6NnDefineOutput profile_station:Science.EdgeChl = nan ug/l 6N4Initialize SBIT Component.*e code=080E elementURI="profile_station:Science.EdgeChlDepth" type=00 = 6NConstruct PeakDetectHorizontal.*a code=0A99 owner=0066 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A9A owner=0066 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A9B owner=0066 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A9C owner=0066 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A9D owner=0066 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A9E owner=0066 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0067 name="profile_station:Science:PeakDetectNO3" *n code=0068 name="profile_station:Science:PeakDetectNO3:A" *n code=0069 name="profile_station:Science:PeakDetectNO3:B.PeakDetectVsDepth" 46N8Construct PeakDetectVsDepth.*a code=0A9F owner=0069 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AA0 owner=0069 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AA1 owner=0069 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=006A name="profile_station:Science:PeakDetectNO3:C" *n code=006B name="profile_station:Science:PeakDetectOil" *n code=006C name="profile_station:Science:PeakDetectOil:A" *n code=006D name="profile_station:Science:PeakDetectOil:B.PeakDetectVsDepth" 66N8Construct PeakDetectVsDepth.*a code=0AA2 owner=006D element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AA3 owner=006D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AA4 owner=006D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=006E name="profile_station:Science:PeakDetectOil:C" *n code=006F name="profile_station:Science:HighestOilPeakReport" *n code=0070 name="profile_station:Science:HighestOilPeakReport:A.PeakDetectHorizontal" 86N>Construct PeakDetectHorizontal.*a code=0AA5 owner=0070 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AA6 owner=0070 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AA7 owner=0070 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AA8 owner=0070 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AA9 owner=0070 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AAA owner=0070 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0071 name="profile_station:Science:PeakDetectFDOM" *n code=0072 name="profile_station:Science:PeakDetectFDOM:A" *n code=0073 name="profile_station:Science:PeakDetectFDOM:B.PeakDetectVsDepth" 96N8Construct PeakDetectVsDepth.*a code=0AAB owner=0073 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AAC owner=0073 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AAD owner=0073 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0074 name="profile_station:Science:PeakDetectFDOM:C" *n code=0075 name="profile_station:Science:PeakDetectSalinity" *n code=0076 name="profile_station:Science:PeakDetectSalinity:A" *n code=0077 name="profile_station:Science:PeakDetectSalinity:B.PeakDetectVsDepth" ;6N8Construct PeakDetectVsDepth.*a code=0AAE owner=0077 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AAF owner=0077 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AB0 owner=0077 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0078 name="profile_station:Science:PeakDetectSalinity:C" *n code=0079 name="profile_station:Science:HighestSaltPeakReport" *n code=007A name="profile_station:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" =6N>Construct PeakDetectHorizontal.*a code=0AB1 owner=007A element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AB2 owner=007A element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AB3 owner=007A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AB4 owner=007A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AB5 owner=007A element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AB6 owner=007A element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=007B name="profile_station:Science:PeakDetectPlanktivoreLMavgROI" *n code=007C name="profile_station:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=007D name="profile_station:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" >6N8Construct PeakDetectVsDepth.*a code=0AB7 owner=007D element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AB8 owner=007D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AB9 owner=007D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=007E name="profile_station:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=007F name="profile_station:Science:EdgeDetectPlanktivoreLMavgROI" *n code=0080 name="profile_station:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=0081 name="profile_station:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" @6N8Construct EdgeDetectVsDepth.*a code=0ABA owner=0081 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0ABB owner=0081 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0ABC owner=0081 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0082 name="profile_station:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=0083 name="profile_station:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=0084 name="profile_station:Science:PeakDetectPlanktivoreHMavgROI" *n code=0085 name="profile_station:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=0086 name="profile_station:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" C6N8Construct PeakDetectVsDepth.*a code=0ABD owner=0086 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0ABE owner=0086 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0ABF owner=0086 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0087 name="profile_station:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=0088 name="profile_station:Science:PeakDetectPlanktivoreDiatoms" *n code=0089 name="profile_station:Science:PeakDetectPlanktivoreDiatoms:A" *n code=008A name="profile_station:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" E6N8Construct PeakDetectVsDepth.*a code=0AC0 owner=008A element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AC1 owner=008A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AC2 owner=008A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=008B name="profile_station:Science:PeakDetectPlanktivoreDiatoms:C" *n code=008C name="profile_station:Science:PeakDetectPlanktivoreDinoflagellates" *n code=008D name="profile_station:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=008E name="profile_station:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" G6N8Construct PeakDetectVsDepth.*a code=0AC3 owner=008E element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AC4 owner=008E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AC5 owner=008E element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=008F name="profile_station:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=0090 name="profile_station:Science:ChlThreshTrigger" *n code=0091 name="profile_station:Science:ChlThreshTrigger:A.ValueDetect" H6N,Construct ValueDetect.*n code=0092 name="profile_station:Science:ChlThreshTrigger:B" *a code=0AC6 owner=0092 element=084C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=0093 name="profile_station:Science:ChlThreshTrigger:C" *n code=0094 name="profile_station:Science.Redefine.PeakDetectChlActive" *a code=0AC7 owner=0094 element=07E1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 &6NRedefineArg profile_station:Science.PeakDetectChlActive = value:1 bool&6NnInserting Stack from file: Missions/Insert/NeedComms.tl&6NLoading Compiled TethysL script from file Missions/Insert/NeedComms.tx*n code=0095 name="profile_station:NeedComms" *e code=0854 elementURI="profile_station:NeedComms.DiveInterval" type=00 *a code=0AC8 owner=0095 element=0854 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0AC9 owner=0095 element=0854 universal=3FFF unitName="hour" type=1F size=0008 fl=05 JV6N @&6NzDefineArg profile_station:NeedComms.DiveInterval = 1.000000 h*e code=0855 elementURI="profile_station:NeedComms.WaitForPitchUp" type=00 *a code=0ACA owner=0095 element=0855 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0ACB owner=0095 element=0855 universal=3FFF unitName="minute" type=1F size=0008 fl=05 ZV6N@&6NDefineArg profile_station:NeedComms.WaitForPitchUp = 10.000000 min*e code=0856 elementURI="profile_station:NeedComms.SurfacePitch" type=00 *a code=0ACC owner=0095 element=0856 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0ACD owner=0095 element=0856 universal=3FFF unitName="degree" type=1F size=0008 fl=05 jV6NDJW?&6NDefineArg profile_station:NeedComms.SurfacePitch = 20.000000 arcdeg*e code=0857 elementURI="profile_station:NeedComms.SurfaceDepthRate" type=00 *a code=0ACE owner=0095 element=0857 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0ACF owner=0095 element=0857 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 zV6N&6N|DefineArg profile_station:NeedComms.SurfaceDepthRate = nan m/s*e code=0858 elementURI="profile_station:NeedComms.SurfaceSpeed" type=00 *a code=0AD0 owner=0095 element=0858 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0AD1 owner=0095 element=0858 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 V6N?&6N~DefineArg profile_station:NeedComms.SurfaceSpeed = 1.000000 m/s*e code=0859 elementURI="profile_station:NeedComms.SurfacingTimeout" type=00 *a code=0AD2 owner=0095 element=0859 universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=0AD3 owner=0095 element=0859 universal=3FFF unitName="second" type=1F size=0008 fl=05 V6N@@&6NDefineArg profile_station:NeedComms.SurfacingTimeout = 1000.000000 s*e code=085A elementURI="profile_station:NeedComms.GPSTimeout" type=00 *a code=0AD4 owner=0095 element=085A universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0AD5 owner=0095 element=085A universal=3FFF unitName="minute" type=1F size=0008 fl=05 V6N@z@&6NzDefineArg profile_station:NeedComms.GPSTimeout = 7.000000 min*e code=085B elementURI="profile_station:NeedComms.CommsTimeout" type=00 *a code=0AD6 owner=0095 element=085B universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0AD7 owner=0095 element=085B universal=3FFF unitName="minute" type=1F size=0008 fl=05 V6N @&6NDefineArg profile_station:NeedComms.CommsTimeout = 30.000000 min*a code=0AD8 owner=0095 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AD9 owner=0095 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0096 name="profile_station:NeedComms:A" *a code=0ADA owner=0096 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0097 name="profile_station:NeedComms:B.GoToSurface" *e code=085C elementURI="GoToSurface.enableBroadcast" type=02 *a code=0ADB owner=0097 element=085C universal=3FFF unitName="bool" type=02 size=0001 fl=05 K6N,Construct GoToSurface.*a code=0ADC owner=0097 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0ADD owner=0097 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0ADE owner=0097 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0ADF owner=0097 element=0727 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0AE0 owner=0097 element=0728 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0AE1 owner=0097 element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0AE2 owner=0097 element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0AE3 owner=0097 element=072C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0AE4 owner=0097 element=072B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0AE5 owner=0097 element=0739 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0AE6 owner=0097 element=073E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0AE7 owner=0097 element=02CE universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0AE8 owner=0097 element=02C9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0AE9 owner=0097 element=029A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0AEA owner=0097 element=02BB universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0AEB owner=0097 element=02B6 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0AEC owner=0097 element=02CA universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=0098 name="profile_station:NeedComms:C" *n code=0099 name="profile_station:NeedComms:C:A_Timeout" *n code=009A name="profile_station:NeedComms:C:A_Timeout:A" *n code=009B name="profile_station:NeedComms:D" *n code=009C name="profile_station:NeedComms:D:A_Timeout" *n code=009D name="profile_station:NeedComms:D:A_Timeout:A" *n code=009E name="profile_station:NeedComms:E" *n code=009F name="profile_station:NeedComms:E:A_Timeout" *n code=00A0 name="profile_station:NeedComms:E:A_Timeout:A" *n code=00A1 name="profile_station:C" *a code=0AED owner=00A1 element=0854 universal=3FFF unitName="hour" type=1F size=0008 fl=05 &6N~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl&6NLoading Compiled TethysL script from file Missions/Insert/StandardEnvelopes.tx*n code=00A2 name="profile_station:StandardEnvelopes" *e code=085D elementURI="profile_station:StandardEnvelopes.MinAltitude" type=00 *a code=0AEE owner=00A2 element=085D universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0AEF owner=00A2 element=085D universal=3FFF unitName="meter" type=1F size=0008 fl=05 zW6N@&6NDefineArg profile_station:StandardEnvelopes.MinAltitude = 5.000000 m*e code=085E elementURI="profile_station:StandardEnvelopes.MaxDepthIgnore" type=00 *a code=0AF0 owner=00A2 element=085E universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0AF1 owner=00A2 element=085E universal=3FFF unitName="meter" type=1F size=0008 fl=05 W6N&6NDefineArg profile_station:StandardEnvelopes.MaxDepthIgnore = 0.000000 m*e code=085F elementURI="profile_station:StandardEnvelopes.MaxDepth" type=00 *a code=0AF2 owner=00A2 element=085F universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0AF3 owner=00A2 element=085F universal=3FFF unitName="meter" type=1F size=0008 fl=05 W6Ni@&6NDefineArg profile_station:StandardEnvelopes.MaxDepth = 200.000000 m*e code=0860 elementURI="profile_station:StandardEnvelopes.MinOffshore" type=00 *a code=0AF4 owner=00A2 element=0860 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0AF5 owner=00A2 element=0860 universal=3FFF unitName="meter" type=1F size=0008 fl=05 W6N@@&6NDefineArg profile_station:StandardEnvelopes.MinOffshore = 2000.000000 m*n code=00A3 name="profile_station:StandardEnvelopes:A.AltitudeEnvelope" Q6N6Construct AltitudeEnvelope.*a code=0AF6 owner=00A3 element=02C9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0AF7 owner=00A3 element=02BF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0AF8 owner=00A3 element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0AF9 owner=00A3 element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0AFA owner=00A3 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AFB owner=00A3 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0AFC owner=00A3 element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0AFD owner=00A3 element=072C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0AFE owner=00A3 element=072B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0AFF owner=00A3 element=0727 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B00 owner=00A3 element=0728 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B01 owner=00A3 element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B02 owner=00A3 element=072A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *n code=00A4 name="profile_station:StandardEnvelopes:B.DepthEnvelope" R6N0Construct DepthEnvelope.*a code=0B03 owner=00A4 element=02C9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0B04 owner=00A4 element=02C3 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B05 owner=00A4 element=02BF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B06 owner=00A4 element=02A3 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0B07 owner=00A4 element=02BD universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0B08 owner=00A4 element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0B09 owner=00A4 element=072C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0B0A owner=00A4 element=072B universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B0B owner=00A4 element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B0C owner=00A4 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B0D owner=00A4 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B0E owner=00A4 element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B0F owner=00A4 element=072C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B10 owner=00A4 element=072B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0B11 owner=00A4 element=0727 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B12 owner=00A4 element=0728 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=00A5 name="profile_station:StandardEnvelopes:C.OffshoreEnvelope" R6N6Construct OffshoreEnvelope.*a code=0B13 owner=00A5 element=0739 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0B14 owner=00A5 element=073A universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0B15 owner=00A5 element=073B universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0B16 owner=00A5 element=073F universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0B17 owner=00A5 element=073C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0B18 owner=00A5 element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B19 owner=00A5 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B1A owner=00A5 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B1B owner=00A5 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B1C owner=00A5 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B1D owner=00A5 element=0739 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B1E owner=00A5 element=073C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B1F owner=00A5 element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *n code=00A6 name="profile_station:E" *a code=0B20 owner=00A6 element=085D universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=00A7 name="profile_station:F" *a code=0B21 owner=00A7 element=085F universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=00A8 name="profile_station:G" *a code=0B22 owner=00A8 element=0860 universal=3FFF unitName="meter" type=1F size=0008 fl=05 &6NxInserting Stack from file: Missions/Insert/BackseatDriver.tl&6NLoading Compiled TethysL script from file Missions/Insert/BackseatDriver.tx*n code=00A9 name="profile_station:BackseatDriver" *e code=0861 elementURI="profile_station:BackseatDriver.EnableBackseat" type=00 *a code=0B23 owner=00A9 element=0861 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B24 owner=00A9 element=0861 universal=3FFF unitName="bool" type=02 size=0001 fl=05 "Y6N&6NDefineArg profile_station:BackseatDriver.EnableBackseat = 0 bool*n code=00AA name="profile_station:BackseatDriver:A.BackseatDriver" U6N2Construct BackseatDriver.*a code=0B25 owner=00AA element=0513 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B26 owner=00AA element=0511 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B27 owner=00AA element=0326 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0B28 owner=00AA element=0511 universal=3FFF unitName="bool" type=02 size=0001 fl=05 &6NnInserting Stack from file: Missions/Insert/PowerOnly.tl&6NLoading Compiled TethysL script from file Missions/Insert/PowerOnly.tx*n code=00AB name="profile_station:PowerOnly" *e code=0862 elementURI="profile_station:PowerOnly.SampleAll" type=00 *a code=0B29 owner=00AB element=0862 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B2A owner=00AB element=0862 universal=3FFF unitName="bool" type=02 size=0001 fl=05 RY6N&6NlDefineArg profile_station:PowerOnly.SampleAll = 0 bool*e code=0863 elementURI="profile_station:PowerOnly.SampleLoad1" type=00 *a code=0B2B owner=00AB element=0863 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B2C owner=00AB element=0863 universal=3FFF unitName="bool" type=02 size=0001 fl=05 bY6N&6NpDefineArg profile_station:PowerOnly.SampleLoad1 = 0 bool*e code=0864 elementURI="profile_station:PowerOnly.SampleLoad2" type=00 *a code=0B2D owner=00AB element=0864 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B2E owner=00AB element=0864 universal=3FFF unitName="bool" type=02 size=0001 fl=05 rY6N&6NpDefineArg profile_station:PowerOnly.SampleLoad2 = 0 bool*e code=0865 elementURI="profile_station:PowerOnly.SampleLoad3" type=00 *a code=0B2F owner=00AB element=0865 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B30 owner=00AB element=0865 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Y6N&6NpDefineArg profile_station:PowerOnly.SampleLoad3 = 0 bool*a code=0B31 owner=00AB element=03C5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0866 elementURI="profile_station:PowerOnly.EnabledPowerOnly" type=00 *a code=0B32 owner=00AB element=0866 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B33 owner=00AB element=0866 universal=3FFF unitName="bool" type=02 size=0001 fl=05 Y6N&6NzDefineArg profile_station:PowerOnly.EnabledPowerOnly = 0 bool*n code=00AC name="profile_station:PowerOnly:A" *n code=00AD name="profile_station:PowerOnly:B" *n code=00AE name="profile_station:PowerOnly:C" *n code=00AF name="profile_station:PowerOnly:D" *n code=00B0 name="profile_station:PowerOnly:E.Wait" X6NConstruct Wait.*n code=00B1 name="profile_station:StartingMission" *n code=00B2 name="profile_station:K.Pitch" Y6NConstruct.*a code=0B34 owner=00B2 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B35 owner=00B2 element=0726 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0B36 owner=00B2 element=0727 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B37 owner=00B2 element=072C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B38 owner=00B2 element=072B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0B39 owner=00B2 element=0728 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B3A owner=00B2 element=0729 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0B3B owner=00B2 element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B3C owner=00B2 element=02B8 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *n code=00B3 name="profile_station:L.Buoyancy" Y6N&Construct Buoyancy.*a code=0B3D owner=00B3 element=01C5 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0B3E owner=00B3 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B3F owner=00B3 element=072A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0B40 owner=00B3 element=0299 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *n code=00B4 name="profile_station:SetSpeed" *n code=00B5 name="profile_station:SetSpeed:SurfaceDive" *a code=0B41 owner=00B5 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00B6 name="profile_station:SetSpeed:SurfaceDive:SurfaceSpeed" *n code=00B7 name="profile_station:SetSpeed:SurfaceDive:SurfaceSpeed:A.SetSpeed" [6NConstruct.*a code=0B42 owner=00B7 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B43 owner=00B7 element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B44 owner=00B7 element=072D universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=00B8 name="profile_station:SetSpeed:ProfileSpeed" *a code=0B45 owner=00B8 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B46 owner=00B8 element=02CE universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=00B9 name="profile_station:SetSpeed:ProfileSpeed:A.SetSpeed" \6NConstruct.*a code=0B47 owner=00B9 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B48 owner=00B9 element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B49 owner=00B9 element=072D universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=00BA name="profile_station:N.DepthEnvelope" ]6N0Construct DepthEnvelope.*a code=0B4A owner=00BA element=02C9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0B4B owner=00BA element=02C3 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B4C owner=00BA element=02BF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B4D owner=00BA element=02A3 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0B4E owner=00BA element=02BD universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0B4F owner=00BA element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0B50 owner=00BA element=072C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0B51 owner=00BA element=072B universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B52 owner=00BA element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B53 owner=00BA element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B54 owner=00BA element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B55 owner=00BA element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B56 owner=00BA element=072C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B57 owner=00BA element=072B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0B58 owner=00BA element=0727 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B59 owner=00BA element=0728 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=00BB name="profile_station:O.AltitudeEnvelope" ]6N6Construct AltitudeEnvelope.*a code=0B5A owner=00BB element=02C9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0B5B owner=00BB element=02BF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B5C owner=00BB element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0B5D owner=00BB element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B5E owner=00BB element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B5F owner=00BB element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B60 owner=00BB element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B61 owner=00BB element=072C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B62 owner=00BB element=072B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0B63 owner=00BB element=0727 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B64 owner=00BB element=0728 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B65 owner=00BB element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B66 owner=00BB element=072A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *n code=00BC name="profile_station:P.YoYo" ^6NConstruct YoYo.*a code=0B67 owner=00BC element=02C9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0B68 owner=00BC element=02C3 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B69 owner=00BC element=02BF universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B6A owner=00BC element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0B6B owner=00BC element=0727 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B6C owner=00BC element=0728 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0B6D owner=00BC element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0B6E owner=00BC element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B6F owner=00BC element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B70 owner=00BC element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B71 owner=00BC element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B72 owner=00BC element=0727 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B73 owner=00BC element=0728 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=00BD name="profile_station:CircleWrapper" *n code=00BE name="profile_station:CircleWrapper:A" *a code=0B74 owner=00BE element=0289 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=05 *n code=00BF name="profile_station:CircleWrapper:B.Circle" _6NConstruct.*a code=0B75 owner=00BF element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B76 owner=00BF element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B77 owner=00BF element=073F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B78 owner=00BF element=0739 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B79 owner=00BF element=073A universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0B7A owner=00BF element=073B universal=3FFF unitName="degree" type=37 size=0006 fl=05 &6Na # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission profile_station { """ This mission yoyos in a circle around a specified location. """ arguments { # Mission-wide settings MissionTimeout = 4 hour """ Maximum duration of mission """ NeedCommsTime = 60 minute """ Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications """ # You probably need to change these. Lat = 36.806966 degree """ The latitude of the center of the circle. """ Lon = -121.824326 degree """ The longitude of the center of the circle. """ Radius = 300 meter """ Radius to circle at """ # You probably do not need to change these. YoYoMinDepth = 2 meter """ Minimum depth while performing the YoYo behavior. """ YoYoMaxDepth = 200 meter """ Maximum depth while performing the YoYo behavior. """ YoYoMinAltitude = 7 meter """ Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos). """ YoYoPitch = 20 degree """ Pitch (plus and minus) for yo-yo behavior. """ Speed = 1 meter_per_second """ Vehicle speed. """ SurfaceDiveSpeed = NaN meter_per_second """ Vehicle speed to get off of surface, same as speed if skipped """ SurfaceThreshold = Control:VerticalControl.surfaceThreshold """ Depth at which to return to normal speed, skipped if SurfaceDiveSpeed NaN """ # You are even less likely to need to change these. CircleMaxError = 100 meter """ If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle. """ CircleTurnToPort = false """ If true, vehicle turns to the left around the center point. If false, vehicle turns to the right. """ KwpHeading = 0.010 radian_per_meter """ Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.) """ MinAltitude = 5 meter """ Minimum height above the sea floor for the entire mission. """ MaxDepth = 205 meter """ Maximum depth for the entire mission. """ MinOffshore = 2 kilometer """ Minimum offshore distance for the entire mission. """ } # Missions should almost always start with a timeout timeout duration=MissionTimeout insert Insert/Science.tl { """ Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface. """ redefineArg PeakDetectChlActive = true } # Most missions should use the NeedComms aggregate. insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = NeedCommsTime # Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes. insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl # Check for additional instructions first. call id="StartingMission" refId="NeedComms" # Many missions will keep mass position and buoyancy volume fixed at defaults. behavior Guidance:Pitch { run in parallel set massPosition = Control:VerticalControl.massDefault } behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } aggregate SetSpeed { run in parallel aggregate SurfaceDive { run while ( not isNaN ( SurfaceDiveSpeed ) and Universal:depth <= SurfaceThreshold ) aggregate SurfaceSpeed { run in parallel behavior Guidance:SetSpeed { run in parallel set speed = SurfaceDiveSpeed } } } aggregate ProfileSpeed { run while ( isNaN ( SurfaceDiveSpeed ) or Universal:depth > Control:VerticalControl.surfaceThreshold ) behavior Guidance:SetSpeed { run in parallel set speed = Speed } } } behavior Guidance:DepthEnvelope { """ Another depth envelope for the YoYo behavior. This envelope should fall within the limits of the standard safety envelopes in Insert/StandardEnvelopes.tl in order to avoid commanding high pitch angles for depth-terminated YoYos. """ run in parallel set minDepth = YoYoMinDepth set maxDepth = YoYoMaxDepth set pitch = YoYoPitch } behavior Guidance:AltitudeEnvelope { """ Another altitude envelope for the YoYo behavior. This envelope should fall within the limits of the standard safety envelopes in Insert/StandardEnvelopes.tl in order to avoid commanding high pitch angles for bottom-terminated YoYos. """ run in parallel set minAltitude = YoYoMinAltitude set pitch = YoYoPitch } behavior Guidance:YoYo { run in parallel set pitch = YoYoPitch } aggregate CircleWrapper { run in sequence repeat=4096 assign in parallel Control:HorizontalControl.kwpHeading = KwpHeading behavior Guidance:Circle { run in sequence set latitude = Lat set longitude = Lon set radius = Radius set maxError = CircleMaxError set turnToPort = CircleTurnToPort } } } 6N~Loaded ./Missions/Science/profile_station.tl id=profile_station !6N*Initialized mux pins. !6N@Initializing the watchdog timer.!6NTLast reboot was NOT due to watchdog timer.!6N,Initializing GFScanner $6NBInitializing DepthRateCalculator.$6NBInitializing PitchRateCalculator. %6N:Initializing SpeedCalculator.%6N>Initializing YawRateCalculator. &6NLInitializing ElevatorOffsetCalculator.&6N:Using TethysL tl-to-tx parser&6N\Loading Mission from file: Missions/Startup.tl&6NPTethyslAPI: loading: Missions/Startup.tl&6NhTethyslAPI: mission file loaded: Missions/Startup.tl&6NTethyslAPI: Missions/Startup.tl translated into: *n code=00C0 name="Startup" *n code=00C1 name="Startup:A.GoToSurface" *a code=0B7B owner=00C1 element=085C universal=3FFF unitName="bool" type=02 size=0001 fl=05 `6N,Construct GoToSurface.*a code=0B7C owner=00C1 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B7D owner=00C1 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B7E owner=00C1 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B7F owner=00C1 element=0727 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B80 owner=00C1 element=0728 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B81 owner=00C1 element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B82 owner=00C1 element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B83 owner=00C1 element=072C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B84 owner=00C1 element=072B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0B85 owner=00C1 element=0739 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B86 owner=00C1 element=073E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B87 owner=00C1 element=02CE universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B88 owner=00C1 element=02C9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0B89 owner=00C1 element=029A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B8A owner=00C1 element=02BB universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0B8B owner=00C1 element=02B6 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B8C owner=00C1 element=02CA universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=00C2 name="Startup:StartupSatComms" *n code=00C3 name="Startup:StartupSatComms:A" *n code=00C4 name="Startup:StartupSatComms:B" &6N # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission Startup { behavior Guidance:GoToSurface { run in progression } aggregate StartupSatComms { run in sequence readDatum { timeout duration=P1M Universal:latitude_fix } readDatum { timeout duration=P1M Universal:platform_communications } } } &6N\Loading Mission from file: Missions/Default.tl&6NPTethyslAPI: loading: Missions/Default.tl&6NhTethyslAPI: mission file loaded: Missions/Default.tl&6N"TethyslAPI: Missions/Default.tl translated into: 0 13 Burn on Dropped weight due to communications timeout. 5 Default mission has been running for Restarting logs and Default mission. restart logs *n code=00C5 name="Default" *e code=0867 elementURI="Default.ElapsedSinceDefaultStarted" type=00 *a code=0B8D owner=00C5 element=0867 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0B8E owner=00C5 element=0867 universal=3FFF unitName="minute" type=1F size=0008 fl=05 r\6N&6NvDefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min*n code=00C6 name="Default:A.Wait" c6NConstruct Wait.*n code=00C7 name="Default:B.GoToSurface" *a code=0B8F owner=00C7 element=085C universal=3FFF unitName="bool" type=02 size=0001 fl=05 c6N,Construct GoToSurface.*a code=0B90 owner=00C7 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B91 owner=00C7 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B92 owner=00C7 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0B93 owner=00C7 element=0727 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B94 owner=00C7 element=0728 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B95 owner=00C7 element=072E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0B96 owner=00C7 element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B97 owner=00C7 element=072C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B98 owner=00C7 element=072B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0B99 owner=00C7 element=0739 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0B9A owner=00C7 element=073E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0B9B owner=00C7 element=02CE universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B9C owner=00C7 element=02C9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0B9D owner=00C7 element=029A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0B9E owner=00C7 element=02BB universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0B9F owner=00C7 element=02B6 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0BA0 owner=00C7 element=02CA universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=00C8 name="Default:CheckIn" *n code=00C9 name="Default:CheckIn:Read_GPS" *n code=00CA name="Default:CheckIn:Read_Iridium" *n code=00CB name="Default:CheckIn:Read_Iridium:A_Timeout" *n code=00CC name="Default:CheckIn:Read_Iridium:A_Timeout:A.Execute" f6N$Construct Execute.*n code=00CD name="Default:CheckIn:Read_Iridium:A_Timeout:B" *n code=00CE name="Default:CheckIn:C.Wait" g6NConstruct Wait.*n code=00CF name="Default:CheckIn:D" *a code=0BA1 owner=00CF element=0867 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0BA2 owner=00CF element=001C universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00D0 name="Default:CheckIn:E" *n code=00D1 name="Default:D" *n code=00D2 name="Default:E.Execute" i6N$Construct Execute.&6NU # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission Default { arguments { ElapsedSinceDefaultStarted = 0 minute } behavior Guidance:Wait { """ Wait a moment to see if the scheduler starts a new mission before starting to actually run Default. """ run in sequence set duration = 13 second } behavior Guidance:GoToSurface { run in progression } aggregate CheckIn { run in sequence repeat=288 readDatum id="Read_GPS" { timeout duration=P5M Universal:time_fix } readDatum id="Read_Iridium" { timeout duration=P4H { behavior Guidance:Execute { run in sequence set command = "Burn on" } syslog critical "Dropped weight due to communications timeout." } Universal:platform_communications } behavior Guidance:Wait { run in sequence set duration = 5 minute } assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started ) syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute } syslog important "Restarting logs and Default mission." behavior Guidance:Execute { run in sequence set command = "restart logs" } } 6NComponent order: CycleStarter,ExternalSim,ExternalSimGazebo,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,GFScanner,LcmUniversalReporter,Reporter,LogSplitter,6N>Waiting for Gazebo time sync...6NWaiting for Gazebo time sync: latest Gz time: 0.000000 s, next control iter: 1743026501.807027 s, wait time: 1743026501.807027 sT6N^got command set profile_station.Radius 15 meterZLT6N.@T6Nlgot command set profile_station.YoYoMinDepth 3.5 meterjLT6N @T6Nhgot command set profile_station.YoYoMaxDepth 4 meterzLT6N@T6Ntgot command set profile_station.Speed 0.8 meter_per_secondLT6N?T6Njgot command set profile_station.MissionTimeout 4 hourL?T6NT6Nhgot command set profile_station.NeedCommsTime 4 hour*LT6N @T6Ndgot command set profile_station.Lat 36.6936 degree:LT6NNZ~?T6Nhgot command set profile_station.Lon -121.9399 degreeJLT6NB]gT6Ngot command runT6NRunning =NrAdjusting time to match Gazebo time: 1743026971.163165 s.=N4Gazebo time sync received.x}G~! ,qAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.000000> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000000 dt: 0.4000002 time: 1743026971.163289F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 469< header.stamp.nsec: 5200000000 temperature: 13.429637* salinity: 33.392094, density: 1025.000000* values[0]: 0.506704F (some fields omitted in printout)AQX}@AyW}@AZ~? A_Aok&"AAkoNA"A ZAbAjArAzAAA:QT 5$@A\rA@<AD4(A=8A?AA>A.=*AN2A&H,:A.=BANJA&H,RA.=*Initializing AHRS_M2. Powering up. -$>Depth measurement is not active]Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds. -Software Fault   @ @ @ @ @ @) )6Initializing BuoyancyServo. 6Initializing ElevatorServo..Initializing MassServo. 2Initializing RudderServo.6Initializing ThrusterServo.F-!Software Fault in component: DeadReckonUsingMultipleVelocitySourcesF*e code=0868 elementURI="controlThread.durationOfLastRun" type=00 *a code=0BA3 owner=0005 element=0868 universal=3FFF unitName="second" type=07 size=0002 fl=05 ]=G~,AAq= ףX}@AbW}@A  A Aok&"AA "A ZA bAjArAzAAAjQT 5$@Aw\rA%o<AHJ'Am7AA`{ƒ=A P>Aq}>*Af2AE.:Aq}>BAfJAE.RAq}> -$>Depth measurement is not active) )bB= *Beginning Startup BITjBrB >B;BB >F!Clearing failed state for component DeadReckonUsingMultipleVelocitySources F];Waiting for Gazebo time sync: latest Gz time: 1743026971.223165 s, next control iter: 1743026971.661883 s, wait time: 0.438718 sE rAdjusting time to match Gazebo time: 1743026971.663165 s.G~,qAtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 470, header.stamp.nsec: 00 temperature: 13.429637* salinity: 33.392094, density: 1025.000000* values[0]: 0.506704F (some fields omitted in printout)A`}@A>%^^}@A A_Aok&"AA"AZAbAjArAzAAAQT 5$@A\rAԤs=Ax+A]9AA[Ak>A=*AY߷2AI*:A=BAY߷JAI*RA=a e Ia i efAa m ٘i)h5HIefA -$>Depth measurement is not active; >) ) >jBrBBBBFF]o:Waiting for Gazebo time sync: latest Gz time: 1743026971.683165 s, next control iter: 1743026972.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743026972.083165 s.DG~,SAAQf}@AhXe}@AZ~? A_Aok&"AAkoNA"AZAbAjArAzAAAQT 5$@A%\rA=AX+A":AA MYA@M>Aϰ=*AcW2A+:Aϰ=BAcWJA+RAϰ=I[fA٘i)I[fA -$>Depth measurement is not active  ) )jBrBBBBFF][:Waiting for Gazebo time sync: latest Gz time: 1743026972.103165 s, next control iter: 1743026972.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743026972.503165 s.DZG~,34 A]"xFailed to acquire real or simulated CTD data within timeout.vPublished command to Gazebo (printed only once in a while):1-"(Communications Fault( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.261799> elevatorAngleAction: 0.261799< massPositionAction: 0.0056004 buoyancyAction: 0.000000 dt: 0.4199862 time: 1743026972.503289F (some fields omitted in printout)A= ףpm}@A Dk}@AZ~? A_Afk&"AAkoNA"AZAbAjArAzAAAPI 5$@Af2]rA0>A` A d:A?ANMADepth measurement is not active  ) ) - y> M $9!m Y)>a YnjBrBBBBF-!\Communications Fault in component: CTD_Seabird F]!\Communications Fault in component: CTD_SeabirdF]:Waiting for Gazebo time sync: latest Gz time: 1743026972.523165 s, next control iter: 1743026972.903174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 471, header.stamp.nsec: 00 temperature: 13.428576* salinity: 33.392052, density: 1025.000000* values[0]: 0.511453F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026972.923165 s.9αG~,;A!U@!M@!I@!Q@!E@!A@!Y@A\(t}@A#r}@AZ~? A_A^k&"AAkoNA"AZAbAjArAzAAAĄL 5$@A(u]rA\(>A7A P|:AA``>A 3$AWј=*AQl2AP5:A>ј=BAQlJAP5RA>ј=QfA٘i)IQfA -$>Depth measurement is not active? J6? J6> J ) )yЭ>$:Y4>YjBrBBBBFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743026972.943165 s, next control iter: 1743026973.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743026973.343165 s.<ձG~,UAA{Gz}@A T?y}@AZ~? A_AUk&"AAkoNA"AZAbAjArAzAAA3?[ 5$@A'.]rA4_G>A&%8A*8:AA>AM%A/=*A[2A״5:A/=BA[JA״5RA/=٘i)I -$>Depth measurement is not activeJJW?J ) )y:>6g:jBrBBBBFFF]^:Waiting for Gazebo time sync: latest Gz time: 1743026973.363165 s, next control iter: 1743026973.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 472&, header.stamp.nsec: 0&0 temperature: 13.427689&* salinity: 33.392063&, density: 1025.000000&* values[0]: 0.515457&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026973.763165 s.:۱G~,,pA "2Initializing CTD_Seabird.vPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.261799> elevatorAngleAction: 0.261799< massPositionAction: 0.0056004 buoyancyAction: 0.000000 dt: 0.4199922 time: 1743026973.763317F (some fields omitted in printout)A}@Al"3}@AZ~? A_ALk&"AAkoNA"AZAbAjArAzAAA Al 5$@A8^rA~d>A]8A3AA ~>A%A†=*A'2A[5:A†=BA'JA[5RA†=OfA٘i)IOfA -$>Depth measurement is not activeJJ?J ) )y(r>$:jBrBBBBFFF]_:Waiting for Gazebo time sync: latest Gz time: 1743026973.783165 s, next control iter: 1743026974.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743026974.183165 s.G~,cAAQ}@A(}@AZ~? A_ACk&"AAkoNA"AZAbAjArAzAAA3u 5$@AOH^rA>Ax7AɺAAb*>A@%A9~=*AX2Ahl:5:Aj~=BAXJAhl:5RAj~=NfA٘i)INfA -$>Depth measurement is not activeJJ?J ) )y>:jBrBBBBFFF]q:Waiting for Gazebo time sync: latest Gz time: 1743026974.203165 s, next control iter: 1743026974.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743026974.603165 s.54G~,AAףp= }@A9ah}@A A_A:k&"AAkoNA"AZAbAjArAzAAAG?s 5$@A<؎^rA>A8~AD{yAA`oA@@%AH{q=*Aix82Au:A~{q=BAix8JAuRA~{q=boresightMatrix m[ decimal 0 0 2 2 f0.0 f0.0 f-1.0 f0.0 f-1.0 f0.0 f-1.0 f0.0 f0.0 ]m set drop ٘i)I -$>Depth measurement is not activeJJ@J ) )y>6:jBrBBBBFFF]m:Waiting for Gazebo time sync: latest Gz time: 1743026974.623165 s, next control iter: 1743026975.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 473 , header.stamp.nsec: 0 0 temperature: 13.426914 * salinity: 33.392052 , density: 1025.000000 * values[0]: 0.518878 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026975.023165 s.ZG~,|AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.261799> elevatorAngleAction: 0.261799< massPositionAction: 0.0056004 buoyancyAction: 0.000000 dt: 0.4200112 time: 1743026975.023288F (some fields omitted in printout)A(\•}@Av!}@AZ~? A_A1k&"AAkoNA"AZAbAjArAzAAAtNg 5$@Az^rAuT>AAhA?AalA@$Aмe=*A'v92A:Ae=BA'v9JARAe=0chan0Format 2 set drop MfA٘i)IMfA -$>Depth measurement is not activeJJ!@J ) )ye>;jBrBBBBFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743026975.043165 s, next control iter: 1743026975.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743026975.443165 s.AG~,h]AAGz}@Aٚ}@AZ~? A_A*k&"AAkoNA"AZAbAjArAzAAAdaX 5$@At_rA>A%A6A?A/^Ap]"A9[=*AyU92Ak(:A.7[=BAyU9JAk(RA.7[=2chan0Trigger 5 set drop ٘i)I  m (A q Z~? u _ y CXB@`ZR'|^hGPS fix at 20250326T220935: (36.693600, -121.939900)Ii-$>Depth measurement is not activeJJ<@J      ;4  YZ~? ;4  y_ tI    O>    ?   ?  N7>g;4 w:) )$;jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743026975.463165 s, next control iter: 1743026975.843178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 474", header.stamp.nsec: 0"0 temperature: 13.426238"* salinity: 33.392059", density: 1025.000000"* values[0]: 0.521879"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026975.863165 s.+G~,>AA33333}@Agӑ}@AZ~? A_A#k&"AAkoNA"AZAbAjArAzAAA!'L 5$@A.A_rAW>AL`ALA?A$ԠA sAQ=*A=:2A:AQ=BA=:JARAQ=chan0Enables array[ 0 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ]array set drop Jchan0EnableBit pitch dvid@ set drop ٘i)I!  9W>!  YVE JJW@J 77 ) )h-;jBrBBBBFFF]c:Waiting for Gazebo time sync: latest Gz time: 1743026975.883165 s, next control iter: 1743026976.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743026976.283165 s.3RG~,A)vPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.261799> elevatorAngleAction: 0.261799< massPositionAction: 0.0056004 buoyancyAction: 0.000945 dt: 0.4200232 time: 1743026976.283315F (some fields omitted in printout)AR}@A3g}J}@A A_Ak&"AAkoNA"AZAbAjArAzAAAI 5$@A^e_rA>A" 7A'yA?AՆ>A@Ah+I=*A:2Ae4:A8 I=BA:JAe4RA8 I=Hchan0EnableBit roll dvid@ set drop ٘i)I9>YcE )J*M=C=! JJq@J 7 ) )@;jBrBBBBFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743026976.303165 s, next control iter: 1743026976.683175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):2. header.stamp.sec: 4752, header.stamp.nsec: 020 temperature: 13.4256452* salinity: 33.3920442, density: 1025.0000002* values[0]: 0.5245552F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026976.703165 s.պ G~, -AAq= ף}@AXo}@AZ~? A`Ak&"AA"AZAbAjArAzAAAO 5$@Auvv_rAt>AU 8ANA?A`>AA=A=*A>:2Aۻk5:A(A=BA>:JAۻk5RA(A=Fchan0EnableBit yaw dvid@ set drop ٘i)I9t>YFpE .No messages in MT queueJD=B=JJ@J  ) )S;jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743026976.723165 s, next control iter: 1743026977.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743026977.123165 s.<G~,qGAA(\}@A+}@AZ~? A`Ak&"AAkoNA"AZAbAjArAzAAAZ 5$@Al%q_rAe>Ay+8AA?A@ܩ>Ac>A9=*AT:2A'5:A9=BAT:JA'5RA9=Hchan0EnableBit magp dvid@ set drop ٘i)I9e>Y^|E J|==C=JJ@J  ) )a  a:6g;jBrBBBBFFF]U:Waiting for Gazebo time sync: latest Gz time: 1743026977.143165 s, next control iter: 1743026977.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743026977.543165 s.IG~,~bAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.261799> elevatorAngleAction: 0.261799< massPositionAction: 0.0056004 buoyancyAction: 0.000945 dt: 0.4199762 time: 1743026977.543270F (some fields omitted in printout)AGz}@A¿s}@AZ~? A_A!k&"AAkoNA"AZAbAjArAzAAAFc 5$@AO_rA>Ag7A?A?AE>An?A"3=*A ;2AL5:A2=BA ;JAL5RA2=Lchan0EnableBit accelp dvid@ set drop ٘i)I9>YE JH6=JJ@J  ) ):zz;jBrBBBBFFF]k:Waiting for Gazebo time sync: latest Gz time: 1743026977.563165 s, next control iter: 1743026977.943173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 476, header.stamp.nsec: 00 temperature: 13.425111* salinity: 33.392044, density: 1025.000000* values[0]: 0.526991F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026977.963165 s.wG~,}AA}@AWt+}@A A_A)k&"AAkoNA"AZAbAjArAzAAA|e 5$@A(3W_rA1>AŵAdgA?ATA%?A,=*A&;2A3:AXo,=BA&;JA3RAXo,=Jchan0EnableBit gyrop dvid@ set drop ٘i)I91>YE J/=JJ@J 77 ) ) :߆;jBrBBBBFFF]f:Waiting for Gazebo time sync: latest Gz time: 1743026977.983165 s, next control iter: 1743026978.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743026978.383165 s.%G~,/AAQ}@AV}@A A_A6k&"AAkoNA"AZAbAjArAzAAAA>` 5$@A>,^rA>AJA눽A?A=A0?A&=*A B;2A-:A`&=BA B;JA-RA`&=Rchan0EnableBit yawErrEst dvid@ set drop ٘i)I9>Y E J)=JJ@J 7 ) )_:;jBrBBBBFFF]^:Waiting for Gazebo time sync: latest Gz time: 1743026978.403165 s, next control iter: 1743026978.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 477&, header.stamp.nsec: 0&0 temperature: 13.424601&* salinity: 33.392033&, density: 1025.000000&* values[0]: 0.529196&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026978.803165 s.uA,G~,sgAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.261799> elevatorAngleAction: 0.261799< massPositionAction: 0.0056004 buoyancyAction: 0.000945 dt: 0.4200282 time: 1743026978.803321F (some fields omitted in printout)A ףp=}@A?{}@AZ~? A_AGk&"AAkoNA"AZAbAjArAzAAAWU 5$@A;^rA>A,A=>A?A@ZA@6?AB!=*A_;2AO:A =BA_;JAORA =Vchan0EnableBit temperature dvid@ set drop ٘i)I9>YFE J#=JJ@J 77 ) ):$;jBrBBBBFFF]Waiting for Gazebo time sync: latest Gz time: 1743026978.823165 s, next control iter: 1743026979.203175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743026979.223165 s.g3G~,HAA)\}@A=T}@AZ~? A_A^k&"AAkoNA"AZAbAjArAzAAA[J 5$@AUub]rA>AA qA?A@N?AT=?A =*AS{;2A#:AA=BAS{;JA#RAA=hchan0EnableBit magBufferActiveIndex dvid@ set drop ٘i)I9>YVE J=JJ@J 6 ) ):ƣ;jBrBBBBFFF]Y:Waiting for Gazebo time sync: latest Gz time: 1743026979.243165 s, next control iter: 1743026979.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743026979.643165 s.t9G~,)AAHz}@AY }@A A_A{k&"AAkoNA"AZAbAjArAzAAA+D 5$@A{\rA ?A뾶AdMνA?AA1B?A=*A;2Am:A%=BA;JAmRA%=Bchan0TriggerDivisor 40 set drop ٘i)I9 ?Y=E Jb=B=JJ@J 7 ) )]:h;jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743026979.663165 s, next control iter: 1743026980.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 478, header.stamp.nsec: 00 temperature: 13.424155* salinity: 33.392048, density: 1025.000000* values[0]: 0.531260F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026980.063165 s.@G~,g AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.261799> elevatorAngleAction: 0.261799< massPositionAction: 0.0056004 buoyancyAction: 0.000945 dt: 0.4200512 time: 1743026980.063326F (some fields omitted in printout)Afffff}@A4)}@A A_Ak&"AAkoNA"AZAbAjArAzAAAXD 5$@Ag61d[rA?AM7AA?A~@>A_E?AGw=*Ai;2A 5:A;=BAi;JA 5RA;=a Y?a ?a ya 97a  ٓHc>@E}>?t ļ ļ?i>?)? IC٘i)I9?YE J=C=JJ@J  4Y 4y ?:)7ŧ74 ) ): ;jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743026980.083165 s, next control iter: 1743026980.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743026980.483165 s.t_GG~,AAQ}@A {,}}@AZ~? A_Ak&"AAkoNA"AZAbAjArAzAAA:K 5$@A:$YrA ?A'8A 0A?Ae9>AZeN?A"=*Az;2Aa5:A =BAz;JAa5RA =٘i)I9 ?YE JC=JQ>a JJ@J"K>  4Y 4y @77774 ) ):;jBrBBBBFFF]W:Waiting for Gazebo time sync: latest Gz time: 1743026980.503165 s, next control iter: 1743026980.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 479, header.stamp.nsec: 00 temperature: 13.423725* salinity: 33.392010, density: 1025.000000* values[0]: 0.533144F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026980.903165 s.MG~,9AAp= }@A&5}@AZ~? A_Al&"AAkoNA"AZAbAjArAzAAAyVR 5$@A4!XrA\f ?Ap8A{ A?A>Ac#Q?A =*A}$;2AO5:A)=BA}$;JAO5RA)=٘i)I9f ?YE J =JJJAJ&K  4Y 4y @77޺4 ) )Z:jBrBBBBFFF][:Waiting for Gazebo time sync: latest Gz time: 1743026980.923165 s, next control iter: 1743026981.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743026981.323165 s.zTG~,6TAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.261799> elevatorAngleAction: 0.261799< massPositionAction: 0.0056004 buoyancyAction: 0.000945 dt: 0.4199752 time: 1743026981.323312F (some fields omitted in printout)A(\}@A3Q}@AZ~? A_ADl&"AAkoNA"AZAbAjArAzAAADV 5$@A1VrAH?A W7AA?A`i>AmS?A~=*A;2Ak4:A=BA;JAk4RA=٘i)I9?YgE J=JJJ AJ&K  4Y 4y  @7S 4 ) ):jBrBBBBFFF]a:Waiting for Gazebo time sync: latest Gz time: 1743026981.343165 s, next control iter: 1743026981.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 480*, header.stamp.nsec: 0*0 temperature: 13.423330** salinity: 33.392017*, density: 1025.000000** values[0]: 0.534897*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026981.743165 s.W[G~,qoAAzG~@A}@A A_Al&"AAkoNA"AZAbAjArAzAAANT 5$@AP TrAn?AsA#A?AYݙA+U?A'=*A;2AS:A6Y<BA;JASRA6Y<٘i)I9n?YE J=JJJAJ&K  4Y 4y @b734 ) ):jBrBBBBFFF]W:Waiting for Gazebo time sync: latest Gz time: 1743026981.763165 s, next control iter: 1743026982.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743026982.163165 s.u}bG~,qAA~@AW@^~@AZ~? A_Al&"AA koNA"AZAbAjArAzAAA O M 5$@AQrA?AAr-A?A`\祾A`.V?AU<*AXT;2A$:Ag<BAXT;JA$RAgy 2?>@ſ@?` 2?) I٘i)I9?YE J3=Jd JJAJ&K  4Y 4y @)7ŧ7_4 ) )X:jBrBBBBFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743026982.183165 s, next control iter: 1743026982.563177 s, wait time: 0.380012 sZ~?)_ rAdjusting time to match Gazebo time: 1743026982.583165 s.hG~,RAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.261799> elevatorAngleAction: 0.261799< massPositionAction: 0.0056004 buoyancyAction: 0.000945 dt: 0.4199962 time: 1743026982.583273F (some fields omitted in printout)AQ~@AB  ~@AZ~? A_A%m&"AA koNA"AZAbAjArAzAAAJC 5$@Ab)OrA3?AXE"A7A?AO"AcX?A<*A;2A :A<BA;JA RA<٘i)I9?YE J6<JJJ!AJ&K  4Y 4y @b7)4 ) ):jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743026982.603165 s, next control iter: 1743026982.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 481, header.stamp.nsec: 00 temperature: 13.422976* salinity: 33.392029, density: 1025.000000* values[0]: 0.536541F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026983.003165 s.t pG~,;4AA(\~@A~@AZ~? A_Am&"AA koNA"AZAbAjArAzAAA: 5$@AsDKrA#?AHA CA?A A<[?Ah.<*A;2AF:A"G<BA;JAFRA"G<٘i)I9#?YE JP=JJJ'AJ&K 4Y 4y !@ŧ774tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 482, header.stamp.nsec: 00 temperature: 13.422618* salinity: 33.392017, density: 1025.000000* values[0]: 0.538058F (some fields omitted in printout) ) ):jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743026984.023165 s, next control iter: 1743026983.403174 s, wait time: -0.599991 s=!rAdjusting time to match Gazebo time: 1743026984.043165 s.G~,zAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.261799> elevatorAngleAction: 0.261799< massPositionAction: 0.0056004 buoyancyAction: 0.000945 dt: 1.0400052 time: 1743026984.043288F (some fields omitted in printout)AHz'~@A9?q$~@AZ~? A_An&"AA!koNA"AZAbAjArAzAAAF3 5$@AXbDrADq&?A4+8A UA?A@A\G_?A|z<*A?;2A?5:Ao<BA?;JA?5RAo<٘i)I9q&?YE J<<JQ+>JJ8AJ&K+> 4Y 4y /@j7j7r4 ) ):jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743026984.483165 s, next control iter: 1743026984.443173 s, wait time: -0.039992 s rAdjusting time to match Gazebo time: 1743026984.503165 s.G~,4 AAQ.~@A) +~@A A_An&"AA!koNA"AZAbAjArAzAAA5- 5$@A|~@rAp)?A8AՋ[A?A@2A@j`?A<*A;2Ats5:A<BA;JAts5RA`? D?ξ%4˿%4?? D?)o? I٘i)I9p)?Y0E tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 483, header.stamp.nsec: 00 temperature: 13.422295* salinity: 33.392021, density: 1025.000000* values[0]: 0.539478F (some fields omitted in printout)J<2=JŽQ>JJ?AJ&Kȶ> 4Y 4y 5@7777\K4 tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 484 , header.stamp.nsec: 0 0 temperature: 13.422005 * salinity: 33.392025 , density: 1025.000000 * values[0]: 0.540823 F (some fields omitted in printout)  B) B   E ) ) ?:jBrBBBBB FFF] : Waiting for Gazebo time sync: latest Gz time: 1743026985.703165 s, next control iter: 1743026984.903173 s, wait time: -0.799992 s&rAdjusting time to match Gazebo time: 1743026985.723165 s.G~,HnAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.261799> elevatorAngleAction: 0.261799< massPositionAction: 0.0056004 buoyancyAction: 0.000945 dt: 1.2200242 time: 1743026985.723258F (some fields omitted in printout)A)\@~@A?JT?~@AZ~? A_A4p&"AA"koNA"AZAbAjArAzAAAo 5$@A'ץ6rA0?AtAcpeA[?AxAb?A<*A;2Ac5:A̍<BA;JAc5RA̍<٘i)I90?Y$E J<<JQ>JJSAJ&K>  5Y 5y E@{7j7=5B)B ) )%:jBrB BBB FFF]j:Waiting for Gazebo time sync: latest Gz time: 1743026985.743165 s, next control iter: 1743026986.123172 s, wait time: 0.380007 s rAdjusting time to match Gazebo time: 1743026986.143165 s._/G~,,*AAHzG~@A9 F~@AZ~? A_Ap&"AA"koNA"AZAbAjArAzAAAS= 5$@A[2rAA]3?A$AWgAG?ANA`b?Ae<*AO;2As5:A<BAO;JAs5RA<٘i)I9]3?YDE Jn<C=JQ>JJZAJ&K>   5Y  5y J@j7$ 5׶B)qB  ) ) y:jBrBBBBFFF]n:Waiting for Gazebo time sync: latest Gz time: 1743026986.163165 s, next control iter: 1743026986.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743026986.563165 s.G~, AAfffffN~@AB^&L~@AZ~? A_A6q&"AA#koNA"AZAbAjArAzAAA 5$@A.rA5?AܵAgAX?A`ڻA9d?AN<*A;2Aq5:A<BA;JAq5RA ku/?O>̿?u/?)3? I٘i)I95?YLE J<B=J'JJ`AJ&Kǎ   5Y  5y P@b77 5zB)B ) ) :jBrBBBBFFF] : Waiting for Gazebo time sync: latest Gz time: 1743026986.603165 s, next control iter: 1743026986.963190 s, wait time: 0.360025 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 485, header.stamp.nsec: 00 temperature: 13.421752* salinity: 33.391998, density: 1025.000000* values[0]: 0.542089F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026986.983165 s.G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.261799> massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4199742 time: 1743026986.983296F (some fields omitted in printout)AQU~@ALi}S~@AZ~? A_Aq&"AA#koNA"AZAbAjArAzAAA*{ 5$@AI*rAD8?AAfA?A1A Ud?A#<*A|=;2A4^)5:Ap<BA|=;JA4^)5RAp<٘i)I9D8?Y massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4200212 time: 1743026988.243319F (some fields omitted in printout)AzGi~@A67g~@AZ~? A_Ags&"AA$koNA"AZAbAjArAzAAAoN 5$@AI4 rA ??A Aǖ[A?AAae?AI<*A;2A4:AjD<BA;JA4RAjD<٘i)I9 ??Y|E JV<JJJ{AJ&K  5Y 5y e@b775B)AB ) ) :yՈT;jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743026988.283165 s, next control iter: 1743026988.643184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743026988.663165 s.ʲG~,q*AtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 487, header.stamp.nsec: 00 temperature: 13.421235* salinity: 33.392006, density: 1025.000000* values[0]: 0.544308F (some fields omitted in printout)Ap~@AN^n~@AZ~? A_As&"AA$koNA"AZAbAjArAzAAAN: 5$@A3KrA7(A?Ar\$8ATA[?A bA e?A<*Ae;2Aג5:Aڕ<BAe;JAג5RAڕr?O? > njʿ nj?@?O?)? II٘i)I9(A?Y E Jy<J2=JJAJ&K  5Y 5y k@7 5B)B ) )u :y(ˇe{;jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743026988.683165 s, next control iter: 1743026989.063183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743026989.083165 s.DѲG~, SEAAQv~@A ju~@AZ~? A_At&"AA%koNA"AZAbAjArAzAAAp3 5$@Af rA/C?A 9ALA?A5rAe?A=Η<*A}E;2A,6:A}<BA}E;JA,6RA}<٘i)I9/C?YE J<JJJAJ&K  #5Y #5y p@W:#5XB)ҳB ) ) :y$ h;jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743026989.123165 s, next control iter: 1743026989.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743026989.503165 s.ײG~,Y4`AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.261799> massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4199882 time: 1743026989.503289F (some fields omitted in printout)A= ףp}~@Ax R{~@AZ~? A}_Au&"AA%koNA"AZAbAjArAzAAA +4 5$@ATrAu#E?A$~)9A1SCA?Ax>A 3e?A<*A&;2A5:6:A*<BA&;JA5:6RA*<٘i)I9#E?YE J<JJJAJ&K  &5Y &5y v@7)7&5ŶB);B ) ) :yT;jBrBBBBFFF] : Waiting for Gazebo time sync: latest Gz time: 1743026989.543165 s, next control iter: 1743026989.903180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 488, header.stamp.nsec: 00 temperature: 13.421001* salinity: 33.391998, density: 1025.000000* values[0]: 0.545314F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026989.923165 s.=޲G~,{AA\(~@A&z~@A Au_Au&"AA&koNA"AZAbAjArAzAAA3 5$@A rAbG?A*8A8Ax?A``Ae?A<*A;2AO6:A܅<BA;JAO6RA܅<٘i)I9G?Y-E J׎<JJJAJ&K  *5Y *5y {@ŧ7b7$e*5˶B)=B ) )r :yyA;jBrBBBBFFF]{;Waiting for Gazebo time sync: latest Gz time: 1743026990.043165 s, next control iter: 1743026990.323180 s, wait time: 0.280015 s rAdjusting time to match Gazebo time: 1743026990.343165 s. massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4200612 time: 1743026990.763329F (some fields omitted in printout)A~@AWL~@AZ~? Ag_Av&"AA&koNA"AZAbAjArAzAAA=< 5$@A*rAJ?AA9!A?AݴA`Eje?AG5<*A;2A4:Ahv<BA;JA4RAhv massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4199702 time: 1743026992.023283F (some fields omitted in printout)A(\¥~@AT ~@AZ~? AQ_Arx&"AA(koNA"AZAbAjArAzAAAT2 5$@A.rAz9O?A廷AAK?A|ѵAzd?A\<*A;2AV5:AnV<BA;JAV5RAnV<٘i)I99O?Y+E Jb<JJJAJ&K  <5Y <5y @b77O<5B)dB ) ) ::jBrBBBBFFF]: Waiting for Gazebo time sync: latest Gz time: 1743026992.063165 s, next control iter: 1743026992.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743026992.443165 s.3G~,-]AAGz~@A߅٪~@AZ~? AJ_Ax&"AA(koNA"AZAbAjArAzAAAպ 5$@AdTrARP?A 8AŧؽA?AAd?AQ<*A};2A\6:AjK<BA};JA\6RAjK<٘i)I9P?YE JV<JJJAJ&K  ?5Y ?5y @7)7t?5B)oB ) )n : :jBrBBBBFFF] : Waiting for Gazebo time sync: latest Gz time: 1743026992.483165 s, next control iter: 1743026992.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 491, header.stamp.nsec: 00 temperature: 13.420455* salinity: 33.391998, density: 1025.000000* values[0]: 0.547724F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026992.863165 s.+ G~,>7AA33333~@A  ~@A AC_Ay&"AA(koNA"AZAbAjArAzAAA5˨ 5$@A֏rA@Q?AH(9ApA?A@A`?d?AAE<*A(l;2A?)6:Ak@<BA(l;JA?)6RAk@JJAJ&K   C5Y C5y @ŧ77-{C5B){B ) ) :j:jBrBBBBFFF] : Waiting for Gazebo time sync: latest Gz time: 1743026992.903165 s, next control iter: 1743026993.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743026993.283165 s.4RG~,RAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.261799> massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4199662 time: 1743026993.283257F (some fields omitted in printout)AR~@ALJ~@AZ~? A<_Az&"AA)koNA"AZAbAjArAzAAA/ 5$@ArA88S?A 29ATA?A@A`Ld?A[9<*AE\;2A6:Aŏ5<BAE\;JA6RAŏ5<٘i)I98S?YF J?<JJJAJ&K  G5Y G5y @b77VG5*B)B ) ) ::jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743026993.303165 s, next control iter: 1743026993.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 492., header.stamp.nsec: 0.0 temperature: 13.420321.* salinity: 33.391994., density: 1025.000000.* values[0]: 0.548345.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026993.703165 s.ҺG~,mAAq= ף~@Adw~@AZ~? A5_Az&"AA)koNA"AZAbAjArAzAAA.z 5$@AyP)rA(eT?A*"T8AvA7?A2Ad?Ami-<*A]N;2A"5:A_*<BA]N;JA"5RA_*<٘i)I9eT?Y;F J*3<JJJAJ&K  J5Y J5y @S7S7J52B)B ) )k :{9jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743026993.743165 s, next control iter: 1743026994.103173 s, wait time: 0.360008 s rAdjusting time to match Gazebo time: 1743026994.123165 s.8!G~,aAA(\~@A ?8~@AZ~? A._A{&"AA)koNA"AZAbAjArAzAAAh 5$@AȻSߛrA}U?A~fAYA ?A`t·Ac?Ag!<*AA;2Am5:A2<BAA;JAm5RA2<٘i)I9}U?YF J.'<JJJAJ&K  N5Y N5y @777:N5)B ) ) :j7jBrBBBBFFF]\:Waiting for Gazebo time sync: latest Gz time: 1743026994.143165 s, next control iter: 1743026994.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743026994.543165 s.I(G~,âAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.261799> massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4199792 time: 1743026994.543281F (some fields omitted in printout)AGz~@A*#r~@AZ~? A'_A{&"AA*koNA"AZAbAjArAzAAAԔv 5$@A{v*ۛrAV?AA %A ?A`UmAc?AR<*A(j6;2A 5:A<BA(j6;JA 5RA<٘i)I9V?YF J<JJJAJ&K  Q5Y Q5y @77Q5)B ) ):̒jBrBBBBFFF]b:Waiting for Gazebo time sync: latest Gz time: 1743026994.563165 s, next control iter: 1743026994.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 493, header.stamp.nsec: 00 temperature: 13.420191* salinity: 33.391991, density: 1025.000000* values[0]: 0.548897F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026994.963165 s.{.G~,AA~@A%YI+~@AZ~? A _A&|&"AA*koNA"AZAbAjArAzAAA:] 5$@AכrArW?A_"AoA ?A@ICA@c?A$ <*A,;2A="5:A<BA,;JA="5RAJJAJ&K  U5Y U5y @7{7eU5)B ) )i:xjBrBBBBFFF]g:Waiting for Gazebo time sync: latest Gz time: 1743026994.983165 s, next control iter: 1743026995.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743026995.383165 s.5G~,#AAQ~@A\~@AZ~? A_A|&"AA*koNA"AZAbAjArAzAAAGF 5$@A֏қrAdNX?A5ˠAA ?A6A kc?A2;*Ae$;2A 5:A)p;BAe$;JA 5RA)p;٘i)I9NX?YF J<JJJAJ&K  X5Y X5y @7X5)B ) ):cjBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743026995.403165 s, next control iter: 1743026995.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 494&, header.stamp.nsec: 0&0 temperature: 13.420083&* salinity: 33.392002&, density: 1025.000000&* values[0]: 0.549362&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026995.803165 s.wA massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4200122 time: 1743026995.803286F (some fields omitted in printout)A ףp=~@Ao~@AZ~? A_A-}&"AA+koNA"AZAbAjArAzAAA4 5$@A ΛrAHY?AS18AA ?AȌA@Vc?A;*AgY;2A?5:A:;BAgY;JA?5RA:;٘i)I9Y?YF J;JJJAJ&K  \5Y \5y @)7)7R\5)B ) ):NjBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743026995.823165 s, next control iter: 1743026996.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743026996.223165 s.gCG~,HAA)\~@Ayy:WT~@AZ~? A _A}&"AA+koNA"AZAbAjArAzAAAg' 5$@A9!CʛrA.Y?A9A ;A ?AAŔc?A;*A;2At5:AiW;BA;JAt5RAiW;٘i)I9Y?YF J;JJJAJ&K  `5Y `5y @ŧ7%`5)B ) )g:׾jBrBBBBFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743026996.243165 s, next control iter: 1743026996.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743026996.643165 s.wIG~, *)AAHz~@A<֌ ~@AZ~? A_A4~&"AA+koNA"AZAbAjArAzAAAiy 5$@A ƛrAcZ?Ac*9Aޚ<Af ?AAc?A massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4200072 time: 1743026997.063293F (some fields omitted in printout)Afffff~@A=%~@AZ~? A^A~&"AA,koNA"AZAbAjArAzAAA} 5$@Au›rAZ?A 8A(<AU ?A|A`c?Ar;*AC ;2A<5:A;BAC ;JA<5RA;Y?n ?y(<"8ٓHb??`X? -?`z?zXA?`X?)? I٘i)I9Z?Y3F JѠ;J% >JJAJ&K  g5Y g5y @7)7oPg5)|B ) ):jBrBBBBFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743026997.083165 s, next control iter: 1743026997.463178 s, wait time: 0.380013 s) rAdjusting time to match Gazebo time: 1743026997.483165 s.x_WG~,^AAQ~@A)J}~@AZ~? A^A=&"AA,koNA"AZAbAjArAzAAA&7 5$@A gLrA \[?AMzA&=A\ ?A@߱Ac?A~bt;*A|C;2AsO5:Az;BA|C;JAsO5RAz;٘i)I9\[?YxF Jņ;JJJAJ&K  j5Y j5y @777j5) ) )d:9jBrBBBBFFF]g:Waiting for Gazebo time sync: latest Gz time: 1743026997.503165 s, next control iter: 1743026997.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 496, header.stamp.nsec: 00 temperature: 13.419951* salinity: 33.391991, density: 1025.000000* values[0]: 0.549998F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026997.903165 s.]G~,yAAp= @A}5@AZ~? A^A&"AA-koNA"AZAbAjArAzAAA֐ 5$@A+rA[?A- ASP=Aq ?A@A@!d?A>;*A!!;2AL5:A8F;BA!!;JAL5RA8F;٘i)I9[?YF JX;JJJAJ&K  n5Y n5y @ŧ7ŧ7-{n5) {B ) ) : },jBrBBBBFFF] &; Waiting for Gazebo time sync: latest Gz time: 1743026997.983165 s, next control iter: 1743026998.303179 s, wait time: 0.320014 s rAdjusting time to match Gazebo time: 1743026998.323165 s.sdG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.261799> massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4199852 time: 1743026998.323280F (some fields omitted in printout)A(\ @Af%@AZ~? A^AK&"AA-koNA"AZAbAjArAzAAA; 5$@A@׵rA`[?A,AEy=Av ?A@IAhd?A;*A;2A>5:A7;BA;JA>5RA7;٘i)I9[?YF J";JJJAJ&K  r5Y r5y @{7j7r5)zB ) ):?jBrBBBBFFF]p:Waiting for Gazebo time sync: latest Gz time: 1743026998.343165 s, next control iter: 1743026998.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 497*, header.stamp.nsec: 0*0 temperature: 13.419907** salinity: 33.391987*, density: 1025.000000** values[0]: 0.550149*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743026998.743165 s.WkG~,yAAzG@A9x@AZ~? A^Aր&"AA-koNA"AZAbAjArAzAAA: 5$@AgхrA(\?AA8=AQ ?A@A`d?A:*A);2A5:A :BA);JA5RA :٘i)I9(\?YF J(:JJJAJ&K  u5Y u5y @ŧ7b7 u5) ) )b:SjBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743026998.763165 s, next control iter: 1743026999.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743026999.163165 s.t}rG~,qAA@A 6u^@AZ~? A^Ab&"AA.koNA"AZAbAjArAzAAA I 5$@A rA,>\?AN]aAO=A ?AA#e?A9*A͠&;2A5:Az:BA͠&;JA5RAz:Y? ?yO=6bٓH!? ھ?r?}?}+?)? I٘i)I9>\?YF JM:J_=JJAJ&KD  y5Y y5y @7)7B;y5) ) ):KfjBrBBBBFFF]j:Waiting for Gazebo time sync: latest Gz time: 1743026999.183165 s, next control iter: 1743026999.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743026999.583165 s.xG~,SAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.261799> massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4200332 time: 1743026999.583311F (some fields omitted in printout)AQ@A-@AZ~? A^A&"AA.koNA"AZAbAjArAzAAAƓ 5$@AO΢rA;\?A-8A=A ?A FmA_e?A*A/;2A5:AEBA/;JA5RAE٘i)I9;\?YF JyJJJAJ&K  |5Y |5y @77|5) ) ) :yjBrBBBBFFF]\:Waiting for Gazebo time sync: latest Gz time: 1743026999.603165 s, next control iter: 1743026999.983178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 498 , header.stamp.nsec: 0 0 temperature: 13.419895 * salinity: 33.392002 , density: 1025.000000 * values[0]: 0.550231 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027000.003165 s. G~,v4AA= ףp%@A massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4200182 time: 1743027000.843324F (some fields omitted in printout)A{G2@AVa@1@AZ~? A^A&"AA/koNA"AZAbAjArAzAAAė 5$@AqO2rA&[?A$/8A\=A ?ArA (f?A?V*AH;2AG5:Az#@BAH;JAG5RAz#@٘i)I9[?YF J8JJJAJ&K  5Y 5y @77{7ȃ5){B ) ) :jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027000.863165 s, next control iter: 1743027001.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027001.263165 s.G~,PAA9@A{h+7@AZ~? A^A;&"AA0koNA"AZAbAjArAzAAA?}s 5$@AYrA7[?AH+A:=A ?A qAf?AJT*AW;2Aͤ5:A{BAW;JAͤ5RA{YA? ?y:=hٓH=!?@?@? ?` i@?)A? I٘i)I97[?YbF JvJ%=JJAJ&K-  5Y 5y @Z7SI7 5)|B ) )]:jBrBBBBFFF]l:Waiting for Gazebo time sync: latest Gz time: 1743027001.283165 s, next control iter: 1743027001.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):2. header.stamp.sec: 5002, header.stamp.nsec: 020 temperature: 13.4199432* salinity: 33.3919942, density: 1025.0000002* values[0]: 0.5500652F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027001.683165 s.lG~,RkAAQ@@A ~{>@AZ~? A^Aׄ&"AA0koNA"AZAbAjArAzAAANWi 5$@AurAmZ?A.!A>A ?A@iAg?A *A@+h;2Az5:A/BA@+h;JAz5RA/٘i)I9Z?YF JᚻJJJAJ&K  5Y 5y @7777]5)}B ) ):jBrBBBBFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743027001.683165 s, next control iter: 1743027002.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743027002.103165 s.G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.261799> massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4199992 time: 1743027002.103281F (some fields omitted in printout)Aףp= G@A֋hE@AZ~? A^Ay&"AA0koNA"AZAbAjArAzAAA09` 5$@AderAZ?AAX >A ?A*A@h?A*ʻ*Ay;2AӸ5:AhBAy;JAӸ5RAh٘i)I9Z?YF JѺJJJAJ&K  5Y 5y @77i(5)~B ) ):jBrBBBBFFF]g:Waiting for Gazebo time sync: latest Gz time: 1743027002.123165 s, next control iter: 1743027002.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027002.523165 s.G~,{AA(\M@Ar!L@AZ~? A^A!&"AA1koNA"AZAbAjArAzAAAGbV 5$@AM%rAr`Y?As1A4Z>A ?AάAni?Aў*AR;2At5:AmٻBAR;JAt5RAmٻ٘i)I9`Y?YCF JۻJJJAJ&K  5Y 5y @75)B ) )[:jBrBBBBFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743027002.543165 s, next control iter: 1743027002.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 501, header.stamp.nsec: 00 temperature: 13.419991* salinity: 33.391987, density: 1025.000000* values[0]: 0.549806F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027002.943165 s.TdG~,1]AAGzT@AJR@AZ~? A^AІ&"AA1koNA"AZAbAjArAzAAA9vH 5$@A]črAX?AK8A>A ?A`TAHmj?A*A5;2A5:ABA5;JA5RA٘i)I9X?YF JJJJAJ&K  5Y 5y @b7Ƚ5)B ) ):jBrBBBBFFF]g:Waiting for Gazebo time sync: latest Gz time: 1743027002.963165 s, next control iter: 1743027003.343175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027003.363165 s.G~,y>AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.261799> massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4200862 time: 1743027003.363357F (some fields omitted in printout)A33333[@A"Y@AZ~? A^A&"AA2koNA"AZAbAjArAzAAAX5 5$@Aho|rAW?AP9A>An ?AM A}k?A$*Az;2A\>5:A BAz;JA\>5RA Y?% ?y> 9ٓH,T?%?$?!?`?ÿ`"?$?)? I٘i)I9W?Y1F J=B=J=JJAJ&K  5Y 5y @j7j75)B ) ):jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027003.403165 s, next control iter: 1743027003.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 502&, header.stamp.nsec: 0&0 temperature: 13.420069&* salinity: 33.391987&, density: 1025.000000&* values[0]: 0.549417&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027003.783165 s.[G~,AARa@A4 J`@AZ~? A^AB&"AA2koNA"AZAbAjArAzAAAb 5$@A2L vrA2V?A.B(9A* >A> ?A*A^l?AZ&*A;2A^|4:ABA;JA^|4RA٘i)I9V?YF JC=JJJAJ&K  5Y 5y @77775S5)B ) )Y:jBrBBBBFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743027003.803165 s, next control iter: 1743027004.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027004.203165 s.óG~, AAq= ףh@A:=g@AZ~? Aw^A&"AA3koNA"AZAbAjArAzAAA 5$@A[orAlU?A8A">Az ?AiA@ m?A@7*Aߺ;2A^k.5:AЄ+BAߺ;JA^k.5RAЄ+٘i)I9lU?YF JR/JJJAJ&K  5Y 5y @{7{75)B ) ):jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027004.223165 s, next control iter: 1743027004.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027004.623165 s.YɳG~,e'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.261799> massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4200312 time: 1743027004.623299F (some fields omitted in printout)A(\o@A ?8m@AZ~? Am^AӉ&"AA3koNA"AZAbAjArAzAAAA 5$@AηՔirA)*T?AA $>A ?AAo?AG*A{;2AŪ5:AoY;BA{;JAŪ5RAoY;I٘i)I9*T?YF J?JJJBJ&K  5Y 5y @77775)B ) ):jBrBBBBFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743027004.643165 s, next control iter: 1743027005.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 503 , header.stamp.nsec: 0 0 temperature: 13.420198 * salinity: 33.391998 , density: 1025.000000 * values[0]: 0.548895 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027005.043165 s.гG~,BAAGzv@A\rt@A Ab^A&"AA4koNA"AZAbAjArAzAAA 5$@A5brAR?A[fA$>An ?A@v>Aq3p?A ZX*AL(;2A6:A2KBAL(;JA6RA2K٘i)I9R?YBF J{PJJJBJ&K  5Y 5y @b7ŧ7<5)B ) )V:jBrBBBBFFF]Waiting for Gazebo time sync: latest Gz time: 1743027005.063165 s, next control iter: 1743027005.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027005.463165 s.Y׳G~,]AA|@A4L+{@AZ~? AW^A&"AA5koNA"AZAbAjArAzAAA 5$@A[rAQQ?Af+A$>A ?Ad>Axp?Arh*A;2A6:A [BA;JA6RA [Yb? ?y$>t-ٓHo ? #`'?A]?i?iĿLx%`'?)b? I٘i)I9QQ?YE J`J4<JJBJ&K  5Y 5y @77}5)B ) ):jBrBBBBFFF]q:Waiting for Gazebo time sync: latest Gz time: 1743027005.483165 s, next control iter: 1743027005.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 504, header.stamp.nsec: 00 temperature: 13.420348* salinity: 33.392002, density: 1025.000000* values[0]: 0.548253F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027005.883165 s.yݳG~,@xAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.261799> massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4200322 time: 1743027005.883297F (some fields omitted in printout)AQ@Aė"@AZ~? AK^Ao&"AA5koNA"AZAbAjArAzAAA+? 5$@A@TrAnO?A)Aˇ">A@ ?A >A`ʙq?AL$y*A;2A6:AjBA;JA6RAj٘i)I9O?YE JOqB=JJJBJ&K  5Y 5y @)7b7H5)B ) ):jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027005.903165 s, next control iter: 1743027006.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027006.303165 s.UG~,sgAA ףp=@AH]ۛ@A A>^Aa&"AA6koNA"AZAbAjArAzAAAAa 5$@Avv(MrA N?AnFA! >A ?A`A Ur?A>*A;2AQѱ5:AzBA;JAQѱ5RAz٘i)I9 N?YE JހC=JJJBJ&K  5Y 5y @77{7E5)B ) )T:jBrBBBBFFF]^:Waiting for Gazebo time sync: latest Gz time: 1743027006.323165 s, next control iter: 1743027006.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 505*, header.stamp.nsec: 0*0 temperature: 13.420497** salinity: 33.392014*, density: 1025.000000** values[0]: 0.547513*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027006.723165 s.G~,HAA)\@APT@AZ~? A1^A\&"AA7koNA"AZAbAjArAzAAAV 5$@A})LErA?L?A8A>A ?A5As?AF*A;2A4:A95BA;JA4RA95٘i)I9?L?YE J݈JJJBJ&K  5Y 5y @ŧ7b7ޜ5)B ) ):jBrBBBBFFF]m:Waiting for Gazebo time sync: latest Gz time: 1743027006.743165 s, next control iter: 1743027007.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027007.143165 s.V/G~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.261799> massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4200102 time: 1743027007.143305F (some fields omitted in printout)AHz@A| @AZ~? A$^Ab&"AA7koNA"AZAbAjArAzAAA`P 5$@A̸=rAYJ?A")9A'>A ?A dA (s?Aݗ*An;2A:A BAn;JARA ٘i)I9YJ?YA ?AfA`Ft?Axg*A;2Ar:AFєBA;JArRAFєY?` ?y@>69ٓH!?@$?K?@$?w?w¿|"?K?)? I٘i)I9WH?YE JC=JJJ BJ&K  5Y 5y @b77js5)B ) )R:jBrBBBBFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743027007.583165 s, next control iter: 1743027007.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 506, header.stamp.nsec: 00 temperature: 13.420709* salinity: 33.392006, density: 1025.000000* values[0]: 0.546643F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027007.983165 s.G~,AAQ@AÃf}@AZ~? A^A&"AA9koNA"AZAbAjArAzAAAº 5$@AQl+rAA ?A@ĖAfu?A*AY|<2AGF4:AՈBAY|<JAGF4RAՈ٘i)I95)B ) ):jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027008.003165 s, next control iter: 1743027008.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027008.403165 s.&G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.261799> massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4199822 time: 1743027008.403269F (some fields omitted in printout)Ap= ׫@A_5@AZ~? A]A&"AA:koNA"AZAbAjArAzAAAV 5$@Al,"rA D?AA >A ?A@>A`G.v?A*A<2A5:A+BA<JA5RA+٘i)I9D?YE J1C=JJJBJ&K  5Y 5y @77j75)B ) ):jBrBBBBFFF][:Waiting for Gazebo time sync: latest Gz time: 1743027008.423165 s, next control iter: 1743027008.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 507", header.stamp.nsec: 0"0 temperature: 13.420938"* salinity: 33.391998", density: 1025.000000"* values[0]: 0.545642"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027008.823165 s. G~,24AA(\@A@AZ~? A]A&"AA;koNA"AZAbAjArAzAAA\~G 5$@A +rAA?A!AL>A ?A`>Av?As*A <2Ay)6:ABA <JAy)6RA٘i)I9A?YE JJJJBJ&K  5Y 5y @b77wӥ5)B ) )O:jBrBBBBFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743027008.843165 s, next control iter: 1743027009.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027009.243165 s.G~,qOAAzG@A{@AZ~? A]A&"AA;koNA"AZAbAjArAzAAA 5$@Am7]rAyS??ALAAe=A ?AQ >ANw?A_*A <2A46:A%BA <JA46RA%٘i)I9S??YE JJJJBJ&K  5Y 5y @7)75)B ) ):jBrBBBBFFF]`:Waiting for Gazebo time sync: latest Gz time: 1743027009.263165 s, next control iter: 1743027009.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027009.663165 s.G~,qjAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.261799> massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4200602 time: 1743027009.663339F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 508, header.stamp.nsec: 00 temperature: 13.421152* salinity: 33.391998, density: 1025.000000* values[0]: 0.544551F (some fields omitted in printout)A@AN^@AZ~? A]A]&"AArAA *}x?A!*A<2A5:AuBA<JA5RAuY? ?y=iUٓH#? @?"?,?`,YJ@?)? I٘i)I9:?AM8AnZ=A ?A%֢A`=y?AIȼ*Az<2A4:ABAz<JA4RA٘i)I9>:?YE J9żJJJBJ&K  5Y 5y A777735)B ) )M:jBrBBBBFFF]a:Waiting for Gazebo time sync: latest Gz time: 1743027010.103165 s, next control iter: 1743027010.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027010.503165 s.'G~,D4AA= ףp@AL@AZ~? A]A&"AA>koNA"AZAbAjArAzAAAN 5$@A rA77?A9AP(=A{ ?A@:Ay?AtVϼ*A4<2AФ:AͬȼBA4<JAФRAͬȼ٘i)I97?Y`E J ̼B=JJJBJ&K  5Y 5y AN5)õB ) ):jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027010.523165 s, next control iter: 1743027010.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 509, header.stamp.nsec: 00 temperature: 13.421457* salinity: 33.391991, density: 1025.000000* values[0]: 0.543324F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027010.923165 s.9.G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.261799> massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4200382 time: 1743027010.923313F (some fields omitted in printout)A\(@AmUه@AZ~? A]Ae&"AA?koNA"AZAbAjArAzAAA| 5$@AArA4?A(9A =Ab ?A2]Az?ATּ*AX<2Aߵ:AϼBAX<JAߵRAϼ٘i)I94?YE JҼC=JJJBJ&K  5Y 5y A77ɮ5)ɵB ) ):jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027010.943165 s, next control iter: 1743027011.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027011.343165 s.<5G~,AA{G@A?@AZ~? A]Aћ&"AA@koNA"AZAbAjArAzAAAK 5$@AfĢٚrA1?Ag8A=A ?ARӟA@h{?Aތܼ*AYk<2A⫆:AGּBAYk<JA⫆RAGּ٘i)I91?YE JټJJJBJ&K  5Y 5y A775)εB ) )K:jBrBBBBFFF]c:Waiting for Gazebo time sync: latest Gz time: 1743027011.363165 s, next control iter: 1743027011.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 510&, header.stamp.nsec: 0&0 temperature: 13.421744&* salinity: 33.392017&, density: 1025.000000&* values[0]: 0.542032&F (some fields omitted in printout)8)8 rAdjusting time to match Gazebo time: 1743027011.763165 s.8;G~,#AA@A26@A An]AF&"AAAkoNA"AZAbAjArAzAAAVg 5$@AG͚rA/?A^AU=A ?A*>A@|?AC*Ay<2AL5:AܼBAy<JAL5RAܼY|? ?yU=ٓH($?۾?@#?Bn?Bn֫?)|? I٘i)I9/?YE J߼JxJJBJ&KD  5Y 5y AK^5)ԵB ) ):jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027011.783165 s, next control iter: 1743027012.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027012.183165 s.BG~,g AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.261799> massPositionAction: -0.0040004 buoyancyAction: 0.000945 dt: 0.4200322 time: 1743027012.183308F (some fields omitted in printout)AQ@Ajin@AZ~? AZ]AĞ&"AABkoNA"AZAbAjArAzAAA 5$@AY šrA*+?AøA=A ?A <>A|?A&*A<2A@c6:A5BA<JA@c6RA5㼙٘i)I9+?YGE J7JJJBJ&K  5Y 5y A)7ŧ7(5)ڵB ) ):jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027012.203165 s, next control iter: 1743027012.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027012.603165 s.74IG~,&AAףp= @A'h@AZ~? AF]AK&"AACkoNA"AZAbAjArAzAAA  5$@AWϵrA(?A˜,AҬ=A) ?A>AIt}?Ap:*A<2A3G6:AniBA<JA3G6RAni鼙٘i)I9(?YE J_JJJ BJ&K  5Y 5y A7775)B ) )H:jBrBBBBFFF]c:Waiting for Gazebo time sync: latest Gz time: 1743027012.623165 s, next control iter: 1743027013.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 511 , header.stamp.nsec: 0 0 temperature: 13.422067 * salinity: 33.392017 , density: 1025.000000 * values[0]: 0.540596 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027013.023165 s.ZPG~,|AAA(\@Av!@AZ~? A2]Aۡ&"AAEkoNA"AZAbAjArAzAAA}) 5$@AH9LrA%?AA=A ?A]>A`T~?A%*A <2Ag!6:AGlBA <JAg!6RAGl９٘i)I9%?YE JLJJJ"BJ&K  5Y 5y  Ab77k5)B ) ):jBrBBBBFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027013.043165 s, next control iter: 1743027013.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743027013.443165 s.?VG~,_]\AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.000000> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000945 dt: 0.4200132 time: 1743027013.443301F (some fields omitted in printout)AGz@A+Kt@AZ~? A]Al&"AAFkoNA"AZAbAjArAzAAAjC 5$@ArœrAq"?A2^~A=A ?An>A-~?A*A <2Ay5:A?BA <JAy5RA?٘i)I9q"?YE JJJJ#BJ&K  5Y 5y  A#5)B ) ):jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027013.463165 s, next control iter: 1743027013.843189 s, wait time: 0.380024 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 512, header.stamp.nsec: 00 temperature: 13.422396* salinity: 33.392021, density: 1025.000000* values[0]: 0.539096F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027013.863165 s.&,]G~,?wAA@A@A A]A&"AAGkoNA"AZAbAjArAzAAA֤|A 5$@A`rAf?AY9Aݞ=AI ?A GA@~?A8*A"<2Aʵ:ABA"<JAʵRAYM? ?yݞ=9ٓH b$?@KX"?]?@7F&? ֳ?ֳ@= ?]?)M? I٘i)I9?YE JJZ JJ%BJ&K_  5Y 5y  A7ŧ7S5)B ) )F:y_YչjBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027013.883165 s, next control iter: 1743027014.263181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743027014.283165 s.;RdG~,AA)\@A %@AZ~? A\A&"AAHkoNA"AZAbAjArAzAAAo3* 5$@A3ۂrA?AcT9A̛=A ?Ai/A}?A{*Ah%<2AN:A.BAh%<JANRA.٘i)I9?YyE JJJJ'BJ&K  5Y 5y  Aj7j7]5)B ) ):yWLjBrBBBBFFF]e:Waiting for Gazebo time sync: latest Gz time: 1743027014.303165 s, next control iter: 1743027014.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 513., header.stamp.nsec: 0.0 temperature: 13.422740.* salinity: 33.392025., density: 1025.000000.* values[0]: 0.537538.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027014.703165 s.ԺjG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.000000> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000945 dt: 0.4200172 time: 1743027014.703297F (some fields omitted in printout)AQ@As=@AZ~? A\AU&"AAIkoNA"AZAbAjArAzAAA# 5$@A?P}urA;?A39AY=A ?AEhA?A*A $(<2A=hA:A>BA $(<JA=hARA>٘i)I9;?Y?E JWJJJ(BJ&K  5Y 5y A7S75)B ) ):yy 9jBrBBBBFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027014.723165 s, next control iter: 1743027015.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027015.123165 s.6qG~,XAAHz @AJzZ @AZ~? A\A &"AAJkoNA"AZAbAjArAzAAA8/ 5$@A_grA?AiR8A$=A^ ?A av>Ah?A /*A*<2A:AiBA*<JARAi٘i)I9?YE JJJJ*BJ&K  5Y 5y A77{75) B ) )D:%jBrBBBBFFF]k:Waiting for Gazebo time sync: latest Gz time: 1743027015.143165 s, next control iter: 1743027015.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027015.543165 s.IxG~,AAףp= @Ab9@AZ~? A\Aǫ&"AALkoNA"AZAbAjArAzAAAH 5$@A50YrA?Aw̸A=A ?A'%>A`羀?AB *Aa-<2AmT5:AaBAa-<JAmT5RAa٘i)I9?YE J JJJ,BJ&K  5Y 5y Ab7b7n~5)B ) ):jBrBBBBFFF]n:Waiting for Gazebo time sync: latest Gz time: 1743027015.563165 s, next control iter: 1743027015.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 514, header.stamp.nsec: 00 temperature: 13.423124* salinity: 33.392036, density: 1025.000000* values[0]: 0.535828F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027015.963165 s.z~G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.000000> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000945 dt: 0.4199972 time: 1743027015.963290F (some fields omitted in printout)Afffff@Ab @AZ~? A\A&"AAMkoNA"AZAbAjArAzAAAP 5$@A HSKrA9h ?ARKAg =A ?A@?>A@?A; *A+/<2A/{6:A[ BA+/<JA/{6RA[ Y?f ?yg =KٓH`%?\'?Y $?ݱ?`ݱVj)?)? I٘i)I9h ?YE J JJJ-BJ&K  5Y 5y A72I5)B ) ):jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027015.983165 s, next control iter: 1743027016.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027016.383165 s.؅G~,AA(\@AzT@AZ~? A\A]&"AANkoNA"AZAbAjArAzAAA 5$@A:\6=rAܫ ?A~yEA:=A ?A@fC>A k?Ai*A1<2AqH6:Ay BA1<JAqH6RAy ٘i)I9 ?YE JRJJJ/BJ&K  5Y 5y A775)B ) )A:غjBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027016.403165 s, next control iter: 1743027016.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 515", header.stamp.nsec: 0"0 temperature: 13.423519"* salinity: 33.392021", density: 1025.000000"* values[0]: 0.534091"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027016.803165 s.}AG~,g3AAQ@A&N@AZ~? Ah\A6&"AAPkoNA"AZAbAjArAzAAA_ 5$@Awuq.rA*?AlsA==A ?A`,">A ?AΦ*AL3<2A?6:ABAL3<JA?6RA٘i)I9?YE JJJJ1BJ&K  5Y 5y A)7)75)'B ) ):xjBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027016.843165 s, next control iter: 1743027017.203175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027017.223165 s.gG~,HNAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.000000> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000945 dt: 0.4199962 time: 1743027017.223321F (some fields omitted in printout)AGz@AB͐*@AZ~? AP\A&"AAQkoNA"AZAbAjArAzAAA9 5$@AmfrA?Ar8Ay=A/ ?A A.?A*A[4<2AX:A{SBA[4<JAXRA{S٘i)I9?Y8E JJJJ2BJ&K  5Y 5y Aj7j7*5).B ) ):jBrBBBBFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743027017.243165 s, next control iter: 1743027017.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027017.643165 s.xЙG~,*iAAp= @Aw>X@AZ~? A7\A&"AARkoNA"AZAbAjArAzAAAe 5$@ArA;:>A S<9Ag=A ?AAZc?A+*A4<2AHD:ABA4<JAHDRA٘i)I9:>YvE JJJJ4BJ&K  5Y 5y A{7s5)6B ) )? :HjBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027017.663165 s, next control iter: 1743027018.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 516, header.stamp.nsec: 00 temperature: 13.423920* salinity: 33.392029, density: 1025.000000* values[0]: 0.532271F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027018.063165 s.G~,p AA33333#@Ab"@AZ~? A\A&"AATkoNA"AZAbAjArAzAAAh 5$@ALJrAM>ATQ9AR=A ?AAM?A"*A4<2AS0y:A%BA4<JAS0yRA%Y?; ?yR=Q9ٓHv&?[+?#?'?`[?[**?#?)? I٘i)I9M>YE JJ2JJ6BJ&KL  5Y 5y Aj7Z7>5)>B ) ) :vjBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027018.083165 s, next control iter: 1743027018.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027018.483165 s.x_G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.000000> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000945 dt: 0.4200122 time: 1743027018.483292F (some fields omitted in printout)A(\&@AK%@AZ~? A\A&"AAUkoNA"AZAbAjArAzAAA 5$@ArAG>A<8A):=A ?A&A`?A*A܄3<2A*:ABA܄3<JA*RA٘i)I9G>YE JJJJ7BJ&K  5Y 5y A777; 5)FB ) ) ::jBrBBBBFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743027018.503165 s, next control iter: 1743027018.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 517, header.stamp.nsec: 00 temperature: 13.424333* salinity: 33.392044, density: 1025.000000* values[0]: 0.530411F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027018.903165 s.ȭG~,͹AAR)@AUQ)@AZ~? A[A&"AAVkoNA"AZAbAjArAzAAAʲ 5$@AݾrAE(>AϖA=A. ?A)`>A@?A*A 4<2A 5:AwBA 4<JA 5RAw٘i)I9(>YъE JJJJ9BJ&K  5Y 5y A7775)NB ) )=!:[jBrBBBBFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027018.923165 s, next control iter: 1743027019.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027019.323165 s.sG~,AAzG-@Av,@AZ~? A[A&"AAXkoNA"AZAbAjArAzAAA| 5$@Ae`8)ЙrA$>Av'AQ=AG ?A#>A`?A=H*AY1<2Aj b6:AMBAY1<JAj b6RAM٘i)I9>YхE JzJJJ;BJ&K  5Y 5y A{7j75)VB ) )!:1jBrBBBBFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743027019.343165 s, next control iter: 1743027019.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 518*, header.stamp.nsec: 0*0 temperature: 13.424780** salinity: 33.392029*, density: 1025.000000** values[0]: 0.528462*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027019.743165 s.WG~,iAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.000000> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000945 dt: 0.4199712 time: 1743027019.743277F (some fields omitted in printout)Aq= ף0@AxԘ/@AZ~? A[A&"AAYkoNA"AZAbAjArAzAAA 5$@A:싿rA_>AVA^<AA ?A@њ>A`:?A*A1-<2AÝ6:ABA1-<JAÝ6RA٘i)I9>YĀE J-JJJAA4w<A% ?A@S>A?AN *A)<2A|6:ABA)<JA|6RAY? ?y4w<ٓH '?>"@?@&?`L?I掿"@?)? I٘i)I9?>YRwE JJJJ>BJ&K9  5Y 5y  A 45)gB ) ):":ǭjBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027020.183165 s, next control iter: 1743027020.563183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743027020.583165 s.ȴG~,R%AA(\7@A9\6@AZ~? A|[AD&"AA]koNA"AZAbAjArAzAAAa 5$@ArAe>AADq;A ?Aѭ>Ae?A "*A%<2A55:A!BA%<JA55RA!٘i)I9>YmE J^!JJJ@BJ&K  5Y 5y "A77{75)oB ) )":jBrBBBBFFF]`:Waiting for Gazebo time sync: latest Gz time: 1743027020.603165 s, next control iter: 1743027020.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 519, header.stamp.nsec: 00 temperature: 13.425204* salinity: 33.392044, density: 1025.000000* values[0]: 0.526485F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027021.003165 s.| дG~,]4@AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.000000> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000945 dt: 0.4200152 time: 1743027021.003304F (some fields omitted in printout)AQ:@Av9@A A`[A`&"AA^koNA"AZAbAjArAzAAA_ 5$@A*rA:>A9A׺A ?A@ŹA  ?Aԉ#*A<2A:A#BA<JARA#I٘i)I9:>YbE J"JJJABJ&K  5Y 5y #A77]5)xB ) )":'jBrBBBBFFF]i:Waiting for Gazebo time sync: latest Gz time: 1743027021.023165 s, next control iter: 1743027021.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027021.423165 s.uִG~,[AAGz>@ApuD=@AZ~? AD[A{&"AA_koNA"AZAbAjArAzAAA:@A 5$@Aϼ=|rAN>ASV9AD| A ?AľA?A$*A\<2Ax:AR^%BA\<JAxRAR^%٘i)I9>YXE JB$B=JJJCBJ&K  5Y 5y $A777;5)B ) )8#:T)jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027021.443165 s, next control iter: 1743027021.823175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 520", header.stamp.nsec: 0"0 temperature: 13.425669"* salinity: 33.392059", density: 1025.000000"* values[0]: 0.524465"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027021.843165 s.ܴG~,uAA= ףpA@A @@AZ~? A)[A&"AAakoNA"AZAbAjArAzAAAla# 5$@AqehkrA>AX,9AXA ?A@>A.?Afd&*A <2Apn:A'BA <JApnRA'٘i)I9>YME J%C=JJJEBJ&K  5Y 5y &A)7ŧ7^5)B ) )#:)jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027021.863165 s, next control iter: 1743027022.243188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743027022.263165 s.G~, ؐAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.000000> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000945 dt: 0.4199612 time: 1743027022.263266F (some fields omitted in printout)AD@AC@AZ~? A [A&"AAbkoNA"AZAbAjArAzAAA؝ 5$@A3ZrA >Aw!8A ̼A ?A >A`?A'*A*q<2A䄵:An(BA*q<JA䄵RAn(Y? ?y ̼g!8ٓH(?`? p?3'?󛙿?1? p?)? I٘i)I9 >YBE J&'JýJJGBJ&Kߎ  5Y 5y 'A{7Z7r)5)B ) )#: *jBrBBBBFFF]j:Waiting for Gazebo time sync: latest Gz time: 1743027022.283165 s, next control iter: 1743027022.663174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 521., header.stamp.nsec: 0.0 temperature: 13.426130.* salinity: 33.392067., density: 1025.000000.* values[0]: 0.522369.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027022.683165 s.lG~,kAA\(H@ADXG@AZ~? AZA&"AAdkoNA"AZAbAjArAzAAA|? 5$@ADJrAG>A%A A ?AaV>A?Ag!)*AcC<2AЖ6:AM*BAcC<JAЖ6RAM*٘i)I9G>Y8E J(JJJHBJ&K  5Y 5y )A77{75)B ) )6$:d1*jBrBBBBFFF]`:Waiting for Gazebo time sync: latest Gz time: 1743027022.683165 s, next control iter: 1743027023.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743027023.103165 s.G~,AAQK@AܚJ@AZ~? AZA&"AAekoNA"AZAbAjArAzAAA}؀ 5$@Ae$9rA2]>A[OA6A ?A5>A@?Aw**AI <2A6:A?+BAI <JA6RA?+٘i)I9]>Y;-E J)B=JJJJBJ&K  5Y 5y *A)7ŧ75)B ) )$:T*jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027023.123165 s, next control iter: 1743027023.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027023.523165 s.G~,{AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.000000> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000945 dt: 0.4200032 time: 1743027023.523303F (some fields omitted in printout)A{GN@AXN@AZ~? AZA&"AAgkoNA"AZAbAjArAzAAA]D 5$@AىK)rA`>A @A 3A ?A&R>A`qB?AX+*AB;2AI6:AaO-BAB;JAI6RAaO-٘i)I9`>YL"E J6+C=JJJLBJ&K  5Y 5y +A7775)B ) )$:Ht*jBrBBBBFFF]f:Waiting for Gazebo time sync: latest Gz time: 1743027023.543165 s, next control iter: 1743027023.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 522, header.stamp.nsec: 00 temperature: 13.426617* salinity: 33.392052, density: 1025.000000* values[0]: 0.520251F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027023.943165 s.WdG~,>]AA ףp=R@AT6lQ@AZ~? AZA&"AAhkoNA"AZAbAjArAzAAA)V 5$@A"wCrAۤx>AMLA1GA ?A >At?Ao-*Aմ;2AkL26:A.BAմ;JAkL26RA.٘i)I9x>YGE J|,JJJMBJ&K  5Y 5y -A7ŧ70T5)B ) )4%:*jBrBBBBFFF]j:Waiting for Gazebo time sync: latest Gz time: 1743027023.963165 s, next control iter: 1743027024.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027024.363165 s.G~,>AAU@Az2T@AZ~? AZA&"AAjkoNA"AZAbAjArAzAAAia 5$@A܃ rAsef>A&8AWA ?A nA T?Ae.*A ;2AsU:A 0BA ;JAsURA 0Yd? ?yW,`8ٓHǕ(??`?(??$?`?)d? I٘i)I9ef>Y- E J-JJJOBJ&K%0  5Y 5y .Aŧ7b75)B ) )%:*jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027024.383165 s, next control iter: 1743027024.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 523&, header.stamp.nsec: 0&0 temperature: 13.427114&* salinity: 33.392078&, density: 1025.000000&* values[0]: 0.518102&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027024.783165 s._ G~,2AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.000000> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000945 dt: 0.4200192 time: 1743027024.783293F (some fields omitted in printout)A)\X@A܁:%X@AZ~? AoZA&"AAkkoNA"AZAbAjArAzAAAʐ 5$@ABrAUT>AWB9A3yeA ?A`ƾA8A?A/*A(;2A&t:AYt1BA(;JA&tRAYt1٘i)I9T>YE J/JJJQBJ&K  5Y 5y /A775)ȶB ) )%:*jBrBBBBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027024.803165 s, next control iter: 1743027025.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027025.203165 s.G~,*MAAQ\@A%[@AZ~? AVZA&"AAmkoNA"AZAbAjArAzAAA:a 5$@ArA~A>AM9A˰oA ?AhžA c܁?A90*A|;2A6z:A2BA|;JA6zRA2٘i)I9~A>YsD Jm0JJJRBJ&K  5Y 5y 1A777705)ҶB ) )1&: *jBrBBBBFFF]f:Waiting for Gazebo time sync: latest Gz time: 1743027025.223165 s, next control iter: 1743027025.603182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743027025.623165 s.ZG~,igAAHz_@AD^@AZ~? A>ZA&"AAnkoNA"AZAbAjArAzAAAۿ 5$@AYܘrA.>AS8A3|vA ?A@AA+r?A<2*A";2Aн*:Al4BA";JAн*RAl4٘i)I9.>YD J1JJJTBJ&K  5Y 5y 2A77~5)۶B ) )&:Ψ*= SBIT PASSED= nListing configuration overrides from Data/persisted.cfg= @No configSet variables persistedbBFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027025.643165 s, next control iter: 1743027026.023181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 524 , header.stamp.nsec: 0 0 temperature: 13.427601 * salinity: 33.392071 , density: 1025.000000 * values[0]: 0.515905 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027026.043165 s. G~,ÂAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.000000> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000945 dt: 0.4200412 time: 1743027026.043316F (some fields omitted in printout)Aףp= c@A@h=|9b@AZ~? A&ZAO&"AAokoNA"AZAbAjArAzAAAJ 5$@A+ ͘rA>As4AyAu ?Ar>A?A^3*A6;2A4o5:A=5BA6;JA4o5RA=5٘i)I9>YD J2JJJVBJ&K  5Y 5y 3AI5)B&.Started mission Startupa! K10 `:Aggregate::initialize Startupq0`@Initialize GoToSurfaceComponent.`No depth rate setting specified. Using default value of nan m/s.`~No pitch setting specified. Using default value of nan degrees.`No speed setting specified. Using default value of 1.000000 m/s.`No surface timeout specified. Using default value of 1000.000000 seconds.`No altitude timeout specified. Using default value of 600.000000 seconds.`nReceived pitch timeout configuration 60.000000 seconds.*\2\PwV= \\\"\0 aZAggregate::initialize Startup:StartupSatComms0 Xz:) )PwV=&:4*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027026.063165 s, next control iter: 1743027026.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027026.463165 s.U'G~,㤝AAffffff@Ae@AZ~? AZA&"AApkoNA"AZAbAjArAzAAA 5$@As~rAU$ >A/A yA. ?A຀>A@L?A4*A;2ACA6:Ap6BA;JACA6RAp6Y4? ?y y//ٓHxR)?ˈ'?@v*?00?`%?)4? I٘i)I9$ >YD J$4JڠJJWBJ&Kd  5Y 5y 5A{7j7T5)B*a code=0BA4 owner=00C3 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 adInitialize ReadDataComponent to sense latitude_fix*\2\ \\\"\ ) )/'::*FFF]n:Waiting for Gazebo time sync: latest Gz time: 1743027026.483165 s, next control iter: 1743027026.863177 s, wait time: 0.380012 s)tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 525, header.stamp.nsec: 00 temperature: 13.428088* salinity: 33.392075, density: 1025.000000* values[0]: 0.513675F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027026.883165 s.y-G~,IAA(\i@Akh@AZ~? AYA&"AArkoNA"AZAbAjArAzAAA-: 5$@AӜAñrA0=A2XZA<vA ?A >A !?A6*A4;2A6:A7BA4;JA6RA7٘i)I90=YD Jk5JJJYBJ&K  5Y 5y 6Ab7b75)B*\2\ \\\"\ ) )':*FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743027026.903165 s, next control iter: 1743027027.283182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743027027.303165 s.X4G~,gAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743027027.303318F (some fields omitted in printout)AQm@A$~Nl@AZ~? AYAu&"AAskoNA"AZAbAjArAzAAAucz 5$@AfrA=Aw_ A=oA, ?Ah>APa?A=7*AA ;2AN6:A8BAA ;JAN6RA8٘i)I9=YpD J6JJJ[BJ&K  5Y 5y 8A)7ŧ75)B*\2\ \\\"\ ) )':L*Y V=FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027027.323165 s, next control iter: 1743027027.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 526*, header.stamp.nsec: 0*0 temperature: 13.428603** salinity: 33.392067*, density: 1025.000000** values[0]: 0.511418*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027027.723165 s.;G~,HAAGzp@AVn2o@AZ~? AYA&"AAtkoNA"AZAbAjArAzAAA 5$@A5GgrAk7=A)O7AHeAg ?A࿲p>A@~?Apw8*A*;2Ac5:A9BA*;JAc5RA9٘i)I97=YAD J7JJJ\BJ&K  5Y 5y 9A7)7jt5) B*\2\ \\\"\ ) )-(:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027027.743165 s, next control iter: 1743027028.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027028.143165 s.^/BG~,(* AAp= s@A2Ws@AZ~? AYA&"AAukoNA"AZAbAjArAzAAAҭX 5$@A<ŠrAp=Ai|9AXA ?ATƾA e}?A+9*A;2A4;::A>:BA;JA4;:RA>:٘i)I9p=YpD J9JJJ^BJ&K  5Y 5y :Aŧ7b7?5)B*\2\ \\\"\ ) )(:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027028.163165 s, next control iter: 1743027028.543181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743027028.563165 s.HG~,J $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743027028.563279F (some fields omitted in printout)A33333w@AIbv@AZ~? AYA3&"AAvkoNA"AZAbAjArAzAAA[X 5$@APu~rAsq"=A\9AksIA ?A`;AF|?A:*AB;2A:A8<BAB;JARA8AA(\z@A'y@AZ~? AYA&"AAwkoNA"AZAbAjArAzAAA^, 5$@A91{rrA-c<Ah&9A`8A ?AE>A!|?A<*A;2A9:A$=BA;JA9RA$=٘i)I9cA@q{?A >=*A#;2A/M:A2>BA#;JA/MRA2>٘i)I9[:Y8-A J<JJJcBJ&K  5Y 5y >A7ŧ7!5)2B*\2\ \\\"\ ) )):d*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027029.443165 s, next control iter: 1743027029.803174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 528, header.stamp.nsec: 00 temperature: 13.429645* salinity: 33.392082, density: 1025.000000* values[0]: 0.506769F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027029.823165 s.\G~,tAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743027029.823277F (some fields omitted in printout)AzG@A}v@AZ~? AkYA&"AAykoNA"AZAbAjArAzAAAB 5$@AMf[rAAA,A ?A >A z?Af>*A ;2AO6:AA@Bz?AW?*A_ޢ;2A[6:AC@BA_ޢ;JA[6RAC@٘i)I9Y7 J?JJJfBJ&K  6Y 6y AAb7b7<6)FB*\2\ \\\"\ ) )(*:..*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027030.283165 s, next control iter: 1743027030.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027030.663165 s.jG~,qAtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 529, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A=~/@AZ~? AGYAX&"AA{koNA"AZAbAjArAzAAA| 5$@AMMErA3lAd<A6ӼA?A>AJy?AB@*Ak;2A\6:AGABAk;JA\6RAGAY? ?y6Ӽv<ٓH@>*?QM(G?V+?@ef?'G?)? I٘i)I93lY J@B=Jd=JJhBJ&Kxd  6Y 6y BAŧ7ŧ76)PB*\2\ \\\"\ ) )|*:B*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027030.683165 s, next control iter: 1743027031.063173 s, wait time: 0.380008 s rAdjusting time to match Gazebo time: 1743027031.083165 s.DqG~,RAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200582 time: 1743027031.083322F (some fields omitted in printout)A(\@Apv@AZ~? A5YA&"AA|koNA"AZAbAjArAzAAA 5$@AKnW:rAAznvAA ?A s>A _y?AA*A;2A976:AIBBA;JA976RAIB٘i)I9YA AZ~?5Y_XB@3F'|^hGPS fix at 20250326T221031: (36.693600, -121.939897)IiJLAC=JJJjBJ&K  ;4YZ~? ;4y5Y ?)7>g;4)ZB011*\2\ \\\"\ ) )*:W)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027031.123165 s, next control iter: 1743027031.483174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743027031.503165 s.wG~,;4AAQ@A)A獀@A A$YA&"AA}koNA"AZAbAjArAzAAA} 5$@A:/rA?ǽA:$8A#A ?Ay|A Q y?AB*A%;2A?&:AHCBA%;JA?&RAHC٘i)I9ǽYr JgBJJJkBJ&K  I4Y I4y ?77{75I4)dB*a code=0BA5 owner=00C4 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 bzInitialize ReadDataComponent to sense platform_communications*\2\ \\\"\ ) )&+:)FFFtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 530, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)];Waiting for Gazebo time sync: latest Gz time: 1743027031.683165 s, next control iter: 1743027031.903177 s, wait time: 0.220012 s rAdjusting time to match Gazebo time: 1743027031.923165 s.9~G~,AAGz@AC@AZ~? AYAS&"AA~koNA"AZAbAjArAzAAA 5$@AhGy%rAAN9At>A ?A`K=оAx?AC*A;2A:A&FDBA;JARA&FD٘i)I9YZ )JyCJJJmBJ&K  X4Y X4y ?7ŧ7X4)nB*\2\ \\\"\ ) )z+:)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027031.963165 s, next control iter: 1743027032.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027032.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199612 time: 1743027032.343287F (some fields omitted in printout)A= ףp@A@AZ~? AYA&"AAkoNA"AZAbAjArAzAAA"͘ 5$@AHilrA AZoM9AA ?A3̾A@x?ASE*A;2A:AAEBA;JARAAE٘i)I9 Yv .No messages in MT queueJDJJJoBJ&K  f4Y f4y ?ŧ7b7Egf4)yB*\2\ \\\"\ ) )+:+)FFF]g:Waiting for Gazebo time sync: latest Gz time: 1743027032.363165 s, next control iter: 1743027032.743180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 531", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027032.763165 s.5G~,0AA̘@AB @AZ~? AXA&"AAkoNA"AZAbAjArAzAAAJ8w 5$@An]rA!Ab8A[mA?A@Azx?A%F*AE;2Apm(:A;FBAE;JApm(RA;FY??y[m8ٓH|+?@ ?@?`S+?Ѻm Ǻm?@L ?@?)? I٘i)I9!Y JEJX=JJqBJ&KQ  t4Y t4y ?77{7t4)B*\2\ \\\"\ ) )#,:'(FFF]e:Waiting for Gazebo time sync: latest Gz time: 1743027032.783165 s, next control iter: 1743027033.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027033.183165 s.˒G~,KAA\(@AOZX@AZ~? AXA2&"AAkoNA"AZAbAjArAzAAAt% 5$@A&~rA6A8}AA?A1>Alx?AD3G*A;2A5:A4GBA;JA5RA4G٘i)I96Y JFJJJrBJ&K  4Y 4y ?774)B*\2\ \\\"\ ) )x,:'FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027033.203165 s, next control iter: 1743027033.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027033.603165 s.14G~,fAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199702 time: 1743027033.603258F (some fields omitted in printout)AQ@AҪt@AZ~? AXA{&"AAkoNA"AZAbAjArAzAAAΏ 5$@A_9rAKA=A+;A?A6>Alx?A{=H*Aӗ;2A6:A,HBAӗ;JA6RA,H٘i)I9KY )JGJJJtBJ&K  4Y 4y ?774)B*\2\ \\\"\ ) ),:_FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027033.623165 s, next control iter: 1743027034.003175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 532 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027034.023165 s.ZG~,|AA{Gᢀ@A@AZ~? AXA&"AAkoNA"AZAbAjArAzAAA* 5$@ArAٕ`A+XA;A?A@d>A -yx?ADI*A;2AJ6:A4$IBA;JAJ6RA4$I٘i)I9`Y JsHB=JJJvBJ&K  4Y 4y ?ŧ74)B*\2\ \\\"\ ) ) !-: ۨFFF] : Waiting for Gazebo time sync: latest Gz time: 1743027034.063165 s, next control iter: 1743027034.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027034.443165 s.3æG~,-]AA ףp=@Acl@AZ~? AXA&"AAkoNA"AZAbAjArAzAAA+EA 5$@ArAuAA;A?A>A x?AFJ*A@r;2A܅6:AJBA@r;JA܅6RAJ٘i)I9uY J(JC=JQ>JJwBJ&K>  4Y 4y ?7777C 4)B*\2\ \\\"\ ) )u-:FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027034.463165 s, next control iter: 1743027034.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 533, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027034.863165 s.+G~,>AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200422 time: 1743027034.863330F (some fields omitted in printout)A@Aeɨ@AZ~? AXAY&"AAkoNA"AZAbAjArAzAAA_U 5$@Ay? LݗrAAv7A<A?A`GAx?AIEK*Am;2AV65:A/KBAm;JAV65RA/KYq??y<=x7ٓH Mj,?`> ?Yq,?Y?`YϮ> ?)q? I٘i)I9Yz" JJJrJJyBJ&Kw>  4Y 4y ?77s44)B*\2\ \\\"\ ) )-:t2FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027034.903165 s, next control iter: 1743027035.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027035.283165 s.7RG~,AA)\@A*$@AZ~? AXA&"AAkoNA"AZAbAjArAzAAAJ: 5$@A җrA{;A8'9A <A?A?̾A@x?A?L*AR;2ADW:ALBAR;JADWRAL٘i)I9;Y/ JKJJJ{BJ&K  4Y 4y ?77^4)÷B*\2\ \\\"\ ) ).:@FFF]k:Waiting for Gazebo time sync: latest Gz time: 1743027035.303165 s, next control iter: 1743027035.683176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 534*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027035.703165 s.ֺG~,AAQ@A^G@AZ~? AzXA&"AAkoNA"AZAbAjArAzAAAO 5$@A3 hpȗrA^A\9A <A?ApѾA`qx?A5M*A;2Ay:ALBA;JAyRAL٘i)I9Y< JLB=JJJ|BJ&K  4Y 4y ?)7ŧ7Ɗ4)ͷB*\2\ \\\"\ ) )s.:AFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027035.743165 s, next control iter: 1743027036.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027036.123165 s.3G~,LAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743027036.123274F (some fields omitted in printout)AHz@Afݲ@AZ~? AiXAE&"AAkoNA"AZAbAjArAzAAAcm 5$@A1뽗rAȥA9A7<A?A W0¾AS y?AG'N*An2;2AF:A"MBAn2;JAFRA"M٘i)I9ȥYI JMC=JJJ~BJ&K  4Y 4y @b774)طB*\2\ \\\"\ ) ).:4FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027036.143165 s, next control iter: 1743027036.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027036.543165 s.IȵG~,"AAףp= @A{9@AZ~? AXXA&"AAkoNA"AZAbAjArAzAAA[w 5$@A%VrARA*7A=;A?Aӵ>A cDy?AiO*Ae;2A:A3NBAe;JARA3NI٘i)I9YV JNJJJBJ&K  4Y 4y @j7j76ߺ4)B*\2\ \\\"\ ) )/:rFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027036.583165 s, next control iter: 1743027036.943174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 535, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027036.963165 s.tεG~,ߤ=AAfffff@A9{g@AZ~? AFXA&"AAkoNA"AZAbAjArAzAAA{ 5$@A&rA솻AnX A;A?A@>Aby?A;O*Av;2A[y6:AOBAv;JA[y6RAOY???y;X ٓH@p2-?y!`?-?%t?t !`?)?? I٘i)I9Y,d JOJJJJ&Kn  4Y 4y  @Z7Z7 4)B*\2\ \\\"\ ) )q/:FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027037.003165 s, next control iter: 1743027037.363176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027037.383165 s.յG~,#XAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743027037.383275F (some fields omitted in printout)A(\½@AU[@AZ~? A5XAA&"AAkoNA"AZAbAjArAzAAA֒8 5$@AbrAxƾAZAPR4;A?A >A@xy?AP*A^;2Aj6:APBA^;JAj6RAP٘i)I9xƾY}q JkPJJJBJ&K  4Y 4y @)7ŧ754)B*\2\ \\\"\ ) )/: FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027037.403165 s, next control iter: 1743027037.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 536", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027037.803165 s.vAܵG~,wgsAAQ@A1xM@AZ~? A#XA&"AAkoNA"AZAbAjArAzAAAnl 5$@AIVrA5ѾA5A6A}?Aڊ>Ay?Ag)*A;2Ap6:Ac)BA;JAp6RAc)٘i)I95ѾY~ JLJJJBJ&K  4Y 4y @ŧ7._4)B*\2\ \\\"\ ) )0:FFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743027037.823165 s, next control iter: 1743027038.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027038.223165 s.gG~,HAAGzĀ@AqsÀ@AZ~? AXA&"AAkoNA"AZAbAjArAzAAAf9 5$@A0rAϾAIeAXAr?Ab>Ay?A{6=*A;2AB޶:AO6=BA;JAB޶RAO6=٘i)I9ϾY| J;B=JJJBJ&K  4Y 4y @b77Ԋ4)B*\2\ \\\"\ ) )n0:(FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027038.243165 s, next control iter: 1743027038.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027038.643165 s.rG~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199802 time: 1743027038.643262F (some fields omitted in printout)Ap= ǀ@A{/Lǀ@AZ~? AXAL&"AAkoNA"AZAbAjArAzAAA 5$@Aa3׮}rAƾA) R8AAk?A`>A y?A)+=*A;2A>}:A.*=BA;JA>}RA.*=٘i)I9ƾY q J3=C=JJJBJ&K  4Y 4y !@7Ĵ4)B*\2\ \\\"\ ) tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 537, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout))0:E)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027038.683165 s, next control iter: 1743027039.043175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027039.063165 s.G~,A AA33333ˀ@A@bʀ@AZ~? AWA&"AAkoNA"AZAbAjArAzAAAⷂ5$@AczrrA×Ac9AB3Ai?Aե>Ay?AG=*A;2Ac^:A=BA;JAc^RA=Y ?\?yB39ٓH-? "??f-? }}?`@#??) ? I٘i)I9Yf J4"=J3JJBJ&Kn  4Y 4y '@ŧ7b74)B*\2\ \\\"\ ) )1:r)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027039.083165 s, next control iter: 1743027039.463175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027039.483165 s.t_G~,AA(\΀@À@AZ~? AWA &"AAkoNA"AZAbAjArAzAAA~5$@AzSAgrAAY.9AvAd?A@>Ay?At =*A@;2AW:A~ =BA@;JAWRA~ =٘i)I9Y^] J=JJJJ&K  4Y 4y ,@{7{7O 4)B*\2\ \\\"\ ) )l1:#)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027039.523165 s, next control iter: 1743027039.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 538, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027039.903165 s.G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743027039.903273F (some fields omitted in printout)ARр@A.р@AZ~? AWA\ &"AAkoNA"AZAbAjArAzAAAlz5$@Ap-]rAAZ8A!AR?Aq`>Asy?A<*A;2AR$e:A<BA;JAR$eRA<٘i)I9YU J=JJJBJ&K  4Y 4y 2@7744)B*\2\ \\\"\ ) )1:|)FFF]l:Waiting for Gazebo time sync: latest Gz time: 1743027039.923165 s, next control iter: 1743027040.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027040.323165 s.wG~,)AAzGՀ@AsvԀ@AZ~? AWA &"AAkoNA"AZAbAjArAzAAA865$@ARnRrAAAWA3?A>A@}y?A<*A9;2AnM:A[<BA9;JAnMRA[<٘i)I9YM J<JJJBJ&K  4Y 4y 7@7ŧ7_4)۷B*\2\ \\\"\ ) )2:*FFF]q:Waiting for Gazebo time sync: latest Gz time: 1743027040.343165 s, next control iter: 1743027040.723178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 539&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027040.743165 s.W G~,m/AAq= ף؀@A׀@AZ~? AWA &"AAkoNA"AZAbAjArAzAAA-5$@AMGrApALA&\߼A?Ai>ANy?A`<*AA;2A ۶:AP<BAA;JA ۶RAP<٘i)I9YG J><JJJBJ&K  5Y 5y =@77;E5)ַB*\2\ \\\"\ ) )j2:9*FFF]c:Waiting for Gazebo time sync: latest Gz time: 1743027040.763165 s, next control iter: 1743027041.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027041.163165 s.r}G~,qJAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199682 time: 1743027041.163280F (some fields omitted in printout)A܀@A#J{/ۀ@AZ~? AWA[&"AAkoNA"AZAbAjArAzAAALip5$@A+=rAOAR-2AޥA?A:>A@y?AA"<*A;2AP۶:A~<BA;JAP۶RA~  5Y 5y B@777735)ѷB*\2\ \\\"\ ) )2:-*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027041.203165 s, next control iter: 1743027041.563175 s, wait time: 0.360010 s*Z~?)*5Y rAdjusting time to match Gazebo time: 1743027041.583165 s.G~,ReAA(\߀@A!hUހ@AZ~? AWA&"AAkoNA"AZAbAjArAzAAA'5$@Aӛ2rAAnAA?A>A`nx?Ag<*A;2A(:Aމ<BA;JA(RAމ<٘i)I9Y< Jؗ<C=JJJBJ&K  5Y 5y H@77o5)ͷB*\2\ \\\"\ ) )3:A*FFF]g:Waiting for Gazebo time sync: latest Gz time: 1743027041.603165 s, next control iter: 1743027041.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 540, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027042.003165 s.w G~,H4AAQ@A4(@AZ~? AtWA&"AAkoNA"AZAbAjArAzAAAlx5$@AĎS(rA䨗A A>A ?A 1>A\x?Ae<*AVV;2A:Aa<BAVV;JARAa<٘i)I9Y8 J,}<JJJJ&K   5Y  5y M@7777j 5)ʷB*\2\ \\\"\ ) )g3:T*FFF]o:Waiting for Gazebo time sync: latest Gz time: 1743027042.023165 s, next control iter: 1743027042.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027042.423165 s.u&G~,{AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743027042.423295F (some fields omitted in printout)AGz@A{C@AZ~? AcWA=&"AAkoNA"AZAbAjArAzAAA ER5$@An5rAjA5=8Aܭ'A"?AQ>Ad(x?A4<*AA;2A@J:A¾0<BAA;JA@JRA¾0<٘i)I9YF5 JL<JJJBJ&K  5Y 5y R@775)ǷB*\2\ \\\"\ ) )3:Re*FFF][:Waiting for Gazebo time sync: latest Gz time: 1743027042.443165 s, next control iter: 1743027042.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 541, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027042.843165 s.,G~,AA= ףp@AXB@AZ~? ASWA&"AAkoNA"AZAbAjArAzAAAe5$@A3 rAA+09AJ2A*?A>A@iw?A<*A;2A悶:A*h<BA;JA悶RA*h<٘i)I9Y2 J<JJJBJ&K  5Y 5y X@77{7%05)ŷB*\2\ \\\"\ ) )4:s*FFF]h:Waiting for Gazebo time sync: latest Gz time: 1743027042.863165 s, next control iter: 1743027043.243183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743027043.263165 s.4G~,AA@Aej@AZ~? ACWA&"AAkoNA"AZAbAjArAzAAA 5$@A$ rA=A9A ;;A?AV>A\w?A;*As;2A(:A;BAs;JA(RA;Y??y ;;9ٓH/?@ ?`q? /?`Le@Ke? 0"?`q?)? I٘i)I9Y1 J';JJJBJ&KB  5Y 5y ]@b775)ķB*\2\ \\\"\ ) )e4:+*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027043.303165 s, next control iter: 1743027043.663179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 542*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027043.683165 s.l:G~,ZAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199782 time: 1743027043.683269F (some fields omitted in printout)A\(@AdTX@AZ~? A3WA&"AAkoNA"AZAbAjArAzAAAf5$@AkkmrACA 8AhcBA?A>Asv?AP;*A`;2A :A;BA`;JA RA;٘i)I9Y0 JEo;JJJBJ&K  5Y 5y c@j7j7Z5)÷B*\2\ \\\"\ ) )4:"*FFF]c:Waiting for Gazebo time sync: latest Gz time: 1743027043.683165 s, next control iter: 1743027044.083172 s, wait time: 0.400007 s rAdjusting time to match Gazebo time: 1743027044.103165 s.AG~,AAQ@A-$`@AZ~? A#WA#&"AAkoNA"AZAbAjArAzAAA)<5$@A.=rAAvArGA?AWS>Awv?AW-*Av;2A-:AKesBAv;JA-RAKes٘i)I9Y/ J?:JJJBJ&K  5Y 5y h@77+5)*\2\ \\\"\ ) )5:ӈ*FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743027044.123165 s, next control iter: 1743027044.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027044.523165 s.GG~,{!AA{G@A#@AZ~? AWAM&"AAkoNA"AZAbAjArAzAAAC5$@A| rA#As*A KAw?A5>A`u?AJl*A ;2Ap:A*}BA ;JApRA*}٘i)I9Y0 J=JJJBJ&K  !5Y !5y n@ŧ77!5)*\2\ \\\"\ ) )c5:3*FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027044.543165 s, next control iter: 1743027044.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 543, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027044.943165 s.SdNG~,-]<AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199712 time: 1743027044.943285F (some fields omitted in printout)A ףp=@Axal@AZ~? AWAr&"AAkoNA"AZAbAjArAzAAA%zp5$@Ac.@orA1*A; AyLAm?A`=>Au?ARֻ*A:/;2AT삶:A޻BA:/;JAT삶RA޻٘i)I9*Y1 JJJJJ&K  %5Y %5y s@77{7%5)ķB*\2\ \\\"\ ) )5:=*FFF]p:Waiting for Gazebo time sync: latest Gz time: 1743027044.963165 s, next control iter: 1743027045.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027045.363165 s.UG~,>WAA@A<@AZ~? AVA&"AAkoNA"AZAbAjArAzAAA5$@A"ۖrA擾AKAKA?Aɝ>A u?A*Az;2A:A BAz;JARA YO??yK vٓH@ t0?U?g0?`{{? v?)O? I٘i)I9擾Y3 JDJ(JJBJ&K  (5Y (5y y@77m(5)ƷB*\2\ \\\"\ ) ) 6:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027045.403165 s, next control iter: 1743027045.763177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 544", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027045.783165 s.W[G~,rAA)\@A=%$@AZ~? AVA&"AAkoNA"AZAbAjArAzAAAq5$@AZҖrA5CAz8A}IA?A`<>A t?AoJ*A;2A:A9NBA;JARA9N٘i)I9CY6 J3JJJBJ&K  ,5Y ,5y ~@7E,5)ɷB*\2\ \\\"\ ) )`6:R*FFF]Z:Waiting for Gazebo time sync: latest Gz time: 1743027045.803165 s, next control iter: 1743027046.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027046.203165 s.cG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199762 time: 1743027046.203264F (some fields omitted in printout)AQ@A;Ū@AZ~? AVA&"AAkoNA"AZAbAjArAzAAAgv<[5$@AHJʖrA=Ae9A0EA?A@M>As?AUy*AEŇ;2AyE:A|BAEŇ;JAyERA|٘i)I9=Yu: JbB=JJJBJ&K  /5Y /5y @7/5)̷B*\2\ \\\"\ ) )6:o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027046.223165 s, next control iter: 1743027046.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027046.623165 s.WiG~,]AAHz@A>Y1\@AZ~? AVA&"AAkoNA"AZAbAjArAzAAA5$@Ae)–rA$ӜA+9A*,?A?A`Q>Aws?AZ*A;2AӶ:ABA;JAӶRA٘i)I9ӜY> JC=JJJBJ&K  35Y 35y @7777p35)ϷB*\2\ \\\"\ ) ) 7:]*FFF]t:Waiting for Gazebo time sync: latest Gz time: 1743027046.643165 s, next control iter: 1743027047.023176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 545, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027047.043165 s.pG~,AAףp= @A}Yک9 @AZ~? AVA&"AAkoNA"AZAbAjArAzAAA b5$@A rAAU8A7A?A>Ar?A\*Awq;2AtǶ:AJBAwq;JAtǶRAJ٘i)I9YC JJJJBJ&K  75Y 75y @{7{775)ӷB*\2\ \\\"\ ) )^7:u|*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027047.063165 s, next control iter: 1743027047.443174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743027047.463165 s.VwG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199802 time: 1743027047.463258F (some fields omitted in printout)Afffff@AO8 @AZ~? AVA &"AAkoNA"AZAbAjArAzAAApX/5$@A<rAƿAAs.AQ?A+>A@ir?A"*A$e;2AH :A,BA$e;JAH RA,Y ?\?ys.#ٓHO0?@>?`1?@\ԥ\ԥ? ?) ? I٘i)I9YI JﴼJP<JJJ&K&  :5Y :5y @j7j:5)طB*\2\ \\\"\ ) )7:Rp*FFF]x:Waiting for Gazebo time sync: latest Gz time: 1743027047.483165 s, next control iter: 1743027047.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 546, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027047.883165 s.y}G~,IAA(\@Az@AZ~? AVA!&"AAkoNA"AZAbAjArAzAAAV5$@AzrA A,A$A!?A>A`q?AӼ*AY;2AK@:A'3ռBAY;JAK@RA'3ռ٘i)I9 Y!P J$ʼJJJBJ&K  >5Y >5y @)7ŧ70>5)ݷB*\2\ \\\"\ ) )8:b*FFF]r:Waiting for Gazebo time sync: latest Gz time: 1743027047.923165 s, next control iter: 1743027048.283180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027048.303165 s.QG~,bgAAQ@A2N@AZ~? AVA"&"AAkoNA"AZAbAjArAzAAA$:5$@AjlrA䰾Ae1ApA ?A[>A`q?A *A/P;2A:ABA/P;JARA鼙٘i)I9䰾Y elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743027048.723275F (some fields omitted in printout)AGz@A$@AZ~? AVA#&"AAkoNA"AZAbAjArAzAAAh5$@Af\0ᛖrA?A Am:A?AI>Ap?A*AH;2AC:A: BAH;JACRA: ٘i)I9?Y^ JJJJBJ&K  E5Y E5y @ŧ77^[E5)B*\2\ \\\"\ ) )8:C*FFF]r:Waiting for Gazebo time sync: latest Gz time: 1743027048.743165 s, next control iter: 1743027049.123174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743027049.143165 s.V/G~,*IAAp= @AE@AZ~? AVAc$&"AAkoNA"AZAbAjArAzAAAhO5$@AoL䔖rAA+K6A}[A"?A.>A2dp?A*AŖA;2AN :ABAŖA;JAN RA٘i)I9YJg JSJJJBJ&K  H5Y H5y @b7H5)B*\2\ \\\"\ ) )9:3*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027049.163165 s, next control iter: 1743027049.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027049.563165 s.G~,N dAA33333@AV}b@AZ~? AwVA<%&"AAkoNA"AZAbAjArAzAAA5$@A~rAKežA#8AA0?A>A`bo?A^F*AQ<;2Aֶ:ABAQ<;JAֶRAY??y켙r 8ٓHc1???`aV1?`*`(?`??)? I٘i)I9ežY.p J" B=J=JJBJ&K  L5Y L5y @77rL5)B*\2\ \\\"\ ) )Y9:G#*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027049.583165 s, next control iter: 1743027049.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 548, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027049.983165 s.G~,~AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200202 time: 1743027049.983307F (some fields omitted in printout)A(\"@A)߾!@AZ~? AlVA&&"AAkoNA"AZAbAjArAzAAAU$5$@A{7rA%;A/19A-ռA+?A6>A`n?Au*A8;2A:ABA8;JARA٘i)I9%;Yy JC=JJJJ&K  P5Y P5y @)7ŧ7P5)B*\2\ \\\"\ ) )9:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027050.023165 s, next control iter: 1743027050.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027050.403165 s.&G~,͙AAR%@A.%@AZ~? AaVA&&"AAkoNA"AZAbAjArAzAAAL5$@AErA ѾA9A+A?A>Ar?A)<*A? ;2A|:AD'<BA? ;JA|RAD'<٘i)I9ѾY JJJJBJ&K  S5Y S5y @77S5)B*\2\ \\\"\ ) )::i)FFF]r:Waiting for Gazebo time sync: latest Gz time: 1743027050.443165 s, next control iter: 1743027050.803174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 549, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027050.823165 s.G~,AAzG)@Alv(@AZ~? ASVA'&"AAkoNA"AZAbAjArAzAAATu5$@AlwrAW˾Ah8AA?A` >At?A,=*A>;2A 5:A=BA>;JA 5RA=٘i)I9W˾Yjw Je<JJJBJ&K  W5Y W5y @77AFW5)B*\2\ \\\"\ ) )W::<)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027050.863165 s, next control iter: 1743027051.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027051.243165 s.G~,mAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200072 time: 1743027051.243285F (some fields omitted in printout)Aq= ף,@A;l"+@AZ~? AEVA)&"AAkoNA"AZAbAjArAzAAAKv5$@AHorAľAtAA盼A?A [˥>A`t?A<*Aq;2As-:A<BAq;JAs-RA<٘i)I9ľYo J<JJJBJ&K  Z5Y Z5y @77Z5)B*\2\ \\\"\ ) ):: )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027051.263165 s, next control iter: 1743027051.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027051.663165 s.G~,qAtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 550, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A0@A4iSu//@AZ~? A7VA**&"AAkoNA"AZAbAjArAzAAAzR5$@A[frAA AӌA?AIʓA7t?A,<*A~l;2AFﾵ:AJb<BA~l;JAFﾵRAJb elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199652 time: 1743027052.503283F (some fields omitted in printout)AQ6@A&†5@A AVAM,&"AAkoNA"AZAbAjArAzAAA5$@Aђ?UrAASAiA?A>A 8t?A<*Aj;2A:3:Ai<BAj;JA:3RAi<٘i)I9Y^ J <JJJJ&K  e5Y e5y @e5)B*\2\ \\\"\ ) );:1)FFF]j:Waiting for Gazebo time sync: latest Gz time: 1743027052.523165 s, next control iter: 1743027052.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 551, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027052.923165 s.:ζG~,;AAGz:@A(+C9@AZ~? A VA\-&"AAkoNA"AZAbAjArAzAAAQs5$@A?m!MrAԳAM7ACYA?A>٬>A4t?AJR<*A9;2AgS5:Au5Q<BA9;JAgS5RAu5Q<I٘i)I9ԳYZ Jm<JJJBJ&K  i5Y i5y @777.1i5)B*\2\ \\\"\ ) );:)FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027052.963165 s, next control iter: 1743027053.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027053.343165 s.<նG~,UAA= ףp=@A_9<@AZ~? AUAh.&"AAkoNA"AZAbAjArAzAAA/5$@ADrAVvA[8AMA?A>A?s?A<*Aj;2A5:A<BAj;JA5RA<٘i)I9vYW J4<JJJBJ&K  l5Y l5y @)7ŧ7l5)B*\2\ \\\"\ ) )S<:)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027053.363165 s, next control iter: 1743027053.743178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 552", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027053.763165 s.5۶G~,pAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743027053.763282F (some fields omitted in printout)A@@AD?@AZ~? AUAs/&"AAkoNA"AZAbAjArAzAAA. 5$@AӹTA@s?A8;*Aܠ;2Ab5:A;F;BAܠ;JAb5RA;F;Y=??yGs9ٓH2?6J#?d?s~2?L@G?@#? d?)=? I٘i)I9ԯYU Jv;JB<JJBJ&Kj  p5Y p5y @77{7[p5)B*\2\ \\\"\ ) )<:;)FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743027053.783165 s, next control iter: 1743027054.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027054.183165 s.G~,cAA\(D@A)WXC@AZ~? AUA}0&"AAkoNA"AZAbAjArAzAAA5$@A" 4rAA8A`GA?A(A>AZs?AY';*Al;2A4:Ae#;BAl;JA4RAe#;٘i)I9YT JՈ;JJJBJ&K  s5Y s5y @ŧ7b7us5)B*\2\ \\\"\ ) )<:È)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027054.223165 s, next control iter: 1743027054.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027054.603165 s.54G~,AAQG@AMSF@AZ~? AUA1&"AAkoNA"AZAbAjArAzAAA5$@A[Q$+rABĮAt͎6ALAq?A@>A@3s?A]*A;2Aot3:AL-mBA;JAot3RAL-m٘i)I9ĮYT JK:JJJBJ&K  w5Y w5y @77w5)*\2\ \\\"\ ) )P=:+)FFF]^:Waiting for Gazebo time sync: latest Gz time: 1743027054.623165 s, next control iter: 1743027055.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 553 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027055.023165 s.ZG~,{AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743027055.023284F (some fields omitted in printout)A{GJ@A#J@AZ~? AUA2&"AAkoNA"AZAbAjArAzAAA/|5$@A@#rA5UA_ϸAeWAY?A@u>Aes?Aɉ*A;S;2A4:ABA;S;JA4RA٘i)I9UYVU J,JJJBJ&K  {5Y {5y @ŧ7b7{5)B*\2\ \\\"\ ) )=:f)FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027055.043165 s, next control iter: 1743027055.423176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027055.443165 s.6G~,:]AA ףp=N@Ac|lM@AZ~? AUA3&"AAkoNA"AZAbAjArAzAAAO5$@AEZfrA顰Ae.ArgAE?AC>A >s?A$*A`;2A5:AABA`;JA5RAA٘i)I9YV J ƻJJJJ&K  ~5Y ~5y @S77c~5)B*\2\ \\\"\ ) )=:Q)FFF]q:Waiting for Gazebo time sync: latest Gz time: 1743027055.463165 s, next control iter: 1743027055.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 554, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027055.863165 s.+G~,}>AAQ@AqP@AZ~? AUA4&"AAkoNA"AZAbAjArAzAAA5$@A*.yrALA¥AO|A9?A`f>A`s?A4*AE;2A5:A6BAE;JA5RA6Y?H?yO|ٓH$3?@ `?D3??@?)? I٘i)I9YcY JJJJBJ&K塷  5Y 5y @)7)7h#5)B*\2\ \\\"\ ) )N>:)FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027055.883165 s, next control iter: 1743027056.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027056.283165 s.6RG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200402 time: 1743027056.283326F (some fields omitted in printout)A)\T@AGsd%T@AZ~? AUA5&"AAkoNA"AZAbAjArAzAAAsX5$@ApV rA)iAA)9A6?A?P>A r?AgXk*A;2A5:AIlBA;JA5RAIl٘i)I9iY\ JhQB=JJJBJ&K  5Y 5y @ŧ7b7C5)B*\2\ \\\"\ ) )>:6)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027056.323165 s, next control iter: 1743027056.683178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 555*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027056.703165 s.ֺ G~,-AAQX@A }W@AZ~? AUA6&"AAkoNA"AZAbAjArAzAAA>>%5$@ArA;޸Ae 8A'A7?A hA'r?A[*An;2A2:ABAn;JA2RA٘i)I9޸Y` JC=JJJBJ&K  5Y 5y @)7ŧ7 5)B*\2\ \\\"\ ) )>:)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027056.723165 s, next control iter: 1743027057.103177 s, wait time: 0.380012 s) rAdjusting time to match Gazebo time: 1743027057.123165 s.1G~,CGAAHz[@AVWZ@A AUA7&"AAkoNA"AZAbAjArAzAAA\ 5$@A#xrA;A9A򧪼A4?A`A`Ijr?AW*A;2A:ABA;JARA٘i)I9Ye J#JJJBJ&K  5Y 5y @7777i5)B*\2\ \\\"\ ) )L?:#)FFF]c:Waiting for Gazebo time sync: latest Gz time: 1743027057.143165 s, next control iter: 1743027057.523173 s, wait time: 0.380008 s rAdjusting time to match Gazebo time: 1743027057.543165 s.IG~,bAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743027057.543265F (some fields omitted in printout)Aףp= _@AL$z9^@AZ~? A{UAx8&"AAkoNA"AZAbAjArAzAAAI5$@AQ,rAA 9AQA&?AjGA r?AȀü*A[};2Aoʵ:A%IļBA[};JAoʵRA%Iļ٘i)I9Yk JJJJBJ&K  5Y 5y @{7N5)B*\2\ \\\"\ ) )?:*FFF]a:Waiting for Gazebo time sync: latest Gz time: 1743027057.563165 s, next control iter: 1743027057.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 556, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027057.963165 s.vG~,}AAfffffb@A|C᳕a@A AoUAi9&"AAkoNA"AZAbAjArAzAAA˂#5$@A.rAMǾArc8A'tϼA ?A )>Aq?AIۼ*A7%p;2AF?J:AܼBA7%p;JAF?JRAܼY??y'tϼ3c8ٓH3?@jq?_?83?@홿@?Pn ?_?)? I٘i)I9MǾYr J@мJJJJ&K  5Y 5y @j7j75)B*\2\ \\\"\ ) )?: *FFF]n:Waiting for Gazebo time sync: latest Gz time: 1743027057.983165 s, next control iter: 1743027058.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027058.383165 s.%G~,MAA(\e@AYLd@AZ~? AcUAU:&"AAkoNA"AZAbAjArAzAAA(5$@A/?rAd;AgAA?A`>A@jq?Ab*Ay`;2AWz5:ABAy`;JAWz5RA󼙘٘i)I9d;Yy JJJJBJ&K  5Y 5y @775)B*\2\ \\\"\ ) )I@: *FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027058.403165 s, next control iter: 1743027058.783184 s, wait time: 0.380019 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 557", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027058.803165 s.vA,G~,wgAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199702 time: 1743027058.803294F (some fields omitted in printout)AQi@A9Nh@AZ~? AVUAL;&"AAkoNA"AZAbAjArAzAAA+";L5$@ADNjݕrA ѾAAmA?A>At?A <*AO;2A_*:A*<BAO;JA_*RA*<٘i)I9 ѾY\~ JSJJJBJ&K  5Y 5y @755)B*\2\ \\\"\ ) )@:3$*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027058.843165 s, next control iter: 1743027059.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027059.223165 s.g3G~,HAAGzl@Ayt#,k@AZ~? AGUAy<&"AAkoNA"AZAbAjArAzAAAv5$@Aw#ԕrA˾An2AA?Ab>Av?AS<*A;2A-4:A:<BA;JA-4RA:<٘i)I9˾Y4x J<JJJBJ&K  5Y 5y @77x5)B*\2\ \\\"\ ) )@:8*FFF]g:Waiting for Gazebo time sync: latest Gz time: 1743027059.243165 s, next control iter: 1743027059.623174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743027059.643165 s.w9G~, *AAp= o@A۟o@AZ~? A7UA=&"AAkoNA"AZAbAjArAzAAAi۲5$@AzʕrAǾAHAA?A >A av?A<*A;2A}:A?߫<BA;JA}RA?߫<٘i)I9ǾY&r J<JJJBJ&K  5Y 5y @{7Z7C5)B*\2\ \\\"\ ) )GA:G*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027059.663165 s, next control iter: 1743027060.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 558, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027060.063165 s.@G~,J AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199762 time: 1743027060.063290F (some fields omitted in printout)A33333s@A-br@AZ~? A(UA>&"AAkoNA"AZAbAjArAzAAAg)5$@AhWrA¾AaH6AA?A6>Au?A%<*AN;2A`?)i? I٘i)I9¾Y(m Jh<JJJBJ&KJ  5Y 5y @j7W5)B*\2\ \\\"\ ) )A:7V*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027060.083165 s, next control iter: 1743027060.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027060.483165 s.s_GG~,AA(\v@A>%ľu@AZ~? AUA?&"AAkoNA"AZAbAjArAzAAAf 5$@A]x3rA9A<.8Ah`&A?A@e;>A`lu?A:BZ<*A;2AD :ABV<BA;JAD RABV<٘i)I9Y0i J]x<JJJJ&K  5Y 5y @S77#ٔ5)B*\2\ \\\"\ ) )A:c*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027060.503165 s, next control iter: 1743027060.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 559, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027060.903165 s.MG~,9AARy@A)y@AZ~? A UAA&"AAkoNA"AZAbAjArAzAAABl5$@An^ArA 7Ak)39AY/A?AR'>A u?A<*At;2Aa:Ax<BAt;JAaRAx<٘i)I97Y:f J9<JJJBJ&K  5Y 5y @b775)B*\2\ \\\"\ ) )EB:p*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027060.923165 s, next control iter: 1743027061.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027061.323165 s.qTG~,TAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199682 time: 1743027061.323269F (some fields omitted in printout)AzG}@AU0w|@AZ~? ATA,B&"AAkoNA"AZAbAjArAzAAA@5$@ArA>A^ 9AV7A?A q>A@Gt?A:;*A?;2AK:A&;BA?;JAKRA&;٘i)I9YAd J;JJJBJ&K  5Y 5y @mn5)B*\2\ \\\"\ ) )B:#{*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027061.343165 s, next control iter: 1743027061.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 560*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027061.743165 s.W[G~,qoAAq= ף@A_!@AZ~? ATArA-ȺA7AX:>A?Aࠈ>A>s?A6;*AƢ;2Am:A{:BAƢ;JAmRA{:٘i)I9ȺYDc Jw;JJJBJ&K  5Y 5y @77795)B*\2\ \\\"\ ) )B:T*FFF]t:Waiting for Gazebo time sync: latest Gz time: 1743027061.763165 s, next control iter: 1743027062.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027062.163165 s.w}bG~,qAA@Asp/@AZ~? ATADD&"AAkoNA"AZAbAjArAzAAA6K5$@A\rAƺAɸACAA?A_>ABjs?A*Aa;2Anc:Ag3BAa;JAncRAg3Y?g?yCɸٓH`%4? 7@?q45?{{?0`?)? I٘i)I9ƺYBc J7JlJJBJ&K  5Y 5y @7)75)*\2\ \\\"\ ) )BC:F*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027062.203165 s, next control iter: 1743027062.563178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027062.583165 s.hG~,RAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199982 time: 1743027062.583286F (some fields omitted in printout)A(\@AJ({@AZ~? ATAEE&"AAkoNA"AZAbAjArAzAAAʓ5$@AȕrA1A.AgXHA?A`{>A r?A0 *A%;2AW27:AN0BA%;JAW27RAN0٘i)I9YF&"AAkoNA"AZAbAjArAzAAAz5$@ATrAu0A,ArKA ?Ak >A 4r?Af*A^;2A:AIBA^;JARAI٘i)I90Y2f JaJJJBJ&K  5Y 5y @b7b75)B*\2\ \\\"\ ) )C:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027063.023165 s, next control iter: 1743027063.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027063.423165 s.uvG~,{AAGz@A.uC@AZ~? ATA.G&"AAkoNA"AZAbAjArAzAAA95$@AZur~rAA!!`Am0MA!?A >Aԏq?AyT*A[n;2AE:ACWBA[n;JAERACW٘i)I9Y!i J7JJJJ&K  5Y 5y @77c5)B*\2\ \\\"\ ) )@D:Ì*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027063.463165 s, next control iter: 1743027063.823174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 562, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027063.843165 s.|G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743027063.843286F (some fields omitted in printout)A= ףp@AR@ڟ@AZ~? ATAH&"AAkoNA"AZAbAjArAzAAAOY5$@AsW7wrA¾A8AlMAD?A@խ>A@!p?A*ABhW;2A*b:ABABhW;JA*bRA٘i)I9¾Ym JsJJJBJ&K  5Y 5y @77j.5)B*\2\ \\\"\ ) )D:*FFF]x:Waiting for Gazebo time sync: latest Gz time: 1743027063.863165 s, next control iter: 1743027064.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027064.263165 s.G~,AA̔@Ax=@AZ~? ATAH&"AAkoNA"AZAbAjArAzAAA25$@AHEprAƾA1%9ALAW?A`>A3p?A!*AA;2A5:AfBAA;JA5RAfY??yLC%9ٓHc5?@Ɂ"??@@5?@ޏ܏?$??)? I٘i)I9ƾYq J1B=J᤻JJBJ&K,÷  5Y 5y @{7{7>5)B*\2\ \\\"\ ) )D:o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027064.303165 s, next control iter: 1743027064.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 563., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027064.683165 s.lG~,+AA\(@A8ZX@AZ~? ATAI&"AAkoNA"AZAbAjArAzAAAu5$@A0irA0}˾A7)9A!GJAH?Aय>A n?A*A1+;2A u:A7c¼BA1+;JA uRA7c¼٘i)I9}˾Yw zSent 80 bytes from file Logs/20250326T215525/Courier0007.lzma.Packets left to send: 0JJJJBJ&K  5Y 5y @7)7Ħ5)B*\2\ \\\"\ ) )>E:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027064.683165 s, next control iter: 1743027065.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743027065.103165 s.G~,FAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199732 time: 1743027065.103295F (some fields omitted in printout)AQ@AYe@AZ~? ATAJ&"AAkoNA"AZAbAjArAzAAAl5$@Aze+crApоA8A,FA?A`>A@\p?AJj*AW;2AYv:ApmBAW;JAYvRApm٘i)I9pоY} JkJJJBJ&K  5Y 5y @77Z5) B*\2\ \\\"\ ) ) E: ƅ*FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027065.163165 s, next control iter: 1743027065.503178 s, wait time: 0.340013 s rAdjusting time to match Gazebo time: 1743027065.523165 s.G~,{aAA{Gខ@Ard@AZ~? ATAK&"AAkoNA"AZAbAjArAzAAATO5$@AB֫ZrAHξA AzCA?A->Av?AD<*AHi;2A<:A|$<BAHi;JA<RA|$<٘i)I9HξYz J$<C=JQ>JJBJ&K>  5Y 5y @7777*Y5)B*\2\ \\\"\ ) )E:*FFF]q:Waiting for Gazebo time sync: latest Gz time: 1743027065.543165 s, next control iter: 1743027065.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 564, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027065.943165 s.YdG~,F]|AA ףp=@Ael@AZ~? ApTAL&"AAkoNA"AZAbAjArAzAAA]C5$@AJQrAPɾA4 A ?A?A>Av?A×<*A;2Al:A⇕<BA;JAlRA⇕<٘i)I9ɾYu J<JQ>JJJ&K>  5Y 5y A~77#5)B*\2\ \\\"\ ) );F:*FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027065.963165 s, next control iter: 1743027066.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027066.363165 s.G~,>AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200002 time: 1743027066.363322F (some fields omitted in printout)A@AU-Ȥ@AZ~? AaTAM&"AAkoNA"AZAbAjArAzAAA k5$@AP|#HrAYƾAxW&A:A?A >AEu?A j<*A;2A}WU:Af<BA;JA}WURAfAt?Af'<*A|;2A:A #<BA|;JARA #<٘i)I9þY)n JjG<JJJBJ&K  5Y 5y A7)7/5)B*\2\ \\\"\ ) )F:x*FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743027066.823165 s, next control iter: 1743027067.183179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027067.203165 s.G~,AAQ@AoB@AZ~? ADTA*P&"AAkoNA"AZAbAjArAzAAA5$@Aҹ6rAA7Ae.A?A>Abnt?A;*Af;2AԵ:A(;BAf;JAԵRA(;٘i)I9Y l J<B=JJJBJ&K  5Y 5y Ab7b75)B*\2\ \\\"\ ) )9G:p*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027067.243165 s, next control iter: 1743027067.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027067.623165 s.OG~,;AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743027067.623272F (some fields omitted in printout)AHz@AOݮ@AZ~? A7TA9Q&"AAkoNA"AZAbAjArAzAAA 5$@A.rAAӸ8A'A?A5>A@s?AP ;*A ء;2A|xյ:Ai:BA ء;JA|xյRAi:٘i)I9Yj Jф;C=JJJBJ&K  5Y 5y A~77N5)B*\2\ \\\"\ ) )G:tf*FFF]b:Waiting for Gazebo time sync: latest Gz time: 1743027067.643165 s, next control iter: 1743027068.023174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 566, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027068.043165 s.G~,AAףp= @A@h=|9@AZ~? A)TA@R&"AAkoNA"AZAbAjArAzAAAP5$@AY%rA[A'9A' A?AW>A`v]s?A*A^;2AB:ApBA^;JABRAp٘i)I9Yj J 7JJJBJ&K  5Y 5y A77K5)*\2\ \\\"\ ) )G:X\*FFF]p:Waiting for Gazebo time sync: latest Gz time: 1743027068.063165 s, next control iter: 1743027068.443175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027068.463165 s.XǷG~,AAfffff@Ap@AZ~? ATAAS&"AAkoNA"AZAbAjArAzAAAF6P5$@A*OLrA<A8AЋA?A f>Ar?Ah»*A ;2AF1:A7ǻBA ;JAF1RA7ǻY$?s?yЋ8ٓH76? o?Q?`6?`Z Y?p?Q?)$? I٘i)I9Yl JtJ<JJJ&K̷  5Y 5y  Aŧ7b7 5)B*\2\ \\\"\ ) )7H:Q*FFF]t:Waiting for Gazebo time sync: latest Gz time: 1743027068.483165 s, next control iter: 1743027068.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 567, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027068.883165 s.yͷG~,48AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199712 time: 1743027068.883286F (some fields omitted in printout)A(\¹@A;N@AZ~? ATA;T&"AAkoNA"AZAbAjArAzAAAf5$@A{>'rAþA7AAj?A D3>A ]r?A"*AQ;2AX%':A"^%BAQ;JAX%'RA"^%I٘i)I9þY!n JJJJBJ&K  5Y 5y  Ab775)B*\2\ \\\"\ ) )H:fG*FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743027068.903165 s, next control iter: 1743027069.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027069.303165 s.SԷG~,jgSAAQ@AM@AZ~? ATA.U&"AAkoNA"AZAbAjArAzAAA'b5$@A>brAKƾA"FøAT A:?A@@>Aq?Ac*A~;2Aյ:A7eBA~;JAյRA7e٘i)I9KƾYFq JDJJJBJ&K  5Y 5y  A7)7Xy5)B*\2\ \\\"\ ) )H:=*FFF]e:Waiting for Gazebo time sync: latest Gz time: 1743027069.323165 s, next control iter: 1743027069.703176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 568&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027069.723165 s.۷G~,HnAAGz@A MK@AZ~? ASAV&"AAkoNA"AZAbAjArAzAAAk5$@A1rAɾA/L$AW A?AK'>Ajq?A**A+q;2A,:AkBA+q;JA,RAk٘i)I9ɾYpu JtB=JJJBJ&K  5Y 5y  A77/D5)B*\2\ \\\"\ ) )4I:3*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027069.743165 s, next control iter: 1743027070.123182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743027070.143165 s.Y/G~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199712 time: 1743027070.143301F (some fields omitted in printout)Ap= Á@ArÁ@AZ~? ASAW&"AAkoNA"AZAbAjArAzAAA>A5$@A_-rA;AdA$\A?A>Ap?A]*Ad;2A,U:AMBAd;JA,URAM٘i)I9;Yz JC=JJJBJ&K  5Y 5y A5)B*\2\ \\\"\ ) )I:)*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027070.163165 s, next control iter: 1743027070.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027070.563165 s.G~,= AA33333ǁ@AIbƁ@AZ~? ASAW&"AAkoNA"AZAbAjArAzAAAbR}5$@AoKrAJоAQAiA?AJ>A|zs?A(B<*AOr;2AG:Aj<BAOr;JAGRAjAt?AԐ<*A;2A͈ :A<BA;JA͈ RA<٘i)I9̾Yx J<JJJJ&K  5Y 5y A)7b765)B*\2\ \\\"\ ) )2J: *FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027071.003165 s, next control iter: 1743027071.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027071.403165 s.&G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200352 time: 1743027071.403316F (some fields omitted in printout)AŔ@Aĺ@AZ~? ASAZ&"AAkoNA"AZAbAjArAzAAAv 5$@ArA6ɾAA 9A~ڼAA >AKt?A=Y<*A;2Ad:AQXW<BA;JAdRAQXW<٘i)I96ɾYt J{<JJJBJ&K  5Y 5y A7777n5)B*\2\ \\\"\ ) )J:*FFF]`:Waiting for Gazebo time sync: latest Gz time: 1743027071.423165 s, next control iter: 1743027071.803176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 570, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027071.823165 s.G~,)AAzGс@AMGwЁ@AZ~? ASA&[&"AAkoNA"AZAbAjArAzAAA9]5$@AޔrAƾA f9AYԼA?A@>A@s?Ay<*Aa$;2AMM2:Ak<BAa$;JAMM2RAk<٘i)I9ƾYq Ju4<JJJBJ&K  5Y 5y A7795)B*\2\ \\\"\ ) )J:*FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743027071.843165 s, next control iter: 1743027072.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027072.243165 s.G~,uAAq= ףԁ@A9]Ӂ@AZ~? ASA/\&"AAkoNA"AZAbAjArAzAAAW5$@A|U֔rAežA[8AbмA?A>A ?s?A.8;*A-;2AY`:A.;BA-;JAY`RA.;٘i)I9ežY.p J;JJJBJ&K  5Y 5y A)7ŧ7(5)B*\2\ \\\"\ ) )0K:)*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027072.283165 s, next control iter: 1743027072.643177 s, wait time: 0.360012 s) rAdjusting time to match Gazebo time: 1743027072.663165 s. G~,q*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199432 time: 1743027072.663266F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 571, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A؁@A.II/ׁ@AZ~? ASA4]&"AAkoNA"AZAbAjArAzAAA&* 5$@Ai-ΔrALľA A~FμA?A y(>A ?s?AO9*AT;2Ao:A19BAT;JAoRA19Yy??y~Fμ\ ٓHN#8?v g?`r38?@ș@ș?=@g?)y? I٘i)I9ľYo J";J<JJBJ&K̷  5Y 5y A77{75)B*\2\ \\\"\ ) )K: *FFF]e:Waiting for Gazebo time sync: latest Gz time: 1743027072.683165 s, next control iter: 1743027073.063174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743027073.083165 s.DG~,REAA(\ہ@AAr?A[x*A;2A9R:ABA;JA9RRA٘i)I9=žYo JKJJJBJ&K  5Y 5y A7775)B*\2\ \\\"\ ) )K:u *FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027073.103165 s, next control iter: 1743027073.483175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027073.503165 s.G~,+4`AAQށ@Ai݁@AZ~? ASA0_&"AAkoNA"AZAbAjArAzAAA 5$@A OrAuƾA*`A%ϼA?A_>AӋr?A*A;2A$:AfBA;JA$RAf٘i)I9ƾYq JŻJJJJ&K  5Y 5y Ab775d5)B*\2\ \\\"\ ) )-L:*FFF]f:Waiting for Gazebo time sync: latest Gz time: 1743027073.523165 s, next control iter: 1743027073.903174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 572, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027073.923165 s.:G~,{AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200072 time: 1743027073.923282F (some fields omitted in printout)AGz@AN@C@AZ~? AsSA&`&"AAkoNA"AZAbAjArAzAAA4i 5$@Aj rAȻȾAsøAӼA?A@6 >A-r?AOH*A ;2A]:AJBA ;JA]RAJ٘i)I9ȾY>t J'JJJBJ&K  5Y 5y A7)7.5)B*\2\ \\\"\ ) )L:*FFF]k:Waiting for Gazebo time sync: latest Gz time: 1743027073.943165 s, next control iter: 1743027074.323181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743027074.343165 s.<%G~,AA= ףp@A @AZ~? AfSAa&"AAkoNA"AZAbAjArAzAAA!5$@A( rA˾Ar7AټA?A>Aq?AX酼*A;2Ae;:AΆBA;JAe;RAΆ٘i)I9˾Yx JkJJJBJ&K  5Y 5y Aj7j75)B*\2\ \\\"\ ) )L:*FFF]h:Waiting for Gazebo time sync: latest Gz time: 1743027074.363165 s, next control iter: 1743027074.743176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 573", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027074.763165 s.9+G~,'ذAA@AG@AZ~? AZSAb&"AAkoNA"AZAbAjArAzAAArzP!5$@A"rAϾA18AtA?A@Iw>A q?At*Ay;2Ah:AuBAy;JAhRAuY?n?yt༙G8ٓH8?`/??U8?` ?4??)? I٘i)I9ϾY| JJJJBJ&KCַ  5Y 5y Ab77X5)B*\2\ \\\"\ ) )+M:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027074.803165 s, next control iter: 1743027075.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027075.183165 s.2G~,gAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200432 time: 1743027075.183331F (some fields omitted in printout)A\(@AV,~SX@AZ~? AMSA c&"AAkoNA"AZAbAjArAzAAAe!!5$@AKrADξAA%9ALA?A>A4t?Aȋ<*AG;2A'a5:AL<BAG;JA'a5RAL<٘i)I9ξY{ Jo;JJJBJ&K  5Y 5y A777 5)B*\2\ \\\"\ ) )M:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027075.223165 s, next control iter: 1743027075.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027075.603165 s.049G~,AAQ@A@AZ~? A?SAd&"AAkoNA"AZAbAjArAzAAA8!5$@A1)ږrA˾A 9A;Ak?Ay>A`_pt?AX<*A ;2A&4:A5V<BA ;JA&4RA5V<٘i)I9˾Yw J1|<JJJBJ&K  5Y 5y  A77Y5)B*\2\ \\\"\ ) )M:O)*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027075.623165 s, next control iter: 1743027076.003174 s, wait time: 0.380009 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 574 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027076.023165 s.Z@G~,{AA{G@ARx@AZ~? A1SA.e&"AAkoNA"AZAbAjArAzAAA!5$@AO(\rA3ɾA&8AnAC?Ac>At?A?<*A;2AN:A]t <BA;JANRA]t <٘i)I93ɾYt J2<JJJBJ&K  5Y 5y !A{7j7O$5)B*\2\ \\\"\ ) ))N:2*FFF]a:Waiting for Gazebo time sync: latest Gz time: 1743027076.043165 s, next control iter: 1743027076.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027076.443165 s.6FG~,:]AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743027076.443271F (some fields omitted in printout)A ףp=@A l@AZ~? A#SA7f&"AAkoNA"AZAbAjArAzAAA- "5$@AG]rAAǾAqA) A?A>As?Aii;*A1;2Aڐ:A;BA1;JAڐRA;٘i)I9ǾY#s J;JJJJ&K  5Y 5y "A775)B*\2\ \\\"\ ) )}N:<*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027076.483165 s, next control iter: 1743027076.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 575, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027076.863165 s.+MG~,>7AA@A@AZ~? ASA:g&"AAkoNA"AZAbAjArAzAAAt 1"5$@A0}rA8gǾAbA=A?A>A s?A{)*A;2A)+:AvBA;JA)+RAvY??y={ٓH(9?Ҟ%?)9?& &?B#?)? I٘i)I9gǾYr J;J7JJBJ&K&Ϸ  5Y 5y $A7{75)*\2\ \\\"\ ) )N:F*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027076.903165 s, next control iter: 1743027077.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027077.283165 s.4RTG~,RAA)\@Ac %@AZ~? A SA7h&"AAkoNA"AZAbAjArAzAAAFS"5$@AZ\tvrAǾAAA?A`\>Acr?An*Ar;2A#73:AۛBAr;JA#73RAۛ٘i)I9ǾYEs JF"JJJBJ&K  5Y 5y %Ab77i5)*\2\ \\\"\ ) )&O:Q*FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027077.303165 s, next control iter: 1743027077.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 576., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027077.703165 s.ٺZG~,mAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200312 time: 1743027077.703332F (some fields omitted in printout)AQ@Ajh@AZ~? ARA,i&"AAkoNA"AZAbAjArAzAAArkt"5$@AzjnrAkɾA>A+ A?A`$>A`q?Aѯ*AY;2Acw4:AdBAY;JAcw4RAd٘i)I9kɾYu JKB=JJJBJ&K  5Y 5y 'A77tO5)B*\2\ \\\"\ ) ){O:\*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027077.743165 s, next control iter: 1743027078.103179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027078.123165 s.2aG~,HAAHz@AH}@AZ~? ARAj&"AAkoNA"AZAbAjArAzAAAǹ"5$@AdgrA˾AS8A2G(A?A@'>A[q?AF[*AX{q;2A~:AD]BAX{q;JA~RAD]٘i)I9˾Y x J`9C=JJJBJ&K  5Y 5y (Aŧ7b75)B*\2\ \\\"\ ) )O:f*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027078.163165 s, next control iter: 1743027078.523175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027078.543165 s.IhG~,âAAףp= @A 毐9@AZ~? ARAj&"AAkoNA"AZAbAjArAzAAAh"5$@A_rA*ϾA9Aڡ/A?Ah>A]p?A |*Ab;2A?:A-~BAb;JA?RA-~٘i)I9*ϾY| Jw|JJJBJ&K  5Y 5y )Ab75)B*\2\ \\\"\ ) )$P:n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027078.563165 s, next control iter: 1743027078.943174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 577, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027078.963165 s.xnG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743027078.963293F (some fields omitted in printout)Afffff @AԲ @AZ~? ARAk&"AAkoNA"AZAbAjArAzAAA Y"5$@AWrA0/ϾA+-9AA7A?AZ>A@t?A_a<*Aܻ;2AN;V6:A$e]<BAܻ;JAN;V6RA$e]A?A@D>At?AX><*A;2Ac06:A>:<BA;JAc06RA>:<٘i)I9=̾Yx Jy`<JJJBJ&K  5Y 5y ,A77y5)B*\2\ \\\"\ ) )P:ׂ*FFF]q:Waiting for Gazebo time sync: latest Gz time: 1743027079.403165 s, next control iter: 1743027079.783179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 578, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027079.803165 s.wA|G~,{gAAQ@AM@AZ~? ARA,n&"AAkoNA"AZAbAjArAzAAAJ?"5$@AfFrACʾAQ 6AVEA?A E>A`B/t?Ap;*AS;2A\5:A4_;BAS;JA\5RA4_;٘i)I9CʾYv Jd<JJJBJ&K  5Y 5y -A)7ŧ7D5)B*\2\ \\\"\ ) )"Q:*FFF]o:Waiting for Gazebo time sync: latest Gz time: 1743027079.823165 s, next control iter: 1743027080.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027080.223165 s.gG~,HAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743027080.223265F (some fields omitted in printout)AGz@AG@A ARA6o&"AAkoNA"AZAbAjArAzAAA8%"5$@Ag*>rAHɾA9A8ELAW?AA@us?A;*AR;2A5:A ;BAR;JA5RA ;٘i)I9HɾYt J;;JJJBJ&K  5Y 5y /A{7{7H5)B*\2\ \\\"\ ) )vQ:*FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743027080.243165 s, next control iter: 1743027080.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027080.643165 s.pЉG~,))AAp= @A_Cp\@A ARA6p&"AAkoNA"AZAbAjArAzAAA)"5$@AN"`6rAKɾA#,AMQA-?AV늾Ar?Ae*AM;2A3&6:Ah"BAM;JA3&6RAh"٘i)I9KɾYt J&]JJJBJ&K  5Y 5y 0A77775)*\2\ \\\"\ ) )Q:Ï*FFF]c:Waiting for Gazebo time sync: latest Gz time: 1743027080.663165 s, next control iter: 1743027081.043175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 579, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027081.063165 s.G~,J DAA33333@A(\b@A ARA,q&"AAkoNA"AZAbAjArAzAAAdZ"5$@AA1d.rALʾA A'VA(?A.ΘA]q?Aߺ*A=r;2AjP6:ABA=r;JAjP6RAY?b?y'V ٓH:? 5+$@?We;?@@? >T!`?)? I٘i)I9LʾY%v JۘJJJBJ&KϷ  5Y 5y 1Aj7Z75)B*\2\ \\\"\ ) )R:ݒ*FFF]t:Waiting for Gazebo time sync: latest Gz time: 1743027081.083165 s, next control iter: 1743027081.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027081.483165 s.t_G~,^AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200152 time: 1743027081.483296F (some fields omitted in printout)A(\@A4J@AZ~? ARAr&"AAkoNA"AZAbAjArAzAAAIs"5$@A 'rASJ̾AAYAA?A}A`q?A9=;*AHi;2AH6:A.>BAHi;JAH6RA.>٘i)I9J̾Yx JJJJJ&K  5Y 5y 3A77Ho5)B*\2\ \\\"\ ) )tR:G*FFF]j:Waiting for Gazebo time sync: latest Gz time: 1743027081.503165 s, next control iter: 1743027081.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 580, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027081.903165 s.ȝG~,yAAR!@A|!@AZ~? A|RAr&"AAkoNA"AZAbAjArAzAAA ȟ"5$@A rA/ϾA8A\Ab?A`TArp?AZW*AZ;2A6:AZBAZ;JA6RAZ٘i)I9/ϾY| J\JJJBJ&K  5Y 5y 4A77{795)B*\2\ \\\"\ ) )R:*FFF]a:Waiting for Gazebo time sync: latest Gz time: 1743027081.923165 s, next control iter: 1743027082.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027082.323165 s.wG~,)AAzG%@Awgv$@AZ~? AoRAs&"AAkoNA"AZAbAjArAzAAAU"5$@A KSrAϾAIH.9A)^Ar?AA -u?AGM<*A;;2A6:AXH<BA;;JA6RAXH<٘i)I9ϾY{ JP;:JJJBJ&K  5Y 5y 6A)7ŧ75)*\2\ \\\"\ ) )S:$*FFF]n:Waiting for Gazebo time sync: latest Gz time: 1743027082.343165 s, next control iter: 1743027082.723178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 581&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027082.743165 s.WG~,mAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743027082.743292F (some fields omitted in printout)Aq= ף(@A'@AZ~? AaRAu&"AAkoNA"AZAbAjArAzAAA|w"5$@A]:z:rA~̾A-9A_A_?A@ `A t?A<*Ab ;2AL6:A<BAb ;JAL6RA<٘i)I9~̾Yx JA<JJJBJ&K  5Y 5y 7A77V5)B*\2\ \\\"\ ) )rS:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027082.763165 s, next control iter: 1743027083.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027083.163165 s.w}G~,qAA,@A~T~/+@AZ~? ASRA"v&"AAkoNA"AZAbAjArAzAAAa"5$@ArAaʾAt8AnD`A&?A~As?A);*AL;2Ahҋ6:AC;BAL;JAhҋ6RAC;Y??ynD`8ٓH;?0] ? ? ]j;??6?@?)? I٘i)I9ʾYv J;B=JJJBJ&Kw  5Y 5y 8A)7ŧ785)B*\2\ \\\"\ ) )S:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027083.183165 s, next control iter: 1743027083.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027083.583165 s.游G~,RAA(\/@Ay.@AZ~? AERA(w&"AAkoNA"AZAbAjArAzAAA2L G"5$@AЀrAtʾAƹWA_A?AAs?A8*AW;2AЄ6:Ab#2BAW;JAЄ6RAb#2٘i)I9tʾYVv J;C=JJJBJ&K  5Y 5y :Ab77d5)*\2\ \\\"\ ) )T:*FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743027083.603165 s, next control iter: 1743027083.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 582, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027084.003165 s.v G~,D4AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027084.003298F (some fields omitted in printout)AQ2@A1@AZ~? A8RA"x&"AAkoNA"AZAbAjArAzAAA+"5$@AfALrAʾAS A]A?A YAF@r?AT*A|;2Al6:ABA|;JAl6RA٘i)I9ʾYv JJJJJ&K  5Y 5y ;Aŧ7g/5)*\2\ \\\"\ ) )oT:r*FFF]f:Waiting for Gazebo time sync: latest Gz time: 1743027084.023165 s, next control iter: 1743027084.403176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027084.423165 s.uƸG~,AAGz6@AC5@AZ~? A,RAy&"AAkoNA"AZAbAjArAzAAA"5$@Ah~0rA3̾ABR6AJ[A?AA Ygq?AV*A-u;2An6:ABA-u;JAn6RA٘i)I9̾Yx JJJJBJ&K  5Y 5y A775)B*\2\ \\\"\ ) )U:P*FFF]q:Waiting for Gazebo time sync: latest Gz time: 1743027084.863165 s, next control iter: 1743027085.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027085.263165 s.ԸG~,PAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199672 time: 1743027085.263267F (some fields omitted in printout)A<@A(;@AZ~? ARAz&"AAkoNA"AZAbAjArAzAAAQ!5$@AU:rAϾA7ASA?AA`Őt?A /<*Ae;2Aǖ6:A*<BAe;JAǖ6RA*@ ?)V? I٘i)I9ϾY{ J$iJ;JJBJ&Kdݷ  5Y 5y ?A{7j75)*\2\ \\\"\ ) )mU:@*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027085.303165 s, next control iter: 1743027085.663176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 584*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027085.683165 s.lڸG~,IkAA\(@@A'LX?@AZ~? ARA|&"AAkoNA"AZAbAjArAzAAA]L!5$@AyEדrAL̾A,j9AOA?A>AZt?A`<*A?;2A6:A<BA?;JA6RA<٘i)I9̾Y=y J*<JJJBJ&K  6Y 6y @Aj7Z7-6)B*\2\ \\\"\ ) )U:*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027085.683165 s, next control iter: 1743027086.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743027086.103165 s.G~,AAQC@A0aB@AZ~? AQA}&"AAkoNA"AZAbAjArAzAAAL~P!5$@AYl*ϓrA#˾A~49A+KA?ARȂs?AƉX;*As;2A6:A%H;BAs;JA6RA%H;٘i)I9˾Yw J;JJJBJ&K  6Y 6y BA77p6)B*\2\ \\\"\ ) )V:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027086.123165 s, next control iter: 1743027086.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027086.523165 s.G~,{AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199832 time: 1743027086.523260F (some fields omitted in printout)A{GF@AW%}F@AZ~? AQA~&"AAkoNA"AZAbAjArAzAAAah!5$@AǓrA&x˾A9AEA?A@VAdr?A|Ϻ*A¬;2A k6:A tBA¬;JA k6RA t캙٘i)I9x˾Yw J2C:JJJBJ&K Yy CA77{76)*\2\ \\\"\ ) )kV:*FFF]k:Waiting for Gazebo time sync: latest Gz time: 1743027086.543165 s, next control iter: 1743027086.923174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 585, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027086.943165 s.TdG~,1]AA ףp=J@A_~lI@AZ~? AQA &"AAkoNA"AZAbAjArAzAAA#n!5$@Ay drA_\̾A\=7A@A_?A[Adr?AIԻ*A);2Ae6:A,ڻBA);JAe6RA,ڻ٘i)I9\̾Yx JӇJJJJ&K  6Y 6y DA77 6)B*\2\ \\\"\ ) )V:*FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743027086.963165 s, next control iter: 1743027087.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027087.363165 s.G~,>AAM@AAL@AZ~? AQA&"AAkoNA"AZAbAjArAzAAAKFZ!5$@ArALξABA-:A?A8APGq?Ap9*Awr;2AE 6:Ac<BAwr;JAE 6RAc elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743027087.783315F (some fields omitted in printout)A)\P@As$P@AZ~? AQA&"AAkoNA"AZAbAjArAzAAA>M!5$@AqrAzϾAN6A_4A?ALA)]s?A;*AL;2A6:A;BAL;JA6RA;٘i)I9zϾYs| JJJJBJ&K  6Y 6y GA77ʧ6)B*\2\ \\\"\ ) )hW:u*FFF]b:Waiting for Gazebo time sync: latest Gz time: 1743027087.803165 s, next control iter: 1743027088.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027088.203165 s.G~, AAQT@A;S@A AQA&"AAkoNA"AZAbAjArAzAAAD!5$@A]rA;A&AN2/A?A/At?A!<*AM ;2AA5:A<BAM ;JAA5RA<٘i)I9;Yz JX<JJJBJ&K  6Y 6y IAb7(6)B*\2\ \\\"\ ) )W:p*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027088.243165 s, next control iter: 1743027088.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027088.623165 s.P G~,?'AAHzW@AajKV@AZ~? AQA&"AAkoNA"AZAbAjArAzAAAп>!5$@A.ErAR̾A1 A%*A?A Ais?A8P;*A%~;2Aq6:A$C;BA%~;JAq6RA$C;٘i)I9R̾Yx J<;JJJBJ&K  6Y 6y JA7{7yr6)B*\2\ \\\"\ ) )X:i*FFF]k:Waiting for Gazebo time sync: latest Gz time: 1743027088.663165 s, next control iter: 1743027089.023174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 587, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027089.043165 s.G~,BAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200142 time: 1743027089.043287F (some fields omitted in printout)Aףp= [@Alu9Z@AZ~? AQA&"AAkoNA"AZAbAjArAzAAA8!5$@A񔰗rA3̾A28AJ%A?A裛Ar?A*As;2A6:A BAs;JA6RA ٘i)I93̾Yvx J:JJJBJ&K  6Y 6y KA7W6)B*\2\ \\\"\ ) )fX:Mc*FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743027089.083165 s, next control iter: 1743027089.443176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027089.463165 s.RG~,פ]AAfffff^@A-Z]@AZ~? AQA&"AAkoNA"AZAbAjArAzAAA 1!5$@ArAj(;ADv*9AU A?AAmr?A߻*A,;2A5:AbBA,;JA5RAbY??yU *9ٓH]=?"?@?.=? ;8?N%??)? I٘i)I9(;Yy JJIr<JJJ&K8  6Y 6y MAŧ7b70=6)B*\2\ \\\"\ ) )X:]*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027089.503165 s, next control iter: 1743027089.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 588, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027089.883165 s.yG~, elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199792 time: 1743027090.303268F (some fields omitted in printout)AQe@A_Md@AZ~? AwQA&"AAkoNA"AZAbAjArAzAAAU !5$@ArAξA8AveA?AMA@s?A<*AX;2Ar6:A,~<BAX;JAr6RA,~<٘i)I9ξY{ J~:JJJBJ&K   6Y  6y OA7 6)*\2\ \\\"\ ) )dY:Q*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027090.343165 s, next control iter: 1743027090.703178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 589&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027090.723165 s.+G~,HAAGzh@AH/g@AZ~? AiQA&"AAkoNA"AZAbAjArAzAAA!5$@A7xrAo2;A ·A0A?A^`As?A#*;*A};2AAggregate::uninitialize Startupq0`DUninitialize GoToSurfaceComponent. ) ) Z:CM*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027091.163165 s, next control iter: 1743027091.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027091.563165 s.8G~,A AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199582 time: 1743027091.563255F (some fields omitted in printout)A33333o@A4bn@AZ~? AOQA&"AAkoNA"AZAbAjArAzAAAμ 5$@ATQhrAl<;Ah2AUAQ?A7AVr?A},*A֘;2A6:Am`BA֘;JA6RAm`Y6??yU†2ٓH>?`(? ???`M&?)6? I٘i)I9<;Yy J-J/;JJBJ&Kgݷ   6Y  6y SA77{7 6)B&>Started mission profile_stationKq(JAggregate::initialize profile_station )ZAggregate::initialize profile_station:Science1q1q1 .vAggregate::initialize profile_station:Science:PeakDetectChlq1 0vAggregate::initialize profile_station:Science:EdgeDetectChlqq2Aggregate::initialize profile_station:Science:HighestChlPeakReport3Initialize.3vAggregate::initialize profile_station:Science:PeakDetectNO315vAggregate::initialize profile_station:Science:PeakDetectOil17Aggregate::initialize profile_station:Science:HighestOilPeakReport18Initialize.q8xAggregate::initialize profile_station:Science:PeakDetectFDOMq:Aggregate::initialize profile_station:Science:PeakDetectSalinityq<Aggregate::initialize profile_station:Science:HighestSaltPeakReport=Initialize.=Aggregate::initialize profile_station:Science:PeakDetectPlanktivoreLMavgROI1?Aggregate::initialize profile_station:Science:EdgeDetectPlanktivoreLMavgROI1 1! BAggregate::initialize profile_station:Science:PeakDetectPlanktivoreHMavgROIq!1" DAggregate::initialize profile_station:Science:PeakDetectPlanktivoreDiatomsq"1# FAggregate::initialize profile_station:Science:PeakDetectPlanktivoreDinoflagellatesq#1$ H|Aggregate::initialize profile_station:Science:ChlThreshTriggerq$HInitialize. -tAggregate::initialize profile_station:Science:OceanCurrent-IF< :)97 +8)AaZ:K*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027091.603165 s, next control iter: 1743027091.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 590, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027091.983165 s.?G~,AA(\r@ALq@AZ~? ACQAފ&"AAkoNA"AZAbAjArAzAAA݀ 5$@AlF`rAξAAAL?A͆Aq?AY *Ad;2A6:A BAd;JA6RA ٘i)I9ξY{ JiJJJJ&K   6Y  6y UA77> 6)B[[[ף>ZZBZYYY)) i¸=) @:)Z:PJ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027092.023165 s, next control iter: 1743027092.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027092.403165 s.&FG~,AARu@A~u@AZ~? A$QA<&"AAkoNA"AZAbAjArAzAAA; 5$@A4UAMrAξAmAcA?A6>A Du?A;*Ač<2A"4:AMc;BAč<JA"4RAMc;٘i)I9ξY{ JJJJBJ&K  6Y 6y VAŧ7ŧ76)[[[ZZBZYY Yi@)1* i) ݃;)aZ:9*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027092.443165 s, next control iter: 1743027092.803178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 591, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027092.823165 s.LG~,4AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000> elevatorAngleAction: 0.079352< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743027092.823285F (some fields omitted in printout)AzGy@Avx@AZ~? APAF&"AAkoNA"AZAbAjArAzAAA]l!5$@ANw%rAl;A A]A?Aŧ>A ?Aw$;*AE<2AD5:A/{;BAE<JAD5RA/{;٘i)I9l;Yy J/;JJJBJ&K  6Y 6y XA777g6)B[[[ZZBZYYY1*q,XjAggregate::initialize profile_station:StartingMission i) [eT;) Z:=*Yɜ8YAFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027092.843165 s, next control iter: 1743027093.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027093.243165 s.SG~,dOAAq= ף|@A$F{@AZ~? A~PA&"AAkoNA"AZAbAjArAzAAA 3)"5$@Al~TrA̾A.yATA?A`k>A"?AG9*A5)=2AA6:A.BA5)=JAA6RA.٘i)I9̾YMy J";JJL?JL?BJ >&K  6YZ~? 6ybP_G<L? }>? YA>)7ŧ7SM6)B[[[]FAltitude Measurement is not Active.ZZBZYYQFAltitude Measurement is not Active.q%J^Aggregate::initialize profile_station:NeedComms%K@Initialize GoToSurfaceComponent.KHReceived depth rate setting nan m/s.KRReceived pitch setting 19.999999 degrees.KHReceived speed setting 1.000000 m/s.KjReceived surface timeout setting 1000.000000 seconds.KNo altitude timeout specified. Using default value of 600.000000 seconds.KnReceived pitch timeout configuration 60.000000 seconds.%*W2W WWW"WKlast time_fix was: 1743027031.080000 second since 1970/01/01T00:00:00Z % Xz:) )PwV=Y:yġ=@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027093.283165 s, next control iter: 1743027093.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027093.663165 s.ZG~,qjAtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 592, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A)D/@AZ~? AOA%&"AAloNA"AZAbAjArAzAAA~6#5$@A|trA$Y;AĬ6AA?AI>AM?A6*AY=2AV׍6:AmϻBAY=JAV׍6RAmϻY??y6ٓHl??@E`?@??>t>t?>?)? I٘i)I9Y;Yy JM JJJBJ ,?&K  6Y"Z~? 6yG@< ZA+?7726)EZZL=ZBZL?YY*W2W WWW"W1& ) )lY:yq=D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743027093.683165 s, next control iter: 1743027094.063174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743027094.083165 s.DaG~,RAJ"J*J2J:JBJ nJ vJ@@@@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200762 time: 1743027094.083325F (some fields omitted in printout)A(\@A@AZ~? AaOA&"AA loNA"AZAbAjArAzAAA_;$5$@A$2':rAξA?Q:AxA?A >A4?A*Ax:X=2A 587:A"BAx:X=JA 587RA"٘i)I9ξY{ JݻJJJBJ&K  6Y 6y ? \A7)76)BZZZBZL?YY*a code=0BAD owner=0098 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 L\Initialize ReadDataComponent to sense time_fix*W2W WWW"W ) )Y:yG{HY*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027094.123165 s, next control iter: 1743027094.483176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027094.503165 s.gG~,74AAQ@Av煂@AZ~? ANA &"AAloNA"AZAbAjArAzAAA&$5$@A*4ߑrAξAʞ:A"Ae?AoϾA`f?AAV;*A\=2A!;8:Ax;BA\=JA!;8RAx;٘i)I9ξY{ J,JJJJ&K Yy ]A77L6)BZZZBZL?YY*W2W WWW"W ) )Z:y+}9]*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027094.543165 s, next control iter: 1743027094.903175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 593, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027094.923165 s.9nG~,AJ"J*J2J:JBJnJvJAGz@A߽C@AZ~? A4NA&"AAloNA"AZAbAjArAzAAA%mҎ#5$@A]z(rA;AU:A6k'A?AA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743027095.343301F (some fields omitted in printout)A= ףp@AÁ,@AZ~? AMA&"AA"loNA"AZAbAjArAzAAAz"5$@ASv'rAAV;Au9Ad>,A#?A@A%̐rAl%ξAAT1A?AgA@?Aʻ*AW=2AK֔8:A{p BAW=JAK֔8RA{p Y+?z?yR1u5ٓH`G[F? JCW?d0G?X!@f!?0BW?)+? I٘i)I9%ξYz |Sent 300 bytes from file Logs/20250326T220141/Courier0000.lzma.Packets left to send: 0 } JvJLJJBJ&K  6Y 6y aA{7j7j6)BZZZBZL?YY*W2W WWW"W ) )[:r*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027095.803165 s, next control iter: 1743027096.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027096.183165 s.˂G~,o AA\(@A~$AX@AZ~? AsLA&"AA2loNA"AZAbAjArAzAAA)"5$@AqrA6ϾAϘAS5A?A EAI2?An9*AhY=2A8:ALBAhY=JA8RAL٘i)I96ϾY | JJJJBJ&K  6Y 6y bA7{76)BZZZBZL?YY*W2W WWW"W ) )g[:ew*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027096.223165 s, next control iter: 1743027096.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027096.603165 s.14G~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199762 time: 1743027096.603271F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AU]@AZ~? AKAA&"AA9loNA"AZAbAjArAzAAA5$@A6}[rA!ξAvKAE;A?A@A &G?A;*AZ=2Av 8:AK6;BAZ=JAv 8RAK6;٘i)I9!ξYz JӤ;JJJBJ&K  6Y 6y dAŧ7ŧ7x6)BZZZBZL?YY*W2W WWW"W ) )[:s*FFF]p:Waiting for Gazebo time sync: latest Gz time: 1743027096.623165 s, next control iter: 1743027097.003175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 595, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027097.023165 s.ZG~,{AAA{Gᚂ@A>?@AZ~? AGKA&"AAAloNA"AZAbAjArAzAAAD$Q5$@AI빏rA͗;A A@A?A[ A'?A=D8*AY=2A8:A B BAY=JA8RA B ٘i)I9;Y'z J7$;JJJBJ&K  6Y 6y eAb77]]6)BZZZBZL?YY*W2W WWW"W ) ) \:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027097.043165 s, next control iter: 1743027097.423176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027097.443165 s.7ÖG~,>]\AJ"J*J2J:JBJnJvJA ףp=@AWl@AZ~? AJA &"AAHloNA"AZAbAjArAzAAAB5$@A M^rA*ξA`l9A1EAc?A`|OA?A/*AOV=2A8:A_BAOV=JA8RA_٘i)I9*ξYz J.JJJJ&K  6Y 6y gAB6)BZZZBZL?YY*W2W WWW"W ) )e\:z*FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027097.463165 s, next control iter: 1743027097.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 596, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027097.863165 s.+G~,>wAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199712 time: 1743027097.863284F (some fields omitted in printout)A@AȠ@AZ~? AJAf&"AAOloNA"AZAbAjArAzAAAr 5$@A rA"ϾAˊ:AJA?A7A`A?A'r*AkZX=2AZf9:A+):BAkZX=JAZf9RA+):Y۬?i?yJ:ٓH2T?` _P??v]S?`AUA?uYQ??)۬? I٘i)I9"ϾY| JJNnJJBJ&K  6Y 6y hA(6)BZZZBZL?YY*W2W WWW"W ) )\:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027097.903165 s, next control iter: 1743027098.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027098.283165 s.;RG~,AJ"J*J2J:JBJnJvJA)\@A4d9:AY:BAZ=JA>9RAY:٘i)I9:ξYz J{;JJJBJ&K  6Y 6y iAb7t 6)BZZZBZL?YY*W2W WWW"W ) )]:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027098.303165 s, next control iter: 1743027098.683181 s, wait time: 0.380016 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 597*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027098.703165 s.ںG~,!AAQ@ArK@AZ~? AHA/-&"AA]loNA"AZAbAjArAzAAAh 5$@ACMrA6;AJh:A;&SA?AA ?Af)*A%W=2A$9:A\BA%W=JA$9RA\٘i)I9;Yqz J:B=JJJBJ&K Yy kA{7{76)BZZZBZL?YY*W2W WWW"W ) )b]:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027098.743165 s, next control iter: 1743027099.103180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027099.123165 s.2ᱹG~,HAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199482 time: 1743027099.123265F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@AXݪ@AZ~? A^HA8&"AAdloNA"AZAbAjArAzAAA5$@A(rAξA3nAVA?A?A4?AK*AU=2A39:AVBAU=JA39RAV٘i)I9ξYR{ J\C=JJJBJ&K  6Y 6y lAb7b7&6)BZZZBZL?YY*W2W WWW"W ) )]::*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027099.163165 s, next control iter: 1743027099.523175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027099.543165 s.IG~,AAףp= @A9@AZ~? AGAC&"AAkloNA"AZAbAjArAzAAAQH5$@A`ϒrAξAkA3)ZA?A@VAY ?A@H;*AX=2A^}?9:A-g;4)BZZZBZL?YY1&&*W2W WWW"W ) )`^:՗*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027100.003165 s, next control iter: 1743027100.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027100.383165 s.ŹG~,+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199402 time: 1743027100.383277F (some fields omitted in printout)A(\µ@A@AZ~? AFAZ&"AAyloNA"AZAbAjArAzAAAʬV4$@AyT'rA0ξA6AT_A?A@'A&?AE*AV=2Ae9:A_BAV=JAe9RA_٘i)I90ξYz JVC=JJJBJ&K  I4Y I4y ?b7b7޻I4)ZZZBZL?YY*a code=0BAE owner=009B element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 MzInitialize ReadDataComponent to sense platform_communications*W2W WWW"W ) )^:*FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027100.443165 s, next control iter: 1743027100.783176 s, wait time: 0.340011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 599, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027100.803165 s.|A̹G~,g3AJ"J*J2J:JBJnJvJAQ@A(M@AZ~? A FAe&"AAloNA"AZAbAjArAzAAA 4$@A}*ڈrAξAiAZaAټ?A@CA`?A'஺*AfV=2Ap9:A>BAfV=JAp9RA>I٘i)I9ξY{ JwrJJJCJ&K  X4Y X4y ?j7SI7#X4)BZZZBZL?YY*W2W WWW"W ) ) _:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027100.843165 s, next control iter: 1743027101.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027101.223165 s.gӹG~,HNAAGz@AB͐*@AZ~? AxEAq&"AAloNA"AZAbAjArAzAAAt@`4$@AlD.rAhξA6:AfbA?AA ?A^~;*AlX=2A9:Aw"}:BAlX=JA9RAw"}:٘i)I9hξY&{ J/;JJJJ&K  f4Y f4y ?)7ŧ7gf4)BZZZBZL?YY*W2W WWW"W ) )^_:*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027101.263165 s, next control iter: 1743027101.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027101.643165 s.pٹG~,)iAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199702 time: 1743027101.643261F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= ׿@A2W@AZ~? ADAf|&"AAloNA"AZAbAjArAzAAAhp4$@AcӋrA,ξAޞ:AcAL?AਟAKת?A(º*AoV=2Ac9:ABAoV=JAc9RA٘i)I9,ξYz )J:JJJCJ&K  t4Y t4y ?ŧ77ͼt4)ZZZBZL?YY*W2W WWW"W ) )_:H*FFF]:tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 600, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743027101.663165 s, next control iter: 1743027102.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027102.063165 s.G~,A AA33333Â@AA b‚@AZ~? AQDA&"AAloNA"AZAbAjArAzAAAF'4$@AyrA;ξA{4:AcA?AnAiǪ?A##*AVTU=2AkE9:ABAVTU=JAkE9RAY?ϥ?ycs:ٓH`ixj?3P? M?#i?Usr?S?V?)? I٘i)I9ξY{ JRB=JqvJJJ&K,2  4Y 4y ?777774)ZZZBZL?YY*W2W W W W"W  ) ) `: *FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027102.123165 s, next control iter: 1743027102.463176 s, wait time: 0.340011 sZ~?)5G rAdjusting time to match Gazebo time: 1743027102.483165 s.J "J *J 2J :J v_G~BJnJ,AvJA(\Ƃ@AAł@AZ~? ACA&"AAloNA"AZAbAjArAzAAA{xu4$@ABrAξAń :ArcA^?AAN?ANo;*AYW=2Ae9:AU?:BAYW=JAe9RAU?:٘i)I9ξYW{ J۷:C=JQ>JJJ&K>  4Y 4y ?)7ŧ74)ZZZBZL?YY*W2W WWW"W ) )[`:Λ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027102.503165 s, next control iter: 1743027102.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 601, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027102.903165 s.G~,͹AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743027102.903283F (some fields omitted in printout)ARɂ@APSɂ@AZ~? A)CA0&"AAloNA"AZAbAjArAzAAA>h4$@A6InŊrA@ξAvSٹAVbA?AJA@wƪ?As*AkU=2A큞9:A4BAkU=JA큞9RA4٘i)I9@ξYz J:JQ>JJCJ&K>  4Y 4y ?S77ޏ4)ZZZBZL?YY*W2W WWW"W ) )`:›*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027102.943165 s, next control iter: 1743027103.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027103.323165 s.wG~,)AJ"J*J2J:JBJnJvJAzG͂@ADv̂@AZ~? ABAh&"AAloNA"AZAbAjArAzAAAڥ4$@A krAξAG7AnaA?AA`?A*A6T=2A6M9:AhcBA6T=JA6M9RAhc٘i)I9ξY{ Jh1JJJJ&K  4Y 4y ?b7b7X 4)ZZZBZL?YY*W2W WWW"W ) )a:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027103.363165 s, next control iter: 1743027103.723179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 602&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027103.743165 s.WG~,mAAq= ףЂ@A&+ς@AZ~? ABA&"AAloNA"AZAbAjArAzAAA&#G4$@A rAξA填A_A?A`AϪ?AI;*AdV=2A49:Aej`9BAdV=JA49RAej`9٘i)I9ξYT{ J:JJJCJ&K  4Y 4y ?777#44)ZZZBZL?YY*W2W WWW"W ) )Ya:e*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027103.763165 s, next control iter: 1743027104.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027104.163165 s.J "J *J 2J :J BJ nJ vJ {}G~,q AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199982 time: 1743027104.163279F (some fields omitted in printout)AԂ@A,F]k/ӂ@AZ~? AoAA&"AAloNA"AZAbAjArAzAAA4$@AWŷrAh[ξAgSA]A/w?A@r A`ʰ?AAպ*AT=2A9:ABAT=JA9RAYOl?x?y]cSٓH vr?SQ?ks? ?`lJ`?)Ol? I٘i)I9[ξY{ Ju:J\;JJJ&K'W  4Y 4y ?ŧ77I_4)ZZZBZL?YY*W2W WWW"W ) )a:y*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027104.203165 s, next control iter: 1743027104.563182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743027104.583165 s.G~,S%AA(\ׂ@A6Xւ@AZ~? A@A&"AAloNA"AZAbAjArAzAAA84$@A83^rANξA >8A [An?A iA ?ALF*AT=2A9:AghBAT=JA9RAgh٘i)I9ξY{ J*JJJCJ&K  4Y 4y ?7j4)ZZZBZL?YY*W2W WWW"W ) )b:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027104.623165 s, next control iter: 1743027104.983178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 603 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027105.003165 s.v G~,D4@AJ"J*J2J:JBJnJvJAQڂ@AӁق@AZ~? AJ@AK&"AAloNA"AZAbAjArAzAAAm4$@AqrAzξA19:AYAf?AA@B?AmL;*AU=2Ao19:A7BAU=JAo19RA7鹙٘i)I9zξY;{ J~:JJJJ&K  4Y 4y @7)7Z4)ZZZBZL?YY*W2W WWW"W ) )Wb:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027105.043165 s, next control iter: 1743027105.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027105.423165 s.uG~,[AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199662 time: 1743027105.423316F (some fields omitted in printout)AGzނ@AiC݂@A Z~? A?A}&"AAloNA"AZAbAjArAzAAAGU4$@AڪrAJ~ξA,:AtVA?\?A!A ?A3 *A!T=2A9:A 韻BA!T=JA9RA 韻٘i)I9~ξY@{ JTJJJJ&K  4Y 4y @1ߺ4)ZZZBZL?YY*W2W WWW"W ) )b:3*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027105.463165 s, next control iter: 1743027105.823178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 604, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027105.843165 s.G~,uAJ"J*J2J:JBJnJvJA= ףp@A@A Z~? A$?A&"AAloNA"AZAbAjArAzAAAh4$@A!HxQrAξA:ASAP?AsjA"?A:*ArT=2A 9:A BArT=JA 9RA ٘i)I9ξY{ JųJJJCJ&K  4Y 4y  @777 4)ZZZBZL?YY*W2W WWW"W ) )c:ɐ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027105.863165 s, next control iter: 1743027106.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027106.263165 s.$G~,ؐAA@Ai*@A Z~? A>A&"AAloNA"AZAbAjArAzAAAt#4$@ArAlξAF89APAD?AA`렪?A:*A\T=2A9:A}̿BA\T=JA9RA}̿Y8?bD?yP89ٓHfy?@`"/?@ey??'?@X?)8? I٘i)I9lξY){ J?:J;JJJ&Kx  4Y 4y @744)ZZZBZL?YY*W2W WWW"W ) )Tc:z*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027106.303165 s, next control iter: 1743027106.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 605., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027106.683165 s.l*G~,^AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200132 time: 1743027106.683284F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(@ADX@A Z~? A=A&"AAloNA"AZAbAjArAzAAA34$@AҸҧrAξAf8DAW2NA8?A A`1?As*A S=2A/9:A:BA S=JA/9RA:٘i)I9ξYd{ JdJJJCJ&K  4Y 4y @4_4)ZZZBZL?YY*W2W WWW"W ) )c:^*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027106.683165 s, next control iter: 1743027107.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743027107.103165 s.1G~,AAQ@Au@A Z~? Am=A&&"AAloNA"AZAbAjArAzAAA)?4$@AL rErAξA*ݩAKA+?AuA-?A{:*AT=2A9:A͘BAT=JA9RA٘͘i)I9ξY{ JB=JJJJ&K  4Y 4y @)7b7g4)ZZZBZL?YY*W2W WWW"W ) )c:^*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027107.143165 s, next control iter: 1743027107.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027107.523165 s.7G~,{AJ"J*J2J:JBJnJvJA{G@A>?@A Z~? A<AN&"AAloNA"AZAbAjArAzAAAӿ4$@APU.rAgmξAA-IAN ?A`VA?A8*AL T=2AD>9:AcBAL T=JAD>9RAc٘i)I9mξY+{ Jy:C=JJJCJ&K  4Y 4y !@b77ô4)ZZZBZL?YY*W2W WWW"W ) )Rd:'*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027107.563165 s, next control iter: 1743027107.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 606, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027107.943165 s.Ud>G~,5]AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199832 time: 1743027107.943293F (some fields omitted in printout)A ףp=@A\Yl@AZ~? AI<An$&"AAloNA"AZAbAjArAzAAA;a4$@A(rA[ξAAFA?AKA@ z?AO*ALS=2AX9:A,yBALS=JAX9RA,y٘i)I9ξYz{ JJJJJ&K  4Y 4y '@774)ZZZBZL?YY*W2W WWW"W ) )d:F*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027107.983165 s, next control iter: 1743027108.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027108.363165 s.EG~,p>AJ"J*J2J:JBJnJvJA@AǸ@AZ~? A;A/&"AAloNA"AZAbAjArAzAAA06ڐ4$@A1=#:rAξAH9:AEA ?A A?A :*AIT=2A[::AˈBAIT=JA[:RAˈY?9 ?yEK_:ٓH@7U?@7?C?M?@1?)@? ?)? I٘i)I9ξYg{ J9J;JJJ&Kx  4Y 4y ,@{7{7W 4)ZZZBZL?YY*W2W WWW"W ) )d:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027108.403165 s, next control iter: 1743027108.763175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 607", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027108.783165 s.XKG~,2AA)\@AnE%@AZ~? A&;A:&"AAloNA"AZAbAjArAzAAA4<4$@A&rAVyξA:A2vCA?A`vA r?A~Q%*A5S=2A::ApJBA5S=JA:RApJ٘i)I9yξY:{ J`1:JJJCJ&K  4Y 4y 2@7S754)ZZZBZL?YY*W2W WWW"W ) )Pe:'*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027108.803165 s, next control iter: 1743027109.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027109.203165 s.SG~,&MAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743027109.203302F (some fields omitted in printout)AQ@A]z@AZ~? A:AE&"AAmoNA"AZAbAjArAzAAA Ň4$@AQR^rAξA g:A2BA?A{Ak?A9*AS=2AI ::ASBBAS=JAI :RASB٘i)I9ξY{ J8JJJJ&K  4Y 4y 7@77@`4)ZZZBZL?YY*W2W WWW"W ) )e:*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027109.223165 s, next control iter: 1743027109.603183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743027109.623165 s.WYG~,]gAAHz@AT@AZ~? A:AP&"AA moNA"AZAbAjArAzAAA접4$@A,\/rAξAn@:A dAA?A@#A`n?Aᒘ:*AhoS=2AY::ABAhoS=JAY:RA٘i)I9ξYS{ J7:JJJ CJ&K  5Y 5y =@7E5)ZZZBZL?YY*W2W WWW"W ) )e:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027109.643165 s, next control iter: 1743027110.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 608 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027110.043165 s.`G~,ÂAJ"J*J2J:JBJnJvJAףp= @AS9@AZ~? Aq9A[&"AAmoNA"AZAbAjArAzAAAᡥ4$@AքrASξAKA@A?A`IAE^?A1}*AlR=2AU::A/^BAlR=JAU:RA/^٘i)I9ξYM{ J8JJJJ&K  5Y 5y B@775)ZZZBZL?YY*W2W WWW"W ) )Mf:Y*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027110.083165 s, next control iter: 1743027110.443176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027110.463165 s.SgG~,ۤAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199762 time: 1743027110.463273F (some fields omitted in printout)Afffff@AMD@AZ~? A8Ag&"AAmoNA"AZAbAjArAzAAAt{4$@AI~rAPξAYzAAA?A QA@\?A59*AR=2Al::ABAR=JAl:RAY?=?yAٓHD?xX? c?*@?JP ?)? I٘i)I9ξY~{ Jd>J;JJJ&K  5Y 5y H@777p5)ZZZBZL?YY*W2W WWW"W ) )f:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027110.483165 s, next control iter: 1743027110.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 609, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027110.883165 s.ymG~,8AJ"J*J2J:JBJnJvJA(\ @AGZ@AZ~? AO8Ar&"AAmoNA"AZAbAjArAzAAAK*x4$@A%rAξAϯAAA ?Ai A`Y?A.:*AR=2A<::A BAR=JA<:RA 纙٘i)I9ξYI{ JO:JJJ CJ&K   5Y  5y M@7S 5)ZZZBZL?YY*W2W WWW"W ) )f:*FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027110.923165 s, next control iter: 1743027111.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027111.303165 s.RtG~,fgAAQ @A N @AZ~? A7A"}&"AA&moNA"AZAbAjArAzAAA6u4$@A F̓rAξAK~AxlBAJ?A@ A|K?Au*AQ=2A::A\BAQ=JA:RA\٘i)I9ξY_{ JJJJJ&K  5Y 5y R@7777̚5)ZZZBZL?YY*W2W WWW"W ) )Kg:4*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027111.343165 s, next control iter: 1743027111.703174 s, wait time: 0.360009 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 610*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027111.723165 s.{G~,HAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199582 time: 1743027111.723265F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A/@AZ~? A-7A,&"AA.moNA"AZAbAjArAzAAA Ծr4$@AȡtrAξARڸAcCA#?A< AL?A :*A:R=2Au"::ABA:R=JAu":RA٘i)I9ξYs{ J JJJ CJ&K  5Y 5y X@77*05)ZZZBZL?YY*W2W WWW"W ) )g:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027111.763165 s, next control iter: 1743027112.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027112.143165 s.[/G~,* AAp= @ATO@AZ~? A6A6&"AA5moNA"AZAbAjArAzAAA-/p4$@A6rA ξAcJU:A!EA?AAD?A{&9*A;Q=2A&::ABA;Q=JA&:RA٘i)I9ξYH{ J$):JJJJ&K  5Y 5y ]@b775)ZZZBZL?YY*W2W WWW"W ) )g:h*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027112.183165 s, next control iter: 1743027112.543177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027112.563165 s.𗈺G~,5 $AJ"J*J2J:JBJnJvJA33333@ABvb@AZ~? A 6A:&"AAAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200292 time: 1743027112.983281F (some fields omitted in printout)A(\@A)@AZ~? A|5A=&"AACmoNA"AZAbAjArAzAAA=k4$@A"kNlrAξA:A+JA{?A@wAo:?A.:*AQ=2A,!.::A*BAQ=JA,!.:RA*٘i)I9ξYg{ Jk8JJJJ&K  5Y 5y h@)7ŧ7D5)ZZZBZL?YY*W2W WWW"W ) )h:f*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027113.023165 s, next control iter: 1743027113.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027113.403165 s.&G~,YAJ"J*J2J:JBJnJvJAR@A~@AZ~? A4A?&"AAKmoNA"AZAbAjArAzAAAUv=j4$@Az~<rAξAak9ALAl?AܺA`(0?A:Pk*A-Q=2A(2::Aa6BA-Q=JA(2:RAa6٘i)I9ξYN{ J9JJJJ&K  !5Y !5y n@j7Z7!5)ZZZBZL?YY*W2W WWW"W ) )h:t*FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743027113.423165 s, next control iter: 1743027113.803175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 612, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027113.823165 s.G~,tAAzG!@A(Bv @AZ~? A\4A;&"AARmoNA"AZAbAjArAzAAAJh4$@AOrAξA"A PA]?A 'A`(?A*AOP=2Au6::A>BAOP=JAu6:RA>٘i)I9ξYq{ JJJJ CJ&K  %5Y %5y s@777%5)ZZZBZL?YY*W2W WWW"W ) )Fi:^*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027113.863165 s, next control iter: 1743027114.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027114.243165 s.󵣺G~,`AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027114.243281F (some fields omitted in printout)Aq= ף$@A}:#@AZ~? A3A7&"AAZmoNA"AZAbAjArAzAAA(h4$@AjdrA̖ξAjAQSAM?A`A'?At:*AQ=2As:::ABAQ=JAs::RA٘i)I9ξY]{ J]9JJJJ&K  (5Y (5y y@)7b7\(5)ZZZBZL?YY*W2W WWW"W ) )i:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027114.283165 s, next control iter: 1743027114.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027114.663165 s.G~,qAtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 613, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A(@AQ/'@AZ~? A<3A0&"AAamoNA"AZAbAjArAzAAA(Sg4$@A] rAξA_AVAG??AWѾA@<?Avݹ*A{P=2A>::AJBA{P=JA>:RAJY*5?yA?yVٓHی?+`+`? ?Ҫ*ժ?T@?)*5? I٘i)I9ξYW{ J8JJJCJ&K  ,5Y ,5y ~@777E,5)ZZZBZL?YY*W2W WWW"W ) )i:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027114.683165 s, next control iter: 1743027115.063173 s, wait time: 0.380008 s rAdjusting time to match Gazebo time: 1743027115.083165 s.DG~,SAJ"J*J2J:JBJnJvJA(\+@A}w*@AZ~? A2A%&"AAimoNA"AZAbAjArAzAAA|x$g4$@AQ,촀rAgξA1AFZA1?A{>A?A[m 6*A9mP=2AAXB::A1BA9mP=JAAXB:RA1٘i)I9ξYp{ JƹJJJJ&K  /5Y /5y @7)7&/5)ZZZBZL?YY*W2W WWW"W ) )Dj:\*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027115.123165 s, next control iter: 1743027115.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027115.503165 s.G~,34AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199492 time: 1743027115.503272F (some fields omitted in printout)AQ.@AKǜ-@AZ~? A2A&"AAqmoNA"AZAbAjArAzAAAX)g4$@AF-sC]rAξAA9A&]A$?AϨ>A`?A魼9*A`P=2AE::A*BA`P=JAE:RA*٘i)I9ξYX{ JB9JJJJ&K  35Y 35y @7{7p35)ZZZBZL?YY*W2W WWW"W ) )j:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027115.543165 s, next control iter: 1743027115.903173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 614, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027115.923165 s.5G~,AJ"J*J2J:JBJnJvJAGz2@AXC1@AZ~? A1A &"AAymoNA"AZAbAjArAzAAA-mh4$@A陷rA ξAE:AoaA?A>A9 ?A *AOO=2AOI::AmTBAOO=JAOI:RAmT٘i)I9ξY`{ JB=JJJCJ&K  75Y 75y @75)ZZZBZL?YY*W2W WWW"W ) )j:Z*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027115.943165 s, next control iter: 1743027116.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027116.343165 s.<źG~,AA= ףp5@A4@AZ~? A0A &"AAmoNA"AZAbAjArAzAAAMZi4$@A͝CrAMξA:AwdAX ?A Ē>A?A)a9*A4O=2ABFM::A,BA4O=JABFM:RA,٘i)I9ξYm{ JAC=JJJJ&K  :5Y :5y @77K:5)ZZZBZL?YY*W2W WWW"W ) )Bk:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027116.383165 s, next control iter: 1743027116.743182 s, wait time: 0.360017 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 615&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027116.763165 s.5˺G~,0AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743027116.763287F (some fields omitted in printout)A8@AL07@AZ~? Ao0A &"AAmoNA"AZAbAjArAzAAA̴j4$@AG-VrAξAgr:AVThA?A >>AC?APo8*AO=2AxAQ::A4BAO=JAxAQ:RA4Y??yPThzs:ٓH?>?,?@?UN??)? II٘i)I9ξYX{ J9JO'JJCJ&K  >5Y >5y @)7b70>5)ZZZBZL?YY*W2W WWW"W ) )k:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027116.803165 s, next control iter: 1743027117.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027117.183165 s.ҺG~,ZKAA\(<@AvhX;@AZ~? A/A &"AAmoNA"AZAbAjArAzAAAl4$@A,/~rAӞξAΎ?8AkAR?A*?A ?AM*ADO=2AecU::A_UBADO=JAecU:RA_U٘i)I9ξYg{ JsJJJJ&K  A5Y A5y @{7{75A5)ZZZBZL?YY*W2W WWW"W ) )k:@*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027117.223165 s, next control iter: 1743027117.583176 s, wait time: 0.360011 s) rAdjusting time to match Gazebo time: 1743027117.603165 s.24ٺG~,fAJ"J*J2J:JBJnJvJAQ?@AhZbe>@AZ~? AQ/A! &"AAmoNA"AZAbAjArAzAAAbjn4$@A!T~rAAξA`AnA?Am?A?A9*AVO=2A:Y::A(-BAVO=JA:Y:RA(-٘i)I9ξYh{ JJJJCJ&K  E5Y E5y @777X[E5)ZZZBZL?YY*W2W WWW"W ) )?l:P*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027117.643165 s, next control iter: 1743027118.003173 s, wait time: 0.360008 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 616 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027118.023165 s.ZG~,{AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743027118.023276F (some fields omitted in printout)A{GB@AډB@AZ~? A.A, &"AAmoNA"AZAbAjArAzAAAq4$@A3*Q~rA[ξAm­A\qA?A ?A?A8*AN=2A]::AHBAN=JA]:RAH٘i)I9ξY[{ JO9JJJJ&K  H5Y H5y @77j7H5)ZZZBZL?YY*W2W WWW"W ) )l:P*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027118.043165 s, next control iter: 1743027118.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027118.443165 s.6G~,:]AJ"J*J2J:JBJnJvJA ףp=F@AΥlE@AZ~? A3.Aw7 &"AAmoNA"AZAbAjArAzAAAGt4$@AYt}rAξAAsA?AH?Am?A@*AxN=2A!ja::A#%QBAxN=JA!ja:RA#%Q٘i)I9ξYk{ JJJJJ&K  L5Y L5y @ŧ7b7L5)ZZZBZL?YY*W2W WWW"W ) )l:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027118.463165 s, next control iter: 1743027118.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 617, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027118.863165 s.+G~,}>AAI@ARH@AZ~? A-AUB &"AAmoNA"AZAbAjArAzAAAC ox4$@A=S }rA՛ξAALvA@?A ?A Q?A\9*AoN=2Ad::A4BAoN=JAd:RA4Y??yKvֵٓHC?X@??ֺ@ ?Q69?)? I٘i)I9ξYd{ J8JJJCJ&K粻  P5Y P5y @)7)7P5)ZZZBZL?YY*W2W WWW"W ) )=m:}*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027118.903165 s, next control iter: 1743027119.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027119.283165 s.6RG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743027119.283280F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\L@AM$L@AZ~? A-A1M &"AAmoNA"AZAbAjArAzAAAw|4$@AnL6L}rA)ξA:A-wAў?AF?A`٩?AlD@*ASWN=2A"h::A}(TBASWN=JA"h:RA}(T٘i)I9ξY_{ J8JJJJ&K  S5Y S5y @ŧ7ŧ7ŰS5)ZZZBZL?YY*W2W WWW"W ) )m:ҩ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027119.323165 s, next control iter: 1743027119.683178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 618*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027119.703165 s.غG~,AAQP@A3pO@AZ~? A,A X &"AAmoNA"AZAbAjArAzAAAQ:4$@ABAN=JAgo:RA>٘i)I9ξYa{ J6(9C=JJJJ&K  Z5Y Z5y @Z5)ZZZBZL?YY*W2W WWW"W ) );n:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027120.163165 s, next control iter: 1743027120.523184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743027120.543165 s.IG~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199882 time: 1743027120.543277F (some fields omitted in printout)Aףp= W@A6o9V@AZ~? Al+Am &"AAmoNA"AZAbAjArAzAAAZv4$@A)G|rA#ξA_&:A{{Ap?A?Aǩ?A[*AM=2ACs::Ad,XBAM=JACs:RAd,X٘i)I9ξYd{ J'JJJCJ&K  ^5Y ^5y @77{73q^5)ZZZBZL?YY*W2W WWW"W ) )n:C*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027120.583165 s, next control iter: 1743027120.943175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 619, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027120.963165 s.uG~,=AJ"J*J2J:JBJnJvJAfffffZ@AnY@AZ~? A*Ax &"AAmoNA"AZAbAjArAzAAA94$@A)e{rAξAaA{A_?A@|?A©?Ay8*A~M=2AW]w::AnwEBA~M=JAW]w:RAnwEYS?3`?y{߰ٓH nr?@1@Z`?`݁?Cw y?3l4 ?)S? I٘i)I9ξYk{ JݸJFaJJJ&K  b5Y b5y @b77sb5)ZZZBZL?YY*W2W WWW"W ) )n:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027121.003165 s, next control iter: 1743027121.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027121.383165 s.G~,/XAA(\]@A\@A Z~? AP*AW &"AAmoNA"AZAbAjArAzAAA'/n4$@Aߚ{rAξA.AA!|AN?A` ?A?A#8*A/M=2A#^{::AEBA/M=JA#^{:RAE٘i)I9ξYa{ J9JJJJ&K  e5Y e5y @77e5)ZZZBZL?YY*W2W WWW"W ) )8o:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027121.423165 s, next control iter: 1743027121.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 620", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027121.803165 s.wAG~,{gsAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200322 time: 1743027121.803298F (some fields omitted in printout)J"J*J2J:JBJnJvJAQa@AM`@A Z~? A)A$ &"AAmoNA"AZAbAjArAzAAAa]e4$@ArD{rARξA_A{A>?A J!?Ap?A4*A43M=2A1::AqUBA43M=JA1:RAqU٘i)I9ξYh{ JԸJJJCJ&K  i5Y i5y @1i5)ZZZBZL?YY*W2W WWW"W ) )o:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027121.843165 s, next control iter: 1743027122.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027122.223165 s.g#G~,HAAGzd@A &(c@A Z~? A5)A &"AAmoNA"AZAbAjArAzAAAJSڥ4$@AͭzrAuξA6hA]{A/?A@ o"?Ao?A 9*A&M=2AGD::Aj.ABA&M=JAGD:RAj.A٘i)I9ξYi{ J2JJJJ&K  l5Y l5y @l5)ZZZBZL?YY*W2W WWW"W ) )o:I*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027122.263165 s, next control iter: 1743027122.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027122.643165 s.r)G~,)AJ"J*J2J:JBJnJvJAp= g@Ag@A Z~? A(A &"AAnoNA"AZAbAjArAzAAAĭ4$@A+>ϗzrAξAP6AzA"?At#?AҪ?AC*AL=2A::ASJBAL=JA:RASJ٘i)I9ξYb{ J8B=JJJCJ&K  p5Y p5y @/\p5)ZZZBZL?YY*W2W WWW"W ) )6p:׫*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027122.663165 s, next control iter: 1743027123.043174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 621, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027123.063165 s.0G~,R AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200342 time: 1743027123.063295F (some fields omitted in printout)A33333k@Ak*bj@AZ~? A(A{ &"AAnoNA"AZAbAjArAzAAAUB4$@AAzrANξA1Lj:AyA2?A0|$?A`K?A-׸*AL=2Ay::AaNBAL=JAy:RAaNY?i?yyj:ٓH@ߗ?PA?@ܗ?l54?IM? ?)? I٘i)I9ξYj{ JfC=J:JJJ&K>  s5Y s5y @b7hs5)ZZZBZL?YY*W2W WWW"W ) )p:$*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027123.103165 s, next control iter: 1743027123.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027123.483165 s.w_7G~,AJ"J*J2J:JBJnJvJA(\n@Am@AZ~? A'A> &"AAnoNA"AZAbAjArAzAAA(4$@A[|yrAξA~:AxAk?A˩%?A?A9*AL=2A0::Au>BAL=JA0:RAu>٘i)I9ξYh{ J:*8JJJJ&K  w5Y w5y @7)7цw5)ZZZBZL?YY*W2W WWW"W ) )p:]*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027123.523165 s, next control iter: 1743027123.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 622, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027123.903165 s.=G~,AARq@A~q@AZ~? A'A &"AA#noNA"AZAbAjArAzAAAO64$@A>nyrAќξA::AHRwAT?A&?A@ ?Aɴ*AXL=2A::AJBAXL=JA:RAJ٘i)I9ξYe{ J+8JJJCJ&K  {5Y {5y @777{5)ZZZBZL?YY*W2W WWW"W ) )4q:|*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027123.923165 s, next control iter: 1743027124.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027124.323165 s.uDG~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743027124.323274F (some fields omitted in printout)J"J*J2J:JBJnJvJAzGu@ASwt@AZ~? At&A &"AA-noNA"AZAbAjArAzAAAb4$@A_w?yrA ξAdM9AuA,?AI(?Au?A*A20L=2A::AUFBA20L=JA:RAUF٘i)I9ξYk{ J5ʸJJJJ&K  ~5Y ~5y @77{7~5)ZZZBZL?YY*W2W WWW"W ) )q:w*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027124.363165 s, next control iter: 1743027124.723176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 623&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027124.743165 s.WKG~,u/AAq= ףx@Ah'w@AZ~? A%Ay &"AA7noNA"AZAbAjArAzAAAC4$@Ad]ƏxrAHξA4 (A^tA?A)?A?A8*AL=2AOы::Aj<BAL=JAOы:RAj<٘i)I9ξYg{ Jo8JJJCJ&K  5Y 5y @S77k#5)ZZZBZL?YY*W2W WWW"W ) )q:v*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027124.783165 s, next control iter: 1743027125.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027125.163165 s.z}RG~,qJAJ"J*J2J:JBJnJvJA|@ATY/{@AZ~? A[%A2 &"AABnoNA"AZAbAjArAzAAAH4$@AoxrAξAVA\rA?A` +?A@?A2θ*A,K=2A::AGBA,K=JA:RAGY ?Y?yPrlٓHsO?Cxf ?n?`EOV?`ݪT?) ? I٘i)I9Y JQ7J҄;JJJ&Kٹ  5Y 5y @77#5)ZZZBZL?YY*W2W WWW"W ) )1r:i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027125.183165 s, next control iter: 1743027125.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027125.583165 s.XG~,ReAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199752 time: 1743027125.583276F (some fields omitted in printout)A(\@AHh~@AZ~? A$A &"AALnoNA"AZAbAjArAzAAA34$@AR=xrAξAGAOqAB?APQ,?A ?Am_7*AK=2Ab::A3q>BAK=JAb:RA3q>٘i)I9ξYk{ JatJJJCJ&K  5Y 5y @{7{75)ZZZBZL?YY*W2W WWW"W ) )r:X*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027125.603165 s, next control iter: 1743027125.983174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 624, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027126.003165 s.w `G~,H4AJ"J*J2J:JBJnJvJAQ@AE>灃@AZ~? AB$A &"AAWnoNA"AZAbAjArAzAAA$c>64$@AOwrA?ξAͧAoAɣ?A@|-?A;}?AG18*AK=2Ad::A+<BAK=JAd:RA+<٘i)I9ξYg{ Jj8JJJJ&K  5Y 5y @ŧ7b7~5)ZZZBZL?YY*W2W WWW"W ) )r:_*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027126.043165 s, next control iter: 1743027126.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027126.423165 s.ufG~,{AAGz@A{C@AZ~? A#AO!&"AAbnoNA"AZAbAjArAzAAA 5$@AwݶwrAξA9A~nAە?AV.?Av?Au*AoKK=2A7t::AHCBAoKK=JA7t:RAHC٘i)I9ξYi{ J6JJJJ&K  5Y 5y @ŧ7N5)ZZZBZL?YY*W2W WWW"W ) )/s:m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027126.463165 s, next control iter: 1743027126.823175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 625, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027126.843165 s.J "J *J 2J :J BJ nJ lG~vJ,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743027126.843289F (some fields omitted in printout)A= ףp@A{%9@AZ~? A)#A!&"AAmnoNA"AZAbAjArAzAAA}z5$@A(0=wrAξAk:AFmA?A`/?A`q?A0Yf8*A-K=2A::A9BA-K=JA:RA9٘i)I9ξYk{ JB=JJJCJ&K  5Y 5y @b775)ZZZBZL?YY*W2W WWW"W ) )s:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027126.863165 s, next control iter: 1743027127.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027127.263165 s.tG~,AǍ@A(@A!Z~? A"A!&"AAwnoNA"AZAbAjArAzAAADNa&5$@AK>vrAξAļ:A;lAKx?A@q0?Ak?A`\*A*J=2AM::A;BA*J=JAM:RA;Yzi?u?y;l:ٓHPÜ?`N3@$? ?0J? U?@_?)zi? I٘i)I9ξYg{ JwR8C=Jw{;JJJ&K  5Y 5y @77775)ZZZBZL?YY*W2W WWW"W ) )s:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027127.303165 s, next control iter: 1743027127.663176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 626*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027127.683165 s.lzG~,RAJ"J*J2J:JBJnJvJA\(@AQ._X@A#Z~? A"AW$!&"AAnoNA"AZAbAjArAzAAAldbz45$@A\vrAξAa:AekAg?A11?Ae?Amj*AJ=2AT::Ae>BAJ=JAT:RAe>٘i)I9ξYk{ JfJJJCJ&K  5Y 5y @{7Z765)ZZZBZL?YY*W2W WWW"W ) )-t:H*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027127.683165 s, next control iter: 1743027128.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743027128.103165 s.G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743027128.103272F (some fields omitted in printout)AQ@As]@A&Z~? A!A/!&"AAnoNA"AZAbAjArAzAAA֖,C5$@A=vrA<ξA42AjA}V?A 1?A`?A(lw8*AJ=2A]&::A16BAJ=JA]&:RA16٘i)I9Yj{ J O7JJJJ&K  5Y 5y @ŧ7b7x5)ZZZBZL?YY*W2W WWW"W ) )t:ݠ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027128.143165 s, next control iter: 1743027128.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027128.523165 s.G~,{!AJ"J*J2J:JBJnJvJA{Gᖃ@A#@A(Z~? A A9!&"AAnoNA"AZAbAjArAzAAA'C|R5$@AurAξAqArjAAE?A2?A@Z?A *AoJ=2A::A˹;BAoJ=JA:RA˹;٘i)I9ξYi{ J7JJJCJ&K  5Y 5y @j7j7C5)ZZZBZL?YY*W2W WWW"W ) )t:*FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743027128.543165 s, next control iter: 1743027128.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 627, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027128.943165 s.WdG~,>]<AA ףp=@A l@A+Z~? Ao AJD!&"AAnoNA"AZAbAjArAzAAAZcb5$@AurAξAA_jA4?A AV3?AT?A.*ABJ=2A::A8:BABJ=JA:RA8:٘i)I9ξYl{ JKJJJJ&K  5Y 5y @ŧ7b7D5)ZZZBZL?YY*W2W WWW"W ) )*u:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027128.963165 s, next control iter: 1743027129.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027129.363165 s.G~,>WAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200002 time: 1743027129.363277F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A_Ȝ@A.Z~? AAN!&"AAnoNA"AZAbAjArAzAAAԪBr5$@A=urAξAŌAjjA%?A3?A@O?Aq>8*A J=2A.::AzW6BA J=JA.:RAzW6Yr?'?ybjٓH`q2? *8g?`O?FN?`Q@?)r? I٘i)I9ξYj{ Jq7Jz:JJJ&KĹ  5Y 5y @{7j7ؔ5)ZZZBZL?YY*W2W WWW"W ) )u:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027129.403165 s, next control iter: 1743027129.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 628&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027129.783165 s.]G~,rAA)\@A5$@A0Z~? AXAY!&"AAnoNA"AZAbAjArAzAAA|gك5$@A\쏚trA2ξAAAkA?A`4?AOI?AJ?*AI=2AU::Aғ<BAI=JAU:RAғ<٘i)I9Y J0JJJCJ&K  5Y 5y @{75)ZZZBZL?YY*W2W WWW"W ) )u: *FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743027129.823165 s, next control iter: 1743027130.183180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027130.203165 s.G~, AJ"J*J2J:JBJnJvJAQ@A|`@A3Z~? AA&d!&"AAnoNA"AZAbAjArAzAAAȉoT5$@A /trAξA/:AkA ?A(5?A`C?A6*A@I=2A{::A59BA@I=JA{:RA59٘i)I9ξYl{ JB=JJJJ&K  5Y 5y @77tn5)ZZZBZL?YY*W2W WWW"W ) )(v:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027130.223165 s, next control iter: 1743027130.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027130.623165 s.TG~,PAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199842 time: 1743027130.623268F (some fields omitted in printout)AHz@Aݦ@A6Z~? ABAn!&"AAnoNA"AZAbAjArAzAAAXQ5$@A>trAMξATȦ:AlAH?A 5?A:>?Ay7*AI=2An::A[9BAI=JAn:RA[9٘i)I9ξYj{ J8C=JJJCJ&K  5Y 5y @777,95)ZZZBZL?YY*W2W WWW"W ) )}v:N*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027130.663165 s, next control iter: 1743027131.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 629 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027131.043165 s.G~,AJ"J*J2J:JBJnJvJAףp= @A9@A9Z~? AAXy!&"AAnoNA"AZAbAjArAzAAAa׹5$@Aŋ srAdξAe:ARnA?AIr6?A8?A2*AVI=2A::A,>BAVI=JA:RA,>٘i)I9ξYl{ JJJJJ&K  5Y 5y @b7b75)ZZZBZL?YY*W2W WWW"W ) )v:8*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027131.083165 s, next control iter: 1743027131.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027131.463165 s.VG~,AAfffff@A$^Ε@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199882 time: 1743027131.883296F (some fields omitted in printout)A(\±@A(F@A@Z~? AA!&"AAnoNA"AZAbAjArAzAAA5$@AB@srAξA ǹAqA?A 7?A,?Az5*AH=2AS::A=BAH=JAS:RA=٘i)I9ξYk{ J7JJJCJ&K  5Y 5y @)7ŧ7 5)ZZZBZL?YY*W2W WWW"W ) )zw:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027131.923165 s, next control iter: 1743027132.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027132.303165 s.YĻG~,gAAQ@AjkD0N@ACZ~? AA!&"AAooNA"AZAbAjArAzAAA 25$@AI.rrAiξA-AsA߸?A 8?A&?AS*AxH=2A{::AhZABAxH=JA{:RAhZA٘i)I9ξYm{ JB=JJJJ&K  5Y 5y @c5)ZZZBZL?YY*W2W WWW"W ) )w:*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027132.343165 s, next control iter: 1743027132.703180 s, wait time: 0.360015 s)*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 631*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027132.723165 s.˻G~,H.AJ"J*J2J:JBJnJvJAGz@AЀz3@AGZ~? AA!&"AAooNA"AZAbAjArAzAAA? 6$@AڵrrA_ξA AvA?AX9?Am!?A7 7*AH=2Ao::A/@?BAH=JAo:RA/@?I٘i)I9Y zSent 80 bytes from file Logs/20250326T220141/Courier0004.lzma.Packets left to send: 0Jx>5C=JJJ CJ&K  5Y 5y @b77.5)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027132.763165 s, next control iter: 1743027133.123178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027133.143165 s.X/һG~,*IAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743027133.143266F (some fields omitted in printout)Ap= ׻@A O@AJZ~? AA*!&"AAooNA"AZAbAjArAzAAAR;6$@AOCrrAȢξAY [AxA?A9?Ao?ARl*AckH=2A::A:CBAckH=JA:RA:C٘i)I9ξYl{ Jy37B=JJJJ&K  5Y 5y @77775)Z ZZBZ L?YY *W2W W W W"W  ) ) '*FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027133.203165 s, next control iter: 1743027133.543179 s, wait time: 0.340014 s rAdjusting time to match Gazebo time: 1743027133.563165 s.ػG~,9 dAJ"J*J2J:JBJnJvJA33333@Ab@ANZ~? AxA!&"AA,ooNA"AZAbAjArAzAAATo56$@A&%qrA7ξA8A{A?A ":?A@?Ao*A:H=2A(::AEBA:H=JA(:RAEY??y{E8ٓHF?a ?_ ?V m[?ྟ?@?)? I٘i)I9ξYn{ JڷC=J[ӻQ>JJ!CJ&K>  5Y 5y @77æ5)ZZZBZL?YY*W2W WWW"W ) )ܫ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027133.603165 s, next control iter: 1743027133.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 632, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027133.983165 s.߻G~,~AA(\ƒ@A U1@ARZ~? AA:!&"AA9ooNA"AZAbAjArAzAAA$qL6$@AqrAξAv:AE}Ak?Ai-;?A?A݄7*AH=2AQk::AI"EBAH=JAQk:RAI"E٘i)I9ξYm{ J7JQ>JJJ&K>  5Y 5y @7)7r5)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027134.003165 s, next control iter: 1743027134.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027134.403165 s.&G~,͙AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199642 time: 1743027134.403283F (some fields omitted in printout)J"J*J2J:JBJnJvJARŃ@A1Ń@AUZ~? AdA!&"AAFooNA"AZAbAjArAzAAA^c6$@A0gFqrAͣξAU:AAp?A@<;?A` ?As跷*AG=2A뿯::AeIBAG=JA뿯:RAeI٘i)I9Y JJJJJ&K  5Y 5y @77+Y5)ZZZBZL?YY*W2W WWW"W ) )q*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027134.443165 s, next control iter: 1743027134.803175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 633, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027134.823165 s.G~,)AAzGɃ@AI wȃ@AYZ~? AA@!&"AATooNA"AZAbAjArAzAAAw*z6$@A{prAξAp:ApA,a?A* elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200982 time: 1743027135.663384F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 634, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)AЃ@A#J{/σ@AaZ~? AA?A?A;*AIG=2ANa::ANBAIG=JANa:RANYt4?@?y/o5ٓH@0? 4`|i7? A?`x`}?֡F?)t4? I٘i)I9Yo{ J(B=JJJ#CJ&K'  5Y 5y A777j5)ZZZBZL?YY*W2W WWW"W ) )ƴ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027135.683165 s, next control iter: 1743027136.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027136.083165 s.DG~,SAJ"J*J2J:JBJnJvJA(\Ӄ@A3SZ҃@AfZ~? A>A!&"AA}ooNA"AZAbAjArAzAAA N6$@AڭorAξARAA.?A>?A?AgYj8*A*#G=2AI::AKBA*#G=JAI:RAK٘i)I9ξYm{ JI7C=JJJJ&K  5Y 5y Aŧ7b75)ZZZBZL?YY*W2W WWW"W ) )@*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027136.103165 s, next control iter: 1743027136.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027136.503165 s.G~,&4 AAQփ@AՃ@AjZ~? AA/"&"AAooNA"AZAbAjArAzAAAf6$@AD٢orA̡ξA|AlA?A`q??A?A *AF=2A=::AfOPBAF=JA=:RAfOP٘i)I9ξYk{ J 8JJJ$CJ&K  5Y 5y A77N5)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027136.523165 s, next control iter: 1743027136.903173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 635, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027136.923165 s.6G~,;AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200552 time: 1743027136.923323F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzڃ@AGRCك@AnZ~? A,A "&"AAooNA"AZAbAjArAzAAA˱6$@A!OorAξAABAL?A@@?A ?Ar&*AѽF=2Ar::AQBAѽF=JAr:RAQ٘i)I9ξYn{ J'JJJJ&K  5Y 5y A7S7Z5)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027136.943165 s, next control iter: 1743027137.323176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027137.343165 s.<G~,UAA= ףp݃@Aqs*܃@AsZ~? AA"&"AAooNA"AZAbAjArAzAAA.7$@Aa]{nrAVξAW9ATA??AU@?A?Aw!7*AF=2A::A{MBAF=JA:RA{M٘i)I9Y J̶JJJJ&K  5Y 5y  A7775)ZZZBZL?YY*W2W WWW"W ) )[*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027137.363165 s, next control iter: 1743027137.743177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 636&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027137.763165 s.3G~,pAJ"J*J2J:JBJnJvJA@AF ߃@AwZ~? AA!"&"AAooNA"AZAbAjArAzAAAB07$@AqqnrA&ξA|Y:A%A?A @?A-ݨ?A*AbkF=2AI::ANBAbkF=JAI:RANYK??y%Σ:ٓH`\?`X?^?@]a`a?@/Q?@4?)K? I٘i)I9ξYo{ JwJ:JJ%CJ&K  5Y 5y  Aŧ7b75)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027137.803165 s, next control iter: 1743027138.163174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743027138.183165 s."G~,|AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743027138.183289F (some fields omitted in printout)A\(@AFX@A|Z~? AA+"&"AAooNA"AZAbAjArAzAAAJM7$@A5\eTnrAξA:AAn?Al@?A1ب?AO7*AIF=2A::AaHBAIF=JA:RAaH٘i)I9Yp{ J8JJJJ&K  5Y 5y  A77{7`y5)ZZZBZL?YY*W2W WWW"W ) )*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027138.223165 s, next control iter: 1743027138.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027138.603165 s.14)G~,AJ"J*J2J:JBJnJvJAQ@ALu@AZ~? AAe6"&"AAooNA"AZAbAjArAzAAAi7$@AlPnrAVξA^:AMЀA?AWA?A@Ҩ?Aq6*AF=2A@[::A]GBAF=JA@[:RA]G٘i)I9ξYn{ J7JJJ&CJ&K  5Y 5y  A77D5)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027138.623165 s, next control iter: 1743027139.003173 s, wait time: 0.380008 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 637 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027139.023165 s.Z0G~,{AA{G@Apx@AZ~? AA@"&"AAooNA"AZAbAjArAzAAA957$@A&mrAlξA=AnAD?AطA?A`<ͨ?Aݷ*AE=2Aξ::A~GBAE=JAξ:RA~G٘i)I9ξYo{ JrJJJJ&K  5Y 5y Ab775)ZZZBZL?YY*W2W WWW"W ) ) *FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027139.063165 s, next control iter: 1743027139.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027139.443165 s.66G~,:]AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199572 time: 1743027139.443269F (some fields omitted in printout)A ףp=@A@l@AZ~? AA8K"&"AAooNA"AZAbAjArAzAAAU@7$@A"uIZmrA<ξA)fA#a}A?A@B?A<Ȩ?A7*AE=2A=::A+DBBAE=JA=:RA+DB٘i)I9Y Jd6JJJJ&K  5Y 5y A7777^ٿ5)ZZZBZL?YY*W2W WWW"W ) )*FFF]k:Waiting for Gazebo time sync: latest Gz time: 1743027139.463165 s, next control iter: 1743027139.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 638, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027139.863165 s.+=G~,y>AA@An/@AZ~? AoAU"&"AAooNA"AZAbAjArAzAAA6BP7$@AFfrmrAcξAA&{Ao?A$uB?A@¨?Ar*AgE=2A/::A'BBAgE=JA/:RA'BY? ?y{ٓH6?@o P? ?]Tk?7U?)? I٘i)I9ξYn{ J7B=JQ;JJ'CJ&K  5Y 5y A77G5)ZZZBZL?YY*W2W WWW"W ) )Y*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027139.883165 s, next control iter: 1743027140.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027140.283165 s.7RDG~,AJ"J*J2J:JBJnJvJA)\@AM$@AZ~? AA`"&"AApoNA"AZAbAjArAzAAA*7$@A{lrAqξAhΊAyAO?AB?AJ?AIJ*AwE=2A::AABAwE=JA:RAA٘i)I9ξYo{ J̠C=JJJJ&K  5Y 5y A77{7n5)ZZZBZL?YY*W2W WWW"W ) )4*FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743027140.323165 s, next control iter: 1743027140.683178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 639*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027140.703165 s.ӺJG~,-AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743027140.703281F (some fields omitted in printout)AQ@Ap?@AZ~? A^Adj"&"AApoNA"AZAbAjArAzAAA.8$@Ao1`lrAŤξA]AqxAC?A@3C?A(?A,7*AQE=2A::Ab;>BAQE=JA:RAb;>٘i)I9ξYn{ JL7B=JJJ(CJ&K  5Y 5y A77795)ZZZBZL?YY*W2W WWW"W ) );*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027140.723165 s, next control iter: 1743027141.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027141.123165 s.6QG~,XGAJ"J*J2J:JBJnJvJAHz@A}#g@AZ~? AAt"&"AA-poNA"AZAbAjArAzAAAP_\A#8$@A{e lrAξA$:AKwA?AeC?A?A-*Ap"E=2A::A?BAp"E=JA:RA?٘i)I9Y JH6C=JJJJ&K  5Y 5y A7705)ZZZBZL?YY*W2W WWW"W ) )p*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027141.143165 s, next control iter: 1743027141.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027141.543165 s.IXG~,bAAףp= @As߉9@AZ~? ANA "&"AA=poNA"AZAbAjArAzAAAAD8$@A#غkrAKξAO:AFmvABt?AྲྀC?A`;?A+ 5*AD=2AC::A=BAD=JAC:RA=٘i)I9ξYo{ J(hJJJ)CJ&K  5Y 5y A75)ZZZBZL?YY*W2W WWW"W ) )Ԩ*FFF]t:Waiting for Gazebo time sync: latest Gz time: 1743027141.563165 s, next control iter: 1743027141.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 640, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027141.963165 s.v^G~,}AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200182 time: 1743027141.963289F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@A"9@AZ~? AA{"&"AALpoNA"AZAbAjArAzAAAme8$@A%kgkrA|ξA4&:A6uAe?A,D?A裡?A%l7*ARD=2A::Ao<BARD=JA:RAoo:ٓH@?W7??׵ ? S?=?)-W? I٘i)I9ξYn{ Jhv7JW;JJJ&K  5Y 5y A75)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027141.983165 s, next control iter: 1743027142.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027142.383165 s.eG~,4AA(\@A@AZ~? A?Aӓ"&"AA\poNA"AZAbAjArAzAAA `8$@A7)krAξA:AuA`V?A jD?AR?Ae*AD=2AZ::Ac>BAD=JAZ:RAc>٘i)I9Y J~JJJJ&K  5Y 5y Ab779d5)ZZZBZL?YY*W2W WWW"W ) );*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027142.423165 s, next control iter: 1743027142.783174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 641", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027142.803165 s.tAlG~,ogAJ"J*J2J:JBJnJvJAQ @AXSN@AZ~? AA)"&"AAlpoNA"AZAbAjArAzAAA8$@AiTmjrAξA AʚuAdF?A`D?A ?A7*AxD=2AT::Az<BAxD=JAT:RAz<٘i)I9ξYo{ JEֶJJJ*CJ&K  5Y 5y Ab7.5)ZZZBZL?YY*W2W WWW"W ) )=*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027142.823165 s, next control iter: 1743027143.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027143.223165 s.gsG~,HAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200002 time: 1743027143.223284F (some fields omitted in printout)AGz @A @AZ~? A0A}"&"AA|poNA"AZAbAjArAzAAA7l&8$@A3BojrA^ξAAuA6?A)E?A?A46*ALD=2A::AZ<BALD=JA:RAZ<٘i)I9ξYn{ JU7JJJJ&K  5Y 5y Aŧ775)ZZZBZL?YY*W2W WWW"W ) )u*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027143.263165 s, next control iter: 1743027143.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027143.643165 s.qyG~,)AJ"J*J2J:JBJnJvJAp= @A^@AZ~? A Aϲ"&"AApoNA"AZAbAjArAzAAAQ 8$@A3L+jrAפξASAvAI(?AE?A ?A:N*AD=2A ::Ah=BAD=JA :RAh=٘i)I9Yo{ JJJJ+CJ&K  5Y 5y Ab7b7Y5)ZZZBZL?YY*W2W WWW"W ) )ܨ*tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 642, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027143.663165 s, next control iter: 1743027144.043175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027144.063165 s.G~,_ AA33333@AMab@AZ~? A" A"&"AApoNA"AZAbAjArAzAAA!P9$@A cirAҤξA3_[A_lwA?AtE?A?AC\T7*A&C=2A$::Aȴ<BA&C=JA$:RAȴ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743027144.483285F (some fields omitted in printout)A(\@A@AZ~? A Ak"&"AApoNA"AZAbAjArAzAAAm0:9$@AR3xirAcξA8AxA?A@F?A 1?AS *AC=2A::At>BAC=JA:RAt>٘i)I9Yn{ J.7JJJJ&K  5Y 5y  A77Y5)ZZZBZL?YY*W2W WWW"W ) ):*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027144.503165 s, next control iter: 1743027144.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 643, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027144.903165 s.;ȍG~,y9AAR@A1 @AZ~? A A"&"AApoNA"AZAbAjArAzAAANE_9$@A_%irAξA]i:AqyAu?A jF?A?AͶ*AtC=2A::AV?BAtC=JA:RAV?٘i)I9Yo{ JxB=JJJ,CJ&K  5Y 5y !A{7{7}$5)ZZZBZL?YY*W2W WWW"W ) )$*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027144.923165 s, next control iter: 1743027145.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027145.323165 s.xG~,-TAJ"J*J2J:JBJnJvJAzG@A3w@AZ~? A A"&"AApoNA"AZAbAjArAzAAAQls9$@AT+hrAξAԩ:At{Aa?A9F?A`U|?AQ@7*AnC=2A::A?BAnC=JA:RA?٘i)I9Yn{ J6C=JJJJ&K  5Y 5y "A77'5)ZZZBZL?YY*W2W WWW"W ) )2*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027145.343165 s, next control iter: 1743027145.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 644*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027145.743165 s.WG~,moAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743027145.743293F (some fields omitted in printout)Aq= ף @A!@AZ~? A AE"&"AApoNA"AZAbAjArAzAAA49$@AcWIhrAξAsR:A)}A?AG?Av?Aض*Ao?C=2A; ::APABAo?C=JA; :RAPA٘i)I9Y J,6JJJ-CJ&K  5Y 5y $A775)ZZZBZL?YY*W2W WWW"W ) )\*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027145.783165 s, next control iter: 1743027146.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027146.163165 s.x}G~,qAJ"J*J2J:JBJnJvJA$@A-\/#@AZ~? A A"&"AApoNA"AZAbAjArAzAAAin9$@A. /hrAξAD:9A5~A?ANqG?AQq?A*AC=2A:::A#BBAC=JA::RA#BYʦ?H?y4~9ٓHrӨ?@Udfy?ݨ?@ү`گ?H1?@!?)ʦ? I٘i)I9Yo{ JJ?JJJ&KZ  5Y 5y %A777y5)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027146.183165 s, next control iter: 1743027146.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027146.583165 s.樼G~, SAA(\'@Ak^&@AZ~? A A"&"AAqoNA"AZAbAjArAzAAA1'&9$@AgrAξA=(AuAY?AG?Ak?A7*AB=2A6q::AECBAB=JA6q:RAEC٘i)I9Yn{ J6JJJ.CJ&K  5Y 5y 'A77 O5)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027146.623165 s, next control iter: 1743027146.983181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 645, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027147.003165 s.x G~,L4AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200182 time: 1743027147.003281F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ*@Ar۾)@AZ~? As A #&"AAqoNA"AZAbAjArAzAAA>Z":$@AKgrAξAXAXrA?A@^*H?A \f?A*AԷB=2A::AEBAԷB=JA:RAE٘i)I9Y JB=JJJJ&K  5Y 5y (A{7j75)ZZZBZL?YY*W2W WWW"W ) )E*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027147.043165 s, next control iter: 1743027147.403178 s, wait time: 0.360013 s )  rAdjusting time to match Gazebo time: 1743027147.423165 s.uG~,AAGz.@AGRC-@AZ~? AAF#&"AA%qoNA"AZAbAjArAzAAA;5K:$@AR 9grAξA.AipA ?A #~H?A`?Aݖ6*AB=2A::Ad FBAB=JA:RAd F٘i)I9Yo{ JᎶC=JJJJ&K  5Y 5y )A7)75)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027147.463165 s, next control iter: 1743027147.823177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 646, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027147.843165 s.ݼG~,AJ"J*J2J:JBJnJvJA= ףp1@ASQ0@AZ~? AfA#&"AA6qoNA"AZAbAjArAzAAAT u:$@AO1frAξA}AkAԟ?A H?A`[?A(o6*A^B=2An::AXGBA^B=JAn:RAXG٘i)I9Yn{ JW6JJJ/CJ&K  5Y 5y +Ab7b7+5)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027147.863165 s, next control iter: 1743027148.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027148.263165 s.ļG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199982 time: 1743027148.263294F (some fields omitted in printout)A4@Al_@/3@A Z~? AA##&"AAHqoNA"AZAbAjArAzAAAS:$@AXl(dfrAξAy9AWAG?AZI?A !V?AkM7*A2B=2A5::AMHBA2B=JA5:RAMHY6??yW9ٓH ?~`gi?y?̃` ? c7??)6? I٘i)I9Y J|Q5JJJJ&KO  5Y 5y ,A7y5)ZZZBZL?YY*W2W WWW"W ) )=*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027148.303165 s, next control iter: 1743027148.663179 s, wait time: 0.360014 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 647., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027148.683165 s.lʼG~,k+AJ"J*J2J:JBJnJvJA\(8@AtX7@AZ~? AZA-#&"AAZqoNA"AZAbAjArAzAAAm?:$@A9CfrA+ξA:AAl?A ]`I?AP?A^7*ALB=2A::A;HBALB=JA:RA;H٘i)I9ξYm{ J7JJJ0CJ&K  5Y 5y -A7{7D5)ZZZBZL?YY*W2W WWW"W ) )"*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027148.683165 s, next control iter: 1743027149.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743027149.103165 s.ѼG~,FAAQ;@A0Bx:@AZ~? AA#8#&"AAlqoNA"AZAbAjArAzAAA:$@A<erA<ξA:AAx{?ADI?A2K?AϷ*A[A=2A::A=KBA[A=JA:RA=KI٘i)I9Y J页JJJJ&K  5Y 5y /Ab7b7J5)ZZZBZL?YY*W2W WWW"W ) )M*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027149.123165 s, next control iter: 1743027149.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743027149.523165 s.׼G~,{aAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199722 time: 1743027149.523290F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G>@A>@AZ~? AOATB#&"AA~qoNA"AZAbAjArAzAAAr ;$@A=gerAzξAH:AA>m?A J?A` F?A9*AȯA=2A::AIBAȯA=JA:RAI٘i)I9ξYn{ JTJJJ1CJ&K  5Y 5y 0A{7{75)ZZZBZL?YY*W2W WWW"W ) )*FFF]t:Waiting for Gazebo time sync: latest Gz time: 1743027149.563165 s, next control iter: 1743027149.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 648, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027149.943165 s.Ud޼G~,5]|AA ףp=B@A(lA@A%Z~? AAL#&"AAqoNA"AZAbAjArAzAAAqK;$@ANerAξAbAÃAE^?AhJ?A`@?A=H*AA=2A[ ::ADHBAA=JA[ :RADH٘i)I9Y JJJJJ&K  5Y 5y 1A775)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027149.963165 s, next control iter: 1743027150.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027150.363165 s.G~,y>AJ"J*J2J:JBJnJvJAE@AWD@A,Z~? ADAV#&"AAqoNA"AZAbAjArAzAAA~^j*x;$@A%JldrAξAxA ܂AO?AiJ?A;?Aڶ*A`A=2A!::AdJFBA`A=JA!:RAdJFY,E?{Q?y܂xٓH7?`q? 9?OX?@`O`G?),E? I٘i)I9ξYo{ JVJ:JJJ&K6  5Y 5y 3A777ao5)ZZZBZL?YY*W2W WWW"W ) )R*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027150.403165 s, next control iter: 1743027150.763177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 649", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027150.783165 s.XG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200272 time: 1743027150.783303F (some fields omitted in printout)A)\H@AG%H@A4Z~? AA`#&"AAqoNA"AZAbAjArAzAAA0e;$@AJFdrAξAA.AA?A`K?A 6?A%7*A;A=2A::A9CBA;A=JA:RA9C٘i)I9ξY JL7JJJ2CJ&K  5Y 5y 4A77:5)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027150.803165 s, next control iter: 1743027151.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027151.203165 s.G~,AJ"J*J2J:JBJnJvJAQL@A .K@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200152 time: 1743027152.043280F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= S@A?Q9R@AKZ~? A/AP#&"AAqoNA"AZAbAjArAzAAA4`70<$@ASDcrAξA::A(A?A`K?AY'?A67*AY@=2A L::A?BAY@=JA L:RA?٘i)I9ξYn{ JjW7B=JJJJ&K  5Y 5y 8A7{7)5)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027152.083165 s, next control iter: 1743027152.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027152.463165 s.QG~,ӤAAfffffV@A㾕U@ASZ~? AAs#&"AAroNA"AZAbAjArAzAAAv_<$@Ak%gcrAξA:Af}Af?AJL?A"?A$p*A@=2A0::A"@BA@=JA0:RA"@Y??yY}V:ٓH?@pa ?D?ۮ?ྀT?@K?)? I٘i)I9Yo{ JC=J);JJJ&K䙻  5Y 5y :A7d5)ZZZBZL?YY*W2W WWW"W ) )ƭ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027152.483165 s, next control iter: 1743027152.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 651, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027152.883165 s.y G~,88AJ"J*J2J:JBJnJvJA(\Y@An3X@A[Z~? A%A#&"AAroNA"AZAbAjArAzAAAs9<$@AQ^.crA)ξAI:Adg|A?AڝL?A?A.7*Ar@=2A::A=BAr@=JA:RA=٘i)I9ξY JLJJJ4CJ&K  5Y 5y ;Aŧ7ŧ7o/5)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027152.923165 s, next control iter: 1743027153.283175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027153.303165 s.TG~,ogSAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199882 time: 1743027153.303278F (some fields omitted in printout)AQ]@A[N\@AcZ~? AA#&"AA'roNA"AZAbAjArAzAAA.ꌿ<$@AvbrAξA9A^{A?A]L?A?Aa&5*AI@=2A::A=BAI@=JA:RA=٘i)I9ξYn{ J&7JJJJ&K  5Y 5y A{7{75)ZZZBZL?YY*W2W WWW"W ) )*FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027153.763165 s, next control iter: 1743027154.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027154.143165 s.W/"G~, *AAp= c@ALTc@AsZ~? AA#&"AANroNA"AZAbAjArAzAAAeI!=$@AQ+W#brAξAAyAu?A@WM?A ?AY27*A?=2A::A:BA?=JA:RA:٘i)I9ξY J!6JJJJ&K  5Y 5y ?A7777u5)ZZZBZL?YY*W2W WWW"W ) )8*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027154.183165 s, next control iter: 1743027154.543177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027154.563165 s.(G~,= AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743027154.563304F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333g@AU1~bf@A{Z~? AA#&"AAaroNA"AZAbAjArAzAAA T=$@A? arAξAॺAxyA?A@M?Aa?A|*A ?=2AV::A R;BA ?=JAV:RA R;Yƥ?U?yky/ٓHc? @Hs@? ;?R},?T?)ƥ? I٘i)I9Yn{ J6J|;JJ6CJ&K۔  6Y 6y @A77-6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027154.603165 s, next control iter: 1743027154.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 653, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027154.983165 s./G~,AA(\j@A;i@AZ~? AA#&"AAuroNA"AZAbAjArAzAAǍ&=$@A{ׁarAξA4FAcyAs?A EN?A2?AX&b*A?=2A?::AX;BA?=JA?:RAX;٘i)I9ξYo{ J1JJJJ&K  6Y 6y BA)7b7z6)ZZZBZL?YY*W2W WWW"W ) )ժ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027155.023165 s, next control iter: 1743027155.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027155.403165 s.&6G~,AJ"J*J2J:JBJnJvJARm@ABm@AZ~? A A'#&"AAroNA"AZAbAjArAzAAA٬=$@A(921arAξAg 9AvyA?A@N?A ?A=7*A}?=2A::A C:BA}?=JA:RA C:٘i)I9ξYn{ J6JJJJ&K Yy CA{7Z76)ZZZBZL?YY*W2W WWW"W ) )*FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027155.443165 s, next control iter: 1743027155.803176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 654, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027155.823165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743027155.823283F (some fields omitted in printout)AzGq@A|wp@AZ~? AA8#&"AAroNA"AZAbAjArAzAAAM/1=$@As `rAξAz:AhyAI?AN?A?Aڶ*A!R?=2Aik::Am;BA!R?=JAik:RAm;٘i)I9Y JO5JJJ7CJ&K  6Y 6y DA77"6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027155.863165 s, next control iter: 1743027156.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027156.243165 s.CG~,iAJ"J*J2J:JBJnJvJAq= ףt@Av2s@AZ~? AAG#&"AAroNA"AZAbAjArAzAAAZ/!>$@A">p`rAξA:AbGzAѣ?A`O?A?A5*A )?=2A::A/;BA )?=JA:RA/;٘i)I9Yo{ J4JJJJ&K  6Y 6y FA77w6)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027156.283165 s, next control iter: 1743027156.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027156.663165 s.JG~,q*AtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 655, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)Ax@A^ z/w@AZ~? AAT#&"AAroNA"AZAbAjArAzAAA~lU>$@A ?`rAξAĀ:AzA)?AoO?A?AH6*A>=2A::AD;BA>=JA:RAD;Y?/?yz:ٓH@׭?` @o?e? oޭ?TZ?@P??)? I٘i)I9Yn{ J6B=Jv]JJ8CJ&K  6Y 6y GAj7Z7ݧ6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027156.683165 s, next control iter: 1743027157.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027157.083165 s.DQG~,REAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027157.083301F (some fields omitted in printout)A(\{@A ˟oz@AZ~? AA^#&"AAroNA"AZAbAjArAzAAA|Mۿ>$@AiFJ_rAĤξA49A{A?AaO?A =2A::Azr<BA>=JA:RAzr<٘i)I9Y J3C=JJJJ&K  6Y 6y IAŧ7b7$6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027157.123165 s, next control iter: 1743027157.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027157.503165 s.WG~,+4`AAQ~@AT*}@AZ~? AxAf$&"AAroNA"AZAbAjArAzAAAa>$@A_rAξA,=A|A{?AP?A?A 6*A>=2A%::AH<BA>=JA%:RAH<٘i)I9Yo{ JJJJJ&K  6Y 6y JA77{r6)ZZZBZL?YY*W2W WWW"W ) )@*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027157.543165 s, next control iter: 1743027157.903174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 656, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027157.923165 s.>^G~,{AJ"J*J2J:JBJnJvJAGz@AC@AZ~? AAl $&"AAsoNA"AZAbAjArAzAAAJ6>$@AN_rAξAxA2~A o?Ag8P?Aާ?AH5*Af>=2An::A"=BAf>=JAn:RA"=٘i)I9Yn{ J#6JJJ9CJ&K  6Y 6y KA7777W6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027157.963165 s, next control iter: 1743027158.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027158.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199802 time: 1743027158.343262F (some fields omitted in printout)A= ףp@Ad*㟄@AZ~? AqAp$&"AAsoNA"AZAbAjArAzAAAL-?$@AY֢^rAפξA@A Aqc?A >^P?A٧?Ad*AU>=2A::A^>BAU>=JA:RA^>٘i)I9Yo{ JJJJJ&K  6Y 6y MA77)=6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027158.383165 s, next control iter: 1743027158.743176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 657&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027158.763165 s.4kG~,ذAJ"J*J2J:JBJnJvJÄ@A6 B@AZ~? AAr $&"AA-soNA"AZAbAjArAzAAAd?$@Ay^rAӤξAWiA9{AY?A P?A@ԧ?A6*A+>=2A::A>BA+>=JA:RA>YM? Z?y8{ٓH®? @_bq? U֮?`e ?*>@?)M? I٘i)I9Y JV4B=J%cJJ:CJ&KÌ   6Y  6y NAb7" 6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027158.803165 s, next control iter: 1743027159.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027159.183165 s.rG~,kAA\(@A!6X@AZ~? AkAr*$&"AABsoNA"AZAbAjArAzAAAZr%?$@A2;q^^rAξA[m9A9ACO?A@BP?AHϧ?A\*A1>=2A::A2@BA1>=JA:RA2@٘i)I9Yn{ J&6C=JJJJ&K   6Y  6y OA7b7 6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027159.223165 s, next control iter: 1743027159.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027159.603165 s.14yG~,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199732 time: 1743027159.603268F (some fields omitted in printout)AQ@At{Ic@AZ~? AAo4$&"AAWsoNA"AZAbAjArAzAAAG;?$@AMF%z^rAξA:AAE?AP?A`ʧ?AO*Ad==2AΜ::ALABAd==JAΜ:RALA٘i)I9Yo{ J|JJJ;CJ&K Yy QAZ7Z7- 6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027159.643165 s, next control iter: 1743027160.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 658 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027160.023165 s.ZG~,|AA{Gᒄ@A|_@AZ~? AeAj>$&"AAlsoNA"AZAbAjArAzAAAqm @$@A{]rAԤξAo<:AA9?AP?A@ħ?A6*A==2A8::AABA==JA8:RAA٘i)I9Y J5B=JJJJ&K   6Y  6y RA)7ŧ7 6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027160.063165 s, next control iter: 1743027160.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027160.443165 s.2ÆG~,)]AJ"J*J2J:JBJnJvJA ףp=@A l@AZ~? AAcH$&"AAsoNA"AZAbAjArAzAAA۬E@$@A8;n]rAҤξA$JB:AxAV-?AQ?A?A=*A`==2A::A8CBA`==JA:RA8C٘i)I9Y Ji4C=JJJJ&K   6Y  6y SA{7{7 6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027160.483165 s, next control iter: 1743027160.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 659, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027160.863165 s.+G~,>7AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200132 time: 1743027160.863296F (some fields omitted in printout)A@ALpɘ@AZ~? A`AZR$&"AAsoNA"AZAbAjArAzAAAWt@$@A#~[]rAĤξAG) A3A% ?A ^=Q?A?Au7*A-X==2A::A4BBA-X==JA:RA4BY)?x ?y3~ ٓHl?@Bp elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199562 time: 1743027162.123286F (some fields omitted in printout)AHz@A)CJ&K  6Y 6y ZA7)726)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027162.583165 s, next control iter: 1743027162.943176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 661, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027162.963165 s.tG~,ߤAJ"J*J2J:JBJnJvJAfffff@A@A2Z~? AA $&"AAtoNA"AZAbAjArAzAAAZ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743027163.383271F (some fields omitted in printout)A(\­@A@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199822 time: 1743027164.643310F (some fields omitted in printout)Ap= ׷@A&@AZZ~? AA$&"AA^toNA"AZAbAjArAzAAAP.B$@A]!TZrAξARAkAh?AR?A⍧?A*6*A;=2Ab::AY<BA;=JAb:RAY<٘i)I9ξYn{ J?H7C=JJJ@CJ&K  6Y 6y aA~7~7r6)ZZZBZL?YY*W2W WWW"W ) tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 663, header.stamp.nsec: 0$ temperature: nan salinity: nan), density: 1025.000000 values[0]: nanF (some fields omitted in printout)*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027164.663165 s, next control iter: 1743027165.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027165.063165 s.нG~,R DAA33333@AƤb@AeZ~? AKA$&"AAttoNA"AZAbAjArAzAAA^]B$@AUyZrA ξAAAQ?A`HR?A@Ո?AueX*A<;=2Ad::AŒ<BA<;=JAd:RAŒ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743027165.903282F (some fields omitted in printout)AR@Aq{@AzZ~? AHAH$&"AAtoNA"AZAbAjArAzAAA IYC$@AifYrAξAJA}A?A4R?A?AwYU*A;=2A|::A):BA;=JA|:RA):٘i)I9ξYn{ Jt7JJJACJ&K  6Y 6y eA77{7Y]6)ZZZBZL?YY*W2W WWW"W ) )*FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743027165.923165 s, next control iter: 1743027166.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027166.323165 s.wG~,)AJ"J*J2J:JBJnJvJAzGń@AvĄ@AZ~? AA#$&"AAtoNA"AZAbAjArAzAAA)-8C$@AIYrAξA9AC}A'?AS?Az?Av*A[;=2A::A:BA[;=JA:RA:٘i)I9ξYo{ JJJJJ&K  6Y 6y gA77B6)ZZZBZL?YY*W2W WWW"W ) )*FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027166.363165 s, next control iter: 1743027166.723178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 665&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027166.743165 s.WG~,iAAq= ףȄ@A`DŽ@AZ~? AEA$&"AAtoNA"AZAbAjArAzAAAD?C$@Aє6XrAξA{:A|A]?A K7S?ALu?Ad\'7*A6;=2A9::A8BA6;=JA9:RA8٘i)I9ξY JL6JJJBCJ&K  6Y 6y hAb77(6)ZZZBZL?YY*W2W WWW"W ) )&*FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743027166.763165 s, next control iter: 1743027167.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027167.163165 s.u}G~,qAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743027167.163277F (some fields omitted in printout)J"J*J2J:JBJnJvJĀ@AmnL/˄@AZ~? AA$&"AAtoNA"AZAbAjArAzAAAjOD$@AymzXrAξA:Aj|A?AXS?A`Hp?AB*A);=2A::A`)9BA);=JA:RA`)9Yq? ~?yj|׫:ٓH?`% g!? ? 6? spU?`q?)q? I٘i)I9Yn{ J6J:JJJ&Krz  6Y 6y iA{7j7h 6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027167.183165 s, next control iter: 1743027167.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027167.583165 s.G~, SAA(\τ@A9\΄@AZ~? ACA$&"AAtoNA"AZAbAjArAzAAA"[D$@AB+XrAξA:AYA|Au?A8}S?A[k?A܍$*A.:=2A[::Aٯ8BA.:=JA[:RAٯ8٘i)I9ξYo{ J`JJJCCJ&K Yy kA77776)ZZZBZL?YY*W2W WWW"W ) )ˬ*FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027167.603165 s, next control iter: 1743027167.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 666, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027168.003165 s.x G~,L4AJ"J*J2J:JBJnJvJAQ҄@AE>ф@AZ~? AA}$&"AAuoNA"AZAbAjArAzAAAf/ ;D$@Ay] WrAŤξA*B9AE|Aj?AeS?A~f?A7*A#:=2AA::A7BA#:=JAA:RA7٘i)I9ξYn{ J6JJJJ&K  6Y 6y lA776)ZZZBZL?YY*W2W WWW"W ) )ͬ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027168.043165 s, next control iter: 1743027168.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027168.423165 s.uG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199842 time: 1743027168.423298F (some fields omitted in printout)AGzք@ACՄ@AZ~? ABAN%&"AA-uoNA"AZAbAjArAzAAAUtD$@A"vWrAäξA=Apw|A^?ArS?Awa?AUܶ*A:=2AA::A8BA:=JAA:RA8٘i)I9Y J`4JJJJ&K  6Y 6y mA77j6)ZZZBZL?YY*W2W WWW"W ) )*FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027168.443165 s, next control iter: 1743027168.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 667, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027168.843165 s. G~,5AJ"J*J2J:JBJnJvJA= ףpل@Am ˟؄@AZ~? AA%&"AAEuoNA"AZAbAjArAzAAA]."E$@A?WrAξAzåA|AR?A`S?A \?A6*Apq:=2AU::AW8BApq:=JAU:RAW8٘i)I9Yo{ JᎶJJJDCJ&K  6Y 6y oA6)ZZZBZL?YY*W2W WWW"W ) )+*FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743027168.883165 s, next control iter: 1743027169.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027169.263165 s.G~,PAA܄@AB%cۄ@AZ~? AAA%&"AA]uoNA"AZAbAjArAzAAAoaeE$@A{yVrAξAgAZ}AI?ATT?AW?A6*AI:=2A.5::At)8BAI:=JA.5:RAt)8Y)??xK?yZ}UٓH |? v)?`?@,?,ST?))?? I٘i)I9Yn{ J^6B=JJJJ&Kp  6Y 6y pAj7Z716)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027169.283165 s, next control iter: 1743027169.663176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 668., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027169.683165 s.lG~,VkAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743027169.683294F (some fields omitted in printout)A\(@AvhX߄@AZ~? AA!%&"AAuuoNA"AZAbAjArAzAAAvKE$@A+VrAӤξAA~Ax@?A0T?A`R?A畾*A :=2A{~::A*>9BA :=JA{~:RA*>9٘i)I9Yo{ Ju+C=JJJECJ&K   6Y  6y qA77m 6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027169.683165 s, next control iter: 1743027170.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743027170.103165 s.!G~,AAQ@As|@AZ~? A@A+%&"AAuoNA"AZAbAjArAzAAAME$@AH^TVrAξAؔ9A~Ae8?AMT?A`M?A-6*A9=2AJ::A9BA9=JAJ:RA9٘i)I9Y JȵJJJJ&K  !6Y !6y sA7777R!6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027170.123165 s, next control iter: 1743027170.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027170.523165 s.'G~,{AJ"J*J2J:JBJnJvJA{G@A@AZ~? AAF5%&"AAuoNA"AZAbAjArAzAAAAf1F$@A[{VrAξAd:AA/?A kT?A H?APM5*A`9=2A9::AD9BA`9=JA9:RAD9٘i)I9Yn{ JY6JJJFCJ&K  "6Y "6y tA8"6)ZZZBZL?YY*W2W WWW"W ) )'*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027170.563165 s, next control iter: 1743027170.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 669, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027170.943165 s.Yd.G~,F]AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743027170.943293F (some fields omitted in printout)A ףp=@ABl@AZ~? A?A ?%&"AAuoNA"AZAbAjArAzAAAh@3vF$@AGUrAξA!:AbAr&?A ]T?AC?Aa*A9=2AV::AY:BA9=JAV:RAY:٘i)I9Yo{ JTJJJJ&K  #6Y #6y uA{#6)ZZZBZL?YY*W2W WWW"W ) )د*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027170.983165 s, next control iter: 1743027171.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027171.363165 s.5G~,>AJ"J*J2J:JBJnJvJA@Am@A Z~? AAH%&"AAuoNA"AZAbAjArAzAAA$rF$@A{$jUrAߤξAF:AhA?A`T?A>?A@6*A9=2A::A:BA9=JA:RA:Y ?'?yeG:ٓHޱ?8m?? u ?H??) ? I٘i)I9Y Jf+5J+JJJ&Kj  $6Y $6y wA7)7$6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027171.403165 s, next control iter: 1743027171.763178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 670", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027171.783165 s.c;G~,AA)\@Ad9 %@AZ~? A@AR%&"AAuoNA"AZAbAjArAzAAA)!.G$@A'2UrAĤξAeABAI?A1T?A9?A'*AX9=2A1_::A;BAX9=JA1_:RA;٘i)I9Yn{ J6JJJGCJ&K Yy xAŧ7b7)$6)ZZZBZL?YY*W2W WWW"W ) )`*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027171.803165 s, next control iter: 1743027172.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027172.203165 s.CG~, AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199662 time: 1743027172.203280F (some fields omitted in printout)AQ@A;(@A Z~? AAL\%&"AAvoNA"AZAbAjArAzAAAsiGG$@AntTrAξA(~A*A ?A`\T?A 5?A*A09=2A::Ao<BA09=JA:RAo<٘i)I9Yo{ JwJJJJ&K  %6Y %6y zA77z%6)ZZZBZL?YY*W2W WWW"W ) ).*FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743027172.223165 s, next control iter: 1743027172.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027172.623165 s.`IG~,'AAHz@A=]@A,Z~? A@A f%&"AAvoNA"AZAbAjArAzAAAe G$@Ag$TrAۤξA$A7A?A U?A&0?A6*A_ 9=2AU::A<BA_ 9=JAU:RA<٘i)I9Y J 6JJJHCJ&K  &6Y &6y {A77ײ&6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027172.663165 s, next control iter: 1743027173.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 671 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027173.043165 s.PG~,BAJ"J*J2J:JBJnJvJAףp= @AI}9@A7Z~? AAo%&"AA7voNA"AZAbAjArAzAAA A?G$@Ad>2TrAڤξAwAkFA?A e elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199632 time: 1743027173.463288F (some fields omitted in printout)Afffff@AMD@ACZ~? AAA|y%&"AAPvoNA"AZAbAjArAzAAAH$@A:8nSrAξA 1A׃AE?A`WXU?AN&?A6*A8=2A+::AZ>BA8=JA+:RAZ>YRޣ??y׃i1ٓH elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743027174.723289F (some fields omitted in printout)AGz@A#h$@AgZ~? AA%&"AAvoNA"AZAbAjArAzAAAEXH$@Ad_RrAξAY:A`Aѿ?AU?A?ATW(*AB8=2A::A?BAB8=JA:RA?٘i)I9ξYn{ Jo]JJJJCJ&K  +6Y +6y A-+6)ZZZBZL?YY*W2W WWW"W ) )\*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027174.763165 s, next control iter: 1743027175.123178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027175.143165 s.Q/rG~,)AAp= @ALT @AsZ~? ADAI%&"AAvoNA"AZAbAjArAzAAAtBۤ>I$@A3ЭRrAξA:9A/Aƿ?AU?A?AJ0*A8=2A::AM>BA8=JA:RAM>٘i)I9Y J&JJJJ&K  ,6Y ,6yb7,6)ZZZBZL?YY*W2W WWW"W ) )ʹ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027175.183165 s, next control iter: 1743027175.543175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027175.563165 s.xG~,A AJ"J*J2J:JBJnJvJA33333@Aob@AZ~? AA%&"AAvoNA"AZAbAjArAzAAA/7I$@AςQ`RrAFξASzAmA?AU?A1?A i*A7=2A"u::A>BA7=JA"u:RA>YE??ymٓH??B$us?@g?=]`j?`J/@#?)E? I٘i)I9ξYo{ J8J9JJKCJ&KT[ Yy A:,6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027175.603165 s, next control iter: 1743027175.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 674, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027175.983165 s.G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743027175.983293F (some fields omitted in printout)A(\@Aĵþ@AZ~? AFA%&"AAvoNA"AZAbAjArAzAAAï0EI$@AtRrA1ξANA2ソA"?AV?A ?A\7*A,7=2A::A;;BA,7=JA:RA;;٘i)I9Y J5B=JJJJ&K  -6Y -6y A77-6)ZZZBZL?YY*W2W WWW"W ) )V*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027176.003165 s, next control iter: 1743027176.383176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027176.403165 s.&G~,AJ"J*J2J:JBJnJvJAR@A|@AZ~? AAM%&"AAwoNA"AZAbAjArAzAAAeJ$@A\QrAξASAZA?A :=V?A`?A*A}7=2A2::As;BA}7=JA2:RAs;٘i)I9ξYn{ J7C=JJJJ&K  .6Y .6y77.6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027176.443165 s, next control iter: 1743027176.803174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 675, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)$)$ rAdjusting time to match Gazebo time: 1743027176.823165 s.G~,%4AAzG@ARbw@AZ~? AIA%&"AAwoNA"AZAbAjArAzAAAu9gJ$@A2xQrAJξA9AoցA,?AxYV?A?Aڶ*AX7=2A_::A:BAX7=JA_:RA:٘i)I9ξYo{ J&B=JJJLCJ&K  /6Y /6y A7)7k/6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027176.863165 s, next control iter: 1743027177.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027177.243165 s.G~,iOAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199702 time: 1743027177.243289F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף@A}:@AZ~? AA%&"AA3woNA"AZAbAjArAzAAAJ$@A*QrAξAhL9AXA?A`tV?A`?A0A7*Ah7=2A}x::A8BAh7=JA}x:RA8٘i)I9ξY JB6C=JJJJ&K  06Y 06y Aŧ7b706)ZZZBZL?YY*W2W WWW"W ) ):*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027177.283165 s, next control iter: 1743027177.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027177.663165 s.G~,qjAtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 676, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A @AZ/@AZ~? ALA@%&"AAMwoNA"AZAbAjArAzAAA~-J$@A_PrAӤξA/:A〽A푿?A`V?A`?A.*AA7=2AF::A5w9BAA7=JAF:RA5w9Y?܏?y〽vr:ٓH?`{n@F?f???eP?@?)? I٘i)I9Y J]6JJA;JJMCJ&KT  16Y 16y7777r16)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027177.683165 s, next control iter: 1743027178.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027178.083165 s.DG~,RAJ"J*J2J:JBJnJvJA(\#@A%z"@AZ~? AA%&"AAgwoNA"AZAbAjArAzAAAxJK$@AScPrA:ξA=:AkyAȉ?A@׫V?A ?AK*A7=2A.::A78BA7=JA.:RA78٘i)I9ξY JBJJJJ&K  26Y 26y A)77SX26)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027178.103165 s, next control iter: 1743027178.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027178.503165 s.G~,34AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199792 time: 1743027178.503267F (some fields omitted in printout)AQ&@A)A%@AZ~? AOA%&"AAwoNA"AZAbAjArAzAAAHՖK$@AXCPrAФξA;w:AAd?A``V?Ak?A6*A6=2A ;:AK7BA6=JA ;RAK7٘i)I9ξY J`6JJJNCJ&K  36Y 36y A77=36)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027178.523165 s, next control iter: 1743027178.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 677, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027178.923165 s.6G~,AJ"J*J2J:JBJnJvJAGz*@AC)@AZ~? AA!%&"AAwoNA"AZAbAjArAzAAAEtK$@ATܐOrAξA28AhAv?A V?A?A*A 6=2AA;:A%b7BA 6=JAA;RA%b7٘i)I9Y J JJJJ&K  46Y 46y{7j7"46)ZZZBZL?YY*W2W WWW"W ) )*FFF]d:Waiting for Gazebo time sync: latest Gz time: 1743027178.943165 s, next control iter: 1743027179.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027179.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200182 time: 1743027179.763296F (some fields omitted in printout)A0@A0/@AZ~? AAX &&"AAwoNA"AZAbAjArAzAAAL_~L$@AW~\OrAξA A~APb?A1W?A Nߦ?A9`56*A6=2A;:A5BA6=JA;RA5YX?d?y{~sٓH@G?mx?@\V? Ю@ү?T'?)X? I٘i)I9ξYn{ J6B=J:JJOCJ&KqL Yy A7756)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027179.803165 s, next control iter: 1743027180.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027180.183165 s.¾G~, AA\(4@Aݕ]0X3@A Z~? AWA&&"AAwoNA"AZAbAjArAzAAANL$@AOrAξAWA~A$Z?A@NW?A`ڦ?Aڶ*A3d6=2A ;:A5BA3d6=JA ;RA5٘i)I9Yo{ JC=JJJJ&K  66Y 66yb7766)ZZZBZL?YY*W2W WWW"W ) )Y*FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743027180.223165 s, next control iter: 1743027180.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027180.603165 s.54ɾG~,&AJ"J*J2J:JBJnJvJAQ7@A6W6@AZ~? AA&&"AAxoNA"AZAbAjArAzAAA6,M$@ADf+NrAξA!ٹAn~A&S?AhW?A@զ?A6*AN@6=2A;:A4BAN@6=JA;RA4٘i)I9Y Jd4JJJPCJ&K  76Y 76y A777Z76)ZZZBZL?YY*W2W WWW"W ) )H*FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027180.643165 s, next control iter: 1743027181.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 679 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027181.023165 s.ZоG~,{AAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200242 time: 1743027181.023298F (some fields omitted in printout)A{G:@ACl:@A#Z~? A\A'&&"AAxoNA"AZAbAjArAzAAA 1iM$@AzdyvNrAξAyc:A{~AL?A`IW?A .Ѧ?A*A6=2A;:Ae5BA6=JA;RAe5 I٘i)I9Yn{ JЎ6B=JJJJ&K  86Y 86y Aŧ7b7ǝ86)ZZZBZL?YY*W2W WWW"W ) )P*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027181.043165 s, next control iter: 1743027181.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027181.443165 s.1־G~,%]\AJ"J*J2J:JBJnJvJA ףp=>@A2l=@A0Z~? AߨA0&&"AA9xoNA"AZAbAjArAzAAA$vM$@AQ(c)NrAξA(:A?~AE?A W?A`ț?A$j*A5=2A;:A$5BA5=JA;RA$5٘i)I9Yo{ J硶C=JJJJ&K  96Y 96y)796)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027181.483165 s, next control iter: 1743027181.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 680, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027181.863165 s.+ݾG~,>wAAA@An@@A=Z~? AaߨA?:&&"AASxoNA"AZAbAjArAzAAA#xN$@A EMrAܤξAcݣ:A~A=?A@ҷW?AǦ?A6*A~5=2A;:Ay5BA~5=JA;RAy5Y.?;?y~.:ٓH?l? ?ί<گ?{T? ?).? I٘i)I9Y Jb6J)JJQCJ&KG  :6Y :6y A77sh:6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027181.903165 s, next control iter: 1743027182.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027182.283165 s.J "J *J 2J :J BJ nJ vJ 5RG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199442 time: 1743027182.283263F (some fields omitted in printout)A)\D@A';%D@AKZ~? AިAC&&"AAnxoNA"AZAbAjArAzAAA $tXN$@A|MrAȤξA5:AYlAM4?AUW?Aæ?Ai*A˨5=2A);:A5BA˨5=JA);RA5٘i)I9Yn{ J5JJJJ&K  ;6Y ;6y Aŧ7b7M;6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027182.323165 s, next control iter: 1743027182.683177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 681*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027182.703165 s.ԺG~,AAQH@AލG@AXZ~? AfިAZM&&"AAxoNA"AZAbAjArAzAAAN$@Ar ODMrAξAB_AAe*?A W?A^?AP*An5=2AA;:A5BAn5=JAA;RA5٘i)I9Yo{ JB=JJJRCJ&K  <6Y <6y Aj7Z7/3<6)ZZZBZL?YY*W2W WWW"W ) )Q*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027182.743165 s, next control iter: 1743027183.103177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027183.123165 s.5G~,TAJ"J*J2J:JBJnJvJAHzK@AJ@AeZ~? AݨAV&&"AAxoNA"AZAbAjArAzAAAG҄|N$@ALrAϤξAAfPA ?AX?A?A)6*A>^5=2A0m;:Aڥ5BA>^5=JA0m;RAڥ5٘i)I9Y J_6C=JJJJ&K  =6Y =6yb7b7~=6)ZZZBZL?YY*W2W WWW"W ) )¯*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027183.163165 s, next control iter: 1743027183.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027183.543165 s.IG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743027183.543276F (some fields omitted in printout)Aףp= O@AU9N@ArZ~? AlݨAm`&&"AAxoNA"AZAbAjArAzAAAnJO$@ALrAؤξA{A-A'?A6X?A?A5yy*Av75=2A‹;:A76BAv75=JA‹;RA76٘i)I9Y Ju+JJJSCJ&K Yy A77j7=6)ZZZBZL?YY*W2W WWW"W ) )C*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027183.563165 s, next control iter: 1743027183.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 682, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027183.963165 s.|G~,AJ"J*J2J:JBJnJvJAfffffR@AY+Q@AZ~? AܨAi&&"AAxoNA"AZAbAjArAzAAA$O$@A6kV_LrAξAStAA?A`PX?A`K?Ak"6*A,5=2A$;:A]6BA,5=JA$;RA]6Y??y6uٓH? w??& ? JN`?)? I٘i)I9Y J J}JJJ&KI?  >6Y >6y A{7%>6)ZZZBZL?YY*W2W WWW"W ) )Ѱ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027184.003165 s, next control iter: 1743027184.363182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743027184.383165 s.G~,<AA(\U@AfT@AZ~? ArܨAxs&&"AAxoNA"AZAbAjArAzAAAO$@A+"LrAʤξAȸAA ?A&hX?A@?Aj6*A.4=2A;:A-7BA.4=JA;RA-7٘i)I9Yn{ JL6JJJJ&K  ?6Y ?6yb7b7y?6)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027184.423165 s, next control iter: 1743027184.783176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 683, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027184.803165 s.wA G~,{g3AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743027184.803305F (some fields omitted in printout)AQY@AmPMX@AZ~? AۨA|&&"AAyoNA"AZAbAjArAzAAAqr @P$@A KrAξA*O:AA?A-X?Aᦦ?AipS*A4=2Al;:Ar8BA4=JAl;RAr8٘i)I9Yo{ JJJJTCJ&K  @6Y @6y A77ϭ@6)ZZZBZL?YY*W2W WWW"W ) )*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027184.843165 s, next control iter: 1743027185.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027185.223165 s.gG~,HNAAGz\@ASh[@AZ~? AyۨA|&&"AA,yoNA"AZAbAjArAzAAAߔP$@AfWzKrAξAav:AEpA?ARX?A=?A@6*AO4=2A֟;:AlK8BAO4=JA֟;RAlK8٘i)I9Y Jl+JJJJ&K  A6Y A6y A7777(A6)ZZZBZL?YY*W2W WWW"W ) )*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027185.263165 s, next control iter: 1743027185.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027185.643165 s.sG~,)iAJ"J*J2J:JBJnJvJAp= _@AMW_@AZ~? AڨA&&"AAGyoNA"AZAbAjArAzAAAzaP$@A}.KrAڤξAW:A悽A?A`X?A?ABw*A'z4=2A_;:A8BA'z4=JA_;RA8٘i)I9Y J5JJJUCJ&K  B6Y B6y77xB6)ZZZBZL?YY*W2W WWW"W ) )K*FFF]:tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 684, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743027185.663165 s, next control iter: 1743027186.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027186.063165 s. G~,V AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743027186.063293F (some fields omitted in printout)A33333c@A" bb@AZ~? AڨAx&&"AAcyoNA"AZAbAjArAzAAATՑ8Q$@AJrAξA9A[A?AnX?Aݘ?AH*A=T4=2A;:A~9BA=T4=JA;RA~9Ylߢ??y[W9ٓH&8?Q%s?%A?v] h?:?'?)lߢ? I٘i)I9Y J0B=J,JJJ&K+:  C6Y C6y A]C6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027186.103165 s, next control iter: 1743027186.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027186.483165 s.u_'G~,AJ"J*J2J:JBJnJvJA(\f@ALe@AZ~? AڨA&&"AAyoNA"AZAbAjArAzAAAf+Q$@A1 JrAξAE A1̃A ?APX?A`=?ARv6*AU/4=2A;:A5C=JJJJ&K  D6Y D6y A7773CD6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027186.523165 s, next control iter: 1743027186.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 685, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027186.903165 s.-G~,͹AARi@Abi@AZ~? A٨Ak&&"AAyoNA"AZAbAjArAzAAAD/Q$@AEL7KJrAuξAPA#*Aھ?A`Y?A@?AGT7*A 4=2Ai%;:A,9BA 4=JAi%;RA,9٘i)I9Yn{ JZ7JJJVCJ&K  E6Y E6y7(E6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027186.923165 s, next control iter: 1743027187.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027187.323165 s.s4G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199882 time: 1743027187.323268F (some fields omitted in printout)J"J*J2J:JBJnJvJAzGm@Avl@AZ~? A ٨A&&"AAyoNA"AZAbAjArAzAAA4R$@A%SqIrA$ξA`ASAiҾ?Aw,Y?A@?AG*Af3=2A?8;:AC:BAf3=JA?8;RAC:٘i)I9Y J6JJJJ&K  F6Y F6y A)7)7 F6)ZZZBZL?YY*W2W WWW"W ) )E*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027187.363165 s, next control iter: 1743027187.723177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 686&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027187.743165 s.W;G~,mAAq= ףp@A!o@AZ~? AبAW&&"AAyoNA"AZAbAjArAzAAAMR$@ASoIrAξAU7A9A ̾?A DY?AX?Ay*A3=2AE:;:AYV:BA3=JAE:;RAYV:٘i)I9Y JJJJWCJ&K Yy A77=F6)ZZZBZL?YY*W2W WWW"W ) )%*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027187.763165 s, next control iter: 1743027188.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027188.163165 s.J "J *J 2J :J v}BG~BJnJvJ,q AAt@Ao/s@A Z~? AبA&&"AAyoNA"AZAbAjArAzAAALcTR$@AhIrAǤξA]R9Am烽Arƾ?AYY?A ׁ?A&i*Aa3=2A2;:At9BAa3=JA2;RAt9Y?ƾ?ym烽kR9ٓH?@Xt?@%?@smz?K*??)? I٘i)I9Y J킶Jh&JJJ&K3  G6Y G6y7G6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027188.203165 s, next control iter: 1743027188.563176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027188.583165 s.HG~,R%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200002 time: 1743027188.583307F (some fields omitted in printout)A(\w@A[mv@AZ~? AרA;&&"AA zoNA"AZAbAjArAzAAA.&3S$@AT|IrA6ξAϖ:A~A?A8pY?AI}?A *Akx3=2A,;:A9L9BAkx3=JA,;RA9L9٘i)I9ξYo{ J.JJJXCJ&K  H6Y H6y A{7{7H6)ZZZBZL?YY*W2W WWW"W ) )(*FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743027188.603165 s, next control iter: 1743027188.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 687, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027189.003165 s.v PG~,D4@AJ"J*J2J:JBJnJvJAQz@Avy@A&Z~? AרA&&"AA&zoNA"AZAbAjArAzAAA5}BS$@AJHrAξA:AQA칾?AVY?Ax?A&7*A>W3=2Am3;:A)~7BA>W3=JAm3;RA)~7٘i)I9Y J6JJJJ&K  I6Y I6y Ab77?I6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027189.043165 s, next control iter: 1743027189.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027189.423165 s.uVG~,[AAGz~@AC}@A4Z~? A֨A&&"AABzoNA"AZAbAjArAzAAA9S$@A=yHrAޤξA![t:A A豾?A'Y?AQt?A^*A23=2AH;:A7BA23=JAH;RA7٘i)I9ξY J:6JJJJ&K  J6Y J6y777J6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027189.443165 s, next control iter: 1743027189.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 688, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027189.843165 s.\G~,uAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743027189.843274F (some fields omitted in printout)A= ףp@A柀@ABZ~? A%֨A&&"AA_zoNA"AZAbAjArAzAAA򃖐5T$@AS/{:HrA:ξAp8A5>A?A`Y?Ao?Af*A3=2Ai;:A"6BA3=JAi;RA"6٘i)I9ξY J۶JJJYCJ&K  K6Y K6y A77mK6)ZZZBZL?YY*W2W WWW"W ) )r*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027189.883165 s, next control iter: 1743027190.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027190.263165 s.dG~,ؐAĀ@A:Y@AQZ~? AըA&&"AA{zoNA"AZAbAjArAzAAASOT$@AGrAξATKAفA ?A Y?Agk?A|6*A2=2AA;:Ac15BA2=JAA;RAc15YW??yفXKٓH˴?ILx i?ٴ?&@u8?@jI?)W? I٘i)I9ξY J6B=JT;JJJ&K#-  L6Y L6y AcSL6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027190.303165 s, next control iter: 1743027190.663176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 689., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027190.683165 s.ljG~,cAJ"J*J2J:JBJnJvJA\(@AX@A_Z~? A.ըAU'&"AAzoNA"AZAbAjArAzAAA5|pT$@AgGrAξḀA|A闾?A Y?A f?Azʶ*A^2=2AҢ;:AU5BA^2=JAҢ;RAU5٘i)I9Y Jd5C=JJJZCJ&K  M6Y M6yZ7Z78M6)ZZZBZL?YY*W2W WWW"W ) )h*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027190.683165 s, next control iter: 1743027191.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743027191.103165 s.qG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200132 time: 1743027191.103288F (some fields omitted in printout)AQ@AX;s@AmZ~? AԨA '&"AAzoNA"AZAbAjArAzAAAM:U$@Ah*XGrA&ξA_UA&A?AfZ?Adb?A5*A2=2Aթ;:AG4BA2=JAթ;RAG4٘i)I9ξY JJJJJ&K  N6Y N6y A{7j7N6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027191.123165 s, next control iter: 1743027191.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027191.523165 s.wG~,{AJ"J*J2J:JBJnJvJA{Gᎅ@A@A|Z~? A7ԨA'&"AAzoNA"AZAbAjArAzAAAYsU$@A GrAڤξAbԹAـAy?A`,Z?A]?AH6*A92=2A;:A3BA92=JA;RA3٘i)I9ξY J6JJJ[CJ&K  O6Y O6y A777MO6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027191.563165 s, next control iter: 1743027191.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 690, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)<)< rAdjusting time to match Gazebo time: 1743027191.943165 s.Xd~G~,B]AA ףp=@A\Yl@AZ~? AӨA'&"AAzoNA"AZAbAjArAzAAAMU$@AHFrAξA:AAI?Aj@Z?AeY?A?¶*A_2=2A•;:A3BA_2=JA•;RA3٘i)I9Y JJJJJ&K Yy Ab77O6)ZZZBZL?YY*W2W WWW"W ) ).*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027191.983165 s, next control iter: 1743027192.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027192.363165 s.G~,>AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743027192.363282F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AYjȔ@AZ~? AAӨA&'&"AA {oNA"AZAbAjArAzAAAH"CV$@AwvFrA ξAk#:AtbA?A:VZ?A@T?Az}c6*Ap=2=2A;:A2BAp=2=JA;RA2Yq?;~?ynbp:ٓH{?"rbp?N?` ? m$S?`?)q? I٘i)I9ξY J۵J:JJJ&K(  P6Y P6y77{7P6)ZZZBZL?YY*W2W WWW"W ) )*FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027192.383165 s, next control iter: 1743027192.763180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 691", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027192.783165 s.[G~,2AA)\@AI|$@AZ~? AҨA?0'&"AA'{oNA"AZAbAjArAzAAA;V$@A+FrAҤξA#:A9Ay?AnZ?A ~P?AD=c5*A2=2A;:A2BA2=JA;RA2٘i)I9ξY J6JJJ\CJ&K  Q6Y Q6y A)7ŧ7PQ6)ZZZBZL?YY*W2W WWW"W ) )*FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743027192.823165 s, next control iter: 1743027193.183180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027193.203165 s.G~,GMAJ"J*J2J:JBJnJvJAQ@A<@AZ~? ALҨA9'&"AAD{oNA"AZAbAjArAzAAAł}V$@AfErAξA2:AMAq?A@Z?AK?A1*A1=2A;:A2BA1=JA;RA2٘i)I9Y J>VJJJJ&K  R6Y R6y AR6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027193.243165 s, next control iter: 1743027193.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027193.623165 s.QG~,CgAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199532 time: 1743027193.623289F (some fields omitted in printout)AHz@ABYݞ@AZ~? AѨAB'&"AAa{oNA"AZAbAjArAzAAAZ9 NW$@AwwErAξAdAAKi?AZ?A`G?Ax6*A1=2A;:A1BA1=JA;RA1٘i)I9Y Jf5JJJ]CJ&K  S6Y S6y777~S6)ZZZBZL?YY*W2W WWW"W ) )q*FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743027193.643165 s, next control iter: 1743027194.023174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 692, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027194.043165 s.G~,ÂAJ"J*J2J:JBJnJvJAףp= @Av69@AZ~? AVѨAOL'&"AA~{oNA"AZAbAjArAzAAA§W$@A&|"KErAԤξA$AVA`?A Z?AC?A٘*A|1=2AT;:A1BA|1=JAT;RA1٘i)I9Y J&6JJJJ&K  T6Y T6y Ab7b7gcT6)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027194.083165 s, next control iter: 1743027194.443176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027194.463165 s.RG~,פAAfffff@AǕ@AZ~? AШAU'&"AA{oNA"AZAbAjArAzAAAיX$@A=]ErAξAN騺AAY?A Z?A>?AԵ*A֋1=2A|;:Aw1BA֋1=JA|;RAw1YP?P\?y>ٓH U?@S zk?`e? ׯF?)U?)P? I٘i)I9Y JGJ*9JJJ&K!  U6Y U6y Aj7j7HU6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027194.503165 s, next control iter: 1743027194.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 693, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027194.883165 s.yG~,<AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200412 time: 1743027194.883303F (some fields omitted in printout)A(\©@ACi@AZ~? AaШA^'&"AA{oNA"AZAbAjArAzAAA/9\X$@ADrAξATqA2;AS?AZ?A#:?A26*Ah1=2Ac;:Aܔ1BAh1=JAc;RAܔ1٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 252J6JJJ^CJ&K  V6Y V6yb77.V6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027194.923165 s, next control iter: 1743027195.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027195.303165 s.VG~,wgAAQ@A6M@AZ~? AϨANh'&"AA{oNA"AZAbAjArAzAAAX$@AkDrAפξAX7AdcAN?A`[?A5?AY*A@D1=2A;:A$.2BA@D1=JA;RA$.2٘i)I9Y J(+5B=JJJJ&K  W6Y W6y AW6)ZZZBZL?YY*W2W WWW"W ) ) ߯*FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027195.363165 s, next control iter: 1743027195.703178 s, wait time: 0.340013 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 694*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027195.723165 s.G~,HAJ"J*J2J:JBJnJvJAGz@AVn2@AZ~? AmϨAq'&"AA{oNA"AZAbAjArAzAAAloY$@Ah DrAξAN:ABAI?A`@[?A+1?AR4*A 1=2A;:A#C2BA 1=JA;RA#C2٘i)I9Y JhC=JQ>JJ_CJ&K> Yy A77W6)ZZZBZL?YY*W2W WWW"W ) )%*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027195.763165 s, next control iter: 1743027196.123178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027196.143165 s.[/¿G~,* AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743027196.143309F (some fields omitted in printout)Ap= ׳@At@AZ~? AΨAz'&"AA|oNA"AZAbAjArAzAAA[lY$@ACrA٤ξA:AՀA@D?A].[?A,?A_6*A 0=2A;:A8d2BA 0=JA;RA8d2٘i)I9Y J6JQ>JJJ&K>  X6Y X6y777 X6)ZZZBZL?YY*W2W WWW"W ) )z*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027196.163165 s, next control iter: 1743027196.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027196.563165 s.ȿG~,= $AJ"J*J2J:JBJnJvJA33333@A%b@A.Z~? AyΨA<'&"AA-|oNA"AZAbAjArAzAAAÈpY$@AZfCrAξAz:ATAl=?AdF[?A7(?A4*A0=2A;:A2BA0=JA;RA2Y.?";?yOnh:ٓHҗ??Hq@y?B?K` ? #R??).? I٘i)I9Y JXJ JJ`CJ&K  Y6Y Y6y Ab7b7sY6)ZZZBZL?YY*W2W WWW"W ) )۰*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027196.603165 s, next control iter: 1743027196.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 695, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027196.983165 s.ϿG~,>AA(\@AJ陾@A=Z~? AͨA'&"AAK|oNA"AZAbAjArAzAAA<$Z$@ADA0@CrAξA9AlA5?A@2a[?A#?A2&5*AR0=2A;:AO2BAR0=JA;RAO2 I٘i)I9Y J롵JJJJ&K  Z6Y Z6y Aŧ7èZ6)ZZZBZL?YY*W2W WWW"W ) )G*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027197.003165 s, next control iter: 1743027197.383176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027197.403165 s.&ֿG~,YAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200002 time: 1743027197.403285F (some fields omitted in printout)J"J*J2J:JBJnJvJAR뽅@A6@ALZ~? AͨAі'&"AAi|oNA"AZAbAjArAzAAAj&eZ$@AV\DBrAޤξA A]AC-?A`|[?A R?A~j5*A0=2A;:A3BA0=JA;RA3٘i)I9Y J5JJJJ&K  [6Y [6y777[6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027197.443165 s, next control iter: 1743027197.803178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 696, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027197.823165 s.ܿG~,%tAAzG@AYw@A[Z~? A ͨA'&"AA|oNA"AZAbAjArAzAAA/Z$@A=dRBrAξA6 A{A%?A[?A?A#*Acm0=2A;:Ak3BAcm0=JA;RAk3٘i)I9Y JǵJJJaCJ&K  \6Y \6y A7~s\6)ZZZBZL?YY*W2W WWW"W ) )7*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027197.863165 s, next control iter: 1743027198.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027198.243165 s.G~,qAJ"J*J2J:JBJnJvJAq= ףą@AÅ@AkZ~? ĄA^'&"AA|oNA"AZAbAjArAzAAA9[$@A.rbBrAA!wAIyA?A`[?A`l?AW6*A J0=2A ;:A3BA J0=JA ;RA3٘i)I9Y JJJJ&K  ]6Y ]6y Aŧ7b7X]6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027198.283165 s, next control iter: 1743027198.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027198.663165 s.G~,qAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199742 time: 1743027198.663255F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 697, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)Aȅ@A2g/Dž@AzZ~? ĄA'&"AA|oNA"AZAbAjArAzAAAۖ[$@A`iBrAξAd.AւA?A`[?A`?A#*A%0=2A;:AG94BA%0=JA;RAG94Y?U?yւH/ٓH ֵ?(y ]? ?`D@X?`E@I?)? I٘i)I9Y J\5<J_JJbCJ&KZ  ^6Y ^6y{7{7B>^6)ZZZBZL?YY*W2W WWW"W ) )6*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027198.683165 s, next control iter: 1743027199.063174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743027199.083165 s.DG~,SAJ"J*J2J:JBJnJvJA(\˅@Agjʅ@AZ~? A˨A'&"AA|oNA"AZAbAjArAzAAA$n 8[$@A#,\ArAξA7u9A3A~?A@[?A ?ADvh*A0=2A=;:A̾4BA0=JA=;RA̾4٘i)I9Y JC=JJJJ&K  _6Y _6y A77}#_6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027199.103165 s, next control iter: 1743027199.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027199.503165 s.G~,34AAQ΅@AE>ͅ@AZ~? A%˨A%'&"AA|oNA"AZAbAjArAzAAAjQ\$@AW)ArAξAuE:AA?A[?A@ ?A5*A/=2A;:A5BA/=JA;RA5٘i)I9Y JT5JJJJ&K  `6Y `6y Aŧ7b7`6)ZZZBZL?YY*W2W WWW"W ) )1*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027199.543165 s, next control iter: 1743027199.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 698, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027199.923165 s.8G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743027199.923284F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz҅@A Cх@AZ~? AʨAc'&"AA}oNA"AZAbAjArAzAAA\$@AIbұ9ArAξAA:A⃽A= ?A`[?A?AK6*A/=2A;:AH5BA/=JA;RAH5٘i)I9Y JO5JJJcCJ&K Yy{7{78`6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027199.963165 s, next control iter: 1743027200.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027200.343165 s.<G~,AA= ףpՅ@Ap'ԅ@AZ~? A3ʨA'&"AA:}oNA"AZAbAjArAzAAA: ]$@A3L*@rA{ξARm:AAR?A\?AV?A);7*A/=2A;:A 5BA/=JA;RA 5٘i)I9Yn{ J6JJJJ&K  a6Y a6y A)7ŧ7a6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027200.383165 s, next control iter: 1743027200.743176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 699", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027200.763165 s.: G~,,0AJ"J*J2J:JBJnJvJA؅@AQׅ@AZ~? AɨA'&"AAX}oNA"AZAbAjArAzAAABl]$@A\٥@rAeξADF8A-A?A+\?A?AKж*A+t/=2A$;:An5BA+t/=JA$;RAn5Y?^?y-NJ8ٓH`? Zv[?? Ks‚???)? I٘i)I9Y J|5J˺JJdCJ&Km  b6Y b6y A7)7b6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027200.803165 s, next control iter: 1743027201.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027201.183165 s.G~,sKAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199662 time: 1743027201.183277F (some fields omitted in printout)A\(܅@AS:Xۅ@AZ~? AAɨA'&"AAv}oNA"AZAbAjArAzAAAN]$@Aj\@rAФξAWAA?A@ F\?A@?A׹*AR/=2A.;:AW5BAR/=JA.;RAW5٘i)I9Yo{ JJJJJ&K  c6Y c6y77774c6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027201.223165 s, next control iter: 1743027201.583181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743027201.603165 s.74G~,fAJ"J*J2J:JBJnJvJAQ߅@A&kޅ@AZ~? AȨAJ'&"AA}oNA"AZAbAjArAzAAA6*^$@A ;@rAξAzAA?A $^\?A:?A`bi*A0/=2A;:Ah4BA0/=JA;RAh4٘i)I9Y J!JJJeCJ&K  d6Y d6y Aŧ7b7d6)ZZZBZL?YY*W2W WWW"W ) )~*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027201.643165 s, next control iter: 1743027202.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 700 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027202.023165 s.Z G~,{AA{G@As@AZ~? AOȨA'&"AA}oNA"AZAbAjArAzAAAf^$@A?rA1ξAx!AkA?Ar\?A?A1*A/=2A;:A3BA/=JA;RA3٘i)I9ξY JJJJJ&K  e6Y e6y A777he6)ZZZBZL?YY*W2W WWW"W ) ) *FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027202.063165 s, next control iter: 1743027202.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027202.443165 s.9&G~,F]AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743027202.443275F (some fields omitted in printout)A ףp=@AK:l@AZ~? AǨA(&"AA}oNA"AZAbAjArAzAAA Y^$@A6~?rAξAXĹA6A?A \?A ?A6*A .=2A.;:A$3BA .=JA.;RA$3٘i)I9ξY Jw6JJJJ&K  f6Y f6y A)7b7ANf6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027202.483165 s, next control iter: 1743027202.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 701, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027202.863165 s.+-G~,}>AA@A@AZ~? A^ǨA(&"AA}oNA"AZAbAjArAzAAAg EI_$@AE;5?rAξAb:AÂA߽?A\?A`R?A7R*AH.=2AK;:A/3BAH.=JAK;RA/3Yҡ?c޽?yÂ:ٓHO?t?@QY?HU?\,B?`N?)ҡ? I٘i)I9Y Jd4J:JJfCJ&K  g6Y g6y77773g6)ZZZBZL?YY*W2W WWW"W ) )&*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027202.883165 s, next control iter: 1743027203.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027203.283165 s.4R4G~,AJ"J*J2J:JBJnJvJA)\@Av%@A&Z~? AƨA(&"AA~oNA"AZAbAjArAzAAA7i_$@A٭F>rA$ξAw̝:ApAڽ?A\?A?AS]5*AD.=2Aȿ;:A'W2BAD.=JAȿ;RA'W2٘i)I9ξY JHJJJJ&K  h6Y h6y Aŧ77h6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027203.303165 s, next control iter: 1743027203.683177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 702*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027203.703165 s.Ѻ:G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199772 time: 1743027203.703253F (some fields omitted in printout)AQ@AZ[@A6Z~? AmƨAC!(&"AA-~oNA"AZAbAjArAzAAAF `$@A.>rAξAQ:A"A=ս?A \?Aݥ?A6"6*A.=2At;:A1BA.=JAt;RA1٘i)I9ξY Jw6JJJgCJ&K Yy A777Mh6)ZZZBZL?YY*W2W WWW"W ) )J*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027203.723165 s, next control iter: 1743027204.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743027204.123165 s.4AG~,PAJ"J*J2J:JBJnJvJAHz@AgI@AFZ~? AŨAo*(&"AAL~oNA"AZAbAjArAzAAA'|j`$@AR6˽X>rAξA$,:A5؁ADν?A@\?Az٥?Aǒ*Af.=2A;:A1BAf.=JA;RA1٘i)I9ξY J۵JJJJ&K  i6Y i6y{7{7i6)ZZZBZL?YY*W2W WWW"W ) )*FFF]j:Waiting for Gazebo time sync: latest Gz time: 1743027204.143165 s, next control iter: 1743027204.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027204.543165 s.IHG~,"AAףp= @A!T9@AVZ~? A}ŨA3(&"AAk~oNA"AZAbAjArAzAAA)~`$@Ar&[>rAξAAAƽ?A`\?A@@ե?A+6*AF.=2A;:Au0BAF.=JA;RAu0٘i)I9Y JwB=JJJhCJ&K  j6Y j6y A777j6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027204.563165 s, next control iter: 1743027204.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 703, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027204.963165 s.wNG~,=AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200312 time: 1743027204.963301F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@A2Xq@AfZ~? AŨA<(&"AA~oNA"AZAbAjArAzAAA&JO,a$@A0{=rAξARAXA^?Az]?A Х?A)4*Ak$.=2Ar;:A 0BAk$.=JAr;RA 0Y;??yX䘉ٓH`?@{?m?@ `R(?T*Q?);? I٘i)I9ξY JL6C=J:JJJ&Kd  k6Y k6y A77Nk6)ZZZBZL?YY*W2W WWW"W ) )5*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027205.003165 s, next control iter: 1743027205.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027205.383165 s.UG~,+XAA(\@A9?@AvZ~? AĨAE(&"AA~oNA"AZAbAjArAzAAA5xa$@A[n|=rAξAgA%A*?A ]?Ḁ?A2*A}.=2A@;:A/BA}.=JA@;RA/٘i)I9ξY JJJJJ&K  l6Y l6y77{7l6)ZZZBZL?YY*W2W WWW"W ) )*FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027205.423165 s, next control iter: 1743027205.783174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 704", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027205.803165 s.wA\G~,{gsAJ"J*J2J:JBJnJvJAQ@AC N@AZ~? AĨAO(&"AA~oNA"AZAbAjArAzAAAcdaa$@Al&3=rAξAnAAO?Ao-]?A`uȥ?A\6*A-=2A;:A)/BA-=JA;RA)/٘i)I9ξY Jd5B=JJJiCJ&K  m6Y m6y A)7ŧ7 ym6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027205.843165 s, next control iter: 1743027206.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027206.223165 s.gcG~,HAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743027206.223300F (some fields omitted in printout)AGz@A'@AZ~? AèA1X(&"AA~oNA"AZAbAjArAzAAAy7Rb$@A*_ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199572 time: 1743027207.483272F (some fields omitted in printout)A(\@A @AZ~? A6¨As(&"AADoNA"AZAbAjArAzAAA(n4zc$@A9AJ"J*J2J:JBJnJvJAzG@A jv@AZ~? AGAƅ(&"AAoNA"AZAbAjArAzAAÁ@d$@Axg};rAξAmA2܀Aӓ?A]?A宥?A_&5*A-=2A;:AN.BA-=JA;RAN.٘i)I9ξY J5JJJJ&K  r6Y r6y Ab77r6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027208.363165 s, next control iter: 1743027208.723176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 707&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027208.743165 s.WG~,u/AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743027208.743285F (some fields omitted in printout)Aq= ף@A"@AZ~? AAߎ(&"AAoNA"AZAbAjArAzAAAtfd$@A#K4;rAξA!AA#?A ܸ]?A ?Al*A,=2A;:A,y.BA,=JA;RA,y.٘i)I9Y JaJJJlCJ&K  s6Y s6y Ab7ds6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027208.763165 s, next control iter: 1743027209.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027209.163165 s.v}G~,qJAJ"J*J2J:JBJnJvJA@A)!XU/@A Z~? AXA(&"AAoNA"AZAbAjArAzAAA=2 be$@A:rAξAA$A?A!]?Ad?A!5*A ,=2AǞ;:A_W.BA ,=JAǞ;RA_W.Y}?D?y$ꢺٓH@?@E|`?`R? !?@RT@?)}? I٘i)I9Y JPJ%JJJ&K  t6Y t6yŧ7ȣt6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027209.183165 s, next control iter: 1743027209.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027209.583165 s.G~,ReAA(\@A$ nk@AZ~? AῨA (&"AAoNA"AZAbAjArAzAAA;le$@A*:rAξA5)A1VA?A&]?A$?Ar?5*A,=2A;:A.BA,=JA;RA.٘i)I9Y J5JJJmCJ&K  u6Y u6y Au6)ZZZBZL?YY*W2W WWW"W ) )**FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027209.623165 s, next control iter: 1743027209.983176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 708 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027210.003165 s.x G~,L4AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200672 time: 1743027210.003349F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ"@A!@A*Z~? AjA(&"AAoNA"AZAbAjArAzAAAe$@AxoZ:rAξA9AȎA?Ar]?Aᝥ?A*A,=2Ah;:Al/BA,=JAh;RAl/٘i)I9Y JSB=JJJJ&K  v6Y v6y Anv6)ZZZBZL?YY*W2W WWW"W ) )w*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027210.043165 s, next control iter: 1743027210.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027210.423165 s.uG~,AAGz&@AC%@A;Z~? AA/(&"AA oNA"AZAbAjArAzAAAW:5f$@AT:rAAi:ÁA]|?Ap]?A?A"_5*Al,=2A~L;:A8 /BAl,=JA~L;RA8 /٘i)I9Y JJJJ&K  w6Y w6y)7ŧ7Sw6)ZZZBZL?YY*W2W WWW"W ) )ͱ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027210.443165 s, next control iter: 1743027210.823174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 709, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027210.843165 s.ݬG~,AJ"J*J2J:JBJnJvJA= ףp)@A(@ALZ~? A|A?(&"AA?oNA"AZAbAjArAzAAA%pf$@AˆH9rAξA;:AAw?A ^?Ah?AO*AJ,=2A-<;:A//BAJ,=JA-<;RA//٘i)I9Y Jh4<JJJnCJ&K  x6Y x6y A779x6)ZZZBZL?YY*W2W WWW"W ) ))*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027210.883165 s, next control iter: 1743027211.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027211.263165 s.G~,#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743027211.263285F (some fields omitted in printout)A,@A+@A\Z~? AAM(&"AA_oNA"AZAbAjArAzAAAFf$@Aʀ9rAξAj:A'XAq?Ap^?A ,?A6*A(,=2AC;;:A/BA(,=JAC;;RA/Yjc?o?y#X5k:ٓH@ ,? Fs?[4?`Z<3H?bWM? i?)jc? I٘i)I9Y JlC=J嶺JJJ&K  y6Y y6y A{7{7wy6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027211.303165 s, next control iter: 1743027211.663177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 710*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027211.683165 s.lG~,RAJ"J*J2J:JBJnJvJA\(0@AvhX/@AmZ~? AAY(&"AAoNA"AZAbAjArAzAAAlػdg$@Aד:[89rAξA 8AfAj?A`6^?A ?A 5*A$,=2AE;:A/BA$,=JAE;RA/٘i)I9Y J4JJJoCJ&K  z6Y z6y7777z6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027211.683165 s, next control iter: 1743027212.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743027212.103165 s.G~,AAQ3@A/3l2@A~Z~? AAc(&"AAoNA"AZAbAjArAzAAAzd|g$@Arb8rAξA~~]An낽Ac?AL^?A?AP*A+=2A6O;:A/BA+=JA6O;RA/٘i)I9Y Jd3JJJJ&K Yy A77(z6)ZZZBZL?YY*W2W WWW"W ) )S*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027212.143165 s, next control iter: 1743027212.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027212.523165 s.G~,{!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743027212.523272F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G6@A#6@AZ~? AAk(&"AAoNA"AZAbAjArAzAAA+j0h$@A]8rAξA8A4A]?A `^?A?Ar4*As+=2A,O;:A0BAs+=JA,O;RA0٘i)I9ξY JdJJJpCJ&K  {6Y {6y Ab7b7~{6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027212.563165 s, next control iter: 1743027212.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 711, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027212.943165 s.TdG~,1]<AA ףp=:@AʧǶl9@AZ~? A+Ar(&"AAހoNA"AZAbAjArAzAAAVNCh$@A"'a_8rAξAFA|AY?A q^?AO?AZ5*Aơ+=2AP?;:AU0BAơ+=JAP?;RAU0 I٘i)I9ξY Jy>5JJJJ&K  |6Y |6y Aŧ7ճ|6)ZZZBZL?YY*W2W WWW"W ) ) *FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027213.003165 s, next control iter: 1743027213.343176 s, wait time: 0.340011 s rAdjusting time to match Gazebo time: 1743027213.363165 s.J "J *J 2J :J BJ nJ vJ G~,u>WAA=@Aoӟ<@AZ~? AAw(&"AAoNA"AZAbAjArAzAAA^h$@A.*8rAξAAAU?A^?A|?A*A+=2A!;:A0BA+=JA!;RA0YI?:V?y tٓH`v^? {y?`Ll?`au?b6 ?)I? I٘i)I9Y J\J.ֺJJJ&K  }6Y }6yb775}6)ZZZBZL?YY*W2W WWW"W ) )v*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027213.403165 s, next control iter: 1743027213.763177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 712", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027213.783165 s.QG~,rAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743027213.783271F (some fields omitted in printout)A)\@@Ad9 %@@AZ~? A?Az(&"AAoNA"AZAbAjArAzAAAEci$@AlJ 7rAξAt :AA]R?AM^?Aw?A{7*AJ_+=2A;:An0BAJ_+=JA;RAn0٘i)I9Yn{ J6JJJqCJ&K  ~6Y ~6y A77~~6)ZZZBZL?YY*W2W WWW"W ) )Ŵ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027213.823165 s, next control iter: 1743027214.183174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743027214.203165 s.G~,!AJ"J*J2J:JBJnJvJAQD@A`5C@AZ~? AɺA|)&"AA>oNA"AZAbAjArAzAAAEi$@Ae7rAtξA:AAN?A˛^?A s?A n*A<+=2A ;:A'%1BA<+=JA ;RA'%1٘i)I9Y JQ6JJJJ&K  6Y 6y A7777c6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027214.243165 s, next control iter: 1743027214.603179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027214.623165 s.UG~,TAAHzG@A)JF@AZ~? ASA{ )&"AA_oNA"AZAbAjArAzAAA'o71j$@A3(>7rAˤξA):AAI?AU^?A`o?A*A`+=2A;:A,T1BA`+=JA;RA,T1٘i)I9Y J+϶JJJrCJ&K  6Y 6y7)7$6)ZZZBZL?YY*W2W WWW"W ) )ش*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027214.663165 s, next control iter: 1743027215.023178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 713, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027215.043165 s.ǨG~,AvPublished command to Gazebo (printed only once in a while):J"J( dropWeightState: 1*J2J:J6 propOmegaAction: 0.000000BJnJ: rudderAngleAction: 0.052360vJ> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200192 time: 1743027215.043299F (some fields omitted in printout)Aףp= K@A߅9J@AZ~? AݹAy)&"AAoNA"AZAbAjArAzAAAWQij$@A'-$6rAξA~ :AуAC?A#^?Ayk?A*A*=2A;:AJr0BA*=JA;RAJr0٘i)I9Yo{ J`+B=JJJJ&K Yy Ab77P6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027215.083165 s, next control iter: 1743027215.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027215.463165 s.RG~,פAAfffffN@AvLݕM@AZ~? AgAu)&"AAoNA"AZAbAjArAzAAAd2j$@Au6rAξAuAA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743027216.303278F (some fields omitted in printout)AQU@AMT@A(Z~? A{Ai1)&"AAoNA"AZAbAjArAzAAAʭk$@A3ϼ/6rAξAmAfA0?A^?A@,_?Aa"*A*=2Av;:A.BA*=JAv;RA.٘i)I9ξY J[6JJJJ&K Yy A7I6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027216.343165 s, next control iter: 1743027216.703176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 715&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027216.723165 s. G~,H.AJ"J*J2J:JBJnJvJAGzX@A*.W@A9Z~? AA`:)&"AAoNA"AZAbAjArAzAAA?7l$@Ag5rAξAHcAŝA -?A@_?A[?A'6*A-{*=2A;:A.BA-{*=JA;RA.٘i)I9ξY JLJJJtCJ&K  6Y 6y A77a6)ZZZBZL?YY*W2W WWW"W ) )2*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027216.763165 s, next control iter: 1743027217.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027217.143165 s.W/G~, *IAAp= [@A%wD[@AJZ~? AAUC)&"AA!oNA"AZAbAjArAzAAAK[l$@A[5rAξAXkR3AIA)?A_?AW?A9_6*A[*=2Ai;:A -BA[*=JAi;RA -٘i)I9Y J5JJJJ&K Yyb7b7Ԃ6)ZZZBZL?YY*W2W WWW"W ) )ڲ*FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027217.163165 s, next control iter: 1743027217.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027217.563165 s.G~,9 dAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743027217.563286F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333_@A~b^@A[Z~? AAIL)&"AAAoNA"AZAbAjArAzAAAbom$@A H5rAξA Fc:AOA&?A (_?A R?Adx"*A ;*=2A;:A-BA ;*=JA;RA-Y?*%?yOc:ٓH=?Jt?ȷ?Q:G?hL?k?)? I٘i)I9ξY Ji5J|:JJuCJ&K  6Y 6y A)7)7PG6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027217.583165 s, next control iter: 1743027217.963175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 716, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027217.983165 s.G~,~AA(\b@A3a@AmZ~? AA:U)&"AAboNA"AZAbAjArAzAAA(qm$@A_Gb5rAξA :AA#?A 6_?AN?A)X*A**=2Ah;:A U-BA**=JAh;RA U-٘i)I9ξY J20JJJJ&K Yy Ab7b76)ZZZBZL?YY*W2W WWW"W ) )7*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027218.023165 s, next control iter: 1743027218.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027218.403165 s.&&G~,͙AJ"J*J2J:JBJnJvJARe@AFte@A~Z~? A0A+^)&"AAoNA"AZAbAjArAzAAA m$@AYѸ4rAξAލ:A⁽A?A H_?AJ?A0/6*A)=2Ao_;:Aî,BA)=JAo_;RAî,٘i)I9ξY J6JJJJ&K  6Y 6yŧ77,6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027218.423165 s, next control iter: 1743027218.803177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 717, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027218.823165 s.,G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743027218.823291F (some fields omitted in printout)AzGi@Ayvvh@AZ~? AAg)&"AAoNA"AZAbAjArAzAAA:oCn$@AwpMq4rAξAR9A%A?A`]_?AF?AG*A)=2A9b;:A,BA)=JA9b;RA,٘i)I9Y JdJJJvCJ&K Yy A)7ŧ7U6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027218.843165 s, next control iter: 1743027219.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027219.243165 s.3G~,iAJ"J*J2J:JBJnJvJAq= ףl@A-k@AZ~? AFAp)&"AAĂoNA"AZAbAjArAzAAAern$@A)4rAξAV A6A6?Ar_?A@B?A5*A)=2Ah;:A+BA)=JAh;RA+٘i)I9ξY JzJJJJ&K  6Y 6y A776)ZZZBZL?YY*W2W WWW"W ) ){*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027219.263165 s, next control iter: 1743027219.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027219.663165 s.:G~,qAtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 718, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)Ap@A#J{/o@AZ~? AѴAx)&"AAoNA"AZAbAjArAzAAA8o$@Amo3rAξAiAmA[ ?A V_?A>?A5v5*Aě)=2Ag;:A,{+BAě)=JAg;RA,{+Y? ?ymٓH? ;}?@?`?`*?`: T?)? I٘i)I9ξY J!6B=J:JJwCJ&Kݺ Yyj7j76)ZZZBZL?YY*W2W WWW"W ) )P*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027219.683165 s, next control iter: 1743027220.063174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743027220.083165 s.DAG~,SAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200592 time: 1743027220.083317F (some fields omitted in printout)A(\s@A'2sr@AZ~? A\Aځ)&"AAoNA"AZAbAjArAzAAAO;o$@A3rAξAmAVA?Ae_?A:?A*AH{)=2AOX;:Aw+BAH{)=JAOX;RAw+٘i)I9Y J`C=JJJJ&K Yy AZ7Z7W6)ZZZBZL?YY*W2W WWW"W ) )/*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027220.103165 s, next control iter: 1743027220.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027220.503165 s.GG~,@4 AAQv@Au@AZ~? A糨AŠ)&"AA&oNA"AZAbAjArAzAAA~oo$@AS3rAξAAGAk?A_?A`6?Ae6*A[)=2A`:;:A+BA[)=JA`:;RA+٘i)I9Y JgJJJJ&K  6Y 6y A77j6)ZZZBZL?YY*W2W WWW"W ) )*FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743027220.543165 s, next control iter: 1743027220.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 719, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027220.923165 s.7NG~,;AJ"J*J2J:JBJnJvJAGzz@AGRCy@AZ~? AsA)&"AAGoNA"AZAbAjArAzAAAZUp$@ANƈ 3rAξAĩ9AAA?A_?Ao2?A+a3*A<;)=2A+;:A#(+BA<;)=JA+;RA#(+٘i)I9Y J5JJJxCJ&K Yy77{7܆6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027220.943165 s, next control iter: 1743027221.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027221.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743027221.343270F (some fields omitted in printout)A= ףp}@AyT|@AZ~? AA)&"AAhoNA"AZAbAjArAzAAAPp$@AXwW2rAξA̍:ACA?A W_?A@_.?Aŵ*A)=2AO;:A=+BA)=JAO;RA=+٘i)I9Y JѵJJJJ&K  6Y 6y Ab7b7\O6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027221.363165 s, next control iter: 1743027221.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 720&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027221.763165 s.J "J *J 2J :J BJ 3[G~nJvJ,pAÀ@A0@A Z~? AAo)&"AAoNA"AZAbAjArAzAAAͮ+q$@Aj3~2rAξA:ANA?A :_?AX*?A5*A (=2A;:A*BA (=JA;RA*Y??yNj:ٓHQ?@@s0?K#?@ '?@v4U??)? I٘i)I9Y JS5J9JJyCJ&Kں Yy Aj7Z7 ‡6)ZZZBZL?YY*W2W WWW"W ) )"*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027221.803165 s, next control iter: 1743027222.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027222.183165 s.bG~,kAA\(@A8+X@AZ~? AAO)&"AAoNA"AZAbAjArAzAAAq$@A72rAξA_:AaA@?A@_?A H&?A*A(=2A9;:A+BA(=JA9;RA+٘i)I9Y Jw+5JJJJ&K  6Y 6yj746)ZZZBZL?YY*W2W WWW"W ) )<*FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743027222.223165 s, next control iter: 1743027222.583178 s, wait time: 0.360013 s) rAdjusting time to match Gazebo time: 1743027222.603165 s.14iG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027222.603285F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Ad`@A-Z~? AA.)&"AA˃oNA"AZAbAjArAzAAAr$@A1rAξAA|A?A_?A="?A{*A(=2A;:A*BA(=JA;RA*٘i)I9ξY JJJJzCJ&K Yy Ab77[6)ZZZBZL?YY*W2W WWW"W ) )`*FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027222.623165 s, next control iter: 1743027223.003173 s, wait time: 0.380008 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 721 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027223.023165 s.ZpG~,|AA{Gኆ@A@A?Z~? A,A )&"AAoNA"AZAbAjArAzAAAwlr$@AIS1rAξA͇fAĞA?A`-`?A 6?A)E5*A(=2A;:Ar*BA(=JA;RAr*٘i)I9ξY JH5B=JJJJ&K  6Y 6y A7S76)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027223.063165 s, next control iter: 1743027223.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027223.443165 s.1vG~,%]AJ"J*J2J:JBJnJvJA ףp=@A)l@AQZ~? AA)&"AA oNA"AZAbAjArAzAAAor$@Al*b1rAξA*ADǁA?A` `?A(?A\p*A4z(=2A;:A*BA4z(=JA;RA*٘i)I9Y Jr3C=JJJJ&K Yy A{7{76)ZZZBZL?YY*W2W WWW"W ) )ű*FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743027223.463165 s, next control iter: 1743027223.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 722, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027223.863165 s.+}G~,>AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743027223.863288F (some fields omitted in printout)A@AkȐ@AcZ~? ADA)&"AA.oNA"AZAbAjArAzAAAUHCs$@AmJ1rAξABAVA޼?A`?A!?A-5*A%Z(=2Ai;:Ao*BA%Z(=JAi;RAo*YԠ??yQ뉋ٓH G?`}?X?n";?@hQ?)Ԡ? I٘i)I9Y J{QJ/FJJ{CJ&K8Ѻ Yy777d6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027223.903165 s, next control iter: 1743027224.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027224.283165 s.8RG~,AJ"J*J2J:JBJnJvJA)\@A';%@AtZ~? AЯA)&"AAPoNA"AZAbAjArAzAAAסs$@Av_w0rAξA A (Aۼ?A~`?A ?A5*A9(=2A_;:A0+BA9(=JA_;RA0+٘i)I9Y Jێ5JJJJ&K  6Y 6y A7)7r6)ZZZBZL?YY*W2W WWW"W ) )I*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027224.323165 s, next control iter: 1743027224.683178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 723*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027224.703165 s.׺G~,-AAQ@Al@AZ~? A\Aq)&"AAqoNA"AZAbAjArAzAAAa1t$@A0rAξA8o$:A]^Aqټ?A`?A?A`*AY(=2Axv;:AD+BAY(=JAxv;RAD+٘i)I9Y JTB=JJJ|CJ&K Yy A)7ŧ76)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027224.743165 s, next control iter: 1743027225.103178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027225.123165 s.J "J *J 2J :J BJ nJ vJ 8G~,aGAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743027225.123284F (some fields omitted in printout)AHz@AcyWݚ@AZ~? A讨AF)&"AAoNA"AZAbAjArAzAAAyZt$@A("F0rAξA:A;AYּ?A !`?A@ ?AV5*AR'=2AV;:A@+BAR'=JAV;RA@+٘i)I9Y JeC=JJJJ&K  6Y 6y777dW6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027225.143165 s, next control iter: 1743027225.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027225.543165 s.IG~,bAAףp= @A9@AZ~? AtA)&"AAoNA"AZAbAjArAzAAAÜt$@A^ Q0rAξAy:AтAҼ?A`N)`?A?A3*A'=2AD;:AO+BA'=JAD;RAO+٘i)I9Y J^5JJJ}CJ&K Yy Aj7j7ʋ6)ZZZBZL?YY*W2W WWW"W ) )0*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027225.563165 s, next control iter: 1743027225.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 724, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027225.963165 s.G~,}AJ"J*J2J:JBJnJvJAfffff@Ax[镡@AZ~? AA)&"AAՄoNA"AZAbAjArAzAAA(bLau$@A)!}/rAξA:A A~̼?A22`?A?Aa^*A'=2A@;:AW,BA'=JA@;RAW,Y?E˼?y :ٓHr?`nv ?`}?O ^?C?;?)? I٘i)I9ξY |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 251J{wB=JۥJJJ&Keκ  6Y 6y A7)7<6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027226.003165 s, next control iter: 1743027226.363187 s, wait time: 0.360022 s rAdjusting time to match Gazebo time: 1743027226.383165 s.إG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199402 time: 1743027226.383278F (some fields omitted in printout)A(\¥@Au@AZ~? AA*&"AAoNA"AZAbAjArAzAAA8u$@Aa%s/rAApRAEAbƼ?A;`?A@?A o5*A5'=2A2D;:A,BA5'=JA2D;RA,٘i)I9Y JJJJ&K Yy7776)Z ZZBZ L?YY *W2W W W W"W  ) ) г*FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027226.443165 s, next control iter: 1743027226.783175 s, wait time: 0.340010 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 725", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027226.803165 s.uAG~,sgAJ"J*J2J:JBJnJvJAQ@AM@AZ~? AA*&"AAoNA"AZAbAjArAzAAAͅ;v$@Apⶣ,/rAξAA~A?AD`?A?A˕*A*y'=2AC;:AQ(,BA*y'=JAC;RAQ(,٘i)I9ξY J>4<JQ>JJ~CJ&K>  6Y 6y A"6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027226.843165 s, next control iter: 1743027227.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027227.223165 s.gG~,HAAGz@Auv28@AZ~? AAU*&"AA:oNA"AZAbAjArAzAAAGv$@A//.rAξAhJA0A?A xL`?A`?A֥*AFY'=2A6;:AC,BAFY'=JA6;RAC,٘i)I9ξY Jy>C=JQ>JJJ&K> Yy Aj7j7Ô6)ZZZBZL?YY*W2W WWW"W ) )e*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027227.263165 s, next control iter: 1743027227.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027227.643165 s.йG~,s+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200962 time: 1743027227.643356F (some fields omitted in printout)Ap= ׯ@APo@AZ~? A3A !*&"AA[oNA"AZAbAjArAzAAAqw$@ANȟ.rAξA\AჽAø?AR`?A?Ag6*A2:'=2A";:A',BA2:'=JA";RA',٘i)I9ξY J46JJJCJ&K  6Y 6y777q6)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 726, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027227.663165 s, next control iter: 1743027228.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027228.063165 s.G~,J AA33333@A!b@AZ~? AA)*&"AA}oNA"AZAbAjArAzAAANw$@ASoY.rAξA\8AAb?AW`?A?A͉5*A'=2AO::Aux,BA'=JAO:RAux,Y?Q?y\8ٓH@*? Iy? $?hc|?` ??)? I٘i)I9Yn{ J 6J㍺JJJ&KǺ Yy A77{7z6)ZZZBZL?YY*W2W WWW"W ) )ʴ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027228.083165 s, next control iter: 1743027228.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027228.483165 s.v_G~,AJ"J*J2J:JBJnJvJA(\@AW@@A(Z~? ALA2*&"AAoNA"AZAbAjArAzAAApcw$@Ag5".rAΤξAzg:AA?A\`?A?AR*A&=2AE::A,BA&=JAE:RA,٘i)I9Yo{ Jk|JJJJ&K Yy Aŧ7b76)ZZZBZL?YY*W2W WWW"W ) )Ĵ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027228.523165 s, next control iter: 1743027228.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 727, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027228.903165 s.G~,9AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743027228.903325F (some fields omitted in printout)AR빆@Aß@A:Z~? A٪Av;*&"AAoNA"AZAbAjArAzAAAЇ`x$@A-rAξAO:A҃A?Ab`?A2?Ai*A^&=2A\::AG,BA^&=JA\:RAG, I٘i)I9Y J&JJJCJ&K  6Y 6y7)7p_6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027228.923165 s, next control iter: 1743027229.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027229.323165 s.wG~,)TAJ"J*J2J:JBJnJvJAzG@AŮv@AMZ~? AfA;D*&"AAoNA"AZAbAjArAzAAA x$@A`G-rAξAD:AlA?Ajj`?AA?Ar *A"&=2AvA::A`#,BA"&=JAvA:RA`#,٘i)I9ξY J!JJJJ&K Yy A777ҏ6)ZZZBZL?YY*W2W WWW"W ) )U*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027229.363165 s, next control iter: 1743027229.723179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 728&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027229.743165 s.WG~,~oAAq= ף@AA-ӿ@A_Z~? AAL*&"AAoNA"AZAbAjArAzAAAG%=y$@AG4@-rA"ξA9AioAx?A bs`?A@cޤ?Az!)6*AV&=2A>::A1+BAV&=JA>:RA1+٘i)I9Y JێJJJJ&K  6Y 6y Aŧ7b7D6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027229.783165 s, next control iter: 1743027230.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027230.163165 s.t}G~,qAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199812 time: 1743027230.163265F (some fields omitted in printout)AĆ@Ax R/Æ@AqZ~? AAU*&"AA&oNA"AZAbAjArAzAAA'ͫy$@A2v,rAξA/]'A7;A?A|`?Ayڤ?AO4*A&=2AA::A`*BA&=JAA:RA`*٘i)I9ξY JG6JJJJ&K Yy7777w6)ZZZBZL?YY*W2W WWW"W ) )ȳ*FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743027230.183165 s, next control iter: 1743027230.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027230.583165 s.G~,RAA(\dž@A!aƆ@AZ~? AA}^*&"AAHoNA"AZAbAjArAzAAAh԰z$@A"k,rAξA=SAA^?Aʄ`?A ֤?AE*A`&=2A5::A*BA`&=JA5:RA*٘i)I9ξY J'JJJCJ&K  6Y 6y A{7{7 *6)ZZZBZL?YY*W2W WWW"W ) )*FFF]t:Waiting for Gazebo time sync: latest Gz time: 1743027230.623165 s, next control iter: 1743027230.983173 s, wait time: 0.360008 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 729 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027231.003165 s.x G~,L4AJ"J*J2J:JBJnJvJAQʆ@ANMɆ@AZ~? AA;g*&"AAjoNA"AZAbAjArAzAAAȉz$@Aonn,rAξA!A#ӂAm?A`?AҤ?AN[6*AB&=2A ::A)BAB&=JA :RA)٘i)I9Y JtQ5B=JJJJ&K Yy Aŧ7b7ڜ6)ZZZBZL?YY*W2W WWW"W ) ):*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027231.043165 s, next control iter: 1743027231.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027231.423165 s.uG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199562 time: 1743027231.423279F (some fields omitted in printout)AGzΆ@A;ocC͆@AZ~? A)Ao*&"AAoNA"AZAbAjArAzAAA͓z$@A"~(,rAξAkA9A?A`?AΤ?AFT*A#&=2A::A)BA#&=JA:RA)٘i)I9ξY J,5C=JJJJ&K  6Y 6y77x6)ZZZBZL?YY*W2W WWW"W ) )*FFF]r:Waiting for Gazebo time sync: latest Gz time: 1743027231.463165 s, next control iter: 1743027231.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 730, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027231.843165 s.G~,AJ"J*J2J:JBJnJvJA= ףpц@AІ@AZ~? AAx*&"AAoNA"AZAbAjArAzAAAdih{$@AfF+rAξAw9AqA?A`?A ʤ?A*A&=2Av::A)BA&=JAv:RA)٘i)I9ξY JJJJJ&K Yy A77{7$6)ZZZBZL?YY*W2W WWW"W ) )*FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027231.863165 s, next control iter: 1743027232.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027232.263165 s.G~,AAԆ@A9!ӆ@AZ~? ADAj*&"AAІoNA"AZAbAjArAzAAAv+3{$@AĜ+rAξA":AHFA?A`?AǤ?A"(6*A%=2A,::An )BA%=JA,:RAn )Y?׍?yBFH7:ٓH?`t@n?N?9E?Q?`m?)? I٘i)I9ξY J5J;JJJ&K@ Yy Aŧ7b76)ZZZBZL?YY*W2W WWW"W ) )x*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027232.303165 s, next control iter: 1743027232.663178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 731., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027232.683165 s.l G~,g+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200202 time: 1743027232.683299F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(؆@Aj1xX׆@AZ~? AѦA!*&"AAoNA"AZAbAjArAzAAAjG|$@AV+rAξA':AA?A ٠`?A'ä?A*A%=2Ag::AF)BA%=JAg:RAF)٘i)I9Y J\4JJJCJ&K  6Y 6y Aj7Z7g6)ZZZBZL?YY*W2W WWW"W ) )B*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027232.683165 s, next control iter: 1743027233.083179 s, wait time: 0.400014 s rAdjusting time to match Gazebo time: 1743027233.103165 s.G~,FAAQۆ@A͌~چ@AZ~? A_Aג*&"AAoNA"AZAbAjArAzAAA*vf|$@A]{?+rAξA#)V:AA?A `?AK?AVؿ3*A%=2Ai::A(BA%=JAi:RA(٘i)I9ξY J۵JJJJ&K Yy77,ړ6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027233.123165 s, next control iter: 1743027233.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027233.523165 s.G~,{aAJ"J*J2J:JBJnJvJA{Gކ@ARςކ@AZ~? AA*&"AA6oNA"AZAbAjArAzAAADr'}$@AspI*rAξAH_A߁A?A`Y`?Ap?AW~5*As%=2A::A(BAs%=JA:RA(٘i)I9ξY J5JJJJ&K  6Y 6y Aŧ7L6)ZZZBZL?YY*W2W WWW"W ) )*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027233.563165 s, next control iter: 1743027233.923174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 732, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027233.943165 s.UdG~,5]|AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200262 time: 1743027233.943291F (some fields omitted in printout)A ףp=@A?l@AZ~? A{A=*&"AAYoNA"AZAbAjArAzAAAN渗}$@Az *rAξA\kA~ɁA|?Aݹ`?A?AZ*Al%=2A::A'BAl%=JA:RA'٘i)I9ξY JYJJJJ&K Yy A77{76)ZZZBZL?YY*W2W WWW"W ) )̱*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027233.983165 s, next control iter: 1743027234.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027234.363165 s.%G~,p>AJ"J*J2J:JBJnJvJA@A_ @A)Z~? A A*&"AA{oNA"AZAbAjArAzAAA_76~$@AjJX@*rAξAϨAAw?AP`?A`?Ao5*AN%=2A|::A='BAN%=JA|:RA='YBn?z?yp&ٓHM?` .~ ?%?j4?U?)Bn? I٘i)I9Y JSJ':JJJ&K  6Y 6y77426)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027234.403165 s, next control iter: 1743027234.763175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 733&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027234.783165 s.Y+G~,AA)\@ACR %@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743027235.203276F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AjU@AOZ~? A%AJ*&"AAoNA"AZAbAjArAzAAA<~$@A< rU)rAξA<AAOr?A`?A?A;*A%=2AfK::Aʂ'BA%=JAfK:RAʂ'٘i)I9Y JOJJJJ&K  6Y 6y A7)76)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027235.243165 s, next control iter: 1743027235.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027235.623165 s.U9G~,TAAHz@Ay@AaZ~? AA*&"AAoNA"AZAbAjArAzAAA%Z$@Ako)rAξA+:AARp?A``?A&?A=5*A$=2A::AW'BA$=JA:RAW'٘i)I9Y Jd4JJJJ&K Yyŧ7b786)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027235.663165 s, next control iter: 1743027236.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 734 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027236.043165 s.@G~, AJ"J*J2J:JBJnJvJAףp= @A9@AtZ~? ABA*&"AAoNA"AZAbAjArAzAAAO늤$@A\*)rAξA:AAm?A@`?A`J?Ah*A$=2A::Az'BA$=JA:RAz'٘i)I9Y JQ5JJJJ&K Yy Ab776)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027236.083165 s, next control iter: 1743027236.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027236.463165 s.SGG~,ۤ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199882 time: 1743027236.463280F (some fields omitted in printout)Afffff@As@AZ~? AТAH*&"AA'oNA"AZAbAjArAzAAAP<$@AϖI1(rAξAZ5:AρAi?A@u`?A@p?Ah%R*AB$=2A::A v'BAB$=JA:RA v'Y[?bg?yρL:ٓH@d9?Wt@?zA?@*7?fS?`?)[? I٘i)I9ξY JmJ͸JJJ&K  6Y 6y A{7{7o6)ZZZBZL?YY*W2W WWW"W ) )ѱ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027236.503165 s, next control iter: 1743027236.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 735, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027236.883165 s.yMG~,+8 AJ"J*J2J:JBJnJvJA(\@Aq@AZ~? A_A*&"AAIoNA"AZAbAjArAzAAAƬh2$@A(rAξAh:A恽Ad?AE`?A?A5*A$=2A^}::A>'BA$=JA^}:RA>'٘i)I9ξY Jh5JJJCJ&K Yy77736)ZZZBZL?YY*W2W WWW"W ) )*FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743027236.903165 s, next control iter: 1743027237.283177 s, wait time: 0.380012 s,), rAdjusting time to match Gazebo time: 1743027237.303165 s.STG~,jgS AAQ@AmPM@AZ~? AA*&"AAloNA"AZAbAjArAzAAA$@AcZ(rAξA?¹AAA_?A`?A`?Am*AAx$=2A-|::AK'BAAx$=JA-|:RAK'٘i)I9Y Jd4JJJJ&K  6Y 6y A7T6)ZZZBZL?YY*W2W WWW"W ) )*FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027237.343165 s, next control iter: 1743027237.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 736*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027237.723165 s.[G~,Hn AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027237.723291F (some fields omitted in printout)AGz@Ayt#,@AZ~? A|A8*&"AAoNA"AZAbAjArAzAAAD<$@AR,m(rAξA Am%AZ?A|`?A딤?A 4*AY$=2Ar::A?/'BAY$=JAr:RA?/'٘i)I9ξY JQJJJJ&K Yy A7ǘ6)ZZZBZL?YY*W2W WWW"W ) )F*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027237.763165 s, next control iter: 1743027238.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027238.143165 s.T/bG~,) AAp= @AQ@AZ~? A A*&"AAoNA"AZAbAjArAzAAA$@AI`'rAξAAKAV?A`?A@?A5*Ak;$=2AIP::A,'BAk;$=JAIP:RA,'٘i)I9ξY Jd5JJJJ&K  6Y 6yŧ779:6)ZZZBZL?YY*W2W WWW"W ) )z*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027238.163165 s, next control iter: 1743027238.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027238.563165 s.hG~,A AJ"J*J2J:JBJnJvJA33333@A*zb@AZ~? AA{+&"AAԈoNA"AZAbAjArAzAAA=u$@A3L'rAξA!RAtAKS?A`?A??A?*A$=2A::Ao'BA$=JA:RAo'YH?T?yt)SٓH]?y+}?]n?@1K?WJ b?)H? I٘i)I9Y J^JtEJJCJ&KQ Yy Aj7j7笙6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027238.603165 s, next control iter: 1743027238.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 737, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027238.983165 s.oG~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200412 time: 1743027238.983312F (some fields omitted in printout)A(\ @A" @AZ~? A(A +&"AAoNA"AZAbAjArAzAAAVz $@A\'EF'rAξAKU8AAdQ?Aa?An?A.5*A#=2A::A֍'BA#=JA:RA֍'٘i)I9Y JJJJJ&K  6Y 6y Aŧ7b76)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027239.003165 s, next control iter: 1743027239.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027239.403165 s.&vG~, AJ"J*J2J:JBJnJvJAR @A' @A Z~? AA+&"AAoNA"AZAbAjArAzAAAFWZ$@ANK'rAξAn:A΂ApO?Aa?A?A%4*Aw#=2Ajl::A'BAw#=JAjl:RA'٘i)I9Y Jl5JJJJ&K Yy77{7:6)ZZZBZL?YY*W2W WWW"W ) )-*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027239.443165 s, next control iter: 1743027239.803174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 738, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027239.823165 s.|G~,% AAzG@AK8v@AZ~? AFAR+&"AAJJJJ&K  6Y 6y A776)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027239.863165 s, next control iter: 1743027240.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027240.243165 s.G~,i AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743027240.243274F (some fields omitted in printout)Aq= ף@Af\@A0Z~? A֞A%+&"AA_oNA"AZAbAjArAzAAAt?$@AN}w&rAξA[:A+AmH?A@a?A}?A5*A#=2A::A (BA#=JA:RA (٘i)I9Y JUB=JJJJ&K Yy A7w6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027240.283165 s, next control iter: 1743027240.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027240.663165 s.G~,q* AtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 739, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@Az/@ACZ~? AeA.+&"AAoNA"AZAbAjArAzAAAF$@A2&rAξA5w9AaYA>C?A}a?A@,z?AZ*A(#=2An::Ar(BA(#=JAn:RAr(Yp6?B?yaYw9ٓHׁ? @k?yN?N?TJh?`.?`(?)p6? I٘i)I9ξY Js4C=JJJCJ&K Yyb77M6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027240.683165 s, next control iter: 1743027241.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027241.083165 s.DG~,SE AJ"J*J2J:JBJnJvJA(\@Am@AVZ~? AA7+&"AAoNA"AZAbAjArAzAAA"=*N%$@A@~%rA ξA.A6A=?A {"a?A^v?AMִ*Ae#=2A::A(BAe#=JA:RA(٘i)I9ξY J>JJJJ&K  6Y 6y A\6)ZZZBZL?YY*W2W WWW"W ) )'*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027241.123165 s, next control iter: 1743027241.483176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027241.503165 s.G~,74` AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199752 time: 1743027241.503277F (some fields omitted in printout)AQ@AJ/@AiZ~? AA?+&"AAljoNA"AZAbAjArAzAAAYa$@A+:(%rAξAAA9?A )a?A@r?APE5*AG#=2A::Ai(BAG#=JA:RAi(٘i)I9Y Jf4JJJJ&K Yy A77{7Ϝ6)ZZZBZL?YY*W2W WWW"W ) )`*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027241.543165 s, next control iter: 1743027241.903174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 740, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027241.923165 s.9G~,{ AJ"J*J2J:JBJnJvJAGz"@A7qrC!@A|Z~? AAEH+&"AAoNA"AZAbAjArAzAAA $@A_;zd%rAξAPAӃA5?AL/a?A@n?A_6*A)#=2A::A|'BA)#=JA:RA|'٘i)I9ξY J5JJJJ&K  6Y 6yj7j7FB6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027241.963165 s, next control iter: 1743027242.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027242.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743027242.763275F (some fields omitted in printout)J"J*J2J:JBJnJvJA(@A-#'@AZ~? A2AgY+&"AA0oNA"AZAbAjArAzAAAn$@AE$rAѤξAW9Ag惽A1?A7a?A >g?A&z*A+"=2At$::Aj(BA+"=JAt$:RAj(Y$?0?yg惽r9ٓH`? x@? ?gy? 9??)$? I٘i)I9Yo{ JtJ'JJCJ&K7  6Y 6y AZ7j7'6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027242.803165 s, next control iter: 1743027243.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027243.183165 s.˲G~,o AA\(,@A΃A/?A&;a?A c?A- ĵ*A"=2A::A"(BA"=JA:RA"(٘i)I9Y JBCJJJJ&K Yy Ab7b7J6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027243.223165 s, next control iter: 1743027243.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027243.603165 s.24G~, AJ"J*J2J:JBJnJvJAQ/@AGz.@AZ~? ARAj+&"AAvoNA"AZAbAjArAzAAApڇ$@ACR$rAξA :A੃A,?A@@a?A@_?A,*AO"=2Ax::A'BAO"=JAx:RA'٘i)I9ξY JѵJJJJ&K  6Y 6y{7j7 6)ZZZBZL?YY*W2W WWW"W ) )^*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027243.643165 s, next control iter: 1743027244.003175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 742 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027244.023165 s.ZG~, | AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200742 time: 1743027244.023330F (some fields omitted in printout)A{G2@A72@AZ~? A⚨As+&"AAoNA"AZAbAjArAzAAA +N$@A4ד $rAξAM:AA#(?A@_Ga?A`\?A85*A}"=2A::AK'BA}"=JA:RAK'٘i)I9Y JzQJJJJ&K Yy Ab7b76)ZZZBZL?YY*W2W WWW"W ) )(*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027244.063165 s, next control iter: 1743027244.423181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743027244.443165 s.5G~,5] AJ"J*J2J:JBJnJvJA ףp=6@ADl5@AZ~? ArA{+&"AAoNA"AZAbAjArAzAAAR.ˆ$@AՈr#rAξAo5AYA"?AOa?A ZX?AWN4*A7 AA9@Az8@AZ~? AA"+&"AAߊoNA"AZAbAjArAzAAAUP7$@A #rAξAoA,0A?A Va?AT?A *AZ"=2A}::A:&BAZ"=JA}:RA:&Yd??y(0oٓHxǹ?"7.~x?`ع?`G@&c? elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743027245.283288F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\<@AO%<@AZ~? AA+&"AAoNA"AZAbAjArAzAAA竉$@A>@#rAξASAA?A ]a?A@P?A~5*A+>"=2Aca::A&BA+>"=JAca:RA&٘i)I9Y J4JJJJ&K Yy A777נ6)ZZZBZL?YY*W2W WWW"W ) )*FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027245.303165 s, next control iter: 1743027245.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 744., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027245.703165 s.ԺG~,m AAQ@@A]z?@A(Z~? A"A/+&"AA&oNA"AZAbAjArAzAAA' $@A["rAξAKAZނA?Aaa?A9M?A*A "=2A:(::A%BA "=JA:(:RA%٘i)I9ξY JW5B=JJJJ&K  6Y 6y Ab77YJ6)ZZZBZL?YY*W2W WWW"W ) )H*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027245.723165 s, next control iter: 1743027246.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027246.123165 s.J "J *J 2J :J BJ nJ vJ 6G~,X AAHzC@A28J^B@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743027246.543310F (some fields omitted in printout)Aףp= G@A9F@AOZ~? ACA5+&"AAloNA"AZAbAjArAzAAAh.t $@AlCt"rAξA0:A AT?A@ia?A`E?A-5*A!=2A::A}_%BA!=JA:RA}_%٘i)I9Y Jd5JJJCJ&K  6Y 6y A77/6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027246.583165 s, next control iter: 1743027246.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 745, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027246.963165 s.uG~,㤽 AJ"J*J2J:JBJnJvJAfffffJ@A.QI@AbZ~? AӗA+&"AAoNA"AZAbAjArAzAAAǟP$@A$ ,0"rAξA/ՠ:AqA?A -ma?A%B?A͡*A3!=2A;::AT%BA3!=JA;:RAT%Y1??yq(:ٓH@?nu9?@&? >eK?T?a?)1? I٘i)I9Y Jd4Jb:JJJ&Kӣ Yy AZ7SI7U6)ZZZBZL?YY*W2W WWW"W ) )*FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743027246.983165 s, next control iter: 1743027247.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027247.383165 s.G~,8 AA(\M@A;sL@AvZ~? AdA5+&"AAoNA"AZAbAjArAzAAAos$@Adj!!rAξA^8:ATA ?Ara?Av>?Aѳ*AF!=2A::A$BAF!=JA:RA$٘i)I9Y JWJJJJ&K  6Y 6y{7Z76)ZZZBZL?YY*W2W WWW"W ) )*FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027247.423165 s, next control iter: 1743027247.783178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 746&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027247.803165 s.uAG~,sg AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743027247.803286F (some fields omitted in printout)J"J*J2J:JBJnJvJAQQ@A9NP@AZ~? AA+&"AA֋oNA"AZAbAjArAzAAA Ii$@AOt"!rAξA:A:A?A`ya?A:?A:M5*Ak!=2A::A$BAk!=JA:RA$٘i)I9Y Jw5JJJJ&K Yy Ab776)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027247.843165 s, next control iter: 1743027248.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027248.223165 s.gG~,H AAGzT@Aףp=S@AZ~? AA/+&"AAoNA"AZAbAjArAzAAAߌ$@A80d!rAξAйA%A?A@!a?A7?AI*A>r!=2A::A0g$BA>r!=JA:RA0g$٘i)I9Y JdJJJJ&K Yy A)7ŧ7^6)ZZZBZL?YY*W2W WWW"W ) )J*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027248.263165 s, next control iter: 1743027248.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027248.643165 s.r G~,)) AJ"J*J2J:JBJnJvJAp= W@A(ZW@AZ~? AA+&"AAoNA"AZAbAjArAzAAA5u:U$@AqYJ !rAξAAA?Aa?A@n3?AS.5*A|U!=2A::A$BA|U!=JA:RA$٘i)I9Y JaJJJCJ&K  6Y 6y m6)ZZZBZL?YY*W2W WWW"WtReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 747, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nan)F (some fields omitted in printout) )4*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027248.683165 s, next control iter: 1743027249.043175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027249.063165 s.G~,V D AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200302 time: 1743027249.063295F (some fields omitted in printout)A33333[@AePmpbZ@AZ~? AA#+&"AAAoNA"AZAbAjArAzAAA`ˍ$@A%p rAξAAq A_?A a?A@/?A4*Ar8!=2A::A#BAr8!=JA:RA#Y??yj ٓH ?@B@?`O? >?qT{?)? I٘i)I9ξY JY5J9JJJ&KE Yy Aŧ7ߤ6)ZZZBZL?YY*W2W WWW"W ) )%*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027249.103165 s, next control iter: 1743027249.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027249.483165 s.s_G~,^ AJ"J*J2J:JBJnJvJA(\^@AYO]@AZ~? A8A+&"AAdoNA"AZAbAjArAzAAA+pA$@A4 rAξAwJAMA ?Aa?A ,?Ag)*A5!=2A::A #BA5!=JA:RA #٘i)I9ξY JJJJJ&K  6Y 6y A77]R6)ZZZBZL?YY*W2W WWW"W ) )*FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027249.503165 s, next control iter: 1743027249.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 748, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027249.903165 s.G~,y AARa@A:a@AZ~? AɔA+&"AAoNA"AZAbAjArAzAAA;::$@AŵT rAξA8AA?Aa?Am(?A|u5*A? =2At.::A#BA? =JAt.:RA#٘i)I9ξY Jd4JJJJ&K Yy7ŧ7ť6)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027249.943165 s, next control iter: 1743027250.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027250.323165 s.s$G~, AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743027250.323279F (some fields omitted in printout)AzGe@A6"wd@AZ~? AZA+&"AAoNA"AZAbAjArAzAAAfj-$@A. rAξAYq:AJ A?A?a?A`$?A$G*A =2A::A#BA =JA:RA#٘i)I9Y J4JJJJ&K  6Y 6y A777776)ZZZBZL?YY*W2W WWW"W ) )&*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027250.343165 s, next control iter: 1743027250.723176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 749&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027250.743165 s.W+G~,q AAq= ףh@Ac*g@AZ~? A듨A+&"AAόoNA"AZAbAjArAzAAA $@AG܅rAξA䴧:A.AT?Aa?A!?At*A =2A:::A#BA =JA::RA#٘i)I9ξY Jz>JJJCJ&K Yy A{7j7d6)ZZZBZL?YY*W2W WWW"W ) )4*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027250.783165 s, next control iter: 1743027251.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027251.163165 s.u}2G~,q AJ"J*J2J:JBJnJvJAl@Ab4/k@A%Z~? A|Ai,&"AAoNA"AZAbAjArAzAAAk$@A7rAξA:A'A?Aha?A r?A;}*5*A =2AU{::A#BA =JAU{:RA#Y ?o?y&R(:ٓH~+?@vu?`4?2`B? elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200142 time: 1743027251.583279F (some fields omitted in printout)A(\o@A5|n@A8Z~? A A ,&"AAoNA"AZAbAjArAzAAAX;$@AF:-ZFrAξA6T9Ax;A?AKa?A@?AO\*Aԉ =2Ao::A#BAԉ =JAo:RA#٘i)I9Y J]4JJJJ&K Yy A7)76)ZZZBZL?YY*W2W WWW"W ) )e*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027251.623165 s, next control iter: 1743027251.983179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 750, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027252.003165 s.x @G~,L4 AJ"J*J2J:JBJnJvJAQr@Aq@ALZ~? AAH,&"AA:oNA"AZAbAjArAzAAA(v$@ArAξAE4A'TA?Aaa?A!?Aqٔ1*Al =2Ah::Az#BAl =JAh:RAz#٘i)I9ξY JRJJJJ&K  6Y 6y Ak6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027252.043165 s, next control iter: 1743027252.403179 s, wait time: 0.360014 s )  rAdjusting time to match Gazebo time: 1743027252.423165 s.uFG~, AAGzv@ACu@A`Z~? A0A,&"AA]oNA"AZAbAjArAzAAA]h~$@Af_rAξAdApAW?A@a?A}?A'5*AP =2AS::Awe#BAP =JAS:RAwe#٘i)I9ξY J\5JJJJ&K Yyb7u6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027252.443165 s, next control iter: 1743027252.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 751, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027252.843165 s.LG~,5 AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199752 time: 1743027252.843282F (some fields omitted in printout)A= ףpy@A-_x@AsZ~? A‘A %,&"AAoNA"AZAbAjArAzAAAb$@Av>{rAξACAAI޻?Aaa?A?A >*A2 =2A!::A #BA2 =JA!:RA #٘i)I9Y JaJJJCJ&K Yy Aj7j76)ZZZBZL?YY*W2W WWW"W ) )ز*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027252.883165 s, next control iter: 1743027253.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027253.263165 s.TG~,P AA|@A&{@AZ~? ASA-,&"AAoNA"AZAbAjArAzAAAzl$@Ai# 8rAξA۷A𱂽Ajܻ?A̾a?A`4 ?A 4*A =2A::A#BA =JA:RA#Y%џ?tݻ?yﱂٓHK?xY|?Z?9`gS?`6@R?)%џ? I٘i)I9ξY JYJ^%JJJ&K*  6Y 6y BZ7lZ6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027253.303165 s, next control iter: 1743027253.663178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 752., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027253.683165 s.lZG~,^k AJ"J*J2J:JBJnJvJA\(@AHJzX@AZ~? A吨A5,&"AAɍoNA"AZAbAjArAzAAA@$@A6hCrAξAj9AՂAۻ?Aa?A?A/S4*A=2A::A#BA=JA:RA#٘i)I9ξY Jt4JJJJ&K Yy7777ͩ6)ZZZBZL?YY*W2W WWW"W ) )7*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027253.683165 s, next control iter: 1743027254.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743027254.103165 s.aG~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743027254.103290F (some fields omitted in printout)AQ@A1c@AZ~? AwAX>,&"AAoNA"AZAbAjArAzAAAGY[$@A[rAξA:A}AOٻ?A a?A`?A*A=2A2::A#BA=JA2:RA#٘i)I9ξY JJJJJ&K  6Y 6y7?6)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027254.143165 s, next control iter: 1743027254.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027254.523165 s.gG~,{ AJ"J*J2J:JBJnJvJA{Gᆇ@ABȗ@AZ~? A AF,&"AAoNA"AZAbAjArAzAAA ғ$@AOnrAξA):AAnֻ?A a?A P?A4*Aɾ=2A::A$BAɾ=JA:RA$٘i)I9Y JdJJJCJ&K Yy B{7{7m6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027254.563165 s, next control iter: 1743027254.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 753, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027254.943165 s.VdnG~,:] AA ףp=@AVl@AZ~? AA!O,&"AA4oNA"AZAbAjArAzAAAGgJ$@Am+rAξAF:ADAIһ?Aa?A ?A3*A=2Ay::A$BA=JAy:RA$٘i)I9Y J\3JJJJ&K  6Y 6y777%6)ZZZBZL?YY*W2W WWW"W ) )ϳ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027254.983165 s, next control iter: 1743027255.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027255.363165 s.uG~,}> AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743027255.363276F (some fields omitted in printout)A@AȌ@AZ~? A-AW,&"AAXoNA"AZAbAjArAzAAANz+”$@A^srA ξAw*AwhA^ͻ?AUa?A?A{f*A&=2A::AA#BA&=JA:RAA#YN?ͻ?ywhٓH`gj?@-{R?x? R`,j?O$?)N? I٘i)I9Y JJUYJJJ&Kᖺ Yy{7Z7ŗ6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027255.403165 s, next control iter: 1743027255.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 754&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027255.783165 s.T{G~, AA)\@AwD%@AZ~? AA_,&"AA|oNA"AZAbAjArAzAAAmYD:$@A1=(^rAξAtAAȻ?A a?Av?AC4*Ah=2A\::A#BAh=JA\:RA#٘i)I9Y JY3JJJJ&K  6Y 6y B777w 6)ZZZBZL?YY*W2W WWW"W ) )/*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027255.803165 s, next control iter: 1743027256.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027256.203165 s.G~, AJ"J*J2J:JBJnJvJAQ@Ah?@AZ~? AQACh,&"AAoNA"AZAbAjArAzAAA͕8$@ATbrAξAAƪAĻ?Aa?A`?Ai֐*AK=2A::A#BAK=JA:RA#٘i)I9Y Ji4JJJJ&K Yy77}6)ZZZBZL?YY*W2W WWW"W ) )[*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027256.243165 s, next control iter: 1743027256.603179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027256.623165 s.TG~,P'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200332 time: 1743027256.623316F (some fields omitted in printout)AHz@A\ݖ@A%Z~? A㍨Ap,&"AAĎoNA"AZAbAjArAzAAAȤu*$@Aۏ^WrAξA=AhǃA?»?Aa?AD?A6*AX/=2Aw::A!#BAX/=JAw:RA!#٘i)I9Y Jd4JJJCJ&K Yyŧ7b76)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027256.663165 s, next control iter: 1743027257.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 755 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027257.043165 s.G~,BAJ"J*J2J:JBJnJvJAףp= @AK89@A9Z~? AvAx,&"AAoNA"AZAbAjArAzAAAɢ$@AfrAӤξAYDAكA?A oa?A?AI6*A=2As%::A#BA=JAs%:RA#٘i)I9ξY |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 250Jd6B=JJJJ&K  6Y 6y Bb77}b6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027257.063165 s, next control iter: 1743027257.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743027257.463165 s.SG~,ۤ]AAfffff@A=Е@AMZ~? AAW,&"AA oNA"AZAbAjArAzAAAry/$@AɀrAۤξA6:A ۃAy?Aa?A?AV*A=2A2::A"E$BA=JA2:RA"E$Y??y ۃ17:ٓHM? ͆x ?y?if wx?F??)? I٘i)I9Y J J JJJ&K f Yy b7 cխ6)Z ZZBZ L?YY *W2W W W W"W  ) ) *FFF] ; Waiting for Gazebo time sync: latest Gz time: 1743027257.543165 s, next control iter: 1743027257.863176 s, wait time: 0.320011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 756, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027257.883165 s.yG~,8xAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743027257.883277F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\¡@Aq@AaZ~? AA,&"AA0oNA"AZAbAjArAzAAA V$@AbVrAξA :AʃAz?Aa?A?A*A=2At::A$BA=JAt:RA$٘i)I9ξY J^5C=JQ>JJJ&K>  6Y 6y77G6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027257.923165 s, next control iter: 1743027258.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027258.303165 s.TG~,ogAAQ@AM@AtZ~? A-A,&"AAToNA"AZAbAjArAzAAA$c> $@ANrA ξA'Q:A񯃽A:?A ra?Aߣ?Aڵ*A=2A#]::A#BA=JA#]:RA#٘i)I9Y J|>JQ>JJJ&K> Yy B77{7v6)ZZZBZL?YY*W2W WWW"W ) )f*FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743027258.343165 s, next control iter: 1743027258.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 757*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027258.723165 s.G~,HAJ"J*J2J:JBJnJvJAGz@AvKp@AZ~? AA^,&"AAxoNA"AZAbAjArAzAAA}A$@A rAξA 9AAѵ?A a?A nܣ?At82*A=2AqK::AV#BA=JAqK:RAV#٘i)I9Y JQB=JJJCJ&K  6Y 6y7)7/-6)ZZZBZL?YY*W2W WWW"W ) )=*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027258.743165 s, next control iter: 1743027259.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027259.143165 s.X/G~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743027259.143282F (some fields omitted in printout)Ap= ׫@A [@AZ~? ARA,&"AAoNA"AZAbAjArAzAAA$@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199742 time: 1743027260.403261F (some fields omitted in printout)J"J*J2J:JBJnJvJAR뵇@A@AZ~? A A,&"AA oNA"AZAbAjArAzAAAd}zi$@AQgrAξAjAA0A3?Ab?A@LΣ?Ae4*A2=2A::A"BA2=JA:RA"٘i)I9Y Jg5JJJJ&K Yy776)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027260.443165 s, next control iter: 1743027260.803175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 759, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027260.823165 s.G~,%4AAzG@A^v@AZ~? AA,&"AA-oNA"AZAbAjArAzAAA\$@A^lrA ξA 9A`A?A@;b?Aʣ?A6*A=2Aq::A"BA=JAq:RA"I٘i)I9Y Jl+JJJCJ&K  6Y 6y B7777j6)ZZZBZL?YY*W2W WWW"W ) )`*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027260.843165 s, next control iter: 1743027261.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027261.243165 s.G~,qOAJ"J*J2J:JBJnJvJAq= ף@Aӻ@AZ~? A1AC,&"AAQoNA"AZAbAjArAzAAA3p@Z\$@A0u>ArA ξAӆv:A҂A?Ab?A Dǣ?Ay5*A;=2AD::AV!BA;=JAD:RAV!٘i)I9Y Ja4JJJJ&K Yyj7j7,ݱ6)ZZZBZL?YY*W2W WWW"W ) )6*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027261.263165 s, next control iter: 1743027261.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027261.663165 s.G~,qjAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200192 time: 1743027261.663299F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 760, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@Aw/@AZ~? AĈA,&"AAvoNA"AZAbAjArAzAAAtL<՛$@ADrAξAȦ:AʵAB?Ab?Aã?A*AW=2A`::A!BAW=JA`:RA!YH??yõ :ٓH`ź?@.v@N?κ?ES?`T?`P?)H? I٘i)I9Y JJ5B=J9:JJJ&K8  6Y 6yŧ7ŧ7O6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027261.683165 s, next control iter: 1743027262.063183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743027262.083165 s.DG~,RAJ"J*J2J:JBJnJvJA(\Ç@A ˟o‡@A)Z~? AWA,&"AAoNA"AZAbAjArAzAAARO$@AKrAξAe|:AA?A@b?A;?A| &*A=2A::AK[!BA=JA:RAK[!٘i)I9Y JQC=JJJJ&K Yy B777²6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027262.123165 s, next control iter: 1743027262.483176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027262.503165 s.G~,+4AAQƇ@A!Ň@A=Z~? A뇨A",&"AAoNA"AZAbAjArAzAAA>aɜ$@A~bzrAξA/9AeA?A$b?A?AK5*AC=2A3::As BAC=JA3:RAs ٘i)I9Y J4JJJJ&K  6Y 6y77/56)ZZZBZL?YY*W2W WWW"W ) )Ͳ*FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027262.523165 s, next control iter: 1743027262.903173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 761, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027262.923165 s.BG~,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200252 time: 1743027262.923304F (some fields omitted in printout)AGzʇ@AQECɇ@AQZ~? A~Ai,&"AAoNA"AZAbAjArAzAAA/\C$@Ay8rAξAӧ:A9rAS?At*b?A`9?A/*A=2A::A BA=JA:RA ٘i)I9Y Jd4JJJCJ&K Yy7ݧ6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027262.943165 s, next control iter: 1743027263.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027263.343165 s.K<rA ξAAbAQ?A/b?A?A3*Aq=2Aɒ::Ao BAq=JAɒ:RAo ٘i)I9Y JJJJJ&K  6Y 6y Bŧ7b76)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027263.383165 s, next control iter: 1743027263.743174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 762", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027263.763165 s.6G~,AJ"J*J2J:JBJnJvJAЇ@Ai*χ@AyZ~? AA,&"AA+oNA"AZAbAjArAzAAA 17$@AErAξATAWA?A4b?A =?AB5*AvU=2A_::A> BAvU=JA_:RA> Y?퐻?yWˡٓH?p@z??@')H?Rh?)? I٘i)I9Y JyQ5JX9JJJ&K Yy77776)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027263.803165 s, next control iter: 1743027264.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027264.183165 s.G~,Z AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200242 time: 1743027264.183304F (some fields omitted in printout)A\(ԇ@A4BXӇ@AZ~? A9A6-&"AAPoNA"AZAbAjArAzAAA"$@A|qrAξA3AhPA?A@6b?A?A)*A9=2Ab::AB BA9=JAb:RAB ٘i)I9Y JcJJJJ&K Yy  B)7)76)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027264.223165 s, next control iter: 1743027264.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027264.603165 s.34 G~,&AJ"J*J2J:JBJnJvJAQׇ@Auև@AZ~? AͅAx-&"AAtoNA"AZAbAjArAzAAA w,$@Ab`/rAξA{9AMAڋ?A 9b?A B?Aݧ4*A=2A]::A/ BA=JA]:RA/ ٘i)I9Y JdJJJCJ&K  6Y 6y77r6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027264.623165 s, next control iter: 1743027265.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 763 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027265.023165 s.ZG~,{AAA{Gڇ@A bڇ@AZ~? A`A-&"AAoNA"AZAbAjArAzAAA $@AGPrAξA=:AOAK?A ;b?Aŧ?A͆4*A@=2Aq::A. BA@=JAq:RA. ٘i)I9ξY J4JJJJ&K Yy7746)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027265.063165 s, next control iter: 1743027265.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027265.443165 s.0G~, ]\AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199702 time: 1743027265.443271F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=އ@AʧǶl݇@AZ~? AA-&"AAoNA"AZAbAjArAzAAA\!$@AfKrAξA:ATA?A`?b?AH?AR*A=2Ad=::A) BA=JAd=:RA) ٘i)I9ξY JJJJJ&K  6Y 6y  Bj7j7W6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027265.463165 s, next control iter: 1743027265.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 764, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027265.863165 s.+G~,}>wAA@An/@AZ~? AA3'-&"AAoNA"AZAbAjArAzAAA/S$@A SirAξAj>:A^A?AIEb?A Ϡ?A/4*A=2AF$::ABA=JAF$:RAYu?'?y^w>:ٓH j?(x`?l ?`6I?PG?g?)u? I٘i)I9Y JPB=J JJJ&K Yy77{7ʶ6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027265.883165 s, next control iter: 1743027266.263176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027266.283165 s.3R$G~,AJ"J*J2J:JBJnJvJA)\@Am%@AZ~? AAo/-&"AAoNA"AZAbAjArAzAAA ,$@Ae'rAξAAzlA?AsKb?AS?AOa*Ay=2AD::ABAy=JAD:RA٘i)I9Y Jm4C=JJJJ&K  6Y 6y77?=6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027266.323165 s, next control iter: 1743027266.683176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 765*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027266.703165 s.Һ*G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199712 time: 1743027266.703259F (some fields omitted in printout)AQ@AB/h@AZ~? AA7-&"AA+oNA"AZAbAjArAzAAAe/$@ABrAξAIMyA}A~z?AfQb?Aٙ?AV*A=2AW::ABA=JAW:RA٘i)I9Y JtJJJCJ&K Yy  Bb776)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027266.743165 s, next control iter: 1743027267.103174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743027267.123165 s.71G~,]AJ"J*J2J:JBJnJvJAHz@Ao^@AZ~? ADA?-&"AAOoNA"AZAbAjArAzAAAi/eW $@A8_rAξAAAv?A ?Vb?Ab?A7/ 5*Awx=2A::ABAwx=JA:RA٘i)I9Y Jh4JJJJ&K  6Y 6y"6)ZZZBZL?YY*W2W WWW"W ) )ܲ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027267.163165 s, next control iter: 1743027267.523179 s, wait time: 0.360014 s) rAdjusting time to match Gazebo time: 1743027267.543165 s.I8G~,AAףp= @A*r9@A/Z~? A؂AH-&"AAtoNA"AZAbAjArAzAAA?$@A$arAξAyAꩂAt?AYb?A@꒣?A^{i*A\=2A::ABA\=JA:RA٘i)I9ξY Jd4B=JJJJ&K YyJ6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027267.583165 s, next control iter: 1743027267.943176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 766, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027267.963165 s.x>G~,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743027267.963290F (some fields omitted in printout)Afffff@Ad@ADZ~? AmANP-&"AAoNA"AZAbAjArAzAAA?$@A Ϗ% rAξAAÂAus?A[b?A`t?A$ 4*A"A=2Aa::ABA"A=JAa:RAYwg?s?yÂCٓH?Z|#?+?`< U? #N?)wg? I٘i)I9ξY J_C=JSJJJ&K  6Y 6y  Bŧ7b76)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027268.003165 s, next control iter: 1743027268.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027268.383165 s.EG~,4AA(\@A@AXZ~? AAX-&"AAoNA"AZAbAjArAzAAA.X$@ArrAξA>:A8߂A\r?A^b?A?A4*A%=2A ::ABA%=JA :RA٘i)I9Y Jd4JJJJ&K Yyz6)ZZZBZL?YY*W2W WWW"W ) )D*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027268.423165 s, next control iter: 1743027268.783178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 767", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027268.803165 s.vALG~J,wg3A"J*J2J:JBJnJvJAQ@A N@AlZ~? AA`-&"AAoNA"AZAbAjArAzAAAW$@A@=˜rAξA:AAp?A`b?A`?AU$ƴ*A =2A::A. BA =JA:RA. ٘i)I9Y JdJJJCJ&K Yyŧ7E6)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027268.843165 s, next control iter: 1743027269.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027269.223165 s.gSG~,HNAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743027269.223288F (some fields omitted in printout)AGz@A1@AZ~? A*Ah-&"AAoNA"AZAbAjArAzAAA.[v$@Ajt~/[rAξAJ:AAvm?ACeb?A`?A*3*An=2AZ::A BAn=JAZ:RA ٘i)I9Y JvJJJJ&K  6Y 6y  B77_6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027269.263165 s, next control iter: 1743027269.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027269.643165 s.wYG~, *iAJ"J*J2J:JBJnJvJAp= @AnU@AZ~? AAq-&"AA,oNA"AZAbAjArAzAAAO $@A-SrAξA(9AM7A?i?Ajb?A?A}!3*A =2A::AW BA =JA:RAW ٘i)I9Y Jc4JJJJ&K Yy77{7Һ6)ZZZBZL?YY*W2W WWW"W ) )*tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 768, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027269.663165 s, next control iter: 1743027270.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027270.063165 s.`G~,V AA33333@AOpb@AZ~? ASAEy-&"AAPoNA"AZAbAjArAzAAA@m$@ArA ξA gATAd?Apb?A2~?AK#*A=2A9::ABA=JA9:RAY@)?) elevatorAngleAction: 0.000000"J< massPositionAction: 0.000000*J2J4 buoyancyAction: 0.000955:J dt: 0.419992BJnJ2 time: 1743027270.483278vJF (some fields omitted in printout)A(\@A3@AZ~? AAr-&"AAuoNA"AZAbAjArAzAAA{$@A`\rA ξA-AqAb`?ANvb?A@z?A74*As=2As::ABAs=JAs:RA٘i)I9Y JnJJJJ&K Yy B77j76)ZZZBZL?YY*W2W WWW"W ) ) *FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027270.523165 s, next control iter: 1743027270.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 769, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027270.903165 s.mG~,͹AAR @Ag @AZ~? A}A-&"AAoNA"AZAbAjArAzAAAYe$@A<4UrAξAA AY]?Atzb?ATw?A4*A=2A{I::ABA=JA{I:RA٘i)I9Y Jd4JJJCJ&K  6Y 6y77*6)ZZZBZL?YY*W2W WWW"W ) )1*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027270.923165 s, next control iter: 1743027271.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027271.323165 s.ttG~,AJ"J*J2J:JBJnJvJAzG @A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743027271.743292F (some fields omitted in printout)Aq= ף@A$F@AZ~? A~A-&"AAoNA"AZAbAjArAzAAA;=t^$@AO{rAξA..9AAZ?A "b?A`}p?Ag'5*AJ=2A::A BAJ=JA:RA ٘i)I9Y Jj3JJJJ&K  6Y 6y B776)ZZZBZL?YY*W2W WWW"W ) )r*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027271.783165 s, next control iter: 1743027272.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027272.163165 s.J w}G~"J*J,q A2J:JBJnJvJA@A5K/@AZ~? A<~A-&"AAoNA"AZAbAjArAzAAAqUڧ$@AH0rAξA{:ÃA`Y?AIb?Am?Aօ'6*A/=2Af_::ABA/=JAf_:RAY K?XW?ỹg|:ٓH`U?Bx?`_? 9e@v?@|O? ?) K? I٘i)I9ξY J5JJJJ&K9 Yy776)ZZZBZL?YY*W2W WWW"W ) )*FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743027272.183165 s, next control iter: 1743027272.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027272.583165 s.G~,R%AA(\@AX)@A%Z~? A}A>-&"AA-oNA"AZAbAjArAzAAA)W$@A5OrAξAl:AуA5W?Ayb?Ai?A6*A=2A"::AF( BA=JA":RAF( ٘i)I9Y Jd5JJJCJ&K Yy{7{7V6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027272.623165 s, next control iter: 1743027272.983175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 771, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027273.003165 s.{ G~,Y4@AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200292 time: 1743027273.003297F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A@A9Z~? Af}Ab-&"AARoNA"AZAbAjArAzAAAtԦӨ$@A[; rAξAu:AɃAS?Ab?A Df?AFG*A2=2A::A. BA2=JA:RA. ٘i)I9ξY J JJJJ&K  6Y 6y Bŧ7b7h6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027273.043165 s, next control iter: 1743027273.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027273.423165 s.uG~,{[AAGz@AJOC@ANZ~? A|A-&"AAwoNA"AZAbAjArAzAAA-fFP$@AgrA ξAo9ABAQO?A@Վb?A`b?AR*A=2A::A&BA=JA:RA&٘i)I9Y JdJJJJ&K Yy777ھ6)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027273.463165 s, next control iter: 1743027273.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 772, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027273.843165 s.ݜG~,uAJ"J*J2J:JBJnJvJA= ףp!@A @AbZ~? A|A-&"AAoNA"AZAbAjArAzAAAQ ͩ$@AZt wrAξABA2AJ?A`b?A@_?AS *A)=2A@::AYOBA)=JA@:RAYO٘i)I9Y JQJJJJ&K  6Y 6yj7j7QM6)ZZZBZL?YY*W2W WWW"W ) )Q*FFF]x:Waiting for Gazebo time sync: latest Gz time: 1743027273.863165 s, next control iter: 1743027274.243175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027274.263165 s.!G~,IؐAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743027274.263310F (some fields omitted in printout)A$@A46#@AwZ~? A&|A-&"AAoNA"AZAbAjArAzAAArI$@AeKrAξAۑAfAF?Ab?A%\?Ay5*Aĩ=2A::ABAĩ=JA:RAYH=?I?y`確ٓH@ip?ѿ??1M`Gn?;RT`?)H=? I٘i)I9Y Jl>5B=J9JJJ&K Yy BZ7Z76)ZZZBZL?YY*W2W WWW"W ) )1*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027274.303165 s, next control iter: 1743027274.663179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 773*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027274.683165 s.lG~,cAJ"J*J2J:JBJnJvJA\((@AzVX'@AZ~? A{A-&"AAoNA"AZAbAjArAzAAAwǪ$@AgO^ rA ξAiALpAxD?A b?A@X?A"@*A=2A::ABA=JA:RA٘i)I9Y Jd4C=JJJCJ&K  6Y 6yj726)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027274.683165 s, next control iter: 1743027275.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743027275.103165 s.G~,AAQ+@A Pj*@AZ~? AQ{A-&"AA oNA"AZAbAjArAzAAAD$@A(brAξA޹AcVAC?ATb?AiU?A;4*At=2AV::ABAt=JAV:RA٘i)I9Y J{JJJJ&K Yyŧ7b7\6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027275.143165 s, next control iter: 1743027275.503182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743027275.523165 s.G~,{AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743027275.523290F (some fields omitted in printout)A{G.@AԹ.@AZ~? AzA-&"AA0oNA"AZAbAjArAzAAA~YH$@ArrAξA9A3<A.B?A`b?AR?Ac4*AY=2A::A4BAY=JA:RA4٘i)I9Y J}>5JJJJ&K  6Y 6y B77776)ZZZBZL?YY*W2W WWW"W ) )dz*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027275.563165 s, next control iter: 1743027275.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 774, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027275.943165 s.VdG~,:]AA ףp=2@Ael1@AZ~? A|zA9-&"AAUoNA"AZAbAjArAzAAA> k>$@A8GrA ξAZ:A;"A@?Agb?AN?Al*g*AL?=2AF::AVnBAL?=JAF:RAVn٘i)I9Y JJJJJ&K Yyŧ776)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027275.983165 s, next control iter: 1743027276.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027276.363165 s.G~,p>AJ"J*J2J:JBJnJvJA5@A@4@AZ~? AzAR-&"AAzoNA"AZAbAjArAzAAA$!ɻ$@A+_rAξA:AA4>?Ab?A@[K?Ad'4*A%=2A::A #BA%=JA:RA #YR/?;?y :ٓH9?Lg elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200502 time: 1743027276.783310F (some fields omitted in printout)A)\8@AY,%8@AZ~? AyAj-&"AAoNA"AZAbAjArAzAAAj.9$@A7rA ξA6:AAe:?A b?A H?AQ*A =2Anm::A~BA =JAnm:RA~I٘i)I9Y JQ5JJJCJ&K  6Y 6y B777p6)ZZZBZL?YY*W2W WWW"W ) )`*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027276.803165 s, next control iter: 1743027277.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027277.203165 s.G~,*MAJ"J*J2J:JBJnJvJAQ<@A;@AZ~? A>yA.&"AAŕoNA"AZAbAjArAzAAA&(Y$@A"rAξA?TDAyڂA5?A b?A@D?A[*AM=2Ad::AݙBAM=JAd:RAݙ٘i)I9Y JJJJJ&K Yy77{76)ZZZBZL?YY*W2W WWW"W ) )A*FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743027277.243165 s, next control iter: 1743027277.603179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027277.623165 s.SG~,LgAAHz?@A/r>@AZ~? AxA .&"AAoNA"AZAbAjArAzAAAhVg4$@ATkDrA ξA~A-ƂA1?Ab?ATA?A 5*A-=2AX::Aw;BA-=JAX:RAw;٘i)I9Y Jtd4B=JJJJ&K  6Y 6yj7Z7jU6)ZZZBZL?YY*W2W WWW"W ) )%*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027277.643165 s, next control iter: 1743027278.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 776 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027278.043165 s.G~,ÂAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200582 time: 1743027278.043327F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= C@Az9B@A1Z~? AjxA.&"AAoNA"AZAbAjArAzAAA8$@AZrAξAAVA?.?AQb?A=?A *A̻=2A7::A BA̻=JA7:RA ٘i)I9Y J4C=JJJJ&K Yy B776)ZZZBZL?YY*W2W WWW"W ) ) *FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027278.083165 s, next control iter: 1743027278.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027278.463165 s.QG~,ӤAAfffffF@A)\•E@AFZ~? AxA.&"AA4oNA"AZAbAjArAzAAA"0$@ArA ξA rA<A:,?A/b?A:?Ab}*At=2A::AOBAt=JA:RAOY!?*.?y8.sٓH ? `N?`N?2@Q?VNU?)!? I٘i)I9Y JeJs9JJJ&K@  6Y 6yŧ7ŧ7:6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027278.503165 s, next control iter: 1743027278.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 777, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027278.883165 s.yG~,+AJ"J*J2J:JBJnJvJA(\I@AؘH@A[Z~? AwA#.&"AAYoNA"AZAbAjArAzAAAgy$@A"rAξA|A&A'+?Ab?AW7?A35*A$=2Aī::AvBA$=JAī:RAv٘i)I9Y J4JJJCJ&K Yy{7j7c6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027278.923165 s, next control iter: 1743027279.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027279.303165 s.UG~,sgAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743027279.303289F (some fields omitted in printout)AQM@A NL@ApZ~? A,wA+.&"AA~oNA"AZAbAjArAzAAAOO!,$@Aq pArAAE:AKA3*?Ab?A4?A[ȴ*Al=2AX::ABAl=JAX:RA٘i)I9Y JJJJ&K  6Y 6y B77 6)ZZZBZL?YY*W2W WWW"W ) )۲*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027279.343165 s, next control iter: 1743027279.703177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 778*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027279.723165 s.G~,HAJ"J*J2J:JBJnJvJAGzP@A+O@AZ~? AvA3.&"AAoNA"AZAbAjArAzAAAjA4$@AEw{rAξAI:AˊA}(?AFb?A0?AF*AXR=2A-::AȹBAXR=JA-:RAȹ٘i)I9Y Ja<JJJJ&K Yyb776)ZZZBZL?YY*W2W WWW"W ) )Ӳ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027279.763165 s, next control iter: 1743027280.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027280.143165 s.U/G~,* AAp= S@AO9S@AZ~? AYvA;.&"AAɖoNA"AZAbAjArAzAAAO[($@A rAξAː:AA%?A@0b?Aa-?A#' 4*A8=2A::ABA8=JA:RA٘i)I9Y Jd4C=JJJJ&K  6Y 6y7777d6)ZZZBZL?YY*W2W WWW"W ) )в*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027280.183165 s, next control iter: 1743027280.543177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027280.563165 s.G~,J $AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743027280.563279F (some fields omitted in printout)A33333W@A1߄bV@AZ~? AuAD.&"AAoNA"AZAbAjArAzAAAM~$@AK rAξAt9AAn!?A@Ib?A*?A*A=2Ay::AaqBA=JAy:RAaqYD? ?y9ٓH»?z?@λ?8@nN?`:? ]?)D? I٘i)I9Y JdJA9JJCJ&Kg Yy Bx6)ZZZBZL?YY*W2W WWW"W ) )Ѳ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027280.603165 s, next control iter: 1743027280.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 779, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027280.983165 s.G~,>AA(\Z@A;ǾY@AZ~? AuA L.&"AAoNA"AZAbAjArAzAAAŏ\ %$@Ah>@ rA ξA$3AގA?Ab?A@&?AI]4*A=2A::A6BA=JA:RA6٘i)I9Y J\JJJJ&K Yy{76)ZZZBZL?YY*W2W WWW"W ) )ز*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027281.023165 s, next control iter: 1743027281.383176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027281.403165 s.J "J *J 2J :J BJ nJ vJ &G~,YAAR]@A"]@AZ~? AuAT.&"AA9oNA"AZAbAjArAzAAAȪ$@Av) rAξA;AA?Ab?Ap#?Abl4*A=2A::ABA=JA:RA٘i)I9Y J4JJJJ&K  6Y 6y{7j7i]6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027281.443165 s, next control iter: 1743027281.803180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 780, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027281.823165 s.G~,!tAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743027281.823303F (some fields omitted in printout)AzGa@AWv`@AZ~? AtA\.&"AA^oNA"AZAbAjArAzAAA&/B"$@AF rAξAlA-A?A@ab?A`" ?A*AF=2AȚ::ABAF=JAȚ:RA٘i)I9Y J[JJJJ&K Yy B776)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027281.863165 s, next control iter: 1743027282.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027282.243165 s.#G~,dAJ"J*J2J:JBJnJvJAq= ףd@A x#c@AZ~? AJtAd.&"AAoNA"AZAbAjArAzAAA9$$@Awe rAξAQ}2A5A?A@b?A`?A_4*A =2AV::AHBA =JAV:RAH٘i)I9Y J`4JJJJ&K  6Y 6y77j7B6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027282.283165 s, next control iter: 1743027282.643177 s, wait time: 0.360012 s) rAdjusting time to match Gazebo time: 1743027282.663165 s.*G~,qAtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 781, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)Ah@A/g@AZ~? AsA"l.&"AAoNA"AZAbAjArAzAAAM$@A{V3? rAξA|T9AA?A-b?A?Aȵ[2*A=2Ap::A"BA=JAp:RA"Y?8?y\U9ٓHwܻ?'@{?.?`=@BU?*?`O?)? I٘i)I9Y JL4B=J?JJCJ&K?~ Yy776)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027282.683165 s, next control iter: 1743027283.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027283.083165 s.D1G~,RAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199762 time: 1743027283.083290F (some fields omitted in printout)A(\k@A0.Uij@A+Z~? AxsA%t.&"AAΗoNA"AZAbAjArAzAAAɇ$@AI rAξA: :AӂA?Ab?A>?A*Ab=2Aڵ::A[4BAb=JAڵ:RA[4٘i)I9Y J{C=JJJJ&K  6Y 6y Bŧ7ŧ7(6)ZZZBZL?YY*W2W WWW"W ) )5*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027283.123165 s, next control iter: 1743027283.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027283.503165 s.7G~,34AAQn@A&zm@A@Z~? AsA'|.&"AAoNA"AZAbAjArAzAAA<$@A,3K rAA{f:AH肽A}?Ab?A?A94*A4f=2A|::A66BA4f=JA|:RA66٘i)I9Y JJJJ&K Yyb77ǚ6)ZZZBZL?YY*W2W WWW"W ) )Q*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027283.543165 s, next control iter: 1743027283.903174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 782, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027283.923165 s.:>G~,AJ"J*J2J:JBJnJvJAGzr@AuCq@AUZ~? ArA'.&"AAoNA"AZAbAjArAzAAAϕ$@A|Z~ rAξAo:AZA ?A@b?A?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200002 time: 1743027284.343294F (some fields omitted in printout)A= ףpu@A-_t@AjZ~? A=rA%.&"AA?oNA"AZAbAjArAzAAAU$@Ayv> rA ξAX8AqA?A`0b?A` ?AeP*A2=2AR::ABA2=JAR:RA٘i)I9Y JcC=JJJJ&K Yy6)ZZZBZL?YY*W2W WWW"W ) )*FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743027284.363165 s, next control iter: 1743027284.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 783&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027284.763165 s.7KG~,0AJ"J*J2J:JBJnJvJAx@A)/w@AZ~? AqA".&"AAdoNA"AZAbAjArAzAAAh$$@A rA ξA8IA%-Ap?Avb?A ?Aq#4*A=2A1J::ApBA=JA1J:RApY? ?y#-IٓH@?`?@i? Db?'I3?)? I٘i)I9Y JZ4JJJCJ&Kz Yy)7ŧ76)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027284.783165 s, next control iter: 1743027285.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027285.183165 s.RG~,^KAA\(|@A?=X{@AZ~? AlqA.&"AAoNA"AZAbAjArAzAAA@$@A rAAVADA?Ab?A?A'x*A=2A1::AmBA=JA1:RAm٘i)I9Y JJJJ&K  6Y 6y B{7{7ve6)ZZZBZL?YY*W2W WWW"W ) )г*FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027285.203165 s, next control iter: 1743027285.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027285.603165 s.>4YG~,̚fAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4201342 time: 1743027285.603423F (some fields omitted in printout)AQ@A*~@AZ~? AqA.&"AAoNA"AZAbAjArAzAAA޺$@A  rAAA\A?A@b?A?A4*A=2A::ABA=JA:RA٘i)I9Y JJJJ&K Yyj7+6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027285.623165 s, next control iter: 1743027286.003185 s, wait time: 0.380020 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 784 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027286.023165 s.Z`G~,|AA{Gႈ@A?N@AZ~? ApA.&"AA՘oNA"AZAbAjArAzAAA1wE$@Aۧ0? rAξAcιA8sAK?Ab?AI?AK4*A=2A::A; BA=JA:RA; ٘i)I9Y J-K3<JJJJ&K  6Y 6y777J6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027286.063165 s, next control iter: 1743027286.423187 s, wait time: 0.360022 s rAdjusting time to match Gazebo time: 1743027286.443165 s.7fG~,>]AJ"J*J2J:JBJnJvJA ףp=@A{fl@AZ~? A2pA .&"AAoNA"AZAbAjArAzAAASژ$@Ak)a rA ξA:AÈA?Ab?A?A{̳*Aɯ=2Ab::A'BAɯ=JAb:RA'٘i)I9Y JfC=JJJJ&K Yy Bj7Z7y6)ZZZBZL?YY*W2W WWW"W ) )-*FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027286.463165 s, next control iter: 1743027286.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 785, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027286.863165 s.+mG~,>AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027286.863277F (some fields omitted in printout)A@AU-Ȉ@AZ~? AoA.&"AA oNA"AZAbAjArAzAAA-Py$@AJ5 rA ξA:AA2?Ab?A?AmJ3*Aԕ=2A::AW5BAԕ=JA:RAW5Yu??yc:ٓH ?`z@1x??@_p?`yR??)u? I٘i)I9Y JYJJJCJ&K|  6Y 6yj7,06)ZZZBZL?YY*W2W WWW"W ) )H*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027286.903165 s, next control iter: 1743027287.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027287.283165 s.5RtG~,AJ"J*J2J:JBJnJvJA)\@Azލ%@AZ~? AaoA.&"AAEoNA"AZAbAjArAzAAA@($@An/ rA ξAt:AA?A c?A?Ar+*A{=2A::An5BA{=JA:RAn5٘i)I9Y JhJJJJ&K Yy7777Ӣ6)ZZZBZL?YY*W2W WWW"W ) )a*FFF]x:Waiting for Gazebo time sync: latest Gz time: 1743027287.303165 s, next control iter: 1743027287.683176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 786*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027287.703165 s.ֺzG~,AAQ@A/@AZ~? AnA.&"AAkoNA"AZAbAjArAzAAA$@A46@ rA ξAs.:AHA?Ac?A`E?A",5*AGb=2A::ABAGb=JA:RA٘i)I9Y JIB=JJJJ&K  6Y 6y Bb776)ZZZBZL?YY*W2W WWW"W ) )v*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027287.723165 s, next control iter: 1743027288.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027288.123165 s.8G~,aAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200412 time: 1743027288.123310F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@A-cݒ@A(Z~? AnA.&"AAoNA"AZAbAjArAzAAA^ڗ$@A<ڒ rAξAfA ȃA?A@ c?A@ ?A5*AH=2A::ABAH=JA:RA٘i)I9ξY |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 249J5C=JJJJ&K Yy{7j716)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027288.163165 s, next control iter: 1743027288.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027288.543165 s.IG~,"AAףp= @A>9@A=Z~? A(nA.&"AAoNA"AZAbAjArAzAAAр$@A색rAξAVAYȃAe?Ac?A ?A<8ܵ*A.=2A::ABA.=JA:RA٘i)I9Y J$B=JJJCJ&K Yyj7Z7 6)ZZZBZL?YY*W2W WWW"W ) ) *FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027288.603165 s, next control iter: 1743027288.943175 s, wait time: 0.340010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 787, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027288.963165 s.vG~,=AJ"J*J2J:JBJnJvJAfffff@A㕙@ARZ~? AmA.&"AAܙoNA"AZAbAjArAzAAAp$@AmrA ξAA5A?`Rt?OT ?)ߞ? I٘i)I9ξY JC=Jf$Q>JJJ&K u>  6Y 6y B{7{7m6)ZZZBZL?YY*W2W WWW"W ) )y*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027289.003165 s, next control iter: 1743027289.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027289.383165 s.ؕG~,'XAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200002 time: 1743027289.383275F (some fields omitted in printout)A(\@As@AgZ~? AXmA.&"AAoNA"AZAbAjArAzAAAQ$@A.uArAξAmA_Ab?A c?AY?A 整*A=2A@e::AvBA=JA@e:RAv٘i)I9Y JdJQ>JJJ&K> Yy77.6)ZZZBZL?YY*W2W WWW"W ) )e*FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027289.403165 s, next control iter: 1743027289.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 788", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027289.803165 s.vAG~,wgsAJ"J*J2J:JBJnJvJAQ@AM@A|Z~? AlA.&"AA'oNA"AZAbAjArAzAAA$@AܫrrAξAAcAw?A{c?A%?Ah4*A=2A::AXBA=JA:RAX٘i)I9Y JbJJJJ&K  6Y 6yb7R6)ZZZBZL?YY*W2W WWW"W ) )N*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027289.843165 s, next control iter: 1743027290.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027290.223165 s.gG~,HAAGz@Aʄ_@AZ~? AlA.&"AAMoNA"AZAbAjArAzAAA$@ASerA ξAqL:AތA?Ac?A`ޢ?AB3*AC=2A::ADBAC=JA:RAD٘i)I9Y JU4B=JJJJ&K Yy B76)ZZZBZL?YY*W2W WWW"W ) )5*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027290.263165 s, next control iter: 1743027290.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027290.643165 s.J "J *J 2J :J BJ nJ vJ ЩG~,5*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743027290.643298F (some fields omitted in printout)Ap= ק@A&6@AZ~? A lAl/&"AAsoNA"AZAbAjArAzAAA^W$@A3rAξAx:A,yA?A c?Aۢ?A`*Aޯ=2Ad::A)BAޯ=JAd:RA)٘i)I9Y JQJJJCJ&K  6Y 6yS77H86)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 789, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027290.683165 s, next control iter: 1743027291.043189 s, wait time: 0.360024 s rAdjusting time to match Gazebo time: 1743027291.063165 s.G~,N AA33333@A@̘b@AZ~? AkAU /&"AAoNA"AZAbAjArAzAAAzG$@A8KDrAξA :AdA?Ac?A@آ?A3*A=2A_::AYBA=JA_:RAYYҞ?޺?yd?X:ٓHID? x?`N?Wi?Q?@$?)Ҟ? I٘i)I9Y JvC=J9JJJ&Ky Yy77{76)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027291.103165 s, next control iter: 1743027291.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027291.483165 s.J "J *J 2J :J BJ x_G~nJvJ,AA(\@A֭@AZ~? AQkA</&"AAoNA"AZAbAjArAzAAA[$@AwrAξA9AOAݺ?A^$c?AWբ?AS*A}=2AP::ABA}=JAP:RA٘i)I9Y Jd4JJJJ&K  6Y 6y B776)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027291.523165 s, next control iter: 1743027291.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 790, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027291.903165 s.ȽG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743027291.903292F (some fields omitted in printout)AR뱈@AD2@AZ~? AjA"/&"AAoNA"AZAbAjArAzAAA= $@AꓳrAξAA:Aغ?A)c?A&Ң?Aª*Atd=2AJ::AZBAtd=JAJ:RAZ٘i)I9Y JdJJJJ&K Yy{7{776)ZZZBZL?YY*W2W WWW"W ) )ų*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027291.943165 s, next control iter: 1743027292.303176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027292.323165 s.uG~,!AJ"J*J2J:JBJnJvJAzG@AW`v@AZ~? AjA#/&"AA oNA"AZAbAjArAzAAAfߛ$@AOrAξAs)A&AԺ?A.c?A΢?A4*AqK=2A9::A BAqK=JA9:RA ٘i)I9Y Jd4JJJJ&K  6Y 6y77776)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027292.363165 s, next control iter: 1743027292.723178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 791&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027292.743165 s.WG~,`/AAq= ף@Akӷ@AZ~? AjA*/&"AA/oNA"AZAbAjArAzAAA>$@A1XGrA ξA@A,A(Һ?AD1c?A ˢ?A*AL2=2A::ABAL2=JA:RAI٘i)I9Y J~d4B=JJJCJ&K Yy  B77u6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027292.763165 s, next control iter: 1743027293.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027293.163165 s.z}G~,qJAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743027293.163275F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AC/@A&Z~? AiA2/&"AAUoNA"AZAbAjArAzAAAjp̝$@A6rAA,AAк?A -3c?AȢ?ALx3*A+=2A::A`BA+=JA:RA`YŞ?Һ?yLo,ٓH]? O ಼?@5o?> ?]?`E>?)Ş? I٘i)I9Y J9JJJ&K/r Yy7<6)ZZZBZL?YY*W2W WWW"W ) )u*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027293.203165 s, next control iter: 1743027293.563179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027293.583165 s.G~,ReAA(\@A7QKs@A;Z~? AKiA:/&"AA{oNA"AZAbAjArAzAAA6$@A?rA ξAmt9AAϺ?A_4c?A qŢ?Ar4*A=2A&}::ABA=JA&}:RA٘i)I9Y J3<JJJJ&K  6Y 6yŧ77Z6)ZZZBZL?YY*W2W WWW"W ) )^*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027293.623165 s, next control iter: 1743027293.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 792, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027294.003165 s.J "J *J 2J G~:JBJ,4AnJvJAQˆ@A`@AQZ~? AhAB/&"AAoNA"AZAbAjArAzAAA1/$@AәrA ξAջ:A!ႽAκ?A 5c?A`E¢?A5*A=2A!1::ABA=JA!1:RA٘i)I9Y J_C=JJJJ&K Yy !B776)ZZZBZL?YY*W2W WWW"W ) )I*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027294.043165 s, next control iter: 1743027294.403190 s, wait time: 0.360025 s rAdjusting time to match Gazebo time: 1743027294.423165 s.uG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199522 time: 1743027294.423270F (some fields omitted in printout)AGzƈ@AECCň@AfZ~? A}hAkJ/&"AAǛoNA"AZAbAjArAzAAA!$@AIzKrA ξA>{:AKԂA̺?A_8c?A@?A;1*A=2A::AxBA=JA:RAx٘i)I9Y JdJJJJ&K  6Y 6y{7j7?@6)ZZZBZL?YY*W2W WWW"W ) )8*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027294.443165 s, next control iter: 1743027294.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 793, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027294.843165 s.G~,AJ"J*J2J:JBJnJvJA= ףpɈ@A1YܟȈ@A{Z~? AhAHR/&"AAoNA"AZAbAjArAzAAA΅-:$@A{  rA ξAj:AɂAɺ?A`I,rA ξA8AArź?A #Ac?A Ǹ?A$y*A=2AS::ABA=JAS:RAY?Mź?yE8ٓH@ w?@|h?@?; bU?b? O?)? I٘i)I9Y J]J9JJJ&Ks  6Y 6y "B77%6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027295.303165 s, next control iter: 1743027295.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 794., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027295.683165 s.lG~,kAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200152 time: 1743027295.683294F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(Ј@A4BXψ@AZ~? AGgAa/&"AA9oNA"AZAbAjArAzAAA$@A^JrAAOAA+?A`Fc?A?A4*A=2A::A-BA=JA:RA-٘i)I9Y JJJJ&K Yyb7b7D6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027295.683165 s, next control iter: 1743027296.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743027296.103165 s.G~,AAQӈ@A_^}҈@AZ~? AfAi/&"AA_oNA"AZAbAjArAzAAA:E&$@A|rOrA ξA0YAA?AJc?A w?A3*Aj=2Aƴ::ABAj=JAƴ:RA٘i)I9Y J3<JJJJ&K  6Y 6yŧ7ŧ7 6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027296.143165 s, next control iter: 1743027296.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027296.523165 s.G~,{!AJ"J*J2J:JBJnJvJA{Gֈ@AR'ֈ@AZ~? AzfAq/&"AAoNA"AZAbAjArAzAAA5$@A rAξAHꍺA@A?A@Lc?AP?Acؾ3*AQ=2A::ABAQ=JA:RA٘i)I9Y Jg3C=JJJCJ&K Yy #B{7{7}6)ZZZBZL?YY*W2W WWW"W ) )FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743027296.543165 s, next control iter: 1743027296.923174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 795, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027296.943165 s.XdG~,B]<AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200142 time: 1743027296.943277F (some fields omitted in printout)A ףp=ڈ@A뤾lو@AZ~? AfAy/&"AAoNA"AZAbAjArAzAAA)$@AXrAξA"A6Al?ANc?A+?A=}4*A8=2Ah:::AVBA8=JAh::RAV٘i)I9Y J^4JJJJ&K Yyb77G6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027296.963165 s, next control iter: 1743027297.343178 s, wait time: 0.380013 s) rAdjusting time to match Gazebo time: 1743027297.363165 s.G~,y>WAJ"J*J2J:JBJnJvJA݈@A9܈@AZ~? AeAY/&"AAМoNA"AZAbAjArAzAAA*$@A9 B+rAξAv :A‚A?A-Oc?A?A\*A=2A::A{BA=JA:RA{YI??y‚3 :ٓH@=?@{ ??`:?U?َA?N?)I? I٘i)I9Y J_3JJJJ&Kr  6Y 6y{7{7b6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027297.403165 s, next control iter: 1743027297.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 796&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027297.783165 s.cG~,rAA)\@Am%@AZ~? AEeA,/&"AAoNA"AZAbAjArAzAAAp-$@A}TrAξA:AʂAw?A@Pc?A⥢?A*A=2A::ABA=JA:RA٘i)I9Y JdJJJJ&K Yy $B)7ŧ76)ZZZBZL?YY*W2W WWW"W ) )**FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027297.823165 s, next control iter: 1743027298.183182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743027298.203165 s.#G~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743027298.203290F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A*@A&Z~? AdA/&"AAoNA"AZAbAjArAzAAALyE$@A<rA ξA:AvՂA ?ASc?A?Aȕ*A=2AIw::ArBA=JAIw:RAr٘i)I9Y JdJJJJ&K  6Y 6yŧ7HH6)ZZZBZL?YY*W2W WWW"W ) )8*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027298.243165 s, next control iter: 1743027298.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027298.623165 s.V)G~,XAAHz@AP@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743027299.463266F (some fields omitted in printout)Afffff@A)\•@AgZ~? AcAm/&"AAoNA"AZAbAjArAzAAAJS6g5$@AEA2ZrA ξAAAA?ARac?A@X?A43*A=2A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743027300.723287F (some fields omitted in printout)AGz@Auv28@AZ~? AxbAп/&"AAoNA"AZAbAjArAzAAAS:l$@APrAξAZA]7Aj?Agc?A?A} 3*AX=2Aի::A'DBAX=JAի:RA'D٘i)I9Y J[3<JJJCJ&K Yyb7b7T6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027300.743165 s, next control iter: 1743027301.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027301.143165 s.V/RG~,*IAAp= @A@ޫV@AZ~? AbA/&"AA'oNA"AZAbAjArAzAAAux>$@AT`rA ξAS:AJA?Ahc?Aތ?AM*A0?=2A]::Ar\BA0?=JA]:RAr\٘i)I9Y JcC=JJJJ&K  6Y 6yj7j7j6)ZZZBZL?YY*W2W WWW"W ) )׳*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027301.163165 s, next control iter: 1743027301.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027301.563165 s.XG~,c dAJ"J*J2J:JBJnJvJA33333@AeÚb@AZ~? AaAa/&"AAMoNA"AZAbAjArAzAAA 9K$@A?"rA ξA:A~]A?Ajc?AÉ?A(*Ai&=2AX ::AeBAi&=JAX :RAeY?m?yw]:ٓH ¼? |nx`1?`˼?@bW h? }T?%?)? I٘i)I9Y JPB=JܹJJJ&Kq Yy 'B776)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027301.603165 s, next control iter: 1743027301.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 800, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027301.983165 s._G~,~AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199672 time: 1743027301.983289F (some fields omitted in printout)A(\@Al@AZ~? AFaA'/&"AAsoNA"AZAbAjArAzAAAC$@ArA ξA#:AoA5?A+nc?A?A*A =2A::Ai^BA =JA:RAi^٘i)I9Y JxC=JJJJ&K  6Y 6y777RP6)ZZZBZL?YY*W2W WWW"W ) ) *FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027302.003165 s, next control iter: 1743027302.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027302.403165 s.&fG~,͙AJ"J*J2J:JBJnJvJAR@A8@AZ~? A`A/&"AAoNA"AZAbAjArAzAAA"lo$@ABrAξA9AA??Arc?A?A*A =2A?::A5DBA =JA?:RA5D٘i)I9Y J\JJJJ&K Yy776)ZZZBZL?YY*W2W WWW"W ) )#*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027302.443165 s, next control iter: 1743027302.803176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 801, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027302.823165 s.lG~,2AAzG @Azw@AZ~? Az`A/&"AAoNA"AZAbAjArAzAAAV -I$@A0YgrAA:AA햺?A@Wwc?A`s?AEn'2*A=2A$::A""BA=JA$:RA""٘i)I9Y JJJCJ&K  6Y 6y (B)7b756)ZZZBZL?YY*W2W WWW"W ) )9*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027302.863165 s, next control iter: 1743027303.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027303.243165 s.sG~,`AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743027303.243294F (some fields omitted in printout)Aq= ף @A.\ @A)Z~? A`Ar/&"AAoNA"AZAbAjArAzAAAF $@AQm)rAAeA5A+?Az{c?A [}?Af02*A=2A::ALBA=JA:RAL٘i)I9Y JJJJ&K Yyŧ7c6)ZZZBZL?YY*W2W WWW"W ) )N*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027303.263165 s, next control iter: 1743027303.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027303.663165 s.zG~,qAtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 802, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@Asb/@A>Z~? A_A4/&"AA oNA"AZAbAjArAzAAA`N$@ARqAξA)םAA?A@V~c?ADz?A.4*A=2A::ABA=JA:RAYچ?)?y*ٓHDڼ?`:Qĺ?? Or?S?)چ? I٘i)I9Y J*2<JJJJ&Ki  6Y 6yb77 6)ZZZBZL?YY*W2W WWW"W ) )a*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027303.683165 s, next control iter: 1743027304.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027304.083165 s.DG~,SAJ"J*J2J:JBJnJvJA(\@AH@ATZ~? AI_A/&"AA2oNA"AZAbAjArAzAAA$@AcBqA ξAdz$AAN?Ac?A`0w?A"4*A=2A^q::ABA=JA^q:RA٘i)I9Y Jd3C=JJJJ&K Yy )B776)ZZZBZL?YY*W2W WWW"W ) )p*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027304.123165 s, next control iter: 1743027304.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027304.503165 s.G~,@4 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743027304.503279F (some fields omitted in printout)AQ@AE>@AjZ~? A^A0&"AAYoNA"AZAbAjArAzAAAEIU$@An[$@A_OqAξAǥ:A}A?ADc?A m?A:Հ*AI=2A;::ASBAI=JA;:RAS٘i)I9ξY JJJJJ&K Yy77776)ZZZBZL?YY*W2W WWW"W ) )u*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027305.383165 s, next control iter: 1743027305.743175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 804&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027305.763165 s.5G~,pAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200072 time: 1743027305.763289F (some fields omitted in printout)J"J*J2J:JBJnJvJA @A*g@AZ~? A]A0&"AA˟oNA"AZAbAjArAzAAATo$@AhqAξAc:AAr?A c?Aj?Ay*A1=2Ao::AFBA1=JAo:RAFYNz??y1d:ٓH %?HHzh?? ^\s?`wL??)Nz? I٘i)I9Y JwB=J†JJJ&Kn  6Y 6yb7b7oX6)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027305.803165 s, next control iter: 1743027306.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027306.183165 s.ˢG~,cAA\($@A!6X#@AZ~? AN]A$0&"AAoNA"AZAbAjArAzAAA)a$@ASwqAA8AإAG?A}c?Ag?AL3*A=2A݃::ABA=JA݃:RA٘i)I9Y JJJJ&K Yy +B)7ŧ76)ZZZBZL?YY*W2W WWW"W ) )V*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027306.223165 s, next control iter: 1743027306.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027306.603165 s.84G~,AJ"J*J2J:JBJnJvJAQ'@Ad\qq&@AZ~? A\AX,0&"AAoNA"AZAbAjArAzAAA2'$@AB9qAξAC*VA"A?Ac?A d?A/5(*A=2AN}::ABBA=JAN}:RAB٘i)I9Y Jh3<JJJCJ&K  6Y 6y77=6)ZZZBZL?YY*W2W WWW"W ) )D*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027306.623165 s, next control iter: 1743027307.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 805 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027307.023165 s.ZG~,|AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199882 time: 1743027307.023280F (some fields omitted in printout)A{G*@A'*@AZ~? A\A40&"AA>oNA"AZAbAjArAzAAABt0h$@A,qAξAA>A|?Ac?Aa?Aå2*A=2A#f::Ar BA=JA#f:RAr ٘i)I9Y JeC=JJJJ&K Yy77e6)ZZZBZL?YY*W2W WWW"W ) )/*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027307.063165 s, next control iter: 1743027307.423181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743027307.443165 s.5öG~,5]AJ"J*J2J:JBJnJvJA ףp=.@ABl-@AZ~? A\A;0&"AAeoNA"AZAbAjArAzAAA|L$@A p2qAξABAsyAz?A c?A^?A_84*A=2A15::ABA=JA15:RA٘i)I9Y Ja4JJJJ&K  6Y 6y ,B77#6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027307.483165 s, next control iter: 1743027307.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 806, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027307.863165 s.+G~,>AA1@AIK0@AZ~? A[AyC0&"AAoNA"AZAbAjArAzAAAzo$@AH.qAξAiAiAy?A5c?A[?Ah*Ao=2AS::ABAo=JAS:RAYn?^z?yiŮٓH~ ?@`7"?@8? L@?j?55 $?)n? I٘i)I9Y J]3J9JJJ&K elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200152 time: 1743027308.283287F (some fields omitted in printout)A)\4@Amr$4@A-Z~? AT[A,K0&"AAoNA"AZAbAjArAzAAAqQ$@AHBqAξA:AkXAy?A c?A@X?A>3*Af=2Ad::ABAf=JAd:RA٘i)I9Y JiJJJJ&K  6Y 6y77f6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027308.323165 s, next control iter: 1743027308.683175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 807*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027308.703165 s.׺G~,-AAQ8@Au=u7@ABZ~? AZAR0&"AAؠoNA"AZAbAjArAzAAASsZw$@A‘6qAξAT:AGAw?A{c?A`U?AlC*Ai=2A]::ABAi=JA]:RAI٘i)I9Y JP3B=JJJCJ&K Yy -B77{6)ZZZBZL?YY*W2W WWW"W ) )ֳ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027308.723165 s, next control iter: 1743027309.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027309.123165 s.2G~,HGAJ"J*J2J:JBJnJvJAHz;@A'c`:@AXZ~? AZAZ0&"AAoNA"AZAbAjArAzAAAH$@A5РqAξA Μ:A7Afu?A,c?AR?AV*A|q=2A3::A{BA|q=JA3:RA{٘i)I9Y JjC=JJJJ&K Yy7776)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027309.163165 s, next control iter: 1743027309.523175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027309.543165 s.IG~,bAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200002 time: 1743027309.543278F (some fields omitted in printout)Aףp= ?@A9>@AnZ~? A%ZA=b0&"AA%oNA"AZAbAjArAzAAA~$@A(tqAξAj :A(Aq?A !c?AO?Aٻ *AY=2A!::A9<BAY=JA!:RA9<٘i)I9Y J`JJJJ&K  6Y 6yp`6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027309.583165 s, next control iter: 1743027309.943176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 808, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027309.963165 s.J "J *J 2J uG~:JBJnJ,}AvJAfffffB@A\1ЕA@AZ~? AYAi0&"AAKoNA"AZAbAjArAzAAAV#R$@AڴLqAξAtRAAm?Ac?AL?A$◳*AA=2A1::AeBAA=JA1:RAeYa?n?y۟ٓH#?Zݹ?`c4?B V`?`Nj28?)a? I٘i)I9Y J[3J 9JJJ&Ki Yy .Bŧ7b7"6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027310.003165 s, next control iter: 1743027310.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027310.383165 s.G~,AA(\E@A/iD@AZ~? A\YAq0&"AAroNA"AZAbAjArAzAAA &g$@AWqAAJAj Ai?Ac?AI?Ao*A.*=2A::AfBA.*=JA:RAf٘i)I9Y JJJJ&K  6Y 6y77E6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027310.403165 s, next control iter: 1743027310.783175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 809, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027310.803165 s.uAG~,sgAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743027310.803287F (some fields omitted in printout)J"J*J2J:JBJnJvJAQI@A- NH@AZ~? AXACy0&"AAoNA"AZAbAjArAzAAAZ-. $@Aє)qA ξAAAf?Ac?AF?Ak4*An=2A::AWBAn=JA:RAW٘i)I9Y J3<JJJCJ&K Yy{7j7r6)ZZZBZL?YY*W2W WWW"W ) )t*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027310.843165 s, next control iter: 1743027311.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027311.223165 s.gG~,HAAGzL@A*.K@AZ~? AXA0&"AAoNA"AZAbAjArAzAAAm$@A\NqA ξA9`AAd?A@ۮc?A`C?Aq3*A=2A ::AuBA=JA :RAu٘i)I9Y Jd4C=JJJJ&K  6Y 6y /B77+6)ZZZBZL?YY*W2W WWW"W ) )f*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027311.243165 s, next control iter: 1743027311.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743027311.643165 s.tG~,)AJ"J*J2J:JBJnJvJAp= O@ArmO@AZ~? A.XA0&"AAoNA"AZAbAjArAzAAA $@A&VqAAAAA?d?Ac?A@?Ao܈3*A=2Ap::AlBA=JAp:RAl٘i)I9Y JJJJ&K Yyŧ7ŧ7Ν6)ZZZBZL?YY*W2W WWW"W ) )[*FtReceived state from Gazebo (printed only once in a while):F. header.stamp.sec: 810, header.stamp.nsec: 0F$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743027311.663165 s, next control iter: 1743027312.043175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027312.063165 s.G~,J AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199762 time: 1743027312.063287F (some fields omitted in printout)A33333S@A@̘bR@AZ~? AWA>0&"AA oNA"AZAbAjArAzAAAJ$@AqA ξA"GY:A肽Ac?A`c?A@=?A3*A=2A%::AeBA=JA%:RAeYyU?a?y肽Y:ٓH@]̾U@AZ~? AeWA0&"AA2oNA"AZAbAjArAzAAA_oW$@AOFcqA ξA:A䂽Aa?AXc?A:?A**A=2AI::AXBA=JAI:RAX٘i)I9Y JdC=JJJJ&K Yy 0Bŧ7b7%6)ZZZBZL?YY*W2W WWW"W ) )M*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027312.523165 s, next control iter: 1743027312.883173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 811, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027312.903165 s. G~,9AARY@A6Y@AZ~? AWA0&"AAYoNA"AZAbAjArAzAAA$@A(qA ξA :A₽A_?Aic?A7?A ȳ*A_=2A::A\7BA_=JA:RA\7٘i)I9Y JgJJJCJ&K Yy77{76)ZZZBZL?YY*W2W WWW"W ) )K*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027312.923165 s, next control iter: 1743027313.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027313.323165 s.sG~,TAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199772 time: 1743027313.323268F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG]@Ag#w\@A2Z~? AVA-0&"AAoNA"AZAbAjArAzAAAI8%$@AaqAA@9ApソA.[?Ac?A4?A/'*A=2A::A BA=JA:RA ٘i)I9Y JJJJ&K  6Y 6y7)7~h6)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027313.343165 s, next control iter: 1743027313.723175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 812&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027313.743165 s.WG~,qoAAq= ף`@A%_@AHZ~? A9VAЮ0&"AAoNA"AZAbAjArAzAAA[ҩ$@A$qAAA"悽AV?A@ c?A1?A0欳*Al=2A::A%BAl=JA:RA%٘i)I9Y JJJJ&K Yy 1B{7{7'6)ZZZBZL?YY*W2W WWW"W ) )O*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027313.763165 s, next control iter: 1743027314.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027314.163165 s.v}"G~,qAJ"J*J2J:JBJnJvJAd@A߉Y/c@A^Z~? AUAq0&"AA̢oNA"AZAbAjArAzAAA.$@AVqA ξAAꂽAHS?Ac?A.?A4*AT=2A::ABAT=JA:RAYuI?U?yꂽ`ٓH/T? Kn7? zh?5Z?aS C?)uI? I٘i)I9Y J)2<J2JJJ&Kd  6Y 6y77M6)ZZZBZL?YY*W2W WWW"W ) )U*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027314.183165 s, next control iter: 1743027314.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027314.583165 s.(G~,RAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743027314.583316F (some fields omitted in printout)A(\g@A5|f@AtZ~? AqUA0&"AAoNA"AZAbAjArAzAAABOU$@AJkqA ξA AAP?Alc?A@+?A94*A<=2A::ABA<=JA:RA٘i)I9Y Jb4C=JJJCJ&K Yyb776)ZZZBZL?YY*W2W WWW"W ) )_*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027314.623165 s, next control iter: 1743027314.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 813, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027315.003165 s.} 0G~,a4AJ"J*J2J:JBJnJvJAQj@Ai@AZ~? A UA0&"AAoNA"AZAbAjArAzAAA5 08$@Aht[mqA ξAfAAO?Ac?A(?A4*A%=2AD::AϦBA%=JAD:RAϦ٘i)I9Y JR3B=JJJJ&K  6Y 6y 2Bj7Z7836)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027315.043165 s, next control iter: 1743027315.403181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743027315.423165 s.u6G~,AAGzn@AW"PCm@AZ~? ATAN0&"AA@oNA"AZAbAjArAzAAA $@AͱK0qAAp9AAN?Ahc?A %?A4*A^ =2A::ABA^ =JA:RA٘i)I9Y JJJJ&K Yyj7ܥ6)ZZZBZL?YY*W2W WWW"W ) )y*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027315.463165 s, next control iter: 1743027315.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 814, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027315.843165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200392 time: 1743027315.843331F (some fields omitted in printout)A= ףpq@Ap@AZ~? AETA0&"AAgoNA"AZAbAjArAzAAAoA$@A9qA ξA_u:AAN?A hc?A "?A`*A=2A::ABA=JA:RA٘i)I9Y Jk<JJJJ&K  6Y 6y776)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027315.883165 s, next control iter: 1743027316.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027316.263165 s.DG~,AAt@A2s@AZ~? ASA0&"AAoNA"AZAbAjArAzAAAP$@A#qA ξA>:AAL?A`c?A?Ap*A=2A::AtBA=JA:RAtY$=?sI?y:ٓHl? yи? v?N``?çT?6?)$=? I٘i)I9Y J`C=JrJJJ&Kj Yy 3Bŧ7b7.6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027316.303165 s, next control iter: 1743027316.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 815., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027316.683165 s.lJG~,V+AJ"J*J2J:JBJnJvJA\(x@AE aXw@AZ~? A}SA0&"AAoNA"AZAbAjArAzAAA9)K$@A˼yqA ξAf]:A,AH?Ac?A`?Ay*Az=2A j::ABAz=JA j:RA٘i)I9Y J\JJJCJ&K Yy7776)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027316.683165 s, next control iter: 1743027317.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743027317.103165 s.QG~,FAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027317.103286F (some fields omitted in printout)AQ{@Aflz@AZ~? ASA0&"AAۣoNA"AZAbAjArAzAAA$@AJ =qAξA!x.6A:AD?A3c?A?A(ȳ*A=2Ac::ABBA=JAc:RAB٘i)I9Y JfJJJJ&K  6Y 6yj7j7p6)ZZZBZL?YY*W2W WWW"W ) )³*FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027317.123165 s, next control iter: 1743027317.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027317.523165 s.WG~,{aAJ"J*J2J:JBJnJvJA{G~@Al~@AZ~? ARAO0&"AAoNA"AZAbAjArAzAAAcqL:V$@A[)=qAξA^\AJA@?A tc?A?Ayy2*A=2AV^::AjBA=JAV^:RAj٘i)I9Y J[JJJJ&K Yy 4B77{766)ZZZBZL?YY*W2W WWW"W ) )׳*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027317.543165 s, next control iter: 1743027317.923174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 816, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027317.943165 s.Wd^G~,>]|AA ףp=@A4l@A$Z~? ARRA0&"AA(oNA"AZAbAjArAzAAAM$@Ao{qAξA%AYAS=?A c?A?A, 4*A=2AG::AVBA=JAG:RAV٘i)I9Y Jh3JJJJ&K  6Y 6y77U6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027317.963165 s, next control iter: 1743027318.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027318.363165 s.eG~,p>AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199652 time: 1743027318.363282F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AYjȄ@A:Z~? AQAz1&"AAOoNA"AZAbAjArAzAAAG`$@AN5ÆqA ξAԈAhAX;?Ac?A?A44*Ah=2A<::AUBAh=JA<:RAUY<1?=?yhLٓH?Le? ?%F6j?Q@#?)<1? I٘i)I9Y Ja3J;JJJ&Kb Yy76)ZZZBZL?YY*W2W WWW"W ) )*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027318.403165 s, next control iter: 1743027318.763176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 817", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027318.783165 s.\kG~,AA)\@A>%@APZ~? AQA 1&"AAvoNA"AZAbAjArAzAAA+a$@AS!JqA ξAAwAp:?A`c?A ?A 4*AQ=2A@::A7cBAQ=JA@:RA7c٘i)I9Y JY3JJJCJ&K  6Y 6y 5B7;;6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027318.803165 s, next control iter: 1743027319.183181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743027319.203165 s.sG~,AJ"J*J2J:JBJnJvJAQ@A'G@AfZ~? A(QA1&"AAoNA"AZAbAjArAzAAAo k$@A*Xp qAAn:AA9?A`Vc?A ?Ah2*A9=2A߇::AvBA9=JA߇:RAv٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 248JJJJ&K Yy7776)ZZZBZL?YY*W2W WWW"W ) ))*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027319.243165 s, next control iter: 1743027319.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027319.623165 s.SyG~,LAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743027319.623287F (some fields omitted in printout)AHz@Aluݎ@A|Z~? APA11&"AAäoNA"AZAbAjArAzAAAQ;O$@AqAξA:AA8?A@c?A ?A߳*A "=2A?H::ABA "=JA?H:RA٘i)I9Y J<<JJJJ&K   6Y  6y j7 j7 6) tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 818 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)Z ZZBZ L?YY *W2W W W W"W  ) ) ;*FFF] ; Waiting for Gazebo time sync: latest Gz time: 1743027319.683165 s, next control iter: 1743027320.023176 s, wait time: 0.340011 s rAdjusting time to match Gazebo time: 1743027320.043165 s.G~,AJ"J*J2J:JBJnJvJAףp= @A<9@AZ~? AbPA 1&"AAoNA"AZAbAjArAzAAAv$@A EqAξA?:A䞃A=6?Ac?A ?Akֳ*A =2A ::AtBA =JA :RAt٘i)I9Y JeC=JQ>JJJ&K> Yy 6Bŧ7ŧ7?6)ZZZBZL?YY*W2W WWW"W ) )K*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027320.083165 s, next control iter: 1743027320.443176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027320.463165 s.QG~,ӤAAfffff@An@AZ~? AOAP(1&"AAoNA"AZAbAjArAzAAAn$@A(WqAξA:AnA2?Ac?A*?A)*A=2AK::AsXBA=JAK:RAsXY%?b1?ym=:ٓH $?|@?b?`WZFr?C?`?)%? I٘i)I9Y JgJQ>JJJ&Kg>  6Y 6y)776)ZZZBZL?YY*W2W WWW"W ) )Z*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027320.503165 s, next control iter: 1743027320.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 819, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027320.883165 s.yG~,48AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200412 time: 1743027320.883295F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\™@Aؘ@AZ~? AOA/1&"AA7oNA"AZAbAjArAzAAA#$@AuF(AqAξA>AjAd.?Ac?A;?A#R*Ac=2A ::A0BAc=JA :RA0٘i)I9Y JaJJJCJ&K Yy77x6)ZZZBZL?YY*W2W WWW"W ) )f*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027320.923165 s, next control iter: 1743027321.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027321.303165 s.TG~,ogSAAQ@AN@AZ~? A8OAj71&"AA^oNA"AZAbAjArAzAAA/W$@AoqAξAAA|*?Ac?A O?A64*AM=2A::ABAM=JA:RA٘i)I9Y J_4JJJJ&K Yy 7B)7ŧ7>6)ZZZBZL?YY*W2W WWW"W ) )p*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027321.343165 s, next control iter: 1743027321.703177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 820*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027321.723165 s.G~,HnAJ"J*J2J:JBJnJvJAGz@A*A@AZ~? ANA>1&"AAoNA"AZAbAjArAzAAAל@ލ$@A7dqAξA}AA'?Ac?A@d?AdLA5*A5=2A::ABA5=JA:RA٘i)I9Y JQ5JJJJ&K  6Y 6yb7]6)ZZZBZL?YY*W2W WWW"W ) )v*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027321.763165 s, next control iter: 1743027322.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027322.143165 s.T/G~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743027322.143284F (some fields omitted in printout)Ap= ף@AXS@AZ~? ArNA~F1&"AAoNA"AZAbAjArAzAAAנ$@AHfqAξAeZAA &?Ahc?A@x?AM5*A=2A'::ABA=JA':RA٘i)I9Y JfJJJJ&K Yy776)ZZZBZL?YY*W2W WWW"W ) )u*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027322.183165 s, next control iter: 1743027322.543177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027322.563165 s.G~,J AJ"J*J2J:JBJnJvJA33333@A_yb@AZ~? ANAN1&"AAӥoNA"AZAbAjArAzAAAZP֙$@AZ^)qAξA2I7AAr%?Ac?A?AͰ*A=2Af::ABA=JAf:RAY?k%?y=>J7ٓHس?q~?ý?W t?@f:> ?)? I٘i)I9Y Jq>JwJJCJ&Kc  6Y 6y 8B7777EC6)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027322.603165 s, next control iter: 1743027322.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 821, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027322.983165 s.G~,AA(\@Ao@A,Z~? AMAU1&"AAoNA"AZAbAjArAzAAA$@A"h^cqAξA_:AA$?A c?A?AVO4*Ah=2A.::A BAh=JA.:RA ٘i)I9Y JbJJJJ&K Yyb776)ZZZBZL?YY*W2W WWW"W ) )d*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027323.003165 s, next control iter: 1743027323.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027323.403165 s.&G~,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200382 time: 1743027323.403325F (some fields omitted in printout)AR뭉@A)@ABZ~? AJMA]1&"AA oNA"AZAbAjArAzAAAOm$@A!qAξA ?:A䦃A2#?ATc?A`?Aa&*AQ=2A::AXBAQ=JA:RAX٘i)I9Y Jh3JJJJ&K  6Y 6y)7ŧ7(6)ZZZBZL?YY*W2W WWW"W ) )W*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027323.443165 s, next control iter: 1743027323.803177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 822", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027323.823165 s.G~,)AAzG@A$w@AXZ~? ALAd1&"AAGoNA"AZAbAjArAzAAA[+$@AztqAξA:A{AY ?A9c?A`?Af*A:=2A::ABA:=JA:RA٘i)I9Y J\JJJJ&K Yy 9BI6)ZZZBZL?YY*W2W WWW"W ) )I*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027323.863165 s, next control iter: 1743027324.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027324.243165 s.G~,\AJ"J*J2J:JBJnJvJAq= ף@A&ӳ@AoZ~? ALAl1&"AAnoNA"AZAbAjArAzAAAaa,$@Aeʹ8qAξA?9AAp?A`/c?A ?A:n4*A,$=2AͿ::AZBA,$=JAͿ:RAZ٘i)I9Y Jc3JJJJ&K  6Y 6y 6)ZZZBZL?YY*W2W WWW"W ) )9*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027324.283165 s, next control iter: 1743027324.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027324.663165 s.G~,q*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743027324.663298F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 823, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A~T~/@AZ~? A"LAs1&"AAoNA"AZAbAjArAzAAArw8$@ALqAξA+AA<?A ic?A?A0O*Ad =2A::A:"BAd =JA:RA:"Y4 ??yٓH˽?؏`S?`ݽ?ZL`m?@EC?)4 ? II٘i)I9Y JW3B=J*r9JJCJ&Kb Yy :B{7j76)ZZZBZL?YY*W2W WWW"W ) ))*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027324.683165 s, next control iter: 1743027325.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027325.083165 s.DG~, SEAJ"J*J2J:JBJnJvJA(\@A ˟o@AZ~? AKA!{1&"AAoNA"AZAbAjArAzAAA]'޾$@ADYyqAξA9NAwA?Ad?A2?A*A=2A-::ABA=JA-:RA٘i)I9Y JoC=JJJJ&K Yy{7G6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027325.123165 s, next control iter: 1743027325.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027325.503165 s.G~,74`AAQ@A5bf罉@AZ~? A]KA1&"AAoNA"AZAbAjArAzAAAe(YE$@AgqAξAqAjAK?A Od?A Rߡ?A4*A=2A::ABA=JA:RA٘i)I9Y Jd4JJJJ&K  6Y 6yb7b7e6)ZZZBZL?YY*W2W WWW"W ) )*FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027325.523165 s, next control iter: 1743027325.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 824, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027325.923165 s.7G~,{AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743027325.923280F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz‰@AC@AZ~? AJA 1&"AA oNA"AZAbAjArAzAAA$@Ať_HqAξAiAF]A$?Aed?Aqܡ?A6n*A=2AI::ABA=JAI:RA٘i)I9Y Ja4JJJJ&K Yy ;B{7{76)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027325.943165 s, next control iter: 1743027326.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027326.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743027327.183289F (some fields omitted in printout)A\(̉@Aԙ{HXˉ@A Z~? AIA1&"AAoNA"AZAbAjArAzAAA_$@A$ZuqAξAĎ:A^7A ?Ad?A@ӡ?A*Aڄ=2A3::A9tBAڄ=JA3:RA9t٘i)I9Y JdJJJJ&K  6Y 6y $@AXqAξAz#W:A1,Ap ?A` d?A@С?A'D*AJn=2Ay::A@BAJn=JAy:RA@٘i)I9Y J]JJJJ&K Yyb77V6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027327.623165 s, next control iter: 1743027328.003174 s, wait time: 0.380009 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 826 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027328.023165 s.ZG~,| AA{G҉@A&҉@A6Z~? AIA1&"AA̧oNA"AZAbAjArAzAAAq}m$@A"qAξA&A$"AX?A d?A@Ρ?Ax*AW=2At::ApBAW=JAt:RAp٘i)I9Y J]4JJJJ&K  6Y 6y7)76)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027328.043165 s, next control iter: 1743027328.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027328.443165 s.5G~,5] AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743027328.443306F (some fields omitted in printout)A ףp=։@A!lՉ@AMZ~? AHA1&"AAoNA"AZAbAjArAzAAA O$@A1qAξAbAmAF?A`d?A Aˡ?A1׳*A7A=2Ao::ABA7A=JAo:RA٘i)I9Y JoJJJJ&K Yy =B77{76)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027328.463165 s, next control iter: 1743027328.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 827, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027328.863165 s.+ G~,>7 AAى@A<؉@AcZ~? ALHAv1&"AAoNA"AZAbAjArAzAAASz$@A(lC5qAξA=iA/A?A.d?Afȡ?Af4*A*=2A3Z::AgBA*=JA3Z:RAgYn??y(ٓH ? Q 8ྶ??@8 h_?`'T9?)n? I٘i)I9Y Ja4Jj9JJCJ&K#_ Yy77T6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027328.903165 s, next control iter: 1743027329.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027329.283165 s.6RG~,R AJ"J*J2J:JBJnJvJA)\܉@A %܉@AyZ~? AGA1&"AABoNA"AZAbAjArAzAAA$@Al5ziqA ξA3`A A1?A@d?A š?A3*A=2A+::AgBA=JA+:RAg٘i)I9Y J^4JJJJ&K  6Y 6yn6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027329.323165 s, next control iter: 1743027329.683177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 828*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027329.703165 s.غG~,m AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200522 time: 1743027329.703329F (some fields omitted in printout)AQ@AKu߉@AZ~? AGA_1&"AAioNA"AZAbAjArAzAAArt$@AO|-qA ξAfTAAX?A@d?A¡?A\3*A| =2A::ĀBA| =JA:RĀ٘i)I9Y JU3B=JJJJ&K Yy >B76)ZZZBZL?YY*W2W WWW"W ) )~*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027329.743165 s, next control iter: 1743027330.103177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027330.123165 s.4!G~,P AJ"J*J2J:JBJnJvJAHz@Ax%s@AZ~? A'GA1&"AAoNA"AZAbAjArAzAAA/$@Ab qA ξAK":A=A?A.d?A`ݿ?AZx3*A =2A՟::A>BA =JA՟:RA>٘i)I9Y Jl3C=JJJJ&K  6Y 6y7\S6)ZZZBZL?YY*W2W WWW"W ) ){*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027330.163165 s, next control iter: 1743027330.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027330.543165 s.I(G~,â AAףp= @A>9@AZ~? AFAC1&"AAoNA"AZAbAjArAzAAA,Q$@AhqA ξA:AA?AKd?A?A$/#*AC =2A8c::ABAC =JA8c:RA٘i)I9Y JbJJJCJ&K Yy76)ZZZBZL?YY*W2W WWW"W ) )z*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027330.583165 s, next control iter: 1743027330.943175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 829, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027330.963165 s.v.G~,褽 AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743027330.963286F (some fields omitted in printout)Afffff@AН`@AZ~? AdFA1&"AAިoNA"AZAbAjArAzAAA#(9>$@AMzqAξA`:AA(?A@d?A/?A+*AĹ =2A^>::ALhBAĹ =JA^>:RALhYc??y:ٓH`?  z`g??I^?3S?;?)c? I٘i)I9Y JQB=JT8JJJ&KHe  6Y 6y ?Bb7b786)ZZZBZL?YY*W2W WWW"W ) )|*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027331.003165 s, next control iter: 1743027331.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027331.383165 s.5G~,# AA(\@A@AZ~? AFA#1&"AAoNA"AZAbAjArAzAAAM+u$@AAb?qAA:A A?A-!d?A@X?A/*AV =2A0::ABBAV =JA0:RAB٘i)I9Y JJJJ&K Yyj7j7[6)ZZZBZL?YY*W2W WWW"W ) )*FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027331.423165 s, next control iter: 1743027331.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 830", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027331.803165 s.tA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743027332.223289F (some fields omitted in printout)AGz@A6,@AZ~? A?EA1&"AASoNA"AZAbAjArAzAAAf>s1$@A >hqAAAA?A`(d?A଱?A3*Av =2AK&::A]BAv =JAK&:RA]٘i)I9Y JJJJ&K Yy @B76)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027332.263165 s, next control iter: 1743027332.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027332.643165 s.vIG~,*)!AJ"J*J2J:JBJnJvJAp= @Aĕw@A,Z~? ADAj2&"AAzoNA"AZAbAjArAzAAA;$@ArqA ξA33AA?A@+d?Aخ?A`4*A%` =2A::ABA%` =JA:RA٘i)I9Y Jc3C<JJJCJ&K  6Y 6y)7b7j6)ZZZBZL?YY*W2W WWW"W ) )*tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 831, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027332.663165 s, next control iter: 1743027333.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027333.063165 s.PG~,[ D!AA33333@Afb@ABZ~? A}DA2&"AAoNA"AZAbAjArAzAAAcB$@AHDQqA ξASA%AP?A@,d?A ?Ai3*AI =2A::ABAI =JA:RAYݝ??y%MTٓH )?@?a?{J4?)ݝ? I٘i)I9Y Jf3C=J+JJJ&K^ Yy7{7v6)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027333.103165 s, next control iter: 1743027333.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027333.483165 s.s_WG~,^!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199802 time: 1743027333.483272F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AL@AXZ~? ADA=2&"AAɩoNA"AZAbAjArAzAAA0J$@A{ 8qAA78A/A?AW-d?A4?A 0!4*A13 =2A::ABA13 =JA:RA٘i)I9Y JJJJ&K Yy ABj7Z76)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027333.523165 s, next control iter: 1743027333.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 832, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027333.903165 s.]G~,y!AAR@Aky@AoZ~? ACA2&"AAoNA"AZAbAjArAzAAA5o$@A46qAAq e:A:A?A-d?Ac?ArB*A =2AF::AyBA =JAF:RAy٘i)I9Y JJJJ&K  6Y 6yŧ7b7h[6)ZZZBZL?YY*W2W WWW"W ) )³*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027333.943165 s, next control iter: 1743027334.303176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027334.323165 s.udG~,!!AJ"J*J2J:JBJnJvJAzG@A: v@AZ~? AYCA 2&"AAoNA"AZAbAjArAzAAAl Z$@A`qAξA:A{FAn?A`O/d?A?A*AK =2AH::A;BAK =JAH:RA;٘i)I9Y J.K<JJJJ&K Yy776)ZZZBZL?YY*W2W WWW"W ) )ҳ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027334.363165 s, next control iter: 1743027334.723176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 833&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027334.743165 s.WkG~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200682 time: 1743027334.743340F (some fields omitted in printout)Aq= ף@AxGj@AZ~? ABAr&2&"AA>oNA"AZAbAjArAzAAA $@A7]dqAξA4:ARA?A 2d?A ?Aap{*A =2A::ABA =JA:RA٘i)I9Y JTB=JJJCJ&K  7Y 7y BB77{7c 7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027334.783165 s, next control iter: 1743027335.143182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743027335.163165 s.v}rG~,q!AJ"J*J2J:JBJnJvJA @Ak_@/ @AZ~? ABA-2&"AAeoNA"AZAbAjArAzAAAF-yi$@AF()qAξA9A^A޹?A5d?A?A*A =2A::A%BA =JA:RA%Yѝ?#޹?y^\a9ٓH@7A?^> ~@?P?`jM`h?S0?&?)ѝ? I٘i)I9Y JlC=JuJJJ&K@b Yyb7b7Y7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027335.183165 s, next control iter: 1743027335.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027335.583165 s.xG~,R!AA(\@AƄ@AZ~? A6BA:52&"AAoNA"AZAbAjArAzAAA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743027336.003298F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A@AZ~? AAA<2&"AAoNA"AZAbAjArAzAAAQIy$@AyزqAAQAwA׹?A =d?A V?Af3*AW =2A::ADBAW =JA:RAD٘i)I9Y JJJJ&K Yy CB777g7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027336.043165 s, next control iter: 1743027336.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027336.423165 s.uG~,{"AAGz@AC@AZ~? AtAAC2&"AA۪oNA"AZAbAjArAzAAAPP$@AeݾwqAξAA^AԹ?A*?d?A?A.3*A =2A/::A9BA =JA/:RA9٘i)I9Y J-2<JJJJ&K  7Y 7y777)ZZZBZL?YY*W2W WWW"W ) )%*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027336.463165 s, next control iter: 1743027336.823175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 835, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027336.843165 s.݌G~,5"AJ"J*J2J:JBJnJvJA= ףp@Ak) @A Z~? AAA]K2&"AAoNA"AZAbAjArAzAAAMLwb$@A? elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743027337.263270F (some fields omitted in printout)A@A@A"Z~? A@AR2&"AA)oNA"AZAbAjArAzAAAB}"x$@AԺqAAĺ9AAӹ?Ab@d?A@?AI3*Aj =2A$6::AmBAj =JA$6:RAmY Ɲ?Zҹ?y'9ٓH@X?@#}`7?g?,U/p?X7??) Ɲ? I٘i)I9Y J[JJJ&Kx` Yy DB7)7dx7)ZZZBZL?YY*W2W WWW"W ) )B*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027337.303165 s, next control iter: 1743027337.663178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 836., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027337.683165 s.lG~,kk"AJ"J*J2J:JBJnJvJA\( @A jX@A9Z~? AR@AZ2&"AAQoNA"AZAbAjArAzAAA$@A6qAξA:AڡA6ҹ?A Ad?A ,?A³*AbT =2Am::AyBAbT =JAm:RAy٘i)I9Y J_<JJJJ&K Yy{7Z77)ZZZBZL?YY*W2W WWW"W ) )O*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027337.683165 s, next control iter: 1743027338.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743027338.103165 s.G~,"AAQ#@APi"@AOZ~? A?Ava2&"AAxoNA"AZAbAjArAzAAAE!$@A qAξAfУ:AϩA9й?A`Bd?Ac?A Ƴ*AE> =2A::A?BAE> =JA:RA?٘i)I9Y JgC=JJJJ&K Yy7777)ZZZBZL?YY*W2W WWW"W ) )Z*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027338.143165 s, next control iter: 1743027338.503180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027338.523165 s.G~,{"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199792 time: 1743027338.523267F (some fields omitted in printout)A{G&@AZJ&@AfZ~? A?Ah2&"AAoNA"AZAbAjArAzAAA)$@A;PqAξAP:AiA̹?AFd?A`?Ax *A@( =2A::A}BA@( =JA:RA}٘i)I9Y JaJJJCJ&K  7Y 7y EB{7{7e$7)ZZZBZL?YY*W2W WWW"W ) )c*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027338.563165 s, next control iter: 1743027338.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 837, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027338.943165 s.UdG~,5]"AA ףp=*@Al)@A|Z~? A1?A+p2&"AAƫoNA"AZAbAjArAzAAA((2$@AwqAξAF_zAAȹ?A@Id?Aӄ?A ӳ*AP =2A::AoTBAP =JA:RAoT٘i)I9Y J^JJJJ&K Yyŧ77]7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027338.983165 s, next control iter: 1743027339.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027339.363165 s.G~,y>"AJ"J*J2J:JBJnJvJA-@AR,@AZ~? A>Aw2&"AAoNA"AZAbAjArAzAAA}1퉺$@AΜqAξAgAAĹ?AMd?A`?AV4*Ax =2Ad::A"BAx =JAd:RA"Yf?ƹ?y thٓHo? 9|ִ? i?LO`9t?3L?)f? I٘i)I9Y J[d4B=JJJJ&K] Yyb7b77)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027339.403165 s, next control iter: 1743027339.763176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 838", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027339.783165 s.[G~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199762 time: 1743027339.783295F (some fields omitted in printout)A)\0@A7%0@AZ~? Ap>A~2&"AAoNA"AZAbAjArAzAAA>C$@ABqA ξAA̹A?APd?A I?A/ 3*A =2A::A BA =JA:RA ٘i)I9Y J4C=JJJJ&K Yy FB7e7)ZZZBZL?YY*W2W WWW"W ) )p*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027339.823165 s, next control iter: 1743027340.183181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743027340.203165 s.G~, #AJ"J*J2J:JBJnJvJAQ4@A;33@AZ~? A>A22&"AA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199812 time: 1743027341.043297F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= ;@AYh9:@AZ~? AO=Aܔ2&"AAoNA"AZAbAjArAzAAAR$$@A; qAξA{J):AA?A@Sd?Aw?A}:4*Aؤ =2A::AKBAؤ =JA:RAK٘i)I9Y Jj4JJJJ&K Yy GB7f|7)ZZZBZL?YY*W2W WWW"W ) )`*FFF]g:Waiting for Gazebo time sync: latest Gz time: 1743027341.063165 s, next control iter: 1743027341.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027341.463165 s.RG~,פ]#AAfffff>@A.Q=@AZ~? A<A/2&"AAoNA"AZAbAjArAzAAA Ee$@AUw,dqAξA:*:AA_?A`Td?ACt?AB*A =2A::ABA =JA:RAY?Ӻ?y~:ٓH` ?@_=z?=?7]q?GS??)? I٘i)I9Y JZJa8JJJ&KMb Yy{7{77)ZZZBZL?YY*W2W WWW"W ) )V*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027341.503165 s, next control iter: 1743027341.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 840, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027341.883165 s.yG~,8x#AJ"J*J2J:JBJnJvJA(\A@A@@AZ~? A<A2&"AAڬoNA"AZAbAjArAzAAAw$@AzqAξA:AxAﺹ?A@@Vd?Aq?AOB4*AIy =2A؉::AbBAIy =JA؉:RAb٘i)I9Y JfJJJJ&K Yyŧ777)ZZZBZL?YY*W2W WWW"W ) )K*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027341.923165 s, next control iter: 1743027342.283178 s, wait time: 0.360013 s()( rAdjusting time to match Gazebo time: 1743027342.303165 s.XG~,g#AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199612 time: 1743027342.303291F (some fields omitted in printout)AQE@A]ND@A0Z~? A/<AѪ2&"AAoNA"AZAbAjArAzAAA]v$@A25N,@qAξA * :AyAP?AYd?A n?Aj*Ac =2A~~::AǍBAc =JA~~:RAǍ٘i)I9Y Jd4JJJJ&K  7Y 7y HB77{7k(7)ZZZBZL?YY*W2W WWW"W ) )?*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027342.323165 s, next control iter: 1743027342.703179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 841*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027342.723165 s.G~,H#AJ"J*J2J:JBJnJvJAGzH@AI2G@AGZ~? A;A!2&"AA(oNA"AZAbAjArAzAAAc$@A6qAξA`¹AċA&?A]d?A`l?AD*AN =2A}::AhWBAN =JA}:RAhW٘i)I9Y JbJJJCJ&K Yy77a7)ZZZBZL?YY*W2W WWW"W ) )2*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027342.763165 s, next control iter: 1743027343.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027343.143165 s.X/G~,*#AAp= K@A#KK@A]Z~? Ao;Ao2&"AAPoNA"AZAbAjArAzAAA.I$@AHSqAξAAA^?A ad?A@Ki?A$ǡ4*A8 =2Au::ABA8 =JAu:RA٘i)I9Y Jd4JJJJ&K Yy7777)ZZZBZL?YY*W2W WWW"W ) )$*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027343.163165 s, next control iter: 1743027343.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027343.563165 s.G~,= #AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743027343.563268F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333O@A"pbN@AtZ~? A;A2&"AAwoNA"AZAbAjArAzAAAC$@A9qAξAqA wA?Aqcd?Af?A%s1*A" =2AWY::AwBA" =JAWY:RAwY?R?ywǣٓH?`@I5?`Z?Ck?2nT ?)? I٘i)I9Y Jd4J>b9JJJ&K$[ Yy IB77k7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027343.583165 s, next control iter: 1743027343.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 842, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027343.983165 s.G~,#AA(\R@AW@Q@AZ~? A:A 2&"AAoNA"AZAbAjArAzAAA[JEI$@AX+VqAξAYkMA\lAL?Add?Ac?A}3*AB =2Ac$::AiBAB =JAc$:RAi٘i)I9Y J\JJJJ&K  7Y 7yb77 7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027344.023165 s, next control iter: 1743027344.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027344.403165 s.&G~,$AJ"J*J2J:JBJnJvJARU@AؼU@AZ~? AP:AT2&"AAƭoNA"AZAbAjArAzAAAUT#%@A qAξA8AaA?A dd?Aa?Ac4*A =2A::A&BA =JA:RA&٘i)I9Y Jd4JJJJ&K YyZ7Z7G7)ZZZBZL?YY*W2W WWW"W ) )*FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743027344.423165 s, next control iter: 1743027344.803176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 843, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027344.823165 s. G~,4$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743027344.823274F (some fields omitted in printout)AzGY@A(BvX@AZ~? A9A2&"AAoNA"AZAbAjArAzAAAla%@AaqAAj:AzWA ?AVed?A`c^?Aā*A =2Aݜ::ApBA =JAݜ:RAp٘i)I9Y JJJCJ&K Yy JB77l7)ZZZBZL?YY*W2W WWW"W ) )*FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027344.863165 s, next control iter: 1743027345.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027345.243165 s.G~,`O$AJ"J*J2J:JBJnJvJAq= ף\@A$[@AZ~? A9A2&"AAoNA"AZAbAjArAzAAAY!t5%@AĽo qAξA:AMAt?Afd?A[?A]q*Aw =2Ak::AhBAw =JAk:RAh٘i)I9Y J<JJJJ&K Yy77{7Ĺ7)ZZZBZL?YY*W2W WWW"W ) )ݳ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027345.283165 s, next control iter: 1743027345.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027345.663165 s.G~,sj$AtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 844, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A`@An/_@AZ~? A19A.2&"AA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199462 time: 1743027346.083304F (some fields omitted in printout)A(\c@Ab@AZ~? A8At2&"AAdoNA"AZAbAjArAzAAAƒG%@A-w2qAξArl9A-<A?Ald?A .G~,$AJ"J*J2J:JBJnJvJAGzj@A$\Ci@A)Z~? A8A2&"AAoNA"AZAbAjArAzAAA4fsxZ%@A[ qAξAA.A?A sd?A@P?A"3*Av =2A >::A8 BAv =JA >:RA8 ٘i)I9Y J3<JJJCJ&K Yy LB7{77)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027346.963165 s, next control iter: 1743027347.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027347.343165 s.<5G~,$AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199492 time: 1743027347.343278F (some fields omitted in printout)A= ףpm@Al@A@Z~? A7AA3&"AAڮoNA"AZAbAjArAzAAA%@A߃qAAA)A藹?Aud?AN?Ai<2*Asa =2AP::Av BAsa =JAP:RAv ٘i)I9Y JJJJ&K Yy{7r7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027347.383165 s, next control iter: 1743027347.743175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 846&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027347.763165 s.6;G~,$AJ"J*J2J:JBJnJvJAp@AۆQo@AVZ~? AU7A 3&"AAoNA"AZAbAjArAzAAA-nm%@ArIqAξA=UA^&Aߖ?Aovd?A iK?ARZ4*AL =2A;::A BAL =JA;:RA Y??y\&ߛٓH@Z̾?8`׀?޾?H?`a?@ 5?)? I٘i)I9Y Jc3Jl9JJJ&K[  7Y 7yŧ7ŧ77)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027347.803165 s, next control iter: 1743027348.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027348.183165 s.BG~,k %AA\(t@AqQeXs@AmZ~? A6A3&"AA)oNA"AZAbAjArAzAAAq%@AoqA ξA?9A5$A]?Avd?AH?Ay*A6 =2A::A BA6 =JA:RA ٘i)I9Y J[3C=JJJJ&K Yy MB77 K7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027348.203165 s, next control iter: 1743027348.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027348.603165 s.44IG~,&%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955J dt: 0.419970"J*J2J2 time: 1743027348.603283:JF (some fields omitted in printout)BJnJvJAQw@AVGv@AZ~? A6A3&"AAQoNA"AZAbAjArAzAAALv%@A5͙qAξAɎ:Ay#Aw?A`Fwd?AF?A܂׳*A! =2A[::A BA! =JA[:RA ٘i)I9Y J`JJJCJ&K Yy7777w7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027348.643165 s, next control iter: 1743027349.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 847 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027349.023165 s.ZPG~,{A%AA{Gz@A<1z@AZ~? A76AB3&"AAxoNA"AZAbAjArAzAAAz, %@AqAξA:A'$Au?Axd?A`SC?AG 2*A =2A2::A BA =JA2:RA ٘i)I9Y J]JJJJ&K Yy7)7ν7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027349.063165 s, next control iter: 1743027349.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027349.443165 s.3VG~,-]\%AJ"J*J2J:JBJnJvJA ףp=~@Aol}@AZ~? A5A&3&"AAoNA"AZAbAjArAzAAA.+%@A[aqAξAJ:A7&A-?A {d?A@?A>J*Ak =2AQ!::A BAk =JAQ!:RA ٘i)I9Y JlJJJJ&K Yy NB{7j77)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027349.463165 s, next control iter: 1743027349.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 848, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027349.863165 s.+]G~,>w%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743027349.863269F (some fields omitted in printout)A@AxρȀ@AZ~? Ay5A-3&"AAǯoNA"AZAbAjArAzAAAdN%@A5'qAξA3A)A?A d?A=?AzX?*A1 =2A::A3y BA1 =JA:RA3y Y?M?y)ٗٓHm?@@;?@ ?@BVb? z4?)? I٘i)I9Y J\J&{JJJ&K]  7Y 7yb77w07)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027349.903165 s, next control iter: 1743027350.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027350.283165 s.4RdG~,%AJ"J*J2J:JBJnJvJA)\@Ae$@AZ~? A5A43&"AAoNA"AZAbAjArAzAAA%@A`qAξADmAn.A#?A>d?A@@;?A;3*A =2A::AP BA =JA:RAP ٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 247Jc3JJJJ&K Yyj7Z7i7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027350.323165 s, next control iter: 1743027350.683176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 849*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027350.703165 s.ֺjG~,%AAQ@AI(}@AZ~? A4A0<3&"AAoNA"AZAbAjArAzAAAK0%@ATڳqAξASХAg4A?A`d?A8?A2*A =2AP::A8 BA =JAP:RA8 ٘i)I9Y J3B=JJJCJ&K Yy OB{7j7>7)Z ZZBZ L?YY *W2W W W W"W  ) ) *FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027350.763165 s, next control iter: 1743027351.103174 s, wait time: 0.340009 s rAdjusting time to match Gazebo time: 1743027351.123165 s.4qG~,P%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199802 time: 1743027351.123271F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@AN`݊@A Z~? A]4AiC3&"AA>oNA"AZAbAjArAzAAA%@ABUzqAξA 5An;AT?AMd?A5?ARb4*Aq =2A::A. BAq =JA:RA. ٘i)I9Y J3C=JQ>JJJ&K> Yy7777w7)ZZZBZL?YY*W2W WWW"W ) )ó*FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027351.143165 s, next control iter: 1743027351.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027351.543165 s.IxG~,%AAףp= @AH39@A#Z~? A3AJ3&"AAfoNA"AZAbAjArAzAAAD %@A2@qA ξAb[A`CA?Ad?A63?Ay4*A =2A::A7 BA =JA:RA7 ٘i)I9Y J`4JQ>JJJ&K>   7Y  7y77 7)ZZZBZL?YY*W2W WWW"W ) )γ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027351.563165 s, next control iter: 1743027351.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 850, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027351.963165 s.v~G~,%AJ"J*J2J:JBJnJvJAfffff@APIҕ@A:Z~? A3AQ3&"AAoNA"AZAbAjArAzAAAs %@AIlqAξAI0:ALA?Ad?A0?A^*Av =2AX::AE BAv =JAX:RAE YTt??yL0:ٓH ?`}`ز??M`f?@6 F?@+?)Tt? I٘i)I9Y JWB=J#JJJ&K^ Yy PB77{7+O 7)ZZZBZL?YY*W2W WWW"W ) )ڳ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027352.003165 s, next control iter: 1743027352.363176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027352.383165 s.؅G~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027352.383302F (some fields omitted in printout)A(\•@A%@APZ~? AA3A Y3&"AAoNA"AZAbAjArAzAAAX %@AK@qAξAH:AnUA׀?A`Јd?A-?AsA*Aa =2A ::AG BAa =JA :RAG ٘i)I9Y JlC=JJJJ&K Yyb77z 7)ZZZBZL?YY*W2W WWW"W ) )*FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027352.403165 s, next control iter: 1743027352.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 851", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027352.803165 s.zAG~,g3&AJ"J*J2J:JBJnJvJAQ@AEuM@AgZ~? A2AA`3&"AAݰoNA"AZAbAjArAzAAAJR %@A|qAξA:A)_Ab~?Ad?A4+?AU*ATL =2A::AJ< BATL =JA:RAJ< ٘i)I9Y J`JJJCJ&K Yyŧ7b7 7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027352.843165 s, next control iter: 1743027353.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027353.223165 s.gG~,HN&AAGz@A !@A~Z~? A2Atg3&"AAoNA"AZAbAjArAzAAA'l %@ALPYqAξAw:AiAz?A`(d?A(?A *A87 =2AT::A BA87 =JAT:RA ٘i)I9Y JeJJJJ&K Yy QB7)7% 7)ZZZBZL?YY*W2W WWW"W ) )*FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027353.243165 s, next control iter: 1743027353.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027353.643165 s.uЙG~,*i&AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4201782 time: 1743027353.643459F (some fields omitted in printout)Ap= ן@AF(@AZ~? A%2An3&"AA,oNA"AZAbAjArAzAAAW %@A.!qAA/ҹA,sAv?A@ߑd?A%?A92*A-" =2A::A" BA-" =JA:RA" ٘i)I9Y JJJJ&K   7Y  7yj7Z7}4 7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027353.663165 s, next control iter: 1743027354.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 852, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027354.063165 s.G~,R &AA33333@A b@AZ~? A1Au3&"AAToNA"AZAbAjArAzAAA.T %@AqAξAˏA }Ar?A)d?A4#?A?*A =2A::A BA =JA:RA Yh?3u?y}ٓH? `6@s?`&?`Dl?`Q?)h? I٘i)I9Y J[3<J]iJJJ&KY Yy77m 7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027354.103165 s, next control iter: 1743027354.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027354.483165 s.r_G~,&AJ"J*J2J:JBJnJvJA(\@A$@AZ~? Ai1A}3&"AA{oNA"AZAbAjArAzAAAđ %@AqqAAΌAņAHp?AXd?A ?A4*A=2A::A BA=JA:RA ٘i)I9Y JJJJ&K Yy RB77{7% 7)ZZZBZL?YY*W2W WWW"W ) )**FFF]n:Waiting for Gazebo time sync: latest Gz time: 1743027354.503165 s, next control iter: 1743027354.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 853, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027354.903165 s.ȭG~,͹&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027354.903268F (some fields omitted in printout)AR멊@A@AZ~? A 1A63&"AAoNA"AZAbAjArAzAAA~  %@A"rqAξAFA珃An?A Jd?A?A<4*A=2A::A BA=JA:RA ٘i)I9Y Je3JJJCJ&K Yy77~ 7)ZZZBZL?YY*W2W WWW"W ) )6*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027354.923165 s, next control iter: 1743027355.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027355.323165 s.uG~,!&AJ"J*J2J:JBJnJvJAzG@AqǛv@AZ~? A0Ad3&"AA˱oNA"AZAbAjArAzAAATt %@A||~9qAAO8AbAdn?A |d?A@A?AF2*A=2A/^::A BA=JA/^:RA ٘i)I9Y JJJJ&K   7Y  7y77 7)ZZZBZL?YY*W2W WWW"W ) )B*FFF]x:Waiting for Gazebo time sync: latest Gz time: 1743027355.363165 s, next control iter: 1743027355.723177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 854&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027355.743165 s.WG~,`&AAq= ף@A ӯ@AZ~? AN0A3&"AAoNA"AZAbAjArAzAAA:۪%@AqAξAlp:AAm?A̘d?A?A*Aĸ=2Ai::A; BAĸ=JAi:RA; ٘i)I9Y JdJJJJ&K Yy SB7(S 7)ZZZBZL?YY*W2W WWW"W ) )M*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027355.783165 s, next control iter: 1743027356.143175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027356.163165 s.v}G~,q 'AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743027356.163288F (some fields omitted in printout)A@A]/@AZ~? A/A3&"AAoNA"AZAbAjArAzAAAG5%@AϬqAξA6إ:A̦A!l?A d?A?A5ͳ*A£=2A::AP BA£=JA:RAP Y']?vi?yŦ0:ٓH T(?z` ?3?\q?`T??)']? I٘i)I9Y JYC=J\FJJJ&K_ Yy77{7 7)ZZZBZL?YY*W2W WWW"W ) )V*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027356.183165 s, next control iter: 1743027356.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027356.583165 s.G~,R%'AA(\@A|zl@A5Z~? A/A3&"AABoNA"AZAbAjArAzAAA5%@A"+8qAξA[:AsA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199722 time: 1743027357.423283F (some fields omitted in printout)AGz@Aڍ>C@AbZ~? A.A73&"AAoNA"AZAbAjArAzAAA)79%@AqAA3AMA>a?A d?A`?A3*A;e=2AU::Aw BA;e=JAU:RAw ٘i)I9Y JJJJ&K   7Y  7y8 7)ZZZBZL?YY*W2W WWW"W ) )h*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027357.463165 s, next control iter: 1743027357.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 856, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027357.843165 s.G~,u'AJ"J*J2J:JBJnJvJA= ףp@A"@AyZ~? Ax.A^3&"AAoNA"AZAbAjArAzAAA_%@AAqAξA͟AgA]?Ad?A m ?AP<3*AuP=2A::AT BAuP=JA:RAT ٘i)I9Y Jh3<JJJJ&K Yyj7j7q 7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027357.883165 s, next control iter: 1743027358.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027358.263165 s.G~,ؐ'AAĊ@AQlÊ@AZ~? A.A3&"AAoNA"AZAbAjArAzAAAFs%@A%qAξA)AA[?A`9d?A?A4*A;=2A::A> BA;=JA:RA> YQ?^?yxٓH>?k j?!T?4Ks?:R?)Q? I٘i)I9Y Jd4C=JjJJJ&K2X Yy UB77{7/ 7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027358.303165 s, next control iter: 1743027358.663176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 857*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027358.683165 s.lG~,Z'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743027358.683290F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(Ȋ@AaXNJ@AZ~? A-A3&"AAoNA"AZAbAjArAzAAAEu%@Aj unqAA6CA񵃽AZ?A@ʨd?A/?A6*A&=2Ah::A@ BA&=JAh:RA@ ٘i)I9Y JJJCJ&K Yy{7j7 7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027358.683165 s, next control iter: 1743027359.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743027359.103165 s.G~,'AAQˊ@A!Uʊ@AZ~? A_-A3&"AA0oNA"AZAbAjArAzAAAZ:%@AR]5qAξA9AABZ?Ad?A`?At3*A=2A[%::A< BA=JA[%:RA< ٘i)I9Y J<JJJJ&K   7Y  7y77 7)ZZZBZL?YY*W2W WWW"W ) )h*FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027359.123165 s, next control iter: 1743027359.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027359.523165 s.G~,{'AJ"J*J2J:JBJnJvJA{GΊ@AAΊ@AZ~? A-A3&"AAXoNA"AZAbAjArAzAAA%@A<ntqAξA:AA\Y?A`md?A ?A3*AG=2A::A4 BAG=JA:RA4 ٘i)I9Y Jd4C=JJJJ&K Yy VB770W 7)ZZZBZL?YY*W2W WWW"W ) )c*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027359.563165 s, next control iter: 1743027359.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 858, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027359.943165 s.TdG~,1]'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199572 time: 1743027359.943267F (some fields omitted in printout)A ףp=Ҋ@Aolъ@AZ~? A,A3&"AAoNA"AZAbAjArAzAAAl%@AWqAξA:APASW?A d?A Y?A?Ҵ*A=2A@::AX& BA=JA@:RAX& ٘i)I9Y JdJJJJ&K Yy777 7)ZZZBZL?YY*W2W WWW"W ) )]*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027359.963165 s, next control iter: 1743027360.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027360.363165 s.G~,}>(AJ"J*J2J:JBJnJvJAՊ@AԊ@AZ~? AG,A13&"AAoNA"AZAbAjArAzAAA!y%@A63}BqAξANC:AAT?Ad?A?AH/3*A=2A::A BA=JA:RA Y&F?uR?yC:ٓHU?@0<}Z?`c?Xq?iH? ?)&F? I٘i)I9Y J_JQ8JJJ&K] Yy{7{7 7)ZZZBZL?YY*W2W WWW"W ) )U*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027360.403165 s, next control iter: 1743027360.763178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 859", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027360.783165 s.U G~,2(AA)\؊@A E %؊@AZ~? A+AP3&"AAϳoNA"AZAbAjArAzAAA +%@AA6QqAξAFAAO?A wd?A"?A(M*Az=2A<::A BAz=JA<:RA ٘i)I9Y Je4JJJCJ&K  7Y 7y WBŧ7ŧ717)ZZZBZL?YY*W2W WWW"W ) )L*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027360.823165 s, next control iter: 1743027361.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027361.203165 s.G~,M(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200242 time: 1743027361.203311F (some fields omitted in printout)AQ܊@A /ۊ@A1Z~? A+An3&"AAoNA"AZAbAjArAzAAA28Ѷ%@A3qAξAR&sA嗃AL?Ad?A?AQ*A=2A::A BA=JA:RA ٘i)I9Y JcJJJJ&K Yy{7{7<7)ZZZBZL?YY*W2W WWW"W ) )B*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027361.243165 s, next control iter: 1743027361.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027361.623165 s.TG~,Pg(AAHzߊ@Aފ@AHZ~? A.+A3&"AAoNA"AZAbAjArAzAAAq#A%@Am?9qAξApإAA I?A@ad?A?A<4*A=2A::Ag BA=JA:RAg ٘i)I9Y JV4B=JJJJ&K Yyj7Z7u7)ZZZBZL?YY*W2W WWW"W ) )8*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027361.663165 s, next control iter: 1743027362.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 860 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027362.043165 s. G~,Â(AJ"J*J2J:JBJnJvJAףp= @Av69@A_Z~? A*A3&"AAGoNA"AZAbAjArAzAAA9%@AGqAξA"|A燃AZG?A`d?AW?A6{3*A=2ANr::AU BA=JANr:RAU ٘i)I9Y Jd4C=JJJJ&K Yy XB77757)ZZZBZL?YY*W2W WWW"W ) ),*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027362.083165 s, next control iter: 1743027362.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027362.463165 s.Q'G~,Ӥ(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199562 time: 1743027362.463272F (some fields omitted in printout)Afffff@AM)@AuZ~? At*A4&"AAooNA"AZAbAjArAzAAAyX%@A)s^mqAξA|:AkAF?Ad?A`?A1*Aam=2A4::AM BAam=JA4:RAM Y:?G?yk=4;ٓH@l?dž ?`}?`K` m?/Z'?):? I٘i)I9Y JhJ59JJJ&KY Yy{7{77)ZZZBZL?YY*W2W WWW"W ) )!*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027362.503165 s, next control iter: 1743027362.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 861, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027362.883165 s.y-G~,'(AJ"J*J2J:JBJnJvJA(\@Aw/@AZ~? A*A 4&"AAoNA"AZAbAjArAzAAAl%@A!y~4qAξAY7:AvA#F?A`d?A,?A4*AX=2A8::A^C BAX=JA8:RA^C ٘i)I9Y Jc3JJJCJ&K  7Y 7y7777!7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027362.923165 s, next control iter: 1743027363.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027363.303165 s.T4G~,og(AAQ@A-N@AZ~? A)A4&"AAoNA"AZAbAjArAzAAA2n%@ABcqAξAI:A`nAD?A׹d?A?AFym*AUD=2Av::A%9 BAUD=JAv:RA%9 ٘i)I9Y J_JJJJ&K Yy YB75[7)ZZZBZL?YY*W2W WWW"W ) ) *FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027363.343165 s, next control iter: 1743027363.703177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 862&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027363.723165 s.;G~,H(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200462 time: 1743027363.723313F (some fields omitted in printout)AGz@AW;@AZ~? A\)A 4&"AAoNA"AZAbAjArAzAAAFI%@AqAξA2:AfAmB?A߻d?A@?A)*A/=2A::A BA/=JA:RA ٘i)I9Y J[JJJJ&K Yyb777)ZZZBZL?YY*W2W WWW"W ) )*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027363.743165 s, next control iter: 1743027364.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027364.143165 s.V/BG~,* )AAp= @ATO@AZ~? A(A#!4&"AAoNA"AZAbAjArAzAAA %@AKqAξA9A=^A>?Ad?Am?A@8*A=2A::A BA=JA:RA ٘i)I9Y Jf3JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027364.163165 s, next control iter: 1743027364.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027364.563165 s.HG~,A $)AJ"J*J2J:JBJnJvJA33333@A*kb@AZ~? A(A9(4&"AA6oNA"AZAbAjArAzAAAqO%@AGTQqAξAmAVA:?A`d?A?Af@*AM=2AM::A BAM=JAM:RA YF/?;?yV]ٓHH?i@??mD g?1<(?)F/? I٘i)I9Y J[J@9JJCJ&KY  7Y 7y ZBb7b7:7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027364.603165 s, next control iter: 1743027364.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 863, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027364.983165 s.OG~,>)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743027364.983295F (some fields omitted in printout)A(\@Af`X@AZ~? AF(AM/4&"AA^oNA"AZAbAjArAzAAA:T$%@A#dqAA\AhPA7?Ad?A@Fߠ?A+3*A =2A::A^ BA =JA:RA^ ٘i)I9Y JJJJ&K Yy77j7@7)ZZZBZL?YY*W2W WWW"W ) )*FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743027365.023165 s, next control iter: 1743027365.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027365.403165 s.&VG~,Y)AJ"J*J2J:JBJnJvJAR@A@AZ~? A'Aa64&"AAoNA"AZAbAjArAzAAADB(%@Az&qAξAZAJAv4?A d?Aܠ?A"4*A=2A%w::Ad BA=JA%w:RAd ٘i)I9Y J3<JJJJ&K Yy [B77y7)ZZZBZL?YY*W2W WWW"W ) )س*FFF]x:Waiting for Gazebo time sync: latest Gz time: 1743027365.423165 s, next control iter: 1743027365.803176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 864, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027365.823165 s.\G~,t)AAzG@A jv@A.Z~? A'As=4&"AAoNA"AZAbAjArAzAAA# %@AjOqAξA?AEA/3?Ad?A#ڠ?Ae73*AY=2AfD::A_Y BAY=JAfD:RA_Y ٘i)I9Y J`3C=JJJJ&K Yy77797)ZZZBZL?YY*W2W WWW"W ) )ҳ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027365.843165 s, next control iter: 1743027366.223174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743027366.243165 s.cG~,q)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743027366.243298F (some fields omitted in printout)Aq= ף@Af@AEZ~? A/'AD4&"AAֵoNA"AZAbAjArAzAAAo?%@A2nqAξAl9ABA2?Ad?Aנ?AW(4*A=2A::A+U BA=JA:RA+U ٘i)I9Y Jb3JJJJ&K Yy7)ZZZBZL?YY*W2W WWW"W ) )̳*FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743027366.263165 s, next control iter: 1743027366.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027366.663165 s.jG~,q)AtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 865, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A)D/@A\Z~? A&AK4&"AAoNA"AZAbAjArAzAAAVw=%@A24 "6qAAu:AE?A1?Ad?A`ՠ?Aи*A=2AI::AU BA=JAI:RAU Y#?0?yA?8av:ٓH5?#ܠ| e??@jL`e?N? .?)#? I٘i)I9Y J8JJCJ&K:\  7Y 7y \B77%7)ZZZBZL?YY*W2W WWW"W ) )ɳ*FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027366.683165 s, next control iter: 1743027367.063187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743027367.083165 s.DqG~,S)AJ"J*J2J:JBJnJvJA(\ @A۟ @AsZ~? Av&AR4&"AA%oNA"AZAbAjArAzAAAV%@AT%QqAξAnӥ:A=A^0?A d?A`vҠ?A*AK=2A}::AI BAK=JA}:RAI ٘i)I9Y J\<JJJJ&K Yy{7{7>_7)ZZZBZL?YY*W2W WWW"W ) )Ƴ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027367.103165 s, next control iter: 1743027367.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027367.503165 s.wG~,34)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200252 time: 1743027367.503312F (some fields omitted in printout)AQ@A @AZ~? A&AY4&"AAMoNA"AZAbAjArAzAAAA͗%@AeqAξA1z:A!=At-?Ahd?AϠ?AF޼*Ay=2A::A) BAy=JA:RA) ٘i)I9Y JiC=JJJJ&K Yy77777)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027367.523165 s, next control iter: 1743027367.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 866, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027367.923165 s.5~G~,)AJ"J*J2J:JBJnJvJAGz@Ax`C@AZ~? A%A`4&"AAuoNA"AZAbAjArAzAAAWrn%@A"yqAAM*9A=A)?Ad?AX͠?A~ *Ad=2A::A BAd=JA:RA ٘i)I9Y JJJJ&K Yy ]B7ŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027367.963165 s, next control iter: 1743027368.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027368.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200072 time: 1743027368.763292F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AA@AZ~? A%An4&"AAŶoNA"AZAbAjArAzAAAHO%@A_qAξAn ABA-"?A`d?A>Ƞ?A)4*A<=2A.u::A BA<=JA.u:RA Yr?$?yBٓH?Ă ? Rƿ?`;pe?MT,?)r? I٘i)I9Y JR4B=JxJJCJ&K~V Yy{7D7)ZZZBZL?YY*W2W WWW"W ) )ͳ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027368.803165 s, next control iter: 1743027369.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027369.183165 s.˒G~,cK*AA\(@AS4X@AZ~? A$Au4&"AAoNA"AZAbAjArAzAAALX %@AVFhqAξA4AFA ?Aqd?A`Š?A3*Aj(=2AQ::A BAj(=JAQ:RA ٘i)I9Y Jp3C=JJJJ&K Yy ^B}7)ZZZBZL?YY*W2W WWW"W ) )ҳ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027369.223165 s, next control iter: 1743027369.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027369.603165 s.:4G~,f*AJ"J*J2J:JBJnJvJAQ@A 1@AZ~? AK$A|4&"AAoNA"AZAbAjArAzAAAg %@AqAξAAhKA,?A d?A (à?A(4*A1=2AG::A BA1=JAG:RA ٘i)I9Y JV3B=JJJJ&K Yyb7b7B7)ZZZBZL?YY*W2W WWW"W ) )ٳ*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027369.643165 s, next control iter: 1743027370.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 868 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027370.023165 s.ZG~, |*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4198852 time: 1743027370.023289F (some fields omitted in printout)A{G"@A"@AZ~? A#A4&"AA=oNA"AZAbAjArAzAAA̫x*!%@A*AA)@AGr(@ABZ~? A7#A4&"AAoNA"AZAbAjArAzAAAѡB"%@AAqAξA:A^A?Ad?A`?Abz*A=2Az::AȮ BA=JAz:RAȮ Y ?'?y^{[:ٓH@wǿ?`rJ{৯?ӿ?\Rh? T?`%?) ? I٘i)I9Y JdJYJJCJ&K\ Yy7Fc7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027370.903165 s, next control iter: 1743027371.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027371.283165 s.3RG~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743027371.283286F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\,@AT%,@AZZ~? A"A4&"AAoNA"AZAbAjArAzAAA)p+"%@AR qAAj<:AOfAm?A@d?A@?Aݳ*A=2Am::A BA=JAm:RA ٘i)I9Y JJJJ&K Yy7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027371.323165 s, next control iter: 1743027371.683176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 870*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027371.703165 s.ԺG~,*AAQ0@A삁/@AqZ~? A"A4&"AAݷoNA"AZAbAjArAzAAAO/[#%@AqAξA A8nAa?A`d?Az?A@*A=2Afn::Ar BA=JAfn:RAr ٘i)I9Y J`<JJJJ&K Yy `Bb777)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027371.743165 s, next control iter: 1743027372.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027372.123165 s.3G~,L+AJ"J*J2J:JBJnJvJAHz3@Ao^2@AZ~? A#"A4&"AAoNA"AZAbAjArAzAAA!R#%@ApAYqAAxAZvA|?A@Bd?A?Ag3*A=2Al::AO BA=JAl:RAO ٘i)I9Y JJJJ&K  7Y 7y7777C7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027372.163165 s, next control iter: 1743027372.523176 s, wait time: 0.360011 s )  rAdjusting time to match Gazebo time: 1743027372.543165 s.IG~,"+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743027372.543265F (some fields omitted in printout)Aףp= 7@A96@AZ~? A!A4&"AA-oNA"AZAbAjArAzAAA$s$%@A֣!qAξAǥA~A ?Ad?Al?Aa3*A=2A.Y::A; BA=JA.Y:RA; I٘i)I9Y Je3JJJCJ&K YyH7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027372.563165 s, next control iter: 1743027372.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 871, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027372.963165 s.J "J *J 2J :J G~BJnJ,=+AvJAfffff:@Aԕ9@AZ~? Ak!A4&"AAVoNA"AZAbAjArAzAAA&%%@AqAξA^wAA ?A d?A箠?Ap4*As=2A/.::A46 BAs=JA/.:RA46 Y? ?ywٓHݿ?P`D?s?`YEm?@N?)? I٘i)I9Y J]3C=J=JJJ&KU Yy aB)7)77)ZZZBZL?YY*W2W WWW"W ) ))*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027373.003165 s, next control iter: 1743027373.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027373.383165 s.G~,X+AA(\=@A%<@AZ~? A!A4&"AA~oNA"AZAbAjArAzAAAe%%@AAqAξAAYAG ?Ad?Ac?Aa4*A{_=2Ab::A> BA{_=JAb:RA> ٘i)I9Y Jo3JJJJ&K Yy77C7)ZZZBZL?YY*W2W WWW"W ) )4*FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743027373.403165 s, next control iter: 1743027373.783174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 872", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027373.803165 s.rAG~,fgs+AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199642 time: 1743027373.803277F (some fields omitted in printout)J"J*J2J:JBJnJvJAQA@A|cN@@AZ~? A A4&"AAoNA"AZAbAjArAzAAAq7r&%@AayqAξA=:AA ?A d?A੠?A|"*AmK=2A::AJ BAmK=JA:RAJ ٘i)I9Y J^JJJJ&K Yy77)ZZZBZL?YY*W2W WWW"W ) )>*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027373.823165 s, next control iter: 1743027374.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027374.223165 s.gG~,H+AAGzD@AGC@AZ~? AX A4&"AAθoNA"AZAbAjArAzAAAo&%@ArAqAξA3:AA ?Ad?A ^?Az*Ar7=2A#::AJ BAr7=JA#:RAJ ٘i)I9Y J\JJJJ&K  7Y 7y bB77j7-7)ZZZBZL?YY*W2W WWW"W ) )H*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027374.263165 s, next control iter: 1743027374.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027374.643165 s.zG~,*+AJ"J*J2J:JBJnJvJAp= G@A0qG@AZ~? AA4&"AAoNA"AZAbAjArAzAAA62'%@A@ qAξA*1:AA?A|d?Aۤ?A;س*A#=2Ac::AS: BA#=JAc:RAS: ٘i)I9Y J^JJJCJ&K Yy{7Kg7)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 873, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)P*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027374.683165 s, next control iter: 1743027375.043177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027375.063165 s.G~,g +AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743027375.063298F (some fields omitted in printout)A33333K@AubJ@A*Z~? AA4&"AAoNA"AZAbAjArAzAAA'%@AqAξA9AA`?A ~d?A@Y?A_I*A=2Ah]::A| BA=JAh]:RA| Y$?s?yV9ٓHY?` `?@? Tr? elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743027376.323288F (some fields omitted in printout)J"J*J2J:JBJnJvJAzGU@A1$'wT@ApZ~? AA4&"AAoNA"AZAbAjArAzAAAd)%@AI*/*qAξAwAA-?Ad?A@ؚ?A33*Ar=2AT>::ATBAr=JAT>:RAT٘i)I9Y JZ3JJJJ&K YyL7)ZZZBZL?YY*W2W WWW"W ) )f*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027376.363165 s, next control iter: 1743027376.723177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 875&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027376.743165 s.W G~,q/,AAq= ףX@AKu/W@AZ~? A3A4&"AAoNA"AZAbAjArAzAAAQƕ)%@AȏhqAξA8AA?A`Zd?AZ?A=/4*A=2At ::A:BA=JAt :RA:٘i)I9Y Je3JJJCJ&K Yy dBŧ7b77)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027376.783165 s, next control iter: 1743027377.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027377.163165 s.r}G~,qJ,AJ"J*J2J:JBJnJvJA\@AZ/[@AZ~? AA4&"AAoNA"AZAbAjArAzAAAUշl~*%@A qAξAQ<19A-Aw?A@Vd?A`ޕ?A7$3*A֬=2A=::ABA֬=JA=:RAY??y-N19ٓH`e? R@)@? ?Ss? '&??)? I٘i)I9Y J]3JyJJJ&KW Yy{7j7M7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027377.183165 s, next control iter: 1743027377.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027377.583165 s.G~,Re,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743027377.583271F (some fields omitted in printout)A(\_@Am^@AZ~? A|A5&"AAoNA"AZAbAjArAzAAA C +%@AqAξA3{:AA?Ad?Ab?ALt*A=2A::ABA=JA:RA٘i)I9Y JfJJJJ&K YyZ77)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027377.623165 s, next control iter: 1743027377.983174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 876, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027378.003165 s.{ G~,Y4,AJ"J*J2J:JBJnJvJAQb@AϽa@AZ~? A!A5&"AA7oNA"AZAbAjArAzAAA+%@AwDuGKqAξAD:ADA)?Ad?A 琠?Aҳ*A\=2Abf::ABBA\=JAbf:RAB٘i)I9Y JYJJJJ&K  7Y 7y eBb7717)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027378.023165 s, next control iter: 1743027378.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027378.423165 s.u&G~,r,AAGzf@AV6Ce@AZ~? AA5&"AA_oNA"AZAbAjArAzAAA%,%@AHcqAξAt:A̰A9?A@d?Ak?A*Aq=2AzS::ABAq=JAzS:RA٘i)I9Y JjJJJJ&K Yy{7{7Mk7)ZZZBZL?YY*W2W WWW"W ) )d*FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027378.463165 s, next control iter: 1743027378.823174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 877, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027378.843165 s.,G~,,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200242 time: 1743027378.843278F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףpi@ACyh@AZ~? AjA5&"AAoNA"AZAbAjArAzAAAʟN,%@A1qAξAL 9AlAS?A`d?A?A;*A6^=2A(R::A`BA6^=JA(R:RA`٘i)I9Y J]JJJCJ&K Yyj77)ZZZBZL?YY*W2W WWW"W ) )_*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027378.883165 s, next control iter: 1743027379.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027379.263165 s.4G~,,AAl@AXc'k@AZ~? AA5&"AAoNA"AZAbAjArAzAAA~?-%@A:?qqAξA)AA@AL?Aid?Av?A\ɲ*AJ=2AS::A1BAJ=JAS:RA1Yߜ??y>-AٓH ? +??JAr?:%H@?)ߜ? I٘i)I9Y Ja3JNc8JJJ&KpV Yy fBb7777)ZZZBZL?YY*W2W WWW"W ) )Z*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027379.303165 s, next control iter: 1743027379.663176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 878*, header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027379.683165 s.l:G~,,AJ"J*J2J:JBJnJvJA\(p@A@Û5Xo@A*Z~? AAx$5&"AAغoNA"AZAbAjArAzAAAºN*-%@A+(lqAAA\A?Ae?A?AM3*A77=2AlG::A BA77=JAlG:RA ٘i)I9Y JJJJ&K  7Y 7yZ7Z7N7)ZZZBZL?YY*W2W WWW"W ) )S*FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743027379.683165 s, next control iter: 1743027380.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743027380.103165 s.AG~,-AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199822 time: 1743027380.103295F (some fields omitted in printout)AQs@A֨hr@AAZ~? AYAf+5&"AAoNA"AZAbAjArAzAAAZY.%@A#*]a5qAξA|)AОA?A_e?A?A4*A#=2A$::ABA#=JA$:RA٘i)I9Y Jd3<JJJJ&K Yy77P7)ZZZBZL?YY*W2W WWW"W ) )K*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027380.143165 s, next control iter: 1743027380.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027380.523165 s.GG~,{!-AJ"J*J2J:JBJnJvJA{Gv@Aav@AXZ~? AAT25&"AA(oNA"AZAbAjArAzAAA.%@AWqAξA޹AA#?A`e?A?A3*A!=2A::ApBA!=JA:RAp٘i)I9Y Jf3C=JJJCJ&K Yy gB{7j77)ZZZBZL?YY*W2W WWW"W ) )C*FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743027380.563165 s, next control iter: 1743027380.923174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 879, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027380.943165 s.XdNG~,B]<-AA ףp=z@A }ly@ApZ~? AA@95&"AAPoNA"AZAbAjArAzAAA5s/%@ArqAA9A@A?Ae?A`?AW1*A=2A::A)BA=JA:RA)٘i)I9Y JJJJ&K Yyb77Q7)ZZZBZL?YY*W2W WWW"W ) ):*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027380.983165 s, next control iter: 1743027381.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027381.363165 s.UG~,>W-AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199482 time: 1743027381.363265F (some fields omitted in printout)J"J*J2J:JBJnJvJA}@Aի|@AZ~? AIA+@5&"AAxoNA"AZAbAjArAzAAAtuG0%@AiqAξAPo:AA?A`e?A&}?A}*A=2Av::ABA=JAv:RAYԜ?c?y{ս:ٓH?@z|`֭?@"?UVn?R? ?)Ԝ? I٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 246J^<J 9JJJ&K_Z Yy777)ZZZBZL?YY*W2W WWW"W ) )1*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027381.403165 s, next control iter: 1743027381.763179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 880", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027381.783165 s.V[G~,r-AA)\@A %@AZ~? AAG5&"AAoNA"AZAbAjArAzAAAaV<0%@AɆ٤WqAξAH:AA?A|e?A z?Ay*A=2AT::ABA=JAT:RA٘i)I9Y JB=JJJJ&K  7Y 7y hBb7b767)ZZZBZL?YY*W2W W W W"W  ) ) (*FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027381.843165 s, next control iter: 1743027382.183178 s, wait time: 0.340013 s rAdjusting time to match Gazebo time: 1743027382.203165 s.cG~,-AJ"J*J2J:JBJnJvJAQ@ATm7@AZ~? AAM5&"AAɻoNA"AZAbAjArAzAAA571%@A2YJ qAξAo5:A}A]ݸ?A!e?A=x?A*AC=2ABI::AYBAC=JABI:RAY٘i)I9Y JC=JQ>JJJ&K> Yyj7j7So7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027382.223165 s, next control iter: 1743027382.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027382.623165 s.WiG~,]-AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200292 time: 1743027382.623307F (some fields omitted in printout)AHz@AQ݆@AZ~? A9AT5&"AAoNA"AZAbAjArAzAAAT^1%@AqAAAAvASٸ?A@l e?A`u?A~*A=2AJ::AdkBA=JAJ:RAdk٘i)I9Y JQ>JJCJ&K> Yy777)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027382.663165 s, next control iter: 1743027383.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 881 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027383.043165 s.pG~,-AJ"J*J2J:JBJnJvJAףp= @A9@AZ~? AA[5&"AAoNA"AZAbAjArAzAAAX62%@AqAξA}AzpAzո?A e?A Vs?A ͏/*A=2AI::A;BA=JAI:RA;٘i)I9Y J\3<JJJJ&K Yy iB77)ZZZBZL?YY*W2W WWW"W ) ) *FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027383.083165 s, next control iter: 1743027383.443176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027383.463165 s.PwG~,Ϥ-AAfffff@Aި@AZ~? AAb5&"AABoNA"AZAbAjArAzAAAy-2%@A IlzqAξAꜥAojAҸ?Ae?A@p?Aa3*A_=2Aq6::ABA_=JAq6:RAYȜ?Gո?yhjYٓH`&?'-@? 2? 0>`jj?T`"?)Ȝ? I٘i)I9Y Jn3C=J9JJJ&KS  7Y 7yj7j7T7)ZZZBZL?YY*W2W WWW"W ) )*FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743027383.483165 s, next control iter: 1743027383.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 882, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027383.883165 s.y}G~,/-AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200252 time: 1743027383.883278F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\‘@A@AZ~? A)Ai5&"AAjoNA"AZAbAjArAzAAA{pQ3%@A{I2CqAξATqAdA Ѹ?Ae?Asn?Aft4*Au=2A ::ABAu=JA :RA٘i)I9Y JZ4JJJJ&K Yy77T7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027383.923165 s, next control iter: 1743027384.283175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027384.303165 s.VG~,wg.AAQ@AސFN@A*Z~? AA|p5&"AAoNA"AZAbAjArAzAAAI3%@APO qAξA{A_Aoи?A`e?A@l?A;3*Aa=2A::ABAa=JA:RA٘i)I9Y Je3JJJJ&K Yy jBb77)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027384.343165 s, next control iter: 1743027384.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 883*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027384.723165 s.G~,H..AJ"J*J2J:JBJnJvJAGz@A28@ABZ~? AuA_w5&"AAoNA"AZAbAjArAzAAA'l4%@ARqAAqD:A[Aϸ?Ae?A`i?A5*AGN=2Aْ::ABAGN=JAْ:RA٘i)I9Y JJJCJ&K Yy7X7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027384.743165 s, next control iter: 1743027385.123181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743027385.143165 s.X/G~,*I.AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199432 time: 1743027385.143277F (some fields omitted in printout)Ap= כ@AnU@AYZ~? AAA~5&"AAoNA"AZAbAjArAzAAAS04%@AsqAξAY:ABXAθ?APe?A&g?A_*A:=2Ab::ABA:=JAb:RA٘i)I9Y J`<JJJJ&K  7Y 7y{7j77)ZZZBZL?YY*W2W WWW"W ) )*FFF]x:Waiting for Gazebo time sync: latest Gz time: 1743027385.163165 s, next control iter: 1743027385.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027385.563165 s.G~,5 d.AJ"J*J2J:JBJnJvJA33333@A;b@ApZ~? AA"5&"AA oNA"AZAbAjArAzAAA·5%@A10fqAξAk:AUA#̸?A`.e?Ad?A*A'=2ALI::AYBA'=JALI:RAYY?ɸ?yUgg:ٓHF2?@X|-?8?O@g?mR?(?)? I٘i)I9Y JMB=J8JJJ&K Z Yy kBj7{7 :7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027385.603165 s, next control iter: 1743027385.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 884, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027385.983165 s.G~,~.AA(\@AA뾡@AZ~? AfA5&"AA3oNA"AZAbAjArAzAAA<<|6%@A}/qAA0%9ASA|ȸ?A@e?A Ib?AG*A=2AMD::ABA=JAMD:RA٘i)I9Y JJJJ&K YyZ7`s7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027386.023165 s, next control iter: 1743027386.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027386.403165 s.&G~,͙.AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743027386.403294F (some fields omitted in printout)AR륋@AA @AZ~? A A5&"AA\oNA"AZAbAjArAzAAA_?6%@A0YqAA ASAjĸ?AZe?A_?Aݝ#*Ae=2AG::ABAe=JAG:RA٘i)I9Y JJJJ&K Yy lBŧ7b77)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027386.423165 s, next control iter: 1743027386.803177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 885, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027386.823165 s.G~,2.AAzG@A jv@AZ~? AA5&"AAoNA"AZAbAjArAzAAA&17%@A~qAξAKALSA?A$e?Am]?A$H3*AA=2AA::AfBAA=JAA:RAf٘i)I9Y J72<JJJCJ&K Yy{7{77)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027386.863165 s, next control iter: 1743027387.223180 s, wait time: 0.360015 s()( rAdjusting time to match Gazebo time: 1743027387.243165 s.G~,.AJ"J*J2J:JBJnJvJAq= ף@A,=)ӫ@AZ~? AWA5&"AAoNA"AZAbAjArAzAAA7%@A&!`qAξAzHAhTAo?Ae?A[?A 4*A=2Ad&::APBA=JAd&:RAP٘i)I9Y J_3C=JJJJ&K  7Y 7y)7b7\7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027387.283165 s, next control iter: 1743027387.643183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743027387.663165 s.G~,q.AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743027387.663306F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 886, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@Aͪ/@AZ~? AAx5&"AAսoNA"AZAbAjArAzAAA%UL8%@AHSqAξA.1AfVAF?A ]e?A X?Ag4*A=2Aj::ALBA=JAj:RALYd??ydVD2ٓHI=?@{/Ӭ? DG?@,@ g? elevatorAngleAction: 0.000000:JBJ< massPositionAction: 0.0000004 buoyancyAction: 0.000955nJ dt: 0.419990vJ2 time: 1743027388.923279F (some fields omitted in printout)AGz@Ae#C@A,Z~? AA5&"AANoNA"AZAbAjArAzAAAG9%@AvqAξAQ}:AHaAx?A`c e?AZQ?A̳*A<=2ADU::ATQBA<=JADU:RATQI٘i)I9Y JbJJJJ&K  7Y 7y nB777)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027388.963165 s, next control iter: 1743027389.323181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743027389.343165 s.7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027389.383165 s, next control iter: 1743027389.743175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 888&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027389.763165 s.2G~, p/AJ"J*J2J:JBJnJvJA@AgaO;@AZZ~? A<A5&"AAoNA"AZAbAjArAzAAA;%@AjeAqAẢ8AkA?A%e?A@L?A-8*A#h=2AC::A=BA#h=JAC:RA=Y?i?yk8ٓH`sH? -@r? P?#Ij?9?#?)? I٘i)I9Y J ̸JJJ&KV Yyj7bw7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027389.803165 s, next control iter: 1743027390.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027390.183165 s.G~,o/AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200392 time: 1743027390.183301F (some fields omitted in printout)A\(ċ@A:fXË@ArZ~? AA5&"AAǾoNA"AZAbAjArAzAAA;%@A- qAAGAqA?A(e?AJ?AG*A$U=2AE::A4BA$U=JAE:RA4٘i)I9Y JJJJ&K Yy oB)7)77)ZZZBZL?YY*W2W WWW"W ) ) *FFF]: Waiting for Gazebo time sync: latest Gz time: 1743027390.223165 s, next control iter: 1743027390.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027390.603165 s.64G~,/AJ"J*J2J:JBJnJvJAQNj@AƉvƋ@AZ~? AA^5&"AAoNA"AZAbAjArAzAAAdͽ,/<%@AfЌqAA|aA9xAi?A@+e?AG?A3*A$B=2A9::ABA$B=JA9:RA٘i)I9Y JJJCJ&K Yyb77 7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027390.643165 s, next control iter: 1743027391.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 889 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027391.023165 s.ZG~,|/AA{Gʋ@A˽ʋ@AZ~? A/A25&"AAoNA"AZAbAjArAzAAA&q<%@A9?qAξAA~Aw?A`z,e?ARE?A'4*A/=2AS::ABA/=JAS:RA٘i)I9Y J_3C<JJJJ&K  7Y 7y7b#7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027391.063165 s, next control iter: 1743027391.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027391.443165 s.3G~,-]/AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000J"J< massPositionAction: 0.000000*J2J4 buoyancyAction: 0.000955:JBJ dt: 0.419971nJvJ2 time: 1743027391.443272F (some fields omitted in printout)A ףp=΋@A+l͋@AZ~? AA5&"AA@oNA"AZAbAjArAzAAAq K=%@AѴfqAA:ιAnA?A,e?A B?AU3*A=2A::ABA=JA:RA٘i)I9Y JJJJ&K Yy pB7777\7)ZZZBZL?YY*W2W WWW"W ) )(*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027391.483165 s, next control iter: 1743027391.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 890, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027391.863165 s.+G~,}>/AAы@A^-Ћ@AZ~? A|A5&"AAhoNA"AZAbAjArAzAAA;=%@AԦ/qAA:AA8?A,e?A@@?Aj2*A=2A::ABA=JA:RAYٛ?(?yZ:ٓHS?׼@`?([?SPn?z@? ?)ٛ? I٘i)I9Y JuJJJ&K{V Yyj7Z77)ZZZBZL?YY*W2W WWW"W ) )1*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027391.903165 s, next control iter: 1743027392.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027392.283165 s.4RG~,0AJ"J*J2J:JBJnJvJA)\ԋ@Ar%ԋ@AZ~? A#A5&"AAoNA"AZAbAjArAzAAAOh>%@AwaqAξA!:AzAI?A,e?A&>?AHؔ*A=2A7n::AgBA=JA7n:RAg٘i)I9Y J.˲<JJJJ&K Yy{7j7c7)ZZZBZL?YY*W2W WWW"W ) ):*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027392.303165 s, next control iter: 1743027392.683177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 891*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027392.703165 s.պ G~, -0AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199642 time: 1743027392.703260F (some fields omitted in printout)AQ؋@AY׋@AZ~? AAw5&"AAoNA"AZAbAjArAzAAAn؞>%@A9PqAξA:AA-?A=.e?A`;?A|*A=2A5N::A^BA=JA5N:RA^٘i)I9Y JSB=JJJCJ&K  7Y 7y qB77777)ZZZBZL?YY*W2W WWW"W ) )B*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027392.743165 s, next control iter: 1743027393.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027393.123165 s.4G~,PG0AJ"J*J2J:JBJnJvJAHzۋ@AVWڋ@AZ~? ApAE6&"AAoNA"AZAbAjArAzAAAo?%@A%KqAξAW.:A\Aբ?A0e?A_9?A,ҳ*A=2AoD::ABA=JAoD:RA٘i)I9Y JsC=JJJJ&K Yy77B7)ZZZBZL?YY*W2W WWW"W ) )J*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027393.143165 s, next control iter: 1743027393.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027393.543165 s.IG~,b0AAףp= ߋ@AO)9ދ@A.Z~? AA6&"AA oNA"AZAbAjArAzAAA5i@%@AUqAA"bAAΞ?A3e?A6?AtȈ*AD=2A G::AXBAD=JA G:RAX٘i)I9Y JJJJ&K Yy{7{7e{7)ZZZBZL?YY*W2W WWW"W ) )Q*FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027393.563165 s, next control iter: 1743027393.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 892, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027393.963165 s.xG~,}0AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027393.963273F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@Af׽@AEZ~? AA 6&"AA2oNA"AZAbAjArAzAAA+o@%@AϔTqAAoA]A?A6e?A4?A/@2*Ax=2AE::A5uBAx=JAE:RA5uYŐ??yY>ٓH^?b`ނ?Bi?G`$r?-P?)Ő? I٘i)I9Y JJJJ&KR Yy rBb777)ZZZBZL?YY*W2W WWW"W ) )X*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027393.983165 s, next control iter: 1743027394.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027394.383165 s.%G~,'0AA(\@Aw@A]Z~? AdA6&"AA[oNA"AZAbAjArAzAAAZ0A%@AڽqAξA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743027395.223278F (some fields omitted in printout)AGz@A&:@AZ~? AA@"6&"AAoNA"AZAbAjArAzAAA;`MB%@AH4f|qAξAARA?A9e?A }-?AM%3*Aq=2A ::AZBAq=JA :RAZ٘i)I9Y J\3JJJJ&K Yy sB77` 7)ZZZBZL?YY*W2W WWW"W ) )e*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027395.263165 s, next control iter: 1743027395.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027395.643165 s.v9G~,*0AJ"J*J2J:JBJnJvJAp= @Aƒ@AZ~? AYA)6&"AAoNA"AZAbAjArAzAAA2geB%@AV(EqAξAJ:A A?A9e?A+?AƝʲ*A_=2A::A`BA_=JA:RA`٘i)I9Y J[JJJJ&K Yy77{7 7)ZZZBZL?YY*W2W WWW"W ) )h*tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 894, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027395.663165 s, next control iter: 1743027396.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027396.063165 s.@G~,N 1AA33333@Aib@AZ~? AA/6&"AAoNA"AZAbAjArAzAAA B`kC%@Ah\xqAξA:A𴃽AZ?A":e?A(?Aϳ*ANL=2Ad::AyZBANL=JAd:RAyZYl??y괃:ٓH@i?`+`!|@L?`o?E[s? WT?@?)l? I٘i)I9Y JiJhoJJJ&K-X Yy{7j7j 7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027396.103165 s, next control iter: 1743027396.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027396.483165 s.q_GG~,1AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743027396.483281F (some fields omitted in printout)A(\@A?Ң@AZ~? A A66&"AA%oNA"AZAbAjArAzAAA(ŰC%@A~1qAξA:AȂ?A;e?Ae&?A*A9=2A]M::ACBA9=JA]M:RAC٘i)I9Y JbJJJJ&K  !7Y !7y tBb7b7 !7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027396.523165 s, next control iter: 1743027396.883173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 895, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027396.903165 s.MG~,91AAR@A]@AZ~? AN A]=6&"AANoNA"AZAbAjArAzAAA^ViD%@ACqAξAN9A!A"?A >e?A $?Aҳ*A&=2AI::ABA&=JAI:RA٘i)I9Y JaJJJCJ&K Yy777F!7)ZZZBZL?YY*W2W WWW"W ) )h*FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027396.923165 s, next control iter: 1743027397.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027397.323165 s.uTG~,!T1AJ"J*J2J:JBJnJvJAzG@A yw@AZ~? A A!D6&"AAvoNA"AZAbAjArAzAAA*6E%@AZlqAAҋAA?AAe?A!?AR&O*Ag=2A"M::ABAg=JA"M:RA٘i)I9Y JJJJ&K Yy77l!7)ZZZBZL?YY*W2W WWW"W ) )f*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027397.363165 s, next control iter: 1743027397.723177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 896&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027397.743165 s.W[G~,do1AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743027397.743292F (some fields omitted in printout)Aq= ף@Af@@AZ~? A AJ6&"AAoNA"AZAbAjArAzAAA E%@AX6qAξAkA4A?ADe?AQ?A3*A=2AlG::ABA=JAlG:RA٘i)I9Y J_3<JJJJ&K Yy uB777¸!7)ZZZBZL?YY*W2W WWW"W ) )c*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027397.783165 s, next control iter: 1743027398.143175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027398.163165 s.w}bG~,q1AJ"J*J2J:JBJnJvJA@A9d/@A1Z~? AD AQ6&"AAoNA"AZAbAjArAzAAA5F%@ApZcqAξAA)A8?AFe?A@?A03*A>=2A,::A=BA>=JA,:RA=Ytz?Æ?y"SٓH t?@g@??sE@r? S`?)tz? I٘i)I9Y J_3C=J48JJJ&KP Yyb77!7)ZZZBZL?YY*W2W WWW"W ) )_*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027398.183165 s, next control iter: 1743027398.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027398.583165 s.hG~,R1AA(\@AL0@AHZ~? A AjX6&"AAoNA"AZAbAjArAzAAAٝF%@ACqAξA`*AtA?A{Fe?A?AO3*A=2A::ABA=JA:RA٘i)I9Y J\4JJJCJ&K  "7Y "7yr+"7)ZZZBZL?YY*W2W WWW"W ) )Z*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027398.623165 s, next control iter: 1743027398.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 897, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027399.003165 s.z pG~,U41AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200282 time: 1743027399.003303F (some fields omitted in printout)AQ @A8k @A`Z~? A A*_6&"AAoNA"AZAbAjArAzAAAquYRG%@A!+qAAv;r9A0A?AKFe?AH?A/3*A=2Au::ABA=JAu:RA٘i)I9Y JJJJ&K Yy vB)7b7d"7)ZZZBZL?YY*W2W WWW"W ) )T*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027399.043165 s, next control iter: 1743027399.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027399.423165 s.uvG~,1AAGz@A+PC @AwZ~? A: Ae6&"AAAoNA"AZAbAjArAzAAAG%@Aģ^qAξAZ:AuA?AVFe?A ?A(p*A_=2A+::ArBA_=JA+:RAr٘i)I9Y Jf<JJJJ&K Yyŧ7"7)ZZZBZL?YY*W2W WWW"W ) )M*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027399.463165 s, next control iter: 1743027399.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 898, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027399.843165 s.|G~,1AJ"J*J2J:JBJnJvJA= ףp@A,@AZ~? A Al6&"AAioNA"AZAbAjArAzAAA)pH%@AvSt(qAξA*:AWAR?AQGe?A?A*Aդ=2Aa::ABAդ=JAa:RA٘i)I9Y JdC=JJJJ&K Yy77{7n"7)ZZZBZL?YY*W2W WWW"W ) )F*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027399.883165 s, next control iter: 1743027400.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027400.263165 s.G~,2AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199712 time: 1743027400.263275F (some fields omitted in printout)A@Ai:;@AZ~? A Ags6&"AAoNA"AZAbAjArAzAAArH%@AqAξAh:A핃AW}?A`zIe?AD?AE*Aa=2AVR::ArBAa=JAVR:RArY)o?x{?yꕃ/=i:ٓH ?n [~? ?To? ?M??))o? I٘i)I9Y J^J8JJJ&KW  #7Y #7y wB77#7)ZZZBZL?YY*W2W WWW"W ) )?*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027400.303165 s, next control iter: 1743027400.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 899., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027400.683165 s.lG~,Z+2AJ"J*J2J:JBJnJvJA\(@AOZX@AZ~? A1 A$z6&"AAoNA"AZAbAjArAzAAA,(I%@A׺qAA8A]Asy?A`tLe?A?A*A=2AS::AEBA=JAS:RAE٘i)I9Y JJJCJ&K YyJ#7)ZZZBZL?YY*W2W WWW"W ) )7*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027400.683165 s, next control iter: 1743027401.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743027401.103165 s.G~,F2AAQ@Ad\qq@AZ~? A A6&"AAoNA"AZAbAjArAzAAAغ$J%@A6i*qAArNAˊA~u?AyOe?A ?Až*Am=2AKU::ABAm=JAKU:RA٘i)I9Y JJJJ&K Yy777q#7)ZZZBZL?YY*W2W WWW"W ) )0*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027401.143165 s, next control iter: 1743027401.503180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027401.523165 s.G~,{a2AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199492 time: 1743027401.523256F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@A#@AZ~? A A6&"AA oNA"AZAbAjArAzAAAӮO`J%@A#;APqAξA ANAVr?AQe?A`D ?A13*A@[=2AI::ABA@[=JAI:RA٘i)I9Y J-2<JJJJ&K Yy xB{7Z7Ƽ#7)ZZZBZL?YY*W2W WWW"W ) )(*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027401.563165 s, next control iter: 1743027401.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 900, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027401.943165 s.UdG~,5]|2AA ףp="@A镲l!@AZ~? A( AU6&"AA4oNA"AZAbAjArAzAAAuɱ2AJ"J*J2J:JBJnJvJA%@AW<$@AZ~? AA6&"AA]oNA"AZAbAjArAzAAA IfK%@AZ~qAξAN^AzAo?A Re?A?AG3*Af6=2A::AnBAf6=JA:RAnY#d?rp?yz¾ٓH@?@H? 7?Eyl?7?)#d? I٘i)I9Y J]3J9JJJ&KQ  $7Y $7yj7j7u/$7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027402.403165 s, next control iter: 1743027402.763175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 901&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027402.783165 s.`G~,2AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743027402.783301F (some fields omitted in printout)A)\(@ACR %(@A4Z~? AwAś6&"AAoNA"AZAbAjArAzAAAe>[L%@AQYqAAm@ :A5vAFo?ARe?A`N?AN2*A#=2Aʵ::AgBA#=JAʵ:RAg٘i)I9Y JJJCJ&K Yy yB777h$7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027402.823165 s, next control iter: 1743027403.183182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743027403.203165 s.G~,2AJ"J*J2J:JBJnJvJAQ,@A=4+@ALZ~? AA|6&"AAoNA"AZAbAjArAzAAAK܈L%@AV!xqAξA:AqATn?ARe?A?A*A=2A::ABA=JA:RA٘i)I9Y Jd<JJJJ&K Yyb77$7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027403.243165 s, next control iter: 1743027403.603179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027403.623165 s.XG~,a2AAHz/@ARd.@AdZ~? AA36&"AAoNA"AZAbAjArAzAAA yM%@AJP*CqAξANR:ABnA2l?AZTe?A Y?A߳*Ae<2Ad::ABAe<JAd:RA٘i)I9Y J^C=JJJJ&K Yy77u$7)ZZZBZL?YY*W2W WWW"W ) ) *FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027403.663165 s, next control iter: 1743027404.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 902 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027404.043165 s.G~,3AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743027404.043303F (some fields omitted in printout)Aףp= 3@A z92@A{Z~? AoA6&"AAoNA"AZAbAjArAzAAAѧ3 N%@A kHp qAξAj+':A#kAh?AVe?A?A̳*A<2A|\::ABA<JA|\:RA٘i)I9Y JdJJJJ&K  %7Y %7y zB77%7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027404.083165 s, next control iter: 1743027404.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027404.463165 s.TG~,ߤ3AAfffff6@A5}v5@AZ~? AA6&"AA(oNA"AZAbAjArAzAAAࡘN%@AqAAO.AhAd?AYe?A?ATn*Al<2A_::AykBAl<JA_:RAykY Y?Ye?yhrٓHക?@ ??`D@4j?%0@$?) Y? I٘i)I9Y J28JJJ&K\S Yy77!N%7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027404.503165 s, next control iter: 1743027404.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 903, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027404.883165 s.yG~,483AJ"J*J2J:JBJnJvJA(\9@A(F8@AZ~? AAO6&"AAPoNA"AZAbAjArAzAAAO$(O%@A;qAξA⃺A gAa?A\e?Au?A宣2*A<2A^::ACBA<JA^:RACI٘i)I9Y J`3<JJJCJ&K Yy7{7w%7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027404.923165 s, next control iter: 1743027405.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027405.303165 s.TG~,ogS3AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199842 time: 1743027405.303273F (some fields omitted in printout)AQ=@A|cN<@AZ~? AhA6&"AAyoNA"AZAbAjArAzAAA}$O%@AplqAξAAfAW^?A^e?A?A+3*Al<2AL::A'BAl<JAL:RA'٘i)I9Y Jb3C=JJJJ&K Yy {B77%7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027405.343165 s, next control iter: 1743027405.703177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 904*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027405.723165 s.G~,Hn3AJ"J*J2J:JBJnJvJAGz@@AG&?@AZ~? AA6&"AAoNA"AZAbAjArAzAAABM SGP%@AaV6qAξA$eAeA\?A`/_e?A>?A4*AG<2A"::ABAG<JA":RA٘i)I9Y Ja3JJJJ&K Yy{7{7"%7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027405.763165 s, next control iter: 1743027406.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027406.143165 s.U/G~,*3AAp= C@AVFC@AZ~? AAb6&"AAoNA"AZAbAjArAzAAAP%@AdBqAξA"[A|fA[\?A@ _e?A`?A,3*AX#<2A::A BAX#<JA:RA ٘i)I9Y Jd3JJJJ&K  &7Y &7y |BE7E7w3&7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027406.163165 s, next control iter: 1743027406.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027406.563165 s.G~,5 3AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199762 time: 1743027406.563270F (some fields omitted in printout)A33333G@A*bF@A Z~? A`A6&"AAoNA"AZAbAjArAzAAA#-fQ%@A.qAA,=Q:AgA[?A`^e?A ݟ?Ax*A<2A::A%BA<JA:RA%YM?0Z?ygQ:ٓH࿠? Yv~ ?ܧ?'Mj?`'J?$?)M? I٘i)I9Y Jg6JJCJ&KuT Yy7777l&7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027406.583165 s, next control iter: 1743027406.963174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 905, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027406.983165 s.G~,3AA(\J@A,I@A!Z~? A A6&"AAoNA"AZAbAjArAzAAAm*Q%@A]J3qAξAS:AiAZ?A@u_e?A@v؟?AUk*A;<2Az::A!BA;<JAz:RA!٘i)I9Y J^<JJJJ&K Yy77%&7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027407.003165 s, next control iter: 1743027407.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027407.403165 s.&G~,3AJ"J*J2J:JBJnJvJARM@A8M@A9Z~? AAm6&"AADoNA"AZAbAjArAzAAA6F΅R%@A0`qAξA&:AlAW?A0ae?Aӟ?AԳ*A<2Am::A BA<JAm:RA ٘i)I9Y JcC=JJJJ&K Yy }Bb77{&7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027407.443165 s, next control iter: 1743027407.803175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 906, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027407.823165 s.G~,)3AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200442 time: 1743027407.823311F (some fields omitted in printout)AzGQ@AqǛvP@AQZ~? AYA6&"AAmoNA"AZAbAjArAzAAAsS%@AGQB+qAξAa9AoAST?A`ce?AFϟ?Ad*A<2Ak::ABA<JAk:RA٘i)I9Y JaJJJJ&K  '7Y '7y7ŧ7'7)ZZZBZL?YY*W2W WWW"W ) ) *FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027407.863165 s, next control iter: 1743027408.223179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027408.243165 s.G~,u4AJ"J*J2J:JBJnJvJAq= ףT@AdS@AhZ~? AA6&"AAoNA"AZAbAjArAzAAAI FS%@AJ<"qAAkAsANP?A fe?Aʟ?A;B*A}m<2An::A!BA}m<JAn:RA!٘i)I9Y JJJJ&K Yy7777%R'7)ZZZBZL?YY*W2W WWW"W ) )*FFF]t:Waiting for Gazebo time sync: latest Gz time: 1743027408.263165 s, next control iter: 1743027408.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027408.663165 s. G~,q*4AtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 907, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)AX@AAB/W@AZ~? AAo6&"AAoNA"AZAbAjArAzAAAҷ+ 5T%@Ag*qqAξAm~AxAL?Aeie?A@Ɵ?A _3*ATI<2AWi::A^BATI<JAWi:RA^YB?JO?yxϘٓH@?۹@7`6?`¶?0>l?`S ?)B? I٘i)I9Y JY3<J暸JJCJ&KzO Yy ~B77'7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027408.683165 s, next control iter: 1743027409.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027409.083165 s.DG~,RE4AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743027409.083283F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\[@A5|Z@AZ~? ASA7&"AAoNA"AZAbAjArAzAAANT%@AqAξAA|AJ?Aje?A`?A4*A%<2AO::ABA%<JAO:RA٘i)I9Y Jq3C=JJJJ&K YyZ7Z7'7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027409.103165 s, next control iter: 1743027409.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027409.503165 s.G~,@4`4AAQ^@A (]@AZ~? AA7&"AAoNA"AZAbAjArAzAAAȗTU%@AFUqAξA#AAI?Ake?A?A 4*A<2A::ABA<JA:RA٘i)I9Y JZ3JJJJ&K Yy{7j7+'7)ZZZBZL?YY*W2W WWW"W ) )#*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027409.523165 s, next control iter: 1743027409.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 908, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027409.923165 s.5G~,{4AJ"J*J2J:JBJnJvJAGzb@ACa@AZ~? AAi 7&"AA8oNA"AZAbAjArAzAAA"U%@ARp qAAy99AEAI?A@je?A@l?AQ3*Au<2A::ABAu<JA:RA٘i)I9Y JJJJ&K  (7Y (7y B77~7(7)ZZZBZL?YY*W2W WWW"W ) )**FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027409.963165 s, next control iter: 1743027410.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027410.343165 s.<%G~,4AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743027410.343312F (some fields omitted in printout)A= ףpe@Ad@AZ~? AMA7&"AAaoNA"AZAbAjArAzAAAʽtV%@AB*qAξA :AAoH?Aje?A@߳?A̎E*A,<2AB::ADBA,<JAB:RAD٘i)I9Y Jc<JJJJ&K Yy77p(7)ZZZBZL?YY*W2W WWW"W ) )2*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027410.383165 s, next control iter: 1743027410.743177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 909&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027410.763165 s.8+G~,#ذ4AJ"J*J2J:JBJnJvJAh@Ai:;g@AZ~? AA7&"AAoNA"AZAbAjArAzAAAY]W%@ASZqAξA(:AAF?A`ke?A`R?ANϳ*A<2AΉ::AɡBA<JAΉ:RAɡY7?D?yW:ٓH@? J} Ҩ? Ӽ?U`]o?ėT? ?)7? I٘i)I9Y JaC=JJJCJ&KU Yy7777,(7)ZZZBZL?YY*W2W WWW"W ) )9*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027410.803165 s, next control iter: 1743027411.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027411.183165 s.2G~,k4AA\(l@Aԙ{HXk@AZ~? AAZ!7&"AAoNA"AZAbAjArAzAAAW%@Af'UqAξAb:AkAC?A`me?A`Ū?Aճ*Ap<2A{::ABAp<JA{:RA٘i)I9Y JcJJJJ&K Yy BZ7Z7(7)ZZZBZL?YY*W2W WWW"W ) )@*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027411.223165 s, next control iter: 1743027411.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027411.603165 s.049G~,4AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199722 time: 1743027411.603256F (some fields omitted in printout)J"J*J2J:JBJnJvJAQo@A&kn@A&Z~? AGA'7&"AAoNA"AZAbAjArAzAAA5$X%@AcKqAξA#8AA??Ape?A8?AJ*A(L<2Av}::AhBA(L<JAv}:RAh٘i)I9Y JdJJJJ&K  )7Y )7y77)7)ZZZBZL?YY*W2W WWW"W ) )G*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027411.643165 s, next control iter: 1743027412.003174 s, wait time: 0.360009 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 910 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027412.023165 s.Z@G~,|5AA{Gr@A˽r@A>Z~? AA.7&"AAoNA"AZAbAjArAzAAA6\ִX%@A<7]qAAYTAvA;?A`se?A@?As;*AV(<2A::AEBAV(<JA:RAE٘i)I9Y JJJJ&K Yy77{7/V)7)ZZZBZL?YY*W2W WWW"W ) )N*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027412.063165 s, next control iter: 1743027412.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027412.443165 s.3FG~,-]5AJ"J*J2J:JBJnJvJA ףp=v@A뤾lu@AVZ~? AAB57&"AA,oNA"AZAbAjArAzAAAv)EY%@AE=qAξA|AA8?Aue?A$?Aݸ3*A<2AQt::A+BA<JAQt:RA+٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 245J^3<JJJJ&K Yy{7j7)7)ZZZBZL?YY*W2W WWW"W ) )T*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027412.483165 s, next control iter: 1743027412.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 911, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027412.863165 s.+MG~,>75AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200252 time: 1743027412.863319F (some fields omitted in printout)Ay@A- &x@AnZ~? ABA;7&"AAUoNA"AZAbAjArAzAAAy͎JJJ&K>  *7Y *7y7-*7)ZZZBZL?YY*W2W WWW"W ) )_*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027413.323165 s, next control iter: 1743027413.683176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 912., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027413.703165 s.պZG~, m5AAQ@AB/h@AZ~? AA"I7&"AAoNA"AZAbAjArAzAAA:Z%@AY?\ BqAξA :AA5?ATve?A?A1*A<2A5::A+BA<JA5:RA+٘i)I9Y JTB=JQ>JJJ&K> Yy B{7j7;*7)ZZZBZL?YY*W2W WWW"W ) )c*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027413.723165 s, next control iter: 1743027414.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027414.123165 s.2aG~,H5AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000J< massPositionAction: 0.000000"J4 buoyancyAction: 0.000955*J dt: 0.4200152J:J2 time: 1743027414.123277BJF (some fields omitted in printout)nJvJAHz@AX݂@AZ~? A>AO7&"AAoNA"AZAbAjArAzAAA[[%@An qAξA<;:A"A4?Ave?A@?AqG*At<2A2::A,BAt<JA2:RA,٘i)I9Y JcC=JJJJ&K Yy77t*7)ZZZBZL?YY*W2W WWW"W ) )f*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027414.143165 s, next control iter: 1743027414.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027414.543165 s.IhG~,â5AAףp= @A)9@AZ~? AA]V7&"AAoNA"AZAbAjArAzAAA"Ny*\%@A(eqAξA:A۴A2?A@we?A?A`H*AQ<2A畽::AfBAQ<JA畽:RAf٘i)I9Y JZJJJCJ&K Yy6*7)ZZZBZL?YY*W2W WWW"W ) )i*FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027414.583165 s, next control iter: 1743027414.943176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 913, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027414.963165 s.vnG~,褽5AJ"J*J2J:JBJnJvJAfffff@Aͪϕ@AZ~? AA\7&"AA!oNA"AZAbAjArAzAAA^at\%@A%qAξAh:AⵃAi/?A=ze?A?A#ճ*A-<2A؎::ABA-<JA؎:RAY!?.?yൃ4: :ٓHN?@f? ?T`s?C?@?)!? I٘i)I9Y JjJ`JJJ&KS Yy77*7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027415.003165 s, next control iter: 1743027415.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027415.383165 s.uG~,5AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199402 time: 1743027415.383257F (some fields omitted in printout)A(\@A@AZ~? A9Ac7&"AAJoNA"AZAbAjArAzAAA1MH6]%@A0nqAA:A3Ai+?A,}e?A@}?A}*A% <2AӒ::ABA% <JAӒ:RA٘i)I9Y JJJJ&K  +7Y +7y +7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027415.423165 s, next control iter: 1743027415.783174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 914, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027415.803165 s.uA|G~,sg5AJ"J*J2J:JBJnJvJAQ@AM@AZ~? AA/j7&"AAsoNA"AZAbAjArAzAAAw?]%@Ab0M9qAAq@AA'?A`e?A@y?A-*A<2A ::ABA<JA :RA٘i)I9Y JJJJ&K Yyŧ7b72Z+7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027415.843165 s, next control iter: 1743027416.203175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027416.223165 s.gG~,H6AAGz@AZ_&@A,Z~? AAp7&"AAoNA"AZAbAjArAzAAARW^%@A9qqAAAA%?A e?At?AI3*AJ<2Au::ABAJ<JAu:RA٘i)I9Y JJJJ&K Yy B77+7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027416.263165 s, next control iter: 1743027416.623179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027416.643165 s.yЉG~,*)6AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200202 time: 1743027416.643297F (some fields omitted in printout)Ap= ח@At@ADZ~? A6A`w7&"AAoNA"AZAbAjArAzAAA$DE^%@AaȜqAξAz_AղA#?Ae?A "p?A7N4*A͟<2AV::A[BA͟<JAV:RA[٘i)I9Y Jd3C<JJJCJ&K Yyŧ7b7+7)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 915, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)f*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027416.683165 s, next control iter: 1743027417.043179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027417.063165 s.G~,R D6AA33333@A<ۤb@A\Z~? AA}7&"AAoNA"AZAbAjArAzAAA4ex_%@AcϚqAA݇AtA'#?Ae?Ak?A*Ʋ*A5|<2A::ABA5|<JA:RAY?2#?ytd䮷ٓH ?`~@Ud?? 7N@'s??)? I٘i)I9Y J7JJJ&KP  ,7Y ,7y8,7)ZZZBZL?YY*W2W WWW"W ) )c*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027417.103165 s, next control iter: 1743027417.463179 s, wait time: 0.360014 s) rAdjusting time to match Gazebo time: 1743027417.483165 s.J "J *J r_G~2J:J,^6ABJnJvJA(\@A@AtZ~? AA7&"AAoNA"AZAbAjArAzAAAS `%@An4i fqAξAlW:AA"?Ae?A5g?A7G2*AX<2A::ABAX<JA:RA٘i)I9Y Je<JJJJ&K YyZ7Z7?,7)ZZZBZL?YY*W2W WWW"W ) )_*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027417.503165 s, next control iter: 1743027417.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 916, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027417.903165 s.ȝG~,y6AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200372 time: 1743027417.903346F (some fields omitted in printout)AR롌@Au!@AZ~? A2A$7&"AA?oNA"AZAbAjArAzAAA2tڙ`%@AuL1qAAգ:A'A[!?A@/e?A`b?Aä*AR5<2A::ArBAR5<JA:RAr٘i)I9Y JJJJ&K Yyŧ7b7x,7)ZZZBZL?YY*W2W WWW"W ) )Z*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027417.943165 s, next control iter: 1743027418.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027418.323165 s.wG~,)6AJ"J*J2J:JBJnJvJAzG@AŮv@AZ~? AA7&"AAgoNA"AZAbAjArAzAAA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200072 time: 1743027419.163300F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A8gDi/@AZ~? A/Aߞ7&"AAoNA"AZAbAjArAzAAACӰKb%@A?qAξA;AڝA?A@be?A`U?A{*A<2A`::ABA<JA`:RAY ?L?yٝgٓH`?`_? ?`F p?zB`?) ? I٘i)I9Y JZ3J*8JJJ&KO  -7Y -7y777$-7)ZZZBZL?YY*W2W WWW"W ) )J*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027419.183165 s, next control iter: 1743027419.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027419.583165 s.G~,R6AA(\@Ax&4I@AZ~? AAp7&"AAoNA"AZAbAjArAzAAAVlqb%@AP^qAAAeA?Ae?AP?A<2*A<2Aͤ::ABA<JAͤ:RA٘i)I9Y JJJJ&K Yy77F^-7)ZZZBZL?YY*W2W WWW"W ) )D*FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027419.623165 s, next control iter: 1743027419.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 918, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027420.003165 s.x G~,L47AJ"J*J2J:JBJnJvJAQ@A籌@AZ~? AA7&"AA oNA"AZAbAjArAzAAAt>mc%@AGO*qAξA'AߔAy?Ae?AL?Aq:4*Aޅ<2A::ABAޅ<JA:RA٘i)I9Y J]3<JJJJ&K Yy)7ŧ7-7)ZZZBZL?YY*W2W WWW"W ) )=*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027420.043165 s, next control iter: 1743027420.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027420.423165 s.uG~,7AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743027420.423318F (some fields omitted in printout)AGz@AC@AZ~? A-A7&"AA4oNA"AZAbAjArAzAAAc%@AuqAξAI>A]A{?A6e?AH?Arۤ3*Ab<2A[::AeBAb<JA[:RAe٘i)I9Y Jo3C=JJJJ&K Yy777-7)ZZZBZL?YY*W2W WWW"W ) )7*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027420.463165 s, next control iter: 1743027420.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 919, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027420.843165 s.G~,57AJ"J*J2J:JBJnJvJA= ףp@Au6䟸@A3Z~? AA 7&"AA\oNA"AZAbAjArAzAAA+@d%@Ae5qAAu09AA?Ae?AC?AY3*A?<2A#"::ABA?<JA#":RAI٘i)I9Y JJJCJ&K  .7Y .7yb7b7: .7)ZZZBZL?YY*W2W WWW"W ) )1*FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027420.863165 s, next control iter: 1743027421.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027421.263165 s.G~,P7AA̼@AIv@AKZ~? AA7&"AAoNA"AZAbAjArAzAAAje%@A ?yʇ:ٓH?`ַ~?@? Qn?P?@?)? I٘i)I9Y J8JJJ&KR Yy Bŧ7C.7)ZZZBZL?YY*W2W WWW"W ) )+*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027421.283165 s, next control iter: 1743027421.663178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 920., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027421.683165 s.lG~,k7AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199982 time: 1743027421.683285F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(@AmrX@AbZ~? A+A<7&"AAoNA"AZAbAjArAzAAAkhe%@A2WqAξA9:A胃A ?Ae?A:?A *A[<2Aʻ::A>BA[<JAʻ:RA>٘i)I9Y J)˲<JJJJ&K YyZ7Z7|.7)ZZZBZL?YY*W2W WWW"W ) )&*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027421.683165 s, next control iter: 1743027422.083183 s, wait time: 0.400018 s rAdjusting time to match Gazebo time: 1743027422.103165 s.G~,7AAQÌ@Akg{Œ@AzZ~? AA7&"AAoNA"AZAbAjArAzAAAx+bAf%@AΊ{#qAξAy\:AYA ?A@e?Ah6?A ԩ*A<2AL::A֘BA<JAL:RA֘٘i)I9Y JeC=JJJJ&K Yyb77>.7)ZZZBZL?YY*W2W WWW"W ) )!*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027422.123165 s, next control iter: 1743027422.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027422.523165 s.G~,{7AJ"J*J2J:JBJnJvJA{Gƌ@AIƌ@AZ~? AAS7&"AAoNA"AZAbAjArAzAAA;#QNf%@AqAξA 16A<}A?A~e?A@1?A\s*Aij<2A::AhoBAij<JA:RAho٘i)I9Y Ji3JJJCJ&K Yyj7Z7.7)ZZZBZL?YY*W2W WWW"W ) )*FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743027422.563165 s, next control iter: 1743027422.923180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 921, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027422.943165 s.XdG~,B]7AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743027422.943296F (some fields omitted in printout)A ףp=ʌ@ArPlɌ@AZ~? A)A7&"AA)oNA"AZAbAjArAzAAAMcg%@AQqAAvZAzA?A`@e?A-?A.*A <2Afû::AFBA <JAfû:RAF٘i)I9Y JJJJ&K  /7Y /7y7{7(/7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027422.983165 s, next control iter: 1743027423.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027423.363165 s.G~,}>7AJ"J*J2J:JBJnJvJA͌@AQ̌@AZ~? AAg7&"AARoNA"AZAbAjArAzAAA(\c\g%@A 'MqAξA AxA?A=e?A -)?Ad3*ASn<2A::A"&BASn<JA:RA"&Y5??yx5cٓHy?R? ?@<`/l?T?)5? I٘i)I9Y Ja3<J8JJJ&KUL Yy7=b/7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027423.403165 s, next control iter: 1743027423.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 922&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027423.783165 s.TG~,7AA)\Ќ@Ao%Ќ@AZ~? A~A7&"AAzoNA"AZAbAjArAzAAA3uh%@A?-"QqAξA$A(wA"?Ae?A$?A%|4*AK<2A2::ABAK<JA2:RA٘i)I9Y J_3C=JJJJ&K Yy B77/7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027423.823165 s, next control iter: 1743027424.183174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743027424.203165 s.G~, 8AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743027424.203274F (some fields omitted in printout)J"J*J2J:JBJnJvJAQԌ@AuT5ӌ@AZ~? A(Aw7&"AAoNA"AZAbAjArAzAAAEi%@AۊqAξAq]AHvAs?Ae?Af ?A&3*A(<2Aqb::ALBA(<JAqb:RAL٘i)I9Y Jb3JJJJ&K Yy/7)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027424.243165 s, next control iter: 1743027424.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027424.623165 s.V G~,X'8AAHz׌@A5>֌@A Z~? AA7&"AAoNA"AZAbAjArAzAAA Ŭi%@AbqAA:AvA?A e?A ?A} 3*A<2A3)::A;BA<JA3):RA;٘i)I9Y JJJCJ&K  07Y 07y77E07)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027424.663165 s, next control iter: 1743027425.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 923 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027425.043165 s.G~,B8AJ"J*J2J:JBJnJvJAףp= ی@A 9ڌ@A"Z~? A}A7&"AAoNA"AZAbAjArAzAAAc8j%@A"qAξA:AgvA?Aϗe?A?Aͺ*A<2A::ABA<JA:RA٘i)I9Y J^<JJJJ&K Yy7{7G07)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027425.083165 s, next control iter: 1743027425.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027425.463165 s.PG~,Ϥ]8AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743027425.463278F (some fields omitted in printout)Afffffތ@Ab ݌@A:Z~? A'A8&"AAoNA"AZAbAjArAzAAA4Ej%@AꀿqAξA8a:A]wA?Ae?AD?Aس*A1<2Amߺ::A@ BA1<JAmߺ:RA@ Y$?s?yWwɲ:ٓH@k?`g2~R??P`l?&LS? ?)$? I٘i)I9Y JiC=J6JJJ&KR Yy{707)ZZZBZL?YY*W2W WWW"W ) )*FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027425.483165 s, next control iter: 1743027425.863173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 924, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027425.883165 s.yG~,4x8AJ"J*J2J:JBJnJvJA(\@A@ARZ~? AA8&"AAGoNA"AZAbAjArAzAAAf" [k%@A;LqAξA :AxA?A`e?A?AzM*A<2Aٺ::AMBA<JAٺ:RAM٘i)I9Y J_JJJJ&K Yyb77B07)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027425.923165 s, next control iter: 1743027426.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027426.303165 s.\$G~,g8AAQ@AM@AjZ~? A|A8&"AApoNA"AZAbAjArAzAAA\Fk%@AB]qAA$A{A?A1e?A ?AT*A,{<2Aݺ::AaBA,{<JAݺ:RAa٘i)I9Y JJJJ&K Yy B7707)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027426.343165 s, next control iter: 1743027426.703181 s, wait time: 0.360016 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 925&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027426.723165 s.+G~,H8AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200072 time: 1743027426.723287F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@AVn2@AZ~? A'A8&"AAoNA"AZAbAjArAzAAA׎&}l%@AgmqAAA}A?A`e?A#?A3*AX<2ASݺ::AEBAX<JASݺ:RAE٘i)I9Y JJJCJ&K  17Y 17yŧ77,17)ZZZBZL?YY*W2W WWW"W ) )*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027426.763165 s, next control iter: 1743027427.123181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743027427.143165 s.T/2G~,)8AAp= @AAc@AZ~? AA8&"AAoNA"AZAbAjArAzAAAnAym%@AQRqAξAK죺A߀AO?AJe?A?AUV3*A96<2Aʺ::ArBA96<JAʺ:RAr٘i)I9Y J+2<JJJJ&K Yy7777Df17)ZZZBZL?YY*W2W WWW"W ) )!*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027427.163165 s, next control iter: 1743027427.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027427.563165 s.8G~,9 8AJ"J*J2J:JBJnJvJA33333@Aؙb@AZ~? A|A!8&"AAoNA"AZAbAjArAzAAAQm%@Ao?|qAξAtRYAjA?A e?Am?AN3*A<2AG::ABA<JAG:RAYo??yg]YٓH@ ?:@?@?@m? N*K?)o? I٘i)I9Y J^4C=JxJJJ&KK Yy{717)ZZZBZL?YY*W2W WWW"W ) )&*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027427.603165 s, next control iter: 1743027427.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 926, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027427.983165 s.?G~,8AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200532 time: 1743027427.983302F (some fields omitted in printout)A(\@A;Ǿ@AZ~? A'A(8&"AAoNA"AZAbAjArAzAAA8>1n%@A2HqAA17AKA?Ame?A ?AX3*A<2AMk::A BA<JAMk:RA ٘i)I9Y JJJJ&K Yy7717)ZZZBZL?YY*W2W WWW"W ) ),*FFF]: Waiting for Gazebo time sync: latest Gz time: 1743027428.023165 s, next control iter: 1743027428.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027428.403165 s.&FG~,9AJ"J*J2J:JBJnJvJAR@Azܷ@AZ~? AA.8&"AA=oNA"AZAbAjArAzAAAen%@A -qAAuw]:AtA?A`%e?A@?A̲*A`<2AF4::A0BA`<JAF4:RA0٘i)I9Y JJJJ&K  27Y 27y B7D27)ZZZBZL?YY*W2W WWW"W ) )1*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027428.443165 s, next control iter: 1743027428.803176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 927, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027428.823165 s.LG~,%49AAzG@A^v@AZ~? A|A58&"AAfoNA"AZAbAjArAzAAA0$uTo%@A&/qAξAa<:AʐA?A e?Ah?Aͳ*Aޫ<2A ::A*BAޫ<JA :RA*٘i)I9Y J/K<JJJCJ&K Yy{7{7K27)ZZZBZL?YY*W2W WWW"W ) )7*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027428.863165 s, next control iter: 1743027429.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027429.243165 s.SG~,mO9AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743027429.243295F (some fields omitted in printout)Aq= ף@AZD@AZ~? A'A;8&"AAoNA"AZAbAjArAzAAAvo%@A.k9qAξA:A5A?A@e?A`?A6*A<2A*::ABA<JA*:RA٘i)I9Y JaC=JJJJ&K Yy7727)ZZZBZL?YY*W2W WWW"W ) )=*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027429.283165 s, next control iter: 1743027429.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027429.663165 s.ZG~,qj9AtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 928, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A\b/@A*Z~? AAB8&"AAoNA"AZAbAjArAzAAA\jQwp%@AT =JxqAξAUN9AAm?A`Ȧe?A ?Aͺ*AIg<2A::ABAIg<JA:RAY՛??y蝖9ٓH?X?= ?L Op?2??)՛? I٘i)I9Y JXJUʸJJJ&KO Yy{7{7K27)ZZZBZL?YY*W2W WWW"W ) )C*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027429.683165 s, next control iter: 1743027430.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027430.083165 s.DaG~, S9AJ"J*J2J:JBJnJvJA(\@A:p@ABZ~? A}AH8&"AAoNA"AZAbAjArAzAAASSq%@AYbDqAA,lAAu޷?Ae?Ac?A_ *A E<2A>::AXBA E<JA>:RAX٘i)I9Y JJJJ&K Yy77727)ZZZBZL?YY*W2W WWW"W ) )I*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027430.123165 s, next control iter: 1743027430.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027430.503165 s.gG~,749AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199592 time: 1743027430.503256F (some fields omitted in printout)AQ@Av@AZZ~? A(AN8&"AA oNA"AZAbAjArAzAAAmpq%@AqAξAMAiA۷?A@ƫe?Aߞ?A@3*A"<2A::AFBA"<JA:RAF٘i)I9Y Jg3<JJJJ&K  37Y 37y77{7037)ZZZBZL?YY*W2W WWW"W ) )O*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027430.543165 s, next control iter: 1743027430.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 929, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027430.923165 s.8nG~,9AJ"J*J2J:JBJnJvJAGz @AC @ArZ~? AAtU8&"AA2oNA"AZAbAjArAzAAAv,r%@AcܼqAξAAAط?Ae?Aڞ?AЮ3*A<2Aݹ::A6*BA<JAݹ:RA6*٘i)I9Y J\3C=JJJCJ&K Yy Bŧ77Mj37)ZZZBZL?YY*W2W WWW"W ) )U*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027430.963165 s, next control iter: 1743027431.323180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027431.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027431.763271F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AU3@AZ~? A)Acb8&"AAoNA"AZAbAjArAzAAA_eOs%@Acj uqAA 9AƭA׷?A e?A #Ҟ?A*3*A#<2Av::A6;BA#<JAv:RA6;Yʛ?׷?yƭug9ٓH@{"? 0?*? Or? !5??)ʛ? I٘i)I9Y JJJJ&KN Yy77737)ZZZBZL?YY*W2W WWW"W ) )_*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027431.783165 s, next control iter: 1743027432.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027432.183165 s.˂G~,k :AA\(@A8+X@AZ~? AAh8&"AAoNA"AZAbAjArAzAAAL s%@A3|GAqAξA:A԰A׷?A{e?A͞?A#䉳*A<2AC::ACBA<JAC:RAC٘i)I9Y Jb<JJJJ&K  47Y 47yb77L47)ZZZBZL?YY*W2W WWW"W ) )c*FFF])Waiting for Gazebo time sync: latest Gz time: 1743027432.223165 s, next control iter: 1743027432.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027432.603165 s.84G~,&:AJ"J*J2J:JBJnJvJAQ@A.@AZ~? AAOo8&"AAoNA"AZAbAjArAzAAA&rt%@AV qAξA:AgA?շ?A Re?Aɞ?Aʳ*Aw<2A"::A0BAw<JA":RA0٘i)I9Y JlC=JJJCJ&K Yy7O47)ZZZBZL?YY*W2W WWW"W ) )g*FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743027432.643165 s, next control iter: 1743027433.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 931 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027433.023165 s.ZG~,{A:AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199942 time: 1743027433.023301F (some fields omitted in printout)A{G@A-@AZ~? A+Au8&"AAoNA"AZAbAjArAzAAAbu%@AjٻqAξA.#V:AtA6ҷ?AFe?A >Ş?A>׳*AU<2A::ABAU<JA:RA٘i)I9Y JOB=JJJJ&K Yy747)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027433.063165 s, next control iter: 1743027433.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027433.443165 s.1ÖG~,%]\:AJ"J*J2J:JBJnJvJA ףp=@A뤾l@AZ~? AA7|8&"AA(oNA"AZAbAjArAzAAA^+n!u%@Aq!(qAA~ܷAﶃAWη?Ae?A ?Aʄ3*A4<2A::AUBA4<JA:RAU٘i)I9Y JJJJ&K Yy Bŧ7b7M47)ZZZBZL?YY*W2W WWW"W ) )l*FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027433.463165 s, next control iter: 1743027433.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 932, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027433.863165 s.+G~,y>w:AA!@A @AZ~? AA8&"AAQoNA"AZAbAjArAzAAAQ''v%@AZrqAξAr`A{A~ʷ?Ae?A`?A7c3*A6<2A::AtfBA6<JA:RAtfY?M̷?yx`ٓH`-?pѤ?7?6F@t?YL`?)? I٘i)I9Y J3<J8JJJ&KK Yy)7ŧ747)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027433.883165 s, next control iter: 1743027434.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027434.283165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200472 time: 1743027434.283327F (some fields omitted in printout)A)\$@A7%$@A2Z~? A-A8&"AAzoNA"AZAbAjArAzAAATʯԹv%@A>qAξA[lAⶃAǷ?Aoe?A`^?A"*AX<2A ::A\6BAX<JA :RA\6٘i)I9Y JcC=JJJJ&K  57Y 57y{7j7457)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027434.323165 s, next control iter: 1743027434.683180 s, wait time: 0.360015 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 933*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027434.703165 s.ӺG~,:AAQ(@AӀ'@AJZ~? AA8&"AAoNA"AZAbAjArAzAAASKw%@AfI qAξAHA_Aŷ?A*e?A?A׿3*A<2A::ABA<JA:RA٘i)I9Y JSB=JJJCJ&K YyS7S7Un57)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027434.743165 s, next control iter: 1743027435.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027435.123165 s.5G~,T:AJ"J*J2J:JBJnJvJAHz+@A e*@AbZ~? AA8&"AAoNA"AZAbAjArAzAAA#qw%@A],׺qAξAV^ASA6ŷ?Ae?Aׯ?A`c4*A<2A::A? BA<JA:RA? ٘i)I9Y Jo4C=JJJJ&K Yy777757)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027435.143165 s, next control iter: 1743027435.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027435.543165 s.IG~,:AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743027435.543280F (some fields omitted in printout)Aףp= /@A)&o9.@AzZ~? A0Ak8&"AAoNA"AZAbAjArAzAAA6ox%@AG.qAA2 :AڰAķ?Ae?A?AO*A<2A::ABA<JA:RA٘i)I9Y JJJJ&K Yyj7j757)ZZZBZL?YY*W2W WWW"W ) )c*FFF]r:Waiting for Gazebo time sync: latest Gz time: 1743027435.563165 s, next control iter: 1743027435.943174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 934, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027435.963165 s.}G~,:AJ"J*J2J:JBJnJvJAfffff2@A8{֕1@AZ~? AA٢8&"AAoNA"AZAbAjArAzAAA˪y%@A[/pqAξA:AA÷?Aശe?AU?A);*Ah<2A@X::A BAh<JA@X:RA Y?_?yH:ٓH7?@PТ~@v?>?@Vr? ~S? ?)? I٘i)I9Y J[<J48JJJ&KP  67Y 67y Bb77W67)ZZZBZL?YY*W2W WWW"W ) )`*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027436.003165 s, next control iter: 1743027436.363183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743027436.383165 s.G~,+;AA(\5@A_(4@AZ~? AAG8&"AAHoNA"AZAbAjArAzAAA̺ly%@Ah/=qAA̘:AǪA?Ae?A?AD*A>G<2AC?::ABA>G<JAC?:RA٘i)I9Y JJJJ&K Yy777S67)ZZZBZL?YY*W2W WWW"W ) )[*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027436.423165 s, next control iter: 1743027436.783174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 935", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027436.803165 s.yAG~,g3;AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743027436.803285F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ9@AEuM8@AZ~? A3A8&"AAqoNA"AZAbAjArAzAAAҵd%z%@AvǺ qAξAE/:ALAJ?A@(e?Aў?AU*A%<2A~:::ABA%<JA~::RAI٘i)I9Y JhJJJCJ&K Yy7767)ZZZBZL?YY*W2W WWW"W ) )V*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027436.823165 s, next control iter: 1743027437.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027437.223165 s.gG~,HN;AAGz<@A/";@AZ~? AA8&"AAoNA"AZAbAjArAzAAAmz%@AKMֹqAξAܰAAT?Ae?A?AAW2*AH<2Ay?::A DBAH<JAy?:RA D٘i)I9Y J`C=JJJJ&K Yyb7T67)ZZZBZL?YY*W2W WWW"W ) )Q*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027437.263165 s, next control iter: 1743027437.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027437.643165 s.G~,^*i;AJ"J*J2J:JBJnJvJAp= ?@A.e?@AZ~? AA8&"AAoNA"AZAbAjArAzAAA+I{%@AO梹qAξAA󟃽A?AIe?A@R?A&2*A<2A>::A[BA<JA>:RA[٘i)I9Y J^4JJJJ&K YyZ7SI767)ZZZBZL?YY*W2W WWW"W ) )L*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027437.663165 s, next control iter: 1743027438.043180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 936, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027438.063165 s.G~,_ ;AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199752 time: 1743027438.063332F (some fields omitted in printout)A33333C@A(\bB@A Z~? A6A8&"AAoNA"AZAbAjArAzAAA/W{%@AzvoqAAGA4A/?Ae?A?A&3*A^<2A*,::ArBA^<JA*,:RArY?϶?y-}ٓHRB?ȴM?N?@>p?hT?)? I٘i)I9Y Je8JJJ&K'I  77Y 77yS7S7977)ZZZBZL?YY*W2W WWW"W ) )G*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027438.103165 s, next control iter: 1743027438.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027438.483165 s.r_G~,;AJ"J*J2J:JBJnJvJA(\F@AKE@A#Z~? AA\8&"AAoNA"AZAbAjArAzAAAem|%@A^/oNA"AZAbAjArAzAAAQ1}%@AqAξA/8AܔA?Ae?A@?Aw2*A>~<2Aη::ASBA>~<JAη:RAS٘i)I9Y J]3C=JJJCJ&K Yy{777)ZZZBZL?YY*W2W WWW"W ) )=*FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743027438.923165 s, next control iter: 1743027439.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027439.323165 s.sG~,;AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199692 time: 1743027439.323258F (some fields omitted in printout)J"J*J2J:JBJnJvJAzGM@A^vL@ASZ~? A:A+8&"AAgoNA"AZAbAjArAzAAAX):}%@A.!ոqAξAZc:AoA ?A_e?A@m?A i*A\<2A::AůBA\<JA:RAů٘i)I9Y JbJJJJ&K Yyb7777)ZZZBZL?YY*W2W WWW"W ) )8*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027439.363165 s, next control iter: 1743027439.723175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 938&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027439.743165 s.WG~,~;AAq= ףP@A-O@AkZ~? AA8&"AAoNA"AZAbAjArAzAAA/e$~%@A_QqAξA:A@A?A e?A6?AЪ*A?;<2Aq::ABA?;<JAq:RA٘i)I9Y J_JJJJ&K  87Y 87y77X87)ZZZBZL?YY*W2W WWW"W ) )4*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027439.783165 s, next control iter: 1743027440.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027440.163165 s.v}G~,q <AJ"J*J2J:JBJnJvJAT@AqW/S@AZ~? AA8&"AAoNA"AZAbAjArAzAAA~%@AVHoqAξAv:AZA ?A`ee?A|?A£%*A<2A`::AtiBA<JA`:RAtiY?꫷?yV :ٓHM?ţ?$T? Pn?P?`?)? I٘i)I9Y J[J[8JJJ&K{O Yyj7Z7W87)ZZZBZL?YY*W2W WWW"W ) )0*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027440.203165 s, next control iter: 1743027440.563179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027440.583165 s.G~,S%<AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200492 time: 1743027440.583346F (some fields omitted in printout)A(\W@AƋV@AZ~? A>AZ8&"AAoNA"AZAbAjArAzAAA>H%@A0a;qAξAJ9AӈA^?A e?Ax?AǏ*A<2A`::A BA<JA`:RA ٘i)I9Y JLB=JJJCJ&K Yy7)787)ZZZBZL?YY*W2W WWW"W ) )-*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027440.603165 s, next control iter: 1743027440.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 939, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027441.003165 s. G~,4@<AJ"J*J2J:JBJnJvJAQZ@AEkY@AZ~? AA8&"AA oNA"AZAbAjArAzAAA& elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743027441.843296F (some fields omitted in printout)A= ףpa@A_9`@AZ~? ACA8&"AA^oNA"AZAbAjArAzAAA"P%@AUmqAξAA A?Ae?A`*l?A<&4*A?<2A%F::AbBA?<JA%F:RAb٘i)I9Y Ji3<JJJJ&K Yy)7b7=97)ZZZBZL?YY*W2W WWW"W ) )&*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027441.883165 s, next control iter: 1743027442.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027442.263165 s.$G~,ؐ<AAd@A0c@AZ~? AA9&"AAoNA"AZAbAjArAzAAA%pe%@AKTUoqAξAp AkA0?Ae?Ag?A4*As<2AS::AV]BAs<JAS:RAV]Y?S?yi ٓH@W? l?a?Am?A@?)? I٘i)I9Y J[4C=J8JJJ&KI Yy777]v97)ZZZBZL?YY*W2W WWW"W ) )%*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027442.303165 s, next control iter: 1743027442.663176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 941*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027442.683165 s.l*G~,g<AJ"J*J2J:JBJnJvJA\(h@AK3Xg@AZ~? AAC 9&"AAoNA"AZAbAjArAzAAA{qK$%@AM!C elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743027443.103290F (some fields omitted in printout)AQk@AzSj@A,Z~? AHA9&"AAoNA"AZAbAjArAzAAA:@%@AA9 qAξAZȋ:AA-?A@e?A`_?A*r*AY1<2A::ANiBAY1<JA:RANi٘i)I9Y J`<JJJJ&K Yy77 97)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027443.143165 s, next control iter: 1743027443.503175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027443.523165 s.7G~,{<AJ"J*J2J:JBJnJvJA{Gn@AZ n@ADZ~? AA9&"AAoNA"AZAbAjArAzAAAI%@A:)6ֶqAξA:AAf?Ae?A`q[?A7*A/<2Ai::AOTBA/<JAi:RAOT٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 244J]C=JJJJ&K  :7Y :7y BSI7SI7a":7)ZZZBZL?YY*W2W WWW"W ) )'*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027443.563165 s, next control iter: 1743027443.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 942, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027443.943165 s.Wd>G~,>]<AA ףp=r@Avulq@A]Z~? AA^9&"AA+oNA"AZAbAjArAzAAAg#܃%@ANX9qAξAkO:AAZ?Ae?ABW?AE *A,<2An::ABA,<JAn:RA٘i)I9Y J  B=JJJJ&K Yy b7 b7 [:7)Z ZZBZ L?YY *W2W W W W"W  ) ) )*FFF] ; Waiting for Gazebo time sync: latest Gz time: 1743027444.023165 s, next control iter: 1743027444.343176 s, wait time: 0.320011 s rAdjusting time to match Gazebo time: 1743027444.363165 s.EG~,y>=AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200142 time: 1743027444.363311F (some fields omitted in printout)Au@At@AuZ~? AMA"9&"AAUoNA"AZAbAjArAzAAAon%@A|DpqAApAA~?AJe?AS?A*AE<2A(::A$BAE<JA(:RA$YN??y5qٓH*b?`ȳ?zk?rF`n?`?)N? I٘i)I9Y JQ>JJJ&KL> Yy7{7:7)ZZZBZL?YY*W2W WWW"W ) )+*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027444.403165 s, next control iter: 1743027444.763175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 943", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027444.783165 s.\KG~,2=AA)\x@A]7%x@AZ~? AA)9&"AA~oNA"AZAbAjArAzAAA>%@A_.V=qAA'?fA3A?Ae?AN?AHв*Aa<2A::ABAa<JA:RA٘i)I9Y JQ>JJCJ&K> Yy{7b:7)ZZZBZL?YY*W2W WWW"W ) ).*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027444.823165 s, next control iter: 1743027445.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027445.203165 s.SG~,M=AJ"J*J2J:JBJnJvJAQ|@AbJ{@AZ~? AAq/9&"AAoNA"AZAbAjArAzAAA r䓅%@Aqn qAξAA쌃Aʏ?Ae?AJ?A73*Ay<2AL::A`BAy<JAL:RA`٘i)I9Y JV2<JJJJ&K  ;7Y ;7yŧ7b7;7)ZZZBZL?YY*W2W WWW"W ) )2*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027445.243165 s, next control iter: 1743027445.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027445.623165 s.QYG~,Cg=AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743027445.623260F (some fields omitted in printout)AHz@Ao)~@AZ~? ASA59&"AAoNA"AZAbAjArAzAAAVIj&%@A@׵qAξA.AA-?A@#e?A@F?AG 4*A|k<2A)`::ANBA|k<JA)`:RAN٘i)I9Y J]3C=JJJJ&K Yy77{7A;7)ZZZBZL?YY*W2W WWW"W ) )6*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027445.643165 s, next control iter: 1743027446.023174 s, wait time: 0.380009 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 944 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027446.043165 s.`G~,Â=AJ"J*J2J:JBJnJvJAףp= @A9@AZ~? AA#<9&"AAoNA"AZAbAjArAzAAA]A%@A?qAξAd|ACA?A e?A`oB?A'53*AiJ<2A-::A4YBAiJ<JA-:RA4Y٘i)I9Y Je3JJJJ&K Yy Bŧ7b7bz;7)ZZZBZL?YY*W2W WWW"W ) );*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027446.083165 s, next control iter: 1743027446.443175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027446.463165 s.TgG~,ߤ=AAfffff@Ar.ŕ@AZ~? AA{B9&"AA"oNA"AZAbAjArAzAAA=8K%@As9qqAξA}':AɖA@?Aee?AK>?A̅2*A[)<2AR::AhBA[)<JAR:RAhY?拷?yǖhR(:ٓH`l?`w ?t?ZN`o?/D?@?)? I٘i)I9Y J`J썸JJJ&KL Yy77;7)ZZZBZL?YY*W2W WWW"W ) )?*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027446.503165 s, next control iter: 1743027446.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 945, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)4)4 rAdjusting time to match Gazebo time: 1743027446.883165 s.ymG~,<=AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200192 time: 1743027446.883290F (some fields omitted in printout)A(\‰@ASA@AZ~? AYAH9&"AALoNA"AZAbAjArAzAAAFȘއ%@Ay?qAξA+:AtAA?Ae?A&:?A"0*Aa<2Aw˵::AjBAa<JAw˵:RAj٘i)I9Y JhJJJCJ&K Yy77 ;7)ZZZBZL?YY*W2W WWW"W ) )D*FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027446.903165 s, next control iter: 1743027447.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027447.303165 s.TtG~,og=AAQ@A6M@AZ~? AA)O9&"AAuoNA"AZAbAjArAzAAAbFq%@AV&S qAξA:A.A ?Ae?A6?As*A<2A::AXOBA<JA:RAXO٘i)I9Y JaJJJJ&K  <7Y <7y77b&<7)ZZZBZL?YY*W2W WWW"W ) )I*FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027447.323165 s, next control iter: 1743027447.703175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 946*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027447.723165 s.{G~,H=AJ"J*J2J:JBJnJvJAGz@A9@A6Z~? AAU9&"AAoNA"AZAbAjArAzAAA%@A𷈕ٴqAξA :A衃A?A e?A1?Ag*A<2A:::ABA<JA::RA٘i)I9Y JZJJJJ&K Yy)7b7_<7)ZZZBZL?YY*W2W WWW"W ) )O*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027447.743165 s, next control iter: 1743027448.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027448.143165 s.U/G~,* >AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199682 time: 1743027448.143267F (some fields omitted in printout)Ap= ד@APH@AOZ~? A`A[9&"AAoNA"AZAbAjArAzAAAȖ%@AzxߦqAAAA?Aqe?A-?A5a*A;<2A::A2BA;<JA:RA2٘i)I9Y JJJJ&K Yy Bŧ7ŧ7 <7)ZZZBZL?YY*W2W WWW"W ) )T*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027448.163165 s, next control iter: 1743027448.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027448.563165 s.G~,= $>AJ"J*J2J:JBJnJvJA33333@A;b@AgZ~? A A'b9&"AAoNA"AZAbAjArAzAAAA*)%@An/tqAAҌA7A"?A`e?A )?A2*A<2A::A,BA<JA:RA,Yu?f?y2ٓHw? },L??A?r?`CQ?)u? I٘i)I9Y JZJJCJ&KG Yy{7{7h<7)ZZZBZL?YY*W2W WWW"W ) )X*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027448.583165 s, next control iter: 1743027448.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 947, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027448.983165 s.G~,>>AA(\@A,@AZ~? AAzh9&"AAoNA"AZAbAjArAzAAA3%@A7͆AqAξA_AA|?A e?A@u%?A94*Ad<2A6::AlBAd<JA6:RAl٘i)I9Y J+2<JJJJ&K  =7Y =7y)7ŧ7 =7)ZZZBZL?YY*W2W WWW"W ) )]*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027449.023165 s, next control iter: 1743027449.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027449.403165 s.&G~,Y>AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199702 time: 1743027449.403269F (some fields omitted in printout)J"J*J2J:JBJnJvJAR띍@A@AZ~? AgAn9&"AACoNA"AZAbAjArAzAAAVBvO%@AqAξA{LAͯA{{?A`Ee?AW!?Av/3*ACD<2Ayz::AfBACD<JAyz:RAf٘i)I9Y Jh3C=JJJJ&K Yy77{7E=7)ZZZBZL?YY*W2W WWW"W ) )b*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027449.443165 s, next control iter: 1743027449.803176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 948, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027449.823165 s.G~,:t>AAzG@Az}v@AZ~? AAu9&"AAloNA"AZAbAjArAzAAA+%b%@AaJJܳqAξA8AA{?A`e?A`<?AR3*A#<2A[E::AsBA#<JA[E:RAs٘i)I9Y Jd3JJJJ&K Yy77f~=7)ZZZBZL?YY*W2W WWW"W ) )e*FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743027449.843165 s, next control iter: 1743027450.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027450.243165 s.G~,q>AJ"J*J2J:JBJnJvJAq= ף@AX6ӣ@AZ~? AAm{9&"AAoNA"AZAbAjArAzAAA"Ku%@AbqAξAi:A,Az?Are?A!?A,˲*A<2AA::ABA<JAA:RA٘i)I9Y JYJJJJ&K YyZ7Z7=7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027450.283165 s, next control iter: 1743027450.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027450.663165 s.G~,q>AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200352 time: 1743027450.663312F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 949, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A /@AZ~? AnA9&"AAoNA"AZAbAjArAzAAA@3%@A`p_)wqAξA :A;ABy?Ae?A?A5q3*A2<2A::AgpBA2<JA:RAgpYLj?v?y5k:ٓH`ȁ?@Dz2~?o?Ws? T??)Lj? I٘i)I9Y JWB=JiJJCJ&KM Yy Bb7b7=7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027450.683165 s, next control iter: 1743027451.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027451.083165 s.DG~,R>AJ"J*J2J:JBJnJvJA(\@A[n@AZ~? AA 9&"AAoNA"AZAbAjArAzAAA"%@As?DqAξAe߁:AQAv?Aae?A?A)q3*A<2AGܴ::ADBA<JAGܴ:RAD٘i)I9Y Jm4C=JJJJ&K  >7Y >7y77i*>7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027451.123165 s, next control iter: 1743027451.483176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027451.503165 s.G~,@4>AAQ@A2筍@AZ~? AAY9&"AAoNA"AZAbAjArAzAAAi.%@Al$qAξAVk9AAr?Ae?A ?Aέ*AW<2Adݴ::A BAW<JAdݴ:RA ٘i)I9Y JeJJJJ&K Yy{7{7c>7)ZZZBZL?YY*W2W WWW"W ) )FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743027451.523165 s, next control iter: 1743027451.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 950, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027451.923165 s.4G~,>AvPublished command to Gazebo (printed only once in a while):J"J( dropWeightState: 1*J2J:J6 propOmegaAction: 0.000000BJ: rudderAngleAction: 0.052360nJ> elevatorAngleAction: 0.000000vJ< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743027451.923274F (some fields omitted in printout)AGz@AV6C@A)Z~? AvA9&"AA:oNA"AZAbAjArAzAAA_(%@A߲qAξA+AAo?A@Pe?A?A#*A#<2A::A#BA#<JA:RA#٘i)I9Y JdJJJJ&K Yy77>7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027451.943165 s, next control iter: 1743027452.323174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743027452.343165 s.7)ZZZBZL?YY*W2W WWW"W ) )h*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027452.383165 s, next control iter: 1743027452.743176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 951", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027452.763165 s.8G~J,#0?A"J*J2J:JBJnJvJA̸@A3O@AYZ~? AA=9&"AAoNA"AZAbAjArAzAAAj%@AzqAξAr=A񱃽Ai?A`2e?A?A4*A@<2A´::AMBA@<JA´:RAMY_?4l?y뱃ٓH??h?×?@AVs? R@?)_? II٘i)I9Y J\3<Jp7JJCJ&KF  ?7Y ?7y77?7)ZZZBZL?YY*W2W WWW"W ) )e*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027452.803165 s, next control iter: 1743027453.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027453.183165 s.G~,kK?AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743027453.183297F (some fields omitted in printout)A\(@AG?X@ArZ~? A~A9&"AAoNA"AZAbAjArAzAAAz%@A9kHqAξAA1Ah?Ae?Ay?A3*A= <2Ar::AFBA= <JAr:RAF٘i)I9Y Jj3C=JJJJ&K Yy B7I?7)ZZZBZL?YY*W2W WWW"W ) )a*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027453.223165 s, next control iter: 1743027453.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027453.603165 s.>4G~,̚f?AJ"J*J2J:JBJnJvJAQ@A2蛴@AZ~? A,Aѭ9&"AAoNA"AZAbAjArAzAAA %@AqAA}9A<Ah?A e?A@i?A 53*A<2AJ_::AJJBA<JAJ_:RAJJ٘i)I9Y JJJJ&K Yy77{7p?7)ZZZBZL?YY*W2W WWW"W ) )]*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027453.643165 s, next control iter: 1743027454.003187 s, wait time: 0.360022 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 952 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027454.023165 s.ZG~,{?AA{G@A@AZ~? AߧA9&"AAoNA"AZAbAjArAzAAA1ߠ%@AqAξAZ:A"Ag?Ace?A@Y?AǨ`*A<2Ad/::AFBA<JAd/:RAF٘i)I9Y J[<JJJJ&K Yyŧ7ŧ7Ȼ?7)ZZZBZL?YY*W2W WWW"W ) )Y*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027454.063165 s, next control iter: 1743027454.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027454.443165 s.4G~,1]?AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743027454.443279F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=ƍ@Aclō@AZ~? AߧAa9&"AA1oNA"AZAbAjArAzAAA`94%@AiqAξA:AA-f?A'e?AH?AO*AR<2A::A(BAR<JA:RA(٘i)I9Y JqC=JJJJ&K Yy77{7?7)ZZZBZL?YY*W2W WWW"W ) )T*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027454.483165 s, next control iter: 1743027454.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 953, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027454.863165 s.+G~,>?AAɍ@A5ȍ@AZ~? A5ߧA9&"AA[oNA"AZAbAjArAzAAA1ǒ%@A1E!qAξA.I:AAc?A@e?A 8?Aӭ*AG<2A::AjBAG<JA:RAjY/U?~a?ylI:ٓH? 6?``?FPnq? %I??)/U? I٘i)I9Y J[J?8JJCJ&KK  @7Y @7yb77q.@7)ZZZBZL?YY*W2W WWW"W ) )P*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027454.903165 s, next control iter: 1743027455.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027455.283165 s.3RG~,?AJ"J*J2J:JBJnJvJA)\̍@A %̍@AZ~? AާA9&"AAoNA"AZAbAjArAzAAAjmZ%@ALqAATrA}AC_?A`~e?A@'?A#(*AP<2A8 ::ABAP<JA8 :RA٘i)I9Y JJJJ&K Yyŧ7ŧ7g@7)ZZZBZL?YY*W2W WWW"W ) )L*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027455.323165 s, next control iter: 1743027455.683177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 954*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027455.703165 s.ѺG~,?AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743027455.703273F (some fields omitted in printout)AQЍ@A>>tύ@AZ~? AާA39&"AAoNA"AZAbAjArAzAAA]%@AqAAlArA[?Ae?A?Aܟ*Ad_<2A<::AMBAd_<JA<:RAM٘i)I9Y JJJJ&K Yy B777@7)ZZZBZL?YY*W2W WWW"W ) )G*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027455.743165 s, next control iter: 1743027456.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027456.123165 s.4G~,P@AJ"J*J2J:JBJnJvJAHzӍ@A;Yҍ@AZ~? A>ާAw9&"AAoNA"AZAbAjArAzAAA%@AQ?pqAξAݤAAX?Ae?A ?AE3*Aq?<2AF::AFBAq?<JAF:RAF٘i)I9Y J)2<JJJJ&K YyZ7Z7t@7)ZZZBZL?YY*W2W WWW"W ) )C*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027456.143165 s, next control iter: 1743027456.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027456.543165 s.IG~,"@AAףp= ׍@A69֍@A4Z~? AݧA9&"AAoNA"AZAbAjArAzAAAx%@ACqAξAA햃AW?A`e?Aܝ?A3*Ag<2AA::ABAg<JAA:RA٘i)I9Y Jj4C=JJJCJ&K  A7Y A7y{7{7A7)ZZZBZL?YY*W2W WWW"W ) )@*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027456.583165 s, next control iter: 1743027456.943175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 955, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027456.963165 s.xG~,=@AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199522 time: 1743027456.963279F (some fields omitted in printout)Afffffڍ@AS Oٍ@ALZ~? AݧA9&"AA)oNA"AZAbAjArAzAAAaܧ%@A jqAξAȻ[AAV?Ae?Aם?A͸3*AM<2A::ABAM<JA:RAYJ?W?y0\ٓH?` ޠ?ʪ?Eo?xw+ ?)J? I٘i)I9Y JT3B=J8JJJ&KiG Yyb77"MA7)ZZZBZL?YY*W2W WWW"W ) )=*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027457.003165 s, next control iter: 1743027457.363176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027457.383165 s.G~,/X@AA(\ݍ@A܍@AeZ~? AGݧA?9&"AARoNA"AZAbAjArAzAAA[<;%@A$QqAA.:AzABV?A`&e?Aӝ?AO22*A4<2A]|::ABA4<JA]|:RA٘i)I9Y JJJJ&K Yyŧ7b7sA7)ZZZBZL?YY*W2W WWW"W ) ):*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027457.423165 s, next control iter: 1743027457.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 956", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027457.803165 s.tAG~,ogs@AJ"J*J2J:JBJnJvJAQ@A- N@A}Z~? AܧA9&"AA{oNA"AZAbAjArAzAAA0Ζ%@AqAξA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743027458.223287F (some fields omitted in printout)AGz@A~k'@AZ~? AܧA9&"AAoNA"AZAbAjArAzAAAa%@AqAξAT:AqAS?AXe?A`˝?A1*AN<2A<::AVBAN<JA<:RAV٘i)I9Y JaC=JJJJ&K Yy BA7)ZZZBZL?YY*W2W WWW"W ) )5*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027458.263165 s, next control iter: 1743027458.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027458.643165 s.s)G~,)@AJ"J*J2J:JBJnJvJAp= @A9&"AAoNA"AZAbAjArAzAAAL䈘%@AVÉqAA9йAAK?Ae?AÝ?AEp*A_<2A>::ADBA_<JA>:RADY7@?L?yйٓHf?`7@`??Bn?;:?)7@? I٘i)I9Y J7JJJ&KG Yy77kB7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027459.103165 s, next control iter: 1743027459.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027459.483165 s.w_7G~,@AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743027459.483284F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A\>@AZ~? AۧA{:&"AA!oNA"AZAbAjArAzAAAOp%@A=AWqAA㎺AA-H?A"e?A ο?A03*A2@<2A;>::ABA2@<JA;>:RA٘i)I9Y JJJJ&K Yy77 B7)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027459.503165 s, next control iter: 1743027459.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 958, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027459.903165 s.=G~,@AAR@APS@AZ~? A[ۧA :&"AAJoNA"AZAbAjArAzAAA%@Ad;%qAξAAAE?A`Ve?Aʻ?A3*Av <2Ac+::A}BAv <JAc+:RA}٘i)I9Y Ja2C<JJJJ&K Yy{7{7wB7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027459.923165 s, next control iter: 1743027460.303175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027460.323165 s.rDG~,AAJ"J*J2J:JBJnJvJAzG@A w@AZ~? A ۧA:&"AAsoNA"AZAbAjArAzAAA}C%@AqAξAEAmAD?Axe?A@ʷ?A+3*A<2A::ABA<JA:RA٘i)I9Y J\3C=JJJJ&K  C7Y C7yj7j7C7)ZZZBZL?YY*W2W WWW"W ) )5*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027460.363165 s, next control iter: 1743027460.723175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 959&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027460.743165 s.WKG~,y/AAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743027460.743280F (some fields omitted in printout)Aq= ף@AHP@A'Z~? AڧA/:&"AAoNA"AZAbAjArAzAAAEAך%@A}^qAξA8AAMD?Ae?A˳?A)83*A<2Aϲ::ABA<JAϲ:RA٘i)I9Y Jh3JJJCJ&K Yy B)7ŧ7"QC7)ZZZBZL?YY*W2W WWW"W ) )7*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027460.763165 s, next control iter: 1743027461.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027461.163165 s.v}RG~,qJAAJ"J*J2J:JBJnJvJA@A{_/@A@Z~? AfڧAi:&"AAoNA"AZAbAjArAzAAAtGj%@A*ׁqAξAn:AkAC?Ae?A@ͯ?A!*A<2A::ABA<JA:RAY5?A?yggLo:ٓH@?``$?@X?Ogo?M??)5? I٘i)I9Y J[JsJJJ&KI Yy7777zC7)ZZZBZL?YY*W2W WWW"W ) )9*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027461.183165 s, next control iter: 1743027461.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027461.583165 s.XG~,ReAAA(\@Ant@AXZ~? AڧA$:&"AAoNA"AZAbAjArAzAAAfq%@A9Z5^qAξAn:AvAtB?Ae?AΫ?Az*A4<2Azy::AOBA4<JAzy:RAO٘i)I9Y JdJJJJ&K YyC7)ZZZBZL?YY*W2W WWW"W ) )<*FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027461.603165 s, next control iter: 1743027461.983174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 960, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)) rAdjusting time to match Gazebo time: 1743027462.003165 s.} `G~,a4AAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200532 time: 1743027462.003327F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A|@ApZ~? A٧A*:&"AAoNA"AZAbAjArAzAAA %@A._,qAξA~~:A͖A??A fe?Aϧ?A**A<2Aj::ABA<JAj:RA٘i)I9Y JMB=JJJJ&K Yyŧ7b7.C7)ZZZBZL?YY*W2W WWW"W ) )?*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027462.043165 s, next control iter: 1743027462.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027462.423165 s.ufG~,AAAGz@AC@AZ~? Aq٧A1:&"AABoNA"AZAbAjArAzAAA;b%%@A,qAξAvK9AlA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027463.263279F (some fields omitted in printout)A @A[@h= @AZ~? AاA=:&"AAoNA"AZAbAjArAzAAAnh<;M%@A}qAξAٞAdA5?A e?A՛?AZ43*AC#<2A!l::ABAC#<JA!l:RAYO+?7?y^-ٓH ?mş? ?=q? 1S?)O+? I٘i)I9Y J[3<JvJJJ&KED Yy Bb7*D7)ZZZBZL?YY*W2W WWW"W ) )K*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027463.303165 s, next control iter: 1743027463.663180 s, wait time: 0.360015 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 962., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027463.683165 s.lzG~,xAAJ"J*J2J:JBJnJvJA\(@A4BX@AZ~? A}اAC:&"AAoNA"AZAbAjArAzAAA %@Ap!7MeqAξAOfAA!3?A`e?A ܗ?AZ3*A<2A(R::AMBA<JA(R:RAM󺙘٘i)I9Y Jj3C=JJJJ&K Yy{7{7}D7)ZZZBZL?YY*W2W WWW"W ) )O*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027463.683165 s, next control iter: 1743027464.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743027464.103165 s.G~,BAAQ@A\@AZ~? A+اAI:&"AAoNA"AZAbAjArAzAAAz(t%@A'uB3qAξA(|AѥA\2?Ae?A 哝?A"3*A*<2AI%::ABA*<JAI%:RA󺙘٘i)I9Y Jc3JJJJ&K  E7Y E7yŧ7b7E7)ZZZBZL?YY*W2W WWW"W ) )T*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027464.123165 s, next control iter: 1743027464.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027464.523165 s.G~,{!BAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743027464.523266F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@A(@AZ~? AקAP:&"AAoNA"AZAbAjArAzAAA%@AqAA9AA2?A`e?A`?AtW2*A<2A6::ABA<JA6:RA󺙘٘i)I9Y JJJCJ&K Yyj7j7(UE7)ZZZBZL?YY*W2W WWW"W ) )X*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027464.543165 s, next control iter: 1743027464.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 963, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027464.943165 s.ZdG~,J]WBAJ"J*J2J:JBJnJvJA@AS@A3Z~? A7קA\:&"AAcoNA"AZAbAjArAzAAAVS0%@AOqAξA31:ALA/?A`e?A?A*A<2A::ABA<JA:RAY ?,?yE:ٓH ? < c?j?4Us?&&T??) ? I٘i)I9Y JkC=J}JJJ&KJ Yy{7j7E7)ZZZBZL?YY*W2W WWW"W ) )a*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027465.403165 s, next control iter: 1743027465.763178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 964", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027465.783165 s.SG~,rBAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743027465.783288F (some fields omitted in printout)A)\ @Ad9 % @ALZ~? A֧Ab:&"AAoNA"AZAbAjArAzAAA$I+ġ%@Ae mqAξA~B:A)A,?AMf?A ?A@jɳ*ASf<2A::ABASf<JA:RA󺙘٘i)I9Y JaJJJJ&K  F7Y F7y Bŧ7b7,F7)ZZZBZL?YY*W2W WWW"W ) )e*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027465.803165 s, next control iter: 1743027466.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027466.203165 s.G~, BAJ"J*J2J:JBJnJvJAQ$@A,'#@AdZ~? A֧Ah:&"AAoNA"AZAbAjArAzAAAN$X%@A>Ey;qAξA4AӴA(?A f?A?A*A'G<2A::A1qBA'G<JA:RA1q󺙘٘i)I9Y JgJJJJ&K Yy7777:F7)ZZZBZL?YY*W2W WWW"W ) )h*FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027466.223165 s, next control iter: 1743027466.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027466.623165 s.OG~,;BAAHz'@A@M&@A}Z~? AD֧Ao:&"AAoNA"AZAbAjArAzAAAAF%@A9_: qAξA^qA9A$?Af?A#|?A$4*A (<2A::A)BA (<JA:RA)󺙘٘i)I9Y J^3JJJCJ&K Yy)7ŧ7sF7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027466.643165 s, next control iter: 1743027467.023174 s, wait time: 0.380009 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 965 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027467.043165 s.G~,BAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200152 time: 1743027467.043280F (some fields omitted in printout)Aףp= +@An9*@AZ~? AէA?u:&"AA oNA"AZAbAjArAzAAAT %@A3gثqAξA뤺AƸA,"?A}f?A@2x?A»4*A<2A::ABA<JA:RA򺙘٘i)I9Y Jv4JJJJ&K Yy77j7-F7)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027467.063165 s, next control iter: 1743027467.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027467.463165 s.PG~,ϤBAAfffff.@A>yX-@AZ~? AէAm{:&"AA2oNA"AZAbAjArAzAAA/Q%@A 馫qAAk{A޸A ?Af?AAt?A*A<2Ax::ABA<JAx:RAYj?"?yڸc|ٓH?S?&?`&B`3t? {O?)j? I٘i)I9Y J6JJJ&KgC Yy{7F7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027467.503165 s, next control iter: 1743027467.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 966, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027467.883165 s.yG~,+BAJ"J*J2J:JBJnJvJA(\1@A8en0@AZ~? APէA:&"AA\oNA"AZAbAjArAzAAAH%@ApuqAξA;AA3 ?Awf?A`Up?A!*AY<2AG::A^BAY<JAG:RA^򺙘٘i)I9Y Jd<JJJJ&K  G7Y G7y B77G7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027467.923165 s, next control iter: 1743027468.283175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027468.303165 s.UG~,sgCAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743027468.303275F (some fields omitted in printout)AQ5@AM4@AZ~? AԧAƇ:&"AAoNA"AZAbAjArAzAAAn&<%@AvDCqAξA5:AAA?Af?Ail?A; *A<2A::AUBA<JA:RAU򺙘I٘i)I9Y J`C=JJJJ&K Yy7.YG7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027468.343165 s, next control iter: 1743027468.703178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*. header.stamp.sec: 967*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027468.723165 s.G~,H.CAJ"J*J2J:JBJnJvJAGz8@A-7@AZ~? AԧA:&"AAoNA"AZAbAjArAzAAA3cH+Х%@AAqAξAJ:AA?Af?A~h?A]o1*A<2A::A]BA<JA:RA]򺙘٘i)I9Y J_JJJCJ&K Yy777G7)ZZZBZL?YY*W2W WWW"W ) )f*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027468.743165 s, next control iter: 1743027469.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027469.143165 s.W/G~, *ICAAp= ;@A>;@AZ~? A]ԧA:&"AAoNA"AZAbAjArAzAAA`2d%@Ak/qAAs:AA?A f?A d?Ait;*Al<2AGְ::A\BAl<JAGְ:RA\򺙘٘i)I9Y JJJJ&K Yy)7ŧ7G7)ZZZBZL?YY*W2W WWW"W ) )b*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027469.183165 s, next control iter: 1743027469.543177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027469.563165 s.G~,= dCAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743027469.563282F (some fields omitted in printout)A33333?@Abb>@A'Z~? A ԧAE:&"AAoNA"AZAbAjArAzAAA/>D%@AoѯqAξA 9A.A3?A@ f?A `?A:H*AN<2A_԰::ADBAN<JA_԰:RADY ?7?y-i9ٓH?uu??Mr?P>??) ? I٘i)I9Y J]<JQ^8JJJ&KH  H7Y H7y77773H7)ZZZBZL?YY*W2W WWW"W ) )^*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027469.603165 s, next control iter: 1743027469.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 968, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027469.983165 s.G~,~CAA(\B@AϾA@A@Z~? AӧAm:&"AA*oNA"AZAbAjArAzAAA}e%@AoIz~qAAC߹AUAO?A f?A\?A}2*AJ/<2Abڰ::A,BAJ/<JAbڰ:RA,򺙘٘i)I9Y JJJJ&K Yyŧ7b7>H7)ZZZBZL?YY*W2W WWW"W ) )Z*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027470.023165 s, next control iter: 1743027470.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027470.403165 s.&G~,͙CAJ"J*J2J:JBJnJvJARE@AlE@AXZ~? AkӧA:&"AAToNA"AZAbAjArAzAAA^b %@Ag*MqAξA(AA?Af?AX?Aj\2*Ay<2Aٰ::ABAy<JAٰ:RA񺙘٘i)I9Y Jf3JJJJ&K Yy Bb77wH7)ZZZBZL?YY*W2W WWW"W ) )V*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027470.443165 s, next control iter: 1743027470.803176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 969, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027470.823165 s.G~,CAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199522 time: 1743027470.823276F (some fields omitted in printout)AzGI@AW elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743027472.083293F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\S@AR@AZ~? A(ҧA-:&"AAoNA"AZAbAjArAzAAA q%@A۵(qAξA<t:AhA ?Af?A>I?AA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743027473.343317F (some fields omitted in printout)A= ףp]@AwE\@AZ~? A7ѧA:&"AAvoNA"AZAbAjArAzAAA9RO.%@AίqAξAu+9AQA?Af?A=?AYy*A8<2A ::A*BA8<JA :RA*񺙘٘i)I9Y JhJJJJ&K  J7Y J7y6 J7)ZZZBZL?YY*W2W WWW"W ) )B*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027473.363165 s, next control iter: 1743027473.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 972&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027473.763165 s.6G~,pDAJ"J*J2J:JBJnJvJA`@AۆQ_@AZ~? AЧA:&"AAoNA"AZAbAjArAzAAA:ɩ¬%@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4201862 time: 1743027474.603472F (some fields omitted in printout)AQg@Aɮf@AMZ~? AEЧA:&"AAoNA"AZAbAjArAzAAA\%@A(kaqAξAzAA?A`uf?A1?A`\%4*A<2A::A^BA<JA:RA^𺙘٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 243JS3B=JJJCJ&K Yyb7b7>J7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027474.643165 s, next control iter: 1743027475.003175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 973 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027475.023165 s.Z0G~,|DAA{Gj@Aj@AeZ~? AϧA:&"AAoNA"AZAbAjArAzAAA'M%@AQb0qAξAYAAe?A3f?A .?A3*A'<2AƯ::ABA'<JAƯ:RA𺙘٘i)I9Y J3JJJJ&K Yy j7 j7 J7)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027475.083165 s, next control iter: 1743027475.423178 s, wait time: 0.340013 s rAdjusting time to match Gazebo time: 1743027475.443165 s.J "J *J 2J :J BJ nJ vJ 76G~,>]DAA ףp=n@A lm@A~Z~? AϧA4:&"AAEoNA"AZAbAjArAzAAADi%@AE_qAA[9AVA%?Af?A<*?A0*Af<2A::AIBAf<JA:RAI𺙘٘i)I9Y JQ>JJJ&K>  K7Y K7y B77'K7)ZZZBZL?YY*W2W WWW"W ) )@*FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027475.463165 s, next control iter: 1743027475.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 974, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027475.863165 s.+=G~,>DAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200542 time: 1743027475.863316F (some fields omitted in printout)Aq@A6Up@AZ~? ATϧAR:&"AAnoNA"AZAbAjArAzAAA39֨%@AjdΧqAξAh:ANAq?AOf?Ab&?A*A<2Ae::ABA<JAe:RAY??yI:ٓH`?`iC? ? wP#p?L5R??)? I٘i)I9Y J<JБQ>JJJ&KrG> Yy{7 elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200252 time: 1743027477.123293F (some fields omitted in printout)AHz{@A #z@AZ~? AdΧA;&"AAoNA"AZAbAjArAzAAA?e{yX@A[~? AͧA;&"AA>oNA"AZAbAjArAzAAAքn%@Ac٦qAξA&ҤA򡃽AS?Af?A?A3*A<2A(@::AޝBA<JA(@:RAޝY??y졃t)ٓH?`e@;??;@Wq?`DT ?)? I٘i)I9Y J62<J7JJJ&K@ Yy B)7)7L7)ZZZBZL?YY*W2W WWW"W ) )N*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027478.003165 s, next control iter: 1743027478.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027478.383165 s.eG~,'EAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743027478.383281F (some fields omitted in printout)A(\…@Ag@A)[~? AtͧA;&"AAgoNA"AZAbAjArAzAAA2'$%@AqAξAPvAA?A@f?A J?Ae4*AK<2A\::ABAK<JA\:RAﺙ٘i)I9Y Jc3C=JJJJ&K Yy{7j7>L7)ZZZBZL?YY*W2W WWW"W ) )R*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027478.423165 s, next control iter: 1743027478.783175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 977", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027478.803165 s.wAlG~,{gEAJ"J*J2J:JBJnJvJAQ@ALiM@AB[~? A$ͧA!;&"AAoNA"AZAbAjArAzAAAd<%@A56xqAξA5+AdAv?Alf?A w ?A_s3*Aɫ<2A::ABAɫ<JA:RAﺙ٘i)I9Y Ja3JJJCJ&K Yyb77L7)ZZZBZL?YY*W2W WWW"W ) )V*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027478.843165 s, next control iter: 1743027479.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027479.223165 s.gsG~,HEAAGz@A'f@A[[~? A̧A';&"AAoNA"AZAbAjArAzAAAtlDZM%@AmGqAξAG<:ACA*?Af?A@?AI`1*AN<2A3::ABAN<JA3:RAﺙ٘i)I9Y JcJJJJ&K  M7Y M7y7+M7)ZZZBZL?YY*W2W WWW"W ) )Z*FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743027479.263165 s, next control iter: 1743027479.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027479.643165 s.wyG~, *EAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199762 time: 1743027479.643264F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= ׏@A#@As[~? A̧A5-;&"AAoNA"AZAbAjArAzAAA͓%@AqAξA3:A)A#?A f?A@?AE*An<2A㔮::ABAn<JA㔮:RAﺙ٘i)I9Y JUB=JJJJ&K Yy{7j7EeM7)ZZZBZL?YY*W2W WWW"WtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 978, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) ) )^*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027479.683165 s, next control iter: 1743027480.043179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027480.063165 s.G~,N FAA33333@A%b@A[~? A4̧AJ3;&"AA oNA"AZAbAjArAzAAAhڙv%@AqAξAY{:AA?Af?A?A"*AP<2A::ABAP<JA:RAY4ؚ??yzȑ:ٓH`(?\@ٜ?j? S`s?k/R??)4ؚ? I٘i)I9Y JeC=JJJJ&K[G YyZ7Z7M7)ZZZBZL?YY*W2W WWW"W ) )b*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027480.103165 s, next control iter: 1743027480.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027480.483165 s.t_G~,FAJ"J*J2J:JBJnJvJA(\@AK@A[~? A˧A^9;&"AA6oNA"AZAbAjArAzAAA ]D %@A%;qAξAÞ9ADzAo?A f?A-?Ap*A2<2Ax::A,RBA2<JAx:RA,Rﺙ٘i)I9Y JgJJJJ&K Yy Bb77M7)ZZZBZL?YY*W2W WWW"W ) )e*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027480.523165 s, next control iter: 1743027480.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 979, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027480.903165 s.ȍG~,9FAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200302 time: 1743027480.903324F (some fields omitted in printout)AR뙎@A<,@A[~? A˧Ar?;&"AA`oNA"AZAbAjArAzAAAg%@AqAAYsAtA߶?A/#f?AZ?AH*Ao<2A::ABAo<JA:RAﺙ٘i)I9Y JJJCJ&K  N7Y N7y7)7BN7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027480.943165 s, next control iter: 1743027481.303176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027481.323165 s.vG~,%TFAJ"J*J2J:JBJnJvJAzG@AU w@A[~? AE˧AE;&"AAoNA"AZAbAjArAzAAAt}4%@AXSqAξAoAසA*ܶ?A%f?A?A9-4*Ao<2A::ALBAo<JA:RAL٘i)I9Y J^3<JJJJ&K Yyj7j7JN7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027481.363165 s, next control iter: 1743027481.723177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 980&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027481.743165 s.WG~,doFAAq= ף@A U+ӟ@A[~? AʧAK;&"AAoNA"AZAbAjArAzAAAƚɷ%@ABC#qAξAAJAٶ?A@&f?A?A4*AQ<2Ar::AiBAQ<JAr:RAi٘i)I9Y J|4C=JJJJ&K Yyŧ7b7N7)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027481.783165 s, next control iter: 1743027482.143175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027482.163165 s.u}G~,qFAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200472 time: 1743027482.163326F (some fields omitted in printout)A@A3?/@A[~? AʧAQ;&"AAoNA"AZAbAjArAzAAAhq^%@A4qAξAt8A#Aض?A&f?A@?A.*A<2AK::ABA<JAK:RAYΚ?cڶ?y!}8ٓH'?1@{?:'? "C@ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199602 time: 1743027483.423280F (some fields omitted in printout)AGz@A2sC@AP[~? AɧAc;&"AAYoNA"AZAbAjArAzAAA%@ArC`qAξA:AAֶ?A@F%f?A ?A*A_<2Aȭ::ADBA_<JAȭ:RAD٘i)I9Y JjC=JJJJ&K YyZ7Z7FiO7)ZZZBZL?YY*W2W WWW"W ) )e*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027483.463165 s, next control iter: 1743027483.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 982, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027483.843165 s.ݼG~,FAJ"J*J2J:JBJnJvJA= ףp@A[ H@Ah[~? AhɧAi;&"AAoNA"AZAbAjArAzAAAͅȹ%@AJ.z0qAξAs:A寃A Զ?A&f?Aݜ?A*AA<2Aa::AiBAA<JAa:RAi٘i)I9Y J_3JJJJ&K Yyŧ7b7O7)ZZZBZL?YY*W2W WWW"W ) )b*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027483.883165 s, next control iter: 1743027484.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027484.263165 s.G~,GAA̴@Au["@A[~? AɧAo;&"AAoNA"AZAbAjArAzAAAls͙F%@ACqAξAn 9A?A`ж?A(f?A ڜ?A"q*A$<2Ax::AF)BA$<JAx:RAF)YÚ?ж?y? 9ٓH@T&? =m!?/?EIr?m!??)Ú? I٘i)I9Y JdJ[b8JJJ&KD Yyb77O7)ZZZBZL?YY*W2W WWW"W ) )^*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027484.303165 s, next control iter: 1743027484.663178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 983., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027484.683165 s.lG~,N+GAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743027484.683292F (some fields omitted in printout)A\(@AN IX@A[~? AȧAu;&"AAoNA"AZAbAjArAzAAAۻ%@AwvϣqAA b?AA̶?A+f?A@;֜?AO3*Al<2Aĭ::AzBAl<JAĭ:RAz٘i)I9Y JJJDJ&K  P7Y P7y{7{7HP7)ZZZBZL?YY*W2W WWW"W ) )[*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027484.683165 s, next control iter: 1743027485.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743027485.103165 s.G~,FGAAQ@Ad\qq@A[~? AyȧA |;&"AAoNA"AZAbAjArAzAAAp%@AqAξAmA@Aɶ?A`,f?A@tҜ?AG-3*A<2A::ABA<JA:RAI٘i)I9Y J`3<JJJJ&K Yy77NP7)ZZZBZL?YY*W2W WWW"W ) )W*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027485.143165 s, next control iter: 1743027485.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027485.523165 s.J "J *J 2J :J BJ nJ vJ G~, |aGAA{Gᾎ@AȘ@A[~? A*ȧA;&"AA)oNA"AZAbAjArAzAAA%@AK$nqAAvAAǶ?A H-f?AΜ?A}\3*A<2A::ABA<JA:RA٘i)I9Y JJJJ&K Yy BZ7Z7P7)ZZZBZL?YY*W2W WWW"W ) )T*FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027485.563165 s, next control iter: 1743027485.923179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 984, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027485.943165 s.\dG~,S]|GAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200232 time: 1743027485.943294F (some fields omitted in printout)A ףp=Ž@Al@A[~? AǧA;&"AARoNA"AZAbAjArAzAAAj%%@AvO>qAξA޹A֣AǶ?A,f?A ʜ?Ap4*A<2Ax::AuBA<JAx:RAu٘i)I9Y JJJJJ&K Yyb77LP7)ZZZBZL?YY*W2W WWW"W ) )Q*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027485.983165 s, next control iter: 1743027486.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027486.363165 s.G~,>GAJ"J*J2J:JBJnJvJAŎ@A \Ď@A[~? AǧA);&"AA|oNA"AZAbAjArAzAAAᴓ/%@A qAξA9AAƶ?AD,f?A@.ǜ?Ai*A<2AE::AvBA<JAE:RAvY?Ŷ?y 9ٓHt0?ǁƛ?9?JXq?׳>??)? I٘i)I9Y Je3C=JV8JJJ&KC Yyj7j7P7)ZZZBZL?YY*W2W WWW"W ) )O*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027486.403165 s, next control iter: 1743027486.763176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):". header.stamp.sec: 985", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027486.783165 s.VG~,GAA)\Ȏ@AW{ %Ȏ@A[~? A<ǧA1;&"AAoNA"AZAbAjArAzAAABqjľ%@AXݢqAξA]:A^A"ƶ?A +f?A nÜ?A⭳*A(q<2A ::A׀BA(q<JA :RA׀٘i)I9Y JdJJJJ&K  Q7Y Q7y773Q7)ZZZBZL?YY*W2W WWW"W ) )L*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027486.823165 s, next control iter: 1743027487.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027487.203165 s.J "J *J 2J :J G~BJnJvJ,GAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743027487.203279F (some fields omitted in printout)AQ̎@A .ˎ@A-[~? AƧA9;&"AAoNA"AZAbAjArAzAAA٨Y%@AhFOqAA:AAGĶ?A,f?A୿?At*AuS<2A::A4aBAuS<JA:RA4a٘i)I9Y JJJJ&K Yyj7Z7NmQ7)ZZZBZL?YY*W2W WWW"W ) )K*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027487.243165 s, next control iter: 1743027487.603179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027487.623165 s.SG~,LGAAHzώ@ABΎ@AF[~? AƧA@;&"AAoNA"AZAbAjArAzAAAk%@AP}qAξA4:AA-?AU.f?A뻜?A;*A5<2A::Ah/BA5<JA:RAh/٘i)I9Y J[<JJJJ&K Yy Bŧ7b7Q7)ZZZBZL?YY*W2W WWW"W ) )I*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027487.643165 s, next control iter: 1743027488.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 986 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027488.043165 s.G~,HAJ"J*J2J:JBJnJvJAףp= ӎ@AN9Ҏ@A^[~? AOƧAF;&"AA"oNA"AZAbAjArAzAAAB%@AժLqAξA[=AoA_?A 0f?A*?A0˲*AR<2A::A3BAR<JA:RA3캙٘i)I9Y JgC=JJJJ&K Yy77Q7)ZZZBZL?YY*W2W WWW"W ) )H*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027488.063165 s, next control iter: 1743027488.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743027488.463165 s.RG~,פHAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199602 time: 1743027488.463257F (some fields omitted in printout)Afffff֎@A㾕Վ@Aw[~? AƧAK;&"AAKoNA"AZAbAjArAzAAA%@AARqAξA{A5A?A2f?Aj?A;T3*A<2Ap::AZBA<JAp:RAZYw?ƻ?y1GI|ٓHi:?/@l?F?< p? ~xO?)w? I٘i)I9Y Jc4J7JJJ&K?  R7Y R7y7777OR7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027488.503165 s, next control iter: 1743027488.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 987, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027488.883165 s.y G~,/8HAJ"J*J2J:JBJnJvJA(\َ@As؎@A[~? AŧAP;&"AAuoNA"AZAbAjArAzAAA3%@AfFQqAAA[A?A3f?A@?AuB2*AB<2A::AZvBAB<JA:RAZv캙٘i)I9Y JJJDJ&K Yyj7Z7RR7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027488.903165 s, next control iter: 1743027489.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027489.303165 s.UG~,sgSHAAQݎ@A]CM܎@A[~? AbŧAT;&"AAoNA"AZAbAjArAzAAA53C%@AN!qAξA|pA؝Aõ?A #4f?A?A1B4*A<2AC֬::AbBA<JAC֬:RAb캙٘i)I9Y Jc3<JJJJ&K Yyb7b7R7)ZZZBZL?YY*W2W WWW"W ) )I*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027489.343165 s, next control iter: 1743027489.703177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&. header.stamp.sec: 988&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027489.723165 s.G~,HnHAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200502 time: 1743027489.723318F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A/-ߎ@A[~? AŧAW;&"AAoNA"AZAbAjArAzAAAf%@AjqAξA'FAA[?A`3f?A`8?A߁3*A<2A::A lBA<JA:RA l캙٘i)I9Y Ja4C=JJJJ&K Yy{7Z7PR7)ZZZBZL?YY*W2W WWW"W ) )J*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027489.763165 s, next control iter: 1743027490.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027490.143165 s.Y/"G~,*HAAp= @A_Cp\@A[~? AħAY;&"AAoNA"AZAbAjArAzAAAΫm%@Ajz[qAξAB:AޟA?A2f?A?AW}*AG<2At::A1zBAG<JAt:RA1z캙٘i)I9Y J^JJJJ&K Yy B77{7R7)ZZZBZL?YY*W2W WWW"W ) )L*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027490.163165 s, next control iter: 1743027490.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027490.563165 s.(G~,A HAJ"J*J2J:JBJnJvJA33333@Ab@A[~? AvħAZ;&"AAoNA"AZAbAjArAzAAA]%@A79+qAξA:A]A?A2f?Aǡ?Al*Af<2A O::AkrBAf<JA O:RAkrY"?q?yVH:ٓHD?aQ ?K?@QDq?XT?@?)"? I٘i)I9Y JJߝJJJ&KD  S7Y S7yb777S7)ZZZBZL?YY*W2W WWW"W ) )N*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027490.603165 s, next control iter: 1743027490.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 989, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027490.983165 s./G~,HAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200272 time: 1743027490.983297F (some fields omitted in printout)A(\@AZe@A [~? A'ħA[;&"AAEoNA"AZAbAjArAzAAA:,%@AqAξA+l:AA?A`3f?A`?A>*A:I<2A<::ATBA:I<JA<:RAT캙٘i)I9Y JcJJJJ&K Yy77SqS7)ZZZBZL?YY*W2W WWW"W ) )P*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027491.023165 s, next control iter: 1743027491.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027491.403165 s.&6G~,HAJ"J*J2J:JBJnJvJAR@Af@A#[~? AçA[;&"AAnoNA"AZAbAjArAzAAAG)-%@AxˠqAξAcP9A AO?A@5f?AT?A_ų*A+<2A<::ABA+<JA<:RA캙٘i)I9Y J^JJJJ&K Yy{7{7S7)ZZZBZL?YY*W2W WWW"W ) )S*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027491.443165 s, next control iter: 1743027491.803178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 990, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)0)0 rAdjusting time to match Gazebo time: 1743027491.823165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200132 time: 1743027492.243289F (some fields omitted in printout)Aq= ף@A2ZGU@AT[~? A;çAX;&"AAoNA"AZAbAjArAzAAAW%@A~ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199772 time: 1743027493.503246F (some fields omitted in printout)AQ@A`@A[~? AO§AN;&"AA>oNA"AZAbAjArAzAAAQ%@A۟qAA rM9AıA?A9f?A`ˇ?AK2*A<2AO֫::ABA<JAO֫:RA뺙٘i)I9Y JJJJ&K Yy77VT7)ZZZBZL?YY*W2W WWW"W ) )d*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027493.543165 s, next control iter: 1743027493.903173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 992, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027493.923165 s.5^G~,{IAJ"J*J2J:JBJnJvJAGz@A~ D@A[~? A§AJ;&"AAhoNA"AZAbAjArAzAAA=>%@A]}qAξAIL~:ArAJ?A`y9f?A`?AvJ*A{<2A::A BA{<JA:RA 뺙٘i)I9Y JZ<JJJJ&K  U7Y U7y77U7)ZZZBZL?YY*W2W WWW"W ) )h*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027493.963165 s, next control iter: 1743027494.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027494.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743027494.763273F (some fields omitted in printout)A@A!t%@A[~? AdA><&"AAoNA"AZAbAjArAzAAAtf%@AJKqAξAm:AA?A@;f?A`|?AS4*AJA<2A@}::AYBAJA<JA@}:RAYY搚?5?y0Gn:ٓH`X?!:M?k`?Q@7t?!M??)搚? I٘i)I9Y Jd4B=JMoJJJ&KC Yy7777YuU7)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027494.783165 s, next control iter: 1743027495.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027495.183165 s.rG~,cIAA\( @AU@X @A[~? AA7 <&"AAoNA"AZAbAjArAzAAA^m%@AGqAA8AAv?A2=f?Ay?AIk*A$$<2A逫::A&BA$$<JA逫:RA&뺙٘i)I9Y JJJJ&K Yy B7)7U7)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027495.223165 s, next control iter: 1743027495.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027495.603165 s.24yG~,IAJ"J*J2J:JBJnJvJAQ@AGz@A[~? AA/<&"AAoNA"AZAbAjArAzAAA$%@AAqAξA_FAA?A [?f?A@Wu?A/*A)<2Ad::ABA)<JAd:RA꺙٘i)I9Y J<JJJJ&K Yy7777U7)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027495.643165 s, next control iter: 1743027496.003175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): . header.stamp.sec: 994 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027496.023165 s.ZG~,|JAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200312 time: 1743027496.023303F (some fields omitted in printout)A{G@AU@A2[~? AxA&<&"AA8oNA"AZAbAjArAzAAAJ[%@AuqAAAjAA?A`@f?Aq?AC*A0<2A::ABA0<JA:RA꺙٘i)I9Y JJJJ&K  V7Y V7y)7ŧ7b!V7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027496.063165 s, next control iter: 1743027496.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027496.443165 s.AÆG~,h]JAJ"J*J2J:JBJnJvJA ףp=@AWl@AK[~? A*A<&"AAaoNA"AZAbAjArAzAAA0-%@A qدqAξApAA?A ^Af?Am?Aƚe*A <2Ae::ABA <JAe:RA꺙٘i)I9Y JgJJJJ&K Yy77{7ZV7)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027496.483165 s, next control iter: 1743027496.843188 s, wait time: 0.360023 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 995, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027496.863165 s.+G~,}>7JAA@A4.@Ad[~? AܿA$<&"AAoNA"AZAbAjArAzAAA t%@A\qAξA#ιAA`?A@@f?AWj?AC<4*A<2A@:::A#yBA<JA@::RA#yY憚?5?yϹٓHvb?@ Ͻ?`m?@CJs?9?)憚? I٘i)I9Y JV4B=J. 8JJDJ&Kj> Yy{7V7)ZZZBZL?YY*W2W WWW"W ) )d*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027496.903165 s, next control iter: 1743027497.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027497.283165 s.8RG~,RJAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743027497.283289F (some fields omitted in printout)A)\@A^ %@A|[~? AA*<&"AAoNA"AZAbAjArAzAAAX%@A[6-qAξA,`:AA,?A <@f?A`f?A *Aܒ<2A5::ABAܒ<JA5:RA꺙٘i)I9Y Ji3C=JJJJ&K Yy)7)7\V7)ZZZBZL?YY*W2W WWW"W ) )a*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027497.323165 s, next control iter: 1743027497.683177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.. header.stamp.sec: 996., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027497.703165 s.ֺG~,mJAAQ @AZ@A[~? A@A/<&"AAoNA"AZAbAjArAzAAAX%@AaӂqAξA$:AʬAv?A?f?A`c?Ad}*Au<2Aݪ::ABAu<JAݪ:RA꺙٘i)I9Y J}dB=JJJJ&K  W7Y W7y B77W7)ZZZBZL?YY*W2W WWW"W ) )]*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027497.723165 s, next control iter: 1743027498.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027498.123165 s.8G~,aJAJ"J*J2J:JBJnJvJAHz#@A^a"@A[~? AA5<&"AAoNA"AZAbAjArAzAAA9%@A/n͝qAξA:AA?A`@f?A__?AS3*AX<2AŪ::AaBAX<JAŪ:RAa꺙٘i)I9Y Jk3C=JJJJ&K Yy{7j7 @W7)ZZZBZL?YY*W2W WWW"W ) )Z*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027498.163165 s, next control iter: 1743027498.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027498.543165 s.IG~,âJAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743027498.543340F (some fields omitted in printout)Aףp= '@Aܴ9&@A[~? AA;<&"AA1oNA"AZAbAjArAzAAAw(h%@Ap-.qAξA.:AAy?A`4Bf?A[?AF*A<<2A::A2BA<<JA:RA2꺙٘i)I9Y J\JJJJ&K Yy77ayW7)ZZZBZL?YY*W2W WWW"W ) )X*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027498.563165 s, next control iter: 1743027498.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 997, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027498.963165 s.wG~,줽JAJ"J*J2J:JBJnJvJAfffff*@A0`ɕ)@A[~? AUAA<&"AA[oNA"AZAbAjArAzAAAʺ-%@AnqAξA]AƦA?A`Df?A X?A͡2*AQ<2AǪ::ABAQ<JAǪ:RAY|?!?yƦ 4^ٓHll?Tg?v?`C q?ҷ+?)|? I٘i)I9Y J`JlM8JJJ&K? Yyb77W7)ZZZBZL?YY*W2W WWW"W ) )U*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027499.003165 s, next control iter: 1743027499.363175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027499.383165 s.صG~,+JAA(\-@Ai5$,@A[~? AAG<&"AAoNA"AZAbAjArAzAAA:D%@A }>qAξA6{AMA?A[Ff?AfT?A3*A<2Aɪ::A+BA<JAɪ:RA+麙٘i)I9Y Jf4JJJJ&K Yy{7{7 W7)ZZZBZL?YY*W2W WWW"W ) )S*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027499.403165 s, next control iter: 1743027499.783174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 998, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027499.803165 s.J ~AG~"J*J2J,gJA:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743027499.803298F (some fields omitted in printout)AQ1@AKN0@A[~? AAM<&"AAoNA"AZAbAjArAzAAAH%@A+J]qAAtA A?A Gf?AP?A-0*A<2A>::AvBA<JA>:RAv麙٘i)I9Y JJJJ&K  X7Y X7y77`%X7)ZZZBZL?YY*W2W WWW"W ) )Q*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027499.843165 s, next control iter: 1743027500.203184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743027500.223165 s.gG~,HKAAGz4@A &(3@A)[~? AlAS<&"AAoNA"AZAbAjArAzAAAu@p%@AA.ߜqAξAkAAAA?A Gf?A@M?Aӈw4*A<2A::AN^BA<JA:RAN^麙٘i)I9Y Jd3<JJJJ&K Yy B^X7)ZZZBZL?YY*W2W WWW"W ) )P*FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027500.243165 s, next control iter: 1743027500.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027500.643165 s.rG~,))KAJ"J*J2J:JBJnJvJAp= 7@Arm7@AB[~? AAY<&"AAoNA"AZAbAjArAzAAA%@A)EqAξAQ贸AA䀶?AGf?A~I?A Dk3*A <2Am::AhBA <JAm:RAh麙I٘i)I9Y J[4C=JJJDJ&K Yy77 X7)ZZZBZL?YY*W2W WWW"W ) )FtReceived state from Gazebo (printed only once in a while):. header.stamp.sec: 999, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000F values[0]: nanF (some fields omitted in printout)F]:Waiting for Gazebo time sync: latest Gz time: 1743027500.663165 s, next control iter: 1743027501.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027501.063165 s.G~,[ DKAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200552 time: 1743027501.063330F (some fields omitted in printout)A33333;@A;yb:@AZ[~? AмA_<&"AA+oNA"AZAbAjArAzAAAlj%@ArÀqAξA,I:AA?AYFf?AE?Aɻ*A<2A<::AtBA<JA<:RAtYr??yLI:ٓH mv?`et=?`~?~Liq?@%I??)r? I٘i)I9Y JeJ7JJJ&K@ Yy{7j7bX7)ZZZBZL?YY*W2W WWW"W ) )O*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027501.103165 s, next control iter: 1743027501.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027501.483165 s.q_G~,^KAJ"J*J2J:JBJnJvJA(\>@A3뤾=@As[~? AAoe<&"AAUoNA"AZAbAjArAzAAAcV1%@AGQqAξA:AA?APFf?A`?B?A2*AXr<2At::AgBAXr<JAt:RAg麙٘i)I9Y JcJJJJ&K  Y7Y Y7y77 Y7)ZZZBZL?YY*W2W WWW"W ) )FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027501.503165 s, next control iter: 1743027501.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1000, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027501.903165 s.G~,yKAARA@AsA@A[~? A4A\k<&"AA~oNA"AZAbAjArAzAAA6%@A!qAA3\:A#A>}?A@KGf?A>?A2$*AU<2A::AxJBAU<JA:RAxJ麙٘i)I9Y JJJJ&K Yy7DY7)ZZZBZL?YY*W2W WWW"W ) )P*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027501.943165 s, next control iter: 1743027502.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027502.323165 s.tG~,KAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743027502.323301F (some fields omitted in printout)AzGE@AU wD@A[~? A继AHq<&"AAoNA"AZAbAjArAzAAA w\%@Aj`qAξA9A񣃽Ay?A(If?A:?AF*A 9<2A::A BA 9<JA:RA 麙٘i)I9Y J_<JJJJ&K Yyd}Y7)ZZZBZL?YY*W2W WWW"W ) )Q*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027502.343165 s, next control iter: 1743027502.723176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1001&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027502.743165 s.WG~,dKAAq= ףH@APG@A[~? AA3w<&"AAoNA"AZAbAjArAzAAA%杊%@AЄC›qAξAAAv?AQKf?A\7?A[,3*A<2A::AVBA<JA:RAV躙٘i)I9Y Jf3C=JJJJ&K Yy B7Y7)ZZZBZL?YY*W2W WWW"W ) )S*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027502.783165 s, next control iter: 1743027503.143175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027503.163165 s.s}G~,qKAJ"J*J2J:JBJnJvJAL@At ^/K@A[~? AKA}<&"AAoNA"AZAbAjArAzAAAn`%@A_4qAAAAr?A Mf?A@3?AY"*A<2AE ::ABA<JAE :RAYh? u?y2CٓH,?@` ?\?:q?wR ?)h? I٘i)I9Y JJJJ&K < Yy7Y7)ZZZBZL?YY*W2W WWW"W ) )U*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027503.183165 s, next control iter: 1743027503.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027503.583165 s.G~, SKAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743027503.583309F (some fields omitted in printout)A(\O@AN@A[~? AA<&"AA%oNA"AZAbAjArAzAAAOV?%@Ad94dqAξA@AWAp?A Mf?A 0?A34*Ao<2A::AqBAo<JA:RAq躙٘i)I9Y JX3<JJJJ&K  Z7Y Z7yb7b7k)Z7)ZZZBZL?YY*W2W WWW"W ) )W*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027503.623165 s, next control iter: 1743027503.983177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1002, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027504.003165 s. G~,4LAJ"J*J2J:JBJnJvJAQR@AQ@A[~? AA<&"AANoNA"AZAbAjArAzAAA~ %@AYM4qAξA*AQAo?AMf?A ,?A^4*A<2Anө::AnBA<JAnө:RAn躙٘i)I9Y Jn4C=JJJJ&K YybZ7)ZZZBZL?YY*W2W WWW"W ) )Z*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027504.043165 s, next control iter: 1743027504.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027504.423165 s.uG~,LAAGzV@ACU@A [~? AcA׎<&"AAxoNA"AZAbAjArAzAAA,I%@AomqAξAm9A~A~o?A@Lf?A@(?Aƴ*A <2A::ABA <JA:RA躙٘i)I9Y JdJJJJ&K Yyj7j7Z7)ZZZBZL?YY*W2W WWW"W ) )]*FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027504.463165 s, next control iter: 1743027504.823175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1003, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027504.843165 s. G~,5LAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743027504.843274F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףpY@AEeݟX@A9[~? AA<&"AAoNA"AZAbAjArAzAAAl %@AD>֚qAξA괁:A׮A o?ATLf?AU%?A2*Ag<2Au::ABAg<JAu:RA躙٘i)I9Y JbJJJDJ&K Yyb77gZ7)ZZZBZL?YY*W2W WWW"W ) )`*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027504.883165 s, next control iter: 1743027505.243175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027505.263165 s.G~,PLAA\@A*p [@AR[~? AȹA<&"AAoNA"AZAbAjArAzAAAx@u%@A4qAAI:AKAm?A`Lf?A!?Ak*Ap<2AW::A%}BAp<JAW:RA%}Y^?j?yD:ٓH@9?WU ?n?R As? ;T? ?)^? I٘i)I9Y JKJJJ&KA  [7Y [7y Bŧ7b7[7)ZZZBZL?YY*W2W WWW"W ) )c*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027505.303165 s, next control iter: 1743027505.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1004., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027505.683165 s.lG~,kLAJ"J*J2J:JBJnJvJA\(`@AdTX_@Aj[~? AzA<&"AAoNA"AZAbAjArAzAAAt0 %@A wqAξAh:A̳Aj?AMf?A#?A*AfT<2AM::AUBAfT<JAM:RAU躙٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 242J\<JJJJ&K Yyb77H[7)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027505.683165 s, next control iter: 1743027506.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743027506.103165 s.!G~,LAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200302 time: 1743027506.103333F (some fields omitted in printout)AQc@Aflb@A[~? A-Ap<&"AAoNA"AZAbAjArAzAAA>s%@AnTHqAA@8AUA0g?AOf?A?A2*A8<2AMQ::ABA8<JAMQ:RA躙٘i)I9Y JJJJ&K Yy777[7)Z ZZBZ L?YY *W2W W W W"W  ) ) j*FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027506.163165 s, next control iter: 1743027506.503178 s, wait time: 0.340013 s rAdjusting time to match Gazebo time: 1743027506.523165 s.'G~,{LAJ"J*J2J:JBJnJvJA{Gf@AAf@A[~? AวAT<&"AAHoNA"AZAbAjArAzAAAh7%@AtKqAξAVLAAvc?A Qf?A?Aj4*A<2AV::A.BA<JAV:RA.纙٘i)I9Y J3JQ>JJJ&K> Yy77[7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027506.563165 s, next control iter: 1743027506.923174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1005, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)) rAdjusting time to match Gazebo time: 1743027506.943165 s.Xd.G~,B]LAA ףp=j@A,li@A[~? AA8<&"AAroNA"AZAbAjArAzAAAյnj%@AqAξAAA`?AgSf?A Z?A`D2*A<2AP::ABA<JAP:RA纙٘i)I9Y Jd4C=JQ>JJJ&K> Yyŧ7ŧ7[7)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027506.983165 s, next control iter: 1743027507.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027507.363165 s.5G~,}>LAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743027507.363285F (some fields omitted in printout)J"J*J2J:JBJnJvJAm@A^-l@A[~? AEA<&"AAoNA"AZAbAjArAzAAArc%@AnnqAξASAKA^?ASf?A@?A8D*A#<2A5::ABA#<JA5:RAYT?#a?yF1ٓH`? Ϩ@Q@#??<=@t?xQ?)T? I٘i)I9Y JRB=JyJJJ&K:  \7Y \7y777r-\7)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027507.383165 s, next control iter: 1743027507.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1006&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027507.783165 s.];G~,LAA)\p@AM%p@A[~? AA<&"AAoNA"AZAbAjArAzAAA\{%@AԋqAA[GA{AR^?ASSf?A5 ?A2*A<2A ::ABA<JA :RA纙٘i)I9Y JJJJ&K Yy B77f\7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027507.823165 s, next control iter: 1743027508.183180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027508.203165 s.CG~,! MAJ"J*J2J:JBJnJvJAQt@A)H4s@A[~? AA<&"AAoNA"AZAbAjArAzAAAͯ%@A5\qAξA :AA#^?ARf?A`?Aw*AP<2A٨::AcBAP<JA٨:RAc纙٘i)I9Y J<JJJJ&K Yy{7{7\7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027508.243165 s, next control iter: 1743027508.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027508.623165 s.SIG~,L'MAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199602 time: 1743027508.623283F (some fields omitted in printout)AHzw@A/ov@A[~? A^A<&"AAoNA"AZAbAjArAzAAA%%@A-qAξA鱖:AAk]?A`BAU<JA :RA7>YJ?W?y$c|':ٓH@۝?@Aⁿ`ȗ?d? L`r? yD?@?)J? I٘i)I9Y JdJ$T8JJJ&K @ Yy77L]7)ZZZBZL?YY*W2W WWW"W ) )_*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027509.483165 s, next control iter: 1743027509.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1008, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027509.883165 s.y]G~,+xMAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199982 time: 1743027509.883293F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A@Ab[~? AvA[<&"AAoNA"AZAbAjArAzAAA}|%@A lqAξAX|A0AT?AVf?Ad?A14*A9<2A_::ACBA9<JA_:RAC溙٘i)I9Y Jb3JJJJ&K Yy B77{7o]7)ZZZBZL?YY*W2W WWW"W ) )]*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027509.923165 s, next control iter: 1743027510.283176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027510.303165 s.WdG~,{gMAAQ@AM@A{[~? A)A9<&"AAoNA"AZAbAjArAzAAA7}%@ASqqAξAڂAAQ?AiXf?A?AԸ*A<2A::ABA<JA:RA溙٘i)I9Y Jd3JJJJ&K Yy{7j7ľ]7)ZZZBZL?YY*W2W WWW"W ) )Z*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027510.343165 s, next control iter: 1743027510.703180 s, wait time: 0.360015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1009*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027510.723165 s.kG~,HMAJ"J*J2J:JBJnJvJAGz@A|(B@A[~? AܵA<&"AAoNA"AZAbAjArAzAAA%@A(-BqAξAAAN?A`yYf?AF?AZL3*A<2A+::AEBA<JA+:RAE溙٘i)I9Y JYJJJJ&K Yy777]7)ZZZBZL?YY*W2W WWW"W ) )X*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027510.763165 s, next control iter: 1743027511.123178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027511.143165 s.S/rG~,)MAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743027511.143284F (some fields omitted in printout)Ap= ׋@AEC@A[~? AA<&"AAoNA"AZAbAjArAzAAA_%@AHmqAξA8eA遼AaM?AYf?A?A 4*A<2Aq::AlBA<JAq:RAl溙٘i)I9Y Jd4JJJJ&K  ^7Y ^7yj7j7p1^7)ZZZBZL?YY*W2W WWW"W ) )W*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027511.163165 s, next control iter: 1743027511.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027511.563165 s.xG~,= MAJ"J*J2J:JBJnJvJA33333@Ak*b@A[~? ACA<&"AA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199422 time: 1743027512.403265F (some fields omitted in printout)J"J*J2J:JBJnJvJAR땏@Az@A[~? AA<&"AAoNA"AZAbAjArAzAAA\/ӕl%@A+톗qAAY:AwAK?AXf?A"?Ax*A)<2A|::AwBA)<JA|:RAw溙٘i)I9Y JJJJ&K Yy B77{7v^7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027512.443165 s, next control iter: 1743027512.803176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1011, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027512.823165 s.G~,24NAAzG@A'+v@A[~? A\AZ=&"AAoNA"AZAbAjArAzAAA1%@AXqAξA1:AAcI?A@Yf?A?Ap*A&u<2A::A?[BA&u<JA:RA?[溙٘i)I9Y JcJJJDJ&K  _7Y _7y77_7)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743027512.863165 s, next control iter: 1743027513.223180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027513.243165 s.G~,mONAJ"J*J2J:JBJnJvJAq= ף@APs"ӛ@A([~? AA3 =&"AAoNA"AZAbAjArAzAAA%%@AK?)qAξAd9A%AE?AZf?A`ޛ?A02*A[Y<2A::ArBA[Y<JA:RAr溙٘i)I9Y JaC=JJJJ&K Yy777 P_7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027513.283165 s, next control iter: 1743027513.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027513.663165 s.G~,qjNAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200142 time: 1743027513.663286F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1012, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@Akv/@AA[~? AóA =&"AA oNA"AZAbAjArAzAAA/M./%@A qqAξA[7 AA,B?A`\f?Aڛ?A*A=<2A::ABA=<JA:RAY7?OC?y/ ٓH[?ħX?c? ?r?`A?)7? I٘i)I9Y JW4B=JJJJ&K; Yyb7b7y_7)ZZZBZL?YY*W2W WWW"W ) )W*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027513.683165 s, next control iter: 1743027514.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027514.083165 s.DG~,SNAJ"J*J2J:JBJnJvJA(\@AϽ@AZ[~? AvA=&"AA7oNA"AZAbAjArAzAAA{z%@AD{˖qAξAtA<A>?A^f?A@֛?AD*A!<2A::A]BA!<JA:RA]庙٘i)I9Y JgC=JJJJ&K Yy77{7_7)ZZZBZL?YY*W2W WWW"W ) )X*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027514.103165 s, next control iter: 1743027514.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027514.503165 s.G~,74NAAQ@A,f祏@Ar[~? A*A=&"AA`oNA"AZAbAjArAzAAA?[%@A;眖qAξAAA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200342 time: 1743027514.923315F (some fields omitted in printout)AGz@AjHC@A[~? AݲA!=&"AAoNA"AZAbAjArAzAAA֫)$%@A*nqAξAs#A~A Yyb77$`7)ZZZBZL?YY*W2W WWW"W ) )b*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027515.783165 s, next control iter: 1743027516.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027516.183165 s.G~,x OAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200382 time: 1743027516.183327F (some fields omitted in printout)A\(@AkIG9X@A[~? AA3=&"AAoNA"AZAbAjArAzAAAn%@AQs4qAξA:AA9?A]f?Aqś?A(*A'<2AA4::AːBA'<JAA4:RAː庙٘i)I9Y Ja<JJJJ&K Yyy`7)ZZZBZL?YY*W2W WWW"W ) )f*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027516.223165 s, next control iter: 1743027516.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027516.603165 s./4G~,&OAJ"J*J2J:JBJnJvJAQ@Akg{@A[~? AA8=&"AA1oNA"AZAbAjArAzAAAO" _K%@ANktqAξA4b:AhA17?A_f?A?AWg*Axz<2AE+::AdBAxz<JAE+:RAd庙I٘i)I9Y JYC=JJJDJ&K  a7Y a7ya7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027516.643165 s, next control iter: 1743027517.003173 s, wait time: 0.360008 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1015 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027517.023165 s.ZG~,|AOAA{Gẏ@Awn@A [~? A_A>=&"AA[oNA"AZAbAjArAzAAAֹ%@A"ՄqAξA()8A̷A3?Aaf?Am?A u4*A^<2A/::AdBA^<JA/:RAd庙٘i)I9Y J_4JJJJ&K Yy{7{7)Ta7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027517.063165 s, next control iter: 1743027517.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027517.443165 s.6G~,:]\OAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199322 time: 1743027517.443273F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=@A1l@A [~? AA}D=&"AAoNA"AZAbAjArAzAAA>"A"x%@A;wOAA@Av@A9 [~? AưAMJ=&"AAoNA"AZAbAjArAzAAA[%@A.l'qAξAAA,?A Ydf?A`k?Ae*A'<2A}.::ABA'<JA}.:RAYO#?/?yHٓH@?i܅T? T?:Nt?`UT?)O#? I٘i)I9Y JbJ,JJJ&K8 Yy)7a7)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027517.903165 s, next control iter: 1743027518.263175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027518.283165 s.6RG~,OAJ"J*J2J:JBJnJvJA)\ď@Av%ď@AR [~? AzAP=&"AAoNA"AZAbAjArAzAAAu%@AS.qAA3$AAh+?Adf?Aﳛ?A3*A <2AB::A,BA <JAB:RA,亙٘i)I9Y JJJJ&K  b7Y b7y77j7(b7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027518.323165 s, next control iter: 1743027518.683176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1017., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027518.703165 s.׺G~,OAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200202 time: 1743027518.703298F (some fields omitted in printout)AQȏ@Ad؁Ǐ@Aj [~? A.AU=&"AAoNA"AZAbAjArAzAAA$ $;%@A*aʔʔqAξA诹AJA*?Adf?Au?Ah58*A\<2A::A5BA\<JA:RA5亙٘i)I9Y JS<JJJJ&K Yyb779b7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027518.723165 s, next control iter: 1743027519.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027519.123165 s.4G~,POAJ"J*J2J:JBJnJvJAHzˏ@ALiʏ@A [~? AᯧA[=&"AA+oNA"AZAbAjArAzAAA%@A<qAξAO:A𳃽A*?APcf?A?A_1*A<2Ad::ABA<JAd:RA亙٘i)I9Y JdC=JJJJ&K Yy7777rb7)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027519.163165 s, next control iter: 1743027519.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027519.543165 s.IG~,OAAףp= Ϗ@A@h=|9Ώ@A [~? AAa=&"AAUoNA"AZAbAjArAzAAAaoh%@AmqAξA[1:AA*?A`bf?A?AI$4*A(<2A::AxBA(<JA:RAx亙٘i)I9Y Jg4JJJJ&K Yy{7{7(b7)ZZZBZL?YY*W2W WWW"W ) )d*FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743027519.583165 s, next control iter: 1743027519.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1018, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027519.963165 s.uG~,OAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200532 time: 1743027519.963324F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffffҏ@A31]я@A [~? AIASg=&"AAoNA"AZAbAjArAzAAAS%@A!?qAξA"J:AA(?Acf?A ?A7*A<2A|::AbBA<JA|:RAbYI?%?yu:ٓH?ͦ ?.?@P`s?DiS??)I? I٘i)I9Y J`J>8JJJ&K> Yy B7S7b7)ZZZBZL?YY*W2W WWW"W ) )a*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027520.003165 s, next control iter: 1743027520.363176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027520.383165 s.G~,UPAA(\Տ@AJԏ@A [~? AAm=&"AAoNA"AZAbAjArAzAAA[9W%@AJ揱qAξA* :A⭃A$?Aef?A`?AB3*A><2A y::AKIBA><JA y:RAKI亙٘i)I9Y J^JJJJ&K  c7Y c7yb77c7)ZZZBZL?YY*W2W WWW"W ) )_*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027520.403165 s, next control iter: 1743027520.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1019", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027520.803165 s.yA G~,g3PAJ"J*J2J:JBJnJvJAQُ@A N؏@A [~? AAr=&"AAoNA"AZAbAjArAzAAAn+%@A@YGqAξA-A[A5!?Agf?A?A2*Af<2A::AjBAf<JA:RAj亙٘i)I9Y Jd4JJJ DJ&K Yy77{7,Xc7)ZZZBZL?YY*W2W WWW"W ) )]*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027520.843165 s, next control iter: 1743027521.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027521.223165 s.gG~,HNPAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199552 time: 1743027521.223276F (some fields omitted in printout)AGz܏@A3ۏ@A [~? AeAx=&"AAoNA"AZAbAjArAzAAALi\k%@A*!ⳓqAξA(-A)A?Ahf?A?AJ*AK<2A4::ABAK<JA4:RA㺙٘i)I9Y JjJJJJ&K Yy77c7)ZZZBZL?YY*W2W WWW"W ) )[*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027521.263165 s, next control iter: 1743027521.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027521.643165 s.G~,*iPAJ"J*J2J:JBJnJvJAp= ߏ@A/ߏ@A [~? AA~~=&"AA&oNA"AZAbAjArAzAAA Y%@ASpqAξAƲAJAJ?A if?A@&?A=Ӑ4*AK0<2Au::ABAK0<JAu:RA㺙٘i)I9Y JT3B=JJJJ&K Yy7c7)ZZZBZL?YY*W2W WWW"W ) )Z*FFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1020, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743027521.663165 s, next control iter: 1743027522.043213 s, wait time: 0.380048 s) rAdjusting time to match Gazebo time: 1743027522.063165 s. G~,N PAA33333@Ab@A1 [~? AͭAG=&"AAOoNA"AZAbAjArAzAAA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743027522.483287F (some fields omitted in printout)A(\@AA@AJ [~? AA=&"AAyoNA"AZAbAjArAzAAA;@%@Am(qAξA6ַAA?Aif?A>?A09*AN<2A&::AtBAN<JA&:RAt㺙٘i)I9Y JYJJJJ&K Yy B777=d7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027522.523165 s, next control iter: 1743027522.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1021, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027522.903165 s.-G~,͹PAAR@A?@Ac [~? A5A׏=&"AAoNA"AZAbAjArAzAAAxr%@A.qAAVTU:AA?A _hf?A@΍?A4*A<2AT::AɝBA<JAT:RAɝ㺙٘i)I9Y JJJJ&K Yyŧ77vd7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027522.943165 s, next control iter: 1743027523.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027523.323165 s.t4G~,PAJ"J*J2J:JBJnJvJAzG@Ap= w@A| [~? A꬧A=&"AAoNA"AZAbAjArAzAAAGyi%@A!ED̒qAA3:A$A?AJhf?A`[?AID*Ar<2Ai֥::ABAr<JAi֥:RA㺙٘i)I9Y JJJJ&K Yyj7j70d7)ZZZBZL?YY*W2W WWW"W ) )Z*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027523.363165 s, next control iter: 1743027523.723177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1022&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027523.743165 s.W;G~,`PAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200462 time: 1743027523.743313F (some fields omitted in printout)Aq= ף@AByG@A [~? AAd=&"AAoNA"AZAbAjArAzAAAI%@A>%qAξA:A𪃽A)?A6if?A膛?Aq߳*A3<2Aǥ::AyBA3<JAǥ:RAy㺙٘i)I9Y Jb<JJJJ&K Yyŧ7b7d7)ZZZBZL?YY*W2W WWW"W ) )[*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027523.783165 s, next control iter: 1743027524.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027524.163165 s.v}BG~,q QAJ"J*J2J:JBJnJvJA@Ah`/@A [~? ARA)=&"AA oNA"AZAbAjArAzAAA5ǜ%@A7oqAξA9AA?A`jf?A@u?ARt?3*A<2Aɥ::A<BA<JAɥ:RA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200802 time: 1743027525.003382F (some fields omitted in printout)AQ@AϽ@A [~? AA=&"AAtoNA"AZAbAjArAzAAA %@Ah`qAξAB蘺ACA ?Anf?A@|?A3*AU<2AΥ::ABAU<JAΥ:RA⺙٘i)I9Y Jb<JJJJ&K Yy B77e7)ZZZBZL?YY*W2W WWW"W ) )`*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027525.043165 s, next control iter: 1743027525.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027525.423165 s.uVG~,w[QAAGz@AC@A [~? AoAt=&"AAoNA"AZAbAjArAzAAA<4%@A[6qAξAA?A ?Aof?A!y?A(4*A:<2A::ABA:<JA:RA⺙٘i)I9Y Jd4C=JJJJ&K Yy7777e7)ZZZBZL?YY*W2W WWW"W ) )c*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027525.463165 s, next control iter: 1743027525.823174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1024, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027525.843165 s.\G~,uQAJ"J*J2J:JBJnJvJAQ@AO@A [~? A#A7=&"AAoNA"AZAbAjArAzAAA ~;%@AqAAlAkA ?Anf?Au?A.1*A]<2A::A'BA]<JA:RA'⺙٘i)I9Y JJJJ&K  f7Y f7yb773f7)ZZZBZL?YY*W2W WWW"W ) )f*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027525.883165 s, next control iter: 1743027526.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027526.263165 s.dG~,#ؐQAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199772 time: 1743027526.263286F (some fields omitted in printout)Afffff@Aj @A* [~? AتA=&"AAoNA"AZAbAjArAzAAAU:%@A*`qAA9AµA?A`mf?A@Jr?A3*A<2Ae::AҼBA<JAe:RAҼY?I?yµ49ٓH?``Uꂿ@? ?"Hs? 2??)? I٘i)I9Y J8JJJ&K: Yyj7Z7Af7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743027526.283165 s, next control iter: 1743027526.663179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1025*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027526.683165 s.ljG~,gQAJ"J*J2J:JBJnJvJAGz@AU3@AB [~? AA=&"AAoNA"AZAbAjArAzAAA̭h%@AfZqAξAP:AAq?A Qmf?A`n?A&v4*A<2Au:::ATBA<JAu::RAT⺙٘i)I9Y J(K3<JJJJ&K Yyj7zf7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027526.683165 s, next control iter: 1743027527.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743027527.103165 s.qG~,QAA(\@AQZ@A[ [~? AAAz=&"AADoNA"AZAbAjArAzAAAŦ%@Am9,qAξA0i:AA?Amf?Atk?Aй*A<2A::A=BA<JA:RA=⺙٘i)I9Y J\3C=JJJJ&K Yy9f7)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027527.123165 s, next control iter: 1743027527.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027527.523165 s.J "J *J 2J wG~:JBJ,{QAnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200152 time: 1743027527.523294F (some fields omitted in printout)A= ףp@AbF@At [~? AA9=&"AAnoNA"AZAbAjArAzAAA#\I`%@A~NqAξA'\:AA+?Anf?Ah?A*h*A<2A::AZBA<JA:RAZ⺙٘i)I9Y JlJJJJ&K Yy B)7ŧ7f7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027527.563165 s, next control iter: 1743027527.923174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1026, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027527.943165 s.Xd~G~,B]QAAQ @ACl@A [~? AA=&"AAoNA"AZAbAjArAzAAAC$-%@AАqAξA7AZA?Apf?A@d?A ]*Aח<2A2::A2NBAח<JA2:RA2N⺙٘i)I9Y JYJJJJ&K  g7Y g7y7)7&g7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027527.963165 s, next control iter: 1743027528.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027528.363165 s.J "J *J 2J :J BJ nJ vJ G~,p>RAA @A9md @A [~? A_A=&"AAoNA"AZAbAjArAzAAAf]%@AwpqAξAXA7A?A`rf?A0a?A*A|<2A!::A_BA|<JA!:RA_YR??y4YٓH#?55?@?@,=s?K?)R? I٘i)I9Y JiJJJJ&K7 Yy{7Z77`g7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027528.403165 s, next control iter: 1743027528.763175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1027&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027528.783165 s.UG~,2RAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199882 time: 1743027528.783294F (some fields omitted in printout)AGz @A  @A [~? AAs=&"AAoNA"AZAbAjArAzAAA@Z%@A\tqAξAE,AA?A sf?A]?Al3*A+b<2Al::AOBA+b<JAl:RAOẙ٘i)I9Y JcJJJ DJ&K Yy77j7g7)ZZZBZL?YY*W2W WWW"W ) )g*FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027528.803165 s, next control iter: 1743027529.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027529.203165 s.G~,MRAJ"J*J2J:JBJnJvJA\(@Ar2q @A [~? AȨA0=&"AAoNA"AZAbAjArAzAAAmwJ%@ApBFqAξAɇAA?Atf?AcZ?Aܕ4*AEG<2A::AeBAEG<JA:RAeẙ٘i)I9Y JX4JJJJ&K Yy77g7)ZZZBZL?YY*W2W WWW"W ) )d*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027529.243165 s, next control iter: 1743027529.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027529.623165 s.UG~,TgRAAp= @A-`n@A [~? A}A=&"AA?oNA"AZAbAjArAzAAAa瓈%@Aŝ<qAA5A;A?Ahsf?A V?A ! *A*,<2Aդ::ABA*,<JAդ:RAẙ٘i)I9Y JJJJ&K  h7Y h7y B77: h7)ZZZBZL?YY*W2W WWW"W ) )b*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027529.643165 s, next control iter: 1743027530.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1028 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027530.043165 s.G~,ÂRAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199832 time: 1743027530.043277F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AS]@A [~? A2A=&"AAioNA"AZAbAjArAzAAAio%@AqAξA:AA?Arf?AS?A5 4*A<<2A::ABA<<JA:RAẙ٘i)I9Y J^<JJJJ&K YyZ7Z7Eh7)ZZZBZL?YY*W2W WWW"W ) )`*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027530.063165 s, next control iter: 1743027530.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027530.463165 s.bG~,RAA33333@Aۇ@A" [~? A槧Ab=&"AAoNA"AZAbAjArAzAAA &KF%@AcAqAξA>:AA9?A5rf?A`9P?A~*AC<2A$::ABAC<JA$:RAYq??y:ٓH? `0,? ?@jOr?`5S?@?)q? I٘i)I9Y Ji3C=J6%8JJJ&K2< Yy77~h7)ZZZBZL?YY*W2W WWW"W ) )^*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027530.503165 s, next control iter: 1743027530.863191 s, wait time: 0.360026 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1029, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027530.883165 s.yG~,8RAJ"J*J2J:JBJnJvJA{G@AvPx@A; [~? AA=&"AAoNA"AZAbAjArAzAAA(.M%@A&tMqAξAљ:AAI?Arf?AL?A@*A`<2Ak::ARBA`<JAk:RARẙ٘i)I9Y JdJJJJ&K Yyŧ7b7 elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200002 time: 1743027531.303291F (some fields omitted in printout)A(\@A9G'@AT [~? APA>&"AAoNA"AZAbAjArAzAAA.%@A~7 ?aqAA:AA%?A@Htf?AqI?A|3*A<2Ai::ADlBA<JAi:RADlẙ٘i)I9Y JJJJ&K Yy77{7h7)ZZZBZL?YY*W2W WWW"W ) )\*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027531.323165 s, next control iter: 1743027531.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1030., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027531.723165 s.G~,HRAJ"J*J2J:JBJnJvJA ףp=@AQ@Am [~? AA>&"AAoNA"AZAbAjArAzAAAHz%@Ab|j3qAξA,AAh?A ;vf?A` F?A e*A <2A]p::A2BA <JA]p:RA2ẙ٘i)I9Y J`3<JJJJ&K  i7Y i7y7)7*i7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027531.763165 s, next control iter: 1743027532.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027532.143165 s.T/G~,) SAAR@A%@A [~? AAE>&"AA:oNA"AZAbAjArAzAAA%@AJqAξAA-A?Awf?AB?A{r*Ac<2Ar::AUBAc<JAr:RAUນ٘i)I9Y JcC=JJJJ&K Yy B777=di7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027532.163165 s, next control iter: 1743027532.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027532.563165 s.G~,9 $SAJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJ( dropWeightState: 1vJ6 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199742 time: 1743027532.563263F (some fields omitted in printout)A@AE1@A [~? AoA>&"AAcoNA"AZAbAjArAzAAA1٨%@At׎qAξA0A¬A?A xf?AG??A"4*Ap<2A`e::ABAp<JA`e:RAYޙ?SAAzG@A3FY@A [~? A$A>&"AAoNA"AZAbAjArAzAAA{-{?%@AqAξAYAA?A@xf?A@;?A 1*AU<2AD::AwBAU<JAD:RAwນ٘i)I9Y Jd3JJJJ&K Yyb77i7)ZZZBZL?YY*W2W WWW"W ) )^*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027533.023165 s, next control iter: 1743027533.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027533.403165 s.&G~,YSAJ"J*J2J:JBJnJvJA)\@A>Y1\@A [~? A٥Ah>&"AAoNA"AZAbAjArAzAAA %@AQ|qAξALy6A⮃AF?Awf?A8?A3*A;<2A::ABA;<JA:RAນ٘i)I9Y JgJJJJ&K  j7Y j7y77=j7)ZZZBZL?YY*W2W WWW"W ) )`*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027533.443165 s, next control iter: 1743027533.803175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1032, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027533.823165 s.G~,2tSAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200002 time: 1743027533.823278F (some fields omitted in printout)Aq= ף @AeVp; @A [~? AA%>&"AAoNA"AZAbAjArAzAAA=m&@A;NqAξA[:AkA?A`"wf?A@05?A63*AQ <2AL::ABAQ <JAL:RAນ٘i)I9Y Ja3JJJJ&K YyIj7)ZZZBZL?YY*W2W WWW"W ) )b*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027533.863165 s, next control iter: 1743027534.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027534.243165 s.G~,mSAJ"J*J2J:JBJnJvJAQ"@Aȭ!@A [~? ACA*>&"AA oNA"AZAbAjArAzAAAx&@AXX qAξAr]:A8A?A wf?A1?AM*A<2Aɣ::ARBA<JAɣ:RARນ٘i)I9Y JSB=JJJJ&K Yy{7{7j7)ZZZBZL?YY*W2W WWW"W ) )d*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027534.263165 s, next control iter: 1743027534.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027534.663165 s.G~,qSAtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1033, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A$@A,f#@A [~? AA0>&"AA4oNA"AZAbAjArAzAAA›&@Axo9qAξAڕ:A;A?A wf?Av.?ANͲ*A<2A'::ABA<JA':RAYՙ?b?y78݆:ٓH ? D`ː r??|N`s?P??)ՙ? I٘i)I9Y J`C=JJJJ&K; Yy Bb77Dj7)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027534.683165 s, next control iter: 1743027535.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027535.083165 s.DG~,SSAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743027535.083311F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz%@A&E%@A4 [~? AA76>&"AA^oNA"AZAbAjArAzAAA)2&@A)-ōqAξAǗ9AqA?A yf?A+?Añ*A{<2A::Aj}BA{<JA:RAj}ນ٘i)I9Y Jj3JJJJ&K Yy77j7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027535.123165 s, next control iter: 1743027535.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027535.503165 s.G~,74SAA(\'@A&@AM [~? AcA;>&"AAoNA"AZAbAjArAzAAA&@A qAξA)AAdܵ?A{f?A'?A\4*A<2Asţ::A9BA<JAsţ:RA9ນ٘i)I9Y Jb4JJJJ&K  k7Y k7yj7Z7.k7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027535.543165 s, next control iter: 1743027535.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1034, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027535.923165 s.8G~,SAJ"J*J2J:JBJnJvJAףp= )@A}(@Af [~? AAA>&"AAoNA"AZAbAjArAzAAAh5M`&@A[sTjqAξAH`AAEٵ?A}f?A@^$?A%3*A<2Awã::A BA<JAwã:RA ນ٘i)I9Y Jd4JJJJ&K Yy77j7Chk7)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027535.963165 s, next control iter: 1743027536.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027536.343165 s.<G~,TAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743027536.343321F (some fields omitted in printout)AQ*@A O*@A [~? AͣAKG>&"AAoNA"AZAbAjArAzAAA &@AP&"AAoNA"AZAbAjArAzAAA˜+&@AP-qAASA󷃽Aֵ?A}f?A?A(3*Af<2Aʉ::AߺBAf<JAʉ:RAߺY˙?׵?y򷃽ٓH h?`ɣ]؄?&??t? zB?)˙? I٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 241JJJ DJ&K5 Yy777k7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027536.803165 s, next control iter: 1743027537.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027537.183165 s.G~,kKTAAGz.@A&-@A [~? A8AR>&"AA/oNA"AZAbAjArAzAAAXH&&@A݅qAξA9A͵Aֵ?A`6|f?AY?Al]*AK<2A*[::AߺBAK<JA*[:RAߺ٘i)I9Y J><JJJJ&K  l7Y l7y B{7{7^l7)Z ZZBZ L?YY *W2W W W W"W  ) ) j*FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027537.243165 s, next control iter: 1743027537.583179 s, wait time: 0.340014 s rAdjusting time to match Gazebo time: 1743027537.603165 s.44G~,fTAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743027537.603289F (some fields omitted in printout)A(\/@A9Z/@A [~? AAXX>&"AAYoNA"AZAbAjArAzAAA&_&@AnqAξA:AAֵ?A {f?A@?A;3*Av1<2A41::AߺBAv1<JA41:RAߺ٘i)I9Y JdC=JQ>JJJ&K> Yy7777Ml7)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027537.643165 s, next control iter: 1743027538.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1036 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027538.023165 s.Z G~,{TAA= ףp1@AU1@A [~? AA^>&"AAoNA"AZAbAjArAzAAACtT&@AsqAξAZ:A𱃽AԵ?A@{f?A@?A]n2*A <2A::AߺBA <JA:RAߺ٘i)I9Y J_4JQ>JJJ&K> Yy77l7)ZZZBZL?YY*W2W WWW"W ) )d*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027538.063165 s, next control iter: 1743027538.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027538.443165 s.7&G~,>]TAJ"J*J2J:JBJnJvJAQ3@AҏS2@A [~? AYAc>&"AAoNA"AZAbAjArAzAAA򽨍&@A?"YqAξAb V:AeAѵ?A}f?AY?A$*A<2A::A%ߺBA<JA:RA%ߺ٘i)I9Y JlJJJJ&K Yyj7j7Dl7)ZZZBZL?YY*W2W WWW"W ) )b*FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027538.483165 s, next control iter: 1743027538.843179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1037, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027538.863165 s.+-G~,>TAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200542 time: 1743027538.863318F (some fields omitted in printout)A4@A@wd4@A[~? AA_i>&"AAoNA"AZAbAjArAzAAA9&@Ak+qAξAA1A"ε?A~f?A@ ?Au3*A<2A::A`kߺBA<JA:RA`kߺY?-ε?y1ExٓH$?@xÃ໒?%/?9Cr?@]@?)? I٘i)I9Y JWB=J&8JJJ&K-8 Yy77{7l7)ZZZBZL?YY*W2W WWW"W ) )`*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027538.903165 s, next control iter: 1743027539.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027539.283165 s.6R4G~,TAJ"J*J2J:JBJnJvJAGz6@A(\6@A.[~? AġA o>&"AAoNA"AZAbAjArAzAAAZw&@Ab?qAξAX^A^Aʵ?Af?A ?AN*AO<2A::AI0ߺBAO<JA:RAI0ߺ٘i)I9Y Jf4C=JJJJ&K  m7Y m7yŧ7b72m7)ZZZBZL?YY*W2W WWW"W ) )_*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027539.303165 s, next control iter: 1743027539.683178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1038*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027539.703165 s.Ժ:G~,TAA\(8@A`7@AG[~? AyAt>&"AA*oNA"AZAbAjArAzAAA2&@AbɁЋqAξAA쭃Aǵ?Áf?AY?AT*A<2Al::AߺBA<JAl:RAߺ٘i)I9Y JUB=JJJJ&K Yy B77Mlm7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027539.723165 s, next control iter: 1743027540.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027540.123165 s.2AG~,HUAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J6 propOmegaAction: 0.0000002J: rudderAngleAction: 0.052360:J> elevatorAngleAction: 0.000000BJ< massPositionAction: 0.000000nJvJ4 buoyancyAction: 0.000955 dt: 0.4199812 time: 1743027540.123266F (some fields omitted in printout)Ap= 9@A9'n9@A_[~? A/A`z>&"AAToNA"AZAbAjArAzAAAXK[H &@A%(qqAξAnAԭAUƵ?Af?A ?A]4*Aғ<2A ::AW޺BAғ<JA :RAW޺٘i)I9Y Jc4C=JJJJ&K Yy{7j7m7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027540.143165 s, next control iter: 1743027540.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027540.543165 s.IHG~,"UAAQ;@A%X;@Ax[~? A堧A >&"AA~oNA"AZAbAjArAzAAAu˙ &@AW =vqAξA86AAŵ?AHf?A@?A)/*Ady<2AϢ::A޺BAdy<JAϢ:RA޺٘i)I9Y Jh4JJJDJ&K Yy77{7m7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027540.563165 s, next control iter: 1743027540.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1039, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027540.963165 s.vNG~,=UAJ"J*J2J:JBJnJvJA33333=@A/o<@A[~? AA>&"AAoNA"AZAbAjArAzAAAtbv &@AqHqAξA:AAŵ?A`if?Al?A *A_<2AР::AߺBA_<JAР:RAߺY5?ĵ?yT:ٓH|.?'`_?c7?@+Ir?C??)5? I٘i)I9Y J_J6JJJ&K7  n7Y n7y{7j7Mn7)ZZZBZL?YY*W2W WWW"W ) )`*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027541.003165 s, next control iter: 1743027541.363176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027541.383165 s.UG~,+XUAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743027541.383327F (some fields omitted in printout)A{G>@A_x>@A[~? APA[>&"AAoNA"AZAbAjArAzAAA7+ &@AT]2gqAAY:AA ŵ?Af?A?A?`3*AD<2A{::Af޺BAD<JA{:RAf޺٘i)I9Y JJJJ&K Yyb77Qn7)ZZZBZL?YY*W2W WWW"W ) )a*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027541.423165 s, next control iter: 1743027541.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1040", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027541.803165 s.uA\G~,sgsUAJ"J*J2J:JBJnJvJA(\@@A{i'@@A[~? AA>&"AAoNA"AZAbAjArAzAAA3l9 &@ArqAξAH:AAõ?A@f?A?A@US*A|*<2AVh::A޺BA|*<JAVh:RA޺٘i)I9Y Je<JJJJ&K Yy)7ŧ7n7)ZZZBZL?YY*W2W WWW"W ) )c*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027541.843165 s, next control iter: 1743027542.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027542.223165 s.gcG~,HUAA ףp=B@AڌA@A[~? AA>&"AA%oNA"AZAbAjArAzAAAs< &@A_qAξA:AA?Af?A`?AD3*An<2Af::Au޺BAn<JAf:RAu޺٘i)I9Y JaC=JJJJ&K Yy BZ7Z7Kn7)ZZZBZL?YY*W2W WWW"W ) )e*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027542.263165 s, next control iter: 1743027542.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027542.643165 s.tiG~,)UAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743027542.643286F (some fields omitted in printout)ARC@Aj4C@A[~? ArAP>&"AAOoNA"AZAbAjArAzAAA"k &@AtΎqAξApAA8?A f?A`/?A/y2*Ak<2Am::Aw޺BAk<JAm:RAw޺٘i)I9Y JX3JJJJ&K Yy77n7)ZZZBZL?YY*W2W WWW"W ) )h*FFF]:tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1041, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743027542.663165 s, next control iter: 1743027543.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027543.063165 s.pG~,J UAAE@A:9C1E@A[~? A'A>&"AAyoNA"AZAbAjArAzAAAN! k &@AˬQfqAAYAA׸?Af?A`?AD<*Aa<2A&p::AB޺BAa<JA&p:RAB޺Y??y]ٓH7?@?2D? 9s?k5Q@?)? I٘i)I9Y J~JJJ&K64  o7Y o7y{7j76o7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027543.103165 s, next control iter: 1743027543.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027543.483165 s.s_wG~,UAJ"J*J2J:JBJnJvJAzGG@A2SZF@A'[~? AݞA>&"AAoNA"AZAbAjArAzAAAde&@A#PX9qAξAϐAA?AOf?A?AZg4*Ak<2Ab::Aj޺BAk<JAb:RAj޺٘i)I9Y Jd4<JJJJ&K Yyj7Opo7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743027543.503165 s, next control iter: 1743027543.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1042, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027543.903165 s.}G~,UAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199842 time: 1743027543.903298F (some fields omitted in printout)A)\H@AqiH@A@[~? AA>>&"AAoNA"AZAbAjArAzAAA8f™&@Aj qAξASAA?Af?AK?A2*A0<2A+B::A޺BA0<JA+B:RA޺٘i)I9Y J_4C=JJJJ&K Yy77o7)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027543.923165 s, next control iter: 1743027544.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027544.323165 s.uG~,!VAJ"J*J2J:JBJnJvJAq= ףJ@A~x;J@AY[~? AIA>&"AAoNA"AZAbAjArAzAAA41&@A@މqAξA8A\AN?AHf?A@?A2*A<2Az::A/'޺BA<JAz:RA/'޺٘i)I9Y JdJJJJ&K Yy777o7)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027544.363165 s, next control iter: 1743027544.723175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1043&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027544.743165 s.WG~,m/VAAQL@AK@Ar[~? AA>&"AA oNA"AZAbAjArAzAAAio&@AgqAAa:AݷA?Af?Aޚ?A*As<2A)::AP(޺BAs<JA):RAP(޺٘i)I9Y JJJDJ&K  p7Y p7y B7)7Qp7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027544.763165 s, next control iter: 1743027545.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027545.163165 s.s}G~,qJVAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743027545.163278F (some fields omitted in printout)AN@A<\M@A[~? AA&>&"AAJoNA"AZAbAjArAzAAA]_&@AsqAξAɔ:A̵A?A df?A@uۚ?A*AY<2Aɡ::A1(޺BAY<JAɡ:RA1(޺Y?P?yŵ:ٓHmA?z`O? I? Ps?rT??)? I٘i)I9Y J`<J6JJJ&K9 Yyŧ7b7Up7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027545.203165 s, next control iter: 1743027545.563177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027545.583165 s.G~,ReVAAHzO@AEO@A[~? AkA>&"AAtoNA"AZAbAjArAzAAACCV&@AWWqA ξA%:A׳A?AEf?A.ؚ?A3*A@<2AE::AݺBA@<JAE:RAݺ٘i)I9Y JdC=JJJJ&K Yy{7{7p7)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027545.623165 s, next control iter: 1743027545.983175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1044, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027546.003165 s.{ G~,Y4VAJ"J*J2J:JBJnJvJA(\Q@AP@A[~? A"Ah>&"AAoNA"AZAbAjArAzAAA=k&@A bpA*qAξAS9A0A?Af?AԚ?Aˆ_3*A6&<2A)::AݺBA6&<JA):RAݺ٘i)I9Y Jd4JJJJ&K Yy7777Up7)ZZZBZL?YY*W2W WWW"W ) )e*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027546.043165 s, next control iter: 1743027546.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027546.423165 s.uG~,{VAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199742 time: 1743027546.423272F (some fields omitted in printout)Aףp= S@AR@A[~? A؜A>&"AAoNA"AZAbAjArAzAAA%&@A;0qAξAS"A簃Am?AĈf?Aњ?A*AY <2A#ǡ::A~ݺBAY <JA#ǡ:RA~ݺ٘i)I9Y JdJJJJ&K  q7Y q7y)7)7q7)ZZZBZL?YY*W2W WWW"W ) )c*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027546.463165 s, next control iter: 1743027546.823175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1045, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027546.843165 s.ݬG~,VAJ"J*J2J:JBJnJvJAQT@AOT@A[~? AA>&"AAoNA"AZAbAjArAzAAAC&@A;%ЈqAAzAA]?A f?AWΚ?ALb4*A<2Aġ::Ao7ݺBA<JAġ:RAo7ݺ٘i)I9Y JJJJ&K Yy77:q7)ZZZBZL?YY*W2W WWW"W ) )a*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027546.883165 s, next control iter: 1743027547.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027547.263165 s.G~,VAAfffffV@Ao_U@A[~? ADAF>&"AAoNA"AZAbAjArAzAAAtT&@Aj)_qAξAdAuA?Af?A`˚?Ap03*A<2AѰ::A8$ݺBA<JAѰ:RA8$ݺY??yo=ٓH J?7L? LW?C7s? R?)? I٘i)I9Y Jc4<J_7JJJ&KF2 Yy B77{7Ttq7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027547.303165 s, next control iter: 1743027547.663176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1046., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027547.683165 s.lG~,cVAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200132 time: 1743027547.683274F (some fields omitted in printout)AGzX@A,W@A![~? AA>&"AAEoNA"AZAbAjArAzAAA_4&@AC vqAξA AHAۤ?A f?A@ǚ?Al*AԾ<2AI::A&ݺBAԾ<JAI:RA&ݺ٘i)I9Y JZC=JJJJ&K Yy777q7)ZZZBZL?YY*W2W WWW"W ) )`*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027547.683165 s, next control iter: 1743027548.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743027548.103165 s.G~,WAA(\Y@AE_AZY@A:[~? AA>&"AAooNA"AZAbAjArAzAAAtE&@A! $IqAξA9AA?A (f?A@Ě?A搉4*A<2Ao]::A&ݺBA<JAo]:RA&ݺ٘i)I9Y Ja4JJJJ&K Yyj7j7q7)ZZZBZL?YY*W2W WWW"W ) )a*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027548.143165 s, next control iter: 1743027548.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027548.523165 s.G~,{!WAJ"J*J2J:JBJnJvJA= ףp[@A-%I[@AS[~? AgA>&"AAoNA"AZAbAjArAzAAAO&@A.qAAx:AAM?Af?AP?A}D*A<2A4::AG9ݺBA<JA4:RAG9ݺ٘i)I9Y JJJDJ&K  r7Y r7yb7b7W r7)ZZZBZL?YY*W2W WWW"W ) )b*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027548.563165 s, next control iter: 1743027548.923177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1047, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027548.943165 s.]dG~,W] elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743027548.943295F (some fields omitted in printout)AQ]@A=_\\@Al[~? AA>&"AAoNA"AZAbAjArAzAAA^&@AR>qAξA:AAâ?Af?A ?Ap*A+q<2A::At%ݺBA+q<JA:RAt%ݺI٘i)I9Y J`<JJJJ&K Yy)7Yr7)ZZZBZL?YY*W2W WWW"W ) )c*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027548.983165 s, next control iter: 1743027549.343186 s, wait time: 0.360021 s rAdjusting time to match Gazebo time: 1743027549.363165 s.G~,y>WWAJ"J*J2J:JBJnJvJA^@A@wd^@A[~? AԚAT>&"AAoNA"AZAbAjArAzAAAI&@AW"T‡qAξAO:AWA?Af?Aͺ?A`3*AW<2A}::A-ܺBAW<JA}:RA-ܺY?I?yT%P:ٓH 3T?`N`?@\?J cs?`I??)? I٘i)I9Y Je3C=J\JJJ&K,8 Yy Bŧ7r7)ZZZBZL?YY*W2W WWW"W ) )e*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027549.403165 s, next control iter: 1743027549.763176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1048", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027549.783165 s.XG~,rWAAGz`@Acw`@A[~? AA>&"AAoNA"AZAbAjArAzAAAzxk&@AgoqAAeXAAW?Af?A?A0l*A=<2AZ::AܺBA=<JAZ:RAܺ٘i)I9Y JJJJ&K YyXr7)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027549.823165 s, next control iter: 1743027550.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027550.203165 s.G~,!WAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743027550.203298F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(b@A:a@A[~? AAA?&"AA@oNA"AZAbAjArAzAAAA x&@AilhqAξAcA쵃Aǘ?Aff?AI?Av3*AM$<2A ::AܺBAM$<JA :RAܺ٘i)I9Y Jc<JJJJ&K  s7Y s7yb77s7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027550.243165 s, next control iter: 1743027550.603179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027550.623165 s.PG~,?WAAp= c@ASnc@A[~? AA!?&"AAjoNA"AZAbAjArAzAAA[&@Aj;qAξAHAA?Aqf?A ?Aq4*A <2A::ANܺBA <JA:RANܺ٘i)I9Y Ja4C=JJJJ&K Yy7777?s7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027550.663165 s, next control iter: 1743027551.023174 s, wait time: 0.360009 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1049 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027551.043165 s.G~,WAJ"J*J2J:JBJnJvJAQe@A;e@A[~? AA ?&"AAoNA"AZAbAjArAzAAA&@A\qAξAo邺AaA?A`f?A̭?A^3*A<2At::ARMܺBA<JAt:RARMܺ٘i)I9Y Jd4JJJJ&K Yyb7b7\xs7)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027551.083165 s, next control iter: 1743027551.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027551.463165 s.RG~,פWAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199702 time: 1743027551.463264F (some fields omitted in printout)A33333g@A .f@A[~? AeAQ?&"AAoNA"AZAbAjArAzAAA>-?&@A>qAAAAY?Aȍf?A?Ark3*A<<2AԠ::ARܺBA<<JAԠ:RARܺY?ݔ?y'рٓH`}]?J@"t`?Eh?)A Kt?0?)? I٘i)I9Y Jd JJJ&Kw3 YySI7SI7s7)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027551.503165 s, next control iter: 1743027551.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1050, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)$)$ rAdjusting time to match Gazebo time: 1743027551.883165 s.yG~, elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.420024J"J2 time: 1743027552.723327*JF (some fields omitted in printout)2J:JBJnJvJA ףp=l@Ak@AM[~? AA#?&"AA;oNA"AZAbAjArAzAAAC&@AI][qA ξAXz:AȴA?A f?A@栚?A*A[<2Afq::A)8ܺBA[<JAfq:RA)8ܺ٘i)I9Y JcC=JJJDJ&K Yy77]t7)ZZZBZL?YY*W2W WWW"W ) )h*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027552.743165 s, next control iter: 1743027553.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027553.143165 s.Z/G~,*IXAARm@Ap]1m@Af[~? A?A(?&"AAeoNA"AZAbAjArAzAAAi$]ѝ&@AY /qAξA/8 :A#AW?A@sf?A?A3*Ap<2Ap::A ۺBAp<JAp:RA ۺ٘i)I9Y J_4JJJJ&K Yy77 t7)ZZZBZL?YY*W2W WWW"W ) )f*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027553.163165 s, next control iter: 1743027553.543183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743027553.563165 s.G~,9 dXAJ"J*J2J:JBJnJvJAo@A)d1o@A[~? AA>.?&"AAoNA"AZAbAjArAzAAA j5&@AVqAξAhAޱA?ABf?An?Aߗ*AW<2Aw::ATۺBAW<JAw:RATۺY?g?yޱ˼ٓHf?@`۷7?q?>`Ts? 7?)? I٘i)I9Y JWB=J"8JJJ&K*4 YyZ7SI7bt7)ZZZBZL?YY*W2W WWW"W ) )d*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027553.583165 s, next control iter: 1743027553.963174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1052, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027553.983165 s.G~,~XAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200522 time: 1743027553.983318F (some fields omitted in printout)AzGq@A^p@A[~? AA3?&"AAoNA"AZAbAjArAzAAA{&@AՅqA ξAAAP?A@ˑf?A 6?A3&4*AA><2Ay::AۺBAA><JAy:RAۺ٘i)I9Y J^C=JJJJ&K  u7Y u7y7)7 u7)ZZZBZL?YY*W2W WWW"W ) )c*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027554.023165 s, next control iter: 1743027554.383176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027554.403165 s.&&G~,͙XAJ"J*J2J:JBJnJvJA)\r@A$jfr@A[~? AdAe9?&"AAoNA"AZAbAjArAzAAAd&@AmqAξAAA?A`|f?A?A-/4*A$<2Ak::A_ۺBA$<JAk:RA_ۺ٘i)I9Y Jq4JJJJ&K Yy B{7j7 Cu7)ZZZBZL?YY*W2W WWW"W ) )b*FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743027554.423165 s, next control iter: 1743027554.803175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1053, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027554.823165 s.,G~,XAAq= ףt@A…<;t@A[~? AA>?&"AA oNA"AZAbAjArAzAAADi&@AZ|qAξApLAwA?A`7f?Aɐ?ArՊ*AI <2AK::A^ۺBAI <JAK:RA^ۺ٘i)I9Y J_JJJJ&K Yy77a|u7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027554.843165 s, next control iter: 1743027555.223175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027555.243165 s.3G~,~XAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743027555.243289F (some fields omitted in printout)AQv@AYPu@A[~? AіAD?&"AA6oNA"AZAbAjArAzAAAA*&@AKNOqAξAjߋ8AȰA?A@[f?A?A$1u4*A<2A::A^ۺBA<JA:RA^ۺ٘i)I9Y Jc3JJJJ&K Yyb77u7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027555.263165 s, next control iter: 1743027555.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027555.663165 s.:G~,qXAtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1054, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)Ax@A{O崗w@A[~? AAJ?&"AA`oNA"AZAbAjArAzAAAθ+&@A+##qAξAؓf:AA?A@f?Ac?A)*A@<2AR::ApۺBA@<JAR:RApۺYu?ف?y}g:ٓH@@p?,>ۏ?`x?K@Hs?zL??)u? I٘i)I9Y JN3B=J5JJJ&K5 Yy77{7u7)ZZZBZL?YY*W2W WWW"W ) )c*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027555.683165 s, next control iter: 1743027556.063194 s, wait time: 0.380029 s rAdjusting time to match Gazebo time: 1743027556.083165 s.DAG~,SYAJ"J*J2J:JBJnJvJAHzy@AO>=Ey@A[~? A?AO?&"AAoNA"AZAbAjArAzAAA&bY&@AFiqAξAʲ:AA?Amf?A0?Ag /*A;<2A֟::A,jۺBA;<JA֟:RA,jۺ٘i)I9Y JdC=JJJJ&K  v7Y v7y{7a(v7)ZZZBZL?YY*W2W WWW"W ) )e*FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743027556.103165 s, next control iter: 1743027556.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027556.503165 s.GG~,34 YAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199672 time: 1743027556.503264F (some fields omitted in printout)A(\{@A=|z@A.[~? AA9U?&"AAoNA"AZAbAjArAzAAAjtZ &@AʄqAAv:AA'?AGf?A@?A3*A<2Aʟ::A@ۺBA<JAʟ:RA@ۺ٘i)I9Y JJJDJ&K Yy)7ŧ7av7)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027556.523165 s, next control iter: 1743027556.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1055, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027556.923165 s.5NG~,;YAJ"J*J2J:JBJnJvJAףp= }@A=]ݡ|@AG[~? AAZ?&"AAoNA"AZAbAjArAzAAAkQ &@AKxqAAp9AɵA|?Af?A ƀ?A9*AB<2AΟ::AۺBAB<JAΟ:RAۺ٘i)I9Y JJJJ&K Yy B7777 v7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027556.963165 s, next control iter: 1743027557.323175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027557.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200002 time: 1743027557.763281F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@Av@Ay[~? AAe?&"AA1oNA"AZAbAjArAzAAAV&""&@A.2vDqAξA>A3Av?Af?A_z?AI4*AY<2Aҟ::A<ںBAY<JAҟ:RA<ںYDl?x?y-I✺ٓH`dy?@" }~?5? 7=t?S@?)Dl? I٘i)I9Y Jx3C<JhJJJ&K0  w7Y w7y777 w7)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027557.803165 s, next control iter: 1743027558.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027558.183165 s.bG~,sYAAGz@Ap]1#@A[~? AӔAqk?&"AA[oNA"AZAbAjArAzAAAm"&@AǍVqAAAAGt?A?f?A .w?A2**A@<2AJ::AںBA@<JAJ:RAں٘i)I9Y JJJJ&K Yy{7{7Gw7)ZZZBZL?YY*W2W WWW"W ) )o*FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027558.203165 s, next control iter: 1743027558.583181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743027558.603165 s.B4iG~,ݚYAJ"J*J2J:JBJnJvJA(\ƒ@AfGZ@A[~? AAp?&"AAoNA"AZAbAjArAzAAAPQ#&@AR ԉqAξAAAs?Af?At?A8)4*Ag'<2A::A^ںBAg'<JA:RA^ں٘i)I9Y J^<JJJJ&K Yy77jw7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027558.643165 s, next control iter: 1743027559.003190 s, wait time: 0.360025 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1057 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027559.023165 s.ZpG~,{YAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199882 time: 1743027559.023293F (some fields omitted in printout)A= ףp@AD@A[~? AAAv?&"AAoNA"AZAbAjArAzAAAY o#&@AqAA9A As?AŔf?A@p?AS)*A<2Ak::ASںBA<JAk:RASں٘i)I9Y JJJJ&K Yy7w7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027559.043165 s, next control iter: 1743027559.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743027559.443165 s.4vG~,1]YAJ"J*J2J:JBJnJvJAQ@A2W@A[~? AA|?&"AAoNA"AZAbAjArAzAAAA +$&@AEͲqAξA~:A0A"s?A"f?Am?AfF*A<2A/D::A1ںBA<JA/D:RA1ں٘i)I9Y J>JJJJ&K Yy Bb7ŧ7w7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027559.463165 s, next control iter: 1743027559.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1058, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027559.863165 s.+}G~,>YAÄ@Ac${d@A[~? AA?&"AApNA"AZAbAjArAzAAAH%&@AهFOfqAξA8:AAq?AVf?A@~j?A4*A<2Ap,::AsںBA<JAp,:RAsںYb?n?y:ٓHۂ?@ě"?`?@vN@s?@'T??)b? I٘i)I9Y JW3B=J7JJJ&K6  x7Y x7y77{7j,x7)ZZZBZL?YY*W2W WWW"W ) )f*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027559.883165 s, next control iter: 1743027560.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027560.283165 s.7RG~,ZAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200182 time: 1743027560.283298F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A@A[~? AgA(?&"AA,pNA"AZAbAjArAzAAA¢%&@Aw9qAξAuLI:AuAn?Awf?ANg?AK*A<2A '::AUںBA<JA ':RAUں٘i)I9Y Jd3C=JJJJ&K Yy77ex7)ZZZBZL?YY*W2W WWW"W ) )e*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027560.323165 s, next control iter: 1743027560.683178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1059., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027560.703165 s.պG~, -ZAA\(@A]@A([~? AA?&"AAVpNA"AZAbAjArAzAAA4jH&&@A2> qA!ξASAA'k?A@0f?A` d?Al*A<2A:-::AںBA<JA:-:RAں٘i)I9Y JUB=JJJDJ&K Yy77x7)ZZZBZL?YY*W2W WWW"W ) )d*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027560.743165 s, next control iter: 1743027561.103177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027561.123165 s.4G~,PGZAJ"J*J2J:JBJnJvJAp= ׍@A =n@AA[~? A֒A9?&"AApNA"AZAbAjArAzAAAYo=&&@A{ADqAξA3iA_Ag?A טf?A `?Aу4*A<2AW2::AٺBA<JAW2:RAٺ٘i)I9Y Jd4C=JJJJ&K Yy{7Z7ix7)ZZZBZL?YY*W2W WWW"W ) )c*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027561.163165 s, next control iter: 1743027561.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027561.543165 s.IG~,bZAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199732 time: 1743027561.543256F (some fields omitted in printout)AQ@AI@AZ[~? AA?&"AApNA"AZAbAjArAzAAAx'&@A*dqAξAHA|Ae?Așf?A`]?A21*Aw<2A`*::AٺBAw<JA`*:RAٺ٘i)I9Y Je3JJJJ&K  y7Y y7y77{7y7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027561.563165 s, next control iter: 1743027561.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1060, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027561.963165 s.tG~,ߤ}ZAJ"J*J2J:JBJnJvJA33333@AHː@As[~? AEAG?&"AApNA"AZAbAjArAzAAAG(&@AapqAξANAAc?Aƙf?AZ?AnP4*A^<2A::A0ٺBA^<JA:RA0ٺYsY?e?yٓH ?@o Ɏ? [?7Xs? P?)sY? I٘i)I9Y J/B=J6JJJ&Kq/ Yy Bb77'Ky7)ZZZBZL?YY*W2W WWW"W ) )d*FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027562.003165 s, next control iter: 1743027562.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027562.383165 s.إG~,+ZAA{Gᒐ@Amx@A[~? AA΢?&"AApNA"AZAbAjArAzAAA:!ا(&@Ac'j\qAξAT{aA鲃A^c?Af?A`yW?AhO4*AE<2A::AٺBAE<JA:RAٺ٘i)I9Y Jd4C=JJJJ&K Yyŧ7b7ly7)ZZZBZL?YY*W2W WWW"W ) )e*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027562.423165 s, next control iter: 1743027562.783178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1061", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027562.803165 s.vAG~,wgZAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743027562.803303F (some fields omitted in printout)A(\@A":&@A[~? AAS?&"AA(pNA"AZAbAjArAzAAAz?)&@ASl+0qAξAI,:A8AEc?A@f?ART?Ar1a*AL,<2AH::AGٺBAL,<JAH:RAGٺ٘i)I9Y JaJJJJ&K Yy7)7½y7)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027562.843165 s, next control iter: 1743027563.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027563.223165 s.gG~,HZAA ףp=@A0Օ@A[~? AkAح?&"AAQpNA"AZAbAjArAzAAAʂ)&@A\qAξA:A㵃Ab?Af?A-Q?AT3*AP<2Aq::ASٺBAP<JAq:RASٺ٘i)I9Y JXJJJJ&K Yyb77y7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027563.263165 s, next control iter: 1743027563.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027563.643165 s.wйG~, *ZAJ"J*J2J:JBJnJvJAR뗐@A/@A[~? A#A\?&"AA{pNA"AZAbAjArAzAAA\Uo*&@A9ׁqAξA:AA`?A3f?AN?Aֽ&4*Aa<2A_::AٺBAa<JA_:RAٺ٘i)I9Y Jh4JJJJ&K  z7Y z7y77n0z7)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1062, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027563.683165 s, next control iter: 1743027564.043178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027564.063165 s.G~,N [AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200422 time: 1743027564.063322F (some fields omitted in printout)A@A{G1@A[~? AڐA?&"AApNA"AZAbAjArAzAAA-+&@A]6֐qAξA:AAV]?A@f?AJ?AX*Ay<2A9::AKhٺBAy<JA9:RAKhٺYO?H\?y<:ٓHK?1 +j??tG:t?[@??)O? II٘i)I9Y J]3JJJJ&K}4 Yy{7j7iz7)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027564.103165 s, next control iter: 1743027564.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027564.483165 s.w_G~,[AJ"J*J2J:JBJnJvJAzG@ACKߚ@A [~? AAc?&"AApNA"AZAbAjArAzAAA5 elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743027565.323284F (some fields omitted in printout)Aq= ף@A_;@A<[~? AAg?&"AA#pNA"AZAbAjArAzAAA,,&@A%w%'qAξA⠺A,A6T?Abf?AkA?A*A<2A\::AغBA<JA\:RAغ٘i)I9Y J)K<JJJJ&K  {7Y {7yb7{7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027565.343165 s, next control iter: 1743027565.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1064*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027565.743165 s.WG~,qo[AAQ@APT6韐@AU[~? AA?&"AAMpNA"AZAbAjArAzAAAڹnf-&@A2; qAξA*FAjALS?A f?A K>?AS3*AL~<2Aa::A/غBAL~<JAa:RA/غ٘i)I9Y JdC=JJJJ&K Yy77{7O{7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027565.763165 s, next control iter: 1743027566.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027566.163165 s.w}G~,q[AJ"J*J2J:JBJnJvJA@A0du@An[~? AqAh?&"AAwpNA"AZAbAjArAzAAA-&@A}^>΀qAξAl8AA*S?A@'f?A`,;?A04*Ake<2A5::AغBAke<JA5:RAغYF?R?y98ٓH }?Ξ??Bs?Y? ?)F? I٘i)I9Y Jf4J7JJJ&K1 Yy{7Z7s{7)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027566.183165 s, next control iter: 1743027566.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027566.583165 s.G~,R[AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200202 time: 1743027566.583311F (some fields omitted in printout)AHz@Al$ E@A[~? A)A?&"AApNA"AZAbAjArAzAAA^͖.&@A/颀qAAl:AAR?ASf?A 8?AA*AxL<2AN ::AغBAxL<JAN :RAغ٘i)I9Y JJJJ&K Yyŧ7b7{7)ZZZBZL?YY*W2W WWW"W ) )e*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027566.623165 s, next control iter: 1743027566.983174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1065, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)) rAdjusting time to match Gazebo time: 1743027567.003165 s. G~,4[AJ"J*J2J:JBJnJvJA(\@Aq= @A[~? AᎧAg?&"AApNA"AZAbAjArAzAAA../&@AlvqAξA@:A_AQ?A 3f?A`4?Al*A3<2AC::AغBA3<JAC:RAغ٘i)I9Y Ja<JJJJ&K Yy B)7ŧ7 {7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027567.023165 s, next control iter: 1743027567.403202 s, wait time: 0.380037 s rAdjusting time to match Gazebo time: 1743027567.423165 s.uG~,[AAףp= @ALOX⡦@A[~? AA?&"AApNA"AZAbAjArAzAAAFJ/&@AJqAA)~:A.AYO?A`f?A1?A 7*A<2A::AkغBA<JA:RAkغ٘i)I9Y JJJJ&K  |7Y |7yb77s4|7)ZZZBZL?YY*W2W WWW"W ) )d*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027567.463165 s, next control iter: 1743027567.823177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1066, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027567.843165 s.G~,[AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743027567.843276F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AQhYO@A[~? APAc?&"AApNA"AZAbAjArAzAAA>C^0&@AqAξAQ9AnAK?A@f?A`.?A7&*A\<2A::AlغBA\<JA:RAlغ٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 240JaJJJJ&K Yy77j7m|7)ZZZBZL?YY*W2W WWW"W ) )e*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027567.883165 s, next control iter: 1743027568.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027568.263165 s.G~,\AAfffff@Aqn@A[~? AA?&"AAHpNA"AZAbAjArAzAAAr0&@A qAAO/A%AIH?AJf?A+?A#3*A<2A::A*غBA<JA:RA*غYd=?I?y#0ٓH ?b`9?p?:}s?E?)d=? I٘i)I9Y J6JJJ&K!0 Yyj7Z79|7)ZZZBZL?YY*W2W WWW"W ) ) f*FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027568.323165 s, next control iter: 1743027568.663177 s, wait time: 0.340012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1067., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027568.683165 s.l G~,V+\AJ"J*J2J:JBJnJvJAGz@A+@A[~? AA\?&"AArpNA"AZAbAjArAzAAAWS 1&@AvqqAξA'ALAWE?Axf?A j(?A993*A;<2A::A7׺BA;<JA:RA7׺٘i)I9Y Jb3JQ>JJDJ&K> Yy)7ŧ7v|7)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027568.683165 s, next control iter: 1743027569.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743027569.103165 s.G~,F\AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743027569.103292F (some fields omitted in printout)A(\­@Aa2U0Z@A[~? AxA?&"AApNA"AZAbAjArAzAAAB&2&@AJJJ&K>  }7Y }7y B7)7}7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027569.143165 s, next control iter: 1743027569.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027569.523165 s.G~,{a\AJ"J*J2J:JBJnJvJA= ףp@A|,G@A6[~? A0AS@&"AApNA"AZAbAjArAzAAAž2&@A#KoqAξAwAAC?A f?A3"?A4*A<2A_::A׺BA<JA_:RA׺٘i)I9Y J3JJJJ&K YySI7SI7 S}7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]k:Waiting for Gazebo time sync: latest Gz time: 1743027569.543165 s, next control iter: 1743027569.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1068, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027569.943165 s._dG~,_]|\AAQ@AUX@AP[~? A茧A@&"AApNA"AZAbAjArAzAAAzþV3&@A{0CqAξA9AAC?A@(f?A ?AE3*A<2A::A4׺BA<JA:RA4׺٘i)I9Y Jd4C=JJJJ&K Yy{7j7w}7)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027569.983165 s, next control iter: 1743027570.343185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743027570.363165 s.%G~,}>\AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.419993J2 time: 1743027570.363284"JF (some fields omitted in printout)*J2J:JBJnJvJA̲@AMd@Ai[~? AAG @&"AApNA"AZAbAjArAzAAAMm3&@A"qPqAξAm{:AoAB?A`f?A`?A9sS*A]n<2Ad_::AغBA]n<JAd_:RAغY3?B@?yjǎ:ٓH?@)@z`W?`? L`Et?`mQ?`?)3? I٘i)I9Y JRB=J JJJ&K3 Yy77{7}7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027570.383165 s, next control iter: 1743027570.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1069&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027570.783165 s.`+G~,\AAGz@A(\@A[~? AYA@&"AACpNA"AZAbAjArAzAAAۨ⿆4&@A"zv~qAξAW:A˸A@?Af?A?AW*AU<2AH::AW׺BAU<JAH:RAW׺٘i)I9Y JhC=JJJJ&K Yy{7j7&}7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027570.823165 s, next control iter: 1743027571.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027571.203165 s.3G~, \AJ"J*J2J:JBJnJvJA\(@A&@A[~? AA9@&"AAmpNA"AZAbAjArAzAAAyE5&@A,#J~qAξAB:APA$>?A˟f?A?A*AT=<2A8D::A׺BAT=<JA8D:RA׺٘i)I9Y JcJJJJ&K  ~7Y ~7y77{8~7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027571.243165 s, next control iter: 1743027571.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027571.623165 s._9G~,~\AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743027571.623290F (some fields omitted in printout)Ap= ׷@A@n@A[~? AɋA@&"AApNA"AZAbAjArAzAAA϶5&@AAQѓ~qA!ξAVAA:?Awf?A?Avl*A$<2AJ::A׺BA$<JAJ:RA׺٘i)I9Y J]JJJJ&K Yy Bŧ7b7q~7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027571.663165 s, next control iter: 1743027572.023185 s, wait time: 0.360020 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1070 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027572.043165 s.@G~,]AJ"J*J2J:JBJnJvJAQ@A5&@A[~? AA(!@&"AApNA"AZAbAjArAzAAAd`N6&@A+h~qAξA9nAOA7?A f?A?Av4*A <2AO::A 9׺BA <JAO:RA 9׺٘i)I9Y Jg4JJJJ&K Yy77&~7)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027572.063165 s, next control iter: 1743027572.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027572.463165 s.RGG~,פ]AA33333@Afʺ@A[~? A:A&@&"AApNA"AZAbAjArAzAAAz6&@AA<~qAξAأAnA4?Af?A ?A4j*A@<2AtG::AG׺BA@<JAtG:RAG׺Y*?(7?yg/ٓH?@ۆ@??@Q4`s?{T?)*? I٘i)I9Y Jc4J7JJJ&K^- Yy{7{7{~7)ZZZBZL?YY*W2W WWW"W ) )f*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027572.503165 s, next control iter: 1743027572.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1071, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027572.883165 s.yMG~,I8]AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000J< massPositionAction: 0.000000"J*J4 buoyancyAction: 0.0009552J:J dt: 0.419996BJnJvJ2 time: 1743027572.883288F (some fields omitted in printout)A{Gἐ@Amx@A[~? AA,@&"AApNA"AZAbAjArAzAAA*-7&@A]~qAξAP{AAB3?Aңf?Ai ?Ao3*A<2A,::A׺BA<JA,:RA׺٘i)I9Y JcJJJDJ&K  7Y 7y777)ZZZBZL?YY*W2W WWW"W ) )e*FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743027572.923165 s, next control iter: 1743027573.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027573.303165 s.WTG~,{gS]AA(\@A}&@A[~? AA1@&"AA?pNA"AZAbAjArAzAAA;N8&@ARs}qAξAa@AA2?A f?A`W?A-4*AR<2A"::A׺BAR<JA":RA׺٘i)I9Y Ja4JJJJ&K Yy7)7'W7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027573.343165 s, next control iter: 1743027573.703177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1072*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027573.723165 s.[G~,Hn]AJ"J*J2J:JBJnJvJA ףp=@AcB%տ@A1[~? AcA6@&"AAipNA"AZAbAjArAzAAA( elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199602 time: 1743027574.143289F (some fields omitted in printout)AR@A U+@AJ[~? AAr<@&"AApNA"AZAbAjArAzAAA)G9&@Aۏ^}qAξA:ALA2?A`f?A`1?At`*AG<2Aٶ::AJ׺BAG<JAٶ:RAJ׺٘i)I9Y J<JJJJ&K Yy Bŧ7b77)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027574.183165 s, next control iter: 1743027574.543177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027574.563165 s.hG~,9 ]AJ"J*J2J:JBJnJvJAÐ@A O1Ð@Ad[~? AԉAA@&"AApNA"AZAbAjArAzAAA79&@Aiܲa}qAξAD:AA0?A'f?A`?Ak*Ay<2Aצ::AqֺBAy<JAצ:RAqֺYh!?-?y+5:ٓH`6?rC?`Z?@vL`s? \R?@?)h!? I٘i)I9Y JZ3C=J$JJJ&K3  7Y 7y77)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027574.603165 s, next control iter: 1743027574.963174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1073, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027574.983165 s.oG~,]AAzGŐ@AWĐ@A}[~? AAXG@&"AApNA"AZAbAjArAzAAAӅw:&@A[gV 6}qAξAf}9A0A,?Af?A?AR(*Aa<2A[::A4ֺBAa<JA[:RA4ֺ٘i)I9Y JcJJJJ&K Yyb7b7A7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027575.023165 s, next control iter: 1743027575.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027575.403165 s.&vG~,]AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200002 time: 1743027575.403288F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\Ɛ@AtƐ@A[~? AEAL@&"AApNA"AZAbAjArAzAAA6@;&@A;4j }qAξAڹAAA)?A1f?A?Alq4*AI<2A讜::AֺBAI<JA讜:RAֺ٘i)I9Y Jd4JJJJ&K Yy77:7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027575.443165 s, next control iter: 1743027575.803176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1074, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027575.823165 s.|G~,-]AAq= ףȐ@A.ޏ;Ȑ@A[~? AA;R@&"AA:pNA"AZAbAjArAzAAAir;&@A|qAξACAOA&?Af?A?A *AA1<2A~::AQbֺBAA1<JA~:RAQbֺ٘i)I9Y Jc4JJJJ&K Yyb77W7)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027575.863165 s, next control iter: 1743027576.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027576.243165 s.G~,m^AJ"J*J2J:JBJnJvJAQʐ@Avɐ@A[~? AAW@&"AAdpNA"AZAbAjArAzAAA >@<&@Aau7|qAξAAA#?A`f?A@?A2*A <2A&::A@ֺBA <JA&:RA@ֺ٘i)I9Y JeJJJJ&K Yy777At7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027576.283165 s, next control iter: 1743027576.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027576.663165 s.G~,q*^AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200482 time: 1743027576.663311F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1075, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A̐@Aėː@A[~? AnA]@&"AApNA"AZAbAjArAzAAAM}v<&@A|qAξA_?AA#?Aదf?A`?Am3*A<2A::A6ֺBA<JA:RA6ֺYN?$?y?ٓH@/?ᅿF?4?@9t?kG?)N? I٘i)I9Y JT3B=J&JJDJ&KA- Yy B)7ŧ77)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027576.683165 s, next control iter: 1743027577.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027577.083165 s.DG~,SE^AJ"J*J2J:JBJnJvJAHz͐@AO>=E͐@A[~? A'Ab@&"AApNA"AZAbAjArAzAAA(wp=&@A4\|qAξA9A*A"?Af?A ?A7|g*A_<2AV::AGֺBA_<JAV:RAGֺ٘i)I9Y JqC=JJJJ&K YySI7SI77)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027577.123165 s, next control iter: 1743027577.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027577.503165 s.G~,@4`^AA(\ϐ@AV6ΐ@A[~? AAg@&"AApNA"AZAbAjArAzAAA-\>&@A0|qAξAtq:AӴA"?A`f?A ?Aȃ3*A%<2A-::ACֺBA%<JA-:RACֺ٘i)I9Y JdJJJJ&K Yyb77Aʀ7)ZZZBZL?YY*W2W WWW"W ) )h*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027577.543165 s, next control iter: 1743027577.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1076, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027577.923165 s.4G~,{^AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199712 time: 1743027577.923274F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= ѐ@AuV А@A,[~? AAhm@&"AA pNA"AZAbAjArAzAAA,>&@AT|qAξAߣ:A볃A!?AƤf?A?A2*A<2A::A6ֺBA<JA:RA6ֺ٘i)I9Y JX4JJJJ&K Yy77{77)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027577.963165 s, next control iter: 1743027578.323176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027578.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743027579.183273F (some fields omitted in printout)AGz֐@A.;?Ր@Ax[~? AÆA}@&"AApNA"AZAbAjArAzAAA"i@&@A+_{qAξATf6AA?A f?A@oۙ?A*Ao<2A::AպBAo<JA:RAպ٘i)I9Y J\4JJJJ&K Yy B77j7<7)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027579.203165 s, next control iter: 1743027579.583180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743027579.603165 s.44G~,^AJ"J*J2J:JBJnJvJA(\א@Auv28Zא@A[~? A|A@&"AApNA"AZAbAjArAzAAArA&@Arg8W{qA ξA'AA4?Aԩf?A@bؙ?A[*AW<2A::A[vպBAW<JA:RA[vպ٘i)I9Y JkJJJJ&K Yy7b7Y7)ZZZBZL?YY*W2W WWW"W ) )h*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027579.643165 s, next control iter: 1743027580.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1078 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027580.023165 s.ZG~,|_AA= ףpِ@AuBYِ@A[~? A5A@&"AApNA"AZAbAjArAzAAAs2A&@AJp+{qAξAA^A?Af?A`Yՙ?A4*A?<2A::AVպBA?<JA:RAVպI٘i)I9Y JZ4JJJJ&K Yyŧ77Ev7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027580.063165 s, next control iter: 1743027580.423183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743027580.443165 s.0G~, ]_AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199492 time: 1743027580.443282F (some fields omitted in printout)AQې@Arڐ@A[~? AA@&"AApNA"AZAbAjArAzAAA@9}2B&@A@k{qAξAaIA鷃A?A\f?AQҙ?A 4*A'<2Aכ::AG]պBA'<JAכ:RAG]պ٘i)I9Y Jb4JJJJ&K Yyb77)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027580.463165 s, next control iter: 1743027580.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1079, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027580.863165 s.+G~,}>7_AAܐ@A&|dܐ@A[~? AAY@&"AA1pNA"AZAbAjArAzAAAlwB&@Am< zqAξA9AA?A\f?AJϙ?Ađ*A\<2Aq::A!rպBA\<JAq:RA!rպY??y9ٓHl?@S̙??ZE@8t?_B elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199792 time: 1743027581.703267F (some fields omitted in printout)A\(@A+ߐ@A[~? AA+@&"AApNA"AZAbAjArAzAAA4@C&@A6d_~zqAξAU:AzA?A@ߧf?A<ə?Amh*A=<2Agp::AeպBA=<JAgp:RAeպ٘i)I9Y JWB=JJJJ&K Yy B)7b77)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027581.723165 s, next control iter: 1743027582.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743027582.123165 s.7G~,]_AJ"J*J2J:JBJnJvJAp= @A\mn@A([~? A҄A@&"AApNA"AZAbAjArAzAAAV?D&@A<SzqAξA;:AA?Af?A`4ƙ?A*A[<2Al::A7պBA[<JAl:RA7պ٘i)I9Y JeC=JJJJ&K  7Y 7y7777)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027582.143165 s, next control iter: 1743027582.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027582.543165 s.IG~,â_AAQ@A7@AA[~? AA@&"AApNA"AZAbAjArAzAAA7g+E&@AH'zqA ξAF4AA ?A`f?A ,Ù?A*A<2Aos::AԺBA<JAos:RAԺ٘i)I9Y JkJJJJ&K Yyj7Z7E"7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]i:Waiting for Gazebo time sync: latest Gz time: 1743027582.563165 s, next control iter: 1743027582.943174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1081, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027582.963165 s.wG~,줽_AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743027582.963285F (some fields omitted in printout)A33333@A]@AZ[~? ADA`@&"AA pNA"AZAbAjArAzAAAey E&@AVByqAA@tAA?Af?A$?A!33*Aԗ<2AGx::AqԺBAԗ<JAGx:RAqԺY? ?ytٓH]?ۛ\e6??6s?N?)? I٘i)I9Y J(7JJJ&K, Yy77>7)ZZZBZL?YY*W2W WWW"W ) )h*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027583.003165 s, next control iter: 1743027583.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027583.383165 s.G~,'_AA{G@Ax@As[~? AAƳ@&"AA, pNA"AZAbAjArAzAAA}\F&@A@?yqAξA~ɣAA?Aܬf?A ?Av3*A<2Ao::AǐԺBA<JAo:RAǐԺ٘i)I9Y J]3<JJJJ&K Yy77{7[7)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027583.423165 s, next control iter: 1743027583.783175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1082, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027583.803165 s.xAG~,g_AJ"J*J2J:JBJnJvJA(\@AX&@A[~? AA+@&"AAV pNA"AZAbAjArAzAAAbF&@A yqAAuA󳃽Ae?Af?A@?A3*Ah<2AU::AԺBAh<JAU:RAԺ٘i)I9Y JJJJ&K Yy)77Gx7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027583.843165 s, next control iter: 1743027584.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027584.223165 s.gG~,H`AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199752 time: 1743027584.223302F (some fields omitted in printout)A ףp=@A @A[~? AoA@&"AA pNA"AZAbAjArAzAAAE:G&@A7;zyqAξAV AXA)?A۫f?A?A3*A!P<2A,::A1ԺBA!P<JA,:RA1Ժ٘i)I9Y Jc3JJJJ&K Yy B77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027584.263165 s, next control iter: 1743027584.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027584.643165 s.u G~,*)`AJ"J*J2J:JBJnJvJAR@AU2@A[~? A(A@&"AA pNA"AZAbAjArAzAAAf%H&@A՝OyqAA9:A;A?A@f?A ?A*A$8<2A::AęԺBA$8<JA:RAęԺ٘i)I9Y JJJDJ&K Yy77{77)ZZZBZL?YY*W2W WWW"W ) )h*tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1083, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027584.683165 s, next control iter: 1743027585.043177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027585.063165 s.G~,R D`AA@AhwH1@A[~? A₧AW@&"AA pNA"AZAbAjArAzAAAkH&@A;q$yqAξA:AAH?Axf?A?Ag=2*AC <2Ao::AϕԺBAC <JAo:RAϕԺYi??y U:ٓH ?@\؊? ?L@s?`S??)i? I٘i)I9Y J_JJJJ&K1 Yyj7I΂7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027585.083165 s, next control iter: 1743027585.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027585.483165 s.J "J *J 2J :J BJ nJ vJ v_G~,^`AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743027585.483283F (some fields omitted in printout)AzG@A77M@A[~? AA@&"AA pNA"AZAbAjArAzAAA!2VI&@ASKxqAξA:AA<?Af?A@?AW4*A<2AuҚ::AvԺBA<JAuҚ:RAvԺ٘i)I9Y Jh4C=JJJJ&K Yy{77)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027585.523165 s, next control iter: 1743027585.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1084, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027585.903165 s.G~,y`AA)\@AV_@A [~? ATA@&"AA( pNA"AZAbAjArAzAAA>wNI&@A/))xqAA *9A븃A?A Df?A?A*A<2AӚ::ANԺBA<JAӚ:RANԺ٘i)I9Y JJJJ&K  7Y 7yŧ7b77)ZZZBZL?YY*W2W WWW"W ) )m*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027585.943165 s, next control iter: 1743027586.303174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743027586.323165 s.s$G~,`AJ"J*J2J:JBJnJvJAq= ף@AH;@A#[~? AA}@&"AAR pNA"AZAbAjArAzAAAfJ&@Ab xqAξAAAl?A`f?A?Ay@*A)<2A@ۚ::AԺBA)<JA@ۚ:RAԺ٘i)I9Y J_<JJJJ&K Yy777J$7)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027586.363165 s, next control iter: 1743027586.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1085*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027586.743165 s.W+G~,``AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743027586.743272F (some fields omitted in printout)AQ@A@A<[~? AǁA@&"AA{ pNA"AZAbAjArAzAAATK&@AwxqAξAZA^A@?A`0f?A?AJ+*A<2Aܚ::AӺBA<JAܚ:RAӺ٘i)I9Y Ja3C=JJJJ&K Yy B@7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027586.763165 s, next control iter: 1743027587.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027587.163165 s.u}2G~,q`AJ"J*J2J:JBJnJvJA@A3z@AU[~? AA>@&"AA pNA"AZAbAjArAzAAA+ƷK&@ALxqAξA瞺AA6?Af?A?AH*A۩<2A͚::AӺBA۩<JA͚:RAӺYv??y@<ٓH@`?( @? ~?3@s?S?)v? I٘i)I9Y JVB=J #JJJ&Ki* Yy{7j7]7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027587.203165 s, next control iter: 1743027587.563177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027587.583165 s.&8G~,?S`AAHz@AE@An[~? A:A@&"AA pNA"AZAbAjArAzAAA 7PL&@ArP!xqAξA 8AAk?A/f?A?A3*A+<2Aޭ::AӺBA+<JAޭ:RAӺ٘i)I9Y JaC=JJJJ&K Yy77Lz7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027587.603165 s, next control iter: 1743027587.983194 s, wait time: 0.380029 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1086, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027588.003165 s.y @G~,P4aAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743027588.003311F (some fields omitted in printout)A(\@AMT@A[~? AA@&"AA pNA"AZAbAjArAzAAAL&@AnlwqAξA:&9AδAY?A@6f?A?A;C4*Alz<2As::AӺBAlz<JAs:RAӺ٘i)I9Y Jf3JJJJ&K Yy{7j77)ZZZBZL?YY*W2W WWW"W ) )h*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027588.023165 s, next control iter: 1743027588.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027588.423165 s.uFG~,waAAףp= @A`S@A[~? AA[@&"AA# pNA"AZAbAjArAzAAACC M&@A>wqAA v:A_A?A[f?A@#?A޳*Ab<2A+[::AӺBAb<JA+[:RAӺ٘i)I9Y JJJJ&K Yyŧ7ŧ77)ZZZBZL?YY*W2W WWW"W ) )g*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027588.463165 s, next control iter: 1743027588.823174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1087, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027588.843165 s.LG~,5aAJ"J*J2J:JBJnJvJAQ@A>$|O@A[~? AgA@&"AAM pNA"AZAbAjArAzAAA龦mN&@A)YɠwqAξAѣ:AnA?A7f?A(?A‰*AJ<2Ag@::AhӺBAJ<JAg@:RAhӺ٘i)I9Y Jf<JJJDJ&K Yy77JЃ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027588.883165 s, next control iter: 1743027589.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027589.263165 s.TG~,PaAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743027589.263289F (some fields omitted in printout)Afffff@Au@A[~? A A@&"AAw pNA"AZAbAjArAzAAAl6ѱN&@AuwqAA1 elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743027590.523313F (some fields omitted in printout)A= ףp@AD@A[~? AMA)A&"AA pNA"AZAbAjArAzAAA2{P&@A,vqAξAˆAA?A`f?A`8?At 4*A<2A(@::AFҺBA<JA(@:RAFҺ٘i)I9Y J`4JJJJ&K Yy77B7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027590.563165 s, next control iter: 1743027590.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1089, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027590.943165 s.]dnG~,W]aAAQ@A=_\@A7[~? AAA&"AA pNA"AZAbAjArAzAAAQ&@A.FvqAAAA ?A-f?A@?A]x1*A<2Aa+::AҺBA<JAa+:RAҺ٘i)I9Y JJJJ&K Yy7_7)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027590.983165 s, next control iter: 1743027591.343182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743027591.363165 s.uG~,u>aAJ"J*J2J:JBJnJvJA@As|d@AQ[~? A~AA&"AAH pNA"AZAbAjArAzAAAė8Q&@A:vqAξAsAA?A@yf?A@K?AM"4*A<2A::AtҺBA<JA:RAtҺY1ؘ??yLٓHa ?@y ȉ?`?;/t?<?)1ؘ? I٘i)I9Y J^3<JJJJ&KA+ Yy B{7M|7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027591.403165 s, next control iter: 1743027591.763176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1090", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027591.783165 s.Y{G~,aAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200462 time: 1743027591.783321F (some fields omitted in printout)AGz@AH4@Aj[~? Az~A7A&"AAr pNA"AZAbAjArAzAAADR&@A_tvqAξAD9AA?A`sf?A`V?Aڅ1*AU<2Aۙ::AҺBAU<JAۙ:RAҺ٘i)I9Y JgC=JJJJ&K Yyŧ7b77)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027591.823165 s, next control iter: 1743027592.183179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027592.203165 s.G~, bAJ"J*J2J:JBJnJvJA\( @A @A[~? A4~A$A&"AA pNA"AZAbAjArAzAAA*R&@AQIvqAξA%:A^A?A@ȯf?A@b~?AQ*AΎ<2AY::AҺBAΎ<JAY:RAҺ٘i)I9Y JdJJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027592.243165 s, next control iter: 1743027592.603175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027592.623165 s.QG~,C'bAAp= @AJn @A[~? A}A)A&"AA pNA"AZAbAjArAzAAA?\uS&@A vqAξA1R:AHA{?A`f?Am{?A\*Amw<2A袙::AҺBAmw<JA袙:RAҺ٘i)I9Y JQB=JJJDJ&K Yy)7ŧ7P҄7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027592.643165 s, next control iter: 1743027593.023174 s, wait time: 0.380009 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1091 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027593.043165 s.G~,BbAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743027593.043301F (some fields omitted in printout)AQ @A4 @A[~? A}A?/A&"AA pNA"AZAbAjArAzAAAUT&@AA5uqAAU5:AA޴?A`f?Avx?ARԺ*A`<2A䟙::AYҺBA`<JA䟙:RAYҺ٘i)I9Y JJJJ&K Yyb777)ZZZBZL?YY*W2W WWW"W ) )h*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027593.083165 s, next control iter: 1743027593.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027593.463165 s.WG~,]bAA33333@A]@A[~? Ab}A4A&"AA pNA"AZAbAjArAzAAArT&@AX"uqA ξA=5AA ۴?Af?Au?Aѳ*AH<2A::AyҺBAH<JA:RAyҺYϘ?i۴?y5ٓHW?#R m?Z?=`s?dz&?)Ϙ? I٘i)I9Y Jf<J7JJJ&K,-  7Y 7y7)7 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027593.503165 s, next control iter: 1743027593.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1092, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027593.883165 s.yG~,+xbAJ"J*J2J:JBJnJvJA{G@AvPx@A[~? A}A9A&"AAD pNA"AZAbAjArAzAAAQU ?U&@A}B_uqAA7 elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027594.303290F (some fields omitted in printout)A(\@Ap= '@A[~? A|AA?A&"AAn pNA"AZAbAjArAzAAA&wzU&@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199622 time: 1743027595.563270F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A8L4H1@AL[~? A|A>OA&"AA pNA"AZAbAjArAzAAAzHbW&@AtqAξA@:AAӴ?A@f?Af?A*A <2AD6::A1,ҺBA <JAD6:RA1,ҺYŘ?IҴ?yv@:ٓH U?@ڙI> ?@y&?@>G8t?H? ?)Ř? I٘i)I9Y J_JfJJJ&K- Yyŧ7b77)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027595.603165 s, next control iter: 1743027595.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1094, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027595.983165 s.G~,bAAzG@AZ`@Ae[~? A{ATA&"AApNA"AZAbAjArAzAAA9>9X&@AgtqAξAş:AAӴ?A0f?Ac?AM%*A<2A::Au$ҺBA<JA:RAu$Һ٘i)I9Y J^JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027596.023165 s, next control iter: 1743027596.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027596.403165 s.&G~,cAJ"J*J2J:JBJnJvJA)\@A{b@A[~? Ax{AYA&"AA?pNA"AZAbAjArAzAAAkX&@ARY6tqAξA:AAд?Af?A@`?AVl*A<2A::A ҺBA<JA:RA Һ٘i)I9Y JlJJJJ&K Yy Bj7Z7Pԅ7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027596.443165 s, next control iter: 1743027596.803176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1095, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)$)$ rAdjusting time to match Gazebo time: 1743027596.823165 s.G~,4cAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200192 time: 1743027596.823275F (some fields omitted in printout)Aq= ף@AH;@A[~? A2{A6_A&"AAipNA"AZAbAjArAzAAA|!jY&@A stqA ξA9AjAʹ?A f?A@]?AEf*Ab<2A ::ABѺBAb<JA :RABѺI٘i)I9Y JdJJJDJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027596.863165 s, next control iter: 1743027597.223174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743027597.243165 s.G~,qOcAJ"J*J2J:JBJnJvJAQ@AEИ@A[~? AzAdA&"AApNA"AZAbAjArAzAAALZ&@A]HtqA!ξA,AjA'ʴ?A@f?A[?At2*A_w<2A?::AsѺBA_w<JA?:RAsѺ٘i)I9Y J^JJJJ&K  7Y 7y)7ŧ7 7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027597.283165 s, next control iter: 1743027597.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027597.663165 s.G~,qjcAtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1096, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A @A?a@A[~? AzAiA&"AApNA"AZAbAjArAzAAAI)'Z&@AdtqAξA AAǴ?A໶f?AX?Ah@3*AL`<2AU::A`ѺBAL`<JAU:RA`ѺY?fɴ?y𴃽EٓH&?@X?@3? ^3s?@_R?)? I٘i)I9Y JR4B=JL7JJJ&K0) Yyb7b7V*7)ZZZBZL?YY*W2W WWW"W ) )h*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027597.683165 s, next control iter: 1743027598.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027598.083165 s.DG~,ScAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200502 time: 1743027598.083328F (some fields omitted in printout)AHz!@AE!@A[~? AazA(oA&"AApNA"AZAbAjArAzAAA4[&@AsqAAA AŴ?A f?A@*U?A`]+3*A'I<2A{::AEѺBA'I<JA{:RAEѺ٘i)I9Y JJJJ&K Yy7F7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027598.103165 s, next control iter: 1743027598.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027598.503165 s.G~,/4cAA(\#@A:w"@A[~? AzAwtA&"AApNA"AZAbAjArAzAAAo[&@AѼFsqAξA1AARĴ?A`f?A@@R?AmT/4*A1<2Ap::AK?ѺBA1<JAp:RAK?Ѻ٘i)I9Y Ji3<JJJJ&K Yy777c7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027598.523165 s, next control iter: 1743027598.903173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1097, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027598.923165 s.6G~,cAJ"J*J2J:JBJnJvJAףp= %@A$$@A[~? AyAyA&"AA;pNA"AZAbAjArAzAAACf7f\&@AsqAξAE9AAHĴ?A f?A@WO?AT 4*A<2A::A/LѺBA<JA:RA/LѺ٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 239JV4B=JJJJ&K Yy B7U7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027598.963165 s, next control iter: 1743027599.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027599.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199352 time: 1743027599.343260F (some fields omitted in printout)AQ&@AV^O&@A/[~? AyAA&"AAepNA"AZAbAjArAzAAA;!\&@AB6JJJ&Ki/> Yy{7j77)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027599.783165 s, next control iter: 1743027600.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027600.183165 s.G~,o dAAGz*@AfB)@Aa[~? AyAA&"AApNA"AZAbAjArAzAAA/^&@AbjEsqAξATm:A߸AW?AZf?AF?A2ٳ*AV<2Aq::A+ѺBAV<JAq:RA+Ѻ٘i)I9Y J<JQ>JJJ&K> Yy{7Sֆ7)ZZZBZL?YY*W2W WWW"W ) )FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743027600.203165 s, next control iter: 1743027600.583180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743027600.603165 s.14 G~,&dAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743027600.603315F (some fields omitted in printout)A(\+@ABZ+@Az[~? AxAA&"AApNA"AZAbAjArAzAAA^l^&@A^rqAξAD8AHA뼴?Aɶf?A`C?A*Aj<2A w::AкBAj<JA w:RAк٘i)I9Y JWB=JJJDJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027600.643165 s, next control iter: 1743027601.003174 s, wait time: 0.360009 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1099 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027601.023165 s.ZG~,|AdAA= ףp-@A#Ed-@A[~? AzxAGA&"AA pNA"AZAbAjArAzAAA:{ha_&@A:brqAξA-CA;Ab?AJf?A`@?A*A<2A}::A˺кBA<JA}:RA˺к٘i)I9Y J`C=JJJJ&K  7Y 7y{7Z77)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027601.063165 s, next control iter: 1743027601.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027601.443165 s.0G~, ]\dAJ"J*J2J:JBJnJvJAQ/@A 7U.@A[~? A4xAA&"AA6pNA"AZAbAjArAzAAA0tF_&@ArqAA':A%A?A =f?A=?AOd*A<2AHz::AĊкBA<JAHz:RAĊк٘i)I9Y JJJJ&K Yy Bj7T,7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027601.463165 s, next control iter: 1743027601.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1100, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027601.863165 s.+G~,>wdAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743027601.863275F (some fields omitted in printout)A0@AEnd0@A[~? AwAܞA&"AA`pNA"AZAbAjArAzAAA!w`&@AurqAA卺AkA?AGf?A:?Am3*Ay<2ANe::ArкBAy<JANe:RArкY?c?yfA0ٓH`7??D?k3 s?Q?)? I٘i)I9Y J]|7JJJ&K' Yy7ŧ7H7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027601.903165 s, next control iter: 1743027602.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027602.283165 s.4R$G~,dAJ"J*J2J:JBJnJvJAGz2@A^2@A[~? AwA&A&"AApNA"AZAbAjArAzAAA(+a&@Av2KrqAξAйA:A?Af?A 8?A4*Ab<2A@::AuкBAb<JA@:RAuк٘i)I9Y J1K3<JJJJ&K Yy77e7)ZZZBZL?YY*W2W WWW"W ) )h*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027602.323165 s, next control iter: 1743027602.683177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1101*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027602.703165 s.Ժ*G~,dAA\(4@A3@A[~? AdwAoA&"AApNA"AZAbAjArAzAAAa&@Au rqAAs,:AA?A`{f?A-5?A:m*AK<2A::AкBAK<JA:RAк٘i)I9Y JJJJ&K YyY7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027602.743165 s, next control iter: 1743027603.103174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743027603.123165 s.?1G~,~dAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200282 time: 1743027603.123306F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= 5@An5@A[~? AwAA&"AApNA"AZAbAjArAzAAA[y\b&@AfqqAξA5ޓ:AyA6?A϶f?A K2?AT3*A4<2AL::AкBA4<JAL:RAк٘i)I9Y J_<JJJJ&K Yy77777)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027603.163165 s, next control iter: 1743027603.523185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743027603.543165 s.I8G~,dAAQ7@AS]7@A+[~? AvAA&"AApNA"AZAbAjArAzAAA}b&@A-qqAξA:AA?Af?Ag/?An3*A<2Aߗ::ArкBA<JAߗ:RArк٘i)I9Y Ja3C=JJJJ&K Yy{7j77)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027603.583165 s, next control iter: 1743027603.943176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1102, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027603.963165 s.J "J |>G~*J2J,dA:JBJnJvJA333339@AX8@AD[~? AvAHA&"AA2pNA"AZAbAjArAzAAAxc&@ADqqAA%.:AuA?A`f?A,?A'޳*A<2Aݗ::ALкBA<JAݗ:RALкY?H?ys".:ٓH@?l Hे?+J?E&t?@E?`?)? I٘i)I9Y JThJJJ&KZ- Yy B77[؇7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027604.003165 s, next control iter: 1743027604.363184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743027604.383165 s.EG~,'eAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4198892 time: 1743027604.383311F (some fields omitted in printout)A{G:@A_ux:@A][~? AOvAA&"AA\pNA"AZAbAjArAzAAAvq&d&@AdwqqAAVAʸA ?Af?A )?A40*A<2A::AкBA<JA:RAк٘i)I9Y JJJJ&K Yyb777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027604.403165 s, next control iter: 1743027604.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1103", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027604.803165 s.tALG~,og3eAJ"J*J2J:JBJnJvJA(\<@AR&<@Av[~? A vAA&"AApNA"AZAbAjArAzAAAP,*d&@A UMqqAAJ~AxAƨ?Af?A@&?A9*Ad<2At::ArϺBAd<JAt:RArϺ٘i)I9Y JJJDJ&K  7Y 7y77{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027604.823165 s, next control iter: 1743027605.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027605.223165 s.gSG~,HNeAA ףp=>@A=@A[~? AuAA&"AApNA"AZAbAjArAzAAA"nWe&@AЉ#qqAξA AAk?Af?A#?A%*A<2AO::AعϺBA<JAO:RAعϺ٘i)I9Y JbC<JJJJ&K Yy77W.7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027605.263165 s, next control iter: 1743027605.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027605.643165 s.tYG~,)ieAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027605.643292F (some fields omitted in printout)AR?@AdP?@A[~? AuA_A&"AApNA"AZAbAjArAzAAA~e&@AKpqAADjAAX?A`;f?A ?A<3*A׫<2Aŗ::A'ϺBA׫<JAŗ:RA'Ϻ٘i)I9Y JJJJ&K Yy77K7)ZZZBZL?YY*W2W WWW"WtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1104, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027605.683165 s, next control iter: 1743027606.043176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027606.063165 s.`G~,A eAAA@AE1A@A[~? A:uAA&"AApNA"AZAbAjArAzAAA{Tjf&@A>UpqAξA3뿸AA1?A Lf?A?A*A<2A흗::AϺBA<JA흗:RAϺY?b?yPٓHI?`L?T? e=s?`f?)? I٘i)I9Y J`3<JO7JJJ&K) Yy7777g7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027606.103165 s, next control iter: 1743027606.463175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027606.483165 s.v_gG~,eAJ"J*J2J:JBJnJvJAzGC@A}FB@A[~? AtAA&"AA-pNA"AZAbAjArAzAAA""g&@AգxpqAξAF:AqA!?AMf?A9?A2*A~<2At::AܺϺBA~<JAt:RAܺϺ٘i)I9Y JhC=JJJJ&K Yy B77X7)ZZZBZL?YY*W2W WWW"W ) )FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743027606.503165 s, next control iter: 1743027606.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1105, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027606.903165 s.mG~,͹eAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743027606.903291F (some fields omitted in printout)A)\D@A3`D@A[~? AtA+A&"AAWpNA"AZAbAjArAzAAAr3Ӻg&@AK/LzpqAA[:AAK?A@߸f?A \?A*ALg<2AV::AϺBALg<JAV:RAϺ٘i)I9Y JJJJ&K Yyŧ7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743027606.923165 s, next control iter: 1743027607.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027607.323165 s.ttG~,eAJ"J*J2J:JBJnJvJAq= ףF@ACn;F@A [~? AktAmA&"AApNA"AZAbAjArAzAAA&ZSh&@A}a&PpqAξA:AA4?AVf?A|?AKf*AP<2A~I::AHϺBAP<JA~I:RAHϺ٘i)I9Y J]<JJJJ&K Yy77{77)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027607.343165 s, next control iter: 1743027607.723177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1106&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027607.743165 s.W{G~,deAAQH@AG@A&[~? A&tAA&"AApNA"AZAbAjArAzAAAuX elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200252 time: 1743027608.163298F (some fields omitted in printout)J"J*J2J:JBJnJvJAJ@A\-˗I@A@[~? AsAA&"AApNA"AZAbAjArAzAAAi&@A oqAξAAcAl?Af?A?A *Ao#<2AS::A2ϺBAo#<JAS:RA2ϺY-?|?yb3ٓHXR? ?@,^?<9$t? }@?)-? I٘i)I9Y JT3B=JJJJJ&Ko) Yy{7j77)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027608.183165 s, next control iter: 1743027608.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027608.583165 s.G~,R%fAAHzK@AEK@AY[~? AsA2A&"AApNA"AZAbAjArAzAAAj&@A3$oqAAɔAøAZ?A ?f?A ?A ̸2*A <2AvT::AϺBA <JAvT:RAϺ٘i)I9Y JJJDJ&K  7Y 7yb7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027608.603165 s, next control iter: 1743027608.983174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1107, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027609.003165 s.x G~,L4@fAJ"J*J2J:JBJnJvJA(\M@ATW>L@Ar[~? AWsArA&"AA)pNA"AZAbAjArAzAAAg9j&@A oqAξA͛A{Ar?Af?A` ?A3*AI<2AZE::A"κBAI<JAZE:RA"κ٘i)I9Y Ji3<JJJJ&K Yy B7{7Z07)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027609.023165 s, next control iter: 1743027609.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027609.423165 s.uG~,[fAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199822 time: 1743027609.423275F (some fields omitted in printout)Aףp= O@Ab.N@A[~? AsAA&"AASpNA"AZAbAjArAzAAA5"eOk&@A '}oqAA*AAĕ?Af?A(?AQV*A<2A_%::AκBA<JA_%:RAκ٘i)I9Y JJJJ&K Yy7M7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027609.463165 s, next control iter: 1743027609.823175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1108, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027609.843165 s.ݜG~,ufAJ"J*J2J:JBJnJvJAQP@A]@OP@A[~? ArAB&"AA}pNA"AZAbAjArAzAAAc.k&@A~4SoqAξAke9AA•?Af?A`Q?Au*A<2A::A4κBA<JA:RA4κ٘i)I9Y JaJJJJ&K Yy77i7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743027609.863165 s, next control iter: 1743027610.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027610.263165 s.G~,ؐfAAfffffR@AVZ Q@A[~? ArA/B&"AApNA"AZAbAjArAzAAA/l&@ATcs)oqAξAp:AߵA?Af?Ay?A҈*A:<2AՖ::AκBA:<JAՖ:RAκY&?u?y۵贀:ٓH=[?`bt@? c?@Hs?@P??)&? I٘i)I9Y J^C=J@7JJJ&K+ Yy77\7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027610.303165 s, next control iter: 1743027610.663177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1109*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027610.683165 s.lG~,RfAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743027610.683281F (some fields omitted in printout)AGzT@AFS@A[~? ACrAm B&"AApNA"AZAbAjArAzAAAm&@A ynqA ξA,b:AAJ?A`f?A@?AݪƳ*A<2A::A.κBA<JA:RA.κ٘i)I9Y JTB=JJJJ&K Yyj7Z7 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027610.683165 s, next control iter: 1743027611.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743027611.103165 s.G~,fAA(\U@A>ϟ6ZU@A[~? AqAB&"AApNA"AZAbAjArAzAAA om&@AFnqAAXg:A㵃AƑ?Af?A?A/IJ*A,<2A"::A%κBA,<JA":RA%κ٘i)I9Y JJJJ&K Yy B77{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027611.143165 s, next control iter: 1743027611.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027611.523165 s.G~,{fAJ"J*J2J:JBJnJvJA= ףpW@A4BW@A [~? AqAB&"AA$pNA"AZAbAjArAzAAA2(7Kn&@A߮nqAA8AAZ?A f?A?A}2*An<2A::A͊κBAn<JA:RA͊κ٘i)I9Y JJJJ&K YyZ7Z7\܉7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027611.563165 s, next control iter: 1743027611.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1110, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)) rAdjusting time to match Gazebo time: 1743027611.943165 s.adG~,h]fAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200452 time: 1743027611.943317F (some fields omitted in printout)AQY@Al dvX@A#[~? AuqA#B&"AANpNA"AZAbAjArAzAAAڴQn&@ACnqAξAzIAAڊ?A f?A?AO3*AeX<2A–::AbRκBAeX<JA–:RAbRκ٘i)I9Y J,K3<JJJJ&K Yyŧ7b7 7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027611.963165 s, next control iter: 1743027612.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027612.363165 s.G~,>gAJ"J*J2J:JBJnJvJAZ@Au!VdZ@A<[~? A1qA^"B&"AAxpNA"AZAbAjArAzAAA@|o&@A2qWnqAξA`A|A$?A@ef?A`:?A/3*AA<2A::A_*κBAA<JA:RA_*κYm~??yuXٓH c?ٖ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199982 time: 1743027613.203288F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(^@A7]@An[~? ApA,B&"AApNA"AZAbAjArAzAAA p&@AҒnqAAAA]AV?A`f?A?A3*A<2AU::AκBA<JAU:RAκ٘i)I9Y JJJJ&K Yy777 O7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027613.243165 s, next control iter: 1743027613.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027613.623165 s.SG~,LggAAp= _@Aݳn_@A[~? AcpA 2B&"AApNA"AZAbAjArAzAAA0rmGq&@Ap̊&mqAξA G:AA\?A@f?A?A%*Ap<2A[::A,κBAp<JA[:RA,κ٘i)I9Y J^<JJJJ&K Yy B7k7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027613.643165 s, next control iter: 1743027614.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1112 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027614.043165 s.G~,ÂgAJ"J*J2J:JBJnJvJAQa@AOa@A[~? ApAF7B&"AA pNA"AZAbAjArAzAAA:q&@AhعLmqAξAkw:AAۅ?A@Ӽf?A?Am *A<2Ao9::A-κBA<JAo9:RA-κ٘i)I9Y JZC=JJJJ&K Yy77`7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027614.063165 s, next control iter: 1743027614.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027614.463165 s.QG~,ӤgAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199492 time: 1743027614.463261F (some fields omitted in printout)A33333c@AJb@A[~? AoA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955J dt: 0.419969"J*J2J2 time: 1743027615.723268F (some fields omitted in printout):JBJnJvJA ףp=h@Ah@g@A [~? A oA$LB&"AApNA"AZAbAjArAzAAANCt&@An\ mqAξAAAqz?Af?A@ܘ?Aҋ3*A<2AN1::AxͺBA<JAN1:RAxͺ٘i)I9Y J^3JJJJ&K Yy7 7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027615.743165 s, next control iter: 1743027616.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027616.143165 s.U/G~,* hAARi@AI*i@A [~? AnAZQB&"AApNA"AZAbAjArAzAAAst&@A+=RlqAξA0AA&x?A Qf?A٘?AZ4*Ax<2A'::AWͺBAx<JA':RAWͺ٘i)I9Y Jd4JJJJ&K  7Y 7y Bŧ7b77)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027616.183165 s, next control iter: 1743027616.543176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027616.563165 s.G~,= $hAJ"J*J2J:JBJnJvJAk@AYK1k@A8 [~? AnAVB&"AApNA"AZAbAjArAzAAA\uu&@AlqAξA eAA"w?Af?A@֘?Ab 4*AVb<2A ::APͺBAVb<JA :RAPͺYl?x?yMeٓH`Su?+ &چ`??`4*t?L ?)l? I٘i)I9Y JX4J2NJJ!DJ&K% Yy77b47)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027616.603165 s, next control iter: 1743027616.963174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1115, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027616.983165 s.G~,>hAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200482 time: 1743027616.983312F (some fields omitted in printout)AzGm@A9dl@AQ [~? A?nA[B&"AAEpNA"AZAbAjArAzAAAwAv&@Ae܋lqAA%9AAw?Af?A.Ԙ?ApD3*AK<2A::A[ͺBAK<JA:RA[ͺ٘i)I9Y JJJJ&K Yy7ŧ7 Q7)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743027617.023165 s, next control iter: 1743027617.383193 s, wait time: 0.360028 s rAdjusting time to match Gazebo time: 1743027617.403165 s.&G~J,YhA"J*J2J:JBJnJvJA)\n@AZfn@Aj [~? AmA`B&"AAopNA"AZAbAjArAzAAA v&@AIp(blqAA?L:A-Av?Af?A`aј?A6*A5<2A::AhͺBA5<JA:RAhͺ٘i)I9Y JJJJ&K Yy{7j7m7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027617.423165 s, next control iter: 1743027617.803185 s, wait time: 0.380020 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1116", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027617.823165 s.G~,thAAq= ףp@Ai;p@A [~? AmA-fB&"AApNA"AZAbAjArAzAAA0?w&@AFy8lqAξAP+:ARAv?A f?A Θ?A"*AO<2AW::AcͺBAO<JAW:RAcͺ٘i)I9Y Jc<JJJJ&K Yyŧ7b7b7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027617.863165 s, next control iter: 1743027618.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027618.243165 s.#G~,mhAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000J"J< massPositionAction: 0.000000*J2J4 buoyancyAction: 0.000955:JBJ dt: 0.419969nJvJ2 time: 1743027618.243287F (some fields omitted in printout)AQr@ACBq@A [~? ArmA`kB&"AApNA"AZAbAjArAzAAA%w&@A"eFlqA ξA:AnAs?A@f?A˘?A*A% <2A;::ADͺBA% <JA;:RADͺ٘i)I9Y JcC=JJJJ&K Yyb77 7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027618.283165 s, next control iter: 1743027618.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027618.663165 s.*G~,qhAtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1117, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)At@Aȗs@A [~? A.mApB&"AApNA"AZAbAjArAzAAAqx&@A(|)kqA!ξAxZ9AൃAp?A@=f?A@Ș?ASij*A<2A::AyͺBA<JA:RAyͺYc?p?yߵļ9ٓH~?`Of,? ??@@s?O+7??)c? I٘i)I9Y JSB=JM7JJJ&K) Yy B77Ë7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027618.683165 s, next control iter: 1743027619.063184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743027619.083165 s.D1G~,ShAJ"J*J2J:JBJnJvJAHzu@AO>=Eu@A [~? AlAuB&"AApNA"AZAbAjArAzAAAG y&@AijkqAA A浃A=m?A f?A&Ƙ?APү*A<2A垕::A̺BA<JA垕:RA̺٘i)I9Y JJJJ&K Yyŧ7b7b7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027619.123165 s, next control iter: 1743027619.483176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027619.503165 s.7G~,34hAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743027619.503298F (some fields omitted in printout)A(\w@A v@A [~? AlAzB&"AA@pNA"AZAbAjArAzAAAy&@A9nkqAξA*A|A9j?Af?AYØ?Ao3*A<2Ax::A̺BA<JAx:RA̺٘i)I9Y Ji3<JJJJ&K Yyb77 7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027619.523165 s, next control iter: 1743027619.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1118, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027619.923165 s.6>G~,hAJ"J*J2J:JBJnJvJAףp= y@Ax@A![~? AalA'B&"AAjpNA"AZAbAjArAzAAA vkqAξA#A.Ag?A`ef?AĽ?Av)4*A<2A>p::A̺BA<JA>p:RA̺٘i)I9Y Jc4JJJJ&K Yy7777d67)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027620.363165 s, next control iter: 1743027620.743177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1119&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027620.763165 s.9KG~,'0iAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200292 time: 1743027620.763327F (some fields omitted in printout)Afffff|@A {@A4![~? AkAB&"AApNA"AZAbAjArAzAAA6Wn{&@Aߩ,3kqAA)9AAg?ATf?A ?AJ3*A<2AG::A̺BA<JAG:RA̺YZ?>g?yn9ٓH@ˆ?Jф?*? @ ,t?@4E0??)Z? I٘i)I9Y JQJJ"DJ&K' Yy77S7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027620.803165 s, next control iter: 1743027621.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027621.183165 s.RG~,^KiAAGz~@Al}@AM![~? AkAB&"AApNA"AZAbAjArAzAAAf=|&@AjqAA:AAg?Asf?A5?A*AQn<2A"::A̺BAQn<JA":RA̺٘i)I9Y JJJJ&K Yy B77{7o7)ZZZBZL?YY*W2W WWW"W ) )FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743027621.223165 s, next control iter: 1743027621.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027621.603165 s.84YG~,fiAJ"J*J2J:JBJnJvJA(\@Az0HZ@Ag![~? AQkAB&"AApNA"AZAbAjArAzAAAL |&@A$jqAξAqբ:AﷃAEf?ALf?A`m?A*A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027622.023305F (some fields omitted in printout)A= ףp@AGT@A![~? A kAB&"AA<pNA"AZAbAjArAzAAA9}&@A|WjqAξAa:AAc?A f?A?A"*AEB<2A_::Aq̺BAEB<JA_:RAq̺٘i)I9Y JZC=JJJJ&K Yy)7ŧ77)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027622.063165 s, next control iter: 1743027622.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027622.443165 s.7fG~,>]iAJ"J*J2J:JBJnJvJAQ@A͑_@A![~? AjA?B&"AAfpNA"AZAbAjArAzAAA}&@A(ojqA ξA[A8ALAR`?Aff?Aٯ?A3*Ad,<2AQ ::A9̺BAd,<JAQ :RA9̺٘i)I9Y JoJJJJ&K Yy{7{7Ō7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743027622.463165 s, next control iter: 1743027622.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1121, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027622.863165 s.+mG~,}>iAĀ@A'd@A![~? AjAlB&"AApNA"AZAbAjArAzAAAij~&@A+۱EjqA!ξAOAA\?A@f?A?Av{*A<2A::A˺BA<JA:RA˺Y9R?^?y+PٓH@`?`Yʆx??4s?I?)9R? I٘i)I9Y JOB=JJ7JJJ&K% Yy77i7)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027622.883165 s, next control iter: 1743027623.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027623.283165 s.9RtG~,iAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743027623.283296F (some fields omitted in printout)AGz@Adw@A![~? AAjAB&"AApNA"AZAbAjArAzAAA ~d&@A5e?jqA ξA{gA.A5Z?Af?A`H?A!k3*A<2A ::A;˺BA<JA :RA;˺٘i)I9Y Jp3C=JJJJ&K Yy77{77)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027623.303165 s, next control iter: 1743027623.683179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1122*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027623.703165 s.ֺzG~,iAA\(@A4@A![~? AiAĮB&"AApNA"AZAbAjArAzAAA &@AaiqAξAmAԶAX?A~f?A`?Aa:4*A<2A::A˺BA<JA:RA˺٘i)I9Y J[4JJJJ&K  7Y 7y B777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027623.743165 s, next control iter: 1743027624.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027624.123165 s.8G~,ajAJ"J*J2J:JBJnJvJAp= ׉@AP÷n@A![~? AiAB&"AA pNA"AZAbAjArAzAAA5&@A*iiqAξA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199592 time: 1743027624.543275F (some fields omitted in printout)AQ@AK@A"[~? AviAB&"AA7pNA"AZAbAjArAzAAA#:΀&@AiqAξA$`:ATAX?Af?A`?A)C3*A<2AȪ::A˺BA<JAȪ:RA˺٘i)I9Y J`3JJJ#DJ&K Yy{7{7U7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027624.563165 s, next control iter: 1743027624.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1123, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027624.963165 s.xG~,=jAJ"J*J2J:JBJnJvJA33333@A˙ʌ@A0"[~? A2iACB&"AAapNA"AZAbAjArAzAAA-/g&@A ?viqAξAϖ:AAX?Af?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743027625.803287F (some fields omitted in printout)A(\@A&@Ac"[~? AhAB&"AApNA"AZAbAjArAzAAA>&@A˖#iqAξAI! :AAnS?Af?A?Ac7*A|<2Aw::A ˺BA|<JAw:RA ˺٘i)I9Y J`JJJJ&K Yy77{77)ZZZBZL?YY*W2W WWW"W ) )l*FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743027625.823165 s, next control iter: 1743027626.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027626.223165 s.gG~,HjAA ףp=@ATՑ@A|"[~? AghAB&"AApNA"AZAbAjArAzAAA{ә2&@A:,hqA ξAzA߶AO?A tf?A?A*A@g<2A~::Ac˺BA@g<JA~:RAc˺٘i)I9Y J^JJJJ&K Yy Bj7j7Ǎ7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027626.243165 s, next control iter: 1743027626.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027626.643165 s.ЩG~,5*jAJ"J*J2J:JBJnJvJAR듑@AU2@A"[~? A#hAB&"AA pNA"AZAbAjArAzAAAؼ˃&@A\1UhqAAڃAMAL?Af?A+?AXϲ*AQ<2A傔::A,˺BAQ<JA傔:RA,˺٘i)I9Y JJJJ&K YyZ7Z7l7)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1125, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027626.683165 s, next control iter: 1743027627.043187 s, wait time: 0.360022 s) rAdjusting time to match Gazebo time: 1743027627.063165 s.G~,[ jAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199662 time: 1743027627.063298F (some fields omitted in printout)A@A GJ1@A"[~? AgA B&"AA3pNA"AZAbAjArAzAAAkd&@AB hqAξA󙢺A&AiJ?A,f?Ai?ABQ3*A;<2A(y::Aw ˺BA;<JA(y:RAw ˺Y@?M?y .ٓH`?^@mćă?@"?k/`s?=ST?)@? I٘i)I9Y J^3<J:7JJJ&K\#  7Y 7y77777)ZZZBZL?YY*W2W WWW"W ) )i*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027627.083165 s, next control iter: 1743027627.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027627.483165 s.u_G~,jAJ"J*J2J:JBJnJvJAzG@Ampߖ@A"[~? AgA1B&"AA\pNA"AZAbAjArAzAAAk&@AN9~hqAξA^AvAtI?A f?A઎?A{#4*A&<2AA^::A.˺BA&<JAA^:RA.˺٘i)I9Y J_3C=JJJJ&K Yy7{77)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027627.503165 s, next control iter: 1743027627.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1126, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027627.903165 s.ȽG~,jAA)\@Ai@A"[~? AXgAWB&"AApNA"AZAbAjArAzAAA蘆&@AQUhqAξA$AA_I?Af?A틘?A`4*A!<2A~7::A ˺BA!<JA~7:RA ˺٘i)I9Y Jj3JJJJ&K Yy7)7j:7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027627.943165 s, next control iter: 1743027628.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027628.323165 s.sG~,kAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743027628.323284F (some fields omitted in printout)Aq= ף@AVy;@A"[~? AgA|B&"AApNA"AZAbAjArAzAAA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199352 time: 1743027629.583263F (some fields omitted in printout)AHz@AsE@AF#[~? AJfAB&"AA.pNA"AZAbAjArAzAAA&@AJgqAξA9AAC?Af?A?AZ*A-<2A::AʺBA-<JA:RAʺ٘i)I9Y Je<JJJJ&K Yy7777)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027629.623165 s, next control iter: 1743027629.983175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1128, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027630.003165 s.{ G~,Y4kAJ"J*J2J:JBJnJvJA(\@A1@A_#[~? AfA B&"AAXpNA"AZAbAjArAzAAAꢓ&@AՔ͒gqAξAD8AxA??A _f?A5~?A ij*A<2A::AƎʺBA<JA:RAƎʺ٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 238JSB=JJJJ&K Yy7)7Ɏ7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027630.043165 s, next control iter: 1743027630.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027630.423165 s.uG~,kAAףp= @Aƾd㡢@Ax#[~? AeA-C&"AApNA"AZAbAjArAzAAA`$z,&@ABo^gqAAIA϶A elevatorAngleAction: 0.000000"J< massPositionAction: 0.000000*J2J4 buoyancyAction: 0.000955:J dt: 0.419995BJnJ2 time: 1743027630.843283vJF (some fields omitted in printout)AQ@A[O@A#[~? AeAOC&"AApNA"AZAbAjArAzAAA_ʼn&@A-QP5gqAAA_A:?A f?Ax?A3*Ax<2A::ACʺBAx<JA:RACʺ٘i)I9Y JQ>JJJ&K>  7Y 7y Bŧ7ŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027630.883165 s, next control iter: 1743027631.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027631.263165 s.G~,#kAAfffff@A@A#[~? A=eAp C&"AApNA"AZAbAjArAzAAAU^&@A5 gqAξAhAUAB:?Af?Av?A3*Ab<2Aē::AAʺBAb<JAē:RAAʺY6/?;?yTkٓH@۱?`??@5s?C ?)6/? I٘i)I9Y J.2<J #7Q>JJJ&K#> Yy77777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027631.303165 s, next control iter: 1743027631.663179 s, wait time: 0.360014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1130., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027631.683165 s.lG~,|kAJ"J*J2J:JBJnJvJAGz@AVj-@A#[~? AdAC&"AApNA"AZAbAjArAzAAAOt&@A t) fqAξAnt9AAM:?A`f?A@Ls?A 3*AM<2A::ArNʺBAM<JA:RArNʺ٘i)I9Y Je3C=JJJJ&K YySI7SI7l<7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027631.683165 s, next control iter: 1743027632.083183 s, wait time: 0.400018 s rAdjusting time to match Gazebo time: 1743027632.103165 s.G~,lAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199842 time: 1743027632.103301F (some fields omitted in printout)A(\©@A_\6Z@A#[~? AdAC&"AA)pNA"AZAbAjArAzAAA<搋&@A]fqAA/:A`A:?Af?Ap?A͗2*Ak7<2Ax::AWʺBAk7<JAx:RAWʺ٘i)I9Y JJJJ&K Yyb77Y7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027632.143165 s, next control iter: 1743027632.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027632.523165 s.G~,{!lAJ"J*J2J:JBJnJvJA= ףp@A9FG@A#[~? AsdAC&"AASpNA"AZAbAjArAzAAA5u)&@A DfqAAT:AA8?Af?Am?Ay*A!<2Aa::AKʺBA!<JAa:RAKʺ٘i)I9Y JJJ%DJ&K Yyj7j7u7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027632.563165 s, next control iter: 1743027632.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1131, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027632.943165 s.UdG~,5]WlAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000J: rudderAngleAction: 0.052360"J> elevatorAngleAction: 0.000000*J2J< massPositionAction: 0.000000:J4 buoyancyAction: 0.000955BJ dt: 0.419991nJvJ2 time: 1743027633.363276F (some fields omitted in printout)A̮@AJvld@A)$[~? AcA %C&"AApNA"AZAbAjArAzAAAN[&@Aܫ>fqAA l7A[A2?A@f?A gh?A0*A<2A}b::ASɺBA<JA}b:RASɺYx&?2?y[m7ٓHv?`kT?m?u<#t?`>?)x&? I٘i)I9Y JJJJ&K& Yy BZ7SI77)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027633.383165 s, next control iter: 1743027633.763177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1132", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027633.783165 s.WG~,rlAAGz@AG@AB$[~? AcA+*C&"AApNA"AZAbAjArAzAAA&@AfqAA VAAa/?A!f?A e?A}*A<2Ai::AɺBA<JAi:RAɺ٘i)I9Y JJJJ&K Yy77ˏ7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027633.823165 s, next control iter: 1743027634.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027634.203165 s.#G~,lAJ"J*J2J:JBJnJvJA\(@A,E@A\$[~? AfcAH/C&"AApNA"AZAbAjArAzAAAZs&@AjfeqAξA9A_A,?A@f?A@b?A=1*A!<2Ad::A֓ɺBA!<JAd:RA֓ɺ٘i)I9Y J0˲JJJJ&K Yy7m7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027634.243165 s, next control iter: 1743027634.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027634.623165 s.O)G~,;lAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199722 time: 1743027634.623265F (some fields omitted in printout)Ap= ׳@A//n@Au$[~? A#cAe4C&"AA%pNA"AZAbAjArAzAAA:'&@AeqAξAR8AȶAw+?Af?A@@`?AC3*A<2AO::AɺBA<JAO:RAɺ٘i)I9Y JX3C=JJJJ&K  7Y 7y7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027634.663165 s, next control iter: 1743027635.023174 s, wait time: 0.360009 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1133 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027635.043165 s.0G~,lAJ"J*J2J:JBJnJvJAQ@Af@A$[~? AbA9C&"AAOpNA"AZAbAjArAzAAA흅S&@A^eqAAHArA3+?Af?A@]?A\3*A"<2AW+::AɺBA"<JAW+:RAɺ٘i)I9Y JJJJ&K Yy7777!7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027635.063165 s, next control iter: 1743027635.443175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027635.463165 s.S7G~,ۤlAA33333@AHʶ@A$[~? AbA>C&"AAxpNA"AZAbAjArAzAAA]LeY&@AN@)reqAA:AAA+?Af?A Z?A2*A<2A@::AsɺBA<JA@:RAsɺY? *?ya:ٓH?@<`Z??As?}B??)? I٘i)I9Y J{ 7JJJ&KN& Yy77o>7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027635.503165 s, next control iter: 1743027635.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1134, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027635.883165 s.y=G~,8lAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200592 time: 1743027635.883331F (some fields omitted in printout)A{Gḑ@Ax@A$[~? AZbACC&"AApNA"AZAbAjArAzAAAh q&@AwAIeqAAV:AA*?Af?A(X?A *4*Av<2A::A}ɺBAv<JA:RA}ɺ٘i)I9Y JJJJ&K Yy B777[7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027635.923165 s, next control iter: 1743027636.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027636.303165 s.TDG~,ogmAA(\@ANd'@A$[~? AbAHC&"AApNA"AZAbAjArAzAAAH0z&@A< ] eqAAe:AA)?A3f?AtU?A˲*A`<2AҒ::AɺBA`<JAҒ:RAɺ٘i)I9Y JJJJ&K Yyw7)ZZZBZL?YY*W2W WWW"W ) )FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743027636.343165 s, next control iter: 1743027636.703177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1135&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027636.723165 s.KG~,H.mAJ"J*J2J:JBJnJvJA ףp=@AwDջ@A$[~? AaAMC&"AApNA"AZAbAjArAzAAAIÆ$&@At~dqAA|:AA&?A`,f?A@R?A*AdK<2A:Ғ::AVɺBAdK<JA:Ғ:RAVɺ٘i)I9Y JJJ&DJ&K Yy77s7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027636.763165 s, next control iter: 1743027637.123178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027637.143165 s.\/RG~, *ImAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743027637.143308F (some fields omitted in printout)AR뽑@A"nN%@A %[~? AaASC&"AA pNA"AZAbAjArAzAAAT&@A 'dqAAA]A"?A@f?A P?Avb*A&6<2Aڒ::AɺBA&6<JAڒ:RAɺ٘i)I9Y JJJJ&K Yyŧ777)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027637.163165 s, next control iter: 1743027637.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027637.563165 s.XG~,= dmAJ"J*J2J:JBJnJvJA@Ah1@A&%[~? ANaAXC&"AAJpNA"AZAbAjArAzAAA'_V&@A%ΥdqAAo@AJAY?A@f?A@UM?Ah*A <2Aݒ::A~ȺBA <JAݒ:RA~ȺY3?!?yFٓHw?`?? 0!t? P?)3? I٘i)I9Y J-JJJ&K" Yy77͐7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027637.603165 s, next control iter: 1743027637.963174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1136, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027637.983165 s._G~,~mAAzG@Ac@A?%[~? A aA5]C&"AAtpNA"AZAbAjArAzAAAwJc&@A:|dqAA-AසA.?A#f?A`J?AI3*A <2AӒ::AiȺBA <JAӒ:RAiȺ٘i)I9Y JJJJ&K Yy{7j7r7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027638.023165 s, next control iter: 1743027638.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027638.403165 s.J "J *J 2J :J &fG~BJ,͙mAnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027638.403305F (some fields omitted in printout)A)\‘@A:[@h‘@AX%[~? A`ALbC&"AApNA"AZAbAjArAzAAA*<&@ACl/TdqAξArXAHAI?Af?A@G?A(_3*AP<2A::AQȺBAP<JA:RAQȺ٘i)I9Y Js2;JJJJ&K  7Y 7y B)7)77)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027638.443165 s, next control iter: 1743027638.803183 s, wait time: 0.360018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1137, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027638.823165 s.lG~,BmAAq= ףđ@AbFx;đ@Ar%[~? A`AcgC&"AApNA"AZAbAjArAzAAAS,&"&@AEGg+dqAAS5AöA=?A f?AFE?A2*A<2A::AȺBA<JA:RAȺ٘i)I9Y JJJJ&K Yy777#7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027638.863165 s, next control iter: 1743027639.223181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743027639.243165 s.sG~,mAJ"J*J2J:JBJnJvJAQƑ@A>ő@A%[~? AC`AzlC&"AApNA"AZAbAjArAzAAAH6&@A TdqAξAnX:AA1?Af?AB?A۲*A<2Al::AȺBA<JAl:RAȺ٘i)I9Y Jb<JJJJ&K Yyr@7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027639.283165 s, next control iter: 1743027639.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027639.663165 s.zG~,qmAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200002 time: 1743027639.663291F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1138, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)Aȑ@A0duǑ@A%[~? A`AqC&"AApNA"AZAbAjArAzAAAHT&@AcqAξAM(:AAM?A2f?A??AEf0*A@<2AP::AȺBA@<JAP:RAȺYa ??yL~:ٓH`'? u &ु??Hs? ET??)a ? I٘i)I9Y J]C=J6JJJ&K' Yy]7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027639.683165 s, next control iter: 1743027640.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027640.083165 s.DG~,SnAJ"J*J2J:JBJnJvJAHzɑ@A.QEɑ@A%[~? A_AvC&"AAEpNA"AZAbAjArAzAAA'Z&@A](cqAA :AA#?Af?A<=?A*A <2AF::A`ȺBA <JAF:RA`Ⱥ٘i)I9Y JJJJ&K Yy77{7y7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027640.103165 s, next control iter: 1743027640.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027640.503165 s.G~,D4 nAA(\ˑ@Aʑ@A%[~? A{_A{C&"AAopNA"AZAbAjArAzAAAEwq&@AkO|rcqAAfb9AA?A f?A@:?Aa*A<2AJJ::AȺBA<JAJJ:RAȺ٘i)I9Y JJJJ&K Yy77r7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027640.523165 s, next control iter: 1743027640.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1139, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027640.923165 s.6G~,;nAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743027640.923281F (some fields omitted in printout)Aףp= ͑@Ȃ@A%[~? A8_ÀC&"AApNA"AZAbAjArAzAAAz &@Al_cqAξAiA.Ak?A )f?A7?Al N1*Av<2A2R::A&NȺBAv<JA2R:RA&NȺ٘i)I9Y J,2<JJJ'DJ&K Yy Bj7Z77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027640.943165 s, next control iter: 1743027641.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027641.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743027642.183287F (some fields omitted in printout)AGzґ@A,ё@A<&[~? Ap^AC&"AA pNA"AZAbAjArAzAAAF&@A/bqAAzAķAF ?A`~f?A/?A=A3*Al7<2A"::AS ȺBAl7<JA":RAS Ⱥ٘i)I9Y JJJJ&K  7Y 7yb7b7 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027642.223165 s, next control iter: 1743027642.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027642.603165 s.54G~,nAJ"J*J2J:JBJnJvJA(\ӑ@AALZӑ@AU&[~? A.^AC&"AA@ pNA"AZAbAjArAzAAA 2&@Aؾ%bqAAH9A2AW ?A bf?A/-?A*A0"<2A::AȺBA0"<JA:RAȺ٘i)I9Y JJJJ&K Yy%7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027642.623165 s, next control iter: 1743027643.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1141 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027643.023165 s.ZG~,{nAA= ףpՑ@AerjgՑ@An&[~? A]A)C&"AAj pNA"AZAbAjArAzAAAdO&@A^bqAξAJ:A¶A ?Af?A*?At*A <2Anב::AȺBA <JAnב:RAȺ٘i)I9Y J)˲<JJJJ&K Yy7wB7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027643.063165 s, next control iter: 1743027643.423181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743027643.443165 s.2öG~,)]nAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743027643.443289F (some fields omitted in printout)AQב@A %q֑@A&[~? A]A:C&"AA pNA"AZAbAjArAzAAAph&@A_6VkbqAξA%ܡ:AA ?AXf?A'?Asݖ*A<2A::AȺBA<JA:RAȺ٘i)I9Y JhC=JJJJ&K Yy B77!_7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027643.483165 s, next control iter: 1743027643.843174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1142, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027643.863165 s.+G~,>nAAؑ@A@wdؑ@A&[~? Af]AJC&"AA pNA"AZAbAjArAzAAAՑO&@A`CbqA ξAU:A϶A5 ?Af?A3%?A&*A<2AJ::AjǺBA<JAJ:RAjǺY.?}?y̶i V:ٓH@?ჿ?`x?Cs?J??).? I٘i)I9Y JaJ6JJJ&K& Yyŧ7b7{7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027643.903165 s, next control iter: 1743027644.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027644.283165 s.J "J *J 2J :J BJ >RG~nJvJ,oAAGzڑ@A=Ƃڑ@A&[~? A$]AZC&"AA pNA"AZAbAjArAzAAA&@A_bqAAAIA?AYf?A`"?AW$*A<2AÑ::ASǺBA<JAÑ:RASǺI٘i)I9Y JJJJ&K Yy7{7v7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027644.323165 s, next control iter: 1743027644.683185 s, wait time: 0.360020 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1143*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027644.703165 s.ӺG~,-oAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199792 time: 1743027644.703267F (some fields omitted in printout)A\(ܑ@AXۑ@A&[~? A\AiC&"AA!pNA"AZAbAjArAzAAAKú&@AIaqAξA[A޷Ah?A@f?A?Ag3*A<2A_ʑ::AǺBA<JA_ʑ:RAǺ٘i)I9Y J\3<JJJ(DJ&K Yy$7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027644.743165 s, next control iter: 1743027645.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027645.123165 s.7G~,]GoAJ"J*J2J:JBJnJvJAp= ݑ@Anݑ@A&[~? A\AwC&"AA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200442 time: 1743027645.963328F (some fields omitted in printout)A33333@A$@A'[~? A\AC&"AA!pNA"AZAbAjArAzAAA`M&@ASxaqAADA%Ad?A&f?A?A )3*Ay<2Ak::ASǺBAy<JAk:RASǺY??y%BٓH v?`H@!@?$?38t?>2?)? I٘i)I9Y JOͶJJJ&K"  7Y 7y B$ 7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027646.003165 s, next control iter: 1743027646.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027646.383165 s.G~,oAA{G@A^x@A8'[~? A[AC&"AA!pNA"AZAbAjArAzAAA&@AWOPaqAξAF:AAu?A f?AG?AfP*Ad<2Ae::AaǺBAd<JAe:RAaǺ٘i)I9Y Ja<JJJJ&K Yy77'7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027646.423165 s, next control iter: 1743027646.783175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1145", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027646.803165 s.vAG~,wgoAJ"J*J2J:JBJnJvJA(\@AoH'@AQ'[~? A[AC&"AA!pNA"AZAbAjArAzAAAC&@Ag'aqAξA:AA?A\f?A`?Anٳ*AO<2AE::AaǺBAO<JAE:RAaǺ٘i)I9Y J_C=JJJJ&K Yy{7xD7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027646.843165 s, next control iter: 1743027647.203175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027647.223165 s.gG~,HoAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199702 time: 1743027647.223294F (some fields omitted in printout)A ףp=@AY,@Ak'[~? AT[AC&"AA "pNA"AZAbAjArAzAAA &@A(m`qA ξAx:AA+?Af?A?Aɳ*A:<2A+6::AJǺBA:<JA+6:RAJǺ٘i)I9Y J]JJJJ&K Yy7777$a7)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027647.243165 s, next control iter: 1743027647.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027647.643165 s.uG~,*oAJ"J*J2J:JBJnJvJAR@AmY.@A'[~? A[AC&"AA7"pNA"AZAbAjArAzAAA챡&@A`qAA :AA::A ƺBAe<JAx>:RA ƺY?k?ym ٓH@?`@???`b7`s?-65 ?)? I٘i)I9Y J6JJJ&K# Yy{7Z7y7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027648.103165 s, next control iter: 1743027648.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027648.483165 s.q_G~,pAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743027648.483273F (some fields omitted in printout)AzG@At!V@A'[~? AZAC&"AA"pNA"AZAbAjArAzAAA.aJ&@A;`qAξA]AA?A`f?A ?A<3*A<2A,B::AƺBA<JA,B:RAƺ٘i)I9Y J/2<JJJJ&K Yy B{7$7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027648.503165 s, next control iter: 1743027648.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1147, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027648.903165 s. G~,9pAA)\@Aj_@A'[~? AKZAC&"AA"pNA"AZAbAjArAzAAA}&@A]`qAξA8AAv?A`Af?A k?Aʥ3*A<2A7::AƺBA<JA7:RAƺ٘i)I9Y Jd3C=JJJ)DJ&K Yyb77ӓ7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027648.943165 s, next control iter: 1743027649.303176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027649.323165 s.qG~,TpAJ"J*J2J:JBJnJvJAq= ף@AT7;@A'[~? A ZAC&"AA"pNA"AZAbAjArAzAAA߭&@A4)5`qAξARAaA?Af?A?A 3*A<2A::AƺBA<JA:RAƺ٘i)I9Y J_4JJJJ&K Yy77z7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027649.363165 s, next control iter: 1743027649.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1148*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027649.743165 s.WG~,\opAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200142 time: 1743027649.743291F (some fields omitted in printout)AQ@A@A([~? AYAC&"AA#pNA"AZAbAjArAzAAA+ﯤ&@A, 0 `qAAʴ8A]A?Af?A@,?Ad/3*A<2A::A.ƺBA<JA:RA.ƺ٘i)I9Y JJJJ&K  7Y 7y7)7$ 7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027649.783165 s, next control iter: 1743027650.143175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027650.163165 s.x}"G~,qpAJ"J*J2J:JBJnJvJA@A5bf@A([~? AYAC&"AA2#pNA"AZAbAjArAzAAA,I&@A_qAξA^:A A?A`f?A ?A񞌳*A<2A)ѐ::AƺBA<JA)ѐ:RAƺYv??y _:ٓHg? %ꃿ??C t?K?@?)v? I٘i)I9Y Ja<JJJJ&K$ Yy7{7)7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027650.203165 s, next control iter: 1743027650.563179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027650.583165 s.(G~,RpAAHz@Ap"E@A5([~? ACYAC&"AA\#pNA"AZAbAjArAzAAAպA&@Ap_qAξAm:AA?A9f?A@?A9j*A;<2Aⶐ::AУƺBA;<JAⶐ:RAУƺ٘i)I9Y JfC=JJJJ&K Yy B77zF7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027650.623165 s, next control iter: 1743027650.983173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1149, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027651.003165 s.x 0G~,L4pAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000J"J: rudderAngleAction: 0.052360*J> elevatorAngleAction: 0.0000002J< massPositionAction: 0.000000:J4 buoyancyAction: 0.000955BJnJ dt: 0.420016vJ2 time: 1743027651.003287F (some fields omitted in printout)A(\@A@AN([~? AYAC&"AA#pNA"AZAbAjArAzAAA,g{&@A VN_qA ξA줃:AAw?Af?AN?A*A<2Ak::AƺBA<JAk:RAƺ٘i)I9Y JMB=JJJJ&K Yy7)c7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027651.043165 s, next control iter: 1743027651.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027651.423165 s.u6G~,pAAףp= @Aڧ@Ag([~? AXAC&"AA#pNA"AZAbAjArAzAAAJ+&@A8ĥ l_qAA9AAA?Af?A?Aڑ*Aj<2A::ARƺBAj<JA:RARƺ٘i)I9Y JJJJ&K Yy7{77)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027651.463165 s, next control iter: 1743027651.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1150, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027651.843165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743027652.263292F (some fields omitted in printout)Afffff@ATb@A([~? A;XA D&"AA$pNA"AZAbAjArAzAAA"G&@Aૅ_qAξACA7A?Af?Al?A[3*AA<2AC::AźBAA<JAC:RAźYٗ?e?y1ٓH ?&r ???`-`s?@zHS?)ٗ? I٘i)I9Y J12<J~6JJJ&K Yy7)7(7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027652.303165 s, next control iter: 1743027652.663178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1151., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027652.683165 s.lJG~,g+qAJ"J*J2J:JBJnJvJAGz@A.@A([~? AWAD&"AA-$pNA"AZAbAjArAzAAAh@&@A"^^qAξAAAC?Af?A?A4*A,<2A+::AnźBA,<JA+:RAnź٘i)I9Y Jk3C=JJJ*DJ&K Yyj7Z7Ք7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027652.683165 s, next control iter: 1743027653.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743027653.103165 s.QG~,FqAA(\@AjdWZ@A([~? AWA!D&"AAW$pNA"AZAbAjArAzAAA }y&@A,^qAξA4;A2A?AEf?A5?A4*A4<2A::AźBA4<JA:RAź٘i)I9Y JO4B=JJJJ&K Yy Bb777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027653.123165 s, next control iter: 1743027653.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027653.523165 s.WG~,{aqAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743027653.523305F (some fields omitted in printout)A= ףp@A-%I@A([~? AuWA%D&"AA$pNA"AZAbAjArAzAAA1f&@AK^qAA9AgA?A`$f?A?A2*Ai<2Aub::AźBAi<JAub:RAź٘i)I9Y JJJJ&K  7Y 7y{7j7(7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027653.563165 s, next control iter: 1743027653.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1152, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027653.943165 s.Yd^G~,F]|qAAQ@A͑_@A([~? A4WA(D&"AA$pNA"AZAbAjArAzAAAۜ㫪&@A%z^qAξAxO:AKA?A@Af?A@?A㗳*A<2A?::AźBA<JA?:RAź٘i)I9Y Jf<JJJJ&K Yy77+7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027653.983165 s, next control iter: 1743027654.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027654.363165 s.eG~,}>qAJ"J*J2J:JBJnJvJA@Ad@A)[~? AVA*"D&"AA$pNA"AZAbAjArAzAAA4E&@AR^qAξA:A巃AJ߳?Af?Ag?A*Aڿ<2AF+::AźBAڿ<JAF+:RAźYcЗ?ܳ?y߷!l:ٓH6?61?`? G t?"T??)cЗ? I٘i)I9Y J^C=J OJJJ&K% Yy7)7H7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027654.403165 s, next control iter: 1743027654.763174 s, wait time: 0.360009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1153&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027654.783165 s.UkG~,qAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199812 time: 1743027654.783284F (some fields omitted in printout)AGz@Am@A2)[~? AVA,'D&"AA$pNA"AZAbAjArAzAAA<;ޫ&@Ag*^qA ξA?O:A^Aܳ?A f?A?A\*Awſ<2A_'::AźBAwſ<JA_':RAź٘i)I9Y JcJJJJ&K Yy77)e7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027654.823165 s, next control iter: 1743027655.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027655.203165 s.sG~,qAJ"J*J2J:JBJnJvJA\(@A!@AK)[~? AnVA-,D&"AA(%pNA"AZAbAjArAzAAA=nw&@Ak3y^qAAHCAAKٳ?A@f?A/ޗ?A]*A<2A;.::AźBA<JA;.:RAź٘i)I9Y JJJJ&K Yy7777Ձ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027655.243165 s, next control iter: 1743027655.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027655.623165 s.UyG~,TqAAp= @A%= n@Ad)[~? A-VA.1D&"AAR%pNA"AZAbAjArAzAAA@ת&@A&bb]qAAaAԶAճ?ADf?Aۗ?AqK*A<2A4::AQźBA<JA4:RAQź٘i)I9Y JJJJ&K Yy Bb7b77)ZZZBZL?YY*W2W WWW"W ) )j*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027655.663165 s, next control iter: 1743027656.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1154 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027656.043165 s.G~,rAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200132 time: 1743027656.043287F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ @A$ @A})[~? AUA.6D&"AA|%pNA"AZAbAjArAzAAAZTg&@AEO]qAξA׎AAwӳ?Af?A@ؗ?A|X3*A<2Am/::A+źBA<JAm/:RA+ź٘i)I9Y J'2<JJJJ&K Yy)7ŧ7-7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027656.063165 s, next control iter: 1743027656.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027656.463165 s.QG~,ӤrAA33333 @A{e @A)[~? AUA.;D&"AA%pNA"AZAbAjArAzAAAH1C&@AA]qAξAgArADҳ?Af?A b֗?A4*As<2A::AźBAs<JA:RAźYȗ?]Գ?yn<ٓH`i?v_~?$?k/t? LP ?)ȗ? I٘i)I9Y Jm3C=J6JJJ&K Yyj7Z7ו7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027656.503165 s, next control iter: 1743027656.863173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1155, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) )  rAdjusting time to match Gazebo time: 1743027656.883165 s.yG~,+8rAJ"J*J2J:JBJnJvJA{G @Ac x @A)[~? AhUA-@D&"AA%pNA"AZAbAjArAzAAAqܮ&@A"8b]qAξA A췃Aҳ?A f?Aӗ?A}3*A^<2Ag::A&źBA^<JAg:RA&ź٘i)I9Y Jh4JJJ+DJ&K Yyj77)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027656.923165 s, next control iter: 1743027657.283176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027657.303165 s.UG~,sgSrAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743027657.303284F (some fields omitted in printout)A(\@Ap'@A)[~? A&UA+ED&"AA%pNA"AZAbAjArAzAAAyu&@A2:]qAAN#:AIA*ҳ?A f?A`8ї?AD2*A>J<2AϏ::An5źBA>J<JAϏ:RAn5ź٘i)I9Y JJJJ&K  7Y 7y777,7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027657.323165 s, next control iter: 1743027657.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1156*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027657.723165 s.G~,HnrAJ"J*J2J:JBJnJvJA ףp=@A';@A)[~? ATA)JD&"AA#&pNA"AZAbAjArAzAAAT&@Aͮ1]qAξAĚ:AbAѳ?Af?AΗ?A*A5<2AK::A7źBA5<JAK:RA7ź٘i)I9Y J`<JJJJ&K Yy7-7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027657.763165 s, next control iter: 1743027658.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027658.143165 s.X/G~,*rAAR@A{&@A)[~? ATA'OD&"AAM&pNA"AZAbAjArAzAAAZi &@Ay4\qAξA:A*Aϳ?Af?A ̗?AE*A3!<2A::A%"źBA3!<JA:RA%"ź٘i)I9Y J\C=JJJJ&K Yy B7)7J7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027658.183165 s, next control iter: 1743027658.543178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027658.563165 s.G~,J rAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200202 time: 1743027658.563308F (some fields omitted in printout)A@A,+MJ1@A*[~? AbTA#TD&"AAw&pNA"AZAbAjArAzAAA@A&@Ay{<\qAξA*R :AA̳?Af?Auɗ?A*A <2A::AĺBA <JA:RAĺYv?˳?y :ٓH?>9~?)??`t? EJA??)v? I٘i)I9Y J^JJJJ&K# Yy77-g7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027658.603165 s, next control iter: 1743027658.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1157, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027658.983165 s.G~,rAAzG@Aظ]@A.*[~? A TA YD&"AA&pNA"AZAbAjArAzAAAdJ{ڱ&@A-H\qA ξA#AGAfɳ?A8f?AƗ?A0*A<2A::AĺBA<JA:RAĺ٘i)I9Y JaJJJJ&K Yy77؃7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027659.023165 s, next control iter: 1743027659.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027659.403165 s.&G~,rAJ"J*J2J:JBJnJvJA)\@A s@AH*[~? ASA^D&"AA&pNA"AZAbAjArAzAAA*s&@AXr\qAAfAAGƳ?ABf?A@Gė?A{1*A7<2A1::AĺBA7<JA1:RAĺ٘i)I9Y JJJJ&K Yyb7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027659.443165 s, next control iter: 1743027659.803176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1158, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027659.823165 s.G~,!rAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199832 time: 1743027659.823274F (some fields omitted in printout)Aq= ף@AH0;@Aa*[~? ASAcD&"AA&pNA"AZAbAjArAzAAA &@AܗmJ\qAξAAA<ij?Af?A@?A;3*AϾ<2A::AnĺBAϾ<JA:RAnĺ٘i)I9Y Jb3<JJJJ&K Yy7ŧ7-7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027659.863165 s, next control iter: 1743027660.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027660.243165 s.G~,msAJ"J*J2J:JBJnJvJAQ@A&@Az*[~? A\SAhD&"AA'pNA"AZAbAjArAzAAA޺O&@A똆"\qAξALA9Ató?Af?A!?A 4*Am<2A::A*iĺBAm<JA:RA*iĺI٘i)I9Y J\3C=JJJJ&K Yyb7b7ٖ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027660.263165 s, next control iter: 1743027660.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027660.663165 s.G~,q*sAtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1159, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@Ai@A*[~? ASA mD&"AAH'pNA"AZAbAjArAzAAAU ?&@AVv[qAξA<8AAxó?Af?A?A:w3*A<2Ac::AuĺBA<JAc:RAuĺY?Wó?y8ٓH*(? ێ %~? B3?:` t?`4? ?)? I٘i)I9Y Jd3J4JJ,DJ&K Yy B77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027660.683165 s, next control iter: 1743027661.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027661.083165 s.DG~,REsAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J6 propOmegaAction: 0.000000*J2J: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000:J< massPositionAction: 0.000000BJ4 buoyancyAction: 0.000955nJvJ dt: 0.4200152 time: 1743027661.083282F (some fields omitted in printout)AHz@AeE@A*[~? ARArD&"AAr'pNA"AZAbAjArAzAAA<ش&@A[qAACd:AAmó?Af?A?Ah`1*Ax<2A?::A)ĺBAx<JA?:RA)ĺ٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 237JJJJ&K  7Y 7yŧ7b7/7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027661.123165 s, next control iter: 1743027661.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027661.503165 s.G~,;4`sAA(\@A-@A*[~? ARAvD&"AA'pNA"AZAbAjArAzAAA~r&@Aȅs[qAξA:AQA}³?A uf?A`q?A~*A~<2A%::A0|ĺBA~<JA%:RA0|ĺ٘i)I9Y J=<JJJJ&K Yy{7{7/7)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027661.563165 s, next control iter: 1743027661.903176 s, wait time: 0.340011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1160, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027661.923165 s.4G~,{sAJ"J*J2J:JBJnJvJAףp= !@AXp? @A*[~? AWRA{D&"AA'pNA"AZAbAjArAzAAA|7 &@A\E[qAA :AKAH?Af?A@ߴ?A)*Ai<2A%::A^ĺBAi<JA%:RA^ĺ٘i)I9Y JQ>JJJ&K> Yy77L7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027661.963165 s, next control iter: 1743027662.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027662.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199942 time: 1743027662.343276F (some fields omitted in printout)AQ"@AtO"@A*[~? ARAD&"AA'pNA"AZAbAjArAzAAA}q&@A.6=D[[qAξAFs9AA?A f?A L?A*AU<2A!::A.ĺBAU<JA!:RA.ĺ٘i)I9Y J<JQ>JJJ&K> YyZ7Z7/i7)ZZZBZL?YY*W2W WWW"W ) )FFF]x:Waiting for Gazebo time sync: latest Gz time: 1743027662.363165 s, next control iter: 1743027662.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1161&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027662.763165 s.6G~,ذsAJ"J*J2J:JBJnJvJAfffff$@A`#I#@A+[~? AQAD&"AA(pNA"AZAbAjArAzAAA=&@Acw3[qA ξA#'AA?AAf?A@?A<|*AmA<2A)::AúBAmA<JA):RAúY??y|'ٓHk0?@r  }? elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743027663.603274F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\'@A `Z'@AD+[~? ARQAԏD&"AAm(pNA"AZAbAjArAzAAAlJp&@Az2ZqAξA锺AA8?Af?A?A 3*A<2A::AúBA<JA:RAú٘i)I9Y JY3<JJJJ&K Yy737)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027663.643165 s, next control iter: 1743027664.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1162 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027664.023165 s.ZG~,|tAA= ףp)@AR O)@A^+[~? AQAʔD&"AA(pNA"AZAbAjArAzAAA5 &@A#ۜ)ZqAξACA A̴?ABf?A ?A 3*A<2A-::AzúBA<JA-:RAzú٘i)I9Y Jp3C=JJJJ&K Yyb77ۗ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027664.063165 s, next control iter: 1743027664.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027664.443165 s.4G~,1]tAJ"J*J2J:JBJnJvJAQ+@AuRz*@Aw+[~? APAD&"AA(pNA"AZAbAjArAzAAAآ&@A mZqAξAο9AdA贳?A`f?A?Ao^3*Aa<2AҎ::AúBAa<JAҎ:RAú٘i)I9Y J]3JJJJ&K YyZ7Z77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027664.463165 s, next control iter: 1743027664.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1163, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027664.863165 s.+ G~,>7tAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200682 time: 1743027664.863328F (some fields omitted in printout)A,@A yd,@A+[~? APAD&"AA(pNA"AZAbAjArAzAAAj<&@AlZqAξAc:AɷA?A:f?A?Ah*Aܽ<2A::ALúBAܽ<JA:RALúY?e?yķq:ٓH8?<@j@r}?A? Et? plQ??)? I٘i)I9Y JeJ&JJ-DJ&K#  7Y 7yb7727)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027664.903165 s, next control iter: 1743027665.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027665.283165 s.6RG~,RtAJ"J*J2J:JBJnJvJAGz.@A@.@A+[~? ANPAD&"AA)pNA"AZAbAjArAzAAAf`Mպ&@A*EZqAA_I:A AH?Af?A`k?AZ*Aǽ<2AZ::A úBAǽ<JAZ:RA ú٘i)I9Y JJJJ&K Yy7717)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027665.323165 s, next control iter: 1743027665.683175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1164., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027665.703165 s.ӺG~,mtAA\(0@AJʽ/@A+[~? A PAD&"AA>)pNA"AZAbAjArAzAAAn&@AXSZqAξA֯H:AGA?A`f?Aݝ?Am**A<2A(::APúBA<JA(:RAPú٘i)I9Y J]<JJJJ&K Yy Bb7N7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027665.743165 s, next control iter: 1743027666.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027666.123165 s.6!G~,XtAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200192 time: 1743027666.123293F (some fields omitted in printout)Ap= 1@A-`n1@A+[~? AOAD&"AAh)pNA"AZAbAjArAzAAApnK&@A YqAAhA4AE?Af?AO?A,*A<2AG::AfúBA<JAG:RAfú٘i)I9Y JJJJ&K Yy)7ŧ72k7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027666.143165 s, next control iter: 1743027666.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027666.543165 s.I(G~,âtAAQ3@AK:3@A+[~? AOAD&"AA)pNA"AZAbAjArAzAAA&@A/3YqAA]DgAA?A %f?A@?A *A<2Ax::A,3úBA<JAx:RA,3ú٘i)I9Y JJJJ&K Yy7777݇7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027666.583165 s, next control iter: 1743027666.943175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1165, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027666.963165 s.x.G~,tAJ"J*J2J:JBJnJvJA333335@Aۇ4@A,[~? AJOAtD&"AA)pNA"AZAbAjArAzAAAsx`:&@A_YqAA¢AA?Af?A5?AI1 3*Aw<2A::AúBAw<JA:RAúYڝ?)?y<ٓH@? i}? N?+` t?\XT?)ڝ? I٘i)I9Y JL5JJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027667.003165 s, next control iter: 1743027667.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027667.383165 s.5G~,+tAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743027667.383281F (some fields omitted in printout)A{G6@Aúx6@A(,[~? A OAfD&"AA)pNA"AZAbAjArAzAAAG;ӽ&@A~YqAξAAQAg?A@^f?A?AԮ3*Ac<2A ::AúBAc<JA :RAú٘i)I9Y Jd2C<JJJJ&K Yy{7{737)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027667.423165 s, next control iter: 1743027667.783177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1166", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027667.803165 s.vA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743027668.643314F (some fields omitted in printout)AR;@AGw;;@At,[~? AFNA7D&"AAc*pNA"AZAbAjArAzAAAm~&@AMsYqAAP:AAť?Af?A@?AL *A '<2A%::AzúBA '<JA%:RAzú٘i)I9Y JJJ.DJ&K  7Y 7yb7ŧ757)ZZZBZL?YY*W2W WWW"W ) tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1167, header.stamp.nsec: 0)$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027668.683165 s, next control iter: 1743027669.043175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027669.063165 s.PG~,N DuAA=@A]/M1=@A,[~? ANA'D&"AA*pNA"AZAbAjArAzAAAؚ}8&@A!tXqAξA9:AසA?Af?A ?A%B*A<2A::AúBA<JA:RAúYH??yڷO:ٓH`I?v|?PR?`Et?&R??)H? I٘i)I9Y J`JÚJJJ&K?# Yy77{737)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027669.103165 s, next control iter: 1743027669.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027669.483165 s.s_WG~,^uAJ"J*J2J:JBJnJvJAzG?@A^S>@A,[~? AMAD&"AA*pNA"AZAbAjArAzAAAq&@A,XqAA:A$A?A@f?A?A6G*A<2Ah::AxºBA<JAh:RAxº٘i)I9Y JJJJ&K Yyŧ7b7P7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027669.523165 s, next control iter: 1743027669.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1168, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027669.903165 s.]G~,yuAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200342 time: 1743027669.903311F (some fields omitted in printout)A)\@@Aec@@A,[~? AMAD&"AA*pNA"AZAbAjArAzAAA?k&@ApngXqAAzȹABA?Af?A}?AH*A3<2A!::AºBA3<JA!:RAº٘i)I9Y JJJJ&K Yy774m7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027669.943165 s, next control iter: 1743027670.303180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027670.323165 s.udG~,!uAJ"J*J2J:JBJnJvJAq= ףB@As;B@A,[~? ACMAD&"AA +pNA"AZAbAjArAzAAA*&@AՑ;iXqAAzA1Ax?Af?A ?Ağ0*AQ׼<2A$::AqºBAQ׼<JA$:RAqº٘i)I9Y JJJJ&K Yyŧ7ŧ7߉7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027670.363165 s, next control iter: 1743027670.723177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1169&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027670.743165 s.WkG~,iuAAQD@AC@A,[~? AMAD&"AA4+pNA"AZAbAjArAzAAAD1&@ASHkBXqAξAA񷃽A}?Af?A o?AQi3*Adü<2A::AUºBAdü<JA:RAUº٘i)I9Y Jc2JJJJ&K Yy B7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027670.783165 s, next control iter: 1743027671.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027671.163165 s.s}rG~,quAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743027671.163288F (some fields omitted in printout)J"J*J2J:JBJnJvJAF@A¼E@A -[~? ALAD&"AA^+pNA"AZAbAjArAzAAAh37&@A7XqAAEAAė?Af?A|?AJ3*Ad<2A::APºBAd<JA:RAPºY ?[?ynFٓH {Q? 7~h|?Z^?0@ t?H?) ? I٘i)I9Y J5JJJ&K Yy77Ù7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027671.183165 s, next control iter: 1743027671.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027671.583165 s.xG~,RuAAHzG@AQGEG@A%-[~? ALAD&"AA+pNA"AZAbAjArAzAAA>&@Ap]WqAξAs8AUAЗ?A ff?Ajz?A2*AY<2Aٍ::A$\ºBAY<JAٍ:RA$\º٘i)I9Y J]3<JJJJ&K Yyŧ7b7ߙ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027671.623165 s, next control iter: 1743027671.983175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1170, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)) rAdjusting time to match Gazebo time: 1743027672.003165 s.y G~,P4vAJ"J*J2J:JBJnJvJA(\I@A+H@A>-[~? AALAD&"AA+pNA"AZAbAjArAzAAAi&@AWqAξA~i:A@Aė?A[f?Aw?AB*AS<2A::AZfºBAS<JA:RAZfº٘i)I9Y J^C=JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027672.023165 s, next control iter: 1743027672.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743027672.423165 s.uG~,{vAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199402 time: 1743027672.423266F (some fields omitted in printout)Aףp= K@A!ݡJ@AW-[~? ALAD&"AA+pNA"AZAbAjArAzAAAX&@AʡWqAξAɢ:A^Aϖ?A f?Afu?AQE[*A`s<2A8::Aq_ºBA`s<JA8:RAq_º٘i)I9Y JkJJJJ&K  7Y 7y{7{767)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027672.463165 s, next control iter: 1743027672.823174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1171, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027672.843165 s.݌G~,5vAJ"J*J2J:JBJnJvJAQL@A9&OL@Aq-[~? AKAzD&"AA,pNA"AZAbAjArAzAAA%C&@A݊>}WqAA#}:AA?A`\f?Ar?A=*A_<2Ac::AAºBA_<JAc:RAAº٘i)I9Y JJJ/DJ&K Yy B7757)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027672.883165 s, next control iter: 1743027673.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027673.263165 s.G~,PvAAfffffN@A M@A-[~? AKAdE&"AA/,pNA"AZAbAjArAzAAAZކ5&@A<4UWqAAoS9AﷃA[?Aqf?A\p?A_*AK<2An::AºBAK<JAn:RAºY??y,S9ٓH@Y?Ō|?d? ;t?m*??)? I٘i)I9Y J̵JJJ&Kz Yy77j7R7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027673.303165 s, next control iter: 1743027673.663176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1172*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027673.683165 s.lG~J"J*J2J,kvA:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200562 time: 1743027673.683329F (some fields omitted in printout)AGzP@AfBO@A-[~? A?KANE&"AAX,pNA"AZAbAjArAzAAA e&@A}.WqAA-A2A퍳?A f?Am?A*A8<2A@::ABA8<JA@:RA٘i)I9Y JJJJ&K YyZ7Z77o7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027673.683165 s, next control iter: 1743027674.083184 s, wait time: 0.400019 s rAdjusting time to match Gazebo time: 1743027674.103165 s.G~,vAA(\Q@A++MZQ@A-[~? AJA7 E&"AA,pNA"AZAbAjArAzAAAVY%h&@A#WqAξAANA-?Ahf?ATk?A, (3*AD$<2Ae::A³BAD$<JAe:RA³٘i)I9Y J^2C<JJJJ&K Yy77䋚7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027674.143165 s, next control iter: 1743027674.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027674.523165 s.G~,{vAJ"J*J2J:JBJnJvJA= ףpS@A/ES@A-[~? AJA E&"AA,pNA"AZAbAjArAzAAA,Gu{&@A9VqAA4A0A?AVf?Ah?AG3*At<2Aϐ::ABAt<JAϐ:RA٘i)I9Y JJJJ&K Yy7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027674.563165 s, next control iter: 1743027674.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1173, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027674.943165 s.UdG~,5]vAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200152 time: 1743027674.943275F (some fields omitted in printout)AQU@A|)vAJ"J*J2J:JBJnJvJAV@A0BxdV@A.[~? A=JAE&"AA-pNA"AZAbAjArAzAAA4&@AZ.VqAA9AAh?AWf?Ac?A*A<2AaK::ABA<JAaK:RAYC|??y>`9ٓHa?`pM;{?l?< t?>9??)C|? I٘i)I9Y JL5JJJ&K< Yy Bb777)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027675.403165 s, next control iter: 1743027675.763176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1174", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027675.783165 s.WG~,vAAGzX@AY/X@A".[~? AIAE&"AA)-pNA"AZAbAjArAzAAAdx_&@AV iVqAξAib:A[A!?Auf?A[a?A\*AԻ<2A*::AMBAԻ<JA*:RAM٘i)I9Y JeJJJJ&K Yy7S77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027675.823165 s, next control iter: 1743027676.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027676.203165 s.G~,  wAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199812 time: 1743027676.203276F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(Z@AUY@A;.[~? AIA#E&"AAS-pNA"AZAbAjArAzAAA~bCf&@A2BVqAξAy:AMA?APf?A@^?AL$*A <2A::ABA <JA:RA٘i)I9Y J_C=JJJJ&K  7Y 7yb7b7:7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027676.243165 s, next control iter: 1743027676.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027676.623165 s.UG~,T'wAAp= [@A;n[@AT.[~? A|IA(E&"AA}-pNA"AZAbAjArAzAAAW~&@A^VqA ξAHB:AnA?A@f?A@]\?A';K*A^<2A]::ABA^<JA]:RAI٘i)I9Y JZJJJ0DJ&K Yy777777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027676.663165 s, next control iter: 1743027677.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1175 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027677.043165 s.G~,BwAJ"J*J2J:JBJnJvJAQ]@AF!]@An.[~? A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743027677.463264F (some fields omitted in printout)A33333_@A4 ^@A.[~? AHAm2E&"AA-pNA"AZAbAjArAzAAAɕ{2&@AMUqAξAlAAr~?A@Hf?A\W?A2*A)<2A"::ABA)<JA":RAY t?Z?y M:mٓHj?䇿\{?Pw?.t?`M ?) t? I٘i)I9Y Jb3<Ju JJJ&K Yyb743*A^<2A::AVBA^<JA:RAV٘i)I9Y Jl3JJJJ&K Yy7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027678.343165 s, next control iter: 1743027678.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1177*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027678.723165 s.G~,HwAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743027678.723294F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=d@Ac@A.[~? A;HAAE&"AAN.pNA"AZAbAjArAzAAA{|&@A~eXWUqAAGDA&Az?A `f?AO?A8>3*AK<2A$::A+BAK<JA$:RA+٘i)I9Y JJJJ&K Yyb77<Ǜ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027678.743165 s, next control iter: 1743027679.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027679.143165 s.Z/G~,*wAARe@Axz,e@A.[~? AGAEE&"AAx.pNA"AZAbAjArAzAAAGc^Ǘ&@A~A00UqAA1:AڷA{?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200732 time: 1743027679.983337F (some fields omitted in printout)AzGi@A_vh@A/[~? AzGAOE&"AA.pNA"AZAbAjArAzAAA RN&@Ar?TqA ξAM::AYAx?A@f?A~H?A*A<2A::A`BA<JA:RA`٘i)I9Y JYC=JJJJ&K Yy)7@7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027680.023165 s, next control iter: 1743027680.383183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743027680.403165 s.&G~,xAJ"J*J2J:JBJnJvJA)\j@A^aj@A8/[~? A:GATE&"AA.pNA"AZAbAjArAzAAAc&@A%%ѺTqAA9AUAu?Af?AF?Akb*A<2A}::A BA<JA}:RA ٘i)I9Y JJJJ&K Yy B77{797)ZZZBZL?YY*W2W WWW"W ) )FFF]p:Waiting for Gazebo time sync: latest Gz time: 1743027680.423165 s, next control iter: 1743027680.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1179", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027680.823165 s. G~,-4xAAq= ףl@A;l@AQ/[~? AFAYE&"AA/pNA"AZAbAjArAzAAA͵&@ATqAAݙ׹AA*r?Af?AC?AD|@*A<2Ağ::ABA<JAğ:RA٘i)I9Y JJJ1DJ&K Yy7b7V7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027680.863165 s, next control iter: 1743027681.223179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027681.243165 s.G~,iOxAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200152 time: 1743027681.243284F (some fields omitted in printout)J"J*J2J:JBJnJvJAQn@Aùm@Aj/[~? AFAb^E&"AAI/pNA"AZAbAjArAzAAA0\.5&@A@hlTqAξA\AසA#o?Af?A A?A1R3*Aպ<2A::A$^BAպ<JA:RA$^٘i)I9Y J32<JJJJ&K Yy777=s7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027681.283165 s, next control iter: 1743027681.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027681.663165 s.G~,qjxAtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1180, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)Ap@AY-o@A/[~? AzFABcE&"AAr/pNA"AZAbAjArAzAAA/&@AuETqAξAA2A8m?A@f?A>?AD3*Aº<2A::ADBAº<JA:RADYyc?o?y+rbٓHaz?`@l z?`K?*t?@S?)yc? I٘i)I9Y J[3C=J5CJJJ&KK Yy{7Z7鏜7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027681.683165 s, next control iter: 1743027682.063184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743027682.083165 s.D!G~,RxAJ"J*J2J:JBJnJvJAHzq@AY+Eq@A/[~? A:FA!hE&"AA/pNA"AZAbAjArAzAAA6&@AtTqAξA!?AZAl?AHf?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199812 time: 1743027682.503260F (some fields omitted in printout)A(\s@Agr@A/[~? AEAmE&"AA/pNA"AZAbAjArAzAAAZ7b&@A53SqAA#9APAl?A&f?A9?A[2*Aߚ<2AW::ANBAߚ<JAW:RAN٘i)I9Y JJJJ&K Yyb77?ɜ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027682.543165 s, next control iter: 1743027682.903174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1181, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027682.923165 s.5.G~,xAJ"J*J2J:JBJnJvJAףp= u@At@A/[~? AEAqE&"AA/pNA"AZAbAjArAzAAA@&@AkSqAA4o:AAl?Af?A57?ACIr*AC<2AX4::AKYBAC<JAX4:RAKY٘i)I9Y JJJJ&K Yy B7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027682.963165 s, next control iter: 1743027683.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027683.343165 s.<5G~,xAAQv@AQOv@A/[~? A{EAvE&"AA0pNA"AZAbAjArAzAAABtŔ&@ASqAξAɢ:AɷAk?Af?A4?A$ϳ*As<2A::AQBAs<JA:RAQ٘i)I9Y J-K<JJJJ&K  7Y 7y77777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027683.383165 s, next control iter: 1743027683.743178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1182&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027683.763165 s.7;G~,xAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743027683.763290F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffffx@Al<*w@A0[~? A;EA{E&"AAC0pNA"AZAbAjArAzAAAo .&@ASqA ξAþw:A}AWi?Af?A@J2?A*AQ`<2A::A2BAQ`<JA:RA2Y [?Xg?yy)Bx:ٓH?@Pz??SB`t? N? ?) [? I٘i)I9Y JQB=JS6JJJ&K Yy7B7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027683.803165 s, next control iter: 1743027684.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027684.183165 s.BG~,k yAAGzz@A y@A0[~? ADAvE&"AAm0pNA"AZAbAjArAzAAAFR&@A;[SqAA39AXAf?A+f?A/?Av*AL<2AN::ABAL<JAN:RA٘i)I9Y JJJJ&K Yyŧ7b7;7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027684.223165 s, next control iter: 1743027684.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027684.603165 s.64IG~,&yAJ"J*J2J:JBJnJvJA(\{@ASu8Z{@A50[~? ADARE&"AA0pNA"AZAbAjArAzAAAEVݢ`&@A܁4SqAA~4AoAb?A`Vf?A@[-?AƖy*A9<2A#::AͿBA9<JA#:RAͿ٘i)I9Y JJJ2DJ&K Yy77X7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027684.623165 s, next control iter: 1743027685.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1183 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027685.023165 s.ZPG~,{AyAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743027685.023281F (some fields omitted in printout)A= ףp}@AZ}@AN0[~? A{DA-E&"AA0pNA"AZAbAjArAzAAAc2>&@A& SqAξA{AA`?Af?A*?A3*AT&<2A!::ABAT&<JA!:RA٘i)I9Y J02<JJJJ&K Yy7777Au7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027685.043165 s, next control iter: 1743027685.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743027685.443165 s.2VG~,)]\yAJ"J*J2J:JBJnJvJAQ@AV~@Ag0[~? AwyAÀ@A>z}d@A0[~? ACAE&"AA1pNA"AZAbAjArAzAAA.˪,&@A :RqAξAAHA;^?A` f?A &?A3*Au<2A::A)BAu<JA:RA)YR?2_?yG ٓH? |y??2 !t?`=?)R? I٘i)I9Y JW3B=J,uJJJ&K, Yy77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027685.903165 s, next control iter: 1743027686.263174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743027686.283165 s.8RdG~,yAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199632 time: 1743027686.283284F (some fields omitted in printout)AGz@A|%@A0[~? ACAE&"AA>1pNA"AZAbAjArAzAAA<"}&@A3RqAA9A`A`^?A@f?A#?A/m2*A<2AŰ::ABA<JAŰ:RA٘i)I9Y JJJJ&K Yy77A˝7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027686.323165 s, next control iter: 1743027686.683178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1185*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout)0)0 rAdjusting time to match Gazebo time: 1743027686.703165 s.պjG~, yAA\(@AG@A0[~? A}CAE&"AAh1pNA"AZAbAjArAzAAASB_&@A58'rRqAξAT/:AGA^?A@f?A"!?A*Aع<2AZ::A(BAع<JAZ:RA(٘i)I9Y J\<JJJJ&K Yy7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027686.723165 s, next control iter: 1743027687.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027687.123165 s.:qG~,iyAJ"J*J2J:JBJnJvJAp= ׅ@A4n@A0[~? A=CApE&"AA1pNA"AZAbAjArAzAAAWV&@AnMKRqAξAt:AA\?A`f?A?A5Գ*A)Ź<2A::A BA)Ź<JA:RA ٘i)I9Y JoC=JJJJ&K  7Y 7y77{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027687.163165 s, next control iter: 1743027687.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027687.543165 s.IxG~,yAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199762 time: 1743027687.543265F (some fields omitted in printout)AQ@AN»@A0[~? ABAHE&"AA1pNA"AZAbAjArAzAAȂ&@APx$RqA ξA;;:AAZ?A f?A>?AO³*A豹<2A::AvBA豹<JA:RAv٘i)I9Y JgJJJJ&K Yy777B!7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]r:Waiting for Gazebo time sync: latest Gz time: 1743027687.563165 s, next control iter: 1743027687.943174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1186, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027687.963165 s.w~G~,yAJ"J*J2J:JBJnJvJA33333@AIʈ@A0[~? ABA E&"AA1pNA"AZAbAjArAzAAA[~+&@AZuQqAA4AvAV?Af?A?A`?y*A<2AO::ACBA<JAO:RACYJ?V?yvٓH Ғ?@Ny??5t?@&" ?)J? I٘i)I9Y Jx6JJJ&K@ Yy B7=7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027688.003165 s, next control iter: 1743027688.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027688.383165 s.؅G~,#zAA{Gኒ@Afx@A1[~? A~BAE&"AA2pNA"AZAbAjArAzAAAkil&@AnQqAAqApAhS?Af?A Y?Aݺ1*A<2A+::ABA<JA+:RA٘i)I9Y JJJJ&K Yy77Z7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027688.423165 s, next control iter: 1743027688.783177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1187", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027688.803165 s.sAG~,jg3zAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200242 time: 1743027688.803290F (some fields omitted in printout)A(\@Ah%&@A21[~? A?BAϵE&"AA82pNA"AZAbAjArAzAAA]&@AuQqAξA̢AAQ?A"f?A?A.t3*ARx<2A::ALﾺBARx<JA:RALﾺ٘i)I9Y J,2<JJJ3DJ&K Yyb7Cw7)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027688.843165 s, next control iter: 1743027689.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027689.223165 s.gG~,HNzAA ףp=@AՍ@AK1[~? AAAE&"AAb2pNA"AZAbAjArAzAAAT0D&@AtLQqAξAuA߷AP?Af?A`{?Ay4*A e<2A։::A}徺BA e<JA։:RA}徺٘i)I9Y J_3C=JJJJ&K Yy77)ZZZBZL?YY*W2W WWW"W ) )l*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027689.243165 s, next control iter: 1743027689.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027689.643165 s.tЙG~,)izAJ"J*J2J:JBJnJvJAR돒@A;@Ad1[~? AAA{E&"AA2pNA"AZAbAjArAzAAA !t&@ACbQqAξAD$A&AP?A@f?A?A3*AQ<2AZg::A,ﾺBAQ<JAZg:RA,ﾺ٘i)I9Y JX3JJJJ&K Yy77777)ZZZBZL?YY*W2W WWW"W ) )FFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1188, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743027689.663165 s, next control iter: 1743027690.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027690.063165 s.G~,R zAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743027690.063293F (some fields omitted in printout)A@AR =1@A~1[~? AAAQE&"AA2pNA"AZAbAjArAzAAAtY)&@Ak9;QqAAǡ7:AWA!P?A f?A ?A*AV><2AB::ABAV><JAB:RAYWB?N?yU-8:ٓH?@@؄@Fy?@? :?"t?8F??)WB? I٘i)I9Y JÄJJJ&K Yy{7E͞7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027690.103165 s, next control iter: 1743027690.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027690.483165 s.r_G~,zAJ"J*J2J:JBJnJvJAzG@Aiߒ@A1[~? AAAA%E&"AA2pNA"AZAbAjArAzAAAƙ&@A?QqAξAם:A\AO?A f?A8 ?AV*A +<2A'::AuBA +<JA':RAu٘i)I9Y Ja<JJJJ&K Yy Bŧ7ŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027690.503165 s, next control iter: 1743027690.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1189, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027690.903165 s.ȭG~,͹zAA)\@A@A1[~? AAAE&"AA 3pNA"AZAbAjArAzAAAӢCL\&@A@bPqAξA0B:A0AM?A`f?A@?AvƳ*A<2A-::A~澺BA<JA-:RA~澺٘i)I9Y J^C=JJJJ&K  7Y 7y)77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027690.943165 s, next control iter: 1743027691.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027691.323165 s.uG~,!zAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743027691.323290F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף@AY5s;@A1[~? A@AE&"AA33pNA"AZAbAjArAzAAA\̓&@A+PqA ξA)9A緃AJ?A`f?A\?A޷*A<2A::ABA<JA:RA٘i)I9Y JpJJJJ&K Yyŧ7b7D#7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027691.363165 s, next control iter: 1743027691.723175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1190&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027691.743165 s.WG~,izAAQ@Ag闒@A1[~? A@AE&"AA]3pNA"AZAbAjArAzAAAe&@A)PqAAAA@G?Af?A?A^*A<2A%::ABA<JA%:RA٘i)I9Y JJJJ&K Yy?7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027691.783165 s, next control iter: 1743027692.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027692.163165 s.z}G~,q {AJ"J*J2J:JBJnJvJA@A7̗@A1[~? AC@AtE&"AA3pNA"AZAbAjArAzAAAHV8(&@A\zPqAAu%AADD?A@f?A`?A 2*A޸<2A(::A`XBA޸<JA(:RA`XYG:?F?yqٓH ? x??@*t?@R?)G:? I٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 236Jy6JJJ&Kz Yy{7j7\7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027692.203165 s, next control iter: 1743027692.563182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743027692.583165 s.G~,R%{AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743027692.583286F (some fields omitted in printout)AHz@AsGE@A2[~? A@AGE&"AA3pNA"AZAbAjArAzAAA.&@A+SPqAξALAAiB?Af?A?A=3*A˸<2A3::Ap>BA˸<JA3:RAp>I٘i)I9Y J 2 <J JJ 4DJ&K Yy  B )7 b7 Wy7)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] ; Waiting for Gazebo time sync: latest Gz time: 1743027692.643165 s, next control iter: 1743027692.983176 s, wait time: 0.340011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1191 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027693.003165 s. G~,4@{AJ"J*J2J:JBJnJvJA(\@AY;@A/2[~? A?AE&"AA3pNA"AZAbAjArAzAAA4NZ&@Ao-PqAξAT8AAA?A_f?A?A03*Af<2A ::A%<BAf<JA :RA%<٘i)I9Y J3C=JQ>JJJ&K> Yyŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027693.043165 s, next control iter: 1743027693.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027693.423165 s.uG~,[{AAףp= @ACiޡ@AH2[~? A?AE&"AA4pNA"AZAbAjArAzAAA4<&@AK|PqAξAC 9AAA?A8f?AF?A3*A-<2A݊::A IBA-<JA݊:RA I٘i)I9Y Jl3JQ>JJJ&K> Yy)7ŧ77)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027693.463165 s, next control iter: 1743027693.823177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1192, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027693.843165 s.G~,u{AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200142 time: 1743027693.843290F (some fields omitted in printout)AQ@A=O@Aa2[~? AF?AE&"AA-4pNA"AZAbAjArAzAAA&@AҬ0OqAAit:A<AA?A-f?A?A= *A<2A1::ASBA<JA1:RAS٘i)I9Y JJJJ&K Yyb77Gϟ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027693.883165 s, next control iter: 1743027694.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027694.263165 s.G~, ؐ{AAfffff@A`#I@Az2[~? A?AE&"AAW4pNA"AZAbAjArAzAAA.&&@APOqAξAm:AYA@?Af?A w?A*A~<2A::A MBA~<JA:RA MY1?8>?yS:ٓH!?`` уx? ?D"t?`mUT?`?)1? I٘i)I9Y J]<JwJJJ&KY Yyj7Z77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027694.303165 s, next control iter: 1743027694.663175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1193., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027694.683165 s.lG~,N{AJ"J*J2J:JBJnJvJAGz@A>Z1@A2[~? A>A[E&"AA4pNA"AZAbAjArAzAAAIe&@A OqAξA,r:AIA>?A@/f?A ?A*Ak<2Am::A.BAk<JAm:RA.٘i)I9Y J]C=JJJJ&K  7Y 7yŧ777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027694.683165 s, next control iter: 1743027695.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743027695.103165 s.G~,{AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200292 time: 1743027695.103329F (some fields omitted in printout)A(\¥@A;Z@A2[~? A>A*E&"AA4pNA"AZAbAjArAzAAAԨYY&@AE4!4lOqA ξAr9AAU;?A8f?A?Al*AX<2A.::ABAX<JA.:RA٘i)I9Y JgJJJJ&K Yy B)7)7I%7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027695.143165 s, next control iter: 1743027695.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027695.523165 s.G~,{{AJ"J*J2J:JBJnJvJA= ףp@A'L@A2[~? AI>AF&"AA4pNA"AZAbAjArAzAAAs&@A8EOqAAr;A߷A7?AWf?A8?A *AE<2Aݫ::A@˽BAE<JAݫ:RA@˽٘i)I9Y JJJJ&K Yy77A7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027695.563165 s, next control iter: 1743027695.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1194, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027695.943165 s.XdG~,B]{AAQ@A]wb@A2[~? A >AF&"AA4pNA"AZAbAjArAzAAA&@An=](OqAAXAAR5?Af?A`?AM3*A3<2Ad::ABA3<JAd:RA٘i)I9Y JJJJ&K Yy7^7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027695.963165 s, next control iter: 1743027696.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027696.363165 s.G~,h>|AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199312 time: 1743027696.363266F (some fields omitted in printout)J"J*J2J:JBJnJvJA̪@A:rd@A2[~? A=A F&"AA(5pNA"AZAbAjArAzAAAZ%&@ANqAξATAA3?A@f?Aj?Af3*A <2AW::AޑBA <JAW:RAޑY)?:6?yٓH?`Ԉ\=x??* t?Q?))? I٘i)I9Y J.2<J[6JJJ&K? Yy7I{7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027696.383165 s, next control iter: 1743027696.763175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1195", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027696.783165 s.P G~,2|AAGz@AT@A3[~? A=AcF&"AAR5pNA"AZAbAjArAzAAA㰾&@AJ,NqAξA(<AA3?A`f?A ?Ae3*A <2Az::ABA <JAz:RA٘i)I9Y Ja3C=JJJ5DJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027696.823165 s, next control iter: 1743027697.183175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027697.203165 s.G~, M|AJ"J*J2J:JBJnJvJA\(@A6@A+3[~? AM=A0F&"AA{5pNA"AZAbAjArAzAAA]rW&@ANqAAh9AܷA3?A`f?A?A#3*A<2A>U::ABA<JA>U:RA٘i)I9Y JJJJ&K Yy77{77)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027697.243165 s, next control iter: 1743027697.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027697.623165 s.[G~,mg|AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743027697.623288F (some fields omitted in printout)Ap= ׯ@AUn@AE3[~? A=AF&"AA5pNA"AZAbAjArAzAAAF&@A-ANqAAI:AA3?Af?AA?Aw *A<2A"6::ABA<JA"6:RA٘i)I9Y JJJJ&K Yy Bŧ7b7LѠ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027697.663165 s, next control iter: 1743027698.023183 s, wait time: 0.360018 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1196 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027698.043165 s. G~,Â|AJ"J*J2J:JBJnJvJAQ@Aũ@A^3[~? A<AF&"AA5pNA"AZAbAjArAzAAA-6&@AOh^NqAξA]:ACA2?Af?Aߖ?A`x*Aӷ<2AM%::ABAӷ<JAM%:RA٘i)I9Y J+˲<JJJJ&K Yy7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027698.083165 s, next control iter: 1743027698.443176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027698.463165 s.R'G~,פ|AA33333@Ahʲ@Aw3[~? A<A$F&"AA5pNA"AZAbAjArAzAAA:#&@A_e8NqAA~4:ANAe/?A@\f?Awݖ?A*A<2A$::AuBA<JA$:RAuY!?-?yKa'5:ٓH#?w?:?n>!t?F??)!? I٘i)I9Y JQJJJ&K  7Y 7y77 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027698.503165 s, next control iter: 1743027698.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1197, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027698.883165 s.y-G~,D|AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200202 time: 1743027698.883298F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gᴒ@Ax@A3[~? AQ<A^)F&"AA"6pNA"AZAbAjArAzAAA*&@A NqA ξAPs1A:A,?A{f?A`ۖ?A_}q*AD<2A+::AqCBAD<JA+:RAqC٘i)I9Y Ja<JJJJ&K Yy)7ŧ7K'7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027698.923165 s, next control iter: 1743027699.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027699.303165 s.S4G~,jg|AA(\@AK8&@A3[~? A<A(.F&"AAL6pNA"AZAbAjArAzAAAlV&@A w?MqAA)wAA(?Azf?Aؖ?AZ*A|<2A|1::ABA|<JA|1:RA٘i)I9Y JJJJ&K Yyŧ7b7C7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027699.343165 s, next control iter: 1743027699.703177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1198., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027699.723165 s.J "J *J 2J :J BJ ;G~nJvJ,H|AA ףp=@A歺շ@A3[~? A;A2F&"AAv6pNA"AZAbAjArAzAAA7&@A:MqAξAA緃A&?A`f?AH֖?AZ3*A<2A+::ABA<JA+:RA򼺙٘i)I9Y Jc3JJJJ&K Yy77`7)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743027699.743165 s, next control iter: 1743027700.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027700.143165 s.T/BG~,) }AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200002 time: 1743027700.143289F (some fields omitted in printout)AR빒@A3333@A3[~? A;A7F&"AA6pNA"AZAbAjArAzAAA[ &@A{ޞMqAξAoAA%?Aaf?A Ӗ?A3*Au<2A::AE鼺BAu<JA:RAE鼺٘i)I9Y J\3C=JJJJ&K Yy Bb7M}7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027700.163165 s, next control iter: 1743027700.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027700.563165 s.HG~,A $}AJ"J*J2J:JBJnJvJA@AZ[1@A3[~? AV;A}AAzG@A#ng߼@A4[~? A;AMAF&"AA6pNA"AZAbAjArAzAAAFe&@A3RMqAA/>:AƷA%?A )f?A@+ϖ?A̽*AO<2A~Ή::AXBAO<JA~Ή:RAX٘i)I9Y JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027701.023165 s, next control iter: 1743027701.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027701.403165 s.&VG~,Y}AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199832 time: 1743027701.403302F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\@A-c@A(4[~? A:AFF&"AA7pNA"AZAbAjArAzAAA'ىT&@A4+MqAξAe:A󷃽A%?Af?A@̖?ABD*A=<2Aʳ::ABA=<JAʳ:RA٘i)I9Y J.˲<JJJJ&K YyMӡ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027701.423165 s, next control iter: 1743027701.803175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1200, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)$)$ rAdjusting time to match Gazebo time: 1743027701.823165 s.\G~,Kt}AAq= ף@A.Ui;@AB4[~? A:AJF&"AAF7pNA"AZAbAjArAzAAABs>&@AMqAAJD:A A0#?Af?Akʖ?Ap*A9*<2A::A缺BA9*<JA:RA缺٘i)I9Y JJJJ&K Yy)7ŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027701.863165 s, next control iter: 1743027702.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027702.243165 s.cG~,\}AJ"J*J2J:JBJnJvJAQ’@A[@A[4[~? A[:AOF&"AAp7pNA"AZAbAjArAzAAA&@A{YPLqA ξAQ9A?A3 ?Af?A Ȗ?A_*A<2A::ABA<JA:RA٘i)I9Y Ja<JJJJ&K  7Y 7y{7{7 7)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027702.263165 s, next control iter: 1743027702.643173 s, wait time: 0.380008 s rAdjusting time to match Gazebo time: 1743027702.663165 s.jG~,q}AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199822 time: 1743027702.663296F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1201, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)AĒ@A3Ò@At4[~? A:AiTF&"AA7pNA"AZAbAjArAzAAAn &@A LqAAaAKA?Af?AŖ?A*A<2A ::ABA<JA :RAYv??yJٓH ?@ه@g3w?? 1!t?,>?)v? I٘i)I9Y J4JJJ&K! Yy Bb77P)7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027702.683165 s, next control iter: 1743027703.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027703.083165 s.DqG~,R}AJ"J*J2J:JBJnJvJAHzŒ@Ag EŒ@A4[~? A9A/YF&"AA7pNA"AZAbAjArAzAAAFލ"&@AWg̒LqAξA쑺A@A?Avf?A GÖ?A(g2*A5<2A~::A^BA5<JA~:RA^٘i)I9Y Ja3JJJJ&K Yy77E7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027703.123165 s, next control iter: 1743027703.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027703.503165 s.wG~,P4}AA(\ǒ@AHcƒ@A4[~? A9A]F&"AA7pNA"AZAbAjArAzAAAcyS&@A#lLqAA䜺AA?A@f?A?AÓ3*A߶<2A::AEBA߶<JA:RAE٘i)I9Y JJJJ&K Yy777b7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027703.543165 s, next control iter: 1743027703.903182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1202, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027703.923165 s.5~G~,}AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199772 time: 1743027703.923265F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= ɒ@AƾdȒ@A4[~? A`9AbF&"AA8pNA"AZAbAjArAzAAAb &@Aj]YFLqAξA1A췃A}?Af?A`?A 3*A̶<2A::A#DBA̶<JA:RA#D٘i)I9Y J]3JJJJ&K Yyb77P7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027703.963165 s, next control iter: 1743027704.323176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027704.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743027705.183272F (some fields omitted in printout)AGzΒ@AOT6͒@A 5[~? A8AqF&"AA8pNA"AZAbAjArAzAAAޟ&@A KqAξA:A׷A?A1f?A~?Aw*Aa<2AM4::ARBAa<JAM4:RAR٘i)I9Y J,˲<JJJJ&K Yy Bŧ7b7Rբ7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027705.223165 s, next control iter: 1743027705.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027705.603165 s.74G~,f~AJ"J*J2J:JBJnJvJA(\ϒ@AI2Zϒ@A%5[~? Af8AuF&"AA8pNA"AZAbAjArAzAAAGQ&@AIСKqA ξAol:AA;?Af?A !?Ab*A<2A.::A3BA<JA.:RA3٘i)I9Y JgC=JJJJ&K Yy7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027705.643165 s, next control iter: 1743027706.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1204 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027706.023165 s.ZG~,{~AA= ףpђ@AN Iђ@A?5[~? A(8AzF&"AA8pNA"AZAbAjArAzAAA:.)&@Avd}KqAA8A&A?Af?A ò?A:&*A5o<2A4::ABA5o<JA4:RA٘i)I9Y JJJJ&K  7Y 7y77{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027706.063165 s, next control iter: 1743027706.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027706.443165 s.5æG~,5]~AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199582 time: 1743027706.443283F (some fields omitted in printout)AQӒ@AqҒ@AX5[~? A7ALF&"AA9pNA"AZAbAjArAzAAAQv&@Ae]aKqAAAAAKA ?A@f?Ae?AZ*A\<2Ag<::AһBA\<JAg<:RAһ٘i)I9Y JJJJ&K YyZ7Z7R+7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027706.463165 s, next control iter: 1743027706.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1205, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027706.863165 s.+G~,>~AAԒ@AvdԒ@Aq5[~? A7A F&"AA:9pNA"AZAbAjArAzAAA g&@A+A;KqAξAA*AZA ?A Hf?A ?A~?3*A#J<2A:::ABA#J<JA::RAYS? ?yS~ٓH?@v??``("t?GS?)S? I٘i)I9Y J+2<J20JJJ&K Yy{7G7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027706.903165 s, next control iter: 1743027707.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027707.283165 s.4RG~,~AJ"J*J2J:JBJnJvJAGz֒@A_Ӄ֒@A5[~? Al7AΈF&"AAd9pNA"AZAbAjArAzAAAVړ&@Aw&)KqAξA#UAFA ?A@f?Aఫ?A3*A7<2AY)::ABA7<JAY):RA٘i)I9Y Jd3C=JJJJ&K Yy77d7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027707.323165 s, next control iter: 1743027707.683176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1206*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027707.703165 s.ںG~,!~AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199752 time: 1743027707.703297F (some fields omitted in printout)A\(ؒ@A9 ג@A5[~? A.7AF&"AA9pNA"AZAbAjArAzAAA]nP&@AӒJqAAѹAA ?A f?A Z?Ar3*A$<2A< ::A֡BA$<JA< :RA֡٘i)I9Y JJJJ&K Yy BT7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027707.723165 s, next control iter: 1743027708.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027708.123165 s.J "J *J 2J :J @G~BJ,AnJvJAp= ْ@ASnْ@A5[~? A6ANF&"AA9pNA"AZAbAjArAzAAA˷&@A[JqAA:9AA ?Af?A@?A.+*A*<2A::ABA*<JA:RA٘i)I9Y JJJJ&K Yyŧ7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027708.163165 s, next control iter: 1743027708.523188 s, wait time: 0.360023 s rAdjusting time to match Gazebo time: 1743027708.543165 s.IG~,"AAQے@Aے@A5[~? A6AF&"AA9pNA"AZAbAjArAzAAA &@AJqAξAO:AѷA[ ?A f?A ?Aw*A<2ALj::AIBA<JALj:RAII٘i)I9Y J.˲<JJJ8DJ&K YySI7SI77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027708.583165 s, next control iter: 1743027708.943175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1207, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027708.963165 s.G~, =AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200142 time: 1743027708.963331F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333ݒ@Ai;ܒ@A5[~? As6A̛F&"AA :pNA"AZAbAjArAzAAAM7&@AB|JqA ξA=:AʷA?Af?AV?A>*A<2A::ABA<JA:RAY?a?yķ:ٓH ?$)v?`&? /Ct? S??)? I٘i)I9Y JIB=J!*6JJJ&K Yyŧ7b7Wף7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027709.003165 s, next control iter: 1743027709.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027709.383165 s.G~,#XAA{Gޒ@A xޒ@A 6[~? A56AF&"AA5:pNA"AZAbAjArAzAAA"hw&@A FVJqAA-:AݷA5?A f?A@?A]*Aڵ<2A ::A~BAڵ<JA :RA~٘i)I9Y JJJJ&K Yy77j77)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027709.423165 s, next control iter: 1743027709.783175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1208", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027709.803165 s.sAG~,jgsAJ"J*J2J:JBJnJvJA(\@A'@A"6[~? A5AIF&"AA^:pNA"AZAbAjArAzAAAHڼN&@A&0JqAAJPAA?A f?A`?A&*Aȵ<2A::A1LBAȵ<JA:RA1L٘i)I9Y JJJJ&K  7Y 7y777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027709.843165 s, next control iter: 1743027710.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027710.223165 s.gG~,HAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743027710.223270F (some fields omitted in printout)A ףp=@Aw@A;6[~? A5AF&"AA:pNA"AZAbAjArAzAAA &@AC JqAAk,|A=A?Af?AJ?AXV2*A<2AtĈ::ADBA<JAtĈ:RAD٘i)I9Y JJJJ&K Yy B77S-7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027710.263165 s, next control iter: 1743027710.623175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027710.643165 s.rG~,)AJ"J*J2J:JBJnJvJAR@A'L5@AU6[~? Az5AîF&"AA:pNA"AZAbAjArAzAAA% [&@AZIqAξAZ}AaA?Af?A?AN3*AC<2A::ABAC<JA:RA٘i)I9Y Je2C<JJJJ&K Yy77J7)ZZZBZL?YY*W2W WWW"W ) )FtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1209, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743027710.663165 s, next control iter: 1743027711.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027711.063165 s.G~,R AA@A$@1@An6[~? A<5AF&"AA:pNA"AZAbAjArAzAAAL&@A۽IqAξAiAbA?Ajf?A?AY3*A<2A6::A]BA<JA6:RA]Y,?{?y_qjٓH?@mcu?@D?+ $t? >M ?),? I٘i)I9Y Je3C=J8JJJ&Kw Yyj7j7f7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027711.103165 s, next control iter: 1743027711.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027711.483165 s.q_G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199332 time: 1743027711.483272F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG@A?-W@A6[~? A4A3*A2~<2A?::ABA2~<JA?:RA٘i)I9Y Ja3JJJJ&K Yy77V7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027711.523165 s, next control iter: 1743027711.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1210, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027711.903165 s.G~,AA)\@A(^e@A6[~? A4AF&"AA/;pNA"AZAbAjArAzAAA_T elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743027712.743289F (some fields omitted in printout)AQ@A[@A6[~? AC4AmF&"AA;pNA"AZAbAjArAzAAAa&@ASV'IqA ξAO7:AηA(?A f?A`U?Ac*AF<2A=::ABAF<JA=:RA٘i)I9Y J_JJJ9DJ&K Yy7777V٤7)ZZZBZL?YY*W2W WWW"W ) )k*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027712.783165 s, next control iter: 1743027713.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027713.163165 s.v}G~,qJAJ"J*J2J:JBJnJvJA@A8k@A6[~? A4A'F&"AA;pNA"AZAbAjArAzAAAV&@A),uIqAA)9AͷA(?A f?A?Ae]*Ar4<2ADA::AȺBAr4<JADA:RAȺY ?Y?y̷Ӈ9ٓH? 2`qׅzu??9t?#9??) ? I٘i)I9Y J.6JJJ&K Yyj7Z77)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027713.203165 s, next control iter: 1743027713.563176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027713.583165 s.G~,ReAAHz@A`"E@A7[~? A3AF&"AA;pNA"AZAbAjArAzAAA;8&@AԅHqAA A𷃽A?Af?A@?A*A-"<2AI::AVBA-"<JAI:RAV٘i)I9Y JJJJ&K  7Y 7y777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027713.623165 s, next control iter: 1743027713.983175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1212, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027714.003165 s.w G~,H4AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199642 time: 1743027714.003274F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A@A7[~? A3AF&"AA;pNA"AZAbAjArAzAAA?K'@AoHqAAA(A?A`f?A V?A$:3*A<2AK::AkBA<JAK:RAk٘i)I9Y JJJJ&K Yy77{7Z/7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027714.043165 s, next control iter: 1743027714.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027714.423165 s.u&G~,{AAףp= @As@A87[~? AK3ARF&"AA) elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199822 time: 1743027715.263276F (some fields omitted in printout)Afffff@AP@Ak7[~? A2AF&"AA| elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743027716.523317F (some fields omitted in printout)A= ףp@AR@A7[~? A2AF&"AA:GqAA8AͷA?Ajf?A(v?A} Z*A<2Ȧ::AdBA<JȦ:RAd٘i)I9Y JJJJ&K Yyb777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027716.983165 s, next control iter: 1743027717.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027717.363165 s.UG~,>WAJ"J*J2J:JBJnJvJA@Aaod@A7[~? A1APF&"AAL=pNA"AZAbAjArAzAAA'@AUGqAAzGAⷃA?Arf?A`s?AP;*Ao}<2Amԇ::A⹺BAo}<JAmԇ:RA⹺Yٖ?g?yසg"HٓHu?`g@l8t?@?@u,@t? H?)ٖ? I٘i)I9Y J6JJJ&K  7Y 7y B77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027717.383165 s, next control iter: 1743027717.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1216&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027717.783165 s.U[G~,rAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743027717.783272F (some fields omitted in printout)AGz@A@@A8[~? A\1AF&"AAv=pNA"AZAbAjArAzAAAͯ7'@A$aGqAAiџAAC?Af?A q?Al$3*ADk<2AW҇::A0BADk<JAW҇:RA0٘i)I9Y JJJJ&K Yy)7ŧ7Y17)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027717.803165 s, next control iter: 1743027718.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027718.203165 s.cG~,AJ"J*J2J:JBJnJvJA\(@AN)@A8[~? A1AG&"AA=pNA"AZAbAjArAzAAA>.H'@Am2 elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743027719.043311F (some fields omitted in printout)AQ@AW[@AN8[~? A0A G&"AA=pNA"AZAbAjArAzAAAvLvz'@AнFqAA:AsA߲?Af?A`j?Aʭ1*Ak4<2A~::AtĹBAk4<JA~:RAtĹ٘i)I9Y JJJJ&K Yy)7ŧ7Z7)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743027719.083165 s, next control iter: 1743027719.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027719.463165 s.QwG~,Ӥ݁AA33333@A!r@Ah8[~? Ae0AG&"AA>pNA"AZAbAjArAzAAA '@AFqAξA;=:A_A߲?Af?A`]h?Alʊ*A'"<2A`::AhɹBA'"<JA`:RAhɹYЖ?Cݲ?yZ܋:ٓH v ?91mqt??A#t?@R??)Ж? I٘i)I9Y J\<J.JJJ&K Yyj7j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027719.483165 s, next control iter: 1743027719.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1218, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027719.883165 s.y}G~,DAJ"J*J2J:JBJnJvJA{G@AUlx@A8[~? A(0AG&"AAF>pNA"AZAbAjArAzAAA#'@ACsFqAξAv:A2A)޲?Af?Af?AE*A<2AQ::A︹BA<JAQ:RA︹٘i)I9Y JmC=JJJJ&K Yy B777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027719.923165 s, next control iter: 1743027720.283175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027720.303165 s.SG~,jgAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199702 time: 1743027720.303274F (some fields omitted in printout)A(\ @AMG' @A8[~? A/A7G&"AAp>pNA"AZAbAjArAzAAA#"ZF '@AprFqA ξA* ':AAu۲?A/f?Ac?A*A<2A{Q::ABA<JA{Q:RA٘i)I9Y JcJJJJ&K Yyb7b7\ݦ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027720.323165 s, next control iter: 1743027720.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1219*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027720.723165 s.J "J *J 2J :J BJ G~nJ,H.AvJA ףp= @AI/ @A8[~? A/AG&"AA>pNA"AZAbAjArAzAAAӸ, '@A>9ZFqA!ξASpA޷Aز?A>f?A wa?AgI*A<2AY::A`BA<JAY:RA`٘i)I9Y JWB=JJJ;DJ&K Yy7777 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027720.743165 s, next control iter: 1743027721.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027721.143165 s.U/G~,*IAAR @A5+- @A8[~? Ao/A$G&"AA>pNA"AZAbAjArAzAAA6x '@At¡4FqA ξA%xA㷃AԲ?A&f?A*_?AD2*Aٳ<2A^::AX2BAٳ<JA^:RAX2٘i)I9Y Ji3C=JJJJ&K  7Y 7y777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027721.163165 s, next control iter: 1743027721.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027721.563165 s.G~,[ dAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743027721.563296F (some fields omitted in printout)A@A8L4H1@A8[~? A1/AI)G&"AA>pNA"AZAbAjArAzAAAp  '@A"FqAξA "AAҲ?Ahf?A \?A}U3*Adz<2AW::ABAdz<JAW:RAY+ɖ?xղ?yxٓH ?`@f> t?e ?&t?CDT`?)+ɖ? I٘i)I9Y J]3J5JJJ&Kl Yy7ŧ7^37)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027721.603165 s, next control iter: 1743027721.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1220, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027721.983165 s.G~,~AAzG@A{_@A8[~? A.A-G&"AA?pNA"AZAbAjArAzAAAOQg '@AY~EqAξAdA1AҲ?Af?A`Z?AS3*A<2A&A::A BA<JA&A:RA ٘i)I9Y Jb3JJJJ&K Yy P7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027722.003165 s, next control iter: 1743027722.383176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027722.403165 s.&G~,͙AJ"J*J2J:JBJnJvJA)\@A Vj@A9[~? A.A2G&"AA@?pNA"AZAbAjArAzAAAD '@AxdEqAξAAZAҲ?Af?A`RX?AX3*Ax<2Au::ABAx<JAu:RA٘i)I9Y Jg3JJJJ&K Yy B77l7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027722.443165 s, next control iter: 1743027722.803176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1221, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027722.823165 s.G~,%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200272 time: 1743027722.823296F (some fields omitted in printout)Aq= ף@A+0du;@A29[~? Ay.AW7G&"AAi?pNA"AZAbAjArAzAAA-hi '@A[@jEqAξAJ:AtA+Ҳ?Af?A V?Ax*AI<2A::A &BAI<JA:RA &٘i)I9Y JdJJJJ&K YyZ7Z7]7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027722.843165 s, next control iter: 1743027723.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027723.243165 s.G~,`ςAJ"J*J2J:JBJnJvJAQ@A˜.@AK9[~? A;.A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200072 time: 1743027724.083290F (some fields omitted in printout)AHz@A)E@A~9[~? A-AaEG&"AA?pNA"AZAbAjArAzAAAL8y'@A`-EqAAu9AA̲?A f?A4O?AO@*A7[<2A=ކ::ACḺBA7[<JA=ކ:RACḺ٘i)I9Y JQ>JJJ&K> Yy777_ߧ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027724.123165 s, next control iter: 1743027724.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027724.503165 s.G~,/4 AA(\@Az@A9[~? A-AJG&"AA@pNA"AZAbAjArAzAAA=X elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200302 time: 1743027725.343319F (some fields omitted in printout)AQ@A:O@A9[~? A-AgSG&"AAc@pNA"AZAbAjArAzAAAp8u'@A"щDqAξAX[AAIJ?A@f?A]H?AD3*At%<2A.܆::A%oBAt%<JA.܆:RA%o٘i)I9Y Ju2C<JJJJ&K Yy7`57)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027725.383165 s, next control iter: 1743027725.743175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1224&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027725.763165 s.5G~,pAJ"J*J2J:JBJnJvJAfffff @A1#@A9[~? A,AXG&"AA@pNA"AZAbAjArAzAAA.y'@AxDqAξA'#AA3IJ?Af?AF?A?3*Al<2A::AoBAl<JA:RAoY7?Ų?y#ٓH@!? js?`.? L-t?uD?)7? I٘i)I9Y JS3B=J5V5JJJ&K Yyj7Z7 R7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027725.803165 s, next control iter: 1743027726.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027726.183165 s.G~,cAAGz"@An,(!@A9[~? A,A\G&"AA@pNA"AZAbAjArAzAAA&c'@AkrDqAA9AGA`IJ?Af?AC?A83*AZ<2A۝::A0}BAZ<JA۝:RA0}٘i)I9Y JJJJ&K Yy77j7n7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027726.223165 s, next control iter: 1743027726.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027726.603165 s.>4G~,̚AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200362 time: 1743027726.603324F (some fields omitted in printout)A(\#@A$@Z#@A:[~? AQ,AhaG&"AA@pNA"AZAbAjArAzAAA0@'@AD*MMDqAA:AiANIJ?A`f?A A?Az:*AO<2A}::A󆸺BAO<JA}:RA󆸺٘i)I9Y JJJJ&K Yy77a7)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743027726.643165 s, next control iter: 1743027727.003183 s, wait time: 0.360018 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1225 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027727.023165 s.ZG~,|AA= ףp%@ApDI%@A/:[~? A,AfG&"AA ApNA"AZAbAjArAzAAAA '@A3'DqAξA١:AtA9ò?A>f?AT??A#F*AXݲ<2Ai::AC~BAXݲ<JAi:RAC~٘i)I9Y J1˲<JJJJ&K Yy7)7 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027727.063165 s, next control iter: 1743027727.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027727.443165 s.2G~,)]܃AJ"J*J2J:JBJnJvJAQ'@A!y&@AH:[~? A+AjG&"AA3ApNA"AZAbAjArAzAAAá@s'@A DqA ξA`:AaA?Af?A`=?Aꟳ*A{˲<2Ae::A^BA{˲<JAe:RA^٘i)I9Y J\C=JJJJ&K Yy CZ7Z7Ĩ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027727.463165 s, next control iter: 1743027727.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1226, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027727.863165 s.+G~,u>AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199832 time: 1743027727.863265F (some fields omitted in printout)A(@A͎d(@Aa:[~? A+AeoG&"AA]ApNA"AZAbAjArAzAAAy Mr '@A 2CqAAL8A>A?Af?A:?Ak*A<2A\l::A0BA<JA\l:RA0Y=??y>3M8ٓH )?U`s?`K5?4 t?`ԕ ??)=? I٘i)I9Y JJJJ&K Yy{7j7d7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027727.903165 s, next control iter: 1743027728.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027728.283165 s.5RG~,AJ"J*J2J:JBJnJvJAGz*@Ao{*@Az:[~? A\+A tG&"AAApNA"AZAbAjArAzAAA'@A4d*ܷCqAAMAA]?Af?A`8?Asò*A駲<2As::ABA駲<JAs:RA٘i)I9Y JJJJ&K Yy77 7)ZZZBZL?YY*W2W WWW"W ) )FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743027728.323165 s, next control iter: 1743027728.683177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1227., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027728.703165 s.պ G~, -AA\(,@AG+@A:[~? A+AxG&"AAApNA"AZAbAjArAzAAAM\>'@A)qCqAAcA A㷲?Af?A A6?AB3*A<2ATq::A۷BA<JATq:RA۷٘i)I9Y JJJ=DJ&K  7Y 7y7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027728.723165 s, next control iter: 1743027729.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027729.123165 s.5G~,TGAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743027729.123271F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= -@AP÷n-@A:[~? A*A]}G&"AAApNA"AZAbAjArAzAAA7r''@A:mCqAξADA A?Af?A4?A3*A?<2A_::AͷBA?<JA_:RAͷ٘i)I9Y Jc2C<JJJJ&K Yy77c77)ZZZBZL?YY*W2W WWW"W ) )FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743027729.143165 s, next control iter: 1743027729.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027729.543165 s.IG~,bAAQ/@A/@A:[~? A*AG&"AABpNA"AZAbAjArAzAAAۥaq'@A8_GCqAξAgAA?A@f?A1?A3*ARr<2A@::AԷBARr<JA@:RAԷ٘i)I9Y J[3C=JJJJ&K Yy7T7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027729.563165 s, next control iter: 1743027729.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1228, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027729.963165 s.|G~,}AJ"J*J2J:JBJnJvJA333331@A0@A:[~? Ag*AG&"AA-BpNA"AZAbAjArAzAAAW! '@A_"CqAAW :A4A?Af?A@/?A;2*A``<2A::A/ⷺBA``<JA:RA/ⷺYI??y3 :ٓH u1?tȅ@r? elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199402 time: 1743027730.383275F (some fields omitted in printout)A{G2@Anx2@A:[~? A**ARG&"AAVBpNA"AZAbAjArAzAAA}'@A``dBqAξA:AWA_?Af?AF-?A ;*AzN<2A::A淺BAzN<JA:RA淺٘i)I9Y Ja<JJJJ&K Yyj7e7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027730.423165 s, next control iter: 1743027730.783175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1229", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027730.803165 s.xA,G~,gAJ"J*J2J:JBJnJvJA(\4@Ay"'4@A;[~? A)AG&"AABpNA"AZAbAjArAzAAA<'@AD$BqAA:AjAڴ?A f?A@+?A>*A<<2A::A2ַBA<<JA:RA2ַ٘i)I9Y JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027730.823165 s, next control iter: 1743027731.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027731.223165 s.g3G~,H΄AA ףp=6@A[z45@A+;[~? A)AG&"AABpNA"AZAbAjArAzAAA1'@AFxBqA ξAz:AhA!?A@:f?A(?Aulj*A*<2A'::ABA*<JA':RA٘i)I9Y J^JJJJ&K Yy77{7Ʃ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027731.243165 s, next control iter: 1743027731.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027731.643165 s.t9G~,)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200452 time: 1743027731.643319F (some fields omitted in printout)AR7@Aoض(7@AE;[~? As)ABG&"AABpNA"AZAbAjArAzAAA/?o'@A`2BqAAAXAȮ?ABf?A &?A@M*AI<2A^::ABAI<JA^:RA٘i)I9Y JJJJ&K Yyj7j7e7)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1230, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027731.683165 s, next control iter: 1743027732.043176 s, wait time: 0.360011 s) rAdjusting time to match Gazebo time: 1743027732.063165 s.@G~,V AA9@Awo19@A^;[~? A6)AG&"AABpNA"AZAbAjArAzAAAG%u'@A5{hBqAAӂADA?A f?A@B$?AK*A<2Al::ARBA<JAl:RARY?ϭ?y?jٓH9?@ꈿcr?`F?{( t?`ZP?)? I٘i)I9Y JrdJJJ&K  7Y 7y C7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027732.083165 s, next control iter: 1743027732.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027732.483165 s.p_GG~,}AJ"J*J2J:JBJnJvJAzG;@A\m:@Aw;[~? A(AG&"AA&CpNA"AZAbAjArAzAAAWϮ'@A`KCBqAξAA.A?AQf?A"?A53*A<2A::A6BA<JA:RA6٘i)I9Y J-2<JJJJ&K Yy7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027732.503165 s, next control iter: 1743027732.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1231, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027732.903165 s.MG~,9AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200282 time: 1743027732.903317F (some fields omitted in printout)A)\<@A=]<@A;[~? A(A.G&"AAPCpNA"AZAbAjArAzAAAr:'@AtBqAξA)^AAڨ?A f?A?Aұ3*A*<2AL::A/BA*<JAL:RA/٘i)I9Y Jm3C=JJJ>DJ&K Yy77e97)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027732.923165 s, next control iter: 1743027733.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027733.323165 s.sTG~,TAJ"J*J2J:JBJnJvJAq= ף>@A<|;>@A;[~? A(AѫG&"AAyCpNA"AZAbAjArAzAAAJ'@AAqAAAA?Af?A?Ak3*AXұ<2A::A:BAXұ<JA:RA:٘i)I9Y JJJJ&K Yy{7{7V7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027733.343165 s, next control iter: 1743027733.723176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1232&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027733.743165 s. W[G~,oAAQ@@A]N ?@A;[~? AC(AsG&"AACpNA"AZAbAjArAzAAA5Em'@A#knAqAAVP:A(A ?A of?AS?AdS*A<2A랅::A*GBA<JA랅:RA*G٘i)I9Y JJJJ&K Yy777r7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027733.783165 s, next control iter: 1743027734.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027734.163165 s.u}bG~,qAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199722 time: 1743027734.163265F (some fields omitted in printout)J"J*J2J:JBJnJvJAB@AA@A;[~? A(AG&"AACpNA"AZAbAjArAzAAA:/j'@AAqAξA/:ACAW?A`f?A ?AVg*AǮ<2A؆::AEBAǮ<JA؆:RAEYt??y<Z:ٓHA?@ӂ@t@ r?DJ?At?eT?`?)t? I٘i)I9Y J)˲<Jd3JJJ&Ke Yyŧ7b7g7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027734.203165 s, next control iter: 1743027734.563177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027734.583165 s.#hG~,3SAAHzC@A,EC@A;[~? A'AG&"AACpNA"AZAbAjArAzAAAda'@AUAqA ξA#Ƈ:AXAb?Af?A?A*A <2A~::A,BA <JA~:RA,٘i)I9Y J[C=JJJJ&K Yyb77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027734.623165 s, next control iter: 1743027734.983185 s, wait time: 0.360020 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1233, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027735.003165 s.| pG~,]4AJ"J*J2J:JBJnJvJA(\E@AD@A<[~? A'AXG&"AA DpNA"AZAbAjArAzAAA(ڱ8'@AudAqAA9AdA\?Af?A?Ahc*A<2A]::ABA<JA]:RA٘i)I9Y JJJJ&K Yy)7ŧ7Ȫ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027735.043165 s, next control iter: 1743027735.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027735.423165 s.uvG~,ۅAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199812 time: 1743027735.423275F (some fields omitted in printout)Aףp= G@AڧF@A(<[~? AP'AG&"AAIDpNA"AZAbAjArAzAAA'@A?_?AqAAvAhA?A@f?Aa?Ajn*Az<2AĊ::A;ѶBAz<JAĊ:RA;Ѷ٘i)I9Y JJJJ&K Yy{7j7h7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027735.463165 s, next control iter: 1743027735.823175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1234, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027735.843165 s.|G~,AJ"J*J2J:JBJnJvJAQH@AOH@AA<[~? A'AG&"AAsDpNA"AZAbAjArAzAAAx\k'@ArLAqAAAcA8?A wf?A$?A#2*Avh<2Aa::AߨBAvh<JAa:RAߨ٘i)I9Y JJJJ&K  7Y 7y)7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027735.883165 s, next control iter: 1743027736.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027736.263165 s.G~, AAfffffJ@AN I@A[<[~? A&A9G&"AADpNA"AZAbAjArAzAAAGD '@Ae=@qAξAAPA?Abf?A ?Aæ3*AV<2A::A1BAV<JA:RA1Yő??yJJٓHH?`E8Rq?`V?+&!t? 4S?)ő? I٘i)I9Y Jc2C<JQJJJ&KW Yy77j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027736.303165 s, next control iter: 1743027736.663176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1235., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027736.683165 s.lG~,R+AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199742 time: 1743027736.683270F (some fields omitted in printout)AGzL@AK6K@At<[~? A&AG&"AADpNA"AZAbAjArAzAAAv '@AQU2@qAξAA6A1?Af?A ?A#3*A0E<2Ad::AKBA0E<JAd:RAK٘i)I9Y Jd3C=JJJ?DJ&K Yyj7Z7h;7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027736.683165 s, next control iter: 1743027737.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743027737.103165 s.G~,FAA(\M@As9>ZM@A<[~? A]&AwG&"AADpNA"AZAbAjArAzAAA]Ѡ6!'@AQ*@qAAZk9A%Ad?AWf?A} ?A2*A{3<2AA::ABA{3<JAA:RA٘i)I9Y JJJJ&K Yy C77X7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027737.143165 s, next control iter: 1743027737.503184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743027737.523165 s.G~,{aAJ"J*J2J:JBJnJvJA= ףpO@A+OO@A<[~? A &AG&"AAEpNA"AZAbAjArAzAAA,]!'@AF'@qAξA:A&AP?AOf?AG?A$ *A!<2Ag"::A~BA!<JAg":RA~٘i)I9Y J^<JJJJ&K Yyt7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027737.563165 s, next control iter: 1743027737.923174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1236, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027737.943165 s.VdG~,:]|AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743027737.943276F (some fields omitted in printout)AQQ@AH|P@A<[~? A%AG&"AACEpNA"AZAbAjArAzAAA{9h"'@A'a@qA ξAf:A2A4?Af?A?Alj*A4<2Az::A桶BA4<JAz:RA桶٘i)I9Y JYC=JJJJ&K Yyl7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027737.983165 s, next control iter: 1743027738.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027738.363165 s.G~,y>AJ"J*J2J:JBJnJvJAR@A&dR@A<[~? A%AQG&"AAlEpNA"AZAbAjArAzAAA)#'@AI*<@qAA[:ADAԗ?A`Wf?A?Aq*A<2A ::AFBA<JA :RAFYĉ??yAw[:ٓH@nP?]N[q? Z? <` t?`v`K?@?)ĉ? I٘i)I9Y Jr+4JJJ&Kw YyZ7SI77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027738.403165 s, next control iter: 1743027738.763175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1237&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027738.783165 s.RG~,AAGzT@A\TT@A<[~? Aj%AG&"AAEpNA"AZAbAjArAzAAAEK #'@A+2@qAA'A7AYA?A If?A?A 1*AB<2A::ATBAB<JA:RAT٘i)I9Y JJJJ&K Yy77ʫ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027738.823165 s, next control iter: 1743027739.183175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027739.203165 s.G~, ͆AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.000000J4 buoyancyAction: 0.000955"J*J dt: 0.4200202J2 time: 1743027739.203289:JF (some fields omitted in printout)BJnJvJA\(V@A7U@A =[~? A.%AG&"AAEpNA"AZAbAjArAzAAAdUH4$'@A\JV=?qAASAoAY?A@=[~? A$AG&"AAFpNA"AZAbAjArAzAAAf%'@Aʎ^?qAAFAmAč?AKf?A@?AC3*A⸰<2Av::ABA⸰<JAv:RAI٘i)I9Y JJJJ&K Yy77 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027740.083165 s, next control iter: 1743027740.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027740.463165 s.PG~,ϤAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199432 time: 1743027740.463263F (some fields omitted in printout)A33333[@A{eZ@AW=[~? Ax$A]G&"AA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743027741.723315F (some fields omitted in printout)A ףp=`@A 8*_@A=[~? A#A+H&"AAFpNA"AZAbAjArAzAAAZ"''@AG?qA ξA(,:A)A?Af?A@*?A܍*Ar<2A՚::A6BAr<JA՚:RA6٘i)I9Y J[C=JJJJ&K Yy77n7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027741.743165 s, next control iter: 1743027742.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027742.143165 s.Y/G~,*AARa@A81$'a@A=[~? A#A H&"AAFpNA"AZAbAjArAzAAA7b:d('@AE b>qAA}:A2A9?A@f?A`?Ac*Aaa<2Aכ::AF׵BAaa<JAכ:RAF׵٘i)I9Y JJJJ&K Yy C7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027742.163165 s, next control iter: 1743027742.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027742.563165 s.G~,= AJ"J*J2J:JBJnJvJAc@A:1c@A=[~? AJ#A]H&"AA GpNA"AZAbAjArAzAAA'RX('@AZ3>qAASvAKAㅲ?Af?A?A!*AP<2A+::ABAP<JA+:RAY2z??yKƗٓH_?Sp? 2l?`/!t?@2?)2z? I٘i)I9Y J`4JJJ&K Yyŧ7̬7)ZZZBZL?YY*W2W WWW"W ) )FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027742.583165 s, next control iter: 1743027742.963174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1241, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027742.983165 s.G~,쾇AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200702 time: 1743027742.983349F (some fields omitted in printout)AzGe@A,F]kd@A=[~? A#AH&"AA5GpNA"AZAbAjArAzAAA|)'@AH>qAAaAmA؂?A f?A?A绘2*A><2A::A&{BA><JA:RA&{٘i)I9Y JJJJ&K Yyj7Z7o7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027743.003165 s, next control iter: 1743027743.383176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027743.403165 s.&G~,هAJ"J*J2J:JBJnJvJA)\f@Awhf@A>[~? A"AH&"AA_GpNA"AZAbAjArAzAAA/*'@A*Ox>qAξA6AA؀?A f?AU?AZ3*Ai-<2AT::A.`BAi-<JAT:RA.`٘i)I9Y Jc2C<JJJJ&K  7Y 7y777)ZZZBZL?YY*W2W WWW"W ) )FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027743.423165 s, next control iter: 1743027743.803176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1242, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027743.823165 s.G~,AAq= ףh@A+I;h@A!>[~? A"A%H&"AAGpNA"AZAbAjArAzAAA$*'@Ad\>qAξA'XAA?A@f?A %?A*3*A<2At::A[BA<JAt:RA[٘i)I9Y JX3C=JJJJ&K Yy"7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027743.843165 s, next control iter: 1743027744.223174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743027744.243165 s.G~,qAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200142 time: 1743027744.243287F (some fields omitted in printout)AQj@A[~? AY"A#H&"AAGpNA"AZAbAjArAzAAA a+'@A}7>qAAHoApA7?A f?A`?A03*A <2ANi::AfBA <JANi:RAf٘i)I9Y JJJJ&K Yyb7ŧ7n?7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027744.283165 s, next control iter: 1743027744.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027744.663165 s. G~,q*AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1243, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)Al@A1k@AT>[~? A"AR(H&"AAGpNA"AZAbAjArAzAAAu+'@A0>qAAV:AVAT?Af?A?Az*A<2AH::A4sBA<JAH:RA4sYMr?~?yS$W:ٓH@|g?n@Up?@q?`E<"t?]J?@?)Mr? I٘i)I9Y J\JJADJ&KZ Yy77\7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027744.683165 s, next control iter: 1743027745.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027745.083165 s.DG~,REAJ"J*J2J:JBJnJvJAHzm@Ac('Em@Am>[~? A!A,H&"AAHpNA"AZAbAjArAzAAA's,'@A߮^=qAξAw:A<A?A f?Aߕ?A/*A<2A0::AQpBA<JA0:RAQp٘i)I9Y J,˲<JJJJ&K Yy7777x7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027745.103165 s, next control iter: 1743027745.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027745.503165 s.G~,;4`AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200182 time: 1743027745.503304F (some fields omitted in printout)A(\o@An@A>[~? A!A~1H&"AA.HpNA"AZAbAjArAzAAA(--'@A:I=qA ξAw:A)A}?AIf?Agݕ?A*A`֯<2A(::A3WBA`֯<JA(:RA3W٘i)I9Y JpC=JJJJ&K Yy77o7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027745.543165 s, next control iter: 1743027745.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1244, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027745.923165 s.7G~,{AJ"J*J2J:JBJnJvJAףp= q@AA.qp@A>[~? Ah!A6H&"AAXHpNA"AZAbAjArAzAAAe<-'@AL=qA!ξAl9A(Az?Af?A5ە?AV*A'ů<2Am-::AH,BA'ů<JAm-:RAH,٘i)I9Y J]JJJJ&K Yyj7Z77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027745.943165 s, next control iter: 1743027746.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027746.343165 s.<%G~,AAQr@A؞YPr@A>[~? A,!A:H&"AAHpNA"AZAbAjArAzAAA&h*V_.'@A`1=qA ξA9yA@ABw?Af?Aٕ?A*A<2A5::ABA<JA5:RA٘i)I9Y JW3B=JJJJ&K Yyb77έ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027746.363165 s, next control iter: 1743027746.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1245&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout)()( rAdjusting time to match Gazebo time: 1743027746.763165 s.5+G~,ذAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199882 time: 1743027746.763290F (some fields omitted in printout)J"J*J2J:JBJnJvJAffffft@A!s@A>[~? A A[~? A ACH&"AAHpNA"AZAbAjArAzAAA4/'@A6=qAξAzAAr?Af?A@ԕ?AoT3*A<2A7*::ABA<JA7*:RA٘i)I9Y Jg3<JJJJ&K  7Y 7y C777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027747.223165 s, next control iter: 1743027747.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027747.603165 s.449G~,AJ"J*J2J:JBJnJvJA(\w@A\CZw@A?[~? Ax AcHH&"AAHpNA"AZAbAjArAzAAAY*0'@Aj%=qAξAqAAr?A`f?A@wҕ?A^3*A.<2A::AôBA.<JA:RAô٘i)I9Y JZ3C=JJJJ&K Yyb7$7)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743027747.623165 s, next control iter: 1743027748.003175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1246 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027748.023165 s.Z@G~,|AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743027748.023333F (some fields omitted in printout)A= ףpy@AzVy@A?[~? A< ALH&"AA'IpNA"AZAbAjArAzAAAU0'@A5~7AA|@AX;sd|@AP?[~? AAVH&"AAzIpNA"AZAbAjArAzAAA1'@A&l: elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743027749.283300F (some fields omitted in printout)AGz~@AB~@Aj?[~? AAZH&"AAIpNA"AZAbAjArAzAAAEH2'@AC elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743027750.543279F (some fields omitted in printout)AQ@Ao@A?[~? AA]hH&"AA JpNA"AZAbAjArAzAAA-0Z4'@A# elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743027751.803292F (some fields omitted in printout)A(\@As&@A@[~? A A vH&"AAJpNA"AZAbAjArAzAAAh:m%6'@A3D@;qAA:AApe?A`f?A@ż?AsE*A2Ԯ<2Arq::A<BA2Ԯ<JArq:RA<٘i)I9Y JJJJ&K Yyj7Z7uC7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027751.843165 s, next control iter: 1743027752.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027752.223165 s.gG~,HAA ףp=@A Չ@A@[~? AAzH&"AAJpNA"AZAbAjArAzAAAVs6'@AX;qAξAct:AA e?A/f?A?Aݯ*Aî<2A}V::Ah@BAî<JA}V:RAh@٘i)I9Y J_<JJJJ&K Yy Cŧ7b7`7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027752.263165 s, next control iter: 1743027752.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027752.643165 s.sЉG~,))AJ"J*J2J:JBJnJvJAR닓@A`q8@A4@[~? AA'H&"AAJpNA"AZAbAjArAzAAAḅvW7'@A >[;qA ξA8:AeAzc?A f?At?A%*A豮<2AI::A.BA豮<JAI:RA.٘i)I9Y J[C=JJJCDJ&K Yyb77|7)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1251, header.stamp.nsec: 0$ temperature: nan salinity: nanF, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743027752.663165 s, next control iter: 1743027753.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027753.063165 s.G~,c DAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200422 time: 1743027753.063318F (some fields omitted in printout)A@AY0G1@AM@[~? AmAH&"AAKpNA"AZAbAjArAzAAAPz7'@Ab6;qA!ξAڦ:ACA`?Af?AI?A'H*A䠮<2AWK::ABA䠮<JAWK:RAY@S?_?yB:ٓH@?`in?ǐ?8 t? 4B??)@S? I٘i)I9Y JaJ5JJJ&K YyS77v7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027753.103165 s, next control iter: 1743027753.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027753.483165 s.u_G~,^AJ"J*J2J:JBJnJvJAzG@A^I\ߎ@Af@[~? A1AAH&"AACKpNA"AZAbAjArAzAAA{d8'@At]J;qAAOئA3Af]?Af?A?A(*A폮<2AS::AسBA폮<JAS:RAس٘i)I9Y JJJJ&K Yyb77!7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027753.523165 s, next control iter: 1743027753.883174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1252, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027753.903165 s.ȝG~,yAA)\@AH`@A@[~? AA͌H&"AAlKpNA"AZAbAjArAzAAAFC"9'@AS:qA ξA:A=AfZ?Asf?A`?Aq2*A~<2A\X::AEBA~<JA\X:RAE٘i)I9Y Jd3<JJJJ&K Yy777ү7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027753.943165 s, next control iter: 1743027754.303176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027754.323165 s.tG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199822 time: 1743027754.323260F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף@Ak;@A@[~? AAYH&"AAKpNA"AZAbAjArAzAAAܚ9'@A3<JJJJ&K  7Y 7y{7{7. 7)ZZZBZL?YY*W2W WWW"W ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027754.803165 s, next control iter: 1743027755.143176 s, wait time: 0.340011 s rAdjusting time to match Gazebo time: 1743027755.163165 s.v}G~,qʊAJ"J*J2J:JBJnJvJA@AF'K@A@[~? ACApH&"AAKpNA"AZAbAjArAzAAA:'@Ax:qAAr7AAW?Af?A?A c3*AK<2A::A]BAK<JA:RA]YK?W?yPu7ٓH ?@N/n? t?`M2)t?@?>?)K? I٘i)I9Y JyQ>JJJ&K> Yyb7b7(7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027755.183165 s, next control iter: 1743027755.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027755.583165 s.G~,RAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200132 time: 1743027755.583303F (some fields omitted in printout)AHz@AvE@A@[~? AAH&"AALpNA"AZAbAjArAzAAAiȆ;'@AD(\:qAAv\:AAX?Af?A@`?A<Ȳ*A:<2A::ABA:<JA:RA٘i)I9Y JQ>JJJ&K> Yy77{7zE7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027755.623165 s, next control iter: 1743027755.983174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1254, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027756.003165 s.v G~,D4AJ"J*J2J:JBJnJvJA(\@A(@A@[~? AAH&"AA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743027756.843268F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Ai'O@A0A[~? ATAH&"AALpNA"AZAbAjArAzAAA|Q='@AGf 9qA!ξA9AXA:R?Af?A ?A {*A<2A:߂::A`BA<JA:߂:RA`٘i)I9Y JcJJJDDJ&K Yy Cb77x7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027756.863165 s, next control iter: 1743027757.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027757.263165 s.G~,PAAfffff@A$~@AIA[~? AA!H&"AALpNA"AZAbAjArAzAAA3='@A9qAA7gAFAN?A f?AƠ?Aռ*A<2A::A1BA<JA:RA1YC?1P?yD;ٓH`? ~} Kn?N?* t?C?)C? I٘i)I9Y Jf5JJJ&K Yy77$7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027757.303165 s, next control iter: 1743027757.663176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1256., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027757.683165 s.lG~,RkAJ"J*J2J:JBJnJvJAGz@AA"@AbA[~? AAH&"AALpNA"AZAbAjArAzAAAi̓>'@A/1`9qA ξA'AHA:L?Anf?Aࠞ?Aʵ3*A <2A::A BA <JA:RA ٘i)I9Y Ja3<JJJJ&K YyZ7Z7԰7)ZZZBZL?YY*W2W WWW"W ) )FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743027757.683165 s, next control iter: 1743027758.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743027758.103165 s.G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199712 time: 1743027758.103261F (some fields omitted in printout)A(\¡@A\QZ@A|A[~? AA1H&"AA MpNA"AZAbAjArAzAAA?'@A\9qAξAy敺AVAJ?A@Bf?A}?A3*Aխ<2Ahۂ::A/BAխ<JAhۂ:RA/٘i)I9Y JR3B=JJJJ&K Yyb77|7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027758.123165 s, next control iter: 1743027758.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027758.523165 s.G~,{AJ"J*J2J:JBJnJvJA= ףp@A!6X@AA[~? AfAH&"AA5MpNA"AZAbAjArAzAAAأ%?'@AK]9qAξA5*AkAjJ?A ]f?A\?AS73*A#ĭ<2A;::A BA#ĭ<JA;:RA ٘i)I9Y Jh3C=JJJJ&K  7Y 7yŧ7ŧ7&7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027758.543165 s, next control iter: 1743027758.923174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1257, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027758.943165 s.XdG~,B]AAQ@A#f@AA[~? A+A?H&"AA^MpNA"AZAbAjArAzAAA;EN@'@Az99qAA?59AAJ?A@!f?A=?A2*A<2AZ::A BA<JAZ:RA ٘i)I9Y JJJJ&K Yy)7*7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027758.983165 s, next control iter: 1743027759.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027759.363165 s.G~,y>׋AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199502 time: 1743027759.363276F (some fields omitted in printout)J"J*J2J:JBJnJvJA̦@AXᖏd@AA[~? AAH&"AAMpNA"AZAbAjArAzAAAg@'@A\E59qAξA2:AAJ?Af?A?A-'*A!<2An::ABA!<JAn:RAY elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743027760.623291F (some fields omitted in printout)Ap= ׫@ANDn@AB[~? A=AWH&"AANpNA"AZAbAjArAzAAA[VB'@AX, z8qA!ξA@4AmAC?Af?A`?Ae*Ao<2ABt::ABAo<JABt:RA٘i)I9Y J`<JJJEDJ&K Yyj7Z7|7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027760.663165 s, next control iter: 1743027761.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1259 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027761.043165 s.G~,BAJ"J*J2J:JBJnJvJAQ@A<@A,B[~? AAH&"AA-NpNA"AZAbAjArAzAAAY˹KC'@AB8qA ξAr~_A^A@?A f?A?A+ N*A^<2A5{::A΋BA^<JA5{:RA΋٘i)I9Y J]3C=JJJJ&K Yy77'7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027761.063165 s, next control iter: 1743027761.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027761.463165 s.QG~,Ӥ]AA33333@A"ʮ@AFB[~? AA`H&"AAWNpNA"AZAbAjArAzAAAC̼C'@A+`8qAA≡AYA?>?A Cf?Ao?Avf3*A&N<2Aw::AkBA&N<JAw:RAkY4?@?ySߡٓH`%?*~@҉m??#"t?;1T`?)4? I٘i)I9Y J5JJJ&K Yy{7{7ֱ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027761.483165 s, next control iter: 1743027761.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1260, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)) rAdjusting time to match Gazebo time: 1743027761.883165 s.yG~,4xAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199752 time: 1743027761.883277F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gᰓ@AUy@A_B[~? AAH&"AANpNA"AZAbAjArAzAAA[ֿ}D'@A^;8qAξA偺A\A4=?Af?AP?As3*AR=<2Ae::A`BAR=<JAe:RA`٘i)I9Y J_3<JJJJ&K Yy C)7)7~7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027761.903165 s, next control iter: 1743027762.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027762.303165 s.T$G~,ogAA(\@A&@AxB[~? APAhH&"AANpNA"AZAbAjArAzAAA8HE'@A֦8qAξAAgA,=?Af?A4?A3*An,<2AG::A.iBAn,<JAG:RA.i٘i)I9Y Jo3C=JJJJ&K  7Y 7yŧ7ŧ7&7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027762.343165 s, next control iter: 1743027762.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1261*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027762.723165 s.+G~J,HA"J*J2J:JBJnJvJA ףp=@Aճ@AB[~? AAH&"AANpNA"AZAbAjArAzAAA E'@A]Ơ7qAA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743027763.143280F (some fields omitted in printout)AR뵓@AZ&@AB[~? AAmH&"AANpNA"AZAbAjArAzAAAxwǢHF'@Ap5d7qAξA:AA=?A f?A ?AY*A <2AW ::A3zBA <JAW :RA3z٘i)I9Y J`<JJJJ&K Yyb77}I7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027763.183165 s, next control iter: 1743027763.543177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027763.563165 s.8G~,A AJ"J*J2J:JBJnJvJA@A6;N1@AB[~? AAH&"AA&OpNA"AZAbAjArAzAAANF'@AvWB7qA ξA:AAe;?Af?A܀?A*A<2At::ADhBA<JAt:RADhY,?8?yL:ٓH`۫? ~@Dm?`? > *t?R??),? I٘i)I9Y JWB=JюJJJ&K Yy77*f7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027763.583165 s, next control iter: 1743027763.963175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1262, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027763.983165 s.?G~,AAzG@A^߸@AB[~? AcAqH&"AAOOpNA"AZAbAjArAzAAAzzG'@AO $7qAAS :AA8?A 6f?A~?Aw*A:<2Au::ABBA:<JAu:RAB٘i)I9Y JJJJ&K Yy7)7Ղ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027764.023165 s, next control iter: 1743027764.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027764.403165 s.&FG~,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199762 time: 1743027764.403269F (some fields omitted in printout)A)\@Ai@AB[~? A(AH&"AAyOpNA"AZAbAjArAzAAA竓lH'@ATN c7qA!ξA:AAP5?A@(f?A |?ACm.*Aج<2A ::AzBAج<JA :RAz٘i)I9Y Je<JJJJ&K Yy{7{7~7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027764.443165 s, next control iter: 1743027764.803175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1263, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027764.823165 s.LG~,4AAq= ף@A7;@AC[~? AAsI&"AAOpNA"AZAbAjArAzAAAA[dH'@AS%>7qA ξARAxA[2?A f?A|z?A82*AǬ<2AP::AG鱺BAǬ<JAP:RAG鱺٘i)I9Y JV3B=JJJFDJ&K Yyb77+7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027764.843165 s, next control iter: 1743027765.223175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027765.243165 s.SG~,dOAJ"J*J2J:JBJnJvJAQ@A齓@A)C[~? AAI&"AAOpNA"AZAbAjArAzAAA^_EI'@A 7qAAKݟAoAy0?Af?A_x?A3*AI<2A::A>бBAI<JA:RA>б٘i)I9Y JJJJ&K Yy77ز7)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743027765.283165 s, next control iter: 1743027765.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027765.663165 s.ZG~,qjAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743027765.663260F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1264, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@Ahɗ@ABC[~? AwAs I&"AAOpNA"AZAbAjArAzAAAJ4YI'@A|6qAξAKAhA/?A@ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743027766.923294F (some fields omitted in printout)Aףp= œ@ARUē@AC[~? AAI&"AAqPpNA"AZAbAjArAzAAAWEK'@A v6qAA:AAX/?A Kf?A@o?Az*A@t<2A͘::ADᱺBA@t<JA͘:RADᱺ٘i)I9Y JJJJ&K Yy C77{7K7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027766.963165 s, next control iter: 1743027767.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027767.343165 s.f?Ak?A\*AS<2A::ABAS<JA:RAYw?)?y@v9ٓH`к?`H}l? b?3)t?@ҷ.??)w? I٘i)I9Y Jw>JJJ&K Yy777ք7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027767.803165 s, next control iter: 1743027768.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027768.183165 s.˂G~,o AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743027768.183289F (some fields omitted in printout)AGzʓ@Al_@/ɓ@AC[~? AAj&I&"AAPpNA"AZAbAjArAzAAAK@sM'@A@=6qAAE%AA&?A@*f?A i?Ab-ʲ*AB<2Aݟ::AoBAB<JAݟ:RAo٘i)I9Y JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027768.203165 s, next control iter: 1743027768.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027768.603165 s.04G~,&AJ"J*J2J:JBJnJvJA(\˓@A-=Z˓@AC[~? AA*I&"AAQpNA"AZAbAjArAzAAA&# N'@A0@5qAAVAAU$?Af?A g?AS[ 3*A2<2A::AIBA2<JA:RAI٘i)I9Y JJJGDJ&K Yy-7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027768.643165 s, next control iter: 1743027769.003175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1267 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027769.023165 s.ZG~,{AAA= ףp͓@AJ͓@A D[~? AAc/I&"AA@QpNA"AZAbAjArAzAAAZ=N'@A%$5qAξAq=AA"?A@xf?Aqe?A23*Ao!<2A!::A8BAo!<JA!:RA8٘i)I9Y J`2C<JJJJ&K Yyb7b7ڳ7)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743027769.043165 s, next control iter: 1743027769.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027769.443165 s.2ÖG~,)]\AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743027769.443289F (some fields omitted in printout)AQϓ@A(ZΓ@A%D[~? AdA3I&"AAjQpNA"AZAbAjArAzAAA\>O'@Aܲ5qAξAZAyA"?Af?A`[c?A$C3*A<2Aw::A <BA<JAw:RA <٘i)I9Y Jf3C=JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743027769.463165 s, next control iter: 1743027769.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1268, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027769.863165 s.+G~,}>wAAГ@AՔdГ@A>D[~? A)AZ8I&"AAQpNA"AZAbAjArAzAAAUKˈO'@A75qAA99ArA"?AMf?A@Fa?AAt2*A<2AV::AIBA<JAV:RAIY?"?yq9ٓH R?@|@l?@?4`&t?7??)? I٘i)I9Y JG5JJJ&K  7Y 7yŧ7ŧ707)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027769.903165 s, next control iter: 1743027770.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027770.283165 s.5RG~,AJ"J*J2J:JBJnJvJAGzғ@A\Tғ@AWD[~? AA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199662 time: 1743027770.703268F (some fields omitted in printout)A\(ԓ@A$ӓ@AqD[~? AAPAI&"AAQpNA"AZAbAjArAzAAAB Q'@A!G5qA ξAHd:AzA!?Af?A ]?AԆ*Aޫ<2A(::AFBAޫ<JA(:RAF٘i)I9Y JRB=JJJJ&K Yyb77M7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027770.723165 s, next control iter: 1743027771.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027771.123165 s.8G~,aǎAJ"J*J2J:JBJnJvJAp= Փ@AVnՓ@AD[~? AyAEI&"AARpNA"AZAbAjArAzAAA8Q'@Aj>#5qAAGH:AA#?AZf?A[?At*A`Ϋ<2A+'::A&BA`Ϋ<JA+':RA&٘i)I9Y JJJJ&K Yy777.j7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027771.143165 s, next control iter: 1743027771.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743027771.543165 s.IG~,AAQד@A1yד@AD[~? A>ADJI&"AA9RpNA"AZAbAjArAzAAAT:R'@As`4qA!ξAAA?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743027771.963287F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333ٓ@A78ؓ@AD[~? AANI&"AAbRpNA"AZAbAjArAzAAA^R'@AA4qA ξAeAA?A f?A V?AK@*A<2A5::A̰BA<JA5:RA̰YN??y.eٓH`? |_?@k?? [&*t?TL ?)N? I٘i)I9Y JT3B=J^+JJJ&K Yy  C77{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027772.003165 s, next control iter: 1743027772.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027772.383165 s.G~,/AA{Gړ@A?xړ@AD[~? AA6SI&"AARpNA"AZAbAjArAzAAAlS'@A(54qAAAA?A Yf?A`T?A.+o3*A<2A1::ABA<JA1:RA٘i)I9Y JJJJ&K Yy{7j7.7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027772.403165 s, next control iter: 1743027772.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1271", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027772.803165 s.uAG~,sg3AJ"J*J2J:JBJnJvJA(\ܓ@A'ܓ@AD[~? AAWI&"AARpNA"AZAbAjArAzAAAvT'@Aϱٓ4qAξA2~AA?Af?A@R?Aɮ3*A<2AV::ABA<JAV:RAI٘i)I9Y Ji3<JJJHDJ&K Yy7{7ܴ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027772.843165 s, next control iter: 1743027773.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027773.223165 s.gG~,HNAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743027773.223286F (some fields omitted in printout)A ףp=ޓ@Arݓ@AE[~? ASA&\I&"AARpNA"AZAbAjArAzAAAs|唞T'@ATp4qAξA[fAA?Aÿf?A P?A|3*A|<2A ::ANBA|<JA :RAN٘i)I9Y J^3C=JJJJ&K Yyb7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027773.263165 s, next control iter: 1743027773.623179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027773.643165 s.xG~,*iAJ"J*J2J:JBJnJvJARߓ@AAFߓ@A!E[~? AA`I&"AASpNA"AZAbAjArAzAAALp7U'@A;L4qAAcw(:AA?Af?AN?AR**Aqk<2A::ABAqk<JA:RA٘i)I9Y JJJJ&K  7Y 7y7727)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027773.663165 s, next control iter: 1743027774.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1272, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027774.063165 s.G~,R AA@A'G1@A:E[~? AAeI&"AA1SpNA"AZAbAjArAzAAA@VDU'@A$^q(4qAξAm͚:AxAV?A෽f?A@nL?AB]w*AZ<2Aƀ::AMBAZ<JAƀ:RAMY??yr:ٓHR? X| k??@>&t?`YS?`?)? I٘i)I9Y J`<J&5JJJ&K Yyb7b727)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027774.103165 s, next control iter: 1743027774.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027774.483165 s.n_G~,t잏AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743027774.483262F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG@A0DN@ATE[~? AAiI&"AAZSpNA"AZAbAjArAzAAA/iV'@Ag4qA ξAJ:AtA?A`f?A@ZJ?An*A|J<2A::ABA|J<JA:RA٘i)I9Y JhC=JJJJ&K Yyj7j7O7)ZZZBZL?YY*W2W WWW"W ) )FFF]t:Waiting for Gazebo time sync: latest Gz time: 1743027774.503165 s, next control iter: 1743027774.883173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1273, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027774.903165 s.G~,͹AA)\@Ag`e@AmE[~? AiAnI&"AASpNA"AZAbAjArAzAAAQW'@A%Y3qA!ξAC:AvA?A`?f?ADH?A!b*A":<2A::AӄBA":<JA:RAӄ٘i)I9Y J_JJJJ&K Yy77771l7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027774.923165 s, next control iter: 1743027775.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027775.323165 s.sG~,ԏAJ"J*J2J:JBJnJvJAq= ף@Ay;@AE[~? A.AxrI&"AASpNA"AZAbAjArAzAAA)6W'@AW)3qAAfŹAA ?A*f?A.F?A,w*A)<2Aƀ::AYVBA)<JAƀ:RAYV٘i)I9Y JJJJ&K Yy77܈7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027775.363165 s, next control iter: 1743027775.723176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1274&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027775.743165 s.WG~,qAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743027775.743281F (some fields omitted in printout)AQ@A.py@AE[~? AAvI&"AASpNA"AZAbAjArAzAAAR3X'@A Tm3qA ξARAA ?Aؿf?AD?Amb2*A<2Aʀ::AU-BA<JAʀ:RAU-٘i)I9Y J\3<JJJJ&K YyZ7Z77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027775.763165 s, next control iter: 1743027776.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027776.163165 s.y}G~,q AJ"J*J2J:JBJnJvJA@Az@AE[~? AAb{I&"AATpNA"AZAbAjArAzAAA(H{X'@A{Lu3qAξAAA?A`ܿf?AB?AR3*A' <2A€::ABA' <JA€:RAY$?q ?yQeٓH?{;@>k? 9?!,t?S`?)$? I٘i)I9Y Je3C=JrJJJ&K Yy7773µ7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027776.183165 s, next control iter: 1743027776.563183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743027776.583165 s.G~,R%AAHz@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743027777.003331F (some fields omitted in printout)A(\@A[z4@AE[~? ADAKI&"AARTpNA"AZAbAjArAzAAAy;0Y'@A?N.3qAξAQ8AA?Af?A@=?AAW3*AA<2A::A BAA<JA:RA ٘i)I9Y Ja3<JJJJ&K Yyb77)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027777.043165 s, next control iter: 1743027777.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027777.423165 s.uG~,[AAףp= @A'ڡ@AF[~? A AI&"AA|TpNA"AZAbAjArAzAAAgZ'@A 3qAξAg:AA?A Ƽf?A;?A*Aת<2ABk::A+BAת<JABk:RA+٘i)I9Y JkC=JJJJ&K  7Y 7y77{727)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027777.463165 s, next control iter: 1743027777.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1276, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027777.843165 s.G~,uAJ"J*J2J:JBJnJvJAQ@A8 O@AF[~? AA2I&"AATpNA"AZAbAjArAzAAAd/['@AG2qA ξAW:AA?A.f?A9?ADא*AiǪ<2AV::AF'BAiǪ<JAV:RAF'٘i)I9Y JaJJJJ&K Yy7747)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027777.883165 s, next control iter: 1743027778.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027778.263165 s.$G~,ؐAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743027778.263277F (some fields omitted in printout)Afffff@A@A6F[~? AAI&"AATpNA"AZAbAjArAzAAAV['@A2O2qAAE |:AsA?A`[f?A7?A<*A<2AP::AZ BA<JAP:RAZ Yh??yo|:ٓH /? { j?Q?[; &t?@hO??)h? I٘i)I9Y J5JJJ&KL Yy{7Z7Q7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027778.303165 s, next control iter: 1743027778.663176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1277., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027778.683165 s.l*G~,NAJ"J*J2J:JBJnJvJAGz@AK6@APF[~? AZAI&"AATpNA"AZAbAjArAzAAA%RYa\'@A{,2qA!ξA4V9AqA?Af?A5?A!N*A㦪<2AFV::A"㯺BA㦪<JAFV:RA"㯺٘i)I9Y J`<JJJJ&K Yy{73n7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027778.683165 s, next control iter: 1743027779.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743027779.103165 s.1G~,ƐAA(\@AVn2Z@AiF[~? A AI&"AA!UpNA"AZAbAjArAzAAA)\'@A;+ |2qAA+AAl?A f?A3?AOs*A<2A^::ABA<JA^:RA٘i)I9Y JJJJ&K YyZ7Z7ߊ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027779.143165 s, next control iter: 1743027779.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027779.523165 s.7G~,{AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199832 time: 1743027779.523270F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@A0B@AF[~? AAI&"AAKUpNA"AZAbAjArAzAAA]'@AAoX2qA ξAdiAA?A@}f?A1?A<3*Ax<2A^::ABAx<JA^:RA٘i)I9Y Jb3JJJJ&K Yy7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027779.563165 s, next control iter: 1743027779.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1278, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027779.943165 s.Zd>G~,J]AAQ@AuF^@AF[~? AAkI&"AAtUpNA"AZAbAjArAzAAA+^'@A"42qAξA ~AAu?A:f?Aw/?AF3*A2v<2A3Q::ABA2v<JA3Q:RA٘i)I9Y JX3C=JJJJ&K Yyŧ7ŧ76Ķ7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027779.983165 s, next control iter: 1743027780.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027780.363165 s.EG~,u>AJ"J*J2J:JBJnJvJA@Aud@AF[~? AqAܧI&"AAUpNA"AZAbAjArAzAAA4F^'@A@2qAξARAA;?A Gf?A k-?Aթ3*Ae<2A6::A|BAe<JA6:RA|Y?A?ysٓH`?`.{j?? 0*.t? ??)? I٘i)I9Y J_3JJJJ&K Yy{7j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027780.403165 s, next control iter: 1743027780.763176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1279", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027780.783165 s.YKG~,2AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200262 time: 1743027780.783322F (some fields omitted in printout)AGz@A~@AF[~? A7ALI&"AAUpNA"AZAbAjArAzAAA9p]_'@AŮ1qAA=9AA?Af?A``+?AM2*A|U<2A ::ABA|U<JA :RA٘i)I9Y JJJJDJ&K Yyj7Z77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027780.823165 s, next control iter: 1743027781.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027781.203165 s.SG~,MAJ"J*J2J:JBJnJvJA\(@A+@AF[~? A AI&"AAUpNA"AZAbAjArAzAAA3_'@A 1qAξA51:AA`?Af?A@U)?AW[*A'E<2A+::A+BA'E<JA+:RA+٘i)I9Y Jc<JJJJ&K  7Y 7yŧ7ŧ767)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027781.243165 s, next control iter: 1743027781.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027781.623165 s.TYG~,PgAAp= @AZ^n@AG[~? A A+I&"AAVpNA"AZAbAjArAzAAAEs`'@A&DZ1qA ξA:AA'?Af?AH'?A~*A4<2A::ABA4<JA:RA٘i)I9Y JaC=JJJJ&K Yy  Cb7b767)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027781.663165 s, next control iter: 1743027782.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1280 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027782.043165 s.J "J *J 2J :J BJ nJ vJ `G~,ÂAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199792 time: 1743027782.043266F (some fields omitted in printout)AQ@A*@AG[~? A AI&"AACVpNA"AZAbAjArAzAAA'a'@A~% 1qA!ξA}A:AxA?A`f?A:%?AE*A$<2A::AoBA$<JA:RAo٘i)I9Y JbJJJJ&K Yyŧ7ŧ7S7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027782.083165 s, next control iter: 1743027782.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027782.463165 s.OgG~,ʤAA33333@A@A2G[~? AN AI&"AAlVpNA"AZAbAjArAzAAA֗pa'@Av\g_1qAA3~ٸArAx?A f?A@+#?A 4*A<2A::ABBA<JA:RABYc??yrٸٓH?z`ׇ9j?O? |.&t?`/?)c? I٘i)I9Y J5JJJ&K Yy77777p7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027782.503165 s, next control iter: 1743027782.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1281, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027782.883165 s.ymG~,+AJ"J*J2J:JBJnJvJA{G@A@x@ALG[~? A AvI&"AAVpNA"AZAbAjArAzAAAy8Yb'@Ar<1qAAjAAZ?Af?A!?AVS51*A<2AV::ABA<JAV:RA٘i)I9Y JJJJ&K Yy{7⌷7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027782.903165 s, next control iter: 1743027783.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027783.303165 s.XtG~,gӑAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743027783.303299F (some fields omitted in printout)A(\@As&@AeG[~? A AI&"AAVpNA"AZAbAjArAzAAA"b'@A1qA ξAzѡAA'?A@f?A@?A 3*Ah<2AS::A`BAh<JAS:RA`٘i)I9Y J-2<JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027783.343165 s, next control iter: 1743027783.703179 s, wait time: 0.360014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1282., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027783.723165 s.{G~,HAJ"J*J2J:JBJnJvJA ףp=@A@A~G[~? A AQI&"AAVpNA"AZAbAjArAzAAAϊc'@A 0qAξAyAA8?A@vf?A?AK3*A6<2A::A﮺BA6<JA:RA﮺٘i)I9Y J`3C=JJJJ&K Yy778Ʒ7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027783.763165 s, next control iter: 1743027784.123180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027784.143165 s.T/G~,) AAR @A5+- @AG[~? Ae AI&"AAWpNA"AZAbAjArAzAAA}#d'@A u50qAξAGAAD?A@Yf?A?A33*Aө<2A::A{BAө<JA:RA{٘i)I9Y JJJJJ&K Yyŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027784.163165 s, next control iter: 1743027784.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027784.563165 s.G~,V $AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200292 time: 1743027784.563313F (some fields omitted in printout)A @A,+MJ1 @AG[~? A+ A*I&"AA;WpNA"AZAbAjArAzAAAKSd'@A̵%0qAA/:AA?A@f?A@?A7*Aé<2AA::ALBAé<JAA:RALY??yw/:ٓH@b?zoPi?,?s7/t?WE?`?)? I٘i)I9Y JiJJKDJ&K Yyj7j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027784.583165 s, next control iter: 1743027784.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1283, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027784.983165 s.G~,>AAzG @Af @AG[~? A AI&"AAdWpNA"AZAbAjArAzAAA Ue'@AR 0qAξAЛ:AA?APf?A ?AO*A<2A~::AL BA<JA~:RAL ٘i)I9Y J^<JJJJ&K  7Y 7y)7ŧ7:7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027785.003165 s, next control iter: 1743027785.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743027785.403165 s.&G~,YAJ"J*J2J:JBJnJvJA)\@A s@AG[~? A AI&"AAWpNA"AZAbAjArAzAAAe'@A@SIg0qA ξAE|:AAf?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743027785.823275F (some fields omitted in printout)Aq= ף@A y;@AG[~? A} AlI&"AAWpNA"AZAbAjArAzAAAqf'@A땷C0qA!ξA9AA?A@عf?A?A*AY<2A::AbЮBAY<JA:RAbЮ٘i)I9Y J)B=JJJJ&K Yyj7U7)ZZZBZL?YY*W2W WWW"W ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027785.883165 s, next control iter: 1743027786.223176 s, wait time: 0.340011 s rAdjusting time to match Gazebo time: 1743027786.243165 s.G~,mAJ"J*J2J:JBJnJvJAQ@Av@AH[~? AC AI&"AAWpNA"AZAbAjArAzAAA3*g'@A){ 0qAAgԹAzAP?Af?A?A9*AZ<2A::AEBAZ<JA:RAE٘i)I9Y JQ>JJJ&K> Yy{7:r7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027786.283165 s, next control iter: 1743027786.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027786.663165 s.G~,qAtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1285, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@AHC@A.H[~? A AAI&"AA XpNA"AZAbAjArAzAAAg'@AL /qAA!8AAq?A_f?A?A2ͷ2*AZs<2At::AzBAZs<JAt:RAzYjٕ??y ٓH?z݉i?@ ?"`(t?Q?)jٕ? I٘i)I9Y J5Q>JJJ&K > Yy  C77厸7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027786.683165 s, next control iter: 1743027787.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027787.083165 s.DG~,SŒAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743027787.083298F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@A7nE@AHH[~? A AI&"AA2XpNA"AZAbAjArAzAAAɫPh'@AuX/qA ξAI&AA?A`Xf?A` ?AG3*AOc<2A::AUcBAOc<JA:RAUc٘i)I9Y JI2<JJJJ&K Yy77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027787.123165 s, next control iter: 1743027787.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027787.503165 s.G~,L4AA(\@A1@AaH[~? A AI&"AA\XpNA"AZAbAjArAzAAA̙7kh'@A=_/qAξAd>AA&?Af?A ?A3*A2S<2A~::AbBA2S<JA~:RAb٘i)I9Y Jb3C=JJJJ&K Yy7777;ȸ7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027787.523165 s, next control iter: 1743027787.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1286, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027787.923165 s.6G~,AJ"J*J2J:JBJnJvJAףp= @Ab.@AzH[~? A\ A}I&"AAXpNA"AZAbAjArAzAAAB#i'@A(/qAξA!8AA^?A[f?A?Aav23*A C<2A~::AnBA C<JA~:RAn٘i)I9Y J_3JJJJ&K Yy77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027787.963165 s, next control iter: 1743027788.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027788.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199782 time: 1743027788.343274F (some fields omitted in printout)AQ@A|O@AH[~? A" AI&"AAXpNA"AZAbAjArAzAAAhoj'@Aӥo/qAξAul:A¸Ax?A7f?A`?A*A2<2A\~::AbzBA2<JA\~:RAbz٘i)I9Y JbJJJJ&K  7Y 7y77{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027788.363165 s, next control iter: 1743027788.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1287&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027788.763165 s.5G~,0AJ"J*J2J:JBJnJvJAfffff@A<@AH[~? A ANJ&"AAXpNA"AZAbAjArAzAAAd~j'@A aL/qA ξA:AA?Af?A?A7*A"<2A4~::AuBA"<JA4~:RAuYѕ? ޱ?y:ٓH*? y >;5i?`?=.t?`B7T?@?)ѕ? II٘i)I9Y J^JrJJLDJ&KC Yy777=7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027788.803165 s, next control iter: 1743027789.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027789.183165 s.G~,cKAAGz@A(@@AH[~? A AJ&"AAYpNA"AZAbAjArAzAAA]'Lk'@Az)/qAAv:AAޱ?Aѷf?A?A{*A<2AJ*~::A[BA<JAJ*~:RA[٘i)I9Y JJJJ&K Yy77:7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027789.223165 s, next control iter: 1743027789.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027789.603165 s.44G~,fAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200742 time: 1743027789.603348F (some fields omitted in printout)A(\@A3TTZ@AH[~? At A J&"AA*YpNA"AZAbAjArAzAAA`k'@Af}/qA!ξAr69AA}۱?Af?A?A0l*A<2AI6~::A1BA<JAI6~:RA1٘i)I9Y J\<JJJJ&K Yy7b7W7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027789.643165 s, next control iter: 1743027790.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1288 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027790.023165 s.ZG~,{AA= ףp!@AXP!@AH[~? A: A J&"AASYpNA"AZAbAjArAzAAA|o}l'@A.qAA2AAAر?Amf?A@?A)O*A <2AF~::A=BA <JAF~:RA=٘i)I9Y JJJJ&K Yy7>t7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027790.063165 s, next control iter: 1743027790.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027790.443165 s.3G~,-]AJ"J*J2J:JBJnJvJAQ#@A=_\"@AI[~? A AJ&"AA}YpNA"AZAbAjArAzAAA9m'@A?.qA ξAaAAձ?Aܹf?A?A'03*A!<2AF~::A᭺BA!<JAF~:RA᭺٘i)I9Y Jj3JJJJ&K YySI7SI7琹7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027790.463165 s, next control iter: 1743027790.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1289, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027790.863165 s.+G~,y>AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199822 time: 1743027790.863289F (some fields omitted in printout)A$@AVyd$@A*I[~? AAPJ&"AAYpNA"AZAbAjArAzAAAWpm'@A.qAξAAAfԱ?Af?A?Ad3*A*Ө<2A*~::AѭBA*Ө<JA*~:RAѭYmʕ?ֱ?yCٓHW ?@ny }`h? ? ! +t? qR?)mʕ? I٘i)I9Y JZ3C=J 5JJJ&K, Yy7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027790.903165 s, next control iter: 1743027791.263175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027791.283165 s.7RG~,ғAJ"J*J2J:JBJnJvJAGz&@A×&@ACI[~? AAJ&"AAYpNA"AZAbAjArAzAAA 9Gn'@ALx.qAξA!AA7Ա?A`f?A@?A-'3*A"è<2A}::A֭BA"è<JA}:RA֭٘i)I9Y Jd3JJJJ&K Yy{7>ʹ7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027791.323165 s, next control iter: 1743027791.683177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1290., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout)0)0 rAdjusting time to match Gazebo time: 1743027791.703165 s.պG~, AA\((@A2'@A]I[~? ASAJ&"AAYpNA"AZAbAjArAzAAAo`Nn'@A-U.qAAz9AAԱ?A`Tf?A?A4L2*A<2Aq}::A(孺BA<JAq}:RA(孺٘i)I9Y JJJJ&K Yy  Cb777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027791.743165 s, next control iter: 1743027792.103177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027792.123165 s.6G~,XAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743027792.123295F (some fields omitted in printout)Ap= )@Aխn)@AvI[~? AA#J&"AA"ZpNA"AZAbAjArAzAAAxo'@AaR2.qAξAA :AøA\Ա?A@Vf?A`?A @*A<2A{}::Ag쭺BA<JA{}:RAg쭺٘i)I9Y Jb<JJJJ&K  7Y 7y77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027792.163165 s, next control iter: 1743027792.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027792.543165 s.IG~,"AAQ+@Ac|+@AI[~? AA'J&"AAKZpNA"AZAbAjArAzAAA'ʏp'@Au] .qA ξA:AAӱ?Af?A?Av7*A<2A4^}::A୺BA<JA4^}:RA୺٘i)I9Y JdC=JJJMDJ&K Yyb7> 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027792.563165 s, next control iter: 1743027792.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1291, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027792.963165 s.G~,3=AJ"J*J2J:JBJnJvJA33333-@A),@AI[~? AAG,J&"AAtZpNA"AZAbAjArAzAAA-p'@Ap"-qA!ξAK7;:AAб?Akf?A`{?AC爳*AC<2A]}::A$BAC<JA]}:RA$Y•?ϱ?y;:ٓH ?`Cy Vh??V7-t?@fG?`?)•? I٘i)I9Y JUB=JǴJJJ&K Yy7<7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027793.003165 s, next control iter: 1743027793.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027793.383165 s.G~,XAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199592 time: 1743027793.383278F (some fields omitted in printout)A{G.@Amx.@AI[~? AmA0J&"AAZpNA"AZAbAjArAzAAAfBq'@AeL-qAA AAhͱ?A@Cf?A v?AͿG*Avs<2Al}::ABAvs<JAl}:RA٘i)I9Y JJJJ&K Yy{7{7Y7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027793.423165 s, next control iter: 1743027793.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1292", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027793.803165 s.tAG~,ogsAJ"J*J2J:JBJnJvJA(\0@A1$''0@AI[~? A3A 5J&"AAZpNA"AZAbAjArAzAAAuxq'@A3ڜ-qAAoAASʱ?Af?Aq?As*Ac<2Ay}::AhBAc<JAy}:RAh٘i)I9Y JJJJ&K Yy77Av7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027793.843165 s, next control iter: 1743027794.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027794.223165 s.g#G~,HAA ףp=2@A/1@AI[~? AAp9J&"AAZpNA"AZAbAjArAzAAA8Z$tr'@Aw-qA ξA̡AA.ȱ?A5f?A`o?As;3*AS<2Aq}::AKBAS<JAq}:RAK٘i)I9Y J12<JJJJ&K Yy77뒺7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027794.263165 s, next control iter: 1743027794.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027794.643165 s.s)G~J,)A"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199712 time: 1743027794.643256F (some fields omitted in printout)AR3@A!bG3@A J[~? AA=J&"AA[pNA"AZAbAjArAzAAA`U s'@AwV_-qAξACtAANDZ?A f?Ao?AjX3*AC<2AMK}::A DBAC<JAMK}:RA D٘i)I9Y JW3B=JJJJ&K Yy{7j77)ZZZBZL?YY*W2W WWW"W ) )FFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1293, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743027794.663165 s, next control iter: 1743027795.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027795.063165 s.0G~,_ ĔAA5@AB15@A&J[~? AA4BJ&"AAC[pNA"AZAbAjArAzAAAܸts'@AoR7<-qAξA@'AAbDZ?A`f?Aq?A3*A4<2Ab}::AMBA4<JAb}:RAMYk?DZ?y`'ٓH?x!@4h? '? ,`-t?@$?)k? I٘i)I9Y Jf3C=Jd3JJJ&K Yyb77B̺7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027795.103165 s, next control iter: 1743027795.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027795.483165 s.t_7G~,ޔAJ"J*J2J:JBJnJvJAzG7@A^S6@A?J[~? AMAFJ&"AAl[pNA"AZAbAjArAzAAAr>t'@Aݭ-qAξA5:AADZ?AIf?A@t?A*A$<2A|::Ao[BA$<JA|:RAo[٘i)I9Y JeJJJJ&K Yy{7j77)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027795.523165 s, next control iter: 1743027795.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1294, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027795.903165 s.=G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743027795.903292F (some fields omitted in printout)A)\8@AB$C8@AXJ[~? AAJJ&"AA[pNA"AZAbAjArAzAAA6ާt'@A,qAAؽ:AA)DZ?A}f?Av?ATk*A-<2A|::A]BA-<JA|:RA]٘i)I9Y JJJJ&K  7Y 7y777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027795.923165 s, next control iter: 1743027796.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027796.323165 s.rDG~,AJ"J*J2J:JBJnJvJAq= ף:@Alyz;:@ArJ[~? AAVOJ&"AA[pNA"AZAbAjArAzAAAuo:ou'@AО,qA ξAj:AAxű?Alf?A v?AZ*A_<2A|::AIBA_<JA|:RAI٘i)I9Y Jb<JJJJ&K Yy C77A"7)ZZZBZL?YY*W2W WWW"W ) )FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743027796.343165 s, next control iter: 1743027796.723175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1295&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027796.743165 s.WKG~,y/AAQ<@AU;@AJ[~? AASJ&"AA[pNA"AZAbAjArAzAAAҔv'@Al>߯,qA!ξA%9AA±?Af?Atޔ?A4t*A<2A6|::A$BA<JA6|:RA$٘i)I9Y J`C=JJJNDJ&K Yy7>7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027796.763165 s, next control iter: 1743027797.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027797.163165 s.|}RG~,qJAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743027797.163276F (some fields omitted in printout)A>@As,流=@AJ[~? AgAXJ&"AA\pNA"AZAbAjArAzAAAĠgv'@ARҌ,qAAUAAb?A f?Arܔ?A *A<2A{|::ABA<JA{|:RAY?L?yyٓHZ"?|x@g?@/?])-t?j<?)? I٘i)I9Y JdJJJ&KZ Yyb77[7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027797.183165 s, next control iter: 1743027797.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027797.583165 s.XG~,ReAAHz?@AFB[E?@AJ[~? A.Au\J&"AA:\pNA"AZAbAjArAzAAA'Z9w'@At i,qAA AA?A|f?Arڔ?A2*AAէ<2A|::AϬBAAէ<JA|:RAϬ٘i)I9Y JJJJ&K Yyŧ7b7Ex7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027797.623165 s, next control iter: 1743027797.983175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1296, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027798.003165 s.x `G~,L4AJ"J*J2J:JBJnJvJA(\A@An@@AJ[~? AA`J&"AAc\pNA"AZAbAjArAzAAA,w'@AzJF,qA ξA%AAٺ?Ajf?Asؔ?AŽ3*Aŧ<2A7|::A۹BAŧ<JA7|:RA۹٘i)I9Y J)2<JJJJ&K Yy{7{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027798.023165 s, next control iter: 1743027798.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027798.423165 s.ufG~,{AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4198812 time: 1743027798.423282F (some fields omitted in printout)Aףp= C@A.B@AJ[~? AA2eJ&"AA\pNA"AZAbAjArAzAAAuaEjx'@A̽#,qAξA8AA_?Af?Ax֔?AT3*A<2Aj|::A@BA<JAj|:RA@٘i)I9Y J`3C=JJJJ&K Yy77j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027798.443165 s, next control iter: 1743027798.823175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1297", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027798.843165 s.lG~,AJ"J*J2J:JBJnJvJAQD@A"OD@A K[~? AAiJ&"AA\pNA"AZAbAjArAzAAAOy'@Ab,qAξA;9AA?Abf?A}Ԕ?A3*Aڥ<2A#+|::A)ƬBAڥ<JA#+|:RA)Ƭ٘i)I9Y Jf3JJJJ&K Yy7{7Dλ7)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743027798.883165 s, next control iter: 1743027799.243175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027799.263165 s.tG~,#ЕAAfffffF@A>?E@A"K[~? AHAmJ&"AA\pNA"AZAbAjArAzAAAky'@A+qAξA8r:AA?A@f?AҔ?AT#*A<2A{::A'ѬBA<JA{:RA'ѬYu?¸?yr:ٓH)?@Ex/@g?4?`Y9`.t?GN??)u? I٘i)I9Y J_JwJJJ&K Yy77j77)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027799.303165 s, next control iter: 1743027799.663181 s, wait time: 0.360016 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1298*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027799.683165 s.lzG~,RAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200292 time: 1743027799.683306F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzH@AG@A;K[~? AAKrJ&"AA]pNA"AZAbAjArAzAAAz3z'@ACǺ+qA ξA:AA۹?Af?AД?A[*A@<2A{::AˬBA@<JA{:RAˬ٘i)I9Y JuJJJJ&K 7Y 7y777)ZZZBZL?YY*W2W WWW"W ) )FFF]k:Waiting for Gazebo time sync: latest Gz time: 1743027799.683165 s, next control iter: 1743027800.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743027800.103165 s.G~,AA(\I@A_5ZI@ATK[~? AAvJ&"AA2]pNA"AZAbAjArAzAAA˰{z'@ANї+qA!ξA]q:AA?A@߲f?AΔ?AX*Av<2At{::ABAv<JAt{:RA٘i)I9Y JSB=JJJJ&K Yy77E$7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027800.143165 s, next control iter: 1743027800.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027800.523165 s.G~,{!AJ"J*J2J:JBJnJvJA= ףpK@A|,GK@AmK[~? AA{J&"AA[]pNA"AZAbAjArAzAAAe{'@AT=t+qAAQ9AA?Af?A̔?A?wQ*Af<2A{::A%BAf<JA{:RA%٘i)I9Y JJJODJ&K Yy77@7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027800.563165 s, next control iter: 1743027800.923174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1299, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027800.943165 s.VdG~,:]<AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200132 time: 1743027800.943278F (some fields omitted in printout)AQM@A&|L@AK[~? AcA`J&"AA]pNA"AZAbAjArAzAAAaʕ{'@A=Q+qAA9AAv?Aof?Aʔ?A/ *A_W<2A!{::A[BA_W<JA!{:RA[٘i)I9Y JJJJ&K Yy7{7]7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027800.963165 s, next control iter: 1743027801.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027801.363165 s.G~,u>WAJ"J*J2J:JBJnJvJAN@A R)vdN@AK[~? A*AJ&"AA]pNA"AZAbAjArAzAAA*|'@A4/+qA ξADAA?AӴf?AȔ?A'3*AG<2A{::A9BAG<JA{:RA9Y4??yٓH@0?`wQ 3g???` /t?S`?)4? I٘i)I9Y J)2<JJJJ&K3 Yy Cj7j7Gz7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027801.403165 s, next control iter: 1743027801.763175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1300", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027801.783165 s.\G~,rAAGzP@AkjP@AK[~? AAJ&"AA]pNA"AZAbAjArAzAAA.}'@A +qAξA۶AA?A`|f?AƔ?A3*A8<2AD{::A+BA8<JAD{:RA+٘i)I9Y Jh3C=JJJJ&K Yy77{77)ZZZBZL?YY*W2W WWW"W ) )FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027801.823165 s, next control iter: 1743027802.183180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027802.203165 s.G~,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200182 time: 1743027802.203308F (some fields omitted in printout)A\(R@AmsQ@AK[~? AAqJ&"AA^pNA"AZAbAjArAzAAAO}'@A݋L4*qAAAA?A |f?AĔ?A3*A_(<2A({::A 1BA_(<JA({:RA 1٘i)I9Y JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027802.243165 s, next control iter: 1743027802.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027802.623165 s.SG~,L⧖AAp= S@APnS@AK[~? AAːJ&"AA)^pNA"AZAbAjArAzAAA}p_~'@AR*qAAsZ9AAୱ?A:f?A”?A>>22*A<2AH{::A)?BA<JAH{:RA)?٘i)I9Y JJJJ&K Yy77Jм7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027802.663165 s, next control iter: 1743027803.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1301 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027803.043165 s.G~,–AJ"J*J2J:JBJnJvJAQU@A\U@AL[~? AEA%J&"AAR^pNA"AZAbAjArAzAAA[XY~'@AU6s*qAAKԏ:AA?A>f?A?AE*A<2A{::AEBA<JA{:RAE٘i)I9Y JJJJ&K Yyb7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027803.063165 s, next control iter: 1743027803.443181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743027803.463165 s.TG~,ߤݖAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199342 time: 1743027803.463260F (some fields omitted in printout)A33333W@A#N'V@AL[~? A A~J&"AA{^pNA"AZAbAjArAzAAA\(gՐ'@A*qA ξAM:AAo?A@f?A?A*AD<2Az::A_9BAD<JAz:RA_9Y?ꩱ?yR؜:ٓHR8?w@ f?`'B?A<@.t?`S?`?)? I٘i)I9Y J`C<JY4JJJ&K  7Y 7y777 7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027803.503165 s, next control iter: 1743027803.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1302, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027803.883165 s.J "J *J 2J :J BJ nJ vJ yG~,8AA{GX@AWxX@A7L[~? AAםJ&"AA^pNA"AZAbAjArAzAAAwQ)'@AN;[]*qA!ξA4:AA?AWf?A?Avp*A<2Afz::ABA<JAfz:RA٘i)I9Y JcC=JJJJ&K Yy77G&7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027803.923165 s, next control iter: 1743027804.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027804.303165 s.SG~,jgAA(\Z@AN'Z@APL[~? AA/J&"AA^pNA"AZAbAjArAzAAAk'@Aq>j:*qAA#2,AA?A)f?A?Ae&*A7ڦ<2A{::A쫺BA7ڦ<JA{:RA쫺٘i)I9Y JJJJ&K Yy{7j7B7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027804.343165 s, next control iter: 1743027804.703175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1303*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027804.723165 s.G~,H.AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199942 time: 1743027804.723272F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=\@AJ[@AiL[~? AaAJ&"AA^pNA"AZAbAjArAzAAAWwWZ'@A*qAAtAĸA?Af?AƸ?Av1*Aʦ<2A{::A«BAʦ<JA{:RA«I٘i)I9Y JJJPDJ&K Yy7{7_7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027804.763165 s, next control iter: 1743027805.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027805.143165 s.U/G~,*IAAR]@AmY.]@AL[~? A(AߪJ&"AA _pNA"AZAbAjArAzAAA% '@AJ)qA ξAwA̸A?Af?A ζ?A3*A2<2A {::A5BA2<JA {:RA5٘i)I9Y J+2<JJJJ&K Yyŧ7b7I|7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027805.183165 s, next control iter: 1743027805.543177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027805.563165 s.G~,= dAJ"J*J2J:JBJnJvJA_@A'G1_@AL[~? AA7J&"AAI_pNA"AZAbAjArAzAAA;Ķh'@AC)qAξAnAʸA ?Anf?A ش?A &3*A<2Az::ABA<JAz:RAYb??yƸ-NoٓH`j??wˉ f?`M?"1t?M?)b? I٘i)I9Y J_3C=JѴJJJ&K Yy{7Z77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027805.603165 s, next control iter: 1743027805.963174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1304, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027805.983165 s.G~,~AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200242 time: 1743027805.983291F (some fields omitted in printout)AzGa@AB 3m`@AL[~? AAJ&"AAs_pNA"AZAbAjArAzAAA#'@Aӷ)qAA;tA¸Aߠ?AGf?A㲔?Ad3*A<2Az::AȪBA<JAz:RAȪ٘i)I9Y JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027806.023165 s, next control iter: 1743027806.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027806.403165 s.&G~,͙AJ"J*J2J:JBJnJvJA)\b@Aekb@AL[~? A}AJ&"AA_pNA"AZAbAjArAzAAA e'@A%h)qAA|<:AA?Af?A ?A *AP<2A9iz::ABAP<JA9iz:RA٘i)I9Y JJJJ&K Yy Cb77Jҽ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027806.443165 s, next control iter: 1743027806.803176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1305, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) )  rAdjusting time to match Gazebo time: 1743027806.823165 s.G~,!AAq= ףd@A`X|;d@AL[~? ADA:J&"AA_pNA"AZAbAjArAzAAAqT'@AuE2j)qA ξAs:AA?AEf?A?A Cz*A|<2A;z::ABA|<JA;z:RA٘i)I9Y J.˲<JJJJ&K Yy{7{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027806.863165 s, next control iter: 1743027807.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027807.243165 s.G~,mϗAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743027807.243290F (some fields omitted in printout)AQf@A"ڎe@AM[~? A AJ&"AA_pNA"AZAbAjArAzAAApgG'@AltG)qA!ξA:AA鞱?A7f?A ?A$*A7m<2A/)z::ABBA7m<JA/)z:RAB٘i)I9Y JaC=JJJJ&K  7Y 7y7777 7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027807.283165 s, next control iter: 1743027807.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027807.663165 s.G~,qAtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1306, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)Ah@A:dg@AM[~? AAJ&"AA`pNA"AZAbAjArAzAAAVe'@A$)qAA9AA?Aϯf?A ?A[*A]<2A0z::ABA]<JA0z:RAY莕?5?yh9ٓH`F?v&@0f?=R?2 .t?;??)莕? I٘i)I9Y J4JJJ&Kc Yy{7L(7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027807.683165 s, next control iter: 1743027808.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027808.083165 s.DG~, SAJ"J*J2J:JBJnJvJAHzi@AEi@A2M[~? AA:J&"AA@`pNA"AZAbAjArAzAAAۢ.'@A莣)qAAAAӘ?Af?A?A%{*AdN<2AAz::ARBAdN<JAAz:RAR٘i)I9Y JJJJ&K Yy{7D7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027808.103165 s, next control iter: 1743027808.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743027808.503165 s.G~,74 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743027808.503290F (some fields omitted in printout)A(\k@Aj@AKM[~? AaAJ&"AAj`pNA"AZAbAjArAzAAAH橶'@AN(qAAƐA˸A ?A5f?A?A~Z2*A><2AHz::A,BA><JAHz:RA,٘i)I9Y JJJQDJ&K Yyj7a7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027808.543165 s, next control iter: 1743027808.903174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1307, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027808.923165 s.4G~,;AJ"J*J2J:JBJnJvJAףp= m@Al@AdM[~? A(AJ&"AA`pNA"AZAbAjArAzAAA'O'@AZ(qA ξAAָAe?A f?A`)?A'{3*A/<2A5z::AABA/<JA5z:RAA٘i)I9Y J`2C<JJJJ&K Yy77L~7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027808.963165 s, next control iter: 1743027809.323175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027809.343165 s.<G~,UAAQn@A[ HOn@A~M[~? AA6J&"AA`pNA"AZAbAjArAzAAAs/y'@A.(qAξAdY1AA?A Cf?A@7?A`3*A <2Az::ABA <JAz:RA٘i)I9Y Jd3C=JJJJ&K Yyb777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027809.363165 s, next control iter: 1743027809.743176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1308", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027809.763165 s.9G~,'pAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743027809.763280F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffffp@A2o@AM[~? AAJ&"AA`pNA"AZAbAjArAzAAA'@AӹFw(qAξAX&;9AϸA;?A`f?AF?A=2*Ax<2Ay::A%BAx<JAy:RA%Y?ۓ?yϸ;9ٓH M?@ve?Y?@/ 2t?d'??)? I٘i)I9Y JZ3J[JJJ&K Yy{7{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027809.803165 s, next control iter: 1743027810.163181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743027810.183165 s."G~,kAAGzr@Aq@AM[~? A}AJ&"AAapNA"AZAbAjArAzAAA'@AǟT(qAξAEw:AǸAQ?A@f?AU?A*A<2A(y::Ai0BA<JA(y:RAi0٘i)I9Y JlJJJJ&K Yy77LԾ7)ZZZBZL?YY*W2W WWW"W ) )FFF]o:Waiting for Gazebo time sync: latest Gz time: 1743027810.203165 s, next control iter: 1743027810.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027810.603165 s.64)G~,AJ"J*J2J:JBJnJvJA(\s@AfF?Zs@AM[~? AEA.J&"AA8apNA"AZAbAjArAzAAA䰉'@A41(qA ξA\:AAo?AXf?Ac?AU*Aw<2ARhy::A*BAw<JARhy:RA*٘i)I9Y JYJJJJ&K YyZ7Z77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027810.643165 s, next control iter: 1743027811.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1309 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027811.023165 s.Z0G~,{AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200292 time: 1743027811.023330F (some fields omitted in printout)A= ףpu@ALOu@AM[~? A AJ&"AAaapNA"AZAbAjArAzAAAR(HI'@AW[(qA!ξAk:AAJ?Af?Ap?A *A<2AP`y::ABA<JAP`y:RA٘i)I9Y JaJJJJ&K  7Y 7y7)7 7)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027811.063165 s, next control iter: 1743027811.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027811.443165 s.06G~, ]ܘAJ"J*J2J:JBJnJvJAQw@Azv@AM[~? AAJ&"AAapNA"AZAbAjArAzAAAx{'@A'qAAJ8AA9?ADf?Az?AnC*Aҥ<2Almy::At檺BAҥ<JAlmy:RAt檺٘i)I9Y JJJJ&K Yy C77O*7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027811.463165 s, next control iter: 1743027811.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1310, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027811.863165 s.+=G~,>AAx@A({dx@AN[~? AA#J&"AAapNA"AZAbAjArAzAAA-z'@A>(%'qAAs?AA ?Af?A?ApVA*Azå<2AP}y::ABAzå<JAP}y:RAYG??y?ٓHU?`v`e?b?`$`/t?rG`?)G? I٘i)I9Y J4JJJ&K Yy7)7F7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]Waiting for Gazebo time sync: latest Gz time: 1743027811.883165 s, next control iter: 1743027812.263181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743027812.283165 s.5RDG~,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199692 time: 1743027812.283267F (some fields omitted in printout)AGzz@AwR~z@A.N[~? AbAsJ&"AAapNA"AZAbAjArAzAAA/'@A굎'qA ξA AϸA?Agf?A?A6H3*A(<2AR|y::AęBA(<JAR|y:RAę٘i)I9Y J/2<JJJJ&K Yyŧ7b7c7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027812.323165 s, next control iter: 1743027812.683177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1311., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027812.703165 s.ԺJG~,-AA\(|@A4{@AGN[~? A)AJ&"AAbpNA"AZAbAjArAzAAAH'@AxL'qAξA,AݸAf?Af?A`?A73*AȤ<2AU_y::AnjBAȤ<JAU_y:RAnj٘i)I9Y JT3B=JJJRDJ&K Yy77P7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027812.743165 s, next control iter: 1743027813.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027813.123165 s.=QG~,vGAJ"J*J2J:JBJnJvJAp= }@Aխn}@A`N[~? AAJ&"AA.bpNA"AZAbAjArAzAAA"ucfC'@AZ=kb'qAAZѹAฃAM?Af?A ?A3*AX<2AP)y::ABAX<JAP)y:RA٘i)I9Y JJJJ&K Yy)7ŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027813.163165 s, next control iter: 1743027813.523182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743027813.543165 s.IXG~,bAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199752 time: 1743027813.543280F (some fields omitted in printout)AQ@A @AyN[~? AAcK&"AAXbpNA"AZAbAjArAzAAA/eۍ'@A?'qAA9AܸA?Af?AƏ?A$B1*AⅥ<2Ax::AHBAⅥ<JAx:RAH٘i)I9Y JJJJ&K Yyj7j77)ZZZBZL?YY*W2W WWW"W ) )FFF]o:Waiting for Gazebo time sync: latest Gz time: 1743027813.563165 s, next control iter: 1743027813.943187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1312, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027813.963165 s.v^G~,}AJ"J*J2J:JBJnJvJA33333@Afʀ@AN[~? AAK&"AAbpNA"AZAbAjArAzAAAw&t'@AvyU'qAA:AӸAp?Aūf?A؍?A1g_*Awv<2A;x::ABAwv<JA;x:RAYx??yθ)ϑ:ٓHr\?upՅ`.e?`f?{:2t? ?0R??)x? I٘i)I9Y JǴJJJ&K Yyŧ7b7Qֿ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027814.003165 s, next control iter: 1743027814.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027814.383165 s.eG~,+AA{G႔@A6y@AN[~? AGA K&"AAbpNA"AZAbAjArAzAAA_} '@AE&qA ξA`:AøA ?Awf?A@鋔?A>摳*A g<2Asx::ABA g<JAsx:RA٘i)I9Y JbC<JJJJ&K Yy{7{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027814.403165 s, next control iter: 1743027814.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1313", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027814.803165 s.tAlG~,ogAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200272 time: 1743027814.803294F (some fields omitted in printout)A(\@AY'@AN[~? AAOK&"AAbpNA"AZAbAjArAzAAA$դ'@AtSL&qA!ξA-:AA?Af?A?A4}*AW<2AXx::AyBAW<JAXx:RAy٘i)I9Y JfC=JJJJ&K  7Y 7yb777)ZZZBZL?YY*W2W WWW"W ) )l*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027814.843165 s, next control iter: 1743027815.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027815.223165 s.gsG~,HΙAA ףp=@A%xCՅ@AN[~? AAK&"AAbpNA"AZAbAjArAzAAAw 0='@AeM̵&qAAKAAd?A`f?A?A#*AH<2Aʫx::ANBAH<JAʫx:RAN٘i)I9Y JJJJ&K Yy77Q,7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027815.263165 s, next control iter: 1743027815.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027815.643165 s.J "J *J 2J :J BJ nJ wyG~vJ, *AAR뇔@A\:<@AN[~? AAK&"AA%cpNA"AZAbAjArAzAAA IwՐ'@A;P&qAAyAAb}?A]f?A?A1*Av9<2A۷x::A$BAv9<JA۷x:RA$٘i)I9Y JJJJ&K Yy7H7)ZZZBZL?YY*W2W WWW"W ) )m*tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1314, header.stamp.nsec: 0$ temperature: nan salinity: nanF, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743027815.683165 s, next control iter: 1743027816.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027816.063165 s.G~,V AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199832 time: 1743027816.063296F (some fields omitted in printout)A@AyrM1@AO[~? AeA8K&"AANcpNA"AZAbAjArAzAAAsm'@A6p&qA ξA|AҸAZ{?A@xf?A`%?AX3*A9*<2Ax::A> BA9*<JAx:RA> Yq?}?y˸ѡٓH@uc?au ed? jr? *1t?/T@?)q? I٘i)I9Y J*2<Jd3JJJ&K Yy C77e7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027816.103165 s, next control iter: 1743027816.463180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027816.483165 s.q_G~,AJ"J*J2J:JBJnJvJAzG@APߊ@A)O[~? A,AK&"AAxcpNA"AZAbAjArAzAAAdX'@AX*aN&qAξA5iAฃAz?A ֬f?A8?A`3*A<2Aix::ABA<JAix:RA٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 232Jd3C=JJJJ&K Yy{7Z7T7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027816.523165 s, next control iter: 1743027816.883174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1315, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027816.903165 s.ȍG~,9AA)\@A e@ABO[~? AA#K&"AAcpNA"AZAbAjArAzAAA1t'@Az+&qAAoNϸA渃Az?A૫f?A N?ARh3*A <2A/Lx::AUBA <JA/Lx:RAU٘i)I9Y JJJSDJ&K Yy77 7)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] ; Waiting for Gazebo time sync: latest Gz time: 1743027816.963165 s, next control iter: 1743027817.303176 s, wait time: 0.340011 s rAdjusting time to match Gazebo time: 1743027817.323165 s.sG~,TAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199622 time: 1743027817.323284F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף@AbFx;@A[O[~? AA(K&"AAcpNA"AZAbAjArAzAAA#4 7'@AR &qAAcB:AAz?Asf?Ac~?AN*A4<2A}x::ABA4<JA}x:RA٘i)I9Y JQ>JJJ&K> Yy7S77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027817.363165 s, next control iter: 1743027817.723174 s, wait time: 0.360009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1316&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027817.743165 s.WG~,ioAAQ@A]鏔@AtO[~? AAh,K&"AAcpNA"AZAbAjArAzAAA=Vϓ'@A%qA ξAN:AݸAvz?A f?Ax|?AC*A<2Aw::A"BA<JAw:RA"٘i)I9Y J,˲<JQ>JJJ&K> Yyŧ7b7T7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027817.783165 s, next control iter: 1743027818.143175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027818.163165 s.{}G~,qAJ"J*J2J:JBJnJvJA@A@AO[~? AKA0K&"AAdpNA"AZAbAjArAzAAA#1;g'@A߾%qA!ξA:A˸Ax?A f?A`z?A%*Aݤ<2AQw::A BAݤ<JAQw:RA Y*j?wv?yƸۋ:ٓHj?Cu@@d?@u? 91t?=rQ??)*j? I٘i)I9Y JbC=Jz3JJJ&K Yy7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027818.203165 s, next control iter: 1743027818.563179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027818.583165 s.G~,RAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199822 time: 1743027818.583303F (some fields omitted in printout)AHz@A;E@AO[~? AA4K&"AAEdpNA"AZAbAjArAzAAA'@A~1C%qAA\9AAu?A8f?Ax?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200502 time: 1743027819.843328F (some fields omitted in printout)AQ@A"O@AO[~? AjAAK&"AAdpNA"AZAbAjArAzAAA_Ȗ'@A9&;%qA ξAݚAԸAMn?A`ff?A r?A3*A,<2AQw::A<~BA,<JAQw:RA<~٘i)I9Y Jc2C<JJJJ&K Yy77g7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027819.883165 s, next control iter: 1743027820.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027820.263165 s.G~,AAfffff@AJ`s@A P[~? A1A$FK&"AAdpNA"AZAbAjArAzAAA'@AYw$qAAZ9A鸃A6n?A@Kf?Ao?A3*A<2A/pw::ǍBA<JA/pw:RǍI٘i)I9Y JJJTDJ&K Yy7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027820.683165 s, next control iter: 1743027821.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743027821.103165 s.G~,FAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199672 time: 1743027821.103264F (some fields omitted in printout)A(\@AQ}>Z@A=P[~? AANK&"AAAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199542 time: 1743027822.363268F (some fields omitted in printout)J"J*J2J:JBJnJvJA̢@A͌~d@AP[~? AA[K&"AAepNA"AZAbAjArAzAAASljZ'@AAm$qAAԭ8AøA"h?Af?A@^g?AS*A!F<2A&w::ALBA!F<JA&w:RALY[?g?yø"18ٓH@y?t@|@c?O?v-0t???)[? I٘i)I9Y J5JJJ&K  7Y 7y{7j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027822.383165 s, next control iter: 1743027822.763175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1321", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027822.783165 s.TG~,AAGz@A@AP[~? AA_K&"AAepNA"AZAbAjArAzAAAN4'@AJ$qAAEA¸Ad?A`Of?Are?A*)q*A7<2A)w::A!BA7<JA)w:RA!٘i)I9Y JJJJ&K Yy77W07)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027822.823165 s, next control iter: 1743027823.183174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743027823.203165 s.G~,͛AJ"J*J2J:JBJnJvJA\(@ABȗ@AP[~? AAdK&"AA fpNA"AZAbAjArAzAAADB'@A1($qA ξAA˸Ab?Af?Ac?AE3*A(<2A/(w::ABA(<JA/(w:RA٘i)I9Y J12<JJJJ&K Yy{7j7M7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027823.223165 s, next control iter: 1743027823.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027823.623165 s.PG~,?AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743027823.623273F (some fields omitted in printout)Ap= ק@Amn@AP[~? ApA^hK&"AA2fpNA"AZAbAjArAzAAA?a#'@A# z$qAA7A׸Ara?A3f?Aa?Ap3*A<2A w::ABA<JA w:RA٘i)I9Y JJJJ&K Yyj7SI7i7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027823.643165 s, next control iter: 1743027824.023175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1322 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027824.043165 s.G~,AJ"J*J2J:JBJnJvJAQ@A@AP[~? A8AlK&"AA\fpNA"AZAbAjArAzAAA@='@Ar>#qAξAu¹AฃAca?A'f?A_?A"3*A <2Av::AvBA <JAv:RAv٘i)I9Y J^3<JJJJ&K Yy77Y7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027824.083165 s, next control iter: 1743027824.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027824.463165 s.QG~,ӤAA33333@AIʪ@AQ[~? AApK&"AAfpNA"AZAbAjArAzAAAS'@ABQ#qAA:A긃Aa?Af?A]?A2*A<2A,v::A BA<JA,v:RA YYT?`?y鸃:ٓH3?5t:4@c?? `2@5t?v@??)YT? I٘i)I9Y J4JJJ&K5 Yy77{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027824.503165 s, next control iter: 1743027824.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1323, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027824.883165 s.y G~,48AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200442 time: 1743027824.883297F (some fields omitted in printout)A{Gᬔ@AGx@AQ[~? AA-uK&"AAfpNA"AZAbAjArAzAAA0>'@AjZϟ#qAAN:A︃Aa?Af?A[?A6jQ*A<2Abv::ABA<JAbv:RA٘i)I9Y JJJUDJ&K Yy{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027824.923165 s, next control iter: 1743027825.283176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027825.303165 s.RG~,fgSAA(\@Ah%&@A8Q[~? AAqyK&"AAfpNA"AZAbAjArAzAAAG'@A%"P}#qA ξA!:A踃A-`?Aथf?A` Z?Aό*A{ܣ<2AIv::AVBA{ܣ<JAIv:RAV٘i)I9Y J0˲<JJJJ&K Yy77X7)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027825.343165 s, next control iter: 1743027825.703175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1324&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027825.723165 s.G~,HnAJ"J*J2J:JBJnJvJA ףp=@AQկ@ARQ[~? AXA}K&"AAgpNA"AZAbAjArAzAAAstx'@A!n[#qA!ξA&:AٸA]?A f?A %X?A~*Aͣ<2AKv::A⨺BAͣ<JAKv:RA⨺٘i)I9Y J[C=JJJJ&K Yyb777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027825.763165 s, next control iter: 1743027826.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027826.143165 s.W/"G~, *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743027826.143283F (some fields omitted in printout)AR뱔@AMg'@AkQ[~? A AK&"AA)gpNA"AZAbAjArAzAAAl'@AB9#qAAjAθAmZ?A֦f?A@ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199522 time: 1743027827.403272F (some fields omitted in printout)A)\@A5]Ot@AQ[~? AxAK&"AAgpNA"AZAbAjArAzAAA\}'@ARB"qAξAucA۸AT?Af?AP?A33*A<2Aq6v::A_pBA<JAq6v:RA_p٘i)I9Y Jo3C=JJJJ&K Yy{7Z7k7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027827.423165 s, next control iter: 1743027827.803174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1326, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027827.823165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199672 time: 1743027828.663281F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1327, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A@AR[~? AAK&"AAhpNA"AZAbAjArAzAAAҝE'@A|l"qA ξA-:A︃AT?A`f?AJ?Aѐu*Ad<2Aړu::ABAd<JAړu:RAYE?R?y踃{E:ٓH {?s@Bԅb?t?: 5t? %S?@?)E? I٘i)I9Y J*˲<J JJVDJ&K1 Yy77{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027828.683165 s, next control iter: 1743027829.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027829.083165 s.DQG~,REAJ"J*J2J:JBJnJvJAHz@AE@AR[~? AAşK&"AAHhpNA"AZAbAjArAzAAA ޣ'@A3gJ"qA!ξAm:A鸃AR?Aౣf?AI?A膳*AU<2Au::AtBAU<JAu:RAt٘i)I9Y JcC=JJJJ&K Yy77]7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027829.123165 s, next control iter: 1743027829.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027829.503165 s.WG~,74`AA(\@As@A3R[~? AaAK&"AAqhpNA"AZAbAjArAzAAAk(v'@A\;T("qAA#`9A޸AP?A Gf?A`G?Aɕd*AF<2Au::ANBAF<JAu:RAN٘i)I9Y JJJJ&K Yy7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027829.543165 s, next control iter: 1743027829.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1328, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027829.923165 s.H^G~,{AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200342 time: 1743027829.923337F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= @A?l@AMR[~? A)AEK&"AAhpNA"AZAbAjArAzAAAlEQ'@AS5E"qAA/AڸAL?Af?A6E?A*A7<2Au::A"BA7<JAu:RA"٘i)I9Y JJJJ&K  7Y 7y7)77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027829.963165 s, next control iter: 1743027830.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027830.343165 s.'@A? K?y۸噺ٓHe? sb?T?3t?2S`?)>? I٘i)I9Y Ja2C<Jw4JJJ&KE Yy{7{7 Q7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027830.803165 s, next control iter: 1743027831.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027831.183165 s.rG~,c˝AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743027831.183290F (some fields omitted in printout)AGzƔ@Au["Ŕ@AR[~? AAK&"AAipNA"AZAbAjArAzAAAIZ֦'@A 3*!qAξA#AA <2Aau::ABA> <JAau:RA٘i)I9Y Jl3C=JJJJ&K Yy Cb77m7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027831.223165 s, next control iter: 1743027831.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027831.603165 s.34yG~,AJ"J*J2J:JBJnJvJA(\ǔ@AXZǔ@AR[~? AJAAK&"AA?ipNA"AZAbAjArAzAAAbn'@AQ'~!qAA y9A布AH?A`6f?A@=?A$2*AA<2A#u::AnBAA<JA#u:RAn٘i)I9Y JJJJ&K Yy77b7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027831.643165 s, next control iter: 1743027832.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1330 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027832.023165 s.ZG~,F}AA= ףpɔ@A Zɔ@AR[~? AAK&"AAhipNA"AZAbAjArAzAAAV'@Aʶ'\!qAAs:A븃AH?Af?A;?AS*AI<2APt::AsBAI<JAPt:RAs٘i)I9Y JJJJ&K Yy7777 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027832.063165 s, next control iter: 1743027832.423258 s, wait time: 0.360093 s rAdjusting time to match Gazebo time: 1743027832.443165 s.2ÆG~,)]AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360J> elevatorAngleAction: 0.000000"J< massPositionAction: 0.000000*J4 buoyancyAction: 0.0009552J dt: 0.419936:JBJnJ2 time: 1743027832.443308vJF (some fields omitted in printout)AQ˔@Anʔ@AR[~? AAK&"AAipNA"AZAbAjArAzAAAm-'@A5@+:!qA ξA:AAG?A`f?A9?A3{*Adޢ<2Ayt::ABAdޢ<JAyt:RA٘i)I9Y J(˲<JJJJ&K YyZ7Z77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027832.483165 s, next control iter: 1743027832.843174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1331, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027832.863165 s.+G~,>7AA̔@Ad\qqd̔@AR[~? AAK&"AAipNA"AZAbAjArAzAAA(B7'@A1!qA!ξAxW`:A縃AyE?Aǡf?A@8?A^|*AϢ<2At::A㧺BAϢ<JAt:RA㧺Y^7?C?y七w`:ٓH ?r -b?_?64t? L??)^7? I٘i)I9Y JdC=Jq+JJWDJ&Kj Yy77_7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027832.883165 s, next control iter: 1743027833.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027833.283165 s.5RG~,RAJ"J*J2J:JBJnJvJAGzΔ@AQ3Δ@AS[~? AkA6K&"AAipNA"AZAbAjArAzAAAʏoYϩ'@A܄; qAA[8A㸃AeB?A|f?A`/6?AC*A<2At::AֺBA<JAt:RAֺ٘i)I9Y JJJJ&K Yyŧ7b7 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027833.323165 s, next control iter: 1743027833.683176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1332*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027833.703165 s.ѺG~,mAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199592 time: 1743027833.703254F (some fields omitted in printout)A\(Д@An4ϔ@A.S[~? A3ArK&"AA jpNA"AZAbAjArAzAAAug'@ApH qAAFKA渃AD??A6f?AL4?A3U*A<2AMt::A|BA<JAMt:RA|٘i)I9Y JJJJ&K  7Y 7y{7j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027833.743165 s, next control iter: 1743027834.103174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743027834.123165 s.5G~,T⇞AJ"J*J2J:JBJnJvJAp= є@ADвnє@AHS[~? AAK&"AA5jpNA"AZAbAjArAzAAA%t'@AY qA ξASA츃A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200352 time: 1743027834.963330F (some fields omitted in printout)A33333Ք@ALԔ@AzS[~? AA%K&"AAjpNA"AZAbAjArAzAAA#/'@A.͂n qAξAA긃A;?Af?A.?AL3*A<2AKt::AmBA<JAKt:RAmY?0? elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743027836.223296F (some fields omitted in printout)A ףp=ڔ@AIٔ@AS[~? AAK&"AAkpNA"AZAbAjArAzAAAH'@AgL qA!ξA}Θ:A긃A:?A zf?A)?A=8*A Y<2At::AesBA Y<JAt:RAes٘i)I9Y J_C=JJJJ&K Yy{7j77)ZZZBZL?YY*W2W WWW"W ) )FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743027836.243165 s, next control iter: 1743027836.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027836.643165 s.J "J *J 2J :J BJ nJ vJ |G~, *)AAR۔@A1۔@AS[~? AAK&"AA+kpNA"AZAbAjArAzAAA݉'@AiWqAAb:A布A8?Af?A >'?Ahh*AoJ<2At::ARBAoJ<JAt:RARI٘i)I9Y JJJXDJ&K Yyb77b7)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1335, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027836.663165 s, next control iter: 1743027837.043179 s, wait time: 0.380014 s) rAdjusting time to match Gazebo time: 1743027837.063165 s.G~,N DAAݔ@A\g1ݔ@AS[~? AwAGK&"AATkpNA"AZAbAjArAzAAA('@Al2"qAA A渃A4?Af?A ^%?Ad*A;<2At::A'BA;<JAt:RA'Y )?Y5?y渃OٓH`?`#r`x房a??@0(4t?`!0?) )? I٘i)I9Y Jwd3JJJ&K Yyj7j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027837.103165 s, next control iter: 1743027837.463176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027837.483165 s.r_G~,^AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199622 time: 1743027837.483274F (some fields omitted in printout)AzGߔ@AuRޔ@AT[~? A@AK&"AA}kpNA"AZAbAjArAzAAAjs'@AFKqAAA𸃽A1?ACf?A#?AA1*A#-<2A"t::AKBA#-<JA"t:RAK٘i)I9Y JJJJ&K  7Y 7yb777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027837.523165 s, next control iter: 1743027837.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1336, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027837.903165 s.G~,yAA)\@AD.l@A)T[~? AAK&"AAkpNA"AZAbAjArAzAAA)X'@AYqwqA ξAŠAA/?A Jf?A !?A 3*At<2At::A禺BAt<JAt:RA禺٘i)I9Y J`2C<JJJJ&K Yy77c87)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027837.943165 s, next control iter: 1743027838.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027838.323165 s.yG~,2AJ"J*J2J:JBJnJvJAq= ף@Ay;@ABT[~? AAK&"AAkpNA"AZAbAjArAzAAAjӆ:'@A44_qAξA]AAL/?Af?A?A3*A<2Abs::A㦺BA<JAbs:RA㦺٘i)I9Y Jc3C=JJJJ&K Yy7 U7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027838.343165 s, next control iter: 1743027838.723177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1337&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027838.743165 s.WG~,iAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200142 time: 1743027838.743306F (some fields omitted in printout)AQ@Ag@A[T[~? AA'L&"AAkpNA"AZAbAjArAzAAAGD'@A=qAA~AA/?Aff?A@?AH3*A<2As::A4了BA<JAs:RA4了٘i)I9Y JJJJ&K Yy)7ŧ7q7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027838.763165 s, next control iter: 1743027839.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027839.163165 s.J "J *J 2J :J BJ w}G~nJvJ,qʟAA@A+w@AuT[~? AbA_L&"AA!lpNA"AZAbAjArAzAAAF '@A~qAAϟN:A񸃽A/?A0f?A?Aخ*A<2Abzs::ABA<JAbzs:RAY!?.?yh O:ٓH@ʱ?q@ӆ.a?? 45t?I? ?)!? I٘i)I9Y JdJJJ&KT Yy77b7)ZZZBZL?YY*W2W WWW"W ) )FFF]t:Waiting for Gazebo time sync: latest Gz time: 1743027839.183165 s, next control iter: 1743027839.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027839.583165 s.G~,RAAHz@AbE@AT[~? A+A L&"AAJlpNA"AZAbAjArAzAAAȽA'@AxhHqA ξAA|:AA0/?A@rf?A`=?A0|*A_<2APs::AqBA_<JAPs:RAq٘i)I9Y J-˲<JJJJ&K Yyb7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027839.623165 s, next control iter: 1743027839.983174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1338, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027840.003165 s. G~,j4AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200372 time: 1743027840.003292F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A@AT[~? AA L&"AAslpNA"AZAbAjArAzAAA(k9P'@AZqA!ξA6:A縃A`-?A`kf?A b?A.*Aԡ<2ABs::A榺BAԡ<JABs:RA榺٘i)I9Y JVB=JJJJ&K Yy)7ŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027840.043165 s, next control iter: 1743027840.403185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743027840.423165 s.uG~,{AAףp= @Ax@AT[~? AAL&"AAlpNA"AZAbAjArAzAAAcM2'@A=rlöqAA9A㸃A*?Af?A`?AR*A"ơ<2AxLs::A#BA"ơ<JAxLs:RA#٘i)I9Y JJJJ&K YyZ7Z7d7)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027840.443165 s, next control iter: 1743027840.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1339, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027840.843165 s. G~,5AJ"J*J2J:JBJnJvJAQ@AO@AT[~? AA8L&"AAlpNA"AZAbAjArAzAAA *1'@ArqqAAtA긃AN'?Ažf?A`?A<1Dz*A<2A]s::A%BA<JA]s:RA%٘i)I9Y JJJYDJ&K  7Y 7y C)7)77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027840.883165 s, next control iter: 1743027841.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027841.263165 s.G~,PAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199942 time: 1743027841.263275F (some fields omitted in printout)Afffff@A+$@AT[~? ANAmL&"AAlpNA"AZAbAjArAzAAAr3'@AqJsqAAjAA$?A@3f?A?A'2*A<2Abs::ArBA<JAbs:RArY?'?y򸃽ٓH?@bq`d``?? `6t?VR`?)? I٘i)I9Y JXJJJ&K Yy77{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027841.283165 s, next control iter: 1743027841.663175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1340., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027841.683165 s.lG~,ZkAJ"J*J2J:JBJnJvJAGz@Ad elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743027842.523264F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@AH@A=U[~? AA 'L&"AAimpNA"AZAbAjArAzAAA-1'@AXK-qAA \9AA9#?A̜f?AG ?A}2*A}<2Ar::AqBA}<JAr:RAq٘i)I9Y JJJJ&K Yyb7b7s7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027842.563165 s, next control iter: 1743027842.923173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1341, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027842.943165 s.Wd.G~,>]AAQ@A@AVU[~? AqA>+L&"AAmpNA"AZAbAjArAzAAAKȧ!x'@AAqAA:AAG#?A@f?Ar ?At)*APn<2Aêr::AK{BAPn<JAêr:RAK{٘i)I9Y JJJJ&K Yy7i7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027842.983165 s, next control iter: 1743027843.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027843.363165 s.5G~,>נAJ"J*J2J:JBJnJvJA@AwNyd@AoU[~? A:Ar/L&"AAmpNA"AZAbAjArAzAAATi '@A{ qA ξAn:A񸃽AO"?A0f?A ?A3r*A_<2Abr::AtBA_<JAbr:RAtYm??y븃à:ٓH߿? Fqw``??`95t? T? ?)m? I٘i)I9Y J*˲<J^4JJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027843.403165 s, next control iter: 1743027843.763179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1342", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027843.783165 s.X;G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743027843.783327F (some fields omitted in printout)AGz@A@AU[~? AA3L&"AAmpNA"AZAbAjArAzAAA'@A9+qA!ξA$jZ:A渃A ?Aef?A?A-z*A(Q<2A܅r::AXBA(Q<JA܅r:RAX٘i)I9Y JfC=JJJJ&K Yyŧ777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027843.823165 s, next control iter: 1743027844.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027844.203165 s.CG~, AJ"J*J2J:JBJnJvJA\(@AI+@AU[~? AA7L&"AA npNA"AZAbAjArAzAAA &?'@Ap놇qAA27A㸃A?Af?A?Ai7*AB<2A]r::A/BAB<JA]r:RA/٘i)I9Y JJJJ&K Yyh7)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743027844.243165 s, next control iter: 1743027844.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027844.623165 s.SIG~,L'AAp= @A6n@AU[~? AA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743027845.043271F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AZ@AU[~? A]A;@L&"AA^npNA"AZAbAjArAzAAAk^o'@AR;FDqAAџAA?Af?A 6?AEW3*A%<2Ar::A襺BA%<JAr:RA襺٘i)I9Y JJJJ&K Yy7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027845.083165 s, next control iter: 1743027845.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027845.463165 s.PWG~,Ϥ]AA33333@Af@AU[~? A&AlDL&"AAnpNA"AZAbAjArAzAAAgIռ'@AwŇ"qA ξA-AA?A`f?A`?A¾3*A-<2A+r::A^ޥBA-<JA+r:RA^ޥYt ??ytٓH@? p`ΐ1`?@p?`8t? P?)t ? I٘i)I9Y Ja2C<JJJJ&K Yy777h<7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027845.503165 s, next control iter: 1743027845.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1344, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027845.883165 s.y]G~,#xAJ"J*J2J:JBJnJvJA{G@AYKy@AV[~? AAHL&"AAnpNA"AZAbAjArAzAAA-'@A"qAξAA A?Aqf?A?A3*A<2ALr::A?楺BA<JALr:RA?楺٘i)I9Y JZ3C=JJJJ&K Yy C7Y7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027845.923165 s, next control iter: 1743027846.283175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027846.303165 s.QdG~,bgAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199842 time: 1743027846.303274F (some fields omitted in printout)A(\@Al'@AV[~? AALL&"AAnpNA"AZAbAjArAzAAAGr7'@AAV|qAA:AA?A`.f?A ?A<*A<2Ar::AeBA<JAr:RAe٘i)I9Y JJJJ&K Yyj7j7u7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027846.323165 s, next control iter: 1743027846.703175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1345*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027846.723165 s.kG~,HAJ"J*J2J:JBJnJvJA ףp=@A^@A8V[~? AAPL&"AAopNA"AZAbAjArAzAAAMrϼ'@AτqA ξAT:AA?A@?f?A?Ac*A\<2A=q::ANBA\<JA=q:RAN٘i)I9Y Jd<JJJJ&K Yy7777i7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027846.763165 s, next control iter: 1743027847.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027847.143165 s.V/rG~,*ɡAAR@An-@AQV[~? AJA.UL&"AA+opNA"AZAbAjArAzAAA~Mg'@AfZqA!ξAb:AAR?Af?A?A&*Aܠ<2Aq::A륺BAܠ<JAq:RA륺٘i)I9Y JaC=JJJJ&K Yy7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027847.163165 s, next control iter: 1743027847.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027847.563165 s.xG~,9 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199682 time: 1743027847.563264F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A}e1@AjV[~? AA^YL&"AATopNA"AZAbAjArAzAAA )'@AX zqAAT:A踃A?Adf?A`S-.'@A;읾7qAAA󸃽A ?Af?A?A92*A<2A?q::AxBA<JA?q:RAx٘i)I9Y JQ>JJJ&K>  7Y 7y7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027848.423165 s, next control iter: 1743027848.803174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1347, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027848.823165 s.G~,!4AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743027848.823276F (some fields omitted in printout)Aq= ף @A{; @AV[~? AoAeL&"AAopNA"AZAbAjArAzAAAcƿ'@A:;qA ξADAA ?Af?A?A3*AA<2A_q::AwaBAA<JA_q:RAwa٘i)I9Y Ja2C<JQ>JJ[DJ&K> Yyŧ7b7!7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027848.843165 s, next control iter: 1743027849.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027849.243165 s.G~,dOAJ"J*J2J:JBJnJvJAQ@AO) @AV[~? A8AjL&"AAopNA"AZAbAjArAzAAA^'@A ?qAξAښWA A- ?Af?A?A3*AŔ<2Aq::AU^BAŔ<JAq:RAU^٘i)I9Y Jd3C=JJJJ&K Yy7777k>7)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027849.263165 s, next control iter: 1743027849.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027849.663165 s.G~,qjAtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1348, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@Ae@AV[~? AAEnL&"AA!ppNA"AZAbAjArAzAAAu'@A=>qAAAAi ?A@Ƙf?A?AMD3*A=<2Azq::AjBA=<JAzq:RAjY ?m ?y_,ٓH?*pՒ_?i?-*:t??) ? I٘i)I9Y J2CJJJ&K Yy{7j7[7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027849.683165 s, next control iter: 1743027850.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027850.083165 s.DG~,RAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743027850.083277F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@AŠSE@AW[~? AArrL&"AAJppNA"AZAbAjArAzAAAǾi'@AdKıqAA%T:AA ?Af?A@I?Aˎ*Aw<2Aj@q::AvBAw<JAj@q:RAv٘i)I9Y JJJJ&K Yyw7)ZZZBZL?YY*W2W WWW"W ) )FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743027850.123165 s, next control iter: 1743027850.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027850.503165 s.G~,U4AA(\@Ab@AW[~? AAvL&"AArppNA"AZAbAjArAzAAAJX8&'@A[MqA ξA3:A A ?A זf?A`x?Ał*A>i<2A0q::AuBA>i<JA0q:RAu٘i)I9Y J.˲<JJJJ&K Yyj7k7)ZZZBZL?YY*W2W WWW"W ) )FFF]h:Waiting for Gazebo time sync: latest Gz time: 1743027850.523165 s, next control iter: 1743027850.903184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1349, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027850.923165 s.6G~,AJ"J*J2J:JBJnJvJAףp= @A١@A2W[~? A\AzL&"AAppNA"AZAbAjArAzAAAO6'@AknqA!ξAn:AA:?AҖf?A?AJ*AZ<2A q::A`BAZ<JA q:RA`٘i)I9Y J^C=JJJJ&K Yy C7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027850.963165 s, next control iter: 1743027851.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027851.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027851.343325F (some fields omitted in printout)AQ@ACyO@AKW[~? A&A~L&"AAppNA"AZAbAjArAzAAAݜ U'@A6 iMqAAt9A츃AY?Aef?A?ACJZ*AL<2Aq::A ;BAL<JAq:RA ;٘i)I9Y JJJJ&K Yy77777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027851.363165 s, next control iter: 1743027851.743182 s, wait time: 0.380017 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1350&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout)()( rAdjusting time to match Gazebo time: 1743027851.763165 s.5G~,AJ"J*J2J:JBJnJvJAfffff@AHz@AdW[~? AA#L&"AAppNA"AZAbAjArAzAAA5ע'@A$yo+qAAAA)?A@"f?A?A)Dz*AA><2A'q::ABAA><JA'q:RAY?^?y븃FٓH?o2_?@?#5t?@}B`?)? I٘i)I9Y Jl+5JJJ&Kq Yyŧ7ŧ7n7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027851.803165 s, next control iter: 1743027852.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027852.183165 s.G~, AAGz@A0@A}W[~? AAOL&"AAqpNA"AZAbAjArAzAAAYx'@AА qAAbƖAA?Af?A@*?AO3*A/<2Ae+q::A;BA/<JAe+q:RA;٘i)I9Y JJJJ&K  7Y 7y)7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027852.223165 s, next control iter: 1743027852.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027852.603165 s.24G~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199942 time: 1743027852.603290F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A&OZ@AW[~? AAzL&"AA?qpNA"AZAbAjArAzAAA O'@Ar$A)qA ξAaAA$?AEf?AY?A83*A!<2Aq::AݤBA!<JAq:RAݤI٘i)I9Y J^2C<JJJ\DJ&K Yyŧ7#7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027852.643165 s, next control iter: 1743027853.003175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1351 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027853.023165 s.ZG~,{AAA= ףp@AI@AW[~? AKAL&"AAhqpNA"AZAbAjArAzAAAq#'@AݻqAξACuAA?AUf?Aߓ?Aˮ3*A/<2Ap::AऺBA/<JAp:RAऺ٘i)I9Y Jl3C=JJJJ&K Yy777o@7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027853.063165 s, next control iter: 1743027853.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027853.443165 s.3G~,-]\AJ"J*J2J:JBJnJvJAQ@AahV@AW[~? AAΓL&"AAqpNA"AZAbAjArAzAAAGL'@A=cqAAa9AA??Af?Aݓ?A5 2*A<2Asp::ABA<JAsp:RA٘i)I9Y JJJJ&K Yyj7j7]7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027853.483165 s, next control iter: 1743027853.843175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1352, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027853.863165 s.+G~,>wAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743027853.863280F (some fields omitted in printout)A @A+zd @AW[~? AAL&"AAqpNA"AZAbAjArAzAAAHQ'@AqAA:AAJ?A@f?Aۓ?AG)*AN<2Atp::A2BAN<JAtp:RA2Y?&?y6:ٓH?oؑ^?Q?a6@:t?@P??)? I٘i)I9Y J4JJJ&Kx Yyb77y7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027853.903165 s, next control iter: 1743027854.263176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027854.283165 s.4RG~,AJ"J*J2J:JBJnJvJAGz"@A2"@AW[~? AA!L&"AAqpNA"AZAbAjArAzAAAӯo|'@AUcqA ξA(:AAJ?A`|f?A #ړ?As*A<2AUp::ABA<JAUp:RA𤺙٘i)I9Y J(˲<JJJJ&K Yy777q7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027854.303165 s, next control iter: 1743027854.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1353., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027854.703165 s.ҺG~,AA\($@A5#@AX[~? ApAJL&"AA rpNA"AZAbAjArAzAAAT,'@AnPBqA!ξAYT:AA ?Af?ARؓ?A@*Aٟ<2A[Rp::AԤBAٟ<JA[Rp:RAԤ٘i)I9Y JdC=JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027854.743165 s, next control iter: 1743027855.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027855.123165 s.8G~,aǣAJ"J*J2J:JBJnJvPublished command to Gazebo (printed only once in a while):vJ( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743027855.123272F (some fields omitted in printout)Ap= %@Aen%@A-X[~? A9AsL&"AA4rpNA"AZAbAjArAzAAA'b'@A qAA# A󸃽A?A`f?A֓?AR?*Ax˟<2A@ap::ABAx˟<JA@ap:RA٘i)I9Y JJJJ&K Yy7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027855.163165 s, next control iter: 1743027855.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027855.543165 s.IG~,AAQ'@A]'@AFX[~? AAL&"AA]rpNA"AZAbAjArAzAAAʯC'@AULqAAWAA?A f?Aԓ?Akf*AD<2App::ABAD<JApp:RA٘i)I9Y JJJJ&K Yy Cb7b7r7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027855.583165 s, next control iter: 1743027855.943174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1354, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027855.963165 s.zG~,AJ"J*J2J:JBJnJvJA33333)@A(@A_X[~? AAìL&"AArpNA"AZAbAjArAzAAAKw'@A>ZqAAt5AA?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199612 time: 1743027856.383281F (some fields omitted in printout)A{G*@AZx*@AxX[~? AAL&"AArpNA"AZAbAjArAzAAA >s'@A;X qA ξA׃A A?Af?Aѓ?A3*A<2AMp::AZ]BA<JAMp:RAZ]٘i)I9Y Jc2C<JJJJ&K Yy77%7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027856.423165 s, next control iter: 1743027856.783174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1355", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027856.803165 s.vA G~,wg3AJ"J*J2J:JBJnJvJA(\,@Aؖ',@AX[~? A_AL&"AArpNA"AZAbAjArAzAAAFj '@AO$ěqAξA=AA?Af?A Iϓ?A&3*Ag<2A(p::AeBAg<JA(p:RAe٘i)I9Y J^3C=JJJ]DJ&K Yyb77qB7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027856.843165 s, next control iter: 1743027857.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027857.223165 s.gG~,HNAA ףp=.@A5 -@AX[~? A)A8L&"AAspNA"AZAbAjArAzAAA'@Aw~zqAA:AA?A`Zf?A ͓?AM0*A <2A+o::AsBA <JA+o:RAs٘i)I9Y JJJJ&K Yyŧ7b7_7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027857.263165 s, next control iter: 1743027857.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027857.643165 s.J "J *J G~2J:J,V*iABJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743027857.643292F (some fields omitted in printout)AR/@ANE/@AX[~? AA_L&"AA*spNA"AZAbAjArAzAAA)j:'@AJJ;YqA ξAP:AA?Anf?A@˓?A \*Au<2A"o::APxBAu<JA"o:RAPx٘i)I9Y J]<JJJJ&K Yy{7Z7{7)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1356, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027857.663165 s, next control iter: 1743027858.043196 s, wait time: 0.380031 s rAdjusting time to match Gazebo time: 1743027858.063165 s. G~,V AA1@A*TP11@AX[~? AAL&"AARspNA"AZAbAjArAzAAA'@AT 7qA!ξAߕ:AAg?A.f?Aɓ?A*A|g<2Ao::AiBA|g<JAo:RAiY??y .:ٓH@?`n]`3^? ?79t? R?`?)? I٘i)I9Y JaC=J衴JJJ&K Yyj7t7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027858.103165 s, next control iter: 1743027858.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027858.483165 s.o_'G~,x잤AJ"J*J2J:JBJnJvJAzG3@AM2@AX[~? AAL&"AA{spNA"AZAbAjArAzAAA6Li'@AqAA::AA?Af?Aȓ?A]m*ASY<2Ao::AHBASY<JAo:RAH٘i)I9Y JJJJ&K Yy7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027858.523165 s, next control iter: 1743027858.883173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1357, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027858.903165 s.-G~,͹AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743027858.903270F (some fields omitted in printout)A)\4@A-c4@AY[~? AOAL&"AAspNA"AZAbAjArAzAAAv'@AqAAңAA?A Rf?AJƓ?A-J*A4K<2A­o::ABA4K<JA­o:RA٘i)I9Y JJJJ&K Yyj7j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027858.943165 s, next control iter: 1743027859.303176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027859.323165 s.u4G~,!ԤAJ"J*J2J:JBJnJvJAq= ף6@Aq;6@A'Y[~? AAL&"AAspNA"AZAbAjArAzAAA ,'@ALqAAAA?A ݓf?A|ē?Aؒ'2*A=<2A o::ABA=<JA o:RA٘i)I9Y JJJJ&K Yy77{7t7)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743027859.343165 s, next control iter: 1743027859.723175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1358&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027859.743165 s.W;G~,dAAQ8@A7@A@Y[~? AAL&"AAspNA"AZAbAjArAzAAAH0'@AqA ξAͪA A?A@Гf?A “?A3*A.<2Ao::AS⣺BA.<JAo:RAS⣺٘i)I9Y Ja2C<JJJJ&K  7Y 7y7ŧ7 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027859.783165 s, next control iter: 1743027860.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027860.163165 s.y}BG~,q AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743027860.163292F (some fields omitted in printout)A:@AV9@AYY[~? AA=L&"AAtpNA"AZAbAjArAzAAAȜǚ'@A@qAξAzQAAe?Af?A ?Aߣ3*A <2A΃o::AߣBA <JA΃o:RAߣYڔ??yQٓH@h?onN]?@?9t?@P/J ?)ڔ? I٘i)I9Y J`3C=JJJJ&K Yy)7'7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027860.203165 s, next control iter: 1743027860.563178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027860.583165 s.HG~,S%AAHz;@AE;@ArY[~? AuA`L&"AAHtpNA"AZAbAjArAzAAAYJ`'@A<`pqAA:7AA?Aؑf?A ?A>3*Am<2AJo::A룺BAm<JAJo:RA룺٘i)I9Y JJJ^DJ&K Yy CSI7SI7uD7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027860.603165 s, next control iter: 1743027860.983174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1359, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027861.003165 s.t PG~,;4@AJ"J*J2J:JBJnJvJA(\=@Az<@AY[~? A?AL&"AAptpNA"AZAbAjArAzAAA'@A1OqAAENZ:AA?A@f?A@Y?A»*A)<2Ao::AWBA)<JAo:RAW٘i)I9Y JJJJ&K Yy77{7 a7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027861.043165 s, next control iter: 1743027861.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027861.423165 s.uVG~,n[AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4198772 time: 1743027861.423284F (some fields omitted in printout)Aףp= ?@A}>@AY[~? A AL&"AAtpNA"AZAbAjArAzAAA=Ȑ'@Af.qA ξAC:AAG?Af?A?Ay*A<2An::ABA<JAn:RA٘i)I9Y J1˲<JJJJ&K Yy77}7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027861.443165 s, next control iter: 1743027861.823174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1360, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027861.843165 s.\G~,uAJ"J*J2J:JBJnJvJAQ@@A O@@AY[~? AAL&"AAtpNA"AZAbAjArAzAAA)-''@AU5A qA!ξA:AAi?Af?A`ƹ?A`r*A<2An::Aa᣺BA<JAn:RAa᣺٘i)I9Y JaC=JJJJ&K Yy77{7t7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027861.883165 s, next control iter: 1743027862.243175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027862.263165 s.dG~,ؐAAfffffB@A(|A@AY[~? AAL&"AAtpNA"AZAbAjArAzAAA'̾'@A_qAAwۋ9AA?A`}f?A`?AZU*Aٞ<2An::A%BAٞ<JAn:RA%YӔ?߰?y%9ٓH c?4n`0 ]? ?,9t?n{1??)Ӕ? I٘i)I9Y J[3JJJ&K Yy77 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027862.283165 s, next control iter: 1743027862.663176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1361., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027862.683165 s.ljG~,gAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743027862.683281F (some fields omitted in printout)AGzD@A+)C@AY[~? AfA L&"AAupNA"AZAbAjArAzAAA,pV'@AayqAA#AA[ݰ?A`4f?A`.?ApfDz*A˞<2An::AQBA˞<JAn:RAQ٘i)I9Y JJJJ&K Yyb777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027862.683165 s, next control iter: 1743027863.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743027863.103165 s.qG~,ƥAA(\E@AefbZE@AZ[~? A/A/L&"AA=upNA"AZAbAjArAzAAA=z'@AKvqAAq A Aڰ?A@f?Ad?A3*A<2AXn::ApBA<JAXn:RAp٘i)I9Y JJJJ&K Yy7777y7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027863.123165 s, next control iter: 1743027863.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027863.523165 s.wG~,{AJ"J*J2J:JBJnJvJA= ףpG@Aԙ{HG@A!Z[~? AAPL&"AAeupNA"AZAbAjArAzAAAUd'@AsˈqA ξA)0AApٰ?ADf?A ?A, 3*A<2A^n::ANaBA<JA^n:RANa٘i)I9Y Ja2C<JJJJ&K  7Y 7ySI7SI7 7)ZZZBZL?YY*W2W WWW"W ) )FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743027863.543165 s, next control iter: 1743027863.923173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1362, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027863.943165 s.[d~G~,O]AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200432 time: 1743027863.943290F (some fields omitted in printout)AQI@AQoH@A:Z[~? AAqL&"AAupNA"AZAbAjArAzAAAc'@AMmgqAξADAA>ٰ?A`Of?A`ְ?A83*Aq<2An::AeBAq<JAn:RAe٘i)I9Y JT3B=JJJJ&K Yyŧ7b7)7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027863.983165 s, next control iter: 1743027864.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027864.363165 s.G~,p>AJ"J*J2J:JBJnJvJAJ@A0|dJ@ASZ[~? AAL&"AAupNA"AZAbAjArAzAAA+'@Aڞ`FqAA 9AAٰ?A f?A?AT2*A?<2Ag}n::AsBA?<JAg}n:RAsY̔?ذ?yc9ٓH`I?m@6]?Y? -:t?!a5??)̔? I٘i)I9Y JߎJJJ&K YyZ7Z7xF7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027864.403165 s, next control iter: 1743027864.763175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1363", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027864.783165 s.UG~,2AAGzL@A^L@AlZ[~? AWAM&"AAupNA"AZAbAjArAzAAAmL'@A{K%qA ξA:AAٰ?Af?AM?A'*A<2AHn::A{BA<JAHn:RA{٘i)I9Y Jg<JJJ_DJ&K Yy77{7"c7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027864.803165 s, next control iter: 1743027865.183175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027865.203165 s.G~,MAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199802 time: 1743027865.203263F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(N@AM@AZ[~? A!AM&"AA vpNA"AZAbAjArAzAAAv "'@AE0qA!ξA::AAذ?A{f?A?Av*Av<2Ag+n::AsBAv<JAg+n:RAs٘i)I9Y JaC=JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027865.243165 s, next control iter: 1743027865.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027865.623165 s.TG~,PgAAp= O@ADвnO@AZ[~? AA M&"AA1vpNA"AZAbAjArAzAAAN{'@A{qAA)N:AAUְ?Af?A`?Aq*Ah<2A)n::AXBAh<JA)n:RAX٘i)I9Y JJJJ&K Yy Cy7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027865.663165 s, next control iter: 1743027866.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1364 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027866.043165 s.G~,ÂAJ"J*J2J:JBJnJvJAQQ@AF!Q@AZ[~? AAM&"AAZvpNA"AZAbAjArAzAAAԖ@'@AysqAA"A A@Ӱ?A`^f?A?A?5*A[<2AH8n::A/BA[<JAH8n:RA/٘i)I9Y JJJJ&K Yyb7b7#7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027866.063165 s, next control iter: 1743027866.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743027866.463165 s.XG~,𤝦AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199752 time: 1743027866.463266F (some fields omitted in printout)A33333S@AR@AZ[~? A~A-M&"AAvpNA"AZAbAjArAzAAARժ'@ANoqAA%[]AA5а?A@f?A ,?A)*AM<2AFn::ABAM<JAFn:RAYŔ?Ѱ?y ]ٓH  ?om@{`\??w9t?@dK?)Ŕ? I٘i)I9Y Jq+4JJJ&K Yyj7Z77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027866.503165 s, next control iter: 1743027866.863173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1365, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)) rAdjusting time to match Gazebo time: 1743027866.883165 s.yG~,/AJ"J*J2J:JBJnJvJA{GT@ARxT@AZ[~? AHAKM&"AAvpNA"AZAbAjArAzAAAmB'@A瀲nqAAAAΰ?A`)f?A@e?AnW3*A?<2ABn::A뢺BA?<JABn:RA뢺٘i)I9Y JJJJ&K Yy77{7y7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027866.923165 s, next control iter: 1743027867.283175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027867.303165 s.VG~,wgӦAA(\V@AoH'V@A[[~? AAiM&"AAvpNA"AZAbAjArAzAAA'@A5p_qA ξAmAAͰ?Af?Aࠢ?Aȹ3*A1<2AJ#n::Ax㢺BA1<JAJ#n:RAx㢺٘i)I9Y Js2<JJJJ&K  7Y 7y{7$7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027867.343165 s, next control iter: 1743027867.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1366*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027867.723165 s.G~,HAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743027867.723275F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=X@AqW@A[[~? AA M&"AAvpNA"AZAbAjArAzAAA7zq'@Ak\u>qAξAAwAA4Ͱ?A}f?Aޠ?AA3*A"<2Am::A?좺BA"<JAm:RA?좺٘i)I9Y J^3C=JJJJ&K Yy77+7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027867.743165 s, next control iter: 1743027868.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027868.143165 s.T/G~,) AARY@Av2Y@A4[[~? AA$M&"AA&wpNA"AZAbAjArAzAAA] '@Ak }qAA8:AAͰ?A@;f?A?AwA*A<2Aزm::A1BA<JAزm:RA1٘i)I9Y JJJJ&K Yy{7zH7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027868.183165 s, next control iter: 1743027868.543175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027868.563165 s.G~,F $AJ"J*J2J:JBJnJvJA[@AR1[@AM[[~? ApA(M&"AAOwpNA"AZAbAjArAzAAAҡ'@A؇qA ξA:AAHͰ?A@Sf?A Z?Ae\*A<2A*m::A/BA<JA*m:RA/Y?ʰ?yژ:ٓH? Lmv`\? s?@$7:t?AS?`?)? II٘i)I9Y J^<Je+JJ`DJ&K\ Yyb77'e7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027868.603165 s, next control iter: 1743027868.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1367, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027868.983165 s.G~,>AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200252 time: 1743027868.983310F (some fields omitted in printout)AzG]@Aflf\@Af[[~? A:A,M&"AAxwpNA"AZAbAjArAzAAAO8'@AqA!ξAE:AA˰?Af?A?Apび*A<2A]qm::ABA<JA]qm:RA٘i)I9Y JbC=JJJJ&K Yyŧ7ҁ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027869.003165 s, next control iter: 1743027869.383184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743027869.403165 s.&G~,YAJ"J*J2J:JBJnJvJA)\^@Ag`e^@A[[~? AA0M&"AAwpNA"AZAbAjArAzAAA %'@A{-qAAn :AA1ɰ?Af?Aϙ?A,]^*A<2Avm::A΢BA<JAvm:RA΢٘i)I9Y JJJJ&K Yy7777z7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027869.443165 s, next control iter: 1743027869.803176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1368, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027869.823165 s.G~,!tAAq= ף`@A';`@A[[~? AߦA5M&"AAwpNA"AZAbAjArAzAAAEg'@AϹqAA AAư?A@5f?A ?A *A ݝ<2Am::ABA ݝ<JAm:RA٘i)I9Y JJJJ&K Yy7'7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027869.843165 s, next control iter: 1743027870.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027870.243165 s.G~,iAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743027870.243277F (some fields omitted in printout)AQb@AN=a@A[[~? AߦA.9M&"AAwpNA"AZAbAjArAzAAA '@A$gmxqAA1AA5ð?A෌f?AC?A'S2*A/ϝ<2Aޑm::ABA/ϝ<JAޑm:RA٘i)I9Y JJJJ&K Yyb777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027870.263165 s, next control iter: 1743027870.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027870.663165 s.G~,qAtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1369, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)Ad@A3c@A[[~? AbߦAI=M&"AAxpNA"AZAbAjArAzAAA-'@AvWqA ξAA"At?Af?A ?A^o3*AF<2Am::A"jBAF<JAm:RA"jY?İ?yMٓH?@l G@;\?)?;t?/S@?)? I٘i)I9Y Jb2C<JJJJ&K Yy C7}7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027870.683165 s, next control iter: 1743027871.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027871.083165 s.DG~,SŧAJ"J*J2J:JBJnJvJAHze@AUܸEe@A[[~? A,ߦAcAM&"AADxpNA"AZAbAjArAzAAA-'@Ao7qAξA>KA#A?A@ًf?A`?A(Ե3*AL<2A\m::AhBAL<JA\m:RAh٘i)I9Y Jh3C=JJJJ&K  7Y 7y)7ŧ7'7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027871.123165 s, next control iter: 1743027871.483180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027871.503165 s.G~,/4AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743027871.503287F (some fields omitted in printout)A(\g@Af@A[[~? AަA~EM&"AAmxpNA"AZAbAjArAzAAAHP1'@Aa &qAA ^8A!A;?Af?A?A2)3*AH<2As#m::AtBAH<JAs#m:RAt٘i)I9Y JJJJ&K Yy{7{7-7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027871.543165 s, next control iter: 1743027871.903174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1370, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027871.923165 s.4G~,AJ"J*J2J:JBJnJvJAףp= i@A˻h@A\[~? AަAIM&"AAxpNA"AZAbAjArAzAAAخ\'@AtHqAA_:AAw?Aof?A@?Aڲ*AD<2A2l::A怢BAD<JA2l:RA怢٘i)I9Y JJJJ&K Yy)7b7~J7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027871.943165 s, next control iter: 1743027872.323176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027872.343165 s.<G~,AAQj@A Oj@A.\[~? AަAMM&"AAxpNA"AZAbAjArAzAAA{*'@A[mqA ξA:AA?A@f?A?A.|*AQ<2Al::A~BAQ<JAl:RA~٘i)I9Y J-˲<JJJJ&K Yy777'g7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027872.383165 s, next control iter: 1743027872.743173 s, wait time: 0.360008 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1371&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027872.763165 s.5 G~,0AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743027872.763293F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffffl@A6k@AG\[~? AUަAQM&"AAxpNA"AZAbAjArAzAAAz'@ABqA!ξA:AA?Af?A@?Az*As{<2Al::AiBAs{<JAl:RAiY?ݼ?yZ:ٓH ? l 冿[? +?@4`:t?P??)? I٘i)I9Y JNB=Ja>4JJaDJ&K Yyփ7)ZZZBZL?YY*W2W WWW"W ) )FF!^Clearing failed state for component CTD_Seabird1F]:Waiting for Gazebo time sync: latest Gz time: 1743027872.803165 s, next control iter: 1743027873.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027873.183165 s.G~,kKAAGzn@A~m@A`\[~? AަAUM&"AAypNA"AZAbAjArAzAAA}"'@AW^qAA nx9AA?A Lf?A`?AG*Am<2Al::ACBAm<JAl:RAC٘i)I9Y JJJJ&K YyZ7Z7}7)ZZZBZL?YY*W2W WWW"W ) )FF]:Waiting for Gazebo time sync: latest Gz time: 1743027873.223165 s, next control iter: 1743027873.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027873.603165 s.:4G~,fAJ"J*J2J:JBJnJvJA(\o@AE@Zo@Ay\[~? AݦAYM&"AA8ypNA"AZAbAjArAzAAA 7qe'@A.qqAASR#AA⸰?Af?A6?A*A_<2Al::ABA_<JAl:RA٘i)I9Y JJJJ&K Yyŧ7b7*7)ZZZBZL?YY*W2W WWW"W ) )FF]:Waiting for Gazebo time sync: latest Gz time: 1743027873.643165 s, next control iter: 1743027874.003180 s, wait time: 0.360015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1372 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027874.023165 s.Z G~,{AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743027874.023284F (some fields omitted in printout)A= ףpq@ADq@A\[~? AݦA^M&"AAaypNA"AZAbAjArAzAAA=CQ'@AO QqAA8A"A`?AQf?A`t?A3*AR<2AAAt@A ydt@A\[~? AHݦA@fM&"AAypNA"AZAbAjArAzAAAAƀ'@AbvqAξA6AA괰?A`f?A ?A3*AO6<2ADl::ABAO6<JADl:RAY??y*IٓH'?&l퉿@[?a5?@!`=t?F@?)? I٘i)I9Y Jj3C=JJJJ&K  7Y 7y{7{7+7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027874.903165 s, next control iter: 1743027875.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027875.283165 s.6R4G~,ҨAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743027875.283287F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzv@Arav@A\[~? AݦAWjM&"AAypNA"AZAbAjArAzAAA1'@A qAA.9A)AK?Af?A:?Aʽ2*A^(<2ATZl::ABA^(<JATZl:RA٘i)I9Y JJJJ&K Yy C7)7/7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027875.323165 s, next control iter: 1743027875.683178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1374*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027875.703165 s.ٺ:G~,A "2Initializing CTD_Seabird.A\(x@Aƿϸw@A\[~? AܦAmnM&"AAzpNA"AZAbAjArAzAAA'@A5qA ξA:A'AN?A`f?A}?Ad6*Au<2A'l::ABAu<JA'l:RA٘i)I9Y J^<JJJJ&K Yyb7b7L7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027875.743165 s, next control iter: 1743027876.103177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027876.123165 s.7AG~,]AJ"J*J2J:JBJnJvJAp= y@A#ny@A][~? AܦArM&"AA-zpNA"AZAbAjArAzAAAF'@AcBqA!ξA{:A A??A 3f?A}?A*A <2A l::ABA <JA l:RA٘i)I9Y JlC=JJJJ&K Yy7{7+i7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027876.163165 s, next control iter: 1743027876.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027876.543165 s.IHG~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199522 time: 1743027876.543279F (some fields omitted in printout)AQ{@Ap{@A(][~? ArܦAvM&"AAVzpNA"AZAbAjArAzAAA)O'@AtqAAxG:AA?A@lf?A`{?AKn*A<2A l::A᡺BA<JA l:RA᡺٘i)I9Y JJJbDJ&K Yyj7Z7օ7)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027876.563165 s, next control iter: 1743027876.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1375, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027876.963165 s.qNG~,Ӥ=AJ"J*J2J:JBJnJvJA33333}@ASx|@AA][~? A<ܦAzM&"AA~zpNA"AZAbAjArAzAAA̓iu'@Av(kqAA?uAAޮ?Af?A>z?A)+*A%<2A/l::ABA%<JA/l:RAY??yٓH[.?k=[?S;?4'`:t??)? I٘i)I9Y J4JJJ&K% Yyŧ7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027877.003165 s, next control iter: 1743027877.363175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027877.383165 s.UG~,'XAA{G~@AUlx~@AZ][~? AܦA~M&"AAzpNA"AZAbAjArAzAAAQ '@A0KqAAbAA۫?A`f?A@}x?Ae*Ar<2A\'l::ABAr<JA\'l:RA٘i)I9Y JJJJ&K Yy77,7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027877.423165 s, next control iter: 1743027877.783177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1376, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027877.803165 s.|A\G~,gsAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200182 time: 1743027877.803294F (some fields omitted in printout)A(\@A#G'@As][~? AۦA؂M&"AAzpNA"AZAbAjArAzAAAo #y'@AǓf_*qAAA)A?A·f?Av?APf3*A՜<2A"l::AwBA՜<JA"l:RAw٘i)I9Y JJJJ&K Yy7)77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027877.843165 s, next control iter: 1743027878.203179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027878.223165 s.gcG~,HAA ףp=@AhՁ@A][~? AۦAM&"AAzpNA"AZAbAjArAzAAA;'@A qA ξA}A1Aݨ?A8f?A@u?A*a3*Aǜ<2Al::A>pBAǜ<JAl:RA>p٘i)I9Y Js2<JJJJ&K Yyŧ777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027878.263165 s, next control iter: 1743027878.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027878.643165 s.viG~,*AJ"J*J2J:JBJnJvJAR냕@Ac*@A][~? AfۦAM&"AA!{pNA"AZAbAjArAzAAA>'@AWqAξAiA2A?Af?AHs?A{3*A<2Ak::AyBA<JAk:RAy٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 230J\3C=JJJJ&K  7Y 7y{7{7.7)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1377, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027878.683165 s, next control iter: 1743027879.043178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027879.063165 s.pG~,R ĩAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200272 time: 1743027879.063332F (some fields omitted in printout)A@A[ A1@A][~? A0ۦAM&"AAJ{pNA"AZAbAjArAzAAAMj'@AvSqAA^v&:A1AY?AՄf?A@q?A*A;<2Agk::AeBA;<JAgk:RAeY??y/&:ٓH75?kZ?@?/>t?D?`?)? I٘i)I9Y J JJJ&K( Yyj7j717)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027879.123165 s, next control iter: 1743027879.463177 s, wait time: 0.340012 s rAdjusting time to match Gazebo time: 1743027879.483165 s.r_wG~,ީAJ"J*J2J:JBJnJvJAzG@AK߆@A][~? AڦA&M&"AAs{pNA"AZAbAjArAzAAA'@Ac媧qA ξA:A-A?Af?Ao?A/ig*Al<2Agk::A銡BAl<JAgk:RA銡٘i)I9Y Jh<JQ>JJJ&K> Yy{7N7)ZZZBZL?YY*W2W WWW"W ) )FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743027879.503165 s, next control iter: 1743027879.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1378, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027879.903165 s.}G~,AA)\@A,`p@A][~? AڦA9M&"AA{pNA"AZAbAjArAzAAAk2'@AxqA!ξA㕒:A"A?Af?A`n?A=*A<2ATk::AT{BA<JATk:RAT{٘i)I9Y JYC=JQ>JJJ&K> Yyj7.k7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027879.923165 s, next control iter: 1743027880.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027880.323165 s.sG~,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743027880.323273F (some fields omitted in printout)Aq= ף@A;@A^[~? AڦAKM&"AA{pNA"AZAbAjArAzAAA~0'@AbfqAAz":AAꤰ?A f?A@Yl?Al^*A <2AZk::A7ZBA <JAZk:RA7Z٘i)I9Y JJJJ&K Yy C777ه7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027880.363165 s, next control iter: 1743027880.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1379*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027880.743165 s.WG~,d/AAQ@AS鋕@A!^[~? AZڦA]M&"AA{pNA"AZAbAjArAzAAAQg'@AyEqAA<#¹AA¡?Aфf?Aj?Aa*Aju<2A%lk::A11BAju<JA%lk:RA11٘i)I9Y JJJcDJ&K Yyŧ7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027880.763165 s, next control iter: 1743027881.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027881.163165 s.r}G~,qJAJ"J*J2J:JBJnJvJA@AZ5ї@A:^[~? A%ڦAoM&"AA|pNA"AZAbAjArAzAAAwg#_'@Aw$%qAA_/A"A?AKf?Ah?AK2*Ag<2Atuk::A BAg<JAtuk:RA Y甔?4?yxٓH;?kZ?J? ;t?EQ?)甔? I٘i)I9Y JU4JJJ&K Yy777727)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027881.183165 s, next control iter: 1743027881.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027881.583165 s.G~,ReAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200312 time: 1743027881.583300F (some fields omitted in printout)AHz@A*E@AS^[~? A٦AM&"AA>|pNA"AZAbAjArAzAAA~y'@AdЊqA ξA.A/AH?A,f?A!g?A3*A Z<2Agk::ABA Z<JAgk:RA٘i)I9Y J]2C<JJJJ&K Yyb777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027881.623165 s, next control iter: 1743027881.983175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1380, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) )  rAdjusting time to match Gazebo time: 1743027882.003165 s.x G~,L4AJ"J*J2J:JBJnJvJA(\@A@Al^[~? A٦AM&"AAg|pNA"AZAbAjArAzAAAGo̍'@A:qAξADA5AҜ?A ]f?Aie?A߶3*AfL<2Am?k::ABAfL<JAm?k:RA٘i)I9Y Jp3C=JJJJ&K Yy)7ŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027882.043165 s, next control iter: 1743027882.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027882.423165 s.!uG~,AAףp= @Aۡ@A^[~? A٦AM&"AA|pNA"AZAbAjArAzAAA@0%'@A+_qAAc_8A8A"?A!f?Ac?A=!3*A><2Ak::AFBA><JAk:RAF٘i)I9Y JJJJ&K  7Y 7y77{7/7)ZZZBZL?YY*W2W WWW"W ) )FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743027882.443165 s, next control iter: 1743027882.823187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1381, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027882.843165 s.ݬG~,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200272 time: 1743027882.843304F (some fields omitted in printout)AQ@ArO@A^[~? AO٦AM&"AA|pNA"AZAbAjArAzAAA/]'@A͢qA ξAne:AA\?Af?A`a?A*A0<2Ahj::A#BA0<JAhj:RA#٘i)I9Y Jc<JJJJ&K Yy737)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027882.883165 s, next control iter: 1743027883.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027883.263165 s.G~, ЪAAfffff@ATb@A^[~? A٦AM&"AA|pNA"AZAbAjArAzAAA"sS'@AJv?qAA0:A2A?A@Df?AA`?An*A(#<2Adj::A BA(#<JAdj:RA Y΍??y+h:ٓHB?j@Z?*M?6=t?T? ?)΍? I٘i)I9Y JPJJJ&K, Yy77P7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027883.303165 s, next control iter: 1743027883.663176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1382., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027883.683165 s.J "J *J 2J :J BJ nJ vJ LmG~,ػAAGz@A@A^[~? AئAѻM&"AA }pNA"AZAbAjArAzAAA!'@AYaqA!ξA{:A%AĚ?AGf?A^?AE*A<2AXj::AnBA<JAXj:RAn٘i)I9Y JbJJJJ&K Yyb770m7)ZZZBZL?YY*W2W WWW"W ) )FFF]X:Waiting for Gazebo time sync: latest Gz time: 1743027883.683165 s, next control iter: 1743027884.083313 s, wait time: 0.400148 s rAdjusting time to match Gazebo time: 1743027884.103165 s.G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4198502 time: 1743027884.103294F (some fields omitted in printout)A(\™@A[Z@A^[~? AئAM&"AA2}pNA"AZAbAjArAzAAA'@A*AqAAg Y9AAۗ?A Ձf?A\?A9J*A<2Aoj::AeҠBA<JAoj:RAeҠ٘i)I9Y JJJJ&K Yy77މ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027884.143165 s, next control iter: 1743027884.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027884.523165 s.G~,{!AJ"J*J2J:JBJnJvJA= ףp@A4B@A_[~? AzئAM&"AA[}pNA"AZAbAjArAzAAA$9R'@A~ qAA6*AA?Af?A[?A*Aq<2A,j::ABAq<JA,j:RAI٘i)I9Y JJJdDJ&K Yy7)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027884.543165 s, next control iter: 1743027884.923174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1383, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027884.943165 s.ZdG~,J]<AAQ@A.e@A_[~? AEئAM&"AA}pNA"AZAbAjArAzAAA{'@A&!qAA{LA(AF?A˂f?AUY?A3*A<2Aj::ABA<JAj:RA٘i)I9Y JJJJ&K Yy)7b737)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027884.983165 s, next control iter: 1743027885.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027885.363165 s.G~,}>WAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000J< massPositionAction: 0.000000"J4 buoyancyAction: 0.000955*J2J dt: 0.419991:JBJ2 time: 1743027885.363314F (some fields omitted in printout)nJvJA̞@AVyd@A4_[~? AئA M&"AA}pNA"AZAbAjArAzAAAT9G'@A1qA ξAёA3A?Alf?AW?A3*AHߛ<2Aj::A}|BAHߛ<JAj:RA}|Y?_?y.\ٓHpI? rjDY?X?@=t?@ :R?)? I٘i)I9Y J_2C<JdJJJ&KG Yy  C77777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027885.403165 s, next control iter: 1743027885.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1384&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027885.783165 s.ZG~,rAAGz@AH4@AM_[~? AצAM&"AA}pNA"AZAbAjArAzAAAm'@AVZ$qAξAYA9Aꐰ?Alf?A@U?A3*Aћ<2A:{j::ABAћ<JA:{j:RA٘i)I9Y Jd3C=JJJJ&K Yyb777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027885.823165 s, next control iter: 1743027886.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027886.203165 s.G~,AJ"J*J2J:JBJnJvJA\(@An@Af_[~? AצA%M&"AA}pNA"AZAbAjArAzAAA=Sv'@A"qAA29A<AN?A&f?A3T?A =y2*AÛ<2A@j::ABAÛ<JA@j:RA٘i)I9Y JJJJ&K  7Y 7yb727)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743027886.243165 s, next control iter: 1743027886.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027886.623165 s.XG~,a⧫AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743027886.623297F (some fields omitted in printout)Ap= ף@A5Yn@A_[~? ApצA2M&"AA'~pNA"AZAbAjArAzAAA}" '@AH2~qA ξA :A=AM?A f?A~R?At8*AA<2Aj::AїBAA<JAj:RAї٘i)I9Y Ja<JJJJ&K Yy757)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027886.663165 s, next control iter: 1743027887.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1385 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027887.043165 s.G~,«AJ"J*J2J:JBJnJvJAQ@Au@A_[~? A;צA?M&"AAO~pNA"AZAbAjArAzAAAMX߮'@Ar]qA!ξA :A5A6?A~f?A`P?Aф*A<2A0i::ABA<JA0i:RA٘i)I9Y JRB=JJJJ&K YyR7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027887.063165 s, next control iter: 1743027887.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027887.463165 s.RG~,פݫAA33333@A Yʦ@A_[~? AצAKM&"AAx~pNA"AZAbAjArAzAAAmO;'@A(53L=qAA@tA:A(A㍰?A`~f?AO?Aop*A%<2Ai::ArBA%<JAi:RArY?U?y%A:ٓHUP?Lj@Y? [?s0 elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200522 time: 1743027887.883319F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gᨕ@Avx@A_[~? A֦AWM&"AA~pNA"AZAbAjArAzAAA*'@A ^qAAϸA Aϊ?Af?A`VM?A-*A<2Aj::AJBA<JAj:RAJ٘i)I9Y JJJJ&K Yy77ދ7)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743027887.903165 s, next control iter: 1743027888.283175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027888.303165 s.TG~,ogAA(\@Az'@A_[~? A֦AbM&"AA~pNA"AZAbAjArAzAAA56j'@AynqqAAVhA%Aԇ?Af?AK?AP*A8<2Aj::A9$BA8<JAj:RA9$٘i)I9Y JJJJ&K Yy77{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027888.343165 s, next control iter: 1743027888.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1387*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027888.723165 s. G~,H.AJ"J*J2J:JBJnJvJA ףp=@Aի@A_[~? Af֦AmM&"AA~pNA"AZAbAjArAzAAAli'@ADbqAAZ͠A/A…?A.f?AI?Aj3*Ar<2A j::A7 BAr<JA j:RA7 ٘i)I9Y JJJeDJ&K Yy77757)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027888.763165 s, next control iter: 1743027889.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027889.143165 s.Y/G~,*IAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4201122 time: 1743027889.143406F (some fields omitted in printout)AR뭕@An-@A`[~? A1֦AxM&"AApNA"AZAbAjArAzAAA[D'@A5qA ξAxA7A?Af?A2H?A+׻3*A/e<2Ai::ABA/e<JAi:RA٘i)I9Y Js2<JJJJ&K Yy77{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027889.183165 s, next control iter: 1743027889.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027889.563165 s.G~,1 dAJ"J*J2J:JBJnJvJA@ARE1@A-`[~? AզAM&"AACpNA"AZAbAjArAzAAA[/'@A?|>qAξAt+JA<A?Al~f?AF?AHx3*AW<2Ai::A= BAW<JAi:RA= Y6y??y<JٓHW? ix`FY?@Sd?@$?t?nE)?)6y? I٘i)I9Y J`3C=J ۴JJJ&K Yy{7j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027889.603165 s, next control iter: 1743027889.963174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1388, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027889.983165 s.G~,~AAzG@A.Ue߰@AF`[~? AզAM&"AAlpNA"AZAbAjArAzAAAP'@A lzqAA-:A@Av?A@+}f?A D?Ay *AI<2A}i::ABAI<JA}i:RA٘i)I9Y JJJJ&K  7Y 7y7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027890.023165 s, next control iter: 1743027890.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027890.403165 s.&&G~,͙AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743027890.403271F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\@AՔd@A_`[~? AզAM&"AApNA"AZAbAjArAzAAA ^'@AP΀ZqA ξAW:AA%?AJ|f?A`C?Ad*Ag<<2ARi::ABAg<<JARi:RA٘i)I9Y Jd<JJJJ&K Yy !C{7{777)ZZZBZL?YY*W2W WWW"W ) )FFF]x:Waiting for Gazebo time sync: latest Gz time: 1743027890.443165 s, next control iter: 1743027890.803175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1389", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027890.823165 s.,G~,!AAq= ף@A%z;@Ax`[~? A]զAN&"AApNA"AZAbAjArAzAAA;"'@Ab &:qA!ξAΐ:A7A?A|f?AfA?A *A.<2AZAi::A BA.<JAZAi:RA ٘i)I9Y J`C=JJJJ&K YyZ7T7)ZZZBZL?YY*W2W WWW"W ) )FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743027890.863165 s, next control iter: 1743027891.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027891.243165 s.3G~,qϬAJ"J*J2J:JBJnJvJAQ@A:S鵕@A`[~? A(զAN&"AApNA"AZAbAjArAzAAAK@;'@A{&qAA9A+A?A ~|f?A`??A]*A!<2AXHi::AퟺBA!<JAXHi:RAퟺ٘i)I9Y JJJJ&K Yy)7ŧ76q7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027891.283165 s, next control iter: 1743027891.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027891.663165 s.:G~,qAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199572 time: 1743027891.663285F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1390, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A[<@A`[~? AԦAN&"AApNA"AZAbAjArAzAAA9aX#'@A"yqAAѹA'A}?A@*}f?A`=?AΗ*A<2AYi::AuğBA<JAYi:RAuğYZr?~?y'ѹٓH@]?i鉿X?@|k? !=t?#:?)Zr? I٘i)I9Y J4JJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027891.683165 s, next control iter: 1743027892.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027892.083165 s.DAG~, SAJ"J*J2J:JBJnJvJAHz@AsE@A`[~? AԦA N&"AA7pNA"AZAbAjArAzAAA x'@An%'qAAIA.A{?A@}f?AC elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200452 time: 1743027892.923324F (some fields omitted in printout)Aףp= @A@A`[~? ATԦAN&"AApNA"AZAbAjArAzAAA'@APqAAl>A;Ay?A`|f?A`8?A3*A<2A+i::A^BA<JA+i:RA^٘i)I9Y JJJJ&K Yyŧ7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027892.943165 s, next control iter: 1743027893.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027893.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743027894.183295F (some fields omitted in printout)AGz•@A@A?a[~? AӦA N&"AApNA"AZAbAjArAzAAAf)'@AT77qA!ξAu:ABAx?Ayf?A3?Aޏz*ANÚ<2Ah::ABANÚ<JAh:RA٘i)I9Y JtC=JJJJ&K Yy77797)ZZZBZL?YY*W2W WWW"W ) )FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743027894.203165 s, next control iter: 1743027894.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027894.603165 s.24iG~,AJ"J*J2J:JBJnJvJA(\Õ@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199382 time: 1743027895.443271F (some fields omitted in printout)AQǕ@Aο]ƕ@Aa[~? AӦA,N&"AA|pNA"AZAbAjArAzAAA|:s(@ATl qAAc0A0Ap?Azf?A.?Aj*AN<2A¯h::Ae?BAN<JA¯h:RAe?٘i)I9Y JJJJ&K Yy "C7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027895.483165 s, next control iter: 1743027895.843174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1394, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027895.863165 s.+}G~,u>AAȕ@A5wdȕ@Aa[~? AҦA0N&"AApNA"AZAbAjArAzAAAz (@Aö qAAHA8A~n?A{f?A-?A>3*A<2ADZh::A BA<JADZh:RA Yd?p?y2ٓHk?`hnj@LX?z?`>t?iS@?)d? I٘i)I9Y JR4JJJ&K Yy{7{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027895.903165 s, next control iter: 1743027896.263175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027896.283165 s.7RG~,AJ"J*J2J:JBJnJvJAGzʕ@A|%ʕ@Aa[~? AҦA4N&"AÁpNA"AZAbAjArAzAAAn((@AG qA ξAA>ALm?A zf?A R+?A}L3*A<2A$h::ABA<JA$h:RA٘i)I9Y Js2<JJJJ&K Yyj7;7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027896.323165 s, next control iter: 1743027896.683176 s, wait time: 0.360011 s()(.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1395., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027896.703165 s.׺G~,-AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200272 time: 1743027896.703329F (some fields omitted in printout)A\(̕@A-˕@Aa[~? AyҦA8N&"AApNA"AZAbAjArAzAAAR48(@Aku[v qAξA A@A:m?A@yf?A`)?A83*A0s<2Ajh::ABA0s<JAjh:RA٘i)I9Y J[3C=JJJgDJ&K Yyb777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027896.743165 s, next control iter: 1743027897.103174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743027897.123165 s.9G~,eGAJ"J*J2J:JBJnJvJAp= ͕@ASn͕@Aa[~? ADҦA=N&"AApNA"AZAbAjArAzAAADR 8(@Amt+V qAAy9ACAm?AQxf?A'?AR2*Ae<2A 1h::A'BAe<JA 1h:RA'٘i)I9Y JJJJ&K  7Y 7y77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027897.163165 s, next control iter: 1743027897.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027897.543165 s.IG~,bAAQϕ@AKϕ@Ab[~? AҦAAN&"AAGpNA"AZAbAjArAzAAA3f(@A[C5 qA ξA:AEAm?AFwf?A@J&?AE7*ANX<2AHh::A^/BANX<JAHh:RA^/٘i)I9Y Jf<JJJJ&K YyZ7SI7;7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027897.563165 s, next control iter: 1743027897.943174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1396, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027897.963165 s.zG~,}AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200202 time: 1743027897.963292F (some fields omitted in printout)A33333ѕ@AhЕ@A b[~? AѦAEN&"AAopNA"AZAbAjArAzAAA0)(@AZ qA!ξA:ABA~l?Avf?A`$?A9*AJ<2Ag::A%BAJ<JAg:RA%Y]?i?y;:ٓHq?hlȆ`W? {|?j5?t?S?@?)]? I٘i)I9Y JXC=Jc+JJJ&K Yy77;7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027898.003165 s, next control iter: 1743027898.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027898.383165 s.إG~,AA{Gҕ@A4Fxҕ@A9b[~? AѦA IN&"AApNA"AZAbAjArAzAAAŰ@(@A[ qAA/::A8A%j?Awf?A"?Abf*A=<2Aig::As BA=<JAig:RAs ٘i)I9Y JJJJ&K Yyj7Z7X7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027898.423165 s, next control iter: 1743027898.783175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1397", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027898.803165 s.tAG~,ogAJ"J*J2J:JBJnJvJA(\ԕ@AW&ԕ@AQb[~? ArѦA MN&"AApNA"AZAbAjArAzAAAl+(@Aoc qA"ξAkA4Ag?Awf?A8!?As&*Aq0<2Ag::A>➺BAq0<JAg:RA>➺٘i)I9Y Je<JJJJ&K Yyŧ7b7 elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200132 time: 1743027899.223291F (some fields omitted in printout)A ףp=֕@A@Օ@Ajb[~? A=ѦAQN&"AApNA"AZAbAjArAzAAA (@Ase qA!ξAWmA:Ad?ABxf?A?Ao*A8#<2Ah::ADBA8#<JAh:RAD٘i)I9Y Ja3C=JJJJ&K Yy7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027899.263165 s, next control iter: 1743027899.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027899.643165 s.sйG~,)AJ"J*J2J:JBJnJvJARו@A-ו@Ab[~? AѦAUN&"AApNA"AZAbAjArAzAAALY(@AF qAAΠABAb?A@Nxf?A`?ASk3*A<2Ag::A6BA<JAg:RA6٘i)I9Y JJJJ&K YySI7SI77)ZZZBZL?YY*W2W WWW"WtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1398, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nan F (some fields omitted in printout)) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027899.683165 s, next control iter: 1743027900.043177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027900.063165 s.G~,R AAٕ@AD1ٕ@Ab[~? AЦAYN&"AA:pNA"AZAbAjArAzAAAD((@A*u qA ξA_~sAEAWa?Awf?A+?A83*A<2AQg::A]BA<JAQg:RA]YV?Lc?yBsٓHx?+hW?n?``@t?oN?)V? II٘i)I9Y J_3<JYJJJ&K1 Yy #C77{7>7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027900.103165 s, next control iter: 1743027900.463176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027900.483165 s.p_G~,}AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199732 time: 1743027900.483264F (some fields omitted in printout)J"J*J2J:JBJnJvJAzGە@Aӻxڕ@Ab[~? AЦA]N&"AAcpNA"AZAbAjArAzAAAФ(@A=U qAξA.*AFAa?A vf?A ?ALh3*AH<2Ag::AmBAH<JAg:RAm٘i)I9Y JY3C=JJJJ&K Yy7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027900.523165 s, next control iter: 1743027900.883173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1399, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027900.903165 s.G~,9AA)\ܕ@Aծ iܕ@Ab[~? AkЦAaN&"AApNA"AZAbAjArAzAAA (@A4 qA ξAѝ3:AGAa?AAuf?A?A5*A<2A qg::ABA<JA qg:RA٘i)I9Y JlJJJhDJ&K  7Y 7yŧ7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027900.923165 s, next control iter: 1743027901.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027901.323165 s.rG~,TAJ"J*J2J:JBJnJvJAq= ףޕ@A]z;ޕ@Ab[~? A6ЦAeN&"AApNA"AZAbAjArAzAAA޴ (@A: qAA+:AAa?A etf?A+?ASc*A<2AoGg::ABA<JAoGg:RA٘i)I9Y JJJJ&K Yy77{7>!7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027901.363165 s, next control iter: 1743027901.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1400*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027901.743165 s.WG~,oAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200482 time: 1743027901.743327F (some fields omitted in printout)AQ@Akaߕ@Ac[~? AЦAiN&"AA݃pNA"AZAbAjArAzAAA ڜK (@AK qA!ξA:AAA_?A2tf?A~?A3@{*AUә<2Aw7g::A4BAUә<JAw7g:RA4٘i)I9Y JT<JJJJ&K Yy77=7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027901.783165 s, next control iter: 1743027902.143179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027902.163165 s.r}G~,qAJ"J*J2J:JBJnJvJA@A%@Ac[~? AϦAmN&"AApNA"AZAbAjArAzAAA$@ (@Az qAA9A9AQ]?Atf?A?A&AS*A'ƙ<2A/?g::ABA'ƙ<JA/?g:RAYP?a\?y89ٓH`N? g`Y PW?`a? + ?t?u=??)P? I٘i)I9Y J>4JJJ&K Yy777Z7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027902.183165 s, next control iter: 1743027902.563174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743027902.583165 s.G~,RAAHz@A<_E@A2c[~? AϦAqN&"AA.pNA"AZAbAjArAzAAA*ly (@Aml qA"ξA߹AA.Z?A`Cuf?A` ?Ae*A<2APg::A^BA<JAPg:RA^٘i)I9Y Jq<JJJJ&K Yy)7b7?w7)ZZZBZL?YY*W2W WWW"W ) )FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743027902.623165 s, next control iter: 1743027902.983176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1401 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027903.003165 s.w G~,H4AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200262 time: 1743027903.003299F (some fields omitted in printout)A(\@A$ӡ@AJc[~? AdϦAuN&"AAVpNA"AZAbAjArAzAAAvs(y (@A쳔 qA!ξAg鍺ACA|W?A uf?A@r?Ar-2*A۫<2AXg::A;BA۫<JAXg:RA;٘i)I9Y J\3C=JJJJ&K Yy7{77)ZZZBZL?YY*W2W WWW"W ) )FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027903.023165 s, next control iter: 1743027903.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027903.423165 s.uG~,{ۯAAףp= @A ܡ@Acc[~? A/ϦAyN&"AApNA"AZAbAjArAzAAAf (@AZ>t qA ξAPAKAU?A|uf?A?AR3*A<2AIg::A(BA<JAIg:RA(٘i)I9Y Jd3JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]r:Waiting for Gazebo time sync: latest Gz time: 1743027903.443165 s, next control iter: 1743027903.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1402, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027903.843165 s.G~,AJ"J*J2J:JBJnJvJAQ@AO@A|c[~? AΦA}N&"AApNA"AZAbAjArAzAAA8O> (@AK\T qAA-7ALAU?Atf?A@ ?A33*Ag<2A&!g::A{)BAg<JA&!g:RA{)٘i)I9Y JJJJ&K Yy777A7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027903.863165 s, next control iter: 1743027904.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027904.263165 s.G~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200002 time: 1743027904.263282F (some fields omitted in printout)Afffff@A@Ac[~? AΦAN&"AAЄpNA"AZAbAjArAzAAA~i2 (@ABD4 qAξA>9AAU?Aasf?A`u ?A] 3*A<2A/f::Av6BA<JA/f:RAv6YJI?U?yL^9ٓH?@g V??'At?"??)JI? I٘i)I9Y J^3<JxJJJ&KO Yyj7Z77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027904.303165 s, next control iter: 1743027904.663175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1403*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027904.683165 s.l G~,c+AJ"J*J2J:JBJnJvJAGz@AB:@Ac[~? AΦA N&"AApNA"AZAbAjArAzAAAyJ l(@A qA ξAo:AAV?A7rf?A` ?AY*Av<2A-f::AABAv<JA-f:RAA٘i)I9Y J[C=JJJiDJ&K  7Y 7y77{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027904.683165 s, next control iter: 1743027905.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743027905.103165 s.G~,FAA(\@Aw*2Z@Ac[~? A^ΦA N&"AA!pNA"AZAbAjArAzAAAC(@Aűm qA!ξAf:AHA`U?A@qf?A$?Aqhz*Ai<2Aޒf::A+>BAi<JAޒf:RA+>٘i)I9Y JiJJJJ&K Yy $C77A#7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027905.143165 s, next control iter: 1743027905.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027905.523165 s.G~,{aAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199422 time: 1743027905.523264F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@A׾^@Ac[~? A)ΦAN&"AAJpNA"AZAbAjArAzAAAw(@A6 qAAp:A@AdS?Aqf?Ax?A: p*Ar\<2Af::Ad'BAr\<JAf:RAd'٘i)I9Y JJJJ&K Yyj7j7?7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027905.543165 s, next control iter: 1743027905.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1404, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027905.943165 s.SdG~,-]|AAQ@Ae@Ac[~? AͦAN&"AArpNA"AZAbAjArAzAAAv0(@Aƴ qA"ξA)9A:AwP?A $rf?A ?A =<*A\O<2A)f::ABA\O<JA)f:RA٘i)I9Y J_<JJJJ&K Yy77\7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027905.963165 s, next control iter: 1743027906.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027906.363165 s.%G~,p>AJ"J*J2J:JBJnJvJA@A*6ud@Ad[~? AͦAN&"AApNA"AZAbAjArAzAAA[(@AԔ qA!ξAA7A?AcM?Arf?A?A*AKB<2Af::AF۝BAKB<JAf:RAF۝YB?N?y=Zo7ٓH? 7g`S`V?`?`?t?F@?)B? I٘i)I9Y Jg3C=J4JJJ&K& Yy7)7By7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027906.383165 s, next control iter: 1743027906.763175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1405", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027906.783165 s.V+G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200352 time: 1743027906.783298F (some fields omitted in printout)AGz@A=@A*d[~? AͦAN&"AAÅpNA"AZAbAjArAzAAAo$6^(@A[t qAA,AKAK?Arf?At?A"3*A55<2Af::AuBA55<JAf:RAu٘i)I9Y JJJJ&K Yyb777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027906.823165 s, next control iter: 1743027907.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027907.203165 s.3G~,ͰAJ"J*J2J:JBJnJvJA\(@Aܘ@ACd[~? AXͦAN&"AApNA"AZAbAjArAzAAAS(@AKT qA ξAOARAI?Arf?A@?A_3*A(<2AÒf::ABA(<JAÒf:RA٘i)I9Y Ja3<JJJJ&K YyZ7SI77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027907.243165 s, next control iter: 1743027907.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027907.623165 s.W9G~,]AAp= @Aѯn@A\d[~? A$ͦAN&"AApNA"AZAbAjArAzAAA>(@A|_5 qAξA$ASAI?Aqf?A &?A3*A<2A>cf::AԷBA<JA>cf:RAԷ٘i)I9Y Jh3C=JJJJ&K Yy7777B7)ZZZBZL?YY*W2W WWW"W ) )FFF]p:Waiting for Gazebo time sync: latest Gz time: 1743027907.643165 s, next control iter: 1743027908.023178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1406, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027908.043165 s.@G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199612 time: 1743027908.043277F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AN_@Aud[~? A̦AN&"AA=pNA"AZAbAjArAzAAAK"(@A,c)( qAAn9ARAEJ?A=pf?A?ApY2*A <2AW*f::AŝBA <JAW*f:RAŝ٘i)I9Y JJJJ&K Yyb777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027908.063165 s, next control iter: 1743027908.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743027908.463165 s.TGG~,ߤAA33333@A @Ad[~? A̦AN&"AAepNA"AZAbAjArAzAAAx(@AEC qA ξAݬ:AQA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199812 time: 1743027909.303275F (some fields omitted in printout)A(\@Av'@Ad[~? AȘAڰN&"AApNA"AZAbAjArAzAAA(@A惵 qAAN4:A?AF?A of?A?Aa*AH<2A'e::ABAH<JA'e:RA٘i)I9Y JJJJ&K Yy77A7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027909.323165 s, next control iter: 1743027909.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1408*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027909.723165 s.[G~,HnAJ"J*J2J:JBJnJvJA ףp=@Aа@Ad[~? A̦AԴN&"AA߆pNA"AZAbAjArAzAAA$}(@AQ qA"ξA&A=AC?A@of?A?A*AH٘<2Ae::ABAH٘<JAe:RA٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 229J_<JJJJ&K Yy{7{7^7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027909.763165 s, next control iter: 1743027910.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027910.143165 s.S/bG~,)AAR@A5+-@Ad[~? A˦A͸N&"AApNA"AZAbAjArAzAAAm(@Au qA!ξArAFA@?A.pf?A6?Ag0*AJ̘<2Af::A|ZBAJ̘<JAf:RA|Z٘i)I9Y J%3B=JJJJ&K Yy %C77R{7)ZZZBZL?YY*W2W W W W"W  ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027910.203165 s, next control iter: 1743027910.543176 s, wait time: 0.340011 s rAdjusting time to match Gazebo time: 1743027910.563165 s.hG~,= AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199812 time: 1743027910.563266F (some fields omitted in printout)J"J*J2J:JBJnJvJA@ACX1@A e[~? A˦AƼN&"AA0pNA"AZAbAjArAzAAA(H(@AyQU qAAARA>?A0pf?A`?Au3*AC<2Ae::AbBBAC<JAe:RAbBY 5?XA?yK ٓH`ș?fҋ@V?]? At?`T ?) 5? I٘i)I9Y J2Q>JJJ&K> Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027910.603165 s, next control iter: 1743027910.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1409, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027910.983165 s.oG~,gAAzG@AA^@A#e[~? A˦AN&"AAXpNA"AZAbAjArAzAAAoB(@AB%6 qA ξAnAXA >?A`of?A`?A 3*A,<2Ae::A_=BA,<JAe:RA_=٘i)I9Y J3<JQ>JJJ&K> Yyŧ7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027911.023165 s, next control iter: 1743027911.383218 s, wait time: 0.360053 s rAdjusting time to match Gazebo time: 1743027911.403165 s.J "J *J 2J :J BJ nJ &vG~vJ,ٱAA)\@Aj,a@A?AYnf?AF?A4]3*A <2ASe::AGBA <JASe:RAG٘i)I9Y Jf3C=JJJJ&K Yy77F7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027911.443165 s, next control iter: 1743027911.803177 s, wait time: 0.360012 s)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1410, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027911.823165 s.|G~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200452 time: 1743027911.823325F (some fields omitted in printout)Aq= ף@A;@AUe[~? A˦AN&"AApNA"AZAbAjArAzAAA.>o(@AU]qA ξA::AXA>?Amf?A ?Ah*A䗘<2Ame::AEUBA䗘<JAme:RAEU٘i)I9Y J\JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027911.863165 s, next control iter: 1743027912.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027912.243165 s.G~,AJ"J*J2J:JBJnJvJAQ @A:S @Ane[~? AʦAN&"AA҇pNA"AZAbAjArAzAAAZU9(@ARqAAw:AUAD>?AClf?A@?Ai*Å<2AhEe::A\WBÅ<JAhEe:RA\W٘i)I9Y JJJJ&K  7Y 7y77 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027912.263165 s, next control iter: 1743027912.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027912.663165 s.G~,q*AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1411, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A @A @Ae[~? AʦAN&"AApNA"AZAbAjArAzAAAB(@AAqA!ξA:AKA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743027913.083293F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz @AzE @Ae[~? A~ʦAN&"AA#pNA"AZAbAjArAzAAA23(@A(-qA"ξA9AAA9?A}lf?A ?A'Q*Ap<2A?e::Aj%BAp<JA?e:RAj%٘i)I9Y JiC=JJJJ&K Yyŧ7b7C7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027913.123165 s, next control iter: 1743027913.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027913.503165 s.G~,/4`AA(\@Ap@Ae[~? AJʦAN&"AAKpNA"AZAbAjArAzAAAD(@AM=jwqAAAA6?A mf?A ?A*Ac<2A|Pe::ABAc<JA|Pe:RA٘i)I9Y JJJJ&K Yy7777`7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027913.523165 s, next control iter: 1743027913.903174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1412, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027913.923165 s.9G~,{AJ"J*J2J:JBJnJvJAףp= @AڨN@Ae[~? AʦAN&"AAtpNA"AZAbAjArAzAAA`(@A%WqA!ξAALA54?Amf?Ac?A2*AV<2A?Xe::AܜBAV<JA?Xe:RAܜ٘i)I9Y JY3<JJJJ&K Yyb77K}7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027913.963165 s, next control iter: 1743027914.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027914.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199802 time: 1743027914.343264F (some fields omitted in printout)AQ@AO@Ae[~? AɦAuN&"AApNA"AZAbAjArAzAAAѯ(@Af7qAA=AWA2?A Hmf?A@?A3*AJ<2AHe::AdʜBAJ<JAHe:RAdʜ٘i)I9Y JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027914.383165 s, next control iter: 1743027914.743175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1413&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027914.763165 s.8G~,#ذAJ"J*J2J:JBJnJvJAfffff@AN @Af[~? AɦAjN&"AAňpNA"AZAbAjArAzAAATb(@A2qA ξA+/1A\A\2?Aflf?A`?A_53*A<<2Ae::A˜BA<<JAe:RA˜Y|'?3?yZ'1ٓH@?eĊ@]U??``Ct?@%F@?)|'? I٘i)I9Y Jh3JrJJJ&K1 Yyŧ7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027914.783165 s, next control iter: 1743027915.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027915.183165 s.˲G~,g˲AAGz@AG@Af[~? AzɦA_N&"AApNA"AZAbAjArAzAAA %(@A;zqAξA59A^A2?A&kf?A|?Al2*A/<2A-d::A؜BA/<JA-d:RA؜٘i)I9Y Jc3C=JJJJ&K Yy &Cb77I7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027915.223165 s, next control iter: 1743027915.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027915.603165 s.14G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199662 time: 1743027915.603281F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AK?Z@A5f[~? AFɦATN&"AApNA"AZAbAjArAzAAAȑ(@AqA ξA*u:AA2?A`if?A@ޒ?A5 *A"<2A?d::A㜺BA"<JA?d:RA㜺٘i)I9Y J[JJJJ&K Yy)7ŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027915.643165 s, next control iter: 1743027916.003175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1414 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027916.023165 s.ZG~,{AA= ףp@A)W@AMf[~? AɦAHN&"AA>pNA"AZAbAjArAzAAA|MR(@AqA!ξA:AXA/2?A ]if?A@:ݒ?A2q}*A<2ADd::AߜBA<JADd:RAߜ٘i)I9Y JcJJJJ&K  7Y 7yb77 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027916.063165 s, next control iter: 1743027916.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027916.443165 s.1G~,%]AJ"J*J2J:JBJnJvJAQ@AJY@Aff[~? AȦAcqAAk:ALA+0?Ahif?A@ے?Ap*A<2Ad::AȜBA<JAd:RAȜ٘i)I9Y JJJJ&K YyZ7Z7J)7)ZZZBZL?YY*W2W WWW"W ) )FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743027916.463165 s, next control iter: 1743027916.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1415, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027916.863165 s.+G~,>7AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743027916.863275F (some fields omitted in printout)A@AVyd@Af[~? AȦA/N&"AApNA"AZAbAjArAzAAA (@AyqA"ξAT8ADA<-?Aif?Aْ?A;*A<2Ad::A+BA<JAd:RA+Y ?,?yD"98ٓHත?eU2 U? ?^&@t???) ? IߘI٘i)I9Y J`<J|4JJlDJ&Kq Yyj7E7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027916.903165 s, next control iter: 1743027917.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027917.283165 s.6RG~,RAJ"J*J2J:JBJnJvJAGz@A@Af[~? AvȦA#N&"AApNA"AZAbAjArAzAAA !# (@A@ ZqAA\e=AHA/*?A`jf?AKؒ?A}.s*A><2A9d::AX}BA><JA9d:RAX}٘i)I9Y JJJJ&K Yyŧ7b7b7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027917.323165 s, next control iter: 1743027917.683176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1416*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027917.703165 s.ֺG~,mAA\( @A>Ȳ@Af[~? ABȦAO&"AApNA"AZAbAjArAzAAA<Ƭ (@Adzd:qA!ξAASA'?A`jf?A ֒?A\+3*Aa<2Ad::Ad`BAa<JAd:RAd`٘i)I9Y J`3JJJJ&K Yyb77M7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027917.743165 s, next control iter: 1743027918.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027918.123165 s.;G~,m⇳AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200282 time: 1743027918.123292F (some fields omitted in printout)Ap= !@A~n!@Af[~? AȦAO&"AApNA"AZAbAjArAzAAAhC!(@Aw qA ξAA\A&?A Djf?A Ւ?A23*Av՗<2ATd::AwUBAv՗<JATd:RAwU٘i)I9Y JZ3C=JJJJ&K Yy77{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027918.163165 s, next control iter: 1743027918.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027918.543165 s.IG~,âAAQ#@A2#@Af[~? AǦAO&"AA1pNA"AZAbAjArAzAAA揊!(@AqAAҹA`A&?A 6if?A`hӒ?A3*A|ȗ<2Add::A+\BA|ȗ<JAdd:RA+\٘i)I9Y JJJJ&K YySI7SI77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027918.563165 s, next control iter: 1743027918.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1417, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027918.963165 s.zG~,AJ"J*J2J:JBJnJvJA33333%@AJ$@Af[~? AǦA O&"AAYpNA"AZAbAjArAzAAADp"(@AZ~qAξA\9AcA8'?A@gf?A`ђ?A1*A|<2A,d::APjBA|<JA,d:RAPjY?;&?yb9ٓHT?`eT?w? *`Dt?>?`?)? I٘i)I9Y J_3<JJJJ&K Yy7)7P7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027919.003165 s, next control iter: 1743027919.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027919.383165 s.G~,سAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199632 time: 1743027919.383278F (some fields omitted in printout)A{G&@AFAx&@Ag[~? AsǦAO&"AApNA"AZAbAjArAzAAAV)#(@A_kqA ξA[:AA*'?A ff?A+В?AC*A<2ACc::A;qBA<JACc:RA;q٘i)I9Y JsC=JJJJ&K Yyj7j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027919.423165 s, next control iter: 1743027919.783174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1418", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027919.803165 s.sAG~,jgAJ"J*J2J:JBJnJvJA(\(@At '(@A-g[~? A?ǦAO&"AApNA"AZAbAjArAzAAA+_#(@AUHqA!ξA:A[A%?Aff?AΒ?Au@*A<2Ajc::AfBA<JAjc:RAf٘i)I9Y J_JJJJ&K  7Y 7y 'C77777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027919.843165 s, next control iter: 1743027920.203174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743027920.223165 s.gG~,HAA ףp=*@A )@AFg[~? A ǦAO&"AAҊpNA"AZAbAjArAzAAA:4$(@Aխ|qA"ξA]-:ANA#?A`ff?A@̒?A9b*Aϔ<2Ac::AJBAϔ<JAc:RAJ٘i)I9Y JdJJJJ&K Yy77M+7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027920.263165 s, next control iter: 1743027920.623180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027920.643165 s.J "J *J 2J :J BJ nJ vJ v G~,*)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200322 time: 1743027920.643315F (some fields omitted in printout)AR+@A֩=+@A_g[~? AƦAO&"AApNA"AZAbAjArAzAAA$(@Aol]qAAFAIA ?A`_gf?A F˒?A*A <2Acc::Ak#BA <JAcc:RAk#٘i)I9Y JJJmDJ&K Yy{7{7G7)ZZZBZL?YY*W2W WWW"W ) tReceived state from Gazebo (printed only once in a while):)0 header.stamp.sec: 1419, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027920.683165 s, next control iter: 1743027921.043176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027921.063165 s.G~,N DAA-@AqrC1-@Awg[~? AƦAO&"AA#pNA"AZAbAjArAzAAAOSa%(@A=qA!ξAwAOA?Agf?Aɒ?AQ01*AC{<2A d::ABAC{<JA d:RAYS??yLH6xٓH`̺?dc`dT??At?`\N?)S? I٘i)I9Y J_3<J4JJJ&K Yy7)7d7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027921.083165 s, next control iter: 1743027921.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027921.483165 s.q_G~,^AJ"J*J2J:JBJnJvJAzG/@AYL.@Ag[~? ApƦA#O&"AALpNA"AZAbAjArAzAAA/%(@A&qAAAZA?A@gf?AȒ?A|z3*Aun<2Ac::A盺BAun<JAc:RA盺٘i)I9Y JJJJ&K Yy{7j7M7)ZZZBZL?YY*W2W WWW"W ) )FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743027921.503165 s, next control iter: 1743027921.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1420, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027921.903165 s.G~,yAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200262 time: 1743027921.903293F (some fields omitted in printout)A)\0@A^a0@Ag[~? A=ƦA'O&"AAtpNA"AZAbAjArAzAAAMr&(@A oqqA ξAĊhA`A?A 'gf?Aeƒ?A3*Aa<2ALc::Ak㛺BAa<JALc:RAk㛺٘i)I9Y Jc3JJJJ&K Yy{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027921.923165 s, next control iter: 1743027922.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027922.323165 s.t$G~,AJ"J*J2J:JBJnJvJAq= ף2@A"uq;2@Ag[~? A ƦAo+O&"AApNA"AZAbAjArAzAAA$'(@A}qAξAָAdAQ?Aef?AĒ?AV3*AT<2Ac::A<BAT<JAc:RA<٘i)I9Y Jg3C=JJJJ&K Yyj7Z77)ZZZBZL?YY*W2W WWW"W ) )FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743027922.363165 s, next control iter: 1743027922.723176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1421&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027922.743165 s.W+G~,dAAQ4@Ag3@Ag[~? AŦA^/O&"AAŋpNA"AZAbAjArAzAAAz'(@Ay&aqA ξAJ@:AgA?A df?A .Ò?ADqy*AG<2A[sc::ABAG<JA[sc:RA٘i)I9Y J^JJJJ&K Yy77{7O7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027922.783165 s, next control iter: 1743027923.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027923.163165 s.y}2G~,qʴAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200262 time: 1743027923.163301F (some fields omitted in printout)A6@Ax5@Ag[~? AŦAL3O&"AApNA"AZAbAjArAzAAAS+Q((@AC9ݟqA!ξA5:AeAI?Acf?A`?Ah*A:<2ABLc::A!BA:<JABLc:RA!Yt ??y_-:ٓH?`d`T?@+?3Dt?ฦS? ?)t ? I٘i)I9Y J_JJJJ&K Yy7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027923.183165 s, next control iter: 1743027923.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027923.583165 s.8G~,RAAHz7@A^)E7@A h[~? AnŦA:7O&"AApNA"AZAbAjArAzAAA<g((@A`\qAA:A\A?A cf?A?Aγx*A.<2A>c::A뛺BA.<JA>c:RA뛺٘i)I9Y JJJJ&K  7Y 7yŧ7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027923.603165 s, next control iter: 1743027923.983174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1422, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027924.003165 s.s @G~,74AJ"J*J2J:JBJnJvJA(\9@Ah8@A%h[~? A;ŦA(;O&"AA>pNA"AZAbAjArAzAAAlm~)(@Au`qA"ξAʈ9AQA?A %df?AR?A.O*A_!<2AGc::AʛBA_!<JAGc:RAʛ٘i)I9Y J[<JJJJ&K Yy77{7R-7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027924.043165 s, next control iter: 1743027924.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027924.423165 s.uFG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199572 time: 1743027924.423267F (some fields omitted in printout)Aףp= ;@An3:@A>h[~? AŦA?O&"AAfpNA"AZAbAjArAzAAAƌxV*(@A,UaAqAA) APA?A`df?A౼?AQ*A<2A)Yc::ABA<JA)Yc:RA٘i)I9Y JJJJ&K Yy7I7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027924.463165 s, next control iter: 1743027924.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1423, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027924.843165 s.LG~,5AJ"J*J2J:JBJnJvJAQ<@AGjO<@AWh[~? AĦACO&"AApNA"AZAbAjArAzAAA*ӫ*(@A~!qA!ξAGAXA<?A@ef?A?AJ2*A<2Ab`c::AȂBA<JAb`c:RAȂ٘i)I9Y Je3JJJnDJ&K Yy (Cŧ7b7f7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027924.883165 s, next control iter: 1743027925.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027925.263165 s.TG~,PAAfffff>@AN^d=@Aph[~? AĦAFO&"AApNA"AZAbAjArAzAAA'PB+(@ArrqAAzA`A?A`df?Au?A3*A8<2A)Pc::AqBA8<JA)Pc:RAqY?=?y[4dٓH`?` elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743027925.683291F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@@AҊo(?@Ah[~? AlĦAJO&"AApNA"AZAbAjArAzAAA&s+(@AIqA ξAh*AdA}?Acf?Aڷ?A03*Ah<2A'c::AsBAh<JA'c:RAs٘i)I9Y Jb3JJJJ&K Yy7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027925.683165 s, next control iter: 1743027926.083179 s, wait time: 0.400014 s rAdjusting time to match Gazebo time: 1743027926.103165 s.aG~,AA(\A@A1ZA@Ah[~? A9ĦANO&"AApNA"AZAbAjArAzAAAc,&-(@A]qA ξAy:AjA?Aaf?A?AR *AԖ<2A!b::A勛BAԖ<JA!b:RA勛٘i)I9Y J`JJJJ&K Yy77R7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027926.563165 s, next control iter: 1743027926.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1425, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)) rAdjusting time to match Gazebo time: 1743027926.943165 s.UdnG~,5]AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199712 time: 1743027926.943275F (some fields omitted in printout)AQE@AkdWZD@Ah[~? AæAVO&"AAYpNA"AZAbAjArAzAAA1) -(@A/qA!ξAD:AgAJ?A`f?A ?AQx*Aǖ<2Atb::AdBAǖ<JAtb:RAd٘i)I9Y J^JJJJ&K Yy)7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027926.983165 s, next control iter: 1743027927.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027927.363165 s.uG~,}>׵AJ"J*J2J:JBJnJvJAF@AzdF@Ah[~? AæAZO&"AApNA"AZAbAjArAzAAAE`}l2.(@AYZKeqAA|e:A]A? ?A `f?A p?Afk*AC<2Ařb::ApBAC<JAřb:RApY?g ?yYle:ٓH?d 7͇iS??@:/@Ct?L??)? I٘i)I9Y J`3JJJ&K6  7Y 7y77{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027927.383165 s, next control iter: 1743027927.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1426&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027927.783165 s.W{G~,AAGzH@A_ӃH@Ai[~? AkæAu^O&"AApNA"AZAbAjArAzAAA.(@A; elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199782 time: 1743027928.203270F (some fields omitted in printout)A\(J@AULI@Ai[~? A8æA_bO&"AAҍpNA"AZAbAjArAzAAAZL7_/(@Aց&qAA CAXAG?Abf?A3?Ae*A<2Ab::Ay%BA<JAb:RAy%٘i)I9Y JJJJ&K Yy77K7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027928.243165 s, next control iter: 1743027928.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027928.623165 s.^G~,z'AAp= K@A7nK@A6i[~? AæAIfO&"AApNA"AZAbAjArAzAAA/(@AҖ&!qA!ξAKAaA?AAbf?A?AU-3*A[<2Aҷb::Ae BA[<JAҷb:RAe ٘i)I9Y JY3JJJoDJ&K Yyŧ77h7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027928.663165 s, next control iter: 1743027929.023175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1427 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027929.043165 s.G~,BAJ"J*J2J:JBJnJvJAQM@AM@AOi[~? A¦A3jO&"AA#pNA"AZAbAjArAzAAA( 0(@A*qA ξA8 AgA?Aaf?A?AZ֯3*A<2Ab::AOBA<JAb:RAO٘i)I9Y Jo3C=JJJJ&K Yy7U7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027929.083165 s, next control iter: 1743027929.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027929.463165 s.RG~,פ]AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199772 time: 1743027929.463271F (some fields omitted in printout)A33333O@ANN@Ahi[~? A¦AnO&"AAKpNA"AZAbAjArAzAAAѤo"1(@ArSgqAAfùAiA?A`f?A f?A3*A{<2Aob::ABA{<JAob:RAY??yhùٓH ?cW@S?`?& Et?l8?)? I٘i)I9Y J܎JJJ&K YyZ7Z77)ZZZBZL?YY*W2W WWW"W ) )FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743027929.483165 s, next control iter: 1743027929.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1428, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027929.883165 s.yG~,'xAJ"J*J2J:JBJnJvJA{GP@A N} yP@Ai[~? Aj¦ArO&"AAspNA"AZAbAjArAzAAA̸1(@A:qAA:AkAw?A`k_f?A@ϧ?Ad1*Ao<2A7b::ABAo<JA7b:RA٘i)I9Y JJJJ&K Yy )C777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027929.923165 s, next control iter: 1743027930.283176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027930.303165 s.SG~,jgAA(\R@Ac`'R@Ai[~? A7¦AuO&"AApNA"AZAbAjArAzAAA{ O2(@AdEqAA:AlAd?Ak^f?A7?AhC*A`b<2Aw b::ABA`b<JAw b:RA٘i)I9Y JJJJ&K YyW7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027930.323165 s, next control iter: 1743027930.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1429*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027930.723165 s.G~,HAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955J dt: 0.420011"J*J2J2 time: 1743027930.723282:JF (some fields omitted in printout)BJnJvJA ףp=T@A.S@Ai[~? A¦AyO&"AAĎpNA"AZAbAjArAzAAA2Oo2(@AejqA!ξAV:AgA-?A^f?A?Ay*AU<2Aa::ABAU<JAa:RA٘i)I9Y JbC<JJJJ&K Yyŧ7ŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027930.743165 s, next control iter: 1743027931.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027931.143165 s.V/G~,*ɶAARU@A'L5U@Ai[~? AA}O&"AApNA"AZAbAjArAzAAA:{3(@A8DeKqA"ξA&&:A]A?A`H^f?A`?AZ*AI<2Aa::ALBAI<JAa:RAL󚺙٘i)I9Y JYC=JJJJ&K  7Y 7y7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027931.163165 s, next control iter: 1743027931.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027931.563165 s.G~,9 AJ"J*J2J:JBJnJvJAW@AyrM1W@Ai[~? AAO&"AApNA"AZAbAjArAzAAA>4(@AO7+qAA4eAZA?A@^f?A@g?A*A<<2Ab::A ͚BA<<JAb:RA ͚Y?&?yZeٓH?]cf`R?@5? `Ct?@,?)? I٘i)I9Y JU4JJJ&K+ Yy{7j7W17)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027931.583165 s, next control iter: 1743027931.963174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1430, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027931.983165 s.G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200362 time: 1743027931.983315F (some fields omitted in printout)AzGY@A\bX@Ai[~? AjAO&"AA=pNA"AZAbAjArAzAAA me4(@AQ| qAA|A`A?AY_f?A̟?Ah1*A/<2A!b::A<BA/<JA!b:RA<٘i)I9Y JJJJ&K Yy7777N7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027932.023165 s, next control iter: 1743027932.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027932.403165 s.&G~,AJ"J*J2J:JBJnJvJA)\Z@AT^Z@Aj[~? A6AuO&"AAepNA"AZAbAjArAzAAAzb>5(@A3qA!ξAY9AiA?AJ_f?A2?A>|3*Ai#<2A b::ABAi#<JA b:RA٘i)I9Y J12<JJJJ&K Yyj7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027932.443165 s, next control iter: 1743027932.803175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1431, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027932.823165 s.G~,4AAq= ף\@A]z;\@A.j[~? AA\O&"AApNA"AZAbAjArAzAAA4L5(@AqA ξAbAmAa?A^f?A`?A3*A<2A^a::AtBA<JA^a:RAtޘI٘i)I9Y J\3C=JJJpDJ&K Yyb7b7W7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027932.863165 s, next control iter: 1743027933.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027933.243165 s.G~,uOAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743027933.243278F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ^@A]@AGj[~? AABO&"AApNA"AZAbAjArAzAAA%J`k6(@A ^ڪqAAAA?Aa]f?A`?A{I3*A <2AMa::ABA <JAMa:RA٘i)I9Y JJJJ&K Yyŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027933.283165 s, next control iter: 1743027933.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027933.663165 s.G~,qjAtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1432, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A`@Aq_@A`j[~? AA(O&"AAޏpNA"AZAbAjArAzAAA7(@AN[jqAArF:AoA?A&\f?Ar?AȻ*A\<2Aa::ABA\<JAa:RAY?l?ymF:ٓH'?@"ctqR??A-Et?WH??)? I٘i)I9Y JJJJ&K Yy)77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027933.683165 s, next control iter: 1743027934.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743027934.083165 s.DG~,SAJ"J*J2J:JBJnJvJAHza@A,BEa@Ayj[~? AjAO&"AApNA"AZAbAjArAzAAAgx7(@A,pqA!ξA۝:AnA?A@V[f?A ݗ?Ahf*A<2A[a::ABA<JA[a:RA٘i)I9Y J.˲<JJJJ&K YyZ7Z7W7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027934.123165 s, next control iter: 1743027934.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027934.503165 s.G~,/4AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199632 time: 1743027934.503297F (some fields omitted in printout)A(\c@A],b@Aj[~? A6AO&"AA/pNA"AZAbAjArAzAAA .8(@AlWPqAA܈:AfA?A .[f?AE?Akq*A$<2A]Oa::A5BA$<JA]Oa:RA5٘i)I9Y JJJJ&K Yy77777)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743027934.543165 s, next control iter: 1743027934.903174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1433, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027934.923165 s.5G~,AJ"J*J2J:JBJnJvJAףp= e@Aڧd@Aj[~? AAؠO&"AAWpNA"AZAbAjArAzAAA\8(@A ظ1qA"ξA(R9A^A9?A[f?A ?AG*Aו<2AYa::AvBAו<JAYa:RAv٘i)I9Y J_<JJJJ&K  7Y 7y *C)7)77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027934.963165 s, next control iter: 1743027935.323175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027935.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199752 time: 1743027935.763290F (some fields omitted in printout)Afffffh@AC=}g@Aj[~? AAO&"AApNA"AZAbAjArAzAAAj;9(@A`OqA!ξAԒAiA?A\f?A z?A+2*A<2Aqa::A`/BA<JAqa:RA`/Y??yc"ٓH ?bX싿 R? ?Dt?ZR@?)? I٘i)I9Y Jc3Jy>4JJJ&Kx Yy7P7)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743027935.783165 s, next control iter: 1743027936.163175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027936.183165 s.G~,k AAGzj@Aqi@Aj[~? AjAO&"AAАpNA"AZAbAjArAzAAA":(@A`xqAAJИAqA$?A8\f?A@䏒?A63*A <2AB`a::A{BA <JAB`a:RA{٘i)I9Y JJJJ&K Yy77l7)ZZZBZL?YY*W2W WWW"W ) )FFF]n:Waiting for Gazebo time sync: latest Gz time: 1743027936.203165 s, next control iter: 1743027936.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027936.603165 s.44 G~,&AJ"J*J2J:JBJnJvJA(\k@A\CZk@A k[~? A7AiO&"AApNA"AZAbAjArAzAAArb;(@AvqA ξA#ArA?AL[f?AP?A33*A<2A6a::A"BA<JA6a:RA"٘i)I9Y J\3JJJqDJ&K Yyb7b7[7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027936.643165 s, next control iter: 1743027937.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1435 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027937.023165 s.ZG~,{AAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743027937.023289F (some fields omitted in printout)A= ףpm@A+Om@A&k[~? AALO&"AA!pNA"AZAbAjArAzAAA/;(@A"ƕqAAs9AsAU?A@ Zf?A`?Ap2*A嘕<2A`a::A/BA嘕<JA`a:RA/٘i)I9Y JJJJ&K Yy{7j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027937.063165 s, next control iter: 1743027937.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027937.443165 s./G~,]\AJ"J*J2J:JBJnJvJAQo@Aٲ|]n@A?k[~? AѾA/O&"AAIpNA"AZAbAjArAzAAAgI<(@AȚvqAA=~:AA?AXf?A+?AJ*AG<2A`::A9BAG<JA`:RA9٘i)I9Y JJJJ&K YyZ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027937.463165 s, next control iter: 1743027937.843173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1436, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027937.863165 s.+G~,u>wAAp@Adp@AXk[~? AAO&"AArpNA"AZAbAjArAzAAAuX<(@A+xWqA!ξA:AoA?A@OXf?A?Av*A<2A6`::A4BA<JA6`:RA4Yݓ??yiA:ٓH -?`b`E=Q?@?`2@Et? S??)ݓ? I٘i)I9Y J+˲<JJJJ&K Yy77{7]7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027937.903165 s, next control iter: 1743027938.263175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027938.283165 s.3R$G~,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743027938.283302F (some fields omitted in printout)AGzr@Amr@Apk[~? AkAO&"AApNA"AZAbAjArAzAAA Y0v=(@AvT8qA"ξAѽ_:AfA?A _Xf?A?A d*A@s<2A`::A1BA@s<JA`:RA1٘i)I9Y JlC=JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027938.323165 s, next control iter: 1743027938.683176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1437., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027938.703165 s.Һ*G~,AA\(t@A_s@Ak[~? A8AO&"AA‘pNA"AZAbAjArAzAAA(`E >(@Al4qAA*l8A`A?AXf?Aj?A/I0*Af<2A`::ABAf<JA`:RA٘i)I9Y JJJJ&K  7Y 7yŧ7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027938.743165 s, next control iter: 1743027939.103174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743027939.123165 s.61G~,XǸAJ"J*J2J:JBJnJvJAp= u@AG!ɬnu@Ak[~? AAO&"AApNA"AZAbAjArAzAAAr3s>(@AqAAIAfA?AqYf?Aӄ?AX>*AkZ<2A`::AfәBAkZ<JA`:RAfә٘i)I9Y JJJJ&K Yy77{7\57)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027939.163165 s, next control iter: 1743027939.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027939.543165 s.I8G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199662 time: 1743027939.543259F (some fields omitted in printout)AQw@A#w@Ak[~? AҽAO&"AApNA"AZAbAjArAzAAA%8?(@A]qA!ξABAqAv?AYf?A@>?A2 63*AM<2A`::A6BAM<JA`:RA6٘i)I9Y J.2<JJJJ&K Yy +C777R7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027939.583165 s, next control iter: 1743027939.943175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1438, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027939.963165 s.w>G~,AJ"J*J2J:JBJnJvJA33333y@AREx@Ak[~? AA{O&"AA;pNA"AZAbAjArAzAAAXx=?(@ADqA ξAS出AwA{?A Yf?A?A(m3*AA<2Ad`::ABAA<JAd`:RAY_ד??yrh-ٓH|?a΋{Q??@`Ft?P?)_ד? I٘i)I9Y JQ3B=JU+JJJ&Ke Yyb7b7n7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027940.003165 s, next control iter: 1743027940.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027940.383165 s.EG~,AA{Gz@A|xz@Ak[~? AlA\O&"AAcpNA"AZAbAjArAzAAAl"d@(@A̜qAA&AxA?AWf?A?A3*A4<2A`::ABA4<JA`:RA٘i)I9Y JJJJ&K Yy{7{7]7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027940.423165 s, next control iter: 1743027940.783174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1439", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027940.803165 s.vALG~,wg3AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200202 time: 1743027940.803283F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\|@A-&6'|@Al[~? A9AJJJ&K> Yy77_7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027941.663165 s, next control iter: 1743027942.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1440, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027942.063165 s.`G~,J AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199782 time: 1743027942.063271F (some fields omitted in printout)A@AaQ1@AOl[~? AAO&"AApNA"AZAbAjArAzAAAa`B(@A* qA"ξAG:AfA:ޯ?A@Uf?Ay?AV*A<2A`::A[BA<JA`:RA[YГ?ܯ?yd, :ٓH@?a'Q??*Dt?C?@?)Г? I٘i)I9Y JdC=JX4Q>JJJ&K5> Yy77 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027942.103165 s, next control iter: 1743027942.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027942.483165 s.q_gG~,잹AJ"J*J2J:JBJnJvJAzG@A^S߂@Ahl[~? AmAO&"AA-pNA"AZAbAjArAzAAAxSC(@A'ۆqAAAdA)ۯ?A-Vf?A`>x?AG*A<2A`::Al|BA<JA`:RAl|٘i)I9Y JJJJ&K  7Y 7y77{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027942.503165 s, next control iter: 1743027942.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1441, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027942.903165 s.mG~,͹AA)\@A΋_@Al[~? A;AO&"AAUpNA"AZAbAjArAzAAAC(@ÁˀpAAhAmAZد?AVf?Av?A1*AX<2A+`::AXYBAX<JA+`:RAXY٘i)I9Y JJJJ&K Yy77]77)ZZZBZL?YY*W2W WWW"W ) )FFF]x:Waiting for Gazebo time sync: latest Gz time: 1743027942.923165 s, next control iter: 1743027943.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027943.323165 s.utG~,!ԹAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199712 time: 1743027943.323265F (some fields omitted in printout)Aq= ף@AdU;@Al[~? AAwO&"AA}pNA"AZAbAjArAzAAAMiD(@A^4a}pA!ξA.֟AwA֯?A`Vf?Au?A3*Aݔ<2A"`::ACBAݔ<JA"`:RAC٘i)I9Y J-2<JJJJ&K Yy7 T7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027943.363165 s, next control iter: 1743027943.723175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1442&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027943.743165 s.W{G~,iAAQ@AU釖@Al[~? AջAUO&"AApNA"AZAbAjArAzAAA*MvE(@AȘ|pA ξAZ]A|Aկ?A@Uf?A@s?A3*Aє<2A`::A3*A Ŕ<2A_::ALBA Ŕ<JA_:RALYʓ?d֯?y}<1ٓH{?qaۉP??6"Gt? ?)ʓ? I٘i)I9Y JJJJ&K| Yy7b7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027944.183165 s, next control iter: 1743027944.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027944.583165 s."G~,.S%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200312 time: 1743027944.583308F (some fields omitted in printout)AHz@AJE@Al[~? ApAO&"AApNA"AZAbAjArAzAAA0AF(@A~fpAAxL:AA֯?A]Sf?Alp?Aᣲ*A<2A@_::AYBA<JA@_:RAY٘i)I9Y JJJsDJ&K Yy ,C777 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027944.623165 s, next control iter: 1743027944.983179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1443 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027945.003165 s.x G~,L4@AJ"J*J2J:JBJnJvJA(\@AQE@Al[~? A=AO&"AApNA"AZAbAjArAzAAAc$F(@A4GpA!ξA+h:AzA6֯?ARf?An?Aj*A<2As_::A)ZBA<JAs_:RA)Z٘i)I9Y J,˲<JJJJ&K Yyŧ7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027945.043165 s, next control iter: 1743027945.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027945.423165 s.uG~,[AAףp= @Ax桎@Am[~? A AP&"AAFpNA"AZAbAjArAzAAANomG(@A+(pAAV:ApAԯ?AlRf?ALm?A;p*Aß<2Anh_::A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743027945.843283F (some fields omitted in printout)AQ@AtO@A.m[~? A׺AP&"AAopNA"AZAbAjArAzAAAs]H(@A pA"ξA9AgAѯ?A`Rf?A@k?AD*Ax<2Ar_::A#'BAx<JAr_:RA#'٘i)I9Y Ja<JJJJ&K  7Y 7y)7)7 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027945.863165 s, next control iter: 1743027946.243175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027946.263165 s.G~,ؐAAfffff@A`#I@AGm[~? AA P&"AApNA"AZAbAjArAzAAAQH(@ApAA AiAί?AjSf?A'j?A*Ȳ*A3<2A_::ABA3<JA_:RAYÓ?ϯ?yg` ٓH?a኿P?`G?Et?חA`?)Ó? I٘i)I9Y J4JJJ&Kg Yy{7{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027946.303165 s, next control iter: 1743027946.663175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1445., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027946.683165 s.lG~,ZAJ"J*J2J:JBJnJvJAGz@AVj-@A`m[~? ArA_ P&"AApNA"AZAbAjArAzAAATI/I(@A{pA!ξAMJAtA/̯?ASf?Ah?AGP2*Az<2A_::AᘺBAz<JA_:RAᘺ٘i)I9Y Jb3JJJJ&K Yy777b97)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027946.683165 s, next control iter: 1743027947.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743027947.103165 s.G~,ƺAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199802 time: 1743027947.103269F (some fields omitted in printout)A(\•@A9Z@Axm[~? A?A:P&"AApNA"AZAbAjArAzAAA8QI(@ApvԬpAAvA}Aʯ?A cSf?A g?A53*An<2Ax_::AҘBAn<JAx_:RAҘ٘i)I9Y JJJJ&K Yy77 V7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027947.143165 s, next control iter: 1743027947.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027947.523165 s.G~,{AJ"J*J2J:JBJnJvJA= ףp@A\QJ@Am[~? A AP&"AApNA"AZAbAjArAzAAA\J(@ApA ξAHAAʯ?ArRf?A`ze?AҢ3*A3b<2A3O_::A՘BA3b<JA3O_:RA՘٘i)I9Y JJJJJ&K Yy777r7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027947.563165 s, next control iter: 1743027947.923174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1446, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027947.943165 s.SdG~,-]AAQ@Aжu@Am[~? AڹAP&"AA8pNA"AZAbAjArAzAAANJ(@A!opAAG9AA˯?A/Qf?Ac?A[þ2*AU<2A%_::A}㘺BAU<JA%_:RA}㘺٘i)I9Y JJJJ&K Yy77e7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027947.963165 s, next control iter: 1743027948.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027948.363165 s.G~,}>AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199982 time: 1743027948.363277F (some fields omitted in printout)A̚@A[zd@Am[~? AAP&"AA`pNA"AZAbAjArAzAAA1AK(@A #!PpAA×:AA<˯?APf?A cb?A*A_I<2Ap^::Ap혺BA_I<JAp^:RAp혺Yټ?&ɯ?y~܁:ٓHp?@`Շ/P?`?(/Gt? 2P??)ټ? IݘI٘i)I9Y J۴JJJ&K Yy77777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027948.403165 s, next control iter: 1743027948.763176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1447", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027948.783165 s.UG~,2AAGz@A@Am[~? AuA P&"AApNA"AZAbAjArAzAAAL(@A?1pA!ξA|:A|Acʯ?A{Of?A`?Aw*A =<2AQ^::A瘺BA =<JAQ^:RA瘺٘i)I9Y J.˲<JJJtDJ&K Yy{7{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027948.823165 s, next control iter: 1743027949.183175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027949.203165 s.G~,*MAJ"J*J2J:JBJnJvJA\(@A@Am[~? ABA$P&"AApNA"AZAbAjArAzAAA-xҳL(@A`pA"ξAY:AqAKȯ?AOf?AF_?Ad*A0<2A^::AИBA0<JA^:RAИ٘i)I9Y JbC=JJJJ&K Yyb7b7c7)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743027949.243165 s, next control iter: 1743027949.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027949.623165 s.VG~,XgAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743027949.623304F (some fields omitted in printout)Ap= ן@AC9n@A n[~? AAX(P&"AAٕpNA"AZAbAjArAzAAAs#IM(@A4„pAA:&7AjAWů?APf?A]?A .*A$<2A[^::ABA$<JA[^:RA٘i)I9Y JJJJ&K  7Y 7y -C)7)77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027949.643165 s, next control iter: 1743027950.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1448 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027950.043165 s.G~,ÂAJ"J*J2J:JBJnJvJAQ@Aa@A%n[~? AݸA1,P&"AApNA"AZAbAjArAzAAA!M(@AtApAAOAoA]¯?APf?A%\?AS&*A\<2A^::A BA\<JA^:RA ٘i)I9Y JJJJ&K Yyb7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027950.083165 s, next control iter: 1743027950.443184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743027950.463165 s.OG~,ʤAA33333@ACYʢ@A>n[~? AA 0P&"AA)pNA"AZAbAjArAzAAAq{uN(@Ae`ԵpA!ξAnÞAzA3?APf?A`Z?Ah=3*A" <2A^::AlBA" <JA^:RAlYt?¯?ytٓH?Z`IO?%? Ft?`mS ?)t? I٘i)I9Y J%2<Jf>4JJJ&K Yy77g;7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027950.503165 s, next control iter: 1743027950.863173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1449, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027950.883165 s.yG~,4AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027950.883305F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gᤖ@A'g(x@AWn[~? AxA3P&"AAQpNA"AZAbAjArAzAAA  O(@A|pA ξAAAF?A$Pf?A Y?Aa3*A<2At^::AKdBA<JAt^:RAKd٘i)I9Y Jm3C=JJJJ&K Yy777X7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027950.923165 s, next control iter: 1743027951.283176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027951.303165 s.VG~,wgӻAA(\@Au'@Apn[~? AFA7P&"AAypNA"AZAbAjArAzAAA`mO(@A5l.xpAA,ϤAAf?A` Of?AW?AG3*A<2A^::AqlBA<JA^:RAql٘i)I9Y JJJJ&K Yy77t7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027951.343165 s, next control iter: 1743027951.703178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1450&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027951.723165 s. G~J,HA"J*J2J:JBJnJvJA ףp=@Aаէ@An[~? AA;P&"AApNA"AZAbAjArAzAAAxn7P(@AR_YpAA6:AAؿ?A`Mf?AU?A *A*<2Af^::AszBA*<JAf^:RAsz٘i)I9Y JJJJ&K Yyj7Z7f7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027951.763165 s, next control iter: 1743027952.123181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743027952.143165 s.W/G~, * AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743027952.143282F (some fields omitted in printout)AR멖@AG)@An[~? AᷦAj?P&"AAʖpNA"AZAbAjArAzAAAޟLP(@AIΒ:pAAݔ:AA?ALf?AnT?AXL*Aړ<2A.<^::ABAړ<JA.<^:RA٘i)I9Y JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027952.183165 s, next control iter: 1743027952.543179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027952.563165 s.G~,J $AJ"J*J2J:JBJnJvJA@AY0G1@An[~? AABCP&"AApNA"AZAbAjArAzAAA[ &cQ(@A"pA!ξA^:A~Ar?A`tLf?AR?APv*AΓ<2A)^::AtBAΓ<JA)^:RAtY??yxE:ٓHI? D`v@O?9'?@0 Gt?KR?@?)? I٘i)I9Y J`C<J[JJuDJ&K@ Yyj7j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027952.603165 s, next control iter: 1743027952.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1451, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027952.983165 s.G~,>AAzG@A=e5]߬@An[~? A|AGP&"AApNA"AZAbAjArAzAAAjQ(@ACpA"ξA=:AsA?ALf?A UQ?AQT*An“<2A-^::AWBAn“<JA-^:RAW٘i)I9Y JcC=JJJJ&K Yy77g7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027953.023165 s, next control iter: 1743027953.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027953.403165 s.&G~,YAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199412 time: 1743027953.403251F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\@A%>w@An[~? AIAJP&"AABpNA"AZAbAjArAzAAA.َR(@A~L^::A1BAK<JA>^:RA1٘i)I9Y JJJJ&K  7Y 7y7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027953.423165 s, next control iter: 1743027953.803173 s, wait time: 0.380008 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1452", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027953.823165 s.G~,tAAq= ף@A%z;@Ao[~? AANP&"AAkpNA"AZAbAjArAzAAAi3$S(@AIzpAA҂AwA'?AMf?A@9N?A 1*A)<2AOJ^::A$BA)<JAOJ^:RA$٘i)I9Y JJJJ&K Yy7)7 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027953.863165 s, next control iter: 1743027954.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027954.243165 s.#G~,iAJ"J*J2J:JBJnJvJAQ@A&v鱖@Ao[~? A嶦ARP&"AApNA"AZAbAjArAzAAA}S(@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743027954.663295F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1453, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@Ae@A5o[~? AAqVP&"AApNA"AZAbAjArAzAAAjPwPT(@ASpA ξAWAA峯?ALf?A%K?Ap3*A<2A^::ABA<JA^:RAYS??yWٓH`"?_:O?1?RHt? J?)S? I٘i)I9Y JV3B=JwQJJJ&K Yy .C777Z7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027954.683165 s, next control iter: 1743027955.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027955.083165 s.D1G~, SżAJ"J*J2J:JBJnJvJAHz@AJE@ANo[~? AAFZP&"AApNA"AZAbAjArAzAAAaNT(@A6fCcpAAqHAA;?A@Kf?AI?A$/63*Ay<2A ]::AXBAy<JA ]:RAX٘i)I9Y JJJJ&K Yyŧ7b7v7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027955.123165 s, next control iter: 1743027955.483180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743027955.503165 s.7G~,&4AA(\@ATW>@Ago[~? ANA^P&"AA pNA"AZAbAjArAzAAARY|U(@A8DpAA\R:AA?AdJf?AH?A0:*A2y<2A']::ABA2y<JA']:RA٘i)I9Y JJJJ&K Yyj7j7h7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027955.523165 s, next control iter: 1743027955.903174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1454, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027955.923165 s.J "J *J 2J :J BJ nJ vJ 8>G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743027955.923270F (some fields omitted in printout)Aףp= @A͡@Ao[~? AAaP&"AA3pNA"AZAbAjArAzAAA V(@AI%pA!ξA۞:AA?A`If?A`F?Ati*Al<2A֓]::A"BAl<JA֓]:RA"٘i)I9Y J3˲<JJJJ&K YyZ7SI77)ZZZBZL?YY*W2W WWW"W ) )FFF]n:Waiting for Gazebo time sync: latest Gz time: 1743027955.943165 s, next control iter: 1743027956.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027956.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743027957.183284F (some fields omitted in printout)AGz@A&@Ao[~? AAlmP&"AApNA"AZAbAjArAzAAA 6W(@ApAAiAA?AsJf?A@A?A/*²*AH<2A]::ABAH<JA]:RA٘i)I9Y JJJJ&K  7Y 7y)7ŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027957.223165 s, next control iter: 1743027957.583182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743027957.603165 s.14YG~,fAJ"J*J2J:JBJnJvJA(\¿@A;Z@Ao[~? ARA?qP&"AAԘpNA"AZAbAjArAzAAA,vyiX(@A+MpA!ξAA~A?AJf?Aa@?AH2*A<<2AG]::ABA<<JAG]:RA٘i)I9Y Jd3JJJJ&K Yy7777"7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027957.643165 s, next control iter: 1743027958.003174 s, wait time: 0.360009 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1456 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027958.023165 s.Z`G~,{AA= ףp@A?Ac3*Ax0<2AI]::AvBAx0<JAI]:RAv٘i)I9Y JJJJ&K Yy{7Z7n?7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027958.063165 s, next control iter: 1743027958.423176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027958.443165 s.7fG~,>]AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199832 time: 1743027958.443287F (some fields omitted in printout)J"J*J2J:JBJnJvJAQÖ@A=_\–@Ap[~? AAxP&"AA$pNA"AZAbAjArAzAAA8ᕔY(@Ax9'mpA ξAAA?AgIf?A`S=?A-3*AI$<2Ao]::ACBAI$<JAo]:RAC٘i)I9Y Jc3JJJJ&K Yy7777\7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027958.483165 s, next control iter: 1743027958.843180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1457, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027958.863165 s.+mG~,y>AAĖ@AStdĖ@A,p[~? AA|P&"AALpNA"AZAbAjArAzAAAU*Z(@A+OpAA9AA?A$Hf?A;?A2*A<2A:]::ABA<JA:]:RAY/?|?y9ٓHf/?8_@H^N?@( elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199642 time: 1743027959.703291F (some fields omitted in printout)A\(Ȗ@Aǖ@A^p[~? AWA[P&"AApNA"AZAbAjArAzAAAisU[(@A־lpA!ξA:AA_?A xFf?A8?As*A<2A\::ABA<JA\:RA٘i)I9Y J(˲<JJJJ&K Yy77j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027959.743165 s, next control iter: 1743027960.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027960.123165 s.4G~,PAJ"J*J2J:JBJnJvJAp= ɖ@AXnɖ@Awp[~? A%A-P&"AAřpNA"AZAbAjArAzAAA@9o[(@APpA"ξAGS:AA??AFf?A:7?AF_*A<2A\::A{BA<JA\:RA{٘i)I9Y J]C=JJJJ&K YyS777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027960.143165 s, next control iter: 1743027960.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027960.543165 s.IG~,"AAQ˖@Ac|˖@Ap[~? AAP&"AApNA"AZAbAjArAzAAA \(@ApAAtAyAK?AGf?A5?A**A<2A\::AdBA<JA\:RAd٘i)I9Y JJJwDJ&K Yy{7{7l7)ZZZBZL?YY*W2W WWW"W ) )FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743027960.563165 s, next control iter: 1743027960.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1459, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027960.963165 s.xG~,=AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200632 time: 1743027960.963321F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333͖@At\̖@Ap[~? AAΏP&"AApNA"AZAbAjArAzAAA^T](@Aw!pAAUA}AW?AGf?A`&4?A*Aے<2A ]::AH@BAے<JA ]:RAH@Y•??yzUٓH5?@^DN?D? `Gt?@J?)•? I٘i)I9Y J֡4JJJ&K  7Y 7y777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027961.003165 s, next control iter: 1743027961.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027961.383165 s.ؕG~,XAA{GΖ@AcxΖ@Ap[~? AAP&"AA=pNA"AZAbAjArAzAAA](@A?pA!ξA0+AA:?AGf?A2?AiA3*Aϒ<2AC ]::A&BAϒ<JAC ]:RA&٘i)I9Y J02<JJJJ&K Yyj7Z7$7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027961.403165 s, next control iter: 1743027961.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1460", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027961.803165 s.rAG~,fgsAJ"J*J2J:JBJnJvJA(\Ж@A1~&Ж@Ap[~? A]AoP&"AAepNA"AZAbAjArAzAAAu|DB^(@AmxpA ξA[AA[?A` Gf?A1?Aٮ3*AÒ<2A\::A,BAÒ<JA\:RA,٘i)I9Y Jh3C=JJJJ&K Yy77{7mA7)ZZZBZL?YY*W2W WWW"W ) )FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743027961.823165 s, next control iter: 1743027962.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027962.223165 s.gG~,HAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200252 time: 1743027962.223291F (some fields omitted in printout)A ףp=Җ@Arі@Ap[~? A+A?P&"AApNA"AZAbAjArAzAAA9Y^(@A ^nZpAA2bAA?AEf?A@/?ADh3*Aq<2A5\::A'BAq<JA5\:RA'٘i)I9Y JJJJ&K Yy77^7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027962.263165 s, next control iter: 1743027962.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027962.643165 s.sЩG~,)AJ"J*J2J:JBJnJvJARӖ@Ae6Ӗ@A q[~? AAP&"AApNA"AZAbAjArAzAAA5m_(@AO;pAA:AA?ADf?A.?A*AK<2Aي\::A5BAK<JAي\:RA5٘i)I9Y JJJJ&K Yy{7{7z7)ZZZBZL?YY*W2W WWW"W ) )FtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1461, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743027962.663165 s, next control iter: 1743027963.043175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027963.063165 s.G~,g ľAAՖ@AF1Ֆ@A#q[~? ADzAޢP&"AAޚpNA"AZAbAjArAzAAA>`(@AUXpA!ξAg/:AAӝ?A Cf?A@,?AL*A/<2AFa\::A:BA/<JAFa\:RA:Y?h?y:ٓH2M?4G?`!0`It?R?@?)? I٘i)I9Y J(˲<J]JJJ&Kd Yy7p7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027963.083165 s, next control iter: 1743027963.463183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743027963.483165 s.t_G~,޾AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199942 time: 1743027963.483296F (some fields omitted in printout)AzGז@AY֖@A{<2Af\::A얺BA>{<JAf\:RA얺ܘI٘i)I9Y JJJJ&K Yy 0Cb7o7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027964.363165 s, next control iter: 1743027964.723177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1463&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027964.743165 s.WG~,d/AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200002 time: 1743027964.743287F (some fields omitted in printout)AQܖ@Anۖ@Aq[~? AAP&"AA~pNA"AZAbAjArAzAAAmYb(@AILpAAAA=?ADf?A u&?A~2*AOo<2Ap\::AxʖBAOo<JAp\:RAxʖ٘i)I9Y JJJxDJ&K  7Y 7y7 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027964.783165 s, next control iter: 1743027965.143175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027965.163165 s.u}G~,qJAJ"J*J2J:JBJnJvJAޖ@A ݖ@Aq[~? AͱAP&"AApNA"AZAbAjArAzAAA|XZb(@AτpA!ξASŞAA?ArDf?A$?Ac3*AVc<2Ag\::A϶BAVc<JAg\:RA϶Ÿ??yٓH]B?^`w M?@DR?@_It?S ?)̈? I٘i)I9Y J-2<Jd3JJJ&KQ Yyŧ7b7&7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027965.203165 s, next control iter: 1743027965.563179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027965.583165 s.G~,ReAAHzߖ@A.QEߖ@Aq[~? AAP&"AAΛpNA"AZAbAjArAzAAAo}c(@AɒgUfpA ξAQAA?ACf?A@n#?A3*AMW<2APD\::ABAMW<JAPD\:RA٘i)I9Y Ja3C=JJJJ&K Yy77qC7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027965.623165 s, next control iter: 1743027965.983173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1464, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027966.003165 s.J "J *J 2J :J BJ nJ vJ G~,z4AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200512 time: 1743027966.003324F (some fields omitted in printout)A(\@A@Aq[~? AiAP&"AApNA"AZAbAjArAzAAApSbd(@AXGpAA閘7AAr?ApBf?A!?Ap*3*A9K<2A\::ABA9K<JA\:RA٘i)I9Y JJJJ&K Yy7)7`7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027966.043165 s, next control iter: 1743027966.403185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743027966.423165 s.uG~,rAAףp= @A`5@Aq[~? A7ALP&"AApNA"AZAbAjArAzAAAF%d(@A4h)pAAX:AAʒ?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743027967.263279F (some fields omitted in printout)Afffff@A @Ar[~? AӰAP&"AAopNA"AZAbAjArAzAAA6e(@ApA"ξAP:AA?A@[@f?A`g?AVg*A/'<2A[::A躖BA/'<JA[:RA躖Y&?s?yMS:ٓHH? ^oMM?9T?-Ht?AP??)&? I٘i)I9Y J^C=J^3JJJ&K> Yyb777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027967.303165 s, next control iter: 1743027967.663179 s, wait time: 0.360014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1466., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027967.683165 s.lG~,^AJ"J*J2J:JBJnJvJAGz@A@A3r[~? AAP&"AApNA"AZAbAjArAzAAA瑄pf(@AxZpAA@)9AAǍ?A`@f?A?A{<*AL<2AY[::AꙖBAL<JAY[:RAꙖ٘i)I9Y JJJJ&K Yy7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027967.683165 s, next control iter: 1743027968.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743027968.103165 s.G~,AA(\@A( 4Z@AKr[~? ApA{P&"AApNA"AZAbAjArAzAAA^Ig(@AppAAAA?A@OAf?A`\?A*Ao<2A`[::AtBAo<JA`[:RAt٘i)I9Y JJJJ&K Yyj7j7r7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027968.143165 s, next control iter: 1743027968.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027968.523165 s.G~,{!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360J> elevatorAngleAction: 0.000000"J*J< massPositionAction: 0.0000002J:J4 buoyancyAction: 0.000955BJ dt: 0.420003nJvJ2 time: 1743027968.523279F (some fields omitted in printout)A= ףp@A9FG@Adr[~? A>AFP&"AApNA"AZAbAjArAzAAA\כg(@A6'EpA!ξAbAAL?AAf?A`?A%L2*A<2A^[::A WBA<JA^[:RA W٘i)I9Y J/2<JJJyDJ&K  7Y 7yŧ77 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027968.563165 s, next control iter: 1743027968.923179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1467, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027968.943165 s.[dG~,O]<AAQ@AO$j@A}r[~? A AP&"AApNA"AZAbAjArAzAAA>e1h(@AjLrpAA}AA ?A)Af?AV?A~3*A<2A[::AIBA<JA[:RAI٘i)I9Y JJJJ&K Yy(7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027968.983165 s, next control iter: 1743027969.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743027969.363165 s.G~,y>WAJ"J*J2J:JBJnJvJA@Ald@Ar[~? AگAP&"AA7pNA"AZAbAjArAzAAA淪h(@AT{TpA ξA!kAA?A/@f?A@?A͚3*A<2A[::ANBA<JA[:RANY{??yٓH@O?`],L?]? Jt?@dA`?){? I٘i)I9Y J[3<J֎JJJ&K Yy 1C77{7vE7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027969.383165 s, next control iter: 1743027969.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1468&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027969.783165 s.VG~,rAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743027969.783294F (some fields omitted in printout)AGz@AQ3@Ar[~? AAP&"AA_pNA"AZAbAjArAzAAAmq\i(@A&6pAAǧ9AAi?A>f?AX?Ap2*Aߑ<2Ab[::A[BAߑ<JAb[:RA[٘i)I9Y JJJJ&K Yy77 b7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027969.823165 s, next control iter: 1743027970.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027970.203165 s.#G~, AJ"J*J2J:JBJnJvJA\(@A*8@Ar[~? AwAoP&"AApNA"AZAbAjArAzAAARi(@A׼pAA:AA?A`=f?A ?Am"*Aӑ<2Ad4[::AeBAӑ<JAd4[:RAe٘i)I9Y JJJJ&K Yy~7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027970.223165 s, next control iter: 1743027970.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027970.623165 s.V)G~,XAAp= @A~[n@Ar[~? AEA9P&"AApNA"AZAbAjArAzAAAy_j(@A4 apA!ξAR:AA?AG=f?AY?Aq*AǑ<2A[::A^BAǑ<JA[:RA^٘i)I9Y J1˲<JJJJ&K Yyŧ7b7u7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027970.643165 s, next control iter: 1743027971.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1469 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027971.043165 s.0G~,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743027971.043301F (some fields omitted in printout)AQ@Abd@Ar[~? AAP&"AAםpNA"AZAbAjArAzAAAKk(@AlpA"ξAM:AA{?A^=f?A?AXY*Aڻ<2A[::AIFBAڻ<JA[:RAIF٘i)I9Y J_C=JJJJ&K Yyj7Z7 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027971.063165 s, next control iter: 1743027971.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027971.463165 s.Q7G~,ӤAA33333@A@As[~? A⮦AP&"AApNA"AZAbAjArAzAAA8Ek(@AWpAAKAA?A@=f?A T?Aa)$*A <2AN)[::A"BA <JAN)[:RA"YLu??yٓHpU?C],L? b?) Ht?@s?)Lu? I٘i)I9Y Jd4JJJ&K} Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743027971.483165 s, next control iter: 1743027971.863174 s, wait time: 0.380009 s)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1470, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027971.883165 s.y=G~,IAJ"J*J2J:JBJnJvJA{G@A0y@A)s[~? AAP&"AA'pNA"AZAbAjArAzAAA(Gl(@An\pAA0[AA~?AZ>f?A ?AbE*A><2A 8[::ABA><JA 8[:RA٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 227JJJJ&K Yy7y7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027971.923165 s, next control iter: 1743027972.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027972.303165 s.UDG~,sgAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199682 time: 1743027972.303275F (some fields omitted in printout)A(\@Ap= '@ABs[~? A~A[P&"AAOpNA"AZAbAjArAzAAA߿6l(@AO8 pA!ξAf?AO ?APH3*Aj<2A5[::AH敺BAj<JA5[:RAH敺٘i)I9Y J2<JJJJ&K  7Y 7y{7Z7,7)ZZZBZL?YY*W2W WWW"W ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743027972.363165 s, next control iter: 1743027972.703176 s, wait time: 0.340011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1471*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027972.723165 s.KG~,H.AJ"J*J2J:JBJnJvJA ףp=@A@A[s[~? AMA#P&"AAwpNA"AZAbAjArAzAAA.rm(@AapA ξAAA{?A`=f?A ?A3*A<2A[::AvߕBA<JA[:RAvߕ٘i)I9Y J3C=JQ>JJzDJ&K> Yyb77*7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027972.763165 s, next control iter: 1743027973.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027973.143165 s.X/RG~,*IAAR@A"nN%@Ass[~? AAP&"AApNA"AZAbAjArAzAAAk!n(@A0xoCpAA䅹AA{?AJJJ&K> Yy77vG7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027973.163165 s, next control iter: 1743027973.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743027973.563165 s.XG~,9 dAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199802 time: 1743027973.563267F (some fields omitted in printout)A@AmtO1@As[~? A魦AQ&"AAǞpNA"AZAbAjArAzAAAn(@A9W%%pAAl:AA]|?A h;f?A ?Aj3*At<2AZ::AEBAt<JAZ:RAEYn?{?y:ٓH`[?] 숿XL?h?L(`Kt?`ͷC?@?)n? I٘i)I9Y JvѴJJJ&K Yy77{7#d7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027973.603165 s, next control iter: 1743027973.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1472, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027973.983165 s._G~,~AAzG@AXU@As[~? AAyQ&"AApNA"AZAbAjArAzAAAͼ2o(@ApA!ξAVi:AA4|?Ax:f?A [?AP*Ah<2A@Z::ABAh<JA@Z:RA٘i)I9Y J*˲<JJJJ&K Yỳ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027974.023165 s, next control iter: 1743027974.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027974.403165 s.&fG~,͙AJ"J*J2J:JBJnJvJA)\@Ad@As[~? AA@ Q&"AApNA"AZAbAjArAzAAALo(@ATpAAh:AAz?A@%:f?A@?Ao*A\<2A}}Z::A%BA\<JA}}Z:RA%٘i)I9Y JJJJ&K Yy 2C{7j7w7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027974.443165 s, next control iter: 1743027974.803175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1473, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027974.823165 s.lG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743027974.823263F (some fields omitted in printout)Aq= ף@A5Ry;@As[~? ATA Q&"AA?pNA"AZAbAjArAzAAA ?]p(@AAUpA"ξAk :AA[x?Ai:f?A[?A!J*A"Q<2A҃Z::AЕBA"Q<JA҃Z:RAЕ٘i)I9Y Jc<JJJJ&K Yyŧ77"7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027974.863165 s, next control iter: 1743027975.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027975.243165 s.sG~,`AJ"J*J2J:JBJnJvJAQ@A@As[~? A#AQ&"AAgpNA"AZAbAjArAzAAA p(@A[pAAzЯAAOu?A:f?A?AO*AfE<2A Z::ABAfE<JA Z:RA٘i)I9Y JJJJ&K Yyj7Z77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027975.283165 s, next control iter: 1743027975.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027975.663165 s.zG~,qAtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1474, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A[ @At[~? AAQ&"AApNA"AZAbAjArAzAAA+^nq(@AX؍pAAAAr?A R;f?AY?A42*A9<2AyZ::A%BA9<JAyZ:RA%Y{h?t?yWWٓHa? \@:L?`q?It? P?){h? I٘i)I9Y JQ4JJJ&Ks Yy77{7y7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027975.683165 s, next control iter: 1743027976.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027976.083165 s.DG~,SAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199782 time: 1743027976.083296F (some fields omitted in printout)AHz @ApE @A t[~? AAWQ&"AApNA"AZAbAjArAzAAA^/r(@AOopA!ξAIAAp?A@$;f?A`?A B3*A-<2AZ::AYxBA-<JAZ:RAYx٘i)I9Y J+2<JJJJ&K  7Y 7yj7SI7#7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027976.103165 s, next control iter: 1743027976.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027976.503165 s.G~,&4 AA(\ @A(ђ @A8t[~? AAQ&"AAߟpNA"AZAbAjArAzAAA4r(@A\2dQpA ξAJAAp?AS:f?A_?A3*A "<2AqZ::AwBA "<JAqZ:RAw٘i)I9Y Jd3C=JJJ{DJ&K Yy77,7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027976.543165 s, next control iter: 1743027976.903174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1475, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027976.923165 s.7G~,;AJ"J*J2J:JBJnJvJAףp= @AVF @AQt[~? A]AQ&"AApNA"AZAbAjArAzAAAJHs(@A.3pAArJ8AAp?A@9f?A@?A$3*A)<2A>Z::ABA)<JA>Z:RA٘i)I9Y JJJJ&K Yyb7b7zI7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027976.963165 s, next control iter: 1743027977.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027977.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743027977.343286F (some fields omitted in printout)AQ@AO@Ajt[~? A+A#Q&"AA/pNA"AZAbAjArAzAAA=s(@Aq +pAAԼ]:AAGq?A7f?Ak?ARβ*AI <2A Z::ABAI <JA Z:RA٘i)I9Y JJJJ&K Yyŧ7%f7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027977.383165 s, next control iter: 1743027977.743175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1476&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027977.763165 s.3G~,pAJ"J*J2J:JBJnJvJAfffff@Az"@At[~? AAi'Q&"AAWpNA"AZAbAjArAzAAAW5 .st(@AFpA!ξAy:AAp?A+7f?A?Ai*Aw<2AY::AIBAw<JAY:RAIYa?.n?y͟:ٓHnh? m\@ K?`cs?0Jt?S? ?)a? I٘i)I9Y J'˲<Jm>JJJ&Kl Yyj7j7т7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027977.803165 s, next control iter: 1743027978.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027978.183165 s.ˢG~,^AAGz@A]T@At[~? AȫA-+Q&"AApNA"AZAbAjArAzAAA)ivu(@AoҀpA"ξAOD:AAn?A@7f?A r?Ae*A<2AY::AN|BA<JAY:RAN|٘i)I9Y JnC=JJJJ&K Yyb77z7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027978.223165 s, next control iter: 1743027978.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027978.603165 s.:4G~,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200402 time: 1743027978.603323F (some fields omitted in printout)A(\@AY6sHZ@At[~? AA.Q&"AApNA"AZAbAjArAzAAApտu(@AmopAAyD{9AA2l?Ax7f?A?Az8*A<2AY::A\[BA<JAY:RA\[٘i)I9Y JJJJ&K Yy77'7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027978.643165 s, next control iter: 1743027979.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1477 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027979.023165 s.ZG~,{AA= ףp@AR@At[~? AfA2Q&"AAϠpNA"AZAbAjArAzAAA u 3v(@AEpAA[!AA,i?A`7f?As?A*A\ې<2AZ::A6BA\ې<JAZ:RA6٘i)I9Y JJJJ&K Yy 3Cŧ777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027979.063165 s, next control iter: 1743027979.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027979.443165 s.2öG~,)]AJ"J*J2J:JBJnJvJAQ@AZ_@At[~? A4Aw6Q&"AApNA"AZAbAjArAzAAA[v(@AO~pAAAAf?A38f?A ?AHg2*Aϐ<2A0Z::ABAϐ<JA0Z:RA٘i)I9Y JJJJ&K Yy)7{7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027979.483165 s, next control iter: 1743027979.843175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1478, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027979.863165 s.+G~,>AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200402 time: 1743027979.863299F (some fields omitted in printout)A@AJvld@At[~? AA9:Q&"AApNA"AZAbAjArAzAAA+]w(@AB_pA!ξAߒAAe?A`7f?Az?A=3*AÐ<2AY::AI BAÐ<JAY:RAI Y[?g?y-ٓHn?[ .vdK? W~?O`Kt?@[R@?)[? I٘i)I9Y J`2C<J]JJJ&K  7Y 7y77'7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027979.883165 s, next control iter: 1743027980.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027980.283165 s.7RG~,AJ"J*J2J:JBJnJvJAGz@A@Au[~? AѪA=Q&"AAGpNA"AZAbAjArAzAAA:w(@A<0ApA ξA7AAe?A6f?A?AH3*A'<2A!Y::A:BA'<JA!Y:RA:ۘI٘i)I9Y JY3C=JJJJ&K Yy7.7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027980.323165 s, next control iter: 1743027980.683177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1479*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027980.703165 s.G~,;-AA\(@A}@A/u[~? AAAQ&"AAopNA"AZAbAjArAzAAA0(8x(@A-#pAA׶9AAe?A@5f?A?A2*AU<2AY::A BAU<JAY:RA ٘i)I9Y JJJ|DJ&K Yyj7j7~K7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027980.743165 s, next control iter: 1743027981.103188 s, wait time: 0.360023 s rAdjusting time to match Gazebo time: 1743027981.123165 s.4G~,PGAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743027981.123270F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= @An@AGu[~? AoAEQ&"AApNA"AZAbAjArAzAAAsy(@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199982 time: 1743027982.383290F (some fields omitted in printout)A{G"@A>x"@Au[~? A۩APQ&"AApNA"AZAbAjArAzAAA-z(@ARpAAAA `?A4f?A?A !*A}<2Ah]Y::A唺BA}<JAh]Y:RA唺٘i)I9Y JJJJ&K Yy(7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027982.403165 s, next control iter: 1743027982.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1481", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027982.803165 s.rAG~,fgAJ"J*J2J:JBJnJvJA(\$@Ayv&$@Au[~? AATQ&"AA7pNA"AZAbAjArAzAAAIr{(@Ag?pAA`AA$]?A`4f?A@!?AK*Aq<2AkY::A”BAq<JAkY:RA”٘i)I9Y JJJJ&K Yy7)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027982.823165 s, next control iter: 1743027983.203175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027983.223165 s.gG~,HAA ףp=&@AT%@Au[~? AxACXQ&"AA_pNA"AZAbAjArAzAAA瑄|(@A/opA!ξAAA![?A4f?A?A[:O3*AJf<2AhY::A BAJf<JAhY:RA ٘i)I9Y J12<JJJJ&K Yy77777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027983.263165 s, next control iter: 1743027983.623181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743027983.643165 s.uG~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199832 time: 1743027983.643269F (some fields omitted in printout)J"J*J2J:JBJnJvJAR'@A`<'@Au[~? AGA\Q&"AApNA"AZAbAjArAzAAAAI|(@A QpA ξA}AA\Z?A@[4f?A .?A3*AZ<2AGMY::ABAZ<JAGMY:RA٘i)I9Y J`3C=JJJJ&K  7Y 7y77*7)ZZZBZL?YY*W2W WWW"W ) )FFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1482, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743027983.663165 s, next control iter: 1743027984.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743027984.063165 s.G~,V AA)@AoB1)@Au[~? AA_Q&"AApNA"AZAbAjArAzAAA1}(@A,3pAA(lAAZ?A83f?A?Aql3*AN<2AY::AbBAN<JAY:RAbYN?[?y+mٓH {?T[rJ?`?Lt? ŕ-?)N? I٘i)I9Y JȴJJJ&K Yy 4C7ŧ707)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027984.103165 s, next control iter: 1743027984.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743027984.483165 s.p_G~,}AJ"J*J2J:JBJnJvJAzG+@AW&R*@A v[~? A娦AcQ&"AAעpNA"AZAbAjArAzAAA}(@AX pAAt$:AA [?A1f?AA?A *AC<2A+X::ABAC<JA+X:RA٘i)I9Y JJJJ&K Yy{7{7M7)ZZZBZL?YY*W2W WWW"W ) )n*FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743027984.523165 s, next control iter: 1743027984.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1483, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027984.903165 s. G~,9AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743027984.903289F (some fields omitted in printout)A)\,@ALi,@A%v[~? AA@gQ&"AApNA"AZAbAjArAzAAA8>\~(@ASpA!ξA:AAZ?A 1f?Aޑ?A~R*Ad7<2AX::AYBAd7<JAX:RAY٘i)I9Y J.˲<JJJ}DJ&K Yy*j7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027984.943165 s, next control iter: 1743027985.303176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027985.323165 s.vG~,%TAJ"J*J2J:JBJnJvJAq= ף.@Af;.@A=v[~? AAjQ&"AA'pNA"AZAbAjArAzAAA ]~(@ApA"ξA:AAzY?A0f?A@Rݑ?A0m*A+<2AOX::ABA+<JAOX:RA٘i)I9Y JaC=JJJJ&K Yy7Ն7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027985.363165 s, next control iter: 1743027985.723177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1484&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027985.743165 s.WG~,doAAQ0@A[/@AVv[~? AQAnQ&"AAOpNA"AZAbAjArAzAAAO${(@ApAAW:AAV?A`1f?Aۑ?AH*A, <2AVX::AՕBA, <JAVX:RAՕ٘i)I9Y JJJJ&K Yy77777)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027985.763165 s, next control iter: 1743027986.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743027986.163165 s.J "J *J 2J :J BJ nJ z}"G~vJ,qAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200252 time: 1743027986.163307F (some fields omitted in printout)A2@AǹM1@Aov[~? A A{rQ&"AAwpNA"AZAbAjArAzAAA<'(@Aw#npAAҾAAS?A@1f?A\ڑ?A*A<2AX::AMqBA<JAX:RAMqYcH?T?y7ٓH\?ZoJ??``Jt?R7?)cH? I٘i)I9Y Jj4JJJ&K Yy77-7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027986.183165 s, next control iter: 1743027986.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743027986.583165 s.(G~,RAAHz3@Al$ E3@Av[~? A罹A9vQ&"AApNA"AZAbAjArAzAAA(@A pAA AAAQ?A1f?A@ؑ?AM2*A <2AX::AQBA <JAX:RAQ٘i)I9Y JJJJ&K Yy7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027986.603165 s, next control iter: 1743027986.983173 s, wait time: 0.380008 s ) tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1485, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027987.003165 s.w 0G~,H4AJ"J*J2J:JBJnJvJA(\5@A74@Av[~? AAyQ&"AAǣpNA"AZAbAjArAzAAA]E(@A=apA!ξARAAO?A1f?A`jב?A[3*A~<2AjX::A?BA~<JAjX:RA?٘i)I9Y J_2C<JJJJ&K Yy)7ŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027987.023165 s, next control iter: 1743027987.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027987.423165 s.u6G~,wAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199522 time: 1743027987.423260F (some fields omitted in printout)Aףp= 7@ALOX6@Av[~? AA}Q&"AApNA"AZAbAjArAzAAA ہ(@A`}CpA ξADAAMO?A0f?AՑ?A43*A<2AX::A1?BA<JAX:RA1?٘i)I9Y Jj3C=JJJJ&K  7Y 7y777,7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027987.463165 s, next control iter: 1743027987.823174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1486, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027987.843165 s.pNA"AZAbAjArAzAAA76(@A@'pAAV6c:AA P?A n.f?A ӑ?Aٲ*Azڏ<2A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743027988.683291F (some fields omitted in printout)AGz<@AQl;@Aw[~? AAQ&"AAfpNA"AZAbAjArAzAAAHB(@A@6pA!ξA :AA{O?A-f?Aё?Ah*AΏ<2A#X::A4VBAΏ<JA#X:RA4V٘i)I9Y J-˲<JJJ~DJ&K Yyj7Z7,l7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743027988.683165 s, next control iter: 1743027989.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743027989.103165 s.QG~,FAA(\=@A>7Z=@Aw[~? AȦAQ&"AApNA"AZAbAjArAzAAAK/(@AnHpA"ξAsEz:AAM?A@-f?A Б?Aa*ALÏ<2AX::ABBALÏ<JAX:RAB٘i)I9Y J]C=JJJJ&K Yy 5Cb77؈7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027989.123165 s, next control iter: 1743027989.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027989.523165 s.WG~,{aAJ"J*J2J:JBJnJvJA= ףp?@ALO?@A3w[~? AA_Q&"AApNA"AZAbAjArAzAAAu|UĄ(@As\pAA\9AAJ?A.f?A@Α?A>a6*Aͷ<2A(X::A"BAͷ<JA(X:RA"٘i)I9Y JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027989.543165 s, next control iter: 1743027989.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1488, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027989.943165 s.Sd^G~,-]|AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200332 time: 1743027989.943297F (some fields omitted in printout)AQA@Ag@@ALw[~? AfAQ&"AAޤpNA"AZAbAjArAzAAAxbY(@A}òspAA5(AAG?A.f?A@.͑?Aɞ*AR<2A9X::ABAR<JA9X:RA٘i)I9Y JJJJ&K Yy/7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027989.963165 s, next control iter: 1743027990.343175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027990.363165 s.eG~,p>AJ"J*J2J:JBJnJvJAB@AmlvdB@Aew[~? A5A՗Q&"AApNA"AZAbAjArAzAAAЏ`r(@A#qpAA2AAE?A`.f?Aˑ?A3*AӠ<2A=X::AᓺBAӠ<JA=X:RAᓺY;?H?y샙ٓHč?@EZ@I??@Kt?T&S ?);? I٘i)I9Y Jd4JJJ&K Yyj7j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027990.403165 s, next control iter: 1743027990.763175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1489&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027990.783165 s.YkG~,AAGzD@AQٰD@A}w[~? AAQ&"AA.pNA"AZAbAjArAzAAAp(@AsSpA!ξA*AAbD?A@D.f?AAʑ?A*3*AH<2A)X::A ֓BAH<JA)X:RA ֓٘i)I9Y J_2C<JJJJ&K Yy)7)77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027990.803165 s, next control iter: 1743027991.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743027991.203165 s.sG~, AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200072 time: 1743027991.203288F (some fields omitted in printout)A\(F@A= ףE@Aw[~? AԥAJQ&"AAVpNA"AZAbAjArAzAAAQ(@AE:5pA ξAAA_D?AA-f?Aȑ?An3*A<2AW::AۓBA<JAW:RAۓ٘i)I9Y Ji3C=JJJJ&K  7Y 7y77{707)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027991.243165 s, next control iter: 1743027991.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027991.623165 s.UyG~,TAAp= G@AyjnG@Aw[~? AAQ&"AA~pNA"AZAbAjArAzAAAW}9(@A-GpAA 9AAD?A@+f?A@]Ǒ?A\2*A ~<2AW::Ab铺BA ~<JAW:RAb铺٘i)I9Y JJJJ&K Yy7747)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027991.663165 s, next control iter: 1743027992.023177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1490, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027992.043165 s.G~,AJ"J*J2J:JBJnJvJAQI@AS]I@Aw[~? ArAQ&"AApNA"AZAbAjArAzAAAIB(@AB pA!ξA:AAD?A*f?Aő?Arz**Arr<2AfW::ABArr<JAfW:RA񓺙٘i)I9Y J`<JJJJ&K Yy77Q7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027992.083165 s, next control iter: 1743027992.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027992.463165 s.VG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743027992.463281F (some fields omitted in printout)A33333K@A)J@Aw[~? AAAwQ&"AAͥpNA"AZAbAjArAzAAA~׈(@A/pAAǜ:AAC?Ai*f?Awđ?An*Af<2A*W::ApꓺBAf<JA*W:RApꓺY)5?vA?y+:ٓH@)?1Z@Z zI?@@?.Lt?S? ?))5? I٘i)I9Y JUJJJ&K YyZ7Z71n7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027992.503165 s, next control iter: 1743027992.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1491, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027992.883165 s.yG~,/8AJ"J*J2J:JBJnJvJA{GL@AvxL@Aw[~? AA0Q&"AApNA"AZAbAjArAzAAAgMrl(@A5WpA"ξA'A:AAA?A`*f?AÑ?AqS*Aq[<2AW::AѓBAq[<JAW:RAѓ٘i)I9Y JdJJJDJ&K Yy77ۊ7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027992.923165 s, next control iter: 1743027993.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027993.303165 s.VG~,wgSAA(\N@AD&N@Ax[~? AߤAQ&"AApNA"AZAbAjArAzAAA8g(@A\ځpAAŸAA>?A@+f?A?Az*AP<2AW::AyBAP<JAW:RAy٘i)I9Y JJJJ&K Yy{7{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027993.343165 s, next control iter: 1743027993.703176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1492&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027993.723165 s.G~,HnAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743027993.723278F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=P@A4fO@A)x[~? AAQ&"AAEpNA"AZAbAjArAzAAA1a`(@AޡpAA$fAA;?Ar+f?A@?Am1*AD<2AW::A􋓺BAD<JAW:RA􋓺٘i)I9Y JJJJ&K Yy77717)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027993.743165 s, next control iter: 1743027994.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743027994.143165 s.U/G~,*AARQ@A1Q@ABx[~? A}AYQ&"AAmpNA"AZAbAjArAzAAA Z+(@AOWdpA!ξA,͟AA9?Al+f?A?A]S3*A'9<2AW::AtBA'9<JAW:RAt٘i)I9Y J*2<JJJJ&K Yy 6Cb7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027994.183165 s, next control iter: 1743027994.543176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743027994.563165 s.G~,5 AJ"J*J2J:JBJnJvJAS@A{G1S@AZx[~? ALAQ&"AApNA"AZAbAjArAzAAArQS(@AGpAAwAAG9?A@*f?A,?Au3*A-<2AuW::AoBA-<JAuW:RAoY.?F;?yl{xٓH5?Y@'I+I??^`Mt?@N?).? I٘i)I9Y JTJJJ&K Yy7{77)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027994.603165 s, next control iter: 1743027994.963174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1493, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027994.983165 s.G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200662 time: 1743027994.983325F (some fields omitted in printout)AzGU@AeT@Asx[~? AAQ&"AApNA"AZAbAjArAzAAAA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199782 time: 1743027996.243274F (some fields omitted in printout)J"J*J2J:JBJnJvJAQZ@A7l[Y@Ax[~? AAQ&"AA4pNA"AZAbAjArAzAAAM (@AipA"ξA(:AA_8?A /'f?Ai?ATh*A<2AV::A%}BA<JAV:RA%}ژI٘i)I9Y J`C=JJJJ&K Yy7)74p7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027996.283165 s, next control iter: 1743027996.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027996.663165 s.G~,q*AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1495, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A\@A~[@Ax[~? AYAQ&"AA\pNA"AZAbAjArAzAAAK:Ш(@Aw2,pAA9AA5?Au'f?A?AD*A,<2AOV::A_BA,<JAOV:RA_Y(?4?yM9ٓH?@}Y elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743027997.503265F (some fields omitted in printout)A(\_@A^@Ay[~? AAQ&"AApNA"AZAbAjArAzAAA^7Dҏ(@A IvpAAAA-0?A`J(f?A` ?Aye2*Atݎ<2AW::A&BAtݎ<JAW:RA&٘i)I9Y JJJJ&K Yy{7{737)ZZZBZL?YY*W2W WWW"W ) )FFF]o:Waiting for Gazebo time sync: latest Gz time: 1743027997.523165 s, next control iter: 1743027997.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1496, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027997.923165 s.3G~,{AJ"J*J2J:JBJnJvJAףp= a@A`@Ay[~? AƢAQ&"AAӧpNA"AZAbAjArAzAAA1 zg(@Aů9XpA!ξAtAA.?A (f?A?At3*AҎ<2AMW::A BAҎ<JAMW:RA ٘i)I9Y J^2C<JJJJ&K Yyŧ7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027997.963165 s, next control iter: 1743027998.323175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743027998.343165 s.AAS.?A2'f?A`*?Am3*AƎ<2AV::A BAƎ<JAV:RA ٘i)I9Y Jm3C=JJJJ&K Yy77777)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027998.363165 s, next control iter: 1743027998.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1497&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743027998.763165 s.8G~,#ذAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955J"J dt: 0.420016*J2J2 time: 1743027998.763284:JF (some fields omitted in printout)BJnJvJAfffffd@Ao_c@APy[~? AeA/Q&"AA#pNA"AZAbAjArAzAAA5(@AipAAn8AA.?A%f?A`?A 3*A<2APV::AaBA<JAPV:RAaY9"?.?ye8ٓHଦ?"Y@p7H?? Nt?]??)9"? I٘i)I9Y JvJJJ&KP  7Y 7y 7Cŧ7b757)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027998.803165 s, next control iter: 1743027999.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743027999.183165 s.G~,oAAGzf@AOyt#e@Ahy[~? A4AQ&"AAKpNA"AZAbAjArAzAAA&(@A pAAh:AA/?A$f?A`N?AQ*A<2AV::A#BA<JAV:RA#٘i)I9Y JJJJ&K Yy{7j787)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743027999.203165 s, next control iter: 1743027999.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743027999.603165 s.64G~,AJ"J*J2J:JBJnJvJA(\g@ALZg@Ay[~? AAQ&"AAspNA"AZAbAjArAzAAA^Ӻ(@A  pA!ξAp:AA|.?A$f?A߫?Ag*A)<2AbV::A*"BA)<JAbV:RA*"٘i)I9Y J$˲<JJJJ&K Yyŧ7b7U7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743027999.643165 s, next control iter: 1743028000.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1498 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028000.023165 s.ZG~,|AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743028000.023288F (some fields omitted in printout)A= ףpi@A7ǹMi@Ay[~? AӡAKQ&"AApNA"AZAbAjArAzAAA7AAl@Ad\qqdl@Ay[~? ArAQ&"AApNA"AZAbAjArAzAAA\ 1y(@ApAA.AA&?A$f?A?A*A2<2AzV::A ʒBA2<JAzV:RA ʒY?E(?y-.ٓHʬ?X%̋`7H?Ȼ?Lt?@RE ?)? I٘i)I9Y J[4JJJ&K7 Yy77777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028000.883165 s, next control iter: 1743028001.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028001.283165 s.6RG~,RAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743028001.283281F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzn@A%n@Ay[~? AAAeQ&"AApNA"AZAbAjArAzAAAʵ(@A=tkpAA0AA$?A %f?A?A 3*Av<2AD}V::ABAv<JAD}V:RA٘i)I9Y JJJJ&K Yy77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028001.303165 s, next control iter: 1743028001.683176 s, wait time: 0.380011 s$)$.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1500., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028001.703165 s.׺G~,mAA\(p@Aٮo@Ay[~? AAQ&"AA:pNA"AZAbAjArAzAAAn΢(@AMpA!ξA`AAw#?A$f?A?A3*Ak<2AiV::AߣBAk<JAiV:RAߣ٘i)I9Y J`2C<JJJJ&K YyE777)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028001.743165 s, next control iter: 1743028002.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028002.123165 s.4!G~,PAJ"J*J2J:JBJnJvJAp= q@A- nq@Az[~? AࠦAQ&"AAbpNA"AZAbAjArAzAAAV7(@A*,0pA ξA4AA~#?A #f?A;?A3*A`<2A>V::AکBA`<JA>V:RAک٘i)I9Y Jf3C=JJJJ&K  7Y 7yb7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028002.163165 s, next control iter: 1743028002.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028002.543165 s.I(G~,âAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743028002.543268F (some fields omitted in printout)AQs@Aas@A-z[~? AA|R&"AApNA"AZAbAjArAzAAA-Y̖(@A ԋpAAL9AA#?A@M"f?A ϡ?AY02*AT<2Ay V::ABAT<JAy V:RA٘i)I9Y JJJJ&K YySI78777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028002.563165 s, next control iter: 1743028002.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1501, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028002.963165 s.v.G~,褽AJ"J*J2J:JBJnJvJA33333u@A^f(t@AEz[~? AA.R&"AApNA"AZAbAjArAzAAAJ{ha(@A3ipA!ξA:AA$?A@!f?Ab?A.*A?I<2AU::AϿBA?I<JAU:RAϿY?!?y :ٓH?X@1WG??A,Nt?0xQ?`?)? I٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 226JQ<J7JJJ&KC Yyŧ7b7:7)ZZZBZL?YY*W2W WWW"W ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028002.983165 s, next control iter: 1743028003.363176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028003.383165 s.5G~,AA{Gv@Axv@A^z[~? AOA R&"AA٩pNA"AZAbAjArAzAAAo(@A;TRpAA ݛ:AA#?A f?A?Abk*A=<2AU::A췒BA=<JAU:RA췒٘i)I9Y JJJJ&K YyZ7Z7W7)ZZZBZL?YY*W2W WWW"W ) ) m*FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028003.443165 s, next control iter: 1743028003.783173 s, wait time: 0.340008 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1502", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028003.803165 s.xA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200482 time: 1743028003.803320F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\x@AqǛ&x@Avz[~? AAR&"AApNA"AZAbAjArAzAAA y(@Ac/pA"ξA$::AA ?A f?A?A) O*A2<2AU::ABA2<JAU:RA٘i)I9Y Js<JQ>JJJ&K> Yy 8C779t7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028003.843165 s, next control iter: 1743028004.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028004.223165 s.gCG~,HAA ףp=z@AA y@Az[~? AAAR&"AA)pNA"AZAbAjArAzAAAaa.(@A7u"pAAAA?AY!f?A?A*Aa'<2AU::A{BAa'<JAU:RA{٘i)I9Y JQ>JJJ&K> Yy77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028004.263165 s, next control iter: 1743028004.623175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028004.643165 s.uIG~,*)AJ"J*J2J:JBJnJvJAR{@Ad7{@Az[~? AAR&"AAPpNA"AZAbAjArAzAAAc(泙(@A&~pAA`gkAA ?A!f?A ?Aj*A%<2AU::AZBA%<JAU:RAZ٘i)I9Y JJJDJ&K Yy7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028004.663165 s, next control iter: 1743028005.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1503, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028005.063165 s.PG~,V DAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199722 time: 1743028005.063293F (some fields omitted in printout)A}@AaSQ1}@Az[~? AAR&"AAxpNA"AZAbAjArAzAAAgH(@ASB`pA!ξA|џAA!?A@!f?A4?AFY3*A<2AlU::ACBA<JAlU:RACYf??yB&ٓH? XG? elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199982 time: 1743028006.323274F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף@Ai;@A {[~? AA$R&"AApNA"AZAbAjArAzAAA5(@A\4TpAA1:AA6?Af?A`?A8*A<2AgU::AVBA<JAgU:RAV٘i)I9Y JJJJ&K Yy777; 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028006.363165 s, next control iter: 1743028006.723178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1505&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028006.743165 s.WkG~,iAAQ@A{G郗@A"{[~? A˞A`(R&"AApNA"AZAbAjArAzAAA=R(@ApA!ξAv:AA?Af?A?AL U*Az<2ABU::A=ZBAz<JABU:RA=Z٘i)I9Y JjJJJJ&K Yyŧ77<7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028006.783165 s, next control iter: 1743028007.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028007.163165 s.v}rG~,qAJ"J*J2J:JBJnJvJA@A}ݮ@A;{[~? AA,R&"AA?pNA"AZAbAjArAzAAA /(@Ah×FpA"ξAR:AA?A {f?A?A^e*A7؍<2A55U::A,LBA7؍<JA55U:RA,LY?<?y^:ٓH`e?`WYBG? ?6,Mt?[Q?`?)? I٘i)I9Y JZC=JZ3JJJ&K= Yyj7SI7Y7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028007.203165 s, next control iter: 1743028007.563176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028007.583165 s.xG~,SAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743028007.583328F (some fields omitted in printout)AHz@A'ݖE@AS{[~? AjA/R&"AAgpNA"AZAbAjArAzAAAo݌ĝ(@AïpAA+O9AA?Af?A ?A?*A͍<2A=U::A.BA͍<JA=U:RA.٘i)I9Y JJJJ&K Yy77=v7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028007.623165 s, next control iter: 1743028007.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1506, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028008.003165 s.x G~,L4AJ"J*J2J:JBJnJvJA(\@A@Al{[~? A:Ak3R&"AApNA"AZAbAjArAzAAA ,Y(@AkApAAmܹAA?ACf?A??A*A<2ANU::A BA<JANU:RA ٘i)I9Y JJJJ&K Yy7ŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028008.043165 s, next control iter: 1743028008.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028008.423165 s.uG~,AAףp= @Ax{@A{[~? A A7R&"AApNA"AZAbAjArAzAAA(I_(@A:tpAAnjAA^?Af?Aэ?A=-2*A<2AWU::A2쑺BA<JAWU:RA2쑺٘i)I9Y JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028008.463165 s, next control iter: 1743028008.823180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1507, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028008.843165 s.݌G~,5AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199982 time: 1743028008.843275F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AO@A{[~? AٝA:R&"AAޫpNA"AZAbAjArAzAAAr(@A ~FWpA!ξA[AA ?AIf?A@e?A3*Ap<2AnKU::AۑBAp<JAnKU:RAۑ٘i)I9Y Jc2C<JJJJ&K Yy 9Cŧ7b7=7)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028008.883165 s, next control iter: 1743028009.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028009.263165 s.G~,PAAfffff@AK@A{[~? AAt>R&"AApNA"AZAbAjArAzAAAaT(@Au+9pA ξA7AA ?Aif?A?AY3*A)<2Az'U::A@ݑBA)<JAz'U:RA@ݑY??yg8ٓHf?wWY`F??gOt?F ?)? I٘i)I9Y J[3C=J֎JJJ&K Yy{7j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028009.303165 s, next control iter: 1743028009.663178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1508., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028009.683165 s.lG~,gkAJ"J*J2J:JBJnJvJAGz@A0@A{[~? AyA!BR&"AA.pNA"AZAbAjArAzAAA'(@A"UpAA9AA?A.f?A?A 2*Aה<2AT::AꑺBAה<JAT:RAꑺ٘i)I9Y JJJJ&K  7Y 7yZ77)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743028009.683165 s, next control iter: 1743028010.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743028010.103165 s.G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199762 time: 1743028010.103260F (some fields omitted in printout)A(\‘@A/Z@A{[~? AIAER&"AAUpNA"AZAbAjArAzAAA%3;@(@A3$pAArm:AA_?Af?A+?A'*A<2A3T::A]BA<JA3T:RA]٘i)I9Y JJJJ&K Yyj7j7="7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028010.143165 s, next control iter: 1743028010.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028010.523165 s.G~,{AJ"J*J2J:JBJnJvJA= ףp@AxJ@A{[~? AAzIR&"AA}pNA"AZAbAjArAzAAA+ԡ(@AYlpA!ξA詟:AA ?ASf?A`†?AdLg*AH~<2AT::ABAH~<JAT:RA󑺙٘i)I9Y J/˲<JJJJ&K Yy{7>7)ZZZBZL?YY*W2W WWW"W ) )FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743028010.543165 s, next control iter: 1743028010.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1509, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028010.943165 s.YdG~,F]AAQ@Aɓk@A|[~? A蜦A&MR&"AApNA"AZAbAjArAzAAA׋Ki(@A|pA"ξAo:AA ?ABf?AV?A(Z*As<2AT::A$ߑBAs<JAT:RA$ߑ٘i)I9Y JYC=JJJJ&K Yyŧ7b7[7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028010.983165 s, next control iter: 1743028011.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028011.363165 s.G~,>AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200292 time: 1743028011.363319F (some fields omitted in printout)A̖@Ad@A0|[~? AAPR&"AAͬpNA"AZAbAjArAzAAANO(@Aº]pAA~9AA ?Af?A郑?A-*Ag<2A-T::ApBAg<JA-T:RApYu??y 9ٓH@?=WGF??`Mt?ү#??)u? I٘i)I9Y J4JJJ&K9 Yyb77@x7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028011.403165 s, next control iter: 1743028011.763175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1510", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028011.783165 s.ZG~,AAGz@AG@AH|[~? AA~TR&"AApNA"AZAbAjArAzAAA5:^(@A["pAA=5AA?A"f?A|?A9*A\<2AT::A9BA\<JAT:RA9٘i)I9Y JJJJ&K Yy7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028011.823165 s, next control iter: 1743028012.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028012.203165 s.G~,  AJ"J*J2J:JBJnJvJA\(@AUL@Aa|[~? AXA)XR&"AApNA"AZAbAjArAzAAAS&(@ADOkpAAsAA?A`Af?A`?A63*AQ<2A*T::ABAQ<JA*T:RA٘I٘i)I9Y JJJJ&K Yy7)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028012.243165 s, next control iter: 1743028012.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028012.623165 s.ZG~,i'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200382 time: 1743028012.623325F (some fields omitted in printout)Ap= כ@AQn@Ay|[~? A'A[R&"AADpNA"AZAbAjArAzAAA&x(@A/[RNpA!ξAXAA?Af?A?Ax3*AF<2AdT::AvBAF<JAdT:RAv٘i)I9Y Ja2C<JJJDJ&K YyA7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028012.663165 s, next control iter: 1743028013.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1511 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028013.043165 s.G~,BAJ"J*J2J:JBJnJvJAQ@A@A|[~? AA~_R&"AAlpNA"AZAbAjArAzAAA)O(@A90pA ξAdA¹A?Af?AA~?AUՋ3*AP;<2A.T::A}BAP;<JA.T:RA}٘i)I9Y Jb3C=JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028013.083165 s, next control iter: 1743028013.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028013.463165 s.OG~,ʤ]AA33333@Aʞ@A|[~? AǛA)cR&"AApNA"AZAbAjArAzAAA=(@ApAA99AùAc?A`xf?A|?A2*A0<2APRT::ABA0<JAPRT:RAY,?y?y¹b9ٓH?@V`PF?@? #`Pt?@;g elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200182 time: 1743028013.883294F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G᠗@Ax@A|[~? AAfR&"AApNA"AZAbAjArAzAAAOx(@A+pA!ξAÇ:AAt?Aof?A@u{?A,3*A$<2A'T::ABA$<JA'T:RA٘i)I9Y Je<JJJJ&K Yy :C77{7A$7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028013.923165 s, next control iter: 1743028014.283176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028014.303165 s.VG~,wgAA(\@A,`'@A|[~? AgA|jR&"AApNA"AZAbAjArAzAAAs?h (@AQpA"ξAۚ:AAi?Af?A z?Aj*A<2AT::ARBA<JAT:RAR٘i)I9Y J_C=JJJJ&K Yyb7b7@7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028014.323165 s, next control iter: 1743028014.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1513*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028014.723165 s.G~,HAJ"J*J2J:JBJnJvJA ףp=@A\գ@A|[~? A7A&nR&"AA pNA"AZAbAjArAzAAAݟ١(@ArpAA!4:AA(?A f?Ax?AL*A<2AT::A)qBA<JAT:RA)q٘i)I9Y JJJJ&K Yy777]7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028014.743165 s, next control iter: 1743028015.123174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743028015.143165 s.W/G~, *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743028015.143310F (some fields omitted in printout)AR륗@A81$'@A }[~? AAqR&"AA2pNA"AZAbAjArAzAAAML6(@Ag%pAAT!AA2?A@f?A7w?ARR*A<2A%T::AmNBA<JA%T:RAmN٘i)I9Y JJJJ&K Yy77j7Bz7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028015.163165 s, next control iter: 1743028015.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028015.563165 s.G~,= AJ"J*J2J:JBJnJvJA@AH1@A%}[~? AךAxuR&"AAZpNA"AZAbAjArAzAAA [.ʨ(@AXÀpAApAAd?Af?Au?Aat8*Aq<2AE3T::A$-BAq<JAE3T:RA$-Y?T?yqٓH ? ~V@y`F? W?@Nt?bN?)? I٘i)I9Y J4JJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028015.603165 s, next control iter: 1743028015.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1514, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028015.983165 s.G~,AAzG@AZ`ߨ@A=}[~? AA yR&"AApNA"AZAbAjArAzAAA9_(@AE1ocpA!ξAʼAA?Af?A@dt?A]_3*A\<2Ax.T::ABA\<JAx.T:RA٘i)I9Y J_2C<JJJJ&K Yyŧ7b77)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028016.023165 s, next control iter: 1743028016.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028016.403165 s.&G~,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199752 time: 1743028016.403269F (some fields omitted in printout)A)\@A`=[@AV}[~? AwA|R&"AApNA"AZAbAjArAzAAA(@A΀ FpAA9imAĹA?A*f?A r?Al3*A7<2AT::ABA7<JAT:RA٘i)I9Y JJJJ&K Yyj7SI7B7)ZZZBZL?YY*W2W WWW"W ) )FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743028016.423165 s, next control iter: 1743028016.803177 s, wait time: 0.380012 s)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1515, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028016.823165 s. G~,!4AAq= ף@A։;@An}[~? AFApR&"AAѮpNA"AZAbAjArAzAAA9(@A3(pA ξA{AƹA;?A f?Aq?AeO3*A׌<2AS::AgBA׌<JAS:RAg٘i)I9Y Jb3<JJJJ&K Yy{7{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028016.863165 s, next control iter: 1743028017.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028017.243165 s.G~,mOAJ"J*J2J:JBJnJvJAQ@A魗@A}[~? AAR&"AApNA"AZAbAjArAzAAAQ,(@AB. pAA7:AǹA?A@f?A5p?AW*Aˌ<2AS::A+BAˌ<JAS:RA+٘i)I9Y JJJJ&K  7Y 7y)7ŧ7 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028017.283165 s, next control iter: 1743028017.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028017.663165 s.G~,qjAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200202 time: 1743028017.663292F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1516, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A@A}[~? A晦AR&"AA pNA"AZAbAjArAzAAA/^㰫(@AV7pA!ξA_:AƹAm?Af?An?AGV*A<2A@S::A.BA<JA@S:RA.Y??y:ٓH?dV`DFE?C?, Pt?kS? ?)? I٘i)I9Y J_JԎJJJ&K Yy77{7F&7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028017.683165 s, next control iter: 1743028018.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028018.083165 s.D!G~,SAJ"J*J2J:JBJnJvJAHz@AnE@A}[~? AAfR&"AAHpNA"AZAbAjArAzAAA^>E(@A2OpA"ξAg:AA?A@f?Aim?A#b*A<2AS::A BA<JAS:RA ٘i)I9Y JiC=JJJJ&K Yyŧ7b7B7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028018.123165 s, next control iter: 1743028018.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028018.503165 s.'G~,+4AA(\@A1@A}[~? AA R&"AAppNA"AZAbAjArAzAAA8C٬(@A:ݨpAAn9AA_?A`f?Al?Av=*A<2AS::ABA<JAS:RA٘i)I9Y JJJJ&K Yy ;C77_7)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028018.523165 s, next control iter: 1743028018.903174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1517, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028018.923165 s.J "J *J 2J 7.G~:JBJ,AnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200252 time: 1743028018.923299F (some fields omitted in printout)Aףp= @A:롴@A}[~? AWAR&"AApNA"AZAbAjArAzAAA.vm(@AKepAA=AA^?Ajf?A`j?A1*A<2A#S::A7ߐBA<JA#S:RA7ߐ٘i)I9Y JJJJ&K Yy77E|7)ZZZBZL?YY*W2W WWW"W ) )m*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028018.963165 s, next control iter: 1743028019.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028019.343165 s.<5G~,AAQ@AsLO@A~[~? A'AZR&"AApNA"AZAbAjArAzAAAdW(@A$ypAAAA?Af?A@/i?A#2*A<2AS::A BA<JAS:RA ٘i)I9Y JJJJ&K Yyŧ777)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028019.383165 s, next control iter: 1743028019.743175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1518&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028019.763165 s.6;G~,AJ"J*J2J:JBJnJvJAfffff@AK@A~[~? AAR&"AApNA"AZAbAjArAzAAAt8(@AA[pA!ξAqAŹAc?Abf?A`g?A-k3*A<2AS::ABA<JAS:RAY??yÚٓH?Uq ``E??`1 Pt?6NS ?)? I٘i)I9Y J`2C<JV2JJJ&Kp YyZ7Z77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028019.783165 s, next control iter: 1743028020.163174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743028020.183165 s.BG~,| AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200072 time: 1743028020.183306F (some fields omitted in printout)AGz@A&r@A2~[~? AǘAR&"AApNA"AZAbAjArAzAAA;S+(@A>pA ξA1AȹA*?A@~f?Aef?AB3*An~<2AkrS::ABAn~<JAkrS:RA٘i)I9Y Jl3C=JJJJ&K Yy7777E7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028020.223165 s, next control iter: 1743028020.583180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028020.603165 s.64IG~,&AJ"J*J2J:JBJnJvJA(\»@AE@Z@AJ~[~? AAKR&"AA6pNA"AZAbAjArAzAAA7@k(@AKn!pAA/9AɹA?AAf?Ae?A-2*AJs<2A@S::ABAJs<JA@S:RA٘i)I9Y JJJDJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028020.643165 s, next control iter: 1743028021.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1519 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028021.023165 s.ZPG~,|AAA= ףp@A˝`@Ac~[~? AgAR&"AA^pNA"AZAbAjArAzAAA]޸S(@A36pA!ξAr:A˹A?Af?A`c?ACU*A)h<2AjS::AːBA)h<JAjS:RAː٘i)I9Y JZ<JJJJ&K  7Y 7y7)7 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028021.063165 s, next control iter: 1743028021.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028021.443165 s.3VG~,-]\AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199832 time: 1743028021.443263F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A`@A{~[~? A7AR&"AApNA"AZAbAjArAzAAAS(@A8pAAu:AǹAH?Aof?A=b?AQe*A]<2AHR::AȐBA]<JAHR:RAȐ٘i)I9Y JJJJ&K Yy777G(7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028021.463165 s, next control iter: 1743028021.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1520, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028021.863165 s.+]G~,>wAA@Adpd@A~[~? AA9R&"AApNA"AZAbAjArAzAAA<:D|(@Ao@ pA"ξAmj:AAb?Aaf?A`?AqV*AR<2A;R::ABAR<JA;R:RAY2ݒ??yj:ٓH`$?U舿 E? ?(`Ot?MM??)2ݒ? I٘i)I9Y JfJw3JJJ&K Yyŧ7b7D7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028021.903165 s, next control iter: 1743028022.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028022.283165 s.4RdG~,AJ"J*J2J:JBJnJvJAGz—@Afy—@A~[~? AؗAݯR&"AAհpNA"AZAbAjArAzAAAXÙ(@A7pAA48AA?Af?Ap_?A **A$G<2AR::ABA$G<JAR:RA٘i)I9Y JJJJ&K Yy{7j7a7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028022.323165 s, next control iter: 1743028022.683175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1521*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028022.703165 s.ֺjG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743028022.703303F (some fields omitted in printout)A\(ė@AV×@A~[~? AAR&"AApNA"AZAbAjArAzAAAKҤ(@AnpAAS;AA?A <f?A@ ^?A%v*A5<<2AS::ADqBA5<<JAS:RADq٘i)I9Y JJJJ&K Yy77{7K~7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028022.723165 s, next control iter: 1743028023.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028023.123165 s.LqG~,AJ"J*J2J:JBJnJvJAp= ŗ@A2nŗ@A~[~? AxA$R&"AA$pNA"AZAbAjArAzAAA09(@ABrpAA㛺AùAj?ASf?A\?AT3*AA1<2AS::A~WBAA1<JAS:RA~W٘i)I9Y JJJJ&K Yy7ŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028023.163165 s, next control iter: 1743028023.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028023.543165 s.IxG~,AAQǗ@At_Ǘ@A~[~? AHAǺR&"AAKpNA"AZAbAjArAzAAAxfͳ(@ArUpA!ξAAɹAm?Af?A@[?A֒3*A@&<2AR::A2NBA@&<JAR:RA2N٘i)I9Y J`2C<JJJJ&K Yy  elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743028023.963279F (some fields omitted in printout)A33333ɗ@Arݔȗ@A[~? AAjR&"AAspNA"AZAbAjArAzAAAVa(@AFi7pA ξAvӹA˹A?A`f?AY?A?3*A0<2A}R::A$UBA0<JA}R:RA$UYג?a?y˹ӹٓH?@IURD??`.Qt?n:?)ג? I٘i)I9Y JW3B=JݡJJJ&K Yy{7j7K7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028024.003165 s, next control iter: 1743028024.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028024.383165 s.؅G~,AA{Gʗ@A]5yʗ@A&[~? A閦A R&"AApNA"AZAbAjArAzAAAY(@A@eFpAA9A͹A ?Af?AX?A11*A<2A0R::AcBA<JA0R:RAc٘i)I9Y JJJJ&K Yy77777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028024.403165 s, next control iter: 1743028024.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1523", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028024.803165 s.vAG~,wg3AJ"J*J2J:JBJnJvJA(\̗@AK'̗@A?[~? AAR&"AA±pNA"AZAbAjArAzAAAĀ(@AXspA!ξAr7:AA?A| f?AW?A-~5*A <2AvR::AJjBA <JAvR:RAJj٘i)I9Y Jf<JJJJ&K  7Y 7y7 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028024.843165 s, next control iter: 1743028025.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028025.223165 s.gG~,HNAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200272 time: 1743028025.223304F (some fields omitted in printout)A ףp=Η@A.͗@AW[~? AARR&"AApNA"AZAbAjArAzAAAFK(@A,pA"ξA;:AȹA?A@ f?A U?A}f*A<2AcR::A}aBA<JAcR:RA}a٘i)I9Y JeC=JJJJ&K Yy77I*7)ZZZBZL?YY*W2W WWW"W ) )FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743028025.243165 s, next control iter: 1743028025.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028025.643165 s.wЙG~, *iAJ"J*J2J:JBJnJvJARϗ@A]Lϗ@Ap[~? AZAR&"AApNA"AZAbAjArAzAAAy(@AjpAA2w-:AA߮?A' f?AWT?AH*A%<2AfR::A)HBA%<JAfR:RA)H٘i)I9Y JJJJ&K Yyŧ7b7F7)ZZZBZL?YY*W2W WWW"W ) )FtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1524, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743028025.663165 s, next control iter: 1743028026.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028026.063165 s.G~,[ AAї@AZ[1ї@A[~? A*AR&"AA9pNA"AZAbAjArAzAAAF(@ANpAAh@AAܮ?A f?AR?AB*AC<2AvR::A%BAC<JAvR:RA%YВ?*ݮ?y@ٓH@1?TxmD?W?@Ot?  (?)В? I٘i)I9Y Jt4JJJ&K Yy77{7c7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028026.083165 s, next control iter: 1743028026.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028026.483165 s.p_G~,}AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199792 time: 1743028026.483271F (some fields omitted in printout)J"J*J2J:JBJnJvJAzGӗ@AeJҗ@A[~? AA6R&"AAapNA"AZAbAjArAzAAA#ڷ(@A)t5pAAwuAAڮ?A f?AQ?A=00*Abً<2AR::ABAbً<JAR:RA٘i)I9Y JJJJ&K YyJ7)ZZZBZL?YY*W2W WWW"W ) )FFF]x:Waiting for Gazebo time sync: latest Gz time: 1743028026.503165 s, next control iter: 1743028026.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1525, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028026.903165 s.ȭG~,͹AA)\ԗ@A Vjԗ@A[~? A˕AR&"AApNA"AZAbAjArAzAAA'Bo(@AOlpA!ξAWAɹA1خ?A f?A@*P?A(c3*Ay΋<2Aw~R::AvBAy΋<JAw~R:RAv٘i)I9Y J`2C<JJJJ&K Yyŧ7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028026.943165 s, next control iter: 1743028027.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028027.323165 s.tG~,AJ"J*J2J:JBJnJvJAq= ף֗@AR;֗@A[~? AAxR&"AApNA"AZAbAjArAzAAAd6C(@Ao{ OpAAgAιA׮?A@* f?AN?A濨3*AË<2A*aR::AO폺BAË<JA*aR:RAO폺٘i)I9Y JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028027.343165 s, next control iter: 1743028027.723175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1526&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028027.743165 s.WG~,iAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199442 time: 1743028027.743268F (some fields omitted in printout)AQؗ@Aח@A[~? AkAR&"AAزpNA"AZAbAjArAzAAA.n(@A51pA ξA3޸AϹA׮?A f?A kM?ARE3*A}<2At2R::ABA}<JAt2R:RA٘i)I9Y Ja3<JJJJ&K Yy77L7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028027.783165 s, next control iter: 1743028028.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028028.163165 s.v}G~,q AJ"J*J2J:JBJnJvJAڗ@A1ٗ@A[~? A<AR&"AApNA"AZAbAjArAzAAA G+(@ANpAA//>:AйAnخ?A f?A L?Au*Ax<2AR::A'BAx<JAR:RA'Yʒ?֮?yι>:ٓHP?T7R`D??@%Qt?G? ?)ʒ? I٘i)I9Y JǴJJJ&K Yy{7j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028028.203165 s, next control iter: 1743028028.563177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028028.583165 s.G~,R%AAHzۗ@Ag&Eۗ@A[~? A AXR&"AA'pNA"AZAbAjArAzAAAP(@A|pA!ξAO :AϹA$خ?A f?A`J?A+V*A<2AQ::ABA<JAQ:RAؘI٘i)I9Y J_JJJDJ&K  7Y 7y =Cŧ777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028028.623165 s, next control iter: 1743028028.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1527, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028029.003165 s.{ G~,Y4@AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743028029.003308F (some fields omitted in printout)A(\ݗ@A-ܗ@A3[~? AܔAR&"AANpNA"AZAbAjArAzAAAFS(@A>9pA"ξAg:AǹA֮?A@ f?AKI?Af^*A<2AQ::ABA<JAQ:RA٘i)I9Y JdC=JJJJ&K Yy77{7M,7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028029.023165 s, next control iter: 1743028029.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028029.423165 s.uG~,[AAףp= ߗ@A#)ޗ@AL[~? AAR&"AAvpNA"AZAbAjArAzAAA#3(@A5ýpAAq9AA Ԯ?A f?AG?Apv9*A<2A%Q::A:ۏBA<JA%Q:RA:ۏ٘i)I9Y JJJJ&K Yy77H7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028029.463165 s, next control iter: 1743028029.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1528, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028029.843165 s.G~,uAJ"J*J2J:JBJnJvJAQ@A@O@Ad[~? A}A5R&"AApNA"AZAbAjArAzAAA{(@ApAAzjAA Ѯ?Ao f?AF?AKֲ*A큋<2AZQ::A5BA큋<JAZQ:RA5٘i)I9Y JJJJ&K Yyb7b7e7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028029.883165 s, next control iter: 1743028030.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028030.263165 s.G~,ؐAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199822 time: 1743028030.263270F (some fields omitted in printout)Afffff@A4D@A}[~? ANAR&"AAųpNA"AZAbAjArAzAAA7(@A_pAA'AǹAή?A f?A"E?A2*Aw<2AJQ::AӚBAw<JAJQ:RAӚYĒ?Ю?y¹-tٓH8?CT/C?H?\ `Pt?R`?)Ē? I٘i)I9Y Jd4JJJ&K+ Yy777O7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028030.303165 s, next control iter: 1743028030.663178 s, wait time: 0.360013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 15292, header.stamp.nsec: 02$ temperature: nan2 salinity: nan2, density: 1025.0000002 values[0]: nan2F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028030.683165 s.lG~,^AJ"J*J2J:JBJnJvJAGz@AF @A[~? AArR&"AApNA"AZAbAjArAzAAA3(@AI`fpA!ξALAϹA(ͮ?A[ f?AC?A>v3*A9l<2AQ::A#BA9l<JAQ:RA#٘i)I9Y Jb2C<JJJJ&K Yy{7j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028030.683165 s, next control iter: 1743028031.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743028031.103165 s.G~,AA(\@AZ7Z@A[~? AAR&"AApNA"AZAbAjArAzAAAdM8(@A!IpA ξAZ*AѹA̮?Ar f?AdB?Aɥ3*ALa<2AFQ::ABALa<JAFQ:RA٘i)I9Y J^3C=JJJJ&K Yyb777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028031.143165 s, next control iter: 1743028031.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028031.523165 s.G~,{AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199392 time: 1743028031.523257F (some fields omitted in printout)A= ףp@AK@Aƀ[~? AAR&"AAAJ"J*J2J:JBJnJvJA@Afikd@A[~? A`AS&"AApNA"AZAbAjArAzAAAHm(@A kpAA`N:AйAͮ?A jf?A@M>?Ad*A|@<2AJQ::A;BA|@<JAJQ:RA;٘i)I9Y JJJJ&K  7Y 7yŧ7ŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028032.403165 s, next control iter: 1743028032.763174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1531", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028032.783165 s.] G~,2AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200232 time: 1743028032.783327F (some fields omitted in printout)AGz@Az@A[~? A1A S&"AApNA"AZAbAjArAzAAAn(@A|XpA"ξAjd:AǹA$ˮ?A _f?AC777g7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028033.663165 s, next control iter: 1743028034.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1532 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028034.043165 s. G~,ÂAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743028034.043311F (some fields omitted in printout)AQ@Aa@AX[~? AA[S&"AA)pNA"AZAbAjArAzAAA!}D(@A+3w~pAAAιA<î?AFf?A8?A3*AW<2AfQ::A3BAW<JAfQ:RA3٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 225JJJJ&K Yyŧ7b7R7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028034.083165 s, next control iter: 1743028034.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028034.463165 s.P'G~,ϤAA33333@A@Aq[~? AsAS&"AAQpNA"AZAbAjArAzAAAV0(@AbpA!ξA#AԹAL®?Af?Al7?AK3*A <2APQ::A|*BA <JAPQ:RA|*Y5?Į?yϹɉٓH@H?`Sx -C?`D? Rt?0Q?)5? I٘i)I9Y JM2B<J,wJJJ&Kj Yy77{7 7)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] ; Waiting for Gazebo time sync: latest Gz time: 1743028034.523165 s, next control iter: 1743028034.863174 s, wait time: 0.340009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1533, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028034.883165 s.y-G~,4AJ"J*J2J:JBJnJvJA{G@Avx@A[~? ADAS&"AAxpNA"AZAbAjArAzAAAl(@AɟEpA ξAVmĹAչAo®?A f?A 6?Af3*A<2A&Q::A1BA<JA&Q:RA1٘i)I9Y J3C=JQ>JJJ&K> Yyj7j77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028034.923165 s, next control iter: 1743028035.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028035.303165 s.T4G~,ogAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743028035.303275F (some fields omitted in printout)A(\@A'@A[~? AA- S&"AApNA"AZAbAjArAzAAA@|(@A4(pAAv:AֹA®?Akf?A4?AV+t1*A<2AP::A?BA<JAP:RA?٘i)I9Y JQ>JJJ&K> Yyb77R7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028035.343165 s, next control iter: 1743028035.703176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1534&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028035.723165 s.;G~,HAJ"J*J2J:JBJnJvJA ףp=@Av@A[~? A呦A#S&"AAȵpNA"AZAbAjArAzAAAm(@AM pA!ξAaА:AA®?A`jf?A`[3?AH8*A<2AP::AFBA<JAP:RAF٘i)I9Y Ja<JJJJ&K Yy)7ŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028035.763165 s, next control iter: 1743028036.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028036.143165 s.W/BG~, * AAR@A 0@Aҁ[~? AAb'S&"AApNA"AZAbAjArAzAAAY((@A&tipA"ξA:AйA?A@f?A@1?Ac*Aߊ<2AP::AS=BAߊ<JAP:RAS=٘i)I9Y J[C=JJJJ&K  7Y 7yb777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028036.163165 s, next control iter: 1743028036.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028036.563165 s.HG~,A $AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000J"J< massPositionAction: 0.000000*J2J4 buoyancyAction: 0.000955:JBJ dt: 0.419988nJvJ2 time: 1743028036.563262F (some fields omitted in printout)A@AoI1@A[~? AA*S&"AApNA"AZAbAjArAzAAA zD(@AOpAA4&:AǹA?Af?A@0?AD*AFԊ<2A+P::A#BAFԊ<JA+P:RA#Y?:?yŹ ':ٓH k?`S,@B? ?@$Pt?D?@?)? I٘i)I9Y Ju>4JJDJ&KE Yyj7Z7S07)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028036.603165 s, next control iter: 1743028036.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1535, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028036.983165 s.OG~,>AAzG@Al\@A[~? AWA.S&"AA>pNA"AZAbAjArAzAAAw0P(@AwpAAT_AĹA?Af?A@?/?AC *AɊ<2AP::ABAɊ<JAP:RA٘i)I9Y JJJJ&K Yy)7ŧ7L7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028037.023165 s, next control iter: 1743028037.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028037.403165 s.J "J *J 2J :J BJ nJ vJ &VG~,YAA)\@A{JΉ@A[~? A(A02S&"AAfpNA"AZAbAjArAzAAA(@AɗpAAEzA˹A๮?A`f?A-?A1*Aھ<2ALP::AᎺBAھ<JALP:RAᎺ٘i)I9Y JJJJ&K Yy7S7i7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028037.423165 s, next control iter: 1743028037.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1536", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028037.823165 s.\G~,6tAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743028037.823281F (some fields omitted in printout)Aq= ף@Aͮ{;@A4[~? AA5S&"AApNA"AZAbAjArAzAAA-x(@AhشzpA!ξA=IAԹA?Af?A,?A+h3*A<2AAP::A͎BA<JAAP:RA͎٘i)I9Y Jb2C<JJJJ&K Yy7777S7)ZZZBZL?YY*W2W WWW"W ) )FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743028037.843165 s, next control iter: 1743028038.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028038.243165 s.cG~,uAJ"J*J2J:JBJnJvJAQ@Aeq@AL[~? AɐAc9S&"AApNA"AZAbAjArAzAAA܎ (@Aޭ^pAA NbAعA?A` f?A(+?A 3*AQ<2AP::AWˎBAQ<JAP:RAWˎ٘i)I9Y JJJJ&K Yy ?Cŧ7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028038.263165 s, next control iter: 1743028038.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028038.663165 s.jG~,qAtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1537, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@APk@Ae[~? AA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199722 time: 1743028039.083294JF (some fields omitted in printout)"J*J2J:JBJnJvJAHz@AͪE@A}[~? AkA@S&"AApNA"AZAbAjArAzAAÀ3(@A7j$pAAPD:AڹAl?Af?A v(?AU‹*A<2AXP::AH㎺BA<JAXP:RAH㎺٘i)I9Y JJJJ&K Yy77V7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028039.123165 s, next control iter: 1743028039.483180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028039.503165 s.wG~,74AA(\@A@A[~? A<A-DS&"AA+pNA"AZAbAjArAzAAAZq(@AupA!ξAȜ:AعA?Ae?A '?Au?W*Aӈ<2AO7P::A7厺BAӈ<JAO7P:RA7厺٘i)I9Y J`JJJJ&K Yy77{77)ZZZBZL?YY*W2W WWW"W ) )FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743028039.523165 s, next control iter: 1743028039.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1538, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028039.923165 s.7~G~,AJ"J*J2J:JBJnJvJAףp= @Ax@A[~? A AGS&"AASpNA"AZAbAjArAzAAAkq[(@ApA"ξAQ:AйA?A e?A@%?A[*A~<2A-P::AՎBA~<JA-P:RAՎ٘i)I9Y J[C=JJJJ&K  7Y 7y)7ŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028039.963165 s, next control iter: 1743028040.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028040.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199612 time: 1743028040.343248F (some fields omitted in printout)AQ @AO @AƂ[~? AݏA]KS&"AAzpNA"AZAbAjArAzAAAE(@AfpAAY9AǹA?Ae?Ab$?AT5*Aks<2A+7P::AxBAks<JA+7P:RAx٘i)I9Y JJJJ&K Yy777T27)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028040.383165 s, next control iter: 1743028040.743174 s, wait time: 0.360009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1539&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028040.763165 s.4G~,0AJ"J*J2J:JBJnJvJAfffff @ALk @A߂[~? AANS&"AApNA"AZAbAjArAzAAA$(@A /pAA_AȹA?A Vf?A`#?AHʲ*Ah<2AOHP::AוBAh<JAOHP:RAוY??yǹLٓHT ?R" elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743028041.603315F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AIZ@A[~? APA"VS&"AApNA"AZAbAjArAzAAA|Ϫ(@AjwpA!ξAAڹA.?A@4f?A M ?A3*AhS<2AAP::ACkBAhS<JAAP:RACk٘i)I9Y J`2C<JJJJ&K Yy7X7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028041.643165 s, next control iter: 1743028042.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1540 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028042.023165 s.ZG~,{AA= ףp@AXP@A([~? A!AYS&"AApNA"AZAbAjArAzAAAݤ>(@A΢ZpA ξAu#AܹA ?AGe?A?AƠ3*AH<2AP::AcnBAH<JAP:RAcn٘i)I9Y Jf3C=JJJJ&K Yy{7Z77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028042.063165 s, next control iter: 1743028042.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028042.443165 s.3æG~,-]AJ"J*J2J:JBJnJvJAQ@A}@A@[~? AAO]S&"AA@pNA"AZAbAjArAzAAAhr(@A8r>pAA\m9AݹA?A e?A?A2*A=<2AO::A{BA=<JAO:RA{٘i)I9Y JJJJ&K Yy77777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028042.463165 s, next control iter: 1743028042.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1541, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028042.863165 s.+G~,}>AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200482 time: 1743028042.863322F (some fields omitted in printout)A@AyGsd@AY[~? AŽA`S&"AAgpNA"AZAbAjArAzAAAD8f(@AUY!pA!ξAY|:A޹Aҭ?A@e?AF?A! *A3<2AyO::ABA3<JAyO:RAY}?ʫ?yڹ|:ٓHm&?R`A?N2? (`St?7O??)}? I٘i)I9Y Jb<JJJJ&K Yyb7b7W7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028042.903165 s, next control iter: 1743028043.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028043.283165 s.4RG~,AJ"J*J2J:JBJnJvJAGz@Ai@Aq[~? AA{dS&"AApNA"AZAbAjArAzAAA~7(@Ac՛pAA:AٹA?AFe?A?AZc*AZ(<2AO::AABAZ(<JAO:RAA٘i)I9Y JJJJ&K Yy @C{7{77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028043.303165 s, next control iter: 1743028043.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1542., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028043.703165 s.ԺG~,AA\(@A0@A[~? AdAhS&"AApNA"AZAbAjArAzAAA"(@A^kpA"ξAw/_:AйA&?A>e?A?AwYO*A<2AeO::AsmBA<JAeO:RAsm٘i)I9Y J]JJJJ&K  7Y 7y777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028043.723165 s, next control iter: 1743028044.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028044.123165 s.7G~,]AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199612 time: 1743028044.123275F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= @A/n@A[~? A5AkS&"AA޸pNA"AZAbAjArAzAAA7s!(@A0II'pAA|8AɹAQ?A`e?A6?A˜"*A<2AıO::AMBA<JAıO:RAM٘i)I9Y JJJJ&K Yyŧ7b7X47)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028044.163165 s, next control iter: 1743028044.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028044.543165 s.IG~,"AAQ@A-s@A[~? AA:oS&"AApNA"AZAbAjArAzAAAE4(@ALpppAA.GAιAl?A`e?A?AE*A<2A\O::Ad+BA<JA\O:RAd+טI٘i)I9Y JJJDJ&K Yy777Q7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028044.583165 s, next control iter: 1743028044.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1543, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028044.963165 s.vG~,=AJ"J*J2J:JBJnJvJA33333@A"@AӃ[~? A׍ArS&"AA-pNA"AZAbAjArAzAAAMGH(@A߻pAA4AعAN?Ae?A?A$3*A<2A=O::A&BA<JA=O:RA&Y?֥?yҹ-ٓH`>,?@RaA? elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743028045.383302F (some fields omitted in printout)A{G@A D2x@A[~? AAcvS&"AATpNA"AZAbAjArAzAAA-(@Aޑ upA!ξA`A޹Ak?A@e?A(?Aˈ3*A7<2AO::A\ BA7<JAO:RA\ ٘i)I9Y Jd2C<JJJJ&K Yyj7Z7Y7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028045.403165 s, next control iter: 1743028045.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1544", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028045.803165 s.sAG~,jgsAJ"J*J2J:JBJnJvJA(\ @ABC' @A[~? AyAyS&"AA{pNA"AZAbAjArAzAAA,up(@A@YXpA ξAJAใA?Ave?A?A~3*A<2AO::A2BA<JAO:RA2٘i)I9Y J\3C=JJJJ&K Yy7777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028045.823165 s, next control iter: 1743028046.203175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028046.223165 s.gG~,HAA ףp="@Ar.!@A[~? AJA}S&"AApNA"AZAbAjArAzAAA[I~)(@Aن;pAA:AṃA ?A@7e?A}?A0*A݉<2AiPO::A BA݉<JAiPO:RA ٘i)I9Y JJJJ&K Yy7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028046.263165 s, next control iter: 1743028046.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028046.643165 s.~G~,(*AJ"J*J2J:JBJnJvJ)vPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4201512 time: 1743028046.643434F (some fields omitted in printout)AR#@Ax>#@A4[~? AAS&"AAʹpNA"AZAbAjArAzAAA}՗(@AWs#pA!ξA(R:AAA@:e?A'?Av;*A Ӊ<2A2)O::An'BA Ӊ<JA2)O:RAn'٘i)I9Y J_<JJJJ&K Yy7[7)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):F0 header.stamp.sec: 1545, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743028046.663165 s, next control iter: 1743028047.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028047.063165 s.G~,R AA%@AP1%@AL[~? A쌦AS&"AApNA"AZAbAjArAzAAA5}+(@AVVpA"ξAqG:AڹA?A`e?A ?Aa*Aiȉ<2AO::ABAiȉ<JAO:RAY???yԹ:ٓHc2? Q@JA?=?S*Rt?R?@?)?? I٘i)I9Y J`C=J`JJJ&K Yyb777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028047.103165 s, next control iter: 1743028047.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028047.483165 s.p_G~,}AJ"J*J2J:JBJnJvJAzG'@AS:X&@Ae[~? AAES&"AApNA"AZAbAjArAzAAAN#(@AJpAA:AйA?Ae?Av ?AA*Aս<2AO::ABAս<JAO:RA٘i)I9Y JJJJ&K  7Y 7y777)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028047.523165 s, next control iter: 1743028047.883174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1546, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028047.903165 s.G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200232 time: 1743028047.903291F (some fields omitted in printout)A)\(@Asc(@A}[~? AA׋S&"AAApNA"AZAbAjArAzAAAȳuR(@A pAA~A͹A?A ee?A ?AD*AJ<2A<-O::A⍺BAJ<JA<-O:RA⍺٘i)I9Y JJJJ&K Yyŧ7b7[67)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028047.943165 s, next control iter: 1743028048.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028048.323165 s.vG~,%AJ"J*J2J:JBJnJvJAq= ף*@A;*@A[~? A`AjS&"AAhpNA"AZAbAjArAzAAAv(@AqhpAAa~AԹA?Ae?A@ ?A1*A<2AT9O::ABA<JAT9O:RA٘i)I9Y JJJJ&K Yy AC77S7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028048.343165 s, next control iter: 1743028048.723176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1547&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028048.743165 s.W G~,u/AAQ,@A:S+@A[~? A1AS&"AApNA"AZAbAjArAzAAAR"z(@A/ȏpA!ξAcꞺA޹AJ?A@e?Aj ?Afn3*A,<2A2O::ABA,<JA2O:RA٘i)I9Y Jc2C<JJJJ&K Yyŧ77o7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028048.783165 s, next control iter: 1743028049.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028049.163165 s.x}G~,qJAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743028049.163287F (some fields omitted in printout)J"J*J2J:JBJnJvJA.@A-@AƄ[~? AAS&"AApNA"AZAbAjArAzAAA (@AS.*spAA\A⹃Aҗ?Ae?A`?AA3*A<2AO::A魍BA<JAO:RA魍YL??y߹]ٓH28?@xQ@@@?@G?`JTt?@ÑK?)L? I٘i)I9Y JQJJJ&K Yy777\7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028049.183165 s, next control iter: 1743028049.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028049.583165 s.G~, SeAAHz/@A?eE/@Aބ[~? AӋAS&"AA޺pNA"AZAbAjArAzAAAܑn(@AuhVpA ξAz;BA㹃A8?A e?A?Am13*A݈<2A9N::A<BA݈<JA9N:RA<٘i)I9Y JZ3<JJJJ&K Yy7 7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028049.623165 s, next control iter: 1743028049.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1548, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028050.003165 s.w G~,H4AJ"J*J2J:JBJnJvJA(\1@AcC70@A[~? AAS&"AApNA"AZAbAjArAzAAAI 5(@Aޟ9pA!ξAQJ:A乃A?Aie?A@n?A 4*A/~<2A߶N::AōBA/~<JA߶N:RAō٘i)I9Y J[C=JJJJ&K Yy77)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028050.043165 s, next control iter: 1743028050.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028050.423165 s.u&G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199802 time: 1743028050.423292F (some fields omitted in printout)Aףp= 3@A9 {ڡ2@A[~? AuAAS&"AA-pNA"AZAbAjArAzAAA,-n(@A ]pAA!X:A⹃AR?Ae?A?AW*As<2AfN::AdǍBAs<JAfN:RAdǍ٘i)I9Y JJJJ&K Yy7]7)ZZZBZL?YY*W2W WWW"W ) )FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743028050.463165 s, next control iter: 1743028050.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1549, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028050.843165 s.,G~,AJ"J*J2J:JBJnJvJAQ4@Ai'O4@A([~? AFAҤS&"AAUpNA"AZAbAjArAzAAA+\(@AzpA"ξA(:AڹA?A`e?A ?AX*Ah<2A,N::AɷBAh<JA,N:RAɷ٘i)I9Y Jk<JJJJ&K Yyŧ7b77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028050.883165 s, next control iter: 1743028051.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028051.263165 s.4G~,'AAfffff6@A@ 5@A@[~? AAbS&"AA|pNA"AZAbAjArAzAAA}(@A5pAA)9AѹA?A e?Aj?A{2*A}^<2A˗N::ABBA}^<JA˗N:RABY?l?yйׅ9ٓH:>?@HQa`@?wK?  Rt??5??)? I٘i)I9Y J؎4JJJ&KA  7Y 7y)7ŧ77)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028051.303165 s, next control iter: 1743028051.663179 s, wait time: 0.360014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1550., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028051.683165 s.l:G~,RAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743028051.683304F (some fields omitted in printout)AGz8@Ax'-7@AX[~? A銦AS&"AApNA"AZAbAjArAzAAALM(@A(%pAA AҹA'?A e?A?An*AT<2AبN::AxBAT<JAبN:RAx٘i)I9Y JJJJ&K YyZ7Z7^87)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028051.683165 s, next control iter: 1743028052.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743028052.103165 s."AG~,ݚAA(\9@AXf,Z9@Aq[~? AAS&"AA˻pNA"AZAbAjArAzAAAY x(@ApAA+A۹A?A`Oe?A?A2*AI<2AN::A \BAI<JAN:RA \٘i)I9Y JJJJ&K Yy7)7 U7)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028052.143165 s, next control iter: 1743028052.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028052.523165 s.GG~,{!AJ"J*J2J:JBJnJvJA= ףp;@A֥F;@A[~? AAS&"AApNA"AZAbAjArAzAAA\w(@A\pA!ξA A㹃At?Ae?Ae?A#l3*A><2AN::ANBA><JAN:RAN٘i)I9Y Ja2C<JJJDJ&K Yy{7{7q7)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743028052.543165 s, next control iter: 1743028052.923174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1551, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028052.943165 s.VdNG~,:]<AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200332 time: 1743028052.943308F (some fields omitted in printout)AQ=@A5o<@A[~? A\AS&"AApNA"AZAbAjArAzAAA$Y>(@A*rpA ξAA幃A\?A e?A?Aŗ3*A`4<2A|N::ARBA`4<JA|N:RAR٘i)I9Y JX3C=JJJJ&K Yy77a7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028052.963165 s, next control iter: 1743028053.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028053.363165 s.UG~,>WAJ"J*J2J:JBJnJvJA>@A4yd>@A[~? A.A0S&"AAApNA"AZAbAjArAzAAA^P(@AEPyUpAA(9A湃A፮?Ae?A@?A2*A)<2AKN::A_BA)<JAKN:RA_Y ?W?y湃 p9ٓH +D?@P 荊`[@?Q?Tt?@0?`?) ? I٘i)I9Y JѴJJJ&K Yy BCS77 7)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028053.403165 s, next control iter: 1743028053.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1552&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028053.783165 s.W[G~,rAAGz@@AϠ@@A҅[~? AAS&"AAipNA"AZAbAjArAzAAAe(@A8pA!ξAt:A蹃A$?Ae?A`o?A*A#<2AN::AiBA#<JAN:RAi٘i)I9Y Jg<JJJJ&K Yy777)ZZZBZL?YY*W2W WWW"W ) )FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743028053.803165 s, next control iter: 1743028054.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028054.203165 s.cG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199782 time: 1743028054.203266F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(B@A2A@A[~? AЉAMS&"AApNA"AZAbAjArAzAAA(@AuppA"ξA:A㹃Ae?Ae?A?Aa*A<2ACN::AeBA<JACN:RAe٘i)I9Y JZC=JJJJ&K Yy{7{7a7)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028054.223165 s, next control iter: 1743028054.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028054.623165 s.UiG~,TAAp= C@AlYnC@A[~? AAS&"AApNA"AZAbAjArAzAAAꀯ(@A^pAA^Y:AڹAh?Ae?A`?AJ3L*A <2AN::APBA <JAN:RAP٘i)I9Y JJJJ&K  8Y 8y)7ŧ78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028054.663165 s, next control iter: 1743028055.023178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1553, header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028055.043165 s.pG~,AJ"J*J2J:JBJnJvJAQE@AOE@A[~? AsAiS&"AA߼pNA"AZAbAjArAzAAA:|(@Ah#qpAA5T7AӹA?Aee?Ao?Aً*A<2AN::Ar0BA<JAN:RAr0٘i)I9Y JJJJ&K Yyŧ78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028055.083165 s, next control iter: 1743028055.443176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028055.463165 s.TwG~,ߤAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199772 time: 1743028055.463272F (some fields omitted in printout)A33333G@A}XoF@A3[~? ADAS&"AApNA"AZAbAjArAzAAAw)(@AapAA=MAعA?A e?A?A7/*A;<2A#N::AGBA;<JA#N:RAGY {?Z?yչDMٓH`J?P @?@Y? Rt?'I?) {? I٘i)I9Y J4JJJ&K. Yy7718)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028055.483165 s, next control iter: 1743028055.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1554, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028055.883165 s.y}G~,+AJ"J*J2J:JBJnJvJA{GH@Aj/xH@AL[~? AAS&"AA.pNA"AZAbAjArAzAAA(wF(@AYzpAA[AṃA?Ae?A?A*3*A<2A0$N::ABA<JA0$N:RA٘i)I9Y JJJJ&K Yyb7b7+8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028055.923165 s, next control iter: 1743028056.283176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028056.303165 s.UG~,sgAA(\J@Ae&J@Ad[~? A爦AS&"AAUpNA"AZAbAjArAzAAA`ϙ(@A pA!ξAA-A繃A˂?A`;e?Aq?AUK3*AF<2A] N::ABAF<JA] N:RA٘i)I9Y Js2<JJJJ&K Yy7798)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028056.343165 s, next control iter: 1743028056.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1555*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028056.723165 s.G~,H.AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743028056.723313F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=L@AN#K@A|[~? AAS&"AA|pNA"AZAbAjArAzAAAQ^jm(@AˌqpA ξA{A蹃A?A %e?A@!?A}v3*AՈ<2AM::ABAՈ<JAM:RA٘i)I9Y J\3C=JJJJ&K Yyb7b72H8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028056.763165 s, next control iter: 1743028057.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028057.143165 s.U/G~,*IAARM@A0(M@A[~? AA*S&"AApNA"AZAbAjArAzAAA.T(@A@UpAA~:A깃A?Ae?A?Au%*A%ˈ<2ApM::ABA%ˈ<JApM:RA٘i)I9Y JJJJ&K Yy77V8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028057.183165 s, next control iter: 1743028057.543176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028057.563165 s.G~,= dAJ"J*J2J:JBJnJvJAO@ADmF1O@A[~? A[AS&"AA˽pNA"AZAbAjArAzAAA+@(@A8pA!ξA:AA?Ae?A?A=*A<2ABM::A BA<JABM:RA Yt?$?y幃 :ٓHP?lPEڈ?? [?<)Tt?`wR? ?)t? I٘i)I9Y Jb<JaJJJ&K Yy{7{7d8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028057.583165 s, next control iter: 1743028057.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1556, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028057.983165 s.G~,~AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200362 time: 1743028057.983303F (some fields omitted in printout)AzGQ@AqdP@Aņ[~? A,ACS&"AApNA"AZAbAjArAzAAA!ۢ'(@A8pA"ξA:A乃AW?Ae?A.?A^*A"<2A{M::ABA"<JA{M:RA٘i)I9Y J\C=JJJJ&K Yyŧ7b72s8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028058.023165 s, next control iter: 1743028058.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028058.403165 s.&G~,͙AJ"J*J2J:JBJnJvJA)\R@Aʍ"kR@A݆[~? AAS&"AApNA"AZAbAjArAzAAATu(@AopAA7:AڹA?Ae?A ?A>*A<2AVM::A茺BA<JAVM:RA茺٘i)I9Y JJJJ&K Yy CC78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028058.443165 s, next control iter: 1743028058.803180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1557, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028058.823165 s.G~,AAq= ףT@AK;T@A[~? AχAZS&"AAApNA"AZAbAjArAzAAAAgN(@AM9apAAJOA׹A }?Ae?A?A*AW<2A+M::AnjBAW<JA+M:RAnj٘i)I9Y JJJJ&K Yy)7ŧ7ݏ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028058.863165 s, next control iter: 1743028059.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028059.243165 s.G~,`AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199812 time: 1743028059.243268F (some fields omitted in printout)AQV@AU@A[~? AAS&"AAhpNA"AZAbAjArAzAAA6~(@A/pAA]A޹A_z?A@ke?A0?Af1*A<2A՝M::AFBA<JA՝M:RAF٘i)I9Y JJJJ&K Yy7728)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028059.263165 s, next control iter: 1743028059.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028059.663165 s.G~,qAtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1558, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)AX@AW@A&[~? ArApS&"AApNA"AZAbAjArAzAAA3u(@AXpAArA繃Ax?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743028060.503284F (some fields omitted in printout)A(\[@A Z@AW[~? AAS&"AA޾pNA"AZAbAjArAzAAA(@AqpA ξAA칃Ax?A`Ce?A@?A-'3*Aw<2AIM::ABAw<JAIM:RA֘I٘i)I9Y JU3B=JJJDJ&K Yy748)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028060.543165 s, next control iter: 1743028060.903174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1559, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028060.923165 s.3G~,;AJ"J*J2J:JBJnJvJAףp= ]@A]\@Ao[~? A熦AS&"AApNA"AZAbAjArAzAAAڈI/(@Ap>mUpA!ξA1P:AA(y?Ae?A?A*Am<2A]M::ABAm<JA]M:RA٘i)I9Y JdC=JJJJ&K Yy)7ŧ78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028060.963165 s, next control iter: 1743028061.323176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028061.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200132 time: 1743028061.763281F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff`@A:A_@A[~? AA"T&"AATpNA"AZAbAjArAzAAAU(@AeHpA"ξA:A㹃A,w?Ae?A Q?AT*A2X<2AL::ABA2X<JAL:RAYh? u?y߹0:ٓH [?O$??g?`M'Tt?B}P?`?)h? I٘i)I9Y Jb<JY3JJJ&K Yy{7j748)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028061.803165 s, next control iter: 1743028062.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028062.183165 s.G~,gAAGzb@ACX%a@A[~? A[AT&"AA|pNA"AZAbAjArAzAAA/+(@AH`[pAA9A۹At?A[e?A ސ?AAB/*AM<2AL::A{BAM<JAL:RA{٘i)I9Y JJJJ&K  8Y 8yj78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028062.223165 s, next control iter: 1743028062.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028062.603165 s.G4G~,AJ"J*J2J:JBJnJvJA(\c@A7RHZc@AЇ[~? A-A4T&"AApNA"AZAbAjArAzAAAX#x|(@AYpAAAܹAq?A`e?Aݐ?A!*AC<2AM::A^BAC<JAM:RA^٘i)I9Y JJJJ&K Yyb7b78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028062.643165 s, next control iter: 1743028063.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1561 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028063.023165 s.ZG~,|AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199482 time: 1743028063.023282F (some fields omitted in printout)A= ףpe@AܼqRe@A[~? AA T&"AAʿpNA"AZAbAjArAzAAAj$(@AS*kpAAA幃A3o?Ae?AXܐ?A!2*A29<2A$M::A]CBA29<JA$M:RA]C٘i)I9Y JJJJ&K Yy DC)7ŧ748)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028063.043165 s, next control iter: 1743028063.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028063.443165 s.3G~,-]AJ"J*J2J:JBJnJvJAQg@AZ_f@A[~? AЅAET&"AApNA"AZAbAjArAzAAA(@A+^pA!ξA=QA칃Am?A@e?A ې?A B3*A.<2AM::A7BA.<JAM:RA7٘i)I9Y Jc2C<JJJJ&K Yy77-8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028063.463165 s, next control iter: 1743028063.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1562, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028063.863165 s.+G~,u>AAh@A$pdh@A[~? AAT&"AApNA"AZAbAjArAzAAAza6(@An pAAYAAm?Ae?Aِ?A>N3*Ac$<2AL::A6;BAc$<JAL:RA6;Yb?!o?yٓHa?PO^U>?p?@Ut?jB ?)b? I٘i)I9Y JTJJJ&K Yy777;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028063.903165 s, next control iter: 1743028064.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028064.283165 s.8RG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199762 time: 1743028064.283282F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzj@AϠj@A2[~? AsATT&"AA@pNA"AZAbAjArAzAAAI+դ(@ArpA ξA`9A﹃Avn?A^e?A@oؐ?A}ٛ2*A<2AL::AHBA<JAL:RAH٘i)I9Y Jc3<JJJJ&K Yy774J8)ZZZBZL?YY*W2W WWW"W ) )FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743028064.323165 s, next control iter: 1743028064.683177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1563*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028064.703165 s.ܺ G~,*-AA\(l@A4k@AJ[~? AEAT&"AAhpNA"AZAbAjArAzAAA.\(@AStVpA!ξA:A𹃽An?A Fe?A"א?A>*Ay<2AL::ANRBAy<JAL:RANR٘i)I9Y JSB=JJJJ&K YyX8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028064.723165 s, next control iter: 1743028065.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028065.123165 s.5G~,TGAJ"J*J2J:JBJnJvJAp= m@A>%nm@Ab[~? AAcT&"AApNA"AZAbAjArAzAAAﲵ(@A*:pA"ξA4 :A칃Am?Ae?A@Ր?A_*A<2AWoL::AMBA<JAWoL:RAM٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 224J[C=JJJJ&K Yyj7Z7f8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028065.163165 s, next control iter: 1743028065.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028065.543165 s.IG~,bAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743028065.543268F (some fields omitted in printout)AQo@Ao@A{[~? A脦A T&"AApNA"AZAbAjArAzAAA>G(@Ag#gpAAmS:A㹃Ak?Ae?AԐ?ADH*A<2AnL::AP8BA<JAnL:RAP8٘i)I9Y JJJJ&K Yy b7 7 ?`u?ZSt?ŗ>?)\? I٘i)I9Y J4Q>JJJ&K}> Yyŧ7b78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028066.003165 s, next control iter: 1743028066.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028066.383165 s.%G~,'AA{Gr@Afxr@A[~? AA'T&"AApNA"AZAbAjArAzAAAL(@A1nQ[pAA}XSA⹃A8f?Aoe?Aѐ?A*A8<2AՌL::ABA8<JAՌL:RA٘i)I9Y JQ>JJJ&K> Yy778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028066.403165 s, next control iter: 1743028066.783174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1565", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028066.803165 s.rA,G~,fgAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199722 time: 1743028066.803281F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\t@A3 't@AÈ[~? A^A}+T&"AA,pNA"AZAbAjArAzAAA<(@A^pAAT#A칃A3d?Ale?A`А?A"j03*Aۇ<2AL::ABAۇ<JAL:RA٘i)I9Y JJJJ&K Yy758)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028066.823165 s, next control iter: 1743028067.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028067.223165 s.g3G~,HAA ףp=v@AKZ u@A܈[~? A/A/T&"AASpNA"AZAbAjArAzAAA"1z (@A\ܬpA!ξA傺A񹃽Akc?Ae?A@Dϐ?A3*Aч<2A2uL::A{ڋBAч<JA2uL:RA{ڋ٘i)I9Y Js2<JJJJ&K Yy77{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028067.263165 s, next control iter: 1743028067.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028067.643165 s.v9G~,*AJ"J*J2J:JBJnJvJARw@A?:w@A[~? AA2T&"AA{pNA"AZAbAjArAzAAA[,pQc(@APpA ξAA򹃽Ac?Ae?A ͐?AnPm3*A0LJ<2AJL::A㋺BA0LJ<JAJL:RA㋺٘i)I9Y JY3C=JJJJ&K Yy{78)ZZZBZL?YY*W2W WWW"W ) )FtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1566, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743028067.663165 s, next control iter: 1743028068.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028068.063165 s.@G~,N AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4198442 time: 1743028068.063286F (some fields omitted in printout)Ay@AF1y@A [~? AӃA6T&"AApNA"AZAbAjArAzAAAdz(@A0։etpAA:A󹃽A2d?A |e?A̐?A<*AƼ<2AL::ABAƼ<JAL:RAYV?b?y񹃽G:ٓH m?N->?@\z?` @Vt?`B? ?)V? I٘i)I9Y J}JJJ&K Yy ECj768)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028068.103165 s, next control iter: 1743028068.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028068.483165 s.v_GG~,AJ"J*J2J:JBJnJvJAzG{@AmnLz@A$[~? AA9T&"AApNA"AZAbAjArAzAAA (@A-XpA!ξA:AA'd?A`e?A cː?AT@*Af<2AK::AXBAf<JAK:RAX٘i)I9Y Jg<JJJJ&K YyS7S78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028068.503165 s, next control iter: 1743028068.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1567, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028068.903165 s.MG~,9AA)\|@A$jf|@A=[~? AvA=T&"AApNA"AZAbAjArAzAAA(@Ar;pA"ξADq:A칃Ab?A@"e?Aʐ?A[*A<2AKK::A닺BA<JAKK:RA닺٘i)I9Y J]C=JJJDJ&K Yyb778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028068.943165 s, next control iter: 1743028069.303176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028069.323165 s.vTG~,%TAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743028069.323284F (some fields omitted in printout)Aq= ף~@Av;~@AU[~? AHA@T&"AApNA"AZAbAjArAzAAAK3ӯ(@A{pAA:A㹃A`?AKe?AȐ?A$:*A֝<2AK::AыBA֝<JAK:RAы٘i)I9Y JJJJ&K Yy68)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028069.363165 s, next control iter: 1743028069.723177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1568&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028069.743165 s.W[G~,ioAAQ@A`@Am[~? AA!DT&"AA?pNA"AZAbAjArAzAAAJB(@A pAA[zAṃA]?A`e?Avǐ?A}k*A<2ApK::AoBA<JApK:RAo٘i)I9Y JJJJ&K  8Y 8y77778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028069.763165 s, next control iter: 1743028070.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028070.163165 s.x}bG~,qAJ"J*J2J:JBJnJvJA@AT*@A[~? A삦AGT&"AAfpNA"AZAbAjArAzAAA (@A0gcpAA)ۃA蹃AZ?A e?A'Ɛ?A?1*Af<2AL::A=BAf<JAL:RA=YP?]?y乃!ٓH`Cs?UNG=? ^?Y Tt?e{P`?)P? I٘i)I9Y Jw4JJJ&KQ Yy7{78)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743028070.183165 s, next control iter: 1743028070.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028070.583165 s.hG~,RAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199832 time: 1743028070.583288F (some fields omitted in printout)AHz@AE@A[~? AA(KT&"AApNA"AZAbAjArAzAAAZa1i(@A^6pAA0㝺A񹃽AbY?A@e?AĐ?Ayv3*A%<2AL::AрBA%<JAL:RAр٘i)I9Y JJJJ&K Yy7)77!8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028070.603165 s, next control iter: 1743028070.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1569, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028071.003165 s.w pG~,H4AJ"J*J2J:JBJnJvJA(\@A@A[~? AANT&"AApNA"AZAbAjArAzAAAO(@A: pA!ξA0PAAY?Ae?AÐ?A3*At<2AK::ANBAt<JAK:RAN٘i)I9Y Js2<JJJJ&K Yy77/8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028071.043165 s, next control iter: 1743028071.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028071.423165 s.uvG~,wAAףp= @A`@AΉ[~? AaA/RT&"AApNA"AZAbAjArAzAAAۦe(@ApA ξAd7AAuY?Ae?AF?A13*A{j<2AK::ABA{j<JAK:RA٘i)I9Y JW3B=JJJJ&K Yy{7{7=8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028071.443165 s, next control iter: 1743028071.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1570, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028071.843165 s.|G~,AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743028071.843269F (some fields omitted in printout)AQ@ASQO@A[~? A3AUT&"AApNA"AZAbAjArAzAAAt"(@A8IvpA!ξAU:AAY?Ae?A?Am*A!`<2A6K::AWBA!`<JA6K:RAW٘i)I9Y JoC=JJJJ&K Yy777L8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028071.883165 s, next control iter: 1743028072.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028072.263165 s.G~,AAfffff@A%$6@A[~? AA4YT&"AA+pNA"AZAbAjArAzAAAf|(@AJZpAAn-:AA}Y?Ae?A?AtW*AU<2AgK::AޘBAU<JAgK:RAޘYJ?V?yU:ٓHIy?@N@ۈ =?Ԅ?K)Ut?@S??)J? I٘i)I9Y Jc>JJJ&K Yy77{7Z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028072.283165 s, next control iter: 1743028072.663175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1571., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028072.683165 s.lG~,g+AJ"J*J2J:JBJnJvJAGz@A77'@A[~? AׁA\T&"AARpNA"AZAbAjArAzAAAH(@Avu>pA"ξAu:A빃AW?A@e?A@g?AQ*AK<2A`K::ABAK<JA`K:RA٘i)I9Y J]<JJJJ&K Yyj7j7h8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028072.683165 s, next control iter: 1743028073.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743028073.103165 s.G~,FAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743028073.103299F (some fields omitted in printout)A(\@Aܡa1Z@A/[~? AA9`T&"AAypNA"AZAbAjArAzAAAאۄ(@A U"pAAۊ9A㹃A1U?Ae?A`?Aߨ+*AiA<2A=lK::AkBAiA<JA=lK:RAk٘i)I9Y JJJJ&K Yy FCb7b77w8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028073.143165 s, next control iter: 1743028073.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028073.523165 s.G~,{aAJ"J*J2J:JBJnJvJA= ףp@A}8H@AH[~? A{AcT&"AApNA"AZAbAjArAzAAAFʋn(@AS7pAAxA幃AAR?A_e?A ˻?A*A?7<2A }K::AIBA?7<JA }K:RAI٘i)I9Y JJJJ&K Yy78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028073.563165 s, next control iter: 1743028073.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1572, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028073.943165 s.VdG~,:]|AAQ@A]wb@A`[~? AMApAAҕA﹃AO?Ae?A@~?A#12*A-<2AւK::A/BA-<JAւK:RA/٘i)I9Y JJJJ&K Yyŧ778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028073.983165 s, next control iter: 1743028074.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028074.363165 s.G~,u>AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743028074.363288F (some fields omitted in printout)J"J*J2J:JBJnJvJA̒@A~d@Ax[~? AAjT&"AApNA"AZAbAjArAzAAAl(@ApA!ξAϓAAN?A@e?A3?A\3*A"<2ArK::Ah#BA"<JArK:RAh#YD? Q?y񹃽%ٓH~?@M A=?W?Z @Vt?`yR ?)D? I٘i)I9Y J`2C<JdJJJ&Kݹ Yyj7j798)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028074.403165 s, next control iter: 1743028074.763176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1573", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028074.783165 s.UG~,AAGz@A0@A[~? AA>nT&"AApNA"AZAbAjArAzAAATա'(@A pAAAAN?A`e?A뷐?A3*A<2AMK::A"(BA<JAMK:RA"(٘i)I9Y JJJJ&K Yyŧ7b78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028074.803165 s, next control iter: 1743028075.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028075.203165 s.G~,AJ"J*J2J:JBJnJvJA\(@A= ף@A[~? AÀAqT&"AA=pNA"AZAbAjArAzAAAjf(@A\֕pA ξA|9AAHO?Ae?A?A2*AD<2AK::A5BAD<JAK:RA5٘i)I9Y Jc3<JJJJ&K Yy8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028075.243165 s, next control iter: 1743028075.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028075.623165 s.aG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743028075.623303F (some fields omitted in printout)Ap= ח@An@A[~? AA?uT&"AAepNA"AZAbAjArAzAAAVM(@A]ypA!ξAjń:AAO?A`e?A\?A*A<2AAJ::A>BA<JAAJ:RA>٘i)I9Y JZC=JJJJ&K Yy7798)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028075.643165 s, next control iter: 1743028076.023187 s, wait time: 0.380022 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1574 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028076.043165 s.J "J *J 2J G~:JBJnJ,AvJAQ@A_~@Aي[~? AgAxT&"AApNA"AZAbAjArAzAAA%I(@A]pA"ξAo:AAN?A7e?A?A"^*A<2AJ::A9BA<JAJ:RA9՘I٘i)I9Y JhJJJJ&K Yy8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028076.063165 s, next control iter: 1743028076.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028076.463165 s.NG~,ƤAA33333@A/ʚ@A[~? A9A?|T&"AApNA"AZAbAjArAzAAA] ms(@A[٣ApAAa^M:A빃AL?A@8e?A`Ȳ?AE*A<2AJ::A<$BA<JAJ:RA<$Y>?K?y蹃QM:ٓH@?`M`? I٘i)I9Y Ja+4JJJ&KE Yyj7j78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028076.503165 s, next control iter: 1743028076.863174 s, wait time: 0.360009 s ) tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1575, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028076.883165 s.yG~,<8AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200312 time: 1743028076.883294F (some fields omitted in printout)A{G᜘@A|x@A [~? A AT&"AApNA"AZAbAjArAzAAA8[(@AѫZ%pAAt A湃AI?Ae?A{?A*Ay<2ACJ::AFBAy<JACJ:RAF٘i)I9Y JJJDJ&K Yyŧ7b798)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028076.923165 s, next control iter: 1743028077.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028077.303165 s.SG~,jgSAA(\@Amɪ'@A"[~? AA>T&"AApNA"AZAbAjArAzAAAeK(@A pAAYA빃AF?Ae?A/?A{*A]ۆ<2AJ::A&䊺BA]ۆ<JAJ:RA&䊺٘i)I9Y JJJJ&K  8Y 8y8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028077.343165 s, next control iter: 1743028077.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1576*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028077.723165 s.G~,HnAJ"J*J2J:JBJnJvJA ףp=@A"՟@A:[~? AAT&"AA)pNA"AZAbAjArAzAAAפ=,(@A3pAAuAAE?Ae?A@宐?A63*A:ц<2A J::A%ΊBA:ц<JA J:RA%Ί٘i)I9Y JJJJ&K Yy7778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028077.763165 s, next control iter: 1743028078.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028078.143165 s.R/G~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743028078.143283F (some fields omitted in printout)AR롘@A<@AR[~? AAr(@A#fypA!ξA:AAE?Ae?A?A'I*A<2AJ::AߊBA<JAJ:RAߊ٘i)I9Y JdJJJJ&K Yy77{7?8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028079.003165 s, next control iter: 1743028079.383184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743028079.403165 s.&G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199722 time: 1743028079.403283F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\@A Vj@A[~? A~AT&"AApNA"AZAbAjArAzAAAcw)@Ay}pAA`K:AAE?A e?A˩?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200302 time: 1743028080.663315F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1579, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@Ap̲@A[~? An~A/T&"AA;pNA"AZAbAjArAzAAAƒV0)@AIB)pAAA鹃As>?A>e?A ?A7*A<2AnJ::A BA<JAnJ:RA Y2?%??y鹃A㬹ٓH?LB R elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200422 time: 1743028081.923309F (some fields omitted in printout)Aףp= @Avߡ@A,[~? A}AT&"AApNA"AZAbAjArAzAAAu!:)@AcԩpA!ξA(JAA9?A te?A?AE3*Ak<2A RJ::AoBAk<JA RJ:RAo٘i)I9Y Js2<JJJJ&K Yy7)7;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028081.963165 s, next control iter: 1743028082.323184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743028082.343165 s.<%G~,AAQ@AQhYO@AD[~? A}A"T&"AApNA"AZAbAjArAzAAAq+J{)@AZpA ξAd68AAp:?AAe?AҠ?A 3*Aa<2AI$J::A{BAa<JAI$J:RA{٘i)I9Y Ja3C=JJJJ&K Yy{7j78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028082.363165 s, next control iter: 1743028082.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1581&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028082.763165 s.?+G~,AذAJ"J*J2J:JBJnJvJAfffff@A4D@A][~? A}AT&"AApNA"AZAbAjArAzAAAm#y)@A]\˝pA!ξA[:AA:?Ae?A?A\zò*APW<2AFI::A뇊BAPW<JAFI:RA뇊Y,?9?yi[:ٓHj?L緉@ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199422 time: 1743028083.183273F (some fields omitted in printout)AGz@Ak3@Au[~? A[}AT&"AA&pNA"AZAbAjArAzAAADl:)@AށpA"ξAr:AAn:?ARe?AI?A4MW*A+M<2AI::ABA+M<JAI:RA٘i)I9Y JlJJJJ&K Yy;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028083.223165 s, next control iter: 1743028083.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028083.603165 s.449G~,AJ"J*J2J:JBJnJvJA(\·@A9:Z@A[~? A.}AT&"AAMpNA"AZAbAjArAzAAA3)@A8epAAf~:AA8?A@%e?A`?AN*AC<2AI::AQwBAC<JAI:RAQw٘i)I9Y JJJJ&K Yyb7ŧ78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028083.643165 s, next control iter: 1743028084.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1582 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028084.023165 s.Z@G~,{AA= ףp@AdT@A[~? A}AT&"AAtpNA"AZAbAjArAzAAAK)@A~ JpAA*A~9A칃A6?A qe?A`?A (*A9<2AI::AYBA9<JAI:RAY٘i)I9Y JJJJ&K Yy7778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028084.063165 s, next control iter: 1743028084.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028084.443165 s.6FG~,:]AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200152 time: 1743028084.443296F (some fields omitted in printout)AQ@A^@A[~? A|AT&"AApNA"AZAbAjArAzAAAJuY)@A'.pAAaAA+3?Ae?A p?Ay*A/<2AlI::A8BA/<JAlI:RA8٘i)I9Y JJJJ&K Yyj7j7<8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028084.483165 s, next control iter: 1743028084.843175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1583, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028084.863165 s.+MG~,>7AA̼@Ad\qqd@A֌[~? A|AT&"AApNA"AZAbAjArAzAAAH8)@AcCpAAAA0?Ae?A(?Az)2*A %<2AI::ABA %<JAI:RAY'?M3?y򹃽RٓH`?$L ;??(`Vt?TR ?)'? I٘i)I9Y JQ4JJDJ&Kܹ  8Y 8y8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028084.903165 s, next control iter: 1743028085.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028085.283165 s.5RTG~,RAJ"J*J2J:JBJnJvJAGz@AY/@A[~? Aw|AT&"AApNA"AZAbAjArAzAAA ~)@A3apA!ξA7AA/?A e?A 㗐?A$Q3*A<2A:I::ABA<JA:I:RA٘i)I9Y Js2<JJJJ&K Yyb778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028085.323165 s, next control iter: 1743028085.683176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1584., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028085.703165 s.ӺZG~,mAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200372 time: 1743028085.703302F (some fields omitted in printout)A\(@A0@A[~? AI|AT&"AApNA"AZAbAjArAzAAA )@ANipAAvAA/?Ae?A?A83*A<2AɿI::AABA<JAɿI:RAA٘i)I9Y JJJJ&K Yy777=%8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028085.743165 s, next control iter: 1743028086.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028086.123165 s.7aG~,]AJ"J*J2J:JBJnJvJAp= @A *n@A[~? A|AsT&"AA8pNA"AZAbAjArAzAAAl )@A\pA ξAx9AAX0?A`Ne?A]?AJj2*A<2AI::A&BA<JAI:RA&٘i)I9Y Ja3<JJJJ&K Yy7S738)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028086.163165 s, next control iter: 1743028086.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028086.543165 s.IhG~,âAAQØ@AØ@A7[~? A{AT&"AA_pNA"AZAbAjArAzAAA 7 )@A$AʢpA!ξA͆:AA0?A=e?A@?A*A<2AgI::A/BA<JAgI:RA/٘i)I9Y JXC=JJJJ&K YyZ7Z7A8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028086.583165 s, next control iter: 1743028086.943174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1585, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028086.963165 s.vnG~,褽AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200142 time: 1743028086.963304F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333Ř@A&s,Ę@AO[~? A{AeT&"AApNA"AZAbAjArAzAAA )@ADpA"ξAK:AA/?Ae?Aג?A*\*A<2A:RI::A)*BA<JA:RI:RA)*Y ?/-?yo:ٓH ?L c;?`?!( Wt? iS??) ? I٘i)I9Y J\JJJJ&K Yy)7ŧ7>P8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028087.003165 s, next control iter: 1743028087.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028087.383165 s.uG~,'AA{GƘ@A霟xƘ@Ag[~? A{AT&"AApNA"AZAbAjArAzAAA?o*g\ )@AikpAA0G:AA-?A@e?A?A B*A~<2AXSI::AYBA~<JAXSI:RAY٘i)I9Y JJJJ&K Yy77^8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028087.423165 s, next control iter: 1743028087.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1586", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028087.803165 s.wA|G~,{gAJ"J*J2J:JBJnJvJA(\Ș@ABC'Ș@A[~? Ae{AWT&"AApNA"AZAbAjArAzAAA )@AၴEOpAA3LyA﹃A*?Ae?A I?AϠ*Aޅ<2AbI::ABAޅ<JAbI:RA􉺙٘i)I9Y JJJJ&K Yy ICb7l8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028087.843165 s, next control iter: 1743028088.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028088.223165 s.gG~,HAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200302 time: 1743028088.223326F (some fields omitted in printout)A ףp=ʘ@A\ɘ@A[~? A7{AT&"AApNA"AZAbAjArAzAAA; )@A7X%s3pAA^AA'?A`je?A?Aб*Aԅ<2A6qI::AԉBAԅ<JA6qI:RAԉ٘i)I9Y JJJJ&K Yy77>{8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028088.263165 s, next control iter: 1743028088.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028088.643165 s.vЉG~,*)AJ"J*J2J:JBJnJvJAR˘@A֩=˘@A[~? A {AGT&"AA#pNA"AZAbAjArAzAAA0cb )@A@pAA AA&?AZe?A?A;.<3*Aʅ<2AoI::ABAʅ<JAoI:RA٘i)I9Y JJJJ&K Yy{7{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028088.663165 s, next control iter: 1743028089.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1587, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028089.063165 s.G~,V DAA͘@A fL1͘@Aȍ[~? AzAT&"AAJpNA"AZAbAjArAzAAA 9 )@AppA!ξA8|AAc%?Ae?Ay?Aơ3*A<2AoWI::ABA<JAoWI:RAY?j'?yy|ٓH`?K`ef;?̷?`l Xt?`O?)? I٘i)I9Y Js2<JRJJJ&K۹ Yy77j78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028089.103165 s, next control iter: 1743028089.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028089.483165 s.v_G~,^AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743028089.483291F (some fields omitted in printout)AzGϘ@ALNΘ@A[~? AzA7T&"AAqpNA"AZAbAjArAzAAA>9)@A#DpA ξAKoAA%?A`e?A8?A\3*Aw<2A-I::AĉBAw<JA-I:RAĉ٘i)I9Y Jo3C=JJJJ&K YyZ7SI7=8)ZZZBZL?YY*W2W WWW"W ) )FFF]q:Waiting for Gazebo time sync: latest Gz time: 1743028089.503165 s, next control iter: 1743028089.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1588, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028089.903165 s.ȝG~,yAA)\И@AwgИ@A[~? AzAT&"AApNA"AZAbAjArAzAAA:I)@A2>pA!ξA`q":AA<&?A^e?A`?A*A^<2AaH::AщBA^<JAaH:RAщ٘i)I9Y J\JJJJ&K Yy77778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028089.923165 s, next control iter: 1743028090.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028090.323165 s.tG~,AJ"J*J2J:JBJnJvJAq= ףҘ@Asۄ;Ҙ@A[~? ATzA%T&"AApNA"AZAbAjArAzAAA0١^)@A*:vpAAo:AA$&?Aqe?Aඈ?AC*AN<2ADH::A>։BAN<JADH:RA>։٘i)I9Y JJJJ&K Yy{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028090.363165 s, next control iter: 1743028090.723176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1589&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028090.743165 s.WG~,`AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199752 time: 1743028090.743263F (some fields omitted in printout)AQԘ@ANӘ@A([~? A&zAT&"AApNA"AZAbAjArAzAAATXk)@A͞`pA"ξA@:AA$?A e?As?ATV*AO<2AH::AʉBAO<JAH:RAʉ٘i)I9Y Jb<JJJJ&K Yy77>8)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028090.763165 s, next control iter: 1743028091.143174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743028091.163165 s.u}G~,qAJ"J*J2J:JBJnJvJA֘@AF'K՘@AA[~? AyAT&"AA pNA"AZAbAjArAzAAAUV<)@AppAAJ:AAr"?AAe?A`.?A4*A_<2AiH::ABA_<JAiH:RAY?c!?y󹃽:ٓH@?@eK+|:??SVt?@ s@?@?)? I٘i)I9Y Jd4JJJ&K Yy7{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028091.183165 s, next control iter: 1743028091.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028091.583165 s.G~,RAAHzט@AmEט@AY[~? AyAT&"AA4pNA"AZAbAjArAzAAA1)@AH+UpAAuA󹃽A?A e?A`脐?AB*Aw<2AdH::A׏BAw<JAdH:RA׏٘i)I9Y JJJJ&K Yy77778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028091.623165 s, next control iter: 1743028091.983174 s, wait time: 0.360009 s)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1590, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028092.003165 s.x G~,L4AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743028092.003283F (some fields omitted in printout)A(\٘@A-ؘ@Aq[~? AyAT&"AA[pNA"AZAbAjArAzAAA_)@Aߜk9pAA쇺AA?Ae?A@?A9)2*Az<2AH::ArBAz<JAH:RAr٘i)I9Y JJJJ&K Yyb77@8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028092.023165 s, next control iter: 1743028092.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028092.423165 s.uG~,nAAףp= ۘ@A=]ݡژ@A[~? ApyAtU&"AApNA"AZAbAjArAzAAAr;)@AJpAAzAAr?Ae?A`?A~3*Ap<2AH::AbBAp<JAH:RAb٘i)I9Y JJJJ&K  8Y 8y77{7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028092.463165 s, next control iter: 1743028092.823173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1591, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028092.843165 s.G~,5AJ"J*J2J:JBJnJvJAQܘ@AjP4Pܘ@A[~? ACyAU&"AApNA"AZAbAjArAzAAA=)@ApA!ξATDAA*?A@e?A ?A榝3*Af<2A(H::AcBAf<JA(H:RAcԘI٘i)I9Y Js2<JJJDJ&K Yy JCb778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028092.883165 s, next control iter: 1743028093.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028093.263165 s.G~,PAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199752 time: 1743028093.263304F (some fields omitted in printout)Afffffޘ@A[ݘ@A[~? AyA_U&"AApNA"AZAbAjArAzAAA}`)@AB)9pA ξAt8AA?A@e?A ?AY^ 3*A\<2AH::AoBA\<JAH:RAoY3??y8ٓHM? K]^w:?Q?MYt?`7??)3? I٘i)I9Y Jg3C=JJJJ&KK Yy7@'8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028093.303165 s, next control iter: 1743028093.663176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1592., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028093.683165 s.lG~,ckAJ"J*J2J:JBJnJvJAGz@AFߘ@AҎ[~? AxA U&"AApNA"AZAbAjArAzAAA83F)@ApA!ξA!`:AA?Ate?A~?A}ϲ*AR<2AgnH::A{BAR<JAgnH:RA{٘i)I9Y JYJJJJ&K Yy{7j758)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028093.683165 s, next control iter: 1743028094.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743028094.103165 s.G~,AA(\@AmS<.Z@A[~? AxAIU&"AApNA"AZAbAjArAzAAAs)@AήpA"ξAڟ:AA?Ae?Aa}?A6mV*AH<2A@RH::A4{BAH<JA@RH:RA4{٘i)I9Y JmJJJJ&K Yy777C8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028094.143165 s, next control iter: 1743028094.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028094.523165 s.G~,{AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199722 time: 1743028094.523266F (some fields omitted in printout)A= ףp@A֥F@A[~? AxAU&"AAFpNA"AZAbAjArAzAAA7B6)@Ax4pAAvy:AA?Ae?A@|?AC1K*A><2ALH::A5jBA><JALH:RA5j٘i)I9Y JJJJ&K Yy77@R8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028094.563165 s, next control iter: 1743028094.923174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1593, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028094.943165 s.UdG~,5]AAQ@A=_\@A[~? A`xA1U&"AAmpNA"AZAbAjArAzAAA7)@A,AjwpAAO_9AA8?Ae?A z?AJv%*A4<2ALYH::ALBA4<JALYH:RAL٘i)I9Y JJJJ&K Yy)7ŧ7`8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028094.983165 s, next control iter: 1743028095.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028095.363165 s.G~,y>AJ"J*J2J:JBJnJvJA@AXᖏd@A2[~? A3xAU&"AApNA"AZAbAjArAzAAA#N&=)@A[pAAT&AAQ?A ?e?Ay?Aq*A*<2AiH::A",BA*<JAiH:RA",YZ ??ye\&ٓH? J@ό):?}?`mVt?`D ?)Z ? I٘i)I9Y Jܡ4JJJ&K޹ Yy7777n8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028095.383165 s, next control iter: 1743028095.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1594&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028095.783165 s.VG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200502 time: 1743028095.783320F (some fields omitted in printout)AGz@A'@AJ[~? AxAU&"AApNA"AZAbAjArAzAAA^j)@A%@pAAAA?AWe?A@Tx?A2*A!<2AynH::ABA!<JAynH:RA٘i)I9Y JJJJ&K Yy77@}8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028095.823165 s, next control iter: 1743028096.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028096.203165 s.G~, AJ"J*J2J:JBJnJvJA\(@A@Ac[~? AwAU&"AApNA"AZAbAjArAzAAABb)@A*e$pA!ξAAA?Ae?Aw?Aߖ3*A<2A}]H::ABA<JA}]H:RA٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 223Js2<JJJJ&K Yy{7{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028096.243165 s, next control iter: 1743028096.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028096.623165 s.U G~,T'AAp= @A|n@A{[~? AwA"U&"AA pNA"AZAbAjArAzAAA")@AZpAA?A A?Ae?Au?A 3*A <2A7H::A}BA <JA7H:RA}٘i)I9Y JJJJ&K Yy ŧ7 ŧ7 8)Z ZZBZ L?YY *W2W W W W"W  ) )FFF tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1595 , header.stamp.nsec: 0] ; $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) Waiting for Gazebo time sync: latest Gz time: 1743028096.663165 s, next control iter: 1743028097.023175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028097.043165 s.G~,BAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743028097.043287F (some fields omitted in printout)AQ@A @A[~? A}wAr&U&"AA0pNA"AZAbAjArAzAAAr )@AkpAAT9A A?A e?At?AC2*A<2A H::A BA<JA H:RA ٘i)I9Y JQ>JJJ&K> Yyb77A8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028097.063165 s, next control iter: 1743028097.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028097.463165 s.QG~,Ӥ]AA33333@A@A[~? APwA)U&"AAWpNA"AZAbAjArAzAAAd)@AABrpAA:A A?Ae?AZs?A *A#<2A*G::A$BA#<JA*G:RA$YT??yv :ٓH? Jw`9?@?Q%Xt? Q?`?)T? I٘i)I9Y J]Q>JJJ&Kp> Yy7778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028097.503165 s, next control iter: 1743028097.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1596, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028097.883165 s.yG~,@xAJ"J*J2J:JBJnJvJA{G@A_ux@AÏ[~? A#wAW-U&"AA~pNA"AZAbAjArAzAAAH ū)@ANеpA"ξA:AA?A e?A`r?AY*A9<2AG::ABA9<JAG:RA٘i)I9Y JdC<JJJJ&K Yy KC778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028097.923165 s, next control iter: 1743028098.283180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028098.303165 s.X$G~,gAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743028098.303289F (some fields omitted in printout)A(\@A'@Aۏ[~? AvA0U&"AApNA"AZAbAjArAzAAA&!#>)@A9L0pAA@:AA?Ae?Ap?AWy>*A^<2AG::ABA^<JAG:RA٘i)I9Y JJJJ&K Yy77B8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028098.343165 s, next control iter: 1743028098.703178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1597*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028098.723165 s.+G~,HAJ"J*J2J:JBJnJvJA ףp=@Am@A[~? AvA;4U&"AApNA"AZAbAjArAzAAATn)@A9L~pAA_!AA ?A`pe?A o?A4*Aۄ<2AUG::A舺BAۄ<JAUG:RA舺٘i)I9Y JJJJ&K Yy77{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028098.763165 s, next control iter: 1743028099.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028099.143165 s.S/2G~,)AAR@A%@A [~? AvA7U&"AApNA"AZAbAjArAzAAAb)@ATobpAAcAA; ?Ae?ATn?A1X*Aф<2AcG::AɈBAф<JAcG:RAɈ٘i)I9Y JJJJ&K Yy7778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028099.163165 s, next control iter: 1743028099.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028099.563165 s.8G~,= AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199542 time: 1743028099.563278F (some fields omitted in printout)A@AeQE1@A$[~? AnvA;U&"AApNA"AZAbAjArAzAAA#VG)@A,]GpAAϞAA[?Ae?Am?AzA3*ADŽ<2AAG::AOBADŽ<JAAG:RAOY? ?y$ٓH w?`I@"9?(? $@Xt?@S?)? I٘i)I9Y Ju3JJJ&Kٹ YyZ7Z7B8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028099.603165 s, next control iter: 1743028099.963174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1598, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028099.983165 s.?G~,AAzG@Aoj@A<[~? AAvA>U&"AAApNA"AZAbAjArAzAAAz#)@AlYt+pA!ξA6wA A?Ae?Ak?Aڠ3*A<2AG::A BA<JAG:RA ٘i)I9Y Js2<JJJJ&K  8Y 8y77 8)ZZZBZL?YY*W2W WWW"W ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028100.023165 s, next control iter: 1743028100.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028100.403165 s.&FG~,AJ"J*J2J:JBJnJvJA)\@Aŏ1w@AT[~? AvAAU&"AAipNA"AZAbAjArAzAAA'0)@AR1pAAPA A?A e?Aj?AR3*A<2AAG::ABA<JAAG:RA٘i)I9Y JJJJ&K Yy77778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028100.443165 s, next control iter: 1743028100.803175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1599, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028100.823165 s.LG~,4AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743028100.823286F (some fields omitted in printout)Aq= ף@A0;@Al[~? AuApEU&"AApNA"AZAbAjArAzAAA-OW)@Ad͝pAAl):A A?Ae?A_i?A*A$<2A+yG::AȈBA$<JA+yG:RAȈ٘i)I9Y JJJDJ&K Yy)7ŧ7C)8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028100.843165 s, next control iter: 1743028101.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028101.243165 s.SG~,uOAJ"J*J2J:JBJnJvJAQ@Ae @A[~? AuAHU&"AApNA"AZAbAjArAzAAA>)@Ad pAAz:AA|?Ae?A`"h?A;D*A<<2AWG::AP̈BA<<JAWG:RAP̈٘i)I9Y JJJJ&K Yyŧ7b778)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028101.263165 s, next control iter: 1743028101.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028101.663165 s.ZG~,qjAtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1600, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@Ao.@A[~? AuAPLU&"AApNA"AZAbAjArAzAAA)@A t}pA"ξA[:AA,?A`me?Af?A<6S*Ad<2AJG::ABAd<JAJG:RAY??y~ӏ:ٓH_?I`Hi;9? R? % Xt? Q?@?)? I٘i)I9Y JbC<J`2JJJ&K Yyb77E8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028101.663165 s, next control iter: 1743028102.063177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743028102.083165 s.DaG~, SAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199832 time: 1743028102.083295F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@A.QE@A[~? A_uAOU&"AApNA"AZAbAjArAzAAAjL0c)@ArjpAA 9AA?Ae?A`e?AL1*A<2ARG::A?BA<JARG:RA?٘i)I9Y JJJJ&K Yy777CT8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028102.123165 s, next control iter: 1743028102.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028102.503165 s.gG~,P4AA(\@A%@A͐[~? A2uA/SU&"AA,pNA"AZAbAjArAzAAA$8x)@A'{epAA2AʹAA?Ae?A@bd?A9%*Aق<2AcG::ABAق<JAcG:RA٘i)I9Y JJJJ&K Yy LC77b8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028102.523165 s, next control iter: 1743028102.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1601, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028102.923165 s.:nG~,AJ"J*J2J:JBJnJvJAףp= @A@A[~? AuAVU&"AASpNA"AZAbAjArAzAAA~Ç )@AT6jpAAՉAAH?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199742 time: 1743028103.343292F (some fields omitted in printout)AQ@ALO@A[~? AtA ZU&"AAzpNA"AZAbAjArAzAAA>V}!)@AԥUOpAA6A A?A`e?A@a?A#23*AHo<2AcG::A0ZBAHo<JAcG:RA0Z٘i)I9Y JJJJ&K Yyb77C8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028103.383165 s, next control iter: 1743028103.743176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1602&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028103.763165 s.5{G~,AJ"J*J2J:JBJnJvJAfffff@A2@A[~? AtA|]U&"AApNA"AZAbAjArAzAAA nU!)@A%D3pA!ξA=AA?Ae?A`?AB3*Ame<2A/DG::Ay[BAme<JA/DG:RAy[Y? ?y a>ٓH?iI8?? Yt?`G?)? I٘i)I9Y Js2<JwJJJ&Koڹ Yyj7Z78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028103.783165 s, next control iter: 1743028104.163174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743028104.183165 s.˂G~,o AAGz @AޫV& @A-[~? A}tA`U&"AApNA"AZAbAjArAzAAAq>")@A&\NpAAB8AA?A@e?An_?A)Y3*A[<2AG::AgBA[<JAG:RAg٘i)I9Y JJJJ&K Yy{7{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028104.223165 s, next control iter: 1743028104.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028104.603165 s.64G~,&AvPublished command to Gazebo (printed only once in a while):J"J( dropWeightState: 1*J2J6 propOmegaAction: 0.000000:JBJ: rudderAngleAction: 0.052360nJ> elevatorAngleAction: 0.000000vJ< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743028104.603276F (some fields omitted in printout)A(\ @Aa2U0Z @AE[~? APtAXdU&"AApNA"AZAbAjArAzAAA)")@A*'pAAPf:AA?Ae?A`4^?A;ܲ*AQ<2AxF::ASsBAQ<JAxF:RASs٘i)I9Y JJJJ&K Yy777D8)ZZZBZL?YY*W2W WWW"W ) )FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743028104.623165 s, next control iter: 1743028105.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1603 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028105.023165 s.ZG~,{AAA= ףp @Ael @A][~? A#tAgU&"AApNA"AZAbAjArAzAAAsc#)@AرOpA"ξA :AA?Ae?A\?AU*AG<2A_F::AsrBAG<JA_F:RAsr٘i)I9Y J'˲<JJJJ&K Yy{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028105.043165 s, next control iter: 1743028105.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028105.443165 s.1ÖG~,%]\AJ"J*J2J:JBJnJvJAQ@A>s@Av[~? AsA4kU&"AA<2AF::A!aBA><JAF:RA!a٘i)I9Y JJJJ&K Yy{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028105.463165 s, next control iter: 1743028105.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1604, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028105.863165 s.+G~,y>wAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200272 time: 1743028105.863301F (some fields omitted in printout)A@A*6ud@A[~? AsAnU&"AAcpNA"AZAbAjArAzAAA,]$)@A YpAAD@9AA?A`+e?A{Z?A"*AN4<2AF::ACBAN4<JAF:RACY?3?y@9ٓH?4IUI8?@?Wt?(??)? I٘i)I9Y Jߎ4JJJ&K Yy77j7E8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028105.903165 s, next control iter: 1743028106.263175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028106.283165 s.6RG~,AJ"J*J2J:JBJnJvJAGz@A~@A[~? AsArU&"AApNA"AZAbAjArAzAAA%)@ApAAŊ,AA?A e?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199822 time: 1743028107.123294F (some fields omitted in printout)Ap= @A2ın@A֑[~? ABsAxU&"AApNA"AZAbAjArAzAAARV=&)@APeWpA!ξAŎAA{?A"e?A@V?AB3*A<2AF::ABA<JAF:RA٘i)I9Y Js2<JJJJ&K  8Y 8y77{7E8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028107.143165 s, next control iter: 1743028107.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028107.543165 s.IG~,AAQ@AM@A[~? AsAT|U&"AApNA"AZAbAjArAzAAA,!&)@Aw߷ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743028108.383287F (some fields omitted in printout)A{G@Axρx@A[~? ArA,U&"AAMpNA"AZAbAjArAzAAAQ9e')@A7pAA:AAV?A@۽e?AS?A$*A<2A`F::ABA<JA`F:RA٘i)I9Y JJJJ&K Yy{7j7E+8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028108.423165 s, next control iter: 1743028108.783177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1607", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028108.803165 s.tAG~,og3AJ"J*J2J:JBJnJvJA(\@A{i'@A6[~? ArAU&"AAtpNA"AZAbAjArAzAAAS}()@A'%;pA"ξA :AAm?A Se?AQ?AFW*A<2A(MF::ABA<JA(MF:RA٘i)I9Y JbC<JJJDJ&K Yy7ŧ798)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028108.843165 s, next control iter: 1743028109.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028109.223165 s.gG~,HNAA ףp=@A:;@AO[~? AbrAU&"AApNA"AZAbAjArAzAAA5))@AjpAA[::AAL?A[e?AP?Aa;*A"<2AOF::ABA"<JAOF:RA٘i)I9Y JJJJ&K Yyŧ7G8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028109.263165 s, next control iter: 1743028109.623179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028109.643165 s.vG~,*iAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200262 time: 1743028109.643293F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@A1@Ag[~? A5rAnU&"AApNA"AZAbAjArAzAAAv,))@A2ipAA<*)@A o4pAAB1iAA?A e?A%N?Al\*A҃<2A_mF::A‡BA҃<JA_mF:RA‡YH??yiٓH?xH |8?,? Xt?(&M?)H? I٘i)I9Y J׎4JJJ&Kڹ Yyb77d8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028110.103165 s, next control iter: 1743028110.463176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028110.483165 s.J r_G~"J*J2J,A:JBJnJvJAzG#@ALN"@A[~? AqACU&"AApNA"AZAbAjArAzAAA*)@Ag|pAAמAA?Ae?A@L?A@G3*AɃ<2AjF::A󮇺BAɃ<JAjF:RA󮇺٘i)I9Y JJJJ&K Yy7777r8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028110.523165 s, next control iter: 1743028110.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1609, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028110.903165 s.G~,͹AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743028110.903275F (some fields omitted in printout)A)\$@Af$@A[~? AqAU&"AA7pNA"AZAbAjArAzAAA`+)@ABL?apA!ξArAAL?A?e?A K?A 3*A`<2AQF::AVBA`<JAQF:RAV٘i)I9Y Js2<JJJJ&K Yy7F8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028110.943165 s, next control iter: 1743028111.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028111.323165 s.wG~,)AJ"J*J2J:JBJnJvJAq= ף&@A<|;&@Aǒ[~? AqAU&"AA^pNA"AZAbAjArAzAAAc܇ +)@AEpAAj1AA?Ae?AyJ?AgI3*A<2AA'F::A[BA<JAA'F:RA[٘i)I9Y JJJJ&K Yy78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028111.363165 s, next control iter: 1743028111.723177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1610&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028111.743165 s.WG~,~AAQ(@AAJ'@Aߒ[~? ATqAU&"AApNA"AZAbAjArAzAAA^A,)@A*pAA|/:AA4?Ae?ACI?A3*Aɫ<2AE::A‡BAɫ<JAE:RA‡٘i)I9Y JJJJ&K Yy7778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028111.783165 s, next control iter: 1743028112.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028112.163165 s.t}G~,q AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199492 time: 1743028112.163279F (some fields omitted in printout)J"J*J2J:JBJnJvJA*@A_ѭ)@A[~? A(qAU&"AApNA"AZAbAjArAzAAA-)@AO'pAAn:AA?Ae?A H?AEF*A<2AE::AZƇBA<JAE:RAZƇYIڑ??y(:ٓH?aH `7??&Zt?@-S??)Iڑ? I٘i)I9Y JdJJJ&Kf Yy7{7G8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028112.203165 s, next control iter: 1743028112.563176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028112.583165 s.G~,R%AAHz+@AE+@A[~? ApATU&"AApNA"AZAbAjArAzAAAzbl-)@AFQpA"ξA6:AA?A`e?A@F?AeP*AV<2ATE::A#BAV<JATE:RA#٘i)I9Y J_C<JJJJ&K Yy NCŧ7b78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028112.623165 s, next control iter: 1743028112.983175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1611, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028113.003165 s.z G~,U4@AJ"J*J2J:JBJnJvJA(\-@A}^,@A'[~? ApAU&"AApNA"AZAbAjArAzAAA%#;.)@AvpAA 9AAA?Ae?AE?Aj.*A<2AE::A̟BA<JAE:RA̟٘i)I9Y JJJJ&K Yyb778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028113.043165 s, next control iter: 1743028113.403181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743028113.423165 s.uG~,[AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743028113.423312F (some fields omitted in printout)Aףp= /@AJ_.@A?[~? ApA%U&"AA pNA"AZAbAjArAzAAAsg.)@A!pAAqعAAV?AFe?A YD?Aܲ*A<2AE::ABA<JAE:RA٘i)I9Y JJJJ&K Yy7777G8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028113.463165 s, next control iter: 1743028113.823179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1612, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028113.843165 s.G~,uAJ"J*J2J:JBJnJvJAQ0@A\P0@AX[~? AtpAU&"AAGpNA"AZAbAjArAzAAA]_/)@AΡpAAXA A߭?Aye?AC?Aq^2*Aw{<2AVE::AcBAw{<JAVE:RAc٘i)I9Y JJJJ&K Yy{7{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028113.863165 s, next control iter: 1743028114.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028114.263165 s.!$G~,IؐAAfffff2@Aj 1@Ap[~? AHpAU&"AAnpNA"AZAbAjArAzAAA"/)@A}pAA屚AArޭ?A +e?AA?A3*Aq<2A E::AcUBAq<JA E:RAcUYԑ??yٓHq?G f7?'?`Zt?` elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199492 time: 1743028114.683278F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz4@AGV~3@A[~? ApA^U&"AApNA"AZAbAjArAzAAA0)@AH.kpA!ξA7AABޭ?A`Le?A@?A3*Ah<2AE::A>WBAh<JAE:RA>W٘i)I9Y Js2<JJJJ&K  8Y 8yŧ7b7G8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028114.683165 s, next control iter: 1743028115.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743028115.103165 s.1G~,AA(\5@A4Z5@A[~? AoAƹU&"AApNA"AZAbAjArAzAAA%1)@AOpAA" 9AAޭ?Ae?Ax??A2*AX^<2AE::AcBAX^<JAE:RAc٘i)I9Y JJJJ&K Yy7{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028115.143165 s, next control iter: 1743028115.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028115.523165 s.7G~,{AJ"J*J2J:JBJnJvJA= ףp7@AbG7@A[~? AoA-U&"AApNA"AZAbAjArAzAAA1)@A-4pAA@|k:AA.߭?Ae?A C>?Aa*AT<2AWnE::AnBAT<JAWnE:RAn٘i)I9Y JJJJ&K Yy778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028115.563165 s, next control iter: 1743028115.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1614, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028115.943165 s.Xd>G~,B]AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743028115.943324F (some fields omitted in printout)AQ9@A9]8@AГ[~? AoAU&"AA pNA"AZAbAjArAzAAA82)@A]NpA"ξA:AAޭ?A`?e?A =?A3U*AJ<2AHTE::AmBAJ<JAHTE:RAm٘i)I9Y J*˲<JJJJ&K YyH-8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028115.983165 s, next control iter: 1743028116.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028116.363165 s.EG~,}>AJ"J*J2J:JBJnJvJA:@And:@A[~? AhoAU&"AA1pNA"AZAbAjArAzAAA2)@A'pAAK(o:A Aܭ?A@e?A ;?AD*AJA<2APE::A\BAJA<JAPE:RA\YΑ?ڭ?y (o:ٓH G?`G`g`7??0"@Yt? M??)Α? I٘i)I9Y J3JJJ&K Yy{7{7;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028116.403165 s, next control iter: 1743028116.763177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1615", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028116.783165 s.YKG~,2AAGz<@AU1~<@A[~? A;oAbU&"AAXpNA"AZAbAjArAzAAA \3)@A {pAA'!9AA.ڭ?Aje?A:?Ai(*A7<2A]E::A>BA7<JA]E:RA>٘i)I9Y JJJDJ&K Yy77I8)ZZZBZL?YY*W2W WWW"W ) )FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743028116.803165 s, next control iter: 1743028117.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028117.203165 s.SG~,MAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743028117.203314F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(>@A4h=@A[~? AoAU&"AA~pNA"AZAbAjArAzAAA@3)@A!>pAA;2A AQ׭?A ɶe?A]9?Al*A&.<2AmE::ABA&.<JAmE:RA٘i)I9Y JJJJ&K Yy{7IX8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028117.223165 s, next control iter: 1743028117.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028117.623165 s.YYG~,egAAp= ?@AWn?@A0[~? AnA.U&"AApNA"AZAbAjArAzAAA@l4)@A?pAAAA&խ?A@նe?A$8?A33*A$<2AqE::ABA$<JAqE:RA٘i)I9Y JJJJ&K Yy OC77f8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028117.643165 s, next control iter: 1743028118.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1616 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028118.043165 s.`G~,ÂAJ"J*J2J:JBJnJvJAQA@ANA@AH[~? AnAU&"AApNA"AZAbAjArAzAAAu5)@Ar pA!ξA댺AA1ԭ?A`Re?A@6?Al3*A<2Ax_E::AKBA<JAx_E:RAK٘i)I9Y Js2<JJJJ&K Yy{7j7t8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028118.063165 s, next control iter: 1743028118.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028118.463165 s.VgG~,褝AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743028118.463266F (some fields omitted in printout)A33333C@A8B@A`[~? AnAU&"AApNA"AZAbAjArAzAAACZ5)@A|upAA=AAUԭ?ALe?A5?AV؂3*AB<2A9E::ABAB<JA9E:RAYȑ??խ?ycٓH@?KG@B`6? ?`e@[t?g<@?)ȑ? I٘i)I9Y J`JJJ&Kٹ Yyŧ7b7J8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028118.483165 s, next control iter: 1743028118.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1617, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028118.883165 s.4zmG~,3AJ"J*J2J:JBJnJvJA{GD@A|xD@Ax[~? A\nA_U&"AApNA"AZAbAjArAzAAA|766)@A %ZpAA9AAԭ?Ae?A4?Aͫ1*A<2A E::AwBA<JA E:RAw٘i)I9Y JJJJ&K Yy778)ZZZBZL?YY*W2W WWW"W ) )FFF]x:Waiting for Gazebo time sync: latest Gz time: 1743028118.923165 s, next control iter: 1743028119.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028119.303165 s.UtG~,sgAA(\F@A6&F@A[~? A0nAU&"AAApNA"AZAbAjArAzAAA⪍ 6)@AD>Q?pAAd:AAխ?A e?AQ3?A!'*A<2AD::AQBA<JAD:RAQ٘i)I9Y JJJJ&K Yyŧ7b78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028119.343165 s, next control iter: 1743028119.703179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1618*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028119.723165 s.{G~,HAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743028119.723278F (some fields omitted in printout)A ףp=H@AQ9G@A[~? AnA)U&"AAhpNA"AZAbAjArAzAAA Y7)@AA$pA"ξA| :AA ԭ?A@e?A2?A4U*AB<2AKD::A]BAB<JAKD:RA]٘i)I9Y J_C<JJJJ&K Yyb77K8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028119.743165 s, next control iter: 1743028120.123174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743028120.143165 s.^/G~,(* AARI@A&+I@A[~? AmAU&"AApNA"AZAbAjArAzAAAޠ7)@AapAA@3:A Aѭ?Ae?A`0?Ai8*A<2AD::ABA<JAD:RA٘i)I9Y JJJJ&K Yy)7ŧ78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028120.163165 s, next control iter: 1743028120.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028120.563165 s.G~,= $AJ"J*J2J:JBJnJvJAK@A(-\V1K@Aٔ[~? AmAU&"AApNA"AZAbAjArAzAAAx}8)@AXpAAA Aϭ?Ae?A/?AK *A-<2AD::A݆BA-<JAD:RA݆Y Ñ?mϭ?y ٓH? Gz6? & ?-@Yt?`w#?) Ñ? I٘i)I9Y JW4JJJ&Kݹ Yy778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028120.603165 s, next control iter: 1743028120.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1619, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028120.983165 s.G~,>AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200232 time: 1743028120.983299F (some fields omitted in printout)AzGM@AySL@A[~? A}mAVU&"AApNA"AZAbAjArAzAAAq[J9)@Aik=pAAJnAAh̭?A>e?A`q.?A *Aׂ<2A D::ABAׂ<JA D:RA٘i)I9Y JJJJ&K Yy7S7J8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028121.003165 s, next control iter: 1743028121.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028121.403165 s.&G~,YAJ"J*J2J:JBJnJvJA)\N@AtwN@A [~? AQmAU&"AApNA"AZAbAjArAzAAA\9)@AȣVpAA\ǞAAʭ?Ae?A:-?AdL3*A΂<2AD::ABA΂<JAD:RA٘i)I9Y JJJJ&K Yyj7j78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028121.443165 s, next control iter: 1743028121.803177 s, wait time: 0.360012 s)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1620, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028121.823165 s.G~,)tAAq= ףP@A3SZ;P@A![~? A$mAU&"AA*pNA"AZAbAjArAzAAA2:)@AP;)pA!ξAlAAʭ?Age?A`,?A3*AĂ<2A$D::ABAĂ<JA$D:RA٘i)I9Y Js2<JJJJ&K Yy7778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028121.863165 s, next control iter: 1743028122.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028122.243165 s.G~,mAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199832 time: 1743028122.243280F (some fields omitted in printout)J"J*J2J:JBJnJvJAQR@AQ@A9[~? AlAU&"AAQpNA"AZAbAjArAzAAAP":)@AzpAAAA}ʭ?ADe?A*?AA3*A޺<2AD::AݳBA޺<JAD:RAݳ٘i)I9Y JJJJ&K   8Y  8y PC77K 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028122.283165 s, next control iter: 1743028122.643180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028122.663165 s.G~,qAtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1621, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)AT@A`๗S@AQ[~? AlAU&"AAxpNA"AZAbAjArAzAAA xV;)@AhToepAA5:AA˭?A`e?A)?AQ*A6<2A)D::ABA6<JA)D:RAYC?ɭ?y76:ٓH>?F;r+6?@$?[t?F??)C? I٘i)I9Y J贴JJJ&KM߹ Yyb7b7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028122.683165 s, next control iter: 1743028123.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028123.083165 s.DG~, SAJ"J*J2J:JBJnJvJAHzU@AEU@Ai[~? AlAGU&"AApNA"AZAbAjArAzAAA{3;)@Aw"EJpA"ξAgJ:AAʭ?A2e?A@n(?AF*A<2A`D::ABĆBA<JA`D:RABĆ٘i)I9Y J+˲<JJJJ&K Yy77 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028123.103165 s, next control iter: 1743028123.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028123.503165 s.G~,+4AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199522 time: 1743028123.503277F (some fields omitted in printout)A(\W@AgV@A[~? ArlAU&"AApNA"AZAbAjArAzAAA@y<)@Aa /pAAӋ:AAyɭ?A`e?A8'?AnM*A <2AUD::ABA <JAUD:RA٘i)I9Y JJJJ&K Yy{7{7K/ 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028123.543165 s, next control iter: 1743028123.903175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1622, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028123.923165 s.6G~,AJ"J*J2J:JBJnJvJAףp= Y@A X@A[~? AFlA V&"AApNA"AZAbAjArAzAAAֲڞ =)@A{kpAAK9A Aƭ?A`e?A&?Au+*A<2A^D::A=BA<JA^D:RA=٘i)I9Y JJJJ&K Yy)7b7= 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028123.943165 s, next control iter: 1743028124.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028124.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200492 time: 1743028124.763324F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff\@A [@Aɕ[~? AkAV&"AA:pNA"AZAbAjArAzAAA )i/>)@AGg,pAARcAA?Ae?A`#?Auw2*A<2AxD::A3bBA<JAxD:RA3bY?í?yRٓH?MF`5?P? Zt?jQ@?)? I٘i)I9Y Jd4JJDJ&K,׹ Yy7)7KZ 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028124.803165 s, next control iter: 1743028125.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028125.183165 s.G~,^KAAGz^@AOT6]@A[~? AkA2 V&"AAapNA"AZAbAjArAzAAAֺ->)@ArSpAAީAAJ?AOe?A _"?AD3*Ax<2AmD::AzTBAx<JAmD:RAzT٘i)I9Y JJJJ&K Yyb77h 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028125.223165 s, next control iter: 1743028125.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028125.603165 s.54G~,fAJ"J*J2J:JBJnJvJA(\_@ABOZ_@A[~? AkAV&"AApNA"AZAbAjArAzAAAR?)@ASpA!ξA0AA%?A@me?A -!?A7i3*An<2AwMD::AVBAn<JAwMD:RAV٘i)I9Y J+K2<JJJJ&K Yy77v 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028125.643165 s, next control iter: 1743028126.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1624 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028126.023165 s.ZG~,{AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743028126.023287F (some fields omitted in printout)A= ףpa@A;jLa@A[~? AhkAV&"AApNA"AZAbAjArAzAAA.?)@A"ߌpAA*9A A?A 9e?A@?A2*Ad<2A D::AcBAd<JA D:RAc٘i)I9Y JJJJ&K Yy777L 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028126.063165 s, next control iter: 1743028126.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028126.443165 s.2G~,)]AJ"J*J2J:JBJnJvJAQc@Admlb@A)[~? AAAd@Aaxwdd@AA[~? AkAV&"AApNA"AZAbAjArAzAAA& vA)@A#VpA"ξAU:AA?Age?A?AS*AQ<2AC::AlBAQ<JAC:RAlY??yr:ٓH`? >Ft5?i?@% [t?@JS??)? I٘i)I9Y J.˲<JaJJJ&K Yy{7j7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028126.903165 s, next control iter: 1743028127.263175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028127.283165 s.6RG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743028127.283287F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzf@Adwf@AY[~? AjAV&"AA#pNA"AZAbAjArAzAAADOA)@A.O ;pAAqi:AA?A Ie?Ad?AA*AKH<2AC::AZBAKH<JAC:RAZ٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 222JJJJ&K Yy QCZ7SI7M 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028127.323165 s, next control iter: 1743028127.683177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1626., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028127.703165 s.ۺG~,&AA\(h@ACԳg@Aq[~? AjAvV&"AAIpNA"AZAbAjArAzAAA*B)@A5 pA#ξAK9AA?Ae?A.?As*A><2AC::Ac=BA><JAC:RAc=٘i)I9Y J<<JJJJ&K Yy{7j7 8)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028127.763165 s, next control iter: 1743028128.103176 s, wait time: 0.340011 s rAdjusting time to match Gazebo time: 1743028128.123165 s.8G~J,aA"J*J2J:JBJnJvJAp= i@A&ni@A[~? AjA"V&"AAppNA"AZAbAjArAzAAATOQB)@AaRpA"ξA?9AA(?Ae?A?A=t*Ap5<2AC::ABAp5<JAC:RA٘i)I9Y J3C=JQ>JJJ&K> Yy77 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028128.163165 s, next control iter: 1743028128.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028128.543165 s.IG~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743028128.543275F (some fields omitted in printout)AQk@Akk@A[~? A^jA5&V&"AApNA"AZAbAjArAzAAA.-,MC)@AxypAAҚAA ?Ae?A ?A: 3*A+<2AC::ABA+<JAC:RA٘i)I9Y JQ>JJJ&K> YyS77N 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028128.583165 s, next control iter: 1743028128.943175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1627, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028128.963165 s.yG~,=AJ"J*J2J:JBJnJvJA33333m@Al@A[~? A2jA)V&"AApNA"AZAbAjArAzAAA;zC)@AopA!ξAA!A ?Aoe?A ?AI3*A"<2AC::ABA"<JAC:RAY?]?yFٓH?E@'C5?$?`[t?_Q`?)? I٘i)I9Y J_3<JWJJJ&K/չ Yyb77 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028129.003165 s, next control iter: 1743028129.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028129.383165 s.G~,'XAA{Gn@Aj/xn@Aі[~? AjA,V&"AApNA"AZAbAjArAzAAA/qD)@AngpAAnԹA"AN?A@ge?A@b?A.~3*A<2AC::ABA<JAC:RA٘i)I9Y JJJJ&K Yy77 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028129.423165 s, next control iter: 1743028129.783176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1628&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028129.803165 s.sAG~,jgsAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743028129.803290F (some fields omitted in printout)A(\p@A┹&p@A[~? AiAR0V&"AA pNA"AZAbAjArAzAAAjE)@A5 apAAP 9A#A涭?A .e?A3?AF1*Ah<2AC::AtBAh<JAC:RAt٘i)I9Y JJJJ&K   8Y  8yŧ7ŧ7N 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028129.843165 s, next control iter: 1743028130.203175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028130.223165 s.g#G~,HAA ףp=r@ATq@A[~? AiA3V&"AA2pNA"AZAbAjArAzAAAѮNE)@Ao!^~pAAT:A$A?A ,e?A@?AЙ**A<2A`pC::ABA<JA`pC:RA٘i)I9Y JJJJ&K Yyj7Z7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028130.263165 s, next control iter: 1743028130.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028130.643165 s.x)G~,*AJ"J*J2J:JBJnJvJARs@AGw;s@A[~? AiA7V&"AAYpNA"AZAbAjArAzAAA%F)@AA\cpA"ξAn:AA ?A@e?A?A~S*Ae<2A _C::ABAe<JA _C:RA٘i)I9Y JcC<JJJJ&K YyZ7" 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028130.663165 s, next control iter: 1743028131.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1629, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028131.063165 s.0G~,V AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743028131.063282F (some fields omitted in printout)Au@AP1u@A1[~? ATiAm:V&"AApNA"AZAbAjArAzAAAYF)@Ai\HpAAYd-:AA޳?Aວe?A?A%5*A<2AcC::ABA<JAcC:RAY,?y?yS-:ٓH?E`4? &?Zt?E??),? I٘i)I9Y Jh+4JJJ&K_ Yyj7j7O1 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028131.103165 s, next control iter: 1743028131.463176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028131.483165 s.q_7G~,AJ"J*J2J:JBJnJvJAzGw@A7Wv@AI[~? A(iA=V&"AApNA"AZAbAjArAzAAAHG)@A ^-pA#ξA:AA?A e?A`i?Ai#*A<2ALsC::A݅BA<JALsC:RA݅٘i)I9Y Jd<JJJJ&K Yy{7{7? 8)ZZZBZL?YY*W2W WWW"W ) )FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743028131.503165 s, next control iter: 1743028131.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1630, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028131.903165 s.=G~,AA)\x@Ascx@Aa[~? AhA)AV&"AApNA"AZAbAjArAzAAAhG)@AUbpA"ξA=sAAU?A_e?A@5?A~s*A9<2ABC::AOBA9<JABC:RAO٘i)I9Y J`3C=JJJJ&K Yy77M 8)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743028131.923165 s, next control iter: 1743028132.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028132.323165 s.qDG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743028132.323285F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ףz@Azr;z@Ay[~? AhADV&"AApNA"AZAbAjArAzAAA2kH)@AWipAA*A!A?A7e?A@?A\Q3*Aց<2AS|C::A뭅BAց<JAS|C:RA뭅٘i)I9Y JJJJ&K Yy RCŧ77N\ 8)ZZZBZL?YY*W2W WWW"W ) )FFF]j:Waiting for Gazebo time sync: latest Gz time: 1743028132.343165 s, next control iter: 1743028132.723174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1631*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028132.743165 s.WKG~,m/AAQ|@AYP{@A[~? AhAGV&"AApNA"AZAbAjArAzAAA]xH)@A+}=qpA!ξAdWgA$A?A}e?A ?A3*A[́<2AYbC::ABA[́<JAYbC:RA٘i)I9Y J`3<JJJDJ&K Yy7777j 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028132.783165 s, next control iter: 1743028133.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028133.163165 s.v}RG~,qJAJ"J*J2J:JBJnJvJA~@A[ }@A[~? AwhA@KV&"AAApNA"AZAbAjArAzAAA?I)@Ȧs{pAAA%A?AYe?A ?A73*AÁ<2AB8C::A-BAÁ<JAB8C:RA-Yy?Ƭ?y%FuٓH`R?0E+4?-? \t?X?)y? I٘i)I9Y JhJJJ&Kٹ Yyj7j7x 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028133.183165 s, next control iter: 1743028133.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028133.583165 s.XG~,ReAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743028133.583285F (some fields omitted in printout)AHz@AsE@A[~? AKhANV&"AAhpNA"AZAbAjArAzAAAq J)@A:pAA<:A&A?A@(e?Aw ?Afo*AV<2A C::A…BAV<JA C:RA…٘i)I9Y JJJJ&K Yy7777O 8)ZZZBZL?YY*W2W WWW"W ) )FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743028133.603165 s, next control iter: 1743028133.983176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1632 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028134.003165 s. `G~,j4AJ"J*J2J:JBJnJvJA(\@Ae@Aٗ[~? AhAQV&"AApNA"AZAbAjArAzAAAJ)@AЕpA"ξA :A%Aଭ?AMe?AI ?AG*Aް<2AB::AŅBAް<JAB:RAŅ٘i)I9Y J*˲<JJJJ&K Yy)7ŧ7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028134.043165 s, next control iter: 1743028134.403183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743028134.423165 s.ufG~,AAףp= @Ag񡂙@A[~? AgAUUV&"AApNA"AZAbAjArAzAAA\OCK)@AppAAى:AAv?Ae?A@?AiMJ*Av<2AB::ABAv<JAB:RA٘i)I9Y JJJJ&K Yy77 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028134.463165 s, next control iter: 1743028134.823175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1633, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028134.843165 s.lG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199782 time: 1743028134.843291F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AGjO@A [~? AgAXV&"AApNA"AZAbAjArAzAAA7K)@AB&UpA#ξAl9AA?A 4e?A?AlN(*A<2AEB::A{BA<JAEB:RA{٘i)I9Y Je<JJJJ&K Yyb77O 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028134.883165 s, next control iter: 1743028135.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028135.263165 s.tG~,AAfffff@Awe @A![~? AgA \V&"AApNA"AZAbAjArAzAAA{+fL)@AU:pAAfAA?Ae?A`?AP˲*Aǔ<2A'B::A~BAǔ<JA'B:RA~Yš??yCٓH$?@D錿X4?`B4? Zt?,>@?)š? I٘i)I9Y J4JJJ&Kٹ Yy777 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028135.303165 s, next control iter: 1743028135.663175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1634., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028135.683165 s.lzG~,VAJ"J*J2J:JBJnJvJAGz@A'.@A9[~? AogAh_V&"AA*pNA"AZAbAjArAzAAADCЛL)@ApA"ξAAA?Ae?A`?A$Ј2*Ap<2AC::AadBAp<JAC:RAad٘i)I9Y J_3JJJJ&K Yyj7Z7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028135.683165 s, next control iter: 1743028136.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743028136.103165 s.G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743028136.103276F (some fields omitted in printout)A(\‰@AJ4Z@AQ[~? ABgAbV&"AAQpNA"AZAbAjArAzAAAA M)@A} pAA[A%A\?A ce?AP?Aj*3*A<2AB::A_WBA<JAB:RA_W٘i)I9Y JJJJ&K Yy77P 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028136.143165 s, next control iter: 1743028136.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028136.523165 s.G~,{!AJ"J*J2J:JBJnJvJA= ףp@A AJ@Ai[~? AgAfV&"AAwpNA"AZAbAjArAzAAA'xN)@AopA!ξAU*A'AA?A|e?A@#?A)3*Ax<2AwB::APZBAx<JAwB:RAPZ٘i)I9Y Jc3JJJJ&K Yy7777 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028136.563165 s, next control iter: 1743028136.923176 s, wait time: 0.360011 s ) tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1635, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028136.943165 s.UdG~,5]<AAQ@ATka@A[~? AfAxiV&"AApNA"AZAbAjArAzAAAޫN)@Av1pAAH9A(AҢ?AHe?A?Af!2*A)o<2AB::AgBA)o<JAB:RAg٘i)I9Y JJJJ&K Yy77 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028136.983165 s, next control iter: 1743028137.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028137.363165 s.G~,p>WAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743028137.363304F (some fields omitted in printout)A̎@A yd@A[~? AfAlV&"AApNA"AZAbAjArAzAAAIa;=O)@Aq7OpAA9`u:A)A0?A+e?A?Ag*Ae<2AB::AqBAe<JAB:RAqY锑?6?y%bu:ٓH*?`Dw 4?7?!\t?N??)锑? I٘i)I9Y J顴JJJ&K޹   8Y  8y SC77Q 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028137.403165 s, next control iter: 1743028137.763175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1636", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028137.783165 s.YG~,rAAGz@Ara@A[~? AfA,pV&"AApNA"AZAbAjArAzAAAJO)@ARopA"ξA\:A&A?A e?A 9?A R*AM\<2AlB::AroBAM\<JAlB:RAro٘i)I9Y J,˲<JJJJ&K Yyb77 8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028137.823165 s, next control iter: 1743028138.183181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743028138.203165 s.G~,AJ"J*J2J:JBJnJvJA\(@Ar0@Aɘ[~? AffAsV&"AApNA"AZAbAjArAzAAA 'J_P)@Aj~pAALd:AAĠ?Ace?A ?An>*AR<2AjB::A7]BAR<JAjB:RA7]٘i)I9Y JJJJ&K Yyj7Z7$ 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028138.243165 s, next control iter: 1743028138.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028138.623165 s.UG~,TAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199712 time: 1743028138.623278F (some fields omitted in printout)Ap= ד@AlYn@A[~? A:fAvV&"AA9pNA"AZAbAjArAzAAA:P)@A{cpA#ξA8AA ?Ae?Av?A`*AI<2AxB::A?BAI<JAxB:RA?٘i)I9Y J]<JJJJ&K Yyb77R3 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028138.663165 s, next control iter: 1743028139.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1637 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028139.043165 s.G~,AJ"J*J2J:JBJnJvJAQ@A,@A[~? AfA9zV&"AA`pNA"AZAbAjArAzAAA֑Q)@AHpA"ξAl?AA8?Ae?A ?A_^*Ab@<2AB::A!BAb@<JAB:RA!٘i)I9Y Ja3C=JJJJ&K Yy7777A 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028139.083165 s, next control iter: 1743028139.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028139.463165 s.RG~,פAA33333@A:ʖ@A[~? AeA}V&"AApNA"AZAbAjArAzAAABYTR)@A7,.pAA,A$A%?A@ e?A?A3*A7<2AB::A BA7<JAB:RA YY??yܛٓH`0?'De3?@??[t?@EqS?)Y? I٘i)I9Y J]4JJJ&Kӹ Yyj7O 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028139.483165 s, next control iter: 1743028139.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1638, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028139.883165 s.yG~,/AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200342 time: 1743028139.883301F (some fields omitted in printout)A{Gᘙ@A?x@A)[~? AeAV&"AApNA"AZAbAjArAzAAAPAR)@AEr-pA!ξA/A)AI?A{e?AX?A3*A-<2AwB::A;BA-<JAwB:RA;јI٘i)I9Y Je3<JJJJ&K Yy777Q^ 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028139.923165 s, next control iter: 1743028140.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028140.303165 s.TG~,ogAA(\@AW&@AA[~? AeADV&"AApNA"AZAbAjArAzAAA6S)@A_YpAAFŹA*A?Ape?A?A]Jv3*AT$<2AQB::A BAT$<JAQB:RA ٘i)I9Y JJJJ&K Yyb7b7l 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028140.343165 s, next control iter: 1743028140.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1639*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028140.723165 s.G~,H.AJ"J*J2J:JBJnJvJA ףp=@A՛@AY[~? A^eAV&"AApNA"AZAbAjArAzAAA> S)@AkpAA-N9A+A?A8e?A?AWF1*A<2A$B::A.BA<JA$B:RA.٘i)I9Y JJJDJ&K Yy77z 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028140.763165 s, next control iter: 1743028141.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028141.143165 s.T/G~,)IAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743028141.143284F (some fields omitted in printout)AR띙@A81$'@Aq[~? A3eAV&"AA!pNA"AZAbAjArAzAAAC jYT)@A۷pAA.:AA5?A:e?AU?A-*A<2AB::A?BA<JAB:RA?٘i)I9Y JJJJ&K Yyŧ7b7R 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028141.163165 s, next control iter: 1743028141.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028141.563165 s.J "J *J 2J :J BJ nJ vJ G~,V dAA@AjG1@A[~? AeALV&"AAHpNA"AZAbAjArAzAAA]c\T)@AppA"ξA͗:A&A1?Ae?A?AP*A-<2AKA::AjBA-<JAKA:RAjYr??y :ٓH5?@D @m3? A?# \t?R? ?)r? I٘i)I9Y J_C<JXJJJ&K Yy77 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028141.603165 s, next control iter: 1743028141.963181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1640, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028141.983165 s.G~,~AAzG@Ah`ߠ@A[~? AdAV&"AAnpNA"AZAbAjArAzAAA{U)@A pAA&:AA?AМe?A ?A,2*A<2AA::ABA<JAA:RA٘i)I9Y JJJJ&K Yy TC77 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028142.023165 s, next control iter: 1743028142.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028142.403165 s.J "J *J 2J :J BJ &G~nJvJ,͙AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199262 time: 1743028142.403265F (some fields omitted in printout)A)\@A3g@A[~? AdAV&"AApNA"AZAbAjArAzAAA? V)@AzeSrpA#ξA]YAA!?A,e?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743028143.663310F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1642, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A:d@A[~? A+dAV&"AA pNA"AZAbAjArAzAAAW)@A{`"pA!ξAaA,A^?Ae?A@,܏?A3*Aـ<2AA::AYBAـ<JAA:RAYYパ?0?y)`?bٓH 2;?C 0ʍ!3?jK?`x@]t?@8L?)パ? I٘i)I9Y J`3<Jg+JJJ&Kӹ Yy777T 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028143.683165 s, next control iter: 1743028144.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028144.083165 s.DG~,SAJ"J*J2J:JBJnJvJAHz@A0`E@A[~? AcAVV&"AA0pNA"AZAbAjArAzAAA|IQX)@AL6?pAAA-Aю?A]e?A@ُ?A.3*AsЀ<2AA::A5BAsЀ<JAA:RA5٘i)I9Y JJJJ&K Yy{7j7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028144.123165 s, next control iter: 1743028144.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028144.503165 s.G~,H4 AA(\@A/-@A1[~? AcAV&"AAVpNA"AZAbAjArAzAAAMX)@ApAAM/B:A.AX?A.e?A׏?A*Aǀ<2AA::AȄBAǀ<JAA:RAȄ٘i)I9Y JJJJ&K Yy777 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028144.543165 s, next control iter: 1743028144.903179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1643, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028144.923165 s.>G~,;AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743028144.923313F (some fields omitted in printout)Aףp= @Aw$$@AH[~? AcAV&"AA}pNA"AZAbAjArAzAAAttY)@ApA"ξAܸ:A-A?AXe?A1Տ?A 3H*A<2AgA::AZ˄BA<JAgA:RAZ˄٘i)I9Y J#˲<JJJJ&K   8Y  8y)7ŧ7V 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028144.963165 s, next control iter: 1743028145.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028145.343165 s.<G~,UAAQ@ApO@A`[~? A|cAWV&"AApNA"AZAbAjArAzAAA@Z)@AIspAAˇ:A%A?Ae?Aҏ?AOtG*A{<2AvA::ABA{<JAvA:RA٘i)I9Y JJJJ&K Yy777 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028145.383165 s, next control iter: 1743028145.743176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1644&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028145.763165 s.5G~,pAJ"J*J2J:JBJnJvJAfffff@A>+@Ax[~? APcAV&"AApNA"AZAbAjArAzAAAccZ)@A*"JpA#ξAr9AA'?ADe?A|Џ?A%*AD<2AA::AsBAD<JAA:RAsY~?d?y+׽9ٓH@?iCq\2?N?`m[t?U7?`?)~? I٘i)I9Y Ji<Jw4JJJ&Kܹ Yyj7j7& 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028145.783165 s, next control iter: 1743028146.163175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028146.183165 s."G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743028146.183289F (some fields omitted in printout)AGz@AK6@A[~? A$cAV&"AApNA"AZAbAjArAzAAAe'[)@A ͑pAAGAAE?A࢙e?AΏ?A²*A<2AA::A+BA<JAA:RA+٘i)I9Y JJJJ&K YyT5 8)ZZZBZL?YY*W2W WWW"W ) )FFF]p:Waiting for Gazebo time sync: latest Gz time: 1743028146.203165 s, next control iter: 1743028146.583191 s, wait time: 0.380026 s rAdjusting time to match Gazebo time: 1743028146.603165 s.B4)G~,ݚAJ"J*J2J:JBJnJvJA(\³@A}AZ@A[~? AbAWV&"AApNA"AZAbAjArAzAAA-[)@A/sfpA"ξA}A&A六?A ƙe?Aˏ?Aו2*Aޘ<2AÙA::AIjBAޘ<JAÙA:RAIj٘i)I9Y Jd3JJJJ&K Yy77C 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028146.643165 s, next control iter: 1743028147.003181 s, wait time: 0.360016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1645 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028147.023165 s.Z0G~,|AA= ףp@A-%I@A[~? AbAV&"AA>pNA"AZAbAjArAzAAAI\)@Aq'LpAASA-A?Afe?Amɏ?A<3*A<2AA::A]BA<JAA:RA]٘i)I9Y JJJJ&K Yy UC{7j7Q 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028147.063165 s, next control iter: 1743028147.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028147.443165 s.46G~,1]AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200152 time: 1743028147.443311F (some fields omitted in printout)AQ@ArMd@Aؚ[~? AbAV&"AAepNA"AZAbAjArAzAAAq\)@Ąt1pA!ξA#A/A?A |e?AǏ?A3*AT<2AlA::AqaBAT<JAlA:RAqa٘i)I9Y Jc3JJJJ&K Yy77U` 8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028147.463165 s, next control iter: 1743028147.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1646, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028147.863165 s.+=G~,u>AA̸@A_^}d@A[~? AubATV&"AApNA"AZAbAjArAzAAAl])@A/pAAqg9A0A+?AGe?A ď?A_2*A|<2A@A::AYnBA|<JA@A:RAYnYgx??y0Dh9ٓH`dF?CM 2?gT?P ^t? ,??)gx? I٘i)I9Y JvJJJ&Kع Yy{7j7n 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028147.883165 s, next control iter: 1743028148.263175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028148.283165 s.:RDG~,AJ"J*J2J:JBJnJvJAGz@AϠ@A[~? AJbAV&"AApNA"AZAbAjArAzAAAzB(])@ApAAz:A1A?A@.e?A|?Aw*As<2A|A::AxBAs<JA|A:RAx٘i)I9Y JJJJ&K Yy)7ŧ7| 8)ZZZBZL?YY*W2W WWW"W ) )FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743028148.323165 s, next control iter: 1743028148.683179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1647*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028148.703165 s.ӺJG~,-AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199222 time: 1743028148.703261F (some fields omitted in printout)A\(@AY@A [~? AbAV&"AApNA"AZAbAjArAzAAA(a5^)@AӜipA"ξAH:A-A愭?Ae?A(?AqnQ*Ajj<2A~A::AuBAjj<JA~A:RAu٘i)I9Y J$˲<JJJDJ&K Yyb77W 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028148.743165 s, next control iter: 1743028149.103174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743028149.123165 s.6QG~,XGAJ"J*J2J:JBJnJvJAp= ׽@A *n@A8[~? AaAOV&"AApNA"AZAbAjArAzAAAqV?_)@AppAA^:A$A ?Ane?A`ѽ?A};*A7a<2ATA::AfcBA7a<JATA:RAfc٘i)I9Y JJJJ&K Yy)7b7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028149.163165 s, next control iter: 1743028149.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028149.543165 s.IXG~,bAAQ@A_~@AP[~? AaAV&"AA&pNA"AZAbAjArAzAAAJ_)@ApA#ξAo8AAM?Ae?A w?A*AX<2AA::A5FBAX<JAA:RA5F٘i)I9Y Jk<JJJJ&K Yy)7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028149.583165 s, next control iter: 1743028149.943174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1648, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028149.963165 s.|^G~,}AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743028149.963287F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333@A@Ah[~? AaAV&"AAMpNA"AZAbAjArAzAAA)WA`)@AyopAAyEA"A}?Ae?A?A]I*AN<2AA::A'BAN<JAA:RA'Yr??y QEٓH`K?B`䣍82?@[?{ \t?2H?)r? I٘i)I9Y JS4JJJ&Kչ Yy7777W 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028150.003165 s, next control iter: 1743028150.363182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743028150.383165 s.eG~,AA{G™@Aqpx™@A[~? AoaAHV&"AAspNA"AZAbAjArAzAAA(#f`)@A]AevpA"ξAE)A,Ay{?A e?A`ƶ?A'3*AE<2AA::ABAE<JAA:RA٘i)I9Y Jb3JJJJ&K Yy77 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028150.423165 s, next control iter: 1743028150.783175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1649", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028150.803165 s.tAlG~,ogAJ"J*J2J:JBJnJvJA(\ę@A: &ę@A[~? ADaAV&"AApNA"AZAbAjArAzAAAڰsca)@A,'\pA!ξAA1Az?Awe?At?A~3*A<<2A- A::AE BA<<JA- A:RAE ٘i)I9Y Jc3C=JJJJ&K Yy)7ŧ7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028150.843165 s, next control iter: 1743028151.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028151.223165 s.gsG~,HAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743028151.223293F (some fields omitted in printout)A ףp=ƙ@A3#ř@A[~? AaAV&"AApNA"AZAbAjArAzAAAh{a)@AֆApAA|A2Az?Aje?A&?Ann3*A@3<2A @::ABA@3<JA @:RA٘i)I9Y JJJJ&K Yy777V 8)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028151.243165 s, next control iter: 1743028151.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028151.643165 s.syG~,)AJ"J*J2J:JBJnJvJ)ARǙ@A%S;Ǚ@AǛ[~? A`A>V&"AApNA"AZAbAjArAzAAA-5b{b)@AG&pAA2:A3A{?A4e?A گ?Asw0*A)<2A@::A BA)<JA@:RA ٘i)I9Y JJJJ&K Yyj7Z7 8)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1650, header.stamp.nsec: 0$ temperature: nan salinity: nanF, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743028151.663165 s, next control iter: 1743028152.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028152.063165 s.G~,[ AAə@Aq1ə@Aߛ[~? A`AV&"AApNA"AZAbAjArAzAAA$sc)@A{K pAA,2:AA{?A :e?A?Ab/*A <2AA@::A:'BA <JAA@:RA:'Yl?Dy?y.1:ٓHQ?B 1?]?u"]t?@E&R?@?)l? I٘i)I9Y JHJJJ&Kݹ Yy VCj7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028152.103165 s, next control iter: 1743028152.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028152.483165 s.v_G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199452 time: 1743028152.483275F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG˙@AzMʙ@A[~? A`AV&"AA4pNA"AZAbAjArAzAAAfc)@ApA"ξAM:A-Az?A@đe?A`:?AeHN*A<2A@::ABA<JA@:RA٘i)I9Y JaC<JJJJ&K   8Y  8yŧ7ŧ7V 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028152.523165 s, next control iter: 1743028152.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1651, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028152.903165 s.ȍG~,9AA)\̙@Aj,a̙@A[~? Aj`A3V&"AA[pNA"AZAbAjArAzAAASX8d)@ApA#ξAd:A$ASx?A֑e?A䨏?AV/*A_<2AL@::ABA_<JAL@:RA٘i)I9Y JaC=JJJJ&K Yyb7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028152.943165 s, next control iter: 1743028153.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028153.323165 s.qG~,TAJ"J*J2J:JBJnJvJAq= ףΙ@Aͮ{;Ι@A'[~? A>`AV&"AApNA"AZAbAjArAzAAA`^Kd)@ApAAvwA!Awu?A@1e?A?A*AD<2A@::AI郺BAD<JA@:RAI郺٘i)I9Y JJJJ&K Yy7)7) 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028153.363165 s, next control iter: 1743028153.723174 s, wait time: 0.360009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1652&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028153.743165 s.WG~,moAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200712 time: 1743028153.743339F (some fields omitted in printout)AQЙ@A+Ktϙ@A?[~? A`AV&"AApNA"AZAbAjArAzAAAȳ@Ze)@A+pA"ξAb|A(Ar?Aoe?A6?Aj %1*AP<2A@::ÃBAP<JA@:RÃ٘i)I9Y J\3<JJJJ&K Yy77W7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028153.783165 s, next control iter: 1743028154.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028154.163165 s.w}G~,qAJ"J*J2J:JBJnJvJAҙ@AHCљ@AW[~? A_A%V&"AApNA"AZAbAjArAzAAA.M6e)@AUWpAAA1A:q?A;e?A`䡏?A"[3*A <2A@::A仃BA <JA@:RA仃٘i)I9Y JJJJ&K Yy)7ŧ7E 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028154.183165 s, next control iter: 1743028154.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028154.583165 s.G~,RAAHzә@A5Eә@Ao[~? A_AuV&"AApNA"AZAbAjArAzAAA5t)|f)@AdlpA!ξA\A4Ap?Aye?A?A3*A<2A@::AƺBA<JA@:RAƺ٘i)I9Y J`3JJJJ&K Yy77T 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028154.603165 s, next control iter: 1743028154.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1653, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028155.003165 s.v G~,D4AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743028155.003306F (some fields omitted in printout)A(\ՙ@A1@ ԙ@A[~? A_AV&"AApNA"AZAbAjArAzAAAy< g)@Au_7RpAA-TA5ANq?ARe?AL?A%3*A/<2A_@::AŃBA/<JA_@:RAŃ٘i)I9Y JJJJ&K Yy7)7Yb 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028155.043165 s, next control iter: 1743028155.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028155.423165 s.uG~,AAףp= י@Aա֙@A[~? Ae_AV&"AABpNA"AZAbAjArAzAAA$zg)@A:7pAA+H:A6Aq?A@&e?A?A!*A<2AE4@::AO҃BA<JAE4@:RAO҃٘i)I9Y JJJJ&K Yyŧ77p 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028155.463165 s, next control iter: 1743028155.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1654, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028155.843165 s.ݼG~,AJ"J*J2J:JBJnJvJAQؙ@AeOؙ@A[~? A9_AdV&"AAipNA"AZAbAjArAzAAA..h)@A]MpA"ξAK:A4Aq?ATe?A?A4OH*AR<2A%@::A_ԃBAR<JA%@:RA_ԃИI٘i)I9Y J0˲<JJJJ&K Yy7777 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028155.863165 s, next control iter: 1743028156.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028156.263165 s.(G~,fAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200132 time: 1743028156.263306F (some fields omitted in printout)Afffffڙ@Aٙ@AΜ[~? A_AW&"AApNA"AZAbAjArAzAAA7bh)@AM̔pAA:A-Ap?Ae?A`f?ARiD*A<2A}@::AƃBA<JA}@:RAƃYa?m?y(:ٓH\?`A2' N1?@h?@ ]t?P?`?)a? I٘i)I9Y J3JJJ&KW Yy7ŧ7X 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028156.303165 s, next control iter: 1743028156.663177 s, wait time: 0.360012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 16552, header.stamp.nsec: 02$ temperature: nan2 salinity: nan2, density: 1025.0000002 values[0]: nan2F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028156.683165 s.J "J *J 2J :J BJ nJ vJ lG~,s+AAGzܙ@A%"ۙ@A[~? A^AW&"AApNA"AZAbAjArAzAAA Pi)@A= pA#ξA+`9A$Am?AEe?A?A "*Aw<2A5@::ABAw<JA5@:RA٘i)I9Y Ja<JJJDJ&K YyZ7Z7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028156.683165 s, next control iter: 1743028157.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743028157.103165 s.G~,FAA(\ݙ@AVn2Zݙ@A[~? A^AR W&"AApNA"AZAbAjArAzAAA^ei)@ApAAbA%Aj?A`e?A?A*Ae<2A*@::ABAe<JA*@:RA٘i)I9Y JJJJ&K Yy WCb77 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028157.123165 s, next control iter: 1743028157.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028157.523165 s.G~,|aAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199652 time: 1743028157.523280F (some fields omitted in printout)A= ףpߙ@Av>ߙ@A[~? A^A W&"AApNA"AZAbAjArAzAAAQEBrj)@ApA"ξA<A.AZh?Ae?Ak?A(Y2*AS<2AG2@::AsBAS<JAG2@:RAs٘i)I9Y Jb3JJJJ&K Yy7X 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028157.543165 s, next control iter: 1743028157.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1656, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028157.943165 s.XdG~,B]|AAQ@Ae@A.[~? A`^AW&"AA*pNA"AZAbAjArAzAAACTk)@AKpAAA5A(g?AYe?A?A3*AjA<2A%@::AAJ"J*J2J:JBJnJvJA@Aɮd@AF[~? A4^A<W&"AAPpNA"AZAbAjArAzAAAYk)@A@~pA!ξAA7A#g?A`le?AԊ?A'3*A/<2A@::A2lBA/<JA@:RA2lY\?fh?y5ٓHa?@|Aj`1?q? ^t?C ?)\? I٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 221JX3JwJJJ&Kҹ Yy{7Z7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028158.383165 s, next control iter: 1743028158.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1657&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028158.783165 s.aG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743028158.783296F (some fields omitted in printout)AGz@A0@A^[~? A ^AW&"AAwpNA"AZAbAjArAzAAA$l)@AyJcpAA09AAg?A`8e?A?A_2*A<2A?::A0yBA<JA?:RA0y٘i)I9Y JJJJ&K Yyj7j7` 8)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028158.823165 s, next control iter: 1743028159.183180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028159.203165 s.G~,AJ"J*J2J:JBJnJvJA\(@A@Av[~? A]AW&"AApNA"AZAbAjArAzAAA4[ёl)@AjIpAA?~:A9Ah?A@"e?A`F?A*AT <2AO?::A*BAT <JAO?:RA*٘i)I9Y JQ>JJJ&K> Yyb77 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028159.243165 s, next control iter: 1743028159.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028159.623165 s.XG~,aAAp= @Aon@A[~? A]A%W&"AApNA"AZAbAjArAzAAATFm)@A.pA"ξA:A5Aig?A@e?A?AO*A~<2AQ?::ABA~<JAQ?:RA٘i)I9Y J2˲<JQ>JJJ&K>  8Y 8y8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028159.663165 s, next control iter: 1743028160.023181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1658, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028160.043165 s.G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743028160.043305F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A@A[~? A]Ar W&"AApNA"AZAbAjArAzAAAm)@AhpAALX:A,Ae?Aje?Aଁ?AE[8*A~<2A?::A1mBA~<JA?:RA1m٘i)I9Y JJJJ&K Yy77{7Z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028160.063165 s, next control iter: 1743028160.443181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743028160.463165 s.RG~,פAA33333@A{v@A[~? A\]A#W&"AApNA"AZAbAjArAzAAAngn)@AtpA#ξA18A&Ab?A@e?A [?Af*A~<2Al?::APBA~<JAl?:RAPYgV?b?y&~8ٓH@g?@A,`0?`v?\t?@"&??)gV? I٘i)I9Y Ja<Jߎ4JJJ&Kع Yy778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028160.483165 s, next control iter: 1743028160.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1659, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028160.883165 s.y G~,#8AJ"J*J2J:JBJnJvJA{G@A=*x@A՝[~? A0]A 'W&"AA7pNA"AZAbAjArAzAAAY.n)@A@@,pAAeKA*A`?Ae?A }?AC*4*A~<2A?::A2BA~<JA?:RA2٘i)I9Y JJJJ&K Yy{7+8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028160.903165 s, next control iter: 1743028161.283175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028161.303165 s.UG~,sgSAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199732 time: 1743028161.303262F (some fields omitted in printout)A(\@Ac''@A[~? A]AX*W&"AA^pNA"AZAbAjArAzAAA(]o)@ApA"ξA𯜺A4A^?A e?Az?AW3*Aǯ~<2Aй?::ABAǯ~<JAй?:RA٘i)I9Y Ja3JJJJ&K Yy77Z98)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028161.343165 s, next control iter: 1743028161.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1660*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028161.723165 s.G~,HnAJ"J*J2J:JBJnJvJA ףp=@A@A[~? A\A-W&"AApNA"AZAbAjArAzAAAri p)@AMIpA!ξAA9AB]?A@ee?Arx?A}3*A~<2A?::ABA~<JA?:RA٘i)I9Y Jb3C=JJJJ&K Yy XC77G8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028161.763165 s, next control iter: 1743028162.123178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028162.143165 s.X/"G~,*AAR@Aƻ#@A[~? A\A0W&"AApNA"AZAbAjArAzAAA7رݪp)@A>ۏpAA_AA]?AUe?A-v?Af3*AV~<2A?::A"BAV~<JA?:RA"٘i)I9Y JJJJ&K Yy77V8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028162.183165 s, next control iter: 1743028162.543178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028162.563165 s.(G~J,c A"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199412 time: 1743028162.563258F (some fields omitted in printout)A@A`>1@A5[~? A\A<4W&"AApNA"AZAbAjArAzAAA7;q)@AnupAA & :A:A&^?A e?As?AK*Ay~<2AS?::A,BAy~<JAS?:RA,YP?]?y9ap :ٓH`m? A.1f0?`z? @_t? A?@?)P? I٘i)I9Y JJJJ&KXع YyS77[d8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028162.583165 s, next control iter: 1743028162.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1661, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028162.983165 s./G~,AAzG@Asb@AL[~? AX\A7W&"AApNA"AZAbAjArAzAAA_Aq)@A [pA"ξA!:A;A6^?A+e?Aq?A 2*Af~<2A(1?::A2BAf~<JA(1?:RA2٘i)I9Y J*˲<JJJJ&K Yyb77r8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028163.023165 s, next control iter: 1743028163.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028163.403165 s.J "J *J 2J :J BJ nJ vJ &6G~,AA)\@A3g@Ad[~? A,\A:W&"AApNA"AZAbAjArAzAAA;\r)@A#n@pAA1:A5A ]?Ae?AZo?AK*AT~<2A"?::A*BAT~<JA"?:RA*٘i)I9Y JJJJ&K YyZ7Z78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028163.443165 s, next control iter: 1743028163.803179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1662", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028163.823165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743028163.823277F (some fields omitted in printout)Aq= ף@AΦ#;@A|[~? A\A>W&"AAEpNA"AZAbAjArAzAAA!QZr)@Ad4&pA#ξAt:A+AZ?A@Άe?A m?AS,*AB~<2A(?::ABAB~<JA(?:RA٘i)I9Y Jc<JJJJ&K Yyb77[8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028163.863165 s, next control iter: 1743028164.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028164.243165 s.CG~,`AJ"J*J2J:JBJnJvJAQ@AYP@A[~? A[AhAW&"AAkpNA"AZAbAjArAzAAAU@:~s)@A pAAA(A)AX?A`'e?A`j?A*A0~<2AG9?::AxBA0~<JAG9?:RAx􂺙٘i)I9Y JJJJ&K Yy7778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028164.263165 s, next control iter: 1743028164.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028164.663165 s.JG~,q*AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1663, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@AӸ@A[~? A[ADW&"AApNA"AZAbAjArAzAAAL8^t)@AlpA"ξAᒀA0ApU?A`ae?Aph?Abb1*A~<2A E?::A؂BA~<JA E?:RA؂Y5K?W?y,׀ٓHrr?@[@0?? ]t?\P?)5K? I٘i)I9Y J]3Jw4JJDJ&Kҹ Yyb778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028164.683165 s, next control iter: 1743028165.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028165.083165 s.DQG~,SEAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360J> elevatorAngleAction: 0.000000"J< massPositionAction: 0.000000*J4 buoyancyAction: 0.0009552J:J dt: 0.419973BJnJ2 time: 1743028165.083290vJF (some fields omitted in printout)AHz@A ʼE@AĞ[~? A[AGW&"AApNA"AZAbAjArAzAAAߤݐt)@A pAAkA9AS?A'e?A@'f?A>_3*A ~<2AQ??::AMȂBA ~<JAQ??:RAMȂ٘i)I9Y JJJJ&K Yy777[8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028165.123165 s, next control iter: 1743028165.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028165.503165 s.WG~,34`AA(\@A+P@Aܞ[~? AT[AGKW&"AApNA"AZAbAjArAzAAA.E90u)@A물pA!ξANEVA<AS?A`e?Ac?A^s3*A}<2A,$?::AǂBA}<JA,$?:RAǂ٘i)I9Y Jj3JJJJ&K Yy778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028165.543165 s, next control iter: 1743028165.903175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1664, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028165.923165 s.5^G~,{AJ"J*J2J:JBJnJvJAףp= @AuV @A[~? A)[ANW&"AApNA"AZAbAjArAzAAAA8u)@AOpAAAAT?A@9e?Aa?AaU3*Ae}<2An>::AӂBAe}<JAn>:RAӂ٘i)I9Y JJJJ&K Yyŧ7b78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028165.963165 s, next control iter: 1743028166.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028166.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199692 time: 1743028166.343272F (some fields omitted in printout)AQ@AQO@A [~? AZAQW&"AA,pNA"AZAbAjArAzAAA)uQv)@A?pAAN:A=AT?Ae?A__?A~*A0}<2AC>::AS߂BA0}<JAC>:RAS߂٘i)I9Y JJJJ&K Yy)7ŧ7\8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028166.383165 s, next control iter: 1743028166.743177 s, wait time: 0.360012 s)&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1665&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028166.763165 s.5kG~,ذAJ"J*J2J:JBJnJvJAfffff@A@A#[~? AZA#UW&"AARpNA"AZAbAjArAzAAA$v)@AT'mpA"ξAŜ:A<A=T?ABe?A]?ALH*A}<2A>::ABA}<JA>:RAYjE?Q?y6:ٓHx?w@,鉿`/?1?"^t?S??)jE? I٘i)I9Y J(˲<Jr>JJJ&Kܹ Yy YC77778)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028166.803165 s, next control iter: 1743028167.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028167.183165 s.rG~,cAAGz@A~@A;[~? AZAlXW&"AAypNA"AZAbAjArAzAAAmDrw)@AfCSpAAq:A4AR?Ae?AZ?A1RA*A}<2AW>::A҂BA}<JAW>:RA҂٘i)I9Y JJJJ&K  8Y 8y78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028167.223165 s, next control iter: 1743028167.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028167.603165 s.74yG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200132 time: 1743028167.603287F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A `Z@AS[~? A|ZA[W&"AApNA"AZAbAjArAzAAAE"&x)@A,8pA#ξA79A,A-P?A8e?A@X?AL*A-}<2A>::A=BA-}<JA>:RA=٘i)I9Y J[<JJJJ&K Yyb77^8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028167.643165 s, next control iter: 1743028168.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1666 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028168.023165 s.ZG~,{AA= ףp @A h"l @Ak[~? AQZA^W&"AApNA"AZAbAjArAzAAAx)@AvpAAA-ARM?Ae?A::ABAQ}<JA>:RA٘i)I9Y JJJJ&K Yy778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028168.043165 s, next control iter: 1743028168.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028168.443165 s.1ÆG~,%]AJ"J*J2J:JBJnJvJAQ @A#f @A[~? A&ZAFbW&"AApNA"AZAbAjArAzAAA>I$y)@A܏HpA"ξAoA6AK?Ae?AS?A"2*Ao|}<2A>::ABAo|}<JA>:RA٘i)I9Y Jh3JJJJ&K Yy77-8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028168.463165 s, next control iter: 1743028168.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1667, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028168.863165 s.+G~,y>7AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743028168.863276F (some fields omitted in printout)A @Aͬd @A[~? AYAeW&"AApNA"AZAbAjArAzAAA۴y)@A$pAAѠA=AI?A`?e?AQ?A3*Axj}<2A>::A vBAxj}<JA>:RA vY??FL?y7ٓHe}??/?O? _t?R ?)?? I٘i)I9Y J\JJJ&KCϹ Yy{7j7];8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028168.903165 s, next control iter: 1743028169.263175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028169.283165 s.7RG~,RAJ"J*J2J:JBJnJvJAGz@AY/@A[~? AYAhW&"AA9pNA"AZAbAjArAzAAAfiEz)@AIpA!ξAdA>AI?ANe?AmO?A$3*AfX}<2Ax>::A~zBAfX}<JAx>:RA~z٘i)I9Y Ja3JJJJ&K Yyb77I8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028169.323165 s, next control iter: 1743028169.683176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1668., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028169.703165 s.պG~, mAA\(@A}@Aʟ[~? AYAlW&"AA_pNA"AZAbAjArAzAAADz)@AP_pAA$9A?AJ?A@e?A.M?A2*AEF}<2Au>::ABAEF}<JAu>:RA٘i)I9Y JJJJ&K Yy7777 X8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028169.743165 s, next control iter: 1743028170.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028170.123165 s.4G~,PAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743028170.123282F (some fields omitted in printout)Ap= @AX歺n@A[~? AzYAeoW&"AApNA"AZAbAjArAzAAA]Anf{)@A4^;pAAC:A@AJ?Ae?A`J?AQu *A+4}<2AUO>::A4BA+4}<JAUO>:RA4٘i)I9Y JJJJ&K Yy77^f8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028170.163165 s, next control iter: 1743028170.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028170.543165 s.IG~,âAAQ@AB>@A[~? AOYArW&"AApNA"AZAbAjArAzAAA;{)@A ̀pA"ξAs(:A<A#J?A@je?AH?A@1N*A."}<2AR:>::ABA."}<JAR:>:RA٘i)I9Y J*˲<JJJJ&K YyZ7Z7t8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028170.583165 s, next control iter: 1743028170.943175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1669, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028170.963165 s.xG~,AJ"J*J2J:JBJnJvJA33333@Al@A[~? A$YAuW&"AApNA"AZAbAjArAzAAA{\|)@ATfpA#ξAS:A3A7H?AXe?AfF?AQ5*AO}<2A:>::AzBAO}<JA:>:RAzY7:?F?y0wS:ٓH??`1/?? ^t?@`J??)7:? I٘i)I9Y JbC=JU4JJJ&KX۹ Yy7ŧ7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028171.003165 s, next control iter: 1743028171.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028171.383165 s.صG~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743028171.383281F (some fields omitted in printout)A{G@A4Fx@A)[~? AXA:yW&"AApNA"AZAbAjArAzAAA3 })@Au@_BLpAAc6A-AxE?A@e?A@D?Af*A|<2ArI>::A]BA|<JArI>:RA]٘i)I9Y JJJJ&K Yyŧ7b7^8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028171.423165 s, next control iter: 1743028171.783174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1670", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028171.803165 s.J "J *J 2J :J BJ nJ vJ yAG~,gAA(\@AX&@AA[~? AXA|W&"AA pNA"AZAbAjArAzAAA::A?BA|<JAJX>:RA?ϘI٘i)I9Y JJJJ&K Yy ZCb778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028171.843165 s, next control iter: 1743028172.203179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028172.223165 s.gG~,HAA ףp=@A.@AY[~? AXAW&"AAFpNA"AZAbAjArAzAAA8~)@A`pA"ξAA;A@?Ae?A??AK;!3*A|<2AX>::At+BA|<JAX>:RAt+٘i)I9Y J12<JJJJ&K Yy77j78)ZZZBZL?YY*W2W WWW"W ) )FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743028172.243165 s, next control iter: 1743028172.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028172.643165 s.uG~,*)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743028172.643284F (some fields omitted in printout)AR@AQ0@Aq[~? AxXA W&"AAmpNA"AZAbAjArAzAAA=~)@Am`pA!ξAsA@A@?A Ee?AN=?AK3*A|<2AhD>::A&BA|<JAhD>:RA&٘i)I9Y J^3C=JJJDJ&K Yyb77^8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028172.663165 s, next control iter: 1743028173.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1671, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028173.063165 s.G~,N DAA@A$#g1@A[~? AMXARW&"AApNA"AZAbAjArAzAAA("XY)@A~CpAA.AAAb@?A3~e?A;?A^3*A|<2A)>::A.BA|<JA)>:RA.Y4?@?y@~ٓHb?`g?@`.??? `t?3`?)4? I٘i)I9Y JRJJJ&K-ҹ Yy778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028173.083165 s, next control iter: 1743028173.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028173.483165 s.t_G~,^AJ"J*J2J:JBJnJvJAzG@A=U@A[~? A"XAW&"AApNA"AZAbAjArAzAAAf)@A pAA:ABA@?A }e?A@8?AsO*A|<2A=::A;BA|<JA=:RA;٘i)I9Y JJJJ&K Yy777 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028173.503165 s, next control iter: 1743028173.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1672, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028173.903165 s.G~,yAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743028173.903284F (some fields omitted in printout)A)\ @Aqi @A[~? AWA܌W&"AApNA"AZAbAjArAzAAAפ=~z)@A;ЮpA"ξA:AAA?A|e?A6?Aa4*A|<2A6=::AABA|<JA6=:RAA٘i)I9Y J,˲<JJJJ&K Yy77_8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028173.943165 s, next control iter: 1743028174.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028174.323165 s.tG~,AJ"J*J2J:JBJnJvJAq= ף"@Aǃ-v;"@AР[~? AWA!W&"AApNA"AZAbAjArAzAAAnu )@AEpAAT:A<A??A{e?AW4?A I*A|<2A=::A8BA|<JA=:RA8٘i)I9Y JJJJ&K Yy778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028174.363165 s, next control iter: 1743028174.723176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1673&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028174.743165 s.WG~,dAAQ$@A#@A[~? AWAfW&"AA-pNA"AZAbAjArAzAAAX9)@A~TczpA#ξA :A2A=?A`{e?A2?Ae)*A[o|<2Ag=::Ai!BA[o|<JAg=:RAi!٘i)I9Y J^<JJJJ&K  8Y 8y77 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028174.783165 s, next control iter: 1743028175.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028175.163165 s.z}G~,qAJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200332 time: 1743028175.163307F (some fields omitted in printout)A&@A %@A[~? AvWAW&"AASpNA"AZAbAjArAzAAAR鿗+)@A-{0`pAA#>A0A:?A@|e?A /?A[R*A]|<2A=::A+BA]|<JA=:RA+Y/?g;?y0ٓH@֍??1`.? ?  ^t?`G3`?)/? I٘i)I9Y Jb4JJJ&Kչ Yy)7ŧ7`8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028175.183165 s, next control iter: 1743028175.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028175.583165 s.G~,RAAHz'@AbE'@A[~? AKWAW&"AAypNA"AZAbAjArAzAAAK)@A%:EpAA^A8A<8?AE|e?A-?A=1*AK|<2AI=::A灺BAK|<JAI=:RA灺٘i)I9Y JJJJ&K Yyj7j7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028175.623165 s, next control iter: 1743028175.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1674, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028176.003165 s.u G~,@4AJ"J*J2J:JBJnJvJA(\)@A`2(@A/[~? A WA3W&"AApNA"AZAbAjArAzAAAYL)@A!+pA"ξAnA@A6?A`|e?A F+?Ad3*A4:|<2A=::A9؁BA4:|<JA=:RA9؁٘i)I9Y J+2<JJJJ&K Yy7)7 /8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028176.043165 s, next control iter: 1743028176.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028176.423165 s.uG~,wAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743028176.423274F (some fields omitted in printout)Aףp= +@Ae*@AG[~? AVAwW&"AApNA"AZAbAjArAzAAA-}܃)@A pA!ξATPACAi6?A ;{e?A )?Aȗ3*AV(|<2Ax=::AE؁BAV(|<JAx=:RAE؁٘i)I9Y Jh3C=JJJJ&K YyZ7Z7`=8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028176.443165 s, next control iter: 1743028176.823174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1675, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028176.843165 s. G~,5AJ"J*J2J:JBJnJvJAQ,@Aqs*P,@A_[~? AVAW&"AApNA"AZAbAjArAzAAAխ m)@A0sAvpAA7ADA6?Aze?A&?AV(3*Ac|<2Aݚ=::AぺBAc|<JAݚ=:RAぺ٘i)I9Y JJJJ&K Yy [C77K8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028176.883165 s, next control iter: 1743028177.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028177.263165 s.G~,PAAfffff.@A<-@Aw[~? AVAW&"AApNA"AZAbAjArAzAAAB\)@AicLpAAS:AEAo7?Axe?A$?A_*Ap|<2A`q=::ABAp|<JA`q=:RAYn)?5?yBi0T:ٓH ]?`> ̊@J.? S?```t?xJ??)n)? I٘i)I9Y JyJJJ&K"ع Yy7777 Z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028177.303165 s, next control iter: 1743028177.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1676., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028177.683165 s.lG~,ckAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.419994J2 time: 1743028177.683285"JF (some fields omitted in printout)*J2J:JBJnJvJAGz0@Aɨ2/@A[~? AuVAAW&"AA9pNA"AZAbAjArAzAAA礍)@Ad$pA"ξA[':ACA7?A#xe?A["?A7H*A{<2A0V=::ABA{<JA0V=:RA٘i)I9Y J+˲<JJJJ&K Yy7ah8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028177.683165 s, next control iter: 1743028178.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743028178.103165 s.!G~,AA(\1@A@CZ1@A[~? AJVAW&"AA`pNA"AZAbAjArAzAAAY)@Ad GpAA?':A;A5?Awe?A  ?Am>*A{<2AIP=::A⁺BA{<JAIP=:RA⁺٘i)I9Y JJJJ&K Yy7)7v8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028178.143165 s, next control iter: 1743028178.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028178.523165 s.'G~,{AJ"J*J2J:JBJnJvJA= ףp3@Arl=C3@A[~? AVAưW&"AApNA"AZAbAjArAzAAA -)@A%?ڎpA#ξA?9A3A3?A`xe?A?A*A5{<2A[=::AǁBA5{<JA[=:RAǁ٘i)I9Y J[<JJJJ&K Yy77 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028178.563165 s, next control iter: 1743028178.923174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1677, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028178.943165 s.Ud.G~,5]AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743028178.943297F (some fields omitted in printout)AQ5@A*l4@A֡[~? AUA W&"AApNA"AZAbAjArAzAAA's>)@ActpAAگA5A)0?A uxe?A ?A\*A{<2AYl=::ABA{<JAYl=:RA٘i)I9Y JJJJ&K Yy77b8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028178.983165 s, next control iter: 1743028179.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028179.363165 s.J "J *J 2J :J BJ 5G~nJ,}>AvJA6@A}rd6@A[~? AUAKW&"AApNA"AZAbAjArAzAAA ·)@APZpA"ξAA>A-?Axe?AT?AV2*A{<2Ar=::ABA{<JAr=:RAY$?M0?y8ٓH?f>v@-?`?@ _t?"R ?)$? I٘i)I9Y Ji3J>4JJJ&Kι Yy77{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028179.403165 s, next control iter: 1743028179.763177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1678", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028179.783165 s.V;G~,AAGz8@A8@A[~? AUAW&"AApNA"AZAbAjArAzAAA"_)@Ax@pAAn%ADA,?A xe?A?A33*AD{<2Ad=::AVBAD{<JAd=:RAV٘i)I9Y JJJJ&K Yy{7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028179.803165 s, next control iter: 1743028180.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028180.203165 s.CG~,6 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743028180.203283F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(:@Aam9@A[~? AtUAϽW&"AA pNA"AZAbAjArAzAAAhE)@At\&pA!ξAAFA,?A$we?A`?A!3*As{<2AmC=::AABAs{<JAmC=:RAA٘i)I9Y J_3JJJJ&K Yyŧ7b7b8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028180.243165 s, next control iter: 1743028180.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028180.623165 s.WIG~,]'AAp= ;@Acn;@A5[~? AIUAW&"AAFpNA"AZAbAjArAzAAA] )@A_SA pAA+9AA~-?Aue?A@?A)iy2*Av{<2A<=::A_BAv{<JA<=:RA_٘i)I9Y JJJDJ&K Yy77778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028180.663165 s, next control iter: 1743028181.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1679 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028181.043165 s.PG~,BAJ"J*J2J:JBJnJvJAQ=@AS]=@AM[~? AUAQW&"AAlpNA"AZAbAjArAzAAA,Ȅ)@APzb(pAA :AGA-?Ate?A@r?A7*Ad{<2Ao<::ABAd{<JAo<:RA٘i)I9Y JJJJ&K Yy{7j7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028181.083165 s, next control iter: 1743028181.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028181.463165 s.QWG~,Ӥ]AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743028181.463268F (some fields omitted in printout)A33333?@Ajj>@Ae[~? ATAW&"AApNA"AZAbAjArAzAAA⟊)@ANpA"ξA:ACA-?AHte?A8?AL*AS{<2Af<::ABAS{<JAf<:RAY@?*?y=(:ٓHA?@[>y-?p?@!_t? #S??)@? I٘i)I9Y J.˲<J~JJJ&K۹ Yy \Cb8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028181.503165 s, next control iter: 1743028181.863173 s, wait time: 0.360008 s)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1680, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028181.883165 s.y]G~,@xAJ"J*J2J:JBJnJvJA{G@@ABx@@A}[~? ATAW&"AApNA"AZAbAjArAzAAA* 0)@AGpA#ξA_M:A:A+?A@:te?A ?Aw2*AdA{<2A<::ALBAdA{<JA<:RAL٘i)I9Y JXC=JJJJ&K Yy8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028181.903165 s, next control iter: 1743028182.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028182.303165 s.UdG~,sgAA(\B@A.!&B@A[~? ATAW&"AApNA"AZAbAjArAzAAA8)@AXpAAзA5A^(?Ate?A ?A *A/{<2A<::AenBA/{<JA<:RAen٘i)I9Y JJJJ&K  8Y 8y 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028182.343165 s, next control iter: 1743028182.703175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1681*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028182.723165 s.kG~,HAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200592 time: 1743028182.723319F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=D@A^C@A[~? AsTATW&"AApNA"AZAbAjArAzAAAgP)@A 0`׉pAA9VA:A%?Ate?Ax?AUc*AU{<2A <::AJQBAU{<JA <:RAJQ٘i)I9Y JJJJ&K Yyŧ7b7b8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028182.763165 s, next control iter: 1743028183.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028183.143165 s.U/rG~,*AARE@A/E@AĢ[~? AITAW&"AA,pNA"AZAbAjArAzAAAv)@A@opA"ξAsACA#?Ate?A ;?A[&3*A {<2A'<::Ar=BA {<JA'<:RAr=٘i)I9Y J02<JJJJ&K Yy777"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028183.163165 s, next control iter: 1743028183.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028183.563165 s.xG~,= AJ"J*J2J:JBJnJvJAG@AU2T1G@Aܢ[~? ATAW&"AARpNA"AZAbAjArAzAAA p)@A?/UpA!ξAAHA#?Ate?A?A3*Az<2A<::A8BAz<JA<:RA8Y?'%?yCxcٓH@?=q`e-?@0?`t?P?)? I٘i)I9Y JY3C=JJJJ&K͹ YyZ7Z718)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028183.603165 s, next control iter: 1743028183.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1682, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028183.983165 s.G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743028183.983306F (some fields omitted in printout)AzGI@Aظ]H@A[~? ASAW&"AAypNA"AZAbAjArAzAAAŀ)@Ac;pAA鈹AAo#?Ase?A?A1zV3*AWz<2A<::AABAWz<JA<:RAA٘i)I9Y JJJJ&K Yy77d?8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028184.023165 s, next control iter: 1743028184.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028184.403165 s.&G~,AJ"J*J2J:JBJnJvJA)\J@Aʍ"kJ@A [~? ASASW&"AApNA"AZAbAjArAzAAAu )@Ap!pAA:AIA $?A`qe?A@?A*Az<2A<::ANBAz<JA<:RAN٘i)I9Y JJJJ&K Yyb7M8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028184.423165 s, next control iter: 1743028184.803174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1683, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028184.823165 s.G~,)4AAq= ףL@AM~;L@A#[~? ASAW&"AApNA"AZAbAjArAzAAAHo9"!)@ARWpA"ξA!0:AA$?A pe?A f?A[5*Az<2AOv<::AHTBAz<JAOv<:RAHT٘i)I9Y J1˲<JJJJ&K Yy777\8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028184.863165 s, next control iter: 1743028185.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028185.243165 s.G~,mOAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743028185.243304F (some fields omitted in printout)J"J*J2J:JBJnJvJAQN@A>M@A;[~? AsSAW&"AApNA"AZAbAjArAzAAAy5)@ApAA::ACA"?A`}pe?A -?AfkF*A9z<2Ai<::AJBA9z<JAi<:RAJ٘i)I9Y JJJJ&K Yy77cj8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028185.283165 s, next control iter: 1743028185.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028185.663165 s.G~,qjAtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1684, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)AP@AMJAO@AS[~? AISAW&"AApNA"AZAbAjArAzAAA-GA)@AӿpA#ξA4 :A:A ?A@pe?A@?A&*Az<2Aq<::AR3BAz<JAq<:RAR3Y/?|?y8I :ٓH ?=Vq-? ? _t?`A?@?)/? I٘i)I9Y J\<JsQ4JJJ&K׹ Yyb77x8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028185.683165 s, next control iter: 1743028186.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028186.083165 s.DG~,SAJ"J*J2J:JBJnJvJAHzQ@AxEEQ@Aj[~? ASANW&"AA8pNA"AZAbAjArAzAAA/%[ѐ)@AL?pAA+7A8A?Ape?A?A-*AJz<2A<::AOBAJz<JA<:RAO٘i)I9Y JJJJ&K Yyj7Z78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028186.123165 s, next control iter: 1743028186.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028186.503165 s.G~,U4AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199662 time: 1743028186.503285F (some fields omitted in printout)A(\S@AR@A[~? ARAW&"AA_pNA"AZAbAjArAzAAApa)@A{GpAA΄A@A>?A`qe?At?A1*Az<2A<::ABAz<JA<:RA٘i)I9Y JJJJ&K Yy ]C777d8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028186.543165 s, next control iter: 1743028186.903179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1685, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028186.923165 s.7G~,AJ"J*J2J:JBJnJvJAףp= U@AܶT@A[~? ARAW&"AApNA"AZAbAjArAzAAAu)@A독pA"ξA>aAHA?Ape?A@ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743028187.763301F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffffX@AlW@Aɣ[~? AtRAEW&"AApNA"AZAbAjArAzAAA)@AXQpAA2"8AKA ?Ane?A`?A 3*AKz<2AO@<::ABAKz<JAO@<:RAY ??yK)d"8ٓHi?@U= s,? ?@at?@A??) ? IΘI٘i)I9Y JJJJ&K#ҹ Yyb77e8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028187.803165 s, next control iter: 1743028188.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028188.183165 s.G~,^ AAGzZ@A&5Y@A[~? AIRAW&"AApNA"AZAbAjArAzAAA)@A؞7pAAVY:ALA?Ame?A`?Aɺ*AQ9z<2A<::ABAQ9z<JA<:RA٘i)I9Y JJJJ&K Yyŧ7b78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028188.203165 s, next control iter: 1743028188.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028188.603165 s.34G~,&AJ"J*J2J:JBJnJvJA(\[@AaAZ[@A[~? ARAW&"AApNA"AZAbAjArAzAAAȚ1)@ApA"ξAp:AJA3?Ale?Ar?ACG*A'z<2AF;::AhBA'z<JAF;:RAh٘i)I9Y J,˲<JJJDJ&K Yy778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028188.643165 s, next control iter: 1743028189.003175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1687 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028189.023165 s.ZG~,|AAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200452 time: 1743028189.023327F (some fields omitted in printout)A= ףp]@AXP]@A[~? AQAX&"AADpNA"AZAbAjArAzAAA)@ApAA}:ABA?Ale?A;?Ar;*A=z<2A8;::ABA=z<JA8;:RA٘i)I9Y JJJJ&K Yy)7ŧ7e8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028189.043165 s, next control iter: 1743028189.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028189.443165 s.J "J *J 2J :J BJ nJ vJ 4G~,1]\AAQ_@AiW^@A([~? AQA9X&"AAkpNA"AZAbAjArAzAAApQ)@ACgpA#ξA9A:A ?A`le?A?AnR*Az<2A6<::AڀBAz<JA6<:RAڀ٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 220Jc<JJJJ&K YyZ7Z78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028189.483165 s, next control iter: 1743028189.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1688, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028189.863165 s.+G~,y>wAA`@Amlvd`@A@[~? AQAuX&"AApNA"AZAbAjArAzAAA?œ)@As&ϾpAA/fA<A6?A@Lme?A@?Aƞ*Ay<2A<::ABAy<JA<:RAY.?{?y;ٓH@³?<L~,??_t?ŬC ?).? I٘i)I9Y J4JJJ&Kй  8Y 8y7)78)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028189.923165 s, next control iter: 1743028190.263176 s, wait time: 0.340011 s rAdjusting time to match Gazebo time: 1743028190.283165 s.6RG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743028190.283286F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzb@AIb@AX[~? AuQA X&"AApNA"AZAbAjArAzAAASq)@AܵpA"ξAꕺAEA?AZme?A`ߎ?A;2*Ay<2AS<::ABAy<JAS<:RA٘i)I9Y Je3JQ>JJJ&K> Yyj7j7e8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028190.323165 s, next control iter: 1743028190.683177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1689*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028190.703165 s.ֺG~,AA\(d@A$c@Ap[~? AJQAX&"AApNA"AZAbAjArAzAAAM)@A˷pAAALA?Ale?A Wݎ?A3*Ay<2A <::A BAy<JA <:RA ٘i)I9Y JQ>JJJ&K> Yyŧ7b7$8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028190.743165 s, next control iter: 1743028191.103178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028191.123165 s.2G~,HAJ"J*J2J:JBJnJvJAp= e@Ane@A[~? A QA)X&"AApNA"AZAbAjArAzAAA )@AdpA!ξAAMA?Ake?A@'ێ?A3*Ay<2AX;::AiBAy<JAX;:RAi٘i)I9Y Ja3JJJJ&K Yy77{738)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028191.163165 s, next control iter: 1743028191.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028191.543165 s.IG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743028191.543271F (some fields omitted in printout)AQg@AHg@A[~? APAdX&"AA*pNA"AZAbAjArAzAAAt!)@AKhpAAW9AA?A je?A@؎?AeU2*Avy<2A;::ABAvy<JA;:RA٘i)I9Y JJJJ&K Yy ^C7gA8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028191.563165 s, next control iter: 1743028191.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1690, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028191.963165 s.vG~,AJ"J*J2J:JBJnJvJA33333i@A׉h@A[~? APAX&"AAPpNA"AZAbAjArAzAAAG\)@A/NpAA:ANA?Aie?A`֎?AP*Ay<2A;::ABAy<JA;:RAY??yJ:ٓHE? <@0,??`at?vP?`?)? I٘i)I9Y J܎JJJ&K׹ Yyŧ7ŧ7O8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028192.003165 s, next control iter: 1743028192.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028192.383165 s.G~,4AA{Gj@AUlxj@AϤ[~? APAX&"AAwpNA"AZAbAjArAzAAA0(>A)@A#I4pA"ξA:AJA6?Aie?AԎ?AJ*Afy<2Aq;::ABAfy<JAq;:RA٘i)I9Y J,˲<JJJJ&K Yy{7j7^8)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743028192.423165 s, next control iter: 1743028192.783177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1691", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028192.803165 s.vA G~,wg3AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199982 time: 1743028192.803295F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\l@A l'l@A[~? AvPAX&"AApNA"AZAbAjArAzAAAŦљ)@A\]TdpA#ξAF:AAA;?A ie?AaҎ?A/*A yy<2AI;::AwBA yy<JAI;:RAw٘i)I9Y J]C=JJJJ&K Yyŧ7b7fl8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028192.843165 s, next control iter: 1743028193.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028193.223165 s.gG~,HNAA ףp=n@A)m@A[~? ALPAO"X&"AApNA"AZAbAjArAzAAA ~`)@A apAAdA<Ay ?A \ie?A(Ў?A *Agy<2Ax;::ABAgy<JAx;:RA٘i)I9Y JJJJ&K Yy77z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028193.263165 s, next control iter: 1743028193.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028193.643165 s.sG~,)iAJ"J*J2J:JBJnJvJARo@Aφ3o@A[~? A!PA%X&"AApNA"AZAbAjArAzAAA{)@ALTMpAA^\AAA?Aie?A@͎?Ay7*A{Vy<2A;::AfBA{Vy<JA;:RAf٘i)I9Y JJJJ&K Yy{7Z78)ZZZBZL?YY*W2W WWW"W ) )FFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1692, header.stamp.nsec: 0]:$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743028193.663165 s, next control iter: 1743028194.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028194.063165 s. G~,N AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199252 time: 1743028194.063301F (some fields omitted in printout)Aq@ANz1q@A.[~? AOA(X&"AApNA"AZAbAjArAzAAAcƀ)@A$̽pA"ξAްAJA?Aie?Aˎ?Awo,3*A)Ey<2A<;::ARBA)Ey<JA<;:RARY*?w ?yDٓH`}?@J<@f+? ?N`t?`S?)*? I٘i)I9Y J#2<Js3JJJ&K˹ Yy77{7i8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028194.103165 s, next control iter: 1743028194.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028194.483165 s.r_'G~,AJ"J*J2J:JBJnJvJAzGs@ArJr@AE[~? AOA+X&"AA6pNA"AZAbAjArAzAAAT)@A㲽pAAp{AOAQ?A@he?AɎ?Az3*A3y<2A;::ANBA3y<JA;:RAN٘i)I9Y JJJJ&K YyZ7Z78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028194.523165 s, next control iter: 1743028194.883174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1693, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028194.903165 s.-G~,͹AA)\t@A[?gt@A][~? AOA7/X&"AA\pNA"AZAbAjArAzAAAz)@A5+pA!ξA *sAA?A ge?A`_ǎ?AL1N3*A:"y<2Apj;::AWBA:"y<JApj;:RAW٘i)I9Y Jk3<JJJJ&K Yy~7~78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028194.943165 s, next control iter: 1743028195.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028195.323165 s.v4G~,%AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743028195.323291F (some fields omitted in printout)Aq= ףv@A;v@Au[~? AxOAp2X&"AApNA"AZAbAjArAzAAAz&2X0)@Axs.pAAdm :APAN?A`fe?A 4Ŏ?A2*Ay<2A @;::A eBAy<JA @;:RA e٘i)I9Y JJJJ&K Yy77{7g8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028195.363165 s, next control iter: 1743028195.723176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1694&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028195.743165 s.W;G~,AAQx@A9yw@A[~? AMOA5X&"AApNA"AZAbAjArAzAAA/$)@A˖VepA"ξAU:AAJ?A`ee?AÎ?A*7*A7x<2AY ;::AjBA7x<JAY ;:RAj٘i)I9Y JbJJJJ&K Yy778)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028195.783165 s, next control iter: 1743028196.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028196.163165 s.v}BG~,q AJ"J*J2J:JBJnJvJAz@A<\y@A[~? A#OA8X&"AApNA"AZAbAjArAzAAA8d O)@AB~KpAAv:AJA?ANee?A?AC*Ax<2A;::A*`BAx<JA;:RA*`Yx??y,:ٓH ?><Vg+? }?g`t?R?@?)x? I٘i)I9Y JJJJ&Kع Yyŧ7b78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028196.183165 s, next control iter: 1743028196.563177 s, wait time: 0.380012 s,), rAdjusting time to match Gazebo time: 1743028196.583165 s.HG~,R%AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743028196.583286F (some fields omitted in printout)AHz{@AFB[E{@A[~? ANA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743028197.843286F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A$cO@A[~? AzNAEX&"AAhpNA"AZAbAjArAzAAAP)@A8I:pA"ξAAOA?Aee?A@?A'1l3*Ax<2A0;::AOBAx<JA0;:RAO٘i)I9Y J.2<JJJJ&K Yyb77h8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028197.883165 s, next control iter: 1743028198.243175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028198.263165 s.dG~,ؐAAfffff@A@A[~? APNAHX&"AApNA"AZAbAjArAzAAAz@)@AmʼpA!ξAUDAQA?Ade?Aٵ?A3*Ax<2A;::AvBAx<JA;:RAvY?f?yO[DٓHE?`;#"`L+?@?bt?*H?)? I٘i)I9Y J]3C=JQJJJ&K̹ Yy77j7&8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028198.303165 s, next control iter: 1743028198.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1697., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028198.683165 s.ljG~,^AJ"J*J2J:JBJnJvJAGz@AT~O@A2[~? A%NA3LX&"AApNA"AZAbAjArAzAAAj)@A񢰼pAA08ARAa?Ace?A?Aj3*A!x<2A:::A]BA!x<JA::RA]٘i)I9Y JJJJ&K Yyj7SI758)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028198.683165 s, next control iter: 1743028199.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743028199.103165 s.qG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743028199.103284F (some fields omitted in printout)A(\…@AiUK:Z@AJ[~? AMAjOX&"AApNA"AZAbAjArAzAAAHP>)@AtٖpAA^:ASA?A`be?A?AƲ*Atx<2A:::ABAtx<JA::RA٘i)I9Y JJJJ&K Yy{7{7iC8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028199.143165 s, next control iter: 1743028199.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028199.523165 s.wG~,{AJ"J*J2J:JBJnJvJA= ףp@A P@Ab[~? AMARX&"AApNA"AZAbAjArAzAAA|7΢)@Ab}pA"ξA:AQA}?A@ae?A[?A2G*AVcx<2AB:::A(BAVcx<JAB::RA(٘i)I9Y J.˲<JJJJ&K Yyŧ7b7Q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028199.563165 s, next control iter: 1743028199.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1698, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028199.943165 s.Zd~G~,J]AAQ@Awak@Az[~? AMAUX&"AA'pNA"AZAbAjArAzAAA])@ALcpA#ξAx:AIA?Aae?A+?A}p8*ARx<2A:::A BARx<JA::RA ٘i)I9Y J_C=JJJJ&K Yy77`8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028199.963165 s, next control iter: 1743028200.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028200.363165 s.G~,l>AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199652 time: 1743028200.363259F (some fields omitted in printout)J"J*J2J:JBJnJvJÅ@Ad@A[~? A|MAYX&"AAMpNA"AZAbAjArAzAAA8^)@AL$IpAAb9AAAH?A@ae?A?Aъ*A@x<2Ag:::ABA@x<JAg::RAY??yAc9ٓH?;`L9*??`p@`t? 2T,??)? I٘i)I9Y JQ4JJJ&KSԹ Yyj7j7jn8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028200.383165 s, next control iter: 1743028200.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1699&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028200.783165 s.aG~,2AAGz@A~@A[~? ARMAE\X&"AAspNA"AZAbAjArAzAAA1})@AcJ/pAA$ADAx?Abe?AĨ?Aqo*A/x<2A:::ABA/x<JA::RA٘i)I9Y JJJJ&K Yy7777|8)ZZZBZL?YY*W2W WWW"W ) )FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743028200.823165 s, next control iter: 1743028201.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028201.203165 s.G~,MAJ"J*J2J:JBJnJvJA\(@Aw0b@A[~? A(MA{_X&"AApNA"AZAbAjArAzAAA7 )@A*IpA"ξAAMAL?A!be?A ?A\2*Ax<2A:::AyBAx<JA::RAy٘i)I9Y J.2<JJJJ&K Yy `C)7)78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028201.243165 s, next control iter: 1743028201.603179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028201.623165 s.TG~,PgAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200502 time: 1743028201.623321F (some fields omitted in printout)Ap= ׏@A |En@Aئ[~? ALAbX&"AApNA"AZAbAjArAzAAA q)@A1wIpAA돺ASAO?Aae?A h?Ar3*A x<2A:::A(hBA x<JA::RA(h٘i)I9Y JJJJ&K Yyb7b7j8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028201.663165 s, next control iter: 1743028202.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1700 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028202.043165 s.G~,ÂAJ"J*J2J:JBJnJvJAQ@AI@A[~? ALAeX&"AApNA"AZAbAjArAzAAA,)@A`ÌpA!ξAATAq?A`e?A@@?Aα3*A-w<2A:::AsBA-w<JA::RAs٘i)I9Y J`3<JJJJ&K Yy78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028202.083165 s, next control iter: 1743028202.443183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743028202.463165 s.QG~,ӤAA33333@Aʒ@A[~? ALAiX&"AA pNA"AZAbAjArAzAAAr>)@AL8ȻpAAܾ9AA?A |_e?A@?AJh12*Aw<2Ak:::A!BAw<JAk::RA!Y?P?yT%B9ٓH ?@E;@@*??ibt?7?`?)? I٘i)I9Y JJJJ&Kѹ Yy778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028202.503165 s, next control iter: 1743028202.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1701, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028202.883165 s.J "J zG~*J2J:J,YABJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200762 time: 1743028202.883339F (some fields omitted in printout)A{Gᔚ@Ak y@A[~? ALAQlX&"AA2pNA"AZAbAjArAzAAAL]K)@AzpA"ξA힇:AUAY?At^e?A ?A*Auw<2AvG:::A`BAuw<JAvG::RA`٘i)I9Y J^JJJJ&K Yyŧ7b7k8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028202.903165 s, next control iter: 1743028203.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028203.303165 s.ZG~,gAA(\@AMG'@A7[~? AULAoX&"AAXpNA"AZAbAjArAzAAAA;ڧ)@AbpAA6:AQA?A]e?Aț?A0H*A;w<2AW5:::AoBA;w<JAW5::RAo٘i)I9Y JJJJ&K Yy7778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028203.343165 s, next control iter: 1743028203.703179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1702*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028203.723165 s.G~,HAJ"J*J2J:JBJnJvJA ףp=@A>՗@AO[~? A+LArX&"AA~pNA"AZAbAjArAzAAA9yj)@AKs{pA#ξA@:AHA?A`]e?A?A8,*Aw<2A7:::AmBAw<JA7::RAm͘I٘i)I9Y JdJJJJ&K Yy{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028203.763165 s, next control iter: 1743028204.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028204.143165 s.T/G~,) AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743028204.143275F (some fields omitted in printout)AR뙚@AsC@Af[~? ALAuX&"AApNA"AZAbAjArAzAAA)@AF/apAA񉰸ACA?A'^e?Ah?A&*Aw<2AAG:::A4BAw<JAAG::RA4٘i)I9Y JJJJ&K Yy7k8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028204.163165 s, next control iter: 1743028204.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028204.563165 s.G~,F $AJ"J*J2J:JBJnJvJA@A?@1@A~[~? AKA$yX&"AApNA"AZAbAjArAzAAA3B)@AHHpAAɿaAIA?Ai^e?A8?A\*A w<2A+U:::A(~BA w<JA+U::RA(~Y??yF7bٓH@Q?@:l@g*??`t?7L?)? I٘i)I9Y JX4JJDJ&Ka͹ Yyŧ778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028204.583165 s, next control iter: 1743028204.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1703, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028204.983165 s.G~,>AAzG@A?aߜ@A[~? AKAX|X&"AApNA"AZAbAjArAzAAAO)@Av+.pA"ξAn՝ARAO?A@H^e?A ?A|13*Aw<2AT:::A~BAw<JAT::RA~٘i)I9Y J+2<JJJJ&K  8Y 8y7)7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028205.003165 s, next control iter: 1743028205.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028205.403165 s.&G~,YAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199642 time: 1743028205.403266F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\@A,`p@A[~? AKAX&"AApNA"AZAbAjArAzAAAЖ-娪)@ARfpAA|vAVA?A]e?A䐎?A/3*Arw<2A+>:::A~BArw<JA+>::RA~٘i)I9Y JJJJ&K Yy777k8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028205.423165 s, next control iter: 1743028205.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1704", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028205.823165 s.G~,!tAAq= ף@A}w;@Aŧ[~? AYKAX&"AA=pNA"AZAbAjArAzAAA oqu8)@Amo?pA!ξAYeTAA'?A\e?A?A;E3*Aaw<2A:::A0~BAaw<JA::RA0~٘i)I9Y Jf3<JJJJ&K Yy{7{7(8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028205.863165 s, next control iter: 1743028206.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028206.243165 s.G~,iAJ"J*J2J:JBJnJvJAQ@A$(~顚@Aݧ[~? A/KAX&"AAcpNA"AZAbAjArAzAAAwǫ)@AٛDpAA&:AWA?AY[e?A@?Ac*A9Pw<2A9::A~BA9Pw<JA9:RA~٘i)I9Y JJJJ&K Yy aCŧ7b778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028206.283165 s, next control iter: 1743028206.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028206.663165 s.G~,qAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743028206.663304F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1705, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A|#@A[~? AKA&X&"AApNA"AZAbAjArAzAAAW)@ATǺpA"ξAc:AA?A`tZe?Av?As8*A>w<2A89::ATBA>w<JA89:RATYې?I?yQ*:ٓH?`: h*?5?p@bt?@{R? ?)ې? I٘i)I9Y J[JrQJJJ&Kֹ Yyb77mE8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028206.683165 s, next control iter: 1743028207.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028207.083165 s.DG~,SAJ"J*J2J:JBJnJvJAHz@AE@A [~? AJAYX&"AApNA"AZAbAjArAzAAA)@A:VFpAA:APA?A`Ze?AM?A @*A-w<2A9::A~BA-w<JA9:RA~٘i)I9Y JJJJ&K Yy77{7S8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028207.103165 s, next control iter: 1743028207.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028207.503165 s.G~,&4AA(\@A2s@A$[~? AJAX&"AApNA"AZAbAjArAzAAAB.wv)@Ak{pA#ξA_9AGA'?A 1Ze?A@ ?AP[!*Aw<2A9::AR~BAw<JA9:RAR~٘i)I9Y JgJJJJ&K Yy77b8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028207.543165 s, next control iter: 1743028207.903173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1706, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028207.923165 s.7G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200192 time: 1743028207.923277F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= @A)表@A<[~? AJAX&"AApNA"AZAbAjArAzAAA@dA)@ArzpAAƹAFAR?A@Ze?A?AW1ٲ*A w<2Ap9::AE~BA w<JAp9:RAE~٘i)I9Y JJJJ&K Yy)7ŧ7lp8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028207.943165 s, next control iter: 1743028208.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028208.343165 s.<G~,AAQ@AO`O@AS[~? A]JAX&"AA"pNA"AZAbAjArAzAAA=s)@ANA]apAAANA?AZe?Aā?AO$2*Av<2At9::AS~BAv<JAt9:RAS~٘i)I9Y JJJJ&K Yy77~8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028208.383165 s, next control iter: 1743028208.743178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1707&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028208.763165 s.8 G~,#0AJ"J*J2J:JBJnJvJAfffff@A4D@Ak[~? A3JA"X&"AAHpNA"AZAbAjArAzAAA$)@A\YGpA"ξAҚAVA?A\Ze?A?A p3*Av<2Af9::A8~BAv<JAf9:RA8~Y֐??yP$ٓH ?`2:@)?/? bt?[ZS?)֐? I٘i)I9Y J(2<J]2JJJ&Kɹ Yyb778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028208.803165 s, next control iter: 1743028209.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028209.183165 s.G~,xKAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200522 time: 1743028209.183348F (some fields omitted in printout)AGz@A0@A[~? A JATX&"AAnpNA"AZAbAjArAzAAA)Gm)@Ax .pA!ξA=AXAU?AYe?Ax}?A93*Av<2A9::A<~BAv<JA9:RA<~٘i)I9Y Jg3C=JJJJ&K Yy77m8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028209.223165 s, next control iter: 1743028209.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028209.603165 s.84G~,fAJ"J*J2J:JBJnJvJA(\¯@ACP5Z@A[~? AIAX&"AApNA"AZAbAjArAzAAAC)@A|=pAA/8AYA?A`\Xe?AW{?A`o2*Av<2A̙9::A%T~BAv<JA̙9:RA%T~٘i)I9Y JJJJ&K Yy7©8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028209.643165 s, next control iter: 1743028210.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1708 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028210.023165 s.Z G~,{AA= ףp@A6N@A[~? AIAX&"AApNA"AZAbAjArAzAAA XNӰ)@AZ^pAA d:AZAc?A >We?A`6y?A}Ҳ*Ahv<2A^r9::Aj~BAhv<JA^r9:RAj~٘i)I9Y JJJJ&K Yyb7b78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028210.063165 s, next control iter: 1743028210.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028210.443165 s.3&G~,-]AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199692 time: 1743028210.443275F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Ak d@Aʨ[~? AIAX&"AApNA"AZAbAjArAzAAAU[b)@AJSpA"ξA*:AXA?AVe?A@w?AgF*AMv<2A Z9::ASj~BAMv<JA Z9:RASj~٘i)I9Y J+˲<JJJJ&K Yy77m8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028210.483165 s, next control iter: 1743028210.843174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1709, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028210.863165 s.+-G~,>AA̴@AVGd@A[~? AaIAX&"AApNA"AZAbAjArAzAAAV)@A΀ǹpA#ξAs:AOAT߬?ARVe?At?A5*ARv<2AV9::AyK~BARv<JAV9:RAyK~Yѐ?]ݬ?yK+t:ٓH`q?":&犿`)?T?at?@PuN??)ѐ? I٘i)I9Y JWB=Jn3JJJ&Kdֹ Yy77778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028210.903165 s, next control iter: 1743028211.263175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028211.283165 s.6R4G~,AJ"J*J2J:JBJnJvJAGz@A;@A[~? A7IAJX&"AA-pNA"AZAbAjArAzAAAvOy)@As6(pAAC9AHAܬ?AVe?Ar?A*Alv<2AYc9::A.~BAlv<JAYc9:RA.~٘i)I9Y JJJJ&K Yy bC{7{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028211.303165 s, next control iter: 1743028211.683177 s, wait time: 0.380012 s ) *tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1710*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028211.703165 s.غ:G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743028211.703318F (some fields omitted in printout)A\(@An4@A[~? A IAzX&"AASpNA"AZAbAjArAzAAAp?)@A암pAA*AKA٬?AVe?Ap?A*Arv<2ASs9::A}BArv<JASs9:RA}٘i)I9Y JJJJ&K Yy77o8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028211.743165 s, next control iter: 1743028212.103178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028212.123165 s.8AG~,aAJ"J*J2J:JBJnJvJAp= ׹@Aխn@A([~? AHAX&"AAypNA"AZAbAjArAzAAAZID)@A{pA"ξAGATA׬?AVe?Ain?A2*Aav<2A x9::AO}BAav<JA x9:RAO}٘i)I9Y J22<JJJJ&K Yy77{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028212.163165 s, next control iter: 1743028212.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028212.543165 s.IHG~,"AAQ@Ar„@A@[~? AHAڵX&"AApNA"AZAbAjArAzAAAv /)@A vapAAL.AZA֬?A_Ve?AEl?At3*APv<2Ah9::AĞ}BAPv<JAh9:RAĞ}٘i)I9Y JJJDJ&K  8Y 8y)7ŧ78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028212.563165 s, next control iter: 1743028212.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1711, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028212.963165 s.|NG~,=AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200302 time: 1743028212.963327F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333@A˼@AW[~? AHA X&"AApNA"AZAbAjArAzAAA)@AaGpA!ξA;A[A׬?A cUe?A%j?A|3*A?v<2AF9::A;}BA?v<JAF9:RA;}Yː?ج?yZ7ٓH`?@9j5)?m?`ct?@V> ?)ː? I٘i)I9Y JX3<JЎJJJ&K˹ Yy77p8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028213.003165 s, next control iter: 1743028213.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028213.383165 s.UG~,XAA{Gᾚ@Aax@Ao[~? AfHA:X&"AApNA"AZAbAjArAzAAA5aN)@A/v].pAA9AA׬?A2Te?Ah?AV2*Aq.v<2A9::A}BAq.v<JA9:RA}٘i)I9Y JJJJ&K Yy)7ŧ7*8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028213.423165 s, next control iter: 1743028213.783174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1712", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028213.803165 s.vA\G~,wgsAJ"J*J2J:JBJnJvJA(\@A'@A[~? A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199842 time: 1743028214.223280F (some fields omitted in printout)A ףp=š@A[z4@A[~? AHAX&"AA7pNA"AZAbAjArAzAAAhl)@A[/KpAA::AWA׬?ARe?A@c?AF*A] v<2A8::AQ}BA] v<JA8:RAQ}٘i)I9Y JJJJ&K Yy{7{7pG8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028214.243165 s, next control iter: 1743028214.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028214.643165 s.wiG~, *AJ"J*J2J:JBJnJvJARÚ@AI*Ú@A[~? AGAX&"AA^pNA"AZAbAjArAzAAA.F)@ApA#ξAV::ANAլ?ARe?A`a?A)*Au<2A88::AQ}BAu<JA88:RAQ}٘i)I9Y J_JJJJ&K Yy7)7U8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028214.663165 s, next control iter: 1743028215.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1713, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028215.063165 s.pG~,_ AAŚ@Aϡ U1Ś@AΩ[~? AGAX&"AApNA"AZAbAjArAzAAAT)@AȠAȸpAAlsAJAKҬ?A Re?At_?AC*Au<2A8::AAj}BAu<JA8:RAAj}Y<Ɛ?Ҭ?yJٓH? m9` (? ? `at?m?)<Ɛ? I٘i)I9Y J\4JJJ&Ksй Yyŧ7b7d8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028215.103165 s, next control iter: 1743028215.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028215.483165 s.u_wG~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743028215.483309F (some fields omitted in printout)J"J*J2J:JBJnJvJAzGǚ@A`Vƚ@A[~? AGA$X&"AApNA"AZAbAjArAzAAAp)@A0pAADfAPAϬ?A`&Se?A`L]?A!ߋ*Au<2AU9::A2}BAu<JAU9:RA2}٘i)I9Y JJJJ&K Yy77or8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028215.503165 s, next control iter: 1743028215.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1714, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028215.903165 s.}G~,AA)\Ț@AbȚ@A[~? AkGARX&"AApNA"AZAbAjArAzAAADe))@A>pA"ξAr᝺AYAͬ?A`Se?A'[?A>73*Au<2A9::A}BAu<JA9:RA}٘i)I9Y J.2<JJJJ&K Yy7{7Ā8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028215.943165 s, next control iter: 1743028216.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028216.323165 s.sG~,AJ"J*J2J:JBJnJvJAq= ףʚ@Aͮ{;ʚ@A[~? AAGAX&"AApNA"AZAbAjArAzAAA/7s9)@A {pAAdqA]Abͬ?A@QRe?AY?Ay)3*Au<2AQ8::A7 }BAu<JAQ8:RA7 }٘i)I9Y JJJJ&K Yy cCb7ŧ78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028216.363165 s, next control iter: 1743028216.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1715*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028216.743165 s.WG~,m/AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743028216.743293F (some fields omitted in printout)AQ̚@Aq˚@A,[~? AGAX&"AApNA"AZAbAjArAzAAAiȹ)@ABbpA!ξA5AAͬ?A 9Qe?A V?Az=3*Au<2A8::A}BAu<JA8:RA}٘i)I9Y J`3<JJJJ&K Yy77o8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028216.763165 s, next control iter: 1743028217.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028217.163165 s.y}G~,qJAJ"J*J2J:JBJnJvJAΚ@AĬ͚@AD[~? AFAX&"AABpNA"AZAbAjArAzAAAxW)@AcHpAArl-:A^Alά?A` Pe?A`T?A/*Au<2A8::A6}BAu<JA8:RA6}Y?ͬ?y\q-:ٓHY?69(?@?ct? E??)? I٘i)I9Y JiJJJ&Kѹ Yy777ū8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028217.183165 s, next control iter: 1743028217.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028217.583165 s.G~,SeAAHzϚ@AEϚ@A[[~? AFA X&"AAhpNA"AZAbAjArAzAAA ))@AM/pA"ξAZ:AA[ά?A -Oe?AR?ACn9*A u<2A҂8::A>}BA u<JA҂8:RA>}٘i)I9Y J^JJJJ&K Yyb778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028217.623165 s, next control iter: 1743028217.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1716, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028218.003165 s.w G~,H4AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199812 time: 1743028218.003292F (some fields omitted in printout)A(\њ@AtbК@As[~? AFA6X&"AApNA"AZAbAjArAzAAAlZv)@A&pAA!:AWAͬ?A`Ne?AP?AT<>*A.tu<2Ay8::A|)}BA.tu<JAy8:RA|)}٘i)I9Y JJJJ&K Yy77q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028218.023165 s, next control iter: 1743028218.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028218.423165 s.uG~,wAAףp= Ӛ@AKҚ@A[~? ApFAcX&"AApNA"AZAbAjArAzAAA ~)@As 8`pA#ξA9ANAʬ?ANe?A jN?A*Akcu<2Aہ8::A|BAkcu<JAہ8:RA|٘i)I9Y JdJJJJ&K Yyj7Z78)ZZZBZL?YY*W2W WWW"W ) )FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743028218.443165 s, next control iter: 1743028218.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1717, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028218.843165 s.ݬG~,AJ"J*J2J:JBJnJvJAQԚ@AOԚ@A[~? AGFAX&"AApNA"AZAbAjArAzAAA=)@AtpAA[^չAAǬ?A@AOe?A@CL?A4Ѳ*ARu<2Al8::A[|BARu<JAl8:RA[|٘i)I9Y JJJJ&K Yyŧ778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028218.883165 s, next control iter: 1743028219.243175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028219.263165 s.G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199782 time: 1743028219.263277F (some fields omitted in printout)Afffff֚@AJ`s՚@A[~? AFAX&"AApNA"AZAbAjArAzAAAd1#)@ARyɷpAA}AVA~Ŭ?AdOe?A@J?A<2*AAu<2A8::A|BAAu<JA8:RA|Yl?Ǭ?yQъٓH?81Q(?? @bt?QQ`?)l? I٘i)I9Y JQ4JJJ&Kʹ Yyb7q8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028219.303165 s, next control iter: 1743028219.663178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1718., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028219.683165 s.lG~,kAJ"J*J2J:JBJnJvJAGzؚ@A!t%ך@AҪ[~? AEAX&"AA&pNA"AZAbAjArAzAAA,")@A)? pA"ξA発A]A+Ĭ?AOe?AG?As3*A.1u<2AZ8::A$s|BA.1u<JAZ8:RA$s|٘i)I9Y J,2<JJJJ&K  8Y 8y7778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028219.683165 s, next control iter: 1743028220.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743028220.103165 s.G~,AA(\ٚ@ASu8Zٚ@A[~? AEAX&"AALpNA"AZAbAjArAzAAAohQB)@Ae@pA!ξAil7A_A Ĭ?A5Ne?AE?AƏ3*AG u<2Av8::Aw|BAG u<JAv8:RAw|̘I٘i)I9Y J`3C=JJJJ&K Yy78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028220.143165 s, next control iter: 1743028220.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028220.523165 s.G~,{!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743028220.523287F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףpۚ@Adۚ@A[~? AEA@X&"AArpNA"AZAbAjArAzAAAyѾ)@An-}pAA=}9AAĬ?A Me?A`C?A]2*ANu<2AM8::A|BANu<JAM8:RA|٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 219JJJDJ&K YyZ7Z7r8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028220.563165 s, next control iter: 1743028220.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1719, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028220.943165 s.[dG~,O]<AAQݚ@A5oܚ@A[~? AvEAkX&"AApNA"AZAbAjArAzAAAւr`)@APcpAAiAi:AaAŬ?AKe?AA?A+ܲ*AXt<2A&8::A|BAXt<JA&8:RA|٘i)I9Y JJJJ&K Yy 7 )7 ,8)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] ; Waiting for Gazebo time sync: latest Gz time: 1743028221.023165 s, next control iter: 1743028221.343179 s, wait time: 0.320014 s rAdjusting time to match Gazebo time: 1743028221.363165 s.G~,p>WAJ"J*J2J:JBJnJvJAޚ@A_^}dޚ@A0[~? AMEAX&"AApNA"AZAbAjArAzAAA{)@A XJpA"ξA:A^AĬ?A;Ke?A ??AߚE*A{t<2A8::A|BA{t<JA8:RA|Yҵ?¬?yX_ :ٓH ?8JJJ&Kչ> Yy dC77;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028221.403165 s, next control iter: 1743028221.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1720&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028221.783165 s.TG~,rAvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743028221.783288F (some fields omitted in printout)AGz@AE}@AH[~? A#EAX&"AApNA"AZAbAjArAzAAA ;k~)@A30pA#ξAn:AVA¬?A Ke?Aq=?A2*At<2A 8::A;|BAt<JA 8:RA;|٘i)I9Y JhC=JQ>JJJ&K> Yyb77qI8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028221.823165 s, next control iter: 1743028222.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028222.203165 s.G~,AJ"J*J2J:JBJnJvJA\(@ABȗ@A_[~? ADAX&"AA pNA"AZAbAjArAzAAAt\ )@AxSpAA$9AOA]?AGKe?AM;?AwH*At<2A8::AO|BAt<JA8:RAO|٘i)I9Y JJJJ&K Yy77W8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028222.243165 s, next control iter: 1743028222.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028222.623165 s.UG~,TAAp= @Aan@Aw[~? ADAY&"AA0pNA"AZAbAjArAzAAA<)@A @'pAA0ARA?A`Ke?A)9?AĂ*Aqt<2A)8::AH|BAqt<JA)8:RAH|٘i)I9Y JJJJ&K Yy7f8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028222.663165 s, next control iter: 1743028223.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1721 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028223.043165 s.G~,AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199812 time: 1743028223.043295F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Ay?n@A[~? ADABY&"AAVpNA"AZAbAjArAzAAAWo,)@ApA"ξAA[A?AKe?A`7?A2*Aƪt<2A-8::A {BAƪt<JA-8:RA {٘i)I9Y J,2<JJJJ&K Yy{7{7rt8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028223.083165 s, next control iter: 1743028223.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028223.463165 s.UG~,AA33333@AC@A[~? A}DAlY&"AA|pNA"AZAbAjArAzAAAt7.)@A\1xd˶pAA7[AaA?A Ke?A 4?Ab13*At<2A8::A{BAt<JA8:RA{Y?߼?y\ٓH ?8@. '?@'?{ct?fQ ?)? I٘i)I9Y J_JJJ&Kǹ Yy77Ȃ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028223.503165 s, next control iter: 1743028223.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1722, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028223.883165 s.yG~,4AJ"J*J2J:JBJnJvJA{G@A@x@A[~? ASDA Y&"AApNA"AZAbAjArAzAAABJ)@AڼpA!ξAa#AAҺ?AJe?A2?Au3*A*t<2A7::A {BA*t<JA7:RA {٘i)I9Y J_3<JJJJ&K Yy{7{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028223.903165 s, next control iter: 1743028224.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028224.303165 s.TH~,og AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199792 time: 1743028224.303274F (some fields omitted in printout)A(\@AtF&@Aի[~? A*DAY&"AApNA"AZAbAjArAzAAAϨN)@A>èpAAA9AbAz?AHe?A@0?Ai1*ADxt<2A7::Ae|BADxt<JA7:RAe|٘i)I9Y JJJJ&K Yy77r8)ZZZBZL?YY*W2W WWW"W ) )FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743028224.343165 s, next control iter: 1743028224.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1723*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028224.723165 s. H~,H. AJ"J*J2J:JBJnJvJA ףp=@A>@A[~? ADAY&"AApNA"AZAbAjArAzAAA OLSh)@AMpA"ξAD:AcA?A Ge?A@.?A2*Aigt<2A7::A5|BAigt<JA7:RA5|٘i)I9Y J`JJJJ&K Yy77ȭ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028224.763165 s, next control iter: 1743028225.123179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028225.143165 s.W/H~, *I AAR@Ac*@A[~? ACAY&"AApNA"AZAbAjArAzAAACKR)@AfepAAD:A^Aֺ?AXGe?A,?A/_D*AVt<2AP7::A|BAVt<JAP7:RA|٘i)I9Y JJJJ&K Yyb778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028225.163165 s, next control iter: 1743028225.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028225.563165 s.H~,A d AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743028225.563284F (some fields omitted in printout)A@AyM1@A[~? ACA;Y&"AA:pNA"AZAbAjArAzAAA0UO)@AcfLpA#ξA3:AUAƸ?AUGe?A`j*?A,'*A Ft<2A07::A{BA Ft<JA07:RA{Y?S?ySqD4:ٓH {?8# l'?? jbt?`|F??)? I٘i)I9Y J_Jc+4JJJ&KCӹ Yy7777t8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028225.583165 s, next control iter: 1743028225.963175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1724, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028225.983165 s.H~,~ AAzG@Af@A4[~? ACAdY&"AA`pNA"AZAbAjArAzAAAyN)@AF3pAAAQA?A`Ge?AH(?A*Aw5t<2A߲7::AT{BAw5t<JA߲7:RAT{٘i)I9Y JJJJ&K Yy eC7)78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028226.023165 s, next control iter: 1743028226.383175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028226.403165 s.&&H~,͙ AJ"J*J2J:JBJnJvJA)\@A.:Yj@AK[~? AZCAY&"AApNA"AZAbAjArAzAAABN)@AۮfpAA7lAWAb?AGe?A'&?A}>*A$t<2A7::Ao{BA$t<JA7:RAo{٘i)I9Y JJJJ&K Yy{7j78)ZZZBZL?YY*W2W WWW"W ) )FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743028226.423165 s, next control iter: 1743028226.803175 s, wait time: 0.380010 s)"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1725", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028226.823165 s.,H~,% AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200182 time: 1743028226.823279F (some fields omitted in printout)Aq= ף@A'2s;@Ac[~? A1CA!Y&"AApNA"AZAbAjArAzAAA%O3)@AKpA"ξAԝA`A?AGe?A $?AZ<3*AJt<2A7::AFM{BAJt<JA7:RAFM{٘i)I9Y J.2<JJJJ&K Yy77t8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028226.863165 s, next control iter: 1743028227.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028227.243165 s.3H~,m AJ"J*J2J:JBJnJvJAQ@A7j@Az[~? ACA$Y&"AApNA"AZAbAjArAzAAA"&M)@AKOpAAj(lAcA7?A Fe?A`!?AE3*At<2A7::AH{BAt<JA7:RAH{٘i)I9Y JJJJ&K  8Y 8yb778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028227.283165 s, next control iter: 1743028227.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028227.663165 s.:H~,q AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1726, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@AA)Z@A[~? ABA(Y&"AApNA"AZAbAjArAzAAAMEQ)@AdεpA!ξAAdA?AEe?A?A43*As<2AҀ7::A\{BAs<JAҀ7:RA\{Y??ydٓH?@78 '?"?L dt?`"`?)? I٘i)I9Y J]3<JԡJJJ&K˹ Yyŧ7ŧ7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028227.683165 s, next control iter: 1743028228.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028228.083165 s.DAH~,S AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743028228.083279F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@A"9E@A[~? ABA-+Y&"AApNA"AZAbAjArAzAAA'5)@A8pAA3:AeAH?A@De?A`?AL*As<2AX7::A3v{BAs<JAX7:RA3v{٘i)I9Y JJJJ&K Yyb7t 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028228.103165 s, next control iter: 1743028228.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028228.503165 s.GH~,@4  AA(\@A+@A[~? ABAU.Y&"AADpNA"AZAbAjArAzAAAqo)@A__hpA"ξA.8:AdA/?ACe?A?AD(:*A6s<2A;7::A}{BA6s<JA;7:RA}{٘i)I9Y JeJJJDJ&K Yyj7j7.8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028228.543165 s, next control iter: 1743028228.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1727, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028228.923165 s.4NH~,; AJ"J*J2J:JBJnJvJAףp= @A܁:@A٬[~? AaBA|1Y&"AAjpNA"AZAbAjArAzAAA`)@AEpA#ξAC:A]A㰬?ACe?A?Al;*As<2A"27::Ag{BAs<JA"27:RAg{٘i)I9Y J`C=JJJJ&K Yy77{7=8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028228.963165 s, next control iter: 1743028229.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028229.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743028229.343283F (some fields omitted in printout)AQ@A]O@A[~? A8BA4Y&"AApNA"AZAbAjArAzAAA)@AhpAA69AUA?A Ce?A`z?A3*As<2At;7::A7{BAs<JAt;7:RA7{٘i)I9Y JJJJ&K Yy77tK8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028229.363165 s, next control iter: 1743028229.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1728&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028229.763165 s.3[H~,p AJ"J*J2J:JBJnJvJAfffff@AC @A[~? ABA7Y&"AApNA"AZAbAjArAzAAA[)@AOpAA[AA?ACe?A[?A $ʲ*As<2AK7::AzBAs<JAK7:RAzYM??yT2FٓH?N7OӍ&?(?bt?`y<@?)M? I٘i)I9Y JZ4JJJ&K̹ Yy77Y8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028229.803165 s, next control iter: 1743028230.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028230.183165 s.bH~,x AAGz@A$"@A[~? AAA:Y&"AApNA"AZAbAjArAzAAAܣ)@AL6pAA5EA]AP?ADe?A=?ARGU2*As<2AU7::AzBAs<JAU7:RAz٘i)I9Y JJJJ&K Yy77 h8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028230.223165 s, next control iter: 1743028230.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028230.603165 s.J "J *J 2J :J BJ nJ vJ 24iH~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743028230.603285F (some fields omitted in printout)A(\@A+Z@A7[~? AAA>Y&"AApNA"AZAbAjArAzAAA9)@AIi pA"ξA|嘺AdA ?ACe?A$?Av3*A~s<2AK7::AzBA~s<JAK7:RAz٘i)I9Y Jc2C<JJJJ&K Yy{7j7uv8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028230.643165 s, next control iter: 1743028231.003175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1729 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028231.023165 s.ZpH~,{ AA= ףp@AM@AN[~? AAA=AY&"AA(pNA"AZAbAjArAzAAA~)@ApA!ξA0AfA?A Be?A?A$t3*Ams<2A.7::AXzBAms<JA.7:RAXz٘i)I9Y J\3C=JJJJ&K Yy fC7ŧ7˄8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028231.063165 s, next control iter: 1743028231.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028231.443165 s.3vH~,-] AJ"J*J2J:JBJnJvJAQ@A!y@Af[~? AiAAcDY&"AANpNA"AZAbAjArAzAAAZW)@AߴȊpAAC$9AA?AAe?A ?A72*A]s<2A7::AzBA]s<JA7:RAz٘i)I9Y JJJJ&K Yy7777!8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028231.463165 s, next control iter: 1743028231.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1730, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028231.863165 s.+}H~,> AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743028231.863282F (some fields omitted in printout)A@A0Bxd@A~[~? A@AAGY&"AAtpNA"AZAbAjArAzAAAdK4/)@AtMѴpAADn:AgA?A@e?A ?A*A_Ls<2A 6::AvzBA_Ls<JA 6:RAvzY͚??ydGn:ٓHF?(7X(@&?P+?@4dt?M??)͚? I٘i)I9Y JdJJJ&Kѹ Yy7)7v8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028231.883165 s, next control iter: 1743028232.263187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743028232.283165 s.8RH~, AJ"J*J2J:JBJnJvJAGz @A=Ƃ @A[~? AAAJY&"AApNA"AZAbAjArAzAAA7t)@A[pA"ξAğ:AeA?A@?e?A@?AD*A;s<2A6::ASzBA;s<JA6:RASz٘i)I9Y J/˲<JJJJ&K Yy77˯8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028232.323165 s, next control iter: 1743028232.683179 s, wait time: 0.360014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1731., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028232.703165 s.غH~,- AA\( @A& @A[~? A@AMY&"AApNA"AZAbAjArAzAAAP)@Aki؞pA#ξA1i:A\AԦ?A?e?A?A/*A<+s<2A6::A>zBA<+s<JA6:RA>z٘i)I9Y JMB=JJJJ&K Yyŧ7b7"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028232.743165 s, next control iter: 1743028233.103178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028233.123165 s.;H~,mG AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199772 time: 1743028233.123297F (some fields omitted in printout)Ap= @A;n @Aĭ[~? A@APY&"AApNA"AZAbAjArAzAAA)@ArxpAA}9AVA4?A?e?A?Al*As<2A6::A zBAs<JA6:RA z٘i)I9Y JJJJ&K Yy77v8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028233.163165 s, next control iter: 1743028233.523181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743028233.543165 s.IH~,b AAQ@A@@Aܭ[~? A@ATY&"AA pNA"AZAbAjArAzAAA`!)@ANjlpAA+7AYAr?AC@e?A?AWr*Ag s<2A6::AWzBAg s<JA6:RAWz٘i)I9Y JJJJ&K YyZ7Z78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028233.563165 s, next control iter: 1743028233.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1732, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028233.963165 s.uH~,} AJ"J*J2J:JBJnJvJA33333@A@A[~? Aq@ACWY&"AA1pNA"AZAbAjArAzAAA'.)@A5SpA"ξA ęAbAg?A@>@e?Ak?A "2*Ar<2AN6::A -zBAr<JAN6:RA -zY?ᡬ?y\ٓH[#?6 X>&?4?ct?@8S ?)? I٘i)I9Y J02<J`4JJJ&Kƹ Yy7)7"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028234.003165 s, next control iter: 1743028234.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028234.383165 s.إH~,# AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743028234.383276F (some fields omitted in printout)A{G@AKx@A [~? AH@AgZY&"AAWpNA"AZAbAjArAzAAAa{>)@A/F:pAArAgA?A?e?AV?Am3*Apr<2A6::A zBApr<JA6:RA z٘i)I9Y JJJJ&K Yy77v8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028234.423165 s, next control iter: 1743028234.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1733", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028234.803165 s.vAH~,wg AJ"J*J2J:JBJnJvJA(\@AqǛ&@A"[~? A@A]Y&"AA}pNA"AZAbAjArAzAAA~P)@Aa pA!ξApչAhAΞ?A >e?AF?Awn3*Ar<2A6::A-zBAr<JA6:RA-z٘i)I9Y Jg3<JJJJ&K  8Y 8y778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028234.823165 s, next control iter: 1743028235.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028235.223165 s.gH~,H AA ףp=@A)@A:[~? A?A`Y&"AApNA"AZAbAjArAzAAAo\)@A7pAA^9AiAw?A=e?A6?AY1*A#r<2AB6::AeGzBA#r<JAB6:RAeGz٘i)I9Y JJJJ&K Yy7!8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028235.263165 s, next control iter: 1743028235.623182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743028235.643165 s.zйH~,* AJ"JvPublished command to Gazebo (printed only once in a while):*J2J( dropWeightState: 1:JBJ6 propOmegaAction: 0.000000nJ: rudderAngleAction: 0.052360vJ> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200412 time: 1743028235.643320F (some fields omitted in printout)AR@AD.8@AR[~? A?AcY&"AApNA"AZAbAjArAzAAA:)@AWupA"ξAb:AA?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200312 time: 1743028236.903296F (some fields omitted in printout)A)\@Awh@A[~? AP?A=mY&"AA;pNA"AZAbAjArAzAAAPQ)@AQpAA4AXA陬?APAsY&"AApNA"AZAbAjArAzAAAT)@AzppA"ξAAgA?AV elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199942 time: 1743028238.163290F (some fields omitted in printout)A"@AHC!@A߮[~? A>AvY&"AApNA"AZAbAjArAzAAAY)lC)@AkWpAAYfAjA>?A@;e?A ?AnD3*AUr<2A]b6::AUyBAUr<JA]b6:RAUyY͊??ygCgٓH -?6X͎%? >? et?*L?)͊? I٘i)I9Y Jg+JJJ&Kƹ Yyŧ7b7xx8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028238.183165 s, next control iter: 1743028238.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028238.583165 s.H~,R AAHz#@A vöE#@A[~? A>AyY&"AApNA"AZAbAjArAzAAAi)@Ah>pA!ξABAA?A:e?A?Acq,3*A|Dr<2A%<6::A yBA|Dr<JA%<6:RA y٘i)I9Y Ja3<JJJJ&K Yyb77͆8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028238.603165 s, next control iter: 1743028238.983174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1737, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028239.003165 s.w H~,H4 AJ"J*J2J:JBJnJvJA(\%@A $@A[~? A>A|Y&"AApNA"AZAbAjArAzAAAR`)@AqYI%pAA_9:AkAU?A]9e?A?Ah*A3r<2A6::A yBA3r<JA6:RA y٘i)I9Y JJJJ&K Yy)7)7$8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028239.043165 s, next control iter: 1743028239.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028239.423165 s.uH~,{ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743028239.423259F (some fields omitted in printout)Aףp= '@AB&@A%[~? AY>A Y&"AApNA"AZAbAjArAzAAAYX)@AN+ pA"ξAJ:AA5?A 8e?Av?Aؾ:*Ab#r<2A5::AyBAb#r<JA5:RAy٘i)I9Y JaJJJJ&K Yy77{7x8)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743028239.443165 s, next control iter: 1743028239.823174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1738, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028239.843165 s.H~, AJ"J*J2J:JBJnJvJAQ(@Ag+/O(@A=[~? A0>A-Y&"AADpNA"AZAbAjArAzAAA"H})@ApA#ξA Q:AcA?A28e?Ac?A&8*Ar<2A5::AѫyBAr<JA5:RAѫy٘i)I9Y JbC=JJJJ&K Yy7)7α8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028239.863165 s, next control iter: 1743028240.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028240.263165 s.H~, AAfffff*@Ax $()@AT[~? A>AOY&"AAjpNA"AZAbAjArAzAAA )@A8\ٲpAA u9A[Ax?AT8e?AL?Ac*Ar<2A5::A{yBAr<JA5:RA{yYX??yZ9ٓH(3?@5F Z%?OA?"`ct?9?@?)X? I٘i)I9Y Jw4JJJ&KϹ Yy77j7%8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028240.303165 s, next control iter: 1743028240.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1739., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028240.683165 s.l H~,^+ AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743028240.683288F (some fields omitted in printout)AGz,@A+@Al[~? A=ApY&"AApNA"AZAbAjArAzAAA #)@ApAAMAA?A8e?A4ߍ?Ab²*Apq<2A 6::AbByBApq<JA 6:RAbBy٘i)I9Y JJJJ&K Yy{7y8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028240.683165 s, next control iter: 1743028241.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743028241.103165 s.H~,F AA(\-@A_\6Z-@A[~? A=AY&"AApNA"AZAbAjArAzAAA$:))@A ƧpAA덺AdAS?A8e?Aݍ?Am2*A+q<2A6::A6yBA+q<JA6:RA6y٘i)I9Y JJJJ&K Yy hC778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028241.143165 s, next control iter: 1743028241.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028241.523165 s.H~,{a AJ"J*J2J:JBJnJvJA= ףp/@ApDI/@A[~? A=AY&"AApNA"AZAbAjArAzAAAIXX)@A"pA"ξA˗AkA?A]8e?A ۍ?A%z3*Aq<2A6::AxBAq<JA6:RAx٘i)I9Y Ja2C<JJJJ&K Yy7777$8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028241.543165 s, next control iter: 1743028241.923176 s, wait time: 0.380011 s)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1740, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028241.943165 s.YdH~,F]| AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200432 time: 1743028241.943330F (some fields omitted in printout)AQ1@AHi0@A[~? Ac=AҒY&"AAqNA"AZAbAjArAzAAA@uF)@ArߝupA!ξAV*AlA?A }7e?Aٍ?A 3*A`q<2A|5::AOyBA`q<JA|5:RAOy٘i)I9Y J^3C=JJJJ&K Yyb77z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028241.963165 s, next control iter: 1743028242.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028242.363165 s.%H~,y> AJ"J*J2J:JBJnJvJA2@Ad\qqd2@Aʯ[~? A:=AY&"AA'qNA"AZAbAjArAzAAAB)@A:T\pAA~B9AmA?AS6e?A`֍?A=2*Aܰq<2A5::A/yBAܰq<JA5:RA/yY?L?ylMC9ٓH`]8?5 ѵ%?F?et?\(?`?)? I٘i)I9Y JpJJJ&K˹  8Y 8yŧ7ŧ78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028242.383165 s, next control iter: 1743028242.763175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1741", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028242.783165 s.X+H~, AAGz4@A]4@A[~? A=AY&"AAMqNA"AZAbAjArAzAAA:d)@AAW|CpA"ξA!s:AnA!?A>5e?Aԍ?A*A]q<2A5::A/yBA]q<JA5:RA/y٘i)I9Y J]<JJJJ&K Yy7777%8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028242.803165 s, next control iter: 1743028243.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028243.203165 s.3H~,  AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743028243.203289F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(6@A.5@A[~? A<A3Y&"AAsqNA"AZAbAjArAzAAA)@A dn*pAAbn:AkA?A 4e?Aҍ?A`C*Aq<2A(5::A,yBAq<JA(5:RA,y٘i)I9Y JJJJ&K Yy{7z$8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028243.223165 s, next control iter: 1743028243.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028243.623165 s.\9H~,q AAp= 7@A{Icn7@A[~? A<ARY&"AAqNA"AZAbAjArAzAAA)@AbpA#ξAc:AbAߊ?Al4e?A`Ѝ?A*-*Aq<2A 5::Ac yBAq<JA 5:RAc y٘i)I9Y JcJJJJ&K Yy7728)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028243.643165 s, next control iter: 1743028244.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1742 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028244.043165 s.@H~, AJ"J*J2J:JBJnJvJAQ9@ArP9@A([~? A<ArY&"AAqNA"AZAbAjArAzAAAv)@A!`WpAAz8A\A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199702 time: 1743028244.463266F (some fields omitted in printout)A33333;@Ajj:@A?[~? Al<AY&"AAqNA"AZAbAjArAzAAA IG)@Ax}N߱pAAS=A`A?A4e?A̍?A_*AO_q<2A5::A xBAO_q<JA5:RA xYz??y^}=ٓH@=?`35@a $?@M?ct?aG?)z? I٘i)I9Y JS4JJJ&Kɹ Yy77zO8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028244.503165 s, next control iter: 1743028244.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1743, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028244.883165 s.yMH~,#8 AJ"J*J2J:JBJnJvJA{G<@A5x<@AW[~? AC<AY&"AA qNA"AZAbAjArAzAAA+,)@AYGƱpA"ξAK~AiA?A@4e?Aʍ?A3*AOq<2A&5::A7uxBAOq<JA&5:RA7ux٘i)I9Y J/2<JJJDJ&K Yy7]8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028244.923165 s, next control iter: 1743028245.283176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028245.303165 s.TTH~,ogS AA(\>@A y'>@An[~? A<AϫY&"AA0qNA"AZAbAjArAzAAALa )@AApAAuAnA?A T4e?Aȍ?A3*A>q<2AK5::ArhxBA>q<JAK5:RArhx٘i)I9Y JJJJ&K Yy{7{7%l8)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743028245.323165 s, next control iter: 1743028245.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1744*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028245.723165 s.[H~,Hn AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000J: rudderAngleAction: 0.052360"J*J> elevatorAngleAction: 0.0000002J< massPositionAction: 0.0000004 buoyancyAction: 0.000955:JBJ dt: 0.420019nJ2 time: 1743028245.723277vJF (some fields omitted in printout)A ףp=@@A7?@A[~? A;AY&"AAVqNA"AZAbAjArAzAAArvI)@AeA>pA!ξA9ƹAA?A`Q3e?Axƍ?AKg3*Ab.q<2As5::AAwxBAb.q<JAs5:RAAwx٘i)I9Y Ja3<JJJJ&K Yy iC7{z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028245.763165 s, next control iter: 1743028246.123178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028246.143165 s.Y/bH~,* AARA@Aa80A@A[~? A;A Y&"AA|qNA"AZAbAjArAzAAA)@ATF<{pAA9AoA?A@$2e?Apč?A-!1*Aq<2AJ5::AxxBAq<JAJ5:RAxx٘i)I9Y JJJJ&K Yy77ш8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028246.163165 s, next control iter: 1743028246.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028246.563165 s.hH~,A  AJ"J*J2J:JBJnJvJAC@AqrC1C@A[~? A;A*Y&"AAqNA"AZAbAjArAzAAA"0df)@A3 elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743028246.983322F (some fields omitted in printout)AzGE@A2SZD@A̰[~? Aw;AHY&"AAqNA"AZAbAjArAzAAAW )@Amq=IpAA:AjA催?A0e?A`Z?A?*ADp<2A5::AlxBADp<JA5:RAlx٘i)I9Y JJJJ&K Yy)7b7|8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028247.023165 s, next control iter: 1743028247.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028247.403165 s.&vH~, AJ"J*J2J:JBJnJvJA)\F@APlF@A[~? AN;AfY&"AAqNA"AZAbAjArAzAAA$ 0)@A @0pA#ξAȴ&:AaAǀ?A@0e?A`I?A!*Ap<2A 5::A9ixBAp<JA 5:RA9ix٘i)I9Y JcJJJJ&K Yyj7Z7ѳ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028247.423165 s, next control iter: 1743028247.803176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1746, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028247.823165 s.|H~, AAq= ףH@A~x;H@A[~? A%;AY&"AAqNA"AZAbAjArAzAAA)@A4|EpAAYSA^A~?A0e?A 6?A̻*Ap<2A05::A1xBAp<JA05:RA1x٘i)I9Y JJJJ&K Yy{7j7&8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028247.863165 s, next control iter: 1743028248.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028248.243165 s.J "J *J 2J :J H~BJnJvJ,u AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743028248.243297F (some fields omitted in printout)AQJ@AȒI@A[~? A:AY&"AA9qNA"AZAbAjArAzAAA)@A*LpAAuAeAq{?A`,1e?A $?A#<*Ap<2A=5::A_wBAp<JA=5:RA_w٘i)I9Y JJJJ&K Yy7777|8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028248.283165 s, next control iter: 1743028248.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028248.663165 s.H~,q* AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1747, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)AL@AwK@A*[~? A:AY&"AA^qNA"AZAbAjArAzAAAZ;f.)@A &TpA"ξArAmAy?A0e?A ?ADF3*Ap<2A95::AhwBAp<JA95:RAhwYp?`|?yg(ƝٓH G?`4s-$? TY?et? TS ?)p? I٘i)I9Y J)2<JY3JJJ&KĹ Yyŧ7b78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028248.683165 s, next control iter: 1743028249.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028249.083165 s.DH~,SE AJ"J*J2J:JBJnJvJAHzM@A&EM@AB[~? A:AY&"AAqNA"AZAbAjArAzAAA̞˼)@A첧^̰pAA;HaApAwy?A`;0e?A ?AK'3*Aop<2A"5::AwBAop<JA"5:RAw٘i)I9Y JJJJ&K Yy7)7'8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028249.123165 s, next control iter: 1743028249.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028249.503165 s.H~,;4` AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199752 time: 1743028249.503274F (some fields omitted in printout)A(\O@AN@AY[~? A:AY&"AAqNA"AZAbAjArAzAAA*K)@AvjpA!ξA*<AqAy?A /e?A?A#3*Ap<2A4::AFwBAp<JA4:RAFw٘i)I9Y Jf3<JJJJ&K YyZ7Z7|8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028249.523165 s, next control iter: 1743028249.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1748, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028249.923165 s.4H~,{ AJ"J*J2J:JBJnJvJAףp= Q@AYݡP@Aq[~? AX:AY&"AAqNA"AZAbAjArAzAAAnC)@AnwpAA@:ArAz?A -e?A ?AD*Ap<2AJ4::AxBAp<JAJ4:RAx٘i)I9Y JJJJ&K  8Y 8y7777 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028249.963165 s, next control iter: 1743028250.323175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028250.343165 s.<H~, AAQR@AQhYOR@A[~? A/:A0Y&"AAqNA"AZAbAjArAzAAAg)@Al.pA"ξA=:AqAkz?A (-e?A ?AK;*Ap{p<2A4::A xBAp{p<JA4:RA x٘i)I9Y JaJJJJ&K Yy{7'8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028250.383165 s, next control iter: 1743028250.743183 s, wait time: 0.380018 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1749&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028250.763165 s.6H~,ذ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743028250.763279F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffffT@A S@A[~? A:ALY&"AAqNA"AZAbAjArAzAAA&)@AhpA#ξAjI:AiAy?A,e?A ?A5*AEkp<2Aұ4::AwBAEkp<JAұ4:RAwYj?v?ye.:ٓH`6M?4#?Z?dt?-P?@?)j? I٘i)I9Y J]C=J]3JJJ&Kѹ Yy jC777}&8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028250.783165 s, next control iter: 1743028251.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028251.183165 s.˲H~,g AAGzV@AGU@A[~? A9AhY&"AAAqNA"AZAbAjArAzAAAj)@AľOpAAM9AaAv?A@,e?Aݫ?A4C*A3[p<2A4::AwBA3[p<JA4:RAw٘i)I9Y JJJJ&K Yy748)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028251.223165 s, next control iter: 1743028251.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028251.603165 s.54H~, AJ"J*J2J:JBJnJvJA(\W@A5CZW@Aϱ[~? A9AY&"AAgqNA"AZAbAjArAzAAA4)@ACw6pAAAbAs?A@H-e?A̩?Ad*A*Kp<2Au4::AwBA*Kp<JAu4:RAw٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 218JJJJ&K Yyb77)C8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028251.623165 s, next control iter: 1743028252.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1750 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028252.023165 s.ZH~,| AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199562 time: 1743028252.023288F (some fields omitted in printout)A= ףpY@AdY@A[~? A9AY&"AAqNA"AZAbAjArAzAAAi)@A+;pAAm{AjAq?A^-e?A@?A&12*A;p<2A4::A]wBA;p<JA4:RA]wʘI٘i)I9Y JJJJ&K Yy Q8)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] #; Waiting for Gazebo time sync: latest Gz time: 1743028252.103165 s, next control iter: 1743028252.423179 s, wait time: 0.320014 s rAdjusting time to match Gazebo time: 1743028252.443165 s.3H~,-] AJ"J*J2J:JBJnJvJAQ[@A*QZ@A[~? Ac9AY&"AAqNA"AZAbAjArAzAAAU/)@AEpA"ξAAqA[p?A,e?A`?A}3*A*p<2AH4::AGwBA*p<JAH4:RAGw٘i)I9Y Jc2C<JQ>JJJ&K> Yy777_8)ZZZBZL?YY*W2W WWW"W ) )FFF]i:Waiting for Gazebo time sync: latest Gz time: 1743028252.463165 s, next control iter: 1743028252.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1751, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028252.863165 s.+H~,y>7 AA\@A:rd\@A[~? A:9AY&"AAqNA"AZAbAjArAzAAA7')@ApA!ξA#AsA\p?A@,e?A?Aӊ3*Ap<2A4::AMOwBAp<JA4:RAMOwY`e?q?yq#ٓHER?4o@#? b?v@ft?tD?)`e? I٘i)I9Y J[3C=JdQ>JJDJ&Kƹ> Yy7(n8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028252.903165 s, next control iter: 1743028253.263174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743028253.283165 s.7RH~,R AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743028253.283277F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz^@AoH^@A-[~? A9AY&"AAqNA"AZAbAjArAzAAAuLK)@A|q!ӯpAAaa9AAq?A*e?A?A|2*Ax p<2Af4::A]hwBAx p<JAf4:RA]hw٘i)I9Y JJJJ&K Yy7|8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028253.303165 s, next control iter: 1743028253.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1752., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028253.703165 s.ӺH~,m AA\(`@A]o_@AD[~? A8A Y&"AA$qNA"AZAbAjArAzAAA̰)@A>pA"ξA7w:AtAmq?A)e?A?A*A3o<2A_4::A|wBA3o<JA_4:RA|w٘i)I9Y J_<JJJJ&K Yyŧ77Ԋ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028253.743165 s, next control iter: 1743028254.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028254.123165 s.7H~,] AJ"J*J2J:JBJnJvJAp= a@A^cna@A\[~? A8A%Y&"AAIqNA"AZAbAjArAzAAAȟRh)@A5{a]pAA$:AqAp?A3)e?Aࠝ?ARB*Ao<2A$K4::AxwBAo<JA$K4:RAxw٘i)I9Y JJJJ&K Yy77)8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028254.163165 s, next control iter: 1743028254.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028254.543165 s.IH~,â AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743028254.543321F (some fields omitted in printout)AQc@AB>c@As[~? A8A?Y&"AAoqNA"AZAbAjArAzAAA@)@A =}pA#ξA.^:AhAo?A)e?A?A$C**Ao<2AJ4::AWwBAo<JAJ4:RAWw٘i)I9Y JaJJJJ&K Yy77{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028254.563165 s, next control iter: 1743028254.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1753, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028254.963165 s.yH~, AJ"J*J2J:JBJnJvJA33333e@Acd@A[~? Ao8AYY&"AAqNA"AZAbAjArAzAAAEط)@A,zopAAҏ8AcAul?A L)e?A?A_v *Ao<2AX4::A"wBAo<JAX4:RA"wY`?Pl?ycM8ٓH}W?3`J#?@bf? e dt?@@?`?)`? I٘i)I9Y JT4JJJ&KN̹ Yy7)7Ե8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028255.003165 s, next control iter: 1743028255.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028255.383165 s.H~, AA{Gf@ARxf@A[~? AF8ArY&"AAqNA"AZAbAjArAzAAAJ)@ArŇVpAA=[CAgAi?A )e?Ay?ANK*A o<2Ag4::A vBA o<JAg4:RA v٘i)I9Y JJJJ&K Yyb77)8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028255.423165 s, next control iter: 1743028255.783174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1754", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028255.803165 s.tAH~,og AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199692 time: 1743028255.803281F (some fields omitted in printout)A(\h@A 'h@A[~? A8AY&"AAqNA"AZAbAjArAzAAA y!)@A=pA"ξAX AoAg?A)e?A o?AkV3*A o<2AYj4::AivBA o<JAYj4:RAiv٘i)I9Y J-2<JJJJ&K Yy kC78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028255.843165 s, next control iter: 1743028256.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028256.223165 s.gH~,H AA ףp=j@Ai@AѲ[~? A7AY&"AAqNA"AZAbAjArAzAAAgU/)@AĄ;%pAA6dAtA g?A(e?A@i?A3*Ao<2AX4::AܷvBAo<JAX4:RAܷv٘i)I9Y JJJJ&K Yy77778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028256.263165 s, next control iter: 1743028256.623179 s, wait time: 0.360014 s()( rAdjusting time to match Gazebo time: 1743028256.643165 s.w H~, *) AJ"J*J2J:JBJnJvJARk@AD.8k@A[~? A7AY&"AA,qNA"AZAbAjArAzAAAՃ)@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199692 time: 1743028257.063286F (some fields omitted in printout)Am@AN1m@A[~? A7AZ&"AARqNA"AZAbAjArAzAAAʪK)@A9cpAAK:AvAh?A&e?Af?Av/*Ayo<2A 4::A~vBAyo<JA 4:RA~vYZ?f?yt:ٓH\?39"? j?ft? `i@? ?)Z? I٘i)I9Y J塴JJJ&K˹ Yy778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028257.103165 s, next control iter: 1743028257.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028257.483165 s.o_H~,x^ AJ"J*J2J:JBJnJvJAzGo@A+Pn@A[~? Az7AZ&"AAwqNA"AZAbAjArAzAAAL)@ANڮpA"ξA:AA.h?A%e?A d?A%*Aaio<2A3::AvBAaio<JA3:RAv٘i)I9Y JfJJJJ&K  8Y 8y777 8)ZZZBZL?YY*W2W WWW"W ) )FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743028257.503165 s, next control iter: 1743028257.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1756, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028257.903165 s.H~,y AA)\p@A]p@A/[~? AR7A Z&"AAqNA"AZAbAjArAzAAAKg)@AJpAA"ӕ:AqA6g?AN%e?A@^?Az=*ARYo<2A=3::AvBARYo<JA=3:RAv٘i)I9Y JJJJ&K Yy77*8)ZZZBZL?YY*W2W WWW"W ) )FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743028257.943165 s, next control iter: 1743028258.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028258.323165 s.s$H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743028258.323274F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ףr@Apv;r@AF[~? A)7A Z&"AAqNA"AZAbAjArAzAAAI)@ApA#ξA:AhAe?AS%e?A@T?ACW*A_Io<2A3::AMvBA_Io<JA3:RAMv٘i)I9Y J`JJJJ&K Yyŧ7b7(8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028258.363165 s, next control iter: 1743028258.723175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1757&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028258.743165 s.W+H~,y AAQt@AEИs@A][~? A7A8Z&"AAqNA"AZAbAjArAzAAA/2)@ApAAqAeALb?A%e?A@H?A*Az9o<2A3::AxvBAz9o<JA3:RAxv٘i)I9Y JJJJ&K Yy77{768)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028258.783165 s, next control iter: 1743028259.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028259.163165 s.u}2H~,q AJ"J*J2J:JBJnJvJAv@A_ѭu@Au[~? A6APZ&"AAqNA"AZAbAjArAzAAA2{2)@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743028259.583283F (some fields omitted in printout)AHzw@A5Ew@A[~? A6AgZ&"AA4qNA"AZAbAjArAzAAAnT1N)@AE^pA"ξAAtA5^?A%e?A6?A"J3*Ao<2A&3::A-vBAo<JA&3:RA-v٘i)I9Y J'2<JJJJ&K Yyb7b7S8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028259.623165 s, next control iter: 1743028259.983175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1758, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028260.003165 s.s @H~,74 AJ"J*J2J:JBJnJvJA(\y@AQEx@A[~? A6AZ&"AAZqNA"AZAbAjArAzAAA f.)@A$jeEpAA[AwA]?A $e?A4?A3*A o<2A3::A+vBA o<JA3:RA+v٘i)I9Y JJJJ&K Yyŧ7ŧ7a8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028260.043165 s, next control iter: 1743028260.403175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028260.423165 s.uFH~, AAףp= {@A|١z@A[~? A^6AZ&"AAqNA"AZAbAjArAzAAAǾcy)@Ad*,pA!ξA+]fAAj^?A#e?A5?AN3*Asn<2A3::AmAvBAsn<JA3:RAmAv٘i)I9Y Jh3<JJJJ&K Yy77+p8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028260.463165 s, next control iter: 1743028260.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1759, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028260.843165 s.LH~,5 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743028260.843280F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ|@ACyO|@Aӳ[~? A56AZ&"AAqNA"AZAbAjArAzAAA&J)@A6q/pAAF:AxA_?A"e?A@7}?Ag*AOn<2A3::AYvBAOn<JA3:RAYv٘i)I9Y JJJDJ&K Yy lCb77~8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028260.883165 s, next control iter: 1743028261.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028261.263165 s.TH~,,P AAfffff~@Aӝ'}@A[~? A 6A!Z&"AAqNA"AZAbAjArAzAAAF )@AjpA"ξAA:AwA^?A !e?A 6{?A1;*A@n<2A~3::A^vBA@n<JA~3:RA^vYP?Q\?yqQ:ٓHg? 3o抿g"?s?@=@ft?`>hS? ?)P? I٘i)I9Y JYJb+JJJ&KϹ Yy{7j7׌8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028261.303165 s, next control iter: 1743028261.663182 s, wait time: 0.360017 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1760., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028261.683165 s.lZH~,k AJ"J*J2J:JBJnJvJAGz@AME@A[~? A5A$Z&"AAqNA"AZAbAjArAzAAA]f)@A6pA#ξAs-:AoAk]?Ax!e?A 1y?Ad!3*ANn<2A8x3::ANFvBANn<JA8x3:RANFv٘i)I9Y J`C=JJJJ&K Yy77-8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028261.683165 s, next control iter: 1743028262.083187 s, wait time: 0.400022 s rAdjusting time to match Gazebo time: 1743028262.103165 s.aH~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743028262.103322F (some fields omitted in printout)A(\@AK?Z@A[~? A5A'Z&"AAqNA"AZAbAjArAzAAA0)@A#ɭpAA9AhAZ?A!e?A`(w?A*Atn<2A3::AvBAtn<JA3:RAv٘i)I9Y JJJJ&K Yy{7Z78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028262.143165 s, next control iter: 1743028262.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028262.523165 s.gH~,{ AJ"J*J2J:JBJnJvJA= ףp@AT@A0[~? A5A+Z&"AA<qNA"AZAbAjArAzAAA()@A'pAAAiA0X?A!e?Au?ATIJ*An<2A03::AuBAn<JA03:RAu٘i)I9Y JJJJ&K Yy77׷8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028262.563165 s, next control iter: 1743028262.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1761, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028262.943165 s.UdnH~,5] AAQ@Af@AH[~? Ak5A.Z&"AAaqNA"AZAbAjArAzAAA-a)@A jpAAAqAU?A!e?As?A]2*AΙn<2Aך3::AuBAΙn<JAך3:RAu٘i)I9Y JJJJ&K Yyj7Z7.8)ZZZBZL?YY*W2W WWW"W ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028262.983165 s, next control iter: 1743028263.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028263.363165 s.uH~J"J*J2J,> A:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743028263.363287F (some fields omitted in printout)Ă@A!qd@A_[~? AB5A21Z&"AAqNA"AZAbAjArAzAAAr싞)@A ,pA"ξARAxAT?A@!e?Aq?A3*An<2A3::AuBAn<JA3:RAuYJ?5W?yrٓHl? 2ё"?@q}?L`ft? QR?)J? I٘i)I9Y Jd2C<JyJJJ&K¹ Yy{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028263.403165 s, next control iter: 1743028263.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1762&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028263.783165 s.U{H~, AAGz@A @Aw[~? A5AG4Z&"AAqNA"AZAbAjArAzAAA C,)@AfpA!ξAAyAT?A e?Ao?A3*Ayn<2A r3::A3uBAyn<JA r3:RA3u٘i)I9Y J]3C=JJJJ&K Yy77{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028263.823165 s, next control iter: 1743028264.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028264.203165 s.H~, AJ"J*J2J:JBJnJvJA\(@AUL@A[~? A4A\7Z&"AAqNA"AZAbAjArAzAAAl)@AkVN;NpAA9AAU?Ae?A`m?AKȕ2*Ain<2AJ3::AkuBAin<JAJ3:RAku٘i)I9Y JJJJ&K Yy77-8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028264.243165 s, next control iter: 1743028264.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028264.623165 s.SH~,L' AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743028264.623321F (some fields omitted in printout)Ap= ׋@AUgn@A[~? A4Aq:Z&"AAqNA"AZAbAjArAzAAA[KnH)@Ac_5pA"ξAd|:AzAU?Are?Ak?AL*AYn<2A1&3::AuBAYn<JA1&3:RAu٘i)I9Y Ja<JJJJ&K Yy778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028264.643165 s, next control iter: 1743028265.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1763 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028265.043165 s.H~,B AJ"J*J2J:JBJnJvJAQ@A4@A[~? A4A=Z&"AAqNA"AZAbAjArAzAAAzSV)@AypAAœ:AwATU?A@e?Ai?A"@*AIn<2Ar3::AXuBAIn<JAr3:RAXu٘i)I9Y JJJJ&K  8Y 8yb77 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028265.083165 s, next control iter: 1743028265.443176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028265.463165 s.QH~,Ӥ] AA33333@AEʎ@AԴ[~? Ax4A@Z&"AACqNA"AZAbAjArAzAAA- elevatorAngleAction: 0.000000vJ< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200192 time: 1743028265.883290F (some fields omitted in printout)A{Gᐛ@A4Fx@A[~? AO4ACZ&"AAiqNA"AZAbAjArAzAAAS")@ALipAA#8AiAP?Ae?A`e?A*A7*n<2A 3::AtuBA7*n<JA 3:RAtu٘i)I9Y JJJJ&K Yy{7j7*8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028265.923165 s, next control iter: 1743028266.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028266.303165 s.UH~,sg AA(\@A'@A[~? A'4AFZ&"AAqNA"AZAbAjArAzAAAsR )@A/~ҬpAA+CIAmA+N?A+e?A c?A7*Axn<2A/3::A=uBAxn<JA/3:RA=u٘i)I9Y JJJJ&K Yy{788)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028266.343165 s, next control iter: 1743028266.703177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1765*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028266.723165 s.H~,H AJ"J*J2J:JBJnJvJA ףp=@AS*Փ@A[~? A3AIZ&"AAqNA"AZAbAjArAzAAA쒶 )@A  pAA AvABL?A e?Aa?A3*A n<2A13::AuBA n<JA13:RAu٘i)I9Y JJJJ&K Yy77.G8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028266.763165 s, next control iter: 1743028267.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028267.143165 s.S/H~,) AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200312 time: 1743028267.143293F (some fields omitted in printout)AR땛@A&@A2[~? A3ALZ&"AAqNA"AZAbAjArAzAAA$Xڛ)@A;^pA"ξAj>A{AK?Ae?A@ _?A)3*Am<2A3::A( uBAm<JA3:RA( u٘i)I9Y J`2C<JJJJ&K Yy777U8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028267.163165 s, next control iter: 1743028267.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028267.563165 s.H~,5 AJ"J*J2J:JBJnJvJA@APD1@AI[~? A3AOZ&"AA qNA"AZAbAjArAzAAA`F))@ApA!ξA9AAK?A`ye?A`]?A!Y3*Am<2AJ2::A^uBAm<JAJ2:RA^uYJ@?L?yzٓHZv?2`!??``gt? '5@?)J@? I٘i)I9Y J`3C=JَJJJ&KŹ Yy{7j7c8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028267.603165 s, next control iter: 1743028267.963174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1766, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028267.983165 s.H~, AAzG@A=e5]ߘ@Aa[~? A3ASZ&"AA% qNA"AZAbAjArAzAAA2j)@A ppAA^7 :A|AL?A`Oe?A[?At*Am<2A42::AW7uBAm<JA42:RAW7uɘI٘i)I9Y JJJJ&K Yy777.r8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028268.003165 s, next control iter: 1743028268.383183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743028268.403165 s.&H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199172 time: 1743028268.403271F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\@Aec@Ax[~? A]3A%VZ&"AAK qNA"AZAbAjArAzAAAf.iE)@Ac,aWpA"ξA:AAL?A`_e?A@Y?A'*Am<2A2::A&DuBAm<JA2:RA&Du٘i)I9Y Jc<JJJJ&K Yy8)ZZZBZL?YY*W2W WWW"W ) )FFF]t:Waiting for Gazebo time sync: latest Gz time: 1743028268.423165 s, next control iter: 1743028268.803177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1767, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028268.823165 s.H~,4 AAq= ף@A\;@A[~? A43A8YZ&"AAq qNA"AZAbAjArAzAAA6)@A>pA#ξA:AvAK?Ae?A W?A;*Am<2A>2::A5uBAm<JA>2:RA5u٘i)I9Y JXC=JJJDJ&K Yyb77ڎ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028268.843165 s, next control iter: 1743028269.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028269.243165 s.H~,uO AJ"J*J2J:JBJnJvJAQ@A˜.靛@A[~? A 3AK\Z&"AA qNA"AZAbAjArAzAAA3a)@AzI&pAA%:AnAI?A@e?AU?A*ASm<2A2::A9 uBASm<JA2:RA9 u٘i)I9Y JJJJ&K Yyb7.8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028269.283165 s, next control iter: 1743028269.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028269.663165 s.H~,qj AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200072 time: 1743028269.663294F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1768, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A@A[~? A2A]_Z&"AA qNA"AZAbAjArAzAAAP2)@AYSt pAAoAkAF?A8e?AS?A]A*Am<2A2::AtBAm<JA2:RAtY;?RG?ykCٓH@{{?`1@ߍ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200302 time: 1743028270.923291F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= @A-ܡ@A[~? Ak2AhZ&"AA- qNA"AZAbAjArAzAAA+:*@AJGjëpAAzUA}A{B?Aae?AM?A~3*Aclm<2Al2::AQtBAclm<JAl2:RAQt٘i)I9Y JJJJ&K Yy7)78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028270.963165 s, next control iter: 1743028271.323175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028271.343165 s.<H~, AAQ@AO@A[~? AB2AkZ&"AAR qNA"AZAbAjArAzAAA %*@Aԥ`pA!ξA$ԷAA C?ADe?AK?AR3*Ax\m<2Ai2::AatBAx\m<JAi2:RAat٘i)I9Y J`3<JJJJ&K Yyŧ7b78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028271.383165 s, next control iter: 1743028271.743175 s, wait time: 0.360010 s)&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1770&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028271.763165 s.6H~, AJ"J*J2J:JBJnJvJAfffff@A0@A3[~? A2AnZ&"AAx qNA"AZAbAjArAzAAAq*@A._pAAK:A~AC?A$e?A@$I?A*ALm<2Aa2::A>tBALm<JAa2:RA>t٘i)I9Y JJJJ&K Yyj7Z708)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028271.783165 s, next control iter: 1743028272.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028272.183165 s.H~,g AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199942 time: 1743028272.183274F (some fields omitted in printout)AGz@A|~!@AK[~? A1AqZ&"AA qNA"AZAbAjArAzAAA`tA*@A*CypA"ξAc:A}AgC?AZe?A*G?Av);*A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199652 time: 1743028273.443289F (some fields omitted in printout)AQ@A{\@A[~? Ay1AzZ&"AA qNA"AZAbAjArAzAAAж*@AV0pAA AoAw AA̰@Azd@A[~? AQ1A ~Z&"AA4 qNA"AZAbAjArAzAAAqDx*@AsupAAVAwA:?Ae?A '??A呛2*Al<2AJe2::A@tBAl<JAJe2:RA@tY0? elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199662 time: 1743028274.703262F (some fields omitted in printout)A\(@Ab@A׶[~? A1A+Z&"AA qNA"AZAbAjArAzAAAt*@AQVpA!ξAFAA9?A7e?A@4;?A-3*Al<2A;2::AsBAl<JA;2:RAs٘i)I9Y JT3B=JJJJ&K Yy{7j7W8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028274.743165 s, next control iter: 1743028275.103174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743028275.123165 s.f1H~," AJ"J*J2J:JBJnJvJAp= ׵@ArMn@A[~? A0A:Z&"AA qNA"AZAbAjArAzAAAMsS!*@AzͪpAA=9AA0:?A@e?A?9?AF2*Al<2A2::A:tBAl<JA2:RA:t٘i)I9Y JJJJ&K Yy77e8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028275.163165 s, next control iter: 1743028275.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028275.543165 s.I8H~, AAQ@A@A[~? A0AJZ&"AA qNA"AZAbAjArAzAAAL@*@AAp=pA"ξAd:AA:?Ae?AI7?Ad*Al<2A1::AO)tBAl<JA1:RAO)t٘i)I9Y Ji<JJJJ&K Yy oCŧ771t8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028275.563165 s, next control iter: 1743028275.943174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1774, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028275.963165 s.~>H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743028275.963280F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333@At\ʸ@A[~? A0AYZ&"AA qNA"AZAbAjArAzAAA*A2l<2A1::A#tBA2l<JA1:RA#tY%+?r7?yw5:ٓH?1`Z ?@?bgt? S? ?)%+? I٘i)I9Y JlJJJ&Kι Yy77j78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028276.003165 s, next control iter: 1743028276.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028276.383165 s.EH~,4 AA{Gẛ@A|x@A4[~? A_0AiZ&"AA qNA"AZAbAjArAzAAAJ**@Aa+pA#ξA+R:AtA 8?AIe?A`R3?Aw$*Al<2A1::A\tBAl<JA1:RA\t٘i)I9Y JaJJJJ&K Yy77ܐ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028276.423165 s, next control iter: 1743028276.783175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1775, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028276.803165 s.tALH~,og3 AJ"J*J2J:JBJnJvJA(\@A8'@AL[~? A70AxZ&"AA; qNA"AZAbAjArAzAAAW *@A zkpAA7AoAv5?Ae?A@R1?AK*Al<2Ap1::AsBAl<JAp1:RAs٘i)I9Y JJJDJ&K Yyj7j728)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028276.823165 s, next control iter: 1743028277.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028277.223165 s.gSH~,HN AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743028277.223300F (some fields omitted in printout)A ףp=@Aqս@Ac[~? A0AZ&"AAa qNA"AZAbAjArAzAAA21_ *@A6 SpAA OAtA2?Ae?A`R/?A#*A~l<2A1::AsBA~l<JA1:RAs٘i)I9Y JJJJ&K Yy7{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028277.263165 s, next control iter: 1743028277.623180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028277.643165 s.tYH~,)i AJ"J*J2J:JBJnJvJAR뿛@A(7@Az[~? A/AZ&"AA qNA"AZAbAjArAzAAA+Zr *@AV:pAAA|A0?A`e?AU-?A3*Apl<2As1::AdqsBApl<JAs1:RAdqs٘i)I9Y JJJJ&K Yyŧ7b7ݻ8)ZZZBZL?YY*W2W WWW"W ) )FtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1776, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743028277.683165 s, next control iter: 1743028278.043178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028278.063165 s.`H~,V AA@A'G1@A[~? A/AZ&"AA qNA"AZAbAjArAzAAAp *@A Y"pA"ξAAAG0?A e?A@^+?A3*AAal<2A%1::A8hsBAAal<JA%1:RA8hsY&?_2?y|IٓH܏?u0 1k ?@ ?\gt?@P`?)&? I٘i)I9Y J_2C<JzJJJ&KP Yyj7{728)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028278.103165 s, next control iter: 1743028278.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028278.483165 s.s_gH~, AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200262 time: 1743028278.483314F (some fields omitted in printout)AzGÛ@Ax]›@A[~? A/AZ&"AA qNA"AZAbAjArAzAAA!* *@AC pA!ξAAA0?Ae?A@j)?AQ3*AQl<2Aa1::AysBAQl<JAa1:RAys٘i)I9Y Jb3C=JJJJ&K Yyb7b78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028278.503165 s, next control iter: 1743028278.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1777, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028278.903165 s.mH~,͹ AA)\ě@A-cě@A[~? An/AZ&"AA qNA"AZAbAjArAzAAAǴS *@AR3pAA :AAT1?A@e?A`w'?A]*AAl<2A1::AsBAAl<JA1:RAs٘i)I9Y JJJJ&K Yy77{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028278.943165 s, next control iter: 1743028279.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028279.323165 s.rtH~, AJ"J*J2J:JBJnJvJAq= ףƛ@A};ƛ@Aط[~? AF/AͥZ&"AA qNA"AZAbAjArAzAAA-9= *@AةpA"ξA^ؒ:AAo1?Ae?A%?At)*A1l<2AD1::AsBA1l<JAD1:RAs٘i)I9Y Jc<JJJJ&K Yy7728)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028279.343165 s, next control iter: 1743028279.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1778*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028279.743165 s.W{H~,` AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743028279.743284F (some fields omitted in printout)AQț@AԴǛ@A[~? A/AڨZ&"AAB qNA"AZAbAjArAzAAA_56 *@AyF'pA#ξAC:A|Ae0?A`e?A`#?A/8*AZ"l<2Aqv1::AsBAZ"l<JAqv1:RAs٘i)I9Y JcC=JJJJ&K  8Y 8y{7{78)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743028279.783165 s, next control iter: 1743028280.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028280.163165 s.x}H~,q  AJ"J*J2J:JBJnJvJAʛ@A=ꯗɛ@A[~? A.AZ&"AAg qNA"AZAbAjArAzAAA= *@A k!pAA7=:AtA4.?A e?A!?Aji*Al<2AJ}1::AdsBAl<JAJ}1:RAdsY ?-?yrʊ:ٓH?X0V??``ft?GB??) ? I٘i)I9Y Jo>4JJJ&K˹ Yyj78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028280.203165 s, next control iter: 1743028280.563179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028280.583165 s.H~,R% AAHz˛@AE˛@A[~? A.AZ&"AA qNA"AZAbAjArAzAAA 4Q*@A.,6pAAArAo+?Ae?A?A]*A^l<2Ae1::A-sBA^l<JAe1:RA-s٘i)I9Y JJJJ&K Yy pCb774 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028280.623165 s, next control iter: 1743028280.983174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1779, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028281.003165 s.z H~,U4@ AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200282 time: 1743028281.003292F (some fields omitted in printout)A(\͛@Aj ̛@A5[~? A.AZ&"AA qNA"AZAbAjArAzAAAx@*@A6vpAA뜁AyA(?Ae?A ?A)1*Ak<2A1::ArBAk<JA1:RAr٘i)I9Y JJJJ&K Yy77.8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028281.043165 s, next control iter: 1743028281.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028281.423165 s.uH~,{[ AAףp= ϛ@A{Λ@AL[~? A~.AZ&"AA qNA"AZAbAjArAzAAAv4l*@A4IL^pA"ξA(AA'?Ae?A?A S3*A]k<2A1::ArBA]k<JA1:RAr٘i)I9Y J^2C<JJJJ&K Yy{7{7<8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028281.463165 s, next control iter: 1743028281.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1780, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028281.843165 s.ݜH~,u AJ"J*J2J:JBJnJvJAQЛ@AeOЛ@Ad[~? AV.AZ&"AA qNA"AZAbAjArAzAAAgA*@A(;EpAAPAAD'?A e?A?A3*Ak<2Az1::ArBAk<JAz1:RAr٘i)I9Y JJJJ&K Yy7b74K8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028281.883165 s, next control iter: 1743028282.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028282.263165 s.H~,ؐ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743028282.263285F (some fields omitted in printout)Afffffқ@A[%Xћ@A{[~? A..A'Z&"AA#qNA"AZAbAjArAzAAA(T*@A5ai-pA!ξAT6AA'?A e?A?A[ 3*Ak<2AT1::ArBAk<JAT1:RArY?'?y6ٓH@?@/@w{? E? ht?>`?)? I٘i)I9Y Ja3<JᡴJJJ&KŹ Yy77{7Y8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028282.303165 s, next control iter: 1743028282.663180 s, wait time: 0.360015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1781*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028282.683165 s.lH~,V AJ"J*J2J:JBJnJvJAGzԛ@A293ӛ@A[~? A.A3Z&"AAIqNA"AZAbAjArAzAAAWwG+*@A 7)pA"ξAJQ:AAk(?A e?A?A}*APk<2A/1::AvsBAPk<JA/1:RAvs٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 217J\C=JJJJ&K Yyb77g8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028282.683165 s, next control iter: 1743028283.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743028283.103165 s.H~, AA(\՛@A>ϟ6Z՛@A[~? A-A?Z&"AAnqNA"AZAbAjArAzAAAZ_*@A笒pAA{$:AA,(?A e?A ?A:*Ak<2A1::AsBAk<JA1:RAs٘i)I9Y JJJJ&K Yy7777;v8)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028283.163165 s, next control iter: 1743028283.503176 s, wait time: 0.340011 s rAdjusting time to match Gazebo time: 1743028283.523165 s.H~,{ AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199362 time: 1743028283.523265F (some fields omitted in printout)A= ףpכ@A7ǹMכ@A[~? A-AKZ&"AAqNA"AZAbAjArAzAAA/*@A pA#ξA:A{A&?A e?A?A-*A.k<2A1::ArBA.k<JA1:RAr٘i)I9Y Jg<JQ>JJJ&K> Yyj7j78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028283.563165 s, next control iter: 1743028283.923173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1782, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028283.943165 s.VdH~,:] AAQٛ@A'-\؛@Aظ[~? A-AVZ&"AAqNA"AZAbAjArAzAAA@b*@A~W˨pAAv9AtA:$?A e?A?Ag *Ak<2A%1::ArBAk<JA%1:RArȘI٘i)I9Y JQ>JJJ&K> Yyb778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028283.983165 s, next control iter: 1743028284.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028284.363165 s.H~,> AJ"J*J2J:JBJnJvJAڛ@AƉvdڛ@A[~? Af-AaZ&"AAqNA"AZAbAjArAzAAA$J*@AmMpAAAuAw!?A  e?A ?A*A\wk<2A3-1::AWrBA\wk<JA3-1:RAWrY]?"?ytz ٓH"?`/w1? |?`ft?RB?)]? I٘i)I9Y Jݎ4JJJ&KŹ Yy)7ŧ758)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028284.403165 s, next control iter: 1743028284.763175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1783", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028284.783165 s.[H~,2 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199702 time: 1743028284.783288F (some fields omitted in printout)AGzܛ@A_Ӄܛ@A[~? A>-AlZ&"AAqNA"AZAbAjArAzAAAȤ2*@AA暨pAAA~AI?A e?A` ?A2*Agk<2A31::AdrBAgk<JA31:RAdr٘i)I9Y JJJDJ&K Yyb7b78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028284.823165 s, next control iter: 1743028285.183179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028285.203165 s.H~, M AJ"J*J2J:JBJnJvJA\(ޛ@AcDݛ@A[~? A-AwZ&"AA*qNA"AZAbAjArAzAAAe*@ARupA"ξA~AAB?A@ e?A ?AD3*AsXk<2A'1::A;RrBAsXk<JA'1:RA;Rr٘i)I9Y Ja2C<JJJJ&K Yy qC7778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028285.223165 s, next control iter: 1743028285.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028285.623165 s.TH~,Pg AAp= ߛ@A//nߛ@A6[~? A,AZ&"AAOqNA"AZAbAjArAzAAAjJ*@AjpA!ξAAAa?A e?A@?AH\3*AHk<2A 1::A<\rBAHk<JA 1:RA<\r٘i)I9Y J\3C=JJJJ&K Yy68)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028285.643165 s, next control iter: 1743028286.023175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1784 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028286.043165 s.H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000J< massPositionAction: 0.000000"J4 buoyancyAction: 0.000955*J2J dt: 0.419994:J2 time: 1743028286.043276BJF (some fields omitted in printout)nJvJAQ@AK@AM[~? A,AZ&"AAuqNA"AZAbAjArAzAAApZ*@AǾQpAA؝9AA?A`e?A?A f2*A49k<2A0::AurBA49k<JA0:RAur٘i)I9Y JJJJ&K Yy{7j78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028286.083165 s, next control iter: 1743028286.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028286.463165 s.TH~,ߤ AA33333@A@4@Ad[~? A,AZ&"AAqNA"AZAbAjArAzAAA}D *@A|S[9pA"ξA:AAn?A`e?A&?Aw0 *A)k<2A0::ArBA)k<JA0:RArY?T?yǂ:ٓH`S?/ ?w?@`ht?`QPP?`?)? I٘i)I9Y Jb<JOJJJ&K=˹ YyZ7SI78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028286.503165 s, next control iter: 1743028286.863177 s, wait time: 0.360012 s ) tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1785, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028286.883165 s.yH~J,# A"J*J2J:JBJnJvJA{G@Ay@A|[~? Av,AZ&"AAqNA"AZAbAjArAzAAA F*@Aa pAAﵛ:AA?A e?A4?A-F=*Ak<2A0::ArBAk<JA0:RAr٘i)I9Y JJJJ&K Yy77778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028286.903165 s, next control iter: 1743028287.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028287.303165 s.RH~,fg AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743028287.303263F (some fields omitted in printout)A(\@A8 '@A[~? AN,AZ&"AAqNA"AZAbAjArAzAAAzJ(*@AapA#ξAL:AzA?A e?A@=?A~@"*A k<2Ab0::A^rBA k<JAb0:RA^r٘i)I9Y JdJJJJ&K  8Y 8yŧ7b78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028287.323165 s, next control iter: 1743028287.703174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1786*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028287.723165 s.H~,H AJ"J*J2J:JBJnJvJA ףp=@A#W<@A[~? A&,AZ&"AA qNA"AZAbAjArAzAAA 8*@ACpAAAuA>?A@e?AC?A*ARj<2A0::A(*rBARj<JA0:RA(*r٘i)I9Y JJJJ&K Yyj7j78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028287.743165 s, next control iter: 1743028288.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028288.143165 s.W/H~, *  AAR@An-@A¹[~? A+AZ&"AA0qNA"AZAbAjArAzAAA%B*@A קpAAɮTAzA?A Ue?AJ?Af*Aj<2AK0::AqBAj<JAK0:RAq٘i)I9Y JJJJ&K Yyb7b76"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028288.183165 s, next control iter: 1743028288.543177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028288.563165 s.H~,= $ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200232 time: 1743028288.563306F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A,+MJ1@Aٹ[~? A+AZ&"AAUqNA"AZAbAjArAzAAA#w5*@AܑpAAtAA?A@7e?A@U?A;L3*Aj<2A00::AqBAj<JA00:RAqY ?J?y|ǜٓH:?`. 쏿?@?`gt? S ?) ? I٘i)I9Y J3JJJ&K Yy708)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028288.603165 s, next control iter: 1743028288.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1787, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028288.983165 s.H~,> AAzG@A͎T@A[~? A+AZ&"AA{qNA"AZAbAjArAzAAA喂]*@AYP;pA"ξAoAA-?Ae?A`d?A@3*A*j<2Aj0::AqBA*j<JAj0:RAq٘i)I9Y J`2C<JJJJ&K Yyj7Z7>8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028289.023165 s, next control iter: 1743028289.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028289.403165 s.&H~,Y AJ"J*J2J:JBJnJvJA)\@Al;m@A[~? A+AZ&"AAqNA"AZAbAjArAzAAA ;*@Ah[e控pA!ξA0{AA?Ae?A@w?A"J3*Aj<2A0::AnqBAj<JA0:RAnq٘i)I9Y Jf3C=JJJJ&K Yy777M8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028289.443165 s, next control iter: 1743028289.803175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1788, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028289.823165 s.H~,t AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199812 time: 1743028289.823288F (some fields omitted in printout)Aq= ף@Af;@A[~? A_+AZ&"AAqNA"AZAbAjArAzAAAv_ x*@ATtvpAA:AAA?Age?A?A*Aj<2Acp0::A qBAj<JAcp0:RA q٘i)I9Y JJJJ&K Yy77[8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028289.863165 s, next control iter: 1743028290.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028290.243165 s.#H~,u AJ"J*J2J:JBJnJvJAQ@A@A6[~? A7+AZ&"AAqNA"AZAbAjArAzAAAJC*@ASWgA^pA"ξA:AAV?A`e?A ?AL+*Aj<2AR0::ALqBAj<JAR0:RALq٘i)I9Y Jc<JJJJ&K Yy rC77{7i8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028290.263165 s, next control iter: 1743028290.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028290.663165 s.*H~,q AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1789, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@Aϗ@AM[~? A+AZ&"AAqNA"AZAbAjArAzAAA#jw*@AIWEpA#ξA:AAB?Ae?A@?A_6*Aj<2AG0::AqBAj<JAG0:RAqY??y}:ٓHt?@.`"VP? a?7gt?`2R? ?)? I٘i)I9Y JOB=JOJJJ&K̹ Yy779x8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028290.683165 s, next control iter: 1743028291.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028291.083165 s.D1H~,S AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199502 time: 1743028291.083275F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@AE@Ae[~? A*AZ&"AA6qNA"AZAbAjArAzAAA*@Ap-pAAK@ :AyA ?Ae?A?Ad*Aj<2A"O0::A)qBAj<JA"O0:RA)q٘i)I9Y JJJJ&K Yyŧ7b78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028291.123165 s, next control iter: 1743028291.483176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028291.503165 s.7H~,34 AA(\@A>h@A|[~? A*AZ&"AA\qNA"AZAbAjArAzAAAݬ*@A\$VpAA%⥹AxAH?A@de?A?A۲*Apj<2AE_0::AkqBApj<JAE_0:RAkq٘i)I9Y JJJJ&K Yy778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028291.543165 s, next control iter: 1743028291.903175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1790, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028291.923165 s.1>H~,w AJ"J*J2J:JBJnJvJAףp= @AYݡ@A[~? A*A [&"AAqNA"AZAbAjArAzAAAj@`:*@A pAAsAA ?Ae?A ?AUԳ1*ADaj<2A.j0::A\qBADaj<JA.j0:RA\q٘i)I9Y JJJJ&K Yyb7788)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028291.963165 s, next control iter: 1743028292.323175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028292.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743028292.343277F (some fields omitted in printout)AQ@A]O@A[~? Ap*A[&"AAqNA"AZAbAjArAzAAArH*@A*pA"ξAAAn ?A`>e?A`?AuX3*AQj<2Ad0::AAqBAQj<JAd0:RAAq٘i)I9Y Jd2C<JJJJ&K Yyŧ7ŧ78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028292.363165 s, next control iter: 1743028292.743174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1791&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028292.763165 s.7KH~,0 AJ"J*J2J:JBJnJvJAfffff@A*@Aº[~? AH*A[&"AAqNA"AZAbAjArAzAAA5UzT*@A7y̦pAAJAA= ?A`te?A@?AZ3*ABj<2AoK0::AoCqBABj<JAoK0:RAoCqY? ?ylJٓH]?@q.U?@,?ht?1@I?)? I٘i)I9Y Jg+JJDJ&K` Yy77{78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028292.803165 s, next control iter: 1743028293.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028293.183165 s.RH~,xK AAGz@A@Aٺ[~? A *A [&"AAqNA"AZAbAjArAzAAAiO/*@Afp3pA!ξA 8AA ?AVe?A?Al3*A3j<2A%0::A;ZqBA3j<JA%0:RA;Zq٘i)I9Y Jb3<JJJJ&K Yy7788)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028293.223165 s, next control iter: 1743028293.583180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028293.603165 s.74YH~,f AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4201342 time: 1743028293.603433F (some fields omitted in printout)A(\@AMEZ@A[~? A)A% [&"AAqNA"AZAbAjArAzAAA AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743028294.863273F (some fields omitted in printout)A@AJ{d@A6[~? A)A8[&"AAqNA"AZAbAjArAzAAAD!*@Aʂ*SpAAD9AzA! ?Add?A@B݌?A *Ai<2Ah/::A(qBAi<JAh/:RA(qYM??yy牂9ٓH@{?D.?4? 6 @gt?H0?@?)M? I٘i)I9Y Jw4JJJ&Kuȹ   8Y  8y{7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028294.883165 s, next control iter: 1743028295.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028295.283165 s.6RtH~, AJ"J*J2J:JBJnJvJAGz@Aɍ@AM[~? AZ)A>[&"AAqNA"AZAbAjArAzAAANf5!*@A:pAAjA|Aa?A`d?A Mی?Au*Abi<2AQ0::ApBAbi<JAQ0:RAp٘i)I9Y JJJJ&K Yy sC777 8)ZZZBZL?YY*W2W WWW"W ) )FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743028295.303165 s, next control iter: 1743028295.683177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1794*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028295.703165 s.غzH~, AA\(@Aƿϸ@Ae[~? A2)AC[&"AAqNA"AZAbAjArAzAAAȻ+Q0"*@A!"pAA=ՔAA=?A@d?AZٌ?A$2*A,i<2Az0::A`pBA,i<JAz0:RA`p٘i)I9Y JJJJ&K Yy{7{7:$ 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028295.723165 s, next control iter: 1743028296.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028296.123165 s.J "J *J =H~2J:JBJ,v AnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200272 time: 1743028296.123306F (some fields omitted in printout)Ap= @A- n @A|[~? A )AI[&"AAqNA"AZAbAjArAzAAAl"*@A+u pA"ξAAAC?A`5d?Al׌?AD3*Ai<2A/::ANpBAi<JA/:RANp٘i)I9Y Ja2C<JJJJ&K Yy772 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028296.163165 s, next control iter: 1743028296.523185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743028296.543165 s.IH~," AAQ @A2 @A[~? A(AN"[&"AAqNA"AZAbAjArAzAAAwrJ#*@A;pA!ξA{AAk?AFd?A@Ռ?Az3*A}i<2Ag/::A%pBA}i<JAg/:RA%p٘i)I9Y Jh3C=JJJJ&K Yy{7j7@ 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028296.563165 s, next control iter: 1743028296.943174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1795, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028296.963165 s.tH~,ߤ= AJ"J*J2J:JBJnJvJA33333 @ADh @A[~? A(AS%[&"AABqNA"AZAbAjArAzAAA#*@A:NڥpAA9AA?Ad?Aӌ?AC2*A i<2AD/::ApBA i<JAD/:RApY?j?y6 9ٓH?-q??D it?5?@?)? I٘i)I9Y JOJJJ&K|Ź Yy77 elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743028297.383284F (some fields omitted in printout)A{G@A@x@A»[~? A(AX([&"AAgqNA"AZAbAjArAzAAANZd$*@AƆFpA"ξAa:AAv?Ad?Aь?A *Ai<2A/::ArpBAi<JA/:RArp٘i)I9Y J`<JJJJ&K Yy77{7] 8)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743028297.403165 s, next control iter: 1743028297.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1796", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028297.803165 s.wAH~,{gs AJ"J*J2J:JBJnJvJA(\@A6&@Aٻ[~? Al(A]+[&"AAqNA"AZAbAjArAzAAA>፛$*@AHڙpA#ξA :AA?Ad?Aό?Au;*ASi<2An/::ApBASi<JAn/:RAp٘i)I9Y JdC=JJJJ&K Yyb77k 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028297.843165 s, next control iter: 1743028298.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028298.223165 s.gH~,H AA ףp=@AQ@A[~? AD(Ab.[&"AAqNA"AZAbAjArAzAAAKo~%*@Ap gpAAbF:AA?Apd?A`͌?AQ*A {i<2A˃/::ApBA {i<JA˃/:RAp٘i)I9Y JJJJ&K Yy7777:z 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028298.263165 s, next control iter: 1743028298.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028298.643165 s.vЩH~,* AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200192 time: 1743028298.643302F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@A;V)=@A[~? A(Af1[&"AAqNA"AZAbAjArAzAAA e( &*@A7 5ypAA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743028299.903284F (some fields omitted in printout)A)\@A/r@AM[~? A'Ar:[&"AAHqNA"AZAbAjArAzAAA#^'*@A(f(0pA"ξAFzAAA?A`d?A`ƌ?A 3*Ap>i<2A/::A0/pBAp>i<JA/:RA0/p٘i)I9Y Js2<JJJJ&K Yy77 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028299.923165 s, next control iter: 1743028300.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028300.323165 s.uH~,! AJ"J*J2J:JBJnJvJAq= ף@A։;@Ae[~? A~'Au=[&"AAmqNA"AZAbAjArAzAAA2ݙ?(*@AؽypA!ξA_vAA?A d?A1Č?ADB3*A/i<2Aj/::AGApBA/i<JAj/:RAGApǘI٘i)I9Y Jw3C=JJJJ&K Yy tC77{7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028300.363165 s, next control iter: 1743028300.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1799*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028300.743165 s.WH~,d/ AAQ@AAJ@A|[~? AV'Ax@[&"AAqNA"AZAbAjArAzAAA)܌(*@A=cXpAAj:AA]?A`d?A@LŒ?A6*Ai<2AD/::AZpBAi<JAD/:RAZp٘i)I9Y JJJDJ&K Yy7ŧ7; 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028300.763165 s, next control iter: 1743028301.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028301.163165 s.t}H~,qJ AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743028301.163281F (some fields omitted in printout)A@A{O崗@A[~? A/'A{C[&"AAqNA"AZAbAjArAzAAAnxY)*@A 0pA"ξAC?:AAk?A d?Ad?Aa,*Afi<2A@'/::A$epBAfi<JA@'/:RA$epY??yn:ٓH?@~-a?? it?R??)? I٘i)I9Y J`<JQJJJ&Kʹ Yyj7Z7 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028301.203165 s, next control iter: 1743028301.563177 s, wait time: 0.360012 s()( rAdjusting time to match Gazebo time: 1743028301.583165 s.H~,Se AAHz@AHSE@A[~? A'A~F[&"AAqNA"AZAbAjArAzAAA_)*@Aw ФpA#ξA:AAN?Ad?A`y?A 3*A3i<2A/::ASpBA3i<JA/:RASp٘i)I9Y JMB=JJJJ&K Yy77 8)ZZZBZL?YY*W2W WWW"W ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028301.623165 s, next control iter: 1743028301.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1800, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028302.003165 s.| H~J"J*J2J,]4 A:JBJnJvJA(\!@A% @A¼[~? A&AI[&"AAqNA"AZAbAjArAzAAAEs**@A淤pAA0:AA?Ad?A ?AF*Ah<2A$/::A(pBAh<JA$/:RA(p٘i)I9Y JJJJ&K Yyb77< 8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028302.043165 s, next control iter: 1743028302.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028302.423165 s.uH~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199782 time: 1743028302.423285F (some fields omitted in printout)Aףp= #@AWS"@Aټ[~? A&AL[&"AA(qNA"AZAbAjArAzAAA,+*@A.ğpAAۨA~AN?A d?A@?A,"ղ*A h<2A#5/::AoBA h<JA#5/:RAo٘i)I9Y JJJJ&K  !8Y !8yb7 !8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028302.443165 s, next control iter: 1743028302.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1801, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028302.843165 s.H~, AJ"J*J2J:JBJnJvJAQ$@AO$@A[~? A&AO[&"AAMqNA"AZAbAjArAzAAAA+*@AupAA䮅AA?Ad?A?A^t1*Ah<2A?/::AoBAh<JA?/:RAo٘i)I9Y JJJJ&K Yy77{7!8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028302.883165 s, next control iter: 1743028303.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028303.263165 s.H~,  AAfffff&@AQi%@A[~? Ai&AR[&"AAsqNA"AZAbAjArAzAAAz,*@AbopA"ξAԚAA?Ad?A?A\3*Ah<2As9/::AݨoBAh<JAs9/:RAݨoY??y&ٓH`{?,+ ?.? 쯿it?ZS ?)? I٘i)I9Y Jc2C<JK2JJJ&K Yy77>&!8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028303.303165 s, next control iter: 1743028303.663176 s, wait time: 0.360011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 18022, header.stamp.nsec: 02$ temperature: nan2 salinity: nan2, density: 1025.0000002 values[0]: nan2F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028303.683165 s.lH~,Z AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743028303.683280F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz(@A'@A[~? AB&AU[&"AAqNA"AZAbAjArAzAAA^,*@A],eWpAACAAc?A`d?Aش?A`3*Ah<2A/::AɫoBAh<JA/:RAɫo٘i)I9Y JJJJ&K Yy77{74!8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028303.683165 s, next control iter: 1743028304.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743028304.103165 s.H~, AA(\)@A3Z)@A6[~? A&AX[&"AAqNA"AZAbAjArAzAAAӽ3-*@AI?pA!ξA8AA?A@d?A?A2*APh<2AN.::AoBAPh<JAN.:RAo٘i)I9Y Jk3<JJJJ&K Yy77B!8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028304.143165 s, next control iter: 1743028304.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028304.523165 s.H~,{! AJ"J*J2J:JBJnJvJA= ףp+@A4B+@AM[~? A%A[[&"AAqNA"AZAbAjArAzAAAyx-*@A/'pA"ξA_\:AA?Ad?A ?Ag*Ah<2A.::ApoBAh<JA.:RApo٘i)I9Y JdC=JJJJ&K Yy77 elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200312 time: 1743028304.943333F (some fields omitted in printout)AQ-@A~4b,@Ad[~? A%A^[&"AAqNA"AZAbAjArAzAAA@egM.*@AppAA:AA@?A@d?A*?A9*Aχh<2Aþ.::AoBAχh<JAþ.:RAo٘i)I9Y JJJJ&K Yy uC)7ŧ7_!8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028304.983165 s, next control iter: 1743028305.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028305.363165 s.H~,>W AJ"J*J2J:JBJnJvJA.@A:rd.@A{[~? A%Aa[&"AA-qNA"AZAbAjArAzAAAl4.*@ApA#ξAw:AA?Ad?A@?A6>(*Axh<2Aw.::AoBAxh<JAw.:RAoYk??yavx:ٓH?@,΋G??``ht?ZN?`?)k? I٘i)I9Y J]<J3JJJ&Kjʹ Yyj7j7m!8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028305.403165 s, next control iter: 1743028305.763182 s, wait time: 0.360017 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1804", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028305.783165 s.YH~,r AAGz0@AT0@A[~? A|%Ad[&"AASqNA"AZAbAjArAzAAAg/*@A۰ޣpAA`f9AA5?Ad?AR?A *Aih<2A.::AgoBAih<JA.:RAgo٘i)I9Y JJJJ&K Yyb77=|!8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028305.803165 s, next control iter: 1743028306.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028306.203165 s.#H~, AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199982 time: 1743028306.203293F (some fields omitted in printout)A\(2@AX1@A[~? AU%Ag[&"AAxqNA"AZAbAjArAzAAANM/*@A4ئƣpAAf!AAy?A 6d?A`c?A*AZh<2Ae.::AaYoBAZh<JAe.:RAaYo٘i)I9Y JJJJ&K Yy7!8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028306.243165 s, next control iter: 1743028306.603175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028306.623165 s.R)H~,H AAp= 3@An3@A[~? A-%Aj[&"AAqNA"AZAbAjArAzAAAGߝ0*@Aѩ®pAAnAA_?A5d?Aw?A*2*AKh<2A .::A/oBAKh<JA .:RA/o٘i)I9Y JJJJ&K Yyŧ7ŧ7!8)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743028306.643165 s, next control iter: 1743028307.023174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1805, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028307.043165 s.0H~, AJ"J*J2J:JBJnJvJAQ5@Ay?n5@Aؽ[~? A%Am[&"AAqNA"AZAbAjArAzAAAk 1*@A"pA"ξAQAAr?A@d?A?A*3*A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200292 time: 1743028307.463305F (some fields omitted in printout)A333337@Ak6@A[~? A$Ap[&"AAqNA"AZAbAjArAzAAA41*@A ?š~pA!ξARAA?A@d?A`?ANt3*Ah-h<2AA.::A+oBAh-h<JAA.:RA+oY`ݏ??y3ٓH?`p,ֳ??`]jt?@@ ?)`ݏ? I٘i)I9Y JY3C=JwJJJ&K Yy777!8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028307.483165 s, next control iter: 1743028307.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1806, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028307.883165 s.Bz=H~,n AJ"J*J2J:JBJnJvJA{G8@A~sx8@A[~? A$As[&"AA qNA"AZAbAjArAzAAAs&2*@A efpAAyc9AAV?A d?A ̡?A"2*A*h<2Ak.::A EoBA*h<JAk.:RA Eo٘i)I9Y JJJJ&K Yy7!8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028307.923165 s, next control iter: 1743028308.283198 s, wait time: 0.380033 s rAdjusting time to match Gazebo time: 1743028308.303165 s.QDH~,bg AA(\:@AMG':@A[~? A$Av[&"AA3qNA"AZAbAjArAzAAA2*@AɇNpA"ξA~:AA?Ad?A韌?A$*Ah<2Ahi.::A+VoBAh<JAhi.:RA+Vo٘i)I9Y Je<JJJJ&K YyZ7Z7=!8)ZZZBZL?YY*W2W WWW"W ) )FFF]o:Waiting for Gazebo time sync: latest Gz time: 1743028308.323165 s, next control iter: 1743028308.703174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1807*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028308.723165 s.KH~,H. AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743028308.723291F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=<@A ;@A5[~? Ah$Ay[&"AAXqNA"AZAbAjArAzAAAf@3*@Aǁ,}6pA#ξAdI:AA?A@d?A ?A9*Ag<2A+Y.::AMoBAg<JA+Y.:RAMo٘i)I9Y JbC=JJJDJ&K Yyŧ7b7!8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028308.743165 s, next control iter: 1743028309.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028309.143165 s.V/RH~,*I AAR=@A5+-=@AL[~? AA$A|[&"AA}qNA"AZAbAjArAzAAAn73*@AMt(tpAA1|@:AA?Ad?A@?A+*Ag<2A,\.::A2*oBAg<JA,\.:RA2*o٘i)I9Y JJJJ&K Yy777!8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028309.163165 s, next control iter: 1743028309.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028309.563165 s.XH~,[ d AJ"J*J2J:JBJnJvJA?@AmtO1?@Ad[~? A$A[&"AAqNA"AZAbAjArAzAAA&`Y4*@AlpAAgإAAX?A;d?A-?A-*Ag<2A(k.::AnBAg<JA(k.:RAnY5؏??ya0ٓH?2, 卿`?` ?S@ht? `?)5؏? I٘i)I9Y JK4JJJ&KĹ Yyb7b7?!8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028309.583165 s, next control iter: 1743028309.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1808, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028309.983165 s._H~,~ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200452 time: 1743028309.983324F (some fields omitted in printout)AzGA@Al\@@A{[~? A#A[&"AAqNA"AZAbAjArAzAAA94*@AfpAA7_AA?A`od?A B?Aͱ*Ag<2Ax.::A]nBAg<JAx.:RA]n٘i)I9Y JJJJ&K  "8Y "8y vC)7ŧ7 "8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028310.023165 s, next control iter: 1743028310.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028310.403165 s.&fH~,͙ AJ"J*J2J:JBJnJvJA)\B@Aj,aB@A[~? A#A[&"AAqNA"AZAbAjArAzAAAZ6s5*@Ab֢pAAݜAA?AGd?AZ?A$3*Ag<2Ax.::AnBAg<JAx.:RAn٘i)I9Y JJJJ&K Yy{7{7"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028310.443165 s, next control iter: 1743028310.803174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1809, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028310.823165 s.lH~,! AAq= ףD@A~;D@A[~? A#A[&"AAqNA"AZAbAjArAzAAAx}5*@AΈ3`pA"ξAuAA߫?A d?Av?AA3*Ag<2Ad.::AޚnBAg<JAd.:RAޚn٘i)I9Y Js2<JJJJ&K Yy777?("8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028310.843165 s, next control iter: 1743028311.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028311.243165 s.sH~,d AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743028311.243282F (some fields omitted in printout)AQF@ADJE@A[~? A|#A[&"AA8qNA"AZAbAjArAzAAA–6*@A2_pA!ξAWAA߫?Ad?A?Av:3*AХg<2A B.::AnBAХg<JA B.:RAn٘i)I9Y JZ3C=JJJJ&K Yy776"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028311.263165 s, next control iter: 1743028311.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028311.663165 s.zH~,q AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1810, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)AH@AvQG@Aؾ[~? AU#A[&"AA]qNA"AZAbAjArAzAAA-<7*@A_pA"ξA}$:AA?Apd?A`?A*Ag<2A.::AnBAg<JA.:RAnYӏ?Q߫?yH%:ٓH?+y`i??`jt?/D??)ӏ? I٘i)I9Y J^J䡴JJJ&KŹ Yy7)7D"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028311.683165 s, next control iter: 1743028312.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028312.083165 s.DH~,S AJ"J*J2J:JBJnJvJAHzI@AmEI@A[~? A.#A[&"AAqNA"AZAbAjArAzAAAJ?ۥ7*@ASavpAAzO:AA?Ad?A@֎?Ax-*Ag<2A-::AZnBAg<JA-:RAZn٘i)I9Y JJJJ&K Yy77{7@S"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028312.103165 s, next control iter: 1743028312.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028312.503165 s.H~,;4  AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199322 time: 1743028312.503268F (some fields omitted in printout)A(\K@A-J@A[~? A#A[&"AAqNA"AZAbAjArAzAAAeu28*@Ae^pA#ξA^Q:AA߫?A-d?A@?A 1*Axg<2Ah-::A,nBAxg<JAh-:RA,n٘i)I9Y Je<JJJJ&K Yy77a"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028312.523165 s, next control iter: 1743028312.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1811, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028312.923165 s.7H~,; AJ"J*J2J:JBJnJvJAףp= M@AL@A[~? A"A[&"AAqNA"AZAbAjArAzAAA/I8*@AjFpAA9AACݫ?A=d?A`?Al*Aig<2A-::A!nBAig<JA-:RA!n٘i)I9Y JJJJ&K Yy)7ŧ7o"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028312.963165 s, next control iter: 1743028313.323176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028313.343165 s.<H~,U AAQN@AON@A4[~? A"A~[&"AAqNA"AZAbAjArAzAAAZK9*@Avtq.pAANùAAګ?Ad?A?Aβ*AZg<2A.::A1]nBAZg<JA.:RA1]n٘i)I9Y JJJJ&K Yy77?~"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028313.383165 s, next control iter: 1743028313.743176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1812&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028313.763165 s.4H~,p AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200242 time: 1743028313.763287F (some fields omitted in printout)AfffffP@AO@AL[~? A"A{[&"AAqNA"AZAbAjArAzAAA^C9*@AiozpAAAA#ث?Ad?A@5?A2*AKg<2A.::A4.nBAKg<JA.:RA4.nYΏ?Rګ?y߇ٓH z?+؏@!??`ﯿit?`P@?)Ώ? I٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 216JoQ4JJJ&K? Yy{7{7"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028313.803165 s, next control iter: 1743028314.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028314.183165 s.ˢH~,c AAGzR@AQ@Ac[~? Ai"Ax[&"AA<qNA"AZAbAjArAzAAA&d:*@A}pA"ξAAA֫?AJd?AP?AL_3*AJJJ&K> Yy777@"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028314.643165 s, next control iter: 1743028315.003174 s, wait time: 0.360009 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1813 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028315.023165 s.ZH~,| AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200602 time: 1743028315.023331F (some fields omitted in printout)A= ףpU@AuBYU@A[~? A"Aq[&"AAqNA"AZAbAjArAzAAA~;*@A7[ΡpA!ξAr08AAZ׫?A@[d?A?Azd2*Ag<2A-::A0nBAg<JA-:RA0n٘i)I9Y J3<JQ>JJJ&K> Yy wCb77"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028315.063165 s, next control iter: 1743028315.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028315.443165 s.5öH~,5] AJ"J*J2J:JBJnJvJAQW@Aٲ|]V@A[~? A!An[&"AAqNA"AZAbAjArAzAAApb <*@AZppA"ξAOa:AA׫?AFd?A`?Aɲ*Ag<2A߮-::AFnBAg<JA߮-:RAFn٘i)I9Y JkC=JJJJ&K Yy77"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028315.483165 s, next control iter: 1743028315.843175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1814, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028315.863165 s.+H~,> AAX@AVydX@A[~? A!Aj[&"AAqNA"AZAbAjArAzAAA<*@AqݼpAA:AA׫?Ad?A }?A'9*Ag<2Aט-::AGnBAg<JAט-:RAGnYȏ?ի?y:ٓH@?x+h?`?it?1S? ?)ȏ? I٘i)I9Y JPJJJ&Kɹ Yy7777A"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028315.903165 s, next control iter: 1743028316.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028316.283165 s.6RH~J, A"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743028316.283291F (some fields omitted in printout)AGzZ@A Z@A׿[~? A!Af[&"AAqNA"AZAbAjArAzAAA3#=*@A ΆpA#ξAr:AAի?AVd?A{?AD%*Af<2AG-::A+nBAf<JAG-:RA+nƘI٘i)I9Y J_<JJJJ&K Yy{7{7"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028316.323165 s, next control iter: 1743028316.683176 s, wait time: 0.360011 s ) *tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1815*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028316.703165 s.ۺH~,&- AA\(\@A㥛[@A[~? A~!Ab[&"AAqNA"AZAbAjArAzAAA=*@A-xnpAA>kG9AAvӫ?Ad?A z?AM *Af<2AȢ-::AnmBAf<JAȢ-:RAnm٘i)I9Y JJJDJ&K Yyb7b7"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028316.743165 s, next control iter: 1743028317.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028317.123165 s.5H~,TG AJ"J*J2J:JBJnJvJAp= ]@AVn]@A[~? AW!A][&"AAAqNA"AZAbAjArAzAAA?<>*@ATUVpAAqy(AAЫ?A d?A"x?AT*A:f<2A\-::AmBA:f<JA\-:RAm٘i)I9Y JJJJ&K Yy)7ŧ7A"8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028317.163165 s, next control iter: 1743028317.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028317.543165 s.IH~,b AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199782 time: 1743028317.543273F (some fields omitted in printout)AQ_@A⏢_@A[~? A0!AX[&"AAfqNA"AZAbAjArAzAAAv>*@AE/y?pAAAAΫ?A d?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200292 time: 1743028318.803294F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\d@Au'd@Ab[~? A AI[&"AAqNA"AZAbAjArAzAAA(n@*@A.V\pA!ξAy9AAΫ?A $d?Ap?A2*Awf<2A|d-::AmBAwf<JA|d-:RAm٘i)I9Y Jd3<JJJJ&K Yyb778#8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028318.823165 s, next control iter: 1743028319.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028319.223165 s.gH~,H AA ףp=f@A͒5e@Ay[~? A AD[&"AAqNA"AZAbAjArAzAAA`@*@AiyߠpA"ξA]:AAϫ?A (d?An?A*Auf<2A4D-::A0mBAuf<JA4D-:RA0m٘i)I9Y JXC=JJJJ&K Yy77{7F#8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028319.263165 s, next control iter: 1743028319.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028319.643165 s.}H~,$* AJ"J*J2J:JBJnJvJARg@Aʈ @g@A[~? Al A>[&"AA!qNA"AZAbAjArAzAAAdGr]A*@AFǠpA#ξAo:AAMΫ?A`d?A@l?AV7*Azf<2A4-::A%mBAzf<JA4-:RA%m٘i)I9Y JaJJJJ&K Yy7CU#8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028319.663165 s, next control iter: 1743028320.043184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1818, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028320.063165 s.H~,V  AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200332 time: 1743028320.063321F (some fields omitted in printout)Ai@AӟH1i@A[~? AE A8[&"AAFqNA"AZAbAjArAzAAA B*@AEGpAA4::AAX̫?Ad?Ak?A*Akf<2Ap8-::AmBAkf<JAp8-:RAmY?ʫ?y::ٓH ?*kA?k?T it?@FG??)? I٘i)I9Y Js+4JJJ&Kǹ Yy xCŧ7b7c#8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028320.103165 s, next control iter: 1743028320.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028320.483165 s.q_H~, AJ"J*J2J:JBJnJvJAzGk@A ;Ij@A[~? A A2[&"AAkqNA"AZAbAjArAzAAA:G)B*@A-7ڗpAAdAAɫ?Ad?Ai?A|*A]f<2AG-::AcmBA]f<JAG-:RAcm٘i)I9Y JJJJ&K YySI7SI7q#8)ZZZBZL?YY*W2W WWW"W ) )FFF]j:Waiting for Gazebo time sync: latest Gz time: 1743028320.503165 s, next control iter: 1743028320.883173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1819, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028320.903165 s. H~,9 AA)\l@A~ml@A[~? AA,[&"AAqNA"AZAbAjArAzAAA]#,C*@AnpAA;dAAǫ?A d?A@:g?A[*AJNf<2AT-::A1mBAJNf<JAT-:RA1m٘i)I9Y JJJJ&K Yy7777C#8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028320.943165 s, next control iter: 1743028321.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028321.323165 s.rH~,T AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199562 time: 1743028321.323282F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ףn@A\;n@A[~? AA%[&"AAqNA"AZAbAjArAzAAAVdC*@A4~"hpAA휺AAfū?A d?AXe?AC)3*A?f<2A)T-::AmBA?f<JA)T-:RAm٘i)I9Y JJJJ&K Yyŧ7b7#8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028321.343165 s, next control iter: 1743028321.723177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1820&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028321.743165 s.WH~,yo AAQp@A 毐o@A[~? AA[&"AAqNA"AZAbAjArAzAAAD_ED*@AIPpA"ξApAAī?A d?A{c?A1{3*A0f<2A@-::A mBA0f<JA@-:RA m٘i)I9Y Js2<JJJJ&K Yyj7Z7#8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028321.763165 s, next control iter: 1743028322.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028322.163165 s.r}"H~,q AJ"J*J2J:JBJnJvJAr@Awq@A[~? AA[&"AAqNA"AZAbAjArAzAAA D*@A1q8pA!ξA6P9AAoū?Ad?A a?A(23*A!f<2A -::AmBA!f<JA -:RAm٘i)I9Y JY3C=JJJJ&K Yy77D#8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028322.183165 s, next control iter: 1743028322.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028322.583165 s.(H~,R AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200372 time: 1743028322.583316F (some fields omitted in printout)AHzs@A,Es@A2[~? AZA[&"AA%qNA"AZAbAjArAzAAA^E*@Alߚ pA"ξA1]+:AAƫ?A d?A@_?AS,*Af<2AS,::A7mBAf<JAS,:RA7m٘i)I9Y J_JJJJ&K Yyb7b7#8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028322.603165 s, next control iter: 1743028322.983174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1821, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028323.003165 s.~ 0H~,e4 AJ"J*J2J:JBJnJvJA(\u@Al?t@AI[~? A3A [&"AAJqNA"AZAbAjArAzAAAYiE*@A9pAAH:AAA d?A`]?AS.*Af<2A,::A@mBAf<JA,:RA@m٘i)I9Y JJJJ&K Yy777#8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028323.043165 s, next control iter: 1743028323.403181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743028323.423165 s.u6H~,{ AAףp= w@A<0v@A`[~? A A[&"AAoqNA"AZAbAjArAzAAAƬ%vF*@ApA#ξAC:AAī?A d?A\?Au.*Ae<2A,::A-mBAe<JA,:RA-m٘i)I9Y Jc<JJJJ&K Yy{7{7D#8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028323.443165 s, next control iter: 1743028323.823174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1822, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028323.843165 s.<H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200642 time: 1743028323.843326F (some fields omitted in printout)J"J*J2J:JBJnJvJAQx@ACyOx@Ax[~? AA[&"AAqNA"AZAbAjArAzAAA0 G*@A{G!ٟpAA9AA«?A`d?A,Z?A3*AKe<2Ap,::AmBAKe<JAp,:RAm٘i)I9Y JJJJ&K Yyb7b7#8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028323.883165 s, next control iter: 1743028324.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028324.263165 s.DH~, AAfffffz@Ax $(y@A[~? AA[&"AAqNA"AZAbAjArAzAAA)"OG*@A4=QpAAѹAA㿫?A d?AHX?ALȲ*Ae<2A,::AlBAe<JA,:RAlYo??yAҹٓHX? "*୎ ?`?`@it?8::@?)o? I٘i)I9Y JYJJJ&K@ Yy{7j7#8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028324.283165 s, next control iter: 1743028324.663175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1823., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028324.683165 s.J "J *J 2J :J BJ nJ vJ lJH~,+ AAGz|@AJ{/{@A[~? AA[&"AAqNA"AZAbAjArAzAAAH*@AɂpAAckAA?A`#d?AfV?A2*Ae<2A,,::AlBAe<JA,,:RAl٘i)I9Y JJJDJ&K  $8Y $8y yCb77D$8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028324.683165 s, next control iter: 1743028325.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743028325.103165 s.QH~,F AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743028325.103283F (some fields omitted in printout)A(\}@AGZ}@A[~? ApA[&"AAqNA"AZAbAjArAzAAAH*@Am鵑pA"ξA(!AAJ?Ad?AT?Apc3*A6e<2A,::AlBA6e<JA,:RAl٘i)I9Y Ja2C<JJJJ&K Yy777$8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028325.123165 s, next control iter: 1743028325.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028325.523165 s.WH~,{a AJ"J*J2J:JBJnJvJA= ףp@AnnLO@A[~? AIA[&"AA)qNA"AZAbAjArAzAAAw64I*@A1ypAAT7AA9?A`d?A@R?A罇3*A_e<2A,::AlBA_e<JA,:RAl٘i)I9Y JJJJ&K Yy77$8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028325.563165 s, next control iter: 1743028325.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1824, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028325.943165 s.Xd^H~,B]| AAQ@A*T@A[~? A"A[&"AANqNA"AZAbAjArAzAAAd yI*@A{ bpA!ξA8AA༫?A d?A`P?A>2*Ave<2Ad,::A3lBAve<JAd,:RA3l٘i)I9Y Je3<JJJJ&K Yyb77D,$8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028325.963165 s, next control iter: 1743028326.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028326.363165 s.eH~,> AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199722 time: 1743028326.363292F (some fields omitted in printout)J"J*J2J:JBJnJvJÂ@A Lnd@A[~? AA[&"AAsqNA"AZAbAjArAzAAAKLJ*@ADXJpA"ξA| g:AAg?Ad?A O?AӲ*Ae<2A,::AlBAe<JA,:RAlY>??y g:ٓH d? )@d#c??v kt?@/L??)>? I٘i)I9Y J\C=J׎JJJ&KŹ Yy{7{7:$8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028326.383165 s, next control iter: 1743028326.763176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1825", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028326.783165 s.WkH~, AAGz@A=@A[~? AA[&"AAqNA"AZAbAjArAzAAAWJ*@A2pAA-Ŝ:AA?A d?A 'M?Ab<8*A~e<2Av,::AlBA~e<JAv,:RAl٘i)I9Y JJJJ&K Yyb77H$8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028326.823165 s, next control iter: 1743028327.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028327.203165 s.sH~, AJ"J*J2J:JBJnJvJA\(@Ag@A1[~? AA[&"AAqNA"AZAbAjArAzAAAreK*@AjlpA#ξA,m:AAm?Ad?AHK?A"*Ape<2At,::ALlBApe<JAt,:RALl٘i)I9Y Jb<JJJJ&K Yy)7ŧ7EW$8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028327.243165 s, next control iter: 1743028327.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028327.623165 s.TyH~,P AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743028327.623265F (some fields omitted in printout)Ap= ׇ@Aꗈn@AH[~? AA[&"AAqNA"AZAbAjArAzAAAS$QK*@A L pAA(9AA丫?A d?A`gI?A*Apae<2A,::AllBApae<JA,:RAll٘i)I9Y JJJJ&K Yy777e$8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028327.643165 s, next control iter: 1743028328.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1826 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028328.043165 s.H~, AJ"J*J2J:JBJnJvJAQ@A|ds@A_[~? A`A\&"AAqNA"AZAbAjArAzAAAx"}L*@A4WGpAAH.AA1?AId?AG?A*ARe<2A!,::A7lBARe<JA!,:RA7l٘i)I9Y JJJJ&K Yy77s$8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028328.083165 s, next control iter: 1743028328.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028328.463165 s.WH~, AA33333@Alʊ@Av[~? A9A\&"AA-qNA"AZAbAjArAzAAAO M*@AUӞpAA◺AA,?A@d?AE?A'2*A6De<2A•,::AulBA6De<JA•,:RAulYR??ym3ٓH,?`v)@@??鯿 jt? [R?)R? I٘i)I9Y Jb4JJJ&K Yy7777F$8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028328.503165 s, next control iter: 1743028328.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1827, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028328.883165 s.yH~,I8 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199762 time: 1743028328.883303F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gጜ@Ay@A[~? AA\&"AARqNA"AZAbAjArAzAAAՒM*@A&ȻpA"ξA͋AAX?Ad?AC?A"3*A5e<2A,::AlBA5e<JA,:RAl٘i)I9Y J_2C<JJJJ&K Yy7$8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028328.923165 s, next control iter: 1743028329.283184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743028329.303165 s.WH~,{gS AA(\@A*1 '@A[~? AA \&"AAxqNA"AZAbAjArAzAAA6"N*@A pAA"AA?A d?AA?AHh3*A&e<2Ah,::AlBA&e<JAh,:RAl٘i)I9Y JJJJ&K Yyj7Z7$8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028329.343165 s, next control iter: 1743028329.703179 s, wait time: 0.360014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 18282, header.stamp.nsec: 02$ temperature: nan2 salinity: nan2, density: 1025.0000002 values[0]: nan2F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028329.723165 s.H~,Hn AJ"J*J2J:JBJnJvJA ףp=@A2Տ@A[~? AA{\&"AAqNA"AZAbAjArAzAAAGֵCN*@A*OpA!ξAgg9AAR?A d?A!@?A1*Ae<2AdB,::A)lBAe<JAdB,:RA)l٘i)I9Y J`3<JJJJ&K Yy zC7)7G$8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028329.763165 s, next control iter: 1743028330.123180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028330.143165 s.U/H~,* AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199582 time: 1743028330.143287F (some fields omitted in printout)AR둜@A-@A[~? AAq\&"AAqNA"AZAbAjArAzAAAwc:O*@AtpA"ξAi%:AA?Ad?AL>?A~*A e<2A",::Af9lBA e<JA",:RAf9l٘i)I9Y JjC=JJJJ&K Yy77$8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028330.163165 s, next control iter: 1743028330.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028330.563165 s.H~,R  AJ"J*J2J:JBJnJvJA@AYK1@A[~? AvAf\&"AAqNA"AZAbAjArAzAAA=~O*@A MX\pA#ξA~:AAҳ?A"d?Ar elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199762 time: 1743028331.403302F (some fields omitted in printout)A)\@Asc@A[~? A)AP\&"AA1qNA"AZAbAjArAzAAAa\P*@Auo-pAA']AA&?AQd?A`8?Az*A.d<2A',::AkBA.d<JA',:RAk٘i)I9Y JJJJ&K Yyb77$8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028331.443165 s, next control iter: 1743028331.803175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1830, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028331.823165 s.H~,2 AAq= ף@A?tA};@A/[~? AAE\&"AAVqNA"AZAbAjArAzAAAZ#-jQ*@AһpAAiAA?Ad?A`6?At*Ad<2A4,::AkBAd<JA4,:RAkŘI٘i)I9Y JJJJ&K Yy77$8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028331.843165 s, next control iter: 1743028332.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028332.243165 s.H~,d AJ"J*J2J:JBJnJvJAQ@A g陜@AF[~? AA9 \&"AA{qNA"AZAbAjArAzAAA HQ*@Axs pAAh场AA?A@Nd?A 4?AU.3*A d<2A|3,::AkBA d<JA|3,:RAk٘i)I9Y JJJJ&K  %8Y %8y)7ŧ7G%8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028332.263165 s, next control iter: 1743028332.643174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743028332.663165 s.H~,q* AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200002 time: 1743028332.663273F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1831, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@AM֨@A][~? AA-#\&"AAqNA"AZAbAjArAzAAAR*@A!WXpA"ξAߑkAA?Ad?A$3?A3*A_d<2A,::AkBA_d<JA,:RAkY'?t?ylٓH@?(`)?R#?`kt?;rM?)'? I٘i)I9Y Js2<JTJJDJ&K2 Yy7{7%8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028332.683165 s, next control iter: 1743028333.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028333.083165 s.DH~,RE AJ"J*J2J:JBJnJvJAHz@A,BE@At[~? AA"&\&"AAqNA"AZAbAjArAzAAAB]S*@AF\ΝpA!ξAAA?A d?A@Q1?A*3*Ad<2A+::AȕkBAd<JA+:RAȕk٘i)I9Y Jg3C=JJJJ&K Yy{7j7%8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028333.123165 s, next control iter: 1743028333.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028333.503165 s.H~,74` AA(\@AK[\@A[~? AfA)\&"AAqNA"AZAbAjArAzAAA_S*@AkpA"ξA81:AA?Aqd?A~/?AoG*Aғd<2A+::AdkBAғd<JA+:RAdk٘i)I9Y JXJJJJ&K Yy)77I.%8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028333.543165 s, next control iter: 1743028333.903175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1832, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028333.923165 s.7H~,{ AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199822 time: 1743028333.923298F (some fields omitted in printout)Aףp= @A=֌ @A[~? A@A ,\&"AA qNA"AZAbAjArAzAAAq 'T*@AA|hOpAA(:AA?Ad?A-?A2.*Ad<2AI+::ArkBAd<JAI+:RArk٘i)I9Y JJJJ&K Yyŧ7ŧ7<%8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028333.943165 s, next control iter: 1743028334.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028334.343165 s.<H~, AAQ@AO@A[~? AA.\&"AA5 qNA"AZAbAjArAzAAAUd T*@AڊpA#ξA귊:AA}?A ?d?A+?AU+*Avd<2A+::AǢkBAvd<JA+:RAǢk٘i)I9Y Jf<JJJJ&K Yy{7{7J%8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028334.363165 s, next control iter: 1743028334.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1833&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028334.763165 s.4H~,ذ AJ"J*J2J:JBJnJvJAfffff@AN^d@A[~? AA1\&"AAZ qNA"AZAbAjArAzAAA?U*@A0opAA,9AA.?A`Sd?A)?A*Agd<2Aݽ+::AGwkBAgd<JAݽ+:RAGwkY?K?y9ٓH? (`"=? %? jt?;?@?)? I٘i)I9Y JQ4JJJ&KĹ Yy {C7HY%8)ZZZBZL?YY*W2W WWW"W ) )FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743028334.803165 s, next control iter: 1743028335.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028335.183165 s.H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200182 time: 1743028335.183288F (some fields omitted in printout)AGz@A;5@A[~? AA4\&"AA qNA"AZAbAjArAzAAA)U*@AwTXpAA/AAq?A d?A(?ASC*AYd<2A+::A4BkBAYd<JA+:RA4Bk٘i)I9Y JJJJ&K Yy7g%8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028335.223165 s, next control iter: 1743028335.583184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743028335.603165 s.84H~, AJ"J*J2J:JBJnJvJA(\§@A@CZ@A[~? AA7\&"AA qNA"AZAbAjArAzAAA !WV*@A@pAA(AA$?A d?A:&?AF72*AKd<2A+::A%kBAKd<JA+:RA%k٘i)I9Y JJJJ&K Yyb7ŧ7u%8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028335.623165 s, next control iter: 1743028336.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1834 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028336.023165 s.ZH~,{ AA= ףp@Aԙ{H@A[~? A~A:\&"AA qNA"AZAbAjArAzAAA p!V*@A )pA"ξA4$AA?A Ld?A c$?Af3*Az elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199982 time: 1743028336.443292F (some fields omitted in printout)AQ@A&`@A-[~? AWA=\&"AA qNA"AZAbAjArAzAAA6oW*@AlfpAA90AA硫?Aud?A"?AG3*A-d<2Aߴ+::AkBA-d<JAߴ+:RAk٘i)I9Y JJJJ&K Yy777%8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028336.483165 s, next control iter: 1743028336.843179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1835, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028336.863165 s.+ H~,y>7 AA̬@A yd@AD[~? A0A@\&"AA!qNA"AZAbAjArAzAAA7vW*@ArpA!ξAi9AA?AWd?A` ?AT'2*Ad<2A+::AkBAd<JA+:RAkY?@?y9ٓH`?`w(`@?+?lt?`5#?`?)? I٘i)I9Y J`3<J^JJJ&K Yyj7Z7%8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028336.903165 s, next control iter: 1743028337.263175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028337.283165 s.6RH~,R AJ"J*J2J:JBJnJvJAGz@AtY@A[[~? A AC\&"AA8!qNA"AZAbAjArAzAAAF_X*@A9%pA"ξA$ l:AA?A Id?A@?Aܲ*Agd<2Al+::A1kBAgd<JAl+:RA1k٘i)I9Y JhC=JJJJ&K Yyŧ7b7I%8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028337.323165 s, next control iter: 1743028337.683177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1836*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028337.703165 s.պH~, m AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743028337.703277F (some fields omitted in printout)A\(@A@Ar[~? AAF\&"AA]!qNA"AZAbAjArAzAAAǘY*@A'RʜpAAx:AA?A d?A@?A07*Ad<2AX+::A0kBAd<JAX+:RA0k٘i)I9Y JJJJ&K Yy{7j7%8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028337.723165 s, next control iter: 1743028338.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028338.123165 s.7!H~,] AJ"J*J2J:JBJnJvJAp= ױ@A`n@A[~? AAI\&"AA!qNA"AZAbAjArAzAAAKҞY*@A겜pA#ξAh:AA ?A@id?A B?AC` *AIc<2A\W+::AkBAIc<JA\W+:RAk٘i)I9Y Ja<JJJJ&K Yy777%8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028338.163165 s, next control iter: 1743028338.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028338.543165 s.I(H~,â AAQ@APi@A[~? AAuL\&"AA!qNA"AZAbAjArAzAAAύ *Z*@AR[OpAA] 9AA~?Ad?Af?A2*Ac<2Atd+::A.jBAc<JAtd+:RA.j٘i)I9Y JJJJ&K Yy{7{7J%8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028338.583165 s, next control iter: 1743028338.943180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1837, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028338.963165 s.x.H~, AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200232 time: 1743028338.963295F (some fields omitted in printout)A33333@AUʴ@A[~? AoAgO\&"AA!qNA"AZAbAjArAzAAA^Z*@APᶵpAA5AAЛ?Ad?A@?Ap*Arc<2As+::A jBArc<JAs+:RA jY?E?y x5ٓH ?@( f?1?*@jt?F?)? I٘i)I9Y JK4JJJ&K Yy7777%8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028338.983165 s, next control iter: 1743028339.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028339.383165 s.5H~, AA{Gᶜ@A5x@A[~? AHAXR\&"AA!qNA"AZAbAjArAzAAAO׆B[*@AlpAAܷAA֙?A@d?A?A;2*Ac<2Aw+::AjBAc<JAw+:RAj٘i)I9Y JJJJ&K Yyb77%8)ZZZBZL?YY*W2W WWW"W ) )FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743028339.403165 s, next control iter: 1743028339.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1838", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028339.803165 s.{A<H~,g AJ"J*J2J:JBJnJvJA(\@Ah%&@A[~? A"AIU\&"AA"qNA"AZAbAjArAzAAA m[*@ATpA"ξA쉺AA?A:d?A?Az3*A{c<2A>i+::AC|jBA{c<JA>i+:RAC|j٘i)I9Y Jb2C<JJJJ&K  &8Y &8y |C)7ŧ7J&8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028339.843165 s, next control iter: 1743028340.203182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743028340.223165 s.gCH~,H AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743028340.223323F (some fields omitted in printout)A ףp=@AR}չ@A[~? AA:X\&"AA<"qNA"AZAbAjArAzAAA'TNZ\*@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743028341.483284F (some fields omitted in printout)AzG@A[߾@AB[~? AA a\&"AA"qNA"AZAbAjArAzAAAW]*@A5J(&8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028341.523165 s, next control iter: 1743028341.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1840, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028341.903165 s.]H~,y AA)\@Ax%s@AY[~? AaAc\&"AA"qNA"AZAbAjArAzAAAbX^*@Ae?ޛpAAZT-:AA?Ad?A ?A *Apc<2AS*::AjBApc<JAS*:RAj٘i)I9Y JJJJ&K Yyb7L&8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028341.943165 s, next control iter: 1743028342.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028342.323165 s.sdH~, AJ"J*J2J:JBJnJvJAq= ףœ@A]z;œ@Ap[~? A:Af\&"AA"qNA"AZAbAjArAzAAÁ`_*@AuǛpAA.AAϔ?Ad?A?A*ANbc<2A +::APOjBANbc<JA +:RAPOj٘i)I9Y JJJJ&K Yy{7j7K[&8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028342.363165 s, next control iter: 1743028342.723176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1841&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028342.743165 s.WkH~,` AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743028342.743275F (some fields omitted in printout)AQĜ@AÜ@A[~? AAi\&"AA#qNA"AZAbAjArAzAAA==._*@A]pAAnAAJ?A@d?A ?A'( *ASc<2Aa+::A7jBASc<JAa+:RA7j٘i)I9Y JJJJ&K Yyb77i&8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028342.783165 s, next control iter: 1743028343.143175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028343.163165 s.x}rH~,q AJ"J*J2J:JBJnJvJAƜ@A[ Ŝ@A[~? AAl\&"AA?#qNA"AZAbAjArAzAAA(,`*@A A pAAĜAA?Ad?A@>?AG33*AEc<2A+::AiBAEc<JA+:RAiY솏?9?yٓH *?q'@<9@?~ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743028344.003305F (some fields omitted in printout)A(\ɜ@AlWȜ@A[~? AAr\&"AA#qNA"AZAbAjArAzAAADa*@AhpA!ξAAA?A` d?A?A""3*Az(c<2A*::AjBAz(c<JA*:RAj٘i)I9Y JX3C=JJJJ&K Yy77&8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028344.043165 s, next control iter: 1743028344.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028344.423165 s.uH~,{ AAףp= ˜@Aʜ@A[~? AyAu\&"AA#qNA"AZAbAjArAzAAA`Ja*@Ad2tQpA"ξA7:AA?A d?A@?ADb*Ac<2Aӹ*::A)jBAc<JAӹ*:RA)j٘i)I9Y JlJJJJ&K Yy }C)7b7&8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028344.463165 s, next control iter: 1743028344.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1843, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028344.843165 s.݌H~,5 AJ"J*J2J:JBJnJvJAQ̜@AnN%P̜@A[~? ASAx\&"AA#qNA"AZAbAjArAzAAAN`\b*@A49pAA:AA{?Ad?A`?Ao/*A\ c<2A5*::A"1jBA\ c<JA5*:RA"1j٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 215JJJJ&K Yy{7j7M&8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028344.863165 s, next control iter: 1743028345.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028345.263165 s.H~,P AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743028345.263282F (some fields omitted in printout)AfffffΜ@A͜@A[~? A,At{\&"AA#qNA"AZAbAjArAzAAAb(b*@A|o[m"pA#ξAˈ:AA9?Ad?A2?A`O)*Ab<2AC*::AjBAb<JAC*:RAjY??y3:ٓH@/?j'?JJJ&K> Yy)7ŧ7&8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028345.683165 s, next control iter: 1743028346.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743028346.103165 s.H~, AA(\ќ@A1Zќ@A@[~? AAQ\&"AAB$qNA"AZAbAjArAzAAAơc*@AlpAAeAA+?Ad?A@?Ar*AWb<2A*::AliBAWb<JA*:RAli٘i)I9Y JQ>JJJ&K> Yyŧ7b7L&8)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743028346.123165 s, next control iter: 1743028346.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028346.523165 s.H~,{ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199672 time: 1743028346.523274F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףpӜ@AJ UӜ@AW[~? AA?\&"AAg$qNA"AZAbAjArAzAAAL͊d*@A>ۚpAARЌAA戫?A+d?A?A߬N2*A b<2A*::ATiBA b<JA*:RATi٘i)I9Y JJJJ&K Yy7777&8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028346.543165 s, next control iter: 1743028346.923178 s, wait time: 0.380013 s)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1845, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028346.943165 s.VdH~,:] AAQ՜@A_Ԝ@An[~? AA-\&"AA$qNA"AZAbAjArAzAAAe*@Ax3#rĚpA"ξAAA?A d?A@?Aj3*Ab<2A^*::AK{iBAb<JA^*:RAK{i٘i)I9Y Jv2C<JJJJ&K YyZ7Z7&8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028346.963165 s, next control iter: 1743028347.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028347.363165 s.H~,> AJ"J*J2J:JBJnJvJA֜@Azd֜@A[~? AlA\&"AA$qNA"AZAbAjArAzAAA0e*@A9*pAA9\*AA?Ad?A@?An3*A3b<2A*::AiBA3b<JA*:RAiY|? ?y*ٓHa4?&3e?4E?@-lt?KE?)|? I٘i)I9Y JQJJJ&K  '8Y '8yj7M'8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028347.383165 s, next control iter: 1743028347.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1846&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028347.783165 s.XH~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743028347.783288F (some fields omitted in printout)AGz؜@A؜@A[~? AEA\&"AA$qNA"AZAbAjArAzAAAu-f*@AD}pA!ξA<9AAo?Ad?AE?A22*Ab<2As*::AiBAb<JAs*:RAiĘI٘i)I9Y Ja3<JJJJ&K Yy77'8)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743028347.803165 s, next control iter: 1743028348.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028348.203165 s.H~,   AJ"J*J2J:JBJnJvJA\(ڜ@A vٜ@A[~? AA\&"AA$qNA"AZAbAjArAzAAA={f*@A*~pA"ξAp:AA?Ad?Az?A*A'b<2AqQ*::AiBA'b<JAqQ*:RAi٘i)I9Y J_C=JJJJ&K Yy77{7#'8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028348.223165 s, next control iter: 1743028348.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028348.623165 s.VH~,X' AAp= ۜ@Aȳ˷nۜ@A[~? AA\&"AA %qNA"AZAbAjArAzAAAEg*@AJfpA#ξAx:AA~?A d?A?A6*Ab<2A=*::AiBAb<JA=*:RAi٘i)I9Y JaJJJDJ&K Yy777N2'8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028348.643165 s, next control iter: 1743028349.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1847 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028349.043165 s.H~,B AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200532 time: 1743028349.043347F (some fields omitted in printout)AQݜ@AWݜ@A[~? AAΕ\&"AAE%qNA"AZAbAjArAzAAAO"g*@A]OpAAr elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743028350.303272F (some fields omitted in printout)A(\@An.&@A&[~? A_A\&"AA%qNA"AZAbAjArAzAAA |si*@ApAAtAA?ADd?A ]?AD2*APb<2Af]*::AiBAPb<JAf]*:RAi٘i)I9Y JJJJ&K Yy777k'8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028350.343165 s, next control iter: 1743028350.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1849*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028350.723165 s.H~,H AJ"J*J2J:JBJnJvJA ףp=@AF\@A=[~? A8A\&"AA%qNA"AZAbAjArAzAAA5Ri*@A'VpA"ξAAA~?A`d?A`?A3*AYBb<2AfN*::AhBAYBb<JAfN*:RAh٘i)I9Y Js2<JJJJ&K Yy77j7y'8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028350.763165 s, next control iter: 1743028351.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028351.143165 s.T/H~,) AAR@AM(@AT[~? AAl\&"AA%qNA"AZAbAjArAzAAAߨj*@A6۹ٙpAAYǹAAE?A d?A?A[3*A3b<2A.*::A< iBA3b<JA.*:RA< i٘i)I9Y JJJJ&K YyN'8)ZZZBZL?YY*W2W WWW"W ) )FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743028351.163165 s, next control iter: 1743028351.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028351.563165 s.H~,=  AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743028351.563263F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AcK1@Ak[~? AAW\&"AA#&qNA"AZAbAjArAzAAAA5k*@A||™pAAN9AA?Ad?A ?A~1*Aq%b<2Al *::A"iBAq%b<JAl *:RA"iYr??y-T9ٓH6>?}& $4?L? lt?I>? ?)r? I٘i)I9Y JޡJJJ&K8 YyZ7Z7'8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028351.603165 s, next control iter: 1743028351.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1850, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028351.983165 s.H~, AAzG@AM@A[~? AAC\&"AAH&qNA"AZAbAjArAzAAA!k*@ANǨpAAs:AA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199982 time: 1743028352.823277F (some fields omitted in printout)Aq= ף@A;@A[~? AyA\&"AA&qNA"AZAbAjArAzAAA.๸l*@A5B|pAA&:AAU}?A`&d?A ۋ?A,*Axa<2A)::A iBAxa<JA):RA i٘i)I9Y JJJJ&K Yy7'8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028352.843165 s, next control iter: 1743028353.223175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028353.243165 s.H~,uO AJ"J*J2J:JBJnJvJAQ@A}͍@A[~? ARA\&"AA&qNA"AZAbAjArAzAAA8Dm*@AdpAAUMMAAz?Aad?A`ً?AN*ALa<2AD)::AhBALa<JAD):RAh٘i)I9Y JJJJ&K Yy7'8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028353.283165 s, next control iter: 1743028353.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028353.663165 s.H~,qj AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1852, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@AV@A[~? A,A\&"AA&qNA"AZAbAjArAzAAAm*@A6axMpAAosAA&x?Ad?A׋?A*A!a<2A)::AchBA!a<JA):RAchYm?z?ytٓHB? &?eT?@쯿`kt?rN?)m? I٘i)I9Y Jpd4JJJ&KY Yyŧ7b7R'8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028353.683165 s, next control iter: 1743028354.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028354.083165 s.D!H~, S AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743028354.083314F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@AE@A[~? AAٸ\&"AA'qNA"AZAbAjArAzAAAM:[n*@A 6pAANjAAv?ANd?A֋?A_83*Aa<2A/)::AEhBAa<JA/):RAEh٘i)I9Y JJJJ&K Yy7'8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028354.123165 s, next control iter: 1743028354.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028354.503165 s.'H~,/4 AA(\@A@A [~? AAĻ\&"AA%'qNA"AZAbAjArAzAAA$n*@ApA"ξA`AAJv?A@d?ATԋ?A3*Aa<2A)::A}hBAa<JA):RA}h٘i)I9Y Js2<JJJJ&K Yy C7'8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028354.543165 s, next control iter: 1743028354.903175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1853, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028354.923165 s.5.H~, AJ"J*J2J:JBJnJvJAףp= @AB@A#[~? AA\&"AAJ'qNA"AZAbAjArAzAAAH_0ro*@Aw&;UpAAKAAv?Ad?Aҋ?A3*A3a<2A)::AbhBA3a<JA):RAbh٘i)I9Y JJJJ&K  (8Y (8y777P (8)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028354.963165 s, next control iter: 1743028355.323176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028355.343165 s.<5H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743028355.343321F (some fields omitted in printout)AQ@AO@A:[~? AA\&"AAo'qNA"AZAbAjArAzAAAɑoo*@AdpAA=:AAw?And?AЋ?AU{*Aˤa<2A)::AWhBAˤa<JA):RAWh٘i)I9Y JJJJ&K Yyb77(8)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028355.383165 s, next control iter: 1743028355.743178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1854&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028355.763165 s.J "J *J 2J :J BJ nJ vJ 5;H~, AAfffff@Al<*@AQ[~? AmA\&"AA'qNA"AZAbAjArAzAAA% p*@AQfؘpAA:AAkw?Ad?A΋?A@/*Ava<2A͇)::AǰhBAva<JA͇):RAǰhYh?t?y:ٓHG?%`Ջ^?U?`lt?P4S? ?)h? I٘i)I9Y J^+JJJ&KĹ Yyj7Z7%(8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028355.783165 s, next control iter: 1743028356.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028356.183165 s.BH~,g ! AAGz@A@Ah[~? AFAk\&"AA'qNA"AZAbAjArAzAAAoq*@A6 elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199462 time: 1743028356.603270F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AEZ@A[~? A AT\&"AA'qNA"AZAbAjArAzAAAJvԟq*@A'婘pAApǿ9AAs?Add?A``ˋ?A *Aza<2Aċ)::AohBAza<JAċ):RAoh٘i)I9Y JJJDJ&K YyB(8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028356.643165 s, next control iter: 1743028357.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1855 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028357.023165 s.ZPH~,{A! AA= ףp@AܼqR@A[~? AA>\&"AA(qNA"AZAbAjArAzAAA e:+r*@AawpAArAAq?Ad?Aɋ?A*Aka<2A)::A;hBAka<JA):RA;h٘i)I9Y JJJJ&K Yy)7ŧ7P(8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028357.063165 s, next control iter: 1743028357.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028357.443165 s.3VH~,-]\! AJ"J*J2J:JBJnJvJAQ@AuR_@A[~? AA'\&"AA((qNA"AZAbAjArAzAAAir*@A6{pAA]aAAn?A@d?ANj?Af2*A]a<2A)::AhBA]a<JA):RAh٘i)I9Y JJJJ&K Yy7777Q_(8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028357.483165 s, next control iter: 1743028357.843175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1856, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028357.863165 s.+]H~,>w! AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743028357.863301F (some fields omitted in printout)A@A~d@A[~? AA\&"AAM(qNA"AZAbAjArAzAAA Bs*@AcpA"ξA䕺AAm?A`Id?Aŋ?Am3*AOa<2A)::AgBAOa<JA):RAgYc?!p?y44ٓHL?p%`Q=`?^?寿lt?R?)c? I٘i)I9Y J_2JJJJ&Ku Yy{7m(8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028357.903165 s, next control iter: 1743028358.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028358.283165 s.:RdH~,! AJ"J*J2J:JBJnJvJAGz@A¦Σ@A[~? AA\&"AAq(qNA"AZAbAjArAzAAAJjs*@AW[8LpAA#AAm?A@md?A,ċ?A3*AfAa<2A)::A3hBAfAa<JA):RA3h٘i)I9Y JJJJ&K Yyj7Z7{(8)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028358.303165 s, next control iter: 1743028358.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1857., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028358.703165 s.ҺjH~,! AA\(@Ad@A[~? AaA\&"AA(qNA"AZAbAjArAzAAA#Xt*@A`!<5pAA1[9AAxn?AOd?A@h‹?AX2*A 3a<2A<[)::AyhBA 3a<JA<[):RAyh٘i)I9Y JJJJ&K Yy77R(8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028358.743165 s, next control iter: 1743028359.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028359.123165 s.8qH~,a! AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200682 time: 1743028359.123328F (some fields omitted in printout)Ap= @Amn@A [~? A;A\&"AA(qNA"AZAbAjArAzAAAq/,t*@Ad|pAAu:AAn?AGd?A?A{z*A$a<2A9)::Af0hBA$a<JA9):RAf0h٘i)I9Y JJJJ&K Yyŧ77(8)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028359.163165 s, next control iter: 1743028359.523180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028359.543165 s.IxH~,! AAQ@Af@A [~? AA\&"AA(qNA"AZAbAjArAzAAAa-jhou*@AWjpA#ξA?>:AAzn?Ad?Aھ?A4*A}a<2A')::A-hBA}a<JA'):RA-h٘i)I9Y JbJJJJ&K Yy C77(8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028359.563165 s, next control iter: 1743028359.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1858, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028359.963165 s.z~H~,! AJ"J*J2J:JBJnJvJA33333 @A)@A7[~? AA\&"AA)qNA"AZAbAjArAzAAAN4u*@AoNpAAٸ]:AAl?Awd?A@?A>V*A\a<2A9')::AhBA\a<JA9'):RAhY^?j?yw.^:ٓHQ?`c%{?w_?kt?K??)^? I٘i)I9Y J3JJJ&Kù Yyj7j7S(8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028360.003165 s, next control iter: 1743028360.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028360.383165 s.؅H~," AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4197032 time: 1743028360.383263F (some fields omitted in printout)A{G @A#Kx @AN[~? AA\&"AA*)qNA"AZAbAjArAzAAA2v*@AؗpAA\8AA5j?Ad?A>?A*AL`<2A4)::A2gBAL`<JA4):RA2g٘i)I9Y JJJJ&K Yy77{7(8)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743028360.423165 s, next control iter: 1743028360.783175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1859", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028360.803165 s.vAH~,wg3" AJ"J*J2J:JBJnJvJA(\ @A>[' @Ae[~? AAh\&"AAO)qNA"AZAbAjArAzAAAgKw*@AR#pAA4>AAAg?A ܺd?A`o?AIM*AA`<2AC)::A_gBAA`<JAC):RA_g٘i)I9Y JJJJ&K Yyb7b7(8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028360.823165 s, next control iter: 1743028361.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028361.223165 s.gH~,HN" AA ףp=@Aj @A|[~? A|AO\&"AAt)qNA"AZAbAjArAzAAA59w*@AeopAAAAe?Aźd?A ?Aa2*A-`<2AF)::AgBA-`<JAF):RAg٘i)I9Y JJJJ&K Yy)7ŧ7R(8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028361.263165 s, next control iter: 1743028361.623179 s, wait time: 0.360014 s()( rAdjusting time to match Gazebo time: 1743028361.643165 s.vЙH~,*i" AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743028361.643270F (some fields omitted in printout)AR@Aۧ1@A[~? AVA7\&"AA)qNA"AZAbAjArAzAAA0K'x*@A'pA"ξAꅺAAd?A`5d?A۵?AȆ3*A`<2A(7)::A}gBA`<JA(7):RA}g٘i)I9Y Js2<JJJJ&K Yy777(8)ZZZBZL?YY*W2W WWW"W ) )FFF]:tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1860, header.stamp.nsec: 0$ temperature: nan salinity: nanWaiting for Gazebo time sync: latest Gz time: 1743028361.663165 s, next control iter: 1743028362.043177 s, wait time: 0.380012 s, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028362.063165 s.H~,F " AA@A׃I1@A[~? A0A\&"AA)qNA"AZAbAjArAzAAAOa+x*@ArwzpAAAAZe?A`:d?A?AkIT3*A`<2A)::A?gBA`<JA):RA?gYY?f?y`ٓHgV?$O@?@f?`mt? 7@?)Y? I٘i)I9Y JUJJJ&KO Yy77(8)ZZZBZL?YY*W2W WWW"W ) )o*FFF]Waiting for Gazebo time sync: latest Gz time: 1743028362.103165 s, next control iter: 1743028362.463176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028362.483165 s.r_H~," AJ"J*J2J:JBJnJvJAzG@AM O@A[~? A A\&"AA)qNA"AZAbAjArAzAAAoj>y*@AcpAAd:AAf?Ad?A U?A.*Ay`<2Ah(::AgBAy`<JAh(:RAg٘i)I9Y JJJJ&K  )8Y )8y77S )8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028362.503165 s, next control iter: 1743028362.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1861, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028362.903165 s.ȭH~,͹" AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199792 time: 1743028362.903282F (some fields omitted in printout)A)\@A(^e@A[~? AA\&"AA*qNA"AZAbAjArAzAAAOy*@ASYLpAAk:AALf?A-d?A?A*A;`<2A (::A.gBA;`<JA (:RA.g٘i)I9Y JJJJ&K Yy{7j7)8)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028362.943165 s, next control iter: 1743028363.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028363.323165 s.uH~,!" AJ"J*J2J:JBJnJvJAq= ף@Aq;@A[~? AA\&"AA,*qNA"AZAbAjArAzAAAOTz*@A_*5pA#ξAh:AAfe?Aಶd?A@ɮ?Ax.*A`<2A(::AgBA`<JA(:RAg٘i)I9Y JcC<JJJJ&K Yyŧ7b7')8)ZZZBZL?YY*W2W WWW"W ) )FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743028363.343165 s, next control iter: 1743028363.723175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1862&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028363.743165 s.WH~,d" AAQ@A@A[~? AA\&"AAQ*qNA"AZAbAjArAzAAAGXz*@A pAAX :AAUc?Ad?A?A&y*A`<2A(::AgBA`<JA(:RAgØI٘i)I9Y JJJJ&K Yy{7j7T6)8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028363.763165 s, next control iter: 1743028364.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028364.163165 s.v}H~,q # AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200252 time: 1743028364.163300F (some fields omitted in printout)A@A>U@A[~? AqA\&"AAv*qNA"AZAbAjArAzAAA]9k{*@AVspAAwkAA`?Ad?A/?A*A{`<2Aj(::ANgBA{`<JAj(:RANgYT?a?yilٓH ?[?$ <?Gk?@Fkt?.q-`?)T? I٘i)I9Y J܎4JJJ&K㽹 Yy77D)8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028364.183165 s, next control iter: 1743028364.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028364.583165 s.H~,R%# AAHz@A?eE@A4[~? AKA]&"AA*qNA"AZAbAjArAzAAAl{*@A\\pAA6xAA-^?A d?Ab?A//*Am`<2Aa(::AgBAm`<JAa(:RAg٘i)I9Y JJJDJ&K Yy7R)8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028364.623165 s, next control iter: 1743028364.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1863, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028365.003165 s.| H~,]4@# AJ"J*J2J:JBJnJvJA(\@A 7@AJ[~? A%Ai]&"AA*qNA"AZAbAjArAzAAA Z|*@AP ؖpAA:AA\?A@ζd?A ?A<3*A _`<2Ak(::AgBA _`<JAk(:RAg٘i)I9Y JJJJ&K Yy)7ŧ7Ua)8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028365.043165 s, next control iter: 1743028365.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028365.423165 s.uH~,w[# AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199372 time: 1743028365.423265F (some fields omitted in printout)Aףp= @Avߡ@Aa[~? AAN]&"AA*qNA"AZAbAjArAzAAA7 }*@AѱpA"ξA:[AAi\?A@d?A֥?Ayщ3*AP`<2A(::A gBAP`<JA(:RA g٘i)I9Y Js2<JJJJ&K Yyb7o)8)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028365.463165 s, next control iter: 1743028365.823175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1864, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028365.843165 s.H~,u# AJ"J*J2J:JBJnJvJAQ @A&O @Ax[~? AA4 ]&"AA +qNA"AZAbAjArAzAAAR}*@ApAAxAA\?A@d?A?Af3*AB`<2AҮ(::AgBAB`<JAҮ(:RAg٘i)I9Y JJJJ&K Yy77})8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028365.883165 s, next control iter: 1743028366.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028366.263165 s.H~,ؐ# AAfffff"@A<!@A[~? AA ]&"AA.+qNA"AZAbAjArAzAAAa#~*@A#vpAAC:AA]?Ad?AT?A5*Av4`<2A(::A/gBAv4`<JA(:RA/gYO?\?yKD:ٓH%`?$@nj?1n?mt?@|H??)O? I٘i)I9Y J]JJJ&K> Yyb77U)8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028366.303165 s, next control iter: 1743028366.663178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1865., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028366.683165 s.lH~,R# AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743028366.683287F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz$@Aڭe2#@A[~? AA]&"AAS+qNA"AZAbAjArAzAAA@:~*@AIA{pAA[;:AA]?A "d?A?AC/*AP&`<2Ar(::AJ5gBAP&`<JAr(:RAJ5g٘i)I9Y JJJJ&K Yyj7j7)8)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028366.683165 s, next control iter: 1743028367.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743028367.103165 s.H~,# AA(\%@Aދ/Z%@A[~? AgA]&"AAx+qNA"AZAbAjArAzAAA<>S9*@A dpA#ξA:AA3\?A`Ҳd?Aɞ?A($*AF`<2Am(::A}gBAF`<JAm(:RA}g٘i)I9Y JaC<JJJJ&K Yy77)8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028367.143165 s, next control iter: 1743028367.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028367.523165 s.H~,{# AJ"J*J2J:JBJnJvJA= ףp'@AK'@A[~? AAA]&"AA+qNA"AZAbAjArAzAAAj*@A~oLpAA)9AAY?Ad?A?A*AQ `<2Ax(::AwfBAQ `<JAx(:RAwf٘i)I9Y JJJJ&K Yy7777U)8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028367.563165 s, next control iter: 1743028367.923174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1866, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028367.943165 s.YdH~,F]# AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743028367.943289F (some fields omitted in printout)AQ)@A]wb(@A[~? AA]&"AA+qNA"AZAbAjArAzAAAcO*@ABOD5pAA*AAW?A`(d?A2?Anw*Ae_<2A(::AɿfBAe_<JA(:RAɿf٘i)I9Y JJJJ&K Yyb77)8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028367.963165 s, next control iter: 1743028368.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028368.363165 s. H~,u>$ AJ"J*J2J:JBJnJvJA*@A |d*@A[~? AA]&"AA+qNA"AZAbAjArAzAAAHڀ*@A̚ypAAۏAAT?A0d?Ai?Ac}2*At_<2A(::AfBAt_<JA(:RAfYJ??W?y%(ٓH`d? $=@? v?@寿lt?`zQ ?)J? I٘i)I9Y Jj+4JJJ&K Yy7)8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028368.403165 s, next control iter: 1743028368.763176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1867", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028368.783165 s.[ H~,2$ AAGz,@AH,@A[~? AAs]&"AA ,qNA"AZAbAjArAzAAAٶe*@AFpKpA"ξAAAS?ADzd?Aࣗ?Ao3*Ap_<2AP(::AfBAp_<JAP(:RAf٘i)I9Y J^2JJJJ&K Yy{7{7V)8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028368.823165 s, next control iter: 1743028369.183180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028369.203165 s. H~,M$ AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199882 time: 1743028369.203280F (some fields omitted in printout)A\(.@Aƿϸ-@A0[~? AAW!]&"AA0,qNA"AZAbAjArAzAAAO*@A5pAAdAAS?Ad?A╋?A\}3*AU_<2Ak(::AOfBAU_<JAk(:RAOf٘i)I9Y JJJJ&K Yy C77)8)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028369.243165 s, next control iter: 1743028369.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028369.623165 s.] H~,vg$ AAp= /@A Cn/@AG[~? AA;$]&"AAT,qNA"AZAbAjArAzAAA;{*@Aq׉ؕpAAfUy9AAT?A˰d?A $?A2*A*_<2AlF(::AfBA*_<JAlF(:RAf٘i)I9Y JJJJ&K Yyŧ7b7)8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028369.663165 s, next control iter: 1743028370.023183 s, wait time: 0.360018 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1868 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028370.043165 s. H~,Â$ AJ"J*J2J:JBJnJvJAQ1@AF1@A^[~? A]A']&"AAy,qNA"AZAbAjArAzAAA*@A|pAA'z:AA"U?A ǯd?Ad?A*A_<2A%(::AfBA_<JA%(:RAf٘i)I9Y JJJJ&K  *8Y *8yb7V *8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028370.083165 s, next control iter: 1743028370.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028370.463165 s.R' H~,פ$ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743028370.463308F (some fields omitted in printout)A333333@AT2@Au[~? A7A*]&"AA,qNA"AZAbAjArAzAAA0Zᑃ*@A股pA#ξA:AAT?A`%d?A ?AL=3*A_<2A(::AfBA_<JA(:RAf٘i)I9Y JbJJJJ&K Yy7*8)ZZZBZL?YY*W2W WWW"W ) )n*FFF]Waiting for Gazebo time sync: latest Gz time: 1743028370.503165 s, next control iter: 1743028370.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1869, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028370.883165 s.y- H~,4$ AJ"J*J2J:JBJnJvJA{G4@A=*x4@A[~? AA,]&"AA,qNA"AZAbAjArAzAAAP1*@A:zpAAX:AAR?Ad?A@ێ?Aa*A_<2A(::AfBA_<JA(:RAf٘i)I9Y JJJJ&K Yyb77**8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028370.923165 s, next control iter: 1743028371.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028371.303165 s.S4 H~,jg$ AA(\6@A '6@A[~? A A/]&"AA,qNA"AZAbAjArAzAAA|RFާ*@AvkU|pAA68AAPP?A-d?A?A*A$_<2A["(::AdfBA$_<JA["(:RAdf٘i)I9Y JJJJ&K Yy7W8*8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028371.323165 s, next control iter: 1743028371.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1870., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028371.723165 s.; H~,H$ AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743028371.723281F (some fields omitted in printout)A ףp=8@A7@A[~? A A2]&"AA -qNA"AZAbAjArAzAAA'2*@A1epAA!GAAM?A@ad?AH?A;*AF~_<2A0(::Ai2fBAF~_<JA0(:RAi2f٘i)I9Y JJJJ&K Yy7F*8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028371.763165 s, next control iter: 1743028372.123174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743028372.143165 s.R/B H~,) % AAR9@A SK9@A[~? A A5]&"AA1-qNA"AZAbAjArAzAAAD޽*@AfSNpAA㦚AAK?AFd?A?Ad3*A`p_<2Ad3(::A;fBA`p_<JAd3(:RA;f٘i)I9Y JJJJ&K Yy77U*8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028372.163165 s, next control iter: 1743028372.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028372.563165 s.H H~,J $% AJ"J*J2J:JBJnJvJA;@AB1;@A[~? Ay Ao8]&"AAV-qNA"AZAbAjArAzAAA!H*@ASǃ6pA"ξA˃AA5K?A@d?A ?A3*Acb_<2Aq#(::A4fBAcb_<JAq#(:RA4fYA?TM?yٓH vn?t#^+@?"? 篿mt?vyP@?)A? I٘i)I9Y Js2<Jx+JJDJ&K< Yyj7j7Wc*8)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028372.603165 s, next control iter: 1743028372.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1871, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028372.983165 s.O H~,>% AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200292 time: 1743028372.983303F (some fields omitted in printout)AzG=@A2:=<@A[~? AT AQ;]&"AA{-qNA"AZAbAjArAzAAA"ӆ*@A;",pAAAAK?Ad?A ?A YM3*APT_<2A(::AfBAPT_<JA(:RAf٘i)I9Y JJJJ&K YyZ7q*8)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028373.023165 s, next control iter: 1743028373.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028373.403165 s.&V H~,Y% AJ"J*J2J:JBJnJvJA)\>@AFq>@A[~? A. A3>]&"AA-qNA"AZAbAjArAzAAA^*@A%JpAAI:AATL?A`d?A`E?A*A3F_<2A'::AB/fBA3F_<JA':RAB/f٘i)I9Y JJJJ&K Yy{7*8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028373.443165 s, next control iter: 1743028373.803177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1872, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028373.823165 s.\ H~,%t% AAq= ף@@AA9w;@@A,[~? A AA]&"AA-qNA"AZAbAjArAzAAA*@ABޔpAA\h:AAL?Ad?A?A*A$8_<2AS'::A+ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743028374.243272F (some fields omitted in printout)J"J*J2J:JBJnJvJAQB@AA@AC[~? A AC]&"AA-qNA"AZAbAjArAzAAA;'t*@A yڔpA#ξAГ:AAK?A8d?AĀ?AԤ,*A0*_<2A '::A/fBA0*_<JA ':RA/f٘i)I9Y JaC<JJJJ&K Yy7777*8)ZZZBZL?YY*W2W WWW"W ) )n*FFF]Waiting for Gazebo time sync: latest Gz time: 1743028374.263165 s, next control iter: 1743028374.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028374.663165 s.j H~,q% AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1873, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)AD@A8FC@AZ[~? A AF]&"AA.qNA"AZAbAjArAzAAAְ|*@Ar`ÔpAABM:AAI?A5d?A~?AmO*AT_<2Ax'::AfBAT_<JAx':RAfY;?CH?y:ٓHas?`\#@.?́?@ lt? )C??);? I٘i)I9Y Ji+4JJJ&K Yy7{7*8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028374.683165 s, next control iter: 1743028375.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028375.083165 s.Dq H~, S% AJ"J*J2J:JBJnJvJAHzE@A0EE@Aq[~? A AI]&"AA3.qNA"AZAbAjArAzAAA/ͣa*@ATxHpAA˄AAF?Apd?A6}?A۲*A_<2A'::AeBA_<JA':RAe٘i)I9Y JJJJ&K Yy77Y*8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028375.103165 s, next control iter: 1743028375.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028375.503165 s.w H~,/4% AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743028375.503286F (some fields omitted in printout)A(\G@A!F@A[~? Aq AL]&"AAW.qNA"AZAbAjArAzAAAH*@A1pAA|AA_D?A`d?Ao{?AM0*A_<2A'::AzeBA_<JA':RAze٘i)I9Y JJJJ&K Yy77*8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028375.543165 s, next control iter: 1743028375.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1874, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028375.923165 s.6~ H~,% AJ"J*J2J:JBJnJvJAףp= I@ADH@A[~? AK A{O]&"AA|.qNA"AZAbAjArAzAAAI.*@A~pAAaћAAB?AMd?Ay?A-5A3*A^<2A('::AeBA^<JA(':RAe٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 214JJJJ&K Yyb77*8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028375.943165 s, next control iter: 1743028376.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028376.343165 s.< H~,& AAQJ@APJ@A[~? A% A[R]&"AA.qNA"AZAbAjArAzAAAQo+*@Az gpA"ξAUAAB?Ad?Aw?Aח3*A^<2A'::A#eBA^<JA':RA#e٘i)I9Y Js2<JJJJ&K YyZ7Z7`*8)Z ZZBZ L?YY *W2W W W W"W  ) ) o*FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028376.383165 s, next control iter: 1743028376.743176 s, wait time: 0.360011 s)&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1875&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028376.763165 s.4 H~,0& AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199692 time: 1743028376.763268F (some fields omitted in printout)AfffffL@A4DK@A[~? A AJJJ&KѺ> Yyb77*8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028376.783165 s, next control iter: 1743028377.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028377.183165 s.˒ H~,^K& AAGzN@AEׅM@A[~? A AX]&"AA.qNA"AZAbAjArAzAAAU:@*@AE8pAA!I:AAC?A jd?A@xt?A}*A^<2Ax'::AŹeBA^<JAx':RAŹe٘i)I9Y JQ>JJJ&K>  +8Y +8y7)7+8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028377.223165 s, next control iter: 1743028377.583176 s, wait time: 0.360011 sJ "J *J 2J :J BJ nJ vJ  rAdjusting time to match Gazebo time: 1743028377.603165 s.4 H~,f& AA(\O@AJ4ZO@A[~? A AZ]&"AA/qNA"AZAbAjArAzAAAC_ˌ*@A!pAA:AAC?Ad?Ar?AA/*AԺ^<2Aa'::AeBAԺ^<JAa':RAe٘i)I9Y JJJJ&K YyZ7SI7Y+8)ZZZBZL?YY*W2W WWW"W ) )FFF]o:Waiting for Gazebo time sync: latest Gz time: 1743028377.623165 s, next control iter: 1743028378.003350 s, wait time: 0.380185 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1876 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028378.023165 s.Z H~,{& AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4198752 time: 1743028378.023319F (some fields omitted in printout)A= ףpQ@AV'gQ@A[~? A A]]&"AA4/qNA"AZAbAjArAzAAAh^V*@Av! pA#ξA:AAoB?AXd?Ap?A!*A^<2A]'::AeBA^<JA]':RAe٘i)I9Y JrC<JJJJ&K Yyŧ77+8)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028378.063165 s, next control iter: 1743028378.423176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028378.443165 s.3æ H~,-]& AJ"J*J2J:JBJnJvJAQS@A R@A([~? Ah A`]&"AAY/qNA"AZAbAjArAzAAAmE.)*@APǽpAA,9AA @?Asd?A3o?A*A1^<2Ag'::A{eBA1^<JAg':RA{e٘i)I9Y JJJJ&K Yyj7j7,+8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028378.463165 s, next control iter: 1743028378.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1877, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028378.863165 s.+ H~,>& AAT@AEndT@A?[~? AB Ac]&"AA}/qNA"AZAbAjArAzAAAk*@A]ܓpAA AAY=?A஧d?Amm?AN*Ar^<2Aw'::AHeBAr^<JAw':RAHeY-2?z>?yN ٓH|?@"`t>?? lt? {A ?)-2? I٘i)I9Y J\4JJJ&KX Yy{7{7Z:+8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028378.903165 s, next control iter: 1743028379.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028379.283165 s.8R H~,& AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743028379.283295F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzV@AV@AV[~? A A{f]&"AA/qNA"AZAbAjArAzAAA0*@AשœpAA?AA1;?A@d?Ak?ATX2*A^<2A'::AeBA^<JA':RAe٘i)I9Y JJJJ&K Yy Cŧ7ŧ7H+8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028379.323165 s, next control iter: 1743028379.683177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1878*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028379.703165 s.Ժ H~,& AA\(X@A:W@Am[~? A AZi]&"AA/qNA"AZAbAjArAzAAAP*@AH[pA"ξAIAA-:?AEd?Ai?Apr3*Au^<2A u'::A eBAu^<JA u':RA e٘i)I9Y J`2JJJJ&K Yyb77W+8)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028379.723165 s, next control iter: 1743028380.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028380.123165 s.8 H~,a' AJ"J*J2J:JBJnJvJAp= Y@A\䞮nY@A[~? A A9l]&"AA/qNA"AZAbAjArAzAAAQU *@AS͛pAA3AAO:?Add?A`/h?APx3*Ag^<2AY'::A3eBAg^<JAY':RA3e˜I٘i)I9Y JJJJ&K Yyŧ7ŧ7Ze+8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028380.163165 s, next control iter: 1743028380.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028380.543165 s.I H~,"' AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199472 time: 1743028380.543274F (some fields omitted in printout)AQ[@A;[@A[~? A Ao]&"AA0qNA"AZAbAjArAzAAAL@4*@A+pAA9AA;?A Hd?A`vf?A#v2*AY^<2A5'::A/eBAY^<JA5':RA/e٘i)I9Y JJJDJ&K Yy77s+8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028380.563165 s, next control iter: 1743028380.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1879, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028380.963165 s.t H~,ߤ=' AJ"J*J2J:JBJnJvJA33333]@A/\@A[~? A Aq]&"AA50qNA"AZAbAjArAzAAA!*@A[ipAAr~:AA{;?AFd?Ad?A=*AK^<2A'::ABeBAK^<JA':RABeY!-?n9?yz:ٓH`ȁ?"=x ?p?`:@nt?O?`?)!-? I٘i)I9Y JwJJJ&K; YyZ7SI7+8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028381.003165 s, next control iter: 1743028381.363176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028381.383165 s. H~,'X' AA{G^@APx^@A[~? A` At]&"AAZ0qNA"AZAbAjArAzAAA<~*@AeͤRpA#ξAmk:AA:?Ad?Ab?Ab1*A>^<2A'::A(>eBA>^<JA':RA(>e٘i)I9Y JfJJJJ&K Yy7{7Z+8)ZZZBZL?YY*W2W WWW"W ) )FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743028381.403165 s, next control iter: 1743028381.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1880", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028381.803165 s.uA H~,sgs' AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743028381.803286F (some fields omitted in printout)A(\`@AB !'`@A[~? A: Aw]&"AA~0qNA"AZAbAjArAzAAA8u~47*@Ag,;pAAPR:AA+9?Ad?A`>a?A~*AP0^<2AN'::AeBAP0^<JAN':RAe٘i)I9Y JJJJ&K Yy77+8)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028381.843165 s, next control iter: 1743028382.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028382.223165 s.g H~,H' AA ףp=b@Ava@A[~? A Az]&"AA0qNA"AZAbAjArAzAAAП*@A^e.$pAAj7AA6?Ad?A@z_?A`*A"^<2AY'::AdBA"^<JAY':RAd٘i)I9Y JJJJ&K Yyb77+8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028382.263165 s, next control iter: 1743028382.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028382.643165 s.u H~,*' AJ"J*J2J:JBJnJvJARc@A SKc@A [~? A Ao}]&"AA0qNA"AZAbAjArAzAAA|"6L*@A; pAALAA3?Ad?A]?A/(*A^<2A!'::A=dBA^<JA!':RA=d٘i)I9Y JJJJ&K Yy7{7\+8)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1881, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028382.663165 s, next control iter: 1743028383.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028383.063165 s. H~,c ' AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200302 time: 1743028383.063297F (some fields omitted in printout)Ae@Af1e@A$[~? A AM]&"AA0qNA"AZAbAjArAzAAAeZKד*@ApAAAA-2?Aȣd?A[?A 3*A0^<2A#'::A"dBA0^<JA#':RA"dY`(?4?ymٓHf?"@e?@|?`௿mt?`ucS ?)`(? I٘i)I9Y Jt3JJJ&K Yyj7j7+8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028383.083165 s, next control iter: 1743028383.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028383.483165 s.J "J *J 2J :J BJ nJ vJ p_ H~,}' AAzGg@Aojf@A;[~? A A*]&"AA1qNA"AZAbAjArAzAAA`a*@A&ߒpA"ξAAA1?A/d?A@:Z?A43*A`]<2A0'::A0dBA`]<JA0':RA0d٘i)I9Y Js2<JJJJ&K Yyŧ77+8)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028383.503165 s, next control iter: 1743028383.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1882, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028383.903165 s. H~,' AA)\h@AFqh@AR[~? A~ A]&"AA61qNA"AZAbAjArAzAAA;h,*@A1ȒpAAAA2?A1d?AX?A KF3*Ay]<2Ab&::AdBAy]<JAb&:RAd٘i)I9Y JJJJ&K Yy77\+8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028383.943165 s, next control iter: 1743028384.303176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028384.323165 s.s H~,( AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743028384.323284F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ףj@A;j@Ah[~? AX A]&"AAZ1qNA"AZAbAjArAzAAALw*@ApKpAA):AA2?Ad?AV?Axh*A]<2A&::AdBA]<JA&:RAd٘i)I9Y JJJJ&K Yy777+8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028384.363165 s, next control iter: 1743028384.723175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1883&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028384.743165 s.W H~,q/( AAQl@Aqk@A[~? A3 A‹]&"AA1qNA"AZAbAjArAzAAAcW*@ApAAo:AA2?A`0d?A U?AL *A]<2A&::AdBA]<JA&:RAd٘i)I9Y JJJJ&K  ,8Y ,8yb7b7,8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028384.783165 s, next control iter: 1743028385.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028385.163165 s.u} H~,qJ( AJ"J*J2J:JBJnJvJAn@Am@A[~? A A]&"AA1qNA"AZAbAjArAzAAAh*@AUIƒpA#ξAl:AA1?Aཟd?AUS?AN**A]<2A&::AdBA]<JA&:RAdYH#?/?y<:ٓHX?@!r7b??+mt?MR??)H#? I٘i)I9Y JcC<JJJJ&K ¹ Yy7\,8)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028385.183165 s, next control iter: 1743028385.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028385.583165 s. H~,Re( AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743028385.583269F (some fields omitted in printout)AHzo@AbEo@A[~? AA{]&"AA1qNA"AZAbAjArAzAAAW:-*@AUJlpAAs:AA/?A d?AQ?A24 *A4]<2A&::AdBA4]<JA&:RAd٘i)I9Y JJJJ&K Yy77,8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028385.603165 s, next control iter: 1743028385.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1884, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028386.003165 s.z H~,U4( AJ"J*J2J:JBJnJvJA(\q@Ap@A[~? AAW]&"AA1qNA"AZAbAjArAzAAA9*@A{"UpAAWAA"-?Ad?AO?Aaֲ*A]<2A(&::AadBA]<JA(&:RAad٘i)I9Y JJJJ&K Yyj7Z7.,8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028386.023165 s, next control iter: 1743028386.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028386.423165 s.u& H~,r( AAףp= s@A+١r@A[~? AA4]&"AA2qNA"AZAbAjArAzAAA1sYK,*@A>pAAAA*?Ad?AN?Aν81*A]<2A_&::A74dBA]<JA_&:RA74d٘i)I9Y JJJJ&K Yyb77\<,8)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028386.443165 s, next control iter: 1743028386.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1885, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028386.843165 s., H~,( AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200352 time: 1743028386.843302F (some fields omitted in printout)AQt@AxPt@A[~? AwA]&"AA72qNA"AZAbAjArAzAAA~g䶘*@A.'pAAPAAT)?A͟d?ATL?AE3*A;]<2AS&::A}dBA;]<JAS&:RA}d٘i)I9Y JJJJ&K Yyŧ77J,8)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028386.883165 s, next control iter: 1743028387.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028387.263165 s.4 H~,( AAfffffv@ATbu@A[~? AQA]&"AA[2qNA"AZAbAjArAzAAAJ3*Aq}]<2Aݯ&::AdBAq}]<JAݯ&:RAdY?*?y"PٓH`?}!`?F? 쯿nt?}I?)? I٘i)I9Y Js2<Jq+JJJ&K Yy7{7Y,8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028387.303165 s, next control iter: 1743028387.663177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1886*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028387.683165 s.l: H~,x( AJ"J*J2J:JBJnJvJAGzx@A,Ew@A[~? A,Aǟ]&"AA2qNA"AZAbAjArAzAAA9 ̙*@Aq$pAAi' AA)?A`d?A`H?A?3*Ao]<2A&::A1dBAo]<JA&:RA1d٘i)I9Y JJJJ&K Yy{7^g,8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028387.683165 s, next control iter: 1743028388.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743028388.103165 s.A H~,) AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743028388.103308F (some fields omitted in printout)A(\y@A;Zy@A6[~? AA]&"AA2qNA"AZAbAjArAzAAAPV*@A]9pAAiO:AAg*?A@d?A0G?Az*Aa]<2ARj&::AHdBAa]<JARj&:RAHd٘i)I9Y JJJJ&K Yy77u,8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028388.123165 s, next control iter: 1743028388.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028388.523165 s.G H~,{!) AJ"J*J2J:JBJnJvJA= ףp{@A;jL{@AM[~? AA~]&"AA2qNA"AZAbAjArAzAAA}4*@AP̑pA#ξA$:AA9*?A (d?AxE?AR/*AS]<2AS&::ALdBAS]<JAS&:RALd٘i)I9Y J.˲<JJJDJ&K Yy777,8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028388.563165 s, next control iter: 1743028388.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1887, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028388.943165 s.YdN H~,F]<) AAQ}@A [|@Ad[~? AAY]&"AA2qNA"AZAbAjArAzAAA#Wk*@AnipAAO:AA(?A@d?AC?A*A>F]<2AO&::Af5dBA>F]<JAO&:RAf5d٘i)I9Y JJJJ&K Yy C77],8)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028388.983165 s, next control iter: 1743028389.343180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028389.363165 s.U H~,>W) AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743028389.363300F (some fields omitted in printout)J"J*J2J:JBJnJvJA~@A0|d~@A{[~? AA4]&"AA3qNA"AZAbAjArAzAAA?A2*Ax]<2Aq&::A;cBAx]<JAq&:RA;c٘i)I9Y JJJJ&K Yy7^,8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028390.243165 s, next control iter: 1743028390.603179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028390.623165 s.Xi H~,a) AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200152 time: 1743028390.623315F (some fields omitted in printout)Ap= ׃@Atn@A[~? A%Aij]&"AA3qNA"AZAbAjArAzAAA挕*@AϤYpA"ξAڑAA ?Aěd?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743028391.883292F (some fields omitted in printout)A{Gም@Ahx@A[~? AAR]&"AA3qNA"AZAbAjArAzAAA4*@A3<pAAd:AA!?Aǘd?A7?AS*An\<2A&::AcBAn\<JA&:RAc٘i)I9Y JJJJ&K Yyb7,8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028391.923165 s, next control iter: 1743028392.283176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028392.303165 s.S H~,jg* AA(\@A j&@A[~? AA,]&"AA4qNA"AZAbAjArAzAAA|M*@A 3 `pA#ξAޚ:AAg!?A/d?A@5?A0*A\<2Aa%::AgcBA\<JAa%:RAgc٘i)I9Y JdC<JJJJ&K  -8Y -8y7 -8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028392.343165 s, next control iter: 1743028392.703176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1891., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028392.723165 s. H~,H.* AJ"J*J2J:JBJnJvJA ףp=@AfHՋ@A1[~? AjA]&"AA74qNA"AZAbAjArAzAAAcI*@A~pAAmL:AA?Ad?A44?AL%*A%\<2A%::AͭcBA%\<JA%:RAͭc٘i)I9Y JJJJ&K Yy77{7_-8)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028392.743165 s, next control iter: 1743028393.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028393.143165 s.X/ H~,*I* AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743028393.143273F (some fields omitted in printout)AR덝@A-@AH[~? ADA]&"AA\4qNA"AZAbAjArAzAAAyzԠ*@A!SАpAAAA?A>d?A v2?A *A\<2A&::A}cBA\<JA&:RA}c٘i)I9Y JJJJ&K Yyŧ7b7!-8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028393.163165 s, next control iter: 1743028393.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028393.563165 s. H~,R d* AJ"J*J2J:JBJnJvJA@AR1@A_[~? AA]&"AA4qNA"AZAbAjArAzAAA{^*@A6ԹpAAWRAAo?A md?A0?A*A\<2A&::ALcBA\<JA&:RALcY?!?yRٓH:? `* C?@?@꯿mt?PJ?)? I٘i)I9Y Jw4JJJ&K Yy 0-8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028393.603165 s, next control iter: 1743028393.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1892, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028393.983165 s. H~,~* AAzG@AS:Xߐ@Av[~? AA]&"AA4qNA"AZAbAjArAzAAAv*@A,`pAAGxAA?AJd?A@.?AN 3*A\<2A3&::A+cBA\<JA3&:RA+c٘i)I9Y JJJJ&K Yy7`>-8)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028394.023165 s, next control iter: 1743028394.383176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028394.403165 s.& H~,͙* AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200332 time: 1743028394.403316F (some fields omitted in printout)A)\@AOj@A[~? AAj]&"AA4qNA"AZAbAjArAzAAAMDs*@Ak)pA"ξA~AA"?Ad?A G-?A'݆3*A\<2AU&::A$cBA\<JAU&:RA$c٘i)I9Y Js2<JJJJ&K Yy7L-8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028394.443165 s, next control iter: 1743028394.803185 s, wait time: 0.360020 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1893", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028394.823165 s. H~,!* AAq= ף@A ~;@A[~? AAC]&"AA4qNA"AZAbAjArAzAAA*3*@A6VupAAAA?Ad?A+?A!?3*A)\<2Aq%::A5cBA)\<JAq%:RA5c٘i)I9Y JJJJ&K Yy [-8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028394.863165 s, next control iter: 1743028395.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028395.243165 s. H~,m* AJ"J*J2J:JBJnJvJAQ@A?Q镝@A[~? AA]&"AA5qNA"AZAbAjArAzAAAt*@ApE^pAAk:AAQ?Ad?A )?A*Afy\<2Ak%::ANcBAfy\<JAk%:RANc٘i)I9Y JJJJ&K Yyb7`i-8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028395.263165 s, next control iter: 1743028395.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028395.663165 s. H~,q* AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199812 time: 1743028395.663310F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1894, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A*ٗ@A[~? AdA]&"AA85qNA"AZAbAjArAzAAA J*@A`GpAAx:AAv?A d?A/(?A!*Ak\<2AD%::A1ZcBAk\<JAD%:RA1ZcY ??ytO:ٓH? M??nt?.`R??) ? I٘i)I9Y Ja>JJJ&K Yyŧ7b7w-8)ZZZBZL?YY*W2W WWW"W ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028395.683165 s, next control iter: 1743028396.063184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743028396.083165 s.D H~,S+ AJ"J*J2J:JBJnJvJAHz@AJE@A[~? A?A]&"AA\5qNA"AZAbAjArAzAAA;$[*@AS0pA#ξA:AAt?ADd?Ax&?Ab'*A^\<2A%::AKcBA^\<JA%:RAKcI٘i)I9Y JaC<JJJJ&K Yyŧ7 -8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028396.123165 s, next control iter: 1743028396.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028396.503165 s. H~,H4 + AA(\@A$ӡ@A[~? AA]&"AA5qNA"AZAbAjArAzAAAC|`&*@A<pAAM :AAO?AGd?A$?A-% *AP\<2A%::A$cBAP\<JA%:RA$c٘i)I9Y JJJDJ&K Yy777`-8)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028396.543165 s, next control iter: 1743028396.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1895, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028396.923165 s.J "J : H~*J2J:J,;+ ABJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743028396.923273F (some fields omitted in printout)Aףp= @AD硜@A[~? AA{]&"AA5qNA"AZAbAjArAzAAA<+*@AQJpAAQAA?A`d?A#?APв*A C\<2A%::AbBA C\<JA%:RAb٘i)I9Y JJJJ&K Yy77-8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028396.963165 s, next control iter: 1743028397.323183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743028397.343165 s.< H~,U+ AAQ@A(aO@A,[~? AAS]&"AA5qNA"AZAbAjArAzAAAmhpw;*@Aխ pAAAA@?A@d?A@E!?A91*A5\<2As%::AbBA5\<JAs%:RAb٘i)I9Y JJJJ&K Yy7 -8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028397.383165 s, next control iter: 1743028397.743178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1896&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028397.763165 s.5 H~,p+ AJ"J*J2J:JBJnJvJAfffff@A$~@AC[~? AA*]&"AA5qNA"AZAbAjArAzAAA9OŦ*@AڶՏpAA궚AA?ANd?A?ALI3*A (\<2Aݺ%::AbBA (\<JAݺ%:RAbY?d?yٓH?` mu?Թ?ޯnt? VS ?)? I٘i)I9Y JV2JJJ&K Yya-8)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028397.803165 s, next control iter: 1743028398.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028398.183165 s. H~,c+ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743028398.183303F (some fields omitted in printout)AGz@AD@AZ[~? AA]&"AA6qNA"AZAbAjArAzAAAY P*@A\ﾏpA"ξAyIAA?A`d?A ?A<Ņ3*A\<2A %::AqbBA\<JA %:RAqb٘i)I9Y Js2<JJJJ&K Yy7-8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028398.223165 s, next control iter: 1743028398.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028398.603165 s.64 H~,+ AJ"J*J2J:JBJnJvJA(\£@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199692 time: 1743028399.443267F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A{\@A[~? AA]&"AA6qNA"AZAbAjArAzAAAGQ*@AzpA#ξAt:AA?Aଐd?A`?A.*A[<2AwI%::AbBA[<JAwI%:RAb٘i)I9Y J,˲<JJJJ&K Yy77-8)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743028399.463165 s, next control iter: 1743028399.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1898, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028399.863165 s.+ H~,>+ AĄ@A0Bxd@A[~? AA\]&"AA6qNA"AZAbAjArAzAAA#x*@AcpAA |:AAb?Ahd?A?A*A[<2A3F%::AQbBA[<JA3F%:RAQbY ?Z ?y|:ٓH? `wh?`V?@nt?O?`?) ? I٘i)I9Y J\3JJJ&K  .8Y .8y{7j7 .8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028399.883165 s, next control iter: 1743028400.263175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028400.283165 s.9R H~,, AJ"J*J2J:JBJnJvJAGz@A@A[~? AA3]&"AA6qNA"AZAbAjArAzAAAl*@A 4-MpAAj9AA ?Ad?A`W?AT*A[<2AQ%::AbBA[<JAQ%:RAb٘i)I9Y JJJJ&K Yy777b.8)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028400.323165 s, next control iter: 1743028400.683179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1899*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028400.703165 s.ֺ H~,-, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200272 time: 1743028400.703325F (some fields omitted in printout)A\(@Awn@A[~? AA ]&"AA6qNA"AZAbAjArAzAAAQ*@AQ]6pAAnAAJ ?A@d?A?A@*A*[<2AEa%::AhbBA*[<JAEa%:RAhb٘i)I9Y JJJJ&K Yy7#.8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028400.723165 s, next control iter: 1743028401.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028401.123165 s.6 H~,XG, AJ"J*J2J:JBJnJvJAp= ׭@A=ڨn@A[~? AA]&"AA7qNA"AZAbAjArAzAAAɃ*@A pAAAA6?Aຐd?A ?A(2*A[<2Ag%::AAbBA[<JAg%:RAAb٘i)I9Y JJJJ&K Yyb77 2.8)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028401.163165 s, next control iter: 1743028401.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028401.543165 s.I H~,b, AAQ@Aʽ@A[~? AZA]&"AA87qNA"AZAbAjArAzAAA83-*@ApA"ξA;UAAJ?A Ed?A@0?AFv3*A<[<2A\%::A.2bBA<[<JA\%:RA.2b٘i)I9Y Js2<JJJJ&K Yy77b@.8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028401.563165 s, next control iter: 1743028401.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1900, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028401.963165 s.y H~,}, AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743028401.963290F (some fields omitted in printout)A33333@A{vʰ@A'[~? A4A^&"AA\7qNA"AZAbAjArAzAAAy*+*@AQ(pAAXAA?A`_d?A?Aym3*A[<2A@%::A[~? AA_^&"AA7qNA"AZAbAjArAzAAA\*@AOoێpAAF9AA=?A`Dd?A ?A42*A[<2A%::AUbBA[<JA%:RAUb٘i)I9Y JJJJ&K Yy7].8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028402.403165 s, next control iter: 1743028402.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1901&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028402.803165 s.xA, H~,g, AJ"J*J2J:JBJnJvJA(\@A|'@AU[~? AA5^&"AA7qNA"AZAbAjArAzAAAN'@*@At3ĎpAA%m:AA?A Jd?A# ?A*A`[<2A$::A4gbBA`[<JA$:RA4gb٘i)I9Y JJJJ&K Yy7dk.8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028402.843165 s, next control iter: 1743028403.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028403.223165 s.g3 H~,I, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200072 time: 1743028403.223310F (some fields omitted in printout)A ףp=@AYk(յ@Al[~? AA ^&"AA7qNA"AZAbAjArAzAAA@ʭ*@AipA#ξA8:AA?Ad?Aq ?AF.*Aw[<2AV$::A8abBAw[<JAV$:RA8ab٘i)I9Y J_C<JJJJ&K Yy7777y.8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028403.243165 s, next control iter: 1743028403.623194 s, wait time: 0.380029 s rAdjusting time to match Gazebo time: 1743028403.643165 s.x9 H~,*, AJ"J*J2J:JBJnJvJAR뷝@Aφ3@A[~? AA ^&"AA7qNA"AZAbAjArAzAAAhWT*@A@>KpAAWmF:AA5?Ad?A@?A*Aoj[<2A$::A"AbBAoj[<JA$:RA"Ab٘i)I9Y JJJJ&K Yy{7j7.8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028403.663165 s, next control iter: 1743028404.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1902, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028404.063165 s.@ H~,F - AA@AaQ1@A[~? AzA^&"AA8qNA"AZAbAjArAzAAAonޮ*@A\lpAA.u;AA?AȌd?A@?Ah*A][<2Ay$::AbBA][<JAy$:RAb٘i)I9Y JJJJ&K Yyŧ7b7d.8)ZZZBZL?YY*W2W WWW"W ) )n*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028404.103165 s, next control iter: 1743028404.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028404.483165 s.p_G H~,}- AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743028404.483274F (some fields omitted in printout)AzG@Aclߺ@A[~? AUA^&"AA78qNA"AZAbAjArAzAAAh*@A ipAAQXAA ?Ad?AI?A-*AO[<2A' %::AaBAO[<JA' %:RAa٘i)I9Y JJJJ&K YyZ7Z7.8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028404.523165 s, next control iter: 1743028404.883173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1903, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028404.903165 s.M H~,9- AA)\@Aʍ"k@A[~? A0A\^&"AA\8qNA"AZAbAjArAzAAAqb*@A 4SpAAAAU?A`͌d?A?An3*AUB[<2A%::AaBAUB[<JA%:RAa٘i)I9Y JJJDJ&K Yy7777.8)ZZZBZL?YY*W2W WWW"W ) )o*FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028404.943165 s, next control iter: 1743028405.303180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028405.323165 s.wT H~,)T- AJ"J*J2J:JBJnJvJAq= ף@A'+;@A[~? A A0^&"AA8qNA"AZAbAjArAzAAA|*@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743028405.743285F (some fields omitted in printout)AQ@A}Yک鿝@A[~? AA^&"AA8qNA"AZAbAjArAzAAA***@A%pAAyAAR?A -d?A 7?A73*AJ'[<2A$::AaBAJ'[<JA$:RAa٘i)I9Y JJJJ&K Yyj7Z7.8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028405.783165 s, next control iter: 1743028406.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028406.163165 s.w}b H~J,q- A"J*J2J:JBJnJvJA@Aɧ@A [~? AA^&"AA8qNA"AZAbAjArAzAAAvѐ*@A)pAAHh:AA ?A d?A ?A;N*A[<2A9$::A^aBA[<JA9$:RA^aY}??y@:ٓH?@kr?`@?@ ot?C??)}? I٘i)I9Y JkJJJ&K: Yy77.8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028406.183165 s, next control iter: 1743028406.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028406.583165 s.h H~,R- AAHzÝ@AɭIEÝ@A"[~? AA^&"AA8qNA"AZAbAjArAzAAA*@Aȣ~pAAL+:AA*?A7d?A ?A"*A+ [<2AΞ$::A aBA+ [<JAΞ$:RA a٘i)I9Y JJJJ&K Yyd.8)ZZZBZL?YY*W2W WWW"W ) )FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743028406.603165 s, next control iter: 1743028406.983176 s, wait time: 0.380011 s)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1905, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028407.003165 s.x p H~,L4- AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743028407.003289F (some fields omitted in printout)A(\ŝ@AjHĝ@A8[~? AvA"^&"AA9qNA"AZAbAjArAzAAA)Ӥ*@AɲpA#ξAa:AA?A͈d?A@+?A%*AZ<2Aו$::AaBAZ<JAו$:RAa٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 213J_C<JJJJ&K Yyŧ7b7.8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028407.043165 s, next control iter: 1743028407.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028407.423165 s.uv H~,- AAףp= ǝ@A܁:Ɲ@AO[~? AQAR%^&"AA79qNA"AZAbAjArAzAAA).*@A]C,ˍpAA:AA?A@҈d?Au?A% *AgZ<2A$::AaBAgZ<JA$:RAa٘i)I9Y JJJJ&K  /8Y /8yj7Z7 /8)ZZZBZL?YY*W2W WWW"W  ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028407.483165 s, next control iter: 1743028407.823175 s, wait time: 0.340010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1906, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028407.843165 s.| H~,- AJ"J*J2J:JBJnJvJAQȝ@A$cOȝ@Af[~? A,A%(^&"AA[9qNA"AZAbAjArAzAAAθ*@ADpAAc?AAE?A d?A ?Aʲ*AZ<2Ag$::AaBAZ<JAg$:RAa٘i)I9Y JQ>JJJ&K> Yy77e/8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028407.883165 s, next control iter: 1743028408.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028408.263165 s. H~,. AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743028408.263279F (some fields omitted in printout)Afffffʝ@Avɝ@A}[~? AA*^&"AA9qNA"AZAbAjArAzAAA b0B*@A ߝpAAAA?A!d?A@?AU1*AZ<2AԷ$::A[aBAZ<JAԷ$:RA[aY??y؄ٓHJ?aVI?$?G⯿nt?OP@?)? I٘i)I9Y JQ4Q>JJJ&K䳹> Yy%/8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028408.303165 s, next control iter: 1743028408.663177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1907*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028408.683165 s.l H~,g+. AJ"J*J2J:JBJnJvJAGz̝@A W@˝@A[~? AA-^&"AA9qNA"AZAbAjArAzAAA̴*@Aô;pAAAA?A`шd?AV?AM3*AqZ<2A$::ADaBAqZ<JA$:RADa٘i)I9Y JJJJ&K Yy C4/8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028408.683165 s, next control iter: 1743028409.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743028409.103165 s. H~,F. AA(\͝@AZ7Z͝@A[~? AA0^&"AA9qNA"AZAbAjArAzAAAi5V*@AMppA"ξACAA?A d?A`?A.3*AZ<2A$::AxGaBAZ<JA$:RAxGa٘i)I9Y Js2<JJJJ&K Yy7eB/8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028409.143165 s, next control iter: 1743028409.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028409.523165 s. H~,{a. AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200142 time: 1743028409.523306F (some fields omitted in printout)A= ףpϝ@ALOϝ@A[~? AAp3^&"AA9qNA"AZAbAjArAzAAAgN*@AYpAAts8AA2?Ad?A?Aҏ2*AuZ<2Ax$::A]aBAuZ<JAx$:RA]a٘i)I9Y JJJJ&K Yy7777P/8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028409.563165 s, next control iter: 1743028409.923174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1908, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028409.943165 s.Ud H~,5]|. AAQѝ@ApaН@A[~? AsAB6^&"AA:qNA"AZAbAjArAzAAAj*@A:WCpAA. AJ"J*J2J:JBJnJvJAҝ@AVbdҝ@A[~? ANA9^&"AA6:qNA"AZAbAjArAzAAAݑ*@Aj/,pA#ξA:AA?A@3d?A?A<.*AZ<2AaB$::A.vaBAZ<JAaB$:RA.vaY? ?y:ٓH(?0N ?@?@`ot?uS? ?)? I٘i)I9Y J'˲<JKJJJ&K Yyb77gm/8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028410.383165 s, next control iter: 1743028410.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1909&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028410.783165 s.S H~,. AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199802 time: 1743028410.783274F (some fields omitted in printout)AGzԝ@ATԝ@A[~? A)A;^&"AA[:qNA"AZAbAjArAzAAAu~*@AdpAA:w:AA?Ad?A`?A*A(Z<2A?$::A]aBA(Z<JA?$:RA]a٘i)I9Y JJJJ&K Yy)7)7{/8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028410.823165 s, next control iter: 1743028411.183175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028411.203165 s. H~,. AJ"J*J2J:JBJnJvJA\(֝@A a5՝@A[~? AA>^&"AA:qNA"AZAbAjArAzAAA/X*@AtppAAzi9AA?A d?A@?A*AxZ<2AK$::AL1aBAxZ<JAK$:RAL1a٘i)I9Y JJJJ&K Yy77/8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028411.243165 s, next control iter: 1743028411.603179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028411.623165 s.[ H~,m. AAp= ם@Anם@A3[~? AAA^&"AA:qNA"AZAbAjArAzAAA==*@AK07pAAAA?AHd?A?AR *AkZ<2A [$::A`BAkZ<JA [$:RA`٘i)I9Y JJJJ&K Yyŧ7b7f/8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028411.663165 s, next control iter: 1743028412.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1910 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028412.043165 s. H~,/ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743028412.043290F (some fields omitted in printout)J"J*J2J:JBJnJvJAQٝ@A@ٝ@AI[~? AA[D^&"AA:qNA"AZAbAjArAzAAAN#*@AlMҌpAA3AA?A@d?A@?A2*Ae^Z<2A`$::Ag`BAe^Z<JA`$:RAg`I٘i)I9Y JJJJ&K Yy)7ŧ7/8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028412.083165 s, next control iter: 1743028412.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028412.463165 s.O H~,ʤ/ AA33333۝@A&s,ڝ@A`[~? AA,G^&"AA:qNA"AZAbAjArAzAAA$*@AP pA"ξAAºA?AƄd?A*?Ax3*AQZ<2AwU$::A%`BAQZ<JAwU$:RA%`Y?b?yٓH@?n` ??L߯ot?`@Q ?)? I٘i)I9Y Js2<J[JJJ&Ḵ Yyb77/8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028412.503165 s, next control iter: 1743028412.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1911, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028412.883165 s.y H~,48/ AJ"J*J2J:JBJnJvJA{Gܝ@A;xܝ@Aw[~? AoAI^&"AA;qNA"AZAbAjArAzAAAҎB/*@A& pAAkMAúAT?A߃d?A?A<h3*ACZ<2AM9$::A`BACZ<JAM9$:RA`٘i)I9Y JJJDJ&K Yyj7j7g/8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028412.923165 s, next control iter: 1743028413.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028413.303165 s.Z H~,gS/ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199592 time: 1743028413.303275F (some fields omitted in printout)A(\ޝ@A":&ޝ@A[~? AJAL^&"AA6;qNA"AZAbAjArAzAAA?-*@A&pAAo9AA?Ałd?A@?AL2*A&6Z<2A$::Af`BA&6Z<JA$:RAf`٘i)I9Y JJJJ&K Yy777/8)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743028413.323165 s, next control iter: 1743028413.703179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1912*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028413.723165 s. H~,Hn/ AJ"J*J2J:JBJnJvJA ףp=@AYߝ@A[~? A%AO^&"AAZ;qNA"AZAbAjArAzAAAhC*@AnXwpAA1a:AĺAx?A@΁d?A-ߊ?Az *A(Z<2AF#::AQaBA(Z<JAF#:RAQa٘i)I9Y JJJJ&K Yy/8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028413.763165 s, next control iter: 1743028414.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028414.143165 s.V/ H~,*/ AAR@A&@A[~? AAnR^&"AA;qNA"AZAbAjArAzAAA۹*^ͻ*@A fapA#ξA{:AA?A@>d?A݊?Ao,*AZZ<2A#::A`BAZZ<JA#:RA`٘i)I9Y JeC<JJJJ&K Yy77g/8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028414.163165 s, next control iter: 1743028414.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028414.563165 s. H~,F / AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743028414.563286F (some fields omitted in printout)A@A?o*R1@A[~? AA?U^&"AA;qNA"AZAbAjArAzAAA'W*@A@5JpAAO@:AA?A$d?Aۊ?Av*AZ<2A#::A`BAZ<JA#:RA`Yߎ?j?y@:ٓH??`o ??i nt?` H??)ߎ? I٘i)I9Y JN4JJJ&K? Yy{7j7/8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028414.583165 s, next control iter: 1743028414.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1913, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028414.983165 s. H~,/ AAzG@AV@A[~? AAX^&"AA;qNA"AZAbAjArAzAAAw*@AEG4pAAAA[?ATd?A ڊ?AU*AZ<2A{#::A`BAZ<JA{#:RA`٘i)I9Y JJJJ&K  08Y 08y777 08)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028415.023165 s, next control iter: 1743028415.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028415.403165 s.& H~J"J*J,/ A2J:JBJnJvJA)\@AIEc@A[~? AAZ^&"AA;qNA"AZAbAjArAzAAA睽j*@AùpAAa]AA?A~d?Ai؊?A*AY<2A$::Ay`BAY<JA$:RAy`٘i)I9Y JJJJ&K Yy{7j7h08)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028415.423165 s, next control iter: 1743028415.803177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1914, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028415.823165 s. H~,/ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743028415.823293F (some fields omitted in printout)Aq= ף@A+0du;@A[~? AmA]^&"AA Yyb77hD08)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028416.683165 s, next control iter: 1743028417.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028417.083165 s.D H~,SE0 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200202 time: 1743028417.083306F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@AJE@AZ[~? AAf^&"AA~ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199742 time: 1743028418.343286F (some fields omitted in printout)AQ@AO@A[~? AAn^&"AA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200332 time: 1743028419.603320F (some fields omitted in printout)A(\@AlzPPZ@A[~? A!Av^&"AAX=qNA"AZAbAjArAzAAA3g*@Ai71 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200272 time: 1743028420.863288F (some fields omitted in printout)A@Aud@A'[~? AA^^&"AA=qNA"AZAbAjArAzAAAh*@A[ pAAů_:AǺAު?Apzd?AŠ?A#*AGY<2AR#::A"`BAGY<JAR#:RA"`YЎ?ܪ?yn&`:ٓH?@*? ?@? pt?`K??)Ў? I٘i)I9Y JJJDJ&K9 Yy7708)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028420.903165 s, next control iter: 1743028421.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028421.283165 s.3RT H~,R1 AJ"J*J2J:JBJnJvJAGz@Ac@A=[~? AA+^&"AA=qNA"AZAbAjArAzAAAH*@A(pA#ξA̛:AźAuު?Ayd?A`?As-*A9Y<2A>#::A`BA9Y<JA>#:RA`٘i)I9Y J'˲<JJJJ&K Yy77708)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028421.303165 s, next control iter: 1743028421.683175 s, wait time: 0.380010 s ) .tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1920., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028421.703165 s.׺Z H~,m1 AA\(@Al@AT[~? AiA^&"AA>qNA"AZAbAjArAzAAA?'|*@ÅֺpAAPr:AAܪ?A`yd?A e?Ap*A,Y<2A<#::A_BA,Y<JA<#:RA_٘i)I9Y JJJJ&K Yyb77k08)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028421.743165 s, next control iter: 1743028422.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028422.123165 s.8a H~,a1 AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200262 time: 1743028422.123298F (some fields omitted in printout)Ap= @ANn@Ak[~? ADAŇ^&"AA2>qNA"AZAbAjArAzAAAn5ý*@ApAAK9AAڪ?Ayd?A?A2*AY<2AH#::A_BAY<JAH#:RA_٘i)I9Y JJJJ&K Yy77{708)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028422.163165 s, next control iter: 1743028422.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028422.543165 s.Ih H~,â1 AAQ@ARx@A[~? AA^&"AAW>qNA"AZAbAjArAzAAAU*@AO*pAAr&AAת?Ayd?A`?A`*AxY<2AX#::A_BAxY<JAX#:RA_٘i)I9Y JJJJ&K  18Y 18y777 18)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028422.583165 s, next control iter: 1743028422.943174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1921, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028422.963165 s.yn H~,1 AJ"J*J2J:JBJnJvJA33333@A@4@A[~? AA_^&"AA{>qNA"AZAbAjArAzAAAi"*@A!pAA畺AºAժ?Ayd?A X?A6n2*A^Y<2Aw]#::Au_BA^Y<JAw]#:RAu_Yˎ?Hت?y6ٓH ?Q ?C?ܯot?R?)ˎ? I٘i)I9Y J\4JJJ&K\ Yyj7Z7k18)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028423.003165 s, next control iter: 1743028423.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028423.383165 s.u H~,1 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200072 time: 1743028423.383291F (some fields omitted in printout)A{G@Ahx@A[~? AA,^&"AA>qNA"AZAbAjArAzAAA =*@ACrpA"ξA3 AǺA ժ?AJyd?A@?Ayz3*A1X<2AzQ#::Ah_BA1X<JAzQ#:RAh_٘i)I9Y Js2<JJJJ&K Yy{7{7)18)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028423.403165 s, next control iter: 1743028423.783184 s, wait time: 0.380019 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1922", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028423.803165 s.vA| H~,wg1 AJ"J*J2J:JBJnJvJA(\@AqNA"AZAbAjArAzAAAy],*@Aei[pAAaAARժ?A`xd?A ?AY8b3*AX<2A5#::At_BAX<JA5#:RAt_٘i)I9Y JJJJ&K Yy777818)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028423.843165 s, next control iter: 1743028424.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028424.223165 s.g H~,H2 AA ףp= @AL! @A[~? AAĕ^&"AA>qNA"AZAbAjArAzAAAu*@AVbEpAAl9AȺA֪?AGwd?A@g?A1*AX<2A#::A_BAX<JA#:RA_٘i)I9Y JJJJ&K Yy77kF18)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028424.263165 s, next control iter: 1743028424.623179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028424.643165 s.tЉ H~,))2 AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200202 time: 1743028424.643314F (some fields omitted in printout)AR @Ac* @A[~? AgA^&"AA ?qNA"AZAbAjArAzAAAp6(?*@Au.pAA?:AɺAr֪?ATvd?Aó?A *ATX<2A"::Aԝ_BATX<JA":RAԝ_٘i)I9Y JJJJ&K Yyb7T18)ZZZBZL?YY*W2W WWW"W ) tReceived state from Gazebo (printed only once in a while):)0 header.stamp.sec: 1923, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028424.663165 s, next control iter: 1743028425.043175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028425.063165 s. H~,_ D2 AA @A~N1 @A [~? ABA\^&"AA1?qNA"AZAbAjArAzAAAj :*@A*TpA#ξA>:AźAժ?Aud?A@?Ah**A%X<2A"::A:_BA%X<JA":RA:_YƎ?LӪ?y9:ٓH@? {` ?_?Yot?S??)Ǝ? I٘i)I9Y J^C<JdJJJ&Kڽ Yyj7Z7c18)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028425.103165 s, next control iter: 1743028425.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028425.483165 s.r_ H~,^2 AJ"J*J2J:JBJnJvJAzG@AcGP@A [~? AA(^&"AAU?qNA"AZAbAjArAzAAA.$R*@At-ipAA::AAӪ?A@ud?A`o?AFq *AX<2A"::A;u_BAX<JA":RA;u_٘i)I9Y JJJJ&K YySI7SI7kq18)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028425.523165 s, next control iter: 1743028425.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1924, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028425.903165 s.ȝ H~,y2 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743028425.903280F (some fields omitted in printout)A)\@Awg@A7[~? AA^&"AAz?qNA"AZAbAjArAzAAA߮P*@ApAAIظAABѪ?Aud?A?AH*AX<2A"::AdE_BAX<JA":RAdE_٘i)I9Y JJJJ&K Yyj7j718)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028425.943165 s, next control iter: 1743028426.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028426.323165 s.v H~,%2 AJ"J*J2J:JBJnJvJAq= ף@A5|;@AN[~? AA^&"AA?qNA"AZAbAjArAzAAAe*@AIFՉpAA͘bAAΪ?A@ vd?A@?AZ*AX<2A#::A_BAX<JA#:RA_٘i)I9Y JJJJ&K Yy{7{718)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028426.343165 s, next control iter: 1743028426.723178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1925&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028426.743165 s.W H~,q2 AAQ@AàL@Ad[~? AA^&"AA?qNA"AZAbAjArAzAAA{*@AtT߾pAAAƺA ͪ?Aud?A i?A3*AX<2A#::A^BAX<JA#:RA^٘i)I9Y JJJJ&K Yy77m18)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028426.783165 s, next control iter: 1743028427.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028427.163165 s.v} H~,q2 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.420004J2 time: 1743028427.163276"JF (some fields omitted in printout)*J2J:JBJnJvJA@AT*@A{[~? AAU^&"AA?qNA"AZAbAjArAzAAAVx*@AxpA"ξApAɺA̪?A2ud?Aé?Aυ3*AȁX<2A"::A^BAȁX<JA":RA^Y[Ž?Ϊ?yź`pٓHi?@@S ? (?t⯿pt?N?)[Ž? I٘i)I9Y Js2<JJJJ&KӰ Yyb7b7ª18)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028427.183165 s, next control iter: 1743028427.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028427.583165 s. H~,R2 AAHz@A+ۇE@A[~? AfA ^&"AA @qNA"AZAbAjArAzAAA?*@ApAA =AACͪ?A@0td?A`!?A)3*AtX<2Av"::A_BAtX<JAv":RA_٘i)I9Y JJJJ&K YySI7SI718)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028427.623165 s, next control iter: 1743028427.983175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1926, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028428.003165 s.z H~,U43 AJ"J*J2J:JBJnJvJA(\@AM@A[~? AAA^&"AA/@qNA"AZAbAjArAzAAAW*@AgyV{pAAO):AʺAͪ?A sd?A?A()*AIgX<2A"::A_BAIgX<JA":RA_I٘i)I9Y JJJJ&K Yy77n18)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028428.023165 s, next control iter: 1743028428.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028428.423165 s.u H~,{3 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199542 time: 1743028428.423273F (some fields omitted in printout)Aףp= @A8ߡ@A[~? AA^&"AAT@qNA"AZAbAjArAzAAAKi*@A(NepAA8:AA Ϊ?AFrd?A`ܤ?A$*AZX<2A"::A )_BAZX<JA":RA )_٘i)I9Y JJJJ&K Yy C{7j718)ZZZBZL?YY*W2W WWW"W ) )FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743028428.443165 s, next control iter: 1743028428.823174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1927, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028428.843165 s. H~,53 AJ"J*J2J:JBJnJvJAQ@Ad6O@A[~? AA^&"AAx@qNA"AZAbAjArAzAAAfEΝ*@A7\NpA#ξA:AĺA̪?Aqd?A4?A& *AMX<2A="::A/_BAMX<JA=":RA/_٘i)I9Y JaC<JJJDJ&K Yy7b718)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028428.883165 s, next control iter: 1743028429.243175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028429.263165 s. H~,P3 AAfffff@AS@A[~? AAJ^&"AA@qNA"AZAbAjArAzAAA}~d1'*@A8pAA9AAʪ?Aqd?A?AM*A?X<2A"::A^BA?X<JA":RA^Yv?ɪ?y?9ٓH)?x ??``ot?=? ?)v? I٘i)I9Y J>4JJJ&K| Yy7{7m18)ZZZBZL?YY*W2W WWW"W ) )FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743028429.303165 s, next control iter: 1743028429.663177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1928*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028429.683165 s.m H~,k3 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200522 time: 1743028429.683340F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz @A"1@A[~? AA^&"AA@qNA"AZAbAjArAzAAA1'n*@Ai=/"pAADιAA Ȫ?A$rd?Aܟ?AL*A3X<2A"::Aa^BA3X<JA":RAa^٘i)I9Y JJJJ&K  28Y 28yj7j728)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028429.683165 s, next control iter: 1743028430.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743028430.103165 s. H~,3 AA(\!@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200232 time: 1743028430.943308F (some fields omitted in printout)AQ%@A yP$@AG[~? AAAp^&"AA.AqNA"AZAbAjArAzAAA1L*@AY߈pA"ξAA7A˺AĪ?A qd?A蚊?A秀3*A X<2AF"::A݄^BA X<JAF":RA݄^٘i)I9Y Js2<JJJJ&K Yy{7j7+28)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028430.983165 s, next control iter: 1743028431.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028431.363165 s. H~,}>3 AJ"J*J2J:JBJnJvJA&@AƉvd&@A^[~? AA:^&"AARAqNA"AZAbAjArAzAAAC*@A\ȈpAA>8AʺA>Ū?Aod?AH?A2*AW<2Aq"::Aś^BAW<JAq":RAś^Y?Ī?yʺ8ٓH?1 ?n? @qt??`?)? I٘i)I9Y J֎JJJ&K Yy77:28)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028431.403165 s, next control iter: 1743028431.763176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1930", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028431.783165 s.U H~,3 AAGz(@A^(@At[~? AA^&"AAvAqNA"AZAbAjArAzAAA@QCn_*@AnpAAd:A̺AŪ?And?A?Awʲ*AzW<2AHQ"::A˰^BAzW<JAHQ":RA˰^٘i)I9Y JJJJ&K Yyj7j7nH28)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028431.823165 s, next control iter: 1743028432.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028432.203165 s. H~, 4 AJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJvJ( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743028432.203284F (some fields omitted in printout)A\(*@A)@A[~? AA^&"AAAqNA"AZAbAjArAzAAAq*@A<pA#ξAԛ:AʺAŪ?AGnd?A?AH,*A^W<2A="::A^BA^W<JA=":RA^٘i)I9Y J+˲<JJJJ&K Yy77V28)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028432.243165 s, next control iter: 1743028432.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028432.623165 s.T H~,P'4 AAp= +@AjJn+@A[~? AA^&"AAAqNA"AZAbAjArAzAAA͝r*@AąpAA~Bm:AºAê?And?A`^?A<*A]W<2A<"::A^BA]W<JA<":RA^٘i)I9Y JJJJ&K YySI787e28)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028432.643165 s, next control iter: 1743028433.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1931 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028433.043165 s. H~,B4 AJ"J*J2J:JBJnJvJAQ-@AE-@A[~? AA]^&"AAAqNA"AZAbAjArAzAAAdCO*@AqopAA^,9AA?A/nd?A೒?Ay*AmW<2A;I"::ASk^BAmW<JA;I":RASk^٘i)I9Y JJJJ&K Yyŧ7b7ps28)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028433.083165 s, next control iter: 1743028433.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028433.463165 s.P H~,Ϥ]4 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743028433.463281F (some fields omitted in printout)A33333/@AU.@A[~? AeA&^&"AABqNA"AZAbAjArAzAAAy(*@ASJ YpAAu,AA㾪?Aand?A ?A*AW<2A2X"::A:^BAW<JA2X":RA:^Y?G?y&-ٓH\?M5 ??r鯿ot?NE?)? I٘i)I9Y Jw4JJJ&Kӳ Yy777Ł28)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028433.483165 s, next control iter: 1743028433.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1932, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028433.883165 s.y H~,+x4 AJ"J*J2J:JBJnJvJA{G0@A x0@A[~? AAA^&"AA,BqNA"AZAbAjArAzAAA *@AJ%BpAAo֖AǺA?ARnd?A a?A@2*AW<2A#]"::Ay^BAW<JA#]":RAy^٘i)I9Y JJJJ&K Yy{7{728)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028433.923165 s, next control iter: 1743028434.283175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028434.303165 s.T$ H~,og4 AA(\2@Aؖ'2@A[~? AA^&"AAPBqNA"AZAbAjArAzAAAנ/*@Ac,pA"ξACA̺A'?Amd?A?A{3*AW<2AP"::A_ ^BAW<JAP":RA_ ^٘i)I9Y Js2<JJJJ&K Yyj7j7o28)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028434.323165 s, next control iter: 1743028434.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1933*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028434.723165 s.+ H~,H4 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743028434.723277F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=4@Ak3@A[~? AA~^&"AAtBqNA"AZAbAjArAzAAA1?u *@A4pAAAAw?A@ld?A ?AB\3*AqW<2A4"::AW^BAqW<JA4":RAW^٘i)I9Y JJJJ&K Yy77{7Ĭ28)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028434.763165 s, next control iter: 1743028435.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028435.143165 s.V/2 H~,*4 AAR5@A0(5@A)[~? AAE^&"AABqNA"AZAbAjArAzAAA;ȳ*@A0pAA9AA:?A`kd?A@?A1*AJW<2A"::A0^BAJW<JA":RA0^٘i)I9Y JJJJ&K Yy77728)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028435.163165 s, next control iter: 1743028435.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028435.563165 s.8 H~,= 4 AJ"J*J2J:JBJnJvJA7@AD17@A@[~? AA ^&"AABqNA"AZAbAjArAzAAAE=2*@AOpAA :AͺA?Ajd?Aሊ?AɈ*A-|W<2A!::A?^BA-|W<JA!:RA?^Y?^?yɺQ:ٓH ?8Ќ ? ? qt?"!Q?@?)? I٘i)I9Y JdJJJ&K Yy7p28)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028435.603165 s, next control iter: 1743028435.963174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1934, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028435.983165 s.? H~,4 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743028435.983297F (some fields omitted in printout)AzG9@AuR8@AW[~? AA^&"AABqNA"AZAbAjArAzAAAQv*@ATӇpA#ξAI:AɺAټ?AVjd?A`>?A(*A(oW<2A!::AB7^BA(oW<JA!:RAB7^٘i)I9Y JaC<JJJJ&K Yy)7ŧ728)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028436.023165 s, next control iter: 1743028436.383175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028436.403165 s.&F H~,5 AJ"J*J2J:JBJnJvJA)\:@A`=[:@Am[~? AfA^&"AACqNA"AZAbAjArAzAAAsME*@A pAAU3:AAﺪ?ABjd?A?AJR *A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743028437.243269F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ>@A$(~=@A[~? AA*^&"AANCqNA"AZAbAjArAzAAAџW*@AUkpAAūgAúAֵ?Ajd?AE?A*AHW<2A"::A7]BAHW<JA":RA7]٘i)I9Y JJJJ&K  38Y 38y7{738)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028437.283165 s, next control iter: 1743028437.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028437.663165 s.Z H~,qj5 AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1936, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@@A2?@A[~? AA^&"AArCqNA"AZAbAjArAzAAA@3R*@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199532 time: 1743028438.503268F (some fields omitted in printout)A(\C@A$\B@A[~? AA}^&"AACqNA"AZAbAjArAzAAA̤:*@A3IMpAAoAͺAv?Ahd?Ad}?A!3*A!W<2A!::A]BA!W<JA!:RA]٘i)I9Y JJJJ&K Yy Cj7j7-38)ZZZBZL?YY*W2W WWW"W ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028438.563165 s, next control iter: 1743028438.903174 s, wait time: 0.340009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1937, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028438.923165 s.J "J *J 2J :J BJ nJ vJ =n H~,5 AAףp= E@AlD@A[~? AAC^&"AACqNA"AZAbAjArAzAAAk\|*@Ay7pAA/:AκA.?Agd?A{?AB*AjW<2A-!::A]BAjW<JA-!:RA]٘i)I9Y JQ>JJJ&K> Yy7777<38)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028438.963165 s, next control iter: 1743028439.323182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743028439.343165 s.PF@A [~? AfA ^&"AADqNA"AZAbAjArAzAAAv+x*@AHS;!pA#ξA:AA6?A fd?A )z?A%*AbW<2A!::A]BAbW<JA!:RA]٘i)I9Y J-˲<JQ>JJJ&K> Yy77qJ38)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028439.363165 s, next control iter: 1743028439.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1938&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028439.763165 s.4{ H~,5 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743028439.763275F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffffH@A2G@A"[~? ABA^&"AA'DqNA"AZAbAjArAzAAA3*@ADb pAA.:AȺA?Atfd?Ax?AI*AtV<2A7!::Ap]BAtV<JA7!:RAp]Y?ձ?yú?x:ٓH`?@Ռ@ ?@"? `pt?EQ?@?)? I٘i)I9Y Jc3JJJ&K Yy{7Z7X38)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028439.803165 s, next control iter: 1743028440.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028440.183165 s.˂ H~, 6 AAGzJ@A$I@A9[~? AA^&"AALDqNA"AZAbAjArAzAAAޚ*@AwpAA!*9AAӱ?Afd?Av?As*AV<2Ak!::A]BAV<JAk!:RA]٘i)I9Y JJJJ&K Yyj7g38)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028440.203165 s, next control iter: 1743028440.583181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743028440.603165 s.J "J 54 H~*J2J,&6 A:JBJnJvJA(\K@A4ZK@AO[~? AAZ_&"AApDqNA"AZAbAjArAzAAAC+*@AGކpAAܹAA'?A@fd?A8u?AeY*AV<2A!::Aa]BAV<JA!:RAa]٘i)I9Y JJJJ&K YyZ7Z7qu38)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028440.623165 s, next control iter: 1743028441.003175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1939 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028441.023165 s.Z H~,{A6 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743028441.023267F (some fields omitted in printout)A= ףpM@As|M@Af[~? AA _&"AADqNA"AZAbAjArAzAAA)*@AzOȆpAAAȺAꬪ?Afd?A s?A32*AV<2A/!::AL8]BAV<JA/!:RAL8]٘i)I9Y JJJJ&K Yy7)7˃38)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028441.043165 s, next control iter: 1743028441.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028441.443165 s.0Ö H~, ]\6 AJ"J*J2J:JBJnJvJAQO@AVN@A}[~? AA_&"AADqNA"AZAbAjArAzAAA{$!*@AavpAAeAκA?Aefd?Aq?AOX3*AV<2Ay!::A$]BAV<JAy!:RA$]٘i)I9Y JJJJ&K Yyj7j738)ZZZBZL?YY*W2W WWW"W ) )FFF]k:Waiting for Gazebo time sync: latest Gz time: 1743028441.463165 s, next control iter: 1743028441.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1940, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028441.863165 s.+ H~,u>w6 AAP@AdpdP@A[~? AA _&"AADqNA"AZAbAjArAzAAA<*@Ak⛆pA"ξA0AϺAǫ?Aed?ATp?A4s}3*AV<2A_!::A*]BAV<JA_!:RA*]Y砎?4?yͺ>1ٓH` ?-& ?.?@篿qt?F?)砎? I٘i)I9Y J-K2<Jq>JJJ&KL Yy7777r38)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028441.903165 s, next control iter: 1743028442.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028442.283165 s.5R H~,6 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199942 time: 1743028442.283287F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzR@AR@A[~? AhAo _&"AAEqNA"AZAbAjArAzAAAϒ*@A(pAA-9AA?Add?An?AnѲ2*AV<2As!::A/A]BAV<JAs!:RA/A]٘i)I9Y JJJJ&K Yy77Ǯ38)ZZZBZL?YY*W2W WWW"W ) )FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743028442.303165 s, next control iter: 1743028442.683175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1941*, header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028442.703165 s.Ӻ H~,6 AA\(T@AwnS@A[~? ACA3_&"AA%EqNA"AZAbAjArAzAAAi-N*@AhczopAAi:AкA?Acd?Am?AӲ*A V<2AS!::AU]BA V<JAS!:RAU]٘i)I9Y JJJJ&K Yyŧ7ŧ738)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028442.743165 s, next control iter: 1743028443.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028443.123165 s.6 H~,X6 AJ"J*J2J:JBJnJvJAp= U@AhnU@A[~? AA_&"AAIEqNA"AZAbAjArAzAAA9B*@AeHYpA#ξA2ě:AκA?A bd?Ak?A@x+*AV<2A@!::AU]BAV<JA@!:RAU]٘i)I9Y J-˲<JJJJ&K Yy77{7s38)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028443.163165 s, next control iter: 1743028443.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028443.543165 s.I H~,6 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743028443.543273F (some fields omitted in printout)AQW@AaW@A[~? AA_&"AAmEqNA"AZAbAjArAzAAALj`*@A:CpAA(h:AƺA'?Abd?Ai?A*A@V<2A?!::Ak;]BA@V<JA?!:RAk;]٘i)I9Y JJJJ&K Yyj7Z738)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743028443.563165 s, next control iter: 1743028443.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1942, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028443.963165 s.w H~,6 AJ"J*J2J:JBJnJvJA33333Y@A{vX@A[~? AA_&"AAEqNA"AZAbAjArAzAAA gC*@A,pAA 9AA?A bd?A 9h?A#*AyyV<2AL!::A]BAyyV<JAL!:RA]Y?d?yT9ٓH`?~` ?3?@pt?4!?`?)? I٘i)I9Y Jw4JJJ&KO Yyb7b738)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028444.003165 s, next control iter: 1743028444.363176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028444.383165 s. H~,#7 AA{GZ@A9xZ@A[~? AAD_&"AAEqNA"AZAbAjArAzAAA[ r*@A@pAA3AĺA?A`bd?Af?A/o*AlV<2Av[!::A\BAlV<JAv[!:RA\I٘i)I9Y JJJJ&K Yy7777s38)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028444.403165 s, next control iter: 1743028444.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1943", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028444.803165 s.rA H~,fg37 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743028444.803291F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\\@Aq&\@A2[~? AA_&"AAEqNA"AZAbAjArAzAAAz0! *@A:*pAAA̺A%?A`bd?Ad?A[2*A_V<2A_!::A\BA_V<JA_!:RA\٘i)I9Y JJJDJ&K  48Y 48yb7748)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028444.843165 s, next control iter: 1743028445.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028445.223165 s.g H~,HN7 AA ףp=^@Ah@]@AH[~? AiA _&"AAEqNA"AZAbAjArAzAAA80 *@Al cpA"ξAgAкAj?AZbd?ARc?AJ}3*ASV<2AR!::Ax\BASV<JAR!:RAx\٘i)I9Y Js2<JJJJ&K Yy77{748)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028445.263165 s, next control iter: 1743028445.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028445.643165 s.q H~,)i7 AJ"J*J2J:JBJnJvJAR_@AB,_@A_[~? AEA#_&"AA"FqNA"AZAbAjArAzAAA] *@AH9ԅpAAl׹AAã?Alad?A`a?A%V3*AFV<2A=6!::A\BAFV<JA=6!:RA\٘i)I9Y JJJJ&K YyZ7SI7s!48)ZZZBZL?YY*W2W WWW"W ) )FFF]tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1944, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanWaiting for Gazebo time sync: latest Gz time: 1743028445.663165 s, next control iter: 1743028446.043175 s, wait time: 0.380010 sF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028446.063165 s. H~,A7 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4202242 time: 1743028446.063502F (some fields omitted in printout)Aa@AKP1a@Au[~? A!AR&_&"AAFFqNA"AZAbAjArAzAAA^*@A&pAAE9AѺA?AU`d?A`?A`1*A9V<2A[!::A\BA9V<JA[!:RA\YP??yк}9ٓH*?`[!< ? ;"?`rt?`48)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028446.503165 s, next control iter: 1743028446.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1945, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028446.903165 s. H~,͹7 AA)\d@AF|'fd@A[~? AA+_&"AAFqNA"AZAbAjArAzAAAU§*@A (đpA#ξA:AͺA?A^d?A\?Aw&*AOV<2A ::A\BAOV<JA :RA\٘i)I9Y JbC<JJJJ&K Yyŧ7tL48)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028446.943165 s, next control iter: 1743028447.303176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028447.323165 s.t H~,7 AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743028447.323278F (some fields omitted in printout)Aq= ףf@A7QKs;f@A[~? AA._&"AAFqNA"AZAbAjArAzAAAs0*@Ay{pAA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199632 time: 1743028448.583263F (some fields omitted in printout)AHzk@AbEk@A[~? AGA6_&"AA GqNA"AZAbAjArAzAAAŭQS*@A:9pAA&ܛAкA?A^d?A_V?A:&3*A^U<2A !::A=B\BA^U<JA !:RA=B\٘i)I9Y JJJJ&K Yyb7b7ʅ48)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028448.603165 s, next control iter: 1743028448.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1947, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028449.003165 s.u H~,@4@8 AJ"J*J2J:JBJnJvJA(\m@AlWl@A[~? A#A9_&"AADGqNA"AZAbAjArAzAAAw5T*@A)Z#pA"ξAeAҺA:?A@B^d?AT?A~|3*AU<2A ::Aj@\BAU<JA :RAj@\٘i)I9Y Js2<JJJJ&K Yy 48)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028449.043165 s, next control iter: 1743028449.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028449.423165 s.uH~,r[8 AAףp= o@AMdn@A*[~? AAg<_&"AAhGqNA"AZAbAjArAzAAA*@Aj pAAAAЛ?A=]d?A ,S?A3*AU<2A ::AS\BAU<JA :RAS\٘i)I9Y JJJJ&K Yy7)7v48)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028449.463165 s, next control iter: 1743028449.823174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1948, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028449.843165 s.H~,u8 AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743028449.843286F (some fields omitted in printout)AQp@AOp@A@[~? AA(?_&"AAGqNA"AZAbAjArAzAAACUe*@A6pAAC5:AӺA?A -\d?AQ?A \*AU<2Aд ::Ak\BAU<JAд :RAk\٘i)I9Y JJJJ&K Yy{7{7ʰ48)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028449.883165 s, next control iter: 1743028450.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028450.263165 s.$H~,ؐ8 AAfffffr@A q@AW[~? AAA_&"AAGqNA"AZAbAjArAzAAAȾ *@A3YpA#ξA:AҺAA`[d?A@O?AL{%*AʸU<2AS ::A.s\BAʸU<JAS :RA.s\Yȍ??yͺZ8:ٓHh? G@@?@*?qt?`R??)ȍ? I٘i)I9Y J1˲<Jq+JJJ&Ky Yy 48)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028450.303165 s, next control iter: 1743028450.663179 s, wait time: 0.360014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1949., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028450.683165 s.l*H~,R8 AJ"J*J2J:JBJnJvJAGzt@A$s@An[~? AAD_&"AAGqNA"AZAbAjArAzAAA7Ȁw*@AԭʄpAABI:A̺AW?A [d?A]N?A*AU<2AK ::A`\BAU<JAK :RA`\٘i)I9Y JJJJ&K YyS7S7u48)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028450.683165 s, next control iter: 1743028451.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743028451.103165 s.1H~,Ț8 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200262 time: 1743028451.103302F (some fields omitted in printout)A(\u@A28Zu@A[~? AnAmG_&"AAGqNA"AZAbAjArAzAAAUNJ*@A@2pAA9AźA?A@[d?AL?A*AUU<2A ::A8\BAUU<JA :RA8\٘i)I9Y JJJJ&K Yy)7ŧ748)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028451.143165 s, next control iter: 1743028451.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028451.523165 s.7H~,{8 AJ"J*J2J:JBJnJvJA= ףpw@AIw@A[~? AIA.J_&"AAHqNA"AZAbAjArAzAAA*@A~pAATAAl?AH[d?AK?AkJ*AU<2Aj ::Al\BAU<JAj :RAl\٘i)I9Y JJJJ&K Yy 48)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028451.563165 s, next control iter: 1743028451.923174 s, wait time: 0.360009 s)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1950, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028451.943165 s.Td>H~,1]8 AAQy@Affffx@A[~? A%AL_&"AAAHqNA"AZAbAjArAzAAA2V*@A{ipAAA̺A7?AQ[d?AyI?A)32*AU<2A- ::A[BAU<JA- :RA[٘i)I9Y JJJJ&K Yy77v48)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028451.983165 s, next control iter: 1743028452.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028452.363165 s.EH~,}>9 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743028452.363293F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@A@wdz@A[~? AAO_&"AAeHqNA"AZAbAjArAzAAAR *@AnUrpAA$WAӺA?AZd?A@G?Ak[3*AGyU<2A ::A[BAGyU<JA :RA[Y9??y䦖ٓH ?h? )3?ׯqt?@R?)9? I٘i)I9Y JJJJ&K  58Y 58y77{758)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028452.383165 s, next control iter: 1743028452.763176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1951*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028452.783165 s.QKH~,29 AAGz|@A^Ӄ|@A[~? AApR_&"AAHqNA"AZAbAjArAzAAAgVq#*@AB\pA"ξAzf*AA+?A@ Zd?A`EF?Aj^y3*AtlU<2A ::A~[BAtlU<JA :RA~[٘i)I9Y J,K2<JJJDJ&K Yy77!58)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028452.803165 s, next control iter: 1743028453.183174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743028453.203165 s.SH~, M9 AJ"J*J2J:JBJnJvJA\(~@AwԘ}@A[~? AA0U_&"AAHqNA"AZAbAjArAzAAAx2*@A [1FpAA69AA擪?A`Yd?AD?A"2*A_U<2Apw ::A[BA_U<JApw :RA[٘i)I9Y JJJJ&K Yy7777v#58)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028453.223165 s, next control iter: 1743028453.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028453.623165 s.PYH~,?g9 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743028453.623268F (some fields omitted in printout)Ap= @A2ın@A [~? AAW_&"AAHqNA"AZAbAjArAzAAA_/4*@AcQ!0pAAn:AպAt?A` Xd?AC?Aܲ*ARU<2AW ::A[BARU<JAW :RA[٘i)I9Y JJJJ&K Yyb77158)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028453.663165 s, next control iter: 1743028454.023175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1952 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028454.043165 s.`H~,Â9 AJ"J*J2J:JBJnJvJAQ@AJ?@A"[~? ApAZ_&"AAHqNA"AZAbAjArAzAAAFG*@ApA#ξA:AҺA?A@fWd?A`A?A-G**AEU<2A)F ::A[BAEU<JA)F :RA[٘i)I9Y J'˲<JJJJ&K Yy"@58)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028454.063165 s, next control iter: 1743028454.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028454.463165 s.RgH~,פ9 AA33333@Aۇʂ@A9[~? ALAq]_&"AAIqNA"AZAbAjArAzAAA;OF*@A CpAAyb:A˺Ay?A`4Wd?A ??AR*A:9U<2A6F ::A&[BA:9U<JA6F :RA&[YY??yǺ5c:ٓH%?@W?3? pt?WL??)Y? I٘i)I9Y J3JJJ&K Yyj7Z7xN58)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028454.483165 s, next control iter: 1743028454.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1953, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028454.883165 s.ymH~,'9 AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743028454.883299F (some fields omitted in printout)A{Gᄞ@ARx@AO[~? A(A0`_&"AA>IqNA"AZAbAjArAzAAAd*@ADpAA8AźA?AWWd?AB>?A"*A,U<2A8S ::A[BA,U<JA8S :RA[٘i)I9Y JJJJ&K Yy)7ŧ7\58)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028454.923165 s, next control iter: 1743028455.283174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743028455.303165 s.VtH~,wg9 AA(\@A5'@Af[~? AAb_&"AAbIqNA"AZAbAjArAzAAA^'W*@AP׃pAA#9AȺAc?AWd?A@ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199802 time: 1743028456.143291F (some fields omitted in printout)AR뉞@AG)@A[~? AAnh_&"AAIqNA"AZAbAjArAzAAApyHi*@A[vݫpA"ξAxAպAՊ?A Vd?Ak9?A~3*AU<2AMX ::AZ[BAU<JAMX :RAZ[٘i)I9Y Js2<JJJJ&K Yyb7b7͇58)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028456.163165 s, next control iter: 1743028456.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028456.563165 s.H~,A $: AJ"J*J2J:JBJnJvJA@A8L4H1@A[~? AA-k_&"AAIqNA"AZAbAjArAzAAAU*@Ä́֕pAAbȹAA6?AUd?A7?AFO3*AT<2Ao; ::Ai[BAT<JAo; :RAi[Y??yԺbɹٓH *?B@ُ ?:?@rt?@ 9 ?)? I٘i)I9Y JwJJJ&KR Yy7#58)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028456.603165 s, next control iter: 1743028456.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1955, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028456.983165 s.H~,>: AAzG@AMߌ@A[~? AtAm_&"AAIqNA"AZAbAjArAzAAA cz*@AУpAA9AA?ATd?AB6?AE0*AT<2A ::A[BAT<JA :RA[٘i)I9Y JJJJ&K Yy7777w58)ZZZBZL?YY*W2W WWW"W ) )FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743028457.003165 s, next control iter: 1743028457.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028457.403165 s.&H~,Y: AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743028457.403273F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\@Ah@A[~? APAp_&"AAJqNA"AZAbAjArAzAAAە*@AsipAAY:AֺAH?A`Sd?A4?A *A9T<2A+::A[BA9T<JA+:RA[٘i)I9Y JJJJ&K Yy{7{7Ͳ58)ZZZBZL?YY*W2W WWW"W ) )FFF]r:Waiting for Gazebo time sync: latest Gz time: 1743028457.423165 s, next control iter: 1743028457.803177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1956, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028457.823165 s.H~,!t: AAq= ף@A~;@A[~? A,Ajs_&"AA:JqNA"AZAbAjArAzAAA7*@A SpA#ξA՝:AҺA|?AzSd?A3?AZ$*AT<2A::A[BAT<JA:RA[٘i)I9Y JaC<JJJJ&K Yy7#58)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028457.863165 s, next control iter: 1743028458.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028458.243165 s.H~,d: AJ"J*J2J:JBJnJvJAQ@ACB鑞@A[~? AA(v_&"AA^JqNA"AZAbAjArAzAAARY/*@A{=pAAJ&:AɺA?A@lSd?Aw1?A}A*AT<2A::Ac[BAT<JA:RAc[٘i)I9Y JJJJ&K Yy C)7ŧ7x58)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028458.283165 s, next control iter: 1743028458.643175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028458.663165 s.H~,q: AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743028458.663290F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1957, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@Ao.@A[~? AAx_&"AAJqNA"AZAbAjArAzAAAwƜ*@A'pAAj=GAǺA䆪?ASd?A/?Ax|ٲ*A]T<2A ::Av4[BA]T<JA :RAv4[Yz?K?yƺGٓH`.?@{???kpt?`(`?)z? I٘i)I9Y JJ4JJJ&K Yyb7758)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028458.683165 s, next control iter: 1743028459.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028459.083165 s.DH~,R: AJ"J*J2J:JBJnJvJAHz@AE@A1[~? AA{_&"AAJqNA"AZAbAjArAzAAA^%*@AzpAAw`qAͺAv?ASd?A:.?A*AέT<2A) ::A[BAέT<JA) :RA[٘i)I9Y JJJJ&K Yy#58)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028459.103165 s, next control iter: 1743028459.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028459.503165 s.H~,/4: AA(\@ATW>@AG[~? AAb~_&"AAJqNA"AZAbAjArAzAAAו*@AKOpAAAԺA?A Sd?A ,?A)~+3*A3T<2A ::AEZBA3T<JA :RAEZ٘i)I9Y JJJJ&K Yyj7j7x58)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028459.543165 s, next control iter: 1743028459.903175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1958, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028459.923165 s.J "J ?H~*J2J,: A:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743028459.923289F (some fields omitted in printout)Aףp= @A@A^[~? AwA _&"AAJqNA"AZAbAjArAzAAA86*@A=|pA"ξAY`A׺A?ARd?A@ +?A境3*AT<2A ::AgZBAT<JA :RAgZ٘i)I9Y Js2<JJJJ&K  68Y 68y{768)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028459.963165 s, next control iter: 1743028460.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028460.343165 s.<H~,; AAQ@AXmO@At[~? ASA݃_&"AAKqNA"AZAbAjArAzAAA*@A;ςpAAM¸AֺAQ?AQd?Aw)?AG3*AT<2A::Ac[BAT<JA:RAc[I٘i)I9Y JJJJ&K Yy77$68)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028460.383165 s, next control iter: 1743028460.743175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 1959&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028460.763165 s.4H~,0; AJ"J*J2J:JBJnJvJAfffff@AXS@A[~? A/A_&"AA7KqNA"AZAbAjArAzAAAaG*@A4޹pAA;:A׺A?A Pd?A '?A1t*AzT<2A::A[BAzT<JA:RA[Y5v??yպN8<:ٓH E3? ƱI?A?$rt? zG??)5v? I٘i)I9Y JݎJJDJ&KL Yyy%68)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028460.803165 s, next control iter: 1743028461.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028461.183165 s.H~,xK; AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743028461.183287F (some fields omitted in printout)AGz@A@A[~? A AX_&"AA[KqNA"AZAbAjArAzAAA2C%*@A棂pA#ξA:AA?AOd?AP&?A%*A>nT<2A::A~[BA>nT<JA:RA~[٘i)I9Y J0˲<JJJJ&K Yy{7{7368)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028461.223165 s, next control iter: 1743028461.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028461.603165 s.44H~,f; AJ"J*J2J:JBJnJvJA(\Ÿ@A1Z@A[~? AA_&"AAKqNA"AZAbAjArAzAAAtƣX*@A_lpAA O:AкAł?A@Od?A$?Aq*AaT<2Am::A [BAaT<JAm:RA [٘i)I9Y JJJJ&K YyZ7SI7$B68)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028461.643165 s, next control iter: 1743028462.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1960 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028462.023165 s.ZH~,{; AA= ףp@AzV@A[~? AAҎ_&"AAKqNA"AZAbAjArAzAAAZ *@A>wpAA|9AɺA~?A@Od?A#?A]*AUT<2Ai::AJZBAUT<JAi:RAJZ٘i)I9Y JJJJ&K Yyb77zP68)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028462.063165 s, next control iter: 1743028462.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028462.443165 s.4H~J"J*J,1]; A2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199642 time: 1743028462.443263F (some fields omitted in printout)AQ@A@A[~? AA_&"AAKqNA"AZAbAjArAzAAAmti*@AkbpAAصAA}?AOd?A~!?A*AHT<2Aڸ::A@ZBAHT<JAڸ:RA@Z٘i)I9Y JJJJ&K Yy7{7^68)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028462.463165 s, next control iter: 1743028462.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1961, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028462.863165 s.+H~,>; AA̤@Aaod@A[~? A|AK_&"AAKqNA"AZAbAjArAzAAA[K*@A LpAAhIAѺA{?AOd?A?AI2*A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743028463.703272F (some fields omitted in printout)A\(@A@A([~? A4Aę_&"AA3LqNA"AZAbAjArAzAAAF/*@A4 pA"ξA#AغAz?A@Nd?A?Au3*A"T<2Aà::AZBA"T<JAà:RAZ٘i)I9Y J(K2<JJJJ&K YyZ7щ68)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028463.743165 s, next control iter: 1743028464.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028464.123165 s.J "J *J 2J :J BJ nJ vJ 7H~,]< AAp= ש@Aon@A?[~? AA_&"AAWLqNA"AZAbAjArAzAAAƈ*@AE pAAU9AAt{?AMd?A'?A2*AT<2A~::AZBAT<JA~:RAZ٘i)I9Y JJJJ&K Yyb777%68)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028464.163165 s, next control iter: 1743028464.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028464.543165 s.IH~,"< AAQ@Aj@AU[~? AA<_&"AA{LqNA"AZAbAjArAzAAAs8*@AeXpAAbs:AٺA{?ALd?A?A<*A` T<2A_::AZBA` T<JA_:RAZ٘i)I9Y JJJJ&K Yy7z68)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028464.583165 s, next control iter: 1743028464.943176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1963, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028464.963165 s.uH~,=< AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200252 time: 1743028464.963277F (some fields omitted in printout)A33333@A]ʬ@Al[~? AA_&"AALqNA"AZAbAjArAzAAA[*@AeflށpA#ξAZ:A׺A{?A Kd?A`?Az(*AS<2AN::AVZBAS<JAN:RAVZYl?y?yѺK:ٓHk elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743028466.223282F (some fields omitted in printout)A ףp=@Ahձ@A[~? A\A*_&"AA MqNA"AZAbAjArAzAAAЇ5*@AnpAA4#?AͺAt?ALd?A3?AON*AMS<2Ak::A3ZBAMS<JAk:RA3Z٘i)I9Y JJJJ&K Yy768)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028466.243165 s, next control iter: 1743028466.623178 s, wait time: 0.380013 s$)$ rAdjusting time to match Gazebo time: 1743028466.643165 s.w)H~, *< AJ"J*J2J:JBJnJvJAR볞@Ad7@A[~? A8A_&"AA0MqNA"AZAbAjArAzAAAt*@AʆpAA AպAs?A`Ld?A?Au)2*AS<2An::A9ZBAS<JAn:RA9Z٘i)I9Y JJJJ&K Yyŧ7b7'68)ZZZBZL?YY*W2W WWW"W ) )FtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1965, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743028466.663165 s, next control iter: 1743028467.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028467.063165 s.0H~,_ < AA@AjU1@A[~? AA_&"AATMqNA"AZAbAjArAzAAAcjPF*@AAwppA"ξAsAٺAfr?AuKd?A?A~3*AAS<2A`::A@ ZBAAS<JA`:RA@ ZY?h?t?yպٓH@?@v?`R?ٯrt?zP ?)?h? I٘i)I9Y Js2<JZJJJ&KI Yy7)7}68)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028467.103165 s, next control iter: 1743028467.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028467.483165 s.p_7H~,}< AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199782 time: 1743028467.483270F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG@A1DN_߶@A[~? AAZ_&"AAxMqNA"AZAbAjArAzAAAܮ*@A [pAAGAAr?AJd?Av?ARzI3*AS<2AC::A(ZBAS<JAC:RA(Z٘i)I9Y JJJJ&K  78Y 78y)7ŧ7 78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028467.503165 s, next control iter: 1743028467.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1966, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028467.903165 s.=H~,< AA)\@At@A [~? AA_&"AAMqNA"AZAbAjArAzAAAlW+@Ai'EpAA9AںAs?AqId?A ?A6R*AS<2A]!::A0ZBAS<JA]!:RA0Z٘i)I9Y JJJJ&K Yy C77(78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028467.943165 s, next control iter: 1743028468.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028468.323165 s.uDH~,!= AJ"J*J2J:JBJnJvJAq= ף@AŪA;@A [~? AAϷ_&"AAMqNA"AZAbAjArAzAAA>W+@A]L=/pAA:AAs?AHd?A W ?A*AGS<2AZ::A:>ZBAGS<JAZ:RA:>Z٘i)I9Y JJJJ&K Yy77}'78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028468.343165 s, next control iter: 1743028468.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1967*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028468.743165 s.WKH~,q/= AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743028468.743295F (some fields omitted in printout)AQ@A 毐點@A6[~? AA_&"AAMqNA"AZAbAjArAzAAAٓݢg+@A^pA#ξAl:AֺAs?AHd?A ?A1"*AS<2A|::A3ZBAS<JA|:RA3Z٘i)I9Y JdC<JJJDJ&K Yy578)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028468.783165 s, next control iter: 1743028469.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028469.163165 s.z}RH~,qJ= AJ"J*J2J:JBJnJvJA@A@AM[~? AaAD_&"AANqNA"AZAbAjArAzAAAem+@ApAA. :AκAq?A`Hd?A+?AO*AHS<2A}::AZBAHS<JA}:RAZYoc?o?y̺ :ٓHyE? h-?FT? qt? D??)oc? I٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 211J[+4JJJ&KA Yy{7{7)D78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028469.203165 s, next control iter: 1743028469.563178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028469.583165 s.XH~,Se= AAHz@A"9E@Ac[~? A=A_&"AA,NqNA"AZAbAjArAzAAA}7x+@A!mXpAApPeA˺Agn?A6Hd?A?AԲ*ArS<2A::AYBArS<JA:RAY٘i)I9Y JJJJ&K Yy 7 7 R78)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028469.643165 s, next control iter: 1743028469.983184 s, wait time: 0.340019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1968, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028470.003165 s.| `H~,]4= AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199842 time: 1743028470.003281F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@ATW>@Az[~? AA_&"AAPNqNA"AZAbAjArAzAAAAȗ+@Aӛ}׀pAAvAѺAl?ARHd?A?AJJJ&K> Yyb7`78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028470.043165 s, next control iter: 1743028470.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028470.423165 s.ufH~,w= AAףp= Þ@Awž@A[~? AAq_&"AAtNqNA"AZAbAjArAzAAA7͈+@A]GpAA[AٺAj?A Hd?A`b?A03*AZS<2A ::AmYBAZS<JA :RAmY٘i)I9Y JQ>JJJ&K> Yy{7{7(o78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028470.463165 s, next control iter: 1743028470.823174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1969, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028470.843165 s.lH~,= AJ"J*J2J:JBJnJvJAQĞ@AsLOĞ@A[~? AA*_&"AANqNA"AZAbAjArAzAAA)h+@ApA"ξAZAۺAVj?A^Gd?A?AF3*AxMS<2A_::AYBAxMS<JA_:RAY٘i)I9Y Js2<JJJJ&K Yy77}}78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028470.883165 s, next control iter: 1743028471.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028471.263165 s.tH~,= AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200342 time: 1743028471.263317F (some fields omitted in printout)Afffffƞ@A<Ş@A[~? AA_&"AANqNA"AZAbAjArAzAAAM$Y+@A:pAAꏅAںAj?AYFd?AC?A 3*A@S<2AA::A߰YBA@S<JAA:RA߰YY^?k?yںօٓHI?ZpW?)Z?@st?`@?)^? I٘i)I9Y JSJJJ&Kz Yy)7ŧ7Ӌ78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028471.303165 s, next control iter: 1743028471.663176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1970*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028471.683165 s.lzH~,k= AJ"J*J2J:JBJnJvJAGzȞ@A 0Ǟ@A[~? AA_&"AANqNA"AZAbAjArAzAAAi!+@AQdpAAA:AܺAk?ALEd?A@?Aƅ*A94S<2A7::AYBA94S<JA7:RAY٘i)I9Y JJJJ&K Yyŧ7b7)78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028471.683165 s, next control iter: 1743028472.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743028472.103165 s.H~,> AA(\ɞ@AW;Zɞ@A[~? AgAU_&"AAOqNA"AZAbAjArAzAAA#ɩ+@AUp jpA#ξA7:AۺAk?ADd?A`&?A|%*A'S<2A/::AYBA'S<JA/:RAY٘i)I9Y J,˲<JJJJ&K Yy777~78)ZZZBZL?YY*W2W WWW"W ) )FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743028472.123165 s, next control iter: 1743028472.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028472.523165 s.H~,{!> AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743028472.523284F (some fields omitted in printout)A= ףp˞@A\QJ˞@A[~? ACA_&"AA(OqNA"AZAbAjArAzAAAU 1+@AT TpAA@:AԺAXj?A7Dd?A`?Au *A4S<2A::A=YBA4S<JA:RA=Y٘i)I9Y JJJJ&K Yyb77Ӷ78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028472.543165 s, next control iter: 1743028472.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1971, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028472.943165 s.\dH~,S]<> AAQ͞@Aׁs̞@A[~? AA_&"AALOqNA"AZAbAjArAzAAA:lR++@A#4x>pAA @9AͺA h?AGDd?A?AV*AS<2A::AБYBAS<JA:RAБY٘i)I9Y JJJJ&K Yy7)7*78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028472.963165 s, next control iter: 1743028473.343181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743028473.363165 s.J H~"J*J2J,>W> A:JBJnJvJAΞ@AqhdΞ@A-[~? AA_&"AApOqNA"AZAbAjArAzAAAu\B+@A>/)pAA4DAκAge?AzDd?A@b?AG˦*AyS<2A@::A/bYBAyS<JA@:RA/bYY)Z?vf?yͺ׉ٓHvN??_? 诿qt?h@ ?))Z? I٘i)I9Y Jw4JJJ&Kڰ Yy{7{7~78)ZZZBZL?YY*W2W WWW"W ) )FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743028473.383165 s, next control iter: 1743028473.763177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1972", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028473.783165 s.UH~,r> AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200182 time: 1743028473.783298F (some fields omitted in printout)AGzО@AIО@AD[~? AA7_&"AAOqNA"AZAbAjArAzAAA>ώ+@A AJ"J*J2J:JBJnJvJA\(Ҟ@A$ў@AZ[~? AA_&"AAOqNA"AZAbAjArAzAAA;R+@AOxpAACAܺAAb?ADd?A9?ABa3*AR<2A::AK*YBAR<JA:RAK*Y٘i)I9Y JJJJ&K Yy{7Z7)78)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028474.243165 s, next control iter: 1743028474.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028474.623165 s.UH~,T> AAp= Ӟ@AxnӞ@Aq[~? AA_&"AAOqNA"AZAbAjArAzAAAL,+@AԬPpA"ξA)AAeb?A=Cd?A?Atp3*A%R<2A::A2YBA%R<JA:RA2Y٘i)I9Y J+K2<JJJJ&K Yyb7778)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028474.663165 s, next control iter: 1743028475.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1973 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028475.043165 s.H~,> AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200272 time: 1743028475.043323F (some fields omitted in printout)AQ՞@A%X՞@A[~? AmA__&"AAOqNA"AZAbAjArAzAAAc +@APpAAr9AA'c?A-Bd?A ?A Ԃ2*AR<2A&::ATJYBAR<JA&:RATJY٘i)I9Y JJJJ&K  88Y 88y{7{7 88)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028475.063165 s, next control iter: 1743028475.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028475.463165 s.QH~,Ӥ> AA33333מ@A)֞@A[~? AIA_&"AA#PqNA"AZAbAjArAzAAAz3 +@A ֛pAAw:AݺAc?A@2Ad?A?Ag*AR<2Aj::AF]YBAR<JAj:RAF]YY`U?a?yںrx:ٓHS?]X?>a? @st?N?@?)`U? I٘i)I9Y JwJJJ&KJ Yyj7*88)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028475.483165 s, next control iter: 1743028475.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1974, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028475.883165 s.yH~,8> AJ"J*J2J:JBJnJvJA{G؞@Ax؞@A[~? A%A_&"AAGPqNA"AZAbAjArAzAAA،Ms +@A5KpA#ξA+:AۺA9c?A@d?A ?AS'*AR<2AZ::AZYBAR<JAZ:RAZYI٘i)I9Y J0˲<JJJJ&K Yyŧ7ŧ7)88)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028475.923165 s, next control iter: 1743028476.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028476.303165 s.TH~,og? AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199832 time: 1743028476.303269F (some fields omitted in printout)A(\ڞ@AS'ڞ@A[~? AA_&"AAkPqNA"AZAbAjArAzAAAAd +@A&$ pAAW:AӺAa?Ah@d?Ap?A *A&R<2A[::A>YBA&R<JA[:RA>Y٘i)I9Y JJJJ&K Yy77788)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028476.343165 s, next control iter: 1743028476.703177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1975*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028476.723165 s.H~,H.? AJ"J*J2J:JBJnJvJA ףp=ܞ@A%xC۞@A[~? AA<_&"AAPqNA"AZAbAjArAzAAA{ +@AU^zpAAIH8AκA _?A@d?A?A*A՞R<2A=i::AaYBA՞R<JA=i:RAaY٘i)I9Y JJJDJ&K Yy77*F88)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028476.763165 s, next control iter: 1743028477.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028477.143165 s.W/H~, *I? AARݞ@AY&ݞ@A[~? AA_&"AAPqNA"AZAbAjArAzAAAsғ +@AAdpAAEAҺA}\?A@d?A@C?A=*AR<2AXw::A XBAR<JAXw:RA X٘i)I9Y JJJJ&K Yyŧ77T88)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028477.183165 s, next control iter: 1743028477.543177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028477.563165 s.H~,F d? AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199622 time: 1743028477.563282F (some fields omitted in printout)Aߞ@Adxg1ߞ@A[~? AA_&"AAPqNA"AZAbAjArAzAAA*w +@A2OpAA*AںAZ?A@@d?A?A 2*A2R<2ANz::AXBA2R<JANz:RAXYP?,]?yԺٓHwW?b͐? i?/ӯrt?4S ?)P? I٘i)I9Y Jf3JJJ&Ks YyZ7Z7b88)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028477.603165 s, next control iter: 1743028477.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1976, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028477.983165 s.H~,-~? AAzG@A7W@A$[~? AsAa_&"AAPqNA"AZAbAjArAzAAAx +@Ap9pA"ξA[A޺AZ?A@d?A ?A>3*AyR<2Ak::AǻXBAyR<JAk:RAǻX٘i)I9Y Js2<JJJJ&K Yy C77{7,q88)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028478.023165 s, next control iter: 1743028478.383183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743028478.403165 s.&H~,͙? AJ"J*J2J:JBJnJvJA)\@A~m@A;[~? AOA_&"AAQqNA"AZAbAjArAzAAA㔾ԣ +@A'럮#pAA2AݺAZ?A?d?A?AYB3*AGmR<2AN::AHXBAGmR<JAN:RAHX٘i)I9Y JJJJ&K Yy{77788)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028478.443165 s, next control iter: 1743028478.803176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1977, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028478.823165 s.H~,%? AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199832 time: 1743028478.823272F (some fields omitted in printout)Aq= ף@Av;@AQ[~? A,A_&"AACQqNA"AZAbAjArAzAAA++@As pAA3]:A޺AT[?A`>d?A ?Ai*A`R<2A,::AXBA`R<JA,:RAX٘i)I9Y JJJJ&K Yyb7b7Ս88)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028478.863165 s, next control iter: 1743028479.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028479.243165 s.H~,i? AJ"J*J2J:JBJnJvJAQ@A&@Ah[~? AA_&"AAgQqNA"AZAbAjArAzAAAjt+@A/~pAA2Q:AߺA[?A#=d?A?AV*AATR<2A::AXBAATR<JA:RAX٘i)I9Y JJJJ&K Yy77,88)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028479.283165 s, next control iter: 1743028479.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028479.663165 s.H~,q? AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1978, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@AKH@A~[~? AA9`&"AAQqNA"AZAbAjArAzAAAo;+@Aq~pA#ξA$:AںAZ?A` elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200232 time: 1743028480.083312F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@AE@A[~? AA`&"AAQqNA"AZAbAjArAzAAAK+@A#~pAA y:AҺAX?A@+@Aß3A~pAAyzAֺAS?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743028481.343291F (some fields omitted in printout)AQ@AwEO@A[~? AVA `&"AARqNA"AZAbAjArAzAAAsݏ[+@Al눋~pAAAݺAKR?ARqNA"AZAbAjArAzAAAE+@Au~pA"ξA&/UAߺAR?A`;d?A`ى?A3*AW R<2A::APXBAW R<JA:RAPXYG?S?yܺ=UٓH@`? v?Mr?ݯst?J?)G? I٘i)I9Y Js2<JGJJJ&K Yy77.88)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028481.783165 s, next control iter: 1743028482.163175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028482.183165 s."H~,x@ AAGz@A #@A[~? AAz`&"AAbRqNA"AZAbAjArAzAAA.k+@AC`~pAAAAR?A`:d?A׉?A3*AQ<2Au::A^eXBAQ<JAu:RA^eX٘i)I9Y JJJJ&K  98Y 98yb7b798)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028482.203165 s, next control iter: 1743028482.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028482.603165 s.:4)H~,@ AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200492 time: 1743028482.603328F (some fields omitted in printout)A(\@ABZ@A[~? AA.`&"AARqNA"AZAbAjArAzAAA+@AzgJ~pAAgG:A຃AtS?A9d?A։?A**AdQ<2A::A{XBAdQ<JA:RA{X٘i)I9Y JJJJ&K Yy7798)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028482.643165 s, next control iter: 1743028483.003180 s, wait time: 0.360015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1981 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028483.023165 s.Z0H~,{@ AA= ףp@AbMeQ@A2[~? AA`&"AARqNA"AZAbAjArAzAAAT~{+@AŴ4~pA#ξA:AߺA\S?A"9d?Azԉ?AQu%*AQ<2A::A8XBAQ<JA:RA8X٘i)I9Y J5˲<JJJJ&K Yy7777.98)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028483.063165 s, next control iter: 1743028483.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028483.443165 s.06H~, ]@ AJ"J*J2J:JBJnJvJAQ@AY@AH[~? AA`&"AARqNA"AZAbAjArAzAAAC0+@Aa~pAAV:AغAR?A8d?A@҉?A*AQ<2A::AlXBAQ<JA:RAlX٘i)I9Y JJJJ&K Yyj7j7+98)ZZZBZL?YY*W2W WWW"W ) )FFF]o:Waiting for Gazebo time sync: latest Gz time: 1743028483.463165 s, next control iter: 1743028483.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1982, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028483.863165 s.+=H~,>@ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200002 time: 1743028483.863275F (some fields omitted in printout)A@Ad@A^[~? AAL`&"AARqNA"AZAbAjArAzAAAm+@Ax}R ~pAAk9AѺAO?A`8d?AXщ?A *ArQ<2AO::A[DXBArQ<JAO:RA[DXYB?O?yѺL£9ٓH@e?ٳ>? t?@R rt?`sm4?@?)B? I٘i)I9Y JvQ4JJJ&KM Yy88998)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028483.903165 s, next control iter: 1743028484.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028484.283165 s.3RDH~,A AJ"J*J2J:JBJnJvJAGz@A @Au[~? A]A`&"AASqNA"AZAbAjArAzAAA_Q+@AoT}pAA AҺAM?A`9d?Aω?AF[*A>Q<2A::A'XBA>Q<JA:RA'X٘i)I9Y JJJJ&K Yy7777-H98)ZZZBZL?YY*W2W WWW"W ) )FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743028484.303165 s, next control iter: 1743028484.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 1983., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028484.703165 s.ӺJH~,-A AA\(@A[@A[~? A:A!`&"AA:SqNA"AZAbAjArAzAAA؃7+@A}}pAA*AںAK?A9d?A@3Ή?AFv2*AQ<2A::A-WBAQ<JA:RA-W٘i)I9Y JJJDJ&K Yy77V98)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028484.723165 s, next control iter: 1743028485.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743028485.123165 s.9QH~,eGA AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743028485.123292F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= @Amn@A[~? AAh$`&"AA]SqNA"AZAbAjArAzAAA#+@AxaH}pAAkA຃A J?A8d?A ̉?ATZd3*AQ<2A>::A/WBAQ<JA>:RA/W٘i)I9Y JJJJ&K Yy77d98)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028485.163165 s, next control iter: 1743028485.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028485.543165 s.IXH~,bA AAQ@A@A[~? AA'`&"AASqNA"AZAbAjArAzAAA+@AN꼝}pA"ξAiAA;J?A7d?A ˉ?Ak3*AZQ<2A ::AcWBAZQ<JA :RAcW٘i)I9Y J-K2<JJJJ&K Yy7.s98)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028485.563165 s, next control iter: 1743028485.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1984, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028485.963165 s.J "J *J 2J :J BJ nJ vJ x^H~,}A AA33333@Am@A[~? AA)`&"AASqNA"AZAbAjArAzAAAl2+@AJ}pAAd9AAK?A`6d?A ɉ?AZ.f2*AQ<2An::AXBAQ<JAn:RAXY&>?sJ?y຃9ٓHi?`t`Ҏ ? 7y?tt? 1? ?)&>? I٘i)I9Y JЎJJJ&Kⰹ Yy7798)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028485.983165 s, next control iter: 1743028486.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028486.383165 s.eH~,/A AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199412 time: 1743028486.383269F (some fields omitted in printout)A{G@A9x@A[~? AA,`&"AASqNA"AZAbAjArAzAAAZ+@A"K}pAAqS|:A⺃AK?A5d?A`ȉ?A *AQ<2Ax::A|XBAQ<JAx:RA|X٘i)I9Y JJJJ&K Yy7؏98)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028486.423165 s, next control iter: 1743028486.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1985", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028486.803165 s.sAlH~,jgA AJ"J*J2J:JBJnJvJA(\@AoH'@A[~? AA5/`&"AASqNA"AZAbAjArAzAAAcvB+@A+ģq}pA#ξA:AߺAK?A05d?AƉ?A&*A.vQ<2A i::A3XBA.vQ<JA i:RA3X٘i)I9Y J*˲<JJJJ&K YyZ787/98)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028486.843165 s, next control iter: 1743028487.203175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028487.223165 s.gsH~,HA AA ףp=@AY@A[~? AeA1`&"AATqNA"AZAbAjArAzAAA&A+@ASm[}pAAQ:A׺AQI?A5d?Aĉ?A *AiQ<2Aj::AWBAiQ<JAj:RAW٘i)I9Y JJJJ&K Yy77798)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028487.263165 s, next control iter: 1743028487.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028487.643165 s.syH~,)A AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199712 time: 1743028487.643273F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@A֩=@A([~? AAA4`&"AA5TqNA"AZAbAjArAzAAA R+@AAXF}pAA27AҺAF?A`.5d?AbÉ?A8*A]Q<2Ax::ASWBA]Q<JAx:RASW٘i)I9Y JJJJ&K Yy Cں98)ZZZBZL?YY*W2W WWW"W ) )FFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1986, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743028487.663165 s, next control iter: 1743028488.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028488.063165 s.H~,V B AA @AtY1 @A>[~? AAN7`&"AAXTqNA"AZAbAjArAzAAA+@AI0}pAAVJAֺABD?A`V5d?A?A,*AQQ<2A|::AWBAQQ<JA|:RAWY9?E?yԺ-KٓHn?  as?`?#ޯrt?JXI?)9? I٘i)I9Y Jd4JJJ&K Yyb77098)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028488.103165 s, next control iter: 1743028488.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028488.483165 s.o_H~,xB AJ"J*J2J:JBJnJvJAzG @A=U @AU[~? AA:`&"AA|TqNA"AZAbAjArAzAAAta+@A!b}pAALA޺AB?A 45d?A@B?A2*ApEQ<2A::ACyWBApEQ<JA:RACyW٘i)I9Y JJJJ&K YyZ7SI798)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028488.503165 s, next control iter: 1743028488.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1987, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028488.903165 s.ȍH~,9B AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200402 time: 1743028488.903295F (some fields omitted in printout)A)\ @Awh @Ak[~? AA<`&"AATqNA"AZAbAjArAzAAAQbn+@Aw9r}pA"ξA/A⺃AA?A@4d?A@?Ay3*A+9Q<2A#z::ANrWBA+9Q<JA#z:RANrW٘i)I9Y Js2<JJJJ&K Yyb7b798)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028488.943165 s, next control iter: 1743028489.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028489.323165 s.rH~,TB AJ"J*J2J:JBJnJvJAq= ף@A y;@A[~? AAe?`&"AATqNA"AZAbAjArAzAAAh2q+@A|pAAAAqB?A3d?A1?AH<3*A,Q<2A\::A`WBA,Q<JA\:RA`W٘i)I9Y JJJJ&K Yy7777/98)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028489.363165 s, next control iter: 1743028489.723175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1988*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028489.743165 s.WH~,uoB AAQ@A\o@A[~? AAB`&"AATqNA"AZAbAjArAzAAAA+@AS!4|pAA$ :AA7C?A 2d?A?Aގp*Al Q<2AB;::AWBAl Q<JAB;:RAW٘i)I9Y JJJJ&K  :8Y :8yb77:8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028489.783165 s, next control iter: 1743028490.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028490.163165 s.x}H~,qB AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200312 time: 1743028490.163322F (some fields omitted in printout)A@A"@A[~? AmAD`&"AA UqNA"AZAbAjArAzAAArd+@Aլ͗|pA#ξA:A㺃AqC?A@1d?A%?A*AQ<2A!::AȦWBAQ<JA!:RAȦWY4?A?yݺ:ٓHr? - j??M st?@`R??)4? I٘i)I9Y J)˲<Jg+JJJ&K Yyj7Z7:8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028490.203165 s, next control iter: 1743028490.563177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028490.583165 s.H~,RB AAHz@AADjE@A[~? AIA{G`&"AA0UqNA"AZAbAjArAzAAA [+@A\|pAAƑ:A޺AB?AM1d?A?A*AQ<2A,::AWBAQ<JA,:RAW٘i)I9Y JJJJ&K Yy771:8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028490.603165 s, next control iter: 1743028490.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1989, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028491.003165 s.~ H~J,e4B A"J*J2J:JBJnJvJA(\@AV@A[~? A&A,J`&"AASUqNA"AZAbAjArAzAAAi +@Aغa|pAAح:AֺA|@?A`F1d?A ?Ae*AP<2A!::AEwWBAP<JA!:RAEwW٘i)I9Y JJJJ&K Yy{7j7-:8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028491.043165 s, next control iter: 1743028491.403182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743028491.423165 s.uH~,wB AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199822 time: 1743028491.423274F (some fields omitted in printout)Aףp= @A7@A[~? AAL`&"AAwUqNA"AZAbAjArAzAAAe+@A]ȃ|pAAvuAԺA=?Av1d?A`{?ATt˲*AP<2AE.::AHWBAP<JAE.:RAHW٘i)I9Y JJJJ&K YyZ7Z7;:8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028491.463165 s, next control iter: 1743028491.823175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1990, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028491.843165 s.ݼH~,B AJ"J*J2J:JBJnJvJAQ@A !O@A[~? AAO`&"AAUqNA"AZAbAjArAzAAA+p+@A0n|pAA~AںA;?A1d?A쳉?A 0*AxP<2AR9::ArWBAxP<JAR9:RArWI٘i)I9Y JJJJ&K Yy770J:8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028491.883165 s, next control iter: 1743028492.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028492.263165 s.H~,C AAfffff@Aqn@A[~? AA@R`&"AAUqNA"AZAbAjArAzAAAJF"'+@A$pX|pAAzA⺃A,:?AC1d?A`?A83*AMP<2A6::AWBAMP<JA6:RAWY[0? elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743028492.683284F (some fields omitted in printout)AGz@A77'@A5[~? AAT`&"AAUqNA"AZAbAjArAzAAAQaѮ+@A$FC|pA"ξA{jOA㺃A:?A`0d?Aٰ?A9\3*A P<2A!::AWBA P<JA!:RAW٘i)I9Y J.K2<JJJDJ&K YySI7SI7f:8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028492.683165 s, next control iter: 1743028493.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743028493.103165 s.#H~,FC AA(\@Am ]lZ@AK[~? AuAW`&"AAVqNA"AZAbAjArAzAAA()z6 +@A}cq-|pAAAA:?A /d?AU?AI2*AP<2A::AWBAP<JA:RAW٘i)I9Y JJJJ&K Yy{7{73u:8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028493.123165 s, next control iter: 1743028493.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028493.523165 s.H~,{aC AJ"J*J2J:JBJnJvJA= ףp@ABK@Aa[~? ARARZ`&"AA*VqNA"AZAbAjArAzAAA +@Aզ|pAABM:A亃Ab;?A}.d?A`ѭ?Aӛ*AdP<2Ap::A3WBAdP<JAp:RA3W٘i)I9Y JJJJ&K Yyŧ77:8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028493.563165 s, next control iter: 1743028493.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1992, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028493.943165 s.WdH~,>]|C AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200412 time: 1743028493.943296F (some fields omitted in printout)AQ!@A3c @Ax[~? A.A]`&"AANVqNA"AZAbAjArAzAAAĸE!+@AlpM|pA#ξA':A㺃AC;?A@-d?AJ?An%*A"P<2A::A~8WBA"P<JA:RA~8W٘i)I9Y J-˲<JJJJ&K YyZ7SI7ۑ:8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028493.963165 s, next control iter: 1743028494.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028494.363165 s.H~,>C AJ"J*J2J:JBJnJvJA"@Aqhd"@A[~? A A_`&"AArVqNA"AZAbAjArAzAAAQ!+@Apc{pAA:AܺA9?A w-d?A ?AwJ*AP<2A::A#WBAP<JA:RA#WY+?7?yغg,:ٓH{?@o 9x@?ɉ? st?"O?@?)+? I٘i)I9Y Jc3JJJ&KL Yy77771:8)ZZZBZL?YY*W2W WWW"W ) )FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743028494.383165 s, next control iter: 1743028494.763177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 1993", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028494.783165 s.XH~,C AAGz$@AE}$@A[~? AAcb`&"AAVqNA"AZAbAjArAzAAA|T"+@Akq.{pAA}9AպA7?A -d?A2?AE*AP<2A::AVBAP<JA:RAV٘i)I9Y JJJJ&K Yy77:8)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743028494.823165 s, next control iter: 1743028495.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028495.203165 s.H~, C AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743028495.203293F (some fields omitted in printout)A\(&@AQI%@A[~? AAe`&"AAVqNA"AZAbAjArAzAAAQ"+@AE2{pAA2A׺A4?A-d?A?AǙ*AՁP<2A::AVBAՁP<JA:RAV٘i)I9Y JJJJ&K Yyŧ77ܼ:8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028495.223165 s, next control iter: 1743028495.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028495.623165 s.RH~,HC AAp= '@At&mn'@A[~? AAg`&"AAVqNA"AZAbAjArAzAAA?d#+@Au{pAA3yAߺA2?A-d?A`?A M2*AuP<2A::AVBAuP<JA:RAV٘i)I9Y JJJJ&K Yy)7ŧ72:8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028495.643165 s, next control iter: 1743028496.023175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 1994 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028496.043165 s.H~,D AJ"J*J2J:JBJnJvJAQ)@AX)@A[~? A~Arj`&"AAWqNA"AZAbAjArAzAAAN#+@A8{pAAF9A亃A1?A@F-d?A ?Af3*AiP<2Au::AVBAiP<JAu:RAV٘i)I9Y JJJJ&K Yy77:8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028496.063165 s, next control iter: 1743028496.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028496.463165 s.RH~,פD AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199192 time: 1743028496.463266F (some fields omitted in printout)A33333+@AZ*@A[~? A[A"m`&"AA%WqNA"AZAbAjArAzAAA02Fs$+@A{pA"ξA;AA62?Ak,d?A ?A5f3*A^]P<2A::AVBA^]P<JA:RAVY'?^3?y㺃fٓH@?C?@I?@ 䯿`tt?`A?)'? I٘i)I9Y J*K2<JQJJJ&K Yy7:8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028496.503165 s, next control iter: 1743028496.863175 s, wait time: 0.360010 s ) tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1995, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028496.883165 s.y H~,48D AJ"J*J2J:JBJnJvJA{G,@ARx,@A[~? A7Ao`&"AAIWqNA"AZAbAjArAzAAAS$+@A`xk{pAA19A広A2?A \+d?A?AG2*AQP<2A::AĹVBAQP<JA:RAĹV٘i)I9Y JJJJ&K Yy)7ŧ72:8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028496.923165 s, next control iter: 1743028497.283175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028497.303165 s.RH~,fgSD AA(\.@A*1 '.@A+[~? AAr`&"AAlWqNA"AZAbAjArAzAAALyY%+@A[U{pAAG:A溃Ax3?Ah*d?A?A*ADP<2Aj::AVBADP<JAj:RAV٘i)I9Y JJJJ&K  ;8Y ;8yj7j7;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028497.323165 s, next control iter: 1743028497.703175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 1996*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028497.723165 s.H~,HnD AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200672 time: 1743028497.723339F (some fields omitted in printout)A ףp=0@Af/@AA[~? AA/u`&"AAWqNA"AZAbAjArAzAAA &+@Aݛk@{pA#ξA :A㺃A2?A)d?A ~?ARc$*A8P<2Az::AVBA8P<JAz:RAV٘i)I9Y J/˲<JJJJ&K Yy Cŧ7b7;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028497.763165 s, next control iter: 1743028498.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028498.143165 s.R/"H~,)D AAR1@AmY.1@AW[~? AAw`&"AAWqNA"AZAbAjArAzAAA-Y&+@A7&*{pAA(L:AۺA81?A@)d?A?A*A,P<2A }::AVBA,P<JA }:RAV٘i)I9Y JJJJ&K Yy77{72!;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028498.163165 s, next control iter: 1743028498.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028498.563165 s.(H~,F D AJ"J*J2J:JBJnJvJA3@A?@13@An[~? AAz`&"AAWqNA"AZAbAjArAzAAAyo'+@Aٮc{pAAf_1AֺA.?A)d?A`f?A*A P<2Aۊ::A5~VBA P<JAۊ:RA5~VYj"?.?yֺ}1ٓH`~?xQ?@?rt?+@?)j"? I٘i)I9Y Jw4JJJ&K; Yy77/;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028498.603165 s, next control iter: 1743028498.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1997, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028498.983165 s./H~,D AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200282 time: 1743028498.983293F (some fields omitted in printout)AzG5@A'_[4@A[~? AA;}`&"AAWqNA"AZAbAjArAzAAAV'+@AA"zpAA~`PAۺA-,?A`)d?A`ٙ?Aac*AP<2Av::A*QVBAP<JAv:RA*QV٘i)I9Y JJJJ&K Yy77=;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028499.003165 s, next control iter: 1743028499.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028499.403165 s.&6H~,D AJ"J*J2J:JBJnJvJA)\6@AnJy6@A[~? AdA`&"AAXqNA"AZAbAjArAzAAA'(+@AVazpAAh~A㺃Ax*?A@)d?AO?AK3*AzP<2Ak::A2VBAzP<JAk:RA2V٘i)I9Y JJJJ&K Yy3L;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028499.423165 s, next control iter: 1743028499.803176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1998, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028499.823165 s.<H~,%D AAq= ף8@AVy;8@A[~? AAA`&"AACXqNA"AZAbAjArAzAAA]kT(+@AJMzpA"ξA}A溃A)?A<)d?Aʖ?Au3*AYO<2A,::A,VBAYO<JA,:RA,V٘i)I9Y Js2<JJJJ&K Yy)7)7Z;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028499.863165 s, next control iter: 1743028500.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028500.243165 s.CH~,E AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743028500.243311F (some fields omitted in printout)AQ:@Ae 9@A[~? AAF`&"AAgXqNA"AZAbAjArAzAAA6)+@AMdzpAAAAy*?A`G(d?AH?AX53*A"O<2Am::A^=VBA"O<JAm:RA^=V٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 210JJJJ&K YyZ7Z7h;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028500.263165 s, next control iter: 1743028500.643205 s, wait time: 0.380040 s rAdjusting time to match Gazebo time: 1743028500.663165 s.JH~,q*E AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 1999, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A<@ArS͗;@A[~? AA`&"AAXqNA"AZAbAjArAzAAA]V>)+@A1אzpAA:AA@+?A@8'd?A@ȓ?A0*AO<2AL::AeUVBAO<JAL:RAeUVY?*?y広G!:ٓH?>X ? ? -tt?`[zB??)? I٘i)I9Y J JJ DJ&K  Yy 77 {7 JJJ&K> Yy)77;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028501.103165 s, next control iter: 1743028501.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028501.503165 s.WH~,34`E AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199792 time: 1743028501.503258F (some fields omitted in printout)A(\?@A^>@A [~? AAO`&"AAXqNA"AZAbAjArAzAAAy*+@AL~zpAA|R:A⺃A*?A %d?A?A!*AO<2A*::ASVBAO<JA*:RASV٘i)I9Y JQ>JJJ&K> Yy{7{7ߓ;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028501.523165 s, next control iter: 1743028501.903174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2000, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028501.923165 s.^H~, {E AJ"J*J2J:JBJnJvJAףp= A@AB@@A [~? AA`&"AAXqNA"AZAbAjArAzAAAZsT++@A2 xizpAA :AںAn(?A%d?A`5?Ai*AO<2A<2::AV0VBAO<JA<2:RAV0V٘i)I9Y JJJJ&K Yy7774;8)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028501.963165 s, next control iter: 1743028502.323264 s, wait time: 0.360099 s rAdjusting time to match Gazebo time: 1743028502.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200982 time: 1743028502.763386F (some fields omitted in printout)AfffffD@A+C@AM[~? AJAV`&"AA=YqNA"AZAbAjArAzAAA/:?c,+@A >zpAAxAߺA~#?A.&d?A?AC1*AO<2AL::AUBAO<JAL:RAUYG?%?yۺٓHX? # ?@?Tկ`st?@/P@?)G? I٘i)I9Y J_>4JJJ&K Yyŧ7ŧ7;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028502.783165 s, next control iter: 1743028503.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028503.183165 s.rH~,gE AAGzF@A[[!E@Ac[~? A'A`&"AAaYqNA"AZAbAjArAzAAARO,+@A)zpAA噺A溃A1"?A@%d?A ?A<3*AO<2AVH::AUBAO<JAVH:RAU٘i)I9Y JJJJ&K Yyj7Z75;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028503.223165 s, next control iter: 1743028503.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028503.603165 s.:4yH~,E AJ"J*J2J:JBJnJvJA(\G@A4-2ZG@Az[~? AA`&"AAYqNA"AZAbAjArAzAAAZr-+@Aׯ@zpA"ξAIA纃A"?A&%d?A?AK~3*AO<2A3::AUBAO<JA3:RAU٘i)I9Y J,K2<JJJJ&K Yy77;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028503.643165 s, next control iter: 1743028504.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2002 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028504.023165 s.ZH~,|F AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743028504.023294F (some fields omitted in printout)A= ףpI@A_I@A[~? AA\`&"AAYqNA"AZAbAjArAzAAA5md-+@A/ypAAX7AA"?A $d?A?A2*AWO<2A~::AUBAWO<JA~:RAU٘i)I9Y JJJJ&K Yyŧ7;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028504.063165 s, next control iter: 1743028504.423184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743028504.443165 s.1ÆH~,%]F AJ"J*J2J:JBJnJvJAQK@A9]J@A[~? AA `&"AAYqNA"AZAbAjArAzAAA].+@A"ypAAR:A躃Au#?A#d?A?A3*A'wO<2A::AUBA'wO<JA:RAU٘i)I9Y JJJJ&K Yy77{75;8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028504.463165 s, next control iter: 1743028504.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2003, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028504.863165 s.+H~,y>7F AAL@A;ʃdL@A[~? AA`&"AAYqNA"AZAbAjArAzAAA/ /+@AX΍NypA#ξA~{:A纃AM#?A`d"d?A?A9$*A kO<2A::AUBA kO<JA:RAUY? ?yẃq͚:ٓH?'@}?Ÿ? tt?oOS? ?)? I٘i)I9Y J(˲<JJJJ&K  <8Y <8y{7j7<8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028504.883165 s, next control iter: 1743028505.263176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028505.283165 s.2RH~,RF AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200072 time: 1743028505.283287F (some fields omitted in printout)AGzN@A@N@A[~? AwAa`&"AAZqNA"AZAbAjArAzAAA芕U/+@A>߽ypAA@?{:A຃A!?A"d?A?A*A_O<2AZ::AUBA_O<JAZ:RAU٘i)I9Y JJJJ&K Yyb7b7<8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028505.323165 s, next control iter: 1743028505.683176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2004*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028505.703165 s.ҺH~,mF AA\(P@AO@A[~? ATA `&"AA7ZqNA"AZAbAjArAzAAA,Π0+@AworypAA9AٺA?A`3"d?A@?Ap*ASO<2A::A8UBASO<JA:RA8U٘i)I9Y JJJJ&K Yy76#<8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028505.743165 s, next control iter: 1743028506.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028506.123165 s.6H~,XF AJ"J*J2J:JBJnJvJAp= Q@ArnQ@A[~? A1A`&"AA[ZqNA"AZAbAjArAzAAA t 0+@ARPypAAtAۺA?Aa"d?A?A1*A-GO<2A::AUBA-GO<JA:RAU٘i)I9Y JJJJ&K Yy7771<8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028506.163165 s, next control iter: 1743028506.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028506.543165 s.IH~,âF AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743028506.543290F (some fields omitted in printout)AQS@AS@A[~? AAd`&"AAZqNA"AZAbAjArAzAAAf :%1+@AH0{}ypAAΰA㺃A?A@Y"d?As~?Ao2*A=;O<2A9::AbUBA=;O<JA9:RAbU٘i)I9Y JJJJ&K Yyj7Z7?<8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028506.583165 s, next control iter: 1743028506.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2005, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028506.963165 s.xH~,F AJ"J*J2J:JBJnJvJA33333U@A@JT@A,[~? AߥA`&"AAZqNA"AZAbAjArAzAAAo1+@Ad1hypAAA躃A?A!d?A|?Ah3*A;/O<2A{::ATUBA;/O<JA{:RATUY?e?y㺃SٓH>?rڐ9??Pѯ`tt?@BQ?)? I٘i)I9Y J\JJJ&KI Yyb777N<8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028507.003165 s, next control iter: 1743028507.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028507.383165 s.صH~,8F AA{GV@AxV@AC[~? AߥA`&"AAZqNA"AZAbAjArAzAAAq"32+@ARypA"ξAΪAAU?A !d?Ap{?Aa3*A"#O<2A::Am_UBA"#O<JA:RAm_U٘i)I9Y J.K2<JJJJ&K Yy C77{7\<8)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028507.403165 s, next control iter: 1743028507.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2006", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028507.803165 s.yAH~,gF AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199782 time: 1743028507.803297F (some fields omitted in printout)A(\X@A1'X@AY[~? AߥAf`&"AAZqNA"AZAbAjArAzAAAS 2+@Az!b=ypAAh9A麃A?Ad?A`y?A4(2*AO<2A::AFwUBAO<JA:RAFwUI٘i)I9Y JJJJ&K Yyb77j<8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028507.823165 s, next control iter: 1743028508.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028508.223165 s.gH~,HG AA ףp=Z@A/K;Y@Ao[~? AߥA`&"AA[qNA"AZAbAjArAzAAA2GB3+@A'ypAAQ:A꺃A?A d?Asx?Am*A O<2A::AUBA O<JA:RAU٘i)I9Y JJJJ&K Yyj7j78y<8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028508.243165 s, next control iter: 1743028508.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028508.643165 s.H~,I+)G AJ"J*J2J:JBJnJvJAR[@AF=D[@A[~? A_ߥA`&"AA1[qNA"AZAbAjArAzAAAI|3+@A12QypA#ξAh:A纃A?A xd?Av?A"*AN<2A::AUBAN<JA:RAU٘i)I9Y J(˲<JJJDJ&K YyZ7<8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028508.663165 s, next control iter: 1743028509.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2007, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028509.063165 s.H~,c DG AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199652 time: 1743028509.063319F (some fields omitted in printout)A]@AjG1]@A[~? A<ߥAg`&"AAU[qNA"AZAbAjArAzAAA1P4+@A 5xpAA6F:AߺAD?A`Vd?Alu?A*AN<2A::APfUBAN<JA:RAPfUY^ ??yܺF:ٓH@Ӛ?{?@?st? H??)^ ? I٘i)I9Y JV4JJJ&K Yyb77<8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028509.103165 s, next control iter: 1743028509.463180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028509.483165 s.r_H~,^G AJ"J*J2J:JBJnJvJAzG_@AdV^@A[~? AߥA`&"AAy[qNA"AZAbAjArAzAAAJ~4+@A@'xpAA&AںA?A@}d?A@s?AV*AN<2A::A9UBAN<JA:RA9U٘i)I9Y JJJJ&K Yy7<8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028509.503165 s, next control iter: 1743028509.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2008, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028509.903165 s.H~,yG AA)\`@A"rl`@A[~? AޥA`&"AA[qNA"AZAbAjArAzAAA_5+@AEenrxpAAUAߺA<?Ad?A[r?A *A'N<2A9::A UBA'N<JA9:RA U٘i)I9Y JJJJ&K Yy<8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028509.923165 s, next control iter: 1743028510.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028510.323165 s.rH~,G AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199562 time: 1743028510.323285F (some fields omitted in printout)Aq= ףb@A]z;b@A[~? AޥAf`&"AA[qNA"AZAbAjArAzAAA7]G5+@A. xpAAwƚA纃A?Avd?Ap?A3*A>N<2A::ATBA>N<JA:RAT٘i)I9Y JJJJ&K Yy77<8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028510.363165 s, next control iter: 1743028510.723176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2009&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028510.743165 s.WH~,\G AAQd@ACBc@A[~? AޥA`&"AA[qNA"AZAbAjArAzAAA}xm6+@Am+봧xpA"ξAR elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743028511.583287F (some fields omitted in printout)AHzg@AgEg@A"[~? AjޥAc`&"AA+\qNA"AZAbAjArAzAAAX{7+@Ap|xpAAh:A뺃Al?A`d?A\l?A*AN<2A`::AUBAN<JA`:RAU٘i)I9Y JJJJ&K Yy77<8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028511.623165 s, next control iter: 1743028511.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2010, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028512.003165 s.v H~,D4H AJ"J*J2J:JBJnJvJA(\i@Ah@A8[~? AGޥA `&"AAO\qNA"AZAbAjArAzAAA/8+@AgxpA#ξA:AA?A d?Aj?Al*A N<2AGH::AUBA N<JAGH:RAU٘i)I9Y J(˲<JJJJ&K Yy)7ŧ79<8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028512.043165 s, next control iter: 1743028512.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028512.423165 s.uH~,H AAףp= k@Avߡj@AN[~? A$ޥA`&"AAr\qNA"AZAbAjArAzAAA$8+@AHRxpAA;Ȏ:A広A?A d?A\i?AR7*AN<2AJ@::A UBAN<JAJ@:RA U٘i)I9Y JJJJ&K  =8Y =8yb77=8)ZZZBZL?YY*W2W WWW"W ) )FFF]q:Waiting for Gazebo time sync: latest Gz time: 1743028512.443165 s, next control iter: 1743028512.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2011, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028512.843165 s. H~,5H AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743028512.843285F (some fields omitted in printout)J"J*J2J:JBJnJvJAQl@ABOl@Ae[~? AޥA``&"AA\qNA"AZAbAjArAzAAAzec9+@A/ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200382 time: 1743028514.103317F (some fields omitted in printout)A(\q@A_\6Zq@A[~? AݥAZ`&"AA]qNA"AZAbAjArAzAAAt0g:+@AaJwpAA:A꺃A\ ?A@d?AGc?A7@3*AcN<2AY]::ATBAcN<JAY]:RAT٘i)I9Y JJJJ&K Yy777A=8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028514.143165 s, next control iter: 1743028514.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028514.523165 s.'H~,{H AJ"J*J2J:JBJnJvJA= ףps@A4HSs@A[~? AuݥA`&"AA%]qNA"AZAbAjArAzAAAp}-;+@AnwpA"ξA2CA뺃AN ?A@d?A`a?A*{3*AWN<2A-H::ATBAWN<JA-H:RAT٘i)I9Y J.K2<JJJJ&K Yyb779P=8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028514.563165 s, next control iter: 1743028514.923177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2013, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028514.943165 s.Ud.H~,5]H AAQu@A}t@A[~? ARݥA`&"AAH]qNA"AZAbAjArAzAAA;+@A.MwpAAc^8AA ?Ad?AO`?AKE2*AKN<2A:(::A0TBAKN<JA:(:RA0T٘i)I9Y JJJJ&K Yyj7j7^=8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028514.963165 s, next control iter: 1743028515.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028515.363165 s.5H~,u>H AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743028515.363305F (some fields omitted in printout)J"J*J2J:JBJnJvJAv@A ydv@A[~? A/ݥAT`&"AAl]qNA"AZAbAjArAzAAA;<+@AwpAA~9X:A캃A ?Ad?A^?A*A?N<2A ::ATBA?N<JA :RATY? ?y麃2X:ٓH"? P ??V ut?/K??)? I٘i)I9Y JwJJJ&K Yy77l=8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028515.383165 s, next control iter: 1743028515.763175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2014", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028515.783165 s.S;H~,H AAGzx@Aĭx@A[~? A ݥA`&"AA]qNA"AZAbAjArAzAAAگG<+@ANϭwpA#ξAc:A뺃A{ ?A` d?AV]?A#*A3N<2A::ATBA3N<JA:RAT٘i)I9Y J(˲<JJJJ&K Yyj7Z7:{=8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028515.803165 s, next control iter: 1743028516.183175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028516.203165 s.CH~, I AJ"J*J2J:JBJnJvJA\(z@Amsy@A[~? AܥA`&"AA]qNA"AZAbAjArAzAAAP I=+@A`wpAAv:A亃A ?Ad?A [?Ap *A'N<2A::AYTBA'N<JA:RAYT٘i)I9Y JJJJ&K Yy777=8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028516.223165 s, next control iter: 1743028516.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028516.623165 s.TIH~,P'I AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743028516.623293F (some fields omitted in printout)Ap= {@A]n{@A-[~? AܥAL`&"AA]qNA"AZAbAjArAzAAAG)=+@A<}wpAAl9AݺA?Ad?APZ?AA*AN<2A::AgsTBAN<JA:RAgsT٘i)I9Y JJJDJ&K Yy{7{7=8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028516.663165 s, next control iter: 1743028517.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2015 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028517.043165 s.J "J *J 2J :J BJ nJ PH~vJ,BI AAQ}@AtA}}@AC[~? AܥA`&"AA]qNA"AZAbAjArAzAAAKW>+@AcdgwpAAA຃A?A` d?A@X?A4*A5N<2Ah::AETBA5N<JAh:RAET٘i)I9Y JJJJ&K Yyŧ7b7:=8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028517.083165 s, next control iter: 1743028517.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028517.463165 s.RWH~,פ]I AA33333@A~@AZ[~? AܥA`&"AA^qNA"AZAbAjArAzAAAyv">+@Ay~RwpAALѓA躃A"?A`d?A GW?A:2*AhN<2A}::A8"TBAhN<JA}:RA8"TY7??y⺃ٓH i?@'퐿`??ί@tt?@)zR ?)7? I٘i)I9Y JV4JJJ&K( Yy C777=8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028517.503165 s, next control iter: 1743028517.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2016, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028517.883165 s.y]H~,+xI AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743028517.883287F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gဟ@A䞮x@Ap[~? A^ܥAB`&"AAB^qNA"AZAbAjArAzAAA Te?+@A85=wpAA%A캃AO?Ad?A`U?A]j3*AM<2AB ::ALTBAM<JAB :RALT٘i)I9Y JJJJ&K Yyb7b7=8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028517.903165 s, next control iter: 1743028518.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028518.303165 s.TdH~,ogI AA(\@ABC'@A[~? A;ܥA`&"AAe^qNA"AZAbAjArAzAAAy?+@A)i'wpA"ξAgAA?A d?AMT?A\3*AM<2A_::A TBAM<JA_:RA T٘i)I9Y J/K2<JJJJ&K Yy7:=8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028518.343165 s, next control iter: 1743028518.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2017*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028518.723165 s.kH~,HI AJ"J*J2J:JBJnJvJA ףp=@A^Ճ@A[~? AܥA`&"AA^qNA"AZAbAjArAzAAA (s@+@A=a?wpAANs9AAc?A d?A`R?A 2*AM<2A]::A8TBAM<JA]:RA8T٘i)I9Y JJJJ&K Yy7=8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028518.763165 s, next control iter: 1743028519.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028519.143165 s.W/rH~, *I AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200202 time: 1743028519.143282F (some fields omitted in printout)AR녟@AZ&@A[~? AۥA7`&"AA^qNA"AZAbAjArAzAAAyv@+@A*RcvpAAE:AA?Ad?A@ZQ?A?*AM<2A]::A.ITBAM<JA]:RA.IT٘i)I9Y JJJJ&K Yyb7=8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028519.163165 s, next control iter: 1743028519.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028519.563165 s.xH~,A I AJ"J*J2J:JBJnJvJA@AK1@A[~? AۥA`&"AA^qNA"AZAbAjArAzAAAq,_A+@AUvpA#ξA:A꺃A<?A #d?AO?A *AM<2A::ACTBAM<JA:RACTYz??y広:ٓH@?(O??n tt?"S? ?)z? I٘i)I9Y J*˲<JdJJJ&Kz Yy7;=8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028519.603165 s, next control iter: 1743028519.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2018, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028519.983165 s.H~,I AAzG@A1Z{߈@A[~? AۥAa&"AA^qNA"AZAbAjArAzAAAEB+@Ac6vpAA'@:A⺃Ar?Ad?A@[N?A*AM<2A::A%TBAM<JA:RA%T٘i)I9Y JJJJ&K  >8Y >8y{7{7 >8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028520.023165 s, next control iter: 1743028520.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028520.403165 s.&H~,J AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199652 time: 1743028520.403272F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\@Aʍ"k@A[~? AۥA+a&"AA_qNA"AZAbAjArAzAAAk+B+@Ay[vpAAOA޺A?A+d?AL?A8ݲ*A.M<2A::A|SBA.M<JA:RA|S٘i)I9Y JJJJ&K Yy77>8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028520.443165 s, next control iter: 1743028520.803175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2019, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028520.823165 s.H~,4J AAq= ף@A3SZ;@A [~? AjۥAa&"AA;_qNA"AZAbAjArAzAAA`DC+@At,\vpAA5[A㺃Ao?AMd?A@SK?A*ArM<2A::ASBArM<JA:RAS٘i)I9Y JJJJ&K Yyb77;'>8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028520.843165 s, next control iter: 1743028521.223175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028521.243165 s.H~,dOJ AJ"J*J2J:JBJnJvJAQ@A{G鍟@A"[~? AGۥAw a&"AA__qNA"AZAbAjArAzAAAvLC+@A|4vpAAuA뺃A?A`d?AI?A 3*AM<2A::A1SBAM<JA:RA1S٘i)I9Y JJJJ&K Yy77775>8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028521.283165 s, next control iter: 1743028521.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028521.663165 s.H~,qjJ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199782 time: 1743028521.663281F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2020, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A;p˗@A8[~? A$ۥA a&"AA_qNA"AZAbAjArAzAAA}Op#D+@A6;3}vpA"ξArtAAi?Ad?A@WH?A߲~3*AэM<2A::A%SBAэM<JA:RA%SY?a?y꺃ktٓHC?` O?u? dԯ@ut?WN`?)? I٘i)I9Y Js2<J`JJJ&Kx Yyb77C>8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028521.683165 s, next control iter: 1743028522.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028522.083165 s.DH~,SJ AJ"J*J2J:JBJnJvJAHz@AE@AN[~? AۥAa&"AA_qNA"AZAbAjArAzAAAD+@AghvpAA2_AA?Ad?AF?AҨ'3*AM<2A ::AžSBAM<JA :RAžS٘i)I9Y JJJJ&K YyZ7Z78)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028522.103165 s, next control iter: 1743028522.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028522.503165 s.H~,P4J AA(\@Au;@Ae[~? AڥAia&"AA_qNA"AZAbAjArAzAAA֖1E+@A2iSvpAAY :AﺃA?Ad?A@gE?Ag *AuM<2Azw::AcSBAuM<JAzw:RAcS٘i)I9Y JJJJ&K Yy777`>8)ZZZBZL?YY*W2W WWW"W ) )FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743028522.523165 s, next control iter: 1743028522.903182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2021, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028522.923165 s.J "J *J 2J :J BJ nJ vJ BH~,J AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743028522.923286F (some fields omitted in printout)Aףp= @A`S硔@A{[~? AڥAa&"AA_qNA"AZAbAjArAzAAAniE+@A'/>vpA#ξA.:AA?A d?AC?AD*AjM<2A_::AuSBAjM<JA_:RAuS٘i)I9Y J4˲<JJJJ&K Yyŧ7b7n>8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028522.963165 s, next control iter: 1743028523.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028523.343165 s.<H~,J AAQ@AV^O@A[~? AڥAa&"AA`qNA"AZAbAjArAzAAA86?F+@A#(vpAAR(:A麃A?A@Hd?A@pB?A*A8^M<2AX::ASBA8^M<JAX:RAS٘i)I9Y JJJJ&K Yy7777<}>8)ZZZBZL?YY*W2W WWW"W ) )FFF]o:Waiting for Gazebo time sync: latest Gz time: 1743028523.363165 s, next control iter: 1743028523.743175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2022", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028523.763165 s.5H~,J AJ"J*J2J:JBJnJvJAfffff@A @A[~? AwڥAYa&"AA4`qNA"AZAbAjArAzAAAltOF+@A|vpAA9AẃA?AHd?A@?A*A~RM<2A`::ASBA~RM<JA`:RASYl??y຃/9ٓHŹ?@b?@?@Ztt?@@u???)l? I٘i)I9Y Jp>4JJJ&KX Yy{7j7>8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028523.783165 s, next control iter: 1743028524.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028524.183165 s.H~,s K AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200242 time: 1743028524.183310F (some fields omitted in printout)AGz@Aq>?@A[~? ATڥAa&"AAX`qNA"AZAbAjArAzAAA&_LG+@A iupAAXAA?Avd?Al??A*AFM<2Ao::ASBAFM<JAo:RASI٘i)I9Y JJJJ&K Yy77>8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028524.203165 s, next control iter: 1743028524.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028524.603165 s.14H~,&K AJ"J*J2J:JBJnJvJA(\›@Ar-Z@A[~? A1ڥAa&"AA{`qNA"AZAbAjArAzAAAtG+@AK}UupAA,bA躃A?Ad?A=?A~1*A;M<2Ay::A/XSBA;M<JAy:RA/XS٘i)I9Y JJJDJ&K YyZ7SI7<>8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028524.623165 s, next control iter: 1743028525.003175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2023 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028525.023165 s.ZH~,5|AK AA= ףp@A('U@A[~? AڥAG"a&"AA`qNA"AZAbAjArAzAAAkZH+@AZ""upAAvAA?A@0d?Am8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028525.063165 s, next control iter: 1743028525.423184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743028525.443165 s./H~,]\K AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4198582 time: 1743028525.443263F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A9(a@A[~? A٥A$a&"AA`qNA"AZAbAjArAzAAA}5H+@AupA"ξA~j=AﺃA?And?A:?A) x3*A#M<2A_::AHSBA#M<JA_:RAHS٘i)I9Y J-K2<JJJJ&K YyZ787>8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028525.483165 s, next control iter: 1743028525.843174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2024, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028525.863165 s.+H~,>wK AA̠@AVyd@A[~? A٥A'a&"AA`qNA"AZAbAjArAzAAABgI+@A%upAA8AAa?Ah d?A@~9?A2*AM<2A?::A^SBAM<JA?:RA^SY?4?yﺃDy8ٓH@&? 6 ׄ@?@J?ut??@?)? I٘i)I9Y J֎JJJ&K% Yyj7j7>>8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028525.903165 s, next control iter: 1743028526.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028526.283165 s.3RH~,K AJ"J*J2J:JBJnJvJAGz@A(\@A-[~? A٥A4*a&"AA aqNA"AZAbAjArAzAAAYI+@AsupAAĀ]:A𺃽A?Ah d?A8?AW*A M<2A !::ArSBA M<JA !:RArS٘i)I9Y JJJJ&K Yyŧ7b7>8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028526.323165 s, next control iter: 1743028526.683174 s, wait time: 0.360009 s ) *tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2025*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028526.703165 s.ٺH~,K AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743028526.703269F (some fields omitted in printout)A\(@A?@AC[~? A٥A,a&"AA-aqNA"AZAbAjArAzAAA|nuJ+@AC{aupA#ξA8ۚ:AﺃA?A d?A`6?AV!#*AL<2A::A uSBAL<JA:RA uS٘i)I9Y J ˲<JJJJ&K Yy)7ŧ7>8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028526.723165 s, next control iter: 1743028527.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028527.123165 s.J "J *J 2J :J BJ nJ vJ 6H~,XK AAp= ץ@Aꗈn@AY[~? Aa٥A|/a&"AAPaqNA"AZAbAjArAzAAA&!J+@AX3jupAAƫq:A躃A]?A`z d?A5?A c *A*L<2A< ::A]^SBA*L<JA< :RA]^S٘i)I9Y JJJJ&K Yyj7j7>>8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028527.163165 s, next control iter: 1743028527.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028527.543165 s.IH~,K AAQ@A/@Ao[~? A>٥A 2a&"AAtaqNA"AZAbAjArAzAAAJlԂK+@AWUupAAN9AẃA?A d?A`3?AX*AL<2A$::AU5SBAL<JA$:RAU5S٘i)I9Y JJJJ&K  ?8Y ?8y C77{7 ?8)ZZZBZL?YY*W2W WWW"W ) )FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743028527.563165 s, next control iter: 1743028527.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2026, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028527.963165 s.wH~,K AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200152 time: 1743028527.963284F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333@Aʨ@A[~? A٥A4a&"AAaqNA"AZAbAjArAzAAA L+@AT?upAAl$A亃Af?A d?A 2?A3*AL<2A'::ASBAL<JA':RASYl??y⺃$ٓH`}?}y`}? ?`%ݯ@tt?D?)l? I٘i)I9Y Jw4JJJ&K Yy77?8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028527.983165 s, next control iter: 1743028528.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028528.383165 s.H~,8L AA{G᪟@AMx@A[~? AإAg7a&"AAaqNA"AZAbAjArAzAAAf=L+@A*upAAڔA캃At?A d?A0?A62*A3L<2Au-::ARBA3L<JAu-:RAR٘i)I9Y JJJJ&K Yyb7>)?8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028528.423165 s, next control iter: 1743028528.783177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2027", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028528.803165 s.|A H~,g3L AJ"J*J2J:JBJnJvJA(\@A鷯'@A[~? AإA :a&"AAaqNA"AZAbAjArAzAAA.M+@AYʋupAAzA𺃽A?A4 d?A`/?Al3*AvL<2A"::ARBAvL<JA":RAR٘i)I9Y JJJJ&K Yy77{77?8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028528.843165 s, next control iter: 1743028529.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028529.223165 s.gH~,HNL AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199942 time: 1743028529.223281F (some fields omitted in printout)A ףp=@A"k խ@A[~? AإA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743028530.483293F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG@AՓG߲@A [~? ALإADa&"AAmbqNA"AZAbAjArAzAAA~!1O+@AZtpA#ξA:AA?Ad?A<)?A*A2L<2Aֿ::A$SBA2L<JAֿ:RA$S٘i)I9Y J+˲<JJJJ&K Yyj7j7p?8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028530.523165 s, next control iter: 1743028530.883180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2029, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028530.903165 s.-H~,͹L AA)\@AF|'f@A![~? A)إA9Ga&"AAbqNA"AZAbAjArAzAAAd O+@AsիtpAA69:A溃A?Ad?A@'?Af*AL<2A::ARBAL<JA:RAR٘i)I9Y JJJJ&K Yy77??8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028530.943165 s, next control iter: 1743028531.303176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028531.323165 s.u4H~,!L AJ"J*J2J:JBJnJvJAq= ף@AF7;@A7[~? AإAIa&"AAbqNA"AZAbAjArAzAAAf!,>P+@A]ʴtpAA'͸A⺃A8?Ad?A?&?A_~ٲ*A~L<2A#::ARBA~L<JA#:RAR٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 209JJJJ&K Yy77?8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028531.363165 s, next control iter: 1743028531.723176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2030&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028531.743165 s.W;H~,qL AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199732 time: 1743028531.743282F (some fields omitted in printout)AQ@A_鷟@AM[~? AץA}La&"AAbqNA"AZAbAjArAzAAA_eUP+@AQtpAAwk`A躃A?A`d?A`$?Aߎ˱*AWsL<2A::ARBAWsL<JA:RAR٘i)I9Y JJJJ&K Yyŧ7ŧ7?8)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028531.803165 s, next control iter: 1743028532.143176 s, wait time: 0.340011 s rAdjusting time to match Gazebo time: 1743028532.163165 s.v}BH~,q M AJ"J*J2J:JBJnJvJA@Aɧ@Ad[~? AץAOa&"AAbqNA"AZAbAjArAzAAAeKQ+@AwltpAAdAﺃA3?Ad?AD#?A3*AgL<2A\::AvRBAgL<JA\:RAvRYeٍ??y麃`ٓH;?@; `?`?@ʯ ut?@aS ?)eٍ? I٘i)I9Y J3Q>JJJ&K~> Yy77@?8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028532.183165 s, next control iter: 1743028532.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028532.583165 s.HH~,R%M AAHz@AE@Az[~? AץAQa&"AAcqNA"AZAbAjArAzAAAzmQ+@AZWtpA"ξAфoA򺃽A?A,d?A!?Az}3*A[L<2A::ArRBA[L<JA:RArR٘i)I9Y Js2<JQ>JJDJ&K> Yy7777?8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028532.603165 s, next control iter: 1743028532.983174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2031, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028533.003165 s. PH~,r4@M AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200512 time: 1743028533.003333F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@Ap@A[~? A|ץAcTa&"AABcqNA"AZAbAjArAzAAAOYR+@Ap\>BtpAAw@AAk?A`4d?AY ?A 3*A.PL<2AB::A RBA.PL<JAB:RA R٘i)I9Y JJJJ&K Yyb7b7?8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028533.043165 s, next control iter: 1743028533.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028533.423165 s.uVH~,{[M AAףp= @A%8@A[~? AYץAWa&"AAecqNA"AZAbAjArAzAAA'zR+@Al#-tpAAE':AA0?A+d?A`?A&%*A\DL<2A::AmRBA\DL<JA:RAmR٘i)I9Y JJJJ&K Yy7{7A?8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028533.443165 s, next control iter: 1743028533.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2032, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028533.843165 s.\H~,uM AJ"J*J2J:JBJnJvJAQ@AJEcO@A[~? A7ץAYa&"AAcqNA"AZAbAjArAzAAA5/fS+@A[ tpA#ξA,:A󺃽AM?A]d?Aq?A*A8L<2Az::AťRBA8L<JAz:RAťR٘i)I9Y J+˲<JJJJ&K Yyŧ77?8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028533.883165 s, next control iter: 1743028534.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028534.263165 s.dH~,ؐM AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199532 time: 1743028534.263273F (some fields omitted in printout)AfffffŸ@A@A[~? AץAG\a&"AAcqNA"AZAbAjArAzAAAA{S+@AesmtpAA s:AA??Ad?A?AÞ*A,L<2Aqs::ARBA,L<JAqs:RARYԍ??y躃:ٓH? <f??ut?`nQ??)ԍ? I٘i)I9Y Jb2JJJ&Kಹ Yy{7{7?8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028534.303165 s, next control iter: 1743028534.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2033., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028534.683165 s.ljH~,gM AJ"J*J2J:JBJnJvJAGzğ@AL0ß@A[~? A֥A^a&"AAcqNA"AZAbAjArAzAAA}1sT+@AspAA{9A広A?A d?A{?AO*AY!L<2A|::A;rRBAY!L<JA|:RA;rR٘i)I9Y JJJJ&K  @8Y @8y7777B@8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028534.683165 s, next control iter: 1743028535.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743028535.103165 s.qH~,M AA(\ş@A{5Zş@A[~? A֥Aaa&"AAcqNA"AZAbAjArAzAAAD)T+@AspAAʹAA}ީ?A+d?A?A/x*AL<2A<::ADRBAL<JA<:RADR٘i)I9Y JJJJ&K Yyb77@8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028535.143165 s, next control iter: 1743028535.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028535.523165 s.wH~,{M AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199472 time: 1743028535.523271F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףpǟ@AT[ǟ@A[~? A֥A*da&"AAdqNA"AZAbAjArAzAAAR5U+@AYspAA 7A캃AEܩ?A`5d?A?A*F1*A= L<2A”::ARBA= L<JA”:RAR٘i)I9Y JJJJ&K Yy777@8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028535.543165 s, next control iter: 1743028535.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2034, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028535.943165 s.Xd~H~,B]M AAQɟ@Aմiȟ@A+[~? A֥Afa&"AA:dqNA"AZAbAjArAzAAAöV+@AvspAA؛A򺃽A۩?A`d?A ?Ab]H3*AK<2A}::A RBAK<JA}:RA R٘i)I9Y JJJJ&K Yy{7{7B+@8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028535.983165 s, next control iter: 1743028536.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028536.363165 s.H~,u>N AJ"J*J2J:JBJnJvJAʟ@Adʟ@AB[~? Ah֥Akia&"AA^dqNA"AZAbAjArAzAAAR4V+@A"󳌙spA"ξAc27A󺃽A#۩?A d?A?ARt3*AK<2Ay::A\RBAK<JAy:RA\RYPЍ?ܩ?y񺃽7ٓH@? Ŕf??ٯ vt?@LF?)PЍ? I٘i)I9Y J*K2<Ji+JJJ&K Yy779@8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028536.403165 s, next control iter: 1743028536.763176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2035", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028536.783165 s.VH~,2N AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743028536.783292F (some fields omitted in printout)AGz̟@A?n|̟@AX[~? AE֥A la&"AAdqNA"AZAbAjArAzAAA͒W+@AZ|spAA8AA۩?Ad?A ?A{N2*A$K<2AY::A%RBA$K<JAY:RA%R٘i)I9Y JJJJ&K Yy{7j7G@8)ZZZBZL?YY*W2W WWW"W ) )FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743028536.803165 s, next control iter: 1743028537.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028537.203165 s.H~, MN AJ"J*J2J:JBJnJvJA\(Ο@AF͟@An[~? A#֥Ana&"AAdqNA"AZAbAjArAzAAA+W+@AlospAAb:AAܩ?A`d?A?Aۡ²*AaK<2A;::A9RBAaK<JA;:RA9R٘i)I9Y JJJJ&K Yy C777BV@8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028537.243165 s, next control iter: 1743028537.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028537.623165 s.OH~,;gN AAp= ϟ@A6nϟ@A[~? A֥ALqa&"AAdqNA"AZAbAjArAzAAA X+@A6j^ZspA#ξA:A󺃽AAܩ?A@ld?A9?A0"*AK<2A)::Ab;RBAK<JA):RAb;R٘i)I9Y J.˲<JJJJ&K Yyŧ7b7d@8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028537.643165 s, next control iter: 1743028538.023173 s, wait time: 0.380008 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2036 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028538.043165 s.H~,ÂN AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743028538.043272F (some fields omitted in printout)J"J*J2J:JBJnJvJAQџ@Ay?nџ@A[~? AեAsa&"AAdqNA"AZAbAjArAzAAAhX+@A$nQEspAAl:A뺃Aک?A0d?A?A4) *AK<2A<)::A $RBAK<JA<):RA $R٘i)I9Y JJJJ&K Yy7777r@8)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743028538.063165 s, next control iter: 1743028538.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028538.463165 s.QH~,ӤN AA33333ӟ@Aҟ@A[~? AեAva&"AAeqNA"AZAbAjArAzAAA7gW-Y+@A"E0spAA|09A広Acة?A Jd?A D ?A*AK<2Ag5::AQBAK<JAg5:RAQYˍ?ة?y広09ٓH w? s?{?tt?&?@?)ˍ? I٘i)I9Y Jd4JJJ&K Yy)7ŧ7C@8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028538.503165 s, next control iter: 1743028538.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2037, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028538.883165 s.yH~,4N AJ"J*J2J:JBJnJvJA{Gԟ@A#Kxԟ@A[~? AեA+ya&"AA2eqNA"AZAbAjArAzAAAp Y+@A1;spAA*A躃Aթ?Asd?A` ?A|*AK<2AC::A QBAK<JAC:RA Q٘i)I9Y JJJJ&K Yy77@8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028538.923165 s, next control iter: 1743028539.283176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028539.303165 s.UH~,sgN AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199842 time: 1743028539.303277F (some fields omitted in printout)A(\֟@AD&֟@A[~? AvեA{a&"AAVeqNA"AZAbAjArAzAAAˇ(:Z+@A1spAAg̕A𺃽Aө?Aad?A@M ?A2*AK<2AI::AQBAK<JAI:RAQ٘i)I9Y JJJJ&K Yy7@8)ZZZBZL?YY*W2W WWW"W ) )FFF]r:Waiting for Gazebo time sync: latest Gz time: 1743028539.323165 s, next control iter: 1743028539.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2038*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028539.723165 s.H~,HN AJ"J*J2J:JBJnJvJA ףp=؟@A4fן@A[~? ATեAj~a&"AAyeqNA"AZAbAjArAzAAA֐9Z+@A)rpAAۺAA/ө?Ac?A?AIn3*AK<2A=::AQBAK<JA=:RAQI٘i)I9Y JJJJ&K Yyj7Z7B@8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028539.763165 s, next control iter: 1743028540.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028540.143165 s.[/H~,* O AARٟ@Ac*ٟ@A [~? A1եA a&"AAeqNA"AZAbAjArAzAAAjF[+@Aq%#rpA"ξA6AAө?Ac?Ae?AQ3*AAK<2A#::ADQBAAK<JA#:RADQ٘i)I9Y J.K2<JJJJ&K YyZ7SI7@8)ZZZBZL?YY*W2W WWW"W ) )FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743028540.163165 s, next control iter: 1743028540.543181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743028540.563165 s.H~,F $O AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743028540.563293F (some fields omitted in printout)J"J*J2J:JBJnJvJA۟@AqrC1۟@A[~? AեAa&"AAeqNA"AZAbAjArAzAAAa>O[+@A(rpAA39AAXԩ?A c?A?A}1*A~K<2A::A QBA~K<JA:RA QY3Ǎ?ө?y 9ٓH? W ?`h? vt?@b&:? ?)3Ǎ? I٘i)I9Y J؎JJDJ&K Yy@8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028540.603165 s, next control iter: 1743028540.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2039, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028540.983165 s.H~,>O AAzGݟ@A5Kܟ@A5[~? AԥAGa&"AAeqNA"AZAbAjArAzAAA^S\+@A2rpA#ξA:AAԩ?Ac?A ?A^*ArK<2AC::AQBArK<JAC:RAQ٘i)I9Y Ja<JJJJ&K Yyj7C@8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028541.003165 s, next control iter: 1743028541.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028541.403165 s.&H~,YO AJ"J*J2J:JBJnJvJA)\ޟ@AA~6rޟ@AL[~? AԥAa&"AAfqNA"AZAbAjArAzAAAۺ\+@As rpAAZ:A򺃽Aԩ?A`c?A@?A*A9gK<2AX::A^QBA9gK<JAX:RA^Q٘i)I9Y JJJJ&K Yy7777@8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028541.423165 s, next control iter: 1743028541.803177 s, wait time: 0.380012 s)"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2040", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028541.823165 s.H~,2tO AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743028541.823292F (some fields omitted in printout)Aq= ף@A y;@Ab[~? AԥAa&"AA+fqNA"AZAbAjArAzAAAuE-C`]+@AkrpAA3:A꺃A:ҩ?Apc?A@?AW*A[K<2A::AQBA[K<JA:RAQ٘i)I9Y JJJJ&K Yyj7Z7@8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028541.863165 s, next control iter: 1743028542.223179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028542.243165 s.H~,uO AJ"J*J2J:JBJnJvJAQ@A9y@Ax[~? AԥA"a&"AANfqNA"AZAbAjArAzAAAǩ]+@A`nsrpAAA溃Aϩ?Ac?A?Aղ*A=PK<2AC::AQBA=PK<JAC:RAQ٘i)I9Y JJJJ&K  A8Y A8y77DA8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028542.283165 s, next control iter: 1743028542.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028542.663165 s.H~,qO AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2041, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@Ao.@A[~? AcԥAa&"AAqfqNA"AZAbAjArAzAAA&il^+@A[U^rpAA|eA캃A@ͩ?Ac?A ?AY¦*ADK<2A::A,YQBADK<JA:RA,YQ٘i)I9Y JJJJ&K Yyb7A8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028542.683165 s, next control iter: 1743028543.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028543.083165 s.DH~,SO AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199352 time: 1743028543.083296F (some fields omitted in printout)AHz@AE@A[~? A@ԥA^a&"AAfqNA"AZAbAjArAzAAA]O0^+@A˰IrpAAFA󺃽A˩?Ac?A)?A3*AD9K<2A::A>QBAD9K<JA:RA>Q٘i)I9Y JJJJ&K Yyŧ7A8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028543.123165 s, next control iter: 1743028543.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028543.503165 s.H~,+4O AA(\@AL@A[~? AԥAa&"AAfqNA"AZAbAjArAzAAA}y_+@A54rpA"ξAYsjAAh˩?Ac?A@?A|3*A-K<2A::Aj elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743028544.343270F (some fields omitted in printout)AQ@AO@A[~? AӥA8a&"AAfqNA"AZAbAjArAzAAA~`+@AZ|" rpAA׉-:AA̩?A c?A?A8K>*ATK<2AN::AfQBATK<JAN:RAfQ٘i)I9Y JJJJ&K Yyb77IA8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028544.363165 s, next control iter: 1743028544.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2043&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028544.763165 s.6 H~,0P AJ"J*J2J:JBJnJvJAfffff@A:A@A[~? AӥA՝a&"AA#gqNA"AZAbAjArAzAAA[ZC? a+@Aɍ!)qpA#ξA:AA̩?Ac?Af?A~a*A K<2A::AnQBA K<JA:RAnQY$?qʩ?y񺃽a:ٓH? N?`? vt?`CR? ?)$? I٘i)I9Y J)˲<Jd3JJJ&K, Yy7b7FXA8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028544.803165 s, next control iter: 1743028545.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028545.183165 s.H~,cKP AAGz@AfB@A[~? AӥAra&"AAFgqNA"AZAbAjArAzAAALua+@AG0qpAA:A𺃽A˩?Ac?A?AQ*A-J<2A ::A^QBA-J<JA :RA^Q٘i)I9Y JJJJ&K Yy{7{7fA8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028545.203165 s, next control iter: 1743028545.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028545.603165 s.:4H~,fP AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200252 time: 1743028545.603313F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A+1JZ@A)[~? ArӥAa&"AAigqNA"AZAbAjArAzAAAb+@A:qpAAy-9A麃Aɩ?A c?A@y?Ao*AJ<2A::A8:QBAJ<JA:RA8:Q٘i)I9Y JJJJ&K Yy)7ŧ7tA8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028545.643165 s, next control iter: 1743028546.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2044 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028546.023165 s.Z H~,{P AA= ףp@AuX@A?[~? APӥAa&"AAgqNA"AZAbAjArAzAAA~ߞb+@AChDqpAAUعAAƩ?Ac?A ?A2*AOJ<2A,::A QBAOJ<JA,:RA Q٘i)I9Y JJJJ&K Yyb7b7FA8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028546.063165 s, next control iter: 1743028546.423176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028546.443165 s.3&H~,-]P AJ"J*J2J:JBJnJvJAQ@AEf@AU[~? A.ӥAIa&"AAgqNA"AZAbAjArAzAAAb %c+@A;OqpAAjA𺃽Aĩ?Ac?A?An2*AJ<2AL::APBAJ<JAL:RAP٘i)I9Y JJJJ&K Yy7777A8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028546.483165 s, next control iter: 1743028546.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2045, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028546.863165 s.+-H~,>P AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743028546.863298F (some fields omitted in printout)A@A2Yd@Ak[~? A ӥAa&"AAgqNA"AZAbAjArAzAAAGsKc+@A\qpAAݩAAé?Ac?A?AsK3*AdJ<2A::A%PBAdJ<JA:RA%PYҹ?Ʃ?yٓH? T @ ?`?ɯ vt?`;R ?)ҹ? I٘i)I9Y JJJJ&K Yyŧ77A8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028546.903165 s, next control iter: 1743028547.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028547.283165 s.9R4H~,P AJ"J*J2J:JBJnJvJAGz@A\w@A[~? AҥAa&"AAgqNA"AZAbAjArAzAAAgi}1d+@ACjwqpA"ξA0AAé?A@c?A?AF!q3*AJ<2Ai::A?PBAJ<JAi:RA?P٘i)I9Y J/K2<JJJJ&K Yy Cb7FA8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028547.323165 s, next control iter: 1743028547.683180 s, wait time: 0.360015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2046*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028547.703165 s.պ:H~, P AA\(@A@׾@A[~? AҥAa&"AAhqNA"AZAbAjArAzAAAPd+@AzbqpAAh9AAĩ?Ac?A 5?A#2*A.J<2Av::APBA.J<JAv:RAP٘i)I9Y JJJJ&K Yyŧ7A8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028547.723165 s, next control iter: 1743028548.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743028548.123165 s.6AH~,XQ AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743028548.123283F (some fields omitted in printout)Ap= @A%n@A[~? AҥAa&"AA>hqNA"AZAbAjArAzAAAyK=e+@ABjMqpAAg:AA"ũ?Ac?A@?A4˲*AJ<2AY::AQBAJ<JAY:RAQ٘i)I9Y JJJJ&K Yyb7A8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028548.163165 s, next control iter: 1743028548.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028548.543165 s.IHH~,"Q AAQ@A2@A[~? AҥAWa&"AAahqNA"AZAbAjArAzAAACe+@A, 8qpA#ξAښ:AAĩ?A$c?A`V?A!*AJ<2AH::A;QBAJ<JAH:RA;Q٘i)I9Y J+˲<JJJDJ&K Yy77FA8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028548.563165 s, next control iter: 1743028548.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2047, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028548.963165 s.sNH~,ۤ=Q AJ"J*J2J:JBJnJvJA33333@AN@A[~? A`ҥAa&"AAhqNA"AZAbAjArAzAAA Jf+@Aޮ#qpAAg:AﺃAWé?A`c?A?Av*AJ<2AG::ARPBAJ<JAG:RARPY-?z?y뺃^h:ٓH@N?@O ??"`ut? L?`?)-? I٘i)I9Y J3JJJ&K鰹 Yyŧ7b7A8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028549.003165 s, next control iter: 1743028549.363175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028549.383165 s.UH~,'XQ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199882 time: 1743028549.383275F (some fields omitted in printout)A{G@A|x@A[~? A=ҥAa&"AAhqNA"AZAbAjArAzAAA~31%f+@ArqpAA;!9A麃A?Ac?A`i?A*A*J<2AIT::A-PBA*J<JAIT:RA-P٘i)I9Y JJJJ&K Yy77{7A8)ZZZBZL?YY*W2W WWW"W ) )FFF]t:Waiting for Gazebo time sync: latest Gz time: 1743028549.403165 s, next control iter: 1743028549.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2048", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028549.803165 s.vA\H~,wgsQ AJ"J*J2J:JBJnJvJAzG@A%z@A[~? AҥA+a&"AAhqNA"AZAbAjArAzAAAAVg+@A:ppAAc0A캃A`?A /c?A?A}m*AˀJ<2Ab::AŗPBAˀJ<JAb:RAŗP٘i)I9Y JJJJ&K  B8Y B8y7ŧ7GB8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028549.823165 s, next control iter: 1743028550.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028550.223165 s.gcH~,HQ AAQ@A@A[~? AѥAƿa&"AAhqNA"AZAbAjArAzAAA:u^g+@A`ppAAæAA?Ac?A`{?Ao2*AduJ<2APg::AwPBAduJ<JAPg:RAwP٘i)I9Y JJJJ&K Yy777B8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028550.263165 s, next control iter: 1743028550.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028550.643165 s.siH~,)Q AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199542 time: 1743028550.643260F (some fields omitted in printout)A)\@A["@A3[~? AѥAaa&"AAiqNA"AZAbAjArAzAAAhzbh+@AeTppAA/戺AAԻ?A@c?A@ ?Aęo3*AiJ<2A[::A)mPBAiJ<JA[:RA)mP٘i)I9Y JJJJ&K Yy)7ŧ7 B8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028550.663165 s, next control iter: 1743028551.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2049, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028551.063165 s.pH~,N Q AA@AA@AI[~? AѥAa&"AA5iqNA"AZAbAjArAzAAAEh+@A% wppA"ξAعAA7?Ac?A?AK3*A]^J<2A4A::A~zPBA]^J<JA4A:RA~zPYɰ??yٹٓH? [??௿vt?; ?)ɰ? I٘i)I9Y J-K2<JdJJJ&KH Yy7{7G/B8)ZZZBZL?YY*W2W WWW"W ) )FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743028551.083165 s, next control iter: 1743028551.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028551.483165 s.u_wH~,Q AJ"J*J2J:JBJnJvJAq= ף@A2mo@A_[~? AѥAa&"AAYiqNA"AZAbAjArAzAAA:ni+@AW9ppAA\9AA?A c?A0?AD1*ARJ<2A ::ANPBARJ<JA :RANP٘i)I9Y JJJJ&K Yy7777=B8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028551.523165 s, next control iter: 1743028551.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2050, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028551.903165 s.}H~,Q AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199682 time: 1743028551.903261F (some fields omitted in printout)AGz@AF@Au[~? ApѥA2a&"AA|iqNA"AZAbAjArAzAAA i+@AWTppA#ξAv:AAf?Ac?Aވ?Aa( *A4GJ<2A::APBA4GJ<JA:RAP٘i)I9Y J^<JJJJ&K Yy7KB8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028551.943165 s, next control iter: 1743028552.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028552.323165 s.tH~,R AJ"J*J2J:JBJnJvJAQ@AJ@A[~? ANѥAa&"AAiqNA"AZAbAjArAzAAADzj+@Aϧq|ppAA:AA?AEc?AR݈?AN*A;J<2A|::A*PBA;J<JA|:RA*P٘i)I9Y JJJJ&K Yy77GZB8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028552.363165 s, next control iter: 1743028552.723176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2051&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028552.743165 s.WH~,i/R AA\(@Ao@A[~? A+ѥAha&"AAiqNA"AZAbAjArAzAAA<+k+@AGgppAAW-:AAѺ?A/c?Aۈ?A*AZ0J<2A::AzPBAZ0J<JA:RAzP٘i)I9Y JJJJ&K Yy77hB8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028552.763165 s, next control iter: 1743028553.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028553.163165 s.w}H~,qJR AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743028553.163306F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AY@A[~? A ѥAa&"AAiqNA"AZAbAjArAzAAA7ܴk+@AtERppAAw#A꺃AC?AWc?Afڈ?AѲ*A%J<2A::A7NPBA%J<JA:RA7NPYJ??y꺃q#ٓH?@ ;:??诿@ut?nc$@?)J? I٘i)I9Y Jw4JJJ&K@ Yy77{7vB8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028553.183165 s, next control iter: 1743028553.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028553.583165 s.H~,ReR AAp= @A+ܢ@A[~? AХAa&"AA jqNA"AZAbAjArAzAAA l+@AUy~=ppAAhjA𺃽Aݵ?A qc?A؈?Au*AJ<2A*::A[$PBAJ<JA*:RA[$P٘i)I9Y JJJJ&K Yyb77HB8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028553.623165 s, next control iter: 1743028553.983180 s, wait time: 0.360015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2052 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028554.003165 s.v H~,D4R AJ"J*J2J:JBJnJvJAHz@Awy@A[~? AХA6a&"AA-jqNA"AZAbAjArAzAAA9nGl+@A(ppAA$AAa?A`8c?A}׈?Aq3*AOJ<2A::A PBAOJ<JA:RA P٘i)I9Y JJJJ&K Yy7B8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028554.043165 s, next control iter: 1743028554.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028554.423165 s.uH~,wR AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199942 time: 1743028554.423271F (some fields omitted in printout)AQ @AP @A[~? AХAa&"AAPjqNA"AZAbAjArAzAAAr:m+@AppA"ξA+?eAA?A`c?Aֈ?A9{3*AJ<2AM ::Ay PBAJ<JAM :RAy P٘i)I9Y J,K2<JJJJ&K Yy77{7B8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028554.443165 s, next control iter: 1743028554.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2053, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028554.843165 s.ݬH~,R AJ"J*J2J:JBJnJvJA(\ @A`' @A[~? AХAja&"AAsjqNA"AZAbAjArAzAAA (ĸm+@A_s6opAACAA?A@c?A`Ԉ?AC3*API<2A::AlPBAPI<JA:RAlP٘i)I9Y JJJJ&K Yy{7j7HB8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028554.863165 s, next control iter: 1743028555.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028555.263165 s.H~,R AA33333 @A @A&[~? A^ХAa&"AAjqNA"AZAbAjArAzAAAt$n+@A.X[opAA3:AA~?Ac?A9ӈ?AV*AI<2A/::AD3PBAI<JA/:RAD3PY? ?y 4:ٓHN?x X?`V ? wt?6vF??)? I٘i)I9Y JPJJJ&K Yy7777B8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028555.303165 s, next control iter: 1743028555.663176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2054., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028555.683165 s.lH~,gR AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200962 time: 1743028555.683369F (some fields omitted in printout)Aףp= @AeF @A<[~? A<ХAa&"AAjqNA"AZAbAjArAzAAAu@؛n+@AopA#ξA:AA?A`c?Aш?Aӧ*AFI<2A::A%;PBAFI<JA:RA%;P٘i)I9Y J)˲<JJJJ&K Yy{7Z7B8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028555.683165 s, next control iter: 1743028556.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743028556.103165 s.H~,S AA{G @A @AR[~? AХA7a&"AAjqNA"AZAbAjArAzAAA00o+@AN,opAAɇ:AAk?A@sc?A \Ј?A*AI<2A?::A*PBAI<JA?:RA*PI٘i)I9Y JJJJ&K Yy777JB8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028556.143165 s, next control iter: 1743028556.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028556.523165 s.H~,{!S AJ"J*J2J:JBJnJvJAQ @A ( @Ah[~? AϥAa&"AAkqNA"AZAbAjArAzAAAJRoo+@AvѫopAA9AA;?Ayc?AΈ?Ax`*AI<2A::APBAI<JA:RAP٘i)I9Y JJJDJ&K Yy77B8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028556.563165 s, next control iter: 1743028556.923176 s, wait time: 0.360011 s)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2055, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028556.943165 s.XdH~,B] elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743028556.943307F (some fields omitted in printout)A(\@Af/[@A~[~? AϥAia&"AA$kqNA"AZAbAjArAzAAA3YWS AJ"J*J2J:JBJnJvJAfffff@AM2@A[~? AϥAa&"AAGkqNA"AZAbAjArAzAAACp+@A,+&opAAAA{?Ac?Aˈ?A2*AI<2Ak::AaOBAI<JAk:RAaOYi??yﺃ銺ٓH? `?`?^˯ut?@TQ ?)i? I٘i)I9Y J\+4JJJ&K  C8Y C8y7KC8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028557.383165 s, next control iter: 1743028557.763180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2056&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028557.783165 s.VH~,rS AA ףp=@AE> @A[~? AϥAa&"AAkkqNA"AZAbAjArAzAAA.-Hq+@A SmopAA٠AAj?AKc?A ʈ?A(O3*AI<2A%::AСOBAI<JA%:RAСO٘i)I9Y JJJJ&K Yyŧ7b7C8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028557.823165 s, next control iter: 1743028558.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028558.203165 s.H~,S AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743028558.203278F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@AdT@A[~? AoϥA3a&"AAkqNA"AZAbAjArAzAAArq+@ḀXopA"ξAs*AA?A c?A"Ɉ?AXm3*A-I<2A::AOBA-I<JA:RAO٘i)I9Y J-K2<JJJJ&K Yy77"C8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028558.243165 s, next control iter: 1743028558.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028558.623165 s.SH~,LS AAR@A?-W@A[~? AMϥAa&"AAkqNA"AZAbAjArAzAAASr+@A`N[CopAAi09AAJ?A@|c?A@Lj?A2*AI<2A)::A6OBAI<JA):RA6O٘i)I9Y JJJJ&K YyZ7SI7J1C8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028558.663165 s, next control iter: 1743028559.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2057 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028559.043165 s.H~,S AJ"J*J2J:JBJnJvJA(\@AHi@A[~? A+ϥAda&"AAkqNA"AZAbAjArAzAAA5r+@A8@.opAA{l:AA䭩?Ac?AOƈ?ATӲ*A-I<2Ay::AOBA-I<JAy:RAO٘i)I9Y JJJJ&K Yy777?C8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028559.063165 s, next control iter: 1743028559.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028559.463165 s.VH~,S AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743028559.463314F (some fields omitted in printout)A@Adpe@A[~? A ϥAa&"AAkqNA"AZAbAjArAzAAAf_s+@AUopA#ξA~:AA?Ac?AĈ?A*AyI<2Ah::AOBAyI<JAh:RAOYƞ??y:ٓH? @h??7 vt?VS? ?)ƞ? I٘i)I9Y J,˲<J|JJJ&K Yy77MC8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028559.503165 s, next control iter: 1743028559.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2058, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028559.883165 s.yH~,#S AJ"J*J2J:JBJnJvJA= ףp@ALm<@A[~? AΥAa&"AAlqNA"AZAbAjArAzAAA .qs+@A BopAACb:A򺃽A?Ac?ArÈ?A}*ArnI<2Ai::A$OBArnI<JAi:RA$O٘i)I9Y JJJJ&K Yyŧ7b7L\C8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028559.923165 s, next control iter: 1743028560.283175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028560.303165 s.VH~,wgT AAzG@A x|@A/[~? AΥA,a&"AA>lqNA"AZAbAjArAzAAABAkt+@A79vnpAAr8AA?Ac?A ?A&*A0cI<2Au::AOBA0cI<JAu:RAO٘i)I9Y JJJJ&K Yy7777jC8)ZZZBZL?YY*W2W WWW"W ) )FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743028560.323165 s, next control iter: 1743028560.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2059., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028560.723165 s. H~,H.T AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743028560.723277F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A/O@AE[~? AΥAb&"AAblqNA"AZAbAjArAzAAAn\t+@A}تnpAA7A𺃽A?A c?A?A5^*AWI<2A::AeOBAWI<JA:RAeO٘i)I9Y JJJJ&K Yy77xC8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028560.743165 s, next control iter: 1743028561.123174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743028561.143165 s.U/H~,*IT AA)\@AN@A[[~? AΥA[b&"AAlqNA"AZAbAjArAzAAAvu+@AnpAAiAA??A`c?A?Ap=2*ALI<2A::ALEOBALI<JA:RALEO٘i)I9Y JJJJ&K YyKC8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028561.163165 s, next control iter: 1743028561.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028561.563165 s.H~,F dT AJ"J*J2J:JBJnJvJA@Aޮ@Aq[~? A_ΥAb&"AAlqNA"AZAbAjArAzAAAPu+@ANnpAAAA?A`Qc?A?A֮p3*ATAI<2A|::AP elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200192 time: 1743028561.983288F (some fields omitted in printout)Aq= ף@A ګo@A[~? A=ΥAb&"AAlqNA"AZAbAjArAzAAA a~v+@AiDPnpA"ξA*ʹAA?A`lc?AC?A E3*A5I<2Aaa::A@JOBA5I<JAaa:RA@JO٘i)I9Y J,K2<JJJJ&K Yyb77C8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028562.023165 s, next control iter: 1743028562.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028562.403165 s.&&H~,͙T AJ"J*J2J:JBJnJvJAGz@AT AAQ@Aqu@A[~? AͥA b&"AAmqNA"AZAbAjArAzAAAw+@A|snpA#ξAA:AA0?A`c?A r?A $ *AI<2A'::A!pOBAI<JA':RA!pO٘i)I9Y J;<JJJJ&K Yyb77C8)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028562.883165 s, next control iter: 1743028563.223179 s, wait time: 0.340014 s rAdjusting time to match Gazebo time: 1743028563.243165 s.3H~,qT AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199562 time: 1743028563.243291F (some fields omitted in printout)A\(@A@A[~? AͥAOb&"AA5mqNA"AZAbAjArAzAAA!x+@A`_npAA:AAs?Ac?A`?A! *AI<2A7::AxgOBAI<JA7:RAxgO٘i)I9Y JQ>JJJ&K> Yyj7Z7C8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028563.283165 s, next control iter: 1743028563.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028563.663165 s.:H~,qT AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2062, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A#@A[~? AͥAb&"AAYmqNA"AZAbAjArAzAAAspx+@A#Yx=JnpAAz&:A񺃽A?A@c?A?Aц*AlI<2A"::AHOBAlI<JA":RAHOY敍?3?yﺃ7':ٓH ?b ??Gut?D??)敍? I٘i)I9Y JY4Q>JJJ&K> Yyj7MC8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028563.683165 s, next control iter: 1743028564.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028564.083165 s.DAH~, SU AJ"J*J2J:JBJnJvJAp= @Al<آ@A[~? AͥA|b&"AA|mqNA"AZAbAjArAzAAAU60(y+@A{5npAA-AAA?A`c?A!?AUβ*A8H<2AI1::AJOBA8H<JAI1:RAJO٘i)I9Y JJJJ&K Yyŧ7ŧ7C8)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743028564.123165 s, next control iter: 1743028564.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028564.503165 s.GH~,74 U AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199692 time: 1743028564.503259F (some fields omitted in printout)AHz@Ay@A [~? AqͥAb&"AAmqNA"AZAbAjArAzAAATry+@A2'L npAA/oAA?A 3c?A?AU7*AH<2A#=::ANBAH<JA#=:RAN٘i)I9Y JJJDJ&K Yy777C8)ZZZBZL?YY*W2W WWW"W ) )FFF]m:Waiting for Gazebo time sync: latest Gz time: 1743028564.523165 s, next control iter: 1743028564.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2063, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028564.923165 s.6NH~,;U AJ"J*J2J:JBJnJvJAQ@AúP@A![~? AOͥAb&"AAmqNA"AZAbAjArAzAAA**z+@A npAA ƚAA,?Ac?AA?AsC 3*AH<2A<::AqNBAH<JA<:RAqN٘i)I9Y JJJJ&K  D8Y D8yŧ7b7LD8)ZZZBZL?YY*W2W WWW"W ) )FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743028564.963165 s, next control iter: 1743028565.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028565.343165 s.b&"AAmqNA"AZAbAjArAzAAAMz+@A=mpA"ξA_AA?ALc?Aװ?A@z3*AoH<2Ad*::ANBAoH<JAd*:RAN٘i)I9Y J>K2<JJJJ&K Yy777D8)ZZZBZL?YY*W2W WWW"W ) )FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743028565.363165 s, next control iter: 1743028565.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2064&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028565.763165 s.9[H~,'pU AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200372 time: 1743028565.763309F (some fields omitted in printout)A33333 @A)@AM[~? A ͥAb&"AA nqNA"AZAbAjArAzAAA5{+@ASmpAA|˸AA?ASc?Ap?A 3*AH<2A ::AfNBAH<JA :RAfNY?͝?y̸ٓH? ?!?诿wt?u@?)? I٘i)I9Y JSJJJ&K Yy7$D8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028565.803165 s, next control iter: 1743028566.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028566.183165 s.bH~,kU AAףp= !@A% @Ad[~? ḀAj"b&"AA,nqNA"AZAbAjArAzAAAԐ{+@A*[mpAA˻9:AAY?AOc?A ?Am*AH<2A::AOBAH<JA:RAO٘i)I9Y JJJJ&K Yy77{7M3D8)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028566.203165 s, next control iter: 1743028566.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028566.603165 s.34iH~,U AJ"J*J2J:JBJnJvJA{G!@A!@Az[~? ḀA%b&"AAOnqNA"AZAbAjArAzAAAQIA|+@AQz mpA#ξA]:AA_?A@c?A`?A*AAH<2A::A OBAAH<JA:RA O٘i)I9Y J+˲<JJJJ&K Yy{7AD8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028566.623165 s, next control iter: 1743028567.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2065 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028567.023165 s.ZpH~,{U AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200192 time: 1743028567.023327F (some fields omitted in printout)AQ"@A<)"@A[~? ḀA'b&"AAsnqNA"AZAbAjArAzAAA"|+@A zQmpAAՅ:AA5?A8c?A4?A *AH<2A::ANBAH<JA:RAN٘i)I9Y JJJJ&K Yy C)7ŧ7OD8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028567.063165 s, next control iter: 1743028567.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028567.443165 s.2vH~,)]U AJ"J*J2J:JBJnJvJA(\#@AY.[#@A[~? ḀA**b&"AAnqNA"AZAbAjArAzAAAхL}+@A-IUmpAAo89A𺃽A?A`@c?A@ĩ?A g*A΢H<2A::ANBA΢H<JA:RAN٘i)I9Y JJJJ&K Yy{7j7M^D8)ZZZBZL?YY*W2W WWW"W ) )FFF]x:Waiting for Gazebo time sync: latest Gz time: 1743028567.463165 s, next control iter: 1743028567.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2066, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028567.863165 s.+}H~,>U AAfffff$@A@2$@A[~? AḁA,b&"AAnqNA"AZAbAjArAzAAAqDF$}+@A4fzmpAAA񺃽Ag?Akc?AR?AF*AH<2A::AbNBAH<JA:RAbNY?c?y𺃽}ٓH? 6{V?&?ܯvt?`q>?)? I٘i)I9Y Jw4JJJ&K Yyb77lD8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028567.883165 s, next control iter: 1743028568.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028568.283165 s.6RH~,V AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743028568.283289F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=%@AmtO %@A[~? A?̥AT/b&"AAnqNA"AZAbAjArAzAAA>W~+@A%֭,fmpAA3AAI?A lc?A㦈?AEA02*AzH<2A::ANBAzH<JA:RAN٘i)I9Y JJJJ&K Yy77zD8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028568.303165 s, next control iter: 1743028568.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2067., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028568.703165 s.պH~, -V AAGz&@Aiai%@A[~? ḀA1b&"AAoqNA"AZAbAjArAzAAAZa~+@A(xQmpAAAAE?A c?Aw?A*R3*A?H<2AN::AsNBA?H<JAN:RAsN٘i)I9Y JJJJ&K Yyj7j7PD8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028568.723165 s, next control iter: 1743028569.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028569.123165 s.:H~,iGV AJ"J*J2J:JBJnJvJAR&@AV&@A[~? A˥A~4b&"AA#oqNA"AZAbAjArAzAAAXb+@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199812 time: 1743028569.543268F (some fields omitted in printout)A(\'@AVf'@A[~? A˥A7b&"AAFoqNA"AZAbAjArAzAAAH㹐+@Aw(mpAArN9AA2?A9c?A`?ANM2*AjH<2A*::APNBAjH<JA*:RAPN٘i)I9Y JJJJ&K Yyb77D8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028569.583165 s, next control iter: 1743028569.943174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2068, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028569.963165 s.vH~,}V AJ"J*J2J:JBJnJvJA(@Ane(@A*[~? A˥A9b&"AAioqNA"AZAbAjArAzAAA}Cn+@AmǭampAAW.q:AAǖ?AEc?AE?A$ڲ*A0_H<2A::AUNBA0_H<JA:RAUNY?֔?yHq:ٓH@? @ 8@?!(?jwt?%N?`?)? I٘i)I9Y JdJJJ&K\ Yy777OD8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028570.003165 s, next control iter: 1743028570.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028570.383165 s.إH~,V AA= ףp)@A]߇<)@A@[~? A˥A; elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199772 time: 1743028570.803263F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG*@AAF@*@AV[~? At˥A>b&"AAoqNA"AZAbAjArAzAAAT?+y+@A"?lpAA0\:AAٔ?Auc?A@p?AU*AHH<2A::ArNBAHH<JA:RArN٘i)I9Y JJJJ&K Yy{7D8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028570.843165 s, next control iter: 1743028571.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028571.223165 s.gH~,HV AAQ+@A\T*@Al[~? AR˥AcAb&"AAoqNA"AZAbAjArAzAAAz+@AwUlpAA8A񺃽Aj?A`c?A?A߲*A=H<2A::A@aNBA=H<JA:RA@aN٘i)I9Y JJJJ&K Yyb77OD8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028571.263165 s, next control iter: 1743028571.623178 s, wait time: 0.360013 s$)$ rAdjusting time to match Gazebo time: 1743028571.643165 s.rйH~,)V AJ"J*J2J:JBJnJvJA)\+@Asd+@A[~? A0˥ACb&"AAoqNA"AZAbAjArAzAAAJө5+@AulpAA =AA叩?Ac?A?Aq\O*A{2H<2A::A5NBA{2H<JA:RA5NI٘i)I9Y JJJJ&K Yy77D8)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2070, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028571.683165 s, next control iter: 1743028572.043175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028572.063165 s.H~,A W AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199672 time: 1743028572.063272F (some fields omitted in printout)A,@AV*,@A[~? A˥AFb&"AApqNA"AZAbAjArAzAAA y +@AlpAAAA?Ac?A#?A2*AV'H<2An::ANBAV'H<JAn:RANYC??yDeٓH@?` `+0?0?@Ưvt?S ?)C? I٘i)I9Y J3JJJ&KĢ Yy77j7D8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028572.103165 s, next control iter: 1743028572.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028572.483165 s.p_H~,}W AJ"J*J2J:JBJnJvJAq= ף-@A1o-@A[~? AʥAIb&"AA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743028573.323290F (some fields omitted in printout)AQ/@A]1#/@A[~? AʥAENb&"AApqNA"AZAbAjArAzAAA:L8+@AnlpAA#89AAɎ?A #c?A?A*AzH<2ASd::A"5NBAzH<JASd:RA"5N٘i)I9Y JJJJ&K Yy77&E8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028573.363165 s, next control iter: 1743028573.723176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2072&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028573.743165 s.WH~,moW AA\(0@A8I/@A[~? AʥAPb&"AApqNA"AZAbAjArAzAAA+@AfS_^YlpA#ξAcʌ:AA?AGc?A?Ag *A.G<2AUK::ABNBA.G<JAUK:RABN٘i)I9Y J`<JJJJ&K Yyŧ7b7P5E8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028573.783165 s, next control iter: 1743028574.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028574.163165 s.v}H~,qW AJ"J*J2J:JBJnJvJA1@A)$0@A[~? AeʥAkSb&"AApqNA"AZAbAjArAzAAAe+@AB>DlpAAȽ:AAV?A@c?A %?A*AG<2AA::A89NBAG<JAA:RA89NY??y( :ٓH`"? b׍ ?`Q0?`wvt?wR? ?)? I٘i)I9Y J`JJJ&Kp Yy77{7CE8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028574.183165 s, next control iter: 1743028574.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028574.583165 s.H~, SW AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743028574.583280F (some fields omitted in printout)Ap= 1@A+ܢ1@A[~? ACʥAUb&"AApqNA"AZAbAjArAzAAAX*+@A>N0lpAA)O :AAg?Ac?A?A:*AG<2AG::AeNBAG<JAG:RAeN٘i)I9Y JJJJ&K YyZ7SI7QE8)ZZZBZL?YY*W2W WWW"W ) )FFF]r:Waiting for Gazebo time sync: latest Gz time: 1743028574.603165 s, next control iter: 1743028574.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2073, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028575.003165 s.x H~,L4W AJ"J*J2J:JBJnJvJAHz2@A&y2@A2[~? A!ʥAXb&"AAqqNA"AZAbAjArAzAAA4x﯆+@A* rlpAAH_A򺃽A׉?Ac?AI?A ʲ*AG<2AV::AMBAG<JAV:RAM٘i)I9Y JJJJ&K Yyŧ7ŧ7R`E8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028575.023165 s, next control iter: 1743028575.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028575.423165 s.uH~,wW AAQ3@AaP3@AH[~? AɥA#[b&"AA3qqNA"AZAbAjArAzAAA,x\5+@A9lpAAsAA~?Ac?Aێ?A,հ*AG<2Aa::AQMBAG<JAa:RAQM٘i)I9Y JJJJ&K Yy77nE8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028575.443165 s, next control iter: 1743028575.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2074, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028575.843165 s.H~,W AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200532 time: 1743028575.843325F (some fields omitted in printout)A(\4@A`'4@A^[~? AɥA]b&"AAVqqNA"AZAbAjArAzAAAɺ+@A<0kpAA~AA?Ac?Aq?A$3*AG<2A`::AMBAG<JA`:RAM٘i)I9Y JJJJ&K Yyj7Z7|E8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028575.863165 s, next control iter: 1743028576.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028576.263165 s.H~,X AA333335@Amɪ4@At[~? AɥAG`b&"AAyqqNA"AZAbAjArAzAAA(h2@+@ATFkpA"ξArZAA녩?Ac?A@ ?AJx3*A_G<2AN::AMBA_G<JAN:RAMY`{??yZٓHB&?`Iᐿ`B? |8?ϯwt?@BNK?)`{? I٘i)I9Y J,K2<JQJJJ&K Yy77j7RE8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028576.303165 s, next control iter: 1743028576.663177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2075*, header.stamp.nsec: 0*$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028576.683165 s.l H~,Z+X AJ"J*J2J:JBJnJvJAףp= 6@A 5@A[~? AɥAbb&"AAqqNA"AZAbAjArAzAAAň+@AkpAAʎAA?Ac?A?A3*AG<2AI0::AMBAG<JAI0:RAM٘i)I9Y JJJJ&K Yy C)7ŧ7E8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028576.683165 s, next control iter: 1743028577.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743028577.103165 s.H~,FX AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743028577.103301F (some fields omitted in printout)A{G6@A;*6@A[~? AxɥAkeb&"AAqqNA"AZAbAjArAzAAA@{J+@AqVkpAA*?:AAU?A c?A G?A*AΠG<2A::A MBAΠG<JA:RA M٘i)I9Y JJJJ&K Yy77{7E8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028577.123165 s, next control iter: 1743028577.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028577.523165 s.H~,{aX AJ"J*J2J:JBJnJvJAQ7@A!t%7@A[~? AWɥAgb&"AAqqNA"AZAbAjArAzAAAchKЉ+@ALmkpA#ξAq6:AAS?A`Uc?A@⇈?Aa*AG<2AS::ArMBAG<JAS:RArM٘i)I9Y J/˲<JJJJ&K Yy{7j7QE8)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743028577.543165 s, next control iter: 1743028577.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2076, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028577.943165 s.VdH~,:]|X AA(\8@A:#/[8@A[~? A5ɥAjb&"AArqNA"AZAbAjArAzAAAZ(?U+@A! kpAA(΃:AA?Ac?Ay?Aw *AsG<2AW::AMBAsG<JAW:RAM٘i)I9Y JJJJ&K Yy{7E8)ZZZBZL?YY*W2W WWW"W ) )FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743028577.983165 s, next control iter: 1743028578.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028578.363165 s.%H~,u>X AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199752 time: 1743028578.363252F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff9@AiUK:29@A[~? AɥA mb&"AA)rqNA"AZAbAjArAzAAABڊ+@AFvkpAAh9AA䃩?A c?A@ ?AH*AdG<2Au::A_MBAdG<JAu:RA_MYv?+?y󺃽9ٓH*?uo@?s:?F`vt?r6? ?)v? I٘i)I9Y JQ4JJJ&K Yy77E8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028578.383165 s, next control iter: 1743028578.763175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2077", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028578.783165 s.T+H~,X AA ףp=:@A|? :@A[~? AȥAob&"AALrqNA"AZAbAjArAzAAASD`+@Aʺ,akpAA_AAN?A`7c?A?A*A]tG<2AS::AD{MBA]tG<JAS:RAD{M٘i)I9Y JJJJ&K Yy77QE8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028578.823165 s, next control iter: 1743028579.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028579.203165 s.3H~,X AJ"J*J2J:JBJnJvJAGz;@AkzP:@A[~? AȥABrb&"AAorqNA"AZAbAjArAzAAA˘+@AEXMkpAAAA:?A4c?A4?AE2*AQiG<2A7::ACWMBAQiG<JA7:RACWM٘i)I9Y JJJJ&K Yy7777E8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028579.243165 s, next control iter: 1743028579.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028579.623165 s.W9H~,]X AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200332 time: 1743028579.623319F (some fields omitted in printout)AR;@A4bf;@A$[~? AȥAtb&"AArqNA"AZAbAjArAzAAAcj+@A)8kpAAxJAAA~?A@c?A`̀?A0 U3*A5^G<2A::AGMBA5^G<JA:RAGM٘i)I9Y JJJJ&K Yyb77E8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028579.643165 s, next control iter: 1743028580.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2078 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028580.043165 s.@H~,Y AJ"J*J2J:JBJnJvJA(\<@A׆q<@A:[~? AȥAdwb&"AArqNA"AZAbAjArAzAAA:+@A.$kpA"ξATAAp~?Ac?A@j?A(e3*ASG<2A::A PMBASG<JA:RA PM٘i)I9Y J*K2<JJJJ&K  F8Y F8y77S F8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028580.063165 s, next control iter: 1743028580.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028580.463165 s.SGH~,ۤY AA=@ACre=@AP[~? AjȥAyb&"AArqNA"AZAbAjArAzAAAu+@AnkpAAl9AA<?Ac?A` ~?AbRv2*AGG<2A::AfMBAGG<JA:RAfMYur?~?yt$m9ٓH.?, 鯏?>?E@xt?@ݔ-?@?)ur? I٘i)I9Y JގJJJ&K Yy{7{7F8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028580.503165 s, next control iter: 1743028580.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2079, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028580.883165 s.yMH~,+8Y AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200292 time: 1743028580.883292F (some fields omitted in printout)A= ףp>@Ab0<>@Af[~? AIȥA|b&"AArqNA"AZAbAjArAzAAAJ+@AmijpAAIu:AA?A@ c?A|?A5*A&:AAg?Aqc?A C{?Ad3*Ab1G<2A::AwMBAb1G<JA:RAwM٘i)I9Y J2˲<JJJJ&K Yy77S7F8)ZZZBZL?YY*W2W WWW"W ) )FFF]t:Waiting for Gazebo time sync: latest Gz time: 1743028581.323165 s, next control iter: 1743028581.703175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2080*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028581.723165 s.[H~,HnY AJ"J*J2J:JBJnJvJAQ@@A@̘?@A[~? AȥAb&"AABsqNA"AZAbAjArAzAAA{;+@AxjpAATW:AA}?ACc?A`y?Am*AS&G<2A4::A*^MBAS&G<JA4:RA*^M٘i)I9Y JJJJ&K YyEF8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028581.763165 s, next control iter: 1743028582.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028582.143165 s.V/bH~,*Y AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743028582.143266F (some fields omitted in printout)A)\@@An@@A[~? AǥA6b&"AAesqNA"AZAbAjArAzAAApku+@A XjpA$ξAR[8AAZ{?A ac?Anx?Aܲ*ASG<2A?::A4MBASG<JA?:RA4M٘i)I9Y J_<JJJJ&K Yyb77SF8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028582.183165 s, next control iter: 1743028582.543178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028582.563165 s.hH~,A Y AJ"J*J2J:JBJnJvJAA@AÚʢA@A[~? AǥAƆb&"AAsqNA"AZAbAjArAzAAAW+@ANE˨jpA#ξABAAx?Ac?Aw?A?*AVG<2A::A MBAVG<JA:RA MYn?lz?yNCٓH3? Аs?'E?ѯvt?\H?)n? I٘i)I9Y J`3C=Jd4JJJ&K+ Yyj7SI7TbF8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028582.603165 s, next control iter: 1743028582.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2081, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028582.983165 s.oH~,Y AAq= ףB@A_oB@A[~? AǥAVb&"AAsqNA"AZAbAjArAzAAA}ꔐ+@A>jpAA様AAw?A@cc?A@u?A2*AQG<2A:::A!LBAQG<JA::RA!L٘i)I9Y JJJJ&K Yy777pF8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028583.023165 s, next control iter: 1743028583.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028583.403165 s.&vH~,Y AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199612 time: 1743028583.403265F (some fields omitted in printout)AGzC@A@QٰFC@A[~? AǥAb&"AAsqNA"AZAbAjArAzAAAΔ#+@A ӳjpAA킺AAv?Ac?A6t?A &r3*A8F<2A:::A LBA8F<JA::RA L٘i)I9Y JJJJ&K Yy77~F8)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028583.423165 s, next control iter: 1743028583.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2082", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028583.823165 s.|H~,:Y AAQD@AzD@A[~? A]ǥAvb&"AAsqNA"AZAbAjArAzAAA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199822 time: 1743028584.663272F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2083, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)AF@AMTE@A,[~? AǥAb&"AA8tqNA"AZAbAjArAzAAAګ+@AbBjpA#ξA~<:AA*x?A c?Ap?Av*AF<2Apq::A}MBAF<JApq:RA}MYi?u?y:ٓH}7?,?E?&wt?Q??)i? I٘i)I9Y JX<JX+JJJ&KF Yyb77F8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028584.683165 s, next control iter: 1743028585.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028585.083165 s.DH~,SEZ AJ"J*J2J:JBJnJvJAp= F@AoܢF@AB[~? AƥA#b&"AA[tqNA"AZAbAjArAzAAAok.+@A-jpAA{:AAYw?A@c?An?A*AF<2AGh::A]MBAF<JAGh:RA]M٘i)I9Y JJJJ&K Yy7TF8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028585.123165 s, next control iter: 1743028585.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028585.503165 s.H~,/4`Z AAHzG@AtyG@AX[~? AƥAb&"AA~tqNA"AZAbAjArAzAAA7t+@AZ jpAA :AAcu?A@c?A`Gm?A*AF<2An::A0LBAF<JAn:RA0L٘i)I9Y JJJJ&K Yyb77F8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028585.543165 s, next control iter: 1743028585.903175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2084, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028585.923165 s.6H~,{Z AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743028585.923286F (some fields omitted in printout)J"J*J2J:JBJnJvJAQH@AQH@An[~? AƥAAb&"AAtqNA"AZAbAjArAzAAAi19+@AmjpA$ξA/|AAr?A`c?Ak?AlƲ*AF<2A`}::ALBAF<JA`}:RAL٘i)I9Y J.˲<JJJJ&K Yyŧ77F8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028585.963165 s, next control iter: 1743028586.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028586.343165 s.<H~,Z AA(\I@A]'I@A[~? AƥAНb&"AAtqNA"AZAbAjArAzAAAD0+@A2{ipA#ξA3GxAAp?Ac?Asj?Af*AF<2A::ALBAF<JA:RAL٘i)I9Y Jr3C=JJJJ&K Yy77UF8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028586.383165 s, next control iter: 1743028586.743177 s, wait time: 0.360012 s)&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2085&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028586.763165 s.2H~, ذZ AJ"J*J2J:JBJnJvJA33333J@AP6 I@A[~? ArƥA^b&"AAtqNA"AZAbAjArAzAAAIRC+@A_ipAA+AA)o?A@c?A@ i?A-)3*AF<2A::A;LBAF<JA:RA;LYXe?q?yoٓH;?/zC?N?pïwt? CS ?)Xe? I٘i)I9Y JS3JJJ&K Yy Cj7j7F8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028586.803165 s, next control iter: 1743028587.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028587.183165 s.˲H~,gZ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743028587.183275F (some fields omitted in printout)Aףp= K@AJ@A[~? APƥAb&"AA uqNA"AZAbAjArAzAAA[pȕ+@AG ipA"ξATAAo?Ac?Ag?Av3*AF<2At::ALBAF<JAt:RAL٘i)I9Y J`3<JJJJ&K  G8Y G8y777G8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028587.203165 s, next control iter: 1743028587.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028587.603165 s.44H~,Z AJ"J*J2J:JBJnJvJA{GK@AyK@A[~? A/ƥA{b&"AA-uqNA"AZAbAjArAzAAAƁM+@A4~ipAA#AAo?A@c?A@Mf?A@2*AtF<2A^V::ALBAtF<JA^V:RAL٘i)I9Y JJJJ&K YyZ7SI7UG8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028587.623165 s, next control iter: 1743028588.003175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2086 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028588.023165 s.ZH~,|[ AAQL@A 2*L@A[~? A ƥA b&"AAPuqNA"AZAbAjArAzAAA܊Җ+@AW1eipAArE:AArp?Ac?Ad?AX*AKF<2A&8::ALBAKF<JA&8:RALI٘i)I9Y JJJJ&K Yyb77G8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028588.043165 s, next control iter: 1743028588.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028588.443165 s.2H~,)][ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199282 time: 1743028588.443260F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\M@A.;1[M@A[~? AťAb&"AAsuqNA"AZAbAjArAzAAAWW+@AAipA#ξA:AAhp?A#c?Ac?Ao*A3uF<2A}$::A+LBA3uF<JA}$:RA+L٘i)I9Y J,˲<JJJJ&K Yy77+G8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028588.463165 s, next control iter: 1743028588.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2087, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028588.863165 s.+H~,>7[ AAfffffN@AkC42N@A[~? AťA%b&"AAuqNA"AZAbAjArAzAAAƯܗ+@AH uipAA:AA+o?A c?A )b?A8 *A3jF<2A"!::AâLBA3jF<JA"!:RAâLY`?m?yh:ٓH ??@0q<?N?Z@wt?@S6P?@?)`? I٘i)I9Y Jd3JJDJ&KЭ Yy77V9G8)ZZZBZL?YY*W2W WWW"W ) )FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743028588.883165 s, next control iter: 1743028589.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028589.283165 s.3RH~,R[ AJ"J*J2J:JBJnJvJA ףp=O@AC O@A[~? AťAb&"AAuqNA"AZAbAjArAzAAAɦa+@AN{`ipAAݤ9AAl?A c?A`?Aį*AD_F<2A+::AJ}LBAD_F<JA+:RAJ}L٘i)I9Y JJJJ&K Yyj7j7GG8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028589.303165 s, next control iter: 1743028589.683176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2088*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028589.703165 s.ӺH~,m[ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200142 time: 1743028589.703289F (some fields omitted in printout)AGzP@A4HSO@A3[~? AťA@b&"AAuqNA"AZAbAjArAzAAA$+@A@LipA$ξA+AAXj?A` c?AW_?AXћ*A\TF<2AW:::AQLBA\TF<JAW::RAQL٘i)I9Y J+˲JJJJ&K Yy7{7VG8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028589.743165 s, next control iter: 1743028590.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028590.123165 s.5H~,T[ AJ"J*J2J:JBJnJvJARP@ASweP@AI[~? AeťAʹb&"AAvqNA"AZAbAjArAzAAA~k+@A(=o7ipA#ξAAALh?Ac?A@]?A=[2*ApIF<2AA::AY.LBApIF<JAA:RAY.L٘i)I9Y J\3C=JJJJ&K Yy77WdG8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028590.143165 s, next control iter: 1743028590.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028590.543165 s.IH~,â[ AA(\Q@Az3jQ@A_[~? ADťAZb&"AA#vqNA"AZAbAjArAzAAAE+@A -)#ipAAAA`g?Ac?A`\?AӼW3*At>F<2A:::ALBAt>F<JA::RAL٘i)I9Y JJJJ&K Yy{7{7rG8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028590.583165 s, next control iter: 1743028590.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2089, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028590.963165 s.xH~,[ AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743028590.963292F (some fields omitted in printout)AR@AzeR@Au[~? A"ťAb&"AAFvqNA"AZAbAjArAzAAAEu+@AipA"ξA.AAg?A`c?A.[?A`3*Aa3F<2A"::A(LBAa3F<JA":RA(LY\?h?yٓH!D?@``?`U?/֯xt?EB?)\? I٘i)I9Y J^3<Jq>JJJ&K뢹 Yy77G8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028590.983165 s, next control iter: 1743028591.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028591.383165 s.H~,'[ AA= ףpS@AsthpAA&9AAfh?Ac?AY?AJX2*AA(F<2A::A?LBAA(F<JA:RA?L٘i)I9Y JJJJ&K Yy7WG8)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743028591.403165 s, next control iter: 1743028591.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2090", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028591.803165 s.J "J vAH~*J2J,wg[ A:JBJnJvJAzGT@AT@A[~? AĥAb&"AAvqNA"AZAbAjArAzAAA +@A|QhpA#ξAz:AAh?A`c?AtX?A*A'F<2A::AQLBA'F<JA:RAQL٘i)I9Y JgJJJJ&K Yyŧ7b7G8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028591.843165 s, next control iter: 1743028592.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028592.223165 s.gH~,H\ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199702 time: 1743028592.223281F (some fields omitted in printout)AQU@A(\T@A[~? AĥAb&"AAvqNA"AZAbAjArAzAAA6+@AWhpAAb:AAh?ABc?A@W?AA*A"F<2A::ABOLBA"F<JA:RABOL٘i)I9Y JJJJ&K Yy77G8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028592.263165 s, next control iter: 1743028592.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028592.643165 s. H~,R*)\ AJ"J*J2J:JBJnJvJA)\U@A["U@A[~? AĥAb&"AAvqNA"AZAbAjArAzAAA+@AG+hpAAQ:AAf?Ac?A`U?Anz*A3F<2A::AA5LBA3F<JA:RAA5L٘i)I9Y JJJJ&K Yy7)7XG8)ZZZBZL?YY*W2W WWW"W ) tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2091, header.stamp.nsec: 0$ temperature: nan salinity: nan), density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028592.683165 s, next control iter: 1743028593.043188 s, wait time: 0.360023 s rAdjusting time to match Gazebo time: 1743028593.063165 s.H~,c D\ AAV@A2@?)X? I٘i)I9Y J&˲<Jd4JJJ&K Yy777G8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028593.103165 s, next control iter: 1743028593.463180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028593.483165 s.t_H~,^\ AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743028593.483305F (some fields omitted in printout)Aq= ףW@AoW@A[~? AYĥA3b&"AAwqNA"AZAbAjArAzAAAj+@AyŶhpA#ξAHAAa?A`Wc?AR?A0*AuE<2A::AKBAuE<JA:RAK٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 207Jl3C=JJJJ&K Yyj7Z7G8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028593.523165 s, next control iter: 1743028593.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2092, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028593.903165 s.H~,y\ AAGzX@AuyFX@A[~? A8ĥAb&"AA;wqNA"AZAbAjArAzAAA!9u+@A7hpAAc#AA>`?A 3c?AzQ?A*2*AE<2Au::AKBAE<JAu:RAK٘i)I9Y JJJJ&K Yy b7 b7 aG8)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] ; Waiting for Gazebo time sync: latest Gz time: 1743028593.963165 s, next control iter: 1743028594.303180 s, wait time: 0.340015 s rAdjusting time to match Gazebo time: 1743028594.323165 s.q$H~,\ AJ"J*J2J:JBJnJvJAQY@A?Y@A$[~? AĥAKb&"AA^wqNA"AZAbAjArAzAAA#b+@A+khpAAȀAA_?A`c?AP?A+r3*AE<2A::AKBAE<JA:RAK٘i)I9Y JQ>JJJ&K> Yy{7j7G8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028594.343165 s, next control iter: 1743028594.723175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2093&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028594.743165 s.W+H~,d\ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743028594.743294F (some fields omitted in printout)A\(Z@AN_Y@A:[~? AåAb&"AAwqNA"AZAbAjArAzAAA/fK"+@A0xOVhpA"ξAg$AA@`?Ac?AN?Ab33*AE<2A::AKBAE<JA:RAK٘i)I9Y J*2<JQ>JJJ&K>  H8Y H8yb77H8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028594.763165 s, next control iter: 1743028595.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028595.163165 s.v}2H~,q\ AJ"J*J2J:JBJnJvJA[@AC8fZ@AP[~? AåAbb&"AAwqNA"AZAbAjArAzAAA-+@A?UBhpAA83 :AAa?Ac?A`bM?AIv*ArE<2Aȱ::AKBArE<JAȱ:RAKYS?_?y} :ٓH L? T%3@?`7\?1xt?gfA??)S? I٘i)I9Y JWJJJ&K YyZ7SI7YH8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028595.203165 s, next control iter: 1743028595.563177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028595.583165 s.8H~,R\ AAp= [@A٢[@Af[~? AåAb&"AAwqNA"AZAbAjArAzAAA`8 ,+@A{Cq-hpA#ξA:AAXa?Ac?A@L?As*AhE<2A::AKBAhE<JA:RAK٘i)I9Y Ji<JJJJ&K Yy{7{7H8)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028595.603165 s, next control iter: 1743028595.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2094, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028596.003165 s.u @H~,@4] AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200342 time: 1743028596.003309F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz\@A y\@A|[~? AåAyb&"AAwqNA"AZAbAjArAzAAAdXఠ+@A :hpAA#:AA~`?Apc?A`J?A*AvE<2A::AKBAvE<JA:RAK٘i)I9Y JJJJ&K YyZ7Z7-H8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028596.043165 s, next control iter: 1743028596.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028596.423165 s.uFH~,] AAQ]@AfeP]@A[~? AoåAb&"AA xqNA"AZAbAjArAzAAAv5+@A -hpAA/:AA^?A`ec?A?I?A*AE<2Ao::ATKBAE<JAo:RATK٘i)I9Y JJJJ&K Yy Cj7j7Y;H8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028596.443165 s, next control iter: 1743028596.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2095, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028596.843165 s.LH~,5] AJ"J*J2J:JBJnJvJA(\^@Ag+/'^@A[~? ANåAb&"AA0xqNA"AZAbAjArAzAAA_o+@AjMgpA$ξA2AA[?A@c?AG?AB*AęE<2A::A-KBAęE<JA:RA-K٘i)I9Y J*˲<JJJDJ&K Yy7{7IH8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028596.883165 s, next control iter: 1743028597.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028597.263165 s.TH~,P] AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200262 time: 1743028597.263315F (some fields omitted in printout)A33333_@AI ^@A[~? A,åAb&"AASxqNA"AZAbAjArAzAAAFX$b?+@A,RgpA#ξAٗ|AAY?A@c?AsF?ABC0*AE<2A::AtKBAE<JA:RAtKYcO?[?y}ٓHP?R?@gc? ȯwt?O@?)cO? I٘i)I9Y J^3C=Ju>4JJJ&KW Yy77XH8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028597.303165 s, next control iter: 1743028597.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2096., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028597.683165 s.lZH~,gk] AJ"J*J2J:JBJnJvJAףp= `@A:_@A[~? A åAb&"AAvxqNA"AZAbAjArAzAAAh8Ģ+@AK gpAAAAZX?AVc?AE?AZm-3*AE<2Ac::A4^KBAE<JAc:RA4^K٘i)I9Y JJJJ&K Yy77{7YfH8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028597.683165 s, next control iter: 1743028598.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743028598.103165 s.+aH~,] AA{G`@A `@A[~? A¥A/b&"AAxqNA"AZAbAjArAzAAAwɛ I+@AHgpA"ξA$OAAAX?Ac?AC?Agt3*AyE<2A::Ad`KBAyE<JA:RAd`K٘i)I9Y Jc3<JJJJ&K Yyj7tH8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028598.143165 s, next control iter: 1743028598.503183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743028598.523165 s.gH~,{] AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199982 time: 1743028598.523298F (some fields omitted in printout)AQa@A9x&a@A[~? A¥Ab&"AAxqNA"AZAbAjArAzAAA3ͣ+@AXu+gpAA(AAX?A c?AYB?A?2*AnE<2A~::AtKBAnE<JA~:RAtK٘i)I9Y JJJJ&K Yy77H8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028598.563165 s, next control iter: 1743028598.923174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2097, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028598.943165 s.[dnH~,O]] AA(\b@A!8.[b@A[~? A¥ADb&"AAxqNA"AZAbAjArAzAAAR+@A \ˊgpAASK:A AY?Ac?A@?AD*AcE<2Aa::AGKBAcE<JAa:RAGK٘i)I9Y JJJJ&K Yy7ZH8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028598.983165 s, next control iter: 1743028599.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028599.363165 s.uH~,>] AJ"J*J2J:JBJnJvJAfffffc@AZ72c@A+[~? A¥Ab&"AAyqNA"AZAbAjArAzAAATL`פ+@AgflvgpA#ξA,-:AAY?A@c?A??A *AXE<2AN::A3KBAXE<JAN:RA3KYJ?&W?yn~:ٓH6U? +`L?`pc?@@xt?@%S? ?)J? I٘i)I9Y J,˲<JJJJ&K Yy)7)7H8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028599.403165 s, next control iter: 1743028599.763180 s, wait time: 0.360015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2098", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028599.783165 s.[{H~,] AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743028599.783290F (some fields omitted in printout)A ףp=d@AR = d@AA[~? Ad¥AXb&"AA%yqNA"AZAbAjArAzAAA\+@A}bgpAA8:AAXX?Ac?AA>?A*A.ME<2A_K::A,|KBA.ME<JA_K:RA,|K٘i)I9Y JJJJ&K Yy777H8)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028599.823165 s, next control iter: 1743028600.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028600.203165 s.H~, ^ AJ"J*J2J:JBJnJvJAGze@AiUMd@AW[~? AC¥Ab&"AAHyqNA"AZAbAjArAzAAApq+@AMgpA$ξA9AAV?Ac?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200132 time: 1743028601.043300F (some fields omitted in printout)A(\f@AGTnf@A[~? A¥Ab&"AAyqNA"AZAbAjArAzAAAjU+@A)$gpA#ξAjhAAQ?A c?A:?Ap2*A,E<2Ak::AKBA,E<JAk:RAK٘i)I9Y JX3JJJJ&K Yy)7b7H8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028601.083165 s, next control iter: 1743028601.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028601.463165 s.QH~,Ӥ]^ AAg@AKqeg@A[~? AAb&"AAyqNA"AZAbAjArAzAAA1o+@AEgpAAbA AP?Alc?A8?A8Z3*A!E<2Ac::AJBA!E<JAc:RAJYF?R?y琺ٓHEY?P`:@ ?'l?ïxt?LR?)F? I٘i)I9Y JjJJJ&K۟ Yy{7j7\H8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028601.503165 s, next control iter: 1743028601.863175 s, wait time: 0.360010 s ) tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2100, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028601.883165 s.yH~, elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199842 time: 1743028602.303267F (some fields omitted in printout)AzGi@Ai@A[~? AAb&"AAyqNA"AZAbAjArAzAAAՄ|x+@A&X'fpAA{9AAQ?Ac?A@6?A:2*A E<2A"-::AKBA E<JA"-:RAK٘i)I9Y JJJJ&K  I8Y I8y{7{7I8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028602.323165 s, next control iter: 1743028602.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2101*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028602.723165 s.H~,H^ AJ"J*J2J:JBJnJvJAQj@Ai@A[~? A{Ac&"AAzqNA"AZAbAjArAzAAAڄw(+@AkfpA#ξAZ~:A A9R?Ac?A4?A,H*AE<2A::AP-KBAE<JA:RAP-K٘i)I9Y JaJJJJ&K Yy77\I8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028602.763165 s, next control iter: 1743028603.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028603.143165 s.Z/H~,*^ AA)\j@A *j@A[~? AYAc&"AA=zqNA"AZAbAjArAzAAAq΁+@Ax[IfpAA6:AAQ?Ac?AK3?A*AD<2A::A#*KBAD<JA:RA#*K٘i)I9Y JJJJ&K Yyj7j7 I8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028603.163165 s, next control iter: 1743028603.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028603.563165 s.H~,A ^ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199552 time: 1743028603.563272F (some fields omitted in printout)J"J*J2J:JBJnJvJAk@A;8؛k@A[~? A8A,c&"AA`zqNA"AZAbAjArAzAAAUr+@ArafpAAK:AAP?Ac?A1?A *AJD<2A'::AKBAJD<JA':RAK٘i)I9Y JJJJ&K Yy77{7/I8)ZZZBZL?YY*W2W WWW"W ) )FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743028603.583165 s, next control iter: 1743028603.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2102, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028603.983165 s.H~,^ AAq= ףl@Aol@A[~? AAc&"AAzqNA"AZAbAjArAzAAA +@A#fpA$ξA݂AAM?Ac?A0?AAֲ*AD<2A::AJBAD<JA:RAJI٘i)I9Y J)˲<JJJJ&K Yyb77]=I8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028604.003165 s, next control iter: 1743028604.383176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028604.403165 s.&H~,_ AJ"J*J2J:JBJnJvJAGzm@AFm@A2[~? AA= c&"AAzqNA"AZAbAjArAzAAAk+@AWRfpAA=NAA)K?A 1c?A@#/?A*AD<2A!::AJBAD<JA!:RAJ٘i)I9Y JJJJ&K Yy7777KI8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028604.423165 s, next control iter: 1743028604.803174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2103", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028604.823165 s.H~,64_ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200312 time: 1743028604.823301F (some fields omitted in printout)AQn@A'n@AH[~? AA c&"AAzqNA"AZAbAjArAzAAAAT_+@AJnfpA#ξAAAI?A` c?A-?AG2*AD<2A$::AJBAD<JA$:RAJ٘i)I9Y Jc3<JJJDJ&K Yy77ZI8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028604.843165 s, next control iter: 1743028605.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028605.243165 s.H~,mO_ AJ"J*J2J:JBJnJvJA\(o@AS]n@A^[~? AAMc&"AAzqNA"AZAbAjArAzAAAo0+@AKF;YfpAA }A A I?Awc?Af,?Aʫr3*A)D<2A:::AJJBA)D<JA::RAJJ٘i)I9Y JJJJ&K Yy7777\hI8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028605.263165 s, next control iter: 1743028605.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028605.663165 s.H~,qj_ AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2104, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)Ap@Ao@At[~? AAc&"AA{qNA"AZAbAjArAzAAA{+@AJfEfpA"ξALAAI?Ac?A`+?AV,3*A9D<2A::AjJBA9D<JA:RAjJY=?*J?y ٓHa?`Eq?@r?`ݯ@yt? 1 ?)=? I٘i)I9Y J]3JJJJ&K]' Yy77vI8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028605.683165 s, next control iter: 1743028606.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028606.083165 s.DH~,S_ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743028606.083304F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= p@A{eޢp@A[~? ApA]c&"AA1{qNA"AZAbAjArAzAAA/Ȅ6"+@AI41fpAA:A AgJ?A c?A)?Aʄ*ACD<2A+::AJBACD<JA+:RAJ٘i)I9Y JJJJ&K Yyb7b7I8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028606.123165 s, next control iter: 1743028606.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028606.503165 s.H~,+4_ AAHzq@AZyq@A[~? AOAc&"AAT{qNA"AZAbAjArAzAAAJ%Ǧ+@A0fpA#ξAݐ:AAJ?Ac?A](?A*AYD<2A::A%JBAYD<JA:RA%J٘i)I9Y JeJJJJ&K Yy Cj7{7]I8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028606.523165 s, next control iter: 1743028606.903174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2105, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028606.923165 s.9H~,_ AJ"J*J2J:JBJnJvJAQr@A',Pr@A[~? A.Amc&"AAw{qNA"AZAbAjArAzAAAUS++@A[fpAAt:AAI?A@Lc?A'?A*AD<2A/::AJBAD<JA/:RAJ٘i)I9Y JJJJ&K Yy7)7I8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028606.963165 s, next control iter: 1743028607.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028607.343165 s.<H~,_ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199692 time: 1743028607.343294F (some fields omitted in printout)A(\s@Ap's@A[~? A Ac&"AA{qNA"AZAbAjArAzAAA[ݯ+@A7<;epA$ξA :AAG?ACc?A%?Aт*AɉD<2A::AġJBAɉD<JA:RAġJ٘i)I9Y JbJJJJ&K Yy77I8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028607.383165 s, next control iter: 1743028607.743177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2106", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028607.763165 s.5H~,_ AJ"J*J2J:JBJnJvJA33333t@A/R( s@A[~? A뿥A{c&"AA{qNA"AZAbAjArAzAAAh4+@A~GepAAߛAA/E?Ajc?A<$?Aڪ*AD<2A0::AvJBAD<JA0:RAvJY9?E?yR2ٓH e?@`y elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199742 time: 1743028608.603265F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gu@Azu@A [~? AA$c&"AA|qNA"AZAbAjArAzAAAk'=+@A]fepAAPA AA?A`-c?A}!?A13*AiD<2A::A~;JBAiD<JA:RA~;J٘i)I9Y JJJJ&K Yy77I8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028608.643165 s, next control iter: 1743028609.003174 s, wait time: 0.360009 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2107 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028609.023165 s.ZH~, |A` AAQv@A*v@A"[~? AA'c&"AA&|qNA"AZAbAjArAzAAA|#°+@AX"epA"ξAOIA AA?Axc?A$ ?A0q3*A^D<2A::A>JBA^D<JA:RA>J٘i)I9Y J]3JJJJ&K Yy)7ŧ7^I8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028609.063165 s, next control iter: 1743028609.423189 s, wait time: 0.360024 s rAdjusting time to match Gazebo time: 1743028609.443165 s.2H~,)]\` AJ"J*J2J:JBJnJvJA(\w@AY.[w@A8[~? AgA)c&"AAI|qNA"AZAbAjArAzAAAeF+@Ac?ގepAA17A AXB?A}c?A?Am62*ASD<2Aة::A)SJBASD<JAة:RA)SJ٘i)I9Y JJJJ&K Yy7b7I8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028609.483165 s, next control iter: 1743028609.843175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2108, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028609.863165 s.+H~,>w` AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200252 time: 1743028609.863285F (some fields omitted in printout)Afffffx@AiUK:2x@AN[~? AEA,c&"AAl|qNA"AZAbAjArAzAAAlv˱+@A=zepAAjP:A AC?Ac?A`w?A|*AHD<2Ay::AMhJBAHD<JAy:RAMhJY5?`A?y Q:ٓHGj?@|ʎ?Oy?@yt? J??)5? I٘i)I9Y JwJJJ&K  J8Y J8yj7j7 J8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028609.903165 s, next control iter: 1743028610.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028610.283165 s.7R$H~,` AJ"J*J2J:JBJnJvJA ףp=y@A:9C y@Ad[~? A$A.c&"AA|qNA"AZAbAjArAzAAA\']|O+@As[fepA#ξA:A AB?A@ҵc?A ?A|*A>D<2A$z::A|lJBA>D<JA$z:RA|lJ٘i)I9Y J0˲<JJJJ&K Yy77{7^J8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028610.323165 s, next control iter: 1743028610.683177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2109*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028610.703165 s.Ӻ*H~,` AAGzz@AXy@Az[~? AA*1c&"AA|qNA"AZAbAjArAzAAANӲ+@A2@RepAAz:AAA?Ac?A?A(*AX3D<2Ax::AXJBAX3D<JAx:RAXJ٘i)I9Y JJJJ&K Yy77"J8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028610.743165 s, next control iter: 1743028611.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028611.123165 s.61H~,X` AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743028611.123273F (some fields omitted in printout)ARz@AWz@A[~? A⾥A3c&"AA|qNA"AZAbAjArAzAAA0P`X+@A&_=epA$ξA-9AA[??Ac?A`?A;*A(D<2A ::A3JBA(D<JA :RA3J٘i)I9Y J`<JJJJ&K Yy)7ŧ7 1J8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028611.163165 s, next control iter: 1743028611.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028611.543165 s.I8H~,` AA(\{@AXs`{@A[~? AA76c&"AA|qNA"AZAbAjArAzAAAlܳ+@A# )epAA}AAH~,` AJ"J*J2J:JBJnJvJA|@A e|@A[~? AA8c&"AA}qNA"AZAbAjArAzAAA7Ea+@A!bepA#ξA AA:?A c?A ?AG2*APD<2A0::AIBAPD<JA0:RAIY0?-=?yKٓHVn?  M?G?@@xt?@4R?)0? I٘i)I9Y JT3<JE4JJJ&K۟ Yy{7MJ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028612.003165 s, next control iter: 1743028612.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028612.383165 s.EH~,#a AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743028612.383268F (some fields omitted in printout)A= ףp}@A/w<}@A[~? A~AB;c&"AA=}qNA"AZAbAjArAzAAA^+@A”='epAAH!A A:?AEc?A`E?A=\3*AD<2A::AIBAD<JA:RAI٘i)I9Y JJJJ&K Yy777 \J8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028612.423165 s, next control iter: 1743028612.783175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2111", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028612.803165 s.uALH~,sg3a AJ"J*J2J:JBJnJvJAzG~@AMg'~@A[~? A]A=c&"AA`}qNA"AZAbAjArAzAAA]$j+@A=dpA"ξAAAJ:?Arc?A?A]hW3*AC<2Aw::AEIBAC<JAw:RAEI٘i)I9Y Jm3<JJJDJ&K Yy77_jJ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028612.843165 s, next control iter: 1743028613.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028613.223165 s.gSH~,HNa AAQ@A=~@A[~? A<AM@c&"AA}qNA"AZAbAjArAzAAAB+@A[dpAA~9AA;?Aoc?A?A?$2*AC<2AX::AMIBAC<JAX:RAMI٘i)I9Y JJJJ&K Yy7777xJ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028613.263165 s, next control iter: 1743028613.623175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028613.643165 s.J "J *J 2J :J BJ nJ vJ |YH~, *ia AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200312 time: 1743028613.643312F (some fields omitted in printout)A)\@A7l[@A[~? AABc&"AA}qNA"AZAbAjArAzAAAJr+@AHW{dpA#ξA=7:AA;?Ac?AC?A$*AC<2Ar>::A. JBAC<JAr>:RA. J٘i)I9Y J`JJJJ&K Yy77 J8)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2112, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028613.683165 s, next control iter: 1743028614.043177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028614.063165 s.`H~,N a AÀ@A/@A)[~? AAXEc&"AA}qNA"AZAbAjArAzAAANlH+@AqEdpAA:A A;?A`c?A?A|f*A:C<2A1::AAJBA:C<JA1:RAAJY\,?8?y:ٓHr?m??xt?uS? ?)\,? I٘i)I9Y JdJJJ&K Yy77aJ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028614.083165 s, next control iter: 1743028614.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028614.483165 s.t_gH~,a AJ"J*J2J:JBJnJvJAq= ף@A /o@A>[~? AٽAGc&"AA}qNA"AZAbAjArAzAAA]{+@AbIdpAA)F:AAl9?AԱc?A@?AR*AC<2A4::ALIBAC<JA4:RALI٘i)I9Y JJJJ&K YyJ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028614.523165 s, next control iter: 1743028614.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2113, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028614.903165 s.mH~,͹a AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200372 time: 1743028614.903310F (some fields omitted in printout)AGz@AF@AT[~? AAbJc&"AA~qNA"AZAbAjArAzAAA8:+@A^ڇdpA$ξAAA6?A@c?A`- ?AӲ*AC<2A@B::A5IBAC<JA@B:RA5I٘i)I9Y J/˲<JJJJ&K Yy77 J8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028614.943165 s, next control iter: 1743028615.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028615.323165 s.ttH~,a AJ"J*J2J:JBJnJvJAQ@A+ۇ@Aj[~? AALc&"AA1~qNA"AZAbAjArAzAAAq{T+@AGsdpAASAA4?Ac?A ?APr*AIC<2A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200132 time: 1743028616.163301F (some fields omitted in printout)A@A˄@A[~? ATAQc&"AAw~qNA"AZAbAjArAzAAA+@ACKdpAAQxAA|2?A`Qc?A ?Ar3*AC<2AB::AW{IBAC<JAB:RAW{IY/(?|4?y ) yٓHv?v'@,?@_? Ư@yt?)O@?)/(? I٘i)I9Y JrJJJ&K Yy C)7ŧ7 J8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028616.183165 s, next control iter: 1743028616.563178 s, wait time: 0.380013 s()( rAdjusting time to match Gazebo time: 1743028616.583165 s.H~,R%b AAp= ׅ@AWvࢅ@A[~? A3AtTc&"AA~qNA"AZAbAjArAzAAAbWX+@AI7dpA"ξAcA A 3?A`fc?A?Ap&3*AC<2A'::AIBAC<JA':RAI٘i)I9Y J^3JJJJ&K Yy77aJ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028616.603165 s, next control iter: 1743028616.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2115, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028617.003165 s.| H~,]4@b AJ"J*J2J:JBJnJvJAHz@A z@A[~? AAVc&"AA~qNA"AZAbAjArAzAAA%r+@A"dpAAk:AA3?Adc?A@q?A*A;C<2A::AIBA;C<JA:RAI٘i)I9Y JJJJ&K YyJ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028617.023165 s, next control iter: 1743028617.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028617.423165 s.uH~,[b AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4194922 time: 1743028617.423298F (some fields omitted in printout)AQ@A@P@A[~? AA|Yc&"AA~qNA"AZAbAjArAzAAAN7+@A'dpA#ξA :AA4?A@c?A?A*AqC<2Ag::AҭIBAqC<JAg:RAҭI٘i)I9Y JaJJJJ&K  K8Y K8yb77 K8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028617.443165 s, next control iter: 1743028617.823179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2116", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028617.843165 s.ݜH~,ub AJ"J*J2J:JBJnJvJA(\@AZ| (@A[~? AмA\c&"AAqNA"AZAbAjArAzAAA++@A~cpAA[1:A A(3?A`.c?A`?A/P*A|C<2A:::AIBA|C<JA::RAI٘i)I9Y JJJJ&K YycK8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028617.863165 s, next control iter: 1743028618.243181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743028618.263165 s.H~,,ؐb AA33333@AI @A[~? AA^c&"AA%qNA"AZAbAjArAzAAAvk"+@A\c^cpA$ξA4:AA1?A'c?A@e?A*ArC<2A::ArIBArC<JA:RArIY#? 0?y+{:ٓH` {?bn`?@? xt? @??)#? I٘i)I9Y JJz+4JJJ&K? Yy7b7$K8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028618.303165 s, next control iter: 1743028618.663179 s, wait time: 0.360014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 21172, header.stamp.nsec: 02$ temperature: nan2 salinity: nan2, density: 1025.0000002 values[0]: nan2F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028618.683165 s.lH~,b AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200692 time: 1743028618.683358F (some fields omitted in printout)Aףp= @A:։@A[~? AAac&"AAHqNA"AZAbAjArAzAAA~ī+@A֙4cpAAoAA.?AOc?A`?A,X*AgC<2A::AUIBAgC<JA:RAUI٘i)I9Y JJJJ&K Yyj7Z7 3K8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028618.683165 s, next control iter: 1743028619.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743028619.103165 s.H~,b AA{Gአ@APQ+@A.[~? AmAcc&"AAkqNA"AZAbAjArAzAAAݧ*+@A` cpA#ξA_AAT,?AYc?A?AO1*A\C<2A ::A/IBA\C<JA :RA/I٘i)I9Y J^3JJJJ&K Yyŧ7ŧ7cAK8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028619.143165 s, next control iter: 1743028619.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028619.523165 s.H~,{b AJ"J*J2J:JBJnJvJAQ@A$@AD[~? ALAfc&"AAqNA"AZAbAjArAzAAAڶ-+@ALcpAApAA+?A` c?A`O?Az53*ALRC<2A>::A IBALRC<JA>:RA I٘i)I9Y JJJJ&K Yy7OK8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028619.563165 s, next control iter: 1743028619.923179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2118, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028619.943165 s.ZdH~,J]b AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200402 time: 1743028619.943329F (some fields omitted in printout)A(\@A\-[@AZ[~? A+Ahc&"AAqNA"AZAbAjArAzAAAj3+@AXcpA"ξA]CAA+?A Tc?A ?A-Xo3*AGC<2A::AIBAGC<JA:RAII٘i)I9Y Jh3JJJJ&K Yyb7 ^K8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028619.983165 s, next control iter: 1743028620.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028620.363165 s.H~,>c AJ"J*J2J:JBJnJvJAfffff@A72@Ap[~? A Akc&"AAqNA"AZAbAjArAzAAA+@A:ǁcpAAGI8AA+?A Yc?A?Al2*A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199822 time: 1743028621.203279F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@AYX@A[~? AȻApc&"AAqNA"AZAbAjArAzAAAt"+@Ad+NYcpA#ξAeę:AAi,?A@c?A@?A*AD'C<2A::ALIBAD'C<JA:RALI٘i)I9Y J'˲<JJJJ&K Yy77K8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028621.243165 s, next control iter: 1743028621.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028621.623165 s.WH~,]gc AAR돠@A}[T@A[~? AArc&"AA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743028622.463281F (some fields omitted in printout)A@AMpe@A[~? AeAwc&"AAqNA"AZAbAjArAzAAAƔuL+@A1!cpAAaAA9&?Ac?A?A䈉*AC<2A::AMHBAC<JA:RAMHY.?{'?y#SٓH`R? rԐ_?@A?>ѯ@xt? C?).? I٘i)I9Y Jd4JJJ&K Yy{7Z7K8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028622.503165 s, next control iter: 1743028622.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2121, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028622.883165 s.yH~,8c AJ"J*J2J:JBJnJvJA= ףp@A*6u<@A[~? ADA#zc&"AAqNA"AZAbAjArAzAAA~+@A.<cpA#ξAĒA AJ$?Ac?A?Aҍ2*AB<2A::AHBAB<JA:RAH٘i)I9Y Jf3JJJJ&K Yyb77cK8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028622.923165 s, next control iter: 1743028623.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028623.303165 s.UH~,sgc AAzG@AC8@A \~? A#A|c&"AAǀqNA"AZAbAjArAzAAAikT+@A_%bpAA{AA#?A`$c?A9?Aԏ^3*ATB<2A::AHBATB<JA:RAH٘i)I9Y JJJJ&K Yyj7j7K8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028623.343165 s, next control iter: 1743028623.703176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2122&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028623.723165 s.H~,Hc AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743028623.723275F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A#ꓠ@A\~? AA'c&"AAqNA"AZAbAjArAzAAA/-+@AWbpA"ξAAA#?AOc?A?AuR3*AB<2Aҥ::AHBAB<JAҥ:RAH٘i)I9Y J_3JJJJ&K Yyb77K8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028623.763165 s, next control iter: 1743028624.123178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028624.143165 s.X/H~,* d AA)\@A=Y@A4\~? AấAc&"AA qNA"AZAbAjArAzAAAD]+@A@tbpAA?9AA$?A`Mc?A?A2*AB<2A*::AHBAB<JA*:RAH٘i)I9Y JJJJ&K Yyŧ7b7eK8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028624.183165 s, next control iter: 1743028624.543176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028624.563165 s.H~,5 $d AJ"J*J2J:JBJnJvJA̕@Ae@AJ\~? AA+c&"AA0qNA"AZAbAjArAzAAA;+@Af ZbpA#ξAS,:AA&%?A@ic?AC?A*AB<2A.m::A8HBAB<JA.m:RA8HY? #?y q:ٓH?`Հ?K?Yyt?@eP?@?)? I٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 206J^JQJJJ&KY YyZ7Z7K8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028624.603165 s, next control iter: 1743028624.963173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2123, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028624.983165 s.H~,>d AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200312 time: 1743028624.983299F (some fields omitted in printout)Aq= ף@A ګo@A`\~? AAc&"AARqNA"AZAbAjArAzAAA~k*e+@A:@bpAA:AA$?A ߦc?A@?A*AxB<2A`::AHBAxB<JA`:RAH٘i)I9Y J JJJ&K   L8Y  L8y b7 7  L8)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] ; Waiting for Gazebo time sync: latest Gz time: 1743028625.063165 s, next control iter: 1743028625.383177 s, wait time: 0.320012 s rAdjusting time to match Gazebo time: 1743028625.403165 s.&H~,Yd AJ"J*J2J:JBJnJvJAGz@AB#ظF@Au\~? A~A.c&"AAuqNA"AZAbAjArAzAAA68+@A49(bpAA@:AA"?A@c?A?AE*AB<2Ad::A%HBAB<JAd:RA%H٘i)I9Y JQ>JJJ&K> Yyj7Z7dL8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028625.443165 s, next control iter: 1743028625.803176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2124, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028625.823165 s.H~,)td AAQ@Aο@A\~? A^Ac&"AAqNA"AZAbAjArAzAAA"Gm+@Ao|bpA$ξA҆AAf ?Aݦc?A8?Aِв*AdB<2AKr::A HBAdB<JAKr:RA H٘i)I9Y J1˲<JQ>JJJ&K> Yy77&L8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028625.843165 s, next control iter: 1743028626.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028626.243165 s.#H~,yd AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743028626.243301F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(@A?@A\~? A=A0c&"AAqNA"AZAbAjArAzAAA3ypV+@A(gbpAA YAA?Ac?A?AMo*AB<2A::Av|HBAB<JA:RAv|H٘i)I9Y JJJJ&K Yy C5L8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028626.283165 s, next control iter: 1743028626.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028626.663165 s.*H~,qd AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2125, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@AY˙@A\~? AAc&"AA݁qNA"AZAbAjArAzAAAeu+@AoSbpA#ξAAAi?A ʦc?A?A;43*AVB<2A_::A bHBAVB<JA_:RA bHY??y AXٓHࠋ?\l ?ž?@޽ yt?@@S ?)? I٘i)I9Y J_3<J[3JJJ&Kܝ Yyb7eCL8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028626.683165 s, next control iter: 1743028627.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028627.083165 s.D1H~,Sd AJ"J*J2J:JBJnJvJAp= ך@A{eޢ@A\~? AA2c&"AAqNA"AZAbAjArAzAAAӹr+@AO1?bpAAsAA ?A@2c?A0?Af>r3*AB<2Aq::A^HBAB<JAq:RA^H٘i)I9Y JJJJ&K Yy7QL8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028627.103165 s, next control iter: 1743028627.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028627.503165 s.7H~,D4d AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200322 time: 1743028627.503327F (some fields omitted in printout)AHz@ADy@A\~? AڹAc&"AA#qNA"AZAbAjArAzAAAFz}+@A(~+bpA"ξAbAA?A`Fc?A?A3*AB<2AUV::AoHBAB<JAUV:RAoH٘i)I9Y Ja3JJJJ&K Yy7`L8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028627.543165 s, next control iter: 1743028627.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2126, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028627.923165 s.6>H~,d AJ"J*J2J:JBJnJvJAQ@AP@A\~? AA3c&"AAFqNA"AZAbAjArAzAAA|+@AbpAA:AAr?A`Fc?A?A' *AL}B<2A8::AHBAL}B<JA8:RAH٘i)I9Y JJJJ&K Yy7777enL8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028627.943165 s, next control iter: 1743028628.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028628.343165 s.?A*ArB<2A#"::AHBArB<JA#":RAH٘i)I9Y JeJJJJ&K Yy|L8)ZZZBZL?YY*W2W WWW"W ) )FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743028628.363165 s, next control iter: 1743028628.743176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2127", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028628.763165 s.5KH~,0e AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200202 time: 1743028628.763284F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333@A @A$\~? AwA3c&"AAqNA"AZAbAjArAzAAA^m +@AapAA:A A?Ac?A?A *A hB<2A::AHBA hB<JA:RAHY?i?yF:ٓH ? d`??Ayt?Q??)? I٘i)I9Y J[2JJDJ&K Yyj7L8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028628.803165 s, next control iter: 1743028629.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028629.183165 s.RH~,oKe AAףp= @A# ֞@A9\~? AVAc&"AAqNA"AZAbAjArAzAAAOc+@A.apA$ξAy9AA?Ac?A@߇?A*A]B<2A#::APbHBA]B<JA#:RAPbH٘i)I9Y J`JJJJ&K Yy77eL8)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743028629.203165 s, next control iter: 1743028629.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028629.603165 s.34YH~,fe AJ"J*J2J:JBJnJvJA{G០@Ay'@AO\~? A6A3c&"AAтqNA"AZAbAjArAzAAAy)Y+@ArapAAูAA?A :c?A 4އ?A鴲*ASB<2Ae2::A7HBASB<JAe2:RA7H٘i)I9Y JJJJ&K Yy77{7L8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028629.623165 s, next control iter: 1743028630.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2128 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028630.023165 s.Z`H~,{e AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743028630.023292F (some fields omitted in printout)AQ@A h"@Ae\~? AAc&"AAqNA"AZAbAjArAzAAAO+@AfapA#ξAXJA A?A@Bc?A܇?A)1*AHB<2A+<::AHBAHB<JA+<:RAH٘i)I9Y J`3JJJJ&K Yyŧ7b7L8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028630.063165 s, next control iter: 1743028630.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028630.443165 s.2fH~,)]e AJ"J*J2J:JBJnJvJA(\@A!8.[@A{\~? AA3c&"AAqNA"AZAbAjArAzAAAE E+@A[apAAYAA?A`c?Aۇ?AD93*A>B<2A&8::AGBA>B<JA&8:RAG٘i)I9Y JJJJ&K Yy)7fL8)ZZZBZL?YY*W2W WWW"W ) )FFF]x:Waiting for Gazebo time sync: latest Gz time: 1743028630.463165 s, next control iter: 1743028630.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2129, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028630.863165 s.+mH~,>e AAfffff@A&:2@A\~? AӸAc&"AA9qNA"AZAbAjArAzAAAi8+@A,RapA"ξAO=AA?A6c?A3ڇ?Ayl3*Av3B<2A^$::AdHBAv3B<JA^$:RAdHY ?>?y=ٓH? `]O?7?@˯zt?@G?) ? I٘i)I9Y J_3J[JJJ&Kž Yyb7L8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028630.883165 s, next control iter: 1743028631.263178 s, wait time: 0.380013 s) rAdjusting time to match Gazebo time: 1743028631.283165 s.7RtH~,e AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743028631.283290F (some fields omitted in printout)A ףp=@AD!T @A\~? AA2c&"AA\qNA"AZAbAjArAzAAA%!+@AtIwapAA#8AA{?A;c?A؇?A|2*A(B<2A::AHBA(B<JA:RAH٘i)I9Y JJJJ&K Yyb77L8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028631.303165 s, next control iter: 1743028631.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2130., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028631.703165 s.ֺzH~,e AAGz@A˚X࣠@A\~? AAc&"AAqNA"AZAbAjArAzAAA9 +@AAcapA#ξAU[:AA+?A Gc?Aׇ?A첲*AB<2AL::A-HBAB<JAL:RA-H٘i)I9Y J`JJJJ&K Yy7{7gL8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028631.743165 s, next control iter: 1743028632.103174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743028632.123165 s.5H~,Tf AJ"J*J2J:JBJnJvJAR뤠@A.rOW@A\~? AqA0c&"AAqNA"AZAbAjArAzAAARV(+@A04};OapAA$:AA?A`c?A Dև?At*AB<2AH::A0HBAB<JAH:RA0H٘i)I9Y JJJJ&K Yyb7b7L8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028632.143165 s, next control iter: 1743028632.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028632.543165 s.IH~,"f AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199832 time: 1743028632.543268F (some fields omitted in printout)A(\¥@A9]@A\~? APAc&"AAăqNA"AZAbAjArAzAAAɬ+@A)~+6;apAA9 q:A A?A\c?A@ԇ?Am*A B<2AT::AHBA B<JAT:RAH٘i)I9Y JJJJ&K  M8Y M8y7777 M8)ZZZBZL?YY*W2W WWW"W ) )FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743028632.583165 s, next control iter: 1743028632.943175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2131, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028632.963165 s.wH~,=f AJ"J*J2J:JBJnJvJA@AIpe@A\~? A/A.c&"AAqNA"AZAbAjArAzAAA.(0+@A1'apA$ξAzR9AAL?Anc?A@Ӈ?A۲*AA<2A::AGBAA<JA:RAGY??y7R9ٓH6?`{ ?`?@鯿xt?QO*?@?)? I٘i)I9Y J.˲<JyQ4JJJ&KT Yy7gM8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028633.003165 s, next control iter: 1743028633.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028633.383165 s.ؕH~, elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199562 time: 1743028633.803274F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG@AMg'@A)\~? AA+c&"AA,qNA"AZAbAjArAzAAA}a8+@Ag,`pA#ξAVГAA ?A`c?AЇ?A}2*AA<2A::AGBAA<JA:RAG٘i)I9Y Jb3<JJJJ&K Yy777M8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028633.843165 s, next control iter: 1743028634.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028634.223165 s.gH~,Hf AAQ@A&ꨠ@A?\~? AͷAc&"AAOqNA"AZAbAjArAzAAA=+@A.,`pAA>AA# ?A c?Aχ?Ai`3*A(A<2AB::AѠGBA(A<JAB:RAѠG٘i)I9Y JJJJ&K Yy7gEM8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028634.263165 s, next control iter: 1743028634.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028634.643165 s.tЩH~,)f AJ"J*J2J:JBJnJvJA)\@A,_@AT\~? AA(c&"AArqNA"AZAbAjArAzAAA;@+@A`6{,`pA"ξA}"AA~ ?A 4c?AB·?AUM3*AA<2A$::AGBAA<JA$:RAG٘i)I9Y J`3JJJJ&K Yy777SM8)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2133, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028634.663165 s, next control iter: 1743028635.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028635.063165 s.H~,N f AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4201012 time: 1743028635.063370F (some fields omitted in printout)A̪@AA]@Aj\~? AAc&"AAqNA"AZAbAjArAzAAA+@Aea-`pAA_9AAU?A3c?A`̇?A}1*AA<2A::AGBAA<JA:RAGYC? ?y@ſ9ٓH`b?<ُ?h?@`zt?`7? ?)C? I٘i)I9Y JQJJJ&KE Yy)7ŧ7bM8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028635.103165 s, next control iter: 1743028635.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028635.483165 s.q_H~,f AJ"J*J2J:JBJnJvJAq= ף@Aҥo@A\~? AjA$c&"AAqNA"AZAbAjArAzAAAj;G+@A޵]0`pA#ξAx :AA?A Rc?Aˇ?A{*AMA<2A=::AcGBAMA<JA=:RAcG٘i)I9Y JdJJJJ&K Yy77hpM8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028635.523165 s, next control iter: 1743028635.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2134, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028635.903165 s.ȽH~,f AAGz@AoF@A\~? AJAc&"AAڄqNA"AZAbAjArAzAAAy+@A3`pAA":AA9?A˛c?A Uʇ?A{*AŴA<2A::AGBAŴA<JA:RAG٘i)I9Y JJJJ&K Yy C7~M8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028635.923165 s, next control iter: 1743028636.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028636.323165 s.tH~,g AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743028636.323285F (some fields omitted in printout)AQ@Ar@A\~? A)A c&"AAqNA"AZAbAjArAzAAAj=O+@AE8`pA$ξA?9:A Av ?Ac?A`ȇ?A0*ASA<2Aٖ::A%GBASA<JAٖ:RA%GI٘i)I9Y J`JJJJ&K Yy7b7M8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028636.363165 s, next control iter: 1743028636.723176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2135&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028636.743165 s.WH~,d/g AA\(@A ]@A\~? AAc&"AAqNA"AZAbAjArAzAAAֺ+@A}>s`pAA¸AA ?A͛c?ALJ?AkͲ*AA<2A::A4GBAA<JA:RA4G٘i)I9Y JJJDJ&K Yy{7{7jM8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028636.763165 s, next control iter: 1743028637.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028637.163165 s.s}H~,qJg AJ"J*J2J:JBJnJvJA@Aˮ@A\~? A趥Ac&"AABqNA"AZAbAjArAzAAA\V+@AsE_`pAAA^A A?Ac?A OƇ?Ad۱*AA<2A::AaGBAA<JA:RAaGY?^ ?yx^ٓHp?# ?? ǯyt?1K?)? I٘i)I9Y JQ4JJJ&Kߟ Yy77M8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028637.203165 s, next control iter: 1743028637.563177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028637.583165 s.H~,Reg AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199622 time: 1743028637.583262F (some fields omitted in printout)Ap= ׯ@Ar䢯@A\~? AǶAc&"AAeqNA"AZAbAjArAzAAA'n+@A'MK`pA#ξAr"AA ?Aഛc?Ać?A3*AA<2A::AGGBAA<JA:RAGG٘i)I9Y J)2<JJJJ&K Yy777M8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028637.623165 s, next control iter: 1743028637.983174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2136, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028638.003165 s. H~,z4g AJ"J*J2J:JBJnJvJAHz@Ay@A\~? AAc&"AAqNA"AZAbAjArAzAAAUM^+@AKCV7`pAAvnAA?Ac?AÇ?Aq3*AA<2Aܢ::AEGBAA<JAܢ:RAEG٘i)I9Y JJJJ&K Yy{7{7jM8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028638.043165 s, next control iter: 1743028638.403184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743028638.423165 s.uH~,g AAQ@Ay"P@A\~? AAc&"AAqNA"AZAbAjArAzAAA`SA +@Aya#`pA"ξADAAX?A`-c?A]‡?A3*AvA<2An::AVGBAvA<JAn:RAVG٘i)I9Y Jb3<JJJJ&K Yy77M8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028638.463165 s, next control iter: 1743028638.823174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2137, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028638.843165 s.J "J *J 2J :J BJ nJ vJ H~,g AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743028638.843276F (some fields omitted in printout)A(\@AB'@A.\~? AeAc&"AAͅqNA"AZAbAjArAzAAAe+@Akhl`pAA(=%:AA'?A`/c?A?AP"*AhkA<2Ai::A*mGBAhkA<JAi:RA*mG٘i)I9Y JJJJ&K Yyŧ7b7M8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028638.883165 s, next control iter: 1743028639.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028639.263165 s.H~,g AA33333@Aؖ@AC\~? ADAc&"AAqNA"AZAbAjArAzAAAur+@A`x_pA#ξA ":AAP?A@ic?A`ÿ?A2*A`A<2A/T::AvGBA`A<JA/T:RAvGY??yp:ٓH?@]=?`3?zt?@R? ?)? I٘i)I9Y JdJeJJJ&K Yy77iM8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028639.303165 s, next control iter: 1743028639.663176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2138., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028639.683165 s.lH~,Zg AJ"J*J2J:JBJnJvJAףp= @Au9% ֳ@AY\~? A#Ac&"AAqNA"AZAbAjArAzAAA[#m+@Aiyv_pAA:AAQ?A c?A`q?A* *AfVA<2AJN::AhGBAfVA<JAJN:RAhG٘i)I9Y JJJJ&K YyZ7Z7M8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028639.683165 s, next control iter: 1743028640.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743028640.103165 s.H~,̚h AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200282 time: 1743028640.103324F (some fields omitted in printout)A{Gᴠ@A=@Ao\~? AAc&"AA5qNA"AZAbAjArAzAAAB-+@AFl'_pA$ξAg9AA;?Ac?A?A*ALA<2AV::AQGGBALA<JAV:RAQGG٘i)I9Y J`JJJJ&K  N8Y N8y77{7N8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028640.143165 s, next control iter: 1743028640.503180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028640.523165 s.H~,{!h AJ"J*J2J:JBJnJvJAQ@A$"@A\~? AⵥAc&"AAWqNA"AZAbAjArAzAAAI*ut+@A)_pAA1ǹAA?A@,c?A`Ļ?A\*AAA<2Ame::A GBAAA<JAme:RA G٘i)I9Y JJJJ&K Yy7b7jN8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028640.563165 s, next control iter: 1743028640.923179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2139, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028640.943165 s.qdH~,]Wh AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199292 time: 1743028641.363264F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@A&:2@A\~? AAc&"AAqNA"AZAbAjArAzAAA{+@ATvǗ_pAAܖAAd?A`ܗc?A?A@<3*A,A<2ARj::AFBA,A<JARj:RAFY??y,ٓH@?>@#u?ػ?yt?R ?)? I٘i)I9Y Jm2JJJ&K Yy77779N8)ZZZBZL?YY*W2W WWW"W ) )FFF]x:Waiting for Gazebo time sync: latest Gz time: 1743028641.383165 s, next control iter: 1743028641.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2140&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028641.783165 s.VH~,rh AA ףp=@AoD @A\~? AAuc&"AAqNA"AZAbAjArAzAAAQu+@A2 ۃ_pA"ξA%7AAu?A` c?AϷ?Abi3*Ab"A<2A;V::AFBAb"A<JA;V:RAF٘i)I9Y Jg3JJJJ&K Yyb77jGN8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028641.823165 s, next control iter: 1743028642.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028642.203165 s.J "J *J 2J :J BJ nJ vJ #H~,h AAGz@A+]ภ@A\~? A_Ac&"AAqNA"AZAbAjArAzAAAo+@A`o_pAA8AA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743028642.623286F (some fields omitted in printout)AR빠@AA,_@A\~? A?Amc&"AAqNA"AZAbAjArAzAAAV;+@A\_pA#ξA w`:AA?A3c?A 9?Af*AD A<2A::AYGBAD A<JA:RAYG٘i)I9Y JYJJJJ&K Yy77dN8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028642.643165 s, next control iter: 1743028643.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2141 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028643.043165 s.0H~,h AJ"J*J2J:JBJnJvJA(\º@Ak@A\~? AAc&"AA'qNA"AZAbAjArAzAAAI:fJ+@A"H_pAA:AA?Ac?A볇?A&*AA<2AP ::ANGBAA<JAP :RANG٘i)I9Y JJJJ&K Yyj7j7lrN8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028643.063165 s, next control iter: 1743028643.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028643.463165 s.Q7H~,Ӥh AA@ATo le@A\~? AAdc&"AAJqNA"AZAbAjArAzAAA3] +@Aک24_pAAl:AAJ?APc?A?A*Ae@<2A ::AGBAe@<JA :RAGY?d?y [l:ٓH?`=tڎ??!`yt?@#M?`?)? I٘i)I9Y Jp3JJJ&KѨ YyZ7N8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028643.503165 s, next control iter: 1743028643.863173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2142, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028643.883165 s.y=H~,Dh AvPublished command to Gazebo (printed only once in a while):J( dropWeightState: 1"J*J2J:JBJ6 propOmegaAction: 0.000000nJvJ: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743028643.883290F (some fields omitted in printout)A= ףp@A~p>u<@A2\~? AݴAc&"AAmqNA"AZAbAjArAzAAAзo+@AMK _pA$ξAd49AA?Adc?A`C?Ajٲ*A@<2A::AFBA@<JA:RAF٘i)I9Y J4˲<JJJJ&K Yyŧ7b7N8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028643.923165 s, next control iter: 1743028644.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028644.303165 s.SDH~,jgi AAzG@A%z@AH\~? AAZc&"AAqNA"AZAbAjArAzAAA3+@AIe _pAA(A Ap?A`c?A?A&y*A@<2A%::A)FBA@<JA%:RA)F٘i)I9Y JJJJ&K Yy77{7kN8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028644.323165 s, next control iter: 1743028644.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2143*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028644.723165 s.KH~,H.i AJ"J*J2J:JBJnJvJAQ@A4ތ꽠@A^\~? AAc&"AAqNA"AZAbAjArAzAAAc+@A^pA#ξAĔAA?Arc?A`?Ae!2*Ai@<2A+::AFBAi@<JA+:RAF٘i)I9Y J`3<JJJDJ&K Yy{777N8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028644.743165 s, next control iter: 1743028645.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028645.143165 s.V/RH~,*Ii AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200152 time: 1743028645.143298F (some fields omitted in printout)A)\@A3d@As\~? A{APc&"AAՇqNA"AZAbAjArAzAAAM(+@AO^pAA4AA?A c?A`K?A b3*A@<2A !::A FBA@<JA !:RA F٘i)I9Y JJJJ&K Yy7N8)ZZZBZL?YY*W2W WWW"W ) )FFF]s:Waiting for Gazebo time sync: latest Gz time: 1743028645.163165 s, next control iter: 1743028645.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028645.563165 s.XH~,9 di AJ"J*J2J:JBJnJvJA̿@A:@A\~? A[Ad&"AAqNA"AZAbAjArAzAAAP+@A^pA"ξA=AAH?A c?A@?A H3*A@<2A::ApFBA@<JA:RApFY?7?yO{ٓH?`Őt? ?ӯzt?=?)? I٘i)I9Y J^3Ji>JJJ&K Yy77{7mN8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028645.583165 s, next control iter: 1743028645.963175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2144, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)D)D rAdjusting time to match Gazebo time: 1743028645.983165 s._H~,~i AAq= ף@A5lo@A\~? A:AEd&"AAqNA"AZAbAjArAzAAA=#+@AT0׼^pAA9AA ?Ac?A?Awd1*A@<2Az::A|FBA@<JAz:RA|F٘i)I9Y JJJJ&K Yy Cŧ7ŧ7N8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028646.023165 s, next control iter: 1743028646.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028646.403165 s.&fH~,͙i AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199702 time: 1743028646.403283F (some fields omitted in printout)AGz@A- F@A\~? AAd&"AA=qNA"AZAbAjArAzAAAK+@Ao&p^pA#ξAf׆:AA?A@Bc?Ak?A *A~@<2A::AFBA~@<JA:RAF٘i)I9Y JdJJJJ&K Yyb77N8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028646.443165 s, next control iter: 1743028646.803175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2145, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028646.823165 s.lH~,i AAQ @A:AA?A c?A?A*A@<2A::AFBA@<JA:RAF٘i)I9Y JJJJ&K Yyj7j7mN8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028646.863165 s, next control iter: 1743028647.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028647.243165 s.J "J *J 2J :J BJ nJ vJ sH~,mi AA\(à@A @A\~? AسA d&"AAqNA"AZAbAjArAzAAA1I+@A578^pA$ξA3:A A*?Ac?A`˦?AIc*A@<2AT::A=FBA@<JAT:RA=F٘i)I9Y JbJJJJ&K  O8Y O8y{7{7O8)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743028647.263165 s, next control iter: 1743028647.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028647.663165 s.zH~,qi AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743028647.663279F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2146, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)AĠ@A̚Xà@A\~? AA. d&"AAqNA"AZAbAjArAzAAA"j.1+@AZm^pAAWA A?A Őc?Av?A%:ʲ*Ay@<2A5::AepFBAy@<JA5:RAepFY??y ٓH+?`u0?=? Mݯ yt?@?)? I٘i)I9Y Jxd4JJJ&KQ Yyj7j7O8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028647.683165 s, next control iter: 1743028648.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743028648.083165 s.DH~,Rj AJ"J*J2J:JBJnJvJAp= Ġ@AĠ@A \~? AAd&"AALjqNA"AZAbAjArAzAAA5+@A6q~Y^pAA'QcAAM?A ܐc?A"?Aɸ*A1@<2A_::AHFBA1@<JA_:RAHF٘i)I9Y JJJJ&K YyZ7Z7kO8)ZZZBZL?YY*W2W WWW"W ) )FFF]T:Waiting for Gazebo time sync: latest Gz time: 1743028648.103165 s, next control iter: 1743028648.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028648.503165 s.H~,/4 j AAHzŠ@AyŠ@A!\~? AwA!d&"AAqNA"AZAbAjArAzAAA #8+@AA:E^pA#ξAr&AA?Ac?AҢ?A 3*A{@<2A::A>0FBA{@<JA:RA>0F٘i)I9Y J,2<JJJJ&K YySI7,O8)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743028648.523165 s, next control iter: 1743028648.903173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2147, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028648.923165 s.6H~,;j AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743028648.923283F (some fields omitted in printout)J"J*J2J:JBJnJvJAQƠ@A 8PƠ@A6\~? AVAd&"AA qNA"AZAbAjArAzAAAN+@A(11^pAAiAA?A c?A?Ap3*Azq@<2AJ::A.FBAzq@<JAJ:RA.F٘i)I9Y JJJJ&K Yy777;O8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028648.963165 s, next control iter: 1743028649.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028649.343165 s.<H~,Uj AA(\Ǡ@AJi'Ǡ@AL\~? A6Ad&"AA/qNA"AZAbAjArAzAAA(?+@A^pA"ξA&AA.?Ac?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743028650.183284F (some fields omitted in printout)Aףp= ɠ@A>Ƞ@Aw\~? AAd&"AAtqNA"AZAbAjArAzAAAaE+@A,=@A]pA#ξA :AA?A@]c?A?A}*AR@<2A::A_FBAR@<JA:RA_F٘i)I9Y J]JJJJ&K Yyj7j7fO8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028650.203165 s, next control iter: 1743028650.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028650.603165 s.44H~,j AJ"J*J2J:JBJnJvJA{Gɠ@A3k) ɠ@A\~? AԲAd&"AAqNA"AZAbAjArAzAAA D+@Alwk]pAA$:AA?Ac?A [?A*AG@<2A<::AVQFBAG@<JA<:RAVQF٘i)I9Y JJJJ&K Yy{7{7ptO8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028650.643165 s, next control iter: 1743028651.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2149 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028651.023165 s.ZH~,{j AAQʠ@AH,ʠ@A\~? AA d&"AAqNA"AZAbAjArAzAAAL+@AȖ]pA$ξA49A A?Ac?A ?A4*Ay=@<2A::Ah/FBAy=@<JA:RAh/F٘i)I9Y JaJJJJ&K Yy777ĂO8)ZZZBZL?YY*W2W WWW"W ) )FFF]: Waiting for Gazebo time sync: latest Gz time: 1743028651.063165 s, next control iter: 1743028651.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028651.443165 s.1öH~,%]j AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199692 time: 1743028651.443286F (some fields omitted in printout)A(\ˠ@A1[ˠ@A\~? AAr#d&"AA܉qNA"AZAbAjArAzAAAD-}+@A6ú]pAA]չAAk?A%c?A`?Ab*A<3@<2A::A}FBA<3@<JA:RA}F٘i)I9Y JJJJ&K Yyŧ7b7O8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028651.463165 s, next control iter: 1743028651.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2150, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028651.863165 s.+H~,>j AAfffff̠@A-D2̠@A\~? AsA%d&"AAqNA"AZAbAjArAzAAAhS+@Ac]pA#ξA[AAI?A@(c?Ac?A@1*A(@<2A::AEBA(@<JA:RAEY,ߌ?y?yp(ٓH@W? b?K?@⾯yt? P ?),ߌ? II٘i)I9Y J_3JX4JJJ&K@ Yyb77pO8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028651.883165 s, next control iter: 1743028652.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028652.283165 s.8RH~,k AJ"J*J2J:JBJnJvJA ףp=͠@AM J ͠@A\~? ARAc(d&"AA!qNA"AZAbAjArAzAAAb-+@A1g]pAA^AA7?Aόc?A?AY@3*A@<2A::AEBA@<JA:RAE٘i)I9Y JJJJ&K Yyj7j7ĭO8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028652.323165 s, next control iter: 1743028652.683177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2151*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028652.703165 s.׺H~,-k AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199772 time: 1743028652.703270F (some fields omitted in printout)AGzΠ@A=^͠@A\~? A2A*d&"AADqNA"AZAbAjArAzAAA+V(Z+@AY$O]pA"ξA0AAQ?A`c?A̕?A]f3*AJ@<2AV::AEBAJ@<JAV:RAE٘i)I9Y Ja3JJJDJ&K Yy777O8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028652.743165 s, next control iter: 1743028653.103178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028653.123165 s.5H~,TGk AJ"J*J2J:JBJnJvJARΠ@AdVΠ@A\~? AAS-d&"AAfqNA"AZAbAjArAzAAA?+@A/k]pAA 9AA?Ac?A?A#(2*A @<2Al::AbEBA @<JAl:RAbE٘i)I9Y JJJJ&K Yyb7b7oO8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028653.163165 s, next control iter: 1743028653.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028653.543165 s.IH~,bk AA(\Ϡ@AQrϠ@A%\~? AA/d&"AAqNA"AZAbAjArAzAAA׾`+@A'رW]pA#ξA te:AA?A'c?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200372 time: 1743028653.963304F (some fields omitted in printout)AР@AeР@A:\~? AѱAC2d&"AAqNA"AZAbAjArAzAAAe+@AS? ?)ڌ? I٘i)I9Y J\JJJ&Km Yyŧ7b7O8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028654.003165 s, next control iter: 1743028654.363176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028654.383165 s.H~,k AA= ףpѠ@A#fy<Ѡ@AP\~? AA4d&"AAΊqNA"AZAbAjArAzAAAfg+@A;/0]pAAg:AA?AKc?A?AJ*A?<2AA::A&EBA?<JAA:RA&E٘i)I9Y JJJJ&K Yy777pO8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028654.423165 s, next control iter: 1743028654.783174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2153", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028654.803165 s.tAH~,ogk AJ"J*J2J:JBJnJvJAzGҠ@A x|Ҡ@Af\~? AA37d&"AAqNA"AZAbAjArAzAAAM+@A,N]pA$ξA <9A A?A`c?AR?Aֲ*A?<2AM::AEBA?<JAM:RAE٘i)I9Y J3˲<JJJJ&K  P8Y P8y7ŧ7P8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028654.843165 s, next control iter: 1743028655.203175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028655.223165 s.gH~,Hk AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199882 time: 1743028655.223272F (some fields omitted in printout)AQӠ@AL⬈Ҡ@A{\~? AoA9d&"AAqNA"AZAbAjArAzAAA3m+@AK]pAAo.AA;?A`c?A?Aʶk*AX?<2A[::AEBAX?<JA[:RAE٘i)I9Y JJJJ&K Yy7777P8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028655.263165 s, next control iter: 1743028655.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028655.643165 s.vH~,*k AJ"J*J2J:JBJnJvJA)\Ӡ@AAJӠ@A\~? AOA"d&"AAXqNA"AZAbAjArAzAAAt+@A T$\pAAfAA?Ac?A@e?A*uc3*A?<2A V::A[tEBA?<JA V:RA[tEY֌??yٓH?g@g#??.zt? Q ?)֌? I٘i)I9Y J "dJJJ&K 6 Yy {7 {7 .P8)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028656.123165 s, next control iter: 1743028656.463178 s, wait time: 0.340013 s rAdjusting time to match Gazebo time: 1743028656.483165 s.q_H~,l AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199962 time: 1743028656.483272F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ףՠ@A$Coՠ@A\~? AAAd&"AA{qNA"AZAbAjArAzAAAG:+@A-\pA"ξAٹAA1?A c?A?AB3*Ar?<2A=::AWEBAr?<JA=:RAWE٘i)I9Y Jg3JQ>JJJ&K> Yy77=P8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028656.503165 s, next control iter: 1743028656.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2155, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028656.903165 s. H~,9l AAGz֠@AgxF֠@A\~? AACd&"AAqNA"AZAbAjArAzAAA: {+@A5Qh\pAA9AA ?A@c?A׈?A-1*A?<2A::AYEBA?<JA:RAYE٘i)I9Y JQ>JJJ&K> YyZ7pKP8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028656.923165 s, next control iter: 1743028657.303175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028657.323165 s.wH~,)Tl AJ"J*J2J:JBJnJvJAQנ@Aנ@A\~? AͰAEd&"AAqNA"AZAbAjArAzAAA@+@A\pA#ξAߌ:AAv?A:c?A?A1*A?<2A-::AEBA?<JA-:RAE٘i)I9Y JaJJJJ&K Yy77YP8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028657.363165 s, next control iter: 1743028657.723178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2156&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028657.743165 s.WH~,dol AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743028657.743293F (some fields omitted in printout)A\(ؠ@Aנ@A\~? AAuHd&"AAqNA"AZAbAjArAzAAAr+@Aj\pAAE:AA?Ac?AE?A*A[?<2A::A EBA[?<JA:RA E٘i)I9Y JJJJ&K YyS77hP8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028657.763165 s, next control iter: 1743028658.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028658.163165 s.v}"H~,ql AJ"J*J2J:JBJnJvJA٠@Aؠ@A\~? AAJd&"AAqNA"AZAbAjArAzAAAK+@A~\pA$ξA^-:AAߨ?A`c?A@?A*A$?<2A ::AaEBA$?<JA :RAaEYKҌ?ި?y-:ٓH ? \`r?L?@yt?`իE??)KҌ? I٘i)I9Y J^JM4JJJ&K Yy{7j7rvP8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028658.183165 s, next control iter: 1743028658.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028658.583165 s.(H~,Rl AAp= ٠@A,ݢ٠@A)\~? AlAbMd&"AA'qNA"AZAbAjArAzAAA҇+@A]j\pAA6A A~ݨ?AÅc?A ?A|Ʋ*A?<2A::AZEBA?<JA:RAZE٘i)I9Y JJJJ&K Yy77{7ƄP8)ZZZBZL?YY*W2W WWW"W ) )FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743028658.603165 s, next control iter: 1743028658.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2157, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028659.003165 s.{ 0H~,Y4l AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200372 time: 1743028659.003309F (some fields omitted in printout)J"J*J2J:JBJnJvJAHzڠ@Abbyڠ@A>\~? ALAOd&"AAJqNA"AZAbAjArAzAAA{ +@A ǭV\pAA;hAA%ۨ?A؅c?AU?AL*Ay?<2A::A3EBAy?<JA:RA3E٘i)I9Y JJJJ&K Yy777P8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028659.043165 s, next control iter: 1743028659.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028659.423165 s.u6H~,l AAQ۠@ACoP۠@AT\~? A+ANRd&"AAmqNA"AZAbAjArAzAAA4+@A B\pA#ξAAA٨?Ac?A ?A3*Ao?<2A::AEBAo?<JA:RAE٘i)I9Y J/2<JJJJ&K Yyj7j7qP8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028659.463165 s, next control iter: 1743028659.823174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2158, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028659.843165 s.<H~,l AJ"J*J2J:JBJnJvJA(\ܠ@A'ܠ@Aj\~? A ATd&"AAqNA"AZAbAjArAzAAAb+@AB!/\pAAdAAy٨?Ac?A?Ao3*AOe?<2A ::AEBAOe?<JA :RAE٘i)I9Y JJJJ&K Yy777ǯP8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028659.883165 s, next control iter: 1743028660.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028660.263165 s.DH~, m AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199522 time: 1743028660.263253F (some fields omitted in printout)A33333ݠ@Acܠ@A\~? A믥A:Wd&"AAqNA"AZAbAjArAzAAAr튔+@Aǩnd\pA"ξAOAA#ڨ?Ac?A@{~?Aiu 3*AZ?<2Ab::Aq-EBAZ?<JAb:RAq-EYΌ?iڨ?yٓH@?`z??`bۯ@{t?!@?)Ό? I٘i)I9Y J_3<JdJJJ&K_ Yy)7ŧ7P8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028660.303165 s, next control iter: 1743028660.663176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2159*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028660.683165 s.lJH~,^+m AJ"J*J2J:JBJnJvJAףp= ޠ@A{ݠ@A\~? AʯAYd&"AAԌqNA"AZAbAjArAzAAA2+@AӨ\pAAZ1:AAڨ?A`c?A`6}?AgxP*AP?<2A"::ACEBAP?<JA":RACE٘i)I9Y JJJDJ&K Yyj7j7sP8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028660.683165 s, next control iter: 1743028661.083175 s, wait time: 0.400010 s4)4 rAdjusting time to match Gazebo time: 1743028661.103165 s.QH~,Fm AA{Gޠ@AF\ޠ@A\~? AA&\d&"AAqNA"AZAbAjArAzAAA8kɚ+@A ^J[pA#ξAە:AAۨ?AXc?A@{?A*ABF?<2A::AKEBABF?<JA:RAKE٘i)I9Y JaJJJJ&K Yyb77P8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028661.143165 s, next control iter: 1743028661.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028661.523165 s.WH~,{am AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743028661.523282F (some fields omitted in printout)AQߠ@AME*ߠ@A\~? AA^d&"AAqNA"AZAbAjArAzAAA+@A24[pAAL:AA٨?A c?A`z?A,*Am AJ"J*J2J:JBJnJvJAfffff@A9:2@A\~? AIAcd&"AA^qNA"AZAbAjArAzAAA&\$+@A2Ÿ[pAA8eAAIը?A@&c?Ax?A*ᦲ*A'?<2A'::ADBA'?<JA':RADYɌ?3֨?yٓH ?ӐX? ?+ѯyt?l<?)Ɍ? I٘i)I9Y Jd4JJJ&Kg  Q8Y Q8yb77Q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028662.403165 s, next control iter: 1743028662.763174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2161", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028662.783165 s.XkH~,m AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743028662.783292F (some fields omitted in printout)A ףp=@A)YNB @A\~? A)Aed&"AAqNA"AZAbAjArAzAAAݵ(+@A^[pA#ξAAA/Ө?A &c?Av?Ah2*A?<2A::ADBA?<JA:RAD٘i)I9Y J`3JJJJ&K Yy7Q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028662.823165 s, next control iter: 1743028663.183180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028663.203165 s.sH~,m AJ"J*J2J:JBJnJvJAGz@A.R@A\~? A Aphd&"AAqNA"AZAbAjArAzAAA@*+@AY[pAA씺AA)Ҩ?A ʁc?Amu?AwC3*Ai?<2AS::ADBAi?<JAS:RAD٘i)I9Y JJJJ&K Yyb77s"Q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028663.243165 s, next control iter: 1743028663.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028663.623165 s.RyH~,Hm AAR@AA^@A,\~? A讥Ajd&"AAƍqNA"AZAbAjArAzAAA!S+@A}[pA"ξA*AAMҨ?A c?A't?AϏb3*A! ?<2A::ADBA! ?<JA:RAD٘i)I9Y J_3JJJJ&K Yy)7ŧ70Q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028663.663165 s, next control iter: 1743028664.023175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2162 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028664.043165 s.H~,n AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199652 time: 1743028664.043266F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AB^@AB\~? AȮAYmd&"AAqNA"AZAbAjArAzAAADa0+@Ai[pAA*9AAӨ?A`c?Ar?AN2*A><2AJ::AUDBA><JAJ:RAUD٘i)I9Y JJJJ&K Yyb77?Q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028664.083165 s, next control iter: 1743028664.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028664.463165 s.TH~,ߤn AA@A*mqe@AW\~? AAod&"AA qNA"AZAbAjArAzAAAgi+@A%'AV[pA#ξALj:AAӨ?A"c?Aq?AW˲*Ax><2A,::AWDBAx><JA,:RAWD٘i)I9Y JcJJJJ&K Yyŧ7b7tMQ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028664.503165 s, next control iter: 1743028664.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2163, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028664.883165 s.yH~,88n AJ"J*J2J:JBJnJvJA= ףp@As<@Am\~? AABrd&"AA-qNA"AZAbAjArAzAAAck6+@A'YB[pAA ԙ:AAyӨ?A~c?AXp?AK*A8><2Ay::ADBA8><JAy:RAD٘i)I9Y JJJJ&K Yy77[Q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028664.923165 s, next control iter: 1743028665.283175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028665.303165 s.UH~,sgSn AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743028665.303265F (some fields omitted in printout)AzG@A3SZ@A\~? AgAtd&"AAPqNA"AZAbAjArAzAAA^j+@A.[pA$ξAa:AAѨ?AN~c?A o?A*A><2Ay::A_DBA><JAy:RA_D٘i)I9Y JJJJJ&K Yyj7SI7jQ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028665.343165 s, next control iter: 1743028665.703177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2164*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028665.723165 s.H~,Hnn AJ"J*J2J:JBJnJvJAQ@AZՒ@A\~? AGA+wd&"AArqNA"AZAbAjArAzAAAh<+@A31AA 8AAϨ?A`d~c?A@m?AO[Բ*A><2A::A.DBA><JA:RA.D٘i)I9Y JJJJ&K Yy C77txQ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028665.763165 s, next control iter: 1743028666.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028666.143165 s.W/H~, *n AA)\@Aꐛ@A\~? A'Ayd&"AAqNA"AZAbAjArAzAAAu:h+@A._t[pAA[4AA&ͨ?A~c?Apl?A,]*A><2AΓ::A]DBA><JAΓ:RA]D٘i)I9Y JJJJ&K Yy77ʆQ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028666.163165 s, next control iter: 1743028666.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028666.563165 s.H~,5 n AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199682 time: 1743028666.563278F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AI+@A\~? AA|d&"AAqNA"AZAbAjArAzAAA 9gB+@AQPZpA#ξAmgAA_˨?A i~c?A %k?A02*A><2A6::AjDBA><JA6:RAjDY~?ͨ?y6ٓH? ?C?@=zt?@R ?)~? I٘i)I9Y J+2<JJJJ&K% Yy77Q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028666.603165 s, next control iter: 1743028666.963174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2165, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028666.983165 s.H~,n AAq= ף@A ګo@A\~? A步A~d&"AAڎqNA"AZAbAjArAzAAAf e+@Aq,ZpAA˃AAʨ?A}c?Ai?Ad3*A><2A>::AbDBA><JA>:RAbD٘i)I9Y JJJJ&K Yyb77uQ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028667.023165 s, next control iter: 1743028667.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028667.403165 s.&H~,n AJ"J*J2J:JBJnJvJAGz@A̯F@A\~? AƭAd&"AAqNA"AZAbAjArAzAAAPR<_H+@A>]ZpA"ξA_˹AA9˨?A }c?Ah?A=3*AK><2At::A?pDBAK><JAt:RA?pD٘i)I9Y Jd3<JJJJ&K Yy{7{7ɱQ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028667.423165 s, next control iter: 1743028667.803176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2166, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028667.823165 s.H~,n AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199762 time: 1743028667.823288F (some fields omitted in printout)AQ@AA]@A \~? AAnd&"AAqNA"AZAbAjArAzAAAbR+@AW"ٸZpAAx9AĄ?A |c?AWg?A 0*A><2AV::A1DBA><JAV:RA1DI٘i)I9Y JJJJ&K Yy77j7Q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028667.863165 s, next control iter: 1743028668.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028668.243165 s.H~,io AJ"J*J2J:JBJnJvJA\(@Ae6@A \~? AAd&"AAAqNA"AZAbAjArAzAAAw%?N+@A{0ZpA#ξA,:AAx̨?A@9{c?Af?A*A><2A>::A DBA><JA>:RA D٘i)I9Y J_JJJJ&K Yy77uQ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028668.283165 s, next control iter: 1743028668.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028668.663165 s.H~,q*o AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2167, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@Aߋ/@A/ \~? AfATd&"AAcqNA"AZAbAjArAzAAAix7'+@AXۉZpAA6:AA˨?Azc?Ad?A*A><2A`5::ADBA><JA`5:RADY?eɨ?y:ٓHG?`[??zt? ݆R? ?)? I٘i)I9Y JZJJDJ&K Yy7Q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028668.683165 s, next control iter: 1743028669.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028669.083165 s.DH~, SEo AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200192 time: 1743028669.083308F (some fields omitted in printout)Ap= @A٢@AE \~? AEANJd&"AAqNA"AZAbAjArAzAAA7 T+@Ai}ZpA$ξA&:AAɨ?A@zc?A`c?A*Ap><2A:::ApDBAp><JA::RApD٘i)I9Y JaJJJJ&K Yy77 Q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028669.103165 s, next control iter: 1743028669.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028669.503165 s.H~,]4`o AAHz@Azy@A[ \~? A%A:d&"AAqNA"AZAbAjArAzAAAna+@Aq>jZpAA\ ;AAnǨ?Azc?A4b?Aǧò*Aaz><2AH::AGDBAaz><JAH:RAGD٘i)I9Y JJJJ&K Yy777vQ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028669.543165 s, next control iter: 1743028669.903180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2168, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028669.923165 s.6H~,{o AJ"J*J2J:JBJnJvJAQ@AXP@Ap \~? AAd&"AAˏqNA"AZAbAjArAzAAA3mY+@A VZpAAQmAAŨ?Azc?A``?Ac*ARp><2AT::A!DBARp><JAT:RA!D٘i)I9Y JJJJ&K  R8Y R8yb7b7R8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028669.963165 s, next control iter: 1743028670.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028670.343165 s.<H~,o AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4198682 time: 1743028670.343280F (some fields omitted in printout)A(\@A'@A \~? A嬥A d&"AAqNA"AZAbAjArAzAAA4+@ALBZpA#ξA智AAè?Azc?A@_?AU+3*A9f><2AS::A DBA9f><JAS:RA D٘i)I9Y J+2<JJJJ&K Yyŧ7ŧ7 R8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028670.363165 s, next control iter: 1743028670.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2169*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028670.763165 s.J "J *J 2J :J BJ nJ vJ =H~,8ذo AA33333@Ap= @A \~? AŬAd&"AAqNA"AZAbAjArAzAAA1D_+@A V/ZpAA{_AAè?A`yc?AY^?A8n3*A \><2AC::A DBA \><JAC:RA DY?SŨ?yQ_ٓH 6?FK?@?V¯`{t? xK?)? I٘i)I9Y JJJJ&K YyZ7SI7v$R8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028670.783165 s, next control iter: 1743028671.163184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743028671.183165 s.H~,o AAףp= @A[Q@A \~? AAd&"AA2qNA"AZAbAjArAzAAA_+@A+ZpA"ξAԸAA6Ĩ?Ayc?A]?A3*AQ><2A)(::AeDBAQ><JA)(:RAeD٘i)I9Y Jb3<JJJJ&K Yy772R8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028671.223165 s, next control iter: 1743028671.583184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743028671.603165 s.84H~,o AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743028671.603306F (some fields omitted in printout)A{G@Af"@A \~? AAwd&"AAUqNA"AZAbAjArAzAAAg\e+@AoZpAA:7:AAŨ?Axc?A`[?Aomf*AG><2AE ::A;3DBAG><JAE :RA;3D٘i)I9Y JJJJ&K Yy77"AR8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028671.623165 s, next control iter: 1743028672.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2170 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028672.023165 s.ZH~,{p AAQ@AiA'@A \~? AdAd&"AAwqNA"AZAbAjArAzAAA.+@AwYpA#ξA:AAŨ?A\wc?AZ?As*AS=><2A::A:DBAS=><JA:RA:D٘i)I9Y JYJJJJ&K Yy7)7xOR8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028672.063165 s, next control iter: 1743028672.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028672.443165 s.3H~,-]p AJ"J*J2J:JBJnJvJA(\@Ae2[@A \~? ADA[d&"AAqNA"AZAbAjArAzAAA|<2A::A+DBA63><JA:RA+D٘i)I9Y JJJJ&K YyZ7Z7]R8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028672.463165 s, next control iter: 1743028672.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2171, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028672.863165 s.+ H~,u>7p AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743028672.863269F (some fields omitted in printout)Afffff@AO2@A \~? A$A͠d&"AAqNA"AZAbAjArAzAAA +@A>YpA$ξAv9AA?A wc?A@X?A۲*A+)><2AO::ADBA+)><JAO:RADY??yk9ٓH^?{+ ??;꯿ zt?@n8? ?)? I٘i)I9Y J`Jf>4JJJ&K죹 Yyŧ77#lR8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028672.903165 s, next control iter: 1743028673.263175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028673.283165 s.3RH~,Rp AJ"J*J2J:JBJnJvJA ףp=@AB @A \~? AA?d&"AAސqNA"AZAbAjArAzAAA.u|p+@AQ٢YpAAEAAE?A`.wc?AV?A**A&><2A ::APCBA&><JA :RAPC٘i)I9Y JJJJ&K Yy7{7wzR8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028673.323165 s, next control iter: 1743028673.683175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2172*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028673.703165 s.ӺH~,mp AAGz@Aip[[@A2 \~? A䫥Ad&"AAqNA"AZAbAjArAzAAAg+@AYpA#ξA AA4?A+wc?A`iU?A2*A><2A::ACBA><JA:RAC٘i)I9Y Jd3JJJJ&K Yy77͈R8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028673.743165 s, next control iter: 1743028674.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028674.123165 s.6!H~,Xp AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200152 time: 1743028674.123284F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@A ]@AH \~? AīA"d&"AA#qNA"AZAbAjArAzAAA߱4v,@AwÏoYpAAғAA:?A vc?A#T?AۺF3*A ><2A::AƭCBA ><JA:RAƭC٘i)I9Y JJJJ&K Yyb7b7"R8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028674.163165 s, next control iter: 1743028674.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028674.543165 s.I(H~,âp AA(\@Abod@A^ \~? AAd&"AAFqNA"AZAbAjArAzAAAyĥ,@A̐~YpA"ξA $AAg?A vc?AR?Aj^3*A><2A ::AYCBA><JA :RAYC٘i)I9Y Jf3JJJJ&K Yy{7{7wR8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028674.583165 s, next control iter: 1743028674.943174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2173, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028674.963165 s.u.H~,㤽p AJ"J*J2J:JBJnJvJA@A se@As \~? AAd&"AAhqNA"AZAbAjArAzAAAhm{,@A}7@kYpAAH9AA9?Auc?AQ?A2*A=<2A::A=CBA=<JA:RA=CY?Ҽ?y`I9ٓHm?1`lA ??@䯿{t?)?@?)? I٘i)I9Y JNJJJ&K Yyb77γR8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028675.003165 s, next control iter: 1743028675.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028675.383165 s.5H~,+p AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200282 time: 1743028675.383291F (some fields omitted in printout)A= ףp@A^Cp<@A \~? AcAud&"AAqNA"AZAbAjArAzAAATK,@AWYpA#ξA9n:A Aٽ?A &tc?A_P?A7Ҳ*Ak=<2A9::ACBAk=<JA9:RAC٘i)I9Y JdJJJJ&K Yy C77"R8)ZZZBZL?YY*W2W WWW"W ) )FFF]n:Waiting for Gazebo time sync: latest Gz time: 1743028675.403165 s, next control iter: 1743028675.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2174", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028675.803165 s.wA<H~,{gp AJ"J*J2J:JBJnJvJAzG@A9}@A \~? ACAd&"AAqNA"AZAbAjArAzAAA|8,@A}DYpAAW:AA?A sc?A@O?Ag*AI=<2Aβ::ACBAI=<JAβ:RAC٘i)I9Y JJJJ&K Yy777xR8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028675.843165 s, next control iter: 1743028676.203178 s, wait time: 0.360013 s) rAdjusting time to match Gazebo time: 1743028676.223165 s.gCH~,Hq AAQ@AXV@A \~? A#AWd&"AAϑqNA"AZAbAjArAzAAA,@AXf0YpA$ξAs\:AA?AYsc?AM?AE *A<=<2A::ACBA<=<JA:RAC٘i)I9Y J[JJJJ&K Yy77R8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028676.263165 s, next control iter: 1743028676.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028676.643165 s.tIH~,))q AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743028676.643298F (some fields omitted in printout)A)\@AZ@A \~? AAȶd&"AAqNA"AZAbAjArAzAAA,@A_,YpAA48AA?Aosc?AL?AѲ*A==<2A::ASCBA==<JA:RASC٘i)I9Y JJJDJ&K Yyj7j7#R8)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2175, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028676.683165 s, next control iter: 1743028677.043177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028677.063165 s.PH~,g Dq AA@Ai@A \~? A㪥A8d&"AAqNA"AZAbAjArAzAAA h`X ,@A] YpAA_:AA.?Asc?A?K?AO*AB=<2A ::AwCBAB=<JA :RAwCYc??yX;ٓHl?)@?h? Ư`zt?^G?)c? I٘i)I9Y Jd4JJJ&Kp Yy777yR8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028677.103165 s, next control iter: 1743028677.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028677.483165 s.p_WH~,}^q AJ"J*J2J:JBJnJvJAq= ף@Aѯo@A \~? AêAd&"AA6qNA"AZAbAjArAzAAAi^,@AߘXpA#ξAAAr?Aosc?AI?Ac2*A?=<2A::AA[CBA?=<JA:RAA[C٘i)I9Y J/2<JJJJ&K  S8Y S8y S8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028677.523165 s, next control iter: 1743028677.883174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2176, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028677.903165 s.]H~,yq AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200152 time: 1743028677.903287F (some fields omitted in printout)AGz@AUF@A \~? AAd&"AAYqNA"AZAbAjArAzAAAaz,@A0x=XpAAA A䴨?Arc?A`H?Ane3*A+=<2A::ATCBA+=<JA:RATC٘i)I9Y JJJJ&K Yy77#S8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028677.943165 s, next control iter: 1743028678.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028678.323165 s.J "J *J 2J :J BJ sdH~nJ,q AvJAQ@AǁW@A \~? AAd&"AA{qNA"AZAbAjArAzAAAZr,@AM^XpA"ξA弹AA`?A@rc?A@sG?AG73*A=<2Aí::AbCBA=<JAí:RAbC٘i)I9Y J]3<JJJJ&K Yy77y&S8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028678.343165 s, next control iter: 1743028678.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2177*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028678.743165 s.WkH~,dq AA\(@A=@A5 \~? AcAd&"AAqNA"AZAbAjArAzAAAE`,@AsԤ!XpAA]v9AA:?Aqc?A`4F?AU?**AЛ=<2A/::AxCBAЛ=<JA/:RAxC٘i)I9Y JJJJ&K Yyŧ7b74S8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028678.783165 s, next control iter: 1743028679.143175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028679.163165 s.t}rH~,qq AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743028679.163292F (some fields omitted in printout)A@Al?@AK \~? ACAid&"AAqNA"AZAbAjArAzAAA Z,@AfMXpA#ξA:A!A?A@@pc?A D?A*A=<2Ax::AICBA=<JAx:RAICY ?Y?y:ٓH`?iΎ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200222 time: 1743028680.423308F (some fields omitted in printout)AQ@AaP@A \~? A㩥Ad&"AA'qNA"AZAbAjArAzAAADH,@AglXpAAXAA~?Aoc?AA?AB*As=<2A::A$8CBAs=<JA:RA$8C٘i)I9Y JJJJ&K Yy{7j7$nS8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028680.443165 s, next control iter: 1743028680.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2179, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028680.843165 s.J "J *J 2J :J BJ nJ ݌H~vJ,5r AA(\@Ar'@A \~? AéA'd&"AAJqNA"AZAbAjArAzAAAnz73,@AnYXpAA}qAA2?A oc?A??Ak*Ai=<2AX::AlCBAi=<JAX:RAlC٘i)I9Y JJJJ&K Yyŧ7b7z|S8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028680.883165 s, next control iter: 1743028681.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028681.263165 s.H~,Pr AA33333@AK@A \~? AAd&"AAlqNA"AZAbAjArAzAAAW# ,@A[EXpA#ξAfA A٭?Aoc?A >?A3*A_=<2AO::AnBBA_=<JAO:RAnBY?R?yٓH?@:n??h@{t?l4S ?)? I٘i)I9Y J12<J`3JJJ&Kk YyЊS8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028681.303165 s, next control iter: 1743028681.663176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2180., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028681.683165 s.J "J *J 2J :J BJ nJ vJ lH~,^kr AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743028681.683317F (some fields omitted in printout)Aףp= @A. @A \~? AAd&"AAqNA"AZAbAjArAzAAA=j ,@A^Ҳa2XpAAZA!A?Aoc?AO=?Am3*AU=<2A}::A:BBAU=<JA}:RA:B٘i)I9Y JJJJ&K Yy7j7&S8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028681.683165 s, next control iter: 1743028682.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743028682.103165 s.H~,r AA{G@A$z@A \~? AcAtd&"AAqNA"AZAbAjArAzAAAFҷ( ,@A"XpA"ξAAAh?Anc?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199822 time: 1743028682.943289F (some fields omitted in printout)A(\ @A&2[ @A \~? A#ARd&"AAqNA"AZAbAjArAzAAAdK. ,@A7WpAA7:A!A9?Aglc?A9?A*A?7=<2A2::Ar,CBA?7=<JA2:RAr,C٘i)I9Y JJJJ&K Yy77%S8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028682.983165 s, next control iter: 1743028683.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028683.363165 s.H~,u>r AJ"J*J2J:JBJnJvJAfffff @ARy;2 @A" \~? AAd&"AAqNA"AZAbAjArAzAAA6Л ,@A!s}TWpAA]:AA?Alc?AN8?A2*A?-=<2AE/::AECBA?-=<JAE/:RAECY??y:ٓH?`>.?@?zt? kP?@?)? I٘i)I9Y Jd3JJJ&K륹 Yy77j7{S8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028683.403165 s, next control iter: 1743028683.763176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2182", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028683.783165 s.WH~,r AA ףp= @A'UH @A8 \~? A㨥A/d&"AA:qNA"AZAbAjArAzAAA@*3 ,@ApWpA$ξA9AA諨?Alc?A7?Aز*AO#=<2A#9::ABBAO#=<JA#9:RABI٘i)I9Y J+˲<JJJJ&K Yy77S8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028683.823165 s, next control iter: 1743028684.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028684.203165 s.H~,  s AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199822 time: 1743028684.203280F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz @AM @AM \~? AèAd&"AA\qNA"AZAbAjArAzAAAR ,@A?TWpAAJAA`?A>lc?A 5?Aڜ*Af=<2AG::ABBAf=<JAG:RAB٘i)I9Y JJJJ&K Yy7&S8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028684.223165 s, next control iter: 1743028684.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028684.623165 s.WH~,]'s AAR @A b @Ac \~? AA d&"AAqNA"AZAbAjArAzAAA$!&)8 ,@AթWpA#ξAAAX?A8lc?A@w4?A[.2*Az=<2A_O::A+BBAz=<JA_O:RA+B٘i)I9Y J^3<JJJDJ&K Yy{7{7|S8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028684.643165 s, next control iter: 1743028685.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2183 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028685.043165 s.H~,Bs AJ"J*J2J:JBJnJvJA(\@Ae@Ax \~? AAyd&"AAqNA"AZAbAjArAzAAA ,@A OXWpAA񡒺A"Ai?Akc?A43?AI3*A~=<2AH::AĠBBA~=<JAH:RAĠB٘i)I9Y JJJJ&K  T8Y T8y7)7 T8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028685.063165 s, next control iter: 1743028685.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028685.463165 s.QH~,Ӥ]s AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199572 time: 1743028685.463264F (some fields omitted in printout)A@A{me@A \~? AcAd&"AAÔqNA"AZAbAjArAzAAA_c-=,@AۂWpA"ξAAA?A`kc?A1?ApZ3*Am<<2A3::A BBAm<<JA3:RA BY?姨?y ٓH?Pu? l?ȯ|t?C?)? I٘i)I9Y Je3Jq+JJJ&K Yy Cŧ7ŧ7&T8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028685.483165 s, next control iter: 1743028685.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2184, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028685.883165 s.yH~, elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743028686.723284F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A(@A \~? AA0d&"AA*qNA"AZAbAjArAzAAA:?,@AmHWpAAL:A!A?Ahc?A;.?AQ*A/<<2A ::ABBA/<<JA :RAB٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 204JJJJ&K Yy777(ET8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028686.763165 s, next control iter: 1743028687.123178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028687.143165 s.U/H~,*s AA)\@A\@A \~? A䧥Ad&"AAMqNA"AZAbAjArAzAAAˍ F,@AL>4WpA$ξAzV:AA,?Akhc?A`,?A<<2An ::ABBA><<JAn :RAB٘i)I9Y J6<JJJJ&K Yy {7 {7 ST8)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028687.183165 s, next control iter: 1743028687.543176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028687.563165 s.H~,F s AJ"J*J2J:JBJnJvJA@A@A \~? AħA d&"AAoqNA"AZAbAjArAzAAAa,@A}!WpAAn8AAɣ?Ahc?A +?AVϲ*A[<<2A ::AfBBA[<<JA :RAfB٘i)I9Y JQ>JJJ&K> YyaT8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028687.583165 s, next control iter: 1743028687.963175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2186, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028687.983165 s.H~,s AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743028687.983301F (some fields omitted in printout)Aq= ף@AĬo@A \~? AAxd&"AAqNA"AZAbAjArAzAAAMK,@A8WpAA@AAV?A hc?Ah*?AuA*A{<<2A` ::AjBBA{<<JA` :RAjB٘i)I9Y JQ>JJJ&K> Yy77(pT8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028688.003165 s, next control iter: 1743028688.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028688.403165 s.&H~,t AJ"J*J2J:JBJnJvJAGz@A_F@A$ \~? AAd&"AAqNA"AZAbAjArAzAAAkfL:,@A[VpA#ξAA A?A@~hc?A$)?A=2*A<<2A ::ANBBA<<JA :RANB٘i)I9Y JS2<JJJJ&K YyZ7Z7|~T8)ZZZBZL?YY*W2W WWW"W ) )FFF]q:Waiting for Gazebo time sync: latest Gz time: 1743028688.423165 s, next control iter: 1743028688.803176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2187, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028688.823165 s. H~,4t AAQ@A?@A: \~? AdAQd&"AA֕qNA"AZAbAjArAzAAAԤP,@Ad1VpAAˁA#A"?Agc?A'?AYf3*A<<2A ::A@HBBA<<JA :RA@HB٘i)I9Y JJJJ&K Yy777ӌT8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028688.843165 s, next control iter: 1743028689.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028689.243165 s.J "J *J 2J :J H~BJnJ,mOt AvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743028689.243276F (some fields omitted in printout)A\(@A!Z+@AO \~? ADAd&"AAqNA"AZAbAjArAzAAA@: ,@AlӫVpA"ξARAA?A`gc?A&?Ahj13*A<<2A ::AVBBA<<JA :RAVB٘i)I9Y JY3<JJJJ&K Yy77{7)T8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028689.263165 s, next control iter: 1743028689.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028689.663165 s.H~,qjt AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2188, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A&k@Ae \~? A$A+e&"AAqNA"AZAbAjArAzAAAfsjU,@A9VpAAK:AA?A@fc?Al%?A}x*Aw<<2A ::AmBBAw<<JA :RAmBY%?r?y":ٓHg?`e ?c ?@B쯿@|t?iQ@??)%? I٘i)I9Y JmJJJ&K Yyŧ7b7}T8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028689.683165 s, next control iter: 1743028690.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028690.083165 s.D!H~,St AJ"J*J2J:JBJnJvJAp= @A٢@Az \~? AAe&"AA=qNA"AZAbAjArAzAAAeP,@Af+ɬVpA#ξA:*:A$Aנ?A Oec?A/$?AT *Ak<<2A ::ASzBBAk<<JA :RASzB٘i)I9Y JiJJJJ&K Yy777ҷT8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028690.123165 s, next control iter: 1743028690.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028690.503165 s.'H~,@4t AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743028690.503287F (some fields omitted in printout)AHz@A|&y@A \~? A妥Ae&"AA_qNA"AZAbAjArAzAAAZ,@AxfYVpAADՑ:A A?Adc?A "?A *Av<<2A ::AZqBBAv<<JA :RAZqB٘i)I9Y JJJJ&K Yy77j7(T8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028690.543165 s, next control iter: 1743028690.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2189, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)@)@ rAdjusting time to match Gazebo time: 1743028690.923165 s.:.H~,t AJ"J*J2J:JBJnJvJAQ@A;P@A \~? AŦAp e&"AAqNA"AZAbAjArAzAAAk,@A|VpA$ξA:AA-?A dc?A!?AO ߲*Ay<<2A) ::ASBBAy<<JA) :RASB٘i)I9Y J^JJJJ&K Yy{7Z7~T8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028690.943165 s, next control iter: 1743028691.323181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743028691.343165 s.<5H~,t AA(\@A[ H'@A \~? AA e&"AAqNA"AZAbAjArAzAAA2;^,@Av }rVpAA|vAA?Adc?A@d ?AXȼ*Ao<<2AL ::AJ+BBAo<<JAL :RAJ+B٘i)I9Y JJJJ&K Yyj7T8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028691.383165 s, next control iter: 1743028691.743180 s, wait time: 0.360015 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2190&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028691.763165 s.3;H~,t AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200192 time: 1743028691.763290F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333@An@A \~? AAHe&"AAƖqNA"AZAbAjArAzAAA,@A|yy_VpAAvAAg?A dc?A?Az*Ae<<2A? ::A.BBAe<<JA? :RA.BY?b?y_vٓH]? vq?? {t?N`?)? I٘i)I9Y J^+4JJJ&K Yy777*T8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028691.803165 s, next control iter: 1743028692.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028692.183165 s.BH~,k u AAףp= @AkD0@A \~? AeAe&"AAqNA"AZAbAjArAzAAAlfc,@A =KVpA#ξA8HA#A?Adc?A?A3*A\<<2A ::AABA\<<JA :RAA٘i)I9Y J.2<JJJJ&K Yy7)7~T8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028692.223165 s, next control iter: 1743028692.583180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028692.603165 s.64IH~,&u AJ"J*J2J:JBJnJvJA{G@AÖ@A \~? AFAe&"AA qNA"AZAbAjArAzAAAڑ,@Aҁ:8VpAAΉTA$A?A dc?A?AfIk3*A R<<2Aǹ ::AABA R<<JAǹ :RAA٘i)I9Y JJJDJ&K  U8Y U8yŧ7ŧ7 U8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028692.643165 s, next control iter: 1743028693.003181 s, wait time: 0.360016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2191 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028693.023165 s.ZPH~,{Au AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200422 time: 1743028693.023317F (some fields omitted in printout)AQ@AH'@A\~? A&Ae&"AA-qNA"AZAbAjArAzAAA/ h,@A$VpA"ξA6AA?A cc?Ad?A"2*AH<<2A& ::A BBAH<<JA& :RA B٘i)I9Y J_3<JJJJ&K Yyb7)U8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028693.023165 s, next control iter: 1743028693.423177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743028693.443165 s.J "J *J 2J :J /VH~BJnJ,]\u AvJA(\@A!8.[@A&\~? AAe&"AAOqNA"AZAbAjArAzAAA)hH,@A#JhVpA#ξAVC:A%A}?A -bc?A`*?A*A=<<2A ::AABBA=<<JA :RAAB٘i)I9Y JdC=JJJJ&K Yy7777*U8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028693.463165 s, next control iter: 1743028693.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2192, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028693.863165 s.+]H~,>wu AAfffff @A282 @A<\~? A楥Aae&"AArqNA"AZAbAjArAzAAA-l,@ANWUpAA}—:A$A?Ayac?A?A`*A3<<2Ao ::A/!BBA3<<JAo :RA/!BY? ?y:ٓHu?h?? {t?`OR? ?)? I٘i)I9Y JJJJ&K Yy)7ŧ78U8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028693.903165 s, next control iter: 1743028694.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028694.283165 s.6RdH~,u AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200432 time: 1743028694.283320F (some fields omitted in printout)A ףp=!@AB !@AQ\~? AƥAe&"AAqNA"AZAbAjArAzAAA,@A<UpAAI:AAP?A +ac?A?A"*A*<<2Al ::AeBBA*<<JAl :RAeB٘i)I9Y JJJJ&K Yy77*GU8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028694.323165 s, next control iter: 1743028694.683176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2193*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028694.703165 s.ԺjH~,u AAGz"@Ax`!@Ag\~? AA7e&"AAqNA"AZAbAjArAzAAA9p,@A5UpA$ξA+Q9AA?A@2ac?Ah?ATֲ*AA <<2Aw ::AABAA <<JAw :RAA٘i)I9Y J&˲<JJJJ&K YyUU8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028694.743165 s, next control iter: 1743028695.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028695.123165 s.5qH~,Tu AJ"J*J2J:JBJnJvJAR"@A7W"@A|\~? AA!e&"AAؗqNA"AZAbAjArAzAAAa8,@AUpAABAA?AUac?A #?A埗*As<<2A[ ::AABAs<<JA[ :RAA٘i)I9Y JJJJ&K Yy C7cU8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028695.143165 s, next control iter: 1743028695.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028695.543165 s.IxH~,u AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743028695.543295F (some fields omitted in printout)A(\#@AS"^#@A\~? AgA $e&"AAqNA"AZAbAjArAzAAAFs"tu,@AwnUpAAA A?AMac?A?AC2*A <<2Aό ::A+ABA <<JAό :RA+A٘i)I9Y JJJJ&K Yy77{7*rU8)ZZZBZL?YY*W2W WWW"W ) )FFF]t:Waiting for Gazebo time sync: latest Gz time: 1743028695.563165 s, next control iter: 1743028695.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2194, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028695.963165 s.w~H~,u AJ"J*J2J:JBJnJvJA$@Ame$@A\~? AGAx&e&"AAqNA"AZAbAjArAzAAA&,@A[f UpA#ξAZA%A?A `c?A?A]L3*A<<2A ::AABA<<JA :RAAY??y ٓHc ?gޠ(??@{|t?@[+R?)? I٘i)I9Y J12J[JJJ&K9 Yyb77U8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028695.983165 s, next control iter: 1743028696.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028696.383165 s.؅H~,v AA= ףp%@A({<%@A\~? A(A(e&"AA?qNA"AZAbAjArAzAAAwyy,@Al`UpA"ξAAA?A `c?Ae?A[V3*A;<2Aup ::AABA;<JAup :RAA٘i)I9Y J`3C=JJJJ&K Yy77{7֎U8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028696.423165 s, next control iter: 1743028696.783175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2195", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028696.803165 s.xAH~,g3v AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000J: rudderAngleAction: 0.052360"J> elevatorAngleAction: 0.000000*J2J< massPositionAction: 0.0000004 buoyancyAction: 0.000955:JBJ dt: 0.420026nJ2 time: 1743028696.803284vJF (some fields omitted in printout)AzG&@A ~&@A\~? AAL+e&"AAaqNA"AZAbAjArAzAAAW,@AaKvUpAA9AAϑ?A'_c?A,?A#L2*A;<2AoS ::AABA;<JAoS :RAA٘i)I9Y JJJJ&K Yy77*U8)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743028696.843165 s, next control iter: 1743028697.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028697.223165 s.gH~,HNv AAQ'@A0ҋ&@A\~? A褥A-e&"AAqNA"AZAbAjArAzAAAw@~,@AmjbUpA#ξAUw:A&Af?AD^c?A?A<߲*A;<2A9 ::AEABA;<JA9 :RAEA٘i)I9Y Jc<JJJJ&K Yy{7{7U8)ZZZBZL?YY*W2W WWW"W ) )FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743028697.243165 s, next control iter: 1743028697.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028697.643165 s.wЙH~, *iv AJ"J*J2J:JBJnJvJA)\'@A,_'@A\~? AȤA!0e&"AAqNA"AZAbAjArAzAAAe,@A{OUpAA:A$A?A]c?A ?AY*A;<2A, ::AABA;<JA, :RAA٘i)I9Y JJJJ&K Yy77ֹU8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028697.663165 s, next control iter: 1743028698.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2196, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028698.063165 s.H~,[ v AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200612 time: 1743028698.063320F (some fields omitted in printout)A(@A v(@A\~? AA2e&"AAȘqNA"AZAbAjArAzAAA_,@AɈ1 elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199582 time: 1743028699.323279F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ+@A+@AS\~? AJA9e&"AA/qNA"AZAbAjArAzAAAH,@AJ!UpA#ξA*A#A?A@]c?A ?A2*A;<2AK ::ADABA;<JAK :RADA٘i)I9Y J-2<JJJJ&K Yy7,U8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028699.363165 s, next control iter: 1743028699.723175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2198&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028699.743165 s.WH~,mv AA\(,@Ap+@Ah\~? A*A1n,@A~\~? A A>e&"AAsqNA"AZAbAjArAzAAAZ. ,@A;qTpA"ξAΩAA?A`,\c?A6?A m+3*Aޟ;<2A{& ::ANABAޟ;<JA{& :RANAY_~??y%ٓH p ?`~ؐ?C?xЯ|t?93 ?)_~? I٘i)I9Y J_3<J}QJJJ&KU Yyb77V8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028700.203165 s, next control iter: 1743028700.563179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028700.583165 s.H~,R%w AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199562 time: 1743028700.583279F (some fields omitted in printout)Ap= -@A-@A\~? A룥AAe&"AAqNA"AZAbAjArAzAAAՐD ,@AlfTpAA E :AA⊨?A2[c?A?Az*A;<2Ai ::A"eABA;<JAi :RA"eA٘i)I9Y JJJDJ&K YyZ7Z7,V8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028700.603165 s, next control iter: 1743028700.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2199, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028701.003165 s.x H~,L4@w AJ"J*J2J:JBJnJvJAHz.@Ay.@A\~? AˣAmCe&"AAqNA"AZAbAjArAzAAAJT!,@AIĴTpA#ξA:A'A3?AfZc?A ?A> *A;<2AN ::A1qABA;<JAN :RA1qA٘i)I9Y JaJJJJ&K Yy)7b7,V8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028701.043165 s, next control iter: 1743028701.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028701.423165 s.uH~,[w AAQ/@ApP/@A\~? AAEe&"AAڙqNA"AZAbAjArAzAAA.`!,@AGpTpAA:A#Ag?A`Yc?A?A*A;<2A ::AgABA;<JA :RAgA٘i)I9Y JJJJ&K Yy77{7:V8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028701.443165 s, next control iter: 1743028701.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2200, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028701.843165 s.H~,uw AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199882 time: 1743028701.843273F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\0@A(0@A\~? AA>He&"AAqNA"AZAbAjArAzAAAej",@A^TpA$ξA*:AAy?A@Yc?AF?A?ܲ*AUx;<2Al ::AqIABAUx;<JAl :RAqIA٘i)I9Y J`JJJJ&K Yy777-IV8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028701.863165 s, next control iter: 1743028702.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028702.263165 s.H~,ؐw AA333331@Acz0@A\~? AlAJe&"AAqNA"AZAbAjArAzAAAt",@Ar{WzTpAAAA?A Zc?A?AX6*An;<2A ::AO!ABAn;<JA :RAO!AY8z??y;ٓHq?@А^?@;?`ѯ {t?`U>1 ?)8z? I٘i)I9Y Jd4JJJ&K, Yyj7Z7WV8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028702.303165 s, next control iter: 1743028702.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2201., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028702.683165 s.lH~,Zw AJ"J*J2J:JBJnJvJAףp= 2@A- 1@A\~? ALAMe&"AAAqNA"AZAbAjArAzAAA,Qn#,@AxgTpAAizA A?AZc?A?A*Ad;<2A5 ::A@BAd;<JA5 :RA@٘i)I9Y JJJJ&K Yy77{7eV8)ZZZBZL?YY*W2W WWW"W ) )FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743028702.683165 s, next control iter: 1743028703.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743028703.103165 s.H~,w AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743028703.103285F (some fields omitted in printout)A{G2@A2@A\~? A-AxOe&"AAcqNA"AZAbAjArAzAAA)Lۉ#,@AF`(TTpA#ξAk՘A&Aw?AYc?A?A*#3*A[;<2A9 ::A@BA[;<JA9 :RA@٘i)I9Y J12<JJJJ&K Yy-tV8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028703.143165 s, next control iter: 1743028703.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028703.523165 s.H~,|w AJ"J*J2J:JBJnJvJAQ3@A[[!3@A)\~? A AQe&"AAqNA"AZAbAjArAzAAAp_Q$,@AV@TpAANA'Af?A@%Yc?AI?APi3*A4Q;<2A ::A@BA4Q;<JA :RA@٘i)I9Y JJJJ&K Yyŧ7b7V8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028703.543165 s, next control iter: 1743028703.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2202, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028703.943165 s.\dH~,S]w AA(\4@AQH2[4@A?\~? AAHTe&"AAqNA"AZAbAjArAzAAAj$,@A-TpA"ξAXwAA%?A5Xc?A?A2*AEG;<2AJ ::A@BAEG;<JAJ :RA@٘i)I9Y J^3<JJJJ&K Yy777ؐV8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028703.963165 s, next control iter: 1743028704.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028704.363165 s.H~,F?x AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743028704.363336F (some fields omitted in printout)Afffff5@Ag?25@AT\~? A΢AVe&"AAɚqNA"AZAbAjArAzAAA' !%,@A:!=TpA#ξAOH:A(A胨?A@DWc?A`?AБ*AV=;<2A ::AABAV=;<JA :RAAYu?I?y%hI:ٓH}??@:?`P|t?I??)u? I٘i)I9Y J^C=JdJJJ&KL Yyb77.V8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028704.403165 s, next control iter: 1743028704.763224 s, wait time: 0.360059 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2203", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028704.783165 s.W H~,2x AA ףp=6@A}O 6@Aj\~? AAYe&"AAqNA"AZAbAjArAzAAAvP%,@AM[TpAAa5:A'Aშ?AVc?A?A9*Av3;<2A ::AABAv3;<JA :RAA٘i)I9Y JJJJ&K Yy777V8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028704.823165 s, next control iter: 1743028705.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028705.203165 s.H~,Mx AJ"J*J2J:JBJnJvJAGz7@AL6@A\~? AA[e&"AAqNA"AZAbAjArAzAAAƦMw%&,@A5kSpA$ξAuA~:A!A?AIVc?A@d?A*A);<2A ::AZABA);<JA :RAZA٘i)I9Y Je<JJJJ&K Yy C77ػV8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028705.243165 s, next control iter: 1743028705.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028705.623165 s.RH~,Hgx AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743028705.623284F (some fields omitted in printout)AR7@A߉Y7@A\~? AoA]e&"AA0qNA"AZAbAjArAzAAAh&,@A7G\SpAAU9AAs?A`RVc?A@#?A Բ*A;<2A ::Ap@BA;<JA :RAp@٘i)I9Y JJJJ&K YyZ7SI7.V8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028705.663165 s, next control iter: 1743028706.023175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2204 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)4)4 rAdjusting time to match Gazebo time: 1743028706.043165 s. H~,Âx AJ"J*J2J:JBJnJvJA(\8@A@1d8@A\~? AOAO`e&"AARqNA"AZAbAjArAzAAAZ)',@AG0SpAAI AA}?AtVc?A`?A+>*AB;<2A@ ::A@BAB;<JA@ :RA@٘i)I9Y JJJJ&K Yyŧ7b7V8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028706.083165 s, next control iter: 1743028706.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028706.463165 s.S'H~,ۤx AA9@A~me9@A\~? A0Abe&"AAtqNA"AZAbAjArAzAAAkM',@A(˹SpAAYA#A{?AiVc?A?AW2*A ;<2AL ::A@BA ;<JAL :RA@Yq?I~?yٓHk?@@E??{t?=Q?)q? I٘i)I9Y J\4JJJ&Kk Yy77V8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028706.503165 s, next control iter: 1743028706.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2205, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028706.883165 s.y-H~,8x AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200372 time: 1743028706.883304F (some fields omitted in printout)A= ףp:@A<:@A\~? AAee&"AAqNA"AZAbAjArAzAAAY>-(,@A+SpA#ξAA(A#{?A@Vc?A f?AN3*A;<2A ::Ak@BA;<JA :RAk@٘i)I9Y J_2C<JJJJ&K Yyb7/V8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028706.923165 s, next control iter: 1743028707.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028707.303165 s.S4H~,jgx AAzG;@A;@A\~? AAge&"AAqNA"AZAbAjArAzAAA^E,(,@A:i6>SpAA#AAm{?A 8Uc?A.?AzR3*A:<2A> ::A@BA:<JA> :RA@٘i)I9Y JJJJ&K  W8Y W8y7W8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028707.343165 s, next control iter: 1743028707.703177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2206*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028707.723165 s.;H~,Hx AJ"J*J2J:JBJnJvJAQ<@AO;@A\~? AѡAie&"AAۛqNA"AZAbAjArAzAAA1),@AhFSpA"ξA/9AAF|?A?Tc?A?A/2*A:<2A[ ::A7@BA:<JA[ :RA7@٘i)I9Y J^3<JJJJ&K Yy)7ŧ7W8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028707.763165 s, next control iter: 1743028708.123179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028708.143165 s.U/BH~,* y AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200292 time: 1743028708.143321F (some fields omitted in printout)A)\<@AM/1<@A\~? AARle&"AAqNA"AZAbAjArAzAAA{),@A3YlSpA#ξA+|:A)A|?A_Sc?A@?A4*A:<2A&y ::A>@BA:<JA&y :RA>@٘i)I9Y JoC=JJJJ&K Yy77/ W8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028708.163165 s, next control iter: 1743028708.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028708.563165 s.HH~,F $y AJ"J*J2J:JBJnJvJA=@Aw0b=@A+\~? AAne&"AAqNA"AZAbAjArAzAAA 4*,@AWsrYSpAA!g:A'Am|?ARc?A?A*AN:<2Al ::Aн@BAN:<JAl :RAн@Ym?y?y!:ٓH?@ ׎ ? ? |t? S? ?)m? I٘i)I9Y JdJJDJ&KF Yy{7{7.W8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028708.603165 s, next control iter: 1743028708.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2207, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028708.983165 s.OH~,>y AAq= ף>@A8Fo>@A@\~? ArA qe&"AAAqNA"AZAbAjArAzAAAR,*,@A.0FSpA$ξAK:AAz?ARc?AJ?A#*A:<2Apo ::Ab@BA:<JApo :RAb@٘i)I9Y J^<JJJJ&K Yyj7j7 elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199792 time: 1743028709.403266F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz?@A;F?@AU\~? ASAse&"AAdqNA"AZAbAjArAzAAA 8+,@A2SpAAnAAgx?A`Rc?A@ ?A/Jʲ*A:<2Ad| ::A&@BA:<JAd| :RA&@٘i)I9Y JJJJ&K Yy77/KW8)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028709.443165 s, next control iter: 1743028709.803174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2208, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028709.823165 s.\H~,%ty AAQ@@A+ۇ@@Ak\~? A3Aue&"AAqNA"AZAbAjArAzAAA]+,@ASpAA@LAAu?A`Rc?A?Ah#*A=:<2A@ ::A;X@BA=:<JA@ :RA;X@٘i)I9Y JJJJ&K Yy7YW8)ZZZBZL?YY*W2W WWW"W ) )FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743028709.843165 s, next control iter: 1743028710.223175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028710.243165 s.cH~,my AJ"J*J2J:JBJnJvJA\(A@AN @@A\~? AASxe&"AAqNA"AZAbAjArAzAAA7<,,@A Hq SpA#ξAA'Abt?A Rc?A?A'2*A:<2A؋ ::A=@BA:<JA؋ :RA=@٘i)I9Y J02<JJJJ&K Yy77j7gW8)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743028710.263165 s, next control iter: 1743028710.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028710.663165 s.jH~,qy AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743028710.663297F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2209, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)AB@A{2A@A\~? AAze&"AAʜqNA"AZAbAjArAzAAA,,@Aԙ3RpAAc|A)As?A%Rc?AS?A>"g3*AŪ:<2A. ::AV9@BAŪ:<JA. :RAV9@Yi?u?y%|ٓH@l?`@U? ? R|t?aO@?)i? I٘i)I9Y JLJJJ&Kg Yy7772vW8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028710.683165 s, next control iter: 1743028711.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028711.083165 s.DqH~,Sy AJ"J*J2J:JBJnJvJAp= B@A]آB@A\~? AՠA}e&"AAqNA"AZAbAjArAzAAAD1?-,@A?RpA"ξA쐹AAt?A@FQc?A ?AR%3*A:<2Ae ::AH@BA:<JAe :RAH@٘i)I9Y Ja3<JJJJ&K Yy7W8)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743028711.103165 s, next control iter: 1743028711.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028711.503165 s.wH~,34y AAHzC@A܁:yC@A\~? AAe&"AAqNA"AZAbAjArAzAAA2-,@AJRpAAm:AAbu?A@NPc?A?A)*A :<2A&I ::An_@BA :<JA&I :RAn_@٘i)I9Y JJJJ&K Yy7ےW8)ZZZBZL?YY*W2W WWW"W ) )FFF]v:Waiting for Gazebo time sync: latest Gz time: 1743028711.543165 s, next control iter: 1743028711.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2210, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028711.923165 s.4~H~,y AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743028711.923288F (some fields omitted in printout)AQD@A8PD@A\~? AAe&"AA0qNA"AZAbAjArAzAAAfwC.,@A言RpA#ξAΏ:A*Au?AOc?A ?A4H *A9:<2A3 ::Aj@BA9:<JA3 :RAj@٘i)I9Y JbJJJJ&K Yyb70W8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028711.963165 s, next control iter: 1743028712.323176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028712.343165 s.<H~,z AA(\E@A`[?'E@A\~? AvAPe&"AASqNA"AZAbAjArAzAAAT9.,@A GRpAA:A%At?A Oc?A y?A,*A{:<2A, ::A`@BA{:<JA, :RA`@٘i)I9Y JJJJ&K Yy77W8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028712.383165 s, next control iter: 1743028712.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2211&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028712.763165 s.:H~,,0z AJ"J*J2J:JBJnJvJA33333F@A=E@A\~? AWAe&"AAuqNA"AZAbAjArAzAAAQzF/,@AOfyRpA$ξA]g :AAr?A` Oc?A`;?Aʐٲ*Ay:<2A3 ::AB@BAy:<JA3 :RAB@٘i)I9Y J_JJJJ&K Yy7b7ܽW8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028712.803165 s, next control iter: 1743028713.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028713.183165 s.˒H~,Kz AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743028713.183299F (some fields omitted in printout)Aףp= G@AڒUF@A\~? A7Ae&"AAqNA"AZAbAjArAzAAAO/,@A օRpAAhAA`p?A /Oc?A߆?Aъ*A.p:<2AA ::A'@BA.p:<JAA :RA'@٘i)I9Y JJJJ&K Yyb71W8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028713.223165 s, next control iter: 1743028713.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028713.603165 s.54H~,fz AJ"J*J2J:JBJnJvJA{GG@A?G@A,\~? AAe&"AAqNA"AZAbAjArAzAAA\e}J0,@AgvrRpAAm~A#A*n?A8Oc?A ކ?A%0*Af:<2A4L ::AI?BAf:<JA4L :RAI?٘i)I9Y JJJJ&K Yy7{7W8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028713.643165 s, next control iter: 1743028714.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2212 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028714.023165 s.ZH~,{z AAQH@A7H@AA\~? AAe&"AA۝qNA"AZAbAjArAzAAA>0,@A!k_RpA#ξAKA)Al?ANc?A݆?A:'3*A\:<2AI ::A?BA\:<JAI :RA?٘i)I9Y J%2<JJJJ&K Yy7W8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028714.043165 s, next control iter: 1743028714.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028714.443165 s.3æH~,-]z AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199832 time: 1743028714.443294F (some fields omitted in printout)A(\I@A/[I@AV\~? AٟAIe&"AAqNA"AZAbAjArAzAAA|TM1,@AB6LRpAA(IA*Al?A@BNc?AL܆?Ag3*AS:<2A8 ::A?BAS:<JA8 :RA?٘i)I9Y JJJJ&K Yy77772W8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028714.463165 s, next control iter: 1743028714.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2213, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028714.863165 s.+H~,y>z AAfffffJ@AՏM2J@Al\~? AAe&"AAqNA"AZAbAjArAzAAA9D1,@A)69RpA"ξAFk7AAm?ARMc?A@ۆ?A'2*ACI:<2A| ::A ?BACI:<JA| :RA ?Y[a?m?y*jcl7ٓH s?4?#?`ٯ@}t?|>@?)[a? I٘i)I9Y J_3<JcJJJ&K  X8Y X8y Cŧ7ŧ7X8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028714.883165 s, next control iter: 1743028715.263175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028715.283165 s.7RH~,z AJ"J*J2J:JBJnJvJA ףp=K@A.ED K@A\~? AAe&"AAAqNA"AZAbAjArAzAAA(hQ2,@Azn%RpA#ξAN:A+Apn?AcLc?A`ن?A7*Ao?:<2A ::A@BAo?:<JA :RA@٘i)I9Y JsC=JJJJ&K Yy77{7X8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028715.323165 s, next control iter: 1743028715.683177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2214*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028715.703165 s.ֺH~,z AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743028715.703280F (some fields omitted in printout)AGzL@AQF\K@A\~? AzAwe&"AAdqNA"AZAbAjArAzAAAN2,@AqRpAA:A*Aan?AKc?A؆?AmX*A5:<2A ::A@BA5:<JA :RA@٘i)I9Y JJJJ&K Yy)7b73"X8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028715.743165 s, next control iter: 1743028716.103177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028716.123165 s.;H~,m{ AJ"J*J2J:JBJnJvJARL@AʼUL@A\~? A[Aܙe&"AAqNA"AZAbAjArAzAAA6T3,@AOoQpA$ξAy:A$A m?ApKc?As׆?A*A+:<2Aa ::A@BA+:<JAa :RA@I٘i)I9Y Jc<JJJJ&K Yyb7ŧ70X8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028716.163165 s, next control iter: 1743028716.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028716.543165 s.IH~,"{ AA(\M@AesM@A\~? A<A@e&"AAqNA"AZAbAjArAzAAAg3,@A?QpAAֈ9AAj?A`zKc?A 6ֆ?AѲ*A_":<2A ::A?BA_":<JA :RA?٘i)I9Y JJJDJ&K Yy{7{7>X8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028716.563165 s, next control iter: 1743028716.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2215, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028716.963165 s.wH~,={ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200242 time: 1743028716.963283F (some fields omitted in printout)J"J*J2J:JBJnJvJAN@AeN@A\~? AAe&"AAʞqNA"AZAbAjArAzAAAX4,@AQpAAˇAAeh?AKc?AԆ?A*A:<2A+ ::A?BA:<JA+ :RA?YH]?i?yٓHj?@*`?&?ů{t?`pB?)H]? I٘i)I9Y Jd4JJJ&K/ Yyb774MX8)ZZZBZL?YY*W2W WWW"W ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028717.003165 s, next control iter: 1743028717.363176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028717.383165 s.H~,'X{ AA= ףpO@A+ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199582 time: 1743028718.223275F (some fields omitted in printout)AQQ@A>B͐P@A\~? AAХe&"AA0qNA"AZAbAjArAzAAA d:5,@A|䌟QpAAV AAe?AWJc?A Oц?A&M3*A9<2A ::AJJJ&K> Yy777X8)ZZZBZL?YY*W2W WWW"W ) tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2217, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout))FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028718.683165 s, next control iter: 1743028719.043178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028719.063165 s.H~,R { AAR@A-R@AB\~? AAe&"AAtqNA"AZAbAjArAzAAA=6,@A)ˍ9yQpA#ξA:A,Agg?A Hc?A`Ά?AV*A$9<2A ::A?BA$9<JA :RA?Y Y?We?y(c:ٓH w?\JI?'?}t?P?@?) Y? I٘i)I9Y JdC=J}>Q>JJJ&K> Yy77{7ޔX8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028719.103165 s, next control iter: 1743028719.463176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028719.483165 s.q_H~,{ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199352 time: 1743028719.483259F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ףS@A+~oS@AW\~? A`Ae&"AAqNA"AZAbAjArAzAAAza7,@AooffQpAAЗ:A)Af?AGc?A͆?A?*Aq9<2A ::AӸ?BAq9<JA :RAӸ?٘i)I9Y JJJJ&K Yyb773X8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028719.523165 s, next control iter: 1743028719.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2218, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028719.903165 s.!H~, { AAGzT@ArzFT@Al\~? A@A]e&"AAqNA"AZAbAjArAzAAAka7,@A@:ERQpA$ξAE:A"ANe?AGc?A@x̆?A?*A9<2A ::A?BA9<JA :RA?٘i)I9Y J`<JJJJ&K Yy77{7X8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028719.943165 s, next control iter: 1743028720.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028720.323165 s.wH~,)| AJ"J*J2J:JBJnJvJAQU@A5|U@A\~? A!Ae&"AA۟qNA"AZAbAjArAzAAAd8,@A+F-?QpAAaAAb?AGc?A ;ˆ?AyDz*A@9<2A ::Ay?BA@9<JA :RAy?٘i)I9Y JJJJ&K YyZ7Z7߿X8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028720.363165 s, next control iter: 1743028720.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2219*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028720.743165 s.W H~,\/| AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743028720.743264F (some fields omitted in printout)A\(V@AU@A\~? AA#e&"AAqNA"AZAbAjArAzAAAU,8,@A,QpAAQA#A`?A`Hc?A Ɇ?AJ*A9<2A ::APS?BA9<JA :RAPS?٘i)I9Y JJJJ&K Yy774X8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028720.783165 s, next control iter: 1743028721.143175 s, wait time: 0.360010 s) rAdjusting time to match Gazebo time: 1743028721.163165 s.u}H~,qJ| AJ"J*J2J:JBJnJvJAW@AQV@A\~? A❥Ae&"AAqNA"AZAbAjArAzAAAmh9,@A{QpA#ξAbᘺA*A^?AGc?A`Ȇ?A2*A9<2A ::A9?BA9<JA :RA9?YU?da?y$|2ٓH _!?@Dȑ@ ?+?&|t?,S ?)U? I٘i)I9Y J,2<JY3JJJ&Kj Yy77j7X8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028721.183165 s, next control iter: 1743028721.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028721.583165 s.H~,Re| AAp= W@AW@A\~? AÝAe&"AAAqNA"AZAbAjArAzAAAv9,@AnXQpAAwA,A^?AHGc?Adž?AI.g3*Ak9<2A ::A6?BAk9<JA :RA6?٘i)I9Y JJJJ&K Yyb7b7X8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028721.623165 s, next control iter: 1743028721.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2220, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028722.003165 s.w H~,H4| AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743028722.003286F (some fields omitted in printout)J"J*J2J:JBJnJvJAHzX@A˻yX@A\~? AALe&"AAcqNA"AZAbAjArAzAAAK-k:,@A"6PpA"ξAAA&_?A`hFc?A\Ɔ?A3*A9<2Ar ::A,F?BA9<JAr :RA,F?٘i)I9Y Ja3<JJJJ&K Yy775X8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028722.023165 s, next control iter: 1743028722.403176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028722.423165 s.u&H~,| AAQY@AUlPY@A\~? AAe&"AAqNA"AZAbAjArAzAAA :,@Ai(PpAApq:AA_?AqEc?A`+ņ?A] *A9<2A ::Ay\?BA9<JA :RAy\?٘i)I9Y JJJJ&K  Y8Y Y8y{7{7Y8)ZZZBZL?YY*W2W WWW"W ) )FFF]o:Waiting for Gazebo time sync: latest Gz time: 1743028722.443165 s, next control iter: 1743028722.823174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2221, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028722.843165 s.,H~,| AJ"J*J2J:JBJnJvJA(\Z@A-'Z@A\~? AeAe&"AAqNA"AZAbAjArAzAAA/n;,@A.PpA#ξA:A-AB`?A Dc?A@Æ?A *A.9<2Au ::A?g?BA.9<JAu :RA?g?٘i)I9Y JfJJJJ&K Yy777Y8)ZZZBZL?YY*W2W WWW"W ) )FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743028722.863165 s, next control iter: 1743028723.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028723.263165 s.4H~,| AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199792 time: 1743028723.263272F (some fields omitted in printout)A33333[@A rZ@A\~? AFAse&"AAɠqNA"AZAbAjArAzAAAǴ`;,@AE`8ֹPpAAĜ:A(Ac_?A EDc?A†?A*A9<2Avo ::A=\?BA9<JAvo :RA=\?YP?]?y#:ٓHp#?K E ?`*?k`|t? Q??)P? I٘i)I9Y JS2JJJ&K/ Yy{7{76$Y8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028723.283165 s, next control iter: 1743028723.663175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2222., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028723.683165 s.l:H~,c| AJ"J*J2J:JBJnJvJAףp= \@A[Q[@A-\~? A&Ae&"AAqNA"AZAbAjArAzAAAx!q<,@AmJHPpA$ξA9:A!Ag]?A:Dc?A?Aֲ*A}9<2Aw ::A=?BA}9<JAw :RA=?٘i)I9Y JaJJJJ&K YyZ7SI72Y8)ZZZBZL?YY*W2W WWW"W ) )FFF]r:Waiting for Gazebo time sync: latest Gz time: 1743028723.683165 s, next control iter: 1743028724.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743028724.103165 s.AH~,} AA{G\@A%xC\@AB\~? AA7e&"AA qNA"AZAbAjArAzAAA<,@AsDaPpAA A AZ?A@\Dc?A`J?Añ*Ast9<2A? ::A?BAst9<JA? :RA?٘i)I9Y JJJJ&K Yy77@Y8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028724.123165 s, next control iter: 1743028724.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028724.523165 s.GH~,{!} AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199842 time: 1743028724.523278F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ]@A4]@AW\~? A蜥Ae&"AA/qNA"AZAbAjArAzAAAh;t=,@AÃPpAA>IA&AX?A`cDc?A`?AF1*Aj9<2A2 ::A>BAj9<JA2 :RA>٘i)I9Y JJJDJ&K Yyj7j76OY8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028724.543165 s, next control iter: 1743028724.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2223, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028724.943165 s.QdNH~,%]<} AA(\^@AKu/[^@Am\~? AȜAe&"AAQqNA"AZAbAjArAzAAAt}=,@AdmPpA#ξA`A,AW?ADc?A ؽ?A>&+3*ASa9<2AD ::A >BASa9<JAD :RA >٘i)I9Y J+2<JJJJ&K Yy C7777]Y8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028724.963165 s, next control iter: 1743028725.343175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028725.363165 s.UH~,>W} AJ"J*J2J:JBJnJvJAfffff_@A;2_@A\~? AA\e&"AAsqNA"AZAbAjArAzAAAJ+w>,@AwJZPpAA]7CA-AW?A`gCc?A ?Ad3*AW9<2ANz ::A>BAW9<JANz :RA>YL?#Y?y+CٓH@[%?`? .?`}t?fH?)L? I٘i)I9Y J\JJJ&K+ Yyj7Z7kY8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028725.403165 s, next control iter: 1743028725.763181 s, wait time: 0.360016 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2224", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028725.783165 s.U[H~,r} AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743028725.783292F (some fields omitted in printout)A ףp=`@AE `@A\~? AAe&"AAqNA"AZAbAjArAzAAA ;q>,@Ax 2GPpA"ξAy38AAXX?AwBc?At?A2*AM9<2A^ ::A->BAM9<JA^ :RA->٘i)I9Y J`3<JJJJ&K Yy)7ŧ76zY8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028725.823165 s, next control iter: 1743028726.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028726.203165 s.cH~,} AJ"J*J2J:JBJnJvJAGza@Az3M`@A\~? AkAe&"AAqNA"AZAbAjArAzAAAy?,@A=84PpA#ξA?,@Ag!PpAAӘ:A-AX?A@c?A?Aa*A:9<2AT3 ::A ?BA:9<JAT3 :RA ?٘i)I9Y JJJJ&K Yy{7j7Y8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028726.663165 s, next control iter: 1743028727.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2225 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028727.043165 s.pH~,} AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200402 time: 1743028727.043320F (some fields omitted in printout)A(\b@AwDfb@A\~? A,Ae&"AAqNA"AZAbAjArAzAAAP|@,@A PpA$ξA.u:A&AW?A@c?Aٷ?A*A09<2A*2 ::A>BA09<JA*2 :RA>٘i)I9Y J_<JJJJ&K Yy7777Y8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028727.083165 s, next control iter: 1743028727.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028727.463165 s.OwH~,ʤ} AAc@AFqec@A\~? A ABe&"AAqNA"AZAbAjArAzAAAw*,@,@AdOpAAs9A AsU?A@c?A`?A-ϲ*Au'9<2A&= ::Ac>BAu'9<JA&= :RAc>YH?T?y t9ٓH@_'?`j@? /? ޯ|t?.?@?)H? I٘i)I9Y JQ4JJJ&K Yy{7{7Y8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028727.503165 s, next control iter: 1743028727.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2226, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028727.883165 s.y}H~,+} AJ"J*J2J:JBJnJvJA= ףpd@AzBA9<JAK :RA>٘i)I9Y JJJJ&K Yy)7b7Y8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028727.923165 s, next control iter: 1743028728.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028728.303165 s.UH~,sg~ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743028728.303281F (some fields omitted in printout)AzGe@A5|e@A\~? AΛAe&"AAbqNA"AZAbAjArAzAAAJ{B,@Aa]OpAAxA*AQ?A@c?A`+?A2*Ar9<2AMQ ::A+>BAr9<JAMQ :RA+>٘i)I9Y JJJJ&K Yy7{77Y8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028728.323165 s, next control iter: 1743028728.703177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2227&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028728.723165 s.H~,H.~ AJ"J*J2J:JBJnJvJAQf@AKe@A-\~? AAde&"AAqNA"AZAbAjArAzAAAfJ B,@AEOpA#ξAA.ATP?AJ@c?A?AXS3*A 9<2AI ::AQ>BA 9<JAI :RAQ>٘i)I9Y Ja2C<JJJJ&K Yy7777Y8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028728.743165 s, next control iter: 1743028729.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028729.143165 s.X/H~,*I~ AA)\f@A9tf@AB\~? AAe&"AAqNA"AZAbAjArAzAAA{C,@AXOpAA$vAAP?A ?c?AƱ?A;PI3*A69<2A2 ::A0>BA69<JA2 :RA0>٘i)I9Y JJJJ&K Yy77Y8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028729.183165 s, next control iter: 1743028729.543177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028729.563165 s.J "J *J 2J :J BJ nJ vJ H~,= d~ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199942 time: 1743028729.563280F (some fields omitted in printout)Ag@A+g@AW\~? ApA%e&"AAȢqNA"AZAbAjArAzAAAMItфC,@AoMOpA"ξA(9AAQ?A`>c?A?A;]1*A8<2AN ::At>BA8<JAN :RAt>YD?P?y-;9ٓH[)?m@S ?1?`᯿}t? 5? ?)D? I٘i)I9Y Ja3<JwJJJ&K՜ Yyj7j78Y8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028729.603165 s, next control iter: 1743028729.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2228, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028729.983165 s.H~,~~ AAq= ףh@A΢oh@Am\~? AQAe&"AAqNA"AZAbAjArAzAAA"ú D,@ADqOpA#ξAO:A/AR?A=c?Af?A6r*A8<2A ::Aj>BA8<JA :RAj>٘i)I9Y JgC=JJJJ&K  Z8Y Z8y)7ŧ7 Z8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028730.023165 s, next control iter: 1743028730.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028730.403165 s.&H~,͙~ AJ"J*J2J:JBJnJvJAGzi@AyjFi@A\~? A2Ae&"AA qNA"AZAbAjArAzAAAV{kD,@A|cuOpAA#:A,AQ?A'=c?A`3?AU *A=8<2A ::A>BA=8<JA :RA>٘i)I9Y JJJJ&K Yy7777Z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028730.443165 s, next control iter: 1743028730.803174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2229", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028730.823165 s.H~,~ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743028730.823276F (some fields omitted in printout)AQj@Aj@A\~? AAEe&"AA.qNA"AZAbAjArAzAAAXE,@A 5>WbOpA$ξA4?:A%AO?A=c?A?Azq߲*A8<2A ::A<>BA8<JA :RA<>٘i)I9Y J^<JJJJ&K Yy{7j78&Z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028730.863165 s, next control iter: 1743028731.223174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743028731.243165 s.H~,m~ AJ"J*J2J:JBJnJvJA\(k@A獓j@A\~? AAe&"AAPqNA"AZAbAjArAzAAA_E,@AKOOpAAuA!A|M?A=c?A«?A#Ų*A@8<2A ::Aw>BA@8<JA :RAw>٘i)I9Y JJJJ&K Yyb774Z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028731.283165 s, next control iter: 1743028731.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028731.663165 s.H~,q~ AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2230, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)Al@Ayqk@A\~? AԚAe&"AArqNA"AZAbAjArAzAAAڠC F,@A7@BA8<JA, :RA(Q>Y@?L?y#[WٓH`J+? +z`? 4?@?`|t?4J?)@? I٘i)I9Y Jg>4JJJ&Kx Yy77BZ8)ZZZBZL?YY*W2W WWW"W ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028731.683165 s, next control iter: 1743028732.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028732.083165 s.DH~,S AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743028732.083319F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= l@A8ڢl@A\~? AAde&"AAqNA"AZAbAjArAzAAAL F,@A;`7)OpA#ξAA-AI?A=c?AR?A$2*AJ8<2A ::A8>BAJ8<JA :RA8>I٘i)I9Y J-2<JJJJ&K Yy7778QZ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028732.123165 s, next control iter: 1743028732.483176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028732.503165 s.H~,/4  AAHzm@A|ym@A\~? AAe&"AAqNA"AZAbAjArAzAAAJj G,@A*.OpAA+sA/ABI?AtBA8<JAc :RA5>٘i)I9Y JJJDJ&K YySI7SI7_Z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028732.543165 s, next control iter: 1743028732.903175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2231, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028732.923165 s.J "J 9H~*J2J:J,; ABJnJvJAQn@A8Pn@A\~? AwA#e&"AAأqNA"AZAbAjArAzAAAG,@AN5'OpA"ξA}fA.AI?A;c?A ?A=3*A8<2A ::AF>BA8<JA :RAF>٘i)I9Y Jb3<JJJJ&K Yy{7{7mZ8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028732.963165 s, next control iter: 1743028733.323180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028733.343165 s.<H~,U AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199782 time: 1743028733.343269F (some fields omitted in printout)A(\o@A'o@A\~? AXAe&"AAqNA"AZAbAjArAzAAA5?OH,@Aܟ NpA#ξA:A/AJ?A:c?Aå?A*Ag8<2A ::A9\>BAg8<JA :RA9\>٘i)I9Y JbC=JJJJ&K Yyb779|Z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028733.363165 s, next control iter: 1743028733.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2232&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028733.763165 s.7H~,p AJ"J*J2J:JBJnJvJA33333p@AYo@A-\~? A9Ae&"AAqNA"AZAbAjArAzAAA|IH,@AtNpAA:A0AJ?A9c?A ?At *Aɗ8<2AM ::AWf>BAɗ8<JAM :RAWf>٘i)I9Y JJJJ&K Yy77{7Z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028733.803165 s, next control iter: 1743028734.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028734.183165 s.H~,s AAףp= q@A"p@AB\~? AA@f&"AA>qNA"AZAbAjArAzAAA`I,@AlNpAAJ :A+A J?A@x9c?A`_?A*A@8<2Aj ::AZ>BA@8<JAj :RAZ>٘i)I9Y JJJJ&K Yyb77Z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028734.203165 s, next control iter: 1743028734.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028734.603165 s.54H~, AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200192 time: 1743028734.603297F (some fields omitted in printout)A{Gq@AD q@AW\~? AAf&"AA`qNA"AZAbAjArAzAAANI,@ANpA$ξAL9A$A H?Ap9c?A(?A!Բ*Aʄ8<2Ab ::A;>BAʄ8<JAb :RA;>٘i)I9Y J(˲<JJJJ&K Yy C77:Z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028734.643165 s, next control iter: 1743028735.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2233 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028735.023165 s.ZH~,{ AAQr@A#*r@Am\~? AۙAf&"AAqNA"AZAbAjArAzAAAe?J,@AsINpAA`lA#AE?A`9c?A?A߭*A\{8<2A ::A%>BA\{8<JA :RA%>٘i)I9Y JJJJ&K Yyŧ7b7Z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028735.063165 s, next control iter: 1743028735.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028735.443165 s.0H~, ] AJ"J*J2J:JBJnJvJA(\s@AA+[s@A\~? AA\f&"AAqNA"AZAbAjArAzAAA,=EJ,@ANpAA4A)AbC?A@9c?A ?Ar\1*Aq8<2A( ::A=BAq8<JA( :RA=٘i)I9Y JJJJ&K Yy7{7Z8)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028735.483165 s, next control iter: 1743028735.843174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2234, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028735.863165 s.+H~,> AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200342 time: 1743028735.863286F (some fields omitted in printout)Affffft@A>72t@A\~? AA f&"AAŤqNA"AZAbAjArAzAAAruK,@A5x>~NpA#ξA]A/ACB?AF9c?A`?A.3*Aoh8<2A ::A=BAoh8<JA :RA=Yd8?D?y*p@ٓH9/?tґ9?8? @}t? R ?)d8? I٘i)I9Y )J/2JRJJJ&KD Yy{7:Z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028735.883165 s, next control iter: 1743028736.263181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743028736.283165 s.8R H~, AJ"J*J2J:JBJnJvJA ףp=u@A׃I u@A\~? A~A f&"AAqNA"AZAbAjArAzAAA<-K,@A;ikNpAA07=A0AQB?A8c?AS?A b3*A^8<2A{ ::A=BA^8<JA{ :RA=٘i)I9Y JJJJ&K Yy77Z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028736.303165 s, next control iter: 1743028736.683177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2235*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028736.703165 s.غ H~,- AAGzv@Aip[[u@A\~? A_Awf&"AA qNA"AZAbAjArAzAAA'nL,@Auw8XNpA"ξA8A/AC?A7c?A&?AE2*A=U8<2A ::A=BA=U8<JA :RA=٘i)I9Y J]3<JJJJ&K Yy)7b7Z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028736.743165 s, next control iter: 1743028737.103179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028737.123165 s.6 H~,XG AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199842 time: 1743028737.123270F (some fields omitted in printout)ARv@A*]v@A\~? A@Af&"AA+qNA"AZAbAjArAzAAA4KL,@AaENpA#ξAR.Y:A1AC?A6c?A ?Aˬ*AK8<2AV ::A >BAK8<JAV :RA >٘i)I9Y JgC=JJJJ&K Yyb77;Z8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028737.163165 s, next control iter: 1743028737.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028737.543165 s.I H~,b AA(\w@AB^w@A\~? A A3f&"AAMqNA"AZAbAjArAzAAAM,@Ad&(2NpAA:A0AC?A6c?A ə?A*AB8<2Ax ::A>BAB8<JAx :RA>٘i)I9Y JJJJ&K  [8Y [8yb7 [8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028737.583165 s, next control iter: 1743028737.943176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2236, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028737.963165 s.w H~,} AJ"J*J2J:JBJnJvJAx@Aj2mex@A\~? AAf&"AAoqNA"AZAbAjArAzAAA9M,@A~NpA$ξA`np:A)AcB?A5c?A ?A*A88<2Aw ::A=BA88<JAw :RA=Y&4?s@?y%p:ٓHF1?`v`ߍ?8?@>|t? N?`?)&4? I٘i)I9Y Ja<Jq3JJJ&K Yy77[8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028738.003165 s, next control iter: 1743028738.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028738.383165 s.% H~,' AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199422 time: 1743028738.383278F (some fields omitted in printout)A= ףpy@A?k~ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743028739.643288F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\{@An{@AW\~? AAf&"AAqNA"AZAbAjArAzAAAO|O,@AeЫ6MpA#ξAcA1A;?A{5c?A@?A,DU3*A8<2A ::A_=BA8<JA :RA_=٘i)I9Y Jb2C<JJJJ&K Yy77{7;S[8)ZZZBZL?YY*W2W WWW"W ) )FFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2238, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743028739.663165 s, next control iter: 1743028740.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028740.063165 s.@ H~,J  AA|@A |@Al\~? AfAd!f&"AAqNA"AZAbAjArAzAAA'T"P,@A+4@MpAAgAA{;?A4c?A?AxD3*AR 8<2Aw ::Aו=BAR 8<JAw :RAו=Y-0?z?)-0? I٘i)I9Y JQJJJ&KQ Yy77a[8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028740.103165 s, next control iter: 1743028740.463176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028740.483165 s.s_G H~, AJ"J*J2J:JBJnJvJAq= ף}@A$o}@A\~? AGA#f&"AA;qNA"AZAbAjArAzAAA2P,@A*JMpA"ξA%߻9AAZ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200202 time: 1743028740.903288F (some fields omitted in printout)AGz~@AQF~@A\~? A(A&f&"AA]qNA"AZAbAjArAzAAAV$Q,@A9VMpA#ξA4:A2A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743028742.163282F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Aˀ@A\~? A˗A3-f&"AAæqNA"AZAbAjArAzAAA/R,@Aߺ~aMpAAA$A18?AX2c?A?Av²*A7<2AtJ ::Aw=BA7<JAtJ :RAw=Y,?`8?y$NٓH+5?,ʐ r?`=?@Eү|t?@?),? I٘i)I9Y Jvd4JJJ&K, Yyb77>[8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028742.183165 s, next control iter: 1743028742.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028742.583165 s.h H~,R AAp= ׁ@ABޢ@A\~? AA/f&"AAqNA"AZAbAjArAzAAAQr(S,@A\CNMpAAZ\A)A5?Am2c?A`g?A0*A7<2AV ::AQ=BA7<JAV :RAQ=٘i)I9Y JJJJ&K Yy[8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028742.603165 s, next control iter: 1743028742.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2241, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028743.003165 s.v p H~,D4 AJ"J*J2J:JBJnJvJAHz@Ay@A\~? AA1f&"AAqNA"AZAbAjArAzAAAS,@AϞ;MpA#ξA8A0A\4?A;2c?A`4?AAp2*A7<2AW ::A9=BA7<JAW :RA9=٘i)I9Y J*2<JJJJ&K Yy[8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028743.043165 s, next control iter: 1743028743.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028743.423165 s.uv H~,{ہ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743028743.423260F (some fields omitted in printout)AQ@AP@A\~? AnAH4f&"AA(qNA"AZAbAjArAzAAAX*T,@A,\(MpAAiYnA2A4?A`1c?A?Af3*A7<2AI ::A7=BA7<JAI :RA7=٘i)I9Y JJJJ&K Yy77=[8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028743.463165 s, next control iter: 1743028743.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2242, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028743.843165 s.| H~, AJ"J*J2J:JBJnJvJA(\@A'@A,\~? AOA6f&"AAJqNA"AZAbAjArAzAAA?T,@AMpA"ξAYHA1A4?A 0c?Aڇ?Ae3*A7<2Ah0 ::AH=BA7<JAh0 :RAH=٘i)I9Y Jb3<JJJJ&K Yyj7Z7[8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028743.883165 s, next control iter: 1743028744.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028744.263165 s. H~, AA33333@A쉮 @AA\~? A0A9f&"AAlqNA"AZAbAjArAzAAAލ,U,@AjMpA#ξAq8#:A2A5?A /c?A ?A*A7<2Aw ::A^=BA7<JAw :RA^=Y'??4?y0#:ٓH)7? /? ??`鯿~t? gD??)'? I٘i)I9Y J_C=JdJJJ&KG YySI7[8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028744.303165 s, next control iter: 1743028744.663176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2243., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028744.683165 s.l H~,^+ AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200262 time: 1743028744.683301F (some fields omitted in printout)Aףp= @Aeօ@AV\~? AA\;f&"AAqNA"AZAbAjArAzAAAzU,@A3 elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743028745.943278F (some fields omitted in printout)A(\@AX;[@A\~? AAoBf&"AAqNA"AZAbAjArAzAAA:20W,@A~4l.LpAA6ùAAI0?A.c?A灆?A)۩*Aބ7<2A ::A4=BAބ7<JA :RA4=٘i)I9Y JJJJ&K Yyb7?*\8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028745.983165 s, next control iter: 1743028746.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028746.363165 s. H~,u> AJ"J*J2J:JBJnJvJAfffff@A62@A\~? AADf&"AAqNA"AZAbAjArAzAAA0kW,@A"eFLpAA% A-A*.?A .c?A ?A1*A{7<2A  ::AA<BA{7<JA  :RAA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200202 time: 1743028747.203327F (some fields omitted in printout)AGz@A&UM@A\~? AWAIf&"AAYqNA"AZAbAjArAzAAA1X,@AB{~LpAA7A3A.-?A@-c?A`V~?Am._3*Ah7<2A ::A<BAh7<JA :RA<٘i)I9Y JJJJ&K Yy77j7?U\8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028747.243165 s, next control iter: 1743028747.603181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743028747.623165 s.U H~,T AAR닡@Aϝ`@A\~? A8AKf&"AA{qNA"AZAbAjArAzAAAI3Y,@AZUkLpA"ξA*8A2A-?A,c?A`,}?A2*A#_7<2A ::A<BA#_7<JA :RA<٘i)I9Y JS3<JJJJ&K Yy7b7c\8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028747.663165 s, next control iter: 1743028748.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2246 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028748.043165 s. H~, AJ"J*J2J:JBJnJvJA(\Œ@A|) elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199782 time: 1743028748.463278F (some fields omitted in printout)A@A\me@A\~? AAPf&"AAqNA"AZAbAjArAzAAAFp5Z,@A<{ELpAA}:A2A.?AR+c?A z?A*A(L7<2A ::AB=BA(L7<JA :RAB=Y?,?y,d:ٓH;?3"?@B?\}t?o"S? ?)? I٘i)I9Y JfJJJ&K. Yy{7{7?\8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028748.483165 s, next control iter: 1743028748.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2247, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028748.883165 s.y H~,+8 AJ"J*J2J:JBJnJvJA= ףp@A3w<@A+\~? AەARf&"AAqNA"AZAbAjArAzAAA@Z,@Aa2LpA$ξAk:A,A/-?A+c?A@y?A*AB7<2A ::A<BAB7<JA :RA<٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 202Ja<JJJDJ&K Yyb77\8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028748.923165 s, next control iter: 1743028749.283176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028749.303165 s.R H~,fgS AAzG@A3@A@\~? AAFUf&"AAqNA"AZAbAjArAzAAA/H7[,@Ah LpAAN89A&A*?A#+c?A px?Ac˲*Ay97<2A ::A3<BAy97<JA :RA3<٘i)I9Y JJJJ&K YyZ7Z7\8)ZZZBZL?YY*W2W WWW"W ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028749.343165 s, next control iter: 1743028749.703175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2248*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028749.723165 s. H~,Hn AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200242 time: 1743028749.723275F (some fields omitted in printout)AQ@Aeꏡ@AU\~? AAWf&"AA%qNA"AZAbAjArAzAAAK)߷[,@A. LpAAB&A)Ap(?AA+c?A;w?A?v*A-07<2A ::AN<BA-07<JA :RAN<٘i)I9Y JQ>JJJ&K> Yy7ŧ7?\8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028749.743165 s, next control iter: 1743028750.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028750.143165 s.T/ H~,) AA)\@A@Aj\~? A~AYf&"AAFqNA"AZAbAjArAzAAA)b8\,@A`PKpAAeA0A&?A++c?A` v?AE2*A&7<2A" ::A:<BA&7<JA" :RA:<٘i)I9Y JQ>JJJ&K> Yy{7Z7\8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028750.163165 s, next control iter: 1743028750.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028750.563165 s. H~,= AJ"J*J2J:JBJnJvJȂ@AX@A\~? A_AT\f&"AAhqNA"AZAbAjArAzAAA~\,@ArKpA#ξAӰA4A%?A*c?At?AV3*Ax7<2A ::A<BAx7<JA :RA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199812 time: 1743028750.983289F (some fields omitted in printout)Aq= ף@Ao@A\~? A@A^f&"AAqNA"AZAbAjArAzAAAuH:],@A1WKpAAA3Ad&?A)c?A@s?Aw?3*A7<2Am ::A(<BA7<JAm :RA(<٘i)I9Y JJJJ&K Yy)7ŧ7A\8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028751.023165 s, next control iter: 1743028751.383176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028751.403165 s.& H~,ك AJ"J*J2J:JBJnJvJAGz@A40F@A\~? A"Aaf&"AAqNA"AZAbAjArAzAAA; ],@AUʺKpA"ξA 9A4AE'?A (c?Ar?AS1*A 7<2A1 ::Ak<BA 7<JA1 :RAk<٘i)I9Y Jd3<JJJJ&K Yyŧ7\8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028751.443165 s, next control iter: 1743028751.803174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2250, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028751.823165 s. H~, AAQ@Az@A\~? AAbcf&"AAΩqNA"AZAbAjArAzAAA\H;^,@AT6KpA#ξA…:A5A'?A`(c?A^q?Ad*A7<2A ::AE<BA7<JA :RAE<٘i)I9Y J`C=JJJJ&K Yy{7{7\8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028751.863165 s, next control iter: 1743028752.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028752.243165 s.!H~,d AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.420043J"J*J2 time: 1743028752.2433212JF (some fields omitted in printout):JBJnJvJA\(@Ak@A\~? A䔥Aef&"AAqNA"AZAbAjArAzAAA5؄^,@AKpAA:A1A/'?A'c?A`1p?A *A6<2A ::A<BA6<JA :RA<٘i)I9Y JJJJ&K  ]8Y ]8y777@]8)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028752.263165 s, next control iter: 1743028752.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028752.663165 s. !H~,q* AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2251, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A˕@A\~? AŔAhf&"AAqNA"AZAbAjArAzAAA,<=_,@AF.KpA$ξA3:A*As%?A@'c?A@o?A:ٲ*AS6<2A ::Aڟ<BAS6<JA :RAڟ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743028753.503263F (some fields omitted in printout)AHz@A"y@A\~? AAlf&"AAUqNA"AZAbAjArAzAAAV>`,@AcKpAAh)aA,A ?A'c?Al?Agȱ*A6<2A ::AT<BA6<JA :RAT<٘i)I9Y JJJJ&K Yy77A,]8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028753.543165 s, next control iter: 1743028753.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2252, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028753.923165 s.6!H~,{ AJ"J*J2J:JBJnJvJAQ@AUjP@A*\~? AhA of&"AAwqNA"AZAbAjArAzAAAzc`,@A@PKpA#ξA@A3A??A z'c?Aik?Aa3*Az6<2A ::A=<BAz6<JA :RA=<٘i)I9Y J12<JJJJ&K Yy77:]8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028753.943165 s, next control iter: 1743028754.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028754.343165 s.<%!H~, AA(\@A-'@A?\~? AIAyqf&"AAqNA"AZAbAjArAzAAA@a,@Ad=KpAAciA5A?A&c?A>j?Ae3*A6<2Ai ::A<<BA6<JAi :RA<<٘i)I9Y JJJJ&K Yy C77H]8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028754.363165 s, next control iter: 1743028754.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2253&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028754.763165 s.5+!H~,ذ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200132 time: 1743028754.763277F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333@A(8@AT\~? A+Asf&"AAqNA"AZAbAjArAzAAA,=ua,@A +KpA"ξA*A4A?A &c?A i?A7 3*A6<2Aw ::AM<BA6<JAw :RAM elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200192 time: 1743028756.023279F (some fields omitted in printout)AQ@A'.@A\~? AΓAzf&"AA qNA"AZAbAjArAzAAABc,@A JpA$ξA:A0A?A#c?Ae?AK*Ao6<2A2D ::A_<BAo6<JA2D :RA_<٘i)I9Y JZ<JJJJ&K Yy777C]8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028756.063165 s, next control iter: 1743028756.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028756.443165 s.2F!H~,)] AJ"J*J2J:JBJnJvJA(\@A\.[@A\~? AA4}f&"AABqNA"AZAbAjArAzAAALWc,@AXJpAA7?9A)A?A#c?Aed?A ϲ*A,6<2AL ::A@<BA,6<JAL :RA@<٘i)I9Y JJJJ&K Yy{7{7]8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028756.483165 s, next control iter: 1743028756.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2255, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028756.863165 s.+M!H~,>7 AAfffff@AgR@2@A\~? AAf&"AAdqNA"AZAbAjArAzAAANJCd,@An5JpAAeѹAA%?A`$c?A3c?A2*A6<2AZ ::A<BA6<JAZ :RART!H~,R AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743028757.283282F (some fields omitted in printout)A ףp=@AG @A\~? ArAf&"AAqNA"AZAbAjArAzAAAFEd,@A߼ JpAA}̆A0A?A@$c?Ab?A4 1*A6<2Ac ::A;BA6<JAc :RA;٘i)I9Y JJJJ&K Yy77C]8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028757.323165 s, next control iter: 1743028757.683180 s, wait time: 0.360015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2256*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028757.703165 s.ԺZ!H~,m AAGz@ACu@A\~? ASA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199752 time: 1743028758.543267F (some fields omitted in printout)A(\¡@ACl@A\~? AAf&"AAqNA"AZAbAjArAzAAAJaCiFf,@A&׽JpA"ξA]9A5A?A"c?A^?AHk2*Ak6<2A01 ::A<BAk6<JA01 :RA<٘i)I9Y Jk3<JJJJ&K Yy)7ŧ7D]8)ZZZBZL?YY*W2W WWW"W ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028758.583165 s, next control iter: 1743028758.943176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2257, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028758.963165 s.wn!H~,줽 AJ"J*J2J:JBJnJvJA@AÀe@A(\~? AACf&"AA qNA"AZAbAjArAzAAA`f,@AonJpA#ξAIc:A6A?A3!c?A]]?Aw*A*b6<2Ap ::A<BA*b6<JAp :RA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199822 time: 1743028759.803285F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG@AH0@AS\~? AAf&"AAPqNA"AZAbAjArAzAAAQ g,@AucIJpA$ξAf:A.A?A\ c?A[?A*AO6<2AN ::A<BAO6<JAN :RA<٘i)I9Y Jh<JJJJ&K  ^8Y ^8y77C^8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028759.843165 s, next control iter: 1743028760.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028760.223165 s.g!H~,H AAQ@Arꤡ@Ah\~? AAIf&"AArqNA"AZAbAjArAzAAAHh,@A'6JpAAW9A)A?Al c?AY?AOɲ*ARF6<2A ::A;BARF6<JA :RA;٘i)I9Y JJJJ&K Yy777^8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028760.263165 s, next control iter: 1743028760.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028760.643165 s.vЉ!H~,*) AJ"J*J2J:JBJnJvJA)\@AϠ@A}\~? A{Af&"AAqNA"AZAbAjArAzAAAh,@A#JpAA,A,AX?A c?AX?Ayi*A=6<2Ar" ::A;BA=6<JAr" :RA;٘i)I9Y JJJJ&K Yy77^8)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2259, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028760.663165 s, next control iter: 1743028761.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028761.063165 s.!H~,k D AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200062 time: 1743028761.063310F (some fields omitted in printout)A̦@A ;@A\~? A]Af&"AAqNA"AZAbAjArAzAAAIi,@AJpAA+A3A?Ao c?AtW?A2*A36<2Ah' ::A;BA36<JAh' :RA;Y??y-ٓHF?[ %摿"?P?ج}t?@R ?)? I٘i)I9Y J3JJJ&K쓹 Yy77D.^8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028761.103165 s, next control iter: 1743028761.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028761.483165 s.q_!H~,^ AJ"J*J2J:JBJnJvJAq= ף@Ako@A\~? A>ANf&"AAجqNA"AZAbAjArAzAAA[)i,@A(-NIpA#ξA臺A7A?A`c?AJV?AaxX3*A*6<2A ::Az;BA*6<JA :RAz;٘i)I9Y Jb2C<JJJJ&K YySI787<^8)ZZZBZL?YY*W2W WWW"W ) )FFF]x:Waiting for Gazebo time sync: latest Gz time: 1743028761.503165 s, next control iter: 1743028761.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2260, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028761.903165 s.ȝ!H~,y AAGz@AσF@A\~? AAf&"AAqNA"AZAbAjArAzAAAޫJj,@ARIpAAڹA6Ai?A'c?A#U?A{N:3*A=!6<2A ::A;BA=!6<JA :RA;٘i)I9Y JJJJ&K Yyb7b7J^8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028761.943165 s, next control iter: 1743028762.303176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028762.323165 s.v!H~,% AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200292 time: 1743028762.323314F (some fields omitted in printout)AQ@A]1#@A\~? AAf&"AAqNA"AZAbAjArAzAAA&(j,@A1oIpAAC9AAK?A3c?AS?A#1*A6<2A ::AQ;BA6<JA :RAQ;٘i)I9Y JJJJ&K Yyj7j7DY^8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028762.343165 s, next control iter: 1743028762.723177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2261&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028762.743165 s.W!H~,i AA\(@A4@A\~? A⑥ARf&"AA=qNA"AZAbAjArAzAAA[CKk,@AkIpAAx:A7A?A bc?AR?At>*Au6<2AT::A;BAu6<JAT:RA;٘i)I9Y JJJJ&K Yyb77g^8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028762.763165 s, next control iter: 1743028763.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028763.163165 s.u}!H~,qʆ AJ"J*J2J:JBJnJvJA@A˪@A\~? AÑAf&"AA_qNA"AZAbAjArAzAAAbk,@AKHIpAAj:A4A&?A c?A`Q?Ak*A*6<2A::A;BA*6<JA:RA;Yu??y.:ߔ:ٓH H?@e@P@??P?{}t? R? ?)u? I٘i)I9Y JXJJJ&K; Yy)7ŧ7u^8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028763.183165 s, next control iter: 1743028763.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028763.583165 s.!H~,R AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743028763.583295F (some fields omitted in printout)Ap= ׫@Aޢ@A\~? AAf&"AAqNA"AZAbAjArAzAAA06Ll,@AIpA$ξAg-:A-Ab?Ac?A@~P?AMֲ*A5<2A::A;BA5<JA:RA;٘i)I9Y Js<JJJJ&K Yy{7{7E^8)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028763.603165 s, next control iter: 1743028763.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2262, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028764.003165 s.{ !H~,Y4 AJ"J*J2J:JBJnJvJAHz@ALy@A'\~? AAUf&"AAqNA"AZAbAjArAzAAAyl,@AvˍIpAAVA*A ?Ac?AMO?A*A5<2A::A%;BA5<JA:RA%;I٘i)I9Y JJJJ&K Yyŧ77^8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028764.023165 s, next control iter: 1743028764.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028764.423165 s.u!H~, AAQ@A8P@A<\~? AgAf&"AAĭqNA"AZAbAjArAzAAA{^Mm,@A{IpAAfA/A ?Ac?AN?A\*A5<2A::AZ;BA5<JA:RAZ;٘i)I9Y JJJJ&K Yy C77^8)ZZZBZL?YY*W2W WWW"W ) )FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743028764.463165 s, next control iter: 1743028764.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2263, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028764.843165 s.!H~,5 AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200642 time: 1743028764.843346F (some fields omitted in printout)A(\@A-'@AQ\~? AHAf&"AAqNA"AZAbAjArAzAAAm,@A%RhIpA#ξAX1A6A= ?Ac?AL?A3*Ad5<2Ac::AD;BAd5<JAc:RAD;٘i)I9Y J.2<JJJDJ&K Yy)7ŧ7E^8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028764.883165 s, next control iter: 1743028765.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028765.263165 s.!H~,P AA33333@Ap= @Af\~? A*AVf&"AAqNA"AZAbAjArAzAAA;Nn,@A~UIpAA]KdA8A ?A&c?A`K?Aue3*A5<2A::A!D;BA5<JA:RA!D;Y? ?y4xdٓH@J?`X?+T?~t?`kL?)? I٘i)I9Y JJJJ&K Yy77^8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028765.303165 s, next control iter: 1743028765.663177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2264., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028765.683165 s.J "J *J 2J :J BJ nJ vJ l!H~,kk AAףp= @A֯@A{\~? A Af&"AA)qNA"AZAbAjArAzAAAa?n,@ABIpA"ξA A7A ?ACc?A J?A\^3*A5<2A::AU;BA5<JA:RAU;٘i)I9Y J`3<JJJJ&K Yy{7j7^8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028765.683165 s, next control iter: 1743028766.083175 s, wait time: 0.400010 s,), rAdjusting time to match Gazebo time: 1743028766.103165 s.!H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199802 time: 1743028766.103280F (some fields omitted in printout)A{Gᰡ@A\@A\~? A쐥Af&"AAKqNA"AZAbAjArAzAAAaOo,@Aof$0IpA#ξAl/:A8A ?A@Tc?AI?AbK*Aa5<2A˥::ADk;BAa5<JA˥:RADk;٘i)I9Y JaC=JJJJ&K Yy77E^8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028766.123165 s, next control iter: 1743028766.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028766.523165 s.!H~,{ AJ"J*J2J:JBJnJvJAQ@AC3@A\~? AΐAWf&"AAmqNA"AZAbAjArAzAAAlbo,@AmlIpAAٔ:AA ?Ac?AXH?A *A5<2A::Afs;BA5<JA:RAfs;٘i)I9Y JJJJ&K YySI7SI7^8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028766.543165 s, next control iter: 1743028766.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2265, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028766.943165 s.Ud!H~,5] AA(\@AF$ -[@A\~? AAf&"AAqNA"AZAbAjArAzAAA>Op,@AyI IpA$ξAІ:A2A ?A Dc?A .G?AY*Aձ5<2A::Ae;BAձ5<JA:RAe;٘i)I9Y J`<JJJJ&K Yy7777^8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028766.963165 s, next control iter: 1743028767.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028767.363165 s.!H~,>ׇ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J6 propOmegaAction: 0.000000*J2J: rudderAngleAction: 0.052360:J> elevatorAngleAction: 0.000000BJ< massPositionAction: 0.000000nJvJ4 buoyancyAction: 0.000955 dt: 0.4200502 time: 1743028767.363322F (some fields omitted in printout)Afffff@A52@A\~? AAf&"AAqNA"AZAbAjArAzAAAzp,@A!HpAAZ 9A,A?A Bc?AE?AͲ*A5<2A::AF;BA5<JA:RAF;Yu??y+Ny9ٓH@L?e[?T?~߯`}t?@+a:? ?)u? I٘i)I9Y Jj+4JJJ&K  _8Y _8yj7Z7F_8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028767.403165 s, next control iter: 1743028767.763178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2266", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028767.783165 s.X!H~, AA ףp=@APD @A\~? ArAVf&"AAҮqNA"AZAbAjArAzAAA.jPq,@AfIHpAA߹AA?A`bc?A@D?An*A5<2A::A@;BA5<JA:RA@;٘i)I9Y JJJJ&K Yyŧ7b7_8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028767.823165 s, next control iter: 1743028768.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028768.203165 s."H~, AJ"J*J2J:JBJnJvJAGz@A(Gഡ@A\~? ASAf&"AAqNA"AZAbAjArAzAAA ,q,@A͕HpAAmxA3A?A_c?A`C?A.d1*A`5<2A::A:BA`5<JA:RA:٘i)I9Y JJJJ&K Yyb77!_8)ZZZBZL?YY*W2W WWW"W ) )FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743028768.243165 s, next control iter: 1743028768.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028768.623165 s.P "H~,?' AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743028768.623263F (some fields omitted in printout)AR뵡@A(\@A\~? A4Af&"AAqNA"AZAbAjArAzAAAnQr,@AqHpA#ξA!;A8A?Ac?AxB?AC93*A,5<2A::A:BA,5<JA:RA:٘i)I9Y J`2C<JJJJ&K Yyŧ7G0_8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028768.663165 s, next control iter: 1743028769.023174 s, wait time: 0.360009 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2267 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028769.043165 s."H~,B AJ"J*J2J:JBJnJvJA(\¶@Ae@A%\~? AATf&"AA7qNA"AZAbAjArAzAAAmr,@Ai0HpAA*AA>?ANc?ARA?A$X3*A5<2A::AW:BA5<JA:RAW:٘i)I9Y JJJJ&K Yyb7>_8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028769.083165 s, next control iter: 1743028769.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028769.463165 s.S"H~,ۤ] AA@Ae@A:\~? AAf&"AAYqNA"AZAbAjArAzAAA+Qs,@AOL*HpA"ξA$9AA?A`_c?A/@?A]_2*Az5<2A0{::AU ;BAz5<JA0{:RAU ;Ys??y8p.%9ٓH@N?C? W?@ׯt?ߚ$?@?)s? I٘i)I9Y J\3<JwJJJ&K Yyj7j7L_8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028769.483165 s, next control iter: 1743028769.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2268, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028769.883165 s.y"H~,+x AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200172 time: 1743028769.883289F (some fields omitted in printout)A= ףp@Av<@AO\~? A؏Af&"AA{qNA"AZAbAjArAzAAA#>s,@A·HpA#ξA h:A9A?A|c?A ??AK IJ*A:q5<2Aa::A;BA:q5<JAa:RA;٘i)I9Y JnC=JJJJ&K Yy77G[_8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028769.923165 s, next control iter: 1743028770.283176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028770.303165 s.X$"H~,g AAzG@A'+@Ad\~? AARf&"AAqNA"AZAbAjArAzAAA GRt,@A8$uHpAA:A8A?Ac?A=?Ay*Ag5<2AS::A;BAg5<JAS:RA;٘i)I9Y JJJJ&K Yy77i_8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028770.343165 s, next control iter: 1743028770.703178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2269*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028770.723165 s.+"H~,H AJ"J*J2J:JBJnJvJAQ@Aّ깡@Ay\~? AAf&"AAqNA"AZAbAjArAzAAA^t,@A~/qbHpA$ξAFYa:A1A?Ac?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743028771.143284F (some fields omitted in printout)A)\@AN@A\~? A}Af&"AAqNA"AZAbAjArAzAAAdURu,@A{OHpAAV8A,A?Ac?A;?A?Dz*AU5<2A`::A:BAU5<JA`:RA:٘i)I9Y JJJJ&K Yy777H_8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028771.183165 s, next control iter: 1743028771.543177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028771.563165 s.8"H~,A AJ"J*J2J:JBJnJvJA̻@A_@A\~? A^ANf&"AAqNA"AZAbAjArAzAAAiu,@A_Jo=HpAA,2A/A\?Ac?A\:?A$]*AL5<2An::As:BAL5<JAn:RAs:Y??y-O3ٓHxP?#} ?Y?`}t?`^F?)? I٘i)I9Y JQ4JJJ&Kn Yy77{7_8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028771.583165 s, next control iter: 1743028771.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2270, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028771.983165 s.?"H~, AAq= ף@AՐo@A\~? A?Af&"AA#qNA"AZAbAjArAzAAA.MFSv,@A6L l*HpAAgA6A?Ac?A19?AU2*AqC5<2Ar::A:BAqC5<JAr:RA:٘i)I9Y JJJJ&K Yy77_8)ZZZBZL?YY*W2W WWW"W ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028772.023165 s, next control iter: 1743028772.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028772.403165 s.J "J *J 2J :J BJ nJ vJ 'F"H~,[ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200392 time: 1743028772.403327F (some fields omitted in printout)AGz@AwkF@A\~? A!Af&"AAEqNA"AZAbAjArAzAAAI Iv,@A HpA#ξA A:A?AAc?A 8?AY3*A>:5<2Ah::Ar:BA>:5<JAh:RAr:٘i)I9Y Jb2C<JJJJ&K Yyb77H_8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028772.443165 s, next control iter: 1743028772.803178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2271, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028772.823165 s.L"H~,4 AAQ@A@A\~? AAIf&"AAfqNA"AZAbAjArAzAAAJSw,@A.HpAA%̹A9A?A`pc?A6?Ay43*A05<2AQ::A:BA05<JAQ:RA:٘i)I9Y JJJDJ&K Yy77_8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028772.843165 s, next control iter: 1743028773.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028773.243165 s.S"H~,dO AJ"J*J2J:JBJnJvJA\(@AK@A\~? A䎥Af&"AAqNA"AZAbAjArAzAAAEFw,@AXoGpAA9AAm?A}c?A`5?AE0*A'5<2A5::A:BA'5<JA5:RA:٘i)I9Y JJJJ&K Yy777_8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028773.283165 s, next control iter: 1743028773.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028773.663165 s.Z"H~,qj AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743028773.663289F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2272, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A0G˿@A \~? AŎAf&"AAqNA"AZAbAjArAzAAAg "Tx,@A;&GpAA:A:A?Ac?A4?AW*Ab5<2A::Ay:BAb5<JA:RAy:YZ??y5nb:ٓH@xR? "`?Z?R~t? 6#Q? ?)Z? I٘i)I9Y JWJJJ&K Yy77{7J_8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028773.683165 s, next control iter: 1743028774.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743028774.083165 s.Da"H~,S AJ"J*J2J:JBJnJvJAp= @AT@A"\~? AACf&"AA̰qNA"AZAbAjArAzAAA&Kx,@AE!GpAA:A7A8?A@8c?A@x3?A*A15<2A::A:BA15<JA:RA:٘i)I9Y JJJJ&K Yy CZ7Z7_8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028774.123165 s, next control iter: 1743028774.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028774.503165 s.g"H~,34 AAHz@A>xy@A8\~? AAf&"AAqNA"AZAbAjArAzAAA EIsTy,@Aħ{GpA$ξA ':A/Am?A c?AM2?AӲ*A 5<2AI::A:BA 5<JAI:RA:٘i)I9Y Js<JJJJ&K Yy77_8)ZZZBZL?YY*W2W WWW"W ) )FF!^Clearing failed state for component CTD_Seabird1F]:Waiting for Gazebo time sync: latest Gz time: 1743028774.543165 s, next control iter: 1743028774.903175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2273, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028774.923165 s.9n"H~, AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200202 time: 1743028774.923298F (some fields omitted in printout)AQ¡@A=*P¡@AM\~? AjAf&"AAqNA"AZAbAjArAzAAA#y,@AHJYקGpAA 5A-A?A;c?A1?A@*A5<2A)::A:BA5<JA):RA:٘i)I9Y JJJJ&K  `8Y `8yŧ7b7I`8)ZZZBZL?YY*W2W WWW"W ) )FF]:Waiting for Gazebo time sync: latest Gz time: 1743028774.963165 s, next control iter: 1743028775.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028775.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743028776.183326F (some fields omitted in printout)Aףp= š@A(|ġ@A\~? AAf&"AAtqNA"AZAbAjArAzAAA_(U{,@AdoGpAAI_A:A0?A`sc?A-?Ac3*A4<2A&::A0N:BA4<JA&:RA0N:٘i)I9Y JJJJ&K Yy{7j7J2`8)ZZZBZL?YY*W2W WWW"W ) )F-!\Communications Fault in component: CTD_SeabirdF]!\Communications Fault in component: CTD_SeabirdF]~:Waiting for Gazebo time sync: latest Gz time: 1743028776.223165 s, next control iter: 1743028776.583187 s, wait time: 0.360022 s rAdjusting time to match Gazebo time: 1743028776.603165 s.54"H~,& AJ"J*J2J:JBJnJvJA{Gš@A>š@A\~? AA3f&"AAqNA"AZAbAjArAzAAAd1{,@A3jN]GpA"ξA_ݸA9A?Ac?A,?A{2*AV4<2AL ::AB`:BAV4<JAL :RAB`:٘i)I9Y Jd3<JJJJ&K Yy777@`8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028776.623165 s, next control iter: 1743028777.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2275 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028777.023165 s.Z"H~,{A AAQơ@A[a/ơ@A\~? AэAf&"AAqNA"AZAbAjArAzAAAKU|,@A9JGpA#ξA65:A;A?A c?A a+?A `*A4<2AM::Aiu:BA4<JAM:RAiu:٘i)I9Y J\C=JJJJ&K Yy77N`8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028777.063165 s, next control iter: 1743028777.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028777.443165 s.4Ö"H~,1]\ AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743028777.443290F (some fields omitted in printout) "2Initializing CTD_Seabird.A(\ǡ@A\.[ǡ@A\~? AAf&"AAٱqNA"AZAbAjArAzAAAI`|,@A18GpAA:AA?A c?A@=*?A *A4<2A.::A|:BA4<JA.:RA|:٘i)I9Y JJJJ&K Yyb77J]`8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028777.483165 s, next control iter: 1743028777.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2276, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028777.863165 s.+"H~,>w AAfffffȡ@A>"D2ȡ@A\~? AA*f&"AAqNA"AZAbAjArAzAAA9pU},@A?:r%GpA$ξA$:A5A?A c?A)?A/*A4<2A::An:BA4<JA:RAn:YV??y10:ٓH VV?[?@]? ~t?@DP? ?)V? I٘i)I9Y J_<JS3JJJ&Kߞ Yy7k`8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028777.883165 s, next control iter: 1743028778.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028778.283165 s.6R"H~, AJ"J*J2J:JBJnJvJA ףp=ɡ@A}A ɡ@A\~? AuA|f&"AAqNA"AZAbAjArAzAAA{},@A|lYGpAA"9A.A?Ac?A`'?Ao˲*A4<2A::AN:BA4<JA:RAN:٘i)I9Y JJJJ&K Yy77{7y`8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028778.323165 s, next control iter: 1743028778.683178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2277*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028778.703165 s.Ժ"H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200102 time: 1743028778.703297F (some fields omitted in printout)AGzʡ@A˚Xɡ@A \~? AWAf&"AA>qNA"AZAbAjArAzAAAiU~,@AQt9GpAACA/A1?Ac?A&?A*A4<2A::A((:BA4<JA:RA((:٘i)I9Y JJJJ&K Yy7)7L`8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028778.743165 s, next control iter: 1743028779.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028779.123165 s.8"H~,aNJ AJ"J*J2J:JBJnJvJARʡ@AKTʡ@A \~? A8A f&"AA`qNA"AZAbAjArAzAAA)91~,@A4FpAAA6A,?Ac?A %?A|2*A4<2A::A+:BA4<JA:RA+:٘i)I9Y JJJJ&K Yy77`8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028779.143165 s, next control iter: 1743028779.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028779.543165 s.I"H~, AA(\ˡ@A]wbˡ@A5\~? AAqf&"AAqNA"AZAbAjArAzAAAHdΰU,@AΚFpA#ξA&A;A:?A@Wc?Al$?A_<3*Am4<2A::A9BAm4<JA:RA9٘i)I9Y Jd2C<JJJJ&K YyZ7Z7`8)ZZZBZL?YY*W2W WWW"W ) )FFF]t:Waiting for Gazebo time sync: latest Gz time: 1743028779.563165 s, next control iter: 1743028779.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2278, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028779.963165 s.v"H~, AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743028779.963272F (some fields omitted in printout)A̡@AWA te̡@AJ\~? AAf&"AAqNA"AZAbAjArAzAAA Q,@A+kFpAA.$AAp?A` c?AI#?AVU3*A=4<2Ab::An:BA=4<JAb:RAn:Yu??y9.$ٓH 5X?+w ? a?c t?…D?)u? II٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 201JSJJJ&K Yyŧ77L`8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028780.003165 s, next control iter: 1743028780.363176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028780.383165 s."H~,# AA= ףp͡@AƉv<͡@A_\~? A݌Ag&"AAŲqNA"AZAbAjArAzAAAqU,@AܚӵFpA"ξAͅB9A:AJ?A c?A@)"?Ax2*A4<2A::A:BA4<JA:RA:٘i)I9Y J93<JJJJ&K YyZ7SI7`8)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] : Waiting for Gazebo time sync: latest Gz time: 1743028780.443165 s, next control iter: 1743028780.783176 s, wait time: 0.340011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2279", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028780.803165 s.wA"H~,{g3 AJ"J*J2J:JBJnJvJAzGΡ@A}Ρ@At\~? AAeg&"AAqNA"AZAbAjArAzAAAՀ,@AJJDJ&K> Yy77`8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028780.843165 s, next control iter: 1743028781.203175 s, wait time: 0.360010 s) rAdjusting time to match Gazebo time: 1743028781.223165 s.g"H~,HN AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199762 time: 1743028781.223270F (some fields omitted in printout)AQϡ@A 3Ρ@A\~? AAg&"AAqNA"AZAbAjArAzAAAjϾU,@AȮfFpAA:A:A?A9 c?A?A* *Ay4<2AΠ::A(:BAy4<JAΠ:RA(:٘i)I9Y JQ>JJJ&K> YyZ7Z7K`8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028781.263165 s, next control iter: 1743028781.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028781.643165 s.J "J *J 2J :J BJ nJ vJ |"H~, *i AA)\ϡ@Aמϡ@A\~? AA g&"AA)qNA"AZAbAjArAzAAA̅Ձ,@A=~FpA$ξAv\:A3A9?A c?A?A}޲*Ap4<2AA::A:BAp4<JAA:RA:٘i)I9Y J[<JJJJ&K Yyb77`8)ZZZBZL?YY*W2W WWW"W ) )FtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2280, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743028781.663165 s, next control iter: 1743028782.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028782.063165 s."H~,F AAС@Ay㤘С@A\~? AcAX g&"AAKqNA"AZAbAjArAzAAAݮU,@A# }kFpAAW8A.A?A c?A?A2Ų*Ag4<2AP::A9BAg4<JAP:RA9Yhߋ??y.X8ٓH@)Z?@PÐ?b?/ӯ}t?j?@?)hߋ? I٘i)I9Y JQ4JJJ&KT Yy777`8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028782.103165 s, next control iter: 1743028782.463176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028782.483165 s.q_"H~,잋 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743028782.483282F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ףѡ@AY-oѡ@A\~? AEA g&"AAmqNA"AZAbAjArAzAAAO`Ղ,@AFXFpAA@8A2A{?A 2 c?Ae?AP*A~^4<2Ak::Ac9BA~^4<JAk:RAc9٘i)I9Y JJJJ&K  a8Y a8yj7Z7L a8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028782.523165 s, next control iter: 1743028782.883174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2281, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028782.903165 s."H~,͹ AAGzҡ@AUFҡ@A\~? A&Ag&"AAqNA"AZAbAjArAzAAA+vU,@A؞WFFpAAA9A?A c?A`=?A|ڳ2*AtU4<2A::A9BAtU4<JA:RA9٘i)I9Y JJJJ&K Yya8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028782.943165 s, next control iter: 1743028783.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028783.323165 s.v"H~,%ԋ AJ"J*J2J:JBJnJvJAQӡ@AӢ>ӡ@A\~? AAJg&"AAqNA"AZAbAjArAzAAARՃ,@A\3FpA#ξAA<AD?A` c?A@?AZ3*AXL4<2A ::A9BAXL4<JA :RA9٘i)I9Y Jb2C<JJJJ&K Yy777%a8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028783.343165 s, next control iter: 1743028783.723176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2282., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028783.743165 s.W"H~,m AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743028783.743275F (some fields omitted in printout)A\(ԡ@Aӡ@A \~? AꋥAg&"AAҳqNA"AZAbAjArAzAAA4$uU,@A6!FpAA6A;A?A c?A?Av/3*A*C4<2A::A9BA*C4<JA:RA9٘i)I9Y JJJJ&K Yy77j7M4a8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028783.783165 s, next control iter: 1743028784.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028784.163165 s.w}#H~,q AJ"J*J2J:JBJnJvJAա@Aԡ@A \~? AˋAg&"AAqNA"AZAbAjArAzAAA[uՄ,@A}VFpAA9A<A?Ac?A?A%T*A94<2A`::A9BA94<JA`:RA9Ybۋ??y;N;9ٓH \?@f P?`Nd?߯`t?@@w>??)bۋ? I٘i)I9Y JwJJJ&KJ Yy C{7Ba8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028784.203165 s, next control iter: 1743028784.563176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028784.583165 s.#H~,R% AAp= ա@Aա@A2 \~? AA;g&"AAqNA"AZAbAjArAzAAA,dp\U,@AGEpAA:A=A?A`c?A ?AL*A04<2Al::A9BA04<JAl:RA9٘i)I9Y JJJJ&K Yy{7j7Pa8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028784.623165 s, next control iter: 1743028784.983175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2283, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028785.003165 s.w #H~,H4@ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4201422 time: 1743028785.003397F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz֡@Ay֡@AH \~? AAg&"AA6qNA"AZAbAjArAzAAAgw>Յ,@A.ъEpA$ξAg:A9Ae?Ac?A?A *A'4<2Azd::A9BA'4<JAzd:RA9٘i)I9Y JbJJJJ&K Yy7)7M_a8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028785.023165 s, next control iter: 1743028785.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028785.423165 s.u#H~,[ AAQס@AfPס@A] \~? ApAg&"AAXqNA"AZAbAjArAzAAAU,@A}\QEpAAΗ :A2A?A`{c?Ak?Aв*A4<2Aij::AA9BA4<JAij:RAA9٘i)I9Y JJJJ&K Yy77ma8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028785.463165 s, next control iter: 1743028785.823175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2284, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028785.843165 s.#H~,u AJ"J*J2J:JBJnJvJA(\ء@AVP'ء@Ar \~? ARA+ g&"AAzqNA"AZAbAjArAzAAAϳԆ,@AMrEpAAiRA/A?A@c?A A?A[*A4<2Ax::A9BA4<JAx:RA9٘i)I9Y JJJJ&K Yyb77{a8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028785.883165 s, next control iter: 1743028786.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028786.263165 s.$#H~,ؐ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199602 time: 1743028786.263281F (some fields omitted in printout)A33333١@AT ء@A \~? A3A{"g&"AAqNA"AZAbAjArAzAAAyT,@A(?EpAANvoA5A?A c?A?AtF*A 4<2A::AFn9BA 4<JA:RAFn9Y׋??y1VoٓH]?P@Ƒ?@g?尯 ~t?M`?)׋? I٘i)I9Y Jr>4JJJ&K哹 Yy777Na8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028786.303165 s, next control iter: 1743028786.663175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2285., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028786.683165 s.l*#H~,c AJ"J*J2J:JBJnJvJAףp= ڡ@A:A١@A \~? AA$g&"AAqNA"AZAbAjArAzAAAK ԇ,@A=^EpA#ξA˘A<A?A gc?A?A9p3*A4<2Aj::AY9BA4<JAj:RAY9٘i)I9Y J`2JJJJ&K Yy77{7a8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028786.683165 s, next control iter: 1743028787.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743028787.103165 s.1#H~,ƌ AA{Gڡ@AZ!ڡ@A \~? AA'g&"AA޴qNA"AZAbAjArAzAAAU T,@A-֌EpAAMYA=Ar?A@c?A?Ab3*A3<2As::AZ9BA3<JAs:RAZ9٘i)I9Y JJJJ&K Yyb77a8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028787.123165 s, next control iter: 1743028787.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028787.523165 s.7#H~,{ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199782 time: 1743028787.523264F (some fields omitted in printout)J"J*J2J:JBJnJvJAQۡ@A %ۡ@A \~? A؊Ai)g&"AAqNA"AZAbAjArAzAAAvԈ,@Au{eNzEpA"ξAj:A<A.?Ac?A?Ao/2*A`3<2AUY::A0m9BA`3<JAUY:RA0m9٘i)I9Y Jf3<JJJJ&K Yy7Na8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028787.563165 s, next control iter: 1743028787.923174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2286, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028787.943165 s.Td>#H~,1] AA(\ܡ@AI*[ܡ@A \~? AA+g&"AA"qNA"AZAbAjArAzAAACIT,@AgEpA#ξAx;:A=A?Ac?A ?Agt*A23<2A>::A 9BA23<JA>:RA 9٘i)I9Y JeC=JJJJ&K Yy7a8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028787.983165 s, next control iter: 1743028788.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028788.363165 s.E#H~,> AJ"J*J2J:JBJnJvJAfffffݡ@Az):2ݡ@A \~? AA.g&"AACqNA"AZAbAjArAzAAAض(ԉ,@AAUEpAA;:AA?A@Hc?A q ?AT{ *A3<2A-::A؈9BA3<JA-:RA؈9Y[Ӌ?ߧ?y7:ٓH@_?R4z?}g?@~t?{R? ?)[Ӌ? I٘i)I9Y JJJJ&Kם Yy7a8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028788.383165 s, next control iter: 1743028788.763179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2287", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028788.783165 s.WK#H~,2 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200122 time: 1743028788.783292F (some fields omitted in printout)A ףp=ޡ@AZC ޡ@A!\~? A}AV0g&"AAeqNA"AZAbAjArAzAAApS,@AEBEpA$ξA:A7A?Ac?A`L ?A*A 3<2A*::Az9BA 3<JA*:RAz9٘i)I9Y J^<JJJDJ&K Yy77{7Oa8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028788.823165 s, next control iter: 1743028789.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028789.203165 s.S#H~,M AJ"J*J2J:JBJnJvJAGzߡ@AN Iޡ@A!\~? A_A2g&"AAqNA"AZAbAjArAzAAAQӊ,@A[090EpAAJ9A1Aާ?Ac?A $ ?Aɲ*A3<2A3::AY9BA3<JA3:RAY9٘i)I9Y JJJJ&K Yy77a8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028789.243165 s, next control iter: 1743028789.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028789.623165 s.TY#H~,Pg AARߡ@AKUߡ@A/!\~? A@A4g&"AAqNA"AZAbAjArAzAAA P elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200722 time: 1743028790.043330F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@Am@AE!\~? A"AC7g&"AAɵqNA"AZAbAjArAzAAA~l9Ӌ,@A+b4 EpAA,A9Adڧ?Ac?A?A-_2*A%3<2AeI::AF9BA%3<JAeI:RAF9٘i)I9Y JJJJ&K  b8Y b8y77P b8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028790.063165 s, next control iter: 1743028790.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028790.463165 s.Pg#H~,Ϥ AA@Aj2me@AZ!\~? AA9g&"AAqNA"AZAbAjArAzAAAwS,@A8nDpA#ξAA>A~٧?Ac?A?ATN?3*A3<2AC::A9BA3<JAC:RA9Yϋ?ۧ?y8HٓHa? `?k?t?o?R?)ϋ? I٘i)I9Y J`2C<JkJJJ&KF Yyb7b8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028790.503165 s, next control iter: 1743028790.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2289, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028790.883165 s.ym#H~,@ AJ"J*J2J:JBJnJvJA= ףp@Aur<@Ao!\~? A扥A;g&"AA qNA"AZAbAjArAzAAAbҌ,@A4qn3DpAAA=A٧?Ac?A?AQ3*A3<2A0::A 9BA3<JA0:RA 9٘i)I9Y JJJJ&K Yy77'b8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028790.923165 s, next control iter: 1743028791.283180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028791.303165 s.Xt#H~,gӍ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199802 time: 1743028791.303289F (some fields omitted in printout)AzG@A|@A!\~? AljA.>g&"AA.qNA"AZAbAjArAzAAA.R,@A_DpAA= `9AAڧ?A`c?A`r?A]2*A3<2A::AJ$9BA3<JA:RAJ$9٘i)I9Y JJJJ&K Yy{7{7O6b8)ZZZBZL?YY*W2W WWW"W ) )FFF]x:Waiting for Gazebo time sync: latest Gz time: 1743028791.343165 s, next control iter: 1743028791.703178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2290*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028791.723165 s.{#H~,H AJ"J*J2J:JBJnJvJAQ@Am@A!\~? AA|@g&"AAPqNA"AZAbAjArAzAAA=ҍ,@At?6DpAA]q:A?A?ۧ?A )c?A@T?ArѲ*A3<2AS::A59BA3<JAS:RA59٘i)I9Y JJJJ&K Yy77Db8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028791.763165 s, next control iter: 1743028792.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028792.143165 s.V/#H~,* AA)\@A1q@A!\~? AABg&"AAqqNA"AZAbAjArAzAAA5Q,@AQDpAAu:A=Aڧ?Ac?A3?A/ *A3<2A::Ar59BA3<JA:RAr59٘i)I9Y JJJJ&K YyRb8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028792.163165 s, next control iter: 1743028792.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028792.563165 s.#H~,J $ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199842 time: 1743028792.563277F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A@A!\~? AlAEg&"AAqNA"AZAbAjArAzAAAQю,@A~: AAq= ף@AF'Ko@A!\~? ANAfGg&"AAqNA"AZAbAjArAzAAA֋RQ,@AQ|DpAAvX8A1Aק?A zc?A?Ah%ò*A{3<2A::A8BA{3<JA:RA8٘i)I9Y JJJJ&K Yy)7ŧ7ob8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028793.023165 s, next control iter: 1743028793.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028793.403165 s.&#H~,Y AJ"J*J2J:JBJnJvJAGz@A,F@A!\~? A0AIg&"AAֶqNA"AZAbAjArAzAAAя,@A JGwDpAA>A5Aԧ?A c?A?A,B*Ar3<2A ::A8BAr3<JA :RA8٘i)I9Y JJJJ&K Yyj7Z7}b8)ZZZBZL?YY*W2W WWW"W ) )FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743028793.423165 s, next control iter: 1743028793.803174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2292", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028793.823165 s.#H~,t AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200242 time: 1743028793.823298F (some fields omitted in printout)AQ@A@A"\~? AALg&"AAqNA"AZAbAjArAzAAAP,@AdDpAAA<Aӧ?Apc?A`?A2*Ai3<2AO::Aʼ8BAi3<JAO:RAʼ8٘i)I9Y JJJJ&K Yy C{7{7Pb8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028793.843165 s, next control iter: 1743028794.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028794.243165 s.J "J *J 2J :J BJ nJ vJ #H~,y AA\(@Avu@A"\~? AANNg&"AAqNA"AZAbAjArAzAAAYdА,@AURDpA#ξAA?Aҧ?Ab?A`w?A[3*A`3<2A::A8BA`3<JA:RA8٘i)I9Y Jf2C<JJJJ&K Yy77b8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028794.283165 s, next control iter: 1743028794.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028794.663165 s.#H~,q AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2293, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@Ao@A,"\~? AՈAPg&"AA;qNA"AZAbAjArAzAAAXP,@A:0?DpAA¾A>Aӧ?A b?AY?A)3*AW3<2A<::A38BAW3<JA<:RA38YNj?ӧ?y>ٓH e?^; ?@n?Lït?@5 ?)Nj? I٘i)I9Y JgQJJJ&K Yy77b8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028794.683165 s, next control iter: 1743028795.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028795.083165 s.D#H~,SŎ AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199582 time: 1743028795.083283F (some fields omitted in printout)Ap= @A3ڢ@AA"\~? AARg&"AA\qNA"AZAbAjArAzAAAڨSϑ,@A5g-DpAAq:AAԧ?A ,b?A@=?A<*AN3<2A::A/8BAN3<JA:RA/8٘i)I9Y JJJJ&K Yy77Qb8)ZZZBZL?YY*W2W WWW"W ) )FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743028795.123165 s, next control iter: 1743028795.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028795.503165 s.#H~,/4 AAHz@Ae,y@AV"\~? AA6Ug&"AA~qNA"AZAbAjArAzAAALMSO,@A'DpAA^:A?Adԧ?A db?A@?AS0*AE3<2A::A8BAE3<JA:RA8٘i)I9Y JJJJ&K Yy{7j7b8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028795.523165 s, next control iter: 1743028795.903174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2294, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)<)< rAdjusting time to match Gazebo time: 1743028795.923165 s.5#H~, AJ"J*J2J:JBJnJvJAQ@AW elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199742 time: 1743028796.343276F (some fields omitted in printout)A(\@AQhY'@A"\~? A\AYg&"AAqNA"AZAbAjArAzAAAɓN,@A CpAA :A4Aѧ?A@b?A`?A?β*A33<2A[::A8BA33<JA[:RA8٘i)I9Y JJJJ&K Yy7777Qb8)ZZZBZL?YY*W2W WWW"W ) )FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743028796.383165 s, next control iter: 1743028796.743176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2295&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028796.763165 s.J "J *J 2J :J BJ nJ vJ 7#H~,0 AA33333@AaQ@A"\~? A>A\g&"AAqNA"AZAbAjArAzAAA/wΓ,@A6CpAA%'pA2A_ϧ?A@b?A?A7_*A*3<2A::A{8BA*3<JA:RA{8YË?ϧ?y2pٓHg?! "?p?Ư@~t?.@?)Ë? I٘i)I9Y J|d4JJDJ&Ko Yy77b8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028796.803165 s, next control iter: 1743028797.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028797.183165 s.#H~,kK AAףp= @A|@A"\~? A Ai^g&"AAqNA"AZAbAjArAzAAA;>=M,@A~%CpAAsA8A&ͧ?A@b?A`?A`*A!3<2A::A{8BA!3<JA:RA{8٘i)I9Y JJJJ&K Yyŧ7ŧ7b8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028797.223165 s, next control iter: 1743028797.583180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028797.603165 s.24#H~,f AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199782 time: 1743028797.603255F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@A2,@A"\~? AA`g&"AA%qNA"AZAbAjArAzAAAP2hR͔,@AUOCpA#ξAtA>A˧?Ab?Ag?A23*A3<2A::Ah8BA3<JA:RAh8٘i)I9Y J_2JJJJ&K  c8Y c8y)7)7T c8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028797.643165 s, next control iter: 1743028798.003175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2296 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028798.023165 s.Z#H~,{ AAQ@A6@A"\~? A㇥Acg&"AAGqNA"AZAbAjArAzAAAL,@ADCpAAG;TA@A˧?A%b?AH?A a3*A3<2A::Ai8BA3<JA:RAi8٘i)I9Y JJJJ&K Yy7c8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028798.063165 s, next control iter: 1743028798.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028798.443165 s.3#H~,-] AJ"J*J2J:JBJnJvJA(\@A:#/[@A"\~? AŇANeg&"AAhqNA"AZAbAjArAzAAAXz̕,@AVb֙CpAAJA?A̧?A@Ab?A,?A2*A3<2A1::A|8BA3<JA1:RA|8٘i)I9Y JJJJ&K Yy77j7)c8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028798.483165 s, next control iter: 1743028798.843175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2297, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028798.863165 s.+#H~,}> AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743028798.863293F (some fields omitted in printout)Afffff@AME2@A"\~? AAgg&"AAqNA"AZAbAjArAzAAA1L,@A hCpAArA:ٓHi?`.`?q?毿t?'H??)? I٘i)I9Y JdJJJ&K Yy{7S8c8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028798.903165 s, next control iter: 1743028799.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028799.283165 s.2R#H~,ҏ AJ"J*J2J:JBJnJvJA ףp=@AoD @A#\~? AAig&"AAqNA"AZAbAjArAzAAAf׵˖,@AŧtCpAAɖ:AAjͧ?A b?A ?A>$ *A2<2A|::AE8BA2<JA|:RAE8٘i)I9Y JJJJ&K Yy77Fc8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028799.323165 s, next control iter: 1743028799.683174 s, wait time: 0.360009 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2298*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028799.703165 s.ٺ#H~, AAGz@A Z@A)#\~? AjA2lg&"AA͸qNA"AZAbAjArAzAAA K,@AMbCpA$ξAE:A:AI̧?A@]b?A ?Ah*A2<2Amz::A8BA2<JAmz:RA8٘i)I9Y Js<JJJJ&K Yyŧ7b7Tc8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028799.743165 s, next control iter: 1743028800.103179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028800.123165 s.5$H~,T AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200022 time: 1743028800.123279F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@AD5%Y@A>#\~? ALA~ng&"AAqNA"AZAbAjArAzAAA7植ʗ,@Ah#PCpAAƧ9A3A%ʧ?A`b?A?ADz*A2<2AO::Ag8BA2<JAO:RAg8٘i)I9Y JJJJ&K Yy7777Scc8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028800.163165 s, next control iter: 1743028800.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028800.543165 s.I$H~," AA(\@Ab@AS#\~? A.Apg&"AAqNA"AZAbAjArAzAAA/J,@AϹ=CpAA\A4Aǧ?A b?A@?A*A2<2A!::AA8BA2<JA!:RAA8٘i)I9Y JJJJ&K Yyqc8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028800.583165 s, next control iter: 1743028800.943175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2299, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028800.963165 s.x$H~,= AJ"J*J2J:JBJnJvJA@A he@Ah#\~? AAsg&"AA1qNA"AZAbAjArAzAAAGɘ,@ArTP+CpAAA<Aŧ?Atb?A`?AU-2*A'2<2A::A"8BA'2<JA:RA"8Y?ǧ?y7XDٓH ck? H? 1u?~~t?1Q?)? I٘i)I9Y JQ4JJJ&K Yy7{7c8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028800.983165 s, next control iter: 1743028801.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028801.383165 s.$H~,X AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743028801.383267F (some fields omitted in printout)A= ףp@AN<@A}#\~? AA`ug&"AASqNA"AZAbAjArAzAAAII,@AyiCpA#ξA=A@Aħ?A`b?A`@?A#B3*A82<2Ae::A]8BA82<JAe:RA]8٘i)I9Y Ja2C<JJJJ&K Yy77Tc8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028801.423165 s, next control iter: 1743028801.783173 s, wait time: 0.360008 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2300", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028801.803165 s.tA$H~,ogs AJ"J*J2J:JBJnJvJAzG@Ae~@A#\~? AԆAwg&"AAtqNA"AZAbAjArAzAAAș,@A܆!CpAAAA&ŧ?ATb?A#?AM3*A62<2Aq::A 8BA62<JAq:RA 8٘i)I9Y JJJJ&K Yy{7c8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028801.843165 s, next control iter: 1743028802.203175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028802.223165 s.g#$H~,H AAQ@AkGq@A#\~? AAyg&"AAqNA"AZAbAjArAzAAA΁H,@ATBpAAh}9AAƧ?Agb?A@ ?AsA2*A'2<2ARd::Ay48BA'2<JARd:RAy48٘i)I9Y JJJJ&K Yy77c8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028802.263165 s, next control iter: 1743028802.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028802.643165 s.y)$H~,* AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.420000J2 time: 1743028802.643291F (some fields omitted in printout)"J*J2J:JBJnJvJA)\@A߅@A#\~? AAB|g&"AAqNA"AZAbAjArAzAAAwǚ,@AVm[BpAAeu:AAAƧ?Ab?A?A-ײ*A2<2AML::AE8BA2<JAML:RAE8٘i)I9Y JJJJ&K Yyb77Vc8)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2301, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028802.683165 s, next control iter: 1743028803.043177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028803.063165 s.0$H~,p Đ AA@AQN@A#\~? AyA~g&"AAٹqNA"AZAbAjArAzAAA*F,@A>PBpAA:A?AOƧ?Ab?A?ApE *A%2<2A @::AuD8BA%2<JA @:RAuD8Y?ç?y9Kd:ٓH`m?Վ? t? t?sS? ?)? I٘i)I9Y JjJJJ&KS Yy777c8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028803.103165 s, next control iter: 1743028803.463184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743028803.483165 s.s_7$H~,ސ AJ"J*J2J:JBJnJvJAq= ף@Ao@A#\~? A[A؀g&"AAqNA"AZAbAjArAzAAA϶Mƛ,@AH,RBpA$ξAKQ:A8Aħ?Ab?A`?Aײ*AA2<2AB::AL.8BAA2<JAB:RAL.8٘i)I9Y Js<JJJJ&K YyZ7Z7c8)ZZZBZL?YY*W2W WWW"W ) )FFF]z:Waiting for Gazebo time sync: latest Gz time: 1743028803.523165 s, next control iter: 1743028803.883174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2302, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028803.903165 s.=$H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200292 time: 1743028803.903320F (some fields omitted in printout)AGz@AꗈF@A#\~? A=A"g&"AAqNA"AZAbAjArAzAAA'/E,@A{dBpAAX8A4An§?A b?A@?A*Aj2<2AN::A 8BAj2<JAN:RA 8٘i)I9Y JJJJ&K Yy Cb77Uc8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028803.923165 s, next control iter: 1743028804.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743028804.323165 s.uD$H~,! AJ"J*J2J:JBJnJvJAQ@A@A$\~? AAmg&"AA=qNA"AZAbAjArAzAAA:;!Ŝ,@A)BpAA:mDA7A ?Ab?A c?AD4*A2<2A[::A7BA2<JA[:RA7٘i)I9Y JJJJ&K Yy7c8)ZZZBZL?YY*W2W WWW"W ) )FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743028804.343165 s, next control iter: 1743028804.723177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2303&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028804.743165 s.WK$H~,i/ AA\(@A DO@A%$\~? AAg&"AA_qNA"AZAbAjArAzAAAYD,@A pȅBpAA4A?Ao?Ab?A@?A2*A2<2A^::A7BA2<JA^:RA7٘i)I9Y JJJDJ&K  d8Y d8y77d8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028804.783165 s, next control iter: 1743028805.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028805.163165 s.s}R$H~,qJ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743028805.163266F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A0@A:$\~? AㅥAg&"AAqNA"AZAbAjArAzAAA7xÝ,@ABhsBpA#ξAvAAA?ASb?A"߅?ATE\3*Aw2<2AS::A7BAw2<JAS:RA7Yij??y=CٓH5o?@ 瑿?`x?It?O@?)ij? I٘i)I9Y J`2C<J_JJJ&K} Yyŧ7b7Ud8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028805.183165 s, next control iter: 1743028805.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028805.583165 s.X$H~,Re AAp= @AS%ޢ@AO$\~? AŅALg&"AAqNA"AZAbAjArAzAAA 'WC,@A) aBpAA/AA?Ab?A`ޅ?AB$3*An2<2AB<::A47BAn2<JAB<:RA47٘i)I9Y JJJJ&K Yy77j7d8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028805.603165 s, next control iter: 1743028805.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2304, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028806.003165 s.{ `$H~,Y4 AJ"J*J2J:JBJnJvJAHz@Ay@Ad$\~? AAg&"AAúqNA"AZAbAjArAzAAA5Ҵž,@ABNBpAAY:AAu?A`b?A܅?A3Q|*Ae2<2A!::A7BAe2<JA!:RA7٘i)I9Y JJJJ&K Yyŧ7b7,d8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028806.043165 s, next control iter: 1743028806.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028806.423165 s.uf$H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743028806.423284F (some fields omitted in printout)AQ@AdVP@Ay$\~? AAg&"AAqNA"AZAbAjArAzAAARH B,@A^!OA?A_b?Aڅ?AA*AS2<2Aa::AX7BAS2<JAa:RAX7٘i)I9Y JaJJJJ&K Yy77j7Hd8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028806.863165 s, next control iter: 1743028807.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028807.263165 s.t$H~,#Б AA33333@A@A$\~? ALAtg&"AA'qNA"AZAbAjArAzAAA@,@AʍBpAA2l:A7A/?AMb?A`م?A˲*AK2<2A ::Ab7BAK2<JA :RAb7Y??y5g:ٓH`+q?@`c?@Qy?௿~t? mB??)? I٘i)I9Y Jc4JJJ&K Yy7{7Wd8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028807.303165 s, next control iter: 1743028807.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2306., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028807.683165 s.lz$H~,V AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743028807.683317F (some fields omitted in printout)Aףp= @A@A$\~? A.Ag&"AAIqNA"AZAbAjArAzAAA\,@Aȝ=BpAA޵A5A?Akb?Am؅?AK*A:B2<2A::A7BA:B2<JA:RA7٘i)I9Y JJJJ&K Yy{7j7Ved8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028807.683165 s, next control iter: 1743028808.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743028808.103165 s.$H~, AA{G@A@,@A$\~? AAg&"AAjqNA"AZAbAjArAzAAA)V?,@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199702 time: 1743028808.943276F (some fields omitted in printout)A(\@A%:[@A$\~? AԄAg&"AAqNA"AZAbAjArAzAAAc=,@AC,b5ApAANABAG?A b?AՅ?AC_3*A'2<2A::Ap{7BA'2<JA:RAp{7٘i)I9Y JJJJ&K Yyŧ7b7Wd8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028808.983165 s, next control iter: 1743028809.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028809.363165 s.$H~,l>W AJ"J*J2J:JBJnJvJAfffff@AX92@A %\~? AAg&"AAϻqNA"AZAbAjArAzAAADsA,@AK ߻ApAAAAA ?A@b?AӅ?AcJ2*A2<2A::Ap7BA2<JA:RAp7Yʫ??yAٓH s? @C?{?̯ t?Bs@?)ʫ? I٘i)I9Y JdJJJ&Kؔ Yy77d8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028809.403165 s, next control iter: 1743028809.763174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2308", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028809.783165 s.W$H~,r AA ףp=@A\A @A!%\~? AA,g&"AAqNA"AZAbAjArAzAAA3R<,@A[ApAA$F:ACAظ?A b?A ҅?A|X*A2<2A::A7BA2<JA:RA7٘i)I9Y JJJJ&K Yyŧ7d8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028809.823165 s, next control iter: 1743028810.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028810.203165 s.$H~, AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200182 time: 1743028810.203308F (some fields omitted in printout)AGz @AJ@A6%\~? AzAug&"AAqNA"AZAbAjArAzAAAݱû,@Aq,5ApAA@:ABAܸ?Ab?Aх?A *A 2<2Au::A7BA 2<JAu:RA7٘i)I9Y JJJJ&K Yy77j7Wd8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028810.243165 s, next control iter: 1743028810.603175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028810.623165 s.V$H~,X⧒ AAR @APV W @AK%\~? A\Ag&"AA3qNA"AZAbAjArAzAAAsA:,@A1ApA$ξAO}:A<A?A`b?AЅ?AL*A2<2A::A)7BA2<JA:RA)7٘i)I9Y Js<JJJJ&K Yy{7d8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028810.663165 s, next control iter: 1743028811.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2309 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout)4)4 rAdjusting time to match Gazebo time: 1743028811.043165 s.$H~,’ AJ"J*J2J:JBJnJvJA(\ @AVzm @A`%\~? A>Ag&"AATqNA"AZAbAjArAzAAAN58,@AkrApAA,9A6A?A`b?A@υ?AŲ*A1<2A::Aw7BA1<JA:RAw7٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 200JJJJ&K Yy{7d8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028811.083165 s, next control iter: 1743028811.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028811.463165 s.Y$H~,ݒ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200352 time: 1743028811.463323F (some fields omitted in printout)A @Ae @Au%\~? A AOg&"AAvqNA"AZAbAjArAzAAAs9,@A(Ic=`ApAA A7A?A b?A\΅?A؎*AQ1<2Ai::AQ7BAQ1<JAi:RAQ7Y䧋?1?y6N ٓHt?NU|@?3~? ~t?``A?)䧋? I٘i)I9Y J Q4JJJ&K 8 Yy 7 7 `d8)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] ; Waiting for Gazebo time sync: latest Gz time: 1743028811.523165 s, next control iter: 1743028811.863177 s, wait time: 0.340012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2310, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028811.883165 s.y$H~,< AJ"J*J2J:JBJnJvJA= ףp @AQkw< @A%\~? AAg&"AAqNA"AZAbAjArAzAAA,@AzMApAAMA>A'?A@b?A@;ͅ?AZA2*A1<2Al::A37BA1<JAl:RA37I٘i)I9Y JQ>JJJ&K> Yyb777d8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028811.923165 s, next control iter: 1743028812.283174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743028812.303165 s.U$H~,sg AAzG @A @A%\~? A䃥Ag&"AAqNA"AZAbAjArAzAAADY7,@Az;ApA#ξAbACAX?A|b?A̅?AD3*A1<2A::AD(7BA1<JA:RAD(7٘i)I9Y Jb2C<JQ>JJJ&K>  e8Y e8y{7j7e8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028812.343165 s, next control iter: 1743028812.703177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2311*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028812.723165 s.$H~,H. AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743028812.723300F (some fields omitted in printout)AQ@A2 @A%\~? AƃA(g&"AAڼqNA"AZAbAjArAzAAA,@AP$N)ApAAmAA?Ab?A˅?AeI3*A1<2A::A17BA1<JA:RA17٘i)I9Y JJJDJ&K YyZ7Z7Xe8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028812.743165 s, next control iter: 1743028813.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028813.143165 s.T/$H~,)I AA)\@Aٕ@A%\~? AApg&"AAqNA"AZAbAjArAzAAAN6,@A?ApAAI9ABA?A`b?AɅ?AX!&2*A1<2A::AG7BA1<JA:RAG7٘i)I9Y JJJJ&K Yyb77e8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028813.183165 s, next control iter: 1743028813.543177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028813.563165 s.$H~,= d AJ"J*J2J:JBJnJvJA@A ;@A%\~? AAg&"AAqNA"AZAbAjArAzAAAUoPx,@AtUFApAAy:ADA&?Ab?A`ȅ?A,ݲ*A1<2A::AW7BA1<JA:RAW7Yգ?"?y@-z:ٓHv?>? ~?쯿t??O?@?)գ? I٘i)I9Y J{>JJJ&K Yy Cŧ7ŧ7.e8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028813.603165 s, next control iter: 1743028813.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2312, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028813.983165 s.$H~,~ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743028813.983283F (some fields omitted in printout)Aq= ף@AO9o@A%\~? AlAg&"AA>qNA"AZAbAjArAzAAA4,@AH9g@pAA͙:AAAƱ?Anb?ADž?A%*A1<2A}::AU7BA1<JA}:RAU7٘i)I9Y JJJJ&K Yyb77Y elevatorAngleAction: 0.000000< massPositionAction: 0.000000J4 buoyancyAction: 0.000955"J dt: 0.420012*J2J2 time: 1743028815.243290F (some fields omitted in printout):JBJnJvJA\(@A1y@A2&\~? AAg&"AAqNA"AZAbAjArAzAAA,@AK@pAAlJA:A~?Aob?ATą?A&*A1<2Ae::A46BA1<JAe:RA46٘i)I9Y JJJJ&K Yy{7j7Yge8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028815.263165 s, next control iter: 1743028815.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028815.663165 s.$H~,q AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2314, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A̚X@AG&\~? AAg&"AAĽqNA"AZAbAjArAzAAA7 )1,@Au@@pAAOAAA멧?AFb?A5Å?A2*A1<2A3::A6BA1<JA3:RA6Y?\?y<ٓH`x?`7@??̤t?R ?)? I٘i)I9Y JW3JJJ&K Yyb7b7ue8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028815.683165 s, next control iter: 1743028816.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028816.083165 s.D%H~,S AJ"J*J2J:JBJnJvJAp= @AUآ@A\&\~? AւAfg&"AAqNA"AZAbAjArAzAAA8J,@AI=!@pA#ξAT{ADA?A@b?A…?A\3*A1<2A::A6BA1<JA:RA6٘i)I9Y Jd2C<JJJJ&K Yyŧ77e8)ZZZBZL?YY*W2W WWW"W ) )FFF]}:Waiting for Gazebo time sync: latest Gz time: 1743028816.123165 s, next control iter: 1743028816.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028816.503165 s.%H~,@4 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743028816.503282F (some fields omitted in printout)AHz@A)y@Aq&\~? AAg&"AAqNA"AZAbAjArAzAAA_f/,@A\@pAAACA!?Ab?A ?AUp3*A(1<2A ::A6BA(1<JA :RA6٘i)I9Y JJJJ&K Yy{7{7Ye8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028816.523165 s, next control iter: 1743028816.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2315, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028816.923165 s.3%H~,; AJ"J*J2J:JBJnJvJAQ@A\P@A&\~? AAg&"AA(qNA"AZAbAjArAzAAAi},@A8;mr@pAA4 :ADA?Ab?A쿅?A?*A71<2As::A[6BA71<JAs:RA[6٘i)I9Y JJJJ&K Yyb77e8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028816.943165 s, next control iter: 1743028817.323176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028817.343165 s.<%H~,U AA(\@AHq(@A&\~? A|A;g&"AAIqNA"AZAbAjArAzAAA -,@A=Ө(`@pAAmŽ:AEAW?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743028817.763272F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333@Ap= @A&\~? A^Ag&"AAkqNA"AZAbAjArAzAAA,@AsYM@pA$ξA-:A@A?Ab?A@?A*Am1<2AX::A^7BAm1<JAX:RA^7Y?B?y;͎:ٓHz?@sϏ>? Q? `t?`EQ??)? I٘i)I9Y J_Jb2JJJ&KB YyZe8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028817.803165 s, next control iter: 1743028818.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028818.183165 s."%H~,g AAףp= @A@A&\~? A@Ag&"AAqNA"AZAbAjArAzAAA߄+,@AK;@pAA :A9A?A@b?A?Avɲ*Ad1<2A_::A6BAd1<JA_:RA6٘i)I9Y JJJJ&K Yy)7b7e8)ZZZBZL?YY*W2W WWW"W ) )FFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028818.203165 s, next control iter: 1743028818.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028818.603165 s.84)%H~, AJ"J*J2J:JBJnJvJA{G@Az@A&\~? A#Ag&"AAqNA"AZAbAjArAzAAA 𖰪,@A`)@pAA>A8A1?A`b?Av?Av*A \1<2ANm::Aȿ6BA \1<JANm:RAȿ6٘i)I9Y JJJJ&K Yyb7e8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028818.623165 s, next control iter: 1743028819.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2317 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028819.023165 s.Z0%H~,| AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200362 time: 1743028819.023306F (some fields omitted in printout)AQ@A&5@A&\~? AAUg&"AAϾqNA"AZAbAjArAzAAAܞS),@A@pAA i|A>A?Ab?A`V?A5]/*ASS1<2A_w::A;6BASS1<JA_w:RA;6٘i)I9Y JJJJ&K Yy77]e8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028819.063165 s, next control iter: 1743028819.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028819.443165 s.J "J *J 96%H~2J,F]ܔ A:JBJnJvJA(\@A'*[@A'\~? A灥Ag&"AAqNA"AZAbAjArAzAAA]xǨ,@A֘@pA#ξAADAآ?Ab?A9?A3*AJ1<2Agu::A+6BAJ1<JAgu:RA+6٘i)I9Y Jc2JJJJ&K YyZ7Z7e8)ZZZBZL?YY*W2W WWW"W ) )FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743028819.463165 s, next control iter: 1743028819.843181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2318, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028819.863165 s.+=%H~,> AAfffff@AM=2@A'\~? AɁAg&"AAqNA"AZAbAjArAzAAAq',@Az?pAAHAEAڢ?Ab?A!?AIA]3*AA1<2Ae::Ak6BAA1<JAe:RAk6Y+?x?yBASIٓH |?B @? ?`|@t?I?)+? I٘i)I9Y JNJJJ&KP  f8Y f8y77f8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028819.903165 s, next control iter: 1743028820.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028820.283165 s.4RD%H~, AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743028820.283280F (some fields omitted in printout)A ףp=@A?@ @A-'\~? AA(g&"AA3qNA"AZAbAjArAzAAAVXҦ,@Afb?pAAH7ADA?A b?A ?A2*A81<2ACK::A6BA81<JACK:RA6٘i)I9Y JJJJ&K Yy{7{7[f8)ZZZBZL?YY*W2W WWW"W ) )FFF]y:Waiting for Gazebo time sync: latest Gz time: 1743028820.303165 s, next control iter: 1743028820.683175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2319*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028820.703165 s.ӺJ%H~,- AAGz@AQ._@AB'\~? AAng&"AATqNA"AZAbAjArAzAAAܝ%,@A%?pAAfL:AEAm?A 1b?A?AV*A/1<2A1::A6BA/1<JA1:RA6٘i)I9Y JJJDJ&K Yy7777!f8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028820.743165 s, next control iter: 1743028821.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028821.123165 s.2Q%H~,HG AJ"J*J2J:JBJnJvJAR@A o_@AW'\~? AoAg&"AAvqNA"AZAbAjArAzAAAǤ,@AS1?pAAϞ:AAi?Ab?Aܴ?A6 *A'1<2A!::AY6BA'1<JA!:RAY6٘i)I9Y JJJJ&K Yy0f8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028821.163165 s, next control iter: 1743028821.523175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028821.543165 s.IX%H~,b AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743028821.543270F (some fields omitted in printout)A(\@AVf@Al'\~? AQAg&"AAqNA"AZAbAjArAzAAANM5#,@A(D?pA$ξAy:A>A4?A@Db?A ?Az*AR1<2Aj ::AӪ6BAR1<JAj :RAӪ6٘i)I9Y Js<JJJJ&K Yy77\>f8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028821.563165 s, next control iter: 1743028821.943174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2320, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028821.963165 s.x^%H~,} AJ"J*J2J:JBJnJvJA @A ףpe @A'\~? A4A@g&"AAqNA"AZAbAjArAzAAALk,@A9s?pAA9A8A?AKb?A`?Aò*A1<2A*::A%6BA1<JA*:RA%6Y+?x?y8bɊ9ٓHp~?%}@??@(ԯt? O1? ?)+? I٘i)I9Y Jt>4JJJ&K\ Yyj7Z7Lf8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028822.003165 s, next control iter: 1743028822.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028822.383165 s.e%H~, AA= ףp!@Adw elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743028822.803283F (some fields omitted in printout)AzG"@AY"@A'\~? AAg&"AAqNA"AZAbAjArAzAAAb,@A s?pAAfAAA?A`Xb?A`a?AfU2*A<1<2A?::AtG6BA<1<JA?:RAtG6٘i)I9Y JJJJ&K Yy77]if8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028822.823165 s, next control iter: 1743028823.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028823.223165 s.gs%H~,HΕ AAQ#@AK"@A'\~? AڀAg&"AAqNA"AZAbAjArAzAAAh=,@A`?pA#ξAAFA?A b?AG?AF3*A{0<2A 8::A<6BA{0<JA 8:RA<6٘i)I9Y Jb2C<JJJJ&K Yy77{7wf8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028823.263165 s, next control iter: 1743028823.623175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028823.643165 s.uy%H~,* AJ"J*J2J:JBJnJvJA)\#@A=#@A'\~? AAUg&"AA>qNA"AZAbAjArAzAAASx,@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199752 time: 1743028824.063291F (some fields omitted in printout)A$@A6$@A'\~? AAg&"AA_qNA"AZAbAjArAzAAAGa,@AK^ elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199702 time: 1743028825.323291F (some fields omitted in printout)AQ'@AO8'@A)(\~? AEAig&"AAqNA"AZAbAjArAzAAA,@A'?pA$ξAWE:A=A?Ab?AЩ?A~Ѳ*Ak0<2A::AR6BAk0<JA:RAR6٘i)I9Y Js<JJJJ&K Yy7\f8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028825.363165 s, next control iter: 1743028825.723177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2324&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028825.743165 s.W%H~,uo AA\((@A%:'@A=(\~? A'Ag&"AAqNA"AZAbAjArAzAAAw3[,@A춼>pAA1зA9Ab?A`b?A?Aj缲*A0<2A::A.6BA0<JA:RA.6٘i)I9Y JJJJ&K Yy7f8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028825.783165 s, next control iter: 1743028826.143177 s, wait time: 0.360012 s) rAdjusting time to match Gazebo time: 1743028826.163165 s.u}%H~,q AJ"J*J2J:JBJnJvJA)@A(@AR(\~? A Ag&"AAqNA"AZAbAjArAzAAArٷ,@Aܯ_>pAAvOA=A ?Ab?A?Ap*A0<2A::A 6BA0<JA:RA 6Yi??y:OٓH .?`6̑@>? ?@Я@t?I?)i? I٘i)I9Y JQ4JJJ&Kґ YyZ7Z7f8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028826.183165 s, next control iter: 1743028826.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028826.583165 s.%H~,R AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200262 time: 1743028826.583288F (some fields omitted in printout)Ap= )@ANܢ)@Ag(\~? AA6g&"AA'qNA"AZAbAjArAzAAAK,@Aa/>pAAXADA?Ab?Au?A/]2*Ak0<2A@::A<5BAk0<JA@:RA<5٘i)I9Y JJJJ&K Yy)7ŧ7]f8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028826.623165 s, next control iter: 1743028826.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2325, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028827.003165 s. %H~,4 AJ"J*J2J:JBJnJvJAHz*@A8y*@A|(\~? AA{h&"AAHqNA"AZAbAjArAzAAA>n,@A-d>pA#ξA-wAGA*?A5b?A]?A@\3*A0<2A>::A5BA0<JA>:RA5٘i)I9Y J_2C<JJJJ&K Yy77{7f8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028827.043165 s, next control iter: 1743028827.403187 s, wait time: 0.360022 s rAdjusting time to match Gazebo time: 1743028827.423165 s.u%H~,ۖ AAQ+@A,P+@A(\~? AAh&"AAjqNA"AZAbAjArAzAAAWD,@AҪ>pAA׃AFAɕ?A _b?AI?AZ3*A֣0<2A::Ap5BA֣0<JA:RAp5٘i)I9Y JJJJ&K  g8Y g8y77g8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028827.463165 s, next control iter: 1743028827.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2326, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028827.843165 s.J "J *J 2J :J BJ nJ vJ ݼ%H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200432 time: 1743028827.843301F (some fields omitted in printout)A(\,@Ab(,@A(\~? AAh&"AAqNA"AZAbAjArAzAAA,@A>pAAz:AA?Asb?A@5?A_%ݱ*A0<2A::A6BA0<JA:RA6I٘i)I9Y JJJJ&K Yyb77_g8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028827.883165 s, next control iter: 1743028828.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028828.263165 s.%H~, AA33333-@A l,@A(\~? AtAGh&"AAqNA"AZAbAjArAzAAA,@AqLx>pAA:AGA?A`b?A?A}*A.0<2AM::A6BA.0<JAM:RA6YY??yB#A:ٓH@#?}kݏ ?Nj?ﯿ@t?`Q??)Y? I٘i)I9Y JmJJJ&KК Yy7#g8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028828.303165 s, next control iter: 1743028828.663176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2327., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028828.683165 s.l%H~,g+ AJ"J*J2J:JBJnJvJAףp= .@A4-@A(\~? AWA h&"AAqNA"AZAbAjArAzAAA ܣ,@ApLt>pA$ξA= :ABA$?APb?A`?AU*At0<2Af::A6BAt0<JAf:RA6٘i)I9Y JcJJJDJ&K Yyj7SI72g8)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743028828.683165 s, next control iter: 1743028829.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743028829.103165 s.%H~,F AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743028829.103283F (some fields omitted in printout)A{G.@A*:.@A(\~? A9A h&"AAqNA"AZAbAjArAzAAAEh,@A$"b>pAAT:A;A6?A`Cb?A`韅?A;Dz*À0<2Aش::A/5BÀ0<JAش:RA/5٘i)I9Y JJJJ&K YyZ7Z7^@g8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028829.143165 s, next control iter: 1743028829.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028829.523165 s.%H~,{a AJ"J*J2J:JBJnJvJAQ/@A(/@A(\~? AAh&"AAqNA"AZAbAjArAzAAA,,@AvO>pAATA:A?A``b?Aʞ?ApѪ*A,x0<2A::A 5BA,x0<JA:RA 5٘i)I9Y JJJJ&K Yy7777Ng8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028829.563165 s, next control iter: 1743028829.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2328, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028829.943165 s.Sd%H~,-]| AA(\0@Ae6[0@A)\~? A~AVh&"AA1qNA"AZAbAjArAzAAAS ,@AP=>pAA 5AAA?Aeb?A ?A70*Ao0<2AK::A5BAo0<JAK:RA5٘i)I9Y JJJJ&K Yy77 ]g8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028829.963165 s, next control iter: 1743028830.343175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028830.363165 s.%H~,> AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200142 time: 1743028830.363293F (some fields omitted in printout)Afffff1@AwH1@21@A$)\~? A~Ah&"AASqNA"AZAbAjArAzAAA 4,@A4d+>pA#ξAe䖺AGA|?Ab?A`?A!3*Af0<2A::Aѡ5BAf0<JA:RAѡ5Y?ꐧ?yAq4ٓH ?_+?ߏ? t?`R ?)? I٘i)I9Y J_2Jc2JJJ&KF Yy_kg8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028830.383165 s, next control iter: 1743028830.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2329&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028830.783165 s.U%H~, AA ףp=2@AD 2@A8)\~? A~Ah&"AAtqNA"AZAbAjArAzAAAw ,@A: >pAACAA?Arb?A}?A[3*A^0<2A:::Aȥ5BA^0<JA::RAȥ5٘i)I9Y JJJJ&K Yyyg8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028830.803165 s, next control iter: 1743028831.183174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743028831.203165 s.%H~,͗ AJ"J*J2J:JBJnJvJAGz3@AN2@AM)\~? A~Ah&"AAqNA"AZAbAjArAzAAA3,@A\[>pAAw8AFAV?Ab?Aj?A32*ALU0<2Am::AJ5BALU0<JAm:RAJ5٘i)I9Y JJJJ&K Yyŧ7b7 g8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028831.243165 s, next control iter: 1743028831.603179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028831.623165 s.T%H~,P AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199842 time: 1743028831.623263F (some fields omitted in printout)AR3@AѕT3@Ab)\~? A~Abh&"AAqNA"AZAbAjArAzAAA,@A5=pAAQ:AHA?Ab?A`W?A*A|L0<2A*::A5BA|L0<JA*:RA5٘i)I9Y JJJJ&K Yy77_g8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028831.663165 s, next control iter: 1743028832.023175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2330 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028832.043165 s.¨&H~, AJ"J*J2J:JBJnJvJA(\4@AHi4@Aw)\~? Ai~Ah&"AAqNA"AZAbAjArAzAAAٚ,@Ap^=pAA:AGA?A b?AA?AF *AC0<2Av::A5BAC0<JAv:RA5٘i)I9Y JJJJ&K Yyb7g8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028832.063165 s, next control iter: 1743028832.443188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743028832.463165 s.y&H~,z AA5@Ane5@A)\~? AK~Ah&"AAqNA"AZAbAjArAzAAAfH,@AFZ=pA$ξAt:AAAю?A b?A'?A9*A;0<2Av::Aڿ5BA;0<JAv:RAڿ5Y?ٌ?y=d u:ٓH?@z?ඏ? 鯿t?@N?`?)? I٘i)I9Y Js<J_3JJJ&K蚹 Yy77 g8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028832.483165 s, next control iter: 1743028832.863214 s, wait time: 0.380049 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2331, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028832.883165 s.y &H~,#8 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199442 time: 1743028832.883276F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp6@Aܵ<6@A)\~? A-~A+ h&"AAqNA"AZAbAjArAzAAA ,@Ar$<̾=pAA̓w9A;A?A@b?A ?A("²*As20<2A::A5BAs20<JA:RA5٘i)I9Y JJJJ&K Yyb7ag8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028832.903165 s, next control iter: 1743028833.283174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743028833.303165 s.U&H~,sgS AAzG7@A7@A)\~? A~Am"h&"AA!0<2Ae::AX]5BA>!0<JAe:RAX]5٘i)I9Y JJJJ&K Yyŧ7 g8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028833.763165 s, next control iter: 1743028834.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028834.143165 s.W/"&H~, * AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200162 time: 1743028834.143294F (some fields omitted in printout)A)\8@ACB8@A)\~? A}A&h&"AA~qNA"AZAbAjArAzAAA&A,@A*j=pA#ξAQsAHA?A lb?A`?A])I3*A0<2A::AMS5BA0<JA:RAMS5٘i)I9Y Jc2C<JJJJ&K Yy7777`g8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028834.163165 s, next control iter: 1743028834.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028834.563165 s.(&H~,= AJ"J*J2J:JBJnJvJA9@AU9@A)\~? A}A4)h&"AAqNA"AZAbAjArAzAAA~,@A?Lv=pAAAA?Ab?A?A A3*A0<2ANx::A]5BA0<JANx:RA]5Y|??yF8!ٓH้?`Ӊ;??ସt?y[@?)|? I٘i)I9Y Jh+JJJ&Ky Yy77g8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028834.603165 s, next control iter: 1743028834.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2333, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028834.983165 s./&H~,쾘 AAq= ף:@A:do:@A *\~? A}Av+h&"AAqNA"AZAbAjArAzAAAq[G,@A.d=pAA#9AGA刧?Ab?A?A 1*A0<2A]::Acs5BA0<JA]:RAcs5٘i)I9Y JJJJ&K  h8Y h8y7)7 h8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028835.003165 s, next control iter: 1743028835.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028835.403165 s.&6&H~,٘ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199602 time: 1743028835.403258F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz;@A̯F;@A*\~? A{}A-h&"AAqNA"AZAbAjArAzAAA"{,@AqR=pAA:AIAu?Ab?A?A!>*AC/<2AF::A5BAC/<JAF:RA5٘i)I9Y JJJJ&K Yy{7j7`h8)ZZZBZL?YY*W2W WWW"W ) )FFF]r:Waiting for Gazebo time sync: latest Gz time: 1743028835.423165 s, next control iter: 1743028835.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2334", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028835.823165 s.<&H~, AAQ<@Ak{<@A3*\~? A]}A/h&"AAqNA"AZAbAjArAzAAA{,@A?=pAAB`:AFA?A`ib?Ak?A}X*A/<2Az<::A5BA/<JAz<:RA5٘i)I9Y JJJJ&K Yy77%h8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028835.843165 s, next control iter: 1743028836.223175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028836.243165 s.C&H~,y AJ"J*J2J:JBJnJvJA\(=@Ae6<@AH*\~? A@}A<2h&"AA$qNA"AZAbAjArAzAAAsy,@A -=pA$ξA?:A?Ac?A Db?AQ?Aβ*A/<2AE@::ASh5BA/<JAE@:RASh5٘i)I9Y Js<JJJJ&K Yy{7{7 4h8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028836.263165 s, next control iter: 1743028836.643182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743028836.663165 s.J&H~,q* AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200422 time: 1743028836.663326F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2335, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A>@Aq= =@A]*\~? A"}A~4h&"AAFqNA"AZAbAjArAzAAA%Fۦ,@AV=pAA `A;A?AZb?A 5?Aú*Aa/<2A M::AD5BAa/<JA M:RAD5٘i)I9Y JJJDJ&K Yy77aBh8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028836.683165 s, next control iter: 1743028837.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028837.083165 s.DQ&H~,SE AJ"J*J2J:JBJnJvJAp= >@A_Fܢ>@Ar*\~? A}A6h&"AAgqNA"AZAbAjArAzAAA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200302 time: 1743028837.923298F (some fields omitted in printout)AQ@@AMP@@A*\~? A|AB;h&"AAqNA"AZAbAjArAzAAAfs,@ACt$xݯt?`\C??)t? I٘i)I9Y JVJJJ&K Yy{7j7 h8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028838.803165 s, next control iter: 1743028839.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028839.183165 s.r&H~,|˙ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743028839.183282F (some fields omitted in printout)Aףp= C@AN B@A*\~? Ap|ABh&"AA qNA"AZAbAjArAzAAA8,@AT$7A?A`b?A ?AŲ*A/<2A ::A5BA/<JA :RA5٘i)I9Y JJJJ&K Yy77{7 h8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028840.043165 s, next control iter: 1743028840.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028840.443165 s.4Æ&H~,1] AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743028840.443276F (some fields omitted in printout)A(\E@Aw-[E@A+\~? A|AHh&"AAqqNA"AZAbAjArAzAAA}j,@A_ox7 AAfffffF@A66;2F@A.+\~? A{AKh&"AAqNA"AZAbAjArAzAAAg,@A_f elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199522 time: 1743028841.703263F (some fields omitted in printout)AGzH@AiG@AW+\~? A{AOh&"AAqNA"AZAbAjArAzAAAc,@AA~B elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200652 time: 1743028842.963329F (some fields omitted in printout)J"J*J2J:JBJnJvJAJ@AneJ@A+\~? Af{AIVh&"AA8qNA"AZAbAjArAzAAADEa,@A3ʫ JJJ&K> Yy̒88di8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028843.003165 s, next control iter: 1743028843.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028843.383165 s.ص&H~,ؚ AA= ףpK@AxJJJ&K> Yy C{7{7'i8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028843.403165 s, next control iter: 1743028843.783174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2342, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028843.803165 s.sA&H~,jg AJ"J*J2J:JBJnJvJAzGL@A,jL@A+\~? A+{AZh&"AAzqNA"AZAbAjArAzAAAPv^,@A;pAAfY9A=AQx?AXb?Ay?A(f*AQ/<2A>::AB4BAQ/<JA>:RAB4I٘i)I9Y JJJJ&K Yy77776i8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028843.843165 s, next control iter: 1743028844.203175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028844.223165 s.g&H~,H AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199922 time: 1743028844.223284F (some fields omitted in printout)AQM@A;L@A+\~? A {A]h&"AAqNA"AZAbAjArAzAAARy,@AV;pAAlA?Au?Asb?Ax?Adw~*A I/<2A::A4BA I/<JA:RA4٘i)I9Y JJJJ&K Yy77dDi8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028844.263165 s, next control iter: 1743028844.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028844.643165 s.v&H~,*) AJ"J*J2J:JBJnJvJA)\M@A辜M@A+\~? AzAG_h&"AAqNA"AZAbAjArAzAAAZ,@AS;pAA‘AGAt?A^b?Aw?A~}2*A@/<2Al::Au4BA@/<JAl:RAu4٘i)I9Y JJJDJ&K Yyŧ7)7Ri8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028844.663165 s, next control iter: 1743028845.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2343, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028845.063165 s.&H~,p D AAN@A-N@A+\~? AzAah&"AAqNA"AZAbAjArAzAAA$BF,@Acw;pA#ξAuۊAKAhs?Ab?A wv?A"K3*A7/<2A::A\l4BA7/<JA:RA\l4YXi?u?yF%ٓH`? 0!@???t?`n[Q ?)Xi? I٘i)I9Y J_2C<JdJJJ&K Yyj7j7ai8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028845.083165 s, next control iter: 1743028845.463183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743028845.483165 s.q_&H~,^ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199852 time: 1743028845.483277F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ףO@AoO@A,\~? AzAch&"AAqNA"AZAbAjArAzAAAΨW,@A3p;pAAAJAs?A,b?A`fu?At<3*AB//<2A::Aw4BAB//<JA:RAw4٘i)I9Y JJJJ&K Yyeoi8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028845.523165 s, next control iter: 1743028845.883174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2344, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028845.903165 s.&H~,y AAGzP@AoFP@A(,\~? AzAfh&"AA qNA"AZAbAjArAzAAA ,@Aj;pAAc9AAt?ABb?A@Wt?Af1*A&/<2A::A4BA&/<JA:RA4٘i)I9Y JJJJ&K Yy77{7}i8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028845.923165 s, next control iter: 1743028846.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028846.323165 s.u&H~,! AJ"J*J2J:JBJnJvJAQQ@AQ@A=,\~? AzzADhh&"AAAqNA"AZAbAjArAzAAAE[T,@A6œe|;pAA@:AKADu?Arb?AGs?AN*A/<2A::A4BA/<JA:RA4٘i)I9Y JJJJ&K Yy77i8)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743028846.343165 s, next control iter: 1743028846.723176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2345&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028846.743165 s.W&H~,d AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199682 time: 1743028846.743283F (some fields omitted in printout)A\(R@Aro~Q@AQ,\~? A\zAjh&"AAbqNA"AZAbAjArAzAAA߬,@A;`aj;pA$ξAǠ:AHAt?A b?A3r?A*AE/<2A ::AA4BAE/<JA :RAA4٘i)I9Y JdJJJJ&K Yyei8)ZZZBZL?YY*W2W WWW"W ) )FFF]u:Waiting for Gazebo time sync: latest Gz time: 1743028846.763165 s, next control iter: 1743028847.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028847.163165 s.s}&H~,qʛ AJ"J*J2J:JBJnJvJAS@AR@Af,\~? A?zAlh&"AAqNA"AZAbAjArAzAAA0P,@Ad`^X;pAA9:AAA s?Ab?A q?A˲*A /<2AG::AY4BA /<JAG:RAY4YUe?q?y?%::ٓH@? ,`c???௿t?^8G??)Ue? I٘i)I9Y JM4JJJ&Kʘ Yyŧ7b7i8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028847.183165 s, next control iter: 1743028847.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028847.583165 s.&H~, S AAp= S@AyS@A{,\~? A!zAoh&"AAqNA"AZAbAjArAzAAA[K,@A1[F;pAA۫A>Ap?Ab?A@p?A*A@/<2A)::A\4BA@/<JA):RA\4٘i)I9Y JJJJ&K Yy{7j7i8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028847.623165 s, next control iter: 1743028847.983180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2346, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028848.003165 s.v 'H~,D4 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199932 time: 1743028848.003291F (some fields omitted in printout)J"J*J2J:JBJnJvJAHzT@AVDMyT@A,\~? AzA?qh&"AAqNA"AZAbAjArAzAAAh7M,@ACZ4;pAAYACAqn?Ab?An?A:*A.<2A::A94BA.<JA:RA94٘i)I9Y JJJJ&K Yyb77gi8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028848.043165 s, next control iter: 1743028848.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028848.423165 s.u'H~, AAQU@A'g(PU@A,\~? AyA~sh&"AAqNA"AZAbAjArAzAAAeB,@A?Y";pAAQAJAl?A b?Am?AU2*A@.<2Ao::A{#4BA@.<JAo:RA{#4٘i)I9Y JJJJ&K Yy7i8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028848.463165 s, next control iter: 1743028848.823175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2347, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028848.843165 s. 'H~,5 AJ"J*J2J:JBJnJvJA(\V@A;'V@A,\~? AyAuh&"AAqNA"AZAbAjArAzAAAK8J,@AZ;pA#ξA;mAKAl?A:b?Al?A\3*A.<2A::A!4BA.<JA:RA!4٘i)I9Y Js2<JJJJ&K Yyŧ7b7i8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028848.883165 s, next control iter: 1743028849.243175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028849.263165 s.'H~,P AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200182 time: 1743028849.263283F (some fields omitted in printout)A33333W@A3V@A,\~? AyAwh&"AA)qNA"AZAbAjArAzAAA ,@Ae[:pAA}LAJAim?Abb?Ak?A\ 3*A.<2AЍ::A24BA.<JAЍ:RA24Ya?m?yJ6LٓHٖ?*Jx?`ٟ?@0@t?`)@?)a? I٘i)I9Y JyQJJJ&K4 Yy77gi8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028849.283165 s, next control iter: 1743028849.663179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2348., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028849.683165 s.l'H~,Nk AJ"J*J2J:JBJnJvJAףp= X@AXSYW@A,\~? AyA8zh&"AAKqNA"AZAbAjArAzAAA9mF,@A]:pAA(7!:AKAHn?A@zb?A@j?A*AU.<2As::AAG4BAU.<JAs:RAAG4٘i)I9Y JJJJ&K Yy{7j7i8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028849.683165 s, next control iter: 1743028850.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743028850.103165 s.!'H~, AA{GX@AW\X@A,\~? ApyAv|h&"AAlqNA"AZAbAjArAzAAA!,@A)`:pAAO:ALAn?Ab?Ai?As*A.<2Aa::AP4BA.<JAa:RAP4٘i)I9Y JJJJ&K  j8Y j8y)7ŧ7 j8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028850.143165 s, next control iter: 1743028850.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028850.523165 s.''H~,{ AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199482 time: 1743028850.523271F (some fields omitted in printout)AQY@A %Y@A -\~? ASyA~h&"AAqNA"AZAbAjArAzAAA:C,@A);d:pA$ξAmډ:AGAm?A eb?A h?Az*A(.<2AR\::AE4BA(.<JAR\:RAE4٘i)I9Y JaC<JJJJ&K Yyŧ7b7fj8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028850.563165 s, next control iter: 1743028850.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2349, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028850.943165 s.Zd.'H~,J] AA(\Z@A}w+[Z@A"-\~? A5yAh&"AAqNA"AZAbAjArAzAAAqq,@AWki:pAA{G9A@Ak?A@\b?Agg?A-ò*A.<2Ard::Aa(4BA.<JArd:RAa(4٘i)I9Y JJJJ&K Yyb7)j8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028850.983165 s, next control iter: 1743028851.343182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743028851.363165 s.5'H~,}>ל AJ"J*J2J:JBJnJvJAfffff[@As9>2[@A7-\~? AyA0h&"AAqNA"AZAbAjArAzAAA0ɩ?,@A3o:pAA+AA1i?Ayb?A`Nf?Aޣ*A8.<2Ar::A4BA8.<JAr:RA4Y]?i?y?ٓH ?@w8?? t?`~8 ?)]? I٘i)I9Y J}Q4JJJ&Kڒ Yy77{78j8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028851.383165 s, next control iter: 1743028851.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2350&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028851.783165 s.V;'H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200052 time: 1743028851.783294F (some fields omitted in printout)A ףp=\@A@ \@AK-\~? AxAmh&"AAqNA"AZAbAjArAzAAAi,@Au:pAAwAFAg?A yb?A6e?ADj1*A®.<2A1{::A3BA®.<JA1{:RA3٘i)I9Y JJJJ&K Yy{7gFj8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028851.823165 s, next control iter: 1743028852.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028852.203165 s.C'H~,  AJ"J*J2J:JBJnJvJAGz]@AT\@A`-\~? AxAh&"AAqNA"AZAbAjArAzAAA;<,@A}:pA#ξAeALAf?A(b?A"d?A#)3*A?.<2Aw::A-3BA?.<JAw:RA-3٘i)I9Y J`2JJJJ&K Yy777Tj8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028852.243165 s, next control iter: 1743028852.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028852.623165 s.RI'H~,H' AAR]@AI[]@Au-\~? AxAh&"AA3qNA"AZAbAjArAzAAAN,@Aɥn:pAA27AA1f?A|b?Ac?AU3*A.<2Af::A3BA.<JAf:RA3٘i)I9Y JJJDJ&K Yyb77cj8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028852.663165 s, next control iter: 1743028853.023175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2351 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028853.043165 s.P'H~,B AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200662 time: 1743028853.043325F (some fields omitted in printout)A(\^@ApUj^@A-\~? AxA%h&"AATqNA"AZAbAjArAzAAAWP~8,@A:n\:pAA8AKAg?Ab?A`b?A2*A.<2AL::Au3BA.<JAL:RAu3٘i)I9Y JJJJ&K Yy77hqj8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028853.063165 s, next control iter: 1743028853.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028853.463165 s.TW'H~,ߤ] AA_@AMpe_@A-\~? AxAbh&"AAuqNA"AZAbAjArAzAAA-V,@A=J:pAA_)\:AMAg?Ab?A`?A*Ab.<2A\4::A@4BAb.<JA\4:RA@4YY?f?yJ*\:ٓH? o`G? ?㯿@t?+K??)Y? I٘i)I9Y JQJJJ&K㖹 Yy Cb7b7j8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028853.503165 s, next control iter: 1743028853.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2352, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028853.883165 s.y]'H~,+x AJ"J*J2J:JBJnJvJA= ףp`@A3w<`@A-\~? AgxAh&"AAqNA"AZAbAjArAzAAA4,@A8:pAAf-:ALAg?Ab?A _?ASe *AЃ.<2A:&::A4BAЃ.<JA:&:RA4٘i)I9Y JJJJ&K Yy77j8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028853.923165 s, next control iter: 1743028854.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028854.303165 s.Td'H~,og AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199602 time: 1743028854.303261F (some fields omitted in printout)AzGa@A{юa@A-\~? AJxAܒh&"AAqNA"AZAbAjArAzAAA,@A&:pA$ξAj:AEAXf?Ab?A^?Aز*AQ{.<2A_&::A3BAQ{.<JA_&:RA3٘i)I9Y Js<JJJJ&K Yy77{7ij8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028854.323165 s, next control iter: 1743028854.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2353., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028854.723165 s.k'H~,H AJ"J*J2J:JBJnJvJAQb@AIa@A-\~? A,xAh&"AAqNA"AZAbAjArAzAAA; 1,@As:pAA78<9A@Ad?Ab?A@]?A*Ar.<2Ay1::A3BAr.<JAy1:RA3٘i)I9Y JJJJ&K Yyŧ7b7j8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028854.743165 s, next control iter: 1743028855.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028855.143165 s.W/r'H~, *ɝ AA)\b@A×b@A-\~? AxAVh&"AAqNA"AZAbAjArAzAAA4.,@Af}:pAA8$ABAa?Ab?A \?Aas*Atj.<2A>::Ad3BAtj.<JA>:RAd3٘i)I9Y JJJJ&K Yy)7j8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028855.163165 s, next control iter: 1743028855.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028855.563165 s.x'H~,R AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199992 time: 1743028855.563279F (some fields omitted in printout)J"J*J2J:JBJnJvJAc@Amyc@A.\~? AwAh&"AAqNA"AZAbAjArAzAAA]rO-,@A9pAA\AIA_?A`b?A[?A2*Ab.<2AD::A'3BAb.<JAD:RA'3YU?Jb?yD3 ٓHg?`:?[?@Ѡt?@WR ?)U? I٘i)I9Y J3JJJ&K} Yyb77ij8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028855.603165 s, next control iter: 1743028855.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2354, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)4)4 rAdjusting time to match Gazebo time: 1743028855.983165 s.'H~, AAq= ףd@Aod@A.\~? AwAϛh&"AA;qNA"AZAbAjArAzAAA"o,@Alg9pA#ξA.AMAM_?A~b?A|Z?AL3*AY.<2A;::A3BAY.<JA;:RA3٘i)I9Y Je2C<JJJJ&K Yyj7Z7j8)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743028856.003165 s, next control iter: 1743028856.383176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028856.403165 s.&'H~, AJ"J*J2J:JBJnJvJAGze@AAFe@A0.\~? AwA h&"AA]qNA"AZAbAjArAzAAAݺ܊),@AG9pAAgALA_?A b?AnY?A_73*AP.<2A&::Ao3BAP.<JA&:RAo3٘i)I9Y JJJJ&K Yy777j8)ZZZBZL?YY*W2W WWW"W ) )FFF]x:Waiting for Gazebo time sync: latest Gz time: 1743028856.423165 s, next control iter: 1743028856.803180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2355", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028856.823165 s.'H~,4 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743028856.823283F (some fields omitted in printout)AQf@AFTf@AE.\~? AwAGh&"AA~qNA"AZAbAjArAzAAA۝ݠ,@A\4 9pAAM9AA`?A b?AaX?A.o1*ALH.<2AO ::A3BALH.<JAO :RA3٘i)I9Y JJJJ&K Yy{7{7ij8)ZZZBZL?YY*W2W WWW"W ) )FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743028856.843165 s, next control iter: 1743028857.223175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028857.243165 s.J "J *J 2J :J BJ nJ 'H~vJ,mO AA\(g@A f@AZ.\~? A|wAh&"AAqNA"AZAbAjArAzAAA·%,@AB9pAA:ANA,a?Ab?A TW?A*A?.<2A::A{3BA?.<JA:RA{3٘i)I9Y JJJJ&K  k8Y k8y7777k8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028857.263165 s, next control iter: 1743028857.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028857.663165 s.'H~,qj AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2356, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)Ah@Ag@Ao.\~? A_wAh&"AAqNA"AZAbAjArAzAAA k,@A۰-29pA$ξAYʔ:AKA`?Ab?A@CV?A*A17.<2AO::A3BA17.<JAO:RA3YQ?A^?yEH:ٓHY?~v??`t?KR? ?)Q? I٘i)I9Y J]J`JJJ&K Yy{7k8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028857.683165 s, next control iter: 1743028858.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028858.083165 s.D'H~, S AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743028858.083301F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= h@A-Ch@A.\~? AAwAh&"AAqNA"AZAbAjArAzAAAź!,@AYF9pAA3:ADA^?Ahb?A.U?AȲ*A..<2A::A3BA..<JA:RA3٘i)I9Y JJJJ&K Yy777jk8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028858.103165 s, next control iter: 1743028858.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028858.503165 s.'H~,+4 AAHzi@Ayi@A.\~? A$wA7h&"AAqNA"AZAbAjArAzAAAΟ,@A^n[s9pAAۄA@A\?Ab?A`T?AV*AX&.<2A::Aw3BAX&.<JA:RAw3٘i)I9Y JJJJ&K Yy{7j7+k8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028858.543165 s, next control iter: 1743028858.903175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2357, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028858.923165 s.<'H~J"J*J, A2J:JBJnJvJAQj@A^Pj@A.\~? AwAsh&"AA#qNA"AZAbAjArAzAAAn,@AXnqa9pAA_AEALZ?A@b?AS?Anֱ*A.<2Au ::AT3BA.<JAu :RAT3٘i)I9Y JJJJ&K Yy77:k8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028858.963165 s, next control iter: 1743028859.323185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743028859.343165 s.<'H~,՞ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199812 time: 1743028859.343271F (some fields omitted in printout)A(\k@A'k@A.\~? AvAh&"AADqNA"AZAbAjArAzAAA/^},@AWO9pAA]ALAX?A[b?A@Q?AK2*A.<2A ::A?3BA.<JA :RA?3٘i)I9Y JJJJ&K Yy777jHk8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028859.363165 s, next control iter: 1743028859.743175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2358&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028859.763165 s.6'H~, AJ"J*J2J:JBJnJvJA33333l@A)k@A.\~? AvAh&"AAeqNA"AZAbAjArAzAAA0 ,@Av&=9pA#ξA+hANAX?Ab?A P?A8[3*A .<2Aa::A >3BA .<JAa:RA >3Y@N?Z?yJ[iٓH@"?s@8?`۩?`-@t? M`?)@N? II٘i)I9Y Js2<JuJJJ&K Yy{7Z7Vk8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028859.803165 s, next control iter: 1743028860.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028860.183165 s.'H~,g AAףp= m@A l@A.\~? AvA%h&"AAqNA"AZAbAjArAzAAA^,@AZظ+9pAA.AMA_Y?Ab?AO?A)3*Ao.<2Ar::AN3BAo.<JAr:RAN3٘i)I9Y JJJJ&K Yy77ek8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028860.203165 s, next control iter: 1743028860.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028860.603165 s.14'H~,& AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199712 time: 1743028860.603263F (some fields omitted in printout)A{Gm@Am@A/\~? AvA`h&"AAqNA"AZAbAjArAzAAA,@Aj9pAAm':ANA=Z?A@ b?A@N?A #1*A-<2A::Ac3BA-<JA:RAc3٘i)I9Y JJJDJ&K Yy{7j7jsk8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028860.643165 s, next control iter: 1743028861.003175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2359 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028861.023165 s.Z'H~,|A AAQn@A6n@A/\~? AtvAh&"AAqNA"AZAbAjArAzAAAߓ,@A9pAA::AAtZ?A Wb?AM?A=*AM-<2A::Al3BAM-<JA:RAl3٘i)I9Y JJJJ&K Yy77k8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028861.063165 s, next control iter: 1743028861.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028861.443165 s.2'H~,)]\ AJ"J*J2J:JBJnJvJA(\o@Af/[o@A*/\~? AWvAָh&"AAqNA"AZAbAjArAzAAA$,@A58pA$ξA#:AIAY?Ab?A`L?AS*A-<2AN::A`3BA-<JAN:RA`3٘i)I9Y JbC<JJJJ&K Yyŧ7b7k8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028861.483165 s, next control iter: 1743028861.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2360, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028861.863165 s.+'H~,>w AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200302 time: 1743028861.863294F (some fields omitted in printout)Afffffp@A˂?2p@A?/\~? A9vAh&"AA qNA"AZAbAjArAzAAAď,@A$t$8pAAHK9ABAW?A b?AK?A**Ar-<2A::AjC3BAr-<JA:RAjC3YLJ?V?yBT9ٓH ?`?k?` կ@t?iI elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200042 time: 1743028863.123281F (some fields omitted in printout)J"J*J2J:JBJnJvJARr@A Wr@A}/\~? AuAh&"AAnqNA"AZAbAjArAzAAAlL ,@A3~8pA#ξA݃ANAR?A@b?A VH?A,3*AD-<2A^::A2BAD-<JA^:RA2٘i)I9Y Ja2JJJJ&K Yy C77kk8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028863.163165 s, next control iter: 1743028863.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028863.543165 s.I'H~, AA(\s@At_s@A/\~? AuAh&"AAqNA"AZAbAjArAzAAA|zO,@A&8pAA&0AA-R?A@b?A IG?AS3*A-<2Aҿ::A2BA-<JAҿ:RA2٘i)I9Y JJJJ&K Yy7777k8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028863.563165 s, next control iter: 1743028863.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2362, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028863.963165 s.z'H~, AJ"J*J2J:JBJnJvJAt@Aset@A/\~? AuA6h&"AAqNA"AZAbAjArAzAAA;ns,@A?8pAA89AAS?A*b?A@>F?AE2*A4-<2A::A 3BA4-<JA:RA 3YxF?R?yN}9ٓH?` ??@ʯt?' ?@?)xF? I٘i)I9Y JdJJJ&K͑ Yy7k8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028864.003165 s, next control iter: 1743028864.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028864.383165 s.(H~,# AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199402 time: 1743028864.383268F (some fields omitted in printout)A= ףpu@ASq elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200282 time: 1743028865.643319F (some fields omitted in printout)A)\w@A xw@A/\~? A2uAh&"AA4qNA"AZAbAjArAzAAA,@AKC8pAAq9ABAP?Ab?AA?AM*Ah-<2AZ::A2BAh-<JAZ:RA2٘i)I9Y JJJJ&K Yy7777ml8)ZZZBZL?YY*W2W WWW"W ) )FtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2364, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743028865.663165 s, next control iter: 1743028866.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028866.063165 s. (H~,_ AAx@A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743028866.903279F (some fields omitted in printout)AGzz@AùFz@A80\~? AtAh&"AAqNA"AZAbAjArAzAAAvN/{v,@AzU 8pA#ξAmAOAKK?Ab?A>?AOyN3*AF}-<2A::Ab2BAF}-<JA:RAb2٘i)I9Y J`2C<JJJJ&K Yy77nJl8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028866.943165 s, next control iter: 1743028867.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028867.323165 s.y4(H~,2Ԡ AJ"J*J2J:JBJnJvJAQ{@A+ۇ{@AL0\~? AtAh&"AAqNA"AZAbAjArAzAAA(%P,@A77pAA۹AAK?A@Nb?A=?Au23*At-<2Ay::A2BAt-<JAy:RA2٘i)I9Y JJJJ&K Yyb77Xl8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028867.363165 s, next control iter: 1743028867.723177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2366&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028867.743165 s.W;(H~,u AA\(|@A;{@Aa0\~? AtA>h&"AAqNA"AZAbAjArAzAAA? r,@A_) 7pAA}9AAL?A`eb?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199702 time: 1743028868.163279F (some fields omitted in printout)J"J*J2J:JBJnJvJA}@AJ|@Av0\~? AtAwh&"AAqNA"AZAbAjArAzAAA/ ,@Aś77pAAf:APA-M?A b?A ;?AxJ*Ac-<2AP::A2BAc-<JAP:RA2Y>?K?yL:ٓH?%5?`h?诿t? P? ?)>? I٘i)I9Y J+JJJ&Kf Yy77{7mul8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028868.203165 s, next control iter: 1743028868.563176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028868.583165 s.H(H~,R% AAp= }@A@4}@A0\~? AetAh&"AAqNA"AZAbAjArAzAAA$|m,@A֓b7pA$ξA ݓ:AMAL?A$b?A:?AV*AN[-<2A;H::A2BAN[-<JA;H:RA2٘i)I9Y J`JJJDJ&K Yyj7ăl8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028868.603165 s, next control iter: 1743028868.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2367, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028869.003165 s.y P(H~,P4@ AJ"J*J2J:JBJnJvJAHz~@A y~@A0\~? AHtAh&"AA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743028869.423299F (some fields omitted in printout)AQ@A1 P@A0\~? A+tA"h&"AA]qNA"AZAbAjArAzAAAk7i,@A>Թ7pAA|ACAH?Ab?A@s8?AK *AJ-<2AWZ::A2BAJ-<JAWZ:RA2٘i)I9Y JJJJ&K Yyb7b7nl8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028869.443165 s, next control iter: 1743028869.823173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2368, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028869.843165 s.\(H~,u AJ"J*J2J:JBJnJvJA(\@A(@A0\~? AtAZh&"AA~qNA"AZAbAjArAzAAA9$,@A 7pAA'cAHA@F?A`-b?A`_7?A;*AOB-<2Ae::Aq2BAOB-<JAe:RAq2٘i)I9Y JJJJ&K Yyj7j7Įl8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028869.883165 s, next control iter: 1743028870.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028870.263165 s.d(H~,ؐ AA33333@AG@A0\~? AsAh&"AAqNA"AZAbAjArAzAAARd,@A(7pAAZRAOAD?Ab?AN6?AaQ3*A9-<2A9f::A\2BA9-<JA9f:RA\2Y ;?WG?yI(ٓH`c?(`R?h?p t?K S ?) ;? I٘i)I9Y Jd3JJJ&Kڋ Yy77l8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028870.283165 s, next control iter: 1743028870.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 23692, header.stamp.nsec: 02$ temperature: nan2 salinity: nan2, density: 1025.0000002 values[0]: nan2F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028870.683165 s.lj(H~, AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200472 time: 1743028870.683325F (some fields omitted in printout)Aףp= @AHzց@A0\~? AsAh&"AAqNA"AZAbAjArAzAAA5I%,@A(Dm7pA#ξAcAPAD?Acb?A`B5?A*D[3*A1-<2AX::A\2BA1-<JAX:RA\2٘i)I9Y Js2<JJJJ&K Yy{7{7ol8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028870.683165 s, next control iter: 1743028871.083182 s, wait time: 0.400017 s )  rAdjusting time to match Gazebo time: 1743028871.103165 s.q(H~,ơ AA{GႢ@AA @A1\~? AsAh&"AAqNA"AZAbAjArAzAAA =`,@A* t[7pAApAOAoE?A`b?A94?A2*A )-<2A@::Am2BA )-<JA@:RAm2٘i)I9Y JJJJ&K Yyŧ7b7l8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028871.143165 s, next control iter: 1743028871.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028871.523165 s.w(H~,{ AJ"J*J2J:JBJnJvJAQ@A77'@A1\~? AsA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199892 time: 1743028871.943301F (some fields omitted in printout)A(\@Ac?[@A11\~? A|sAuh&"AA#qNA"AZAbAjArAzAAAw֧[,@Ah77pAAړ:AAzF?Ab?A%2?AeP*A-<2A::A2BA-<JA:RA2٘i)I9Y JJJJ&K Yyb7ql8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028871.963165 s, next control iter: 1743028872.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028872.363165 s.(H~,> AJ"J*J2J:JBJnJvJAfffff@AZ72@AE1\~? A_sAh&"AADqNA"AZAbAjArAzAAA S,@A>&7pA$ξA3W:AKAE?Ab?A@1?A*A-<2A::AM~2BA-<JA:RAM~2Y 7?WC?yGw:ٓHP?3`)?? 诿t? P? ?) 7? I٘i)I9Y JbC<Jo3JJJ&Kq  m8Y m8yZ7SI7m8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028872.403165 s, next control iter: 1743028872.763175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2371", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028872.783165 s.V(H~,2 AA ףp=@AxB? @AZ1\~? AAsAh&"AAeqNA"AZAbAjArAzAAArAV,@AGN<7pAAE09AEAzC?Ab?A0?A3U*Ae-<2A::A`2BAe-<JA:RA`2٘i)I9Y JJJJ&K Yyŧ7b7m8)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743028872.803165 s, next control iter: 1743028873.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028873.203165 s.(H~,M AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199972 time: 1743028873.203290F (some fields omitted in printout)AGz@Ad]K@Ao1\~? A$sAh&"AAqNA"AZAbAjArAzAAAȫ,@ALmp7pAAi#ܹAAA?A b?A@.?Ac*A,<2AF(::AZ<2BA,<JAF(:RAZ<2٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 198JJJJ&K Yy C777p!m8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028873.243165 s, next control iter: 1743028873.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028873.623165 s.T(H~,Pg AAR뇢@Aa@A1\~? AsATh&"AAqNA"AZAbAjArAzAAAnXR,@A5ͥ6pAAgAKA??Ab?A -?A;s1*A,<2A0::A2BA,<JA0:RA2٘i)I9Y JJJJ&K Yy tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2372 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 7 values[0]: nan F (some fields omitted in printout) /m8)Z ZZBZ L?YY *W2W W W W"W  ) )FFF] ; Waiting for Gazebo time sync: latest Gz time: 1743028873.683165 s, next control iter: 1743028874.023175 s, wait time: 0.340010 s rAdjusting time to match Gazebo time: 1743028874.043165 s.(H~, AJ"J*J2J:JBJnJvJA(\ˆ@A= l@A1\~? ArAh&"AAqNA"AZAbAjArAzAAAk,@A56pA#ξAbAQA>?AZb?A,?A>/3*Av,<2Ay,::A2BAv,<JAy,:RA2٘i)I9Y J_2JQ>JJJ&K> Yy>m8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028874.083165 s, next control iter: 1743028874.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028874.463165 s.R(H~,פ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199812 time: 1743028874.463272F (some fields omitted in printout)A@AqUwe@A1\~? ArAh&"AAqNA"AZAbAjArAzAAAGM,@A16pAA*AAB>?Ab?A+?AWO3*A ,<2A::Ac2BA ,<JA:RAc2YU3???yO'+ٓH?`ԑ x??lt?3UE?)U3? I٘i)I9Y J`Q>JJJ&K8> Yyj7Z7qLm8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028874.483165 s, next control iter: 1743028874.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2373, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028874.883165 s.y(H~,< AJ"J*J2J:JBJnJvJA= ףp@Aaxw<@A1\~? ArAh&"AA qNA"AZAbAjArAzAAA9Q,@AJ6pAA_9APA ??A Ʊb?A*?A 2*A,<2A::A*2BA,<JA:RA*2٘i)I9Y JJJJ&K Yy7777Zm8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028874.903165 s, next control iter: 1743028875.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028875.303165 s.V(H~,wgӢ AAzG@AN@A1\~? ArA2i&"AA+qNA"AZAbAjArAzAAAH,@A~o6pAAe:AQA??Ab?A )?A elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199872 time: 1743028875.723268F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A*ꋢ@A1\~? AurAii&"AALqNA"AZAbAjArAzAAA!,@A6pAAq:APA??A`Yb?A(?A*A,<2A>::A>2BA,<JA>:RA>2I٘i)I9Y JJJJ&K Yy7ŧ7pwm8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028875.763165 s, next control iter: 1743028876.123174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743028876.143165 s.S/(H~,) AA)\@AM7@A2\~? AXrAi&"AAmqNA"AZAbAjArAzAAApD,@AB|6pA$ξA`:AJAE>?A "b?A'?AѲ*A_,<2A]::A*2BA_,<JA]:RA*2٘i)I9Y Js<JJJJ&K Yyb77Džm8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028876.183165 s, next control iter: 1743028876.543176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028876.563165 s.J "J *J 2J (H~:JBJnJ,N $ AvJA̍@AUL@A2\~? A;rAi&"AAqNA"AZAbAjArAzAAAz,@A2t6pAA9ADA AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200342 time: 1743028876.983303F (some fields omitted in printout)Aq= ף@Azަo@A)2\~? ArA i&"AAqNA"AZAbAjArAzAAALG?,@A4xob6pAAi0AGA9?AGb?Au%?A+\*A׳,<2A::A1BA׳,<JA:RA1٘i)I9Y JJJJ&K Yyŧ7b7qm8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028877.023165 s, next control iter: 1743028877.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028877.403165 s.J "J *J 2J :J &(H~BJ,Y AnJvJAGz@A+NF@A>2\~? ArAE i&"AAqNA"AZAbAjArAzAAA9ݼ,@AaDP6pAA5jAOA7?A*b?Ae$?A2*A,<2A[::A1BA,<JA[:RA1٘i)I9Y JJJJ&K Yy77{7ưm8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028877.443165 s, next control iter: 1743028877.803174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2376", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028877.823165 s.(H~,-t AAQ@Ax@AS2\~? AqA|i&"AAqNA"AZAbAjArAzAAA$q:,@AgP>6pA#ξA ARAc7?A`b?AY#?AO3*A6,<2A=::AH1BA6,<JA=:RAH1٘i)I9Y Jb2C<JJJJ&K Yyb777m8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028877.863165 s, next control iter: 1743028878.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028878.243165 s.(H~,d AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200032 time: 1743028878.243278F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(@Ay@Ag2\~? AqAi&"AAqNA"AZAbAjArAzAAA ",@A+<)-6pAA͹AQA7?Ab?AQ"?AϾ-3*A˚,<2A::A1BA˚,<JA:RA1٘i)I9Y JJJJ&K Yy77qm8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028878.283165 s, next control iter: 1743028878.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028878.663165 s.(H~,q AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2377, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@AV{ˑ@A|2\~? AqAi&"AA3qNA"AZAbAjArAzAAAb5,@Aoci6pAAtT9AA8?Ab?AJ!?AG0*AW,<2A::At1BAW,<JA:RAt1٘i)I9Y JJJJ&K Yy77m8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028878.683165 s, next control iter: 1743028879.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028879.083165 s.D(H~, Sţ AJ"J*J2J:JBJnJvJAp= ג@Afآ@A2\~? AqAi&"AATqNA"AZAbAjArAzAAA,@Aͫ 6pAA :ARAG9?A`>b?A B ?A+*A,<2A::A1BA,<JA:RA1٘i)I9Y JJJJ&K Yyb7b7m8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028879.123165 s, next control iter: 1743028879.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028879.503165 s.(H~,74 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743028879.503276F (some fields omitted in printout)AHz@Ay@A2\~? ApqAUi&"AAuqNA"AZAbAjArAzAAAICЏ0,@A!E15pA$ξAGْ:AOA8?Aʬb?A`6?A*A,<2Aʤ::A1BA,<JAʤ:RA1٘i)I9Y JcJJJJ&K Yy{7{7rm8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028879.543165 s, next control iter: 1743028879.903174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2378, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028879.923165 s.6(H~, AJ"J*J2J:JBJnJvJAQ@Ac_P@A2\~? ASqAi&"AAqNA"AZAbAjArAzAAAeM ,@AJ-5pAA$':AHA6?A௬b?A&?Aò*AMy,<2A?::A1BAMy,<JA?:RA1٘i)I9Y JJJJ&K  n8Y n8y77n8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028879.963165 s, next control iter: 1743028880.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028880.343165 s.<)H~, AA(\@AB'@A2\~? A5qAi&"AAqNA"AZAbAjArAzAAAӋ+,@ADp5pAA2/AEA4?A`Ȭb?A?A*Aq,<2A\::A1BAq,<JA\:RA1٘i)I9Y JJJJ&K Yyn8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028880.383165 s, next control iter: 1743028880.743174 s, wait time: 0.360009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2379&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028880.763165 s.9 )H~,'0 AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200422 time: 1743028880.763320F (some fields omitted in printout)A33333@A*1 @A2\~? AqAi&"AAqNA"AZAbAjArAzAAA\Oz ,@Ad5pAAhAKAN2?AԬb?A?A{*Ah,<2AZ::A 1BAh,<JAZ:RA 1Y'?.4?yGa-iٓH? ` ?`?~t?=M`?)'? I٘i)I9Y JdJJJ&K) Yys#n8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028880.803165 s, next control iter: 1743028881.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028881.183165 s.)H~,kK AAףp= @A ֖@A2\~? ApA-!i&"AAqNA"AZAbAjArAzAAAsLj&,@A/5pAAd/AQA0?Ab?A ?AG3*A`,<2A::A}1BA`,<JA:RA}1٘i)I9Y JJJJ&K Yyb7b71n8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028881.223165 s, next control iter: 1743028881.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028881.603165 s.34)H~,f AJ"J*J2J:JBJnJvJA{Gᗢ@A 'L@A 3\~? ApAc#i&"AAqNA"AZAbAjArAzAAAC,@A2'@5pA#ξAG^ASA0?A`b?A?AOZ3*A5X,<2A::A}1BA5X,<JA:RA}1٘i)I9Y Js2<JJJJ&K Yy77{7@n8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028881.643165 s, next control iter: 1743028882.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2380 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028882.023165 s.Z )H~,{ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200192 time: 1743028882.023294F (some fields omitted in printout)AQ@A2%@A"3\~? ApA%i&"AA:qNA"AZAbAjArAzAAA q{!,@Ad+5pAAF0ARA1?A+b?A?A2*AO,<2A::A1BAO,<JA:RA1٘i)I9Y JJJJ&K Yyj7sNn8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028882.063165 s, next control iter: 1743028882.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028882.443165 s.2&)H~,)] AJ"J*J2J:JBJnJvJA(\@A=[@A63\~? ApA'i&"AA[qNA"AZAbAjArAzAAAה,@A{5pAA3:ASAs2?AHb?A`?Aq)Z*A`G,<2AN::Az1BA`G,<JAN:RAz1٘i)I9Y JJJJ&K Yy77\n8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028882.483165 s, next control iter: 1743028882.843174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2381, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028882.863165 s.+-)H~,> AAfffff@A y72@AK3\~? ApA*i&"AA|qNA"AZAbAjArAzAAAGX,@Ay@j5pAAə:AA2?A b?A?A:*A?,<2A\r::A1BA?,<JA\r:RA1Y#?50?yM:ٓH? `v? elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199672 time: 1743028883.283276F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=@A$@ @A`3\~? AjpA8,i&"AAqNA"AZAbAjArAzAAA^,@Ac`X5pA$ξA w:AMA1?AGb?A?A *A6,<2A2o::A1BA6,<JA2o:RA1٘i)I9Y JaC<JJJJ&K Yy777syn8)ZZZBZL?YY*W2W WWW"W ) )FFF]{:Waiting for Gazebo time sync: latest Gz time: 1743028883.323165 s, next control iter: 1743028883.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2382., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028883.703165 s.غ:)H~, AAGz@An@At3\~? AMpAm.i&"AAqNA"AZAbAjArAzAAA&,@A'F5pAA9AGA/?ADb?A?A*A|.,<2A>x::A/1BA|.,<JA>x:RA/1٘i)I9Y JJJJ&K Yy7b7ˇn8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028883.723165 s, next control iter: 1743028884.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028884.123165 s.5A)H~,T AJ"J*J2J:JBJnJvJAR뜢@AyU@A3\~? A0pA0i&"AAqNA"AZAbAjArAzAAAeK獔,@AdI745pAAAA-?A`b?A?Ao*AH&,<2Aą::A\1BAH&,<JAą:RA\1٘i)I9Y JJJJ&K Yyb77n8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028884.163165 s, next control iter: 1743028884.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028884.543165 s.IH)H~," AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199692 time: 1743028884.543270F (some fields omitted in printout)A(\@ApN\@A3\~? ApA2i&"AAqNA"AZAbAjArAzAAA,@ARB#5pAAANA+?AYb?A?A1*A,<2A΍::A>1BA,<JA΍:RA>1٘i)I9Y JJJDJ&K Yy77j7sn8)ZZZBZL?YY*W2W WWW"W ) )FFF]t:Waiting for Gazebo time sync: latest Gz time: 1743028884.563165 s, next control iter: 1743028884.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2383, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028884.963165 s.vN)H~,= AJ"J*J2J:JBJnJvJA@A1_^e@A3\~? AoA 5i&"AA!qNA"AZAbAjArAzAAAL\,@A+P5pA#ξA^|ASA5*?Ab?A ?Am23*A,<2A-::A01BA,<JA-:RA01YD ?,?yNʒٓHH?jpT:?H?t?OR ?)D ? I٘i)I9Y J\2JLJJJ&K Yy77˲n8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028885.003165 s, next control iter: 1743028885.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028885.383165 s.U)H~,+X AA= ףp@Ahx<@A3\~? AoAA7i&"AABqNA"AZAbAjArAzAAAT ,@A.4pAAO$AAq*?A Ob?A?AĶL3*As ,<2Aw::A(81BAs ,<JAw:RA(81٘i)I9Y JJJJ&K Yy{7j7n8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028885.403165 s, next control iter: 1743028885.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2384", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028885.803165 s.tA\)H~,ogs AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200312 time: 1743028885.803293F (some fields omitted in printout)J"J*J2J:JBJnJvJ)AzG@A~@A3\~? AoAu9i&"AAcqNA"AZAbAjArAzAAAM7,@A+4pAAsj<9ARAR+?Ajb?A@?AQ7m2*A,<2A|]::AL1BA,<JA|]:RAL1٘i)I9Y JJJJ&K Yy7777tn8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028885.843165 s, next control iter: 1743028886.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028886.223165 s.gc)H~,H AAQ@A^ꠢ@A3\~? AoA;i&"AAqNA"AZAbAjArAzAAA iu,@A4}{4pAAj:ATA,?A@b?A@|?Aò*A+<2A%F::A^1BA+<JA%F:RA^1٘i)I9Y JJJJ&K Yy77n8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028886.263165 s, next control iter: 1743028886.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028886.643165 s.vi)H~,* AJ"J*J2J:JBJnJvJA)\@A @A4\~? AoA=i&"AAqNA"AZAbAjArAzAAAȄ,@Ac4pAA:ARA+?A b?As ?A>*A[+<2A9::A^1BA[+<JA9:RA^1٘i)I9Y JJJJ&K Yy7777 n8)ZZZBZL?YY*W2W WWW"W ) )tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2385, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028886.663165 s, next control iter: 1743028887.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028887.063165 s.p)H~,R ĥ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200212 time: 1743028887.063309F (some fields omitted in printout)A̢@Ad@A4\~? AeoA@i&"AAqNA"AZAbAjArAzAAAl>,@A?DA4pA$ξAΫ[:ALA`*?AХb?Af ?AQfβ*A+<2AJ;::A/K1BA+<JAJ;:RA/K1YN?(?yIW \:ٓH0? nf?4?௿ t?yuK??)N? I٘i)I9Y Js<Jj3JJJ&Kז Yyb77vn8)ZZZBZL?YY*W2W WWW"W ) )FFF]Waiting for Gazebo time sync: latest Gz time: 1743028887.103165 s, next control iter: 1743028887.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028887.483165 s.s_w)H~,ޥ AJ"J*J2J:JBJnJvJAq= ף@AASo@A/4\~? AHoAGBi&"AAqNA"AZAbAjArAzAAA9"g,@Auo4pAAwv8AGA(?Aޥb?A W ?A*A+<2AF::A)1BA+<JAF:RA)1٘i)I9Y JJJJ&K  o8Y o8y7o8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028887.523165 s, next control iter: 1743028887.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2386, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028887.903165 s.})H~, AAGz@AF@AC4\~? A+oA{Di&"AAqNA"AZAbAjArAzAAA*,@A2•4pAA6AJA%?A`b?A G ?A P*A+<2AS::A1BA+<JAS:RA1٘i)I9Y JJJJ&K Yy77{7 o8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028887.923165 s, next control iter: 1743028888.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028888.323165 s.s)H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000J: rudderAngleAction: 0.052360"J> elevatorAngleAction: 0.000000*J< massPositionAction: 0.0000002J4 buoyancyAction: 0.000955:JBJ dt: 0.419929nJ2 time: 1743028888.323255F (some fields omitted in printout)vJAQ@A@AX4\~? AoAFi&"AA(qNA"AZAbAjArAzAAAGz,@A4pAA^AQA$?Aեb?A: ?A}2*A+<2AW::Ap0BA+<JAW:RAp0٘i)I9Y JJJJ&K Yy{7u%o8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028888.363165 s, next control iter: 1743028888.723175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2387*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028888.743165 s.W)H~,u/ AA\(@Ay@Am4\~? AnAHi&"AAIqNA"AZAbAjArAzAAAL+W,@Aܽikr4pA#ξAffiATA#?A\b?A0?AP3*AG+<2AYN::Ad0BAG+<JAYN:RAd0٘i)I9Y Je2C<JJJJ&K Yy7b73o8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028888.783165 s, next control iter: 1743028889.143179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028889.163165 s.|})H~,qJ AJ"J*J2J:JBJnJvJA@A[˦@A4\~? AnAKi&"AAjqNA"AZAbAjArAzAAA{0t-@A$`4pAAȈASA$?Ab?A@+?A`(3*A+<2A8::A0BA+<JA8:RA0Y?$?yScٓH?@?9?d`t?7?)? I٘i)I9Y Jv>JJJ&K Yy7S7!Bo8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028889.183165 s, next control iter: 1743028889.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028889.583165 s.)H~,Re AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199902 time: 1743028889.583267F (some fields omitted in printout)Ap= ק@A `㢧@A4\~? AnAJMi&"AAqNA"AZAbAjArAzAAAua-@A$O4pAA9ATA%?Ab?A&?Aw*A+<2A::A 1BA+<JA:RA 1٘i)I9Y JJJJ&K Yy7777vPo8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028889.603165 s, next control iter: 1743028889.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2388, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028890.003165 s.y )H~,P4 AJ"J*J2J:JBJnJvJAHz@A"¿z@A4\~? AnA}Oi&"AAqNA"AZAbAjArAzAAATO%o-@Az,o=4pAA啉:AUAz%?Ab?A!?AX*A;+<2A ::A1BA;+<JA :RA1٘i)I9Y JJJJ&K Yy77^o8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028890.043165 s, next control iter: 1743028890.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028890.423165 s.u)H~,{ AAQ@AHP@A4\~? A~nAQi&"AAqNA"AZAbAjArAzAAArB_-@A.z+4pA$ξA:AQA$?Ayb?A?Ap*A+<2A::Ac1BA+<JA:RAc1٘i)I9Y JaJJJJ&K Yy7777!mo8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028890.443165 s, next control iter: 1743028890.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2389, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028890.843165 s.ݬ)H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199912 time: 1743028890.843298F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A4Փ'@A4\~? AanASi&"AAqNA"AZAbAjArAzAAA.i-@An 4pAA :AJA#?A`ab?A ?Ae*Aǡ+<2A::A0BAǡ+<JA:RA0٘i)I9Y JJJJ&K Yyj7j7v{o8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028890.863165 s, next control iter: 1743028891.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028891.263165 s.)H~,Ц AA33333@A6"@A4\~? ADnAVi&"AAqNA"AZAbAjArAzAAA*o-@Apy??t? )@?)? I٘i)I9Y JQ4JJJ&K_ Yyb77̉o8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028891.303165 s, next control iter: 1743028891.663176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2390., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028891.683165 s.l)H~,g AJ"J*J2J:JBJnJvJAףp= @A֫@A4\~? A'nAJXi&"AA/qNA"AZAbAjArAzAAA d-@A3pAADPmAMAu?Ab?A?Al*Aw+<2A ::A0BAw+<JA :RA0٘i)I9Y JJJJ&K Yy77!o8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028891.683165 s, next control iter: 1743028892.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743028892.103165 s.)H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199862 time: 1743028892.103276F (some fields omitted in printout)A{Gᬢ@Am@A5\~? A nA}Zi&"AAPqNA"AZAbAjArAzAAA,C-@A[13pAAATA.?A Hb?A?A 3*AE+<2An ::Ai0BAE+<JAn :RAi0I٘i)I9Y JJJJ&K Yyŧ77wo8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028892.143165 s, next control iter: 1743028892.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028892.523165 s.)H~,{! AJ"J*J2J:JBJnJvJAQ@A=$@A&5\~? AmA\i&"AAqqNA"AZAbAjArAzAAAA,z^-@A<3pA#ξA\YAUA?A b?A ?A"Y3*A+<2A<::A0BA+<JA<:RA0٘i)I9Y Js2<JJJDJ&K YyZ7Z7ʹo8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028892.543165 s, next control iter: 1743028892.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2391, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028892.943165 s.Vd)H~,:]< AA(\@A.;1[@A;5\~? AmA^i&"AAqNA"AZAbAjArAzAAAmٹ-@A3pAA{hATA?A ֠b?A ?AGT2*Ax+<2A::A]0BAx+<JA:RA]0٘i)I9Y JJJJ&K Yy Cb77"o8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028892.983165 s, next control iter: 1743028893.343175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028893.363165 s.)H~,p>W AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199632 time: 1743028893.363265F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@ARy;2@AP5\~? AmAai&"AAqNA"AZAbAjArAzAAASX-@Ar:J3pAAf9:AUA?Ab?A`?Am*AUp+<2A::A0BAUp+<JA:RA0Y?4?ySl9:ٓH?n8?`?گ`t?,G??)? I٘i)I9Y JQJJJ&Kz Yyŧ7b7wo8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028893.403165 s, next control iter: 1743028893.763175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2392&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028893.783165 s.V)H~,r AA ףp=@ASD @Ad5\~? AmAGci&"AAqNA"AZAbAjArAzAAA-@Ac&3pAA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200012 time: 1743028894.623276F (some fields omitted in printout)AR뱢@A7W@A5\~? A]mAgi&"AAqNA"AZAbAjArAzAAA WA-@Ab}j{3pAA9AIA?Ab?A`?Ab껲*AW+<2Ab::Aܡ0BAW+<JAb:RAܡ0٘i)I9Y JJJJ&K Yy{7{7xo8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028894.663165 s, next control iter: 1743028895.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2393 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028895.043165 s.)H~,§ AJ"J*J2J:JBJnJvJA(\²@AXƆn@A5\~? A@mAii&"AA6qNA"AZAbAjArAzAAA~4cM-@Ai3pAAƁAJAD?Ab?A?AT*AO+<2A::A}0BAO+<JA:RA}0٘i)I9Y JJJJ&K  p8Y p8yb7b7 p8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028895.083165 s, next control iter: 1743028895.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028895.463165 s.Q)H~,Ӥݧ AA@Atie@A5\~? A#mAli&"AAVqNA"AZAbAjArAzAAAX-@AZ/X3pAAAQAQ?A b?A`?Aq2*AnG+<2A::A`0BAnG+<JA:RA`0Y? ??yLˊٓH@q?@.fN?f?ʝt?3PQ ?)? ? I٘i)I9Y J_4JJJ&KT Yy77j7#p8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028895.503165 s, next control iter: 1743028895.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2394, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028895.883165 s.y)H~,# AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200402 time: 1743028895.883295F (some fields omitted in printout)A= ףp@A~p>u<@A5\~? AmABni&"AAwqNA"AZAbAjArAzAAA?`G-@AF3pA#ξAWAUAs?Ab?A?A53*A=?+<2At::A(T0BA=?+<JAt:RA(T0٘i)I9Y J`2JJJJ&K Yyŧ7ŧ7x'p8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028895.923165 s, next control iter: 1743028896.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028896.303165 s.T*H~,og AAzG@A4E@A5\~? AlAtpi&"AAqNA"AZAbAjArAzAAABD-@A 43pAAAA?Ab?A?A#?I3*A6+<2A::A\0BA6+<JA:RA\0٘i)I9Y JJJJ&K Yy775p8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028896.343165 s, next control iter: 1743028896.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2395*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028896.723165 s. *H~,H. AJ"J*J2J:JBJnJvJAQ@A(굢@A5\~? AlAri&"AAqNA"AZAbAjArAzAAAoA -@A̋\#3pAA elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199512 time: 1743028897.143276F (some fields omitted in printout)A)\@Aٕ@A 6\~? AlAti&"AAqNA"AZAbAjArAzAAA\ -@Al(3pAA+6o:AVAI?ADb?A?Aʲ*A[&+<2A::A0BA[&+<JA:RA0٘i)I9Y JJJJ&K Yy77j7yRp8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028897.163165 s, next control iter: 1743028897.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028897.563165 s.*H~,9 d AJ"J*J2J:JBJnJvJA̷@AcD@A6\~? AlA wi&"AAqNA"AZAbAjArAzAAA1; -@A>*3pA$ξA_:ATA?A b?A`?Ab[*A +<2A::Aǁ0BA +<JA:RAǁ0YH ??yO:ٓHY?9`@ ??鯿t?+R? ?)H ? I٘i)I9Y J`JdJJJ&K Yy77`p8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028897.583165 s, next control iter: 1743028897.963174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2396, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028897.983165 s.*H~,~ AAq= ף@Ao@A36\~? AvlA;yi&"AAqNA"AZAbAjArAzAAA S -@A612pAAaNV:ANA?Ab?A w?A(˲*A+<2AΚ::Am0BA+<JAΚ:RAm0٘i)I9Y JJJJ&K Yy$op8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028898.003165 s, next control iter: 1743028898.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028898.403165 s.&&*H~,͙ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200112 time: 1743028898.403297F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@AxF@AG6\~? AYlAl{i&"AAATAQ?Ab?A@R?AG2*A*<2A::A0BA*<JA:RA0٘i)I9Y JJJJ&K Yy777$p8)ZZZBZL?YY*W2W WWW"W ) )FFF]t:Waiting for Gazebo time sync: latest Gz time: 1743028899.263165 s, next control iter: 1743028899.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028899.663165 s.:*H~,q AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743028899.663282F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2398, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A],˻@A6\~? AlAi&"AAqNA"AZAbAjArAzAAAos3 -@A@:2pA#ξA AVA?A@b?AK?AQ3*Ar*<2A::A 0BAr*<JA:RA 0Y??yRٓH? A`|??@t?`5P ?)? I٘i)I9Y Js2<JdJJJ&K Yy77zp8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028899.683165 s, next control iter: 1743028900.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028900.083165 s.DA*H~,S AJ"J*J2J:JBJnJvJAp= ׼@Aࢼ@A6\~? AkA0i&"AAqNA"AZAbAjArAzAAA 8* -@A92pAA*AUAp?A Db?AH?A:#3*A/*<2AJ::Ah0BA/*<JAJ:RAh0٘i)I9Y JJJJ&K Yy϶p8)ZZZBZL?YYMJTimed out from 2025-03-26T22:11:39.0Z1' NvAggregate::initialize profile_station:NeedComms:D:A_Timeoutq'NVComms timed out after 30.000000 min minutesq'N^Completed profile_station:NeedComms:D:A_Timeout&'*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028900.123165 s, next control iter: 1743028900.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028900.503165 s.G*H~,34 AAHz@A$y@A6\~? AkAai&"AAqNA"AZAbAjArAzAAA8 -@AD2pAAY9AVAZ?A^b?AG?Ak*A*<2A}::A.0BA*<JA}:RA.0٘i)I9Y JJJDJ&K Yy{7{7$p8)ZZZBZL?YY*a code=0BAF owner=009E element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 O\Initialize ReadDataComponent to sense time_fix*W2W WWW"W ) )FFF]w:Waiting for Gazebo time sync: latest Gz time: 1743028900.523165 s, next control iter: 1743028900.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2399, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)8)8 rAdjusting time to match Gazebo time: 1743028900.923165 s.6N*H~,; AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200302 time: 1743028900.923293F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AUjP@A6\~? AkAi&"AAqNA"AZAbAjArAzAAA1$-@AHs2pAA :AWA?Ab?AC?A*A*<2Ai::A:0BA*<JAi:RA:0٘i)I9Y JJJJ&K Yy{p8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028900.943165 s, next control iter: 1743028901.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028901.343165 s. elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200092 time: 1743028902.183288F (some fields omitted in printout)Aףp= @A@A7\~? AVkA#i&"AAcqNA"AZAbAjArAzAAAc-@A2>2pAAiAJA ?A5b?A%?A𤋮*AF*<2A#v::A/BAF*<JA#v:RA/٘i)I9Y JJJJ&K YySI787{p8)ZZZBZL?YY*W2W WWW"W ) )FFF]|:Waiting for Gazebo time sync: latest Gz time: 1743028902.203165 s, next control iter: 1743028902.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028902.603165 s.74i*H~, AJ"J*J2J:JBJnJvJA{G@A)@A7\~? A9kASi&"AAqNA"AZAbAjArAzAAAa-@AرB-2pAAyqAPA ?A=b?A?ADN**A2*<2A::A[/BA2*<JA:RA[/٘i)I9Y JJJJ&K  q8Y q8y C)7ŧ7 q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028902.623165 s, next control iter: 1743028903.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2401 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028903.023165 s.Zp*H~,{ AAQ¢@A 2¢@A*7\~? AkAi&"AAqNA"AZAbAjArAzAAA-@A\2pAAAVAz ?A@b?A?AL 3*A*<2A::A/BA*<JA:RA/٘i)I9Y JJJJ&K Yy777'q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028903.063165 s, next control iter: 1743028903.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028903.443165 s./v*H~,]ܩ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199442 time: 1743028903.443264F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\â@A/[â@A?7\~? AkAi&"AAqNA"AZAbAjArAzAAA}k/-@Aj( 2pA#ξASAWAm ?Adb?A ?AW3*A*<2AYq::A/BA*<JAYq:RA/٘i)I9Y Js2<JJJJ&K Yyb77{)q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028903.463165 s, next control iter: 1743028903.843173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2402, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028903.863165 s.+}*H~,}> AAfffffĢ@AC 82Ģ@AS7\~? AjAi&"AAqNA"AZAbAjArAzAAAԎ-@A Y1pAA1]AVA5 ?Ab?A ?Au2*A*<2A2Y::A/BA*<JA2Y:RA/Y?Q ?yVݦ]ٓH`?SuW@??Yt?0 ?)? I٘i)I9Y JQJJJ&Kj Yy77q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028903.883165 s, next control iter: 1743028904.263176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028904.283165 s.4R*H~, AJ"J*J2J:JBJnJvJA ףp=Ţ@A:,B Ţ@Ah7\~? AjAi&"AAqNA"AZAbAjArAzAAA? -@A1pAA'?:AWA ?A`b?A ?A,*Aa*<2A~@::A/BAa*<JA~@:RA/٘i)I9Y |Sent 332 bytes from file Logs/20240522T011144/Express0005.lzma2Packets left to send: 197JJJJ&K Yyb7&Fq8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028904.323165 s, next control iter: 1743028904.683176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2403*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028904.703165 s.Ӻ*H~,- AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200292 time: 1743028904.703316F (some fields omitted in printout)AGzƢ@AuXŢ@A}7\~? AjACi&"AA(qNA"AZAbAjArAzAAAzB-@A\1pAA]ӕ:AA! ?Ab?A@?A*A-*<2A0::A/BA-*<JA0:RA/٘i)I9Y JJJJ&K Yy777|Tq8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028904.743165 s, next control iter: 1743028905.103174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743028905.123165 s.7*H~,]G AJ"J*J2J:JBJnJvJARƢ@AXƢ@A7\~? AjAri&"AAIqNA"AZAbAjArAzAAATy-@A{ 1pA$ξA2{:ARA ?A b?A?AP۲*A *<2A}.::A/BA *<JA}.:RA/٘i)I9Y JaC<JJJJ&K Yy{7{7bq8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028905.163165 s, next control iter: 1743028905.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028905.543165 s.I*H~,b AA(\Ǣ@AffffǢ@A7\~? ApjAi&"AAjqNA"AZAbAjArAzAAAՒ>V-@A{u1pAA<9AKA?Ab?A@ބ?AQ*A*<2A8::A/BA*<JA8:RA/٘i)I9Y JJJJ&K Yy77'qq8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028905.563165 s, next control iter: 1743028905.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2404, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028905.963165 s.w*H~,} AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200352 time: 1743028905.963309F (some fields omitted in printout)AȢ@AKToeȢ@A7\~? ATjAѢi&"AAqNA"AZAbAjArAzAAAwB3-@A1pAA.yALA?A`Ҕb?A`݄?A*Az*<2AuE::A/BAz*<JAuE:RA/YG??yKeٓH@?  ʑ? ?@`t?%O@?)G? I٘i)I9Y JQ4JJJ&Ke Yy7777}q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028906.003165 s, next control iter: 1743028906.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028906.383165 s.إ*H~,8 AA= ףpɢ@AyGs<ɢ@A7\~? A7jAi&"AAqNA"AZAbAjArAzAAA|/|-@Ag1pAA틺ASA?AƔb?A܄?Ab2*Ar*<2AL::AP/BAr*<JAL:RAP/٘i)I9Y JJJJ&K Yyj7Z7эq8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028906.423165 s, next control iter: 1743028906.783175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2405", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028906.803165 s.rA*H~,fg AJ"J*J2J:JBJnJvJAzGʢ@A ~ʢ@A7\~? AjA/i&"AAqNA"AZAbAjArAzAAAM-@A8}1pA#ξAAXA?A@hb?Aۄ?A83*Aj*<2AHG::Ay/BAj*<JAHG:RAy/٘i)I9Y Ja2JJJJ&K Yy77'q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028906.843165 s, next control iter: 1743028907.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028907.223165 s.g*H~,HΪ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4199952 time: 1743028907.223277F (some fields omitted in printout)AQˢ@A!ʢ@A7\~? AiA^i&"AAqNA"AZAbAjArAzAAAu-@A71\l1pAA-VAWA?A b?Aڄ?A͖E3*Ab*<2A4::A1/BAb*<JA4:RA1/٘i)I9Y JJJJ&K Yy)7ŧ7|q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028907.263165 s, next control iter: 1743028907.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028907.643165 s.rй*H~,) AJ"J*J2J:JBJnJvJA)\ˢ@Aeˢ@A 8\~? AiAi&"AA qNA"AZAbAjArAzAAA^&-@AvZ1pAA;w9AA?Aϒb?A@ل?A82*AVZ*<2A?::AΖ/BAVZ*<JA?:RAΖ/٘i)I9Y JJJJ&K Yy77Ӹq8)ZZZBZL?YY*W2W WWW"W ) tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2406, header.stamp.nsec: 0$ temperature: nan) salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028907.683165 s, next control iter: 1743028908.043177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028908.063165 s.*H~,N  AA̢@A]o̢@A!8\~? AiAi&"AA.qNA"AZAbAjArAzAAA #fo-@ATI1pAAs:AXA?A@b?A@؄?Aϲ*AR*<2A::Aw/BAR*<JA:RAw/Yd??yU(t:ٓH r?Yb@|?g?@௿t?@]sN?@?)d? II٘i)I9Y J{>JJJ&K Yy777)q8)ZZZBZL?YY*W2W WWW"W ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028908.103165 s, next control iter: 1743028908.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028908.483165 s.q_*H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 16 propOmegaAction: 0.000000: rudderAngleAction: 0.052360> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000955 dt: 0.4200082 time: 1743028908.483288F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף͢@Aso͢@A68\~? AiAi&"AAOqNA"AZAbAjArAzAAAsS/-@A?*71pA$ξAC:AWA[?A`ub?A`ׄ?AJ*AI*<2A9:A٦/BAI*<JA9RA٦/٘i)I9Y R A68\~?iQ2XB@k.: |^hGPS fix at 20250326T224148: (36.693640, -121.939467)IiJ]JJJJ&K  ;4Y68\~? ;4yi ?b77>g;4tB)CBEZZZBZL?YY'*W2W WWW"WJFCompleted profile_station:NeedCommsq%JbAggregate::uninitialize profile_station:NeedComms%KDUninitialize GoToSurfaceComponent. ) )FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028908.503165 s, next control iter: 1743028908.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2407, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028908.903165 s.*H~,9 AAGz΢@AB#ظF΢@AJ8\~? AiAi&"AApqNA"AZAbAjArAzAAAoh-@AWP&1pAAbP:APA?AGb?Aք?AȲ*AA*<2A9:AF/BAA*<JA9RAF/٘i)I9Y JJJDJ&K  I4Y I4y ?j7j7I4vB)DBZZZBZL?YYXRCompleted profile_station:StartingMissionq,XnAggregate::uninitialize profile_station:StartingMissionq/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.>I} :)H ȶ)AFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028908.943165 s, next control iter: 1743028909.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028909.323165 s.w*H~,)T AJ"J*J2J:JBJnJvJAQϢ@AϢ@A_8\~? AniAHi&"AAqNA"AZAbAjArAzAAA_!-@Ai1pAA8AKA?AWb?AՄ?A8i*A9*<2A::Ap/BA9*<JA:RAp/٘i)I9Y JJJJ&K  X4Y X4y ?7)7X4)[[A@[4Q[~?[ا/[#<[[[ף>ZZBZYY i{=) Fy:Io?;iA'`t> ?)>(kpHeading = 0.400000:(kiHeading = 0.001000 L=(kdHeading = 0.050000)8lD@IQ@FFF]:Waiting for Gazebo time sync: latest Gz time: 1743028909.363165 s, next control iter: 1743028909.723177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2408&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028909.743165 s.W*H~,~o AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.011989> elevatorAngleAction: 0.072137< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743028909.743320F (some fields omitted in printout)A\(Т@A{mϢ@A8\~? A@iAʷi&"AAqNA"AZAbAjArAzAAAӚ\-@Ai+0pA[ξAnAA]?A@#qv?A@z?A9*AG<2A::AfBAG<JA:RAf٘i)I9ξY^{ J8<JJJJ&K  f4Y f4y ?ŧ7b7ff4)[[[[[[[[ZZBZYY i) :I9$?A ^9*Aw?=2Az9:A;BAw?=JAz9RA;٘i)I9ξYk{ JC=JJL?JL?J?&K  4Y?\~? 4y(a԰<L? }>? ?>ŧ7b74)[[A@[R[~?[ا[[[[ZZBZYY i) hz;Iɤ ?))/ϽQ?dbR@[y:y=*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028910.623165 s, next control iter: 1743028910.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2409, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028911.003165 s.y *H~,P4 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.101115> elevatorAngleAction: 0.072137< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743028911.003299F (some fields omitted in printout)J"J*J2J:JBJnJvJAHzҢ@AyҢ@A9\~? AgAci&"AAqNA"AZAbAjArAzAAAm-@Ai6+0pAξAAA?A ?A;?A#8*Aiq=2Ad9:ArBAiq=JAd9RAr٘i)I9ξY\{ Jh9B=JJJJ ?&K  4YG\~? 4yX0= ?+?7)7'4)[[ƇA@[hT[~?[ا[[[[ZZBZYY i) ̑;I JD?))d GG?nR@y:*YutYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028911.043165 s, next control iter: 1743028911.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028911.423165 s.u*H~,{۫ AAQӢ@Ax`QӢ@A5:\~? A=gAi&"AAwqNA"AZAbAjArAzAAAw"n#-@A}/pAξAW:A^A9?A?A`~?AEn*A]=2As9:A5 BA]=JAs9RA5 ٘i)I9ξYf{ JC=JJJJ ?&K  4YN\~? 4y(P= ??77{7ޏ4)[[dsA@[U[~?[ا[[[[ZZBZYY i) ;I ?))/>OS@x:*YFuYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028911.443165 s, next control iter: 1743028911.823174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2410, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028911.843165 s.*H~, AJ"J*J2J:JBJnJvJA(\Ԣ@A'Ԣ@A:\~? AjfAi&"AAqNA"AZAbAjArAzAAA"xT'-@A'.=/pAξAP:A(bAM?Ag ?A ?A [9*A"=2A49:ABA"=JA49RA٘i)I9ξY J[5JJJJ@&K  4YU\~? 4yG= ??77 4zB)IBE[[X_A@[W[~?[ا[[[[ZZBZYY i) C;I^=iA> /?))ڢSV>S@]x:*Yz YFFF]Waiting for Gazebo time sync: latest Gz time: 1743028911.883165 s, next control iter: 1743028912.243175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028912.263165 s.+H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.206676> elevatorAngleAction: 0.072137< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743028912.263271F (some fields omitted in printout)A33333բ@A4 Ԣ@A;\~? AveAj&"AAqNA"AZAbAjArAzAAAT,-@AC.pA%ξA:A<Ae ?A`?A`?A1*A=2A%x9:AFɻBA=JA%x9RAFɻY? ?y<Hg:ٓH ?(?/?ܯd?>[?,?)? I٘i)I9ξY]{ J9J:JJJ@&KL:  4Y\]\~? 4y(?= ? ??7)7)44)[[KA@[Y[~?[ا[[[[ZZBZYY i) ;Iԁ(=i/A>  ?))wS=bCT@ x:*Yޅ/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028912.303165 s, next control iter: 1743028912.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2411., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028912.683165 s.l +H~,^+ AJ"J*J2J:JBJnJvJAףp= ֢@A բ@A<\~? AbdAj&"AA^qNA"AZAbAjArAzAAAK22-@A"3Z.pAξAGR:AA?A?A`>?A*A&=2A8:AɓBA&=JA8RAɓ仙٘i)I9ξYg{ J8'JJJJ,@&K  4Yd\~? 4y6> ?@b7b7u^4)[[O8A@[~Z[~?[ا[[[[ZZBZYY i) > =iAi`>  M?)) f`=OT@w:Z*YSYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028912.683165 s, next control iter: 1743028913.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743028913.103165 s.+H~,F AA{G֢@A%xC֢@A=\~? A.cA-j&"AAqNA"AZAbAjArAzAAAݛk8-@AC-pAkξA AzڂA'?A?A%q?AG9*A}=2Aĸ:A$BA}=JAĸRA$󻙘٘i)I9ξYb{ J8JJJJA@&K  4Y3l\~? 4y(.> ?6@7{7.4B)OBE[[C%A@[[[~?[ا[[[[ZZBZYY i) U @))< elevatorAngleAction: 0.072137< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743028913.523316F (some fields omitted in printout)AQע@A#ע@A>\~? AaAGj&"AAqNA"AZAbAjArAzAAA;?-@As,pAξA UȺAA??AO?A.?AQ*AX>2Af:Al BAX>JAfRAl ٘i)I9ξY^{ J=\8JJJJW@&K  4Ys\~? 4y%0> @+@774AB)BE[[A@[c][~?[ا[[[[ZZBZYY iu=) b, h @))d<U@ w:*Y.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028913.563165 s, next control iter: 1743028913.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2412, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028913.943165 s.Ud+H~,5]| AA(\آ@AF$ -[آ@A1@\~? Ac`AKdj&"AAqNA"AZAbAjArAzAAANG-@A+pA'ξA^)A$`Aa?AU?A?Ap*A>2AY":A:.BA>JAY"RA:.٘i)I9ξYf{ JcJJJJl@&K  4Y {\~? 4y(F> @!A@{7j7޺4)[[A@[^[~?[٧[[[[ZZBZYY i) <  @)); AAfffff٢@A>72٢@AA\~? A^Aj&"AAqNA"AZAbAjArAzAAAO-@AE*pACξAVA"A2?A?As?A8*A >2A:ABA >JARAYw??y"0ٓHE? @@? ?> A?S v?)w? I٘i)I9ξY_{ J_8J:JJJ@&K"<  4Y[\~? 4yt\>?  @V@j7 4)[[u@@[%`[~?[٧[[[[ZZBZYY i) 7K @))ba;SV@bv:M*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028914.403165 s, next control iter: 1743028914.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2413&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028914.783165 s.Y++H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081768< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743028914.783285F (some fields omitted in printout)A ףp=ڢ@A0E ڢ@AC\~? A]AQj&"AA~qNA"AZAbAjArAzAAAa5 X-@A)pA*ξAyKANA̧?Aʚ?Au?A*Am)>2A:A.BAm)>JARA.٘i)I9ξY`{ JJJJJƋ@&K  4Y\~? 4y# Lr> @ l@{7{7:44?B)BE[[@@[ya[~?[!٧[[[[ZZBZYY i) [ L@)):BW@ v:y\=*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743028914.823165 s, next control iter: 1743028915.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028915.203165 s.3+H~,ͬ AJ"J*J2J:JBJnJvJAGzۢ@ALOڢ@AD\~? AE[Aj&"AAqNA"AZAbAjArAzAAAPb-@A=_&p(pASξA:A2ʁA?A@6?A?AI`8*A5>2A!:A7BA5>JA!RA7٘i)I9ξYd{ JpJJJJ@&K  4Y\~? 4y> @@7)7&_4@B)E[[ @@[b[~?[.٧[[[[ZZBZYY i)  a@))aX:TW@u:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028915.243165 s, next control iter: 1743028915.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028915.623165 s.S9+H~,L AARۢ@AR( _ۢ@AwF\~? AQYAj&"AAqNA"AZAbAjArAzAAAieWm-@A1?'pAξA :A_A_n?A@̩?AO`?Ap8\8*A͗A>2A|1:A-CBA͗A>JA|1RA-C٘i)I9ξY^{ J8JJJJG@&K  4YH\~? 4y> @}@774)[[<@@[d[~?[<٧[[[[ZZBZYY i) z %@))9MX@du:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028915.663165 s, next control iter: 1743028916.023175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2414 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout).H\~?). rAdjusting time to match Gazebo time: 1743028916.043165 s.@+H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081768< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743028916.043281F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\ܢ@Argܢ@AOH\~? A>WAQk&"AAqNA"AZAbAjArAzAAA#x-@A$%pA͙ξAǴ:AA֨?A`Z?A ?A*Aq=M>2A-f:A(QBAq=M>JA-fRA(Q٘i)I9ξYa{ JUJJJJ@&K  4Y\~? 4y> !@7@)7ŧ74)[[@@[Ue[~?[I٧[[[[ZZBZYY i)  V 0+@))I9X@u:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028916.083165 s, next control iter: 1743028916.443176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028916.463165 s.QG+H~,Ӥ AAݢ@Apeݢ@ACJ\~? A UA Ak&"AAqNA"AZAbAjArAzAAA3\-@Aї$pA ξA—9AAQ?A@߬?A@i/?A 8*A,X>2A:AZBA,X>JARAZYD?Q? '@@77]4>B) BE[[@@[sf[~?[U٧[[[[ZZBZYY i) r2 ~0@))8 aY@t:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028916.503165 s, next control iter: 1743028916.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2415, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028916.883165 s.yM+H~,88 AJ"J*J2J:JBJnJvJA= ףpޢ@Aut\<ޢ@AQL\~? ARAnk&"AAqNA"AZAbAjArAzAAA9EXҐ-@AT2P:#pA`ξAdA䁽A?A`W?A?A$c*Aw?d>2A^#:A hBAw?d>JA^#RA h٘i)I9ξY]{ J8B=JJJDJ@&K  4Yw\~? 4y> ,@@b7 4?B)[[@@[g[~?[a٧[[[[ZZBZYY i) I $s6@))18Y@ft:X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028916.903165 s, next control iter: 1743028917.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028917.303165 s.ST+H~,jgS AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081768< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743028917.303271F (some fields omitted in printout)AzGߢ@Av~ߢ@AyN\~? AMPAxk&"AAiqNA"AZAbAjArAzAAA-@Ad!pAξAҭAA?A F?A?AI*Ao>2A":AtBAo>JA"RAt٘i)I9ξYa{ JoC=JJJJH@&K  4Yf\~? 4yؤ> 2@h@{7{744)BE[[@@[h[~?[l٧[[[[ZZBZYY i=)  <@))7{Z@t:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028917.343165 s, next control iter: 1743028917.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2416*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028917.723165 s.[+H~,Hn AJ"J*J2J:JBJnJvJAQ@AA ߢ@AP\~? AMA#k&"AArNA"AZAbAjArAzAAAx -@A '^/ pAξAAvdAM?A ?A Q?Ag8*AXz>2A:AZ~BAXz>JARAZ~٘i)I9ξY_{ J7B=JJJJ @&K  4YV\~? 4yqФ~> 7@$@b77 `4)[[q@@[i[~?[x٧[[[[ZZBZYY i) ʤ A@))7 [@s:,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028917.763165 s, next control iter: 1743028918.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028918.143165 s.U/b+H~,* AA)\@AOU@AS\~? AKAl&"AArNA"AZAbAjArAzAAA&]-@AdpAξA+%aAWӂA+?A+'?A=?AϮC*A>2A":AiBA>JA"RAi٘i)I9ξY^{ JI7C=JJJJ@&K  5YF\~? 5yǤb> =@@7SE5=B) BE[[c@@[j[~?[٧[[[[ZZBZYY i)  rVG@))6[@is:ګ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028918.163165 s, next control iter: 1743028918.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028918.563165 s.h+H~,J AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.090583< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743028918.563278F (some fields omitted in printout)A@A_@A{U\~? ALHAK9l&"AAwrNA"AZAbAjArAzAAAIe-@A?pAޘξA9AvA!?A?A ł?A7*AV>2AS?:ABAV>JAS?RAY? ?yvp9ٓH?=<-?l?:k?P;? ?)? I٘i)I9ξY`{ JJJJJ@&K+=  5Yd\~? 5yMk> ? B@@7)75)[[Y@@[k[~?[٧[[[[ZZBZYY i) giA49> 'E))D5q1\@s:y=Ȭ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028918.603165 s, next control iter: 1743028918.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2417, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028918.983165 s.o+H~,쾭 AAq= ף@A o@AW\~? AeEAql&"AAg rNA"AZAbAjArAzAAAuۃׂ-@A@ pAϕξA(M:AHA-?A`U2?A G.?AD8*AK>2A ^:AMBAK>JA ^RAM٘i)I9ξY\{ Ji8JJJJK@&K  5Y\~? 5yt> H@T@ŧ7b7o5)[[P@@[Dl[~?[٧[[[[ZZBZYY i) ViA> ?))pAξAL:ArAcL?A#?A?AvA9*A>2Aa~:ABA>JAa~RA٘i)I9Y[{ Jq7JJJJA&K   5Y\~?  5y|> M@@7777% 5iqA>  9))4`]@kr::*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743028919.443165 s, next control iter: 1743028919.803174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2418", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028919.823165 s.|+H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.090583< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743028919.823282F (some fields omitted in printout)AQ@A7n@A%]\~? A@?Aal&"AArNA"AZAbAjArAzAAA-@Af9UpA'ξA(:AA{?Ax?A?A 7*AB@>2A:AӞBAB@>JARAӞ٘i)I9Y J&JJJJeA&K  5Y\~? 5y> R@@{75)[[<@@[m[~?[٧[[[[ZZBZYY i) iA [> 5))K%4j]@r:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028919.863165 s, next control iter: 1743028920.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028920.243165 s.+H~,m AJ"J*J2J:JBJnJvJA\(@A4@A_\~? A<A(m&"AArNA"AZAbAjArAzAAA ?.@A"fO[pAξA >AA^?A7C?A`)?AF**Ah>2A:ABAh>JARA٘i)I9ξYZ{ Ja7JJJJ A&K  5Y\~? 5y眤? X@Aŧ7b7/5)[[[3@@[tn[~?[٧[[[[ZZBZYY i) iA7> 3))_3V^@q:C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028920.263165 s, next control iter: 1743028920.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028920.663165 s.+H~,q* AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2419, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@AAm@A}b\~? A8Aim&"AArNA"AZAbAjArAzAAAxA.@AaOpAξAkAA0NAN ?A ?x?A@8?A i0*Ad|>2A:A BAd|>JARA Y?* ?y(NٓH? `@v?`? X¦?-U ?)? I٘i)I9ξY\{ JB=Jv JJJ'A&K=  5Y\~? 5y8` ? ? ]@ A775)[[t/@@[n[~?[٧[[[[ZZBZYY i) iBȤ> n1))2#7_@mq:د*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028920.683165 s, next control iter: 1743028921.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028921.083165 s.D+H~,RE AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.090583< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199342 time: 1743028921.083285F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= @A~7ݢ@A4e\~? A05ASm&"AAR!rNA"AZAbAjArAzAAAeWT'.@A:|1pAfξAfAYArh?A@?Au?A ԃ6*A~>2A,Ƽ:A[7BA~>JA,ƼRA[7٘i)I9ξY]{ J,nC=JJJJA&K  5Y\~? 5y? c@} Ab7Z59B)BE[[+@@[ o[~?[٧[[[[ZZBZYY i) }iB> (2))E2_@q:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028921.123165 s, next control iter: 1743028921.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028921.503165 s.+H~,/4` AAHz@Ay@Ag\~? A1Am&"AA%rNA"AZAbAjArAzAAAV98.@ApAξAkA&AԵ?A`?A ?A3]*Ak>2A ټ:AwBAk>JA ټRAw٘i)I9Y Jh6JJJJA&K  5Y]\~? 5y܂? h@Aŧ7b745)[['@@[Vo[~?[٧[[[[ZZBZYY i9=) AOijB6> 1))15~`@p:q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028921.543165 s, next control iter: 1743028921.903175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2420, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028921.923165 s.J "J *J 2J :J BJ nJ vJ ;+H~,{ AAQ@A࠽P@Aj\~? A-A:n&"AA)rNA"AZAbAjArAzAAAv H.@A~ pAŖξA>A4ꃽAM?AK?A@V?Aq*AC>2A":ABAC>JA"RA٘i)I9Y JFJJJJG!A&K  !5Y3\~? !5y.z(? n@8A7!5:B)E[[$@@[o[~?[٧[[[[ZZBZYY i)  iBJ> 0))0#a@pp:.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028921.943165 s, next control iter: 1743028922.323184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743028922.343165 s.<+H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.099718< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743028922.343273F (some fields omitted in printout)A(\@A'@A]m\~? A!*An&"AAI.rNA"AZAbAjArAzAAAm[1Y.@Asq pAξAPy:A1Aи?Au?A&]?A\[7*A>2AEA:A6廼BA>JAEARA6廼٘i)I9Y J`5JJJJ&A&K  %5Y\~? %5yq? s@A7%5)[[e @@[o[~?[٧[[[[ZZBZYY i) iBa> U0))U0a@p:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028922.383165 s, next control iter: 1743028922.743174 s, wait time: 0.360009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2421&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028922.763165 s.6+H~,ذ AJ"J*J2J:JBJnJvJA33333@A @A p\~? A:&An&"AA2rNA"AZAbAjArAzAAA"B|i.@A`4pAξA:AAi[?A H2A :A%BA>JA RA%YK?W?y:ٓHO?` ؎w?RX?@Ҝ?}[??)K? I٘i)I9ξYZ{ JU8J9JJJ,A&K >  (5YF\~? (5yhU%?W? y@ A7M(57B)BE[[)#@@[o[~?[٧[[[[ZZBZYY i) a=I'J>ipB\> a/))a/Txb@o:yX!=ʯ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028922.803165 s, next control iter: 1743028923.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028923.183165 s.˲+H~,ˮ AAףp= @AJ`s@Ar\~? A8"Ao&"AA6rNA"AZAbAjArAzAAAn⯏y.@A[+3pAξA<:AcA?A@?A2As:A0ǼBAD>JAsRA0Ǽ٘i)I9ξYX{ J.8JJJJh1A&K  ,5Y\~? ,5y`*? ~@O&Ab77E,5)[[%@@[{o[~?[٧[[[[ZZBZYY i) J=I7Q>iB> .)).'c@ro:6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028923.223165 s, next control iter: 1743028923.583187 s, wait time: 0.360022 s rAdjusting time to match Gazebo time: 1743028923.603165 s.34+H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.099718< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199432 time: 1743028923.603276F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@AP@ANu\~? AAno&"AA:rNA"AZAbAjArAzAAA\iV.@AepA ξAe :ANA?A)?AS4?AV(7*A>2A+:AaμBA>JA+RAaμ٘i)I9ξY JJJJJ6A&K  /5Y]~? /5y@W0? @+A77{7&/5)[[(@@[Go[~?[٧[[[[ZZBZYY i) 3 =IN`Y>i B˰> G.))G. c@o:]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028923.623165 s, next control iter: 1743028924.003175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2422, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028924.023165 s.Z+H~,{ AAQ@Ab.@Aw\~? AA%o&"AA ?rNA"AZAbAjArAzAAAo.@ALйkpAξAy.A8Ax?A @ ?A[?A:_S7*A.>2AԊ$:AӼBA.>JAԊ$RAӼI٘i)I9ξYV{ J7JJJJ(+@@[o[~?[٧[[[[ZZBZYY i)  =I`>iv B݂> -))-d@n:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028924.063165 s, next control iter: 1743028924.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028924.443165 s.5+H~,5] AJ"J*J2J:JBJnJvJA(\@Ae6[@APz\~? AAPp&"AACrNA"AZAbAjArAzAAAx.@AcoA(ξAAԺAԆAt?A`u?A 5d?A<*A>2A J-:AHؼBA>JA J-RAHؼ٘i)I9ξYX{ J溷JJJJAA&K  75Y> ]~? 75yE;? @h6A77{775)[[-@@[n[~?[٧[[[[ZZBZYY i) =Itqh>i B=:> y,))y,<7 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.099718< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743028924.863282F (some fields omitted in printout)Afffff@AlzPP2@A|\~? A&Atkp&"AAFrNA"AZAbAjArAzAAAQ! .@AXcoAξAA:JAh?A2ɰ?A@?A\*A>2A5:A-ܼBA>JA5RA-ܼY `?Kl?y-JwJٓH|? @ug?`A?@q1ư?w\a?) `? I٘i)I9ξYZ{ JB=J`źJJDJFA&K>  :5Y ]~? :5y<MA?l? @;A)7ŧ7:5)[[M7@@['n[~?[٧[[[[ZZBZYY i) =Ilp>i#B+> (,))(,e@ n:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028924.903165 s, next control iter: 1743028925.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028925.283165 s.>R+H~,R AJ"J*J2J:JBJnJvJA ףp=@Al!A @A~\~? A Ap&"AAJrNA"AZAbAjArAzAAA50.@A,/\ooAξA%A6Ar?A?A"?A:7*Aj>2A1>:A@߼BAj>JA1>RA@߼٘i)I9Y J 5C=JJJJILA&K  >5Y, ]~? >5y(4F? @"AAb7b7u0>5)[[@@@[qm[~?[٧[[[[ZZBZYY i) o=Iw>iyB¥> m+))m+f@m:d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028925.323165 s, next control iter: 1743028925.683183 s, wait time: 0.360018 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2424*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028925.703165 s.Һ+H~,m AAGz@A ^@A$\~? AAq&"AANrNA"AZAbAjArAzAAAU.@AO2ALF:AxBA>JALFRAx⼙٘i)I9ξY J,B=JJJJQA&K  A5Y ]~? A5y[+L? @FA77A51B)BE[[I@@[l[~?[٧[[[[ZZBZYY ir=) v=Iw>iB[> *))*ng@wm:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028925.743165 s, next control iter: 1743028926.103174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743028926.123165 s.5+H~,T⇯ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.109137< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743028926.123279F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@A$`S@A/\~? AMAdyq&"AArQrNA"AZAbAjArAzAAA'Vkx.@A}/|oA(ξA:A~kA?Ahi?A ?A1!8*A>2AlN:AQBA>JAlNRAQ弙٘i)I9ξYY{ Jd7C=JJJJ WA&K  E5Y]~? E5y"4R? @KA)7ŧ7%[E5)[[R@@[ l[~?[٧[[[[ZZBZYY i)  =I>i%Bs> )))),h@"m:!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028926.163165 s, next control iter: 1743028926.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028926.543165 s.I+H~,â AA(\@AOc@A\~? AAq&"AATrNA"AZAbAjArAzAAA> d.@AseoAMξAH:AAD?AU?A,1?A+ *A>2AU:A?BA>JAURA?뼙٘i)I9Y J-0JJJJj\A&K  H5Y]~? H5yW? @:QA77j7H52B)BE[[[@@[\k[~?[٧[[[[ZZBZYY i) ʇ$=I>i{BYǼ> 5)))5)h@l:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028926.583165 s, next control iter: 1743028926.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2425, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028926.963165 s.J "J *J 2J :J BJ nJ +H~vJ, AA@A yre@A׆\~? AA6r&"AAWrNA"AZAbAjArAzAAAw.@AKy oA&ξA4:A<A?AL?A@?A9*A>2A\:AYBA>JA\RAYY??y5^:ٓH\ Eb?=?:ްD?@T?,?)? I٘i)I9ξYU{ Jp8B=JxJJJaA&K`#>  L5Y#]~? L5y]?? @VA~77iBy> n())n(۰i@yl:yh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028927.003165 s, next control iter: 1743028927.363181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743028927.383165 s.+H~,4د AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.109137< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743028927.383277F (some fields omitted in printout)A= ףp@AQ<@Ao\~? AAחr&"AA3ZrNA"AZAbAjArAzAAAg8N.@A9ˍoAξA"m8A/A?A?A`:?A- 6*A>2Ac:ABA>JAcRA٘i)I9ξYQ{ Jmv8C=JJJJ+gA&K  P5Y]~? P5y&/c? @[Aj7j7P5.B)BE[[R{@@[h[~?[p٧[[[[ZZBZYY i) OS,=Iָ>i"By,> '))'wj@%l:,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028927.423165 s, next control iter: 1743028927.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2426", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028927.803165 s.wA+H~,{g AJ"J*J2J:JBJnJvJAzG@A@Aۉ\~? AAr&"AA\rNA"AZAbAjArAzAAA13/@A^\\oAξAA#߈A?A?A˺?Ả*AGE>2Aj:ABAGE>JAjRA٘i)I9ξYT{ J&JJJJlA&K  S5YH]~? S5yWh? @RaA7)7հS5)[[Ċ@@[g[~?[c٧[[[[ZZBZYY i) n80=Iʓ>ivB> &))&?k@k:6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028927.843165 s, next control iter: 1743028928.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028928.223165 s.g,H~,H AAQ@AL⬈@A\~? AbAm_s&"AA^rNA"AZAbAjArAzAAAI1g /@AdoAOξAAAaU?A^Z?A7?A7*AH>2A{jp:ABAH>JA{jpRA٘i)I9ξYS{ Jq7JJJJqA&K  W5Y]~? W5yn? @fA77 FW5)[[@@[f[~?[W٧[[[[ZZBZYY i) 4=I>iB> &))&l@{k:z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028928.263165 s, next control iter: 1743028928.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028928.643165 s. ,H~,*) AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.109137J< massPositionAction: 0.000000"J4 buoyancyAction: 0.000500*J dt: 0.4200602J:J2 time: 1743028928.643340BJF (some fields omitted in printout)nJvJA)\@A8a@A!\~? A$As&"AA`rNA"AZAbAjArAzAAA[/@A}oAξA˺A@AB&?AWߚ?A໰?A*AIg>2Av:AøBAIg>JAvRAø٘i)I9ξYU{ J۷B=JJJJKwA&K  Z5Yl]~? Z5y2t? @ lAŧ7b7Z5+B)BE[[@@[te[~?[J٧[[[[ZZBZYYtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2427, header.stamp.nsec: 0 $ temperature: nan salinity: nani, density: 1025.000000 values[0]: nanF (some fields omitted in printout)) 8=I >iBsD> L%))L%l@'k:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028928.683165 s, next control iter: 1743028929.043180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028929.063165 s.,H~,J D AA@Aڦ@A\~? AߤA-t&"AA/brNA"AZAbAjArAzAAAlyɿ/@A:+oAZξA>A1뇽A?A`?A&?A*A>2A~|:AvBA>JA~|RAvY??y/뇽iٓH@ɵ@,@Lu?.?Uӵ <4?@?)? I٘i)I9ξYX{ J FJzwJJJ|A&K&+>  ^5Y ]~? ^5yy?? @jqA777|q^5)[[@@[c[~?[9٧[[[[ZZBZYY i) ;=I8>ilB> \{$))\{$Ym@j:9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028929.103165 s, next control iter: 1743028929.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028929.483165 s.q_,H~,^ AJ"J*J2J:JBJnJvJAq= ף@AӁo@A\~? AlڤAt&"AAgcrNA"AZAbAjArAzAAAP~v/@A*oAξAqON:AgdA/?Aks?A?A887*A@>2AA:AEBA@>JAARAE٘i)I9ξYV{ J7C=JJJJA&K  b5Y ]~? b5y,ܣ? @vA{7j7Ib5)[[@@[b[~?[(٧[[[[ZZBZYY i) ?=Izn>iB> \#))\#Yvn@~j:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028929.523165 s, next control iter: 1743028929.883174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2428, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028929.903165 s.,H~,y AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.109137< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743028929.903285F (some fields omitted in printout)AGz@AF@A\~? AԤAu&"AAGdrNA"AZAbAjArAzAAAh/@AoAξA :A<A?A }?A M?A`V*A؍>2Aa؃:ABA؍>JAa؃RA٘i)I9ξY J 5JJJJA&K  e5Y2]~? e5yeӣ? @$|A77e5)[[@@[{`[~?[٧[[[[ZZBZYY i=) EC=IT>i BnL> K"))K"jIo@)j:n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028929.923165 s, next control iter: 1743028930.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028930.323165 s.q$,H~, AJ"J*J2J:JBJnJvJAQ@A j@A\~? AgϤA nu&"AAdrNA"AZAbAjArAzAAA/@AS oAξA~:AӃAP?A D8?AR8?Agz8*Azc?2Aq:AkBAzc?JAqRAk٘i)I9ξYU{ J7JJJJfA&K  i5Y]~? i5yʣ? @Aŧ7ŧ70i5'B)BE[[6@@[^[~?[٧[[[[ZZBZYY i) ݒG=Ii>i[B> s"))s"Bp@i:ߴ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028930.343165 s, next control iter: 1743028930.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2429*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028930.743165 s.W+,H~,m AA\(@AdϞ@A\~? AɤAu&"AAdrNA"AZAbAjArAzAAAu/@AeEoAξA1_:AsXA,z?Ad{A k?A K6*A?2A鈽:Aa BA?JA鈽RAa ٘i)I9Y J_JJJJA&K  l5Y`]~? l5y[? @oA77_l5)[[A@[D][~?[ا[[[[ZZBZYY i) vK=IH>i B> -!))-!p@i:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028930.763165 s, next control iter: 1743028931.143177 s, wait time: 0.380012 s `]~?)  rAdjusting time to match Gazebo time: 1743028931.163165 s.t}2,H~,qʰ AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.118449< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743028931.163290F (some fields omitted in printout)A@A)$@A\~? AĤAJv&"AAdrNA"AZAbAjArAzAAAV/@AsUoAξAcAnA!`?A`A@?AR 9*Ay?2AwF:A BAy?JAwFRA YT?"a?ymٓH /Ŀ'τ? ņ?y:Ŀ ^/?@{=@?)T? I٘i)I9ξYP{ J#8JJJJƋA&K2>  p5Y\~? p5y%>?a? @Aŧ7b7[p5)[[/A@[%[[~?[ا[[[[ZZBZYY i) &XO=I>i!BM> Q ))Q q@+i:y=ٷ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028931.183165 s, next control iter: 1743028931.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028931.583165 s.8,H~,S AAp= @A-@ۢ@A\~? A[Av&"AA drNA"AZAbAjArAzAAAK8J/@AhaPoAyξAJDʺA7AJ?A'eA!?Ap÷*A?2Ad:ABA?JAdRA٘i)I9ξYM{ JS?8JJJJvA&K  s5Yq\~? s5yr"? @̈A{7Z7cs5)[[*KA@[ Y[~?[ا[[[[ZZBZYY i) y9S=I->i>#B> Gu))Gunr@h:y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028931.623165 s, next control iter: 1743028931.983179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2430, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028932.003165 s.v @,H~,D4 AJ"J*J2J:JBJnJvJAHz@ARUy@A\~? AAm,w&"AAbrNA"AZAbAjArAzAAA2Mut/@Aã9oAξAdAFA:?A`rA@y?ArT*Ah?2A,ˏ:A BAh?JA,ˏRA ٘i)I9ξYQ{ JtJJJJ&A&K  w5Y\~? w5y? @{A7)7w5#B)BE[[7fA@[V[~?[ا[[[[ZZBZYY i) W=Iyr>i$BS> ))Їs@h:_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028932.043165 s, next control iter: 1743028932.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028932.423165 s.uF,H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.118449< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743028932.423294F (some fields omitted in printout)AQ@A䞮P@A\~? AA w&"AA~arNA"AZAbAjArAzAAA$5 /@AJCђoA ξA^PAR;A1?A|wA ?A!7*At?2A>:A4MBAt?JA>RA4M٘i)I9YP{ JMC7JJJJ֓A&K  {5Y\~? {5y? @)Ab77{5)[[A@[T[~?[ا[[[[ZZBZYY i) cZ=I>i%B@> ))Zs@.h:o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028932.443165 s, next control iter: 1743028932.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2431, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028932.843165 s.L,H~,5 AJ"J*J2J:JBJnJvJA(\@A2V'@Ah\~? AìAx&"AA_rNA"AZAbAjArAzAAA ++/@AW{oAξAȔ7AAo-?A@̧A`H?A*Ag9 ?2AP:AGBAg9 ?JAPRAG٘i)I9ξYS{ J& JJJDJA&K  ~5Y \~? ~5y\˖? @ؐAQ~5"B)BE[[dA@[R[~?[ا[[[[ZZBZYY i) ^=Ie>i'B> Z@))Z@[s@g:չ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028932.883165 s, next control iter: 1743028933.243175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028933.263165 s.T,H~,P AA33333@A3 @A\~? AʦAx&"AA(]rNA"AZAbAjArAzAAA @$I.@As&toA ξA׎:A8A>-?A'?Akn?A,R*AQ ?2Ay.:AYBAQ ?JAy.RAYY8?w*?y1:ٓHjͿP T?a ?tͿJ` ??ڑT?b?)8? I٘i)I9ξYU{ J*%JJJJ7A&Kc:>  5Yw\~? 5yˍ?*? @A7777d#5B)BE[[A@[]P[~?[zا[[[[ZZBZYY i) b=I>i_(BR> 6))6t@g:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028933.303165 s, next control iter: 1743028933.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2432., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028933.683165 s.lZ,H~,Zk AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.118449< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743028933.683286F (some fields omitted in printout)Aףp= @A@A\~? AĠADx&"AAJZrNA"AZAbAjArAzAAA0ւ.@A<0moAξA:A1A/?AfA@ё?Ai7*A ?2A$:ABA ?JA$RA٘i)I9ξYS{ J! 8JJJJA&K  5Y\~? 5y:? @5A77 5)[[NA@[M[~?[dا[[[[ZZBZYY i) ef=I/{>i)BB!> p))pE!t@0g:y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028933.683165 s, next control iter: 1743028934.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743028934.103165 s.a,H~, AA{G@AJ@A\~? AAsy&"AAVrNA"AZAbAjArAzAAA5'Q.@AFPeoAξAM:AA3?AA`Ʋ?AЂ6*A 3 ?2AE:ABA 3 ?JAERA٘i)I9YR{ J6JJJJA&K  5YM\~? 5y||? @A775)[[A@[^K[~?[Mا[[[[ZZBZYY iT>) f}j=I>i*Bt> ))At@f:w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028934.143165 s, next control iter: 1743028934.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028934.523165 s.g,H~,{ AJ"J*J2J:JBJnJvJAQ@A!t%@AU\~? AApy&"AASrNA"AZAbAjArAzAAAl(R.@A6`R^oAξAB9AA9?APA U?Aى8*As?2AHǛ:A=^BAs?JAHǛRA=^٘i)I9ξYP{ J7JJJJGA&K  5Y\~? 5ytb? @A77a5)[[B@[H[~?[8ا[[[[ZZBZYY i) ]n=I>i',B \> ))at@f:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028934.563165 s, next control iter: 1743028934.923174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2433, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028934.943165 s.Vdn,H~,:] AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.127660< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743028934.943295F (some fields omitted in printout)A(\@AV/[@A@}\~? AoAcz&"AANrNA"AZAbAjArAzAAAal.@Ap-VoA ξA~|AӊARC?A@wA*?A\*A?2A}:AgBA?JA}RAg٘i)I9ξYR{ JJJJJA&K  5Y"\~? 5ykG? @AA7777N5B)BE[[=B@[yF[~?[#ا[[[[ZZBZYY i) $>r=I\>ik-B> ?))?vt@2f:C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028934.983165 s, next control iter: 1743028935.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028935.363165 s.u,H~,}>ױ AJ"J*J2J:JBJnJvJAfffff@A  5Yd\~? 5y(c8?U? @A75)[[cB@[C[~?[ ا[[[[ZZBZYY i) v=I>i.B> w))wt@e:y>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028935.403165 s, next control iter: 1743028935.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2434&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028935.783165 s.T{,H~, AA ףp=@AUE @Av\~? AArV{&"AADrNA"AZAbAjArAzAAA(DՍ.@A(DGoAξA$+A;Ae?AAc?A;*A?2A֠:Ap"BA?JA֠RAp"٘i)I9ξYJ{ J:8JJJJWA&K  5Y\~? 5yZ)? @A{7m5)[[B@[@[~?[ק[[[[ZZBZYY i) y=I>i/B> R))Rt@e:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028935.823165 s, next control iter: 1743028936.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028936.203165 s.,H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.127660< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743028936.203277F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@AR O@Aq\~? A{A{&"AA>rNA"AZAbAjArAzAAAD0t.@A Gޯ @oAŠξA*RAҍA?AA1?AA*A?2A{:A]#BA?JA{RA]#٘i)I9ξYO{ J6JJJJA&K  5Y\~? 5yhR? @LA775)[['B@[=[~?[ק[[[[ZZBZYY i) }=I>i1B> ,)),t@5e:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028936.243165 s, next control iter: 1743028936.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028936.623165 s.X,H~,a' AAR@A@f@Axm\~? AuAK|&"AA38rNA"AZAbAjArAzAAAHY.@Ah b8oAxξA:A_ǍA?AA`C?A[7*A4.?2A:A>$BA4.?JARA>$٘i)I9ξYM{ J[7B=JJJJA&K  5Y)\~? 5yJ ? @A)7ŧ7y5B)BE[[HB@[:[~?[ק[[[[ZZBZYY i) ؀=IqW>iS2BOA> v))v?u@d:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028936.663165 s, next control iter: 1743028937.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2435 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028937.043165 s.,H~,B AJ"J*J2J:JBJnJvJA(\@AYe@Ah\~? A6oA|&"AA51rNA"AZAbAjArAzAAA{`<.@Aok0oAξA~:AGAu?A'¿A S?A@}*A>?2A:A$BA>?JARA$٘i)I9ξYO{ JC=JJJJhA&K  5Yl\~? 5yA? @A777C5)[[B@[8[~?[ק[[[[ZZBZYY i) =ǂ=I*>i3B> )) elevatorAngleAction: 0.127660< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743028937.463266F (some fields omitted in printout)A@Adpe@Alc\~? AhAnB}&"AA)rNA"AZAbAjArAzAAAv1.@A~(oA:ξA :AA?A}ÿA@_?A~G7*AI?2A:AX$BAI?JARAX$Y0?m?yp:ٓH`ؿނO?zq? ؾؿ`}琱?@A^??)0? I٘i)I9ξYR{ J!J JJJA&KH>  5Y\~? 5y9?? @XA)7ŧ7H5)[[$C@[4[~?[ק[[[[ZZBZYY i) 2=I`>i4BxW> ))hu@7d:?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028937.503165 s, next control iter: 1743028937.863173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2436, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028937.883165 s.y,H~,8x AJ"J*J2J:JBJnJvJA= ףp@AQ<@A]\~? AbAj}&"AA!rNA"AZAbAjArAzAAA-@A.aB!oAξA9t:A-A?ArĿANj?A8*ADL?2Ar:Adk%BADL?JArRAdk%٘i)I9ξYO{ JE8JJJJȶA&K  5Y\~? 5yi1? @A7)7ٔ5B)BE[[NC@[~1[~?[~ק[[[[ZZBZYY i) =I>i5B> ))u@c:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028937.903165 s, next control iter: 1743028938.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028938.303165 s.T,H~,og AAzG @A/ @AW\~? A9\A:~&"AArNA"AZAbAjArAzAAAds-@A$@ oAξA!A0Ax@A4ƿA q?AA"*AF?2A:A'BAF?JARA'٘i)I9Y JmJJJJxA&K  5Y~\~? 5yJ)ռ? @A77{75B)ݷBE[[ yC@[?.[~?[gק[[[[ZZBZYY i\ >) ؐ=Ij?i7B`> b))bu@c:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028938.343165 s, next control iter: 1743028938.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2437*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028938.723165 s.,H~,H AJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJvJ( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.136781< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743028938.723283F (some fields omitted in printout)AQ @A @AQ\~? AUA~&"AArNA"AZAbAjArAzAAAq-@AX/oA‰ξA뒴Az`A(@A ǿAw?A~8*A9?2Al :A(BA9?JAl RA(٘i)I9ξYN{ J7B=JJJJ)A&K  5Ys\~? 5y*!ɿ? @cA77cn5)[[C@[+[~?[Qק[[[[ZZBZYY i) =I-?iK8BI> 8))8u@9c:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028938.743165 s, next control iter: 1743028939.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028939.143165 s.Z/,H~,*ɲ AA)\ @A } @AJ\~? AOA3&"AArNA"AZAbAjArAzAAA-@Agܶ oA1ξAѴAm5AQ?@AȿA 5y?A]%*A!?2AO:A+BA!?JAORA+٘i)I9ξYO{ JwڷC=JJJJپA&K  5Yh\~? 5y ? @A)7ŧ795B)ܷBE[[_C@['[~?[;ק[[[[ZZBZYY i)  m=Izc?i{9Bj> _))_Vv@b:2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028939.183165 s, next control iter: 1743028939.543177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028939.563165 s.,H~,F AJ"J*J2J:JBJnJvJA @A;ީ @AC\~? A(IAG&"AAZqNA"AZAbAjArAzAAA_8!\-@A=oAtξAAAX@AA]ʿA x?A[,9*A?2A:A,BA?JARA,Y.?5Z@yٓH nݿ \?J?Nݿ@诿@α?`W"X`'?).? I٘i)I9ξYK{ 8Not Powering down - fast GPS )Iii )IiJf8JJJJA&KN>  5Y[\~? 5y=?Z@ @Ab775)[[C@[.$[~?[$ק[[[[ZZBZYY i) UY=I ?i:B> ))?v@b:yU >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028939.603165 s, next control iter: 1743028939.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2438, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028939.983165 s.,H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.136781< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200692 time: 1743028939.983331F (some fields omitted in printout)Aq= ף @Ao @A?<\~? ABA,&"AAXqNA"AZAbAjArAzAAA7/-@A.GL{nAڃξAAΏA t@A`i˿A du?Ao*A'?2AQڮ:A/BA'?JAQڮRA/I٘i)I9ξYF{ J;8JJJJ9A&K  5YN\~? 5yo ? @oAŧ7b7]Ν5B)׷BE[["+D@[ [~?[ ק[[[[ZZBZYY i) E=Ifk ?i;BR> ))ov@ ))ӝv@a:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028940.443165 s, next control iter: 1743028940.803174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2439, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028940.823165 s.,H~,!4 AAQ@AH¾@A,\~? A6A%&"AAqNA"AZAbAjArAzAAA4,@AbfnAXξAk):AA̮@AοA`!g?Ajp58*Aӄ?2A9:Ai1BAӄ?JA9RAi1٘i)I9ξYI{ J8JJJDJA&K  5Y4\~? 5y? @A)7c5)[[,D@[d[~?[֧[[[[ZZBZYY i) ]=Is?i>B=> S))S#v@a:#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028940.863165 s, next control iter: 1743028941.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028941.243165 s.,H~,yO AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.136781< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743028941.243288F (some fields omitted in printout)A\(@A4@Ah#\~? A/Aˡ&"AAqNA"AZAbAjArAzAAA+w♘,@AEnAξA:AA@A пA)\?A*A.P?2A"K:AF2BA.P?JA"KRAF2٘i)I9ξYK{ JJJJJIA&K  5Yl'\~? 5y? @zAb77[.5B)ַBE[[D@[[~?[֧[[[[ZZBZYY i) Q =I?i,?Bٳ> %))%v@>a:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028941.283165 s, next control iter: 1743028941.643175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028941.663165 s.,H~,qj AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2440, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@A$&@AV\~? A{)A&"AASqNA"AZAbAjArAzAAAwʖa,@AjخnAξAv/:AUA@AпA@N?Af*A?2A L:A52BA?JA LRA52Y?@yU!/:ٓH@t/O??:`?`E?`?)? I٘i)I9ξYO{ JbB=J.nJJJA&KS>  5Y4\~? 5y?@ @)Aj7j7Z5B)ҷBE[[D@[[~?[֧[[[[ZZBZYY i) I=I?iA@B> ))-w@`:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028941.683165 s, next control iter: 1743028942.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028942.083165 s.D,H~J"J*J2J,S A:JBJnJvJAp= @Ah@A\~? A0#A&"AAQqNA"AZAbAjArAzAAA威Y*(,@A7NnA^ξA,ASA @A}vѿA>?AV8*A/?2AD:A2BA/?JADRA2٘i)I9ξYL{ J(8C=JJJJA&K  5Y \~? 5y-? @A~7~7æ5B)зBE[[$E@[ [~?[֧[[[[ZZBZYY i) =IC?iUAB0x> ))aw@`:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028942.123165 s, next control iter: 1743028942.483180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028942.503165 s.,H~,;4 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.136781< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743028942.503311F (some fields omitted in printout)AHz@A܁:y@A\~? AA&"AAqNA"AZAbAjArAzAAA6S+@AUbg=nAξAغAtA* @A@.ҿA@ ,?A;=*A+ ?2A;:A;3BA+ ?JA;RA;3٘i)I9YM{ J>JJJJYA&K  5Y[~? 5yۢ? @Ab77e5)[[PE@[ [~?[֧[[[[ZZBZYY iHX>) H͛=Is?ikBBn> ))w@@`:i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028942.543165 s, next control iter: 1743028942.903174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2441, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028942.923165 s.7,H~, AJ"J*J2J:JBJnJvJAQ@Ac_P@A[~? AA&"AA{qNA"AZAbAjArAzAAA.tg+@A-NnAξARAAM @A` ҿA ?Ad8*AG!?2A5:A3z4BAG!?JA5RA3z4٘i)I9YL{ J 7JJJJ A&K  5Y[~? 5yVԢ? @4Aŧ7ŧ7Y5B)ϷBE[[tE@[[~?[֧[[[[ZZBZYY i) ฝ=I?iCB?> JY))JYkw@_:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028942.963165 s, next control iter: 1743028943.323176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028943.343165 s.<,H~,ճ AA(\@A'@A[~? AyA&"AAqNA"AZAbAjArAzAAAm$em+@A_Z] nAΉξA.AAr @AiӿAP?A *A!?2A2:A4p6BA!?JA2RA4p6٘i)I9ξYN{ J·JJJJA&K  5Yd[~? 5y̢? AAb7#5B)˷BE[[yE@[E[~?[q֧[[[[ZZBZYY i) =I%!?iDB> E'))E'pw@_:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028943.383165 s, next control iter: 1743028943.743176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2442&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028943.763165 s.J "J *J 2J :J BJ nJ 3,H~vJ, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.145845< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743028943.763268F (some fields omitted in printout)A33333@A@-@A[~? AL A⁄&"AA8rqNA"AZAbAjArAzAAAVΝ&L*+@AC(nAξA|9AA@AWԿAT?ASA9*Ao"?2A*:A7BAo"?JA*RA7YL@j@yv}9ٓHව`T@=?D?b?/?@s?)L@ I٘i)I9ξYH{ J8JJJJjA&KX>  5Y"[~? 5yŢ?@ AA77y5B)ʷBE[[E@[Z~?[`֧[[[[ZZBZYY i) =IE#?iEB5> ))/x@C_:yFI>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028943.803165 s, next control iter: 1743028944.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028944.183165 s.-H~,g AAףp= @A9@A[~? A)Az&"AA.aqNA"AZAbAjArAzAAA$*@Az?nAξA/:AŒA~@A@տA?A*P*A6#?2AN:A);BA6#?JANRA);٘i)I9ξYD{ Jcc8JJJJA&K  5Y[~? 5y? A?A'5)[['#F@[Z~?[P֧[[[[ZZBZYY i) x=Ix&?iFB@> ))gx@^:r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028944.223165 s, next control iter: 1743028944.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028944.603165 s.34 -H~,& AJ"J*J2J:JBJnJvJA{G@A{!@A[~? AAHr&"AAOqNA"AZAbAjArAzAAAODۜ*@A ]unAξA7s:A(|Ad@A@ տAR?A*8*A#?2A_:Ah=BA#?JA_RAh=٘i)I9ξYI{ JJJJJA&K  5Y[~? 5y? AA75B)ɷBE[[YF@[Z~?[A֧[[[[ZZBZYY i) b=I')?iGB> ))ҝx@^:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028944.623165 s, next control iter: 1743028945.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2443 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028945.023165 s.Z-H~,{A AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.145845< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743028945.023279F (some fields omitted in printout)AQ@Az'@Al[~? AA<&"AAI=qNA"AZAbAjArAzAAAzR*@A/nAMξA[:AW+A@AL}ֿA@?A 9*Ae$?2A:A4@BAe$?JARA4@٘i)I9ξYB{ Jg8JJJJzA&K  5Y][~? 5y? AA)7)7N5)[[F@[WZ~?[3֧[[[[ZZBZYY i) L=II+?iHBp? K))Kx@E^:/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028945.043165 s, next control iter: 1743028945.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743028945.443165 s.2-H~,)]\ AJ"J*J2J:JBJnJvJA(\@Aۧ1[@AŶ[~? AAF_&"AAq*qNA"AZAbAjArAzAAAN*t*@A/ܗnACξAD8AA8@AB2׿At]?A>*A$?2Ai:ADBA$?JAiRAD٘i)I9Y J>5JJJJ*A&K  5Y[~? 5y? AJA777=5B)ķBE[[F@[1Z~?['֧[[[[ZZBZYY i) 6=I5.?iIBF? )) y@]:d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028945.483165 s, next control iter: 1743028945.843175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2444, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)F[~?)F rAdjusting time to match Gazebo time: 1743028945.863165 s.+-H~,>w AAfffff@Ai>2@A[~? AAUԆ&"AAqNA"AZAbAjArAzAAAwPY)@AunA&ξAzA$Aa@A\׿A`5?Aay8*A<%?2A:AFBA<%?JARAFY\@c@y$蚺ٓHw`?@e?@u ? BOS?)\@ I٘i)I9ξYD{ JJ[JJJA&Kx\>  5Yq[~? 5y*?c@  AA7S75)[[G@[Z~?[֧[[[[ZZBZYY i) @=II1?iJB!? ))Dy@]:U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028945.903165 s, next control iter: 1743028946.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028946.283165 s.3R$-H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J8 propOmegaAction: 25.132812"J*J< rudderAngleAction: -0.2617992J> elevatorAngleAction: 0.145845:J< massPositionAction: 0.000000BJ4 buoyancyAction: 0.000500nJvJ dt: 0.4200142 time: 1743028946.283302F (some fields omitted in printout)A ףp=@A׃I @AM[~? A+AYH&"AAqNA"AZAbAjArAzAAAbNe)@A-fnAξAOAfTA@A ؿA` ?AG,8*A&?2AӼ:A}IBA&?JAӼRA}I٘i)I9ξYA{ Jk8JJJJA&K  5Y^[~? 5y'`?  AA{7j75B)÷BE[[;G@[ Z~?[֧[[[[ZZBZYY i) [=I4?iKBQ? :)):{y@G]:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028946.303165 s, next control iter: 1743028946.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 24452, header.stamp.nsec: 02$ temperature: nan2 salinity: nan2, density: 1025.0000002 values[0]: nan2F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028946.703165 s.պ*-H~,  AAGz@A=yX@A|[~? AUA@&"AAXpNA"AZAbAjArAzAAA`)@AM EnAJξA$̺AwKAp@A@KٿA+?Avg*An&?2A叽:Ab@KBAn&?JA叽RAb@K٘i)I9ξYC{ J8*JJJJ;A&K  5YK[~? 5y?  AUA77`y5B)·BE[[uG@[Z~?[֧[[[[ZZBZYY i) =I6?iLB{? f))fy@\:a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028946.743165 s, next control iter: 1743028947.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028947.123165 s.61-H~,XǴ AJ"J*J2J:JBJnJvJAR@A:6U@AH[~? AڣA,&"AA#pNA"AZAbAjArAzAAAh(@Av6p8{nAξAAHA@AٿA?AR:8*AC '?2AO:A LBAC '?JAORA L٘i)I9YD{ JLJJJJA&K  5YP8[~? 5y>?  AA{7C5)[[cG@[0Z~?[է[[[[ZZBZYY i>) ð=I9?iMB? [,))[,Zy@\:v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028947.163165 s, next control iter: 1743028947.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028947.543165 s.I8-H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.154883< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743028947.543269F (some fields omitted in printout)A(\@A&`@Aq[~? AԣAw&"AAXpNA"AZAbAjArAzAAAZdzb(@AV@tnAξA7V:AeA@A ڿA~?AN6*Ak'?2A :AwMBAk'?JA RAwM٘i)I9ξYB{ J8JJJJA&K  5Y%[~? 5yʉ@ AAŧ7b75B)B~E[[G@[Z~?[է[[[[ZZBZYY i) =IO-H~, AJ"J*J2J:JBJnJvJA@Aawe@Ab[~? A4ϣA &"AApNA"AZAbAjArAzAAAz>(@A\mnAԅξAR:AiAE@AZۿA@vJ?Ad*Ac'?2Aⴿ:A=NBAc'?JAⴿRA=NYl= @C@y[:ٓHÿ`]aޭ?`DN?$3?W[??)l= @ I٘i)I9ξYI{ JڸB=JKJJJKA&K_>  5Y[~? 5y郢@C@ A`A7)7|ٿ5)[[&H@[Z~?[է[[[[ZZBZYY i) {=Iu??ibOB? ))jz@[:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028948.003165 s, next control iter: 1743028948.363184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743028948.383165 s.E-H~,+ AA= ףp@A( <@AfS[~? AɣAtz&"AA pNA"AZAbAjArAzAAA~Yfb='@A|/fnAξA":AAt@A@ܿAA?A9*A}m(?2AL:AOBA}m(?JALRAO٘i)I9ξYA{ J8C=JJJJA&K  5YZ~? 5y~P@ AA77{735B)B{E[[dH@[7Z~?[է[[[[ZZBZYY i) e=IA?iDPBJ? :w)):w{z@[:y>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028948.403165 s, next control iter: 1743028948.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2447&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028948.803165 s.xAL-H~,g3 AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.154883< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743028948.803319F (some fields omitted in printout)AzG@Af@AC[~? A"ģA&"AA~pNA"AZAbAjArAzAAAK'@Ae_nAyzξA:P:A栽A@A ܿA;?A*A!(?2AI:A{TBA!(?JAIRA{T٘i)I9zξY;{ J8JJJDJA&K  5YZ~? 5y(x@ AAb77n5B)BxE[[ơH@[~Z~?[է[[[[ZZBZYY i)  E=I`D?i'QB? 9))9z@L[:9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028948.843165 s, next control iter: 1743028949.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028949.223165 s.gS-H~,HN AAQ@A!@A3[~? AAQ&"AAxfpNA"AZAbAjArAzAAAz.&@AKҺA|A+@A@ݿA`?A5%9*A)?2Al:A=[BA)?JAlRA=[٘i)I9yξY:{ J!8JJJJB&K  5Y Z~? 5yglE@ AA775B)BtE[["I@[!Z~?[է[[[[ZZBZYYtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2448, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) i) =II?iRB? ))_{@Z:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028949.683165 s, next control iter: 1743028950.043177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028950.063165 s.`-H~,V AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.154883< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743028950.063302F (some fields omitted in printout)A @Aڦ @Ai[~? AA"&"AA4pNA"AZAbAjArAzAAAr^ &!&@ArMLnAHyξA[A,A3 @A[޿AI?A *Ad)?2A!X½:AC|_BAd)?JA!X½RAC|_Y.0@J6 @y,q-ٓH@EEz?`? k`]ߴ?q^@?).0@ I٘i)I9Y Jf+J7JJJ^B&Kb>  5YaZ~? 5y(g @6 @ AA7{75B)BqE[[[I@[ Z~?[է[[[[ZZBZYY i) $۽=IiSB2? )){@NZ:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028950.103165 s, next control iter: 1743028950.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028950.483165 s.q_g-H~,잵 AJ"J*J2J:JBJnJvJAq= ף!@A]o!@AF[~? AAላ&"AApNA"AZAbAjArAzAAAQ,A%@A9=EnA)|ξAmAeAQg!@A?߿A?Aq8*A T*?2A½:AaBA T*?JA½RAa٘i)I9|ξY={ JM[JJJJB&K  5YZ~? 5ya @ AB77775B)BnE[[oI@['Z~?[է[[[[ZZBZYY i) P=IiTB&? O?))O?f{@Y:{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028950.503165 s, next control iter: 1743028950.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2449, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028950.903165 s.m-H~,͹ AAGz"@AoF"@AZ~? A੣A9&"AApNA"AZAbAjArAzAAAHyCO%@AK?nAwξAp8AAB"@A߿AH>?Aƃ8*A*?2Afwý:AcBA*?JAfwýRAc٘i)I9wξY8{ J8JJJJB&K  5Y xZ~? 5y\ @ ABŧ7b7-d5)[[}I@[6Z~?[է[[[[ZZBZYY i) t=IiZUB? A))At |@Y:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028950.943165 s, next control iter: 1743028951.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028951.323165 s.qt-H~,Ե AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.154883< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743028951.323270F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ#@Aq#@AZ~? A㤣AO&"AAoNA"AZAbAjArAzAAA 5$@Aȗ9nAvξA_::AtޫA#@A <A~?ARo *A+?2Azý:AeBA+?JAzýRAe٘i)I9vξY7{ Jl7JJJJfB&K  5YcaZ~? 5ynWH@ AgBŧ7.5B)BkE[[.J@[LZ~?[է[[[[ZZBZYY i) ~`=Ii*VB  ? ))%`|@QY:r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028951.363165 s, next control iter: 1743028951.723175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2450*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028951.743165 s.W{-H~, AA\($@Ay#@AZ~? AA&"AAoNA"AZAbAjArAzAAA~qu$@Aϟ3nA*yξA:AGA%@ApA$#?Aa^*AJX+?2AEtĽ:AJfBAJX+?JAEtĽRAJf٘i)I9yξY9{ J,JJJJB&K  5YJZ~? 5y1R @ ABb77}5B)hE[[z[J@[jZ~?[է[[[[ZZBZYY i) 7=IiVB ? D))Dq|@X:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028951.763165 s, next control iter: 1743028952.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028952.163165 s.u}-H~,q AJ"J*J2J:JBJnJvJA%@A+?2AĽ:AfBA>+?JAĽRAfYy2@8&@yu;:ٓH @G‘`??K``CIh?fRW?L?)y2@ I٘i)I9zξY;{ J,B=J JJJ B&Kd>  5Y2Z~? 5yM@8&@ AB77e5B)BgE[[J@[:Z~?[֧[[[[ZZBZYY i) 4 =IiWB ? <))<|@X:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028952.183165 s, next control iter: 1743028952.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028952.583165 s.-H~,R% AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.154883< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743028952.583274F (some fields omitted in printout)Ap= %@AT%@AZ~? AAHl&"AAՒoNA"AZAbAjArAzAAAdw#@AFP&(nAA}ξAÓ9AB^An'@AAS?AQ*A,?2A0Ž:AeBA,?JA0ŽRAe٘i)I9}ξY>{ J oC=JJJJn B&K  5YsZ~? 5yI@ AlB{7j75B)dE[[J@[Z~?[֧[[[[ZZBZYY i\(>) =IimXB[ ? "))"%}@SX:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028952.603165 s, next control iter: 1743028952.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2451, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028953.003165 s.v -H~,D4@ AJ"J*J2J:JBJnJvJAHz&@A:y&@AhZ~? AꑣA<Ǎ&"AAvoNA"AZAbAjArAzAAA 2 #@A"nA~ξAׂAOA(@AfA`?Aά6*A V,?2AŽ:AdBA V,?JAŽRAd٘i)I9~ξY@{ JJJJJ B&K  5YOZ~? 5yDn@  AB77{7Y5߶B)BaE[[($K@[Z~?[֧[[[[ZZBZYY i) =Ii'YB ? ))h}@W:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028953.043165 s, next control iter: 1743028953.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028953.423165 s.u-H~,[ AAQ'@A~sP'@AZ~? AmA* &"AAXoNA"AZAbAjArAzAAA3"@AnAξA_AAI)@AA`?Aqr*A_,?2AŽ:A!XeBA_,?JAŽRA!Xe٘i)I9ξYD{ JQJJJJ B&K  5Y.Y~? 5y?;@ !A B77R$5޶B)B^E[[TfK@[֑Z~?[*֧[[[[ZZBZYY i) k=IiYBr ? ju))juK}@W:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028953.463165 s, next control iter: 1743028953.823174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2452, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028953.843165 s.ݜ-H~J"J*J,u A2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.164417< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743028953.843326F (some fields omitted in printout)A(\(@A`'(@A=lZ~? A Aw&"AA:;oNA"AZAbAjArAzAAAP1p1"@AQ-nA|ξAԺAĩA]+@A A!?AH9*A ,?2A_Tƽ:A%eBA ,?JA_TƽRA%e٘i)I9|ξY>{ J8JJJJvB&K  5Y Y~? 5yi;@ "Aq B7)75)[[(K@[ÌZ~?[9֧[[[[ZZBZYY i) X=IiZB ? 3))3}@UW:y,(>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028953.883165 s, next control iter: 1743028954.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028954.263165 s.-H~,ؐ AA33333)@Aw (@A5XZ~? ADŽAˎ&"AAoNA"AZAbAjArAzAAAHҤr!@AinA wξA6-AXAG,@A` 6A z?AF%-8*A)-?2Aƽ:AphBA)-?JAƽRAphYA@H,@yX<-ٓH``ۿT1??V碿@d?ҦEW?)A@ I٘i)I9wξY7{ J8J>9JJJB&Kf>  5YY~? 5y7@H,@ $A B775)B[E[[}K@[kZ~?[K֧[[[[ZZBZYY i) ,=IiB[B=S ? A))At1~@W:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028954.303165 s, next control iter: 1743028954.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2453., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028954.683165 s.l-H~,g AJ"J*J2J:JBJnJvJAףp= *@Ay)@ACZ~? AAI&"AAnNA"AZAbAjArAzAAAԺ= elevatorAngleAction: 0.164417< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743028955.103285F (some fields omitted in printout)A{G*@AO*@AJ/Z~? A|An&"AAnNA"AZAbAjArAzAAAk @Aũ"nA?sξAi:AG'A1.@AڷAV$?A^8*A-?2Aǽ:A!kBA-?JAǽRA!k٘i)I9sξY2{ J8JJJJ~B&K  5YхY~? 5y/k@ 'AuB7{7N5ٶB)BTE[[,wL@[|Z~?[u֧[[[[ZZBZYY i) c=Ii\B% ? d))d#~@XV:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028955.143165 s, next control iter: 1743028955.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028955.523165 s.-H~,{ AJ"J*J2J:JBJnJvJAQ+@A++@AjZ~? AxA&"AAnNA"AZAbAjArAzAAAe<[A @AcxnAuξA;:A;XA/@A &At?A7*A{-?2Aǽ:AmBA{-?JAǽRAmI٘i)I9uξY4{ J3JJJJB&K  5YflY~? 5y,7!@ (AB775)BQE[[L@[wZ~?[֧[[[[ZZBZYY i) =Ii/]BN ? - ))- ~@V: *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028955.563165 s, next control iter: 1743028955.923175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2454, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028955.943165 s.Wd-H~,>] AA(\,@AI5[,@AFZ~? AtAa&"AAInNA"AZAbAjArAzAAAqHU@AmAxξAZw:AA*1@A`2Af?A=1*A .?2A%Ƚ:AlBA .?JA%ȽRAl٘i)I9xξY9{ JkJJJJ/B&K  5YRY~? 5yJ(#@ )A#B77s5)[[L@[LrZ~?[֧[[[[ZZBZYY i) z=Ii]B@ ? ))C@U:6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028955.983165 s, next control iter: 1743028956.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028956.363165 s.-H~,l> AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.164417< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743028956.363279F (some fields omitted in printout)Afffff-@AnB<2-@AY~? A)qAQ&"AAnNA"AZAbAjArAzAAAy~@AqY$mAyξAAyxAa2@AmA ?A}?*A_.?2A`Ƚ:A[kBA_.?JA`ȽRA[kYD\$@_b2@yyx*ٓH!5ֿ`z+? ?*?@2?)D\$@ I٘i)I9yξY:{ JJ(JJJB&Kh>  5Y8Y~? 5y=%$@b2@ +AzB775ضB)NE[[FM@[lZ~?[֧[[[[ZZBZYY i) M=Iib^BRS?  )) @ZU:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028956.383165 s, next control iter: 1743028956.763174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2455", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028956.783165 s.[-H~,2 AA ףp=.@A8L4H .@A9Y~? AmAϘ&"AAp_nNA"AZAbAjArAzAAA;x@AW5mA|ξA$ղAg[A3@AئAU?Ap*A.?2AȽ:AkBA.?JAȽRAk٘i)I9|ξY>{ JUJJJDJB&K  5YY~? 5y/"&@ ,AB{7j7y5)BKE[[M@[`gZ~?[֧[[[[ZZBZYY i$]1>) =Ii^BF? ;N));Nz@U:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028956.823165 s, next control iter: 1743028957.183180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028957.203165 s.-H~, M AJ"J*J2J:JBJnJvJAGz/@Af`.@ATY~? A(jAmݐ&"AAr>nNA"AZAbAjArAzAAA:: n@AmA|ξAEA6A4@A1A ?A@ 8*A..?2AdȽ:AAUjBA..?JAdȽRAAUj٘i)I9Y JՎJJJJ7B&K  5YY~? 5y"q(@ -A'BD5׶B)HE[[ M@[aZ~?[֧[[[[ZZBZYY i) f=Ii|_B? )) @T:B*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028957.243165 s, next control iter: 1743028957.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028957.623165 s.V-H~,Xg AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.173207< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743028957.623290F (some fields omitted in printout)AR/@A`V/@A3Y~? AfA&"AAnNA"AZAbAjArAzAAAQC8 Ub@AmA~ξAADA6@A>A`?Aݶ*A-/?2AQAɽ:ABkBA-/?JAQAɽRABk٘i)I9~ξY@{ J"JJJJB&K  5Y&X~? 5y?*@ /A~B7)7*5)BEE[[JN@[\Z~?[ק[[[[ZZBZYY i) =Ii `Bc? u))u /@\T:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028957.663165 s, next control iter: 1743028958.023178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2456, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028958.043165 s.-H~, AJ"J*J2J:JBJnJvJA(\0@AG`0@AؗY~? AcA=_&"AAbmNA"AZAbAjArAzAAA_[W$8S@AbtmAvξAϖA﬽AqK7@AjFAF?A׎9*A7/?2APɽ:A4lBA7/?JAPɽRA4l٘i)I9vξY6{ J&9JJJJB&K  5YX~? 5y,@ 0ABb7b75ֶB)BE[[B`N@[*WZ~?[Bק[[[[ZZBZYY i) 8=Ii`B>? }{))}{R@T:y1>2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028958.083165 s, next control iter: 1743028958.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028958.463165 s.U-H~,㤝 AA1@A ףpe1@AEY~? A`AZ&"AAXmNA"AZAbAjArAzAAA "{A@A;%[mAoξAp:A㮽A=8@A1wAV?AMA*A^/?2Aɽ:AoBA^/?JAɽRAoY*@8@y㮽:ٓH:XпC.?J?@G @>@յ?Q?$?)*@ I٘i)I9oξY.{ J8JD8JJJ?B&Ki>  5YjX~? 5y-@8@ 1A,Bj7j75)[[˨N@[QZ~?[hק[[[[ZZBZYY i) g=IiaB+ ? 2))2av@S:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028958.503165 s, next control iter: 1743028958.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2457, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028958.883165 s.y-H~,' AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.173207< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743028958.883286F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp2@Am_u<2@A~jY~? A]A֑&"AAmNA"AZAbAjArAzAAA);-@A-0mArξA:AJAl9@AAz?A7*A/?2AU-ʽ:AqBA/?JAU-ʽRAq٘i)I9rξY2{ JlJJJJB&K  5Y%X~? 5y/@ 3ABb77/o5)?E[[N@[ LZ~?[ק[[[[ZZBZYY i) &8=IiaBT? ))@_S:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028958.903165 s, next control iter: 1743028959.283175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743028959.303165 s.T-H~,ogӷ AAzG3@AY3@ASY~? AZA&"AAPmNA"AZAbAjArAzAAA<9͠@A{0dmAoξAW:AA:@AAy?AS8*A޲/?2A]ʽ:AarBA޲/?JA]ʽRAar٘i)I9oξY.{ Jb8JJJJB&K  5Y|X~? 5yJ1@ 4AB7795)B elevatorAngleAction: 0.173207< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743028960.143285F (some fields omitted in printout)A)\4@A64@A$Y~? AUAv&"AANmNA"AZAbAjArAzAAAf@A/'mAyξAUAAFt=@A:'Ad?AC&*A 0?2A}ʽ:A*7qBA 0?JA}ʽRA*7q٘i)I9yξY:{ J)͸C=JJJJ"B&K  5YRFX~? 5y :5@ 7AB785ӶB)B5E[[O@[~;Z~?[ا[[[[ZZBZYY i) =IibB:? 3))3A@aR:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028960.163165 s, next control iter: 1743028960.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028960.563165 s..H~,R $ AJ"J*J2J:JBJnJvJA5@AÜ5@Ax Y~? A]SAȦ&"AA*mNA"AZAbAjArAzAAA̓@AKm/mA(yξA̺AhAA>@AoNA *?Axڷ*A :0?2Auʽ:AoBA :0?JAuʽRAoY0@ӱ>@yZA`ͺٓH@w&Ŀ~H???Y?)0@ I٘i)I9Y9{ JU7J:JJJ#B&Kj>  5Yz*X~? 5y`  7@>@ 8A B75)2E[[7P@[5Z~?[Cا[[[[ZZBZYY i) s{=IiGcBCu? ))+@ R:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028960.583165 s, next control iter: 1743028960.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2459, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)2z*X~?)2`  rAdjusting time to match Gazebo time: 1743028960.983165 s..H~,> AAq= ף6@A:do6@AX~? A QAԒ&"AAmNA"AZAbAjArAzAAAg(˥@AaD-tmA^{ξAtúAyA?@A@sA(?A 3*A]d0?2AE˽:AoBA]d0?JAE˽RAo٘i)I9{ξY<{ Jg(B=JJJJO%B&K  5YX~? 5y 8@ :A5"B)7)7d5ҶB)/E[[[P@[40Z~?[uا[[[[ZZBZYY iZ:>) M=IicB? ))O@Q:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028961.023165 s, next control iter: 1743028961.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743028961.403165 s.&.H~,Y AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.181988< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743028961.403281F (some fields omitted in printout)AGz7@AǘF7@AX~? AOA&"AAlNA"AZAbAjArAzAAAj%֗@Af mAyξA@+AA*A@A|Ak?AV8*A0?2A[˽:AgnBA0?JA[˽RAgn٘i)I9yξY:{ JI 8C=JJJJ&B&K  5YW~? 5y :@ ;A#B77{7d/5)[[P@[*Z~?[ا[[[[ZZBZYY i) [=IidB? 6))6~t@cQ:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028961.423165 s, next control iter: 1743028961.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2460", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028961.823165 s..H~,2t AAQ8@Ak{8@AX~? AMAb&&"AAlNA"AZAbAjArAzAAA a@A;rmAyξAn:AAiB@A@A?A9*A]0?2A%˽:ApBA]0?JA%˽RAp٘i)I9Y JwJJJJ'B&K  5YW~? 5y<@ @ >A9&B75))E[[ 7Q@[hZ~?[٧[[[[ZZBZYY i) =IidB6h? ))@P:yD;>'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028962.263165 s, next control iter: 1743028962.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028962.663165 s.*.H~,q AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.181988< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743028962.663318F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2461, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A:@A9@AX~? AIAm&"AAeulNA"AZAbAjArAzAAA6- @AMJCmAwjξA:AAAkD@AA}?A|u*A0?2AH̽:AuBA0?JAH̽RAuY6@8D@y3 :ٓH)?`w?p$/?BY?,?)6@ I٘i)I9jξY({ J-9B=JJJJ*B&Kk>  5YW~? 5y -@@D@ ?A'Bb775)&E[[Q@[Z~?[S٧[[[[ZZBZYY i) Y=IieB? /Z))/Z@fP:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028962.683165 s, next control iter: 1743028963.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028963.083165 s.D1.H~,SŸ AJ"J*J2J:JBJnJvJAp= :@A% &:@A2}X~? AHA&"AAPlNA"AZAbAjArAzAAAu @AgmAOoξA\b:AʼA,#F@A@m A`?A1"*Ak0?2A̽:AٍwBAk0?JA̽RAٍw٘i)I9oξY-{ JC=JJJJ,B&K  6Y΂W~? 6y B@ @A(B)7ŧ7-6)#E[[Q@[Z~?[٧[[[[ZZBZYY i) y_=IiIeB#? ))@P:]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028963.123165 s, next control iter: 1743028963.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028963.503165 s.7.H~,/4 AAHz;@Ay;@AdX~? AFAa&"AA+lNA"AZAbAjArAzAAAX㬃E@A㷾mAnξA[AAm_G@A A`O4?A6*A71?2A-̽:AwBA71?JA-̽RAw٘i)I9nξY,{ Jr7JJJJ`-B&K  6YfW~? 6yC@ BA>*Bŧ7b7f6ӶB) E[[$R@[ZZ~?[٧[[[[ZZBZYY i) O-=IieB?  ))  -@O:+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028963.523165 s, next control iter: 1743028963.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2462, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028963.923165 s.J "J *J 2J :J BJ nJ vJ 6>.H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.181988< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743028963.923289F (some fields omitted in printout)AQ<@AmP<@A'LX~? AxEAÓ&"AA`lNA"AZAbAjArAzAAAԋ[9@Az9mA[sξAAOA"H@A`16A@ʺ?A!>*A41?2A-F̽:AVYwBA41?JA-F̽RAVYw٘i)I9sξY2{ JJJJJ.B&K YJW~?yiE@ CA+B77776)E[[9`R@[Z~?[ڧ[[[[ZZBZYY i) _=IieB? { )){ R@hO:*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743028963.963165 s, next control iter: 1743028964.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028964.343165 s.@A =@AX~? AtCA&"AAkNA"AZAbAjArAzAAAjc§L@A]mA8xξA( AAEGA`ZAL?AUظ6*ADx1?2Aٟ̽:AlrBADx1?JAٟ̽RAlrY=@GyٓH@K?@ȵ?`H Z?`Pɵ?$QF?)=@ I٘i)I9xξY8{ J97J^s;JJDJh1B&Kl>  6Y*W~? 6yvI@G FAB.Bŧ7b7o6)[[:R@[TY~?[ڧ[[[[ZZBZYY i) E=IiGfB`?  )) @N:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028964.803165 s, next control iter: 1743028965.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028965.183165 s.R.H~,kK AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.181988< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743028965.183311F (some fields omitted in printout)Aףp= ?@Awe >@AX~? ABA&"AAkNA"AZAbAjArAzAAAS"8c?AȧmAxξAAaAEA@iAj?A=oV*A1?2A̽:A1rBA1?JA̽RA1r٘i)I9Y9{ JJJJJ2B&K  6YV~? 6yfJK@ GA/Bb76)BE[[0@S@[Y~?[ڧ[[[[ZZBZYY i) k=IiqfB|?  )) ‚@jN:*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743028965.223165 s, next control iter: 1743028965.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028965.603165 s.34Y.H~,f AJ"J*J2J:JBJnJvJA{G?@A"?@AW~? A BA &"AAopkNA"AZAbAjArAzAAA0 _?A}-ymAuξA:A1AjDABvAة?AA8*A61?2A ͽ:ArBA61?JA ͽRAr٘i)I9uξY5{ Ja]8JJJJ4B&K  6YV~? 6yM@ IA0B)7ŧ7"6)E[[S@[Y~?[,ۧ[[[[ZZBZYY iT*D>) >IifBb? P ))P @N:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028965.643165 s, next control iter: 1743028966.003175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2464 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028966.023165 s.Z`.H~,{ AAQ@@A<)@@A,W~? AAA&"AAJkNA"AZAbAjArAzAAATW?A,qmASpξA:A AECA+A@آ?Ar8*AK1?2A".ͽ:AsBAK1?JA".ͽRAs٘i)I9pξY/{ J68JJJJp5B&K  6YV~? 6yN@ JAG2B{7j7r6ԶB)E[[S@[8Y~?[xۧ[[[[ZZBZYY i) {>IifB?  ))  @M:D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028966.063165 s, next control iter: 1743028966.423175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028966.443165 s.J "J *J 2J :J BJ nJ vJ 8f.H~,B] AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.191568< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743028966.443291F (some fields omitted in printout)A(\A@AW,[A@A8W~? A7AA &"AA$kNA"AZAbAjArAzAAA1es?A9jmAsξA>:ALABA>A?A*A1?2AWBͽ:AAvBA1?JAWBͽRAAv٘i)I9sξY3{ JTJJJJ6B&K  6YaV~? 6y=P@ KA3B77W6)BE[[ T@[Y~?[ۧ[[[[ZZBZYY i) n>IifB? - ))- D2@mM:d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028966.463165 s, next control iter: 1743028966.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2465, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028966.863165 s.+m.H~,> AAfffffB@AXl:2B@A=W~? AAAS%&"AAjNA"AZAbAjArAzAAAw}?AϿmAkξA9AoA@A@2A G[?A\9*AI1?2AKͽ:AC-xBAI1?JAKͽRAC-xY5PC@f@yn59ٓH@?@)?p @?[? 81??)5PC@ I٘i)I9kξY({ JQ'9JЮJJJ 8B&K`m>  6YhV~? 6y`R@@ MA4B7%=6նB) E[[kT@[Y~?[ܧ[[[[ZZBZYY i) ;U>Ii gB ? o ))o W@M:ymD>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028966.903165 s, next control iter: 1743028967.263175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028967.283165 s.6Rt.H~,ҹ AJ"J*J2J:JBJnJvJA ףp=C@A,F< C@A?W~? AAA'&"AA2jNA"AZAbAjArAzAAA6-?Az?2ſmA@gξAtcA`;AIigB2? $ ))$ }@L:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028967.323165 s, next control iter: 1743028967.683177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2466*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028967.703165 s.׺z.H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.191568< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743028967.703267F (some fields omitted in printout)AGzD@A+jC@A?lW~? AAA'&"AANjNA"AZAbAjArAzAAAH7T?AgmApξA̺A>KAL>A@AkaA2*AW1?2Afͽ:AIi/gBG? W ))W /@oL:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028967.743165 s, next control iter: 1743028968.103178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028968.123165 s.4.H~,P AJ"J*J2J:JBJnJvJARD@AʼUD@A?SW~? AcAAk#&"AAhjNA"AZAbAjArAzAAAMoҿAw>mAAoξAAcA =AA`;A 7*Au2?2Amͽ:A*zBAu2?JAmͽRA*z٘i)I9oξY-{ J07C=JJJJ(IiCgB\? / ))/ ȃ@L:x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028968.163165 s, next control iter: 1743028968.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028968.543165 s.I.H~," AA(\E@AsSrE@AB:W~? AAA&"AAgjNA"AZAbAjArAzAAAExArmmAHtξAAA};A`ʼnA ^KAdJ*AA)2?2Aͽ:AɁyBAA)2?JAͽRAɁy٘i)I9tξY3{ JxB=JJJJ=B&K   6YV~?  6y ,Z@ RAO:B777 6ֶB)E[[U@[Y~?[oݧ[[[[ZZBZYY i) >IiYgBs? C ))C X@K:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028968.563165 s, next control iter: 1743028968.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2467, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028968.963165 s.w.H~,= AvPublished command to Gazebo (printed only once in a while):J( dropWeightState: 1"J*J2J8 propOmegaAction: 25.132812:JBJ< rudderAngleAction: -0.261799nJ> elevatorAngleAction: 0.191568vJ< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743028968.963317F (some fields omitted in printout)AF@AS!eF@AK!W~? AbBA[&"AAAjNA"AZAbAjArAzAAADG.]AumAhxξA!:AAЉ:A@A{]A<7*AA2?2Aͽ:AvBAA2?JAͽRAvYI@:y򰽙U":ٓHJ@l?A}?@9̿-~?P?U7D?p?)I@ I٘i)I9xξY8{ JJ6#;JJJ>B&Km>   6YU~?  6y \@: SA;B77 6׶B)BE[[U@[RY~?[ݧ[[[[ZZBZYY i) z>IiOgB' ?  )) @qK:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028968.983165 s, next control iter: 1743028969.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028969.383165 s.ؕ.H~,+X AA= ףpG@AvIiGgB? y ))y 9@K:u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028969.423165 s, next control iter: 1743028969.783175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2468", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028969.803165 s.xA.H~,gs AJ"J*J2J:JBJnJvJAzGH@AΦ#H@AvV~? ACAl&"AA iNA"AZAbAjArAzAAA*@AHjmArξA:AoаAZ8A@pA;AR6*ASe2?2Aν:A[vBASe2?JAνRA[v٘i)I9rξY J7JJJJAB&K  6YU~? 6y_@ VAS>B)7ŧ76ڶB)BE[[zV@[Y~?[ާ[[[[ZZBZYY i)  >Ii@gB? -a ))-a D_@J:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028969.843165 s, next control iter: 1743028970.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028970.223165 s.g.H~,H AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.191568< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200482 time: 1743028970.223334F (some fields omitted in printout)AQI@ArH@AV~? AEA&"AAXiNA"AZAbAjArAzAAArUAn ЫmAYoξAi`:AAD6AcAvA 9*AOs2?2Aν:AbwBAOs2?JAνRAbw٘i)I9oξY-{ J8JJJJBB&K  6YU~? 6ya@ XA?B7)7g6۶B)E[[V@[EY~?[ާ[[[[ZZBZYY inM>) h >Ii;gBN?  )) 섄@tJ:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028970.263165 s, next control iter: 1743028970.623175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028970.643165 s.tЩ.H~,) AJ"J*J2J:JBJnJvJA)\I@AI@AսV~? A0FAϓ&"AAiNA"AZAbAjArAzAAAzӃA$mA&kξA|ALA5A^TA;A7*Ab}2?2Aν:AyBAb}2?JAνRAy٘i)I9kξY({ J8B=JJJJ9DB&K  6YU~? 6ysc@ YAABIM6)BE[[;W@[Y~?[Lߧ[[[[ZZBZYYtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2469, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) i) s >Ii8gB ? ))@J:H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028970.683165 s, next control iter: 1743028971.043176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028971.063165 s..H~,t ĺ AAJ@AuiJ@AV~? AGAe&"AA5iNA"AZAbAjArAzAAAt)A=jSmAqξA򰰺A AK4A5BAe[AcHƸ*Ab2?2Aν:A|BAb2?JAνRA|YO@I4ya_ٓHh6@Kg?[? UԿTH?j?V?)O@ I٘i)I9qξY1{ JGC=JGJJJEB&K>n>  6Y\qU~? 6yUe@I4 ZAXBBb7726)[[*\W@[Y~?[ߧ[[[[ZZBZYY i) Y >IigBb? ))Є@I:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028971.083165 s, next control iter: 1743028971.463186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743028971.483165 s.{_.H~,޺ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.200968< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743028971.483318F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ףK@A%oK@A~V~? AHA0&"AA_iNA"AZAbAjArAzAAALe~0AH;FmAjξAՒܺAyA 3A` .A¿A֊9*A2?2A1+ν:AO|BA2?JA1+νRAO|٘i)I9jξY({ J9JJJJFB&K  6YVU~? 6yi7g@ \ACB6ܶB)BE[[(W@[PY~?[[[[[ZZBZYY i) -@ >IifB? 4))4@vI:y^N>1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028971.503165 s, next control iter: 1743028971.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2470, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028971.903165 s.Ƚ.H~, AAGzL@ADвFL@AsV~? AJA~&"AA:iNA"AZAbAjArAzAAA%[AE4mAgξA$A\A1A:AÿAƔ&*A2?2A=Iν:A:~BA2?JA=IνRA:~I٘i)I9gξY${ J^8JJJJAHB&K Y;U~?y7i@ ]AEB7A6ݶB)E[[;W@[Y~?[[[[[ZZBZYY i) e&>IifB? ))@!I:.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028971.943165 s, next control iter: 1743028972.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028972.323165 s.v.H~,% AJ"J*J2J:JBJnJvJAQM@AM@A[V~? AfLA]&"AAliNA"AZAbAjArAzAAA$( A5mA qξAnǷA_A0A@A@ſAs*A2?2AQlν:A}BA2?JAQlνRA}٘i)I9qξY0{ J-JJJJIB&K  6Y+!U~? 6y j@ ^A\FB776޶B)BE[[^=X@[ Y~?[[[[[ZZBZYY i)  >IifBm? a))a@@H:%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028972.363165 s, next control iter: 1743028972.723178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2471&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028972.743165 s.W.H~,~/ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.200968< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743028972.743324F (some fields omitted in printout)A\(N@AKM@A5CV~? ASNA 9&"AAvhNA"AZAbAjArAzAAA," A/P mAmξA:AѴAME/AAKǿA8*A2?2A:ν:AU|BA2?JA:νRAU|٘i)I9mξY+{ J8JJJDJJB&K  6YpU~? 6y"l@ `AGB7)76)BE[[X@[fY~?[\[[[[ZZBZYY i) >IifBƓ? /S))/SCf@xH:w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028972.783165 s, next control iter: 1743028973.143179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028973.163165 s.t}.H~,qJ AJ"J*J2J:JBJnJvJAO@AE^N@A+V~? AfPA+&"AAhNA"AZAbAjArAzAAA+0>mARGmApξA :A A.AA`ɿA*A@2?2Ajν:A{BA@2?JAjνRA{YYV@C.y |:ٓH @??R?#ڿE/ 8?Ez?[?Y?)YV@ I٘i)I9pξY.{ JbJ JJJILB&Kn>  6YT~? 6yn&n@. aA IB777L6߶B)BE[[X@[֋Y~?[[[[[ZZBZYY i) >IiZfBl? )')knm@$H:i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028973.183165 s, next control iter: 1743028973.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028973.583165 s..H~,Re AAp= O@A"ߢO@AV~? ARAi&"AAhNA"AZAbAjArAzAAAJnZAVsImArξA:AfA,A A૸ʿAB!v8*A2?2Apν:AbzBA2?JApνRAbz٘i)I9rξY2{ JZJJJJMB&K  6YT~? 6y *p@ bA`JBb7b76)[[SY@[EY~?[;[[[[ZZBZYY i) >IifBF? k)=)y|k@G:|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028973.623165 s, next control iter: 1743028973.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2472, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028974.003165 s.u .H~,@4 AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.246559> elevatorAngleAction: 0.200968< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743028974.003310F (some fields omitted in printout)AHzP@A?yP@AU~? ATA&"AAhNA"AZAbAjArAzAAA4d|AgQS/mAmξA9AA+A@AY̿A)8*A2?2A=2̽:AߟzBA2?JA=2̽RAߟz٘i)I9mξY+{ J8B=JJJJNB&K  6YAT~? 6y-r@ dAKB77 x6B)BE[[gY@[Y~?[[[[[ZZBZYY i) >IieB!? s)J)sՅ@{G:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028974.023165 s, next control iter: 1743028974.403176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028974.423165 s.Yu.H~, AAQQ@A',PQ@A5U~? AWA &"AA}^hNA"AZAbAjArAzAAA궨;AxDCmAnξA;38AKASe*AfA+οAM*A3?2A˽:A3{BA3?JA˽RA3{٘i)I9nξY-{ JC=JJJJQPB&K  6YT~? 6y?1kt@ eA MBŧ7b7Q]6B)B߸E[[Y@[!{Y~?[#[[[[ZZBZYY i) >IieB? 3))ͧ)3)A@&G:0*Y|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028974.463165 s, next control iter: 1743028974.823244 s, wait time: 0.360079 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2473, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028974.843165 s..H~, AJ"J*J2J:JBJnJvJA(\R@A+(R@AU~? A-ZAY&"AA:hNA"AZAbAjArAzAAAȽ<ABe9mAKmξAAóAi;)A`#DAϿA$78*A*3?2A6ʽ:A}g|BA*3?JA6ʽRA}g|٘i)I9mξY+{ J7JJJJQB&K  6YυT~? 6y4Nv@ gAdNB7)7B6B)BܸE[[UY@[uY~?[[[[[ZZBZYY iKW>) p>IiveB? i)d2)i @F:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028974.863165 s, next control iter: 1743028975.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743028975.263165 s..H~,л AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.246559> elevatorAngleAction: 0.210250< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743028975.263285F (some fields omitted in printout)A33333S@AR R@AU~? A\A$&"AAhNA"AZAbAjArAzAAA6(?Ah|mAiξAAOA(AAпAֶ*AB3?2AEɽ:A}BAB3?JAEɽRA}Y) \@s(yOpٓH`?ij?p߿;? m?X@C?)) \@ I٘i)I9iξY'{ J8JJJJSB&K\c>  6YFmT~? 6y092x@( hAOBb77(6B)ٸE[[FZ@[pY~?[[[[[ZZBZYY i) V>Ii!eB? )YǺ)`ScE@}F:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028975.303165 s, next control iter: 1743028975.663176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2474*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028975.683165 s.l.H~,c AJ"J*J2J:JBJnJvJAףp= T@A7oS@AU~? A_A&"AA>gNA"AZAbAjArAzAAA4$bA5mAqξA;A A]&A A ~ѿA#&ڸ*A>V3?2Au#ɽ:Ar'BA>V3?JAu#ɽRAr'٘i)I9qξY0{ JwJJJJZTB&K  6YTT~? 6y=z@ iAQB)7)7b 6)[[xZ@[jY~?[[[[[ZZBZYY i) <>IidBo? GK))|`GK7j@(F:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028975.683165 s, next control iter: 1743028976.083176 s, wait time: 0.400011 s*TT~?)*= rAdjusting time to match Gazebo time: 1743028976.103165 s./H~, AA{GT@AtaT@AU~? AbA&"AAgNA"AZAbAjArAzAAA[,B A %HmA@hξA^9AXA%AA9[ҿA~9*A3?2A,Ž:AqBA3?JA,ŽRAq٘i)I9hξY%{ JN29JJJJUB&K Y4Ii}dB;? y))y@E:yW>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028976.143165 s, next control iter: 1743028976.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028976.523165 s./H~,{! AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.219553> elevatorAngleAction: 0.210250< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743028976.523289F (some fields omitted in printout)AQU@As69U@AnU~? A8fAt&"AAgNA"AZAbAjArAzAAAT#AE 7mA*dξA:AgA:$A 9A@ ӿA*A3?2Ak@ý:A*BA3?JAk@ýRA*٘i)I9dξY { J8B=JJJJ WB&K  6Y#T~? 6y3F}@ lASB"6B)BӸE[[G$[@[_Y~?[[[[[ZZBZYY i) >Ii-dBw? w)D()w@E:*Y`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028976.543165 s, next control iter: 1743028976.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2475, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028976.943165 s.Td/H~,1]< AA(\V@AOv3[V@AWU~? AiA4&"AA3gNA"AZAbAjArAzAAAFMR8A NmAkξAK:A巽Aq#A TA?ӿAbx}6*A4?2A4G:A3NBA4?JA4GRA3N٘i)I9kξY){ J8C=JJJJbXB&K  6Y! T~? 6yJ@ mAUB7{7g6B)BиE[[dn[@[)ZY~?[[[[[ZZBZYY i) >IicBF? [m)Fy )[m-ن@+E:S*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028976.983165 s, next control iter: 1743028977.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028977.363165 s./H~,u>W AJ"J*J2J:JBJnJvJAfffffW@A_52W@AAU~? A mAv&"AAggNA"AZAbAjArAzAAA#P KAcmAeξA :AA$"A@ \AԿA38*A{64?2A:AhLBA{64?JARAhLYja@Ʈ"yʢ:ٓHuO?`xŲ?`/j@ [?? !R??)ja@ I٘i)I9eξY"{ J8JJJJYB&KL>  6YS~? 6yO׀@" oAmVBj7j76)[[[@[TY~?[[[[[ZZBZYY i) >IivcBK? $)͚-)6w<$x@D:4*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743028977.383165 s, next control iter: 1743028977.763175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2476", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028977.783165 s._/H~,r AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.184049> elevatorAngleAction: 0.210250< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743028977.783282F (some fields omitted in printout)A ףp=X@A?Q X@A*U~? ApA&"AAlEgNA"AZAbAjArAzAAA_e[AWmAejξADeAA!A3A'KտA`=*A>h4?2AH:A1BA>h4?JAHRA1٘i)I9jξY'{ JB=JJJJ[B&K  6YS~? 6yuT΁@ pAWB7)76B)BθE[[[@[jOY~?[[[[[ZZBZYY i) >IicB4Q? ):)`H!@D:T*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028977.823165 s, next control iter: 1743028978.183185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743028978.203165 s.#/H~,  AJ"J*J2J:JBJnJvJAGzY@A6NX@ASU~? A`tAcf&"AAl#gNA"AZAbAjArAzAAAo"jAmAmξA +AEA A@& A@X ֿAQ8*A4?2AU!:A,BA4?JAU!RA,٘i)I9mξY,{ JC=JJJJj\B&K   6YKS~?  6ykYł@ qAYBŧ7b7gm 6B)B˸E[[H\@[JY~?[[[[[ZZBZYY i) ܛ>IibB? )=H)_F@-D:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028978.223165 s, next control iter: 1743028978.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028978.623165 s.V)/H~,X⧼ AARY@A:6UY@A2T~? A:xA&"AAgNA"AZAbAjArAzAAAԪ<vAi2nA{jξAsrκAqõApAA عֿA'*A5?2Aϖ:A2BA5?JAϖRA2٘i)I9jξY({ Jz~8JJJJ]B&K  !6YS~? !6yb^@ sAqZBb7R!6)BȸE[[\@[DY~?[[[[[ZZBZYY i) M>IiDbB? I)`U)Ij@C:e*YHYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028978.663165 s, next control iter: 1743028979.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2477 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028979.043165 s.0/H~,¼ AJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJvJ( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.196027> elevatorAngleAction: 0.210250< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743028979.043303F (some fields omitted in printout)A(\Z@At_Z@A?Y~?[[[[[ZZBZYY i) d>IiaB? U)7`c)U@C:]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028979.083165 s, next control iter: 1743028979.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028979.463165 s.V7/H~,ݼ AA[@A1 Xre[@ArT~? ACA&"AAfNA"AZAbAjArAzAAAOĿ A-- nAjξA A7A=A`AؿA[8*A5?2A?峽:AjBA5?JA?峽RAjY~f@y7ٓH?ͱ?`   #6YS~? #6yh@ uA]B7777u#6B)BŸE[[:#]@[9Y~?[![[[[ZZBZYY i`>) I>IihaBC? ),o))@/C:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028979.483165 s, next control iter: 1743028979.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2478, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028979.883165 s.y=/H~,4 AJ"J*J2J:JBJnJvJA= ףp\@AҪt<\@AռT~? ArA2&"AAfNA"AZAbAjArAzAAA ŕG A5؀nAfξA:AAAkADؿAN7*A5?2AH:A#BA5?JAHRA#٘i)I9fξY#{ J8JJJJaB&K  $6YjS~? $6yNn@ wAu^B77$6B)¸E[[Jk]@[4Y~?[[[[[ZZBZYY i) .>Ii`By? up)'z)4upׇ@B:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028979.923165 s, next control iter: 1743028980.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028980.303165 s.UD/H~,sg AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.176635> elevatorAngleAction: 0.219689< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743028980.303312F (some fields omitted in printout)AzG]@Aީ]@AfT~? AA&"AAC}fNA"AZAbAjArAzAAARN[ AX&[nAkξA-`:A%A@A@@AIٿA5*A86?2A:A1BA86?JARA1٘i)I9kξY){ JdǸJJJJ"cB&K YTS~?ys@ xA_Bb77#$6B)BøE[[]@[d/Y~?[7[[[[ZZBZYY i)  >Iiz`B? '()S~? %6yCy@ zA"aB{7{7}%6B)E[[ ]@[*Y~?[[[[[ZZBZYY i) ( >Ii`B_? )) @2B:ye^a>*YO4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028980.763165 s, next control iter: 1743028981.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028981.143165 s.T/R/H~,)I AA)\^@AE^@A}T~? AA=5&"AAIi_B ? ٖ) )ٖnD@A:z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028981.183165 s, next control iter: 1743028981.543176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028981.563165 s.X/H~,F d AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.176635> elevatorAngleAction: 0.219689< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743028981.563271F (some fields omitted in printout)J"J*J2J:JBJnJvJA_@AIӠ_@A&hT~? A:A܍&"AAfNA"AZAbAjArAzAAA6I"AöVr'nAeξA'/AVQA<AA`cڿA(*A7?2A悔:A(BA7?JA悔RA(Ya8j@;yTQ/ٓH@?m?k3.?a?E?)a8j@ I٘i)I9eξY"{ JJQ»JJJ*gB&K$>  '6YS~? '6yt@ |AcBb7b7*'6)[[^@[Y~?[[[[[ZZBZYY i) /">Ii _B? O)锻)Oh@A: *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028981.603165 s, next control iter: 1743028981.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2480, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028981.983165 s._/H~,~ AAq= ף`@Ao`@AhST~? AꚣAԂ&"AAeNA"AZAbAjArAzAAAUX5"A~T!8-nAbξAƺAߺAA ]A ۿAn 8*A.]7?2Az:AhBA.]7?JAzRAh٘i)I9bξY{ Jb8B=JJJJhB&K  (6YR~? (6yo@ ~A&eBj7Z7}(6)BE[[^@[bY~?[x[[[[ZZBZYY i) %#>Ii^Bj? 7)B)`$7@4A:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028982.023165 s, next control iter: 1743028982.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028982.403165 s.&f/H~,͙ AJ"J*J2J:JBJnJvJAGza@AgxFa@A>T~? AA&&"AAeNA"AZAbAjArAzAAAM*C#Ac3nAgξA7ƺAVAWAOxAܿA =*A@7?2AIi^BL? ))@@:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028982.443165 s, next control iter: 1743028982.803174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2481, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028982.823165 s.l/H~,% AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.160525> elevatorAngleAction: 0.219689< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743028982.823302F (some fields omitted in printout)AQb@ACVb@At*T~? AAȌ&"AAjeNA"AZAbAjArAzAAAQ)#A/W9nAkξAQI.A;AOAQA`pܿAY@Y7*A78?2A/{:AnBA78?JA/{RAn٘i)I9kξY){ JJJJJ3kB&K  *6YR~? *6yaf@ AgB7777,H*6)[[,c_@[Y~?[[[[[ZZBZYY i) i%>Ii]B ? x)q)xӈ@@:*Yq$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028982.863165 s, next control iter: 1743028983.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028983.243165 s.s/H~,mϽ AJ"J*J2J:JBJnJvJA\(c@A Gb@A;T~? AAci&"AAeNA"AZAbAjArAzAAA*9$Af?nA]gξA :AeA7A@6+AݿAc8*Aj8?2AԠ:A1BAj8?JAԠRA1٘i)I9gξY${ J[8JJJJlB&K  +6YR~? +6yJb@ A*iBb77-+6B)E[[d_@[ Y~?[<[[[[ZZBZYY i) L&>Ii\B;p ? [0))[0@6@:x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028983.283165 s, next control iter: 1743028983.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028983.663165 s.z/H~,q AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2482, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)Ad@Aʢc@A,T~? AA$&"AAՀeNA"AZAbAjArAzAAAU-g$AVӻEnAbgξA(:A긽A%2AAfݿA*A8?2Ay:ABA8?JAyRAYHm@S4y긽I:ٓH`hS?cͯ?$@j`?`J?`X??)Hm@ I٘i)I9Y JJ7;JJJmB&K > ,6YUR~? ,6yZ@4jB777,6)ŷBE[[_@[Y~?[[[[[ZZBZYY i) 0'>Iim\B ? [)+p) [@?:*YFFF]U:Waiting for Gazebo time sync: latest Gz time: 1743028983.683165 s, next control iter: 1743028984.063190 s, wait time: 0.380025 s rAdjusting time to match Gazebo time: 1743028984.083165 s.D/H~,S AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.138350> elevatorAngleAction: 0.219689< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743028984.083306F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= d@AJd@AIS~? AAF&"AAkbeNA"AZAbAjArAzAAA2,%A,ÖKnAdξA:AA|AA޿A9*A9?2AO[:ABA9?JAO[RA٘i)I9dξY { JV8B=JJJJ;oB&K YR~?y֨R@ AkBŧ7b7E,6)[[9`@[zY~?[m[[[[ZZBZYY iSj>) (>Ii[B ? CE)K)CE>@?:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028984.123165 s, next control iter: 1743028984.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028984.503165 s./H~,4 AAHze@ALOXye@AS~? A︣A@&"AACDeNA"AZAbAjArAzAAA%A22RnA_ξA~:AQ}AA@UA֓޿A`>8*Ay[9?2Aq:Ah(BAy[9?JAqRAh(٘i)I9_ξY{ JZ8C=JJJJpB&K  -6YфR~? -6yJ@ A.mB77j7-6B)E[[``@[WX~?[ [[[[ZZBZYY i) v(>IiN[B [ ? )4)+b@9?:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028984.543165 s, next control iter: 1743028984.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2483, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028984.923165 s.7/H~,; AJ"J*J2J:JBJnJvJAQf@AIPf@AS~? A<Aڊ&"AA]&eNA"AZAbAjArAzAAAȣ&AVXnANfξAҴAAC2AA ߿A*A{9?2A:ABA{9?JARA٘i)I9fξY"{ JJJJJqB&K  .6YqR~? .6ybB@nB77.6B)ǷBE[[`@[1X~?[[[[[ZZBZYY i) e)>IiZB] ? ')-)'@>:\*Y{ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028984.963165 s, next control iter: 1743028985.323176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028985.343165 s. elevatorAngleAction: 0.228835< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743028985.343281F (some fields omitted in printout)A(\g@A0'g@AS~? AãAr&"AAeNA"AZAbAjArAzAAA &Ac=Ɇ:_nA^ξA:A<AA`}iAt߿AJ9*A9?2AV:Ao2BA9?JAVRAo2٘i)I9^ξY{ J9JJJJCsB&K  /6YN]R~? /6y;@ AoBZ7Z7:/6)ȷBE[[a@[X~?[I[[[[ZZBZYY i) O*>Ii4ZB ? ){6û)੉@>:yj>+YYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743028985.363165 s, next control iter: 1743028985.743174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2484", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028985.763165 s.5/H~,p AJ"J*J2J:JBJnJvJA33333h@Ag@AnS~? AɣA &"AAHdNA"AZAbAjArAzAAAtzJ'Ad henA(SξA:ѺAVAA@DA߿AI 9*A::?2AN:A^BA::?JANRA^Y$'q@xyFiҺٓH"?& ?` :x?@?F0Z`?)$'q@ I٘i)I9SξY { JN9B=J!JJJtB&K=  06YJR~? 06y=¢:@ A2qB77706B)E[[7Va@[X~?[[[[[ZZBZYY i) ++>IiYBC ?  )nǻ)H ͉@;>:k+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028985.783165 s, next control iter: 1743028986.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028986.183165 s.ˢ/H~,g AAףp= i@AHh@A^S~? AΣA|&"AAdNA"AZAbAjArAzAAAw'A`lnA0QξAABAPAA#AY}*Ai|:?2A:AMBAi|:?JARAM٘i)I9QξY { J8C=JJJJuB&K  16Y7R~? 16yȢ8@rB)7b7r16)[[a@[X~?[[[[[ZZBZYY i) ,>IiYBm ? })̻)}p@=:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028986.223165 s, next control iter: 1743028986.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028986.603165 s.44/H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.128206> elevatorAngleAction: 0.228835< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743028986.603296F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gi@Al i@A{zS~? A)ԣA3&"AA-dNA"AZAbAjArAzAAA|0.'AۃosnA\ξA1AώAAA@T\A*A:?2A,2:AZBA:?JA,2RAZ٘i)I9\ξY{ J)OJJJJKwB&K  26Y3%R~? 26ydϢ7@ AsBŧ7MX26)ɷBE[[a@[X~?[0[[[[ZZBZYY i) e->IihXB% ? )Бл)O @=:Y+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028986.623165 s, next control iter: 1743028987.003175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2485 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028987.023165 s.Z/H~,{ AAQj@As69j@AgS~? A٣ADƈ&"AAdNA"AZAbAjArAzAAADó[(A@YznAjξA:A\AOASAYA.*A +;?2A(:ABA +;?JA(RA٘i)I9jξY({ JύB=JJJJxB&K  36YR~? 36yբ6@ A6uB7777=36B)ʷBE[[@+b@[X~?[[[[[ZZBZYY i) tG.>IiWB ? `)A$ջ)`7@==:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028987.063165 s, next control iter: 1743028987.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028987.443165 s.1ö/H~,%]ܾ AJ"J*J2J:JBJnJvJA(\k@Axz,[k@A2US~? AߣAW&"AAxdNA"AZAbAjArAzAAAm=(A>XnA`ξAO:A~gAA QAA/9*A]z;?2Aw:AʼnBA]z;?JAwRAʼn٘i)I9`ξY{ JP9C=JJJJyB&K  46YQ~? 46yܢ5@vB77"46)˷BE[[rb@[X~?[[[[[ZZBZYY i) )/>Ii AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.138000> elevatorAngleAction: 0.228835< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743028987.863265F (some fields omitted in printout)Afffffl@A=2l@ABS~? AZA&"AA[dNA"AZAbAjArAzAAA;)A]M lnA*cξAW:A(AAuAAy?*Aܾ;?2A:ATBAܾ;?JARATYt@y(D*:ٓH@FO? ?`? |?JX?p?)t@ II٘i)I9cξY{ JpJ^ ;JJJS{B&K =  56YQ~? 56yd2@ AwBŧ7b7Z56B)E[[b@[X~?[([[[[ZZBZYY i)  0>IiVBTX ? GE)%ݻ)GE~@<::+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028987.903165 s, next control iter: 1743028988.263175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028988.283165 s.7R/H~, AJ"J*J2J:JBJnJvJA ףp=m@A}A m@A0S~? A5Av&"AA?dNA"AZAbAjArAzAAAF2D)AMQnA|dξAj{9A%bA5dAUeAiAZ89*AIiUBa? #))#ҡ@@<:]+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028988.323165 s, next control iter: 1743028988.683176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2487., header.stamp.nsec: 0.$ temperature: nan. salinity: nan., density: 1025.000000. values[0]: nan.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028988.703165 s.Һ/H~,- AAGzn@A#dm@ArS~? A"A&"AA%$dNA"AZAbAjArAzAAA'tL;*AɞRΖnAZξAJJAAA1>A`PA.8*AR) 1>IiYUB7? C*))!C*JŊ@;:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028988.743165 s, next control iter: 1743028989.103174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743028989.123165 s.9/H~,eG AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.128769> elevatorAngleAction: 0.237946< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743028989.123326F (some fields omitted in printout)J"J*J2J:JBJnJvJARn@Ao\n@A S~? AAW&"AAdNA"AZAbAjArAzAAA͏*A1]nA@[ξA/˺A|APAhA6AԔm*AIiTB%? ۛ)eV)ۛ@;:/+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028989.143165 s, next control iter: 1743028989.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028989.543165 s.I/H~,b AA(\o@A;bo@AR~? A+Av&"AAfcNA"AZAbAjArAzAAA۶*AYnAdξAjźAFA A߿AA*AIiTB?  )Š)  @B;:+Y,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028989.563165 s, next control iter: 1743028989.943174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2488, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028989.963165 s.y/H~,} AJ"J*J2J:JBJnJvJAp@Adpep@A!R~? AEAz&"AA^cNA"AZAbAjArAzAAAr[+A{ nAYξA 8A\ۿA=B A߿A`A9*A=?2A&:AvBA=?JA&RAvYtv@(A yYۿ8ٓH@y??`Y;'?@q?G?)tv@ I٘i)I9YξY{ J$T9B=J׌JJJB&K=  96YQ~? 96y%@A ~Bŧ7b796)[[d@[X~?[[[[[ZZBZYY i) v4>IiuSBU? C)d)7C/@::ys>+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028990.003165 s, next control iter: 1743028990.363181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743028990.383165 s./H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.112240> elevatorAngleAction: 0.237946< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743028990.383291F (some fields omitted in printout)A= ףpq@AstIiRB? ')7)'S@::+YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743028990.423165 s, next control iter: 1743028990.783175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2489", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout)JȅQ~?)J  rAdjusting time to match Gazebo time: 1743028990.803165 s.uA/H~,sg AJ"J*J2J:JBJnJvJAzGr@Afr@A\R~? AA'&"AAcNA"AZAbAjArAzAAA}8V.,AEnA$ξA :AAQ/ A߿A(A :*A=?2Aq:AgQBA=?JAqRAgQ٘i)I9$ξYz J:JJJJ^B&K  ;6YuQ~? ;6y(@ ABb77M;6B)ηBE[[d@[X~?[[[[[ZZBZYY i) 86>Ii(RB? Ge)u)Gev@D::+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028990.843165 s, next control iter: 1743028991.203175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028991.223165 s.g/H~,Hο AAQs@AZՒr@A8R~? AA<&"AAcNA"AZAbAjArAzAAAsB,A0nAξAB:A:A A޿A6RA.,:*A=?2Aע:ABA=?JAעRA٘i)I9ξYz J7(:JJJJ B&K  <6YFdQ~? <6y*@ AKB3<6)E[[\d@[X~?[[[[[ZZBZYY i) 7>IiQBL? ) ))@9:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028991.263165 s, next control iter: 1743028991.623179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028991.643165 s.u/H~,* AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.121002> elevatorAngleAction: 0.237946< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743028991.643322F (some fields omitted in printout)A)\s@As@A;R~? A@A^ƒ&"AAhcNA"AZAbAjArAzAAAUnG,AFzqnA;A:AA9 Aڅ޿AwA!:*A>?2Aƒ:A䎽BA>?JAƒRA䎽٘i)I9;Y}z J':B=JJJJB&K  =6YSQ~? =6y"+@B77}=6)[[7e@[X~?[n[[[[ZZBZYY i) 7>tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2490, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)IiPBɮ? G))G@9:+Y(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028991.683165 s, next control iter: 1743028992.043177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028992.063165 s.0H~,[  AAt@Aڦt@AcR~? A"AF&"AANcNA"AZAbAjArAzAAA?>jc-AБ:nAu;A,AA A,B޿AA:*A&W>?2AD:AbBA&W>?JADRAbY[y@ ym<ٓH@v?@??@vX O?0?`W?)[y@ I٘i)I9;YVz J:C=JDJJJbB&Kv= YCQ~?y_)0@ AB77j7=6)E[[Z~e@[X~?['[[[[ZZBZYY i) 8>Ii3PB?? ˺))$sٽ˺(@G9:/+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028992.103165 s, next control iter: 1743028992.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028992.483165 s.s_0H~, AJ"J*J2J:JBJnJvJAq= ףu@Acou@AR~? A)Aʂ&"AA5cNA"AZAbAjArAzAAA-A1hnA;A:A½A @ AKݿAAAr:*AM>?2AR:A쏽BAM>?JARRA쏽٘i)I9;Y1z J:JJJJB&K  >6Y3Q~? >6y04@ AMB77#>6B)ϷBE[[e@[՛X~?[[[[[ZZBZYY i) Ժ9>IiOB[? c-))c-@8:d+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028992.503165 s, next control iter: 1743028992.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2491, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028992.903165 s. 0H~,9 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.106177> elevatorAngleAction: 0.237946< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743028992.903297F (some fields omitted in printout)AGzv@AwkFv@A&rR~? A/A6M&"AAcNA"AZAbAjArAzAAA4X,.AnA;A9ݺAt½A AݿAdAL(:*A>?2AQҀ:ALhBA>?JAQҀRALh٘i)I9;Y z J:JJJJB&K  ?6Y#Q~? ?6y78@Bŧ7b7p?6)E[[ f@[X~?[[[[[ZZBZYY i) :>IiNBc? C)d)C (@8:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028992.943165 s, next control iter: 1743028993.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743028993.323165 s.r0H~,T AJ"J*J2J:JBJnJvJAQw@AR<w@AaR~? A6A΁&"AAcNA"AZAbAjArAzAAAŘ!I.AȑnAX;ASA_ýAQ A`lݿA`3 AąO:*A ??2A-~:AƐBA ??JA-~RAƐ٘i)I9X;Yy J8:JJJJfB&K  @6Y#Q~? @6y,?<@ ABb77ĭ@6)ηB[[Sf@[X~?[c[[[[ZZBZYY i>|>) z;>Ii2NB8? g)>)agK@I8:5+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028993.363165 s, next control iter: 1743028993.723175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2492&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028993.743165 s.W0H~,qo AA\(x@Aފw@AQR~? A<AyO&"AAbNA"AZAbAjArAzAAA'.AcnA1(;AԴA#8ĽAA(ݿAc0A:*AI??2A{:A|BAI??JA{RA|٘i)I9(;Yy Jg:JJJJB&K  A6YJQ~? A6ypF@@ AOBŧ7A6)E[[Uf@[X~?['[[[[ZZBZYY i) [<>IiMBa? Ӏ) )Ӏo@7:+YwٽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028993.783165 s, next control iter: 1743028994.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743028994.163165 s.w}"0H~,q AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.116397> elevatorAngleAction: 0.246694< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743028994.163320F (some fields omitted in printout)J"J*J2J:JBJnJvJAy@A0x@ApAR~? ACCA@π&"AAbNA"AZAbAjArAzAAA= "JT/AMnAZ̾A^:AVŽA=oAܿA@OAB:*Au??2AV{:A:BAu??JAV{RA:Y{@pyNŽ:ٓH@b?,Ʃ? ]??Q??){@ I٘i)I9̾Y_y J{:JJJJB&KI=  B6YKP~? B6yMI@pBwxB6)[[f@[X~?[[[[[ZZBZYY i) 9=>IiLB? ) );Ͻ@7:+YVjYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028994.183165 s, next control iter: 1743028994.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743028994.583165 s.(0H~,R AAp= y@AS%ޢy@A}1R~? AIA2N&"AAEbNA"AZAbAjArAzAAAJ/A:4oAӲ̾AP:AǽAEAWܿA`moA0:*A??2A2*{:ABA??JA2*{RA٘i)I9̾Yy J:JJJJjB&K  C6YLP~? C6yQUR@ AB77{7]C6B)E[[(g@[9X~?[[[[[ZZBZYY i) >>Ii'LB? e)A{ )ex@K7:y1u|>3+YSYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028994.623165 s, next control iter: 1743028994.983175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2493, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028995.003165 s.x 00H~,L4 AJ"J*J2J:JBJnJvJAHzz@ATrNyz@A!R~? APA@&"AAbNA"AZAbAjArAzAAA=+e 0A(e oAP̾AY:AɽA~Az\ܿAڑAG ;*Al??2Aa9x:ABAl??JAa9xRA٘i)I9P̾Yx J:JJJJB&K  D6YMP~? D6y\[@ AQB77.CD6)[[]pg@[Q~X~?[w[[[[ZZBZYY i) >>IixKBl8? ),4)*ڌ@6: +YyϽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028995.043165 s, next control iter: 1743028995.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743028995.423165 s.u60H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.101426> elevatorAngleAction: 0.246694< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743028995.423287F (some fields omitted in printout)AQ{@APnP{@A R~? AcWAlI&"AAbNA"AZAbAjArAzAAAy90A،uoAf˾A69AE˽AA=ܿAEA;;*AD @?2ApTu:AoSBAD @?JApTuRAoS٘i)I9˾Yw J#;JJJJ‰B&K  E6YNP~? E6y2de@B{7{7(E6)ͷBE[[g@[fyX~?[B[[[[ZZBZYY i) ?>IiJB? GG))wGG @6: +YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028995.463165 s, next control iter: 1743028995.823174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2494, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028995.843165 s.<0H~, AJ"J*J2J:JBJnJvJA(\|@A)'|@AR~? A/^A~&"AA pbNA"AZAbAjArAzAAADh0AgoAp˾AkIA:[ͽAAۿAAPc;*AB@?2Ar:A5BAB@?JArRA5٘i)I9˾Yw JO;JJJJnB&K  F6YOP~? F6ykn@ AB7S7 F6)[[:h@[xtX~?[[[[[ZZBZYY i) }@>IiJBZ?  )a) ￩"@N6: +YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028995.883165 s, next control iter: 1743028996.243175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743028996.263165 s.D0H~, AA33333}@AE|@A/Q~? AeAOA~&"AAcXbNA"AZAbAjArAzAAA<0f0AH$oALʾA̳ȺARϽAOKAfۿA A8 ;*A0k@?2ARHr:AQBA0k@?JARHrRAQY}@HyRϽ1ɺٓH;?@Ѹ? `O(?߹?xY ?)}@ I٘i)I9LʾY&v J}s;J8JJJB&KW= Y!P~?y:s@H ARB77773F6)̷BE[[IihIB? ))R)ǽ)￩E@5:m +YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028996.303165 s, next control iter: 1743028996.663176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2495*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028996.683165 s.lJ0H~,k+ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.097457> elevatorAngleAction: 0.246694< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743028996.683291F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= ~@AbG}@AQ~? AkA}&"AA@bNA"AZAbAjArAzAAAH 0AC},oAcɾAm+ɺAѽAA`XۿA@$ A;*Aʏ@?2Amr:A9BAʏ@?JAmrRA9٘i)I9cɾY u JNJ;B=JJJDJƋB&K  G6YP~? G6yz@B7G6)˷B[[h@[jX~?[[[[[ZZBZYY i) hB>IiHBks? 3))3Ni@5:$+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028996.683165 s, next control iter: 1743028997.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743028997.103165 s."Q0H~,ݚF AA{G~@A$z~@AQ~? ArA%6}&"AA)bNA"AZAbAjArAzAAAM WG0A-5oAYȾA?A!սAjA%ۿA'A;*A@?2A4p:A{TBA@?JA4pRA{T٘i)I9YȾYs J;C=JJJJrB&K  H6YǎP~? H6yg@ AB7޽H6)ʷBE[[dh@[eX~?[|[[[[ZZBZYY i) NBC>IiHB ?  )) -@P5:Q+YǽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028997.143165 s, next control iter: 1743028997.503185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743028997.523165 s.W0H~,{a AJ"J*J2J:JBJnJvJAQ@AޫV&@AQ~? AyA`|&"AAbNA"AZAbAjArAzAAATˆ 1A͛CԚ=oA#ǾAc9A.ٽAA ڿADAҼ;*A@?2An:ABA@?JAnRA٘i)I9#ǾYMr J;JJJJB&K  I6YP~? I6yư@ ATB77775I6)ɷB[[i@[aX~?[P[[[[ZZBZYY i) D>IiPGB8> cz)\>)*5۽czB@4:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028997.543165 s, next control iter: 1743028997.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2496, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028997.943165 s.Td^0H~,1]| AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.107035> elevatorAngleAction: 0.246694< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743028997.943293F (some fields omitted in printout)A(\@Axz,[@A,Q~? AA'|&"AAaNA"AZAbAjArAzAAA}}SM1A;#FoA1žA޾:A+ݽA*A@ڿA y`A;*ATA?2Aul:ABATA?JAulRA񘽙٘i)I9žYp Jj;JJJJʍB&K  J6YlrP~? J6yݱ@B7J6)ȷBE[[gi@[\X~?[([[[[ZZBZYY i) D>IiFB=> O))O쿩Ս@4:N+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028997.983165 s, next control iter: 1743028998.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743028998.363165 s.e0H~,y> AJ"J*J2J:JBJnJvJAfffff@A72@AQ~? ALJA{&"AAdaNA"AZAbAjArAzAAAW̮y1ARZNoA ľA:AhA4A@JڿAxAk <*AA?2A=k:A}BAA?JA=kRA}Y@7yxh㽙d:ٓH8޿`(?6?@e޿o)? ^?Z??)@ I٘i)I9 ľYn Jy;JGJJJvB&Kd=  K6Y eP~? K6yM@7 AB7mK6)ƷBE[[i@[HWX~?[[[[[ZZBZYY i) E>IiEBTR> sZ)t){sZ쿩>@R4: +YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028998.403165 s, next control iter: 1743028998.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2497&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743028998.783165 s.Uk0H~, AA ףp=@A|? @AQ~? A֎A{&"AAaNA"AZAbAjArAzAAAvH 笥1A ;UWoA¾A)ko:AAA B ڿAIAV$<*A3A?2A:k:AgLBA3A?JA:kRAgL٘i)I9¾Y"l Jp<JJJJ"B&K  L6YWP~? L6y?@ AUB77:SL6)ķB[[Vi@[sRX~?[[[[[ZZBZYY i) )F>Ii1EBph> ))뿩&@3:=+YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743028998.803165 s, next control iter: 1743028999.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743028999.203165 s.s0H~, AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.093986> elevatorAngleAction: 0.246694< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743028999.203308F (some fields omitted in printout)AGz@A7ǹM@AQ~? AA>z&"AAaNA"AZAbAjArAzAAA *z01A y_oAA䤜AAdAٿAA,?<*AKA?2Ai:AtBAKA?JAiRAt٘i)I9YQi J#0<JJJJΏB&K  M6YPJP~? M6yp@Bŧ7b78M6)BE[[>j@[MX~?[ [[[[ZZBZYY i) kG>Ii|DB%> _:)Ð)_:뿩CA@3:#+YoYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028999.223165 s, next control iter: 1743028999.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743028999.623165 s._y0H~,~ AAR냣@AZ`@Az}Q~? AAz&"AAaNA"AZAbAjArAzAAA>1A79hoA-AD̮AAA}ٿAA+^<*A2^A?2A*Xg:A(BA2^A?JA*XgRA(٘i)I9Y f JL<JJJJzB&K  N6YIiCB{> )*!)ӽ꿩e@U3:)+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743028999.643165 s, next control iter: 1743029000.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2498 , header.stamp.nsec: 0 $ temperature: nan  salinity: nan , density: 1025.000000 values[0]: nan F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029000.043165 s.0H~, AJ"J*J2J:JBJnJvJA(\„@Awak@AloQ~? A7A/xy&"AANaNA"AZAbAjArAzAAAc&2A@/oqoAhAںA!A,A:ٿAA}Z<*AHiA?2AOe:AbBAHiA?JAOeRAb٘i)I9YBb J!m<JJJJ&B&K  O6Y/P~? O6y/ҷ@ AVBŧ7b7SO6)B~E[[6j@[CX~?[r [[[[ZZBZYY iB>) 3I>IiCB|> )M")꿩@3:/+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029000.083165 s, next control iter: 1743029000.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029000.463165 s.Y0H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.103415> elevatorAngleAction: 0.255854< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743029000.463286F (some fields omitted in printout)A@AFqe@AaQ~? AgAx&"AAwaNA"AZAbAjArAzAAA`jQ Q2A[$o5zoA\AZAAJAAؿABAo<*APdA?2Aye:A?rBAPdA?JAyeRA?rYp@>yٓH iܿ >?`?]ܿ?? ^KSC?)p@ I٘i)I9\Y] J׈<JGJJJґB&K\= Y#P~?y;@> AB7777O6)B[[ k@[?X~?[Q [[[[ZZBZYY i) I>IiZBB^> k)E?$)k鿩@2:u7+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029000.483165 s, next control iter: 1743029000.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2499, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029000.883165 s.y0H~,<8 AJ"J*J2J:JBJnJvJA= ףp@A||<@ASQ~? AA`x&"AAbaNA"AZAbAjArAzAAA0f<#z2A6hoAAAAVM AAؿAAUm<*AKA?2Ae:AABAKA?JAeRAA٘i)I9AYX Jv<JJJJ~B&K  P6YoP~? P6yǣ@B77P6)B[[F`k@[J:X~?[3 [[[[ZZBZYY i) nJ>IiAB> )%)迩Ҏ@W2:v@+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029000.903165 s, next control iter: 1743029001.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029001.303165 s.[0H~,gS AAzG@Av|@AFQ~? A۹Apw&"AAMaNA"AZAbAjArAzAAAk22A-\ڋoAaAs:A9AoAjؿAA<*A0A?2A=9d:A7BA0A?JA=9dRA7٘i)I9Y$S J<JJJJ*B&K  Q6Y P~? Q6yϣ @ AUB7777HQ6B)B{E[[k@[{5X~?[[[[[ZZBZYY i) NK>Ii@B> e)<')e迩p@2:y Ձ> K+YYFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743029001.323165 s, next control iter: 1743029001.703180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2500*, header.stamp.nsec: 0*$ temperature: nan* salinity: nan*, density: 1025.000000* values[0]: nan*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029001.723165 s.0H~,Hn AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.091130> elevatorAngleAction: 0.255854< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743029001.723327F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A5ꇣ@A8Q~? AAGw&"AA8aNA"AZAbAjArAzAAA'e2AgkoAA:A1+AAN!ؿA`%A<*A# A?2ACSb:AjBA# A?JACSbRAj٘i)I9YnL J<B=JJJJדB&K  R6YKO~? R6y|ףu@ ABŧ7b7R6)B|E[[k@[0X~?[[[[[ZZBZYY i)  L>Ii4@B> )P()ͽ翩@1:yF>5W+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029001.743165 s, next control iter: 1743029002.123180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029002.143165 s.X/0H~,* AA)\@A"ڎ@A^+Q~? AgȤA)v&"AA8$aNA"AZAbAjArAzAAAs{.2AEM%oANA':Al'AA@׿AT4A6 =*A~@?2AN`:A&+BA~@?JAN`RA&+٘i)I9YD J<C=JJJJB&K  S6YO~? S6yNߣ޾@B{7j7}S6)B[[t;l@[+X~?[[[[[ZZBZYY i) ML>Ii?B > @)Y*)@翩?@Y1:y >Kd+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029002.163165 s, next control iter: 1743029002.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029002.563165 s.0H~,A AJ"J*J2J:JBJnJvJẢ@A󨘉@A8Q~? AϤAv,v&"AAaNA"AZAbAjArAzAAA 3AEoAA9A1AXA@׿A`?A&=*A%@?2A`:AX#BA%@?JA`RAX#Y߁@Yy1F9ٓHڿ \?T?_ڿ@?m?6?Ä?)߁@ I٘i)I9Y`; J=JͽJJJ/B&KF=  T6YO~? T6y2@Y ATB77`cT6)ByE[[l@['X~?[[[[[ZZBZYY iX*u>) gM>Ii>B.> )+)ε濩c@1:y(m>q+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029002.603165 s, next control iter: 1743029002.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2501, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029002.983165 s.0H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.088774> elevatorAngleAction: 0.239419< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743029002.983303F (some fields omitted in printout)Aq= ף@A%o@A7Q~? AפAvu&"AA`NA"AZAbAjArAzAAAuD3AkvoA:AolA";AA3Q׿AJA63=*A}@?2A`:A<½BA}@?JA`RA<½٘i)I9:Y0 J&=JJJJەB&K  U6YIi >B@> )--)濩@0:y硂>)+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029003.023165 s, next control iter: 1743029003.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029003.403165 s.&0H~, AJ"J*J2J:JBJnJvJAGz@A\䞮F@A`Q~? A[ޤAu&"AA`NA"AZAbAjArAzAAAλrck3A[}joA"AADA6A׿AcXA$N=*Ag@?2A^:AK½BAg@?JA^RAK½٘i)I9"Ym$ JY@=JJJJB&K  V6YO~? V6yq@Bŧ7b7-V6)BwE[[m@[X~?[[[[[ZZBZYY i) ĜN>IiR=BT> ).)忩b@\0:y8s>+YpǵYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029003.423165 s, next control iter: 1743029003.803179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2502", header.stamp.nsec: 0"$ temperature: nan" salinity: nan", density: 1025.000000" values[0]: nan"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029003.823165 s.0H~,- AAQ@AUܸ@AP~? AAlt&"AAV`NA"AZAbAjArAzAAA Ց3A~~coA-lwAS]պA*LA~AֿAIi K)x 0)ȽK俩я@0:yt>+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029003.843165 s, next control iter: 1743029004.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029004.243165 s.0H~,u AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.097909> elevatorAngleAction: 0.239419< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743029004.243282F (some fields omitted in printout)A\(@A}@A+P~? AAbs&"AA`NA"AZAbAjArAzAAA`Ϸ3AboA`+^A6ASAAAvֿAqA+{=*AH@?2AZ:A@½BAH@?JAZRA@½٘i)I9+^Y* Jlp=B=JJJJߗB&K YO~?y)@ AB7)7W6)pB[[اm@[X~?[[[[[ZZBZYY i) O>Ii;B> g)1)g俩@/:Ώ+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029004.263165 s, next control iter: 1743029004.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029004.663165 s.0H~,q* AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2503, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)A@Aˍ@AP~? AvA cs&"AA̭`NA"AZAbAjArAzAAAOW3A=0foALBA0h :A2ZA A@3ֿA`k{A=*A%+@?2A*.[:Al½BA%+@?JA*.[RAl½Y|ɂ@E y2Z:ٓHԶؿe? B?L`Gٿ??mA?F?)|ɂ@ I٘i)I9BY J=C=J0JJDJB&K=  X6YO~? X6yo@ B7777X6B)aBtE[[ m@[SX~?[[[[[ZZBZYY i) IP>Ii);B> c)3)ױc㿩@^/:0+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029004.683165 s, next control iter: 1743029005.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029005.083165 s.D0H~,RE AJ"J*J2J:JBJnJvJAp= ׎@Aޢ@AP~? AAur&"AAݚ`NA"AZAbAjArAzAAA6Sl4A˕moA%A5:AraApCA տAA)Ə=*A??2A[:APcĽBA??JA[RAPcĽ٘i)I9%Yz J=JJJJ7B&K  Y6Y#O~? Y6y@ AJBb77dY6)SBuE[[8n@[ X~?[|[[[[ZZBZYY i) GP>Iio:BΣ> F)c4)F㿩S>@ /:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029005.103165 s, next control iter: 1743029005.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029005.503165 s.0H~,34` AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.086838> elevatorAngleAction: 0.239419< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743029005.503271F (some fields omitted in printout)AHz@Ax>z@A}P~? ACACr&"AA,`NA"AZAbAjArAzAAA:'4Ax}xoA$jA<:AiAAտA`YA=*A ??2AY:ASƽBA ??JAYRASƽ٘i)I9jY JZ=B=JJJJB&K  Z6Y3O~? Z6y@ AB7ܨZ6)DB[[ˁn@[X~?[s[[[[ZZBZYY i) 9Q>Ii9B%> )5)⿩b@.:+Y0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029005.523165 s, next control iter: 1743029005.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2504, header.stamp.nsec: 0$ temperature: nan salinity: nan, density: 1025.000000 values[0]: nanF (some fields omitted in printout)23O~?)2 rAdjusting time to match Gazebo time: 1743029005.923165 s.J "J *J 2J :J BJ nJ vJ B0H~,{ AAQ@A3P@AP~? A Aq&"AAu`NA"AZAbAjArAzAAA,yK4AoAɽAef:ArAA>VտA A=*Au??2AX:A ȽBAu??JAXRA Ƚ٘i)I9ɽYu J8=C=JJJJB&K  [6YEO~? [6yq&A@B77{7 [6)2BrE[[?n@[5X~?[n[[[[ZZBZYY i) ҰQ>Ii8Ba>  )@7)NĽ ⿩@`.:f+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029005.963165 s, next control iter: 1743029006.323185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743029006.343165 s.<0H~, AA(\@A'@AծP~? AAe#q&"AAc`NA"AZAbAjArAzAAAP$n4A3DrSoAm^AG4MAl{Ah6A տA`A~=*AW??2AV:AXcɽBAW??JAVRAXcɽ٘i)I9^Y J=JJJJ;B&K  \6YVO~? \6y_.@ ACB{7j7rs\6) B[[2o@[yW~?[l[[[[ZZBZYY i) (R>IiI8B> )\8)Ῡ@ .:F+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029006.383165 s, next control iter: 1743029006.743177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2505&, header.stamp.nsec: 0&$ temperature: nan& salinity: nan&, density: 1025.000000& values[0]: nan&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029006.763165 s.J "J *J 2J :J BJ 90H~nJ,'ذ AvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.095853> elevatorAngleAction: 0.239419< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743029006.763292F (some fields omitted in printout)A33333@A8 @A;P~? AAp&"AAQ`NA"AZAbAjArAzAAAc 4ATpA7׼A.AAAPԿA A=*As??2A?V:ANʽBAs??JA?VRANʽYv@ZyٓH`Pֿ??׿?9? ET?)v@ I٘i)I97׼Y JC=JǽJJJB&K=  ]6Y5uO~? ]6yO6;@ AB7S7X]6)BsE[[]o@[W~?[f[[[[ZZBZYY i*e>) [|R>Ii7B> w) :)w࿩А@-:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029006.803165 s, next control iter: 1743029007.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743029007.183165 s.0H~,| AAףp= @A ֒@AȗP~? A Ap&"AA?`NA"AZAbAjArAzAAAS84AkYpA]<A3A@AAڄԿA0A=2=*A>?2A-HV:AʽBA>?JA-HVRAʽ٘i)I9]@Bb77>^6B)BpE[[Ao@[:W~?[c[[[[ZZBZYY i)  R>Ii6B > j)sf;)j࿩@c-:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029007.203165 s, next control iter: 1743029007.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029007.603165 s.=40H~,Ț AJ"J*J2J:J?BJ?nJ5vJA{Gᓣ@AQ@A~P~? Ai(A7ro&"AAH.`NA"AZAbAjArAzAAAZk4AZh pAd=AA AT A`8ԿAWA=*AR>?2AT:A_ɽBAR>?JATRA_ɽ٘i)I9d=Y D J=B=JJJJ?B&K  _6Y`O~? _6y1F@ A6B)7ŧ7#_6)B[[xo@[W~?[d[[[[ZZBZYY i) #S>Ii6B> ߿) <)߿@-:+YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029007.643165 s, next control iter: 1743029008.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2506 , header.stamp.nsec: 0 0 temperature: 13.431448 * salinity: 33.392601 , density: 1025.000000 * values[0]: 0.506550 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029008.023165 s.Z1H~,{ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.085268> elevatorAngleAction: 0.224442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743029008.023299F (some fields omitted in printout)AQ@AǼ8@A]P~? A/An&"AA`NA"AZAbAjArAzAAA L4A8rnN pAe=A=ҠAHA[hAӿAvA[=*A>?2AS:AmǽBA>?JASRAmǽ٘i)I9=YlzD J=C=JJJJB&K  `6YVO~? `6y!NV@ AݛBb77`6)̶B[[9p@[W~?[g[[[[ZZBZYY i) wS>Iie5Ba/> OE߿)h1>)OE߿>@,:y|e>+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029008.063165 s, next control iter: 1743029008.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029008.443165 s.:1H~,J] AJ"J*J2J:JQ?BJQ?nJ5vJA(\@AU2[@AdvP~? AO7APn&"AA `NA"AZAbAjArAzAAAڢ5A7pA_>AU:AAѴAӿA`A=*Aq>?2A0R:A ƽBAq>?JA0RRA ƽ٘i)I9>YD J2=JJJJB&K YLO~?yV @B{7j7.`6)BmE[["p@[AW~?[n[[[[ZZBZYY i) 8S>Ii4BF> ;޿)c?);޿c@e,:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029008.463165 s, next control iter: 1743029008.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2507, header.stamp.nsec: 00 temperature: 13.430285* salinity: 33.392559, density: 1025.000000* values[0]: 0.511718F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029008.863165 s.+ 1H~,>7 AAfffff@A&72@AkP~? A>A߿m&"AA,_NA"AZAbAjArAzAAAd:5AropAH>A:AFA$A`ohӿAuA`=*A^s>?2AԋR:AQĽBA^s>?JAԋRRAQĽY*@y7t:ٓH%տ ?x? ֿ`B?@[?[?@?)*@ I٘i)I9H>Y'D JY=JAJJJCB&Ka=  a6YUCO~? a6y^@ A(B)7ŧ7~a6)B[[p@[W~?[q[[[[ZZBZYY i) T>Ii3BW> 3 ޿)@)U⫽3 ޿·@,:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029008.883165 s, next control iter: 1743029009.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029009.283165 s.7R1H~,R AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.083928> elevatorAngleAction: 0.224442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743029009.283319F (some fields omitted in printout)A ףp=@A\A @A`P~? A;FA.m&"AA_NA"AZAbAjArAzAAA K[5AUHܜpA7|>A:AӾANAS&ӿA@,At=*AoY>?2AR:A)½BAoY>?JARRA)½٘i)I97|>YsE J=JJJJB&K  b6Y9O~? b6ye@ A͝Bb77Ըb6)B[[q@[!W~?[w [[[[ZZBZYY i) 9T>Ii;3Bj> Kݿ)X=B)KݿH@+:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029009.323165 s, next control iter: 1743029009.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2508., header.stamp.nsec: 0.0 temperature: 13.428998.* salinity: 33.392540., density: 1025.000000.* values[0]: 0.517444.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029009.703165 s.׺1H~,m AAGz@A(_@AVVP~? AMAl&"AA3_NA"AZAbAjArAzAAA, {5AC, pA>A59AAA@ҿA׻AW>*AG>?2A3DQ:A+BAG>?JA3DQRA+٘i)I9>Y9E J=B=JJJJB&K  c6Y0O~? c6ym%@rBb7?c6)fB[[^q@[W~?[![[[[ZZBZYY i) 1qT>Ii2B~> oܿ)֖C)oܿБ@g+:f+Y*ԫYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029009.743165 s, next control iter: 1743029010.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029010.123165 s.6!1H~,X AJ"J*J2J:J@?BJ@?nJ 5vJAR똣@AlT@AKP~? A/UAC l&"AA_NA"AZAbAjArAzAAA5A2/$pA>A91AjAA GҿA@A>*A*7>?2AO:A󫿽BA*7>?JAORA󫿽٘i)I9>YZE J>C=JJJJGB&K  d6YE'O~? d6yu.@ AB77{7d6)KBkE[[٧q@[W~?["[[[[ZZBZYY i) yT>Ii1B> gܿ)D);gܿ@+:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029010.143165 s, next control iter: 1743029010.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029010.543165 s.I(1H~,â AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.092768> elevatorAngleAction: 0.224442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743029010.543285F (some fields omitted in printout)A(\™@Aжu@AAP~? A\Azk&"AA _NA"AZAbAjArAzAAA15A81O)pA>AA@AjA@G[ҿAA>*A)>?2ABM:A'NBA)>?JABMRA'N٘i)I9>Y|E J>B=JJJJB&K  e6YO~? e6y}8@ AB)7ŧ7he6)/B[[+q@[VW~?[#[[[[ZZBZYY i) T>Ii1Bt> 'ۿ)=aF)'ۿ@*:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029010.563165 s, next control iter: 1743029010.943184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2509, header.stamp.nsec: 00 temperature: 13.427605* salinity: 33.392498, density: 1025.000000* values[0]: 0.523633F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029010.963165 s.J "J }.1H~*J2J, A:J ?BJ ?nJ 5vJA@Are@A7P~? A,dAj&"AAf_NA"AZAbAjArAzAAA|&Q75Agw-pA n>AxqͺAiAIA ҿAA* >*A>?2AlN:ABA>?JAlNRAY@`@3yiI׺ٓHXӿ )Q?ٸ?@P{Կ? 2!?@.Y|?)@`@ I٘i)I9n>YُE J>C=J(JJJB&K=  f6YFO~? f6yͅn@ A`B77j7ANf6)B[[1;r@[W~?[$[[[[ZZBZYY i) U>Ii\0B> Aۿ)ɣG)Aۿ?@j*:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029010.983165 s, next control iter: 1743029011.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029011.383165 s.51H~,4 AA= ףp@AJv<@A-P~? AkAWj&"AA_NA"AZAbAjArAzAAAnTv5A2>x2pA?AA︜AA`wѿA5A >*A;>?2A$O:A»BA;>?JA$ORA»٘i)I9?YE Jc >JJJJKB&K  g6Y O~? g6yȍ@B{7{73g6B)BhE[[r@[KW~?[%[[[[ZZBZYY i) /U>Ii/Bf> +ڿ)4H)+ڿPd@*:]+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029011.403165 s, next control iter: 1743029011.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2510&, header.stamp.nsec: 0&0 temperature: 13.426118&* salinity: 33.392490&, density: 1025.000000&* values[0]: 0.530208&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029011.803165 s.wA<1H~,{g AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.082831> elevatorAngleAction: 0.224442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743029011.803312F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG@AK.@A#P~? A1sAi&"AA_NA"AZAbAjArAzAAA6D6AƑ͒7pA:?AFO8AAKA(ѿAlA) >*A=?2Ag$N:A!BA=?JAg$NRA!٘i)I9?YE J >B=JJJJB&K  h6YO~? h6yŕ@ AB7 h6)׵BiE[[r@[W~?[&[[[[ZZBZYY i) XU>Ii.B}> /ڿ)@J)/ڿO@):+YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029011.823165 s, next control iter: 1743029012.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029012.223165 s.gC1H~,H AAQ@A*ꜣ@AP~? AzA2i&"AA}|_NA"AZAbAjArAzAAAQ16An~;pÁ"?A:AIAחAWѿARA">*A=?2AM:AʐBA=?JAMRAʐ٘i)I9"?YE J>C=JJJJB&K Y`N~?y@ AMBb77;h6)B[[s@[3W~?['[[[[ZZBZYY i) 1U>Ii3.B{> ٿ)6K)ܬٿ{@l):i+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029012.243165 s, next control iter: 1743029012.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029012.643165 s.}I1H~,$*) AJ"J*J2J:Jz ?BJz ?nJ(5vJA)\@Aǚ@AP~? AAA7h&"AAm_NA"AZAbAjArAzAAALN6Ax C@@pA1?A:AAAOѿAA&>*A=?2A/K:ABA=?JA/KRA٘i)I91?Y@E J>JJJDJOB&K  i6YN~? i6y$ABŧ7b7i6)B[[cs@[W~?[([[[[ZZBZYY i) JU>Ii}-B> ؿ)L)ؿӒ@):tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2511, header.stamp.nsec: 00 temperature: 13.424562* salinity: 33.392467, density: 1025.000000* values[0]: 0.537028F (some fields omitted in printout)+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029012.663165 s, next control iter: 1743029013.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029013.063165 s.P1H~,_ D AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.091638> elevatorAngleAction: 0.224442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743029013.063292F (some fields omitted in printout)A̞@A⬈@A$P~? A͉A h&"AA^_NA"AZAbAjArAzAAA]k6A2ĈWDpA8A?Ax:AAMAKпA A>*A=?2AB)L:A෽BA=?JAB)LRA෽Y5@\y!:ٓH`)ѿ?R?`]ҿ ? ?.>V?m?)5@ I٘i)I9A?YE J>JټJJJB&K7~=  j6YN~? j6yA\￑ AB77{7j6B){BfE[[s@['W~?[*[[[[ZZBZYY i) U>Ii,B"> _\ؿ)):N)c_\ؿ@(:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029013.083165 s, next control iter: 1743029013.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029013.483165 s.w_W1H~,^ AJ"J*J2J:Jb ?BJb ?nJ5vJAq= ף@Ao@AO~? AZAzg&"AAvP_NA"AZAbAjArAzAAAA6AYbwIpAP?ABN9AK ASA8пA@A?>*A=?2AL:A0BA=?JALRA0٘i)I9P?YE J[>JJJJB&K  k6YN~? k6yƵxA A8BJk6B)]BgE[[s@[W~?[2+[[[[ZZBZYY i) U>Ii ,B5> ׿)~O)׿@n(:U+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029013.503165 s, next control iter: 1743029013.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2512, header.stamp.nsec: 00 temperature: 13.422966* salinity: 33.392414, density: 1025.000000* values[0]: 0.544156F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029013.903165 s.]1H~,y AAGz@AnF@AO~? A똥Af&"AA1B_NA"AZAbAjArAzAAAk6AOFNpAp`?ALAAA`пA@AQ>*Ao=?2A^0K:AЍBAo=?JA^0KRAЍ٘i)I9p`?YF J>JJJJSB&K  l6YN~? l6y̽"AܤB7)7l6)>B[[jBt@[(W~?[P,[[[[ZZBZYY i) -V>IiP+BH> 2׿)GP)2׿0C@(:w+YﰧYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029013.923165 s, next control iter: 1743029014.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029014.323165 s.wd1H~,) AJ"J*J2J:J8 ?BJ8 ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.081891> elevatorAngleAction: 0.224442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743029014.323290F (some fields omitted in printout)AQ@AxE@AO~? A~A?Tf&"AA!4_NA"AZAbAjArAzAAA ,N6AyqRpA>\p?AߺAkAhA!пA@A|c>*A=?2AI:A#ﵽBA=?JAIRA#ﵽ٘i)I9\p?Y?F J>JJJJB&K  m6YN~? m6yŤA AB{7{7xm6)B[[t@[W~?[r-[[[[ZZBZYY i) w!V>Ii*Bs^> sֿ)R)ƹsֿh@':+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029014.343165 s, next control iter: 1743029014.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2513*, header.stamp.nsec: 0*0 temperature: 13.421297** salinity: 33.392418*, density: 1025.000000** values[0]: 0.551421*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029014.743165 s.Wk1H~,~ AA\(@Aũ@AO~? AAe&"AAE&_NA"AZAbAjArAzAAAV>ZQ66AhVWpA7?AATAA ϿA A>*A=?2AH:ABPBA=?JAHRABP٘i)I97?YF J>JJJJB&K&New estimator for commanded vars: speed 0.80 m/s, pitch -20.00 deg, mass-position 0.00 mm (1 active estimators).  n6YN~? n6yͤvA A#B77U^n6B)BdE[[t@[W~?[.[[[[ZZBZYY i) ?V>Ii)Bu> Gֿ)|S)Gֿ@q':+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029014.783165 s, next control iter: 1743029015.143179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029015.163165 s.x}r1H~,q AJ"J*J2J:JBJnJvJA@AC8fˢ@AO~? AA-e&"AA_NA"AZAbAjArAzAAA4D|)6A=[pAS?A[C AFAOA`/UϿA:As>*A=?2AI:ABA=?JAIRAY@|yF ٓH &dп`7?`?68|Kѿ׉?pM?@khA@X?)@ I٘i)I9S?Y%F Jf>JJJJXB&K{=  o6YN~? o6yդ+ AƦBb77Co6B)ݴBeE[[#u@[W~?[/[[[[ZZBZYY iI\>) VV>Ii()B> 7pտ)T)y:7pտͳ@':+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029015.183165 s, next control iter: 1743029015.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029015.583165 s.x1H~,R AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.081166> elevatorAngleAction: 0.214914< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743029015.583287F (some fields omitted in printout)Ap= ף@AHۢ@AtO~? AGAd&"AA! _NA"AZAbAjArAzAAAׄN 7AT`pAB?AJ:AAZA οA`~AI>*AH=?2AJ:ABAH=?JAJRA٘i)I9?Y/F J>JJJJB&K  p6YN~? p6yݤ A AiB(p6)B[[nu@[5W~?[0[[[[ZZBZYY i) nV>Iin(B> ?Կ)iU)?ԿKٓ@&:s+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029015.623165 s, next control iter: 1743029015.983177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2514 , header.stamp.nsec: 0 0 temperature: 13.419603 * salinity: 33.392353 , density: 1025.000000 * values[0]: 0.558902 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029016.003165 s.x 1H~,L4 AJ"J*J2J:J?BJ?nJ5vJAHz@ALy@AO~? A徥Ad&"AA^NA"AZAbAjArAzAAAă'7AlUCepAʽ?A K:A6AڣAVYοA`f'A>*A=?2AJJJJB&K  q6YNN~? q6y A A Bj7j7Lq6)B[[u@[W~?[ 2[[[[ZZBZYY i) &V>Ii'B> OCԿ):W)OCԿ@s&:"+Y"YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743029016.023165 s, next control iter: 1743029016.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029016.423165 s. u1H~, AAQ@AkP@AO~? AƥApc&"AA^NA"AZAbAjArAzAAAJO@7AJipA ?A :AȦAA#ͿA0A$>*A=?2A-H:AdQBA=?JA-HRAdQ٘i)I9 ?YCF JR>JJJJ\B&K YN~?yHABSI7q6B)yBbE[[v@[AW~?[83[[[[ZZBZYY i) IV>Ii&B> cӿ)X)AScӿ%@&:y\>+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029016.463165 s, next control iter: 1743029016.823186 s, wait time: 0.360021 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2515, header.stamp.nsec: 00 temperature: 13.417872* salinity: 33.392330, density: 1025.000000* values[0]: 0.566557F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029016.843165 s.݌1H~,5 AJ"J*J2J:J ?BJ ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.090003> elevatorAngleAction: 0.214914< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743029016.843297F (some fields omitted in printout)A(\@A$c'@AiO~? A)ΥAb&"AA^NA"AZAbAjArAzAAAYY7A,npAOj?Aw:AᦾAcAcfͿA9As>*Aq=?2A`G:ABAq=?JA`GRA٘i)I9j?Y,NF JA>JJJJB&K  r6YͦN~? r6y$A ASBŧ7b7r6B)YBcE[[Rv@[ÊW~?[i4[[[[ZZBZYY i) lV>IiH&B{> ӿ)Y)ӿ;K@%:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029016.883165 s, next control iter: 1743029017.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029017.263165 s.1H~,'P AA33333@A\W@ARO~? AեAGb&"AAF^NA"AZAbAjArAzAAAL7Mr7AX[AspAKб?AA^ڦAzA̿A`-BA; >*A =?2A?G:ABA =?JA?GRAYه@y^ڦ9ٓHͿ {? ?ciϿ?@J}?`V`P?)ه@ I٘i)I9б?YdXF J>J^JJJB&Kx=  s6Y8N~? s6y@A近 AB77ds6)7B[[v@[XW~?[5[[[[ZZBZYY i) V>Ii%BJ> w{ҿ)[)w{ҿp@u%:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029017.283165 s, next control iter: 1743029017.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 25162, header.stamp.nsec: 060 temperature: 13.4161076* salinity: 33.3922696, density: 1025.0000006* values[0]: 0.5743186F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029017.683165 s.l1H~,^k AJ"J*J2J:J?BJ?nJ*5vJAףp= @A-֧ͭ@AYO~? AzݥAa&"AA^NA"AZAbAjArAzAAAqx7AiwpA*A|=?2AXqH:A*BA|=?JAXqHRA*񭽙٘i)I9JJJJ`B&K  t6YN~? t6y[nAB77t6)B[[v@[W~?[6[[[[ZZBZYY i) AV>Ii$B> {ѿ)Q\){ѿ@!%:y+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029017.683165 s, next control iter: 1743029018.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743029018.103165 s.1H~,Ț AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.080612> elevatorAngleAction: 0.214914< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743029018.103310F (some fields omitted in printout)A{Gᨣ@A!@AO~? A'Aa&"AA{^NA"AZAbAjArAzAAA>:=>7Arz|pA]?AA6AA` ̿AVA >*A=?2A~G:A(BA=?JA~GRA(٘i)I9?YlF J >JJJJ B&K  u6YN~? u6yv'A AIi$B > Jѿ)])Jѿ;@$:?+YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029018.123165 s, next control iter: 1743029018.503182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029018.523165 s.1H~,{ AJ"J*J2J:J ?BJ ?nJ:5vJAQ@AP)@A̘O~? AA`&"AAc^NA"AZAbAjArAzAAA@@i7AGVPpA"?AAaAdA˿A`Af!>*A==?2AF:AF-BA==?JAFRAF-٘i)I9"?Y7wF J!>JJJJB&K  v6YxN~? v6yA A߫BS7S7onv6)ӳBaE[[w@[yW~?[:9[[[[ZZBZYY i) W>Iia#BR > п)`^)Iп@x$:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029018.543165 s, next control iter: 1743029018.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2517, header.stamp.nsec: 00 temperature: 13.414336* salinity: 33.392254, density: 1025.000000* values[0]: 0.582188F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029018.943165 s.]d1H~,W] AA(\@AX;[@A8O~? AA_&"AA|^NA"AZAbAjArAzAAAt~7AmpAE?AVTA1A/A`˿A@8kA6!>*A< >?2A^E:ALpBA< >?JA^ERALp٘i)I9?Y€F J)!>JJJJdB&K  w6YN~? w6yABb77Sw6)B[[w@[tW~?[x:[[[[ZZBZYY i) W>Ii"B6> п)4`)пy @#$:+YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029018.963165 s, next control iter: 1743029019.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029019.363165 s.1H~,u> AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.089496> elevatorAngleAction: 0.214914< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743029019.363270F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@A˂?2@AĉO~? AEAZ_&"AAŚ^NA"AZAbAjArAzAAAo1(/7AvpAx?A:A2A~A 7ʿAtA@!>*Aq>?2AAF:AҪBAq>?JAAFRAҪYR@y,Ӌ:ٓHCʿ@6?@? 63̿@x?Fd? 0P? U?)R@ I٘i)I9?YF JJg{;JJJB&K(x=  x6YN~? x6y&OA忑 A%B77{7*9x6)B[[x@[)pW~?[;[[[[ZZBZYY i) [/W>Ii!BE> /|Ͽ) da)A/|Ͽ0@#:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029019.403165 s, next control iter: 1743029019.763175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2518&, header.stamp.nsec: 0&0 temperature: 13.412551&* salinity: 33.392204&, density: 1025.000000&* values[0]: 0.590093&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029019.783165 s.V1H~, AA ףp=@AŬC @AnO~? AAS^&"AA=^NA"AZAbAjArAzAAA l7AE9ѿrpA(?AA:A 䥾A AI;ʿA0~AL!>*A >?2ASG:AXBA >?JASGRAXI٘i)I9?YF JW!>JJJJB&K  y6Y zN~? y6y/A AȭBb7b7ny6)mB[[jx@[kW~?[<[[[[ZZBZYY i) 0EW>Ii3!B4V> ο)țb)οbW@z#:^+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029019.803165 s, next control iter: 1743029020.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029020.203165 s.1H~,& AJ"J*J2J:J?BJ?nJw5vJAGz@A/Jଣ@A:{O~? A A-^&"AA^NA"AZAbAjArAzAAAA8A9-pA?A):AɥAA`]ɿA׈Ae!>*A0>?2AG:ABA0>?JAGRA٘i)I9?Y8F J^!>JJJJhB&K  z6Y tN~? z6y)7AkB7z6B)MBbE[[{x@[WgW~?[6>[[[[ZZBZYY i) [W>Iiy Bsh> Fο)c)Fο9~@%#:8+Y,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029020.223165 s, next control iter: 1743029020.603178 s, wait time: 0.380013 s tN~?))7 rAdjusting time to match Gazebo time: 1743029020.623165 s.T1H~,P' AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.080202> elevatorAngleAction: 0.214914< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743029020.623289F (some fields omitted in printout)AR뭣@AUId@A(tO~? AA]&"AAx^NA"AZAbAjArAzAAACcF(8ApAz?A; :A縥A*A`EɿA@A!>*A @>?2A F:A,ƩBA @>?JA FRA,Ʃ٘i)I9z?Y`F Ji!>B=JJJEJB&K Y3nN~?yS?r A AB7)7.z6B)*B_E[[y@[bW~?[~?[[[[ZZBZYY i) pW>IiB7|> Ϳ)$e)#ͿU@":!+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029020.643165 s, next control iter: 1743029021.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2519 , header.stamp.nsec: 0 0 temperature: 13.410748 * salinity: 33.392181 , density: 1025.000000 * values[0]: 0.598005 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029021.043165 s.1H~,B AJ"J*J2J:JBJnJvJA(\®@ATka@A7mO~? AGA<\&"AAm^NA"AZAbAjArAzAAAV=8A# pA?AdAjAA?ȿA A%!>*AJP>?2AD:ABAJP>?JADRA٘i)I9?YF J!>C=JJJJB&K  {6YHhN~? {6y|G("A AB77r{6B)B[[cUy@[z^W~?[@[[[[ZZBZYY i) W>Ii B͑>  Ϳ)uf) Ϳ̕@|":+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029021.083165 s, next control iter: 1743029021.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029021.463165 s.Z1H~,] AA@A\ve@AefO~? A#Ag\&"AAc^NA"AZAbAjArAzAAA| qjR8ALؑhpA:@AgAȲApYA fȿA Ag!>*A{Z>?2AaE:AR|BA{Z>?JAaERAR|Y4z@eJyJ:ٓH@ǿ`?M? \ ɿ?DZ?lVV?)4z@ I٘i)I9:@YF J!>B=J:JJJlB&Kfw=  |6YcN~? |6yO#AJ⿑ ATBb7ݳ|6)ϲB[[Gy@[ZW~?[B[[[[ZZBZYY i) W>IiMB> p̿)yg)ãp̿@(":+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029021.503165 s, next control iter: 1743029021.863180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2520, header.stamp.nsec: 00 temperature: 13.408946* salinity: 33.392166, density: 1025.000000* values[0]: 0.605966F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029021.883165 s.z1H~,]x AJ"J*J2J:J ?BJ ?nJ"5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.079963> elevatorAngleAction: 0.214914< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743029021.883324F (some fields omitted in printout)A= ףp@A8t<@A_O~? A*A[&"AAX^NA"AZAbAjArAzAAAJּf8A *pAz@ARۺAڻAAǿAA ">*Ad>?2A$F:AWBAd>?JA$FRAW٘i)I9z@YF J">C=JJJJB&K  }6Y]N~? }6yW%AB7777!}6)B`E[[y@[UW~?[_C[[[[ZZBZYY i) W>IiB5> 7˿)Xh)7˿@!:&+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029021.903165 s, next control iter: 1743029022.283181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029022.303165 s.W1H~,{g AAzG@AL@AYO~? A2A7[&"AAN^NA"AZAbAjArAzAAAPBz8ApA @AOA˥AAduǿAaAdC">*As>?2AEF:A.BAs>?JAEFRA.٘i)I9 @YF J"">JJJJĴB&K  ~6YXN~? ~6y`J'A AB7~~6)B[[@z@[XQW~?[D[[[[ZZBZYY i) W>IiB> W6˿)j)W6˿EB@!:7+YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029022.323165 s, next control iter: 1743029022.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2521*, header.stamp.nsec: 0*0 temperature: 13.407149** salinity: 33.392113*, density: 1025.000000** values[0]: 0.613917*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029022.723165 s. 1H~,H AJ"J*J2J:J)?BJ)?nJ$5vJAQ@A/걣@ARO~? A}:AZ&"AAC^NA"AZAbAjArAzAAA6+8Ay*pA@A+mY8A⥾A+JAƿA@A}">*A>?2AvE:ABA>?JAvERA٘i)I9@YBF JX">JJJJpB&K  6YASN~? 6yQh(A A=Bj7Z7c6)iB[[ z@[LW~?[F[[[[ZZBZYY i) SW>IiB> kʿ)D[k)Fkʿj@*!:T+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029022.743165 s, next control iter: 1743029023.123183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743029023.143165 s.R/1H~,) AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.089002> elevatorAngleAction: 0.214914< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743029023.143283F (some fields omitted in printout)A)\@Ae@A`LO~? ARBAZ&"AA9^NA"AZAbAjArAzAAAjmH8AѱN}pAD@A-ˤ:AA߿AƿAA">*At>?2AD:A䨽BAt>?JADRA䨽٘i)I9D@YtF J">JJJJB&K  6YMN~? 6yp*AB77{7$6B)FB^E[[z@[HW~?[^G[[[[ZZBZYY i) W>IifB> sɿ)l)sɿ@ :z+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029023.163165 s, next control iter: 1743029023.543174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743029023.563165 s.1H~,V AJ"J*J2J:J0?BJ0?nJ%5vJA̳@A:@A2FO~? A+JAInY&"AA,0^NA"AZAbAjArAzAAAs8A /GpA @A:AP$A޿AƿA`A#>*A>?2A'E:AΨBA>?JA'ERAΨYJ@I߿y>$ :ٓHԷĿ|?`?kſ< ?g?@4]?uT?)J@ I٘i)I9@YF J">J!JJJȶB&Kx= YjIN~?yxl,A߿ ABb77J6)$B[[/{@[5DW~?[H[[[[ZZBZYY i) ^ X>IiB> KYɿ)^m)pKYɿ@ :+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029023.603165 s, next control iter: 1743029023.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2522, header.stamp.nsec: 00 temperature: 13.405339* salinity: 33.392090, density: 1025.000000* values[0]: 0.621937F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029023.983165 s.1H~, AAq= ף@Ago@A#@O~? ARAOX&"AA&^NA"AZAbAjArAzAAA0/gc8A 4 pA@AEX:AnLAI޿AޠſASA=V#>*A:>?2AF:A1ŨBA:>?JAFRA1Ũ٘i)I9@Y߾F J0#>JJJJtB&K  6YDN~? 6y".A A'Bŧ7 6)B[[~{@[?W~?[J[[[[ZZBZYY i) "X>IiB> ȿ)<o)ȿV@, :+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029024.003165 s, next control iter: 1743029024.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029024.403165 s.&2H~, AJ"J*J2J:J= ?BJ= ?nJ(5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.079805> elevatorAngleAction: 0.214914< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743029024.403291F (some fields omitted in printout)AGz@ASF@A6:O~? AYA"ſA`A#>*A>?2AF:A|¨BA>?JAFRA|¨٘i)I9!@YF J#>JJJJ B&K Y@@N~?yA/AʴB77|6)߱B[[{@[;W~?[nK[[[[ZZBZYY i) 7X>Ii3B&> ȿ)Bp)ȿj @:+YgeYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029024.423165 s, next control iter: 1743029024.803178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2523&, header.stamp.nsec: 0&0 temperature: 13.403521&* salinity: 33.392059&, density: 1025.000000&* values[0]: 0.630000&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029024.823165 s. 2H~,-4 AAQ@A ʼ@Ak4O~? AaAW&"AA^NA"AZAbAjArAzAAA/8A~pAl%@AsATAݿAĿA2A; $>*A>?2A E:A,BA>?JA ERA,٘i)I9l%@YVF J#>JJJJ̸B&K Y;N~?y1A AmB7)7F6B)B_E[[|@[(7W~?[L[[[[ZZBZYY i) IMX>IizB!,> Oxǿ)q)*Oxǿ1@:M+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029024.863165 s, next control iter: 1743029025.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743029025.243165 s.2H~,iO AJ"J*J2J:JBJnJvJA\(@A@A.O~? AiA W&"AA ^NA"AZAbAjArAzAAAG8A!npAC)@Ac̺AҦAxܿA2ĿA$A>$>*A>?2A 9D:AdBA>?JA 9DRAd٘i)I9)@YF JH$>B=JJJJxB&K  6Y7N~? 6yG3A AB777a6)B[[p|@[2W~?[8N[[[[ZZBZYY i) bX>IiB@> ƿ)r)ƿmZ@/:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029025.263165 s, next control iter: 1743029025.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029025.663165 s.2H~,qj AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.088948> elevatorAngleAction: 0.214914< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743029025.663275F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2524, header.stamp.nsec: 00 temperature: 13.401663* salinity: 33.392014, density: 1025.000000* values[0]: 0.638077F (some fields omitted in printout)A@A`2˷@A6)O~? AqA'oV&"AA ^NA"AZAbAjArAzAAAA쭑 9AKQpA$.@AAAA,ۿAÿAA2$>*AZ>?2A[E:ABAZ>?JA[ERAYO@ۿyHʺٓH@@,?ب?j@#¿@cF??W@ P?)O@ I٘i)I9.@YF J$>C=JJJJ$B&K0y= Y-3N~?y5AۿBŧ7ŧ7Ԃ6)xB[[;|@[~.W~?[O[[[[BZYY i) wX>IiBN> 5ƿ)s)=c5ƿ@:+YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029025.683165 s, next control iter: 1743029026.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029026.083165 s.D!2H~,S AJ"J*J2J:JY#?BJY#?nJH+5vJAp= ׸@Aۢ@A#O~? AvyAU&"AA|]NA"AZAbAjArAzAAAJMN9AV'%pAd2@AI?A1AۿANÿA@AAE%>*A>?2AF:AmBA>?JAFRAm٘i)I9d2@Y F J%%>JJJJкB&K  6YF/N~? 6yJ6A AVBb77JG6B)UB\E[[}@[1*W~?[Q[[[[BZYY i) ;X>IiIB^> Gſ)-u)Gſ @:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029026.103165 s, next control iter: 1743029026.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029026.503165 s.'2H~,@4 AAHz@Ay@AO~? AaA:U&"AA]NA"AZAbAjArAzAAA@Q,9AՎTpAj6@AɅ9AfbAt_ڿA1¿A@.AI%>*A,??2AdJF:ABBA,??JAdJFRAB٘i)I96@YjF Jt%>JJJJ|B&K Y_+N~?yr8A AB77{76B)3B]E[[c}@[%W~?[sR[[[[BZYY i) bX>IiB3o> WĿ)gv)WĿӗ@1:C+Y3OYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029026.523165 s, next control iter: 1743029026.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2525, header.stamp.nsec: 00 temperature: 13.399837* salinity: 33.391972, density: 1025.000000* values[0]: 0.646250F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029026.923165 s.9.2H~, AJ"J*J2J:Jp%?BJp%?nJy-5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.079779> elevatorAngleAction: 0.214914< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743029026.923299F (some fields omitted in printout)AQ@A8 Q@A^O~? AOA_T&"AA]NA"AZAbAjArAzAAAm';9A+QpA;@A:AAٿA@mN¿AA@ &>*A??2AýE:AiBA??JAýERAi٘i)I9;@YF J%>B=JJJJ)B&K  6Yw'N~? 6y׺+:ABb7b7,6)B[[}@[!W~?[S[[[[BZYY i) X>IiB> /LĿ)ުw)R/LĿ@:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029026.943165 s, next control iter: 1743029027.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029027.343165 s.<52H~, AA(\@A"'@A\O~? A@AT&"AA]NA"AZAbAjArAzAAA\@VK9A0pA*t?@A*:AƧA ٿAA`IAw&>*A$??2ALD:ABA$??JALDRA٘i)I9t?@YF JX&>C=JJJJԼB&K Y#N~?yå;A A?Bŧ7L6)B[[4~@[=W~?[ZU[[[[BZYY i) X>IiB> ÿ)px)ÿ&@:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029027.363165 s, next control iter: 1743029027.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2526*, header.stamp.nsec: 0*0 temperature: 13.397971** salinity: 33.391968*, density: 1025.000000** values[0]: 0.654462*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029027.763165 s.7;2H~, AJ"J*J2J:JBJnJvJA33333@A$@AyO~? A2AjS&"AA]NA"AZAbAjArAzAAA'@Y9AfpA+C@AIe:AA$lؿA gA hA&>*A0??2AkE:ABA0??JAkERAY{@GyؿyO:ٓH@?'/? {?@n?LS? K?){@ I٘i)I9C@Y[F J&>JJJJB&K&z=  6YX N~? 6yh˥=Ayؿ AB)7{76)ʰB[[Y~@[W~?[V[[[[BZYY i) ,X>Ii`BF> ÿ)z)qÿN@3: +YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029027.783165 s, next control iter: 1743029028.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029028.183165 s.B2H~,s AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.079865> elevatorAngleAction: 0.214914< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199252 time: 1743029028.183265F (some fields omitted in printout)Aףp= @Aּ@A O~? A'AR&"AAT]NA"AZAbAjArAzAAAXh9A 6_pA7H@AA.AC׿AUA#AS'>*AJJJJ,B&K Y N~?yӥ[?AB7776)B^E[[~@[W~?[DX[[[[BZYY i) X>IiB> S_¿)M{)S_¿x@:O+YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743029028.223165 s, next control iter: 1743029028.583180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743029028.603165 s.J "J *J 2J A4I2H~:J)?,ؚ& ABJ)?nJ15vJA{Gὣ@Ae@AO~? AA4R&"AA]NA"AZAbAjArAzAAAav9AW*AM??2AF:AfϧBAM??JAFRAfϧ٘i)I9L@Y F J'>JJJJپB&K YN~?yܥAA A'Bŧ7ŧ7R6)B[[~@[xW~?[Y[[[[ZZZZ¸>BZYY i¸>$=)  V>IiBĺ> )|)q@:+YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029028.643165 s, next control iter: 1743029029.003185 s, wait time: 0.360020 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2527 , header.stamp.nsec: 0 0 temperature: 13.396094 * salinity: 33.391933 , density: 1025.000000 * values[0]: 0.662732 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029029.023165 s.ZP2H~,{A AAQ@A@AO~? AA%Q&"AA]NA"AZAbAjArAzAAA!9AhpA/Q@A(A哨A;ֿA@A1AA(>*AB`??2ATE:ABAB`??JATERA٘i)I9Q@YlF J(>JJJJB&K&New estimator for commanded vars: speed 0.80 m/s, pitch 20.00 deg, mass-position 0.00 mm (2 active estimators).  6YN~? 6yLBA AʻB)7i6)aB[[RR@[3 W~?[@[[[[[ZZZZBZYY i) CT>Ii0B׹> )})$˘@6:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029029.063165 s, next control iter: 1743029029.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029029.443165 s.9V2H~,F]\ AJ"J*J2J:J*?BJ*?nJ35vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.089221> elevatorAngleAction: 0.040277< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743029029.443276F (some fields omitted in printout)A(\@Aa80[@A:N~? AAP&"AA]NA"AZAbAjArAzAAACH;79AںpAU@AA@cAdտAA45A.>*A|??2A/D:A+ꕽBA|??JA/DRA+ꕽ٘i)I9U@YG J+>JJJJ1B&K YwN~?yDAmB7777܆6)=B[[Q@[W~?[\[[[[ZZZZBZYY i) 3Q>IixB2> j)*)j$@:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029029.463165 s, next control iter: 1743029029.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2528, header.stamp.nsec: 00 temperature: 13.394210* salinity: 33.391895, density: 1025.000000* values[0]: 0.671076F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029029.863165 s.+]2H~,>w AAfffff@AR2@AN~? AAaP&"AA´]NA"AZAbAjArAzAAA 9A qAZ@AzOkAA0տA AGA ->*Ay@?2A F:A[ BAy@?JA FRA[ Y;@G.տyB=J=JJJB&Kz=  6YN~? 6y5FA.տ ABŧ7b7hO6B)B_E[[@[W~?[J^[[[[ZZZZBZYY i) O>IiB[> ÿ))ÿ@:yp(=+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029029.903165 s, next control iter: 1743029030.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029030.283165 s.J "J *J 2J :J ,?BJ ,?nJ L555Rd2H~vJ, AA ףp=@AyM @AN~? AɦA\O&"AA]NA"AZAbAjArAzAAAd9A핵qA^@Aq~:AyAsԿA AAaA)>*A-A?2AG:AYhBA-A?JAGRAYh٘i)I9^@YG J},>C=JJJJB&K Y_N~?yQGA AB77‡6B)B\E[[&@[wV~?[_[[[[ZZZZBZYY i) EaM>IiB> )c)H@8:N+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029030.303165 s, next control iter: 1743029030.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2529., header.stamp.nsec: 0.0 temperature: 13.392270.* salinity: 33.391865., density: 1025.000000.* values[0]: 0.679728.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029030.703165 s.Ժj2H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.080111> elevatorAngleAction: 0.040277< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743029030.703271F (some fields omitted in printout)AGz£@AO\W@AN~? A(ѦA-(O&"AA]NA"AZAbAjArAzAAA䨠9AT>$ qAc@Ay:AUAӿALJAAE#>*A˭A?2A@8G:A,JBA˭A?JA@8GRA,J٘i)I9c@Y, G Jr'>JJJJ5B&K  6Y N~? 6yIAXB7E746)ѯB[[ZQ@[;V~?[`a[[[[ZZZZBZYY i) wK>IiABS> r)Q)rUs@:+YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029030.723165 s, next control iter: 1743029031.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029031.123165 s.9q2H~,e AJ"J*J2J:J/?BJ/?nJ75vJAR£@A?-W£@AN~? AD٦A&N&"AAQ]NA"AZAbAjArAzAAABR9A,ܟqA?g@A:AA"ӿAN^AAv>*Ab@B?2A;F:AY0BAb@B?JA;FRAY0٘i)I9?g@Y G J >JJJJB&K YG N~?y +KA AB77{7Z6)B[[|@[V~?[b[[[[ZZZZBZYY iZ<) H>Ii B'> kǽ))[kǽ@:A+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029031.163165 s, next control iter: 1743029031.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029031.543165 s.Ix2H~, AA(\ã@Aٲ|]ã@AKN~? AjADM&"AA9]NA"AZAbAjArAzAAA%/E9A!aqACk@A:AsvA|ҿA`xAAp>*AB?2AF:ABVBAB?JAFRABV٘i)I9Ck@Y/G J>JJJJB&K  6YN~? 6ygLA AB7ŧ76B)B]E[[@[V~?[d[[[[ZZZZBZYY i) ܌F>Ii Bd;> )x)ș@::+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029031.563165 s, next control iter: 1743029031.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2530, header.stamp.nsec: 00 temperature: 13.390427* salinity: 33.391846, density: 1025.000000* values[0]: 0.687913F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029031.963165 s.}~2H~, AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.089614> elevatorAngleAction: 0.030683< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743029031.963305F (some fields omitted in printout)Aģ@AOjeģ@AN~? AAKM&"AAM]NA"AZAbAjArAzAAAs7Ř9AUOpqAo@ApFA6/dA|ѿA lAA*A\HC?2AoG:A2BA\HC?JAoGRA2YG@ѿy6/dKٓH)@? #? " 8?I?(s5?)G@ I٘i)I9o@YG J>J [>JJJ9B&Ki|= YN~?yNAѿ AGBŧ7b76)rB[[Ҁ@[wV~?[&f[[[[ZZZZBZYY i^t=) D>Ii BA> #m),)#m@:z+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029032.003165 s, next control iter: 1743029032.363181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743029032.383165 s.؅2H~,] AA= ףpţ@A3w<ţ@A.N~? AAL&"AA]NA"AZAbAjArAzAAAR29A 4ğ qA;r@AoARA_4ѿAĸA`hAn>*AC?2AI:A-BAC?JAIRA-伙٘i)I9r@YG J>JJJJB&K YN~?y'2OAB77`6)UB[[@[/V~?[g[[[[ZZZZBZYY i@=) OB>IiI BI> s)Nă)s~ @:y<+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029032.403165 s, next control iter: 1743029032.783186 s, wait time: 0.380021 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2531", header.stamp.nsec: 0"0 temperature: 13.388761"* salinity: 33.391796", density: 1025.000000"* values[0]: 0.695249"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029032.803165 s.xA2H~,g3 AJ"J*J2J:J1?BJ1?nJ:5vJAzGƣ@A,σƣ@AN~? AA L&"AA]NA"AZAbAjArAzAAAp;2f9A]>hb%qA:v@AACAпA8÷ASAԽ=*A/D?2AH:AbҼBA/D?JAHRAbҼ٘i)I9v@YG J=JJJJB&K  6Y N~? 6y+0bPA AB77 r6B)Ii BS> s )Sa)s L@=:y)|=#+YqYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029032.843165 s, next control iter: 1743029033.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029033.223165 s.g2H~,HN AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.080568> elevatorAngleAction: 0.047078< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743029033.223318F (some fields omitted in printout)AQǣ@A&ƣ@AN~? AlAgK&"AA]NA"AZAbAjArAzAAA}.9Au&*qA$y@AA5AϿA!ǶA@4AZP=*AFD?2AH:ALBAFD?JAHRAL٘i)I9$y@YG J=JJJJ=B&K Y$M~?y8QA A>Bŧ7ŧ76)#B[[XW@[V~?[k[[[[ZZZZBZYY i) >>Ii B_> Z) )7ZSy@:y89==x+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029033.243165 s, next control iter: 1743029033.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029033.643165 s.rЙ2H~,)i AJ"J*J2J:JBJnJvJA)\ǣ@A̕ǣ@AN~? A AJ&"AA]NA"AZAbAjArAzAAAak؍:Ah/qA|@AKD9Aay)A'ϿA`fεA@MAn=*AE?2A_H:A`OBAE?JA_HRA`O٘i)I9|@YkG JR=JJJJB&K  6Y>M~? 6yYARAB77aW6) B[[E@[QV~?[l[[[[ZZZZBZYY i) /<>Ii Bm> k)é)k@@:y!@=g+YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2532, header.stamp.nsec: 00 temperature: 13.387317* salinity: 33.391754, density: 1025.000000* values[0]: 0.701588F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743029033.663165 s, next control iter: 1743029034.043175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029034.063165 s.2H~,| AAȣ@A2菱ȣ@AN~? A$A!J&"AAz]NA"AZAbAjArAzAAAN5$ :Al4qA~@A>:AAuοA 괿ACdA=*AbE?2A0'J:ACԩBAbE?JA0'JRACԩYm@|οye:ٓHo?`t?ࡖ@N? ۿ?GW??)m@ I٘i)I9~@YG J=J%>JJJB&K= YM~?yJSA|ο ABŧ7b7ʋ6)B[[M@[ V~?[n[[[[ZZZZBZYY iy=) :>IiHBp> K)>)NSK򸿩HӚ@?:X+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029034.103165 s, next control iter: 1743029034.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029034.483165 s.s_2H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.081214> elevatorAngleAction: 0.064685< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743029034.483287F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ףɣ@A ګoɣ@AN~? AA}I&"AAu]NA"AZAbAjArAzAAA8":Aqk:qA@Ao:AAͿAA~yA=*AE?2AdL:ABAE?JAdLRA٘i)I9@YG Jo=JJJJAB&K  6YM~? 6yRkTA A:B77<6B)B_E[[ށ@[V~?[Ap[[[[ZZZZBZYY i`=) T>9>IiBu> <)׆)<@:K+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029034.503165 s, next control iter: 1743029034.883175 s, wait time: 0.380010 sM~?)RtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2533, header.stamp.nsec: 00 temperature: 13.386086* salinity: 33.391727, density: 1025.000000* values[0]: 0.707032F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029034.903165 s.ȭ2H~,͹ AAGzʣ@AVFʣ@AN~? A#A)H&"AAMq]NA"AZAbAjArAzAAA<"K:ARg;?qA@ART:A AͿA|ݲA YA{=*AF?2AtK:A'7BAF?JAtKRA'7٘i)I9@YG JE=JJJJB&K YM~?y}[@UABb77d6)ҮB[[f @[~V~?[r[[[[ZZZZBZYY i) <7>IiB}> 煷)5u)煷a.@:r@+Y?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029034.943165 s, next control iter: 1743029035.303180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743029035.323165 s.x2H~,- AJ"J*J2J:J5?BJ5?nJo>5vJAQˣ@AӺˣ@AuN~? Ar,A4H&"AAl]NA"AZAbAjArAzAAA/":A!eDqA.@AP9A?A*[̿AбATA$=*ApF?2AK:A䪼BApF?JAKRA䪼٘i)I9@YxG Jj=JJJJB&K  6YM~? 6y4dVA AB7{7"6)B[[|:@[7V~?[s[[[[ZZZZBZYY i) 5>IiBF> Ͷ))Ͷw\@A:h7+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029035.363165 s, next control iter: 1743029035.723178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2534*, header.stamp.nsec: 0*0 temperature: 13.385042** salinity: 33.391720*, density: 1025.000000** values[0]: 0.711681*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029035.743165 s.W2H~,m AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.091297> elevatorAngleAction: 0.054908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743029035.743280F (some fields omitted in printout)A\(̣@AKˣ@AN~? A4AG&"AAh]NA"AZAbAjArAzAAAfH):A+#IqA@AyAuA1˿A`ɰA:A胛=*AF?2AmcK:A䘯BAF?JAmcKRA䘯I٘i)I9@Y G Jq=JJJJEB&K YPM~?ylVA A8Bb776)B[[h@[V~?[u[[[[ZZZZBZYY i)  4>IiABy> ))銛@:yr`=}/+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029035.763165 s, next control iter: 1743029036.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029036.163165 s.|}2H~,q AJ"J*J2J:J6?BJ6?nJ?5vJAͣ@Aṣ@AN~? Ap=AF&"AAe]NA"AZAbAjArAzAAAQb&0:A~/7NqA @A`ߺAAX˿A AJAv=*AfG?2A9M:A'BAfG?JA9MRA'YhL@˿yvTٓHDᎿ`?`m?@ľ?3Ǿ? k[?)hL@ I٘i)I9 @Y!G J8=J=JJJB&K=  6YM~? 6yuWA˿B)7ŧ7i6B)B`E[[@[V~?[[w[[[[ZZZZBZYY i) l2>Ii{B“> '[)U)Ң'[@:(+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029036.183165 s, next control iter: 1743029036.563181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029036.583165 s.!2H~,*S% AAp= ͣ@AIiB> ))@D:"+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029036.623165 s, next control iter: 1743029036.983177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2535, header.stamp.nsec: 00 temperature: 13.384135* salinity: 33.391689, density: 1025.000000* values[0]: 0.715700F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029037.003165 s.w 2H~,H4@ AJ"J*J2J:J87?BJ87?nJ@5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.081854> elevatorAngleAction: 0.054908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743029037.003303F (some fields omitted in printout)AHzΣ@AtyΣ@AN~? ANAYE&"AA]]NA"AZAbAjArAzAAA]<:ALK2YqA߆@A ABAɿA^AJA:=*AMG?2AA>O:AMBAMG?JAA>ORAM٘i)I9߆@Y.$G J=C=JJJJIB&K Y M~?y5XA A8B7776)B[[@[EV~?[{[[[[ZZZZBZYY i) 1/>IiBk> s峿))s峿~@:+YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029037.023165 s, next control iter: 1743029037.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029037.423165 s.u2H~,[ AAQϣ@A,Pϣ@AN~? AWAD&"AAZ]NA"AZAbAjArAzAAAK|!B:Am^qAK@A@:A޽A[ȿA &AAVx=*AH?2AhO:AƼBAH?JAhORAƼ٘i)I9@Y4%G J=JJJJB&K  6YM~? 6y~YAB77n_6)uB[[#@[ V~?[|[[[[ZZZZBZYY i) )->Ii2Bئ> [()/2) ּ[(E@:7+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029037.443165 s, next control iter: 1743029037.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2536, header.stamp.nsec: 00 temperature: 13.383349* salinity: 33.391670, density: 1025.000000* values[0]: 0.719218F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029037.843165 s.J 2H~"J*J2J,u A:J8?BJ8?nJA5vJA(\У@A|'У@A0N~? A_AzLD&"AAW]NA"AZAbAjArAzAAA:1G:AcqA쁈@AT:ArؽA% ȿAA:Ak=*AHTH?2AeN:A̼BAHTH?JAeNRA̼٘i)I9@Y,&G Jnr=JJJJB&K Y.M~?y$ZA ABŧ7b7ҏ6)iBaE[[nS@[ղV~?[~[[[[ZZZZBZYY i) +>IirBa> i)gۋ)iiu@F:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029037.863165 s, next control iter: 1743029038.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029038.263165 s.2H~,ؐ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.092205> elevatorAngleAction: 0.054908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743029038.263294F (some fields omitted in printout)A33333ѣ@A yУ@AN~? AJhA}C&"AAT]NA"AZAbAjArAzAAA뇖K:AqDhqA8C@A:ARҽAkǿAGA A`=*AkH?2A(P:AҼBAkH?JA(PRAҼYR0@qǿy;ҽP:ٓH '? P?iA?`B?D?]??)R0@ I٘i)I9C@Y'G Jf=J,=JJJMB&K=  6YM~? 6yZAqǿ A9B77D6)]B[[@[V~?[[[[[ZZZZBZYY i) h*>IiBy> בּ)/q)בּ@:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029038.283165 s, next control iter: 1743029038.663176 s, wait time: 0.380011 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 25376, header.stamp.nsec: 060 temperature: 13.3826406* salinity: 33.3916406, density: 1025.0000006* values[0]: 0.7223226F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029038.683165 s.l2H~,Z AJ"J*J2J:J8?BJ8?nJA5vJAףp= ң@As}ѣ@AEN~? ApA)B&"AAGR]NA"AZAbAjArAzAAAM9P:A^1nqA@AcMs:A̽AƿA@zᢿA Ax&U=*A0H?2AѣR:A+ؼBA0H?JAѣRRA+ؼ٘i)I9@Y'G JZ=JJJJB&K YM~?yK>[AB777w6)QB[[?@[V~?[}[[[[ZZZZBZYY i) (>IiA> )$ ):Ԝ@: +YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029038.683165 s, next control iter: 1743029039.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743029039.103165 s.2H~, AA{Gң@Auqң@A N~? AyASB&"AAO]NA"AZAbAjArAzAAAJ$(S:A㴚wsqA@AXA|ǽAſAȁA`$A.J=*A)I?2A\R:An\޼BA)I?JA\RRAn\޼٘i)I9@Y(G J*P=JJJJB&K  6Y?M~? 6y[A AB77{7*6)GBbE[[8@[eV~?[g[[[[ZZZZBZYY i) L'>IiHA齢> .)-).3@H:l+Y2 YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029039.123165 s, next control iter: 1743029039.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029039.523165 s.2H~,{ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.082547> elevatorAngleAction: 0.054908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743029039.523287F (some fields omitted in printout)J"J*J2J:JBJnJvJAQӣ@A$ӣ@AN~? A7AA&"AAM]NA"AZAbAjArAzAAAPV:A\{xqA7P@A&ȺA½A@ſA@=rA@~0A9A=*A(sI?2AR:A~BA(sI?JARRA~㼙٘i)I9P@Y)G J(F=JJJJQB&K YM~?yۻY\A A:B{7˜6)IiAGơ> m)vQ);m4@:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029039.543165 s, next control iter: 1743029039.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2538, header.stamp.nsec: 00 temperature: 13.382024* salinity: 33.391624, density: 1025.000000* values[0]: 0.725112F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029039.943165 s.dd2H~,t] AA(\ԣ@A<;[ԣ@AN~? A䊧A3A&"AAL]NA"AZAbAjArAzAAA?ҴY:A?( ~qA@ADAAhĿAA@;A7=*AI?2AQ:ABAI?JAQRA輙٘i)I9@YW*G J<=JJJJB&K  6YM~? 6yĦ\ABj7}6)2B[[`C@[V~?[L[[[[ZZZZBZYY i) 0$>IiFAР> ))[e@:+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029039.963165 s, next control iter: 1743029040.343191 s, wait time: 0.380026 s rAdjusting time to match Gazebo time: 1743029040.363165 s.3H~,> AJ"J*J2J:JBJnJvJAfffffգ@Au8F2գ@AKN~? AAW@&"AAbJ]NA"AZAbAjArAzAAAM?,\:A)YqA@AaAfAÿA@i⓿A FA.=*AI?2AڜS:ABAI?JAڜSRAY@ÿyf$ٓHZ٤?-?e ?"?$? aR s?)@ I٘i)I9@Y+G J3=J;<JJJB&Kԉ= YM~?ylͦb]Aÿ AB777)6))B[[s@[V~?[?[[[[ZZZZBZYY i) R">IiAҟ> 譿)ؒ)譿@K:K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029040.383165 s, next control iter: 1743029040.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2539&, header.stamp.nsec: 0&0 temperature: 13.381451&* salinity: 33.391594&, density: 1025.000000&* values[0]: 0.727614&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029040.783165 s.V 3H~,2 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.083353> elevatorAngleAction: 0.054908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743029040.783285F (some fields omitted in printout)A ףp=֣@ASD ֣@AN~? AHA?&"AAH]NA"AZAbAjArAzAAA'`]:A#_qA@A8A봽A{ÿAaAOAM&=*AI8J?2A U:A0BAI8J?JA URA0９٘i)I9@Y+G J*=JJJJUB&K YDM~?y4֦]A AIi0AOמ> ;&).);&LƝ@:,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029040.803165 s, next control iter: 1743029041.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029041.203165 s.3H~,M AJ"J*J2J:J:?BJ:?nJC5vJAGzף@ABK֣@A9N~? AA?&"AAG]NA"AZAbAjArAzAAAGfQ_:AFJ:qAH@AJ:AAG¿A A YAV=*A{J?2AU:A-BA{J?JAURA-򼙘٘i)I9@Yd,G JQ"=JJJJB&K  6YkM~? 6yަ[^A AB)7b7wg6)B[[dՄ@[V~?[6[[[[ZZZZBZYY ijw<=)  >IiAݝ> a),А)a_@:/*YƚYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743029041.223165 s, next control iter: 1743029041.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029041.623165 s.U3H~,Tg AARף@A}[Tף@AN~? AA-Y>&"AAF]NA"AZAbAjArAzAAA=.`:A^O!OqA@A:AcAA]wA TcA E=*AcJ?2A#gU:A\BAcJ?JA#gURA\٘i)I9@Y-G JF=JJJJB&K YM~?y^ABZ7Z7"ړ6)B[[@[V~?[;[[[[ZZZZBZYY i) #>Ii(Ao> )v)(@M:u*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743029041.643165 s, next control iter: 1743029042.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2540 , header.stamp.nsec: 0 0 temperature: 13.380952 * salinity: 33.391594 , density: 1025.000000 * values[0]: 0.729844 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029042.043165 s. 3H~, AJ"J*J2J:J:?BJ:?nJC5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.094156> elevatorAngleAction: 0.046012< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743029042.043286F (some fields omitted in printout)A(\أ@AYeأ@AиN~? AwA=&"AAAF]NA"AZAbAjArAzAAA@骍`:A:nqA@Ai:AkʧA3AQAlAq%=*AtK?2AT:ABAtK?JATRA󼙘٘i)I9@Y-G JZ=JJJJZB&K  6YM~? 6yT_A A>B77{7L6)BdE[[8@[މV~?[F[[[[ZZZZBZYY i) >IiA6> SԪ)")SԪZ@:9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029042.063165 s, next control iter: 1743029042.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029042.463165 s.U'3H~,㤝 AA٣@A<+ie٣@A׸N~? A8A=&"AAE]NA"AZAbAjArAzAAAKR#w`:Ap,qA@A 9A*_At!Adh?A@tA=*Ae@K?2AV:ABAe@K?JAVRAY@@0"y*_v9ٓH`Gɱ??@whٱ?`8? tF?2? D?)@@ I٘i)I9@Y(.G J =JY<JJJB&K= YM~?yU_A" AB77|6)B[[(j@[V~?[N[[[[ZZZZBZYY i) `'>IiA> ))$f#@:y9<=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029042.483165 s, next control iter: 1743029042.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2541, header.stamp.nsec: 00 temperature: 13.380505* salinity: 33.391590, density: 1025.000000* values[0]: 0.731851F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029042.883165 s.y-3H~,4 AJ"J*J2J:JBJnJvJA= ףpڣ@Aut<ڣ@AN~? AǧAyX<&"AAE]NA"AZAbAjArAzAAA)zR_:A6X )VqA@AH.AމA \A8u~?A|AN=*A{K?2AX:A!BA{K?JAXRA!９٘i)I9@Y.G Ji=JJJJB&K  6YN~? 6y.`ABb7&26)B[[@[V~?[\[[[[ZZZZBZYY i) >IiA-> G)X)G@O:*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029042.903165 s, next control iter: 1743029043.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029043.303165 s.P43H~,^g AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.084179> elevatorAngleAction: 0.046012< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743029043.303288F (some fields omitted in printout)AzGۣ@Aۣ@A^N~? AЧA;&"AAE]NA"AZAbAjArAzAAA,#^:Aa@qA@AtA2A]A`?AӄA<*AgK?2AX:AjBAgK?JAXRAj٘i)I9@Y1/G J'<JJJJ^B&K YN~?y `A AABŧ7ŧ7٤6)B[[.΅@[~V~?[p[[[[ZZZZBZYY i) 4>IiA> ~))~)@:*Y`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029043.323165 s, next control iter: 1743029043.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2542., header.stamp.nsec: 0.0 temperature: 13.380113.* salinity: 33.391544., density: 1025.000000.* values[0]: 0.733634.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029043.723165 s.J "J *J ;3H~2J:J;?,H ABJ;?nJD5vJAQܣ@Aaۣ@AN~? A٧A;&"AAE]NA"AZAbAjArAzAAA>H]:A]D qABM@AκAzA׽A옑?AAa<*A+K?2ARX:ABA+K?JARXRA꼙٘i)I9M@Y/G J"<JJJJ B&K  6YN~? 6yaA ABb76)BeE[[@[zV~?[[[[[ZZZZBZYY i) W>IiA> ;)٢)ý;"@:}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029043.763165 s, next control iter: 1743029044.123183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743029044.143165 s.W/B3H~, * AA)\ܣ@AXܣ@AN~? AVAU:&"AAF]NA"AZAbAjArAzAAA*@1[:Ay=OlqA@AyAAAWf?A ÓA <*A9L?2AiW:ABA9L?JAiWRA輙٘i)I9@Y0G J<JJJJB&K YN~?ysuaABb77*6)B[[3@['vV~?[[[[[ZZZZBZYY i) 6B>Ii A> 禿)]P)禿U@R:w*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743029044.163165 s, next control iter: 1743029044.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029044.563165 s.H3H~,R $ AJ"J*J2J:J elevatorAngleAction: 0.046012< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743029044.563297F (some fields omitted in printout)Aݣ@AA]ݣ@AlN~? A$AЩ9&"AA]G]NA"AZAbAjArAzAAA&7(X:AY ̸qA+@A|`:AA6\A.Ś?AA<*AmL?2A9Z:AuBAmL?JA9ZRAuYI@ ^y(ga:ٓH LK?@?`}`\? (?ࣝ?@L?@?)I@ I٘i)I9@Y0G Jr<J =JJJbB&Kq= Y[ N~?y7%aA^ ACB76)B[[nf@[OrV~?[ʞ[[[[ZZZZBZYY i) u>IiA> )镼)b7i@:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029044.583165 s, next control iter: 1743029044.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2543, header.stamp.nsec: 00 temperature: 13.379745* salinity: 33.391541, density: 1025.000000* values[0]: 0.735223F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029044.983165 s.O3H~,> AAq= ףޣ@Aoޣ@AlN~? AA8&"AAhH]NA"AZAbAjArAzAAAiÚU:Ah,qAL@Ah:AAAw?A A Ʋ<*A@L?2Aj,\:A2BA@L?JAj,\RA2弙٘i)I9L@Y0G JӺ<JJJJB&K  6Y' N~? 6y-(bA AB)7b7o6)ݭB[[c@[znV~?[[[[[ZZZZBZYY i) h>IiAw> Q))Q^@:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029045.003165 s, next control iter: 1743029045.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029045.403165 s.&V3H~,Y AJ"J*J2J:JBJnJvJAGzߣ@A gFߣ@AN~? AAfQ8&"AAI]NA"AZAbAjArAzAAAzDR:AN#qAٔ@AY:A(uAMºA[?A /Av<*AL?2A[:A\BAL?JA[RA\伙٘i)I9@Y91G J<JJJJB&K YN~?y6bAB777736B)حBfE[[̆@[jV~?[[[[[ZZZZBZYY i) !>IitA}!> C)<,)C@T:*Y]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029045.423165 s, next control iter: 1743029045.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2544", header.stamp.nsec: 0"0 temperature: 13.379458"* salinity: 33.391529", density: 1025.000000"* values[0]: 0.736549"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029045.823165 s.\3H~,6t AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.085067> elevatorAngleAction: 0.046012< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743029045.823290F (some fields omitted in printout)AQ@A@AN~? AA7&"AAJK]NA"AZAbAjArAzAAA:LM:A-nqANב@AZ:A<mAAߤ?A@A&f<*AM?2A[:ABAM?JA[RA伙٘i)I9ב@Y1G J:<JJJJfB&K  6YN~? 6y?bA AFB{7T6B)խBiE[[@[fV~?[J[[[[ZZZZBZYY iI=) u>IiA*> ״)՗) UŽ״"@:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029045.843165 s, next control iter: 1743029046.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029046.243165 s.c3H~, AJ"J*J2J:JBJnJvJA\(@A9@A{N~? AnA^6&"AA M]NA"AZAbAjArAzAAAi<{GI:AfVqAo@AAdAIJAMS?ApA=<*AGM?2A/Z:AyPBAGM?JA/ZRAyP伙٘i)I9@Y1G J<JJJJB&K YN~?yHH4cA ABb77ǘ6)ѭB[[4@[ cV~?[[[[[ZZZZBZYY i) ">IiuAo6> 㢿)M)㢿V@:`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029046.263165 s, next control iter: 1743029046.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029046.663165 s.j3H~,q AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2545, header.stamp.nsec: 00 temperature: 13.379200* salinity: 33.391506, density: 1025.000000* values[0]: 0.737672F (some fields omitted in printout)A@A|@A+N~? AEAK6&"AA4O]NA"AZAbAjArAzAAAp&)D:A.\%qA@M@AɺAY~\AɉA ?A`A<*A|xM?2A\:A6BA|xM?JA\RA6Y@yH~\`ɺٓHv?ӻ?&v@Rz?k?`?@"Y?)@ I٘i)I9M@Y2G JN<J<JJJB&KM=  6Y0N~? 6yQ~cAB7:6)ͭBjE[[h@[S_V~?[[[[[ZZZZBZYY i)  >IiAk9> )))@V:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029046.683165 s, next control iter: 1743029047.063185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743029047.083165 s.Dq3H~,S AJ"J*J2J:J elevatorAngleAction: 0.036691< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743029047.083285F (some fields omitted in printout)Ap= @AS%ޢ@AN~? A AО5&"AAQ]NA"AZAbAjArAzAAA p >:AT"qA@AARAA?A sAo<*AuM?2Aq_:AۼBAuM?JAq_RAۼ٘i)I9@YY2G JD{<JJJJjB&K YN~?yYcA AJBŧ7b7㬙6)ʭB[[ߜ@[[V~?[[[[[ZZZZBZYY i) ] >IiaA>> D)Ϳ)Dھ@:yw=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029047.103165 s, next control iter: 1743029047.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029047.503165 s.w3H~,]4 AAHz@Ay@A N~? A(A4&"AAT]NA"AZAbAjArAzAAArk8:AEHqA@A菺AppHA趿Aथ?AA'W<*AM?2A^:Awh׼BAM?JA^RAwh׼٘i)I9@Y2G JPd<JJJJB&K  6YyN~? 6ybdA AB7776)ǭB[[ч@[WV~?[2[[[[ZZZZBZYY i) 3 >IiA1F> {q)e)BN½{q|@ :*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029047.543165 s, next control iter: 1743029047.903181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2546, header.stamp.nsec: 00 temperature: 13.378988* salinity: 33.391499, density: 1025.000000* values[0]: 0.738614F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029047.923165 s.8~3H~, AJ"J*J2J:J=?BJ=?nJEF5vJAQ@A8, P@A?N~? A1AD4&"AAV]NA"AZAbAjArAzAAAz,1:Af3MqAܒ@A6\9A >Ao A@؟?AxA'><*AN?2A ^:AZ ӼBAN?JA ^RAZ Ӽ٘i)I9ܒ@Y2G JK<B=JJJJB&K Y#N~?y?k\dAB{7j7?6)ĭB[[@[BTV~?[{[[[[ZZZZBZYY i) 6>Ii\AO> ))(@Y :*Y(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029047.943165 s, next control iter: 1743029048.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029048.343165 s.<3H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.094876> elevatorAngleAction: 0.036691< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743029048.343303F (some fields omitted in printout)A(\@A7(@AN~? A:A3&"AAZ]NA"AZAbAjArAzAAAZ*x**:ACsNYqA=@A':A"4AVA ұ?AAq&%<*A=N?2A(`:A?$ϼBA=N?JA(`RA?$ϼ٘i)I9@Y2G J2<C=JJJJnB&K  6Y&N~? 6ysdA AMB7776)­BkE[[2<@[PV~?[˲[[[[ZZZZBZYY i) <4>IiAE\> ƞ)D›)ƞ-^@ :@v*Y_Q½YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029048.383165 s, next control iter: 1743029048.743176 s, wait time: 0.360011 s"&N~?)"s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2547*, header.stamp.nsec: 0*0 temperature: 13.378800** salinity: 33.391472*, density: 1025.000000** values[0]: 0.739413*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029048.763165 s.73H~,0 AJ"J*J2J:JBJnJvJA33333@At @A-N~? ACAw2&"AA]]NA"AZAbAjArAzAAAd":AqA"@A:A*AA`?AA$ <*AhN?2Aa:Ad˼BAhN?JAaRAd˼Y@"y*w:ٓH`m?`?@qʏt?@?'U?^? ?)@ I٘i)I9"@Y3G J<J<JJJB&Ka= YG+N~?y|dA ABj7Z7w6)B[["q@[ MV~?[[[[[ZZZZBZYY i) =>IiUAf_> )])򝿩@ :Ni*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029048.783165 s, next control iter: 1743029049.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029049.183165 s.˒3H~,sK AAףp= @AA@AN~? AhLA1=2&"AA%a]NA"AZAbAjArAzAAA<):A'M+qA=@Au:A"A'A@([?AA-j;*AiN?2A'3c:AɼBAiN?JA'3cRAɼ٘i)I9=@Y>3G J<JJJJB&K Y/N~?ygeAB77{7D6)B[[@[|IV~?[g[[[[ZZZZBZYY i) >IiAd> ;));ȡ@[ :W]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029049.203165 s, next control iter: 1743029049.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029049.603165 s.643H~,f AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.094876> elevatorAngleAction: 0.036691< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743029049.603288F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@AW@AN~? AFUA1&"AAe]NA"AZAbAjArAzAAAԃҲ:ABqAT@A 9AAԲA`몵?A A ;*AܺN?2AUd:AǼBAܺN?JAUdRAǼ٘i)I9T@YZ3G J;JJJJrB&K  6YP4N~? 6yReA AQB7S7\6B)nE[[t܈@[EV~?[[[[[ZZZZBZYY i) +>IiIAl> E))Eo@ :sR*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029049.643165 s, next control iter: 1743029050.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2548 , header.stamp.nsec: 0 0 temperature: 13.378664 * salinity: 33.391449 , density: 1025.000000 * values[0]: 0.740021 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029050.023165 s.Z3H~,{ AAQ@A*O @AN~? A$^A0&"AAEi]NA"AZAbAjArAzAAAaXU:Ao_qAg@AڗAAA ?A&A;*A?N?2Ae:AƼBA?N?JAeRAƼ٘i)I9g@Yq3G J;JJJJB&K Y8N~?yЖeA ABŧ7b7Ϝ6)BoE[[@[pBV~?[ [[[[ZZZZBZYY i) >IiAv> l)`R)l4@ :H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029050.063165 s, next control iter: 1743029050.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029050.443165 s.5æ3H~,5] AJ"J*J2J:JBJnJvJA(\@AM([@A+N~? AgA(50&"AAm]NA"AZAbAjArAzAAA҆g9AV hrA\v@AAH AAY?A1Au;*AO?2Ayf:AżBAO?JAyfRAż٘i)I9v@Y3G J>;JJJJB&K  6YZ=N~? 6yeAB77{7V~?[[[[[ZZZZBZYY i$<) {>IiMA> ))k@] :?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029050.463165 s, next control iter: 1743029050.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2549, header.stamp.nsec: 00 temperature: 13.378590* salinity: 33.391441, density: 1025.000000* values[0]: 0.740483F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029050.863165 s.+3H~,}> AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.094876> elevatorAngleAction: 0.027786< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743029050.863331F (some fields omitted in printout)Afffff@A+<2@AN~? AoAȇ/&"AAr]NA"AZAbAjArAzAAA,v9A rA@AǺA)A>A ?A Apd4;*A.O?2Ag:AļBA.O?JAgRAļY@ ))ۡ@ :e8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029050.903165 s, next control iter: 1743029051.263175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743029051.283165 s.8R3H~, AJ"J*J2J:JBJnJvJA ףp=@Ah? @AGN~? AxAh.&"AAw]NA"AZAbAjArAzAAAa)V9A6;rA4@AֹACA_A@Q?A:Ak ;*AVO?2A8h:ABAVO?JA8hRA٘i)I9@Y3G J#;C=JJJJ"B&K  6YBHN~? 6yְfA ABŧ7'6B)BpE[[@[+8V~?[Rè[[[[ZZZZBZYY i) =Ii:A> wݘ)@)wݘ}آ@ :^0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029051.303165 s, next control iter: 1743029051.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2550., header.stamp.nsec: 0.0 temperature: 13.378488.* salinity: 33.391403., density: 1025.000000.* values[0]: 0.740798.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029051.703165 s.׺3H~, AAGz@AkSU@AN~? AA -.&"AA|]NA"AZAbAjArAzAAA/9ArAY@A/t:AT,AсA >v?A /A32:*A}O?2Aki:ABA}O?JAkiRA򺼙٘i)I9@Y3G J:JJJJB&K YMN~?yMfA AB)7ŧ7K6)B[[@[4V~?[Ũ[[[[ZZZZBZYY i) =IiA\> )砼)@` :y<&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029051.723165 s, next control iter: 1743029052.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029052.123165 s.J "J *J 2J ?3H~:J=?BJ=?,~ AnJF5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.094876> elevatorAngleAction: 0.027786< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743029052.123289F (some fields omitted in printout)AR@A`V@A'N~? AyA-&"AA]NA"AZAbAjArAzAAA?9Az۰ rA]@A|:AAAp׽?AA9*AУO?2ATj:ABAУO?JATjRAI٘i)I9@Y3G Je:JJJJzB&K  6Y+SN~? 6y'§zfAXB{7{7 6B)BsE[[U%@[z1V~?[:Ȩ[[[[ZZZZBZYY i) s=Ii6A> +")K)+"PG@ :-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029052.143165 s, next control iter: 1743029052.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029052.543165 s.I3H~,&" AA(\@A9ah@AaN~? AUA_,&"AAy]NA"AZAbAjArAzAAA@j%9A`ovrA @AlS:A\ռAʬA@%8?AA$*AO?2AAj:A*BAO?JAAjRA*٘i)I9Y JsJJJEJ&B&K YXN~?yʧfA ABb7b76)[[]@[*.V~?[ʨ[[[[ZZZZBZYY i) =IiA> sA)!G)sA~@ :*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029052.563165 s, next control iter: 1743029052.943196 s, wait time: 0.380031 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2551, header.stamp.nsec: 00 temperature: 13.378488* salinity: 33.391415, density: 1025.000000* values[0]: 0.741008F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029052.963165 s.}3H~,= AJ"J*J2J:JBJnJvJA@Ayte@AN~? A1A%,&"AA]NA"AZAbAjArAzAAAo ~¶9AA$rAb@A_G:AIƼAA@ L?A`A|]к*A^O?2A1k:ABA^O?JA1kRAY}@9yIƼN%G:ٓHT?@,?cy *`?1?Ș?H??)}@ I٘i)I9@Y3G JJ<JJJB&K= Y_N~?yhӧfA񫿑 ABŧ7O6B)tE[[@[*V~?[2ͨ[[[[ZZZZBZYY i) 8@=Ii.A> c)T⢼)c궣@b :>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029052.983165 s, next control iter: 1743029053.363183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743029053.383165 s.3H~,8X AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.094876> elevatorAngleAction: 0.027786< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743029053.383291F (some fields omitted in printout)A= ףp@AJv<@AfN~? A Aw+&"AA/]NA"AZAbAjArAzAAA"˨9ASzF*rAt@A=A AA?AAL$*AP?2Ay~k:A;BAP?JAy~kRA;٘i)I9@Y3G JJJJJ~B&K  6YceN~? 6yܧfA\B77d6)B[[̊@['V~?[Ϩ[[[[ZZZZBZYY i) =IiAZ> )u)@ :)YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743029053.403165 s, next control iter: 1743029053.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2552", header.stamp.nsec: 0"0 temperature: 13.378464"* salinity: 33.391376", density: 1025.000000"* values[0]: 0.741130"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029053.803165 s.{A3H~,gs AJ"J*J2J:JBJnJvJAzG@AZ{@A1N~? A歨A*&"AA]NA"AZAbAjArAzAAA,+A9AM/rAf~@A(պAkAr?A@j?A]AR^*Ax0P?2A?k:ABAx0P?JA?kRA٘i)I9~@Y3G J?JJJJ*B&K YkN~?y gA AB{7נ6)[[[@[$V~?[:Ҩ[[[[ZZZZBZYY i) _=Ii"A%> )*)V'@:)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029053.823165 s, next control iter: 1743029054.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029054.223165 s.g3H~,H AAQ@A@A-N~? AA*&"AA ]NA"AZAbAjArAzAAAV#9A .5rA`q@AA]7AfA`:[?AิA-Ɗ*APP?2A l:A BAPP?JA lRA ٘i)I9q@Y}3G J xJJJJB&K  6Y(rN~? 6y3-gA ABZ7Z7KJ6B)BwE[[`>@[w!V~?[Ԩ[[[[ZZZZBZYY i) Ӌ=IiA> )&ؤ)[`@d:)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029054.243165 s, next control iter: 1743029054.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029054.643165 s.~3H~,(* AJ"J*J2J:J=?BJ=?nJF5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.094876> elevatorAngleAction: 0.027786< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743029054.643296F (some fields omitted in printout)A)\@A@AZO~? AAp)&"AAj]NA"AZAbAjArAzAAAxSfLq{9Ay:rAa@A&A5ꔼAAA ?AA.R*AzpP?2AOl:AҢBAzpP?JAOlRAҢ٘i)I9a@Yj3G JJJJJB&K YxN~?yNgA`Bŧ7b76B)BxE[[w@[[V~?[bר[[[[ZZZZBZYY i) (=Ii'A}> ב)Nj)ב뙤@:)YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2553, header.stamp.nsec: 00 temperature: 13.378465* salinity: 33.391376, density: 1025.000000* values[0]: 0.741099F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743029054.663165 s, next control iter: 1743029055.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029055.063165 s.3H~,V AA@A۞@A O~? AlȨA(&"AA]NA"AZAbAjArAzAAA:+k9A0+MH?rA*O@Ao9Ai"AδA a?A,AM*AP?2Al:A(۠BAP?JAlRA(۠Y@yi"v9ٓH|?k?Ts F@]}?֐? ?-5??)@ I٘i)I9O@YS3G J'Jv<JJJ/B&KY=  6YN~? 6ySfgA A B7{7/6)B[[@[YV~?[٨[[[[ZZZZBZYY i) ,u=IiAP{> )R()Ҥ@:)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029055.083165 s, next control iter: 1743029055.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029055.483165 s.y_3H~, AJ"J*J2J:JBJnJvJAq= ף@A5so@AGO~? AAѨA(&"AA]NA"AZAbAjArAzAAA)QZ9AAErA:@A`:AބAVܦAZk?ALAλ*AP?2Al:A;[BAP?JAlRA;[٘i)I9:@Y:3G JĻB=JJJJB&K Y!N~?y}gA AB)7)7Z6)B[["@[]V~?[ܨ[[[[ZZZZBZYY iә<) =IiAy> )˦) @g:|)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029055.503165 s, next control iter: 1743029055.883181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2554, header.stamp.nsec: 00 temperature: 13.378485* salinity: 33.391384, density: 1025.000000* values[0]: 0.741000F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029055.903165 s.3H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.094876> elevatorAngleAction: 0.018778< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743029055.903300F (some fields omitted in printout)AGz@A#k F@AO~? AڨAXj'&"AA?]NA"AZAbAjArAzAAA[H9A+JrA#@A:A~AA`?A Aӯ޻*AP?2Azl:AdjBAP?JAzlRAdj٘i)I9#@Y3G JֻC=JJJJB&K  6YkN~? 6yagAdB77j76)­B[[$@[jV~?[.ߨ[[[[ZZZZBZYY i) :k=IiAw> g')s)g'F@:o)YFFF]i:Waiting for Gazebo time sync: latest Gz time: 1743029055.923165 s, next control iter: 1743029056.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029056.323165 s.r4H~, AJ"J*J2J:J=?BJ=?nJF5vJAQ@AA]@AO~? AAѽ&&"AA]NA"AZAbAjArAzAAAB69AC+PrA @A]:A4^pAn-A8?AA߻*AP?2A m:A xBAP?JA mRA x٘i)I9 @Y3G Jr޻B=JJJJ3B&K YN~?ygA AB{7{76B)ŭB|E[[^@[V~?[[[[[ZZZZBZYY i) =IiAu> g=)J#)g=@:7)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029056.343165 s, next control iter: 1743029056.723176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2555., header.stamp.nsec: 0.0 temperature: 13.378503.* salinity: 33.391357., density: 1025.000000.* values[0]: 0.740813.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029056.743165 s.W 4H~,y/ AA\(@A~k@A!O~? AAk&&"AA]NA"AZAbAjArAzAAAͪO$9A#fUrA@AG7Al\AVA9y?AAA?*AQ?2A"m:A衔BAQ?JA"mRA衔٘i)I9@Y2G JC=JJJJB&K YN~?yq gA AB77Y6)ǭB[[@[V~?[[[[[ZZZZBZYY i) `=IiAs> 3Q)ب)Խ3Q@i:y *<ԕ)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029056.783165 s, next control iter: 1743029057.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029057.163165 s.r}4H~,qJ AJ"J*J2J:J=?BJ=?nJF5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.103937> elevatorAngleAction: 0.018778< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743029057.163274F (some fields omitted in printout)A@AV@Ag'O~? AA*e%&"AA]NA"AZAbAjArAzAAA`I,)9A=;ZrAے@AkAEAA(?AA/n*A$#Q?2A:m:A甏BA$#Q?JA:mRA甏Y,@5yExٓH`@?š?Sb`+[?`pm? ? m`T@e?),@ I٘i)I9ے@Y2G JB=JC<JJJB&KX=  6Y4N~? 6y(gAhBŧ7b7 m6)ȭB[[ӌ@[ V~?[4[[[[ZZZZBZYY i) 8=IiAwq> g)w)ݷg@:t)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029057.203165 s, next control iter: 1743029057.563175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743029057.583165 s.4H~, Se AAp= @AB@A-O~? AJA$&"AA ]NA"AZAbAjArAzAAA]yu8Ak#`rA@AWAg.AA?A@A *A6Q?2Ao:ABA6Q?JAoRA٘i)I9@Y2G JC=JJJJ7B&K YdN~?yW1gA AB7{7ߤ6)ʭB}E[[@[ V~?[[[[[ZZZZBZYY i) dh=IiA5 p> g|))g|0@:l)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029057.603165 s, next control iter: 1743029057.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2556, header.stamp.nsec: 00 temperature: 13.378554* salinity: 33.391354, density: 1025.000000* values[0]: 0.740609F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029058.003165 s.{ 4H~,Y4 AJ"J*J2J:J=?BJ=?nJF5vJAHz@Ay@A4O~? AA& $&"AA]NA"AZAbAjArAzAAA]7})8AerA꣒@A׾AWA}A`X?A/A*ATQ?2An:ABATQ?JAnRA٘i)I9@Y2G J7 JJJJB&K  6YN~? 6y9gA AB)7ŧ7YR6B)ͭBE[[;J@[YV~?[[[[[ZZZZBZYY i) ?=Ii AC n> )Ȫ)̽6l@k:hK)YT̷YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029058.043165 s, next control iter: 1743029058.403181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743029058.423165 s.u&4H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.099649> elevatorAngleAction: 0.018778< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743029058.423306F (some fields omitted in printout)AQ@AIP@A};O~? AAka#&"AA]NA"AZAbAjArAzAAA:a@8A@jrA@A#A}A蠿AsB?AzA*AsQ?2Awm:A〼BAsQ?JAwmRA〼٘i)I9@Y]2G J1JJJJB&K YŽN~?y=BhAlBZ7Z7ĥ6)ϭB[[F@[V~?[f[[[[ZZZZBZYY i) .p=IiA8l> g))gA@,)YV᷽YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029058.443165 s, next control iter: 1743029058.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2557, header.stamp.nsec: 00 temperature: 13.378620* salinity: 33.391342, density: 1025.000000* values[0]: 0.740346F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029058.843165 s.,4H~, AJ"J*J2J:J=?BJ=?nJF5vJA(\@A'@ABO~? AA"&"AA^NA"AZAbAjArAzAAAǾ8A>J3prA d@A{ɇ:A>׻AvA@n?AsAwE"*AQ?2An:A_yBAQ?JAnRA_y٘i)I9d@Y52G JJJJJ;B&K  6YN~? 6yJhA AB)7ŧ776)ѭB[[@[V~?[3[[[[ZZZZBZYY i) =IiA;Vj> ϫ))ϫ@\)Y̽YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029058.863165 s, next control iter: 1743029059.243181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029059.263165 s.44H~, AA33333@A@-@AIO~? A[ A "&"AA{^NA"AZAbAjArAzAAAdX8AIurA1A@A:ADA4A5?A@jAd**A7Q?2Ao:AJZrBA7Q?JAoRAJZrY?@m4y0 :ٓH?@M?ŕl`M?.r?ހv?b]??)?@ I٘i)I9A@Y 2G J%J<JJJB&K= YN~?y ShA4 AB77]6B)ԭBE[[@[}U~?[[[[[ZZZZBZYY i) N=IiA`h> G)!j)G @(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029059.283165 s, next control iter: 1743029059.663177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2558., header.stamp.nsec: 0.0 temperature: 13.378681.* salinity: 33.391338., density: 1025.000000.* values[0]: 0.739973.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029059.683165 s.l:4H~,R AJ"J*J2J:Jn=?BJn=?nJF5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.099649> elevatorAngleAction: 0.018778< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743029059.683296F (some fields omitted in printout)Aףp= @A:@AIQO~? A)Ae_!&"AAN^NA"AZAbAjArAzAAAl݈(8A*'zrA@A:AA|NA[C?A}aA00*AQ?2A^p:AlBAQ?JA^pRAl٘i)I9@Y1G JS-JJJJB&K  6Y&N~? 6yh[&hApB776B)׭BE[[K;@[U~?[[[[[ZZZZBZYY iN<) =IiApf> Sʆ))SʆF]@d(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029059.683165 s, next control iter: 1743029060.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743029060.103165 s.A4H~, AA{G@AA @AXO~? A1A &"AAk$^NA"AZAbAjArAzAAA=z8A3rA8@As!:A0~AdA?AWA1^5*A7Q?2Ar:AchBA7Q?JArRAch٘i)I9@Y1G J2JJJJ?B&K Y>N~?yc.hA ABŧ7b76)ڭB[[dx@[U~?[[[[[ZZZZBZYY i) =IiAd> Յ))Յ_@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029060.123165 s, next control iter: 1743029060.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029060.523165 s.G4H~,{! AJ"J*J2J:JBJnJvJAQ@A4@A`O~? A:A &"AA/^NA"AZAbAjArAzAAAL<5c8AM7'rA~ё@AޘAAFAxA?A MA2*AQ?2A$s:A3]\BAQ?JA$sRA3]\٘i)I9ё@Y1G J3B=JJJJB&K  6YWN~? 6y!l5hA AB77g6)ܭB[[@[U~?[{[[[[ZZZZBZYY i) U1=Ii Ab> ߄))߄ا@Ã(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029060.543165 s, next control iter: 1743029060.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2559, header.stamp.nsec: 00 temperature: 13.378775* salinity: 33.391312, density: 1025.000000* values[0]: 0.739588F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029060.943165 s.VdN4H~,:]< AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.099649> elevatorAngleAction: 0.009540< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743029060.943269F (some fields omitted in printout)A(\@A.R([@AhO~? A;CAv_&"AA;^NA"AZAbAjArAzAAASȌJ8A;iԊrAի@At޺AOAzA@Gc?A BA5*AyQ?2ACt:AOBAyQ?JACtRAO٘i)I9@YU1G Je3C=JJJJB&K YoN~?y|t=hAtBŧ7b7u6B)BE[[l@[U~?[c[[[[ZZZZBZYY i) =IiA`> 僿))僿g@y<(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029060.983165 s, next control iter: 1743029061.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029061.363165 s.U4H~,}>W AJ"J*J2J:JBJnJvJAfffff@Ak]2@A qO~? AKAY&"AAG^NA"AZAbAjArAzAAA $l18A`!rA]@AަAmAA?A 7A:*A4Q?2A2t:ABBA4Q?JA2tRABYhe@ym𹙓ٓH??+X? @?`6Q? >?ڴ\?)he@ I٘i)I9@Y&1G J 7B=JID<JJJCB&K= Y}N~?y| A B776B)[[1@[zU~?[C[[[[ZZZZBZYY i) X=IiA`^> ))S@'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029061.403165 s, next control iter: 1743029061.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2560&, header.stamp.nsec: 0&0 temperature: 13.378857&* salinity: 33.391304&, density: 1025.000000&* values[0]: 0.739165&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029061.783165 s.X[4H~,r AA ףp=@A8gD @A{yO~? ATA &"AAS^NA"AZAbAjArAzAAA I8Av^krA]@AdAx:AɯA@?A,ArA*A R?2Au:A5BA R?JAuRA5٘i)I9]@Y0G Jr=C=JJJJB&K  6YO~? 6y>hA BBŧ7b7fZ6)B[[p@[BU~?[*[[[[ZZZZBZYY i) =IiA\> {)){@ܹYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029061.823165 s, next control iter: 1743029062.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029062.203165 s.c4H~, AJ"J*JvPublished command to Gazebo (printed only once in a while):2J( dropWeightState: 1:JBJnJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.099649> elevatorAngleAction: 0.009540< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743029062.203279F (some fields omitted in printout)AGz@A/J@AO~? A=]Aa&"AA|`^NA"AZAbAjArAzAAA!7A rAA4@A9A;A˜A6?A A I*AR?2AIv:A*BAR?JAIvRA*٘i)I94@Y0G JDJJJJB&K YO~?y??hAxB77 ͩ6B)BE[[@[U~?[ [[[[ZZZZBZYY i) =IiAZ> ))Ш@VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029062.243165 s, next control iter: 1743029062.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029062.623165 s.Ti4H~,P AAR@A*t^c@AO~? AeAø&"AAim^NA"AZAbAjArAzAAAI$E*M7A}/rAF @Ah:Ag;A֗A#?A AP*A/R?2Av:A`BA/R?JAvRA`٘i)I9 @Y0G JLB=JJJJGB&K  6YO~? 6y$B7777?6)BE[[&@[U~?[ [[[[ZZZZBZYY i) !=IiAY> ))!@ࢨYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029062.643165 s, next control iter: 1743029063.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2561 , header.stamp.nsec: 0 0 temperature: 13.378976 * salinity: 33.391293 , density: 1025.000000 * values[0]: 0.738708 F (some fields omitted in printout)O~?) rAdjusting time to match Gazebo time: 1743029063.043165 s.p4H~, AJ"J*J2J:JBJnJvJA(\@A;_@AO~? A~nA&"AAz^NA"AZAbAjArAzAAAE7AF_:A;A'ꖿA0?A@A4SW*AO@R?2A:-w:ABAO@R?JA:-wRA٘i)I9ܐ@YX0G JSC=JJJJB&K Y%O~?y@hA BB77i6)B[[-.@[U~?[[[[[ZZZZBZYY i) 0=IiA2W> }))}(P@ҨYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029063.083165 s, next control iter: 1743029063.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029063.463165 s.]w4H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.099649> elevatorAngleAction: 0.009540< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743029063.463277F (some fields omitted in printout)A@A5le@A:O~? AwAJg&"AA-^NA"AZAbAjArAzAAAK,`7Ar&r|rA%@A6:A&\;AA`?ACA+\*AQPR?2Ayw:AzWBAQPR?JAywRAzWY%@y\;"7:ٓH ?`|?`0Q?|?߄v@|kv@&S?@?)%@ I٘i)I9@Y!0G JrYJcg<JJJB&K=  6Y0O~? 6y㥨8hA|B7)7%6B)BE[[Xm@[U~?[[[[[ZZZZBZYY i) \=IiA@U> =|))=|S@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029063.503165 s, next control iter: 1743029063.863182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2562, header.stamp.nsec: 00 temperature: 13.379068* salinity: 33.391293, density: 1025.000000* values[0]: 0.738195F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029063.883165 s.y}4H~,8 AJ"J*J2J:J z))z&ϩ@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029063.923165 s, next control iter: 1743029064.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029064.303165 s.\4H~,g AAzG@Aq|@AMO~? A>A-&"AA'^NA"AZAbAjArAzAAAr7Ao%rAtQ@AA7;A`)A?AAa*AnR?2ALw:AZ BAnR?JALwRAZ ٘i)I9Q@Y/G J}`JJJJB&K  6YFO~? 6y()hA BBŧ7b7k 6)BE[[@[,U~?["[[[[ZZZZBZYY i) h=IiAkQ> x))x@OYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029064.323165 s, next control iter: 1743029064.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2563*, header.stamp.nsec: 0*0 temperature: 13.379194** salinity: 33.391251*, density: 1025.000000** values[0]: 0.737624*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029064.723165 s.4H~,H. AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.099649> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743029064.723294F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Ami@A"O~? AʐAo&"AA^NA"AZAbAjArAzAAAp=T7A\+rA"@ANAt;Ak?A Y?A@A]*A{R?2Ax:ABA{R?JAxRA٘i)I9"@Yv/G J$_JJJJB&K YQO~?yJ"hAB7{7}6B)BE[[.@[aU~?[8[[[[ZZZZBZYY i) 2E=Ii$A[O> %u))%uP@%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029064.743165 s, next control iter: 1743029065.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029065.143165 s.Y/4H~,*I AA)\@A@A*O~? APA&"AAU^NA"AZAbAjArAzAAA7&57AbN_rA+@AAj<A VAJ?AA{o^*A:R?2A;x:ABA:R?JA;xRA໙٘i)I9@Y=/G J]JJJJOB&K Y\O~?ylƨhA,B6)B[[p@[U~?[W[[[[ZZZZBZYY i) =IiA̮M> Ms))CMs@y6{;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029065.163165 s, next control iter: 1743029065.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029065.563165 s.4H~,N d AJ"J*J2J:J q)) qӪ@UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029065.583165 s, next control iter: 1743029065.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2564, header.stamp.nsec: 00 temperature: 13.379310* salinity: 33.391266, density: 1025.000000* values[0]: 0.737070F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029065.983165 s.4H~,~ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.094145> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743029065.983314F (some fields omitted in printout)Aq= ף@AKHo@AO~? ANA`{&"AA^NA"AZAbAjArAzAAA%e96AvG=rAv@A :A.<AxA?A:Ahg*A"R?2Az:ABA"R?JAzRA٘i)I9@Y.G JcC=JJJJB&K YtO~?yq֨hAB)7ŧ7)խ6B)BE[[w@[qU~?[$[[[[ZZZZBZYY i) ;=IiAI> Eo))Eor@UpYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029066.003165 s, next control iter: 1743029066.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029066.403165 s.&4H~,͙ AJ"J*J2J:J m))ֽmW@YmYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029066.423165 s, next control iter: 1743029066.803178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2565&, header.stamp.nsec: 0&0 temperature: 13.379433&* salinity: 33.391254&, density: 1025.000000&* values[0]: 0.736504&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029066.823165 s.4H~,6 AAQ @A @ACO~? A5A/&"AAL^NA"AZAbAjArAzAAA/6AbrA2@A*:AS<AAV?AA q*A)R?2Abx:A;BA)R?JAbxRA;٘i)I92@YQ.G J?nJJJJB&K Y^O~?ysgA BB7777s6) B[[x@[U~?[*[[[[ZZZZBZYY i) Î=IiApF> %k))%k@FYyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029066.843165 s, next control iter: 1743029067.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029067.243165 s.4H~,m AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.104864> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743029067.243273F (some fields omitted in printout)J"J*J2J:JBJnJvJA\( @APi @AHO~? AéAΊ&"AA_NA"AZAbAjArAzAAA7Ĕ6A0ib2rA@A!:ACc<AA?AoAit*AR?2A|y:A ui))uiޫ@YֽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029067.263165 s, next control iter: 1743029067.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029067.663165 s.4H~,q AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2566, header.stamp.nsec: 00 temperature: 13.379591* salinity: 33.391216, density: 1025.000000* values[0]: 0.735879F (some fields omitted in printout)A @Aڍ> @A~P~? A̩A &"AA _NA"AZAbAjArAzAAAUr6A nRrAˎ@AaADp<AˌAi?A]A{w*A/R?2Aҷz:AJBA/R?JAҷzRAJYٞ@{ˌy>p<aٓH@?`?]~?`փ}?!`\5L ?)ٞ@ I٘i)I9ˎ@Y-G JuB=JK<JJJXB&K\= Y#O~?ySgAˌ5B7{7ٟ6)BE[[@[U~?[X1[[[[ZZZZBZYY i) =Ii̗AMB> upg))Ľupg!@xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029067.683165 s, next control iter: 1743029068.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029068.083165 s.D4H~,R AJ"J*J2J:JBJnJvJAp= @A~7ݢ @AP~? AdԩAA&"AA0_NA"AZAbAjArAzAAA6P6AorAח@ASAz<AҋA~?A@KA Xy*A R?2A${:A=4BA R?JA${RA=4I٘i)I9@Y-G JIxC=JJJJB&K  6YO~? 6y0gA BBZ7SI7w6B)BE[[}C@[U~?[4[[[[ZZZZBZYY i) ==IiPA+g@> Se))Sexe@hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029068.103165 s, next control iter: 1743029068.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029068.503165 s.4H~,P4 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.095952> elevatorAngleAction: 0.000000< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743029068.503300F (some fields omitted in printout)AHz @A|&y @AP~? AܩA"&"AA B_NA"AZAbAjArAzAAA|}-6ASrAec@AA<<AAF$?A 8Az*A;R?2A|{:A> }/c))ڽ}/c멬@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029068.523165 s, next control iter: 1743029068.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2567, header.stamp.nsec: 00 temperature: 13.379709* salinity: 33.391220, density: 1025.000000* values[0]: 0.735234F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029068.923165 s.<4H~,; AJ"J*J2J:JBJnJvJAQ@A2tP@AO'P~? AA&"AA|S_NA"AZAbAjArAzAAAz26 6A`rA.@A+sOAO<AlA?A !&Az*AR?2A&y:A BAR?JA&yRA ٘i)I9.@Y-G JzJJJJ\B&K YO~?y gA9B76)B[[!͓@[U~?[*;[[[[ZZZZBZYY i) =IifAr<> a))a@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029068.943165 s, next control iter: 1743029069.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029069.343165 s.<4H~,U AA(\@A O'@AO3P~? A[A X&"AA9e_NA"AZAbAjArAzAAAJk]_5A+RrA@A~:A<AA?AA4t*ABR?2Aq{:A0BABR?JAq{RA0٘i)I9@Y,G J wJJJJC&K  6YO~? 6ytgA BB7777zj6B)!BE[[@[U~?[>[[[[ZZZZBZYY i) =IiA{:> e^))e^5@iY۽YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743029069.363165 s, next control iter: 1743029069.743180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2568&, header.stamp.nsec: 0&0 temperature: 13.379848&* salinity: 33.391232&, density: 1025.000000&* values[0]: 0.734588&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029069.763165 s.74H~J"J*J,p A2J:J w_NA"AZAbAjArAzAAA 5AgRrAǍ@A:A頌<AA v,?AFAժr*A>R?2A}:A/BA>R?JA}RA/Y@yݠ<:ٓH]?Q?` \))Ƚ\z@yM}jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029069.783165 s, next control iter: 1743029070.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029070.183165 s.4H~,^ AAףp= @AV`@AKP~? AA&"AA_NA"AZAbAjArAzAAARkY5A^ rA$@A]:A<AA`?AAr*AVR?2A~:A9BAVR?JA~RA9٘i)I9@YZ,G JqJJJJC&K  6YO~? 6y7%EgA=B777O6B)(BE[[@[U~?[.E[[[[ZZZZBZYY i) l%=IiA 7> EZ))EZ@z̩YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029070.203165 s, next control iter: 1743029070.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029070.603165 s.944H~, AJ"J*J2J:JBJnJvJA{G@AD@AtXP~? AAr&"AA._NA"AZAbAjArAzAAAw2t5AZsAb@A:Am<AA?A AIt*AR?2A}:Af:BAR?JA}RAf:٘i)I9b@Y,G J sJJJJC&K YP~?y,.gA BBj7Z7y²6)+B[[@[7U~?[H[[[[ZZZZBZYY i) ܋=IiA05> JX))߽JX@ةYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029070.623165 s, next control iter: 1743029071.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2569 , header.stamp.nsec: 0 0 temperature: 13.379982 * salinity: 33.391216 , density: 1025.000000 * values[0]: 0.733941 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029071.023165 s.Z4H~,5| AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.109286@ elevatorAngleAction: -0.009718< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743029071.023319F (some fields omitted in printout)AQ@Ap]1#@A>eP~? AFA&"AA_NA"AZAbAjArAzAAA1kM5ArsA.@A:SwAh<A-AaE?AAv*A S?2A}:AhZ:BA S?JA}RAhZ:٘i)I9.@Y+G JtJJJJ\C&K  6YP~? 6y4gAB77j7*56B)/BE[[+@[U~?[K[[[[ZZZZBZYY i) ;=IiAZ3> UV))UVM@{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029071.043165 s, next control iter: 1743029071.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029071.443165 s.84H~,B] AJ"J*J2J:J;?BJ;?nJD5vJA(\@A1[@A9rP~? AoA1&"AAX_NA"AZAbAjArAzAAA{ &5AVھ sA@A A<Ac8A`?AAw*A S?2AY~:A;BA S?JAY~RA;٘i)I9@Y+G JmvJJJJC&K YNP~?y[<fAABb7b7ۧ6B)3BE[[&t@[U~?[wO[[[[ZZZZBZYY i) eK=IiA1> S))S!@Y߽YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029071.463165 s, next control iter: 1743029071.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2570, header.stamp.nsec: 00 temperature: 13.380111* salinity: 33.391201, density: 1025.000000* values[0]: 0.733303F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029071.863165 s.+4H~,> AAfffff@A#G2@AdP~? AA&"AA_NA"AZAbAjArAzAAAx$4A hPsAƌ@A>KA<A6A`?AAy*A S?2A(\:A:;BA S?JA(\RA:;Y>@7y<ZٓHi??Z??X@?Vۜf^?)>@ I٘i)I9ƌ@Y_+G JGxJ?<JJJC&K=  6Y,P~? 6yCfA7 BBZ7SI76)6B[[c@[U~?[R[[[[ZZZZBZYY i) V =Ii:A/> Q))̽Q^ݮ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029071.883165 s, next control iter: 1743029072.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029072.283165 s.J "J *J 2J ;R5H~:J;?BJ;?nJD5, AvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.100020@ elevatorAngleAction: -0.009718< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743029072.283301F (some fields omitted in printout)A ףp=@AŬC @AP~? A&A &"AA_NA"AZAbAjArAzAAA'쎠4A16sAX@A)WA؈<Av-A`5N?A~AA%{*A S?2AA:A-\;BA S?JAARA-\;٘i)I9@Y+G JzJJJJ^C&K Y:P~?yrKfALC777706B);BE[[k@[\U~?[[V[[[[ZZZZBZYY i) ˂=IićA)-> SO))SOf%@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029072.303165 s, next control iter: 1743029072.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2571., header.stamp.nsec: 0.0 temperature: 13.380231.* salinity: 33.391197., density: 1025.000000.* values[0]: 0.732652.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029072.703165 s.ٺ 5H~,- AAGz@A r@ASP~? A.AT &"AA_NA"AZAbAjArAzAAA퇼{4A+sA]@ARSA3<Ao*A?A^fAo{*ApS?2A:Ay;BApS?JARAy;٘i)I9]@Y*G J{B=JJJJC&K YcIP~?yRfA  BC)7b76)>BE[[XL@["U~?[Y[[[[ZZZZBZYY i0|)  =IiSA+> = M))= MSn@IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029072.723165 s, next control iter: 1743029073.103180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029073.123165 s.85H~,aG AJ"J*J2J:Jz;?BJz;?nJD5vJAR@A\wT@AP~? A6Aζ &"AA?`NA"AZAbAjArAzAAAO4AOF{sA(@A:A#2<A3A`?A@gNA6S{*AS?2A:A;BAS?JARA;٘i)I9(@Y*G J{C=JJJJ C&K  6YXP~? 6yZfACŧ7r6B)CBE[[@[U~?[h][[[[ZZZZBZYY i) |=IiA*> J))J@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029073.143165 s, next control iter: 1743029073.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029073.543165 s.I5H~,b AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.111654@ elevatorAngleAction: -0.018980< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743029073.543273F (some fields omitted in printout)A(\@AyW=`@AP~? A>A &"AA&`NA"AZAbAjArAzAAAIYX4A.W]$sA@A>:A)<Aoo~Ac?A`7A9ws*AbS?2Ax:Am;BAbS?JAxRAm;٘i)I9@Y_*G JwJJJJ`C&K YfP~?ybffANC{7{726)FB[[iȿ[U~?[`[[[[ZZZZBZYY i) x=IiAXT(> jH))jHjHYְYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029073.583165 s, next control iter: 1743029073.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2572, header.stamp.nsec: 00 temperature: 13.380409* salinity: 33.391190, density: 1025.000000* values[0]: 0.731996F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029073.963165 s.5H~,"} AJ"J*J2J:JBJnJvJA@Aj2me@A;P~? AFA| &"AA<`NA"AZAbAjArAzAAA j-4A;)sAH‹@A:AB<Ae[|A?A@Af7p*AS?2Abm:AB;BAS?JAbmRAB;Y@X|y2<:ٓH`?࣭?,j?a`˫?` <^`X?y?)@ I٘i)I9‹@Y!*G J qJ;JJJC&K%=  6YdvP~? 6yoiDfAX|  BCS77W6B)JBE[[Cǿ[U~?[d[[[[ZZZZBZYY i) ޟs=Ii As&> F))FнFFy\ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029074.003165 s, next control iter: 1743029074.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029074.383165 s.%5H~,+ AA= ףp@Ast<@AP~? ANA &"AAVQ`NA"AZAbAjArAzAAA%4ÃM.sA(@A~b9A0<A5zA&?A2Afn*A S?2A]:AC;BA S?JA]RAC;٘i)I9@Y)G JnJJJJ C&K YP~?yp"fAC{7j7ʶ6)MBE[[mƿ[?U~?[h[[[[ZZZZBZYY i) )o=IiAŘ$> C))CCYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029074.403165 s, next control iter: 1743029074.783174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2573", header.stamp.nsec: 0&0 temperature: 13.564958&* salinity: 33.374706&, density: 1025.000000&* values[0]: 0.591851&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029074.803165 s.zA,5H~,g AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.102032@ elevatorAngleAction: -0.018980< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743029074.803309F (some fields omitted in printout)AzG@AdU@A&P~? AVAE &"AAf`NA"AZAbAjArAzAAA(3A!d2sA3^@AhsA<AxA &|?AAEyn*AS?2A:A ;BAS?JARA ;٘i)I9^@Y)G JmJJJJbC&K  6YP~? 6y&xfAPCS77;=6 B)SBE[[@ſ[U~?[k[[[[ZZZZBZYY i) زj=IiS~A"> qA))_qAqA6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029074.843165 s, next control iter: 1743029075.203179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029075.223165 s.g35H~,H A)AQ@Ami@AP~? Ar^A@ &"AA|`NA"AZAbAjArAzAAA#3A>7sA+,@AHBA,U<A`vA ?AA@o*AS?2A:A*<BAS?JARA*<٘i)I9,@Yj)G JDnJJJJC&K YIP~?yeA  BC7{7⯷6)WB[[YĿ[U~?[bo[[[[ZZZZBZYY i) , ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029075.263165 s, next control iter: 1743029075.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029075.643165 s.z95H~,* AJ"J*J2J:JBJnJvJA)\@A1@AP~? AFfAa &"AA3`NA"AZAbAjArAzAAAK{3A|z <))<<- Y8齝tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2574, header.stamp.nsec: 00 temperature: 13.565082* salinity: 33.374733, density: 1025.000000* values[0]: 0.591442F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029075.663165 s, next control iter: 1743029076.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029076.063165 s.@5H~,k  AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.114054@ elevatorAngleAction: -0.018980< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743029076.063297F (some fields omitted in printout)A@A@A Q~? AnA0x&"AA`NA"AZAbAjArAzAAA(,M3Ah cI:))~\սcI:cI:E$YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029076.103165 s, next control iter: 1743029076.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029076.483165 s.u_G5H~, AJ"J*J2J:JBJnJvJAq= ף@A"o@AfQ~? AuA&"AA`NA"AZAbAjArAzAAA 3ArS!KEsA@A`5:AƮ<AoA`w?A@{A=r*AS?2ATz:Ag <BAS?JATzRAg <٘i)I9@Y(G JqJJJJC&K  6YP~? 6y+leA  BC776 B)cBE[[Ay[U~?[lz[[[[ZZZZBZYY i) X=IirAg> 7))77c'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029076.523165 s, next control iter: 1743029076.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2575, header.stamp.nsec: 00 temperature: 13.565207* salinity: 33.374725, density: 1025.000000* values[0]: 0.591012F (some fields omitted in printout)*P~?)*+ rAdjusting time to match Gazebo time: 1743029076.903165 s.!M5H~, 9 AAGz@AvF@A,Q~? A}AH&"AA`NA"AZAbAjArAzAAA軒J2AJsAa@A#a:AS<AmAI?A"]A `q*A@ S?2A#:Ae'<BA@ S?JA#RAe'<٘i)I9a@Yt(G JqJJJJC&K YP~?yRCeACb7b7z6)fB[[AB[U~?['~[[[[ZZZZBZYY ix) T=Ii#pA]> t5))t5t5)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029076.943165 s, next control iter: 1743029077.303182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743029077.323165 s.uT5H~,!T AJ"J*J2J:J>?BJ>?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.116587@ elevatorAngleAction: -0.028070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743029077.323288F (some fields omitted in printout)AQ@A]1#@A6 B)jB¸E[[[U~?[쁩[[[[ZZZZBZYY i) [*P=Ii[mA> s2))s2s2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029077.343165 s, next control iter: 1743029077.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2576*, header.stamp.nsec: 0*0 temperature: 13.565337** salinity: 33.374744*, density: 1025.000000** values[0]: 0.590602*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029077.743165 s.W[5H~,io AA\( @AtA}@ALQ~? AٌA&"AA aNA"AZAbAjArAzAAASY2AnTsAe@AFy:AK<AxiA ?A`"Afe*AS?2Aϫ:AIK8<BAS?JAϫRAIK8<٘i)I9@Y'G JiJJJJC&K  6YQ~? 6ydA  BC77_6)mB[[Mɼ[U~?[[[[[ZZZZBZYY i) 0K=IijA'> 0))00+YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029077.783165 s, next control iter: 1743029078.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029078.163165 s.x}b5H~,q AJ"J*J2J:JBJnJvJA!@Ah9 @A\Q~? ArA&"AAaNA"AZAbAjArAzAAAJK^2Ao'rXsAΉ@Az¹A<A)CgA W?AEA2`*A2R?2A,:A24D<BA2R?JA,RA24D .))ڽ..yn/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029078.183165 s, next control iter: 1743029078.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029078.583165 s.h5H~,S AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.106479@ elevatorAngleAction: -0.028070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743029078.583277F (some fields omitted in printout)Ap= !@Ap !@A6mQ~? AA&"AAz7aNA"AZAbAjArAzAAAbJ-2AiE]sA@AǨºA4=AdAг?A`A ^*AR?2A:A>P<BAR?JARA>P<٘i)I9@Y'G J^JJJJhC&K  6Y*Q~? 6y}dAVCb7b7IE6)uB[[Q[[U~?[J[[[[ZZZZBZYY i) fC=IidA}> ;+)):;+;+4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029078.603165 s, next control iter: 1743029078.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2577, header.stamp.nsec: 00 temperature: 13.565448* salinity: 33.374756, density: 1025.000000* values[0]: 0.590211F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029079.003165 s.w p5H~,H4 AJ"J*J2J:J?BJ?nJn5vJAHz"@Ag+y"@A}Q~? AA+]&"AA,PaNA"AZAbAjArAzAAA@L1AiasAfq@AfA)=AbA`?A A^*AUR?2AF:A[<BAUR?JAFRA[<٘i)I9q@YO'G J]JJJJC&K YX=IibA> )))))H9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029079.023165 s, next control iter: 1743029079.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029079.423165 s.uv5H~, AAQ#@A^P#@AQ~? AAC&"AA,iaNA"AZAbAjArAzAAAP%1A}jfsAB@AA =Aɗ`Ap?A`xA6`*AR?2AOꇽ:A"5g<BAR?JAOꇽRA"5g<٘i)I9B@Y'G J^JJJJC&K  6YMQ~? 6yYƩGdAC77*6)|B[[ʷ[xU~?[[[[[ZZZZBZYY i) D:=IiX_A> 7&))7&7&>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029079.443165 s, next control iter: 1743029079.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2578, header.stamp.nsec: 00 temperature: 13.565545* salinity: 33.374748, density: 1025.000000* values[0]: 0.589828F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029079.843165 s.|5H~, AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.115345@ elevatorAngleAction: -0.028070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743029079.843308F (some fields omitted in printout)A(\$@A'$@AQ~? AfA38&"AAyaNA"AZAbAjArAzAAARb1AjjsA@AFr8A =A`^A?A>Aa*AR?2Aas:Aq<BAR?JAasRAq<٘i)I9@Y&G Jg`JJJJjC&K Y__Q~?yGͩdAXC7777E6B)B̸E[[9[>U~?[[[[[ZZZZBZYY i) 5=Ii\A5 > #))6\##BY2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029079.863165 s, next control iter: 1743029080.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029080.263165 s.5H~,4 AA33333%@AQe$@AQ~? AǹA&"AAaNA"AZAbAjArAzAAAOW`1ArosA@A[:A=A"\A )?A7_APc*AR?2A[:AWz<BAR?JA[RAWz h!))޽h!h!kFY-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029080.283165 s, next control iter: 1743029080.663184 s, wait time: 0.380019 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 25792, header.stamp.nsec: 020 temperature: 13.5656432* salinity: 33.3747602, density: 1025.0000002* values[0]: 0.5894312F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029080.683165 s.l5H~,V+ AJ"J*J2J:J?BJ?nJ95vJAףp= &@AJ`s%@AQ~? AA&"AAaNA"AZAbAjArAzAAAu+1A=ssAI@A:A=A+YA ?A=A,c*AR?2Å:A<BAR?JÅRA<٘i)I9@Yi&G J\cC=JJJJ C&K YMQ~?yکcAC776)B[[[!U~?[[[[[ZZZZBZYY i) A-=IiVA > ))XeIY=]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029080.683165 s, next control iter: 1743029081.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743029081.103165 s.5H~,F AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.117869@ elevatorAngleAction: -0.028070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743029081.103306F (some fields omitted in printout)A{G&@Ac"&@AQ~? AdȪAL&"AA2aNA"AZAbAjArAzAAA`0A2>^xsA@A8c:A=A1lWA ?A 7Ab*A5R?2Ad:A3<BA5R?JAdRA3<٘i)I9@Y/&G JbB=JJJJl C&K YŖQ~?yUcAZCj7j7Q6B)BӸE[[%[MU~?[[[[[ZZZZBZYY ia) =(=Ii3TA;> o>))o>o>lKY'g޽YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029081.143165 s, next control iter: 1743029081.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029081.523165 s.J "J *J 2J :J ?BJ ?5H~nJ-5vJ,{a AAQ'@A '@AVQ~? AϪA&"AAaNA"AZAbAjArAzAAAz0A|sAAU@A9A=AGUA` ?A;AD`*A R?2A:A<BA R?JARA<٘i)I9U@Y%G JaC=JJJJ C&K  6Y:Q~? 6yZcA BCb77g6)B[[{V[U~?[[[[[ZZZZBZYY i) $=Ii{QA> ))GLYmyYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743029081.543165 s, next control iter: 1743029081.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2580, header.stamp.nsec: 00 temperature: 13.565756* salinity: 33.374763, density: 1025.000000* values[0]: 0.589067F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029081.943165 s.Ud5H~,5]| AA(\(@A 7[(@ANQ~? A֪Ack&"AAbNA"AZAbAjArAzAAA]0A+sA*'@AMAF=AoRA+O?A A%eW*ABR?2A8h:AfŠ<BABR?JA8hRAfŠ<٘i)I9'@Y%G Jf[B=JJJJ C&K YQ~?y*cAC777ھ6B)BָE[[[U~?[[[[[ZZZZBZYY i) +L =IiNA[> /))_//MYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029081.963165 s, next control iter: 1743029082.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029082.363165 s.5H~,y> AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.130248@ elevatorAngleAction: -0.037203< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743029082.363289F (some fields omitted in printout)Afffff)@AE2)@Ay R~? AݪA%"AA bNA"AZAbAjArAzAAAA!gGS0AkcʅsAj@AA=AxPA x}?A;A5aT*A~R?2A͋:Aޤ<BA~R?JA͋RAޤ S))dSSy5QYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029082.383165 s, next control iter: 1743029082.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2581&, header.stamp.nsec: 0&0 temperature: 13.565866&* salinity: 33.374771&, density: 1025.000000&* values[0]: 0.588679&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029082.783165 s.Y5H~, AA ףp=*@AV|C *@AR~? AATS%"AA) ))egVYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029082.803165 s, next control iter: 1743029083.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029083.203165 s.5H~,! AJ"J*J2J:JBJnJvJAGz+@AbG*@Af.R~? AA%"AAWbNA"AZAbAjArAzAAAeۨ/A##sAW@AA =AuKA1?AXAoV*AER?2A:AӜ<BAER?JARAӜ<٘i)I9@Y%G JTJJJJ C&K  6YQ~? 6ybA C7726B)BݸE[[][`U~?[[[[[ZZZZBZYY i) m=IitFA= ))\YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743029083.223165 s, next control iter: 1743029083.603181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029083.623165 s.b5H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.120314@ elevatorAngleAction: -0.037203< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743029083.623310F (some fields omitted in printout)AR+@A.rOW+@A,AR~? AA^?%"AAsbNA"AZAbAjArAzAAAJ T/AiesA t@Au_Y:AB$=ALIA?Ay1AZ*A$R?2An:ArY<BA$R?JAnRArY<٘i)I9t@Y$G JWJJJJp C&K Y^ R~?y^\bA] CT6)B[[[xU~?[[[[[ZZZZBZYY i) 5#=IiCA= wA ))wA wA aYqYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029083.643165 s, next control iter: 1743029084.023182 s, wait time: 0.380017 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2582 , header.stamp.nsec: 0 0 temperature: 13.565942 * salinity: 33.374779 , density: 1025.000000 * values[0]: 0.588340 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029084.043165 s.5H~, AJ"J*J2J:J?BJ?nJ5vJA(\,@A6`,@A%TR~? AA%"AA]bNA"AZAbAjArAzAAAYv.A. 7sAE@Ar::AC(=AbFA`6?AA AF]*AR?2AQ:Ac<BAR?JAQRAc<I٘i)I9E@Y$G JK[JJJJ C&K  6YR~? 6y)bA B C{7{76B)BE[[G[U~?[[[[[ZZZZBZYY i)  =Ii AA3=  ))R  fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029084.083165 s, next control iter: 1743029084.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743029084.463165 s.S5H~,ۤ AA-@A3Ple-@APgR~? AA/%"AA bNA"AZAbAjArAzAAAWm.AloϚsAB@A(:A4^+=A[DA d?A[A0`*AR?2A>:Aʪ<BAR?JA>RAʪA= +))++1kYFFF]Waiting for Gazebo time sync: latest Gz time: 1743029084.483165 s, next control iter: 1743029084.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2583, header.stamp.nsec: 00 temperature: 13.566021* salinity: 33.374790, density: 1025.000000* values[0]: 0.587984F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029084.883165 s.y5H~,I8 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.113163@ elevatorAngleAction: -0.037203< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743029084.883275F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp.@A||<.@AzR~? AA;%"AAbNA"AZAbAjArAzAAAr^%-A ]sA@AFb:AS-=A BA?A4Aa*AiR?2Akۏ:Aӊ<BAiR?JAkۏRAӊ<٘i)I9@Y8$G J`JJJEJr C&K YER~?y aA_ Cŧ7b7\6)B[[[U~?[ȩ[[[[ZZZZBZYY i) c=Ii;A= ))pnYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029084.903165 s, next control iter: 1743029085.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029085.303165 s.V5H~,wgS AAzG/@A }/@A;R~? AcA$%"AAIbNA"AZAbAjArAzAAAkj7-A4 sA@ANA+/=A?A?AA`b*A;hR?2A-?:Ă<BA;hR?JA-?RĂ<٘i)I9@Y#G JaJJJJ C&K  6YYR~? 6y)!|aA B C7777p6B)BE[['[fV~?[ͩ[[[[ZZZZBZYY ihp<) )S))3>3>yqYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029085.343165 s, next control iter: 1743029085.703177 s, wait time: 0.360012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 25842, header.stamp.nsec: 020 temperature: 13.5661122* salinity: 33.3748052, density: 1025.0000002* values[0]: 0.5876092F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029085.723165 s.5H~,Hn AJ"J*J2J:Jm?BJm?nJ5vJAQ0@A;/@AR~? AA%"AAcNA"AZAbAjArAzAAAg?a -A..sA @AHϺA1=Ad0=Az?A `AX?b*A(^R?2A:A5 <BA(^R?JARA5 <٘i)I9@Y#G J@bJJJJ C&K Y2nR~?yI'BaA C{7j76)B[[׽[TV~?[Hѩ[[[[ZZZZBZYY i) \*A?PR?2An:Aζ<BA?PR?JAnRAζ<٘i)I9Z@Y#G J^JJJJt C&K  6YR~? 6yj- aAa C7777^U6B)BE[[O[v V~?[}թ[[[[ZZZZBZYY i) si=A 3A?A`A2c*AR?2A[֑:Ac!<BAR?JA[֑RAc!<٘i)I9΅@Y"G J`JJJJvC&K Y\R~?y>Q`Ac C77d6 B)îBE[[[V~?[[[[[ZZZZBZYY i) eC[[[[ZZZZBZYY i) <JJJxC&K'=  6YS~? 6yO_A+e Cb77g6"B)ϮBE[[ɠ[%V~?[[[[[ZZZZBZYY i) #?rS~? ATA%"AA=dNA"AZAbAjArAzAAA((AxsAE@A^˺A$Q=A#A̩?AAI{*AQ?2A:AS<BAQ?JARAS<٘i)I9@Yp!G JyJJJJzC&K  6YES~? 6yd`^AfC7)7n]6&B)ܮBE[[c![6V~?[[[[[ZZZZBZYY ib) ))>>Y&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029090.363165 s, next control iter: 1743029090.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2589*, header.stamp.nsec: 0*0 temperature: 13.566586** salinity: 33.374844*, density: 1025.000000** values[0]: 0.585691*F (some fields omitted in printout)>[S~?)>e rAdjusting time to match Gazebo time: 1743029090.763165 s.7+6H~,ذ AJ"J*J2J:J?BJ?nJ85vJA33333:@AD 9@A.S~? A`A%"AA~dNA"AZAbAjArAzAAA5 px'A6rCsAM5@AHk:AgT=A#}An?A ADez*AϠQ?2AH:A <BAϠQ?JAHRA [=@A>S~? AwA%"AA2eNA"AZAbAjArAzAAA5O2V$AvpJsA]@AAff=AAद?AiDAх*A[Q?2A:A<BA[Q?JARA<٘i)I9]@YG JB=JJJJ~C&K  6YS~? 6yr]A BjCŧ7b7{ 6)B[[a΋[]V~?[{[[[[ZZZZBZYY i) H^7 AAfffff>@AD2>@A5T~? A!}A%"AA(eNA"AZAbAjArAzAAAv2c$AzsA%@AӺAk=A{A>?AXAO*Ap@Q?2A:A,;<BAp@Q?JARA,; YS~?y,\ACb7$6,B)BE[[o;[9eV~?[[[[[ZZZZBZYY i) EN Y^T~?yg>[A  BmC77~61B)BE[[[kV~?[/[[[[BZYY i) <;Ii@= |`l))z|`l|`l8Y^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029094.983165 s, next control iter: 1743029095.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029095.383165 s.u6H~,< AA= ףpC@A+-v A}sAXp@A 8A8=AeAW?AܿAM*AP?2AC9:Ak=BAP?JAC9RAk=٘i)I9p@YG JJJJJ/C&K Y T~?y ZAC77΢63B)B"E[[3x}[+V~?[38[[[[BZYY i) ;Iij@9= `Q))`Q`QyYnYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029095.823165 s, next control iter: 1743029096.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029096.223165 s.g6H~,H AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.140085@ elevatorAngleAction: -0.064222< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743029096.223295F (some fields omitted in printout)AQE@AQD@A+T~? A̦A]%"AAPFfNA"AZAbAjArAzAAAK6dAL}tA.@ALA_=A&A u ?AVZܿA4*A"P?2A:AK=BA"P?JARAK=٘i)I9.@Y@G JKB=JJJJC&K  6YT~? 6yZAZA BoCb776) B[[ z[V~?[<[[[[BZYY i) 1;Ii@= 0C))W0C0CIYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029096.243165 s, next control iter: 1743029096.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029096.643165 s.zЉ6H~,*) AJ"J*J2J:J5?BJ5?nJu5vJA)\E@AE@AT~? AA~%"AA.kfNA"AZAbAjArAzAAA%)>AG5XtA@AJA==A' Al/?A`ۿAJ*ADP?2AY:A" =BADP?JAYRA" =٘i)I9@YG JC=JJJJC&K YPT~?yYAC{7{7&64B)%B%E[[v[*V~?[@[[[[BZYY i) };Ii@m= "6))"6"6YvYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029096.663165 s, next control iter: 1743029097.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2595, header.stamp.nsec: 00 temperature: 13.567301* salinity: 33.374935, density: 1025.000000* values[0]: 0.582854F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029097.063165 s.6H~,| D AAF@A6F@AST~? AcA%"AAIfNA"AZAbAjArAzAAA94=rAj?2tA@AAr=A*AQ?A@aۿA#*A;hP?2A~:A  =BA;hP?JA~RA  =YQy@s7yh=qٓHO?&? ? kܿ@?@yX ?)Qy@ I٘i)I9@YG JMB=JW<JJJ1C&K} > YT~?yYA7Cŧ7b766B),B)E[[g0s[ܻV~?[@E[[[[BZYY i) g>;Ii@ď= 0())W0(0(Y_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029097.083165 s, next control iter: 1743029097.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029097.483165 s.w_6H~,^ AvPublished command to Gazebo (printed only once in a while):J"J( dropWeightState: 1*J2J:J8 propOmegaAction: 25.132812BJ< rudderAngleAction: -0.132172nJ@ elevatorAngleAction: -0.064222vJ< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743029097.483281F (some fields omitted in printout)Aq= ףG@A"qoG@A!U~? AA/B%"AAfNA"AZAbAjArAzAAAShEAqtAS_@AAM=AtAu?AڿAlu*AGP?2A{:A =BAGP?JA{RA =٘i)I9_@YCG JC=JJJJC&K  6Y T~? 6yj5YA BpC)7ŧ7|m67B)1B,E[[o[V~?[I[[[[BZYY i) ;Ii@b= ))#YQYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029097.523165 s, next control iter: 1743029097.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2596, header.stamp.nsec: 00 temperature: 13.567451* salinity: 33.374935, density: 1025.000000* values[0]: 0.582311F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029097.903165 s.ȝ6H~,y AAGzH@A4FH@A0U~? AA&%"AA7fNA"AZAbAjArAzAAAF A@ٝ tA@Ao:Au=A$$ݾA ќ?AQڿA*籼*A=P?2A:A\=BA=P?JARA\=٘i)I9@YG J䮼JJJJC&K Ym U~?yJXAC777-6)6B[[:l[:V~?[M[[[[BZYY i) :D:Ii@j= @ ))@ @ ªY3EYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029097.923165 s, next control iter: 1743029098.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029098.323165 s.y6H~,2 AJ"J*J2J:JBJnJvJAQI@AI@A;IU~? AAߍ%"AAgNA"AZAbAjArAzAAAIAT:ZtA`@AC:A=A Y׾A`d?AٿA"Ƕ*A2'P?2A|:As=BA2'P?JA|RAs=٘i)I9@YG J6JJJJ3C&K  6Y&U~? 6y*}XACb7b7R68B);B/E[[#h[V~?[8R[[[[BZYY i) XG8Ii@ ^= @))@@NŪYYFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743029098.343165 s, next control iter: 1743029098.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2597*, header.stamp.nsec: 0*0 temperature: 13.567608** salinity: 33.374943*, density: 1025.000000** values[0]: 0.581701*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029098.743165 s.W6H~,X AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.155380@ elevatorAngleAction: -0.064222< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743029098.743279F (some fields omitted in printout)A\(J@A,( I@AbU~? A«AS6%"AA 'gNA"AZAbAjArAzAAA,^9A2$^ tA-~@A_:A=AwuѾA@?AHٿAa*AP?2A(ޟ:A=BAP?JA(ޟRA=٘i)I9~@Y/G JJJJJC&K Y*@U~?y !XA BrC769B)AB2E[[e[V~?[V[[[[BZYY i) fIiQ@4g= ))ཀྵǪYIYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029098.763165 s, next control iter: 1743029099.143174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743029099.163165 s.|}6H~,q AJ"J*J2J:JBJnJvJAK@AJ@A{U~? AƫA%"AAkMgNA"AZAbAjArAzAAAJ/~Ar-tAZ~@AX*:A3=AS˾A?A`ؿAGW*AIO?2A؀:AV=BAIO?JA؀RAV=YW@vM˾y3=q*:ٓHo?? ?`ؿz? kbKE??)W@ I٘i)I9Z~@YG JJjC<JJJC&Kr>  6Y5ZU~? 6yrêWAM˾C{7j7.86:B)GB5E[[׆a[V~?[Z[[[[BZYY i) q\IiC@+= ý))} ýýɪY!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029099.183165 s, next control iter: 1743029099.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029099.583165 s.6H~,S AAp= K@AK@AU~? A ˫Aq%"AAsgNA"AZAbAjArAzAAAYHAx=tA}@Aj*A\h=AľA"?A :ؿAt&*AiO?2A:AR=BAiO?JARAR=٘i)I9}@YmG JJJJJ5C&K YAtU~?yƪ[WACŧ7b7ު6;B)MB8E[[][fV~?[_[[[[BZYY i) r3IiV@z=  ))e  `˪Y* YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029099.603165 s, next control iter: 1743029099.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2598, header.stamp.nsec: 00 temperature: 13.567770* salinity: 33.374962, density: 1025.000000* values[0]: 0.581056F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029100.003165 s.| 6H~,]4 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.148825@ elevatorAngleAction: -0.064222< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743029100.003304F (some fields omitted in printout)J"J*J2J:JBJnJvJAHzL@AyL@A6U~? A)ϫAM:%"AAgNA"AZAbAjArAzAAAz^IA rtAe}@A/պA_=AgA@G?A`ۢ׿Aü*AO?2A(:A)7=BAO?JA(RA)7=I٘i)I9}@Y G Jx¼JJJJC&K  6YLU~? 6yAʪVA BsC776)RB[[GZ[)W~?[Pc[[[[BZYY iq) pIi@ns= `))``̪Yx YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029100.043165 s, next control iter: 1743029100.403181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743029100.423165 s.u6H~, AAQM@ANPM@AU~? A/ӫA %"AAgNA"AZAbAjArAzAAAKVA@p5tAq|@AA!=AA g?A׿A1Ƽ*AO?2A:A$=BAO?JARA$=٘i)I9q|@YG JļJJJJC&K YWU~?yͪVAC7{716)XB;E[[7V[JW~?[g[[[[BZYY i) u喻Ii@%m= 5X))6$5X5XͪYvYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029100.443165 s, next control iter: 1743029100.823183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2599, header.stamp.nsec: 00 temperature: 13.567960* salinity: 33.374985, density: 1025.000000* values[0]: 0.580395F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029100.843165 s.J "J *J 2J 6H~:J?BJ?nJ5,5 AvJA(\N@A'N@AU~? A׫A%"AAgNA"AZAbAjArAzAAAv1AytA{@A zA@=AlAആ?AfֿAż*A7O?2A:A A=BA7O?JARA A=٘i)I9{@Y@G JżJJJEJ7C&K  6YbU~? 6yѪ3VAC7)76=B)_B?E[[CR[ W~?[k[[[[BZYY i) jIie@0h= &))&&EϪY eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029100.883165 s, next control iter: 1743029101.243183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743029101.263165 s.6H~,'P AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.160363@ elevatorAngleAction: -0.072971< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743029101.263304F (some fields omitted in printout)A33333O@A6"N@A5U~? AګAO%"AA<hNA"AZAbAjArAzAAA _A!jtA${@A559A_/=A]A?A@ տAm@ȼ*AllO?2A|:A l=BAllO?JA|RA l=Y)G@Yy^/=9ٓH`?`$??տ`%4?Z!9?@?))G@ I٘i)I9${@YG JƼJ;JJJC&K`> Y U~?yӪUAY  BtC777u6>B)eBBE[[' O[I-W~?[o[[[[BZYY i) ؞ӻIir@a=  ¼))  ¼ ¼y]ѪY8$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029101.303165 s, next control iter: 1743029101.663180 s, wait time: 0.360015 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 26002, header.stamp.nsec: 020 temperature: 13.5681732* salinity: 33.3749892, density: 1025.0000002* values[0]: 0.5797022F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029101.683165 s.l6H~,^k AJ"J*J2J:JBJnJvJAףp= P@A,O@AvV~? AޫAJ%"AA7hNA"AZAbAjArAzAAA AP:"tAzz@A>A:A؄=AѥA ?AjտA˼*AEO?2AU:A=BAEO?JAURA=٘i)I9zz@YsG JɼB=JJJJC&K YU~?y֪eUAC)7ŧ7F6?B)kBEE[[o_K[,:W~?[$t[[[[BZYY i) Ii@ױ[= ))eԪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029101.703165 s, next control iter: 1743029102.083177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029102.103165 s.6H~, AA{GP@A}P@A1V~? APA%"AA_hNA"AZAbAjArAzAAA?"1d AKq$tAy@A :A'=ApA A?A ԿAoм*A7O?2A(:An=BA7O?JA(RAn=٘i)I9y@Y G J μC=JJJJ9C&K  6YUV~? 6y٪TA C77{7Z6@B)qBHE[[G[nGW~?[Jx[[[[BZYY i) Ii@OU= ;));;تY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029102.143165 s, next control iter: 1743029102.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029102.523165 s.6H~,{ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.153708@ elevatorAngleAction: -0.072971< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743029102.523285F (some fields omitted in printout)J"J*J2J:JBJnJvJAQQ@A'.Q@A_LV~? AAt%"AAhNA"AZAbAjArAzAAAcEz2> ASa&tAy@AAѤ:A=A)AO?A6ԿAoJռ*A`O?2Aa:A=BA`O?JAaRA=٘i)I9y@YG JҼJJJJC&K Y,V~?yܪTA !BvC776)wB[[GC[UW~?[o|[[[[BZYY i) Iir@O= R<))q)R<R<ܪY7pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029102.543165 s, next control iter: 1743029102.923182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2601, header.stamp.nsec: 00 temperature: 13.568376* salinity: 33.375011, density: 1025.000000* values[0]: 0.578996F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029102.943165 s.^d6H~,[] AA(\R@AB,[R@AgV~? AEA(0%"AAͯhNA"AZAbAjArAzAAANA|,(tAgx@A-NA2=A0ȒA ?A`IӿAmڼ*AN?2A+:A] =BAN?JA+RA] =٘i)I9gx@Y0G J׼JJJJC&K  6YGV~? 6yߪ0TAC8@6)}BKE[[?[#cW~?[[[[[BZYY i) 3&Ii@VJ= E=))E=E=ߪYfYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029102.963165 s, next control iter: 1743029103.343184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743029103.363165 s.6H~,> AJ"J*J2J:J!?BJ!?nJS5vJAfffffS@A;2S@AŁV~? AA\%"AA*hNA"AZAbAjArAzAAAЍ.A>3V*tAw@A𪧺A5=A+A1?A ӿA޼*AN?2Ae:A=BAN?JAeRA=Y4I@69y,=7ٓH?M?P? @ѿ?`I`߭]T9?)4I@ I٘i)I9w@YG JAܼJl<JJJ;C&K> YbV~?ySA9!Cj7j76AB)BOE[[/;[*qW~?[[[[[BZYY i) 4Ii=@K&D= Q=))|Q=Q=Y)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029103.403165 s, next control iter: 1743029103.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2602&, header.stamp.nsec: 0&0 temperature: 13.568565&* salinity: 33.375015&, density: 1025.000000&* values[0]: 0.578254&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029103.783165 s.V6H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.145296@ elevatorAngleAction: -0.072971< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743029103.783295F (some fields omitted in printout)A ףp=T@AAA T@AV~? AA%"AAiNA"AZAbAjArAzAAA/JXA,tAv@AoAק=AMAcK?A@nҿA*ApN?2A:A=BApN?JARA=٘i)I9v@YLG J0JJJJC&K  6Y}V~? 6y]RSA "BwC77%6BB)BRE[[+8[W~?[[[[[BZYY i) dCIi@&>= ==))<"====Y9)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029103.803165 s, next control iter: 1743029104.183175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029104.203165 s.7H~, AJ"J*J2J:J?BJ?nJ5vJAGzU@AXPT@AV~? AAm%"AAm)iNA"AZAbAjArAzAAAPA_WY.tA/0v@AfA֩=AbN}Ah?A`ѿAl*AޞN?2A:Aj=BAޞN?JARAj=٘i)I90v@YG J4JJJJC&K Y%V~?yRACj7Z7>6)BUE[['4[qW~?[[[[[BZYY i) ~RIi@xW8= =))==Y)y!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029104.243165 s, next control iter: 1743029104.603180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029104.623165 s.` 7H~,' AARU@A{/hU@AV~? AA`1%"AATRiNA"AZAbAjArAzAAA:ήlA1M4n0tAju@A„vAl=AXpAੀ?A%(ѿA*AN?2A-@:A=BAN?JA-@RA=٘i)I9ju@Y^G J6B=JJJJ=C&K  6YRV~? 6y tRA"C7{7 6CB)BXE[[O 0[W~?[[[[[BZYY i) BCaIi@2= `4=))I/`4=`4=Y "YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029104.643165 s, next control iter: 1743029105.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2603 , header.stamp.nsec: 0 0 temperature: 13.568830 * salinity: 33.375015 , density: 1025.000000 * values[0]: 0.577461 F (some fields omitted in printout)RV~?)  rAdjusting time to match Gazebo time: 1743029105.043165 s.7H~,B AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.171449@ elevatorAngleAction: -0.072971< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743029105.043290F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\V@A]wbV@AV~? AA%"AAe{iNA"AZAbAjArAzAAAdfAp=k32tAt@AM:A*=AEcA k?A@qпAN*AeN?2A:A9n=BAeN?JARA9n=٘i)I9t@YG J C=JJJJC&K Y{V~?yRA #BxCZ7Z7}6)B[[+[`W~?[|[[[[BZYY i0R) pIif@P-= =))==Y"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029105.063165 s, next control iter: 1743029105.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029105.463165 s.X7H~,] AAW@AxeW@A8 W~? AA%"AAiNA"AZAbAjArAzAAA1'=Ad:(3tAs@A:A4=AzUA@D?AfϿA*A:N?2A&e:Al=BA:N?JA&eRAl=Y`@Uy4=q{:ٓH1??`.?`gʿBN?Jӓ޿ ]? ^?)`@ I٘i)I9s@YfG JB=J#<JJJC&K?> YV~?ySQAUC77N6)B[E[['[W~?[L[[[[BZYY i) Q~Ii@{G'= 0>))0>0>Y(/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029105.483165 s, next control iter: 1743029105.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2604, header.stamp.nsec: 00 temperature: 13.569061* salinity: 33.375042, density: 1025.000000* values[0]: 0.576595F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029105.883165 s.y7H~,Ix AJ"J*J2J:JBJnJvJA= ףpX@A4`:A`l =BA N?JA>RA`l =٘i)I9s@YG JC=JJJJ?C&K  6YW~? 6y%QA$Cj7Z7b6DB)B^E[['#[W~?[[[[[BZYY i) TIiA|@q!= >))O(>>Y/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029105.923165 s, next control iter: 1743029106.283183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743029106.303165 s.Y$7H~,g AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.164367@ elevatorAngleAction: -0.081700< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743029106.303288F (some fields omitted in printout)AzGY@A<|Y@A@W~? AA-T%"AA}iNA"AZAbAjArAzAAAKA!戔7tAt5r@AC+:A=A9AS?A(&ͿAE*AdM?2A9:A""=BAdM?JA9RA""=٘i)I95r@YjG JJJJJC&K YH"W~?yPA $ByCb776FB)BbE[[۷[W~?[ڟ[[[[BZYY i) ύIits@= `%>))`%>`%>y<YpYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029106.323165 s, next control iter: 1743029106.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2605*, header.stamp.nsec: 0*0 temperature: 13.569303** salinity: 33.375057*, density: 1025.000000** values[0]: 0.575739*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029106.723165 s.+7H~,H AJ"J*J2J:Jc?BJc?nJ5vJAQZ@AKY@A[W~? A[Ag"%"AA'!jNA"AZAbAjArAzAAA'NyȿA͘8tAbq@Ao=A=A+A`?A˿A*A$M?2Aʬ:A#=BA$M?JAʬRA#=٘i)I9bq@YG JJJJJC&K  6Y=W~? 6y1PAC777EH6)BeE[[[|W~?[[[[[BZYY i) YIij@a= -6>))5-6>-6>.Y8a(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029106.763165 s, next control iter: 1743029107.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029107.143165 s.T/27H~,) AA)\Z@A1Z@AXwW~? AA%"AAJjNA"AZAbAjArAzAAA`)W?A ? :tAap@AݺAY=AA?AʿA2 *AM?2A?:ANJ%=BAM?JA?RANJ%=٘i)I9p@YgG J<JJJJAC&K Y|YW~?yOA%C77{76GB)¯BhE[[OB[W~?[H[[[[BZYY i) :XIib@(= 06G>))06G>06G>YT(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029107.163165 s, next control iter: 1743029107.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029107.563165 s.87H~,N AJ"J*J2J:JE?BJE?nJl5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.177451@ elevatorAngleAction: -0.081700< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743029107.563278F (some fields omitted in printout)A[@A[@AW~? AAi%"AAtjNA"AZAbAjArAzAAA?AZqg;tAo@AvAQB=ArAO?A H>ɿA*AM?2A0:A&=BAM?JA0RA&=Y@cy?B=eٓH ?`?`?0?Ꙇ@@\!?)@ I٘i)I9o@YG JEJe<JJJC&KN%>  6YguW~? 6y?OA %BzCb77-6)ʯBkE[[+["X~?[ժ[[[[BZYY i) XsIiY@K = W>))S0W>W>YN5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029107.583165 s, next control iter: 1743029107.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2606, header.stamp.nsec: 00 temperature: 13.569600* salinity: 33.375076, density: 1025.000000* values[0]: 0.574831F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029107.983165 s.?7H~, AAq= ף\@A74eo\@AW~? A A7%"AAjNA"AZAbAjArAzAAAUX^b?A,))K.0i>0i>iYA5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029108.023165 s, next control iter: 1743029108.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029108.403165 s.&F7H~, AJ"J*J2J:JBJnJvJAGz]@AUF]@AW~? A Aiq%"AA jNA"AZAbAjArAzAAA M ?AB=tAm@A:Aᵿ=AH A2?A@"kƿAg *Ai>M?2A嵯:AA})=BAi>M?JA嵯RAA})=٘i)I9m@YG JJJJJCC&K  6Y>W~? 6yNENA&C7776)دB[[} [5X~?[ұ[[[[BZYY i) 1IiLH@@1= 0Iz>))0Iz>0Iz>XYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029108.423165 s, next control iter: 1743029108.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2607", header.stamp.nsec: 0"0 temperature: 13.569877"* salinity: 33.375076", density: 1025.000000"* values[0]: 0.573879"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029108.823165 s.L7H~,24 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.170210@ elevatorAngleAction: -0.081700< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743029108.823289F (some fields omitted in printout)AQ^@A+ۇ^@AW~? A AJ%"AALjNA"AZAbAjArAzAAA H F?AS:e?tA'm@A:Af=A*ʽA@?A6ſApw *AM?2AX4:ATb*=BAM?JAX4RATb*=٘i)I9m@Y?G J JJJJC&K Y(W~?yMA &B{C776)BqE[[[GX~?[?[[[[BZYY i) søIi @@< >))kG<>>Y=T.YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743029108.843165 s, next control iter: 1743029109.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029109.243165 s.S7H~,dO AJ"J*J2J:JBJnJvJA\(_@AfN^@AX~? AA&%"AAkNA"AZAbAjArAzAAA?A봰 @tANl@Ae::A(=A̭A :N?AÿA3*AL?2A):A*=BAL?JA)RA*=٘i)I9l@YG JJJJJC&K YW~?yKMACK6)BtE[[?[ZX~?[[[[[BZYY i) a޿IiK8@,< 8ˎ>))8ˎ>8ˎ>RYE.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029109.283165 s, next control iter: 1743029109.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029109.663165 s.Z7H~,qj AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2608, header.stamp.nsec: 00 temperature: 13.570192* salinity: 33.375080, density: 1025.000000* values[0]: 0.572883F (some fields omitted in printout)A`@A_@AX~? AOA%"AAHkNA"AZAbAjArAzAAA1i1@A\Ai AtA5k@Aޔ:A=A<AX?A/V¿Aw*AL?2A:A*=BAL?JARA*=Y̿@y=:ٓH`???籿? 7 {ڛR?`?)̿@ I٘i)I9k@YG JHJ^<JJJE C&K+>  6Y1X~? 6ydLA'Cb7b7j6IB)BwE[[[mX~?[ջ[[[[ZZ¸BZYY i¸L=) kIij/@< >))$>>{YL elevatorAngleAction: 0.090186< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743029110.083299F (some fields omitted in printout)Ap= `@AV`@A:X~? AAZ%"AArkNA"AZAbAjArAzAAAIu@AV[3GBtA%j@A#Av=AˤbA b?A@Af*A&L?2Ah:AƮ*=BA&L?JAhRAƮ*=٘i)I9%j@YG J^B=JJJJ C&K YOX~?yALA 'B|C77776)BzE[[[8X~?[[[[[ZZBZYY i) ,TIi&@< m>))4m>m>Ya&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029110.103165 s, next control iter: 1743029110.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029110.503165 s.g7H~,H4 AAHza@Aeya@AWX~? A8AO%"AA1kNA"AZAbAjArAzAAAxG@AȺfBtAi@AA=A&A@Wk?AA>~-*AL?2A]:A/"=BAL?JA]RA/"=٘i)I9i@Y G J#C=JJJJ C&K  6Yi9X~? 6yKAC7PP6)B}E[[e[!X~?[ª[[[[ZZBZYY i) 5Ii@!< Qq>))Qq>Qq>Y=$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029110.523165 s, next control iter: 1743029110.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2609, header.stamp.nsec: 00 temperature: 13.570526* salinity: 33.375114, density: 1025.000000* values[0]: 0.571835F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029110.923165 s.9n7H~, AJ"J*J2J:Jc?BJc?nJ5vJAQb@AoPb@A@sX~? A|A%"AAkNA"AZAbAjArAzAAA2j@A< CtAg@AAq=A"wؼA@ls?A滿A +*A2{L?2A:A(<BA2{L?JARA(<٘i)I9g@Y& G Jw/JJJJG!C&K YUX~?y>8KA'C776) BE[[߾[X~?[!Ū[[[[ZZBZYY i) ʎIi@u< 1>))cGC1>1>yO=uYO4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029110.963165 s, next control iter: 1743029111.323180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743029111.343165 s. elevatorAngleAction: 0.090186< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743029111.343301F (some fields omitted in printout)A(\c@A`'c@AyX~? AA%"AAkNA"AZAbAjArAzAAA4 @A5Sd_DtAf@A AJ}=AEA{?A@A*A_L?2ARa:A2<BA_L?JARaRA2<٘i)I9f@Y{ G JC'JJJJ!C&K  6YqX~? 6yJA (B}Cŧ7756JB)BE[[B־[WX~?[Ȫ[[[[ZZBZYY i) ~IiY@}< )ݻ>)))ݻ>)ݻ>Y4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029111.363165 s, next control iter: 1743029111.743178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2610*, header.stamp.nsec: 0*0 temperature: 13.570929** salinity: 33.375126*, density: 1025.000000** values[0]: 0.570568*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029111.763165 s.7{7H~, AJ"J*J2J:J?BJ?nJ)5vJA33333d@AT c@AX~? AA%"AALlNA"AZAbAjArAzAAAp1'M@ADtAne@A}A..=A5;A@?Ao;A*AT-L?2A,P:A3{Q:BAT-L?JA,PRA3{Q:Y"#@ 2;y).=~ٓH@?mf֥?Uf??gQ?RץO?)"#@ I٘i)I9e@Y G J3JJJJ!C&K2> YX~?yxJA2;C777X6)B[[;[X~?[ʪ[[[[ZZBZYY iGy=) |oIi@x< >))r7+>>ItYKCYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029111.783165 s, next control iter: 1743029112.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029112.183165 s.˂7H~,o AAףp= e@A d@AX~? AASl%"AAHlNA"AZAbAjArAzAAAqޅ}@A[EtAhe@A.9A<Ak<A?AiJAX߼*A;K?2A:A BA;K?JARA ٘i)I9e@Yb G JtJJJJI"C&K  6Y6X~? 6y>JA) Cŧ7ŧ76)"BE[[!þ[[X~?[ͪ[[[[ZZBZYY i) YIi?v< X>))D;X>X>Y;CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029112.223165 s, next control iter: 1743029112.583181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743029112.603165 s.847H~,& AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.183206J> elevatorAngleAction: 0.076891"J< massPositionAction: 0.0000004 buoyancyAction: 0.000500*J dt: 0.4200052J2 time: 1743029112.603284F (some fields omitted in printout):JBJnJvJA{Ge@A:;e@APX~? ANA[%"AArlNA"AZAbAjArAzAAAj]@Ane`%FtA\d@A^0r:AL;AM=A?AAx*AYK?2A:ABAYK?JARA񆼙٘i)I9\d@Y G JVȼJJJJ"C&K YX~?yJA )B C7776)'BE[[S[X~?[IЪ[[[[ZZBZYY ir=) ZDIi4?ϗ< >))>>Y+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029112.623165 s, next control iter: 1743029113.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2611 , header.stamp.nsec: 0 0 temperature: 13.571261 * salinity: 33.375160 , density: 1025.000000 * values[0]: 0.569556 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029113.023165 s.Z7H~,{A AAQf@Ad))Jb>b>y~2=i)Y;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029113.043165 s, next control iter: 1743029113.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029113.443165 s.5Ö7H~,5]\ AJ"J*J2J:J?BJ?nJ5vJA(\g@A}w+[g@AY~? AqAA%"AAlNA"AZAbAjArAzAAAtGCR@A]FtAc@A{9AӼA .=A?A>GA]*AK?2A+:AxBAK?JA+RAx９٘i)I9c@Y~ G J CJJJJK#C&K YX~?yIA *B+!Cj7s6)-BE[[[*Y~?[Pժ[[[[ZZBZYY i) 9Ii?h< >))>>y}= *Y/;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029113.463165 s, next control iter: 1743029113.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2612, header.stamp.nsec: 00 temperature: 13.571368* salinity: 33.375153, density: 1025.000000* values[0]: 0.568984F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029113.863165 s.+7H~,>w AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.198146> elevatorAngleAction: 0.085950< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743029113.863323F (some fields omitted in printout)Afffffh@AC 82h@AY9Y~? AAE8%"AAlNA"AZAbAjArAzAAAPj!@AFtAcc@ATAAؠ=A`?AIA)L*Aj=K?2Ar*:A BAj=K?JAr*RA Yi@=yHTٓH???}zb@?J?)i@ I٘i)I9cc@Yd G JͻJ,GJJJ#C&K8> YIY~?y IA=!Cŧ7b76)/BE[[o[kAY~?[ת[[[[BZYY iGs=) &'IiZ?t< >))E2>>hW*YuJYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029113.903165 s, next control iter: 1743029114.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029114.283165 s.6R7H~, AJ"J*J2J:JBJnJvJA ףp=i@A8gD i@AUY~? AA|1%"AAmNA"AZAbAjArAzAAA a3@A8GtAp^c@AQ׺ADOA=A ?A ĐAY ;*AJ?2A:AZBAJ?JARAZ٘i)I9^c@Ya G J_MJJJJ#C&K  6Y}7Y~? 6y[IA!C77]X6)E[[[_XY~?[٪[[[[BZYY i|ُ=) ^.Ii?`< i>))Ci>i>H*Y`JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029114.303165 s, next control iter: 1743029114.683174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2613., header.stamp.nsec: 0.0 temperature: 13.571325.* salinity: 33.375160., density: 1025.000000.* values[0]: 0.568899.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029114.703165 s.Ӻ7H~, AAGzj@AdTi@ArY~? A.Ai-%"AAImNA"AZAbAjArAzAAA(x[@A+ɖ&GtAc@AAuA=AՎ?A,mkA<*AIJ?2A:A"BAIJ?JARA"٘i)I9c@Yu G J;JJJJM$C&K YSY~?y/JA +B-"Cb77 6).BE[[%։[oY~?[۪[[[[BZYY i) 1 ̻Ii?NuM< $?))$?$?-*YF1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029114.723165 s, next control iter: 1743029115.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029115.123165 s.@7H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.190520> elevatorAngleAction: 0.070239< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.420019J"J2 time: 1743029115.123295F (some fields omitted in printout)*J2J:JBJnJvJARj@A$`Sj@AUY~? A(A,%"AAtmNA"AZAbAjArAzAAA3̹@AMw"GtAnc@APnA]zA>Aഉ?A@?A'yB<*AȶJ?2Aյ:A!(BAȶJ?JAյRA!(٘i)I9c@Y G J <JJJJ$C&K  6YoY~? 6ydJA"C7=6RB)4B[[{[Y~?[ݪ[[[[BZYY i) =ꩻIiD?8;< % ?))S% ?% ?*Y'CYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743029115.143165 s, next control iter: 1743029115.523181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029115.543165 s.I7H~, AA(\k@A>jk@AY~? AA/-%"AAbmNA"AZAbAjArAzAAAN|9@AqK GtAs d@Ai8AGA>AD?A_=?A?z<*AJ?2A6N:A:*BAJ?JA6NRA:*٘i)I9 d@Y G Ji]<B=JJJJ$C&K YY~?yGJA"Cŧ7b7f6)1BE[[Zk[Y~?[ߪ[[[[BZYY i) XIiτ?)< 49?))49?49?y=*YCYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029115.583165 s, next control iter: 1743029115.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2614, header.stamp.nsec: 00 temperature: 13.571092* salinity: 33.375191, density: 1025.000000* values[0]: 0.569201F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029115.963165 s.x7H~, AJ"J*J2J:JBJnJvJAl@Aooel@AY~? AA0%"AA7mNA"AZAbAjArAzAAAf-j9p@A(-FtAd@Aڐ:AHA+!>Ay?A?Ahq<*AXJ?2Ax:A+BAXJ?JAxRA+Y@)!>yHE:ٓH ?Ŀ@L@4 ?2?@Ud?UR?`u?)@ II٘i)I9d@Y G J<C=JeJJJO%C&KA>  6YY~? 6yKA!> ,B.#Cb77#6)-BE[[;eW[Y~?[i[[[[BZYY ix=) ^SIii?< 6?))96?6?*YSYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029116.003165 s, next control iter: 1743029116.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029116.383165 s.7H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.180752> elevatorAngleAction: 0.060706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743029116.383271F (some fields omitted in printout)A= ףpm@ASqA`kn?A?Ah<*A!J?2Al:A4+BA!J?JAlRA4+٘i)I9e@Yl G Jc<JJJJ%C&K YY~?yjKA#C6QB))BE[[k"C[Y~?[[[[[BZYY i) 3IiK?_< @G?)) J@G?@G?*YSYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029116.423165 s, next control iter: 1743029116.783175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2615&, header.stamp.nsec: 0&0 temperature: 13.570755&* salinity: 33.375187&, density: 1025.000000&* values[0]: 0.569823&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029116.803165 s.xA7H~,g3 AJ"J*J2J:JBJnJvJAzGn@ALn@A?Y~? AAd@%"AAnNA"AZAbAjArAzAAAҶ<@AjCFtATe@Az:A&A%C>AOd?A`׭?Ad<*AJ?2A\:A'BAJ?JA\RA'٘i)I9e@Y G J<JJJEJ%C&K  6YY~? 6y!KA#C)7b7i6)$BE[[.[Y~?[b[[[[BZYY i) _ Iis/?ғ; pk?))pk?pk?*Y/9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029116.843165 s, next control iter: 1743029117.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029117.223165 s.g7H~,HN AAQo@Amn@A\Z~? AAGL%"AAUJnNA"AZAbAjArAzAAA"陂H @A)EtAGFf@A#8AEAw T>A`zW?A??A=<*AI?2A:Ag#BAI?JARAg#٘i)I9Ff@Y& G J<JJJJQ&C&K YY~?y;LA -B0$C{7{7{6)BE[[[Z~?[[[[[BZYY i) Ii?d@; ^"?))5[^"?^"?%*YJYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029117.263165 s, next control iter: 1743029117.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029117.643165 s.y7H~,*i AJ"J*J2J:J?BJ?nJ-5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.214368> elevatorAngleAction: 0.060706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743029117.643297F (some fields omitted in printout)A)\o@Ao@Aj7Z~? A-AZ%"AAtnNA"AZAbAjArAzAAAͿ @AY5QEtAf@A+tAbxAڟd>AI?AA?A<*AI?2A@:AaaBAI?JA@RAaa٘i)I9f@Y G J<JJJJ&C&K YZ~?y]LA$C77776PB)BE[[[Z~?[[[[[BZYY i) ]9Ii> ; '?))'?'?yox=*YJYFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2616, header.stamp.nsec: 00 temperature: 13.570358* salinity: 33.375217, density: 1025.000000* values[0]: 0.570626F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743029117.663165 s, next control iter: 1743029118.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029118.063165 s.7H~,V AAp@A@p@AfSZ~? A4Al%"AA[nNA"AZAbAjArAzAAAS!@ADtAg@AAcנAu>A7?A V?Ak<*AI?2A޵½:ABAI?JA޵½RAYP<Ou>yXנ7ٓH`L?oο@,[?@ ??5W?)P< I٘i)I9g@Y G J<JӻJJJ&C&KI>  6Y2Z~? 6yEMAu>$C{7{7k`6)BE[[߽[H6Z~?[[[[[BZYY i) :Ii>n; d-?))A T$?A`ϒ?A<*AeI?2AĽ:ABAeI?JAĽRA٘i)I98h@YU G J<JJJJS'C&K YYNZ~?y-{MA .B1%C776NB) BE[[Q[%; e2?))Re2?e2?j*Yb~[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029118.503165 s, next control iter: 1743029118.883182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2617, header.stamp.nsec: 00 temperature: 13.569891* salinity: 33.375214, density: 1025.000000* values[0]: 0.571484F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029118.903165 s.7H~,͹ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.206049> elevatorAngleAction: 0.069897< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743029118.903282F (some fields omitted in printout)AGzr@AP÷Fr@A!Z~? AA%"AAnNA"AZAbAjArAzAAAX@"@Ac,FCtAh@AdAZA걌>A?A@?A<*ATI?2Aý:A?BATI?JAýRA?٘i)I9h@Y G JQ<JJJJ'C&K  6YiZ~? 6yMA%C77{7E6)BE[[t[jZ~?[2[[[[BZYY i) P;Ii>[: <7?))<7?<7?*Yv_@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029118.923165 s, next control iter: 1743029119.303180 s, wait time: 0.380015 siZ~?) rAdjusting time to match Gazebo time: 1743029119.323165 s.y7H~,2 AJ"J*J2J:JBJnJvJAQs@A+ۇs@AݦZ~? AmA%"AA oNA"AZAbAjArAzAAAQj#@A3ijBtA{i@A\:A ɕAN>A?A@n,?A'9<*A'I?2AfĽ:A4BA'I?JAfĽRA4٘i)I9{i@YG J̼<JJJJ'C&K Y.Z~?ySNA%C7)7l6MB)BE[[>[aZ~?[[[[[BZYY i) lʅ;IiM=N: p/=?))ZSdp/=?p/=?*Y SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029119.363165 s, next control iter: 1743029119.723179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2618*, header.stamp.nsec: 0*0 temperature: 13.569465** salinity: 33.375252*, density: 1025.000000** values[0]: 0.572359*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029119.743165 s.W7H~,u AA\(t@A_s@AZ~? AAe%"AAGoNA"AZAbAjArAzAAA6=$@A(oyAtAj@A:ALA>A?A {?A_<*AH?2AZĽ:A BAH?JAZĽRA ٘i)I9j@YvG Jg<JJJJV(C&K  6YZ~? 6yNA /B2&Cb77+6)BE[[̼[Z~?[[[[[BZYY i) ;IJI?i+(A׹ œB?))œB?œB?y=}*YMRYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029119.763165 s, next control iter: 1743029120.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029120.163165 s.t}8H~,q AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.222974> elevatorAngleAction: 0.069897< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743029120.163292F (some fields omitted in printout)Au@AV{t@AZ~? A4A[%"AAqoNA"AZAbAjArAzAAAkKT$@Ar@tAj@A{:ARA >A?A_?A<*ARH?2A.ǽ:A BARH?JA.ǽRA Y<=>yHh:ٓH Y[Z~?y!OA>&C7ʝ6LB)BE[[ s[OZ~?[[[[[BZYY i) .;I/ I?izȺ G?))iGG?G?^*YyXdYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029120.183165 s, next control iter: 1743029120.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029120.583165 s.8H~,R% AAp= u@Afآu@AlZ~? AcA %"AAjoNA"AZAbAjArAzAAA# %@AWMV?tA8k@AIO:AA?C>A?AR?Al<*AvH?2A])ɽ:A BAvH?JA])ɽRA ٘i)I98k@Y)G J<JJJJ)C&K  6YZ~? 6yAOA&C777o6KB)BE[[ˑ<[~Z~?[ [[[[BZYY i) c;I I?i|) L?))FZL?L?*YKdYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743029120.603165 s, next control iter: 1743029120.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2619, header.stamp.nsec: 00 temperature: 13.569031* salinity: 33.375259, density: 1025.000000* values[0]: 0.573145F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029121.003165 s.z 8H~,U4@ AJ"J*J2J:J?BJ?nJ5vJAHzv@A}yv@A[~? Ak A1%"AAoNA"AZAbAjArAzAAA7Z0&@A| N#>tAjk@A"(AZAL>A@?A?A:l<*A\H?2Aǽ:A+ BA\H?JAǽRA+ ٘i)I9k@YG Jͪ<JJJJX)C&K YZ~?yoOA 0B3'Cŧ7b76)BE[[t>"=[Z~?[[[[[BZYY i) b;II?idui ,?R?)),?R?,?R?*YWGYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029121.023165 s, next control iter: 1743029121.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029121.423165 s.u8H~,[ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.213158> elevatorAngleAction: 0.069897< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743029121.423296F (some fields omitted in printout)AQw@APw@A/[~? AN AY%"AAoNA"AZAbAjArAzAAAҦ&@AA j?Ap?A<*A+H?2AeȽ:A BA+H?JAeȽRA ٘i)I9Wl@YG J%<JJJJ)C&K Y [~?yݪFPA'C6)B[[|=[ [~?[Y[[[[BZYY i) AH?A@?AdF<*AG?2AȽ:A BAG?JAȽRA ٘i)I9l@Y.G J<JJJJ*C&K  6Y_&[~? 6yڪPA'Cb77sh6JB)BE[[)=[!*[~?[[[[[BZYY i=) JA@#?Aq?Aᷪ<*A1G?2Aʽ:AFBA1G?JAʽRAFY?qH>i>yLٓH` 6?ٿ>?=I?.?@IN?)?qH> I٘i)I9um@YG J^<Ja8JJJZ*C&KX> Y8@[~?y?ת QAi> 1B5(C77#6IB)ޯBĹE[[*^=[E[~?[[[[[BZYY i) Ƙ- elevatorAngleAction: 0.079148< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743029122.683279F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= z@AbE y@AQ[~? A A%"AAqhpNA"AZAbAjArAzAAAW> (@A4w8tAn@AX9AA>A@?AM?A#<*AkG?2A̽:ABAkG?JA̽RA٘i)I9n@YG J<JJJJ*C&K  6YZ[~? 6yӪlQA(C7M6)ٯBǹE[[>[b[~?[[[[[BZYY i) K<A ?AF ?AM,<*AjLG?2Az˽:ABAjLG?JAz˽RA٘i)I9n@Y3G J<JJJJ+C&K Ys[~?y&ЪQA(C{7j7u6HB)ӯBʹE[[>[e~[~?[[[[[BZYY i) 2LA?A?A<*AIG?2A˽:AlBAIG?JA˽RAl٘i)I9#o@YG J<JJJJ\+C&K  6YÍ[~? 6y̪/RA 2B6)Cb77)36FB)ͯBɹE[[Z2>[ [~?["[[[[BZYY i) [3aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029123.543165 s, next control iter: 1743029123.923183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2622, header.stamp.nsec: 00 temperature: 13.567823* salinity: 33.375298, density: 1025.000000* values[0]: 0.575485F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029123.943165 s.[d>8H~,O] AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237367> elevatorAngleAction: 0.079148< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743029123.943299F (some fields omitted in printout)A(\|@A 0[|@A:[~? AA%"AAzpNA"AZAbAjArAzAAAXp*@AZJ3tAAx?A`.?A!<*AF?2A84̽:ABAF?JA84̽RA٘i)I9o@YG JO<JJJJ+C&K Y[~?y ɪRA)C777ӥ6EB)ǯB̹E[[M#J>[[~?[q[[[[BZYY i) j AJ"J*J2J:Jl?BJl?nJ5vJAfffff}@A92}@A$[~? AAߺ%"AAqNA"AZAbAjArAzAAABɖ8+@Ae1tACRp@AAuA}?A`I?A`s?A<*AxF?2A9ν:A1hBAxF?JA9νRA1hY>?yuXٓH ? ߿s`??`F`? ?)> I٘i)I9Rp@YDG J^<JJJJ,C&K^>  6YK[~? 6yĪRA?)CSI7SI7~6DB)BϹE[[a>[B[~?[[[[[BZYY i) y[[~?[vު[[[[BZYY i) jT elevatorAngleAction: 0.079148< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743029125.203309F (some fields omitted in printout)AGz@AaN~@AR\~? AA8%"AAUqNA"AZAbAjArAzAAA bAn,@AJ?0[-tA|q@AUA[Auo ?A?A@#?A<*AF?2AokϽ:A-BAF?JAokϽRA-٘i)I9q@Y G J<JJJJ,C&K Y[~?y?SA*C7776BB)BչE[[Ĉ>[ \~?[ܪ[[[[BZYY i) oʋTA*C7~p6)B[[>[*\~?[٪[[[[BZYY i) @[G\~?[֪[[[[BZYY i)  elevatorAngleAction: 0.079148< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743029126.463278F (some fields omitted in printout)A@AyUge@APg\~? AAk %"AAqNA"AZAbAjArAzAAA)M5.@Ar&tABs@Akk:A-A?Az6?A o?Agp<*ATE?2A9ҽ:ABATE?JA9ҽRAY> ?y-[l:ٓHH?˱ ?`?G? MxM? c?)> I٘i)I9s@YKG J<J_JJJ-C&Kh>  6YM:\~? 6yUA ?+Cŧ7b7U6>B)BڹE[[ot>[d\~?[Ӫ[[[[BZYY i) {[\~?[oЪ[[[[BZYY i) ?H?iɿ{ ?))Pp??*YriYFFF]Waiting for Gazebo time sync: latest Gz time: 1743029126.903165 s, next control iter: 1743029127.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029127.303165 s.Yt8H~,g AAzG@A y@A\~? AݫA%"AAJrNA"AZAbAjArAzAAAlR[\/@A!tAu@A鱤:AAQ$?A%?A@/?A]<*A*D?2ABӽ:AkBA*D?JABӽRAk٘i)I9u@Y.G J7<JJJJb.C&K  6Yh\~? 6yǤVA 5B:,C+;6)B[[3B>[Q\~?[̪[[[[BZYY i) 1 elevatorAngleAction: 0.079148< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743029127.723265F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AV]ꃤ@A\~? A٫A%"AA6rNA"AZAbAjArAzAAAb]\/@AH[s+tAu@A9AA/)?A`r?A`x?A-<*ASD?2Aֻӽ:ABASD?JAֻӽRA٘i)I9u@YG J<JJJJ.C&K Y\~?y̟|VA,Cۭ6[\~?[$ɪ[[[[BZYY i=) ȷ0@Ak?tA'v@A#A1A1!.?A/?A ?AZ<*AdD?2AԽ:AlBAdD?JAԽRAl٘i)I9v@YG JW<JJJJ/C&K  6YS\~? 6yњVA,C77j7 6;B)BE[[>[\~?[Ū[[[[BZYY i)  3?Ah?A{?AL<*AD?2A{mֽ:A0!BAD?JA{mֽRA0!Y[>F3?y#NWٓH _? zq?x?\Ԝ?:W?)[> I٘i)I9cw@YG J<JJJJd/C&K

Y\~?y&kWAF3? 6B;-C7{7966B){B[[2>[\~?[[[[[ZZZZ¸>BZYY i¸>)  AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.221242@ elevatorAngleAction: -0.087931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743029128.983300F (some fields omitted in printout)Aq= ף@A`;o@A\~? A<̫A%"AArNA"AZAbAjArAzAAA^.)0@Al¸tA))x@A!κAAg8?A C?A?:?A#Z<*APC?2Aؽ:A"BAPC?JAؽRA"٘i)I9)x@Y G J<JJJJ/C&K  6Yw\~? 6y{WA-Cŧ7b762B)qBE[[>[]~?[m[[[[ZZZZBZYY i) B? G*?` C?@䟿 ?`fd??)z ? I٘i)I9{@Y0G J<J=JJJ1C&K>v> Y]~?y%xYA#M?.C776/B)QBE[[8~?[}]~?[[[[[ZZZZBZYY i) =3p/C7;C6)LB[[?[֗]~?[5[[[[ZZZZBZYY i) Z]~?yzkYA/Cŧ7ŧ76+B)DBE[[#?[v]~?[2[[[[ZZZZBZYY i) BEw'@A]~? AA%"AAsNA"AZAbAjArAzAAA̞2@AsA}@AvA<A#b?A?A@u?A5;*ACA?2A;sڽ:A<BACA?JA;sڽRA<٘i)I9}@YMG J\<JJJJj2C&K Ye]~?y^kZA 9B?0C{7{7A6)>B[[51?[]~?[c[[[[ZZZZBZYY i) US@C?)`T/? I٘i)I9}@Y]G Ju;J>>JJEJ2C&KRz>  6Yw]~? 6yW7ZAmg?0C 6)B)?֎@A]~? AA%"AAsNA"AZAbAjArAzAAAʿlJ3@A?tsAŘ}@AAqZH=A l?ABM?Al>?Ar*j*AxHA?2AaTܽ:A=BAxHA?JAaTܽRA=٘i)I9}@YYG JzJJJJ3C&K Y]~?yPZA :B0C)7b76)[[B>?[^~?[[[[[BZYY iȐ) U ;IF?i!μ Bb?))UBb?Bb?y8>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029133.203165 s, next control iter: 1743029133.583174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743029133.603165 s.A48H~,ؚf AJ"J*J2J:J{?BJ{?nJ5vJA{GᏤ@A:;@A]~? AAk%"AAtNA"AZAbAjArAzAAA,j3@Aw ޝsA~o}@A$Sx:Aqn=Ar?A?A?A^*AK$A?2A&ڽ:AH=BAK$A?JA&ڽRAH=٘i)I9o}@Y@G JĻJJJJl3C&K Y]~?yJYAA1C777D6%B)9BE[[E?[X1^~?[z[[[[BZYY i) ;I#hF?i$Ҽ ?)) ??yYoyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029133.623165 s, next control iter: 1743029134.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2632 , header.stamp.nsec: 0 0 temperature: 13.563639 * salinity: 33.375462 , density: 1025.000000 * values[0]: 0.583923 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029134.023165 s.Z8H~,{ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.070589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743029134.023299F (some fields omitted in printout)AQ@A%"@AK]~? A披A%"AAwtNA"AZAbAjArAzAAAxk*3@AC3psA&}@A@(:A7=AGw?A?Aq?AL*A@?2A-۽:A=BA@?JA-۽RA=٘i)I9&}@YG J-JJJJ3C&K  6Y]~? 6yCYA1Cj7Z7e6)BE[[QS?[`^~?[Hk[[[[BZYY i) <;IF?iL)yؼ U?))U?U?WǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029134.463165 s, next control iter: 1743029134.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2633, header.stamp.nsec: 00 temperature: 13.563663* salinity: 33.375465, density: 1025.000000* values[0]: 0.583686F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029134.863165 s.+8H~,> AAfffff@Auv282@A^~? A_~A%"AApTtNA"AZAbAjArAzAAA](4@A3 msAR|@AM:A9G=AJ?A ?A?A>*Ai@?2Afܽ:A$=BAi@?JAfܽRA$=YNI??y3G=W:ٓH ?@U@x ?@ ?@?$?`;D Q? ?)NI? I٘i)I9R|@YG JJ=JJJn4C&K}>  6Y#]~? 6y4YA?C2C777GK6)AB[[-Z?[w^~?[mc[[[[BZYY iqqx) kU;IE?i,Rݼ ՞?))}՞?՞?cӪYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743029134.883165 s, next control iter: 1743029135.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029135.283165 s.8R8H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.247936@ elevatorAngleAction: -0.060655< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419991J"J2 time: 1743029135.283285*J2JF (some fields omitted in printout):JBJnJvJA ףp=@Ac= @Aa#^~? AwA,P%"AAntNA"AZAbAjArAzAAA,I]4@AsA{@AeAr=A?A@ڷ?A`a?A*A}0@?2A}ܽ:Af=BA}0@?JA}ܽRAf=٘i)I9{@YAG JQJJJJ4C&K Y4]~?yB-XA2Cb776 B)E[[a?[^~?[Q[[[[[BZYY i) |;IE?i/4 ?)) ??ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029135.303165 s, next control iter: 1743029135.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2634., header.stamp.nsec: 0.0 temperature: 13.563796.* salinity: 33.375488., density: 1025.000000.* values[0]: 0.583213.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029135.703165 s.غ8H~, AAGz@Ah@A.4^~? AlqAy%"AAtNA"AZAbAjArAzAAAJH 4@AGsA<<{@A6A>A=Au^?A@?AN!?A;Ŵ*AN@?2Az۽:Aڸ=BAN@?JAz۽RAڸ=٘i)I9<{@YG JCB=JJJJ5C&K  6YH]~? 6y%2XA  Y^~?yVAZ? =B3C776B)OBE[[y}?[^~?[8[[[[BZYY i) pNI8E?i8<) x?))x?x?ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029136.983165 s, next control iter: 1743029137.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029137.383165 s.9H~,+X AA= ףp@A"r<@Ar^~? AYVA%"AAtNA"AZAbAjArAzAAAMIM5@A:IsAlx@A:AUl=A^?AV?AM7?A¼*A_??2Aܽ:Av =BA_??JAܽRAv =٘i)I9x@Y_G JüC=JJJJr6C&K Yg!^~?y%VAF4Cb7b7M6)TB[[3?[^~?[/[[[[BZYY ia̎) IE?i:)* ?))??٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029137.403165 s, next control iter: 1743029137.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2636", header.stamp.nsec: 0"0 temperature: 13.564202"* salinity: 33.375500", density: 1025.000000"* values[0]: 0.581843"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029137.803165 s.A9H~,gs AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069726< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743029137.803296F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG@A?tA}@AH^~? AZOAb%"AAmtNA"AZAbAjArAzAAA[yy5@A sAx@AVC:Ao3=A ?A@?AYx?A*Aq6??2Aܽ:A|=BAq6??JAܽRA|=٘i)I9x@YG JrJJJJ6C&K  6Y-^~? 6yAVA4C)7ŧ7m6)ZB[[ɜ?[_~?[1&[[[[BZYY i) 3MI D?i<pj /K?))/K?/K?ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029137.823165 s, next control iter: 1743029138.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029138.223165 s.g#9H~,H AAQ@A;Ԗ꘤@AG^~? AEHA%"AAuNA"AZAbAjArAzAAA3e85@ApAgsAww@A\:A8=Af?A?A ?A*A ??2Agܽ:AEO=BA ??JAgܽRAEO=٘i)I9ww@YG JB=JJJJ7C&K Yf:^~?y\UA >B4Cb7b76B)]BE[[*?[_~?[[[[[BZYY i) GISD?i={ ?))??pΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029138.243165 s, next control iter: 1743029138.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029138.643165 s.J "J *J 2J :J ?BJ ?nJ 5vJ ~)9H~,(* AA)\@AR@Aǜ^~? AAAv%"AA)uNA"AZAbAjArAzAAA*u'5@ALsAv@Af9AҒ=A?A ?A`?Aא*A>?2ATܽ:A~g=BA>?JATܽRA~g=٘i)I9v@YCG JC=JJJJt7C&K  6YF^~? 6yxDUAG5C777SS6B)_BE[[Ӻ?[0&_~?[[[[[BZYY i) ~8IgD?iW>C z7?))z7?z7?yŽɪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743029138.663165 s, next control iter: 1743029139.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2637, header.stamp.nsec: 00 temperature: 13.564437* salinity: 33.375492, density: 1025.000000* values[0]: 0.581163F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029139.063165 s.09H~,k AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069726< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743029139.063326F (some fields omitted in printout)A̚@A(좘@Aɩ^~? A9A~%"AA=uNA"AZAbAjArAzAAA/ ֢5@AQmsAcSv@A臺A8=Aț?A%?A -?A *AN>?2A;ܽ:A =BAN>?JA;ܽRA =Ygt?ƛ?y|8=3?ٓHk?@@?@?\+?@=?@?P ?)gt? I٘i)I9Sv@YG JtJ㨼JJJ7C&K> YP^~?y6TAƛ?5C776B)bBE[[H?[5_~?[# [[[[BZYY i) IlD?i@z .?)).?.?VƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029139.103165 s, next control iter: 1743029139.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029139.483165 s.t_79H~, AJ"J*J2J:J?BJ?nJ5vJAq= ף@A5o@AK^~? A2A%"AAOQuNA"AZAbAjArAzAAA^ǀ6@A6M#sA0u@A RAG=Aw?A ?Ate?Aޡ*A>?2Aܽ:A9=BA>?JAܽRA9=٘i)I9u@YG JsB=JJJJ 8C&K  6YyZ^~? 6yީTA ?B5Cj7Z786)fB[[Iۓ?[bD_~?[#[[[[BZYY i) d߻I7CD?i0B} ?))??êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029139.503165 s, next control iter: 1743029139.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2638, header.stamp.nsec: 00 temperature: 13.564648* salinity: 33.375504, density: 1025.000000* values[0]: 0.580516F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029139.903165 s.b=9H~, AAGz@APF@AK^~? A%+A6!%"AAcuNA"AZAbAjArAzAAAOc =>6@Ay{sABu@AcкA=AI#?A`-?A?A*Ab>?2AKܽ:A=BAb>?JAKܽRA=٘i)I9Bu@YEG JC=JJJJv8C&K YBd^~?y֩!TAH6C77g6)kB[[p?[8R_~?[[[[[BZYY i) FI<D?i6C ڕ?))ڕ?ڕ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029139.923165 s, next control iter: 1743029140.303247 s, wait time: 0.380082 s rAdjusting time to match Gazebo time: 1743029140.323165 s.{D9H~,: AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069726< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199112 time: 1743029140.323314F (some fields omitted in printout)AQ@Af׽@A^~? A#A4%"AAuuNA"AZAbAjArAzAAA:\a6@A +sAt@AjjA=AX̣?AQB?A ?A*A;>?2Axܽ:A5=BA;>?JAxܽRA5=٘i)I9t@YG J؜JJJJ8C&K  6Y n^~? 6ynΩSA6Cŧ7b76B)lBE[[n?['__~?[[[[[BZYY i) xI.C?iCSk X?))X?X?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029140.363165 s, next control iter: 1743029140.723181 s, wait time: 0.360016 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2639., header.stamp.nsec: 0.0 temperature: 13.564826.* salinity: 33.375523., density: 1025.000000.* values[0]: 0.579937.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029140.743165 s.WK9H~,/ AA\(@A@A^~? A%AD%"AAĆuNA"AZAbAjArAzAAAT.6@A 3xsA =t@A<:A=A t?A@QU?A ?AZ*A>?2AcGܽ:AL=BA>?JAcGܽRAL=٘i)I9=t@YG JǚJJJJ"9C&K Yw^~?y*Ʃ`SA @B6C7)76B)oB E[[!?[,k_~?[I[[[[BZYY id) hI$C?ivC1 ?))??￪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029140.763165 s, next control iter: 1743029141.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029141.163165 s.J "J *J 2J :J d?BJ d?nJ 5vJ }R9H~,qJ AA@A'˞@A=^~? AA$%"AA uNA"AZAbAjArAzAAA/¢6@AqsOզsAs@A:B:Ag=A?A f?A+?A*A =?2A=ܽ:Ai1=BA =?JA=ܽRAi1=Y\??yg=#:ٓH݈? Ւ??`%?İ?`i`FZ??)\? I٘i)I9s@YXG JJjJJJx9C&K>~>  6Y~^~? 6ySA?J7CZ7Z7b6)sB[[j5?[;v_~?[թ[[[[BZYY i) H-I͚C?iD I @))I @I @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029141.183165 s, next control iter: 1743029141.563189 s, wait time: 0.380024 s rAdjusting time to match Gazebo time: 1743029141.583165 s.X9H~,Re AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.079294< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743029141.583278F (some fields omitted in printout)Ap= ן@A{vڢ@A0^~? A Al%"AAuNA"AZAbAjArAzAAA_6@A)sA  7Y͞^~? 7yȒ'QAi? BB8C7)7` 7)B[[4?[G_~?[ퟩ[[[[BZYY i) *ZzIhB?igE @))@@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029143.303165 s, next control iter: 1743029143.663178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2642., header.stamp.nsec: 0.0 temperature: 13.565392.* salinity: 33.375534., density: 1025.000000.* values[0]: 0.578221.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029143.683165 s.lz9H~,R AJ"J*J2J:JBJnJvJAףp= @AC֣@A _~? AAd%"AAuNA"AZAbAjArAzAAA ?7@ASuJQsA"p@A{A=Ak?ABb?A` ?Aܻ*A=?2A2۽:A^P=BA=?JA2۽RA^P=٘i)I9p@YG JşC=JJJJ|;C&K Y^~?yPAL9C{7{7Y7 B)B E[[η?[_~?[[[[[BZYY i) %ĄIB?ixE) { @)){ @{ @ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029143.683165 s, next control iter: 1743029144.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743029144.103165 s."9H~,ݚ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.079294< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200882 time: 1743029144.103344F (some fields omitted in printout)A{Gᤤ@A5!@A_~? AݪA%"AAuNA"AZAbAjArAzAAAFL aT7@AL"wsAX/p@AhO9A=A?A@t?A` '?Ap*A?W AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.079294< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743029145.363280F (some fields omitted in printout)Afffff@AC 82@A._~? AŪA&"AAvNA"AZAbAjArAzAAAI7@A(vsA#sn@A:As=A?A@̣?Am?Ag*Av Ye^~?y&g'OA?:Cj7j7 ?7B)B E[[&?[_~?[h[[[[BZYY i) IA?iA? @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029145.383165 s, next control iter: 1743029145.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2644&, header.stamp.nsec: 0&0 temperature: 13.565863&* salinity: 33.375504&, density: 1025.000000&* values[0]: 0.576948&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029145.783165 s.Y9H~,r AA ףp=@APD @A3_~? AƽA"q&"AAzvNA"AZAbAjArAzAAA ;S7@AB0nqsA\m@AXjL9AN=AK?A`M`?A`.?Aa*AXglsA8m@A<Alߦ=Ar?Av?AU?AU*AYeR3 @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029146.643165 s, next control iter: 1743029147.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2645 , header.stamp.nsec: 0 0 temperature: 13.566135 * salinity: 33.375549 , density: 1025.000000 * values[0]: 0.576221 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029147.043165 s.9H~, AJ"J*J2J:J?BJ?nJ5vJA(\ª@AyW=`@A:>_~? AoAK&"AA&vNA"AZAbAjArAzAAA7@A%+ecsAek@A[pAa=AC&K  7Y*^~? 7yCpMA EB;Cŧ7b7a$7)B[[b?[_~?[.=[[[[BZYY i) IPA?i; H@))H@H@y_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029147.063165 s, next control iter: 1743029147.443179 s, wait time: 0.380014 s*^~?)C rAdjusting time to match Gazebo time: 1743029147.463165 s.X9H~, AA@A½2oe@A@_~? AJA&"AA+vNA"AZAbAjArAzAAȀv 7@AƯw^sAWQk@A0 A*|=A/?A@s?A?A Ǽ*AC&K{> Yr^~?y3;LA?PC&K Y^~?yl2LA Y^~?yiJA ? GB=Cŧ7b7e|7B)ǯBE[[p?[ˇ_~?[_[[[[ZZ¸BZYY i¸L=) ؼIf@?i/R R#@))R#@R#@YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743029149.583165 s, next control iter: 1743029149.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2648, header.stamp.nsec: 00 temperature: 13.567029* salinity: 33.375538, density: 1025.000000* values[0]: 0.573854F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029149.983165 s.9H~,~ AAq= ף@Ao@AD_~? AVlA'&"AA2vNA"AZAbAjArAzAAA7Z7@A'@sA;g@AYǺA=W=A?A2瞿A?Ar*A;?2AJٽ:A =BA;?JAJٽRA =٘i)I9g@Y G J_JJJJ@C&K Y`^~?y1JAR>C77{77)ͯB[[0?[~_~?[[[[[ZZBZYY i) ̼I@@?ia-=ݼ $@))$@$@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029150.003165 s, next control iter: 1743029150.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029150.403165 s.&9H~,͙ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743029150.403279F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A40F@AB_~? A3dA,E&"AAS1vNA"AZAbAjArAzAAACoU7@AqH70;sAKf@A NA遴=A!R?A0A&?A9*A{;?2A/ٽ:A8=BA{;?JA/ٽRA8=٘i)I9Kf@Y) G JHJJJJ@C&K Yƞ^~?yIA>C{7j77)ӯB[[U\?[t_~?[[[[[ZZBZYY i) ѮI%@?i*aڼ p&@))p&@p&@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029150.423165 s, next control iter: 1743029150.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2649", header.stamp.nsec: 0"0 temperature: 13.567391"* salinity: 33.375542", density: 1025.000000"* values[0]: 0.572961"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029150.823165 s.9H~,2 AAQ@AV@A@_~? A\A&"AA.vNA"AZAbAjArAzAAAeా7@A'd:6sAce@AD@AV=A?A`Ac?A;*Ay;?2Aoٽ:AҾ<BAy;?JAoٽRAҾ<٘i)I9ce@Y G J$ JJJJ3AC&K  7Y,^~? 7yc8IA HB>C~77j(7)ۯB[[?[Cj_~?[ި[[[[ZZBZYY i) I*??iE'sּ 46(@))46(@46(@y =?۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029150.843165 s, next control iter: 1743029151.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029151.243165 s.9H~,y AJ"J*J2J:JBJnJvJA\(@A@A>_~? ASAY &"AA+vNA"AZAbAjArAzAAA%l7@AldH1sAfd@AzA=A?ATA'?A*A5t;?2Aؽ:A9Rp<BA5t;?JAؽRA9Rp<٘i)I9d@Y G J0JJJJAC&K Y^~?yHAS?C7777a7B)BE[[2-?[^_~?[ը[[[[ZZBZYY i) yI??i^#Ѽ )@)))@)@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029151.283165 s, next control iter: 1743029151.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029151.663165 s.9H~,q AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743029151.663278F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2650, header.stamp.nsec: 00 temperature: 13.567850* salinity: 33.375534, density: 1025.000000* values[0]: 0.571880F (some fields omitted in printout)A@AB˳@A;_~? AKAw &"AA'vNA"AZAbAjArAzAAAjF7@A-HX,sA`c@Ad9AH:=A-?A 0ASz?Aݼ*Axk;?2A~ؽ:AƦ;BAxk;?JA~ؽRAƦ;Y1"?.?yH:=9ٓHSп``?uпD?G=?@?)1"? I٘i)I9c@Y G JJ۽JJJAC&K\z> Y^~?y4}HA.??Cb777B)BE[[?[R_~?[>˨[[[[ZZBZYY i=) If??i!,μ +@))+@+@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029151.683165 s, next control iter: 1743029152.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029152.083165 s.D:H~, S AJ"J*J2J:Jf?BJf?nJ5vJAp= ״@A_"ޢ@A8_~? ACA3 &"AA"vNA"AZAbAjArAzAAA~)7@A:19k'sAc@A$:Aa<A?A ABi?Aֶ*AZ^;?2Ayؽ:A)BAZ^;?JAyؽRA)٘i)I9c@Y- G JμJJJJ5BC&K Y^~?yۨ>HA IB?C7b7j7)B[[?[kE_~?[[[[[ZZBZYY i) ’Id??i5Ӂʼ  P-@)) P-@ P-@"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029152.103165 s, next control iter: 1743029152.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029152.503165 s.:H~,@4 AAHz@Ay@A4_~? A;A[ &"AAMvNA"AZAbAjArAzAAA7@Aޙb"sAZ~b@A9A:4<A:k?A྿ARV?Aa*AR;?2Axؽ:ABAR;?JAxؽRA٘i)I9~b@Y G JJJJJBC&K  7Y9^~? 7y1ӨHAU@C77 7)B[[\@[7_~?[ [[[[ZZBZYY i) 懼Io??irƼ /@))/@/@rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029152.543165 s, next control iter: 1743029152.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2651, header.stamp.nsec: 00 temperature: 13.568195* salinity: 33.375511, density: 1025.000000* values[0]: 0.570980F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029152.923165 s.C:H~,; AJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJvJ( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074028< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200742 time: 1743029152.923346F (some fields omitted in printout)AQ@A*9'P@A/_~? A3AO &"AAvNA"AZAbAjArAzAAAE*7@AQPsAb@A IAzAR ?AXA`@?A?*A C;?2Aؽ:AwBA C;?JAؽRAw٘i)I9b@Y G JqJJJJBC&K Yw^~?yʨGA@C7777G7)BE[[]@[")_~?[ۮ[[[[ZZBZYY iO=) zIN??ix 0@))0@0@yL=ܟ(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029152.943165 s, next control iter: 1743029153.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029153.343165 s.<:H~,U AA(\@At'@A*_~? A+A &"AAvNA"AZAbAjArAzAAAK9z7@As :sAha@AG˺Ab͘A?A`0?ÿA'?Aiۻ*A1;?2Ahؽ:ABA1;?JAhؽRA󧼙٘i)I9a@Ys G JrJJJJ7CC&K YRp^~?y-¨GA JBAC7{7l7)B[[@[_~?[ϥ[[[[ZZBZYY i) \dI:/??iC7 8[2@))8[2@8[2@yWs=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029153.363165 s, next control iter: 1743029153.743178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2652*, header.stamp.nsec: 0*0 temperature: 13.388488** salinity: 33.391628*, density: 1025.000000** values[0]: 0.688414*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029153.763165 s.6:H~,p AJ"J*J2J:JBJnJvJA33333@A@A$_~? A#A!0 &"AAvNA"AZAbAjArAzAAAi7@AINsAXa@AA_mAD?A "ſA@ ?Ar*A1;?2ATؽ:A%мBA1;?JATؽRA%мY::?F?yQmlٓH T׿`)׽?@?@^׿ʙ ?`_4]?)::? I٘i)I9a@Y_ G JhJJ;JJJCC&K]y> Yf^~?yGAF?WAC7b7Ź7 B)BE[[@[ _~?[̜[[[[BZYY i)k=) RId??iWz 4@))4@4@y6׫=**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029153.783165 s, next control iter: 1743029154.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029154.183165 s.":H~,| AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057413< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743029154.183272F (some fields omitted in printout)Aףp= @A:Aָ@A_~? AA &"AAuNA"AZAbAjArAzAAAxXhW7@AGsAka@AzAj/Ax?AǿA~?A;*Ac;?2AFؽ:A6BAc;?JAFؽRA6񼙘٘i)I9a@Y] G J޹JJJJCC&K Y[^~?yGA KBACŧ77)[[Z@[{^~?[[[[[BZYY i=) `AIQ>?i m 5@))5@5@yp=k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029154.203165 s, next control iter: 1743029154.583183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743029154.603165 s.<4):H~,Ú AJ"J*J2J:JBJnJvJA{GṤ@AA @A;_~? A A e&"AA/uNA"AZAbAjArAzAAAҾ.TC7@AC sAa@AAVAa?A@ȿA@?A;*A:?2Az>ؽ:A%BA:?JAz>ؽRA%٘i)I9a@Yo G J;JJJJ9DC&K  7YQ^~? 7y}HABCm,7)BE[[;@[T^~?[g[[[[BZYY i) /I>?i㭼 X7@))X7@X7@y[|g=~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029154.643165 s, next control iter: 1743029155.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2653 , header.stamp.nsec: 0 0 temperature: 13.388551 * salinity: 33.391655 , density: 1025.000000 * values[0]: 0.688139 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029155.023165 s.Z0:H~,| AAQ@Au(%@A_~? A: A?&"AAuNA"AZAbAjArAzAAAir-7@AoUOf}sAp b@A:AGtA@ApʿA ?Asv'<*A:?2A7ؽ:A 6BA:?JA7ؽRA 6٘i)I9 b@Y G J <JJJJDC&K YG^~?yB/HAYBC77e7 B)E[[ @[^~?[ [[[[BZYY i) fI>?iKa 8@))8@8@y@Ӌ=8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029155.043165 s, next control iter: 1743029155.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029155.443165 s.96:H~,F] AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067625< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743029155.443281F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A=[@Aq _~? AtA&"AAuNA"AZAbAjArAzAAAzX}7@A% ʾsAZb@A:AhAa@A@̿A ?A<3Y<*A:?2A-.ؽ:Ai BA:?JA-.ؽRAi ٘i)I9Zb@Y G J><B=JJJJDC&K YM=^~?yZHA LBBC7777 B)[[r; @[^~?[z[[[[BZYY i)  I>?ii􊡼 ʟ:@))ʟ:@ʟ:@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029155.463165 s, next control iter: 1743029155.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2654, header.stamp.nsec: 00 temperature: 13.388498* salinity: 33.391636, density: 1025.000000* values[0]: 0.688385F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029155.863165 s.+=:H~,> AAfffff@Az0H2@AH_~? AA-&"AAuNA"AZAbAjArAzAAA\1K6@A1KrA%b@AP{:A^A@A2iοA%\?AZ<*A[:?2A;ؽ:AWBA[:?JA;ؽRAWYHS?˯@y^{:ٓH&ܿ@?`tq?Xݿѯ?jO??)HS? I٘i)I9b@Y G Jl<C=JxJJJ;EC&K~y> Y{0^~?y-HA@CCs7)B[[ @[^~?[r[[[[BZYY i5k=) IR>?iw *A<@))*A<@*A<@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029155.903165 s, next control iter: 1743029156.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029156.283165 s.7RD:H~, AJ"J*J2J:JK0?BJK0?nJ85vJA ףp=@A׃I @A^~? AA&"AAuNA"AZAbAjArAzAAAz6@A.1jZrA1c@ANS9A.9AQ@A@пA1?Af<*A:?2A ؽ:A BA:?JA ؽRA ٘i)I91c@YF G J<JJJJEC&K  7Y#^~? 7yUIA[CC77B)BE[[u@['^~?[k[[[[BZYY i) D]ܻIi>?i f=@))f=@f=@F*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029156.303165 s, next control iter: 1743029156.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 26552, header.stamp.nsec: 020 temperature: 13.3883672* salinity: 33.3916632, density: 1025.0000002* values[0]: 0.6890182F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029156.703165 s.׺J:H~,- AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057502< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743029156.703313F (some fields omitted in printout)AGz@A.eཤ@At^~? AuAFY&"AAyuNA"AZAbAjArAzAAAK6@A bܘrAdc@Aa;A_tAM@AѿA`?A30<*A`:?2A׽:AoBA`:?JA׽RAo٘i)I9c@Y G JJ<B=JJJJEC&K Y^~?y|{IA MBCCb7#K7)B[[ @[N^~?[mc[[[[BZYY i) &I8Q>?i|俉z; W}?@))W}?@W}?@8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029156.723165 s, next control iter: 1743029157.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029157.123165 s.NAA!@A@ѿA]?A~̫<*As:?2A$׽:AfBAs:?JA$׽RAf٘i)I9@d@Y G J<C=JJJJ=FC&K Y ^~?yyIADC7777p7B)BE[[ @[v^~?[\[[[[BZYY i) &잻I9>?inڿˋ A@))A@A@yk=p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029157.143165 s, next control iter: 1743029157.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029157.543165 s.IX:H~,b AA(\¿@A3c@A^~? AmީA&"AA?uNA"AZAbAjArAzAAAiG6@ArAd@AؚAXA@A(ҿA ?Aآ<*A$:?2A׽:A BA$:?JA׽RA ٘i)I9d@YD G JǮ<JJJJFC&K Y2]~?yq;JA\DCȽ7)B[[-@[a^~?[T[[[[BZYY i) t1Is#>?iYϿ \B@))\B@\B@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029157.563165 s, next control iter: 1743029157.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2656, header.stamp.nsec: 00 temperature: 13.388172* salinity: 33.391674, density: 1025.000000* values[0]: 0.689907F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029157.963165 s.J "J *J 2J :J 0?BJ 0?nJ 295vJ ^:H~,'} AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057502< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743029157.963288F (some fields omitted in printout)A@A^oe@A^~? AשA&"AAuNA"AZAbAjArAzAAAN3Mk6@A rAhe@A^A$"A; @A໭ӿAs?AT<*A:?2AE׽:AR!BA:?JAE׽RAR!Yyl?c< @y#"IZٓHuPk`? ?\`6 ?k=?)yl? I٘i)I9he@Y G J<J:JJJFC&Kyy> Y]~?yfjJA< @ NBDC7)77B)BE[[p@[DL^~?[M[[[[BZYY i) CI >?iǿf DD@))DD@DD@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029158.003165 s, next control iter: 1743029158.363190 s, wait time: 0.360025 s rAdjusting time to match Gazebo time: 1743029158.383165 s.e:H~,/ AA= ףp@Ax<@A^~? AϩAѡ&"AA |uNA"AZAbAjArAzAAA`I6@ArAe@AH:AǕAV @A TԿA>?A?<*A:?2Aw׽:ABA:?JAw׽RA٘i)I9e@Y G J˰<JJJJ?GC&K  7Y]~? 7yc KAEC77{7t07)B[[O@[6^~?[G[[[[BZYY iy3=) I=?iet NE@))NE@NE@S*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029158.403165 s, next control iter: 1743029158.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2657", header.stamp.nsec: 0"0 temperature: 13.387966"* salinity: 33.391685", density: 1025.000000"* values[0]: 0.690925"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029158.803165 s.vAl:H~,wg AJ"J*J2J:JBJnJvJAzG¤@AU,~¤@A<^~? AdȩA0&"AAjuNA"AZAbAjArAzAAAxSR&6@A^rAf@A:A*Ap @AjտA [?AI<*A:?2A׽:AC BA:?JA׽RAC ٘i)I9f@YQ G J:<JJJJGC&K Y=]~?y[pKA]ECj7Z7i7B)BE[[S@[ ^~?[@[[[[BZYY i) gI=?iԴ;vg `kG@))`kG@`kG@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029158.823165 s, next control iter: 1743029159.203175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029159.223165 s.gs:H~,H AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066504< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743029159.223276F (some fields omitted in printout)AQä@Aפ@A$^~? A1A&"AAXuNA"AZAbAjArAzAAAxs/6@ACrAg@AE:AnA+ @A LEֿA?A=<*Aq:?2Ao׽:A<BAq:?JAo׽RA<٘i)I9g@Y G J<JJJJGC&K Y]~?y7TKA OBEC{77)ܯB[[^@[ ^~?[5:[[[[BZYY i) \lI=?iY [H@))[H@[H@N*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743029159.243165 s, next control iter: 1743029159.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029159.643165 s.wy:H~, * AJ"J*J2J:JBJnJvJA)\ä@Aä@A^~? AAI&"AALA FCj7u7B)ٯBE[[@[']~?[4[[[[BZYY i) ?g6:I=?i$MlJ řG))řGJ@y+=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029159.663165 s, next control iter: 1743029160.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2658, header.stamp.nsec: 00 temperature: 13.387750* salinity: 33.391693, density: 1025.000000* values[0]: 0.691872F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029160.063165 s.:H~,[  AAĤ@At?Ĥ@A^~? A A&"AA2uNA"AZAbAjArAzAAAu5@A rAd h@AGAΞA'@A`׿A S?A`<*Am:?2A׽:A$BAm:?JA׽RA$Y5@\@yΞ9THٓH@z`?h?=~?@z( ?)5@ I٘i)I9 h@YF G J<JŦ<JJJHC&K^y>   7Y]~?  7yELA@_FCZ7 7B)ׯBE[[e@[]~?[.[[[[BZYY i)  :I=?iv?  F)) F L@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029160.083165 s, next control iter: 1743029160.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029160.483165 s.t_:H~, AJ"J*J2J:J=1?BJ=1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066504< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743029160.483282F (some fields omitted in printout)Aq= ףŤ@A<\oŤ@A^~? AA\&"AAuNA"AZAbAjArAzAAA~,5@A`54 elevatorAngleAction: 0.066504< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743029161.743326F (some fields omitted in printout)A\(Ȥ@AǤ@A[^~? A×Af&"AAtNA"AZAbAjArAzAAA1~T5@A[ո>grAi@A7A AG@A@,ۿAE?A<*A˘:?2A׽:A;BA˘:?JA׽RA;󼙘٘i)I9i@YhG J<JJJJIC&K Y   7YfD]~?  7y.$\NAS@ HCj7Z7|4 7B)˯B޹E[[$@[yf]~?[|[[[[BZYY i) |;IOs=?i@ zq>))zq>;S@ѯ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029162.183165 s, next control iter: 1743029162.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029162.583165 s.:H~,S AAp= ɤ@ADɤ@A<^~? AA&"AANtNA"AZAbAjArAzAAA1\x4@A`&mrAj@A:AhAQ@A@ܿA?Au<*A͈:?2A׽:A&wBA͈:?JA׽RA&w٘i)I9j@YG Jy<JJJJJC&K Y0]~?yNAbHC7)7m 7)ȯB[[B&@[M]~?[[[[[BZYY i) z;Ij=?i,ܻ <))<.U@4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029162.603165 s, next control iter: 1743029162.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2661, header.stamp.nsec: 00 temperature: 13.387237* salinity: 33.391712, density: 1025.000000* values[0]: 0.694329F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029163.003165 s.x :H~,L4 AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076159< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743029163.003295F (some fields omitted in printout)AHzʤ@A+yʤ@A,^~? APA_k&"AA elevatorAngleAction: 0.076159< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743029164.263283F (some fields omitted in printout)A33333ͤ@A _B̤@A ]~? AqA;&"AACLtNA"AZAbAjArAzAAA=3@Ad#;rAފl@AYAA@A9߿A2s?A밇<*A1c:?2A׽:AIBA1c:?JA׽RAIYO@u@yykƹٓHH"c6?@V?7`M?4+W B?)O@ I٘i)I9l@YG Ja<J3JJJKC&Ky> YL\~?yxPA@ SBICb77&S 7%B)BԹE[[+@[\~?[[[[[BZYY i) z7 elevatorAngleAction: 0.076159< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743029165.523294F (some fields omitted in printout)AQϤ@AiA'Ϥ@A]~? AL`A1&"AAsNA"AZAbAjArAzAAAj:3@A5srA>m@A9AA @AA@p?A5<*AlK:?2A߂׽:AЩ BAlK:?JA߂׽RAЩ ٘i)I9m@YG J$<JJJJLC&K Y\~?y*QA TBJCb77* 7(B)BιE[[2'0@[\~?[`[[[[BZYY i) e AJ"J*J2J:JBJnJvJAfffffѤ@AdT82Ѥ@A]~? A8UAy &"AAsNA"AZAbAjArAzAAAhy2@A-SɕrAn@A:AƗAsf#@A Aw?Al<*A=:?2At׽:Au BA=:?JAt׽RAu Y^@d#@yƗ6:ٓH ??`m? w} l?~TU??)^@ I٘i)I9n@YlG J<JV|JJJMC&Kx> Yp\~?y$QAd#@fKC{7j7q 7)B[[2@[ m\~?[L[[[[BZYY i) J|: /))/+Nb@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029166.383165 s, next control iter: 1743029166.763180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2665", header.stamp.nsec: 0"0 temperature: 13.386624"* salinity: 33.391735", density: 1025.000000"* values[0]: 0.697393"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029166.783165 s.[:H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085337< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743029166.783294F (some fields omitted in printout)A ףp=Ҥ@A3܉ ; d.))d.c@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029166.803165 s, next control iter: 1743029167.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029167.203165 s.:H~,6 AJ"J*J2J:J2?BJ2?nJS;5vJAGzӤ@ArCQҤ@A*v]~? AJA&"AAsNA"AZAbAjArAzAAAO2@A SrA`o@AAA &@AH!A?A<*Ad):?2AR׽:AvBAd):?JAR׽RAv٘i)I9o@YG Ja<JJJJMNC&K YA\~?y]RALC{7{7 7/B)BĹE[[5@[:\~?[[[[[BZYY i) %n-F; Q,))Q,d%e@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029167.223165 s, next control iter: 1743029167.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029167.623165 s.S:H~,L AARӤ@A[Ӥ@Aa]~? AEAB&"AAhsNA"AZAbAjArAzAAAl\2@A`N7rAp@A[GA=A:N'@AmA j@?A<*A:?2AB׽:Ax;BA:?JAB׽RAx;٘i)I9p@YeG J<JJJJNC&K   7Y@*\~?  7yzۧSAgLC777 70B)BE[[6@[ \~?[[[[[BZYY i) V; ؒ+))ؒ+݌f@/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029167.643165 s, next control iter: 1743029168.023175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2666 , header.stamp.nsec: 0 0 temperature: 13.386437 * salinity: 33.391705 , density: 1025.000000 * values[0]: 0.698316 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029168.043165 s.;H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085337< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.420024J"J2 time: 1743029168.043305*JF (some fields omitted in printout)2J:JBJnJvJA(\Ԥ@AfԤ@AVM]~? A@A&"AA3IsNA"AZAbAjArAzAAAr1@A2{.rAq@A[AbA%(@A`A0}?Ad<*A:?2A1:׽:A^0BA:?JA1:׽RA^0٘i)I9q@YG J^<JJJJNC&K Y\~?y֧SA VBLC7)70W 7)B[[F8@[\~?[a[[[[BZYY i)  Y[~?yzҧSA)@MCSI787 71B)BE[[؝9@[[~?[R[[[[BZYY i)  elevatorAngleAction: 0.085337< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743029169.303272F (some fields omitted in printout)AzGפ@ARפ@A ]~? Av2AҼ&"AArNA"AZAbAjArAzAAA5 1@A rAr@A;s:AA,@AA`j!?A<*A!9?2A9׽:A3BA!9?JA9׽RA3٘i)I9r@YG JL<JJJJOC&K  7Y[~? 7y?ʧTA WBMC77174B)BE[[A<@[;[~?[ݧ[[[[BZYY i) ʮ@[)[~?[ڧ[[[[BZYY i) ^l elevatorAngleAction: 0.085337< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743029170.563334F (some fields omitted in printout)A٤@ASͬ٤@A\~? A%A &"AArNA"AZAbAjArAzAAA$ᅇOJ0@AӈxrAut@A:q=9AUAs0@AXLA\?Ak<*A49?2A׽:ABA49?JA׽RAYl"@r0@yU)>9ٓHՌ`ؿ??@ C?@''? ?)l"@ I٘i)I9t@YG J{<JbJJJPC&Kx> Y{[~?y+VAr0@ XBNC77576B)BE[["@@[o[~?[٧[[[[BZYY i)  elevatorAngleAction: 0.085337< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743029171.823284F (some fields omitted in printout)AQܤ@A Jܤ@A\~? AA@!&"AArNA"AZAbAjArAzAAA<*Ǖ.@AɥqrA1v@AmAA[4@AAG&?Ar<*A9?2Aeֽ:ABA9?JAeֽRA٘i)I9v@YGG J<B=JJJJRC&K Yr-[~?yҴWA YBOC77[7:B)BE[[C@[$[~?['ק[[[[BZYY i) Dt@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029171.843165 s, next control iter: 1743029172.223182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029172.243165 s.C;H~,m AJ"J*J2J:J4?BJ4?nJ<5vJA\(ݤ@A9ܤ@Aro\~? AzA!&"AA8qNA"AZAbAjArAzAAA)eqf.@Aӗ}orALw@AH7AAP5@AQA@?A<*Aǟ:?2A)½:ABAǟ:?JA)½RA٘i)I9w@YG J<C=JJJJVRC&K YL[~?y XAPC{7j77)}B[[4E@[ [~?[֧[[[[ZZZZ¸>BZYY i¸>2) ,D ?jW?/?)(@ I٘i)I9Yx@Y'G Jt<JJJJRC&KX> YSZ~?yXA!6@lPC77777?i?< ));x@*YfUYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029173.103165 s, next control iter: 1743029173.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029173.503165 s.W;H~,P4` AAHzߤ@As yߤ@A'\~? A A"&"AAjqNA"AZAbAjArAzAAAiS,@Aa6tirAz@AhJ:AAW8@AA#?A=*AT:?2AXɽ:A@BAT:?JAXɽRA@٘i)I9z@Y,G J=JJJJXSC&K YaZ~?yթ{YAQC777@7>B)nBE[[H@[$Z~?[է[[[[ZZZZBZYY i)  ?i?_f< +))+y@y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029173.523165 s, next control iter: 1743029173.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2672, header.stamp.nsec: 00 temperature: 13.384959* salinity: 33.391705, density: 1025.000000* values[0]: 0.705414F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029173.923165 s.@^;H~,{ AJ"J*J2J:JBJnJvJAQ@A,P@A\~? A A"&"AAjqNA"AZAbAjArAzAAA̔n",@ACLgrAz@A8AuAc9@A@Ae^?A&s<*AI:?2A&̽:A*dBAI:?JA&̽RA*d٘i)I9z@YG J=JJJJSC&K YgZ~?yEYA [BmQCj7j7y7?B)hBE[[,J@[Z~?[է[[[[ZZZZBZYY i) X?i~?< B))Bz@n*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743029173.943165 s, next control iter: 1743029174.323187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743029174.343165 s.FqNA"AZAbAjArAzAAAV؎+@A?ݪerA}{@A QAY0A:@AZ A:?A?<*Aؽ:?2Aν:A]BAؽ:?JAνRA]٘i)I9{@Y'G J <JJJJTC&K YlZ~?yqZAQC7797@B)cBE[[aK@[-Z~?[)֧[[[[ZZZZBZYY i) ?i?IJ< )))|@t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029174.363165 s, next control iter: 1743029174.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2673*, header.stamp.nsec: 0*0 temperature: 13.384624** salinity: 33.391739*, density: 1025.000000** values[0]: 0.706950*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029174.763165 s.8k;H~,#ذ AJ"J*J2J:JBJnJvJA33333@A/R( @A[~? AA_#&"AA=!qNA"AZAbAjArAzAAAAA,-*@A(9]XdrAMG|@A}AnҼAJJJZTC&Kf> YpZ~?yZA/<@RC777)^B[[;L@[yZ~?[֧[[[[ZZZZBZYY iv) ?i?$< o))oFy}@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029174.803165 s, next control iter: 1743029175.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029175.183165 s.r;H~, AAףp= @A@A?[~? A2A#&"AApNA"AZAbAjArAzAAA 0%td*@AZfbrA6|@A`AvtA-=@A`>\A ?ApD<*Ao:?2A 5ҽ:AD<BAo:?JA 5ҽRAD<٘i)I9|@YG Jכ<JJJJTC&K  7YTZ~? 7y.ZA \BoRCb7b7%7AB)[BE[[_M@[aZ~?[֧[[[[ZZZZBZYY i)) E?is@pB< X))X~@R)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029175.203165 s, next control iter: 1743029175.583179 s, wait time: 0.380014 s&TZ~?)&. rAdjusting time to match Gazebo time: 1743029175.603165 s.34y;H~, AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077437< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743029175.603326F (some fields omitted in printout)A{G@A*:@Ac[~? AA#&"AAnpNA"AZAbAjArAzAAA}>)@Aw'`rAS(}@A=e:Aʌ;A>@A@A?A7 ,<*Aџ:?2A ӽ:AH2}<BAџ:?JA ӽRAH2}<٘i)I9(}@YG J`<JJJJUC&K Y99Z~?ykZARC779_7BB)YBE[[" O@[JZ~?[ק[[[[ZZZZBZYY i) #u?i @<  )) L @t YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029175.623165 s, next control iter: 1743029176.003175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2674 , header.stamp.nsec: 0 0 temperature: 13.384417 * salinity: 33.391716 , density: 1025.000000 * values[0]: 0.708070 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029176.023165 s.Z;H~,{ AAQ@Ad?i@;< ))@y|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029176.043165 s, next control iter: 1743029176.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029176.443165 s.4Æ;H~,1] AJ"J*J2J:JBJnJvJA(\@At)*[@A6{[~? A8A"$&"AApNA"AZAbAjArAzAAAu(@AtGn>^rA5|}@AP ;A3S=AM{A@AA B?A ɔ:*A:?2A@ս:A`<BA:?JA@սRA`<٘i)I9|}@YGG Jt;JJJJUC&K YZ~?y䛧"[A ]BqSC77j77DB)E[[iQ@[Z~?[@٧[[[[BZYY i) aL?i@< i|))i|Q@J8YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743029176.463165 s, next control iter: 1743029176.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2675, header.stamp.nsec: 00 temperature: 13.384328* salinity: 33.391685, density: 1025.000000* values[0]: 0.708565F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029176.863165 s.+;H~,>7 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077437< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200502 time: 1743029176.863326F (some fields omitted in printout)Afffff@A 52@Aa[~? A5AJ$&"AAhdpNA"AZAbAjArAzAAA^#J(@ABǿ]rAw}@Al:A74=AB@AAh?ACL*AQq:?2Aս:A|o<BAQq:?JAսRA|oJJJVC&K@|>  7YY~? 7yZAB@SC)7ŧ7; 7EB)YBE[[mR@[Z~?[Gڧ[[[[BZYY ijg) ;=BAb:?JAEOֽRA>=٘i)I9U}@Y0G JPJJJJ^VC&K YtY~?y,ZATC7D7FB)[BE[[S@[Y~?[oۧ[[[[BZYY iφ) Z+!@id<  )) y@YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743029177.303165 s, next control iter: 1743029177.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2676., header.stamp.nsec: 0.0 temperature: 13.384377.* salinity: 33.391682., density: 1025.000000.* values[0]: 0.708477.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029177.703165 s.׺;H~,m AAGz@A!6X@A.[~? AA$&"AAcpNA"AZAbAjArAzAAA m9&@AzsZrA }@AVlA z=ArE@AA?Aw6*AZ:?2A$ֽ:A=BAZ:?JA$ֽRA=٘i)I9}@Y G JB=JJJJVC&K YLY~?yOmZA ^BrTCŧ7b7}7GB)^BE[[DT@[Y~?[ܧ[[[[BZYY i) B  7YXY~? 7yYAH _BtUC77)7HB)iB|E[[vX@[Y~?[B[[[[BZYY i) O;I??i8@`< ))|@!ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029178.983165 s, next control iter: 1743029179.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029179.383165 s.ص;H~,+ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743029179.383290F (some fields omitted in printout)A= ףp@Aihs<@AZ~? AA$&"AA{oNA"AZAbAjArAzAAAJ6:^$@AnWrA[{@Av:Aw=AoGA aA +%?A%*AI:?2Ad"׽:A=BAI:?JAd"׽RA=٘i)I9[{@YG JJJJJ XC&K Y YX~?yWA2B!WCb77H7)BmE[[/^@[R&Y~?[,[[[[BZYY i) |:In@?i%&"AAqgnNA"AZAbAjArAzAAA\] @A VrA!Mw@AmlA=AE>AA 璿AȬ*AiC:?2AW׽:A=BAiC:?JAW׽RA=٘i)I9Mw@YG JJJJJfZC&K YwX~?ySVA"XCj7Z77EB)BgE[[5a@[X~?[p[[[[BZYY i) rvqI%A?id@= ))@ͪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743029182.343165 s, next control iter: 1743029182.723174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2681*, header.stamp.nsec: 0*0 temperature: 13.385573** salinity: 33.391701*, density: 1025.000000** values[0]: 0.703728*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029182.743165 s.W;H~,d AA\(@AW@AY~? A(A;%&"AA?nNA"AZAbAjArAzAAA@AIjEVrAFv@AQ9A͒=A<A(A@A0*AB:?2AL׽:AN=BAB:?JAL׽RAN=٘i)I9v@Y,G JBJJJJZC&K  7Yx[X~? 7yUA bBxXCb77-7)BdE[[Kb@[X~?[ [[[[BZYY i) lIcWA?ij@Q= ^))^!x@BʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029182.783165 s, next control iter: 1743029183.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029183.163165 s.v};H~,q AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743029183.163285F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A@AY~? AA 4%&"AAonNA"AZAbAjArAzAAAq@AQ!mVrA0v@A켭:A$!=A;A *|AɨA(*AA:?2AE׽:A۸<BAA:?JAE׽RA۸ Y?X~?yYUA;XCj7Z7Gg7)BaE[[Qc@[-X~?[[[[[BZYY i) C5IA?i`n@u= ))$@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029183.183165 s, next control iter: 1743029183.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029183.583165 s.;H~,R AAp= @A8@AY~? A7A)%&"AAmNA"AZAbAjArAzAAAxNf@A%JVrAu@A:A=A]:A@rA8Aq*AD@:?2AD׽:A<BAD@:?JAD׽RA<٘i)I9u@YG J&B=JJJJh[C&K Y4$X~?y.(UA$YC77j77)B^E[[9d@[X~?[[[[[BZYY i) *sIA?ir@ۄ=  )) @êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029183.603165 s, next control iter: 1743029183.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2682, header.stamp.nsec: 00 temperature: 13.385841* salinity: 33.391663, density: 1025.000000* values[0]: 0.702647F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029184.003165 s.{ :?2A=J׽:AP<BA>:?JA=J׽RAP<٘i)I9"u@Y2G JC=JJJJ[C&K YX~?yTA cByYC{77)B[E[[f@[YX~?[[[[[BZYY i) AI5A?iw@A= '))'$@ڿYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029184.023165 s, next control iter: 1743029184.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029184.423165 s.u<BAf;:?JAlW׽RA><٘i)I9#t@YG J:JJJJj\C&K YTW~?yTA%ZCŧ7b7L7)B[[v5h@[pX~?[[[[[BZYY i) "ջIhbB?i@i%= L))L￩<@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029184.883165 s, next control iter: 1743029185.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029185.263165 s. YpW~?y^SA"5 dB{ZCj7Z77DB)BUE[[Pi@[]X~?[[[[[BZYY i) LIB?iy@pI(= {)){<ʍ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029185.283165 s, next control iter: 1743029185.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 26842, header.stamp.nsec: 020 temperature: 13.3863402* salinity: 33.3916702, density: 1025.0000002* values[0]: 0.7007402F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029185.683165 s.l] AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075255< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743029186.943302F (some fields omitted in printout)A(\@A̴+[@A X~? AA-e$&"AAlNA"AZAbAjArAzAAAJ;Ԫ@Acb]rAUq@A.:Au׊=A/A`NAe:ǿA*AZ:?2A&׽:AK=BAZ:?JA&׽RAK=٘i)I9q@Y1G JJJJJ^C&K YJW~?y)CRA[Cb7b7Jk7)BJE[[qm@[X~?[[[[[BZYY i) N8IC?i@4= f))f俩4@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029186.963165 s, next control iter: 1743029187.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029187.363165 s.5 AJ"J*J2J:JBJnJvJAfffff@Ap%;62@AX~? AAa>$&"AAlNA"AZAbAjArAzAAA4Ey@As^rA'aq@Al:A0=A.A`8AcɿAwS*A:?2A,&׽:Af =BA:?JA,&׽RAf =Y}U@՛.y%=~:ٓH a<??F`CٿxN@ך@ Y?`?)}U@ I٘i)I9aq@YG JݍJ;JJJn^C&Kx> Y0W~?yQA.(\Cj7Z77)B[[n@[X~?[E[[[[BZYY i) CHIC?i@6= K9))K9⿩@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029187.383165 s, next control iter: 1743029187.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2686&, header.stamp.nsec: 0&0 temperature: 13.386771&* salinity: 33.391670&, density: 1025.000000&* values[0]: 0.699041&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029187.783165 s.\;E[[s@[DW~?['[[[[BZYY i) ID?iΗ@PB= oٿ))oٿ@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029189.063165 s, next control iter: 1743029189.443180 s, wait time: 0.380015 sV~?)ħ rAdjusting time to match Gazebo time: 1743029189.463165 s.TW YV~?y0ɧPA(]C{7{7N7)ʯB[[t@[W~?[+[[[[BZYY i) $IE?ie@YD= [׿))[׿/@yOJҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029189.483165 s, next control iter: 1743029189.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2688, header.stamp.nsec: 00 temperature: 13.387244* salinity: 33.391640, density: 1025.000000* values[0]: 0.697259F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029189.883165 s.y]:A5=A[.$A Y7V~?yߧMA! iB_C777)ޯB[[cy@[]W~?[A[[[[BZYY i) ZI[F?i@P= ̿))̿ӕ@nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029191.603165 s, next control iter: 1743029191.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2690, header.stamp.nsec: 00 temperature: 13.387745* salinity: 33.391636, density: 1025.000000* values[0]: 0.695254F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029191.983165 s.B)B/E[[qz@[NW~?[E[[[[BZYY i) 3tIF?iu@R= /ʿ))/ʿZ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029192.003165 s, next control iter: 1743029192.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029192.403165 s.&  7YbU~? 7yKA .aCb777üIH?i@)a= ?))?@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029194.963165 s, next control iter: 1743029195.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029195.343165 s.< elevatorAngleAction: 0.083617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743029195.763297F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333 @A!U @AW~? A3DA@&"AAFiNA"AZAbAjArAzAAAvRA3>EhrAr1e@AA =AA`FA@eݿA*A9?2ANֽ:A6<BA9?JANֽRA6  7Y;^U~? 7ygzIAbC7b7^7,B)BE[[}@[ V~?[p[[[[ZZBZYY i) )KII?i@ed= ))x@y=ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029195.783165 s, next control iter: 1743029196.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029196.183165 s. elevatorAngleAction: 0.083617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743029197.023315F (some fields omitted in printout)AQ@ASk%@ALV~? ASA&"AAziNA"AZAbAjArAzAAA*7ˍA\6rAc@A!Ae<AAYA߿A *A9?2Aֽ:AQqBA9?JAֽRAQq٘i)I9c@Y* G JB=JJJJ(fC&K Y}$U~?y*LHAcC)7b7`7+B)BE[[r@[V~?[[[[[ZZBZYY i) kIi@Bi= ))z@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029197.063165 s, next control iter: 1743029197.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029197.443165 s.8\rAȆb@A9A<AIRA8A%A[|*Ap9?2A4ֽ:AABAp9?JA4ֽRAA٘i)I9b@Y G JC=JJJJ~fC&K  7Y?U~? 7y,1GA nB2dC7777,B)BE[[S@[V~?[*[[[[ZZBZYY i) _{Ii>@k= 3⯿))3⯿N@\KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029197.483165 s, next control iter: 1743029197.843175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2696, header.stamp.nsec: 00 temperature: 13.389599* salinity: 33.391590, density: 1025.000000* values[0]: 0.687683F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029197.863165 s.+w AAfffff@ARy;2@AV~? A_A&"AA@iNA"AZAbAjArAzAAA?AɛrA*b@Ab:AwAAAR}A<+*A9?2A,ֽ:ABA9?JA,ֽRAYv@ywTb:ٓHoR@?1p?ཁ Rͽ{?? q\L??)v@ I٘i)I9*b@Y G JZJEJJJfC&Kw> Y'U~?y58GAdCb77>7+B)BE[[y@[V~?[|[[[[ZZBZYY iA{=) hIi@l= Wѭ))Wѭ@U)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029197.903165 s, next control iter: 1743029198.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029198.283165 s.6R elevatorAngleAction: 0.061445< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743029198.283304F (some fields omitted in printout)A ףp=@AF @A6V~? AdA=U&"AA$iNA"AZAbAjArAzAAAw6A ,HrA?a@A:Ar;A A F\AA*A̿9?2A{ֽ:AW籼BA̿9?JA{ֽRAW籼٘i)I9a@Y G J= JJJJ*gC&K YT~?y>?GAdC7)7]w7*B)BE[[q@[V~?[؏[[[[ZZBZYY i=) 3VIi޹@m= ))l@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029198.303165 s, next control iter: 1743029198.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 26972, header.stamp.nsec: 020 temperature: 13.3897442* salinity: 33.3915822, density: 1025.0000002* values[0]: 0.6870702F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029198.703165 s.ӺA<(A *Aغ9?2AĎֽ:AмBAغ9?JAĎֽRAм٘i)I9a@Yu G JMJJJJgC&K YT~?yHFHA oB4eC)7ŧ77)B[[@[V~?[?[[[[BZYY i) 8?CIi@ Io= ))@>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029198.723165 s, next control iter: 1743029199.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743029199.123165 s.7 elevatorAngleAction: 0.072243< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743029199.543296F (some fields omitted in printout)A(\@Arg@AhV~? AvA&"AAhNA"AZAbAjArAzAAAA&A/rAb@A3$ߺA^AA#޿A@Ak<*A9?2AQֽ:AFBA9?JAQֽRAF٘i)I9b@Y G Jo;JJJJ-hC&K  7YĻT~? 7yZTHAeC7)7`#7+B)BE[[@[oV~?[#[[[[BZYY i) Ii@r= G))G@ە*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029199.583165 s, next control iter: 1743029199.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2698, header.stamp.nsec: 00 temperature: 13.389761* salinity: 33.391548, density: 1025.000000* values[0]: 0.687066F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029199.963165 s.J "J *J 2J :J /?BJ /?nJ n85vJ YT~?y[rHA pB6fC)7ŧ7\7*B)BE[[ @[.fV~?[[[[[BZYY ih=)  Ii@URs= ǐ))ǐ+@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029200.003165 s, next control iter: 1743029200.363194 s, wait time: 0.360029 s rAdjusting time to match Gazebo time: 1743029200.383165 s.=H~, AA= ףp@Axa<@AbGV~? AA &"AAhNA"AZAbAjArAzAAAjiuӸ A5`ɱrAبb@ApcA TAh8A#ݿA`fA2gi<*A9?2A3ֽ:AqBA9?JA3ֽRAq٘i)I9b@Y G JO<B=JJJJhC&K Y_T~?yjcHAfCŧ7b77)B[[@[\V~?[?[[[[BZYY i) Iiþ@4-t= 󄡿))󄡿@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029200.403165 s, next control iter: 1743029200.783174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2699&, header.stamp.nsec: 0&0 temperature: 13.389670&* salinity: 33.391529&, density: 1025.000000&* values[0]: 0.687591&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029200.803165 s.A =H~,g3 AJ"J*J2J:J0?BJ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056824< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200682 time: 1743029200.803317F (some fields omitted in printout)AzG@A b@Ao7V~? AsA&"AAhNA"AZAbAjArAzAAAK; A'˭rAc@A:A8AA 3bܿA`A<*Aa9?2ACֽ:Ad>BAa9?JACֽRAd>٘i)I9c@Y4 G J<C=JJJJ/iC&K YT~?yjIAfC7777b7)B)B E[[@[SV~?[ٰ[[[[BZYY i) gܻIi@?u= {)){1@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029200.823165 s, next control iter: 1743029201.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029201.223165 s.g=H~,HN AAQ@A%@A'V~? A폩A-&"AAphNA"AZAbAjArAzAAA 8Aa!rAݑc@Aŕ:A1AkA`ۿAA<*A9?2Aֽ:AOmBA9?JAֽRAOm٘i)I9c@Y G J<JJJJiC&K  7YT~? 7yurpIA qB8gC)7)77*B)B E[[R@[JV~?[{[[[[BZYY ig=) xIi@v= 7r))7rM@yh=r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029201.243165 s, next control iter: 1743029201.623174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743029201.643165 s.z=H~,*i AJ"J*J2J:JBJnJvJA)\@Aof@AV~? AA̒&"AAcYhNA"AZAbAjArAzAAAG8A᧥rAd@Aժ:AAMAAڿABA<*Aҹ9?2Aֽ:Ab BAҹ9?JAֽRAb ٘i)I9d@Y G J<B=JJJJiC&K YNrT~?yyIAgC7777B7) B[[+@[kBV~?[$[[[[BZYY i) Ii@8 x= j))j&5@yPq=tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2700, header.stamp.nsec: 00 temperature: 13.389508* salinity: 33.391541, density: 1025.000000* values[0]: 0.688503*F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029201.663165 s, next control iter: 1743029202.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029202.063165 s. =H~,c AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066116< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743029202.063287F (some fields omitted in printout)A@AP@A$ V~? A,A&"AABhNA"AZAbAjArAzAAA^A4/rAd@A,:AlқAA v ڿAA<*A9?2Aֽ:Aaw BA9?JAֽRAaw YՋ@yiқ3-:ٓH@iwۿ?`q?ۿ?}u?@rE?@L?)Ջ@ I٘i)I9d@Y+ G J<C=J JJJ1jC&K"x> Y(fT~?y-JAgC{7d{7)B E[[n@[5:V~?[[[[[BZYY i)  ~Ii @`x= a))ai@y)!=>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029202.083165 s, next control iter: 1743029202.463174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743029202.483165 s.z_'=H~, AJ"J*J2J:Jd0?BJd0?nJ85vJAq= ף@AӁo@AU~? AA{&"AA,hNA"AZAbAjArAzAAAQ.ޙoAPd:srAv=e@A.AAxiAAٿA A'<*A9?2Aֽ:Ax BA9?JAֽRAx ٘i)I9=e@Y G J<JJJJjC&K YZT~?yJA rB9hC777)B[[@[K2V~?[Ǩ[[[[BZYY i) &AIiy@Ox= +Y))+Y9@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029202.503165 s, next control iter: 1743029202.883181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2701, header.stamp.nsec: 00 temperature: 13.389251* salinity: 33.391514, density: 1025.000000* values[0]: 0.689631F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029202.903165 s.$-=H~,ι AAGz@AF@A"U~? AȪA &"AAhNA"AZAbAjArAzAAAIA܈PrA e@A&4ArzA9AqؿA AQ<*A9?2Aֽ:A[BA9?JAֽRA[٘i)I9e@Y G Jذ<JJJJjC&K YMT~?yӑJAhCŧ7b77)BE[[@[*V~?[gͨ[[[[BZYY i) Ii@y= GQ))GQ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029202.923165 s, next control iter: 1743029203.303190 s, wait time: 0.380025 s rAdjusting time to match Gazebo time: 1743029203.323165 s.y4=H~,2 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066116< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743029203.323295F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AVa3@AU~? AA &"AA hNA"AZAbAjArAzAAA}daA|BrAff@AɯAAa5A`3׿AIA<*A9?2Ajֽ:AYqBA9?JAjֽRAYq٘i)I9ff@Y9 G J<JJJJ3kC&K   7YAT~?  7yęgKAhCb77e' 7)B[[:@[d#V~?[6Ө[[[[BZYY i) b~Ii@5z= J))J5=@7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029203.343165 s, next control iter: 1743029203.723181 s, wait time: 0.380016 sAT~?)ę.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2702., header.stamp.nsec: 0.0 temperature: 13.389019.* salinity: 33.391502., density: 1025.000000.* values[0]: 0.690812.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029203.743165 s.W;=H~,q AA\(@AS@AU~? AA&"AA)gNA"AZAbAjArAzAAA>TA,^orAf@AUAAAֿAA<*A09?2Aֽ:A aBA09?JAֽRA a٘i)I9f@Y G J<JJJJkC&K Y5T~?yKA sB:iC77j7` 7)B[[@[hV~?[ ٨[[[[BZYY i) dYIi@a{= E))E@R*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029203.763165 s, next control iter: 1743029204.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029204.163165 s.x}B=H~,q AJ"J*J2J:J0?BJ0?nJ95vJA@AGR@AU~? AֿA'q&"AAgNA"AZAbAjArAzAAA3sݹArA=g@A,9AODAA`տA-A<*A99?2AZֽ:A%RBA99?JAZֽRA%RŸ́@}yOD,9ٓHyտ~"?@˜?Aտs? e?%??)̈́@ I٘i)I9g@Y G J<J<JJJkC&KPx> Y ,T~?y3LAiC{7 7)B)BE[[c@[V~?[ި[[[[BZYY i) =:Ii@{= =))=^@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029204.183165 s, next control iter: 1743029204.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029204.583165 s.H=H~,S% AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066116< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743029204.583282F (some fields omitted in printout)Ap= @A Yݢ@AU~? AǩA&"AA{gNA"AZAbAjArAzAAA둂{A^s>BrAh@AN:AmܑA]AտA A<*A9?2Aֽ:AsBA9?JAֽRAs٘i)I9h@YA G JA<JJJJ5lC&K Y"T~?yKLAiC77g 7+B)BE[[(@[KV~?[[[[[BZYY i) l:Ii@"|= 6))6#¥@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029204.603165 s, next control iter: 1743029204.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2703, header.stamp.nsec: 00 temperature: 13.388762* salinity: 33.391453, density: 1025.000000* values[0]: 0.692008F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029205.003165 s.z P=H~,U4@ AJ"J*J2J:JBJnJvJAHz@A<0y@AU~? ADΩAY&"AAgNA"AZAbAjArAzAAAASrAth@A޼:AGAAo?ԿA/A<*Aq9?2A^ֽ:AyBAq9?JA^ֽRAy٘i)I9h@Y G J<JJJJlC&K  !7Y T~? !7yLA tB elevatorAngleAction: 0.066116< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743029205.843283F (some fields omitted in printout)A(\ @A2' @AU~? AܩA);&"AATgNA"AZAbAjArAzAAA AtvrAji@A0!)9AFA&AҿA`GA揚<*A9?2Aֽ:ABA9?JAֽRA٘i)I9i@Y7G Jr<JJJJ7mC&K Y T~?y+˨MAjC7)7i!7)ܯB[[$@[U~?[[[[[BZYY i) L};Ii@F'~= 3%))3%F@ν*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029205.863165 s, next control iter: 1743029206.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029206.263165 s.d=H~,ؐ AA33333!@A H @AU~? AoA@&"AAgNA"AZAbAjArAzAAAd<AH7rA+j@AUWApAAѿAA;<*A%9?2A;ֽ:A0BA%9?JA;ֽRA0Y@IypWٓHGο`?:?ο?*?J?)@ I٘i)I9+j@YG J<B=J%N<JJJmC&K(x> YKS~?yӨNA翑 uB=kC77ø!7+B)گBE[[@[U~?[[[[[BZYY i=) ;IiT@}= ))ȧ@H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029206.283165 s, next control iter: 1743029206.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 27052, header.stamp.nsec: 020 temperature: 13.3883202* salinity: 33.3914382, density: 1025.0000002* values[0]: 0.6942212F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029206.683165 s.lj=H~,Z AJ"J*J2J:JBJnJvJAףp= "@A!@A U~? AA&"AAwgNA"AZAbAjArAzAAAP"`AXMrAj@A­A7чAZAпAzA1<*A9?2Aֽ:ABA9?JAֽRA٘i)I9j@YG JÕ<C=JJJJmC&K YS~?yFܨzNAkCj7Z7!7)֯B[['@[U~?[[[[[BZYY i) r;IiE@}= ))I@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029206.683165 s, next control iter: 1743029207.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743029207.103165 s.q=H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076506< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743029207.103291F (some fields omitted in printout)A{G"@A5!"@A~U~? AAÄ&"AAigNA"AZAbAjArAzAAA"¯wfAV?nrA#k@AAAHAڮϿA`A@<*A+9?2Axֽ:AqBA+9?JAxֽRAq٘i)I9#k@YG J<JJJJ9nC&K  "7YS~? "7yNAkCŧ7b7l+"7)үB[[5@[FU~?[[[[[BZYY i) ݞ;Iib@p}= ))0˨@̷*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029207.123165 s, next control iter: 1743029207.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029207.523165 s.w=H~,{ AJ"J*J2J:J1?BJ1?nJ}:5vJAQ#@A>##@AvuU~? A)AQ&"AAl\gNA"AZAbAjArAzAAA0>IALjrAk@AhA?AE"AͿACAN<*A9?2Aֽ:ABA9?JAֽRA٘i)I9k@YdG J<JJJJnC&K Y S~?ya2OA vB?lC77d"7*B)ίBE[[*@[U~?[[[[[BZYY i) ] AA(\$@A+[$@AmmU~? AAZ&"AAOgNA"AZAbAjArAzAAA5S/A2 rA l@A$:AfAݿAF ̿ADiA'<*A69?2Aֽ:ABA69?JAֽRA٘i)I9 l@YG Jf<JJJJnC&K YJS~?yOAlC77{7"7,B)̯BE[[@[U~?[[[[[BZYY i) Z AJ"J*J2J:J2?BJ2?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076506< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743029208.363294F (some fields omitted in printout)Afffff%@A MK2%@AeU~? A AT&"AACgNA"AZAbAjArAzAAA#ҊAXsAl@AD:Af.A]ڿA7ʿA@bAЊ<*A9?2Asֽ:ABA9?JAsֽRAYQ@-ڿy_.:ٓH$ ??#?@qB? T?Z?)Q@ I٘i)I9l@YG J<B=JaJJJ;oC&K(x> Y\S~?yOAڿlCŧ7b7q"7)ȯB[[`-@[kU~?[&[[[[BZYY i) % elevatorAngleAction: 0.076506< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743029209.623299F (some fields omitted in printout)AR'@AZ'@A]RU~? A "A &"AA#%gNA"AZAbAjArAzAAAwA'SsAhm@A(kAoFARӿA8ĿAA]<*A9?2ABֽ:AT BA9?JABֽRAT ٘i)I9m@YG J<JJJJ=pC&K YS~?yQAmCb77o#7)B[[@[YU~?[-[[[[BZYY i) ^T@/}= }i))}iӫ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029209.663165 s, next control iter: 1743029210.023180 s, wait time: 0.360015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2708 , header.stamp.nsec: 0 0 temperature: 13.387640 * salinity: 33.391388 , density: 1025.000000 * values[0]: 0.697195 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029210.043165 s.=H~, AJ"J*J2J:J{2?BJ{2?nJ&;5vJA(\(@AuR_(@ALU~? A)Aa &"AAhgNA"AZAbAjArAzAAANAsAgn@AĈAAпA¿A`vA~<*A59?2Aֽ:A BA59?JAֽRA ٘i)I9gn@YG J4<JJJJpC&K YS~?y!_QA xBAnCb7ļ#7)B[[u3@[U~?[3[[[[BZYY i) c YS~?yX*QAͿnCŧ7#7'B)BE[[ô@[U~?[9[[[[BZYY i) xs elevatorAngleAction: 0.076506< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200762 time: 1743029210.883339F (some fields omitted in printout)A= ףp*@AnQf<*@A|CU~? A9A3, &"AAM gNA"AZAbAjArAzAAAjeM,A V!sAno@ASAAJ˿A`2A@,A2<*A9?2A"ֽ:AZ BA9?JA"ֽRAZ ٘i)I9no@YG J)<C=JJJJ?qC&K  $7YS~? $7y$3(RAnC7ŧ7u/$7)BE[[B6@[U~?[4@[[[[BZYY i) AO<*AԸ9?2Aֽ:A6 BAԸ9?JAֽRA6 ٘i)I9o@Y G J<JJJJqC&K YtS~?y;RA yBCoC77h$7)B[[䷔@[U~?[lF[[[[BZYY ik=) s elevatorAngleAction: 0.085655< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200482 time: 1743029212.143317F (some fields omitted in printout)A)\,@AT ,@AO9U~? AQAW &"AAfNA"AZAbAjArAzAAAmAs/sA q@AD:At*AbtÿA@/AZA<*AO9?2Aֽ:ABAO9?JAֽRA٘i)I9 q@YG J<JJJJArC&K YRS~?yMVSAoC7q$7)B[[@[U~?[R[[[[BZYY i)   %7Y!S~? %7yQVSA zBDpC77%7)BE[[<@[,U~?[Y[[[[BZYY i) \ AAq= ף.@Awo.@A(5U~? AaA &"AAnfNA"AZAbAjArAzAAAԠ~AJ9sA)r@AqAAABA&A@lAcU<*Ai9?2Aثֽ:AdBAi9?JAثֽRAd٘i)I9)r@YcG Jӫ<JJJJrC&K YS~?y_,TApC7#N%7)B[[@[U~?[\_[[[[BZYY i) Ӧ elevatorAngleAction: 0.085655< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743029213.403295F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz/@A6F/@A3U~? AiA&"AA fNA"AZAbAjArAzAAAv!JAh>sAr@AGAs AA` A`>rA.<*AP9?2A ֽ:AgBAP9?JA ֽRAg٘i)I9r@YG Jq<JJJJCsC&K YS~?ygTApC{7{7v%7(B)BE[[=ǿ[U~?[e[[[[BZYY i) I elevatorAngleAction: 0.085655< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743029214.663319F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2713, header.stamp.nsec: 00 temperature: 13.570002* salinity: 33.374947, density: 1025.000000* values[0]: 0.575727F (some fields omitted in printout)A2@A1@A23U~? A4A&"AAfNA"AZAbAjArAzAAAG3A4UTMsAlt@AASجA%׳A`Ő?AsA.<*A9?2Aֽ:A0BA9?JAֽRA0Y:@;ֳySجPٓH` ?@?Nԋr`?EL?z? 25?):@ I٘i)I9t@YG J<B=J|JJJEtC&Kx>  &7YS~? &7y UAֳ |BqC)7ŧ7{3&7)B[[$[fU~?[]x[[[[BZYY i) | elevatorAngleAction: 0.085655< massPositionAction: 0.0000004 buoyancyAction: 0.000500J"J dt: 0.420019*J2J2 time: 1743029215.923291:JF (some fields omitted in printout)BJnJvJAQ4@A=P4@AG7U~? A_A&"AAfNA"AZAbAjArAzAAA|VACd E\sA1v@A/Ģ:AӲACAE?A ^AYl<*A9?2Adֽ:ABA9?JAdֽRA٘i)I9v@Y G J)<JJJJGuC&K YS~?y&>WA }BrC)7ŧ7v&7)tB[[[U~?[[[[[BZYY i) wZH~, AA(\5@AZ (5@A9U~? AhA2&"AAfNA"AZAbAjArAzAAAezAyp-asA5:w@A 9:A[RAiAn?A@RA؃<*AR9?2A[ֽ:A)BAR9?JA[ֽRA)٘i)I9:w@YxG JG<B=JJJJuC&K  '7YS~? '7yԤWAHsC77{7'7)nB[[[U~?[^[[[[BZYY i) H~,,0 AJ"J*J2J:JBJnJvJA333336@AK5@A YS~?yN,XAЦsC#R'7)B)jB E[[[U~?[[[[[ZZZZ¸>BZYY i¸>徫) qH~,ZK AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083860< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743029217.183282F (some fields omitted in printout)Aףp= 7@Aܙ 6@A@U~? AjA&"AAgNA"AZAbAjArAzAAAp(TA jsAסx@AsAbAX9A9?A3A3r<*A9?2A}ֽ:A]BA9?JA}ֽRA]٘i)I9x@YSG J<JJJJIvC&K YS~?yɵXA ~BsC77w'7)dB E[[鴿[U~?[ȝ[[[[ZZZZBZYY i) _H~,f AJ"J*J2J:J?BJ?nJ15vJA{G7@A&%7@ADU~? AbA]&"AAEgNA"AZAbAjArAzAAAN $A 7BosAky@AAKA͞A?AAa?=*A9?2A~ֽ:A^BA9?JA~ֽRA^٘i)I9ky@YG J<B=JJJJvC&K YT~?yEYAItC777'7)^B[['ݲ[U~?[[[[[ZZZZBZYY i) ?~H~,| AAQ8@A- 8@AHU~? ASªAz&"AA gNA"AZAbAjArAzAAA(FAtsAH~,W] AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083860< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743029218.443304F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\9@A'L5[9@AMU~? A;ʪA'&"AAgNA"AZAbAjArAzAAA!wp A6[|ysA.{@AL:AuAeA ?AA<*A9?2Aֽ:APeBA9?JAֽRAPe٘i)I9{@YG J<JJJJKwC&K  (7YT~? (7y:ϩZA BtC)7b7~7(7*B)QBE[[I[U~?[p[[[[ZZZZBZYY i) eH~,> AAfffff:@A=2:@A&SU~? AҪA&"AAgNA"AZAbAjArAzAAAs75mAoK~sA9{@AM;A0AʙA?A@A<*Aԫ9?2A}ֽ:AgȺBAԫ9?JA}ֽRAgȺYR@͙y0;ٓH`??$ޑ@?6?`P?H`?]?)R@ I٘i)I9{@YLG J<J=JJJwC&Kw> Y"T~?ytשNZA͙JuCŧ7ŧ7p(7+B)LBE[[[U~?[[[[[ZZZZBZYY i) ?H~, AJ"J*J2J:JBJnJvJA ףp=;@AK= B ;@A5YU~? A٪A %"AA%gNA"AZAbAjArAzAAAX `$A4^sAQ|@AK&;A6ԼA2A?A*At<*Ac9?2Axֽ:AO;BAc9?JAxֽRAO;٘i)I9|@YG J<JJJJwC&K YV%T~?yߩZAuC77&(7)GB[[[U~?[Ƽ[[[[ZZZZBZYY i)  ЏH~,  AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073758< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198742 time: 1743029219.703300F (some fields omitted in printout)AGz<@A(&o;@A_U~? AA<[%"AA/gNA"AZAbAjArAzAAA;ڪA!ׇsA}@AF;AA򙔿A`t?A`AA~<*A9?2Aqֽ:AT(<BA9?JAqֽRAT(<٘i)I9}@YG J<B=JJJJMxC&K Y/T~?yZA BuC77(7)CB[[[zU~?[©[[[[ZZZZBZYY i) ^H~,T AJ"J*J2J:J?BJ?nJ5vJAR<@A$`S<@AfU~? AA2%"AAo9gNA"AZAbAjArAzAAAȨ1~A{6sA]}@AzNP:A҈;A<A ?A@~A -<*AQ9?2Apֽ:ATu<BAQ9?JApֽRATu<٘i)I9]}@Y5G J0\<C=JJJJxC&K  )7Y9T~? )7y [ALvC{7{7)7,B)ABE[[[U~?[ɩ[[[[ZZZZBZYY i?) qtH~," AA(\=@A c=@AunU~? A;A+%"AADgNA"AZAbAjArAzAAAՉ"AÝ JsA!}@AA2<AkgA]?A\Aa;*A9?2A]tֽ:A<BA9?JA]tֽRA<٘i)I9}@YXG J <JJJJxC&K YCT~?yZ<[AvCb77*V)7)?B[[j[mV~?[Iϩ[[[[ZZZZBZYY i) ^H~,= AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083129< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743029220.963286F (some fields omitted in printout)A>@A$jfe>@AvU~? AA%"AAaPgNA"AZAbAjArAzAAAh*QrAFMsA}@AAb=A-͌A{-?A6Ar:*A9?2Awvֽ:Ac<BA9?JAwvֽRAcJJJOyC&Kw> YPT~?y7[AΌvC7)7-B)@BE[[Z[V V~?[^թ[[[[BZYY i3l) ,iM@O`= K))KKy"ZE4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029221.003165 s, next control iter: 1743029221.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029221.383165 s.U>H~,4X AA= ףp?@AjH~,gs AJ"J*J2J:J?BJ?nJ5vJAzG@@Aɐ@@A?U~? AA5l%"AA_jgNA"AZAbAjArAzAAAAeJDH~,H AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067714< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743029222.223289F (some fields omitted in printout)AQA@A@@AՑU~? AA%"AA~xgNA"AZAbAjArAzAAA1]uAbqУsA]Q}@A:A0v=A]A`?A`A/2*A9?2A^ֽ:AC=BA9?JA^ֽRAC=٘i)I9Q}@Y-G JJJJJQzC&K YNwT~?yZA BwC7;*7/B)DBE[[+[+V~?[[[[[BZYY i) _H~,) AJ"J*J2J:JBJnJvJA)\A@AZA@AU~? AA&G%"AA\gNA"AZAbAjArAzAAA|xhAF @ZsAW|@A]:A~]=A*lA?A`ֆAWd*A"9?2Aw[ֽ:A =BA"9?JAw[ֽRA =٘i)I9|@YG JuJJJJJzC&K Y$T~?y]ZAPxCZ7Z7t*7)GB[[[z$V~?[[[[[BZYY i) H~,N AAB@AB@AwU~? AdAr%"AAgNA"AZAbAjArAzAAA԰?V{ALR۬sA:|@A:Ax=AA@?A@?UAc*AL9?2AQcֽ:A6?=BAL9?JAQcֽRA6?=Yo@ʚyw=C0:ٓH@I?`?௻?\S?ۮ`* [^??)o@ I٘i)I9|@YG JwJ_=JJJzC&Kw> YpT~?y'YAxCb770*70B)KBE[[7뗿[,V~?[[[[[BZYY i~l) բ;IiT@.V= &;))'&;&;ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029223.103165 s, next control iter: 1743029223.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029223.483165 s.{_w>H~, AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.249554@ elevatorAngleAction: -0.057737< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743029223.483300F (some fields omitted in printout)Aq= ףC@AӁoC@AU~? A%A '%"AAMgNA"AZAbAjArAzAAA_+nA3n QsA|@AWIn:Aq'=AizA`?AS!Ag0*AQ9?2Asֽ:AФ=BAQ9?JAsֽRAФ=٘i)I9|@YqG J$JJJJS{C&K YT~?yz.YAxC777*7)OB[[aԕ[3V~?[[[[[BZYY i) ;Iih@S= 1ž)) 1ž1žϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029223.503165 s, next control iter: 1743029223.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2722, header.stamp.nsec: 00 temperature: 13.568049* salinity: 33.374985, density: 1025.000000* values[0]: 0.580221F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029223.903165 s.}>H~, AAGzD@Ap(|FD@AU~? A,A%"AA`gNA"AZAbAjArAzAAAyiAa_sA~{@AA0G=AAuAB?A@{Ad*A9?2Aoս:AP=BA9?JAoսRAP=٘i)I9{@Y!G JJJJJ{C&K  +7YT~? +7y5:YAQyC7)7 +71B)UB"E[[U[!H~,! AJ"J*J2J:JBJnJvJAQE@AnE@AU~? A4AT %"AA,gNA"AZAbAjArAzAAAρAIusA, {@AֺAÜ=A*!pA`?AȴAV*A9?2Aս:AB =BA9?JAսRAB =٘i)I9 {@YG JtJJJJ{C&K YST~?yH=XAyCb7b7.Z+7)YB[[[DV~?[l[[[[BZYY i) Щ;Ii@SwO= W))WWy;lתYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029224.343165 s, next control iter: 1743029224.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2723*, header.stamp.nsec: 0*0 temperature: 13.568231** salinity: 33.374977*, density: 1025.000000** values[0]: 0.579650*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029224.743165 s.W>H~,~/ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057737< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743029224.743306F (some fields omitted in printout)A\(F@AལE@A~U~? A/;A%"AAgNA"AZAbAjArAzAAAǹ^@A=kXnsA+vz@AA:=A'jA`?A{A*A9?2AĻս:Aw =BA9?JAĻսRAw =٘i)I9vz@YpG J+JJJJV|C&K YT~?yDxXA ByC77+72B)_B%E[[U~[MV~?[T [[[[BZYY i) k;Ii@M= ٫))٫٫%תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029224.783165 s, next control iter: 1743029225.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029225.163165 s.t}>H~,qJ AJ"J*J2J:JN?BJN?nJ5vJAG@AF@AiU~? A1BAa%"AAgNA"AZAbAjArAzAAAԥ+SA?sAy@AҖA=AeAU?A@AcZ*A9?2Aս:A¬=BA9?JAսRA¬=Y}R@Wey=?ٓHB? ?@#u?`]D?@亭`?@CR`?)}R@ I٘i)I9y@YG J.B=J7<JJJ|C&Kzu> Y:T~?yKXAeRzC)7ŧ7+7)cB[[{e[VV~?[[[[[BZYY i) /;Iid@dJ= 6v))Hx6v6vUԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029225.183165 s, next control iter: 1743029225.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029225.583165 s.>H~,Re AAp= G@A٢G@AU~? AIA6o%"AAhNA"AZAbAjArAzAAA O@(AaDsAIy@A :49Aז=A`A@?A9Aᱼ*A9?2Aֽ:A==BA9?JAֽRA==٘i)I9Iy@YG JFC=JJJJ}C&K  ,7YT~? ,7ysRWAzC7771,74B)jB)E[[QI[[`V~?[[[[[BZYY i) :IiG@@ H= ))7ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029225.623165 s, next control iter: 1743029225.983178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2724 , header.stamp.nsec: 0 0 temperature: 13.568463 * salinity: 33.374989 , density: 1025.000000 * values[0]: 0.578998 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029226.003165 s.z >H~,U4 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260874@ elevatorAngleAction: -0.066692< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743029226.003289F (some fields omitted in printout)J"J*J2J:JBJnJvJAHzH@A0yH@AU~? AOA%"AAZhNA"AZAbAjArAzAAA?&U_ZA$IsAx@A:A<ǒ=A[A@g?AA69*A9?2AfԽ:Ag<BA9?JAfԽRAg<٘i)I9x@Y^G JJJJJX}C&K YlU~?yUYBWAzC77{7?,7)nB[[s)[?jV~?[[[[[BZYY i) \:IiV@܌E= )) ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029226.023165 s, next control iter: 1743029226.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029226.423165 s.u>H~, AAQI@API@A V~? AVAc%"AA-hNA"AZAbAjArAzAAAW-A{|j=sAD%x@Al:A=AVA\-?ÁAB*A9?2AԽ:AI(<BA9?JAԽRAI(<٘i)I9%x@YG JB=JJJJ}C&K YU~?y8`VAT{Cj7j7x,75B)tB,E[[;[tV~?[k"[[[[BZYY i) 襸Ii@IC= 6))66ĪYꟅYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029226.443165 s, next control iter: 1743029226.823177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2725", header.stamp.nsec: 0"0 temperature: 13.568700"* salinity: 33.374985", density: 1025.000000"* values[0]: 0.578326"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029226.843165 s.J "J ݬ>H~*J2J, A:J ?BJ ?nJ>5vJA(\J@Ad6'J@AV~? Ad]A%"AAChNA"AZAbAjArAzAAAKAy)OsA\w@A:AM=AeQA@h?A>A"*A9?2AeԽ:A<BA9?JAeԽRA<٘i)I9w@YG JC=JJJJ~C&K Y(U~?ygsVA{Cb776,7)xB[[S[ V~?[%([[[[BZYY i) Ii@FAA= a))aayYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029226.863165 s, next control iter: 1743029227.243181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029227.263165 s.>H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066692< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743029227.263283F (some fields omitted in printout)A33333K@A=EJ@A)V~? AcA&_%"AA#ZhNA"AZAbAjArAzAAA&'AcRsAYw@A48Au=A4LA?A^A`*A9?2AVս:Ak<BA9?JAVսRAk Y[= q))CqqqYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029227.283165 s, next control iter: 1743029227.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 27262, header.stamp.nsec: 020 temperature: 13.5688762* salinity: 33.3750002, density: 1025.0000002* values[0]: 0.5777532F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029227.683165 s.l>H~,Z AJ"J*J2J:JBJnJvJAףp= L@A<K@AK9V~? AsjA%"AA\qhNA"AZAbAjArAzAAA 6 A,c4GsAv@A隺A3=AH~, AA{GL@AKL@AIIV~? ApAa%"AA@hNA"AZAbAjArAzAAA{]O A"-sAf"v@AA}=A9AA4F?AeA *A:?2Aƥӽ:A*<BA:?JAƥӽRA*<I٘i)I9"v@YG J`JJJJC&K YcU~?yz`UA|C)7ŧ76^-7)B[[|[V~?[8[[[[BZYY i)  |Ii@r8= tO))tOtOYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029228.143165 s, next control iter: 1743029228.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029228.523165 s.>H~,|! AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.254215@ elevatorAngleAction: -0.066692< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743029228.523290F (some fields omitted in printout)AQM@Aq&M@AYV~? AwA%"AAǡhNA"AZAbAjArAzAAA< AHsAuu@A hͺAH=A<Am?A`|A*A%:?2A_ӽ:A<BA%:?JA_ӽRA<٘i)I9u@YG JfJJJ EJ\C&K YwU~?yQUA}C77{7-7)B6E[[Cx[V~?[p>[[[[BZYY i) jIi)@ 5= >)) >>Y&8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029228.543165 s, next control iter: 1743029228.923187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2727, header.stamp.nsec: 00 temperature: 13.569033* salinity: 33.375000, density: 1025.000000* values[0]: 0.577228F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029228.943165 s.[d>H~,O]< AA(\N@Ah,[N@AjV~? AL}A5l%"AAhNA"AZAbAjArAzAAA=0cAtsA8u@AA=A 8A}?A ;A[|*A/:?2A.ӽ:A9<BA/:?JA.ӽRA9<٘i)I98u@Y?G JJJJJC&K YEU~?yTAW}C777-7)B[[;t[V~?[C[[[[BZYY i^) 15Iif@&3= ,)),,鳪Y*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743029228.963165 s, next control iter: 1743029229.343181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029229.363165 s.>H~,>W AJ"J*J2J:JBJnJvJAfffffO@A-]62O@A{V~? AaAP%"AAhNA"AZAbAjArAzAAA}A/@sAt@Ai:AV =A52A %d?AAG*AT/:?2A ӽ:A#_<BAT/:?JA ӽRA#_ 9M?`|?)X@ I٘i)I9t@YG JJAJJJC&K}p>  .7YU~? .7yJQTA2}C)7ŧ77 .79B)B9E[[oo[OV~?[QI[[[[BZYY i) ۦۻIilj@[0= Pv))kPvPv-Y(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029229.383165 s, next control iter: 1743029229.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2728&, header.stamp.nsec: 0&0 temperature: 13.569186&* salinity: 33.375008&, density: 1025.000000&* values[0]: 0.576744&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029229.783165 s.W>H~,r AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.230067@ elevatorAngleAction: -0.076352< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743029229.783284F (some fields omitted in printout)A ףp=P@AB"L P@AFV~? A[Ar~%"AAhNA"AZAbAjArAzAAAh_9A>u%sA7Wt@A$:AT=A"-A v ?A`t4A*A>):?2AXԽ:AGZ<BA>):?JAXԽRAGZ<٘i)I9Wt@YG JB=JJJJ/C&K YU~?ySA B~Cj7j7C.7;B)B=E[[k[$V~?[N[[[[BZYY i) IiV@:-=  ))~  sY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029229.803165 s, next control iter: 1743029230.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029230.203165 s.>H~,. AJ"J*J2J:JBJnJvJAGzQ@AN IP@A>V~? A8A %"AA iNA"AZAbAjArAzAAAx.SdAasACs@A,B:A=A>(Ag?AQA*AM:?2Aҽ:A&<BAM:?JAҽRA&<٘i)I9s@YsG JC=JJJJZC&K Y)U~?ySAX~C{7{7|.7)B[[7g[[V~?[S[[[[BZYY i) C Ii@T*= `?))`?`?yhDYkYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743029230.223165 s, next control iter: 1743029230.603182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029230.623165 s.^>H~,z AARQ@A̗`Q@AV~? AA+%"AA`%iNA"AZAbAjArAzAAAleAÝ\H~, AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076352< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743029231.043303F (some fields omitted in printout)A(\R@AyW=`R@APV~? AA)%"AAnAiNA"AZAbAjArAzAAA+IPAsA0 s@A A+i=A; A`[?AJ;A*Af:?2APѽ:Aa=BAf:?JAPѽRAa=٘i)I9 s@YG JKJJJJC&K YlU~?yRAC777.7)BCE[[b^[V~?[^[[[[BZYY i) ,Ii@9%=  ))  ͻY~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029231.063165 s, next control iter: 1743029231.443180 s, wait time: 0.380015 slU~?) rAdjusting time to match Gazebo time: 1743029231.463165 s.T>H~,ߤ AAS@AmeS@A`V~? A&Ap%"AA^iNA"AZAbAjArAzAAAC%A^G̀sAr@A>XкAS=AA\?A ߿A䈼*A`:?2AEҽ:A=BA`:?JAEҽRA=Yʮ@yS=кٓH,Q? ?&?@Ja?g Z@ ?)ʮ@ I٘i)I9r@YG J↼J0<JJJۀC&Km>  /7YV~? /7yRAZC{7j7(/7)B[[Z[ W~?[c[[[[BZYY i) {.H~,' AJ"J*J2J:Jh?BJh?nJ5vJA= ףpT@A[ztA~0q@AE9A|*=A,1 AJ?A@ݿA4*AA:?2A н:A1 =BAA:?JA нRA1 =٘i)I90q@YG JJJJJ\C&K YTV~?y鶪~QA-C7/7@B)BME[[L[5W~?[r[[[[BZYY i) ܗjIien@= g))P!gg˪Y; zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029232.743165 s, next control iter: 1743029233.123181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029233.143165 s.\/?H~, *I AA)\V@A9yV@A'W~? AA7%"AAiNA"AZAbAjArAzAAA qxAhtAp@Afz:A?=AfAL?A ݿA*A:?2A՝Ͻ:A =BA:?JA՝ϽRA =٘i)I9p@Y|G JJJJJC&K  07YkV~? 07y廪 QAXC77=07)B[[C-H[LEW~?[w[[[[BZYY i%) ~zIi]j@= b;)) b;b;rϪYyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029233.163165 s, next control iter: 1743029233.543182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029233.563165 s.?H~,_ d AJ"J*J2J:J8?BJ8?nJ_5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085522< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743029233.563330F (some fields omitted in printout)AW@AeW@A;W~? AAs%"AAiNA"AZAbAjArAzAAA,=A tAv(p@A3:A=A}A`?ASܿA.+*A:?2A2н:A#=BA:?JA2нRA#=Y.ޱ@ty=:ٓH? ?}?`o޿@&?Rk`]?#?).ޱ@ I٘i)I9(p@Y*G JJ5<JJJC&KRj> YV~?y)PAtCSI7SI7G07)BPE[[C[UW~?[h|[[[[BZYY i) PIid@]= <)){c<<bҪY $YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029233.583165 s, next control iter: 1743029233.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2732, header.stamp.nsec: 00 temperature: 13.569717* salinity: 33.375053, density: 1025.000000* values[0]: 0.574805F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029233.983165 s.?H~,~ AAq= ףX@A;ۣoX@APW~? A־A ]%"AAbjNA"AZAbAjArAzAAAԿAu2tAo@Ah:A`f=A&A`?A`.ۿA`ݣ*Ay:?2Alѽ:ADZ=BAy:?JAlѽRADZ=٘i)I9o@YG JԢJJJJ݁C&K Y@V~?ylĪSPAC77{707AB)įBSE[[??[eW~?[$[[[[BZYY i) 8"Iic_@= =))udv==ժY YFFF]p:Waiting for Gazebo time sync: latest Gz time: 1743029234.003165 s, next control iter: 1743029234.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029234.403165 s.&&?H~,͙ AJ"J*J2J:J?BJ?nJ95vJAGzY@AcFY@A&fW~? AëA-%"AAw4jNA"AZAbAjArAzAAAQhxA.¥tAo@A 8AU=A!A h?A)ڿA.*A:?2AsϽ:AKj=BA:?JAsϽRAKj=٘i)I9o@YG JOB=JJJJC&K YV~?yȪOAـC77H07BB)ɯBVE[[:[uW~?[Յ[[[[BZYY i) ~IiqZ@ = me=))me=me=y" ڪYecYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029234.443165 s, next control iter: 1743029234.803178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2733", header.stamp.nsec: 0"0 temperature: 13.569865"* salinity: 33.375061", density: 1025.000000"* values[0]: 0.574232"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029234.823165 s.,?H~,2 AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240618@ elevatorAngleAction: -0.085522< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199412 time: 1743029234.823289F (some fields omitted in printout)AQZ@A jZ@A{W~? AȫA֥%"AAUjNA"AZAbAjArAzAAAK}zy?AmtAXn@AA=A+dA%?A`ڿA *A:?2Aν:Ai=BA:?JAνRAi=٘i)I9n@Y,G JC=JJJJ3C&K YV~?y̪OA BC77707)ͯB[[+*6[W~?[v[[[[BZYY i) G=IiU@%= -=))x{-=-= ުYvvYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029234.843165 s, next control iter: 1743029235.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029235.243165 s.3?H~,m AJ"J*J2J:J?BJ?nJ5vJA\([@AvuZ@AW~? A̫AM%"AAvjNA"AZAbAjArAzAAAUK?A띂 tAm@AAФ=A>۾A@'?AQUٿA1*A:?2AZν:A[X=BA:?JAZνRA[X=٘i)I9m@YG J{JJJJ^C&K  17YZV~? 17y8ѪOA/C<9<9,17CB)ԯB[E[[/1[ݗW~?[[[[[BZYY i) ʢIiQ@1= `=)) `=`=YlvYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029235.283165 s, next control iter: 1743029235.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029235.663165 s.:?H~,q AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2734, header.stamp.nsec: 00 temperature: 13.570045* salinity: 33.375072, density: 1025.000000* values[0]: 0.573656F (some fields omitted in printout)A\@A|[@AW~? AЫA%"AAgjNA"AZAbAjArAzAAA\c ?An@/+tAq\m@AXAz=AY*ҾA $?A=ؿA`*Ar:?2A<:Ͻ:Ar<=BAr:?JA<:ϽRAr<=Y-@9Ҿyo=ٓH=??b? uٿzW?z *>Wl?)-@ I٘i)I9\m@YvG J,Jw<JJJC&Kg> Y;W~?yԪNA9ҾZC)7ŧ7Af17DB)ٯB^E[[? -[-W~?[p[[[[BZYY i) #IiK@z= $=))ta$=$=YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029235.683165 s, next control iter: 1743029236.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029236.083165 s.DA?H~,S AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.219728@ elevatorAngleAction: -0.085522< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743029236.083333F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= \@A/oע\@AZW~? AԫA%"AA/jNA"AZAbAjArAzAAA!XLb>?ATKtAڿl@A=kSA,#=A(ȾA]?A@׿Aｼ*A:?2Aн:A=BA:?JAнRA=٘i)I9l@YG JnJJJJC&K YW~?y>ت=NAC717)ޯBaE[[Cy([W~?[ʗ[[[[BZYY i) 7}IipF@< `Z>))s`Z>`Z>Yw YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029236.103165 s, next control iter: 1743029236.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029236.503165 s.G?H~,L4 AAHz]@Ay]@AW~? A٫AZU%"AAbjNA"AZAbAjArAzAAAF?AtAl@A:Av=A pAn?A׿AѲļ*A0:?2A#Kν:ADv=BA0:?JA#KνRADv=٘i)I9l@YG JB=JJJJ߂C&K Y4W~?y۪MAC7717EB)BdE[[3#[ W~?[[[[[BZYY i)  ظIi_A@< >))>>bY`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029236.543165 s, next control iter: 1743029236.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2735, header.stamp.nsec: 00 temperature: 13.570234* salinity: 33.375084, density: 1025.000000* values[0]: 0.573007F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029236.923165 s.;N?H~,; AJ"J*J2J:JBJnJvJAQ^@AXQ^@A W~? AܫA%"AAjNA"AZAbAjArAzAAA1 ))d0j'>0j'>YtYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029236.943165 s, next control iter: 1743029237.323181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029237.343165 s.))(:>(:>YBsYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029237.363165 s, next control iter: 1743029237.743182 s, wait time: 0.380017 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2736&, header.stamp.nsec: 0&0 temperature: 13.570432&* salinity: 33.375107&, density: 1025.000000&* values[0]: 0.572302&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029237.763165 s.5[?H~,p AJ"J*J2J:JBJnJvJA33333`@At _@AX~? AHAZt%"AAFDkNA"AZAbAjArAzAAA2c@A %tAj@A+:Ar=Af顾A`??A>ԿAӼ*A<%;?2A92ν:AX=BA<%;?JA92νRAX=Y@⡾yr=\;:ٓH`K???W]?ӿi?q 䆶`ŴB?8?)@ I٘i)I9j@YzG JѼJk<JJJ`C&K$f> YW~?yqLA⡾0Cb7b727FB)BjE[[[lX~?[q[[[[BZYY i) $μIi2@z< L>)){_L>L>YNjYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029237.803165 s, next control iter: 1743029238.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743029238.183165 s.b?H~,g AAףp= a@AG `@AU2X~? AA.%"AAgkNA"AZAbAjArAzAAA&@A'tAfi@Ao10Ax=A-A`p?A`ӿA׼*A#;?2A3Ͻ:AJ=BA#;?JA3ϽRAJ=٘i)I9fi@Y G JռJJJJC&K YUW~?y?KA[C7E27)BmE[[<[X~?[[[[[[BZYY i) LռIi,@{l< L_>))BzrL_>L_>YdYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029238.203165 s, next control iter: 1743029238.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029238.603165 s.94i?H~, AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.236795@ elevatorAngleAction: -0.085522< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743029238.603290F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@Aha@A5JX~? A A%"AAkNA"AZAbAjArAzAAAZh4@Ag/)tAEh@AѺA\=AFQA?A bӿA~ۼ*ApO;?2AF̽:A<1=BApO;?JAF̽RA<1=٘i)I9h@Y G JټJJJJC&K Y%W~?yKAC77727)BpE[[ˆ [w,X~?[2[[[[BZYY i) qݼIi'@b< @$r>))@$r>@$r>RYj_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029238.623165 s, next control iter: 1743029239.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2737 , header.stamp.nsec: 0 0 temperature: 13.570673 * salinity: 33.375107 , density: 1025.000000 * values[0]: 0.571545 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029239.023165 s.Zp?H~,| AAQb@A h"b@ALbX~? AUAV%"AABkNA"AZAbAjArAzAAAX@AR;+tAg@AR~Ay=A)A ?A8ҿA޼*Ac;?2AY̽:A0=BAc;?JAY̽RA0=٘i)I9g@Y, G J)ݼJJJJC&K  37YW~? 37yKAC77{7037GB)BsE[[[@X~?[[[[[ZZ¸BZYY i¸ґ=) ѼIi#@ < X>))ӀX>X>YrYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029239.043165 s, next control iter: 1743029239.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029239.443165 s.9v?H~,F] AJ"J*J2J:JBJnJvJA(\c@A/[c@AzX~? AgAm%"AAkNA"AZAbAjArAzAAA[jB6 @Ao*-tA8g@AqAid=AaZwA Y?A jѿAB*Aw;?2A!̽:A-K=BAw;?JA!̽RA-K=٘i)I98g@Y G JJJJJ C&K YW~?ysJA BۂC77Gj37HB)BtE[[g[UX~?[[[[[ZZBZYY i) żIi@3< &>))&>&>Y|rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029239.463165 s, next control iter: 1743029239.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2738, header.stamp.nsec: 00 temperature: 13.570907* salinity: 33.375122, density: 1025.000000* values[0]: 0.570780F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029239.863165 s.+}?H~,> AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.251617> elevatorAngleAction: 0.083774< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743029239.863296F (some fields omitted in printout)Afffffd@AU2d@A X~? AUA2%"AAkNA"AZAbAjArAzAAA_̌ @Ap/tA@gf@A89A=AsNdA %?A *пAO*Ä́;?2A5ͽ:A<BÄ́;?JA5ͽRA?mM?t? 1̿;5?`. G9?`0?)@ I٘i)I9gf@Y: G JyB=JRJJJ7C&KBc> YG X~?yeJAEdC{7Z737IB)BwE[[[iX~?[![[[[ZZBZYY i) TIi@O< )>))N_)>)>3Y3܀YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029239.903165 s, next control iter: 1743029240.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029240.283165 s.6R?H~, AJ"J*J2J:JBJnJvJA ףp=e@A[ A e@AX~? A A%"AAlNA"AZAbAjArAzAAA&K@A$1tAe@A8:Ar=ADPA>L?A+ϿA+*A ;?2AMν:A#<BA ;?JAMνRA#<٘i)I9e@Y G J2 C=JJJJbC&K Y%X~?yVIA1Cj7j737)BzE[[[h~X~?[[[[[ZZBZYY i) xIiO@< %>))Sr%>%>y=֪YyπYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029240.303165 s, next control iter: 1743029240.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2739., header.stamp.nsec: 0.0 temperature: 13.571179.* salinity: 33.375118., density: 1025.000000.* values[0]: 0.569874.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029240.703165 s.Ժ?H~,- AAGzf@A&[e@AyX~? AAz%"AAjDlNA"AZAbAjArAzAAA"R@A_Y2tADd@A:A,x=A=A`-x?A ͿA*A;?2AlB̽:A=f<BA;?JAlB̽RA=f<٘i)I9d@Y& G J|JJJJC&K  47YJAX~? 47yH'IA\C7ŧ7L47)$B}E[[U[X~?[[[[[ZZBZYY i) Ii+@< ɨ>))ɨ>ɨ>;YpYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029240.723165 s, next control iter: 1743029241.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029241.123165 s.6?H~,XG AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.236647> elevatorAngleAction: 0.083774< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743029241.123283F (some fields omitted in printout)J"J*J2J:JBJnJvJARf@A?af@AtX~? ADA %"AA"jlNA"AZAbAjArAzAAAs:@A_H4tAc@A6ì9A92=AP*A`?A*̿A9ؼ*A;?2A̽:A7;BA;?JA̽RA7;٘i)I9c@Y G JPJJJJC&K Y\X~?y:HACb77O47)+BE[[-߾[VX~?[Ū[[[[ZZBZYY i)  Iim @< >))a>>zYarYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029241.143165 s, next control iter: 1743029241.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029241.543165 s.I?H~,b AA(\g@Aeg@AX~? AAcc%"AAlNA"AZAbAjArAzAAABy@A<5tA1c@AAݹ<A A@f?AdʿAܰ*A;?2A˽:A%'BA;?JA˽RA%'٘i)I91c@YE G J=ɼJJJJC&K YMxX~?y+9HAC7747JB)0BE[[վ[^X~?[;Ȫ[[[[ZZBZYY i)  Ii@RX< Q>))Q>Q>Y[UrYFFF]Waiting for Gazebo time sync: latest Gz time: 1743029241.563165 s, next control iter: 1743029241.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2740, header.stamp.nsec: 00 temperature: 13.571443* salinity: 33.375126, density: 1025.000000* values[0]: 0.568959F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029241.963165 s.z?H~,} AJ"J*J2J:J?BJ?nJ5vJAh@A3Pleh@AY~? AAw6%"AAKlNA"AZAbAjArAzAAAŞ@Af7tAɪb@A OA@<AA`?AhȿA*A;?2Aͽ:A1$BA;?JAͽRA1$Y@y@<PٓH Ǻ???y ?S? @c ?)@ I٘i)I9b@Y G JܟJv=JJJC&Kc> Y`X~?yP,HA B܃C77j7L47)4BE[[ ̾[_X~?[3˪[[[[ZZBZYY i=) _~IiY?fȢ< >))/_>>bYbYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029241.983165 s, next control iter: 1743029242.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029242.383165 s.إ?H~,/ AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.218716> elevatorAngleAction: 0.064752< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743029242.383333F (some fields omitted in printout)A= ףpi@A0Bx))2s>>R)Y쀾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029242.403165 s, next control iter: 1743029242.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2741", header.stamp.nsec: 0"0 temperature: 13.571596"* salinity: 33.375160", density: 1025.000000"* values[0]: 0.568387"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029242.803165 s.A?H~,g AJ"J*J2J:JBJnJvJAzGj@Aީj@ABY~? AA-%"AAPmNA"AZAbAjArAzAAA1O@A69tA b@AAݐAۻA?A`VſA*Ai ))>>u)Y_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029242.823165 s, next control iter: 1743029243.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029243.223165 s.g?H~,H AAQk@AUj@A\Y~? AA%"AA#*mNA"AZAbAjArAzAAA@A6 :tAa@A$?AAYA r:?AÿA}P*A))A>A>yfg=f6*YDBsYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029243.243165 s, next control iter: 1743029243.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029243.643165 s.vй?H~,* AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.253095> elevatorAngleAction: 0.075206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743029243.643303F (some fields omitted in printout)A)\k@A,_k@AQvY~? A5A%"AA$QmNA"AZAbAjArAzAAAw|@Ayɑ;tAa@AEѧ:A'%5ACaA R?AAS=E;*A6!))y>y>8s*Y*sYFFF]:tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2742, header.stamp.nsec: 00 temperature: 13.571577Waiting for Gazebo time sync: latest Gz time: 1743029243.663165 s, next control iter: 1743029244.043177 s, wait time: 0.380012 s* salinity: 33.375145, density: 1025.000000* values[0]: 0.568202F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029244.063165 s.?H~,V  AAl@A l@A5Y~? A A"%"AAKxmNA"AZAbAjArAzAAAv@A4w Y Y~?y3DHAC77757)9BE[[X[HY~?[Sت[[[[BZYY iZh=) *>Iiq?4< >))iha>>*Y_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029244.083165 s, next control iter: 1743029244.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029244.483165 s.x_?H~, AJ"J*J2J:JBJnJvJAq= ףm@ACULom@A.Y~? A Ae%"AAmNA"AZAbAjArAzAAA6o4@Aa.G=tAPb@A:AL2{A`"Ax?AA.-<*A elevatorAngleAction: 0.056727< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743029244.903301F (some fields omitted in printout)AGzn@AFn@AtAc@AsAA5<A@?A%AŌ<*A*BBA*B٘i)I9c@Y3 G J@<JJJJfC&K YuY~?y(!IA4C7767)1BE[[3w[ Y~?[ު[[[[BZYY i) ܻIi[?]< N ?))N ?N ?yƼh=j*YtYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029245.363165 s, next control iter: 1743029245.723175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2744*, header.stamp.nsec: 0*0 temperature: 13.571123** salinity: 33.375206*, density: 1025.000000** values[0]: 0.568869*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029245.743165 s.W?H~,~o AA\(p@A=o@AY~? A A$%"AA5nNA"AZAbAjArAzAAA7w @A6"?tAc@A AhAIA =A?A 9A<*AP elevatorAngleAction: 0.066160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199472 time: 1743029246.163274F (some fields omitted in printout)Aq@Ap@AZ~? AA%"AA=nNA"AZAbAjArAzAAA?r @A?tAd@AA暽An=A?A{Ḁ<*AJ Y#Y~?yIAo=C77767))B[[cN[kY~?[[[[[BZYY i) 6Ii?ފD< Z?))MbcZ?Z?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029246.183165 s, next control iter: 1743029246.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029246.583165 s.?H~, S AAp= q@A1!q@A-Z~? AUAA%"AAenNA"AZAbAjArAzAAA @Aa$?tATd@AoAĜA#=A ?A A<*AC: elevatorAngleAction: 0.066160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199382 time: 1743029247.423283F (some fields omitted in printout)AQs@A,Ps@AaZ~? AA%"AAnNA"AZAbAjArAzAAAWr!@AzO@tAe@AU;A윽A=A`?A *Ah<*A\kA?AťEAR <*A}wA?AW?Af<*A*my Ut:ٓH@g? .ÿ ?2?@d  87Y:Z~? 87yKAP>`C77\87)BE[[6̽[AZ~?[ [[[[BZYY i) tIiQ?=J< p/?))Nep/?p/?3*YᅾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029248.283165 s, next control iter: 1743029248.663175 s, wait time: 0.380010 s:tReceived state from Gazebo (printed only once in a while)::0 header.stamp.sec: 2747:, header.stamp.nsec: 0:0 temperature: 13.569965:* salinity: 33.375244:, density: 1025.000000:* values[0]: 0.571129:F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029248.683165 s.l @H~,k+!AJ"J*J2J:J5?BJ5?nJO5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.224179> elevatorAngleAction: 0.066160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743029248.683288F (some fields omitted in printout)Aףp= v@Au@AڰZ~? AAw%"AA_-oNA"AZAbAjArAzAAA^#@A<з`2@tAIg@A>3AA{2>A%?A ?A<*A[A`5?A?Ay<*Aw|#w@AZ~? AA%"AA7}oNA"AZAbAjArAzAAA(cD%@A -?tAh@A AU<AZ>Aj?A ?A<*A(]|!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260662> elevatorAngleAction: 0.066160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743029249.943297F (some fields omitted in printout)A(\x@A!8.[x@AZ~? A-A%"AAoNA"AZAbAjArAzAAA?ɣ%@Ae56?tAHi@AA㐽Am>AU?A?A<*AD!AJ"J*J2J:J?BJ?nJ5vJAfffffy@AZ72y@A[~? AT Av%"AAoNA"AZAbAjArAzAAAQDP&@Au>tA6i@A,9A᳎A>Ax?A˓?A<*AK{y೎9ٓH ?Ͽ`W<??R)@ұ?:??) f= I٘i)I9i@YOG J<JX<JJJjC&Kl> YZ~?yMAހ>7Cŧ7b7=97)BE[[;[Z~?[[[[[BZYY ia=) ;Ii>h; /J?))h/J?/J?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029250.383165 s, next control iter: 1743029250.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2749&, header.stamp.nsec: 0&0 temperature: 13.569163&* salinity: 33.375263&, density: 1025.000000&* values[0]: 0.572690&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029250.783165 s.Y+@H~,!AA ףp=z@AK= B z@A44[~? AT A@1%"AAoNA"AZAbAjArAzAAA` p&@AoA>tAZj@A:A,AA>A?A0?AĞ<*Agys; @O?))n}@O?@O?*YP YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029250.823165 s, next control iter: 1743029251.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029251.203165 s.3@H~, !AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.247137> elevatorAngleAction: 0.074892< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743029251.203300F (some fields omitted in printout)AGz{@AXvMz@ANN[~? A* A@F%"AA9pNA"AZAbAjArAzAAAm'@A%_=tAj@A ;AAR>A ?A#?AM<*A;Iiڙ>gD; U?))U?U?۽*YRwhYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029251.223165 s, next control iter: 1743029251.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029251.623165 s.`9@H~,!AAR{@Ac^{@AVh[~? A Ag^%"AACpNA"AZAbAjArAzAAA; Z6+(@AyۏAr?A-]?A<*A}; Z?)) Z?Z?yN=ڽ*Y)}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029251.663165 s, next control iter: 1743029252.023181 s, wait time: 0.360016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2750 , header.stamp.nsec: 0 0 temperature: 13.568739 * salinity: 33.375294 , density: 1025.000000 * values[0]: 0.573423 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029252.043165 s.@@H~,!AJ"J*J2J:J?BJ?nJ5vJA(\|@ATka|@AG[~? A[Ay%"AA"kpNA"AZAbAjArAzAAAA4]?A`)?A7<*Az: ^#`?))^#`?^#`?*Y}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029252.063165 s, next control iter: 1743029252.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029252.463165 s.VG@H~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074892< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743029252.463281F (some fields omitted in printout)A}@A:[@he}@A[~? AA%"AAcpNA"AZAbAjArAzAAA/de)@A!G:tAYl@AAA>AD?AD?AÍ<*AOd>yٓH?iտ@??Ŗ~?aW?)> I٘i)I9Yl@YG J<J:JJJAC&Kn> YM[~?y%OA> Cb7b7[:7JB)B[[=[L[~?[[[[[BZYY i) aA`(?A?A <*AL[g[~?[[[[[BZYY i) F;$A ?Ax?A=<*A]_[`[~?[\[[[[BZYY i) 3 elevatorAngleAction: 0.074892< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743029253.723329F (some fields omitted in printout)AQ@A @A[~? AA%"AAqNA"AZAbAjArAzAAAo.Z7+@Aj7tAAm@A A Aq>A?Af?A<*AOX[[~?[[[[[BZYY i) bCA?A -?A?K<*A4Q[[~?[G[[[[BZYY i) ~RA`8?A?A<*A;>yؕ);ٓH@?@?ۿ'`??. ?@`??)Bj> I٘i)I9n@YeG J^<B=J&JJJC&K&q> YG[~?yBڪQA> BCj7Z7cz;7FB)ϯBӹE[[b>[[~?[w[[[[BZYY i) a*Y+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029254.583165 s, next control iter: 1743029254.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2753, header.stamp.nsec: 00 temperature: 13.567655* salinity: 33.375347, density: 1025.000000* values[0]: 0.575511F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029254.983165 s.o@H~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.233988> elevatorAngleAction: 0.074892< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743029254.983279F (some fields omitted in printout)Aq= ף@A,fo@A~4\~? AAu%"AAyqNA"AZAbAjArAzAAATz-@A2tAglo@Ag:AHA/>A`?A 4?A-<*A%[[~?[rު[[[[BZYY i^=) pA`V?A`G?A<*A7[ \~?[7ܪ[[[[BZYY i) [ (\~?[٪[[[[BZYY i) ; elevatorAngleAction: 0.083677< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743029256.243293F (some fields omitted in printout)A\(@A/@A~~\~? AAp/%"AAqNA"AZAbAjArAzAAAk<..@AEp-tAmq@AFAtfA1?A`?A:?An<*A[C\~?[ת[[[[BZYY i) 8q ?y Յ ٓH@{8?mV ?N?xꣿ ? ca ?)l> I٘i)I9q@YG J<JpBJJJC&Ks> Y"O\~?yeƪSAq ? BC777<7)B[[>[^\~?[KԪ[[[[BZYY i) [y\~?[@Ѫ[[[[BZYY i) " elevatorAngleAction: 0.083677< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743029257.503291F (some fields omitted in printout)AHz@A͍y@A\~? A#A%"AA}XrNA"AZAbAjArAzAAAc;0@AIE`'tAr@A9AA?Ajd?A?Am<*A;?2AԽ:ABA;?JAԽRA٘i)I9r@YG J<JJJJEC&K  =7YM\~? =7y7jTAC77 =7?B)BE[[>[ʔ\~?[ͪ[[[[BZYY i) !ս:ABA ;?JA>սRA٘i)I9qs@Y*G Jh<JJJJpC&K Yb\~?yTA;Cj7Z7 E=7>B)BE[[c>[د\~?[ʪ[[[[BZYY i)  ;A٪A/!?A`0?A@H>?A<*A;?2Aս:ABA;?JAսRA٘i)I9t@YG J<JJJJC&K Yy\~?y AUAfC777g~=7)B[[T>[\~?[ƪ[[[[BZYY i)  elevatorAngleAction: 0.083677< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743029258.763294F (some fields omitted in printout)A33333@Ay@A ]~? A۫A%"AABrNA"AZAbAjArAzAAA^[1I1@ABY tAft@Ab:Ap/A6N&?A U?A@?A<*Ak;?2Aa{ֽ:A*BAk;?JAa{ֽRA*Y[>{F&?ye/ :ٓHd?`F[`H?`W{?E`R? RV?@?)[> I٘i)I9t@YG J <J"zJJJƋC&Kv> Y\~?yUAF&?C{7{7=7:B)BE[[s&>[?\~?[ª[[[[BZYY i) ɻ[\~?[ܾ[[[[BZYY i) 7Y\~? >7yVAC77f*>78B)BE[[O>[]~?[[[[[BZYY i) X elevatorAngleAction: 0.083677< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743029260.023298F (some fields omitted in printout)AQ@A#@AgP]~? AYϫAó%"AA*sNA"AZAbAjArAzAAA}}1@A=tAҽv@Aj A-aA׼5?A?A?Ap<*A:;?2ADս:A1BA:;?JADսRA1٘i)I9v@Y,G J<JJJJGC&K YW ]~?yžWAC{7{7c>7)B[[K?[ 4]~?[[[[[BZYY i) i77B){BE[[6 ?[M]~?[?[[[[BZYY i=) 7!AAfffff@Aףp=2@A|]~? AOƫAWa%"AA4msNA"AZAbAjArAzAAAW5a2@A:h VtA'x@A "A^AA5@?An?A?AK<*Ak;?2ALֽ:AtBAk;?JALֽRAtY?I7@?y^uٸٓHN?`3`?te?Зh?A7??)? I٘i)I9'x@Y G J<C=JJJEJC&Kw> Yp4]~?ypWA7@?gC{7j7k>75B)tBE[[A?[Xg]~?[W[[[[ZZZZ¸>BZYY i¸>3s) `H?iĢXP U?))U?U?y׫*Y)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029262.163165 s, next control iter: 1743029262.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029262.543165 s.I@H~,â!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084692< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743029262.543299F (some fields omitted in printout)A(\‘@Ax$^@A]~? AA%"AAsNA"AZAbAjArAzAAAUM_3@A%FUtA<`{@Am:A(tAU?Ap>?A@?A<*A];?2A׽:AqcBA];?JA׽RAqc٘i)I9`{@YG J=JJJJIC&K Y]~?yq{YAC{7{7?7)UB[[)?[]~?[r[[[[ZZZZBZYY i) #"?;Z?y;/V7ٓH@Z ? m윿 +?R? ?`>q?)>#"? I٘i)I9#|@YvG Jc<B=J=JJJtC&Kw> Y]~?ytZA;Z?=C77?7+B)JBE[[0?[]~?[{[[[[ZZZZBZYY i:) ^~?[mv[[[[ZZZZBZYY i) ӗMt?AF?A$?A>:*A;?2AW׽:A֓<BA;?JAW׽RA֓JJJKC&Kw>  A7Y^]~? A7y SZABt?Cŧ7ŧ7A7$B)4BE[[O?[QT^~?[wo[[[[BZYY i.o) 4<?))>?>?y6hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029265.923165 s, next control iter: 1743029266.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029266.323165 s.r$AH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.068527< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200692 time: 1743029266.323364F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A2o@Av^~? A8A%"AA;tNA"AZAbAjArAzAAA˔Z5@AHsA$}@A9A{=A7?AW`?A`P?A-/6*A:?2A׽:Ak =BA:?JA׽RAk =٘i)I9}@YXG JB=JJJJ̎C&K Yw%^~?yq=TZAC777̿A7)3B[[b?[^~?[RY[[[[BZYY i)  ?y=ǺٓH`e?V?@]?`x?@#?3Q@X`?),dV? I٘i)I9|@YG JzJ=JJJ"C&Ky>  B7YC^~? B7y.YA>?C77u2B7B)E[[ o?[ι^~?[I[[[[BZYY io) L;I?G?i޿ 5?))5?5?hɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029267.183165 s, next control iter: 1743029267.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029267.583165 s.8AH~,R!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058486< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743029267.583300F (some fields omitted in printout)Ap= כ@Afآ@A^~? AlA.%"AA7uNA"AZAbAjArAzAAAr6ک5@A8DsA_|@AAp=Aw?A@;?A?Aڲ*A:?2A׽:A\7=BA:?JA׽RA\7=٘i)I9_|@YG JJJJJMC&K YQ^~?y&aYACkB7B)7B E[[v?[V^~?[A[[[[BZYY i) >;I'G?ia㿉 V?))V?V?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029267.603165 s, next control iter: 1743029267.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2766, header.stamp.nsec: 00 temperature: 13.563379* salinity: 33.375515, density: 1025.000000* values[0]: 0.583833F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029268.003165 s.y @AH~,P4!AJ"J*J2J:Jv?BJv?nJ5vJAHz@AQ*y@A^~? AeA(%"AAOuNA"AZAbAjArAzAAA\e96@A8zgAsA{@Ah5AD=A}?ABL?A A?AFj*A:?2A׽:A=BA:?JA׽RA=٘i)I9{@YHG JJJJJxC&K Y_^~?y@XAAC777B7) Y^~?yWAY? BŽC777#QC7)EB[[?[J_~?[[[[[BZYY i) f>:IF?in￉j< P?))P?P? תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029269.283165 s, next control iter: 1743029269.663179 s, wait time: 0.380014 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 27686, header.stamp.nsec: 060 temperature: 13.5637446* salinity: 33.3755236, density: 1025.0000006* values[0]: 0.5826546F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029269.683165 s.lZAH~,gk!AJ"J*J2J:J(?BJ(?nJg5vJAףp= @Au֟@A^~? ALJA%"AAjuNA"AZAbAjArAzAAAW6@A>UsAyy@A>ٸ9A=A?A ?AL?AW^*Ax:?2A׽:Ak=BAx:?JA׽RAk=٘i)I9yy@YG J_C=JJJJ$C&K Y^~?yhWAC77vC7B)IBE[[E?[_~?[[[[[BZYY i') 3D:I{F?iS  ,?)) ,? ,?mҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029269.683165 s, next control iter: 1743029270.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743029270.103165 s.aAH~,Ț!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067457< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743029270.103273F (some fields omitted in printout)A{Gᠥ@AA @A^~? AFCA"F%"AAuNA"AZAbAjArAzAAAY!h6@AZsAx@AU~`A=A?A@u6?A a?Ar*A_:?2A׽:A"O=BA_:?JA׽RA"O=٘i)I9x@Y{G JJJJJOC&K Y-^~?yVAC777C7)NB[[?[4._~?[ [[[[BZYY i) =0IF?i ]?))]?]?̪YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743029270.123165 s, next control iter: 1743029270.503182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029270.523165 s.gAH~,|!AJ"J*J2J:J?BJ?nJO5vJAQ@AǙ&@A _~? A+<A%"AA1uNA"AZAbAjArAzAAAO9Wf7@A sAQx@A ٺA$=A89?AW]?A?Al*A8:?2A)׽:AVy<BA8:?JA)׽RAVy<٘i)I9Qx@Y"G JJJJJzC&K Yz^~?yVABC77#C7B)OB E[[4ґ?[<_~?[[[[[BZYY i) 1IsF?ik ?))??.ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029270.543165 s, next control iter: 1743029270.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2769, header.stamp.nsec: 00 temperature: 13.563975* salinity: 33.375523, density: 1025.000000* values[0]: 0.581978F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029270.943165 s.[dnAH~,O]!AA(\@A\-[@A_~? A4As[%"AAuNA"AZAbAjArAzAAALI<7@AIasAw@AdԺA4=AVמ?A?A?A;*A:?2A׽:Ax~<BA:?JA׽RAx~<٘i)I9w@YG JդJJJJC&K  D7Ydz^~? D7y-VAmCb7b7y6D7B)RBE[[$?[LI_~?[[[[[BZYY i) ~-IXF?i375 ?))??yZªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029270.963165 s, next control iter: 1743029271.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029271.363165 s.uAH~,>!AJ"J*J2J:J?BJ?nJ#5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067457< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743029271.363318F (some fields omitted in printout)Afffff@A;2@A!_~? A-Aa%"AA!uNA"AZAbAjArAzAAA%QV_7@A=3sAbBw@AGA#t=A~s?Aத?A5?AU|*Ad:?2A׽:A<BAd:?JA׽RA Yb^~?y2ߩUAq?C{7j7oD7)VB[[`?[U_~?[N[[[[BZYY i) e'AI=F?i ?))??ʾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029271.383165 s, next control iter: 1743029271.763179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2770*, header.stamp.nsec: 0*0 temperature: 13.564140** salinity: 33.375523*, density: 1025.000000** values[0]: 0.581375*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029271.783165 s.[{AH~,!AA ףp=@AIH @A,_~? Af&Av%"AAvNA"AZAbAjArAzAAAK7@A+Ӟ๱sAv@A9A@=A?A@U?A`Oi?A`Ö*A:?2A׽:A7<BA:?JA׽RA7<٘i)I9v@Y/G J1JJJJC&K Y^~?y֩sUA BÏC7777%D7)ZB[[N?[Za_~?[[[[[BZYY i) x"I"F?iE O3?))O3?O3?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029271.803165 s, next control iter: 1743029272.183182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029272.203165 s.AH~, !AJ"J*J2J:J?BJ?nJ5vJAGz@AWLथ@A7_~? AA}%"AA)vNA"AZAbAjArAzAAA% "97@A֘5sADv@Aʼ:A=A?A?A;?A*A˚:?2A׽:A<BA˚:?JA׽RA<٘i)I9Dv@YG JՔJJJJ&C&K Y^~?ykΩUAC{7j7yD7B)\BE[[?[Al_~?[Mߩ[[[[BZYY i) ގIaF?i ~m?))~m?~m?bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029272.223165 s, next control iter: 1743029272.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029272.623165 s.TAH~,P'!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067457< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743029272.623271F (some fields omitted in printout)AR륥@A)!XU@AA_~? AA%"AA&vNA"AZAbAjArAzAAA b|V@7@AksAu@A-b:AE=AH?Aq?A`?AF8*A:?2A׽:A*<BA:?JA׽RA*<٘i)I9u@YG J JJJJQC&K  E7Y2^~? E7yƩTACŧ7b7E7 B)^BE[[B?[av_~?[թ[[[[BZYY i) 鉽IE?i( U@))U@U@YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743029272.643165 s, next control iter: 1743029273.023175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2771 , header.stamp.nsec: 0 0 temperature: 13.564331 * salinity: 33.375534 , density: 1025.000000 * values[0]: 0.580803 F (some fields omitted in printout)*2^~?)*Ʃ rAdjusting time to match Gazebo time: 1743029273.043165 s.AH~,B!AJ"J*J2J:J?BJ?nJ5vJA(\¦@A,g@AyK_~? AA)%"AA=5vNA"AZAbAjArAzAAA 7@AJsASu@A{:Af=AI?A?A5?A*A:?2A/׽:A<BA:?JA/׽RA<٘i)I9Su@YPG JJJJJ|C&K Y^~?y\TADCb77*UE7)bB[[x?[_~?[˩[[[[BZYY iY䝽) ܻIE?i "@))"@"@hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029273.083165 s, next control iter: 1743029273.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029273.463165 s.WAH~,]!AA@A9we@AT_~? AlA\%"AACvNA"AZAbAjArAzAAAc/7@AAlmsA>t@A;KnA=At?A a3?A8#?Ay*AD:?2A׽:A<<BAD:?JA׽RA< Y^~?yTA?oC777E7)eB[[٨?[5_~?[!©[[[[BZYY i) ~IE?iH3 ґ@))ґ@ґ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029273.483165 s, next control iter: 1743029273.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2772, header.stamp.nsec: 00 temperature: 13.564487* salinity: 33.375542, density: 1025.000000* values[0]: 0.580267F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029273.883165 s.yAH~,镌sAqs@A8ćAPo=A?A ?A?A4*Ab:?2AȎ׽:A:=BAb:?JAȎ׽RA:=٘i)I9s@YG JJJJJSC&K Y^~?yRAC{7{7sF7)oB[[?[_~?[I[[[[BZYY i)  Y^~?yƉCRA?ECZ7,F7B)qBE[[^\?[_~?[8[[[[BZYY i)  LI*E?iO< l @))l @l @_ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029275.583165 s, next control iter: 1743029275.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2774, header.stamp.nsec: 00 temperature: 13.564849* salinity: 33.375553, density: 1025.000000* values[0]: 0.579251F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029275.983165 s.AH~,!AAq= ף@Ao@A}_~? A٪AG%"AAvNA"AZAbAjArAzAAAQ߆8@ASsA0r@Ac:AX==A2?AfQ?AE?A*A?Q:?2Aq׽:A =BA?Q:?JAq׽RA =٘i)I90r@YgG JJJJJC&K Y_~?yQApC77F7)uB[[?[_~?[[[[[BZYY i) t[I@E?ih] O@))O@O@aƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029276.023165 s, next control iter: 1743029276.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743029276.403165 s.&AH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077096< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743029276.403319F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A_F@A&_~? AѪA%"AAvNA"AZAbAjArAzAAAs8@A,~sAѴq@AE:A;=A?Ao?A` ?AA*AWI:?2AYo׽:A =BAWI:?JAYo׽RA =٘i)I9q@YG JJJJJԒC&K  G7Y_~? G7yBxQA BC7G7)yB[[n?[Ӭ_~?[{[[[[BZYY i) jID?iǣ @))@@GʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029276.443165 s, next control iter: 1743029276.803178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2775", header.stamp.nsec: 0"0 temperature: 13.565024"* salinity: 33.375580", density: 1025.000000"* values[0]: 0.578750"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029276.823165 s.AH~,!4!AAQ@AA]@AI_~? AɪA|&"AAMzIkD?i} @))@@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029276.863165 s, next control iter: 1743029277.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029277.243165 s.AH~,yO!AJ"J*J2J:J?BJ?nJE5vJA\(@A_~@A_~? AªA&"AAvNA"AZAbAjArAzAAAu<8@Ab`_utsAٱp@A!YA<=A?AM?A(6?A*A;:?2Akt׽:A=BA;:?JAkt׽RA=٘i)I9p@Y~G JCJJJJ+C&K Y _~?yfPACŧ77G7)B[[Ɗ?[Ư_~?[g[[[[BZYY i) yۄIwD?ik 3@))3@3@[ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029277.283165 s, next control iter: 1743029277.643180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743029277.663165 s.AH~,qj!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086234< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743029277.663301F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2776, header.stamp.nsec: 00 temperature: 13.565229* salinity: 33.375561, density: 1025.000000* values[0]: 0.578151F (some fields omitted in printout)A@Aq= ˯@A_~? AAó&"AAGvNA"AZAbAjArAzAAAc58@AKzʓosA+p@A"ҺA#w=A?A?AH?A*A4:?2Ap׽:A=BA4:?JAp׽RA=Y^??yw=dӺٓHOxi?)V?h?J?@3JcYZ@?)^? I٘i)I9+p@Y,G JbJtz<JJJVC&Kx> Y _~?y]_PA?Cb7b7G7)B[[?[_~?[][[[[BZYY i) cI|D?i @))@@kԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029277.683165 s, next control iter: 1743029278.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029278.083165 s.DAH~,S!AJ"J*J2J:J?BJ?nJ25vJAp= װ@Aע@A_~? AA"P&"AAvNA"AZAbAjArAzAAAS8h8@AVzjsAݡo@AƺAa=A J?A?AX?A$*A):?2Ac׽:A]=BA):?JAc׽RA]=٘i)I9o@YG JjJJJJC&K  H7Y _~? H7y#UOAGC7-H7)B[[2?[b_~?[S[[[[BZYY i) 듼ID?i? q@))q@q@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029278.123165 s, next control iter: 1743029278.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029278.503165 s.AH~,]4!AAHz@A!y@A_~? AA&"AA!vNA"AZAbAjArAzAAACI8@A'esAo@A_Aiџ=A;?A߳?A+e?A*A:?2A)P׽:Ak=BA:?JA)P׽RAk=٘i)I9o@YG J[JJJJC&K Y _~?yVLOAqC77>H7B)BE[[Pf?[_~?[kI[[[[BZYY i) sIlD?i @))@@y+۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029278.523165 s, next control iter: 1743029278.903186 s, wait time: 0.380021 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2777, header.stamp.nsec: 00 temperature: 13.565462* salinity: 33.375549, density: 1025.000000* values[0]: 0.577513F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029278.923165 s.AAH~,!AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086234< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743029278.923325F (some fields omitted in printout)AQ@AXP@A_~? A顪A &"AA[vNA"AZAbAjArAzAAAl,8@AV`sARn@A,:AK=Ac}?A ?A@o?A7*AB:?2A8;׽:A%L=BAB:?JA8;׽RA%L=٘i)I9n@Y,G J&JJJJדC&K Y _~?yC(OA BC)7ŧ7wH7)B[[?[_~?[_?[[[[BZYY i) IRD?iv B@))B@B@ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029278.963165 s, next control iter: 1743029279.323184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743029279.343165 s. Y\_~?y1ONA?C)7ŧ7H7)B[[1?[_~?[h+[[[[BZYY i) ڱID?i￉^ @))@@iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029279.803165 s, next control iter: 1743029280.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029280.183165 s.BH~,| !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086234< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743029280.183267F (some fields omitted in printout)Aףp= @Aִ@Ag_~? AAb&"AA8vNA"AZAbAjArAzAAA%H8@A!RsAȺl@A@:A^=AQ?A??A ?AǾ*AO9?2A,'׽:A5=BAO9?JA,'׽RA5=٘i)I9l@YG JC=JJJJXC&K  I7Y_~? I7y8)MAC77#I7B)BE[[s?[_~?[|![[[[BZYY i) s/IrD?iU (@))(@(@TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029280.203165 s, next control iter: 1743029280.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029280.603165 s.64 BH~,&!AJ"J*J2J:J}?BJ}?nJ5vJA{Gᵥ@Ar@AȢ_~? AA&"AA;vNA"AZAbAjArAzAAA2Pn8@A]zk!MsAl@A7A==Ah?A@ g?A^?A~ü*A9?2A+׽:At=BA9?JA+׽RAt=٘i)I9l@YG JJJJJC&K Y_~?yw lMAHC{7{72]I7)B[[?[_~?[[[[[BZYY i) I=C?iv꿉] ( @))( @( @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029280.623165 s, next control iter: 1743029281.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2779 , header.stamp.nsec: 0 0 temperature: 13.565996 * salinity: 33.375565 , density: 1025.000000 * values[0]: 0.576127 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029281.023165 s.ZBH~,|A!AAQ@A4e@A_~? AyA&"AAovNA"AZAbAjArAzAAAb8@A*:2HsAJrk@A0YA_=A?A~A`?A ȼ*A9?2A+׽:A8=BA9?JA+׽RA8=٘i)I9rk@YLG JżJJJJC&K Y_~?yLAsC77I7)B[[?[C_~?[ [[[[BZYY i) zǼI|C?i@濉6\ !@))!@!@4YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743029281.043165 s, next control iter: 1743029281.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029281.443165 s.7BH~,>]\!AJ"J*J2J:Jd?BJd?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086234< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743029281.443307F (some fields omitted in printout)A(\@Aφ3[@A_~? AmqA{<&"AAvNA"AZAbAjArAzAAA f$8@A- CCsAj@A7P޺A =A-?A@ϛA`{?A^Jͼ*A9?2A_#׽:A =BA9?JA_#׽RA =٘i)I9j@YG JʼJJJJٔC&K Y8^~?yLA BC7)7I7B)BE[[w'?[?_~?[3[[[[BZYY i) 0ϼIJC?i࿉ b#@))b#@b#@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029281.463165 s, next control iter: 1743029281.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2780, header.stamp.nsec: 00 temperature: 13.566296* salinity: 33.375549, density: 1025.000000* values[0]: 0.575340F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029281.863165 s.+BH~,>w!AAfffff@AK2@A_~? AZiA:&"AAnvNA"AZAbAjArAzAAA R48@A,_U>sAj@A A=A?A಍A`t?AYҼ*A9?2AX׽:Ac=BA9?JAX׽RAc=Yp??y|=8ٓH?oɿ-[ -  J7Y^~? J7yVLA?ȓC77{78 J7)B[[]b?[m_~?[[[[[BZYY i) ]ּIQC?i޿ܰ $@))$@$@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029281.883165 s, next control iter: 1743029282.263189 s, wait time: 0.380024 s rAdjusting time to match Gazebo time: 1743029282.283165 s.1R$BH~,!AJ"J*J2J:JBJnJvJA ףp=@A M @A_~? AJaAw&"AA9vNA"AZAbAjArAzAAA {78@ACi9sAgi@A^7Ayx=A`?A.A k?A|ּ*A 9?2Aֽ:A=BA 9?JAֽRA=٘i)I9gi@Y G J%ԼJJJJ/C&K Y^~?yKAC77BJ7)B[[?[|_~?[[[[[BZYY i)  ݼIC?iۿc Ж&@))Ж&@Ж&@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029282.303165 s, next control iter: 1743029282.683175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 27812, header.stamp.nsec: 020 temperature: 13.5666382* salinity: 33.3755572, density: 1025.0000002* values[0]: 0.5745182F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029282.703165 s.պ*BH~, !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086234< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743029282.703274F (some fields omitted in printout)AGz@Al๥@A_~? A=YA% &"AA7vNA"AZAbAjArAzAAA?8@AEQ4sAh@A(Y:AE=A?AeA@`?A0oڼ*A9?2Abֽ:A_B=BA9?JAbֽRA_B=٘i)I9h@Y G JNؼB=JJJJZC&K YV^~?yKAC)7ŧ7{J7B)B E[[?[s_~?[[[[[BZYY i) IytC?i׿ 0(@))0(@0(@gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029282.723165 s, next control iter: 1743029283.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029283.123165 s.81BH~,a!AJ"J*J2J:JBJnJvJAR뺥@APV W@A_~? A4QA0 &"AAhvNA"AZAbAjArAzAAA 8@AwR /sAg@A:A=AD?A@2AR?Aݼ*A9?2Aֽ:A<=BA9?JAֽRA<=٘i)I9g@Y. G J'ܼC=JJJJC&K Y^~?y}JAIC77{75J7)¯B E[[?[i_~?[Dި[[[[ZZ¸BZYY i¸!ɩ=) ؼI]C?i~ҿ7 )@)))@)@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029283.143165 s, next control iter: 1743029283.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029283.543165 s.I8BH~,!AA(\»@A!^@A_~? A1IAN &"AAͱvNA"AZAbAjArAzAAA8 u8@AOm*sA=g@Ar2:AM=A80?AA`A?At߼*A9?2A%ֽ:Ae=BA9?JA%ֽRAe=٘i)I9=g@Y G J޼JJJJC&K Y^~?y*JAtCj7J7)ȯB[[a*?[^_~?[ը[[[[ZZBZYY i) ̼IGC?i8̿; a+@))a+@a+@YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743029283.563165 s, next control iter: 1743029283.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2782, header.stamp.nsec: 00 temperature: 13.566986* salinity: 33.375561, density: 1025.000000* values[0]: 0.573662F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029283.963165 s.z>BH~,!AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082903< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743029283.963294F (some fields omitted in printout)A@AXnie@A_~? A4AA &"AAgvNA"AZAbAjArAzAAAQɶ8@A%sAnf@Aߛ9Aӌ=A G J<JhJJJەC&Kpx>  K7Y^~? K7yzۨIA? BC{7'K7)ίB[[ Z?[tS_~?[˨[[[[ZZBZYY i) ID2C?i9ɿȀ ,@)),@,@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029283.983165 s, next control iter: 1743029284.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029284.383165 s.EBH~,8 !AA= ףp@A$p<@A`_~? A?9AƆ &"AA6vNA"AZAbAjArAzAAA~8@A4ͅ@ sAe@AA=A*n?AA@|?A*A 9?2Aֽ:A<<BA 9?JAֽRA<<٘i)I9e@Y G JJJJJC&K YE^~?yӨ;IAɔCb775aK7)֯B[[%?[TG_~?[¨[[[[ZZBZYY i) 䩴IC?i,ſa| .@)).@.@y%=֪YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743029284.403165 s, next control iter: 1743029284.783180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2783", header.stamp.nsec: 0"0 temperature: 13.387672"* salinity: 33.391617", density: 1025.000000"* values[0]: 0.691798"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029284.803165 s.wALBH~,{g3 !AJ"J*J2J:J1?BJ1?nJ95vJAzG@AH0@A|_~? AQ1A! &"AA:vNA"AZAbAjArAzAAAzH8@A^!sAd@AnAy=A ?A¿A`l?A6*A9?2Aֽ:Ag<BA9?JAֽRAg<٘i)I9d@Y0 G JJJJJ1C&K Y^~?yʨHAC{7{7K7B)ޯBE[[W@[:_~?[[[[[ZZBZYY i) IjC?i}u _#0@))_#0@_#0@ѭYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029284.823165 s, next control iter: 1743029285.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029285.223165 s.gSBH~,HN !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082903< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743029285.223276F (some fields omitted in printout)AQ@AV]꾥@A_~? Al)Au &"AAuvNA"AZAbAjArAzAAAlM8@AqyOsAc@AA5=A ?A HĿA ?AܯԼ*A9?2A+ֽ:A;BA9?JA+ֽRA;٘i)I9c@Y G JoJJJJ\C&K Ys^~?yK¨MHAC777K7)B[[k@[.-_~?[c[[[[ZZBZYY i) ImB?i깿km 1@))1@1@/~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029285.243165 s, next control iter: 1743029285.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029285.643165 s.vYBH~,*i !AJ"J*J2J:JBJnJvJA)\@A'|@A%~_~? A!A]V &"AAvNA"AZAbAjArAzAAA_#Sx8@AT)sA`Hc@A AF<A=?AaƿA?A*A9?2Aֽ:ABA9?JAֽRA٘i)I9Hc@YS G JżJJJJC&K  L7Y ^~? L7y湨GAJCŧ77: L7)B[[v@[;_~?[٨[[[[ZZBZYY i) fI3B?iYd DJ3@))DJ3@DJ3@YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2784, header.stamp.nsec: 00 temperature: 13.388066* salinity: 33.391644, density: 1025.000000* values[0]: 0.690084F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743029285.663165 s, next control iter: 1743029286.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029286.063165 s.`BH~,k !AA@A۞@Aw_~? AA &"AAvNA"AZAbAjArAzAAAFad8@Avmh sA*b@A^A%<A?AS<ȿA3?A2*A 9?2Aֽ:ABA 9?JAֽRAY?h?y%<aٓH/ٿj@vq@j?0ٿ?ູ =`?)? I٘i)I9b@Y G JJ:JJJC&Kx> Y^~?yɱGA?uC7FL7B)BE[[N @[v_~?[U[[[[ZZBZYY iy=) mʆIiB?iѮ_ #4@))#4@#4@{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029286.083165 s, next control iter: 1743029286.463182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029286.483165 s.w_gBH~, !AJ"J*J2J:J}0?BJ}0?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064227< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743029286.483283F (some fields omitted in printout)Aq= ף@A8Fo@Ap_~? AA&"AAn{vNA"AZAbAjArAzAAAP3O8@Ar2HsA`b@A D:AREAEp?A`ʿA`?AT_<*A89?2Aֽ:A8BA89?JAֽRA8٘i)I9`b@Y G JkJJJJݖC&K Y^~?yGA BC)7ŧ7L7)BE[[ؙ@[_~?[[[[[ZZBZYY ix=) yI%B?i۩jY vo6@))vo6@vo6@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029286.503165 s, next control iter: 1743029286.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2785, header.stamp.nsec: 00 temperature: 13.388335* salinity: 33.391655, density: 1025.000000* values[0]: 0.688885F (some fields omitted in printout)^~?) rAdjusting time to match Gazebo time: 1743029286.903165 s.mBH~,͹ !AAGz¥@A@QٰF¥@AFi_~? A7 A&"AApvNA"AZAbAjArAzAAA[o=k 98@ADCsAR!b@A/:AA2@A˿Ak?AŻ*A9?2Aֽ:A#,BA9?JAֽRA#,٘i)I9!b@Y G JJJJJC&K Y^~?yGA˕C777;L7)B[['@[4^~?[ɏ[[[[ZZBZYY i) P fIB?iۣQ 8@))8@8@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029286.923165 s, next control iter: 1743029287.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029287.323165 s.vtBH~,% !AJ"J*J2J:JA0?BJA0?nJ85vJAQå@Abå@AMa_~? AAH&"AAdvNA"AZAbAjArAzAAAw 8@Aq8qrA`b@AX:A' AQ@AͿAF?AȺ*A9?2A ֽ:AǓ˼BA9?JA ֽRAǓ˼٘i)I9b@Y G JJJJJ3C&K Yx^~?yqGACL7B)BE[[ @[^~?[LJ[[[[BZYY i) DRIB?iԜpH n9@))n9@n9@yI =/*YFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743029287.343165 s, next control iter: 1743029287.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2786*, header.stamp.nsec: 0*0 temperature: 13.388478** salinity: 33.391666*, density: 1025.000000** values[0]: 0.688280*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029287.743165 s.W{BH~,d !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074550< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743029287.743286F (some fields omitted in printout)A\(ĥ@A\å@AX_~? AAL&"AAnXvNA"AZAbAjArAzAAA[)8@AʇrAb@AxA*>0AQ@A ϿA ?A 8;*A9?2Aֽ:A.BA9?JAֽRA.鼙٘i)I9b@Y G J9B=JJJJ^C&K  M7YS^~? M7ySGA!Cŧ7b7+M7)[[: @[^~?[[[[[BZYY i) J|>IB?iǔp> ;@));@;@l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029287.763165 s, next control iter: 1743029288.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029288.163165 s.t}BH~,q !AJ"J*J2J:JBJnJvJAť@A ĥ@AO_~? AMA&"AA=KvNA"AZAbAjArAzAAAμ7@A+FrA'b@AAA&VAx@A@fпA?AX;*A9?2AJֽ:ArBA9?JAJֽRArY ?@y&VѷٓHq޿e d?R?=߿5`?'V`?) ? I٘i)I9'b@Y G J,;C=J,JJJC&Kw> Yq^~?yGA@LC77{7=eM7B)BE[[ @[Q^~?[:x[[[[BZYY ie=) &.I/zB?i ^8 <@))<@<@n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029288.183165 s, next control iter: 1743029288.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029288.583165 s.BH~,S% !AAp= ť@A٢ť@AbF_~? AA@t&"AAL=vNA"AZAbAjArAzAAAD=7@ArA3ab@AAvA7@A`ѿA?As(<*A9?2Aֽ:Ap BA9?JAֽRAp ٘i)I9ab@Y G J <JJJJC&K Yc^~?y灨 HAwCj7M7 B)E[[L@[=^~?[p[[[[BZYY i) IQkB?iFT0 6>@))6>@6>@w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029288.603165 s, next control iter: 1743029288.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2787, header.stamp.nsec: 00 temperature: 13.388480* salinity: 33.391670, density: 1025.000000* values[0]: 0.688268F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029289.003165 s.y BH~,P4@ !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056136< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743029289.003285F (some fields omitted in printout)J"J*J2J:JBJnJvJAHzƥ@Ayƥ@Al<_~? APA&"AA.vNA"AZAbAjArAzAAA 7@A4 rAȳb@AbGغAfUADŽ@AoҿA ?Asc<*A9?2Aֽ:Ag BA9?JAֽRAg ٘i)I9b@Y G JD<JJJJߗC&K Y5V^~?y1zhHA BCb77M7)B[[@[^~?[Li[[[[BZYY iD=) x I-]B?iQ( ?@))?@?@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029289.023165 s, next control iter: 1743029289.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029289.423165 s.uBH~,[ !AAQǥ@A=Pǥ@A1_~? AܩAҗ&"AA-vNA"AZAbAjArAzAAAC_7@A1rA5c@A)cAmA|@A OӿAg?A<*A9?2Aֽ:Al. BA9?JAֽRAl. ٘i)I9c@Y8 G Jx<JJJJ C&K  N7YH^~? N7y{rHA͖C7>N7 B)BE[[.T@[͆^~?[b[[[[BZYY i) nFIOB?iqw] IA@))IA@IA@yMf=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029289.443165 s, next control iter: 1743029289.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2788, header.stamp.nsec: 00 temperature: 13.388396* salinity: 33.391685, density: 1025.000000* values[0]: 0.688718F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029289.843165 s.J "J *J 2J :J O0?BJ O0?nJ 85vJ ݜBH~,u !AA(\ȥ@AD'ȥ@A '_~? AթA'&"AAvNA"AZAbAjArAzAAA^<;p7@AK"rA:c@A&I:A씽A" @A(.ԿA3?A6<*AW9?2Aֽ:A BAW9?JAֽRA ٘i)I9c@Y G J<JJJJ5C&K Y:^~?yjHAC7JN7B)BE[[@[s^~?['[[[[[BZYY i) ٻICB?ie$ B@))B@B@y3=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029289.883165 s, next control iter: 1743029290.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029290.263165 s.BH~,ؐ !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065561< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743029290.263299F (some fields omitted in printout)A33333ɥ@Aȥ@A_~? ASΩA=&"AAuNA"AZAbAjArAzAAA)M7@A:crA&d@A(:AAPq @AQ տA ;?A<*A9?2Aֽ:A BA9?JAֽRA YP?Oo @y:ٓH`9Cs?1?sG\ˮ ?Z?`F?)P? I٘i)I9d@Y G Jz<JXJJJ`C&K'x> Y*^~?yc^IAo @#C77N7B)BE[[YT@[_^~?[FT[[[[BZYY i) YI7B?i[, VD@))VD@VD@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029290.303165 s, next control iter: 1743029290.663177 s, wait time: 0.360012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 27892, header.stamp.nsec: 020 temperature: 13.3882122* salinity: 33.3916932, density: 1025.0000002* values[0]: 0.6895162F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029290.683165 s.lBH~,Z !AJ"J*J2J:JBJnJvJAףp= ʥ@Avɥ@A_~? A#ǩA^C&"AA~uNA"AZAbAjArAzAAAR )7@A’ZQrAd@A:AA @A`տA@P?A ;<*A89?2Aֽ:AE BA89?JAֽRAE ٘i)I9d@Y# G J<JJJJC&K Y^~?yQ\IAMC7)7AN7)B[[f@[?K^~?[M[[[[BZYY i) !I,B?i%N8 E@))E@E@m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029290.683165 s, next control iter: 1743029291.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743029291.103165 s.BH~, !AA{Gʥ@A4fʥ@Ag_~? AA &"AA(uNA"AZAbAjArAzAAAwO (7@AXErA*e@AuB:A7A @A_ֿAL?Ab<*A-9?2Aֽ:A | BA-9?JAֽRA | ٘i)I9*e@Yy G J<JJJJC&K Yk ^~?yU+JAxC777N7B)BE[[~O@[6^~?[G[[[[BZYY i) }I_"B?iM? ]G@))]G@]G@n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029291.143165 s, next control iter: 1743029291.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029291.523165 s.J "J *J 2J :J 0?BJ 0?nJ 595vJ BH~,| !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065561< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743029291.523330F (some fields omitted in printout)AQ˥@An8)˥@A^~? AA/Y&"AAuNA"AZAbAjArAzAAA|eM6@AIrA e@A AmʚAW@A2׿A0P?A}B<*AS9?2A=ֽ:A BAS9?JA=ֽRA ٘i)I9e@Y G J<B=JJJJC&K  O7YJ]~? O7yMJA BC77/O7)BE[[u@[!^~?[@[[[[BZYY i) QAIB?i.\߻ H@))H@H@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029291.543165 s, next control iter: 1743029291.923183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2790, header.stamp.nsec: 00 temperature: 13.388023* salinity: 33.391697, density: 1025.000000* values[0]: 0.690435F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029291.943165 s.XdBH~,B] !AA(\̥@AKu/[̥@AP^~? A A&"AAauNA"AZAbAjArAzAAA[m6@AzwMqrAOf@AǺA/A@A bؿA?A<*A9?2Aֽ:A1BA9?JAֽRA1I٘i)I9Of@Y+ G J<C=JJJJ C&K Y*]~?yFJAΗCb7EiO7B)BE[[=@[l ^~?[:[[[[BZYY i) IB?igǻ G))G^J@8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029291.963165 s, next control iter: 1743029292.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029292.363165 s.BH~,> !AJ"J*J2J:JBJnJvJAfffffͥ@AW;2ͥ@A^~? A.Ah&"AAuNA"AZAbAjArAzAAA^.#p6@A>]'ArAf@AݺA<A@A@2ٿA?A'<*A9?2Auֽ:A"BA9?JAuֽRA"Y@@y.V޺ٓH]`F? 5?1I?U[`?)@ I٘i)I9f@Y G J<JՐ:JJJ7C&KBx> Y]~?y?^KA@C)7b7O7)ݯB[[¶@[]~?[4[[[[BZYY i) fIB?i BF))BFK@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029292.403165 s, next control iter: 1743029292.763180 s, wait time: 0.360015 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2791&, header.stamp.nsec: 0&0 temperature: 13.387827&* salinity: 33.391712&, density: 1025.000000&* values[0]: 0.691439&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029292.783165 s.WBH~,2 !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065561< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199452 time: 1743029292.783304F (some fields omitted in printout)A ףp=Υ@AwN Υ@Aj^~? AgA&"AAՉuNA"AZAbAjArAzAAA`u`6@A\PrArg@AEzAIAN@@A~ڿA ?Aت<*A9?2Aֽ:AaBA9?JAֽRAa٘i)I9rg@Y G J<JJJEJbC&K Y\]~?yH9KA$Cŧ7O7B)گBE[[B-@[f]~?[.[[[[BZYY i) ;IB?iS D))DZM@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029292.803165 s, next control iter: 1743029293.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029293.203165 s.BH~,M !AJ"J*J2J:J$1?BJ$1?nJ95vJAGzϥ@A~*OΥ@A̾^~? AA}q&"AA tuNA"AZAbAjArAzAAAB&$46@A5ԩ rAh@A9AɒA@A@ڿA_J?AF<*Ao9?2A6ֽ:ABAo9?JA6ֽRA٘i)I9h@Y3 G JK<JJJJC&K  P7Y]~? P7y2)LAOCb77GP7)֯B[[@[]~?[f)[[[[BZYY i) PC:IA?i㾉= IC))ICN@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029293.223165 s, next control iter: 1743029293.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029293.623165 s.WBH~,]g !AARϥ@Aۊeϥ@A^~? A!A5&"AA]uNA"AZAbAjArAzAAAw?6@ArAh@AZ:ABA@A`ۿA?A <*A9?2A<ֽ:A cBA9?JA<ֽRA c٘i)I9h@Y G J<JJJJC&K Y]~?y+LAzC7777NP7B)ԯBE[[ @[r]~?[$[[[[BZYY i) (:IA?i򿾉ju A))APP@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029293.643165 s, next control iter: 1743029294.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2792 , header.stamp.nsec: 0 0 temperature: 13.387606 * salinity: 33.391716 , density: 1025.000000 * values[0]: 0.692432 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029294.043165 s.BH~, !AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065561< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743029294.043282F (some fields omitted in printout)A(\Х@AG`Х@AB^~? AAs&"AAyFuNA"AZAbAjArAzAAAgF*05@AB rAi@A:AӍA,@A`DYܿA@ٺ?Ajg<*A 9?2Adֽ:A5BA 9?JAdֽRA5٘i)I9i@Y G J͠<JJJJC&K Y+]~?y@%LA BC{7j7P7B)үBE[[}!@[]~?[[[[[BZYY i) );IA?iJC V@))V@Q@R*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029294.063165 s, next control iter: 1743029294.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029294.463165 s.[BH~, !AAѥ@A_!seѥ@AY^~? A<A &"AA.uNA"AZAbAjArAzAAA GP5@AW4%rAEi@AW:A"Ay@AKݿA%p?A<*A9?2A ֽ:ABA9?JA ֽRAY&r @Lx@yŻ:ٓH L(`F??@6Ąn? U??)&r @ I٘i)I9i@Y*G J<Jne<JJJC&KBx> Yy]~?y/SMAx@ϘCb77IP7)ίB[["@[^]~?[[[[[BZYY iM=) Xg;I A?i}! >))>@S@2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029294.483165 s, next control iter: 1743029294.863182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2793, header.stamp.nsec: 00 temperature: 13.387401* salinity: 33.391716, density: 1025.000000* values[0]: 0.693349F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029294.883165 s.yBH~,8 !AJ"J*J2J:J1?BJ1?nJ:5vJA= ףpҥ@A<ҥ@A^~? AA m&"AAOuNA"AZAbAjArAzAAAܵu5@AYOMrAj@A 8AvA@A ݿA#?AM<*A{9?2A7ֽ:ArBA{9?JA7ֽRAr٘i)I9j@YxG J<JJJJ9C&K Y/e]~?yMAC7P7B)̯BE[[[$@[m]~?[[[[[BZYY i) X֒;IA?ixA= g=))g=̷T@U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029294.903165 s, next control iter: 1743029295.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029295.303165 s.XBH~,g !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074469< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743029295.303302F (some fields omitted in printout)AzGӥ@A<|ӥ@AJo^~? A}A &"AAItNA"AZAbAjArAzAAAa2C5@AS#KrAGj@Ac@AAl@A#޿A?A<*A9?2A#ֽ:AҿBA9?JA#ֽRAҿ٘i)I9j@YG JT<JJJJdC&K  Q7YP]~? Q7yNA%C{73Q7)ȯB[[m%@[%V]~?[M[[[[BZYY i) ±;IA?ie ;));,V@U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029295.323165 s, next control iter: 1743029295.703179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2794., header.stamp.nsec: 0.0 temperature: 13.387226.* salinity: 33.391731., density: 1025.000000.* values[0]: 0.694208.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029295.723165 s. BH~,H !AJ"J*J2J:JBJnJvJAQԥ@AKӥ@A'^^~? AwA^&"AAtNA"AZAbAjArAzAAA^5@AnڷϪrA k@AFAAu_@A M߿A%?AJk<*AQ9?2Aֽ:ACBAQ9?JAֽRAC٘i)I9 k@YG Jԏ<JJJJC&K Y5<]~?y lNAPC777JmQ7B)ǯBݹE[[-'@[\>]~?[ [[[[BZYY i) ;I!A?io=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029295.743165 s, next control iter: 1743029296.123190 s, wait time: 0.380025 s rAdjusting time to match Gazebo time: 1743029296.143165 s.V/CH~,* !AA)\ԥ@A6ԥ@AL^~? AqA&"AAgtNA"AZAbAjArAzAAA64@A~" G*rAk@A(ASA@AA@1?As<*An9?2Aֽ:AFBAn9?JAֽRAF٘i)I9k@YVG JC<JJJJC&K Y']~?yNA B{Cŧ7b7Q7!B)ůBڹE[[Ƒ(@[&]~?[[[[[BZYY i) <;IA?i<9 9))95Y@$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029296.163165 s, next control iter: 1743029296.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029296.563165 s.CH~,J $ !AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074469< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743029296.563268F (some fields omitted in printout)Aե@Ay㤘ե@A:^~? AkApH&"AAtNA"AZAbAjArAzAAA3ލ4@AHbrA;k@At˹A舽AY@AYA ?Aa<*A9?2Aֽ:ADBA9?JAֽRADY@@y舽V˹ٓHF@?@?@sT ?n9?)@ I٘i)I9k@YG J֋<JH;JJJC&KAx> Y[]~?y%OA@Cj7Z7Q7)B[[)@[]~?[{[[[[BZYY i) JY !AAq= ף֥@Ao֥@Ah(^~? AfA߹&"AA&tNA"AZAbAjArAzAAAH|)l4@AdTorAyml@AWc:AIAdK @A@A?A-<*A9?2Aֽ:AnBA9?JAֽRAn٘i)I9ml@YG J<JJJJC&K  R7Y\~? R7y+OAљCb77PR7"B)B׹E[[n_+@[\~?[[[[[BZYY i) T: K-6))K-6j[@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029297.023165 s, next control iter: 1743029297.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029297.403165 s.&CH~,Y !AJ"J*J2J:J2?BJ2?nJ:5vJAGzץ@A gFץ@A^~? Au`A )&"AA(wtNA"AZAbAjArAzAAAY34@AZΤrAjl@Ao:AA!@A`Ad.?A_<*A9?2Aֽ:A;BA9?JAֽRA;٘i)I9l@Y-G Jp<JJJJ;C&K Y\~?yOAC{7{7RR7$B)BԹE[[,@[\~?[[[[[BZYY i) k&7 ; %4))%4`]@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029297.423165 s, next control iter: 1743029297.803177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2796&, header.stamp.nsec: 0&0 temperature: 13.386895&* salinity: 33.391720&, density: 1025.000000&* values[0]: 0.695815&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029297.823165 s.CH~,t !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074469< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743029297.823291F (some fields omitted in printout)AQإ@Ag<; R3))R3^@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029297.843165 s, next control iter: 1743029298.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029298.243165 s.#CH~,d !AJ"J*J2J:J:2?BJ:2?nJ:5vJA\(٥@Aإ@AN]~? AUAi&"AA=tNA"AZAbAjArAzAAA@ 3@A[yrAm@A7!:AA3$@AOA?Ay<*A9?2Aֽ:ABA9?JAֽRA٘i)I9m@YG J#<JJJJC&K Y\~?yPARCj7KR7'B)BйE[[&|/@[Ы\~?[[[[[BZYY i) 7}Eq; 1))17`@*YFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743029298.263165 s, next control iter: 1743029298.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029298.663165 s.*CH~,q !AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2797, header.stamp.nsec: 00 temperature: 13.386737* salinity: 33.391735, density: 1025.000000* values[0]: 0.696638F (some fields omitted in printout)Aڥ@A@٥@A]~? AKPAh&"AAtNA"AZAbAjArAzAAA.3@A+RPǒrAQn@AE-AA%@AA8?Av<*A9?2Aֽ:AxBA9?JAֽRAxYz@%@y-ٓH@,O`?`?/v5-?`ER?)z@ I٘i)I9Qn@Y G Jw<JD$JJJC&K&x> Y\~?yaPA%@ B}C)7ŧ7R7)B)B͹E[[0@[\~?[[[[[BZYY i) T"; Y~0))Y~0\a@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029298.683165 s, next control iter: 1743029299.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029299.083165 s.J "J *J 2J :J V2?E1CH~BJV2?nJ;5vJ,&S !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074469< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743029299.083295F (some fields omitted in printout)Ap= ڥ@ALܢڥ@A{]~? A'KA6&"AAtNA"AZAbAjArAzAAAD?rLF3@AS8arABn@AbҺA5Ae&@A 8GA{?Aʙ<*A9?2A\ֽ:A6 BA9?JA\ֽRA6 ٘i)I9n@YYG J<JJJJC&K  S7Y\~? S7yYQACb77S7*B)BʹE[[82@[y\~?[[[[[BZYY i٪=) dΫ; i/))i/L c@l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029299.123165 s, next control iter: 1743029299.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029299.503165 s.7CH~,a4 !AAHzۥ@ACpyۥ@A]~? A%FAj1&"AAsNA"AZAbAjArAzAAAh3@A1srASo@AYAA(@AA}?Ax<*A-9?2A7ֽ:APk BA-9?JA7ֽRAPk ٘i)I9So@YG J<JJJJC&K Yo\~?yާQAҚCQqS7,B)BǹE[[3@[u`\~?[[[[[BZYY i) gsCH~, !AJ"J*J2J:JBJnJvJAQܥ@AwPܥ@AU]~? ACAA&"AAsNA"AZAbAjArAzAAA-2@AB⚉rAo@AlxAwpAih)@A`_A`?Aל<*AT9?2Aֽ:AH BAT9?JAֽRAH ٘i)I9o@YG J<JJJJ=C&K YW\~?yr٧RAC{7{7S7)B[[4@[gG\~?[E[[[[BZYY i) Z elevatorAngleAction: 0.083423< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743029300.343295F (some fields omitted in printout)A(\ݥ@A7(ݥ@AI]~? A<A5&"AABsNA"AZAbAjArAzAAA淉2@Aw= rAn[p@A9APИA*@A#A0?A!<*A9?2Aֽ:AZBA9?JAֽRAZ٘i)I9[p@YIG J<JJJJhC&K Y?\~?yԧ~RA(C77S7-B)BĹE[[!=6@[m.\~?[[[[[BZYY i) JJJC&K2x>  T7Y&\~? T7yЧRA,@SC77j7ST7/B)BE[[7@[\~?[[[[[BZYY i) kh@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029300.783165 s, next control iter: 1743029301.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029301.183165 s.RCH~,oK !AAףp= ߥ@A;ޥ@AG^]~? Am3A&"AAcsNA"AZAbAjArAzAAAhQ)S2@Aڠ(rAkq@A:AiAZT-@A Ar?AY`<*Az9?2Aֽ:ATBAz9?JAֽRAT٘i)I9kq@YG Jݣ<JJJJC&K Y. \~?yͧOSA B~Cb77VT71B)BE[[8@[[~?[a[[[[BZYY i) I elevatorAngleAction: 0.083423< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743029301.603279F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gߥ@Aҿ$ߥ@AVH]~? A/A&"AABsNA"AZAbAjArAzAAA1@AΡۂ~rA2q@AA:AQA.@AA?A#<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9q@YEG J<JJJJC&K Y[~?y9ɧSACj7j7T7)B[[;:@[?[~?[n[[[[BZYY i) ㏟ !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083423< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743029302.863289F (some fields omitted in printout)Afffff@AC2@A]~? A"A &"AArNA"AZAbAjArAzAAA8߶~S0@At;wrAs@AYAGA2@ASAP?A)<*AӢ9?2Aֽ:A$CBAӢ9?JAֽRA$CY$@ 2@y5J|ٓHtֿ??- 5՞? u]?)$@ I٘i)I9s@YYG J<J JJJjC&Kx> Y[~?yxTA2@)C77@[w[~?[ۧ[[[[BZYY i)  elevatorAngleAction: 0.083423< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743029304.123289F (some fields omitted in printout)AR@A7W@A4\~? A A!&"AAsrNA"AZAbAjArAzAAA6%0@A sprA'u@A!}:A*Ar6@A`GA@&?A<*A9?2AMֽ:AiBA9?JAMֽRAi٘i)I9u@YG J.<C=JJJJC&K YW[~?y_MVAC777U77B)BE[[B@[J[~?[Hا[[[[BZYY i) ^^@A\~? AAO"&"AAGPrNA"AZAbAjArAzAAA|k/@Az&}knrAMMv@As:A}gA7@AyA?A~<*A9?2Aֽ:AXBA9?JAֽRAX٘i)I9Mv@YG J4<JJJJC&K  V7Y<[~? V7yWVA՜Cj7Z7U!V78B)BE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^Running loop #3q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY izL=) H<)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029304.563165 s, next control iter: 1743029304.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2803, header.stamp.nsec: 00 temperature: 13.385524* salinity: 33.391720, density: 1025.000000* values[0]: 0.702596F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029304.963165 s.zCH~,=!AJ"J*J2J:JBJnJvJA@A)ahe@A\~? AAG"&"AA<,rNA"AZAbAjArAzAAAibZҀ)/@A{!f{lrAv@Ae+:AkA 9@AlA@?A<*A9?2ACֽ:AcBA9?JACֽRAcYd+@ 9@yk):ٓH]@ Ͽ`o?5? SN`}?lX?@?)d+@ I٘i)I9v@YPG J%<J JJJAC&Kx> YK![~?y)5WA 9@C77{7ZV79B)BE[[ΒD@[[~?[֧[[[[BZYY i) ΄ elevatorAngleAction: 0.092431< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743029305.383289F (some fields omitted in printout)A= ףp@Au<@Aqw\~? AA߃"&"AArNA"AZAbAjArAzAAA6.@Ai~jrAڤw@AB:ApAw:@AA?A.<*AX:?2AQ½:AQBAX:?JAQ½RAQ٘i)I9w@YG J<JJJJlC&K Y[~?yWA+C77V79AtAK:@A :A`F?A!<*Ae:?2AaPý:ABAe:?JAaPýRA٘i)I9Sx@Y#G J<JJJJC&K YZ~?yΫ"XAUC)7ŧ7ZV7)zBE[[G@[Z~?[֧[[[[ZZZZ¸>BZYY i¸>a) *Y*`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029306.263165 s, next control iter: 1743029306.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029306.643165 s.ЩCH~,,*!AJ"J*J2J:J~4?BJ~4?nJC=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743029306.643291F (some fields omitted in printout)A)\@Aꐛ@A-\~? ATA)#&"AAqNA"AZAbAjArAzAAAj3,@A@r;erAuy@AhA'AR<@ALA@?A=*A r:?2A 1Ƚ:A'yBA r:?JA 1ȽRA'y٘i)I9y@Y G J<JJJJC&K YZ~?yrYACb77@W7)nB[[PI@[=Z~?[է[[[[ZZZZBZYY i) tѽ@A 1mA`I?A(n=*A{:?2A˽:AпBA{:?JA˽RAпY&0@,>@yњ܆ٓHr:ſQ? ? ^ǍU?] ?)&0@ I٘i)I9z@YG JU=J<JJJC&KnC> Y$Z~?ywYA,>@֝Cj7j7^yW7>B)hBE[[QJ@[zZ~?[֧[[[[ZZZZBZYY i)  <*A:?2A͘ͽ:AsBA:?JA͘ͽRAs٘i)I9{@YG J=JJJJCC&K YR|Z~?ywYAC7777W7)bBE[[L@[Z~?[X֧[[[[ZZZZBZYY i) CqN@[SZ~?[Zק[[[[ZZZZBZYY i) UJJJC&Kz> Y Z~?yg[AD@C{7 X7)SBE[[>Q@[#Z~?[ا[[[[ZZZZBZYY iay{) s@ܩYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029309.603165 s, next control iter: 1743029309.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2808, header.stamp.nsec: 00 temperature: 13.384251* salinity: 33.391701, density: 1025.000000* values[0]: 0.708851F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029310.003165 s.{ CH~,Y4!AJ"J*J2J:Jw5?BJw5?nJG>5vJAHz@Ay@Ac[~? ArA5vJ CH~,!AA(\@AZ (@AQ0[~? A Au$&"AAypNA"AZAbAjArAzAAA@R&@AVKzZrA9~@A_˺AZV=AHAWA?A *A1:?2AUֽ:A<BA1:?JAUֽRA<٘i)I9~@YG JJJJJC&K YY~?yZAYC{7{7e}Y7CB)SBE[[U@[Y~?[ݧ[[[[BZYY i)  &(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029310.863165 s, next control iter: 1743029311.243182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029311.263165 s.CH~,#!AA33333@Ah˹@Ak[~? AAͳ$&"AAGoNA"AZAbAjArAzAAAIH:&@A8FmYrA}@ADCA>v=A*FApeA@O)?AA-*A(:?2Aֽ:A2=BA(:?JAֽRA2=YgQ=@+Fy>v=XCٓH  JJJƠC&K {> YXY~?yWZAF BCŧ77Y7)UBE[[W@[>Y~?[Aߧ[[[[BZYY i!g) =5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056429< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201062 time: 1743029311.683386F (some fields omitted in printout)Aףp= @A'*@AwZ~? AOA$&"AAoNA"AZAbAjArAzAAAkg%@AjYrAv}@A-:A4=ADzEA@pA@{Z?Ac`*AQ!:?2Akֽ:Ae=BAQ!:?JAkֽRAe=٘i)I9v}@YDG JEJJJJC&K YcY~?yLZACj7Z7Y7)XB|E[[:X@[7Y~?[[[[[BZYY i) ~V5vJ DH~,|!!AAQ@A h"@ApZ~? A8A$&"AA6|oNA"AZAbAjArAzAAA>hlIqa$@A}StXrA|@AZ;A8=AjBA`RAsg?Aǚ*A!:?2A~ֽ:A'=BA!:?JA~ֽRA'=٘i)I9|@YG JVJJJJGC&K Y*Y~?yHYACb7bZ7)_BvE[[Z@[jY~?[[[[[BZYY i6) } ;ID?i1@< C))CQn@yzgϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029312.563165 s, next control iter: 1743029312.923183 s, wait time: 0.360018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2811, header.stamp.nsec: 00 temperature: 13.384479* salinity: 33.391701, density: 1025.000000* values[0]: 0.708145F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029312.943165 s._dDH~,_]<!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065857< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743029312.943286F (some fields omitted in printout)A(\@Az6[@AbZ~? AA-$&"AAToNA"AZAbAjArAzAAA:t#@A2CXrAg |@A+8:A=AAAA p?A*A%:?2A׽:A =BA%:?JA׽RA =٘i)I9 |@YgG JנJJJJrC&K Y^Y~?yTYA/C77Z7)dBsE[[[@[SY~?[[[[[BZYY i) _;;ID?i/7@y< ))@y`ggӪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743029312.963165 s, next control iter: 1743029313.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029313.363165 s.DH~,>W!AJ"J*J2J:JBJnJvJAfffff@A72@AQZ~? AAy$&"AA?-oNA"AZAbAjArAzAAA4aa%#@Am{}XrA}{@AJA =A:@A eA`t9p?A!*A$:?2A2!׽:AEV =BA$:?JA2!׽RAEV =YC@;@y=ٓHK?Qऌ`@ՓK)R?)C@ I٘i)I9}{@YG JJ=JJJC&K{y> YhX~?yΟXA;@ZC777dZ7)hB[[b\@[=Y~?[[[[[BZYY i) ;IE?i:@< ]))],@y<ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029313.383165 s, next control iter: 1743029313.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2812&, header.stamp.nsec: 0&0 temperature: 13.384762&* salinity: 33.391708&, density: 1025.000000&* values[0]: 0.707132&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029313.783165 s.]DH~,r!AA ףp=@AŬC @A?zZ~? AA$&"AAoNA"AZAbAjArAzAAARL"@AdXrAz@AAt=AZ>A@A`A̛*A$:?2A1׽:A u =BA$:?JA1׽RA u =٘i)I9z@YG JJJJJȡC&K  [7YqX~? [7yXA BC77[7)mBpE[[8^@['Y~?[ [[[[BZYY i) i;IHE?i>@E< ))1@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029313.803165 s, next control iter: 1743029314.183179 s, wait time: 0.380014 s2qX~?)2 rAdjusting time to match Gazebo time: 1743029314.203165 s.#DH~, !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065857< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743029314.203270F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A;O@A/`Z~? AAa$&"AAa@[?X~?[[[[[BZYY i) T:IE?i}L@= ))@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029315.083165 s, next control iter: 1743029315.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743029315.463165 s.~7DH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065857< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4202642 time: 1743029315.463567F (some fields omitted in printout)A@APle@A(Z~? AA$&"AAgnNA"AZAbAjArAzAAA 6Ҭ" @AgYrAx@A ;A=AD9A@iA#A*A)%:?2A׽:A?,=BA)%:?JA׽RA?,=YeJ@9yl=F ;ٓHuh?`Xο|@֎xa?`?)eJ@ I٘i)I9x@YWG JmJJJJtC&Kx> YgX~?yVA91Cb7[7)BdE[[$b@[X~?[>[[[[BZYY i) bIE?iO@C= 73))73 @˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029315.503165 s, next control iter: 1743029315.863475 s, wait time: 0.360310 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2814, header.stamp.nsec: 00 temperature: 13.385281* salinity: 33.391697, density: 1025.000000* values[0]: 0.704993F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029315.883165 s.y=DH~,8!AJ"J*J2J:JBJnJvJA= ףp@Ab<@AIF?i[@ = N))N4<@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029316.743165 s, next control iter: 1743029317.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029317.143165 s.W/RDH~, *I!AA)\@A7@AY~? AAS$&"AA-mNA"AZAbAjArAzAAAKJ ;@A⫤L\rAv@AAŠ=Ax4A<&AAߘ*A#:?2A>׽:A@<BA#:?JA>׽RA@<٘i)I9v@Y G J_JJJJ C&K YdW~?y]UAܡC777j\7)B[E[[AVg@[X~?[.[[[[BZYY i) {IٰF?i`@=  )) ͌@8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029317.183165 s, next control iter: 1743029317.543177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029317.563165 s.XDH~,g d!AJ"J*J2J:J4?BJ4?nJ<5vJA@A֋@AGY~? AAc$&"AAImNA"AZAbAjArAzAAAT@AOi=9]rAv@A)A=A)3A`A`¿A*A":?2A>׽:AX<BA":?JA>׽RAX  ]7YW~? ]7yUA,3C{7{7]7DB)BYE[[{h@[ lX~?[s[[[[BZYY iX) BޜIF?ic@= ))_@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029317.603165 s, next control iter: 1743029317.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2816, header.stamp.nsec: 00 temperature: 13.385807* salinity: 33.391663, density: 1025.000000* values[0]: 0.702968F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029317.983165 s._DH~,~!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075974< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743029317.983298F (some fields omitted in printout)Aq= ף@Aڪ$o@AwY~? A7AD$&"AA}mNA"AZAbAjArAzAAAUE @A{Y>^rAu@AAd=A1AApĿA*A!:?2A2׽:A~<BA!:?JA2׽RA~<٘i)I9u@YsG JyJJJJvC&K Y(W~?yTA2C777L]7)BVE[[i@[GXX~?[[[[[BZYY i) IpG?if@m= x))x쿩@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029318.003165 s, next control iter: 1743029318.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029318.403165 s.&fDH~,͙!AJ"J*J2J:JBJnJvJAGz@A,F@Ac^Y~? A Ar"$&"AAVmNA"AZAbAjArAzAAA+@Awq]_rAku@AA=Ad0AFAMƿA7*AY:?2A!׽:AG<BAY:?JA!׽RAG<٘i)I9u@Y)G JzJJJJC&K YW~?yITA B]Cn]7)BSE[[j@[DX~?[E [[[[BZYY i) ۻIEG?ij@3= 3))3꿩낎@[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029318.423165 s, next control iter: 1743029318.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2817", header.stamp.nsec: 0"0 temperature: 13.386056"* salinity: 33.391651", density: 1025.000000"* values[0]: 0.702052"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029318.823165 s.lDH~,2!AAQ@A@A!EY~? A A4#&"AA0mNA"AZAbAjArAzAAA9{i@A`rAҞt@A+:A=A@D/AA (ȿAe*A:?2Ap׽:A<<BA:?JAp׽RA<<٘i)I9t@YG JJJJJ̣C&K YW~?ySAC77ľ]7CB)BPE[[$k@[1X~?[[[[[BZYY i) IAyG?in@= 7))7翩 @yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029318.843165 s, next control iter: 1743029319.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029319.243165 s.sDH~,u!AJ"J*J2J:J3?BJ3?nJV<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075974< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743029319.243316F (some fields omitted in printout)A\(@A@A,Y~? A3A#&"AAh mNA"AZAbAjArAzAAA)t/9@A2arA+*t@A&;AC=A3-A dAɿA*A@:?2A ׽:Ah=BA@:?JA ׽RAh=٘i)I9*t@YG JيJJJJC&K YPtW~?y⽧SAC77]7)B[[dm@[X~?[l[[[[BZYY i) Q IG?iMs@ʶ= ))忩-@+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029319.283165 s, next control iter: 1743029319.643180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743029319.663165 s.zDH~,q!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2818, header.stamp.nsec: 00 temperature: 13.386260* salinity: 33.391659, density: 1025.000000* values[0]: 0.701200F (some fields omitted in printout)A@A{2@AY~? AAf#&"AAplNA"AZAbAjArAzAAAbuU @AwNcrAss@A1 ;A3=A,A`uA˿A{*A :?2A׽:ARO=BA :?JA׽RARO=Y9sW@Z,y=C ;ٓH;`z?炯mۿ`i芛 /"a? ?)9sW@ I٘i)I9s@YTG J튼JD:JJJ"C&Kx>  ^7YZW~? ^7y5SA,ޢCj7Z7u1^7)BME[[!n@[ X~?[/[[[[BZYY i) !I~G?iv@;r= s))s㿩2@^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029319.683165 s, next control iter: 1743029320.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029320.083165 s.J "J *J 2J :J 3?BJ 3?nJ :<5vJ DDH~,S!AAp= @AKUڢ@A8X~? AAz#&"AAlNA"AZAbAjArAzAAAi@AdrA?s@A#:A癋=AY+AOAͿA,Œ*Al:?2A1׽:A<=BAl:?JA1׽RA<=٘i)I9?s@Y G JJJJJMC&K YLAW~?yrŧRA C77{7j^7)BJE[[Ao@[W~?[[[[[BZYY i) +IH?iy@j= 3))3Ῡ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029320.103165 s, next control iter: 1743029320.483181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029320.503165 s.DH~,@4 !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075974< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743029320.503276F (some fields omitted in printout)AHz@Awy@AX~? AAAI#&"AA7lNA"AZAbAjArAzAAApc@A%LujfrAr@A͜A-܍=A*AC'AFyϿAю*AV:?2AY%׽:A a=BAV:?JAY%׽RA a=٘i)I9r@YG JJJJJxC&K Y'W~?y;ɧ|RA3C{7j7^7BB)BGE[[w`p@[qW~?[[[[[BZYY i) } ;IWNH?i|@w!= ޿))޿7R@/êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029320.523165 s, next control iter: 1743029320.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2819, header.stamp.nsec: 00 temperature: 13.386469* salinity: 33.391663, density: 1025.000000* values[0]: 0.700382F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029320.923165 s.9DH~,;!AJ"J*J2J:JL3?BJL3?nJ<5vJAQ@AoP@AX~? Ab A#&"AAslNA"AZAbAjArAzAAAQQމ@AwMhrAPr@A A>=A(A`vA пAɑ*A9?2A&׽:A=BA9?JA&׽RA=٘i)I9Pr@YzG JJJJJC&K YEW~?yͧ RA B^C77q^7)BDE[[I}q@[W~?[![[[[BZYY i) פJIwH?i.@$= ܿ))ܿ@pƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029320.943165 s, next control iter: 1743029321.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029321.343165 s. YV~?y^է_QA &C777P_7)BBE[[s@[W~?[7*[[[[BZYY i) aiI H?ix@H(= KKؿ))KKؿ@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029321.803165 s, next control iter: 1743029322.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029322.183165 s.ˢDH~,k!AAףp= @A@AX~? AAd"&"AAlNA"AZAbAjArAzAAA1Qe>< @A{mrAp@A&f:A=A $AnA`HӿAk*A'9?2A[ֽ:A~ =BA'9?JA[ֽRA~ =٘i)I9p@YG J-JJJJ$C&K Y|V~?y٧PAߣC{7{7s_7AB)B?E[[t@[W~?[~.[[[[BZYY i) xII?iڄ@ *= ֿ))ֿT@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029322.203165 s, next control iter: 1743029322.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029322.603165 s.74DH~,!AJ"J*J2J:JBJnJvJA{G @AN# @A@iX~? AA $"&"AA kNA"AZAbAjArAzAAAe:p@AForAJp@A@;A=A#A:A&ԿAˢ*A9?2ANֽ:Aۜ =BA9?JANֽRAۜ =٘i)I9Jp@Y?G JJJJJOC&K YYV~?yާPA Cb7b7_7)BtrAP5o@AF:A=A A@DAտAE*A79?2Aֽ:A=BA79?JAֽRA=I٘i)I95o@YG JJJJJC&K  `7Y|V~? `7yOA B`C77t5`7@B)ƯB9E[[x@[ pW~?[;[[[[BZYY i) hIi@20= xϿ))xϿ1@^֪YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743029323.463165 s, next control iter: 1743029323.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2822, header.stamp.nsec: 00 temperature: 13.387172* salinity: 33.391640, density: 1025.000000* values[0]: 0.697581F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029323.863165 s.+DH~,>!AAfffff @AVC2 @A#X~? A"AP!&"AAxkNA"AZAbAjArAzAAA%kph@AӘvrAn@Aw͹A2=AAgA@xֿA1*AK9?2Aֽ:A)=BAK9?JAֽRA)=Y$~d@oy2= ιٓHEqO?b"@ P9@?)$~d@ I٘i)I9n@YAG J䦼B=J11<JJJХC&KWx> YeV~?yeOAC)7b7n`7?B)ʯB6E[[g:y@[_W~?[W@[[[[BZYY i) vIi!@2= BͿ))BͿ/@y{b}٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029323.883165 s, next control iter: 1743029324.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029324.283165 s.J "J *J 2J :J t2?BJ t2?FRDH~nJ ;5vJ, !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085193< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743029324.283278F (some fields omitted in printout)A ףp= @A8gD @A X~? A&A!&"AAUkNA"AZAbAjArAzAAA7?AyxyrAn@AhA`Ԡ=AKAUTAz׿A1*As9?2Ao׽:A D=BAs9?JAo׽RA D=٘i)I9n@YG JeC=JJJJC&K YOV~?yENAC777 `7)ίB4E[[Sz@[FPW~?[E[[[[BZYY i) 9IiW@r3= ˿))˿K@ݪYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743029324.303165 s, next control iter: 1743029324.683194 s, wait time: 0.380029 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2823., header.stamp.nsec: 0.0 temperature: 13.387438.* salinity: 33.391624., density: 1025.000000.* values[0]: 0.696621.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029324.703165 s.պDH~, -!AAGz@A+` @AW~? A+*A &"AA[3kNA"AZAbAjArAzAAAF?AR!ڒ{rAm@A!A,=AA+A`ZؿAq*A9?2AEֽ:A5=BA9?JAEֽRA5=٘i)I9m@YG J㬼B=JJJEJ&C&K Y8V~?yNAC7b7}`7)ӯB[[kl{@[@W~?[I[[[[BZYY i) lIi@)m5= ȿ))ȿ1ؖ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029324.723165 s, next control iter: 1743029325.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029325.123165 s.7DH~,]G!AJ"J*J2J:JBJnJvJAR@A#*T@AW~? Am.Asd &"AAkNA"AZAbAjArAzAAAdo?A{ژ~rAEl@AcٺAt|=AAA)ٿA*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9l@Y7G JDZC=JJJJQC&K  a7Y"V~? a7y'NA C77{7a7>B)ׯB0E[[a|@[1W~?[N[[[[BZYY i)  IiP@q7= ƿ))ƿc@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029325.143165 s, next control iter: 1743029325.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029325.543165 s.IDH~,b!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085193< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743029325.543293F (some fields omitted in printout)A(\@A]wb@AW~? A2A &"AAFjNA"AZAbAjArAzAAAc(?AJ8̀rAUZl@A#g8Am6=AdA`AٿA{{*A9?2Adֽ:AR=BA9?JAdֽRAR=٘i)I9Zl@YG J?JJJJ|C&K Y V~?y4MA6C77#Ta7)ۯB-E[[}@[#W~?[cS[[[[BZYY i) Ii@9= Ŀ))Ŀv@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029325.563165 s, next control iter: 1743029325.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2824, header.stamp.nsec: 00 temperature: 13.387704* salinity: 33.391609, density: 1025.000000* values[0]: 0.695571F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029325.963165 s.yDH~,}!AJ"J*J2J:JBJnJvJA@Aoe@A'W~? AY7A&"AAbjNA"AZAbAjArAzAAAIsZ?Aw~!rAk@A:A뷫=AmAKA`7ڿA.*A˼9?2AIֽ:A?=BA˼9?JAIֽRA?=Yk@yڷ=:ٓH@]W y? ù`?m5p\?@5?)k@ I٘i)I9k@YxG JJ<JJJC&KDx> YU~?y2IMA BaCb77za7)B[[~@[~W~?[ZX[[[[BZYY i)  ԿIi@:=  V¿)) V¿Xz@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029326.003165 s, next control iter: 1743029326.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029326.383165 s.DH~,/!AA= ףp@A:ǀ<@AW~? A<Au_&"AAjNA"AZAbAjArAzAAAӭ?A] irAk@A3(;A=AAAمۿACż*A9?2AMֽ:A=BA9?JAMֽRA=٘i)I9k@YG J¼JJJJҦC&K Y6U~?y1LAC77a7=B)B*E[[@[<W~?[`][[[[BZYY i) d ǼIi@p<= /())/(@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029326.403165 s, next control iter: 1743029326.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2825", header.stamp.nsec: 0"0 temperature: 13.387960"* salinity: 33.391598", density: 1025.000000"* values[0]: 0.694434"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029326.803165 s.|ADH~,g!AJ"J*J2J:J1?BJ1?nJi:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085193< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743029326.803277F (some fields omitted in printout)AzG@Ag{@AW~? A@A1&"AAjNA"AZAbAjArAzAAA.ۇW7?AZVrApj@A;AS=Aj~ARAIܿAtɼ*Ar9?2Aֽ:A=BAr9?JAֽRA=٘i)I9pj@YG JLǼJJJJC&K  b7YU~? b7y/cLACŧ77&b7)B(E[[n@[MV~?[tb[[[[BZYY i) mμIi.@g== k))k@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029326.823165 s, next control iter: 1743029327.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029327.223165 s.gDH~,H!AAQ@A?@AbvW~? AEAY&"AA|ojNA"AZAbAjArAzAAACE?AkXrA i@A9Ad=Ax.AoAV ݿA̼*AS9?2Aֽ:A\=BAS9?JAֽRA\=٘i)I9i@YGG J˼JJJJ(C&K YU~?y-KAC77|9b7)B[[&@[V~?[g[[[[BZYY i) nռIi@av?= һ))һ!@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029327.243165 s, next control iter: 1743029327.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029327.643165 s.wDH~, *!AJ"J*J2J:JBJnJvJA)\@Ap@AbW~? AJAB&"AA}PjNA"AZAbAjArAzAAAJlAveA*orAi@AaAG=A6A"AݿAϼ*A9?2Aֽ:A:f=BA9?JAֽRA:f=٘i)I9i@Y G JQμJJJJSC&K YBU~?y+ |KA Cb77rb7 YU~?y&KA7C)7b7)b7)B[[ @[cV~?[ r[[[[BZYY i) 6Iiӗ@VB= K))K/@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029328.083165 s, next control iter: 1743029328.463179 s, wait time: 0.380014 sU~?)& rAdjusting time to match Gazebo time: 1743029328.483165 s.v_EH~,!AJ"J*J2J:JP1?BJP1?nJ95vJAq= ף@Aɧo@A:W~? AJUAx&"AAjNA"AZAbAjArAzAAAKuWA)R֕rAg@AEAk<=AAA@A`q<߿Aiռ*A9?2Aֽ:AM=BA9?JAֽRAM=٘i)I9g@Y G J"ԼJJJJC&K YU~?yf-JA BbC777|b7;B)B"E[[ۗ@[V~?[cw[[[[ZZ¸BZYY i¸ =) .ؼIi@mC= X))Xֹ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029328.523165 s, next control iter: 1743029328.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2827, header.stamp.nsec: 00 temperature: 13.388562* salinity: 33.391594, density: 1025.000000* values[0]: 0.691993F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029328.903165 s. EH~,9!AAGz@A_F@AX'W~? AZA&"AAiNA"AZAbAjArAzAAA(YAS'rA#g@A_A]=A=A0AS߿Aؼ*A9?2Aֽ:A5=BA9?JAֽRA5=٘i)I9g@Y G J)׼JJJJԧC&K  c7YlU~? c7y4JACŧ7b7c7)B E[[!@[:V~?[|[[[[ZZBZYY i) &̼Ii@D= S0))S0C@9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029328.923165 s, next control iter: 1743029329.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029329.323165 s.sEH~,T!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082874< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743029329.323285F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Ab@AyW~? AD`A&"AAiNA"AZAbAjArAzAAAnMAaxrA8f@A{:Az=ARAA NA*A9?2A0ֽ:A4 <BA9?JA0ֽRA4 <٘i)I98f@Y G JJJJJC&K YYU~?y:IAC77)Xc7) B[[9@[&V~?[6[[[[ZZBZYY i) Ii@LF=  )) 4͜@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029329.343165 s, next control iter: 1743029329.723174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2828*, header.stamp.nsec: 0*0 temperature: 13.388868** salinity: 33.391571*, density: 1025.000000** values[0]: 0.690710*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029329.743165 s.WEH~,yo!AA\(@A@AW~? AeA7&"AAXiNA"AZAbAjArAzAAA mAzsrAZ[e@A ;A0=Af_ AӃA IAPx*A9?2ANֽ:AO<BA9?JANֽRAO<٘i)I9[e@Y G JJJJJ*C&K YVGU~?y>AIACb7}c7:B)BE[[4@[iV~?[[[[[ZZBZYY i) LIiO@H= '箿))'箿V@y=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029329.763165 s, next control iter: 1743029330.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029330.163165 s.z}"EH~,q!AJ"J*J2J:J0?BJ0?nJ295vJA@A!@AV~? AkA&"AAiNA"AZAbAjArAzAAA AˆrAQd@A:At=A An,AAF**A9?2A ֽ:A[g<BA9?JA ֽRA[g Y6U~?ymHHA Cc7-B)B[[@[ߓV~?[D[[[[ZZBZYY i) DبIi˜@&H= ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029330.183165 s, next control iter: 1743029330.563182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029330.583165 s.(EH~, S!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082874< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743029330.583292F (some fields omitted in printout)Ap= @A3ڢ@AV~? AqAV&"AA]iNA"AZAbAjArAzAAAs)AyūrA>c@A9A /=A A ߿AMAϼ*A9?2AZֽ:AS;BA9?JAZֽRAS;٘i)I9c@Y G JJJJJC&K  d7Y&U~? d7yO{HA9C*d7,B)BE[[G@[V~?[䒨[[[[ZZBZYY i) *Iiu@I= ;));i@vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029330.623165 s, next control iter: 1743029330.983179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2829, header.stamp.nsec: 00 temperature: 13.389257* salinity: 33.391567, density: 1025.000000* values[0]: 0.689170F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029331.003165 s.{ 0EH~,Y4!AJ"J*J2J:JBJnJvJAHz@ADy@AV~? AwA&"AAkiNA"AZAbAjArAzAAAG ,A[;ʪrA#c@AM>ݺA<Akv A@H޿A`AΥ*A9?2Aֽ:A!BA9?JAֽRA!٘i)I9#c@Y= G JoJJJJC&K Y:U~?yV)HA BcC77=d7-B)BE[[<х@[}V~?[[[[[ZZBZYY i) JYIiM@BJ= r))r7@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029331.023165 s, next control iter: 1743029331.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029331.423165 s.u6EH~,!AAQ@ALpQ@A˻V~? A}Ak&"AAQiNA"AZAbAjArAzAAA=@iAD΅rAѣb@AðQA(1<A)A;޿AaA*AO9?2AHֽ:AXBAO9?JAHֽRAX٘i)I9b@Y G J B=JJJJרC&K YU~?y]GAC)7ŧ7vd7,B)BE[[QZ@[:sV~?[H[[[[ZZBZYY i) IiS@K= ;N));NL|@8bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029331.463165 s, next control iter: 1743029331.823178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2830", header.stamp.nsec: 0"0 temperature: 13.389544"* salinity: 33.391575", density: 1025.000000"* values[0]: 0.687951"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029331.843165 s. elevatorAngleAction: 0.082874< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743029331.843291F (some fields omitted in printout)A(\@A2'@A;V~? AAF&"AAF8iNA"AZAbAjArAzAAAm|CAyRrAFb@AK[AS!޻AA)ݿA >AƁ.*A9?2Agֽ:AkBA9?JAgֽRAk٘i)I9Fb@Y G J ^C=JJJJC&K Y}T~?y)eGACb77-d7)B[[@[iV~?[[[[[ZZBZYY i) ٳwIi@yM= W,))W,@~)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029331.863165 s, next control iter: 1743029332.243181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029332.263165 s.DEH~,#!AA33333@A$@AV~? AFAx&"AAuiNA"AZAbAjArAzAAA6*As.rAN b@AA& AA`ܿAA*A9?2Aֽ:A1BA9?JAֽRA1Yf~@,y ٓH߿@?V?F^߿??``"?)f~@ I٘i)I9 b@Y G J0 JEJJJ-C&Kw> YT~?ylGAC7777d7)BE[[1l@[_V~?[ܩ[[[[ZZBZYY in=) )eIiѠ@JM= )),@*)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029332.283165 s, next control iter: 1743029332.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 28312, header.stamp.nsec: 020 temperature: 13.3896732* salinity: 33.3915372, density: 1025.0000002* values[0]: 0.6873312F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029332.683165 s.lJEH~,^+!AJ"J*J2J:JBJnJvJAףp= @Ap'@AXV~? AAf&"AADiNA"AZAbAjArAzAAA(fHA;NrAa@A-8A` A$CAqۿAA*Ad9?2Aֽ:A;ּBAd9?JAֽRA;ּ٘i)I9a@Y G JW~JJJJXC&K  e7YT~? e7ytGAC{7{7"e7-B)BE[[h@[rUV~?[[[[[BZYY id=) ȜSIiJ@xtN= ៿))៿c@:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029332.683165 s, next control iter: 1743029333.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743029333.103165 s.QEH~,F!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069040< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743029333.103281F (some fields omitted in printout)A{G@Aа@A |V~? A:A~&"AAhNA"AZAbAjArAzAAA4tArAa@A:AK9AA8ۿA@PAx;*A'9?2Aޓֽ:A>.BA'9?JAޓֽRA>.켙٘i)I9a@Y G J:JJJJC&K YT~?y1|GA:C.\e7,B)BE[[j~@[&LV~?[[[[[BZYY i) AIi@JO= ׽))׽e@y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029333.123165 s, next control iter: 1743029333.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029333.523165 s.WEH~,|a!AJ"J*J2J:J/?BJ/?nJ{85vJAQ@A26@A(mV~? AٝA&"AAhNA"AZAbAjArAzAAA3[$A);!rAb@A?}&;A#<]AWA``pڿABAݢ9?JA4ֽRA>٘i)I9b@Y G J;B=JJJJC&K YT~?yރGA BeCj7Z7e7)B[["@[1CV~?[[[[[BZYY i) _/IiǢ@j[P= )))@y=O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029333.543165 s, next control iter: 1743029333.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2832, header.stamp.nsec: 00 temperature: 13.389712* salinity: 33.391518, density: 1025.000000* values[0]: 0.687343F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029333.943165 s.Yd^EH~,F]|!AA(\ @A^)[ @A^V~? AA{&"AAhNA"AZAbAjArAzAAAڂ AsDT:rAy]b@Ak:A!zA[AiٿAA^6<*A 9?2A4ֽ:ABA 9?JA4ֽRA٘i)I9]b@Y G Jy<C=JJJJ٩C&K YT~?yHAC777e7+B)BE[[_@[:V~?[[[[[BZYY i) tyIiʣ@Q= z))zZ@˩*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029333.963165 s, next control iter: 1743029334.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029334.363165 s.eEH~,}>!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069040< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743029334.363284F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff!@AE2!@APV~? A]A&"AAhNA"AZAbAjArAzAAA7ki A51narAҳb@AwWAt@AAؿA{Ayh<*A=9?2Axֽ:AqK BA=9?JAxֽRAqK Y@eyt@VWٓHٿJ?`ϛ?T9ٿAW?$?.*@?)@ I٘i)I9b@Y G JM<B=J߽JJJC&Kw>  f7YAT~? f7ytHACb7b74f7,B)BE[[@[F2V~?[Ǩ[[[[BZYY i]g=)  Ii@Q= W))W9@"*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029334.383165 s, next control iter: 1743029334.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2833&, header.stamp.nsec: 0&0 temperature: 13.389626&* salinity: 33.391525&, density: 1025.000000&* values[0]: 0.687861&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029334.783165 s.\kEH~,!AA ףp="@AwcA "@A)CV~? AAAr&"AAhNA"AZAbAjArAzAAA`hЄ A7%rAc@ANAYAAؿA'AΈ<*Aw9?2A,lֽ:ABAw9?JA,lֽRA٘i)I9c@Y9 G J{<C=JJJJ/C&K YT~?yHAC7Af7)B[[K@[M*V~?[ͨ[[[[BZYY i) tIi*@"R= S6))S6F£@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029334.803165 s, next control iter: 1743029335.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029335.203165 s.sEH~, !AJ"J*J2J:JBJnJvJAGz#@A!K"@A6V~? A:A&"AA׃hNA"AZAbAjArAzAAAˮ$\ ArrAc@A?A\kA,A@,5׿AleAF<*AY9?2Aymֽ:A`BAY9?JAymֽRA`٘i)I9c@Y G J<JJJJZC&K YT~?y,IAC{7j7zf7)BE[[(@["V~?[Ө[[[[BZYY i) NݻIi@{R= O))OJ@<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029335.223165 s, next control iter: 1743029335.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029335.623165 s.TyEH~,P!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056402< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743029335.623280F (some fields omitted in printout)AR#@AtZ#@Ak)V~? AHAa&"AANphNA"AZAbAjArAzAAAmA9X&rA\!d@AϓAHATA _ֿA3AZ<*A9?2A~ֽ:A@BA9?JA~ֽRA@٘i)I9!d@Y G J<JJJJC&K YT~?yʫIAV~? AkǩAc&"AAw]hNA"AZAbAjArAzAAAAH=r7rAd@AAAȦտAA<*A9?2AŘֽ:A BA9?JAŘֽRA ٘i)I9d@Y0 G JD<JJJJC&K YvT~?yڳIA BgCj7j7f7-B)BE[[O8@[eV~?[[[[[BZYY im=) 9Ii@PT= C֎))C֎JZ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029336.063165 s, next control iter: 1743029336.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029336.463165 s.SEH~,ۤ!AA%@Aoe%@AV~? AΩA`K&"AAVKhNA"AZAbAjArAzAAAzxj.ViAzrAsFe@A-:A8AANԿAA+<*A9?2Aֽ:ASBA9?JAֽRASYƅ@y8.E:ٓH@ ӿ`r?i ?w\lӿs?rB?euZ??)ƅ@ I٘i)I9Fe@Y G J<JJJJ۪C&Kx>  g7YnT~? g7y;LJAC777&g7,B)B E[[E@[ V~?[N[[[[BZYY i) tIi@$pT= k))k@@3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029336.483165 s, next control iter: 1743029336.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2835, header.stamp.nsec: 00 temperature: 13.389208* salinity: 33.391479, density: 1025.000000* values[0]: 0.689891F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029336.883165 s.yEH~,48!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065639< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743029336.883290F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp&@A"r<&@ANV~? AթA&"AA9hNA"AZAbAjArAzAAAA> @ZrABe@A_2;;A ̗AvAӿA GAfӭ<*A9?2A!ֽ:A\PBA9?JA!ֽRA\P٘i)I9e@Y G J<JJJJC&K Y_eT~?yĨJACb773`g7)B[[4H@[qV~?[[[[[BZYY i) 0FIi @@T= ))/j@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029336.903165 s, next control iter: 1743029337.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029337.303165 s.UEH~,sgS!AAzG'@A'@AU~? ADݩA/&"AA<)hNA"AZAbAjArAzAAA1}l(sA+1lrA=kf@A+;AY=A3AҿAzAaɪ<*A9?2ACֽ:A;BA9?JACֽRA;٘i)I9kf@Y< G J<JJJJ1C&K Y\T~?y̨KAC{7{7g7)B[[Ѝ@[wV~?[[[[[BZYY i)  IiL@T= w))w@w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029337.323165 s, next control iter: 1743029337.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2836., header.stamp.nsec: 0.0 temperature: 13.388954.* salinity: 33.391457., density: 1025.000000.* values[0]: 0.691113.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029337.723165 s.EH~,Hn!AJ"J*J2J:J0?BJ0?nJ95vJAQ(@A}'@AIU~? AAО&"AAFhNA"AZAbAjArAzAAA3¶jA _rAf@A:AADAҿA)Ac<*A9?2Aׯֽ:ABA9?JAׯֽRA٘i)I9f@Y G Jm<JJJJ\C&K YST~?yZըKAC77g7.B)B E[[W@[U~?[[[[[BZYY i) txIi@BjU= ?X))?Xy@yMe=*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743029337.743165 s, next control iter: 1743029338.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029338.143165 s.X/EH~,*!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065639< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743029338.143300F (some fields omitted in printout)A)\(@Ac"(@AU~? A,AT &"AA hNA"AZAbAjArAzAAAV ,gA5rAg@AsጺA菽AA/ѿANA<*A9?2Aݣֽ:ABA9?JAݣֽRA٘i)I9g@Y G J<B=JJJJC&K  h7YNKT~? h7yݨKA B=Cj7j7: h7-B)B E[[hߎ@[U~?[h[[[[BZYY i) lIiW@2V= 9))9c@.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029338.163165 s, next control iter: 1743029338.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029338.563165 s.EH~,J !AJ"J*J2J:J1?BJ1?nJ95vJA)@A!)@A7U~? AAz&"AAgNA"AZAbAjArAzAAApݳAyrAE h@A)APAAKпA`(AE<*A9?2Aֽ:ABA9?JAֽRAY@yP.)*ٓH ʿJ?gb?`N7ʿ??/8e`z?)@ I٘i)I9 h@Y; G JO<C=Ju<JJJC&K:x> YdET~?yXILAhC{7Eh7)B[[g@[U~?[[[[[BZYY i) .:Ii @lU=  )) @*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029338.583165 s, next control iter: 1743029338.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2837, header.stamp.nsec: 00 temperature: 13.388696* salinity: 33.391460, density: 1025.000000* values[0]: 0.692268F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029338.983165 s.EH~,!AAq= ף*@A74eo*@AlU~? ARA&"AAgNA"AZAbAjArAzAAA*NBA/rAh@A72AߊA{AοA .A<*A=9?2Aֽ:A@BA=9?JAֽRA@٘i)I9h@Y G J<JJJJݫC&K Yz?T~?yLAC77{7~h7)B[[@[U~?[ [[[[BZYY i) :Ii@U= ))@G*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029339.003165 s, next control iter: 1743029339.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029339.403165 s.'EH~,!AJ"J*J2J:J\1?BJ\1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065639< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743029339.403326F (some fields omitted in printout)AGz+@A+4F+@A!U~? AAQ&"AAgNA"AZAbAjArAzAAA]nGA9 ' rAi@A AA޿A f̿AVA<*AX9?2Aͺֽ:ABAX9?JAͺֽRA٘i)I9i@Y G JE<B=JJJJC&K Y9T~?yMAC{7j7@h7.B)B E[[v@[U~?[[[[[BZYY i) ';Ii@ҵU= {)){ǘ@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029339.443165 s, next control iter: 1743029339.803187 s, wait time: 0.360022 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2838", header.stamp.nsec: 0"0 temperature: 13.388460"* salinity: 33.391430", density: 1025.000000"* values[0]: 0.693347"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029339.823165 s.EH~,6!AAQ,@As,@AVU~? A AԻ&"AAgNA"AZAbAjArAzAAA?DWA'sAi@A2:AcA=ܿA@'˿A@zAđ<*A%9?2Aֽ:Az*BA%9?JAֽRAz*I٘i)I9i@Y&G Jz<C=JJJJ3C&K Y3T~?y-fMAC)7ŧ7h7)B[[@[U~?[[[[[BZYY i) 6d;Ii0@V= {w)){wz @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029339.843165 s, next control iter: 1743029340.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029340.243165 s.EH~,d!AJ"J*J2J:J1?BJ1?nJB:5vJA\(-@Aފ,@AU~? AqA$&"AA,gNA"AZAbAjArAzAAAÐ]AL sALj@Aa;A.A۞ٿA`PɿA`rA@<*A9?2A=ֽ:A[BA9?JA=ֽRA[󼙘٘i)I9j@YoG JǏ<JJJJ^C&K  i7Y-T~? i7yMAC77*i7)ݯBE[[@[U~?[[[[[[BZYY iw=) F3;Ii@!V= >s))>s@n*YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743029340.263165 s, next control iter: 1743029340.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029340.663165 s.EH~,q*!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074447< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743029340.663280F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2839, header.stamp.nsec: 00 temperature: 13.388241* salinity: 33.391407, density: 1025.000000* values[0]: 0.694379F (some fields omitted in printout)A.@A-@AIU~? A>A&"AA}gNA"AZAbAjArAzAAA dAh"sA}j@A¨=;AA׿AwǿAuAJQ<*A9?2Aֽ:A@BA9?JAֽRA@YJ@׿y񃽙 >;ٓH`ջ^?p? X׻v?@L{? g?@?)J@ I٘i)I9}j@YG J<Jw2<JJEJC&K,x> Y*T~?yNA׿ B?Cb7;di7/B)ۯB E[[ @[U~?[%[[[[BZYY i) (;Ii@U= o))o/@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029340.683165 s, next control iter: 1743029341.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029341.083165 s.DEH~, SE!AJ"J*J2J:JBJnJvJAp= .@At ޢ.@AU~? A"AI &"AAgNA"AZAbAjArAzAAA;A;sE/sA$j@A:AqAiԿAſA@AM"<*A,9?2A9ֽ:A^,BA,9?JA9ֽRA^,٘i)I9j@YG J<JJJJC&K Y'T~?yMvNAjCj7j7i7)دB[[@[U~?[F,[[[[BZYY i)  ;Ii¦@sU= mj))mj@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029341.103165 s, next control iter: 1743029341.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029341.503165 s.EH~,L4`!AAHz/@Ay/@AIU~? A)AZ &"AAtgNA"AZAbAjArAzAAA?CAAXPsA `k@A#AA"ѿAÿA@hA<*Ax9?2A!ֽ:AڕBAx9?JA!ֽRAڕ٘i)I9`k@YAG J7<JJJJ߬C&K Y$T~?y#NACi7)ԯB[[x@[VU~?[2[[[[BZYY i) 7;Ii@AU= =f))=fs?@yc=*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743029341.523165 s, next control iter: 1743029341.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2840, header.stamp.nsec: 00 temperature: 13.388022* salinity: 33.391403, density: 1025.000000* values[0]: 0.695358F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029341.923165 s.:EH~,{!AJ"J*J2J:J2?BJ2?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074447< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743029341.923311F (some fields omitted in printout)AQ0@AP0@AU~? A1A &"AAgNA"AZAbAjArAzAAA㡀A <JJJJ`C&K(x> Y"T~?yb=OAʿC7j7)̯B[[@[U~?[HF[[[[BZYY i) N~& elevatorAngleAction: 0.074447< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743029343.183281F (some fields omitted in printout)Aףp= 3@A2@AU~? AIAx &"AAˎgNA"AZAbAjArAzAAAOmAH+sA$m@A]عA<AfǿA oA`GA]A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9$m@YTG J<JJJJC&K YT~?y0F7PA B@C77?j7)ȯB[[<@[{U~?[L[[[[BZYY i) 6Acט/sAm@A{j:A&A8ĿAAnVA+<*AG9?2A1ֽ:ABAG9?JA1ֽRA٘i)I9m@YG J><JJJJC&K YT~?yNPAkC7j7*B)B[[ĕ@[U~?[ZS[[[[BZYY i) E elevatorAngleAction: 0.083574< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743029344.443280F (some fields omitted in printout)A(\5@A!u;[5@AU~? AaAF &"AAgNA"AZAbAjArAzAAAЧwA*'#9sAn@A*";A~AVA^A@kA͖<*A`9?2A)ֽ:AsBA`9?JA)ֽRAs٘i)I9n@Y.G J]<JJJJ C&K YMT~?y`KQAC77{7Dhk7)B[[ȿ[U~?[u`[[[[BZYY i) Ϧd7!AAfffff6@AHĔH26@A"U~? AiAz&"AA~gNA"AZAbAjArAzAAAHZWsAM5x>sAo@A/X:A䓽AQA@bArA<*AS9?2Aֽ:A BAS9?JAֽRA Y8Β@Ey䓽X:ٓH?x?:C%?@I^?@sx?K??)8Β@ I٘i)I9o@YzG JC<J9SJJJ7C&Kx> YT~?yaiQACZ7Z7k7)B[[}ƿ[.U~?[f[[[[BZYY i) s elevatorAngleAction: 0.083574< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743029345.703277F (some fields omitted in printout)AGz8@A]7@AU~? AzA?&"AA{gNA"AZAbAjArAzAAAu[؜AyHsA p@A$4A A ˷A'yA rxA<*Ab9?2Asֽ:AJBAb9?JAsֽRAJ٘i)I9 p@YG J)<JJJJC&K  l7YI%T~? l7yzuRA BBC77Gl7)B[[E¿[U~?[t[[[[BZYY i) / elevatorAngleAction: 0.083574< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743029346.963280F (some fields omitted in printout)J"J*J2J:JBJnJvJA:@Aie:@AMU~? ARAf&"AA|gNA"AZAbAjArAzAAA\WWAޏ[WsA>q@A T5:AUnA/A`;ˣ?AnAkܭ<*Ar9?2Aֽ:AsBAr9?JAֽRAsY @ySn<5:ٓH]?b?EIx?&?=h? F??) @ I٘i)I9q@YG J@<JJJJC&K$x> Y0T~?ySA­Cŧ7b7Dl7+B)BE[["[lU~?[[[[[BZYY i) d֟ elevatorAngleAction: 0.083574< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200532 time: 1743029348.223330F (some fields omitted in printout)AQ=@AkGq<@AU~? AsAb&"AAhgNA"AZAbAjArAzAAAbH:A 0fsAvs@Ah:A5&AA R?ANA<*A9?2AЫֽ:ABA9?JAЫֽRA٘i)I9vs@Y-G J<JJJJC&K Y@T~?yTA BCC777Glm7)B[[w[bU~?[R[[[[BZYY i) D@A= ף>@AU~? ArAV&"AA gNA"AZAbAjArAzAAAMݵs A;nosA(t@AA!ARA@ݼ?A`--A<*AȒ9?2Aoֽ:ABAȒ9?JAoֽRAYxQ@@yٓH? ?{@z~?q?ϵ?`?a1?)xQ@ I٘i)I9t@YG JC<B=JVJJJC&Kw> YhNT~?yUAC)7ŧ7m7)B[[{p[rU~?[Q[[[[BZYY i) = elevatorAngleAction: 0.083574< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199482 time: 1743029349.483282F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף?@APo?@AU~? AhªAݺ&"AA gNA"AZAbAjArAzAAAAftsAfu@A?A ﯽAZAO?AAk<*A9?2A|ֽ:AUBA9?JA|ֽRAU٘i)I9fu@Y[G J<C=JJJJC&K  n7YVT~? n7yiȩKVAîC{7j7Gn7,B)BE[[L[U~?[ɮ[[[[BZYY i) gT~?y:٩5WAC77{7n7)wB[[[U~?[[[[[BZYY il=)  elevatorAngleAction: 0.092616< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743029350.743283F (some fields omitted in printout)A\(B@Ak&A@ADZU~? AڪA%"AAʫgNA"AZAbAjArAzAAAX^@Aq&,sAow@A:AJA}|A?AA<*A|9?2A˪ֽ:ABA|9?JA˪ֽRA٘i)I9ow@YG Jo<B=JJJJC&K YoT~?yWA BDCPn7)qB[[ը[U~?[-©[[[[BZYY i)  YzT~?y"XA敿oCb77n7.B)mBE[[[GU~?[ȩ[[[[ZZZZ¸>BZYY i¸>뇪) a= ~))~~y⨽*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029352.463165 s, next control iter: 1743029352.823177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2851, header.stamp.nsec: 00 temperature: 13.568487* salinity: 33.374985, density: 1025.000000* values[0]: 0.578978F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029352.843165 s.݌FH~,5!AJ"J*J2J:JBJnJvJA(\F@Aw 'F@AnU~? AA%"AA?gNA"AZAbAjArAzAAA8tٷ5AkŚsAA{@A^AuAaA"?A@Av<*AO9?2Atֽ:A/tnBAO9?JAtֽRA/tn٘i)I9A{@YG J<JJJJhC&K YgT~?y$ ZACj7j7o7)UB[[[V~?[[[[[ZZZZBZYY i) B  p7YT~? p7y?ZA刿 BEC)7ŧ7Op71B)QB!E[[Eݛ[V~?[H[[[[ZZZZBZYY id) wV~?[?[[[[ZZZZBZYY i) Rc_!AJ"J*J2J:J?BJ?nJ5vJAfffffK@A66;2K@AV~? AZ-A%"AAU:hNA"AZAbAjArAzAAArYAisA }@AK:A=AwA?AAg:*A:9?2Aeֽ:A<BA:9?JAeֽRAJJJjC&Kw> YjT~?y8[AwC77:q73B)(E[[m쐿[GV~?[[[[[[BZYY iml) M.= ))yAne'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029356.223165 s, next control iter: 1743029356.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029356.623165 s.]FH~,v'!AARM@AYM@Aw7V~? ABAx%"AAphNA"AZAbAjArAzAAAzC9 ArdsAp}@Az-Aa\v=A)hA`T?AYA;<0*Aa9?2A~ֽ:A.=BAa9?JA~ֽRA.=٘i)I9p}@Y@G J_JJJEJC&K Y*U~?yM~ZACb7b7q7)IB[[M[dV~?[[[[[BZYY i) 8 A}#GsA}@A?CºAU=AcbA&?AA"b*Aݏ9?2Arֽ:A =BAݏ9?JArֽRA =٘i)I9}@Y G JGJJJJC&K  r7Y:U~? r7y(URZAȱC77{7W r76B)MB/E[[[ioV~?[[[[[BZYY i)  YLU~?y[YA]C)7ŧ7Yr7)PB[[ᅿ[!zV~?[{%[[[[BZYY i} l) X;Ii0@3)= d))ddƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029357.503165 s, next control iter: 1743029357.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2856, header.stamp.nsec: 00 temperature: 13.567609* salinity: 33.375023, density: 1025.000000* values[0]: 0.580722F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029357.883165 s.yFH~,V~?[Y+[[[[BZYY i) ;Ii]@&= y))yyPЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029357.903165 s, next control iter: 1743029358.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029358.303165 s.WFH~,{g!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057628< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743029358.303287F (some fields omitted in printout)AzGQ@A…<Q@AnV~? A ^A%"AAhNA"AZAbAjArAzAAA}A$sA{@A-E;AM=A qSA^?AVAG*A9?2A.^ֽ:A_=BA9?JA.^ֽRA_=٘i)I9{@Y3G JJJJJC&K YvqU~?yHi/YAICj7j7Ur7)ZB5E[[p[V~?[/1[[[[BZYY i) r@;Ii@V$= Fg))FgFgH֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029358.323165 s, next control iter: 1743029358.703179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2857., header.stamp.nsec: 0.0 temperature: 13.567796.* salinity: 33.375004., density: 1025.000000.* values[0]: 0.580214.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029358.723165 s.FH~,H!AJ"J*J2J:J?BJ?nJ5vJAQR@AQ@A}V~? AdAL%"AADhNA"AZAbAjArAzAAAY AtݾsA&{@A|l;A2=A6NA`W?AAk*A|9?2Arֽ:A =BA|9?JArֽRA =٘i)I9&{@YG J%JJJJ³C&K  s7YU~? s7yoXAtC7)7s7)^B[[h~[V~?[6[[[[BZYY i) ͖;Ii~@e"= `U))`U`UyPldتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029358.763165 s, next control iter: 1743029359.123178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029359.143165 s.\/FH~, *!AA)\R@A9yR@AV~? A,kA%"AA/hNA"AZAbAjArAzAAA`AwsAz@AZao8A=AHA@r?A`.A糼*A9?2Atֽ:A^ =BA9?JAtֽRA^ =٘i)I9z@YG JJJJJC&K Y U~?yvlXAC{7j7?s79B)eB9E[[y[V~?[<[[[[BZYY i) m;Ii{@G!= fC))fCfCתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029359.163165 s, next control iter: 1743029359.543181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029359.563165 s.FH~,F !AJ"J*J2J:Js?BJs?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057628< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743029359.563283F (some fields omitted in printout)AS@AI+S@AʜV~? AqAtM%"AAiNA"AZAbAjArAzAAAH AqRsAGy@AAb=A[CA?AHAn*A9?2A|ֽ:AH=BA9?JA|ֽRAH=Y@OCyb=&ٓH ?M&?Y?@a?Gx`?)@ I٘i)I9y@Y#G JJ8<JJJC&Kx> YkU~?y|XACɲC7777Yxs7)iB[[wu[ZV~?[dB[[[[BZYY i) 1;Iiw@= 1))J}11ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029359.603165 s, next control iter: 1743029359.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2858, header.stamp.nsec: 00 temperature: 13.568015* salinity: 33.375015, density: 1025.000000* values[0]: 0.579567F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029359.983165 s.FH~,!AAq= ףT@AoT@AV~? AwA %"AAiNA"AZAbAjArAzAAA/3A$0~sAay@AGA1=Av{>A`q?A|3A*AY9?2Aֽ:A)K=BAY9?JAֽRA)K=٘i)I9ay@YG JdJJJJCC&K YʾU~?y䂪WACs7:B)oB4!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066630< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743029360.823292F (some fields omitted in printout)AQV@AV@AV~? A9AA%"AAJRiNA"AZAbAjArAzAAAojAYv$sA{>x@AʱCA=A R4A`?AA^*AH9?2Arս:A<BAH9?JArսRA<٘i)I9>x@YG JdJJJJC&K  t7YU~? t7yVAJC77Z$t7)yB[[7g[V~?[S[[[[BZYY i) JIil@x= 2))226ŪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029360.843165 s, next control iter: 1743029361.223182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029361.243165 s.J "J GH~*J2J,O!A:J?BJ?nJQ5vJA\(W@A5&V@AV~? A:Ag%"AA]liNA"AZAbAjArAzAAAާPqA|sAw@A`:Aa=AL6/A@?AGAa*A 9?2Aս:A<BA 9?JAսRA<٘i)I9w@YG JJJJJĴC&K YU~?y,fVAuC7777]t7?AAL*A9?2Aս:Arg<BA9?JAսRArg Y)V~?y VA*C77t7=B)BFE[[W^[GV~?[][[[[BZYY i) -Iie@s= î)))_xîîYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029361.683165 s, next control iter: 1743029362.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029362.083165 s.D!GH~,S!AJ"J*J2J:J ?BJ ?nJ>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242551@ elevatorAngleAction: -0.066630< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743029362.083302F (some fields omitted in printout)Ap= X@AIڢX@A W~? A敫A%"AACiNA"AZAbAjArAzAAAEǮAcsAv@A(2;A!w=A,$A`?A`A*AG9?2Aս:A<BAG9?JAսRA<٘i)I9v@Y$G JJJJJC&K Yh(V~?yUA˳Cŧ7[t7)B[[[_Z[W~?[4c[[[[BZYY i)  ;IiJa@/= |))?||^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029362.103165 s, next control iter: 1743029362.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029362.503165 s.'GH~,L4!AAHzY@A+yY@AW~? AA%"AAiNA"AZAbAjArAzAAAWFj*AOj*BsA5v@A̞:A=AdA?AHA쏼*AO9?2AU{Խ:A<BAO9?JAU{ԽRA<٘i)I95v@YG JJJJJEC&K  u7Y>V~? u7yvSUACb7 u7>B)BIE[[/U[W~?[uh[[[[BZYY i) yIis]@G = @K)) @K@K YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029362.523165 s, next control iter: 1743029362.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2861, header.stamp.nsec: 00 temperature: 13.568567* salinity: 33.375027, density: 1025.000000* values[0]: 0.577747F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029362.923165 s.J "J *J 2J :J ?BJ ?nJ 5vJ >.GH~,!AAQZ@AkPZ@A)W~? AA%"AA~iNA"AZAbAjArAzAAA&AsAu@AlՋACB=AA 3A?Ak߿A:*AC9?2AԽ:A<BAC9?JAԽRA<٘i)I9u@YG JJJJJpC&K YTV~?y㪪TA B!Cb7Cu7)BLE[[5Q[6&W~?[m[[[[BZYY i) IiY@ = a))aa紪YiYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029362.963165 s, next control iter: 1743029363.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029363.343165 s.<5GH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066630< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743029363.343280F (some fields omitted in printout)A(\[@AƆn'[@AA)=AQA`?Ao޿Ahx*A9?2Aս:A@<BA9?JAսRA@ٓH?l?`:?`V ?:`g|?)@ I٘i)I9t@YG JoB=JJJJƵC&Kt> YV~?yDTA]vCb77u7)BPE[[H[EW~?[w[[[[BZYY i) dڻIiR@t= ;)) t;;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029363.783165 s, next control iter: 1743029364.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029364.183165 s.BGH~,c !AAףp= ]@A~ \@ArdW~? A Ai%"AA2jNA"AZAbAjArAzAAAuAq3\^tAkt@AϺA>=Al# A 5.?AݿAJ*A9?2Aս:A<BA9?JAսRA<٘i)I9kt@YG JC=JJJJC&K YV~?ySAC777u7AB)BSE[[kC[VW~?[|[[[[BZYY i) tIiM@V= }<))Ѓ}<}<[YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743029364.203165 s, next control iter: 1743029364.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029364.603165 s.64IGH~,&!AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.257450@ elevatorAngleAction: -0.076273< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743029364.603277F (some fields omitted in printout)A{G]@A]@AxW~? AA%"AAfQjNA"AZAbAjArAzAAA)z?At tAs@A:A=AQAD?A fݿA*A:?2Aӽ:A`<BA:?JAӽRA`<٘i)I9s@YG JJJJJC&K  v7Y˲V~? v7yrSA̴C{7`(v7BB)BVE[[>[fW~?[[[[[BZYY i) f IiI@= @n$=)) @n$=@n$=ytYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029364.623165 s, next control iter: 1743029365.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2863 , header.stamp.nsec: 0 0 temperature: 13.568806 * salinity: 33.375065 , density: 1025.000000 * values[0]: 0.576778 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029365.023165 s.ZPGH~,|A!AAQ^@Av$^@AiW~? A A<%"AAlpjNA"AZAbAjArAzAAArc?AEw tA~s@A;AŅ=A%A` ?AKܿAO*A:?2Aӽ:Av=BA:?JAӽRAv=٘i)I9s@Y=G JJJJJGC&K YV~?y'ê>SAC{7j7av7)B[[;:[wW~?[s[[[[BZYY i) qIiE@R< o=))o=o=$Y'׃YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029365.043165 s, next control iter: 1743029365.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029365.443165 s.7VGH~,>]\!AJ"J*J2J:J?BJ?nJ5vJA(\_@An-[_@A]W~? A׿AC%"AAjNA"AZAbAjArAzAAAAkˢ?AFftA s@AVF;AzM=At'A ?A@ۿAHꆼ*A:?2A?Խ:A=BA:?JA?ԽRA=٘i)I9 s@YG JBJJJJrC&K YV~?yǪRA B"Cb77 v7)BZE[[Cl5[UW~?[4[[[[BZYY i) *,IiB@< =))==Y YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743029365.463165 s, next control iter: 1743029365.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2864, header.stamp.nsec: 00 temperature: 13.568936* salinity: 33.375084, density: 1025.000000* values[0]: 0.576363F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029365.863165 s.+]GH~,>w!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076273< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743029365.863288F (some fields omitted in printout)Afffff`@A0/>2`@AW~? AīA2%"AAޯjNA"AZAbAjArAzAAAO^Ȱ?A"wAtA9r@A8 ;A=AuAzQ?A`ڿA鉼*A :?2AjԽ:AX8=BA :?JAjԽRAX8=Y0@yy= ;ٓH`?W?9?Zܿ`?^ 6a?@?)0@ I٘i)I9r@YG JJA.<JJJC&Kr> YV~?y˪RAMC)7ŧ7dv7CB)B]E[[/0[ٚW~?[͏[[[[BZYY i) ;Ii=@ < `5=))p`5=`5=QYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029365.903165 s, next control iter: 1743029366.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029366.283165 s.5RdGH~,!AJ"J*J2J:JBJnJvJA ףp=a@AF@ a@A*W~? AɫA%"AAFjNA"AZAbAjArAzAAA@nm?A#tA89r@Av8AT=AZA?A`7ڿA0*A8:?2AIս:AY=BA8:?JAIսRAY=٘i)I99r@YlG JRJJJJȶC&K  w7YW~? w7yϪ,RAxC77{7 w7)B`E[[,[ŬW~?[U[[[[BZYY i) C KIi8@"< =))2==<êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029366.303165 s, next control iter: 1743029366.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2865., header.stamp.nsec: 0.0 temperature: 13.569043.* salinity: 33.375103., density: 1025.000000.* values[0]: 0.575899.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029366.703165 s.ٺjGH~,!AAGzb@A6\a@AW~? AyͫA}5%"AA'jNA"AZAbAjArAzAAAy?AŸtA+q@ADA/ʐ=A2پA?Ax0ٿAW.*A$:?2ARӽ:AP =BA$:?JARӽRAP =٘i)I9q@Y#G JގB=JJJJC&K YV.W~?yӪQACb77Gw7DB)BaE[[+f'[W~?[͘[[[[BZYY i) vZIi4@G^< >))>>|ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029366.723165 s, next control iter: 1743029367.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029367.123165 s.:qGH~,i!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.254068@ elevatorAngleAction: -0.076273< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743029367.123280F (some fields omitted in printout)ARb@AW&Rb@A(W~? AѫA%"AAykNA"AZAbAjArAzAAA>f?A*tStAEq@ACA=A>ϾA ?AiؿAD*A!*:?2A <ӽ:A* =BA!*:?JA <ӽRA* =٘i)I9Eq@YG JC=JJJJC&K YGW~?yתqQAεC{7j7bw7EB)BdE[[ "[W~?[0[[[[BZYY i) $jIi0@r< @>)) @>@>˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029367.143165 s, next control iter: 1743029367.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029367.543165 s.IxGH~,!AA(\c@A+dc@AX~? AիAb%"AA54kNA"AZAbAjArAzAAA4ˁ4?AutA"p@AA'=ADžA@X?A t׿A*A0:?2A{ӽ:AyG =BA0:?JA{ӽRAyG =٘i)I9p@YG JJJJJIC&K Y`W~?y۪QACb77w7)BgE[[G[W~?[[[[[BZYY id&) yIit-@< P,>))P,>P,>ΪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029367.563165 s, next control iter: 1743029367.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2866, header.stamp.nsec: 00 temperature: 13.569181* salinity: 33.375103, density: 1025.000000* values[0]: 0.575397F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029367.963165 s.{~GH~,!AJ"J*J2J:JM?BJM?nJt5vJAd@A'jined@A;&X~? A٫A>%"AAVVkNA"AZAbAjArAzAAAgw@AJtAHBp@A: Az=A1A [?A`ֿAߟ*A,:?2Aکӽ:A =BA,:?JAکӽRA =YYY@6yz= ٓH Y9{W~?yުPA6 B$C7w7FB)įBjE[[*[ W~?[[[[[BZYY i) >WIiQ(@ir< p?>))S np?>p?>ѪY4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029368.003165 s, next control iter: 1743029368.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029368.383165 s.؅GH~,<!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.232469@ elevatorAngleAction: -0.085522< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743029368.383278F (some fields omitted in printout)A= ףpe@At))ـ`R>`R>ԪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029368.403165 s, next control iter: 1743029368.783181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2867", header.stamp.nsec: 0"0 temperature: 13.569317"* salinity: 33.375092", density: 1025.000000"* values[0]: 0.574870"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029368.803165 s.AGH~,g3!AJ"J*J2J:JBJnJvJAzGf@Af@AMTX~? AtA%"AAkNA"AZAbAjArAzAAASjY@AP#tA0o@A!C;Aם=AA`?AV&տAmW*AhA:?2AR)ҽ:Ax=BAhA:?JAR)ҽRAx=٘i)I90o@YG JJJJJʷC&K YW~?yOAyCb77ex7)ͯB[[[|X~?[[[[[BZYY i) (uIi5@<  e>)) e> e>y5K٪YmYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029368.843165 s, next control iter: 1743029369.203189 s, wait time: 0.360024 s rAdjusting time to match Gazebo time: 1743029369.223165 s.gGH~,HN!AAQg@AUf@AkX~? AAm`%"AAkNA"AZAbAjArAzAAA˺YF<@Az&tAn@A2;AP=A+A@s9?AUԿAu諼*ACG:?2Aѽ:A=BACG:?JAѽRA=٘i)I9n@Y=G JMJJJJC&K YRW~?y-zOAC77{7x7)ѯBpE[[[ [3X~?[[[[[BZYY i) Ii>@< y>)) y>y>DݪY+‾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029369.243165 s, next control iter: 1743029369.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029369.643165 s.wЙGH~, *i!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085522< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743029369.643321F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\g@Ag@AUX~? AuA%"AAkNA"AZAbAjArAzAAA[EYRy @A*W0(tAmn@A+:Ak=A`2Ak?AӿA*AL:?2Aѽ:Ay;=BAL:?JAѽRAy;=٘i)I9n@YG JJJJJ C&K YW~?yROA϶Cj7j7gx7GB)֯BsE[[[xHX~?[b[[[[BZYY i) Ii@~&< 0D>))0D>0D>YjڀYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029369.663165 s, next control iter: 1743029370.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2868, header.stamp.nsec: 00 temperature: 13.569454* salinity: 33.375122, density: 1025.000000* values[0]: 0.574297F (some fields omitted in printout)BW~?)BR rAdjusting time to match Gazebo time: 1743029370.063165 s.GH~,p !AAh@Ah@A*X~? AA %"AAlNA"AZAbAjArAzAAAo @A2*tAVzm@APA7=AsA@?AaҿA`K*AeD:?2Aҽ:Ax=BAeD:?JAҽRAx=Y{@y7=lٓH??@z5?}пb?@ ᴿiQ ?){@ I٘i)I9zm@YG JJ_<JJJKC&Kn>  y7YW~? y7yNAC77y7)ۯBvE[[w![]X~?[[[[[BZYY i) 塚Iiu@w< ܏>))l܏>܏>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029370.083165 s, next control iter: 1743029370.463175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029370.483165 s.u_GH~,!AJ"J*J2J:J?BJ?nJ5vJAq= ףi@Aaoi@A3X~? AA%"AA*lNA"AZAbAjArAzAAAlyZ@A:-,tA l@A*A.8=AR}A 4?AsѿAn*A%;:?2A/ӽ:A=BA%;:?JA/ӽRA=٘i)I9l@Y*G JJJJJvC&K YX~?y3NA B%C77{7Ky7)ByE[[[$rX~?[[[[[BZYY i) KIi @ I< )>)))>)>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029370.503165 s, next control iter: 1743029370.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2869, header.stamp.nsec: 00 temperature: 13.569637* salinity: 33.375156, density: 1025.000000* values[0]: 0.573682F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029370.903165 s.ȭGH~,͹!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.250219@ elevatorAngleAction: -0.085522< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743029370.903293F (some fields omitted in printout)AGzj@AoFj@ApX~? AA^%"AAeOlNA"AZAbAjArAzAAADq#@Aj-tA7Al@A6A=ALiAm?AпAx*AV[:?2Aѽ:A#=BAV[:?JAѽRA#=٘i)I9Al@YG J3JJJJC&K YU6X~?yNMAPCŧ7b7iy7IB)B}E[[[X~?[[[[[BZYY i) Ii2 @< O>))O>O>Y{lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029370.943165 s, next control iter: 1743029371.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029371.323165 s.xGH~,-!AJ"J*J2J:J?BJ?nJ5vJAQk@A k@AX~? AA%%"AAEtlNA"AZAbAjArAzAAA x@A٠/tA8k@Ao)ĺA=A0UA!?A пAƼ*A_c:?2Ah{ѽ:A=BA_c:?JAh{ѽRA=٘i)I9k@YfG J,üB=JJJJ̸C&K YQX~?ySMA{C77{7ýy7)BE[[[aX~?[Wê[[[[BZYY i) 3Ii*@nt< (>)) (>(>MYF)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029371.363165 s, next control iter: 1743029371.723179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2870*, header.stamp.nsec: 0*0 temperature: 13.569807** salinity: 33.375153*, density: 1025.000000** values[0]: 0.573027*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029371.743165 s.WGH~,!AA\(l@AfNk@A{X~? AkA%"AAklNA"AZAbAjArAzAAA^ /@Aj R1tAj@A:A˱=ALBA )I?A pοA̼*A k:?2AHѽ:A-=BA k:?JAHѽRA-=I٘i)I9j@YG JfɼC=JJJJC&K YlX~?yLAC)7b7y7)B[[q۾[X~?[ƪ[[[[BZYY i) `ǼIi@ѥ< E>))E>E>]Y7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029371.783165 s, next control iter: 1743029372.143180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743029372.163165 s.z}GH~,q !AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085522< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743029372.163297F (some fields omitted in printout)Am@Arl@AAY~? AA%%"AAѾlNA"AZAbAjArAzAAA0*S&@A9 2tA)Fj@A;A=AgX.A`vl?Al̿AѼ*AEc:?2A^7ҽ:A=BAEc:?JA^7ҽRA=Yƛ@6 .y^=V ;ٓHj?`??@ſ?զmc?y?)ƛ@ I٘i)I9Fj@YG JϼJm<JJJ"C&Kn>  z7YX~? z7ysjLA .зC777n0z7JB)BE[[FѾ[X~?[ɪ[[[[BZYY i) tμIi?< >))k>>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029372.183165 s, next control iter: 1743029372.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029372.583165 s.GH~,R%!AAp= m@A8բm@A,.Y~? A_A%"AAslNA"AZAbAjArAzAAAv- T@AFWX4tA*i@AsG;A ,=AA o?AʿA ּ*AbZ:?2A/ӽ:AYM=BAbZ:?JA/ӽRAYM=٘i)I9i@Y)G JӼJJJEJMC&K Y[X~?yKAC{7iz7)BE[[gǾ[X~?[̪[[[[BZYY i) ռIi?%ۘ< >)) >>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029372.603165 s, next control iter: 1743029372.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2871, header.stamp.nsec: 00 temperature: 13.570021* salinity: 33.375156, density: 1025.000000* values[0]: 0.572327F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029373.003165 s.z GH~,U4@!AJ"J*J2J:J?BJ?nJ5vJAHzn@Ayn@A@GY~? AA^%"AAU mNA"AZAbAjArAzAAA5㭄@A5tAh@A;A]=AA)?A`ɿA[uټ*A{:?2A'Gѽ:A0=BA{:?JA'GѽRA0=٘i)I9h@Y G J׼JJJJxC&K Y(X~?ylyKA B&C)7ŧ7z7)BE[[r[X~?[mϪ[[[[BZYY i) ܼIi?%< >))>>YkYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029373.043165 s, next control iter: 1743029373.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029373.423165 s.uGH~,[!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.249611@ elevatorAngleAction: -0.085522< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743029373.423294F (some fields omitted in printout)AQo@A_Po@Az`Y~? AA3%"AAr0mNA"AZAbAjArAzAAA`aљ@A =6tA<'h@AĸAR=AjA?A;\ǿA۲ۼ*A:?2A:ѽ:A=BA:?JA:ѽRA=٘i)I9'h@YJ G JڼJJJJC&K YX~?yKAQCZ7SI7lz7) BE[[h[Y~?[&Ҫ[[[[ZZ¸BZYY i¸f=) wмIi?< >)) >>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029373.443165 s, next control iter: 1743029373.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2872, header.stamp.nsec: 00 temperature: 13.570250* salinity: 33.375164, density: 1025.000000* values[0]: 0.571555F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029373.843165 s.GH~,u!AJ"J*J2J:JQ?BJQ?nJl5vJA(\p@A9&'p@AyY~? AA %"AAVmNA"AZAbAjArAzAAA}6@AP3+8tAmg@A A=AA@?A@ۖſAPݼ*A:?2Av7ѽ:A=BA:?JAv7ѽRA=٘i)I9mg@Y G JܼJJJJιC&K  {7YX~? {7yfJA|C)7b7{7)BE[[EL[%Y~?[Ԫ[[[[ZZBZYY i) ļIi?O< q>))q>q>Y=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029373.883165 s, next control iter: 1743029374.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029374.263165 s.GH~,ؐ!AA33333q@Ap@ALY~? AmA%"AAA}mNA"AZAbAjArAzAAAט@AsUB9tAf@A!FAkp=A0Aa?A ÿA?*A:?2AMҽ:A<BA:?JAMҽRA?r? ?9r?`\j ah?)ɻ@ I٘i)I9f@Y] G JB=JuJJJC&Kn> YY~?y JA?Cj7Z7O{7)BE[[N[=Y~?[,ת[[[[ZZBZYY i) ︼Ii?t< >))uk>>yY|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029374.283165 s, next control iter: 1743029374.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 28732, header.stamp.nsec: 020 temperature: 13.5704872* salinity: 33.3751872, density: 1025.0000002* values[0]: 0.5707252F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029374.683165 s.lGH~,g!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.230280> elevatorAngleAction: 0.083693< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743029374.683309F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= r@A2q@AڬY~? AA%"AAmNA"AZAbAjArAzAAAT@AZKB:tAe@AB As=AEUA?AI ¿A*A3:?2AMӽ:AŶ<BA3:?JAMӽRAŶ<٘i)I9e@Y G JC=JJJJ$C&K Y0Y~?yIAѸCZ7SI7o{7)BE[[:[TY~?[z٪[[[[ZZBZYY i) 3IiI?x< >))>>y4=AժYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029374.683165 s, next control iter: 1743029375.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743029375.103165 s.GH~,!AA{Gr@A?r@AY~? AAj%"AAmNA"AZAbAjArAzAAA$@Aj4od(;tAd@AR#eAv=AA6?AAI.*Af:?2ATѽ:Ad<BAf:?JATѽRAd<٘i)I9d@YO G JJJJJOC&K Y(LY~?yO$IAC77{7)#B[[[lY~?[۪[[[[ZZBZYY i) $Iic?kLm< ?))??_YkYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029375.123165 s, next control iter: 1743029375.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029375.523165 s.GH~,{!AJ"J*J2J:JBJnJvJAQs@An,(s@AIY~? AA%"AAmNA"AZAbAjArAzAAAE@A.C;tA'!d@A]:A 2=AK_AJ?A%Aռ*A2:?2AM6ѽ:AX;BA2:?JAM6ѽRAX;٘i)I9!d@Y G JJJJJzC&K YLhY~?yHA B'Cb77{7))BE[[]̀[[Y~?[ݪ[[[[ZZBZYY i) qIiT?bb< ,?)) ,?,? zYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029375.543165 s, next control iter: 1743029375.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2874, header.stamp.nsec: 00 temperature: 13.570771* salinity: 33.375191, density: 1025.000000* values[0]: 0.569812F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029375.943165 s.XdGH~,B]!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083693< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743029375.943330F (some fields omitted in printout)A(\t@A/[t@A#Y~? A As%"AAnNA"AZAbAjArAzAAAwWO@AT !AJ"J*J2J:JBJnJvJAfffffu@AG2u@AZ~? A A9^%"AA @nNA"AZAbAjArAzAAA?F @A%iH=tA2b@AA:A<A<Al?A@񍵿Aą*A(:?2A:ҽ:A\BA(:?JA:ҽRA\Ys@ YY~?y\+HA<}Cm|7)2BE[[tX[˶Y~?[S[[[[ZZBZYY ip̈́=)  R~Ii?NL< ?))l??cYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029376.383165 s, next control iter: 1743029376.763180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2875&, header.stamp.nsec: 0&0 temperature: 13.570974&* salinity: 33.375206&, density: 1025.000000&* values[0]: 0.569078&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029376.783165 s.Z HH~,2 !AA ףp=v@A )? v@A.Z~? A AK%"AA_gnNA"AZAbAjArAzAAA.۹ @Ai=tA~b@A8AA9=Ay?A}뱿AG7*A:?2AO<ӽ:A焼BA:?JAO<ӽRA焼٘i)I9b@Y G JhC=JJJJC&K YY~?y#HAC7|7)5BE[[SC[Y~?[[[[[ZZBZYY iI =) vjIi?@?< ?))x??B)Y YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743029376.803165 s, next control iter: 1743029377.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029377.203165 s.HH~,M !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.250920> elevatorAngleAction: 0.075219< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743029377.203286F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzw@ANv@AHZ~? A A<%"AAΎnNA"AZAbAjArAzAAA\_W!@Aq9>tAlWb@Ay*ںA:A=A@?A A*A:?2A\ѽ:AaaBA:?JA\ѽRAaa٘i)I9Wb@Y G JJJJJ&C&K YZY~?yHAӹC77y|7IB)7BE[[;.[&Y~?[][[[[ZZBZYY i) EVIi&?4<  V?)) V? V?)YlYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029377.243165 s, next control iter: 1743029377.603179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029377.623165 s.VHH~,Xg !AARw@A.rOWw@A3bZ~? A A0%"AATnNA"AZAbAjArAzAAA!@Ab >tA?b@A5AeA<ޫ=A`?AΤA6*A :?2AZѽ:AP.ҼBA :?JAZѽRAP.Ҽ٘i)I9?b@Y G JgJJJJQC&K  }7YY~? }7yHA BC77}7)E[[k[Z~?[[[[[BZYY i) <.CIi5?*< "?)) "?"?yfj=86*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029377.643165 s, next control iter: 1743029378.023175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2876 , header.stamp.nsec: 0 0 temperature: 13.571013 * salinity: 33.375225 , density: 1025.000000 * values[0]: 0.568746 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029378.043165 s. HH~, !AJ"J*J2J:J?BJ?nJ5vJA(\x@A|)tAzEb@A-A4Az=A@?A AT8Y;*A:?2Alѽ:AC-BA:?JAlѽRAC-９٘i)I9Eb@Y G JQt:JJJJ|C&K YZ~?yxGA)C7b7!S}7)E[[[Z~?[[[[[BZYY i) u/IiF|?t!< '?))'?'?r*YY{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029378.063165 s, next control iter: 1743029378.443181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029378.463165 s.X'HH~, !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075219< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743029378.463313F (some fields omitted in printout)Ay@A1 Xrey@A|Z~? A A{!%"AAoNA"AZAbAjArAzAAA;L3#@AKX>tA4hb@A A7ZA=A@&?AOAr;*A:?2Aoҽ:ABA:?JAoҽRAYf@'=y+ZzٓHk?kh-$e? ?vmuL?öUV?)f@ I٘i)I9hb@Y G J[;J7JJJC&Kn> Y.Z~?ybBHA'=TCj7j7w}7)6B[[f߽[Q6Z~?[[[[[BZYY ih=) .Iig?A< N-?))xnN-?N-?*Y'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029378.483165 s, next control iter: 1743029378.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2877, header.stamp.nsec: 00 temperature: 13.570904* salinity: 33.375229, density: 1025.000000* values[0]: 0.568816F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029378.883165 s.y-HH~,8 !AJ"J*J2J:JBJnJvJA= ףpz@A)ntA=b@Aw:AD]zA>A 7?A٧`?AVr-<*AV:?2Aӽ:A< BAV:?JAӽRA< ٘i)I9b@Y G J<JJJJһC&K YJZ~?yMHAC{7Z7}7)4BE[[H[APZ~?[[[[[BZYY i) IiT?`(< f2?))yf2?f2?*Y YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029378.903165 s, next control iter: 1743029379.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029379.303165 s.V4HH~,wg !AAzG{@A;{@AZ~? A A%"AAToNA"AZAbAjArAzAAA7 Sp$@A#>tAb@A}:A|A&>A ?A ߑ?Ah<*A:?2AXѽ:A& BA:?JAXѽRA& ٘i)I9b@Y# G JI<B=JJJJC&K Y"fZ~?y8HAC)7ŧ7$}7HB)1BE[[Ʀ[}jZ~?[2[[[[BZYY i=) Q=IiC?T; 7?))7?7?4*YvnYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029379.323165 s, next control iter: 1743029379.703177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 28782, header.stamp.nsec: 020 temperature: 13.5706672* salinity: 33.3752562, density: 1025.0000002* values[0]: 0.5691912F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029379.723165 s.;HH~,H !AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.252883> elevatorAngleAction: 0.066202< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743029379.723337F (some fields omitted in printout)AQ|@Apn{@AZ~? A^ A@"%"AAv|oNA"AZAbAjArAzAAAo-%@A>tAcc@Ap;AvAG:>A?A@4?AU<*A:?2A5 ҽ:A<BA:?JA5 ҽRA<٘i)I9cc@Yd G Jn~<C=JJJJ(C&K  ~7Y2Z~? ~7y#IAպC7)7}8~7)-BE[[ [?[Z~?[[[[[BZYY i) ܻIi)4?; *=?)) *=?*=?yvh=*Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029379.763165 s, next control iter: 1743029380.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029380.143165 s.\/BHH~, * !!AA)\|@A9y|@AZ~? A A(%"AAoNA"AZAbAjArAzAAAn6i%@Akau>tAc@AT:A-AlN>A@\?Aw?A<*A:?2ACҽ:A" BA:?JACҽRA" ٘i)I9c@Y G J<JJJJSC&K Y?Z~?yhIA BC)7ŧ7q~7))BE[[Ѽ[Z~?[[[[[BZYY i) P!Ii&?-; vB?))vB?vB?y=*YyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029380.163165 s, next control iter: 1743029380.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029380.563165 s.HHH~,R $!!AJ"J*J2J:JBJnJvJA}@A9ߡ}@A3[~? A^ AQ2%"AAoNA"AZAbAjArAzAAA2D[K&@AG>tA>cd@AtAϚAb>A`?A⾮?A)V<*A:?2A4ӽ:A@BA:?JA4ӽRA@Y6';hb>yϚmٓH ?#̿$Ჿ`?7?j8U? 6 ?)6'; I٘i)I9cd@Y G J~<JXJJJ~C&K@p> Y˹Z~?yIAb>+Cj7Z7%~7GB)$BE[[^[Z~?[[[[[BZYY i) Iij?[i; G?))pG?G?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029380.583165 s, next control iter: 1743029380.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2879, header.stamp.nsec: 00 temperature: 13.570315* salinity: 33.375278, density: 1025.000000* values[0]: 0.569803F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029380.983165 s.OHH~,>!!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.235274> elevatorAngleAction: 0.066202< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743029380.983292F (some fields omitted in printout)Aq= ף~@Ao~@AC3[~? A A>%"AA8oNA"AZAbAjArAzAAA-U&@A`E=tAd@AAdÜAw>A 0~?A ?A<*A:?2AԽ:ABA:?JAԽRA٘i)I9d@YV G J<JJJJC&K YTZ~?y/8JAUC777y~7)BE[[iͅ<[Z~?[ [[[[BZYY i) MIi ?v; F>M?))ʂF>M?F>M?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029381.003165 s, next control iter: 1743029381.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029381.403165 s.&VHH~,Y!!AJ"J*J2J:J?BJ?nJ 5vJAGz@Ap(|F@AGM[~? A AN%"AApNA"AZAbAjArAzAAA({az'@A0=tA%e@A]#AVA>Ar?A?A<*A;?2Aҽ:AkFBA;?JAҽRAkF٘i)I9e@Y G Ja<JJJJԼC&K  7YZ~? 7y?JAC{7{77FB)BE[[=[Z~?[[[[[BZYY i) 5CIi>; R?)) R?R?*YpYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029381.423165 s, next control iter: 1743029381.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2880", header.stamp.nsec: 0"0 temperature: 13.569927"* salinity: 33.375275", density: 1025.000000"* values[0]: 0.570554"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029381.823165 s.\HH~,6t!!AAQ@A j@A;g[~? A Aa%"AABpNA"AZAbAjArAzAAAxU$(@AGuAc?A@?A'<*A`;?2Aҽ:AS; BA`;?JAҽRAS; ٘i)I9f@Y G J <JJJJC&K Yj [~?yPKAC777%W7)B[[Tq=[ [~?[i[[[[BZYY i) $bIiL>kw; *X?))*X?*X?*YmׂYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029381.843165 s, next control iter: 1743029382.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029382.243165 s.cHH~,u!!AJ"J*J2J:J(?BJ(?nJB5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066202< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743029382.243291F (some fields omitted in printout)A\(@APi@A[~? AtAw%"AA_ipNA"AZAbAjArAzAAASD(@Ae;tAf@AUWAЃA*>AQ?A4?A7<*A;?2Aӽ:A BA;?JAӽRA ٘i)I9f@Yg G J۳<JJJJ*C&K Y'[~?yapKAֻC7y7)B¹E[[=[%[~?[[[[[BZYY i) VIiX>3V; ]?))]?]?*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029382.263165 s, next control iter: 1743029382.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029382.663165 s.jHH~,q!!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2881, header.stamp.nsec: 00 temperature: 13.569523* salinity: 33.375290, density: 1025.000000* values[0]: 0.571357F (some fields omitted in printout)A@A (ˁ@A[~? AA%"AApNA"AZAbAjArAzAAA/H^)@A\:tAGg@A;:A]A+>A $=?Aw?A$E<*A:?2A\Խ:AQBA:?JA\ԽRAQYc=)>yP:ٓH@F?8Կp(? H\?`!ԙ 0?ƝZ??)c= I٘i)I9Gg@Y G J<B=Jw:JJJVC&Kr> YB[~?yKA> BC77CB) BĹE[[*=[@[~?[ [[[[BZYY i) lIi3>$; `'c?))ss`'c?`'c?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029382.683165 s, next control iter: 1743029383.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029383.083165 s.EqHH~,HS!!AJ"J*J2J:JBJnJvJAp= ׂ@Azݢ@A[~? AA%"AApNA"AZAbAjArAzAAA u))@ApA@9tAg@Aڷ ;A}A>A%?AJ?Ab<*A:?2A{ս:ABA:?JA{սRA٘i)I9g@Y G JA<C=JJJJC&K  7Y][~? 7y>LA,Cb777BB)BǹE[[=[[[~?[[[[[BZYY i) 76:IiU9>:: h?))FXh?h?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029383.103165 s, next control iter: 1743029383.483192 s, wait time: 0.380027 s rAdjusting time to match Gazebo time: 1743029383.503165 s.wHH~,D4!!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.258486> elevatorAngleAction: 0.066202< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743029383.503266F (some fields omitted in printout)AHz@Ab.y@A;[~? AA|%"AAypNA"AZAbAjArAzAAAACci*@AK>8tAbmh@A";A=&AuH>A] ?A?A۫<*Ad;?2Aӽ:ARBAd;?JAӽRAR٘i)I9mh@Yu G Jz<JJJJC&K YSx[~?y LAWC{7{7>7)BʹE[[>[v[~?[[[[[BZYY i) z:Ii=P: ;n?)) ;n?;n?"*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029383.523165 s, next control iter: 1743029383.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2882, header.stamp.nsec: 00 temperature: 13.569133* salinity: 33.375309, density: 1025.000000* values[0]: 0.572153F (some fields omitted in printout)>Sx[~?)>  rAdjusting time to match Gazebo time: 1743029383.923165 s.4~HH~,!!AJ"J*J2J:JBJnJvJAQ@AP@A[~? AA%"AA5qNA"AZAbAjArAzAAAQ/+@A,7tAh@A!~:A’AN>A@y?A;?AĨ<*A ;?2Ay8Խ:ASBA ;?JAy8ԽRAS٘i)I9h@Y G J<JJJJ׽C&K Y[~?yA MAC777:7AB)B͹E[[%+>[8[~?[[[[[BZYY i) 3&;Ii4=M&: $s?))$s?$s?%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029383.943165 s, next control iter: 1743029384.323176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029384.343165 s.A?A`P?A|<*Ae;?2A/Խ:AABAe;?JA/ԽRAA٘i)I9i@Y"G JQ<JJJJC&K Y[~?yysMAC{7j7W7)B[[խA>[[~?[[[[[BZYY i) b;Ii<9%9 P{y?))P{y?P{y?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029384.383165 s, next control iter: 1743029384.743177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2883*, header.stamp.nsec: 0*0 temperature: 13.568728** salinity: 33.375340*, density: 1025.000000** values[0]: 0.572903*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029384.763165 s.>HH~,<0"!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066202< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743029384.763279F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333@Ax@AU\~? AA$=%"AARqNA"AZAbAjArAzAAATb,@A&95tAj@A2A!Ax>A !?A?Aա<*A:?2Asս:AuBA:?JAsսRAuYlO>}>y!RٓH ?0ڿ Pp6#?2?蚿?`\b B?)lO> I٘i)I9j@YvG J<J[<JJJ-C&Kt> Y[~?yߪMA>׼Cb77>t7)BйE[[-X>[[~?[\[[[[BZYY i쐙=) x;II?iym ~?))Pv~?~?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029384.783165 s, next control iter: 1743029385.163182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029385.183165 s.˒HH~,kK"!AAףp= @Aֆ@Al3\~? AAh%"AADxqNA"AZAbAjArAzAAA,@A3tAAj@AdnA7AX>AҐ?A@$?Aں<*A:?2Aֽ:ALzBA:?JAֽRALz٘i)I9j@YG J<JJJJXC&K Yp[~?yDܪ2NA BC{7{7鐀7@B)BӹE[[]n>[[~?[rߪ[[[[BZYY i) dۮ;IX I?i/ 0?))0?0?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029385.203165 s, next control iter: 1743029385.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029385.603165 s.94HH~,f"!AJ"J*J2J:J?BJ?nJ5vJA{Gᇦ@AP@AZL\~? AA%"AA.qNA"AZAbAjArAzAAAcxY)-@AxtNK2tA3k@AuvAAڠ>Alk?An?Aq<*AU;?2ASԽ:AԉBAU;?JASԽRAԉ٘i)I9k@YG J<B=JJJJC&K Y7[~?yتNA-Cŧ7b77?B)BֹE[[ǭ>[ [~?[Tݪ[[[[BZYY i) ާ;I I?i+<} ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029385.623165 s, next control iter: 1743029386.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2884 , header.stamp.nsec: 0 0 temperature: 13.568333 * salinity: 33.375340 , density: 1025.000000 * values[0]: 0.573644 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029386.023165 s.ZHH~,{"!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074983< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743029386.023294F (some fields omitted in printout)AQ@A##@Ae\~? AbAW%"AAqNA"AZAbAjArAzAAA MW(.@ASiT0tAk@A'd:Az2A>AFD?A`?AZ<*A-:?2A:4ս:AKBA-:?JA:4սRAK٘i)I9k@YcG JE<C=JJJJC&K Y\~?yժNAXC77Aʀ7)BٹE[[$>[n\~?[۪[[[[BZYY i) q;II?iHqk ?))??y*}=V*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029386.043165 s, next control iter: 1743029386.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029386.443165 s.<æHH~,S]"!AJ"J*J2J:J?BJ?nJ5vJA(\@A/[@A}\~? AA%"AAEqNA"AZAbAjArAzAAA̛s.@ADa.tA>l@A;AA?A`?A?A)<*Ay:?2Aս:ABAy:?JAսRA٘i)I9l@YG J<JJJJپC&K Y.\~?yrѪQOAC{7j77)ޯB[[ۮ>[5\~?[zت[[[[BZYY i) "!AAfffff@A62@A\~? AA5%"AAirNA"AZAbAjArAzAAAN FlQ/@A92e0-tAیl@A;A4A?A@=?A`?AC<*Aw:?2A2ֽ:ABAw:?JA2ֽRAYa>?y`;ٓH`?.߿@`?ܹ?ws?@c?`?)a> I٘i)I9l@YG Jː<J7;JJJC&Ku>  7Y[P\~?[ժ[[[[BZYY i)  elevatorAngleAction: 0.074983< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743029387.283313F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=@AG @AQ\~? AAp%"AAA3rNA"AZAbAjArAzAAA%./@ApM+tAm@Avu:Ax9A ?A@Ͻ?Aj?A}<*A~:?2Aֽ:ABA~:?JAֽRA٘i)I9m@YBG Jc<JJJJ/C&K Y_\~?yȪ PAٽC77C 7)үB޹E[[ˤ>[~k\~?[Ҫ[[[[BZYY i) p$%"AAWrNA"AZAbAjArAzAAA=V:0@A c-S)tAm@A?$A?A%?A4?A $S?A{D<*A':?2A9ս:A{BA':?JA9սRA{I٘i)I9m@YG J<B=JJJJZC&K Y4x\~?yBĪjPA BC7)7<7:B)ίBE[[oF>[h\~?[Ϫ[[[[BZYY i) 4<*A:?2Aɡս:AABA:?JAɡսRAA٘i)I9n@YG J<C=JJJJC&K Y\~?yݿPA/CZ7Z7Y79B)ɯBE[[>[>\~?[k̪[[[[BZYY i) tC elevatorAngleAction: 0.074983< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743029388.543285F (some fields omitted in printout)A(\@A_@A\~? AfA]2%"AArNA"AZAbAjArAzAAAk~S0@A=GX%tATn@A?"AJAg?A@$?AM?A! <*A(:?2Aֽ:A؜ BA(:?JAֽRA؜ ٘i)I9n@Y)G J~<JJJEJC&K Y$\~?yx&QAZC7{7Bv7)ůB[[/>[\~?[Ȫ[[[[BZYY i) R?yNMݺٓH@8?``?9??錄?[?)#> I٘i)I9o@YyG JD<J#JJJۿC&Kxv> Y\~?ySQA?CZ7Z7풁78B)BE[[wn>[C\~?[*Ū[[[[BZYY i) ]%b[w\~?[=[[[[BZYY iѫ=) `q elevatorAngleAction: 0.083895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743029389.803302F (some fields omitted in printout)AzG@Av@A:]~? A׫A %"AAZ sNA"AZAbAjArAzAAAb\01@AWtAp@A.:AgA(*?A%t?A ;?Az<*AT:?2Aս:ART BAT:?JAսRART ٘i)I9p@YG Jޠ<JJJJ1C&K Y\~?y PRAھCb77D́74B)BE[[>[ ]~?[[[[[BZYY i) N]~?[)[[[[BZYY i) G elevatorAngleAction: 0.083895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743029391.063301F (some fields omitted in printout)A̒@A# @A}]~? A(˫A%"AABosNA"AZAbAjArAzAAA0Hf2@A;KtAq@A9ARsA9?A?A?Aܫ<*A:?2A:ֽ:A9BA:?JA:ֽRA9YM}?9?yQs?t9ٓH?`;8`"@'?@?`[ɳ? \7?`~?)M}? I٘i)I9q@YG J <J,AJJJC&Kv> Y0]~?y뛪SA9?[Cj7Z7E"71B)BE[[w ?[W]~?[p[[[[BZYY i) ?A`im?A?A׮<*A:?2Aֽ:ARBA:?JAֽRAR٘i)I9@r@YpG Jޫ<JJJJC&K YF]~?ySACŧ7b7>7)B[[x?[p]~?[[[[[BZYY i) } elevatorAngleAction: 0.083895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743029392.323320F (some fields omitted in printout)AQ@A@AĽ]~? A,A^%"AA6sNA"AZAbAjArAzAAA;)3@A5 tAns@APeA(ѦAI?A&?A@F?A$<*A<:?2A6Zֽ:ABA<:?JA6ZֽRA٘i)I9ns@Y(G J_<JJJJ3C&K YHp]~?yiTAܿC{7Z7Fx7,B)BE[[?[]~?[[[[[BZYY i) r*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029392.343165 s, next control iter: 1743029392.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2891*, header.stamp.nsec: 0*0 temperature: 13.565784** salinity: 33.375443*, density: 1025.000000** values[0]: 0.578605*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029392.743165 s.W IH~,y/$!AA\(@A4@A]~? A?A#n%"AAsNA"AZAbAjArAzAAAx/4g3@A tA. t@AcA?KAtYN?A@"?A?AR<*A)z:?2A)ֽ:AߖBA)z:?JA)ֽRAߖ٘i)I9 t@YG J<JJJJ^C&K Yi]~?y+UA BC7ŧ77)B[[%?[C]~?[_[[[[BZYY i)  Y]~?y~UAS?1C{7j77+B)BE[[+?[]~?[[[[[BZYY i) ;?))>?>?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029393.183165 s, next control iter: 1743029393.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029393.583165 s.IH~,Re$!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743029393.583285F (some fields omitted in printout)Ap= ח@A4ע@A]~? AA:3%"AA.tNA"AZAbAjArAzAAAJ%i3@AtAOu@A;AAX?A\?A ~?A&S<*A@e:?2AS׽:AnBA@e:?JAS׽RAn٘i)I9Ou@YMG J@<C=JJJJC&K Y]~?ywVA\C7777E΂7)B[[1?[Y]~?[[[[[BZYY i) _?[+^~?[6[[[[BZYY i) " elevatorAngleAction: 0.083895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743029394.843286F (some fields omitted in printout)A(\@A'@A(5^~? AA0m%"AAՇtNA"AZAbAjArAzAAA?@4@AasAyPw@AoA2ATh?A ?AN?A<*AI:?2Ab0׽:ABAI:?JAb0׽RA٘i)I9Pw@YG J<JJJJ5C&K Y]~?y9dkWACb7G$7)kB[[nD?[}-^~?[{[[[[BZYY i0=) o Y]~?y-]WAm? BCj7Z7@7$B)dBE[[fJ?[)C^~?[t[[[[ZZZZ¸>BZYY i¸>') 1kS B?))B?B?/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029395.283165 s, next control iter: 1743029395.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 28942, header.stamp.nsec: 020 temperature: 13.5645482* salinity: 33.3754652, density: 1025.0000002* values[0]: 0.5811742F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029395.683165 s.l:IH~,Z$!AJ"J*J2J:JBJnJvJAףp= @A+N֛@AZ^~? AJA3J%"AActNA"AZAbAjArAzAAAtNDx5@A,|sAQx@AH!A`IAr?AL?A@?A<*A4:?2A6׽:A8BA4:?JA6׽RA8٘i)I9x@Y_G JV<JJJJC&K Y^~?y"V\XA2C7777]7)_B[[&P?[rX^~?[n[[[[ZZZZBZYY i) fW%!AJ"J*J2J:J*?BJ*?nJh5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084502< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743029397.363265F (some fields omitted in printout)Afffff@A7:2@A*^~? AzA|%"AAg*uNA"AZAbAjArAzAAA|h5@AsA{@Ao&\;A6/A@?A@?A L;?A.)<*AE:?2ArH׽:A㺶BAE:?JArH׽RA㺶YrO??y/Y\;ٓHpo?9s >l?@r?@^?ʄk?x?)rO? I٘i)I9{@YSG J<J.=JJJ7C&Kx> YG^~?yq9YA?Cb77IЃ7)?B[[i?[ʨ^~?[P[[[[ZZZZBZYY i ) S:?2A/׽:A_<BA>:?JA/׽RA_<٘i)I9 }@YG JC<JJJJC&K  7Ye^~? 7yO*uZA4CZ7SI7 7B)2B E[[ v?[^~?[A[[[[ZZZZBZYY i) ysA}@A A@'=A?A@?A?A:*A:?2A!׽:A=<BA:?JA!׽RA=JJJC&KAx> Y%^~?y1ZA?Cb7_7)+B[[Մ?[_~?[A([[[[BZYY i]o)  v= Y|^~?yYA?CZ77B),BE[[ޔ?[cH_~?[G[[[[BZYY i@Mo) +;IF?iHտ2 l&?))l&?l&?*ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029401.583165 s, next control iter: 1743029401.963230 s, wait time: 0.380065 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2900, header.stamp.nsec: 00 temperature: 13.563046* salinity: 33.375538, density: 1025.000000* values[0]: 0.584120F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029401.983165 s.IH~,~&!AAq= ף@Ao@A9_~? Ac/AT%"AA vNA"AZAbAjArAzAAAveƩ7@A6sA|@AlmA:,=AȢ?A`?A?A*AR9?2A ׽:A!=BAR9?JA ׽RA!=٘i)I9|@YmG JJJJJC&K  7Y^~? 7yCYAC777 7B).BE[[K?[T_~?[%[[[[BZYY i) 9;IF?i׿d K?))K?K?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029402.003165 s, next control iter: 1743029402.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029402.403165 s.&IH~,͙&!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058423< massPositionAction: 0.0000004 buoyancyAction: 0.000500J dt: 0.420001"J2 time: 1743029402.403291*JF (some fields omitted in printout)2J:JBJnJvJAGz@AwkF@AOE_~? A(AS%"AA*vNA"AZAbAjArAzAAA@157@A{7VTIJsA@{@AhA1[=AeC?A?A`.H?A_*Am9?2A ׽:A;=BAm9?JA ׽RA;=٘i)I9{@YG JlJJJJ;C&K Y^~?yLکXA BC7M(7)2B[[M?[`_~?[[[[[BZYY i) ;I7F?iBٿ Dt?))Dt?Dt?rتYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743029402.423165 s, next control iter: 1743029402.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2901", header.stamp.nsec: 0"0 temperature: 13.563199"* salinity: 33.375549", density: 1025.000000"* values[0]: 0.583624"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029402.823165 s.IH~,2&!AAQ@A@A&P_~? A A%"AAl;vNA"AZAbAjArAzAAAX.7@A|GsAmz@A2Aa=AO?A?A`D{?A*A:?2A׽:A =BA:?JA׽RA =٘i)I9z@YG JgJJJJfC&K Yo^~?yѩ~XA C77{7D7)7B[[~?[j_~?[[[[[BZYY i) j;IЍF?iٿH B?))B?B?yܖoڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029402.843165 s, next control iter: 1743029403.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029403.243165 s.J "J *J 2J IH~:JS?BJS?,~&!AnJ5vJA\(@Aa@AZ_~? ASAr%"AAKvNA"AZAbAjArAzAAAjZ 8@A0KsAgz@ANJAc=A{?A`w9?A`?A͵*Ad:?2AD׽:A =BAd:?JAD׽RA =٘i)I9gz@YgG JJJJJC&K Y^~?yɩXA7C77a7 B)9BE[[?[t_~?["ש[[[[BZYY i) <-;I~vF?iؿԊ hh@))hh@hh@ڪYFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743029403.263165 s, next control iter: 1743029403.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029403.663165 s.IH~,q&!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058423< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743029403.663323F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2902, header.stamp.nsec: 00 temperature: 13.563425* salinity: 33.375557, density: 1025.000000* values[0]: 0.582978F (some fields omitted in printout)A@AQE˫@A^d_~? AAj%"AAZvNA"AZAbAjArAzAAAD JC*8@A-sAy@A)kAE=A;?AV?A?A*A% :?2Ag׽:Aj=BA% :?JAg׽RAj=YX??yE=]lٓH?`9 ?` ?`? ?䃳@%{-)?)X? I٘i)I9y@Y G J5JG;<JJJC&Kx> YO^~?yWA?bCj7SI7N~7 B)?AFs?A@}?AvH*Aa:?2As׽:A<BAa:?JAs׽RA<٘i)I9|w@YG JpJJJJhC&K Y _~?yܞVACj7j77)LB[[?[\_~?[[[[[BZYY i) IF?iۿ, Y @))Y @Y @yªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029405.383165 s, next control iter: 1743029405.743178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2904&, header.stamp.nsec: 0&0 temperature: 13.563881&* salinity: 33.375561&, density: 1025.000000&* values[0]: 0.581630&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029405.763165 s.8IH~,#p'!AJ"J*J2J:JBJnJvJA33333@A~;@A<_~? AA!%"AA`vNA"AZAbAjArAzAAAٴ,8@Ap-ύsAEv@AqAV=A"?AT?A`=?A6*A:?2A%׽:A<BA:?JA%׽RA  7Y@_~? 7y"UA?9C7)7 7B)OBE[[ ?[_~?[([[[[BZYY i) mwv@Aw+A=Al?A?A`x?A|f*A:?2A+׽:A_~? AԪAo%"AAsvNA"AZAbAjArAzAAA0B8@A@qsAu@A㊺A*=A?A`P?Ab?A*A::?2A;׽:A_<BA::?JA;׽RA_<٘i)I9u@YmG JlB=JJJJC&K Yp_~?y{TAC)7ŧ7c7)YB[[Ͼ?[_~?[[[[[BZYY i) \8IQE?iڿ :@)):@:@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029407.043165 s, next control iter: 1743029407.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029407.443165 s.8IH~,B]'!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067370< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743029407.443281F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@Ah,[@A_~? A̪AQ&"AAvNA"AZAbAjArAzAAA8@AOgzsA u@AJn:AV=A?A&?A?A!*A:?2A׽:A3<BA:?JA׽RA3<٘i)I9 u@Y$G J*C=JJJJ?C&K Y) _~?y6s?TA BC7777Q7)\B[[#?[_~?[u[[[[BZYY iNƝ) 0ڻIE?i׿3 Q@))Q@Q@]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029407.463165 s, next control iter: 1743029407.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2906, header.stamp.nsec: 00 temperature: 13.564278* salinity: 33.375580, density: 1025.000000* values[0]: 0.580489F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029407.863165 s.+IH~,>'!AAfffff@A!<82@AS_~? A&ĪA&"AAvNA"AZAbAjArAzAAA"ŕ\9@A=ZusA{t@A`;A΃=Al&?A` E?A@e(?A*A:?2Aֽ:A<BA:?JAֽRA Y!_~?ygjSA+?C{77B)^BE[[@?[u_~?[k[[[[BZYY i) IrE?itؿ @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029407.883165 s, next control iter: 1743029408.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029408.283165 s.6RJH~,(!AJ"J*J2J:JBJnJvJA ףp=@AҢ> @A_~? A+A2&"AAyvNA"AZAbAjArAzAAA.>E9@Aj!psA$t@Ai+;A'=A?AI¼?A;?AW*A% :?2Aֽ:AYw<BA% :?JAֽRAYw<٘i)I9$t@YG JJJJJC&K Y!_~?yaSA:C{7j77)bB[[y?[_~?[a[[[[BZYY i) p I[E?i׿* @))@@ĵYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743029408.303165 s, next control iter: 1743029408.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2907., header.stamp.nsec: 0.0 temperature: 13.564487.* salinity: 33.375553., density: 1025.000000.* values[0]: 0.579956.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029408.703165 s.׺ JH~,-(!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077038< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743029408.703287F (some fields omitted in printout)AGz@AU൦@AR_~? A*A=$&"AAvNA"AZAbAjArAzAAA԰9@ASksAws@A:AJ=AX`?A?A@L?AS*Al:?2A* ׽:A <BAl:?JA* ׽RA <٘i)I9s@YSG JB=JJJJC&K Y"_~?yX5SAeCŧ7b7Tֆ7)eB[[w?[_~?[W[[[[BZYY i) IDE?i<ֿ (@))(@(@y㫝~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029408.723165 s, next control iter: 1743029409.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029409.123165 s.8JH~,aG(!AJ"J*J2J:Jf?BJf?nJ5vJAR붦@AdV@A_~? A#A&"AAvNA"AZAbAjArAzAAA!7_P#9@Afo0gsADs@AAS=AV?A`%?A[?A-n*A9?2A/׽:A=BA9?JA/׽RA=٘i)I9Ds@YG JC=JJJJC&K Y#_~?yORAC777B)gBE[[f?[_~?[N[[[[BZYY i) (+I-E?iӿ\^ @))@@=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029409.143165 s, next control iter: 1743029409.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029409.543165 s.IJH~,b(!AA(\·@Ag@A4_~? AA]&"AAZvNA"AZAbAjArAzAAA"Mn+9@A+J?0bsA4r@AA=A?AS?A`g?A59*A9?2A׽:A=BA9?JA׽RA=٘i)I9r@YG J셼JJJJC&K  7Yu$_~? 7y.GRAC{7j77)kB[[?[ݬ_~?[,D[[[[BZYY i) 8w;IE?iϿ2 I@))I@I@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029409.563165 s, next control iter: 1743029409.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2908, header.stamp.nsec: 00 temperature: 13.564667* salinity: 33.375561, density: 1025.000000* values[0]: 0.579455F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029409.963165 s.}JH~,}(!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077038< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743029409.963303F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AHN&ne@A[_~? A A&"AA vNA"AZAbAjArAzAAA:19@ApbE]sAar@AF+AȌ=A@~?jU}?phe?)^*? I٘i)I9ar@YG JJ*<JJJAC&Ksx> Yp"_~?ye>&RA6? BCb7b7T,7)nB[[P?[;_~?[U:[[[[BZYY i) RJI;E?i6Ͽ U@))U@U@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029409.983165 s, next control iter: 1743029410.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029410.383165 s.%JH~,+(!AA= ףp@A+<@A_~? AAH&"AAvNA"AZAbAjArAzAAA¸޹69@AYfXXsA~q@A2Aȏ=A!?Ao\?A`x?AQ*A9?2A׽:A=BA9?JA׽RA=٘i)I9q@Y=G JJJJJlC&K Yl _~?y5QAC77H7)rB[[?[Ѧ_~?[0[[[[BZYY i) jTZI D?iͿ u@))u@u@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029410.403165 s, next control iter: 1743029410.783178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2909&, header.stamp.nsec: 0&0 temperature: 13.564857&* salinity: 33.375580&, density: 1025.000000&* values[0]: 0.578920&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029410.803165 s.uA,JH~,sg(!AJ"J*J2J:JBJnJvJAzG@A8Q@A_~? A㋪A5&"AAvNA"AZAbAjArAzAAAUh&:9@AiSsA$qq@An8A=Abm?A@q?A|?AWĔ*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9qq@YG JJJJJC&K Yg_~?y,iQA5vJA)\@A"ڎ@A_~? A{Aq&"AAvNA"AZAbAjArAzAAAIc;9@AcIsAnp@A~P2;A=A?Al|A>~?A:0*A9?2Aֽ:Aa=BA9?JAֽRAa=٘i)I9np@YUG b_~?) $JJJJJC&K Y^_~?yCPAC77)}B[[ ?[_~?[[[[[BZYY i) OID?i¿x 9!@))9!@9!@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029411.663165 s, next control iter: 1743029412.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2910, header.stamp.nsec: 00 temperature: 13.565116* salinity: 33.375542, density: 1025.000000* values[0]: 0.578332F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029412.063165 s.@JH~,V )!AA̼@AF@A(_~? AsAW&"AAxvNA"AZAbAjArAzAAAm:9@A.+DsAKo@A6 ;A=A ;?AFpAe{?Ah?*A9?2Asֽ:A65=BA9?JAsֽRA65=Y 4?p@?yo=o ;ٓH 0ƿl&2cn?ƿ ?g=%a??) 4? I٘i)I9o@YG J B=J|<JJJC&K>x> Y_~?yDPA@?Cŧ777)B[[>?[_~?[ [[[[BZYY i) ڋI1D?iww x"@))x"@x"@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029412.103165 s, next control iter: 1743029412.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029412.483165 s.x_GJH~,)!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743029412.483277F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף@Ao@A!_~? AkA&"AAYvNA"AZAbAjArAzAAA N79@ABL?sA]o@AL9A]=A?A ࢿAu?A2W*A9?2Aֽ:A A=BA9?JAֽRA A=٘i)I9]o@YG JC=JJJJCC&K Y_~?y OA BC7T؇7B)BE[[_i?[L_~?[p[[[[BZYY i) bID?i~s Ha$@))Ha$@Ha$@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029412.503165 s, next control iter: 1743029412.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2911, header.stamp.nsec: 00 temperature: 13.565321* salinity: 33.375561, density: 1025.000000* values[0]: 0.577725F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029412.903165 s.MJH~,9)!AAGz@A~bF@A_~? AcAJ&"AAkvNA"AZAbAjArAzAAAh*ѓ29@AV:sAn@AOA+<=AK{?A@ሪAm?APU*A9?2A6ֽ:A;=BA9?JA6ֽRA;=٘i)I9n@YZG JoB=JJJJnC&K Y _~?y?uOAC7777B)BE[[s?[[_~?[[[[[BZYY i) 횼ImD?i溿a;o f%@))f%@f%@yQڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029412.923165 s, next control iter: 1743029413.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029413.323165 s.J "J *J 2J :J ?BJ ?nJ 5vJ TJH~,WT)!AAQ@A@A{_~? Ar[A&"AAvNA"AZAbAjArAzAAAz=,9@A3k5sADn@A#'A0_=A?AAb?AI*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9Dn@YG JC=JJJJC&K  7Y_~? 7yOA=Cŧ7b77)B[[Z?[y_~?[[[[[BZYY i) avIZD?iAAIi '@))'@'@'ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029413.343165 s, next control iter: 1743029413.723184 s, wait time: 0.380019 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2912*, header.stamp.nsec: 0*0 temperature: 13.565585** salinity: 33.375576*, density: 1025.000000** values[0]: 0.577064*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029413.743165 s.W[JH~,qo)!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743029413.743284F (some fields omitted in printout)A\(@AdϞ@Aݶ_~? AiSA3 &"AA(vNA"AZAbAjArAzAAAh\eM$9@A!v0sAʲm@AA=AE?A㴿A U?A- *A 9?2Aֽ:AG =BA 9?JAֽRAG =٘i)I9m@YG JۭJJJJC&K Y_~?yNAhCW.7B)BE[[?[hp_~?[[[[[BZYY i) 7I GD?ib )@)))@)@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029413.783165 s, next control iter: 1743029414.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029414.163165 s.w}bJH~,q)!AJ"J*J2J:JBJnJvJA@A @A_~? AdKA! &"AAvNA"AZAbAjArAzAAAw9@A8 ,sAm@ATAƨ=A{K?A=AF?Ah_*Aܺ9?2Aֽ:A=BAܺ9?JAֽRA=Y YY^~?yp5NAI?C77K7)B[[{?[Vf_~?[iۨ[[[[BZYY i) VIP4D?i.N^ ޫ*@))ޫ*@ޫ*@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029414.183165 s, next control iter: 1743029414.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029414.583165 s.hJH~,R)!AAp= @A6@A_~? AeCAY &"AAvNA"AZAbAjArAzAAA!'9@A_*'sA=l@A:A=AY?ArA 4?A潼*A%9?2A ֽ:A^=BA%9?JA ֽRA^=٘i)I9l@YG JKJJJJC&K Y^~?yިMACSI7SI7g7)B[[?[[_~?[`Ҩ[[[[BZYY i) ԭI!D?iZ @<,@))@<,@@<,@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029414.603165 s, next control iter: 1743029414.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2913, header.stamp.nsec: 00 temperature: 13.565898* salinity: 33.375561, density: 1025.000000* values[0]: 0.576336F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029415.003165 s. pJH~,4)!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743029415.003309F (some fields omitted in printout)AHz¦@A+y¦@Aݫ_~? Am;A@Z &"AAvNA"AZAbAjArAzAAA9@AoL"sAYk@A?}$;AAh=Ax?AA?Arü*A9?2AVֽ:AZ=BA9?JAVֽRAZ=٘i)I9k@YG JJJJJEC&K Y^~?y֨SMA BCb77W7B)B E[[$:?[.P_~?[xɨ[[[[BZYY i) ID?iFT B-@))B-@B-@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029415.023165 s, next control iter: 1743029415.403183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743029415.423165 s.uvJH~,)!AAQæ@A4Pæ@A(_~? A|3A &"AAvNA"AZAbAjArAzAAAQ$Z8@AtssA6k@A);A=A?AA?A1ɼ*A9?2Aֽ:Aq(=BA9?JAֽRAq(=٘i)I96k@Y'G JpƼJJJJpC&K YX^~?y ΨLAC777)B E[[=S?['D_~?[[[[[BZYY i) [ǼIC?iĠM [/@))[/@[/@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029415.443165 s, next control iter: 1743029415.823181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2914", header.stamp.nsec: 0"0 temperature: 13.386669"* salinity: 33.391628", density: 1025.000000"* values[0]: 0.696279"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029415.843165 s.J "J *J 2J :J ?2?BJ ?2?nJ :5vJ |JH~,)!AA(\Ħ@A?'Ħ@A_~? A+Ae &"AAvNA"AZAbAjArAzAAAr8@A)sAj@A̮:AOò=A?A ^ÿAn?Apͼ*A9?2Aֽ:Af=BA9?JAֽRAf=٘i)I9j@YG JJ˼JJJJC&K Y^~?yŨpLA>C7777)B[[_@[7_~?[[[[[BZYY i) μI5C?i</lE 0@))0@0@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029415.863165 s, next control iter: 1743029416.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029416.263165 s.JH~,*!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743029416.263278F (some fields omitted in printout)A33333Ŧ@AKuĦ@A/_~? A#A* &"AAMvNA"AZAbAjArAzAAAɟLe8@AzܻsAi@AA=AS?AſA?Aм*A9?2Atֽ:AI=BA9?JAtֽRAI=YE?Q?y=tٓHIx׿`rᠿ ?׿?w=C4?)E? I٘i)I9i@YVG J2ϼJM_<JJJC&KFx> YL^~?yeKAQ?iCŧ77Xڈ7)B[[a?@[1*_~?[[[[[BZYY i) ռIC?i)MA u2@))u2@u2@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029416.283165 s, next control iter: 1743029416.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 29152, header.stamp.nsec: 020 temperature: 13.3869922* salinity: 33.3916442, density: 1025.0000002* values[0]: 0.6948902F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029416.683165 s.lJH~,g+*!AJ"J*J2J:J1?BJ1?nJ:5vJAףp= Ʀ@AvŦ@A_~? AA &"AAIC?i5 5@))5@5@YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743029417.123165 s, next control iter: 1743029417.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029417.523165 s.JH~,{a*!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743029417.523316F (some fields omitted in printout)J"J*J2J:JBJnJvJAQǦ@AA"Ǧ@A݇_~? AT AE&"AAŞvNA"AZAbAjArAzAAA5 tȕ8@AQSsAg@AsۺAI=A@A?˿A?r?Aۼ*Aj9?2A%ֽ:A5=BAj9?JA%ֽRA5=٘i)I9g@Y G J>ټJJJJGC&K Y%^~?yޤJA BC7Y07)ƯB[[@[^~?[[[[[ZZ¸BZYY i¸j˩=) 4ؼIqC?i6- 7@))7@7@?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029417.543165 s, next control iter: 1743029417.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2916, header.stamp.nsec: 00 temperature: 13.387323* salinity: 33.391663, density: 1025.000000* values[0]: 0.693456F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029417.943165 s.YdJH~,F]|*!AA(\Ȧ@A&2[Ȧ@A_~? AA&"AAavNA"AZAbAjArAzAAA{0*~8@AIsAn g@A.q>9A=A@AͿA)M?A~޼*A~9?2Aֽ:Au=BA~9?JAֽRAu=٘i)I9 g@Y G JܼJJJJrC&K Yç^~?yJAC7777M7B)ͯBE[[Z@[!^~?[[[[[ZZBZYY i) ,̼IC?i # s8@))s8@s8@ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029417.963165 s, next control iter: 1743029418.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029418.363165 s.JH~,}>*!AJ"J*J2J:JBJnJvJAfffffɦ@A@2ɦ@Aw_~? AA &"AA YĚ^~?y┨IA,@?C77i7)ԯB[[. @[^~?[ކ[[[[ZZBZYY i) B-I[C?iw9 &:@))&:@&:@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029418.403165 s, next control iter: 1743029418.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2917&, header.stamp.nsec: 0&0 temperature: 13.387648&* salinity: 33.391659&, density: 1025.000000&* values[0]: 0.691967&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029418.783165 s.WJH~,*!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743029418.783298F (some fields omitted in printout)A ףp=ʦ@A$@ ʦ@Ao_~? AeA&"AAVzvNA"AZAbAjArAzAAAEiJ8@A}rAXe@A"K$;A=A8v@AQQпAL?AK>*AR9?2Aɋֽ:A^<BAR9?JAɋֽRA^<٘i)I9Xe@Y G JJJJJC&K Yƍ^~?y$IAjC77Y7B)ݯBE[[c @[^~?[&[[[[ZZBZYY i) X0IC?imG ;@));@;@ya(=֪YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743029418.803165 s, next control iter: 1743029419.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029419.203165 s.JH~, *!AJ"J*J2J:JBJnJvJAGz˦@A]mOʦ@Ae_~? AAqI&"AAlvNA"AZAbAjArAzAAAj]H.8@AiPrAo~d@A-:A>y=Ad@A y5ѿA?AF*A9?2Aֽ:AUMk<BA9?JAֽRAUMk<٘i)I9~d@Y G J B=JJJJC&K Yƀ^~?yFHACŧ7b77)B[[0 @[ؼ^~?[w[[[[ZZBZYY i) 1Ik|C?ia 3=@))3=@3=@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029419.223165 s, next control iter: 1743029419.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029419.623165 s._JH~,~*!AAR˦@AW˦@A[_~? AdA&"AAI^vNA"AZAbAjArAzAAA8@A(drA6c@AA/4=A@AҿA?ADNԼ*AP9?2Aֽ:A;BAP9?JAֽRA;٘i)I9c@Y G JC=JJJJC&K Ys^~?yx}6HA BCb77)B[[c@[+^~?[;p[[[[ZZBZYY i) 3IqC?iT B>@))B>@B>@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029419.643165 s, next control iter: 1743029420.023184 s, wait time: 0.380019 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2918 , header.stamp.nsec: 0 0 temperature: 13.388051 * salinity: 33.391678 , density: 1025.000000 * values[0]: 0.690197 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029420.043165 s.JH~,+!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743029420.043287F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\̦@AGTn̦@AQ_~? AީAim&"AA$OvNA"AZAbAjArAzAAAN+7@ArAc@A2Aq<A2`@A ҿAq?AV,*A9?2A[ֽ:ABA9?JA[ֽRAI٘i)I9c@Y4 G JļB=JJJJIC&K Yf^~?yuGAC77]܉7 B)BE[[9@[^~?[ i[[[[ZZBZYY i) 3IzfC?iD X;@@))X;@@X;@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029420.063165 s, next control iter: 1743029420.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029420.463165 s.RJH~,פ+!AAͦ@AD.leͦ@AF_~? AשA&"AAA?vNA"AZAbAjArAzAAAeO{7@A%*brAb@AtpvAH#<A @A`ӿAJ@?A8d*A9?2At}ֽ:A[BA9?JAt}ֽRA[٘i)I9b@Y G JC=JJJJtC&K YY^~?ymHGAC77 B)BE[[ W@[^~?[b[[[[ZZBZYY i=) N7I\C?i<2$ 3A@))3A@3A@%yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029420.483165 s, next control iter: 1743029420.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2919, header.stamp.nsec: 00 temperature: 13.388371* salinity: 33.391689, density: 1025.000000* values[0]: 0.688758F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029420.883165 s.yJH~,88+!AJ"J*J2J:JBJnJvJA= ףpΦ@A=\r<Φ@A;_~? AZЩAq&"AA.vNA"AZAbAjArAzAAAҀߍ7@ArA0b@ABcMAX7A @A(ԿAB ?A7*A9?2Axֽ:A RBA9?JAxֽRA R٘i)I90b@Y G J1gJJJEJC&K  7YL^~? 7y fFA@Cŧ7b77 B)BE[[@[s^~?[K[[[[[ZZBZYY i) CspIaTC?iy5ʻ :C@)):C@:C@q(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029420.903165 s, next control iter: 1743029421.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029421.303165 s.^JH~,gS+!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.092784< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743029421.303305F (some fields omitted in printout)AzGϦ@AoϦ@A0_~? A&ɩA&"AAKvNA"AZAbAjArAzAAA1c7w7@AoɓrAa@A6AԨAE @A`7տA#?A ܻ*A9?2A}ֽ:A BA9?JA}ֽRA ٘i)I9a@Y G J>JJJJC&K Y?^~?y?^ZFAkC{7j7\27)B[[;@[`^~?[T[[[[ZZBZYY i) vXIMC?i % D@))D@D@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029421.323165 s, next control iter: 1743029421.703182 s, wait time: 0.380017 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2920., header.stamp.nsec: 0.0 temperature: 13.388556.* salinity: 33.391685., density: 1025.000000.* values[0]: 0.687903.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029421.723165 s.J "J *J 2J :J 0?BJ 0?nJ 85vJ JH~,In+!AAQЦ@A~Ϧ@A#_~? A©A&"AA< vNA"AZAbAjArAzAAA#)Wf7@AU1rAa@A3:Aj Au @AhֿA࡛?AxH *A9?2A!ֽ:A ܼBA9?JA!ֽRA ܼ٘i)I9a@Ym G JJJJJC&K Y2^~?yqVEACb77O7)B[[@[M^~?[]N[[[[BZYY i) {@IFC?i⾉ /F@))/F@/F@y=#;*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743029421.743165 s, next control iter: 1743029422.123185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743029422.143165 s.X/JH~,*+!AA)\Ц@AЦ@A:_~? AA0&"AAxuNA"AZAbAjArAzAAA& A@7@AfrA2a@A});Ab?AS@A =׿A`_?A7;*A9?2Aֽ:ABA9?JAֽRA٘i)I9a@Y J^JJJJ C&K Y%^~?yNlEA BCk7B)BE[[= @[9:^~?[8H[[[[BZYY i) >(I2BC?iha oG@))oG@oG@*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743029422.163165 s, next control iter: 1743029422.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029422.563165 s.JH~,[ +!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.092784< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743029422.563322F (some fields omitted in printout)J"J*J2J:JBJnJvJAѦ@AuiѦ@A" _~? AA&"AAuNA"AZAbAjArAzAAAWiO7@ApErAa@A,s;AlA.@AؿA !?A;*Az9?2Azֽ:ABAz9?JAzֽRAY%@+@ylW;ٓH`f"u#? ?+q( |?@dc?`Q?)%@ I٘i)I9a@Y~ G J.;JJJJKC&K> Y^~?yGEA+@C77{7^7)B[[,@[%^~?[A[[[[BZYY i==) ntI>C?iUG I))II@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029422.583165 s, next control iter: 1743029422.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2921, header.stamp.nsec: 00 temperature: 13.388626* salinity: 33.391705, density: 1025.000000* values[0]: 0.687675F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029422.983165 s.JH~,+!AAq= ףҦ@AoҦ@A^~? AA@&"AAuNA"AZAbAjArAzAAA|}6@A0fnrA%b@AkP:A A/y@AؿA@d?A+3<*Adm9?2ALaֽ:A`BAdm9?JALaֽRA`٘i)I9%b@Y G J0 <JJJJvC&K Y-^~?y@ FACj7Z7 7B)E[[@[^~?[;[[[[BZYY i=) jIy:C?iS( XG))XG]J@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029423.003165 s, next control iter: 1743029423.383182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029423.403165 s.&JH~,+!AJ"J*J2J:JBJnJvJAGzӦ@AfFӦ@A^~? APA&"AAuNA"AZAbAjArAzAAA826@A1HrA}b@AAГAU@A৩ٿAh?Am<*An9?2AGֽ:ABAn9?JAGֽRA٘i)I9b@Y G Je\<JJJJC&K Y]]~?y:ZFABC)7b77)B[[a@[]~?[6[[[[BZYY i) I7C?iNr  F)) FL@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029423.423165 s, next control iter: 1743029423.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2922", header.stamp.nsec: 0"0 temperature: 13.388581"* salinity: 33.391720", density: 1025.000000"* values[0]: 0.687965"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029423.823165 s.JH~,B+!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064502< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743029423.823292F (some fields omitted in printout)AQԦ@AvԦ@A,^~? AAwJ&"AAuNA"AZAbAjArAzAAA>T6@A0rAb@AO&EA iA4@AsڿA [?AJ<*Aq9?2A;ֽ:A|<BAq9?JA;ֽRA|<٘i)I9b@Y% G J<B=JJJJC&K Y]~?yC3FAlCŧ77`ފ7B)BE[[3@[]~?[n0[[[[BZYY i) >лI5C?iLk D))DM@yo=R*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029423.843165 s, next control iter: 1743029424.223182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029424.243165 s.KH~,,!AJ"J*J2J:JBJnJvJA\(զ@AyԦ@AO^~? AA&"AAZuNA"AZAbAjArAzAAApoCl6@At:&rA4c@AQIAA'[@A<ۿA`?Ad׮<*Awx9?2ACֽ:ABAwx9?JACֽRA٘i)I9c@Yz G Jޥ<C=JJJJC&K Y]~?yl,FACZ7SI7 7B)BE[[7@[l]~?[*[[[[BZYY i) ̞I4C?iz8 &C))&CN@yx=.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029424.263165 s, next control iter: 1743029424.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029424.663165 s. KH~,q*,!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2923, header.stamp.nsec: 00 temperature: 13.388406* salinity: 33.391697, density: 1025.000000* values[0]: 0.688781F (some fields omitted in printout)A֦@Acզ@A^~? AwAL&"AAyuNA"AZAbAjArAzAAA=6@ADG+rAfd@A κA8Ae@AܿAY?Af<*A9?2A\ֽ:ABA9?JA\ֽRAYb@@y*κٓH`qU? ȗ?N0?  7YѸ]~? 7y0&kGA@ BC{7{77)B[[@[7]~?[%[[[[BZYY i) IIk4C?i0Ἁ A))AkP@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029424.683165 s, next control iter: 1743029425.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029425.083165 s.DKH~,RE,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064502< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743029425.083273F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= ֦@A .ߢ֦@AK^~? A Ax&"AA buNA"AZAbAjArAzAAAш96@AcϚ?rAsd@A7C:A(A@AUܿA`?AI<*A9?2Aryֽ:A0BA9?JAryֽRA0٘i)I9d@Y8 G J<JJJJMC&K Y]~?yGACb7b7`47B)BE[[ !@[ƣ]~?[r [[[[BZYY i) kI4C?i<3Ip9 B@))B@Q@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029425.103165 s, next control iter: 1743029425.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029425.503165 s.KH~,@4`,!AAHzצ@Akyצ@A'^~? AAH&"AAIuNA"AZAbAjArAzAAA[]I5@AG3crAsce@A5/;A਽AJ@AͅݿA`8?A<*A9?2Aֽ:A-BA9?JAֽRA-٘i)I9ce@Y G J6<JJJJxC&K Y]~?yOHAC{7{7 Q7)B[[s"@["]~?[w[[[[BZYY i) ^1I5C?i =DS: J>))J>kNS@6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029425.523165 s, next control iter: 1743029425.903177 s, wait time: 0.380012 s ]~?) tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2924, header.stamp.nsec: 00 temperature: 13.388174* salinity: 33.391747, density: 1025.000000* values[0]: 0.689851F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029425.923165 s.9KH~,{,!AJ"J*J2J:JBJnJvJAQئ@A,Pئ@A^~? AA&"AA.1uNA"AZAbAjArAzAAArf5@ArAf@AR;APAȘ@AB޿A`T?A<*A9?2Aֽܑ:A BA9?JAֽܑRA ٘i)I9f@Y G J<JJJJC&K Y}]~?y~HACCj7m7B)BE[[#@[Xv]~?[[[[[BZYY i) |I7C?i>a: !b=))!b=T@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029425.963165 s, next control iter: 1743029426.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029426.343165 s.<%KH~,,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064502< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743029426.343320F (some fields omitted in printout)A(\٦@A'٦@A^~? AcyA;&"AAuNA"AZAbAjArAzAAAsWw5@AFܫrAf@A^u ;AܢA@A ޿A@?A<*A"9?2A8ֽ:Au BA"9?JA8ֽRAu ٘i)I9f@Yd G Jx<JJJJC&K Y)i]~?yB 2IAnCŧ7b7a7B)BE[[8%@[n_]~?[[[[[BZYY i) wpI:C?i^>Bw; ;));+V@"*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029426.383165 s, next control iter: 1743029426.743179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2925&, header.stamp.nsec: 0&0 temperature: 13.387944&* salinity: 33.391724&, density: 1025.000000&* values[0]: 0.690988&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029426.763165 s.:+KH~,,ذ,!AJ"J*J2J:JBJnJvJA33333ڦ@Af٦@AGo^~? AasA&"AAtNA"AZAbAjArAzAAARk C5@A1rANg@AQ뷸A ԞA$/@A@߿AK?A|<*A9?2Ayֽ:A%RBA9?JAyֽRA%RY)@@/@y ԞCyٓH``B` ?`2?@2&`iճ? j`?))@ I٘i)I9Ng@Y G J<J+O<JJJC&K x> YPS]~?yIA/@C 7)B[[&@[G]~?[ [[[[BZYY i) tIt>C?i> U,; z:))z:;W@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029426.803165 s, next control iter: 1743029427.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029427.183165 s.2KH~,Z,!AAףp= ۦ@Aڦ@A]^~? A{mA%&"AA@tNA"AZAbAjArAzAAA7j`: 5@A`1rAg@ASA{Ay@A2A@V?Ar<*A'9?2Aqֽ:AhBA'9?JAqֽRAh٘i)I9g@Y' G Jy<B=JJJJ$C&K Yt=]~?yJA BCj7Z7Ë7B)BݹE[[!(@[P0]~?[S [[[[BZYY i) m:IBC?i>N; %9))%9Y@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029427.223165 s, next control iter: 1743029427.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029427.603165 s.549KH~,,!AJ"J*J2J:J.1?BJ.1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064502< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743029427.603280F (some fields omitted in printout)A{Gۦ@A:;ۦ@AeK^~? AgA &"AAtNA"AZAbAjArAzAAA\v?4@A PrAh@AJAAT@A`ŊA`?Al9<*Aٯ9?2Auֽ:ABAٯ9?JAuֽRA٘i)I9h@Y G J<C=JJJJOC&K Y']~?yrJAC7777a7!B)ݯBڹE[[_)@[]~?[9[[[[BZYY i) m:IGC?iQ>*v; 87))87}oZ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029427.623165 s, next control iter: 1743029428.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2926 , header.stamp.nsec: 0 0 temperature: 13.387710 * salinity: 33.391743 , density: 1025.000000 * values[0]: 0.692119 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029428.023165 s.Z@KH~,{-!AAQܦ@Ab.ܦ@A8^~? AbA&"AAWtNA"AZAbAjArAzAAAa 4@AiirAi@AUAA!@A A M?AΫ<*A9?2Aևֽ:AdBA9?JAևֽRAd٘i)I9i@Y G J<JJJJzC&K Y]~?yJAC{77)دB[[*@[]~?[P[[[[BZYY i) 3;INC?i>; F6))F6[@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029428.043165 s, next control iter: 1743029428.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029428.443165 s.8FKH~,B]-!AJ"J*J2J:JBJnJvJA(\ݦ@Aφ3[ݦ@A&^~? Az\Au&"AAtNA"AZAbAjArAzAAAd4@A 6rAi@AlAAd"@A5A?AF<*Ak9?2A!ֽ:ABAk9?JA!ֽRA٘i)I9i@Y5G JQ<JJJJC&K  7Y\~? 7yeGKADC777"B)կB׹E[[,@[\~?[[[[[BZYY i) n;I+UC?i4?8; 4))4@]@L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029428.463165 s, next control iter: 1743029428.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2927, header.stamp.nsec: 00 temperature: 13.387494* salinity: 33.391720, density: 1025.000000* values[0]: 0.693137F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029428.863165 s.+MKH~,>7-!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064502< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743029428.863301F (some fields omitted in printout)Afffffަ@A:2ަ@A^~? A WA&"AA)stNA"AZAbAjArAzAAAs*4@A픁&rA.j@A :A+A~#@A`~A:4?Az9<*AO9?2Aֽ:A>]BAO9?JAֽRA>]Y8@^#@y*8:ٓH@kW?[?@/4B?t_?`Y?)8@ I٘i)I9.j@YG Jh<J<JJJC&Kx> YV\~?yKA#@oC77b67%B)ԯBӹE[[t-@[y\~?[[[[[BZYY i =) Yf;I\C?iU?s; `w3))`w3U^@a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029428.883165 s, next control iter: 1743029429.263184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743029429.283165 s.;RTKH~J,R-!A"J*J2J:J1?BJ1?nJ1:5vJA ףp=ߦ@A@ ߦ@A*]~? AQAI&"AAUtNA"AZAbAjArAzAAAĮc3@A_qrABj@AO;AA=%@AZA&|?AF<*A9?2A*ֽ:A BA9?JA*ֽRA 𼙘٘i)I9j@YG J<JJJJC&K Y\~?yLAC7777 S7'B)үBйE[[L.@[\~?[[[[[BZYY i) e;IoeC?iD?R; 2))2`@#*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743029429.303165 s, next control iter: 1743029429.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 29282, header.stamp.nsec: 020 temperature: 13.3873112* salinity: 33.3917502, density: 1025.0000002* values[0]: 0.6940612F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029429.703165 s.ֺZKH~,m-!AAGz@Az5@iߦ@A8]~? ALA&"AA7tNA"AZAbAjArAzAAA83@A[y~rAg)k@AL5;AA-P&@A'A?Af<*A9?2Aֽ:A(BA9?JAֽRA(򼙘٘i)I9)k@YG JQ<B=JJJJ&C&K Y/\~?y^LA BC77o7)ίB[[)0@[v\~?[Z[[[[BZYY i) nl;InC?i.?; 0))0ta@Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029429.723165 s, next control iter: 1743029430.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029430.123165 s.9aKH~,e-!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076191< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743029430.123282F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@APV W@A]~? A~GA&"AAYtNA"AZAbAjArAzAAA:!+u3@Ao<:hrA;k@Aet:A-A'@A.tA@,?Azx<*AH9?2AΧֽ:ABAH9?JAΧֽRA٘i)I9k@YgG J*<C=JJJJQC&K Y\~?yݧLAC{7j7c7)B)̯B͹E[[1@[\~?[P[[[[BZYY i) bh;IyC?iz??; VG/))VG/_b@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029430.143165 s, next control iter: 1743029430.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029430.543165 s.IhKH~,â-!AA(\@AwDf@AV]~? ABAHv&"AAdsNA"AZAbAjArAzAAAiy63@ApfrAl@A熷A:Ay(@ArA @?A<*A9?2Aֽ:ALBA9?JAֽRAL٘i)I9l@YG JP<JJJJ|C&K Y\~?y٧MACb777*B)ʯBʹE[[2@[on\~?[t[[[[BZYY i) 5 jEٓHJݿ:?ज़?Y@`4а?hF?)B/@ I٘i)I9l@YG J<J͇;JJJC&Kx> Ym\~?y էrMA5*@FCZ7Z7Ō7,B)ǯBǹE[[)4@[wU\~?[[[[[BZYY i) 4 elevatorAngleAction: 0.076191< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743029431.383278F (some fields omitted in printout)A= ףp@A_^}<@A/]~? A9A1&"AAsNA"AZAbAjArAzAAAfA)2@A͝UrA\l@AGASA+@AMAऴ?AF<*A9?2Aqֽ:ABA9?JAqֽRA٘i)I9l@Y7G Jj<JJJJC&K YS\~?yЧMAqCb77e7)įB[[~~5@[z<\~?[-[[[[BZYY i) h( elevatorAngleAction: 0.076191< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743029432.643280F (some fields omitted in printout)A)\@ATR'@AV]~? A+A|7 &"AAXsNA"AZAbAjArAzAAASj1@Akp|rA9Vn@A.;A鏽AGn/@AeAK?AB<*A9?2Aֽ:AnBA9?JAֽRAn٘i)I9Vn@YG Ji<JJJJSC&K Y\~?yħNAC77{7f871B)BE[[l9@[[~?[[[[[BZYY i) 2W Y[~?yn>OA0@C77U73B)BE[[:@[[~?[ߧ[[[[BZYY i)  {f elevatorAngleAction: 0.076191< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743029433.903297F (some fields omitted in printout)AGz@AF@A]~? A A$!&"AA>rNA"AZAbAjArAzAAA.cx"1@AgPurAo@A#A/8AR3@AAT?A3<*Ai9?2A#ֽ:Aʐ BAi9?JA#ֽRAʐ ٘i)I9o@YG J]<JJJJC&K Y9[~?y座PArC7777f74B)BE[[V=@[B[~?[~ܧ[[[[BZYY i丮=) @[C[~?[!ۧ[[[[BZYY i) ' elevatorAngleAction: 0.085314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743029435.163264F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Ac@A\~? AlA4!&"AArNA"AZAbAjArAzAAA`M0@A`khnrAlq@A3AGA^87@A@fA9?AO<*A9?2Awֽ:A-MBA9?JAwֽRA-MY85)@];7@y*2ٓH`ʬ`ѿgŲ?Q? ?`fc?)85)@ I٘i)I9lq@YG J<JUJJJVC&K x> Yj[~?y1QA;7@C{7Z7g78B)BE[[P/A@[.[[~?[ا[[[[BZYY i) H?}< ɗ))ɗt@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029435.603165 s, next control iter: 1743029435.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2934, header.stamp.nsec: 00 temperature: 13.386312* salinity: 33.391762, density: 1025.000000* values[0]: 0.699158F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029436.003165 s.z KH~,U4/!AJ"J*J2J:J2?BJ2?nJ;5vJAHz@ADy@AӜ\~? AAv"&"AAb@rNA"AZAbAjArAzAAAꮱy/@A$Mz&jrAr@A:A }A9@AA`Au?A]<*A}9?2Aֽ:A=BA}9?JAֽRA=٘i)I9r@YG J$<JJJJC&K YZ4[~?yRAHC777)B/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^Running loop #4q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) yB<)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029436.023165 s, next control iter: 1743029436.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029436.423165 s.uKH~,/!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000> elevatorAngleAction: 0.085314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200822 time: 1743029436.423385F (some fields omitted in printout)AQ@AaP@A\~? A, A"&"AArNA"AZAbAjArAzAAAL¢.@A+K3irAGs@AJ;AatA';@AA?AF<*A;9?2Aֽ:ABA;9?JAֽRA٘i)I9s@YG Je<JJJJC&K Y5[~?yoRAsCj7Z7h:7;B)BE[[7D@[;[~?[֧[[[[BZYY i) A+w@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029436.443165 s, next control iter: 1743029436.823178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2935", header.stamp.nsec: 0"0 temperature: 13.386090"* salinity: 33.391747", density: 1025.000000"* values[0]: 0.700171"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029436.843165 s.KH~,5/!AJ"J*J2J:JBJnJvJA(\@A '@A!l\~? Ao A"&"AAqNA"AZAbAjArAzAAA* KQR.@ACgrAs@A +F;APA<@A 9Aӧ?Av<*A%T:?2A_½:A2MBA%T:?JA_½RA2M٘i)I9s@YUG J<JJJEJC&K YZ~?yARACb77W7 Y[Z~?yLSA<@ BC77s7=B)BE[[OG@[Z~?[֧[[[[BZYY i) s<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743029437.683319F (some fields omitted in printout)Aףp= @Au@A:\~? AVAO#&"AA5qNA"AZAbAjArAzAAAnUY&-@AYjdrAt@AA񞮽AB=@AmA`_?A7<*Ag:?2AjŽ:ABAg:?JAjŽRA٘i)I9t@YG J<C=JJJJXC&K YZ~?y줧SACZ7Z7i7)BE[[H@[Z~?[է[[[[BZYY i) ?B)BE[[J@[ZZ~?[է[[[[BZYY i) N elevatorAngleAction: 0.085314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743029438.943312F (some fields omitted in printout)A(\@Aj3[@A[~? AAt#&"AA:qNA"AZAbAjArAzAAA ^+@AOL`rAw@A:-ABAA@A@A?AQ,<*AsT:?2A5ͽ:ABAsT:?JA5ͽRA٘i)I9w@YVG Jr<JJJJC&K YsZ~?yퟧUAtCb77j7)B[[vL@[|Z~?[u֧[[[[BZYY i) Զ/!AJ"J*J2J:JBJnJvJAfffff@AQ}>2@A<[~? AA$&"AAqNA"AZAbAjArAzAAA;f*@A_rAw@A}>5AUAB@AA0?AQ<*AJ:?2AϽ:A"BAJ:?JAϽRA"Y4@B@yU>?5ٓH`@??` ~Ш?@ϧ>?)4@ I٘i)I9w@YG Jq<J3JJJC&Kd>  7YzWZ~? 7yUAB@ BC77777@B)BE[[M@[|dZ~?[֧[[[[ZZZZ¸>BZYY i¸>N)  YY~?yWAHvCZ7Z7n7)eBE[[RS@[hY~?[hۧ[[[[ZZZZBZYY i s) 5vJ +LH~,K0!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074438< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201872 time: 1743029442.723459F (some fields omitted in printout)AQ@AS@A~[~? AAY$&"AABoNA"AZAbAjArAzAAA%@AX7fsXrA:,}@AF+A;AEDA uAd?AV,<*A<:?2Aֽ:A Uz<BA<:?JAֽRA Uz<٘i)I9,}@YG J]<JJJJ\C&K Y vY~?y훧hXACS77n7)ZBE[[aW@[Y~?[ߧ[[[[ZZZZBZYY i) Ch? l?v?)E B@ I٘i)I9~}@YIG Jdm;J9>JJJC&Ky> Y=Y~?yuXABLC!7DB)yE[[Y@[yY~?[?[[[[BZYY i$ n) ФA7)vE[[Z@['cY~?[5[[[[BZYY iӾ) @0A@A|A 5*Ai:?2AEֽ:A*=BAi:?JAEֽRA*=٘i)I9}@Y G JqB=JJJJ3C&K Y;X~?y؟WAC777w7)\BpE[[jQ]@[6Y~?[z[[[[BZYY i) u 5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.068235< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200592 time: 1743029445.243350F (some fields omitted in printout)A\(@A@A6lZ~? AA$&"AAwnNA"AZAbAjArAzAAA$%Uj22"@A(XrA |@A,AՈ=A <A|A@&AHd*A:?2A׽:A =BA:?JA׽RA =٘i)I9|@YG JKC=JJJJ^C&K YX~?yΠWAC77p7EB)_BmE[[+|^@[ Y~?[[[[[BZYY i) +#;IG?iYA@7|< _))_`@޻YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029445.263165 s, next control iter: 1743029445.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029445.663165 s.ZLH~,qj1!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2944, header.stamp.nsec: 00 temperature: 13.384579* salinity: 33.391678, density: 1025.000000* values[0]: 0.707974F (some fields omitted in printout)A@AC8f@A2RZ~? A^A$&"AAnNA"AZAbAjArAzAAAJvr!@AHXrAW|@AOA =A*;ARuAA%*A:?2A׽:AS=BA:?JA׽RAS=YH@;y =nPٓH !5?r`ʿ I@@=i#?)H@ I٘i)I9W|@YG J xJW=JJJC&Kx> YX~?y]WA;#Cj7j77)bB[[ѩ_@[ Y~?[8[[[[BZYY ivn)  ;I?G?i.D@|< 1))1@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029445.683165 s, next control iter: 1743029446.063182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029446.083165 s.DaLH~, S1!AJ"J*J2J:JBJnJvJAp= @ALܢ@A88Z~? AA!$&"AAnNA"AZAbAjArAzAAAr @A =:YrA{@AzzA'ژ=As6:A?kA`QA *A9?2A׽:At=BA9?JA׽RAt=٘i)I9{@YLG J؎JJJJC&K YX~?yVANC77͐7)fBjE[[`@[0X~?[[[[[BZYY i) ;IjG?igG@s<<  )) 댉@ҪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743029446.103165 s, next control iter: 1743029446.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029446.503165 s.gLH~,U41!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058251< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743029446.503299F (some fields omitted in printout)AHz@Aty@AJZ~? AAa$&"AAHznNA"AZAbAjArAzAAA'Y @A:YrAY{@A9A =A28A_A`[qAΧ*A :?2AHֽ:A=BA :?JAHֽRA=٘i)I9Y{@YG JJJJJC&K YFzX~?yZVAyC77p7)jBgE[[4b@[X~?[r[[[[BZYY i) e;I;I3G?i`S@H= ))gI@W٪YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743029447.363165 s, next control iter: 1743029447.743179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2946&, header.stamp.nsec: 0&0 temperature: 13.385070&* salinity: 33.391685&, density: 1025.000000&* values[0]: 0.706088&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029447.763165 s.={LH~,81!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058251< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743029447.763328F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333@A,)@AY~? A'A$&"AAnNA"AZAbAjArAzAAAϻK@AjF[rA͕y@A;AC=AF5A`t,A ҿAE*A:?2Aֽ:A=BA:?JAֽRA=٘i)I9y@YG J̷JJJJ`C&K Yp'X~?y嫧sUAC)7b7p@7)xB^E[[re@[X~?[ [[[[BZYY i+) bN;IH?iX@Q = ))dۋ@C֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029447.803165 s, next control iter: 1743029448.163183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743029448.183165 s.˂LH~,o 2!AAףp= @A @A?Y~? AAxs$&"AAmNA"AZAbAjArAzAAA>@A>8\rAx@AgN9A=AW3AAcAG*Ap:?2A׽:AG=BAp:?JA׽RAG=٘i)I9x@YG JnJJJJC&K Y X~?yUA%Cb77]7)}B[E[[^f@[wX~?[[[[[BZYY i) I:IANH?i=]@9 = Î))Î*l@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029448.203165 s, next control iter: 1743029448.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029448.603165 s.94LH~,&2!AJ"J*J2J:Jz4?BJz4?nJ>=5vJA{G@Af"@AY~? A4AU$&"AAmNA"AZAbAjArAzAAAG@A"]rAgx@A) Apf=Aaa2AIA`ÿA*A:?2A)׽:A=BA:?JA)׽RA=٘i)I9gx@Y0G J˰B=JJJJC&K Y2W~?yTAPC)7ŧ7y7)B[[|g@[yX~?[5[[[[BZYY i) S8I H?ib@= P))P@|̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029448.643165 s, next control iter: 1743029449.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2947 , header.stamp.nsec: 0 0 temperature: 13.385352 * salinity: 33.391670 , density: 1025.000000 * values[0]: 0.704988 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029449.023165 s.ZLH~,{A2!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067467< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743029449.023285F (some fields omitted in printout)AQ@Adw2!AAfffff@AG2@AQY~? AA#&"AACmNA"AZAbAjArAzAAAuS@A9)arAxv@AJIhA=Ax.A 9A EɿA~ǜ*A:?2A׽:Ap<BA:?JA׽RAp Y!W~?yضSAy.C)7ŧ7ϑ7)BSE[[R k@[?X~?[, [[[[BZYY i) -1II?i q@;F= ۞))۞鿩$@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029449.903165 s, next control iter: 1743029450.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029450.283165 s.3RLH~,2!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067467< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743029450.283277F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp= @A@I @A8Y~? A>A#&"AAmNA"AZAbAjArAzAAA 9@A:brA/Hv@A/x:A{=Af--AA@˿AN*A:?2A׽:A&<BA:?JA׽RA&<٘i)I9Hv@YG J C=JJJJbC&K YJW~?yf/SAC77t7CB)BPE[[Z.l@[,X~?[[[[[BZYY i) 6nIis@= Z))Z翩(9@KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029450.303165 s, next control iter: 1743029450.683174 s, wait time: 0.380009 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 29492, header.stamp.nsec: 020 temperature: 13.3858522* salinity: 33.3916852, density: 1025.0000002* values[0]: 0.7029532F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029450.703165 s.ԺLH~,2!AAGz @A!Y @AY~? AAA#&"AAlNA"AZAbAjArAzAAAI%Y>@AߴdrAu@A]P;ASm=A+A_AU̿A*A:?2Aֽ:A<BA:?JAֽRA<٘i)I9u@YG JJJJJC&K  7YqkW~? 7yRA&C77 7)BME[[Om@[X~?[o[[[[BZYY i) lbIiv@= W))W忩ɏ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029450.723165 s, next control iter: 1743029451.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029451.123165 s.:LH~,i2!AJ"J*J2J:J3?BJ3?nJ<5vJAR @AyS @A,Y~? A7Aa#&"AADlNA"AZAbAjArAzAAA ,z@AҌerALu@AqK;A+=A*A@8A`kοAj*A:?2A׽:A <BA:?JA׽RA <٘i)I9Lu@YKG JmJJJJC&K YQW~?ysRAQCŧ7b7%71B)B[[#nn@[0X~?[1[[[[BZYY i) GIi*z@\ = 7))7⿩ Y@$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029451.143165 s, next control iter: 1743029451.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029451.543165 s.ILH~,2!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067467< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743029451.543310F (some fields omitted in printout)A(\ @AL2r @AX~? AAm.#&"AAlNA"AZAbAjArAzAAAyP@Ac,pm:grAht@A:A =AC)AAGпA*Av:?2A׽:A4<BAv:?JA׽RA4<I٘i)I9t@YG J͐B=JJJJC&K Y7W~?yŧRA|C777uB7)BJE[[o@[W~?[[[[[BZYY i ) 4ԻIi}@'"= ))࿩@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029451.583165 s, next control iter: 1743029451.943191 s, wait time: 0.360026 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2950, header.stamp.nsec: 00 temperature: 13.386096* salinity: 33.391647, density: 1025.000000* values[0]: 0.702027F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029451.963165 s.LH~, 2!AJ"J*J2J:J3?BJ3?nJr<5vJA @Ame @AFX~? A A"&"AA݇lNA"AZAbAjArAzAAAt c)@A hrA[t@A\AX=A]'ABA p-ѿA'*A:?2A{$׽:AG<BA:?JA{$׽RAG Y3W~?ykɧQA' BC77{7_70B)BGE[[Ϋp@[W~?[[[[[BZYY i) rIi@#= _޿))_޿w@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029452.003165 s, next control iter: 1743029452.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029452.383165 s.LH~,@3!AA= ףp @AN}< @AX~? AAs"&"AAclNA"AZAbAjArAzAAAx{@A jrAMs@AoBAl=Ac&A@ôAҿA1'*Aa :?2Aj-׽:A b<BAa :?JAj-׽RA b<٘i)I9s@YsG JHJJJJ9C&K YW~?yͧaQACŧ7b7{7)BDE[[q@[W~?[#[[[[BZYY i) 9\ Ii&@O%= !ܿ))!ܿr@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029452.423165 s, next control iter: 1743029452.783180 s, wait time: 0.360015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2951", header.stamp.nsec: 0"0 temperature: 13.386314"* salinity: 33.391663", density: 1025.000000"* values[0]: 0.701184"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029452.803165 s.J "J *J 2J :J 3?BJ 3?nJ 9<5vJ vALH~,wg33!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076643< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743029452.803281F (some fields omitted in printout)AzG@A‚@A(X~? AA"&"AA>lNA"AZAbAjArAzAAAr @AuٔlrAws@AWA2=A'T%AAnҿA *A:?2A&׽:A<BA:?JA&׽RA<٘i)I9ws@Y.G J@JJJEJdC&K YV~?y"ҧQACb77u7)BBE[[r@[%W~?[0'[[[[BZYY i) Ii@'= ٿ))ٿb@y᜽MYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029452.823165 s, next control iter: 1743029453.203177 s, wait time: 0.380012 sV~?)"ҧ rAdjusting time to match Gazebo time: 1743029453.223165 s.gLH~,HN3!AAQ@A(\@AjX~? AXAB"&"AAtlNA"AZAbAjArAzAAA(˃ @A9 nrAs@AA=A$AQA.ӿA{*Ae9?2AR׽:A=BAe9?JAR׽RA=٘i)I9s@YG JZJJJJC&K YV~?y}֧PA(C77 7)B[[Yt@[׭W~?[f+[[[[BZYY i) (Ii@ )= ˬ׿))ˬ׿$@߻YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029453.243165 s, next control iter: 1743029453.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029453.643165 s.yLH~,*i3!AJ"J*J2J:JL3?BJL3?nJ<5vJA)\@A@AvX~? AA+"&"AAkNA"AZAbAjArAzAAAI @AprAr@A:Aۊ=A"AAjԿA*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9r@YG JJJJJC&K YV~?yڧUPARC7ђ7)B?E[[[ u@[ܜW~?[/[[[[BZYY i) @8Ii΅@^E+= vտ))vտ)@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029453.663165 s, next control iter: 1743029454.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2952, header.stamp.nsec: 00 temperature: 13.386519* salinity: 33.391628, density: 1025.000000* values[0]: 0.700392F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029454.063165 s.LH~,g 3!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076643< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743029454.063337F (some fields omitted in printout)A@A!w@A_X~? AsA!&"AA(kNA"AZAbAjArAzAAA[I@AwZ{$srAr@A>1;A i=A[q!AAcտA*A9?2Aֽ:A.h=BA9?JAֽRA.h=YKb@Hn!yh=$2;ٓH {?൒@k ^7f?s?)Kb@ I٘i)I9r@Y[G J6B=Jn<JJJC&K-x> YV~?yߧOAn!}C7S7|7)B Y4V~?y8NATC77}7)B[[5{@[%(A=ALA`#A ;ۿAʦ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9n@Y2G JJJJJC&K YY V~?yEMA BC{7j7"7.B)B-E[[<}@[.W~?[U[[[[BZYY i) bNIid@B6= ÿ))ÿ@yP٪YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743029457.023165 s, next control iter: 1743029457.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029457.423165 s.uMH~,[4!AAQ@AMP@AW~? A>AD,&"AAjNA"AZAbAjArAzAAAuc?AӐrAn@Av:AH=AiA@A@cܿA\*A9?2Aֽ:Aw=BA9?JAֽRAw=٘i)I9n@YG J JJJJ=C&K Y"U~?y LACb77ӓ7)B[[@[W~?[Z[[[[BZYY i) ۠Ii@7= s))s>@0ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029457.463165 s, next control iter: 1743029457.823180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2956, header.stamp.nsec: 00 temperature: 13.387430* salinity: 33.391590, density: 1025.000000* values[0]: 0.696790F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029457.843165 s.MH~,u4!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085955< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743029457.843279F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A-'@A;W~? AvCAf&"AAjNA"AZAbAjArAzAAAn뺭?ABrAom@A[;AȤ=AAIAܿAH *A59?2Aֽ:A=BA59?JAֽRA=٘i)I9om@YG J஼JJJJhC&K YU~?ywxLAC777y7)ïB+E[[@[W~?[_[[[[BZYY i) gIi@9= l))l4@uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029457.863165 s, next control iter: 1743029458.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029458.263165 s.$MH~,0ؐ4!AA33333@Ao@AхW~? AxHAm&"AAjNA"AZAbAjArAzAAAC.;?ArA-l@AN;Aȧ=AhACAݿAo*A9?2Aֽ:AX=BA9?JAֽRAX=Yo@dy{ȧ=@O;ٓHTt? a@`i?{?)o@ I٘i)I9l@Y&G JJ`<JJJC&K8x>  7YU~? 7yLAd*C)7)7& 7)ǯB(E[[@[V~?[A B=޿A&*Ai9?2Axֽ:A I=BAi9?JAxֽRA I=٘i)I9=AcA@A޿Ag*A(9?2Aֽ:Aa=BA(9?JAֽRAa=٘i)I9k@YeG J4JJJJC&K Y]U~?y$&KA BC)7)7yF7-B)ЯB%E[[@[V~?[n[[[[BZYY i) vIi @8<= ?ݸ))?ݸؚ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029459.123165 s, next control iter: 1743029459.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029459.523165 s.7MH~,{4!AJ"J*J2J:J1?BJ1?nJ:5vJAQ@AOz1@AJW~? A@XA=&"AA),jNA"AZAbAjArAzAAAoCKٿAW鑥rAj@AFA=A#wA NRA|߿Aż*AP9?2A,ֽ:AE=BAP9?JA,ֽRAE=٘i)I9j@YG J¼JJJJC&K Y+U~?yD+JAC77{7&c7)֯B[[A@[V~?[t[[[[BZYY i) TżIi@== ?))?c@dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029459.543165 s, next control iter: 1743029459.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2958, header.stamp.nsec: 00 temperature: 13.387956* salinity: 33.391575, density: 1025.000000* values[0]: 0.694647F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029459.943165 s.Zd>MH~,J]4!AA(\@A k*[@A7W~? A]A&"AAjNA"AZAbAjArAzAAA GABrAQj@AVAܱ=A8)A`DAO/Aɼ*Aۨ9?2AIֽ:A|=BAۨ9?JAIֽRA|=٘i)I9Qj@YG JPǼJJJJ?C&K YU~?y1DJACb777.B)ۯB#E[[}̂@[߾V~?[py[[[[BZYY i) +ͼIiP@|?= ))x@fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029459.963165 s, next control iter: 1743029460.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029460.363165 s.EMH~,>5!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085955< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743029460.363272F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@ApG2@A$W~? AacAg&"AAuiNA"AZAbAjArAzAAAToQAb SprAi@ALAų=A A୨AlAxϼ*AǤ9?2Aֽ:AF=BAǤ9?JAֽRAF=Y*9v@i yų=Y3ٓH0?Js@B`2`Nq`)]`r?)*9v@ I٘i)I9i@Y4G J8̼B=JEd<JJJjC&K#x> YnU~?y8IA C777|7-B)B E[[W@[pV~?[~[[[[BZYY i) T]ԼIi@j?= X))Xy@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029460.403165 s, next control iter: 1743029460.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 2959&, header.stamp.nsec: 0&0 temperature: 13.388246&* salinity: 33.391567&, density: 1025.000000&* values[0]: 0.693474&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029460.783165 s.VKMH~,25!AA ףp=@AUE @AW~? AiA/&"AApiNA"AZAbAjArAzAAAfAQ|rAh@ALv.:A[=A AQAA&0Լ*A9?2A:ֽ:Ay=BA9?JA:ֽRAy=٘i)I9h@Y G JѼC=JJJJC&K Y^U~?y?SIA+C77j7&7)B[[@[TV~?[o[[[[BZYY i) ۼIi!@*@= +))+@7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029460.803165 s, next control iter: 1743029461.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029461.203165 s.SMH~,M5!AJ"J*J2J:J^1?BJ^1?nJ95vJAGz@A?N@AW~? AnA&"AAiNA"AZAbAjArAzAAA RQA VrA Bh@A5;AY=AjI Aw߿A/Aؼ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9Bh@Y[ G JLּJJJJC&K Y MU~?yFHAVCb7b7Ք7,B)BE[[m@[V~?[[[[[ZZ¸BZYY i¸Tȫ=) @ϼIiϖ@ A= ))ݏ@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029461.223165 s, next control iter: 1743029461.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029461.623165 s.eYMH~,g5!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083878< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743029461.623316F (some fields omitted in printout)AR@A.rOW@A;V~? AtA&"AA!iNA"AZAbAjArAzAAAAvY(rAȊg@AMa;AC=A A`Q<߿A Aۼ*A9?2A>ֽ:AR=BA9?JA>ֽRAR=٘i)I9g@Y G J0ڼJJJJC&K Y YvU~?y[\GA]C777+7)B[[\ @[yV~?[[[[[ZZBZYY i) ϫIi٘@tC= ))W/@y$=ԪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743029462.483165 s, next control iter: 1743029462.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2961, header.stamp.nsec: 00 temperature: 13.388881* salinity: 33.391556, density: 1025.000000* values[0]: 0.690838F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029462.883165 s.ymMH~,D5!AJ"J*J2J:J0?BJ0?nJr95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083878< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200842 time: 1743029462.883334F (some fields omitted in printout)A= ףp"@Az<"@AV~? AwAf&"AA-SiNA"AZAbAjArAzAAACFSoA-wrA e@A<Av=AG A@ݿA`iA*Aλ9?2AMֽ:Ae<BAλ9?JAMֽRAe<٘i)I9 e@Ye G JJJJJlC&K Y U~?ycGAC77{7}H7,B)BE[[@[nV~?[ߠ[[[[ZZBZYY i) ^"Ii*@ D= GW))GW @̫YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029462.903165 s, next control iter: 1743029463.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029463.303165 s.btMH~,g5!AAzG#@A^, #@A9V~? AٍA1&"AA:iNA"AZAbAjArAzAAA[cA8; ]rAId@AA2=AA YEܿA@AWм*Ao9?2Aֽ:A;BAo9?JAֽRA;٘i)I9Id@Y G JJJJJC&K Y8T~?ykkFA-Cb77)e7) B[["@[^dV~?[[[[[ZZBZYY i) uIi@D= -))-D@-zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029463.323165 s, next control iter: 1743029463.703189 s, wait time: 0.380024 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2962., header.stamp.nsec: 0.0 temperature: 13.389256.* salinity: 33.391537., density: 1025.000000.* values[0]: 0.689312.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029463.723165 s.{MH~,H5!AJ"J*J2J:Jv0?BJv0?nJ 95vJAQ$@A!#@AV~? ATAJ&"AA"iNA"AZAbAjArAzAAANljAV#RrA[c@A ?{A<AsA!ۿA A*AT9?2Axֽ:ABAT9?JAxֽRA٘i)I9c@Y G JJJJJC&K YT~?yrMFAXC7ԁ7-B)BE[[٬@[ZV~?[[[[[ZZBZYY i) ɈIiW@4E= ))Π@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029463.743165 s, next control iter: 1743029464.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029464.143165 s.T/MH~,) 6!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083878< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743029464.143275F (some fields omitted in printout)A)\$@Ap$@AV~? A隩A4&"AA iNA"AZAbAjArAzAAA5AVhVrAX$c@ADٺAH<A'A»ڿA@FAH*Aɾ9?2A4ֽ:AzBAɾ9?JA4ֽRAz٘i)I9$c@Y= G JҚJJJJC&K YT~?yzzEA BC{7{7}7)BE[[6@[PV~?[[[[[ZZBZYY i) >zIi2@fF= ܞ))ܞX@lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029464.163165 s, next control iter: 1743029464.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029464.563165 s.MH~,_ $6!AJ"J*J2J:JBJnJvJA%@AQI%@AV~? AAq&"AAUhNA"AZAbAjArAzAAAxt;;XAirAb@A^ :ASԻASA-ٿA kAl7*A9?2Aֽ:A1BA9?JAֽRA1٘i)I9b@Y G JeJJJJC&K Y^T~?yEACZ7Z7(7*B)B[[A@[GV~?[[[[[ZZBZYY i)  bIi<@G= {)){<@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029464.583165 s, next control iter: 1743029464.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2963, header.stamp.nsec: 00 temperature: 13.389492* salinity: 33.391521, density: 1025.000000* values[0]: 0.688270F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029464.983165 s.MH~,>6!AAq= ף&@Ao&@AqV~? AZAB0&"AAhNA"AZAbAjArAzAAA <lArAb@A?;A.DAA%ٿA fAKϻ*AR9?2Aֽ:ABAR9?JAֽRA٘i)I9b@Y G JJJJJCC&K YT~?yEAC777ו7)BE[[KI@[>V~?[[[[[ZZBZYY in=) KIis@8I= S))SFk@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029465.023165 s, next control iter: 1743029465.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743029465.403165 s.&MH~,Y6!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.093589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743029465.403305F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz'@A_?F'@A9dV~? A5AR&"AAUhNA"AZAbAjArAzAAAl9AmCrAtgb@AB;A A8AWVؿA AϺ*Aգ9?2A4ֽ:A]ּBAգ9?JA4ֽRA]ּ٘i)I9gb@Y G JB=JJJJnC&K YT~?yDAC777)E[[щ@[6V~?[Ĩ[[[[BZYY i) 34Iiٞ@ elevatorAngleAction: 0.093589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743029466.663304F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2965, header.stamp.nsec: 00 temperature: 13.389615* salinity: 33.391502, density: 1025.000000* values[0]: 0.687938F (some fields omitted in printout)A*@Ar)@A=V~? AEĩA&"AAhNA"AZAbAjArAzAAAa AK^rAb@AQeAvAIAտA]A6<*Axu9?2ACֽ:ABAxu9?JACֽRAYaބ@ymv\eٓH`\տ L'? 1?lտ`x? ?5l`?)aބ@ I٘i)I9b@Y G J-<B=JJJJC&K> YoT~?yp>DA BC77{7J7(B)BE[[i@[ V~?[֨[[[[BZYY iگ>=) Ii@AO=  )) @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029466.683165 s, next control iter: 1743029467.063180 s, wait time: 0.380015 soT~?)p rAdjusting time to match Gazebo time: 1743029467.083165 s.DMH~,S6!AJ"J*J2J:JBJnJvJAp= *@Afi*@A1V~? Ar˩A_&"AA|hNA"AZAbAjArAzAAA elevatorAngleAction: 0.064357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743029467.923298F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ,@ANP,@AV~? AکAl&"AAYhNA"AZAbAjArAzAAAE@1bAtVο ??? MPο I?`?n??)v@ I٘i)I9ce@Y G J<J;JJEJC&Kw> YbT~?y/Ҩ"FAZCٖ7)B E[[d@[U~?[[[[[BZYY i) h(%IiH@O= a))a_7@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029468.783165 s, next control iter: 1743029469.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029469.183165 s.MH~,K7!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743029469.183291F (some fields omitted in printout)Aףp= /@A>?.@AU~? A[A+&"AAp+hNA"AZAbAjArAzAAAbAE"ZA:*~rAf@A7;AsAA ֟пAA<*AĈ9?2A6ֽ:At9BAĈ9?JA6ֽRAt9٘i)I9f@Y G J<JJJJC&K Y@\T~?yڨFA BC77)B[[@[ U~?[\[[[[BZYY i) mֺIi@bO= ?))?@$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029469.203165 s, next control iter: 1743029469.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029469.603165 s.74MH~,f7!AJ"J*J2J:JBJnJvJA{G/@AA /@AU~? AA&&"AAmhNA"AZAbAjArAzAAAQA+=(rAf@AE9AAA-wϿA`^A<*A9?2Abmֽ:ABA9?JAbmֽRA٘i)I9f@Yn G Jn<JJJJC&K  7YUT~? 7yEGACb7,7)B[[&@[U~?[[[[[BZYY i)  EIi@"GO= ))H@{*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029469.623165 s, next control iter: 1743029470.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2968 , header.stamp.nsec: 0 0 temperature: 13.388962 * salinity: 33.391464 , density: 1025.000000 * values[0]: 0.691039 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029470.023165 s.ZMH~,{7!AAQ0@AEׅ0@A:U~? AA&"AA)hNA"AZAbAjArAzAAA/?-AFprAkg@AAAc߿AͿA?A%<*A9?2Ac^ֽ:A BA9?JAc^ֽRA ٘i)I9kg@Y G J<JJJJGC&K YNT~?yGAC77/7&B)B E[[Y@[U~?[# [[[[BZYY i) , 9Ii@0fO= ))TѨ@<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029470.043165 s, next control iter: 1743029470.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029470.443165 s.EMH~,y]7!AJ"J*J2J:J1?BJ1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743029470.443313F (some fields omitted in printout)A(\1@A^6[1@A?U~? A;A5&"AAhNA"AZAbAjArAzAAANXZ%AnStsAh@AkA"dA TݿA ˿A@eA<*A9?2A_ֽ:A BA9?JA_ֽRA ٘i)I9h@YA G J<B=JJJJrC&K Y.HT~?y\GAC88L7)B E[[7@[U~?[[[[[BZYY i) P:IiM@ԿO= }))}Y@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029470.463165 s, next control iter: 1743029470.843186 s, wait time: 0.380021 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2969, header.stamp.nsec: 00 temperature: 13.388657* salinity: 33.391434, density: 1025.000000* values[0]: 0.692443F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029470.863165 s.+MH~,>7!AAfffff2@AGq:22@AU~? AAf&"AAgNA"AZAbAjArAzAAA,{H-9AW~,sAh@AsHA`AڿAI ʿAA<*A9?2Arֽ:ABA9?JArֽRAY`@ڿy^`HٓH`a'?^?5@z`{?Ƴ?kiz?)`@ I٘i)I9h@Y G J<C=J<JJJC&Kx> YNDT~?yeHAڿ1Cj7j7-i7)B[[@[vU~?[[[[[BZYY i) :Ii@N= jy))jy@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029470.883165 s, next control iter: 1743029471.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029471.283165 s.6RMH~,7!AJ"J*J2J:JBJnJvJA ףp=3@AK= B 3@AU~? AAr&"AAgNA"AZAbAjArAzAAA+=A6+} sA^i@A_AQA/ؿA@2ȿA Ag<*A˭9?2Aֽُ:ABA˭9?JAֽُRA٘i)I9^i@YG JT<JJJJC&K Yn@T~?yHA[C77؅7)ۯB[[NI@[U~?[y[[[[BZYY i) P:;Ii5@uXN= $u))$uIk@3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029471.303165 s, next control iter: 1743029471.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 2970., header.stamp.nsec: 0.0 temperature: 13.388358.* salinity: 33.391426., density: 1025.000000.* values[0]: 0.693804.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029471.703165 s.պMH~, 7!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743029471.703270F (some fields omitted in printout)AGz4@Ah3@AUU~? AA67&"AAgNA"AZAbAjArAzAAAʥ'AfGsAi@A:A>|AuտAWƿA!Af<*A[9?2A]ֽ:A$BA[9?JA]ֽRA$٘i)I9i@YeG J^<B=JJJJC&K YBAn+OsAk@Af;AA<пA@¿A A|<*A^9?2Aֽ:A[BA^9?JAֽRA[򼙘٘i)I9k@YG Jr<JJJJIC&K Y4T~?yJAC77ۗ7)ίB[[H@[aU~?[0[[[[BZYY i4=) ;Ii@FM= Lh))LhC@*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743029472.563165 s, next control iter: 1743029472.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2971, header.stamp.nsec: 00 temperature: 13.388099* salinity: 33.391407, density: 1025.000000* values[0]: 0.695025F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029472.963165 s.|NH~,=8!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073515< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743029472.963300F (some fields omitted in printout)J"J*J2J:JBJnJvJA6@A\me6@A U~? A<6Ai &"AAgNA"AZAbAjArAzAAAsKQAgx2&sAk@An:AhAͿA XA@1Ao\<*A9?2Axֽ:AL*BA9?JAxֽRAL*Yc@Ϳy\V+:ٓHv[?YI?|WH?L? MvZ? ?)c@ I٘i)I9k@YdG J<J<JJJtC&Kx> Y3T~?y(jJAͿC7{77)ɯB[[m@[U~?[6[[[[BZYY i) ;Ii@A &"AAgNA"AZAbAjArAzAAA1A͆AL$sAkl@AA)A&˿A`A,A<*A.9?2AEֽ:ABA.9?JAEֽRA򼙘٘i)I9l@YG J<JJJJC&K  7Y2T~? 7y1JA2Cj7j707)ƯB E[[:@[U~?["=[[[[BZYY i) M;Iij@ L= -_))-_5@ն*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029473.423165 s, next control iter: 1743029473.783189 s, wait time: 0.360024 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 2972", header.stamp.nsec: 0"0 temperature: 13.387848"* salinity: 33.391373", density: 1025.000000"* values[0]: 0.696145"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029473.803165 s.ANH~,gs8!AJ"J*J2J:J62?BJ62?nJ:5vJAzG8@AY8@AɶU~? A.FA3 &"AA]gNA"AZAbAjArAzAAA|ц溵A,8p(sAl@AbTAW넽AzȿA`*A?AB<*A,9?2A6ֽ:ABA,9?JA6ֽRA٘i)I9l@YG Jv<JJJJC&K Y1T~?y[:"KA]C7717)¯B[[@[=U~?[C[[[[BZYY i)  elevatorAngleAction: 0.073515< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743029474.223288F (some fields omitted in printout)AQ9@A~8H8@ApU~? A0NA &"AA۵gNA"AZAbAjArAzAAAl%xwPA-sAW m@AoAAſA a,ANA.<*A9?2Aֽ:A|BA9?JAֽRA|٘i)I9 m@YDG J_<JJJJC&K Y0T~?y(C}KA BCŧ7ŧ7N7)B[[ @[U~?[RJ[[[[BZYY i) ȟ Y1T~?yT3LAC{7{7ۇ7'B)BE[[@[FU~?[W[[[[BZYY i=) 8 elevatorAngleAction: 0.082315< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743029475.483323F (some fields omitted in printout)Aq= ף;@Ao;@AU~? AQfAN&"AA!gNA"AZAbAjArAzAAA71A>!9!AJ"J*J2J:J?BJ?nJ5vJAQ=@Ax=@AU~? AtvA[&"AAQgNA"AZAbAjArAzAAAz@IA^XFsA\Go@A#m(;AWA ͸A!A@vA<*A~9?2A"ֽ:A/BA~9?JA"ֽRA/٘i)I9Go@YG Jl<JJJJC&K Y*7T~?y oAMA^C{7Z7ݘ7)B[[Yſ[U~?[lk[[[[BZYY i) Rg elevatorAngleAction: 0.082315< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743029476.743323F (some fields omitted in printout)A\(>@AUܸ=@ApU~? A~A&"AAgNA"AZAbAjArAzAAA + fKA /FKsAo@Aӄ8AA?8A@f?A@7wAw<*A%9?2Aϛֽ:Aԑ BA%9?JAϛֽRAԑ ٘i)I9o@YG JЌ<JJJJC&K Y9T~?ywMA BC777)BE[[0ÿ[OU~?[r[[[[BZYY i) Y8w@AɪU~? AAJ&"AAgNA"AZAbAjArAzAAAH|&GA(3PsA8p@A$AAA?AuAՙ<*A.9?2Agֽ:A/$BA.9?JAgֽRA/$YY%@yx*%ٓHI??`w R?v??`OdI?)Y%@ I٘i)I98p@Y4G Jϒ<JJJJ"C&Kw>  7Y=T~? 7yNAC27)B[[ [vU~?[x[[[[BZYY i) 6 elevatorAngleAction: 0.082315< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743029478.003287F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@@As y@@AU~? AA &"AAJgNA"AZAbAjArAzAAA>2ly+A$u ZsA.@q@AzMA[AoAMG?AGiA@8<*A9?2Agֽ:AIBA9?JAgֽRAI٘i)I9@q@YG J<JJJJxC&K Y'GT~?yNA Cj7j7P7+B)E[[ٸ[U~?[[[[[BZYY i) l elevatorAngleAction: 0.082315< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743029479.263280F (some fields omitted in printout)A33333C@AB@AsU~? AӮA8&"AA,gNA"AZAbAjArAzAAAiQAEhsAr@ARh;A$A#Aᑷ?A@EAy<*A܏9?2A;ֽ:AcBA܏9?JA;ֽRAcYf@y#i;ٓH?@?`YǾ ?0??S m??)f@ I٘i)I9r@YG J%<JJJJC&Kx> YXT~?y̫OA BCb777)B[['9[U~?[˙[[[[BZYY i) ` elevatorAngleAction: 0.082315< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743029480.523292F (some fields omitted in printout)AQE@AZ_$E@AU~? AƪAXd&"AA;gNA"AZAbAjArAzAAA>n?AP>*RYwsAt@ACAzA˞AũNQA C777)B[[A[U~?[[[[[BZYY i) "nT~?)>>ũ rAdjusting time to match Gazebo time: 1743029480.943165 s.odNH~,]<:!AA(\F@AO9&[F@AU~? AΪA&"AA~gNA"AZAbAjArAzAAAʆA6-|sAfmu@A!\AխA6A`vJ?AA>a<*A<9?2A eֽ:AxBA<9?JA eֽRAx٘i)I9mu@Y_G J <JJJJC&K  7YvT~? 7yͩQA6C77747-B)BE[[[$U~?[*[[[[BZYY i`к=) :W:!AJ"J*J2J:J?BJ?nJ5vJAfffffG@AiUK:2G@A8U~? A֪AL/&"AAgNA"AZAbAjArAzAAA&wA\/sA v@A>znA~AלA&?A@IA{k<*A9?2Awiֽ:AzaBA9?JAwiֽRAzaY @y2&YoٓH?? -'@ܶR/?`?е?Cm$?) @ I٘i)I9v@YG J<B=J#JJJC&Kw> YWT~?yթ3RA BaCb7b757.B)}BE[[W[U~?[[[[[BZYY i)  elevatorAngleAction: 0.091218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743029481.783327F (some fields omitted in printout)A ףp=H@A$@ H@ASU~? A]ުAȕ%"AA]gNA"AZAbAjArAzAAA[sADƅsAv@AA#ʯAeAw?A@A<*A9?2A~ֽ:AbBA9?JA~ֽRAb٘i)I9v@Y/G J><C=JJJJC&K YT~?yީRACZ7Z7R7)xB[[)[U~?[3[[[[BZYY i) BZYY i¸>,S) T??Kd??)|@ I٘i)I9y@YG Jp<JՖJJJC&Kx> YT~?y~TA7Cŧ7b77Ś70B)dB E[[b[FV~?[$۩[[[[ZZZZBZYY i) g))>澩>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029483.923165 s, next control iter: 1743029484.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029484.303165 s.\NH~,g;!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083166< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743029484.303304F (some fields omitted in printout)AzGM@A}zM@AV~? An A%%"AA hNA"AZAbAjArAzAAA^Ґi_6A dHsA&<{@AA8zA!]A@U?A^A<*A9?2Ajֽ:AHuBA9?JAjֽRAHu٘i)I9<{@YG J&<JJJJC&K YT~?y3jUACj7j77)VB[[[V~?[[[[[ZZZZBZYY i) wJJJ~C&KNw> YT~?yG%dVA!C77T7)IB'E[[#R[5V~?[[[[[ZZZZBZYY il) @}V~?[G[[[[ZZZZBZYY i)ߚ) xiJJJVC&Kw> Y HU~?yITVA"eC777)GB[[[eV~?[[[[[BZYY iXh) U-AHsA$A|@A:A=ARPAd?A.AF~*A49?2A ս:A#=BA49?JA սRA#=٘i)I9A|@YG JⒼJJJJC&K YɎU~?yPe0UAC7777V7)UB[[G [ʒV~?[32[[[[BZYY i) N;Iiqi@g= *d))*d*dy\ЪYFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743029489.363165 s, next control iter: 1743029489.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2988*, header.stamp.nsec: 0*0 temperature: 13.567608** salinity: 33.375031*, density: 1025.000000** values[0]: 0.580550*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029489.763165 s.8OH~,#p=V;ٓH0\?@m?@?`/`Ck?`㬿mOj? V?)¡@ I٘i)I9{@Y6G J_Jf^=JJJ-C&Ku> YU~?ykTAXKCj7SI7;Iiv]@m = -))--٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029490.623165 s, next control iter: 1743029491.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 2989 , header.stamp.nsec: 0 0 temperature: 13.567786 * salinity: 33.375046 , density: 1025.000000 * values[0]: 0.579963 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029491.023165 s.Z0OH~,{lA*A9?2Aս:A=BA9?JAսRA=YOث@ȣ1y}?=AkٓH ȇ?iu?ʮ?`Kh`?@9`ECRm@?)Oث@ I٘i)I9x@YrG JJǺJJJC&Kt>  7YkV~? 7yWRA1C777)uB[[Ӯf[V~?[T[[[[BZYY i) O9IiR@= ))t1x콩nԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029491.903165 s, next control iter: 1743029492.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029492.283165 s.7RDOH~,=!AJ"J*J2J:JBJnJvJA ףp=]@A=+J ]@A3W~? AVA(%"AAiNA"AZAbAjArAzAAA&DFA@i5sA@x@AA` =Ad,A@A?AAc*A9?2A[ս:AK=BA9?JA[սRAK=٘i)I9@x@YG JCJJJJ/C&K Y V~?yWRAC)7ŧ7?7B)BIE[[o][V~?[_[[[[BZYY i) ݺIiJ@= )) ]ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029492.723165 s, next control iter: 1743029493.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029493.123165 s.7QOH~,]G=!AJ"J*J2J:J?BJ?nJ@5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066336< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743029493.123304F (some fields omitted in printout)AR^@ACV^@A*W~? A㘫AD%"AAiNA"AZAbAjArAzAAAtoU٦A1sAFw@A";A=AU"A?AsAs *A9?2AԽ:A*=BA9?JAԽRA*=٘i)I9w@YgG JC=JJJJC&K YHV~?y;QACZ7SI7X7)B[[;X[ W~?[ e[[[[BZYY i) 9+Ii>G@< f{))f{f{ʪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029493.163165 s, next control iter: 1743029493.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029493.543165 s.IXOH~,b=!AA(\_@ABi_@A[=W~? A}A%"AAiNA"AZAbAjArAzAAA%Z tAo:x sA͐v@Ad;A߆=A7A`?AAo0*AK9?2AԽ:AQw=BAK9?JAԽRAQw=٘i)I9v@YG JdJJJJC&K Y=^V~?yܠ QA=C7777@u7)BLE[[T[W~?[kj[[[[BZYY i) PgIi+D@<< @L0))@L0@L0%ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029493.563165 s, next control iter: 1743029493.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2992, header.stamp.nsec: 00 temperature: 13.568384* salinity: 33.375038, density: 1025.000000* values[0]: 0.578055F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029493.963165 s.x^OH~,}=!AJ"J*J2J:JBJnJvJA`@Ane`@AvPW~? AAi%"AAMjNA"AZAbAjArAzAAA! @ԿAuwesAv@A 1;Ad=AAh?A`X߿ADs*A9?2AxDս:AR<BA9?JAxDսRAR YuV~?yɥPA BhCŧ7b7둝7?B)BOE[[qO[5,W~?[o[[[[BZYY i3Й) 6Ii^?@< '̼))]t'̼'̼êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029494.003165 s, next control iter: 1743029494.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029494.383165 s.eOH~,/=!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.238638@ elevatorAngleAction: -0.075104< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743029494.383297F (some fields omitted in printout)A= ףpa@Amlv*A79?2Aս:AŦ<BA79?JAսRAŦ<٘i)I9u@YlG J*JJJJC&K YV~?yaPAC77{77)B[[J[F!AAd@A鲘d@A/W~? AAn%"AAjNA"AZAbAjArAzAAAa:B?AatAs@AÊAp=AA??AtۿAᄐ*A:?2A Խ:Ac=BA:?JA ԽRAc=Y>@Hyp=ٓH? 3W?.?@?F޿,?@ joXQ?)>@ I٘i)I9s@Y?G JƏB=J]HJJJC&Kr> Y.V~?yNA?C77D!7)B[[ 7[^W~?[Ɉ[[[[BZYY i) XUIi+@< =))!AJ"J*J2J:JBJnJvJAq= ףe@AHCoe@AIW~? AR«A%"AAGjNA"AZAbAjArAzAAA$L?AtA#s@A::AD=AA`/?A(ۿAy*A>:?2A0ս:AP=BA>:?JA0սRAP=٘i)I9s@YG J9C=JJJJC&K Y W~?yNA BiC7=7CB)B]E[[3[-W~?[[[[[BZYY i) w%Ii|&@< `=))`=`=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029496.503165 s, next control iter: 1743029496.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2995, header.stamp.nsec: 00 temperature: 13.568846* salinity: 33.375080, density: 1025.000000* values[0]: 0.576438F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029496.903165 s.ȍOH~,9>!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.255087@ elevatorAngleAction: -0.075104< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743029496.903325F (some fields omitted in printout)AGzf@A#Ff@AW~? AƫA%"AA|jNA"AZAbAjArAzAAA0 ?AËOtA3r@A +];A!=AA`y?A`[ڿA*A'":?2A'2ӽ:A9F=BA'":?JA'2ӽRA9F=٘i)I9r@YG JJJJJC&K YW~?yƪ*NACj7Z7Z7)B`E[[G.[lW~?[>[[[[BZYY i) D5IiM"@)<  @=))  @= @=nĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029496.923165 s, next control iter: 1743029497.303181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029497.323165 s.uOH~,!T>!AJ"J*J2J:J?BJ?nJ5vJAQg@A$ g@AlW~? Af˫A\%"AA' kNA"AZAbAjArAzAAAi?ARda_ttA*r@A];A<=AE޾A?A@eٿA#N*A[(:?2Aӽ:AV=BA[(:?JAӽRAV=٘i)I9r@Y\G J JJJJ3C&K Y6W~?y2ʪMAC77Bw7)BcE[[t)[W~?[ݖ[[[[BZYY i) dDIi@<  =)) = =ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029497.343165 s, next control iter: 1743029497.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 2996*, header.stamp.nsec: 0*0 temperature: 13.568969** salinity: 33.375088*, density: 1025.000000** values[0]: 0.575934*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029497.743165 s.&WOH~,o>!AA\(h@AtA}g@Ak X~? AϫA%"AA@.kNA"AZAbAjArAzAAA/؇9?AtAdq@A:A=A^uԾA?A:ؿAf!*A$:?2Aӽ:A8=BA$:?JAӽRA8=٘i)I9q@YG JJJJJ^C&K YOW~?y_ΪoMAC777)B[[c$[!W~?[g[[[[BZYY i) r3TIi!@-< >))>>ȪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029497.763165 s, next control iter: 1743029498.143185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743029498.163165 s.u}OH~,q>!AJ"J*J2J:J_?BJ_?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075104< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743029498.163304F (some fields omitted in printout)Ai@AbJ$h@A!X~? AӫA%"AAOkNA"AZAbAjArAzAAAPhaW8@A~tAq@A:mA=ARʾA`Q7?AؿAᚼ*A :?2AsԽ:A# =BA :?JAsԽRA# =Y k@ʾy=^nٓH`Uv?՛?q?`rؿ2? ᄛrM?) k@ I٘i)I9q@YG J꙼J<JJJC&Kq> YiW~?yѪ MAʾC77{77EB)BgE[[[5W~?[Ɵ[[[[BZYY i) QrcIi@o< %>))Oo%>%>3˪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029498.183165 s, next control iter: 1743029498.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029498.583165 s.!OH~,*S>!AAp= i@A8ڢi@A68X~? AثAa%"AAqkNA"AZAbAjArAzAAA_;6[@A'tAAp@ArAAf=AA@s?A8׿A*A:?2A-ս:A =BA:?JA-սRA =٘i)I9p@YpG J˛JJJJC&K Y˃W~?y$ժLA@C77C͞7FB)BjE[[[W~?[[[[[BZYY i.!) rIi_@n< `8>))`8>`8>ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029498.603165 s, next control iter: 1743029498.983189 s, wait time: 0.380024 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2997, header.stamp.nsec: 00 temperature: 13.569150* salinity: 33.375103, density: 1025.000000* values[0]: 0.575395F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029499.003165 s.} OH~,a4>!AJ"J*J2J:JM?BJM?nJt5vJAHzj@A%8yj@AOX~? A۫A%"AAkNA"AZAbAjArAzAAA:@A/Ì tA@p@AvidA]=A鄵Aij?A \ֿA\*Ac=:?2Aӽ:A_ =BAc=:?JAӽRA_ =٘i)I9p@YG JJB=JJJJC&K YޝW~?yتELA BkC77{77)ůBmE[[[X~?[H[[[[BZYY i) CIi @T< K>))K>K>ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029499.023165 s, next control iter: 1743029499.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029499.423165 s.uOH~,>!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.253094@ elevatorAngleAction: -0.084048< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743029499.423295F (some fields omitted in printout)AQk@APk@AfX~? A߫Ao%"AA¶kNA"AZAbAjArAzAAA|@A "tAo@A@AK=A&A?A տA&^*AA:?2Aҽ:A? =BAA:?JAҽRA? =٘i)I9o@YG JhC=JJJJ C&K  7YW~? 7y۪KACb7b77)ʯBpE[[[-[X~?[h[[[[BZYY i) Ii5 @< _>)) _>_>OҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029499.443165 s, next control iter: 1743029499.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 2998, header.stamp.nsec: 00 temperature: 13.569260* salinity: 33.375137, density: 1025.000000* values[0]: 0.574858F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029499.843165 s.ݼOH~,>!AJ"J*J2J:JBJnJvJA(\l@A(l@A\}X~? A\A%"AAkNA"AZAbAjArAzAAAJm @A:%tAo@Au49Am=A֡A ?AԿAy7*AE:?2A_ҽ:A=BAE:?JA_ҽRA=|I٘i)I9o@YzG J̢JJJJ5C&K YW~?yMߪKAC77{7E#7GB)ϯBsE[[; [-X~?[o[[[[BZYY i) 7Ii@.< PSs>))PSs>PSs>y ժYGYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029499.863165 s, next control iter: 1743029500.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029500.263165 s.OH~,0?!AA33333m@A,)l@AߔX~? AA9%"AAMkNA"AZAbAjArAzAAAPrC" @A6)7'tAdzn@A?.;AY5=A̗AQ?AӿA^ש*A =:?2A@ӽ:A=BA =:?JA@ӽRA=Y@ⱗy45=Z/;ٓH ? ?` ?Cҿ?a e? ?)@ I٘i)I9zn@Y$G J#JG<JJJ`C&Kp> YW~?yKAC777?7)ӯB[[Y[iBX~?[I[[[[BZYY i) zIi@< m>))>nm>m>n٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029500.283165 s, next control iter: 1743029500.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 29992, header.stamp.nsec: 020 temperature: 13.5694072* salinity: 33.3751302, density: 1025.0000002* values[0]: 0.5742892F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029500.683165 s.lOH~,^+?!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.232661@ elevatorAngleAction: -0.084048< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743029500.683316F (some fields omitted in printout)Aףp= n@Avm@AX~? A9A%"AA!lNA"AZAbAjArAzAAAh4b@AD)tAm@AJq;AU=AAށ?A4ӿA*A14:?2A!ӽ:A=BA14:?JA!ӽRA=٘i)I9m@YG JJJJEJC&K YX~?yqJACj7Z7\7)دBvE[[k[WX~?[ [[[[BZYY i) -Ii?< H>))H>H>TݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029500.683165 s, next control iter: 1743029501.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743029501.103165 s.OH~,F?!AA{Gn@An@AX~? AnAb%"AA/ElNA"AZAbAjArAzAAAwqS@A,9+tAzUm@Aɽ4;A ܣ=AuAb?A`8/ҿAS*AR:?2Aҽ:A==BAR:?JAҽRA==٘i)I9Um@YrG JʰJJJJC&K Y"X~?y@JA BAC)7ŧ7Dy7)ݯByE[[[mX~?[[[[[BZYY i) ǨIi?< 8>))8>8>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029501.123165 s, next control iter: 1743029501.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029501.523165 s.OH~,{a?!AJ"J*J2J:JBJnJvJAQo@Ao@AX~? A}Ay%"AAilNA"AZAbAjArAzAAArx@A -tACl@A9Ab=A9 sA`?AWѿA_l*ASX:?2AAҽ:A-=BASX:?JAAҽRA-=٘i)I9l@YG J5JJJJC&K Y=X~?yIAlC777)B|E[[[X~?[G[[[[BZYY i) #Ii6?< <>)) <><>YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743029501.543165 s, next control iter: 1743029501.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3000, header.stamp.nsec: 00 temperature: 13.569588* salinity: 33.375137, density: 1025.000000* values[0]: 0.573706F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029501.943165 s.YdOH~,F]|?!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084048< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743029501.943306F (some fields omitted in printout)A(\p@A^b,[p@A X~? AgA>%"AA\lNA"AZAbAjArAzAAABB@A,>.tA!l@A A(=AM^A ?A|пA*A]:?2A:ҽ:A=BA]:?JA:ҽRA=٘i)I9!l@YG JHJJJJ C&K YYX~?y&lIAC7)77HB)BE[[[NX~?[ª[[[[BZYY i) Ii1?|< R>))R>R>Y!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029501.983165 s, next control iter: 1743029502.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029502.363165 s.OH~,>?!AJ"J*J2J:JBJnJvJAfffffq@A@2q@A Y~? A+A%"AA^lNA"AZAbAjArAzAAA&uT@A0tAik@ASpfAW=A!JA4?AEϿA*AU:?2Aӽ:Aߐ=BAU:?JAӽRAߐ=Y3@Jy=?gٓH wC?[*?Z.? Aɿ `?6l`l 7?)3@ I٘i)I9k@YVG J|J~<JJJ7C&Ko> YtX~?yHAJC7{7Gϟ7)BE[[uܾ[X~?[ƪ[[[[BZYY i) UIi? < AH>)) nAH>AH>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029502.383165 s, next control iter: 1743029502.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3001&, header.stamp.nsec: 0&0 temperature: 13.569734&* salinity: 33.375160&, density: 1025.000000&* values[0]: 0.573034&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029502.783165 s.YOH~,?!AA ףp=r@ASD r@A@&Y~? AA%"AAlNA"AZAbAjArAzAAAEkiv@A(2tAKj@AYBAɭ=A6A@,Z?A ͿAdļ*AM:?2Aӽ:Ax=BAM:?JAӽRAx=٘i)I9j@YG J6¼JJJJbC&K YSX~?yHAC777)BE[[Ҿ[,X~?[*ɪ[[[[BZYY i) <:ļIie?Ђ< T>))!T>T>YZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029502.803165 s, next control iter: 1743029503.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029503.203165 s.OH~,?!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.252015@ elevatorAngleAction: -0.084048< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743029503.203311F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzs@AbMeQr@A?Y~? A@AH%"AA-lNA"AZAbAjArAzAAA,yG!@Ah3tA7j@AhA=A=/"A߂?A˿Ayʼ*Ak:?2Aѽ:A=BAk:?JAѽRA=٘i)I97j@YG JǼJJJJC&K  7YX~? 7yXHAC77{77JB)BE[[Ⱦ[4X~?[7̪[[[[BZYY i) ˼Ii?8z< w>))w>w>YmYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029503.223165 s, next control iter: 1743029503.603180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029503.623165 s.XOH~,a?!AARs@A̗`s@A XY~? AAq%"AA#mNA"AZAbAjArAzAAA|SQ@ASHb5tAi@A2:AN=A A a?A@ɿAϼ*Aq:?2Aѽ:An=BAq:?JAѽRAn=٘i)I9i@Y#G J̼JJJJC&K YX~?yGA BCCŧ7b7H%7)BE[[qp[X~?[&Ϫ[[[[BZYY i) ~ҼIi?ہp< E>)) E>E>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029503.663165 s, next control iter: 1743029504.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3002 , header.stamp.nsec: 0 0 temperature: 13.569946 * salinity: 33.375172 , density: 1025.000000 * values[0]: 0.572365 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029504.043165 s.PH~,@!AJ"J*J2J:JBJnJvJA(\t@AVzmt@AIqY~? AAE%"AAImNA"AZAbAjArAzAAA|;wo@Aqc6tAh@AV[;A=AMA?Ah.ȿAӼ*Aw:?2Aѽ:An=BAw:?JAѽRAn=٘i)I9h@Y G JѼJJJJC&K YQX~?y,GAmC77A7)BE[[&[^ Y~?[Ѫ[[[[BZYY i(\) "ڼIi?g< 1>))1>1>vYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029504.063165 s, next control iter: 1743029504.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029504.463165 s.XPH~,@!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092949< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743029504.463315F (some fields omitted in printout)Au@A9weu@AY~? AA%"AA.pmNA"AZAbAjArAzAAA/L5@A;ʮ7tAx(h@AWZ;A=A|ͽA`?AfoƿA"ּ*Ap:?2Adҽ:A=BAp:?JAdҽRA=Y.پ@1̽y=|Z;ٓH?ޤ?`7?x? Ҷ i@k??).پ@ I٘i)I9(h@YK G J+ռJe<JJJC&KJo> YaX~?yFA̽C7^7) BE[[![$Y~?[Ԫ[[[[ZZ¸BZYY i¸=) FμIi?mZ< ">))֑n">">Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029504.503165 s, next control iter: 1743029504.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3003, header.stamp.nsec: 00 temperature: 13.570153* salinity: 33.375175, density: 1025.000000* values[0]: 0.571641F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029504.883165 s.J "J *J 2J :J W?BJ W?z PH~nJr5vJ,w8@!AA= ףpv@AA))ad>d>*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029504.903165 s, next control iter: 1743029505.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029505.303165 s.UPH~,sgS@!AAzGw@Aw@AY~? AHA%"AA)mNA"AZAbAjArAzAAA C3@A[ѩ9tAYf@AԠA=Ax_vA?A¿A?*AP:?2ARѽ:A7<BAP:?JARѽRA7<٘i)I9f@Yd G J JJJJdC&K Y7Y~?yrEAC77j77)BE[[b[hTY~?[q٪[[[[ZZBZYY i) Ii?]C< ݼ>))ݼ>ݼ>yv=SY nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029505.343165 s, next control iter: 1743029505.703177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3004., header.stamp.nsec: 0.0 temperature: 13.570377.* salinity: 33.375214., density: 1025.000000.* values[0]: 0.570882.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029505.723165 s.PH~,Hn@!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.252699> elevatorAngleAction: 0.084483< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743029505.723279F (some fields omitted in printout)J"J*J2J:JBJnJvJAQx@A@Ŋw@AY~? AA?%"AAmNA"AZAbAjArAzAAADjU@A:tAle@A@VAd=Am&A%*?AA`*A4:?2AJҽ:A<BA4:?JAJҽRA<٘i)I9e@Y G JJJJJC&K YSY~?ySJEAC{77)#BE[[[$mY~?[۪[[[[ZZBZYY i)  Ii?v9< l?)) l?l?yj=ҪYsYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029505.743165 s, next control iter: 1743029506.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029506.143165 s.V/"PH~,*@!AA)\x@Ax@AY~? A3A%"AA nNA"AZAbAjArAzAAAa D@A;tAd@AAlt=A軭A>?A:@A-*A$:?2A$)ҽ:Ajb<BA$:?JA$)ҽRAjb<٘i)I9d@Y] G JGB=JJJJC&K YoY~?y4DA BDC77KѠ7)*B[[es[2Y~?[ݪ[[[[ZZBZYY i) Ii?0< (?))(?(?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029506.163165 s, next control iter: 1743029506.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029506.563165 s.(PH~,| @!AJ"J*J2J:JBJnJvJAy@A(좘y@A Z~? An A}%"AA1nNA"AZAbAjArAzAAA|{#@A P YY~?y7DAкoC77{77)0BE[[l[(Y~?[ߪ[[[[ZZBZYY i=) =Ii?#<  ?))\o ? ?vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029506.583165 s, next control iter: 1743029506.963186 s, wait time: 0.380021 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3005, header.stamp.nsec: 00 temperature: 13.570667* salinity: 33.375217, density: 1025.000000* values[0]: 0.569956F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029506.983165 s./PH~,@!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.234201> elevatorAngleAction: 0.074698< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743029506.983280F (some fields omitted in printout)Aq= ףz@Auoz@A$Z~? A Ag%"AAXnNA"AZAbAjArAzAAASL @A>]Z~? Ai AS%"AA@nNA"AZAbAjArAzAAAO!@AgҐb=tAc@A^:Ag<A=A@s?A A%ြ*A:?2A:ҽ:ABA:?JA:ҽRA٘i)I9c@Y6 G JJJJJ;C&K Y~Y~?y> DAC)7b7J'7QB)9BE[[A[!Y~?[[[[[ZZBZYY i) S{Ii"\? < ?)) ??cYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029507.443165 s, next control iter: 1743029507.803189 s, wait time: 0.360024 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3006, header.stamp.nsec: 00 temperature: 13.570840* salinity: 33.375217, density: 1025.000000* values[0]: 0.569234F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029507.823165 s. elevatorAngleAction: 0.083975< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743029508.243298F (some fields omitted in printout)A\(}@AfN|@ArZ~? A A5%"AAnNA"AZAbAjArAzAAAcY"@AlOW>tAb@Az ;AA)_=A!?A=ǧAZ_*Au:?2A7ӽ:ABAu:?JA7ӽRA٘i)I9b@Y G J JJJJC&K YY~?yFCACŧ7b7`7)=BE[[[WZ~?[[[[[ZZBZYY i) p*PIi??=; R#?))R#?R#?yDӘ=)Yz YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029508.283165 s, next control iter: 1743029508.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029508.663165 s.JPH~,q*A!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3007, header.stamp.nsec: 00 temperature: 13.570890* salinity: 33.375229, density: 1025.000000* values[0]: 0.568892F (some fields omitted in printout)A~@A@}@AZ~? A1 A+%"AAnNA"AZAbAjArAzAAAxY"@A@a#>tAeb@A8A>A{=A?A@|kAv*A+:?2Aӽ:A>^мBA+:?JAӽRA>^мY*@y=y>8ٓH ?@[帿ݠ`?+?Vk?|?@?)*@ I٘i)I9eb@Y G J{Ja9JJJC&KXq> Y=Z~?yjCAy= BECb77L}7PB)E[[[` Z~?[[[[[BZYY in=) R>Ii+?ʭ; (?))q(?(?y=4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029508.683165 s, next control iter: 1743029509.063177 s, wait time: 0.380012 s2=Z~?)2j rAdjusting time to match Gazebo time: 1743029509.083165 s.DQPH~,SEA!AJ"J*J2J:JBJnJvJAp= ~@ACޢ~@AZ~? Ax A$%"AA/oNA"AZAbAjArAzAAAM#@Al>tAib@A Ah6A=A)?Ax둿A*K;*A:?2AԽ:ABA:?JAԽRA򼙘٘i)I9ib@Y G J7":JJJJC&K Yf5Z~?yDApC{7{77)E[[Uؽ[:Z~?[[[[[BZYY i =) b-Iih?\; .?))B.?.?yЫ=u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029509.103165 s, next control iter: 1743029509.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029509.503165 s.WPH~,D4`A!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.256370> elevatorAngleAction: 0.068405< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743029509.503316F (some fields omitted in printout)AHz@A y@AZ~? A A %"AAEoNA"AZAbAjArAzAAAw)4$@Ao䙸>tAb@A`jA ]A3 >A/?A`A<*A:?2Aҽ:A++BA:?JAҽRA++٘i)I9b@Y G J;JJJJC&K YQZ~?y3DAC77777OB);BE[[v[^UZ~?[[[[[BZYY i) Ii?P; p3?)) p3?p3?yVg=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029509.523165 s, next control iter: 1743029509.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3008, header.stamp.nsec: 00 temperature: 13.570792* salinity: 33.375237, density: 1025.000000* values[0]: 0.568956F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029509.923165 s.J "J *J 2J :J ?BJ ?nJ 5vJ P^PH~,{A!AAQ@Aj/P@AZ~? A A%"AAdmoNA"AZAbAjArAzAAA}$@A[FМ>tAb@A(QADzAQ >A?A 5?A:<*Aߪ:?2AI5ӽ:Aٹ BAߪ:?JAI5ӽRAٹ ٘i)I9b@Y G J<JJJJ=C&K YmZ~?y`DACb77Kӡ7)9B[[D[DpZ~?[P[[[[BZYY i) T Ii>; <8?))<8?<8?y=ĩ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029509.943165 s, next control iter: 1743029510.323176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029510.343165 s.tA(c@AEAJA|+5>A?A/?Aj<*A:?2AԽ:ADBA:?JAԽRAD٘i)I9(c@Y@ G J]Q<JJJJhC&K YZ~?yDAC7)6BE[[L*[dZ~?[[[[[BZYY i) iIi>%; g>?))g>?g>?J*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029510.363165 s, next control iter: 1743029510.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3009&, header.stamp.nsec: 0&0 temperature: 13.570552&* salinity: 33.375271&, density: 1025.000000&* values[0]: 0.569330&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029510.763165 s.9kPH~,'ذA!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J8 propOmegaAction: 25.132812"J*J< rudderAngleAction: -0.2617992J> elevatorAngleAction: 0.068405:JBJ< massPositionAction: 0.0000004 buoyancyAction: 0.000500nJvJ dt: 0.4200132 time: 1743029510.763292F (some fields omitted in printout)A33333@A _B@AB[~? A A'%"AAoNA"AZAbAjArAzAAA Kn&@AYز^v>tAc@Aǜ:AepA J>A݋?A@D?A<*A:?2AԽ:ABA:?JAԽRAY\@WI>y^pn.:ٓHL?`ɿ߱`? a?Z J?@S??)\@ I٘i)I9c@Y G J}<J.JJJC&Kcs>  7YZ~? 7yBDAI>Cb7 7)2BE[[@[1Z~?[[[[[BZYY i>o=) ӻIi%>f; C?))dtC?C?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029510.783165 s, next control iter: 1743029511.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029511.183165 s.rPH~,A!AAףp= @Aւ@AV)[~? Al A00%"AA"oNA"AZAbAjArAzAAA"&@A#>tA d@A@;A<;A`_>A/?AK?AQz<*A0:?2Avս:ABA0:?JAvսRA٘i)I9 d@Y G JT<JJJJC&K YHZ~?ySEA BGC77M)7NB).BE[[:[BZ~?[[[[[BZYY i) JIi>t9; :QI?))㭄:QI?:QI?d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029511.203165 s, next control iter: 1743029511.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029511.603165 s.54yPH~,A!AJ"J*J2J:JBJnJvJA{Gყ@Aap@AaC[~? A A <%"AA pNA"AZAbAjArAzAAA$x$vK'@A=tAd@AL;A{Ass>Az?AV??A<*A:?2AEӽ:AАBA:?JAEӽRAА٘i)I9d@Y G J=<JJJJC&K YZ~?yEArC{7j7E7KB)'BE[[ <[Z~?[[[[[BZYY i) Ii|b>>; N?)) N?N?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029511.623165 s, next control iter: 1743029512.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3010 , header.stamp.nsec: 0 0 temperature: 13.570191 * salinity: 33.375271 , density: 1025.000000 * values[0]: 0.569920 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029512.023165 s.ZPH~,|B!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058356< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743029512.023317F (some fields omitted in printout)AQ@Ax0@A`][~? A AK%"AA3pNA"AZAbAjArAzAAAZx'@A#{0=tA^$e@A/:A A>A@Mn?A`A?A<*A:?2Af(Խ:A~BA:?JAf(ԽRA~٘i)I9$e@Yu G JV<JJJJC&K YZ~?yFAC77b7)"BE[[5=[Z~?[[[[[BZYY i)  SpIi*>F: JkT?))JkT?JkT?yAU_?A ?A<*A:?2AıԽ:A BA:?JAıԽRA ٘i)I9e@Y G J<JJJJ?C&K Y\[~?y[zFACb7M7JB)BE[[ʵ=[[~?[;[[[[BZYY i) 93Ii=*: Z?))Z?Z?#*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029512.463165 s, next control iter: 1743029512.843181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3011, header.stamp.nsec: 00 temperature: 13.569824* salinity: 33.375305, density: 1025.000000* values[0]: 0.570687F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029512.863165 s.+PH~,>7B!AAfffff@A!Q2@A.[~? AA\r%"AApNA"AZAbAjArAzAAA;e7#)@As=/;tAXf@A[*2A\A6>AM?A,A?A<*A:?2A>ս:ABA:?JA>սRAY=GQ>y\2ٓH W? Nҿ`߲??9`?IEf?)= I٘i)I9Xf@Y1 G JG<B=J<JJJjC&KKt> Y_/[~?yFAQ>C)7b77)B[[!=[/[~?[[[[[BZYY i) /DIi;=g9 _?))ֹw_?_?D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029512.883165 s, next control iter: 1743029513.263176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029513.283165 s.;RPH~,RB!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241920> elevatorAngleAction: 0.058356< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419953J"J2 time: 1743029513.283282*JF (some fields omitted in printout)2J:JBJnJvJA ףp=@AV|C @A[~? AWA%"AAبpNA"AZAbAjArAzAAA )@A@燱 ;tAA@9?A~?Ac<*A:?2Aս:A{BA:?JAսRA{٘i)I9f@Y G J<C=JJJJC&K YXJ[~?y2LGAC{7{77IB)BĹE[[=[J[~?[[[[[BZYY iȉ=) ~|lII?i^S re?)) re?re?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029513.303165 s, next control iter: 1743029513.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3012., header.stamp.nsec: 0.0 temperature: 13.569394.* salinity: 33.375294., density: 1025.000000.* values[0]: 0.571509.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029513.703165 s.ٺPH~,mB!AAGz@A2nj@A[~? AA9%"AApNA"AZAbAjArAzAAAn9c[*@A(Lk:tA*g@A'AɔA.>A$?A@Eq?A$<*A:?2AԽ:AyBA:?JAԽRAy٘i)I9g@Y G J<B=JJJJC&K YZe[~?yGA BHCb77Sբ7) BǹE[[>[;f[~?[[[[[BZYY i) y7I}I?i iO Xj?))Xj?Xj?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029513.723165 s, next control iter: 1743029514.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029514.123165 s.9PH~,eB!AJ"J*J2J:JBJnJvJAR눧@AFS@AC[~? A/A%"AApNA"AZAbAjArAzAAAM0*@Azo9tAh@Az9A9AH5>A ) ?A??A<*A:?2A'ս:ABA:?JA'սRA٘i)I9h@YF G J<C=JJJJC&K YS[~?y HAsC77{77HB)BʹE[[%>[[~?[m[[[[BZYY i) "s:I I?i= [*p?))[*p?[*p?y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029514.143165 s, next control iter: 1743029514.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029514.543165 s.IPH~,âB!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067277< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743029514.543293F (some fields omitted in printout)A(\‰@A@]@A[~? A^A%"AAxqNA"AZAbAjArAzAAAUL(+@AC8tA}h@AS$;Az^A>A?A P?Ap<*A:?2Aճս:ABA:?JAճսRA٘i)I9h@Y G J<JJJJC&K  7YQ[~? 7ytߪHAC77GB)B͹E[[u4>[[~?[[[[[BZYY i) N:II I?i3! u?))u?u?yщ=*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743029514.563165 s, next control iter: 1743029514.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3013, header.stamp.nsec: 00 temperature: 13.569013* salinity: 33.375324, density: 1025.000000* values[0]: 0.572284F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029514.963165 s.zPH~,B!AJ"J*J2J:J?BJ?nJ5vJA@ARCe@A\~? AeA %"AADqNA"AZAbAjArAzAAA(Ԑ*,@AM6tA0i@AU_;AdA>A?A?A<*A:?2Af(ֽ:AZBA:?JAf(ֽRAZYȋ7>+>y/Z`;ٓH9m?ؿW>?}?=bQ? k?/?)ȋ7> I٘i)I90i@Y G Jɞ<B=J<JJJAC&Ku> Y^[~?y ܪHA>CZ7Z7S+7FB)BйE[[iK>[q[~?[Y[[[[BZYY i) 7;II?iz @{?))Tz@{?@{?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029514.983165 s, next control iter: 1743029515.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029515.383165 s.صPH~,@B!AA= ףp@A2t<@AW*\~? ACAo3%"AA[jqNA"AZAbAjArAzAAA%:,@Aku~5tAi@A0&;A…A>A`R?A%?A'Ζ<*A:?2A~ֽ:AMBA:?JA~ֽRAM٘i)I9i@Y;G JD<C=JJJJlC&K Yd[~?yتAIAC777G7)B[[Nb>[[~?[[[[[BZYY i) t;II?i I :f?)) :f?:f?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029515.403165 s, next control iter: 1743029515.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3014", header.stamp.nsec: 0"0 temperature: 13.568613"* salinity: 33.375340", density: 1025.000000"* values[0]: 0.573043"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029515.803165 s.zAPH~,gB!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067277< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743029515.803280F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG@A"{@AlC\~? AA^%"AA}qNA"AZAbAjArAzAAAz\-@AED4tA.j@Ag9A憽A>A ?A E?A֙<*A:?2A1ս:A BA:?JA1սRA {I٘i)I9.j@YG J+<JJJJC&K Yn[~?y4ժIACŧ77d7)BӹE[[edy>[[~?[wު[[[[BZYY i) @t;IH?i n \4?))\4?\4?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029515.823165 s, next control iter: 1743029516.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029516.223165 s.gPH~,HC!AAQ@A@Ŋꌧ@A[\\~? AA%"AAgqNA"AZAbAjArAzAAA ~&1-@As2tAͩj@AHpAAN>A@k?Ah?A <*A:?2A~ս:ABA:?JA~սRA٘i)I9j@YG JE<JJJJC&K Yx\~?yѪIA BJCb7Q7EB)BֹE[[gR>[ \~?[6ܪ[[[[BZYY i)  o;IH?iҾ)  ?)) ? ?3*Y3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029516.243165 s, next control iter: 1743029516.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029516.643165 s.{PH~,*)C!AJ"J*J2J:JBJnJvJA)\@AȒ@Au\~? AAӽ%"AAqNA"AZAbAjArAzAAAa.@AGW1tA"k@AYDWA҄A#>AD?A/?A䮎<*A?:?2A ս:ABA?:?JA սRA٘i)I9"k@YG Jݏ<JJJEJC&K Y\~?y_ΪXJAuC7777AB)BعE[[_>[Z(\~?[٪[[[[BZYY iυ=) i;IH?i0羉 ?))??*YFFF]:tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3015, header.stamp.nsec: 0Waiting for Gazebo time sync: latest Gz time: 1743029516.663165 s, next control iter: 1743029517.043182 s, wait time: 0.380017 s0 temperature: 13.568255* salinity: 33.375336, density: 1025.000000* values[0]: 0.573704F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029517.063165 s.PH~,p DC!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076915< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743029517.063278F (some fields omitted in printout)A̎@Aya@A\~? A*A%"AArNA"AZAbAjArAzAAAiK/@A8`T/tAk@A~<A?A@>A@?Ap{?AF<*A.:?2ACDֽ:A=BA.:?JACDֽRA=YK{>>y>k<ٓH? ޿ ug?@Z?넰?̀g?)K{> I٘i)I9k@YdG Jy<B=J;JJJC&K v> YR6\~?y'ʪJA>Cj7Z77@B)B۹E[[>[C\~?[ת[[[[BZYY i) c;IH?i ?))AI~??+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029517.083165 s, next control iter: 1743029517.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029517.483165 s.{_PH~,^C!AJ"J*J2J:JBJnJvJAq= ף@A67o@A \~? AAA)%"AA&rNA"AZAbAjArAzAAA񰀲/@A,-tAR l@AxAmA ?A0?A^?A<*A:?2Aֽ:AžBA:?JAֽRAž٘i)I9 l@YG J<C=JJJJCC&K YO\~?yŪ KAC77Qף7)B[[CN>[_\~?[>Ԫ[[[[BZYY i) w [pz\~?[*Ѫ[[[[BZYY i) ر elevatorAngleAction: 0.076915< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743029518.323290F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Af׽@AU\~? AAu%"AA prNA"AZAbAjArAzAAAik0@A6ڸ)tAwl@AL;A䇽Ag?A?A $?A <<*A:?2Aֽ:A&BA:?JAֽRA&٘i)I9l@Y3G J<JJJJC&K  7Y\~? 7yKA Cj7j779B)үBE[[>[\~?[ͪ[[[[BZYY i) PZ*[\~?[\ʪ[[[[BZYY i) t:[\~?[ƪ[[[[BZYY i) >I elevatorAngleAction: 0.076915< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743029519.583279F (some fields omitted in printout)Ap= ד@ALܢ@A]~? AsAGi%"AArNA"AZAbAjArAzAAA>JA1@AvK#tALn@A㤌AA ?A'?A ?Ax<*A1:?2Añֽ:A7 BA1:?JAñֽRA7 ٘i)I9Ln@Y G J<JJJJC&K Y#\~?yװLAC77{7f7)ůB[['>[\~?[ª[[[[BZYY i) VY[]~?[[[[[BZYY i)  i[]~?[8[[[[BZYY ia=) x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029520.443165 s, next control iter: 1743029520.823177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3019", header.stamp.nsec: 0"0 temperature: 13.566895"* salinity: 33.375416", density: 1025.000000"* values[0]: 0.576267"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029520.843165 s. QH~,5D!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.086301< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743029520.843293F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A(@Ata]~? AԫAK%"AADsNA"AZAbAjArAzAAA4k22@AyvtA o@A-AObA.?A@_8?A\1?AĠ<*A|l:?2Ap.׽:AКBA|l:?JAp.׽RAК٘i)I9o@YG J<C=JJJJC&K Y]~?y/MA B"C77j772B)BE[[?[5]~?[[[[[BZYY i) )E3?y8~9ٓHX?`;f I٘i)I9Xp@YGG J<JiؼJJJC&K> Y+]~?y8NA3?MC777V٤7)B[[{ ?["O]~?[[[[[BZYY i) )u׽:A.BAoS:?JA>u׽RA.٘i)I9p@YG J<JJJJC&K Y@]~?yΘNAxCZ7Z771B)BE[[Iz?[Dh]~?[([[[[BZYY i) 5 elevatorAngleAction: 0.086301< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743029522.103303F (some fields omitted in printout)A{Gᘧ@AT@Ag]~? AǫA.G%"AAsNA"AZAbAjArAzAAA#2@AFtAmq@A$(];AA_>?Am?Aൣ?A /<*A]:?2Aֽ:AF BA]:?JAֽRAF ٘i)I9mq@YG J'<JJJJC&K  7Y.V]~? 7yOAC7770B)BE[[?[1]~?[[[[[BZYY i) μD!AJ"J*JvPublished command to Gazebo (printed only once in a while):2J:J( dropWeightState: 1BJnJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.086301< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199422 time: 1743029523.363291F (some fields omitted in printout)Afffff@A~!<2@A]~? A1AZ%"AAN tNA"AZAbAjArAzAAAhؘ3@AԹfT tA2s@AA꫽AM?Aj?A?AҾ<*A(>:?2ALֽ:ABA(>:?JALֽRAY?)M?y꫽MzٓH@!? ? 6? `v?Sb"?)? I٘i)I92s@YG J<JdJJJC&Ku> Yؔ]~?ygLPAM? B#C{7{7h7+B)BE[[))?[]~?[[[[[BZYY i) !X?A?A ]?A<*A*:?2Aֽ:ABA*:?JAֽRA٘i)I9}t@YG J<JJJJC&K Y]~?yt2QAyC777*B)BE[[5?[]~?[[[[[BZYY i) í elevatorAngleAction: 0.086301< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743029524.623296F (some fields omitted in printout)AR띧@AlT@A^~? AA%"AAetNA"AZAbAjArAzAAA,O4@AQGtAi)u@ANFVAqAh]?A?A?A7<*A":?2ARֽ:AU*BA":?JARֽRAU*٘i)I9)u@Y6G J<JJJJC&K Y]~?ygnQACb777'B)}BE[[?A<*A:?2A&׽:ABA:?JA&׽RAYf/? g?y붽iX;ٓH@?0 ت?@ؼ?}ն?j? M?)f/? I٘i)I9v@Y G J<JQJJJtC&Kx> Y]~?y&aRAg?C{7j77$B)pBE[[hH?[;^~?[aw[[[[BZYY i) m elevatorAngleAction: 0.086301< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743029525.883294F (some fields omitted in printout)A= ףp@A4<@A X^~? A%A}%"AAtNA"AZAbAjArAzAAA?ь4@AMsA@w@A N;A^HA*1m?A`֪?A@?A5<*A :?2A%׽:ABA :?JA%׽RA٘i)I9@w@Y|G J<JJJJC&K  7Y^~? 7y;ZSA B$C)777)jB[[yN?[P^~?[p[[[[BZYY i) OBZYY i¸> S) i|^~? AA>%"AAotNA"AZAbAjArAzAAA$_Њj5@A~sAx@ASA3Agw?A?A`>?Ai<*A99?2Aֽ:AgBA99?JAֽRAg٘i)I9x@Y^G J<JJJJC&K Y(^~?yeLTAzC77j7N7 B)ZBE[[[?[;z^~?[ub[[[[ZZZZBZYY i) +r Y>I^~?y>TA?CZ7)KB[[{g?[t^~?[S[[[[ZZZZBZYY i) լJJJ"C&Kx>  7Y^~? 7yYVA?C77B)+BE[[w?[^~?[+[[[[ZZZZBZYY i |) hJJJC&Kw> Yt^~?yz VA ?}C7777)&B[[XV?[NB_~?[[[[[BZYY ib!i) | wG!AAfffff@A9ѮB2@Ak_~? AAV%"AAbevNA"AZAbAjArAzAAA Yj^~?yƩUTA?TC`57)0B[[@?[Fy_~?[ҩ[[[[BZYY i) {;IqF?iĿ8{ A@))A@A@yK3iժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029533.883165 s, next control iter: 1743029534.263184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743029534.283165 s.5RQH~,G!AJ"J*J2J:JBJnJvJA ףp=@A'UH @Au_~? AEA[%"AAtvNA"AZAbAjArAzAAAm]^8@A sA!z@AsA=A?A t?A@?Aa*A]9?2A׽:A  =BA]9?JA׽RA  =٘i)I9z@YG J5C=JJJJC&K Y_~?yvSAC7 R7)5B[[-p?[_~?[Nɩ[[[[BZYY i) U?;IA\F?iſ}  @)) @ @7ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029534.303165 s, next control iter: 1743029534.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3033., header.stamp.nsec: 0.0 temperature: 13.563274.* salinity: 33.375565., density: 1025.000000.* values[0]: 0.583232.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029534.703165 s.ԺQH~,G!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066330< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743029534.703304F (some fields omitted in printout)AGz@A+m౧@A~_~? A Ay%"AAvNA"AZAbAjArAzAAAORz8@AssA4z@AN{A0=A W?A~?A?A$ȫ*Ae9?2Aֽ:A2=BAe9?JAֽRA2=٘i)I94z@YHG JzB=JJJJ&C&K Y _~?ySACŧ7b7n7)9B[[?[_~?[п[[[[BZYY i) $q;IFF?iſ!} d@))d@d@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029534.723165 s, next control iter: 1743029535.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743029535.123165 s.9QH~,eG!AJ"J*J2J:JBJnJvJAR벧@A@f@A_~? A%Av %"AAvNA"AZAbAjArAzAAA8@A3cCќsA{y@Av2Aa=A?A `S?A`&?A髼*Ar9?2A.ֽ:A=BAr9?JA.ֽRA=٘i)I9y@YG J"C=JJJJQC&K Y_~?ypSACj7j7a7B):BE[[Ϭ?[[_~?[G[[[[BZYY i) :I1F?iĿ5{ x@))x@x@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029535.143165 s, next control iter: 1743029535.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029535.543165 s.IQH~,G!AA(\³@A|)B[[u?[ٗ_~?[[[[[BZYY i) 19IF?i¿^y @))@@.ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029535.563165 s, next control iter: 1743029535.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3034, header.stamp.nsec: 00 temperature: 13.563513* salinity: 33.375561, density: 1025.000000* values[0]: 0.582575F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029535.963165 s.zQH~,G!AJ"J*J2J:J#?BJ#?nJb5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066330< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743029535.963311F (some fields omitted in printout)A@A<-?pe@AP_~? AA7%"AA'vNA"AZAbAjArAzAAA*ѭ8@A~O{ZssAx@AY;A=A?A`?A`s?A<*A>9?2Aֽ:A1#=BA>9?JAֽRA1#=YQ? ?y=*Z;ٓH@T? ??@`?$?3k??)Q? I٘i)I9x@YAG J{J/JJJC&K^x> Y_~?y:QRA ? C*C7ŧ7Ĩ7)CB[[7,?[_~?[[[[[BZYY i) gGIF?iÿךz x @))x @x @̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029536.003165 s, next control iter: 1743029536.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029536.383165 s.RH~,+H!AA= ףp@A&s<@A_~? A A%"AAֶvNA"AZAbAjArAzAAAHǝG8@AE sAw@A;A=A4?A`?A@?A"᥼*A9?2Aֽ:AC=BA9?JAֽRAC=٘i)I9w@YG JJJJJC&K Y"_~?yQAUC77`7)GB[[M[?[_~?[c[[[[BZYY i) ʈݺIE?iÿz  @)) @ @ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029536.403165 s, next control iter: 1743029536.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3035", header.stamp.nsec: 0"0 temperature: 13.563726"* salinity: 33.375565", density: 1025.000000"* values[0]: 0.581947"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029536.803165 s.xA RH~,g3H!AJ"J*J2J:JBJnJvJAzG@A5|@A_~? ABAwf%"AAvNA"AZAbAjArAzAAAr&F8@A!sA6mw@A ;A:=AR?A ?A?AK*AF9?2Aֽ:Aޠ=BAF9?JAֽRAޠ=٘i)I9mw@YG JJ"_~?)JJJC&K YS'_~?yՊQAC{7j7 7B)IBE[[#?[_~?[[[[[BZYY i) )+IE?i¿y B @))B @B @aŪYFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743029536.823165 s, next control iter: 1743029537.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029537.223165 s.gRH~,HNH!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066330< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743029537.223325F (some fields omitted in printout)AQ@A0ҋ궧@A_~? AlݪA%"AAvNA"AZAbAjArAzAAA,ӵ9@A%`U.sAv@A1VA=A?A`)?A`?A*Ad9?2Aֽ:AyQ<BAd9?JAֽRAyQ<٘i)I9v@YFG JJJJJ(C&K  7Y+_~? 7y"'QACb777)MB[[?[%_~?[[[[[BZYY i)  hIE?i%v @))@@4ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029537.243165 s, next control iter: 1743029537.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029537.643165 s.yRH~,*iH!AJ"J*J2J:JBJnJvJA)\@AN@A_~? AժAd%"AA@vNA"AZAbAjArAzAAA<9@A"`sAcfv@ABAڊ=A8?AJ?A?A*,*A99?2A ׽:A<BA99?JA ׽RA<٘i)I9fv@YG JݙJJJJSC&K Y0_~?yoyPAC{7{7a77B)PBE[[?[Ŭ_~?[:|[[[[BZYY i) ɒIE?iཿ s |k@))|k@|k@]YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3036, header.stamp.nsec: 00 temperature: 13.563917* salinity: 33.375557, density: 1025.000000* values[0]: 0.581311F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743029537.663165 s, next control iter: 1743029538.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029538.063165 s. RH~,g H!AA̸@AIӠ@A[_~? AͪA}2&"AAvNA"AZAbAjArAzAAAmV1~(9@A{R{sAu@AzAK=A4?A@i?AT ?AA2*A9?2As׽:A<BA9?JAs׽RA?k?'?@p?)? I٘i)I9u@YG JBJ%RJJJ~C&K^x> Y1_~?ypgPA+?C777 T7)TB[[?[_~?[xr[[[[BZYY i) ۱I>E?iWs @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029538.083165 s, next control iter: 1743029538.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029538.483165 s.s_'RH~,H!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076601< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743029538.483256F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף@A+~o@A6_~? AŪAA&"AAvNA"AZAbAjArAzAAAV/>79@AղvsAnu@A'FA=AJ?A d?A("?As*A"9?2A׽:A;A<BA"9?JA׽RA;A<٘i)I9nu@Y`G JבJJJJC&K Y!3_~?yg PA,Cb7b7p7B)VBE[[<BA9?JAoֽRA><٘i)I9t@YG J+JJJJC&K Y4_~?y _OAWC7b7)YB[[Kg?[_~?[^[[[[BZYY i) RIwE?ico !@))!@!@˹YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029538.943165 s, next control iter: 1743029539.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029539.323165 s.s4RH~,H!AJ"J*J2J:J?BJ?nJ5vJAQ@Ap@A[_~? AA&"AAvNA"AZAbAjArAzAAA<ϤEP9@AlsAt@A_;AL=An?Ar?A`G?A*A}9?2Aֽ:A}2=BA}9?JAֽRA}2=٘i)I9t@YG JLJJJJC&K Y+6_~?yAVSOAC77 7)]B[[8?[_~?[8U[[[[BZYY i) IcE?ioxl @))@@ySɜMYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743029539.343165 s, next control iter: 1743029539.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3038*, header.stamp.nsec: 0*0 temperature: 13.564349** salinity: 33.375576*, density: 1025.000000** values[0]: 0.580208*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029539.743165 s.W;RH~,dH!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076601< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743029539.743281F (some fields omitted in printout)A\(@AB@A_~? AAߠ&"AA9vNA"AZAbAjArAzAAAQg;Z9@A#ithsA t@AŖ;Ap=A?A7?AV?A*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9 t@YG JJJJJ+C&K Y7_~?yuMNACƩ7B)_BE[[?[P_~?[K[[[[BZYY i) = IPE?imef 2H@))2H@2H@һYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029539.763165 s, next control iter: 1743029540.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029540.163165 s.x}BRH~,q I!AJ"J*J2J:Jv?BJv?nJ5vJA@AV)=˼@Ag_~? AA=&"AAvNA"AZAbAjArAzAAA딙b9@A1&csAȘs@A)c;A=AT-?A?A` c?A*A9?2Aoֽ:AEn=BA9?JAoֽRAEn=Y(?5?yU=d;ٓH惨/?@? ws F?@1@`pl?`T?)(? I٘i)I9s@YBG JJ:JJJVC&KVx> YV6_~?yDNA5?Cd7)cB[[?[P_~?[A[[[[BZYY i) F&I1=E?i f J@))J@J@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029540.183165 s, next control iter: 1743029540.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029540.583165 s.HRH~, S%I!AAp= ׽@Ah颽@A_~? AA&"AAwNA"AZAbAjArAzAAA3]i9@AS'<^sAD#s@A:A*=A?A 3?A6m?A*A^9?2Aֽ:A=BA^9?JAֽRA=٘i)I9#s@YG JJJJJC&K  7Y4_~? 7y;>NA CC77)fB[[?[_~?[+8[[[[BZYY i) -6I *E?ilc Bi@))Bi@Bi@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029540.603165 s, next control iter: 1743029540.983182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3039, header.stamp.nsec: 00 temperature: 13.564552* salinity: 33.375568, density: 1025.000000* values[0]: 0.579662F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029541.003165 s.z PRH~,U4@I!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076601< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743029541.003288F (some fields omitted in printout)AHz@Ai5$y@AV_~? AAx&"AAwNA"AZAbAjArAzAAA#%n9@AF~OYsAr@AA}=A:p?A?A t?Aj*AS9?2Aֽ:A=BAS9?JAֽRA=٘i)I9r@YG JIJJJJC&K Y3_~?y3MA-C77)jB[[)?[_~?[.[[[[BZYY i) NEI6E?i*5` @))@@ ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029541.043165 s, next control iter: 1743029541.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743029541.423165 s.uVRH~,[I!AAQ@A3P@A_~? A{A&"AAwNA"AZAbAjArAzAAA>r9@A3bbTsA4r@Ah Y,_~?yLA=?Cŧ77r7B)vBE[[?[_~?[[[[[BZYY i) gsI/D?iҤR G!@))G!@G!@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029542.283165 s, next control iter: 1743029542.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 30412, header.stamp.nsec: 020 temperature: 13.5649762* salinity: 33.3755872, density: 1025.0000002* values[0]: 0.5785202F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029542.683165 s.ljRH~,gI!AJ"J*J2J:JBJnJvJAףp= §@A@A_~? A>uA&"AAwNA"AZAbAjArAzAAAs9@AaNEsAp@A쒜:A@=A?A Ay?A*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9p@YG JJJJJXC&K Y{(_~?y^LACŧ7e7)zB[[u?[_~?[[[[[BZYY i) myID?i0O 8#@))8#@8#@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029542.683165 s, next control iter: 1743029543.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743029543.103165 s.qRH~,I!AA{G§@A F%§@A_~? A+mA&"AAwNA"AZAbAjArAzAAAnJ!AJ"J*J2J:J?BJ?nJ 5vJAfffffŧ@AI22ŧ@A_~? AUAd &"AAvNA"AZAbAjArAzAAAvޔ]9@Ad"1sA7n@AA-R=AG?A qHA W?Af*A9?2Azֽ:A=BA9?JAzֽRA=Y/:?F?y,R=EٓH/Ͽ C?Ͽ]=?!峿Q= 9?)/:? I٘i)I9n@Y-G J_J4<JJJC&KJx>  7Y_~? 7ykJAF?C{77)BE[[?[o_~?[[[[[BZYY i) 9ID?is: l)@))l)@l)@yp۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029544.383165 s, next control iter: 1743029544.763181 s, wait time: 0.380016 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3043&, header.stamp.nsec: 0&0 temperature: 13.565496&* salinity: 33.375553&, density: 1025.000000&* values[0]: 0.577231&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029544.783165 s.WRH~,2J!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085708< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743029544.783287F (some fields omitted in printout)A ףp=Ƨ@Ac= Ƨ@A_~? ALA &"AAvNA"AZAbAjArAzAAA9ϵT9@A?Ƽ-sAm@Ax#EA=A?AaAG?A*A9?2A ֽ:A=BA9?JA ֽRA=٘i)I9m@YG JpJJJJ/C&K Y _~?y[JAC7B)BE[[d?[e_~?[ ۨ[[[[BZYY i) 0IMD?i8! 6 z*@))z*@z*@ުYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743029544.803165 s, next control iter: 1743029545.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029545.203165 s.J "J *J 2J :J ?RH~BJ?nJ5vJ,&MJ!AAGzǧ@A2vKƧ@A;_~? ADA &"AAvNA"AZAbAjArAzAAAY>#I9@A$@"(sAgm@A\ʁAk̤=A%?A ỿAV6?APD*A9?2Aֽ:A#x=BA9?JAֽRA#x=٘i)I9gm@Y}G JɭJJJJZC&K Y_~?y_ܨIAC77g;7)B[[,?[][_~?[3Ҩ[[[[BZYY i) 9I}pD?iR0  ,@)) ,@ ,@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029545.223165 s, next control iter: 1743029545.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029545.623165 s.VRH~,XgJ!AARǧ@A ]ǧ@A_~? A=A9 &"AAvNA"AZAbAjArAzAAAHT=9@A  E#sAl@A7A=A?A>AH"?Aȵ*A9?2Aֽ:A_^=BA9?JAֽRA_^=٘i)I9l@Y!G JJJJJC&K Y^~?yӨIA CC)7)7X7)B[[P9?[1P_~?[zɨ[[[[BZYY i) B!IAbD?iCFL)  .@)) .@ .@pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029545.663165 s, next control iter: 1743029546.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3044 , header.stamp.nsec: 0 0 temperature: 13.565778 * salinity: 33.375565 , density: 1025.000000 * values[0]: 0.576535 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029546.043165 s.J "J RH~*J2J:J?,ÂJ!ABJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085708< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743029546.043294F (some fields omitted in printout)A(\ȧ@AuR_ȧ@A}_~? A5A] &"AAJvNA"AZAbAjArAzAAA 8I/9@A(ksA6l@A;A2p=A?A@TA ?AZ*A9?2Aֽ:A[=BA9?JAֽRA[=٘i)I96l@YG JJJJJC&K Y^~?yS˨IA0Cb77t7)B E[[@?[qD_~?[[[[[BZYY i) tITD?i{H /@))/@/@9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029546.063165 s, next control iter: 1743029546.443182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029546.463165 s.RRH~,פJ!AAɧ@Auoeɧ@AW_~? A(-A8p &"AAvNA"AZAbAjArAzAAAϬ9@A* sAk@A3'+;A]=A F?A3ÿA ?AJC¼*A9?2Aݐֽ:A=BA9?JAݐֽRA=Y@?KM?y6=+;ٓHֿ=@`@?}#ֿ}?@󗵿de??)@? I٘i)I9k@YaG JܾJс<JJJC&Kx> Y^~?yèHAM?[C{7{7i7B)B E[[O@[7_~?[^[[[[BZYY i) }ļIGD?i3u E1@))E1@E1@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029546.503165 s, next control iter: 1743029546.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3045, header.stamp.nsec: 00 temperature: 13.386596* salinity: 33.391640, density: 1025.000000* values[0]: 0.696585F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029546.883165 s.yRH~,@J!AJ"J*J2J:JBJnJvJA= ףpʧ@AҪt<ʧ@A_~? AG%An &"AAvNA"AZAbAjArAzAAA%!9@AsAXj@Aʃ;A(=A(?AjſA?A#Ǽ*AӞ9?2Aֽ:A31=BAӞ9?JAֽRA31=٘i)I9j@YG JļJJJJC&K Y(^~?yѺ2HAC7777)B[[*@[*_~?[[[[[BZYY i) ")̼I:D?ilޒ 2@))2@2@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029546.923165 s, next control iter: 1743029547.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029547.303165 s.WRH~,{gJ!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085708< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743029547.303303F (some fields omitted in printout)AzG˧@AB˧@A_~? ApA &"AAvNA"AZAbAjArAzAAApt]8@A2)~sAFj@A~Z;An =A>z?AEǿA6?A ˼*A 9?2A~ֽ:A=BA 9?JA~ֽRA=yI٘i)I9Fj@YG JɼB=JJJJ1C&K Yd^~?yGAC)7)7ʫ7)B[[@[G_~?[[[[[BZYY i) qӼI.D?isb '4@))'4@'4@PYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029547.323165 s, next control iter: 1743029547.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3046., header.stamp.nsec: 0.0 temperature: 13.386892.* salinity: 33.391628., density: 1025.000000.* values[0]: 0.695256.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029547.723165 s.RH~,HJ!AJ"J*J2J:J1?BJ1?nJ:5vJAQ̧@A>B͐˧@AϢ_~? AA<&"AAvNA"AZAbAjArAzAAA" *|8@A,40< sAi@A,Wq:Aʪ=AT?A:ɿA ?Aμ*A9?2Aֽ:A|Z=BA9?JAֽRA|Z=٘i)I9i@Y-G JAͼC=JJJJ\C&K Y^~?yPIGACŧ7b7k7)B E[[,@[_~?[[[[[BZYY i) ;ڼI$#D?iV 5@))5@5@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029547.763165 s, next control iter: 1743029548.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029548.143165 s.X/RH~,* K!AA)\̧@AMF̧@A_~? A A&"AAvNA"AZAbAjArAzAAA:8@AsAh@AAF=A_@A@SʿA@w?A7Ѽ*Ah9?2AFֽ:A=BAh9?JAFֽRA=٘i)I9h@Y G JмJJJJC&K  7Y^~? 7yFAC77{77B)BE[[ܩ@[z_~?[[[[[BZYY i) SIhD?iG $07@))$07@$07@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029548.163165 s, next control iter: 1743029548.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029548.563165 s.RH~J,g $K!A"J*J2J:J1?BJ1?nJp:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085708< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743029548.563324F (some fields omitted in printout)Aͧ@AMͧ@A_~? A.Ak&"AAWvNA"AZAbAjArAzAAA E8@A^TsA;h@A~yAP=A@A ̿A@R?AӼ*Az9?2AMֽ:A=BAz9?JAMֽRA=YH?y@yO=yzٓH `ܿ@q@&?(ܿ?a/o?)H? I٘i)I9;h@YW G JrҼJ-<JJ!EJC&K,x> Yv^~?y*\FA@1C77 7)¯B[[)@[!^~?[[[[[BZYY i) #.ID?i @ ,8@)),8@,8@,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029548.583165 s, next control iter: 1743029548.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3047, header.stamp.nsec: 00 temperature: 13.387227* salinity: 33.391666, density: 1025.000000* values[0]: 0.693840F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029548.983165 s.RH~,>K!AAq= ףΧ@A67oΧ@A_~? AA&"AANvNA"AZAbAjArAzAAAA[#^8@A rAg@A^nAa=A)@A@kοA@+?AIּ*AĎ9?2Amֽ:A=BAĎ9?JAmֽRA=٘i)I9g@Y G JIռJJJJC&K Y^~?yDEA\C{7i=7B)ɯBE[[X @[F^~?[[[[[ZZ¸BZYY i¸è=) "ݼIGD?i]6l 3:@))3:@3:@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029549.003165 s, next control iter: 1743029549.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029549.403165 s.&RH~,YK!AJ"J*J2J:JBJnJvJAGzϧ@AVFϧ@A_~? AA&"AAvNA"AZAbAjArAzAAA>z8@AW|rAf@A2ʺAuA=AuG@A`1пA9?Apڼ*AD9?2Aֽ:AP=BAD9?JAֽRAP=٘i)I9f@Y{ G JؼJJJJD&K Y^~?y^hEACj7j7Z7B)ϯBE[[" @[^~?[n[[[[ZZBZYY i) ѼIC?i*ۂڻ ;@));@;@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029549.423165 s, next control iter: 1743029549.803180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3048", header.stamp.nsec: 0"0 temperature: 13.387549"* salinity: 33.391666", density: 1025.000000"* values[0]: 0.692406"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029549.823165 s.RH~,-tK!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082405< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743029549.823335F (some fields omitted in printout)AQЧ@AsЧ@Ay_~? AaAx*&"AAvNA"AZAbAjArAzAAAg{6 k8@AQdrAJf@A{:A[=A@A ѿA0?A$*Ag9?2Aeֽ:A{<BAg9?JAeֽRA{<٘i)I9f@Y G JeJJJJD&K YC^~?yxDAC{7{7v7)֯B[[ @[*^~?[y[[[[ZZBZYY i)  żIC?iɻ %4=@))%4=@%4=@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029549.843165 s, next control iter: 1743029550.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029550.243165 s.RH~,iK!AJ"J*J2J:JBJnJvJA\(ѧ@Ae6Ч@Ap_~? AA/&"AA|vNA"AZAbAjArAzAAApM8@A/PPrA'e@At];An=AT@A@ѿA?AK*AV9?2Auvֽ:A<BAV9?JAuvֽRA<٘i)I9'e@Yw G JJJJJ/D&K Y܉^~?yzuDAC77k7B)ޯBE[[@[^~?[q[[[[ZZBZYY i) 8I C?i @2 D>@))D>@D>@y#=ԪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743029550.263165 s, next control iter: 1743029550.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029550.663165 s.RH~,qK!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3049, header.stamp.nsec: 00 temperature: 13.387926* salinity: 33.391674, density: 1025.000000* values[0]: 0.690768F (some fields omitted in printout)Aҧ@AQѧ@Ae_~? A{AN&"AAmvNA"AZAbAjArAzAAA(|t.8@AFrAOd@Az];A'v=Az(@AҿAv?AK*AJ9?2AEzֽ:A߲k<BAJ9?JAEzֽRA߲k Yz^~?ys"DA+@ CCZ7Z77)B[[ @[^~?[j[[[[ZZBZYY i) IC?iЩ 0@@))0@@0@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029550.683165 s, next control iter: 1743029551.063180 s, wait time: 0.380015 s.z^~?).s rAdjusting time to match Gazebo time: 1743029551.083165 s.J "J *J 2J :J 0?BJ 0?nJ m95vJ ERH~,;SK!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082405< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743029551.083296F (some fields omitted in printout)Ap= ҧ@A_Fܢҧ@A=[_~? A!٩A&"AA]vNA"AZAbAjArAzAAAZy8@AgLrAc@AD{:An)2=Av @A,ӿA eE?AѼ*A9?2AN~ֽ:A1;BA9?JAN~ֽRA1;٘i)I9c@Y~ G JJJJJZD&K Yk^~?ykCA2Cŧ7b7̬7 B)BE[[@[Ȋ^~?[c[[[[ZZBZYY i) ?xI]C?i$훻 @A@))@A@@A@?zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029551.103165 s, next control iter: 1743029551.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029551.503165 s.RH~,P4K!AAHzӧ@A}yӧ@AP_~? AѩAm&"AAkMvNA"AZAbAjArAzAAAƯ7@AS]rARb@AA|<A @AԿA-?AN*A9?2Axֽ:ABA9?JAxֽRA٘i)I9b@Y G Jf¼JJJJoD&K Y ]^~?y!d}CA]C)77l7)B[[My@[x^~?[\[[[[ZZBZYY i) 4IC?i ھ g)C@))g)C@g)C@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029551.523165 s, next control iter: 1743029551.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3050, header.stamp.nsec: 00 temperature: 13.388294* salinity: 33.391678, density: 1025.000000* values[0]: 0.689146F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029551.923165 s.:RH~,K!AJ"J*J2J:Jk0?BJk0?nJ85vJAQԧ@A4Pԧ@AzD_~? AʩA&"AA2 elevatorAngleAction: 0.082405< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743029552.343290F (some fields omitted in printout)A(\է@AQ(է@Ab8_~? A|éA&"AAB*vNA"AZAbAjArAzAAAVɤ7@ArA b@AjAʻAl] @A@DֿA?A0*A9?2A^dֽ:AaBA9?JA^dֽRAa٘i)I9 b@Y G JF`JJJJD&K Y+?^~?y+UBAC{7{7"7)B[[[@[Q^~?[O[[[[ZZBZYY i) 9IBC?iYeF F@))F@F@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029552.363165 s, next control iter: 1743029552.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3051*, header.stamp.nsec: 0*0 temperature: 13.388542** salinity: 33.391697*, density: 1025.000000** values[0]: 0.688046*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029552.763165 s.6 SH~,0L!AJ"J*J2J:J#0?BJ#0?nJ85vJA33333֧@A|է@A+_~? AlA&"AAvNA"AZAbAjArAzAAAv ,~7@AFlZrAa@AOMAA@A׿Aj?AŻ*A9?2A}iֽ:ABA9?JA}iֽRAY@!@y~}MٓH@7OȄ?EN?ד ?@i`7?)@ I٘i)I9a@Ym G JJ EJJJD&Kw> Y-^~?y0NBA@C)7b7n?7B)BE[[A@[=^~?[EI[[[[ZZBZYY im=) EoIC?ive- G@))G@G@M)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029552.803165 s, next control iter: 1743029553.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029553.183165 s.SH~,ZKL!AAףp= ק@AkD0֧@A_~? ApA&"AA@vNA"AZAbAjArAzAAAr_8W7@A%"rAa@A+A A'@A*׿A,?Agƺ*A9?2A_zֽ:A)YԼBA9?JA_zֽRA)YԼ٘i)I9a@Y\ G JɅJJJJD&K Y^~?y5GCADb77\7)B[[@@[=)^~?[C[[[[BZYY i=) 1]IC?it_ I@))I@I@p7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029553.203165 s, next control iter: 1743029553.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029553.603165 s.34SH~,fL!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068607< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743029553.603297F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gק@AEaק@AS_~? AA#&"AA2uNA"AZAbAjArAzAAAJ6[.7@A7AMrAa@AK9;A6AG@AؿA@?A4e;*Am9?2AYֽ:ABAm9?JAYֽRA鼙٘i)I9a@Y` G JG:JJJJD&K Y5 ^~?y:@,CADx7B)BE[[@[^~?[ =[[[[BZYY i)  KIZC?iO(2p׺ ̙G))˙GJ@pu*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029553.623165 s, next control iter: 1743029554.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3052 , header.stamp.nsec: 0 0 temperature: 13.388653 * salinity: 33.391716 , density: 1025.000000 * values[0]: 0.687581 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029554.023165 s.Z SH~,|L!AAQا@AXc'ا@Ae_~? AA&"AAuuNA"AZAbAjArAzAAAm$t7@A.JFi$rAa@AUz;AZA@A`WٿA 9?A;*A9?2A_ֽ:ABA9?JA_ֽRA٘i)I9a@Yu G J;JJJJD&K Y]~?y?9ICA/D)7ŧ7o7)B[[}@[]~?[47[[[[BZYY i) 9IC?iBӽ 5 #$F))#$FK@y;=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029554.043165 s, next control iter: 1743029554.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029554.443165 s.3&SH~,-]L!AJ"J*J2J:JBJnJvJA(\٧@AR8[٧@A^~? AA-&"AA uNA"AZAbAjArAzAAA} r6@AVn# rAYb@AQ?;ARtxA!@AZڿAh?AW1<*Af9?2A+ֽ:ABAf9?JA+ֽRA٘i)I9b@Y G J&<JJJJD&K Y]~?yC2eCAED777B)BE[[e@[q]~?[1[[[[BZYY i) &IuC?i ɚ D))DoM@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029554.463165 s, next control iter: 1743029554.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3053, header.stamp.nsec: 00 temperature: 13.388642* salinity: 33.391727, density: 1025.000000* values[0]: 0.687639F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029554.863165 s.+-SH~,>L!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068607< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743029554.863292F (some fields omitted in printout)Afffffڧ@A:2ڧ@A6^~? A\Ah&"AAuNA"AZAbAjArAzAAA56@A4+GrAmb@Al59AAH+@A"ۿA`#?A'c<*A 9?2Agֽ:At BA 9?JAgֽRAt Y$@+@yb969ٓH`2X|?$?w =?M&?`?)$@ I٘i)I9mb@Y G JH<Jo߽JJJD&Kw> Y]~?y+CA+@ZD77j7έ7B)BE[[@[]~?[,[[[[BZYY ig4e=) dIC?i;8 =C))=CN@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029554.883165 s, next control iter: 1743029555.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029555.283165 s.6R4SH~,L!AJ"J*J2J:J0?BJ0?nJ85vJA ףp=ۧ@AC ۧ@A^~? AғA1&"AA7uNA"AZAbAjArAzAAATp}6@A+$rAb@A5A:Au@A`}ۿA+?A*<*A9?2ARֽ:A[BA9?JARֽRA[٘i)I9b@Y G Jx<JJJJ1D&K Y]~?y%DApD{7o7B)BE[[aY@[]~?[&[[[[BZYY i) aIXC?i#i=S5: A))ASP@6*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743029555.303165 s, next control iter: 1743029555.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 30542, header.stamp.nsec: 020 temperature: 13.3885412* salinity: 33.3917162, density: 1025.0000002* values[0]: 0.6881902F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029555.703165 s.պ:SH~, L!AAGzܧ@AE aۧ@AO^~? AaA&"AAԁuNA"AZAbAjArAzAAAV$M6@ArAOc@ASAMA[@A1ܿA?A<*A9?2AaPֽ:ABA9?JAaPֽRA٘i)I9Oc@YX G J<B=JJJJFD&K  7Y-]~? 7ywDA CDS777B)BE[[h @[]~?[![[[[BZYY i) IC?i=: 3[@))3[@Q@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029555.723165 s, next control iter: 1743029556.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029556.123165 s.6ASH~,XM!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.055958< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743029556.123300F (some fields omitted in printout)ARܧ@AѕTܧ@A:^~? A A,&"AAiuNA"AZAbAjArAzAAA "K06@A{ s1rAs: @>))@>u3S@yEe=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029556.143165 s, next control iter: 1743029556.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029556.543165 s.IHSH~,"M!AA(\ݧ@A{\ݧ@A^~? ÀAҧ&"AA#QuNA"AZAbAjArAzAAAeJ,5@AebrAfd@AJAA8_@A (޿Ai?A!<*AĬ9?2A7ֽ:A< BAĬ9?JA7ֽRA< ٘i)I9fd@Y G J<JJJJqD&K YC]~?yW.EAD77pA7B)BE[["#@[{]~?[[[[[BZYY i=) SIC?i~>k"; ~=))~=ϠT@}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029556.563165 s, next control iter: 1743029556.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3055, header.stamp.nsec: 00 temperature: 13.388372* salinity: 33.391727, density: 1025.000000* values[0]: 0.689032F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029556.963165 s.yNSH~,=M!AJ"J*J2J:Jd0?BJd0?nJ85vJAާ@A(reާ@Aԕ^~? AzA &"AA7uNA"AZAbAjArAzAAAm5@AA0ȣrAJd@A;AA@A`=޿A`?At<*A29?2A$ֽ:ABA29?JA$ֽRAY @@yknL;ٓH`76r?N?'J <@??a`? ?) @ I٘i)I9d@Y[ G J<J6JJJD&Kx> Yq]~?y EA@D77{7^7B)BE[[$@[d]~?[[[[[BZYY i) _IC?i> #@; 7<))7<~ V@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029556.983165 s, next control iter: 1743029557.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029557.383165 s.USH~,YXM!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065211< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743029557.383286F (some fields omitted in printout)A= ףpߧ@A<ߧ@A^~? AtA&"AAuNA"AZAbAjArAzAAA&bq5@A&rAe@At&;AA@A`˛߿AY?AD,<*AX9?2A5ֽ:AkOBAX9?JA5ֽRAkO٘i)I9e@Y G Jz<JJJJD&K Yf\]~?yEAD77z7B)BE[[K&@[`M]~?[[[[[BZYY i) /kIC?i> b; z:))z:;yW@P*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029557.403165 s, next control iter: 1743029557.783183 s, wait time: 0.380018 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3056&, header.stamp.nsec: 0&0 temperature: 13.388157&* salinity: 33.391739&, density: 1025.000000&* values[0]: 0.690053&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029557.803165 s.yA\SH~,gsM!AJ"J*J2J:JBJnJvJAzG@A@Ar^~? AnAK &"AAruNA"AZAbAjArAzAAAWVM5@AYrAf@A;AyAM@A'A?A <*A9?2A0ֽ:A8BA9?JA0ֽRA8٘i)I9f@Y G J<JJJJD&K YF]~?y$bFADŧ7b7s7B)BݹE[['@[6]~?[W [[[[BZYY i) e/IC?i>2Q; ;9));9X@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029557.843165 s, next control iter: 1743029558.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029558.223165 s.gcSH~,HM!AAQ@A6׆@A`^~? AhA~&"AAZtNA"AZAbAjArAzAAAn|X5@A\YΡrAܥf@A:AuA͘@AA?A"<*A49?2Aֽ:ABA49?JAֽRA٘i)I9f@Y` G Jܦ<JJJJD&K Y1]~?yiFAD7)B[[)@[]~?[=[[[[BZYY i) hIC?iy>^; 7))7LZ@y=K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029558.263165 s, next control iter: 1743029558.623175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743029558.643165 s.viSH~,*M!AJ"J*J2J:J0?BJ0?nJ~95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065211< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743029558.643285F (some fields omitted in printout)A)\@A.l@AEN^~? A:cA(&"AAtNA"AZAbAjArAzAAAY/4@AEv,UrAx/g@A.1AҎA @AA@[?A!<*A9?2Afֽ:AHBA9?JAfֽRAH٘i)I9/g@Y G JУ<JJJJD&K Y]~?y0GADZ7SI7Ю7!B)BڹE[[Aa*@[]~?[T[[[[BZYY i) cZI C?i ?Ʊ; k6))k6&[@*YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3057, header.stamp.nsec: 00 temperature: 13.387956* salinity: 33.391739, density: 1025.000000* values[0]: 0.691025F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743029558.663165 s, next control iter: 1743029559.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029559.063165 s.pSH~,[ M!AA@A@Aq;^~? A]A8]&"AArtNA"AZAbAjArAzAAAoޥ4@A!CrA]g@AgXuA;Av-"@A2*A?AK<*A9?2Aֽ:AsBA9?JAֽRAsY+@1"@y;uٓHb7D?7?E ?@n?)+@ I٘i)I9g@Y G J<Js<JJJD&K!x> Y]~?yGA1"@1D{7{7r7#B)B׹E[[+@[\~?[[[[[BZYY i) @8I&C?i?; s5))s5B]@&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029559.103165 s, next control iter: 1743029559.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029559.483165 s.}_wSH~,M!AJ"J*J2J:JBJnJvJAq= ף@Ao@A?(^~? A3XA&"AAtNA"AZAbAjArAzAAAJKzPk4@ArA9h@A@AÉAz#@A@|AS?Aa#<*Aw9?2AJֽ:AӪBAw9?JAJֽRAӪ٘i)I99h@YV G J<JJJJD&K  7Y\~? 7yGAFDŧ7b7 7%B)BӹE[[-@[\~?[[[[[BZYY i) k:IC?if$?n; A3))A3t^@û*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029559.523165 s, next control iter: 1743029559.883180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3058, header.stamp.nsec: 00 temperature: 13.387778* salinity: 33.391754, density: 1025.000000* values[0]: 0.691947F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029559.903165 s.}SH~,M!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065211< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743029559.903302F (some fields omitted in printout)AGz@AZF@A^~? ARA^2&"AARvtNA"AZAbAjArAzAAA]bh04@Ar ZrAh@AAA-$@AA&?A%<*A9?2Aֽ:ABA9?JAֽRA٘i)I9h@Y G JΗ<B=JJJJD&K Y\~?yJHA\D777&7)B[[r.@[\~?[|[[[[BZYY i) ;ID?i3?4; $92))$92_@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029559.923165 s, next control iter: 1743029560.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029560.323165 s.{SH~,:N!AJ"J*J2J:JBJnJvJAQ@A$ @A^~? AMAZ&"AAtXtNA"AZAbAjArAzAAA}?3@At,rA4i@A(%:A&A&@A`GA?Aœ<*A 9?2Aֽ:APBA 9?JAֽRAP󼙘٘i)I94i@Y G J<C=JJJJ3D&K YT\~?yHAqD{7j7sC7'B)ݯBйE[[/@[_\~?[>[[[[BZYY i) @@;I? D?iE?:; 0))0Ja@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029560.363165 s, next control iter: 1743029560.723181 s, wait time: 0.360016 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3059*, header.stamp.nsec: 0*0 temperature: 13.387598** salinity: 33.391731*, density: 1025.000000** values[0]: 0.692814*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029560.743165 s.WSH~,/N!AA\(@A@A]~? AHA&"AA:tNA"AZAbAjArAzAAA{E3@ArA^i@A0^;A{Ak'@AjA%"?A<*A9?2Aֽ:ABA9?JAֽRA񼙘٘i)I9i@Y7G Jd<JJJJHD&K Y!\~?yܧIA CDŧ7b7`7)B)ۯB͹E[[1@["\~?[/[[[[BZYY i=) ([~;ID?iX?? < s/))s/b@ij*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029560.763165 s, next control iter: 1743029561.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029561.163165 s.w}SH~,qJN!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074029< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743029561.163288F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A+@A]~? ACA_&"AA*tNA"AZAbAjArAzAAAibx3@AB rAj@AUo;AA(@A A`?A9<*Ap9?2Aֽ:AnjBAp9?JAֽRAnjYV@{(@yVH;ٓH޿`^??l`T?q?;?)V@ I٘i)I9j@Y}G JA<J4<JJJ^D&K9x> Yi\~?yIا^IA(@D77{7|7*B)ٯBʹE[[Hr2@[lu\~?[@[[[[BZYY i) ߓ;I%D?i!d?< $.))$. d@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029561.183165 s, next control iter: 1743029561.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029561.583165 s.SH~,ReN!AAp= @Ah@A]~? A>Ag&"AAsNA"AZAbAjArAzAAA%q93@A|*trAj@A7I;AFA$*@A@A?Aꂃ<*A9?2A4ֽ:A elevatorAngleAction: 0.074029< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743029562.423295F (some fields omitted in printout)AQ@AMP@Al]~? A5Av&"AAsNA"AZAbAjArAzAAAa# 2@AyrA_jk@A;AAך,@A@̉A| ?A<*A9?2AԠֽ:AzBA9?JAԠֽRAz٘i)I9jk@YGG Jۂ<JJJJD&K Y?E\~?y|˧fJAD{7{7ү7.B)ӯB¹E[[_h6@[;+\~?[[[[[BZYY i) ;IND?i?0< )))),h@*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743029562.443165 s, next control iter: 1743029562.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3061, header.stamp.nsec: 00 temperature: 13.387288* salinity: 33.391739, density: 1025.000000* values[0]: 0.694399F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029562.843165 s.ݬSH~,N!AJ"J*J2J:JBJnJvJA(\@AƆn'@A]~? A*1AO&"AA˚sNA"AZAbAjArAzAAA u2@A49rAZk@ÂA!A-@AOA >?AM'<*Ac9?2Aֽ:A>BAc9?JAֽRA>٘i)I9k@YG J<JJJJD&K Y,\~?y8ǧJADt70B)ѯBE[[״7@[\~?[M[[[[BZYY i)   7Y\~? 7yçKA9/@Dŧ7ŧ7! 7)ͯB[[9@[[~?[7[[[[BZYY i)  elevatorAngleAction: 0.074029< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743029563.683324F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= @AOj@A5V]~? A(Au &"AAWsNA"AZAbAjArAzAAAOAo1@AzrA\l@A`|AA0@AKA`?A=<*A9?2A3ֽ:A?SBA9?JA3ֽRA?S٘i)I9l@YG JT<JJJJD&K Y[~?yLtKAD77j7(71B)˯BE[["S:@[[~?[M[[[[BZYY i) ;- elevatorAngleAction: 0.083183< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743029564.943282F (some fields omitted in printout)A(\@A*[@A]~? A5A[!&"AArNA"AZAbAjArAzAAA+@1@AѴsrA0n@A[ ;AELAs4@A*A?A<*AF9?2Aֽ:ABAF9?JAֽRA٘i)I9n@YG J<JJJJD&K Y[~?y뵧LA]D77~75B)įBE[[).>@[[~?[ۧ[[[[BZYY i) [WO!AJ"J*J2J:JB2?BJB2?nJ:5vJAfffff@AOD2@A=\~? AA!&"AA_rNA"AZAbAjArAzAAA՞[0@AmqrAun@A';:AAH5@AX/A 9?Aq5<*Aq9?2A ֽ:A BAq9?JA ֽRA Y@'@e5@y:ٓH`Dy ӿ@?@?:S? dGZ??)@'@ I٘i)I9n@Y5G J<B=J[SJJJ5D&K x> Y[~?yLLA5@ CsDS77y76B)¯BE[[!x?@[|[~?[Qڧ[[[[BZYY i) c8kA!&"AAѩrNA"AZAbAjArAzAAAC킐0@A+ XorAo@AκAɽA7@A1bA[?AP<*A9?2Aֽ:ABA9?JAֽRA٘i)I9o@YG J <C=JJJJJD&K Yt[~?yJMAD777#7)B[[@@[c[~?[8٧[[[[BZYY i) }z elevatorAngleAction: 0.083183< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743029566.203289F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A!K@A\~? AA'"&"AArNA"AZAbAjArAzAAAE[H0@Av@N[mrAYo@AjvA혽AnR8@AΒAL|?Aq<*A9?2Asֽ:AZBA9?JAsֽRAZ٘i)I9o@YG J\<JJJJ`D&K YY[~?yMAD77԰79B)BE[[sB@[J[~?[Hا[[[[BZYY i) +f"&"AAarNA"AZAbAjArAzAAA;'/@AMukrAp@A^A!A9@ADA?A2<*A!9?2Aֽ:A2BA!9?JAֽRA2٘i)I9p@Y"G J<JJJJuD&K Y>[~?yqNAD77y7:B)BE[[HC@[1[~?[ק[[[[BZYY i) bAj:@A A@.?A;<*A9?2Aֽ:ABA9?JAֽRA٘i)I9p@YvG J<JJJJD&K  7Y#[~? 7yӨqNAD7)7#7;B)BE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^Running loop #5q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) '<)*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029567.083165 s, next control iter: 1743029567.443183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743029567.463165 s.YSH~,O!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000> elevatorAngleAction: 0.083183< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743029567.463298F (some fields omitted in printout)A@A8Gne@AC\~? A A"&"AAfrNA"AZAbAjArAzAAA.@AE0grA3q@A<:A9A@<@AA=?A<*A9?2Aֽ:AjBA9?JAֽRAjY9.@@<@y9>=:ٓH:C rɿ@?@_?~\(ƎA?CG?O?)9.@ I٘i)I93q@YG J0<J}JJJD&K#x> Y#[~?yNA@<@Dj7Z7*7@A%tA`?A3b<*Aw:?2ABý:AaBAw:?JABýRAa٘i)I9\r@YG J<JJJJD&K YZ~?yOA D{7{7$d7)B[[NH@[Z~?[է[[[[BZYY i) 9o elevatorAngleAction: 0.083183< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743029568.723267F (some fields omitted in printout)AQ@A;pΈ@A7\~? AA,p#&"AA qNA"AZAbAjArAzAAA.L X-@AE'gcrAr@Ar$b;AFA?@A؎A@s?A9<*AC{:?2A&Ž:AzBAC{:?JA&ŽRAz٘i)I9r@YG J<JJJJD&K Y(Z~?yӡ%PADS77π7>B)BE[[I@[lZ~?[է[[[[BZYY i) ܱt@AƞAhPAR\A@A|AA?Ak<*A=q:?2Axʽ:ABA=q:?JAxʽRAY[3@aA@y PCٓH {?? Fõ?SpG?)[3@ I٘i)I9>t@YG JL<J2fJJJ D&K}C> Y{}Z~?yQAaA@ID77&7AB)BE[[L@[Z~?[R֧[[[[BZYY i) j elevatorAngleAction: 0.083183< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743029569.983291F (some fields omitted in printout)Aq= ף@Azަo@AT[~? AUA#&"AA5qNA"AZAbAjArAzAAA~[K+@AX]_rA`t@A; A&AB@A A@$?A<*AQh:?2A$vͽ:ABAQh:?JA$vͽRA٘i)I9t@YG J<JJJJ!D&K YzaZ~?y|QA^Dֱ7BB)BE[[2?M@[gmZ~?[֧[[[[BZYY i) 9 elevatorAngleAction: 0.092154< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743029571.243313F (some fields omitted in printout)A\(@AdϞ@AƟ[~? ANAnX$&"AA3pNA"AZAbAjArAzAAA@`,{)@Av\rA*v@AQL;A*AF@A )A@?AQ?<*AK:?2ACӽ:A5aBAK:?JACӽRA5a٘i)I9v@YMG J <JJJJbD&K Ys Z~?yϚRAD77,7DB)BE[[^P@[%Z~?[ا[[[[BZYY i) j:?2AlhԽ:A <BA3>:?JAlhԽRA <Y@9@dG@y ;ٓH w鐿[?5V?mp?V?`kv?`?)@9@ I٘i)I9w@YG J<JJJJwD&K{> Y>Y~?ySSAG@D777}I7)B[[ R@[Z~?[٧[[[[BZYY i) \BZYY i¸>@) P YGdY~?yҚUACDŧ7ŧ7ز7)hB|E[[X@[Y~?[[[[[ZZZZBZYY i) iz< c))c^@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029574.623165 s, next control iter: 1743029575.003183 s, wait time: 0.380018 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3073 , header.stamp.nsec: 0 0 temperature: 13.384625 * salinity: 33.391708 , density: 1025.000000 * values[0]: 0.707541 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029575.023165 s.ZpTH~,|Q!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082643< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743029575.023299F (some fields omitted in printout)AQ@A @AwZ~? AA$&"AA`oNA"AZAbAjArAzAAAE0v#@AXrA;s}@A;AՌ*A?A A`gA&<*Ar0:?2A$ֽ:AL<BAr0:?JA$ֽRAL<٘i)I9s}@YBG J<JJJJ#D&K YY~?yVA`D)7ŧ7.7)YBsE[[[@[VY~?[f[[[[ZZZZBZYY i) A_AxEAIq4<*Am&:?2ATֽ:AL<BAm&:?JATֽRAL<٘i)I9}@Y|G Jc<B=JJJJ9D&K YX~?yٝVA CuD777K7)VB[[\@[@Y~?[[[[[ZZZZBZYY i) qx@e<  )) h@LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029575.463165 s, next control iter: 1743029575.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3074, header.stamp.nsec: 00 temperature: 13.384421* salinity: 33.391682, density: 1025.000000* values[0]: 0.708618F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029575.863165 s.+}TH~,>Q!AAfffff@A92@A_Z~? ALA$&"AAoNA"AZAbAjArAzAAARQ."@A XrA~@As;At<A@=A@}A`ϠAG;*A:?2Aֽ:AC<BA:?JAֽRACJJJND&Kx> YX~?yVA=D77+h7)TBpE[[]@[)Y~?[[[[[ZZZZBZYY io) f5vJA@ADke@AZ~? A$Av$&"AAaMnNA"AZAbAjArAzAAAVM@A4(%[rAJz}@A9AF=A6ALAAwyA c*Ab9?2AWֽ:A\ =BAb9?JAWֽRA\ =YݗM@6yF= YMX~?yUA6D777)YBaE[[9c@[X~?[[[[[BZYY if) ~9?2Aֽ:Ar =BA>9?JAֽRAr =wI٘i)I9~{@YG JB=JJJJD&K Y Y'W~?y TA/aD77؆7)mBVE[[)i@[XX~?[[[[[BZYY i)  k;Iic@= +))+쿩@LԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029580.083165 s, next control iter: 1743029580.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029580.483165 s.v_TH~,S!AJ"J*J2J:J4?BJ4?nJ=5vJAq= ף @AO9o @AgY~? AA#&"AA0emNA"AZAbAjArAzAAA_62;@AJBgrA$x@AЮ;Aύ=A|{)AA@"пA塼*Af :?2Aֽ:A2<BAf :?JAֽRA2C޿.œC u?@?)&Z@ I٘i)I9$x@YG JJjJJJD&K~x>  7YEW~? 7yǧ RAu)Dŧ7b7/7)BJE[[Co@[}W~?[[[[[BZYY i) 'Iir@I= /))/ῩÐ@pêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029582.183165 s, next control iter: 1743029582.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029582.583165 s.TH~,SS!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065732< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743029582.583324F (some fields omitted in printout)Ap= @A-@ۢ@A@X~? A A}"&"AA*lNA"AZAbAjArAzAAA~R*3@A ]hrAw@A;AT=A-(AAѿAd|*A :?2Aֽ:AB<BA :?JAֽRAB<٘i)I9w@YG JJJJJD&K Y -W~?y˧QAD7727BB)BGE[[ fp@[W~?[[[[[BZYY i) &ϺIiu@Y= c޿))c޿U@ YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029582.603165 s, next control iter: 1743029582.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3081, header.stamp.nsec: 00 temperature: 13.385571* salinity: 33.391636, density: 1025.000000* values[0]: 0.704354F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029583.003165 s.z TH~,U4S!AJ"J*J2J:JBJnJvJAHz@A|y@AX~? AA|"&"AAWlNA"AZAbAjArAzAAAnd@A2ǑjrA@w@A P;A =A&A A@ ѿA^*A :?2Aֽ:Ak<BA :?JAֽRAk<٘i)I9w@YfG JJJJJD&K Y*W~?yЧbQADb77O7)BHE[[q@[W~?["[[[[BZYY i) 0%Iiw@Ϙ= ܿ))ܿv@弪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029583.023165 s, next control iter: 1743029583.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029583.423165 s.uTH~,S!AAQ@A)Q@AX~? AA{"&"AA_lNA"AZAbAjArAzAAAGfb@A9 lrAԞv@AA=A%AAҿA#*A :?2A!׽:A<BA :?JA!׽RA<٘i)I9v@YG JBB=JJJJD&K YHV~?y2ԧQA D77j73l7)BEE[[r@[6W~?[9&[[[[BZYY i) bIiz@ = _jڿ))_jڿCu@,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029583.443165 s, next control iter: 1743029583.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3082, header.stamp.nsec: 00 temperature: 13.385829* salinity: 33.391644, density: 1025.000000* values[0]: 0.703416F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029583.843165 s.TH~,S!AJ"J*J2JvPublished command to Gazebo (printed only once in a while)::JBJ( dropWeightState: 1nJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065732< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743029583.843295F (some fields omitted in printout)A(\@A7(@AJX~? AEAB"&"AA;lNA"AZAbAjArAzAAA @ACnrA&v@A+AN|=A08$AYAӿA"*A :?2A}8׽:A)<BA :?JA}8׽RA)<٘i)I9&v@YG JC=JJJJD&K YkV~?y^اPA"D77܈7)BBE[[cs@[űW~?[n*[[[[BZYY i) 7Iiy~@"= .ؿ)).ؿ-@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029583.863165 s, next control iter: 1743029584.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029584.263165 s.UH~,T!AA33333@At@AX~? AA"&"AAlNA"AZAbAjArAzAAA6so[ @A"t*prAu@AOŻAK=A"A$A@2ԿA*A[ :?2A!6׽:A#<BA[ :?JA!6׽RA# YV~?yPݧKPA"8D77AB)B?E[[t@[kW~?[.[[[[BZYY i) Ii@+#= տ))տW@TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029584.283165 s, next control iter: 1743029584.663175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3083., header.stamp.nsec: 0.0 temperature: 13.386034.* salinity: 33.391628., density: 1025.000000.* values[0]: 0.702563.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029584.683165 s.l UH~,+T!AJ"J*J2J:JBJnJvJAףp= @A@AkuX~? AUA!&"AA2kNA"AZAbAjArAzAAAH8Ŵ% @A^srA0>u@A섻A.n=Ai!A ,A`oiտA*A :?2AB׽:A(<BA :?JAB׽RA(<٘i)I9>u@YCG JˆJJJJD&K YV~?yAOAMD77j70µ7)B[["v@[^W~?[03[[[[BZYY i) λIi%@N%= ;ӿ));ӿ $@!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029584.683165 s, next control iter: 1743029585.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743029585.103165 s.UH~,FT!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077027< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743029585.103279F (some fields omitted in printout)A{G@A 8*@AV^X~? A As!&"AAkNA"AZAbAjArAzAAA@A\urA`t@Ad8AX=AS A AIAֿA*A :?2ALֽ:A<BA :?JALֽRA<٘i)I9t@YG J?B=JJJJ'D&K Y@V~?y3OA  CcD)7ŧ7޵7)BT!AJ"J*J2J:J3?BJ3?nJF<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077027< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743029586.363304F (some fields omitted in printout)Afffff@AiUK:2@AX~? A4,A &"AAikNA"AZAbAjArAzAAAmxE@AjU|rA|s@Ao͝;Av=AHoAuAؿA6r*A9?2Aֽ:Aҽ=BA9?JAֽRAҽ=Yg@jyjv=G';ٓH0x p? ւi@ ਹs??)g@ I٘i)I9|s@Y1G JJʞ;JJJhD&Kfx> YWV~?yNAjDb7747)B[[5yz@[5NW~?[E[[[[BZYY i) %Ii@+= ʿ))ʿ^@˻YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029586.403165 s, next control iter: 1743029586.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3085&, header.stamp.nsec: 0&0 temperature: 13.386437&* salinity: 33.391605&, density: 1025.000000&* values[0]: 0.700977&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029586.783165 s.X+UH~,T!AA ףp=@A?$D @AX~? A0A9 &"AA2HkNA"AZAbAjArAzAAAc-~?A;erA s@A֊:A =A2ABA@ٿA∼*Af9?2A׽:A2=BAf9?JA׽RA2=٘i)I9 s@YG JJJJJ}D&K Y.BV~?yf0NAD77{7Q7/B)B4E[[8{@[>W~?[vJ[[[[BZYY i) l5Ii@,= ȿ))ȿ@\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029586.803165 s, next control iter: 1743029587.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029587.203165 s.3UH~,T!AJ"J*J2J:JBJnJvJAGz@A_{fI@AW~? A4Ax&"AA 'kNA"AZAbAjArAzAAA Ώ?A rAr@AkSA=A{AuA`vWڿA*A|9?2A"׽:Ad=BA|9?JA"׽RAd=٘i)I9r@YG JJJJJD&K Y,V~?yMAD772n7)B0E[[N|@[J/W~?[ZO[[[[BZYY i) L EIi@J/.= Rƿ))Rƿ"{@CêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029587.223165 s, next control iter: 1743029587.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029587.623165 s.]9UH~,vT!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077027< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743029587.623324F (some fields omitted in printout)AR@AdV@A}W~? A9A+&"AASkNA"AZAbAjArAzAAAǐ?A.9rA r@A$Ao=AyA`l/A@B!ۿA.*A9?2A*׽:A=BA9?JA*׽RA=٘i)I9 r@Y]G JJJJJD&K YV~?yyMAD7)7ފ7)B[[\}@[Q W~?[OT[[[[BZYY i) qTIiW@/= Ŀ))Ŀ@VǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029587.663165 s, next control iter: 1743029588.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3086 , header.stamp.nsec: 0 0 temperature: 13.386633 * salinity: 33.391602 , density: 1025.000000 * values[0]: 0.700190 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029588.043165 s.@UH~,U!AJ"J*J2J:JBJnJvJA(\@A9(a@A`W~? AO>A90&"AAjNA"AZAbAjArAzAAA3t?A[KjχrA;q@AȬA=A,A@6AaۿAߓ*A9?2At׽:A =BA9?JAt׽RA =٘i)I9q@YG J֐JJJJD&K Y:V~?y` MAD77777.B)B-E[[&~@[W~?[SY[[[[BZYY i) &dIiɊ@Х1= 3))3@d˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029588.063165 s, next control iter: 1743029588.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029588.463165 s.QGUH~,ӤU!AA@A se@AW~? A+CA&"AAKjNA"AZAbAjArAzAAAgسV?A9NJrA(q@AAڦ=AANA`ܿA<*A9?2Aֽ:A =BA9?JAֽRA =Y/4n@dyǦ=ٓH`?Y?A M\ в`?)/4n@ I٘i)I9(q@YG JB=J<JJJD&K;x> YU~?yLAD{76Ķ7)B+E[[V@[@W~?[r^[[[[BZYY i) QsIiT@W2= '))'Q#@3ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029588.503165 s, next control iter: 1743029588.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3087, header.stamp.nsec: 00 temperature: 13.386830* salinity: 33.391571, density: 1025.000000* values[0]: 0.699334F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029588.883165 s.yMUH~,D8U!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077027< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200602 time: 1743029588.883327F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@A͌~<@AW~? A)HAr&"AAjNA"AZAbAjArAzAAA?A´CӍrAp@A;A=AAQAhݿAվ*A^9?2Aֽ:A"=BA^9?JAֽRA"=٘i)I9p@YvG J0C=JJJJD&K YU~?ySLA$D7777)B[[@["V~?[c[[[[BZYY i) Y>Ii @D3= |))|@ҪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743029588.923165 s, next control iter: 1743029589.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029589.303165 s._TUH~,gSU!AAzG@AN@AW~? AHMA&"AA2jNA"AZAbAjArAzAAAhcVq?A+1rAzp@AF4;AA=APA`A$޿A?*AY9?2Anֽ:A=BAY9?JAnֽRA=٘i)I9p@Y"G J^JJJJD&K Y-U~?yP KA9D77)B(E[[@[XV~?[h[[[[BZYY i) ҈Ii@o4= cH))cH=@\ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029589.323165 s, next control iter: 1743029589.703184 s, wait time: 0.380019 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3088., header.stamp.nsec: 0.0 temperature: 13.387083.* salinity: 33.391582., density: 1025.000000.* values[0]: 0.698439.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029589.723165 s.[UH~,HnU!AJ"J*J2J:J2?BJ2?nJ|;5vJAQ @AG@A(sW~? ARA&"AAijNA"AZAbAjArAzAAAp?A׻&rA YIU~?y3JA`zD77{7S7.B)B#E[[;@[V~?[x[[[[BZYY i) tIi@7= ))6@M۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029590.583165 s, next control iter: 1743029590.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3089, header.stamp.nsec: 00 temperature: 13.387357* salinity: 33.391567, density: 1025.000000* values[0]: 0.697439F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029590.983165 s.oUH~,U!AAq= ף"@As,o"@A9W~? AbA0m&"AA9jNA"AZAbAjArAzAAATA34rAm@AlA߷=Ab AcAk|A*A9?2AE׽:A+=BA9?JAE׽RA+=٘i)I9m@YG JJJJJTD&K Y{U~?y:MJAD776p7)B[[M@[UV~?[~[[[[BZYY i) `림IiB@8= {)){o@y_MުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029591.003165 s, next control iter: 1743029591.383184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743029591.403165 s.&vUH~,U!AJ"J*J2J:Jj2?BJj2?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086504< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200762 time: 1743029591.403377F (some fields omitted in printout)AGz#@AUF#@A'W~? AhA&"AAiNA"AZAbAjArAzAAAlr6ArAdMm@Afa»AX=A A `A_AG*A9?2A׽:A=BA9?JA׽RA=٘i)I9Mm@YmG J#JJJJjD&K Y@jU~?yAIAD7㌷7-B)ïB E[[ ڃ@[V~?[[[[[BZYY i) |bIi@9= SO))SO@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029591.423165 s, next control iter: 1743029591.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3090", header.stamp.nsec: 0"0 temperature: 13.387573"* salinity: 33.391567", density: 1025.000000"* values[0]: 0.696434"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029591.823165 s.|UH~,>U!AAQ$@A$@AW~? AnA&"AAiNA"AZAbAjArAzAAA,ADA:`A`CrAIl@AuvA+=Ar AA &A>*Ai9?2A/ֽ:A=BAi9?JA/ֽRA=٘i)I9l@YG JJJJJD&K YXU~?yHwIADj7Z77)ǯB[[e@[6V~?[[[[[BZYY i) صIi@:= ))ۇ@YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743029591.843165 s, next control iter: 1743029592.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029592.243165 s.UH~,dV!AJ"J*J2J:J(2?BJ(2?nJ:5vJA\(%@Ad"$@AW~? AtA&"AAiNA"AZAbAjArAzAAA7 AI>rAl@AYD9A=A + A`[߿A@wA^*A9?2A|ֽ:A-V=BA9?JA|ֽRA-V=٘i)I9l@YG JB=JJJJD&K Y7GU~?yrO IAD9Ʒ7,B)̯BE[[\@[V~?[Z[[[[BZYY i) iPIi@/<= ))򫿩W@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029592.263165 s, next control iter: 1743029592.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029592.663165 s.UH~,q*V!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086504< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743029592.663285F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3091, header.stamp.nsec: 00 temperature: 13.387848* salinity: 33.391541, density: 1025.000000* values[0]: 0.695370F (some fields omitted in printout)A&@AB%@AV~? AzA&"AA9iNA"AZAbAjArAzAAAA%jrA*~k@A ;A=AAӣ޿A zA*AH9?2Aֽ:AJ=BAH9?JAֽRAJ=Y<{@y=Jn;ٓH@%`Z?:7& ڌ]q??)<{@ I٘i)I9~k@YSG JgC=Jy<JJJD&K3x> Y 8U~?yVHADb777-B)үBE[[B}@[dV~?[[[[[BZYY i) əļIi7@o<= w©))w©=@1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029592.683165 s, next control iter: 1743029593.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029593.083165 s. EUH~,TSEV!AJ"J*J2J:J2?BJ2?nJ:5vJAp= &@AԷ&@AV~? AA<.&"AAtiNA"AZAbAjArAzAAA %AWꮵ\rAj@A=;A=AǗAݿAAxǼ*A[9?2AQֽ:A=BA[9?JAQֽRA=٘i)I9j@YG JļJJJJD&K Y(U~?yG^$HADŧ7b77)֯BE[[ @[qyV~?[㚨[[[[BZYY i) ˼Ii@<= #))#+@hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029593.103165 s, next control iter: 1743029593.483177 s, wait time: 0.380012 s(U~?)G^ rAdjusting time to match Gazebo time: 1743029593.503165 s.UH~,@4`V!AAHz'@As y'@AV~? AA&"AAKriNA"AZAbAjArAzAAA{|?AK㫘0rA/j@A*;Ab=AHA@)ݿA bAMc˼*AԢ9?2Aֽ:A?=BAԢ9?JAֽRA?=٘i)I9/j@YG J|ɼJJJJD&K  7YU~? 7yeGAD7777)ۯB[[@[nV~?[[[[[BZYY i)  -ӼIi(@ۣ== d))d@:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029593.523165 s, next control iter: 1743029593.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3092, header.stamp.nsec: 00 temperature: 13.388132* salinity: 33.391541, density: 1025.000000* values[0]: 0.694263F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029593.923165 s.7UH~,{V!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086504< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743029593.923293F (some fields omitted in printout)AQ(@A{P(@AV~? AbA9&"AAYiNA"AZAbAjArAzAAA|{m"A֪erAӃi@A]?:AѲ=AA gܿA ATμ*A9?2Aֽ:A<=BA9?JAֽRA<=٘i)I9i@YG J̼JJJJD&K Y U~?ym=GA%D787,B)BE[[@[dV~?[[[[[BZYY i) vڼIi@>= 7))7A@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029593.943165 s, next control iter: 1743029594.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029594.343165 s. YT~?yc|NFAXPDj77 elevatorAngleAction: 0.083944< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743029595.183259F (some fields omitted in printout)Aףp= +@A*@A\V~? AAڻ&"AA iNA"AZAbAjArAzAAAimA=VrArg@A'yAa=AA ڿA@^AC׼*Aԓ9?2Aֽ:A]=BAԓ9?JAֽRA]=٘i)I9rg@Y G JԼC=JJJJ, D&K YT~?y>EA  CeD7掸7)B[[z@[GV~?[[[[[ZZBZYY i) ɼIi @a @= ))u@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029595.203165 s, next control iter: 1743029595.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029595.603165 s.>4UH~,̚V!AJ"J*J2J:J1?BJ1?nJ95vJA{G+@AT+@A"V~? A֧A8&"AAhNA"AZAbAjArAzAAAMAO:rAf@AVAl=AvA3?ٿAA\*AK9?2A!ֽ:AX<BAK9?JA!ֽRAX<٘i)I9f@Yb G JJJJJA D&K Y]T~?yZEA{D7777)B[[L@[>V~?[[[[[ZZBZYY i) Iik@0@= K))Kn@8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029595.623165 s, next control iter: 1743029596.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3094 , header.stamp.nsec: 0 0 temperature: 13.388708 * salinity: 33.391506 , density: 1025.000000 * values[0]: 0.691823 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029596.023165 s.ZUH~,|W!AAQ,@AiA',@A\xV~? AAk&"AAhNA"AZAbAjArAzAAA A!(frAe@A ;A=AA2pؿA A4{*A9?2A-ֽ:Aɸ<BA9?JA-ֽRAɸ<vI٘i)I9e@Y G JJJJJW D&K YT~?yDADŧ7b7:ȸ7)BE[[z׉@[(6V~?[Ĩ[[[[ZZBZYY i) Ii@BA= Y))Yu@yV=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029596.043165 s, next control iter: 1743029596.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029596.443165 s.:UH~,J]W!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083944< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743029596.443288F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\-@A0a4[-@AkV~? AA+.&"AANhNA"AZAbAjArAzAAA)XA(&rAd@AH#;A"t=AQA4׿A?AE*A9?2A~ֽ:Ai<BA9?JA~ֽRAi<٘i)I9d@YV G JJJJJl D&K YT~?yϛfDADb777)B[[b@[-V~?[ʨ[[[[ZZBZYY i) zIi@A6B=  /)) /@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029596.463165 s, next control iter: 1743029596.843183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3095, header.stamp.nsec: 00 temperature: 13.389069* salinity: 33.391518, density: 1025.000000* values[0]: 0.690299F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029596.863165 s.+UH~,>7W!AAfffff.@A92.@A(^V~? AAB&"AAlhNA"AZAbAjArAzAAA{,I AArAi/d@A鍊;A]/=AA=ֿAb|A.HҼ*A9?2Aֽ:Aj;BA9?JAֽRAj;Y @3y۠/=˛;ٓHֿ@?/qֿb ts?`?) @ I٘i)I9/d@Y G J~JFJJ$EJ D&Kw>  7YT~? 7y +DADŧ7b77) B[[h@[%V~?['Ѩ[[[[ZZBZYY iɖ=) Ii@B= ))c@vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029596.883165 s, next control iter: 1743029597.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029597.283165 s.4RUH~,RW!AJ"J*J2J:JBJnJvJA ףp=/@A5z5@ /@AQV~? AéA&"AA:hNA"AZAbAjArAzAAA9#] AY5:rAՋc@As:Ak<A6AտA@A@*A9?2Aqֽ:As BA9?JAqֽRAs ٘i)I9c@Y| G J¼JJJJ D&K YߧT~?yJCAD77:7,B)BE[[x@[QV~?[kר[[[[ZZBZYY i) 珼Ii@B= ԑ))ԑ@PYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029597.303165 s, next control iter: 1743029597.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3096., header.stamp.nsec: 0.0 temperature: 13.389380.* salinity: 33.391510., density: 1025.000000.* values[0]: 0.688948.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029597.703165 s.غUH~,mW!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073627< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743029597.703304F (some fields omitted in printout)AGz0@A\/@AEV~? AʩA&"AAhNA"AZAbAjArAzAAA4 ArAm c@AY7Ae<AA տA LArz*A9?2Aqֽ:ABA9?JAqֽRA٘i)I9 c@Y/ G JB=JJJJ D&K YʝT~?yCADŧ7b7:7.B)BE[[@[ V~?[ݨ[[[[ZZBZYY i) Iiɗ@IB= +))+&@]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029597.723165 s, next control iter: 1743029598.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029598.123165 s.5UH~,TW!AJ"J*J2J:J@0?BJ@0?nJ85vJAR0@A3FY0@AO:V~? AҩA &"AAhNA"AZAbAjArAzAAAj5{ AetrAZb@AUĻA ԻA8A rFԿAE(A%*A9?2A`ֽ:A|BA9?JA`ֽRA|٘i)I9b@Y G JVC=JJJJ D&K YT~?yżzCAD77W7)B[[/@[V~?[[[[[ZZBZYY i=) tIi,@-B= z))z*@y2}=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029598.143165 s, next control iter: 1743029598.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029598.543165 s.IUH~,âW!AA(\1@AOc1@AM/V~? Ag٩Av&"AAwhNA"AZAbAjArAzAAA ׳As!{rA,{b@AλAA]PA jӿA\A>5*A9?2A^ֽ:A BA9?JA^ֽRA ٘i)I9{b@Y G J`JJJJ D&K YT~?yŨ?CA D{7{7 elevatorAngleAction: 0.083054< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743029598.963303F (some fields omitted in printout)A2@Aeke2@A$V~? AA&"AAghNA"AZAbAjArAzAAA7d AL erAbb@AniA}AAOҿA@A*A!9?2Aqֽ:AμBA!9?JAqֽRAμY`@ yE@iٓHп?e?`@пJ?f?i5m?)`@ I٘i)I9bb@Y G JfJ 8JJJ D&Kw> YIT~?yͨlCA& D77搹7(B)B[[8@[PV~?[[[[[BZYY ik=) ЧMIif@aC= "))"3Ǧ@yB2=1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029598.983165 s, next control iter: 1743029599.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029599.383165 s.UH~,DW!AA= ףp3@AyGs<3@AV~? A;AV&"AAWhNA"AZAbAjArAzAAAq+ArAfb@AX:Au3A\A`ѿA jAҋ5;*A9?2AGֽ:ABA9?JAGֽRA٘i)I9fb@Y G JV :JJJJ D&K YzT~?y ֨CA< D7)E[[k0@[nU~?[E[[[[BZYY iM=) ^:ʹ7)B[[@[U~?[[[[[BZYY i) {*IiD@nB= Ȅ))Ȅݧ@yd=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029599.823165 s, next control iter: 1743029600.203189 s, wait time: 0.380024 s rAdjusting time to match Gazebo time: 1743029600.223165 s.gVH~,HX!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067626< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743029600.223288F (some fields omitted in printout)AQ5@A4@A V~? ANA1&"AA:hNA"AZAbAjArAzAAA2EcAb]}rAb@AR;AwAA฼ϿA@A.<*A9?2Arֽ:ABA9?JArֽRA٘i)I9b@Y G J!<C=JJJJ. D&K Y=lT~?yCA  Cg D7777'B)B E[[F@[U~?[=[[[[BZYY i) cIix@5*C=  )) h@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029600.243165 s, next control iter: 1743029600.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029600.643165 s.w VH~, *)X!AJ"J*J2J:J;0?BJ;0?nJ85vJA)\5@A֑#5@AU~? AAt&"AA-hNA"AZAbAjArAzAAAg&CAȲ6@AU~? AA!&"AA hNA"AZAbAjArAzAAAڤA]^sAc@AҊA AQݿA!̿AbA<*Aݞ9?2A nֽ:A[3BAݞ9?JA nֽRA[3Yࠊ@ݿy 옹ٓH{Ŀܕ? և?@@Ŀ>ޱ?a?@Z3w?)ࠊ@ I٘i)I9c@Yu G Jzv<JLJJJY D&Kw> Y[`T~?yODAݿ D777@ 7) BE[[\@[rU~?[J[[[[BZYY i!l=) JIiW@B= m|))m|~@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029601.103165 s, next control iter: 1743029601.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029601.483165 s.u_VH~,^X!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057650< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743029601.483287F (some fields omitted in printout)Aq= ף7@Aڪ$o7@AU~? ATAq&"AAhNA"AZAbAjArAzAAAyA)}sAcc@A AAkۿAPʿA˅AȘ<*A9?2AQֽ:ABA9?JAQֽRA٘i)I9c@Y G J<JJJJn D&K Y[T~?yDA Db7b7<7)B[[@[XU~?[[[[[BZYY i) һIi@B= 1x))1x @I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029601.523165 s, next control iter: 1743029601.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3100, header.stamp.nsec: 00 temperature: 13.389372* salinity: 33.391453, density: 1025.000000* values[0]: 0.689224F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029601.903165 s.VH~,yX!AAGz8@AgxF8@AU~? AA&"AA hNA"AZAbAjArAzAAASUAf2 sA^d@AƻAA"ؿA*|ȿA !AI<*A9?2AQֽ:ABA9?JAQֽRA٘i)I9d@Y G JǠ<JJJJ D&K YKWT~?y CEA D77Y7)B[[r@[U~?[n[[[[BZYY i) z Iiٗ@&^B= us))us@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029601.923165 s, next control iter: 1743029602.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029602.323165 s.v$VH~,%X!AJ"J*J2J:JBJnJvJAQ9@A7n9@A]U~? AAqB&"AAgNA"AZAbAjArAzAAAnJA,MsAe@AAAտAƿA@OA~<*Aq9?2Aoֽ:A# BAq9?JAoֽRA# ٘i)I9e@Yi G J<JJJJ D&K YRT~?yaEA D77?v7)BE[[@[5U~?[ %[[[[BZYY i) fIi@fB= o))o@y\cl=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029602.343165 s, next control iter: 1743029602.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3101*, header.stamp.nsec: 0*0 temperature: 13.389153** salinity: 33.391438*, density: 1025.000000** values[0]: 0.690332*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029602.743165 s.W+VH~,qX!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057650< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201932 time: 1743029602.743468F (some fields omitted in printout)A\(:@A=9@AVU~? A%A} &"AAgNA"AZAbAjArAzAAA>`_AhzsAe@A_AD1AEӿA`ĿAFAO<*A89?2A9ֽ:A BA89?JA9ֽRA ٘i)I9e@Y G J<JJJJ D&K Y;NT~?yFA D77꒺7&B)B E[[@[.U~?[+[[[[BZYY i) mIi@B= )k)))k@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029602.763165 s, next control iter: 1743029603.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029603.163165 s.y}2VH~,qX!AJ"J*J2J:JBJnJvJA;@AQE:@AU~? A-A &"AA>gNA"AZAbAjArAzAAAq,1AޥsA=f@ADa;A♽AпA¿AAzC<*AԾ9?2A=ֽ:ABAԾ9?JA=ֽRAY@{пyP♽Kb;ٓHH?@xP?@;c YLT~?y#nFAп D{7j77)B[[]@[U~?[G2[[[[BZYY i) B81Iib@yA= f))fX5@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029603.183165 s, next control iter: 1743029603.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029603.583165 s.8VH~, SX!AAp= ;@ACݢ;@AU~? A5AXu &"AAAgNA"AZAbAjArAzAAAizKmAyf sAqf@A4;A7AͿA@A A|$<*A"9?2Aֽ:ABA"9?JAֽRA٘i)I9f@Y{ G JO<JJJJ D&K YJT~?y,FA Dj7?̺7)B[[^@[5U~?[8[[[[BZYY i=) qIiݖ@WA=  |b)) |bY@O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029603.603165 s, next control iter: 1743029603.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3102, header.stamp.nsec: 00 temperature: 13.388885* salinity: 33.391415, density: 1025.000000* values[0]: 0.691550F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029604.003165 s.y @VH~,P4Y!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066698< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743029604.003270F (some fields omitted in printout)AHz<@A@y<@A_U~? A=AI &"AAgNA"AZAbAjArAzAAAx.ңAo#sAKdg@A?;AvA_e˿ACA+A-<*A9?2AFֽ:ABA9?JAFֽRA٘i)I9dg@Y G J<JJJJ D&K Y5IT~?yp5 &"AAgNA"AZAbAjArAzAAAAb'{(sA|g@A8P;AA3ȿA Ae>A͚<*Ay9?2A>ֽ:A@GBAy9?JA>ֽRA@G٘i)I9g@Y* G J<JJJJ D&K  7YGT~? 7y9>GA= D{7j77)B[[ⴔ@[U~?[GF[[[[BZYY i) 0o8Ii_@y@= Y))Y֭@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029604.443165 s, next control iter: 1743029604.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3103, header.stamp.nsec: 00 temperature: 13.572166* salinity: 33.374954, density: 1025.000000* values[0]: 0.569810F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029604.843165 s.LVH~,5Y!AJ"J*J2J:JBJnJvJA(\>@ALb'>@AU~? AMA &"AAgNA"AZAbAjArAzAAAJo&A%w C^-sAyh@ADnAnA@ƿA ANA<*A9?2Aֽ͖:AtBA9?JAֽ͖RAt٘i)I9yh@Y} G JO<JJJJ D&K YET~?yG HA CS D77@"7)B[[0@@[tU~?[L[[[[BZYY i) :Iif@@= }mU))}mU+b@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029604.863165 s, next control iter: 1743029605.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029605.263165 s.TVH~,#PY!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066698< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743029605.263296F (some fields omitted in printout)A33333?@A,`>@AU~? AUA &"AA3gNA"AZAbAjArAzAAAoe.N AnD2sAh@ABAƙAiÿAA@\A<*A9?2Aֽ:ABBA9?JAֽRABY$@cÿy?eٓH ӯ?`?e?j?:?`?v@?)$@ I٘i)I9h@Y G J]<J<JJJ0 D&K6x> YGT~?yOgHAÿh D7777>7)ޯB[[<˕@[U~?[S[[[[BZYY i) v:Ii@a?= Q))Q7@2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029605.283165 s, next control iter: 1743029605.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 31042, header.stamp.nsec: 020 temperature: 13.5719602* salinity: 33.3749772, density: 1025.0000002* values[0]: 0.5704452F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029605.683165 s.lZVH~,IkY!AJ"J*J2J:JBJnJvJAףp= @@Au?@AU~? A]Ai &"AA+gNA"AZAbAjArAzAAAe7=A,L-7sA}i@AJIA6APAfHA gA=<*A!9?2Avֽ:A BA!9?JAvֽRA ٘i)I9}i@YG J7<JJJJE D&K YBHT~?yXHA~ DZ7Z7[7'B)ۯBE[[V@[U~?[[Z[[[[BZYY i) h<;Iiє@|>=  L)) Lx@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029605.683165 s, next control iter: 1743029606.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743029606.103165 s.aVH~,Y!AA{G@@A7@@AU~? AeA&"AAgNA"AZAbAjArAzAAAlzSAQ elevatorAngleAction: 0.066698< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743029606.523274F (some fields omitted in printout)J"J*J2J:JBJnJvJAQA@A2%A@AU~? AmA`.&"AAgNA"AZAbAjArAzAAA`~mcAGAsA'oj@Ai:A ꂽAN˻A흿A@,wA‰<*A9?2A ֽ:AYBA9?JA ֽRAY񼙘٘i)I9oj@YG J<JJJJp D&K YJT~?y5jzIA D{7j7씻7)ӯB[[ƿ[:U~?[g[[[[BZYY i) a;Ii@^e== C))CCQ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029606.543165 s, next control iter: 1743029606.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3105, header.stamp.nsec: 00 temperature: 13.571713* salinity: 33.374977, density: 1025.000000* values[0]: 0.571006F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029606.943165 s.YdnVH~,F]Y!AA(\B@Av2[B@AɼU~? AuA&"AAgNA"AZAbAjArAzAAAlAkWlEsAj@Aj;A A(AS"AzAt<*A9?2AYֽ:ABA9?JAYֽRA𼙘٘i)I9j@YG J<JJJJ D&K YKT~?ysIA Dŧ777)ЯBE[[VĿ[U~?[n[[[[BZYY i"J=) z;IiГ@3== ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029606.983165 s, next control iter: 1743029607.343179 s, wait time: 0.360014 sKT~?)s rAdjusting time to match Gazebo time: 1743029607.363165 s.uVH~,u>Y!AJ"J*J2J:J??BJ??nJZ5vJAfffffC@A_52C@AU~? A}A&"AAgNA"AZAbAjArAzAAA[%oACJsAPk@A;AA͋AH?A6|A!<*A 9?2Aֽ:AboBA 9?JAֽRAboYf@5yn%;ٓH]?K?MŽ us?ග?1?@xx?q?)f@ I٘i)I9Pk@Y7G J-<Jt<JJJ D&KHx> YOT~?y{,JA D7{7Bλ7)̯B[[S)¿[U~?[ elevatorAngleAction: 0.076313< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743029607.783289F (some fields omitted in printout)A ףp=D@A.ED D@AϼU~? AA elevatorAngleAction: 0.076313< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743029609.043295F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\F@A;_F@AU~? A*Ak|&"AAgNA"AZAbAjArAzAAA? <ATh^sAm@A'ȻA*Aw9A@Ԯ?AfAEC<*A9?2AZֽ:A BA9?JAZֽRA ٘i)I9m@YBG Jx<JJJJ D&K Y+`T~?yKA) D77@7)B[[ d[qU~?[![[[[BZYY i) d, elevatorAngleAction: 0.076313< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743029610.303270F (some fields omitted in printout)AzGI@AI@AU~? A>A&"AAgNA"AZAbAjArAzAAAlפA1RHmsAxdn@AVh;AaAQA`غ?A<Ab<*A9?2Aֽ:ABA9?JAֽRA٘i)I9dn@YG J_<JJJJ2 D&K Y[lT~?y¸LAj D77777)B[[ʲ[U~?[9[[[[BZYY i) [ elevatorAngleAction: 0.085804< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743029611.563289F (some fields omitted in printout)J"J*J2J:JBJnJvJAK@A_K@AU~? AΪA&"AAgNA"AZAbAjArAzAAA!.Ad{sAo@Ay:AA-A?A`A<*AX9?2Aڵֽ:A6 BAX9?JAڵֽRA6 Y?@%y睘:ٓH"?? . }?Ʊ?8?`nZ?A?)?@ IuI٘i)I9o@YG JM<JڼJJJr D&K> Y~T~?yyҩMA D777)BE[[8[U~?[ [[[[BZYY i) 9?2AUuֽ:A@BA>9?JAUuֽRA@٘i)I9p@YG J<JJJJ D&K Y[T~?yoNA D7777F&7/B)E[['ק[QU~?[$ũ[[[[BZYY i) %24[!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085804< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743029612.823297F (some fields omitted in printout)AQN@A0,N@A"U~? AA%"AA gNA"AZAbAjArAzAAAXXRAt\:sALzq@AZȺA<AǔA?AߤA<*A9?2A~ֽ:A^BA9?JA~ֽRA^٘i)I9zq@YG J<JJJ%EJ D&K YT~?yLNA D7B7)B[[[V~?[˩[[[[BZYY i) ))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029613.263165 s, next control iter: 1743029613.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029613.663165 s.VH~,qj[!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3112, header.stamp.nsec: 00 temperature: 13.570031* salinity: 33.374985, density: 1025.000000* values[0]: 0.575055F (some fields omitted in printout)AP@A+O@AU~? A'A>%"AAbhNA"AZAbAjArAzAAAw}A0{sAhr@A:AA~AH?A^Az<*A9?2A-ֽ:A`BA9?JA-ֽRA`Y*,@xyv:ٓH?K?`P`?@Ҳ??`BZ??)*,@ I٘i)I9r@YG J><JHJJJ D&K/x> YްT~?yOA D777G|70B)B E[[=[ V~?[ة[[[[BZYY i) ҥ elevatorAngleAction: 0.085804< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743029614.083326F (some fields omitted in printout)Ap= P@AޢP@AU~? AA?%"AA5 hNA"AZAbAjArAzAAA?A~]sAl@s@A;A{AٌAQ?A@7Aq <*A9?2Aaֽ:A9BA9?JAaֽRA9٘i)I9@s@Y G J<JJJJ D&K Y"T~?ylPA+ D777)B[[o [|V~?[ߩ[[[[BZYY i)  elevatorAngleAction: 0.085804< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743029615.343276F (some fields omitted in printout)A(\S@A'S@AV~? AA7%"AA  7YT~? 7y"QA} Db7b7 7)B'E[[.[2V~?[[[[[BZYY i) K+ elevatorAngleAction: 0.085804< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743029616.603289F (some fields omitted in printout)A{GU@A%xCU@A:V~? A)A.%"AAvhNA"AZAbAjArAzAAA:_A ABZYY i¸>) |w\!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083768< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743029617.863287F (some fields omitted in printout)AfffffX@A9:2X@A^V~? A?Ay+%"AA&hNA"AZAbAjArAzAAAp4Dž A~ Y Y@AokV~? AFA%"AAMhNA"AZAbAjArAzAAAnY7MAgSsAA_z@Aª;AFՙAeAI?A@6A=*Ar9?2Aֽ:A5쵼BAr9?JAֽRA5쵼٘i)I9_z@YbG J:=JJJJ D&K YNU~?yNTA Dj7j77)bB[[ʈ[lV~?[[[[[ZZZZBZYY i) vWu_aAw rsA|@AjA%[׼A VA?A wvAҮ<*AW9?2A$|ֽ:AQ:BAW9?JA$|ֽRAQ:٘i)I9|@YG J<JJJJ D&K  7YU~? 7yc"VAA D77 7)RB[[e[ƍV~?[/[[[[ZZZZBZYY i) QWH~,\!AJ"J*J2J:JBJnJvJA\@Aqje\@A}V~? A=aAI%"AAiNA"AZAbAjArAzAAA AuU&sA$}@A>AըA5PA`JJJ D&Kw> YU~?yj/VAP CW DL*78B)OB8E[[{[V~?[5[[[[ZZZZBZYY iۄ) *hJJJD&Ku> YU~?yVA 7 Db777)NBBE[[+h[V~?[HR[[[[BZYY ih) 0 = ʲ))ʲʲ%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029622.943165 s, next control iter: 1743029623.303182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743029623.323165 s.tWH~,K]!AJ"J*J2J:J?BJ?nJ5vJAQc@Ac@A (W~? A撫A%"AAiNA"AZAbAjArAzAAA ߹A*sA˷|@A,A*=A'A`d?AA c*Aή9?2A?ս:AS =BAή9?JA?սRAS =٘i)I9|@YG J yC=JJJJD&K  7Y7V~? 7yٚ>UAD77{77>B)XBIE[[Z[W~?[b[[[[BZYY i) ;Ii%P@6= `))``yL iǪY%!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029623.343165 s, next control iter: 1743029623.723180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3122*, header.stamp.nsec: 0*0 temperature: 13.567245** salinity: 33.375053*, density: 1025.000000** values[0]: 0.580957*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029623.743165 s.W{WH~,q]!AA\(d@A_~c@Aa:W~? AAH%"AAtiNA"AZAbAjArAzAAAĂAI/MvsA?|@AoAŖ=A"A?AfvA.)*A9?2A dս:AE=BA9?JA dսRAE=٘i)I9?|@YG JJJJJD&K Y4MV~?yTADb77P,7)\B[[V[W~?[!h[[[[BZYY i) $;Ii\M@Rn= @}P))@}P@}PyIϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029623.763165 s, next control iter: 1743029624.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029624.163165 s.w}WH~,q ^!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066212< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743029624.163297F (some fields omitted in printout)J"J*J2J:JBJnJvJAe@A+d@AMW~? A;A%"AAjNA"AZAbAjArAzAAA ]׿AyJsA{@A78A˂=A'fAt ?A A봢*A!9?2A~ս:A=BA!9?JA~սRA=Y `@ey˂=8ٓH?_u? ?g#?IKF?`?) `@ I٘i)I9{@Y7G JUJFZ=JJJD&Ku> YDdV~?yTAe.D777H7)aBLE[[zQ[M%W~?[[m[[[[BZYY i)  ;IiH@= ))$yԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029624.183165 s, next control iter: 1743029624.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029624.583165 s.WH~,S%^!AAp= e@A'ۢe@A(`W~? AAym%"AA-jNA"AZAbAjArAzAAAx"A3+&[gW~?[[[[[BZYY i)  :Ii:@< %=))%=%=ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029625.883165 s, next control iter: 1743029626.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029626.263165 s.WH~,Aؐ^!AA33333i@A/R( h@AW~? AxA%"AAڤjNA"AZAbAjArAzAAA누)?Am tAx@AFA =AA?AܿA*A9?2Aս:A"=BA9?JAսRA"=Yڕ@kyx =pIGٓHu?`{?@?Hh߿ D?Lw~@Zh?)ڕ@ I٘i)I9x@YwG JJҺJJJcD&Kt> YV~?yZRAD7777S7){BZE[[:[6xW~?[[[[[BZYY i) ɒ9Ii5@< p=));vp=p=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029626.303165 s, next control iter: 1743029626.663182 s, wait time: 0.360017 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 31252, header.stamp.nsec: 020 temperature: 13.5677442* salinity: 33.3750952, density: 1025.0000002* values[0]: 0.5792192F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029626.683165 s.lWH~,R^!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240462@ elevatorAngleAction: -0.066212< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743029626.683292F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= j@Ai@AW~? AWAzr%"AA jNA"AZAbAjArAzAAA1D ?Au! tA Kx@AAqA=AA?AۿA b*A\9?2Aս:A[=BA\9?JAսRA[=٘i)I9Kx@YG J]JJJJxD&K YV~?yª!RAD{7{77CB)B]E[[N5[ÉW~?[R[[[[BZYY i) (Ii1@aG< =))==ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029626.683165 s, next control iter: 1743029627.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743029627.103165 s.WH~,^!AA{Gj@Ataj@AW~? A«A%"AAjNA"AZAbAjArAzAAAEt?AVtAw@AJ)A=AA.?A$ۿA*A~:?2A+Խ:AA=BA~:?JA+ԽRAA=٘i)I9w@YG JGJJJJD&K  7YB W~? 7yǪQAD777)B[[s0[W~?[[[[[BZYY i) p̺Ii-@>< @ =)) @ =@ =ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029627.143165 s, next control iter: 1743029627.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029627.523165 s.WH~,{^!AJ"J*J2J:J1?BJ1?nJd5vJAQk@Ap]1#k@A+W~? AƫA%"AAkNA"AZAbAjArAzAAA+Q!-?APBtA2/w@ADA$C=AAAr?A ]dڿAX*An:?2A:Խ:A=BAn:?JA:ԽRA=٘i)I9/w@YqG JJJJJD&K Y"W~?yX˪SQAD777R.7)B`E[[+[W~?[[[[[BZYY i) "Ii*@ < `O=))`O=`O=ɪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029627.543165 s, next control iter: 1743029627.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3126, header.stamp.nsec: 00 temperature: 13.567948* salinity: 33.375092, density: 1025.000000* values[0]: 0.578601F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029627.943165 s.ZdWH~,J]^!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066212< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743029627.943294F (some fields omitted in printout)A(\l@A3333[l@AX~? A+˫A;`%"AA$kNA"AZAbAjArAzAAAB0?Af[PtAXv@A6;Aw=A޾A ܳ?A`eٿA*AP:?2A Խ:A/=BAP:?JA ԽRA/=tI٘i)I9v@YG JEJJJJD&K Yk;W~?yϪPAD7J7DB)BcE[[&[W~?[6[[[[BZYY i) S8_Ii&@&< 0h>))0h>0h>HƪY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029627.983165 s, next control iter: 1743029628.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029628.363165 s.WH~,>_!AJ"J*J2J:JBJnJvJAfffffm@Aq52m@AX~? AϫA %"AAEkNA"AZAbAjArAzAAAl@AM .5tAv@A"*;A=AUnԾA 7?AyؿA*AR :?2AԽ:A <BAR :?JAԽRA et?S?)ȴ@ I٘i)I9v@YG JJ[JJJD&Ks> YDUW~?y:ӪPAAԾDj7Z7g7EB)BgE[[74"[W~?[[[[[BZYY i/) 'lIi"@z< n>))3{sn>n>êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029628.403165 s, next control iter: 1743029628.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3127&, header.stamp.nsec: 0&0 temperature: 13.568107&* salinity: 33.375088&, density: 1025.000000&* values[0]: 0.578026&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029628.783165 s.UWH~,2_!AA ףp=n@A? n@A1X~? AӫAE%"AAgkNA"AZAbAjArAzAAA6@AEtAu@A;A)_=AʾA%3?A@ ؿA`ۜ*A :?2A Uս:A<BA :?JA UսRA<٘i)I9u@YxG J7JJJ&EJD&K YoW~?y֪.PADŧ77S7)B[[Ch[W~?[ꡪ[[[[BZYY i) >Ii@< `.>))N`.>`.>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029628.803165 s, next control iter: 1743029629.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029629.203165 s.WH~,M_!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.257189@ elevatorAngleAction: -0.074999< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743029629.203284F (some fields omitted in printout)AGzo@AɋLn@AGX~? A׫Abe%"AAkNA"AZAbAjArAzAAAqK@AtAu@As\1;Apʉ=AVѿAPu?A,1׿A,敼*A{&:?2Aӽ:Ap<BA{&:?JAӽRAp<٘i)I9u@Y*G JJJJJD&K YW~?yRڪOA/D7777FB)BjE[[ג[xW~?['[[[[BZYY i) ̻Ii@ < A>)) A>A>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029629.223165 s, next control iter: 1743029629.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029629.623165 s.VWH~,Xg_!AARo@AʼUo@Ab^X~? A۫A;%"AAUkNA"AZAbAjArAzAAA@Ai tA/t@Ae[AS=AA`?A cֿAΐ*A):?2A?ӽ:A<BA):?JA?ӽRA<٘i)I9t@YG JOJJJJD&K YԢW~?yݪpOA CEDŧ7b77)BmE[[Ӵ[|X~?[L[[[[BZYY i) Ii@fڿ<  lU>)) lU> lU>y%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029629.643165 s, next control iter: 1743029630.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3128 , header.stamp.nsec: 0 0 temperature: 13.568260 * salinity: 33.375118 , density: 1025.000000 * values[0]: 0.577480 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029630.043165 s.ɨWH~,Â_!AJ"J*J2J:J?BJ?nJ5vJA(\p@Abcp@AkuX~? A߫A%"AA kNA"AZAbAjArAzAAA2m' @A斸"tA!t@AA=AjA`?A`տAһ*A&:?2AkfԽ:AuA<BA&:?JAkfԽRAuA<٘i)I9!t@YG JJJJJ$D&K YW~?yjOAZD77{7T7)BpE[[ ["X~?[Y[[[[BZYY i) yIi@< @i>))@i>@i>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029630.063165 s, next control iter: 1743029630.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029630.463165 s.YWH~,_!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074999< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743029630.463326F (some fields omitted in printout)Aq@Aseq@AX~? A#A%"AAkNA"AZAbAjArAzAAAXL\ @A$tAns@A*AՊ=AAA ?AԿA`I*A!:?2A9Խ:A=BA!:?JA9ԽRA=Y@Cy Պ=ٓH[? ?l? ӿm?x.:W;Ev@?)@ I٘i)I9s@YMG J"JARJJJ:D&Kr> YW~?y%NACoDŧ7b77GB)BsE[[ [F7X~?[<[[[[BZYY i) WIi @nQ<  `|>))q `|> `|>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029630.483165 s, next control iter: 1743029630.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3129, header.stamp.nsec: 00 temperature: 13.568349* salinity: 33.375126, density: 1025.000000* values[0]: 0.576997F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029630.883165 s.yWH~,U_!AJ"J*J2J:JBJnJvJA= ףpr@A[z))‚>>4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029630.903165 s, next control iter: 1743029631.283184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743029631.303165 s.VWH~,wg_!AAzGs@A%zs@AX~? AA5%"AAN8lNA"AZAbAjArAzAAAn@AҜ)tAr@A39A3=AȌA?AӿA*A9:?2A?ӽ:As=BA9:?JA?ӽRAs=٘i)I9r@YG JJJJJeD&K YD X~?yMAD{7V07)B[[*[GaX~?[[[[[BZYY i) fN3Ii@%< ʑ>)) ʑ>ʑ>êYFFF]Waiting for Gazebo time sync: latest Gz time: 1743029631.323165 s, next control iter: 1743029631.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3130*, header.stamp.nsec: 0*0 temperature: 13.568480** salinity: 33.375126*, density: 1025.000000** values[0]: 0.576499*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029631.723165 s.WH~,H_!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074999< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743029631.723292F (some fields omitted in printout)J"J*J2J:JBJnJvJAQt@A/s@AX~? A0A%"AAm\lNA"AZAbAjArAzAAACNd @Av+tA:?2Aӽ:A=BA>:?JAӽRA=٘i)I9)))>)>BƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029631.743165 s, next control iter: 1743029632.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029632.143165 s.[/XH~,* `!AA)\t@Aŏt@AX~? A>A|%"AAڀlNA"AZAbAjArAzAAA߮\52@AWř,tAq@Aݴ;A;֑=AZqAV?AfSѿAa*A0::?2AOӽ:AE =BA0::?JAOӽRAE =٘i)I9q@Y G JgC=JJJJD&K YBX~?y?MAD{77i7HB)B|E[[q[̌X~?[[[[[BZYY i) ERIi? < >))>>ȪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029632.163165 s, next control iter: 1743029632.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029632.563165 s.XH~,_ $`!AJ"J*J2J:J?BJ?nJ5vJAu@Ak{u@AYY~? A'AVB%"AAlNA"AZAbAjArAzAAAJY@AK.tA:q@A;Aa~=A]A ?AuпA@E*AH5:?2A0aԽ:A5c =BAH5:?JA0aԽRA5c =Yj&@\y ~=<;ٓH-?yl?@hñ?P˿A?@@k3q?@?)j&@ I٘i)I9:q@YG J"J$<JJJD&K0r> Y^X~?yLA\DZ7SI7W7IB)BE[[[X~?[!Ī[[[[BZYY i) :aIi?< )>))%ip)>)>ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029632.583165 s, next control iter: 1743029632.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3131, header.stamp.nsec: 00 temperature: 13.568588* salinity: 33.375160, density: 1025.000000* values[0]: 0.576000F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029632.983165 s.XH~,>`!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.234776@ elevatorAngleAction: -0.074999< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743029632.983294F (some fields omitted in printout)Aq= ףv@Aov@AY~? AA %"AAlNA"AZAbAjArAzAAAU@Aqg0tAöp@An7:A =A HA3?A%ϿAƚ*A 0:?2Aս:Azw =BA 0:?JAսRAzw =٘i)I9p@YG JJJJJD&K Y'zX~?yyLAD)7b77JB)įBE[[5ؾ[X~?[WǪ[[[[BZYY i) pIiY?׳< z>))`?z>z>ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029633.003165 s, next control iter: 1743029633.383176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029633.403165 s.J "J *J 2J :J c?BJ c?&XH~nJ5vJ,Y`!AAGzw@A˅ʿFw@A5Y~? AA]%"AAlNA"AZAbAjArAzAAA@A1tA1p@A^QA=A3A&_?AEͿA*AjO:?2A}Aӽ:AY =BAjO:?JA}AӽRAY =٘i)I91p@Y0G JIJJJJD&K YX~?yLAD77777)ȯBE[[Qξ[X~?[pʪ[[[[BZYY i) Ii?N< e>)) e>e>dϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029633.423165 s, next control iter: 1743029633.803177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3132, header.stamp.nsec: 00 temperature: 13.568728* salinity: 33.375164, density: 1025.000000* values[0]: 0.575470F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029633.823165 s.XH~,2t`!AAQx@A"9x@AlNY~? AA%"AAfmNA"AZAbAjArAzAAAm@A)R%|3tAfo@AfAa=AA ?A˿A*A@Q:?2A.8ӽ:A5; =BA@Q:?JA.8ӽRA5; =٘i)I9o@YG JҞJJJJD&K YSX~?yKAD{7W7)̯BE[[Aľ[X~?[lͪ[[[[BZYY i) IiR?>r< u>))u>u>ѪYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743029633.843165 s, next control iter: 1743029634.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029634.243165 s.#XH~,u`!AJ"J*J2J:J@?BJ@?nJh5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083958< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743029634.243319F (some fields omitted in printout)A\(y@AԜx@ApgY~? ABAiv%"AA.;mNA"AZAbAjArAzAAAg\ @Ak4tA&o@APA=Ag AW?AɿA]*AH:?2Aӽ:A=BAH:?JAӽRA=٘i)I9&o@YG JJJJJD&K YX~?yzPKA0D777)ѯB[[Y[X~?[HЪ[[[[BZYY i) CIi?R< >))>>yޫԪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029634.263165 s, next control iter: 1743029634.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029634.663165 s.*XH~,q`!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3133, header.stamp.nsec: 00 temperature: 13.568867* salinity: 33.375168, density: 1025.000000* values[0]: 0.574933F (some fields omitted in printout)Az@Ay@AY~? AgAJ%"AA.amNA"AZAbAjArAzAAAu߿ <@A~V26tA*n@A3ǺAߝ=A%A?A3ǿAA*A|?:?2AYPԽ:A}=BA|?:?JAYPԽRA}=Y:S@Xcyߝ=sCȺٓHg??`q??k~eX?):S@ I٘i)I9n@Y9G JJE<JJJD&Kq>  7YX~? 7yJAc CFD)7ŧ77)կBE[[]N[IY~?[Ҫ[[[[BZYY i) Iiu?N< Y>))8pY>Y>تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029634.683165 s, next control iter: 1743029635.063178 s, wait time: 0.380013 sJX~?)J rAdjusting time to match Gazebo time: 1743029635.083165 s.D1XH~,S`!AJ"J*J2J:JBJnJvJAp= z@A Qעz@AޙY~? AdAI"%"AAamNA"AZAbAjArAzAAAթn@AP i7tAn n@A 7&;Ayڠ=A6ŽAG?AT0ƿA{~*A6:?2A{Խ:A=BA6:?JA{ԽRA=٘i)I9 n@YG JJJJJ&D&K YY~?y|JA[D77X27)گBE[[A,[,Y~?[ժ[[[[BZYY i) =Ii/?os< u>))#u>u> ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029635.123165 s, next control iter: 1743029635.483182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743029635.503165 s.7XH~,D4`!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.254178@ elevatorAngleAction: -0.083958< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743029635.503317F (some fields omitted in printout)AHz{@A͍y{@AGY~? A9A%"AAɭmNA"AZAbAjArAzAAAPâ@AՆ8tAOym@Aҫ;Aĸ=AGA?AEĿA³*AQ:?2Acҽ:A=BAQ:?JAcҽRA=٘i)I9ym@YG JCB=JJJJ<D&K Y !Y~?yJAqD{7j7O7)ޯBE[[}[DY~?[ת[[[[BZYY i) 'Ii?ʟh< 9->)) 9->9->TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029635.543165 s, next control iter: 1743029635.903179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3134, header.stamp.nsec: 00 temperature: 13.569015* salinity: 33.375198, density: 1025.000000* values[0]: 0.574345F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029635.923165 s.;>XH~,`!AJ"J*J2J:J?BJ?nJ,5vJAQ|@AUP|@AY~? AA%"AAamNA"AZAbAjArAzAAAtZ@A)!9tAWl@AV;Ad=A>DkAx?A |¿A^*AT:?2AKҽ:AAG=BAT:?JAKҽRAAG=٘i)I9l@Y+G JC=JJJJQD&K Y=Y~?yIADb77k7)BE[[[A]Y~?[Bڪ[[[[BZYY i) 6Ii#?0^< <?))<?<?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029635.943165 s, next control iter: 1743029636.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029636.343165 s.IAD77j7[7)BE[[QG[uY~?[lܪ[[[[BZYY i) 㲴Iie?DV< 2l?))2l?2l?YSYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029636.363165 s, next control iter: 1743029636.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3135*, header.stamp.nsec: 0*0 temperature: 13.569163** salinity: 33.375206*, density: 1025.000000** values[0]: 0.573733*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029636.763165 s.J "J *J 2J :J ?BJ ?nJ 5vJ GKXH~,b0a!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083958< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743029636.763302F (some fields omitted in printout)A33333~@AF}@A&Z~? AAޞ%"AA"nNA"AZAbAjArAzAAA8װF@AB;M;tAk@AFĺAf=A1fA=?AA*AD:?2A[bԽ:A=BAD:?JA[bԽRA=YZ@1myY=ĺٓH@9?l?-^?}??L] ˆXi?)Z@ I٘i)I9k@YjG J J;|<JJJ|D&Kr> YSuY~?yHAmDŧ7b77)BE[[z[^Y~?[gު[[[[BZYY i) IiT?aI< . ?))wtp. ?. ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029636.783165 s, next control iter: 1743029637.163182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029637.183165 s.RXH~,cKa!AAףp= @AQ0c ~@AZ~? AA%"AA InNA"AZAbAjArAzAAAa!AAfffff@A92@AÁZ~? A+ AP@%"AA5nNA"AZAbAjArAzAAADԊVq"@AN=tASh@A};AX9=AA=A@O?A RAռ*A4L:?2A^&Խ:AU=BA4L:?JA^&ԽRAU=YB@^=y8=;ٓH?b?2?`?4h?_`q??)B@ I٘i)I9Sh@Yf G J|ӼJh<JJJD&K1r> YGZ~?yFA^=Dŧ7b7\47)BE[[t[ Z~?[![[[[BZYY i) pIi9g?< ֲ$?))_qֲ$?ֲ$?DYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029638.903165 s, next control iter: 1743029639.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029639.283165 s.7RtXH~,a!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.235986@ elevatorAngleAction: -0.092897< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743029639.283266F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=@AA> @AЛZ~? A A6%"AA oNA"AZAbAjArAzAAA [ hS#@AF;>tAg@A;A_=A=A(?A !AŪּ*A?:?2A Խ:A=BA?:?JA ԽRA=٘i)I9g@Y G J?ּJJJJD&K YaZ~?yFA2D{7j7Q7PB)BE[[[&Z~?[2[[[[ZZ¸BZYY i¸k=) vmԼIi U?W< X)?))X)?X)?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029639.303165 s, next control iter: 1743029639.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3138., header.stamp.nsec: 0.0 temperature: 13.569736.* salinity: 33.375237., density: 1025.000000.* values[0]: 0.571630.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029639.703165 s.ܺzXH~,*a!AAGz@A:f@AZ~? A AJ0%"AA*5oNA"AZAbAjArAzAAAs#@ATT`>tAf@Ai;AM=A=A?AAlؼ*AbV:?2Aӽ:A=BAbV:?JAӽRA=٘i)I9f@Y G JJ׼B=JJJJD&K Y:Z~?y-EA CGDm7)BE[[fν[AZ~?[[[[[ZZBZYY i) fȼIiD?; L/?)) L/?L/?yWhYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029639.723165 s, next control iter: 1743029640.103180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029640.123165 s.4XH~,Pb!AJ"J*J2J:JBJnJvJAR넨@AXU@AZ~? A A-%"AA\oNA"AZAbAjArAzAAA)é$@Ai +l>tAf@Ajc9Ad=A:>A@Ї?A@H?Av*A>d:?2Afӽ:Av<BA>d:?JAfӽRAv<٘i)I9f@Y G JC=JJJJ(D&K YVZ~?ytEA]D77\7OB)BE[[5[_[Z~?[[[[[ZZBZYY i) 9dIi5?; $4?))$4?$4?y=0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029640.143165 s, next control iter: 1743029640.523174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743029640.543165 s.IXH~,"b!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083213< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743029640.543295F (some fields omitted in printout)A(\…@Aο]@A Z~? A A,%"AA3oNA"AZAbAjArAzAAA@<-%@A_>tAwBe@AHnA=A%>A ?A׎?Aq*Al:?2A#Խ:Aj<BAl:?JA#ԽRAj<٘i)I9Be@Y G JJJJJ>D&K YrZ~?yDArD77{77)%BE[[lp[uZ~?[k[[[[ZZBZYY i) _Ii(?C; :?)):?:?y#=ӪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029640.583165 s, next control iter: 1743029640.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3139, header.stamp.nsec: 00 temperature: 13.569961* salinity: 33.375259, density: 1025.000000* values[0]: 0.570811F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029640.963165 s.vXH~,=b!AJ"J*J2J:J ?BJ ?nJ95vJA@A8Gne@A[~? A A/%"AAoNA"AZAbAjArAzAAA7 %@A9>tA'md@AûA^u=A:>Aف?A {N?A3<*A,p:?2AԽ:A-b<BA,p:?JAԽRA-by]u=!ĻٓH Wj?P4ǿ@m?`=?x??@xx(?)4@ I٘i)I9md@Y G JJJJJSD&Ks> YZ~?y#TDAM:>Dj77),B[[_[_Z~?[[[[[ZZBZYY i) Ii_?1; i??))fsi??i??ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029641.003165 s, next control iter: 1743029641.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029641.383165 s.ؕXH~,A R|?A`R?Aм*Ao:?2AGս:A;BAo:?JAGսRA;٘i)I9c@Y G JGJJJJiD&K YNZ~?yDAD\7)1BE[[퇼[Z~?[ [[[[ZZBZYY i) ܙIi?Pc; rD?))0rD?rD?yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029641.403165 s, next control iter: 1743029641.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3140", header.stamp.nsec: 0"0 temperature: 13.570243"* salinity: 33.375244", density: 1025.000000"* values[0]: 0.569910"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029641.803165 s.{AXH~,gsb!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.258184> elevatorAngleAction: 0.083213< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200742 time: 1743029641.803351F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG@A^@A)8[~? A Ab?%"AAoNA"AZAbAjArAzAAAqq'@A =tA c@AA<Aɒc>Av?A@?A~*Aq:?2Asӽ:Aɏ BAq:?JAsӽRAɏ ٘i)I9 c@Y. G JJJJJ~D&K YZ~?yCAD777NB)6BE[[;[Z~?[[[[[ZZBZYY i) Ii>"ۓ; ^CJ?)) ^CJ?^CJ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029641.823165 s, next control iter: 1743029642.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029642.223165 s.gXH~,Hb!AAQ@A\Tꈨ@A%R[~? A AK%"AA"pNA"AZAbAjArAzAAAs-'@A)Q/=tAb@A:A<ANw>APm?A`B?A嶄*Ag:?2Aӽ:ABAg:?JAӽRA٘i)I9b@Y G JJJJJD&K  7YZ~? 7yZ\CAD77777MB)9BE[[i<[Z~?[[[[[ZZBZYY i) 5YIi>; O?))O?O?jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029642.243165 s, next control iter: 1743029642.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029642.643165 s.vЩXH~,*b!AJ"J*J2J:JBJnJvJA)\@A6@Al[~? A A[%"AAjIpNA"AZAbAjArAzAAA٥SIB(@A A`?AÜ?A^9*A_|:?2AedԽ:AWBA_|:?JAedԽRAW٘i)I9%b@Y G JvhJJJJD&K YZ~?y CAD{7]67)c; GU?))GU?GU?u(YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029642.663165 s, next control iter: 1743029643.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3141, header.stamp.nsec: 00 temperature: 13.570415* salinity: 33.375290, density: 1025.000000* values[0]: 0.569273F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029643.063165 s.XH~,V b!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083213< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743029643.063290F (some fields omitted in printout)Å@As@A[~? AAHn%"AAppNA"AZAbAjArAzAAA.$3(@ARA`bQ?A P?AVoл*Afm:?2AnԽ:AnBAfm:?JAnԽRAnYB=A>yP;ٓH7?ѿ`b?`?@/ ?Nr??)B= I٘i)I9a@Y| G JB=JEJJJD&K:s> Y[~?yN'CAA>Dj7Z7 S7LB)=B¹E[[:=[Q[~?[([[[[ZZBZYY iTp=)  ^Ii>2; Z?))|vZ?Z?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029643.083165 s, next control iter: 1743029643.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029643.483165 s.u_XH~,b!AJ"J*J2J:JBJnJvJAq= ף@AM:o@Ağ[~? AA %"AAۗpNA"AZAbAjArAzAAAM{)@AV<-D;tA!a@A& ;AX A­>A*??A@T?As*A]:?2A4Zս:Axs׼BA]:?JA4ZսRAxs׼sI٘i)I9a@Yj G JcC=JJJJD&K Y4[~?yDCAD777o7IB);BĹE[[z̹=[2[~?[z[[[[BZYY i[=) LIiUR>; jI`?))jI`?jI`?;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029643.503165 s, next control iter: 1743029643.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3142, header.stamp.nsec: 00 temperature: 13.570439* salinity: 33.375305, density: 1025.000000* values[0]: 0.568994F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029643.903165 s.ȽXH~,b!AAGz@ArtF@A~[~? AXA-%"AApNA"AZAbAjArAzAAAbK*@A։m:tAa@AAp:Aä>A,?Ai?A;*APo:?2A.ӽ:A~|BAPo:?JA.ӽRA~|𼙘٘i)I9a@Yn G J1:JJJJD&K YEO[~?yebCAD7^7)[[e=[M[~?[[[[[BZYY i) t :Ii>V: e?)) e?e?+z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029643.923165 s, next control iter: 1743029644.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029644.323165 s.XH~,}c!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069511< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743029644.323300F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AA]@A [~? AAY%"AApNA"AZAbAjArAzAAA[!*@Aj~9tAha@AAc^AAŮ>A?Au?Ar<*Ag:?2A) Խ:ASBAg:?JA) ԽRAS٘i)I9a@Y G Jǿ;B=JJJJD&K Yxj[~?yCA C3D{7j7 7)9BǹE[[e >[ni[~?[[[[[BZYY i) 'Ii=q: zk?))zk?zk?y+=D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029644.343165 s, next control iter: 1743029644.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3143*, header.stamp.nsec: 0*0 temperature: 13.570298** salinity: 33.375305*, density: 1025.000000** values[0]: 0.569095*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029644.743165 s.WXH~,u/c!AA\(@AtA}@A[~? A!A%"AA qNA"AZAbAjArAzAAA{[M+@A/w8tA:b@ArAj{A>A?A?A&<<*AR_:?2AԽ:A BAR_:?JAԽRA ٘i)I9:b@Y G JV<C=JJJ'EJD&K Y[~?y}CAID777HB)6BʹE[[I >[ [~?[G[[[[BZYY i) ?Ii>=h9 >"q?))>"q?>"q?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029644.783165 s, next control iter: 1743029645.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029645.163165 s.t}XH~,qJc!AJ"J*J2J:JBJnJvJA@AGRˎ@A\~? AIA%"AA?3qNA"AZAbAjArAzAAA++@AlFW7tAyb@AgAȫAx>A?AHb?Ap$k<*AaX:?2ABս:AQBAaX:?JABսRAQY&>>y`\hٓHN?`.׿@eK ?(?E 2?l`r?)&> I٘i)I9b@Y G JR<JvJJJ+D&K|t> Yߟ[~?y4CA>^D87SI7`7GB)3B͹E[[6>[>[~?[[[[[BZYY ih=) kII?iʼԁ v?))@zv?v?ɺ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029645.183165 s, next control iter: 1743029645.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029645.583165 s.XH~,Sec!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.244145> elevatorAngleAction: 0.056777< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743029645.583293F (some fields omitted in printout)Ap= ׏@A٢@A_\~? AIA, %"AAYqNA"AZAbAjArAzAAA!{}l,@A5ϯ6tAb@A59AA >A@?A^9?A<*AJR:?2Aս:AʘBAJR:?JAսRAʘ٘i)I9b@Y& G J}<JJJJ@D&K Y[~?yߪUDAtD7{7 7FB).BйE[[E-M>[[~?[6[[[[BZYY i) IKI?i-W0i P|?)) P|?P|?O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029645.623165 s, next control iter: 1743029645.983178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3144 , header.stamp.nsec: 0 0 temperature: 13.570043 * salinity: 33.375328 , density: 1025.000000 * values[0]: 0.569522 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029646.003165 s.J "J *J 2J :J ?BJ ?nJ 5vJ y XH~,P4c!AAHz@ALOXy@A8\~? A AH%"AAqNA"AZAbAjArAzAAA˸-@AA14tAwc@A~;AޘAho>A?A "?A;<*A_j:?2AԽ:ABA_j:?JAԽRA٘i)I9wc@Yp G J#<JJJJVD&K  7YK[~? 7yܪDAD777)*BӹE[[Mc>[[~?[`[[[[BZYY i) λII I?iZ+ cӀ?))cӀ?cӀ?*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743029646.023165 s, next control iter: 1743029646.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029646.423165 s.uXH~,c!AAQ@A',P@AQ\~? AAVt%"AAqNA"AZAbAjArAzAAAW-@Ay*b3tAc@A;AA>A ?A?A b<*A%m:?2Ag+ս:AZ BA%m:?JAg+սRAZ ٘i)I9c@Y G J<JJJJkD&K Y[~?y[٪EADj7Z7a87)&B[[uz>[[~?[Vު[[[[BZYY i) ɿI I?iH ?))??yIh=V*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029646.443165 s, next control iter: 1743029646.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3145, header.stamp.nsec: 00 temperature: 13.569698* salinity: 33.375336, density: 1025.000000* values[0]: 0.570173F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029646.843165 s.XH~,c!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056777< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743029646.843287F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A'@Agj\~? AUA%"AAqNA"AZAbAjArAzAAAgbH.@AUW1tA#d@Ao;AA>Al[?A`@?Aɮ<*Ato:?2A'ս:Av= BAto:?JA'սRAv= ٘i)I9d@Y G J<JJJJD&K Y\~?y֪jEAD777 U7EB) BֹE[[>[\~?[ܪ[[[[BZYY iZB=) BITI?i)s Mp?))Mp?Mp?v*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743029646.863165 s, next control iter: 1743029647.243187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743029647.263165 s.XH~,#c!AA33333@Ac'@A\~? AA%"AASqNA"AZAbAjArAzAAA.h$.@A;54E0tAX#e@A:AhA,8>AV4?Ay?Aa<*Aq:?2Aս:ABAq:?JAսRAY%>n2>yhs:ٓHB?.ݿ`@?rW?PH`Ph?pB?l?)%> I٘i)I9#e@Yu G J<J쨼JJJD&Ku> Y!\~?yѪEA2>D77{7q7DB)BٹE[[S>[)\~?[٪[[[[BZYY i) FeI I?iaG+H 1?))r}1?1?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029647.283165 s, next control iter: 1743029647.663179 s, wait time: 0.380014 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 31466, header.stamp.nsec: 060 temperature: 13.5693246* salinity: 33.3753516, density: 1025.0000006* values[0]: 0.5709306F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029647.683165 s.lXH~,^c!AJ"J*J2J:JBJnJvJAףp= @A ֓@A\~? AA6 %"AArNA"AZAbAjArAzAAAHr/@A6iAڒ.tA!e@AlRAKA?A ?AŸ?A3<*A>o:?2Ap ֽ:A8BA>o:?JAp ֽRA8٘i)I9e@Y G J<JJJJD&K Y:\~?yͪ;FADb7@B)B۹E[[ԟ>[6D\~?[ ת[[[[BZYY i) )IH?iho ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029647.683165 s, next control iter: 1743029648.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743029648.103165 s.YH~,d!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066045< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743029648.103301F (some fields omitted in printout)A{Gᔨ@A7@A\~? AA@%"AA;rNA"AZAbAjArAzAAA{n40@AX-,tA~Of@AAqAS?A?A?AI<*A9:?2Aս:AgwBA9:?JAսRAgw٘i)I9Of@Y+ G JԱ<JJJJD&K YS\~?yɪFADŧ7b7 7?B) B޹E[[l>[Y_\~?[6Ԫ[[[[BZYY i) ٺIQH?i־p[ ͎?))͎?͎?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029648.123165 s, next control iter: 1743029648.503182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029648.523165 s.YH~,{!d!AJ"J*J2J:JBJnJvJAQ@A{F"@A\~? AA{%"AAn`rNA"AZAbAjArAzAAAC99hL0@A=*tAf@A铻AIA8 ?A;?A)f?Aiͫ<*A:?2AOjս:A"FBA:?JAOjսRA"F٘i)I9f@Y G J<JJJJD&K Yl\~?yŪ GA D777)B[[O>[uz\~?[*Ѫ[[[[BZYY i) e8CIH?iN {?)){?{?y6=X*YmYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029648.543165 s, next control iter: 1743029648.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3147, header.stamp.nsec: 00 temperature: 13.568917* salinity: 33.375370, density: 1025.000000* values[0]: 0.571714F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029648.943165 s.WdYH~,>]B)BE[[>[\~?[ͪ[[[[BZYY i) 59IH?i^Ť ;?));?;?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029648.983165 s, next control iter: 1743029649.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029649.363165 s.YH~,u>Wd!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066045< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743029649.363285F (some fields omitted in printout)Afffff@A-]62@A\~? AHA%"AArNA"AZAbAjArAzAAA~0@A0"=&tA|g@Ad#;A;A?A`M?A@#!?Aݟ<*A2y?y;#;ٓH@Z?#`'?`?g@ñ?ld?9?)> I٘i)I9g@Y/ G JV<C=J {<JJJD&Kv>  7YR\~? 7yȼGAy? C5D777=B)BE[[|>[\~?[{ʪ[[[[BZYY i) sё:I3H?iY V?))sV?V?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029649.383165 s, next control iter: 1743029649.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3148&, header.stamp.nsec: 0&0 temperature: 13.568516&* salinity: 33.375378&, density: 1025.000000&* values[0]: 0.572508&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029649.783165 s.WYH~,rd!AA ףp=@AjG @AF]~? AA=%"AArNA"AZAbAjArAzAAA#.-$1@AԪ'$tA}h@AQ;AA(?A@?A@E?A<*Av:?2Aɬֽ:ABAv:?JAɬֽRA٘i)I9}h@Y G J`<JJJJD&K Y\~?y3HAJDŧ7b77[\~?[ƪ[[[[BZYY i) ;IH?i5̻ o/?)) o/?o/?ʾ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029649.803165 s, next control iter: 1743029650.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029650.203165 s.#YH~,d!AJ"J*J2J:JBJnJvJAGz@AN I@A*]~? A߫A]%"AAGrNA"AZAbAjArAzAAA4j1@A]s"tAh@A!;AaAT?A#?A?A-<*AD:?2Aս:A_BAD:?JAսRA_٘i)I9h@Y G J<JJJJ-D&K Ys\~?yHA`Dj7j7c:7)B[[C>[ \~?[ª[[[[BZYY i)  D;I`H?i,2ܻ ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029650.223165 s, next control iter: 1743029650.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029650.623165 s.Y)YH~,ed!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066045< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743029650.623298F (some fields omitted in printout)AR뙨@A}[T@AA]~? A=۫A%"AA^sNA"AZAbAjArAzAAAG~1@APw tAy{i@AE;A6YA %?A@D?Aد?A:<*A4:?2Aֽ:ATBA4:?JAֽRAT٘i)I9{i@YG Jn<JJJJBD&K Y\~?y8HAuDŧ7b7W78B)BE[[[>[_\~?[澪[[[[BZYY i) Kр;IH?i6 t?))t?t?ֹ*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029650.663165 s, next control iter: 1743029651.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3149 , header.stamp.nsec: 0 0 temperature: 13.568145 * salinity: 33.375397 , density: 1025.000000 * values[0]: 0.573195 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029651.043165 s.0YH~,d!AJ"J*J2J:JBJnJvJA(\š@A^@ASX]~? AE׫A%"AA6sNA"AZAbAjArAzAAAP{1@AI#tA?i@Ax˺AA7+*?Ak?Aׁ?Ab<*A`{:?2A,ֽ:A4BA`{:?JA,ֽRA4٘i)I9i@YeG JZ<JJJJXD&K Y\~?y]QIAD{7j7s77B)BE[[k>[]~?[[[[[BZYY i^#=) ;IJH?i? )?)))?)?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029651.083165 s, next control iter: 1743029651.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743029651.463165 s.X7YH~,d!AA@AYne@An]~? A)ӫALg%"AAiXsNA"AZAbAjArAzAAAaU92@A| .tAqj@A痻AAT/?A`.?A`R?A1Ɛ<*A>w:?2A[ֽ:ABA>w:?JA[ֽRAYl>h/?ya:ٓH@?>P] 5? ?JⲰ?@rw?)l> I٘i)I9qj@YG J<J"<JJJmD&Kv> Yv]~?yʣIAh/?DZ7e76B)BE[[?[&3]~?[+[[[[BZYY i) پ;I3H?iAN ĥ?))ĥ?ĥ?)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029651.503165 s, next control iter: 1743029651.863179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3150, header.stamp.nsec: 00 temperature: 13.567822* salinity: 33.375397, density: 1025.000000* values[0]: 0.573865F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029651.883165 s.y=YH~,@d!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812J"J< rudderAngleAction: -0.261799*J2J> elevatorAngleAction: 0.074774< massPositionAction: 0.0000004 buoyancyAction: 0.000500:J dt: 0.420016BJ2 time: 1743029651.883303nJF (some fields omitted in printout)vJA= ףp@AwNy<@A]~? AΫAʸ%"AAUzsNA"AZAbAjArAzAAAy<'}2@A ˰tAZj@AЬAA4?Aw?A!?A5<*Ao:?2Aݘֽ:ABAo:?JAݘֽRA٘i)I9j@YG J<JJJJD&K YW']~?y7JADb777)߯B[[s ?[L]~?[[[[[BZYY i) ;IgH?is[r ?))??:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029651.903165 s, next control iter: 1743029652.283181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029652.303165 s.TDYH~,oge!AAzG@AQԙ@A]~? AʫA %"AAԛsNA"AZAbAjArAzAAAYJ2@AtA]k@AMAv_A9?Ak?A?AT<*Ag:?2AJֽ:APBAg:?JAJֽRAP٘i)I9]k@Y?G J|<B=JJJJD&K Y:=]~?y_JAD775B)گBE[[?[e]~?[[[[[BZYY i) Z;IH?if ;?));?;?y =*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029652.323165 s, next control iter: 1743029652.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3151., header.stamp.nsec: 0.0 temperature: 13.567488.* salinity: 33.375450., density: 1025.000000.* values[0]: 0.574501.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029652.723165 s.KYH~,H.e!AJ"J*J2J:JBJnJvJAQ@A0ҋꝨ@A]~? AūAc%"AAsNA"AZAbAjArAzAAA+/+W3@AG%tAk@A':A~tA??Ad?A`?Ak<*A _:?2Ay!׽:ABA _:?JAy!׽RA٘i)I9k@YG J<C=JJJJD&K YS]~?yJADh70B)ѯBE[[?[]~?[[[[[BZYY i)  elevatorAngleAction: 0.074774< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743029653.143294F (some fields omitted in printout)A)\@AW@A]~? AUA%"AA|sNA"AZAbAjArAzAAA ][B3@A5MtA@l@A>;A6%AkD?AN?A_?A&<*AGW:?2A]O׽:ACBAGW:?JA]O׽RAC٘i)I9@l@YG J<JJJJD&K  7Yh]~? 7y~KAD777-B)˯BE[[>?[ȗ]~?[8[[[[BZYY i)  Y|]~?y@oKAI? D77,B)ƯBE[[#?[]~?[Ŝ[[[[BZYY i) i- elevatorAngleAction: 0.074774< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743029654.403268F (some fields omitted in printout)AGz@AF@A"^~? AA%"AAl elevatorAngleAction: 0.083811< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743029655.663287F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3154, header.stamp.nsec: 00 temperature: 13.566470* salinity: 33.375454, density: 1025.000000* values[0]: 0.576389F (some fields omitted in printout)A@Aˣ@A8?^~? AA %"AAіtNA"AZAbAjArAzAAAmZ4@A&JQsA"o@AّA-RAIc?A 3H?A@?AY1<*A+:?2A'׽:A BA+:?JA'׽RA Y+?c?yQ=ٓHd?aC@x?@)?7?/;r'?)+? I٘i)I9o@YG J<JRJJJDD&Kx> Yo]~?ysgGMAc?wD7777%B)BE[[BA?["$^~?[r~[[[[BZYY i) z elevatorAngleAction: 0.083811< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743029656.923309F (some fields omitted in printout)AQ@A P@Aw^~? AA:U%"AANtNA"AZAbAjArAzAAA$Z5@A+-sAp@A\;AuA~s?AB?A+?A<*A:?2Aj׽:A[BA:?JAj׽RA[٘i)I9p@YyG J<JJJJD&K  7Y^~? 7yRsNAD77{77#B)BE[[EsT?[d^~?[j[[[[BZYY i) ` Y5^~?yDFOA}?Dŧ7b7m>7B)BE[[V`?['^~?[[[[[[BZYY i) m elevatorAngleAction: 0.083811< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743029658.183315F (some fields omitted in printout)Aףp= @A%֨@AX^~? AA%"AA?A<*A^9?2Aֽ:ACqBA^9?JAֽRACq٘i)I9r@YG JM<JJJJD&K YS^~?y6$PA D{7w7B)B E[[|m?[^~?[WL[[[[BZYY i) ]f!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083811< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743029659.443280F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A-[@A^~? AlA %"AATuNA"AZAbAjArAzAAAڶEߌ6@AƧsAzDt@A!>A(A&S?Al?A S?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9Dt@YG Je<JJJJD&K Yr^~?yF'QA C7D7ŧ77B)wB E[[,z?[^~?[<[[[[BZYY i) f!AAfffff@A32@Ab^~? AfAN%"AAuNA"AZAbAjArAzAAATI{6@A\lsAt@Ar:A A?AU?Ar?A=<*A9?2A ׽:A?BA9?JA ׽RA?YL_?x?yts:ٓHJ?ldQ?@ve?_?QN??)L_? IrI٘i)I9t@YG J1<J]JJJJD&Kx> Y^~?ywwQA?MD777)rB[[T4?[^~?[g4[[[[BZYY i)  elevatorAngleAction: 0.083811< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743029660.703287F (some fields omitted in printout)AGz@A6\୨@A_~? AXA%"AAOuNA"AZAbAjArAzAAAgH7@AkcxsA^Bv@A;APAM>?A޽?AS?A{<*A9?2AS,׽:AqMBA9?JAS,׽RAqM٘i)I9Bv@YG J{<B=JJJ(EJFD&K  7Y^~? 7ycRAxDŧ7b77B)cBE[[y?[! _~?[#[[[[BZYY i) i elevatorAngleAction: 0.092888< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743029661.963323F (some fields omitted in printout)A@A{dse@A1_~? ADAb2%"AAA vNA"AZAbAjArAzAAAD2k7@AzsA{Ux@AoA_\A/?AK?Ac?AH<*A:9?2Aֽ:AxBA:9?JAֽRAxYy??y\oٓHK`? hA?@r|? ?m2?)y? I٘i)I9Ux@Y$G Jq<B=J%JJJD&K=x> Y^~?ySA?Dj7j7]7)QB[[?[4_~?[ [[[[ZZZZ¸>BZYY i¸>M)) _~? A =A;%"AAvNA"AZAbAjArAzAAAA77@A ύsA4 y@AuѯA͵A?Au?A'?Ar<*A9?2Aֽ:A[/BA9?JAֽRA[/٘i)I9 y@YG J;<C=JJJJD&K YK^~?yATADb7b7y7B)HBE[[ C?[B_~?[[[[[ZZZZBZYY i) }?BJ>?nJ~5vJA)\@A@Aa_~? As'A^%"AAkUvNA"AZAbAjArAzAAA9N!8@AE ^sAx{@A];AGwAt?A?A@?At<*A9?2ABֽ:AeiBA9?JABֽRAei٘i)I9{@YG JP<JJJJD&K YQ^~?yOשUAD77j77)3B[[(؜?[Xe_~?[s[[[[ZZZZBZYY i)  Y^~?yΩUA? C#Db77n7 B)*BE[[w ?[o_~?[#ܩ[[[[ZZZZBZYY i薽) _JJJ^D&Kw> Yb_~?y(VA ?D{7j7{7B)BE[[?[ _~?[d[[[[BZYY ink) S?A@?A*A9?2Aֽ:AGh=BA9?JAֽRAGh=Y?T?y=;ٓH? `?? ?ӱ? p??)? I٘i)I9 }@YG JwC=JS=JJJD&Kw>  7Y'_~? 7yxUA?D777 7)B[[?[_~?[{[[[[BZYY i!k) k';IJE?iʿh́ ix@))ix@ix@hŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029668.283165 s, next control iter: 1743029668.663178 s, wait time: 0.380013 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 31676, header.stamp.nsec: 060 temperature: 13.5626646* salinity: 33.3755576, density: 1025.0000006* values[0]: 0.5845026F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029668.683165 s.lJZH~,N+i!AJ"J*J2J:JBJnJvJAףp= @AVZ ֽ@AI_~? A˪AzZ&"AAvNA"AZAbAjArAzAAAPF9@AFzsA#|@A159Ar_=A_?A ?AF ?A*Ak9?2Aֽ:A(=BAk9?JAֽRA(=٘i)I9|@YG J@JJJJD&K Y)_~?yo@UADj7Z7'7B)BE[[!Q?[_~?[q[[[[BZYY i) u;IE?iBʿr  @)) @ @ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029668.683165 s, next control iter: 1743029669.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743029669.103165 s.QZH~,Fi!AA{Gᾨ@AA @A _~? AêA9&"AAvNA"AZAbAjArAzAAA_`U9@ARmusA|@AvtA=ARP?AX'?A` ?A*A9?2A(ֽ:A =BA9?JA(ֽRA =٘i)I9|@YjG J}JJJJD&K Y+_~?ygTA C%D77rD7)"B[[?[į_~?[g[[[[BZYY i) ;IE?iȿ?h B@))B@B@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029669.123165 s, next control iter: 1743029669.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029669.523165 s.WZH~,{ai!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057405< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743029669.523287F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A(@AC_~? AA&"AArvNA"AZAbAjArAzAAAX0b9@A e7psAo{@APA,=Ak?A`ׅ?A+5?A*AA9?2A{ֽ:A =BAA9?JA{ֽRA =٘i)I9{@YG JJJJJ D&K Y-_~?y?^TA:Dj7j7a7)'B[[)?[_~?[ ^[[[[BZYY i) ;IqE?iſ]} #8@))#8@#8@ylk֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029669.543165 s, next control iter: 1743029669.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3168, header.stamp.nsec: 00 temperature: 13.562853* salinity: 33.375576, density: 1025.000000* values[0]: 0.583911F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029669.943165 s.Wd^ZH~,>]|i!AA(\@A%@M-[@A_~? AAr,&"AA|wNA"AZAbAjArAzAAAܲTim9@A*ksAiz@AAǛ=A?A0?A@F?A3*A 9?2Aֽ:Am<=BA 9?JAֽRAm<=٘i)I9z@YG JܭJJJJD&K Y/_~?ywUTAPDŧ77}7)+B[[j?[u_~?[GT[[[[BZYY i) qT;I\E?i0¿lx @))@@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029669.963165 s, next control iter: 1743029670.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029670.363165 s.eZH~,>i!AJ"J*J2J:Je?BJe?nJ5vJAfffff@ACsF2@A%_~? AA&"AAwNA"AZAbAjArAzAAA>lj w9@AfsA\z@AAę=A?A?A /V?Aֲ*A9?2Aֽ:A3=BA9?JAֽRA3=Y ??yę=iٓH@٣l?.`-/?@3R@?) ? I٘i)I9\z@YaG JݱB=J>@<JJJ5D&K"x> Y._~?yLSA?eD777w7B).BE[[ ?["_~?[~J[[[[BZYY i) IH;IGE?iw `@))`@`@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029670.403165 s, next control iter: 1743029670.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3169&, header.stamp.nsec: 0&0 temperature: 13.563121&* salinity: 33.375580&, density: 1025.000000&* values[0]: 0.583238&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029670.783165 s.ZkZH~,i!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057405< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743029670.783304F (some fields omitted in printout)A ףp=¨@AjG ¨@A_~? AAe&"AA1 wNA"AZAbAjArAzAAA9@AXasAby@APQ>;AA=AH?As+?Ac?AI*A9?2Aֽ:Aή=BA9?JAֽRAή=٘i)I9y@YG JHC=JJJJJD&K Y-_~?yCPSA{D777)3B[[9?[ _~?[@[[[[BZYY i燽)  ;IQ3E?i5^v @))@@uϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029670.803165 s, next control iter: 1743029671.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029671.203165 s.sZH~, i!AJ"J*J2J:JBJnJvJAGzè@ASZK¨@A_~? AA&"AAwNA"AZAbAjArAzAAAY5.9@A\sAN1y@A8!;A`=AC?A޽?Am?A*A9?2Aֽ:A<BA9?JAֽRA<٘i)I91y@YG JJJJJ`D&K Y-_~?y;RADZ7SI77)8B[[[e?[*_~?[7[[[[BZYY i) N:IE?iɸr @))@@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029671.243165 s, next control iter: 1743029671.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029671.623165 s.ZyZH~,ii!AARè@A:6Uè@A_~? AyA&"AAwNA"AZAbAjArAzAAAe9@A/0 XsACx@A#;A)=A?Ag?Anu?AҜ*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9x@YSG J{JJJJuD&K Y,_~?yE2RAD77t7) Yw'_~?y QA"?Di 878)7)CB[[I?[ _~?[3[[[[BZYY i) κID?i賿wHf ? @))? @? @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029672.503165 s, next control iter: 1743029672.863180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3171, header.stamp.nsec: 00 temperature: 13.563652* salinity: 33.375572, density: 1025.000000* values[0]: 0.581885F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029672.883165 s.yZH~,D8j!AJ"J*J2J:J?BJ?nJ25vJA= ףpƨ@A&s<ƨ@A&_~? A={A(y&"AAzwNA"AZAbAjArAzAAAj{L9@A;I?IsAIw@AͷA[=A?AjA@}?Ar*A9?2AH׽:A=<BA9?JAH׽RA=<٘i)I9w@YeG JC=JJJJD&K Y#_~?ydQADj7j7uF7)GB[[??['_~?[[[[[BZYY i) @%ID?iw'c 8!@))8!@8!@ٷYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029672.903165 s, next control iter: 1743029673.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029673.303165 s.VZH~,wgSj!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066360< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743029673.303262F (some fields omitted in printout)AzGǨ@A\Ǩ@A_~? A(sA&"AAwNA"AZAbAjArAzAAA9@A^LQDsAv@A\3A=Ad?A/A K{?Az*Ag9?2Aֽ:AD<BAg9?JAֽRAD<٘i)I9v@YG JAJJJJD&K Y_~?yG QAD{7"c7B)JBE[[#?[_~?[<[[[[BZYY i)  cIOD?i7^ b#@))b#@b#@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029673.323165 s, next control iter: 1743029673.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3172*, header.stamp.nsec: 0*0 temperature: 13.563872** salinity: 33.375591*, density: 1025.000000** values[0]: 0.581313*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029673.723165 s.ZH~,Hnj!AJ"J*J2J:JBJnJvJAQȨ@AEǨ@A_~? AkA&"AAwNA"AZAbAjArAzAAA1+9@A˴`c?sA0v@A<A犂=AZ?A@:A`Zv?A*A9?2Aֽ:A6?<BA9?JAֽRA6?<٘i)I90v@YG JȉJJJJD&K Y2_~?yPAD77777)NB[[C?[:_~?[[[[[BZYY i) `ID?imwX $@))$@$@ﳪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029673.743165 s, next control iter: 1743029674.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029674.143165 s.[/ZH~,*j!AA)\Ȩ@A:SȨ@A_~? AcA\R&"AAwNA"AZAbAjArAzAAA49@A;v:sAu@A4:Ax=A?A ֪An?A.*A9?2A0ֽ:A><BA9?JA0ֽRA><٘i)I9u@YG J JJJJD&K Yp_~?ySPA C&D{7{7v7)QB[[^?[;_~?[[[[[BZYY i) q2IzD?iڣQ L&@))L&@L&@زYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029674.163165 s, next control iter: 1743029674.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029674.563165 s.ZH~,V j!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075136< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743029674.563265F (some fields omitted in printout)J"J*J2J:JBJnJvJAɨ@Aɨ@A_~? AZA&"AA<wNA"AZAbAjArAzAAA.fP9@A/5sA Nu@A+d;A=A]!?A`6Ad?A*A9?2Aֽ:Ac<BA9?JAֽRAc Y_~?yAOA*?<DZ7SI7!7)UB[[~?[yw_~?[r[[[[BZYY i) ZϻID?iN ~(@))~(@~(@YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743029674.583165 s, next control iter: 1743029674.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3173, header.stamp.nsec: 00 temperature: 13.564080* salinity: 33.375591, density: 1025.000000* values[0]: 0.580775F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029674.983165 s.ZH~,j!AAq= ףʨ@Aboʨ@A?_~? ARA &"AA wNA"AZAbAjArAzAAAgoSw9@A)0sA>t@Ax;A"=Aź?A@AX?A*A9?2Aֽ:A<<BA9?JAֽRA<<٘i)I9t@Y G J䃼JJJJ!D&K YD _~?yOAQDb777B)YBE[[?[n_~?[S[[[[BZYY i) !IxD?iFJ )@)))@)@yǙƳYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029675.023165 s, next control iter: 1743029675.383181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743029675.403165 s.&ZH~,j!AJ"J*J2J:JBJnJvJAGz˨@AmF˨@A_~? AJA) &"AARwNA"AZAbAjArAzAAA, am9@A+sA5qt@A,q;Ac=AjZ?A:иAH?A{ւ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9qt@YG JJJJJ7D&K Y_~?yNOAgD{7j7y7)]B[[M?[c_~?[R٨[[[[BZYY i) CLIgD?i왿>E /+@))/+@/+@൪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029675.423165 s, next control iter: 1743029675.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3174", header.stamp.nsec: 0"0 temperature: 13.564298"* salinity: 33.375568", density: 1025.000000"* values[0]: 0.580220"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029675.823165 s.ZH~,2j!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075136< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743029675.823316F (some fields omitted in printout)AQ̨@A4̨@Af_~? ABAD &"AA*wNA"AZAbAjArAzAAAfvێb9@A٦g&sAwt@A35A1=A.?AsA 7?ALނ*AL9?2Aֽ:Ay=BAL9?JAֽRAy=qI٘i)I9t@YG JB=JJJJLD&K  7Y^~? 7yۨNA|D777'7)`B[[?[+Y_~?[pШ[[[[BZYY i) IWD?i3#> ,@)),@,@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029675.863165 s, next control iter: 1743029676.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029676.243165 s.ZH~,mk!AJ"J*J2J:Jx?BJx?nJ5vJA\(ͨ@A>̨@A/_~? A:AAb &"AA6vNA"AZAbAjArAzAAAqU9@A#%;!sA Y,^~?yʨBNA4?D7yH7B)iB E[[ ?[A_~?[[[[[BZYY i) O:6IS9D?i2 /@))/@/@ϿYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029676.683165 s, next control iter: 1743029677.063179 s, wait time: 0.380014 s6,^~?)6ʨ rAdjusting time to match Gazebo time: 1743029677.083165 s.DZH~,REk!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075136< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743029677.083291F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= Ψ@AcޢΨ@A1_~? A+A &"AAvNA"AZAbAjArAzAAA~x79@AߞOsAr@A+A/=A?AÿA@?A%*A#9?2Aֽ:A=BA#9?JAֽRA=٘i)I9r@YG J5JJJJD&K Y^~?y\¨MADj7j7$e7)lB[[@[ 5_~?[p[[[[BZYY i) }EI*D?i, \1@))\1@\1@êYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029677.103165 s, next control iter: 1743029677.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029677.503165 s.ZH~,D4`k!AAHzϨ@AEhyϨ@Aj_~? A/#A2 &"AAvNA"AZAbAjArAzAAA %9@A῀sA;:r@A7Asؐ=Aek?AſA`?A*AZ9?2Aֽ:A$ =BAZ9?JAֽRA$ =٘i)I9:r@YmG JJJJJD&K Y}^~?y MADb7b7ρ7)pB[[q@['_~?[[[[[BZYY i) )UID?iفr5& r2@))r2@r2@FǪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029677.523165 s, next control iter: 1743029677.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3176, header.stamp.nsec: 00 temperature: 13.385437* salinity: 33.391609, density: 1025.000000* values[0]: 0.701834F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029677.923165 s.:ZH~,{k!AJ"J*J2J:J3?BJ3?nJe<5vJ!A!E!I!M!Q!U!Y!A I>!E IDC"ImG*I:r@!Q 6I=!U >I"D!Y FItD"hFailure count cleared after critical for CTD_SeabirdAQШ@A PШ@A!_~? AXAL &"AA}vNA"AZAbAjArAzAAAj9@AޫsAgq@AeDV;A:=A?A/ǿA?Aܗ*A9?2Aֽ:AVZ =BA9?JAֽRAVZ =٘i)I9q@Y!G JJJJJD&K Y%^~?y)MAD{7{7z7)tB[[x @[_~?[[[[[BZYY iOs) dID?iow[ n4@))n4@n4@ʪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029677.943165 s, next control iter: 1743029678.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029678.343165 s. Yμ^~?ysfLA@D777)~B[[z@[^~?[[[[[BZYY i) jIC?ia[ {7@)){7@{7@*ЪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029678.803165 s, next control iter: 1743029679.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029679.183165 s.ZH~,Vk!AAףp= Ө@AҨ@A7_~? AAܓ&"AAvNA"AZAbAjArAzAAA Zr8@ALsA2p@A E:A=Ar@A`'ͿA`2Q?AN˟*AѼ9?2Aֽ:A=BAѼ9?JAֽRA=٘i)I92p@Y0G JJJJJD&K Yϰ^~?y|LA C(DZ7Z7{7)B[[F@[^~?[[[[[BZYY i) 2IHC?iWf3 9@))9@9@y!ZӪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029679.223165 s, next control iter: 1743029679.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029679.603165 s.64ZH~,k!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743029679.603296F (some fields omitted in printout)J"J*J2J:JBJnJvJ@@@@A{GӨ@AаӨ@A_~? ApA)&"AAYvNA"AZAbAjArAzAAAS2i:8@AZ@rAo@AYA=A/<@A@@οA@E)?A^*A$9?2Aֽ:A =BA$9?JAֽRA =٘i)I9o@YG JנJJJJD&K  7YѤ^~? 7yKA=D{7j7%7B)BE[[ @[^~?[酨[[[[BZYY i) `ŐIMC?iQL $:@))$:@$:@תYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029679.623165 s, next control iter: 1743029680.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3178 , header.stamp.nsec: 0 0 temperature: 13.385916 * salinity: 33.391644 , density: 1025.000000 * values[0]: 0.699687 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029680.023165 s.Z[H~,{l!AAQԨ@AM(Ԩ@A_~? AAɾ&"AAdvNA"AZAbAjArAzAAAuS|8@Aziű6rA!o@A#A\=AV@A\cпA ?AK*Aʱ9?2A%ֽ:A=BAʱ9?JA%ֽRA=٘i)I9!o@YG JJJJJ#D&K Yј^~?y5KASDj7Z7-7B)BE[[܌ @[I^~?[V~[[[[BZYY i) YI C?i>, P<@))P<@P<@ ܪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029680.063165 s, next control iter: 1743029680.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029680.443165 s.@[H~,d]l!AJ"J*J2J:J2?BJ2?nJ;5vJII"IG*I!o@6I>IFIA(\ը@AF$ -[ը@AÀ_~? AMAR&"AAvNA"AZAbAjArAzAAA`cq=8@AؚrA8n@AA?=A@AGѿAz?Aҫ*Aʬ9?2Aֽ:A@=BAʬ9?JAֽRA@=٘i)I9n@Y4G JJJJJ9D&K YҌ^~?yJAhD77j7{J7 B)BE[[ @[Q^~?[v[[[[BZYY i) 럼IC?i(/n4 ҉=@))҉=@҉=@_YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029680.483165 s, next control iter: 1743029680.843179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3179, header.stamp.nsec: 00 temperature: 13.386161* salinity: 33.391666, density: 1025.000000* values[0]: 0.698537F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029680.863165 s.+ [H~,>7l!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743029680.863293F (some fields omitted in printout)Afffff֨@AiUK:2֨@Av_~? AAL&"AA9vNA"AZAbAjArAzAAA'wb8@A"3] rAhn@AU%AF=A$@A(ҿA٣?A*A29?2Aֽ:AO=BA29?JAֽRAO=Yo6?^!@yF=%ٓH` YK~^~?yz`JA!@~D777'g7)B[[@[^~?[o[[[[BZYY i) &KIC?iG&Ի  ?@)) ?@ ?@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029680.883165 s, next control iter: 1743029681.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029681.283165 s.4R[H~,Rl!AJ"J*J2J:J2?BJ2?nJ\;5vJZJO@JJO@bJZ@RJZ@A ףp=ר@AuB ר@Al_~? AhީAv&"AAxvNA"AZAbAjArAzAAAbOLC8@AEƣrAhm@A :A=Al@AӿAs?A~ʹ*A9?2Ađֽ:AA#=BA9?JAđֽRAA#=٘i)I9hm@Y~G JߵJJJJdD&K Yo^~?y}rIAD{7{7у7 B)BE[[=@[^~?[xh[[[[BZYY i) IVC?imƻ @@))@@@@MYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029681.303165 s, next control iter: 1743029681.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3180., header.stamp.nsec: 0.0 temperature: 13.386477.* salinity: 33.391689., density: 1025.000000.* values[0]: 0.697340.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029681.703165 s.ֺ[H~,ml!AAGzب@AgDioר@Aa_~? AשA&"AAhvNA"AZAbAjArAzAAA"8@Az rAl@A4;Aub=A @A@ӿA@(@?A9*AO9?2Asuֽ:A=BAO9?JAsuֽRA=٘i)I9l@YG JB=JJJJyD&K Y#&"AAFvNA"AZAbAjArAzAAA77@AQ Y2rAk@A`;An=AR @A@տA>?AHȼ*A9?2Aֽ:Aw@=BA9?JAֽRAw@=٘i)I9k@YTG JƼB=JJJJD&K Y2D^~?y[HADj7j77B)BE[[{^@[ _^~?[T[[[[BZYY i) xļIЦC?ij޾X E@))E@E@uYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029682.563165 s, next control iter: 1743029682.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3181, header.stamp.nsec: 00 temperature: 13.386743* salinity: 33.391674, density: 1025.000000* values[0]: 0.696017F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029682.963165 s.}.[H~,l!AJ"J*J2J:JBJnJvJAڨ@AMpeڨ@A>_~? AsA=&"AA3vNA"AZAbAjArAzAAA1=7@AJÉrAsj@A}AF=Aϥ @ArֿA:?A_Lʼ*AN9?2Aֽ:A|=BAN9?JAֽRA|=Y=? @yF=;ٓHĞ@?L,r?@/@@?)=? I٘i)I9j@YG JaɼC=J}><JJJD&K-x> YK3^~?yT+HA @D77777)B[[@[7K^~?[M[[[[BZYY i) ̼I_C?iʾ{ {F@)){F@{F@LYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029682.983165 s, next control iter: 1743029683.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029683.383165 s.5[H~,+l!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743029683.383297F (some fields omitted in printout)A= ףpۨ@Akg{<ۨ@A2_~? AgA9&"AA.!vNA"AZAbAjArAzAAA:ꩣ7@AjrA+j@A ȇAp=A@AH׿A\?A̼*AՔ9?2Aֽ:A=BAՔ9?JAֽRA=٘i)I9+j@YG J5˼JJJJD&K  7Ye"^~? 7yMGADŧ7b7*7B)BE[[SG@[ 7^~?[=G[[[[BZYY i) )DӼIC?i.d GG@))GG@GG@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029683.403165 s, next control iter: 1743029683.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3182", header.stamp.nsec: 0"0 temperature: 13.387061"* salinity: 33.391701", density: 1025.000000"* values[0]: 0.694707"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029683.803165 s.vA<[H~,wgl!AJ"J*J2J:JBJnJvJAzGܨ@A^ܨ@A$_~? AoA&"AA vNA"AZAbAjArAzAAAF&i7@AuKJrAii@AǷAu=AH@A`ؿA ?Avμ*A9?2Aeֽ:AV=BA9?JAeֽRAV=٘i)I9i@YG J&ͼJJJJD&K Y~^~?yF>GA CDj7j7/7)ůB[[%@["^~?[A[[[[BZYY i) ڼIC?iajA ɱH))ʱHmI@JYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029683.823165 s, next control iter: 1743029684.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029684.223165 s.gC[H~,Hm!AAQݨ@Aܨ@A`_~? AAI&"AAyuNA"AZAbAjArAzAAA}!@7@AHrAh@AAR=A0@AؿA`?ArѼ*Aq9?2Aֽ:A=BAq9?JAֽRA=٘i)I9h@Y G JϼJJJJD&K Y^~?y?FA)D{7{7~L7B)̯BE[[%@[ ^~?[;[[[[BZYY iw) IIC?ipo= :G)):GJ@|YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029684.243165 s, next control iter: 1743029684.623174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743029684.643165 s.uI[H~,*)m!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.093305< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743029684.643275F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\ݨ@ARݨ@A[ _~? A¥A|&"AAuNA"AZAbAjArAzAAA=27@ArA,h@AWA=A:@A@)ٿA?Amռ*A9?2A(ֽ:AC=BA9?JA(ֽRAC=٘i)I9h@YF G JjӼJJJJD&K Y]~?y8RFA>Db77)i7B)ԯBE[[@[]~?[[5[[[[ZZ¸BZYY i¸Y=) ռIC?i-)غ _E))_EVZL@gYFF]w:Waiting for Gazebo time sync: latest Gz time: 1743029684.663165 s, next control iter: 1743029685.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3183, header.stamp.nsec: 00 temperature: 13.387387* salinity: 33.391705, density: 1025.000000* values[0]: 0.693305F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029685.063165 s.P[H~,N Dm!AAި@A(Gި@A^~? AA[S&"AA uNA"AZAbAjArAzAAAh[6@AH`~rAkg@Ab;Aٴ=A"@AڿA aX?AVּ*A9?2Aldֽ:A=BA9?JAldֽRA=Y!@'@yٴ=&b;ٓH'@CG`s?5?@ @l??)!@ I٘i)I9kg@Y G JռJ1;JJJ%D&Kw> Y]~?y-2EA'@TDj7j7Յ7)ٯB[[@[*]~?[/[[[[ZZBZYY i) >ɼIRC?i PD))PDM@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029685.083165 s, next control iter: 1743029685.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029685.483165 s.y_W[H~,^m!AJ"J*J2J:JL1?BJL1?nJ95vJAq= ףߨ@Aoߨ@A^~? ArAi&"AAظuNA"AZAbAjArAzAAA,76@A}ZѾrAf@AKP;Aϭ=Acm@A@bDۿA@#?Ag*A 9?2A|Zֽ:As7<BA 9?JA|ZֽRAs7<٘i)I9f@Y_ G JJJJJ;D&K Y}]~?y+_EAiDŧ777B)BE[[j@[K]~?[3*[[[[ZZBZYY i) IQC?i? B))BBO@yK=YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029685.503165 s, next control iter: 1743029685.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3184, header.stamp.nsec: 00 temperature: 13.387713* salinity: 33.391724, density: 1025.000000* values[0]: 0.691874F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029685.903165 s.][H~,ym!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082690< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743029685.903293F (some fields omitted in printout)AGz@A@QٰF@A^~? AAU&"AAuNA"AZAbAjArAzAAAD(̎6@AMk$غrAe@A;A~=A@A zܿA?A^*A9?2Aekֽ:AH3<BA9?JAekֽRAH3<٘i)I9e@Y G J3JJJJPD&K Yb]~?y=%DADb7*7)B[[@[2]~?[$[[[[ZZBZYY i) IC?iV' NjA))NjAgP@yŧ=ҪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029685.923165 s, next control iter: 1743029686.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029686.323165 s.yd[H~,2m!AJ"J*J2J:JBJnJvJAQ@AY+@A^~? AA&"AAuNA"AZAbAjArAzAAAszD_6@A"~rAd@Asv:A t=A @AܿA`}?AY*AΪ9?2A~ֽ:Ai<BAΪ9?JA~ֽRAi<٘i)I9d@YW G JJJJJfD&K YH]~?ylDAD77777B)BE[[b:!@[]~?[[[[[ZZBZYY i) IÐC?iE=)<9 8?))8?}&R@ YFF]}:Waiting for Gazebo time sync: latest Gz time: 1743029686.343165 s, next control iter: 1743029686.723178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3185., header.stamp.nsec: 0.0 temperature: 13.388104.* salinity: 33.391731., density: 1025.000000.* values[0]: 0.690194.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029686.743165 s.Wk[H~,um!AII"IW G*Id@6I>IFIA\(@AUܸ@Aм^~? A5ABP&"AA\ruNA"AZAbAjArAzAAA}A.6@A+@rA 5d@AdA?0=A\@AݿA2?A1̼*A\9?2A6ֽ:A};BA\9?JA6ֽRA};٘i)I95d@Y G JJJJJ{D&K Y-]~?yMCAD{77)B[["@[y]~?[[[[[ZZBZYY i) 鑙IiC?i<=: >))>˕S@wYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029686.763165 s, next control iter: 1743029687.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029687.163165 s.x}r[H~,qm!AJ"J*J2J:J{0?BJ{0?nJ95vJZJi@JJi@bJt@RJt@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082690< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743029687.163321F (some fields omitted in printout)A@AИI@A?^~? A~A&"AAYuNA"AZAbAjArAzAAA 65@AFݕHrAc@AKWһA<Aީ@A@&I޿A ?A *AO9?2A-wֽ:A=; BAO9?JA-wֽRA=; Y @#@y{<wiһٓH#8@Cp7?o?`Jz@?) @ I٘i)I9c@Y G JJJJJD&Kyw>  7Yz]~? 7yrCA@Db77,7B)BE[[$@[bs]~?[[[[[ZZBZYY i=) >IC?i)>Se: =))=U@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029687.183165 s, next control iter: 1743029687.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029687.583165 s.x[H~,Sm!AAp= @A2@AF^~? AxA C&"AA3@uNA"AZAbAjArAzAAAwm5@A>cnErAc@AWλAa<A@Al߿A֖?A}*A9?2A-mֽ:AMBA9?JA-mֽRAM٘i)I9c@Y6 G JJJJJD&K Ye]~?y CAD7717B)BE[[k%@[\]~?[s[[[[ZZBZYY i) 넼IC?i^>; ;));+uV@)jYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029687.603165 s, next control iter: 1743029687.983182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3186, header.stamp.nsec: 00 temperature: 13.388418* salinity: 33.391739, density: 1025.000000* values[0]: 0.688756F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029688.003165 s.x [H~,L4n!AJ"J*J2J:JBJnJvJ@@@@AHz@A!y@A^~? ArA`&"AA2&uNA"AZAbAjArAzAAAZ<:ҿ5@AY$rAvb@AAOAŻAA@An߿AF?AD(*A9?2ARrֽ:AuBA9?JARrֽRAu٘i)I9b@Y G J6YJJJJD&K YP]~?yCADj7j7N7) B[[&@[D]~?[ [[[[ZZBZYY i^=) 3uIC?i>5; <:))<:W@(YFF]~:Waiting for Gazebo time sync: latest Gz time: 1743029688.023165 s, next control iter: 1743029688.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029688.423165 s. u[H~,n!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.078794< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743029688.423286F (some fields omitted in printout)AQ@AeުP@A!x^~? AlA-&"AA uNA"AZAbAjArAzAAAS]5@ASLrAb@A!#:AAz@A7A?AG*A9?2A}ֽ:ABA9?JA}ֽRA٘i)I9b@Y G JvJJJJD&K Yr;]~?ydCAD77+k7 B) BݹE[[.(@[.-]~?[[[[[ZZBZYY i) `I=C?ia>a; h8))h8MOY@yrߌ=)YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029688.443165 s, next control iter: 1743029688.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3187, header.stamp.nsec: 00 temperature: 13.388642* salinity: 33.391735, density: 1025.000000* values[0]: 0.687912F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029688.843165 s.J ݌[H~"J*J2J,5n!A:J0?BJ0?nJ85vJA(\@A0'@Ae^~? A8gA&"AActNA"AZAbAjArAzAAAq&5@AŠrAib@A ;A٘A!@AA?AAƺ*A%9?2Aݖֽ:AٮżBA%9?JAݖֽRAٮż٘i)I9ib@Y G Jt|JJJJD&K YC&]~?y @CA CD77ׇ7"B)BڹE[[ы)@[]~?[[[[[BZYY i) KIC?iB> ; e7))e7Z@y=-*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029688.863165 s, next control iter: 1743029689.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029689.263165 s.[H~,Pn!AA33333@AR@ArS^~? AaAa&"AAtNA"AZAbAjArAzAAAҋ%ͥ4@AZxQrA kb@Ad;Ad/A+!@A`EAF?A,;*A.9?2A ֽ:AEBA.9?JA ֽRAEY!@'!@y/';ٓH@I ??`uu? w?@T?)!@ I٘i)I9kb@Y G J-9J'JJJD&Kw> YL]~?y{CA'!@+D{7j77$B)B׹E[[o*@[{\~?[[[[[BZYY i'i=) ;IiC?i>8; 5))5#\@k*YFF]~:Waiting for Gazebo time sync: latest Gz time: 1743029689.283165 s, next control iter: 1743029689.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 31882, header.stamp.nsec: 020 temperature: 13.3887042* salinity: 33.3917392, density: 1025.0000002* values[0]: 0.6876372F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029689.683165 s.l[H~,gkn!AJ"J*J2J:J0?BJ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056922< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743029689.683316F (some fields omitted in printout)Aףp= @Aqn@A@^~? A\A|&"AAFtNA"AZAbAjArAzAAAbbZ4@ArAob@AQ;A;nWAv"@A@8A5?A;*A9?2Azֽ:A)BA9?JAzֽRA)٘i)I9b@Y G J;JJJJD&K YT\~?yCA@Dŧ7b7.7)B[[J,@[E\~?[[[[[BZYY iz=) 2*IC?iA?; ˒4))˒4]@@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029689.683165 s, next control iter: 1743029690.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743029690.103165 s.~,n!AA{G@Ata@AK-^~? AVA&"AAdtNA"AZAbAjArAzAAA)[z4@AC grAb@AA]wA#@A3A<(?A5<*A{9?2ATֽ:AmBA{9?JATֽRAm٘i)I9b@Y G J<JJJJ'D&K Y^\~?yCAUD7777'B)BӹE[[Z-@[\~?[[[[[BZYY i) |XIC?i?n¾; +3))+3^@[*YFF]Waiting for Gazebo time sync: latest Gz time: 1743029690.123165 s, next control iter: 1743029690.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029690.523165 s.[H~,{n!AJ"J*J2J:J 0?BJ 0?nJ85vJII"I G*Ib@6I>IFIAQ@A!@A^~? AJQAP&"AA}tNA"AZAbAjArAzAAAL?4@AcrA7c@AVA~A~%@A@A`q?A8i<*A39?2A:ֽ:Aj BA39?JA:ֽRAj ٘i)I9c@Y8 G JmN<JJJJ=D&K Yg\~?yp,DAkDb777)B)BйE[[.@[\~?["[[[[BZYY i) *~IC?i&?;; 1))1Z`@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029690.543165 s, next control iter: 1743029690.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3189, header.stamp.nsec: 00 temperature: 13.388673* salinity: 33.391762, density: 1025.000000* values[0]: 0.687886F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029690.943165 s.Xd[H~,B]n!Ag\~?)pvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066151< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743029690.943290F (some fields omitted in printout)A(\@A%@M-[@A^~? ALAS&"AA`tNA"AZAbAjArAzAAA瑒4@A*5 :rAc@AͻA2mAT&@A`(AN?Asz<*Ab9?2A=ֽ:ABAb9?JA=ֽRA٘i)I9c@Yy G J|}<JJJJRD&K  7Yp\~? 7yIgDAD7S7.7) B[[T0@[`\~?[[[[[BZYY i) FIC?i9?}; [`0))[`0Za@yܡ=*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029690.963165 s, next control iter: 1743029691.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029691.363165 s.J "J *J 2J :J .0?BJ .0?nJ 85vJ ZJ &@ JJ &@ bJ 2@[H~RJ2@,>n!AAfffff@A+<2@Aw]~? AGAM&"AAAtNA"AZAbAjArAzAAA= 3@A)$rA~d@APAÖA'@AtA?A<*A9?2Ae^ֽ:AhBA9?JAe^ֽRAhY@Ҩ'@yÖ!ٓH#߿??Բ? r?)@ I٘i)I9d@Y G J<JJJJhD&Kw> Y\~?yܧDA'@DSI7Z737*B) B͹E[[1@[\~?[[[[[BZYY i) лI4C?icF?; .))."c@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029691.383165 s, next control iter: 1743029691.763184 s, wait time: 0.380019 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3190&, header.stamp.nsec: 0&0 temperature: 13.388539&* salinity: 33.391762&, density: 1025.000000&* values[0]: 0.688584&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029691.783165 s.\[H~,n!AA ףp=@A^I @A]~? A$BA|&"AA"tNA"AZAbAjArAzAAA 3@Aa#rA(d@A޸AA(@AA.5?A<*A_9?2A؎ֽ:ABA_9?JA؎ֽRApI٘i)I9d@Y G J<JJJJ}D&K Yz\~?yا2EAD7ŧ7P7,B)BʹE[[G3@[j\~?[ [[[[BZYY i) IC?iT?< ,-)),-d@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029691.803165 s, next control iter: 1743029692.183181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029692.203165 s.J "J *J 2J :J d0?BJ d0?[H~nJ85vJ, o!A@@@@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066151< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743029692.203294F (some fields omitted in printout)AGz@A?N@A]~? AZ=A&"AA&tNA"AZAbAjArAzAAA7jG3@Avƍ7rA+e@A}7;ANtAH*@A Ao?A<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9e@Yi G J<JJJJD&K Yj\~?yԧEADb770m7-B)BǹE[[BX4@[R\~?[^[[[[BZYY i) IIC?id?X< 8,))8,e@Z*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029692.243165 s, next control iter: 1743029692.603180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743029692.623165 s.X[H~,a'o!AAR@A=U@A]~? A8A8&"AA6sNA"AZAbAjArAzAAAyA3@A`rA3e@As-;A؍A+@A`pOA@U?A<*A)9?2Aֽ:A BA)9?JAֽRA ٘i)I9e@Y G J<JJJ*EJD&K YQ\~?yϧEAD7b7ډ7/B)BƹE[[s5@[P9\~?[[[[[BZYY i) kI-C?ilv?< *))*Fg@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029692.643165 s, next control iter: 1743029693.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3191 , header.stamp.nsec: 0 0 temperature: 13.388340 * salinity: 33.391743 , density: 1025.000000 * values[0]: 0.689506 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029693.043165 s.[H~,Bo!AJ"J*J2J:JBJnJvJA(\@A;_@A&]~? A-4A&"AAsNA"AZAbAjArAzAAA2@AȷrA6f@A0;AA,@AA ?A~ò<*Ah9?2A4ֽ:Ac BAh9?JA4ֽRAc ٘i)I96f@Y G J<JJJJD&K Y 9\~?yW˧aFAD7777.B)B¹E[[6@[ \~?[[[[[BZYY i) D/Iy D?i?,*< z)))z)h@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029693.063165 s, next control iter: 1743029693.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029693.463165 s.U[H~,]o!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066151< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743029693.463283F (some fields omitted in printout)A@Ae@AP]~? A/A&"AAsNA"AZAbAjArAzAAA2@A |~rAIf@A:AA-.@ATA ?Ac<*A9?2Apֽ:Ap BA9?JApֽRAp ٘i)I9f@Yx G J*<B=JJJJD&K Y \~?yƧFAD370B)BE[[B8@[ \~?[g[[[[BZYY i) &ID?i?7< d())d(Qj@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029693.483165 s, next control iter: 1743029693.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3192, header.stamp.nsec: 00 temperature: 13.388138* salinity: 33.391766, density: 1025.000000* values[0]: 0.690528F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029693.883165 s.y[H~,@xo!AJ"J*J2J:J0?BJ0?nJ\95vJA= ףp@Av<@A2q]~? A+A0= &"AAsNA"AZAbAjArAzAAAA@2@AM?Y|rAEgg@A'JAěAu/@AADB?AL[<*A9?2A[pֽ:AVMBA9?JA[pֽRAVM٘i)I9gg@Y G J/<C=JJJJD&K Y\~?y§,GA  CDŧ7b771B)BE[[9@[[~?[p[[[[BZYY i) WI,D?i?TF< [&))[&Z[k@V*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029693.923165 s, next control iter: 1743029694.283180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743029694.303165 s.I U[H~I"I G,sgo!A*Igg@6I>IFIZIDCbIDCjICrI=zI=I3AzG@AD?i.?U< l%))l%*l@)*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029694.343165 s, next control iter: 1743029694.703178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3193*, header.stamp.nsec: 0*0 temperature: 13.387924** salinity: 33.391769*, density: 1025.000000** values[0]: 0.691606*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029694.723165 s.[H~,Ho!AJ"J*J2J:J 1?BJ 1?nJ95vJZJ@JJ@bJ@RJ@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066151< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743029694.723319F (some fields omitted in printout)AQ@A!@A&D]~? Ay#A &"AA Yԣ[~?yHA4@lD777R75B)BE[[>@[P[~?[/ۧ[[[[BZYY i) H=;IQ|D?i9?$< n!))n!p@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029695.603165 s, next control iter: 1743029695.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3194, header.stamp.nsec: 00 temperature: 13.387728* salinity: 33.391758, density: 1025.000000* values[0]: 0.692657F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029695.983165 s.[H~,o!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066151< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200512 time: 1743029695.983330F (some fields omitted in printout)Aq= ף@Ah^o@A\~? AsA!&"AA(rNA"AZAbAjArAzAAA[Wv0@AHPprAAj@A{;AaA6@A`9A l ?A<*A9?2A]ֽ:ABA9?JA]ֽRA٘i)I9Aj@YG Jˢ<JJJJTD&K Y[~?y⯧IAD77j74o78B)BE[[#?@[lu[~?[٧[[[[BZYY i) 7z;ID?i>?<  )) r@Y*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029696.003165 s, next control iter: 1743029696.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029696.403165 s.&\H~,p!AJ"J*J2J:Jp1?BJp1?nJ:5vJAGz@AgxF@A \~? AAC!&"AArNA"AZAbAjArAzAAA) ҝ0@A׽nrA^j@A};AfbAaQ7@A -mA/?A'O<*A9?2Aֽ:ARBA9?JAֽRAR٘i)I9j@YG J<JJJJjD&K Y0n[~?y IAD77݋79B)BE[[DA@[\[~?[ا[[[[BZYY i) ;ID?i?F< ))Zs@R*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029696.423165 s, next control iter: 1743029696.803179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3195", header.stamp.nsec: 0"0 temperature: 13.387516"* salinity: 33.391762", density: 1025.000000"* values[0]: 0.693631"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029696.823165 s. \H~,%4p!AII"IG*Ij@6I>IFIAQ@AR<@A2\~? AA="&"AArNA"AZAbAjArAzAAA=yහU0@AClrAFk@AV;AfxA8@A@,ATO?AS<*A9?2Aֽ:ABA9?JAֽRA٘i)I9Fk@Y1G Jߙ<JJJJD&K Y\S[~?y_IAD7)߯B[[^B@[C[~?[ا[[[[BZYY is=) ^;ID?i?:< }))}t@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029696.863165 s, next control iter: 1743029697.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029697.243165 s.\H~,qOp!AJ"J*J2J:J1?BJ1?nJO:5vJZJr@JJr@bJ}@RJ}@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075248< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743029697.243320F (some fields omitted in printout)A\(@AtA}@A$\~? AA{"&"AAHhrNA"AZAbAjArAzAAA' 0@AUjrAk@A뒺A0LjAW9@A A@Hn?AA<*A9?2Aֽ:ABA9?JAֽRA٘i)I9k@YG J<JJJJD&K Y8[~?yCJAD47:B)ܯBE[[ C@[z+[~?[Tק[[[[BZYY i) I);ID?iM?+P< >))>u@]*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029697.263165 s, next control iter: 1743029697.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029697.663165 s.\H~,qjp!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3196, header.stamp.nsec: 00 temperature: 13.387332* salinity: 33.391769, density: 1025.000000* values[0]: 0.694549F (some fields omitted in printout)A@A}^@A\~? A A`"&"AACrNA"AZAbAjArAzAAAq /@A hrABl@AAA-;@A`AO?A<*A9?2A}ֽ:AvBA9?JA}ֽRAvY,-@3;@yZٓH /˿@yH?@r?? ~ E?t?),-@ I٘i)I9Bl@YG J<J2<JJJD&Kx> Y[~?yJA3;@Dŧ777;B)ٯBE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^Running loop #6q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) EM;)ڸ*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029697.683165 s, next control iter: 1743029698.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029698.083165 s.D!\H~,Sp!AJ"J*J2J:JBJnJvJ@@@@Ap= @AH٢@At\~? A A("&"AArNA"AZAbAjArAzAAAX_.@AgMgrAl@AgjȻASAz<@A"AL?A<*AD9?2Apֽ:A8BAD9?JApֽRA8٘i)I9l@YG J <JJJJD&K Y[[~?yԣJAD{7{77 elevatorAngleAction: 0.075248< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743029698.503284F (some fields omitted in printout)AHz@Ay@Am\~? A|A9"#&"AAqNA"AZAbAjArAzAAA9I\.@A/werA4m@A;vA~OA9p=@A3gAD?A<*AY:?2AH½:A1BAY:?JAH½RA1٘i)I94m@Y^G J)<JJJJD&K  7YZ~? 7yTKAD77=B)ԯBE[[_G@[XZ~?[ ֧[[[[BZYY i) #J@A ~AK?A"<*AM:?2Aý:ABAM:?JAýRA٘i)I9m@YG Jō<JJJJD&K Y,Z~?y KA !CD)7ŧ777>B)ѯBE[[қH@[Z~?[է[[[[BZYY i) X*IFIA(\@A'@A;\~? AAʂ#&"AA?qNA"AZAbAjArAzAAA}QC--@AuPbrAG"n@AVt;AAC?@AՙArx?AkC<*A:?2AŽ:AD\BA:?JAŽRAD\٘i)I9"n@YG J<JJJJD&K YZ~?y& LA-D{7{7T7?B)ίBE[[I@[Z~?[է[[[[BZYY i) k: elevatorAngleAction: 0.075248< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743029699.763326F (some fields omitted in printout)A33333@A@A"\~? A~Aʯ#&"AARqNA"AZAbAjArAzAAA7,@A_&uarAn@AP;AVAUl@@A`ʵA`?A{<*A6:?2AȽ:A BA6:?JAȽRA Y_2@e@@y ;ٓH9@Ʊ?@ YZ~?yiLAe@@CD5q7)˯B[[K@[XZ~?[֧[[[[BZYY i) hI @;< ))U}@i*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029699.783165 s, next control iter: 1743029700.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029700.183165 s.B\H~,V q!AAףp= @A˟o @A \~? AgA;#&"AA5bqNA"AZAbAjArAzAAAn+@A/`rAoo@A*Ԁ;A(tAyA@AA`i?A<*A^:?2AK˽:AQBA^:?JAK˽RAQ٘i)I9o@YG J#<JJJJ,D&K YvZ~?yśLAXD77ߍ7AB)ȯBE[[!LL@[ Z~?[g֧[[[[BZYY i) S8Y elevatorAngleAction: 0.084132< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743029701.023291F (some fields omitted in printout)AQ@AOyt#@A[~? AA&$&"AAnqNA"AZAbAjArAzAAAyF*@A]rAp@AMAcA^8D@A@A@J?AV<*A:?2AϽ:A BA:?JAϽRA ٘i)I9p@YG Jq<C=JJJJWD&K Y>Z~?yeMAD{7j767)¯BE[[N@[JPZ~?[qק[[[[BZYY i) xյ-*@AO23\rAp@A"^ǻAKAωE@AA2?An<*Ay:?2Atѽ:ABAy:?JAtѽRA٘i)I9p@YoG J&<JJJJlD&K Y"Z~?y4MADj7Z77CB)BE[[O@[8Z~?[*ا[[[[BZYY i) ŵwq!AAfffff@A282@A[~? AA{g$&"AApNA"AZAbAjArAzAAApY8[)@AFyH[rAQ!q@AAA&F@A@12A \?A5<*Al:?2Arӽ:ABAl:?JArӽRAY8@F@y\eٓH) |C0?@?@ @6~@=?vs?)8@ I٘i)I9!q@YG J<J2fJJJD&Kw>  7YlZ~? 7y藧NNAF@D7ŧ77DB)BE[[@#Q@[ Z~?[٧[[[[BZYY i) ? elevatorAngleAction: 0.084132< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743029702.283278F (some fields omitted in printout)A ףp=@AM J @AЉ[~? A0A3$&"AA pNA"AZAbAjArAzAAAC%(@A]N,[rA\q@ALA%A9H@A;EA?A<*A_:?2AYԽ:A,nBA_:?JAYԽRA,n٘i)I9q@YG JU<JJJJD&K Y4Y~?yNAD7787EB)BE[[WR@[S Z~?[ ڧ[[[[BZYY i) tɒIFIAR@Ao}X@AV[~? AA#$&"AARpNA"AZAbAjArAzAAAEKk'@AYrAr@AJ;A$A6GA`dAvb?A<*A*H:?2Aս:ABA*H:?JAսRA٘i)I9r@YG J?<JJJJD&K YűY~?yOADb77V7)B[[T@[Y~?[oܧ[[[[BZYY i) ܡ elevatorAngleAction: 0.084132< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743029703.543280F (some fields omitted in printout)A(\@A}i@A'<[~? A,AQ$&"AA+pNA"AZAbAjArAzAAA'@ATYrA[s@AX;AﻦAaEAoA2?AM<*A=:?2AZֽ:AĔBA=:?JAZֽRAĔ٘i)I9[s@YG J{<JJJJD&K YY~?yOADb7;s7GB)BE[[U@[Y~?[ݧ[[[[BZYY i) f:A?AǘDA@xAˉ?A$<*A3:?2A*ֽ:ABA3:?JA*ֽRAY.~?@dDy*G:ٓH"ر?@?@=u?//?f_?`?).~?@ I٘i)I9s@Y{G J<JJJJD&K*|> YfyY~?yT^PAD "CD)7ŧ77HB)BE[[VW@[Y~?[Yߧ[[[[BZYY i)  IFIA= ףp@AyGs<@A"[~? AA$&"AAoNA"AZAbAjArAzAAAt.%@AXrA˕t@Ae A<ALNCA`9AM?A Y<*A*:?2Ayֽ:A_BA*:?JAyֽRA_٘i)I9t@YG J|<JJJJD&K YB]Y~?yPA/D{7{77)B|E[[IX@[Y~?[[[[[BZYY i)  elevatorAngleAction: 0.084132< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743029704.803300F (some fields omitted in printout)AzG@A^, @AZ~? AA$&"AAJoNA"AZAbAjArAzAAA"(E%@AncXrA~;u@Ar뵻A[]ABAfA@?A x<*A}":?2Aֽ:ABA}":?JAֽRA٘i)I9;u@YAG J0<B=JJJJD&K YAY~?yBQADD7777;7IB)ByE[[wY@[Y~?[[[[[BZYY i) a elevatorAngleAction: 0.084132< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743029706.063291F (some fields omitted in printout)A@A~@AZ~? AA($&"AA>oNA"AZAbAjArAzAAAkk#@AMTY2ZXrAAw@AIs:A|A >AhAAױ<*A :?2A8׽:A}BA :?JA8׽RA}Y F@ >y|;%:ٓH`h?p? ſՆ`?`H?hV??) F@ I٘i)I9Aw@Y}G J<J'JJJYD&Ky> YX~?yHRA >Dj7j7<7KB)BpE[[\@[=Y~?[[[[[BZYY i) 9?*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029706.103165 s, next control iter: 1743029706.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029706.483165 s.{_\H~,r!AJ"J*J2J:JBJnJvJAq= ף @AM:o @A܅Z~? AA$&"AAVoNA"AZAbAjArAzAAAI,f"@AwXrAw@Aa;A?nA<A@{A}A.<*A:?2A X׽:A+BA:?JA X׽RA+٘i)I9w@YG Jo<JJJJnD&K Y:X~?yʜSADŧ77;7EB)B[[%^@['Y~?[[[[[ZZZZ¸>BZYY i¸>) =IFIZIbIjIrIzII2AGz @A40F @AkZ~? AZAJ$&"AAnNA"AZAbAjArAzAAAl0"@A_,XrAݢx@Ar;A@Af;A sA*AB<*A:?2AS׽:A|BA:?JAS׽RA|٘i)I9x@YTG J<JJJJD&K YqX~?yKSAD)7ŧ7X7)BmE[[N_@[qY~?[x[[[[ZZZZBZYY i) :u7)zBjE[[_v`@[X~?[[[[[ZZZZBZYY i) s9 YbX~?yTA7Dj7j77)lBdE[[@3)YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029709.443165 s, next control iter: 1743029709.823176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3208", header.stamp.nsec: 0"0 temperature: 13.384647"* salinity: 33.391670", density: 1025.000000"* values[0]: 0.707897"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029709.843165 s.\H~,us!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J8 propOmegaAction: 25.132812"J*J< rudderAngleAction: -0.2617992J@ elevatorAngleAction: -0.084489:J< massPositionAction: 0.000000BJ4 buoyancyAction: 0.000500nJvJ dt: 0.4200312 time: 1743029709.843313F (some fields omitted in printout)A(\@Ap'@AY~? AAAS$&"AA=mNA"AZAbAjArAzAAAPj@A']rAP}@A;A ^ <AwR2AAÿA%<*A):?2Acֽ:Ad~<BA):?JAcֽRAd~<٘i)I9P}@Y-G JFW<JJJJ D&K YW~?y<VAFD7ŧ7>!7DB)ZB[E[[Zg@[X~?[;[[[[ZZZZBZYY i)  9ZJJJ0 D&Kw> YzW~?yyUA1[Db7b7=7)XBYE[[h@[kX~?[[[[[ZZZZBZYY i&t) FH5vJ \H~,-|s!AAQ@ACX%@ARY~? AQAh#&"AADmNA"AZAbAjArAzAAA\8@AsaRbrAf}@A1Ac=A=-A}A`0˿AD*A9?2ADֽ:AN=BA9?JADֽRAN=٘i)I9f}@Y:G JzʻJJJJp D&K Y{W~?y0UAD777CB)XBPE[[ k@[1X~?[[[[[BZYY i) Bi YYW~?yyUA*D777A7)]BME[[-n@[[ X~?[V[[[[BZYY il) ;Iiw@(= \))\㿩8@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029712.383165 s, next control iter: 1743029712.763188 s, wait time: 0.380023 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3211&, header.stamp.nsec: 0&0 temperature: 13.384676&* salinity: 33.391644&, density: 1025.000000&* values[0]: 0.708195&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029712.783165 s.W ]H~,2t!AA ףp=@AUE @AY~? A A*#&"AA_lNA"AZAbAjArAzAAA{F@Ack IgrA^|@ACAA=Aj0)A`AOпA7C*Ag9?2Aֽ:A=BAg9?JAֽRA=٘i)I9^|@YG JӀC=JJJJ D&K Y?W~?yŧTAD777)`BJE[[No@[W~?[2[[[[BZYY i) &;Iiy@= o))oῩ?ɐ@ͪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029712.803165 s, next control iter: 1743029713.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029713.203165 s.]H~,Mt!AJ"J*J2J:JBJnJvJAGz@A>I@AVX~? A AD"&"AA[lNA"AZAbAjArAzAAAKMe@A irA{@A5;A=A'A@ At3ѿAx*Ao9?2Aֽ:A*=BAo9?JAֽRA*=٘i)I9{@YLG JJJJJ D&K  7Y&W~? 7yɧWTAD77777BB)cBGE[[[np@[W~?[$[[[[BZYY i) G;IiB|@Er!= ޿))޿)Y@p֪YFF]z:Waiting for Gazebo time sync: latest Gz time: 1743029713.223165 s, next control iter: 1743029713.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029713.623165 s.T]H~,Pgt!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057782< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743029713.623295F (some fields omitted in printout)AR@A:6U@A4X~? AA"&"AAlNA"AZAbAjArAzAAA?z]@@AƿjrAWR{@A;Aݞ=A?&AiAҿAL*A.9?2Aʗֽ:A=BA.9?JAʗֽRA=٘i)I9R{@YG JJJJJ D&K Y W~?yͧSA $C Dj7j7@#7)gBDE[[یq@[W~?[+"[[[[BZYY i) Ue;Iic@r#= ǝܿ))ǝܿi@y lڪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029713.643165 s, next control iter: 1743029714.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3212 , header.stamp.nsec: 0 0 temperature: 13.384895 * salinity: 33.391644 , density: 1025.000000 * values[0]: 0.707399 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029714.043165 s. ]H~,Ât!AJ"J*J2J:J5?BJ5?nJ=5vJA(\@Ab@AFX~? AA)~"&"AA/flNA"AZAbAjArAzAAA)8ܵ@A"$lrAfz@A;A<=AP%A@u~AҿA ζ*A}9?2A^ֽ:Anw=BA}9?JA^ֽRAnw=٘i)I9z@YG JJJJJ D&K YV~?yѧSA D77?7)lBEE[[ѩr@[W~?[E&[[[[BZYY i0) M;Iiq@D%= cڿ))cڿv@6۪YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029714.063165 s, next control iter: 1743029714.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029714.463165 s.W']H~,줝t!AII"IG*Iz@6I>IFIA@AHN&ne@AX~? AtA>"&"AABlNA"AZAbAjArAzAAA* ( @A nrAq z@AkE;A\=A#A LA ӿAC*A9?2Aֽ:A1! =BA9?JAֽRA1! =Y`@#y-=ߍF;ٓH @_? 尿w 6@`h??)`@ I٘i)I9 z@Y<G JzJ <JJJ!D&KLx> YV~?y{֧0SA#2 D{7j7\7)qBBE[[s@[W~?[*[[[[BZYY i) ;IiK@&= %ؿ))%ؿm@٪YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029714.483165 s, next control iter: 1743029714.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3213, header.stamp.nsec: 00 temperature: 13.385163* salinity: 33.391617, density: 1025.000000* values[0]: 0.706338F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029714.883165 s.J y-]H~"J*J2J,*A9?2A׽:A=BA9?JA׽RA=٘i)I9x@YG JJJJJ2!D&K YحV~?y]RA] D777)yBA>=AA ;kA@e@׿A׮*A49?2A+ֽ:A4=BA49?JA+ֽRA4=٘i)I9w@YG JpJJJJ]!D&K Y~V~?yQA Db77B7@B)B9E[[:x@[nW~?[,<[[[[BZYY i) uIi@-= BϿ))BϿS?@ʪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029716.163165 s, next control iter: 1743029716.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029716.563165 s.H]H~,_ $u!AJ"J*J2J:JBJnJvJA@Ai㈵@A5X~? AW(A &"AAkNA"AZAbAjArAzAAA@Al YfzrAEw@ARo8AА=A}vA-AaؿAe*AW9?2Aֽ:A=BAW9?JAֽRA=Y3f@`vyА=8ٓH&?!׽7`?`?)3f@ I٘i)I9Ew@YG J`B=JsJJJr!D&KIx> YhV~?yN(QAv D777?B)B6E[[Wy@[[^W~?[@[[[[BZYY i) Ii?@+e.= gͿ))gͿ͕@ǪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029716.583165 s, next control iter: 1743029716.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3215, header.stamp.nsec: 00 temperature: 13.385689* salinity: 33.391613, density: 1025.000000* values[0]: 0.704230F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029716.983165 s.O]H~,>u!AAq= ף@A"o@AHX~? A,A &"AApkNA"AZAbAjArAzAAAb @A5U|rAv@A;;A~=A2-AfAؿAX*A=9?2A8ֽ:AIr<BA=9?JA8ֽRAIr<٘i)I9v@Y+G J棼C=JJJJ!D&K  7YRV~? 7yPA Dj7Z77@B)B7E[[usz@[NW~?[E[[[[BZYY i) (YIi@B/= ʿ))ʿ[@\ĪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029717.003165 s, next control iter: 1743029717.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029717.403165 s.&V]H~,Yu!AJ"J*J2J:J(4?BJ(4?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066988< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743029717.403298F (some fields omitted in printout)AGz@AۻF@AS X~? A0A1 &"AAIOkNA"AZAbAjArAzAAAIT?Ay?JrA4v@A-|;AN=ALAAٿA%ž*A9?2A ֽ:AM:<BA9?JA ֽRAM:<٘i)I94v@YG JǠJJJJ!D&K YB)B0E[[|@[/W~?[/O[[[[BZYY i) VݩIim@w2= Wfƿ))WfƿEv@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029717.843165 s, next control iter: 1743029718.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029718.243165 s.c]H~,\u!AJ"J*J2J:JBJnJvJA\(!@AaP @AKW~? A:A&"AA kNA"AZAbAjArAzAAA°?A__.rA1u@A)^:A=A?A "AGۿAٔ*A9?2Aֽ:AN<BA9?JAֽRAN<٘i)I91u@Y;G JJJJJ!D&K YV~?y|OA D7777^7)B[[q}@[ W~?[T[[[[BZYY i) ȻIiی@K4= 4Ŀ))4Ŀ@EYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029718.263165 s, next control iter: 1743029718.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029718.663165 s.j]H~,qu!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066988< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743029718.663280F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3217, header.stamp.nsec: 00 temperature: 13.386165* salinity: 33.391590, density: 1025.000000* values[0]: 0.702324F (some fields omitted in printout)A"@A3!@AA'&"AAkjNA"AZAbAjArAzAAALdk?A3rAt@AZAF=AqAAܿA*A9?2Aj׽:Ap<BA9?JAj׽RAp YU~?y HOA %C!D77G{7)B-E[[5~@[@W~?[!Y[[[[BZYY i҄) gIia@4= ))@kYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029718.683165 s, next control iter: 1743029719.063176 s, wait time: 0.380011 s&U~?)&  rAdjusting time to match Gazebo time: 1743029719.083165 s.Dq]H~,Ru!AJ"J*J2J:J3?BJ3?nJ<5vJAp= "@A]آ"@AW~? ACA &"AAjNA"AZAbAjArAzAAAAemֳz?AݼrA?t@A:AS=AA A ܿAX|*Ae9?2A ׽:A<BAe9?JA ׽RA<٘i)I9?t@YG JQC=JJJJ!D&K YU~?yNA!D777)B+E[[,@[W~?[8^[[[[BZYY i) .kIi@5= '˿))'˿@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029719.103165 s, next control iter: 1743029719.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029719.503165 s.w]H~,U4u!AAHz#@Ae,y#@AW~? AHAgh&"AAjNA"AZAbAjArAzAAA=?AѫI"rA)s@AҩASG=A PA-CA`\ݿA*A9?2Au׽:A<BA9?JAu׽RA<٘i)I9s@YaG JJJJJ "D&K YU~?y!NA3!D{7j77)B[[̇@[V~?[ac[[[[BZYY i) Ii@7= O))Oǩ@个YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029719.523165 s, next control iter: 1743029719.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3218, header.stamp.nsec: 00 temperature: 13.386370* salinity: 33.391594, density: 1025.000000* values[0]: 0.701493F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029719.923165 s.9~]H~,u!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078378< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743029719.923270F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ$@AW>P$@AW~? AMA?&"AAЏjNA"AZAbAjArAzAAAȚJD?Ao\FrAFYs@AqAꁇ=AA@A N޿Ay,*A9?2Aֽ:A}=BA9?JAֽRA}=٘i)I9Ys@YG JJJJJ"D&K YU~?yX8NAI!Dŧ77E7.B)B(E[[ @[V~?[h[[[[BZYY i) ܓ"Ii@nd8= [g))[g6@yckYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029719.943165 s, next control iter: 1743029720.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029720.343165 s.<]H~,v!AA(\%@A'%@ADxW~? ASA&"AAqjNA"AZAbAjArAzAAA_q?Aи0~rA^r@AG*!;Ay=AAA`߿A~*AV9?2A_ֽ:Am=BAV9?JA_ֽRAm=٘i)I9r@YG JψJJJJ4"D&K YɬU~?y$MA^!D77j77-B)B%E[[@[V~?[m[[[[BZYY i) )2IiP@:= 8))8@9YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029720.383165 s, next control iter: 1743029720.743177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3219*, header.stamp.nsec: 0*0 temperature: 13.386576** salinity: 33.391575*, density: 1025.000000** values[0]: 0.700682*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029720.763165 s.5]H~,0v!AJ"J*J2J:JBJnJvJA33333&@A٘%@AdW~? AzXA7&"AASjNA"AZAbAjArAzAAAwt|YA*,ɗrApr@AZ;A=ArA RSA߿A1΍*A!9?2Aֽ:A=BA!9?JAֽRA=Ys@ly=ƴ;ٓH 8?S@tFD%{Kv? ?)s@ I٘i)I9pr@YG JB=JL;JJJI"D&K/x>  7YU~? 7y`+MAls!D{7Z7 7)B[[5,@[V~?[:s[[[[BZYY i) ÝAIi@s:= ))0N@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743029720.783165 s, next control iter: 1743029721.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029721.183165 s.˒]H~,^Kv!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078378< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743029721.183269F (some fields omitted in printout)Aףp= '@A˟o &@AQW~? A]A0&"AA6jNA"AZAbAjArAzAAA16XL/ӿAG'rAq@A;A=A?%A|A6A`*A/9?2Aֽ:A; =BA/9?JAֽRA; =٘i)I9q@YEG J.C=JJJJ_"D&K YU~?y02!MA!Db77F'7.B)B#E[[c@[V~?[x[[[[BZYY i) QIi3@#;= մ))մ^ڛ@?ĪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029721.223165 s, next control iter: 1743029721.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029721.603165 s.:4]H~,fv!AJ"J*J2J:J,3?BJ,3?nJ;5vJA{G'@AL!'@A0?W~? AcAo`&"AA;jNA"AZAbAjArAzAAAMAerA}q@A\=;Av=A; AA@(A5*A9?2A-ֽ:A" =BA9?JA-ֽRA" =٘i)I9}q@YG J,JJJJt"D&K YwU~?y9LA!DC7)B[[WD@[*V~?[#~[[[[BZYY i) h`Ii@`<= #))#Rf@ȪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743029721.643165 s, next control iter: 1743029722.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3220 , header.stamp.nsec: 0 0 temperature: 13.386765 * salinity: 33.391563 , density: 1025.000000 * values[0]: 0.699892 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029722.023165 s.Z]H~,|v!A]"xFailed to acquire real or simulated CTD data within timeout.1-"(Communications Fault! ! ! ! ! AQ(@A<)(@A,W~? AaiA_&"AA5iNA"AZAbAjArAzAAAOJA rAq@AQDAQ=Ai A`QA`CAz*A79?2Aֽ:A =BA79?JAֽRA =٘i)I9q@YG JJJJJ"D&K Y9eU~?y?eLA!D77`7-B)B E[[σ@[V~?[[[[[BZYY i) oIiѓ@5== w))w@˪YF-!\Communications Fault in component: CTD_SeabirdF]!\Communications Fault in component: CTD_SeabirdF]:Waiting for Gazebo time sync: latest Gz time: 1743029722.063165 s, next control iter: 1743029722.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029722.443165 s.5æ]H~,5]v!A!U@J!M@"J!I@*J!Q@2J!E@!A@!Y@:J3?BJ3?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078378< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743029722.443311F (some fields omitted in printout)A(\)@A66[)@AW~? A>oA &"AAiNA"AZAbAjArAzAAAʿѰADIrA9p@A̰AY*=Az/ A߿A@8A%晼*A79?2A׽:AA =BA79?JA׽RAA =٘i)I9p@Y`G J헼JJJJ"D&K YUSU~?yFLA!Dŧ77H}7)B[[[@[V~?[A[[[[BZYY i) nIi@.>= CK))CK }@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029722.463165 s, next control iter: 1743029722.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3221, header.stamp.nsec: 00 temperature: 13.387004* salinity: 33.391548, density: 1025.000000* values[0]: 0.699048F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029722.863165 s.+]H~,>v!AAfffff*@AӀA2*@A} W~? A8uA &"AAiNA"AZAbAjArAzAAABƩAV)TrAHo@AA=A A9߿A@A|*A9?2A׽:A =BA9?JA׽RA =Y1z@ y =5ٓH`8?  ܰ8iw?)1z@ I٘i)I9o@YG JJ<JJJ"D&KRx> YCU~?yMKA !Db777,B)BE[[@[V~?[뎨[[[[BZYY i) aAIi@8>= ))@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029722.903165 s, next control iter: 1743029723.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029723.283165 s.6R]H~,v!AJ "2Initializing CTD_Seabird."J*J2J:JBJnJvJA ףp=+@A?Q +@A`V~? AN{Aі&"AAiNA"AZAbAjArAzAAAӹA.ͷ rAvo@A)*oARw=AA@޿AA^*AF9?2Aֽ:AȈ=BAF9?JAֽRAȈ=٘i)I9vo@YG JJJJJ"D&K Y34U~?ySU8KA!Dj7Z77-B)BE[[1r@[EV~?[[[[[BZYY i) YˎIin@F?= )),@)תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029723.303165 s, next control iter: 1743029723.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3222., header.stamp.nsec: 0.0 temperature: 13.387232.* salinity: 33.391548., density: 1025.000000.* values[0]: 0.698139.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029723.703165 s.ֺ]H~,v!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078378< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743029723.703293F (some fields omitted in printout)AGz,@A˚X+@AV~? AA&"AAiNA"AZAbAjArAzAAA:=pA^ӰrAn@A79A =AMA`ZݿAp(A:*A_9?2Aֽ:Ac=BA_9?JAֽRAc=nI٘i)I9n@YiG J+JJJJ"D&K Y$U~?y\JA &C "D777J7)BE[[@[VzV~?[h[[[[BZYY i) gUIi@?= )){@8ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029723.723165 s, next control iter: 1743029724.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029724.123165 s.:]H~,iw!AJ"J*J2J:JBJnJvJAR,@AX,@A]V~? AˇA1&"AAziNA"AZAbAjArAzAAA!KV0)ARN*rAYn@Aw;A}=AAݿARtA6*A9?2Aֽ:A#=BA9?JAֽRA#=٘i)I9Yn@YG JEJJJJ"D&K YU~?ydjJA"D777)B[[@[oV~?[8[[[[BZYY iƵ) ߝIi@@= {)){|@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029724.143165 s, next control iter: 1743029724.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029724.543165 s.I]H~,"w!AA(\-@AuR_-@AzV~? A1A\)&"AAbiNA"AZAbAjArAzAAA<+A> rAQm@Au;Anߡ=AAcEܿA zA)@*A9?2A@ֽ:A,=BA9?JA@ֽRA,=٘i)I9m@YG J=JJJ,EJ #D&K  7YU~? 7y[kJA5"D7 7,B)BE[[*@[}eV~?[[[[[BZYY i)  iIi@d B= j))j%5@ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029724.563165 s, next control iter: 1743029724.943184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3223, header.stamp.nsec: 00 temperature: 13.387471* salinity: 33.391533, density: 1025.000000* values[0]: 0.697155F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029724.963165 s.z]H~,=w!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087749< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743029724.963297F (some fields omitted in printout)J"J*J2J:JBJnJvJA.@A:[@he.@AV~? AA&"AAJiNA"AZAbAjArAzAAAR [ AhrA+m@A8(;AY=AiA@ۿAA6*A9?2Aֽ:Aj =BA9?JAֽRAj =٘i)I9+m@YYG J;JJJJ #D&K YT~?yrIAJ"D77H)7-B)įBE[[e@[[V~?[[[[[BZYY i) Ii@mC= A))A`@YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743029724.983165 s, next control iter: 1743029725.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029725.383165 s.]H~,8Xw!AA= ףp/@A9zV~? AA'&"AAUiNA"AZAbAjArAzAAA2AvrA`k@AmAA=AsA@ٿAA~*A9?2Aֽ:A,=BA9?JAֽRA,=٘i)I9`k@YAG J^JJJJa#D&K Y;T~?yeHA"Dŧ77K7,B)ѯBE[[8@[@V~?[ʽ[[[[BZYY i) ʑüIi@H= cԚ))cԚZ@iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029726.243165 s, next control iter: 1743029726.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029726.643165 s.|]H~, *w!AJ"J*J2J:JBJnJvJA)\1@Aǚ1@A~V~? AA&"AA4hNA"AZAbAjArAzAAAZHC~AjX0rA j@AVHAg=AMA:JؿAdAw˿*A9?2Aֽ:Aͮ=BA9?JAֽRAͮ=٘i)I9j@YG JJJJJv#D&K YT~?yGA"D7777-B)ׯBE[[@[7V~?[è[[[[BZYY i) ˼Iiʞ@a@K= o))o@BYtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3225, header.stamp.nsec: 00 temperature: 13.387985* salinity: 33.391502, density: 1025.000000* values[0]: 0.695038F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743029726.663165 s, next control iter: 1743029727.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029727.063165 s.]H~,R w!AA2@A/2@ANqV~? AA7&"AAhNA"AZAbAjArAzAAA9/At4rAj@AʺA#=AAw׿APACaƼ*AҚ9?2Aqֽ:A=BAҚ9?JAqֽRA=Y@ y#=*r˺ٓH ߬׿Ƕ?/D@R׿א`4VY?)@ I٘i)I9j@Y}G J¼J<JJJ#D&K> Y0T~?y>GA"D)7ŧ77,B)ۯBE[[I@[P/V~?[ɨ[[[[BZYY i) YҼIi@8J= ㏖))㏖k@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029727.103165 s, next control iter: 1743029727.463176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029727.483165 s.r_]H~,w!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087749< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743029727.483272F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף3@Aҥo3@AdV~? AAܒ&"AAhNA"AZAbAjArAzAAA=c)l A޿~rAcui@A2;A=A.AֿAċA2ͼ*A9?2A;|ֽ:A=BA9?JA;|ֽRA=٘i)I9ui@YG JzɼJJJJ#D&K YT~?yhGA"Db7b7J7)B[[Kӊ@[g'V~?[Ϩ[[[[BZYY i) ټIi@J= Sj))SjF@qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029727.503165 s, next control iter: 1743029727.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3226, header.stamp.nsec: 00 temperature: 13.388245* salinity: 33.391495, density: 1025.000000* values[0]: 0.693931F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029727.903165 s.]H~,w!AAGz4@AʼnF4@A1XV~? AĩA&"AAhNA"AZAbAjArAzAAA˦5 ArAh@A/;Aд=AkA տAAӼ*A9?2A)eֽ:AOA=BA9?JA)eֽRAOA=٘i)I9h@Y G JϼJJJJ#D&K Y>T~?yFA"D77777)B[[\@[V~?[(֨[[[[BZYY i) eIi@*K= D))D~@nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029727.923165 s, next control iter: 1743029728.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029728.323165 s.v^H~,%x!AJ"J*J2J:J1?BJ1?nJ:5vJAQ5@AJ5@AVLV~? A˩A}&"AAhNA"AZAbAjArAzAAAӮ@ A?6rAh@Ar;Ay=A'AԿAARh׼*A9?2Aoֽ:A·=BA9?JAoֽRA·=٘i)I9h@Y> G J?ռJJJJ#D&K  7YōT~? 7y%FA 'C"Db777-B)BE[[@[V~?[]ܨ[[[[ZZ¸BZYY i¸=) ԼIi@K= ))@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029728.343165 s, next control iter: 1743029728.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3227*, header.stamp.nsec: 0*0 temperature: 13.388531** salinity: 33.391483*, density: 1025.000000** values[0]: 0.692710*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029728.743165 s.W ^H~,q/x!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082785< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743029728.743287F (some fields omitted in printout)A\(6@Ay5@A@V~? AөA&"AAhNA"AZAbAjArAzAAA'T Ag&UrAc]g@A.);A'0=AI\A@&ԿA@1A ڼ*A9?2Aֽ:AQ=BA9?JAֽRAQ=٘i)I9]g@Y G JؼJJJJ#D&K YKT~?y踨EA #D7L+7)B[[o@[V~?[[[[[ZZBZYY i) ȼIi@%BL= '))'@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029728.763165 s, next control iter: 1743029729.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029729.163165 s.x}^H~,qJx!AJ"J*J2J:J*1?BJ*1?nJ95vJA7@Aܹ06@A6V~? AnکAqb&"AA hNA"AZAbAjArAzAAA^T\ AÙxrAEf@AiAHG=AA@65ӿAoaA\*Aj9?2Awֽ:A+<BAj9?JAwֽRA+-\P?)eކ@ I٘i)I9f@YU G JJ:JJJ#D&K,x> Y{T~?y]7EA #DZ7SI7G7)B[[=@[ V~?[[[[[ZZBZYY i) ⼼Ii.@K= ֋))֋8@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029729.183165 s, next control iter: 1743029729.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029729.583165 s.^H~, Sex!AAp= 7@A~7ݢ7@A+V~? AA&"AAqhNA"AZAbAjArAzAAAzޞrYArAYe@A-A8=AA@:TҿA`ґA*A9?2Aֽ:Au<BA9?JAֽRAu<٘i)I9e@Y G JJJJJ $D&K YsT~?yɨDA6#Db77d7)B[[@[V~?[.[[[[ZZBZYY i) 尼Ii@WzK= [))[@y=תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029729.603165 s, next control iter: 1743029729.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3228, header.stamp.nsec: 00 temperature: 13.388849* salinity: 33.391468, density: 1025.000000* values[0]: 0.691355F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029730.003165 s.J "J *J 2J :J 0?BJ 0?nJ 95vJ | ^H~,]4x!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082785< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743029730.003281F (some fields omitted in printout)AHz8@AVFy8@A!V~? AEAB&"AAkbhNA"AZAbAjArAzAAA_$JA*rAd@AλA{=AuARrѿAA_*A9?2Auֽ:A l<BA9?JAuֽRA l<٘i)I9d@YK G JJJJJ"$D&K YlT~?yFҨIDAK#D77M7.B)B E[[ @[U~?[[[[[ZZBZYY i) #褼Ii@nK= )),@1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029730.023165 s, next control iter: 1743029730.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029730.423165 s.u&^H~,x!AAQ9@A5Q9@AHV~? AA &"AAShNA"AZAbAjArAzAAApyA*[rAd@A!A07=A-A6пAA?cӼ*A89?2Aֽ:Ab;BA89?JAֽRAb;٘i)I9d@Y G JB=JJJJ8$D&K YCdT~?yڨCAa#DZ7Z77) B[[9@[nU~?[[[[[ZZBZYY i) T阼Ii@؝K= f))f4@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029730.443165 s, next control iter: 1743029730.823183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3229, header.stamp.nsec: 00 temperature: 13.389192* salinity: 33.391472, density: 1025.000000* values[0]: 0.689870F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029730.843165 s.,^H~,x!AJ"J*J2J:JBJnJvJA(\:@A]':@AWV~? AZA&"AAEhNA"AZAbAjArAzAAAA2*`rAvc@A$ԹA=<AqKATϿAAL*A>9?2AOֽ:A3BA>9?JAOֽRA3٘i)I9vc@Yp G JżC=JJJJM$D&K Y\T~?y/\CAv#D{7{77)B[[b@[:U~?[M[[[[ZZBZYY iSϻ=) 쌼Iif@L= A))A]?@!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029730.863165 s, next control iter: 1743029731.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029731.263165 s.4^H~,x!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.091704< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743029731.263290F (some fields omitted in printout)A33333;@Ay=:@AV~? AAf&"AA8hNA"AZAbAjArAzAAAF؛uJA48M>rAb@A^;AW2<A߿A`ͿAAAXt*A۳9?2A=ֽ:AW BA۳9?JA=ֽRAW Y @߿yV2<I_;ٓHQƿ#?@u@҅ƿܷJ`k?w?) @ I٘i)I9b@Y G JB=J]8JJJc$D&Kw> YWT~?yMCA߿#Dj7Z7S7)B[[@[YU~?[[[[[ZZBZYY i=) IiϞ@FK= ))ɨ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029731.303165 s, next control iter: 1743029731.663175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3230., header.stamp.nsec: 0.0 temperature: 13.389482.* salinity: 33.391434., density: 1025.000000.* values[0]: 0.688726.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029731.683165 s.l:^H~,x!AJ"J*J2J:JBJnJvJAףp= <@A;@AU~? AA&"AA,hNA"AZAbAjArAzAAA~JAfsAb@A%զ;AP­AݿA۶˿AEgA7cD*A֨9?2Aֽ:AhzBA֨9?JAֽRAhz٘i)I9b@Y G JrC=JJJJx$D&K YRT~?y>CA#DZ77/B)BE[[0@[U~?[8[[[[ZZBZYY io=) N8rIif@J= }))}R@2(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029731.683165 s, next control iter: 1743029732.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743029732.103165 s.A^H~,y!AA{G<@Aӂ<@AU~? AeA~\&"AAi hNA"AZAbAjArAzAAAФA=psAIb@A=Cx;A뉣A ڿAɿA>A˻*A٥9?2Aֽ:ADBA٥9?JAֽRAD٘i)I9Ib@Y G JJJJJ$D&K  7YMT~? 7yA/CA#D77777.B)B E[[ú@[U~?[[[[[ZZBZYY i) g^Ii,@^vJ= y))yܩ@yZ>=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029732.123165 s, next control iter: 1743029732.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029732.523165 s.G^H~,|!y!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743029732.523287F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ=@A-#=@AU~? A,A&"AA{hNA"AZAbAjArAzAAA=A{/ sAL-b@A@A^b,[>@A(U~? AA,&"AAR hNA"AZAbAjArAzAAA2)FA\5sAp1b@AqAo2AWտA9ƿA@iAaM;*Ap9?2ACFֽ:ANVBAp9?JACFֽRANV켙٘i)I91b@Y G J:JJJJ$D&K YCT~?yCA#D77I7)[[Α@[OU~?["[[[[BZYY i) 6IiC@BJ= p))p@o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029732.963165 s, next control iter: 1743029733.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029733.363165 s.U^H~,>Wy!AJ"J*J2J:JBJnJvJAfffff?@Az):2?@A>U~? A&Aʓ &"AAhNA"AZAbAjArAzAAA憎AJMsASb@AA#XA-ҿA_ĿA` AB|;*A19?2A9ֽ:A"]BA19?JA9ֽRA"]Y^@ҿy/X|IٓH D`]?@&?`A_7ɪ?? x`b?)^@ I٘i)I9Sb@Y G JǢ;JJJJ$D&K9w> YxAT~?ymYCAҿ (C#Db7f7+B)B E[[SX@[1U~?[Z)[[[[BZYY i[f=) x&Ii}@I= el))elNz@;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029733.383165 s, next control iter: 1743029733.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3232&, header.stamp.nsec: 0&0 temperature: 13.389598&* salinity: 33.391415&, density: 1025.000000&* values[0]: 0.688263&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029733.783165 s.X[^H~,ry!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056275< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743029733.783279F (some fields omitted in printout)A ףp=@@Ah? @@AU~? A.A &"AASgNA"AZAbAjArAzAAA$AAდsA$b@ALA(xAV'пA*¿AWA.<*Aɏ9?2A9Iֽ:A BAɏ9?JA9IֽRA ٘i)I9b@Y G J<JJJJ$D&K YW?T~?y6 CA $Dj7Z7O7)B[[!@[kU~?[/[[[[BZYY i) |)Ii@H= ]h))]h@j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029733.823165 s, next control iter: 1743029734.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029734.203165 s.J "J *J 2J :J B0?BJ B0?nJ 85vJ c^H~,Py!AAGzA@AJ@@AU~? A6A_ &"AAgNA"AZAbAjArAzAAA!}0 AF"0jsA+b@A^AψABͿA@A`>Avh<*A9?2Aoֽ:A_B BA9?JAoֽRA_B ٘i)I9b@Y G JhJ<JJJJ$D&K Y5=T~?y)CA"$DSI77)B[[5l@[U~?[6[[[[BZYY i=) Ii{@LH= U d))U d0@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029734.243165 s, next control iter: 1743029734.603183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743029734.623165 s.Vi^H~,Xy!AARA@AF ^A@AU~? A>A} &"AAwgNA"AZAbAjArAzAAAo; @Ae`vE$sA0Oc@An;ApABʿAyA+ASP<*Aە9?2Aȗֽ:AC BAە9?JAȗֽRAC ٘i)I9Oc@YX G Ji|<JJJJ%D&K Y;T~?y14DA7$Dŧ7)77)B E[[g@[U~?[$=[[[[BZYY i) Ii@@H= Ż_))Ż_b@y@f=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029734.663165 s, next control iter: 1743029735.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3233 , header.stamp.nsec: 0 0 temperature: 13.389480 * salinity: 33.391411 , density: 1025.000000 * values[0]: 0.688833 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029735.043165 s.p^H~,y!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065862< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743029735.043321F (some fields omitted in printout)A(\B@A;_B@AU~? AFA( &"AA:gNA"AZAbAjArAzAAA`Q暆nA$)sA!c@A;AnA@ȿAcA%=A#<*A9?2A:ֽ:Af BA9?JA:ֽRAf ٘i)I9c@Y G Jώ<JJJJ$%D&K Y8T~?y:}DAM$Dj7Z7P7) B[[@[:U~?[C[[[[BZYY i) dʻIi3@AG= i[))i[@y"f=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029735.063165 s, next control iter: 1743029735.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029735.463165 s.^w^H~, y!AAC@AѰueC@AuU~? ANAʌ &"AAgNA"AZAbAjArAzAAA0A.sAHd@AbϬ;A6AſAO嵿ALA/<*A39?2ARֽ:Ast BA39?JARֽRAst Y@ſy:6M;ٓH6Ӛ??}N?=7?B?u?@?)@ I٘i)I9Hd@Y G J<B=JZJJJ:%D&Kw> Y9T~?ycCDAſb$DS777) B[[I @[U~?[aJ[[[[BZYY i) ]Ii>@F= W))WD,@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029735.503165 s, next control iter: 1743029735.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3234, header.stamp.nsec: 00 temperature: 13.572931* salinity: 33.374966, density: 1025.000000* values[0]: 0.567978F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029735.883165 s.y}^H~,@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029735.903165 s, next control iter: 1743029736.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029736.303165 s.S^H~,jgz!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065862< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743029736.303275F (some fields omitted in printout)AzGE@Ae~E@AjU~? A^AnS &"AADgNA"AZAbAjArAzAAA-> As97sAde@AjƺATAAA@dAr<*A|9?2Akֽ:Aİ BA|9?JAkֽRAİ ٘i)I9de@Y G Jy<JJJJe%D&K Y,;T~?yTEA$D{7j7Q/7)BE[[@[CU~?[W[[[[BZYY i) `3`Iiݙ@tD= {N)){Nz@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029736.323165 s, next control iter: 1743029736.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3235., header.stamp.nsec: 0.0 temperature: 13.572660.* salinity: 33.374981., density: 1025.000000.* values[0]: 0.568594.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029736.723165 s.^H~,H.z!AJ"J*J2J:JBJnJvJAQF@AraE@AU~? AfAJ&"AA4gNA"AZAbAjArAzAAAzNKA elevatorAngleAction: 0.065862< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743029737.563300F (some fields omitted in printout)AG@AG@AU~? AvAe{&"AAxgNA"AZAbAjArAzAAA>]AMəFsA^&g@A,\AxΘA A9AvA<*A9?2Aֽ:ApBA9?JAֽRApY@Ѭy?Θ\ٓHK? -?KyZgO?`m ?>?k)?)@ I٘i)I9&g@Y G J<J;:JJJ%D&Kx> YC@T~?yQoFA$Dj7Z7T7)B[[uHſ[U~?[k[[[[BZYY i) ˽,Ii@B= A))AAN*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029737.583165 s, next control iter: 1743029737.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3236, header.stamp.nsec: 00 temperature: 13.572418* salinity: 33.374954, density: 1025.000000* values[0]: 0.569278F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029737.983165 s.^H~,~z!AAq= ףH@A EoH@AU~? A~A&"AAgNA"AZAbAjArAzAAAA/-UKsAg@A:A(VAGA m?AwAx<*A79?2A@ֽ:ABA79?JA@ֽRA٘i)I9g@Y G J*<JJJJ%D&K YCT~?y xPGA$D77j77)BE[[_ÿ[XU~?[Jr[[[[BZYY i) ^9Ii@hA= ,=)),=,=*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029738.003165 s, next control iter: 1743029738.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029738.403165 s.&^H~,͙z!AJ"J*J2J:J?BJ?nJ5vJAGzI@AʼnFI@AU~? AA@&"AAgNA"AZAbAjArAzAAAi4Ati tPsAHh@A;O;A œAlA?AOvAB{<*A9?2Awֽ:A)BA9?JAwֽRA)٘i)I9Hh@Y_ G Jk<JJJJ%D&K YxGT~?yǀGA )C$D777)B[[[U~?[x[[[[BZYY i) VV:IiQ@\h@= 8))88r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029738.423165 s, next control iter: 1743029738.803179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3237, header.stamp.nsec: 00 temperature: 13.572142* salinity: 33.374966, density: 1025.000000* values[0]: 0.569979F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029738.823165 s.^H~,-z!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065862< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743029738.823330F (some fields omitted in printout)AQJ@AzJ@AU~? AAz&"AAgNA"AZAbAjArAzAAAT1ANaUsAh@A;ACAjΰA4?AUrA<*A9?2A9ֽ:AmBA9?JA9ֽRAm٘i)I9h@Y G Ju<JJJJ%D&K YKT~?yHA%D{7j7U7)B[[ƾ[U~?[[[[[BZYY i) , ;Ii@)?= S|4))S|4S|4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029738.843165 s, next control iter: 1743029739.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029739.243165 s.^H~,`z!AJ"J*J2J:JBJnJvJA\(K@AaJ@A`U~? A&A&"AAgNA"AZAbAjArAzAAA=PA{MZsAF[i@A;A 䎽AE7A ը?A kA<*A9?2Aֽ:AABA9?JAֽRAA٘i)I9[i@YG Jt<JJJJ%D&K YNT~?y>HA#%D7)BE[[S[U~?[R[[[[BZYY i) F;IiL@?=  0)) 0 0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029739.263165 s, next control iter: 1743029739.643174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743029739.663165 s.^H~,qz!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3238, header.stamp.nsec: 00 temperature: 13.571853* salinity: 33.374977, density: 1025.000000* values[0]: 0.570636F (some fields omitted in printout)AL@A@K@AXU~? A3Ag&"AA2gNA"AZAbAjArAzAAAQбhA7_sAfi@A'9AæAAC7?AbAS&<*A9?2Aֽ:APBA9?JAֽRAPYJ#@y¦9ٓH 2?(?w@(?-?N?@D>??)J#@ ImI٘i)I9i@YWG J<Jg<JJJ&D&K,x>  7YUT~? 7yњHA9%Db777,B)ݯBE[[m[;U~?[[[[[BZYY i#=) j$;Ii@@g== K+))K+K+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029739.683165 s, next control iter: 1743029740.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029740.083165 s.D^H~, S{!AJ"J*J2J:J?BJ?nJ-5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074775< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743029740.083293F (some fields omitted in printout)Ap= L@AqߢL@AU~? A=Au&"AAgNA"AZAbAjArAzAAAhP"A# dsArcj@A-dAAA?A oWA<*A9?2A{ֽ:ABA9?JA{ֽRA٘i)I9cj@YG J<JJJJ&&D&K Y[T~?yd@IAN%D77{7U17)ٯB[[@[U~?[[[[[BZYY i) z;IiӒ@;= 7q'))7q'7q'ʼ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029740.103165 s, next control iter: 1743029740.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029740.503165 s.^H~,D4 {!AAHzM@AyM@AU~? ACA-&"AAgNA"AZAbAjArAzAAA[UA7lisA5j@AAA5|A`Nɷ?AAIA_<*A9?2A4ֽ:AMBA9?JA4ֽRAM٘i)I9j@YG J<JJJ-EJ<&D&K YaT~?yIAd%D77M7)կB[[[U~?[C[[[[BZYY i) ;Iiܑ@J:= #))##*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029740.523165 s, next control iter: 1743029740.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3239, header.stamp.nsec: 00 temperature: 13.571616* salinity: 33.374973, density: 1025.000000* values[0]: 0.571250F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029740.923165 s.9^H~,;{!AJ"J*J2J:JBJnJvJAQN@AiPN@AgU~? ACA)&"AAgNA"AZAbAjArAzAAALpZA.msA^k@A$隻AnAߣAG?A8AT<*A9?2Aֽ:ABA9?JAֽRA٘i)I9^k@Y@G JQ<JJJJQ&D&K YjhT~?yIAy%Dŧ77j7)ѯBE[[/᳿[@U~?[렩[[[[BZYY i) ;Ii@e9= ))y =ҹ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029740.943165 s, next control iter: 1743029741.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029741.343165 s.<^H~,U{!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074775< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743029741.343286F (some fields omitted in printout)A(\O@A'O@AyU~? A=A"&"AA\gNA"AZAbAjArAzAAA!v*)AQrsAk@AafA@A<A@|[?AB%A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9k@YG J<JJJJg&D&K YnT~?y\JA%D77V7)ίB[[m[U~?[[[[[BZYY i) l;Ii{@8= N))NN*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029741.363165 s, next control iter: 1743029741.743177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3240&, header.stamp.nsec: 0&0 temperature: 13.571362&* salinity: 33.374954&, density: 1025.000000&* values[0]: 0.571839&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029741.763165 s.<^H~,4p{!AJ"J*J2J:JBJnJvJA33333P@AT O@AU~? A0ǪAY&"AAgNA"AZAbAjArAzAAA6vAѺ{wsAMl@A\.;A)AAx?A@kA4ċ<*Aþ9?2ADֽ:AίBAþ9?JADֽRAίY.e@hy X/;ٓH@??A?L0 z? ?-?ie??).e@ I٘i)I9Ml@YG J<Jm;JJJ|&D&K+x> Y xT~?yrũJA%D77{77-B)˯BE[[[[U~?[*[[[[BZYY i) OUT~?yͩKA%Dŧ7b77)ǯB[[P[U~?[´[[[[BZYY i) { elevatorAngleAction: 0.074775< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743029742.603312F (some fields omitted in printout)A{GQ@A*A*Q@AU~? A֪AT$&"AATgNA"AZAbAjArAzAAAoAGEsA8m@A;A*A]]AP?A@TA<*A9?2AQֽ:AhBA9?JAQֽRAh٘i)I98m@Y`G J<B=JJJJ&D&K YqT~?y֩qKA%Db77Y7.B)įBE[[[jU~?[\[[[[BZYY i) a-A|C<*A9?2Aݶֽ:ABA9?JAݶֽRA٘i)I9m@YG J <C=JJJJ&D&K YT~?ynީKA%D77/B)BE[[]騿[U~?[[[[[BZYY i) <AHA 8A?A@ןA˕<*A9?2A(ֽ:AABA9?JA(ֽRAA٘i)I9,n@YG J&<JJJJ&D&K  7Y՜T~? 7y)LA *C%Db777)B[[[BU~?[ȩ[[[[BZYY i) iL{!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074775< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743029743.863287F (some fields omitted in printout)AfffffT@AIJC2T@AU~? AhAY%"AAVhNA"AZAbAjArAzAAAgC$|AXsAn@AjArAAs?A~A<*A9?2A6}ֽ:A BA9?JA6}ֽRA Y@ۘyzrգٓH`? ?@@?#? QJ?@Kmt?)@ I٘i)I9n@YBG J<J)JJJ&D&Kx> YT~?yLA&Dŧ77Z37)B[['[/V~?[ϩ[[[[BZYY i) [ elevatorAngleAction: 0.083731< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743029745.123282F (some fields omitted in printout)ARV@AuRV@ARV~? AfA3%"AAD=hNA"AZAbAjArAzAAA6~cGSA>elsAu7p@AzY:AA[ʼnA#?A A`<*A39?2Aֽ:A:G BA39?JAֽRA:G ٘i)I97p@Y3G J<JJJJ('D&K YCT~?yMAP&D777X7)B[[!ܝ[LV~?[[[[[BZYY i) Ä'D&K Y T~?yNAe&D77j771B)B#E[[[V~?[[[[[BZYY i) g YT~?yI~NA{&Dŧ7b772B)B$E[[yj[&V~?[U[[[[BZYY i)  elevatorAngleAction: 0.083731< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200942 time: 1743029746.383426F (some fields omitted in printout)A= ףpY@AB=}#AM%"AAwhNA"AZAbAjArAzAAAf A+ZsЯsAZr@ADE8A!MA~A k?AHMAa­<*AÛ9?2Ahֽ:ABAÛ9?JAhֽRA٘i)I9Zr@YG J<JJJJ~'D&K YPU~?yn%POA&D7777)B[[[F7V~?[[[[[BZYY i)  elevatorAngleAction: 0.083731< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743029747.643326F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\[@Aa[@AQV~? A1A0%"AAbhNA"AZAbAjArAzAAAϖ A }msA؈s@AJAӗA~mtA^?A A <*A9?2Acֽ:ABA9?JAcֽRA٘i)I9s@Y8G J<JJJJ'D&K Y U~?y4"PA&D7)7[574B)B+E[[t[IV~?[[[[[BZYY i)  Y0U~?y;PAo +C&D{7{7R75B)B.E[[[9[0SV~?[[[[[BZYY i) :E elevatorAngleAction: 0.083731< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743029748.903331F (some fields omitted in printout)AGz^@A( F^@AEwV~? AFA3%"AA0hNA"AZAbAjArAzAAA".Aߏ;sAGku@A@;A*^AZdA?A/A<*AD9?2Aֽ:ABAD9?JAֽRA٘i)I9ku@Y^G Jm<JJJJ'D&K YpRU~?yIwQA'D77\76B)B1E[[Y[gV~?[([[[[BZYY i) I elevatorAngleAction: 0.092737< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743029750.163294F (some fields omitted in printout)J"J*J2J:JBJnJvJAa@A`@AV~? Aj[A%"AAAiNA"AZAbAjArAzAAA;AyQÜsAcw@Aa/;ABeAEUA`0K?AjAHS<*AD9?2Apֽ:AXBAD9?JApֽRAXYk@ Uy*e;ٓH@Xv?? 땮`̒ ?@?%?@`?`E?)k@ I٘i)I9cw@YG J<JZJJJ+(D&Kx> YU~?yq^RA UQ'Dj7]7)|B[[1ꂿ[V~?[S-[[[[BZYY i) BZYY i¸>) <)) >< ><yv`*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029751.443165 s, next control iter: 1743029751.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3250, header.stamp.nsec: 00 temperature: 13.568191* salinity: 33.375034, density: 1025.000000* values[0]: 0.578887F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029751.843165 s.J "J *J 2J :J 1?BJ 1?nJ d5vJ |_H~,}!AA(\d@A(d@AV~? AauA%"AAGkiNA"AZAbAjArAzAAAًMAn 7sADcz@Aj64AA@AR?A`0HA=*A\9?2Aս:A BA\9?JAսRA ٘i)I9cz@YeG Jp=JJJJ(D&K YU~?yuxTA'D)7b7 T7;B)hB?E[[s[V~?[D[[[[ZZZZBZYY i) ӭ YU~?yX~UAR;'Dj7j7p7)aB[[sn[=V~?[J[[[[ZZZZBZYY i) БB)RBIE[[O\[W~?[`[[[[ZZZZBZYY i)  k~!AJ"J*J2J:JBJnJvJAfffffi@A>92i@A;GW~? A:A<%"AAjNA"AZAbAjArAzAAA&gۿA2,sA}@AݡdA<A!A`?AfAH;*AY9?2AUս:A-<BAY9?JAUսRA-JJJ)D&KFt>  7YRV~? 7y/VA!'(D777 7)QBLE[[W[W~?[Tf[[[[ZZZZBZYY ir) XsAF}@AM3A =ApA?AA::*A9?2Aս:A <BA9?JAսRA <٘i)I9}@YyG J6;JJJJ)D&K YiV~?yQVA=(D7{77)PB[[R[D W~?[k[[[[BZYY iM) ,F YV~?yjaUA+(D{7j7c7BB)YBVE[[ @[SbW~?[V[[[[BZYY ii) | YAW~?yɪSAVݾ(D777)pBcE[[S([W~?[6[[[[BZYY i) P;Ii@<  ">))}q "> ">֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029758.583165 s, next control iter: 1743029758.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3257, header.stamp.nsec: 00 temperature: 13.567184* salinity: 33.375107, density: 1025.000000* values[0]: 0.580322F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029758.983165 s._H~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.235832@ elevatorAngleAction: -0.066381< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743029758.983283F (some fields omitted in printout)Aq= ףr@A>Uor@A9(X~? AϫAf%"AAYkNA"AZAbAjArAzAAA[ڎg@A4/=4tAy@AKA=AmҾA?AؿA< *A7:?2A"ս:AU=BA7:?JA"սRAU=٘i)I9y@YG JJJJJ)D&K YU[W~?yͪSA)DSI7SI7b;7DB)uBfE[[3#[W~?[[[[[BZYY i) ;Iiq@< q>))ݯq>q>ӪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743029759.003165 s, next control iter: 1743029759.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029759.403165 s.&_H~,!AJ"J*J2J:JBJnJvJAGzs@A]7Fs@A>X~? AԫA.%"AAs{kNA"AZAbAjArAzAAA [B $@A*8tA Jy@AH:Ac=AȾA@?A@3׿AQ*A):?2AZӽ:A>=BA):?JAZӽRA>=٘i)I9Jy@YG JְB=JJJJ*D&K YtW~?yYѪRA))DZ7Z7X7FB){BjE[[SU[W~?[[[[[BZYY i) :IiE@<  *>))  *> *>ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029759.443165 s, next control iter: 1743029759.803176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3258, header.stamp.nsec: 00 temperature: 13.567384* salinity: 33.375134, density: 1025.000000* values[0]: 0.579705F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029759.823165 s._H~,)!AAQt@At@AUX~? A#ثA]%"AAnkNA"AZAbAjArAzAAA\zgW@A:tAx@AJ;Aϔ=A A 4|?A׿A*A4:?2Atҽ:A=BA4:?JAtҽRA=٘i)I9x@Y`G JzC=JJJJ*D&K YW~?y ժMRA>)Dj7j7t7)B[[{n[W~?[h[[[[BZYY i) 9Ii @س< >>))>>>>y*臽ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029759.843165 s, next control iter: 1743029760.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029760.243165 s.`H~,`!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066381< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743029760.243281JF (some fields omitted in printout)"J*J2J:JBJnJvJA\(u@Apt@AkX~? A ܫA%"AA̿kNA"AZAbAjArAzAAA*vbWA@A; tA%x@AJ;A!=AA`մ?A@NRֿA,*AZ6:?2Aӽ:AI&=BAZ6:?JAӽRAI&=٘i)I9%x@YG JJJJJ/*D&K Y=W~?yتQAT)Db7b7d7)BmE[[[6 X~?[[[[[BZYY i) bIi$ @I< AR>))AR>AR>QɪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029760.263165 s, next control iter: 1743029760.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029760.663165 s. `H~,q*!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3259, header.stamp.nsec: 00 temperature: 13.567539* salinity: 33.375134, density: 1025.000000* values[0]: 0.579102F (some fields omitted in printout)Av@Au@AX~? A߫A%"AAkNA"AZAbAjArAzAAA~9dp @AK~"tAw@Az;A=A|A|?AտAfɤ*A^6:?2AJԽ:A)=BA^6:?JAJԽRA)=Yd@~yI= ;ٓH*?@?]?@jԿ 2=?`)7'챿 Wo?@?)d@ I٘i)I9w@YG JৼJjJJJD*D&Kr> YW~?y۪QA~i)D777)BpE[[[zX~?[[[[[BZYY i) Ii@< e>))oe>e>ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029760.683165 s, next control iter: 1743029761.063179 s, wait time: 0.380014 s*W~?)*۪ rAdjusting time to match Gazebo time: 1743029761.083165 s.J "J *J 2J :J @?BJ @?nJ s5vJ D`H~,SE!AAp= v@Axߢv@ADX~? AsA |%"AAlNA"AZAbAjArAzAAAv^ p @Az"%tAw@At*A=A+A "?AsԿA夞*Aw5:?2Aս:A<BAw5:?JAսRA<٘i)I9w@Y_G JJJJJZ*D&K YW~?yzު$QA)DZ7Z77GB)BsE[[ [*4X~?[[[[[BZYY i) 7Ii?!< oy>))soy>oy>aªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029761.103165 s, next control iter: 1743029761.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029761.503165 s.`H~,P4`!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.253849@ elevatorAngleAction: -0.066381< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743029761.503281F (some fields omitted in printout)AHzw@A$yw@AϱX~? AA6%"AA&)lNA"AZAbAjArAzAAA+@AMlB'tAgv@AAg=AݕA\?AӿA(*ADY:?2A.(ӽ:A4<BADY:?JA.(ӽRA4<٘i)I9v@YG JJJJJo*D&K YSW~?y[PA)D777g7)BvE[[[EIX~?[[[[[BZYY i) ªXIig?< 裆>))裆>裆>տYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029761.523165 s, next control iter: 1743029761.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3260, header.stamp.nsec: 00 temperature: 13.567692* salinity: 33.375145, density: 1025.000000* values[0]: 0.578537F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029761.923165 s.9`H~,{!AJ"J*J2J:JBJnJvJAQx@A=Px@AX~? ADA%"AALlNA"AZAbAjArAzAAA`@A"K)tAv@A"ƻABD=A⋾A?A`ҿAȔ*AEb:?2A'ӽ:A<BAEb:?JA'ӽRA<٘i)I9v@YG JJJJJ*D&K  7YX~? 7y<cPA)Dŧ777)ByE[[[^X~?[M[[[[BZYY i)  Ii?˘< >)) >>4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029761.943165 s, next control iter: 1743029762.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029762.343165 s.<%`H~,!AA(\y@AJi'y@AX~? AtA%"AA,qlNA"AZAbAjArAzAAA"@AJ=+tAu@A\UA=A6A`\?AҿA/6*Ak:?2A ӽ:A<BAk:?JA ӽRA<٘i)I9u@YvG JlJJJJ*D&K Y-X~?yPA)D7 7)B[[En[tX~?[[[[[BZYY i) éIi?j< q>))q>q>VYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029762.383165 s, next control iter: 1743029762.743177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3261&, header.stamp.nsec: 0&0 temperature: 13.567817&* salinity: 33.375160&, density: 1025.000000&* values[0]: 0.578017&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029762.763165 s.;+`H~,0ذ!AJ"J*J2J:J?BJ?nJ)5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066381< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743029762.763326F (some fields omitted in printout)A33333z@A6"y@AX~? AAv%"AAlNA"AZAbAjArAzAAA8*@AÑ-tAu@A^pAֆ=AtoA#?A !AѿA*Ai:?2Aӽ:A?<BAi:?JAӽRA? Y/IX~?y)OAo)Db7f=7HB)B|E[[|[~X~?[u[[[[BZYY i) ȻIi?< >))Yjo>>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029762.783165 s, next control iter: 1743029763.163181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029763.183165 s.2`H~,^ˀ!AAףp= {@Auz@A Y~? AfA<%"AAnlNA"AZAbAjArAzAAAP0j]@Akf.tAt@A^;A~=Ar[A^?A~dпA)>*Aef:?2A_7Խ:A<BAef:?JA_7ԽRA<٘i)I9t@YG JJJJJ*D&K YdX~?y4NOA .C)DZ7)BE[[es[ X~?[ê[[[[BZYY i) b"Ii^?t< Q>))vQ>Q>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029763.203165 s, next control iter: 1743029763.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029763.603165 s.349`H~,!AJ"J*J2J:J?BJ?nJ5vJA{G{@A^{@A*Y~? A$Al%"AAlNA"AZAbAjArAzAAA&Iנ9*@Am= 0tA't@A;A=AGA@@?AοA|*A:?2A.Jҽ:A,<<BA:?JA.JҽRA,<<٘i)I9't@YG JaJJJJ*D&K Y%X~?y?NA)D77{7v7)BE[[Uپ[jX~?[Ǫ[[[[BZYY i) Ii?.u< ɸ>))ɸ>ɸ>iYIoYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029763.623165 s, next control iter: 1743029764.003175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3262 , header.stamp.nsec: 0 0 temperature: 13.567929 * salinity: 33.375168 , density: 1025.000000 * values[0]: 0.577523 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029764.023165 s.Z@`H~,|!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.253421@ elevatorAngleAction: -0.077442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743029764.023312F (some fields omitted in printout)AQ|@AOyt#|@AmCY~? AA(%"AAmNA"AZAbAjArAzAAA8O5BV@A] 2tAis@Awm;A=A3A`f?AY:ͿAŧ*A:?2AUҽ:A0=BA:?JAUҽRA0=٘i)I9s@YRG JfJJJJ*D&K YX~?yKNA*Dŧ7b7g7)BE[[ #Ͼ[uX~?[Hʪ[[[[BZYY i) ?Ii$?|{< >)) >>y|ZY ƁYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029764.063165 s, next control iter: 1743029764.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029764.443165 s.2F`H~,)]!AJ"J*J2J:J?BJ?nJ5vJA(\}@A^f([}@AS\Y~? A-A˟%"AAt*mNA"AZAbAjArAzAAAIfM<@A83tA>s@A"R:AeS=A=A?A`ny˿Ax*A::?2Adҽ:A=BA::?JAdҽRA=٘i)I9>s@Y G JJJJJ+D&K YX~?yV>NA**D777JB)BE[[-ľ[X~?[Rͪ[[[[BZYY i) "IiK?YLr< @>))@>@>YHYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743029764.463165 s, next control iter: 1743029764.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3263, header.stamp.nsec: 00 temperature: 13.568048* salinity: 33.375183, density: 1025.000000* values[0]: 0.577058F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029764.863165 s.+M`H~,>7!AAfffff~@AW;2~@A_uY~? AxA\q%"AAIPmNA"AZAbAjArAzAAAP}@A~5tABr@AA=A A??AɿA*A:?2A|ӽ:AgX=BA:?JA|ӽRAgX=Y'@  ye=mٓH@?@zO???J?&{HRc3?)'@ I٘i)I9r@YG JKJ4;JJJ+D&Ko> YX~?yMA @*D77)BE[[[*X~?[-Ъ[[[[BZYY i) S2Ii$?Me< %f>))o%f>%f>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029764.883165 s, next control iter: 1743029765.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029765.283165 s.4RT`H~,R!AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.234176@ elevatorAngleAction: -0.077442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743029765.283286F (some fields omitted in printout)A ףp=@A M @AY~? AAE%"AAWvmNA"AZAbAjArAzAAA.'u@AD(+R6tAWr@AfA{=A+A`?AgǿANj*A(y:?2A\Խ:A=BA(y:?JA\ԽRA=٘i)I9Wr@Y~G JRJJJJ1+D&K YX~?yMAU*D77j7)B[[|[Y~?[Ҫ[[[[BZYY i) KAIiө?`Y< >))>>ªYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029765.303165 s, next control iter: 1743029765.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 32642, header.stamp.nsec: 020 temperature: 13.5681382* salinity: 33.3751872, density: 1025.0000002* values[0]: 0.5766102F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029765.703165 s.պZ`H~, m!AAGz@AYe@AY~? AA%"AAmNA"AZAbAjArAzAAA.=@AĒd7tA"q@A=Am=AýA>?AƿARP*A:?2Aҽ:AU=BA:?JAҽRAU=٘i)I9q@Y6G JB=JJJJF+D&K  7Y Y~? 7y'MAk*Dŧ7b77)BE[[='[,Y~?[ժ[[[[BZYY i) LPQIiX? N< y>)) y>y>ǪY#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029765.723165 s, next control iter: 1743029766.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029766.123165 s.;a`H~,m⇁!AJ"J*J2J:J?BJ?nJ5vJAR뀩@AlT@AWY~? AiAC%"AAmNA"AZAbAjArAzAAA #LM@A!8tAdq@AN6A7=Av{A?AAĿAC*A[:?2Aҽ:A =BA[:?JAҽRA =٘i)I9dq@YG JܒC=JJJJ\+D&K Y'Y~?yLA*D77"7)BE[[[aEY~?[ت[[[[BZYY i) `Ii?WD< ^>))^>^>˪Y( YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029766.143165 s, next control iter: 1743029766.523181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029766.543165 s.Ih`H~,â!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743029766.543298F (some fields omitted in printout)A(\@Acg@AY~? AA%"AAmNA"AZAbAjArAzAAAo iK@AYk(9tA1p@A<:A儖=A@iA?A@}¿As蜼*A6:?2A,?ӽ:A =BA6:?JA,?ӽRA =٘i)I9p@YG J%JJJJq+D&K YCY~?yMmLA*D{7{7j?7)ïBE[[E[%^Y~?[Wڪ[[[[BZYY i) GpIi?<< l?))l?l?ΪY* YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029766.563165 s, next control iter: 1743029766.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3265, header.stamp.nsec: 00 temperature: 13.568254* salinity: 33.375217, density: 1025.000000* values[0]: 0.576107F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029766.963165 s.|n`H~,!AJ"J*J2J:J{?BJ{?nJ5vJA@Ane@AY~? AA%"AAnNA"AZAbAjArAzAAAcv@AOS,:tA^p@Ax;A.=AAA2?A`A*Aq:?2Aӽ:A=BAq:?JAӽRA=YS@9y=;ٓH??i? E?i  t??)S@ I٘i)I9^p@YKG JJy<JJJ+D&Kq> YE_Y~?yLA9*Dj7Z7\7)ǯBE[[놾[vY~?[~ܪ[[[[BZYY i) aIi?vIi]?Xo#<  ?)) ? ?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029767.403165 s, next control iter: 1743029767.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3266", header.stamp.nsec: 0"0 temperature: 13.568351"* salinity: 33.375217", density: 1025.000000"* values[0]: 0.575593"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029767.803165 s.wA|`H~,{g!AJ"J*J2J:JvPublished command to Gazebo (printed only once in a while):BJnJ( dropWeightState: 1vJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.254941@ elevatorAngleAction: -0.077442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743029767.803319F (some fields omitted in printout)AzG@A@A$(Z~? A' A<%"AA^nNA"AZAbAjArAzAAA @A _%tAl@AswAmU=A{K=AI?A A~*Ay:?2ABNս:Ar=BAy:?JABNսRAr=٘i)I9l@Y;G JJJJJJ,D&K  7YZ~? 7yIA,+D)7ŧ77)BE[[ [0Z~?[O[[[[BZYY i) aIib=?i; X%?))X%?X%?yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029769.523165 s, next control iter: 1743029769.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3268, header.stamp.nsec: 00 temperature: 13.568682* salinity: 33.375244, density: 1025.000000* values[0]: 0.574424F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029769.903165 s.ȝ`H~,y!AAGz@A- F@A/Z~? A A2%"AAn#oNA"AZAbAjArAzAAA>5B#@AU>tA#cl@A`A=A=A ܊?AAQ *Al:?2Avս:AF=BAl:?JAvսRAF=٘i)I9cl@YG JҴJJJJ,D&K Y$Z~?y6IAA+D777$7)BE[[[+Z~?[a[[[[BZYY i) Ii5?b; *?))*?*?uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029769.923165 s, next control iter: 1743029770.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029770.323165 s.|`H~,>!AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086928< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743029770.323301F (some fields omitted in printout)AQ@A?@AGZ~? A A:,%"AAJoNA"AZAbAjArAzAAAH$@A _y>tAMk@Av;A־=A=A?AA.*A`:?2AWս:Ad=BA`:?JAWսRAd=٘i)I9k@YG JJJJJ3,D&K YAZ~?y4HAW+Db7b7mA7)BE[[VŽ[FZ~?[F[[[[BZYY i) Ii/?; m0?))m0?m0?3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029770.343165 s, next control iter: 1743029770.723181 s, wait time: 0.380016 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3269*, header.stamp.nsec: 0*0 temperature: 13.568830** salinity: 33.375256*, density: 1025.000000** values[0]: 0.573798*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029770.743165 s.W`H~,!AA\(@AN @AaZ~? A A)%"AAroNA"AZAbAjArAzAAAVM$@A„>tAg$k@A ";AC\=A>A?A<;V?Aü*AT:?2A9ֽ:AP=BAT:?JA9ֽRAP=٘i)I9$k@YG JJJJJH,D&K Y7]Z~?yiHAl+D~77^7HB)BE[[[[oaZ~?[[[[[BZYY i) üIiW+?Q; f5?))f5?f5?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029770.783165 s, next control iter: 1743029771.143181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743029771.163165 s.u}`H~,qʂ!AJ"J*J2J:J?BJ?nJ5vJA@A].ˊ@AyZ~? A A&)%"AAoNA"AZAbAjArAzAAA<`WB%@ARu5v>tA5~j@A ;A=ʮ=A(>A` ?An?ARȼ*AI:?2ALֽ:A =BAI:?JALֽRA =YV@D)>yɮ=);ٓH`r?ſ`?@T?`ѐ?@T? kҵ@Zu?`?)V@ IkI٘i)I9~j@YG JżB=J_<JJJ^,D&K%> Y yZ~?yGAD)>+Dŧ77z7)BE[[C][{Z~?[[[[[BZYY i) ʼIi?S; ;;?))e8g;;?;;? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029771.183165 s, next control iter: 1743029771.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029771.583165 s.`H~,R!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.225801@ elevatorAngleAction: -0.086928< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743029771.583276F (some fields omitted in printout)Ap= ׋@A Yݢ@A[~? A Ap,%"AAoNA"AZAbAjArAzAAAt8a#&@AM>tAi@A:A =A">>Aل?A: ?AQ˼*A9?:?2Aֽ:A=BA9?:?JAֽRA=٘i)I9i@YPG JɼC=JJJJs,D&K YޔZ~?y~GA+D777m7)BE[[,[RZ~?[[[[[BZYY i) (ҼIi?6; @?))#=@?@?9YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743029771.603165 s, next control iter: 1743029771.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3270, header.stamp.nsec: 00 temperature: 13.568993* salinity: 33.375271, density: 1025.000000* values[0]: 0.573105F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029772.003165 s.{ `H~,Y4!AJ"J*J2J:JBJnJvJAHz@A|&y@A,[~? AC A3%"AAoNA"AZAbAjArAzAAA pb&@A >tA(i@AT<A ,=AR>A@Ѐ?AD?Aμ*Af:?2Adӽ:Az=BAf:?JAdӽRAz=٘i)I9(i@Y G J̼JJJJ,D&K YZ~?y/ GA+D7ŧ77GB)BE[[q@['Z~?[[[[[BZYY i) lټIi">5 ; F?)) F?F?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029772.043165 s, next control iter: 1743029772.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743029772.423165 s.u`H~,!AAQ@A࠽P@AF[~? A A<%"AApNA"AZAbAjArAzAAA?8_'@A.o=tAyh@AUA3=Avf>Aw?A ?AѼ*Ac:?2A Խ:A=BAc:?JA ԽRA=٘i)I9yh@Y} G JмJJJJ,D&K YZ~?yFA+D777)B[[Q<[2Z~?[[[[[BZYY i) Ii>_; 0K?))0K?0K?YNdYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029772.443165 s, next control iter: 1743029772.823177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3271", header.stamp.nsec: 0"0 temperature: 13.569216"* salinity: 33.375271", density: 1025.000000"* values[0]: 0.572404"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029772.843165 s.`H~,5!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086928< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743029772.843279F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A@z'@A`[~? A AI%"AA7pNA"AZAbAjArAzAAA`˥'@A08=tAg@AܲAo=Az>A l?AHb?AYּ*A[:?2AvԽ:A.D=BA[:?JAvԽRA.D=٘i)I9g@Y G JӼJJJ/EJ,D&K YYZ~?yJFA 0C+D)7b7o7) BE[[v<[iZ~?[[[[[ZZ¸BZYY i¸==) ԼIi>N=j;  Q?)) Q? Q?xYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029772.883165 s, next control iter: 1743029773.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029773.263165 s.`H~,4P!AA33333@A@-@Az[~? A AY%"AAU_pNA"AZAbAjArAzAAAP(@AOv A]?A ?A5ۼ*AQ:?2AԽ:AW=BAQ:?JAԽRAW=Y 9=R>yø=!ٓH`?п@???≚? _@d ?) 9= I٘i)I9g@Y G JؼJ=<JJJ,D&Kaq>  7Y[~? 7yEAR>+D77 7FB)BE[[V=[P[~?[[[[[ZZBZYY i) ͡ȼIi2>9; V?))7vV?V?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029773.283165 s, next control iter: 1743029773.663182 s, wait time: 0.380017 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 32722, header.stamp.nsec: 020 temperature: 13.5694062* salinity: 33.3753132, density: 1025.0000002* values[0]: 0.5716642F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029773.683165 s.l`H~,kk!AJ"J*J2J:JX?BJX?nJt5vJAףp= @Ag8 ֏@Ah[~? AAl%"AApNA"AZAbAjArAzAAA6)@A hA3J?A Ƹ?AR*A&W:?2A.ս:A<BA&W:?JA.սRA<٘i)I9Ef@Y% G JJJJJ,D&K Y[~?y&EA,Db77&7DB)BE[[=[n[~?[[[[[ZZBZYY i) Ii]>; \?))兾\?\?bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029773.683165 s, next control iter: 1743029774.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743029774.103165 s.`H~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261517> elevatorAngleAction: 0.082636< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743029774.103292F (some fields omitted in printout)A{Gᐩ@A?@A.[~? AAC%"AApNA"AZAbAjArAzAAA,C)@AygSC;tAae@Axz;AǛ=A>AF8?AN?Ac*AC{:?2A.ӽ:A<BAC{:?JA.ӽRA<٘i)I9ae@Y G JIJJJJ,D&K Y:[~?ygDA,DoC7CB)BĹE[[=[8[~?[K[[[[ZZBZYY i) qIi >D: a?)) a?a?y=تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029774.143165 s, next control iter: 1743029774.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029774.523165 s.`H~,|!AJ"J*J2J:JBJnJvJAQ@A,^,@A[~? ARA%"AApNA"AZAbAjArAzAAALYdvn*@A1Qj:tAׄd@A;Ap{=A¥>A)$?A?A)c*A:?2A69Խ:A0/t<BA:?JA69ԽRA0/t<٘i)I9d@Y G JxJJJJ -D&K Y:U[~?y.DA-,D{7{7`7BB)BǹE[[=[2T[~?[a[[[[ZZBZYY i) 0[Ii=: :%g?)):%g?:%g?ɮYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029774.543165 s, next control iter: 1743029774.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3273, header.stamp.nsec: 00 temperature: 13.569665* salinity: 33.375305, density: 1025.000000* values[0]: 0.570754F (some fields omitted in printout)F:U[~?)F rAdjusting time to match Gazebo time: 1743029774.943165 s.\d`H~,S]!AA(\@A k*[@Ay[~? AA%"AApNA"AZAbAjArAzAAA,ǹ +@Adx9tAc@Am%;Ac56=A>A"?A ?Aּ*Aԁ:?2AnԽ:A;BAԁ:?JAnԽRA;٘i)I9c@Y G JJJJJ-D&K Yqp[~?yCAB,D77|7)$BʹE[[>[o[~?[E[[[[ZZBZYY i) LDIiEr= : l?))l?l?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029774.983165 s, next control iter: 1743029775.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029775.363165 s.`H~,>׃!AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082636< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743029775.363259F (some fields omitted in printout)Afffff@Ap%;62@A[~? AA%"AAQ"qNA"AZAbAjArAzAAAM+@AS ~o8tAc@A A[<A,>A@?A?Aa*A}:?2A2Iս:AWBA}:?JA2IսRAWY>>y[< ٓH ? lֿL4?`j? 3?g·? ʛ a?)> I٘i)I9c@Y5 G JǼJJJJ5-D&Ks> Y[~?yCA>X,Dj7j7p7))B[[6%>[[~?[[[[[ZZBZYY inÍ=) 鍼II?iG޹ iUr?))fziUr?iUr?tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029775.383165 s, next control iter: 1743029775.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3274&, header.stamp.nsec: 0&0 temperature: 13.569921&* salinity: 33.375317&, density: 1025.000000&* values[0]: 0.569916&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029775.783165 s.U`H~,!AA ףp=@A}O @A]\~? A7A8%"AAHqNA"AZAbAjArAzAAA~>,@ANiYL7tAƒb@A»Af(<A>Aw?A?A1*At:?2Aս:A0BAt:?JAսRA0٘i)I9b@Y G J-B=JJJJJ-D&K YX[~?yhCAm,D777AB)-B͹E[[;>[[~?[}[[[[ZZBZYY i$=) `II?i%G w?)) w?w?T~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029775.823165 s, next control iter: 1743029776.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029776.203165 s.aH~,  !AJ"J*J2J:J?BJ?nJ5vJAGz@A?N@A-\~? A2A!%"AAKoqNA"AZAbAjArAzAAA2}",@AQ\U6tA3b@AAV}Aj/>A ?A`~?Aj/*Ax:?2AsԽ:AzBAx:?JAsԽRAz٘i)I93b@Y G JbC=JJJJ`-D&K Yȿ[~?y`ުBCA,Dj7Z77)/BйE[[eR>[[~?[[[[[ZZBZYY i) ,grI I?i.O X}?))X}?X}?(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029776.223165 s, next control iter: 1743029776.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029776.623165 s.[ aH~,m'!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077994< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743029776.623297F (some fields omitted in printout)AR땩@A1Z@AF\~? AAI%"AAqNA"AZAbAjArAzAAAlܷTp-@Aj4tAta@AQAAZ>A`O?AI?A{{ɻ*ATy:?2AԽ:ABATy:?JAԽRA٘i)I9a@Y G JQJJJJu-D&K Y;[~?y;۪CA,D777q7@B)0BӹE[[xi>[[~?[ߪ[[[[ZZBZYY i) ]IL I?i:g {x?)){x?{x?y=)YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029776.663165 s, next control iter: 1743029777.023182 s, wait time: 0.360017 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3275 , header.stamp.nsec: 0 0 temperature: 13.570032 * salinity: 33.375355 , density: 1025.000000 * values[0]: 0.569398 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029777.043165 s.J "J *J aH~2J:J?,B!ABJ?nJ5vJA(\–@A<3p@A_\~? AAu%"AAqNA"AZAbAjArAzAAAk&.@AgN3tA)a@AϸAGA>A{?A?A*Al:?2AAkս:A6̼BAl:?JAAkսRA6̼٘i)I9a@Yt G JuJJJJ-D&K  7Y[~? 7yتBA,D 7)1BֹE[[+E>[^[~?[ݪ[[[[BZYY i) VHI6I?ieI jK?))jK?jK?a-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029777.063165 s, next control iter: 1743029777.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029777.463165 s.[aH~,]!AA@AŨke@Ax\~? A1A%"AAJqNA"AZAbAjArAzAAAcB.@AOW1tA8a@A;A!/A8>AU?A?A;*A^:?2Aս:ABA^:?JAսRAY{>! >y/]!;ٓH?`ݶܿ6`{??ě? `q?^?){> I٘i)I9Y J7J*JJJ-D&Ku> Y \~?y"Ԫ3CA >,Dj7Z7(7)[[>[\~?[۪[[[[BZYY i4;i=) !8I1I?iWg?  ?))p} ? ?=l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029777.483165 s, next control iter: 1743029777.863182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3276, header.stamp.nsec: 00 temperature: 13.569973* salinity: 33.375347, density: 1025.000000* values[0]: 0.569307F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029777.883165 s.yaH~,Dx!AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.247498> elevatorAngleAction: 0.056941< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743029777.883298F (some fields omitted in printout)A= ףp@ABxq<@AG\~? AA%"AArNA"AZAbAjArAzAAA_4/@A|),0tA+a@A;AWA϶>AZ-?A?A;*AP:?2A(Dֽ:ADBAP:?JA(DֽRAD٘i)I9a@Y G J;JJJJ-D&K Y='\~?y-ЪnCA 1C,D777rE7?B)/BٹE[[4>[/\~?[ ٪[[[[BZYY iJч=)  H'IWH?iy9g ؉?)) ؉?؉?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029777.903165 s, next control iter: 1743029778.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029778.303165 s.U$aH~,sg!AAzG@AE}@Aũ\~? AA %"AA,rNA"AZAbAjArAzAAAU1/@Av.tA9/b@A;AmxANy?A ?A@?Ak.<*A\:?2A+ս:AsBA\:?JA+սRAs٘i)I9/b@Y G J<B=JJJJ-D&K Y@\~?y8̪CA,D7 b7;B)*B۹E[[;Ѣ>[8K\~?[V֪[[[[BZYY i) >lIH?iϾVބ ѫ?))ѫ?ѫ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029778.323165 s, next control iter: 1743029778.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3277*, header.stamp.nsec: 0*0 temperature: 13.569816** salinity: 33.375362*, density: 1025.000000** values[0]: 0.569519*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029778.723165 s.+aH~,H!AJ"J*J2J:JBJnJvJAQ@A 1ꙩ@A\~? AAC%"AAQrNA"AZAbAjArAzAAAU-0@Aۉ@,tAb@A:A!A?A@_?A 9?A$c<*AJW:?2ASս:A BAJW:?JASսRA ٘i)I9b@Y G JVG<C=JJJJ-D&K YY\~?yCȪCA-Dj7j7~7)'B޹E[[S>[f\~?[nӪ[[[[BZYY i) JIH?i澉 ?))??y@=p*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029778.743165 s, next control iter: 1743029779.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029779.143165 s.W/2aH~, *Ʉ!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066317< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743029779.143280F (some fields omitted in printout)A)\@AO)@A0\~? AA~%"AAurNA"AZAbAjArAzAAAUw0@A%*tAdb@A'YAAÛ ?A@?A{?A.<*AS:?2Aս:ABAS:?JAսRA٘i)I9b@Y G Jx<JJJJ-D&K Ys\~?yOĪDA-D7777r7:B)"BE[[o@>[\~?[OЪ[[[[BZYY i) tIH?i0U e?))e?e?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029779.163165 s, next control iter: 1743029779.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029779.563165 s.8aH~,R !AJ"J*J2J:JBJnJvJA̛@A7@A\~? AqA%"AA/rNA"AZAbAjArAzAAA蒿0@A%(tAdc@AһAnzAE?A'x?AX?Ak<*A"P:?2A<ս:AMBA"P:?JA<սRAMY>e?yyһٓH`?u%hٰ?? ?@G@z@o?)> I٘i)I9dc@Ye G J<J)JJJ .D&Ku> Y\~?yDA?/-D777)B[[;>[x\~?[ͪ[[[[BZYY i) \)˻I;H?i^ d 5?))G5?5?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029779.583165 s, next control iter: 1743029779.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3278, header.stamp.nsec: 00 temperature: 13.569535* salinity: 33.375389, density: 1025.000000* values[0]: 0.570025F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029779.983165 s.?aH~,!AAq= ף@Ao@A ]~? A A_%"AACrNA"AZAbAjArAzAAA^Nd1@A-k&tAc@AcƷAA?A D?A`45?AG<*AuM:?2A-ֽ:AxBAuM:?JA-ֽRAx٘i)I9c@Y G J<JJJJ!.D&K Yâ\~?y޺DAD-D)7b779B)BE[[>[+\~?[ɪ[[[[BZYY i) MެIH?iQǻ >?)) >?>?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029780.003165 s, next control iter: 1743029780.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029780.403165 s.&FaH~,!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066317< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743029780.403319F (some fields omitted in printout)AGz@AZeF@A=!]~? A~AA%"AArNA"AZAbAjArAzAAA2oN1@A$tAyd@A!A읽A@?A?A?A<*AY:?2Aս:AުBAY:?JAսRAު٘i)I9yd@Y G JE<JJJJ7.D&K Y\~?y%PEAZ-D777t78B)BE[[n>[\~?[Ū[[[[BZYY i) IH?i(p/׻ ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029780.423165 s, next control iter: 1743029780.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3279", header.stamp.nsec: 0"0 temperature: 13.569139"* salinity: 33.375385", density: 1025.000000"* values[0]: 0.570743"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029780.823165 s.LaH~,-4!AAQ@A ʼ@Aw8]~? AޫA%"AAesNA"AZAbAjArAzAAA*>51@AI"tA e@A9;AZ͞A\~ ?A`?A ?A7<*AX:?2A(ֽ:A$BAX:?JA(ֽRA$٘i)I9 e@Yf G J<JJJJL.D&K  7Ym\~? 7ymEAo-D777B)BE[[R>[J\~?[[[[[BZYY i) :`I:H?i2׈ ԝ?))ԝ?ԝ?^*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029780.843165 s, next control iter: 1743029781.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029781.243165 s.SaH~,yO!AJ"J*J2J:JBJnJvJA\(@A G@AqO]~? AګA%%"AAl(sNA"AZAbAjArAzAAAeS1@AV^tAe@A;AA%?A?A?AB<*AW:?2Aiֽ:A9t BAW:?JAiֽRA9t ٘i)I9e@Y G Js<JJJJb.D&K YB\~?yFA-D77*74B)BE[[E>[]~?[[[[[BZYY i) 6$I-H?i:W ?))??'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029781.263165 s, next control iter: 1743029781.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029781.663165 s.ZaH~,qj!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066317< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743029781.663302F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3280, header.stamp.nsec: 00 temperature: 13.568777* salinity: 33.375401, density: 1025.000000* values[0]: 0.571503F (some fields omitted in printout)A@A˟@A*f]~? A֫Ah%"AAKsNA"AZAbAjArAzAAAWDy2@AOւtA7f@A;ARA*?A`?A̗?A <*AgV:?2Ajֽ:Ac BAgV:?JAjֽRAc Y}>d*?yJ;ٓH@?`8? ?`̪?`rx? ?)}> I٘i)I97f@Y G JͲ<JJJJw.D&K+w> Yn]~?yBFA*?-D7uG73B)BE[[?[s ]~?[o[[[[BZYY i) .кIPH?iJYR ޟ?))ޟ?ޟ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029781.683165 s, next control iter: 1743029782.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029782.083165 s.DaaH~,S!AJ"J*J2J:JN?BJN?nJi5vJAp= נ@Ajj٢@A|]~? AҫAsl%"AASmsNA"AZAbAjArAzAAAc2@A/X,tAf@Au?;Ai᛽A0?A@"?A&i?A<*AU:?2AMֽ:ABAU:?JAMֽRA٘i)I9f@Yx G J<JJJJ.D&K Y]~?yϡFA-DZ7SI7d72B)BE[[3?[#:]~?[괪[[[[BZYY i) 0IH?i,W`  ?)) ? ?*YFFF]p:Waiting for Gazebo time sync: latest Gz time: 1743029782.103165 s, next control iter: 1743029782.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029782.503165 s.gaH~,H4!AAHz@Ay@A͒]~? AΫA?%"AA+sNA"AZAbAjArAzAAA>|dϦ2@ActA eg@A;AUAC5?A ?A7?A<*AS:?2Aֽ:ABAS:?JAֽRA٘i)I9eg@Y G Jг<JJJJ.D&K Y,]~?y\YGA-Dj7Z7̀7)B[[i ?[S]~?[,[[[[BZYY i) (?|9IH?iMb0 s?))s?s?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029782.523165 s, next control iter: 1743029782.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3281, header.stamp.nsec: 00 temperature: 13.568382* salinity: 33.375423, density: 1025.000000* values[0]: 0.572307F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029782.923165 s.?naH~J"J,!A*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066317< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198912 time: 1743029782.923305F (some fields omitted in printout)AQ@A^P@A]~? A.ʫA%"AAsNA"AZAbAjArAzAAAdS42@AitA\g@AuKAAm:?A?A`m?A&<*AhR:?2Aֽ:A!BAhR:?JAֽRA!٘i)I9g@Y0 G J<JJJJ.D&K YB]~?yꖪGA 2C-Db77x71B)BE[[ ?[l]~?[8[[[[BZYY i) i:IH?ikk /h?))/h?/h?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029782.963165 s, next control iter: 1743029783.323181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743029783.343165 s. Ymm]~?yVHAE?.Dŧ777-B)BE[[׸?[r]~?[[[[[BZYY i) D;IuH?i&$ N?))N?N?e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029783.783165 s, next control iter: 1743029784.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029784.183165 s.˂aH~,V !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066317< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743029784.183279F (some fields omitted in printout)Aףp= @A ֤@A]~? A'AV %"AA0tNA"AZAbAjArAzAAAc3@A# tAi@AD:Ar׎A?J?A?AB^?Arȡ<*ArM:?2ASJ׽:ABArM:?JASJ׽RA٘i)I9i@Y6G J<C=JJJJ.D&K Y]~?y7HA.DZ7Z7v7,B)߯BE[[$?[]~?[8[[[[BZYY i) w;IfH?ip+ xB?))xB?xB?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029784.203165 s, next control iter: 1743029784.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029784.603165 s.?4aH~,К&!AJ"J*J2J:JBJnJvJA{Gᥩ@A%xC@AF]~? A6At%"AA1tNA"AZAbAjArAzAAAx3@A$ām tA0j@A%Ơ;AAO?Af~?A!?A3<*AbK:?2Ao׽:AUBAbK:?JAo׽RAU٘i)I90j@YG Jߞ<B=JJJJ/D&K  7Y]~? 7yQIA0.D)7ŧ7'7+B)ٯBE[[*?[]~?[y[[[[BZYY i) ҧ;IWH?i銿1 E>?))E>?E>?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029784.643165 s, next control iter: 1743029785.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3283 , header.stamp.nsec: 0 0 temperature: 13.567614 * salinity: 33.375435 , density: 1025.000000 * values[0]: 0.573854 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029785.023165 s.ZaH~,{A!AAQ@AҊo(@A^~? A$A#%"AAPtNA"AZAbAjArAzAAAZA'4@AWtAj@A;AōAT?A`0?A@?A<*A"I:?2Av׽:ABA"I:?JAv׽RA٘i)I9j@YG J<C=JJJJ#/D&K YE]~?yxIAE.Dŧ7,7)կB[[1?[7]~?[[[[[BZYY iL==) G?;IhHH?iŽʻ6 0??))0??0??׼*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029785.043165 s, next control iter: 1743029785.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029785.443165 s.7ÖaH~,>]\!AJ"J*J2J:J?BJ?nJ"5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743029785.443289F (some fields omitted in printout)A(\@A/[@A%^~? AAWE%"AAsotNA"AZAbAjArAzAAA&Cc4@A&tA.k@A;AAZ?A?A?AV<*AF:?2A`׽:AXrBAF:?JA`׽RAXr٘i)I9.k@Y#G J<JJJJ9/D&K Y]~?yrJA[.D77xI7*B)ЯBE[[<7?[r]~?[a[[[[BZYY i) U;I8H?iX: E?))E?E?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029785.463165 s, next control iter: 1743029785.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3284, header.stamp.nsec: 00 temperature: 13.567257* salinity: 33.375465, density: 1025.000000* values[0]: 0.574502F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029785.863165 s.+aH~,>w!AAfffff@AZ72@AB9^~? AA%"AAtNA"AZAbAjArAzAAAov4@A5tAk@A9AF A'_?A?A@"U?Aʐ<*AE@:?2A;׽:ABAE@:?JA;׽RAY+ '?%_?yE K9ٓH S?Y~|_p? ŗ?'@?tY Y]~?ylpJA%_?p.D777#f7&B)ȯBE[[_=?[^~?[[[[[BZYY i) ;Ip(H?iT9B ??))????W*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029785.883165 s, next control iter: 1743029786.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029786.283165 s.7RaH~,!AJ"J*J2J:JBJnJvJA ףp=@AV|C @AL^~? A+A%"AAtNA"AZAbAjArAzAAA3ۗ4@AIRFsA"l@AڄAq#AMd?A=?A?A<*A9:?2Ah׽:ABA9:?JAh׽RA٘i)I9"l@YG J<JJJJd/D&K Y]~?yYeJA.Dj7Z7΂7)įB[[5C?[Z*^~?[|[[[[BZYY i)  elevatorAngleAction: 0.075312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743029786.703282F (some fields omitted in printout)AGz@A$|o੩@A~_^~? AA%"AA tNA"AZAbAjArAzAAAվT_5@AfsA-l@A һAJA}i?AQ?A\?A?<*A3:?2A&׽:A8BA3:?JA&׽RA8٘i)I9l@YG Jg<B=JJJJy/D&K Y]~?y^'KA.Db77~7$B)BE[[I?[@@^~?[u[[[[BZYY i)  elevatorAngleAction: 0.075312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743029787.963277F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Aeke@A ^~? A3A%"AAuNA"AZAbAjArAzAAAE5@AvAsAn@A,:I;AASy?A@?A R]?A<<*Az!:?2Af׽:ABAz!:?JAf׽RAY]-A?Fy?yXI;ٓH?w~@zf?E?n#?B'i?@c?)]-A? I٘i)I9n@YG J<JӻJJJ/D&Kx> YW)^~?yI=LAFy?.D777z7 B)BE[[y\?[~^~?[`[[[[BZYY i)  K elevatorAngleAction: 0.084291< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743029789.223282F (some fields omitted in printout)AQ@AGꮩ@A^~? AxA4%"AAiuNA"AZAbAjArAzAAAdPS6@A BsAvo@A/';Ao"A|?A [?AL?Ay<*A:?2A0׽:AΡ BA:?JA0׽RAΡ ٘i)I9vo@YG J<C=JJJJ/D&K YX^~?y3ZMA/D7zK7B)B E[[Qo?[^~?[J[[[[BZYY i) vyg ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029789.243165 s, next control iter: 1743029789.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029789.643165 s.uaH~,*i!AJ"J*J2J:J?BJ?nJ5vJA)\@A @A3^~? AtrAK%"AA‚uNA"AZAbAjArAzAAA 5 [6@Ae&sAo@Af AoA ?A?A@ ?AIޜ<*A:?2A׽:Ap BA:?JA׽RAp ٘i)I9o@Y G J<JJJJ0D&K Yh^~?y,MA1/D77'h7B)B E[[u?[ ^~?[-B[[[[BZYY i)  YGv^~?y$ NA?G/D777ф7B)B E[[{?[^~?[.:[[[[BZYY i) . elevatorAngleAction: 0.084291< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743029790.483294F (some fields omitted in printout)Aq= ף@Aso@AI^~? AyeA%"AAuNA"AZAbAjArAzAAA&2Q6@A2R:sAq@Ax/ϻAuAh;?A8A?AO'?A<*A\9?2A;ֽ:A+2BA\9?JA;ֽRA+2٘i)I9q@YG J}<B=JJJJ;0D&K Y^~?y6NA\/Dj7j77)B[[c ?[^~?[2[[[[BZYY i) 뻓 elevatorAngleAction: 0.084291< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743029791.743297F (some fields omitted in printout)A\(@AUJ@A#_~? AKQA1%"AAYuNA"AZAbAjArAzAAA$f7@A<׈'sAr@Aܢ;AJA-?A@Y?A ?AlW<*A9?2AA׽:A.BA9?JAA׽RA.٘i)I9r@YG J<JJJJ{0D&K Y^~?yOA/D{7j7~7)B[[U?[_~?[[[[[BZYY i) ^  7Y^~? 7y-PA?/D77{7'7B)yBE[[ҍ?[+_~?[[[[[BZYY i) y_~? AhCA&?%"AAwvNA"AZAbAjArAzAAA-&ȶ7@AK nsAs@AL;AkdAb?A /?A n?A<*A9?2A׽:AWBA9?JA׽RAW٘i)I9s@YsG J^<JJJJ0D&K Y^~?yPA 4C/Dj7j707)tB[[?[8_~?[ [[[[BZYY i)  elevatorAngleAction: 0.084291< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743029793.003324F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@AQOy@AJ_~? AW<AF%"AA1vNA"AZAbAjArAzAAAPx7@A}sAt@Aq8AǭA?AY?Ad?A<*A69?2AVֽ:A~BA69?JAVֽRA~٘i)I9t@YG J%<JJJJ0D&K Y`^~?yQA/DSI7}M7B)lBE[[ 2?[E_~?[.[[[[BZYY i) AdF?iɿ/ r?))r?r?k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029793.443165 s, next control iter: 1743029793.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3292, header.stamp.nsec: 00 temperature: 13.564585* salinity: 33.375538, density: 1025.000000* values[0]: 0.580045F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029793.843165 s.bH~,u!AJ"J*J2J:JBJnJvJA(\@Ae'@Ab_~? A-A%"AAVvNA"AZAbAjArAzAAAGe%8@A ZsA-u@A һA@A?A ?A?AA<*A9?2Aֽ:AxBA9?JAֽRAx٘i)I9u@YG J<JJJJ0D&K Y^~?yYݩQA0D7Ԇ7)`B[[Z?[]_~?[[[[[BZYY i)  elevatorAngleAction: 0.084291< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743029794.263287F (some fields omitted in printout)A33333@A.o@Am_~? A&Al%"AANhvNA"AZAbAjArAzAAAgG8@ArMsAv@AuA^A&?A ?AJ?A <*A9?2AAֽ:AWBA9?JAAֽRAWY?ţ?y]gٓH QP? ?;i?D?`(Xu?)? I٘i)I9v@YG J<B=J8JJJ0D&K@x> Y^~?yԩjRAţ?0D7{77)[B[[{ĝ?[fh_~?[[[[[BZYY i) Iw@AA5AO]?AX?A`}?A5<*A9?2Aֽ:ABDBA9?JAֽRABD٘i)I9>w@Y{G J<C=JJJJ1D&K Y4^~?y̩RA30DZ7SI7)7 B)QBE[[?[}r_~?[u٩[[[[BZYY i) ~BZYY i¸>) }bH~,kd!AA@AY[@Af_~? AA%"AA0vNA"AZAbAjArAzAAAĘ8@A>M|sAVry@A;AApc?A@0?A?A:<*Ae9?2Aֽ:AgBAe9?JAֽRAgYjG?S?y1(;ٓHr?N h.1?z?Oy?Ow? ?)jG? I٘i)I9ry@YG J<B=J;JJJR1D&KH>  7YE_~? 7yDTAS?s0Db7787)?B[[?[K_~?[[[[[ZZZZBZYY i) !AJ"J*J2J:JBJnJvJAfffff@A62@A_~? AHAC%"AA3vNA"AZAbAjArAzAAA{s8_28@AsAAz@AG$;AAiְ?A?A@*?A0<*A9?2Aֽ:ABA9?JAֽRAYĔ?Wа?y~@%;ٓH ?m8B@W?x? RXβ?Ǚd??)Ĕ? I٘i)I9Az@YPG Jd<C=JuJJJh1D&K==> Y _~?yfTAа?0D77727B)6BE[[l?[]_~?[o[[[[ZZZZBZYY i) JJJ}1D&K> Y_~?yUA0D77O7B).BE[[o?[_~?[©[[[[ZZZZBZYY i) Lֽ:AKBA9?JA>ֽRAK٘i)I9{@YEG Jm<JJJJ1D&K Y6_~?ytUA0D77{7+l7)(B[[^+?[8_~?[ [[[[ZZZZBZYY i) nVA0D77B)BE[[?[_~?[[[[[ZZZZBZYY i) ~.lsA8Q}@A ;AB<AY̽?A࿆?A#?A(<*A9?2Aڍֽ:A<BA9?JAڍֽRAJJJ1D&KOw> YV%_~?y3VA̽?0Db7.7)B[[Mƽ?[_~?[[[[[ZZZZBZYY ifz) lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029800.163165 s, next control iter: 1743029800.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029800.563165 s.bH~,c $!AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072051< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743029800.563281F (some fields omitted in printout)Aũ@Afũ@Ab_~? AײAv;&"AAwNA"AZAbAjArAzAAAC9@A_u0ksAK(}@AHAOz=A?A @?AF?A2*A9?2Aֽ:Ay=BA9?JAֽRAy=YƮ?b?yz=$ٓHEu?ñCL?`T@q?)Ʈ? I٘i)I9(}@YG JJ.>JJJ?2D&Kw> Y._~?y SUA?_1DQ7)B[[Ŀ?[,_~?[Q[[[[BZYY iUrh) . !AAq= ףƩ@A0duoƩ@A~_~? AӪA&"AAwNA"AZAbAjArAzAAA8s9@AQKfsA|@AH»Aɉ=Ay?As?A-U?Adb*A9?2Aֽ:A' =BA9?JAֽRA' =٘i)I9|@YG JHJJJJT2D&K Y._~?y:J_UAu1Db77/n7B)BE[[S?[_~?[G[[[[BZYY i) o.[[[[BZYY i) ;I )E?i᾿5St uc@))uc@uc@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029801.423165 s, next control iter: 1743029801.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3300", header.stamp.nsec: 0"0 temperature: 13.562677"* salinity: 33.375576", density: 1025.000000"* values[0]: 0.584311"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029801.823165 s.bH~,>t!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056750< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743029801.823336F (some fields omitted in printout)AQȩ@A0,ȩ@A"_~? AA&"AAwNA"AZAbAjArAzAAAa H9@A Ovz\sA{@Az۹ANz=A?A@?A j?A*A9?2A&ֽ:A6=BA9?JA&ֽRA6=٘i)I9{@YUG JJJJJ2D&K Y-_~?y8TA1Db8087)"B[[D?[=_~?[Y4[[[[BZYY i)/) %;IE?i=io @))@@yEhѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029801.863165 s, next control iter: 1743029802.223181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743029802.243165 s.bH~,`!AJ"J*J2J:JBJnJvJA\(ɩ@A#ȩ@A_~? AA&"AA"wNA"AZAbAjArAzAAAl(9@AvYWsAd{@ADw;A<=A2?A`.#?A qr?Akh*A9?2Aqֽ:AT =BA9?JAqֽRAT =٘i)I9d{@YG JJJJJ2D&K YX-_~?y/cTA1D{7j727B)%BE[[j?[k_~?[*[[[[BZYY i) K;I\E?i@i @))@@yFhpժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029802.283165 s, next control iter: 1743029802.643175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743029802.663165 s.bH~,q!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3301, header.stamp.nsec: 00 temperature: 13.562909* salinity: 33.375580, density: 1025.000000* values[0]: 0.583716F (some fields omitted in printout)Aʩ@A@ɩ@A_~? AAcL&"AA$wNA"AZAbAjArAzAAA&5i59@ASgKORsA6z@A};AǶ=AN?A?A Y*_~?y 'SA? 6C1Db777))B[[?[ӟ_~?[![[[[BZYY i) =;ID?i'Kg @))@@yR֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029802.683165 s, next control iter: 1743029803.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029803.083165 s.DbH~, SŊ!AJ"J*J2J:Jn?BJn?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743029803.083294F (some fields omitted in printout)Ap= ʩ@A#N'٢ʩ@A'_~? AA&"AA%wNA"AZAbAjArAzAAA3 9@AĀMsA>z@A;AgH=Af?A w?A@y?A*Am9?2Aֽ:A =BAm9?JAֽRA =٘i)I9>z@YNG JJJJJ2D&K Y&_~?yOSA1Dj7{77).B[[ϸ?[|_~?[[[[[BZYY i) _N;ID?id T @))T @T @ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029803.123165 s, next control iter: 1743029803.483177 s, wait time: 0.360012 s&_~?)O rAdjusting time to match Gazebo time: 1743029803.503165 s.bH~,;4!AAHz˩@ALy˩@A_~? AtzA&"AA&wNA"AZAbAjArAzAAAp}9@AΨmHsAny@AX:A=A ?A%A@y?ACY*A9?2Aֽ:A"'=BA9?JAֽRA"'=iI٘i)I9y@YG JuJJJJ2D&K  7Y#_~? 7y)SA1D77707)3B[[V?[j_~?[[[[[BZYY i) A;ID?i5D` ?"@))?"@?"@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029803.523165 s, next control iter: 1743029803.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3302, header.stamp.nsec: 00 temperature: 13.563188* salinity: 33.375591, density: 1025.000000* values[0]: 0.583037F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029803.923165 s.>bH~,!AJ"J*J2J:JA?BJA?nJ5vJAQ̩@AdVP̩@A_~? AarAr%&"AA%wNA"AZAbAjArAzAAAJ9@AǾCsA-y@A?A6=A?AA(w?A_*A+9?2Aֽ:A(=BA+9?JAֽRA(=٘i)I9y@YG JKJJJJ2D&K YU _~?y RA 2D7767B)6BE[[4?[_~?[[[[[BZYY i) C:I}D?i"tZ #@))#@#@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029803.943165 s, next control iter: 1743029804.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029804.343165 s.sAx@AvA&=AR?AP&Ar?A*AH9?2Aֽ:A=BAH9?JAֽRA=٘i)I9x@YBG JJJJJ3D&K Y_~?yXRA 2D)7ŧ7S7);B[[x?[+_~?[m[[[[BZYY i) d9ID?iOS [a%@))[a%@[a%@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029804.363165 s, next control iter: 1743029804.743179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3303*, header.stamp.nsec: 0*0 temperature: 13.563468** salinity: 33.375576*, density: 1025.000000** values[0]: 0.582327*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029804.763165 s.4bH~,0!AJ"J*J2J:JBJnJvJA33333Ω@A{ͩ@A_~? A?bA`&"AAY"wNA"AZAbAjArAzAAA|V9@A9sAw@AA}=A?A@˫A@j?A_6*A&9?2Aֽ:A=BA&9?JAֽRA=Y?#?y=5 ٓH˿@>@~*?Q˿?z w?)? I٘i)I9w@YG JJJJ1EJ3D&K9x> Y_~?yzQA?62D77{74p7)?B[[6?[}_~?[)[[[[BZYY i) T I:D?iѢgP &@))&@&@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029804.783165 s, next control iter: 1743029805.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029805.183165 s.bH~,^K!AAףp= ϩ@A[QΩ@A_~? A2ZA&"AA|wNA"AZAbAjArAzAAA=9@A֤X5sAElw@Aj&A=AB?A@򲱿A `?A*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9lw@YG JJJJJJ,3D&K Y_~?yQAK2D777܌7)DB[[S?[u_~?[[[[[BZYY i) j˿ID?i*L }(@))}(@}(@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029805.203165 s, next control iter: 1743029805.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029805.603165 s.54bH~,f!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743029805.603297F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gϩ@A ϩ@A_~? A)RA &"AAwNA"AZAbAjArAzAAA@U9@Aq`-0sAUv@A:A.x=A:?AS|AT?A*A#9?2Aʥֽ:AZ<BA#9?JAʥֽRAZ<٘i)I9v@YBG J$B=JJJJA3D&K Y _~?yG.QAa2D777B)IBE[[3m?[jk_~?[ߨ[[[[BZYY i) |IdpD?i'F  *@)) *@ *@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029805.623165 s, next control iter: 1743029806.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3304 , header.stamp.nsec: 0 0 temperature: 13.563723 * salinity: 33.375587 , density: 1025.000000 * values[0]: 0.581645 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029806.023165 s.ZbH~,|!AAQЩ@Aw-!Щ@A_~? A%JA7 &"AA_wNA"AZAbAjArAzAAASč9@A#ÆH+sADZv@Aoì;A5=Aڥ?A CA *E?Ar*AI9?2Aֽ:Ae<BAI9?JAֽRAe<٘i)I9Zv@YG J C=JJJJW3D&K Y_~?yPAv2D77j727)MB[[ׁ?[/a_~?[֨[[[[BZYY i) YIL`D?iƕ׶? H+@))H+@H+@ªYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743029806.043165 s, next control iter: 1743029806.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029806.443165 s.0bH~, ]!AJ"J*J2J:JBJnJvJA(\ѩ@At)*[ѩ@A_~? A&BA! &"AAwNA"AZAbAjArAzAAACYf9@A`g&sAu@A;A=A @?AX A3?A*A19?2Aֽ:Ay<BA19?JAֽRAy<٘i)I9u@YG JʞJJJJl3D&K Y^~?y٨gPA2DSI7877)RB[[?[VV_~?[3Ψ[[[[BZYY i) 5`IPD?ia}7 s%-@))s%-@s%-@YFFF]p:Waiting for Gazebo time sync: latest Gz time: 1743029806.463165 s, next control iter: 1743029806.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3305, header.stamp.nsec: 00 temperature: 13.563984* salinity: 33.375568, density: 1025.000000* values[0]: 0.581009F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029806.863165 s.+bH~,}>!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743029806.863290F (some fields omitted in printout)Afffffҩ@AdT82ҩ@A_~? A.:A p &"AA wNA"AZAbAjArAzAAA~}ru9@A6!sABSu@A{];AQ=A&?AiA?A t*A9?2Aֽ:A<BA9?JAֽRA Y^~?yШ PA?2Db777)VB[[Ҧ?[J_~?[mŨ[[[[BZYY io) xIAD?iK3 H.@))H.@H.@ѼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029806.903165 s, next control iter: 1743029807.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029807.283165 s.2RbH~,ҋ!AJ"J*J2J:JBJnJvJA ףp=ө@AIH ө@A_~? A=2Am &"AA>wNA"AZAbAjArAzAAA`f9@AsAt@A-pAE==A?A`JM¿Ad ?A!*A:9?2Aֽ:A`1<BA:9?JAֽRA`1<٘i)I9t@YG JJJJJ3D&K  7Y^~? 7y\ȨOA 7C2D7747B)[B E[[ ?[>_~?[ȼ[[[[BZYY i) IɻI'3D?i/Q. ~:0@))~:0@~:0@hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029807.303165 s, next control iter: 1743029807.683174 s, wait time: 0.380009 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 33062, header.stamp.nsec: 020 temperature: 13.3849782* salinity: 33.3916052, density: 1025.0000002* values[0]: 0.7038052F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029807.703165 s.ԺbH~,!AAGzԩ@A]ө@A_~? AT*A: &"AAvNA"AZAbAjArAzAAAxvPV9@AsAt^t@A(A^=Ax)?A.ĿA ?A؊*A9?2Aֽ:A%<BA9?JAֽRA%<٘i)I9^t@YG JeJJJJ3D&K Y ^~?ySOA2D77j787)_B[[b@[1_~?[F[[[[BZYY i) ҘI%D?i*' h1@))h1@h1@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029807.723165 s, next control iter: 1743029808.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029808.123165 s.7cH~,]!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076385< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743029808.123277F (some fields omitted in printout)J"J*J2J:JBJnJvJARԩ@AѬlԩ@A_~? At"A]@ &"AA0vNA"AZAbAjArAzAAAEE9@AޣsA`s@A-ǻA І=Ae?A ƿA@??A燼*AZ9?2Aֽ:A<BAZ9?JAֽRA<٘i)I9s@YtG JJJJJ3D&K Y/^~?yNA2D77U7)bB[[1@[U$_~?[ꫨ[[[[BZYY i) ,ID?iy 6M3@))6M3@6M3@yYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029808.143165 s, next control iter: 1743029808.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029808.543165 s.IcH~,"!AA(\թ@Abcթ@AS_~? AA &"AAvNA"AZAbAjArAzAAA=19@ACTFsAys@AܿA$=AB^?AǿA` ?A@6*A9?2Aֽ:A޺<BA9?JAֽRA޺<٘i)I9ys@Y/G JJJJJ3D&K YS^~?yENA2D775r7)fB E[[h@[p_~?[[[[[BZYY i) \I D?ik 4@))4@4@iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029808.563165 s, next control iter: 1743029808.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3307, header.stamp.nsec: 00 temperature: 13.385216* salinity: 33.391628, density: 1025.000000* values[0]: 0.702834F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029808.963165 s.J cH~"J*J2J,D=!A:J3?BJ3?nJ<5vJA֩@ARre֩@Av_~? AAgr&"AAvNA"AZAbAjArAzAAAMS9@Aet sA[s@A1ָA=A$?A]ɿA ?A*A9?2Aֽ:A=BA9?JAֽRA=Y??y=k]׸ٓHڿ4@_G $?P&ڿt?>@d?)? I٘i)I9s@YG JJ:JJJ3D&K(x> Y^~?y;?NA? 3D)7ŧ77B)lBE[[@[_~?[[[[[BZYY i) "IC?ic Z6@))Z6@Z6@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029808.983165 s, next control iter: 1743029809.363193 s, wait time: 0.380028 s rAdjusting time to match Gazebo time: 1743029809.383165 s.cH~,DX!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076385< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743029809.383282F (some fields omitted in printout)A= ףpש@A w.<ש@A_~? A A. &"AA@vNA"AZAbAjArAzAAAdA9@AsALr@Ao;AdE=A@A֎˿A@r?A+玼*A~9?2AGֽ:A =BA~9?JAGֽRA =٘i)I9r@YG J~B=JJJJ4D&K Y<^~?y0MA"3D7777)oB[[ o@[^~?[[[[[BZYY i) Aa2IC?iCZ .7@)).7@.7@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029809.423165 s, next control iter: 1743029809.783176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3308*, header.stamp.nsec: 0*0 temperature: 13.385415** salinity: 33.391621*, density: 1025.000000** values[0]: 0.701846*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029809.803165 s.J "J *J 2J :J 3?BJ 3?nJ f<5vJ AcH~,gs!AAzGة@Aة@A8_~? AaA &"AAvNA"AZAbAjArAzAAAhM8@AssAr@A;Aג=A# @AA_ͿArM?A*AB9?2Aֽ:Ak=BAB9?JAֽRAk=٘i)I9r@YWG JC=JJJJ4D&K Y^~?y'MA73D57B)uBE[[@[^~?[[[[[BZYY i) 3AIC?iN< d9@))d9@d9@-ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029809.843165 s, next control iter: 1743029810.203180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743029810.223165 s.g#cH~,H!AAQ٩@AŦة@A؜_~? AA6&"AAuvNA"AZAbAjArAzAAAa8@A#krAq@A;;AJې=A[@A P.ϿA%?A=l*AL9?2Aֽ:A =BAL9?JAֽRA =٘i)I9q@Y G JۓJJJJ.4D&K Y'^~?y)MAM3D777B)yBE[[il @[^~?[[[[[BZYY i) bQIC?i@ G:@))G:@G:@NǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029810.243165 s, next control iter: 1743029810.623174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743029810.643165 s.x)cH~,*!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076385< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200632 time: 1743029810.643320F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\٩@Avݑ٩@A_~? A#A&"AAjvNA"AZAbAjArAzAAAx8@AE1ErA_q@A0{:Ag=A%@A}пA?AC}*A9?2Aֽ:A\l =BA9?JAֽRA\l =٘i)I9q@YG JkJJJJC4D&K  7Y^~? 7yLAb3Db7ŧ77)}B[[ @[M^~?[|[[[[BZYY i) ^`IC?ic1 j<@))j<@j<@^ʪYtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3309, header.stamp.nsec: 00 temperature: 13.385640* salinity: 33.391647, density: 1025.000000* values[0]: 0.700823F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743029810.663165 s, next control iter: 1743029811.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029811.063165 s.0cH~,R Č!AAک@Aک@A_~? AA_&"AAvNA"AZAbAjArAzAAAQH 8@A/rA[p@AW.MAG=A@A@1cѿA`?A*A!9?2Aֽ:A =BA!9?JAֽRA =Y%?9@yG=/MٓH`߿@`7?߿N?ȥi5?)%? I٘i)I9p@YqG J^JU<JJJY4D&K0x> Y^~?yrhLA@w3D77{787B)BE[[c @[ ^~?[$u[[[[BZYY i) GpIC?iy(׻ =@))=@=@]ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029811.103165 s, next control iter: 1743029811.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029811.483165 s.J "J *J 2J :J E3?BJ E3?nJ ;5vJ _7cH~,ތ!AAq= ף۩@Aѯo۩@A_~? A!A &"AAvNA"AZAbAjArAzAAA.!Ļ8@AŮq%rAap@A!Ag=AP@ARFҿA@?A]*A9?2Aֽ:AY/ =BA9?JAֽRAY/ =٘i)I9p@Y"G JJJJJn4D&K Yk|^~?ywLA3D{7Z7:7)B[[@[Y^~?[m[[[[BZYY i) oKIoC?iɻ j?@))j?@j?@DЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029811.503165 s, next control iter: 1743029811.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3310, header.stamp.nsec: 00 temperature: 13.385892* salinity: 33.391659, density: 1025.000000* values[0]: 0.699762F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029811.903165 s.=cH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076385< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743029811.903288F (some fields omitted in printout)AGzܩ@AkׄFܩ@A^v_~? AݩA{&"AAņvNA"AZAbAjArAzAAAv%=`8@AzurAo@AlAd=A@A&ӿAn?AFk*A9?2Aֽ:A4 =BA9?JAֽRA4 =٘i)I9o@YG JJJJJ4D&K YRn^~?y0pKA3D777W7 B)BE[[W@[:^~?[f[[[[BZYY i6) ?IC?iB @@))@@@@ҪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743029811.923165 s, next control iter: 1743029812.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029812.323165 s.~DcH~,G!AJ"J*J2J:JBJnJvJAQݩ@AA]ݩ@Ak_~? Aa֩A&"AAvvNA"AZAbAjArAzAAA o6?8@A:HrA o@AA"&=A @AԿA ;?A%d*A?9?2Aֽ:A =BA?9?JAֽRA =٘i)I9 o@Y~G JJJJJ4D&K Y9`^~?yh;KA 8C3D77{78t7 B)BE[[@[^~?[_[[[[BZYY i) ڎIC?iT |gB@))|gB@|gB@lժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029812.343165 s, next control iter: 1743029812.723183 s, wait time: 0.380018 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3311*, header.stamp.nsec: 0*0 temperature: 13.386169** salinity: 33.391670*, density: 1025.000000** values[0]: 0.698649*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029812.743165 s.WKcH~,q/!AA\(ީ@A_ݩ@A6`_~? AϩAK&"AAevNA"AZAbAjArAzAAA_˿8@A1/rA'n@AqV;A =A. @A aԿAP?A6:*AD9?2A[ֽ:A=BAD9?JA[ֽRA=٘i)I9n@Y(G JxJJJJ4D&K Y R^~?y`JA3D777)B[[@@[m^~?[.Y[[[[BZYY i) StIC?iz⾉l lC@))lC@lC@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029812.763165 s, next control iter: 1743029813.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029813.163165 s.w}RcH~,qJ!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085554< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743029813.163301F (some fields omitted in printout)J"J*J2J:JBJnJvJAߩ@Aqީ@AmT_~? AǩA/&"AATvNA"AZAbAjArAzAAA$ii97@A"SrAim@Aô;Ae=AOx @AտA`?AU]*Aɭ9?2A{ֽ:A=BAɭ9?JA{ֽRA=Yh?[ @y$e=(P;ٓH@$ @?@@?~糿mv??)h? I٘i)I9m@YG JݩB=J@<JJJ4D&Kw> YA^~?yYlJA @3D77j77 B)BE[[@[iZ^~?[R[[[[BZYY i)  일IC?itξ! ^E@))^E@^E@y$۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029813.183165 s, next control iter: 1743029813.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029813.583165 s.XcH~,Re!AAp= ߩ@A .ߢߩ@A,H_~? AA&"AATBvNA"AZAbAjArAzAAA)Dg§7@AqrAE`m@A;A=A_ @A\ֿA@?A *Ac9?2AZֽ:A4=BAc9?JAZֽRA4=٘i)I9`m@YyG J C=JJJJ4D&K Y1^~?yRJA3Dŧ7797)B[[3*@[F^~?[L[[[[BZYY i) bIC?ii F@))F@F@ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029813.603165 s, next control iter: 1743029813.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3312, header.stamp.nsec: 00 temperature: 13.386426* salinity: 33.391674, density: 1025.000000* values[0]: 0.697500F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029814.003165 s.z `cH~,U4!AJ"J*J2J:JBJnJvJAHz@A y@Au;_~? AAE&"AAp/vNA"AZAbAjArAzAAAOȕ7@A@%rA6l@AQS;A=A@Ab׿A@X?A*AO9?2A)ֽ:A=BAO9?JA)ֽRA=٘i)I9l@YG JwJJJJ4D&K Y ^~?yKIA4DZ7Z77B)BE[[\@[h2^~?[E[[[[BZYY i) ٬IC?iܚ{9F QH@))QH@QH@#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029814.023165 s, next control iter: 1743029814.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029814.423165 s.ufcH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085554< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743029814.423273F (some fields omitted in printout)AQ@A#1P@AH._~? AʲA&"AAvNA"AZAbAjArAzAAA%b'7@ALrA3l@AcA)=Ai@A5ؿAP?A*A9?2Aiֽ:AL*=BA9?JAiֽRAL*=٘i)I93l@YG JjJJJJ5D&K  7Y^~? 7y_D+IA#4D7)B[[ @[^~?[?[[[[BZYY i) QIC?iv VH))VHI@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029814.463165 s, next control iter: 1743029814.823177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3313, header.stamp.nsec: 00 temperature: 13.386687* salinity: 33.391693, density: 1025.000000* values[0]: 0.696297F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029814.843165 s.lcH~,!AJ"J*J2J:J@2?BJ@2?nJ:5vJA(\@A9&'@A _~? AꫩAU&"AAvNA"AZAbAjArAzAAA|B\7@A rAk@A[Aϩ=Av@AٿA X?An*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9k@YdG JzJJJJ5D&K Y]~?y;=HA84D77{7: 7B)BE[[t@[@ ^~?[9[[[[BZYY i) [ȻIFC?i.0 F))F>K@_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029814.863165 s, next control iter: 1743029815.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029815.263165 s.tcH~,Ѝ!AA33333@Ay@A_~? A!A1&"AAuNA"AZAbAjArAzAAAVH#27@A}A`rAj@AŻAAf=Aq @AٿAo?A*A9?2A"ֽ:A=BA9?JA"ֽRA=Y@!@yte=ŻٓH@, 宿@?1C "?@+x@?)@ I٘i)I9j@YG JuJw<JJJ05D&K/x> Y]~?y6LHA@N4D{7j7<7B)BE[[4@[]~?[4[[[[BZYY i) üI~C?is kE))kEݳL@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029815.283165 s, next control iter: 1743029815.663174 s, wait time: 0.380009 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 33142, header.stamp.nsec: 020 temperature: 13.3870042* salinity: 33.3917162, density: 1025.0000002* values[0]: 0.6950392F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029815.683165 s.lzcH~,c!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085554< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743029815.683278F (some fields omitted in printout)Aףp= @A- @A _~? AoA^&"AAuNA"AZAbAjArAzAAA[q/7@AeyrA9Zj@A=kAѮ=AU@AڿAP?ATü*A*9?2Aֽ:A=BA*9?JAֽRA=٘i)I9Zj@YG JJJJJE5D&K Y"]~?y0GAc4DZ7Z7Y7)B[[JO@[^]~?[u.[[[[BZYY i) }]ʼIfC?iݢwP C))C'N@]W!AJ"J*J2J:JBJnJvJAfffff@AOD2@A^~? AA#[&"AAuNA"AZAbAjArAzAAA*|I6@ACerA>g@Ay;A"=A@A ݿA+?A#1׼*A9?2Anֽ:AC=BA9?JAnֽRAC=Y @@yA"=;ٓHz ``? 2?`3s??) @ I٘i)I9g@Y G JּJe&<JJJ5D&Kw> Y"]~?yeFA@ 9C4Dj7Z7@7B)ݯBE[["@[]~?[[[[[ZZ¸BZYY i¸H=) 1ԼIpC?i#>P: 4>))4>S@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029817.403165 s, next control iter: 1743029817.763177 s, wait time: 0.360012 s "]~?) e&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3316&, header.stamp.nsec: 0&0 temperature: 13.387612&* salinity: 33.391731&, density: 1025.000000&* values[0]: 0.692311&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029817.783165 s.XcH~,r!AA ףp=@A,+MJ @A^~? Ak~AR&"AAguNA"AZAbAjArAzAAAKb6@A)rAf@A:x:Ai=A4@A b޿AJ?AAؼ*Aa9?2ACֽ:A3?=BAa9?JACֽRA3?=٘i)I9f@Y G J׼JJJJ5D&K Y^x]~?ysEA4Dŧ7b77)B[[N$@[n]~?[ [[[[ZZBZYY i) 8'ȼIZC?iX> ; !<))!<XU@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029817.803165 s, next control iter: 1743029818.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029818.203165 s.cH~,!AJ"J*J2J:J 1?BJ 1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083983< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743029818.203286F (some fields omitted in printout)AGz@A?N@A^~? ASxAlM&"AAMuNA"AZAbAjArAzAAA5ݎ5@Ao@6rA$f@A\^A7f=A%@A@߿A@?AHz*Au9?2Agֽ:A<BAu9?JAgֽRA<٘i)I9$f@Y G J!JJJJ5D&K  7Yc]~? 7y EA4D77{77B)BE[[u%@[W]~?[[[[[ZZBZYY i) OIC?i>!1; Z;))Z;5V@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029818.223165 s, next control iter: 1743029818.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029818.623165 s.YcH~,e⧎!AAR@AmY@A^~? AXrA_&"AA3uNA"AZAbAjArAzAAAt2L5@ArrAJe@AǻAr6=A_v@A8߿A&7?AF*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9Je@Y G JDJJJJ5D&K YN]~?yDA4D="7B)BݹE[['@[b@]~?[8 [[[[ZZBZYY i) _IC?i.>G]; I9))I9l0X@y;Y=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029818.643165 s, next control iter: 1743029819.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3317 , header.stamp.nsec: 0 0 temperature: 13.387946 * salinity: 33.391754 , density: 1025.000000 * values[0]: 0.690838 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029819.043165 s.cH~,Ž!AJ"J*J2J:J0?BJ0?nJr95vJA(\@Ax$^@Aۀ^~? AzlA,7&"AAuNA"AZAbAjArAzAAA) Tx5@ArAvd@AbAfnt=A@A`>A |?Ai*Az9?2Aֽ:A `<BAz9?JAֽRA `<٘i)I9vd@Y G JnJJJJ5D&K Y :]~?yDA5Dj7>7)B[[ok(@[)]~?[[[[[ZZBZYY i) IiC?i>; 8))8əY@NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029819.063165 s, next control iter: 1743029819.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029819.463165 s.VcH~,ݎ!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083983< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743029819.463316F (some fields omitted in printout)A@Aooe@An^~? AfAɨ&"AAtNA"AZAbAjArAzAAA3A5@AmcwrAGc@A?:A b0=A @AvA?AsMϼ*Aq9?2A%ֽ:A|O;BAq9?JA%ֽRA|O;Y@ @ya0=k:ٓH! ??| @Gg`_?)@ I٘i)I9c@Y G JJDݽJJJ6D&KJx> Y`#]~?yVCA @$5D{7[7!B)BڹE[[9)@[5]~?[[[[[ZZBZYY ie=) KI; 7))7[@wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029819.483165 s, next control iter: 1743029819.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3318, header.stamp.nsec: 00 temperature: 13.388357* salinity: 33.391735, density: 1025.000000* values[0]: 0.689154F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029819.883165 s.ycH~,4!AJ"J*J2J:JBJnJvJA= ףp@A=\r<@A\^~? AaA.&"AAtNA"AZAbAjArAzAAA5@A(]rAc@A:A<A;W!@A@A8?A*A9?2Atֽ:A<<BA9?JAtֽRA<<hI٘i)I9c@Y5 G JeJJJJ6D&K Y ]~?yCA:5D77=x7"B) B׹E[[*+@[4\~?[[[[[ZZBZYY i) /qIϸC?i?Me; 5))5m\@nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029819.903165 s, next control iter: 1743029820.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029820.303165 s.ZcH~,g!AAzG@A|@A.I^~? A[AN&"AAatNA"AZAbAjArAzAAAꍆ4@AY"/ȦrAob@Aג;A<AZ"@A AA?ADf*A 9?2A*ֽ:Az BA 9?JA*ֽRAz ٘i)I9b@Y G J JJJJ26D&K Y\~?ylCAO5D7$B)BֹE[[q,@[\~?[n[[[[ZZBZYY i) 'IC?iR? ; J4))J4]@gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029820.323165 s, next control iter: 1743029820.703179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3319., header.stamp.nsec: 0.0 temperature: 13.388651.* salinity: 33.391754., density: 1025.000000.* values[0]: 0.687880.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029820.723165 s.cH~,H.!AJ"J*J2J:J0?BJ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073924< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743029820.723288F (some fields omitted in printout)AQ@Aw^@A5^~? A&VA!&"AAotNA"AZAbAjArAzAAAXD4@A bIZrAN6b@A;ALɻAF#@A_As ?A0*A?9?2Aֽ:AEpBA?9?JAֽRAEp٘i)I96b@Y G J `B=JJJ2EJG6D&K YY\~?y0CAe5Db777%B)BӹE[[w-@[\~?[[[[[ZZBZYY ip=) dqIC?i$?i; T2))T2a;_@yp=V(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029820.743165 s, next control iter: 1743029821.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029821.143165 s.W/cH~, *I!AA)\@Aǚ@A<"^~? APAX&"AAtNA"AZAbAjArAzAAAasY4@A? rAa@AP$;AeAc<%@A@AU?A[*An9?2A\tֽ:AWBAn9?JA\tֽRAW٘i)I9a@Y G J C=JJJJ]6D&K Y\~?y>BAz5D777>7'B)BйE[[$5/@[ڰ\~?[[[[[ZZBZYY i) \I~C?i*8?ٻ; 1))1`@y@=})YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029821.163165 s, next control iter: 1743029821.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029821.563165 s.cH~,9 d!AJ"J*J2J:JBJnJvJA@A2菱@A?^~? AKA&"AAltNA"AZAbAjArAzAAA4@A0rAa@A=SźAA&@A2Aਚ?At*A9?2AWֽ:AݜͼBA9?JAWֽRAݜͼY@·&@y Yf\~?yߧ"CA&@5D77j77)B[[0@[6\~?[o[[[[BZYY i^l=) )JIC?iD?; [0))[0Zb@yS=22*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029821.583165 s, next control iter: 1743029821.963174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3320, header.stamp.nsec: 00 temperature: 13.388821* salinity: 33.391758, density: 1025.000000* values[0]: 0.687188F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029821.983165 s.cH~,~!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057707< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743029821.983281F (some fields omitted in printout)Aq= ף@A?o@A]~? AFAH"&"AAgNtNA"AZAbAjArAzAAA83@AazrAa@AA@4A'@A/~A?A+N;*A 9?2A>ֽ:ABA 9?JA>ֽRA９٘i)I9a@Y{ G J2:JJJJ6D&K  7Y\~? 7y-ۧOCA5D777)B)B͹E[[~1@[\~?[m[[[[BZYY ihӊ=) H9IjC?iR? < ӷ.))ӷ.gc@yd=q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029822.003165 s, next control iter: 1743029822.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029822.403165 s.&cH~,͙!AJ"J*J2J:J/?BJ/?nJo85vJAGz@A7hF@AF]~? AAAg&"AA`/tNA"AZAbAjArAzAAAd4̞3@A{SySrAb b@AĻAItZA)@A;A@?Aq<*AH9?2A;ֽ:ABAH9?JA;ֽRA٘i)I9 b@Y G JI;JJJJ6D&K Y\~?y֧|CA :C5D7777>$7*B)BʹE[[9;3@[f\~?[[[[[BZYY i) 'IC?ic?Q< U-))U-d@ySe=e*YFFF]o:Waiting for Gazebo time sync: latest Gz time: 1743029822.423165 s, next control iter: 1743029822.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3321", header.stamp.nsec: 0"0 temperature: 13.388868"* salinity: 33.391758", density: 1025.000000"* values[0]: 0.687111"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029822.823165 s.cH~,>!AAQ@A@@AO]~? A=A&"AAtNA"AZAbAjArAzAAAa3@A;}rAmKb@A턻A"wAPk*@A`AU?A?7<*A"9?2AUֽ:A|BA"9?JAUֽRA|٘i)I9Kb@Y G J<JJJJ6D&K Yg\~?yҧCA5Dj7Z7@7,B)BǹE[[I4@[.N\~?[[[[[BZYY i) uID?it?*< +))+*f@y"S=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029822.843165 s, next control iter: 1743029823.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029823.243165 s.cH~,uϏ!AJ"J*J2J:J/?BJ/?nJ{85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067786< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743029823.243322F (some fields omitted in printout)A\(@AL@A ]~? A]8A=&"AAsNA"AZAbAjArAzAAA)9 3@Am+rAjb@AϸAwA+@AWA6?A>{d<*A9?2A~ֽ:AR BA9?JA~ֽRAR ٘i)I9b@Y G JL<B=JJJJ6D&K YIO\~?yͧCA5D77]7.B)¹E[[a5@[5\~?[[[[[BZYY i)  ID?i6?<)< ؕ*))ؕ*݉g@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029823.263165 s, next control iter: 1743029823.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029823.663165 s.cH~,q!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3322, header.stamp.nsec: 00 temperature: 13.388803* salinity: 33.391758, density: 1025.000000* values[0]: 0.687517F (some fields omitted in printout)A@A&k@Av]~? A3AY&"AAmsNA"AZAbAjArAzAAAO:1%2@AGkVlrAc@A}y;AŐAQ-@A A?Ag<*A9?2Aֽ:AoBA9?JAֽRAoY@ -@yŐz;ٓHۿ@.ʰ?`? ~ ?/o?@{?)@ I٘i)I9c@Y- G J7v<C=JMJJJ6D&Kw> Y5\~?yɧ7DA -@5D77{7Bz7)B[[.7@[\~?[.[[[[BZYY iLm=) lID?i?}W1< 7)))7)h@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029823.683165 s, next control iter: 1743029824.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029824.083165 s.DdH~,S!AJ"J*J2J:JBJnJvJAp= @Afi@A]~? A~/A &"AAsNA"AZAbAjArAzAAA ٜ2@ABrM~rA~c@A钸;AA].@AAj?Ah<*A9?2AAֽ:ASBA9?JAAֽRAS٘i)I9~c@Yt G JK<JJJJ6D&K Y \~?yƧDA6Db7770B)BE[[~8@[\~?[[[[[BZYY i) ̻I/D?i?:< '))'Ej@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029824.103165 s, next control iter: 1743029824.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029824.503165 s.dH~,H4 !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057885< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743029824.503296F (some fields omitted in printout)AHz@A)y@Ary]~? AE+A B &"AA0sNA"AZAbAjArAzAAA٠Y2@A}`-|rAd@A;A9ޛA/@AA#?A<*A/9?2Aֽ:ACBA/9?JAֽRAC٘i)I9d@Y G J1<JJJJ 7D&K Y\~?y`§DA&6D{7{771B)BE[[9@[[~?[[[[[BZYY i) ) I@D?iҙ?D< ~&))~& k@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029824.543165 s, next control iter: 1743029824.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3323, header.stamp.nsec: 00 temperature: 13.388658* salinity: 33.391758, density: 1025.000000* values[0]: 0.688266F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029824.923165 s.J "J *J 2J :J 20?BJ 20?nJ 85vJ ;dH~,;!AAQ@A^P@Ac]~? A/'AR &"AAnksNA"AZAbAjArAzAAA2@AyrAld@ADi:AI{A0@A[A@4R?A߮<*Ạ9?2Azֽ:A BẠ9?JAzֽRA ٘i)I9d@Y G J<JJJJ7D&K Y[~?y[EA;6D77j7A73B)BE[[;@[[~?[Aߧ[[[[BZYY i) {IQD?i?NP< $%))$%l@ydm=q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029824.943165 s, next control iter: 1743029825.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029825.343165 s.<dH~,U!AA(\@A'@AVL]~? A=#A &"AADIsNA"AZAbAjArAzAAAq~1@AFGwrAj&e@AMAsA:2@AA~?A Z<*A̫9?2A`ֽ:A BA̫9?JA`ֽRA ٘i)I9&e@Yv G J<JJJJ47D&K Ye[~?y麧EAQ6Db7774B) BE[[^<@[[~?[ݧ[[[[BZYY i) =aI&dD?i?\< #))#Tn@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029825.363165 s, next control iter: 1743029825.743177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3324., header.stamp.nsec: 0.0 temperature: 13.388450.* salinity: 33.391781., density: 1025.000000.* values[0]: 0.689262.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029825.763165 s.=dH~,8p!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057885< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743029825.763317F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333@AB<@Ae5]~? ApA-!&"AA&sNA"AZAbAjArAzAAAmSn`1@AStrA e@As;A:Au3@A@A+?A(<*Aȳ9?2AT]ֽ:AuoBAȳ9?JAT]ֽRAuoY"%@G3@ysٓH@n"տ@qƱ? ??4ӞR? gv?)"%@ I٘i)I9e@Y G Jʶ<B=J=JJJI7D&Kw>  7Y[~? 7y$FA3@f6D777 7)B[[=@[[~?[!ܧ[[[[BZYY i) Ae%IdwD?iԲ?d< br"))br"So@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029825.783165 s, next control iter: 1743029826.163182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029826.183165 s."dH~,^!AAףp= @A%@A5]~? AAv!&"AAsNA"AZAbAjArAzAAAgE1@A)rrAzYf@AAAA4@Aq A@?A><*A9?2Aouֽ:AsBA9?JAouֽRAs٘i)I9Yf@Y1 G J<C=JJJJ_7D&K Y[~?yFA|6D77B&75B)BE[[>@[Ԇ[~?[ڧ[[[[BZYY i|=) `gҺIaD?i?n< !))!q@F*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029826.203165 s, next control iter: 1743029826.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029826.603165 s.64)dH~,!AJ"J*J2J:JBJnJvJA{G@AS%@A]~? AEA!&"AAurNA"AZAbAjArAzAAAi 0@AIprA`f@AAA=%6@Ac?A@?A]<*A9?2Ahֽ:AGBA9?JAhֽRAG٘i)I9f@Y G Ji<JJJJt7D&K Yn[~?y3FA6D777B76B)BE[[;@@[m[~?[٧[[[[BZYY i) %3I>D?i?@[x< 0))0[r@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029826.623165 s, next control iter: 1743029827.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3325 , header.stamp.nsec: 0 0 temperature: 13.388226 * salinity: 33.391762 , density: 1025.000000* values[0]: 0.690350F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029827.023165 s.Z0dH~,|!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066773< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743029827.023286F (some fields omitted in printout)AQ@A=$@A!\~? AA!&"AA˼rNA"AZAbAjArAzAAA;adU0@A]nrAr~g@A5U;A܎Aw7@ArA?AǤ<*A9?2A[ֽ:ABA9?JA[ֽRA٘i)I9~g@Y G J[<JJJJ7D&K Yd[~?yK\GA ;C6D{7j7_79B)BE[[A@[ U[~?[ا[[[[BZYY i) 6t9ID?i?؁< n))nưs@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029827.063165 s, next control iter: 1743029827.423183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743029827.443165 s.86dH~,B]ܐ!AJ"J*J2J:JBJnJvJA(\@AI*[@AB\~? AA"@"&"AAʘrNA"AZAbAjArAzAAA m0@AlrAh@Ai;A}Aa8@A At2?AzĜ<*A9?2Aֽ:ABA9?JAֽRA󼙘٘i)I9h@Y6 G J<JJJJ7D&K Y"J[~?ydGA6D)7b7C|7:B)BE[[!AAfffff@Aףp=2@A-\~? AAv}"&"AAwtrNA"AZAbAjArAzAAAЯ$0@A؝AjrAh@AT;AȈA:@AAO?A<*A9?2A8ֽ:AoBA9?JA8ֽRAoY ,@:@yLj;ٓH@F`Ϳ`?ྨ? S˄ ?`uv? ?) ,@ I٘i)I9h@Y G J<J<JJJ7D&Kx> Y.[~?yXHA:@6D{7j77;B)BE[[ D@[T#[~?[ק[[[[BZYY i)  ;IsD?i? < ))Kv@m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029827.903165 s, next control iter: 1743029828.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029828.283165 s.>RDdH~,!AJ"J*J2J:J1?BJ1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066773< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743029828.283309F (some fields omitted in printout)A ףp=@A8L4H @A\~? A Aѷ"&"AAOrNA"AZAbAjArAzAAA _h/@AzLHhrAi@AS5;A Ai`;@AA3l?A<*A_9?2A1ֽ:ABA_9?JA1ֽRA򼙘٘i)I9i@Y G J<JJJJ7D&K Y+[~?yM{HA6D7777)B/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^Running loop #7q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) iG;)~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029828.303165 s, next control iter: 1743029828.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3327., header.stamp.nsec: 0.0 temperature: 13.387853.* salinity: 33.391773., density: 1025.000000.* values[0]: 0.692291.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029828.703165 s.ֺJdH~,-!AAGz@Afd@Ap\~? AA2"&"AA*rNA"AZAbAjArAzAAA©Z"/@AGAgrA}i@A AAb<@Ah(A?A<*A9?2Aֽ:AxBA9?JAֽRAx󼙘٘i)I9}i@YG JI<B=JJJJ7D&K YZ~?yAHA6D)7ŧ7G7 elevatorAngleAction: 0.075516< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743029829.543271F (some fields omitted in printout)A(\@AG`@A\\~? AAS#&"AAqNA"AZAbAjArAzAAAL͵7{-@A7drARmj@A⡻A\AFQ>@A A` YΤZ~?yԠIAU?@=7D7777E(7>B)BE[[qFJ@[ Z~?[է[[[[BZYY i) և;INE?ix@ < M))Mh|@v*Y`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029829.983165 s, next control iter: 1743029830.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029830.383165 s.edH~,!AA= ףp@ASt<@A*\~? A{Ao#&"AABqNA"AZAbAjArAzAAAZv,@AآmtarAQk@AD9AA{@@AA ?A<*A:?2Aǽ:ABA:?JAǽRA٘i)I9Qk@Y8G J<JJJJ68D&K YZ~?y?JAR7Dj7Z7D7?B)BE[[RK@[Z~?[0֧[[[[BZYY i) ;IBkE?iS@ < lX))lXI}@y⍚=߳*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029830.403165 s, next control iter: 1743029830.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3329", header.stamp.nsec: 0&0 temperature: 13.387510&* salinity: 33.391747&, density: 1025.000000&* values[0]: 0.693970&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029830.803165 s.yAldH~,g!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075516< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743029830.803269F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG@Av~@Ao\~? AhA#&"AAnqNA"AZAbAjArAzAAAPl_,,@A^0`rAk@A:X;AX셽A.A@A@A^D?Ap<*A:?2Aʽ:A'BA:?JAʽRA'٘i)I9k@Y{G J<JJJJK8D&K YlZ~?y*JAh7D7)7a7)BE[[L@[[wZ~?[֧[[[[BZYY i) * elevatorAngleAction: 0.075516< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743029832.063324F (some fields omitted in printout)A@A*@A[~? AAJG$&"AApNA"AZAbAjArAzAAAfw©\*@A\rAm@Ax9AI AyE@A!AH ?Aˎ<*A:?2A&~ѽ:ABA:?JA&~ѽRAYڠ7@E@yH b9ٓH?@?2?c`j`?O{;?N?)ڠ7@ I٘i)I9m@YKG J<JSJJJ8D&Kp> YZ~?yKAE@ )@AY\rAm@AM:AǐAF@A`6A[7?An<*A%:?2Anҽ:Am" BA%:?JAnҽRAm" ٘i)I9m@YG J><JJJJ8D&K YY~?yLA7DH7)կBE[[9Q@[Z~?[h٧[[[[BZYY i) M elevatorAngleAction: 0.075516< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743029833.323281F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Av@Aw[~? AA$&"AApNA"AZAbAjArAzAAAAL(@A܁ZrAn@A1A7wAOHAaZA@?AJ<*Ans:?2AԽ:AA BAns:?JAԽRAA ٘i)I9n@Y2G JH<JJJJ8D&K  7YAY~? 7yLA7Db77 7)ίBE[[]T@[Y~?[ۧ[[[[BZYY iʬ=) ٥l@EyQ ;ٓH` |??@`ũy=x?F,?a??)E>@ I٘i)I9o@YG J<JZJJJ8D&K}> YڋY~?yMAE8D{7j7F7)ƯBE[[eV@[Y~?[lާ[[[[BZYY i)  elevatorAngleAction: 0.084371< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743029834.583270F (some fields omitted in printout)Ap= @Awۅ @A)[~? AA$&"AApNA"AZAbAjArAzAAAh&@AXrA#p@A ;AGA}DA&}A?A¢<*AR:?2A ֽ:AoBAR:?JA ֽRAo٘i)I9#p@Y'G J<JJJJ 9D&K YoY~?y MA)8D77{7c7)¯B|E[[\W@[Y~?[[[[[BZYY i) g8Db7b7J7)B[[ X@[Y~?[[[[[BZYY i)  elevatorAngleAction: 0.084371< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743029835.843289F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\ @A$c' @AZ~? AA$&"AAXoNA"AZAbAjArAzAAAl0$@Ae-4^XrAq@AۻA1wA@AA?Ac<*A83:?2A>ֽ:ArBA83:?JA>ֽRArgI٘i)I9q@Y-G JS<JJJJM9D&K YY~?y_'OAi8D777)BvE[[[@[_Y~?[}[[[[BZYY i) i Y,X~?yOAC?8D777J7)BsE[[2N\@[IY~?[[[[[BZYY i) F@g< ))I@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029836.283165 s, next control iter: 1743029836.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 33352, header.stamp.nsec: 020 temperature: 13.3864332* salinity: 33.3917012, density: 1025.0000002* values[0]: 0.6995892F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029836.683165 s.ldH~,Z+!AJ"J*J2J:J3?BJ3?nJ;5vJAףp= @A  @A~Z~? AA=$&"AAOJoNA"AZAbAjArAzAAA(K#@ApxuXrA^ s@A2AAAe=AA @A¿<*A}!:?2A׽:APBA}!:?JA׽RAP٘i)I9 s@YG J<JJJ3EJx9D&K YIX~?yPA8DZ7SI77)BpE[[{]@[3Y~?[[[[[BZYY i) mp elevatorAngleAction: 0.084371< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743029837.103303F (some fields omitted in printout)A{G@A8G@AqZ~? AA$&"AA"oNA"AZAbAjArAzAAA "@A,=XrAs@AP5AˬAب<A`(~AA<*A:?2A#׽:ABA:?JA#׽RA٘i)I9s@YNG J<JJJJ9D&K  7YeX~? 7yfyPA =C8D777EB)BmE[[3^@[Y~?[[[[[BZYY i) ɹ3?BJ>3?nJ;5vJAQ@A&@AlsZ~? AA$&"AA\nNA"AZAbAjArAzAAAx]"@AXrAQt@A [:AArU;AuA@ AĽ<*A:?2A;G׽:A BA:?JA;G׽RA ٘i)I9Qt@YG J9<JJJJ9D&K YX~?yPA8D7L,7)BjE[[A_@[ Y~?[[[[[BZYY i) "= [))[@C*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029837.983165 s, next control iter: 1743029838.343181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029838.363165 s.dH~,u>!AJ"J*J2J:J3?BJ3?nJE<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084371< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743029838.363307F (some fields omitted in printout)Afffff@A=2@A?Z~? AA$&"AAnNA"AZAbAjArAzAAA5#!@A&QYrAwu@AWe;AoαA8A`Q]A@A"<*A{:?2A5Y׽:A.BA{:?JA5Y׽RA.Y?`K@S8yͱ;ٓH/? ,?п?2?`,s?`?)?`K@ I٘i)I9u@YG J<Jr6JJJ9D&K y> YStX~?yMQA88Dj7e7)B[[7 b@[X~?[[[[[BZYY i)  elevatorAngleAction: 0.084371< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743029839.623286F (some fields omitted in printout)AR@Ay]`@A*Y~? AsA$&"AA97nNA"AZAbAjArAzAAA_S@AZ[rAw@AEA~ɴA;4A`&A|,A+<*A9?2A!ֽ:A3BA9?JA!ֽRA3٘i)I9w@YG J<JJJJ:D&K Yq"X~?y9SA*9D77{77)B^E[[e@[/X~?[c[[[[ZZZZ¸>BZYY i¸>) "C9D7g7CB)aBPE[[Cl@[A+X~?[[[[[ZZZZBZYY iŢ) %+yP?;ٓH \?Zy?[ܿ/y?@%?g??)UkX@ I٘i)I9|@YG J[<JJ?>JJJ:D&Kk> YNeW~?y3VA+9D7777O7)]BME[[Cem@[TX~?[[[[[ZZZZBZYY iYʃ) O5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074892< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743029843.403310F (some fields omitted in printout)AGz@AOF@AWY~? Ah A"#&"AAlNA"AZAbAjArAzAAA:dQ@AHgrA[^}@AgvA<A~)AAdпAG;*An9?2Aֽ:AT<BAn9?JAֽRAT<٘i)I9^}@Y5G J <B=JJJJ:D&K Y2W~?yħ'VA9D)7ŧ77)XB[[to@[WW~?[][[[[ZZZZBZYY i) CCYVA:D{77)VBDE[[q@[W~?[R#[[[[BZYY i) n1JJJ;D&Kw>  7YV~? 7yЧUA-%+:Dŧ7b77)WBBE[[r@[W~?[w'[[[[BZYY iAf) K!5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065794< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743029845.923325F (some fields omitted in printout)AQ @AP @AX~? AAe!&"AAlNA"AZAbAjArAzAAA|M @A;'d~srAfA|@ADgx;AI=AI!A@!A OտA*A9?2Aֽ:A6`=BA9?JAֽRA6`=٘i)I9A|@YG JJJJJQ;D&K YV~?yާUAl:Db77i7)_B{@ALAL=A!A mdAN׿A*A9?2Aֽ:A=BA9?JAֽRA=Ype@y=aLٓHm(@?`9  Y i?)pe@ I٘i)I9>{@YG JIJO=JJJ|;D&KKx> YqV~?y`TA ?C:D77777)fB[[x@[bjW~?[W=[[[[BZYY i) };IiNj@;2= ο))οpc@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029846.783165 s, next control iter: 1743029847.163175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029847.183165 s.reH~,o˕!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065794< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743029847.183282F (some fields omitted in printout)Aףp= #@AbA "@Ah=X~? A(A &"AAkNA"AZAbAjArAzAAA2R@A[zrAB)rB0E[[U{@[;W~?[lK[[[[BZYY i) lZ;Ii#@!87= ȿ))ȿ& @_תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029848.043165 s, next control iter: 1743029848.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029848.443165 s.5ÆeH~,5]!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065794< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743029848.443275F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\%@At|8[%@AW~? A5A&"AAM:kNA"AZAbAjArAzAAA pN69?A&rA\x@A;A^=AuA `A9ڿA*A9?2Aֽܲ:A=BA9?JAֽܲRA=٘i)I9x@YG JJJJJ;D&K  7YV~? 7y\RA:D7)wB[[5|@[,W~?[=P[[[[BZYY i) H:Ii@y9= ſ))ſ@iժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029848.463165 s, next control iter: 1743029848.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3347, header.stamp.nsec: 00 temperature: 13.385445* salinity: 33.391586, density: 1025.000000* values[0]: 0.705556F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029848.863165 s.+eH~,>7!AAfffff&@AHĔH2&@ASW~? A:Aw&"AAkNA"AZAbAjArAzAAAwc.?A/ȀrA`x@A;A٘=A *A`AmTۿAM*Ao9?2Aֽ:A=BAo9?JAֽRA=YCk@P$y٘=;ٓH j#?>  @os??)Ck@ I٘i)I9`x@Y+G JJJJJ;D&KHx> Y`V~?ytZRA$;Dŧ7b7V27){B-E[[}@[W~?[+U[[[[BZYY i) &9Ii4@u9= ÿ))ÿ @ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029848.883165 s, next control iter: 1743029849.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029849.283165 s.J "J *J 2J ;ReH~:J|4?,R!ABJ|4?nJA=5vJA ףp='@A+= '@ALW~? AK?A&"AAjNA"AZAbAjArAzAAA^kp2?A:SirAw@A";A@L=AAA]ܿA.*A9?2AZֽ:AX=BA9?JAZֽRAX=٘i)I9w@YG JLJJJJ;D&K YU~?y QA;D77{7N7)B[[@[JW~?[*Z[[[[BZYY i) x Ii@G:= ))﬘@ϪYFFF]m:Waiting for Gazebo time sync: latest Gz time: 1743029849.303165 s, next control iter: 1743029849.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3348., header.stamp.nsec: 0.0 temperature: 13.385680.* salinity: 33.391579., density: 1025.000000.* values[0]: 0.704512.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029849.703165 s.ԺeH~,m!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065794< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743029849.703325F (some fields omitted in printout)AGz(@A-xW'@AW~? A0DA&"AAjNA"AZAbAjArAzAAA ?A<frA:w@A;A=AAňAܿAh=*A9?2Aֽ:A1=BA9?JAֽRA1=٘i)I9:w@YxG J"B=JJJJ YU~?y#aPAm;D7777NA;Dŧ77Y47)B[[@[SV~?[o[[[[BZYYtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3351, header.stamp.nsec: 00 temperature: 13.386384* salinity: 33.391556, density: 1025.000000* values[0]: 0.701723F (some fields omitted in printout) i) DIi*@ D= _+))_+@eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029852.663165 s, next control iter: 1743029853.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029853.063165 s.eH~,[ D!AA.@A-.@AR#W~? AoAIs&"AAWiNA"AZAbAjArAzAAAA8rA8s@A5*h;A|ʉ=Ao A ߿A?A|*A9?2AZֽ:A=BA9?JAZֽRA=Y x@ yCʉ=h;ٓH@D[? `MZ%{S5Bm?j?) x@ I٘i)I98s@YG J厼C=J*JJJ Y]GU~?yENA ;D777Q7:B)BE[[m@[V~?[[[[[BZYY i) Iib@UD= s))s@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029853.083165 s, next control iter: 1743029853.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029853.483165 s.r_eH~,^!AJ"J*J2J:J3?BJ3?nJB<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075157< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743029853.483267F (some fields omitted in printout)Aq= ף/@A74eo/@AW~? AuA&"AAiNA"AZAbAjArAzAAA9ADrA(r@Ay+9A'6=A A.߿A A*A9?2AEֽ:A!d=BA9?JAEֽRA!d=٘i)I9r@YG JJJJJAܿA}AM㓼*AJ9?2A\ֽ:Aw#=BAJ9?JA\ֽRAw#=٘i)I9Wq@YG JőJJJJ=D&K YPU~?ybMA.2<JJJ+=D&K%x> YT~?y`jLADAa:irAWp@A -;At=ALA qۿA A;*A_9?2A"ֽ:A& =BA_9?JA"ֽRA& =٘i)I9Wp@YGG JC=JJJJ@=D&K Y0T~?yrULAY*A9?2AEֽ:A=BA9?JAEֽRA=٘i)I9n@YPG J1C=JJJJ=D&K YT~?yD,KA AC YT~?yaJA$ט!AJ"J*J2J:JBJnJvJAfffff;@Ab[>2;@AIV~? AөA&"AA5hNA"AZAbAjArAzAAA A7ArAQk@A ;AЪ=A(AIԿA@8A37*A<9?2Aֽ:A=BA<9?JAֽRA=Y^E@yϪ==;ٓHɮҿ@? g}ҿ@S@p?@t?)^E@ I٘i)I9Qk@Y8G JC=J"<JJJ>D&Kx> YdT~?y;HA=D7)үB[[@[V~?[j[[[[BZYY i) QYIi@IK= ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029859.383165 s, next control iter: 1743029859.763177 s, wait time: 0.380012 sdT~?);&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3358&, header.stamp.nsec: 0&0 temperature: 13.387936&* salinity: 33.391472&, density: 1025.000000&* values[0]: 0.695394&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029859.783165 s.c;fH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743029859.783307F (some fields omitted in printout)A ףp=<@A ƈD <@A>V~? A;۩ACR&"AAXhNA"AZAbAjArAzAAAܳC A1rA#j@AK;A=AhA6(ӿA`#kAļ*Aڠ9?2Ahֽ:Agp=BAڠ9?JAhֽRAgp=٘i)I9j@YG J¼JJJJ>D&K  7Y |T~? 7y¨7HA0=D)7b77)دB[[k @[E V~?[[[[[BZYY i) D¼Ii@BJ= Ӎ))Ӎf,@kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029859.803165 s, next control iter: 1743029860.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029860.203165 s.CfH~,! !AJ"J*J2J:JBJnJvJAGz=@AJ<@Az4V~? AAx&"AA5hNA"AZAbAjArAzAAA A4rATj@A Z;AO=ApA_GҿA`A !ȼ*AΝ9?2Aֽ:Ae=BAΝ9?JAֽRAe=٘i)I9j@YoG JƼJJJJ->D&K YsT~?y ˨GAE=DS77]87)ݯB[[ߓ@[V~?[[[[[BZYY i) ɼIi@!J= h))hڵ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029860.223165 s, next control iter: 1743029860.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029860.623165 s.TIfH~,P'!AAR=@A'ei=@A*V~? AAf1&"AAohNA"AZAbAjArAzAAA`JsAb.ҫrAJ^i@AjbA룯=AKAcѿAA]4ʼ*A 9?2A{ֽ:A=BA 9?JA{ֽRA=٘i)I9^i@YG J(ɼB=JJJJB>D&K YkT~?ywӨRGAZ=D)7)7 U7.B)B E[[Y@[7U~?[b[[[[BZYY i) IѼIi@!K= B))BT?@mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029860.643165 s, next control iter: 1743029861.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3359 , header.stamp.nsec: 0 0 temperature: 13.388215 * salinity: 33.391476 , density: 1025.000000 * values[0]: 0.694257 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029861.043165 s.PfH~,B!AJ"J*J2J:J1?BJ1?nJ]:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743029861.043304F (some fields omitted in printout)A(\>@AOc>@A.!V~? AA&"AA(ahNA"AZAbAjArAzAAA8WA#KCrAh@AxxdAʰ=AA@~пA`A˼*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9h@Y G J(˼C=JJJJX>D&K YTcT~?yۨFAp=Db7b7q7)B[[@[U~?[[[[[BZYY i*+) _ؼIi@K= ))ȧ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029861.063165 s, next control iter: 1743029861.443181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029861.463165 s.UWfH~,]!AA?@Ape?@AGV~? A3A &"AAAShNA"AZAbAjArAzAAA>AGfrAuh@ApAͱ=AA/ϿAmA<μ*A'9?2Aֽ:Ar=BA'9?JAֽRAr=YG@y ͱ=ٓH@xȿd?(``ERȿK|2t ?)G@ I٘i)I9h@Y7 G JͼJ!<JJJm>D&K1x> Y]T~?yhFA=D7^7)B[[/@[U~?[)[[[[BZYY i) >߼Ii@J= ;));Q@eYFFF]Waiting for Gazebo time sync: latest Gz time: 1743029861.503165 s, next control iter: 1743029861.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3360, header.stamp.nsec: 00 temperature: 13.388486* salinity: 33.391441, density: 1025.000000* values[0]: 0.693081F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029861.883165 s.y]fH~,4x!AJ"J*J2J:JBJnJvJA= ףp@@AE<@@AV~? AA w&"AAFhNA"AZAbAjArAzAAA܊+Nj}AyrAZg@AFA#=A/p߿A@`ͿA'FA&ϼ*Aj9?2A۹ֽ:A=BAj9?JA۹ֽRA=٘i)I9Zg@Y G J_μB=JJJJ>D&K Y_XT~?y"EA BC=D77 7)B[[=@[U~?[ [[[[ZZ¸BZYY i¸7=) ӼIi(@qJ= Ҁ))Ҁ8ۨ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029861.903165 s, next control iter: 1743029862.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029862.303165 s.[dfH~,g!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083114< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743029862.303281F (some fields omitted in printout)AzGA@A`X|A@AV~? AA&"AA9hNA"AZAbAjArAzAAAs7A(>sAf@A6=A=AܿAՏ˿AXjAvҼ*A9?2A:ֽ:A=BA9?JA:ֽRA=٘i)I9f@Yc G JмC=JJJJ>D&K YRT~?yyEA=Dj7Z77/B)BE[[B@[AU~?[[[[[ZZBZYY i) FǼIi@5J= Y}))Y}d@yKYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743029862.323165 s, next control iter: 1743029862.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3361*, header.stamp.nsec: 0*0 temperature: 13.388770** salinity: 33.391438*, density: 1025.000000** values[0]: 0.691870*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029862.723165 s. kfH~,I!AJ"J*J2J:JBJnJvJAQB@AA@AV~? AAAK&"AA.hNA"AZAbAjArAzAAAt6AnusAe@A9;A=AANڿAuɿAA:*A9?2Aoֽ:A;<BA9?JAoֽRA;<٘i)I9e@Y G JB=JJJJ>D&K YiMT~?ybEA=D7777`7.B)B E[[E̐@[ U~?[[[[[ZZBZYY i) һIi@b4J=  y)) y@@yx=:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029862.743165 s, next control iter: 1743029863.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029863.143165 s.T/rfH~,)ə!AA)\B@AvB@AU~? AAó&"AA=#hNA"AZAbAjArAzAAAjlAC sA e@AM;AY=A׿AnǿAA4*Aء9?2A*iֽ:A4<BAء9?JA*iֽRA4<٘i)I9 e@Ye G J C=JJJJ>D&K  8YGT~? 8yDA=Db778)B[[U@[YU~?[[[[[ZZBZYY i) 8ԯIi%@nJ= %t))%tw@y=ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029863.163165 s, next control iter: 1743029863.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029863.563165 s.xfH~,_ !AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083114< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743029863.563309F (some fields omitted in printout)AC@A~C@APU~? AA&"AA'hNA"AZAbAjArAzAAA(AOzsAi3d@A;A@Uw=AտA ƿAA*A9?2Arֽ:Ar<BA9?JArֽRArD&Kw> YHET~?y8DAտ=D{7j78) B[[Lߑ@[U~?[#[[[[ZZBZYY i) Iij@}I= tp))tpG@IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029863.603165 s, next control iter: 1743029863.963181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3362, header.stamp.nsec: 00 temperature: 13.389093* salinity: 33.391418, density: 1025.000000* values[0]: 0.690407F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029863.983165 s.fH~,!AAq= ףD@AoD@ArU~? A'A &"AAhNA"AZAbAjArAzAAA]!A۔WFsArc@AS?:Ad3=A}ҿAF2ĿA@ACм*AE9?2Azֽ:A?X;BAE9?JAzֽRA?X;٘i)I9rc@Ym G JmJJJJ>D&K YBT~?yCA>D777080B)B E[[i@[U~?['*[[[[ZZBZYY i) IIiܜ@pH= M&l))M&l@{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029864.003165 s, next control iter: 1743029864.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029864.403165 s.&fH~,!AJ"J*J2J:JBJnJvJAGzE@AFE@AU~? A/A &"AANhNA"AZAbAjArAzAAAUD_A¯tsAb@AQA#<AϿA U¿AA*AD9?2A tֽ:A@غBAD9?JA tֽRA@غ٘i)I9b@Y G JB=JJJJ?D&K Y?T~?yU!CA>D77{7+8)B[[%@[U~?[0[[[[ZZBZYY i) Ii}@BNH= g))g @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029864.423165 s, next control iter: 1743029864.803178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3363&, header.stamp.nsec: 0&0 temperature: 13.389400&* salinity: 33.391411&, density: 1025.000000&* values[0]: 0.689038&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029864.823165 s.fH~,-4!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083114< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743029864.823296F (some fields omitted in printout)AQF@AusF@ACU~? A7AuN &"AAgNA"AZAbAjArAzAAAcA sAPb@AeAs!<AHͿA AwAA*Aޱ9?2Afֽ:ABAޱ9?JAfֽRA٘i)I9Pb@Y G J{C=JJJJ?D&K YU=T~?y*>CA1>Db7798)B[[8}@[U~?[W7[[[[ZZBZYY i) cIiL@fH= =c))=c3@uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029864.843165 s, next control iter: 1743029865.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029865.243165 s.fH~,qO!AJ"J*J2J:JBJnJvJA\(G@A[F@AU~? Ax?Ah &"AAgNA"AZAbAjArAzAAA鿵AJ>%$sAa@AAC»AʿA,A *A/*A9?2Az`ֽ:ABA9?JAz`ֽRA٘i)I9a@Y G J^JJJJ/?D&K Y:T~?y2BAF>D71H82B)"B E[[l@[U~?[=[[[[ZZBZYY i) nIiI@ H= 3_))3_g)@w(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029865.263165 s, next control iter: 1743029865.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029865.663165 s.fH~,qj!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3364, header.stamp.nsec: 00 temperature: 13.389631* salinity: 33.391415, density: 1025.000000* values[0]: 0.688193F (some fields omitted in printout)AH@A+G@A'U~? AtGA &"AAggNA"AZAbAjArAzAAA F*JA%Wz)sAa@A18AAȿAmeA=A>eŻ*A{9?2Ajֽ:AmeBA{9?JAjֽRAmeY{@8ȿy诧8ٓH R? ?e?@ ?@? ? $g@@?){@ I٘i)I9a@Y_ G J JEJJJD?D&Kw> Y:T~?y;CAȿ\>DV8)$B[[k@[ U~?[D[[[[ZZBZYY iq=) )\Ii]@EF= Z))Zf@l)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029865.683165 s, next control iter: 1743029866.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029866.083165 s.DfH~,R!AJ"J*J2J:J-0?BJ-0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.059043< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743029866.083301F (some fields omitted in printout)Ap= H@AۢH@AU~? AuOA{ &"AAgNA"AZAbAjArAzAAAVU$A2c.sA̚a@Aߝ:AА AyſA@ALAJɺ*AЙ9?2Aֽ:A ӼBAЙ9?JAֽRA Ӽ٘i)I9a@YN G J JJJJZ?D&K Y;T~?yD$CAq>Db7d8)%B[[@[U~?[8K[[[[BZYY i=) |JIi@E= V))V=@7*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029866.103165 s, next control iter: 1743029866.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029866.503165 s.fH~,P4!AAHzI@AձJyI@A$U~? A{WA5 &"AAmgNA"AZAbAjArAzAAAӔEAuVq3sAןa@A;A8 7A¿A˱A`YAc;*A9?2Aֽ:ANQBA9?JAֽRANQ鼙٘i)I9a@YQ G J@:JJJJo?D&K YU;T~?yZM@CA>D)7ŧ71s8)[[h@[U~?[Q[[[[BZYY i) Ϯ8Ii@5E= ;R));RcȮ@u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029866.523165 s, next control iter: 1743029866.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3365, header.stamp.nsec: 00 temperature: 13.573383* salinity: 33.374969, density: 1025.000000* values[0]: 0.566810F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029866.923165 s.9fH~,!AJ"J*J2J:JBJnJvJAQJ@APJ@AU~? A_AZB &"AAgNA"AZAbAjArAzAAAp *o`A Y8sAa@Ah,;A,[AU@AA@QdAMk;*A9?2Aֽُ:A`\BA9?JAֽُRA`\٘i)I9a@Yg G J;B=JJJJ?D&K Y;T~?y.V\CA CC>Dj7Z784B)&BE[[O1@[5U~?[X[[[[BZYY i) &Ii@ǹD= M))MJS@y&z=@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029866.963165 s, next control iter: 1743029867.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029867.343165 s. elevatorAngleAction: 0.069773< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743029867.343275F (some fields omitted in printout)A(\K@Ae'K@A=U~? AgA9&"AAgNA"AZAbAjArAzAAAZtA .D=sAb@A<;AP/zAVAcAAlA3<*A]9?2Awֽ:A]WBA]9?JAwֽRA]WeI٘i)I9b@Y G J<C=JJJJ?D&K Y;T~?y_xCA>D{7܏8)$B[[1@[U~?[>_[[[[BZYY i) Ii@EzD= uI))uI,ޯ@I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029867.363165 s, next control iter: 1743029867.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3366&, header.stamp.nsec: 0&0 temperature: 13.573343&* salinity: 33.374977&, density: 1025.000000&* values[0]: 0.566930&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029867.763165 s.7fH~,!AJ"J*J2J:J"?BJ"?nJ/5vJA33333L@A@-K@AU~? AoA&"AArgNA"AZAbAjArAzAAA;=bA /BsAWb@AnAwGAnAA@qAg<*A9?2AUֽ:A BA9?JAUֽRA Y.G@mysG'9oٓHԻ?G?]-z??`%?M?).G@ I٘i)I9Wb@Y G JK<JJJJ?D&Kw> Y>T~?ygCA>D7{728+B)B[[&ǿ[U~?[e[[[[BZYY ih=) Iif@C= [ֽ:ARBA9?JAy>ֽRAR٘i)I9b@Y G J|<JJJJ?D&K YAT~?yp1DA>D778)BE[[Ŀ[U~?[l[[[[BZYY i) BIiz@A= @))@@2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029868.223165 s, next control iter: 1743029868.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029868.603165 s.84fH~,&!AJ"J*J2J:J>?BJ>?nJL5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056850< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743029868.603283F (some fields omitted in printout)A{GM@AN#M@ASU~? AA&"AAqgNA"AZAbAjArAzAAAWM Aq LsA=c@A&A0AA@Q.s?A%uAiʝ<*A&9?2ABֽ:ABA&9?JABֽRA٘i)I9=c@YM G J<JJJ5EJ?D&K YET~?yEyDA>D77{7ݺ8)B[[¿[}U~?[;s[[[[BZYY i) ˻Ii@@= [<))[<[<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029868.623165 s, next control iter: 1743029869.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3367 , header.stamp.nsec: 0 0 temperature: 13.573169 * salinity: 33.374958 , density: 1025.000000 * values[0]: 0.567363 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029869.023165 s.ZfH~,|A!AAQN@AU&N@AU~? A؇A;/&"AAgNA"AZAbAjArAzAAA,* Ap{xPsAc@A"~A^APA?A sA̩<*A-9?2Aaֽ:A^:BA-9?JAaֽRA^:٘i)I9c@Y G JO<JJJJ?D&K YHT~?yDA?D7728) B[[U[U~?[y[[[[BZYY i) ̬Ii/@<@= 68))6868y)i=\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029869.043165 s, next control iter: 1743029869.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029869.443165 s.1fH~,%]\!AJ"J*J2J:JBJnJvJA(\O@A}˜.[O@AU~? A鏪A&"AAgNA"AZAbAjArAzAAA|{AUsAvYd@AT[AA૰A~?AoA<*A9?2Aֽ:Am BA9?JAֽRAm ٘i)I9Yd@Y G J<JJJJ@D&K Y(KT~?yȊEEA?Db778)B[[u[PU~?[[[[[BZYY i=) Iiϕ@I?= 3))33O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029869.483165 s, next control iter: 1743029869.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3368, header.stamp.nsec: 00 temperature: 13.572927* salinity: 33.374962, density: 1025.000000* values[0]: 0.567988F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029869.863165 s.+fH~,>w!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066183< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200632 time: 1743029869.863329F (some fields omitted in printout)AfffffP@A66;2P@A+U~? AA5&"AAqgNA"AZAbAjArAzAAA「iArZsAd@Aj;AGA|A^?A SiA<*A9?2A~ֽ:ABA9?JA~ֽRAY@_yFj;ٓH@?@I? ӓ@p3?IJ?d?@m?i?)@ I٘i)I9d@YT G J<JbJJJ@D&K x> YQT~?ycEA3?DZ7SI78,B)BE[[IK[CU~?[>[[[[BZYY i) kP_Ii@>= /))//*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029869.883165 s, next control iter: 1743029870.263176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029870.283165 s.4RfH~,!AJ"J*J2J:J}?BJ}?nJ5vJA ףp=Q@AfS Q@A-U~? AAV&"AA gNA"AZAbAjArAzAAAR-QAcH._sAe@Aw;AAgA?A0`Ar<*A9?2Aֽ:AKBA9?JAֽRAK٘i)I9e@Y G J<JJJJ1@D&K YVT~?yFAH?Db7738)B[[[U~?[捩[[[[BZYY i) %#Iin@ɶ<= -+))-+-+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029870.303165 s, next control iter: 1743029870.683174 s, wait time: 0.380009 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 33696, header.stamp.nsec: 060 temperature: 13.5726366* salinity: 33.3749666, density: 1025.0000006* values[0]: 0.5686616F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029870.703165 s.ԺfH~,!AAGzR@A XQ@AU~? AAٹ&"AAvgNA"AZAbAjArAzAAA&Ýf2AVdsAf@AI;AAsϨA `O?ATA3<*A9?2Aֽ:ABA9?JAֽRA٘i)I9f@Y G J<JJJJF@D&K  8Y\T~? 8y~FA]?D)7ŧ78)B[[o[FU~?[[[[[BZYY i) vͺIi@+;= &))&&d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029870.723165 s, next control iter: 1743029871.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029871.123165 s.:fH~,iǛ!AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066183< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743029871.123280F (some fields omitted in printout)ARR@AdVR@AU~? AA&"AAgNA"AZAbAjArAzAAAhU? A8XisAf@Aw:A&A<A?AFA<*Aú9?2Aֽ:ABAú9?JAֽRA٘i)I9f@Y_ G JD<JJJJ\@D&K YbT~?y5FAs?Dj7j78)B[[[VU~?[9[[[[BZYY i) W+IiǑ@g:= q"))q"q"yR=*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743029871.143165 s, next control iter: 1743029871.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029871.543165 s.IfH~,!AA(\S@Ax$^S@A\U~? AA&"AAgNA"AZAbAjArAzAAAٽ8AbU~PfnsAo2g@AK1AAЪAܻ?A 6A*j<*A'9?2Aֽ:ABA'9?JAֽRA٘i)I92g@Y G Jڨ<JJJJq@D&K YhT~?yѵNGA DC?D{7{738)BE[[񏳿[U~?[⡩[[[[BZYY i) <9Ii:@{9= ))u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029871.563165 s, next control iter: 1743029871.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3370, header.stamp.nsec: 00 temperature: 13.572368* salinity: 33.374981, density: 1025.000000* values[0]: 0.569374F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029871.963165 s.yfH~,!AJ"J*J2J:JBJnJvJAT@Ai{eT@AxU~? A A&"AAwgNA"AZAbAjArAzAAA҅}AWoLDssA׽g@A7AA_A?A!#A<*A=9?2A/yֽ:ABA=9?JA/yֽRAYjʙ@x yxٓH ԣ?`s?V琿`_`?g?@Zܱ?Fu`?)jʙ@ I٘i)I9g@Y G J<B=Ji<JJJ@D&Kx> YgqT~?y3GA ?D-8-B)BE[[b[U~?[}[[[[BZYY i) :Iiŏ@8= c))cc*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029871.983165 s, next control iter: 1743029872.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029872.383165 s.gH~,@!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066183< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743029872.383264F (some fields omitted in printout)A= ףpU@AI&"AA gNA"AZAbAjArAzAAA!wA͌xsAEh@AAAtyA`?A AD<*A9?2Aֽ:AyBA9?JAֽRAy٘i)I9Eh@Y] G J<C=JJJJ@D&K YzT~?yƩHA?Db7b7;8)B[['2[U~?[[[[[BZYY i) U ;Ii@5e6= sT))sTsT*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029872.403165 s, next control iter: 1743029872.783180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3371", header.stamp.nsec: 0"0 temperature: 13.572079"* salinity: 33.374973", density: 1025.000000"* values[0]: 0.570043"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029872.803165 s.J "J *J 2J :J ?BJ ?nJ 5vJ ~A gH~,g3!AAzGV@A[{V@A?U~? AϪAS&"AAmhNA"AZAbAjArAzAAAZ9A|sAh@AQwA@AכA`?AA<*Ax9?2Aֽ:ABAx9?JAֽRA٘i)I9h@Y G Jޜ<JJJJ@D&K YǂT~?yΩnHA?D773J8)B[[-[ elevatorAngleAction: 0.066183< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743029873.643283F (some fields omitted in printout)A)\W@A辜W@AU~? AߪAnz%"AAhNA"AZAbAjArAzAAA{LAX"sAi@A,̠;A AjAUO?A CAQ<*Ad9?2Aֽ:A BAd9?JAֽRA 󼙘٘i)I9i@YEG J<JJJJ@D&K Y(T~?yߩ.IA?D88f8/B)BE[[[qU~?[©[[[[BZYY i) qf;Iiŋ@2= O))OO(T~?)ߩ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029873.663165 s, next control iter: 1743029874.043174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3372, header.stamp.nsec: 00 temperature: 13.571806* salinity: 33.374966, density: 1025.000000* values[0]: 0.570652F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029874.063165 s. gH~,g !AAX@A@ϝX@AU~? AqA%"AAGhNA"AZAbAjArAzAAAbz;DXA>HPsA :j@AO;AAAA)?AڞA@<*A9?2Aֽ:A&BA9?JAֽRA&YB @yŎ;ٓH?I? ޟg: 8? p?@Ѯ?@u?x?)B @ I٘i)I9:j@YG J<J3<JJJ@D&K/x> YT~?yIA @D{7j74u8)ݯB[[-e[U~?[oɩ[[[[BZYY i;=) ;Ii$@0= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029874.083165 s, next control iter: 1743029874.463181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029874.483165 s.t_'gH~,잜!AJ"J*J2J:JBJnJvJAq= ףY@A?W[oY@AV~? A3AI%"AA(hNA"AZAbAjArAzAAAAHuZA0 sA%j@A@;AfA`A?A}AMΊ<*AG9?2Aeֽ:A5BAG9?JAeֽRA5٘i)I9j@YG Jd<JJJJAD&K YT~?yIA@D77{78)ٯB[[0[V~?[ϩ[[[[BZYY i) ;Ii@S.= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029874.503165 s, next control iter: 1743029874.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3373, header.stamp.nsec: 00 temperature: 13.571549* salinity: 33.374985, density: 1025.000000* values[0]: 0.571241F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029874.903165 s.-gH~,͹!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077422< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743029874.903331F (some fields omitted in printout)AGzZ@ANDFZ@A V~? AAk%"AA4hNA"AZAbAjArAzAAA,ANm”sA6"k@AzAuArΎA?A@XAϰ<*A|9?2ARֽ:A$.BA|9?JARֽRA$.٘i)I9"k@YG J<JJJJAD&K YJT~?y elevatorAngleAction: 0.077422< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743029876.163283F (some fields omitted in printout)A]@AN\@A&V~? A A%"AAwZhNA"AZAbAjArAzAAAAAH-RsA xl@AduAAA.?AA<*AV9?2Acֽ:ABAV9?JAcֽRAYN@yuٓH?H?𕞿??ծ? .?nx?)N@ I٘i)I9xl@YG JJ<B=JJJJ^AD&Kx> YT~?yKKAt@D7781B)ͯB#E[[P[V~?[[[[[BZYY i) . elevatorAngleAction: 0.077422< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743029877.423279F (some fields omitted in printout)AQ_@A,P_@AzEV~? A$A=%"AAhNA"AZAbAjArAzAAA+ A*͆KsAm@AZ;A Au:~A ?A`KA<*Af9?2A!ֽ:AD BAf9?JA!ֽRAD ٘i)I9m@YG J<JJJJAD&K YU~?y&`LA@Db778)įB[[ɝ[8V~?[[[[[BZYY i) f]M%u'sAn@A_Sf:A AtsA`s?A A<*A?9?2A[ֽ:A BA?9?JA[ֽRA Y@sy f:ٓH}?n?R`o ? j?P?kL??)@ I٘i)I9n@Y[G J<B=JJJJAD&Kw>  8Y$#U~? 8y5#MAs@Dŧ7b784B)B+E[[9"[JV~?[ [[[[BZYY i) V| elevatorAngleAction: 0.077422< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743029878.683288F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= b@A a@AehV~? A9A%"AA^hNA"AZAbAjArAzAAA)4#A$ sAZo@ADAjA"nA J?AA<*A79?2AZֽ:AoBA79?JAZֽRAo٘i)I9Zo@YG J<C=JJJJAD&K Y~3U~?y<MA@D77{785B)B.E[[C䍿[TV~?[[[[[BZYY i)  elevatorAngleAction: 0.086903< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200602 time: 1743029879.943315F (some fields omitted in printout)A(\d@Am2[d@A|V~? ANA%"AAxhNA"AZAbAjArAzAAA 2FgAZUNsA%q@AAA_A}?AAAi<*A9?2Aֽ:AIBA9?JAֽRAI٘i)I9q@YG J<JJJJBD&K YdU~?y4RNA5AD77{7=87B)B2E[[[-tV~?[="[[[[BZYY i) hN))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029879.963165 s, next control iter: 1743029880.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029880.363165 s.gH~,>!AJ"J*J2J:J?BJ?nJ=5vJAfffffe@A@>2e@AkV~? AvUAr%"AA9 iNA"AZAbAjArAzAAA#7A wsAQq@A ;AAYAL?AhA[<*AX9?2A&ֽ:ABAX9?JA&ֽRAYXѦ@|Yyn ;ٓH??%>@f?o? ?@6@a? ?)XѦ@ I٘i)I9q@Y G JϬ<J'JJJ5BD&K$x> Y0wU~?yX&OAYKAD7L8)B5E[[ք[OV~?[>([[[[BZYY i)  elevatorAngleAction: 0.086903< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743029881.203289F (some fields omitted in printout)AGzg@Ad]Kf@AV~? AbAk%"AA5iNA"AZAbAjArAzAAAf-Kg?AݞsAr@A|#;A elevatorAngleAction: 0.086903< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743029882.463310F (some fields omitted in printout)Ai@Atei@AV~? A"vA%"AA{iNA"AZAbAjArAzAAAɐ A.MisAt@A莖AA+@Ah?A 9GA<*A9?2Aս:ABA9?JAսRAY @j@yٓH`R??>`@Df? J?˭?r|?) @ I٘i)I9t@YG J<B=JyJJJBD&Ku> YBU~?yKyIQA@AD)7ŧ78;B)B?E[[#r[V~?[E[[[[BZYY i) G J<C=JJJJBD&K YU~?yJQAAD7788)B[[;\A sA|u@AbiAA5Aq?AvA3<*A9?2AԽ:A5uBA9?JAԽRA5u٘i)I9u@YG J9<JJJJBD&K YU~?yI3RAAD8)BBE[[Si[V~?[Q[[[[BZYY i) a elevatorAngleAction: 0.086903< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743029883.723306F (some fields omitted in printout)AQl@Ak@ASW~? AA%"AAiNA"AZAbAjArAzAAA\މ7*AΫsAv@A贐9AA0A@?A`ZA%<*A9?2Aս:A\&BA9?JAսRA\&dI٘i)I9v@YG J<B=JJJJBD&K Y,V~?yIRAADŧ7b78w@A;AyAr+A+"?AA<*AG9?2A0fս:ABAG9?JA0fսRA٘i)I9>w@Y{G JC<C=JJJJBD&K Y(V~?yHSA BDZ7SI798=B)BFE[[J`[V~?[E\[[[[BZYY i)  YB?V~?ySA[&!BDŧ7ŧ78>B)~BIE[[Ӭ[[W~?[a[[[[ZZZZ¸>BZYY i¸>6) !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241963@ elevatorAngleAction: -0.083601< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743029884.983295F (some fields omitted in printout)Aq= ףn@Aon@A~RW~? AA5-%"AAjNA"AZAbAjArAzAAA^EӿA( EsADx@Ać;AhAD!A?A`]Aa<*A%9?2Aս:Af6BA%9?JAսRAf6٘i)I9x@YVG J<B=JJJJ!CD&K YUV~?y웪TA7BDb778)yBLE[[W[W~?[g[[[[ZZZZBZYY i) Խ:A?BAH9?JA>ԽRA?٘i)I9Rz@Y[G J1=JJJJLCD&K  8YV~? 8yUAaBDŧ7b78?B)mBOE[[M[n2W~?[q[[[[ZZZZBZYY i) ; Y/V~?y}UA GCBDb779#8BB)bBVE[[,D[mSW~?[{[[[[ZZZZBZYY i:) ;B=J8>JJJCD&Kyr> Y"+W~?yƪVABD77j8)TB[[+;,[PW~?[8[[[[BZYY inj) kU)) `>`>ycoYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743029889.203165 s, next control iter: 1743029889.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029889.603165 s.J ;4hH~"J*J2J,f!A:J?BJ?nJ-5vJA{Gw@A=w@A3X~? AyЫA|%"AA0kkNA"AZAbAjArAzAAAE@A17itA}@AucAYV=AҾA?AvؿA^*A:?2ASӽ:AE<BA:?JASӽRAE<٘i)I9}@YjG JJJJJDD&K Y^W~?ysΪ1VA#CD)7)78DB)VBfE[["[AW~?[I[[[[BZYY i) gw2)) @ >@ >y'c0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029889.623165 s, next control iter: 1743029890.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3388 , header.stamp.nsec: 0 0 temperature: 13.566547 * salinity: 33.375134 , density: 1025.000000 * values[0]: 0.581801 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029890.023165 s.Z hH~,{!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067417< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743029890.023291F (some fields omitted in printout)AQx@Aиp x@AIX~? AԫA%"AAȌkNA"AZAbAjArAzAAAk{b @AM8tA,{}@A`Aڐt=AȾAB?A׿A,)*A:?2AIӽ:AJ^=BA:?JAIӽRAJ^=٘i)I9{}@YGG J JJJJ#DD&K YwW~?yJҪVA8CDb7b78FB)ZBjE[[s[W~?[[[[[BZYY i)  ))->->y喋˧YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029890.043165 s, next control iter: 1743029890.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029890.443165 s.<&hH~,S]!AJ"J*J2J:J?BJ?nJ)5vJA(\y@A.;1[y@A`X~? AثA4R%"AAŮkNA"AZAbAjArAzAAA<#⣌-@AtA)}@AL4Av=A2A}?A ׿A!]*A~:?2Aӽ:A =BA~:?JAӽRA =٘i)I9)}@YG JdAJJJJ9DD&K YW~?y"֪UANCD777:8)]BmE[[7[W~?[[[[[BZYY i) ))VA>VA>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029890.483165 s, next control iter: 1743029890.843183 s, wait time: 0.360018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3389, header.stamp.nsec: 00 temperature: 13.566538* salinity: 33.375118, density: 1025.000000* values[0]: 0.581657F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029890.863165 s.+-hH~,>!AAfffffz@A>2z@A^wX~? AܫA%"AA%kNA"AZAbAjArAzAAA W @A`M tAD|@AL:Aя=A೾A ׵?A&>ֿAY*A:?2A70Խ:AT=BA:?JA70ԽRAT=Yp϶@mճy}я=F :ٓH?@e? °?@0տ ? 噿g S??)p϶@ I٘i)I9|@YG J rJ=JJJNDD&Kq> YW~?y*٪yUAճcCD778)`B[[s[ X~?[)[[[[BZYY ij) ^'))pT>T>ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029890.903165 s, next control iter: 1743029891.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743029891.283165 s.5R4hH~,Ҡ!AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.234984@ elevatorAngleAction: -0.057286< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743029891.283309F (some fields omitted in printout)A ףp={@AB"L {@AoX~? AWA%"AAkNA"AZAbAjArAzAAAcO @AC<#tA}M|@AT0;A=AA&?A@jտAc*A:?2AܡԽ:A4=BA:?JAܡԽRA4=٘i)I9M|@YG JhJJJJdDD&K YW~?y1ܪUA HCyCD77{78)dBpE[[[5"X~?[8[[[[BZYY i) 1;Ii @< _h>))I_h>_h>ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029891.303165 s, next control iter: 1743029891.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3390., header.stamp.nsec: 0.0 temperature: 13.566635.* salinity: 33.375141., density: 1025.000000.* values[0]: 0.581259.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029891.703165 s.ֺ:hH~,!AAGz|@AqQe{@AX~? AA~q%"AA lNA"AZAbAjArAzAAAbW$ @A]q%tA<{@A;A࿚=AA(?A5ԿAKQ*A*:?2Aҽ:A{=BA*:?JAҽRA{=٘i)I9{@Y>G JB=JJJJyDD&K YW~?y9ߪTACD77=8GB)hBsE[[ [7X~?[0[[[[BZYY i)  ;Ii?< $|>)) $|>$|>6ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029891.723165 s, next control iter: 1743029892.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029892.123165 s.J "J ;AhH~*J2J,m!A:J?BJ?nJ5vJAR|@AѕT|@ANX~? AkA7,%"AA:lNA"AZAbAjArAzAAA|}@Aʎ'tA8{@Ap;A=AA!\?A`ӿA虮*A9:?2A#ҽ:A =BA9:?JA#ҽRA =٘i)I98{@YG J%C=JJJJDD&K YW~?y@XTACD778)mBvE[[g [9LX~?[[[[[BZYY i) 7;Ii?XĞ< >))>>yj֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029892.143165 s, next control iter: 1743029892.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029892.543165 s.IHhH~,"!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057286< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743029892.543285F (some fields omitted in printout)A(\}@Aa}@AX~? AA%"AAc^lNA"AZAbAjArAzAAAI @A }])tAz@AwJA?f=ASAঌ?A*ҿA*A-?:?2AQӽ:Ad =BA-?:?JAQӽRAd =٘i)I9z@YG JϰJJJJDD&K YX~?yHSACDb778)rByE[[ [aX~?[ҹ[[[[BZYY i) m;IiJ?Am< @ >))@ >@ >ժYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029892.563165 s, next control iter: 1743029892.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3391, header.stamp.nsec: 00 temperature: 13.566784* salinity: 33.375130, density: 1025.000000* values[0]: 0.580697F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029892.963165 s.wNhH~,=!AJ"J*J2J:J?BJ?nJ5vJA~@A?=xe~@AX~? AA%"AAlNA"AZAbAjArAzAAA%^>@A P+tAz@AqEA/=A〾A`ܻ?A ҿA*A=C:?2A.`Խ:A"=BA=C:?JA.`ԽRA"=Y @j yW/=;ٓH???Dz? Ͽ? qQ Y!`(p?) @ I٘i)I9z@Y1G JJ\2<JJJDD&Kq> Y0X~?yzSA CDb7<8)wB|E[[/[^wX~?[i[[[[BZYY i) N;Ii(?< 1>))o1>1>ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029893.003165 s, next control iter: 1743029893.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029893.383165 s.UhH~,@X!AA= ףp@A$<@A=Y~? AA(m%"AAlNA"AZAbAjArAzAAAkzd@A=a-tAvzy@AAA^=AlAF?A+ѿAW*AvF:?2Aս:A=BAvF:?JAսRA=٘i)I9zy@YG J:JJJJDD&K  8YTLX~? 8y)SACD778)|B[[2[WX~?[[[[[BZYY iBۇ) :5;Ii?< >))zま>>ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029893.403165 s, next control iter: 1743029893.783180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3392&, header.stamp.nsec: 0&0 temperature: 13.566952&* salinity: 33.375134&, density: 1025.000000&* values[0]: 0.580082&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029893.803165 s.wA\hH~,{gs!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.253689@ elevatorAngleAction: -0.066336< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419975J2 time: 1743029893.803271"JF (some fields omitted in printout)*J2J:JBJnJvJAzG@Aqo~@AY~? AAY3%"AAlNA"AZAbAjArAzAAA?֋@Aޝ"/tAx@AA =AXA?A?пA*Ap:?2Aҽ:A<BAp:?JAҽRA<٘i)I9x@Y~G J>JJJJDD&K YgX~?yRACD7778HB)BE[[="[X~?[GĪ[[[[BZYY i) î:IiW?< y>))y>y>ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029893.823165 s, next control iter: 1743029894.203175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029894.223165 s.gchH~,H!AAQ@A9Վꀪ@A46Y~? AAz%"AAlNA"AZAbAjArAzAAA @AD:0tA[x@APk~A:=ASEA`dB?AοA+*A{:?2Alҽ:A<BA{:?JAlҽRA<٘i)I9[x@Y(G J JJJJDD&K YX~?y\RADD77j7=%8)BE[[U׾[sX~?[Ǫ[[[[BZYY i) s9Ii?{< a#>)) a#>a#>êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029894.243165 s, next control iter: 1743029894.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029894.643165 s.yihH~,*!AJ"J*J2J:JY?BJY?nJ5vJA)\@A'|@ANY~? A#A{%"AALmNA"AZAbAjArAzAAAU @AժN_2tAw@AC;AŊ=AH1A`h?A@ͿAya*At:?2A1ҽ:Ai<BAt:?JA1ҽRAi<٘i)I9w@YG J!JJJJED&K YXX~?yBQA$DD7738SB)BE[[;[X~?[ʪ[[[[BZYY i) " Ii?~< Y>))Y>Y>y ӇYY܁YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3393, header.stamp.nsec: 00 temperature: 13.567102* salinity: 33.375168, density: 1025.000000* values[0]: 0.579484F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743029894.663165 s, next control iter: 1743029895.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029895.063165 s.phH~,R ġ!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066336< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743029895.063265F (some fields omitted in printout)Â@AÜ@AgY~? AA_%"AA;mNA"AZAbAjArAzAAA: w@A.3tAOw@A;A=A~A ˋ?A`U˿A *Af:?2A Uӽ:At<BAf:?JA UӽRAt<٘i)I9Ow@YG J朼JJJJ%ED&K YX~?ytQA:DDŧ77A8)BE[[~þ[X~?[ͪ[[[[BZYY i) Ii?v< >))>>YYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029895.103165 s, next control iter: 1743029895.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029895.483165 s.w_whH~,ޡ!AJ"J*J2J:JG?BJG?nJ{5vJAq= ף@Ao@AY~? AA1i%"AAamNA"AZAbAjArAzAAAk2?@A"?5tAv@AY;A3=AA '?AɿA#T*A:?2An&Խ:A_<BA:?JAn&ԽRA_<٘i)I9v@Y8G JmJJJJ;ED&K YX~?y'QAODD))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029895.523165 s, next control iter: 1743029895.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3394, header.stamp.nsec: 00 temperature: 13.567239* salinity: 33.375202, density: 1025.000000* values[0]: 0.578957F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029895.903165 s.}hH~,!AAGz@A- F@AY~? AA>%"AA҇mNA"AZAbAjArAzAAA~,]^q@A(6tATVv@A0!:A幃=Ao{A?A+ǿAhi*A{:?2AԽ:A?<BA{:?JAԽRA?<٘i)I9Vv@YG JJJJJPED&K Y`X~?yPAdDD)7b7^8RB)BE[[yɮ[Y~?[[Ӫ[[[[BZYY i)  %XIi|?Oj< =V>))=V>=V>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029895.943165 s, next control iter: 1743029896.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029896.323165 s.J "J *J hH~2J,l!A:J%?BJ%?nJW5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066336< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743029896.323287F (some fields omitted in printout)AQ@A@ApY~? AA%"AAmNA"AZAbAjArAzAAAWƱ@AP7tAu@A A e=A A?AFſAH *Av:?2A˦ս:Ap@<BAv:?JA˦սRAp@<٘i)I9u@YG JዼJJJJfED&K Y Y~?y YPA ICzDD{7j7l8)B[[_[!1Y~?[ժ[[[[BZYY i) BIi?υf< >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029896.343165 s, next control iter: 1743029896.723183 s, wait time: 0.380018 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3395*, header.stamp.nsec: 0*0 temperature: 13.567329** salinity: 33.375187*, density: 1025.000000** values[0]: 0.578458*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029896.743165 s.WhH~,`/!AA\(@A뤾@AY~? AA%"AAmNA"AZAbAjArAzAAAk}V@Aj]8tAgou@ASLAƔ=A^A?A` ĿAl*Aq:?2A-ֽ:AJ<BAq:?JA-ֽRAJ<٘i)I9ou@YaG JJJJJ{ED&K Y'Y~?y<OADD77<{8)BE[[I[IY~?[kت[[[[BZYY i) OtIi?Kc< m1>))m1>m1>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029896.763165 s, next control iter: 1743029897.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029897.163165 s.J "J *J 2J :J ?BJ ?nJ 75vJ }hH~,qJ!AA@Aˆ@AsY~? AeA%"AA6mNA"AZAbAjArAzAAA;*T@A_9tAu@A$RA5=AJQA`L?A`)¿A*Am:?2Aֽ:A<BAm:?JAֽRA YICY~?yOARDD78)BE[[%[aY~?[ڪ[[[[BZYY iš) ǻIif?iEV< H3?))2cH3?H3?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029897.183165 s, next control iter: 1743029897.563181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029897.583165 s.hH~,Se!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.221874@ elevatorAngleAction: -0.078989< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743029897.583307F (some fields omitted in printout)Ap= ׇ@AɊᢇ@AZ~? AAN%"AA"nNA"AZAbAjArAzAAA3?AHACゼ*A&h:?2Abֽ:A+'<BA&h:?JAbֽRA+'<٘i)I9t@YG JĂC=JJJJED&K Y_Y~?y$EOADD8)BE[[l[QzY~?[ܪ[[[[BZYY i) &oIi?RJ< rY?))rY?rY?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029897.603165 s, next control iter: 1743029897.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3396, header.stamp.nsec: 00 temperature: 13.567431* salinity: 33.375198, density: 1025.000000* values[0]: 0.578007F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029898.003165 s. hH~,4!AJ"J*J2J:J?BJ?nJ(5vJAHz@Ay@AZ~? A2Aߔ%"AAHnNA"AZAbAjArAzAAA{#X? @A";tA%t@AC:A=A<A@BL?A`5A?*A:?2A-ӽ:Az<BA:?JA-ӽRAz<٘i)I9%t@YG JJJJJED&K Y{Y~?yNADDj7Z7>8)BE[[+v[*Y~?[ު[[[[BZYY i) vIi?u?< P ?)) P ?P ?UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029898.043165 s, next control iter: 1743029898.403195 s, wait time: 0.360030 s rAdjusting time to match Gazebo time: 1743029898.423165 s.uhH~,!AAQ@AP@A3Z~? AZ A|%"AApnNA"AZAbAjArAzAAA@"PI @A!GWD YbY~?yMAS@=ED77{7>8)BE[[s67[ Y~?[[[[[BZYY i) s2IiPz?Q3 < >B?))q>B?>B?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029899.283165 s, next control iter: 1743029899.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 33982, header.stamp.nsec: 020 temperature: 13.5675982* salinity: 33.3752632, density: 1025.0000002* values[0]: 0.5771712F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029899.683165 s.lhH~,^!AJ"J*J2J:JBJnJvJAףp= @A ֋@AZ~? A AE%"AA nNA"AZAbAjArAzAAA`´"@A2=tAXir@AQ)A}=A梉=A@?A@ A*Ay:?2AԽ:AC =BAy:?JAԽRAC =cI٘i)I9ir@YG J%JJJJFD&K YY~?yMA&EDj7Z78)B[[."[Y~?[*[[[[BZYY i) HAIig?Ws< T ?))EÂT ?T ?ªYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743029899.683165 s, next control iter: 1743029900.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743029900.103165 s."hH~,ݚ!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.255396@ elevatorAngleAction: -0.078989< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200672 time: 1743029900.103333F (some fields omitted in printout)A{Gጪ@A@AZ~? Ai A9%"AA oNA"AZAbAjArAzAAAyfR#@A#">tAq@A8tA/=A\=A@?A^ A_*A:?2A=ӽ:A| =BA:?JA=ӽRA| =٘i)I9q@YBG JҋJJJJ'FD&K YZ~?yB+MA;ED778)BE[[+ [Z~?[^[[[[BZYY i) 'xQIiSW? < P%?)) P%?P%?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029900.123165 s, next control iter: 1743029900.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029900.523165 s.hH~,{!!AJ"J*J2J:J?BJ?nJ5vJAQ@AJ(}!@AеZ~? A A%1%"AA 5oNA"AZAbAjArAzAAAk#@AZ>tA^zq@A7A=A=A@4?AA;Փ*Aɒ:?2AYӽ:A =BAɒ:?JAYӽRA =٘i)I9zq@YG JJJJ7EJ=FD&K Y %Z~?yLAQEDb77>8PB)įBE[[)[,Z~?[i[[[[BZYY i) `IisH?J< *+?))*+?*+?̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029900.543165 s, next control iter: 1743029900.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3399, header.stamp.nsec: 00 temperature: 13.567685* salinity: 33.375256, density: 1025.000000* values[0]: 0.576751F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029900.943165 s.[dhH~,O]tAp@ALAhw=As|>AP?AA*Aĉ:?2AOӽ:AI=BAĉ:?JAOӽRAI=٘i)I9p@YG JJJJJRFD&K  8YAAZ~? 8ynrLAfED7ŧ7 8)ȯBE[[Ľ['GZ~?[K[[[[BZYY i) k|pIiZ;?; 0?))0?0?ѪY]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029900.963165 s, next control iter: 1743029901.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029901.363165 s.hH~,>W!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078989< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743029901.363310F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@A*A2@A Z~? A A(%"AA1oNA"AZAbAjArAzAAAPN-%@Aۭ\G>tAwp@AAA=A>A ?A` m?AK0*AJ:?2A*Խ:Aα=BAJ:?JA*ԽRAα=Y5@>y깛=AٓH?v¿`46? ؚ?m?,?@pr` HS?)5@ I٘i)I9wp@YZG JꝼB=JD<JJJhFD&K#r> Y1]Z~?y& LA> JC{ED7778OB)̯BE[[&[TaZ~?[[[[[BZYY i) Ii'?F; 5?))r5?5?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029901.383165 s, next control iter: 1743029901.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3400&, header.stamp.nsec: 0&0 temperature: 13.567804&* salinity: 33.375282&, density: 1025.000000&* values[0]: 0.576235&F (some fields omitted in printout)F1]Z~?)F& rAdjusting time to match Gazebo time: 1743029901.783165 s.WhH~,r!AA ףp=@AGS= @A)[~? A Aa)%"AAūoNA"AZAbAjArAzAAA i %@A]Wn>tAo@A,A@f?A?AL*Av:?2Aս:A=BAv:?JAսRA=٘i)I9o@YG JC=JJJJ}FD&K YyZ~?yKAED{7{7>'8)ЯBE[[.][{Z~?[[[[[BZYY i) EIi?; <;?))P҃<;?<;?٪YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743029901.803165 s, next control iter: 1743029902.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029902.203165 s.hH~,!!AJ"J*J2J:JBJnJvJAGz@AT@AC[~? A A$-%"AAWoNA"AZAbAjArAzAAAufj&@A&A>tA[o@A;AM=A>>A@?A`:?A*Ae:?2AFӽ:A=BAe:?JAFӽRA=٘i)I9[o@YG JwJJJJFD&K Y Z~?y8KAEDZ758NB)ԯBE[[[Z~?[[[[[BZYY i) ɎIi?; @?)) @?@?sݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029902.223165 s, next control iter: 1743029902.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029902.623165 s.XhH~,a⧣!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078989< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743029902.623293F (some fields omitted in printout)AR둪@A.rOW@AX8[~? A+ A4%"AAoNA"AZAbAjArAzAAA#Ӌ'@A?_=tAn@A!;Aw=AR>A_?A?A*A:?2A.ӽ:Au=BA:?JA.ӽRAu=٘i)I9n@YRG J籼JJJJFD&K YZ~?yLJAEDZ7C8)دBE[[<[nZ~?[[[[[BZYY i) ]MIiP>; F?))F?F?ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029902.643165 s, next control iter: 1743029903.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3401 , header.stamp.nsec: 0 0 temperature: 13.567945 * salinity: 33.375286 , density: 1025.000000 * values[0]: 0.575670 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029903.043165 s.hH~,£!AJ"J*J2J:J_?BJ_?nJ5vJA(\’@A;7m@AdR[~? A A>%"AAe"pNA"AZAbAjArAzAAA_ N'@A\:=tA]-n@A:AX:=A|Gg>A{?Ak?Aņ*A|:?2ATԽ:A=BA|:?JATԽRA=٘i)I9-n@YG JHB=JJJJFD&K YZ~?ygJAED)77@R8)ܯB[["<[Z~?[[[[[BZYY i) ѝIi*>Hm; K?))K?K?Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029903.063165 s, next control iter: 1743029903.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029903.463165 s.ShH~,ۤݣ!AA@A^d~e@Ael[~? A A8K%"AAIpNA"AZAbAjArAzAAA#<%,D(@A..'=tAEm@A'Aon=ATR|>A`o?A߭?AL=*AS~:?2Aս:AE-=BAS~:?JAսRAE-=Y<"|>ySn=DٓH ?8Ͽ??@?_? $YbD?)< I٘i)I9m@YG JhC=J8<JJJFD&Ks> YJZ~?yIA"|>EDZ7SI7`8MB)BE[[i_<[eZ~?[[[[[BZYY i) 4Iiɮ>_;  Q?))ru Q? Q?kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029903.483165 s, next control iter: 1743029903.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3402, header.stamp.nsec: 00 temperature: 13.568088* salinity: 33.375294, density: 1025.000000* values[0]: 0.575056F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029903.883165 s.yhH~,4!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239695@ elevatorAngleAction: -0.078989< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743029903.883288F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@AV<@AW[~? A A[%"AA4qpNA"AZAbAjArAzAAA|ާ}(@AVA8a?A 3p?AB*A v:?2A1ս:Ac=BA v:?JA1սRAc=٘i)I9l@Y9G J!JJJJFD&K Y[~?yIAEDj7Z7n8)BE[[mW=[s[~?[[[[[BZYY i ) Ii>I13; V?))k6V?V?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029903.903165 s, next control iter: 1743029904.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029904.303165 s.ViH~,wg!AAzG@A4E@A8[~? AA o%"AA{pNA"AZAbAjArAzAAA0j~)@A!;tApZl@AA==A>AQ?A`^?A Ǽ*A{:?2AԽ:A/d=BA{:?JAԽRA/d=٘i)I9Zl@YG JaJJJJFD&K Y[~?yIAFD77@}8JB)BE[[J=[[~?[[[[[BZYY i) IiY>VL ; $\?)) $\?$\?2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029904.323165 s, next control iter: 1743029904.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3403*, header.stamp.nsec: 0*0 temperature: 13.568263** salinity: 33.375305*, density: 1025.000000** values[0]: 0.574406*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029904.723165 s. iH~,H.!AJ"J*J2J:JBJnJvJAQ@A 3ꕪ@A[~? AA%"AApNA"AZAbAjArAzAAAڥ*@Ah3);tAk@A2*AP=Aڜ>A%??At?A|*A:?2ANԽ:A=BA:?JANԽRA=٘i)I9k@YxG JJJJJGD&K Yd:[~?ypHA'FDS7)78IB)BĹE[[*=[9[~?[H[[[[BZYY i) [Ii">': a?))a?a?MYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029904.743165 s, next control iter: 1743029905.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029905.143165 s.Y/iH~,*I!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.088141< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743029905.143320F (some fields omitted in printout)A)\@A@A[~? A#As%"AApNA"AZAbAjArAzAAAbrHڶ*@A1}M:tAOk@A::A=A.>A)?A L?At*Ay:?2AԽ:A=BAy:?JAԽRA=٘i)I9k@YG JJJJJ)GD&K YU[~?yKAY?A V ?Atļ*Al:?2Aս:A|*=BAl:?JAսRA|*=Y%c>b>y=i;ٓH?kտ??>??wr??)%c> I٘i)I9wj@YG J¼Jj;JJJ?GD&K_t> YMp[~?yNGAb>RFD77@8HB)BʹE[[>[o[~?[D[[[[BZYY i)  ʼIi#=Ӎ9  l?))Xx l? l?=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029905.583165 s, next control iter: 1743029905.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3404, header.stamp.nsec: 00 temperature: 13.568442* salinity: 33.375313, density: 1025.000000* values[0]: 0.573731F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029905.983165 s.iH~,~!AAq= ף@Aio@A\~? AA%"AA^4qNA"AZAbAjArAzAAAi^}+@ARL8tAi@AS;A=A>A?A?AΘȼ*A`:?2A\ս:A=BA`:?JA\սRA=٘i)I9i@YNG JƼJJJJTGD&K Y֊[~?yQUGAgFD77{78)B[[}Q%>[.[~?[[[[[BZYY i) UѼII?iμ7B YSr?)) YSr?YSr?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029906.003165 s, next control iter: 1743029906.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029906.403165 s.&&iH~,͙!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.088141< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743029906.403289F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A!!F@AD \~? AA*%"AAZqNA"AZAbAjArAzAAAsن,@A9X&7tA1'i@Axc;AE!=AC>A!?A@?Aܮ˼*An:?2A{iԽ:ABn=BAn:?JA{iԽRABn=٘i)I9'i@Y G JɼB=JJJJjGD&K Yb[~?yTFA KC}FDb7b78GB)B͹E[[};>[[~?[{[[[[BZYY i)  ؼI]I?ii Z w?))w?w?1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029906.423165 s, next control iter: 1743029906.803176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3405&, header.stamp.nsec: 0&0 temperature: 13.568622&* salinity: 33.375343&, density: 1025.000000&* values[0]: 0.573054&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029906.823165 s.,iH~,K!AAQ@A6ǹ@A9\~? AAR%%"AAWqNA"AZAbAjArAzAAA}_ -@Ai5tA${h@A,AE=AH>A-?A@?A0!μ*A%c:?2AEս:Aq=BA%c:?JAEսRAq=٘i)I9{h@Y~ G J̼C=JJJJGD&K Y[~?yXުnFAFD7777@8FB)BйE[[R>[7[~?[[[[[BZYY i) ߼I I?i i _}?))_}?_}?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029906.843165 s, next control iter: 1743029907.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029907.243165 s.3iH~,iϤ!AJ"J*J2J:JBJnJvJA\(@A@AR\~? AAN%"AAqNA"AZAbAjArAzAAA҈_-@ATJ4tAg@AsցAn=A >Ac?Az?Aм*A-X:?2Aս:A=BA-X:?JAսRA=٘i)I9g@Y G JdϼJJJJGD&K Yr[~?y[۪EAFD778EB)BӹE[[i>[[~?[ߪ[[[[ZZ¸BZYY i¸ =) ԼI I?iU5u G}?))G}?G}?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029907.263165 s, next control iter: 1743029907.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029907.663165 s.:iH~,q!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082377< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743029907.663278F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3406, header.stamp.nsec: 00 temperature: 13.568805* salinity: 33.375366, density: 1025.000000* values[0]: 0.572322F (some fields omitted in printout)A@A3˛@Ak\~? AcAz%"AAqNA"AZAbAjArAzAAAk%O.@Ag/ 3tAg@AiAJ=AE>At?A`%I?AԼ*A:M:?2A$ ֽ:AXE=BA:M:?JA$ ֽRAXE=Yϧi>.>y=DٓH?ǵۿ??3?C=?`ɶQvZ?)ϧi> I٘i)I9g@Y G JҼJI<JJJGD&Ku> Y[~?yתEA>FD{7j78) BֹE[[>[[~?[ݪ[[[[ZZBZYY i) ǼII?i(|a! :?)){:?:?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029907.683165 s, next control iter: 1743029908.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029908.083165 s.DAiH~,S!AJ"J*J2J:J?BJ?nJ5vJAp= ל@A٢@An\~? AA%"AA8qNA"AZAbAjArAzAAAN=1.@AV1tAGUf@A_A9=A>AK?A?A]*AQ:?2AOֽ:A<BAQ:?JAOֽRA<٘i)I9Uf@Y/ G JJJJJGD&K YM \~?yӪEAFD777A8?B) B[[>[K\~?[۪[[[[ZZBZYY i) 㻼IuI?iI $?)) $?$?+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029908.103165 s, next control iter: 1743029908.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029908.503165 s.GiH~,H4 !AAHz@Ay@A\~? A8AQ%"AArNA"AZAbAjArAzAAA{/@AMK^/tAwe@A<AEΚ=A>A#?A@^?A9\*A1o:?2A[ ս:A}<BA1o:?JA[ սRA}<٘i)I9we@Y G JB=JJJJGD&K  8Y&\~? 8yϪDAFD)7ŧ7 8[/\~?[٪[[[[ZZBZYY i) uЯIvH?iޠm ͉?))͉?͉?yg=֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029908.543165 s, next control iter: 1743029908.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3407, header.stamp.nsec: 00 temperature: 13.569066* salinity: 33.375374, density: 1025.000000* values[0]: 0.571539F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029908.923165 s.8NiH~,;!AJ"J*J2J:JP?BJP?nJk5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082377< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743029908.923328F (some fields omitted in printout)AQ@A,P@A\~? AgA%"AA=rNA"AZAbAjArAzAAA r0@AHzA.tAd@A4;A[J\~?[^֪[[[[ZZBZYY i) t£IH?iѾM5 ?))??3YvYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029908.963165 s, next control iter: 1743029909.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029909.343165 s.[8f\~?[vӪ[[[[ZZBZYY i) 󳗼IH?i徉! }?))}?}?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029909.363165 s, next control iter: 1743029909.743177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3408&, header.stamp.nsec: 0&0 temperature: 13.569326&* salinity: 33.375381&, density: 1025.000000&* values[0]: 0.570617&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029909.763165 s.9[iH~,'p!AJ"J*J2J:J?BJ?nJ,5vJA33333@A$@A\~? ASA%"AAsrNA"AZAbAjArAzAAAdyh0@APAP*tA3c@Ag;A<A M ?A͟?A@?A㮼*Ap:?2A5ֽ:A♺BAp:?JA5ֽRA♺Yju>YS ?y<g;ٓH7M?@4᧙?@S?+P?]ֆ? ؛|l?@?)ju> I٘i)I93c@YG G JƼB=JJJJHD&Ku> Yq\~?yêqCAS ?(GD7789B) BE[[s>['\~?[`Ъ[[[[ZZBZYY i7=) WIH?i L?))\rL?L?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029909.803165 s, next control iter: 1743029910.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029910.183165 s.biH~,c!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.249460> elevatorAngleAction: 0.069441< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743029910.183272F (some fields omitted in printout)Aףp= @A- ֠@A\~? AAI%"AA˫rNA"AZAbAjArAzAAAx -0@A9T(tAb@A{v9Az(<AG?AKo?Ap?Ap̄*Ag:?2A8=ֽ:A JBAg:?JA8=ֽRA J٘i)I9b@Y G JC=JJJJ,HD&K Y\~?y%KCA>GD{7j7E8)$B[[_>[\~?[ͪ[[[[ZZBZYY i) IH?i> Z#?)) Z#?Z#?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029910.223165 s, next control iter: 1743029910.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029910.603165 s.64iiH~,!AJ"J*J2J:JBJnJvJA{Gᡪ@Am@AZ]~? AAn%"AArNA"AZAbAjArAzAAA-x*1@Ayv&tAOb@AXAMAY?A[\~?[ɪ[[[[ZZBZYY i}=) r@qIH?iq̻ &?))&?&?&(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029910.643165 s, next control iter: 1743029911.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3409 , header.stamp.nsec: 0 0 temperature: 13.569502 * salinity: 33.375401 , density: 1025.000000 * values[0]: 0.569949 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029911.023165 s.ZpiH~, |!AAQ@A#@A,]~? AA|H%"AArNA"AZAbAjArAzAAAn{[q1@AD^I$tAb@AUAAT?A?A+?A鲶*Aj:?2Aս:AֽBAj:?JAսRAֽ٘i)I9b@Y G J2 JJJJWHD&K Y6\~?yCA LCiGD7{7b88B)'BE[[;f>[\~?[Ū[[[[ZZBZYY i) \IH?i\*ڻ ?))??y=I)YBYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029911.043165 s, next control iter: 1743029911.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029911.443165 s.:viH~,J]ܥ!AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.079341< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743029911.443306F (some fields omitted in printout)A(\@Am2[@AC]~? A]ޫA_%"AAsNA"AZAbAjArAzAAA'{׷1@A "tA a@AAAM ?A@K?A`?A3*A\:?2Aս:A"ʼBA\:?JAսRA"ʼ٘i)I9a@Y G J{sJJJJlHD&K Y_\~?yYBA~GD77p87B)E[[Y>[Y\~?[[[[[BZYY i) GIQH?iK3% oԝ?))oԝ?oԝ?y=+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029911.463165 s, next control iter: 1743029911.843181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3410, header.stamp.nsec: 00 temperature: 13.569504* salinity: 33.375408, density: 1025.000000* values[0]: 0.569721F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029911.863165 s.0,}iH~,?!AAfffff@A}A2@AZ]~? AګA%"AA9sNA"AZAbAjArAzAAA cm1@A^utAGa@AAH.A'&?A?A`?A62;*AN:?2A)ֽ:ABAN:?JA)ֽRAY*>-&?y,.<ٓH`w?`jW BS?A~?~ x?a#b?)*> I٘i)I9a@Y G J9J)JJJHD&K/v> Y\~?yCA-&?GD{7Z7C84B)$BE[[G2>[v]~?[ý[[[[BZYY iR2j=) j6IؼH?iBc ?))??i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029911.883165 s, next control iter: 1743029912.263266 s, wait time: 0.380101 s rAdjusting time to match Gazebo time: 1743029912.283165 s.4RiH~,!AJ"J*J2J:J?BJ?nJ5vJA ףp=@A`C @Aq]~? A֫A%%"AAx\sNA"AZAbAjArAzAAA):B2@AJ;tAub@ANQ:AjUAk+?AY?A@?A|;*A@:?2A%ֽ:AKBA@:?JA%ֽRAK٘i)I9b@Y G J;JJJJHD&K Yp\~?yPCAGDj7j783B)"BE[[q?[v ]~?[o[[[[BZYY i2=) &IH?igPa ɖ?))ɖ?ɖ?0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029912.303165 s, next control iter: 1743029912.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 34112, header.stamp.nsec: 020 temperature: 13.5693892* salinity: 33.3754202, density: 1025.0000002* values[0]: 0.5698122F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029912.703165 s.׺iH~,-!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066503< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743029912.703276F (some fields omitted in printout)AGz@A9U४@A ]~? A`ҫAt%"AA~sNA"AZAbAjArAzAAA6Z#72@A#KtAWb@AH9;AvA+0?A ?A}?As-<*A9:?2Aֽ:A4BA9:?JAֽRA4٘i)I9Wb@Y G J? <JJJJHD&K Y]~?yZCAGDŧ7ŧ782B) BE[[?[R:]~?[ᴪ[[[[BZYY i) 3IХH?i[2 ڃ?))ڃ?ڃ?x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029912.723165 s, next control iter: 1743029913.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029913.123165 s.8iH~,aG!AJ"J*J2J:J?BJ?nJ5vJAR릪@Ad@A3]~? AΫA%"AAwsNA"AZAbAjArAzAAAܔ[2@AOtAb@A<;A4#A5?A:?AM?A~^<*A3:?2Aֽ:Ac BA3:?JAֽRAc ٘i)I9b@Y G JD<JJJJHD&K Y,]~?yCAGD77D8)B[[3 ?[S]~?[[[[[BZYY i) TIyH?ie w?))w?w?B*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029913.143165 s, next control iter: 1743029913.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029913.543165 s.IiH~,b!AA(\§@A-@j@A]~? AɫA%"AAsNA"AZAbAjArAzAAAcG 3@Aa elevatorAngleAction: 0.066503< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743029913.963324F (some fields omitted in printout)A@Aqje@A]~? A ūA@s%"AAsNA"AZAbAjArAzAAAH|M3@AWtAWc@ArA&UA6H@?AP?A@?Ap<*Ak-:?2A8ֽ:A BAk-:?JA8ֽRA Y?5?M@?yUޙٓH S?T ?c?[ YW]~?yeDAM@?GD7780B)BE[[Z?[)]~?[[[[[BZYY i) ȻI7H?iP{4 [?))[?[?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029913.983165 s, next control iter: 1743029914.363182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029914.383165 s.إiH~,8!AA= ףp@A R)v<@A]~? ApA^%"AA9tNA"AZAbAjArAzAAAýw3@Ax;tAz d@AAܛAsE?A ?A`?A6<*A+:?2Aֽ:ABA+:?JAֽRA٘i)I9 d@Y G J<JJJJID&K YQl]~?yDAHD{7j7C8-B) BE[[?[]~?[[[[[BZYY i) VQI qH?iƒ( M?))M?M?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029914.403165 s, next control iter: 1743029914.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3413", header.stamp.nsec: 0"0 temperature: 13.568834"* salinity: 33.375446", density: 1025.000000"* values[0]: 0.570829"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029914.803165 s.yAiH~,g!AJ"J*J2J:JBJnJvJAzG@A~@A]~? AA*%"AA:#tNA"AZAbAjArAzAAAaP83@A` tAd@AJ AqA8J?A`??A@hm?AF<*A*:?2Aֽ:AdBA*:?JAֽRAd٘i)I9d@Y" G Jq<JJJJID&K Y]~?y0EA*HD77778,B)BE[[$?[]~?[ [[[[BZYY i) +IUbH?iو+/ .F?)).F?.F?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029914.823165 s, next control iter: 1743029915.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029915.223165 s.giH~,HΦ!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066503< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743029915.223277F (some fields omitted in printout)AQ@A|%ꪪ@Au^~? AAg%"AABtNA"AZAbAjArAzAAArՂ 4@A[q tA1e@A[AVoAvO?At?A/?A<*A*:?2A ׽:ABA*:?JA ׽RA٘i)I91e@Y} G Jڱ<JJJJ.ID&K Y]~?y~EA?HD778+B)BE[[ +?[]~?[\[[[[BZYY i) -p[I.SH?i댿Ea4 E?))E?E?4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029915.243165 s, next control iter: 1743029915.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029915.643165 s.tйiH~,)!AJ"J*J2J:JBJnJvJA)\@Aӿ$@A^~? AAE%"AAatNA"AZAbAjArAzAAA߯67 I4@AtAbe@A>\9A6Ar;U?A` '?A`*?A<*A):?2A5׽:AK BA):?JA5׽RAK bI٘i)I9e@Y G JZ<JJJJCID&K  8Y;]~? 8yxEAUHD7D8)B[[31?[]~?[e[[[[BZYY i) EICH?iF8 J?))J?J?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029915.663165 s, next control iter: 1743029916.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3414, header.stamp.nsec: 00 temperature: 13.568463* salinity: 33.375420, density: 1025.000000* values[0]: 0.571579F (some fields omitted in printout);]~?)x rAdjusting time to match Gazebo time: 1743029916.063165 s.iH~,R !AA̬@A3@A0^~? A_AO%"AAMtNA"AZAbAjArAzAAAx&j4@A_ tA4bf@A3p;AAFZ?Ai?Aɫ?A T<*A):?2AU׽:A BA):?JAU׽RA Y\"?tZ?yO0Gq;ٓH?㊨# ?0?_?n??)\"? I٘i)I9bf@Y7 G J<J(JJJYID&Ky> Y˼]~?yreFAtZ? MCjHDb778*B)BE[[R7?[]~?[K[[[[BZYY i) GźI3H?iWo@ VB?))VB?VB?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029916.083165 s, next control iter: 1743029916.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029916.483165 s.x_iH~,!AJ"J*J2J:Jl?BJl?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066503< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743029916.483295F (some fields omitted in printout)Aq= ף@APo@APD^~? A A%"AAMtNA"AZAbAjArAzAAA@24@A|w?tA elevatorAngleAction: 0.066503< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743029917.743293F (some fields omitted in printout)A\(@A8I@A|^~? ANAt%"AAtNA"AZAbAjArAzAAAcl5@AysAVh@AO=AQArLo?A@>?AL?Au<*A):?2A׽:A|BBA):?JA׽RA|B٘i)I9h@Y G J<JJJJID&K Y^~?y}WHAHD{7{7G8)ޯB[[G'P?[5V^~?[n[[[[BZYY i) w ;I=G?isS b?))b?b?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029917.763165 s, next control iter: 1743029918.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029918.163165 s.x}iH~,q!AJ"J*J2J:JBJnJvJA@A}^˰@A^~? A~Ai%"AAuNA"AZAbAjArAzAAAh^5@A|sAKi@A⣻A-A{t?A70?Ai?A#<*A):?2A׽:ABA):?JA׽RAYz?@{?`7m`P?U|t?)z YW^~?yLPpHAt?HD77EV8#B)ٯBE[[^V?[ k^~?[g[[[[BZYY i) `I;IG?i  [ Ng?))Ng?Ng?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029918.183165 s, next control iter: 1743029918.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029918.583165 s.iH~,S!AAp= ױ@Aࢱ@Aޠ^~? AA;%"AA,uNA"AZAbAjArAzAAA-5@AJVsAi@A䑻AAy?A|?A@d?A.L<*A):?2A׽:AYBA):?JA׽RAY٘i)I9i@YSG J<JJJJID&K Y'^~?yIHAHD{7{7d8 B)ѯBE[[\?[k^~?[`[[[[BZYY i) 5V;IG?i.` r?))r?r?W*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029918.623165 s, next control iter: 1743029918.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3417, header.stamp.nsec: 00 temperature: 13.567313* salinity: 33.375477, density: 1025.000000* values[0]: 0.573922F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029919.003165 s.| iH~,]4!AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066503< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743029919.003315F (some fields omitted in printout)AHz@Ay@A;^~? AAP%"AAFuNA"AZAbAjArAzAAA8{GD76@Am/sAocj@AyɺAA~?A?A?A<*AD(:?2A3׽:ABAD(:?JA3׽RA٘i)I9cj@YG JΣ<JJJJID&K Y7^~?yA5IAID7r8B)̯BE[[Ib?[Q^~?[+Y[[[[BZYY i) ;IG?i#Le ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029919.023165 s, next control iter: 1743029919.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029919.423165 s.uiH~,ۧ!AAQ@AѭP@A1^~? Ab~A%"AA`uNA"AZAbAjArAzAAATq%A6@A?kE osAj@A;A]aA3$?A 9?A ?A<*AC':?2AO׽:A#BAC':?JAO׽RA#٘i)I9j@YG Jݝ<JJJJJD&K Y@H^~?y:IAID77F8)ǯB[[5i?[^~?[Q[[[[BZYY i=) n;I*G?iih ˚?))˚?˚?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029919.443165 s, next control iter: 1743029919.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3418, header.stamp.nsec: 00 temperature: 13.566959* salinity: 33.375504, density: 1025.000000* values[0]: 0.574637F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029919.843165 s.iH~,!AJ"J*J2J:J?BJ?nJ@5vJA(\@AyT'@A^~? A"xA@%"AA/zuNA"AZAbAjArAzAAA| ]s6@A sAhk@A;ABA1Ƅ?Amz?A`2U?Aؕ<*A&:?2AZ׽:ArBA&:?JAZ׽RAr٘i)I9hk@YFG Ji<JJJJJD&K YX^~?y3IA+IDŧ7b78B)¯B E[[o?[^~?[I[[[[BZYY i) T;I~G?i򶿉},j ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029919.863165 s, next control iter: 1743029920.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029920.263165 s.jH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075238< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743029920.263305F (some fields omitted in printout)A33333@Ay@A^~? AqA˻%"AAuNA"AZAbAjArAzAAAS6@A:ܼsAk@At;AAmb?A@?A?Av<*A :?2AN׽:ABA :?JAN׽RAYŖV?W?yР;ٓH@o]? o$?j?` ?t? ?)ŖV? I٘i)I9k@YG J<Jt?<JJJ0JD&Kx> Ymf^~?y+VJAW?AIDZ7Z78B)B E[[wu?[^~?[A[[[[BZYY i) ;IRzG?i3,p ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029920.283165 s, next control iter: 1743029920.663177 s, wait time: 0.380012 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 34196, header.stamp.nsec: 060 temperature: 13.5666496* salinity: 33.3754886, density: 1025.0000006* values[0]: 0.5753196F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029920.683165 s.l jH~,+!AJ"J*J2J:JH?BJH?nJo5vJAףp= @A;ֵ@A^~? ARkA8%"AA$uNA"AZAbAjArAzAAA,`6@AwsA[l@A ;AA?A?AM?Agώ<*A:?2A0׽:ABA:?JA0׽RA٘i)I9[l@YG J=<JJJJEJD&K YNt^~?y2$JAVIDj7F8B)B E[[$|?[:^~?[9[[[[BZYY i) ?[;^~?[1[[[[BZYY i) Q elevatorAngleAction: 0.075238< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743029921.523285F (some fields omitted in printout)AQ@A(D!@A_~? A^A8%"AAuNA"AZAbAjArAzAAA */7@A/sAkLm@AcAϊA!?AVd?Av?AR<*A:?2Aֽ:AwBA:?JAֽRAw٘i)I9Lm@YlG J<JJJJpJD&K Y^~?yiKAIDS778B)BE[[~m?[^~?[V)[[[[BZYY i) -!AJ"J*J2J:J?BJ?nJ5vJAfffff@AnB<2@A._~? APA?%"AAEvNA"AZAbAjArAzAAA4Yͅ7@AiKtsAAn@A SAC%A\?A?A@b?AY<*A;:?2A ׽:A9tBA;:?JA ׽RA9tYp?Cd?y%oSٓH ^?@kS n@B? y? ᯿?`>aj;?)p? I٘i)I9An@YG J<JӻJJJJD&Kx> Y;^~?y$LAd?IDZ78)B[[ʊ?[[_~?[A[[[[BZYY i) (L elevatorAngleAction: 0.075238< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200552 time: 1743029922.783325F (some fields omitted in printout)A ףp=@A,F< @A;_~? AIA%"AA vNA"AZAbAjArAzAAAd+Ʈ7@And elevatorAngleAction: 0.084282< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743029924.043287F (some fields omitted in printout)A(\¼@Ai@Afa_~? Af4Aa%"AATvNA"AZAbAjArAzAAAC!8@A?ާEsA:p@Axy;AVAܞ?A m?A@?A)<*A+9?2Al׽:A: BA+9?JAl׽RA: ٘i)I9:p@Y5G JB<JJJJJD&K Yl^~?yMAJDb78B)BE[[7?[R_~?[[[[[BZYY i)  Y^~?yoܩ NAn?JD7777I-8)B[[DŚ?[A^_~?[p[[[[BZYY i) 1 elevatorAngleAction: 0.084282< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743029925.303307F (some fields omitted in printout)AzG@A.c}@A_~? AAA %"AAvvNA"AZAbAjArAzAAA=jن8@A[RxsAq@AAA ?An?A?A[ <*A"9?2Aֽ:ABA"9?JAֽRA٘i)I9q@Y.G J֧<JJJJ2KD&K Y:^~?y˩NABJD77I8 B)|BE[[ .?[(s_~?[ة[[[[BZYY i) {]sAdr@A{AѢA6?Aj?A "?A9 <*A9?2Aֽ:ABA9?JAֽRA٘i)I9dr@YG JS<JJJJGKD&K Y^~?yHé>OAWJD{7Z7HX8)xB[[Qc?[}|_~?[`ϩ[[[[BZYY i) H elevatorAngleAction: 0.084282< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743029926.563284F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A @A _~? AAi%"AAҵvNA"AZAbAjArAzAAASQ-+8@A3,sA#s@AK;A˂AB?A'?A@ ?A&<*A9?2A ׽:ABA9?JA ׽RAYm?y?y E;ٓH4N?`=P`4?@^?@ ? c?@C?)m? I٘i)I9s@Y?G J<JJJJrKD&Kgx> Y@_~?yJPAy?JD)7j7t8)nB[[8˪?[׌_~?[S[[[[BZYY i) , elevatorAngleAction: 0.084282< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743029927.823278F (some fields omitted in printout)AQĪ@ABA9?JA^ֽRA>٘i)I9tu@YdG J[<C=JJJJKD&K Y_~?yviQAJD778)[B[[i?[_~?[N[[[[BZYY i) g4 @))> @> @p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029928.263165 s, next control iter: 1743029928.643174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743029928.663165 s.jH~,q*!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3427, header.stamp.nsec: 00 temperature: 13.564099* salinity: 33.375599, density: 1025.000000* values[0]: 0.580842F (some fields omitted in printout)Aƪ@A:8Ū@A_~? AsA%"AAFvNA"AZAbAjArAzAAA S9@A 磇sAv@ASAwA&u?A-?A ?A<*A9?2Aֽ:A.BA9?JAֽRA.Yu??yɧٓH H? 1?`=(?u H?@r?)u? I٘i)I9v@Y5G J<C=Jw>JJJKD&Kax> Y!_~?yRRA?JD8)NB[[κ?[/_~?[͋[[[[BZYY i)  elevatorAngleAction: 0.084282< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743029929.083309F (some fields omitted in printout)Ap= ƪ@A>;ƪ@A_~? A٪AkG%"AAvNA"AZAbAjArAzAAA_af9@A9L6FڂsA~w@A6cA mA?AR?A?Af!<*A9?2Aֽ:A/BA9?JAֽRA/٘i)I9~w@YG J<JJJJKD&K Y~$_~?y]~RAKD78)IB[[ ?[N_~?[[[[[BZYY i) r ~sA_2x@AFAA?A s?A`>?A<*A9?2Aֽ:AOqBA9?JAֽRAOq٘i)I92x@YG J<JJJJ LD&K Yy'_~?yuBSAKDŧ7ŧ7I8)CB[[2?[_~?[1x[[[[ZZZZ¸>BZYY i¸>x۪) *   8Y-_~?  8yS[TA? PCYKD77J 8)/B[[L?[_~?[Z[[[[ZZZZBZYY i) O&wNA"AZAbAjArAzAAA7rw9@AxqesA|@Av:A.,A?A@?A Q?A(<*A~9?2Aݹֽ:AͲBA~9?JAݹֽRAͲ٘i)I9|@YmG J<JJJJtLD&K Y-_~?yI`UAKDSI7SI7 8B)!BE[[?[_~?[4G[[[[ZZZZBZYY i) 7!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083426< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743029932.863282F (some fields omitted in printout)AfffffΪ@A>92Ϊ@A_~? AÑA&"AA0wNA"AZAbAjArAzAAA`9@AVsA}@AֶaA5;AC?Ac)?Asp?A/<*AU9?2A+ֽ:AL<BAU9?JA+ֽRALJJ9EJLD&Kw> Y>+_~?yR/ VA?KDb77K 8B)BE[[ǝ?[&_~?[*[[[[ZZZZBZYY iz) [l1@))>1@>1@qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029933.303165 s, next control iter: 1743029933.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3432., header.stamp.nsec: 0.0 temperature: 13.562435.* salinity: 33.375595., density: 1025.000000.* values[0]: 0.584866.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029933.703165 s.պjH~, m!AAGzЪ@A$\Ϫ@A4_~? AA&"AA3wNA"AZAbAjArAzAAAӃ9@A%MsA}@Ak:/;AB=A?A*o?A w?A98*A(9?2A oֽ:A<BA(9?JA oֽRA<٘i)I9}@YG JO;B=JJJJLD&K Y%_~?y VAKD7h 8)B[[?[_~?[[[[[BZYY i) 2GsA1n}@A93;Az=A[?AAn?A7*A9?2Aֽ:A=BA9?JAֽRA=Yw?Ǐ?ygz=x;ٓHHɿ`-^@`N? {Pɿ ?)U fb?@?)w? I٘i)I9n}@Y?G JmJ>JJJ MD&Kw> Y_~?yUA?/LD 8)B[[dX?[_~?[[[[[BZYY iC%h) ϯ4sAO|@A=Aᛒ=A?A`A[?A‰*A̦9?2Aֽ:A7=BA̦9?JAֽRA7=٘i)I9|@YG J{JJJJKMD&K Ym_~?yETA QCZLDj7L 8B)BE[[?[?t_~?[>[[[[BZYY i) %;IoD?iM (@))(@(@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029935.823165 s, next control iter: 1743029936.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029936.223165 s.gkH~,H!AAQժ@A;pΈԪ@A_~? AIQA &"AA)wNA"AZAbAjArAzAAA˙Ys9@A36./sAv3|@A@A=Aj?A뵿A`N?A*A19?2Aֽ:A =BA19?JAֽRA =٘i)I93|@YG J?JJJJaMD&K Y _~?yTApLD777 8B)BE[[~?[j_~?[3ߨ[[[[BZYY iG) t;I4_D?i G v'*@))v'*@v'*@yh,ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029936.243165 s, next control iter: 1743029936.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029936.643165 s.y kH~,*)!AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065962< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743029936.643341F (some fields omitted in printout)A)\ժ@A1ժ@AK_~? AFIA1H &"AA$wNA"AZAbAjArAzAAAp9@A *sA&{@A-Af=A?AɴA@??A*A9?2Aֽ:Ae =BA9?JAֽRAe =٘i)I9{@Y-G JJJJJvMD&K Y=_~?yQTALD77{7 8)#B[[?[V`_~?[I֨[[[[BZYY tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3435, header.stamp.nsec: 0i0 temperature: 13.562743* salinity: 33.375572, density: 1025.000000* values[0]: 0.584110F (some fields omitted in printout)) ;I%OD?iL? .+@)).+@.+@yIhԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029936.663165 s, next control iter: 1743029937.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029937.063165 s.kH~,c D!AA֪@Arj֪@A|_~? AIAAj &"AA,wNA"AZAbAjArAzAAA%2k9@Alg%sA{@A-:A=A?AxA".?Ad*A9?2Aֽ:A] =BA9?JAֽRA] =Y?d?y=Bj.:ٓHҿTaBy?ҿ 癲?wl1E?@b?)? I٘i)I9{@YG JOJ{=JJJMD&K x> Y^~?yبSA?LD77L 8)'B[[?[TU_~?[jͨ[[[[BZYY i) ;Ih?D?ib^; @-@))@-@@-@ypo֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029937.103165 s, next control iter: 1743029937.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743029937.483165 s.w_kH~,^!AJ"J*J2J:JBJnJvJAq= ףת@Aoת@A'_~? AS9A- &"AA wNA"AZAbAjArAzAAA0vJ9@A-i74!sAz@AVm;A G=A{'?A@ÜA?A԰*Ar9?2Azֽ:Aآ =BAr9?JAzֽRAآ =٘i)I9z@Y|G J$JJJJMD&K Y^~?y.ШSALD7 8),B[[A?[I_~?[Ĩ[[[[BZYY i) 9Q;I0D?ioP6 .@)).@.@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029937.523165 s, next control iter: 1743029937.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3436, header.stamp.nsec: 00 temperature: 13.392115* salinity: 33.394501, density: 1025.000000* values[0]: 0.703561F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029937.903165 s.kH~,y!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065962< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743029937.903301F (some fields omitted in printout)AGzت@A~Fت@AN_~? Ad1Aj &"AAwNA"AZAbAjArAzAAAٵ69@AzMw,sAy@Ao;A=A3?A@|¿A`~?A3*A!9?2ABֽ:A =BA!9?JABֽRA =٘i)I9y@Y!G JJJJJMD&K Y"^~?yǨSALD7 8B)2B E[[V?[m=_~?[ [[[[BZYY i) ;IP!D?iv/ V0@))V0@V0@2ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029937.923165 s, next control iter: 1743029938.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029938.323165 s.r$kH~,!AJ"J*J2J:JBJnJvJAQ٪@Ai٪@A_~? A})A &"AAj wNA"AZAbAjArAzAAA ?)Op9@AYsA_y@AEU;A@>=A_?A[ĿA`?Aʯ*A9?2Acֽ:A;=BA9?JAcֽRA;=٘i)I9_y@YG J3JJJJMD&K   8Y^~?  8y^RALD7M 8)7B[[Ƀ@[0_~?[[[[[BZYY i) :I.D?izJ( J1@))J1@J1@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029938.343165 s, next control iter: 1743029938.723173 s, wait time: 0.380008 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3437*, header.stamp.nsec: 0*0 temperature: 13.384157** salinity: 33.391613*, density: 1025.000000** values[0]: 0.707467*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029938.743165 s.W+kH~,~!AA\(ڪ@AK٪@A _~? A!AP &"AAwNA"AZAbAjArAzAAACu^9@A;psArx@A:e8A=A#?Aj:ƿA ?Ap*A>9?2A7ֽ:A=BA>9?JA7ֽRA=٘i)I9x@YnG JbJJJJMD&K Ye^~?yGRALD7 8);B[[@[9#_~?[>[[[[BZYY i) Ҙ9ID?ixX h3@))h3@h3@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029938.763165 s, next control iter: 1743029939.143180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029939.163165 s.z}2kH~,qʬ!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065962< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743029939.163309F (some fields omitted in printout)J"J*J2J:JBJnJvJA۪@AQڪ@A_~? AAZ &"AAvNA"AZAbAjArAzAAA} K9@A-(1 sA|>x@AMA=A?A@ȿA?Aƕ*Ap9?2Aֽ:AR=BAp9?JAֽRAR=YW??yЦ=TMٓH>ٿ`o`.ޟ\?`Mٿa?`pi?)W? I٘i)I9>x@YG J(J5JJJMD&K.x> YS^~?yܮQA?MDb777" 8B)BBE[[T@[_~?[[[[[BZYY i) δIC?iq 4@))4@4@p˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029939.183165 s, next control iter: 1743029939.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029939.583165 s.8kH~,S!AAp= ۪@Ajj٢۪@A_~? AAځ&"AAvNA"AZAbAjArAzAAA,O#69@A}dz sAIw@A@AM=AC?AoɿA`?A_*AR9?2Axֽ:Aë<BAR9?JAxֽRAë<٘i)I9w@YG J¥JJJJ ND&K YB^~?yæQAMD{7j7M1 8)FB[[@[v_~?[֚[[[[BZYY i) GISC?iGhT lv6@))lv6@lv6@8ȪYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743029939.603165 s, next control iter: 1743029939.983179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3438 , header.stamp.nsec: 0 0 temperature: 13.384451 * salinity: 33.391621 , density: 1025.000000 * values[0]: 0.706275 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029940.003165 s.J "J *J 2J :J 4?BJ 4?nJ =5vJ ~ @kH~,e4!AAHzܪ@At yܪ@AM_~? AD A&"AAvNA"AZAbAjArAzAAAJ9@A^JsA`+w@A~A =Am@A`˿Am?A*A9?2A}ֽ:AJ<BA9?JA}ֽRAJ<٘i)I9+w@YoG JġJJJJ"ND&K Y0^~?yQA1MD? 8)JB[[@[F^~?[ܒ[[[[BZYY i) #IrC?i\` a7@))a7@a7@"ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029940.023165 s, next control iter: 1743029940.403183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743029940.423165 s.uFkH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065962< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743029940.423284F (some fields omitted in printout)AQݪ@AJ"Pݪ@A^_~? AAC&"AA!vNA"AZAbAjArAzAAAb|9@A/VrAv@AA=A8@A` ͿA@H?A9P*A09?2Abֽ:AC<BA09?JAbֽRAC<٘i)I9v@YG JJJJJ8ND&K Y^~?yPAFMDŧ7ŧ7M 8B)PBE[[ @[^~?[ [[[[BZYY i) $WIIC?iO (9@))(9@(9@8ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029940.443165 s, next control iter: 1743029940.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3439, header.stamp.nsec: 00 temperature: 13.384683* salinity: 33.391628, density: 1025.000000* values[0]: 0.705143F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029940.843165 s.LkH~,5!AJ"J*J2J:JBJnJvJA(\ު@A)'ު@A_~? AA F&"AAvNA"AZAbAjArAzAAA7l8@AJrA"v@Ai;AE=Ap@A`dϿA !?AjӚ*A;9?2Aӣֽ:A8<BA;9?JAӣֽRA8<٘i)I9"v@YG J0JJJJMND&K Y ^~?yvWPA RC\MD7{7N\ 8B)UBE[[ @[{^~?[k[[[[BZYY i) IC?i5@ ?;@))?;@?;@vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029940.863165 s, next control iter: 1743029941.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029941.263165 s.TkH~, P!AA33333ߪ@AYު@A_~? AXA&"AAvNA"AZAbAjArAzAAAe+8@A%>LrAu@Ax[;A=A@A@пA@?Azܗ*A 9?2Aֽ:AI#<BA 9?JAֽRAI# Yd^~?yOA@qMDj7Z7j 8)YB[[ @[^~?[{[[[[BZYY iL) IC?i77 j<@))j<@j<@޼YFFF]Waiting for Gazebo time sync: latest Gz time: 1743029941.283165 s, next control iter: 1743029941.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 34402, header.stamp.nsec: 020 temperature: 13.3849352* salinity: 33.3916322, density: 1025.0000002* values[0]: 0.7040312F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029941.683165 s.lZkH~,Vk!AJ"J*J2J:J;4?BJ;4?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076318< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743029941.683270F (some fields omitted in printout)Aףp= @A# ߪ@A_~? AAvn&"AAvNA"AZAbAjArAzAAA3G;8@AB^K3rA#u@An;A>M=A@A{ѿA?A*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9#u@Y3G J8JJJJxND&K Y^~?y OAMD7777x 8B)_BE[[ @[\^~?[ot[[[[BZYY i) /ȻI̷C?i,Kݻ >@))>@>@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029941.683165 s, next control iter: 1743029942.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743029942.103165 s.akH~,!AA{G@A=@A_~? AXA&"AAvNA"AZAbAjArAzAAA2&8@A<%rA%t@A:AQ=A*l@A_^ҿA@?AG*Aq9?2Aֽ:At<BAq9?JAֽRAt<٘i)I9t@YG JʐJJJJND&K Yz^~?yTwCOAMD7{7N 8)bB[[4@[^~?[2m[[[[BZYY i) @I.C?iB L!ͻ o?@))o?@o?@YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743029942.123165 s, next control iter: 1743029942.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029942.523165 s.gkH~,{!AJ"J*J2J:J4?BJ4?nJ<5vJAQ@A%"@A=~_~? AܩA>&"AAvNA"AZAbAjArAzAAAhU]x8@ArAV5t@Ax޺AӔ=A|@AY?ӿA@k?A22*AD9?2Aֽ:AW<BAD9?JAֽRAW<٘i)I95t@YG J JJJJND&K Yll^~?yoNAMDb77 8 B)iBE[[ {@[^~?[$f[[[[BZYY i) (IYC?i!x A@))A@A@y3UYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743029942.543165 s, next control iter: 1743029942.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3441, header.stamp.nsec: 00 temperature: 13.385170* salinity: 33.391666, density: 1025.000000* values[0]: 0.703008F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029942.943165 s.YdnkH~,F]!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076318< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743029942.943329F (some fields omitted in printout)A(\@A.R([@AXs_~? AթA:"&"AAvNA"AZAbAjArAzAAA/W8@A{a%rAs@AA=A @AԿA@7?Aw*A9?2Aֽ:AM<BA9?JAֽRAM<٘i)I9s@Y\G JJJJJND&K Y^^~?ygNAMD 8)lB[[@[^~?[F_[[[[BZYY i) ~IgC?i,fW *B@))*B@*B@亪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029942.983165 s, next control iter: 1743029943.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029943.363165 s.ukH~,>׭!AJ"J*J2J:J3?BJ3?nJ<5vJAfffff@A&:2@Ag_~? AVΩAܰ&"AAqvNA"AZAbAjArAzAAAή:58@APRrAEQs@A9A֞=A[ @A0ԿA@?Ahh*AN9?2Aֽ:A=BAN9?JAֽRA=Y?V @y{= ٓH@1J|``? 04grm?)? I٘i)I9Qs@YG J{J4:JJJND&K(x> YN^~?y`.NAV @MD)7ŧ7O 8 B)qBE[[g@[k^~?[zX[[[[BZYY i) 6"IC?iǘ D@))D@D@hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029943.403165 s, next control iter: 1743029943.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3442&, header.stamp.nsec: 0&0 temperature: 13.385381&* salinity: 33.391678&, density: 1025.000000&* values[0]: 0.702037&F (some fields omitted in printout).N^~?).` rAdjusting time to match Gazebo time: 1743029943.783165 s._{kH~,!AA ףp=@AZC @A\_~? A%ǩA>&"AA8`vNA"AZAbAjArAzAAAW,%%8@Al€RrAr@A}A=A @AQտA`?A~*A9?2AVֽ:Ac=BA9?JAVֽRAc=٘i)I9r@YG JJJJJND&K Y>^~?yoYMAMD{7{7 8)uB[[z@[[X^~?[Q[[[[BZYY i) J1I3C?i3׾ }E@))}E@}E@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029943.803165 s, next control iter: 1743029944.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029944.203165 s.kH~, !AJ"J*J2J:J3?BJ3?nJS<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076318< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743029944.203298F (some fields omitted in printout)AGz@A>I@AO_~? AA&"AAMvNA"AZAbAjArAzAAAx7@ArAfr@As:Aa=AD @A@ֿA ?A*A9?2Aֽ:A*=BA9?JAֽRA*=٘i)I9fr@YG JaJJJJND&K Yw.^~?y2RvMANDj7Z7 8B)zBE[[P@[}D^~?[nK[[[[BZYY i) ?AI&C?iѻhp rF@))rF@rF@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029944.223165 s, next control iter: 1743029944.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029944.623165 s.UkH~,T'!AAR@A1DN_@AC_~? AAT&"AA:vNA"AZAbAjArAzAAA57@AI*rA9q@A};AԐ=Ai:@A}׿A S?AҔ*A9?2ALֽ:A =BA9?JALֽRA =٘i)I9q@Y=G J$JJJJOD&K Y]^~?yJMANDb7b7P 8B)BE[[@[Q0^~?[0E[[[[BZYY i) PIC?ixH qH@))qH@qH@CǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029944.643165 s, next control iter: 1743029945.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3443 , header.stamp.nsec: 0 0 temperature: 13.385627 * salinity: 33.391674 , density: 1025.000000 * values[0]: 0.701062 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029945.043165 s.kH~,B!AJ"J*J2J:Jx3?BJx3?nJ0<5vJA(\@A]wb@A5_~? A A&"AAI'vNA"AZAbAjArAzAAA]67@A\prAmq@Aw;A<$=A@AzOؿA?A䘼*Ao9?2Aֽ:AG =BAo9?JAֽRAG =٘i)I9mq@YG JJJJJ$OD&K YE^~?yCLA2ND{7{7 8B)BE[[..@[^~?[%?[[[[BZYY i) G`IC?iPsy 6H))6H+I@oʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029945.063165 s, next control iter: 1743029945.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029945.463165 s.SkH~,ۤ]!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076318< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743029945.463310F (some fields omitted in printout)A@A؀qe@A(_~? A+Ac&"AAvNA"AZAbAjArAzAAA>Ets7@Aj??rAp@A M;A'E=Al@AxٿA?A_*A/9?2A,ֽ:A# =BA/9?JA,ֽRA# =Y@.@yD=a|N;ٓH%Ow=?@^?d`i?5?)@ I٘i)I9p@YG JSJ]<JJJ:OD&Kx> Y]~?y=YLA@HNDj7Z7 8)B[[@[^~?[09[[[[BZYY i) |oIC?iDH+ ͿF))ͿF_K@\ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029945.483165 s, next control iter: 1743029945.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3444, header.stamp.nsec: 00 temperature: 13.385868* salinity: 33.391705, density: 1025.000000* values[0]: 0.700014F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029945.883165 s.ykH~,+x!AJ"J*J2J:J43?BJ43?nJ;5vJA= ףp@A~p>u<@A_~? AdA#&"AAuNA"AZAbAjArAzAAA H7@AR2rAhp@A7A:=A'@APٿA`?A V*A29?2Aֽ:Af =BA29?JAֽRAf =٘i)I9hp@YQG J"JJJJOOD&K   8Y]~?  8yX6KA SC]NDj7P 8B)BE[[ @[]~?[k3[[[[BZYY i) ^~IC?ia JE))JEL@ ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029945.903165 s, next control iter: 1743029946.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029946.303165 s.^kH~,g!AAzG@A_@Ah _~? AAl&"AA$uNA"AZAbAjArAzAAA7ti7@A݊rA!o@A|UA=AUy@AڿAL?A*Ao9?2Aֽ:A =BAo9?JAֽRA =٘i)I9o@YG J`JJJJeOD&K Y*]~?y/KAsND7777 8B)BE[[yx@[]~?[-[[[[BZYY i$) IC?i˶&i mC))mCHJN@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029946.323165 s, next control iter: 1743029946.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3445., header.stamp.nsec: 0.0 temperature: 13.386101.* salinity: 33.391697., density: 1025.000000.* values[0]: 0.698934.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029946.723165 s.J kH~"J*J2J,H!A:J2?BJ2?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085518< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743029946.723291F (some fields omitted in printout)AQ@A+.@Ae^~? AA&"AAuNA"AZAbAjArAzAAAa6@ArAZo@AΙA=A@AzۿA ?A*A9?2Aֽ:Ah =BA9?JAֽRAh =٘i)I9Zo@YG JJJJJzOD&K Y]~?y(,KANDb77$ 8B)BE[[@[]~?[r([[[[BZYY i) uIdC?iͼă ebB))ebBPO@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029946.743165 s, next control iter: 1743029947.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029947.143165 s.T/kH~,)ɮ!AA)\@Aj@A^~? AAln&"AAuNA"AZAbAjArAzAAAk6@ArAhn@AcnA=A@A lDܿAǼ?A**A9?2Aֽ:A^N=BA9?JAֽRA^N=٘i)I9n@YYG JJJJJOD&K Yn]~?yH"JAND7777P3 8)B[[yF @[]~?[B#[[[[BZYY i) !&IC?i.==t&9 )@)))@.Q@RתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029947.163165 s, next control iter: 1743029947.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029947.563165 s.J "J *J 2J :J 2?BJ 2?nJ z;5vJ kH~,_ !AA@AZ@A^~? A5Am&"AAuNA"AZAbAjArAzAAAy6@A rAsDn@A4-A=AJ^@AݿAq?A`;*A9?2A/ֽ:A=BA9?JA/ֽRA=YMW @s]@y=-ٓH@`?` -U'?@ݳEJ?)MW @ I`I٘i)I9Dn@YG JJ0;<JJJOD&Kx> Y]~?y6]JA]@ND{7Z7A 8B)BE[[l!@[]~?[+[[[[BZYY i) IHC?i=n: ?))?-R@y<ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029947.583165 s, next control iter: 1743029947.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3446, header.stamp.nsec: 00 temperature: 13.386391* salinity: 33.391708, density: 1025.000000* values[0]: 0.697823F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029947.983165 s.kH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085518< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743029947.983307F (some fields omitted in printout)Aq= ף@A o@A^~? A郩Azh&"AAuNA"AZAbAjArAzAAAEe)^6@A!HrA|m@AV0;AΡ=A]@A`ݿAJ%?A h*AD9?2Aֽ:A=BAD9?JAֽRA=٘i)I9m@YG JdJJJJOD&K Y]~?y%IAND77O 8B)BE[[ #@[ɂ]~?[D[[[[BZYY i) IAC?i>O: >))>T@lުYFFF]Waiting for Gazebo time sync: latest Gz time: 1743029948.003165 s, next control iter: 1743029948.383194 s, wait time: 0.380029 s rAdjusting time to match Gazebo time: 1743029948.403165 s.&kH~,!AJ"J*J2J:JBJnJvJAGz@A(F@A#^~? A}A&"AAquNA"AZAbAjArAzAAA:,6@ArA m@A͘;A=A=@A{޿A?A*AD9?2A{ֽ:AU=BAD9?JA{ֽRAU=٘i)I9 m@YQG JJJJJOD&K Yu]~?yIANDŧ7b7Q^ 8B)B[[z$@[k]~?[[[[[BZYY i) TI C?iO>?; r<))r<C}U@,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029948.443165 s, next control iter: 1743029948.803176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3447, header.stamp.nsec: 00 temperature: 13.386633* salinity: 33.391712, density: 1025.000000* values[0]: 0.696659F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029948.823165 s.kH~,%4!AAQ@A.Q@A^~? AwA~Z&"AA0XuNA"AZAbAjArAzAAAhHG5@Ai'ʪrAul@Aˉ;A,4=A]@@A*3߿A?A?*A9?2Azֽ:ANu=BA9?JAzֽRANu=٘i)I9l@YG JJJJ:EJOD&K Y`]~?y IANDl 8B)BE[[%@[T]~?[ [[[[BZYY i) -I‹C?i>=0; 5;))5;$V@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029948.863165 s, next control iter: 1743029949.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743029949.243165 s.J kH~"J*J,O!A2J:J02?BJ02?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085518< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743029949.243292F (some fields omitted in printout)A\(@A;@A^~? AqAZ&"AA>uNA"AZAbAjArAzAAAɚL5@A0>Y$rAYk@Ay:A?=Az@A߿A@&3?Aл*AO9?2A^ֽ:A=BAO9?JA^ֽRA=٘i)I9k@YG JB=JJJJOD&K Y4L]~?yHA ODZ7Z7z 8B)BݹE[[ 9'@[=]~?[ [[[[BZYY i) lIzC?i>`; Y9))Y9\UX@IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029949.283165 s, next control iter: 1743029949.643184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743029949.663165 s.kH~,qj!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3448, header.stamp.nsec: 00 temperature: 13.386925* salinity: 33.391727, density: 1025.000000* values[0]: 0.695449F (some fields omitted in printout)A@AИI@A^~? AkA D&"AAG#uNA"AZAbAjArAzAAAI9$5@Ap!rA:Lk@AA&=A@ALA_?AF*AX9?2Aֽ:Ac=BAX9?JAֽRAc=Y@@y&=hٓH`A5ϗTI`!?Li?W~^?)@ I٘i)I9Lk@Y5G JC=Jx<JJJPD&KAx> Y5]~?y>HA@OD77R 8)ůB[[](@[%]~?[[[[[BZYY i) V¼IؕC?i>t; _8))_8Y@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029949.683165 s, next control iter: 1743029950.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029950.083165 s.DkH~,R!AJ"J*J2J:JBJnJvJAp= @A֤ۢ@Azu^~? A fA&"AAuNA"AZAbAjArAzAAAڦcU5@Aւ rAj@AA n=A4 @AA݇?Aü*A9?2Aֽ:A6=BA9?JAֽRA6=٘i)I9j@YG J JJJJ&PD&K Y]~?y)GA4OD777 8!B)̯BڹE[[q)@[ ]~?[|[[[[BZYY i) XʼIC?i}>; {6)){6:)[@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029950.103165 s, next control iter: 1743029950.483174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743029950.503165 s.kH~,P4!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085518< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743029950.503314F (some fields omitted in printout)AHz@Ay@Ab^~? Aj`A$&"AA tNA"AZAbAjArAzAAA6#b5@A;`rAwj@AڑA=A!@A A/?AظǼ*Aa9?2ASֽ:Ab=BAa9?JASֽRAb=٘i)I9j@YmG J0żJJJJPAZd&"AAtNA"AZAbAjArAzAAAXFm4@Ac-rA g@A;AD*=A]%@A _A@x>?Ajּ*AL9?2AY^ֽ:A!-=BAL9?JAY^ֽRA!-=Y]@c%@y)=X;ٓH@ :\?`~&,?@p??)]@ I٘i)I9g@Y/ G JsԼJ+<JJJ|PD&K x> Y\~?yYEAc%@OD77 8'B)BйE[[1`/@[̭\~?[7[[[[ZZ¸BZYY i¸j=) (ӼIWC?i2?a; ]1))]1`@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029951.783165 s, next control iter: 1743029952.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029952.183165 s.lH~,V !AAףp= @A`#I@A^~? AKA&"AAvtNA"AZAbAjArAzAAAVO04@A9rAUDg@A;A =AH&@A@8A%?ALټ*A(9?2AT_ֽ:A;=BA(9?JAT_ֽRA;=٘i)I9Dg@Y G JUؼJJJJPD&K YҬ\~?yߧ}EAOD77R 8(B)B͹E[[0@[E\~?[[[[[ZZBZYY i) qǼIC?i@?T; ]/))]/X%b@5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029952.203165 s, next control iter: 1743029952.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029952.603165 s.?4 lH~,К&!AJ"J*J2J:J1?BJ1?nJ95vJA{G@Aҿ$@A^~? AFA`-&"AAhXtNA"AZAbAjArAzAAA,3@A, #rAzf@ASNA;A'@AA`&?A *A9?2A/wֽ:A;<BA9?JA/wֽRA;<٘i)I9zf@YF G JJJJJPD&K Y\~?y ۧEAOD77 8)B[[{ 2@[|\~?[[[[[ZZBZYY i) ׻IC?iP?r< .)).ʇc@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029952.623165 s, next control iter: 1743029953.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3451 , header.stamp.nsec: 0 0 temperature: 13.387901 * salinity: 33.391777 , density: 1025.000000 * values[0]: 0.691423 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029953.023165 s.ZlH~,{A!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084035< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743029953.023276F (some fields omitted in printout)AQ@AF @A]~? A4AA&"AA\9tNA"AZAbAjArAzAAAQ8ɇ3@A0Ӳ2rAϝe@AVPA=AK)@AA?A *Av9?2A`ֽ:A<BAv9?JA`ֽRA<٘i)I9e@Y G J|JJJJPD&K Y|\~?ye֧DAOD7 8*B)BʹE[[_3@[/d\~?[P[[[[ZZBZYY i) ͯIC?ijb?< -7-))-7-d@yw=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029953.043165 s, next control iter: 1743029953.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029953.443165 s.4lH~,1]\!AJ"J*J2J:JBJnJvJA(\@At)*[@A]~? As<AE&"AAtNA"AZAbAjArAzAAAnt3@AܪrAd@AAs=A*@AA6?AӀ*A9?2Aֽ:Aa<BA9?JAֽRAa<٘i)I9d@Y> G JJJJJPD&K   8Ye\~?  8yѧDAODŧ7b7R 8,B)BǹE[[H4@[K\~?[[[[[ZZBZYY i) £IOC?iu?W< +))+Gf@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029953.463165 s, next control iter: 1743029953.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3452, header.stamp.nsec: 00 temperature: 13.388281* salinity: 33.391777, density: 1025.000000* values[0]: 0.689778F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029953.863165 s.+lH~,>w!AAfffff@A92@A]~? A7AG&"AAsNA"AZAbAjArAzAAAQ=b43@AeRكrA d@AA/=A+@A`ZA]o?Abͼ*A:9?2Aֽ:A(;BA:9?JAֽRA(;Yn@+@y3/=θٓH?`&ܿ @#?`ļD?`MXwV?)n@ I٘i)I9 d@Y G JJ0޽JJJPD&Kw> YK\~?yͧCA+@OD777 8.B)B¹E[[6@[2\~?[:[[[[ZZBZYY iS=) I5C?i??p%<  x*)) x*g@vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029953.883165 s, next control iter: 1743029954.263175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029954.283165 s.5R$lH~,!AJ"J*J2J:Ja0?BJa0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073890< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743029954.283309F (some fields omitted in printout)A ףp=@AwcA @A]~? AZ3Aؠ&"AAWsNA"AZAbAjArAzAAAnb2@ArrAOkc@A8|A <A5-@A@ZA?A"*A9?2A7~ֽ:ABA9?JA7~ֽRA٘i)I9kc@Yi G JﾼJJJJPD&K Y82\~?yɧCA PD7& 8)B[[U7@[\~?[[[[[ZZBZYY i)  /ID?is?ӧ.< ))))i@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029954.303165 s, next control iter: 1743029954.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3453., header.stamp.nsec: 0.0 temperature: 13.388632.* salinity: 33.391754., density: 1025.000000.* values[0]: 0.688302.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029954.703165 s.ֺ*lH~,!AAGz@A>V@A]~? A/A/&"AAisNA"AZAbAjArAzAAAY:ϒ2@A`u~rAVb@A߀ѺA?<A~.@AA@:?A}*A 9?2Azֽ:ABA 9?JAzֽRA٘i)I9b@Y G J JJJJQD&K Y\~?yƧ_CAPD77T5 80B)BE[[a8@[\~?[[[[[ZZBZYY i) dIlD?i?b8< ;'));'zdj@fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029954.723165 s, next control iter: 1743029955.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029955.123165 s.31lH~,Lǰ!AJ"J*J2J:JBJnJvJAR@A5B?S@A]~? A*AJ &"AA sNA"AZAbAjArAzAAA}Ym2@AfX{rAȏb@A2;AǻA(/@A@#A ?Ai.*AE9?2A΁ֽ:AnsBAE9?JA΁ֽRAns٘i)I9b@Y G Jl\JJJJ(QD&K Yj[~?y8§$CA5PD7C 81B)BE[[#9@[[~?[[[[[ZZBZYY iꆪ=) 6qI(D?is?/kD< ^&))^&k@y=(YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743029955.143165 s, next control iter: 1743029955.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029955.543165 s.I8lH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083265< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743029955.543327F (some fields omitted in printout)A(\@Aմi@A{i]~? A&Aț &"AA>usNA"AZAbAjArAzAAA+XQD&K Y[~?yVBA UCJPD)7ŧ7Q 82B) BE[[<;@[[~?[ߧ[[[[ZZBZYY i) c[Iz:D?i;?XP< %))%m@y-=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029955.563165 s, next control iter: 1743029955.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3454, header.stamp.nsec: 00 temperature: 13.388841* salinity: 33.391781, density: 1025.000000* values[0]: 0.687411F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029955.963165 s.>lH~J,!A"J*J2J:J/?BJ/?nJ85vJA@Aj2me@AR]~? A"A &"AA SsNA"AZAbAjArAzAAA.un1@AeWwrA8b@A-;ANAmg2@AIA bb?A5κ*Aݞ9?2A΀ֽ:AʼBAݞ9?JA΀ֽRAʼY"_$@Ge2@yN;ٓH@/ֿfW?/?@a~@?|p?`?)"_$@ I٘i)I98b@Y G JJ7JJJSQD&Kw> Yw[~?yGCAe2@`PD777T` 84B)"BE[[<@[õ[~?[lݧ[[[[BZYY i,l=) _5JILD?i?Y< #))#%vn@y-=f1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029955.983165 s, next control iter: 1743029956.363182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743029956.383165 s.ElH~,8!AA= ףp@ArOWw<@A;]~? AAY5!&"AAq0sNA"AZAbAjArAzAAAbϞ1@AEّtrA:b@A偹:A13A3@A@,AV?A^7;*AԔ9?2A1hֽ:ABAԔ9?JA1hֽRA켙٘i)I9:b@Y G J9JJJJiQD&K Y[~?y7CCAuPDj7Z7n 8)[[=@[[~?[ۧ[[[[BZYY i=) S8I_D?ḭ?Lb< O"))O"o@y/_=q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029956.403165 s, next control iter: 1743029956.783174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3455&, header.stamp.nsec: 0&0 temperature: 13.388935&* salinity: 33.391766&, density: 1025.000000&* values[0]: 0.687108&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029956.803165 s.ALlH~,g3!AJ"J*J2J:J/?BJ/?nJq85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743029956.803299F (some fields omitted in printout)AzG@Ae@A$]~? AbA}!&"AAy sNA"AZAbAjArAzAAA:sX1@ANm{rrAv]b@A\ A ZA>4@A` Ar?AI;*A!9?2AzJֽ:ABA!9?JAzJֽRA٘i)I9]b@Y G Jf;JJJJ~QD&K Ya[~?y(oCAPD7)7| 85B)E[[?@[[~?[ڧ[[[[BZYY i) ['IsD?iݸ?l< H ))H m(q@ye=v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029956.823165 s, next control iter: 1743029957.203189 s, wait time: 0.380024 s rAdjusting time to match Gazebo time: 1743029957.223165 s.gSlH~,HN!AAQ@Am@A* ]~? AA!&"AA%rNA"AZAbAjArAzAAA;d1@AXZprAb@A?AOxAxF6@AAA1?AD,8<*A9?2A:ֽ:ABA9?JA:ֽRA٘i)I9b@Y G J<JJJJQD&K Y{[~?yCAPDj7j7T 86B)!BE[[xe@@[j[~?[٧[[[[BZYY i) ImD?i?Bx< ))r@yu=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029957.243165 s, next control iter: 1743029957.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029957.643165 s.yYlH~,*i!AJ"J*J2J:JBJnJvJA)\@AȒ@A\~? AA~"&"AAxrNA"AZAbAjArAzAAAQX%0@A=PnrAb@AASA7@AtAF?A3#i<*A9?2ADֽ:Al BA9?JADֽRAl ٘i)I9b@Y! G JO<JJJJQD&K YMa[~?y CAPDŧ7ŧ7 89B)E[[7A@[Q[~?[ا[[[[BZYY i) IPD?i?`@< iJ))iJLs@\*YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3456, header.stamp.nsec: 00 temperature: 13.388915* salinity: 33.391754, density: 1025.000000* values[0]: 0.687337F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743029957.663165 s, next control iter: 1743029958.043179 s, wait time: 0.380014 s*Ma[~?)*  rAdjusting time to match Gazebo time: 1743029958.063165 s.`lH~,k !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743029958.063284F (some fields omitted in printout)A@AIӠ@A\~? A[AnF"&"AAvrNA"AZAbAjArAzAAA#|C0@A J]lrA^c@A/A]A8@A|A`?A<*Ȃ9?2A\dֽ:A\BȂ9?JA\dֽRA\Y*@8@y;B0ٓHC п [?`? Ô ?7eu?)*@ I٘i)I9^c@Ya G J{<JdJJJQD&Kw> YE[~?y֬*DA8@PD777 8:B)BE[[>B@[8[~?[ק[[[[BZYY im=) aaIߴD?i?|E< ))*u@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029958.083165 s, next control iter: 1743029958.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029958.483165 s._glH~,잱!AJ"J*J2J:J0?BJ0?nJ85vJAq= ף@Aupo@A\~? AQAi"&"AA"~rNA"AZAbAjArAzAAAѸ&@80@A<5jrAc@Ait:ArA4:@A A@Z5?A@<*Aѓ9?2Aֽ:AnBAѓ9?JAֽRAn٘i)I9c@Y G JԎ<JJJJQD&K Y*[~?yDAPDb7b7U 8;B)BE[[#5D@[[~?[ק[[[[BZYY i) .˻I2D?i?oԊ< ))yv@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029958.503165 s, next control iter: 1743029958.883203 s, wait time: 0.380038 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3457, header.stamp.nsec: 00 temperature: 13.388789* salinity: 33.391754, density: 1025.000000* values[0]: 0.688006F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029958.903165 s. mlH~,ι!AAGz@A40F@AD\~? An Aj"&"AAYrNA"AZAbAjArAzAAAMQL/@A-ChrAZd@A-3;AȷA;@AA {P?Az<*Aq9?2Aֽ:AIBAq9?JAֽRAI٘i)I9Zd@Y G J><JJJJQD&K YB[~?yoDAPD 8 elevatorAngleAction: 0.057869< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743029959.323319F (some fields omitted in printout)AQ@AY@AΔ\~? AAl"&"AA4rNA"AZAbAjArAzAAA H/@AA grAd@A;A@A˃AT?A<*AN:?2A^Ľ:A_BAN:?JA^ĽRA_Yj0@>@y.1:ٓH({Ŀ? U?HڇR?`y#F?@?)j0@ I٘i)I9f@Y G J<Jd:JJJ+RD&K*X> YZ~?yFA>@7QD{7j7 8>B)BE[[5I@[Z~?[է[[[[BZYY i) pf#IZE?i?< ))y{@$*YㆾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029960.183165 s, next control iter: 1743029960.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743029960.583165 s.lH~,S%!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057869< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743029960.583287F (some fields omitted in printout)Ap= @AI@A1J\~? AtAԆ#&"AAqNA"AZAbAjArAzAAA̕-@A)brAf@AyW@AA?@A@WA|?AJT<*A`:?2Aymƽ:AʍBA`:?JAymƽRAʍ٘i)I9f@Ye G J4<JJJJ@RD&K Y٠Z~?y)FA VCLQDj7Z7 8@B) BE[[sJ@[Z~?[է[[[[BZYY iЈ=) [κI6E?i@SĤ< g))gܷ|@*YcYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029960.603165 s, next control iter: 1743029960.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3459, header.stamp.nsec: 00 temperature: 13.388390* salinity: 33.391773, density: 1025.000000* values[0]: 0.690005F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029961.003165 s.w lH~,H4@!AJ"J*J2J:JBJnJvJAHz@A[B>y@A1\~? AFA#&"AAqNA"AZAbAjArAzAAAp&,@Au TarA Fg@A#çAA@@AA@E?A=DZ<*A:?2ASɽ:A^BA:?JASɽRA^٘i)I9Fg@Y G J<<JJJJVRD&K   8YZ~?  8yFAaQDŧ7b7V 8AB)BE[[ɯK@[,Z~?[;֧[[[[BZYY i) +IRE?i@t< +))+}@]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029961.023165 s, next control iter: 1743029961.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029961.423165 s.ulH~,[!AAQ@AEP@A\~? A:A#&"AAwqNA"AZAbAjArAzAAAxS,@AAD`X`rAZg@AApAA@A A ?Ab<*A:?2A˽:A8BA:?JA˽RA8٘i)I9g@Y G J'<JJJJkRD&K Y%iZ~?yJOGAwQDj7j7 8BB)BE[[ elevatorAngleAction: 0.066803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743029961.843293F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A'@Ap[~? ASA$&"AAoQqNA"AZAbAjArAzAAAE%o,+@All^rAch@ACABA$NC@A]A 9?AB<*Aǔ:?2A\ν:A]BAǔ:?JA\νRA]٘i)I9ch@Yo G J<JJJJRD&K YJMZ~?yڜGAQDŧ7b7) 8@B)BE[[N@[\Z~?["ק[[[[BZYY i) :IǎE?ih@H< ˻))˻1@y`Ĉ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029961.863165 s, next control iter: 1743029962.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029962.263165 s.lH~,ؐ!AA33333 @AU @A[~? AA'$&"AA*qNA"AZAbAjArAzAAA {[+@A2]rAh@Ak;A1A6D@A At?Ab<*A{:?2Aн:A!BA{:?JAнRA!Y̚6@D@y1;ٓH򮱿`!?ح?@je@"?s`??)̚6@ I٘i)I9h@Y G J<J <JJJRD&Kf> Y1Z~?y>HAD@QD{7j7W7 8)B[[nZO@[CZ~?[ק[[[[BZYY i)  ;I&E?i@7< Q))Q2π@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029962.303165 s, next control iter: 1743029962.663178 s, wait time: 0.360013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 34612, header.stamp.nsec: 020 temperature: 13.3879912* salinity: 33.3917472, density: 1025.0000002* values[0]: 0.6920842F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029962.683165 s.llH~,!AJ"J*J2J:JBJnJvJAףp= @A w @A[[~? AAH$&"AA4qNA"AZAbAjArAzAAAl*@A0\rAffi@A\ ;AbAE@A@$A?A<<*A:?2AMҽ:AIBA:?JAMҽRAI򼙘٘i)I9fi@Y G J<JJJJRD&K YZ~?yoHAQDb77E 8AB)BE[[ϒP@[+Z~?[ا[[[[BZYY i) pI;IKE?i@q< H))Hck@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029962.683165 s, next control iter: 1743029963.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743029963.103165 s.lH~,ÚƲ!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743029963.103284F (some fields omitted in printout)A{G @AX @A[~? AAbf$&"AAYpNA"AZAbAjArAzAAACp)@A[rA=i@A$;AUwAMG@A:Aખ?A<*Aj:?2Aӽ:AlBAj:?JAӽRAl񼙘٘i)I9i@YWG J<JJJJRD&K YY~?yHAQD777T 8BB)BE[[Q@[@Z~?[٧[[[[BZYY i) ;I[E?i@< ))u@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029963.123165 s, next control iter: 1743029963.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743029963.523165 s.lH~,|!AJ"J*J2J:JK1?BJK1?nJ95vJAQ @A( @A[~? A?A($&"AAYpNA"AZAbAjArAzAAA q/NK)@AYG5[rA:Wj@A^-;AbAUH@ALAܻ?AX<*AE}:?2A׎Խ:A BAE}:?JA׎ԽRA 󼙘٘i)I9Wj@YG J<JJJJRD&K YY~?yj(IAQD{7{7Wb 8)BE[[R@[Y~?[ڧ[[[[BZYY i) l;IhF?iR@<  )) W@b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029963.563165 s, next control iter: 1743029963.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3462, header.stamp.nsec: 00 temperature: 13.387794* salinity: 33.391739, density: 1025.000000* values[0]: 0.692985F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029963.943165 s.\dlH~,S]!AA(\ @A}9[ @A~[~? A A̘$&"AA:pNA"AZAbAjArAzAAA(@A%UQօZrAj@AsAhA1HAc]A`?AN<*APw:?2A;ս:Ai?BAPw:?JA;սRAi?_I٘i)I9j@YG J<JJJJRD&K Y_Y~?yΙIAQD77p 8CB)BE[[-T@[Y~?[ۧ[[[[BZYY i挜=)  ;I4F?iJ#@< ߭ ))߭ 8@Z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029963.983165 s, next control iter: 1743029964.343181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743029964.363165 s.lH~,y>!AJ"J*J2J:J1?BJ1?nJ#:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076441< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743029964.363315F (some fields omitted in printout)Afffff @AI2 @Ad[~? A*AG$&"AAgpNA"AZAbAjArAzAAAeR(@AYrAAk@AՍA<'AFA`pkAT?Am<*Aq:?2Aս:AIBAq:?JAսRAIYl<=@&Fy&> ٓHc[p?>i?+`Ea a?q!?)l<=@ I٘i)I9Ak@Y.G J <J+;JJJSD&K|> Y Y~?yIAF RD77 8)BE[[ cU@[Y~?[/ݧ[[[[BZYY i) l;ITXF?iy&@< x ))x Ӄ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029964.383165 s, next control iter: 1743029964.763177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3463*, header.stamp.nsec: 0*0 temperature: 13.387644** salinity: 33.391739*, density: 1025.000000** values[0]: 0.693826*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029964.783165 s.XlH~,2!AA ףp=@AxB? @AJ[~? A^A$&"AA@pNA"AZAbAjArAzAAAgw6s'@A=4esYrAk@ADCAOAEAvAꆰ?A%<*Ag:?2A3ֽ:A BAg:?JA3ֽRA ٘i)I9k@YtG J<JJJ;EJSD&K YY~?yi4JA"RD7W 8)BE[[.V@[ݶY~?[ާ[[[[BZYY i) f elevatorAngleAction: 0.076441< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743029965.623286F (some fields omitted in printout)AR@A?-W@A [~? ADA$&"AAoNA"AZAbAjArAzAAAM8&@AXrAl@Agq9AbyABAӅA?Aʢ<*AU:?2A&ֽ:AzBAU:?JA&ֽRAz٘i)I9l@YG J<JJJJBSD&K YkOY~?yJA WCMRDŧ7b7 8DB)߯ByE[[fX@[.Y~?[[[[[BZYY i)  Y2Y~?yKAI@xRD{7j7 8)دBvE[[S[@[.\Y~?[[[[[BZYY i) B> elevatorAngleAction: 0.076441< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743029966.883291F (some fields omitted in printout)A= ףp@AyGs<@AZ~? AA$&"AA@{oNA"AZAbAjArAzAAA`X=]$@AَƇXrAm@Aڀ;A莽A5>A@XA`ǕAn<*A=:?2AG׽:AeBA=:?JAG׽RAe٘i)I9m@YG J<JJJJSD&K Y7X~?yKARD77 8)կBsE[[\@[EY~?[[[[[BZYY i) `N elevatorAngleAction: 0.076441< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743029968.143280F (some fields omitted in printout)A)\@AX@AyZ~? AA$&"AAoNA"AZAbAjArAzAAAC"@A ~/YrAdo@AAbA;A{vA@7QA4=<*A):?2A ׽:A1oBA):?JA ׽RA1o٘i)I9do@YG Ji<JJJJSD&K  8YDX~? 8yVMARD778)ʯBjE[[`@[Y~?[[[[[BZYY iX=) c| YԋX~?ylxMA9RD77{7Y8)ůBgE[[,a@[X~?[[[[[BZYY i) bG?iL@= W^))W^E@l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029968.583165 s, next control iter: 1743029968.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3467, header.stamp.nsec: 00 temperature: 13.386968* salinity: 33.391712, density: 1025.000000* values[0]: 0.697304F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029968.983165 s.mH~,>!AAq= ף@A̷>o@AEZ~? AyAx$&"AAnNA"AZAbAjArAzAAAGBH!@Ax] ZrAtp@AdʺAp?AUs8AK]A`jεAp<*A:?2A:׽:ABA:?JA:׽RA٘i)I9tp@YYG J0<C=JJJJSD&K YfpX~?yMARDb778)B[[Vb@[X~?[=[[[[BZYY i) "z= S ))S FM@j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029969.003165 s, next control iter: 1743029969.383187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743029969.403165 s.&mH~,Y!AJ"J*J2J:J2?BJ2?nJO;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743029969.403302F (some fields omitted in printout)AGz@AݳF@A+Z~? A}A_$&"AAŎnNA"AZAbAjArAzAAA(# @AR(!ZrAp@AF8;AA- 7ALAĠA<*Ag:?2AW׽:Ai6BAg:?JAW׽RAi6٘i)I9p@YG J/<JJJJTD&K YTX~?yFNASDj7Z7+8)BdE[[~c@[X~?[ [[[[BZYY i)  elevatorAngleAction: 0.085619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743029970.663304F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3469, header.stamp.nsec: 00 temperature: 13.386580* salinity: 33.391685, density: 1025.000000* values[0]: 0.699363F (some fields omitted in printout)A@A[:@AY~? AA^$&"AAnNA"AZAbAjArAzAAAM$էa@Aro4]rAr@A;A4A53AR A{¿A?<*A9?2A%׽:A(BA9?JA%׽RA(YP@83y#;ٓH@ m??@Xտ@':?@?`]b? ?)P@ I٘i)I9r@YG JR<B=JJJJDTD&Kx> YX~?yOA83OSDV8)B[E[[Kf@[X~?[[[[[BZYY i)  }y@AY~? AA$&"AA}mNA"AZAbAjArAzAAA^2LH@AM9@TV_rAs@AAoFAV0AA2ƿAF<*A]9?2A;ֽ:A;BA]9?JA;ֽRA;٘i)I9s@YuG J<JJJJoTD&K YUW~?yePAzSD77{7r8)BVE[[;i@[_X~?[[[[[BZYY i) 1UW~?)> rAdjusting time to match Gazebo time: 1743029971.923165 s.6>mH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743029971.923288F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AvPP@AY~? AA#&"AA!mNA"AZAbAjArAzAAA~Xr@A `rAt@AQtAȌA=V/AA@d ȿA<*A9?2Aֽ:A!BA9?JAֽRA!٘i)I9t@YG J<JJJJTD&K YW~?yPASD778)B[[^j@[vKX~?[ [[[[BZYY i)  YW~?yCQA,SD78CB)BPE[[Ql@[$X~?[<[[[[BZYY i)  elevatorAngleAction: 0.085619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743029973.183280F (some fields omitted in printout)Aףp= @AbE @AGY~? AA9w#&"AAT4mNA"AZAbAjArAzAAA򾇊@A&XdrAv@A\;AvA_+A KA@ͿA<*A19?2AF'׽:A\BA19?JAF'׽RA\٘i)I9v@YG JG<JJJJTD&K Y/fW~?y§6RASDŧ7b78)BME[[m@[X~?[[[[[BZYY i) NBZYY i¸>}᪽) }!AAfffff"@Aa2U02"@AwX~? AJAW"&"AA(lNA"AZAbAjArAzAAA =@AL5krAy@AݶUA&A2&A MACVҿAF=*A9?2A1ֽ:A]BA9?JA1ֽRA]Y]@-&yC&܁VٓH`%C'?L=?r2^ ^??ضj`?)]@ I٘i)I9y@YG J<Jb;JJJUD&Kgx> YW~?yѧTA-&%TDŧ7[8)vBEE[[Er@[6W~?[$[[[[ZZZZBZYY i) JJJUD&Kw> YV~?yvUATD777-8/B)FB9E[[sw@[tW~?[:[[[[ZZZZBZYY i,) 5vJ xAmH~,gs!AAzG(@Af(@AwDX~? A)Aɴ &"AAHkNA"AZAbAjArAzAAAr@Acd{rAٻ}@A$;A=<AA1ALؿAյ;*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9}@YnG Jx <JJJJUD&K YW]V~?yVATD7777I8)BB7E[[_z@[SW~?[C[[[[ZZZZBZYY i) NZ5vJA)\)@AǞ=)@A{X~? A2A+ &"AA)fkNA"AZAbAjArAzAAAǛdW@A^쩀rA}@Av2Ao2=AluAEAٿADx8*Ad9?2Afֽ:A3<BAd9?JAfֽRA3<٘i)I9}@Y{G JJJJJUD&K Y%0V~?y.VATD]f8)[[K|@[4W~?[M[[[[BZYY i) 2JJJUD&Kw> YlV~?yUA,TD)7ŧ7t8)AB0E[[g}@[%W~?[R[[[[BZYY i!gh) E"|@A;A%=A A@*A@ݿAָ*A`9?2Atֽ:A==BA`9?JAtֽRA==٘i)I9>|@YG JӒJJJ5vJA/@AB.@AЛW~? AOA&"AAjNA"AZAbAjArAzAAA ~2 ?A`prA{@A:r;A=AAA {޿Au*A9?2Aֽ֕:A>=BA9?JAֽ֕RA>=Y2pq@ay=(8s;ٓHG?Ϫ`; ";Qn??)2pq@ I٘i)I9{@Y4G J̞JJY=JJJ^VD&Kx> YU~?yV#ZTAgUDj7j7^8)PB[[ct@[V~?[8l[[[[BZYY i) ;Ii@i7= 广))广^@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029981.183165 s, next control iter: 1743029981.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029981.583165 s.mH~,Re!AAp= /@A{eޢ/@A0W~? AUAx&"AAjNA"AZAbAjArAzAAAgc`?Ax|rA,{@A?(~Aқ=AU[AA 5߿A!$*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9,{@YG JJJJJsVD&K YEU~?y)SA}UD77778-B)TB%E[[@[V~?[q[[[[BZYY i) Gх;Ii,@8= ߳))߳"@j֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029981.603165 s, next control iter: 1743029981.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3480, header.stamp.nsec: 00 temperature: 13.385017* salinity: 33.391548, density: 1025.000000* values[0]: 0.707616F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029982.003165 s.x mH~,L4!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066125< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743029982.003280F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz0@Ae,y0@AtW~? AtZA&"AA%ljNA"AZAbAjArAzAAAzY?A<Y|rAz@AAi=AAV8Ag߿AA*A9?2A)ֽ:AR =BA9?JA)ֽRAR =٘i)I9z@YG JJJJJVD&K YU~?y0SAUD7ŧ7 8.B)YB&E[[@[V~?[v[[[[BZYY i) yPO;Ii@9= ))@GתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029982.023165 s, next control iter: 1743029982.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029982.423165 s.umH~,!AAQ1@A4P1@AbW~? A`A&"AA/OjNA"AZAbAjArAzAAA1BA  8YZU~? 8yDVRA% UD)7ŧ7 8)fB[[0@[V~?[[[[[BZYY i) y9Ii@ <= _))_R@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029983.283165 s, next control iter: 1743029983.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 34822, header.stamp.nsec: 020 temperature: 13.3855082* salinity: 33.3915522, density: 1025.0000002* values[0]: 0.7056252F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029983.683165 s.lmH~,x!AJ"J*J2J:J4?BJ4?nJj=5vJAףp= 4@A;3@A+W~? AXqAU&"AAiNA"AZAbAjArAzAAA5#UoAYjrAQx@AT;A=A\ AƼ߿ANA֮*AP9?2Aֽ:AiW=BAP9?JAֽRAiW=٘i)I9Qx@Y"G JqJJJJVD&K YJU~?y!LQAUD{7j7_8,B)jBE[[ɻ@[V~?[+[[[[BZYY i) QIi@== [Ȭ))[Ȭݝ@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029983.683165 s, next control iter: 1743029984.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743029984.103165 s.'nH~,!AA{G4@A4@AW~? AZwA&"AAiNA"AZAbAjArAzAAAlA[ZܡrAw@A;A[}=AU A ߿AA`*A29?2Aֽ:A=BA29?JAֽRA=٘i)I9w@YG JJJJJVD&K Y::U~?yMSQAUD77 8-B)oBE[[DG@[V~?[ߒ[[[[BZYY i) Ii@g>= o))o?i@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029984.123165 s, next control iter: 1743029984.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029984.523165 s.nH~J"J,|!!A*J2J:J4?BJ4?nJF=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066125< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743029984.523324F (some fields omitted in printout)AQ5@A-5@A W~? Ax}Ak&"AAiNA"AZAbAjArAzAAAؼAȈR]rAc0w@A;Aԑ=AAAN޿AA *A9?2Ayֽ:A=BA9?JAyֽRA=٘i)I90w@YrG JJJJJ WD&K Y)U~?yxZ!QAVDb7b7 /8)sBE[[r҅@[}V~?[[[[[BZYY i) Ii@?= m))mm@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029984.563165 s, next control iter: 1743029984.923181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3483, header.stamp.nsec: 00 temperature: 13.385773* salinity: 33.391525, density: 1025.000000* values[0]: 0.704596F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029984.943165 s.XdnH~,B]W!AJ"J*J2J:JA4?BJA4?nJ=5vJAfffff7@AZ727@ANV~? AAx&"AAiNA"AZAbAjArAzAAA@. \`AXZrAv@AK"A*͌=AѝAܿAA^*A(9?2Aֽ:Aͪ<BA(9?JAֽRAͪ Y U~?yKi\PA [C>VD77j7K8,B){BE[[z@[hV~?[D[[[[BZYY iئ) }Iiǖ@@= ))u @ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029985.383165 s, next control iter: 1743029985.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3484&, header.stamp.nsec: 0&0 temperature: 13.386002&* salinity: 33.391506&, density: 1025.000000&* values[0]: 0.703642&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029985.783165 s.XnH~,r!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075025< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200582 time: 1743029985.783342F (some fields omitted in printout)A ףp=8@AuB 8@AV~? ArA3&"AAA|iNA"AZAbAjArAzAAADGAQrAǝu@A;A =A MA.ܿA A2*A9?2A ֽ:AP<BA9?JA ֽRAP<٘i)I9u@Y}G JJJJJJWD&K YT~?ypOASVD77 Z8-B)BE[[s@[^V~?[.[[[[BZYY i) V[Ii@eA= 衿))衿@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029985.803165 s, next control iter: 1743029986.183177 s, wait time: 0.380012 s T~?) p rAdjusting time to match Gazebo time: 1743029986.203165 s.#nH~,!AJ"J*J2J:J4?BJ4?nJ<5vJAGz9@AG9M8@A2V~? AA}&"AAdiNA"AZAbAjArAzAAA׎A0rAD!u@A;A3d=ApA`GۿAASs*AD9?2Aֽ:A+<BAD9?JAֽRA+<٘i)I9!u@Y1G J9JJJJ`WD&K YT~?yxOAhVD777`h8)BE[[@[TV~?[$[[[[BZYY i) 7ȻIi@B= )) @@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029986.223165 s, next control iter: 1743029986.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029986.623165 s.V)nH~,X⧸!AAR9@AA|`9@AHV~? AAv&"AAMiNA"AZAbAjArAzAAA6AmrA8t@A+A,=AA@oڿA`xdAx*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9t@YG JJJJJuWD&K YT~?yC@OA~VD{7{7v8)B[[@[iKV~?[$[[[[BZYY i) IiC@gB= [))[@y꼪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029986.643165 s, next control iter: 1743029987.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3485 , header.stamp.nsec: 0 0 temperature: 13.386222 * salinity: 33.391495 , density: 1025.000000 * values[0]: 0.702762 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029987.043165 s.0nH~,¸!AJ"J*J2J:J3?BJ3?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075025< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743029987.043284F (some fields omitted in printout)A(\:@AB^:@AϫV~? AOAP{&"AAg7iNA"AZAbAjArAzAAAظO4AmU)rA/t@Aq:A=AkAٿAAR*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9/t@YG J0JJJJWD&K YT~?yꇨNAVDZ7SI7 8)B[[@[^BV~?[-[[[[BZYY i) Ii@)C= g))g5@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029987.063165 s, next control iter: 1743029987.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029987.463165 s.Z7nH~,ݸ!AA;@A"lxze;@AƝV~? AAd&"AA!iNA"AZAbAjArAzAAA9FTAXu:rA&s@A};A=A0DA ؿAqA*A9?2ANֽ:A6=BA9?JANֽRA6=Yr~@_9y-=i۟;ٓH@ٿ ]F?B^6@ٿQs? "?)r~@ I٘i)I9s@YUG JȏB=J"JJJWD&Kx> Y@Aǵ=@AdvV~? A A|a&"AAhNA"AZAbAjArAzAAAיDA^ rAGr@AA%=AeAqkֿA4A佒*A 9?2Aֽ:AZ=BA 9?JAֽRAZ=٘i)I9Gr@YuG JYB=JJJJWD&K Y T~?y(mMAVD{7b8)B)E[[>@[q!V~?[Ԩ[[[[BZYY i) @Ii@~E= '))'`@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029988.743165 s, next control iter: 1743029989.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029989.143165 s.U/RnH~,*I!AA)\>@A>>@A1jV~? A,ǩA&"AAhNA"AZAbAjArAzAAAZYjlA j[rA6q@A҉AE=AAտA@A=瓼*A9?2A:ֽ:A=BA9?JA:ֽRA=٘i)I9q@Y*G J?C=JJJJWD&K YT~?y5MAVDZ7Z78)BE[[ɋ@[V~?[ ۨ[[[[BZYY i) lPIi@E= o))o@yǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029989.183165 s, next control iter: 1743029989.543176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743029989.563165 s.XnH~,N d!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075025< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743029989.563292F (some fields omitted in printout)J"J*J2J:JBJnJvJA?@A?@Av^V~? AcΩAJ&"AAhNA"AZAbAjArAzAAA=Lֈ AOJdrA*Oq@A[Apג=Aw#A}ԿAAZ*A9?2Aֽ:A=BA9?JAֽRA=Y@0y֒=պٓHɯӿq? \@Rӿ(屿 V@XKw?)@ I٘i)I9Oq@YG JҔB=J<JJJ XD&K,x> YT~?yLA0WD777 8)B[[zS@[ V~?[W[[[[BZYY i) _Iio@E= i))iuu@ ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029989.603165 s, next control iter: 1743029989.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3488, header.stamp.nsec: 00 temperature: 13.386793* salinity: 33.391449, density: 1025.000000* values[0]: 0.700305F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029989.983165 s._nH~,~!AAq= ף@@Aqo@@A6SV~? AթA}&"AA{hNA"AZAbAjArAzAAAj AV4rAp@ANAK=A+A@ӿA5GA@.*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9p@YG JC=JJJJ!XD&K Y:T~?yKLA \C)WD7a8(B)BE[[݌@[Y V~?[[[[[BZYY i᫽) )nIi`@E= ?))?@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029990.023165 s, next control iter: 1743029990.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029990.403165 s.&fnH~J,͙!A"J*J2J:J+3?BJ+3?nJ;5vJAGzA@AۤFA@AqHV~? AݩA.&"AAÝhNA"AZAbAjArAzAAA@ AzIrAULp@AGAkX=A>AҿA@\yAΞ*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9Lp@Y@G J1JJJJ7XD&K YT~?yVɨKA?WDb778)B[[gh@[V~?[[[[[BZYY i) :~Ii@E= ))b@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029990.443165 s, next control iter: 1743029990.803179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3489", header.stamp.nsec: 0"0 temperature: 13.387033"* salinity: 33.391464", density: 1025.000000"* values[0]: 0.699464"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029990.823165 s.lnH~,6!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083927< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743029990.823294F (some fields omitted in printout)AQB@AzB@A'>V~? AqAz&"AAōhNA"AZAbAjArAzAAAtz A>V8rA8o@A\;h;A0=AhA`ҿAA{*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9o@YG JJJJJLXD&K  8YwT~? 8yѨKATWD77{7 8)BE[[@[U~?[j[[[[BZYY i) IiϚ@(F= W쇿))W쇿@MѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029990.863165 s, next control iter: 1743029991.223182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743029991.243165 s.snH~,mϹ!AJ"J*J2J:J2?BJ2?nJ;5vJA\(C@AUJB@AY4V~? AA &"AA~hNA"AZAbAjArAzAAA3 A jVrA=o@Ac;A=A An9ѿA BA*A9?2A'ֽ:Ad=BA9?JA'ֽRAd=٘i)I9=o@YG JJJJJbXD&K YoT~?yڨ#KAjWD77b8'B)B E[[|@[XU~?[[[[[BZYY i) 6bIiL@F= Å))Å@yɫ~ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029991.263165 s, next control iter: 1743029991.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029991.663165 s.znH~,q!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3490, header.stamp.nsec: 00 temperature: 13.387242* salinity: 33.391453, density: 1025.000000* values[0]: 0.698538F (some fields omitted in printout)AD@AhC@A +V~? AvAtz&"AAohNA"AZAbAjArAzAAAvOgAcrAgn@Aƻ;AL=A5ATпA`yAS*Ap9?2Aֽ:Ad=BAp9?JAֽRAd=Yh@)y=3;ٓH@ʿWH?fZ1ʿ`겿읳ss? ?)h@ I٘i)I9n@YFG JͥB=J.C<JJJwXD&Kx> Y)iT~?yJA)WDŧ7ŧ7"8)B[[6@[ U~?[D[[[[BZYY i) ╼Iiߚ@=F= ))1)@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029991.683165 s, next control iter: 1743029992.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029992.083165 s.DnH~,S!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083927< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743029992.083284F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= D@Ajj٢D@A:"V~? AA&"AA;bhNA"AZAbAjArAzAAAkCɳ=AEarA$n@A|:Aǟ=AAοA*A<\*Ay9?2Aֽ:At=BAy9?JAֽRAt=٘i)I9$n@YG J娼C=JJJJXD&K Y;cT~?yMPJAWDj7Z7 18)B[[u@[U~?[[[[[BZYY i) _Ii@E= q))qp@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029992.103165 s, next control iter: 1743029992.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029992.503165 s.nH~,D4 !AAHzE@Agc%yE@AV~? AAQ&"AA:UhNA"AZAbAjArAzAAA=@I}A¨_rAem@A$+A$=A޿AͿA>QA_*AϨ9?2Aֽ:A<,=BAϨ9?JAֽRA<,=٘i)I9m@YG JJJJJXD&K YM]T~?yIAWDŧ77b?8)BE[[@[|U~?[<[[[[BZYY i) $ߤIi@E= ~))~=@oߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029992.523165 s, next control iter: 1743029992.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3491, header.stamp.nsec: 00 temperature: 13.387480* salinity: 33.391426, density: 1025.000000* values[0]: 0.697586F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029992.923165 s.9nH~,;!AJ"J*J2J:JBJnJvJAQF@A,PF@AV~? Ai A&"AAHhNA"AZAbAjArAzAAAmʜ7bAabesAUm@A>AP=AIܿAi2˿A uAS*Av9?2Aֽ:A =BAv9?JAֽRA =٘i)I9m@Y?G JJJJJXD&K Y^WT~?y~IAWD77M8)B[[<@[;U~?[[[[[BZYY i) i^Ii@F= =z))=z7ȩ@9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029992.943165 s, next control iter: 1743029993.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743029993.343165 s.w'G@A V~? A)A5%&"AA=hNA"AZAbAjArAzAAA(oUA sAzjl@A{Ar=AsٿA`[ɿA=AȐ*Aw9?2Aֽ:AKX=BAw9?JAֽRAKX=٘i)I9jl@YG JJJJJXD&K YoQT~?yIAWD{7{7 \8)įB[[0@[UU~?[L[[[[BZYY i) ]ݳIi@wcF= u))uR@YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743029993.363165 s, next control iter: 1743029993.743178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3492*, header.stamp.nsec: 0*0 temperature: 13.387709** salinity: 33.391415*, density: 1025.000000** values[0]: 0.696594*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029993.763165 s.J "J *J 2J :J S2?BJ S2?nJ :5vJ 7nH~,p!AA33333H@AyG@A V~? AA&"AA2hNA"AZAbAjArAzAAA& AwXlF sAk@AAw=A׿AǿAnA ͼ*A֜9?2Aֽ:A=BA֜9?JAֽRA=Y D@"׿yw=O7ٓH?{ V 8H`c?) D@ I٘i)I9k@YG JNJ~<JJJXD&Kx> YVNT~?y HA"׿WD777cj8&B)ȯB E[[@[U~?[![[[[BZYY i) .Iia@E= q))qܪ@KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029993.783165 s, next control iter: 1743029994.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029994.183165 s.ˢnH~,x!AAףp= I@A H@AU~? A!A &"AA(hNA"AZAbAjArAzAAA03XA08sA-k@A{:A =A<ԿANſA@.A_,ü*A9?2Aaֽ:A3=BA9?JAaֽRA3=٘i)I9-k@Y"G JJJJJXD&K Y>KT~?y/HAXD77j7x8)ͯB E[[D@[U~?[m([[[[BZYY i) ¼Ii@E= Gm))Gmf@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029994.203165 s, next control iter: 1743029994.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029994.603165 s.94nH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083927< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200482 time: 1743029994.603334F (some fields omitted in printout)J"J*J2J:JBJnJvJA{GI@A>I@AU~? A)A[ &"AAhNA"AZAbAjArAzAAAM^1؞A|\wsAj@Ad;A^=AOѿAÿAA6ȼ*A9?2Agֽ:A=BA9?JAgֽRA=٘i)I9j@YG JżJJJJYD&K Y%HT~?yYGAXDb7b78)үB[[^ϒ@[U~?[/[[[[BZYY i) 1ɼIi@D=  h)) hY@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029994.643165 s, next control iter: 1743029995.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3493 , header.stamp.nsec: 0 0 temperature: 13.387970 * salinity: 33.391388 , density: 1025.000000 * values[0]: 0.695514 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029995.023165 s.ZnH~, |!AAQJ@AJ@AU~? A1A &"AA[hNA"AZAbAjArAzAAA 7isA& KsA}i@Aն;AU=AaϿAAAq̼*A-9?2A9lֽ:A8=BA-9?JA9lֽRA8=٘i)I9i@YUG JʼJJJJ#YD&K Y ET~?y(JGA ]C+XD7777c8)ׯB[[Y@[MU~?[5[[[[BZYY i) !ѼIi@D= 5d))5d{@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029995.043165 s, next control iter: 1743029995.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743029995.443165 s.3önH~,-]ܺ!AJ"J*J2J:JBJnJvJA(\K@Ao+6[K@AU~? A~9A' &"AAhNA"AZAbAjArAzAAAAA#"!sA0i@AFU;AC˰=A<̿AA Aμ*A9?2Abֽ:A=BA9?JAbֽRA=]I٘i)I90i@Y G JͼB=JJJJ9YD&K YAT~?y0FA@XD{78)ݯB E[[f@[/U~?[H<[[[[BZYY i7) sؼIi@D= K`))K`a@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029995.463165 s, next control iter: 1743029995.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3494, header.stamp.nsec: 00 temperature: 13.388238* salinity: 33.391403, density: 1025.000000* values[0]: 0.694338F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029995.863165 s.+nH~,>!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092880< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743029995.863306F (some fields omitted in printout)AfffffL@AK2L@AU~? AtAA &"AAhNA"AZAbAjArAzAAA!JA77%sAh@AIA"=AʿAYA/Aϼ*Aӏ9?2A3ֽ:A=BAӏ9?JA3ֽRA=YЅ@ʿy=JٓH@j`?? p-c-8:I@3?)Ѕ@ I٘i)I9h@Y G J!ϼC=J<JJJNYD&Kx> YAT~?y9aFAʿVXD7778)B[[n@[nU~?[B[[[[BZYY i) }߼Ii@C= E[))E[@1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029995.883165 s, next control iter: 1743029996.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743029996.283165 s.=RnH~,!AJ"J*J2J:JBJnJvJA ףp=M@AB M@A'U~? AqIA8 &"AAhNA"AZAbAjArAzAAA,@\OwAT6N*sAg@AA)Ѳ=AvtǿAA?AUμ*AR9?2Aֽ:Ag=BAR9?JAֽRAg=٘i)I9g@Y G JμJJJJdYD&K Y~AT~?ymBEAkXDb77d8)B[[@[U~?[I[[[[ZZ¸BZYY i¸(6=) ӼIiY@C= ݦW))ݦW@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029996.323165 s, next control iter: 1743029996.683175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3495., header.stamp.nsec: 0.0 temperature: 13.572039.* salinity: 33.374985., density: 1025.000000.* values[0]: 0.570044.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029996.703165 s.ӺnH~,-!AAGzN@A('UM@AU~? AsQAT &"AAgNA"AZAbAjArAzAAA;ҀAd(/sA9'g@A>㹻A=AĿA&AMA 'м*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9'g@Y G JμJJJ=EJyYD&K YBAT~?y8KrEAXDb78)B[[@[U~?[7P[[[[ZZBZYY i) ǼIi@`tB= %QS))%QS@yC%IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029996.723165 s, next control iter: 1743029997.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743029997.123165 s.8nH~,aG!AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083111< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743029997.123321F (some fields omitted in printout)ARN@A?-WN@A`U~? AyYA &"AAYgNA"AZAbAjArAzAAAmRACk4sAdf@A9A=AS@¿A@AVA *A 9?2Aֽ:A<BA 9?JAֽRA<٘i)I9df@Y8 G JJJJJYD&K YAT~?yTDAXD78'B)BE[[@[QU~?[V[[[[ZZBZYY i) װIi@>"B= eN))eN0@ykv=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029997.143165 s, next control iter: 1743029997.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029997.543165 s.InH~,b!AA(\O@A9]O@AGU~? AaA &"AAgNA"AZAbAjArAzAAA0(XAt99sAӊe@AĹAV=AjAVA`_A *A͛9?2Aֽ:ANC<BA͛9?JAֽRANC<٘i)I9e@Y G JJJJJYD&K Y@T~?y\DAXD7777d8)B[[{@[U~?[][[[[ZZBZYY i) vIi@ B= %J))%Jv@ya=ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029997.563165 s, next control iter: 1743029997.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3496, header.stamp.nsec: 00 temperature: 13.572401* salinity: 33.374981, density: 1025.000000* values[0]: 0.569176F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743029997.963165 s.xnH~,}!AJ"J*J2J:JBJnJvJAP@A:[@heP@AU~? AiA}&"AAgNA"AZAbAjArAzAAA\IsAAuYy>sAƵd@A7S;Aw=AAA`9gAӶ*A9?2Avxֽ:Ar<BA9?JAvxֽRAr YpCT~?ye1DAXDj7Z78)B[[ǿ[U~?[?d[[[[ZZBZYY i) lIi@"@= 'MF))'MF'MFYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029998.003165 s, next control iter: 1743029998.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743029998.383165 s.nH~,4!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083111< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743029998.383274F (some fields omitted in printout)A= ףpQ@Aut= ˘=))˘=˘= YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029998.823165 s, next control iter: 1743029999.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743029999.223165 s.gnH~,Hλ!AAQS@A R@A#U~? AA&"AA= ';9))';9';9tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029999.243165 s, next control iter: 1743029999.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743029999.643165 s.unH~,*!AJ"J*J2J:JD?BJD?nJR5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083111< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743029999.643296F (some fields omitted in printout)A)\S@AS@AU~? A͉A:&"AAgNA"AZAbAjArAzAAAJ&LA;9f(RsAob@A˛xAǻAA -i?A@$pAB/*A9?2ATֽ:AD~BA9?JATֽRAD~٘i)I9ob@Y G J`C=JJJJZD&K YNT~?yBAYD{7{738)B[[W[U~?[[[[[ZZBZYY i) /nIi@>= 4))44B(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743029999.663165 s, next control iter: 1743030000.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3498, header.stamp.nsec: 00 temperature: 13.573137* salinity: 33.374981, density: 1025.000000* values[0]: 0.567445F (some fields omitted in printout)RNT~?)R rAdjusting time to match Gazebo time: 1743030000.063165 s.oH~,t !AAT@AXT@AU~? AݑAj&"AAgNA"AZAbAjArAzAAA2OlA WsA4b@AEAJkA!AO?A@kAֻ*Ap9?2AEֽ:A殼BAp9?JAEֽRA殼Y@yjٓH?d?]?+c@`??,?` Y|ST~?yVCA ^C,YD77fA8(B)BE[[oȼ[U~?[[[[[ZZBZYY iϐq=) l\Ii_@ɣ<= 0))00)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030000.103165 s, next control iter: 1743030000.463186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743030000.483165 s.t_oH~,!AJ"J*J2J:J6?BJ6?nJD5vJAq= ףU@AoU@ARU~? A뙪Ag&"AAgNA"AZAbAjArAzAAAc(A=w[sAb@A=ARS A7A?AdA4)*A9?2AIֽ:AּBA9?JAIֽRAּ٘i)I9b@Y G J"tC=JJJJ;ZD&K YXT~?yCABYDSI7SI7O8)[[ [ U~?[p[[[[BZYY iю=) JIig@e;= ;",));",;",(8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030000.503165 s, next control iter: 1743030000.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3499, header.stamp.nsec: 00 temperature: 13.573286* salinity: 33.374981, density: 1025.000000* values[0]: 0.567077F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030000.903165 s.$ oH~,9!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069736< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743030000.903336F (some fields omitted in printout)AGzV@A1FV@ApU~? AA;0&"AAgNA"AZAbAjArAzAAAZ}Aڬ"`sA$#b@AϪA%k7A꪿AF?AZAN};*Ap9?2Acֽ:ABAp9?JAcֽRA켙٘i)I9#b@Y G J:JJJJPZD&K Yr^T~?y9CAWYDb7b7^8)[[g[U~?[#[[[[BZYY i) n8Ii@c:= ۿ'))ۿ'ۿ'mv*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030000.943165 s, next control iter: 1743030001.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030001.323165 s.toH~,T!AJ"J*J2J:JBJnJvJAQW@AW@AU~? AAP&"AAgNA"AZAbAjArAzAAAa=kAqAesAXIb@AY;Aj[AEJA.?A`rNA;*A9?2Aֽ:AKBA9?JAֽRAK٘i)I9Ib@Y G J;JJJJfZD&K YcT~?yOVCAmYD7777el8)B[[5[U~?[֙[[[[BZYY i) [&Ii@9= #[#))#[##[#y_e=4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030001.343165 s, next control iter: 1743030001.723177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3500., header.stamp.nsec: 0.0 temperature: 13.573248.* salinity: 33.374985., density: 1025.000000.* values[0]: 0.567134.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030001.743165 s.WoH~,uo!AA\(X@AKW@A@U~? AA&"AAygNA"AZAbAjArAzAAAKuAHJjsAb@A;AyAA?A?AS1<*A9?2Aڕֽ:AQBA9?JAڕֽRAQ٘i)I9b@Y G Jc<JJJJ{ZD&K YiiT~?yrCAYD7z8)B)BE[[[ U~?[[[[[BZYY i) 8GIi@N9= C))CC*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030001.763165 s, next control iter: 1743030002.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030002.163165 s.y}"oH~,q!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069736< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743030002.163303F (some fields omitted in printout)J"J*J2J:JBJnJvJAY@AlX@AU~? AAZ&"AAhNA"AZAbAjArAzAAA%IAv)(osAb@AQ;A+AA?A`".Ab<*Ar9?2Aֽ:A  BAr9?JAֽRA  Y F@y`;ٓH@֨??`瘿?J? Q?+jt??) F@ I٘i)I9b@Y G JH<JJJJZD&Kw> YqT~?ydCAYD78-B)BE[[ұ[U~?['[[[[BZYY i)i=) (IiE@.c7= ))߹*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030002.183165 s, next control iter: 1743030002.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030002.583165 s.(oH~, S!AAp= Y@AoܢY@A*U~? AA&"AAhNA"AZAbAjArAzAAA&GAԜAbmtsACc@A6;A2A{A 5?AAA&<*A֋9?2Asֽ:A&BA֋9?JAsֽRA&٘i)I9Cc@YQ G JGw<JJJJZD&K YyT~?yĩ*DAYD77f8)B[[[U~?[ȭ[[[[BZYY i) ujIi!@5= [3))[3[3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030002.623165 s, next control iter: 1743030002.983179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3501, header.stamp.nsec: 00 temperature: 13.573088* salinity: 33.374966, density: 1025.000000* values[0]: 0.567463F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030003.003165 s.x 0oH~,L4!AJ"J*J2J:JBJnJvJAHzZ@A܁:yZ@AU~? AɪA#&"AAZhNA"AZAbAjArAzAAA_A^ɾ8EysA c@AַϺAZ"A 띿A@?AGA<*A9?2AQֽ:A˜BA9?JAQֽRA˜٘i)I9c@Y G J<JJJJZD&K Y-T~?y=ͩDAYD)7ŧ78)B[[cn[QU~?[i[[[[BZYY i) ;^˻Ii,@`4= )).*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030003.023165 s, next control iter: 1743030003.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030003.423165 s.u6oH~,ۼ!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056924< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743030003.423288F (some fields omitted in printout)AQ[@AIP[@A'U~? AѪAӈ&"AAhNA"AZAbAjArAzAAAI͜A;~sAGd@AYSAnUAnXAz?A@Alƪ<*A(9?2AAֽ:ABA(9?JAAֽRA٘i)I9Gd@Y G J<JJJJZD&K YoT~?yթDAYDb7b78.B) BE[[9[+U~?[ [[[[BZYY i) WKIig@D3= #c ))#c #c yT{i=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030003.463165 s, next control iter: 1743030003.823175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3502", header.stamp.nsec: 0"0 temperature: 13.572870"* salinity: 33.374958", density: 1025.000000"* values[0]: 0.568022"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030003.843165 s. YT~?y3EAZD77778)B[[Ѧ[U~?[-ȩ[[[[BZYY i) iW^IiS@1= G))GG*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030004.283165 s, next control iter: 1743030004.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 35032, header.stamp.nsec: 020 temperature: 13.5725452* salinity: 33.3749772, density: 1025.0000002* values[0]: 0.5687262F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030004.683165 s.lJoH~,^+!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066223< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743030004.683295F (some fields omitted in printout)Aףp= ^@A˟o ]@A V~? AGAԼ%"AA.2hNA"AZAbAjArAzAAAU3A2M4ZosA f@A?):Au A1zAj?AAѰ<*A9?2Aֽ:A̝BA9?JAֽRA̝٘i)I9 f@Y G J<JJJJ[D&K YT~?yPFAZD)7ŧ78)B[[[V~?[Ω[[[[BZYY i) ]2"Ii@Dc/= C*))C*C**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030004.683165 s, next control iter: 1743030005.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743030005.103165 s.QoH~,F!AA{G^@A&^@AOV~? AA%%"AA4ݕsA,g@A׷;A A}8AV-?AKNAa<*A9?2Aֽ:A~BA9?JAֽRA~٘i)I9,g@Y G J<JJJJ=[D&K YyT~?yFACZD7{78)B[[-[V~?[۩[[[[BZYY i) 'Ii@,= ))y=*YFFF]X:Waiting for Gazebo time sync: latest Gz time: 1743030005.543165 s, next control iter: 1743030005.923184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3504, header.stamp.nsec: 00 temperature: 13.572250* salinity: 33.374981, density: 1025.000000* values[0]: 0.569434F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030005.943165 s.Yd^oH~,F]|!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066223< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743030005.943285F (some fields omitted in printout)A(\`@A̴+[`@As"V~? A`AC%"AAwThNA"AZAbAjArAzAAAP 7AsAg@A<;A'AfA?A`}'AƤ<*A9?2ALֽ:AxBA9?JALֽRAx٘i)I9g@Y G J<B=JJJJR[D&K  8YmT~? 8yIGAYZDb77 8)B[[k[V~?[=[[[[BZYY i) 9Ii6@~+= ))復o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030005.963165 s, next control iter: 1743030006.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030006.363165 s.eoH~,>!AJ"J*J2J:JBJnJvJAfffffa@A9ѮB2a@AE+V~? AAZc%"AAmahNA"AZAbAjArAzAAAFAaA3y+sAIAh@A39A.A Ac?AnAM<*A9?2A*ֽ:A_BA9?JA*ֽRA_Yȟ@y.Y9ٓH?@? TB? I??v:??)ȟ@ I٘i)I9Ah@YZ G Jz<JNk<JJJh[D&Kx> YT~?ybGAnZDj7j7h81B)B#E[[![eV~?[[[[[BZYY i) c:Ii@T)= ܾ))ܾܾ**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030006.383165 s, next control iter: 1743030006.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3505&, header.stamp.nsec: 0&0 temperature: 13.571925&* salinity: 33.374973&, density: 1025.000000&* values[0]: 0.570125&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030006.783165 s.\koH~,!AA ףp=b@A?$D b@A4V~? AA%"AA"ohNA"AZAbAjArAzAAA A@ţsAmh@AaA㌽A|ASG?A`Ae<*A9?2A8ֽ:AZBA9?JA8ֽRAZ٘i)I9h@Y G J<C=JJJJ}[D&K YT~?y HAZDZ7&82B)B$E[[/[/&V~?[ [[[[BZYY i) ' ;Ii@'= Ӿ))ӾӾ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030006.803165 s, next control iter: 1743030007.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030007.203165 s.soH~, ͽ!AJ"J*J2J:J ?BJ ?nJ!5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066223< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743030007.203286F (some fields omitted in printout)AGzc@A)Tb@Ae>V~? AA<%"AA}hNA"AZAbAjArAzAAAR AVIUVsAMi@ALA߷A(惿A`^)?A gA<*Ag9?2A}ֽ:ABAg9?JA}ֽRA٘i)I9Mi@Y G Jޝ<JJJJ[D&K Y T~?yiHAZD7758)B'E[[}H[^.V~?[m[[[[BZYY i) J;Iiρ@g(&= >˾))>˾>˾ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030007.223165 s, next control iter: 1743030007.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030007.623165 s.SyoH~,L!AARc@AU gc@AHV~? AhAN%"AAˌhNA"AZAbAjArAzAAAs6 AAwCݬsAhi@AWAAHA6 ?AFuAx<*A9?2Aߒֽ:ABBA9?JAߒֽRAB٘i)I9i@YLG J<JJJJ[D&K YT~?y%HAZD7777iC8)B[[ [6V~?[[[[[BZYY i)  ;Ii@F$=  ¾)) ¾ ¾N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030007.643165 s, next control iter: 1743030008.023175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3506 , header.stamp.nsec: 0 0 temperature: 13.571649 * salinity: 33.374985 , density: 1025.000000 * values[0]: 0.570778 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030008.043165 s.J "J *J 2J :J ?BJ ?nJ 75vJ oH~,!AA(\d@A_d@AxSV~? A%A%"AAhNA"AZAbAjArAzAAAu[h AYsAKj@AAA M}A?A@BA^<*A9?2A ֽ:ABA9?JA ֽRA٘i)I9Kj@YG J<<JJJJ[D&K Y" U~?yK-)IAZDŧ7b7Q8)B[[ʒ[?V~?[ [[[[BZYY i) Ȣ;Ii@#= & ))& & *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030008.063165 s, next control iter: 1743030008.443181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030008.463165 s.[oH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066223< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743030008.463280F (some fields omitted in printout)Ae@A.:Yjee@A^V~? A -A#%"AAhhNA"AZAbAjArAzAAAY AE˵sAj@A1;A4AxA@{?A Au<*AR9?2A4ֽ:A%FBAR9?JA4ֽRA%FY @Lxy2;ٓH`? `?B R ? ? ?@_6f?`?) @ I٘i)I9j@YG J <J-6<JJJ[D&K,x> Y!U~?y4IAxZDj7j7`84B)ޯB+E[[["IV~?[\[[[[BZYY i*=) ;Ii|@H!= & ))& & *YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743030008.483165 s, next control iter: 1743030008.863181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3507, header.stamp.nsec: 00 temperature: 13.571354* salinity: 33.374992, density: 1025.000000* values[0]: 0.571405F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030008.883165 s.J yoH~"J*J2J,@8!A:JG?BJG?nJb5vJA= ףpf@AT8 elevatorAngleAction: 0.077433< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743030009.723273F (some fields omitted in printout)AQh@AKg@A[V~? AnBA%"AAhNA"AZAbAjArAzAAAߟA2I5sAl@A;AEAghA{O?A@ aA<*AB9?2ASֽ:A.sBAB9?JASֽRA.s٘i)I9l@YG J<JJJJ\D&K YMU~?yWJJA `C[D778)ԯB[[̉[?gV~?[[[[[BZYY i)  YboU~?yQXGKA^E[D7b78)ϯB[[SF["}V~?['[[[[BZYY i) / elevatorAngleAction: 0.077433< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743030010.983305F (some fields omitted in printout)Aq= ףj@AMJAoj@AV~? AWAQ%"AAc iNA"AZAbAjArAzAAA}֋,A%vsAzsm@A AATXA̽?AKAѾ<*Ad9?2Anֽ:A"BAd9?JAnֽRA"\I٘i)I9sm@YG J΋<B=JJJJT\D&K YU~?y _KAZ[D778)̯B5E[['[V~?[-[[[[BZYY i) > elevatorAngleAction: 0.077433< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743030012.243277F (some fields omitted in printout)A\(m@A?l@AV~? AjAD%"AAciNA"AZAbAjArAzAAAШ[AT0sAn@Aq;AAZIA ?A oA7z<*A9?2AJֽ:A\2 BA9?JAJֽRA\2 ٘i)I9n@YdG J<JJJJ\D&K Y|U~?y/sLA[D778:B)ïB[[[[BZYY i) c mEJ\D&K'x> YU~?yIyMAC[Db7j8)B[[7s[MV~?[D[[[[BZYY i) -|AI?A6AD<*AS9?2Afֽ:A BAS9?JAfֽRA ٘i)I9o@YG J-<JJJJ\D&K Y4U~?ybMA[Dŧ778;B)B?E[[[&o[V~?[HJ[[[[BZYY i) ᨅ elevatorAngleAction: 0.077433< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743030013.503290F (some fields omitted in printout)AHzo@A|&yo@Ac W~? A}AU%"AAiNA"AZAbAjArAzAAADC!Azb&sAop@AD8ACA49AY?AAT<*A9?2AӖս:ARBA9?JAӖսRAR٘i)I9op@YVG J<JJJJ\D&K  8YU~? 8y|MA[D7)7 8)BBE[[gj[HV~?[O[[[[BZYY i) : elevatorAngleAction: 0.086920< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743030014.763327F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333r@Ayq@A=W~? A菫A%"AAiNA"AZAbAjArAzAAAqi8A!1$sA&#r@AAZߠA@*A-8?ApABӯ<*AF9?2Aս:A՝BAF9?JAսRA՝٘i)I9#r@Y_G Jѯ<JJJJ]D&K Y2V~?yȗOA aC\D7778>B)BIE[[c\[W~?[`[[[[BZYY i)  elevatorAngleAction: 0.086920< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201292 time: 1743030016.023421F (some fields omitted in printout)AQt@A$"t@A!uW~? A栫A(%"AA MjNA"AZAbAjArAzAAA2?AQsAs@A;AAlA98?A߿A<*Az9?2Aֽ:AзBAz9?JAֽRAз٘i)I9s@YpG J<JJJJW]D&K YoV~?yNPA[\D77b8)B[[[tN[/W~?[p[[[[BZYY i) ]!AJ"J*J2J:J?BJ?nJ5vJA(\u@A)[u@AaW~? ASA7%"AAijNA"AZAbAjArAzAAAR J6?A^psA?~t@A5;AwꪽA8A`‰?A:*߿A#<*AQ9?2Ahֽ:AeBAQ9?JAhֽRAe٘i)I9~t@YG J2<JJJJl]D&K YV~?y/PAq\D77{7kp8@B)BPE[[I[?W~?[u[[[[BZYY i) 687!AAfffffv@A=2v@AW~? AA%"AAUjNA"AZAbAjArAzAAA@7?AK/tAu@A5;A驭A:A ?A`q޿A<*Ax9?2A_qֽ:AtBAx9?JA_qֽRAtY# @yԩ;ٓH??/? J?@?`??)# @ I٘i)I9u@Y/G Jܽ<JѼJJJ]D&K> YV~?yᴪ(QA\DS77~8AB)BSE[[GE[PW~?[z[[[[BZYY i) J elevatorAngleAction: 0.086920< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743030017.283299F (some fields omitted in printout)A ףp=w@AB w@AW~? AΰAh%"AADjNA"AZAbAjArAzAAAE4?A/0?69tAu@AA21A Ax&?A`ҶݿAZ9<*A9?2ARֽ:AxBA9?JARֽRAx٘i)I9u@YG J<JJJJ]D&K YͳV~?yQA\D7778BB)BVE[[r@[`W~?[[[[[BZYY i)  elevatorAngleAction: 0.086920< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743030018.543309F (some fields omitted in printout)A(\y@At_y@AW~? AA2D%"AA)kNA"AZAbAjArAzAAA?AhP-i<tAyw@AY9Av쵽A,A ?A}ۿA<*A9?2Ap8Խ:AeBA9?JAp8ԽRAe٘i)I9w@YG J<JJJJ]D&K Y`V~?yǪRA\D778CB)B]E[[I2[$W~?[S[[[[ZZZZ¸>BZYY i¸>K) ` YW~?y˪uSAw\Db77l8)B`E[[Ϙ-[ W~?[蒪[[[[ZZZZBZYY i) XN))p>p>z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030019.423165 s, next control iter: 1743030019.783180 s, wait time: 0.360015 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3518&, header.stamp.nsec: 0&0 temperature: 13.567586&* salinity: 33.375103&, density: 1025.000000&* values[0]: 0.579275&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030019.803165 s.A)) `>`>yӥ5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030019.823165 s, next control iter: 1743030020.203192 s, wait time: 0.380027 s rAdjusting time to match Gazebo time: 1743030020.223165 s.gCpH~,H!AAQ}@A;|@A]DX~? AmѫA%"AAtkNA"AZAbAjArAzAAA))'>'>;*YUYFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743030020.243165 s, next control iter: 1743030020.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030020.643165 s.vIpH~,*)!AJ"J*J2J:JBJnJvJA)\}@A}@AZX~? AիA%"AAkNA"AZAbAjArAzAAA$@A?~tA{@AN:A5A̯ľAK?Aҏ׿Ax<*AI9?2AN)Խ:A&λBAI9?JAN)ԽRA&λ٘i)I9{@Y:G J<JJJJC^D&K Y|yW~?yR۪bUAG]Db778FB)hBjE[[{[W~?[~[[[[ZZZZBZYY i) ))P:>P:>{*YYFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3519, header.stamp.nsec: 00 temperature: 13.567091* salinity: 33.375114, density: 1025.000000* values[0]: 0.580369F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743030020.663165 s, next control iter: 1743030021.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030021.063165 s.PpH~,J D!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082663< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743030021.063286F (some fields omitted in printout)A~@A@ϝ~@AUqX~? A٫Aa@%"AA*kNA"AZAbAjArAzAAA G@A{tApg|@A,Au޼AnAч?A ֿA<Ǯ<*A9?2A'Խ:AF:BA9?JA'ԽRAF:Yrf@Xeyu޼4,ٓHG??#ֿ@?@؈? ͛?ژe?)rf@ I٘i)I9g|@YG J\<J>JJJY^D&K-s>  8YW~? 8yvުUAe]]Dŧ78)cBmE[[[DX~?[[[[[ZZZZBZYY iA) ))ruM>uM>x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030021.083165 s, next control iter: 1743030021.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030021.483165 s.v_WpH~,^!AJ"J*J2J:JBJnJvJAq= ף@A Eo@A4X~? AbݫA%"AAkNA"AZAbAjArAzAAAx{ @Aen!tA|@As?ArO(ASA ?A?տAFʆ<*A9?2A~ս:Aj <BA9?JA~սRAj <٘i)I9|@YG J<B=JJJJn^D&K YcW~?yUAr]D777n8)_B[[[CX~?[[[[[ZZZZBZYY i) 4N))_`>`>q)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030021.503165 s, next control iter: 1743030021.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3520, header.stamp.nsec: 00 temperature: 13.566629* salinity: 33.375126, density: 1025.000000* values[0]: 0.581280F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030021.903165 s.]pH~,y!AAGz@A 9F@AWX~? AA%"AAz lNA"AZAbAjArAzAAAm @An/#tAM}@A`AƯ;AA?AտAI3<*A8:?2Ag#ӽ:ANm<BA8:?JAg#ӽRANm<٘i)I9M}@Y+G J{g<C=JJJJ^D&K YW~?yUA]D{7Z7*8)\BpE[[S [.X~?[[[[[ZZZZBZYY i%) o))  6t> 6t>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030021.923165 s, next control iter: 1743030022.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030022.323165 s.zdpH~,6!AJ"J*J2J:J?BJ?nJ 5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.079413< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743030022.323295F (some fields omitted in printout)AQ@A@AX~? AAb%"AA0lNA"AZAbAjArAzAAA W@AE%tA@}@A>(A<A3A5?A`BԿA};*A:?2A<ӽ:A@%<BA:?JA<ӽRA@%<٘i)I9}@YPG J<JJJJ^D&K YHW~?yUA]Dŧ7798GB)ZBsE[[[kCX~?[x[[[[ZZZZBZYY i) 1[))>>yi]թYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030022.363165 s, next control iter: 1743030022.723177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3521*, header.stamp.nsec: 0*0 temperature: 13.566336** salinity: 33.375114*, density: 1025.000000** values[0]: 0.581838*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030022.743165 s.WkpH~,!AA\(@A@ATX~? AA~%"AANTlNA"AZAbAjArAzAAAU/,@AdӸp'tA}@AG;Aד=AA f?A JpӿAc:*A:?2AGӽ:A;<BA:?JAGӽRA;<٘i)I9}@Y`G JU;JJJJ^D&K YW~?yVA]Db7b7oG8)vE[[.[XX~?[:[[[[BZYY i) zF))`>`>yDg0Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030022.763165 s, next control iter: 1743030023.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030023.163165 s.}}rpH~,q!AJ"J*J2J:JBJnJvJA@A+˂@A%X~? AWA%"AA8xlNA"AZAbAjArAzAAAȇ@Ave4)tA`}@A>;AZ.=AȇAz?A ҿA@*A:?2AԽ:A<BA:?JAԽRAJJJ^D&Kq> YX~?yWUA]D777U8)yE[[š[mX~?[л[[[[BZYY i+>j) <5))>eq}>}>nYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743030023.183165 s, next control iter: 1743030023.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030023.583165 s.xpH~,R!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.235738@ elevatorAngleAction: -0.057188< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743030023.583267F (some fields omitted in printout)Ap= ׃@A㢃@A*X~? AxA@%"AAslNA"AZAbAjArAzAAAeL@A@y+tA6}@A-;AnnV=AdzA ?AѿAG߻*A9?2AzԽ:A=BA9?JAzԽRA=٘i)I9}@YJG J"JJJJ^D&K YU4X~?yUA]DZ7SI7d8)[B|E[[[*X~?[N[[[[BZYY iC) $)))P>)P>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030023.603165 s, next control iter: 1743030023.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3522, header.stamp.nsec: 00 temperature: 13.566218* salinity: 33.375164, density: 1025.000000* values[0]: 0.581981F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030024.003165 s.z pH~,U4!AJ"J*J2J:J?BJ?nJ95vJAHz@A[y@AeY~? AqAb%"AAlNA"AZAbAjArAzAAA"4@A;-tAD}@A;Aev=AfA`?A пAnS3*A:?2Aҽ:A=BA:?JAҽRA=٘i)I9D}@Y&G JJJJJ^D&K YOX~?ylUA]Dŧ7b7or8IB)_B}E[[U[X~?[ª[[[[BZYY i) )) a6>a6>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030024.023165 s, next control iter: 1743030024.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030024.423165 s.upH~,!AAQ@AʊP@A.Y~? ADA)%"AAlNA"AZAbAjArAzAAA"#Y\@Ae/tAT|@A޺A׆=A;yRA@?A`XϿA7`*A* :?2Aҽ:AQ] =BA* :?JAҽRAQ] =٘i)I9|@YG JIJJJJ_D&K YjX~?yE1UA ^DSI7SI7À8)bBE[[]ܾ[OX~?[Ū[[[[BZYY i) ))Y.>Y.>0YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743030024.443165 s, next control iter: 1743030024.823175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3523", header.stamp.nsec: 0"0 temperature: 13.566198"* salinity: 33.375179", density: 1025.000000"* values[0]: 0.581816"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030024.843165 s.݌pH~,5!AJ"J*J2J:J?BJ?nJ.5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066536< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743030024.843315F (some fields omitted in printout)A(\@ACy'@AkGY~? AA%"AA mNA"AZAbAjArAzAAA@AznG1tA|@AkA =A >AfF?A2οAF*AI:?2Aեӽ:A =BAI:?JAեӽRA =٘i)I9|@YG JcsB=JJJJ_D&K Y))8>8>yrŪYjYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030024.883165 s, next control iter: 1743030025.243182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743030025.263165 s.pH~,P!AA33333@Ac'@A.`Y~? AwA%"AAb0mNA"AZAbAjArAzAAA@A>2tA|@A!A\і=Adq)AEk?A Lp̿A@h*A:?2AIԽ:ArM=BA:?JAIԽRArM=Yk@z)yЖ=SٓHy?g?Ʋ?ſ@?@~ղs`?)k@ I٘i)I9|@YlG J拼C=J=JJJ0_D&Kq> YX~?y TA)3^DSI7SI7o8)iBE[[ɾ[iX~?[̪[[[[BZYY i) `;Ii?7< >))؁p>>AϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030025.283165 s, next control iter: 1743030025.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 35242, header.stamp.nsec: 020 temperature: 13.5662792* salinity: 33.3751952, density: 1025.0000002* values[0]: 0.5814472F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030025.683165 s.lpH~,xk!AJ"J*J2J:JBJnJvJAףp= @A`#Iև@AyY~? AA%"AAVmNA"AZAbAjArAzAAA**@AZ4tAL{@A Ax=A}A!?A0ʿA#*A:?2AԽ:A+(=BA:?JAԽRA+(=٘i)I9{@YG JJJJJE_D&K YX~?y},TAI^Dī8)mBE[[[IX~?[Ϊ[[[[BZYY i) ';IiZ?oN< >))M>>ժYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743030025.683165 s, next control iter: 1743030026.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743030026.103165 s.pH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.254501@ elevatorAngleAction: -0.066536< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743030026.103283F (some fields omitted in printout)A{Gራ@AM,@A,Y~? AAc%"AA{mNA"AZAbAjArAzAAA1E@A{U_5tAw{@A+ߍ:AA=A A`?AȿAS)*A@:?2AJҽ:A5[=BA@:?JAJҽRA5[=٘i)I9{@YG JJJJJ[_D&K YX~?ySA^^D7778)rBE[[[ Y~?[Ѫ[[[[BZYY i) U;Ii?< ->)) ->->٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030026.123165 s, next control iter: 1743030026.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030026.523165 s.pH~, |!AJ"J*J2J:JBJnJvJAQ@AޫV&@AeY~? AA:%"AAmNA"AZAbAjArAzAAAo'C@A6tApz@As;Aq=AמڽA ?AǿAx*AK:?2A#ҽ:A!=BAK:?JA#ҽRA!=٘i)I9pz@YmG JJJJJp_D&K YX~?yebSAt^Do8)vBE[[˪["Y~?[_Ԫ[[[[BZYY i) (V;Ii[?< S>))S>S>l۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030026.543165 s, next control iter: 1743030026.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3525, header.stamp.nsec: 00 temperature: 13.566412* salinity: 33.375195, density: 1025.000000* values[0]: 0.580899F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030026.943165 s.YdpH~,F]!AA(\@A,[@AY~? AA&%"AAQmNA"AZAbAjArAzAAAIv@A?7tA\y@A{`;AN=AoJA?A ,@ſAD*AL:?2A\ӽ:A=BAL:?JA\ӽRA=[I٘i)I9y@YG JJJJJ_D&K Y{Y~?yRA^Dŧ7b78){BE[[є[:Y~?[֪[[[[BZYY i) ^;Ii?΂< >))>>6۪Y4 YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030026.963165 s, next control iter: 1743030027.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030027.363165 s.pH~,>!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066536< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743030027.363298F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@AT{F2@A5Y~? AA/%"AAmNA"AZAbAjArAzAAA/[]@Ak%68tA? Y-Y~?ynRAN^D77{78)B[[Y|[QY~?[2٪[[[[BZYY i) :Ii?lr< ]>))CNp]>]>٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030027.383165 s, next control iter: 1743030027.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3526&, header.stamp.nsec: 0&0 temperature: 13.566573&* salinity: 33.375206&, density: 1025.000000&* values[0]: 0.580270&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030027.783165 s.YpH~,!AA ףp=@A2F @AY~? A_AG%"AAynNA"AZAbAjArAzAAA 0y@An79tAx@Ao7ADT=AQ=A7?A`Ag *AK:?2AԽ:Ak=BAK:?JAԽRAk=٘i)I9x@YSG JC=JJJJ_D&K YIY~?y(RA^Dŧ7b7q8)BE[[ M[iY~?[d۪[[[[BZYY i) x:IiI?Yf< V?))IV?V?:תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030027.823165 s, next control iter: 1743030028.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030028.203165 s.pH~, !AJ"J*J2J:Jw?BJw?nJ5vJAGz@AXvM@AuZ~? AA%"AAOi?`V#G@?)]@ I٘i)I9Sv@YG JߪJWJJJ`D&K9r> YY~?y|PAK= _Db7b7,8QB)BE[[;E[5Y~?[[[[[BZYY i)  OIi?;<<  ?))p ? ?@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030029.503165 s, next control iter: 1743030029.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3528, header.stamp.nsec: 00 temperature: 13.566899* salinity: 33.375233, density: 1025.000000* values[0]: 0.579032F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030029.883165 s.ypH~,Ix!AJ"J*J2J:J;?BJ;?nJn5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.235224@ elevatorAngleAction: -0.066536< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743030029.883289F (some fields omitted in printout)A= ףp@Ahx<@AxZ~? A AX%"AAnNA"AZAbAjArAzAAAV]5"@AP^?=tA*u@Aj8;As=A X=A`Xv?A$A*APs:?2AԽ:Ao=BAPs:?JAԽRAo=٘i)I9u@YG J4JJJJ`D&K YY~?y2$PA dC_D)7ŧ7;8)BE[[31[sY~?[7[[[[BZYY i) H Iia? 1< ?))??ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030029.903165 s, next control iter: 1743030030.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030030.303165 s.ZpH~,g!AAzG@Aʨ2@AZ~? A AdJ%"AAaoNA"AZAbAjArAzAAAj{m #@ART=tAZ;u@A1$;A&=A=A E?AOAT`*A2:?2ALӽ:Ac<BA2:?JALӽRAc<٘i)I9;u@YAG J8JJJJ2`D&K YY~?yOA5_Dŧ7b7rI8)BE[["[Z~?[[[[[BZYY i) -Ii ?t&< ,"?)) ,"?,"?+ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030030.323165 s, next control iter: 1743030030.703181 s, wait time: 0.380016 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3529*, header.stamp.nsec: 0*0 temperature: 13.567032** salinity: 33.375244*, density: 1025.000000** values[0]: 0.578467*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030030.723165 s. pH~,H!AJ"J*J2J:J?BJ?nJG5vJAQ@A}ꑫ@AZ~? A Ab?%"AA'oNA"AZAbAjArAzAAA|E'#@Ar=tAt@Anx;AM=Ar=A?A 3AQ*A :?2A4ӽ:A?+<BA :?JA4ӽRA?+<٘i)I9t@YG JuJJJJG`D&K Y9Z~?y_OAJ_D777W8)B[[[Z~?[[[[[BZYY i5) ûIi(u?< O'?))O'?O'?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030030.743165 s, next control iter: 1743030031.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030031.143165 s.k/pH~,^*!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075297< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743030031.143293F (some fields omitted in printout)A)\@Aٕ@A1Z~? Ac Ap7%"AAgOoNA"AZAbAjArAzAAA,M mZ$@AVW>tA%0t@Amk:A4=Am=A`?A]ȕAlҙ*A:?2Aӽ:A_<BA:?JAӽRA_<٘i)I90t@YG JJJJJ]`D&K Yr+Z~?yTNA`_D{7j7f8PB)BE[[6q[3Z~?[[[[[BZYY i) ܧIig?sw< ,?)),?,?FYvYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030031.163165 s, next control iter: 1743030031.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030031.563165 s.J "J *J pH~2J:J?BJ?,R !AnJ45vJA̓@A|Y@ANZ~? A A2%"AAvoNA"AZAbAjArAzAAA$@A7>tAԱs@A! A=A>A@|?AC~{AȒ*A:?2AԽ:A<BA:?JAԽRAy =p ٓHC?`?@s?A?FX?/Da ?)wH@ I٘i)I9s@YQG J]Ju;JJJr`D&Kr> YtGZ~?y+NAu>u_DZ7SI7qt8)BE[[V[MZ~?[|[[[[BZYY i) \Ii'T?j< 1?))L@r1?1?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030031.603165 s, next control iter: 1743030031.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3530, header.stamp.nsec: 00 temperature: 13.567147* salinity: 33.375275, density: 1025.000000* values[0]: 0.577928F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030031.983165 s.pH~,!AAq= ף@A`o@AmZ~? A A0%"AAoNA"AZAbAjArAzAAA뵏(%@A?6>tAO8s@AY9A =A̜>Aؐ?A@8i?A*A :?2Abս:A<BA :?JAbսRA<٘i)I98s@YG JB=JJJJ`D&K YwcZ~?yENA_D{7{7Ȃ8OB)BE[[VԎ[gZ~?[#[[[[BZYY i) IiB?9d; P57?))sP57?P57?y!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030032.003165 s, next control iter: 1743030032.383176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030032.403165 s.&qH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.256743J@ elevatorAngleAction: -0.075297"J< massPositionAction: 0.000000*J2J4 buoyancyAction: 0.000500:J dt: 0.420018BJnJ2 time: 1743030032.403314vJF (some fields omitted in printout)AGz@A F@A[~? A_ A{2%"AA$oNA"AZAbAjArAzAAAR 5&@AI>tAr@A+ꗻA0=A0>A?Ai?AD*A:?2A ӽ:A~ =BA:?JA ӽRA~ =٘i)I9r@YG JQC=JJJJ`D&K YvZ~?yMA_Dj7j78)BE[[,G[QZ~?[[[[[BZYY i) mIi1?z; 4!AAQ@A7n@A/[~? A A>7%"AAoNA"AZAbAjArAzAAA)6&@Az=tA Ir@AA b=A2D>A`͋?A`\W?AF*A':?2AӐӽ:A*=BA':?JAӐӽRA*=٘i)I9Ir@YvG JJJJJ`D&K YvZ~?yMA_Db77r8)BE[[)[Z~?[[[[[BZYY i) (.Ii&#?p; A?))A?A?ҿYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030032.843165 s, next control iter: 1743030033.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030033.243165 s.qH~,O!AJ"J*J2J:JBJnJvJA\(@A5&@AI[~? A A?%"AADpNA"AZAbAjArAzAAARsq'@AF%=tAaq@Am:A4=AX>A "?A̟?A*A:?2AԽ:AK.=BA:?JAԽRAK.=٘i)I9q@Y,G J֐JJJJ`D&K YvZ~?y1MA_D)7ŧ7ǭ8NB)BE[[^Ի[ɷZ~?[[[[[BZYY i) ~>Ii`?{; fG?))fG?fG?=ªY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030033.263165 s, next control iter: 1743030033.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030033.663165 s.qH~,qj!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075297< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743030033.663307F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3532, header.stamp.nsec: 00 temperature: 13.567357* salinity: 33.375267, density: 1025.000000* values[0]: 0.576978F (some fields omitted in printout)A@A`+˗@Ac[~? A AI%"AAA@y?A`?A1*A2:?2AԽ:Ad=BA2:?JAԽRAd=YQ<m>ys'=;ٓH,?bͿ@Ȧ?@Y? !%?b?3᱿hq??)Q< I٘i)I9Rq@YG J#J;JJJ`D&Kr> YZ~?yLAm>_Dŧ78MB)ïBE[[ѫm<[UZ~?[[[[[BZYY i) MIi?&; L?)){tL?L?ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030033.683165 s, next control iter: 1743030034.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030034.083165 s.D!qH~, S!AJ"J*J2J:JBJnJvJAp= ט@A __뢘@A}[~? A AW%"AA2dpNA"AZAbAjArAzAAA/j{(@A,㵷A@9m?A?A&*AP:?2A2@ս:A) =BAP:?JA2@սRA) =٘i)I9p@YG JzJJJJ`D&K YsZ~?yypLA_Db77s8)ǯB[[t>=[Z~?[[[[[BZYY i) c<]Ii> ; 3R?))3R?3R?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030034.103165 s, next control iter: 1743030034.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030034.503165 s.'qH~,;4!AAHz@AAwy@A[~? A ABi%"AApNA"AZAbAjArAzAAA J)@AH|A` `?A?A*A:?2Aӽ:A =BA:?JAӽRA =٘i)I9Rp@YCG JIJJJJ aD&K Y [~?ysLA eC `D{7Z78)ʯBE[[Ti=[[~?[t[[[[BZYY i)) "lIi>˫y; W?)) W?W?vʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030034.523165 s, next control iter: 1743030034.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3533, header.stamp.nsec: 00 temperature: 13.567459* salinity: 33.375324, density: 1025.000000* values[0]: 0.576502F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030034.923165 s.8.qH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743030034.923295F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AsP@A[~? AA}%"AAҲpNA"AZAbAjArAzAAAg]9)@AJWm;tAo@AaAД=Af>A@YO?A`S?A2*A@:?2AԽ:A-Y =BA@:?JAԽRA-Y =٘i)I9o@YG JRJJJJaD&K Yl%[~?ylKA!`Db778LB)ίB¹E[[ =[D#[~?[[[[[BZYY i) A{Ii>U; /]?))/]?/]?̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030034.943165 s, next control iter: 1743030035.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030035.343165 s.<5qH~,!AA(\@Ae'@A][~? AA5%"AApNA"AZAbAjArAzAAAl˹*@AW:tAKo@AN#qA= =AZß>A p;?A?A1*A:?2AԽ:AG =BA:?JAԽRAG =٘i)I9Ko@YG JۜJJJJ4aD&K Y@[~?yfPKA6`Dj7j7r8IB)ϯBĹE[[e=[>[~?[[[[[BZYY i) Ii>'6; b?))b?b?ϪYYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743030035.363165 s, next control iter: 1743030035.743179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3534&, header.stamp.nsec: 0&0 temperature: 13.567576&* salinity: 33.375317&, density: 1025.000000&* values[0]: 0.575963&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030035.763165 s.7;qH~,!AJ"J*J2J:Jr?BJr?nJ5vJA33333@A(@A[~? A>Aί%"AAqNA"AZAbAjArAzAAA6+@A J9tAgn@Az AM=A/>A$?A`?Aҟ*Ay:?2Acս:A==BAy:?JAcսRA==Y3=A>y=ٓH*?Կñ?L?@??Oߝ? :)At`?)3= I٘i)I9n@YSG J˝B=J(N<JJJIaD&Ks>  8Y[[~? 8yJA>L`DZ7Z78)ӯBǹE[[ Y=[Y[~?[.[[[[BZYY i) 5IiR>o; :h?))lw:h?:h?y2lӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030035.783165 s, next control iter: 1743030036.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030036.183165 s.BqH~,R !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241623@ elevatorAngleAction: -0.084233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743030036.183252F (some fields omitted in printout)Aףp= @AG ֜@A[~? AA%"AA'qNA"AZAbAjArAzAAA/+@A8tA>n@AjAyG=AÒ>A ?A#?AN䤼*Av:?2Aս:AX=BAv:?JAսRAX=٘i)I9>n@YG J⡼C=JJJJ_aD&K YJv[~?yJAa`Dŧ7{78HB)֯BʹE[[>[t[~?[ [[[[BZYY i) qIi>u: m?)) m?m?تYFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743030036.203165 s, next control iter: 1743030036.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030036.603165 s.74IqH~,&!AJ"J*J2J:JN?BJN?nJu5vJA{Gᝫ@Aw-@A&\~? AAg%"AANqNA"AZAbAjArAzAAAkU,@Aذ7tAm@AȧA@=A4>A`8?Aܙ?A|*AS:?2A_EԽ:AU=BAS:?JA_EԽRAU=٘i)I9m@YG JB=JJJJtaD&K Y[~?yJAw`D77u 8GB)گB͹E[[/)>[[~?[[[[[BZYY i) 8IIiۢ=}uP: [s?))[s?[s?ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030036.623165 s, next control iter: 1743030037.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3535 , header.stamp.nsec: 0 0 temperature: 13.567679 * salinity: 33.375340 , density: 1025.000000 * values[0]: 0.575411 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030037.023165 s.ZPqH~,{A!AAQ@A-#@A1\~? AAa%"AA$uqNA"AZAbAjArAzAAA_Uq,@A SH6tAm@ACL;A=A>A A?A^?Aı*Az:?2AʱԽ:A_ =BAz:?JAʱԽRA_ =٘i)I9m@YQG JݮC=JJJJaD&K Y[~?yIA`D{7j7.8)ޯB[[?>[?[~?[6[[[[BZYY i) bңIi<Qk9 Jx?))Jx?Jx?:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030037.043165 s, next control iter: 1743030037.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030037.443165 s.=VqH~,W]\!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743030037.443326F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A=!7[@AJ\~? AA]9%"AAqNA"AZAbAjArAzAAAϚav-@A=5tA+l@A;A=AI>A ?Ah*?AI*Ap:?2A ս:A=BAp:?JA սRA=٘i)I9l@YG JJJJJaD&K Y`[~?y KIA`Db77=8FB)BйE[[U\V>[[~?[~[[[[BZYY i) \II?iw3 w~?))w~?w~?_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030037.463165 s, next control iter: 1743030037.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3536, header.stamp.nsec: 00 temperature: 13.567836* salinity: 33.375359, density: 1025.000000* values[0]: 0.574833F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030037.863165 s.+]qH~,>w!AAfffff@AM2@Ac\~? AAac%"AAqNA"AZAbAjArAzAAAe6& .@A3tAk@A5;A=A`>A?A@B?A*Ape:?2Aս:A =BApe:?JAսRA =Y,Z>]>y4=;ٓH`h? Fڿ?@ ? ?ཎ?q. pq?@?),Z> I٘i)I9k@YG JiB=J<JJJaD&Kzu> Y[~?y]ݪHA>`D{7j7uK8)BӹE[[5l>[[~?[ߪ[[[[BZYY i) 1IjI?if ?))0z??YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030037.883165 s, next control iter: 1743030038.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030038.283165 s.6RdqH~,!AJ"J*J2J:J?BJ?nJ85vJA ףp=@A )? @A|\~? A7At%"AAqNA"AZAbAjArAzAAAvbշ.@Ai2tAaGk@A:A} =A+>Al?A`?A1 ¼*A&[:?2A$ֽ:AF=BA&[:?JA$ֽRAF=٘i)I9Gk@Y2G J'C=JJJJaD&K Y[~?y٪gHA`D7{7Y8EB)BֹE[[>[[~?[ݪ[[[[BZYY i) pIV I?i0ƺ ?)) ??bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030038.303165 s, next control iter: 1743030038.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 35372, header.stamp.nsec: 020 temperature: 13.5680152* salinity: 33.3753592, density: 1025.0000002* values[0]: 0.5741912F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030038.703165 s.պjqH~, !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743030038.703277F (some fields omitted in printout)AGz@A$\࡫@A\~? AA%"AA> rNA"AZAbAjArAzAAAa} N/@A=C0tAj@AϸAN1=A`>AE?A?A ż*Ah:?2A ս:A#=BAh:?JA սRA#=٘i)I9j@YG JüB=JJJJaD&K Y:\~?yժGA`D)7ŧ7 h8DB)BٹE[[>[\~?[9۪[[[[BZYY i) 3YI| I?i5T0 ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030038.723165 s, next control iter: 1743030039.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030039.123165 s.4qqH~,P!AJ"J*J2J:JBJnJvJAR뢫@AKU@A(\~? AA%"AA2rNA"AZAbAjArAzAAA^U8/@AZO~3/tAi@AYA' =A>A'?A`4?A&ɼ*A3_:?2Aeս:A=BA3_:?JAeսRA=٘i)I9i@YhG JYǼC=JJJJaD&K Y,\~?yLҪGA`DZ7Z7tv8)B[[>[*3\~?[ت[[[[BZYY i) (ȼII?i}'  U?)) U? U?Yg!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030039.143165 s, next control iter: 1743030039.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030039.543165 s.IxqH~,!AA(\£@A'-\@A\~? AA*%"AAWrNA"AZAbAjArAzAAA(;0@AF4t-tAPi@ADAԱ=A\?A?A`O?A\ͼ*ALV:?2Aս:AP{=BALV:?JAսRAP{=٘i)I9Pi@YG J˼JJJJ bD&K YrF\~?yΪGA fC aD{7j7Ʉ8@B)B۹E[[%>[WN\~?[֪[[[[BZYY i) *мII?iEB )?)))?)?RYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743030039.563165 s, next control iter: 1743030039.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3538, header.stamp.nsec: 00 temperature: 13.568214* salinity: 33.375366, density: 1025.000000* values[0]: 0.573493F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030039.963165 s.y~qH~,!AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200582 time: 1743030039.963323F (some fields omitted in printout)A@Aqie@A\~? AAG+tAh@AAB=A?A?A@?ArҼ*AM:?2AOֽ:A:=BAM:?JAOֽRA:=Y >?yA=vٓHq?H\?Q7? ?`ڭ?`<`@?) > I٘i)I9h@Y G JϼJ7<JJJ bD&Kv> Y^\~?y"ʪFA?"aD)7b78?B)B޹E[[>[i\~?[%Ӫ[[[[BZYY i) Z3׼IH?i~~n ?))ѹ}??LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030040.003165 s, next control iter: 1743030040.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030040.383165 s.؅qH~,I!AA= ףp@Aihs<@A\~? AAQ%"AAFrNA"AZAbAjArAzAAAwt0@AgH)tAVg@AZ:AX\=A ?A~?A`?Aּ*AE:?2A[5ֽ:AY =BAE:?JA[5ֽRAY =٘i)I9g@Y) G JGԼJJJJ6bD&K Yw\~?yŪ!FA7aD77u8>B)BE[[#>[Ƀ\~?[Ъ[[[[ZZ¸BZYY i¸}=) /˼IH?iپ }?)) }?}?YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030040.403165 s, next control iter: 1743030040.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3539", header.stamp.nsec: 0"0 temperature: 13.568431"* salinity: 33.375378", density: 1025.000000"* values[0]: 0.572764"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030040.803165 s.zAqH~,g3!AJ"J*J2J:J?BJ?nJ5vJAzG@AT7@A]~? AAb%"AArNA"AZAbAjArAzAAA*ء1@AF'tAW:g@A#;A=AO?Aa?A@%?Aڼ*A"P:?2A]ս:Ay=BA"P:?JA]սRAy=٘i)I9:g@Y G JؼJJJJKbD&K YM\~?y0EAMaDj7j7ʯ8)B[[+>[\~?[̪[[[[ZZBZYY i) h*IxH?i} ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030040.823165 s, next control iter: 1743030041.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030041.223165 s.gqH~,HN!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743030041.223296F (some fields omitted in printout)AQ@A2!ꦫ@A7&]~? A'AW %"AAtrNA"AZAbAjArAzAAACb]1@AХ|%tAof@A%;A]T=A?A *?A?A*AU:?2Aujս:Ak<BAU:?JAujսRAk<٘i)I9of@Y? G J:JJJJabD&K Y\~?y1EAbaD{7{7 8=B) BE[[|>["\~?[Cɪ[[[[ZZBZYY i) %ILH?i`V i?))i?i?GYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030041.243165 s, next control iter: 1743030041.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030041.643165 s.yЙqH~,*i!AJ"J*J2J:JBJnJvJA)\@A@A=]~? AAe%"AA sNA"AZAbAjArAzAAAXa1@Aق[#tAe@A,;AI=A7?A3?A8a?AGE*A]:?2A@ս:A,<BA]:?JA@սRA,<٘i)I9e@Y G J9JJJJvbD&K Yݿ\~?y=DAxaDŧ77u8[\~?[Ū[[[[ZZBZYY i) !IH?i߶ J?))J?J?y=ЪYFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3540, header.stamp.nsec: 00 temperature: 13.568638* salinity: 33.375397, density: 1025.000000* values[0]: 0.571979F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743030041.663165 s, next control iter: 1743030042.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030042.063165 s.qH~,_ !AĄ@Aj@AT]~? AܫA%"AA>0sNA"AZAbAjArAzAAAn1@ADpB!tAd@AȟAXwp=Az"?Aර?A7?A*A`:?2A-)ֽ:A9^<BA`:?JA-)ֽRA9^u"?yMwp=sٓH?8 Eҧ?b? ?`QP?@~ S`?)> I٘i)I9d@Y6 G JJJJJbD&K v> Y\~?ygDAu"?aD78;B)BE[[g>[\~?[[[[[ZZBZYY i) 蛼IH?iЉ˻ ?))q??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030042.103165 s, next control iter: 1743030042.463180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743030042.483165 s.t_qH~,!AvPublished command to Gazebo (printed only once in a while):J"J( dropWeightState: 1*J2J:JBJnJ8 propOmegaAction: 25.132812vJ< rudderAngleAction: -0.251827> elevatorAngleAction: 0.084346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743030042.483308F (some fields omitted in printout)Aq= ף@A74eo@Ak]~? AثA%"AASsNA"AZAbAjArAzAAA/2@A&WtAc@AA+=AT'?Aw?A ?AFw̼*AR`:?2Agֽ:AG(;BAR`:?JAgֽRAG(;٘i)I9c@Y G JJJJJbD&K Yd\~?yʭDAaDSI7SI7 84B)BE[[g>[]~?[[[[[ZZBZYY i) (IH?i6-;ݻ ?)) ??`qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030042.503165 s, next control iter: 1743030042.883175 s, wait time: 0.380010 sd\~?)ʭtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3541, header.stamp.nsec: 00 temperature: 13.568923* salinity: 33.375401, density: 1025.000000* values[0]: 0.571022F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030042.903165 s.ȭqH~,͹!AAGz@AVF@A ]~? AԫAhD%"AAusNA"AZAbAjArAzAAA6@t2@Aq0;tA_c@AřȻAFp<A,?AD?AZ?A*Ah:?2A+ս:At>BAh:?JA+սRAt>٘i)I9_c@Ya G JmJJJJbD&K Y']~?yCAaD77v83B)BE[[e?[!]~?[=[[[[ZZBZYY i) CtIH?is9` ߣ?))ߣ?ߣ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030042.943165 s, next control iter: 1743030043.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030043.323165 s.vqH~,%!AJ"J*J2J:JBJnJvJAQ@A@Aw]~? AЫA{%"AAsNA"AZAbAjArAzAAAv2@AAwۮtAb@A~ԖA<AC2?A6?A@̵?A|*A`:?2AOս:A&BA`:?JAOսRA&ZI٘i)I9b@Y G JJJJJbD&K  8Y]~? 8yWuCAaD782B)BE[[[?[K;]~?[[[[[ZZBZYY i) wtICH?iC ʦ?))ʦ?ʦ? JY:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030043.343165 s, next control iter: 1743030043.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3542*, header.stamp.nsec: 0*0 temperature: 13.569097** salinity: 33.375420*, density: 1025.000000** values[0]: 0.570362*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030043.743165 s.WqH~,q!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743030043.743271F (some fields omitted in printout)A\(@Av1@A]~? Ac̫AG%"AANsNA"AZAbAjArAzAAA82@A7a tA-b@AAu=A.7?A?AA?A.*AzS:?2A#ֽ:ABAzS:?JA#ֽRA٘i)I9b@Y G J\JJJJbD&K Y1]~?y$CAaDj7j7!81B)BE[[g ?[T]~?[[[[[ZZBZYY i) ^ILH?iK H?))H?H?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030043.763165 s, next control iter: 1743030044.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030044.163165 s.u}qH~,q !AJ"J*J2J:JBJnJvJA@AAfgˬ@AO]~? AǫA<%"AAsNA"AZAbAjArAzAAA"2<3@AjTtAIb@A;;AFAg YF]~?y1CCAb elevatorAngleAction: 0.070297< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743030045.003285F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@Awy@A]~? AA%"AAtNA"AZAbAjArAzAAAٿ<3@AC; tA7b@A;AT?AF?A@?A@?A@;*A{+:?2Agֽ:AKBA{+:?JAgֽRAK񼙘٘i)I97b@Y G J:JJJJ"cD&K Yp]~?yXCA$bD7777!?8,B)BE[[?[]~?[[[[[BZYY i) (IH?irO r?))r?r?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030045.023165 s, next control iter: 1743030045.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030045.423165 s.uqH~,[!AAQ@AfeP@A^~? AĹA.M%"AA;tNA"AZAbAjArAzAAANu}3@Ac@B tA_b@A?:AcAL?A@?A`?Ae<*A9":?2A%ֽ:ABA9":?JA%ֽRA٘i)I9_b@Y G J;JJJJ8cD&K Y]~?ykCA9bD)7b7xM8)B[[$?[[]~?[[[[[BZYY i) I}H?i{ y?))y?y?yꐑ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030045.443165 s, next control iter: 1743030045.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3544, header.stamp.nsec: 00 temperature: 13.569063* salinity: 33.375439, density: 1025.000000* values[0]: 0.570127F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030045.843165 s.qH~,u!AJ"J*J2J:JBJnJvJA(\@AA(@A`^~? AǴA%%"AAZtNA"AZAbAjArAzAAA2;4@A t9tAb@AH:AA1Q?A'a?AU_?AA<*A:?2Aֽ:As BA:?JAֽRAs ٘i)I9b@Y G J|!<JJJJMcD&K Y]~?y~CAObD77[8+B)BE[[+?[L]~?[N[[[[BZYY i) IoH?i/\% y?))y?y?2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030045.863165 s, next control iter: 1743030046.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030046.263165 s.qH~,ؐ!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.070297< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743030046.263288F (some fields omitted in printout)A33333@AN@A,^~? AA%"AAytNA"AZAbAjArAzAAAb y4@AA?tA&b@AAUA`V?A`?A ?AEt<*A^:?2Aֽ:AZhBA^:?JAֽRAZh٘i)I9b@Y' G JY<JJJJccD&K Y]~?yzCAdbD7777"j8)B[[<1?[]~?[\[[[[BZYY i) HIxaH?i!j( 8~?))8~?8~?e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030046.283165 s, next control iter: 1743030046.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 35452, header.stamp.nsec: 020 temperature: 13.5688252* salinity: 33.3754812, density: 1025.0000002* values[0]: 0.5705122F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030046.683165 s.lqH~,c!AJ"J*J2J:JBJnJvJAףp= @Ap'ֱ@At@^~? AmAt%"AAEtNA"AZAbAjArAzAAANG4@AKQtAmc@Ae"A0EA[?A?A`?AN <*AI:?2Aֽ:AXBAI:?JAֽRAX٘i)I9mc@Yj G JɃ<JJJJxcD&K Y]~?ytCAzbDSI787wx8*B)BE[[c7?[]~?[:[[[[BZYY i) 3UI.SH?i턿W&* 2?))2?2?*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743030046.683165 s, next control iter: 1743030047.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743030047.103165 s.$qH~,!AA{GᲫ@AW@AS^~? AA%"AA$tNA"AZAbAjArAzAAAmu4@AT'Ӓ sAgc@AtA՛A`?Aq?A7?A<*A6:?2Aֽ:AE.BA6:?JAֽRAE.٘i)I9c@Y G Jv<JJJJcD&K Y]~?ynDAbDŧ77͆8&B)BE[[=?[^~?[ꂪ[[[[BZYY i) ]IDH?i@֏* ˓?))˓?˓?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030047.123165 s, next control iter: 1743030047.503191 s, wait time: 0.380026 s rAdjusting time to match Gazebo time: 1743030047.523165 s.qH~,|!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.070297< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743030047.523307F (some fields omitted in printout)AQ@A+@A"g^~? AAE%"AAxtNA"AZAbAjArAzAAA6*5@AȗiksAtd@Ao:AjA0f?A ?A ?A<*A :?2A"׽:ABA :?JA"׽RA٘i)I9td@Y G J<JJJJcD&K Y]~?yh;DAbDb7#8)B[[ֵC?[*^~?[o|[[[[BZYY i) pI6H?iA) ?))??M*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030047.543165 s, next control iter: 1743030047.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3546, header.stamp.nsec: 00 temperature: 13.568501* salinity: 33.375469, density: 1025.000000* values[0]: 0.571147F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030047.943165 s.YdqH~,F]!AA(\@Ah,[@Ay^~? AA%"AA@tNA"AZAbAjArAzAAAc5@AzFsAe@Az;A_A1zk?A@?Aby?Ad<*A :?2Aq=׽:ApsBA :?JAq=׽RAps٘i)I9e@Yb G J\<JJJJcD&K Y^~?ybYDAbD{7{7w8$B)BE[[I?[@^~?[u[[[[BZYY i=) (I(H?i˂=j' `?))`?`?s*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743030047.963165 s, next control iter: 1743030048.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030048.363165 s.rH~,>!AJ"J*J2J:JBJnJvJAfffff@Aףp=2@AX^~? A@A %"AAx uNA"AZAbAjArAzAAA9 (X\5@Ayg#sAe@Aq;A0A(p?A@p?A?A<*A :?2A!:׽:ABBA :?JA!:׽RABYց8?zp?y;ٓH?`" `??m`~?1nu?R?)ց8? I٘i)I9e@Y G J<J JJJcD&K> Y&^~?y[DAp?bDα8#B)BE[[O?[U^~?[o[[[[BZYY iAo=) ۺIH?ik / ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030048.403165 s, next control iter: 1743030048.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3547&, header.stamp.nsec: 0&0 temperature: 13.568153&* salinity: 33.375488&, density: 1025.000000&* values[0]: 0.571896&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030048.783165 s.X rH~,2!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058538< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743030048.783292F (some fields omitted in printout)A ףp=@AF @Ab^~? AjAK%"AA(uNA"AZAbAjArAzAAADž 5@ABD7sA6f@AC;AߥA u?A ?A#$?Ai!<*A:?2A׽:AyBA:?JA׽RAy٘i)I96f@Y G J<JJJJcD&K Y$^~?yT7EAbDb7b7#8)B[[V?[j^~?[)h[[[[BZYY i) JI H?i`5 ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030048.823165 s, next control iter: 1743030049.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030049.203165 s.J "J *J 2J :J ?BJ ?nJ 5vJ rH~,;M!AAGz@AddYණ@A^~? AvAJ%"AA/CuNA"AZAbAjArAzAAA m[6@A3e sAf@Ap.YAkAf{?Ap{?Av?A<*A :?2Adֽ:ABA :?JAdֽRA٘i)I9f@Y~ G J<JJJJcD&K Yr5^~?yMEAbD{7{7y8B)BE[[8\?[~^~?[a[[[[BZYY i) 9IG?ie: ?))??yFj=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030049.223165 s, next control iter: 1743030049.603180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030049.623165 s.`rH~,g!AAR뷫@AqW@AJ^~? AgAwy%"AA]uNA"AZAbAjArAzAAAI;6@A$sA|g@A͊AAJ?A`}?A?AAX<*A:?2Aֽ:Ak BA:?JAֽRAk ٘i)I9|g@Y G J<JJJJdD&K YF^~?ytFFA hCcD778)B[[db?[^~?[Y[[[[BZYY iK=)  <:IG?i> ?))??y~p=o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030049.643165 s, next control iter: 1743030050.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3548 , header.stamp.nsec: 0 0 temperature: 13.567748 * salinity: 33.375500 , density: 1025.000000 * values[0]: 0.572687 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030050.043165 s. rH~,Â!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743030050.043295F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\¸@AuR_@A&^~? A<|A%"AAwuNA"AZAbAjArAzAAA'n6@A{S#sA!h@AAN6A?A ?A^?AE<*A:?2Aֽ:AR#BA:?JAֽRAR#٘i)I9!h@YG G JO<JJJJ$dD&K YV^~?yY?FA%cDŧ7b7#8B)ܯB E[[h?[Ф^~?[TR[[[[BZYY i) :y:IG?i`{@ h?))h?h?yA5p=5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030050.063165 s, next control iter: 1743030050.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030050.463165 s.W'rH~,줝!AA@Aŏ1we@A^~? AuA,j%"AAАuNA"AZAbAjArAzAAA6Dڠ6@AȟJsA`h@ADmAۚAQ?AK?A@d?A<*A:?2A׽:ABA:?JA׽RAY?R?Z?yۚmٓH'?>`p7?'?`:V?m?)?R? I٘i)I9h@Y G JB<B=J@<JJJ:dD&Kx> Yd^~?y7FAZ?;cD{7{7y8)ׯB[[Mn?[@^~?[J[[[[BZYY i) :;IG?i' G o?))o?o?y=I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030050.503165 s, next control iter: 1743030050.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3549, header.stamp.nsec: 00 temperature: 13.567351* salinity: 33.375519, density: 1025.000000* values[0]: 0.573530F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030050.883165 s.y-rH~,8!AJ"J*J2J:JBJnJvJA= ףp@A9|҉<@A^~? AoA%"AAtuNA"AZAbAjArAzAAA,9w6@AOCfsA]i@Amh8Au閽Ad?Ao?Aհ?AN<*AN:?2A'׽:A=BAN:?JA'׽RA=٘i)I9]i@YG J<C=JJJJOdD&K  8Y=s^~? 8y&0SGAPcD778B)ѯBE[[t?[1^~?[ C[[[[BZYY i) M0w;IG?irL ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030050.903165 s, next control iter: 1743030051.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030051.303165 s.T4rH~,og!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743030051.303277F (some fields omitted in printout)AzG@A ~@A>_~? AiA c%"AAvuNA"AZAbAjArAzAAA7@AX7rsAsi@Aor;AdkAc?A`?A?AI<*AB:?2A|B׽:AiuBAB:?JA|B׽RAiu٘i)I9i@YaG J<JJJJedD&K Y{^~?y(GAfcD7$8B)ɯB E[[.{?[^~?[#;[[[[BZYY i) ;IcG?iآpP ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030051.323165 s, next control iter: 1743030051.703175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3550*, header.stamp.nsec: 0*0 temperature: 13.566986** salinity: 33.375538*, density: 1025.000000** values[0]: 0.574315*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030051.723165 s.;rH~,H!AJ"J*J2J:JBJnJvJAQ@A껫@Al_~? AbAm%"AAuNA"AZAbAjArAzAAALS.7@A"dnsA~j@Akֲ;AwA{<*A:?2AF׽:AHBA:?JAF׽RAH٘i)I9~j@YG J*<JJJJzdD&K Y^~?y #HA{cD)7ŧ7y$8)ůB[[S?[k^~?[3[[[[BZYY i) η;IG?i줿S ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030051.743165 s, next control iter: 1743030052.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030052.143165 s.]/BrH~,$* !AA)\@A@A+ _~? A[Ac%"AAuNA"AZAbAjArAzAAAz[7@A΁&\sAk@A";A AՏ?A'1?A`?AP<*A:?2Ar3׽:AfBA:?JAr3׽RAf٘i)I9k@Y G JU<JJJJdD&K Y^~?yZHAcD7728B)BE[[ ׃?[^~?[*[[[[BZYY i) ;IЃG?ikT ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030052.163165 s, next control iter: 1743030052.543181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030052.563165 s.J "J *J 2J :J ?BJ ?nJ C5vJ HrH~,p $!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743030052.563297F (some fields omitted in printout)A̽@A-@Ay._~? AUA%"AAvNA"AZAbAjArAzAAA7@AF=y;sAk@Ab:ArA#j?Akd?A`?A<*A:?2A׽:AoBA:?JA׽RAoY"l?g?ymϰ:ٓHuq?` ?@J?zO~? @lP??)"l? I٘i)I9k@Y[G JJ<J<JJJdD&Kx> Y^~?yUHAg?cDb7%A8)B[[?[- _~?["[[[[BZYY i7Š=) 0;IqG?iNFY R?))R?R?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030052.583165 s, next control iter: 1743030052.963184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3551, header.stamp.nsec: 00 temperature: 13.566641* salinity: 33.375534, density: 1025.000000* values[0]: 0.575022F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030052.983165 s.OrH~,>!AAq= ף@Ao@AT<_~? A?NAk%"AAvNA"AZAbAjArAzAAAf7@AqE sAl@AvO<ArmA?AL?A ?A,P<*A:?2Aֽ:ABA:?JAֽRA٘i)I9l@YG J<JJJJdD&K Y_^~?yR GIAcD{7{7yO8B)BE[[[?[_~?['[[[[BZYY i)  elevatorAngleAction: 0.078501< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743030053.823303F (some fields omitted in printout)AQ@A!7@AV_~? AK@APz%"AACvNA"AZAbAjArAzAAAi8@AG@b?sA% m@A+AA1?A?Ae?AR<*A{:?2AWֽ:AGBA{:?JAWֽRAG٘i)I9 m@YDG J<C=JJJJdD&K Y^~?yIJAcDŧ7%l8)B[[&b?[6_~?[[[[[BZYY i) (Ԝ?Aq?A?A U<*AN:?2A׽:A[+BAN:?JA׽RA[+٘i)I9m@YG J'<JJJJdD&K Yx^~?yEaJA iCcD777zz8B)BE[[?[C_~?[ [[[[BZYY i) 68 Y~^~?yJAt?dD7Ј8B)BE[[ܭ?[[O_~?[&[[[[BZYY i) G elevatorAngleAction: 0.078501< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743030055.083280F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= «@AZڢ«@Az_~? A*A1%"AAc{vNA"AZAbAjArAzAAAwn8@ANQdsAun@Aҙ;AaÏAa?A\?A/?A5G<*AR9?2A8׽:AKBAR9?JA8׽RAK٘i)I9un@Y"G J6<C=JJJJ&eD&K Y^~?yKA'dD7%8)B[[Wՙ?[Z_~?["[[[[BZYY i)  WQī@AX_~? AA9%"AAvNA"AZAbAjArAzAAA8@AjsAoo@Az-;AЄA elevatorAngleAction: 0.078501< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743030056.343276F (some fields omitted in printout)A(\ū@AL'ū@Am_~? AA%"AAvNA"AZAbAjArAzAAAe(8@AAYkݦsAo@A7A*UAFߩ?A`r?A@!?A h<*A9?2A5ֽ:AӾ BA9?JA5ֽRAӾ ٘i)I9o@Y G J<C=JJJJgeD&K Y_~?yǩ;LAgdDj7Z7&8)B[[R?[zy_~?[ҩ[[[[BZYY i) W8@Ae"8GsA|p@A(A⚽Ar?A@>?A|?AA<*A9?2ABֽ:AzBA9?JABֽRAzYq?}?yK⚽ ٓH@?4@b ?-`?@W? Tr?)q? I٘i)I9|p@Y]G J<JׁJJJ|eD&KKx> Y _~?yLA}?|dDb77{8)B[[{?[,_~?[-ɩ[[[[BZYY i) }. elevatorAngleAction: 0.078501< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743030057.603275F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gǫ@Afǫ@A_~? AA%"AA;vNA"AZAbAjArAzAAAS+i 9@A7sA q@AeA]A?A?A @?A <*Ap9?2A7ֽ:AÐBAp9?JA7ֽRAÐ٘i)I9q@Y G Jm<JJJJeD&K YS_~?yʭsMAdD)7b7&8B)zBE[[~Ѭ?[__~?[A[[[[BZYY i) <!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.087984< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743030058.863289F (some fields omitted in printout)Afffffʫ@AB2ʫ@A}_~? AAG%"AAvNA"AZAbAjArAzAAA7e9@AYيsARXs@A4;A3ףA`?A@?A?A4<*A9?2A׽:AНBA9?JA׽RAНY{?@?y֣Ű;ٓH Y?nqƩ?߾?ry;u? v??){? I٘i)I9Xs@YG Jױ<J*JJJeD&Kbx> Y=(_~?yⓩNA?dDŧ77(8)lB[[EQ?[}_~?[[[[[BZYY i)  .?A?A?Aw<*Ai9?2Aֽ:ABAi9?JAֽRA٘i)I9s@YwG J~<JJJJeD&K Y+_~?y&OA jCdD{7{7|&8B)eBE[[ |?[_~?[׏[[[[BZYY i)  elevatorAngleAction: 0.087984< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743030060.123284F (some fields omitted in printout)AR̫@APV W̫@A_~? A$ϪA&"AAwNA"AZAbAjArAzAAA69@A v|sA(u@AlOAݽAP?A R?A ?A<*A9?2Aֽ:ALBA9?JAֽRAL٘i)I9(u@Y6G J<C=JJJJ(fD&K Y|2_~?yyOA(eD{7{7'C8B)ZBE[[ѿ?[_~?[p|[[[[BZYY i) fD&K Y5_~?ypiPA=eDj7Z7~Q8)UB[[?[_~?[r[[[[BZYY i) Qx> Yt6_~?y&hPA?SeDŧ77_8B)NBE[[("?[_~?[i[[[[BZYY i)  elevatorAngleAction: 0.087984< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743030061.383276F (some fields omitted in printout)A= ףpϫ@Aj<ϫ@A!_~? AIAx&"AA|-wNA"AZAbAjArAzAAACZ9@AL msA!w@AۺAV:Ae'?A`?A@:?A<*AC9?2AQֽ:ABAC9?JAQֽRA٘i)I9!w@YiG J<JJJJifD&K Y7_~?y[_WQAheD{7{7)n8)HB[[J?[_~?[J_[[[[BZYY i) Hk .@)).@.@&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030061.403165 s, next control iter: 1743030061.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3560", header.stamp.nsec: 0"0 temperature: 13.563835"* salinity: 33.375587", density: 1025.000000"* values[0]: 0.581331"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030061.803165 s.wArH~,{gs!AJ"J*J2J:J?BJ?nJ 5vJAzGЫ@AmЫ@A_~? AIAx&"AA%3wNA"AZAbAjArAzAAA I9@AisAw@AA;A}eA)?A ?AI?A<*A89?2Afֽ:A=zBA89?JAfֽRA=z٘i)I9w@YG J0<JJJJ~fD&K Y7_~?yVQA~eD77j7~|8)CB[[r?[_~?[U[[[[BZYY i) HBZYY i¸>^1) [f Q@))Q@Q@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030062.243165 s, next control iter: 1743030062.623181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030062.643165 s.urH~,*!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082614< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419973J"J2 time: 1743030062.643287F (some fields omitted in printout)*J2J:JBJnJvJA)\ѫ@Aӿ$ѫ@A_~? A:A&"AA9?2A"ֽ:ABA>9?JA"ֽRAY\??y$;ٓH@̓?9? -M?ࡇd?`?)\? I٘i)I9z@Y)G Jo<JJJJfD&K6x> YV6_~?y7<3SA?eD)7ŧ7}8)0B[[?[_~?[8[[[[ZZZZBZYY i) BAv9?JAHֽRA>ộ٘i)I9|@YG J<JJJJfD&K Ya/_~?y!TA kCeD777~8B)BE[[EH?[_~?[[[[[ZZZZBZYY i) JJJ+gD&KTw> Y'_~?yz"UA?)fD77)8)B[[,?[_~?[ [[[[ZZZZBZYY iG) <*Aڴ9?2Aiֽ:A5с<BAڴ9?JAiֽRA5с<٘i)I9~@YG Jn<JJJJ@gD&K Y"_~?y1UA?fDŧ778B)BE[[?[_~?[[[[[ZZZZBZYY i) Uv w)@))w)@w)@pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030066.863165 s, next control iter: 1743030067.243181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030067.263165 s.4sH~,!AA33333۫@Ac'ګ@Ai_~? AFAy &"AA3wNA"AZAbAjArAzAAA *9@A b-)sA:U~@A?~]A]V=A?A A@,:?Aһ*A9?2Aֽ:Aå<BA9?JAֽRAåhթ? ҿ@<6?Ȫ`įk?)? I٘i)I9U~@YG JJ>JJJgD&Kw> Y; _~?yNUA?fDb7b768B)BE[[?[f_~?[+ۨ[[[[BZYY iINf) R*A &"AAu.wNA"AZAbAjArAzAAA09@A\4N$sA4~@AT`Aw=A;?AO_A@t'?A=G"*A9?2Aֽ:Av=BA9?JAֽRAv=٘i)I9~@YG JJJJJgD&K YE_~?yܨTAfD{7Z7*E8)B[['?[m[_~?[@Ҩ[[[[BZYY i) Y0W!AJ"J*J2J:J5?BJ5?nJ>5vJAfffff߫@AQ}>2߫@A_~? AA &"AAwwNA"AZAbAjArAzAAAlH{9@A͘sA8i|@AS;Apޙ=Aڍ?AƿA?A=*A9?2A6Uֽ:A=BA9?JA6UֽRA=Yp??yݙ=ϫ;ٓH ؿ`! @?<"ؿL?@7vju?@?)p? I٘i)I9i|@YG J^JD^=JJJhD&Kw> Y^~?yQSA? lCgD77~8B) B[[@2@[*_~?[̯[[[[BZYY i) \2;I(D?i{) 2@))2@2@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030069.403165 s, next control iter: 1743030069.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3568&, header.stamp.nsec: 0&0 temperature: 13.383625&* salinity: 33.391598&, density: 1025.000000&* values[0]: 0.709882&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030069.783165 s.[[sH~,r!AA ףp=@A ƈD @A _~? AHA&"AAwNA"AZAbAjArAzAAAg9@A0l< sA{@AN;A=A**?A@.|ȿA?Ar*AӨ9?2Ajֽ:A=BAӨ9?JAjֽRA=٘i)I9{@YJG J*JJJJhD&K Y^~?y*(SAgDb77֌8)%B[[շ@[_~?[w[[[[BZYY i) ;ID?ivs! <4@))<4@<4@E֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030069.823165 s, next control iter: 1743030070.183180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743030070.203165 s.csH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065769< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743030070.203271F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A]mO@A_~? AA&"AAvNA"AZAbAjArAzAAA9R9@A)E~sAK{@AH:A&=A?ATʿA`*?Aǭ*A9?2A7ֽ:A_ =BA9?JA7ֽRA_ =٘i)I9K{@YG JJJJJ-hD&K Yk^~?yRA+gD7+8B)+BE[[;@[_~?[G[[[[BZYY i) o;IvD?ii1 5@))5@5@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030070.243165 s, next control iter: 1743030070.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743030070.623165 s.UisH~,T!AAR@AKU@A{_~? AAcI&"AAvNA"AZAbAjArAzAAAQ_;9@AʉƳsAOz@A)A=A8@A+̿A@b?Ay`*A;9?2A#ֽ:A̺ =BA;9?JA#ֽRA̺ =٘i)I9z@YG JJJJJBhD&K Y^~?yݢYRA@gDZ7878)0B[[@[^~?[>[[[[BZYY i) ds3;IjD?iD^T@ zI7@))zI7@zI7@/֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030070.643165 s, next control iter: 1743030071.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3569 , header.stamp.nsec: 0 0 temperature: 13.383871 * salinity: 33.391632 , density: 1025.000000 * values[0]: 0.708724 F (some fields omitted in printout)^~?)ݢ rAdjusting time to match Gazebo time: 1743030071.043165 s.psH~,!AJ"J*J2J:JBJnJvJA(\@Ac@Ap_~? AA&"AAvNA"AZAbAjArAzAAA 5H"9@A<rA&z@AFA>==A@AuͿA=?A*An9?2Aֽ:A, =BAn9?JAֽRA, =٘i)I9&z@Y@G JLJJJJXhD&K Y^~?yQAVgD)7b7ַ8)4B[[;@[`^~?[_[[[[BZYY i) <:IU_D?iP  A8@))A8@A8@hԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030071.083165 s, next control iter: 1743030071.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030071.463165 s.XwsH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065769< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743030071.463289F (some fields omitted in printout)A@Ame@A_~? AzAQu&"AAvvNA"AZAbAjArAzAAAn^ 9@A[7\orAgy@A Ai=AT@A`kϿA!?AW*A}9?2AQֽ:A=BA}9?JAQֽRA=Y?@yi=ٓHݿ@>/,?`޿0?9t@8?)? I٘i)I9y@YG J.JݺJJJmhD&K*x> Yר^~?yQA@kgD7{7,8B);BE[[h @[W^~?[[[[[BZYY i) j:I|TD?iI hQ:@))hQ:@hQ:@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030071.483165 s, next control iter: 1743030071.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3570, header.stamp.nsec: 00 temperature: 13.384161* salinity: 33.391640, density: 1025.000000* values[0]: 0.707492F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030071.883165 s.y}sH~,8!AJ"J*J2J:JBJnJvJA= ףp@A<@Aפ_~? AA &"AA)vNA"AZAbAjArAzAAA? 8@Al,brAy@A;*A\;=A!@AпA?A *AZ9?2A=ֽ:A=BAZ9?JA=ֽRA=٘i)I9y@YG J۫JJJJhD&K Y^~?y*%QAgDŧ7)78B)@BE[[!= @[^~?[[[[[BZYY i) @IJD?i@ @;@))@;@@;@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030071.903165 s, next control iter: 1743030072.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030072.303165 s.VsH~,wg!AAzG@A`X|@AM_~? AeA&"AAvNA"AZAbAjArAzAAA~8@Aa=)}:rAux@A(:Az͓=Aj@AѿA?AY*A9?2A'ֽ:A=BA9?JA'ֽRA=٘i)I9ux@Y8G JoJJJJhD&K YS^~?yePAgDb778 B)FBE[[ @[Ǿ^~?[lx[[[[BZYY i) &-yIX@D?i5 RV=@))RV=@RV=@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030072.323165 s, next control iter: 1743030072.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3571., header.stamp.nsec: 0.0 temperature: 13.384449.* salinity: 33.391655., density: 1025.000000.* values[0]: 0.706312.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030072.723165 s.sH~,H.!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065769< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743030072.723266F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Aa@AE_~? AA=/&"AAPvNA"AZAbAjArAzAAA=J8@AI.%rAw@A?;A7=Az@A@ҿA؏?Av*A\9?2Ahֽ:AVr=BA\9?JAhֽRAVr=٘i)I9w@YG JFJJJJhD&K Y^~?y{YPAgDb7,8)JB[[5@[P^~?[q[[[[BZYY i) IA7D?i)Wػ >@))>@>@ ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030072.763165 s, next control iter: 1743030073.123174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743030073.143165 s.V/sH~,*I!AA)\@Aۤ@A†_~? AکA/&"AAǟvNA"AZAbAjArAzAAAh8@Aʳ+rA]w@A[;Ai=A/ @A1oӿA^?A#*As9?2Aֽ:A@=BAs9?JAֽRA@=٘i)I9]w@YG JB=JJJJhD&K Ys^~?ysOAgD{7{78)OB[[C@[r^~?[i[[[[BZYY i) E7I.D?i,WŻ UW@@))UW@@UW@@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030073.163165 s, next control iter: 1743030073.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030073.563165 s.sH~,[ d!AJ"J*J2J:J4?BJ4?nJp=5vJA@A@@A{_~? A=өAO&"AAvNA"AZAbAjArAzAAAPƂq8@A &rA;v@AW;A =AQ @A{MԿAQ+?AN*A89?2A3ֽ:AhX<BA89?JA3ֽRAhX  8Yd^~? 8ylOAT @gDb7b7 8 B)VBE[[)@[^~?[b[[[[BZYY i֘) XuI'D?is纻 A@))A@A@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030073.583165 s, next control iter: 1743030073.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3572, header.stamp.nsec: 00 temperature: 13.384715* salinity: 33.391670, density: 1025.000000* values[0]: 0.705146F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030073.983165 s.sH~,~!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074628< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743030073.983296F (some fields omitted in printout)Aq= ף@AXo@AHp_~? A˩A(&"AA~vNA"AZAbAjArAzAAAhEDN8@A7\GrAGUv@AqٹA翉=A̢ @A,*տAi?An*A9?2Aֽ:A_<BA9?JAֽRA_<٘i)I9Uv@YG JJJJJhD&K YXT^~?y8e6OA mCgD777,8)ZB[[@[u^~?[\[[[[BZYY i) DnID?i SC@))SC@SC@ὪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743030074.003165 s, next control iter: 1743030074.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030074.403165 s.&sH~,͙!AJ"J*J2J:J_4?BJ_4?nJ"=5vJAGz@AgxF@ATd_~? AĩA k&"AAlvNA"AZAbAjArAzAAA|*8@Am:rA%u@A,AU:=A* @A dֿA?A*A9?2Aֽ:Ak<BA9?JAֽRAk<٘i)I9u@YG JœJJJJiD&K YD^~?y]NAhD*8B)_BE[[$@[b^~?[NU[[[[BZYY i) UI(D?ie{ 0D@))0D@0D@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030074.423165 s, next control iter: 1743030074.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3573", header.stamp.nsec: 0"0 temperature: 13.384932"* salinity: 33.391659", density: 1025.000000"* values[0]: 0.704062"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030074.823165 s.sH~,>!AAQ@A&@AW_~? AAx&"AAWZvNA"AZAbAjArAzAAAC\8@A.rAbu@AVA=A1C@A@ֿAE?A? *A9?2Aֽ:A<BA9?JAֽRA<٘i)I9bu@YYG JJJJJiD&K Y4^~?yVzNAhD77j788)cB[[@[N^~?[N[[[[BZYY i) <׻IAD?i۾ي AMF@))AMF@AMF@y%Ř)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030074.843165 s, next control iter: 1743030075.223183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743030075.243165 s.sH~,d!AJ"J*J2J:J4?BJ4?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074628< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743030075.243288F (some fields omitted in printout)A\(@AQ@AK_~? AAZ&"AA1GvNA"AZAbAjArAzAAA>]K7@A(!HrA5t@AAPa=A@A ׿A`E?A*A9?2Agֽ:AĹ<BA9?JAgֽRAĹ<XI٘i)I9t@YG JJJJJ/iD&K Y&%^~?yEONA,hDb77.G8B)jBE[[c@[:^~?[pH[[[[BZYY i) &I5D?iKp G@))G@G@˻YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030075.263165 s, next control iter: 1743030075.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030075.663165 s.sH~,q!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3574, header.stamp.nsec: 00 temperature: 13.385194* salinity: 33.391670, density: 1025.000000* values[0]: 0.703073F (some fields omitted in printout)A@Ar@A=_~? AïA&"AAZ3vNA"AZAbAjArAzAAA x ش7@A& rABxt@AAv=A@AؿA?AD*Au9?2Adֽ:AwJ=BAu9?JAdֽRAwJ=Y@@yv=ٓHa]X?mC? +Ұ@`?)@ I٘i)I9xt@YG J:J EJJJDiD&Kx> Y^~?y~HMA@BhD777U8)mB[[u@[M&^~?[1B[[[[BZYY i)  I D?iLfX aH))aHTAI@AYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030075.683165 s, next control iter: 1743030076.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030076.083165 s.DsH~,S!AJ"J*J2J:JBJnJvJAp= @A٢@A/_~? AꨩAM&"AAvNA"AZAbAjArAzAAA 7@A ;rAt@A T;A+=A!@ALOٿA`?A*A=9?2Aֽ:A=BA=9?JAֽRA=٘i)I9t@YG J+JJJJZiD&K Y^~?yAdMAWhD77{7c8B)sBE[[@[X^~?[ <[[[[BZYY i) zID?im+< eG))eGJ@3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030076.123165 s, next control iter: 1743030076.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030076.503165 s.sH~,@4 !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074628< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743030076.503285F (some fields omitted in printout)AHz@A|&y@A!_~? A'AC&"AA vNA"AZAbAjArAzAAAx}C_7@AVRBrAs@Al;A}=A!m@A#ڿA 9?A*A*9?2Aֽ:A=BA*9?JAֽRA=٘i)I9s@Y9G JJJJBEJoiD&K Y ]~?y:MAmhD77-r8B)xBE[[X@[]~?[?6[[[[BZYY i) e)IuD?iqD E))E2L@`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030076.523165 s, next control iter: 1743030076.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3575, header.stamp.nsec: 00 temperature: 13.385400* salinity: 33.391689, density: 1025.000000* values[0]: 0.702079F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030076.923165 s.9sH~,;!AJ"J*J2J:J3?BJ3?nJv<5vJAQ@AYKQ@A_~? A|Ax&"AAuNA"AZAbAjArAzAAAa37@A`pbrAxs@AG;A%=A@AڿA@>?Aߒ*AB9?2Aֽ:A=BAB9?JAֽRA=٘i)I9s@YG JّB=JJJJiD&K Y]~?y'4LAhD77778)|B[[@[]~?[0[[[[BZYY i) (9ID?i5 wD))wDM@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030076.943165 s, next control iter: 1743030077.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030077.343165 s. Yն]~?y4'KA[@hD{7{7.8)B[[@[]~?[%[[[[BZYY i) yWIzC?id= A))AP@GȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030077.783165 s, next control iter: 1743030078.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030078.183165 s.sH~,x!AAףp= @Ah @Aa^~? AA&"AA*uNA"AZAbAjArAzAAA2Q#6@ARbRдrA՗q@AA(?=AD@A2ݿAa?A&*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9q@Y G JJJJJiD&K Y]~?y!KAhDb778B)BE[[ !@[]~?[| [[[[BZYY iz?) HgI C?iҼs @))@R@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030078.203165 s, next control iter: 1743030078.583181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030078.603165 s.74sH~,!AJ"J*J2J:JBJnJvJA{G@A!@A^~? AȁA&"AAuNA"AZAbAjArAzAAA<?mt6@AprAq@A;A-=A@A`ݿA@Z?At8*AF9?2A/ֽ:Ag=BAF9?JA/ֽRAg=٘i)I9q@YG JmJJJJiD&K Y]~?y*KAhD77{7ٹ8B)BE[[r"@[.]~?[z[[[[BZYY i) {vIC?i<yq9 >))> wS@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030078.623165 s, next control iter: 1743030079.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3577 , header.stamp.nsec: 0 0 temperature: 13.385894 * salinity: 33.391724 , density: 1025.000000 * values[0]: 0.700026 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030079.023165 s.ZsH~,{!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743030079.023290F (some fields omitted in printout)AQ@Aڭe2@A8^~? A{A1 &"AA|uNA"AZAbAjArAzAAAA6@A47rAƕp@A9A֖=AF@A޿A:?A*Aٲ9?2Aֽ:A =BAٲ9?JAֽRA =٘i)I9p@YmG JB=JJJJiD&K Ydz]~?yJA nChDŧ7b708)B[[#@[;v]~?[[[[[BZYY i) -IC?i)=k: 7=))7=T@rϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030079.063165 s, next control iter: 1743030079.423181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743030079.443165 s.3sH~,-]!AJ"J*J2J:JBJnJvJA(\@AZh4[@A ^~? AuA&"AAbuNA"AZAbAjArAzAAAܑt 6@Ap}rA8p@Ax:Ax[=Ah@Av`߿Ant?AB*A߭9?2Aےֽ:A=BA߭9?JAےֽRA=٘i)I9p@YG JҝC=JJJJjD&K Y@f]~?yfJAiD{7778B)BE[[<%@[)_]~?[ [[[[BZYY i) ID?iG">p: ;));WV@y)ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030079.463165 s, next control iter: 1743030079.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3578, header.stamp.nsec: 00 temperature: 13.386147* salinity: 33.391708, density: 1025.000000* values[0]: 0.698998F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030079.863165 s.+sH~,>!AAfffff@A5C2@Ax^~? AoA &"AAHuNA"AZAbAjArAzAAA#%.5@A.5ZrAo@A;A=A@A` A!?A]*A9?2A{ֽ:A=BA9?JA{ֽRA=Y@@y@=w;ٓH`` 1r?WJ:?}@ s?!?)@ I٘i)I9o@YG JJH<JJJjD&Kx> Y4P]~?y IA@iDb778)B[[&@[G]~?[ [[[[BZYY i)  ID?ilM>x; 0Z:))0Z:W@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030079.903165 s, next control iter: 1743030080.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030080.283165 s.8RtH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743030080.283275F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=@A%W@ @A^~? AiA]k&"AA-uNA"AZAbAjArAzAAA/5@AQrAn@A;A)؞=A%@A kaA.?A2ߩ*Aj9?2A}ֽ:A=BAj9?JA}ֽRA=٘i)I9n@YsG JpJJJJ1jD&K Y+:]~?yIA.iD7)7/8 B)BݹE[[((@[/]~?[; [[[[BZYY i) I"D?i> #; 8))82Y@aڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030080.303165 s, next control iter: 1743030080.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3579., header.stamp.nsec: 0.0 temperature: 13.386388.* salinity: 33.391747., density: 1025.000000.* values[0]: 0.697889.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030080.703165 s.غ tH~,-!AAGz@AQ._@A/|^~? AdAc&"AA7uNA"AZAbAjArAzAAA*j5@A%$ӞrAkn@AQ;A@=Au @A A@}v?A*A-9?2AUֽ:A=BA-9?JAUֽRA=٘i)I9kn@YG JB=JJJJFjD&K  8Y$]~? 8y,IACiD778"B)BڹE[[kj)@[]~?[[[[[BZYY i) !IZ D?i>H; ;7));7zZ@ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030080.723165 s, next control iter: 1743030081.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030081.123165 s.>tH~,zG!AJ"J*J2J:J2?BJ2?nJ/;5vJAR@AyU@A{i^~? Al^A"K&"AA-tNA"AZAbAjArAzAAA4Lu15@AmlDfrAm@A[Ab3=Ah!@A A?Aﰼ*AD9?2A߻ֽ:A=BAD9?JA߻ֽRA=٘i)I9m@YG J6C=JJJJ\jD&K Y]~?yHAXiD{7j78$B)B׹E[[*@[\~?[-[[[[BZYY i) ϣIrD?i>'r; O6))O6f \@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030081.143165 s, next control iter: 1743030081.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030081.543165 s.ItH~,b!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743030081.543280F (some fields omitted in printout)A(\@Ae@AjV^~? AXA&"AAtNA"AZAbAjArAzAAAg4@A# rABm@A}ăA=As#@A`_A?A}*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9Bm@YgG JJJJJqjD&K Y \~?yZHAniD7777/8)B[[%,@[\~?[p[[[[BZYY i) &ID?i>p; 4))4s]@6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030081.563165 s, next control iter: 1743030081.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3580, header.stamp.nsec: 00 temperature: 13.386676* salinity: 33.391735, density: 1025.000000* values[0]: 0.696736F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030081.963165 s.|tH~,}!AJ"J*J2J:J]2?BJ]2?nJ;5vJA@A"rle@AB^~? ASA!&"AAotNA"AZAbAjArAzAAAtΪ¼4@ALxEǔrAl@ApAS,=Ai$@AA?A*Ah9?2A!ֽ:A=BAh9?JA!ֽRA=Y6\@\b$@y+=b ٓHV #} J? ? O@ u?)6\@ I٘i)I9l@Y G JyJ\y<JJJjD&K#x> YT\~?y@GAb$@iD{7Z7,8'B)¯BӹE[[-@[I\~?[[[[[BZYY i) U|I/D?iC>; FC3))FC3o^@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030081.983165 s, next control iter: 1743030082.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030082.383165 s.%tH~,]!AA= ףp@Ac${<@A9/^~? ATNA@&"AAžtNA"AZAbAjArAzAAAqIҀ4@APrrA+ l@AvyA5b=Aδ%@AA ?A[*Ax9?2Aֽ:A]=BAx9?JAֽRA]=٘i)I9 l@YG JYJJJJjD&K Y\~?yzwGAiDb77:8)B)ȯBйE[[H.@[\~?[g[[[[BZYY i)  ҾI$D?i< ?驯; t1))t1AD`@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030082.403165 s, next control iter: 1743030082.783178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3581&, header.stamp.nsec: 0&0 temperature: 13.386937&* salinity: 33.391731&, density: 1025.000000&* values[0]: 0.695515&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030082.803165 s.xA,tH~,g!AJ"J*J2J:J 2?BJ 2?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743030082.803325F (some fields omitted in printout)AzG@Azlˀ@A^~? A7IAu&"AAtNA"AZAbAjArAzAAAC4@AVG~OurA jk@AAK=A0&@ALAW?A0ļ*Aݏ9?2AXֽ:AC=BAݏ9?JAXֽRAC=٘i)I9jk@YGG JJJJJjD&K Y\~?yGAiD0I8'B)̯B[[Z>0@[\~?[)[[[[BZYY i) z'ƼI,D?i#?W; t0))t0a@3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030082.823165 s, next control iter: 1743030083.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030083.223165 s.g3tH~,H!AAQ@A#.@A^~? A;DA2Q&"AAatNA"AZAbAjArAzAAAd4@Al#jrA!j@Ak`;AJخ=AYE(@A@A ?Aɼ*A9?2A>fֽ:Aui=BA9?JA>fֽRAui=٘i)I9j@YG JƼJJJJjD&K Y3\~?yߧFAiDW8)B)ӯB͹E[[Ö1@[F\~?[[[[[BZYY i) 8~ͼI5D?i(?~; r/))r/Cc@VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030083.263165 s, next control iter: 1743030083.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030083.643165 s.z9tH~,*!AJ"J*J2J:J1?BJ1?nJ[:5vJA)\@Aǚ@A]~? A_?Ak&"AABtNA"AZAbAjArAzAAA9'3@Av>srA(j@AWî;A=A)@A .A`>?Aͼ*A9?2A[ֽ:A=BA9?JA[ֽRA=٘i)I9j@YyG J˼JJJJjD&K Y}\~?y*ۧ"FAiD7e8*B)ٯBʹE[[+2@[l\~?[?[[[[BZYY i) =ԼI?D?iA;?; -))-sd@tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3582, header.stamp.nsec: 0Y0 temperature: 13.387253* salinity: 33.391754, density: 1025.000000* values[0]: 0.694242F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743030083.663165 s, next control iter: 1743030084.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030084.063165 s.@tH~,_ !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092595< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743030084.063307F (some fields omitted in printout)A@A۞@A]~? A:A&"AA#tNA"AZAbAjArAzAAAmZ3@ArAmji@Atؑ;A۰=A*@Am'A?Anϼ*Aى9?2Anֽ:Aa=BAى9?JAnֽRAa=Y@ *@y۰=d;ٓH@|gxݿ`&1?@- ?Z ;r?d?)@ I٘i)I9ji@YG JμJb<JJJjD&K x> Y[h\~?y,קEA*@ oCiDS771t8,B)BǹE[[E4@[vS\~?[[[[[BZYY i) vܼIJD?iF?]; H,))H,e@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030084.103165 s, next control iter: 1743030084.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030084.483165 s.t_GtH~,!AJ"J*J2J:JBJnJvJAq= ף@Ao@A~]~? A6A&j&"AAtNA"AZAbAjArAzAAARF3@A?ÂrAMh@AH{:A=A0,@A`lA`D?Aμ*A9?2Aגֽ:AS=BA9?JAגֽRAS=٘i)I9h@Y G JYϼJJJJkD&K Y;O\~?y.ӧ5EAjDZ7Z78-B)BĹE[[ƛ5@[R:\~?[[[[[BZYY i) HIUD?iCT?< *))*9g@|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030084.503165 s, next control iter: 1743030084.883175 s, wait time: 0.380010 s ;O\~?) .ӧtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3583, header.stamp.nsec: 00 temperature: 13.387589* salinity: 33.391754, density: 1025.000000* values[0]: 0.692889F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030084.903165 s.MtH~,9!AAGz@AF@AԱ]~? A1A&"AAJsNA"AZAbAjArAzAAA)%آ3@A_( rAh@A*AY=Aك-@AدAw?A2ϼ*A}9?2Aֽ:A=BA}9?JAֽRA=٘i)I9h@Y< G JμJJJJkD&K Y6\~?y0ϧDAjDې8.B)B¹E[[06@[.!\~?[[[[[ZZ¸BZYY i¸=) K׼I7bD?ikc?w< k)))k)Jh@ykYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030084.943165 s, next control iter: 1743030085.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030085.323165 s.~TtH~,GT!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082574< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743030085.323312F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A@A]~? AJ-AD &"AAAsNA"AZAbAjArAzAAANv2@Ai}rA_g@A@AE=A.@AA@?AbѼ*Aw9?2A@ֽ:A=BAw9?JA@ֽRA=٘i)I9_g@Y G JϼJJJJ3kD&K Y\~?y1˧HDA/jD7{7180B)BE[[A8@[\~?[h[[[[ZZBZYY i) 8P˼IYoD?iQt?=]< %())%(i@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030085.343165 s, next control iter: 1743030085.723178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3584., header.stamp.nsec: 0.0 temperature: 13.387922.* salinity: 33.391773., density: 1025.000000.* values[0]: 0.691521.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030085.743165 s.W[tH~,o!AA\(@Ak@A]~? A)A?k &"AA͟sNA"AZAbAjArAzAAAP~2@Ain(zrA0f@ATA=A!0@A,A ?A5*Af9?2AZֽ:A<BAf9?JAZֽRA<٘i)I9f@YZ G J JJJJHkD&K Y\~?y3ǧCADjD7781B)BE[[9@[[~?[e[[[[ZZBZYY i) SI|}D?ix?G(< V&))V&_Xk@y3=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030085.763165 s, next control iter: 1743030086.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030086.163165 s.x}btH~,q!AJ"J*J2J:JBJnJvJA@A5E@A+o]~? A%Aw &"AA}sNA"AZAbAjArAzAAAR+:2@AtgxrAe@AA=A[k1@AiA?A*A9?2Aֽ:A<BA9?JAֽRA Y[~?yħiCAh1@ZjD77ܻ82B)BE[[:@[[~?[ߧ[[[[ZZBZYY i) IBD?i\?/< Fi%))Fi%ol@yv=֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030086.203165 s, next control iter: 1743030086.563179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030086.583165 s.htH~,S!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082574< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743030086.583324F (some fields omitted in printout)Ap= @Acޢ@AnX]~? A2!A!&"AA[sNA"AZAbAjArAzAAA1@Ao3vrAPd@AH:A({=A{2@AߣA@*?AQ*A<9?2Ayֽ:Av<BA<9?JAyֽRAv<٘i)I9d@YR G JJJJJskD&K Y-[~?yCAojD77284B) BE[[94<@[>[~?[ݧ[[[[ZZBZYY i) [ID?i ?S{8<  $)) $n@宪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030086.603165 s, next control iter: 1743030086.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3585, header.stamp.nsec: 00 temperature: 13.388289* salinity: 33.391773, density: 1025.000000* values[0]: 0.689954F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030087.003165 s.z ptH~,U4!AJ"J*J2J:JBJnJvJAHz@Ay@ApA]~? AtAS!&"AA9sNA"AZAbAjArAzAAA,&1@A0vsrAQ(d@AZ};AD7=AY3@A@^AS?A}Լ*A9?2A0qֽ:AF;BA9?JA0qֽRAF;٘i)I9(d@Y G JJJJJkD&K Yش[~?yBAjDŧ778)B[[=@[[~?[Mܧ[[[[ZZBZYY i) AID?i—?%@B< ӯ"))ӯ"oo@ՀYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030087.023165 s, next control iter: 1743030087.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030087.423165 s.uvtH~,!AAQ@A%/P@A3*]~? AAk!&"AA sNA"AZAbAjArAzAAAli1@AqrAc@A;Aq^<AL5@A@Az?A*A_9?2Anֽ:A2aBA_9?JAnֽRA2a٘i)I9c@Yv G JƼJJJJkD&K Y[~?y{1BAjD7785B)BE[[S>@[[~?[ڧ[[[[ZZBZYY i) ]IKD?i>?M< T!))T!p@W!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030087.443165 s, next control iter: 1743030087.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3586, header.stamp.nsec: 00 temperature: 13.388659* salinity: 33.391766, density: 1025.000000* values[0]: 0.688419F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030087.843165 s.|tH~,!AJ"J*J2J:J<0?BJ<0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082574< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743030087.843300F (some fields omitted in printout)A(\@A*l(@A]~? AfAj!&"AArNA"AZAbAjArAzAAA2A"1@AqorAFb@A:A0<A;6@A 'JA?ARH*A֤9?2Abfֽ:ABA֤9?JAbfֽRA٘i)I9b@Y& G JJJJJkD&K Y1[~?yLAAjDb77386B)BE[[T@@[p[~?[٧[[[[ZZBZYY i) ߄ID?i?Y< o))oF$r@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030087.883165 s, next control iter: 1743030088.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030088.263165 s.tH~,!AA33333@A l@A\~? AA""&"AArNA"AZAbAjArAzAAA ]g0@AlmrAb@AgXAꍪAa7@A|AE?A6*A9?2ASֽ:AqvBA9?JASֽRAqvYc)@7@y؍6YٓHп ݟr??\iQu? +]@?)c)@ I٘i)I9b@Y G JgJ'EJJJkD&K9w>  8Yd[~? 8yAA7@jD{7{788B)#BE[[dA@[W[~?[ا[[[[ZZBZYY iz=) vIeD?i?,`< ))~s@ٹ(YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743030088.283165 s, next control iter: 1743030088.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 35872, header.stamp.nsec: 020 temperature: 13.3889172* salinity: 33.3917662, density: 1025.0000002* values[0]: 0.6874062F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030088.683165 s.ltH~,c+!AJ"J*J2J:JBJnJvJAףp= @A]@A\~? AAa"&"AAڪrNA"AZAbAjArAzAAAqz0@A\krA2^b@AřA.A09@AA?A4ǻ*AD9?2A@ֽ:AeīBAD9?JA@ֽRAeī٘i)I9^b@Y G J0JJJJkD&K YI[~?yAAjDb7b789B)&BE[[EB@[=[~?[ק[[[[ZZBZYY i֑=) cID?iJ?Ui< H))Ht@F)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030088.683165 s, next control iter: 1743030089.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743030089.103165 s.tH~,F!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072056< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743030089.103292F (some fields omitted in printout)A{G@Ac"@A\~? A A "&"AAwrNA"AZAbAjArAzAAA!RH0@AfirADb@AA' AG|:@A%A?AD*A9?2A,<ֽ:A˼BA9?JA,<ֽRA˼٘i)I9Db@Y G JrJJJJkD&K YJ.[~?yHAA pCjD773 8:B)(BE[[C@[]$[~?[%ק[[[[BZYY i) ePIm E?i?s< f))fO/v@1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030089.123165 s, next control iter: 1743030089.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030089.523165 s.tH~,R|a!AJ"J*J2J:JBJnJvJAQ@AL0@A\~? A A`"&"AAarNA"AZAbAjArAzAAAa"/@AggrA'Lb@AdA70A;@AA?AX;*A9?2AjMֽ:ABA9?JAjMֽRA缙٘i)I9Lb@Y G J:JJJJ lD&K Y[~?yAAkDb7b7.8;B))BE[[Y@E@[7 [~?[֧[[[[BZYY i) >IE?im?}< e))ePw@y^=l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030089.543165 s, next control iter: 1743030089.923189 s, wait time: 0.380024 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3588, header.stamp.nsec: 00 temperature: 13.389032* salinity: 33.391773, density: 1025.000000* values[0]: 0.687011F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030089.943165 s.^dtH~,[]|!AA(\@At)*[@A0\~? AbA #&"AA!AJ"J*J2J:J/?BJ/?nJl85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000> elevatorAngleAction: 0.072056< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743030090.363296F (some fields omitted in printout)Afffff @AJP2 @A\~? AAA#&"AArNA"AZAbAjArAzAAAZ.@A ċdrAb@A_;A_tAi>@APVA?AmD(<*Al9?2Aֽ:ACBAl9?JAֽRACY:`0@^f>@yX_t`;ٓH5 #3ſ[e?0?ЎɯzG?Xk?`?):`0@ I٘i)I9b@Y G J <B=JJJJ5lD&Kw> YZ~?y$?BAf>@0kDj7Z75K8=B)(BE[[~G@[Z~?[է[[[[BZYY ig=) +I6E?i?䵈< @)) @uz@J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030090.383165 s, next control iter: 1743030090.763177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3589., header.stamp.nsec: 0.0 temperature: 13.388985.* salinity: 33.391777., density: 1025.000000.* values[0]: 0.687179.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030090.783165 s.YtH~,!AA ףp= @AnJ @Ah\~? A~Ap#&"AAqNA"AZAbAjArAzAAAy!=.@A*)JcrAb@A;AA@_?@AA ?AI[<*A+Q:?2AP½:A BA+Q:?JAP½RA ٘i)I9b@Y# G JP@<C=JJJJJlD&K YZ~?yBAFkD{7j7Y8>B)'BE[[|I@[Z~?[է[[[[BZYY i) = IkNE?iN?S< ))BsT{@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030090.803165 s, next control iter: 1743030091.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030091.203165 s.tH~,G!AJ"J*J2J:JBJnJvJAGz @ACV @AO\~? AJA>#&"AAqNA"AZAbAjArAzAAA>-@AlEarA`c@A;AA%@@A@ԫA ?A"*<*Ah:?2ANý:A?t BAh:?JANýRA?t ٘i)I9`c@Yb G Js<JJJJ`lD&K YZ~?y8BA[kD77g8?B)$BE[[wSJ@[ Z~?[է[[[[BZYY i) IfE?i?kґ< G))Gn|@*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030091.223165 s, next control iter: 1743030091.603180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030091.623165 s.]tH~,v!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056401< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743030091.623289F (some fields omitted in printout)AR @AU @A_6\~? A/A#&"AA qNA"AZAbAjArAzAAAY -@AA7`rAc@A%h:AфAV$A@A@A?A<*Asw:?2AIbŽ:A BAsw:?JAIbŽRA WI٘i)I9c@Y G J<JJJJulD&K Y4Z~?y¥5CAqkD73v8AB)"BE[[K@[QZ~?[4֧[[[[BZYY i=) ֻIOE?i6?,< G))G}@y[bg=*Y2aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030091.643165 s, next control iter: 1743030092.023185 s, wait time: 0.380020 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3590 , header.stamp.nsec: 0 0 temperature: 13.388908 * salinity: 33.391777 , density: 1025.000000 * values[0]: 0.687793 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030092.043165 s.tH~,!AJ"J*J2J:JBJnJvJA(\ @Ak @A\~? A3A{#&"AAqNA"AZAbAjArAzAAARs,@A,1Bs_rA`d@A$RAPAFB@A)AL?A<*A~:?2AB Ƚ:AQ; BA~:?JAB ȽRAQ; ٘i)I9`d@Y G J/<B=JJJJlD&K YRlZ~?yLCAkD778BB)BE[[L@[uZ~?[֧[[[[BZYY i) GᶻIE?if?[<  ))  @ygrg="*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030092.063165 s, next control iter: 1743030092.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030092.463165 s.QtH~,Ӥ!AA @Aoe @A\~? AXAe$&"AAsYqNA"AZAbAjArAzAAA;w +@AkHQ^rAd@AkAޑAC@A PA?A<*A~:?2Aʽ:A BA~:?JAʽRA Y5@ C@y8ٓH 3`V4`w?? @uM?rw?)5@ I٘i)I9d@YV G J4<C=J8JJJlD&KC> Y3PZ~?yCAC@kD77j7ߒ8)B[["N@[,]Z~?[ק[[[[BZYY i) ŘIʵE?i?`J< )) +@y`=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030092.483165 s, next control iter: 1743030092.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3591, header.stamp.nsec: 00 temperature: 13.388721* salinity: 33.391762, density: 1025.000000* values[0]: 0.688695F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030092.883165 s.ytH~,48!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065797< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743030092.883295F (some fields omitted in printout)A= ףp@A@.q<@A1[~? AA9$&"AA2qNA"AZAbAjArAzAAA4Wh>+@AgE]rA4e@AzAƁAD@AA`?Aщ<*A{|:?2Axͽ:AH1 BA{|:?JAxͽRAH1 ٘i)I9e@Y G J<JJJCEJlD&K Y4Z~?yǢWDAkD7738)BE[[PO@[DZ~?[ק[[[[BZYY i) &OuIE?i@M < )) ʀ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030092.903165 s, next control iter: 1743030093.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030093.303165 s._tH~,gS!AAzG@AY@A[~? AAY$&"AA/ qNA"AZAbAjArAzAAA&*@Aqc5lQ\rAf@An A틙A^ F@Aw&A i??A <*Ay:?2AϽ:A'BAy:?JAϽRA'٘i)I9f@Y G J<JJJJlD&K YZ~?yDAkDj7j78CB)BE[[P@[,Z~?[ا[[[[BZYY i) :9IxE?i@)V< O))Og@\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030093.323165 s, next control iter: 1743030093.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3592., header.stamp.nsec: 0.0 temperature: 13.388510.* salinity: 33.391766., density: 1025.000000.* values[0]: 0.689759.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030093.723165 s.tH~,Hn!AJ"J*J2J:JBJnJvJAQ@A/O@A[~? AAw$&"AAPpNA"AZAbAjArAzAAA7LP*@A1Q!u[rAf@At;AAOyG@A`l;A@\۾?Ai<*AUu:?2Aѽ:A-BAUu:?JAѽRA-٘i)I9f@Yd G JI<JJJJlD&K YY~?yB&EA qCkD7{7߽8DB)BE[[5Q@[Z~?[٧[[[[BZYY i) 6I: F?ic @#< ))@H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030093.743165 s, next control iter: 1743030094.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030094.143165 s.T/tH~,)!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065797< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743030094.143279F (some fields omitted in printout)A)\@A3nj@A[~? AgA?$&"AANpNA"AZAbAjArAzAAAOLj)@A!ZrA YqY~?yEAHlD{7Z78FB)BE[[y6T@[Y~?[ۧ[[[[BZYY i) @vfIJF?i{@< E ))E 8=@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030094.583165 s, next control iter: 1743030094.963181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3593, header.stamp.nsec: 00 temperature: 13.388305* salinity: 33.391758, density: 1025.000000* values[0]: 0.690838F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030094.983165 s.tH~,!AAq= ף@Ao@APi[~? AbA1$&"AAopNA"AZAbAjArAzAAAc0(@AHuYrAXWh@AJ;AAިFA?lA?Abܥ<*A@j:?2Ax!ս:A:BA@j:?JAx!սRA:٘i)I9Wh@Yh G J<JJJJ!mD&K Y7Y~?yʠUFAlD778GB)BE[[oU@[,Y~?[>ݧ[[[[BZYY i) Ce:IjF?i @< l ))l }ك@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030095.003165 s, next control iter: 1743030095.383181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030095.403165 s.J "J *J &tH~2J:J0?BJ0?,!AnJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065797< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743030095.403286F (some fields omitted in printout)AGz@A* F@ATO[~? AA$&"AAHpNA"AZAbAjArAzAAAY@6_'@AJWXrAh@Ad%A܏AZEAwA)?Ai <*Af:?2Aս:ABAf:?JAսRA٘i)I9h@Y G J<JJJJ7mD&K YY~?yFA2lD)7ŧ768HB)BE[[V@[Y~?[ާ[[[[BZYY i) :IF?i@Y&< 6 ))6 t@%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030095.423165 s, next control iter: 1743030095.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3594", header.stamp.nsec: 0"0 temperature: 13.388109"* salinity: 33.391750", density: 1025.000000"* values[0]: 0.691853"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030095.823165 s.tH~,6!AAQ@A8@AN5[~? AAx$&"AA2!pNA"AZAbAjArAzAAAJ&@A,fgXrAji@A/֚AլA DAnA@&?A<*Anc:?2AHֽ:AJBAnc:?JAHֽRAJ٘i)I9ji@YG J<JJJJLmD&K  8YnY~? 8yGAGlD8)B|E[[W@[Y~?[`[[[[BZYY i) 033;IF?id@< ))@&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030095.843165 s, next control iter: 1743030096.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030096.243165 s.uH~,`!AJ"J*J2J:JBJnJvJA\(@AԜ@A>[~? AA$&"AAoNA"AZAbAjArAzAAAVW&@Al fZXrAki@AGA[ABA چA@z?Ab <*A4`:?2ATbֽ:ABA4`:?JATbֽRA٘i)I9i@YaG J$<JJJJbmD&K YRY~?y:GA]lD77778DB)B[[z Y@[Y~?[ [[[[BZYY i) p;IF?i&#@L< E))E@1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030096.263165 s, next control iter: 1743030096.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030096.663165 s. uH~,q*!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065797< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743030096.663302F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3595, header.stamp.nsec: 00 temperature: 13.387894* salinity: 33.391747, density: 1025.000000* values[0]: 0.692867F (some fields omitted in printout)A@A@A)[~? AKA$&"AA8oNA"AZAbAjArAzAAA@c%@AZ3!v/XrAptj@AuzAAiAAʊA?AI?<*A]:?2AҼֽ:ABA]:?JAҼֽRAY2B@`eAyC{ٓHX? +? ~2:q?`,?^o{?)2B@ I٘i)I9tj@YG J<JsJ<JJJwmD&K{> Yt6Y~?yHGAeArlD776"8)ByE[[AZ@[pY~?[ [[[[BZYY i=) % ;IF?i"&@< ))B@j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030096.683165 s, next control iter: 1743030097.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030097.083165 s.DuH~,SE!AJ"J*J2J:JBJnJvJAp= @Aٵݢ@AZ~? A/A$&"AAoNA"AZAbAjArAzAAA7)%@AQ9XrA*j@A?K9A,A@A1AXa?Ak<*AY:?2A ׽:A]BAY:?JA ׽RA]٘i)I9j@YG J<JJJJmD&K YiY~?yU8HAlDb7708)BvE[[t[@[YY~?[[[[[BZYY i) %;IBG?i)@D< f))ff܆@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030097.103165 s, next control iter: 1743030097.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030097.503165 s.uH~,P4`!AAHz@AVFy@AZ~? A=A$&"AA#oNA"AZAbAjArAzAAA|$@A&XrAllk@AW;AdžA>A A Aܽ<*ALR:?2AG׽:AUBALR:?JAG׽RAU٘i)I9lk@YHG J[<JJJJmD&K Y]X~?ybHAlD7{7>8EB)BsE[[\@[CY~?[8[[[[BZYY i) 0;I>G?iJ-@< 5))5Su@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030097.543165 s, next control iter: 1743030097.903179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3596, header.stamp.nsec: 00 temperature: 13.387702* salinity: 33.391727, density: 1025.000000* values[0]: 0.693791F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030097.923165 s.:uH~,{!AJ"J*J2J:J1?BJ1?nJ<:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075712< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743030097.923286F (some fields omitted in printout)AQ@A;P@AZ~? AuA$&"AA[oNA"AZAbAjArAzAAA\a=X#@A[LIXrAk@AU;;AAo=A@AA<*AJ:?2Ao^׽:ABAJ:?JAo^׽RA٘i)I9k@YG Jˊ<JJJJmD&K YPX~?ypHAlD776M8)BpE[[q]@[,Y~?[|[[[[BZYY i) ;;IdG?iv1@&< M))M4 @y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030097.963165 s, next control iter: 1743030098.323180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743030098.343165 s.<%uH~,!AA(\@A (@A՘Z~? AA)$&"AA4oNA"AZAbAjArAzAAAŅ@#@AgXrA"Tl@AD;AIAO"<A@A@AP|<*AC:?2AT׽:ABAC:?JAT׽RA٘i)I9Tl@YG J<JJJJmD&K YCX~?y}MIAlDŧ7b7[8)BmE[[_@[Y~?[[[[[BZYY i) ˣ l@AR:A A:AvAAd<*AN<:?2A6׽:AͭBAN<:?JA6׽RAͭY@I@:y cGS:ٓH@$ {4?Iư?`Z"̿`6@?``>?`YJ?d?)@I@ I٘i)I9l@YG J;<J)JJJmD&Ky> YX~?ynIA: rClDŧ7i8)߯BjE[[4`@[Y~?[d[[[[BZYY i) % elevatorAngleAction: 0.075712< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743030099.183265F (some fields omitted in printout)Aףp= @A# @AdZ~? AA$&"AA6nNA"AZAbAjArAzAAALl"@AOzKYrA?m@A^AAڍ9A!kAA<*Ad5:?2A׽:A BAd5:?JA׽RA ٘i)I9?m@YdG Jp<JJJJmD&K Y(X~?y_JAlD776x8)ۯBgE[[ca@[X~?[[[[[BZYY i) (]!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075712< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743030100.443286F (some fields omitted in printout)A(\@AP0[@ABZ~? A=A$&"AAonNA"AZAbAjArAzAAAI/ @A׽:A? BA":?JA>׽RA? ٘i)I9n@YHG J<JJJJ9nD&K Y}7!AAfffff@Aɰ72@AY~? AA$&"AA}HnNA"AZAbAjArAzAAAa &@AuG \rA4o@A!$;A󈔽A M4A@#AAə<*A:?2A^׽:A6 BA:?JA^׽RA6 YO@O4yֈ֎;ٓH@ e? c?`UԿ T v?@?c?p?)O@ I٘i)I94o@YG JҘ<JGJJJNnD&Kx> Y!X~?yKAO4ImD{7j78)˯B_E[[f@[qX~?[[[[[BZYY i) af elevatorAngleAction: 0.075712< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200512 time: 1743030101.703333F (some fields omitted in printout)AGz @AP@A{Y~? AA|F$&"AAmNA"AZAbAjArAzAAAMx@AR^rA;p@A;A`A1A qATĿArɟ<*A:?2AZ׽:Ah BA:?JAZ׽RAh ٘i)I9;p@Y6G J<JJJJynD&K Y.W~?yHLAtmDŧ7b788)¯BYE[[/gh@[rmX~?[8[[[[BZYY i.1=) j elevatorAngleAction: 0.085055< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743030102.963298F (some fields omitted in printout)A"@A~e"@A~Y~? AA#&"AAۇmNA"AZAbAjArAzAAA0:z$@A. (arAq@ARӣA7A'-AAv8ʿAy<*A|9?2A-ֽ:ABA|9?JA-ֽRAYOV@-yU7PٓH` n?O?l`ڿ$??dztv?)OV@ I٘i)I9q@Y3G J<B=J[8JJJnD&Kxx> YW~?yyMA-mDj7j798)BSE[[k@[2X~?[[[[[BZYY i)  elevatorAngleAction: 0.085055< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743030104.223293F (some fields omitted in printout)AQ%@A%ǝ$@Ao4Y~? AVAH#&"AAmNA"AZAbAjArAzAAA+L b@A5@frAzs@A9AA)AAFϿA1<*A9?2A"׽:ABA9?JA"׽RA٘i)I9s@YAG J=<B=JJJJnD&K YOW~?y̧NAmDZ79$ 8)BJE[[KNo@[W~?[1[[[[BZYY i) <*A9?2A:׽:A4BA9?JA:׽RA4٘i)I90t@YG Jr<C=JJJJoD&K Y 6W~?yhЧ"OA nD{7{72 8)BKE[[pp@[mW~?[,[[[[BZYY i)  YW~?yԧOAC'nDj7Z7@ 8BB)BHE[[q@[W~?[K"[[[[BZYY i) Z elevatorAngleAction: 0.085055< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743030105.483291F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף'@AhVo'@AX~? A2AԠ"&"AA%lNA"AZAbAjArAzAAAǼ-@AF(krAmu@AԎ;AA%AsAҿA\<*A9?2A׽:A]`BA9?JA׽RA]`٘i)I9mu@Y`G J'<JJJJ;oD&K Y`W~?yF٧PA5nD77:O 8)BEE[[qr@[ W~?[&[[[[BZYY i) ԿA<*AM9?2Aֽ:AedBAM9?JAֽRAed٘i)I9v@Y,G Jj<JJJJfoD&K YV~?y#PA_nD77k 8)B[[t@[W~?[$/[[[[BZYY i) E elevatorAngleAction: 0.085055< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743030106.743286F (some fields omitted in printout)A\(*@ApC)@AX~? AhA'!&"AAO YyV~?yQA nD77 8)Bw@[}W~?[ 8[[[[ZZZZ¸>BZYY i¸>H) :F[[[[ZZZZBZYY i) AwA ڿA<*A9?2AFֽ:ABA9?JAFֽRAY7i@[8yw*Lb;ٓHrc?`4c? ]<(?W?@Ll??)7i@ I٘i)I9|@YcG J<B=J=JJJoD&Kwx> YC5V~?y^SA8nDZ7Z7; 8)_B[[z|@[&-W~?[ P[[[[ZZZZBZYY iԞ) ݭ5vJ uH~,{!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074033< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743030110.523281F (some fields omitted in printout)AQ1@A&'1@AW~? A@A4&"AA kNA"AZAbAjArAzAAA󜡼?A*.QrA}}@AA7;ArQAA(eܿA)<*A9?2A]ֽ:Ax<BA9?JA]ֽRAx<٘i)I9}}@YHG JX<JJJJ=pD&K Y#U~?y TA6oD{7{7; 8)CB[[@[W~?[]_[[[[ZZZZBZYY i) h!AJ"J*J2J:JBJnJvJAfffff3@A"i723@AW~? AJA@=&"AA=jNA"AZAbAjArAzAAAؐWUy?A}orA}@AE:AC =AAA;ݿA`:*A/9?2A ֽ:Ao<BA/9?JA ֽRAoJJJhpD&Kw> YU~?yy$TAaoD!8)@B(E[[V7@[V~?[i[[[[BZYY i`m) A5vJ vH~,? !AAGz5@A&UM4@AIW~? ATUA[r&"AAݒjNA"AZAbAjArAzAAA\d?A 1ܕrA}@A#;A!^=A,$A{A .U߿A*A9?2ANmֽ:A=BA9?JANmֽRA=٘i)I9}@Y]G JJJJJpD&K YU~?y1QTAoDj7j74!8)AB&E[[T@[V~?[t[[[[BZYY i) =5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.068049< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743030113.043308F (some fields omitted in printout)A(\6@Ai^`6@A;hW~? AX`Aҝ&"AAXjNA"AZAbAjArAzAAA\ArA}@AKY:A)=AAA`]Aj*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9}@YG JSJJJJpD&K YU~?y>SAoD777@i`!?)sv@ I٘i)I9|@YG J"|B=J&=JJJpD&K x> Y0qU~?yESA6 uCoDb77_!8)IB[[@["V~?[u[[[[BZYY in) v;Ii@I3= #ů))#ů@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030113.503165 s, next control iter: 1743030113.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3612, header.stamp.nsec: 00 temperature: 13.384792* salinity: 33.391544, density: 1025.000000* values[0]: 0.708668F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030113.883165 s.yvH~,Dx!AJ"J*J2J:JBJnJvJA= ףp8@A~p>u<8@ACW~? AkA&"AA jNA"AZAbAjArAzAAA5vJAQ:@Aq9@A W~? AwA&"AAiNA"AZAbAjArAzAAA7AirA {@AϺAd=AK A޿AɮA~w*A39?2Aֽ:A% =BA39?JAֽRA% =٘i)I9 {@YG JfB=JJJJqD&K Y>U~?yZlRA pD{7j7!8)UB[[ƣ@[XV~?[[[[[BZYY i) @r};Iip@%R6= g())g(Ş@yoڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030114.743165 s, next control iter: 1743030115.123192 s, wait time: 0.380027 s rAdjusting time to match Gazebo time: 1743030115.143165 s.Z/2vH~,*!AA)\:@A${:@AW~? A}Ayb&"AAiNA"AZAbAjArAzAAA"T|ArAZtz@AG;A2ҝ=AZA *޿A@=A϶*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9tz@YoG J%C=JJJJ)qD&K Y.U~?yb RA"pDj7!8)YBE[[/@[uvV~?[[[[[BZYY i) O@;Ii@7= ))Q@T٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030115.163165 s, next control iter: 1743030115.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030115.563165 s.8vH~,_ !AJ"J*J2J:J5?BJ5?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058297< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743030115.563283F (some fields omitted in printout)A;@A͏;@A.V~? A&A&"AA{iNA"AZAbAjArAzAAAa$ ɝA"qrA~y@A;Ae=A ADnݿAKA *A9?2Aֽ:A(=BA9?JAֽRA(=Yf}@yޏ=m;ٓH`<]? wBK@ 2m u? E?)f}@ I٘i)I9y@YG JHB=J4<JJJ?qD&Kx> YU~?yiQA7pD{7{7>!8)^B[[@[kV~?[k[[[[BZYY i) &;Ii؏@78= Ĥ))Ĥޟ@R֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030115.583165 s, next control iter: 1743030115.963181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3614, header.stamp.nsec: 00 temperature: 13.385257* salinity: 33.391521, density: 1025.000000* values[0]: 0.706828F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030115.983165 s.?vH~,!AAq= ף<@Ao<@AV~? A~An&"AAiNA"AZAbAjArAzAAAdYADjPrA>y@A;A=A2kA@ܿAAG*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9>y@YG JPC=JJJJTqD&K YdU~?y.q9QAMpD77!8.B)dBE[[KI@[aV~?[`[[[[BZYY ix) d:IiG@8= S))SFk@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030116.003165 s, next control iter: 1743030116.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030116.403165 s.&FvH~,!AJ"J*J2J:JBJnJvJAGz=@A4ӽF=@A`V~? AA+&"AAiNA"AZAbAjArAzAAAS磤A?rAdx@A;Aғ=A AۿAAy*A9?2Aֽ:A)<BA9?JAֽRA)<٘i)I9x@YVG J%JJJJjqD&K YU~?yxPAbpD!8-B)hBE[[Շ@[WV~?[a[[[[BZYY i) E>9Ii@rx9= `))`@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030116.423165 s, next control iter: 1743030116.803180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3615", header.stamp.nsec: 0"0 temperature: 13.385530"* salinity: 33.391518", density: 1025.000000"* values[0]: 0.705799"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030116.823165 s.LvH~,-4!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067178< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743030116.823323F (some fields omitted in printout)AQ>@Ab>@AV~? A{Als&"AAoiNA"AZAbAjArAzAAA>CA~ >rAx@AٺA =AA`%ۿA*A\*A89?2Aֽ:A<BA89?JAֽRA<٘i)I9x@YG J%JJJJqD&K YT~?yVhPAxpDb77=!8)mB[[a@[NV~?[k[[[[BZYY i) @@Ii@:= 0))0@ ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030116.843165 s, next control iter: 1743030117.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030117.243165 s.SvH~,O!AJ"J*J2J:J4?BJ4?nJQ=5vJA\(?@AXT>@AEV~? AA&"AABXiNA"AZAbAjArAzAAAjWm,A^KrAw@A9AI=AGvA@L[ڿAAqAb*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9w@YG JB=JJJJqD&K YHT~?y뇨OApDj7Z7!8)pBE[[@[DV~?[~[[[[BZYY i) VغIi@;= ))z@yÌcYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030117.263165 s, next control iter: 1743030117.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030117.663165 s.ZvH~,qj!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3616, header.stamp.nsec: 00 temperature: 13.385769* salinity: 33.391472, density: 1025.000000* values[0]: 0.704818F (some fields omitted in printout)A@@Aܹ0?@AV~? AڤAHp&"AABiNA"AZAbAjArAzAAA?*AUgrA w@A&A=A'A@ٿA@:A|*A 9?2Aֽ:A<BA 9?JAֽRA YvT~?y鏨OA.pD77!8)tB[[y@[;V~?[[[[[BZYY i) 3s*IiÒ@ ;= Й))Й@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030117.683165 s, next control iter: 1743030118.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030118.083165 s.EavH~,*S!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067178< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743030118.083317F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= @@APS֢@@AV~? AA&"AA,iNA"AZAbAjArAzAAAptAMrAv@ANjZA.}=AAؿA`A*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9v@YG JJJJJqD&K YT~?y门GOApD{777=!8)yBE[[@[\3V~?[ƨ[[[[BZYY i) /hIi@]0<= w))w'@YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743030118.103165 s, next control iter: 1743030118.483186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743030118.503165 s.gvH~,U4!AAHzA@A+yA@AlV~? AAf&"AAiNA"AZAbAjArAzAAARHc#AK)crAv@A4#:A=A&A"׿A@!6AK*AQ9?2Aֽ:AT<BAQ9?JAֽRAT<٘i)I9v@YG JJJJJqD&K  "8YT~? "8y蟨NA vCpD)7ŧ7 "8)}B[[Ñ@["+V~?[ ͨ[[[[BZYY i) LIiw@<= sp))sp@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030118.543165 s, next control iter: 1743030118.903180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3617, header.stamp.nsec: 00 temperature: 13.385968* salinity: 33.391476, density: 1025.000000* values[0]: 0.703933F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030118.923165 s.7nvH~,!AJ"J*J2J:JBJnJvJAQB@A^PB@A`V~? AAV&"AAiNA"AZAbAjArAzAAAV:7_Ak{9rAxu@AԊ;A=ANA.׿AEsA-*A9?2Aֽ:A2<BA9?JAֽRA2<٘i)I9u@YzG J4JJJJqD&K YT~?y觨NApD77"8)B[[@[D#V~?[PӨ[[[[BZYY ix) UIi@$== wA))wA}?@϶YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030118.963165 s, next control iter: 1743030119.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030119.343165 s.= s))sʤ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030119.383165 s, next control iter: 1743030119.743176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3618&, header.stamp.nsec: 0&0 temperature: 13.386172&* salinity: 33.391464&, density: 1025.000000&* values[0]: 0.703118&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030119.763165 s.7{vH~,!AJ"J*J2J:JBJnJvJA33333D@A1 C@AqV~? AǩA<&"AA_hNA"AZAbAjArAzAAAM10A}rAt@A;A4w=A[A \nտA2AA*A9?2Aֽ:A*<BA9?JAֽRA* YT~?y=MASqD776"8.B)BE[[4@[V~?[ߨ[[[[BZYY i) Ii͔@w>= 䎿))䎿V@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030119.783165 s, next control iter: 1743030120.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030120.183165 s.˂vH~,c !AAףp= E@AD@AfV~? AϩA=&"AAThNA"AZAbAjArAzAAAU+AclB&rA=t@Atڬ9AW=AhA`WԿAA *A9?2Aֽ:AP<BA9?JAֽRAP<٘i)I9=t@YG J텼JJJJ,rD&K YӘT~?yMA#qD{7{7D"8)B[[@[ V~?[Q[[[[BZYY i)  Ii@>= {)){|@y_= ))1n@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030120.623165 s, next control iter: 1743030121.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3619 , header.stamp.nsec: 0 0 temperature: 13.386375 * salinity: 33.391468 , density: 1025.000000 * values[0]: 0.702337 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030121.023165 s.ZvH~,{A!AAQF@A%"F@A'PV~? AݩA!&"AAjhNA"AZAbAjArAzAAA A>7rA`s@AAqW=AGuA@ҿA@vA\|*A9?2A׽:ABw=BA9?JA׽RABw=٘i)I9`s@Y G J}JJJJWrD&K YT~?y=ѨLANqD77a"8.B)BE[[׍@[$V~?[)[[[[BZYY i) si'Ii@m}?= X))X@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030121.043165 s, next control iter: 1743030121.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030121.443165 s.5ÖvH~,5]\!AJ"J*J2J:JBJnJvJA(\G@Aq0[G@AEV~? A A&"AAhNA"AZAbAjArAzAAAOB ArA3r@A9A=ARA ѿA A$ *A[9?2A)ֽ:A=BA[9?JA)ֽRA=٘i)I9r@YG JJJJJlrD&K YW}T~?y٨xLAdqD7o"8)B[[c@[aU~?[[[[[BZYY i) 7Ii;@eL@= ?+))?+ @HYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030121.463165 s, next control iter: 1743030121.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3620, header.stamp.nsec: 00 temperature: 13.386550* salinity: 33.391438, density: 1025.000000* values[0]: 0.701625F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030121.863165 s.+vH~,>w!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075914< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743030121.863297F (some fields omitted in printout)AfffffH@A|(B2H@A> YvT~?y'LAKyqD7@~"8)B[[v@[U~?[[[[[BZYY i) OFIi@^?= ))q@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030121.883165 s, next control iter: 1743030122.263184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030122.283165 s.9RvH~,!AJ"J*J2J:J3?BJ3?nJ=<5vJA ףp=I@AE I@A3V~? A-Ak&"AA|hNA"AZAbAjArAzAAA@=t_ A額rALr@AIU9;A=AGAU+пA` A'*A9?2Aֽ:AW =BA9?JAֽRAW =٘i)I9r@YKG JݏJJJJrD&K YpT~?yKAqD777"8)B[[y@[U~?[[[[[BZYY i) UIiܕ@/?= ρ))ρ훨@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030122.303165 s, next control iter: 1743030122.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 36212, header.stamp.nsec: 020 temperature: 13.3867332* salinity: 33.3914222, density: 1025.0000002* values[0]: 0.7008562F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030122.703165 s.ԺvH~,!AAGzJ@A9UI@AL*V~? AA&"AAlnhNA"AZAbAjArAzAAAyA{hxrAq@Aǰ;A=A."A؊οA`e4Aa*A9?2Aֽ:Ay =BA9?JAֽRAy =٘i)I9q@YG JJJJJrD&K Y(jT~?yOZKAqDj7j7"8/B)BE[[t@[5U~?[. [[[[BZYY i) OeIi@?= ]C))]Co'@@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030122.723165 s, next control iter: 1743030123.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030123.123165 s.6vH~,X!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075914< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743030123.123284F (some fields omitted in printout)J"J*J2J:JBJnJvJARJ@A(QJ@A"V~? AtAB&"AAahNA"AZAbAjArAzAAAziW!fAAs&sAq@A";A3=AS޿Aj̿AZA H*A9?2Aֽ:A =BA9?JAֽRA =UI٘i)I9q@YG JMJJJJrD&K YcT~?yJAqD?"8,B)B[[Ԑ@[U~?[[[[[BZYY iڭ) #tIi7@FG@= ]z))]zϲ@BͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030123.143165 s, next control iter: 1743030123.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030123.543165 s.IvH~,!AA(\K@A@rK@A[V~? A+ A&"AAoUhNA"AZAbAjArAzAAA9AEsAp@A!;A{=AۿALʿA~Aܞ*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9p@Y_G JB=JJJJrD&K Y]]T~?ywJA wCqDŧ77"8)B[[#@[U~?[U[[[[BZYY i) 2Ii@@= v))v>@ϪYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743030123.583165 s, next control iter: 1743030123.943180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3622, header.stamp.nsec: 00 temperature: 13.386930* salinity: 33.391415, density: 1025.000000* values[0]: 0.699980F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030123.963165 s.zvH~,!AJ"J*J2J:JBJnJvJAL@ADkeL@A%V~? AA&"AAJhNA"AZAbAjArAzAAA氒UAS sAo@A9AR=A>ٿA@ ɿAJA*A9?2Aֽ:Aq=BA9?JAֽRAq=Y@8CٿyR=ٓH @?)൧ # %=^` ?)@ I٘i)I9o@YG JC=J[<JJJrD&KLx> YYT~?y2 5JACٿqD77"8)B[[O@[EU~?[ [[[[BZYY i) aIi6@E@= 4r))4rJɪ@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030124.003165 s, next control iter: 1743030124.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030124.383165 s.vH~,I!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084890< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743030124.383296F (some fields omitted in printout)A= ףpM@A?k~  #8YJT~? #8y8(HA=̿PrDŧ7b7 #8)B[[_@[U~?[4B[[[[BZYY i) I#Ii@s?=  o\)) o\@YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743030126.083165 s, next control iter: 1743030126.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030126.483165 s.q_vH~,!AJ"J*J2J:JBJnJvJAq= ףQ@A67oQ@AU~? AIBA { &"AAehNA"AZAbAjArAzAAAhAzo2&sAl@Aq_;A=AɿA@԰A@4A*A9?2Auֽ:Ah=BA9?JAuֽRAh=٘i)I9l@YG JJJJJnsD&K Y%JT~?yAGAerDZ7Z7#8)ƯB[[[@[(U~?[H[[[[BZYY i) {Ii@U>= %X))%XV @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030126.503165 s, next control iter: 1743030126.883173 s, wait time: 0.380008 s%JT~?)AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3625, header.stamp.nsec: 00 temperature: 13.387619* salinity: 33.391388, density: 1025.000000* values[0]: 0.697139F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030126.903165 s.vH~,͹!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084890< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743030126.903279F (some fields omitted in printout)AGzR@A'FR@A"U~? AGJAF &"AAhNA"AZAbAjArAzAAAUwf A@b+sAk@A |;A==AnǿAq淿ADAiü*A9?2Aֽ:AXK=BA9?JAֽRAXK=٘i)I9k@YG JB=JJJJsD&K YqIT~?yJFGA{rD{7j7B*#8)˯B[[v@[U~?[O[[[[BZYY i) ӽIiٔ@j>= S))S蘮@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030126.923165 s, next control iter: 1743030127.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030127.323165 s.tvH~,!AJ"J*J2J:J}?BJ}?nJ5vJAQS@AcS@AU~? AKRAB &"AAu hNA"AZAbAjArAzAAA[́/ApF0sAWLk@A8A$=AkĿA^ARAwƼ*A9?2Ajֽ:A=BA9?JAjֽRA=٘i)I9Lk@Y5G J(żC=JJJJsD&K YHT~?yOSFArDb7b78#8)ЯBE[[~@[]U~?[OV[[[[BZYY i) *żIi”@[i>=  [O)) [Oy$@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030127.343165 s, next control iter: 1743030127.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3626*, header.stamp.nsec: 0*0 temperature: 13.571323** salinity: 33.374962*, density: 1025.000000** values[0]: 0.571829*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030127.743165 s.WvH~,u!AA\(T@AS]S@AU~? ASZAT &"AA0hNA"AZAbAjArAzAAA8D2NAzMF-5sAzj@AcwA:װ=AAbCA@E^A.ɼ*A9?2Aֽ:Am=BA9?JAֽRAm=٘i)I9j@YG JǼJJJJsD&K Y HT~?y\dFArD7777F#8)֯B[[@[U~?[][[[[BZYY i) ̼Iiڔ@>= -J))-J@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030127.763165 s, next control iter: 1743030128.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030128.163165 s.v}wH~,q !AJ"J*J2J:JH?BJH?nJc5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084890< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743030128.163288F (some fields omitted in printout)AU@ABT@AU~? A_bA^ &"AAhNA"AZAbAjArAzAAA#.ufA1:sADi@AA|\=A%A`ᨿA1gAU̼*A9?2Aֽ:AD=BA9?JAֽRAD=٘i)I9i@YgG JʼJJJJsD&K YXGT~?ydEArD7BU#8)ۯB[[ǿ[ U~?[c[[[[BZYY i) 4ӼIi!@>= /F))/F/F YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030128.183165 s, next control iter: 1743030128.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030128.583165 s.wH~, S%!AAp= U@AGU@AU~? AmjA+l&"AA hNA"AZAbAjArAzAAA.NxAm?sAMi@AʑA=AhA%BA`mA!Tм*A79?2Aֽ:A;=BA79?JAֽRA;=٘i)I9Mi@Y G J μJJJJsD&K YFT~?ymEA xCrDZ7SI7c#8)B[[ſ[mU~?[pj[[[[BZYY i) 1ۼIi@x?= gGB))gGBgGBYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030128.603165 s, next control iter: 1743030128.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3627, header.stamp.nsec: 00 temperature: 13.571651* salinity: 33.374992, density: 1025.000000* values[0]: 0.571039F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030129.003165 s.y wH~,P4@!AJ"J*J2J:J/?BJ/?nJI5vJAHzV@Ab.yV@AU~? A}rA&"AA/gNA"AZAbAjArAzAAA^]&ÃAcauCsAfh@A|AF=AA ET~?yIDArD77B#8)B[[T[IU~?[w[[[[ZZ¸BZYY i¸0=) ּIi @/XA= 39))3939YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030129.443165 s, next control iter: 1743030129.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3628, header.stamp.nsec: 00 temperature: 13.571995* salinity: 33.374962, density: 1025.000000* values[0]: 0.570203F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030129.843165 s.wH~,u!AJ"J*J2J:J?BJ?nJ5vJA(\X@A(]'X@AU~? AA͓&"AAgNA"AZAbAjArAzAAAnGA]KMsA|1g@A;Av=AڴA?A@qAgټ*A9?2AVֽ:A6=BA9?JAVֽRA6=٘i)I91g@Y G J9ټJJJJtD&K YDT~?y.DAsDj7Z7#8)B[[}*[U~?[p~[[[[ZZBZYY i)  ʼIi @B= E5))E5E5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030129.863165 s, next control iter: 1743030130.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030130.263165 s.$wH~,ؐ!AA33333Y@A鷯X@ApU~? AAW&"AA]gNA"AZAbAjArAzAAA0A{JRsAgf@A;Aك=A>A`D?AkA\*A9?2Adֽ:Ag<BA9?JAdֽRAg YIT~?yCA0&sD77{7#8)BE[[[U~?[[[[[ZZBZYY i) ӾIi@ZA= O0))O0O0yq=MYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030130.283165 s, next control iter: 1743030130.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 36292, header.stamp.nsec: 060 temperature: 13.5723416* salinity: 33.3749896, density: 1025.0000006* values[0]: 0.5693376F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030130.683165 s.l*wH~,E!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081636< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743030130.683269F (some fields omitted in printout)Aףp= Z@A Y@AU~? AAY&"AAgNA"AZAbAjArAzAAAVQʯqA􇺜WsAe@A:A۾=AכA¤?AreAz*A9?2A%ֽ:A<BA9?JA%ֽRA<٘i)I9e@Y G J%JJJJEtD&K YNT~?ydBCA;sD77C#8)B[[ ֺ[U~?[[[[[ZZBZYY i) ۲Ii>@WP@= ;,));,;,y=ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030130.683165 s, next control iter: 1743030131.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743030131.103165 s.1wH~,!AA{GZ@A Z@AJU~? AȚAԻ&"AAhNA"AZAbAjArAzAAA I]A('\sAd@A5a-A#x=AAb?A ]At*Ax9?2Aֽ:AYl<BAx9?JAֽRAYl<٘i)I9d@Y1 G JJJJJ[tD&K YST~?y BAQsD777#8,B)BE[[[WU~?[Z[[[[ZZBZYY i) p䦼Ii@!?= C())C(C(֬YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030131.123165 s, next control iter: 1743030131.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030131.523165 s.7wH~, |!AJ"J*J2J:JBJnJvJAQ[@Au(%[@AU~? AѢA&"AAhNA"AZAbAjArAzAAA8KieBAlasAAc@A˰ûA 4=A][A>?AiTAϼ*A9?2A@ֽ:A^;BA9?JA@ֽRA^;٘i)I9c@Y G JJJJJptD&K YXT~?yWBAfsDŧ77#8) B[[w|[DU~?[[[[[ZZBZYY i) 욼Ii)@}>= #))##}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030131.543165 s, next control iter: 1743030131.923181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3630, header.stamp.nsec: 00 temperature: 13.572738* salinity: 33.374969, density: 1025.000000* values[0]: 0.568339F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030131.943165 s.Zd>wH~,J]!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081636< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743030131.943298F (some fields omitted in printout)A(\\@A.[\@A?U~? A֪A&"AAvhNA"AZAbAjArAzAAAрg!AE RfsARc@AaԻA<A,çA@&͵?AHA*AS9?2A~ֽ:AܺBAS9?JA~ֽRAܺ٘i)I9Rc@YZ G JJJJJtD&K Y]T~?y[AA|sD77{7C#8)BE[[N[U~?[[[[[ZZBZYY i<ܺ=) _Ii@>= s))ssYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030131.963165 s, next control iter: 1743030132.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030132.363165 s.EwH~,u>!AJ"J*J2J:JBJnJvJAfffff]@A˂?2]@AU~? AֲA&"AA hNA"AZAbAjArAzAAAHEtA5sf4ksA&b@Aj.A3-<A,A W?Ai:A]*A9?2Axֽ:A@BA9?JAxֽRA@YO@-yX3-<@0ٓHδ??`{?ſ?tPpz?)O@ I٘i)I9b@Y G JJ#7JJJtD&Kw> YreT~?y׻AA-sD77#8)B[[1![6U~?[:[[[[ZZBZYY i=) (Ii@== 2))22邩YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030132.403165 s, next control iter: 1743030132.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3631&, header.stamp.nsec: 0&0 temperature: 13.573045&* salinity: 33.374973&, density: 1025.000000&* values[0]: 0.567551&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030132.783165 s.XKwH~,2!AA ףp=^@AoI ^@APU~? AѺAI&"AAMhNA"AZAbAjArAzAAAmAXlpsAYob@AG9A"AA M`?A(A.=*AҤ9?2Ahֽ:A|BAҤ9?JAhֽRA|٘i)I9ob@Y G JhJJJJtD&K YGmT~?yRĩAAsDŧ77#8)B[[[=U~?[֬[[[[ZZBZYY i3X=) SQvIi@;= ))(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030132.803165 s, next control iter: 1743030133.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030133.203165 s.SwH~,M!AJ"J*J2J:J:?BJ:?nJH5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074875< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743030133.203287F (some fields omitted in printout)AGz_@A P^@AU~? AªA&"AAjhNA"AZAbAjArAzAAAmu AՉtsA/b@A;A'7AA ړ?A@|APɻ*A 9?2ASֽ:AtBA 9?JASֽRAt٘i)I9/b@Y G JeJJJJtD&K  $8YuT~? $8y̩AA yCsD{7{7D$8-B)BE[[[U~?[p[[[[ZZBZYY i) bIi@ := Kr))KrKry@=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030133.223165 s, next control iter: 1743030133.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030133.623165 s.XYwH~,ag!AAR_@A\wT_@AxU~? AʪA&"AAShNA"AZAbAjArAzAAA1X\AIcysAb@AԴ;ALLA\ARt?A@%Aٺ*Ak9?2A܌ֽ:AȼBAk9?JA܌ֽRAȼ٘i)I9b@Y G JJJJJtD&K Y|T~?yIթAAsDb77$8.B)BE[[玫[iU~?[ [[[[BZYY i) fNIiH@[9=  ))  y)=/*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030133.643165 s, next control iter: 1743030134.023178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3632, header.stamp.nsec: 00 temperature: 13.573204* salinity: 33.374966, density: 1025.000000* values[0]: 0.567162F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030134.043165 s.`wH~,Â!AJ"J*J2J:JBJnJvJA(\`@A %q`@AV~? AҪA elevatorAngleAction: 0.074875< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743030134.463288F (some fields omitted in printout)Aa@A Vjea@AV~? AuڪAX%"AA~/hNA"AZAbAjArAzAAA}AmjcsA5b@A=AXAO2A*?AA=;*A9?2A Uֽ:AYBA9?JA UֽRAYYS@1yXoٓH ?B?ۓ???1?)S@ I٘i)I95b@Y G J;C=JmJJJuD&Kew> YPT~?yAA1sDD,$8)B[[},[U~?[ǩ[[[[BZYY ie=) 8*Ii~@7= I))II*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030134.483165 s, next control iter: 1743030134.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3633, header.stamp.nsec: 00 temperature: 13.573210* salinity: 33.374981, density: 1025.000000* values[0]: 0.567118F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030134.883165 s.J "J *J 2J :J .?BJ .?nJ <5vJ ymwH~,Q!AA= ףpb@A}r elevatorAngleAction: 0.065656< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743030135.723295F (some fields omitted in printout)AQd@Aɍc@A`V~? AA:%"AAMhNA"AZAbAjArAzAAAQAܶwsA2c@AAAnA۪?A jAA<*A9?2AKֽ:A^BA9?JAKֽRA^٘i)I92c@YF G J<JJJJGuD&K YT~?y~BA=tDb77EW$8)B[[u[V~?[ک[[[[BZYY i) WIi@3= *))**yU@f=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030135.763165 s, next control iter: 1743030136.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743030136.143165 s.[/wH~,* !AA)\d@A+d@AG%V~? A|A~%"AA YhNA"AZAbAjArAzAAAANTsAzc@AThA: AʍA~?A`DA<*A9?2A;yֽ:AkBA9?JA;yֽRAk٘i)I9c@Y G Jȑ<JJJJ]uD&K YsT~?yCAStD7e$80B)B E[[ \[V~?[ [[[[BZYY i) XһIi@"3= vP))vP義vPyX=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030136.163165 s, next control iter: 1743030136.543183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743030136.563165 s.wH~,N $!AJ"J*J2J:JR?BJR?nJa5vJAe@AI+e@A-V~? AA%"AAuehNA"AZAbAjArAzAAA$&A|ZXsA0d@AE7P;ABA6%AO?AMA<*AÙ9?2Aֽ:A9 BAÙ9?JAֽRA9 YA@-ywP;ٓH?`T?`(F @?`?g-?j??)A@ I٘i)I90d@Y G J><JXJJJruD&Kx> YT~?yxjCA-htDb7s$8)B[[Y*[V~?[j[[[[BZYY i) ]Iip@41= ޾))޾޾*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030136.603165 s, next control iter: 1743030136.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3635, header.stamp.nsec: 00 temperature: 13.572807* salinity: 33.374977, density: 1025.000000* values[0]: 0.567968F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030136.983165 s.wH~,>!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065656< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743030136.983304F (some fields omitted in printout)Aq= ףf@Aof@A6V~? AAET%"AArhNA"AZAbAjArAzAAA%FN AsAad@Ax;AA󃈿A ?A`kA<*Aӝ9?2Aֽܶ:AG BAӝ9?JAֽܶRAG ٘i)I9d@Y5 G J<JJJJuD&K YT~?yCCA~tD{7Z7E$82B) B$E[[[$V~?[[[[[BZYY i) |YIi@/= վ))վվ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030137.023165 s, next control iter: 1743030137.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743030137.403165 s.&wH~,Y!AJ"J*J2J:JBJnJvJAGzg@A|iFg@A@V~? A:A%"AAhhNA"AZAbAjArAzAAA\/Ɠj AG>5sAHe@Aw;A@AdꅿA%r?A@\A <*A-9?2Aֽ:Av BA-9?JAֽRAv ٘i)I9He@Y G J<JJJJuD&K YT~?y8DAtDSI7SI7$8)B[[K[,V~?[[[[[BZYY i) ^pIi@< .= v̾))v̾v̾*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030137.443165 s, next control iter: 1743030137.803176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3636", header.stamp.nsec: 0"0 temperature: 13.572509"* salinity: 33.375008", density: 1025.000000"* values[0]: 0.568622"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030137.823165 s.wH~,-t!AAQh@Al$ h@AIV~? AAU.%"AAhNA"AZAbAjArAzAAA,2mtz A ĨsAe@A s ;A䛽AWAS?A`1Aeد<*A9?2A|ֽ:Av BA9?JA|ֽRAv ٘i)I9e@Y G J<JJJJuD&K YT~?y%DAtD{7{7$8)B[[[5V~?[k[[[[BZYY i) 3Ii@,= Nþ))NþNþi*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030137.863165 s, next control iter: 1743030138.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030138.243165 s.wH~,`!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065656< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199492 time: 1743030138.243274F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(i@Ah@AKTV~? AA$%"AAWhNA"AZAbAjArAzAAA񬜎~ AD_HsAof@AHAAǀA 2?AhA*<*A=9?2Aalֽ:ArwBA=9?JAalֽRArw٘i)I9of@Y? G J<JJJJuD&K YT~?y-EA zCtD)7b7F$8)B'E[[L[=V~?[[[[[BZYY i) XZIi<@+= V))VV*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030138.263165 s, next control iter: 1743030138.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030138.663165 s.wH~,q!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3637, header.stamp.nsec: 00 temperature: 13.572214* salinity: 33.375000, density: 1025.000000* values[0]: 0.569340F (some fields omitted in printout)Aj@Ai@A)_V~? Am&A6 %"AAihNA"AZAbAjArAzAAAQ]9v ANX±sAg@AG(AAVi|A?A ]6Aα<*A9?2A]_ֽ:ABA9?JA]_ֽRAY삢@N|yٓH?? љG?ը??%v !?)삢@ I٘i)I9g@Y G J=<J`:JJJuD&Kx> Y U~?y4mEAN|tDj7j7$83B)B(E[[[FV~?[[[[[BZYY i) lIi@)= <))<<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030138.683165 s, next control iter: 1743030139.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030139.083165 s.DwH~,S!AJ"J*J2J:J?BJ?nJ5vJAp= j@Ajgڢj@AjV~? A-A~%"AA5hNA"AZAbAjArAzAAAVCcA.'{1sA3g@AA5AL4wA?A`|A|<*A9?2Anֽ:A[BA9?JAnֽRA[TI٘i)I9g@Y G J<JJJJuD&K YDU~?yR<EAtD{7$84B)B+E[[]ގ[aPV~?[ [[[[BZYY i) y7Ii@F'= Y))YY*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030139.103165 s, next control iter: 1743030139.483182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743030139.503165 s.wH~,D4!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065656< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743030139.503291F (some fields omitted in printout)AHzk@A yk@ARvV~? A4Ac%"AAhNA"AZAbAjArAzAAA3a>.EA EsA+h@ADBAAqA@?A0AA<*A"9?2Aֽ͓:ATQBA"9?JAֽ͓RATQ٘i)I9+h@YM G J1<JJJJ vD&K Y)U~?yC:FAtD77F$8)B[[[:ZV~?[5[[[[BZYY i) Χv:IiŁ@!&= fl))flfl*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030139.523165 s, next control iter: 1743030139.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3638, header.stamp.nsec: 00 temperature: 13.571858* salinity: 33.374996, density: 1025.000000* values[0]: 0.570054F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030139.923165 s.7wH~,!AJ"J*J2J:JBJnJvJAQl@A{Pl@AV~? A;Ae%"AAhNA"AZAbAjArAzAAAAE4sAh@A:AːAalA?A AFP<*AԻ9?2Aֽ:ABAԻ9?JAֽRA٘i)I9h@Y G J<JJJJvD&K Yu9U~?yJFAuD77{7$85B)B.E[[ye[vdV~?[S[[[[BZYY i) 6:Ii@$= .v)).v.vd*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030139.943165 s, next control iter: 1743030140.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030140.343165 s. elevatorAngleAction: 0.065656< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199322 time: 1743030140.763291F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333n@Am@AV~? AIAR%"AA iNA"AZAbAjArAzAAAOA&wsAi@A(;A+A%bAI?AA\<*A 9?2Aֽ:AhbBA 9?JAֽRAhbYĥ@@by4u;ٓH_??n?R`N??3|?`۟x??)ĥ@ I٘i)I9i@YFG Jz<C=Jq<JJFEJIvD&K:x>  %8YZU~? %8y%YeGA@b?uDb77F%87B)B2E[['녿[yV~?[`%[[[[BZYY iޘ=) _t;Ii{@&!= 挅))挅挅ʾ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030140.783165 s, next control iter: 1743030141.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030141.183165 s.wH~,^K!AAףp= o@AbE n@ABV~? APA%"AAiNA"AZAbAjArAzAAA}es^YA~$sACj@Ae;AA\A@?A`A<*A9?2Aֽ:AqBA9?JAֽRAq٘i)I9Cj@YG J<JJJJ_vD&K YlU~?y_GATuD{7{7%8)B[[[1V~?[R+[[[[BZYY i)  ;Iix@ = <)y))<)y<)y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030141.203165 s, next control iter: 1743030141.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030141.603165 s.64wH~,f!AJ"J*J2J:JI?BJI?nJd5vJA{Go@A:;o@AaV~? AWA6F%"AA2iNA"AZAbAjArAzAAAMAq/ sAj@A}AA{WAA?AXA Ԓ<*A9?2Aֽ:AW@BA9?JAֽRAW@٘i)I9j@YG J<JJJJtvD&K Y~U~?yf!HAiuDb77%8)B5E[[k[ؐV~?[<1[[[[BZYY i) Q;Iiu@/= \ g))\ g\ g(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030141.623165 s, next control iter: 1743030142.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3640 , header.stamp.nsec: 0 0 temperature: 13.571239 * salinity: 33.375019 , density: 1025.000000 * values[0]: 0.571429 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030142.023165 s.ZwH~,|!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074644< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743030142.023311F (some fields omitted in printout)AQp@A77'p@AV~? AV^A%"AAHiNA"AZAbAjArAzAAA:}CA]sAJ;k@AMAHA"RA@ѯ?A)PA <*A`9?2Aֽ:AejBA`9?JAֽRAej٘i)I9;k@Y*G J<JJJJvD&K YU~?ymHAuD{7j7G.%88B)ޯB8E[[P~[V~?[7[[[[BZYY i) O;Iis@= U))UUy>˘=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030142.043165 s, next control iter: 1743030142.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030142.443165 s.5wH~,5]!AJ"J*J2J:J]?BJ]?nJy5vJA(\q@Aq0[q@AV~? AdA@%"AA_iNA"AZAbAjArAzAAA,lA!sAxk@AkŻA|AMAv?A Aˏ<*Ap9?2Aځֽ:ABAp9?JAځֽRA٘i)I9k@YtG JD<JJJJvD&K YU~?ybtHAuD77{7<%89B)ܯB9E[[y[MV~?[<[[[[BZYY i) ;Iip@.=  B)) B B*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030142.463165 s, next control iter: 1743030142.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3641, header.stamp.nsec: 00 temperature: 13.570935* salinity: 33.375038, density: 1025.000000* values[0]: 0.572057F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030142.863165 s.+wH~,>!AAfffffr@A|F"42r@AZV~? AqkA%"AA viNA"AZAbAjArAzAAAQA%isA,l@A◻ASdA6GHA;?A-Aܞ<*Ax9?2Aֽ:A0BAx9?JAֽRA0Yn@2Hyc9ٓH ?ˎ?C?ߩ?@2)?>r |?)n@ I٘i)I9,l@YG J"<JF;JJJvD&K)x> YU~?yz9IA2HuD777J%8:B)ٯB elevatorAngleAction: 0.074644< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743030143.283336F (some fields omitted in printout)A ףp=s@AC s@A2V~? AqAB%"AAiNA"AZAbAjArAzAAA$fAV5sAl@AiVAףABA@_?AIvA<<*A9?2Aֽ:ABA9?JAֽRA٘i)I9l@YG J <JJJJvD&K YU~?ỳIA {CuD7GY%8)կB[[p[V~?[QH[[[[BZYY i)  elevatorAngleAction: 0.074644< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743030144.543287F (some fields omitted in printout)A(\u@Aqu@A6'W~? ApA(%"AA~iNA"AZAbAjArAzAAA  AT$sA n@A8;A AC3Am2?A@AT"<*A9?2Aֽ:ABA9?JAֽRA٘i)I9 n@YG J<B=JJJJ wD&K YV~?ykJAvD77I%8 YV~?y KA&.vD7%8=B)ɯBFE[[q^[V~?[s^[[[[BZYY i) yWB)ƯBIE[[Y[ W~?[c[[[[BZYY i'=) g elevatorAngleAction: 0.083538< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743030145.803297F (some fields omitted in printout)J"J*J2J:JBJnJvJAzGx@Aix@A\W~? A Ax%"AA(jNA"AZAbAjArAzAAA>PƿA sA'o@AkAcA\#A`#?AэA<*A9?2Aaս:A~ BA9?JAaսRA~ ٘i)I9o@YG J<JJJJKwD&K YHV~?yKA@vD77I%8)B[[?U[W~?[i[[[[BZYY i) ev elevatorAngleAction: 0.083538< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743030147.063282F (some fields omitted in printout)Az@A@իz@AW~? AAh1%"AA~jNA"AZAbAjArAzAAAź봭?AeXXtA^!q@A:A웽ASA?A) ߿A<*A޴9?2Aֽ:AW=BA޴9?JAֽRAW=Yb@*[y웽ɛ:ٓH?K? y@?? x?X?`B?)b@ I٘i)I9!q@YG J<J=;JJJwD&Ku> YAV~?yﳪLA[vD777J%8@B)BPE[[WG[:HW~?[x[[[[BZYY i) [iW~?[j[[[[BZYY i) O elevatorAngleAction: 0.083538< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743030148.323279F (some fields omitted in printout)AQ}@AY32}@AW~? AA}%"AAIjNA"AZAbAjArAzAAA4AM?A+Bp tAFr@A~j;AvAA}?AܿA <*AD9?2Aս:A!BAD9?JAսRA!٘i)I9r@YG J<JJJJwD&K  &8YV~? &8ydª7NA |CvDJ&8)BZE[[S9[zW~?[B[[[[BZYY i)  YW~?yE˪OAWvD{7{7!&8CB)B]E[[3/[W~?[[[[[BZYY i) _ elevatorAngleAction: 0.083538< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743030149.583299F (some fields omitted in printout)Ap= @AcDТ@AX~? AdīA%"AA6kNA"AZAbAjArAzAAAw#}:?Acx-tAt@AŻAVA1AX?A@ڿAu<*As9?2Aս:A/BAs9?JAսRA/٘i)I9t@YG J<JJJJ xD&K YW~?ySϪOAwD7777J0&8)B`E[[W9+[5W~?[/[[[[BZYY i) &8EB)BdE[[{&[W~?[[[[[BZYY i) /)) O >O >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030150.023165 s, next control iter: 1743030150.403183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743030150.423165 s.ufxH~,!AAQ@A',P@A0))d>d>*Y煾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030150.463165 s, next control iter: 1743030150.823175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3649, header.stamp.nsec: 00 temperature: 13.568215* salinity: 33.375114, density: 1025.000000* values[0]: 0.577655F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030150.843165 s.lxH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083538< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743030150.843300F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A2V'@AXRX~? AѫAj%"AAkNA"AZAbAjArAzAAA(ђ@Aw-tAv@Ap;A0ۯAj<̾A?A0ؿA`<*A 9?2Aս:A̷BA 9?JAսRA̷٘i)I9v@YG J<JJJJMxD&K YgW~?y~۪PAAwD7{7K[&8)BgE[[3[W~?[Z[[[[BZYY iu=) ))0>0>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030150.863165 s, next control iter: 1743030151.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030151.263165 s.txH~,!AA33333@At@AhX~? AիA%"AAekNA"AZAbAjArAzAAAx@AzrotAwBw@A S;A:밽AA@o[?A `׿An<*A9?2A iս:A-FBA9?JA iսRA-FY@ ¾yr갽S ;ٓH`E?!?@`^׿?E?`D?X x?O?)@ I٘i)I9Bw@Y}G JW<JJJJcxD&KFt> Y#W~?yުQQA ¾WwDj7j7i&8FB)BjE[[,[W~?[[[[[BZYY i) {))tC>C>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030151.283165 s, next control iter: 1743030151.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 36502, header.stamp.nsec: 020 temperature: 13.5677602* salinity: 33.3751342, density: 1025.0000002* values[0]: 0.5785012F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030151.683165 s.lzxH~,g!AJ"J*J2J:J?BJ?nJJ5vJAףp= @A[փ@ArX~? A٫A8?%"AAkNA"AZAbAjArAzAAA1#y @A2MtAUw@AA;AIAmA?AֿAY<*A͹9?2Aۤս:A'BA͹9?JAۤսRA'٘i)I9w@YG J<B=JJJJxxD&K YZW~?yQAlwD77w&8)BmE[[d[X~?[[[[[BZYY i) %))gpV>pV>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030151.683165 s, next control iter: 1743030152.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743030152.103165 s.xH~,Ț!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.258605> elevatorAngleAction: 0.092510< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743030152.103283F (some fields omitted in printout)A{Gᄬ@A\@AdX~? A[ݫAQ%"AAlNA"AZAbAjArAzAAAJdG @Al`j!tA3x@A:AHAsA`?A@QտAߍ<*A9?2Aӽ:AlBA9?JAӽRAl٘i)I9x@YPG J<C=JJJJxD&K YW~?yA>RAwDb7K&8)BpE[[+[#X~?[[[[[ZZZZ¸>BZYY i¸> )) K))) i>i>y/d=\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030152.123165 s, next control iter: 1743030152.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030152.523165 s.xH~,|!!AJ"J*J2J:J6?BJ6?nJi5vJAQ@A&'@AX~? AA0%"AA #lNA"AZAbAjArAzAAA$y@A3 !#tAMy@A6AuA A^?A`ԿA;<*AE9?2Aӽ:A-BAE9?JAӽRA-٘i)I9My@YG J<JJJJxD&K YW~?yRAwDŧ7b7&8GB)|BsE[[ [H8X~?[l[[[[ZZZZBZYY i) 5-))`S}>`S}>y\=*YryYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030152.543165 s, next control iter: 1743030152.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3651, header.stamp.nsec: 00 temperature: 13.567337* salinity: 33.375134, density: 1025.000000* values[0]: 0.579400F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030152.943165 s.ZdxH~,J]%tAz@AѷAvAޑA7?A W ԿA=*A9?2A Խ:AZBA9?JA ԽRAZ٘i)I9z@Y6G J<JJJJxD&K YW~?y,SA }CwD)77&8)vB[[+[MX~?[5[[[[ZZZZBZYY i) z0))`k>`k>yXA*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030152.963165 s, next control iter: 1743030153.343182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743030153.363165 s.xH~,>W!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082598< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743030153.363322F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@AVdt@2@AX~? AA: %"AAilNA"AZAbAjArAzAAA)w@A}_'tAz@A=A9 Av=Ah?A`3ӿA=*A\9?2AԽ:AaBA\9?JAԽRAaYG@yшٓH׫?? =ѿa?9?6_?vd?)G@ I٘i)I9z@YG J=J<JJJxD&Kr> YX~?y1SAwD{7j7L&8)oBvE[[ [aX~?[չ[[[[ZZZZBZYY i) ))r>>y釧H*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030153.403165 s, next control iter: 1743030153.763180 s, wait time: 0.360015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3652", header.stamp.nsec: 0"0 temperature: 13.566875"* salinity: 33.375145", density: 1025.000000"* values[0]: 0.580407"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030153.783165 s.XxH~,r!AA ףp=@A'UH @AkX~? A)A%"AAۍlNA"AZAbAjArAzAAA?ت@AA)tA{@ABA[zAA`?AWҿA'c<*A9?2Aս:AuBA9?JAսRAu٘i)I9{@YBG J =JJJJxD&K Y?!X~?ySAwD777&8IB)jBzE[[ S[wX~?[\[[[[ZZZZBZYY i) $Χ))g̛>̛>8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030153.803165 s, next control iter: 1743030154.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030154.203165 s.xH~,!!AJ"J*J2J:J?BJ?nJ5vJAGz@Ad]K@Av Y~? A=A%"AA lNA"AZAbAjArAzAAA%(@ASj+tA|@AP.;AH7A/uA?ApѿA <*A:?2AFӽ:AIԻBA:?JAFӽRAIԻ٘i)I9|@YG J<JJJJxD&K Ya)) >>O}*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743030154.223165 s, next control iter: 1743030154.603180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030154.623165 s.WxH~,]!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082598< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743030154.623283F (some fields omitted in printout)AR뉬@ACV@A$Y~? A,Af%"AAlNA"AZAbAjArAzAAA@Ag-tA5}@A=O;AA aA?AпAU<*A:?2AAӽ:A7:BA:?JAAӽRA7:٘i)I95}@YG Jv<JJJJyD&K YWX~?yyTAxDb77L&8)`BE[[[X~?[Ī[[[[ZZZZBZYY i) k)){>{>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030154.663165 s, next control iter: 1743030155.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3653 , header.stamp.nsec: 0 0 temperature: 13.566355 * salinity: 33.375172 , density: 1025.000000 * values[0]: 0.581487 F (some fields omitted in printout)WX~?)y rAdjusting time to match Gazebo time: 1743030155.043165 s.J "J *J 2J :J ?BJ ?nJ 5vJ xH~,!AA(\Š@A|5Z@A&=Y~? AA.%"AAlNA"AZAbAjArAzAAA ^% @AÓ5/tA>}@AϘ;AU1A>LA"?A@rzϿA퇃<*Av:?2Arӽ:A&<BAv:?JArӽRA&<٘i)I9}@YlG Jf<JJJJ$yD&K YrX~?y4UAxD7&8JB)\BE[[yؾ[׸X~?[RǪ[[[[ZZZZBZYY i) U))=l>=l>})Y+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030155.063165 s, next control iter: 1743030155.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030155.463165 s.[xH~,!AA@A3Vze@AUY~? AA%"AA mNA"AZAbAjArAzAAAC4@A0tA ~@A딋;A;Ai8AJ?AͿA8<*A,:?2APԽ:Av?{<BA,:?JAPԽRAv?{JJJ:yD&Kq> YX~?y{-UAd8-xD777&8)YB[[ξ[X~?[_ʪ[[[[ZZZZBZYY iX{) v)),q%G>%G>ͨYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030155.483165 s, next control iter: 1743030155.863182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3654, header.stamp.nsec: 00 temperature: 13.565983* salinity: 33.375183, density: 1025.000000* values[0]: 0.582225F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030155.883165 s.yxH~,I!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.235989@ elevatorAngleAction: -0.061364< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743030155.883283F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@ArOWw<@AnY~? AA%"AA+FmNA"AZAbAjArAzAAAPGR$a@A]U2tAY~@AҹAG<A#Awo?A`˿A;*A:?2A~Խ:Aa<BA:?JA~ԽRAa<٘i)I9Y~@YG Ji<C=JJJJOyD&K  '8Y_X~? '8y&UACxDŧ7b7M'8)WBE[[ľ[X~?[Oͪ[[[[ZZZZBZYY i) {c))G܂6>6> ةYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030155.903165 s, next control iter: 1743030156.283181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030156.303165 s.WxH~,{g!AAzG@Av|@A}Y~? AgA}%"AAkmNA"AZAbAjArAzAAA^wf{@A13tAv~@AA '=AOA`d?AʿA`:*A :?2AT ӽ:A]A<BA :?JAT ӽRA]A<٘i)I9v~@YG JՍ;JJJJeyD&K Y9X~?y UAXxDb7'8)VBE[[y亾[X~?["Ъ[[[[BZYY i) P)) =;>=;>4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030156.323165 s, next control iter: 1743030156.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3655., header.stamp.nsec: 0.0 temperature: 13.565728.* salinity: 33.375202., density: 1025.000000.* values[0]: 0.582630.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030156.723165 s.xH~,H.!AJ"J*J2J:J'?BJ'?nJf5vJAQ@AV]ꍬ@AY~? AArl%"AAǑmNA"AZAbAjArAzAAAvo'@AaL5tAt~@AF}ɻA/=AA?A@LȿAF21*Ad!:?2A$ӽ:Ag<BAd!:?JA$ӽRAg<٘i)I9t~@YG JѹJJJGEJzyD&K YX~?y9UAnxD{7j7#'8)E[[̰[$Y~?[Ҫ[[[[BZYY i) U=))%S>%S>y ;pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030156.743165 s, next control iter: 1743030157.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030157.143165 s.W/xH~, *I!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072128< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743030157.143289F (some fields omitted in printout)A)\@AM/1@AչY~? AAXC%"AAmNA"AZAbAjArAzAAAB"V8@AEJAO6tAT~@AAU=ArνA?AƿA8ݻ*A:?2Aӽ:A<BA:?JAӽRA<٘i)I9T~@YG J JJJJyD&K YX~?yUAxD77M2'8)WBE[[y[+Y~?[hժ[[[[BZYY i) *))=|>=|>RYNYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030157.163165 s, next control iter: 1743030157.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030157.563165 s.xH~,N d!AJ"J*J2J:JBJnJvJȀ@AL@A1Y~? AuA7%"AA=mNA"AZAbAjArAzAAAW%@Ar7tA~@AoE8A>u=A3̥A`?AĿAg+*A>:?2A!Խ:AV=BA>:?JA!ԽRAV=٘i)I9~@YG J> JJJJyD&K YY~?yb UAxDj7j7@'8)YBE[[k[CY~?[ת[[[[BZYY i) ^))>>"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030157.583165 s, next control iter: 1743030157.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3656, header.stamp.nsec: 00 temperature: 13.565638* salinity: 33.375206, density: 1025.000000* values[0]: 0.582558F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030157.983165 s.xH~,~!AAq= ף@Ao@AY~? A*A%"AAnNA"AZAbAjArAzAAAZ@A}8tA}@A;Ay=AyA ?A¿A`*A6:?2AԽ:Ab=BA6:?JAԽRAb=٘i)I9}@YvG J7DJJJJyD&K Y5Y~?yUA ~CxD77N'8)\BE[[I&[\Y~?[&ڪ[[[[BZYY i) q))m>m>蹪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030158.003165 s, next control iter: 1743030158.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030158.403165 s.J "J *J 2J :J "?BJ "?nJ a5vJ &xH~,͙!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072128< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743030158.403311F (some fields omitted in printout)AGz@AyjF@A<Z~? AA%"AAk+nNA"AZAbAjArAzAAAԐ@ARnNA"AZAbAjArAzAAA d @A&6J:tAA|@A6;AW=A썥A 3?A kAώ*A:?2AԄս:A=BA:?JAԄսRA=٘i)I9|@YG JώJJJJyD&K Y^mY~?y!TAxDj7k'8)cB[[z[MY~?[Rު[[[[BZYY i) ;Ii?< 4R ?))4R ?4R ?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030158.843165 s, next control iter: 1743030159.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030159.243165 s.xH~,m!AJ"J*J2J:JBJnJvJA\(@AK@A9Z~? AXAc%"AA3ynNA"AZAbAjArAzAAA66!@A ;tAd|@A/o:A\=A1:AE?A 'Aa*A:?2Aֽ:A=BA:?JAֽRA=٘i)I9d|@YG JJJJJyD&K Y7Y~?yTAxD{7{7y'8)gBE[[6f[6Y~?[.[[[[BZYY i) ;Ii? |< ?))??ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030159.263165 s, next control iter: 1743030159.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030159.663165 s.xH~,q!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.081376< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743030159.663294F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3658, header.stamp.nsec: 00 temperature: 13.565765* salinity: 33.375225, density: 1025.000000* values[0]: 0.581925F (some fields omitted in printout)A@A ˓@A{SZ~? AiǍ%"AAGnNA"AZAbAjArAzAAA*Ϝ!@Ar`v;tA{@AQWA=A+e<A U?ArնAY*A 9?2Auֽ:A=BA 9?JAuֽRA=Y@>JJJzD&KM> YoY~?yTA><yDb77N'8)kBE[[R[Y~?[[[[[BZYY i?`) ft;Ii? p< .?))Ud.?.?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030159.683165 s, next control iter: 1743030160.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030160.083165 s.DyH~,S!AJ"J*J2J:J?BJ?nJ55vJAp= ה@Aaۢ@A_mZ~? AQ Aiy%"AAunNA"AZAbAjArAzAAAbU9"@Ao> YV2Z~?y`RA=oyD7777'8)BE[[6ս[WAj?A`YA*AH:?2AԽ:A=BAH:?JAԽRA=٘i)I9x@YG JüJJJJzD&K YZNZ~?yQAyDN'8)B[[[UZ~?[[[[[BZYY i) +%ߺIiň?/< 3?))3?3?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030162.203165 s, next control iter: 1743030162.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030162.603165 s.J "J *J 2J :J z?BJ z?nJ 5vJ <4)yH~,Ú!AA{Gᙬ@Aѐ(@A [~? AU AG%"AAoNA"AZAbAjArAzAAAlgA9%@A#ty=tA uw@ABf;A$W=Ag">A`?Ag?AO+*Al:?2Aҽ:A=BAl:?JAҽRA=٘i)I9uw@YG JB=JJJJzD&K YcjZ~?yQAyD7'8HB)BE[[[oZ~?[M[[[[BZYY i) a+Ii?&$< 8?)) 8?8?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030162.623165 s, next control iter: 1743030163.003179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3661, header.stamp.nsec: 00 temperature: 13.566276* salinity: 33.375263, density: 1025.000000* values[0]: 0.579994F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030163.023165 s.Z0yH~,{!AAQ@Agy@A#[~? A A?J%"AAoNA"AZAbAjArAzAAAZUG&@Ax V=tAv@ArݢAJ=AL7>A@p?ALݜ?A*As:?2AMӽ:A=BAs:?JAMӽRA=٘i)I9v@Y>G JƶC=JJJJzD&K YfZ~?yQA CyD)7ŧ7'8)BE[[l/[҉Z~?[[[[[BZYY i) fIiVr?< >?))>?>?ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030163.063165 s, next control iter: 1743030163.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030163.443165 s.86yH~,B]!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.064536< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743030163.443288F (some fields omitted in printout)A(\@AA+[@A=[~? A AP%"AA*pNA"AZAbAjArAzAAA\)'@AX=tAIv@AhvA7=AK>A@/?Aƥ?A0*As:?2AԽ:A<BAs:?JAԽRA<٘i)I9Iv@YG JcJJJJzD&K  (8YnZ~? (8yPAyD77O (8NB)BE[[Wش[Z~?[[[[[BZYY i) UIi[e?< iC?))iC?iC?ȪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030163.463165 s, next control iter: 1743030163.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3662, header.stamp.nsec: 00 temperature: 13.566442* salinity: 33.375298, density: 1025.000000* values[0]: 0.579353F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030163.863165 s.+=yH~,>!AAfffff@AL…<2@AW[~? A- AX%"AA*pNA"AZAbAjArAzAAAF'@AxlA@N{?Ae7?A8*A5r:?2AԽ:A]<BA5r:?JAԽRA]<٘i)I9u@YG JĦJJJJzD&K YvZ~?y|CPAyD7)7(8)BE[[wݖ[Z~?[[[[[BZYY i) 㮻Ii$Z?g < lH?))lH?lH?êYFFF]: Waiting for Gazebo time sync: latest Gz time: 1743030163.903165 s, next control iter: 1743030164.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030164.283165 s.7RDyH~,!AJ"J*J2J:JBJnJvJA ףp=@A8L4H @Aq[~? Ay Ad%"AARpNA"AZAbAjArAzAAA [d(@A5ԻVA`p?AEY?A*A*Ao:?2ADս:Aj<BAo:?JADսRAj<٘i)I95u@Y>G J͠JJJJzD&K Y|Z~?yoOAyD%(8MB)BE[[iԢ<[Z~?[[[[[BZYY i6) z̻IiP?< ~&N?))~&N?~&N?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030164.303165 s, next control iter: 1743030164.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3663., header.stamp.nsec: 0.0 temperature: 13.566566.* salinity: 33.375305., density: 1025.000000.* values[0]: 0.578791.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030164.703165 s.ٺJyH~,-!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073835< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743030164.703281F (some fields omitted in printout)AGz@A\n@A[~? AAt%"AAzypNA"AZAbAjArAzAAA_O)@A~s;tAyt@A 7Asw=A>Ac?A?A嗚*Al:?2Aս:A0<BAl:?JAսRA0<٘i)I9t@YG JcB=JJJJ{D&K YZ~?yckOAzDŧ7b7R4(8)BE[['=[Z~?[[[[[BZYY i) ThIiI?< S?))S?S?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030164.723165 s, next control iter: 1743030165.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030165.123165 s.9QyH~,eG!AJ"J*J2J:JBJnJvJAR랬@A\wT@A[~? AA`%"AAĠpNA"AZAbAjArAzAAAKWG?L)@A~7.;tA3t@Aœ;A=AbU>A`S?A`ٹ?A*Ae:?2Aս:A/<BAe:?JAսRA/<٘i)I93t@YG J—C=JJJJ({D&K Y[~?yVNAzDj7Z7B(8LB)B¹E[[~=[[~?[V[[[[BZYY i) IiEC?; \X?))\X?\X?sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030165.143165 s, next control iter: 1743030165.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030165.543165 s.IXyH~,b!AA(\Ÿ@A"n@Au[~? AdAٛ%"AApNA"AZAbAjArAzAAAÑ%c;*@Aɘ7u:tAs@Av;AU݅=A™>A`A?A?AG*A^:?2A:ֽ:As<BA^:?JA:ֽRAs<٘i)I9s@YUG JB=JJJJ>{D&K Y.[~?yJNA0zDZ7SI7P(8)B[[֪=[Q)[~?[[[[[BZYY i) IiD??<; j^?))j^?j^?y2_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030165.563165 s, next control iter: 1743030165.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3664, header.stamp.nsec: 00 temperature: 13.566687* salinity: 33.375309, density: 1025.000000* values[0]: 0.578271F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030165.963165 s.z^yH~,}!AJ"J*J2J:J ?BJ ?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073835< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743030165.963299F (some fields omitted in printout)A@A:Fve@A0[~? A A}%"AApNA"AZAbAjArAzAAAG*@A}*9tA?s@A+;At=AM>A,?AC?A㍼*AbW:?2A3ֽ:A<BAbW:?JA3ֽRAy=;ٓHLL?@/ԿK?`;*?`]?r ?R`ueu?`a?):&= I٘i)I9?s@Y G JC=JJJJS{D&K> Y^I[~?y8NAz>FzD777Q_(8)BŹE[[l=[|C[~?[[[[[BZYY i) W"Ii+?U ; ^c?))/*h^c?^c?hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030165.983165 s, next control iter: 1743030166.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030166.383165 s.eyH~,!AA= ףp@Aut<@A[~? AAO%"AAqNA"AZAbAjArAzAAAV#XMs+@Aꮁ8tAr@Ah:A=AT>A?A`?Aw*A>P:?2Atֽ:A,-<BA>P:?JAtֽRA,-<٘i)I9r@YG JvJJJJi{D&K Y+d[~?yMA[zDj7j7m(8KB)BȹE[[1>[][~?[[[[[BZYY i) 12IiP?r; Ti?))xTi?Ti?iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030166.423165 s, next control iter: 1743030166.783175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3665&, header.stamp.nsec: 0&0 temperature: 13.566777&* salinity: 33.375320&, density: 1025.000000&* values[0]: 0.577783&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030166.803165 s.xAlyH~,g!AJ"J*J2J:JBJnJvJAzG@A~@A[ \~? AAu%"AAA ;?A@S?A*AK{:?2Aӽ:A<BAK{:?JAӽRA<٘i)I9Tr@Y}G J[JJJJ~{D&K Y~[~?yMAqzD77{(8)B˹E[[>[Ux[~?[[[[[BZYY iw) 3AIi{ ?A; Rn?)) Rn?Rn?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030166.823165 s, next control iter: 1743030167.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030167.223165 s.gsyH~,H!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082748< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743030167.223348F (some fields omitted in printout)AQ@A#.ꢬ@A%\~? AA%"AAZcqNA"AZAbAjArAzAAAA?A\?Ao*Afz:?2AԽ:A$ =BAfz:?JAԽRA$ =٘i)I9q@Y6G JۉJJJJ{D&K Yʙ[~?y**MAzD7Q(8JB)BιE[[+>[[~?[[[[[BZYY i) mQIi>J; s?))s?s?Y؄YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030167.243165 s, next control iter: 1743030167.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030167.643165 s.J "J *J 2J :J ?BJ ?nJ 5vJ wyyH~, *!AA)\@A @A?\~? AA7%"AAΉqNA"AZAbAjArAzAAA ׷A-@A fsV5tAlq@AͿAx=A >A`_?A|!?A` *ACp:?2AnԽ:AH=BACp:?JAnԽRAH=٘i)I9lq@YG J:JJJJ{D&K Y[~?yaLAzDŧ7b7(8GB)йE[[A>[[~?[[[[[BZYY i) ) aIit>˦; X{y?))X{y?X{y?tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3666!, header.stamp.nsec: 00 temperature: 13.566903* salinity: 33.375336, density: 1025.000000* values[0]: 0.577326F (some fields omitted in printout)YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030167.663165 s, next control iter: 1743030168.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030168.063165 s.yH~,R !AA̤@A9ߡ@AAX\~? AAF_%"AAqNA"AZAbAjArAzAAA{wtW-@A94tAp@AGA=A1>A?A?AF珼*AXe:?2ANԽ:A"=BAXe:?JANԽRA"=YM>>y== ٓH`%?(ڿI2?@x ? 7?`J? a@?)M> I٘i)I9p@YG JJ ?<JJJ{D&Kq> Yc[~?ypLA> CzD77(8)B[[UmW>[[~?[h[[[[BZYY i) cpIi>Fo; 0~?))w0~?0~?y^ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030168.083165 s, next control iter: 1743030168.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030168.483165 s.~_yH~,!AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241932@ elevatorAngleAction: -0.082748< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743030168.483299F (some fields omitted in printout)Aq= ף@Ano@AHq\~? AA%"AAqNA"AZAbAjArAzAAA r.@Aet2tA{p@A8;A8͓=Atd>A @?A .?A*A Z:?2AU'ս:AK =BA Z:?JAU'սRAK =٘i)I9{p@Y]G JJJJJ{D&K Y,[~?y2LAzDŧ7b7R(8FB)¯BӹE[[^m>[d[~?[ߪ[[[[BZYY i) nIi>C; 3?)) 3?3?$˪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030168.503165 s, next control iter: 1743030168.883182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3667, header.stamp.nsec: 00 temperature: 13.566966* salinity: 33.375362, density: 1025.000000* values[0]: 0.576871F (some fields omitted in printout)6,[~?)62 rAdjusting time to match Gazebo time: 1743030168.903165 s.ȍyH~,9!AAGz@A4F@A&\~? AA߸%"AAqNA"AZAbAjArAzAAAp1/@A11tAo@A;A۹=Ar>A ]?A?A*Aj:?2A8ӽ:Af=BAj:?JA8ӽRAf=٘i)I9o@YG JJJJJ{D&K Y\~?yKAzD{7j7(8EB)ůBֹE[[>[[~?[ݪ[[[[BZYY i) Ii_u>0 ; ?))??ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030168.923165 s, next control iter: 1743030169.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030169.323165 s.ryH~,T!AJ"J*J2J:JBJnJvJAQ@A)\@Aܢ\~? A}A9%"AA!rNA"AZAbAjArAzAAA /@A4/tAso@A;Aᇛ=A>A7?AH?Aeѣ*A`:?2AEԽ:A~=BA`:?JAEԽRA~=٘i)I9so@YG JyJJJJ|D&K Y\~?yNKAzD77(8DB)ɯBٹE[[7>[u\~?[E۪[[[[BZYY i) 97Ii@>: ?))??ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030169.343165 s, next control iter: 1743030169.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3668*, header.stamp.nsec: 0*0 temperature: 13.567103** salinity: 33.375362*, density: 1025.000000** values[0]: 0.576353*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030169.743165 s.$WyH~,o!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082748< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743030169.743302F (some fields omitted in printout)A\(@A4K@Ae\~? AA%"AAFrNA"AZAbAjArAzAAA7ɺ0@AbU-tA+n@A9W;A7!=A?A` ?Ab?AϨ*AV:?2AԽ:A?=BAV:?JAԽRA?=٘i)I9n@YgG J!JJJJ|D&K Y5\~?ylܪJA{Db77R(8CB)̯BܹE[[S>[2\~?[ت[[[[BZYY i) 1䖼Ii;>s-: Ž?))Ž?Ž?ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030169.763165 s, next control iter: 1743030170.143184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030170.163165 s.u}yH~,q!AJ"J*J2J:JBJnJvJA@ADl˨@A\~? AAU%"AAkrNA"AZAbAjArAzAAAQvc0@AD^,tAXn@AhɺA=AL?A ?A e?Aa1*A&M:?2Axս:A=BA&M:?JAxսRA=Y&X>D?y= ʺٓH s?߿h?{?N?#ߤ? K-Y 6?)&X> I٘i)I9Xn@YG JͪB=Jǰ<JJJ+|D&Kt> YN\~?y تJAD?{DSI7SI7(8)ѯB[[4>[!L\~?[>֪[[[[BZYY i) PIi=<: U?));zU?U?OߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030170.183165 s, next control iter: 1743030170.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030170.583165 s.#yH~,3S!AAp= ש@Aky墩@A\~? AA%"AArNA"AZAbAjArAzAAAyɬ0@Ai<1*tAfm@AA=A̛ ?A@?A F?Aޱ*AC:?2A.$ֽ:A =BAC:?JA.$ֽRA =٘i)I9m@YG JZC=JJJJ@|D&K Yf\~?yӪJA2{D7777(8BB)ԯB߹E[[e>[Ef\~?[tӪ[[[[BZYY i) Ii% <c8 ^!?)) ^!?^!?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030170.603165 s, next control iter: 1743030170.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3669, header.stamp.nsec: 00 temperature: 13.567225* salinity: 33.375370, density: 1025.000000* values[0]: 0.575801F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030171.003165 s.v yH~,D4!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082748< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419983J"J2 time: 1743030171.003276*JF (some fields omitted in printout)2J:JBJnJvJAHz@A<0y@A]~? AA6%"AArNA"AZAbAjArAzAAA_0@A<:(tA-m@AػAԘ=Ad?A ?A .?AE*AmQ:?2AԽ:A=BAmQ:?JAԽRA=٘i)I9-m@YZG J}JJJJV|D&K  )8Y~\~? )8yJϪIAG{D77S )8?B)կBE[[>[m\~?[vЪ[[[[BZYY i)  )I3I?iCp ?))??YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030171.023165 s, next control iter: 1743030171.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030171.423165 s.uyH~,!AAQ@AUlP@A]~? A)Aa %"AACrNA"AZAbAjArAzAAA[{P=1@At+&tAl@AyBA+=A?AN?A ?AZ*AI:?2A1ս:Ae=BAI:?JA1սRAe=RI٘i)I9l@YG JJJJJk|D&K Yz\~?yʪ9IA\{Dŧ7)8>B)ٯBE[[O >[\~?[Eͪ[[[[BZYY i) 6I I?i)ƽҥ} ?))??/Y{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030171.443165 s, next control iter: 1743030171.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3670, header.stamp.nsec: 00 temperature: 13.567400* salinity: 33.375401, density: 1025.000000* values[0]: 0.575174F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030171.843165 s.ݼyH~,!AJ"J*J2J:JBJnJvJA(\@A'@A3]~? AA`P%"AArNA"AZAbAjArAzAAA9 A1@A( $tAkk@A~9AQ=A?A2?A?A'Fż*A%B:?2Abս:A+=BA%B:?JAbսRA+=٘i)I9k@YG J}JJJJ|D&K Y\~?yƪHAr{D77j7')8)ޯB[[z>[\~?[ɪ[[[[BZYY i) I I?i Y` Qw?))Qw?Qw?(YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743030171.863165 s, next control iter: 1743030172.243182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743030172.263165 s.yH~,4!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082748< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743030172.263286F (some fields omitted in printout)A33333@A>@AYJ]~? AݫA1%"AA sNA"AZAbAjArAzAAA5%1@A~J!tAHFk@AM;A=A?A` ?A5?AX˼*A::?2Aս:A8?=BA::?JAսRA8?=YV>O?yV=;ٓH I٘i)I9Fk@Y1G J,ȼJOm<JJJ|D&Ku> Y\~?yjVHA?{D77S6)8=B)BE[[>[ \~?[Vƪ[[[[BZYY i) CüI I?iR T4?))}T4?T4?tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030172.283165 s, next control iter: 1743030172.663182 s, wait time: 0.380017 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 36712, header.stamp.nsec: 020 temperature: 13.5675972* salinity: 33.3754312, density: 1025.0000002* values[0]: 0.5744762F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030172.683165 s.lyH~,R+!AJ"J*J2J:JBJnJvJAףp= @A<֭@Aaa]~? A2ګA%"AACsNA"AZAbAjArAzAAA[2@A QEztAj@A;A%=A($?A ?A3?A3ϼ*A;3:?2A ս:A7=BA;3:?JA սRA7=٘i)I9j@YG JyͼJJJHEJ|D&K Y\~?yKGA{D77D)8[\~?[ª[[[[BZYY i) ʼIvI?iJt. ?)) ??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030172.683165 s, next control iter: 1743030173.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743030173.103165 s.yH~,F!AA{Gᮬ@A.2@A'x]~? A@֫AP*%"AA_fsNA"AZAbAjArAzAAA:TV2@A`هtA=i@An;A`=AlW)?A`0m?A`?AjѼ*A[]~?[[[[[BZYY i4l) !ѼII?i\Q Ơ?))Ơ?Ơ?UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030173.123165 s, next control iter: 1743030173.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030173.523165 s.J "J *J 2J :J ?BJ ?nJ 5vJ yH~,[|a!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.091515< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743030173.523312F (some fields omitted in printout)AQ@A0@A]~? A*ҫAx%"AAsNA"AZAbAjArAzAAA:E2@AF-tA9i@A=:A`n=AÎ.?A (0?A .?A$Ҽ*Al9:?2A.ս:A=BAl9:?JA.սRA=٘i)I99i@Y G JҼJJJJ|D&K Y ]~?y FA{D77{7Ua)8)B[[Q>[\]~?[x[[[[BZYY i) J ټI H?in ?))??YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030173.543165 s, next control iter: 1743030173.923201 s, wait time: 0.380036 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3672, header.stamp.nsec: 00 temperature: 13.567800* salinity: 33.375408, density: 1025.000000* values[0]: 0.573744F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030173.943165 s.]dyH~,W]|!AA(\@AMg'[@A]~? AͫA%"AAsNA"AZAbAjArAzAAAW2@AgjtAh@AՂAB=A3?A ?A?Azϼ*A{.:?2A=ս:A8=BA{.:?JA=սRA8=٘i)I9h@Y G J'ѼJJJJ|D&K Y"]~?yשׁFA{Db7b7o)87B)BE[[?[z3]~?[[[[[BZYY i) :JIH?i;Ճ !AJ"J*J2J:J?BJ?nJ5vJAfffff@A|(B2@A޺]~? AɫAX%"AA(sNA"AZAbAjArAzAAAcH 3@A}! UtA\g@Al׻Aس=A9?A@`?A [?Aм*A#:?2ApUֽ:A)=BA#:?JApUֽRA)=Y?8?y׳=6ػٓH?`d,q???? szA?)? I٘i)I9g@Y G JϼB=Jd;JJJ}D&KSv> Y7]~?yFA8?{Dj7j7})85B)BE[[o ?[L]~?[[[[[ZZ¸BZYY i¸2=) CԼIH?it @?))@?@?yZ YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030174.383165 s, next control iter: 1743030174.763176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3673*, header.stamp.nsec: 0*0 temperature: 13.568006** salinity: 33.375431*, density: 1025.000000** values[0]: 0.573013*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030174.783165 s.XyH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.251416> elevatorAngleAction: 0.083592< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200512 time: 1743030174.783323F (some fields omitted in printout)A ףp=@APD @A]~? AūAs%"AA;sNA"AZAbAjArAzAAA7za3@AwtA+g@AѺAZ=A@N>?Ah?A I?A5Ӽ*A:?2A?}ֽ:AK=BA:?JA?}ֽRAK=٘i)I9+g@Y G JѼC=JJJJ}D&K YL]~?yMEA|Db77T)8)B[[?[d]~?[欪[[[[ZZBZYY i) =ȼIH?i 2 ?)) ??y*VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030174.803165 s, next control iter: 1743030175.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030175.203165 s.J "J *J 2J :J ?BJ ?nJ 5yH~vJ,!AAGz@A"Jಬ@A]~? AqA%"AA tNA"AZAbAjArAzAAA+*~3@AþtAdf@AɀA=AdaC?A`?AjX?A݋*A,:?2Aս:A<BA,:?JAսRA<٘i)I9df@Y8 G J=JJJJ-}D&K Y b]~?y}EA|D777)84B)BE[[Yr?[|]~?[[[[[ZZBZYY i) 6I H?i;- ?))??yF=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030175.223165 s, next control iter: 1743030175.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030175.623165 s.YyH~,e!AAR볬@A:6U@A]~? AAm(%"AA.tNA"AZAbAjArAzAAA![T3@A]- tAe@AX:;A-=AmH?Ay?A?A*A:6:?2Aս:A墳<BA:6:?JAսRA墳<٘i)I9e@Y G J/JJJJB}D&K YHw]~?yDA3|D7)83B)BE[[8Y?[]~?[ۢ[[[[ZZBZYY i) 0IH?i}Ȼ Aб?))Aб?Aб?y<=ժYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030175.643165 s, next control iter: 1743030176.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3674 , header.stamp.nsec: 0 0 temperature: 13.568253 * salinity: 33.375446 , density: 1025.000000 * values[0]: 0.572219 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030176.043165 s.zH~,!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083592< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743030176.043300F (some fields omitted in printout)A(\´@Ah8e@A^~? AɶA%"AAMtNA"AZAbAjArAzAAA ]pg!4@A tAad@A;Aڭx=APM?A??A?A!*Ah;:?2Aս:A`Hs<BAh;:?JAսRA`Hs<٘i)I9d@Y- G JGJJJJX}D&K Yq]~?y܏%DAH|DT)80B) BE[[H"?[]~?[[[[[ZZBZYY i) )IH?iV%eӻ E?))E?E?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030176.063165 s, next control iter: 1743030176.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030176.463165 s.WzH~,!AA@A7ke@A$^~? AñAD%"AAltNA"AZAbAjArAzAAAO*K_4@AJ tAc@Az;A14=A2R?ARD?A˕?A9ռ*A6=:?2A%ֽ:A-;BA6=:?JA%ֽRA-;Y$?R?y04=Z$;ٓH?x!U?s??@E?> v?`?)$? I٘i)I9c@Y G JJսJJJm}D&K}v> Y]~?ydCAR?^|D7)7)8/B)BE[[w/(?[]~?[[[[[ZZBZYY i9=) WIH?i4 ?))??|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030176.503165 s, next control iter: 1743030176.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3675, header.stamp.nsec: 00 temperature: 13.568558* salinity: 33.375458, density: 1025.000000* values[0]: 0.571273F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030176.883165 s.y zH~,I8!AJ"J*J2J:JBJnJvJA= ףp@Ast<@A.8^~? AAwJ%"AAtNA"AZAbAjArAzAAA14@AIXtABc@A;:AM<AX?A`m?AcR?A)S*A`::?2AVֽ:A3ϺBA`::?JAVֽRA3Ϻ٘i)I9Bc@YP G JżJJJJ}D&K Y]~?y낪CAs|Dŧ7b7)8*B)BE[[".?[]~?[b[[[[ZZBZYY i) oIH?iA w?))w?w?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030176.903165 s, next control iter: 1743030177.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030177.303165 s.TzH~,ogS!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074329< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743030177.303299F (some fields omitted in printout)AzG@A@AK^~? AVA&%"AAԩtNA"AZAbAjArAzAAAR R4@AntAb@AHA{["<Ah=]?A@ި?A ?Ak*A+8:?2Aqֽ:ABA+8:?JAqֽRA٘i)I9b@Y G JКJJJJ}D&K Y]~?ys|pCA|D77V)8)B[[ 4?[]~?[[[[[ZZBZYY i) IH?iM+F b?))b?b?vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030177.343165 s, next control iter: 1743030177.703175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3676*, header.stamp.nsec: 0*0 temperature: 13.568750** salinity: 33.375469*, density: 1025.000000** values[0]: 0.570569*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030177.723165 s.zH~,Hn!AJ"J*J2J:JBJnJvJAQ@A귬@AV_^~? AAH%"AAtNA"AZAbAjArAzAAAg5@AeN"sAcb@AٻAsAqb?AW?A?A+*A1:?2Aֽ:A ?xBA1:?JAֽRA ?x٘i)I9cb@Y G J\JJJJ}D&K YW]~?yu3CA C|Db77)8)B)BE[[ ':?[A^~?[j[[[[ZZBZYY i:=) qI H?ieV6 S?))S?S?y=h(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030177.743165 s, next control iter: 1743030178.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030178.143165 s.S/"zH~,)!AA)\@A @Acr^~? AkAт%"AAtNA"AZAbAjArAzAAA۩L5@AR%sA*b@AAAg?A?A;?A_*A):?2AHֽ:AqBA):?JAHֽRAq٘i)I9*b@Y G Jk JJJJ}D&K Y]~?yoBA|Dj7Z7)8&B)BE[[3@?[V^~?[$[[[[ZZBZYY i) 9#\I#H?i] J?))J?J?y =I)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030178.163165 s, next control iter: 1743030178.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030178.563165 s.(zH~,N !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083508< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743030178.563284F (some fields omitted in printout)J"J*J2J:JBJnJvJA̹@A/񝘹@A^~? AƖA%"AAPuNA"AZAbAjArAzAAA|VP5@A31GRsA~b@AiAAl?A?A@E?AXǺ*A:?2Aֽ:AͼBA:?JAֽRAͼY4?Rl?y}zٓH  *8Y]~? *8yvh"CAl?|D77U *8$B)E[[7F?[3^~?[y[[[[BZYY i!m=) JIxH?ik y4?))y4?y4?y=-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030178.603165 s, next control iter: 1743030178.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3677, header.stamp.nsec: 00 temperature: 13.568820* salinity: 33.375462, density: 1025.000000* values[0]: 0.570248F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030178.983165 s./zH~,!AAq= ף@AΉ=o@Ab^~? AA^%"AA_uNA"AZAbAjArAzAAAlҼ5@AIJsAb@Auz:A 1A&r?AV?A`M?A!;*AE :?2Aֽ:A&BAE :?JAֽRA&켙٘i)I9b@Y G J\9JJJJ}D&K Y^~?yiaNCA|D7*8)[[vFL?[H^~?[&s[[[[BZYY i>=) 69I)H?iwm %?))%?%?y٪=m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030179.003165 s, next control iter: 1743030179.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030179.403165 s.&6zH~,!AJ"J*J2J:J?BJ?nJ5vJAGz@A#F@AN^~? A%A[%"AA8uNA"AZAbAjArAzAAA )5@A(K9sA<0b@AQ;AXAmw?A[?A`=?A;*A:?2A׽:A4BA:?JA׽RA4٘i)I90b@Y G J ;JJJJ~D&K Y^~?y]ZzCA|D77**8#B)BE[[@^R?[]^~?[[l[[[[BZYY i) -'ISqH?i$ >?))>?>?y f=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030179.423165 s, next control iter: 1743030179.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3678", header.stamp.nsec: 0"0 temperature: 13.568714"* salinity: 33.375500", density: 1025.000000"* values[0]: 0.570300"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030179.823165 s. elevatorAngleAction: 0.067991< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743030179.823300F (some fields omitted in printout)AQ@A@A׺^~? A)AD%"AASuNA"AZAbAjArAzAAAoQ(6@A7%sAmkb@A ;AtvAޫ|?AC?A?Ab*<*AG9?2AM׽:ABAG9?JAM׽RA٘i)I9kb@Y G J <JJJJ~D&K Y0^~?yPSCA }D{7j7V8*8"B)B E[[&~X?[r^~?[`e[[[[BZYY i) ?KIcH?i) ?))??yÌ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030179.843165 s, next control iter: 1743030180.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030180.243165 s.CzH~,~!AJ"J*J2J:JBJnJvJA\(@AԜ@A^~? AAݹ%"AA nuNA"AZAbAjArAzAAAh}$D\6@AsAlb@A;AfAw?A?A?AA7_<*A9?2Aֽ:Aiy BA9?JAֽRAiy ٘i)I9b@Y G J8C<JJJJ/~D&K YA^~?yDLCA}D77F*8B) BE[[^?[߅^~?[7^[[[[BZYY i) II{TH?i- 1!?))1!?1!?ɷ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030180.263165 s, next control iter: 1743030180.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030180.663165 s.JzH~,q*!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3679, header.stamp.nsec: 00 temperature: 13.568521* salinity: 33.375504, density: 1025.000000* values[0]: 0.570662F (some fields omitted in printout)A@AF e˽@A^~? AxA1%"AAuNA"AZAbAjArAzAAA?z6@AYsA#$c@A:A^A?A?A@-?A;F<*AV9?2Aֽ:ABAV9?JAֽRAYN??y^ڣٓH z?cޢ@(R???`쮿 ?`[g4w?)N? I٘i)I9$c@Y= G Jt<J̽JJJD~D&K\x> YGP^~?yD3DA?4}D7)7U*8B)B E[[d?[^~?[V[[[[BZYY iSl=) zI:EH?iύ5 ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030180.683165 s, next control iter: 1743030181.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030181.083165 s.DQzH~,SE!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057757< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743030181.083280F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= ׾@Azݢ@A^~? ArAǫ%"AAΠuNA"AZAbAjArAzAAAov{6@A.'8sArc@AAA ?A ?A@y?A͘<*A9?2Aֽ:ABA9?JAֽRA٘i)I9c@Y G JB<JJJJZ~D&K Y^^~?y1=DAJ}DVc*8)B[[Xj?[^~?[O[[[[BZYY i) e̻Im5H?i}0< ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030181.103165 s, next control iter: 1743030181.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030181.503165 s.WzH~,L4`!AAHz@ACpy@A^~? A)lA'%"AABuNA"AZAbAjArAzAAA?6@AcOsA#d@AYQ޻A#A*?AdO?A@?A֨<*A)9?2Aزֽ:ABA)9?JAزֽRA٘i)I9#d@Y G J<JJJJo~D&K Y}m^~?y5DA_}D{7j7q*8)B[[q?[^~?[G[[[[BZYY i) VI)%H?i6pA ?))??v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030181.543165 s, next control iter: 1743030181.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3680, header.stamp.nsec: 00 temperature: 13.568239* salinity: 33.375515, density: 1025.000000* values[0]: 0.571229F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030181.923165 s.9^zH~,{!AJ"J*J2J:J<?BJ<?nJV5vJAQ@Ak P@Al _~? AeA%"AAuNA"AZAbAjArAzAAA0U7@AF̩WsAd@AA}ASG?A?A ?AL<*A:?2A2ֽ:ABA:?JA2ֽRA٘i)I9d@Y2 G J<JJJJ~D&K Y|^~?y.WEAu}D*8B)B E[[<@w?[^~?[#@[[[[BZYY i) HIH?i^E 8?))8?8?yFl=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030181.943165 s, next control iter: 1743030182.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030182.343165 s. elevatorAngleAction: 0.057757< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198872 time: 1743030182.343295F (some fields omitted in printout)A(\@AEGr'@Az_~? A_A%%"AA>uNA"AZAbAjArAzAAA1KLM7@AOsASLe@A0|AœA?A#?AT?A+<*A:?2Ay׽:AU BA:?JAy׽RAU ٘i)I9Le@Y G J<JJJJ~D&K Y^~?y&EA}D77{7V*8)B[[Xw}?[^~?[48[[[[BZYY i) `IH?i{LH ,?)),?,?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030182.363165 s, next control iter: 1743030182.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3681*, header.stamp.nsec: 0*0 temperature: 13.567879** salinity: 33.375515*, density: 1025.000000** values[0]: 0.571979*F (some fields omitted in printout)B^~?)B& rAdjusting time to match Gazebo time: 1743030182.763165 s.J "J *J 2J :J m?BJ m?nJ 5vJ DkzH~,Vذ!AA33333¬@ArL@A*_~? A]XAU%"AAuNA"AZAbAjArAzAAA ~y7@An9sAe@A{;A"AЖ?A ?A`T?AK<*A :?2A]0׽:ABA :?JA]0׽RAYi?K?yׁƬ|;ٓHD?thx?@;T?@ݱK?~o? ?)i? I٘i)I9e@Y G JG<B=Jv4JJJ~D&Kx> Y–^~?y FA?}Dŧ7b7*8B)BE[[Ӂ?[F^~?[-0[[[[BZYY i) ^$ISG?i졿iCO Z.?))Z.?Z.?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030182.783165 s, next control iter: 1743030183.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030183.183165 s.rzH~,N!AAףp= ì@AJ`s¬@AD8_~? AQA*%"AAvNA"AZAbAjArAzAAA7)ݒ7@AosAyyf@A,;A9A9?A}&?A?A<*A:?2A*@׽:ABA:?JA*@׽RA٘i)I9yf@YE G J8<C=JJJJ~D&K YѢ^~?yFA}D77{7*8)B[[?[,_~?['[[[[BZYY izԈ=) vкIsG?iS^T 5?))5?5?=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030183.203165 s, next control iter: 1743030183.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030183.603165 s.84yzH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066812< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743030183.603292F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gì@A\ì@AE_~? AJAA%"AA)vNA"AZAbAjArAzAAAծ;,7@ANsA g@A;AHAԕ?A@U?A?A51<*AQ:?2A0׽:A#BAQ:?JA0׽RA#٘i)I9 g@Y G J<JJJJ~D&K Y^~?yFA}DZ787W*8B)ܯBE[[)?[_~?[[[[[BZYY i) 0I5G?i35Y C?))C?C?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030183.623165 s, next control iter: 1743030184.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3682 , header.stamp.nsec: 0 0 temperature: 13.567509 * salinity: 33.375534 , density: 1025.000000 * values[0]: 0.572742 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030184.023165 s.ZzH~,|!AAQĬ@A0Ĭ@ABS_~? ACAL7%"AA?>vNA"AZAbAjArAzAAAAg7@A|lsASg@Aq;AbA&g?Ah?A\?A<*A:?2A ׽:AWBA:?JA ׽RAW٘i)I9g@Y G JH<JJJJ~D&K Y^~?yXGA}D77*8B)֯BE[[1?[8_~?['[[[[BZYY i) xL9IG?if-\ W?))W?W?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030184.043165 s, next control iter: 1743030184.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030184.443165 s.CÆzH~,p]!AJ"J*J2J:J?BJ?nJ5vJA(\Ŭ@A\-[Ŭ@A`_~? A<A%"AA RvNA"AZAbAjArAzAAA =8@A@iUsA#h@A/A9A?A@Ӯ?Aǘ?A*<*A:?2A]ֽ:A'BA:?JA]ֽRA'٘i)I9#h@YH G J<JJJJD&K Y^~?yGA}D7*8)үB[[RU?[J-_~?[[[[[BZYY i)  :IG?iH7] An?))An?An?yP͈=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030184.483165 s, next control iter: 1743030184.843189 s, wait time: 0.360024 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3683, header.stamp.nsec: 00 temperature: 13.567185* salinity: 33.375534, density: 1025.000000* values[0]: 0.573466F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030184.863165 s.+zH~,>7!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066812< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743030184.863298F (some fields omitted in printout)AfffffƬ@A92Ƭ@Akl_~? A5A=J%"AA#evNA"AZAbAjArAzAAA:o逭B8@A@ sAAh@AɻAR6A?A`?A?AkG<*AP:?2A|ֽ:A5BAP:?JA|ֽRA5Y十?7?y5ʻٓH PD?+ Ȝ?@V?@D@l#?3y`w?)十? I٘i)I9h@Y G J<J<JJJD&Kx> Yk^~?y{HA? ~Dŧ7b7X*8B)ͯBE[[v?[:_~?[[[[[BZYY i) d ;IG?iޱc pz?))pz?pz? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030184.883165 s, next control iter: 1743030185.263184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030185.283165 s.;RzH~,R!AJ"J*J2J:J?BJ?nJ5vJA ףp=Ǭ@AW^? Ǭ@ALx_~? A_.A%"AAwvNA"AZAbAjArAzAAAeo͐f8@A회sAm*i@AлA%džA(?A?A@p ?A<*A:?2A"ֽ:ABA:?JA"ֽRA٘i)I9*i@Y G Jə<JJJJ1D&K Y^~?y-xHA ~D77{7*8B)ƯBE[[?[]G_~?[[[[[BZYY i) |H;IsG?ihP3h ͌?))͌?͌?*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030185.303165 s, next control iter: 1743030185.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3684., header.stamp.nsec: 0.0 temperature: 13.566884.* salinity: 33.375542., density: 1025.000000.* values[0]: 0.574148.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030185.703165 s.ֺzH~,m!AAGzȬ@AM0kǬ@A_~? A'AFc%"AA4vNA"AZAbAjArAzAAAvD8@A&sAi@ARRAфAˢ?Am ?A8@?A⟐<*A:?2A ׽:A?BA:?JA ׽RA?٘i)I9i@Y4G Jܓ<B=JJJJFD&K  +8Y=^~? +8yHA6~D777+8)¯B[[ė?[pS_~?[ [[[[BZYY i) S;InG?i䷿ak ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030185.723165 s, next control iter: 1743030186.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030186.123165 s.9zH~,e!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066812< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743030186.123326F (some fields omitted in printout)ARȬ@AojȬ@A_~? AA%"AA'vNA"AZAbAjArAzAAA_b8@AXsAj@A]:AdA8r?Ap@?As?At<*A:?2A0׽:A BA:?JA0׽RA 򼙘٘i)I9j@Y}G J<C=JJJJ\D&K Y^~?yݩ0IAK~Db77Z+8)B[['?[^_~?[[[[[BZYY i) *c;IZG?iQ4m ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030186.163165 s, next control iter: 1743030186.523180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743030186.543165 s.IzH~,â!AA(\ɬ@Auɬ@A_~? AWA%"AA^vNA"AZAbAjArAzAAA̗H8@AV%sAj@A4;AA?AT^?A?A=<*A':?2AF׽:AiBA':?JAF׽RAi𼙘٘i)I9j@YG J<JJJJqD&K Y^~?yBթIAa~D{7j7+8 B)BE[[?[zi_~?[[[[[BZYY i-=) Lm;IFG?im ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030186.563165 s, next control iter: 1743030186.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3685, header.stamp.nsec: 00 temperature: 13.566575* salinity: 33.375553, density: 1025.000000* values[0]: 0.574759F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030186.963165 s.|zH~,!AJ"J*J2J:J#?BJ#?nJI5vJAʬ@Aʉveʬ@A_~? AAL%"AA׹vNA"AZAbAjArAzAAADR+8@AaþsA5k@A);AZAa?A@z?A?A,݃<*A:?2AA׽:ABA:?JAA׽RAY ?r?y;ٓH?@C ??`2f@?b{?K?) ? IQI٘i)I9k@YG J<Jp<JJJD&Kx> Y^~?y̩IA?v~D77,+8 B)BE[[A?[cs_~?[ة[[[[BZYY i) ;Il2G?i[`r {@)){@{@(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030186.983165 s, next control iter: 1743030187.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030187.383165 s.صzH~,I!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076420< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743030187.383286F (some fields omitted in printout)A= ףpˬ@A y<ˬ@Au_~? AS Aإ%"AAvNA"AZAbAjArAzAAA)9@A`sAmk@A_;AAJ?A`0?A?A1`<*A:?2A,!׽:A}BA:?JA,!׽RA}٘i)I9mk@YIG JA<JJJJD&K Y[_~?y#ĩ;JA~D)7ŧ7Y:+8)B[[Bm?[|_~?[Cϩ[[[[BZYY i) n&:?2Auֽ:A,BA>:?JAuֽRA,٘i)I9k@YG J}<JJJJD&K Y _~?yJA C~D777H+8)B[[䚧?[_~?[ũ[[[[BZYY i)  elevatorAngleAction: 0.076420< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743030188.643317F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\ͬ@Aͬ@A_~? AaA)d%"AA@vNA"AZAbAjArAzAAAQ9@AӄrsA l@A߻AA@?A#?A t?Aҕ<*AF9?2AXֽ:AKBAF9?JAXֽRAK٘i)I9l@YG J<JJJIEJD&K YN_~?ysAKA~D77{7Ze+8B)BE[[g?[Г_~?[ʲ[[[[BZYY i) N/sA-m@A.AADA楷?AL?A`?Aw<*A69?2A~ֽ:A!BA69?JA~ֽRA!Y ?Z?yCٓHF?3 C`?(\?o e?@u?) ? I٘i)I9-m@YZG J<J.JJJD&Ktx> Y _~?yKA?~D{7j7s+8)B[[%?[_~?[4[[[[BZYY i) $>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030189.503165 s, next control iter: 1743030189.883181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3688, header.stamp.nsec: 00 temperature: 13.565825* salinity: 33.375557, density: 1025.000000* values[0]: 0.576444F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030189.903165 s.zH~,y!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076420< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743030189.903287F (some fields omitted in printout)AGzЬ@AAFЬ@A_~? A۪A7+%"AA wNA"AZAbAjArAzAAA7+ʐ9@A?sAn@AhJ;AR̐Ab?A``0?A`?AG<*A9?2As,׽:ABA9?JAs,׽RA٘i)I9n@YG JD<JJJJD&K Y"_~?yEYLA D{7j7Z+8)B[[?[+_~?[Օ[[[[BZYY i) ] elevatorAngleAction: 0.085689< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743030191.163287F (some fields omitted in printout)AӬ@AҬ@A_~? AHêAX&"AA*wNA"AZAbAjArAzAAAv n9@AB9usA;o@A:AgA#?A\?A ?A<*A9?2Aֽ:Aq BA9?JAֽRAq Y`??yWt:ٓH ~G?T@F?`B?b &?]?`@?)`? I٘i)I9o@YG Jn<JD~JJJ/D&KMx> Y^+_~?yv{MA?MDZ7SI7[+8)B[[?[_~?[x[[[[BZYY i)  elevatorAngleAction: 0.085689< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743030192.423292F (some fields omitted in printout)AQլ@APլ@A=_~? ANA&"AAs=wNA"AZAbAjArAzAAAGy9@A*fsA5q@AϻA頽A}?A е?A>S?Am<*A[9?2Aֽ:A&IBA[9?JAֽRA&I٘i)I95q@YG J<C=JJJJOD&K Y<._~?y[NADS77[+8)yB[[J?[_~?[[[[[[BZYY i)   ,8YF-_~? ,8y JOA?Dj7j7,8B)nBE[[?[_~?[G[[[[BZYY i) A| elevatorAngleAction: 0.085689< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743030193.683281F (some fields omitted in printout)Aףp= ج@Ay׬@A_~? A*A&"AAHwNA"AZAbAjArAzAAA9@AΟWsA?r@A׻;AϩAo?AK?Ap?Aф<*AT9?2A׽:ACdBAT9?JA׽RACd٘i)I9r@YG JE<JJJJoD&K Y[+_~?yEAOAD77[,8)jB[[7/?[@_~?[=[[[[BZYY i) ٲG Jع<JJJJzD&K Yp)_~?y~8ePAD7,8)eB[[\?[#_~?[4[[[[BZYY i) '7 elevatorAngleAction: 0.085689< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743030194.943322F (some fields omitted in printout)A(\ڬ@Av2[ڬ@A_~? AzAO|&"AA0MwNA"AZAbAjArAzAAA)Sк9@AUIsArt@AɍRA|Av.?ArA }w?A-<*A9?2AȠֽ:ABA9?JAȠֽRA٘i)I9t@YG J<JJJJD&K Y%_~?y&EQAD{7Z7]<,8)YB[[?[_~?[ [[[[BZYY i) !AJ"J*J2J:J?BJ?nJ5vJAfffff۬@A,?2۬@A_~? ArA&"AAMwNA"AZAbAjArAzAAAyA9@A4%DsAu@A,APA?ANAt?Av<*A 9?2Axֽ:AbBA 9?JAxֽRAbY??yHPٓHſ X?@Bk?ſ2Ib?t ?)? I٘i)I9u@YnG J<JmJJJD&Kx> Y _~?yDQA?DS7S7J,8)TB[[S?[<_~?[%[[[[BZYY i) +% elevatorAngleAction: 0.085689< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743030196.203328F (some fields omitted in printout)AGzݬ@AɋLܬ@A_~? AbAT&"AABJwNA"AZAbAjArAzAAA=9@AM:sAv@AhA̽A?AA{h?A<*AE9?2A>ֽ:Az BAE9?JA>ֽRAz ٘i)I9v@YHG J<JJJJD&K YM_~?y RA'Db7\g,8B)HBE[[#.?[0_~?[[[[[BZYY i) >&"AAGwNA"AZAbAjArAzAAAk;59@A71Sd5sAw@A߹A'A?A_A^?A|<*AI9?2Aֽ:ABAI9?JAֽRA٘i)I9w@YG JS<B=JJJJD&K Y_~?yC&SA1D{7Z7u,8)BB[[S?[_~?[[[[[ZZZZ¸>BZYY i¸>몽) „BE[[u?[B}_~?[p[[[[ZZZZBZYY i)  Y3_~?yTA? CGDj7j7],8)8B[[?[.t_~?[.[[[[ZZZZBZYY i) 5vJA@AUL@A}_~? A"A4 &"AAMwNA"AZAbAjArAzAAAȁ?d9@A5,bsA4|@AUaAA]?A JJJD&Kw> Y^~?yɨUA?|D,8)B E[[@[<_~?[i[[[[ZZZZBZYY i) ÈJJJ;D&Kw> Y]^~?yKUA@D77{7!-8B)BE[[@[^~?[{[[[[BZYY i=h) b"0 /F8@))/F8@/F8@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030201.683165 s, next control iter: 1743030202.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030202.083165 s.D{H~,S!AJ"J*J2J:JBJnJvJAp= @A __@Aݰ_~? AA&"AA/vNA"AZAbAjArAzAAAaE9@A`krA }@AegAx=A:@A :,пA?Ad+*A^9?2Aֽ:A$ =BA^9?JAֽRA$ =٘i)I9 }@YG JJJJJFD&K Yq^~?ytUAD{7j7 0-8)B[[] @[b^~?[[[[[BZYY i) -8B)!BE[[k @[^~?[[[[[BZYY i^) m@))j>@j>@y3ۈϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030203.383165 s, next control iter: 1743030203.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3702*, header.stamp.nsec: 0*0 temperature: 13.383836** salinity: 33.391659*, density: 1025.000000** values[0]: 0.708957*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030203.763165 s.7{H~,!AJ"J*J2J:J~5?BJ~5?nJO>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066099< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743030203.763311F (some fields omitted in printout)A33333@A$@A!_~? A֩A &"AAvNA"AZAbAjArAzAAA7˕8@AhrAR{@A8An^=Am @AYӿAL?Aޢ*A]9?2Ayֽ:A1=BA]9?JAyֽRA1=Y!?m @yn^=gP8ٓHda@\?`q,? G?`?)!? I٘i)I9R{@YG JWJ[Z=JJJqD&Kw> YEd^~?yyXTAm @D7_i-8 B)1BE[[n@[~^~?[)k[[[[BZYY i) ?;IVDD?ia0v w?@))w?@w?@VԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030203.803165 s, next control iter: 1743030204.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743030204.183165 s.{H~,Z !AAףp= @A @A}_~? A}ϩA&"AAvNA"AZAbAjArAzAAAyw8@A}&jrAz@A݊;Ab=Aӵ @AԿA?A"*A9?2A]ֽ:A=BA9?JA]ֽRA=٘i)I9z@YG JJJJJ|D&K YT^~?y-rSAD777w-8)5B[[@[^~?[c[[[[BZYY i) ;I8D?iX stA@))stA@stA@/תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030204.223165 s, next control iter: 1743030204.583175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743030204.603165 s.94{H~,&!AJ"J*J2J:J65?BJ65?nJ>5vJA{G@Ata@A_r_~? ADȩA&&"AA߁vNA"AZAbAjArAzAAAzE6(T8@A)rA2z@At;Al=A @A@iտA?A*A9?2A\ֽ:A =BA9?JA\ֽRA =٘i)I92z@YGG J$JJJJEJD&K Y~E^~?yjSAD77 -8B)=BE[[q@[x^~?[\[[[[BZYY i) O;I-D?iM B@))B@B@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030204.623165 s, next control iter: 1743030205.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3703 , header.stamp.nsec: 0 0 temperature: 13.384101 * salinity: 33.391659 , density: 1025.000000 * values[0]: 0.707866 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030205.023165 s.Z{H~,|A!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066099< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743030205.023273F (some fields omitted in printout)AQ@Aw-!@AHf_~? AA&"AAovNA"AZAbAjArAzAAA,U/8@A]rAy@A ;AoL=A+P @AAֿA@5?A *A9?2A zֽ:A =BA9?JA zֽRA =٘i)I9y@YG JòJJJJD&K Y6^~?yjc!SAD7)7_-8)AB[[~@[d^~?[V[[[[BZYY i) ;IH#D?i@p  |D@)) |D@ |D@2תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030205.063165 s, next control iter: 1743030205.423185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743030205.443165 s.7{H~,>]\!AJ"J*J2J:JBJnJvJA(\@A 7[@AY_~? A A>&"AAL]vNA"AZAbAjArAzAAAzq 8@ASrAzy@AϨ:A`ٚ=A@A9׿A@:n?Aq*A29?2Aֽ:Aх=BA29?JAֽRAх=٘i)I9y@YG JB=JJJJD&K Y&^~?y\RADj7j7-8B)HBE[[5i@[P^~?[mO[[[[BZYY i) ڮ:ID?i1nX E@))E@E@@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030205.463165 s, next control iter: 1743030205.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3704, header.stamp.nsec: 00 temperature: 13.384356* salinity: 33.391663, density: 1025.000000* values[0]: 0.706632F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030205.863165 s.+{H~,>w!AAfffff@A92@AL_~? AA`&"AAIvNA"AZAbAjArAzAAA]h7@A&5^rAXrx@AA `A=A@Av׿A@0?AK*A*9?2Aֽ:Ag=BA*9?JAֽRAg=YR@y@y=w`ٓH /`UT? *?`-dl!?)R@ I٘i)I9rx@Y6G J`C=J<JJJD&K6x> Y^~?y.URRA@D77 -8)LB[[@[V<^~?[H[[[[BZYY i) B9ID?iL)sػ s~G@))s~G@s~G@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030205.903165 s, next control iter: 1743030206.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030206.283165 s.5R{H~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066099< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743030206.283282F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=@A@I @A;?_~? A&A"O&"AA5vNA"AZAbAjArAzAAA B=)7@Ak/rA%w@AƻAr=AWF@A@ؿA?A=Ѫ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9w@YG J٬JJJJD&K YF^~?ySNQA(D7`-8B)TBE[[9b@[['^~?[B[[[[BZYY i) ID?i ˻ {H@)){H@{H@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030206.303165 s, next control iter: 1743030206.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3705., header.stamp.nsec: 0.0 temperature: 13.384645.* salinity: 33.391674., density: 1025.000000.* values[0]: 0.705439.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030206.703165 s.Ѻ{H~,!AAGz@A6\@AM1_~? ATA;&"AA'!vNA"AZAbAjArAzAAA?= O7@ArARw@A꛵A?a=A@AٿAA?A*AR9?2ABֽ:A=BAR9?JABֽRA=٘i)I9Rw@YG JJJJJD&K Y]~?yxGQA3D77j7-8)XB[[@[ ^~?[S<[[[[BZYY i) I1D?i!ջ G))G}J@n̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030206.723165 s, next control iter: 1743030207.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743030207.123165 s.4{H~,P!AJ"J*J2J:JBJnJvJAR@AyU@A"_~? AAY&"AA vNA"AZAbAjArAzAAAkҹc7@A}'RrA}v@A A?=A@A[ڿAm?A=*Ay9?2A°ֽ:AG=BAy9?JA°ֽRAG=٘i)I9v@Y2G JJJJJǁD&K Y]~?y@QA>DS77 -8B)^BE[[Q@[p]~?[X6[[[[BZYY i) RAIC?i M$F))M$FhK@6ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030207.143165 s, next control iter: 1743030207.523174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743030207.543165 s.I{H~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066099< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743030207.543297F (some fields omitted in printout)A(\@AG`@A_~? AAA&"AAuNA"AZAbAjArAzAAAL|367@AGrA =A$@A#ۿA '?A^*A[9?2Aֽ:A<BA[9?JAֽRA<٘i)I9 YA]~?y3YPAu@SD{7j7-8)iB[[]<@[]~?[*[[[[BZYY i;j) -IC?iվ ,C)),C(N@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030207.983165 s, next control iter: 1743030208.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030208.383165 s.|H~,I!AA= ףp@A@w<@A5^~? AA &"AAuNA"AZAbAjArAzAAAk96@A;떶rA/.u@Aˍ;A=A@AܿA }?Ax*AU9?2AEֽ:A s<BAU9?JAEֽRA s<٘i)I9.u@Y9G J鞼JJJJD&K  .8Yd]~? .8y>-OA^Dŧ7ŧ7 .8B)pBE[[@[Y]~?[i%[[[[BZYY i) IC?i;t ޱA))ޱAmP@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030208.403165 s, next control iter: 1743030208.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3707", header.stamp.nsec: 0"0 temperature: 13.385162"* salinity: 33.391705", density: 1025.000000"* values[0]: 0.703163"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030208.803165 s.~A |H~,g3!AJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJ( dropWeightState: 1vJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074910< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743030208.803303F (some fields omitted in printout)AzG@AZ{@A^~? AAY&"AAyuNA"AZAbAjArAzAAAQ6@AB6rAt@AEF;AJc=A @AmݿA K?A*A9?2Aձֽ:A<BA9?JAձֽRA<٘i)I9t@YG JJJJJD&K Y]~?y&OAiD77{7a.8)tB[[P#!@[[]~?[ [[[[BZYY i) ǻI~C?i/R 58@))58@Q@GYFFF]q:Waiting for Gazebo time sync: latest Gz time: 1743030208.823165 s, next control iter: 1743030209.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030209.223165 s.g|H~,HN!AAQ@AG@A^~? A_~A&"AA͖uNA"AZAbAjArAzAAA> Hv6@A6F3&rA2t@AS人AQ܈=At_@A+޿A?A*A9?2AEֽ:A/<BA9?JAEֽRA/<٘i)I92t@YG JRJJJJD&K Y~]~?y ))ӿ>_S@yfUYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030209.263165 s, next control iter: 1743030209.623181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743030209.643165 s.z|H~J,*i!A"J*J2J:J3?BJ3?nJy<5vJA)\@A@A^~? A;xAM&"AA}uNA"AZAbAjArAzAAAS,gC6@AW'rAs@AA}6=A @A>޿A?AhU*A\9?2AVֽ:A<BA\9?JAVֽRA<٘i)I9s@YWG JƍJJJJD&K Yj]~?yvNA~D777 2.8B)BE[[H#@[s]~?[*[[[[BZYY i) wI1C?iH@ %I=))%I=T@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030209.663165 s, next control iter: 1743030210.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3708, header.stamp.nsec: 00 temperature: 13.385433* salinity: 33.391708, density: 1025.000000* values[0]: 0.702120F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030210.063165 s. |H~,V !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074910< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743030210.063286F (some fields omitted in printout)A@Ap`r@Ae^~? A4rA&"AAcuNA"AZAbAjArAzAAAyUh6@A\ yrAGFs@A ȻAEF=A@A߿A [?Aċ*A9?2A.ֽ:AL=BA9?JA.ֽRAL=Y@@yE=SɻٓHUT<K?`ǵ4?WEVy.?)@ I٘i)I9Fs@YG JJefJJJD&K-x> YT]~?yNA@Dj7Z7b@.8)B[[o%@[[]~?[h[[[[BZYY i) BIC?i˺ C;))C;rLV@ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030210.103165 s, next control iter: 1743030210.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030210.483165 s.q_'|H~,!AJ"J*J2J:J3?BJ3?nJW<5vJAq= ף@Ax*o@A^~? AHlA8&"AAIuNA"AZAbAjArAzAAAә5@AwaܣrAir@A~A[Ћ=AvJ@A'A`?AM*A9?2Aoֽ:Aw=BA9?JAoֽRAw=٘i)I9r@YG JaJJJJD&K Y.?]~?yD$NADN.8 B)BݹE[[&@[C]~?[ [[[[BZYY i) K!IC?iB۽S U^:))U^:`W@qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030210.503165 s, next control iter: 1743030210.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3709, header.stamp.nsec: 00 temperature: 13.385669* salinity: 33.391708, density: 1025.000000* values[0]: 0.701132F (some fields omitted in printout)B.?]~?)BD rAdjusting time to match Gazebo time: 1743030210.903165 s.-|H~,͹!AAGz@AF@A^~? AzfA^&"AA.uNA"AZAbAjArAzAAA/$5@A<1QrA+Xr@A9A=A@A`%AƳ?Ab*Au9?2Aֽ:A=BAu9?JAֽRA=٘i)I9Xr@YG JB=JJJJ(D&K Y])]~?y MAD7777 ].8"B)BڹE[[G(@[+]~?[z[[[[BZYY i) nC1IC?iTȲ .8)).85Y@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030210.923165 s, next control iter: 1743030211.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030211.323165 s.t4|H~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074910< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743030211.323277F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A;@A&|^~? A`A&"AAWuNA"AZAbAjArAzAAA-aj5@Aź8؜rAq@A;Ah=A @AA`G]?A`*Ar9?2Aֽ:A=BAr9?JAֽRA=٘i)I9q@Y4G JC=JJJJ3D&K Y]~?yjMADj7j7ck.8)B[[)@["]~?[P[[[[BZYY i) @IC?i0<8 w7))w7Z@[ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030211.343165 s, next control iter: 1743030211.723176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3710., header.stamp.nsec: 0.0 temperature: 13.385898.* salinity: 33.391747., density: 1025.000000.* values[0]: 0.700170.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030211.743165 s.W;|H~,d!AA\(@Ag@ASi^~? A6[AӉ&"AAtNA"AZAbAjArAzAAAΏ/05@AwFqrA]q@A;A!=A6'"@A (A@?A*A9?2Ayֽ:A|# =BA9?JAyֽRA|# =٘i)I9]q@YG JޖJJJJ=D&K Y\~?yw MADb7b7y.8$B)B׹E[[+@[\~?[[[[[[BZYY i) API"C?i=S: 6))6\@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030211.763165 s, next control iter: 1743030212.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030212.163165 s.J "J *J 2J :J 3?BJ 3?nJ ;5vJ ~}B|H~,q !AA@A@A#V^~? AUA&"AAUtNA"AZAbAjArAzAAAX֚4@Ax)zrAp@AϚ;A'=Av#@A`*{AU?A*A9?2AЙֽ:A =BA9?JAЙֽRA =Yu@%|#@y=5;ٓH|+?t@R?3SYs??)u@ I٘i)I9p@YG JJ <JJJHD&Kx> Y=\~?yLA|#@D7777.8%B)BԹE[[},@[\~?[[[[[BZYY i) ԇ_IC?i=^: ޖ4))ޖ4׈]@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030212.183165 s, next control iter: 1743030212.563181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030212.583165 s.H|H~, S%!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074910< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743030212.583280F (some fields omitted in printout)Ap= @A_Fܢ@AB^~? AmPA_&"AAtNA"AZAbAjArAzAAA󣑻4@AܒrAZp@A#?:A9=A$@AA@C?A*A9?2Aֽ:AB =BA9?JAֽRAB =٘i)I9Zp@YIG J JJJJSD&K Y\~?yHLAɁD7{7b.8'B)BѹE[[-@[\~?[[[[[BZYY i㫽) VnI=C?i2>: '3))'3^@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030212.603165 s, next control iter: 1743030212.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3711, header.stamp.nsec: 00 temperature: 13.386132* salinity: 33.391735, density: 1025.000000* values[0]: 0.699134F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030213.003165 s.t P|H~,;4@!AJ"J*J2J:J2?BJ2?nJ;5vJAHz@Ay@A.^~? A9KA&"AA'tNA"AZAbAjArAzAAAw*E4@ADo*rAo@A!nAު=A&@A@CA?A}*A}9?2AZֽ:Aց =BA}9?JAZֽRAց =٘i)I9o@YG JJJJJ^D&K Y9\~?yKAԁDb77.8)B)BйE[[G/@[\~?[s[[[[BZYY i) q~IpC?im>C; 1))1e`@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030213.043165 s, next control iter: 1743030213.403176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030213.423165 s.uV|H~,[!AAQ@AP@A}^~? A%FA*&"AAtNA"AZAbAjArAzAAAz\A4@AZA-rAvTo@AƻAx=Al'@A hA@Z ?A'*A9?2A ֽ:AK =BA9?JA ֽRAK =٘i)I9To@YG JB=JJJJhD&K Y\~?yKA߁D77.8*B)B͹E[[0@[b\~?[4[[[[BZYY i) ĬIC?i9>IB; M0))M0a@]ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030213.443165 s, next control iter: 1743030213.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3712, header.stamp.nsec: 00 temperature: 13.386409* salinity: 33.391735, density: 1025.000000* values[0]: 0.698089F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030213.843165 s.\|H~,u!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743030213.843288F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@Ab->(@A^~? A2AA&"AA`tNA"AZAbAjArAzAAAA޼4@A#rAjn@A&oA=A(@AA^^?AP*A9?2Aֽ:Au =BA9?JAֽRAu =٘i)I9n@YYG J0C=JJJJsD&K Y0\~?y!KAD)7ŧ7d.8,B)BʹE[[S2@[:}\~?[([[[[BZYY i) OIC?i>' r; 8.))8.}=c@yЫӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030213.863165 s, next control iter: 1743030214.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030214.263165 s.d|H~,8ؐ!AA33333@A,)@A]~? A`<A&"AAAtNA"AZAbAjArAzAAA1h\3@A21rAHn@AߺA'=AV*@A A 1?Ai*A9?2A ֽ:A=BA9?JA ֽRA=Y @0)@y=}zٓH }8!ݿ`??N@?ؙ8[?) @ I٘i)I9Hn@YG JrJC<JJJ~D&K#x> Y:o\~?yJA)@Db77.8-B)BǹE[[g3@[c\~?[@[[[[BZYY i) ΕIRC?ia>; #x-))#x-d@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030214.283165 s, next control iter: 1743030214.663184 s, wait time: 0.380019 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 37132, header.stamp.nsec: 020 temperature: 13.3866602* salinity: 33.3917542, density: 1025.0000002* values[0]: 0.6970332F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030214.683165 s.lj|H~,V!AJ"J*J2J:JBJnJvJAףp= @A[Q@A]~? A7AH&"AA!tNA"AZAbAjArAzAAA;'3@A Ļ'ÃrAAm@A7;A=AH+@A@@A?A5*A19?2A~ֽ:A=BA19?JA~ֽRA=٘i)I9m@YG J]JJJJD&K YBV\~?yݧNJAD77.8)B[[4@[I\~?[[[[[BZYY i) _NIC?iQ>&*; ,)),f@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030214.683165 s, next control iter: 1743030215.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743030215.103165 s.q|H~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743030215.103280F (some fields omitted in printout)A{G@AB@Ai]~? A$3A'&"AAetNA"AZAbAjArAzAAA@ C3@AߎrAQ*m@AB;A=AX,@AA ?A*Aܞ9?2Agֽ:A;=BAܞ9?JAgֽRA;=٘i)I9*m@YXG JJJJJD&K YI=\~?y٧IA D77c.8/B)ůBĹE[[#6@[X0\~?[[[[[BZYY i) ΤIC?i?; *))*xg@ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030215.123165 s, next control iter: 1743030215.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030215.523165 s.J "J *J 2J :J L2?BJ L2?nJ :5w|H~vJ,{!AAQ@A4@A]~? A.A&"AAsNA"AZAbAjArAzAAA T 3@AYcJ~rAl@Aq;A_=A-@AA#=?A㵼*A9?2Arֽ:AY=BA9?JArֽRAY=٘i)I9l@YG JHB=JJJJD&K YO$\~?yէ{IAD{7.80B)˯BE[[|7@[\~?[[[[[BZYY i) `NI/D?i?g; ?)))?)h@SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030215.543165 s, next control iter: 1743030215.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3714, header.stamp.nsec: 00 temperature: 13.386946* salinity: 33.391727, density: 1025.000000* values[0]: 0.695892F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030215.943165 s.Wd~|H~,>]!AA(\@A-[@A]~? At*AO &"AAvsNA"AZAbAjArAzAAA4.2@AS>[{rAok@A8;A9ŧ=Au1/@A@Al?Ae*AT9?2Azֽ:A=BAT9?JAzֽRA=٘i)I9k@YG JC=JJJJD&K  /8YX \~? /8yѧIADj7j7 /81B)үBE[[{8@[;[~?[[[[[BZYY i) ͳI]D?i*?; '))'Dj@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030215.983165 s, next control iter: 1743030216.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030216.363165 s.|H~,>!AJ"J*J2J:J1?BJ1?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743030216.363292F (some fields omitted in printout)Afffff@A@2@AC]~? AQ&A &"AAڝsNA"AZAbAjArAzAAAV}z2@A(j[`(yrA\k@A ݺA=A0@AFA`?A"8*A9?2A1ֽ:A=BA9?JA1ֽRA=Y|"@˂0@y=*޺ٓH@s`׿ س? @t)?_9 [ ?)|"@ I٘i)I9\k@Y?G JJx<JJJD&Kx> Y-[~?y@ΧHA0@*Dŧ7b7e/83B)دBE[[-:@[N[~?[[[[[BZYY i)  I2D?i6?; v&))v&k@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030216.383165 s, next control iter: 1743030216.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3715&, header.stamp.nsec: 0&0 temperature: 13.387219&* salinity: 33.391766&, density: 1025.000000&* values[0]: 0.694694&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030216.783165 s.X|H~,2!AA ףp=@A({K @Am]~? AT"Am &"AA{sNA"AZAbAjArAzAAAn52@A<࿸vrA@j@AoAB=A|1@ApA?AL*A9?2A ֽ:A=BA9?JA ֽRA=٘i)I9j@YG JJJJJD&K Y[~?yʧ.HA4D77%/85B)߯BE[[;@[l[~?[ާ[[[[BZYY i) 2s¼I#D?iD?; C%))C%r m@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030216.803165 s, next control iter: 1743030217.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030217.203165 s.|H~,M!AJ"J*J2J:J1?BJ1?nJO:5vJAGz@AL@AV]~? A{A>!&"AAiYsNA"AZAbAjArAzAAA:ޔ1@As_trAj@A0ǻAP=A%3@A`A-?A_Uü*Ak9?2Akֽ:A&=BAk9?JAkֽRA&=٘i)I9j@Y{G JJJJJɂD&K Yټ[~?yǧGA C?D74/84B)BE[["<@[[~?[ ݧ[[[[BZYY i) &ɼI+/D?i+T?< #))#nn@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030217.223165 s, next control iter: 1743030217.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030217.623165 s.S|H~,Lg!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083931< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199482 time: 1743030217.623263F (some fields omitted in printout)AR@AXU@A?]~? AA!&"AA6sNA"AZAbAjArAzAAAX1@Ag_rrAui@ApA¤=Ao4@A A?AXȼ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9ui@YG JżJJJJԂD&K Y[~?y_ħIGAJD777dB/85B)BE[[->@[[~?[ۧ[[[[BZYY i) IѼI;D?ixe?\< P"))P"o@jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030217.663165 s, next control iter: 1743030218.023175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3716 , header.stamp.nsec: 0 0 temperature: 13.387522 * salinity: 33.391762 , density: 1025.000000 * values[0]: 0.693429 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030218.043165 s.|H~J"J,Â!A*J2J:J1?BJ1?nJ$:5vJA(\@ATka@Ae(]~? A9A!&"AAssNA"AZAbAjArAzAAAm9Cc1@ARorAh@A 4:A=A߶5@A(A 7?AIͼ*A9?2A{vֽ:AN=BA9?JA{vֽRAN=٘i)I9h@Y G JʼJJJJ߂D&K Y[~?yFATD7P/86B)BE[[}?@[U|[~?[Lڧ[[[[BZYY igT) kؼIHD?ix? <  )) .q@PYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030218.063165 s, next control iter: 1743030218.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030218.463165 s.U|H~,㤝!AA @A{me @A]~? AA"&"AArNA"AZAbAjArAzAAA͌o1@A H{mrA+h@A;A4=A|6@A[A-[?A:Ҽ*A 9?2AGSֽ:A5=BA 9?JAGSֽRA5=Y (@27@y=_;ٓH ѿ"?_?@9@9@s??) (@ I٘i)I9h@YD G JϼJ-<JJJD&Kw> Ylm[~?y`FA7@_D77j7_/87B)BE[[@@[fb[~?[*٧[[[[ZZ¸BZYY i¸=) j̼IVD?iW?&< $))$r@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030218.483165 s, next control iter: 1743030218.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3717, header.stamp.nsec: 00 temperature: 13.387808* salinity: 33.391750, density: 1025.000000* values[0]: 0.692131F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030218.883165 s.y|H~,8!AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084513< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743030218.883284F (some fields omitted in printout)A= ףp @AS=< @A\~? AA3T"&"AArNA"AZAbAjArAzAAAtx0@A}qQkrACkg@AL;A%=AI8@ALA |?AӼ*A9?2AOֽ:AR =BA9?JAOֽRAR =٘i)I9kg@Y G JҼJJJJD&K YSR[~?y0EAjD777fm/8)B[[R"B@[H[~?[5ا[[[[ZZBZYY i) iIeD?iP?/< 74))74~s@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030218.923165 s, next control iter: 1743030219.283176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743030219.303165 s.T|H~,og!AAzG @Av~ @A\~? As Az"&"AArNA"AZAbAjArAzAAA|+6ʋ0@A}'irAf@A;AVM=A9@A[A {?A4Q*A9?2A8jֽ:Ad<BA9?JA8jֽRAd<OI٘i)I9f@Ya G JJJJJD&K Y<7[~?yqEAuDb7b7{/88B)BE[[qC@[.[~?[kק[[[[ZZBZYY i) jI?uD?i%?B9< ))-Hu@yÄ=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030219.323165 s, next control iter: 1743030219.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3718., header.stamp.nsec: 0.0 temperature: 13.388160.* salinity: 33.391762., density: 1025.000000.* values[0]: 0.690740.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030219.723165 s.|H~,H!AJ"J*J2J:JBJnJvJAQ @A @A\~? A A"&"AA{rNA"AZAbAjArAzAAA uB0@A5/=-hrAwe@A9A=A6:@A@yA`b?AZ*AX9?2Aֽ:A=z<BAX9?JAֽRA=z<٘i)I9e@Y G JJJJJ D&K Y$[~?yKDAD7/89B) BE[[GD@[N[~?[֧[[[[ZZBZYY i) iIʅD?i֙?D< |))|v@y~=ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030219.763165 s, next control iter: 1743030220.123174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743030220.143165 s.W/|H~, * !AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084513< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743030220.143287F (some fields omitted in printout)A)\ @A @A\~? AA#&"AA^rNA"AZAbAjArAzAAAGl/@A[wfrAd@AAoq=A=<@AAY?AV*A9?2Aֽ:A*b<BA9?JAֽRA*b<٘i)I9d@Y^ G J JJJJD&K Y [~?yٴDAD77f/8:B)BE[[F@[Z~?[X֧[[[[ZZBZYY i)  jIZD?i_?Q< 5"))5"w@?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030220.163165 s, next control iter: 1743030220.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030220.563165 s.|H~,V $!AJ"J*J2J:JBJnJvJA @A]¡ @A\~? A Ag;#&"AA9rNA"AZAbAjArAzAAA^W+`\/@Au:drACd@A:A-=A=@A8A?A[Fɼ*A9?2A ֽ:A[;BA9?JA ֽRA[;Y/@Ά=@y-=_ٓH t`eƿ `?{DE? |n?)/@ I٘i)I9Cd@Y G JݼB=JٽJJKEJD&Kw> Y4Z~?yDGDA=@Dŧ7b7/8;B)BE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #10q/ ^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[ZZBZYY in,=) A)tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030220.603165 s, next control iter: 1743030220.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3719, header.stamp.nsec: 00 temperature: 13.388537* salinity: 33.391762, density: 1025.000000* values[0]: 0.689105F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030220.983165 s.|H~,>!AAq= ף@Asao@AZ\~? AAm#&"AAfrNA"AZAbAjArAzAAA4F.@AĞ_UcrAc@AgλAm<A">@A^A Q?Au*A9?2A}ֽ:A/BA9?JA}ֽRA/٘i)I9c@Y G JC=JJJJ*D&K YdZ~?y DAD777/8 elevatorAngleAction: 0.074792< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743030221.403300F (some fields omitted in printout)AGz@AF@Akf\~? ACA<#&"AAqNA"AZAbAjArAzAAAu(/.@A2arA4*c@A/A<A?@A@(Az?A)x*Av:?2AV*½:Az/BAv:?JAV*½RAz/٘i)I9*c@YA G JB=JJJJ5D&K YZ~?yCAD)7)7g/8)#BE[[I@[*Z~?[է[[[[ZZBZYY i) ,xI#D?iS?k< X=)).|@lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030221.443165 s, next control iter: 1743030221.803178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3720, header.stamp.nsec: 00 temperature: 13.388868* salinity: 33.391773, density: 1025.000000* values[0]: 0.687869F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030221.823165 s.|H~,-t!AAQ@A@AMM\~? AA#&"AAqNA"AZAbAjArAzAAAc-@AA؝`rAb@AL;A@OֻAv@@AവAr?AU'**An:?2AEý:AtBAn:?JAEýRAt٘i)I9b@Y G JWC=JJJJ@D&K YZ~?yCADb77/8>B)'BE[[1K@[Z~?[֧[[[[ZZBZYY i=) bID?i? w< ))\}@yݘ=(YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030221.863165 s, next control iter: 1743030222.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030222.243165 s.|H~,T!AJ"J*J2J:JBJnJvJA\(@A{m@A4\~? AA#&"AAqNA"AZAbAjArAzAAA px,@A!C]_rAb@Aͷ;AۧAA@AA%?A*A:?2AŽ:AfBA:?JAŽRAf٘i)I9b@Y G JP JJJJJD&K YuZ~?y^CAD{7{7/8)*BE[[uL@[|Z~?[t֧[[[[ZZBZYY i) SMID?i?"< ;m));mz~@yk=)YrXYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743030222.263165 s, next control iter: 1743030222.643174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743030222.663165 s.|H~,q!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084036< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743030222.663311F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3721, header.stamp.nsec: 00 temperature: 13.389029* salinity: 33.391747, density: 1025.000000* values[0]: 0.687178F (some fields omitted in printout)A@AQ@A\~? A A$&"AAj|qNA"AZAbAjArAzAAA=Td,@A*NP/^rA{b@AC/;AA-B@A@+A?A!*Ak:?2ABȽ:Al̼BAk:?JABȽRAl̼Yܰ4@B@yU8J;ٓHBL2?2U?`}d?@?w?Y?)ܰ4@ I٘i)I9{b@Y G J3{B=J@8JJJUD&KE> YYZ~?yCAB@ʂDg/8?B)+BE[[M@[cZ~?[֧[[[[BZYY iͰo=) ;I.D?ix?< ))@y0=M5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030222.683165 s, next control iter: 1743030223.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030223.083165 s.D|H~,S!AJ"J*J2J:JBJnJvJAp= @A;6@AT\~? ASA=$&"AAUqNA"AZAbAjArAzAAAMw+@AO]rAb@A2;A7AC@A=A(?A 3K;*Ayq:?2Aʽ:A;BAyq:?JAʽRA;９٘i)I9b@Y G J:C=JJJJ`D&K Y=Z~?y2CAՂD777/8@B),BE[[O@[JZ~?[ק[[[[BZYY iq=) (L*IE?iA?g < ))_@y\=%v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030223.103165 s, next control iter: 1743030223.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030223.503165 s.|H~,Y4!AAHz@A#)y@A[~? AA`$&"AA^/qNA"AZAbAjArAzAAAZ/+@A<|ͼ\rAb@AnA]A:E@AaA 2e?Acd<*AKh:?2AVͽ:A1BAKh:?JAVͽRA1٘i)I9b@Y G J@;JJJJkD&K  08Yj!Z~? 08yRCADb77 08AB)+BE[[BP@[2Z~?[dا[[[[BZYY i) I.E?i?ꎐ< ߘ))ߘkC@y l=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030223.523165 s, next control iter: 1743030223.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3722, header.stamp.nsec: 00 temperature: 13.389089* salinity: 33.391781, density: 1025.000000* values[0]: 0.687065F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030223.923165 s.7|H~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068576< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743030223.923292F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A bP@A)[~? A'AT$&"AAqNA"AZAbAjArAzAAAWSq*@Ap&[rAb@AI»A{A F@A +A?A@<*A*^:?2AZoϽ:A; BA*^:?JAZoϽRA; ٘i)I9b@Y G J!<JJJJuD&K YAZ~?ysDAD7b7g08)*BE[[_Q@[Z~?[T٧[[[[BZYY i) pI!HE?iP?< _Y))_Y+@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030223.943165 s, next control iter: 1743030224.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030224.343165 s.<}H~,!AA(\@A@z'@Aq[~? AA$&"AApNA"AZAbAjArAzAAApR<{)@AIRZrAjCc@A߻AʼnAG@A?Aq?ASr<*AqV:?2ACѽ:ABAqV:?JACѽRA٘i)I9Cc@YP G JPX<JJJJD&K YY~?yBDAD{7{7'08BB)(BE[[R@[yZ~?[gڧ[[[[BZYY i) EIbE?i?)<  )) l@*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743030224.363165 s, next control iter: 1743030224.743178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3723&, header.stamp.nsec: 0&0 temperature: 13.389027&* salinity: 33.391769&, density: 1025.000000&* values[0]: 0.687506&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030224.763165 s.; }H~,00!AJ"J*J2J:JBJnJvJA33333@A$@A[~? AAƴ$&"AApNA"AZAbAjArAzAAAti\)@AՕӔYrAc@AQAɒAhHA QA`?AE.<*AO:?2Aҽ:ABBAO:?JAҽRABY(.;@jHyɒlٓHr_?`U?`V,b@p`,U?&bq?)(.;@ I٘i)I9c@Y G Jf<JJJJD&K1w> YY~?yDAHDb7b7608)%BE[[S@[Y~?[ۧ[[[[BZYY i4o=) 0ͻI}E?iY?<  )) n!@o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030224.783165 s, next control iter: 1743030225.163176 s, wait time: 0.380011 sY~?) rAdjusting time to match Gazebo time: 1743030225.183165 s.}H~,oK!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058488< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743030225.183268F (some fields omitted in printout)Aףp= @A# @AĀ[~? AA$&"AApNA"AZAbAjArAzAAAqy%(@AXrA,d@A_(:A/oANGAU`A`t8?AWz<*AI:?2A+Խ:ABAI:?JA+ԽRA٘i)I9,d@Y G JK<JJJJD&K YY~?yEA D77{7gD08)!B[[ elevatorAngleAction: 0.058488< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743030226.443260F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@Ap]1[@A2[~? AhA$&"AApNA"AZAbAjArAzAAAe}&@AcWrAe@A8;AڞACA`|A@?AF<*AL:?2At3ֽ:A BAL:?JAt3ֽRA ٘i)I9e@Y G Jų<JJJJD&K Y[Y~?y/FA+D777ho08)B|E[[X@[KY~?[[[[[BZYY i) ''IBE?i@`< ;));@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030226.483165 s, next control iter: 1743030226.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3725, header.stamp.nsec: 00 temperature: 13.388666* salinity: 33.391762, density: 1025.000000* values[0]: 0.689361F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030226.863165 s.+-}H~,>!AAfffff@AFEN2@A[~? AA7%&"AA oNA"AZAbAjArAzAAAzH&@AΈ^hWrAvf@A-:AۜA\LBACA?AI<*AoN:?2A@dֽ:A>BAoN:?JA@dֽRA>Y`A@2MByۜ.:ٓH u ?v?麿@K`?`?׿E?`?)`A@ I٘i)I9vf@YC G J<B=J?JJJD&K|> Y?Y~?yFAMB6Dŧ7b7}08DB)ByE[[!Z@[rY~?[[[[[BZYY i) 0ֺIF?i@0;< ))2@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030226.883165 s, next control iter: 1743030227.263185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743030227.283165 s.7R4}H~,!AJ"J*J2J:JBJnJvJA ףp=@A:,B @AZ~? AAQ %&"AAoNA"AZAbAjArAzAAAXX%@AEWrAg@A'AAsAAAi?Ah;<*AtP:?2A"ֽ:AiBAtP:?JA"ֽRAi٘i)I9g@Y G J߹<C=JJJJ˃D&K Y#Y~?yGA CAD7708) BvE[[Y[@[[Y~?[[[[[BZYY i=) @ elevatorAngleAction: 0.067400< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743030227.703284F (some fields omitted in printout)AGz@A2nj@AZ~? AA5 %&"AAoNA"AZAbAjArAzAAA( %@A0A@AA<*AHAaD7708EB)BmE[[^@[Y~?[[[[[BZYY i) ;I F?i$@5< ))_@y=I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030228.563165 s, next control iter: 1743030228.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3727, header.stamp.nsec: 00 temperature: 13.388215* salinity: 33.391731, density: 1025.000000* values[0]: 0.691625F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030228.963165 s.yN}H~,=!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067400< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743030228.963315F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Alge@AbZ~? AA%&"AAr0oNA"AZAbAjArAzAAA1#@A?WrAWi@AOYO;AЊA;A}A@3eA<*AK:?2A[׽:ANBAK:?JA[׽RANY[H@;yЊzO;ٓH <ey?˰?`bʿN`ׁ?@V?'i?%?)[H@ I٘i)I9Wi@YG Jl<J٫<JJJD&Ky> YX~?y"HA;kD77i08)B[[)`@[Y~?[L[[[[BZYY i) B;IF?i'@< c))c6@C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030229.003165 s, next control iter: 1743030229.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030229.383165 s.0U}H~,X!AA= ףp@Ab<@A^|Z~? A(A$&"AAoNA"AZAbAjArAzAAAe)"@A#pXrAi@A;AܘA-h:A 2tA A#p<*AH:?2At׽:ABAH:?JAt׽RA򼙘٘i)I9i@YRG JƘ<JJJJD&K Y>X~?yHAvD{7{708DB)BkE[[B]a@[yX~?[[[[[BZYY i) c;IF?i*@H< ))Љ@.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030229.423165 s, next control iter: 1743030229.783177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3728", header.stamp.nsec: 0"0 temperature: 13.388033"* salinity: 33.391720", density: 1025.000000"* values[0]: 0.692625"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030229.803165 s.xA\}H~,gs!AJ"J*J2J:JO1?BJO1?nJ95vJAzG @A=HO @AfbZ~? AA>$&"AAnNA"AZAbAjArAzAAAa elevatorAngleAction: 0.067400< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743030230.223282F (some fields omitted in printout)AQ!@A @A}HZ~? AA$&"AAHnNA"AZAbAjArAzAAA,1NY!@A~e$YrAj@A+z8;A*慽A7AYAUAV<*AB:?2AL׽:AX+BAB:?JAL׽RAX+٘i)I9j@YG J/<JJJJD&K Y`X~?yIAD77i08)BeE[[c@[6X~?[[[[[BZYY i=) P;I.G?i2@< +<))+<@k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030230.243165 s, next control iter: 1743030230.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030230.643165 s.zi}H~,*!AJ"J*J2J:JBJnJvJA)\!@A!@A.Z~? AA$&"AAnNA"AZAbAjArAzAAA=0q @A>jYrADk@AdAv#Aƅ6AHA KwA<*A_?:?2A'׽:AUBA_?:?JA'׽RAU٘i)I9Dk@Y0G JȎ<B=JJJJ!D&K YREX~?yiJAD708)BbE[[d@[X~?[[[[[BZYY i) cJ;IUG?iI7@2< c))cB@[*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030230.663165 s, next control iter: 1743030231.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3729, header.stamp.nsec: 00 temperature: 13.387844* salinity: 33.391708, density: 1025.000000* values[0]: 0.693546F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030231.063165 s.p}H~,R !AA"@AT"@AZ~? A6AE$&"AAknNA"AZAbAjArAzAAA ǯu @AKNZrAbk@Af־AAa;5A@4A@<A<*AK8:?2A׽:A?pBAK8:?JA׽RA?pYfN@,55y)=ٓH@h?G?@ӿy3??w?)fN@ I٘i)I9k@YxG J$<C=J^;JJJ,D&Kx>  18Yl*X~? 18yiJA55D7{7 18)B_E[[f@[X~?[[[[[BZYY i) ;I~G?i(:@uH< ǁ))ǁi/@,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030231.103165 s, next control iter: 1743030231.463176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743030231.483165 s.v_w}H~,!AJ"J*J2J:J1?BJ1?nJK:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076129< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743030231.483295F (some fields omitted in printout)Aq= ף#@Ao#@A4Y~? AAB$&"AADnNA"AZAbAjArAzAAAVE @A_Fr[rA-0l@A]@T*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030231.943165 s, next control iter: 1743030232.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030232.323165 s.u}H~,!!AJ"J*J2J:JBJnJvJAQ%@A%@A,Y~? AAW$&"AAsmNA"AZAbAjArAzAAAx @Ax>_*z]rA>m@Ae:A%}AH1A A`DſA5<*A $:?2AX׽:A>BA $:?JAX׽RA>٘i)I9m@YLG J<B=JJJJLD&K YW~?y+uKAD7818)ۯBYE[[i@[&XX~?[[[[[BZYY i) &7- elevatorAngleAction: 0.076129< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743030232.743309F (some fields omitted in printout)A\(&@A%@A֮Y~? AA64$&"AAmNA"AZAbAjArAzAAA(dk@Ai^rAm@Ap;AA/AA7$ǿAZ<*A:?2A+p׽:ANBA:?JA+p׽RAN٘i)I9m@YG J<C=JJJJWD&K Y̾W~?yçKÃD77kF18)ׯBVE[[ YW~?ycǧ.LA.׃D77j7T18)ԯBSE[[%k@[a0X~?[[[[[BZYY i) 9LO@= Cv))Cv忩J@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030233.623165 s, next control iter: 1743030233.983177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3732, header.stamp.nsec: 00 temperature: 13.387343* salinity: 33.391685, density: 1025.000000* values[0]: 0.696192F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030234.003165 s.y }H~,P4!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076129< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743030234.003294F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz(@ATrNy(@AcY~? AA#&"AA^mNA"AZAbAjArAzAAA2@AbrA n@A99A-A,A`eAx̿A<*A :?2A׽:A BA :?JA׽RA ٘i)I9n@YpG J_<JJJJwD&K Y)qW~?yqΧLAD77{7kq18)̯B[[oIn@[ X~?[[[[[BZYY i) NjAvοA<*A:?2ADֽ:AM BA:?JADֽRAM ٘i)I9xo@YG J<JJJJD&K YHWW~?yѧNMADb7718)ǯBNE[[hpo@[W~?[[[[[BZYY iV=) ]z elevatorAngleAction: 0.085127< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743030235.263285F (some fields omitted in printout)A33333+@A*@AY~? A A#&"AAlNA"AZAbAjArAzAAA5)y^@A9ԥgrAip@A_زAPAw.(AoAiѿAy<*A9?2Aֽ:A`BA9?JAֽRA`Y[@'(y[ٓH zs?`?b߿W[?N?[v?)[@ I٘i)I9p@YfG J<<JbJJJD&Kx> Y$W~?y٧NA'( DZ7SI7l18BB)BHE[[Nq@[W~?["[[[[BZYY i) f<JJJJD&K YV~?y|NA"D{7{718)B[[t@[W~?[t+[[[[BZYY i) ?v elevatorAngleAction: 0.085127< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743030236.523285F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ-@A.m8-@A X~? AA-j"&"AA lNA"AZAbAjArAzAAAx@ḀalmrA0r@Ad.;A/=Aa5$AVA$ӿAx<*A9?2AF׽:ASBA9?JAF׽RAS٘i)I90r@YgG J<B=JJJLEJD&K YV~?yMOA,Dj7Z7m18)BBE[[,u@["W~?[/[[[[BZYY i) @A[orAr@At;AiA"Aa!AԿA:<*A9?2Aw,׽:Ag3BA9?JAw,׽RAg3٘i)I9r@YG J<C=JJJJÄD&K Y}V~?y%OA C7D7718AB)B?E[[ Nv@[W~?[W4[[[[BZYY i) W!AJ"J*J2J:JBJnJvJAfffff/@A92/@A1X~? A$A!&"AA9lNA"AZAbAjArAzAAAv| @ALW_qrA[s@A2i;ArA'!AA`cտAf<*A\9?2ABֽ:ABA\9?JABֽRAY(wb@k!yr;ٓH&~?3?Mmt?)(?%c??)(wb@ I٘i)I9[s@YG JS<JJJJ̈́D&Kbx> YuV~?y;&PA!BD77718)B=E[[Mrw@[zW~?[8[[[[BZYY i) ڱ elevatorAngleAction: 0.085127< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743030237.783289F (some fields omitted in printout)A ףp=0@AoB 0@A!X~? AAܛ!&"AAlNA"AZAbAjArAzAAApL @Am#gtrAts@AlA.AX A ڰA~:ֿA<*A]9?2A^ֽ:A|BA]9?JA^ֽRA|٘i)I9s@Y~G Jȼ<JJJJ؄D&K YnV~?yPPAMD{7j7l18)B[[^x@[UiW~?[=[[[[BZYY i) C/ elevatorAngleAction: 0.085127< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743030239.043294F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\2@A4f2@AHX~? A)A &"AAckNA"AZAbAjArAzAAAriQ@Aih{rA@u@AqfA AoAAؿAP<*A69?2Aֽ:ABA69?JAֽRA٘i)I9u@YG J<B=JJJJD&K YUOV~?yQAmDŧ7ŧ7n28?B)B4E[[5{@[c9W~?[L[[[[BZYY i) 3.ֽ:AȢBA9?JA>ֽRAȢYh@ ycL9:ٓH? ?g?_`JL?8b?W3T??)h@ I٘i)I9v@YG J<C=J;JJJD&Kyx> Y:V~?yY eRAwD{7{7+28)B[[*}@[)W~?[Q[[[[BZYY i) G` elevatorAngleAction: 0.085127< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743030240.303284F (some fields omitted in printout)AzG5@AO}5@AfX~? AY7A&"AALkNA"AZAbAjArAzAAAur?Aqy׏rA*x@A`;AAxA~*A@AۿA;<*A9?2A ׽:ApBA9?JA ׽RAp٘i)I9x@YG JO<JJJJD&K YV~?yVSAD77mH28>B)~B.E[[V@[ W~?[R[[[[[ZZZZ¸>BZYY i¸>') 9?2Acֽ:AR<BA>9?JAcֽRAR<٘i)I9}@YG J!<C=JJJJdD&K YzU~?yi>VA؄Dj7SI7Ĭ28JJJoD&K> YiU~?yqEVADŧ7b728;B)OB E[[ @[V~?[&[[[[ZZZZBZYY iu)  h@A,P>@A 2W~? A4rAD&"AAjNA"AZAbAjArAzAAAAS|rA}@A6AO;=A0 A`]߿APuA5m*A&9?2Aֽ:AՉ<BA&9?JAֽRAՉ<٘i)I9}@YtG JJJJJD&K Yg6U~?yZxVAD7728)[[@[V~?[W[[[[BZYY i) >/5vJA33333@@A~?@AW~? Am~AUX&"AA`iNA"AZAbAjArAzAAA[ajAIZWrALa}@AƻAͦ=ADA~ݿA#A*#4*A9?2Aڵֽ:A =BA9?JAڵֽRA =Y|@xy=!ƻٓH@0`&R? C`Ũ`ିcﯿx ?)|@ I٘i)I9a}@Y7G JJ1>JJJD&Kw>  38YU~? 38yiVAD7738)BB[[eˆ@[jV~?[ [[[[BZYY iog)   5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056503< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743030246.603292F (some fields omitted in printout)A{GA@A>A@AV~? AAc&"AAiNA"AZAbAjArAzAAA$A虸lrA|@A;AR=AKAZmܿA AY*A9?2Abֽ:A=BA9?JAbֽRA=٘i)I9|@YG JkJJJJD&K YT~?yxlUA.Dŧ7b7p38)HB[[@[VV~?[[[[[BZYY i) o;Ii@8>= _,))_,@=ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030246.623165 s, next control iter: 1743030247.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3745 , header.stamp.nsec: 0 0 temperature: 13.384785 * salinity: 33.391510 , density: 1025.000000 * values[0]: 0.708997 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030247.023165 s.Zp~H~,|!AAQB@A##B@A)V~? AA]&"AAiNA"AZAbAjArAzAAA:,c~AE~rAH|@A;Au=AA ԪۿAA!顼*A9?2AWKֽ:A=BA9?JAWKֽRA=٘i)I9|@YrG J՘JJJJŅD&K YdT~?yUA C9Db77-38)LBE[[m@[@MV~?[[[[[BZYY i ) ?b;Ii@u?= ))돡@xԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030247.063165 s, next control iter: 1743030247.423181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743030247.443165 s.8v~H~,B]!AJ"J*J2J:Jj5?BJj5?nJ:>5vJA(\C@A1[C@AV~? AA%g&"AAwpiNA"AZAbAjArAzAAAW$g\Aai͟rA{@A<;A=AmA@ڿA'<A]*Aܱ9?2A3Yֽ:A=BAܱ9?JA3YֽRA=٘i)I9{@YG J-JJJJυD&K YT~?y*TACD77<38)PB[[@[ DV~?[[[[[BZYY i) #ӛ;Ii@@= ԛ))ԛ@ygתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030247.463165 s, next control iter: 1743030247.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3746, header.stamp.nsec: 00 temperature: 13.384986* salinity: 33.391499, density: 1025.000000* values[0]: 0.708202F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030247.863165 s.+}~H~,>!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065945< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743030247.863282F (some fields omitted in printout)AfffffD@A;2D@AUV~? AĞA &"AAYiNA"AZAbAjArAzAAA-A yuذrAz@Ajc|;Aw=AAڿAA*A9?2Ajֽ:A? =BA9?JAjֽRA? =Y>@y*=!};ٓH:ۿ`??@0@<ۿ[:@@ho??)>@ I٘i)I9z@YG JGJ =JJJڅD&Kw> Y|T~?yWTANDŧ77qJ38,B)TBE[[ۃ@[L;V~?[[[[[BZYY i) מ{;Ii@>A= ))֥@yiתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030247.903165 s, next control iter: 1743030248.263181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743030248.283165 s.7R~H~,!AJ"J*J2J:JBJnJvJA ףp=E@A\A E@AV~? AAc&"AACiNA"AZAbAjArAzAAA4Kc]lAStGrAiz@A<A=AjAMٿA$A8쯼*A9?2Aֽ:AD =BA9?JAֽRAD =٘i)I9iz@YhG J{JJJJD&K YMT~?y SAYD777X38-B)ZBE[[@[2V~?[:Ǩ[[[[BZYY i) R?;Iie@A= |))|0@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030248.303165 s, next control iter: 1743030248.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3747., header.stamp.nsec: 0.0 temperature: 13.385244.* salinity: 33.391510., density: 1025.000000.* values[0]: 0.707203.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030248.703165 s.ֺ~H~,-!AAGzF@AL^E@AEV~? A]Ak&"AA.iNA"AZAbAjArAzAAANn7>A!FrA)y@AYޮAB}=A~A@M}ؿA`A%*A9?2Aֽ:Ao=BA9?JAֽRAo=٘i)I9y@YG J`B=JJJJD&K YT~?ySAcD)7b7g38)^B[[@[*V~?[hͨ[[[[BZYY i) ;Ii@B= P))P@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030248.723165 s, next control iter: 1743030249.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030249.123165 s.>~H~,zG!AJ"J*J2J:J4?BJ4?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065945< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743030249.123293F (some fields omitted in printout)ARF@A^SF@AV~? AKAW&"AAiNA"AZAbAjArAzAAA !A"8rA}Dy@AuA[=AKA׿AEA-*AV9?2ACֽ:A=BAV9?JACֽRA=٘i)I9Dy@YG J}C=JJJJD&K YT~?y즨SAnD77pu38,B)bBE[[&$@["V~?[Ө[[[[BZYY i) 17:Iiʘ@C= &))&!F@+ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030249.143165 s, next control iter: 1743030249.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030249.543165 s.I~H~,b!AA(\G@AiG@AV~? AOA&"AA iNA"AZAbAjArAzAAA)7A!rAdx@A8<Af=AݵAֿA@A@*A9?2Aֽ:A2 =BA9?JAֽRA2 =٘i)I9x@Y^G JJJJJD&K YT~?yݮRAyDb7b7ǃ38)gB[[L@[zV~?[٨[[[[BZYY i) /99Ii™@WD= O))OGФ@0ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030249.563165 s, next control iter: 1743030249.943183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3748, header.stamp.nsec: 00 temperature: 13.385473* salinity: 33.391468, density: 1025.000000* values[0]: 0.706187F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030249.963165 s.~H~,}!AJ"J*J2J:JBJnJvJAH@A{{eH@AV~? AgA;F&"AAhNA"AZAbAjArAzAAAѬXSeAB2rA%x@AAf=A%A`5ֿAA=*A,9?2Aڡֽ:Aj==BA,9?JAڡֽRAj==Y.Ä@o&yf=ٓHտ?r@ @տk | 0?).Ä@ I٘i)I9%x@YG JJ&JJJD&K(x> Y6T~?y'ORA&D{7j738.B)mBE[[8@[]V~?[![[[[BZYY i) EIiљ@D= ӎ))ӎZ@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030249.983165 s, next control iter: 1743030250.363186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743030250.383165 s.إ~H~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065945< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743030250.383282F (some fields omitted in printout)A= ףpI@AvOrAv@AT:A=AyA2ҿAA*A9?2A6ֽ:A2|<BA9?JA6ֽRA2|<MI٘i)I9v@YG JJJJJ;D&K YoT~?yMبPAD{7j7r38)~B E[[a@[mU~?[[[[[BZYY i) Iiޛ@G= /))/ყ@/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030251.663165 s, next control iter: 1743030252.043182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3750, header.stamp.nsec: 00 temperature: 13.385937* salinity: 33.391441, density: 1025.000000* values[0]: 0.704278F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030252.063165 s.~H~,k !AAL@A\L@A{HV~? AA&"AAWhNA"AZAbAjArAzAAA35 A'rA#u@AǟhA=AA`XѿAYAR*A9?2Aֽ:A<BA9?JAֽRA YIhT~?yfPAD77{738)B[[@[U~?[[[[[BZYY iC) Ii@WYG= ))@oYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030252.083165 s, next control iter: 1743030252.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030252.483165 s.{_~H~,!AJ"J*J2J:J.4?BJ.4?nJ<5vJAq= ףM@Aڪ$oM@A>V~? A|A&"AAqhNA"AZAbAjArAzAAAu0؅ A˽rA u@Ax׻Ae=AtAпAAʍ*A 9?2Aֽ:A$<BA 9?JAֽRA$<٘i)I9 u@Y$G J(B=JJJJPD&K Y~aT~?yh PAąDb7b738)B[[hv@[U~?[w[[[[BZYY i) jлIi˛@jG= ݁))݁c@ Y*IT~?y NAۿD777s!48)B[[N@[~U~?[ [[[[BZYY i) m&Ii@H= |r))|rI@sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030254.183165 s, next control iter: 1743030254.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030254.583165 s.~H~, S!AAp= Q@A٢Q@AV~? AA&"AABOhNA"AZAbAjArAzAAA']+Aj+ sAr@A+;Aԋ=AӊؿA-ȿA@4A0*AT9?2A'ֽ:A=BAT9?JA'ֽRA=٘i)I9r@YG J׌JJJJD&K Y3ET~?y~@NAD77{7/480B)B E[[N(@[=U~?['[[[[BZYY i) F!6Ii@pH= ,n)),nIJ@kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030254.603165 s, next control iter: 1743030254.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3753, header.stamp.nsec: 00 temperature: 13.386497* salinity: 33.391418, density: 1025.000000* values[0]: 0.701875F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030255.003165 s.s ~H~,74!AJ"J*J2J:JBJnJvJAHzR@AyR@A V~? AAj&"AADhNA"AZAbAjArAzAAA f[{A-3sAOr@A-o;A,=AտAƿAA叼*A9?2A5ֽ:A=BA9?JA5ֽRA=٘i)I9Or@YzG JᎼB=JJJJD&K Y48)B[[e@[WU~?[-[[[[BZYY i) IEIi@2H= i))i`ԫ@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030255.023165 s, next control iter: 1743030255.403176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030255.423165 s.u~H~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076790< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743030255.423284F (some fields omitted in printout)AQS@A*PS@A V~? A#A &"AAY;hNA"AZAbAjArAzAAAM-@~A0HsA5q@A=A'=A*BӿA ĿAA *A9?2A ֽ:AJ=BA9?JA ֽRAJ=٘i)I9q@Y0G JC=JJJJD&K YE=T~?y%MADZ7SI7sL48)B[[[<@[U~?[=4[[[[BZYY i) )UIiݜ@H= %e))%eV^@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030255.443165 s, next control iter: 1743030255.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3754, header.stamp.nsec: 00 temperature: 13.386699* salinity: 33.391384, density: 1025.000000* values[0]: 0.701069F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030255.843165 s.J ~H~"J*J2J,!A:Jy3?BJy3?nJ1<5vJA(\T@A'T@AV~? Ap+A 8 &"AA2hNA"AZAbAjArAzAAÁ$SAsA*[q@A)@A.=A*пA¿AA瓼*AO9?2A ֽ:An =BAO9?JA ֽRAn =٘i)I9[q@YG JJJJJD&K YM9T~?y.+MAD7)7Z48)B[[,Ɠ@[U~?[:[[[[BZYY i) dIiE@OI= =a))=a'@xʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030255.863165 s, next control iter: 1743030256.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030256.263165 s.)H~,k!AA33333U@A T@AU~? A]3A &"AA*hNA"AZAbAjArAzAAAh.CA@EesAp@AY޻A궕=AͿAA Aʗ*A˸9?2Ajֽ:A =BA˸9?JAjֽRA =Y@fοy=޻ٓH 6?+p?@"}&{?)@ I٘i)I9p@YG JxJe<JJJD&K&x> Y38T~?yt7LAο%D{7j7i482B)B E[[O@[U~?[oA[[[[BZYY i) KsIiĜ@H= ]\))]\q@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030256.283165 s, next control iter: 1743030256.663186 s, wait time: 0.380021 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 37552, header.stamp.nsec: 020 temperature: 13.3869262* salinity: 33.3913922, density: 1025.0000002* values[0]: 0.7002672F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030256.683165 s.l H~,|+!AJ"J*J2J:JD3?BJD3?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076790< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743030256.683280F (some fields omitted in printout)Aףp= V@A U@A U~? AR;A &"AAa#hNA"AZAbAjArAzAAA2zAn|r@"sA&\p@AēAa=Ai˿A`HAv*A+*A9?2Aֽ:AY =BA9?JAֽRAY =٘i)I9\p@YJG J JJJJD&K Y7T~?yA@bLA C/D777uw48)B[[ٔ@[QU~?[H[[[[BZYY i) ڈIiq@?H= X))X@8ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030256.683165 s, next control iter: 1743030257.083181 s, wait time: 0.400016 s rAdjusting time to match Gazebo time: 1743030257.103165 s.H~,F!AA{GV@A{1V@AU~? AMCAf &"AAhNA"AZAbAjArAzAAAR"A^ڲ'sAo@A=&9A 9=AȿA A`<A?A*A9?2Aֽ:A:b=BA9?JAֽRA:b=٘i)I9o@YG J럼JJJJdžD&K Y5T~?y IKA:Dŧ7b7Ʌ48)B[[c@[3U~?[N[[[[BZYY if)  IiM@4H= OT))OT߅@#ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030257.143165 s, next control iter: 1743030257.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030257.523165 s.H~,{a!AJ"J*J2J:JBJnJvJAQW@A,W@AU~? ANKA &"AAWhNA"AZAbAjArAzAAA-qA) (,sAJo@A;A=ANKƿA`¶A;LAӨ*A9?2Ayֽ:A=BA9?JAyֽRA=٘i)I9Jo@YG JɥB=JJJJцD&K Y4T~?yQKAEDb7748+B)BE[[@[rU~?[SU[[[[BZYY i) IiW@H= O))O@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030257.543165 s, next control iter: 1743030257.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3756, header.stamp.nsec: 00 temperature: 13.570422* salinity: 33.374981, density: 1025.000000* values[0]: 0.573955F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030257.943165 s.YdH~,F]|!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085730< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743030257.943292F (some fields omitted in printout)A(\X@AQ0[X@AU~? ATSAq. &"AAhNA"AZAbAjArAzAAAzA*QV0sAn@AW;A=AÿA6A:YA᮪*AZ9?2Aqֽ:A=BAZ9?JAqֽRA=٘i)I9n@YLG JC=JJJJ܆D&K Y3T~?yZ4KAODŧ7b7u48)B[[w@[ U~?[[[[[[BZYY i) SIi@9eH= EK))EK@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030257.983165 s, next control iter: 1743030258.343181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743030258.363165 s.%H~,}>!AJ"J*J2J:JBJnJvJAfffffY@A]4d<2Y@AaU~? A_[A &"AAwhNA"AZAbAjArAzAAADAm5sA+n@Ap߰;AU=AA VA cAͬ*A9?2AIֽ:A =BA9?JAIֽRA =Yʑ@y=i;ٓH??@`߯?`@#v??)ʑ@ I٘i)I9+n@YG JJB<JJJD&Kx> Y5T~?ymcJAZDZ7SI7ʰ48)B[[8ȿ[U~?[b[[[[BZYY i) ]ǟIiޛ@G= caG))caGcaGyz۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030258.403165 s, next control iter: 1743030258.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3757&, header.stamp.nsec: 0&0 temperature: 13.570720&* salinity: 33.374977&, density: 1025.000000&* values[0]: 0.573292&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030258.783165 s.Z+H~,!AA ףp=Z@AF@ Z@AU~? AlcA&"AA: hNA"AZAbAjArAzAAA2{)A93:sA%m@A:Aom=AApA@֭AlA*A٢9?2AGֽ:A=BA٢9?JAGֽRA=٘i)I9m@YG JJJJJD&K YT7T~?y6l^JAeD77748)B[[ƿ[TU~?[9i[[[[BZYY i) ))ÿ>ÿ>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030259.243165 s, next control iter: 1743030259.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030259.623165 s.d9H~,!AAR[@AvX[@AmU~? AsA&"AA*hNA"AZAbAjArAzAAA40mCAjDsApl@AػA==A%AHAtAʹ*A69?2Aֽ:Ay=BA69?JAֽRAy=٘i)I9pl@YG JC=JJJJD&K Y:T~?y}IAzD7)748)ǯB[[[ U~?[v[[[[BZYY i) 'Ii@~=F= m:))m:m:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030259.643165 s, next control iter: 1743030260.023189 s, wait time: 0.380024 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3758 , header.stamp.nsec: 0 0 temperature: 13.570999 * salinity: 33.374981 , density: 1025.000000 * values[0]: 0.572595 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030260.043165 s.@H~,!AJ"J*J2J:JBJnJvJA(\\@AuR_\@A+U~? A{A$&"AAXhNA"AZAbAjArAzAAAFAe򍀀IsAk@AûAr=A􌶿AD?AAuAZS*A۔9?2A<ֽ:A=BA۔9?JA<ֽRA=٘i)I9k@YG J%JJJJD&K Y YAAT~?y=HADZ7Z7v48)ѯB[[m[2U~?[Ã[[[[BZYY i) 4ļIi@(E= 1))113YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030260.503165 s, next control iter: 1743030260.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3759, header.stamp.nsec: 00 temperature: 13.571302* salinity: 33.374985, density: 1025.000000* values[0]: 0.571877F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030260.883165 s.yMH~,@8!AJ"J*J2J:JBJnJvJA= ףp^@A@w<^@A=U~? A‹A&"AAhNA"AZAbAjArAzAAA29A YSsAj@AM6;A榯=A>pA"?AnAȼ*AI9?2Aiֽ:A =BAI9?JAiֽRA =٘i)I9j@YG JQļJJJJ'D&K  58YET~? 58y뗩3HADŧ7b758)ׯBE[[=E[OU~?[a[[[[BZYY i) >+̼IiT@CD= z-))z-z-cYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030260.903165 s, next control iter: 1743030261.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030261.303165 s.STH~,jgS!AAzG_@A4E_@AU~? AѓAC&"AAhNA"AZAbAjArAzAAAzu)A|DXsAwi@AC;A/=Aq߮A?A.hAͼ*A9?2AMֽ:ALc=BA9?JAMֽRALc=٘i)I9i@Y\G JʼJJJJ2D&K Y~JT~?yGAD777 58)ܯB[[_[U~?[[[[[BZYY i) ?rӼIiИ@/C= &)))&)&) YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030261.323165 s, next control iter: 1743030261.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3760., header.stamp.nsec: 0.0 temperature: 13.571620.* salinity: 33.374981., density: 1025.000000.* values[0]: 0.571118.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030261.723165 s. [H~,Hn!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085730< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743030261.723308F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ`@A/_@AiU~? AݛAX&"AA hNA"AZAbAjArAzAAAl!* Ag8^.]sA9i@AW;Aa=AEA?A_AѼ*A?9?2AXֽ:A"=BA?9?JAXֽRA"=٘i)I99i@Y G JϼB=JJJJ=D&K YOT~?yFJGAD7w#58)B[[s[U~?[[[[[BZYY i) {ڼIiz@,C=  $)) $ $&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030261.743165 s, next control iter: 1743030262.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030262.143165 s.V/bH~,*!AA)\`@A `@AU~? A壪AS &"AA2hNA"AZAbAjArAzAAA<9AsbsAlh@A[Y;AT=AϠAM&?A`cSArԼ*A9?2A'ֽ:Aj =BA9?JA'ֽRAj =٘i)I9h@Y G JӼC=JJJJHD&K YST~?yFAD77158,B)BE[[yŴ[U~?[6[[[[BZYY i) mIiR@B= { )){ { YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030262.163165 s, next control iter: 1743030262.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030262.563165 s.hH~,_ !AJ"J*J2J:JBJnJvJAa@AX˝a@AU~? A髪Al&"AA*hNA"AZAbAjArAzAAA|ўA$7fLfsAg@AѺAe]=AAK?A`@EA ռ*AZ9?2AZֽ:A=BAZ9?JAZֽRA=YM@*yV]=4xҺٓH`?? i?`n?24Z`?)M@ I٘i)I9g@Y G JԼJ<JJJRD&K4x> Y&[T~?yo\FAņDŧ7b7!@58)B[[뜲[_U~?[ä[[[[ZZ¸BZYY i¸(=) ռIiC@՝A= )))))CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030262.583165 s, next control iter: 1743030262.963181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3761, header.stamp.nsec: 00 temperature: 13.571930* salinity: 33.374985, density: 1025.000000* values[0]: 0.570302F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030262.983165 s.oH~,!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083754< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743030262.983312F (some fields omitted in printout)Aq= ףb@Aɧob@AU~? A質AA&"AAhNA"AZAbAjArAzAAAH0_A|ksA["g@AA>M=APA`ź?A4AU.ּ*A.9?2ANֽ:A=BA.9?JANֽRA=٘i)I9"g@Y G JռJJJJ]D&K YbT~?y©EAІD77vN58)B[[wr[HU~?[Q[[[[ZZBZYY i) ɼIia@}@= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030263.003165 s, next control iter: 1743030263.383195 s, wait time: 0.380030 s rAdjusting time to match Gazebo time: 1743030263.403165 s.&vH~,!AJ"J*J2J:JBJnJvJAGzc@AYOFc@AU~? A໪A_4&"AAhNA"AZAbAjArAzAAAoq9eyAr psA[f@A"ݻA=AAv?A@A6*A?9?2Aֽ:A<BA?9?JAֽRA<٘i)I9[f@Y3 G JJJJJhD&K YiT~?yf˩iEAۆD77{7\58)B[[F[U~?[ޱ[[[[ZZBZYY i) ߽Ii@?= }))}}YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743030263.423165 s, next control iter: 1743030263.803177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3762, header.stamp.nsec: 00 temperature: 13.572250* salinity: 33.374977, density: 1025.000000* values[0]: 0.569492F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030263.823165 s.|H~,:!AAQd@Ad@AU~? AêA&"AA"hNA"AZAbAjArAzAAA.!CAJ]?ݑusA`e@A~A=ؘ=AA!?A Ah*A9?2Aاֽ:A <BA9?JAاֽRA <٘i)I9e@Y G JJJJJsD&K YiqT~?yөDAD!k58.B)BE[[[3U~?[i[[[[ZZBZYY i) ӱIi)@}>= #))##ydߩ=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030263.843165 s, next control iter: 1743030264.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030264.243165 s.H~,m!AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083754< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743030264.243297F (some fields omitted in printout)A\(e@At_d@AV~? A˪A>&"AA)hNA"AZAbAjArAzAAA~A?ezsAd@AʊAߤu=AtA?AA*A9?2A`ֽ:A~g<BA9?JA`ֽRA~g<٘i)I9d@Y+ G JJJJJ}D&K YxT~?y^ܩuDAD77wy58)B[[멿[4U~?[ﾩ[[[[ZZBZYY i) ǥIiӔ@>=  ))  %YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030264.263165 s, next control iter: 1743030264.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030264.663165 s.H~,q*!AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3763, header.stamp.nsec: 00 temperature: 13.572690* salinity: 33.374985, density: 1025.000000* values[0]: 0.568489F (some fields omitted in printout)Af@Ax e@A V~? AӪA d&"AA1hNA"AZAbAjArAzAAA76:A_@4sAc@A2;AB1=AAi?A`AҼ*A9?2A|ֽ:A;BA9?JA|ֽRA;Y}@/y YT~?y:DAD)7ŧ7͇58)B[[q[U~?[jũ[[[[ZZBZYY i=) Ii@<= o))ooyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030264.683165 s, next control iter: 1743030265.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030265.083165 s.EH~,*SE!AJ"J*J2J:JBJnJvJAp= f@AWf@AV~? As۪A%"AA:hNA"AZAbAjArAzAAA~zA)qsADc@A)h;AG<AbA)?AAǬ*A9?2AEzֽ:AٺBA9?JAEzֽRAٺ٘i)I9Dc@YQ G J ļJJJJD&K Y/T~?yCAD777"58)B[[ې[FV~?[˩[[[[ZZBZYY i) .Ii@D;= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030265.103165 s, next control iter: 1743030265.483188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743030265.503165 s.H~,74`!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073776< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743030265.503277F (some fields omitted in printout)AHzg@AGyg@AV~? AAA1%"AADhNA"AZAbAjArAzAAAkd\+A/ˆsAb@A;AE<AȔA` ?AAqƀ*AA9?2A[sֽ:Aw BAA9?JA[sֽRAw ٘i)I9b@Y G JɚJJJJD&K Y\T~?y CAD77{7w58/B)BE[[`[^V~?[[ҩ[[[[ZZBZYY i) ?bIi@}i:= b))bbhYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030265.523165 s, next control iter: 1743030265.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3764, header.stamp.nsec: 00 temperature: 13.572949* salinity: 33.374973, density: 1025.000000* values[0]: 0.567646F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030265.923165 s.5H~,{!AJ"J*J2J:JQ?BJQ?nJ`5vJAQh@A3Ph@AV~? AA%"AA^NhNA"AZAbAjArAzAAA@tAOugisAfb@AAʻAz/A$i?A ҀA+*Aի9?2A_`ֽ:AtBAի9?JA_`ֽRAt٘i)I9fb@Y G J]JJJJD&K YT~?yICAD77Ͳ58)B[[.[ V~?[ة[[[[ZZBZYY i;=) )uIi@9= ))y̖=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030265.943165 s, next control iter: 1743030266.323176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030266.343165 s.<H~,!AA(\i@A(i@A9%V~? AAT%"AAgYhNA"AZAbAjArAzAAAB`Ai 5sA>-b@ASA*<AA`;?Ae^AO*AZ9?2A5Hֽ:At BAZ9?JA5HֽRAt ٘i)I9-b@Y G JeJJJJD&K YT~?yLCA&D777#58)B[[[V~?[;ߩ[[[[ZZBZYY i) ɐ_Iil@\8= ))龩y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030266.363165 s, next control iter: 1743030266.743175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3765*, header.stamp.nsec: 0*0 temperature: 13.573121** salinity: 33.374985*, density: 1025.000000** values[0]: 0.567227*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030266.763165 s.:H~,,ذ!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083122< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743030266.763286F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333j@A;s i@AH-V~? AiAk%"AA4ehNA"AZAbAjArAzAAAl0AdsA3b@AܻA3AAu ?A8AƄ*A'9?2A;ֽ:ANϼBA'9?JA;ֽRANϼY͞@\y2ܻٓH?`͊? ́ K%?@Nh? ?{{?)͞@ I٘i)I9b@Y G JdJ8JJJD&Kw> YT~?yb xCA C1D77x580B)B E[[=̜[V~?[[[[[BZYY ik=) #NIi@ 7= >))>ᾩ>yR=I1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030266.803165 s, next control iter: 1743030267.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743030267.183165 s.˲H~,s!AAףp= k@Aj@A5V~? AA%"AAqhNA"AZAbAjArAzAAA8a A<}EsAb@A36A(3AiA S?ApAwdK;*AY9?2A Hֽ:A2XBAY9?JA HֽRA2X９LI٘i)I9b@Y G JO:JJJJɇD&K YOT~?y?CA;D77{7581B) B!E[[][U"V~?[[[[[BZYY if{=) !V~? A ATB%"AAhNA"AZAbAjArAzAAA,; AKi9)sAI>b@AA$2YAɇA m?AAC;*A9?2Aykֽ:A~BA9?JAykֽRA~٘i)I9>b@Y G J;JJJJӇD&K YT~?yCAFDb77#582B)$E[[#f[<*V~?[>[[[[BZYY i) J+Ii@ 4= xϾ))xϾxϾy͚d=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030267.623165 s, next control iter: 1743030268.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3766 , header.stamp.nsec: 0 0 temperature: 13.573124 * salinity: 33.374996 , density: 1025.000000 * values[0]: 0.567188 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030268.023165 s.ZH~,{!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067618< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743030268.023299F (some fields omitted in printout)AQl@An8)l@AtHV~? AA$%"AA(hNA"AZAbAjArAzAAAC A7ܺsA|b@A 7;AvA&Aವ?AA0<*A9?2Aֽ:ABA9?JAֽRA٘i)I9|b@Y G J<JJJJއD&K YT~?y$CAQD77x58)B[[A0[2V~?[[[[[BZYY i) Ii܋@3= Nƾ))NƾNƾyH=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030268.043165 s, next control iter: 1743030268.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030268.443165 s.7H~,>]!AJ"J*J2J:JBJnJvJA(\m@AI5[m@ARV~? AA"%"AAhNA"AZAbAjArAzAAAV As8 IsAb@AW_;AiTAA ?AZA^<*A9?2Aֽ:A0% BA9?JAֽRA0% ٘i)I9b@Y G JE<JJJJD&K  68YT~? 68y,+DA\Dŧ7b768)B[[[';V~?[[[[[BZYY i) ioIi.@'2= ý))ýý|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030268.463165 s, next control iter: 1743030268.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3767, header.stamp.nsec: 00 temperature: 13.572978* salinity: 33.374981, density: 1025.000000* values[0]: 0.567431F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030268.863165 s.+H~,>7!AAfffffn@AHĔH2n@A]V~? AA^%"AAhNA"AZAbAjArAzAAAi鳸 A}CɭsA5c@A;AAA@/w?AWAۃ<*A89?2Aֽ:Aw BA89?JAֽRAw Y@cy[;ٓH@?q?*fN?@Ϭ??x\w?@s?)@ I٘i)I95c@YH G Jr<JJJNEJD&Kw> YT~?yE4DAfD%683B)B(E[[Ƒ[DV~?[[[[[BZYY iHl=) 4Ii@!0= ))]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030268.883165 s, next control iter: 1743030269.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030269.283165 s.1RH~,R!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199332 time: 1743030269.283251F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=o@A:vP o@A hV~? A;'A%"AAֻhNA"AZAbAjArAzAAAaSoAu`4@sAwc@Ar6#;AcAszA S?A4$A<*A<9?2AV{ֽ:AxBA<9?JAV{ֽRAx٘i)I9c@Y G Jb<JJJJD&K Y> U~?y;DAqD{7{7z%68)B[[㑏[[MV~?[ [[[[BZYY i) 7ӻIi5@X.= '))''*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030269.303165 s, next control iter: 1743030269.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3768., header.stamp.nsec: 0.0 temperature: 13.572735.* salinity: 33.374996., density: 1025.000000.* values[0]: 0.567961.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030269.703165 s.ӺH~,m!AAGzp@A2Yo@AsV~? Ax.An%"AAhNA"AZAbAjArAzAAA2ȈA$hxsAm0d@AWAA=uA@-?AAƦ<*A9?2AUֽ:ABA9?JAUֽRA٘i)I90d@Y G JI<JJJJ D&K YU~?yCOEA|Dŧ7b73684B)B+E[[Z[WV~?[=[[[[BZYY i) 㴻Ii@,= J))JJ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030269.723165 s, next control iter: 1743030270.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030270.123165 s.?H~,~!AJ"J*J2J:JBJnJvJARp@AKUp@A~V~? A5A%"AAhNA"AZAbAjArAzAAA.fAkP sA:d@A:2A 'AopA?A@PA.4<*A9?2ADֽ:A BA9?JADֽRA ٘i)I9d@Y9 G Jo<JJJJD&K Y(U~?y~JEAD777#B68)B[[![aV~?[S[[[[BZYY i) 9?Ii@B{+= Nf))NfNfyWfl=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030270.143165 s, next control iter: 1743030270.523175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030270.543165 s.IH~,â!AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743030270.543284F (some fields omitted in printout)A(\q@A(hq@AV~? A<AV%"AAhNA"AZAbAjArAzAAAҏ[9AWG_sAXe@AɻAYgAc9?2AU~ֽ:A[mBA>9?JAU~ֽRA[mYO@}eydٓH8?p?@?2?;?+~l ?)O@ I٘i)I9e@Y G Jq<J2JJJ)D&Kx> YIU~?yXxFAeD^68)B[[7[%vV~?[R#[[[[BZYY i) X2Iid@>.(= &))&&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030270.983165 s, next control iter: 1743030271.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030271.383165 s.H~,f!AA= ףps@Aފ elevatorAngleAction: 0.066658< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743030271.803304F (some fields omitted in printout)AzGt@A{юt@AV~? AQA:%"AA,iNA"AZAbAjArAzAAA 'nAsAg@Ad;AgAPc[AV?A EAL <*AP9?2Aֽ:AlBAP9?JAֽRAl٘i)I9g@Y G J®<C=JJJJ?D&K YlU~?yfGGADŧ7)7{{68)B[[:[V~?[/[[[[BZYY i) hIiw@o$= m))mm*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030271.823165 s, next control iter: 1743030272.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030272.223165 s.gH~,H"AAQu@At@A5V~? ADXA]9%"AAAiNA"AZAbAjArAzAAARNoAS.sAGg@A;A tAc'VA$?AdA<*AU9?2Aֽ:A[BAU9?JAֽRA[٘i)I9g@Y G J)<JJJJJD&K Yj~U~?yqmGADS77щ68)B5E[[k[qV~?[4[[[[BZYY i) 8Ii~@"= @[))@[@[C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030272.263165 s, next control iter: 1743030272.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030272.643165 s.u H~,*)"AJ"J*J2J:JBJnJvJA)\u@Agu@AV~? A^AA%"AAWiNA"AZAbAjArAzAAA3l0`A?sAo.h@A;A=APA ?A@:A4<*A9?2A߿ֽ:A>BA9?JA߿ֽRA>󼙘٘i)I9.h@YO G J<JJJJTD&K YU~?yTtHALJD{7Z7&689B)B9EtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3771, header.stamp.nsec: 0[0 temperature: 13.571729[w{[V~?* salinity: 33.375023[:, density: 1025.000000* values[0]: 0.570127F (some fields omitted in printout)[[[[BZYY i) 0y:Ii|@å!= I))IIy~=Խ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030272.683165 s, next control iter: 1743030273.043177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030273.063165 s.H~,V D"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066658< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743030273.063282F (some fields omitted in printout)Av@A6v@AV~? AeA4%"AALniNA"AZAbAjArAzAAArۤ#A-BsARh@A-P79AA"KA`?A`Am<*A9?2Aֽ:ABA9?JAֽRAY@Ky79ٓHT?;?짿H Ra?R? ?&??)@ I٘i)I9h@Y G J<J<JJJ_D&K#x> YţU~?yzqHAK҇Db77|68)B[[w[V~?[t@[[[[BZYY i) $:Iix@9= 7))77%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030273.103165 s, next control iter: 1743030273.463176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743030273.483165 s.J "J *J 2J :J ?BJ ?_H~nJ 5vJ,^"AAq= ףw@A'ow@AV~? AkA{%"AAiNA"AZAbAjArAzAAAGp.A1U6sA/i@A"ÉA\AFA`ax?A eA <*A9?2AŅֽ:A;BA9?JAŅֽRA;٘i)I9/i@Y G JҖ<JJJJjD&K YU~?y뀪HA܇DѴ68:B)B elevatorAngleAction: 0.066658< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743030274.323274F (some fields omitted in printout)J"J*J2J:JBJnJvJAQy@Ay@AW~? AxAQ%"AAiNA"AZAbAjArAzAAAѕmAsA#j@A\AeAK<Aj?A`AWߌ<*Ag9?2Aֽ:A^BAg9?JAֽRA^٘i)I9#j@YG JK<JJJJD&K YU~?yIAD{7{7z68;B)B?E[[ti[V~?[EQ[[[[BZYY i) 6;Iio@c= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030274.343165 s, next control iter: 1743030274.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3773*, header.stamp.nsec: 0*0 temperature: 13.571107** salinity: 33.375038*, density: 1025.000000** values[0]: 0.571396*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030274.743165 s.W+H~,y"AA\(z@AԜy@A W~? A~AB%"AAiNA"AZAbAjArAzAAAE [}A|hsAj@AAJ A7A0?AA<*AZ9?2Aֽ:ABAZ9?JAֽRA򼙘٘i)I9j@YG J<JJJJD&K YU~?yΓIAD7768=) `;Iibm@ = ޽))޽޽*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030274.763165 s, next control iter: 1743030275.143180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030275.163165 s.w}2H~,q"AJ"J*J2J:JBJnJvJA{@Asz@A1W~? AۄA9%"AAiNA"AZAbAjArAzAAA~ TfA/! fsADk@A[;AsAP1Ak?A}sA <*A9?2Aֽ:A6BA9?JAֽRA6Yӫ@<1ys']\;ٓH?`y?@Fp?_?`+?}k? ?)ӫ@ I٘i)I9k@Y G J!<J<JJJD&K5x> YV~?yq7JA1Dj7Z7%68)B[[b`[V~?[(\[[[[BZYY i) ;IiPi@R= `))'``C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030275.183165 s, next control iter: 1743030275.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030275.583165 s.8H~,S"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.252252> elevatorAngleAction: 0.076290< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743030275.583292F (some fields omitted in printout)Ap= {@A>;{@ACW~? AϊAU%"AAjNA"AZAbAjArAzAAAd޿AsAtk@A;AAy,AH?A= A<8~<*Ag9?2Aֽ:AeBAg9?JAֽRAe٘i)I9tk@YMG JS<JJJJD&K Y8V~?yJAD77{68=B)BFE[[[[W~?[~a[[[[BZYY i) ;Iie@6= ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030275.603165 s, next control iter: 1743030275.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3774, header.stamp.nsec: 00 temperature: 13.570803* salinity: 33.375046, density: 1025.000000* values[0]: 0.572015F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030276.003165 s.| @H~,]4"AJ"J*J2J:Jo?BJo?nJ5vJAHz|@Ay|@AUW~? AA%"AA jNA"AZAbAjArAzAAA !пA_=sAk@A;ACAU'A@j?AA}<*A9?2AA ֽ:A̮BA9?JAA ֽRA̮٘i)I9k@YG J|<JJJJD&K  78Y3V~? 78yJAD77{7 78>B)߯BIE[[7FW[W~?[f[[[[BZYY i)  elevatorAngleAction: 0.076290< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743030276.843332F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\~@A'~@AzW~? AA%"AAUjNA"AZAbAjArAzAAAXyfP?Aq!sA^l@AA4A-A?A;AM<*A@9?2Aս:ABA@9?JAսRA٘i)I9l@YG J<B=JJJJD&K Y\_V~?yKA2D)7ŧ7}'78)ٯBLE[[N[0W~?[+q[[[[BZYY i)  ,w? j?<??/]? x ?)~@ I٘i)I9*m@YXG J<C=JF6JJJˈD&K"v> YvV~?y촪KA=D77578@B)ׯBPE[[+I[@W~?[0v[[[[BZYY i) y; elevatorAngleAction: 0.076290< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743030278.103291F (some fields omitted in printout)A{Gိ@AB@AW~? AA%"AA*jNA"AZAbAjArAzAAAv% ?AUWtAn@AU]A~Aa A?A޿A-<*AC9?2A@ս:AuP BAC9?JA@սRAuP ٘i)I9n@YG Jl<JJJJD&K YV~?yƾLARDj7j7}R78AB)ЯBSE[[F@[eaW~?[[[[[BZYY i) oZ"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085518< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743030279.363285F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@AVC2@AXW~? AA%"AA_ kNA"AZAbAjArAzAAA RLy?Ab6{ tAo@A;AꗽA!Ak?A@ۿA.ٛ<*Az9?2Aս:AO BAz9?JAսRAO ٘i)I9o@YG J<JJJJD&K YV~?yͪMArDb77}}78)ůB[[?2[KW~?[][[[[BZYY i) o%"AA)kNA"AZAbAjArAzAAA&(=x?A>+^tAp@A1;AzAA,?AۿA<*At9?2A ֽ:A+1BAt9?JA ֽRA+1٘i)I9p@Y!G J<JJJJ D&K YHW~?yzҪ NA}D7Ӌ78DB)ïB^E[[-[KW~?[[[[[BZYY i) N-IkNA"AZAbAjArAzAAAl/&[@ApSx-tA)p@AK AxA[A q?A#TڿA<*A9?2A ֽ:AƖBA9?JA ֽRAƖ٘i)I9p@YsG JC<JJJJD&K YW~?ygת~NAD7{7(78)BaE[[([W~?[{[[[[BZYY i) ))p>p>y%={*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030280.223165 s, next control iter: 1743030280.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030280.623165 s.[H~,m'"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085518< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743030280.623283F (some fields omitted in printout)AR녭@ASwe@A2X~? AȫAN%"AAikNA"AZAbAjArAzAAA} @A0/tA,q@A1JAϴANݾAd?AٿA28<*A]9?2A ֽ:A$BA]9?JA ֽRA$٘i)I9,q@YG J|<JJJJ!D&K Y2W~?yTܪNAD{7~78EB)BdE[[$[BW~?[曪[[[[BZYY i) ))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030280.643165 s, next control iter: 1743030281.023181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3779 , header.stamp.nsec: 0 0 temperature: 13.569243 * salinity: 33.375092 , density: 1025.000000 * values[0]: 0.575110 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030281.043165 s.H~,B"AJ"J*J2J:JBJnJvJA(\†@A9(a@AzHX~? A/ͫAV4%"AAkNA"AZAbAjArAzAAAc+j@AܑBtAq@AXջA<ˣAҾA?AؿA)<*AP9?2A#ֽ:ABAP9?JA#ֽRA٘i)I9q@Y"G J<JJJJ,D&K YIW~?yA8OADb77Ӷ78)B[[O[/W~?[7[[[[BZYY i) +e))'>'>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030281.083165 s, next control iter: 1743030281.443177 s, wait time: 0.360012 sIW~?)A rAdjusting time to match Gazebo time: 1743030281.463165 s.VH~,]"AA@Adpe@A^X~? A_ѫA%"AAekNA"AZAbAjArAzAAAY,@A^tAUr@AͥAAqȾA2?A׿A*<*A9?2ATֽ:AaRBA9?JATֽRAaRY @;ȾykZٓH`h|?k?@Pؿ`?E?д? t?) @ I٘i)I9Ur@Y}G Jc<JJJJ6D&K> YcW~?yOA;ȾD77j7(78)BgE[[[W~?[U[[[[BZYY i) 8ê@f< 9>))`i9>9>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030281.483165 s, next control iter: 1743030281.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3780, header.stamp.nsec: 00 temperature: 13.568881* salinity: 33.375095, density: 1025.000000* values[0]: 0.575878F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030281.883165 s.yH~,4x"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.227906> elevatorAngleAction: 0.085518< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743030281.883295F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@A4y<@A:uX~? AkիA%"AAIkNA"AZAbAjArAzAAApڑ(# @A`ґtAr@A}AkwAqԽA o?A`׿A^<*A}9?2ALֽ:AjBA}9?JALֽRAj٘i)I9r@YG J<JJJJAD&K Y}W~?yPAD)7b7~78FB)BjE[[[X~?[^[[[[BZYY i) X!))DŽKL>KL>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030281.903165 s, next control iter: 1743030282.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030282.303165 s.VH~,wg"AAzG@AU,~@AX~? AP٫AB%"AAkNA"AZAbAjArAzAAAfJgK @A5ntAms@Azp;AA=A?A03ֿA<*A9?2Aӽ:A4BA9?JAӽRA4٘i)I9s@Y;G J|<JJJJLD&K Y̗W~?yQPADb7778)BmE[[7F[X~?[S[[[[BZYY i) ,)) &_>&_>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030282.323165 s, next control iter: 1743030282.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3781*, header.stamp.nsec: 0*0 temperature: 13.568484** salinity: 33.375118*, density: 1025.000000** values[0]: 0.576673*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030282.723165 s.H~,H"AJ"J*J2J:JBJnJvJAQ@A@Ŋꉭ@AX~? AݫA%"AATlNA"AZAbAjArAzAAAĽdz @AWVL=!tA9.t@Atf;AAhAi?A.fտA<*A9?2Aӽ:ABA9?JAӽRA٘i)I9.t@YG Jj<JJJJWD&K YW~?yPAȈD7777)78)BpE[[g [t,X~?[2[[[[BZYY i) Z))!r>!r>*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030282.743165 s, next control iter: 1743030283.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030283.143165 s.Y/H~,*"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085518< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743030283.143292F (some fields omitted in printout)A)\@A@AUX~? AA%"AAg6lNA"AZAbAjArAzAAAoT@AMr#tAt@AR;AOٰAA@C?AԿA<*A9?2A&Խ:ABA9?JA&ԽRAKI٘i)I9t@YG J<JJJJaD&K YW~?yhQAӈDj7~78HB)BqE[[g[@X~?[[[[[BZYY i) o;))蜂>蜂>*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030283.163165 s, next control iter: 1743030283.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030283.563165 s.H~, "AJ"J*J2J:J?BJ?nJ5vJA̋@A鲘@AX~? A(Aj%"AAYlNA"AZAbAjArAzAAA5R@A8"ź%tA|u@A*:A۲AA@M?AӿA9[<*A9?2AoԽ:AdBA9?JAoԽRAdY9@ᨕy۲3;ٓH?n?5_ҿ ?җ?T?N_??)9@ I٘i)I9|u@YiG J<B=J2gJJJlD&Kp>  88YW~? 88yQAވDŧ7b7 88)BtE[[ [TX~?[[[[[BZYY i) p))fs > >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030283.603165 s, next control iter: 1743030283.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3782, header.stamp.nsec: 00 temperature: 13.568056* salinity: 33.375156, density: 1025.000000* values[0]: 0.577501F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030283.983165 s.H~,"AAq= ף@Aհo@AX~? A|A'%"AA}lNA"AZAbAjArAzAAA))Ça>a>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030284.003165 s, next control iter: 1743030284.383185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743030284.403165 s.&ƀH~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.256895> elevatorAngleAction: 0.085518< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199492 time: 1743030284.403310F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@ANDF@AvY~? AAY%"AAlNA"AZAbAjArAzAAArJ6@A}A)tA3v@A5ȻA+AzAV?AҿA<*A9?2Aҽ:A}BA9?JAҽRA}٘i)I9v@YAG J<JJJJD&K YX~?yRAD)88RB)BzE[[[_~X~?[[[[[BZYY i) c)) ">">W*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030284.423165 s, next control iter: 1743030284.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3783", header.stamp.nsec: 0"0 temperature: 13.567629"* salinity: 33.375153", density: 1025.000000"* values[0]: 0.578386"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030284.823165 s.̀H~,)4"AAQ@A@AY~? AA%"AAlNA"AZAbAjArAzAAAeZ@Aْb+tAlw@AɻAA4oA`Z?A)ѿApu<*AI9?2Aӽ:AVBAI9?JAӽRAV٘i)I9w@YG J'<JJJOEJD&K Y8X~?y)HSAD{7j7788SB)B}E[[eX[X~?[[[[[ZZZZ¸>BZYY i¸>h) i))QǨ>QǨ>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030284.863165 s, next control iter: 1743030285.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030285.243165 s.ӀH~,O"AJ"J*J2J:JBJnJvJA\(@Ag@A1Y~? AAq%"AAlNA"AZAbAjArAzAAA Lہ@Az\j %-tA_Ox@A=EAh0AieZA@?ANпA<*A9?2Aӽ:A))|>|>*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030285.263165 s, next control iter: 1743030285.643184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030285.663165 s.ڀH~,qj"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083485< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743030285.663278F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3784, header.stamp.nsec: 00 temperature: 13.567168* salinity: 33.375175, density: 1025.000000* values[0]: 0.579355F (some fields omitted in printout)A@AИIˏ@AfJY~? AOA:%"AAmNA"AZAbAjArAzAAAdFת@Aq.tAy@A3:AfAqWEAI,?AοA=*Ay9?2AԽ:ABAy9?JAԽRAY@~Eyf:ٓH`J??``qȿUh??@?\?@?)@ I٘i)I9y@YG J0<J;JJJD&Kmr> YnX~?yb6TA~ED{7j7T88)B[[ ־[ӾX~?[(Ȫ[[[[ZZZZBZYY i) ۹)) q5>5>L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030285.683165 s, next control iter: 1743030286.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030286.083165 s.DH~, S"AJ"J*J2J:JBJnJvJAp= א@AD2آ@A cY~? AA%"AA4mNA"AZAbAjArAzAAA{@AVNc0tAy@Ao(;AlAp@0A@R?A`ͿA=*A9?2Aս:ABA9?JAսRA٘i)I9y@Y$G J=JJJJD&K YeX~?yTAD7{7b88)BE[[_̾[X~?[˪[[[[ZZZZBZYY i) E))v>>yUl*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030286.123165 s, next control iter: 1743030286.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030286.503165 s.H~,U4"AAHz@A)) Y>Y>N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030286.523165 s, next control iter: 1743030286.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3785, header.stamp.nsec: 00 temperature: 13.566639* salinity: 33.375198, density: 1025.000000* values[0]: 0.580417F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030286.923165 s.8H~,"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083485< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743030286.923329F (some fields omitted in printout)AQ@ACoP@A۔Y~? AA%"AA'mNA"AZAbAjArAzAAANV1@A%?3tA {@A/;Ao1A^A?A@ApɿA<*A1:?2Aҽ:A6~BA1:?JAҽRA6~٘i)I9{@YG J<JJJJ‰D&K YX~?ypUA3Dŧ7b788)vBE[[˸[Y~?[Ъ[[[[ZZZZBZYY i) ))S>S>v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030286.943165 s, next control iter: 1743030287.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030287.343165 s.Dj7Z7֍88)qBE[[箾[Y~?[SӪ[[[[ZZZZBZYY i) ))7>7>*Y#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030287.363165 s, next control iter: 1743030287.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3786*, header.stamp.nsec: 0*0 temperature: 13.566166** salinity: 33.375206*, density: 1025.000000** values[0]: 0.581404*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030287.763165 s.9H~,'"AJ"J*J2J:J?BJ?nJ5vJA33333@AϚ@A?Y~? AAT%"AAKmNA"AZAbAjArAzAAAn@AZ+`5tAs|@AvAA0A?AfſA<*A*:?2Ao0Խ:AR\<BA*:?JAo0ԽRAR\JJJ؉D&Kq> YX~?yVAID77-88)mBE[[[m/Y~?[ժ[[[[ZZZZBZYY iф)  ))`o>>G[)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030287.783165 s, next control iter: 1743030288.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030288.183165 s.H~,| "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.233995@ elevatorAngleAction: -0.064853< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199442 time: 1743030288.183273F (some fields omitted in printout)Aףp= @AkD0֔@AY~? AxA/%"AAmNA"AZAbAjArAzAAA`@AjOS6tA}@AμAT3;A\2A@h?A@'ĿA:<*A. :?2AfԽ:Am<BA. :?JAfԽRAm<٘i)I9}@Y G Ji<JJJJD&K YY~?y&VATD{7j788RB)jBE[[a7[FY~?[ ت[[[[ZZZZBZYY iq晽) l))сU>U> YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743030288.203165 s, next control iter: 1743030288.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030288.603165 s.<4 H~,Ú&"AJ"J*J2J:JBJnJvJA{Gᕭ@A.@A%Y~? AA %"AA=nNA"AZAbAjArAzAAA2@A:7tAU}@AꥑAK<A[AE?A7&¿As;*A?:?2Aҽ:A,R<BA?:?JAҽRA,R<٘i)I9U}@Y0G J<<B=JJJJD&K Y 2Y~?y 3VA^D77׸88)hBE[[A=[9^Y~?[Yڪ[[[[ZZZZBZYY i) Xw"AAfffff@AG2@AJGZ~? AAi%"AAnNA"AZAbAjArAzAAAxgR!@A粪K:tAbC}@Aw(;AcUZ=A~e;AfP?A A[*Ab::?2Azӽ:A=BAb::?JAzӽRA=Y13@;y9TZ=Zu;ٓHF?qJ?3.s??hy@8Gez?1?)13@ I٘i)I9C}@Y%G JRB=J}>JJJ D&K|o> YY~?y5 VA;Dŧ7788)hBE[[/f[>Y~?[.[[[[BZYY ih) !p"@Afrq;tA=|@A&;A=Aٔ5=Abo?A`}Ak*A8S:?2AG ҽ:A =BA8S:?JAG ҽRA =٘i)I9|@YG JYNB=JJJJ#D&K  98Y=Y~? 98y qUAD77798QB)lBE[[=[&Y~?[Z[[[[BZYY i^) [ Aov%"AA+oNA"AZAbAjArAzAAAU#@A&S%3H~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066097< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200642 time: 1743030291.963324F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AKqe@A3Z~? A A.m%"AARoNA"AZAbAjArAzAAAEf$@A3,)o YZ~?y# vTAG=D)77+98PB)vBE[[I["Z~?[[[[[BZYY i) X¡;Ii~?R\< d(?))od(?d(?\ԪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030291.983165 s, next control iter: 1743030292.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030292.383165 s.EH~,8"AA= ףp@Ast<@AJZ~? A Ag%"AAzoNA"AZAbAjArAzAAAhH%@Ap"A?Ab?ALT*Am:?2A)ҽ:Am =BAm:?JA)ҽRAm =٘i)I9)z@YBG J䭼JJJJYD&K YLZ~?ySSAʉD)7b7,H98)BE[[[TZ~?[[[[[BZYY i) K;Ii?|F< L3?)) L3?L3?تYoYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030292.823165 s, next control iter: 1743030293.203185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743030293.223165 s.gSH~,HN"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066097< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743030293.223288F (some fields omitted in printout)AQ@Ad${Ɬ@A[~? A A9d%"AA@oNA"AZAbAjArAzAAAhEkA&@AxAE?A@Ӑ?Aj;*AV:?2A-ҽ:A =BAV:?JA-ҽRA =٘i)I9y@YG JJJJJcD&K YhZ~?yk?SAԉD7777V98OB)BE[[\[\nZ~?[F[[[[BZYY i) ;Ii)?]<< <8?))<8?<8?تYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030293.243165 s, next control iter: 1743030293.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030293.643165 s.yYH~,*i"AJ"J*J2J:JBJnJvJA)\@A+Kt@A1[~? A Ang%"AAoNA"AZAbAjArAzAAA&@A%dA@?A`D?ASɵ*AT:?2AZ ӽ:A^ =BAT:?JAZ ӽRA^ =٘i)I9x@YG J굼JJJJnD&K Y1Z~?yRA߉Dŧ77d98)BE[[̥4[EZ~?[[[[[BZYY i) (:Iin?e3< ~=?))~=?~=?tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3792, header.stamp.nsec: 0*֪0 temperature: 13.565886* salinity: 33.375290, density: 1025.000000* values[0]: 0.580852F (some fields omitted in printout)YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030293.663165 s, next control iter: 1743030294.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030294.063165 s.`H~,[ "AA̠@AU@AK[~? A' Am%"AA^pNA"AZAbAjArAzAAA!y}'@AT $AÅ?A ?AW*A:?2ARӽ:A=BA:?JARӽRA=Y@(O>y}=ր;ٓHcB?_ɿ`2? a?\Y?,?-Ep??)@ I٘i)I9bx@Y,G JJEJJJyD&Kq> YٟZ~?ypRA(O>DZ7Z7-s98NB)BE[[ü[Z~?[[[[[BZYY i) =9Iid?&< B?))pB?B?pӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030294.103165 s, next control iter: 1743030294.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030294.483165 s.J "J *J 2J :J ?BJ ?v_gH~nJ5vJ,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.235248@ elevatorAngleAction: -0.066097< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743030294.483309F (some fields omitted in printout)Aq= ף@Ao@Ae[~? AAw%"AA?pNA"AZAbAjArAzAAAp^(@Afe;tAw@A'A2=AY d>A5}?AV?A箼*A":?2A$Խ:A=BA":?JA$ԽRA=٘i)I9w@YG JB=JJJJD&K YZ~?y RAD7798)BE[[Z[ȻZ~?[[[[[BZYY i) #Iigr?#< B5H?))WB5H?B5H?7ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030294.503165 s, next control iter: 1743030294.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3793, header.stamp.nsec: 00 temperature: 13.566049* salinity: 33.375286, density: 1025.000000* values[0]: 0.580200F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030294.903165 s./mH~,Fι"AAGz@A̯F@A[~? AA΃%"AAWgpNA"AZAbAjArAzAAA9u(@A W;tA;w@A%iAK=A$x>At?A??A**Aڪ:?2A?ӽ:A7=BAڪ:?JA?ӽRA7=٘i)I9;w@YyG JC=JJJJD&K Y*Z~?y4QAD7؏98MB)BE[[iύ<[Z~?[ [[[[BZYY i) źIia?}< V~M?)) V~M?V~M?,ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030294.923165 s, next control iter: 1743030295.303184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030295.323165 s.J "J *J 2J :J u?BJ u?nJ 5vJ tH~,W"A*Z~?)4AQ@AA8h?A ?Aʥ*A^:?2Aaӽ:A0<BA^:?JAaӽRA0<٘i)I9v@Y#G J/JJJJD&K YZ~?yo;QA Dj7SI7-98)BE[[4*=[.Z~?[[[[[BZYY i) IiR?< ~R?))~R?~R?ɪYFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743030295.343165 s, next control iter: 1743030295.723179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3794*, header.stamp.nsec: 0*0 temperature: 13.566195** salinity: 33.375332*, density: 1025.000000** values[0]: 0.579623*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030295.743165 s.W{H~,\"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066097< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743030295.743258F (some fields omitted in printout)A\(@A*@A[~? AA%"AApNA"AZAbAjArAzAAAa@()@Avy%:tAp$v@A4A.=Arq>A X?AN?A*A#:?2AԽ:AW<BA#:?JAԽRAW<٘i)I9$v@YG J>JJJJD&K Y{[~?yPADZ798)B[[4r=[ [~?[i[[[[BZYY i) @[IiE?s; 0X?))0X?0X?tƪYNYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030295.763165 s, next control iter: 1743030296.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030296.163165 s.t}H~,q "AJ"J*J2J:JN?BJN?nJ5vJA@Asˤ@Az[~? AA%"AAIpNA"AZAbAjArAzAAA%`HՐ*@A4g9tAɜu@A8;A#=Aa>AF?A-?AdZ*A:?2AԽ:Ae<BA:?JAԽRAey!=\;ٓH@z?J ӿ`(?`? :?G˕?gG`R?)t= I٘i)I9u@Y|G JzJ\JJJD&Kr> Yt)[~?y uPA> CD77ٺ98LB)B¹E[[Zx=[$[~?[[[[[BZYY ib) oIi1?; ~]?))r~]?~]?êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030296.183165 s, next control iter: 1743030296.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030296.583165 s.戁H~, S%"AAp= ץ@A Qע@A;[~? AKA%"AAcqNA"AZAbAjArAzAAAcS-+@AA 8tAu@Aw;A=A>AS2?AL?A=*AѤ:?2Aս:Ah<BAѤ:?JAսRAh<٘i)I9u@Y+G JfJJJJD&K YkD[~?ynPA*Db77.98KB)BŹE[[R=[ ?[~?[[[[[BZYY i) {:Ii?; ,b?)),b?,b?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030296.623165 s, next control iter: 1743030296.983178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3795 , header.stamp.nsec: 0 0 temperature: 13.566333 * salinity: 33.375343 , density: 1025.000000 * values[0]: 0.579057 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030297.003165 s.| H~,]4@"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.257087@ elevatorAngleAction: -0.074895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743030297.003302F (some fields omitted in printout)AHz@A]6y@A\~? AA%"AA\+qNA"AZAbAjArAzAAARF++@A9 7tAt@A;;A|=A>A ?A?Aor*AȽ:?2A]ӽ:A:=BAȽ:?JA]ӽRA:=٘i)I9t@YG JJJJJĊD&K Yb_[~?yOA5D{7{798)BȹE[[J=[Y[~?[-[[[[BZYY i) ʻIi?; dAh?)) dAh?dAh?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030297.043165 s, next control iter: 1743030297.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743030297.423165 s.uH~,["AAQ@A@P@Au\~? AA`%"AA1RqNA"AZAbAjArAzAAAu_]c,@A?96tAt@Am;A=A&>A@3?A৫?AF*A:?2Aӽ:A=BA:?JAӽRA=٘i)I9t@YG JuJJJJϊD&K Y[z[~?y1WOA@Dj7Z798JB)B˹E[[>[Kt[~?[[[[[BZYY i) Ii0?Y\; m?))m?m?yLYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030297.443165 s, next control iter: 1743030297.823177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3796&, header.stamp.nsec: 0&0 temperature: 13.566447&* salinity: 33.375320&, density: 1025.000000&* values[0]: 0.578534&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030297.843165 s.ݜH~,u"AJ"J*J2J:J?BJ?nJL5vJA(\@A'@A3\~? A6A3%"AAxqNA"AZAbAjArAzAAAw6ɕ,@A)|v5tAs@A :Ah@=ABZ>A?Av?A*Aس:?2AflԽ:Az=BAس:?JAflԽRAz=٘i)I9s@YBG JΓJJJJڊD&K YR[~?yNAJD777.98IB)BιE[[u|(>[ [~?[[[[[BZYY i) yIi >&; .s?)).s?.s?FYAYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030297.863165 s, next control iter: 1743030298.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030298.263165 s.H~,ؐ"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743030298.263283F (some fields omitted in printout)A33333@A_)@A=M\~? A4AFY%"AAZqNA"AZAbAjArAzAAA=1-@AD<4tAs@A~8A+=A)>A W?AG?Aߏ*AH:?2Ap2ս:Aq=BAH:?JAp2սRAq=Y';> >y+=8ٓH a? ٿ :n? ?r?v۝? b`g`?)';> I٘i)I9s@YG JѐB=JwUJJJD&Ks>  :8YS[~? :8y NA>UDZ7Z7:8GB)B͹E[[/>>[k[~?[R[[[[BZYY i) LIir>x; Лx?))tЛx?Лx?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030298.303165 s, next control iter: 1743030298.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3797., header.stamp.nsec: 0.0 temperature: 13.566561.* salinity: 33.375351., density: 1025.000000.* values[0]: 0.578041.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030298.683165 s.lH~,R"AJ"J*J2J:J?BJ?nJ*5vJAףp= @A ֩@Anf\~? A AЁ%"AAqNA"AZAbAjArAzAAA6*H0.@Auq2tA[r@A'Aɠ=Ai>A4?AS?A"*Ai:?2Aս:A=BAi:?JAսRA=٘i)I9r@YG JC=JJJJD&K YR[~?y[[~?[[[[[BZYY i) 5"Iin>L; $~?))$~?$~?yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030298.683165 s, next control iter: 1743030299.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743030299.103165 s.H~,"AA{G᪭@A*:@Ay\~? AA%"AAqNA"AZAbAjArAzAAA/3k!.@A@1tA-r@AAq=AϘ>A ?AT?Aב*Ab:?2A7Խ:A=BAb:?JA7ԽRA=JI٘i)I9-r@YeG JSJJJJD&K YQ[~?y<MAkDb77/:8EB)BӹE[[*j>[[~?[ߪ[[[[BZYY i) >2Ii>8#; Ḿ?)) Ḿ?Ḿ?:ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030299.143165 s, next control iter: 1743030299.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030299.523165 s.H~,{"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743030299.523252F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A0@A\\~? A=AD%"AArNA"AZAbAjArAzAAAB uC_/@AAC/tAYq@AQ2ARm=A>AFb?A ?AZ*A(:?2AikԽ:A=BA(:?JAikԽRA=٘i)I9q@YG JMB=JJJJD&K YR[~?yMAuD7-:8)BֹE[[6>[;[~?[ݪ[[[[BZYY i) 9AIiH>Z; ?))??ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030299.543165 s, next control iter: 1743030299.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3798, header.stamp.nsec: 00 temperature: 13.566654* salinity: 33.375378, density: 1025.000000* values[0]: 0.577562F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030299.943165 s.dH~,^"AA(\@A7[@A\~? AA %"AA/7rNA"AZAbAjArAzAAA[/@A dSa.tA1q@AI{:Ac=A>A<;?Af}?A]p*A?:?2A#Խ:A3 =BA?:?JA#ԽRA3 =٘i)I91q@YG JC=JJJJD&K YR\~?yXߪ$MAD7)7;:8DB)BٹE[[j>[\~?[۪[[[[BZYY i) R3QIiw>': tb?))tb?tb?VɪY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030299.963165 s, next control iter: 1743030300.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030300.363165 s.ŁH~,}>"AJ"J*J2J:JBJnJvJAfffff@AZ72@A\~? AAB%"AA\rNA"AZAbAjArAzAAA1-D0@Af,,tAp@A0;A&,=Au?At?Aʞ?A+Ҟ*AM:?2ADս:AJ! =BAM:?JADսRAJ! =Y>?y+=;ٓH?v޿??? ?Oqv?@r?)> I٘i)I9p@Y|G JsJt+<JJJD&Kt> Y0\~?y۪LA?D770J:8CB)BܹE[[~>[6.\~?[2٪[[[[BZYY i) l`Ii͛=RmG: '?))=x'?'?˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030300.383165 s, next control iter: 1743030300.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3799&, header.stamp.nsec: 0&0 temperature: 13.566765&* salinity: 33.375378&, density: 1025.000000&* values[0]: 0.577056&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030300.783165 s.VˁH~,2"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242420@ elevatorAngleAction: -0.074895< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743030300.783282F (some fields omitted in printout)A ףp=@A5z5@ @A\~? AA,z%"AArNA"AZAbAjArAzAAApjώ0@AT5c*tA'p@A;#;A=AO?A@?A?A㡼*A|:?2AJս:A& =BA|:?JAJսRA& =٘i)I9'p@Y*G JQJJJPEJ%D&K YH\~?y֪]LAD{7{7X:8)¯B[[ۭ>[H\~?[֪[[[[BZYY i) oIi)< 8 d?)) d?d?ͪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743030300.823165 s, next control iter: 1743030301.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743030301.203165 s.ӁH~,!M"AJ"J*J2J:JBJnJvJAGz@A/J஭@A-\~? AAϴ%"AAjrNA"AZAbAjArAzAAAښ-0@Awm)tAo@At;A =AD ?A &?A`j?A<*Ao:?2AԽ:A9 =BAo:?JAԽRA9 =٘i)I9o@YG JԢJJJJ0D&K Ya\~?yҪKAD77f:8BB)ƯB߹E[[>[b\~?[Ӫ[[[[BZYY i) ~I2I?i E%6 ?))??ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030301.223165 s, next control iter: 1743030301.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030301.623165 s.YفH~,eg"AAR믭@A\wT@A$]~? AAh%"AArNA"AZAbAjArAzAAAJ/ 1@Az'tASo@AeDA0=A?A?A`rC?A *A:?2A"ս:Aj =BA:?JA"սRAj =٘i)I9o@YG JJJJJ:D&K YSz\~?yeΪKAD70u:8?B)E[[Q>[F}\~?[Ъ[[[[BZYY i) I I?iQ˽ z?))z?z?ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030301.643165 s, next control iter: 1743030302.023180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3800, header.stamp.nsec: 00 temperature: 13.566890* salinity: 33.375389, density: 1025.000000* values[0]: 0.576518F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030302.043165 s.H~,Â"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083807< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743030302.043292F (some fields omitted in printout)A(\°@A:p@A)]~? A1A2%"AArNA"AZAbAjArAzAAA0żh1@A;37,$tAn@AEA =A=?A R?A`?A *A:?2Aս:A|=BA:?JAսRA|=٘i)I9n@Y0G J7B=JJJJED&K Y\~?y'ʪ3KAD)7b7:8>B)ɯBE[[>[\~?[ͪ[[[[BZYY i) #I I?i懻 EG?))EG?EG?y쌫&ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030302.063165 s, next control iter: 1743030302.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030302.463165 s.WH~,줝"AA@A<-?pe@AiA]~? A߫A5v%"AAsNA"AZAbAjArAzAAA~*j 1@A "tAn@AͻAQ=A"z?A@?A?A3*A:?2A$ֽ:A}=BA:?JA$ֽRA}=Yb>UZ?y=mλٓH yG?( ᦮?? !Y??y?)b> I٘i)I9n@YG J0C=JJ9<JJJPD&Ku> YU\~?y*ŪJAZ?D777ۑ:8)ίB[[>[d\~?[Mʪ[[[[BZYY i) 4*II?iYo H?))39{H?H?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030302.483165 s, next control iter: 1743030302.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3801, header.stamp.nsec: 00 temperature: 13.567029* salinity: 33.375412, density: 1025.000000* values[0]: 0.575953F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030302.883165 s.J "J *J 2J zH~:Jq?BJq?,]"AnJ5vJA= ףp@At<@AX]~? A۫Ag%"AAc6sNA"AZAbAjArAzAAAu1@AP_ tAvm@Ah/A$=AM?A ?A ?Aܛ*Agw:?2Adֽ:A=BAgw:?JAdֽRA=٘i)I9vm@YG JgJJJJ[D&K Y\~?y,_JAˊD{70:8=B)ѯBE[[O}>[.\~?[ƪ[[[[BZYY i) MI&I?iR4 ǚ?)) ǚ?ǚ?!ݪYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743030302.903165 s, next control iter: 1743030303.283184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030303.303165 s.UH~,sg"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083807< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743030303.303313F (some fields omitted in printout)AzG@AT7@Ao]~? A*ثA~%"AAYsNA"AZAbAjArAzAAApvLx<2@AQ!=tAl@AAv=A7$?A ?Al?Aޕ*A]:?2Aս:A=BA]:?JAսRA=٘i)I9l@Y-G JJJJJeD&K Y\~?y/IA֊D77:8[\~?[ª[[[[BZYY i) "II?i `X 5?))5?5?uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030303.323165 s, next control iter: 1743030303.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3802., header.stamp.nsec: 0.0 temperature: 13.567191.* salinity: 33.375431., density: 1025.000000.* values[0]: 0.575393.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030303.723165 s.H~,H"AJ"J*J2J:JL?BJL?nJt5vJAQ@Ad곭@A]~? A3ԫAaQ%"AA<|sNA"AZAbAjArAzAAAlÉ2@ArytAiKl@A;A=A)?AXo?A'x?Ap*Ax:?2A7ս:A#=BAx:?JA7սRA#=٘i)I9Kl@YG JJJJJpD&K Y\~?y1IADܼ:8;B)دBE[[>[\~?[[[[[BZYY i) TIhH?id݊w h?))h?h?YOYFFF]Waiting for Gazebo time sync: latest Gz time: 1743030303.743165 s, next control iter: 1743030304.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030304.143165 s.Z/H~,* "AA)\@A` @A]~? AЫA%"AAsNA"AZAbAjArAzAAA<)Q2@A ^PtAZk@A;A4=A.?A`1?AE?A<>*A[n:?2ALս:AI=BA[n:?JALսRAI=٘i)I9k@YpG J/JJJJ{D&K YW]~?y3!IADŧ7b71:8)ݯB[[A>[ ]~?[ܺ[[[[BZYY i) IH?iվ kB?))kB?kB?~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030304.163165 s, next control iter: 1743030304.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030304.563165 s.H~,k $"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083807< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743030304.563308F (some fields omitted in printout)A̵@Aޮ@AG]~? A˫AI%"AAsNA"AZAbAjArAzAAAϊE 3@Ab_,tA k@Al];AY=A4?A`c?A`?A$cü*AYd:?2Aս:AR=BAYd:?JAսRAR=Y1>14?yX=P;ٓH@6O?@.?`*?Og?U?dঋu? ;?)1> I٘i)I9 k@Y G J6B=J <JJJD&Ku> Y]~?yHA14?D7777:87B)ޯBE[[yh?[1]~?[[[[[BZYY i) jIH?iw D ?))~D ?D ?sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030304.583165 s, next control iter: 1743030304.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3803, header.stamp.nsec: 00 temperature: 13.567346* salinity: 33.375439, density: 1025.000000* values[0]: 0.574725F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030304.983165 s.H~,>"AAq= ף@Ao@A>]~? A{ǫANE%"AA sNA"AZAbAjArAzAAAhK3@A tAej@AI%:A$7=A1d9?A[?At?AƼ*AZ:?2Amֽ:A=BAZ:?JAmֽRA=٘i)I9ej@YG JļC=JJJJD&K Y\2]~?yХ;HADb77:85B)BE[[C; ?[I]~?[[[[[BZYY i) .¼IH?i  ߨ?)) ߨ?ߨ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030305.003165 s, next control iter: 1743030305.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030305.403165 s.&H~,Y"AJ"J*J2J:J ?BJ ?nJ/5vJAGz@AVF@A]~? A«A%"AA!tNA"AZAbAjArAzAAA3@A$>zKtANi@AJA=A>?A |h?A?AWbȼ*Ab:?2Aս:Ad=BAb:?JAսRAd=٘i)I9i@YBG JAǼJJJJD&K YG]~?yGA D{7{72:8)B[[?[b]~?[K[[[[BZYY i) ʼIbH?iA» v?))v?v?yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030305.423165 s, next control iter: 1743030305.803183 s, wait time: 0.380018 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3804", header.stamp.nsec: 0"0 temperature: 13.567561"* salinity: 33.375439", density: 1025.000000"* values[0]: 0.574049"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030305.823165 s.H~,-t"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083807< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743030305.823282F (some fields omitted in printout)AQ@AϷ@AG]~? AOA%"AA#tNA"AZAbAjArAzAAA1/U3@AF Yp]~?yejFAN?+Db772!;80B)BE[[!?[]~?[[[[[ZZ¸BZYY i¸2=) 4̼ILH?i;+ u]?))u]?u]?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030306.683165 s, next control iter: 1743030307.063184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030307.083165 s.D1H~,S"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084569< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743030307.083291F (some fields omitted in printout)Ap= ׺@Ah颺@A~2^~? AA'%"AAւtNA"AZAbAjArAzAAA6P4@AQttA3g@A ;A8=AES?A|C?A\?A;ռ*A<:?2Abֽ:A|=BA<:?JAbֽRA|=٘i)I9g@Y G JӼB=JJJJƋD&K Y]~?y EA6D77{7/;8/B)BE[['?[e]~?[p[[[[ZZBZYY i) IxH?ieI >?))>?>?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030307.103165 s, next control iter: 1743030307.483182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743030307.503165 s.7H~,L4"AAHz@AϜy@AF^~? AgAt%"AAtNA"AZAbAjArAzAAA4@ArыMtAAf@Aƈ;Av=AmX?A@?Ag?Ae*AA:?2A{ֽ:A<BAA:?JA{ֽRA<٘i)I9Af@Y# G J C=JJJJыD&K Y]~?yyEAAD77=;8)B[[-?[]~?[[[[[ZZBZYY i) ˗IH?i.Uo '?))'?'?yŞ=nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030307.523165 s, next control iter: 1743030307.903180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3806, header.stamp.nsec: 00 temperature: 13.568001* salinity: 33.375481, density: 1025.000000* values[0]: 0.572565F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030307.923165 s.=>H~,"AJ"J*J2J:JBJnJvJAQ@AξP@ALZ^~? AA%"AAtNA"AZAbAjArAzAAA៨5@A4sAce@AI;A =A-]?A@?A?A]*A`I:?2Adֽ:A<BA`I:?JAdֽRA<٘i)I9ce@Y G JJJJJ܋D&K Y]~?y`{EALDb73L;8-B)BE[[3?[~]~?[،[[[[ZZBZYY i) 픨IH?i^ ?))??y=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030307.943165 s, next control iter: 1743030308.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030308.343165 s. elevatorAngleAction: 0.084569< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743030308.343291F (some fields omitted in printout)A(\@Al:(@Am^~? AAB%"AA]tNA"AZAbAjArAzAAA`)%[>5@AfsA*d@AA;Ar=Ab?A`O?Au?Ao*AL:?2A6ֽ:ARh<BAL:?JA6ֽRARh<٘i)I9d@Y G JJJJJD&K Y]~?y uDAVD{7{7Z;8,B)BE[[9?[^~?[[[[[ZZBZYY i) ?IH?if  ?)) ? ?!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030308.363165 s, next control iter: 1743030308.743179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3807&, header.stamp.nsec: 0&0 temperature: 13.568274&* salinity: 33.375465&, density: 1025.000000&* values[0]: 0.571608&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030308.763165 s.8KH~,#0 "AJ"J*J2J:JBJnJvJA33333@A@A^~? A,A%"AAztNA"AZAbAjArAzAAAT0x5@Aq1GesAc@AQA7/.=A7h?A #?ApC?Aͼ*A>M:?2Aֽ:A?;BA>M:?JAֽRA?;Y|0? 2h?y!/.=ٓH?4f Y]~?ynODA2h?aD777h;8)B) BE[[??[ ^~?[[[[[ZZBZYY i&=) ʑIqH?i?u& M?))M?M?tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030308.783165 s, next control iter: 1743030309.163177 s, wait time: 0.380012 s&]~?)&n rAdjusting time to match Gazebo time: 1743030309.183165 s.RH~,K "AAףp= @Ap'־@AT^~? AA%"AA uNA"AZAbAjArAzAAA:]5@A唔#sA6/c@AʻA<A}um?A@զ?A?A"*AI:?2A1ֽ:A1&BAI:?JA1ֽRA1&٘i)I9/c@YD G JLJJJJD&K Y}]~?y$gDAlD77{73w;8'B)BE[[E?[2^~?[z[[[[ZZBZYY i) MIyH?i݀N$ ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030309.203165 s, next control iter: 1743030309.583185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743030309.603165 s.44YH~,f "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074763< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743030309.603309F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G῭@AT@A^~? AA7%"AA 3uNA"AZAbAjArAzAAAIeP5@AZlsAb@AaAe<Ar?AP?Ab?AYv*AE:?2ASֽ:ABAE:?JASֽRA٘i)I9b@Y G J`JJJJD&K Y^~?y2`CAwD)7ŧ7;8)B[[L?[H^~?[ns[[[[ZZBZYY i) txI)kH?i+ ?))??ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030309.643165 s, next control iter: 1743030310.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3808 , header.stamp.nsec: 0 0 temperature: 13.568521 * salinity: 33.375507 , density: 1025.000000 * values[0]: 0.570844 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030310.023165 s.Z`H~,5| "AAQ@Az'@A^~? AވA%"AA|NuNA"AZAbAjArAzAAA36@Auax sAIYb@AWAÍ׻Aw?A?A 5G?Aɉ&*A>:?2Ai׽:A}BA>:?JAi׽RA}٘i)I9Yb@Y G JTJJJJD&K YX^~?y?YCAD77{7ޓ;8&B)BE[['R?[\^~?[l[[[[ZZBZYY i!=)  bIL\H?iM1 ?))??ywʘ=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030310.043165 s, next control iter: 1743030310.423186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743030310.443165 s.6fH~,:] "AJ"J*J2J:J?BJ?nJ*5vJA(\@A}˜.[@A^~? AނAo%"AAViuNA"AZAbAjArAzAAA4H GS6@Af+sA b@ABйAAY}?A@7?A`?As춻*Aj5:?2A ׽:ABAj5:?JA ׽RA٘i)I9 b@Y G JIJJJJD&K Y+^~?yMReCAD4;8)B[[yQX?[qq^~?[e[[[[ZZBZYY i) YMIMH?i{5 ?))??y%=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030310.463165 s, next control iter: 1743030310.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3809, header.stamp.nsec: 00 temperature: 13.568624* salinity: 33.375496, density: 1025.000000* values[0]: 0.570430F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030310.863165 s.+mH~,> "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084049< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743030310.863329F (some fields omitted in printout)Afffff­@A1=2­@A^~? A|A%"AAuNA"AZAbAjArAzAAA_$6@AaqsAmb@A);ApAJ.?A }?Av?Av:ƺ*A%:?2A5׽:AV ͼBA%:?JA5׽RAV ͼY:J?)?y%=;ٓH ?@x |?@V ?瞿{ޠ?,q?y?):J? I٘i)I9b@Y G J{J7JJJ'D&Kx> Y:^~?yJCA)?D77;8!B)BE[[&r^?[@^~?[r^[[[[BZYY io=) ;I,=H?io= ?))??y7=3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030310.883165 s, next control iter: 1743030311.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030311.283165 s.:RtH~, "AJ"J*J2J:J?BJ?nJ5vJA ףp=í@AAA í@A^~? AvA)^%"AAFJŹ6@AؓFsA`b@A6;A5A̓?A@4?A8?A -;*A:?2A;׽:At$BA:?JA;׽RAt$٘i)I9b@Y G J9JJJJ2D&K YI^~?y^CCAD77{7޾;8B)B[[d?[^~?[W[[[[BZYY i懌=) *I,H?i|vD ?))??y5=)t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030311.303165 s, next control iter: 1743030311.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3810., header.stamp.nsec: 0.0 temperature: 13.568590.* salinity: 33.375492., density: 1025.000000.* values[0]: 0.570353.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030311.703165 s.׺zH~, "AAGzĭ@AܼqRí@A^~? A;pAm%"AAAuNA"AZAbAjArAzAAAᣉ%6@A9tDsA)b@A;A\AYg?AL?AÄ?A;*Ai:?2Ai#׽:AiWBAi:?JAi#׽RAiW٘i)I9)b@Y G J;JJJJ elevatorAngleAction: 0.068619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743030312.123332F (some fields omitted in printout)ARĭ@AWĭ@A _~? AiAT%"AAuNA"AZAbAjArAzAAAի~A7@An]GsAuib@A!P:A#L{A?A Y^~?y%DA1?̋D774;8)B[[C}?[^~?[&8[[[[BZYY i)Lo=) %λIG?ikX ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030312.983165 s, next control iter: 1743030313.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030313.383165 s.ؕH~,8X "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058422< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743030313.383289F (some fields omitted in printout)A= ףpǭ@A1q<ǭ@A8_~? AUA%"AAvNA"AZAbAjArAzAAAΣ7@A5'sAYc@ASȻAȎA?A?A}?AQ<*AU:?2Aֽ:ABAU:?JAֽRA٘i)I9c@Y G JJ<JJJJgD&K  <8Y5^~? <8y/ EA׋D{7{7<8B)BE[[e?[^~?[ 0[[[[BZYY i) ߜIG?i^  ?)) ? ?*YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743030313.423165 s, next control iter: 1743030313.783179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3812&, header.stamp.nsec: 0&0 temperature: 13.568154&* salinity: 33.375534&, density: 1025.000000&* values[0]: 0.571188&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030313.803165 s.zAH~,gs "AJ"J*J2J:JBJnJvJAzGȭ@AW ȭ@A&F_~? A/OAX%"AA)vNA"AZAbAjArAzAAAus7@AzEOsA3d@AAAd?A ?AF?A<*AS:?2A׽:AMBAS:?JA׽RAM٘i)I93d@Y G J@<B=JJJJrD&K Y^~?yKoEADj7<8)B[[?[_~?['[[[[BZYY i) eIG?igc F?))F?F?l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030313.823165 s, next control iter: 1743030314.203181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030314.223165 s.gH~,H "AAQɭ@Afȭ@AS_~? AMHA$%"AA>vNA"AZAbAjArAzAAAP|#7@AqDksAd@A5;AA ?AB?A!$?AY<*A:?2A;2׽:A BA:?JA;2׽RA ٘i)I9d@Y; G J׭<C=JJJJ}D&K YG^~?yh EAD774#<8B)BE[[k)?[_~?[^[[[[BZYY i) eISG?i44f 2?))2?2?y0o=y*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743030314.243165 s, next control iter: 1743030314.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030314.643165 s.ЩH~,=* "AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058422< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743030314.643302F (some fields omitted in printout)A)\ɭ@ANɭ@Aa_~? AUAAWe%"AAISvNA"AZAbAjArAzAAAV; 8@A#*sA[e@Aq~;A`A+?A*n?A b?Ap(<*A :?2AJ׽:A\ BA :?JAJ׽RA\ ٘i)I9[e@Y G J<JJJJD&K Yѵ^~?y5FAD77{71<8B)BE[[XQ?[_~?[[[[[BZYY i) >(IəG?ih M?))M?M?*YFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3813, header.stamp.nsec: 00 temperature: 13.567820* salinity: 33.375526, density: 1025.000000* values[0]: 0.571891F (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743030314.663165 s, next control iter: 1743030315.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030315.063165 s.H~,t "AAʭ@Aʭ@Am_~? AG:A0%"AAgvNA"AZAbAjArAzAAAr3yF8@AGȀܽsA e@A^;ASAO?A@?A@%?AE<*A:?2A?׽:AJBA:?JA?׽RAJYf~?Z??yR;ٓH@ [?`~?@d? ಿ@?z?@?)f~? I٘i)I9e@Y G J+<J3JJJD&Kx> Y^~?yEFA??Dj7?<8)B[[u?[-_~?[1[[[[BZYY i) ׺IG?iLn :[?)):[?:[?#*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030315.083165 s, next control iter: 1743030315.463184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030315.483165 s.y_H~, "AJ"J*J2J:J?BJ?nJ5vJAq= ף˭@Ao˭@Az_~? A&3Ax%"AAzvNA"AZAbAjArAzAAA'W5l8@A7! sAyf@A:];A(A?A$?A?Aδ<*A:?2A׽:ABA:?JA׽RAII٘i)I9f@YP G Ju<JJJJD&K Y^~?yGA D{7{75N<8)߯B[[2?[H;_~?[k[[[[BZYY i$=) έ?IGqG?i@Ls o?))o?o?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030315.503165 s, next control iter: 1743030315.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3814, header.stamp.nsec: 00 temperature: 13.567482* salinity: 33.375523, density: 1025.000000* values[0]: 0.572652F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030315.903165 s.ȽH~, "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067453< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743030315.903289F (some fields omitted in printout)AGz̭@A::F̭@A_~? A+A%"AAXvNA"AZAbAjArAzAAA@8@A\sA#g@AM=˺A-A$t?A`?A?A<*A1:?2A ֽ:AaBA1:?JA ֽRAa٘i)I9#g@Y G J6<JJJJD&K Y|^~?yoGA CD7ŧ7\<8B)֯BE[[}ɔ?[H_~?[[[[[BZYY i) B9I\G?iv ҉?))҉?҉?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030315.923165 s, next control iter: 1743030316.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030316.323165 s.zĂH~,6 "AJ"J*J2J:JBJnJvJAQͭ@Aqͭ@AN_~? A$A%"AAvNA"AZAbAjArAzAAA>g8@AթsAg@AyALA?A` ?A@E?A-<*A7:?2A6ֽ:AdBA7:?JA6ֽRAd٘i)I9g@Y G Jϯ<B=JJJJD&K Ya^~?yGA"D777j<8)ѯB[[!?[+T_~?[{[[[[BZYY i) ,h:IGG?i¿y Ҩ?))Ҩ?Ҩ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030316.343165 s, next control iter: 1743030316.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3815*, header.stamp.nsec: 0*0 temperature: 13.567125** salinity: 33.375542*, density: 1025.000000** values[0]: 0.573400*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030316.743165 s.W˂H~,~/ "AA\(έ@AN_ͭ@A._~? ANA %"AAӮvNA"AZAbAjArAzAAA[Xz8@A#R -sAEh@AۻAA?A@,?Ax?A~<*A:?2Aֽ:A 3BA:?JAֽRA 3٘i)I9Eh@Y] G J-<C=JJJQEJD&K YE^~?yJܩAHA-Dŧ7b77y<8)ͯB[[%?[__~?[Z[[[[BZYY i) F;I2G?i$ÿay ?))??ye=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030316.783165 s, next control iter: 1743030317.143180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743030317.163165 s.s}҂H~,qJ "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067453< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743030317.163268F (some fields omitted in printout)J"J*J2J:JBJnJvJAϭ@Aέ@A_~? AA%"AAvNA"AZAbAjArAzAAAhK8@A sAh@ApA>ADC?AK?A?A<*Ag:?2A׽:A2BAg:?JA׽RA2YX@?L?y퇊ٓH x*?s ˹`?v8?v`M?Vq@1?)X@? I٘i)I9h@Y G J<Ju<JJJȌD&Kx> Yl^~?yөHAL?8D7{7<8)ɯB[[R?[5j_~?[([[[[BZYY i) /=B;I:G?iǿ ~ ?))??߼*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030317.183165 s, next control iter: 1743030317.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030317.583165 s.؂H~, Se "AAp= ϭ@AKUڢϭ@Az_~? AgAlB%"AAcvNA"AZAbAjArAzAAA@9@A`sAOi@A:A A ?A f?A?A^<*Ac:?2A0׽:A0BAc:?JA0׽RA0٘i)I9Oi@Y G J<JJJJӌD&K Y^~?yA˩HABD{7<8 B)BE[[$?[&t_~?[ש[[[[BZYY i) ;IG?iɿ* @))@@*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743030317.603165 s, next control iter: 1743030317.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3816, header.stamp.nsec: 00 temperature: 13.566805* salinity: 33.375565, density: 1025.000000* values[0]: 0.574103F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030318.003165 s.w H~,H4 "AJ"J*J2J:JBJnJvJAHzЭ@A yЭ@A_~? AA%"AA vNA"AZAbAjArAzAAA -9@AUgysAQi@A5e;ANAۏ?A?A <?A<*A :?2A*M׽:AxBA :?JA*M׽RAx򼙘٘i)I9i@YJG JK<JJJJތD&K Y^~?y©XIAMD777<8)B[[h?[_}_~?[pΩ[[[[BZYY i) F;IF?i˿G @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030318.023165 s, next control iter: 1743030318.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030318.423165 s.uH~, "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067453< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743030318.423277F (some fields omitted in printout)AQѭ@AaPѭ@A_~? AAAh%"AAvNA"AZAbAjArAzAAA8aH9@A8ZՙsAqBj@Ae;A8!A/?A&2?A$/?AHË<*Ay:?2AQN׽:ARBAy:?JAQN׽RAR񼙘٘i)I9Bj@YG J؍<JJJJD&K Y_~?y6IAXDj7Z7<8)B[[p?[؅_~?[ĩ[[[[BZYY i) ;IF?i;̿R 9@))9@9@Z*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743030318.443165 s, next control iter: 1743030318.823176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3817", header.stamp.nsec: 0"0 temperature: 13.566527"* salinity: 33.375587", density: 1025.000000"* values[0]: 0.574750"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030318.843165 s.H~, "AJ"J*J2J:JBJnJvJA(\ҭ@A'ҭ@A2_~? AA%"AAvNA"AZAbAjArAzAAAb9@AS(sAj@A>z;ArADz?Aya?AxV?AG<*A:?2Ax3׽:ABA:?JAx3׽RA򼙘٘i)I9j@YG J<JJJJD&K Y _~?yJAcDb7b7<8)B[[?[_~?[d[[[[BZYY i=) h ;IF?i˿s  :@)) :@ :@d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030318.863165 s, next control iter: 1743030319.243188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743030319.263165 s.H~, "AA33333ӭ@Aҭ@A_~? AA%"AAwNA"AZAbAjArAzAAAx߄y9@A!=&tsA*k@A1<:AAZ?A j?AE{?Aމ<*A:?2A ׽:ABA:?JA ׽RAY;L?X?ya<:ٓH?`ŷ,?ݡ?U?>G??);L? I٘i)I9*k@Y G J<J;JJJD&Kx> Y]_~?ykJAX?mD77{77<8B)BE[[AM?[_~?[ʱ[[[[BZYY i) `;IF?iοM @))@@*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743030319.283165 s, next control iter: 1743030319.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 38182, header.stamp.nsec: 020 temperature: 13.5662712* salinity: 33.3755762, density: 1025.0000002* values[0]: 0.5753122F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030319.683165 s.lH~,V "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077102< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743030319.683257F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= ԭ@Aӭ@A~_~? A"A*%"AAwNA"AZAbAjArAzAAAA`9@A)sA`k@A]…AqA?A?A T?AH%<*A :?2Aֽ:A~BA :?JAֽRA~٘i)I9k@YfG J<JJJJ D&K Y_~?yGJAxD77<8B)BE[[끱?[_~?[[[[[BZYY i)  elevatorAngleAction: 0.077102< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198332 time: 1743030320.943314F (some fields omitted in printout)A(\֭@A/5B?[֭@A_~? AЪA%"AA].wNA"AZAbAjArAzAAA.SU9@A&^\}sAl@AA=AĿ?A@&?A?AB<*Aw9?2AF׽:AjBAw9?JAF׽RAj٘i)I9l@Y7G J<JJJJ)D&K  =8Y _~? =8y)KAD{7=8)B[['#?[_~?[Ɋ[[[[BZYY i) F<W "AJ"J*J2J:J?BJ?nJ5vJAfffff׭@AnB<2׭@A_~? AȪA&"AA6wNA"AZAbAjArAzAAA49@A9ގxsAhm@A$D;A<ӌAk?AC?AR?A<*A 9?2A>2׽:A#BA 9?JA>2׽RA#YX?d?yӌD;ٓH?1C@?`?@񚱿`Ֆ?h??)X? I٘i)I9hm@Y~G J<J&JJJ4D&Kx> Y-"_~?y^}-LAd?D777=8)B[[W?[_~?[[[[[BZYY i) &HLwNA"AZAbAjArAzAAAM9@A/lЭssAm@A;Ac̏A?A^?A {$?A<*A9?2A?׽:ABA9?JA?׽RA٘i)I9m@YG J<JJJJ>D&K Y#_~?ytLADS779%=8)B[[э?[ح_~?[w[[[[BZYY i) m[ elevatorAngleAction: 0.077102< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743030322.203339F (some fields omitted in printout)AGz٭@A4HSح@A _~? AƸAW&"AAEwNA"AZAbAjArAzAAAi#9@AntnsAVn@A;AՒAx?A?A`8?Av<*A!9?2Af,׽:A0 BA!9?JAf,׽RA0 ٘i)I9Vn@YG J<JJJJID&K Y%_~?ykLAD773=8B)BE[[?[N_~?[9m[[[[BZYY i)  %k elevatorAngleAction: 0.086312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743030323.463297F (some fields omitted in printout)Aۭ@Aneۭ@A`~? AAt&"AAUwNA"AZAbAjArAzAAA74Ӊ:@A~8 `sA\o@AjOAA^?A|?A@c?AY<*AN9?2Aֽ:A|UBAN9?JAֽRA|UYLa?m?y씚ٓHa`Ʊa?@9`Z`M?@)x`?)La? I٘i)I9o@YG J<JJJJiD&K7x> Y&_~?yeQNAm?ٌDŧ7b7^=8)B[[Oa?[_~?[O[[[[BZYY i) . elevatorAngleAction: 0.086312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743030324.723291F (some fields omitted in printout)J"J*J2J:JBJnJvJAQޭ@A捓ݭ@A `~? AAsr&"AAe^wNA"AZAbAjArAzAAAm":@AEA\QsAq@AC:A2~AQC?A ဘ?Ax?A⩬<*AK9?2Adֽ:AkBAK9?JAdֽRAk٘i)I9q@YG J6<JJJJD&K Yr"_~?y7FOADb77=8)uB[[a?[q_~?[*2[[[[BZYY i) | Y_~?y%PAw?Db77:=8)jB[[9[?[_~?[[[[[BZYY i)  elevatorAngleAction: 0.086312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743030325.983273F (some fields omitted in printout)Aq= ף@A2mo@A `~? ALpAK&"AA_wNA"AZAbAjArAzAAA؟g0#:@A BsAKs@A;AA?AQA!w?A<*A{9?2Aֽ:ABA{9?JAֽRA٘i)I9Ks@YG J&<JJJJD&K Y_~?yPA CD77=8)fB[[ ?[_~?[[[[[BZYY i) pU elevatorAngleAction: 0.086312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743030327.243278F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(@AaP@A^`~? AXA# &"AAbZwNA"AZAbAjArAzAAA'Y:@A63sA=@u@AݻAJA?AA`d_?Aɧ<*Aħ9?2Awֽ:ABAħ9?JAwֽRA٘i)I9@u@YDG J<JJJJʍD&K Y _~?yQA9D77=8)WB[[s ?[_~?[[[[[BZYY i) *Z Y_~?y;^RA?DD7777=8)QB[[7?["{_~?[2[[[[BZYY i) D?iFm <(@))<(@<(@J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030328.103165 s, next control iter: 1743030328.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030328.503165 s.H~,D4 "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.086312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743030328.503286F (some fields omitted in printout)AHz@Ae,y@A_~? A@A &"AAMwNA"AZAbAjArAzAAA\&)9@AkC#%sA8Yw@A!Y;AVA8Y^~? >8y5QSAYD)7ŧ7 >8B)EBE[[e?[g_~?[ܨ[[[[BZYY i) 8B)AB E[[v?[(]_~?[Ө[[[[ZZZZ¸>BZYY i¸>) _~? A,0A'1 &"AAAwNA"AZAbAjArAzAAABYrc9@A6msAx@Az;Ac?A?A`A ?AT<*A_9?2Aֽ:A@ BA_9?JAֽRA@ ٘i)I9x@YiG J<JJJJD&K Ya^~?y/بCTAoD{7j7:'>8) Y^~?yϨTA?yD7775>8)5B E[[?[E_~?[[[[[ZZZZBZYY i) 8).B[[օ@[9_~?[[[[[ZZZZBZYY i) -д8B))BE[[V@[+_~?[q[[[[ZZZZBZYY i) Ш8)#B[[@[_~?[[[[[ZZZZBZYY i) ќ]"AJ"J*J2J:Js5?BJs5?nJD>5vJA(\@Ac*[@A+_~? A As/&"AAwNA"AZAbAjArAzAAA*T)9@A.p sA|@A )AVܼAt@A˿A bs?Anw<*An9?2Aֽ:Au:BAn9?JAֽRAu:HI٘i)I9|@YG J<JJJJ6D&K YT^~?yVAD{7{7n>8B)BE[[*@[5_~?[[[[[ZZZZBZYY i) Ґ"AAfffff@A?2@Am_~? AUAZ&"AAwNA"AZAbAjArAzAAAťh9@ArAD}@A_;A3B#A@A̿A@&P?A<*A9?2Asֽ:AD<BA9?JAsֽRADJJJAD&K+w> Yת^~?yVA@DZ7SI7<}>8B)BE[[R@[^~?[W[[[[ZZZZBZYY i]) M8)B[[jD@[^~?[3[[[[ZZZZBZYY iM) 3z8)B[[ @[^~?[7[[[[ZZZZBZYY i) xTf5vJAR@AS@A/_~? AAA&"AA>vNA"AZAbAjArAzAAA69@A 7rA }@Ak;A=Ar@Aa'ѿA?ArN:*A~9?2Amiֽ:A<BA~9?JAmiֽRA<٘i)I9}@YG JEp;C=JJJJaD&K Yd^~?yCVAύDb77<>8B)BE[[DV @[^~?[j[[[[BZYY i) gR.<BAħ9?JAֽRA>.<٘i)I9}@YG JtJJJJlD&K Yx^~?yWVAڍD777>8)[[6 @[L^~?[w[[[[BZYY i)  >C@yOU=◻ٓH " !? [X?প`r@?)/z? I٘i)I9}@YG JMJ>>JJJvD&Kw> Yi^~?yVAC@D>8 B)BE[[Rb@[;^~?[Bp[[[[BZYY i$@f) 'w.@))i>@i>@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030334.003165 s, next control iter: 1743030334.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030334.383165 s.H~,'"AA= ףp@A%s<@A_~? AEԩA:&"AAvNA"AZAbAjArAzAAA 8@AKTWUrA}@AջAeu=AY @A ӿAgF?A *AL9?2Aʹֽ:A$=BAL9?JAʹֽRA$=٘i)I9}@Y^G JJJJJD&K YZ^~?ycxMVAD7<>8)B[[@[^~?[h[[[[BZYY i) 8 B) BE[[j@[^~?[a[[[[BZYY i!V) W {rA|@Aj AU=A8* @AտA`W?A醼*A9?2Atֽ:A =BA9?JAtֽRA =٘i)I9|@YG J\uJJJJD&K Y<^~?yniUAD77>8 B)%BE[[@[Hr^~?[Z[[[[BZYY i) I;IYC?iAX9g VC@))VC@VC@yfŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030335.243165 s, next control iter: 1743030335.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030335.643165 s.xH~,*"AJ"J*J2J:JBJnJvJA)\@Ai@Aq_~? AA&"AAvNA"AZAbAjArAzAAA<%Q8@AB rAs|@AW;AG=Aq @AWֿA@?AÖ*A9?2AQֽ:A=BA9?JAQֽRA=٘i)I9s|@YG J͎JJJJD&K Y.^~?yavUAD7=>8B)*BE[[h@[^^~?[S[[[[BZYY i) %;IC?iI D@))D@D@yχGͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030335.663165 s, next control iter: 1743030336.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3834, header.stamp.nsec: 00 temperature: 13.383728* salinity: 33.391659, density: 1025.000000* values[0]: 0.709548F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030336.063165 s.H~, "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065594< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743030336.063316F (some fields omitted in printout)A@A4h蟘@Ad_~? AAm&"AA\nvNA"AZAbAjArAzAAA$1+8@AXrAj{@A ;Alט=A;@A,׿A@g?A#*A9?2AKֽ:A{=BA9?JAKֽRA{=YB@i@y֘=YY;ٓHK`EJ`5?)!?G`W{??)B@ I٘i)I9{@YVG JJ[=JJJD&Kw>  ?8Y^~? ?8y[UA@ CDŧ7b7 ?8).B[[S@[J^~?[:M[[[[BZYY i) ;I2C?i{@a ]F@))]F@]F@CҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030336.083165 s, next control iter: 1743030336.463190 s, wait time: 0.380025 s rAdjusting time to match Gazebo time: 1743030336.483165 s.v_H~,"AJ"J*J2J:JBJnJvJAq= ף@Aho@AW_~? AA&"AAZvNA"AZAbAjArAzAAAغ&8@A\rAc{@A;AΥ=A @A "ؿA*?Aj`*AS9?2Agֽ:A I=BAS9?JAgֽRA I=٘i)I9c{@YG JBJJJJD&K Yd ^~?y TTA%Db77?8B)4BE[[/f@[W5^~?[F[[[[BZYY i) ϵ;IjC?i5 G@))G@G@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030336.503165 s, next control iter: 1743030336.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3835, header.stamp.nsec: 00 temperature: 13.383942* salinity: 33.391655, density: 1025.000000* values[0]: 0.708509F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030336.903165 s. H~,9"AAGz@A+NF@ASJ_~? AAj~&"AAFvNA"AZAbAjArAzAAAjs,7@AWrAz@AZ:A=At]@AؿA?A+5*A[9?2A$ֽ:AC =BA[9?JA$ֽRAC =٘i)I9z@YG JCJJJJŽD&K Y]~?yMBTA0D{7j7>)?8B):BE[[@[6 ^~?[f@[[[[BZYY i) :~;INC?ik)&ػ H))H`I@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030336.923165 s, next control iter: 1743030337.303179 s, wait time: 0.380014 s.]~?).M rAdjusting time to match Gazebo time: 1743030337.323165 s.sH~,T"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J8 propOmegaAction: 25.132812*J2J< rudderAngleAction: -0.261799:J@ elevatorAngleAction: -0.065594BJ< massPositionAction: 0.000000nJ4 buoyancyAction: 0.000500 dt: 0.419931vJ2 time: 1743030337.323258F (some fields omitted in printout)AQ@AP@A[<_~? AᢩAW&"AA 2vNA"AZAbAjArAzAAAJ.tӰ7@Ar}y/rABz@A`KA:=A@AٿA'?A=`*Au9?2Aֽ:A=BAu9?JAֽRA=٘i)I9Bz@YQG JJJJJ̎D&K Y]~?y"FSA;Db777?8B)@BE[[FZ@[ ^~?[H:[[[[BZYY i) ǍB;IC?i$Uƻ >G))>GJ@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030337.343165 s, next control iter: 1743030337.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3836*, header.stamp.nsec: 0*0 temperature: 13.384238** salinity: 33.391670*, density: 1025.000000** values[0]: 0.707336*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030337.743165 s.WH~,yo"AA\(@Av1@A-_~? A(A&"AAvNA"AZAbAjArAzAAȦu7@A'XVrA$y@AjлAN=A@AnڿAEe?Acl*A9?2Aֽ:Ag(=BA9?JAֽRAg(=٘i)I9y@YG J6JJJJ׎D&K Yu]~?y.?uSAED7{7E?8)DB[[@[]~?[^4[[[[BZYY i) ;IC?i vU E))E_L@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030337.763165 s, next control iter: 1743030338.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030338.163165 s.t}"H~,q"AJ"J*J2J:JBJnJvJA@A`+@A_~? AA &"AAhvNA"AZAbAjArAzAAAGX7@AUGZ rAh"y@AλA=AO@A$8ۿA?Al*Aj9?2AVֽ:A4=BAj9?JAVֽRA4=Y"B@IH@yW=ÙλٓH}@E%tw`?``R+?`=`yh?)"B@ I٘i)I9"y@YG JJ2JJJD&K2x> Y]~?y8SAH@PD{7?T?8B)MBE[[H@[]~?[.[[[[BZYY i) :IC?i<夻 sCD))sCDBM@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030338.183165 s, next control iter: 1743030338.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030338.583165 s.(H~, S"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065594< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743030338.583291F (some fields omitted in printout)Ap= @Adۢ@A_~? AA&"AAuNA"AZAbAjArAzAAA $)7@AS[ rA{x@A?A#=AG@A@ۿA`?Ad*A&9?2Abֽ:A=BA&9?JAbֽRA=٘i)I9x@YJG J)JJJJD&K Y|]~?yp2RA[D77b?8)QB[[ @[*]~?[([[[[BZYY i) tO9IMC?iO꾉 B))BXO@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030338.623165 s, next control iter: 1743030338.983179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3837, header.stamp.nsec: 00 temperature: 13.384499* salinity: 33.391674, density: 1025.000000* values[0]: 0.706159F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030339.003165 s.x 0H~,L4"AJ"J*J2J:J4?BJ4?nJ=5vJAHz@A+y@A_~? AAL &"AA"uNA"AZAbAjArAzAAAf86@A 4rAWx@A:A -=A@AܿA͎?A|*A9?2A)ֽ:AW=BA9?JA)ֽRAW=٘i)I9x@YG J<JJJJD&K Y]~?y,DRAeD77p?8B)YBE[[&3 @[P]~?[#[[[[BZYY i) D>IC?iϾ KA))KAP@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030339.043165 s, next control iter: 1743030339.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030339.423165 s."u6H~,"AAQ@A}P@A^~? A9A&"AA uNA"AZAbAjArAzAAAJt26@Au@rAxw@Ai;AO=A*@A`ݿAC?A,*A9?2A7yֽ:Ay=BA9?JA7yֽRAy=٘i)I9xw@YG JJJJJD&K Y]~?y%QApDj7Z7??8B)_BE[[Y!@[@]~?[R[[[[BZYY i) EغIC?iaa ?))?NR@WǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030339.443165 s, next control iter: 1743030339.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3838, header.stamp.nsec: 00 temperature: 13.384782* salinity: 33.391720, density: 1025.000000* values[0]: 0.705006F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030339.843165 s.))Y>&S@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030339.883165 s, next control iter: 1743030340.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030340.263165 s.DH~,"AA33333@Ag@Az^~? AuAz&"AAuNA"AZAbAjArAzAAA/ c6@A%<ʴrA'hv@Aj{;A=A@A޿A?A*A9?2APֽ:A5<BA9?JAPֽRA5 Y`]~?yQA@Dj7j7?8B)iBE[[$@[6k]~?[m[[[[BZYY i|) fIC?ior <))<=U@NYFFF]Waiting for Gazebo time sync: latest Gz time: 1743030340.283165 s, next control iter: 1743030340.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 38392, header.stamp.nsec: 020 temperature: 13.3850382* salinity: 33.3917122, density: 1025.0000002* values[0]: 0.7038662F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030340.683165 s.lJH~,R+"AJ"J*J2J:JBJnJvJAףp= @AڒU@A!^~? AoA}&"AAsuNA"AZAbAjArAzAAAO/6@AtNrAu@A=lAi9=A@A@c߿AT?A[@*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9u@YG JǙJJJJ"D&K YK]~?yPADb7b7??8B)oB޹E[[,%@[4S]~?[[[[[BZYY i) 8Ip~C?iW=Z 8k;))8k;}V@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030340.683165 s, next control iter: 1743030341.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743030341.103165 s.QH~,F"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074457< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743030341.103287F (some fields omitted in printout)A{G@Ar@Ad^~? AiAf&"AAoYuNA"AZAbAjArAzAAA39J5@AblrAku@AAL=Al@A$1A?AD*AA9?2Aֽ:A\Y<BAA9?JAֽRA\Y<٘i)I9ku@Y_G JtJJJJ-D&K Y5]~?y(_PADj7j7?8B)tBݹE[[_'@[;]~?[? [[[[BZYY i) &I|C?iT 9))9*X@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030341.123165 s, next control iter: 1743030341.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030341.523165 s.WH~,{a"AJ"J*J2J:JBJnJvJAQ@An,(@AD^~? A"dAr&"AAG>uNA"AZAbAjArAzAAAv U5@ArAt@A.hݻAt=A@AAl?A*AQ9?2Aֽ:AH<BAQ9?JAֽRAH<٘i)I9t@YG JQJJJJ8D&K Y! ]~?yoPAD77?8!B)yBڹE[[(@["]~?[[[[[BZYY i) лI{C?i( 8))8Y@ykYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030341.543165 s, next control iter: 1743030341.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3840, header.stamp.nsec: 00 temperature: 13.385276* salinity: 33.391720, density: 1025.000000* values[0]: 0.702855F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030341.943165 s.ld^H~,]|"AA(\@A,cC7[@AÆ^~? At^AH&"AA"uNA"AZAbAjArAzAAAK\;5@A5jkrAFt@A92A=A.!@AA@^T?A*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9t@YG JJJJJCD&K Y ]~?yOAD77{7@?8"B)~B׹E[[40*@[c ]~?[[[[[BZYY i) I{C?ih;B8 h7))h7M[@HYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030341.963165 s, next control iter: 1743030342.343182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743030342.363165 s.eH~,>"AJ"J*J2J:J3?BJ3?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074457< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743030342.363317F (some fields omitted in printout)Afffff@AIJC2@As^~? AXAr&"AA@uNA"AZAbAjArAzAAA #Q5@A2|rA t@AAX"=AO"@A@2A?A‹*A9?2Aֽ֬:A.=BA9?JAֽ֬RA.=Y0I@VO"@yX"=LٓH@ 6 h>8,?O@rc?!1 ?)0I@ I٘i)I9 t@YG JmJ4JJJMD&Kx> Ym\~?yHOAO"@Dj7Z7?8)B[[e+@[}\~?[[[[[BZYY i) a I|C?iS=_: 5))5\@ͼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030342.383165 s, next control iter: 1743030342.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3841&, header.stamp.nsec: 0&0 temperature: 13.385498&* salinity: 33.391716&, density: 1025.000000&* values[0]: 0.701901&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030342.783165 s.VkH~,"AA ףp=@AoB @A`^~? AsSA!&"AAhtNA"AZAbAjArAzAAA,X5@AB*rAs@A1;A哊=A#@ACAC?A*A|9?2A.ֽ:A=BA|9?JA.ֽRA=٘i)I9s@YAG JԌJJJJXD&K Y3\~?yNAƎDZ7?8$B)BԹE[[8-@[|\~?[([[[[BZYY i) vI~C?i=$: ,4)),4]@þYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030342.803165 s, next control iter: 1743030343.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030343.203165 s.J sH~"J*J2J,;"A:J3?BJ3?nJJ<5vJAGz@A;O@AM^~? A!NA-&"AAtNA"AZAbAjArAzAAA%F(^4@A6OtrAs@A=;A'=A$@A XA`?A'*Ag9?2Auֽ:A`=BAg9?JAuֽRA`=٘i)I9s@YG JJJJJcD&K  @8Y\~? @8yNAюD777@@8&B)BѹE[[og.@[h\~?[[[[[BZYY i) l&IDC?i,'>: u2))u2@b_@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030343.223165 s, next control iter: 1743030343.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030343.623165 s._yH~,~"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074457< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743030343.623290F (some fields omitted in printout)AR@AXU@A+9^~? AHA&"AAtNA"AZAbAjArAzAAANd4@ARUo)IrAr@A~;Avč=A1&@A`"A {?A*A9?2Aחֽ:A=BA9?JAחֽRA=٘i)I9r@YG JʑJJJJnD&K Y\~?y4NAێD77@8(B)B͹E[[/@[L\~?[<[[[[BZYY i) 5ImC?iMk>9; O1))O1.`@ êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030343.643165 s, next control iter: 1743030344.023178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3842, header.stamp.nsec: 00 temperature: 13.385732* salinity: 33.391731, density: 1025.000000* values[0]: 0.700930F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030344.043165 s.H~,"AJ"J*J2J:JBJnJvJA(\@A`@A$^~? ACADV&"AAtNA"AZAbAjArAzAAA)7'ьa4@AyI1rA()r@A=S:Ai=A'@A`oA?AXS*A9?2Aֽ:A>=BA9?JAֽRA>=٘i)I9)r@YbG JJJJJxD&K Y\~?yMAD77{7@8)B[[(1@[1\~?[[[[[BZYY i) y'EIC?iT>F; j/))j/KA&"AAptNA"AZAbAjArAzAAA\%!#4@A甴-rA#q@A\AK=AC(@AA`M?A*A&9?2Aֽ:A:=BA&9?JAֽRA:=Y3@X(@y=y]ٓH z޿J??`` okf?)3@ I٘i)I9q@YG JJ<JJJD&K+x> Y}\~?yevMA(@D77A+@8*B)BʹE[[{2@[s\~?[ [[[[BZYY i)  yTImC?iu>@e; w.))w.c@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030344.483165 s, next control iter: 1743030344.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3843, header.stamp.nsec: 00 temperature: 13.385967* salinity: 33.391743, density: 1025.000000* values[0]: 0.699931F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030344.883165 s.J "J *J 2J :J .3?BJ .3?nJ ;5vJ yH~,Q8"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074457< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743030344.883294F (some fields omitted in printout)A= ףp@AzrM<@Aj]~? A:AN&"AAWQtNA"AZAbAjArAzAAAtbm3@Aw>rA+0q@AһAҒ=AW(*@AA#?Aԕ*A9?2A ֽ:AO=BA9?JA ֽRAO=٘i)I90q@YG JĔJJJJD&K Y e\~?y%MAD9@8,B)BǹE[[3@[Y\~?[5[[[[BZYY i몽) cIC?i>>;  -)) -e@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030344.903165 s, next control iter: 1743030345.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030345.303165 s.SH~,jgS"AAzG@Aׁ@A2]~? As5As&"AAp1tNA"AZAbAjArAzAAAC~g3@A drA2p@AoǻAK=AVu+@A@{JA?At*An9?2Aֽ:AS}=BAn9?JAֽRAS}=٘i)I9p@Y}G J/JJJJD&K YOL\~?yܧLAD777G@8-B)BĹE[[I5@[^@\~?[[[[[BZYY i) sIiC?i>; +))+ |f@U̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030345.323165 s, next control iter: 1743030345.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3844., header.stamp.nsec: 0.0 temperature: 13.386225.* salinity: 33.391739., density: 1025.000000.* values[0]: 0.698928.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030345.723165 s.H~,Hn"AJ"J*J2J:JBJnJvJAQ@A~8H@A]~? A0A&"AAtNA"AZAbAjArAzAAAu)(b3@A<rA0p@A Y\~?yЧKAV/@&DZ7Z7r@80B)BE[[yW9@[][~?[[[[[BZYY i) aI8C?i(?; p'))p'j@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030346.583165 s, next control iter: 1743030346.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3845, header.stamp.nsec: 00 temperature: 13.386480* salinity: 33.391769, density: 1025.000000* values[0]: 0.697912F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030346.983165 s.H~,"AAq= ף @Aho @Aj]~? A $A &"AAZsNA"AZAbAjArAzAAA D2@AwrAn@AU ;An=A}0@AMA?A*A9?2A!vֽ:A=BA9?JA!vֽRA=GI٘i)I9n@Y6G JEJJJJďD&K Y[~?yͧKA1D777B@82B)BE[[:@[z[~?[ߧ[[[[BZYY i) 嗼I C?i6?`; w &))w &>l@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030347.003165 s, next control iter: 1743030347.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030347.403165 s.&H~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083457< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743030347.403287F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz @AF @Aw]~? A& AO!&"AAHsNA"AZAbAjArAzAAAlֽ:Ay=BA9?JA>ֽRAy=٘i)I9l@Y*G JKJJJJD&K Y[~?y-çIAQD{7B@85B)ίBE[[0>@[^[~?[ۧ[[[[BZYY i) qIC?i l? < !))!9p@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030348.263165 s, next control iter: 1743030348.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030348.663165 s.ʄH~,q*"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083457< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743030348.663274F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3847, header.stamp.nsec: 00 temperature: 13.387012* salinity: 33.391758, density: 1025.000000* values[0]: 0.695657F (some fields omitted in printout)A@Aڍ> @Ak2]~? AA!&"AA"sNA"AZAbAjArAzAAACY1@ALMG9nrAGl@AwۻA=A5@A 0AJ!?A*Au9?2A ֽ:A3=BAu9?JA ֽRA3=Y'@5@y=CܻٓH)wҿ@ ?ݒV?p{?)'@ I٘i)I9Gl@YG JB=Jw<JJSEJD&Kx> Y}[~?ytIA5@\D77@86B)ԯBE[[?@[ir[~?[٧[[[[BZYY i) ɵIqC?ix?N-<  )) q@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030348.683165 s, next control iter: 1743030349.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030349.083165 s.DфH~, SE"AJ"J*J2J:JBJnJvJAp= @Aa@A]~? AA;"&"AA1rNA"AZAbAjArAzAAAe6m:1@A0l7lrAk@A<A0=A9-7@A pcArC?AF*A}9?2Aֽ:A=BA}9?JAֽRA=٘i)I9k@YoG JC=JJJJD&K Yc[~?yIAgD{7{7@88B)گBE[[QA@[X[~?[ا[[[[BZYY i) ) IC?i?6e(< g'))g'Nr@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030349.103165 s, next control iter: 1743030349.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030349.503165 s.ׄH~,D4`"AAHz@A[y@A]~? ArA|"&"AALrNA"AZAbAjArAzAAA0˒0@A;'jrA k@ARvH8A=A+t8@A A d?Aü*Aܑ9?2Aփֽ:A'=BAܑ9?JAփֽRA'=٘i)I9 k@Y G JJJJJD&K YH[~?y`HArDj7C@89B)BE[[B@[>[~?[ק[[[[BZYY i) ;Abt=A!9@AA?AEɼ*A9?2AZֽ:A=BA9?JAZֽRA=٘i)I9cj@YG JIƼJJJJD&K Y-[~?yƸ!HA|Dŧ7b7@8:B)BE[[C@[E%[~?[+ק[[[[BZYY i) ˼ID?i?'>< m))mu@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030349.943165 s, next control iter: 1743030350.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030350.343165 s.  A8Y~Z~? A8yp9GA\<@Db77CA8;B)BE[[F@[0Z~?[6֧[[[[BZYY i) bڼIL;D?i?R< ))fx@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030350.783165 s, next control iter: 1743030351.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030351.183165 s.H~,Z"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092446< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199442 time: 1743030351.183275F (some fields omitted in printout)Aףp= @A @Aݡ\~? AAb#&"AAHrNA"AZAbAjArAzAAAx!/@AscrA]h@A:A)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030351.203165 s, next control iter: 1743030351.583177 s, wait time: 0.380012 sZ~?) rAdjusting time to match Gazebo time: 1743030351.603165 s.:4H~,"AJ"J*J2J:J1?BJ1?nJ95vJA{G@AN#@A!\~? AA#&"AAS#rNA"AZAbAjArAzAAA%*/@AR(8brAg@AnA+=A>@A 5dA@?Aͼ*A9?2A#ֽ:Avq=BA9?JA#ֽRAvq=٘i)I9g@Y G JͼJJJJ:D&K Y-Z~?yLFADŧ7b7A8B)BE[[_J@[Z~?[է[[[[ZZBZYY i) ɼIbD?iм?Cq< ))iLj|@y; YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030352.063165 s, next control iter: 1743030352.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030352.443165 s.<H~,S]"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082720< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743030352.443337F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A 7[@AW\~? AAl#&"AAqNA"AZAbAjArAzAAAox9-@Ad_rAY>f@A AM=AL@@AгA`%f@Y! G JJJJJOD&K YއZ~?y`EAD77;A8?B) BE[[hK@[!Z~?[8֧[[[[ZZBZYY i) ILxD?i?~< `))`}@y=YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030352.483165 s, next control iter: 1743030352.843177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3851", header.stamp.nsec: 0"0 temperature: 13.388279"* salinity: 33.391758", density: 1025.000000"* values[0]: 0.690532"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030352.863165 s.+ H~,>7"AAfffff@A{C2@A=\~? AA$&"AAqNA"AZAbAjArAzAAA%#99-@A9ݟ&^rAbe@A3 AA =A!A@AA $?Ab0*ATw:?2AŽ:A#3<BATw:?JAŽRA#3 YkZ~?y~DAA@ǏD77Z7IA8@B)BE[[L@[sZ~?[֧[[[[ZZBZYY i) IfD?i?<  )) @y1=GժY`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030352.883165 s, next control iter: 1743030353.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030353.283165 s.1RH~,R"AJ"J*J2J:JBJnJvJA ףp=@APD @A$\~? A(A>$&"AA[qNA"AZAbAjArAzAAA/B,@A,/\rAd@AE~ ;Ax=AB@A` A`w?A?*A;:?2AL?Ƚ:A?r<BA;:?JAL?ȽRA?r<٘i)I9d@Y G JJJJJeD&K YOZ~?y|DAҏD77DXA8)BE[[V.N@[[Z~?[)ק[[[[ZZBZYY i) TSIZD?iw?T< ˶))˶u4@.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030353.303165 s, next control iter: 1743030353.683174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3852., header.stamp.nsec: 0.0 temperature: 13.388648.* salinity: 33.391773., density: 1025.000000.* values[0]: 0.688916.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030353.703165 s.ԺH~,m"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082720< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743030353.703264F (some fields omitted in printout)AGz@AЛT@A" \~? A`Aic$&"AAdqNA"AZAbAjArAzAAAb0',@Am~)[rA4c@A-;A4=AD@AA@m?A 8ռ*Aƃ:?2A˽:AN;BAƃ:?JA˽RAN;٘i)I9c@Y G JJJJJpD&K Y3Z~?yz)DAݏDb7b7fA8)"B[[5pO@[EBZ~?[ק[[[[ZZBZYY i) }I>D?i.?}2< k))kڀ@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030353.723165 s, next control iter: 1743030354.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030354.123165 s.6!H~,X"AJ"J*J2J:JBJnJvJAR@AlT@A[~? AA+$&"AAZ>qNA"AZAbAjArAzAAAjdk+@AZrA}!c@AQ;AS<Ad_E@A`WA -?AP®*A:?2AԌͽ:ABA:?JAԌͽRA٘i)I9!c@Y< G JƼJJJJzD&K YZ~?yxCAD7tA8AB)(BE[[8P@[)Z~?[ا[[[[ZZBZYY i) AI'D?i?UL< ,)),y@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030354.163165 s, next control iter: 1743030354.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743030354.543165 s.I(H~,â"AA(\@AAc@A[~? A=A$&"AAqNA"AZAbAjArAzAAAC*@AøYrAb@ABH;Aw!<AF@A`*A`Nl?AvU*Av:?2A{Ͻ:Ay BAv:?JA{ϽRAy ٘i)I9b@Y G JJJJJD&K YY~?yuZCAD77EA8),BE[[hQ@[Z~?[٧[[[[ZZBZYY i) JI-D?i??< W ))W @uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030354.583165 s, next control iter: 1743030354.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3853, header.stamp.nsec: 00 temperature: 13.389009* salinity: 33.391777, density: 1025.000000* values[0]: 0.687505F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030354.963165 s.x.H~,"AJ"J*J2J:J0?BJ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082720< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743030354.963298F (some fields omitted in printout)A@A^oe@AE[~? AA$&"AApNA"AZAbAjArAzAAA%94*@AA:*YrA YQY~?yPcCAH@Dj7Z7A8BB)0BE[[h,S@[Y~?[ڧ[[[[ZZBZYY iz=) TsI E?i?Pn< W ))W /@n(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030354.983165 s, next control iter: 1743030355.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030355.383165 s.5H~,w"AA= ףp@Ax<@Ax[~? AA$&"AApNA"AZAbAjArAzAAA,)@AWqXrAXb@AAAHA@PAޓ?Av*AY:?2Aҽ:ABAY:?JAҽRA٘i)I9b@Y G JJJJJD&K YY~?y+kCAD777A8)2BE[[0kT@[Y~?[ܧ[[[[ZZBZYY ivy=) `I&E?i~@x< p ))p W@ )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030355.403165 s, next control iter: 1743030355.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3854", header.stamp.nsec: 0"0 temperature: 13.389205"* salinity: 33.391769", density: 1025.000000"* values[0]: 0.686693"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030355.803165 s.{A elevatorAngleAction: 0.072009< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743030356.223283F (some fields omitted in printout)AQ@A&@Ap[~? AA%&"AAC{pNA"AZAbAjArAzAAAo|](@AkEJWrAa@A^AM3AW%FAQmA@O?Abp;*AMA:?2AտԽ:AiBAMA:?JAտԽRAi뼙٘i)I9a@Y G J:JJJJD&K YbY~?y᧧|CADA8)E[[\V@[2Y~?[ ߧ[[[[BZYY i) ;I`E?i @< c))c@y=p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030356.243165 s, next control iter: 1743030356.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030356.643165 s.sIH~,))"AJ"J*J2J:JBJnJvJA)\@A=Y@AV[~? A!A{%&"AASpNA"AZAbAjArAzAAAMy'@A;VrAYb@A]9AWADA`wA?Ay;*A6:?2Aݐս:A!BA6:?JAݐսRA!٘i)I9b@Y G J;JJJJD&K YnY~?yCA(D77A8)|E[[CX@[љY~?[[[[[BZYY i) 1(IqE?i@8< {)){.@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030356.663165 s, next control iter: 1743030357.043175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3855, header.stamp.nsec: 00 temperature: 13.389294* salinity: 33.391758, density: 1025.000000* values[0]: 0.686533F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030357.063165 s.PH~,c D"AA@A˚@A<[~? AA%&"AA,pNA"AZAbAjArAzAAAC"'@A9WVrASUb@AQ;A!vAwCA-A֤?A +<*A-:?2A.ֽ:AvBA-:?JA.ֽRAvYd@@.}Cy6v;ٓH*`X? Nu?'9 ?Ю?`/ v??)d@@ I٘i)I9Ub@Y G J<JJJJƐD&K|> YQY~?yCA}C3DZ7Z7EA8)1B[[RY@[IY~?[[[[[BZYY iQg=) (LIڞE?i@t< ))N˅@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030357.083165 s, next control iter: 1743030357.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030357.483165 s.v_WH~,^"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056474< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743030357.483278F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף@A ګo@A"[~? A9A%%&"AApNA"AZAbAjArAzAAA]H(&@AdOVrAnb@AK;A6Aq$BAA`T?AZ<*A&:?2A9ֽ:A BA&:?JA9ֽRA ٘i)I9b@Y G JA<JJJJАD&K Y5Y~?yD*DA=D7777A8DB)/ByE[[+Z@[kY~?[[[[[BZYY i) OeIE?i@׿< P))Pg@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030357.503165 s, next control iter: 1743030357.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3856, header.stamp.nsec: 00 temperature: 13.389216* salinity: 33.391754, density: 1025.000000* values[0]: 0.686890F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030357.903165 s.]H~,y"AAGz @A2ıF @A[~? AAc+%&"AAoNA"AZAbAjArAzAAA%@AԻ'/VrA c@A;AAA@A`A ?A^<*A$:?2Aqֽ:AV BA$:?JAqֽRAV ٘i)I9 c@Y/ G Js<JJJJېD&K YY~?y}DAHD)7ŧ7A8),BvE[[e[@[TY~?[[[[[BZYY i) FI6E?i @.< Y))Y@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030357.923165 s, next control iter: 1743030358.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030358.323165 s.{dH~,:"AJ"J*J2J:JBJnJvJAQ!@A!@AvZ~? AA-%&"AAoNA"AZAbAjArAzAAAo}MG%@Af.ٖ)VrAc@Ad5:AiAm?AA pA"<*A\&:?2Aֽ:ABA\&:?JAֽRA٘i)I9c@Yy G J#<JJJJD&K  B8YvX~? B8y̪DASDb77FB8)(BsE[[3\@[Y=Y~?[[[[[BZYY i.І=) 0ѻIQF?i@< ))@y>g=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030358.343165 s, next control iter: 1743030358.723179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3857*, header.stamp.nsec: 0*0 temperature: 13.389104** salinity: 33.391750*, density: 1025.000000** values[0]: 0.687622*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030358.743165 s.WkH~,q"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065827< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743030358.743287F (some fields omitted in printout)A\("@AI!@AdZ~? AAH-%&"AAoNA"AZAbAjArAzAAAN듉$@A4A ApA/O<*A):?2Aֽ:AD BA):?JAֽRAD ٘i)I9d@Y G Jg<JJJJD&K YNX~?y#EA^DB8)$BpE[[s&^@[&Y~?[[[[[BZYY i) bI%F?i#@%`< K))K55@yIg=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030358.763165 s, next control iter: 1743030359.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030359.163165 s.{}rH~,q"AJ"J*J2J:J)0?BJ)0?nJ85vJA#@A"@AUZ~? AcAm)%&"AA goNA"AZAbAjArAzAAA Ϣ $@AiVrAd@AoAA<A^A`YAB<*A(:?2Aֽ:A2i BA(:?JAֽRA2i Y*G@ YX~?y9EA<hD77{7 B8EB) BmE[[4[_@[Y~?[[[[[BZYY i) xJI[IF?i&@v< ))ψ@y]'=<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030359.183165 s, next control iter: 1743030359.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030359.583165 s.xH~, S"AAp= #@A|,}#@AMZ~? AA]"%&"AA?oNA"AZAbAjArAzAAAy)4n#@Aռ=VrA4e@A7ջAÚA;AMyA AF<*A(:?2Aoֽ:AXl BA(:?JAoֽRAXl ٘i)I94e@Y G J<B=JJJJD&K YשX~?yᮧEAsD77H/B8)BjE[[1`@[XX~?[([[[[BZYY i) ^jInF?i[*@< ))i@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030359.603165 s, next control iter: 1743030359.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3858, header.stamp.nsec: 00 temperature: 13.388874* salinity: 33.391750, density: 1025.000000* values[0]: 0.688665F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030360.003165 s.~ H~,e4"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065827< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201092 time: 1743030360.003393F (some fields omitted in printout)AHz$@AS9y$@ANZ~? AuA%&"AA$oNA"AZAbAjArAzAAAm"@At,WrAGe@A+AeA S:AoAoYA <*A(:?2A׽:AxBA(:?JA׽RAx٘i)I9e@Y G J#<C=JJJJD&K YX~?y[FA~D7777=B8DB)BhE[[a@[zX~?[[[[[BZYY i) -.I}F?iW.@'< {9)){9|@Y*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030360.043165 s, next control iter: 1743030360.403182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743030360.423165 s.uH~,"AAQ%@AP%@A[lZ~? A=A %&"AAnNA"AZAbAjArAzAAAz$3"@A* WrA\f@Aih;A㗽A8A cA2AK<*A(:?2A3P׽:A8BA(:?JA3P׽RA8٘i)I9\f@Y3 G JŮ<JJJJD&K YerX~?y2FAD77KB8)B[[b@[X~?[[[[[BZYY i) AIF?i2@< _))_Ø@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030360.443165 s, next control iter: 1743030360.823176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3859", header.stamp.nsec: 0"0 temperature: 13.388658"* salinity: 33.391727", density: 1025.000000"* values[0]: 0.689783"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030360.843165 s.݌H~,5"AJ"J*J2J:JBJnJvJA(\&@A '&@AwRZ~? A/A$&"AA}nNA"AZAbAjArAzAAA/!@A3ٸXrAf@A;A[A7A`UAAC(<*A(:?2Ai׽:ABA(:?JAi׽RA٘i)I9f@Y G J3<JJJJ&D&K YVX~?y۳+GADj7j7GZB8) BeE[[d@[X~?[[[[[BZYY i) #WI`F?ix7@/< ߃))߃.@d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030360.883165 s, next control iter: 1743030361.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030361.263165 s.H~,AP"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065827< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743030361.263300F (some fields omitted in printout)A33333'@A}W&@A8Z~? ALA$&"AALnNA"AZAbAjArAzAAA8 @Ah`gXrAxg@A<;AۓAh\6A CAmֻA׍<*A(:?2A[׽:ABA(:?JA[׽RAYM@d6yړD;ٓH|o?'?0[ҿ@{L?5w? g}?s?)M@ I٘i)I9xg@Y G J<JF <JJJ1D&Ky> Y;X~?ycGAd6D777hB8) BbE[[Ie@[mX~?[[[[[BZYY i) p8Iu G?iw:@b< $))$Ƌ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030361.283165 s, next control iter: 1743030361.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 38602, header.stamp.nsec: 020 temperature: 13.3884642* salinity: 33.3917162, density: 1025.0000002* values[0]: 0.6908262F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030361.683165 s.lH~,gk"AJ"J*J2J:JBJnJvJAףp= (@A '@AZ~? AA$&"AA7{nNA"AZAbAjArAzAAAs[d] @A uYrA<h@A[;AA5A 0AA<*AK(:?2A3׽:A(BAK(:?JA3׽RA(٘i)I9h@Y5 G J̥<JJJJZ~? AAZ$&"AABTnNA"AZAbAjArAzAAAn圩@A7tZrAJh@A@AZA3A A<A <*A':?2A׽:A BA':?JA׽RA ٘i)I9h@Y G J^<JJJJGD&K YX~?ysUHAD77j7GB8)B\E[[6g@[zX~?[ [[[[BZYY i) ;I[G?iA@F< o))o@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030362.123165 s, next control iter: 1743030362.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030362.523165 s.H~,{"AJ"J*J2J:J0?BJ0?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065827< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743030362.523293F (some fields omitted in printout)AQ)@AH,)@AY~? AAߖ$&"AAr-nNA"AZAbAjArAzAAAK2M@Amm[rAi@AػAKA2AjAÿA^i<*AW':?2Aֽ:ABAW':?JAֽRA٘i)I9i@Y G J<JJJJQD&K YyW~?yHADb77B8)BYE[[h@[kfX~?[e[[[[BZYY i) _>;IvG?iE@,< W))WE@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030362.543165 s, next control iter: 1743030362.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3861, header.stamp.nsec: 00 temperature: 13.388232* salinity: 33.391705, density: 1025.000000* values[0]: 0.691868F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030362.943165 s.XdH~,B]"AA(\*@Ax>[*@A=Y~? A\A@v$&"AAnNA"AZAbAjArAzAAAӌK#@Ae%}\rA7i@AsAAH41AA`.lſAw<*A&:?2Abֽ:ABA&:?JAbֽRA٘i)I9i@Y.G J͟<JJJJ\D&K YkW~?yIAɐDB8)BVE[[i@[mRX~?[[[[[BZYY i)  {;IG?iUJ@m~= ))뿩W@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030362.963165 s, next control iter: 1743030363.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030363.363165 s.H~,>"AJ"J*J2J:JBJnJvJAfffff+@AOD2+@AY~? AHA{R$&"AAOmNA"AZAbAjArAzAAA6@A[]rAj@AAA/AoANJǿA;<*A%:?2AJ׽:AJBA%:?JAJ׽RAJY;T@/yBݐٓHe|R?` YUW~?yçxIA/ԐDŧ7b7IB8)B[[;"k@[i>X~?[q [[[[BZYY iX=) d;IG?iM@D= s))s鿩@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030363.383165 s, next control iter: 1743030363.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3862&, header.stamp.nsec: 0&0 temperature: 13.388045&* salinity: 33.391689&, density: 1025.000000&* values[0]: 0.692875&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030363.783165 s.iH~, "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075953< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743030363.783306F (some fields omitted in printout)A ףp=,@AtY ,@AY~? A\A+$&"AAmNA"AZAbAjArAzAAA}@AIO^rAPj@A:A4AW.A A'ɿA-F<*A$:?2AH׽:AYBA$:?JAH׽RAYFI٘i)I9j@YG J<B=JJJJrD&K Y elevatorAngleAction: 0.075953< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743030365.043294F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\.@A`.@A UY~? AA%#&"AAyHmNA"AZAbAjArAzAAAތ*@A'WFUcrAk@A=;A(A*A;AοA<*A:?2A\?׽:ABA:?JA\?׽RA٘i)I9k@YG JF<JJJJD&K YLW~?yhѧJAD7777B81B)ѯBKE[[Oo@[W~?[[[[[BZYY i) l Y"4W~?yէDKAW) C Dj7j7B8)ίB[[p@[W~?[[[[[BZYY i) ^ elevatorAngleAction: 0.075953< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743030366.303284F (some fields omitted in printout)AzG1@Aݗ1@A Y~? A$ AR#&"AA@AjrAm@AлAjAt%AAҿA<*A9?2A,ֽ:A BA9?JA,ֽRA ٘i)I9m@YG J<C=JJJJD&K YV~?y*ZLA)D77"C80B)BBE[[Tt@[W~?[,[[[[BZYY i) xwJ elevatorAngleAction: 0.075953< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200532 time: 1743030367.563320F (some fields omitted in printout)A3@A2菱3@AX~? AAC"&"AAllNA"AZAbAjArAzAAA^ˇ YaV~?yNMA"?D{7{7?C8)B?E[[vv@[W~?[5[[[[BZYY i) 2i[[[[BZYY iK=) ]у elevatorAngleAction: 0.085215< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743030368.823286F (some fields omitted in printout)AQ6@Ak{6@AX~? Ac Ak!&"AATlNA"AZAbAjArAzAAAZč @A# urAzdp@A>;AEkAA`UrAy)׿A/b<*As9?2A׽:A BAs9?JA׽RA ٘i)I9dp@YOG Jd<JJJJD&K YXsV~?y+FNA_Dj7Z7jC8)B[[ y@[UW~?[C[[[[BZYY i) m| =?)g@ I٘i)I9}q@YG Jm<J>JJJD&KBx> YeFV~?yOALtDKC8)B4E[[;|@[5W~?[MM[[[[BZYY i)  elevatorAngleAction: 0.085215< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743030370.083308F (some fields omitted in printout)Ap= 8@A+ܢ8@AA"A]AAٿA<*A9?2Aֽ:A9BA9?JAֽRA9٘i)I9r@YSG J<JJJJD&K Y0V~?yt OAD777C8)B[[[}@[T&W~?[MR[[[[BZYY i)  elevatorAngleAction: 0.085215< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743030371.343311F (some fields omitted in printout)A(\;@AD';@AW~? A:Azq&"AA~;kNA"AZAbAjArAzAAAg?A7馅rA=s@A;AA A4A xۿA!·<*A9?2A'׽:ABA9?JA'׽RA٘i)I9s@YfG J<JJJJ3D&K YU~?ysPADSI7SI7C8.B)B+E[[X@[zV~?[a[[[[BZYY i) jD&KHx> YZU~?y!1QADb77C8)B[[@[fV~?[f[[[[BZYY i) I elevatorAngleAction: 0.085215:J< massPositionAction: 0.000000BJ4 buoyancyAction: 0.000500nJ dt: 0.420026vJ2 time: 1743030372.603303F (some fields omitted in printout)A{G=@A=@AUW~? AIAP&"AAjNA"AZAbAjArAzAAAϧm?A'ΎrAu@A-OA?DA,AaA@)1޿A>]<*A9?2Aֽ:ATBA9?JAֽRAT٘i)I9u@YG J<JJJJSD&K YU~?yh.RADZ7Z7C8)B[[@[IV~?[q[[[[BZYY i) S@A>@AW~? AOAw&"AAjNA"AZAbAjArAzAAAn/X?A#HrA3bv@AoAArA۩A޿A<*Ad9?2Aǀֽ:ABAd9?JAǀֽRA٘i)I9bv@YG J`<JJJJ^D&K YxU~?y4RAʑD7777C8){B&E[[*@[AV~?[!w[[[[BZYY i)  ]\"AJ"J*J2J:JBJnJvJA(\?@A=!7[?@A+W~? AfTA҃&"AAjNA"AZAbAjArAzAAAl_Ff?A+KrAw@A}nAoAHA`XXAh߿A^<*A9?2Asֽ:ABA9?JAsֽRA٘i)I9w@Y`G J<B=JJJJiD&K  D8YՍU~? D8y ;RAՑD)7b7MD8)uB#E[[@[V~?[|[[[[BZYY i) w"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085215< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743030373.863307F (some fields omitted in printout)Afffff@@ApG2@@AW~? AYA&"AAjNA"AZAbAjArAzAAA).< ?AiÎVrA-w@AȻA[qA7LAA'A<*A9?2Aֽ:AABA9?JAֽRAAY9t@ZCy|pɻٓH?]?@@??)y ?)9t@ I٘i)I9w@YG J<C=J(JJJtD&K1x> Y^|U~?yAwSACDb7D8)oB[[[@[#V~?[7[[[[ZZZZ¸>BZYY i¸>^) &"AALjNA"AZAbAjArAzAAAzcAY 0rA By@A_^;AA AJUAA<*A9?2Aֽ:AgBA9?JAֽRAg٘i)I9By@YG J<JJJJD&K YrYU~?yOiTADj7Z7M3D8)cB[[Fń@[GV~?[[[[[ZZZZBZYY i) *ո$rAz@A;AsAPP A߿A'A^<*A9?2Aֽ:AqBA9?JAֽRAq٘i)I9z@Y9G J=JJJJD&K YGU~?yVTAD77AD8)]BE[[Q@[V~?[K[[[[ZZZZBZYY i) ̬ Y['U~?yeUAD77M^D8)PBE[[$j@[rV~?[[[[[ZZZZBZYY i[) JJJߒD&KGw> YT~?yTVA?KD77D8)[[&@[-AV~?[[[[[BZYY iym) LDBE[[@[i8V~?[%è[[[[BZYY i2g) 2>= C혿))C혿Ԣ@yQxYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030378.523165 s, next control iter: 1743030378.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3877, header.stamp.nsec: 00 temperature: 13.384709* salinity: 33.391487, density: 1025.000000* values[0]: 0.709481F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030378.903165 s.ȭH~,͹"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.068068< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743030378.903316F (some fields omitted in printout)AGzJ@A{IcFJ@A#V~? AoAw&"AATiNA"AZAbAjArAzAAA_X0`A3G&rAR}@AZ;A|&\=AVA6ٿAGAf*A9?2AZLֽ:A=BA9?JAZLֽRA=٘i)I9R}@Y.G JC=JJJJD&K YT~?ywUA`D77D8)?BE[[3>@[0V~?[Uɨ[[[[BZYY i)  !UAvD77OD8)B)CBE[[wT@[D V~?[ը[[[[BZYY i) r;Ii8@A= e))erv@SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030379.783165 s, next control iter: 1743030380.143175 s, wait time: 0.360010 s WT~?) > rAdjusting time to match Gazebo time: 1743030380.163165 s.w}†H~,q "AJ"J*J2J:J5?BJ5?nJU>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.068068< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743030380.163307F (some fields omitted in printout)AM@AAfgL@A9V~? A>A&"AAiNA"AZAbAjArAzAAA((AJ:rAP|@A埻Aix=AlA޽ֿA xA.~*Aå9?2Aֽ:AR=BAå9?JAֽRAR=Y.@8xyw=LٓH`>ֿ_?G$ֿ`n@+s??).@ I٘i)I9P|@YG J=xJ=JJJD&Kx> YRT~?yy>5vJAHzN@A>xyN@A~V~? AǩA&"AAhNA"AZAbAjArAzAAAY}jNuA9JrAV{@AA=A5A տAA5Ԥ*Aŭ9?2Aֽ:A|=BAŭ9?JAֽRA|=٘i)I9V{@YG JÜJJJJ+D&K  E8YJT~? E8y¨xTAD7O E8(B)MBE[[@[= V~?[[[[[BZYY i) ;Ii-@ B= 7ዿ))7ዿ@nתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030381.023165 s, next control iter: 1743030381.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030381.423165 s.uֆH~,["AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058195< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743030381.423302F (some fields omitted in printout)AQO@AW֪YFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743030382.283165 s, next control iter: 1743030382.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 38812, header.stamp.nsec: 020 temperature: 13.3853662* salinity: 33.3914342, density: 1025.0000002* values[0]: 0.7068272F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030382.683165 s.lH~,Z"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067379< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.420016J2 time: 1743030382.683291"JF (some fields omitted in printout)*J2J:JBJnJvJAףp= R@A)9'Q@A TV~? AAB&"AAhNA"AZAbAjArAzAAA={ At{SrAx@AR;A=AAѿAMA^}*A9?2Aֽ:AoE=BA9?JAֽRAoE=٘i)I9x@YG JB=JJJJVD&K Y8eT~?yRADj7j7CE8)_B[[@[6U~?[R[[[[BZYY i) ~:Ii@>G= c@))c@?@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030382.683165 s, next control iter: 1743030383.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743030383.103165 s.H~,"AA{GR@AаR@AJV~? AuA&"AAhNA"AZAbAjArAzAAAw)pl ADsrAcx@A;A4=AAAɲпA AW*Ab9?2Atֽ:A"AJ"J*J2J:J4?BJ4?nJU=5vJAfffffU@Ak'J2U@A0V~? AZAC&"AA#xhNA"AZAbAjArAzAAAc^ AsAv@A{AӋ=AZݿA@ ˿A`jAݙ*A9?2ALֽ:A3\<BA9?JALֽRA3\ YBT~?yEoQAjݿD777|E8)pB[[`?@[U~?[[[[[BZYY i) -'Iix@fM= su))su[a@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030384.383165 s, next control iter: 1743030384.763180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3883&, header.stamp.nsec: 0&0 temperature: 13.385851&* salinity: 33.391403&, density: 1025.000000&* values[0]: 0.704879&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030384.783165 s.e H~, 2"AA ףp=V@AuB V@Ay)V~? A A6&"AAXlhNA"AZAbAjArAzAAADAXsAHv@AjA>=AUڿA!ʿA4A*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9Hv@YG JjC=JJJJD&K Y:>T~?y QAD{7j7QE8)tB[[ȑ@[vU~?["[[[[BZYY i) &dIig@QM= *q))*q@-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030384.803165 s, next control iter: 1743030385.183185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743030385.203165 s.H~,!M"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067379< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199482 time: 1743030385.203287F (some fields omitted in printout)AGzW@Ap@KWV@Ay"V~? AA&"AARahNA"AZAbAjArAzAAAnNM7A sAu@A:A~=A7ؿALȿAAJ*A9?2Aֽ:A#<BA9?JAֽRA#<٘i)I9u@YG J-JJJJD&K Y9T~?yPA CD)7)7E8)xB E[[Q@[UU~?[ )[[[[BZYY i) jIi@ ӿA@[ĿA AA*AQ9?2Aֽ:Au<BAQ9?JAֽRAu<٘i)I9t@YG J蒼JJJJD&K Y0T~?y(OAD7QE8)B[[c@[#U~?[ 6[[[[BZYY i𷜽) >ϻIiI@sN= }Pd))}Pd˅@۸YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030386.063165 s, next control iter: 1743030386.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030386.463165 s.X'H~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076523< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743030386.463308F (some fields omitted in printout)AY@AzjeY@AV~? Au*AgJ &"AADhNA"AZAbAjArAzAAABGuAKGsA9Yt@AKv;A)D=AlпA@¿AsAꍼ*A9?2Akֽ:ARB<BA9?JAkֽRARB Y1/T~?y0OAbп!D7777E8%B)B E[[@[U~?[<[[[[BZYY i) Ii٠@]M= `))`@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030386.483165 s, next control iter: 1743030386.863181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3885, header.stamp.nsec: 00 temperature: 13.386234* salinity: 33.391399, density: 1025.000000* values[0]: 0.703199F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030386.883165 s.y-H~,/"AJ"J*J2J:JBJnJvJA= ףpZ@A3w&sAs@AA=AȀȿA`A`3AA*A9?2An׽:AE/=BA9?JAn׽RAE/=٘i)I9s@YG J-JJJJדD&K YY*T~?y;KNABDj7j7E8)B[[Z@[U~?[pP[[[[BZYY i) (&Ii@%M= -,S))-,SU@EYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030387.743165 s, next control iter: 1743030388.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030388.143165 s.e/BH~,E* "AA)\\@AT \@AU~? AYJA &"AA)hNA"AZAbAjArAzAAA*dɿ>Al+sAŔr@AʲAҀ=A ſAeNAPAP*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9r@YG JJJJJD&K Y(T~?yT8NALD)7ŧ7E8&B)B E[[x@[OU~?[W[[[[BZYY i) 5Ii@M= =N))=Ns3@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030388.163165 s, next control iter: 1743030388.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030388.563165 s.HH~,k $"AJ"J*J2J:J]?BJ]?nJ5vJA]@A]o]@AU~? AaRA.@ &"AA;%hNA"AZAbAjArAzAAA01aAYS0sA!r@A8A2=AYÿA Aw]A*A9?2ALֽ:AI=BA9?JALֽRAI=Y5@[ÿy2=9ٓH`t??n?lզ?` ૢG?)5@ I٘i)I9!r@Y]G JB=J<JJJD&Kx>  F8Y)T~? F8y\MA[ÿWD77{7S F8)B[[v@[U~?[][[[[BZYY i) 7EIiB@!M= MJ))MJq@DªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030388.583165 s, next control iter: 1743030388.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3887, header.stamp.nsec: 00 temperature: 13.569852* salinity: 33.374985, density: 1025.000000* values[0]: 0.575400F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030388.983165 s.OH~,>"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076523< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743030388.983285F (some fields omitted in printout)Aq= ף^@A$Co^@AU~? AmZA> &"AAI!hNA"AZAbAjArAzAAA+oI}AȘ<5sA}q@A ;A0=AA@zA`gA(Ⓖ*Aq9?2Aֽ:Aq =BAq9?JAֽRAq =٘i)I9q@YG JC=JJJJD&K Y@+T~?yezMAbD77F8)B[[ ǿ[U~?[8d[[[[BZYY i) TIiΟ@=L= 7RF))7RF7RFŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030389.003165 s, next control iter: 1743030389.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030389.403165 s.&VH~,Y"AJ"J*J2J:JBJnJvJAGz_@ASF_@AU~? A{bA &"AA"hNA"AZAbAjArAzAAA;A$(:sA'+q@A~;Ae=A{6A⥿A`oA#*A9?2Ay|ֽ:A =BA9?JAy|ֽRA =٘i)I9+q@YG J=JJJJD&K Y,T~?yknMAmD77(F8)B[[Ӌſ[uU~?[j[[[[BZYY i) # dIi@3L= B))BBfɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030389.423165 s, next control iter: 1743030389.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3888", header.stamp.nsec: 0"0 temperature: 13.570105"* salinity: 33.374981", density: 1025.000000"* values[0]: 0.574812"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030389.823165 s.\H~,t"AAQ`@Az`@AU~? AjAh&"AAhNA"AZAbAjArAzAAAuVYAs+?sA p@A;A=AAvAuAW*A%9?2A@ֽ:A< =BA%9?JA@ֽRA< =٘i)I9p@YyG JJJJJ D&K Y-T~?y8wLAwDb77S7F8)B E[[fÿ[8U~?[nq[[[[BZYY i) AysIip@L= O=))O=O=̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030389.843165 s, next control iter: 1743030390.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030390.243165 s.cH~,y"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076523< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743030390.243296F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(a@A``@AU~? ArA&"AA;hNA"AZAbAjArAzAAAc@AW/DsA&p@A;AM=AaA)LAxAG*A9?2Aֽ:AT =BA9?JAֽRAT =٘i)I9&p@Y)G JJJJJD&K Y/T~?y^LAD77EF8)B[[}@[UU~?[x[[[[BZYY iɯ) rIi@o1L= q9))q9q9[ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030390.283165 s, next control iter: 1743030390.643180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743030390.663165 s.jH~,q"AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3889, header.stamp.nsec: 00 temperature: 13.570345* salinity: 33.375011, density: 1025.000000* values[0]: 0.574210F (some fields omitted in printout)Ab@Aׂa@AU~? AzAU-&"AA}hNA"AZAbAjArAzAAAG^AS!HsAmo@A4pVA=A/KAa?AmyAA*A9?2Aֽ:A =BA9?JAֽRA =Yw@0Syڤ= WٓHI? ?W?@s?j`6?)w@ I٘i)I9o@YG J`B=JZ<JJJ"D&K,x> Y%3T~?yKASDj7Z7SF8'B)BE[[=[U~?[~[[[[BZYY i) Ii@#K= (5))(5(5ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030390.683165 s, next control iter: 1743030391.063186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743030391.083165 s.DqH~,S"AJ"J*J2J:JBJnJvJAp= b@A/ڢb@AU~? AƂA&"AAhNA"AZAbAjArAzAAA‰:A#4MsAo@AiA=APA Ý?A5wAX*A9?2Aֽ:AO=BA9?JAֽRAO=٘i)I9o@YG JC=JJJJ-D&K YB7T~?yoKAD77{7SbF8)BE[[ [U~?[0[[[[BZYY i) ZIi@OJ= ?0))?0?0ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030391.103165 s, next control iter: 1743030391.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030391.503165 s.wH~,H4"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085833< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743030391.503295F (some fields omitted in printout)AHzc@APyc@AU~? A؊A&"AAlhNA"AZAbAjArAzAAAp 8ARsAߔn@As޻Aߝ=A At?ArrA*A9?2A|ֽ:Aø=BA9?JA|ֽRAø=٘i)I9n@Y4G JB=JJJJ7D&K Ya;T~?y%*KAD7)7pF8)B[[{к[U~?[Ƌ[[[[BZYY i) Ii@ζI= ,)),,y٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030391.543165 s, next control iter: 1743030391.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3890, header.stamp.nsec: 00 temperature: 13.570608* salinity: 33.374973, density: 1025.000000* values[0]: 0.573601F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030391.923165 s.@~H~,"AJ"J*J2J:JBJnJvJAQd@AqpPd@AZU~? A蒪A|T&"AAhNA"AZAbAjArAzAAA*'ZA;M׶WsA n@A+NA=AZ{A ?A@0kAT*A9?2Aֽ:AY=BA9?JAֽRAY=٘i)I9 n@YG JC=JJJJBD&K Y?T~?yڢJAD77j7~F8+B)B[[ǩ[WU~?[Z[[[[BZYY i) AIiM@&YI= C())C(C(qݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030391.943165 s, next control iter: 1743030392.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030392.343165 s. YJT~?yIAM“D{7{7F8)įBE[[+][xU~?[s[[[[BZYY i) +Ii.@$G= {)){{!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030392.803165 s, next control iter: 1743030393.163180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743030393.183165 s.˒H~,VK"AAףp= g@A25 f@AV~? AAM}&"AA%hNA"AZAbAjArAzAAAW`)5AIJmfsADl@A;Ax:=AƦA]?A@FAԹ*A9?2Abֽ:AU=BA9?JAbֽRAU=٘i)I9Dl@YG JϺJJJJbD&K YyQT~?y}IA͓D777F8,B)ʯBE[[6[U~?[[[[[BZYY i) IiY@F= ]))]]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030393.223165 s, next control iter: 1743030393.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743030393.603165 s.84H~,f"AJ"J*J2J:JBJnJvJA{Gg@A {,g@A'V~? AA&"AA*hNA"AZAbAjArAzAAA|c W AiOksAk@Aގ;A=AX#A'?A5AŰ*A9?2A ֽ:A&=BA9?JA ֽRA&=٘i)I9k@YjG JB=JJJJmD&K YhXT~?y'ũ IAؓD{7{7UF8)ϯB[[[U~?[[[[[BZYY i) uNIi@F= ? ))? ? ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030393.623165 s, next control iter: 1743030394.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3892 , header.stamp.nsec: 0 0 temperature: 13.571135 * salinity: 33.374985 , density: 1025.000000 * values[0]: 0.572236 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030394.023165 s.ZH~,|"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085833< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743030394.023312F (some fields omitted in printout)AQh@A77'h@A*V~? AAD&"AA`0hNA"AZAbAjArAzAAA_AwN2N-psAj@A$YA=AyAU?A@f"ADļ*A*9?2A ֽ:AH=BA*9?JA ֽRAH=٘i)I9j@YG J.üC=JJJJxD&K YV_T~?yͩHAD77F8)ԯB[[孿[WU~?[[[[[BZYY i) ļIi7@GfE= ))sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030394.063165 s, next control iter: 1743030394.423179 s, wait time: 0.360014 sV_T~?)ͩ rAdjusting time to match Gazebo time: 1743030394.443165 s.J "J *J 2J :J f?BJ f?nJ 5vJ BæH~,l]"AA(\i@Aw-[i@A V~? AªA&"AA6hNA"AZAbAjArAzAAA=娣A usAYj@A A=A[ўA@^?A@` AiǼ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9Yj@YG JżJJJJD&K YCfT~?y5֩+HAD{7j7F8-B)گBE[[E[U~?[[[[[BZYY i) ̼Ii@E= h))hhRYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030394.483165 s, next control iter: 1743030394.843183 s, wait time: 0.360018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3893, header.stamp.nsec: 00 temperature: 13.571418* salinity: 33.374977, density: 1025.000000* values[0]: 0.571487F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030394.863165 s.+H~,>"AAfffffj@An;2j@AV~? AʪA&"AA>hNA"AZAbAjArAzAAA,=!KfAysAi@AA=A1A>?A`AH˼*A9?2A?ֽ:Ag=BA9?JA?ֽRAg=Y!@Fyv=ٓH`?@ ?`.ޢ?@E?LX`X~?)!@ I٘i)I9i@Y:G JɼJ\<JJJD&Kx> YoT~?yxީGAFDj7Z7UF8)߯B[[{[U~?[[[[[BZYY i) 8ӼIi@K|C=  ))  YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030394.883165 s, next control iter: 1743030395.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030395.283165 s.9RH~,"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085833< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743030395.283292F (some fields omitted in printout)A ףp=k@AXO k@AVV~? AҪAit&"AAFhNA"AZAbAjArAzAAAo~:"AφaӪ~sAi@AbA=A A?A .Agм*A9?2Aֽ:A~=BA9?JAֽRA~=٘i)I9i@Y G JͼJJJJD&K YyT~?y;GA CD77F8.B)BE[[l[`U~?[`Ʃ[[[[BZYY i) lڼIi@t-B= ))[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030395.303165 s, next control iter: 1743030395.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3894., header.stamp.nsec: 0.0 temperature: 13.571720.* salinity: 33.374992., density: 1025.000000.* values[0]: 0.570700.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030395.703165 s.ֺH~,"AAGzl@ANjk@AmV~? AڪA%"AANhNA"AZAbAjArAzAAA<ATItsARh@ATϹAt)=AAS?A,Ai)ּ*A39?2Azֽ:A =BA39?JAzֽRA =DI٘i)I9Rh@Ye G JҼB=JJJJD&K  G8YGT~? G8yFA D7)7G8)B[[OB[V~?[̩[[[[BZYY i) Iiۖ@A= t))ttUYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030395.723165 s, next control iter: 1743030396.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030396.123165 s. elevatorAngleAction: 0.083040< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743030396.543260F (some fields omitted in printout)A(\m@AZ_m@A!+V~? A A%"AAbhNA"AZAbAjArAzAAAYN+eA'jsAf@A;A=AA?AA{Ab޼*A9?2A<ֽ:Az=BA9?JA<ֽRAz=٘i)I9f@Y G J<ݼJJJVEJD&K YT~?yEA#DSI7SI7G8/B)BE[[꠿[ V~?[٩[[[[ZZBZYY i) ;ɼIi@K?= v))vvYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030396.563165 s, next control iter: 1743030396.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3895, header.stamp.nsec: 00 temperature: 13.572043* salinity: 33.374985, density: 1025.000000* values[0]: 0.569900F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030396.963165 s.·H~,="AJ"J*J2J:JBJnJvJAn@Aٲ|en@A2V~? AA%"AAmhNA"AZAbAjArAzAAAu9b AixEsAf@A;A=AoSAh?ATAa*Aϋ9?2AHWֽ:A.@<BAϋ9?JAHWֽRA.@ YT~?yn\EAB-D77+G8)B[[[gV~?[ߩ[[[[ZZBZYY i) _IiV@== ))辩YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030396.983165 s, next control iter: 1743030397.363186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743030397.383165 s.ՇH~,/X"AA= ףpo@Aw elevatorAngleAction: 0.083040< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743030397.803287F (some fields omitted in printout)J"J*J2J:JBJnJvJAzGp@A‚p@AtCV~? AA%"AAphNA"AZAbAjArAzAAA6l AnsAm]d@A^Av=AA ?A Ar*Aw9?2AZֽ:A^c<BAw9?JAZֽRA^c<٘i)I9]d@Y G JJJJJٔD&K YT~?yApDACD777GG81B)B!E[[g[#V~?[}[[[[ZZBZYY i) Ii@y;= ׾))׾׾˫YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030397.843165 s, next control iter: 1743030398.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030398.223165 s.gH~,H"AAQq@A5vp@ALV~? AAS%"AAՓhNA"AZAbAjArAzAAAX4.: Ai{$sAc@ALAIh2=A$jA?AAϼ*A49?2Aeֽ:ALij;BA49?JAeֽRALij;٘i)I9c@Y G JAJJJJD&K YT~?y*CANDj7j7VG8)B[[8[*V~?[[[[[ZZBZYY i) DIiE@ 9= ξ))ξξzYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743030398.243165 s, next control iter: 1743030398.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030398.643165 s.wH~, *"AJ"J*J2J:JBJnJvJA)\q@Aq@A*VV~? A$A%"AAhNA"AZAbAjArAzAAAn6:Q A ,'sA"b@A޸A"<A҄A?AA}*A09?2Azֽ:A9BA09?JAzֽRA9٘i)I9b@Y% G JYJJJJD&K Y)T~?y'CAXDŧ7b7UdG82B)B$E[[[3V~?[[[[[ZZBZYY i) ˼Ii@m9= ƾ))ƾƾYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743030398.663165 s, next control iter: 1743030399.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3897, header.stamp.nsec: 00 temperature: 13.572727* salinity: 33.374985, density: 1025.000000* values[0]: 0.568020F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030399.063165 s.H~,c "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083040< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743030399.063332F (some fields omitted in printout)Ar@Aܘr@AB`V~? AA3/%"AAhNA"AZAbAjArAzAAAY\ A`/sAzb@AA<A<A@?A` A?9*A9?2Awֽ:AcPBA9?JAwֽRAcPY9}@=>yf<yٓHz? 9?@0x?`9`?jy ^p`?)9}@ I٘i)I9zb@Y G JJ9JJJD&Kw> Y T~?y.vCA>cDZ7Z7rG8)B[[!ٓ[;V~?[)[[[[ZZBZYY i -=) ܃Ii @7= D))DDsYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030399.083165 s, next control iter: 1743030399.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030399.483165 s.w_H~,"AJ"J*J2J:JR?BJR?nJa5vJAq= ףs@Aupos@AjV~? AA%"AAhNA"AZAbAjArAzAAA>F[A?0sAb@AB:A1/ŻAGA@ ?A OA9*A9?2ANֽ:A~BA9?JANֽRA~٘i)I9b@Y G JfJJJJD&K YT~?y6iCAnDSI7G83B)"B(E[[[DV~?[P[[[[ZZBZYY i9=) msIi@`T5= ))(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030399.503165 s, next control iter: 1743030399.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3898, header.stamp.nsec: 00 temperature: 13.572967* salinity: 33.375008, density: 1025.000000* values[0]: 0.567381F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030399.903165 s.H~,"AAGzt@AꗈFt@AuV~? A=&A]%"AAhNA"AZAbAjArAzAAAuq22OAy餱sASa@A;A>AzAm?AAYȻ*AL9?2A%ֽ:AkBAL9?JA%ֽRAk٘i)I9a@Yu G JJJJJD&K YU~?y=\CAyD7777WG8)$B[[s[MV~?[q [[[[ZZBZYY i) 5`Iiv@J3= .))..5)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030399.923165 s, next control iter: 1743030400.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030400.323165 s.qH~, "AJ"J*J2J:J3?BJ3?nJA5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074817< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743030400.323271F (some fields omitted in printout)AQu@Au@AtV~? Aw-An%"AAhNA"AZAbAjArAzAAA$7A QsAa@A;AA~tAH?AAغ*Aɛ9?2A+ֽ:AȼBAɛ9?JA+ֽRAȼ٘i)I9a@Yd G J̈JJJJD&K YU~?yENCADZ7Z7G8)%B[[[>[WV~?[[[[[BZYY i) tLIir@~2= ٢))٢٢yH=1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030400.343165 s, next control iter: 1743030400.723175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3899., header.stamp.nsec: 0.0 temperature: 13.573044.* salinity: 33.375015., density: 1025.000000.* values[0]: 0.567119.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030400.743165 s.(W H~,/ "AA\(v@AZu@AyV~? A4A%"AAhNA"AZAbAjArAzAAAAc-lsAa@A;A1AmoA ?AܮA7;*A}9?2Atֽ:A9BA}9?JAtֽRA9缙٘i)I9a@Ye G Jd9JJJJ$D&K YU~?yLACAD7ŧ7G84B)&B+E[[[aV~?[[[[[BZYY i) 8Ii@n1= n))nnn*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030400.763165 s, next control iter: 1743030401.143190 s, wait time: 0.380025 s rAdjusting time to match Gazebo time: 1743030401.163165 s.t}H~,qJ "AJ"J*J2J:J.?BJ.?nJ;5vJAw@Awbv@AV~? A;Ai%"AA[iNA"AZAbAjArAzAAAatA08ѾsAa@A§ANWAjA`?AtA;*Ag9?2AaGֽ:ABAg9?JAaGֽRAY@ĆjyCWR᡺ٓH@5u?b?rٟ@;Y{?ȥ?`?4T`?)@ I٘i)I9a@Yx G J;JSJJJ/D&K?w> Y/U~?ySCAjD7777WG85B),E[[Ԉ[kV~?[[[[[BZYY iEf=) yb(Ii@ 9/= 3))33*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030401.183165 s, next control iter: 1743030401.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030401.583165 s.H~, Se "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056373< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743030401.583268F (some fields omitted in printout)Ap= w@A֤ۢw@AV~? ABAP%"AAiNA"AZAbAjArAzAAA|Aj^HsAb@AȻA wAkeA?A:8A/<*AD9?2A#ֽ:A BAD9?JA#ֽRA ٘i)I9b@Y G J}<JJJJ9D&K Y@U~?yZCAD7)7G86B)%B/E[[[wvV~?[~#[[[[BZYY i) IiY@M?-= ^))^^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030401.603165 s, next control iter: 1743030401.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3900, header.stamp.nsec: 00 temperature: 13.572963* salinity: 33.375004, density: 1025.000000* values[0]: 0.567190F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030402.003165 s.{ H~,Y4 "AJ"J*J2J:JBJnJvJAHzx@Ahyx@AHV~? AIA]X%"AA-iNA"AZAbAjArAzAAArL?fAüK=sArb@A&vA3A?`A5?AxA-l<*A9?2At"ֽ:Ap BA9?JAt"ֽRAp ٘i)I9rb@Y G JL<JJJJDD&K Y2RU~?yaDAD77{7G87B)#B2E[[g[~V~?[d)[[[[BZYY iÆ=) 8Ii@ρ+= ~))~~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030402.023165 s, next control iter: 1743030402.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030402.423165 s.u&H~, "AAQy@A 8Py@A V~? AsPA%"AABiNA"AZAbAjArAzAAAiAhsAb@AƸA3A@[Azg?AAT<*Am9?2A$Iֽ:A_BAm9?JA$IֽRA_٘i)I9b@Y G Jr<JJJJOD&K YjcU~?yhcDAD)7)7WG8) B[[-[V~?[A/[[[[BZYY i) IiЄ@*= -m))-m-my@g=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030402.443165 s, next control iter: 1743030402.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3901, header.stamp.nsec: 00 temperature: 13.572769* salinity: 33.375027, density: 1025.000000* values[0]: 0.567614F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030402.843165 s.,H~, "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065802< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743030402.843288F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\z@AO`'z@AiV~? A1WAtM%"AAgWiNA"AZAbAjArAzAAAwA2.sAXc@A&AtAUA4?A`&uA<*AP9?2A?ֽ:AwBAP9?JA?ֽRAw٘i)I9Xc@Y] G J<JJJJZD&K YtU~?yoDAĔDb77G8)B5E[[ [V~?[5[[[[BZYY i) DλIiӃ@(= L[))L[L[yM;=;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030402.863165 s, next control iter: 1743030403.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030403.263165 s.4H~, "AA33333{@Aڥ z@A$V~? A]A%"AA]miNA"AZAbAjArAzAAAHAOsAc@A=;AAcPA?A/Ai<*A 9?2Aֽ:A* BA 9?JAֽRA* YM@{Py@;ٓH ?C? s z5b??e? t? ?)M@ I٘i)I9c@Y G JK<JpVJJJdD&Kw>  H8YU~? H8yvEA{PΔD77{7H88B)B6E[[ov{[V~?[:[[[[BZYY i)  Ii@S&= PI))PIPI0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030403.283165 s, next control iter: 1743030403.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 39022, header.stamp.nsec: 020 temperature: 13.5724642* salinity: 33.3750152, density: 1025.0000002* values[0]: 0.5682122F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030403.683165 s.l:H~,Z "AJ"J*J2J:Jv?BJv?nJ5vJAףp= |@AbE {@AOV~? AedAI%"AAiNA"AZAbAjArAzAAAΫ*AsjsAad@A;AFA KA*?A "A{<*A9?2Aֽ:A>M BA9?JAֽRA>M ٘i)I9ad@Y G Jɡ<JJJJoD&K YcU~?yf|yEAٔDZ7Z7WH89B)B9E[[w[V~?[p@[[[[BZYY i) .ڑIi>@"'$= 7))77*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030403.683165 s, next control iter: 1743030404.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743030404.103165 s.AH~,!"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065802< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743030404.103294F (some fields omitted in printout)A{G|@Am|@AV~? AjAt%"AAFiNA"AZAbAjArAzAAATAηRdžsAbd@AP9;A᛽AEA@؊?AAn<*A49?2A|ֽ:AxJ BA49?JA|ֽRAxJ ٘i)I9d@YT G J<JJJJzD&K YĮU~?y΂EAD77{7H8)B[[wr[V~?[F[[[[BZYY i) HgIiu}@6"= p%))p%p%O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030404.123165 s, next control iter: 1743030404.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030404.523165 s.GH~,{!!"AJ"J*J2J:J?BJ?nJ5vJAQ}@A>$}@A W~? A6qA8M%"AA3iNA"AZAbAjArAzAAAWK4A-fhsAe@A:AޠA@AJ?ABTA<*A9?2A1ֽ:A BA9?JA1ֽRA ٘i)I9e@Y G Jì<JJJJD&K Y%U~?y5FFAD{7-H8:B)BcfA(:sAf@AxAsA;A0?AA <*A9?2A[ֽ:AE BA9?JA[ֽRAE ٘i)I9f@Y G Jy<JJJJD&K YU~?yFA CDŧ7b7Y;H8;B) B?E[[i[QV~?[-Q[[[[BZYY i) ܺIix@ =  ))  *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030404.983165 s, next control iter: 1743030405.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030405.363165 s.UH~,>W!"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812J< rudderAngleAction: -0.261799"J> elevatorAngleAction: 0.065802*J2J< massPositionAction: 0.000000:J4 buoyancyAction: 0.000500BJ dt: 0.419960nJvJ2 time: 1743030405.363270F (some fields omitted in printout)Afffff@A32@A,/W~? A}AX%"AAiNA"AZAbAjArAzAAAVV[AlsAYf@A+AA6A ?A_A<*A9?2A!Oֽ:AUBA9?JA!OֽRAUY>@ q6y񅘽ٓH%??\(3?a?`; ?l~`?)>@ I٘i)I9f@Yb G J<J:JJJD&Kx> YU~?y]GAq6DZ7Z7IH8 elevatorAngleAction: 0.065802< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743030406.623320F (some fields omitted in printout)AR끮@AW@A dW~? AnAi%"AA4jNA"AZAbAjArAzAAAOWٷA#K1sA7[h@AQK0;AZA&Ap?AA@<*A9?2Aֽ:ABA9?JAֽRA٘i)I9[h@Yj G J<JJJJD&K Y*V~?yFHA$Dj7Z7tH8)B[['W[=W~?[f[[[[BZYY i) Oi;Iiyj@0= g))ggW*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030406.643165 s, next control iter: 1743030407.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3905 , header.stamp.nsec: 0 0 temperature: 13.571416 * salinity: 33.375038 , density: 1025.000000 * values[0]: 0.570399 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030407.043165 s.pH~,!"AJ"J*J2J:JBJnJvJA(\‚@A+d@AsvW~? A$A%"AAOjNA"AZAbAjArAzAAA@ ?AլVsA"h@A5;APA!A?A7lAq<*AL9?2A:ֽ:A BAL9?JA:ֽRA ٘i)I9h@Y G J<JJJJŕD&K YW@V~?ydHA/D{7j7H8>B)BIE[[R[j W~?[k[[[[BZYY i) p?;Iig@j= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030407.063165 s, next control iter: 1743030407.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030407.463165 s.VwH~,!"AA@A̲'e@A7W~? AA,%"AAkjNA"AZAbAjArAzAAApK}5?AsAdi@A};A(AuA`?A AI<*A9?2AQֽ:AlnBA9?JAQֽRAlnYy@y&;ٓH"?\?ி`@U@4??_?`~??)y@ I٘i)I9di@Y G J^<B=Jk<JJJЕD&Kv> YzWV~?ys IA:D77[H8@B)BME[[hN[/W~?[p[[[[BZYY i=) };Iic@T= ))WD}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030407.503165 s, next control iter: 1743030407.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3906, header.stamp.nsec: 00 temperature: 13.571075* salinity: 33.375053, density: 1025.000000* values[0]: 0.571111F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030407.883165 s.y}H~,@!"AJ"J*J2J:J4?BJ4?nJN5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.247331> elevatorAngleAction: 0.074748< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743030407.883313F (some fields omitted in printout)A= ףp@A|DL<@AXW~? A6A%"AAjNA"AZAbAjArAzAAA -80sZ?A:ܮVsAki@A5;Ao@AQAm?A:w߿A<*A49?2AULֽ:A#BA49?JAULֽRA#٘i)I9i@YZG J<C=JJJJەD&K YnV~?yiIADDb77H8)B[[_I[n?W~?[u[[[[BZYY i) ;Ii_@R= K)) KKe*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030407.903165 s, next control iter: 1743030408.283179 s, wait time: 0.380014 s*nV~?)* rAdjusting time to match Gazebo time: 1743030408.303165 s.SH~,jg""AAzG@A?{@A֯W~? AA!D%"AAjNA"AZAbAjArAzAAAƬU7j?AWf\sAaj@A&A8ALA ?A޿A<*A9?2AhԽ:ABA9?JAhԽRA٘i)I9aj@YG J1<JJJJD&K YV~?yIAODZ7Z7H8)BPE[[GE[OW~?[z[[[[BZYY i) ˟;Ii\@W = 2r<))2r<2r<n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030408.323165 s, next control iter: 1743030408.703173 s, wait time: 0.380008 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3907*, header.stamp.nsec: 0*0 temperature: 13.570747** salinity: 33.375084*, density: 1025.000000** values[0]: 0.571782*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030408.723165 s.H~,H.""AJ"J*J2J:JBJnJvJAQ@Aډꅮ@AW~? A̪A%"AAjNA"AZAbAjArAzAAAǫ?AVdtAj@AȻAmAJ A ?A8 ޿A2<*A9?2Aս:ABA9?JAսRA٘i)I9j@YG J<JJJJD&K Y؜V~?y%JAZDj7j7ZH8AB)BSE[[/@[_W~?[[[[[BZYY i) v;IiX@< = J=))J=J=y=*Y!$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030408.743165 s, next control iter: 1743030409.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030409.143165 s.g/H~,N*I""AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074748< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743030409.143298F (some fields omitted in printout)A)\@Asѐ@AW~? A诫Aw%"AAjNA"AZAbAjArAzAAAhks?A'tAWk@AqpA9숽A*AY?A@QݿAr<*A!9?2AEս:ABA!9?JAEսRA٘i)I9Wk@Y;G Jn<JJJJD&K YV~?yŪJAeD777H8BB)BVE[[o <[pW~?[{[[[[BZYY i) k;IiU@= fP=))fP=fP=s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030409.163165 s, next control iter: 1743030409.543192 s, wait time: 0.380027 s rAdjusting time to match Gazebo time: 1743030409.563165 s.H~,N d""AJ"J*J2J:Js?BJs?nJ5vJȦ@A @ASW~? A䴫A%"AAkNA"AZAbAjArAzAAAU?AlgtAk@Ah|AAA`?A\ܿA0H<*AN9?2AQս:ABAN9?JAQսRAY@iy'l଻ٓH?/S?@<߿?.?r3?`u_?)@ I٘i)I9k@YG J<J9;JJJD&K'u> YV~?yɪJAoDZ7Z7H8)B[[t7[W~?[)[[[[BZYY i)  elevatorAngleAction: 0.074748< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743030410.403296F (some fields omitted in printout)AGz@A2F@ADX~? AvA W%"AA?kNA"AZAbAjArAzAAA#@A\+tAl@Ar;A}AA8?A ۿA}<*A9?2A#Խ:AkBA9?JA#ԽRAk٘i)I9l@YG Jt<JJJJD&K YV~?yҪKAD{7j7H8DB)ޯB^E[[1.[¤W~?[T[[[[BZYY i) +))P>P>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030411.263165 s, next control iter: 1743030411.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030411.663165 s.H~,q""AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074748< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743030411.663304F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3910, header.stamp.nsec: 00 temperature: 13.569777* salinity: 33.375118, density: 1025.000000* values[0]: 0.573664F (some fields omitted in printout)A@A)$ˋ@AqWX~? A˫AM%"AAkNA"AZAbAjArAzAAA67KP@A4R^tA,n@At֪:AᜒAIҾA;?AؿA|ޗ<*A9?2Atkս:ABA9?JAtkսRAYd@6VҾyٜF:ٓH(C??밿I~ٿ@V??O? ZU??)d@ I٘i)I9,n@YG Jٔ<J)JJJ;D&Kt> YIW~?yުLAVҾDj7{7 I8EB)ԯBdE[[, [W~?[q[[[[BZYY i) BZ@x< P#>))uP#>P#>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030411.683165 s, next control iter: 1743030412.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030412.083165 s.DH~,S#"AJ"J*J2J:JBJnJvJAp= ׌@AZڢ@AmX~? AЫA%"AA5kNA"AZAbAjArAzAAAZlg)m@A6CtAn@A>AiAzȾA ,;?A ׿AA<*A9?2A,ս:A BA9?JA,սRA ٘i)I9n@YCG JK<JJJJFD&K YbW~?y@MAD77/I8)ЯBgE[[}[W~?[[[[[BZYY i0<=) Ui))|kH6>H6>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030412.103165 s, next control iter: 1743030412.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030412.503165 s.LjH~,/4 #"AAHz@Axy@AHX~? A ԫAo%"AA,kNA"AZAbAjArAzAAA=I @AgdztAx3o@A A`蕽ApA!|?A` ׿As<*A:?2Aӽ:Ab BA:?JAӽRAb ٘i)I93o@YG JY<JJJWEJQD&K Y|W~?yyMAD77{7[=I8FB)̯BjE[[/[X~?[[[[[BZYY i) Rx)) &I>&I>*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743030412.523165 s, next control iter: 1743030412.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3911, header.stamp.nsec: 00 temperature: 13.569427* salinity: 33.375134, density: 1025.000000* values[0]: 0.574364F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030412.923165 s.7ΈH~,;#"AJ"J*J2J:J ?BJ ?nJ.5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083611< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743030412.923306F (some fields omitted in printout)AQ@AP@AX~? A׫A\%"AAlNA"AZAbAjArAzAAA܎fpĹ @A,tA@o@A; AՋAA?A]<ֿAԽ<*A 9?2Aӽ:AlBA 9?JAӽRAl٘i)I9o@YG J<JJJJ\D&K YW~?yIMAŕD{7KI8)ȯBmE[[{[uX~?[[[[[BZYY i) ))%\>%\>[*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030412.943165 s, next control iter: 1743030413.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030413.343165 s.<ՈH~,U#"AA(\@AAI(@A)X~? A۫A%"AAI*lNA"AZAbAjArAzAAA @A<;g tAFCp@A+AYřA⦩A@?A jտAe<*A9?2A)Խ:AwBA9?JA)ԽRAw٘i)I9Cp@Y:G J<JJJJfD&K YW~?y>NAЕD77ZI8)įBpE[[? [m)X~?[[[[[BZYY i) ͔))@Ao>@Ao>y"=f*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030413.363165 s, next control iter: 1743030413.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3912*, header.stamp.nsec: 0*0 temperature: 13.569072** salinity: 33.375134*, density: 1025.000000** values[0]: 0.575070*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030413.763165 s.8ۈH~,#p#"AJ"J*J2J:JBJnJvJA33333@Au@AtX~? AP߫A%"AAdMlNA"AZAbAjArAzAAAœ @A]S"tAp@A?;AaAA ?A@ԿA]<*A^9?2A&ս:AtSBA^9?JA&սRAtSY9@8yay@;ٓHU`?`ޑ?nҲƆӿw? ?[? YW~?yNA8ەD7\hI8)B[[[_=X~?[][[[[BZYY i) %)) r>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030413.783165 s, next control iter: 1743030414.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030414.183165 s.H~,g#"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.236453> elevatorAngleAction: 0.083611< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743030414.183277F (some fields omitted in printout)Aףp= @An/֐@AX~? AAf%"AAplNA"AZAbAjArAzAAA}>N@A q$tA]Vq@A;AHA捔A `T?AӿAqt<*A9?2Aս:AcBA9?JAսRAc٘i)I9Vq@YG J<JJJJ|D&K YbW~?y0OAD{7{7vI8HB)BtE[[;[QX~?[[[[[BZYY i) )) @>@>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030414.203165 s, next control iter: 1743030414.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030414.603165 s.:4H~,#"AJ"J*J2J:JBJnJvJA{Gᑮ@Ata@AX~? AA B%"AAlNA"AZAbAjArAzAAAn)Y]@A)/&tAq@Ah;AfNApA?A`ҿAJ<*AU:?2Aӽ:A#'BAU:?JAӽRA#'٘i)I9q@Y8G J<JJJJD&K YAX~?yyOADj7I8IB)BwE[[[ifX~?[[[[[BZYY i) x)) )>)>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030414.623165 s, next control iter: 1743030415.003181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3913 , header.stamp.nsec: 0 0 temperature: 13.568713 * salinity: 33.375145 , density: 1025.000000 * values[0]: 0.575801 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030415.023165 s.ZH~,5|#"AAQ@A #@AY~? ADA%"AAиlNA"AZAbAjArAzAAAcw @Ah;<(tAvr@Ay;ANEAA?A,ѿA<*Al :?2Aeӽ:ABAl :?JAeӽRA٘i)I9vr@YG J<JJJJD&K Y#X~?yOA CD777\I8)BzE[[N[|{X~?[[[[[BZYY i) 蚩))Н>Н>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030415.043165 s, next control iter: 1743030415.423184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030415.443165 s.7H~,>]#"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083611< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743030415.443285F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A 7[@A(Y~? AJA%"AAClNA"AZAbAjArAzAAA<\8 @Azݠ*tAxs@AmߺAAmAb?A"ѿAg<*A :?2Azӽ:ABA :?JAzӽRA٘i)I9s@YG Jϵ<JJJJD&K Y7X~?yEKPAD7I8)B}E[[[X~?[s[[[[BZYY i) "))Ɉ>Ɉ>*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030415.483165 s, next control iter: 1743030415.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3914, header.stamp.nsec: 00 temperature: 13.568319* salinity: 33.375156, density: 1025.000000* values[0]: 0.576557F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030415.863165 s.+H~,>#"AAfffff@A@C2@A3AY~? A+A%"AAmNA"AZAbAjArAzAAAg'~C;@AT gI,tAYs@A?лAYAUYA ?AUFпA~<*A9?2A#Խ:ABA9?JA#ԽRAYsF@XyXdѻٓHh-?z?`!sʿH?@'F?@D?`\z?)sF@ I٘i)I9s@YOG J<JJJJD&Kq> YRX~?yPAXD77{7I8)BE[[[=X~?[Ī[[[[BZYY i) n))p > >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030415.883165 s, next control iter: 1743030416.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030416.283165 s.4RH~,$"AJ"J*J2J:J?BJ?nJ5vJA ףp=@AcK @AYY~? AA*U%"AA'mNA"AZAbAjArAzAAA_{d@A:ԩ-tAQRt@A#AzFADA4?A οA:<*A9?2APԽ:A<BA9?JAPԽRA<٘i)I9Rt@YG J;<JJJJD&K Y0nX~?y0QAD77]I8)B[[Q׾[X~?[Ǫ[[[[BZYY i) ))ͺ>ͺ>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030416.303165 s, next control iter: 1743030416.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3915., header.stamp.nsec: 0.0 temperature: 13.567914.* salinity: 33.375168., density: 1025.000000.* values[0]: 0.577370.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030416.703165 s.Һ H~,-$"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.253799> elevatorAngleAction: 0.083611< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743030416.703270F (some fields omitted in printout)AGz@A\@AkrY~? AxAP!%"AAKLmNA"AZAbAjArAzAAAٗ&@A٣W/tAt@AXSAgحA@0Ap_?A̿A$<*A:?2AYҽ:ABA:?JAYҽRA٘i)I9t@YG JP<JJJJD&K YljX~?yQA&Db7I8JB)BE[[;[X~?[ʪ[[[[BZYY i) ))!>!>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030416.723165 s, next control iter: 1743030417.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743030417.123165 s.7H~,]G$"AJ"J*J2J:JBJnJvJAR떮@A=U@AIY~? AAx%"AAqmNA"AZAbAjArAzAAAH@AXy0tAu@A8;9A/AA@?A *˿A$<*A/:?2Aӽ:A^BA/:?JAӽRA^٘i)I9u@YG J<JJJJǖD&K Y[X~?yRA0D77I8)BE[[սþ[qX~?[ͪ[[[[BZYY i) c)) a>a>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030417.163165 s, next control iter: 1743030417.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030417.543165 s.IH~,b$"AA(\—@A6`@ANY~? A&A%"AAmNA"AZAbAjArAzAAA{/-(@A\o:`2tAnMv@Aߴ;AgAHA?A bɿATg<*AD#:?2Aӽ:ABAD#:?JAӽRA٘i)I9Mv@YG J<JJJJҖD&K YX~?yRA;D77]I8)BE[[Aٹ[0X~?[kЪ[[[[BZYY iǏ=) ʹ))uF>uF>P*Y灾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030417.563165 s, next control iter: 1743030417.943182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3916, header.stamp.nsec: 00 temperature: 13.567463* salinity: 33.375217, density: 1025.000000* values[0]: 0.578246F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030417.963165 s.{H~,}$"AJ"J*J2J:J?BJ?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.092559< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743030417.963298F (some fields omitted in printout)A@A7ke@AvY~? ABA%"AAmNA"AZAbAjArAzAAAA@As3tAv@A;ABAi A`?AǿAV<*AO:?2A^ӽ:AYBAO:?JA^ӽRAYY"o@Giy憱;ٓH2?}?@>"?`? )?@ۡ?@?)"o@ I٘i)I9v@YPG JV<JJJJݖD&Kp> YX~?yRAiFD777I8)BE[[[Y~?[Ӫ[[[[BZYY i) ))n! >! >*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030418.003165 s, next control iter: 1743030418.363181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743030418.383165 s.%H~,@$"AA= ףp@AVy<@AY~? A7Ao%"AAmNA"AZAbAjArAzAAAM_\P@Ae4tAw@A^ ;A{A"A?A`ſAg<*A:?2ASԽ:AsBA:?JASԽRAs٘i)I9w@YG J<JJJJD&K  J8YX~? J8y~uSAPD77{7J8)BE[[9[,Y~?[ժ[[[[BZYY i) R&))yc>>*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030418.403165 s, next control iter: 1743030418.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3917", header.stamp.nsec: 0"0 temperature: 13.567028"* salinity: 33.375221", density: 1025.000000"* values[0]: 0.579129"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030418.803165 s.A,H~,g$"AJ"J*J2J:JBJnJvJAzG@A~@A(Y~? AAJ%"AAD nNA"AZAbAjArAzAAAq @AE5tAUx@A~xl:A_ A蕽A@?AeÿA#<*A/:?2A&ҽ:AHBA/:?JA&ҽRAH٘i)I9Ux@Y$G J<JJJJD&K YY~?y|SA[D)7ŧ7^J8RB)BE[[H[!DY~?[ת[[[[ZZZZ¸>BZYY i¸>) ;'))>>y~=Z*YnYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030418.843165 s, next control iter: 1743030419.203180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743030419.223165 s.g3H~,H$"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.252712@ elevatorAngleAction: -0.082551< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743030419.223266F (some fields omitted in printout)AQ@AQ3ꚮ@A Z~? AA/)%"AA0nNA"AZAbAjArAzAAAe䜺@AU6tAz y@A咻AWA_A?A'¿A{<*A2:?2Aѽ:A BA2:?JAѽRA ٘i)I9 y@YG J@<JJJJD&K Y1Y~?yzcTAfDb7b7"J8)BE[[D[[Y~?[ ڪ[[[[ZZZZBZYY i) ')) >>y)W=*YGxYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030419.263165 s, next control iter: 1743030419.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743030419.643165 s.v9H~,*$"AJ"J*J2J:JBJnJvJA)\@AO)@AM#Z~? A%Ah %"AAWnNA"AZAbAjArAzAAAࡦx @A.7tAuy@A A*QAA '?A\A=*A H:?2AYѽ:A>BA H:?JAYѽRA>٘i)I9y@YG J<JJJJD&K YMY~?yxTAqD71J8)B[[/[sY~?[=ܪ[[[[ZZZZBZYY i) =+ YQiY~?yBUAt{D{7{7_?J8)|BE[[l|[Y~?[/ު[[[[ZZZZBZYY i) {@=y;m;ٓH? ;@Ax?c=?? o wq??)>@ I٘i)I9}@YG Jd<J~E>JJJHD&Kn> YtY~?yeVA=Dŧ7b7 J8)bBE[[K[Z~?[[[[[ZZZZBZYY iz) Кx>A ?A`^?A 4*A :?2A,:ҽ:AP<BA :?JA,:ҽRAP<٘i)I94~@YG JC=JJJJhD&K YKZ~?y2VAіD77 J8)^BE[[f][HSZ~?[[[[[BZYY i) ?A?A@M?Ae*AS:?2A@ҽ:A<BAS:?JA@ҽRA<٘i)I9~@YG JꖻJJJJsD&K YQgZ~?ywVAܖDb7`J8OB)_BE[[&)[AmZ~?[@[[[[BZYY i) ,JJJ~D&Ko> YZ~?ygVA9>D{7{7J8)`BE[[ 9[Z~?[[[[[BZYY ie) 0A`?A̦?AOd*A:?2Akӽ:A=BA:?JAkӽRA=٘i)I9}@YMG JGJJJJD&K YZ~?yIVA CD J8)bBE[[ʼ[ՠZ~?[[[[[BZYY i) / AL?A੢?A*A:?2Aҽ:AH=BA:?JAҽRAH=٘i)I9}@Y G Ju}JJJJD&K YZ~?yUADZ7Z7`J8NB)eBE[[^[Z~?[[[[[BZYY i) ";Ii=\? <  H?))  H? H?ǪYpYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743030425.123165 s, next control iter: 1743030425.503182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743030425.523165 s.H~,{a&"AJ"J*J2J:J8?BJ8?nJx5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056133< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743030425.523305F (some fields omitted in printout)AQ@A*@AH[~? AfA%"AA~pNA"AZAbAjArAzAAA)@AR[+v:tAڞ|@A;A!k=A0v>A`v?A T?A*AA:?2Audҽ:A=BAA:?JAudҽRA=٘i)I9|@YG JNB=JJJJD&K YZ~?ynUADb77J8MB)hBE[[i<[`Z~?[ [[[[BZYY i9) ;IiJM?b< FdM?))FdM?FdM?y?fΪY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030425.543165 s, next control iter: 1743030425.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3924, header.stamp.nsec: 00 temperature: 13.565009* salinity: 33.375301, density: 1025.000000* values[0]: 0.582703F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030425.943165 s.ZdH~,J]|&"AA(\@A%@M-[@AC[~? AA%"AA\pNA"AZAbAjArAzAAAQG0=)@AwF9tAR|@AB+:A=Ah>Ai?A2?Asm*A:?2Atzӽ:A =BA:?JAtzӽRA =٘i)I9|@YnG JbC=JJJJD&K  K8YOZ~? K8yUAD K8)lBE[[N=[Z~?[[[[[BZYY i) m;Ii @?; R?))R?R?yTfaҪY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030425.963165 s, next control iter: 1743030426.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030426.363165 s.H~,}>&"AJ"J*J2J:JBJnJvJAfffff@A;2@A-[~? AvAE%"AApNA"AZAbAjArAzAAAcR*@AmG9tA {@AA=A]>A4Z?A@}I?AQ*AB:?2AaԽ:A[Q =BAB:?JAaԽRA[Q =Y|=BǏ>y/=ٓH?`ѿ??$?J?1t?)|= I٘i)I9{@YG JJ=JJJD&Kjr> Yp [~?yTAǏ>D)7ŧ7aK8)pB[[Mp=[ [~?[k[[[[BZYY i) ǜ;Ii[,?; X?))ߊrX?X?yJmӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030426.383165 s, next control iter: 1743030426.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3925&, header.stamp.nsec: 0&0 temperature: 13.565135&* salinity: 33.375328&, density: 1025.000000&* values[0]: 0.582162&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030426.783165 s.TH~,&"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.236858@ elevatorAngleAction: -0.065540< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743030426.783285F (some fields omitted in printout)A ףp=@AvS @A[~? ABA%"AApNA"AZAbAjArAzAAA*@AY -8tA\z@A@Aq=A>AG?A?A2U*A:?2AHJս:Am =BA:?JAHJսRAm =BI٘i)I9z@YG JB=JJJJD&K Y([~?yMTA'D77{7$K8LB)tB¹E[[=[$[~?[[[[[BZYY i) :4};IiT?{; q]?))q]?q]?kӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030426.803165 s, next control iter: 1743030427.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030427.203165 s.H~,&"AJ"J*J2J:JBJnJvJAGz@AWLમ@A[~? AA*%"AAqNA"AZAbAjArAzAAASO+@AT7tA>nz@A;Aژ=AG>A 4?A\?A2*AZ:?2A>vӽ:A=BAZ:?JA>vӽRA=٘i)I9nz@YkG JlC=JJJJɗD&K YC[~?y3SA2D777 3K8)xBŹE[[R=[ ?[~?[[[[[BZYY i) /@;Ii ?ᾰ; 8b?)) 8b?8b?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030427.223165 s, next control iter: 1743030427.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030427.623165 s.XH~,a&"AAR뫮@A"QhY@Au\~? AZA^ %"AACqNA"AZAbAjArAzAAA*&,@Av'6tAy@A A\z=As>A@J?A>?A*A:?2ASӽ:A=BA:?JASӽRA=٘i)I9y@YG JJJJJԗD&K Y^[~?ySA=DaAK8KB)|BȹE[[=[Y[~?[*[[[[BZYY i) ;Ii<>T;; Mh?))Mh?Mh?ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030427.643165 s, next control iter: 1743030428.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3926 , header.stamp.nsec: 0 0 temperature: 13.565260 * salinity: 33.375320 , density: 1025.000000 * values[0]: 0.581575 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030428.043165 s.H~,'"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065540< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743030428.043291F (some fields omitted in printout)A(\¬@AOc@A *\~? AA+%"AAiqNA"AZAbAjArAzAAA4k,@A$m5tAiLy@Ayy;AR=Ao>A@?A@?A|(*Av:?2ArԽ:AU{=BAv:?JArԽRAU{=٘i)I9Ly@YG J JJJJߗD&K Yy[~?yRSAGD{7j7OK8JB)B˹E[[>[t[~?[ [[[[BZYY i) \:Ii>; m?))m?m?ͪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030428.083165 s, next control iter: 1743030428.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030428.463165 s.ZljH~,'"AA@A *~e@AC\~? AAM%"AAqNA"AZAbAjArAzAAA-P{\-@A`4tAGx@A;AZV=A>A?AX?A*A2:?2AԽ:A=BA2:?JAԽRA=Y%>%>y8U=;ٓH ?Կ׿`]ұ? ø?`Ҷ??@f?`?)%> I٘i)I9x@YbG JB=JJJJD&Ks> Y.[~?y RA>RD777 ^K8GB)B͹E[[(>[;[~?[[[[[BZYY i) 429IiZ>Pj; 9s?)) u9s?9s?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030428.483165 s, next control iter: 1743030428.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3927, header.stamp.nsec: 00 temperature: 13.565427* salinity: 33.375355, density: 1025.000000* values[0]: 0.580993F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030428.883165 s.y͉H~,<8'"AJ"J*J2J:JBJnJvJA= ףp@Ast<@A\\~? AAs%"AAqNA"AZAbAjArAzAAAK#-@Af3tA;,x@AH;AӐ=A=>A`?A+?A秼*Ar:?2AUս:A=BAr:?JAUսRA=٘i)I9,x@Y G J]C=JJJXEJD&K Yc[~?yRRA]DalK8)B[[>>[ߩ[~?[K[[[[BZYY i) ^fGIi`>=; x?))x?x?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030428.903165 s, next control iter: 1743030429.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030429.303165 s.UԉH~,sgS'"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.259773@ elevatorAngleAction: -0.065540< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743030429.303299F (some fields omitted in printout)AzG@Ai@A v\~? AA%"AAbqNA"AZAbAjArAzAAAq.@Au2tA&w@A!*_;A%M=Av>A ?A?A;*A$:?2Aӽ:A7+=BA$:?JAӽRA7+=٘i)I9w@YG JJJJJD&K Y[~?yQAgDb77zK8FB)BйE[[UT>[[~?[[[[[BZYY i) ݺIij>; :~?)) :~?:~?SĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030429.323165 s, next control iter: 1743030429.703176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 39282, header.stamp.nsec: 020 temperature: 13.5655532* salinity: 33.3753782, density: 1025.0000002* values[0]: 0.5804102F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030429.723165 s.ۉH~,Hn'"AJ"J*J2J:JBJnJvJAQ@A꯮@A\~? A[A%"AA~rNA"AZAbAjArAzAAAx&/@AΞ0tALw@AÏ+A=Aa>AX?Aa?Ac*A:?2AFԽ:A<BA:?JAFԽRA<٘i)I9w@YeG JFB=JJJJ D&K Y[~?y;QArD777K8)BӹE[[%j>[[~?[ߪ[[[[BZYY i) +Ii2>: ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030429.743165 s, next control iter: 1743030430.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030430.143165 s.X/H~,*'"AA)\@AȒ@A\~? AA%"AAb)rNA"AZAbAjArAzAAAڡ /@A(/tAƚv@AA==A4>Ag?A`?A*A:?2ABս:A,<BA:?JABսRA,<٘i)I9v@YG JC=JJJJD&K Y [~?y)QA}D77bK8EB)BֹE[[>[_[~?[ݪ[[[[BZYY i) hIi>$: ?))??Y~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030430.163165 s, next control iter: 1743030430.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030430.563165 s.H~,N '"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065540< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743030430.563321F (some fields omitted in printout)J"J*J2J:JBJnJvJA̱@AÚʢ@A\~? ACA-'%"AAOrNA"AZAbAjArAzAAA:*0@A۹5-tAcv@AA]=AZ>A5@?Am?A>*A:?2A ս:A <BA:?JA սRA X>y\=ٓHM?ݿF?`?[?@q?Y@G`?)a'> I٘i)I9v@YG JB=JPJJJD&Kt> Y\~?yܪPAX>Db77K8DB)BٹE[[ˋ>[\~?[۪[[[[BZYY i)) $Ii_=Q: z?))"Kxz?z?ػYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030430.583165 s, next control iter: 1743030430.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3929, header.stamp.nsec: 00 temperature: 13.565661* salinity: 33.375381, density: 1025.000000* values[0]: 0.579882F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030430.983165 s.H~,'"AAq= ף@A.|o@AZ\~? A}A[%"AAktrNA"AZAbAjArAzAAA@ὐt0@AџD+tAVu@A-A` =Az?AA?A?Aɤ*AL:?2Aֽ:Aj<BAL:?JAֽRAj<٘i)I9u@YG JPC=JJJJ*D&K Y"/\~?yتrPAD77K8)B[[>[h/\~?[٪[[[[BZYY i) ⬲II?i44 DD?)) DD?DD?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030431.003165 s, next control iter: 1743030431.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030431.403165 s.&H~,'"AJ"J*J2J:JBJnJvJAGz@ApF@A\~? AAV%"AArNA"AZAbAjArAzAAA۽!U0@Ai*tA(,u@A":Ag=A?A`?A(?A|*A:?2AYԽ:A<BA:?JAYԽRA<٘i)I9,u@Y8G JJJJJ5D&K Y,H\~?yԪPAD7bK8CB)BܹE[[K>[I\~?[v֪[[[[BZYY i) vѻII?i,D5 ?))??IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030431.423165 s, next control iter: 1743030431.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3930", header.stamp.nsec: 0"0 temperature: 13.565778"* salinity: 33.375397", density: 1025.000000"* values[0]: 0.579409"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030431.823165 s.H~,:'"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075762< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743030431.823288F (some fields omitted in printout)AQ@A.Q@A ]~? AyA%"AA]rNA"AZAbAjArAzAAAK1@AqXc_1(tAMt@AI;Akφ=A ?A`ϼ?A ]?A*A:?2AVԽ:A)=BA:?JAVԽRA)=٘i)I9t@YG JzJJJJ@D&K Y8a\~?yЪOAD77{7K8BB)B߹E[[뭭>[d\~?[Ӫ[[[[BZYY i) iI I?i ʏ?))ʏ?ʏ?yYFFF]Waiting for Gazebo time sync: latest Gz time: 1743030431.843165 s, next control iter: 1743030432.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030432.243165 s.H~,m("AJ"J*J2J:JE?BJE?nJx5vJA\(@Avu@A!]~? A>AV %"AArNA"AZAbAjArAzAAA+OP1@A>8&tA>t@Ao<A܇=A֡?Au?A8?A*Ar:?2A`ս:Aw=BAr:?JA`սRAw=٘i)I9>t@YG JjJJJJJD&K YCz\~?y̪_OAD777 K89B)BE[[#">[(\~?[Ъ[[[[BZYY i) I I?i0(H׺  ?)) ? ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030432.263165 s, next control iter: 1743030432.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030432.663165 s. H~,q*("AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3931, header.stamp.nsec: 00 temperature: 13.565884* salinity: 33.375420, density: 1025.000000* values[0]: 0.578951F (some fields omitted in printout)A@A@˵@A9]~? AAK%"AAsNA"AZAbAjArAzAAA% n1@A;E)$tAs@A;Ag=A?A /Y?A?A'*A:?2Aս:AIw=BA:?JAսRAIw=Yǹ>u?yf=.;ٓH ?2 P? Ҍ??+_?)w?@n?)ǹ> I٘i)I9s@Y_G J=J:JJJUD&Ku> Yݑ\~?yǪOA?D77cK8)BE[[z>[?\~?[oͪ[[[[BZYY i) II?ioM U?))={U?U?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030432.683165 s, next control iter: 1743030433.063182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743030433.083165 s.DH~, SE("AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245353@ elevatorAngleAction: -0.075762< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743030433.083297F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= ׶@Avآ@A@Q]~? AXޫA%"AA*sNA"AZAbAjArAzAAAX1@A'u"tAQs@Aޞ9AY=A\7?A@#?A?AB*Aޥ:?2AĄֽ:A =BAޥ:?JAĄֽRA =٘i)I9Qs@YG J⌼JJJJ`D&K Yv\~?yªNAȗD77K8)B[[7>[R\~?[ ʪ[[[[BZYY i) 'II?i'B ?)) ??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030433.123165 s, next control iter: 1743030433.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030433.503165 s.H~,@4`("AAHz@Awy@Ah]~? AګA%"AANsNA"AZAbAjArAzAAAkŽ&2@AĝitA+r@AwA=At?A g?A?AS~*Aױ:?2ANս:A=BAױ:?JANսRA=٘i)I9r@YG J䌼JJJJkD&K  L8Y\~? L8y JNAӗD)7ŧ7 L88B)BE[[gv>[]\~?[rƪ[[[[BZYY i) 6IH?iѳ*f ?))??êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030433.543165 s, next control iter: 1743030433.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3932, header.stamp.nsec: 00 temperature: 13.565981* salinity: 33.375435, density: 1025.000000* values[0]: 0.578457F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030433.923165 s.J "J *J 2J :J ?=H~BJ?nJG5,{("AvJAQ@AW>P@A]~? A֫A!%"AAqsNA"AZAbAjArAzAAAOl2@ARotAcr@AqA)=AQ$?AN?A?Am*A:?2Avս:A=BA:?JAvսRA=٘i)I9cr@YG J`JJJJuD&K Y\~?y6MAݗDb77dL87B)BE[[>[Q\~?[ª[[[[BZYY i) (FI4H?i̾ ,?)),?,?>ƪYb(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030433.963165 s, next control iter: 1743030434.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030434.343165 s.<%H~,("AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075762< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743030434.343283F (some fields omitted in printout)A(\@A (@Ao]~? AҫAi%"AAqsNA"AZAbAjArAzAAAU"ұ2@A|S7tAq@AڻA5=A)?Au?Au?AxƔ*A:?2A.&ֽ:A=BA:?JA.&ֽRA=٘i)I9q@Y;G J䑼JJJJD&K YD\~?y^MADj7j7&L86B)BE[[S>[$]~?[[[[[BZYY i) UI+H?iྉn 7?))7?7?ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030434.363165 s, next control iter: 1743030434.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3933*, header.stamp.nsec: 0*0 temperature: 13.566080** salinity: 33.375423*, density: 1025.000000** values[0]: 0.578000*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030434.763165 s.8+H~,#ذ("AJ"J*J2J:J?BJ?nJ'5vJA33333@Ac@A]~? AΫA%"AAԶsNA"AZAbAjArAzAAA2-2@A7>tAiq@AֺAe6=AY.?A7?AD?A2*Am:?2AGֽ:Ao =BAm:?JAGֽRAo =Y}>.?yX6=I׺ٓH? 2)a?@J$? ?q,?@ZA?)}> I٘i)I9iq@YG J}J`<JJJD&KKv> Y+]~?yЮ.MA.? CD7b75L83B)BE[[;Y>[l]~?[v[[[[BZYY i) ]dI;H?i> -g?))D~-g?-g?/ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030434.803165 s, next control iter: 1743030435.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030435.183165 s.2H~,V("AAףp= @A ֺ@AA]~? AʫA %"AAsNA"AZAbAjArAzAAANҵ93@AmtAp@Ah;A\=A\3?A`j?AK?A*A`:?2AM_ֽ:A =BA`:?JAM_ֽRA =٘i)I9p@YG JJJJJD&K Y]~?yBLAD777dCL82B)BE[[a?[3]~?[[[[[BZYY i) $tI}H?i0W ;?)) ;?;?(ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030435.203165 s, next control iter: 1743030435.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030435.603165 s.749H~,("AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075762< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J dt: 0.420020*J2J:J2 time: 1743030435.603303BJF (some fields omitted in printout)nJvJA{GỮ@Ao@A?]~? A*ƫA]%"AA_sNA"AZAbAjArAzAAATa|3@AYN@tAW[p@AF<A=A9?A ?A?A#*A:?2A^ս:Ar=BA:?JA^սRAr=٘i)I9[p@YIG JJJJJD&K Y1]~?yeLAD)7)7QL81B)BE[[ ?[L]~?[[[[[BZYY iҭ) I H?iȻ ?))??ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030435.623165 s, next control iter: 1743030436.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3934 , header.stamp.nsec: 0 0 temperature: 13.566220 * salinity: 33.375458 , density: 1025.000000 * values[0]: 0.577470 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030436.023165 s.Z@H~,{)"AAQ@A`"@A]~? AA%"AAtNA"AZAbAjArAzAAA8+3@A[ !0~tAo@Ah;A<{=A7>?A=q?A ?Ay*AU:?2Aս:A`=BAU:?JAսRA`=٘i)I9o@YG J&JJJJD&K YG]~?y%LAD77`L8)B[[?[e]~?[[[[[BZYY i) 5IH?i(׻ |?))|?|?tԪY'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030436.043165 s, next control iter: 1743030436.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030436.443165 s.4FH~,1])"AJ"J*J2J:JBJnJvJA(\@A!u;[@AZ^~? AA%"AA0@o@A!bH;A=A1}C?A*?Ap?A!*A(:?2A<5ֽ:A=BA(:?JA<5ֽRA=٘i)I9@o@YG JԨJJJJD&K Y]]~?yKADenL80B)BE[[?[+~]~?[[[[[BZYY i) hАIH?i1 ?))??w֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030436.463165 s, next control iter: 1743030436.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3935, header.stamp.nsec: 00 temperature: 13.566382* salinity: 33.375439, density: 1025.000000* values[0]: 0.576886F (some fields omitted in printout)*]]~?)* rAdjusting time to match Gazebo time: 1743030436.863165 s.+MH~,>7)"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084873< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743030436.863301F (some fields omitted in printout)Afffff@ADŽK2@Aq^~? A7Ai%"AAh\tNA"AZAbAjArAzAAAdh?4@A5c90 tAn@A>A|8=AmH?A@c?A4?A>*A=v:?2Aֽ̯:AcQ=BA=v:?JAֽ̯RAcQ=Y?H?yP8= ]?ٓH@ ?)?@?`?@?³ [g?)? I٘i)I9n@YGG JJ+<JJJD&Kv> Yq]~?y^3KAH?(D)7ŧ7|L8/B)BE[[?[;]~?[[[[[BZYY i) LLI!H?i@\ ^?))^?^?yvx٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030436.883165 s, next control iter: 1743030437.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030437.283165 s.3RTH~,R)"AJ"J*J2J:JBJnJvJA ףp=@AwcA @A6.^~? AMA%"AA%|tNA"AZAbAjArAzAAA =}4@AIOtAG%n@AA =A#N?AΕ?A@?A"*ATj:?2A׽:A;I=BATj:?JA׽RA;I=٘i)I9%n@YG J稼JJJJ˘D&K Y…]~?y'JA3D77L8,B)BE[["?[]~?[5[[[[BZYY i) ƟI H?isN   ?)) ? ?ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030437.303165 s, next control iter: 1743030437.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3936., header.stamp.nsec: 0.0 temperature: 13.566540.* salinity: 33.375465., density: 1025.000000.* values[0]: 0.576290.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030437.703165 s.ԺZH~,m)"AAGz@A[r࿮@AB^~? ABA)%"AAdtNA"AZAbAjArAzAAAJ4@A/9tAm@AuAͣ=AbS?A\H?A%?A*A^:?2A&׽:A =BA^:?JA&׽RA =٘i)I9m@YG JB=JJJJ֘D&K Y]~?y^JA>D77hL8+B)BE[[@(?[]~?[[[[[BZYY i) GCILH?i0Zg ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030437.723165 s, next control iter: 1743030438.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030438.123165 s.8aH~,a)"AJ"JvPublished command to Gazebo (printed only once in a while):*J( dropWeightState: 12J:J8 propOmegaAction: 25.132812BJnJ< rudderAngleAction: -0.261799vJ@ elevatorAngleAction: -0.084873< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200592 time: 1743030438.123321F (some fields omitted in printout)AR@AM]@AV^~? AA:%"AA!tNA"AZAbAjArAzAAABR4@ATtAl@AAjǦ=A‹X?A`O?Ao?A3*AS:?2A׽:Av=BAS:?JA׽RAv=٘i)I9l@Y>G JrC=JJJJD&K Y]~?yIAID7ŧ7L8)ïB[[E.?[ ]~?[[[[[BZYY i) cI H?icN ~?))~?~?&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030438.143165 s, next control iter: 1743030438.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030438.543165 s.IhH~,â)"AA(\@A&pn@Aj^~? AˣAF%"AAYtNA"AZAbAjArAzAAA!,v45@AEsAdl@A:AΔ=Aq]?A?A3&?AԼ*AZI:?2Aֽ:AV=BAZI:?JAֽRAV=٘i)I9dl@YG JJJJJD&K Y]~?yyIASD7777L8*B)ǯBE[[4?[ ]~?[苪[[[[BZYY i) 8IbH?ik% nv?))nv?nv?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030438.563165 s, next control iter: 1743030438.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3937, header.stamp.nsec: 00 temperature: 13.566705* salinity: 33.375481, density: 1025.000000* values[0]: 0.575675F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030438.963165 s.nH~,)"AJ"J*J2J:JBJnJvJA®@AYne®@A}^~? AaA[%"AA tNA"AZAbAjArAzAAAE9No5@A&ZsAk@A_;A =AIb?A+V?A?Aü*A?:?2Aֽ:A=BA?:?JAֽRA=Y}*?!b?y =;ٓHx(?ZЭ??/>?Q?{W{??)}*? I٘i)I9k@Y}G JJ<JJJD&K7y> Y]~?yrIAb?^Dj7fL8)B)˯BE[[:?[f ^~?[҅[[[[BZYY i) LIH?i z ^?))^?^?gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030438.983165 s, next control iter: 1743030439.363184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030439.383165 s.uH~,8)"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084873< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743030439.383290F (some fields omitted in printout)A= ףpî@Aur<î@A^~? AؘA%"AA1uNA"AZAbAjArAzAAArsN5@AaĕsAk@Aұ<A=A/g?A?AaE?Aɼ*Az6:?2A/ֽ:Ad=BAz6:?JA/ֽRAd=٘i)I9k@YG JoƼJJJJD&K Ya]~?ykHAiD77L8&B)ͯBE[[@?[u ^~?[[[[[BZYY i) ļIsH?i7@' UO?))UO?UO?BYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743030439.403165 s, next control iter: 1743030439.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3938", header.stamp.nsec: 0"0 temperature: 13.566920"* salinity: 33.375492", density: 1025.000000"* values[0]: 0.574996"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030439.803165 s.xA|H~,g)"AJ"J*J2J:J2?BJ2?nJY5vJAzGĮ@A}Į@A^~? A1A3%"AA/uNA"AZAbAjArAzAAA5@AK K"sArj@A;A ٯ=AHm?AȪ?A`?A!˼*A-:?2A0׽:Ae=BA-:?JA0׽RAe=٘i)I9rj@YG JʼJJJJ D&K Y7]~?ye/HAsDZ7SI7L8$B)ѯBE[[F?[-6^~?[y[[[[BZYY i) e̼I+eH?ih. +G?))+G?+G?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030439.823165 s, next control iter: 1743030440.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030440.223165 s.gH~,H*"AAQŮ@A#.Į@A^~? AkA%"AAKuNA"AZAbAjArAzAAAg1[6@AтsAi@AAV=Ar?A@Q?A?Apͼ*A%:?2Ax_׽:A^GA~D777fL8)֯B[[M?[K^~?[Tr[[[[BZYY i) BgӼI VH?i3 E?))E?E?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030440.243165 s, next control iter: 1743030440.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030440.643165 s.vЉH~,*)*"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084873< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743030440.643277F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\Ů@AŮ@A^~? AA%"AABguNA"AZAbAjArAzAAA@ЗO6@A[HosAi@A8zAp=A>w?A?AG?A μ*A,:?2Aa׽:A N=BA,:?JAa׽RA N=٘i)I9i@Y G JμJJJJ!D&K Y^~?ymWIGADb77L8#B)گBE[[K,S?[d`^~?[rk[[[[BZYY i) ڼIFH?i07 |I?))|I?|I?YFFF]:tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3939, header.stamp.nsec: 00 temperature: 13.567114* salinity: 33.375507Waiting for Gazebo time sync: latest Gz time: 1743030440.663165 s, next control iter: 1743030441.043177 s, wait time: 0.380012 s, density: 1025.000000* values[0]: 0.574252F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030441.063165 s.H~, D*"AAƮ@A/Ʈ@AO^~? AA%"AAuNA"AZAbAjArAzAAA?6@A/[sA kh@A=4A =AG}?A@p5?A:?Al Ѽ*A:?2A_׽:Ay=BA:?JA_׽RAy=YD?}?y=XٓH ?@0?F???&x`{ƀ?)D? I٘i)I9kh@Yt G JϼJ5<JJJ,D&K)y>  M8Yf*^~? M8yPFA}?D)7ŧ7 M8)B[[IY?[t^~?[ud[[[[BZYY i) Iq6H?i7F@ ??))????RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030441.103165 s, next control iter: 1743030441.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030441.483165 s.y_H~,^*"AJ"J*J2J:JBJnJvJAq= ףǮ@AoǮ@Ai^~? Ao{A%"AAZuNA"AZAbAjArAzAAA(G6@AˡsA g@AһAP%=Ar;?Az?A@?A Լ*A:?2Ah׽:A]=BA:?JAh׽RA]=٘i)I9g@Y G JҼJJJJ7D&K Y9^~?yHWFADj7Z7gM8B)BE[[r_?[o^~?[E][[[[ZZ¸BZYY i¸@=) CռI%H?iEG _=?))_=?_=?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030441.523165 s, next control iter: 1743030441.883180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3940, header.stamp.nsec: 00 temperature: 13.567359* salinity: 33.375507, density: 1025.000000* values[0]: 0.573504F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030441.903165 s.ȝH~,y*"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743030441.903300F (some fields omitted in printout)AGzȮ@AgxFȮ@A^~? A9uAv%"AAuNA"AZAbAjArAzAAAjrL'6@A-sAig@AMA=Aȃ?A@?A@S6?Aѳټ*Ac :?2A&׽:A =BAc :?JA&׽RA =٘i)I9g@Y G J׼JJJJBD&K YiI^~?ydAEADŧ7ŧ7(M8)B[[e?[ɛ^~?[U[[[[ZZBZYY i) ɼI}H?iL A?))A?A?6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030441.923165 s, next control iter: 1743030442.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030442.323165 s.uH~,!*"AJ"J*J2J:J?BJ?nJ5vJAQɮ@A ʼɮ@Ac _~? AnA"%"AAuNA"AZAbAjArAzAAAKJ7@A~ܣsA:f@At;A=AT?A ?A7?Ab*A@:?2Aֽ:A<BA@:?JAֽRA<٘i)I9:f@Y G J?JJJJLD&K YX^~?y :eEAD7777M8B)B E[[wk?[^~?[XN[[[[ZZBZYY i) &нIH?iwMQ L?))L?L?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030442.343165 s, next control iter: 1743030442.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3941*, header.stamp.nsec: 0*0 temperature: 13.567613** salinity: 33.375515*, density: 1025.000000** values[0]: 0.572679*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030442.743165 s.WH~,m*"AA\(ʮ@A{ɮ@A?_~? AhA=m%"AAauNA"AZAbAjArAzAAA+s L7@AwsAZe@A;AI =A?Ab8?A?A*A:?2Aֽ:A_Ӻ<BA:?JAֽRA_Ӻ<٘i)I9Ze@Y G JWJJJJWD&K Ymh^~?y2DAD77{7gEM8)B[[r?[^~?[F[[[[ZZBZYY i) ȱIG?i᥿ST [?))[?[?y=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030442.763165 s, next control iter: 1743030443.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030443.163165 s.z}H~,q*"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743030443.163323F (some fields omitted in printout)J"J*J2J:JBJnJvJAˮ@Aʮ@A*_~? AaAH%"AAuNA"AZAbAjArAzAAAlb{7@A sACd@A;A}>s=Au?A`r?A?Aqq*A:?2A[ֽ:Aj<BA:?JA[ֽRAj Y}u^~?y*DA?ɘDb7b7SM8B)B E[[fPx?[^~?[>[[[[ZZBZYY i) IG?i[ R`?))R`?R`?|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030443.183165 s, next control iter: 1743030443.563182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743030443.583165 s.渊H~, S*"AAp= ˮ@Acޢˮ@A9_~? Ac[A>k%"AA7vNA"AZAbAjArAzAAAH7@AIsAc@A :A,i.=A\*?A`\?AX?Aϼ*AA":?2ACֽ:AL;BAA":?JACֽRAL;٘i)I9c@Y G J-JJJJmD&K Y^~?y#IDAԘDj7Z7bM8)B[[*~?[^~?[6[[[[ZZBZYY i) LIG?i2a k?))k?k?uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030443.603165 s, next control iter: 1743030443.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3942, header.stamp.nsec: 00 temperature: 13.567946* salinity: 33.375526, density: 1025.000000* values[0]: 0.571728F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030444.003165 s.| H~,]4+"AJ"J*J2J:JBJnJvJAHz̮@A1y̮@AAH_~? ATA%"AA,vNA"AZAbAjArAzAAAM 7@A(sAc@A0ATu<A)ʐ?AA?A7?A*A: :?2Aֽ:Anw BA: :?JAֽRAnw ٘i)I9c@Y; G J鿼JJJJwD&K Y^~?yACAߘD77{7hpM8)B[[m?[g^~?[.[[[[ZZBZYY i) EIYG?iʳ!f }?))}?}?OYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030444.043165 s, next control iter: 1743030444.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743030444.423165 s.uƊH~,+"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743030444.423291F (some fields omitted in printout)AQͮ@ACoPͮ@AcV_~? AMAp%"AApBvNA"AZAbAjArAzAAA7@AmsAb@A Aw <Ad?AP?A,?AUz*A:?2AWֽ:A!#BA:?JAWֽRA!#٘i)I9b@Y G JJJJJD&K Y^~?ypCA CD77~M8B)BE[[c?[g_~?[D&[[[[ZZBZYY i) ЄIG?iTai ?))??XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030444.463165 s, next control iter: 1743030444.823178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3943, header.stamp.nsec: 00 temperature: 13.568187* salinity: 33.375534, density: 1025.000000* values[0]: 0.570987F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030444.843165 s.J "J *J 2J :J ,?BJ ,?nJ E5vJ ̊H~,5+"AA(\ή@AB'ή@Ad_~? AGA"%"AAWvNA"AZAbAjArAzAAA{'_)8@AsAFb@Ak; AvA?AD?A ?A)*A8:?2Aֽ:ABA8:?JAֽRA٘i)I9Fb@Y G JXJJJYEJD&K Y^~?y TCAD{7{7M8B)BE[[ݾ?[_~?[[[[[ZZBZYY i) $sIG?iϷ/Gk ̰?))̰?̰?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030444.863165 s, next control iter: 1743030445.243181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030445.263165 s.ԊH~,,P+"AA33333Ϯ@Aaή@AMq_~? A @A>}%"AAkvNA"AZAbAjArAzAAA k{Q8@AVbsA b@A덻A"/A֘?A `p?Aa_?A L*AB:?2Aֽ:AvٲBAB:?JAֽRAvٲY$y?䛘?y.ٓH?಻)J? I?`Ғg?mq`?)$y? I٘i)I9 b@Y G J B=J)EJJJD&Kx> Y1^~?ykrCA?D777iM8B)BE[[?[s"_~?[9[[[[ZZBZYY io=) naI|G?i iq D?))D?D?=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030445.283165 s, next control iter: 1743030445.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 39442, header.stamp.nsec: 020 temperature: 13.5682642* salinity: 33.3755302, density: 1025.0000002* values[0]: 0.5706072F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030445.683165 s.J "J *J lڊH~2J:J?BJ?,^k+"AnJ+5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058523< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743030445.683294F (some fields omitted in printout)Aףp= Ю@A9Ϯ@A~_~? A9A%"AAvNA"AZAbAjArAzAAA{1v0x8@Aݡ:sAea@A;A< A9?A@K?A ?A$*A59?2AX ׽:AzּBA59?JAX ׽RAzּ٘i)I9a@Y G J }C=JJJJD&K Y^~?y9CA D)7ŧ7M8)B[[?[0_~?[ [[[[BZYY iMӍ=) SOIhG?iU/v ?))??8<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030445.683165 s, next control iter: 1743030446.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743030446.103165 s.H~,К+"AA{GЮ@AtaЮ@A^_~? A1AV%"AAvNA"AZAbAjArAzAAA+ٿ4z8@Af!sAJa@A;A0:Aoܝ?A?A ?Ai;*Ah9?2A#׽:A{BAh9?JA#׽RA{뼙٘i)I9a@Y G J`:JJJJD&K Y^~?yCAD777M8)B[[@?[=_~?[[[[[BZYY i) O =I SG?iÿݙy ?))??Ez*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030446.143165 s, next control iter: 1743030446.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030446.523165 s.H~,{+"AJ"J*J2J:J?BJ?nJ(5vJAQѮ@A#Ѯ@A2_~? A*A3%"AAvNA"AZAbAjArAzAAAr@`U8@ACUsAb@Af<A:`^A+z?A?A ?A3I;*A9?2Ag׽:ABA9?JAg׽RA٘i)I9b@Y G J;JJJJD&K Y^~?yCADb77hM8B)BE[[Vq?[J_~?[[[[[BZYY i) +I=G?iĿ{ ?))??yk=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030446.563165 s, next control iter: 1743030446.923177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3945, header.stamp.nsec: 00 temperature: 13.568236* salinity: 33.375546, density: 1025.000000* values[0]: 0.570609F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030446.943165 s.XdH~,B]+"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069251< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743030446.943271F (some fields omitted in printout)A(\Ү@A&+[Ү@A_~? Ae#A%"AAvNA"AZAbAjArAzAAA8@AMsAO[b@A_;AY|A3?A?A`A?Aq5<*Ad9?2Aֽ:ABAd9?JAֽRA٘i)I9[b@Y G J<JJJJÙD&K Y^~?yCA*D77{7M8)B[[?[V_~?[[[[[BZYY i) I(G?i ſR| >?))>?>?Ϊ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030446.983165 s, next control iter: 1743030447.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030447.363165 s.H~,>+"AJ"J*J2J:J?BJ?nJ35vJAfffffӮ@A"i72Ӯ@Al_~? A A98%"AAvNA"AZAbAjArAzAAAmqs9@Ad(hsAb@AٓAAm?A+?A@Ut?Aij<*AC9?2A)ֽ:AtBAC9?JA)ֽRAtY?쟥?y /ٓHt?$?p?@A ??6{Ra?)? I٘i)I9b@Y G JKN<J߽JJJ͙D&Kw> Y^~?y%کEDA?5D{7M8)B[[Л?[a_~?[l[[[[BZYY ig=) z IG?iȿ W?))W?W?M*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030447.383165 s, next control iter: 1743030447.763179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3946", header.stamp.nsec: 0"0 temperature: 13.568043"* salinity: 33.375553", density: 1025.000000"* values[0]: 0.570935"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030447.783165 s.XH~,+"AA ףp=Ԯ@AB Ԯ@AѶ_~? AAA%"AAvNA"AZAbAjArAzAAAB} :$9@Aہ=sAc@AػA0A+?A yL?Al?A؋<*AV9?2Aۋֽ:ABAV9?JAۋֽRA٘i)I9c@Y9 G J%<JJJJؙD&K Yz^~?yѩDA?D777iM8)B[[?[gl_~?[*ߩ[[[[BZYY i) I6F?i˿] l;@))l;@l;@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030447.823165 s, next control iter: 1743030448.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030448.203165 s.H~, ,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056552< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743030448.203269F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzծ@A2YԮ@A_~? A* AY%"AAvNA"AZAbAjArAzAAAɗCB9@AtCRsAtc@A_ A9"Aª?A`j?A?AĶ<*A9?2A!ֽ:AsBA9?JA!ֽRAs٘i)I9c@Y G J˕<JJJJD&K Y3^~?y3ɩDAJDj7j7M8 B)BE[[4?[:v_~?[թ[[[[BZYY i)  ԻI F?i`Ϳ/q Z@))Z@Z@<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030448.223165 s, next control iter: 1743030448.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030448.623165 s.] H~,v',"AARծ@AWծ@A$_~? AA%"AAvNA"AZAbAjArAzAAA r^9@ANhϸsA&d@A_˻Ai˛Ac?A?AG?AΪ<*A9?2Aֽ:ApBA9?JAֽRAp٘i)I9&d@Y G J<JJJJD&K  N8Y^~? N8y[EAUD777N8)B[[h?[N_~?[Z̩[[[[BZYY i) 쵻IF?iͿԃ a@))a@a@yCg=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030448.663165 s, next control iter: 1743030449.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3947 , header.stamp.nsec: 0 0 temperature: 13.567813 * salinity: 33.375568 , density: 1025.000000 * values[0]: 0.571489 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030449.043165 s.H~,B,"AJ"J*J2J:JBJnJvJA(\֮@Ax$^֮@A_~? AA%"AAwNA"AZAbAjArAzAAAYS5y9@AwsAd@A AaA,?A@ elevatorAngleAction: 0.065803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743030449.463273F (some fields omitted in printout)A׮@AIpe׮@Ay_~? AaA%"AAwNA"AZAbAjArAzAAAR[9@AYifjsA/Me@A?;AwA?A@~i?A`R?A<*A9?2A'׽:A>BA9?JA'׽RA>Y"?t?yv&;ٓH`6?o l? 9? =!J?Tv??)"? I٘i)I9Me@Y G J}<J᛼JJJD&Ktx> Y _~?yFA?jDj7j7*N8B)ޯBE[[ϫ?[(_~?[G[[[[BZYY i) ΖqI|F?iZпX F@))F@F@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030449.483165 s, next control iter: 1743030449.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3948, header.stamp.nsec: 00 temperature: 13.567472* salinity: 33.375584, density: 1025.000000* values[0]: 0.572176F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030449.883165 s.yH~,Dx,"AJ"J*J2J:JBJnJvJA= ףpخ@A~<خ@Ab_~? AA%"AA=wNA"AZAbAjArAzAAAT9@A>sAe@Aț <AAK\?A`?A}w?A<*A9?2A5׽:AfBA9?JA5׽RAf٘i)I9e@Y G Jp<JJJJD&K Yx_~?y릩FAuD779N8)ٯB[[?[_~?[[[[[BZYY i) O5IF?iҿ;y @))@@W*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030449.923165 s, next control iter: 1743030450.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030450.303165 s.U$H~,sg,"AAzGٮ@AT7ٮ@A_~? AA]A%"AA(wNA"AZAbAjArAzAAA*9@A?lPsA]of@AC;AȦA?A ?A\?A<*A9?2A׽:ABA9?JA׽RA٘i)I9of@Y? G J<JJJJD&K Yb_~?yAFADj7Z7jGN8B)ӯBE[[L:?[_~?[[[[[BZYY i) *I;wF?iҿ醼 " @))" @" @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030450.323165 s, next control iter: 1743030450.703174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3949., header.stamp.nsec: 0.0 temperature: 13.567171.* salinity: 33.375561., density: 1025.000000.* values[0]: 0.572908.F (some fields omitted in printout)Fb_~?)FA rAdjusting time to match Gazebo time: 1743030450.723165 s.+H~,H,"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743030450.723258F (some fields omitted in printout)AQڮ@AH4ٮ@A_~? A!ߪA&%"AA3wNA"AZAbAjArAzAAA{,9@AQ8sA=f@A ;AA׃?A` ?A ?A9<*Af9?2Aֽ:A=BAf9?JAֽRA=٘i)I9f@Y G J<JJJJ#D&K YL_~?yWGAD{7{7UN8)ϯB[[Hp?[1_~?[.[[[[BZYY i) TsI`F?iiҿ B @))B @B @y=*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743030450.743165 s, next control iter: 1743030451.123174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743030451.143165 s.\/2H~, *,"AA)\ڮ@A7l[ڮ@A _~? AJתAq%"AA=wNA"AZAbAjArAzAAA-g9@AFosAƉg@A䆻AA"?A ?A~?AQ<*A9?2Ayֽ:ABA9?JAyֽRA٘i)I9g@Y G JH<JJJJ.D&K Y6_~?yꌩGAD77dN8B)ȯBE[[?[_~?[f[[[[BZYY i) @ I$JF?iп  @)) @ @*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743030451.163165 s, next control iter: 1743030451.543181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030451.563165 s.8H~,g ,"AJ"J*J2J:J?BJ?nJ5vJAۮ@A/ۮ@A_~? AiϪA5 &"AA$GwNA"AZAbAjArAzAAAT=r'9@A/l|sAsh@ACA ፽A?A`4?A ?ASO<*A9?2Aֽ:A"BA9?JAֽRA"Y0??yߍӕٓH?~?,Ӳ?Y?m@?)0? I٘i)I9h@Y? G J <B=Jo<JJJ9D&K]x> YF_~?y!HA?D77krN8)įB[[7ۻ?[L_~?[[[[[BZYY i) Ft:Ix3F?iҿ冼 l@))l@l@j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030451.583165 s, next control iter: 1743030451.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3950, header.stamp.nsec: 00 temperature: 13.566890* salinity: 33.375599, density: 1025.000000* values[0]: 0.573613F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030451.983165 s.?H~,,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743030451.983299F (some fields omitted in printout)Aq= ףܮ@Aoܮ@AE`~? AǪA\&"AAOwNA"AZAbAjArAzAAA;zj :@AV&swsAh@AATLA@?AT?AH ?Ab<*A9?2A>ֽ:A0sBA9?JA>ֽRA0s٘i)I9h@Y G JJ<C=JJJJDD&K YU!_~?yY{}HAD77N8)B[[?[+_~?[~[[[[BZYY i) R:IF?iӿ)a H@))H@H@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030452.003165 s, next control iter: 1743030452.383181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030452.403165 s.&FH~,-"AJ"J*J2J:J?BJ?nJ5vJAGzݮ@AeFݮ@A`~? AA.@&"AAnWwNA"AZAbAjArAzAAAr:y:@ArsAi@Ar_A툽A?Afq?A`6$?A<*Ak9?2Aֽ:A(4BAk9?JAֽRA(4٘i)I9i@Y G J<JJJJND&K Ye#_~?yrHAD77{7N8)B[[H?[?_~?[t[[[[BZYY i) pI8;IF?i5ӿ;, |@))|@|@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030452.423165 s, next control iter: 1743030452.803177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3951&, header.stamp.nsec: 0&0 temperature: 13.566588&* salinity: 33.375584&, density: 1025.000000&* values[0]: 0.574265&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030452.823165 s.LH~,64-"AAQޮ@Arޮ@Ai `~? AA&"AAb^wNA"AZAbAjArAzAAAu':@A: knsAi@A:;AA{?A@?A8?A[9<*A9?2A&׽:ABA9?JA&׽RA٘i)I9i@Y-G J<JJJJYD&K Yt%_~?yi;IAD777kN8B)BE[[d~?[_~?[j[[[[BZYY i) u;IwE?iѿG .@)).@.@ݷ*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743030452.843165 s, next control iter: 1743030453.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030453.243165 s.SH~,TO-"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743030453.243270F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(߮@AWޮ@A0`~? AAw&"AAdwNA"AZAbAjArAzAAAǞ&3:@Au2isAj@Ae;AcA^6?A@KD?A J?A͋<*A9?2AP@׽:ABA9?JAP@׽RA񼙘٘i)I9j@YvG J<JJJJdD&K Y'_~?yaIA˙Dj7j7N8)B[[?[_~?[a[[[[BZYY iܘ=) {;I,E?iUϿ± *@))*@*@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030453.263165 s, next control iter: 1743030453.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030453.663165 s.ZH~,qj-"AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3952, header.stamp.nsec: 00 temperature: 13.566344* salinity: 33.375587, density: 1025.000000* values[0]: 0.574867F (some fields omitted in printout)A@Ax ߮@Ap`~? AA&"AAiwNA"AZAbAjArAzAAAw<:@AxLdsAj@A| <AJAk?A wt?AY?AV<*A9?2A5׽:AIBA9?JA5׽RAIYR??ynIo <ٓH@g}+ ??@$kt` Y&_~?y1XIA?ՙD7{7N8)B[[?[_~?[>W[[[[BZYY i) 7;IE?i(п8 $Z@))$Z@$Z@0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030453.683165 s, next control iter: 1743030454.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030454.083165 s.DaH~,S-"AJ"J*J2J:J*?BJ*?nJP5vJAp= @A*nܢ@A)`~? AAܰ&"AAunwNA"AZAbAjArAzAAAD?E:@Aʘd_sAj@A';AA g?A]?A8f?ACޅ<*Aj9?2A$ ׽:AgBAj9?JA$ ׽RAg٘i)I9j@YG J<JJJJyD&K Y%_~?ycOLJAD{7kN8B)BE[[=?[_~?[_M[[[[BZYY i) b;IpE?iϿ? @))@@*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743030454.103165 s, next control iter: 1743030454.483175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030454.503165 s.gH~,Y4-"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074640< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743030454.503301F (some fields omitted in printout)AHz@A[y@A[`~? AtAN&"AA8rwNA"AZAbAjArAzAAACK:@A#=#yZsAAik@AsA[Ae?A`͸?Ap?A<*AZ9?2Aֽ:Aj5BAZ9?JAֽRAj5٘i)I9ik@YFG J<B=JJJJD&K Y%_~?yFJA CD77N8)B[[4R?[_~?[C[[[[BZYY i) ;I8E?iο5 =@))=@=@yʘ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030454.523165 s, next control iter: 1743030454.903181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3953, header.stamp.nsec: 00 temperature: 13.566106* salinity: 33.375595, density: 1025.000000* values[0]: 0.575440F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030454.923165 s.7nH~,-"AJ"J*J2J:JBJnJvJAQ@Aj/P@A`~? AcAu&"AA0uwNA"AZAbAjArAzAAAP:@AYUsAk@A޻A߅AT?AA!?A`nw?A|<*A-9?2Aӱֽ:AJBA-9?JAӱֽRAJ٘i)I9k@YG J8<C=JJJJD&K YA$_~?y=JAD7N8)B[[?[ _~?[9[[[[BZYY i) ރ elevatorAngleAction: 0.074640< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743030455.763316F (some fields omitted in printout)A33333@A @A`~? A:A&&"AAxwNA"AZAbAjArAzAAAe9l:KV:@A8[KsA#l@A ĻAVFA?ABY?A~?A<*AX9?2Aֽ:ABAX9?JAֽRAY??yEzĻٓH F^f?٧?3l%?@6x@u?)? I٘i)I9l@YG JJ<JύJJJD&KSx>  O8Y_~? O8y<,KA? D{7{7O8B)BE[[ ?[Z_~?[3&[[[[BZYY i) * elevatorAngleAction: 0.074640< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743030457.023321F (some fields omitted in printout)AQ@A&'@An`~? AfAO&"AAwwNA"AZAbAjArAzAAA`,R:@ADw."AAfffff@AXl:2@A`~? AVAh; &"AAtswNA"AZAbAjArAzAAA~0_G:@A M\ 3sASo@A9:A?A-?A 龰A@Xe?AyΖ<*A9?2Aֽ:A BA9?JAֽRA Y?f?y2<:ٓH'lͿ`=#? z?Ϳ@?`Y?`k?)? I٘i)I9o@YG JP<JXJJJښD&KBx> Y _~?yMA?ADmIO8B)BE[[?[ˁ_~?[e[[[[BZYY i) }x elevatorAngleAction: 0.083771< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199432 time: 1743030458.283263F (some fields omitted in printout)A ףp=@Ah#M @AL`~? ANA &"AAowNA"AZAbAjArAzAAA ةA?:@AvW".sAo@Az핻AڲAid?AAX?Ac<*Aw9?2ADֽ:AfBAw9?JADֽRAf٘i)I9o@YG JN<JJJJD&K Y_~?y+MAKD77{7WO8)B[[$?[ y_~?[ [[[[BZYY i) 쟃A &"AAfwNA"AZAbAjArAzAAA).@+:@AeT[$sAƨp@A1A락AZ?A@vA`7?A<*A>9?2Aֽ:A?BA>9?JAֽRA?@I٘i)I9p@YxG J <JJJJD&K Y^~?y NAaDb77ntO8){B[[>?[ve_~?[ڨ[[[[BZYY i) ؒ elevatorAngleAction: 0.083771< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743030459.543281F (some fields omitted in printout)A(\@A0_@Au `~? A6A &"AA`wNA"AZAbAjArAzAAAZ7:@A5|sA6q@A5MA꠽A:?AܿA#?A<*A9?2A4ֽ:ABA9?JA4ֽRA٘i)I96q@YG J-<JJJJD&K Y|^~?yxިOAlDÂO8)wB[[]?[Z_~?[Ѩ[[[[BZYY i) u Y8^~?y(֨OA?vD)7ŧ7O8B)tB E[[?["O_~?[Ȩ[[[[BZYY i) ܡ?A@IÿA`?A<*A9?2AP׽:ABA9?JAP׽RA٘i)I9Zr@YG J<JJJJD&K Y^~?yͨOAD77nO8)oB E[[?[B_~?[ؿ[[[[BZYY i) ID elevatorAngleAction: 0.083771< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743030460.803312F (some fields omitted in printout)AzG@Aq|@A_~? AAz~ &"AAJwNA"AZAbAjArAzAAA7f9@A7UsAr@A<AnA*?ANſA?A<*A9?2A ׽:ABA9?JA ׽RA٘i)I9r@YG J<JJJZEJ%D&K Y^~?yŨaPAD{7j7íO8)jB[[@[6_~?[![[[[BZYY i) 諰A&"AAAwNA"AZAbAjArAzAAA 0ov9@A86 sAes@Aď;A嫽A?AlǿA ?A<*A9?2A"ֽ:A.BA9?JA"ֽRA.٘i)I9s@Y<G J<JJJJ0D&K Ym^~?y8PAD77{7O8B)gBE[[k@[(_~?[[[[[BZYY i) e elevatorAngleAction: 0.083771< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743030462.063302F (some fields omitted in printout)A@A @A_~? AAH&"AA<-wNA"AZAbAjArAzAAA0]O9@A{)sAt@AͳAArh@A˿A w?A<*A9?2AF`ֽ:A,#BA9?JAF`ֽRA,#YS?Qr@ygٓHڿ@R??`ۿ`_ ? j|?)S? I٘i)I9t@YG J-<J_JJJFD&Kw> Y=^~?yQAr@D77O8B)]BE[[ρ@[ _~?[Ν[[[[BZYY i)  elevatorAngleAction: 0.083771< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743030463.323329F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A@A_~? AA &"AA wNA"AZAbAjArAzAAANAXg9@AarAvv@AOVp9A6A[@A`(AпA`?A <*AU9?2A3ֽ:ABAU9?JA3ֽRA٘i)I9v@YDG J"<JJJJfD&K  P8Y~^~? P8ySA̚D77P8)NB[[ @[`^~?[[[[[BZYY i=) z Yx^~?yTA@ CDj7Z7p P8)FB[[# @[^~?[av[[[[ZZZZ¸>BZYY i¸>) P ?@))?@?@yy=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030464.603165 s, next control iter: 1743030464.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3963, header.stamp.nsec: 00 temperature: 13.384489* salinity: 33.391640, density: 1025.000000* values[0]: 0.705962F (some fields omitted in printout)"i^~?)"} rAdjusting time to match Gazebo time: 1743030465.003165 s.z H~,U4@0"AJ"J*J2J:JBJnJvJAHz@AGy@A_~? AҩAS&"AA!vNA"AZAbAjArAzAAAl Q8@AُrA\y@AU:AήAݒ @A`ӿA@[A?A<*A9?2A.ֽ:A3_BA9?JA.ֽRA3_٘i)I9y@YG J<JJJJD&K Y7[^~?yevTADb77=P8)%8@AVrAh{@AA /wA" @A`wտA`?Aq <*A9?2AVfֽ:AntBA9?JAVfֽRAnt٘i)I9h{@YG JC=C=JJJJD&K YN>^~?yJgUA D{7j7YP8)1B[[z%@[Jo^~?[Y[[[[ZZZZBZYY i) S_8@AlfRRrA+|@AڻA2Ap @APֿAɝ?A^<*A9?2AKqֽ:AٻBA9?JAKqֽRAٻY?u @y2ڻٓHStb2??@[?V{?)? I٘i)I9+|@Y{G J<JK=JJJD&Kw> Ym-^~?y6` VAu @Dj7Z7hP8B),BE[[@[L[^~?[R[[[[ZZZZBZYY i+) МR2 2E@))2E@2E@3x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030466.283165 s, next control iter: 1743030466.663175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 3965., header.stamp.nsec: 0.0 temperature: 13.383886.* salinity: 33.391670., density: 1025.000000.* values[0]: 0.708729.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030466.683165 s.l*H~,^0"AJ"J*J2J:JBJnJvJAףp= @A@Au_~? AAA#&"AAvNA"AZAbAjArAzAAAʥ?7^8@A5vJAQ@A9!@AZ_~? AbAʖ&"AA+`vNA"AZAbAjArAzAAALJ޶ 8@A4NjrA}@A4<A;APY@A`ؿA`?A &<*A9?2AOֽ:Av<BA9?JAOֽRAv<٘i)I9}@YcG JV<JJJJћD&K Y]~?yJVA7DZ7SI7P8B)#BE[[@[^~?[~?[[[[ZZZZBZYY i) xH~,B]0"AA(\@A ,)[@A M_~? AA&"AAdKvNA"AZAbAjArAzAAAG[g7@AΐcrA@}@AK( <A<A+@AٿA$?AЙ;*Aε9?2AQֽ:A<BAε9?JAQֽRA<٘i)I9}@YG Jg<JJJJܛD&K Y]~?yCWABD{7Z7qP8B)E[[@[^~?[p9[[[[ZZZZBZYY i) "%c1"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083003< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743030468.363297F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@A˂?2@A>_~? AښA&"AA5vNA"AZAbAjArAzAAAc7@A`iIrAz}@A;A=A@A`gڿA`Ne?A :*A(9?2Acpֽ:A\<BA(9?JAcpֽRA\JJJD&Kw> Y]~?ye=VA@MDj7j7ǯP8)"B[[X@[]~?[}3[[[[BZYY ik) Q?`@a?@ eV??)o @ I٘i)I9|@YG JtJ\=JJJD&Kw> YLu]~?yUAu@D77rP8)1B[[QE#@[]~?[[[[[BZYY i\)k) ;I2vC?icd+ b!>))b!>SS@yƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030470.483165 s, next control iter: 1743030470.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3969, header.stamp.nsec: 00 temperature: 13.383803* salinity: 33.391701, density: 1025.000000* values[0]: 0.709278F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030470.883165 s.ymH~,41"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057412< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743030470.883288F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@ALx<@AC^~? AtA&"AAvuNA"AZAbAjArAzAAAUF6@A3rAm|@A1;AZ=A@A޿A}?A/V*A˝9?2A2ֽ:AF=BA˝9?JA2ֽRAF=٘i)I9m|@YG JJJJJ'D&K  Q8Y6`]~? Q8ytUAD)7)7Q8B)6BE[[B$@[h]~?[[[[[BZYY i) >;IsC?iy10+ <))<tU@ ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030470.923165 s, next control iter: 1743030471.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030471.303165 s.TtH~,og1"AAzG@A@A^~? AnA &"AAuNA"AZAbAjArAzAAAb6@AL=rA{@A4<<At=A@A߿AT?A+*A9?2A6ֽ:AE=BA9?JA6ֽRAE=٘i)I9{@YPG JpJJJJ2D&K Y#K]~?yUAD77{7Q8B)5vJAQ@A@A9^~? AhA2~&"AAsuNA"AZAbAjArAzAAA/Q,6@AӕqrA=T{@AT;A=AV@A@K+A ?Aް*AЬ9?2A]fֽ:A =BAЬ9?JA]fֽRA =٘i)I9T{@YG JJJJJ=D&K Y 6]~?y TADj7Z7s"Q8B)BBݹE[[Ӊ'@[<8]~?[ [[[[BZYY i) i;IqC?iCT 9))9]X@yikתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030471.743165 s, next control iter: 1743030472.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030472.143165 s.V/H~,* 2"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057412< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743030472.143285F (some fields omitted in printout)A)\@Asd@A^~? AbA&"AAWuNA"AZAbAjArAzAAA1oo5@A rAz@A2q9Az=A@AAQ?A*A9?2A|ֽ:A =BA9?JA|ֽRA =٘i)I9z@YG JJJJJHD&K Y ]~?yQTAD7770Q8B)IBڹE[[(@[+ ]~?[[[[[BZYY i) 4|;IqC?i<UO9 1P8))1P8Y@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030472.163165 s, next control iter: 1743030472.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030472.563165 s.H~,g $2"AJ"J*J2J:JBJnJvJA@A@ϝ@A^~? A(]A`&"AA0 Y ]~?ySA @D7)7?Q8#B)QB׹E[[lY*@[]~?[j[[[[BZYY i) 2'@;IrC?i'=po*: 6))6@[@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030472.583165 s, next control iter: 1743030472.963182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3971, header.stamp.nsec: 00 temperature: 13.384333* salinity: 33.391697, density: 1025.000000* values[0]: 0.707101F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030472.983165 s.H~,>2"AAq= ף@Aߨo@AȄ^~? AWA&"AAuNA"AZAbAjArAzAAA95@A;rAy@A6A_u=AQ"@A`F0A?A2*A9?2Aֽ:A2K<BA9?JAֽRA2K<٘i)I9y@YG JVJJJJ]D&K Y9\~?ySAÛD77j7sMQ8)VB[[+@[\~?[[[[[BZYY i-) ;IHtC?i=<: n5))n5\@_ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030473.023165 s, next control iter: 1743030473.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030473.403165 s.&H~,Y2"AJ"J*J2J:J4?BJ4?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066493< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743030473.403295F (some fields omitted in printout)AGz@AQF@Aq^~? A'RA2:&"AAuNA"AZAbAjArAzAAAI5@Af;\rAy@AA=A5#@A'A D?AϪ*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9y@YG J׬B=JJJJhD&K YX\~?ySAΛDZ7Z7[Q8$B)\BԹE[[X%-@[\~?[[[[[BZYY i) :IvC?i5>i: 3))3 ^@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030473.423165 s, next control iter: 1743030473.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3972", header.stamp.nsec: 0"0 temperature: 13.384588"* salinity: 33.391716", density: 1025.000000"* values[0]: 0.705913"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030473.823165 s.H~,Bt2"AAQ@A'@A]^~? ALAg&"AAtNA"AZAbAjArAzAAA;0RŚ5@A/rA;ux@AA=A$@A`A ?A%,*A9?2ANֽ:A<BA9?JANֽRA<٘i)I9ux@Y8G J;C=JJJJsD&K Yy\~?ykRA؛D77jQ8&B)bBѹE[[.@[/\~?[J[[[[BZYY i) 29IzC?i z> ; =2))=2x_@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030473.863165 s, next control iter: 1743030474.223182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743030474.243165 s.H~,2"AJ"J*J2J:JBJnJvJA\( @Ak@AJ^~? AGA6 &"AAtNA"AZAbAjArAzAAA74@A9y}rA/w@A܏;A1f=A +&@A@!An?A*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9w@YG J)JJJJ}D&K Y\~?yBMRA CDsxQ8)B)iB͹E[[M/@[T\~?[[[[[BZYY i) DIu~C?iߢ>zP; &1))&1 `@y%0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030474.283165 s, next control iter: 1743030474.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030474.663165 s.H~,q2"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066493< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743030474.663287F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3973, header.stamp.nsec: 00 temperature: 13.384866* salinity: 33.391716, density: 1025.000000* values[0]: 0.704778F (some fields omitted in printout)A @A @A5^~? ABAn&"AActNA"AZAbAjArAzAAAm*Δ4@A/erAfw@A<Az=Ayt'@A nA@[?A5*A9?2A^sֽ:A<BA9?JA^sֽRA Y%\~?yQA}'@D{7{7ɆQ8)mB[[G1@[\~?[[[[[BZYY i) ޺I}C?i1>po; 4/))4/db@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030474.683165 s, next control iter: 1743030475.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030475.083165 s.DH~, S2"AJ"J*J2J:Jl4?BJl4?nJ/=5vJAp= @A]آ @A´; P.))P.c@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030475.123165 s, next control iter: 1743030475.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030475.503165 s.H~,P42"AAHz @Ay @AU ^~? A8A/&"AA ktNA"AZAbAjArAzAAA4@Af=qrAhjv@AQ;A=A*@AA Y?A8N*A9?2Aѽֽ:A<BA9?JAѽֽRA<٘i)I9jv@YG JJJJJD&K Y>e\~?yߧ:QAD77sQ8+B)xBǹE[[14@[!X\~?[[[[[BZYY i) kIC?i>; ,)),"8e@鵪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030475.523165 s, next control iter: 1743030475.903180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3974, header.stamp.nsec: 00 temperature: 13.385127* salinity: 33.391739, density: 1025.000000* values[0]: 0.703727F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030475.923165 s.8H~,2"AJ"J*J2J:J'4?BJ'4?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066493< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743030475.923291F (some fields omitted in printout)AQ @A^P @A]~? A!4A&"AA&KtNA"AZAbAjArAzAAA+w0T3@Aq7rAu@A'LA[|=Ai+@AkJA?A$ƈ*A9?2AZֽ:Aê<BA9?JAZֽRAê<٘i)I9u@YG J>JJJJD&K YL\~?yڧPADb77ɱQ8-B)}BĹE[[_5@[>\~?[g[[[[BZYY i) BI{C?i ?p; +))+Οf@೪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030475.943165 s, next control iter: 1743030476.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030476.343165 s.<ŌH~,3"AA(\ @AKS( @A]~? A/A&"AA*tNA"AZAbAjArAzAAA(Ys3@A Wk~rAu@A<Af=A?,@AA?A*Ay9?2Al ׽:Av<BAy9?JAl ׽RAv<٘i)I9u@YmG JZJJJJD&K YT4\~?y3֧PADj7j7Q8)B[[6@[i%\~?[[[[[BZYY iۛ) IC?iR ?7; *))*h@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030476.363165 s, next control iter: 1743030476.743179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3975&, header.stamp.nsec: 0&0 temperature: 13.385370&* salinity: 33.391747&, density: 1025.000000&* values[0]: 0.702759&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030476.763165 s.6ˌH~,03"AJ"J*J2J:JBJnJvJA33333@AI @A]~? A.+A<> &"AA tNA"AZAbAjArAzAAA~/MS3@Ae |rAu@Ap A@=AG .@A@A`v/?Aց*A9?2Aֽ:Ab}<BA9?JAֽRAb} Y\~?yҧ,PA.@#D77tQ8.B)BE[[@8@[ \~?[[[[[BZYY i) ӻIdC?i,?D; y())y(k9@[[~?[[[[[BZYY i) ItC?i4;?; O'))O'j@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030477.203165 s, next control iter: 1743030477.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030477.603165 s.34ٌH~,f3"AJ"J*J2J:J3?BJ3?nJj<5vJA{G@Ac@AM]~? A"A &"AAsNA"AZAbAjArAzAAAqwu2@AɅwrAA>t@A :A>=A0@APA?Aၼ*AM9?2A$ֽ:A%<BAM9?JA$ֽRA%<٘i)I9>t@YG JOJJJJӜD&K Y[~?y[˧OA9D{7Q82B)BE[[:@[1[~?[ߧ[[[[BZYY i) B IbC?iPK?V< b%))b%S3l@y7ěYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030477.623165 s, next control iter: 1743030478.003175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3976 , header.stamp.nsec: 0 0 temperature: 13.385594 * salinity: 33.391743 , density: 1025.000000 * values[0]: 0.701899 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030478.023165 s.ZH~,|3"AAQ@A %@A]~? AAi4!&"AAsNA"AZAbAjArAzAAAU{Ӈ2@A5!trA=s@A;AT=AW1@A`6Aк?A*A9?2Ad~ֽ:A42=BA9?JAd~ֽRA42=٘i)I9s@YdG JJJJJޜD&K YA[~?yǧ(OADD77uQ84B)BE[[$<@[[~?[ݧ[[[[BZYY i) IFC?i-]? < q$))q$Dm@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030478.043165 s, next control iter: 1743030478.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030478.443165 s.9H~,F]3"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076102< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743030478.443283F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@Aq0[@Aq]~? AA!&"AAqsNA"AZAbAjArAzAAA•E\lB2@A49rrA_s@A <A=A.3@AA?AӇ*A9?2A7ֽ:Ae=BA9?JA7ֽRAe=٘i)I9_s@YG J&JJJJD&K  R8Y|[~? R8y!ħNAND77R8)B[[e=@[[~?[nܧ[[[[BZYY i) (I7C?ip?w< L*#))L*#in@˺YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030478.463165 s, next control iter: 1743030478.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3977, header.stamp.nsec: 00 temperature: 13.385784* salinity: 33.391739, density: 1025.000000* values[0]: 0.701035F (some fields omitted in printout)B|[~?)B!ħ rAdjusting time to match Gazebo time: 1743030478.863165 s.+H~,>3"AAfffff@As`92@AZ]~? ADA!&"AA_sNA"AZAbAjArAzAAA;'mF1@AȄQorAr@Aջ;AJ=A~4@A`A` ?A*A9?2ABֽ:A=BA9?JABֽRA=YH&@m4@yI=+;ٓHK6Կկ $?\~?Eqw?0?)H&@ I٘i)I9r@YG JJ/,<JJJD&K0x> Y[~?yYtNA4@YD{7{7 R85B)BE[[>@[B[~?[ۧ[[[[BZYY i) E>8IC?i}??"< !))!0Up@MYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030478.883165 s, next control iter: 1743030479.263184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030479.283165 s.7RH~,3"AJ"J*J2J:JBJnJvJA ףp=@ASD @ACC]~? AA"&"AAYWID?i ?5<  )) s@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030479.723165 s, next control iter: 1743030480.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030480.123165 s.6H~,X4"AJ"J*J2J:J3?BJ3?nJ;5vJAR@A)!XU@A]~? A A"&"AArNA"AZAbAjArAzAAAsa@%1@AOirALq@Ay As=A8x8@A`;A`j?AVՐ*A9?2A ׽:A:=BA9?JA ׽RA:=٘i)I9q@YG JJJJJD&K YBH[~?y^MAyD77 AR89B)BE[[çB@[R>[~?[ק[[[[BZYY i) SfID?i?gA< ر))رmt@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030480.143165 s, next control iter: 1743030480.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030480.543165 s.IH~,"4"AA(\@Aa@A\~? A A"&"AArNA"AZAbAjArAzAAA~@0@A ^grAq@A%޻A;K=A_9@AAЈ?A򅖼*A9?2Aֽ:A& =BA9?JAֽRA& =٘i)I9q@YG J0JJJJD&K Ys-[~?y<MADb77vOR8:B)BE[[{C@[$[~?[)ק[[[[BZYY i) P=vI$D?i?gM< :W)):W{u@ZͪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743030480.563165 s, next control iter: 1743030480.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3979, header.stamp.nsec: 00 temperature: 13.386271* salinity: 33.391739, density: 1025.000000* values[0]: 0.699165F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030480.963165 s.yH~,=4"AJ"J*J2J:J2?BJ2?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085415< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743030480.963290F (some fields omitted in printout)A@A?7je@A\~? AA#&"AA rNA"AZAbAjArAzAAAIS0@A_GfrAp@AɭA"=A ;@AA ?Ado*Aʷ9?2Aֽ:A =BAʷ9?JAֽRA =YV-@{;@y=CٓH &6˿S?%<hM?r0U`?)V-@ I٘i)I9p@YhG JJ<JJJ)D&Kx> Y[~?yRLA;@D7]R8)B[[>E@[T [~?[֧[[[[BZYY i) !I6D?iM?,&V< +))+"w@ЪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743030480.983165 s, next control iter: 1743030481.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030481.383165 s.H~,'X4"AA= ףp@A&s<@A-\~? A=AG#&"AA5rNA"AZAbAjArAzAAA*QI0@Azo[drAp@A+ʞ;A,.=AO<@A A 0?AE꡼*A9?2A#tֽ:A\=BA9?JA#tֽRA\=٘i)I9p@YG JEJJJJ4D&K YTZ~?yh5LADj7j7!lR8;B)BE[[F@[Z~?[5֧[[[[BZYY i) AIHD?i?k_< )){x@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030481.403165 s, next control iter: 1743030481.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 3980", header.stamp.nsec: 0"0 temperature: 13.386523"* salinity: 33.391754", density: 1025.000000"* values[0]: 0.698185"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030481.803165 s.wAH~,{gs4"AJ"J*J2J:J2?BJ2?nJj;5vJAzG@Av@A\~? AA|#&"AAbrNA"AZAbAjArAzAAA@AgAS?A*Ae9?2Auֽ:A=BAe9?JAuֽRA=٘i)I9n@YmG J⨼JJJJJD&K Y5Z~?yiKADŧ7b7̈R8>B)ǯBE[['I@[HZ~?[է[[[[BZYY i) FeIo]D?i?6u< )) %{@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030482.243165 s, next control iter: 1743030482.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030482.643165 s.v)H~,*4"AJ"J*J2J:Jv2?BJv2?nJ!;5vJA)\@A @A\~? AAk#&"AArNA"AZAbAjArAzAAAe).@A_rA_n@Ac$;A=A?@A%A Y?AO*ANk:?2A+^½:A=BANk:?JA+^½RA=٘i)I9_n@YG JJJJJTD&K YZ~?yKAD{7{7"R8?B)̯BE[[\J@[VZ~?[է[[[[BZYY i) bIsD?iV?iۀ<  )){|@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030482.663165 s, next control iter: 1743030483.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3981, header.stamp.nsec: 00 temperature: 13.386778* salinity: 33.391762, density: 1025.000000* values[0]: 0.697116F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030483.063165 s.0H~,R 4"AA@A4h蟘@Ag\~? AA$&"AA qNA"AZAbAjArAzAAANǭ7.@Aa;^rAm@AA*=A@@A`A`O?A+*A@n:?2AgĽ:As=BA@n:?JAgĽRAs=Y\2@@@y=fٓH?Az?Ƽ{p?)\2@ I٘i)I9m@YG JJ؈<JJJ_D&KiX> YZ~?yJA@@ĜDZ7SI7wR8AB)үBE[[âK@[-Z~?[8֧[[[[BZYY i) PWIxD?i2?7?< P))P}@ Y솾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030483.083165 s, next control iter: 1743030483.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030483.483165 s.u_7H~,4"AJ"J*J2J:JR2?BJR2?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085415< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743030483.483283F (some fields omitted in printout)Aq= ף@ARH2o@AN\~? AAo2$&"AAqNA"AZAbAjArAzAAAa86-@AebH]rA~4m@AA}H=AoA@AA *?AV*Ao:?2Atƽ:A4P=BAo:?JAtƽRA4P=٘i)I94m@Y^G J೼JJJJjD&K YkZ~?y`%JAϜD77{7̳R8BB)دBE[[L@[5tZ~?[֧[[[[BZYY i) vID?i?,< ]))]X#@mY'kYFFF]Waiting for Gazebo time sync: latest Gz time: 1743030483.503165 s, next control iter: 1743030483.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3982, header.stamp.nsec: 00 temperature: 13.387045* salinity: 33.391769, density: 1025.000000* values[0]: 0.695982F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030483.903165 s.=H~,4"AAGz@AVF@A*5\~? AAY$&"AAqNA"AZAbAjArAzAAA{-@A\rAl@AށAh=AvB@AA"s?Ả*Aj:?2Aeɽ:A=BAj:?JAeɽRA=٘i)I9l@YG JJJJJuD&K YOZ~?y;IA CڜD77"R8)ޯBE[[l(N@[u[Z~?[&ק[[[[BZYY i) IϸD?il?< S))S16@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030483.923165 s, next control iter: 1743030484.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030484.323165 s.zDH~,65"AJ"J*J2J:JBJnJvJAQ@A@A\~? AA}$&"AA'~qNA"AZAbAjArAzAAAUu7j,@A[rAk@AVA7G=A,D@A |A]?AMļ*Ab:?2A˽:A=BAb:?JA˽RA=٘i)I9k@YG JJJJJD&K Y3Z~?yFIADb7wR8)B[[egO@[BZ~?[ק[[[[BZYY i) -xID?i?Q< Yt))YtՀ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030484.343165 s, next control iter: 1743030484.723177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3983&, header.stamp.nsec: 0&0 temperature: 13.387360&* salinity: 33.391750&, density: 1025.000000&* values[0]: 0.694810&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030484.743165 s.WKH~,~/5"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085415< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743030484.743296F (some fields omitted in printout)A\(@A U@A.\~? AQA$&"AAWqNA"AZAbAjArAzAAAU+@AɵZrAOk@AR;A=AmE@A`A3#?AV̼*AX:?2Aν:A-(=BAX:?JAνRA-(=٘i)I9Ok@Y7G JǼB=JJJJD&K YZ~?yHAD77R8CB)BE[[P@[*Z~?[ا[[[[BZYY i) żI/D?i?< 78))78s@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030484.763165 s, next control iter: 1743030485.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030485.163165 s.u}RH~,qJ5"AJ"J*J2J:JBJnJvJA@AQ@A[~? AAw$&"AA0qNA"AZAbAjArAzAAA)i4+@AYYrAj@A$<A =AF@An,A`?A2 Ӽ*A~N:?2AϽ:A5=BA~N:?JAϽRA5=Y8@F@y=><ٓH= VR? < ?l`?=?)8@ I٘i)I9j@YG JϼC=J<JJJD&Kwf> YY~?y^HAF@Dŧ7b7#R8DB)BE[[Q@[BZ~?[٧[[[[BZYY i)  ͼI*E?i?=<  )) ~@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030485.183165 s, next control iter: 1743030485.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030485.583165 s.XH~,Re5"AAp= @A1A ߢ@A[~? A~AD$&"AA qNA"AZAbAjArAzAAAdr*@AalNXrAii@AI<A =A H@AX?A`"!?AK׼*AvD:?2A?ѽ:A|=BAvD:?JA?ѽRA|=٘i)I9i@Y`G JQռJJJJD&K Y^Y~?yOGADj7Z7xR8EB)BE[[J S@[ Y~?[ڧ[[[[BZYY i) ;ԼI"E?i_@瘥< u ))u  @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030485.603165 s, next control iter: 1743030485.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3984, header.stamp.nsec: 00 temperature: 13.387649* salinity: 33.391739, density: 1025.000000* values[0]: 0.693531F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030486.003165 s.w `H~,H45"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085415< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199482 time: 1743030486.003272F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz @Aoz @A[~? AQA$&"AApNA"AZAbAjArAzAAAF)@AktWrA8i@AP;AI=AHAP!@A([~? AMA%&"AApNA"AZAbAjArAzAAAN(_)@A VrA h@AdbԺA޶=Aq^GA^A8?AnBټ*A1:?2AԽ:A=BA1:?JAԽRA=٘i)I9h@Y G JټC=JJJJD&K YY~?yFAD{7{7#S8)BE[[U@[gY~?[iݧ[[[[BZYY i) I]E?ig @'< %H ))%H @BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030486.463165 s, next control iter: 1743030486.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3985, header.stamp.nsec: 00 temperature: 13.387980* salinity: 33.391762, density: 1025.000000* values[0]: 0.692140F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030486.843165 s.lH~,5"AJ"J*J2J:J01?BJ01?nJ95vJA(\"@Ab7'"@A;[~? ArA%&"AArpNA"AZAbAjArAzAAA|g(@AjrVrAag@A`Aߗ=AFAkAӱ?Aټ*A(:?2Avս:Ao=BA(:?JAvսRAo=٘i)I9g@Y G J|ټJJJJD&K YϊY~?y\{FA%D7777x&S8DB)BE[[*V@[Y~?[ާ[[[[ZZ¸BZYY i¸=) LּIY|E?i@<  )) @?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030486.883165 s, next control iter: 1743030487.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030487.263165 s.tH~,#5"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082997< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743030487.263292F (some fields omitted in printout)A33333#@A"@ABg[~? AA(*%&"AAmpNA"AZAbAjArAzAAALƲu$(@AAVrAg@AA^F=A߭DA`tA`?A-)ۼ*A :?2Aֽ:Ag=BA :?JAֽRAg=Yp^?@"DyvD=ٓH0;?`ʶ`=xT؎ ^?)p^?@ I٘i)I9g@Y G J2ڼJo;JJJ˝D&K|> YnY~?yFAD/D74S8) B|E[[X@[mY~?[[[[[ZZBZYY i) IʼIE?i@< ))h#@.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030487.303165 s, next control iter: 1743030487.663178 s, wait time: 0.360013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 39862, header.stamp.nsec: 020 temperature: 13.3883312* salinity: 33.3917582, density: 1025.0000002* values[0]: 0.6907862F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030487.683165 s.lzH~,o5"AJ"J*J2J:J0?BJ0?nJn95vJAףp= $@A[#@AAM[~? A;A'6%&"AAEpNA"AZAbAjArAzAAAhATȆ'@A˴UrAHf@A~ƻAޘ=A`CAxA`1p?A*A%:?2A}Hֽ:A<BA%:?JA}HֽRA<٘i)I9Hf@Y' G J"JJJJ֝D&K YRY~?yEA:Dj7j7#CS8)B[[p:Y@[Y~?[h[[[[ZZBZYY i) oIOE?i@W< O))O3@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030487.683165 s, next control iter: 1743030488.083179 s, wait time: 0.400014 s rAdjusting time to match Gazebo time: 1743030488.103165 s.H~,Ú6"AA{G$@Aoc#$@A<3[~? AA>%&"AAVpNA"AZAbAjArAzAAAOF&@ArF|UrAhe@A[ A+=ABA|Au?Ar*AU.:?2Agֽ:A<BAU.:?JAgֽRA<٘i)I9he@Y G JJJJJD&K Yf6Y~?y%EAED77{7yQS8)ByE[[oZ@[mY~?[V[[[[ZZBZYY i) YIE?i@3 < k))kY@y+T=ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030488.123165 s, next control iter: 1743030488.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030488.523165 s.H~,{!6"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082997< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743030488.523319F (some fields omitted in printout)AQ%@AM(%@A3[~? AAD%&"AAoNA"AZAbAjArAzAAAe$K&@AHrX]UrA*d@A;Aw=AY@A^A ф?A#*A 3:?2Aֽ:Ak<BA 3:?JAֽRAk<٘i)I9d@Y G JHJJJJD&K YDY~?yDAPD77_S8) BvE[[[@[FVY~?[b[[[[ZZBZYY i) CIE?iA@< 8))8u@qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030488.563165 s, next control iter: 1743030488.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3987, header.stamp.nsec: 00 temperature: 13.388705* salinity: 33.391758, density: 1025.000000* values[0]: 0.689203F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030488.943165 s.XdH~,B]<6"AA(\&@A 7[&@A(Z~? AAF%&"AAnoNA"AZAbAjArAzAAA':%@A9XUrAc@Ai<Aˉ2=As?AcA9sARB׼*A4:?2AOֽ:A;BA4:?JAOֽRA;٘i)I9c@Y G JJJJJD&K Y!X~?yUDAZD777$nS8)&BsE[[m\@[?Y~?[[[[[ZZBZYY i) {.I"#F?i-$@%< Q))Q@zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030488.963165 s, next control iter: 1743030489.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030489.363165 s.H~,}>W6"AJ"J*J2J:JBJnJvJAfffff'@AG72'@AZ~? AA/F%&"AAoNA"AZAbAjArAzAAAliO%@AlUrA$c@AZ;Ab<A./>A*A@2AK/*A1:?2Aֽ:ABA1:?JAֽRAYE@,>ya<k;ٓH x?pſщDW?r˚Rkx? ?)E@ I٘i)I9c@Y: G JǼJJJJD&Ky> YeDj7j7y|S8)+BpE[[^@[))Y~?[[[[[ZZBZYY i=) ڏIGF?iY'@a5< ))c&@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030489.383165 s, next control iter: 1743030489.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3988&, header.stamp.nsec: 0&0 temperature: 13.389070&* salinity: 33.391754&, density: 1025.000000&* values[0]: 0.687690&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030489.783165 s.XH~,r6"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068651< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743030489.783299F (some fields omitted in printout)A ףp=(@AZC (@AZ~? AA+B%&"AA~oNA"AZAbAjArAzAAAƚtq$@AEԪUrAƚb@A9Ax<A<A`{A`As*A+:?2AKֽ:A[BA+:?JAKֽRA[٘i)I9b@Y G JJJJJ D&K YWX~?yRCApD)7ŧ7ϊS8EB)0BmE[[j<_@[Y~?[Q[[[[ZZBZYY i==) IkF?i*@"< U))U0@fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030489.803165 s, next control iter: 1743030490.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030490.203165 s.J "J *J 2J :J /?BJ /?nJ t85vJ H~,66"AAGz)@AR O(@AZ~? AA:%&"AA YoNA"AZAbAjArAzAAAHY͹#@AUUrA =b@ALA-ѻA;AuA^A)*A&:?2Aֽ:ALBA&:?JAֽRAL٘i)I9=b@Y G J!_JJJJD&K YqX~?yѬCA{DZ7Z7$S8)3BjE[[m`@[X~?[[[[[ZZBZYY i) evI{F?i.@< ))X@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030490.223165 s, next control iter: 1743030490.603185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743030490.623165 s.WH~,]6"AAR)@A{h)@AZ~? A%A0%&"AA1oNA"AZAbAjArAzAAA}06#@AIWCVrArb@AAAF:ALlA~Ar*A_:?2Aֽ:ApBA_:?JAֽRAp٘i)I9b@Y G JJJJJ!D&K YX~?yOCAD7777{S8)5BgE[[Ua@[X~?[[[[[ZZBZYY i) aaI F?i@3@q< |))|@y:ß=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030490.643165 s, next control iter: 1743030491.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 3989 , header.stamp.nsec: 0 0 temperature: 13.389311 * salinity: 33.391727 , density: 1025.000000 * values[0]: 0.686786 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030491.043165 s.H~,6"AJvPublished command to Gazebo (printed only once in a while):"J*J( dropWeightState: 12J:J8 propOmegaAction: 25.132812BJ< rudderAngleAction: -0.261799nJ> elevatorAngleAction: 0.077509< massPositionAction: 0.000000vJ4 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743030491.043303F (some fields omitted in printout)A(\*@A;_*@A'}Z~? AA"%&"AAM oNA"AZAbAjArAzAAA|'"@AVrA=a@A.=A;A8AY`AOAy*A:?2Aֽ:AѼBA:?JAֽRAѼ>I٘i)I9a@Y G JfJJJJ,D&K YrX~?yί]CAD)7ŧ7ϵS8)[[#b@[rX~?[Q[[[[BZYY i) (MIF?i8@+< 7#))7# @2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030491.083165 s, next control iter: 1743030491.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030491.463165 s.WH~,6"AA+@AHN&ne+@AGcZ~? AA %&"AA nNA"AZAbAjArAzAAAM%.!@AMSWrAna@Aܘ7AY2A7AQA "A^&B;*A :?2Aֽ:A{BA :?JAֽRA{YsL@7yX2s7ٓH'@!1?,ڥ?`.ѿl?NI?f 4?)sL@ I٘i)I9a@Y G JE:J)JJJ6D&Kx> YgWX~?y,CA7DZ7Z7%S8DB)eE[[c@[X~?[>[[[[BZYY i0g=) A@§< Oe))Oe@u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030491.903165 s, next control iter: 1743030492.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030492.303165 s.bčH~,g7"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065917< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743030492.303289F (some fields omitted in printout)AzG-@AoK-@A/Z~? AHA$&"AAДnNA"AZAbAjArAzAAA3 @A1XrAKb@AB<A\lxAi5A+AAIM-<*Ay9?2A7=׽:ACBAy9?JA7=׽RAC٘i)I9Kb@Y G JS <JJJJLD&K Y X~?y궧DAD7777S8)2B_E[[Uf@[ɑX~?[i[[[[BZYY i) I}ZG?iB@y<  )) L@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030492.323165 s, next control iter: 1743030492.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 3991*, header.stamp.nsec: 0*0 temperature: 13.389365** salinity: 33.391750*, density: 1025.000000** values[0]: 0.686744*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030492.723165 s.ˍH~,H.7"AJ"J*J2J:J/?BJ/?nJX85vJAQ.@A~8H-@AZ~? AAE$&"AAmnNA"AZAbAjArAzAAAxx( @ADYrA~b@A<A}AH3A@A3A]<*A9?2A-׽:As BA9?JA-׽RAs ٘i)I9b@Y G JAD<JJJ\EJWD&K YX~?yIMDAD7%S8)/B\E[[g@[5}X~?[[[[[BZYY i)  IG?iEF@|< g))gA@yen=`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030492.743165 s, next control iter: 1743030493.123178 s, wait time: 0.380013 s"X~?)"I rAdjusting time to match Gazebo time: 1743030493.143165 s.U/ҍH~,*I7"AA)\.@A>.@AY~? ATA$&"AAGnNA"AZAbAjArAzAAAlS@ANZrAc@Ar;AA=k2AA`AÿAPo<*A9?2Aֽ:APBA9?JAֽRAP٘i)I9c@Y) G J,s<JJJJaD&K YlW~?yDAƝDzS8),BYE[[h@[hX~?[[[[[BZYY i) IG?iJ@a= e))ezv@*YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743030493.163165 s, next control iter: 1743030493.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030493.563165 s.؍H~,J d7"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065917< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743030493.563274F (some fields omitted in printout)J"J*J2J:JBJnJvJA/@A7/@A'Y~? AA$&"AA} nNA"AZAbAjArAzAAA@@AH[rAD{c@A>)AiA$1A A{ſA.<*A9?2Aֽ:A.BA9?JAֽRA.YR@!1yni"*ٓH@,W]?dر?O׿`N'? ?@1e@?)R@ I٘i)I9{c@Yr G J^<B=JJJJlD&Kx>  T8Y W~? T8y߾DA!1НD{7Z7 T8)(B[[si@[TX~?[p[[[[BZYY i) ӻIG?iM@z= ))쿩5 @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030493.583165 s, next control iter: 1743030493.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3992, header.stamp.nsec: 00 temperature: 13.389246* salinity: 33.391701, density: 1025.000000* values[0]: 0.687412F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030493.983165 s.ߍH~,~7"AAq= ף0@AHCo0@AY~? AAj$&"AA mNA"AZAbAjArAzAAA&^cMm@A岮\rAd@AAeAB/A@ATǿAH<*Ah9?2Aֽ:A>BAh9?JAֽRA>٘i)I9d@Y G JG<C=JJJJwD&K YٵW~?y§TEA C۝Dŧ7b7&T8)$BVE[[%j@[@X~?[ [[[[BZYY i) GcI H?iP@= 3))3鿩@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030494.003165 s, next control iter: 1743030494.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030494.403165 s.&H~,͙7"AJ"J*J2J:JBJnJvJAGz1@ADвF1@AY~? AAC$&"AAmNA"AZAbAjArAzAAAesg02@A7Sa+^rAd@A ARA.AA`Y,ɿA!<*A9?2Aֽ:AmBA9?JAֽRAm٘i)I9d@Y G J<JJJJD&K YW~?yMŧEAD{7j7{(T8)BSE[[4&l@[6-X~?[[[[[BZYY i) Ir7H?i elevatorAngleAction: 0.065917< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743030494.823299F (some fields omitted in printout)AQ2@AJ2@AY~? AVA$&"AAmNA"AZAbAjArAzAAA`R@ARm _rA%e@AҧA4A=-AA@˿AA<*Aj9?2Aֽ:AFBAj9?JAֽRAF٘i)I9%e@Yv G JT<JJJJD&K YGW~?yȧFADb776T8CB)BPE[[uLm@[X~?[g[[[[BZYY i)  qIeH?i%X@OU = ))忩6ȏ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030494.843165 s, next control iter: 1743030495.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030495.243165 s.J "J *J 2J :J ^0?BJ ^0?H~nJ85vJ,7"AA\(3@AW2@A~Y~? AA#&"AAmNA"AZAbAjArAzAAA_ %@AarAe@A先:AA+A@N^A̿A<*AL9?2A׽:Ap BAL9?JA׽RAp ٘i)I9e@Y G J1<JJJJD&K YfW~?y˧FAD77j7&ET8)BME[[pn@[X~?[9[[[[BZYY i) 5IWH?in\@ = ;));⿩LZ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030495.263165 s, next control iter: 1743030495.643184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030495.663165 s.H~,q7"AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3994, header.stamp.nsec: 00 temperature: 13.388844* salinity: 33.391701, density: 1025.000000* values[0]: 0.689513F (some fields omitted in printout)A4@A&k3@AfY~? AKA#&"AAWbmNA"AZAbAjArAzAAA_@AbrAQf@A _;AYFA*A`87AοA԰<*A39?2A D׽:ABA39?JA D׽RAYJ~Y@I*yuEE;ٓH\X??`;ݿo?ԃ?K{??)J~Y@ I٘i)I9Qf@Y- G J%<JJJJD&Kx> YMW~?yϧFA*Dŧ7b7|ST8)BJE[[o@[#W~?[1[[[[BZYY i) IHH?i^@U= ))࿩@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030495.683165 s, next control iter: 1743030496.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030496.083165 s.DH~,S8"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065917< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743030496.083292F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= 4@A4@AMY~? AA:#&"AA=mNA"AZAbAjArAzAAAa@A:8drAf@A%<AjqAkB)A A@пA<*A9?2AE׽:AJBA9?JAE׽RAJ٘i)I9f@Y G J*<JJJJD&K Y4W~?yӧWGADb77aT8) BKE[[ҽp@[W~?[@[[[[BZYY i) sIH?ia@= ;޿));޿䀑@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030496.103165 s, next control iter: 1743030496.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030496.503165 s.H~,D4 8"AAHz5@A2y5@A/5Y~? AAQ#&"AAmNA"AZAbAjArAzAAAD}@AھerA\xg@AL;AFA'A[A@%ѿAڭ<*A9?2At!׽:A8BA9?JAt!׽RA8٘i)I9xg@Y G J<JJJJD&K YW~?yקGAD{7j7'pT8BB)BHE[[:q@[SW~?[c#[[[[BZYY i) @KRII?ie@[=  ۿ)) ۿ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030496.523165 s, next control iter: 1743030496.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3995, header.stamp.nsec: 00 temperature: 13.388615* salinity: 33.391682, density: 1025.000000* values[0]: 0.690657F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030496.923165 s.8H~,;8"AJ"J*J2J:J0?BJ0?nJe95vJAQ6@AKP6@AY~? A As#&"AA.lNA"AZAbAjArAzAAAw+@AagrA% h@A@S:AٕAհ&AôAҿAq<*A<:?2A.ֽ:AL"BA<:?JA.ֽRAL"٘i)I9 h@Y9 G J<JJJJžD&K YW~?yۧ(HA&Db77|~T8)BEE[[s@[mW~?['[[[[BZYY i) l:Iih@= ٿ))ٿm@O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030496.943165 s, next control iter: 1743030497.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030497.343165 s.<H~,U8"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065917< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743030497.343274F (some fields omitted in printout)A(\7@A'7@AY~? A A"&"AAlNA"AZAbAjArAzAAA+&b`@Ag *HirAh@AV峻A6Aj%A`AҿA<*A:?2Aֽ:AߥBA:?JAֽRAߥ٘i)I9h@Y G J<JJJJ͞D&K YV~?yߧHA1Dj7j7ьT8)BBE[[%t@[W~?[+[[[[BZYY i) :Iil@= 'l׿))'l׿4@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030497.363165 s, next control iter: 1743030497.743178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 3996&, header.stamp.nsec: 0&0 temperature: 13.388389&* salinity: 33.391678&, density: 1025.000000&* values[0]: 0.691767&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030497.763165 s.7H~,p8"AJ"J*J2J:JBJnJvJA333338@A7@AQX~? AeA̜"&"AAlNA"AZAbAjArAzAAAQ@@A=krA*i@A2 AqA$A`RA@zӿA.F<*A:?2A7ֽ:A6BA:?JA7ֽRA6Y`@$yp& ٓH8@u?@Q? o@?@> ?3T?)`@ I٘i)I9*i@Y G JE<JYa<JJJ؞D&Krx> YV~?yHA$ elevatorAngleAction: 0.065917< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200512 time: 1743030498.603323F (some fields omitted in printout)A{G9@AS9@AX~? A}An"&"AA5clNA"AZAbAjArAzAAA躎7 @AR%prA;j@AA!A{!A GAxտA<*AL:?2Ah ׽:AqBAL:?JAh ׽RAq٘i)I9;j@YG J̟<JJJJD&K YV~?yRIAQD7ҷT8)B[[[[BZYY i=) O;Iiw@߱= ?]ο))?]οx@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030499.043165 s, next control iter: 1743030499.423176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030499.443165 s.:6H~,J]8"AJ"J*J2J:JBJnJvJA(\;@A:/[;@AX~? A,A|!&"AARlNA"AZAbAjArAzAAAm @A` trA7k@A<A9AArA2׿A<<*A:?2AI׽:AuBA:?JAI׽RAu򼙘٘i)I97k@Y(G Jd<JJJJD&K Y8sV~?yvJAgD77}T80B)֯B[[2y@[WW~?[B[[[[BZYY i) d;Ii{@!= !̿))!̿@>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030499.463165 s, next control iter: 1743030499.843182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 3998, header.stamp.nsec: 00 temperature: 13.387984* salinity: 33.391655, density: 1025.000000* values[0]: 0.693886F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030499.863165 s.+=H~,>8"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075198< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743030499.863287F (some fields omitted in printout)Afffff<@AXl:2<@A zX~? A;#A4!&"AAkNA"AZAbAjArAzAAAV @AGwrAek@Ak<A@cA]A4AؿAV~<*AS:?2A5׽:AloBAS:?JA5׽RAloYf@y&bA<ٓH 8 ?@B?wJ?/ɰ?!_??)f@ I٘i)I9k@YpG JЌ<J?<JJJ D&Kqx> Y>]V~?yzJAqD77T8)үB7E[[z@[GW~?[G[[[[BZYY i) 4;Ii}@S"= ɿ))ɿ@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030499.903165 s, next control iter: 1743030500.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030500.283165 s.6RDH~,9"AJ"J*J2J:JBJnJvJA ףp==@ASD =@AcX~? An'A< &"AAkNA"AZAbAjArAzAAAq$|@AH͸IyrA !l@AP`;AAA>A@AA`3ؿAB<*A9?2A׽:ABA9?JA׽RA٘i)I9!l@YG J<JJJJD&K YEGV~?y+KA|Dŧ7b7(T8/B)ίB4E[[ |@[;8W~?[yL[[[[BZYY i)  @AKq=@AMX~? A+A &"AAukNA"AZAbAjArAzAAA5H g@A0$oG~|rA7l@A@A2AA@A`ٿA)<*A9?2Aֽ:ABA9?JAֽRA٘i)I9l@YG J8<B=JJJJ#D&K YH1V~?yKAD77T8)ʯB[[^*}@[(W~?[rQ[[[[BZYY i) WP elevatorAngleAction: 0.075198< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199282 time: 1743030501.123266F (some fields omitted in printout)J"J*J2J:JBJnJvJAR>@AW>@A28X~? A>0A; &"AAYkNA"AZAbAjArAzAAA(-Q|X@AK&9rAB m@AA0AMAnAVnڿA` <*Aa9?2Aֽ:ABAa9?JAֽRA٘i)I9 m@YEG J<C=JJJJ.D&K  U8YQV~? U8yKAD7 U8)ƯB0E[[gG~@[W~?[yV[[[[BZYY i) ( YJU~?yLA D77j7*U8)B[[@@[V~?[`[[[[BZYY i) jG elevatorAngleAction: 0.075198< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743030502.383297F (some fields omitted in printout)A= ףpA@A*6uAe)&"AA5kNA"AZAbAjArAzAAA??A0_rA?un@A̷:A̯AA}AܿAi<*A9?2A ׽:ABA9?JA ׽RA٘i)I9un@Y!G JS<C=JJJJND&K Y?U~?y LADj7Z78U8.B)B+E[[΀@[V~?[f[[[[BZYY i) aW elevatorAngleAction: 0.084179< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743030503.643276F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\C@A){C@AW~? AMA&"AAjNA"AZAbAjArAzAAA "?A{|QrAo@A;A^AAA ޿AS<*A9?2A׽:A- BA9?JA׽RA- ٘i)I9o@YG JX<JJJJnD&K YU~?y2NA CҞDb7cU8)B&E[[0w@[V~?[v[[[[BZYY i) 8ׂW~? AESA&"AAԻjNA"AZAbAjArAzAAA\457?Ae$rAhp@Af7AØAyA?XA߿A<*A9?2A5ֽ:A/BA9?JA5ֽRA/Ys@yØ}7ٓH ??`3?@#NW??>8?)s@ I٘i)I9hp@YQG J<JeJJJyD&KFx> Y/U~?yr9xNAݞD77{7)rU8)B#E[[@[ϹV~?[{[[[[BZYY i) d elevatorAngleAction: 0.084179< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198882 time: 1743030504.903285F (some fields omitted in printout)AGzF@A=FF@AW~? Af^A&"AA jNA"AZAbAjArAzAAA݉%?AgfrA|q@A5ACAC A৯A`AǪ<*A9?2Aֽ:AnBA9?JAֽRAn٘i)I9|q@YG J_<JJJJD&K YYkU~?yGFOAD777ՎU8-B)B E[[@[0V~?[׆[[[[BZYY i) D elevatorAngleAction: 0.084179< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743030506.163295F (some fields omitted in printout)AI@AH@AMW~? AoAn&"AA/jNA"AZAbAjArAzAAA92ֿAprA9s@A;Ak姽A) A@E߿A`mA q<*A9?2As׽:A!BA9?JAs׽RA!Y:z@Y y䧽;ٓH@?3?@j??r?f?):z@ I٘i)I99s@YG J<J#JJJD&Kkx> Y7U~?y[PA DSI7SI7չU8)B[[Å@[~V~?[[[[[BZYY i) r@<*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743030506.603165 s, next control iter: 1743030506.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4005, header.stamp.nsec: 00 temperature: 13.386526* salinity: 33.391548, density: 1025.000000* values[0]: 0.700994F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030507.003165 s. S(U~?) Scy H~,P4:"AJ"J*J2J:JBJnJvJAHzJ@AձJyJ@A+W~? A7|A&"AAiNA"AZAbAjArAzAAAZxMAeKXrApt@AC;AkA[A`ݿA@G!A<*Aw9?2Aֽ:ANWBAw9?JAֽRANW=I٘i)I9pt@YG JȻ<JJJJğD&K YU~?yjeQA(D777U8)B[[B܆@[iV~?[[[[[BZYY i) _ elevatorAngleAction: 0.084179< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743030507.423289F (some fields omitted in printout)AQK@ANPK@AW~? AA&"AAiNA"AZAbAjArAzAAA8i|At#orAu@A3\G;A!AA ݿA`mA<*A9?2AOֽ:A BA9?JAOֽRA ٘i)I9u@Y)G J<JJJJϟD&K Y" U~?yqQA2D77U8)BE[[g@[b_V~?[[[[[BZYY i) W_  V8YkT~? V8yRA~HD{7j7V8)yBE[[~@[#LV~?[[[[[BZYY i) n elevatorAngleAction: 0.084179< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743030508.683286F (some fields omitted in printout)Aףp= N@AM@AV~? AAW&"AAiNA"AZAbAjArAzAAAjj A|` OrAw@AA AA<A ڿA@DA"<*A9?2Aeֽ:A4BA9?JAeֽRA4٘i)I9w@YfG J<JJJ]EJD&K YLT~?y刨5SARD{7V8)tB[[ @[CV~?[[[[[BZYY i) = '))',@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030508.683165 s, next control iter: 1743030509.083194 s, wait time: 0.400029 s rAdjusting time to match Gazebo time: 1743030509.103165 s.юH~,F;"AA{GN@AUON@AsV~? AA&"AAiNA"AZAbAjArAzAAAY}'sA13|arA&w@AgAyA%A`ٿAoA5<*AI9?2Aՙֽ:ABAI9?JAՙֽRA٘i)I9w@YG J<JJJJD&K Y-T~?ySA]Db77,V8.B)oBE[[[@[6:V~?[[[[[ZZZZ¸>BZYY i¸>M) ;"AJ"J*J2J:JBJnJvJAfffffQ@A92Q@AEV~? A,A&"AA EiNA"AZAbAjArAzAAA}OA, rA(z@Ae<AɕA Aƃ׿A3HA<*Am9?2A(ֽ:AkBAm9?JA(ֽRAkYp@hy#ȕi$<ٓH{׿?@_h?@@׿t5?ྴ?7??)p@ I٘i)I9z@Y;G J<J=JJJD&Kux> YjT~?ykUA}Dj7Z7,IV8,B)[BE[[5@[!V~?[iԨ[[[[ZZZZBZYY i) -ֽ:Al<BA9?JA>ֽRAl<٘i)I9|@YG Jژ<JJJJED&K YST~?yɨVAD77V8)GB[[`@[VV~?[[[[[ZZZZBZYY i) c{)YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743030512.063165 s, next control iter: 1743030512.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030512.463165 s.dH~,"<"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083644< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743030512.463314F (some fields omitted in printout)AU@ATo leU@AyV~? AթAe&"AAhNA"AZAbAjArAzAAAKA_6rA(}@AA:r<AA@HӿA`bA<.<*A9?2Arֽ:AZ<BA9?JArֽRAZJJJPD&Kw> Y}{T~?yѨVADb77ؐV8.B)EBE[[@[IV~?[[[[[ZZZZBZYY i{) h5vJA= ףpV@A#fy0JJJD&Kw> Y#WT~?y/VA߿Dŧ7b7V8)DB[[p@[_U~?[[[[[BZYY i\h) ä M A0طsA{@A6Aӣ=A ؿA3ȿAAy*A9?2Aֽ:AR =BA9?JAֽRAR =٘i)I9{@Y8G J䑼JJJJD&K  W8YHT~? W8y3 UA Dŧ7b7W8)MB E[[@@[U~?[;([[[[BZYY iy) M;Ii7@F= hm))hmb@yUiѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030515.843165 s, next control iter: 1743030516.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030516.243165 s.CH~,y="AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066150< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743030516.243277F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(]@APi\@A-V~? AA&"AAqhNA"AZAbAjArAzAAAV! +AKw sAy7{@AɚAj=A{տAh\ƿA;A짼*A9?2Aֽ:Ah =BA9?JAֽRAh =٘i)I97{@YG JRJJJJD&K Y CT~?yTAD)7ŧ7W8)QB[[ʒ@[U~?[.[[[[BZYY i) P;Ii@aLG= 5i))5i@ygiժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030516.263165 s, next control iter: 1743030516.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030516.663165 s.JH~,q*="AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4015, header.stamp.nsec: 00 temperature: 13.385042* salinity: 33.391384, density: 1025.000000* values[0]: 0.708468F (some fields omitted in printout)A^@A&]@A'V~? At!A &"AAKhhNA"AZAbAjArAzAAAӮqhAvsAOz@A;AD=AҿAĿAA*A9?2Aiֽ:AA =BA9?JAiֽRAA =YR@ҿyD=;ٓH ,?@&@ﺳ`j@``?%?)R@ I٘i)I9z@YG JB=J=JJJD&Kw> Y@T~?y'MTAҿD77/ W8)VB[[U@[aU~?[l5[[[[BZYY i) c5};IiF@F= -d))-dw@y҈תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030516.683165 s, next control iter: 1743030517.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030517.083165 s.DQH~,SE="AJ"J*J2J:J^5?BJ^5?nJ->5vJAp= ^@A٢^@A("V~? AY)A^ &"AA_hNA"AZAbAjArAzAAAfS)X?AݼwBHsA2z@Aa;A=A`пA@Q¿A A4*A9?2A:Nֽ:A] =BA9?JA:NֽRA] =٘i)I9z@Y3G JC=JJJJƠD&K Y>T~?yk0SA)D{7Z7.W8)ZB E[[Lߓ@[AU~?[ <[[[[BZYY i) A,A;Ii@pF= t`))t`G@֪YFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743030517.103165 s, next control iter: 1743030517.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030517.503165 s.WH~,&4`="AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066150< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743030517.503269F (some fields omitted in printout)AHz_@A[B>y_@A;V~? AG1A` &"AAWhNA"AZAbAjArAzAAA-?EǶA1p sAzy@A><A=AͿAAAT*A9?2AYֽ:A =BA9?JAYֽRA =٘i)I9zy@YG J]JJJJѠD&K YAŬ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9Px@Y!G JJJJJD&K Y08T~?yJRAID8787YW8)hB[[$~@[U~?[O[[[[BZYY i) uO9Iib@F= }S))}S@RϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030518.363165 s, next control iter: 1743030518.743176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4017., header.stamp.nsec: 0.0 temperature: 13.385494.* salinity: 33.391361., density: 1025.000000.* values[0]: 0.706469.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030518.763165 s.8kH~,#ذ="AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066150< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743030518.763296F (some fields omitted in printout)A33333b@A~;a@AV~? A:IA &"AADhNA"AZAbAjArAzAAAY`hAOw*sAw@AHƻA=AoſA`G2A OAd*A9?2Aֽ:A=BA9?JAֽRA=Y@ſy=fǻٓH@rV? Y8T~?ySFRAſTD777gW8)mBE[[=@[WU~?[V[[[[BZYY i) R?IiŚ@sF= -O))-O8*@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030518.783165 s, next control iter: 1743030519.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030519.183165 s.rH~,^="AAףp= c@AOjb@AV~? AAQAT &"AA@hNA"AZAbAjArAzAAA 6 AUM/sA 6w@AAԑ=A^4ÿA aA\A*A29?2Aֽ:Amf<BA29?JAֽRAmf<٘i)I96w@YuG JkJJJJD&K Y9T~?yZ\QA_DSI7SI7/vW8)qB[[@[U~?[=][[[[BZYY i) ٺIiV@E= J))J@ȪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743030519.203165 s, next control iter: 1743030519.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030519.603165 s.84yH~,="AJ"J*J2J:JBJnJvJA{Gc@A1*c@Ax V~? AMYA &"AA-"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066150< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743030520.023289F (some fields omitted in printout)AQd@A_R#d@A V~? A[aA &"AA9hNA"AZAbAjArAzAAAa6AP.d9x9sA@(v@Ac^A=AA^A pAbŞ*Am9?2Aեֽ:AF<BAm9?JAեֽRAF<٘i)I9(v@YG JJJJJD&K Y:T~?ymQAtDڒW8)zB[[ſ[oU~?[j[[[[BZYY i) fIi@R%E= O2B))O2BO2B.êYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743030520.043165 s, next control iter: 1743030520.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030520.443165 s.@ÆH~,d]>"AJ"J*J2J:JBJnJvJA(\e@A*D/[e@Au V~? AmiA\}&"AA6hNA"AZAbAjArAzAAAnhAd>sAvu@Ao;AL=A􁻿AA@#vAH*A9?2AAֽ:A*<BA9?JAAֽRA*<٘i)I9u@YG JJJJJD&K Y;T~?yvPAD{7j70W8)~BE[[vÿ[0U~?[:q[[[[BZYY i) ~ܑIi!@JE= =))==tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030520.463165 s, next control iter: 1743030520.843185 s, wait time: 0.380020 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4019, header.stamp.nsec: 00 temperature: 13.569142* salinity: 33.374973, density: 1025.000000* values[0]: 0.577121F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030520.863165 s.+H~,>7>"AAffffff@Ai>2f@AV~? AqA&"AA75hNA"AZAbAjArAzAAAMKT,A"0RCsAF u@Ab<A볉=AA }A yA򧚼*A9?2Avֽ:AcS<BA9?JAvֽRAcS<ٓH?? YB?T~?y[PA۸D7777W8)B[[M[MU~?[w[[[[BZYY i) h䰻IiU@DD= 9))99˽YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030520.883165 s, next control iter: 1743030521.263199 s, wait time: 0.380034 sB?T~?) rAdjusting time to match Gazebo time: 1743030521.283165 s.4RH~,R>"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076461< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743030521.283281F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=g@AE> g@AV~? AyA B&"AA}4hNA"AZAbAjArAzAAAeA@HsAt@A;A#=AOA>Xd?A`zA__*A9?2Aֽ:Al]<BA9?JAֽRAl]<٘i)I9t@YG J☼JJJJ2D&K YBT~?y<OAD{7{7۽W8)B[[Y#[U~?[~[[[[BZYY i) ϻIi@zC= 65))6565IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030521.303165 s, next control iter: 1743030521.683175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 40202, header.stamp.nsec: 020 temperature: 13.5694022* salinity: 33.3750002, density: 1025.0000002* values[0]: 0.5765142F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030521.703165 s.ٺH~,m>"AAGzh@A=yg@AV~? AAN&"AA4hNA"AZAbAjArAzAAA;=Az.MsA$t@A#F;Aʆ=AݩA &?A)yAF{*A9?2Agֽ:A<BA9?JAgֽRA<٘i)I9$t@YG JB=JJJJ"AJ"J*J2J:J?BJ?nJ5vJARh@ASh@A V~? AA&"AAu5hNA"AZAbAjArAzAAAA_A G}RsAOs@A؅vA=AA?AtAJ*A9?2Aֽ:A¤<BA9?JAֽRA¤<٘i)I9s@YPG J䋼C=JJJJGD&K YIT~?yFOADj7j7W8)B[[-̺[U~?[Ӌ[[[[BZYY i) xIi@B= ,)),,y~鹪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030522.143165 s, next control iter: 1743030522.523175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030522.543165 s.IH~,â>"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076461< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743030522.543289F (some fields omitted in printout)A(\i@At_i@A* V~? AˑAi&"AA&7hNA"AZAbAjArAzAAA!RA`WsA<=s@A=A3=A"^A`Q?AmAw*AO9?2A׽:Af<BAO9?JA׽RAf<٘i)I9=s@Y G JˇJJJJRD&K YMT~?yrNAD777W8)B[[ퟸ[cU~?[x[[[[BZYY i) Ii@B= /())/(/(~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030522.563165 s, next control iter: 1743030522.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4021, header.stamp.nsec: 00 temperature: 13.569614* salinity: 33.374981, density: 1025.000000* values[0]: 0.575933F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030522.963165 s.J "J *J 2J :J p?BJ p?nJ 5vJ H~,>"AAj@AKToej@A V~? AٙA&"AA9hNA"AZAbAjArAzAAAy֞ARW[sAr@Ar,A#=AëA`?AvdA=*A9?2Aֽ:A9=BA9?JAֽRA9=Y@qԫy~"=ҽٓH?@*?9?' ?`]@z%"?)@ I YST~?yNAԫD{7Z71W8,B)BE[[u[NU~?[[[[[BZYY i) K&Ii@D@A= ##))####YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030522.983165 s, next control iter: 1743030523.363188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743030523.383165 s.صH~,<>"AA= ףpk@Aihs=A82A` ij?A`XA`*Aƿ9?2Aֽ:A_=BAƿ9?JAֽRA_=٘i)I9Xr@YG JJJJJgD&K  X8YPZT~? X8y0NA CʠD77{7X8)BE[[I[U~?[[[[[BZYY i) 5Ii-@r:@= s))ssWYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030523.403165 s, next control iter: 1743030523.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4022", header.stamp.nsec: 0"0 temperature: 13.569845"* salinity: 33.374992", density: 1025.000000"* values[0]: 0.575407"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030523.803165 s.tAH~,og>"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076461< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743030523.803272F (some fields omitted in printout)J"J*J2J:JBJnJvJAzGl@A3l@AV~? A驪A&"AA AhNA"AZAbAjArAzAAA!7\A/esA6q@A$;Aq=A-AÈ?A:JAV*Aμ9?2AZֽ:A=BAμ9?JAZֽRA=٘i)I9q@Y6G JJJJJrD&K Y`T~?y/MAՠD{7X8)B[[o[?U~?[H[[[[BZYY i) EIi@$p?= )))))ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030523.823165 s, next control iter: 1743030524.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030524.223165 s.gÏH~,H?"AAQm@A~l@AV~? A걪A&"AAEhNA"AZAbAjArAzAAA002AߌjsAcq@A;A\p=A/A@ZK?A`9Avj*A$9?2A\mֽ:A =BA$9?JA\mֽRA =٘i)I9cq@YG JhJJJJ}D&K YgT~?yĩvMAߠD771"X8)B[[[[DU~?[ᬩ[[[[BZYY i) TIi @>= ))ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030524.243165 s, next control iter: 1743030524.623184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030524.643165 s.yɏH~,*)?"AJ"J*J2J:JBJnJvJA)\m@Am@AV~? A乪AY&"AAKhNA"AZAbAjArAzAAARAosAp@A<A=AB|A?A X&AQZ*A̷9?2Atֽ:AY8 =BA̷9?JAtֽRAY8 =٘i)I9p@YG JBJJJ^EJD&K YmT~?yWͩMAD70X8)B[[[U~?[u[[[[BZYY i) dIiߔ@>= So))SoSo$˪YFFF]:tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4023, header.stamp.nsec: 00 temperature: 13.570024* salinity: 33.374981, density: 1025.000000* values[0]: 0.574862F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743030524.663165 s, next control iter: 1743030525.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030525.063165 s.ЏH~,_ D?"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076461< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743030525.063288F (some fields omitted in printout)An@A]on@AV~? AA&"AARhNA"AZAbAjArAzAAA2oCA1Z(]tsAZ_p@A;Ak=A ٞA7j?AA*A9?2Aֽ:A =BA9?JAֽRA =YdY@͞y=?^;ٓH@=?mF??0?`Qs?` ?)dY@ I٘i)I9_p@YLG JzJ[<JJJD&Kx> YvT~?yթLA͞D{7>X8.B)BE[[[^U~?[[[[[BZYY i) 7sIi@/== ?))??ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030525.083165 s, next control iter: 1743030525.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030525.483165 s.y_׏H~,^?"AJ"J*J2J:JBJnJvJAq= ףo@Aoo@A#V~? AɪA"&"AARYhNA"AZAbAjArAzAAAӰ3AUQ12ysAo@AɇA㋗=A/AM?A hA$*A9?2Aֽ:A? =BA9?JAֽRA? =٘i)I9o@YG JJJJJD&K YT~?yީQLAD773MX8)B[[e[vU~?[[[[[BZYY i) T5Ii@;= ; )); ; |ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030525.523165 s, next control iter: 1743030525.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4024, header.stamp.nsec: 00 temperature: 13.570268* salinity: 33.375000, density: 1025.000000* values[0]: 0.574258F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030525.903165 s.(ݏH~,)y?"AAGzp@AFp@AN)V~? AѪA+&"AA`ahNA"AZAbAjArAzAAA/{A~sATo@A6QλAX=A‡A +.?AA&*A@9?2AUֽ:Az =BA@9?JAUֽRAz =٘i)I9To@YG JpJJJJD&K YT~?ySKA Db77[X8)B[[]6[U~?[ǩ[[[[BZYY i@) ̈Ii@X:= \))\\ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030525.943165 s, next control iter: 1743030526.303192 s, wait time: 0.360027 s rAdjusting time to match Gazebo time: 1743030526.323165 s.rH~,?"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085696< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743030526.323272F (some fields omitted in printout)J"J*J2J:JBJnJvJAQq@Aq@Ak/V~? A٪A%"AA7jhNA"AZAbAjArAzAAAZ, A]:f͂sA$n@AjA=A%薿AE ?A A颼*AͰ9?2Aֽ:A# =BAͰ9?JAֽRA# =٘i)I9n@YWG JFJJJJD&K YT~?yKAD77iX8/B)BE[[[V~?[ͩ[[[[BZYY i) eIiT@:= 7))77KժYFFF]Waiting for Gazebo time sync: latest Gz time: 1743030526.343165 s, next control iter: 1743030526.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4025*, header.stamp.nsec: 0*0 temperature: 13.570526** salinity: 33.375004*, density: 1025.000000** values[0]: 0.573664*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030526.743165 s.WH~,?"AA\(r@Aq@A 6V~? ANAU%"AAshNA"AZAbAjArAzAAAeYi\ AZ~isACn@AUAa=ASA?A@ŠA*A9?2A!ֽ:A=BA9?JA!ֽRA=٘i)I9Cn@YG JqB=JJJJD&K YGT~?y#KA D5xX8)BE[[Ӣ[V~?[ө[[[[BZYY i) Ii @ x9= V.)) V. V. תYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743030526.783165 s, next control iter: 1743030527.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030527.163165 s.J "J *J 2J :J ?BJ ?nJ 5vJ ~}H~,q?"AAs@A&r@A.=V~? AA%"AA;~hNA"AZAbAjArAzAAA NU AQ<ׇNsAXm@AOA寧=AƑA ?A`~Ap*A9?2Aֽ:Ae=BA9?JAֽRAe=Y֚@Ǒy=8@ٓH`E??נ?2`z?ﳿIw5@?)֚@ I٘i)I9m@YG J?C=J3><JJJȡD&K.x> YT~?yJAǑ*D777X8)B[[u[xV~?[`ک[[[[BZYY i) 6uIi@x7= v))vvy&my۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030527.183165 s, next control iter: 1743030527.563184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030527.583165 s.H~,R?"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085696< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743030527.583307F (some fields omitted in printout)Ap= s@Aעs@ADV~? AA_&%"AAchNA"AZAbAjArAzAAA Az YT~?y&HA`D774X8)ܯB[[[4V~?[ [[[[BZYY i) ļIi@[1= Nľ))NľNľYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030529.303165 s, next control iter: 1743030529.663178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4028., header.stamp.nsec: 0.0 temperature: 13.571232.* salinity: 33.375015., density: 1025.000000.* values[0]: 0.571643.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030529.683165 s.lH~,kk@"AJ"J*J2J:JBJnJvJAףp= x@AXSYw@AyrV~? AAA%"AAhNA"AZAbAjArAzAAAhqAZsAlj@A^yAή=AlA ۺ?AAp¼*A[9?2Aֽ:A[ =BA[9?JAֽRA[ =٘i)I9j@YxG JJJJJ D&K YT~?y.$HAkDSI7SI7X8)B'E[[ t[;=V~?[E[[[[BZYY i) ˼Ii>@/= n))nn6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030529.683165 s, next control iter: 1743030530.083179 s, wait time: 0.400014 s rAdjusting time to match Gazebo time: 1743030530.103165 s.!H~,@"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085696< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743030530.103293F (some fields omitted in printout)A{Gx@Ayx@A}V~? AAr%"AA7hNA"AZAbAjArAzAAAP?A`,쏬sAJqi@A;Au=A~A?A`NA iǼ*A9?2Acֽ:A=BA9?JAcֽRA=٘i)I9qi@YG JļJJJJD&K YhU~?y5GAuD777X83B)B(E[[=[HFV~?[w[[[[BZYY i) #-ӼIi@j7.= ײ))ײײ=@"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083108< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743030531.363278F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff{@A>72{@AV~? A3A%"AAiNA"AZAbAjArAzAAAhFXAiUʹsAcg@A;A ʵ=AmoA #?AǪAIټ*A19?2A\3ֽ:A+;=BA19?JA\3ֽRA+;=Y@woyȵ=7;ٓH?@O?`F?`Z \?b vA~?@?)@ I٘i)I9cg@Y G JּJe1<JJJ4D&Kx> Y.U~?yKOFAwoD7Y8)B[[O[cV~?[[[[[ZZBZYY i) }¼Ii@)= =))==YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030531.383165 s, next control iter: 1743030531.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4030&, header.stamp.nsec: 0&0 temperature: 13.571781&* salinity: 33.375019&, density: 1025.000000&* values[0]: 0.570141&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030531.783165 s.Z;H~,@"AA ףp=|@AV|C |@AD&K Y?U~?yREAD774$Y86B)B/E[[U_[nV~?[[[[[ZZBZYY i) fpIi>@'= ]))]]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030531.803165 s, next control iter: 1743030532.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030532.203165 s.CH~, A"AJ"J*J2J:JBJnJvJAGz}@A!K|@A-V~? AAA%"AAZ5iNA"AZAbAjArAzAAA|~A`L^_sAe@A!;AV2=A6(eA*?A%0A#*AK9?2Afֽ:AP<BAK9?JAfֽRAP<٘i)I9e@Y G JJJJJID&K YSPU~?y Z[EAD772Y87B) B2E[[$[xV~?[$[[[[ZZBZYY i) xcIi@U&= s))ssy1=ҪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743030532.223165 s, next control iter: 1743030532.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030532.623165 s.eIH~,'A"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083108< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743030532.623308F (some fields omitted in printout)AR}@AgR}@AV~? AHAk%"AAGIiNA"AZAbAjArAzAAAoUUACesAHd@A.As5t=A5_A@?A@WA *Ap9?2A\ֽ:Af<BAp9?JA\ֽRAf<٘i)I9d@YQ G JJJJJTD&K YaU~?yaDADŧ7b7@Y8)B[[胿[V~?[*[[[[ZZBZYY i) DVIiր@+$= {)){{)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030532.643165 s, next control iter: 1743030533.023178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4031, header.stamp.nsec: 00 temperature: 13.572095* salinity: 33.375034, density: 1025.000000* values[0]: 0.569227F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030533.043165 s.PH~,BA"AJ"J*J2J:JBJnJvJA(\~@Aa~@AkV~? A^OA%"AA]iNA"AZAbAjArAzAAA3P]cAj:sAD+d@AAr:0=A ZAj?A`Az˼*A#9?2Aֽ:AOض;BA#9?JAֽRAOض;٘i)I9+d@Y G JJJJJ_D&K YqU~?y3hgDADb75OY8)B5E[[Y[V~?[0[[[[ZZBZYY i) HIi@#= \ i))\ i\ iwYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030533.063165 s, next control iter: 1743030533.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030533.463165 s.cWH~,]A"AA@A,g~e@AV~? AVAya%"AA2siNA"AZAbAjArAzAAAċA%[!sA܌c@AA<AEhUA8?AnAg*A9?2A\sֽ:AnBA9?JA\sֽRAnY]@8xUy<.ٓH@Q?ڰ??@j@h?7x@s@0?)]@ I٘i)I9c@Y} G JB=J JJJiD&Kw> YԄU~?ynCDAxU CˡD{7j7]Y8)B[[~[nV~?[j6[[[[ZZBZYY ih=) Ii/|@f!=  +W)) +W +WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030533.503165 s, next control iter: 1743030533.863179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4032, header.stamp.nsec: 00 temperature: 13.572399* salinity: 33.375027, density: 1025.000000* values[0]: 0.568355F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030533.883165 s.y]H~,4xA"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069688< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743030533.883267F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@Ac${<@AsV~? A\A%"AA+iNA"AZAbAjArAzAAA+5AdgsAc@AjۻA,<A9 elevatorAngleAction: 0.078421< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743030535.143302F (some fields omitted in printout)A)\@A@AA W~? ApAa%"AA iNA"AZAbAjArAzAAA\A깘[sAZb@A<AA3@AQ?A`OAں*A9?2A|ֽ:AĭȼBA9?JA|ֽRAĭȼ٘i)I9Zb@Y G JJJJJD&K YU~?yCADj7j7Y8;B)(B?E[[l[V~?[RrAsA^\b@A;AV3Ae;A@ ?A@A;_4;*A9?2A=ֽ:AOBA9?JA=ֽRAOY@x;yQ3[=;ٓH? 2c?_I??x?`@{??)@ I٘i)I9\b@Y G J9JU*JJJD&Kw> YU~?yƎCAx;D77{76Y8)[[W?h[7V~?[R[[[[BZYY iHk=) ,Iilm@N= {)){{eq*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030535.603165 s, next control iter: 1743030535.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4034, header.stamp.nsec: 00 temperature: 13.572620* salinity: 33.375042, density: 1025.000000* values[0]: 0.567618F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030535.983165 s.H~,A"AAq= ף@Aio@AAW~? A|Aqm%"AAjNA"AZAbAjArAzAAAo lAv6~KsAb|b@Ac:A[AC6An?A A;*A 9?2AXֽ:A BA 9?JAXֽRA ٘i)I9|b@Y G Jw;JJJJD&K YU~?y-DA Dj7SI7Y8 elevatorAngleAction: 0.066784< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743030536.403285F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A7hF@ARW~? AA\%"AAjNA"AZAbAjArAzAAAӿAO4sAhb@A'A{A)1Ao{?A`cA=<*A9?2A9&ֽ:A+ BA9?JA9&ֽRA+ ٘i)I9b@Y G J<JJJJD&K YV~?yiDAD77Y8=B)'BFE[[7&_[V~?[][[[[BZYY i) e Iif@= ರ))ರರS*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743030536.423165 s, next control iter: 1743030536.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4035", header.stamp.nsec: 0"0 temperature: 13.572474"* salinity: 33.375061", density: 1025.000000"* values[0]: 0.567806"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030536.823165 s.H~,%4B"AAQ@A@AhdW~? AwAb%"AA5jNA"AZAbAjArAzAAA`A8YȶAlڙsA}c@A=u AA],A@?A`PAq<*A9?2Aֽ:ABA9?JAֽRA٘i)I9c@Y4 G JzV<JJJJD&K Y %V~?yvDA!Dŧ776Y8)$B[[sZ[;W~?[b[[[[BZYY i) JIic@= ))y/=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030536.843165 s, next control iter: 1743030537.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030537.243165 s.H~,OB"AJ"J*J2J:Jh?BJh?nJx5vJA\(@AN @AkvW~? AIA%"AAOjNA"AZAbAjArAzAAATaؗ/Կ?A'sAc@AAEA|&An?A ټAs<*A\9?2A-ֽ:AjBA\9?JA-ֽRAj٘i)I9c@Yw G JM<JJJJʢD&K Y:V~?y\DA,Db7Y8>B)"BIE[[OU[TW~?[Hh[[[[BZYY i) BһIi~a@P= @WN))@WN@WN*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030537.263165 s, next control iter: 1743030537.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030537.663165 s.H~,qjB"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066784< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201222 time: 1743030537.663415F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4036, header.stamp.nsec: 00 temperature: 13.572216* salinity: 33.375061, density: 1025.000000* values[0]: 0.568272F (some fields omitted in printout)A@AC8fˇ@AψW~? AA%"AAkjNA"AZAbAjArAzAAA9?AF*4sAc@ARAtA!A?AfAC<*A-9?2Ajֽ:AwBA-9?JAjֽRAwYMޭ@s!yt YPV~?yHEAs!7D77Y8)BLE[[hQ[%W~?[pm[[[[BZYY i) qIiO]@ = ))F*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030537.683165 s, next control iter: 1743030538.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030538.083165 s.DH~,SB"AJ"J*J2J:JBJnJvJAp= ׈@ANܢ@AW~? AA/%"AAjNA"AZAbAjArAzAAAζa>?Aڀ sAd@AO;AA.A ?A U A%<*A9?2Aaֽ:ABA9?JAaֽRA٘i)I9d@Y G JA<C=JJJJD&K YgV~?yEAAD7Y8@B)BME[[L['5W~?[r[[[[BZYY i) 7IiY@S4 = p)) pp*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030538.123165 s, next control iter: 1743030538.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030538.503165 s.H~,H4B"AAHz@A Yy@AW~? A A%"AAcjNA"AZAbAjArAzAAAѐO?A7ɔ`sA1e@A}<AAA`q?Ac߿AYϪ<*A89?2Aս:A*BA89?JAսRA*٘i)I9e@Yi G Jk<JJJJD&K  Z8Y~V~? Z8yﵪFALDb7ŧ7 Z8)BPE[[7H[(EW~?[w[[[[BZYY i) ^oIiV@ = X;))X;X;j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030538.523165 s, next control iter: 1743030538.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4037, header.stamp.nsec: 00 temperature: 13.571898* salinity: 33.375057, density: 1025.000000* values[0]: 0.568924F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030538.923165 s.;H~,B"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066784< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743030538.923309F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A/P@A3W~? AaA Z%"AAjNA"AZAbAjArAzAAApfAY?A sA#e@A <A;6A!A?Al޿A<*A9?2Aս:A BA9?JAսRA ;I٘i)I9e@Y G J<JJJJD&K YLV~?y {FAWDj7j7Z8AB)BSE[[_C[UW~?[|[[[[BZYY i) lz3Ii S@o= O<))O<O<8*YEYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030538.963165 s, next control iter: 1743030539.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030539.343165 s.[HfW~?[{[[[[BZYY i) IiaP@]= *"=))*"=*"=H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030539.363165 s, next control iter: 1743030539.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4038*, header.stamp.nsec: 0*0 temperature: 13.571521** salinity: 33.375072*, density: 1025.000000** values[0]: 0.569668*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030539.763165 s.7H~,B"AJ"J*J2J:JBJnJvJA33333@AƧ@A4W~? AA%"AAjNA"AZAbAjArAzAAAa-?AtAf@AA0.AhA`sZ?A?ݿA(,<*A9?2A6ս:ADL BA9?JA6սRADL Y@y .sٓH ? -?찿@V ԛ? ݤ??@}\`A?)@ I٘i)I9f@Y| G Jo<B=J JJJ D&Ku> YwV~?yĪMGAlD77j74Z8BB) BVE[[Q:[!wW~?[?[[[[BZYY i) mIiK@W= @k=)){@k=@k=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030539.783165 s, next control iter: 1743030540.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030540.183165 s.H~,c C"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.246085> elevatorAngleAction: 0.066784< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743030540.183276F (some fields omitted in printout)Aףp= @A-ͭ֌@AW~? AAu+%"AA}kNA"AZAbAjArAzAAA7 =?A=ۙtApg@AARAʙA?A ܿAc<*A9?2AMս:A/J BA9?JAMսRA/J ٘i)I9pg@Y G J%<C=JJJJD&K YV~?y6ɪGAwDZ7Z7BZ8)BZE[[K5[]W~?[[[[[BZYY i) 7IiG@G<  =))  = =y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030540.223165 s, next control iter: 1743030540.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030540.603165 s.74ɐH~,&C"AJ"J*J2J:JBJnJvJA{G፯@AR}@AX~? AA%"AA;kNA"AZAbAjArAzAAA גR?AI tA? h@Aa AAؚAB A?AۿA<*A9?2A$Խ:A2\BA9?JA$ԽRA2\٘i)I9 h@Y: G J<JJJ_EJ D&K Y,V~?yͪ"HAD77778QZ8CB)B]E[[1[W~?[[[[[BZYY i) Zp:IiOD@WG< h=))h=h=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030540.623165 s, next control iter: 1743030541.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4039 , header.stamp.nsec: 0 0 temperature: 13.571142 * salinity: 33.375111 , density: 1025.000000 * values[0]: 0.570463 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030541.023165 s.ZАH~,|AC"AAQ@A!@A(X~? A8A&n%"AA[kNA"AZAbAjArAzAAAn@A= tAh@AZϸA AtA27?AڿA<*A>9?2AtԽ:AxBA>9?JAtԽRAx٘i)I9h@Y G J<JJJJ+D&K Y W~?yҪHAD7_Z8DB)B^E[[P,[W~?[$[[[[BZYY i) :IiA@@<  =)) = =N*Y!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030541.043165 s, next control iter: 1743030541.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030541.443165 s.6֐H~,:]\C"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066784< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200612 time: 1743030541.443345F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@Ar>[@A>X~? AAJ%"AA{kNA"AZAbAjArAzAAA`>/@AݑtAD:i@A9A%A];A{?A 6ڿA<*A|9?2Aiս:ABA|9?JAiսRA٘i)I9:i@Y G JŰ<B=JJJJ6D&K Y%W~?y֪HAD7mZ8)BaE[['[_W~?[[[[[BZYY i) 3;Ii1>@r< `>))`>`>`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030541.463165 s, next control iter: 1743030541.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4040, header.stamp.nsec: 00 temperature: 13.570758* salinity: 33.375099, density: 1025.000000* values[0]: 0.571287F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030541.863165 s.+ݐH~,?wC"AAfffff@Ag)YN2@ASX~? A?ƫA %"AA|kNA"AZAbAjArAzAAA3Ǫ1@Ac/OtAi@A;AuA۾A5?A Y?W~?y:ڪZIA۾D7777:|Z8EB)BdE[[C"[W~?[[[[[BZYY i) p;Ii9@< `>))Wx`>`>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030541.883165 s, next control iter: 1743030542.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030542.283165 s.5RH~,C"AJ"J*J2J:JBJnJvJA ףp=@AJ? @AiX~? AʫAse%"AAkNA"AZAbAjArAzAAA%5@AvqKtAuRj@Auk<AA'ѾA@j?AwؿA:ߠ<*A9?2Aֽ:AZBA9?JAֽRAZ٘i)I9Rj@YG J<JJJJKD&K Y)) pi+>pi+>f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030542.303165 s, next control iter: 1743030542.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 40412, header.stamp.nsec: 020 temperature: 13.5704062* salinity: 33.3751302, density: 1025.0000002* values[0]: 0.5720052F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030542.703165 s.޺H~,2C"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066784< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743030542.703334F (some fields omitted in printout)AGz@Aerjg@A&X~? AΫA%"AA3kNA"AZAbAjArAzAAA-zd, @A\H{tAUj@A5;AAEǾAuC?A9׿A<*A9?2An|Խ:A9BA9?JAn|ԽRA9٘i)I9j@YG JI<B=JJJJVD&K YrW~?yJADb77Z8FB)BjE[[v[W~?[a[[[[BZYY i) ;Ii1@LE< c>>))c>>c>>O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030542.723165 s, next control iter: 1743030543.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030543.123165 s.7H~,]C"AJ"J*J2J:J?BJ?nJ5vJAR뒯@A߈Y@AX~? AҫAs%"AA2lNA"AZAbAjArAzAAA}O @A//)tA?\k@A1:A,An&A~?AֿA.X<*A9?2AԽ:A/BA9?JAԽRA/٘i)I9\k@Y>G J<C=JJJJaD&K YW~?y9JA C¢D77j79Z8)B[[[f X~?[w[[[[BZYY i]=) ;Ii.@< wQ>))wQ>wQ>*Y5 YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030543.143165 s, next control iter: 1743030543.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030543.543165 s.IH~,C"AA(\“@A+d@AX~? A֫At%"AA#lNA"AZAbAjArAzAAAH\dy@A &odPtAk@A+MAAA,?A/ֿAI.<*A9?2AԽ:A=BA9?JAԽRA=٘i)I9k@YG J<JJJJlD&K YFW~?yJA͢Dŧ7b7Z8)BmE[['[UX~?[v[[[[BZYY i) %;Ii+@< Ъd>))Ъd>Ъd>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030543.563165 s, next control iter: 1743030543.943182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4042, header.stamp.nsec: 00 temperature: 13.570032* salinity: 33.375122, density: 1025.000000* values[0]: 0.572711F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030543.963165 s.xH~,C"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075861< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743030543.963286F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AZ}e@AX~? AcګA6*%"AAWFlNA"AZAbAjArAzAAA:FpрT@A6d7tA_l@AOV A `AkۨA ?A`[տA4<*A9?2Aս:A+BA9?JAսRA+Y@y^ ٓH@6?`й?<Կ;F?@r?(? j H?)@ I٘i)I9_l@YG J <J-<JJJvD&KJt> YW~?y@KAעD77j7Z8)BpE[[& [G2X~?[L[[[[BZYY i) ))jbuw>w>+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030543.983165 s, next control iter: 1743030544.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030544.383165 s.H~,8D"AA= ףp@A/w<@AX~? AݫA@%"AAxilNA"AZAbAjArAzAAAQ6,o@A!tAl@A݀Al6A%hAP$?A?ԿAh<*A9?2A ս:Aj BA9?JA սRAj ٘i)I9l@Y)G J3<JJJJD&K YW~?yKADŧ7b79Z8GB)BsE[[][FX~?[ [[[[BZYY i) `))d>d>yC=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030544.403165 s, next control iter: 1743030544.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4043", header.stamp.nsec: 0"0 temperature: 13.569710"* salinity: 33.375141", density: 1025.000000"* values[0]: 0.573387"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030544.803165 s.xA H~,g3D"AJ"J*J2J:JBJnJvJAzG@Aׁ@A|X~? ArA5%"AAlNA"AZAbAjArAzAAAGÌ@Ar#tA_Wm@AV3ACΉAlA\?A ӿA><*A:?2AԽ:ABA:?JAԽRA٘i)I9Wm@YsG J<JJJJD&K YxW~?yoKAD77Z8IB)ޯBwE[[[N[X~?[[[[[BZYY i) #')) >>^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030544.823165 s, next control iter: 1743030545.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030545.223165 s.gH~,HND"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075861< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743030545.223296F (some fields omitted in printout)AQ@AY/ꖯ@AB Y~? AA [%"AAѰlNA"AZAbAjArAzAAAҾ[@A&-%tAQm@A)m;APA҉A z?AҿAO<*AB:?2AXԽ:AGBAB:?JAXԽRAG٘i)I9m@YG JЎ<JJJJD&K Y3X~?yHULAD777Z8)گBzE[[%d[]pX~?[C[[[[BZYY i) k7))>>Y*YYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030545.243165 s, next control iter: 1743030545.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030545.643165 s.uH~,*iD"AJ"J*J2J:JBJnJvJA)\@AAJ@A>#Y~? AA%"AAlNA"AZAbAjArAzAAA*@A B5'tAFn@A<AA,~Aѻ?ArѿA<*AH :?2AZԽ:A$BAH :?JAZԽRA$٘i)I9Fn@YG JL<JJJJD&K Y+X~?y!LADb77:Z8)ׯB[[%[DžX~?[[[[[BZYY i) F@< >))>>*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030545.663165 s, next control iter: 1743030546.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4044, header.stamp.nsec: 00 temperature: 13.569332* salinity: 33.375153, density: 1025.000000* values[0]: 0.574056F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030546.063165 s. H~,k D"AA̘@A @Ak;Y~? AAE%"AAwlNA"AZAbAjArAzAAATm$&@AX0Ų)tAn@A<AV3ACjA'?A` ѿAP1<*A:?2AY>ս:A{BA:?JAY>սRA{Y@.jy2#\<ٓH?`? 䱿[Ϳ@J*?+????)@ I٘i)I9n@YMG J`<JݻJJJD&Ks>  [8YrGX~? [8y!MAj D77 [8)ӯB}E[[[!X~?[ê[[[[BZYY i) FQV))4s)%>)%>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030546.103165 s, next control iter: 1743030546.463182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743030546.483165 s.s_'H~,D"AJ"J*J2J:J ?BJ ?nJ.5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237505> elevatorAngleAction: 0.075861< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743030546.483305F (some fields omitted in printout)Aq= ף@AE`o@ASY~? AA%"AA;mNA"AZAbAjArAzAAAE@Aq+tAp8o@A;A<A]UAB?A`,пA?<*A:?2A;uս:AHfBA:?JA;uսRAHf٘i)I98o@YG J4<JJJJD&K YbX~?y"qMAD77[8)ЯBE[[u@ܾ[ܰX~?[1ƪ[[[[BZYY i) ,e))MAߵ>Aߵ>.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030546.503165 s, next control iter: 1743030546.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4045, header.stamp.nsec: 00 temperature: 13.569002* salinity: 33.375164, density: 1025.000000* values[0]: 0.574676F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030546.903165 s.-H~,͹D"AAGz@AAF@AVlY~? AACo%"AAKCmNA"AZAbAjArAzAAACqjF@A-tAo@AA-ߓABA>?A`οA <*A7 :?2Akjӽ:AZY BA7 :?JAkjӽRAZY ٘i)I9o@YG J<JJJJ£D&K Ys~X~?y"MA#D:([8JB)̯BE[[rҾ[X~?[Eɪ[[[[BZYY i̍=)  u)) >>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030546.923165 s, next control iter: 1743030547.303183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743030547.323165 s.|4H~,>D"AJ"J*J2J:J2?BJ2?nJY5vJAQ@A2w@AY~? A A;%"AAhmNA"AZAbAjArAzAAA2.QRr@A.tA))Q>Q>*YFFF]p:Waiting for Gazebo time sync: latest Gz time: 1743030547.343165 s, next control iter: 1743030547.723183 s, wait time: 0.380018 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4046*, header.stamp.nsec: 0*0 temperature: 13.568660** salinity: 33.375187*, density: 1025.000000** values[0]: 0.575368*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030547.743165 s.(W;H~,D"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084743< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743030547.743286F (some fields omitted in printout)A\(@Ap@AY~? AuA %"AA5mNA"AZAbAjArAzAAAP@A 0tAp@Ao AAh4A?A ˿A<*An:?2Aӽ:A͗BAn:?JAӽRA͗٘i)I9p@YG J<JJJJףD&K YvX~?y#NA8D777D[8)įBE[[5[(X~?[Ϫ[[[[BZYY i) B))|>|>*Y"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030547.783165 s, next control iter: 1743030548.143193 s, wait time: 0.360028 s rAdjusting time to match Gazebo time: 1743030548.163165 s.t}BH~,q E"AJ"J*J2J:Jb?BJb?nJ5vJA@Awb˜@AY~? AAk%"AAmNA"AZAbAjArAzAAA3"ߠ@AYv1tANq@ARA~AzPA?A?ɿA0t<*A:?2AgԽ:A:BA:?JAgԽRA:Y@yӰٓH ? ?@@? ?@gS?K v@?)@ I٘i)I9Nq@YG Jd<J"\JJJD&Kr> YvX~?yGNACDb77;S[8)BE[[Ҵ[ Y~?[Ѫ[[[[BZYY i) uk))q)M>)M>yq=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030548.183165 s, next control iter: 1743030548.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030548.583165 s.HH~, S%E"AAp= ם@Aoܢ@A%Y~? AADz%"AA mNA"AZAbAjArAzAAA:@A֯D2tAq@A#:AqAA U?ACkǿA#<*AS :?2A[Pս:A*BAS :?JA[PսRA*٘i)I9q@Y1G J"<JJJJD&K YtX~?ykaOAMD77a[8)B[[쪾[!Y~?[WԪ[[[[BZYY i) ))3>3>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030548.603165 s, next control iter: 1743030548.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4047, header.stamp.nsec: 00 temperature: 13.568284* salinity: 33.375206, density: 1025.000000* values[0]: 0.576096F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030549.003165 s.w PH~,H4@E"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812J"J*J< rudderAngleAction: -0.2557662J> elevatorAngleAction: 0.084743:J< massPositionAction: 0.000000BJ4 buoyancyAction: 0.000500nJvJ dt: 0.4199872 time: 1743030549.003279F (some fields omitted in printout)AHz@Ay@AsY~? AAP%"AAHnNA"AZAbAjArAzAAAaO3@AxѺ3tAner@A;AAA?A|ſAEE<*A$:?2Aӽ:ABA$:?JAӽRA٘i)I9er@YG Jj<JJJJD&K Ys Y~?yOAXDj7j7o[8)BE[[[.9Y~?[֪[[[[BZYY i) &z)) .>.>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030549.043165 s, next control iter: 1743030549.403179 s, wait time: 0.360014 ss Y~?) rAdjusting time to match Gazebo time: 1743030549.423165 s.uVH~,[E"AAQ@AGQ@AZ~? AAf%"AA&nNA"AZAbAjArAzAAA!h@AP 5tAHr@Al<AmfAfA?AαÿA!<*A&:?2Alӽ:ABA&:?JAlӽRA٘i)I9r@YG J!<B=JJJJD&K Yw%Y~?y1PAcDŧ7b7>~[8)BE[[iᖾ[PY~?[٪[[[[BZYY i) >))M>>M>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030549.443165 s, next control iter: 1743030549.823185 s, wait time: 0.380020 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4048", header.stamp.nsec: 0"0 temperature: 13.567905"* salinity: 33.375217", density: 1025.000000"* values[0]: 0.576821"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030549.843165 s.\H~,uE"AJ"J*J2J:JBJnJvJA(\@A`'@AkZ~? A#AE%"AAUMnNA"AZAbAjArAzAAA!N @Ab6tAs@A?I;AμALA?A@oAA<*A:?2AԽ:ABA:?JAԽRA٘i)I9s@Y9G J0<C=JJJJ D&K YqAY~?yPAnD)7[8)BE[[Č[hY~?[K۪[[[[BZYY i) ۈ elevatorAngleAction: 0.084743< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743030550.263309F (some fields omitted in printout)A33333@A*1 @A 6Z~? AA9'%"AAtnNA"AZAbAjArAzAAA%T @A6tA/%t@A+@:AѪAA;+?AXAub<*A:?2Ae^Խ:ABA:?JAe^ԽRAY@%yѪLhA:ٓH?f?R`9?l]?S?`H??)@ I٘i)I9%t@YG J<JJJJD&KDr> Y]Y~?y QA%xDb77[8)BE[[9ł[Y~?[Pݪ[[[[BZYY i) +ٶ?));q>?>?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030550.283165 s, next control iter: 1743030550.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 40492, header.stamp.nsec: 020 temperature: 13.5674922* salinity: 33.3752332, density: 1025.0000002* values[0]: 0.5776172F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030550.683165 s.ljH~,kE"AJ"J*J2J:JBJnJvJAףp= @AE| ֡@AOZ~? AA %"AAnNA"AZAbAjArAzAAA A!@AiT7tA^t@AAzA"-A=?AHAm<*AR:?2A_Խ:A(BAR:?JA_ԽRA(٘i)I9t@YG J<JJJJ"D&K YyY~?y_~QADZ7Z7;[8)BE[[aq[ʘY~?[3ߪ[[[[BZYY i) ' elevatorAngleAction: 0.084743< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743030551.523287F (some fields omitted in printout)AQ@A<)@ApZ~? A A%"AA/nNA"AZAbAjArAzAAAVN䖿"@A %9tAv@AmA _A<A9`?A`AF<*AW.:?2Aҽ:AstBAW.:?JAҽRAst٘i)I9v@YG J<JJJJ8D&K Y@Y~?ydRAD{7j7[8)BE[[H[Y~?[[[[[BZYY i) lF"AJ"J*J2J:JBJnJvJAfffff@A:2@AXZ~? AA%"AA7oNA"AZAbAjArAzAAAw&_U#@AV9tA|w@A;AA=A u?AuBAd_<*A!:?2AeԽ:A8BA!:?JAeԽRA8Y%B@W=yC;ٓH?BWꕱ? YY~?yOSAW=D77[8IB)BE[[ˌ[Y~?[R[[[[BZYY i) H elevatorAngleAction: 0.084743< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743030552.783292F (some fields omitted in printout)A ףp=@A@ @A[Z~? AA^%"AA&_oNA"AZAbAjArAzAAAl$@A A:tA.x@A!<AA&j=A |?A~A[<*A:?2AHս:AN#BA:?JAHսRAN#٘i)I9.x@Y G J<JJJJXD&K YZ~?ySAD77[8)BE[[ [Z~?[y[[[[ZZZZ¸>BZYY i¸>嫽) BA?A ?A2 =*ABG:?2A+ӽ:ArBABG:?JA+ӽRAr٘i)I9y@YG Jw<B=JJJJnD&K  \8Y?Z~? \8yTAΣDŧ7)7 \8)BE[[½[HZ~?[Q[[[[ZZZZBZYY i) :1A?A@Thu?Aޓ=*AP:?2Ahӽ:ABAP:?JAhӽRA٘i)I9z@Y{G Jo=C=JJJJxD&K Y%[Z~?y$2UA٣Dj7Z7\8OB){BE[[[aZ~?[[[[[ZZZZBZYY i) -AȀ?A{?A<*AT:?2A@Խ:AN0iBAT:?JA@ԽRAN0iYHp@3p,>y:stBٓH@}?`Zfſe@Ej? ?3hno?`7|O?)Hp@ I٘i)I9`{@YG J=Jn=JJJD&KEr> YwZ~?yUAp,>D777>*\8)tBE[[][{Z~?[[[[[ZZZZBZYY i) tA }?A?Aˌ<*A=U:?2A\Խ:AûBA=U:?JA\ԽRAû٘i)I9$|@YvG J<JJJJD&K YZ~?y0UAD{78\8)mBE[[l [Z~?[[[[[ZZZZBZYY i) Ay?An?A<*A s:?2A#ӽ:A[? ;BA s:?JA#ӽRA[? ;:I٘i)I9|@YG J<JJJJD&K YZ~?y(VAD77F\8)hB[[/S[Z~?[[[[[ZZZZBZYY i) qA Gr?AY?A]:<*Ar:?2A5ӽ:AO!<BAr:?JA5ӽRAO!<٘i)I9I}@Y)G Jv<JJJJD&K YZ~?y;zVADŧ7b7>U\8NB)dBE[[k<[Z~?[[[[[ZZZZBZYY i) c|Ag?A`.?A(<*Akg:?2A?ӽ:Aވ<BAkg:?JA?ӽRAވ<٘i)I9}@YaG J:[<JJJJD&K YvZ~?yVAD7777c\8MB)`BE[[)\<[Z~?[[[[[ZZZZBZYY i) qeA?PZ; zP?))zP?zP?#YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030556.163165 s, next control iter: 1743030556.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030556.563165 s.ȑH~,k $G"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083934< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743030556.563305F (some fields omitted in printout)J"J*J2J:JBJnJvJA̭@AP@A[~? AcA%"AA!pNA"AZAbAjArAzAAA#{#*@A|ۭ8tA}@AR<A <A<>A+Z?A?A9@;*AY:?2ALԽ:Ab<BAY:?JALԽRAby <ȴ<ٓHM? 'пj?x?\? h Y??)F= I٘i)I9}@YG J)<J.G>JJ`EJD&Kr> Y[~?ylVA >D{7{7q\8)^BE[[K=[Z~?[[[[[ZZZZBZYY iq) gSG"AAq= ף@Ao@A[[~? AKAf%"AA[pNA"AZAbAjArAzAAA*@Ad>7tA/}@A;A6=AR_>AI?Ae?AS:*A&I:?2A>Խ:Al<BA&I:?JA>ԽRAl<٘i)I9}@YG J\;JJJJĤD&K Y[~?yVA$D77>\8LB)]B¹E[[=[m[~?[[[[[BZYY i) AA_8?A@ T?A*A^:?2Aӽ:A<BA^:?JAӽRA<٘i)I9}@YG JJJJJΤD&K Y\8[~?ypVA/Db78\8)\BŹE[[i=[4[~?[n[[[[BZYY i) /A#?A`z?AU*A*Z:?2AEӽ:A=BA*Z:?JAEӽRA=٘i)I9}@YsG JTJJJJ٤D&K YS[~?ykQVA9D7\8KB)]BȹE[[!=[N[~?[[[[[BZYY i) M; f?))f?f?yR噪YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743030557.863165 s, next control iter: 1743030558.223180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743030558.243165 s.H~,qG"AJ"J*J2J:JS?BJS?nJ5vJA\(@AS;@Al"\~? A A^8%"AA^^qNA"AZAbAjArAzAAAq(@,@AZ[5tAK}@A Ai~=A'>Au ?AJ?AD4*A2S:?2AԽ:AR}=BA2S:?JAԽRAR}=٘i)I9}@YLG JJJJJD&K Yn[~?y2VADD77{7>\8)_B[[ >[i[~?[[[[[BZYY i)  ; Ɣk?))Ɣk?Ɣk?sYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030558.263165 s, next control iter: 1743030558.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030558.663165 s.H~,qG"AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4057, header.stamp.nsec: 00 temperature: 13.564549* salinity: 33.375347, density: 1025.000000* values[0]: 0.583199F (some fields omitted in printout)A@A 7˱@A;\~? ANAX%"AAqNA"AZAbAjArAzAAA{g,y.-@AJfqL4tAy.}@ANػA4=At>A@_?A@?Ag*AdL:?2A\ս:A=BAdL:?JA\սRA=Y>9>y3=ػٓH?`1׿p;??`$?QQ?c {?)> I٘i)I9.}@YG J@LB=J=JJJD&Ks> YS[~?yUA9>ODj7\8HB)^BʹE[[%>[z[~?[N[[[[BZYY i&mj) ;Ii>.r; $q?))v$q?$q? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030558.683165 s, next control iter: 1743030559.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030559.083165 s.DH~,SG"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241095@ elevatorAngleAction: -0.057233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743030559.083287F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= ײ@A*nܢ@AIU\~? AjA{%"AAqNA"AZAbAjArAzAAAsR-@A~%3tAB|@AМA=A>A@?A@?A *AF:?2A.\ս:Am=BAF:?JA.\սRAm=٘i)I9|@YG J|C=JJJJD&K Y[~?yxUAZD{7Z7\8GB)aB͹E[[ݽ5>[*[~?[[[[[BZYY i) ;Ii[>F; Rv?))7텾Rv?Rv?˪YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743030559.103165 s, next control iter: 1743030559.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030559.503165 s.H~,D4G"AAHz@Ab.y@An\~? A]A%"AAqNA"AZAbAjArAzAAAga.@A1tAF|@Aȟ;A=Aȥ>A`?AR?Abʠ*Ab:?2AYӽ:A4=BAb:?JAYӽRA4=٘i)I9F|@YG JxJJJJD&K Y [~?yUAdD7{7?\8FB)dBйE[[K>[[~?[P[[[[BZYY i) B ;Iiyy>; |?)) |?|?ժYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743030559.523165 s, next control iter: 1743030559.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4058, header.stamp.nsec: 00 temperature: 13.564610* salinity: 33.375355, density: 1025.000000* values[0]: 0.582841F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030559.923165 s.8H~,G"AJ"J*J2J:J5?BJ5?nJt5vJAQ@A,P@A\~? A(Aw%"AA0qNA"AZAbAjArAzAAAU].@A+Z0tAt{@Aw <A)=A>Ai?Al?A긮*Af:?2AԽ:A=BAf:?JAԽRA=٘i)I9{@Y5G J%JJJJD&K Yf[~?ylTAoDŧ7b7\8)hBӹE[["b>[[~?[[[[[BZYY i) i;IiC>R: J̀?))J̀?J̀?yjتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030559.943165 s, next control iter: 1743030560.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030560.343165 s.<H~,H"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743030560.343311F (some fields omitted in printout)A(\@A'@A\~? AA%"AA(rNA"AZAbAjArAzAAAI/@A: /tA,#{@A":;A=A$>Au?Ag]?Ax*Ai:?2A_Խ:A=BAi:?JA_ԽRA=٘i)I9#{@YG J벼JJJJD&K Y[~?yB_TAzD77\8EB)lBֹE[[x>[[~?[ު[[[[BZYY il) ZKz;Ii>Ѿ: Ù?))Ù?Ù?S٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030560.363165 s, next control iter: 1743030560.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4059*, header.stamp.nsec: 0*0 temperature: 13.564739** salinity: 33.375381*, density: 1025.000000** values[0]: 0.582299*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030560.763165 s.6 H~,0H"AJ"J*J2J:JBJnJvJA33333@Aݖ@An\~? AIA@'%"AACrNA"AZAbAjArAzAAAE$0@A8Z-tAz@A4;A2=A>A`|P?A)?A)[*ABl:?2Arս:A =BABl:?JArսRA =Y~>>y2=f25;ٓH@y?ܿ ?@?@?yV?of?'?)~> I٘i)I9z@Y|G JٶJء<JJJ$D&Kt>  ]8Y \~? ]8yIުSA>Dŧ7b7@]8)pB[[?_>[S \~?[gܪ[[[[BZYY i) n8>;Ii=B: _?))z_?_?תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030560.783165 s, next control iter: 1743030561.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030561.183165 s.H~,ZKH"AAףp= @Awe ֶ@A\~? AAY%"AAdirNA"AZAbAjArAzAAAUq^0@A_t+tAy@AfA=A>>A@$(?A?Aְ*A2j:?2Aֽ:A\=BA2j:?JAֽRA\=٘i)I9y@Y G JUJJJJ/D&K Y&%\~?yPڪSAD]8DB)tBٹE[[7>[$\~?[ڪ[[[[BZYY i) z(;Ii%<P8 +?)) +?+?ӪYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743030561.203165 s, next control iter: 1743030561.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030561.603165 s.84H~,fH"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066455< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743030561.603289F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gᷯ@A 'L@A\~? AA<%"AArNA"AZAbAjArAzAAA30@AB7*tA=_y@ArA =AT?A`?A@B?A*A :?2AԽ:A=BA :?JAԽRA=٘i)I9_y@YG JҮJJJJ:D&K YY>\~?yX֪%SAD]8CB)xBܹE[[؝>[?\~?[ת[[[[BZYY i) [):I6I?i@= z?))z?z?<ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030561.623165 s, next control iter: 1743030562.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4060 , header.stamp.nsec: 0 0 temperature: 13.564913 * salinity: 33.375385 , density: 1025.000000 * values[0]: 0.581660 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030562.023165 s.Z H~,{H"AAQ@A!t%@A]~? AA%"AArNA"AZAbAjArAzAAAQ5R0@Af(tA3x@A Ai=Al?A ?A@?A8*A~:?2AfWս:A#=BA~:?JAfWսRA#=٘i)I9x@YoG JGJJJJED&K YW\~?y_ҪRAD)7ŧ7@,]8BB)|B߹E[[ 6>[.Z\~?[Ԫ[[[[BZYY i) & 9I I?iŽ]} Դ?))Դ?Դ?yf̪Y'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030562.043165 s, next control iter: 1743030562.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030562.443165 s.9&H~,F]H"AJ"J*J2J:JBJnJvJA(\@A-[@A]~? AAB%"AAArNA"AZAbAjArAzAAA̦Y;1@A ķ;}&tACx@AAR=Aă ?A`?A 7?A祼*A{:?2A3ս:AN7=BA{:?JA3սRAN7=٘i)I9Cx@YG J JJJJOD&K Yp\~?yfΪSRADb77:]8>B)E[[ >[t\~?[Ѫ[[[[BZYY i) H"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066455< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743030562.863293F (some fields omitted in printout)Afffff@AK?2@A2]~? AhAA%"AArNA"AZAbAjArAzAAA㏀1@AJ ZF}$tA)w@AV`;Aa=A?A r?A~?AE*Ax:?2A;ս:AzC=BAx:?JA;սRAzC=Y>r?yM=;ٓH?/<ZϮ?R2?B?v?` `?`?)> I٘i)I9w@YG J JmJJJZD&Ku> Y\~?yɪQA? CD7{7H]8)B[[>[\~?[Ϊ[[[[BZYY i) H޺I I?iS b??))}b??b??ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030562.903165 s, next control iter: 1743030563.263179 s, wait time: 0.360014 s*\~?)*ɪ rAdjusting time to match Gazebo time: 1743030563.283165 s.2R4H~,H"AJ"J*J2J:JBJnJvJA ףp=@A&l? @AwJ]~? AޫA%"AA sNA"AZAbAjArAzAAAF)G1@A] ?Kf"tA/w@A!;Ai=A?A`??AY?Ab*Awu:?2Aս:A8=BAwu:?JAսRA8=٘i)I9/w@YrG JYJJJJeD&K YS\~?yĪQAŤD7777@W]8=B)BE[[+h>[\~?[g˪[[[[BZYY i) ,IpI?i-˕/ ?)) ??ªYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743030563.303165 s, next control iter: 1743030563.683174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4062., header.stamp.nsec: 0.0 temperature: 13.565211.* salinity: 33.375431., density: 1025.000000.* values[0]: 0.580512.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030563.703165 s.ֺ:H~,H"AAGz@Az5@i໯@Aa]~? Ai۫A%"AA`DsNA"AZAbAjArAzAAA2@AX87 tA3v@A=z <Av.=AL?A` ?A;?AF*A :?2AzԽ:A<BA :?JAzԽRA<٘i)I9v@Y G J\B=JJJJpD&K Y"\~?y*1QAФD77e]8[-\~?[Ǫ[[[[BZYY i) tTjII?iʯR ҙ?))ҙ?ҙ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030563.723165 s, next control iter: 1743030564.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030564.123165 s.9AH~,eI"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066455< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743030564.123293F (some fields omitted in printout)AR뼯@AdV@Ay]~? A׫A)%"AAgsNA"AZAbAjArAzAAA9X2@AstA=&v@A;A$=AW !?A ?A?A*A`:?2AKս:A^<BA`:?JAKսRA^<٘i)I9&v@YG JC=JJJJzD&K Y\~?ylPAڤD7777s]8)B[[>[-\~?[&Ī[[[[BZYY i) ٓIH?i)p I?))I?I?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030564.143165 s, next control iter: 1743030564.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030564.543165 s.IHH~,"I"AA(\½@AjGq@A]~? AӫA X%"AAsNA"AZAbAjArAzAAA 2@AˢWtA>u@Ad&An=AR&?A ?A?A*A~:?2Aֽ:A7<BA~:?JAֽRA7<٘i)I9u@YG JB=JJJJD&K Y\~?ypPAD7b7B]8;B)BE[[_2>[\~?[6[[[[BZYY i) I^H?iϾ[ ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030564.563165 s, next control iter: 1743030564.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4063, header.stamp.nsec: 00 temperature: 13.565331* salinity: 33.375420, density: 1025.000000* values[0]: 0.579979F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030564.963165 s.yNH~,=I"AJ"J*J2J:JBJnJvJA@Aqe@AŦ]~? AϫA%"AA\sNA"AZAbAjArAzAAA"W2@A)$tAC/u@AZϻA&=A_+?A[?A?A-*A=z:?2A%ֽ:A<BA=z:?JA%ֽRA++?y&=ϻٓH@7?`P@?`O??-[?KyD?)> I٘i)I9/u@Y:G J C=Jy6JJJD&Kv> Y\~?y5PA+?D{7j7]8:B)BE[[>[r]~?[![[[[BZYY io) ѻIH?i * N?))ZN?N?ӸYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030565.003165 s, next control iter: 1743030565.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030565.383165 s.UH~,DXI"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.250692@ elevatorAngleAction: -0.077850< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743030565.383288F (some fields omitted in printout)A= ףp@A%s<@A4]~? A˫A:%"AAsNA"AZAbAjArAzAAA؏G['3@AxʜtAt@AL|A$N=AF0?A ?A?A߉*Au:?2AEֽ:AC<BAu:?JAEֽRAC<٘i)I9t@YG J|JJJJD&K Y]~?yOAD)7ŧ7]86B)BE[[?[)]~?[Է[[[[BZYY i) IH?iլ "?)) "?"?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030565.423165 s, next control iter: 1743030565.783180 s, wait time: 0.360015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4064", header.stamp.nsec: 0"0 temperature: 13.565440"* salinity: 33.375450", density: 1025.000000"* values[0]: 0.579467"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030565.803165 s.~A\H~,gsI"AJ"J*J2J:JBJnJvJAzG@AC8@A[]~? AbǫAF%"AAbsNA"AZAbAjArAzAAA~hj3@ATXtAHt@A|^ջAL^=A6?A`*?A`A_?Atp*A{:?2AYս:A<BA{:?JAYսRA<٘i)I9Ht@YG JLJJJJJD&K Y&*]~?yEbOADb7B]8)B[[ ?[B]~?[R[[[[BZYY i) IH?iU ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030565.823165 s, next control iter: 1743030566.203184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030566.223165 s.gcH~,HI"AAQ@A=)@A:]~? A«A%"AAtNA"AZAbAjArAzAAA/Dլ3@A("`JtA5s@A%kA=A;?A ??A`[&?A'*APr:?2Aս:Am)=BAPr:?JAսRAm)=٘i)I9s@YhG JPB=JJJJD&K YM@]~?y̠OAD77]85B)BE[[5?[[]~?[[[[[BZYY i) bI.H?i`]ʻ ?))??yVWYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030566.263165 s, next control iter: 1743030566.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030566.643165 s.uiH~,*I"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077850J< massPositionAction: 0.000000"J4 buoyancyAction: 0.000500*J2J dt: 0.419996:JBJ2 time: 1743030566.643275nJF (some fields omitted in printout)vJA)\@A@A]~? AeA!%"AA3tNA"AZAbAjArAzAAAclB3@ALrtAds@Aت;AW=A%@?AT?A?A*Ah:?2Aֽ:A&=BAh:?JAֽRA&=٘i)I9ds@Y"G JC=JJJJD&K YqV]~?yTNAD{7j7]80B)BE[[r?[t]~?[[[[[BZYY i) (U'tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4065, header.stamp.nsec: 0I3H?i'ջ0 temperature: 13.565551 ˭?* salinity: 33.375427), density: 1025.000000)* values[0]: 0.579024F (some fields omitted in printout)˭?˭?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030566.683165 s, next control iter: 1743030567.043177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030567.063165 s.pH~,_ I"AA¯@A{¯@A^~? AAYM%"AA7TtNA"AZAbAjArAzAAA-.4@AU tAr@A <A =A"ME?A?A`?AV*A_:?2A0ֽ:A!g=BA_:?JA0ֽRA!g=YZ ?sE?y=S_ <ٓH1? J=?,A???l`m?@?)Z ? I٘i)I9r@YG J拼B=JM;JJJƥD&Kv> Yj]~?y0PNAsE?%Dj7Z7C]8)B[[X?[Œ]~?[[[[[BZYY i) j6IbH?it6/ ?))??aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030567.103165 s, next control iter: 1743030567.463180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743030567.483165 s.v_wH~,I"AJ"J*J2J:JBJnJvJAq= ףï@Aɧoï@A)^~? AഫA)%"AA?ttNA"AZAbAjArAzAAAATWn4@A[tAvr@A;AS=AJ?A?A~s?A*AV:?2A|ֽ:AHo =BAV:?JA|ֽRAHo =٘i)I9vr@YG J2C=JJJJХD&K Y~]~?y MA0D77]8,B)E[[I ?[]~?[V[[[[BZYY i) HFIݺH?iCp ?))??ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030567.503165 s, next control iter: 1743030567.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4066, header.stamp.nsec: 00 temperature: 13.565659* salinity: 33.375462, density: 1025.000000* values[0]: 0.578563F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030567.903165 s."}H~,I"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077850< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743030567.903292F (some fields omitted in printout)AGzį@AFį@A=^~? A믫A %"AA̓tNA"AZAbAjArAzAAAg4@A`YtAq@A";A~=AO?Ax?A5?A]*A:N:?2Aֽ:A] =BA:N:?JAֽRA] =٘i)I9q@YGG JWB=JJJJۥD&K Y6]~?y鈪MA;D7777]8+B)BE[[pF&?[y]~?[ڙ[[[[BZYY i) UIH?iFO q?))q?q?ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030567.943165 s, next control iter: 1743030568.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030568.323165 s.uH~,!J"AJ"J*J2J:JBJnJvJAQů@Aů@AR^~? AժAzk%"AAڲtNA"AZAbAjArAzAAAU4@AtAq@AmyAHX=A8U?A`Z*?A L?AkD*AE:?2A0׽:A =BAE:?JA0׽RA =٘i)I9q@YG J7C=JJJJD&K  ^8Yu]~? ^8yƂ8MAFD77B^8)B[[J,?[]~?[)[[[[BZYY i) :?2A_׽:A6 =BA>:?JA_׽RA6 =٘i)I9q@YG JJJJJD&K Y]~?y|LAPD77{7^8*B)BE[[V2?[ ]~?[F[[[[BZYY i) ޶tIH?i`m X?))X?X?ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030568.783165 s, next control iter: 1743030569.143175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743030569.163165 s.v}H~,qJJ"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077850< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743030569.163284F (some fields omitted in printout)Aǯ@AƯ@Ay^~? AHA6%"AAhtNA"AZAbAjArAzAAAb5@AA sAHp@AU A=A_?AS?A g?A*A6:?2A]׽:A| =BA6:?JA]׽RA| =Y'?N_?y=kٓH}?Aa?/v??>? ?)'? I٘i)I9p@YaG JJ<JJJD&Ky> Y]~?yutLA_?[DZ7SI7^8)B[[W8?[^~?[C[[[[BZYY i) 聼I6H?i5nIt ~@?))~@?~@?{ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030569.183165 s, next control iter: 1743030569.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030569.583165 s.昒H~,ReJ"AAp= ǯ@AVǯ@Aی^~? AӚA&%"AA uNA"AZAbAjArAzAAA J5@AhPsA:o@AZwAɲ=Ad?A#5?A ?A,t*A/:?2A3׽:AQ=BA/:?JA3׽RAQ=٘i)I9o@YG JJJJJD&K Y]~?y"o LAfDŧ77D.^8%B)E[[c>?[^~?[ [[[[BZYY i) =vI}H?iQz3 P0?))P0?P0?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030569.623165 s, next control iter: 1743030569.983175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4068, header.stamp.nsec: 00 temperature: 13.565915* salinity: 33.375504, density: 1025.000000* values[0]: 0.577556F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030570.003165 s.u H~,@4J"AJ"J*J2J:JBJnJvJAHzȯ@Axyȯ@A^~? A>A %"AA)uNA"AZAbAjArAzAAAy15@A^@csA8po@A$;AM=A~j?A|?A?e?A*A):?2Aֽ:Aک=BA):?JAֽRAک=٘i)I9po@YG JJJJJD&K Y]~?ychKApD{7{7<^8$B)BE[[vxD?[-^~?[{[[[[BZYY i) 0IoH?i3& &?))&?&?)٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030570.023165 s, next control iter: 1743030570.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030570.423165 s.uH~,J"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077850< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743030570.423287F (some fields omitted in printout)AQɯ@AtѐPɯ@AG^~? AAy%"AA5FuNA"AZAbAjArAzAAA ]6@Ap3sAn@A;Aѯ=A,$o?A?AE?AF*A#:?2A(ֽ:AY=BA#:?JA(ֽRAY=٘i)I9n@YaG JvJJJJD&K Y=^~?ya@KA{D77J^8)B[[ەJ?[C^~?[u[[[[BZYY if) DISaH?i;+ #?))#?#?۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030570.443165 s, next control iter: 1743030570.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4069, header.stamp.nsec: 00 temperature: 13.566076* salinity: 33.375500, density: 1025.000000* values[0]: 0.576970F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030570.843165 s.ݬH~,#J"AJ"J*J2J:JBJnJvJA(\ʯ@Azo (ʯ@Am^~? AA%"AAbuNA"AZAbAjArAzAAA+\bE6@A-:]sAHn@A4 <A5=AXt?A1?A ?A@*A:?2Auֽ:A=BA:?JAuֽRA=٘i)I9Hn@YG J{JJJJ&D&K Y`^~?yZJAD777DY^8#B)BE[[xP?[%X^~?[4n[[[[BZYY i) \IRH?i</ &?))&?&?]ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030570.863165 s, next control iter: 1743030571.243195 s, wait time: 0.380030 s rAdjusting time to match Gazebo time: 1743030571.263165 s.H~,J"AA33333˯@Ac'ʯ@A0^~? AуA~\%"AAB}uNA"AZAbAjArAzAAA ;{6@A /ҠsA~m@ApT;A]V=A y?A?Ac?Ah@*A:?2Av׽:A=BA:?JAv׽RA=Y"A?ǿy?yU=+ܨ;ٓH`? ?}@S?i?`?x ?IE u?+?)"A? I9I٘i)I9m@YG J޳JL0<JJJ1D&Kx> Y2&^~?ySlJAy?D77g^8)B[[V?[l^~?[Kg[[[[BZYY i)  I"CH?i'7 h?))h?h?(ߪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743030571.283165 s, next control iter: 1743030571.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 40702, header.stamp.nsec: 020 temperature: 13.5662542* salinity: 33.3755042, density: 1025.0000002* values[0]: 0.5763262F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030571.683165 s.lH~,ZJ"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087203< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743030571.683283F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= ̯@A%˯@A^~? A}A&%"AAuNA"AZAbAjArAzAAAwcݵ߯6@AisA m@A*|AY=A~?A?A?AV)*A :?2AQ׽:A=BA :?JAQ׽RA=٘i)I9m@YNG JJJJJ ?))??y~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030571.683165 s, next control iter: 1743030572.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743030572.103165 s.H~,̚K"AA{G̯@A̯@A^~? AwAG%"AAuNA"AZAbAjArAzAAAH6@A PsA>l@AֻA%Ϧ=A*?A@6?Ar?Ad*A:?2AUx׽:AQ=BA:?JAUx׽RAQ=٘i)I9l@YG JJJJJGD&K YE^~?yEIADj7D^8)B[["c?[ ^~?[X[[[[BZYY i) AcI"H?i1D ?))??9YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743030572.123165 s, next control iter: 1743030572.503183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743030572.523165 s.J "J *J 2J :J u?BJ u?nJ 5vJ ǒH~,|!K"AAQͯ@An,(ͯ@A _~? AdqA%"AAUuNA"AZAbAjArAzAAA4Taq7@A-{usAk@A A=Ā?Av?A`Q?A*A9?2As׽:A=BA9?JAs׽RA=٘i)I9k@YG JµJJJaEJQD&K YU^~?y=%IAD7777^8B)B E[[=Vi?[^~?[kQ[[[[BZYY i) нIH?iuCH #?))#?#?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030572.543165 s, next control iter: 1743030572.923185 s, wait time: 0.380020 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4071, header.stamp.nsec: 00 temperature: 13.566471* salinity: 33.375515, density: 1025.000000* values[0]: 0.575676F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030572.943165 s.\dΒH~,S]WK"AJ"J*J2J:JI?BJI?nJp5vJAfffffϯ@AL…<2ϯ@A(_~? AdA%"AACuNA"AZAbAjArAzAAA(Аu7@A{*sAfj@AgtA<=A?A)?A`D?Aż*A9?2Atֽ:A[=BA9?JAtֽRA[=Y[??y<=RٓHy1?/`??KM?@*S?ൿ=`?)[? I٘i)I9j@YG JiJu<JJJgD&Kx> Yr^~?y.BHA?ƥDŧ7b7E^8B)įB E[[ u?[l^~?[ B[[[[BZYY i) ~̼IG?i95R )2?)))2?)2?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030573.383165 s, next control iter: 1743030573.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4072&, header.stamp.nsec: 0&0 temperature: 13.566652&* salinity: 33.375519&, density: 1025.000000&* values[0]: 0.575003&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030573.783165 s.UےH~,rK"AA ףp=Я@AE Я@A+8_~? A ^Aq7%"AAvNA"AZAbAjArAzAAA9F7@ACsAzj@A0;AT=Ax?A+?A@+?A+ͼ*A9?2Aֽ:A&=BA9?JAֽRA&=٘i)I9j@YlG JɼJJJJrD&K Y7^~?y&GAѥD77^8)ɯB[[{?[^~?[":[[[[BZYY i) ӼIG?iW 9?))9?9?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030573.803165 s, next control iter: 1743030574.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030574.203165 s.H~,!K"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087203< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743030574.203323F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzѯ@AXvMЯ@AG_~? AgWA%"AA*vNA"AZAbAjArAzAAA;J7@AAg£sATi@A <Aγ=A ?Aa?AYp?A Ӽ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9Ti@YG JмJJJJ|D&K Y^~?y7WGAܥDb77^8)ίB[[=?[^~?[2[[[[BZYY i) $ۼIsG?i5%m\ G?))G?G? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030574.243165 s, next control iter: 1743030574.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030574.623165 s.UH~,TK"AARѯ@A8>[ѯ@AlU_~? APA:%"AA@vNA"AZAbAjArAzAAAM^7@AfsAh@A;A=A5?A?Aq?Apּ*A9?2Awֽ:A=BA9?JAwֽRA=٘i)I9h@Y G JԼJJJJD&K Y^~?yxFAD{7{7E^8B)ӯBE[[=?[^~?[)[[[[BZYY i) @IG?i"_ Z?))Z?Z?iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030574.643165 s, next control iter: 1743030575.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4073 , header.stamp.nsec: 0 0 temperature: 13.566910 * salinity: 33.375542 , density: 1025.000000 * values[0]: 0.574242 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030575.043165 s.H~,K"AJ"J*J2J:J?BJ?nJ%5vJA(\ү@AAcү@Abc_~? AIAž%"AAZVvNA"AZAbAjArAzAAA4tL'8@A% P^sAg@A;A=AW?A?A?AY?ؼ*A9?2A?ֽ:A=BA9?JA?ֽRA=٘i)I9g@Y' G J׼JJJJD&K YI^~?ylFAD777^8B)կBE[[Hb?[> _~?[u![[[[ZZ¸BZYY i¸y=) JּIG?iKa r?))r?r?mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030575.063165 s, next control iter: 1743030575.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030575.463165 s.TH~,ߤK"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082499< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743030575.463262F (some fields omitted in printout)Aӯ@Aleӯ@Ap_~? ABAD%"AA1kvNA"AZAbAjArAzAAAx=P8@A`'sA6g@A.AQ=A/?A`r?AW4?AM9ټ*Ap9?2As3׽:Aa=BAp9?JAs3׽RAa=Yu??yP=eٓH lO?@@?&v?@b?`?`Eq ?)u? I٘i)I96g@Y G JؼJ,<JJJD&Kx> Y ^~?yEA?D7^8B)گBE[[v?[_~?[[[[[ZZBZYY i) 3ʼIQG?isJg }?))}?}??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030575.483165 s, next control iter: 1743030575.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4074, header.stamp.nsec: 00 temperature: 13.567163* salinity: 33.375526, density: 1025.000000* values[0]: 0.573452F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030575.883165 s.yH~,@K"AJ"J*J2J:JBJnJvJA= ףpԯ@AQkw<ԯ@A}_~? A;AM%"AAUvNA"AZAbAjArAzAAA ŋWw8@A3>,sAkf@AaAt=A?A?An?AA*A19?2AB׽:A<BA19?JAB׽RA<٘i)I9kf@Y< G JJJJJD&K  _8Yͽ^~? _8ywuEADb77F_8)B[[~?[R*_~?[g[[[[ZZBZYY i) I}}G?iVbk V?))V?V?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030575.923165 s, next control iter: 1743030576.283180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743030576.303165 s.UH~,sgL"AAzGկ@Aկ@A_~? A4ApU%"AAŒvNA"AZAbAjArAzAAAJ>q8@A(ŒsARe@A8A==A&H?A 0@?A?AC*A 9?2Ax'׽:A <BA 9?JAx'׽RA <٘i)I9e@Y G JJJJJD&K Y^~?yWDADj7SI7_8)B[[А?[7_~?[[[[[ZZBZYY i) IgiG?i캿iCo @?))@?@?yh=ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030576.323165 s, next control iter: 1743030576.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4075., header.stamp.nsec: 0.0 temperature: 13.567469.* salinity: 33.375538., density: 1025.000000.* values[0]: 0.572563.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030576.723165 s. H~,H.L"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082499< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743030576.723281F (some fields omitted in printout)AQ֯@A/Oկ@A_~? A-A%"AAvNA"AZAbAjArAzAAAzP8@A|0{g6sAd@AG쁻Asx=Aٞ?A@g?A?A:\*A9?2Aֽ:AM"f<BA9?JAֽRAM"f<٘i)I9d@Y3 G JJJJJD&K YO^~?y6}DAD77!_8B)BE[[?[D_~?[[[[[ZZBZYY i)  I$UG?iu9q ?))?? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030576.743165 s, next control iter: 1743030577.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030577.143165 s.Y/H~,*IL"AA)\֯@A֯@A@_~? A&APl%"AAvNA"AZAbAjArAzAAA Ҷ8@AJ;αsAc@AfJ;A)R4=Aj?A`7?A6?AGԼ*Aa9?2A+ֽ:A;BAa9?JA+ֽRA;٘i)I9c@Y G J2JJJJȦD&K Y^~?yDA'Db77F0_8)B[[$?[Q_~?[[[[[ZZBZYY i) ܙI@G?iq B?))B?B?+}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030577.163165 s, next control iter: 1743030577.543177 s, wait time: 0.380012 s ^~?)  rAdjusting time to match Gazebo time: 1743030577.563165 s.H~,[ dL"AJ"J*J2J:JBJnJvJAׯ@A1ׯ@Ai_~? A<A%"AAvNA"AZAbAjArAzAAA0Y9@A ZsAzMc@AA<;A f<A?A@̰?AN?AC*A^9?2Aֽ:AVJBA^9?JAֽRAVJYy??yd<O;ٓH@?@@|?@? PE?^? k{z? ?)y? I٘i)I9Mc@YV G JƼB=JJJJҦD&Kx> Y$^~?yީCA?1D77{7>_8)B[[SP?[\_~?[[[[[ZZBZYY i%=) ̃I,G?igv ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030577.583165 s, next control iter: 1743030577.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4076, header.stamp.nsec: 00 temperature: 13.567800* salinity: 33.375546, density: 1025.000000* values[0]: 0.571634F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030577.983165 s.H~,~L"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068920< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743030577.983303F (some fields omitted in printout)Aq= ףد@Aoد@A_~? AA%"AAkvNA"AZAbAjArAzAAA0(9@AΉܨsA$b@AX;A}!<A؛?A`j?A?A}*A9?2Aֽ:A% BA9?JAֽRA% ٘i)I9b@Y G JC=JJJJݦD&K Y7^~?y+֩CAL"AAQگ@A گ@A_~? AA%"AAgvNA"AZAbAjArAzAAA9zd9@AeǿsAq)b@AA>A̫?AD?A?A+*AR9?2A\ֽ:AyBAR9?JA\ֽRAy󧼙٘i)I9)b@Y G JuJJJJD&K Y^^~?y@ũnCARD{7{7i_8)B[[Z?[{_~?[Щ[[[[ZZBZYY i) 8`IF?iſ } ʮ@))ʮ@ʮ@y*=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030578.843165 s, next control iter: 1743030579.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030579.243165 s.3H~,`L"AJ"J*J2J:J!?BJ!?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077705< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743030579.243275F (some fields omitted in printout)A\(ۯ@AKگ@A<_~? AeA>%"AAwNA"AZAbAjArAzAAA1Fp9@AF#sAmb@ABAA`?A`-?A ?A@\*A9?2Azֽ:AQϼBA9?JAzֽRAQϼ٘i)I9b@Y G JwJJJJD&K Yp_~?y̼ICA\DZ7Z7w_8)B[[?[_~?[kǩ[[[[BZYY i) rFLIpF?i4ſ3l| B@))B@B@0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030579.263165 s, next control iter: 1743030579.643174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743030579.663165 s.:H~,qL"AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4078, header.stamp.nsec: 00 temperature: 13.568061* salinity: 33.375568, density: 1025.000000* values[0]: 0.570768F (some fields omitted in printout)Aܯ@A.ۯ@A_~? AA%"AAmwNA"AZAbAjArAzAAAz}9@Af4}sAgb@A As1Av?A ߏ?A4?AV;*A49?2AWrֽ:AjBA49?JAWrֽRAjYN??y1t ٓHM?@n琿Ah?@?  Y _~?y"CA?gD7{7G_8)[[2C?[_~?[꽩[[[[BZYY iIg=) r;IF?iȿ @))@@n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030579.683165 s, next control iter: 1743030580.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030580.083165 s.DAH~,SM"AJ"J*J2J:JBJnJvJAp= ܯ@ALܢܯ@A1_~? AA$g%"AAP!wNA"AZAbAjArAzAAA3k ڳ9@A7БsA7b@AF)AXAy?Ac?A`M[?A:;*A9?2A֎ֽ:ABA9?JA֎ֽRA٘i)I97b@Y G Ji;JJJJD&K Y_~?ywCArD77_8B)BE[[u?[_~?[T[[[[BZYY iN&=) ܟ*I=F?iɿ@ c@))c@c@2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030580.103165 s, next control iter: 1743030580.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030580.503165 s.GH~,L4 M"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065991< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743030580.503280F (some fields omitted in printout)AHzݯ@Ayݯ@A_~? AgAC%"AAn-wNA"AZAbAjArAzAAAKC9@A٨sAtb@Am䩹AWwA:?A@?A?AQp3<*Ag9?2Aֽ:A0BAg9?JAֽRA0٘i)I9tb@Y G J<JJJJD&K YJ_~?y͢CA}D_8)B[[?[_~?[[[[[BZYY i) IuF?idʿ @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030580.543165 s, next control iter: 1743030580.903179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4079, header.stamp.nsec: 00 temperature: 13.567974* salinity: 33.375557, density: 1025.000000* values[0]: 0.570903F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030580.923165 s.9NH~,;M"AJ"J*J2J:J&?BJ&?nJ@5vJAQޯ@A4Pޯ@A _~? AAX%"AA8wNA"AZAbAjArAzAAA&$9@AD]sAb@A2;ArA?A?A?A1^<*A9?2Auֽ:A& BA9?JAuֽRA& ٘i)I9b@Y G JKH<JJJJ(D&K Y_~?y#8DAD77{7G_8)B[[ܳ?[_~?[[[[[BZYY i) IÀF?iɿ.C  @)) @ @yʓ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030580.963165 s, next control iter: 1743030581.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030581.343165 s. elevatorAngleAction: 0.065991< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743030581.763289F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333@A$߯@A`~? AҪA%"AA$MwNA"AZAbAjArAzAAA OP,:@A&~sA$c@AI;AA?AW?A?A8֓<*A{9?2Aֽ:AHBA{9?JAֽRAHY?0 ?y";ٓH?@n?`~? '?-`۲?,iz?`?)? I٘i)I9c@Y G J<JJJJ>D&K2x> YI#_~?yDA ?D{7j7_8B)BE[[@?[_~?[[[[[BZYY i) 0ѻItUF?iHʿFv  @)) @ @G*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030581.783165 s, next control iter: 1743030582.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030582.183165 s.bH~,kM"AAףp= @AA^@A`~? A˪A^&"AA)VwNA"AZAbAjArAzAAANC[:@AE\ysA?%d@A":AkA}?A|?A%?A~e<*A9?2Atֽ:ABA9?JAtֽRA٘i)I9%d@Y G J<JJJJID&K Y%_~?y?EAD77H_8)B[[r?[Ҫ_~?[[[[[BZYY i) vI?F?i˿ dE@))dE@dE@v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030582.203165 s, next control iter: 1743030582.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030582.603165 s.54iH~,M"AJ"J*J2J:Jg?BJg?nJ5vJA{G@AZ/@A `~? A/êA&"AAf^wNA"AZAbAjArAzAAAñ(:@Aq*usA_d@AzA 蝽A6?A?A ?A<*A)9?2A|ֽ:AsBA)9?JA|ֽRAs٘i)I9d@Y0 G J<B=JJJJSD&K Y$(_~?y(wEA CD77_8)߯B[[?[J_~?[y[[[[BZYY i) VI)F?iʿ @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030582.643165 s, next control iter: 1743030583.003177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4081, header.stamp.nsec: 00 temperature: 13.567527* salinity: 33.375580, density: 1025.000000* values[0]: 0.571885F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030583.023165 s.ZpH~,|M"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065991< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743030583.023305F (some fields omitted in printout)AQ@ACX%@Ax`~? A<AՓ&"AAewNA"AZAbAjArAzAAAGC 7:@A9,_PpsAZGe@AA񸞽Ar?A}?A%?A<*AM9?2Amֽ:ABAM9?JAmֽRA٘i)I9Ge@Y G Jo<C=JJJJ^D&K Y*_~?ycn FAD7)7_8B)ٯBE[[?[_~?[p[[[[BZYY i) {nI/F?iFɿ#р n@))n@n@5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030583.063165 s, next control iter: 1743030583.423182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743030583.443165 s.5vH~,5]M"AJ"J*J2J:JBJnJvJA(\@AV/[@A`~? ABAM/&"AAlwNA"AZAbAjArAzAAAiuцC:@A^|qksAke@ApA1Ae?A ?AJ9?A2<*A9?2Aˈֽ:A BA9?JAˈֽRA ٘i)I9e@Y G J;<JJJJiD&K  `8Y,_~? `8yeoFAȦD777H`8)ԯB[[?[ܯ_~?[Df[[[[BZYY i) u1IE?iƿgw~ @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030583.463165 s, next control iter: 1743030583.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4082, header.stamp.nsec: 00 temperature: 13.567230* salinity: 33.375595, density: 1025.000000* values[0]: 0.572589F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030583.863165 s.+}H~,>M"AAfffff@AE2@A.`~? ABAJ&"AAgrwNA"AZAbAjArAzAAA.kN:@ACufsAyf@A9A|A ?A ?A{J?A b<*A#9?2Aֽ:Ab/ BA#9?JAֽRAb/ ٘i)I9yf@YE G J<JJJJtD&K Yl/_~?y\FAҦDŧ77`8)ϯB[[3?[_~?[}\[[[[BZYY i) =IE?iCÿy m@))m@m@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030583.883165 s, next control iter: 1743030584.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030584.283165 s. elevatorAngleAction: 0.065991< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743030584.283292F (some fields omitted in printout)A ףp=@A{G @A?`~? A<Ag&"AA{wwNA"AZAbAjArAzAAAkWW:@A asA,g@AL;AȠA?A?A?Y?A<*As9?2Aֽ:AQBAs9?JAֽRAQ٘i)I9g@Y G J<JJJJ~D&K Y1_~?yT:GAݦD{7{7#`8B)ɯBE[[\?[N_~?[R[[[[BZYY i) `IRE?iAt /@))/@/@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030584.303165 s, next control iter: 1743030584.683183 s, wait time: 0.380018 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4083., header.stamp.nsec: 0.0 temperature: 13.566936.* salinity: 33.375576., density: 1025.000000.* values[0]: 0.573318.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030584.703165 s.׺H~,-N"AAGz@A׾^@A`~? A2A&"AA{wNA"AZAbAjArAzAAA4(c_:@A9\sAg@A݊;AFA\?AG?A@ve?Ap<*A9?2Ay׽:ATBA9?JAy׽RAT٘i)I9g@Y G Jޯ<JJJJD&K YG4_~?yMKGAD77J2`8B)¯BE[[`?[_~?[I[[[[BZYY i) 58IlE?i]l 7@))7@7@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030584.723165 s, next control iter: 1743030585.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030585.123165 s.7ᑓH~,]GN"AJ"J*J2J:J?BJ?nJ5vJAR@A\wT@A `~? A$A&"AA:wNA"AZAbAjArAzAAA68ve:@AEWsA`5h@A<AҕA?A?Ao?A<*AN9?2A׽:A$@BAN9?JA׽RA$@٘i)I95h@YS G J<JJJJD&K Y6_~?yBHAD{7j7@`8)B[[?[_~?[?[[[[BZYY i) :IAE?iXGd !W@))!W@!W@A*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743030585.143165 s, next control iter: 1743030585.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030585.543165 s.IH~,bN"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065991< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743030585.543300F (some fields omitted in printout)A(\@AS"^@AB"`~? AA%?&"AAwNA"AZAbAjArAzAAAXDIi:@A~66RsAgh@ARD;AVAg?ACK?A`$v?A<*A9?2A5ֽ:ASBA9?JA5ֽRAS٘i)I9h@Y G J<JJJJD&K Y"9_~?y9jHADb77N`8)B[[ͷ?[ը_~?[6[[[[BZYY i) W[:IE?iiZ v@))v@v@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030585.563165 s, next control iter: 1743030585.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4084, header.stamp.nsec: 00 temperature: 13.566636* salinity: 33.375591, density: 1025.000000* values[0]: 0.574041F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030585.963165 s.}H~,}N"AJ"J*J2J:JBJnJvJA@AD.le@A5#`~? AA&"AAŃwNA"AZAbAjArAzAAA7Hl:@AAkMsAOi@AlںAFՐA?A`3c?Az?A$.<*A9?2Aֽ:ABA9?JAֽRAY|??y9Ր!ۺٓH&{??@s`?R[ ?)|? I٘i)I9Oi@Y G J<J ;JJJD&K@> Y5_~?y1HA?D777J]`8)B[[x?['_~?[o,[[[[BZYY i) :;IE?iVZ u@))u@u@q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030585.983165 s, next control iter: 1743030586.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030586.383165 s.إH~,/N"AA= ףp@Aܟ<@A#`~? AzAzz&"AA؄wNA"AZAbAjArAzAAA&n:@An IsAi@AٻAPA?Ap?A|?A><*A9?2A*ֽ:ABA9?JA*ֽRA٘i)I9i@YSG J<B=JJJJD&K Y2_~?yE(,IADb77k`8B)BE[[?[_~?["[[[[BZYY i) Jx;IWwE?iwX N@))N@N@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030586.403165 s, next control iter: 1743030586.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4085", header.stamp.nsec: 0"0 temperature: 13.566362"* salinity: 33.375603", density: 1025.000000"* values[0]: 0.574713"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030586.803165 s.wAH~,{gN"AJ"J*J2J:J ?BJ ?nJE5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065991< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743030586.803294F (some fields omitted in printout)AzG@Av~@A#`~? ArAE&"AAwNA"AZAbAjArAzAAA ,m:@A^$4DsAbj@A?A׋AA?A` (A |?Aͧ<*A9?2Aֽ:A)BA9?JAֽRA)8I٘i)I9bj@YG J<C=JJJJD&K Y1/_~?yIADj7Z7y`8B)BE[[?[_~?[_[[[[BZYY i) Dǚ;I\eE?iN'V . @)). @. @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030586.823165 s, next control iter: 1743030587.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030587.223165 s.gH~,HN"AAQ@Ami@A"`~? AjA&"AAwNA"AZAbAjArAzAAA;k:@A0?sAj@A;AA?A`5hA`y?A<*A@9?2A:ֽ:A*LBA@9?JA:ֽRA*L٘i)I9j@YG J9<JJJJʧD&K Y+_~?yIA(D777J`8)B[[??[_~?[[[[[BZYY i5=)  l;ISE?i R k""@))k""@k""@o*YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743030587.243165 s, next control iter: 1743030587.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030587.643165 s.~йH~,(*N"AJ"J*J2J:JI?BJI?nJq5vJA)\@AT @A!`~? AbAS&"AACwNA"AZAbAjArAzAAA'MHh:@A>C:sAek@A9A-A?A 䤿Akt?A}<*Am9?2Aֽ:A!BAm9?JAֽRA!٘i)I9ek@YDG J<JJJJԧD&K Y(_~?y PJA3D7`8B)BE[[Z?[_~?[[[[[BZYY i) ;IBE?iڟ>L p#@))p#@p#@*YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4086, header.stamp.nsec: 00 temperature: 13.566122* salinity: 33.375580, density: 1025.000000* values[0]: 0.575339F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743030587.663165 s, next control iter: 1743030588.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030588.063165 s.H~,R O"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075245< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743030588.063318F (some fields omitted in printout)A@Ae@A `~? AZAZ&"AAwNA"AZAbAjArAzAAA. c:@AW5sA/k@Ao;AjA2?A@|A 0l?A)<*AC9?2Ay׽:AC BAC9?JAy׽RAC Y?:&?y jHؽ;ٓH`s˿:h?Y*?˿ b+ʰ?w?9?)? I٘i)I9k@YG J<JmF<JJJߧD&KJx> Yj"_~?ypJA&?>Dŧ7b7`8)B[[y?[_~?[D[[[[BZYY i) {H;Io1E?iힿgmK =%@))=%@=%@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030588.083165 s, next control iter: 1743030588.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030588.483165 s.w_ǓH~,O"AJ"J*J2J:JBJnJvJAq= ף@A ܺo@A`~? ARA &"AA-~wNA"AZAbAjArAzAAAH!\\:@Acl0sAQl@Aw<AA?AA ^a?A&<*A9?2A}׽:A2BA9?JA}׽RA2٘i)I9Ql@YG Jo<JJJJD&K YE_~?yKAHD777I`8)B[[t?[_~?[[[[[BZYY i) = _KASD77`8)B[[?[v_~?[[[[[BZYY i) TO"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075245< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743030589.323264F (some fields omitted in printout)AQ@A@A`~? ABA &"AAuwNA"AZAbAjArAzAAAlJ:@ACʹ&sA06m@A:AJAN?A ADD?Ad<*A9?2Aֽ:ABA9?JAֽRA٘i)I96m@Y_G J<C=JJJJD&K Y_~?yKA^D`8B)BE[[?[sm_~?[[[[[BZYY i) t*:@A;!sAm@Az[A6A?ArA2?A͎<*A9?2Aֽ:AiBA9?JAֽRAi٘i)I9m@YG Ja<JJJJ D&K Y _~?y LAiDb77K`8)B[[6?[`c_~?[ب[[[[BZYY i)  : Y_~?yڨrLA-?sD7`8)B[[P?[X_~?[Ϩ[[[[BZYY i) /yI elevatorAngleAction: 0.075245< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743030590.583294F (some fields omitted in printout)Ap= @A\Ǹ@A `~? A*A &"AAcwNA"AZAbAjArAzAAA"ŶX":@AɨA sAKn@AA&Aи?Ay¿A`w?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9n@Y<G J<JJJJ D&K Y^~?yVҨLA~D{7j7`8)B[[@ ?[M_~?[+Ǩ[[[[BZYY i) %X elevatorAngleAction: 0.084210< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743030591.843286F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AܜJ(@A_~? AA$j&"AAJwNA"AZAbAjArAzAAAR"9@Aá sAp@Ax,;AdAj?AȿA@?A G<*A<9?2A׽:AҘ BA<9?JA׽RAҘ ٘i)I9p@Y"G J <JJJJ@D&K Y9^~?yDMADb77%a8)B[[@['_~?[[[[[BZYY i) Ô Y^~?y=TNA5?D{7j7L4a8)}B[[8 @[_~?[@[[[[BZYY i) "BA)9?JA(ֽRA>٘i)I9q@YG J<JJJJVD&K Y ^~?y6NA CD{7Ba8B){BE[[@[ _~?[[[[[BZYY i)  elevatorAngleAction: 0.084210< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743030593.103317F (some fields omitted in printout)A{G@A@A_~? AA1&"AA)wNA"AZAbAjArAzAAA,'9@AjurAbq@AA{A2@A@>ͿA`?G?Ah<*A9?2AϏֽ:ATBA9?JAϏֽRAT٘i)I9q@YG J<JJJJ`D&K Yt^~?y0!OADPa8)vB[[*)@[s^~?[[[[[BZYY i) S@P"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084210< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743030594.363305F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@AӀA2@A_~? A A&"AA3wNA"AZAbAjArAzAAAZ uX9@AVߒrAhs@A-A\JA@A`uѿA?A<*A9?2A<ֽ:A4vBA9?JA<ֽRA4v٘i)I9hs@Y%G J<B=JJJJD&K Y^~?yTPAߧDŧ7{a8B)mBE[[ @[/^~?[}[[[[BZYY i) ^~?[}v[[[[BZYY i) | elevatorAngleAction: 0.084210< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743030595.623281F (some fields omitted in printout)AR@A^S@A_~? AΩAd&"AA"vNA"AZAbAjArAzAAA_<8@A*/rAGu@A$<AܮA @A ԿA 2?A[<*AD9?2Adֽ:A/BAD9?JAdֽRA/٘i)I9Gu@YIG JM<JJJJD&K Yt^~?yqQAD{7{7a8)_B[[@[M^~?[\h[[[[BZYY i|=) @l??`W`UK?E??)6? I٘i)I9v@YG J,<JJJJD&K> YX^~?yaeRA @D77a8)XB[[@[wr^~?[Z[[[[BZYY i) ] elevatorAngleAction: 0.093012< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743030596.883289F (some fields omitted in printout)A= ףp@Ast<@Af_~? AMAI&"AAvNA"AZAbAjArAzAAAD;CI8@AMcrAEw@AjA洽A @A`ֿA ي?AE<*A9?2A(Rֽ:ABA9?JA(RֽRA٘i)I9Ew@YG J<JJJJD&K Yֽ:A!BA9?JA>ֽRA!٘i)I9w@YG J<JJJJ̨D&K Y7^~?ySUSA*DNa8)NB[[@[sK^~?[M[[[[ZZZZ¸>BZYY i¸>)   b8Y^~? b8y>TA$@JD7ŧ7O b8B)@BE[[W@[)^~?[;;[[[[ZZZZBZYY i)  ϭ]~?y1UA_D77'b8B)5BE[[@[[]~?[/[[[[ZZZZBZYY i) NV@A"_~? AA&"AA vNA"AZAbAjArAzAAA/c7@ArAˡ|@A;A(%A@A`7ܿA`?A<*Aq9?2Aֽ:Aؒ:BAq9?JAֽRAؒ:٘i)I9|@YG J<JJJJ D&K Ys]~?y+UAjDb77O6b8B)3BE[[Qf@[]~?[D*[[[[ZZZZBZYY i) 5vJ H~,uR"AAGz@AYez@A_~? AAj&"AAuNA"AZAbAjArAzAAAzF*37@AdirA,+}@A.屺ABIA[@A`?ܿAm?A<*AY9?2Aֽ:A<BAY9?JAֽRA<٘i)I9+}@YG J<JJJJD&K Y]~?y$XVAuD77{7Db8)/B[[@[]~?[$[[[[ZZZZBZYY i) ?}JJJ"D&Kx> Yţ]~?ySVA@D777Rb8B)-BE[[9!@[]~?[[[[[ZZZZBZYY iG) jj5vJARk@AeoQ@A^~? AwA`&"AAuNA"AZAbAjArAzAAAsV6@AxzrrAY}@A{Aϕ<A@AUw޿A?A+;*AM9?2A ֽ:A[E<BAM9?JA ֽRA[E<٘i)I9}@YG J)<JJJJ-D&K Y]~?yNVAD77Oab8B),BE[["@[]~?[[[[[ZZZZBZYY i̕) >W))fa>OS@ΩYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030601.103165 s, next control iter: 1743030601.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030601.503165 s.H~,P4`R"AAp= @A^I@A^~? ApA&"AA*uNA"AZAbAjArAzAAA蒛6@AˈrA}@AS%A"=A[A@A/߿A ?A]<:*A9?2A!tֽ:A,Q<BA9?JA!tֽRA,Q<٘i)I9}@YG J;JJJJ7D&K Yy]~?yIVAD77ob8)+B[[ $@[r]~?[[[[[BZYY i) tD: <))<.U@h1YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743030601.523165 s, next control iter: 1743030601.903180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4100, header.stamp.nsec: 00 temperature: 13.383712* salinity: 33.391708, density: 1025.000000* values[0]: 0.709768F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030601.923165 s.CH~,{R"AJ"J*J2J:J5?BJ5?nJ>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073144< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743030601.923315F (some fields omitted in printout)A(\B@A"u(@As^~? AkApN&"AAuNA"AZAbAjArAzAAAflf6@A~`HrA}@A:A .=AI@A߿AR3?A*A/*A9?2AGֽ:A<BA9?JAGֽRA<٘i)I9}@Y J2JJJJBD&K Ye]~?y CVAD777}b8B)/BE[[p%@[[]~?[b[[[[BZYY i) Ƶ1O^ ; k;))k;JV@y.PoYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030601.943165 s, next control iter: 1743030602.323186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743030602.343165 s.VA CD{7{7Qb8)0B[[c&@[bD]~?[ [[[[BZYY i) + 4; Y:))Y:\ X@摪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030602.363165 s, next control iter: 1743030602.743177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4101&, header.stamp.nsec: 0&0 temperature: 13.383751&* salinity: 33.391697&, density: 1025.000000&* values[0]: 0.709719&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030602.763165 s.=H~,8ذR"AJ"J*J2J:JBJnJvJA@Af@A^^~? Af_A3&"AAYuNA"AZAbAjArAzAAA{65@ArA`}@AiZ <Aɔt=A @A@A@?A,*A9?2Awֽ:A =BA9?JAwֽRA =Y@)% @yt= <ٓH[ 勵`?^v?@?K??)@ I7I٘i)I9}@Y_G Jp C=JJ>JJJXD&KCw> Y9]~?y}UA% @D77b8 B)3BݹE[[;8(@[,]~?[[[[[BZYY i|Yi) ~RM; 8))8xY@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030602.783165 s, next control iter: 1743030603.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030603.183165 s.˲H~,|R"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056970< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743030603.183289F (some fields omitted in printout)AQ@AwJk@AØ^~? AYA&"AA>uNA"AZAbAjArAzAAA6۟5@A4}rAP}@A;A%=Ak!@AA[3?A9\*A9?2A=ֽ:Aұ=BA9?JA=ֽRAұ=٘i)I9P}@Y-G JBJJJJbD&K Y"]~?y;UAD77b8"B)8BڹE[[>)@[]~?[[[[[BZYY i) ;I9D?iݷ>Xk; [;7))[;7ZZ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030603.203165 s, next control iter: 1743030603.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030603.603165 s.54H~,R"AJ"J*J2J:JBJnJvJA= ף@A@A˅^~? A?TA&"AA!uNA"AZAbAjArAzAAA߷J5@Av0rA|@ALp:A=A?"@AJAx?A'*A9?2Ayֽ:A=BA9?JAyֽRA=٘i)I9|@YG JrJJJJmD&K Y$ ]~?yHUA˨D{7{7Qb8$B)D?i>; 5))5.O\@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030603.623165 s, next control iter: 1743030604.003176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4102, header.stamp.nsec: 00 temperature: 13.383866* salinity: 33.391716, density: 1025.000000* values[0]: 0.709127F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030604.023165 s.ZH~,{S"AA(\@A"B@Avr^~? ANAz&"AAuNA"AZAbAjArAzAAAzL5@A.mrAs|@AA%=Ay$@AA@?A9*A9?2A:ֽ:A =BA9?JA:ֽRA =٘i)I9s|@YG J:JJJJxD&K Yw\~?yTAըD)7b7b8)@B[[Y,@[6\~?[[[[[BZYY iF) ;ICED?i>; g4))g4]@yli ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030604.043165 s, next control iter: 1743030604.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030604.443165 s.1ƔH~,%]S"AJ"J*J2J:Jm5?BJm5?nJ>>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066542< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743030604.443293F (some fields omitted in printout)Az@A@A^^~? AIA&"AAtNA"AZAbAjArAzAAAWKf5@A:5rA{@AzIA=Ad%@AA C?A4-*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9{@YWG JJJJJD&K Y\~?yuTAD777b8'B)HBӹE[[B-@[\~?[Z[[[[BZYY i) ;ILD?i ?簰; 2))2 _@yi}ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030604.463165 s, next control iter: 1743030604.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4103, header.stamp.nsec: 00 temperature: 13.384095* salinity: 33.391724, density: 1025.000000* values[0]: 0.708221F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030604.863165 s.+͔H~,>7S"AA33333@Am@AJ^~? AnDAH&"AAtNA"AZAbAjArAzAAA5tG4@A#(rAh{@AAAm=A&@A@;A?Ap6*A|9?2Aֽ:A =BA|9?JAֽRA =Y@&@yw=SٓH@Zh`_V?~ à?`\ yu|W?)@ I٘i)I9h{@YG JUJ=JJcEJD&Kx> Y\~?y;TA&@Db7b7Qb8)B)MBйE[[x/@[>\~?[[[[[BZYY i) Q;ITD?ia?; 1))1`@y⫉WժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030604.883165 s, next control iter: 1743030605.263177 s, wait time: 0.380012 s2\~?)2 rAdjusting time to match Gazebo time: 1743030605.283165 s.4RԔH~,RS"AJ"J*J2J:JBJnJvJAQ@A|Y@Ad6^~? Ai?A &"AAmtNA"AZAbAjArAzAAA#*4@A//TyrAz@A0A]=A'@AΆAV?A *A9?2Aֽ:AE =BA9?JAֽRAE =٘i)I9z@YG JJJJJD&K YH\~?yrSAD7{7b8*B)SB͹E[[o0@[r\~?[[[[[BZYY i) C;IJ]D?i ?|; 10))10a@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030605.303165 s, next control iter: 1743030605.683175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 41042, header.stamp.nsec: 020 temperature: 13.3843702* salinity: 33.3917312, density: 1025.0000002* values[0]: 0.7071322F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030605.703165 s.պڔH~, mS"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066542< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743030605.703289F (some fields omitted in printout)Aףp= @A,^,@A!^~? A:A &"AAXtNA"AZAbAjArAzAAAzW4@A)}rAHz@ATwp;Aѵ=A">)@AwA?A5̯*Aצ9?2AKUֽ:A'? =BAצ9?JAKUֽRA'? =٘i)I9Hz@YTG JB=JJJJD&K Y\~?yާkSAD)7)7b8)XB[[1@[\~?[[[[[BZYY i) ;IfD?i}.?Y; .)).+Sc@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030605.723165 s, next control iter: 1743030606.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030606.123165 s.7H~,]S"AJ"J*J2J:J4?BJ4?nJ=5vJA)\u@A9d[@A ^~? A5AHk&"AAktNA"AZAbAjArAzAAAP7*4@A arA$y@A;A<=Aņ*@AXAD?A7*A9?2AHEֽ:A: =BA9?JAHEֽRA: =٘i)I9y@YG JİC=JJJJD&K  c8Y}\~? c8ynڧSA Dŧ77Q c8,B)^BʹE[[*!3@[h\~?[[[[[BZYY i) ߖ:IpD?i7>?y; h-))h- d@ ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030606.163165 s, next control iter: 1743030606.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030606.543165 s.IH~,âS"AA{G@AV/@Af]~? A"1A&"AAKtNA"AZAbAjArAzAAAq@3@AuhqWrAy@Ai;A*=A+@A^A9}?AZ*A:9?2Az\ֽ:A3=BA:9?JAz\ֽRA3=٘i)I9y@YG J|JJJJD&K Ye\~?yէRAD77{7c8-B)dBǹE[[u4@[O\~?[%[[[[BZYY i) Hs9I|D?iO?< ,)),f@>ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030606.563165 s, next control iter: 1743030606.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4105, header.stamp.nsec: 00 temperature: 13.384624* salinity: 33.391727, density: 1025.000000* values[0]: 0.705949F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030606.963165 s.vH~,褽S"AJ"J*J2J:J4?BJ4?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066542< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743030606.963293F (some fields omitted in printout)AL @A32 @A]~? A,A9 &"AA=+tNA"AZAbAjArAzAAA)~.3@A q}rAdx@Ad;AjƔ=A'-@A0Aٱ?A7Y*A$9?2A3ֽ:A YK\~?y4ҧ7RA+-@ D77)c8)iBĹE[[5@[6\~?[[[[[BZYY i) #6I·D?iZZ?ʾ < *))*{g@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030607.003165 s, next control iter: 1743030607.363176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743030607.383165 s.H~,8S"AAQ @AT: @A]~? AJ(Av &"AAI tNA"AZAbAjArAzAAAÖbS3@A_!\zrAbx@AE7AV=A{.@AA?ASp*A9?2Aֽ:A55=BA9?JAֽRA55=٘i)I9x@YG JꧼC=JJJJΩD&K YT2\~?y}ΧQA+Db77R8c8.B)nB¹E[[$7@[V\~?[@[[[[BZYY i) X պI6D?if?z< B)))B)h@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030607.423165 s, next control iter: 1743030607.783178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4106", header.stamp.nsec: 0"0 temperature: 13.384918"* salinity: 33.391743", density: 1025.000000"* values[0]: 0.704798"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030607.803165 s.AH~,gS"AJ"J*J2J:JBJnJvJAq= # @A`" @A]~? A$A| &"AAsNA"AZAbAjArAzAAA"@d3@A wrAVyw@AgZAp=Ad/@Ai&Ai?A잼*A9?2Aֽ:A/Q<BA9?JAֽRA/Q<٘i)I9yw@YG JJJJJ٩D&K Y\~?yʧoQA6D7)7Fc80B)tBE[[x8@[\~?[[[[[BZYY i) s`'IaD?it?3< '))'0=j@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030607.823165 s, next control iter: 1743030608.203187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743030608.223165 s.gH~,HT"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066542< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743030608.223313F (some fields omitted in printout)A(\ @AQHu @A?]~? A A!&"AAsNA"AZAbAjArAzAAA&K2@AAX/MurAlv@AA=A1@A`}dA=?A*A̼9?2Aֽ:Ag<BA̼9?JAֽRAg<٘i)I9v@YNG J JJJJD&K Y![~?yǧ QA@D777Tc81B)zBE[[}9@[[~?[[[[[BZYY i) @dIhD?it?&< c&))c&Rk@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030608.243165 s, next control iter: 1743030608.623191 s, wait time: 0.380026 s rAdjusting time to match Gazebo time: 1743030608.643165 s.s H~,))T"AJ"J*J2J:JBJnJvJAG @AdϞ @A]~? AAi!&"AAܤsNA"AZAbAjArAzAAAOg2@ArrA"tv@AĜAG4=A^f2@AAh?A*AV9?2Arֽ:A<BAV9?JArֽRA<٘i)I9tv@YG J홼JJJJD&K Y[~?yVçPAKDb7b7Rcc83B)BE[[(;@[[~?[?ߧ[[[[BZYY i) IbD?iI?I2< %%))%% l@tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4107, header.stamp.nsec: 00 temperature: 13.385192* salinity: 33.391747, density: 1025.000000* values[0]: 0.703727F (some fields omitted in printout)6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030608.663165 s, next control iter: 1743030609.043175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030609.063165 s.H~,_ DT"AAfffff @APL @Aq]~? AIAB!&"AA?sNA"AZAbAjArAzAAA ʽA2@A9nprA!u@ABx:AT=AI3@A;AX?A*A9?2Aֽ:A=<BA9?JAֽRA= Y[~?ysKPA3@VD77{7qc84B)BE[[lj<@[$[~?[ݧ[[[[BZYY iG) ID?i?29< #))#Wn@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030609.103165 s, next control iter: 1743030609.463180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743030609.483165 s. `H~,^T"AJ"J*J2J:J4?BJ4?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076307< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201372 time: 1743030609.483440F (some fields omitted in printout)A @A;vٷ @ATZ]~? AA!&"AAA_sNA"AZAbAjArAzAAAӣIX1@A|f^nrAtu@A,Q;A=A4@A5A@?A*A9?2Anֽ:AX<BA9?JAnֽRAX<٘i)I9tu@YdG J`JJJJD&K Y&[~?yOAaD)7ŧ7c8)B[[к=@[[~?[ܧ[[[[BZYY i) JλI-D?i?B;A< l"))l"o@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030609.523165 s, next control iter: 1743030609.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4108, header.stamp.nsec: 00 temperature: 13.385421* salinity: 33.391739, density: 1025.000000* values[0]: 0.702711F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030609.903165 s.H~,yT"AA ףp= @Aظ]# @AB]~? A&AC"&"AA;sNA"AZAbAjArAzAAAEmf=1@AC YD[~?y޲zNA2:@Db77Sc89B)BE[[7B@[89[~?[ק[[[[BZYY i)  <%I9'E?iY?f< ))u@UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030611.183165 s, next control iter: 1743030611.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030611.583165 s.8H~,ST"AAR @Al;m @A\~? AA=#&"AA,rNA"AZAbAjArAzAAA2mR0@A drAe"s@AA[=A;@AA"S?Ad*Aʶ9?2Aֽ:AIQ=BAʶ9?JAֽRAIQ=٘i)I9"s@YG J5JJJJ9D&K Y)[~?yװNADŧ7b7c8:B)BE[[4D@[[~?[ ק[[[[BZYY i) 4II;E?i?n< /))/rv@%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030611.603165 s, next control iter: 1743030611.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4110, header.stamp.nsec: 00 temperature: 13.385909* salinity: 33.391773, density: 1025.000000* values[0]: 0.700821F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030612.003165 s.z @H~,U4U"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076307< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743030612.003301F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@AJ<@As\~? AAt#&"AA;rNA"AZAbAjArAzAAA*8G0@ArſbrAXr@AٻA@Ď=AC<@A *A@?A3*A79?2Aֽ:A=BA79?JAֽRA=٘i)I9r@YG JWJJJJDD&K Y [~?yЮMAD7c8@A`~QA< ?AS*A߱9?2Aֽ:A+}=BA߱9?JAֽRA+}=٘i)I94r@YiG JJJJJOD&K Y"Z~?yɬcMA CDb7b7Tc8)B[[F@[^Z~?['֧[[[[BZYY i) ͻSIeE?i?F< ))y@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030612.443165 s, next control iter: 1743030612.823178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4111", header.stamp.nsec: 0"0 temperature: 13.386127"* salinity: 33.391750", density: 1025.000000"* values[0]: 0.699883"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030612.843165 s.LH~,5U"AJ"J*J2J:J+3?BJ+3?nJ;5vJAHz.@A\@A\~? AA#&"AA;rNA"AZAbAjArAzAAAw>Xb/@Aη_rAcq@A;A7=A>b?@A@uA  d8YZ~? d8yLA@@D777d8>B)BE[[PNI@[.Z~?[է[[[[BZYY i) amrI}E?i?a< n)) nG{@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030613.283165 s, next control iter: 1743030613.663183 s, wait time: 0.380018 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4112., header.stamp.nsec: 0.0 temperature: 13.386373.* salinity: 33.391762., density: 1025.000000.* values[0]: 0.698934.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030613.683165 s.lZH~,IkU"AJ"J*J2J:JBJnJvJAQ@A&S@Af\~? AA1$&"AAqNA"AZAbAjArAzAAAhe2.@ALM~?]rAnp@A֧;A9=AA@A dA?Aᢼ*Av:?2A½:AA=BAv:?JA½RAA=٘i)I9p@YzG JˠJJJJoD&K YZ~?yw=LA̩D{7ŧ7Td8?B)BE[[ZJ@[Z~?[֧[[[[BZYY i)  πIܔE?i? < 1}))dHQ|@eҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030613.683165 s, next control iter: 1743030614.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743030614.103165 s.aH~,ÚU"AA= ףp@A0V@AM\~? AA?Y$&"AAqNA"AZAbAjArAzAAAw[И-@A'\rA"p@A#;AM=AflB@AAt?A*AO:?2A[ý:A\I=BAO:?JA[ýRA\I=٘i)I9"p@Y'G JB=JJJJzD&K YZ~?yRKAשD77d8AB)BE[[K@[+Z~?[E֧[[[[BZYY ig) hI~E?i?< ))~@ҪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030614.123165 s, next control iter: 1743030614.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030614.523165 s.gH~,{U"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085647< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743030614.523268F (some fields omitted in printout)J"J*J2J:JBJnJvJA(@Adt@@A4\~? AA~$&"AA#qNA"AZAbAjArAzAAA,@A{ZrA-o@AXSA=AfvC@ADAz?A*AW:?2AŽ:AF =BAW:?JAŽRAF =٘i)I9o@YG J-C=JJJJD&K YfZ~?y,tKADb7b7+d8BB)ůBE[[M@[upZ~?[֧[[[[BZYY i) SIE?i?< ;));z[@ԪYhYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030614.543165 s, next control iter: 1743030614.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4113, header.stamp.nsec: 00 temperature: 13.386640* salinity: 33.391754, density: 1025.000000* values[0]: 0.697876F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030614.943165 s.]dnH~,W]U"AAzG@A}V-@A\~? A$A$&"AA|qNA"AZAbAjArAzAAA:Ud,@Aa;YrAt o@AsA=AD@A@A`?A3%*A=:?2AXȽ:Az=BA=:?JAXȽRAz=٘i)I9 o@Y~G JJJJJD&K YJZ~?yKAD77U:d8)ʯBE[[ VN@[WZ~?[=ק[[[[BZYY i) IWE?is?< ))M@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030614.983165 s, next control iter: 1743030615.343180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743030615.363165 s.uH~,}>U"AJ"J*J2J:JBJnJvJA3333@A'$@A\~? AA$&"AAUqNA"AZAbAjArAzAAAn/g+@A|gXrAҁn@AIA=AE@A$A\?A k*AB:?2Ab˽:A=BAB:?JAb˽RA=Y7@E@y=`ٓH`{`l?@+i`ﳿ| ?)7@ I٘i)I9n@Y)G J1J=<JJJD&KC> Ys.Z~?yJAE@D{7{7Hd8CB)ϯBE[[̖O@[O?Z~?[ק[[[[BZYY i) IbE?i?"< D))Da@ySM۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030615.383165 s, next control iter: 1743030615.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4114&, header.stamp.nsec: 0&0 temperature: 13.386909&* salinity: 33.391750&, density: 1025.000000&* values[0]: 0.696800&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030615.783165 s.Y{H~,U"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085647< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743030615.783304F (some fields omitted in printout)AQ@AH@AS[~? A&A]$&"AA/qNA"AZAbAjArAzAAA=!E-+@AvlXrAom@AQA=A %G@A 7AP?A6*A,s:?2Aͽ:A=BA,s:?JAͽRA=٘i)I9m@YG JJJJJD&K YDZ~?y$9JADb77Wd8)ԯB[[tP@[&Z~?[ا[[[[BZYY i) I+F?i;@>j< K))K@ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030615.803165 s, next control iter: 1743030616.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030616.203165 s.H~, V"AJ"J*J2J:J>2?BJ>2?nJ:5vJAףp=@A\[%p@A[~? AA$&"AA qNA"AZAbAjArAzAAAD ǐ*@A3 QWrA]m@A;Ḁ=A6nH@A`IAʻ?ANb*Af:?2AϽ:Ae=BAf:?JAϽRAe=٘i)I9]m@YwG JGJJJJD&K YY~?yIA D7{7Ued8DB)ٯBE[[R@[Z~?[٧[[[[BZYY i) I4F?i@^<  )) +@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030616.223165 s, next control iter: 1743030616.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030616.623165 s.XH~,a'V"AA)\@A@A[~? AA%&"AApNA"AZAbAjArAzAAAXR)@A=ӡVrAl@A\%;A.=AcHA`XA,?A?L*A!Z:?2Aaѽ:A%=BA!Z:?JAaѽRA%=٘i)I9l@YG JJJJJD&K YY~?yAcIAD7sd8EB)߯BE[[ZLS@[Y~?[ڧ[[[[BZYY i) rISRF?i_ @y֯< e ))e (Ȃ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030616.643165 s, next control iter: 1743030617.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4115 , header.stamp.nsec: 0 0 temperature: 13.387173 * salinity: 33.391739 , density: 1025.000000 * values[0]: 0.695740 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030617.043165 s.H~,BV"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085647< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743030617.043294F (some fields omitted in printout)A{Ga@AmY.G@Aљ[~? AA8&%&"AApNA"AZAbAjArAzAAA%W)@A VrA+"l@A;AhS=AGA`ZfA Sz?A[*ACN:?2Aҽ:A=BACN:?JAҽRA=٘i)I9"l@YG JJJJJŪD&K YY~?yТHA"Dj7Z7d8FB)BE[[T@[Y~?[2ܧ[[[[BZYY i) 輼IpF?i @ҵ< W ))W c@\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030617.063165 s, next control iter: 1743030617.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030617.463165 s.^H~, ]V"AA@Axak@A[~? AA7%&"AAspNA"AZAbAjArAzAAAA(@AryrUrA}k@A;Aũ=AEAqAڶ?Ahż*A C:?2AԽ:A)=BA C:?JAԽRA)=Yg>@EyS=D;ٓH`D J?Ciժt? Wr?|?)g>@ I٘i)I9}k@YSG JüB=Jl<JJJЪD&Kz> YY~?yGHAE,D77Vd8GB)BE[[QU@[Y~?[ݧ[[[[BZYY i) s/ļI F?i@< m ))m @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030617.483165 s, next control iter: 1743030617.863185 s, wait time: 0.380020 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4116, header.stamp.nsec: 00 temperature: 13.387465* salinity: 33.391773, density: 1025.000000* values[0]: 0.694520F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030617.883165 s.yH~,+xV"AJ"J*J2J:JBJnJvJAQ8@Av1<@Ae[~? AWAE%&"AAkpNA"AZAbAjArAzAAA(@AC)UrAj@A#onA˯=A\DAPzAXΩ?A0Ǽ*A8:?2A(ս:A=BA8:?JA(սRA=٘i)I9j@YG JƼC=JJJJ۪D&K YWY~?yHA7Dŧ7d8HB)BE[[V@[pY~?[,ߧ[[[[BZYY i) mu˼IF?iC@ƽ< ))X@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030617.923165 s, next control iter: 1743030618.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030618.303165 s.RH~,fgV"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085647< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743030618.303294F (some fields omitted in printout)Aq= ף@AQBȉ@AK[~? AAP%&"AACpNA"AZAbAjArAzAAA YY~?y~6FA?bDd8JB) BvE[[[@[ SY~?[[[[[ZZ¸BZYY i¸F)=) 6ռI7G?iS#@<  )) M @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030619.583165 s, next control iter: 1743030619.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4118, header.stamp.nsec: 00 temperature: 13.388092* salinity: 33.391758, density: 1025.000000* values[0]: 0.691995F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030619.983165 s.H~,V"AAQ@AjH7@AZ~? AA]%&"AAoNA"AZAbAjArAzAAAiK2%@A"$+.TrAgg@A ;A=A=A`7A̘Aݼ*A :?2A&ֽ:Aj_=BA :?JA&ֽRAj_=٘i)I9gg@Y G JKۼC=JJJJD&K YX~?yۧEAmDb77Xd8)BsE[[A]@[QX~?y8AEAwD7{7d8EB)BpE[[5^@[%Y~?[9[[[[ZZBZYY i) KI+G?i)@< ɥ))ɥ<@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030620.443165 s, next control iter: 1743030620.803177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4119", header.stamp.nsec: 0"0 temperature: 13.388434"* salinity: 33.391739", density: 1025.000000"* values[0]: 0.690610"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030620.823165 s.̕H~,)4W"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084063< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743030620.823285F (some fields omitted in printout)A\(@A_F@AZ~? AtAO%&"AAVoNA"AZAbAjArAzAAAo D#@A: f;UrAQe@AȈ;Au=AG2;A@InA@ӢAB*A(:?2Aֽ:ATȻ<BA(:?JAֽRATȻ<٘i)I9e@Y G JJJJdEJ&D&K  e8YbX~? e8yDAD7777e8)BmE[[f_@[Y~?[[[[[ZZBZYY i) IG?i-@< u))uYՈ@yX=ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030620.863165 s, next control iter: 1743030621.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030621.243165 s.ӕH~,uOW"AJ"J*J2J:J0?BJ0?nJ*95vJAGz@Aaz@AZ~? A AD%&"AA~/oNA"AZAbAjArAzAAAMZ-#@AxUrAd@Aߛ:AUu=A9AcAAY*A#:?2Aֽ:AM&g<BA#:?JAֽRAM&g<٘i)I9d@YJ G JnJJJJ1D&K YX~?yLDADj7j7We8)BjE[[O`@[X~?[8[[[[ZZBZYY i) IG?i42@F< ߌ))ߌl@:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030621.263165 s, next control iter: 1743030621.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030621.663165 s.ڕH~,qjW"AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4120, header.stamp.nsec: 00 temperature: 13.388823* salinity: 33.391743, density: 1025.000000* values[0]: 0.688969F (some fields omitted in printout)A@Al#@A{Z~? AA5%&"AA4oNA"AZAbAjArAzAAA(S"@A/|6'VrAAd@A󩙻A0=Ar8A`WA tAeUм*A%:?2Aֽ:A;BA%:?JAֽRA;YωK@Ï8yp0=ΙٓH`T? @Mп`@ԏ 95sG?)ωK@ I٘i)I9d@Y G JXB=JLJJJ;D&Kx> Y'X~?y2DA8D77e8)$BgE[[=a@[X~?[[[[[ZZBZYY i=) (IG?i4@ _< '))'@\xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030621.683165 s, next control iter: 1743030622.063184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030622.083165 s.DH~,SW"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073765< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743030622.083302F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@AZ)rQ@AaZ~? AA%$%&"AAnNA"AZAbAjArAzAAA^!@AeVrAHzc@AF A$<A=7A?IA BAƨ*A,#:?2Aֽ:AF.BA,#:?JAֽRAF.٘i)I9zc@Yr G JC=JJJJFD&K YnX~?yrCA CD{7{7.e8))BeE[[\b@[X~?[[[[[ZZBZYY i) Q^IFH?i7@s%< ))@YFF!^Clearing failed state for component CTD_Seabird1F]:Waiting for Gazebo time sync: latest Gz time: 1743030622.123165 s, next control iter: 1743030622.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030622.503165 s.H~,74W"AAp= @Ax#@AHZ~? A A%%&"AA߹nNA"AZAbAjArAzAAA~ \W!@AΎ~yWrAJb@A<^A0<A[5A8AA|*A!:?2Aֽ:AeBA!:?JAֽRAe٘i)I9b@Y$ G J5JJJJQD&K YwSX~?yCAD77W@5< G ))G I͋@y=`(YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030622.943165 s, next control iter: 1743030623.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030623.343165 s. elevatorAngleAction: 0.083194< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743030623.343321F (some fields omitted in printout)AHz@A?@AZ~? AA$&"AAknNA"AZAbAjArAzAAAĬF @Ag01YrAVcb@A5;AATU3AAR¿Aǻ*A:?2A׽:A((BA:?JA׽RA((٘i)I9cb@Y G J;B=JJJJfD&K YX~?y1#CAêDb77Ye8DB)1B_E[[}f@[X~?[[[[[ZZBZYY i) ]IxH?iB@5~< )):c@y=)YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030623.383165 s, next control iter: 1743030623.743176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4122*, header.stamp.nsec: 0*0 temperature: 13.389362** salinity: 33.391747*, density: 1025.000000** values[0]: 0.686962*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030623.763165 s.7H~,W"A!A!A !E!E !I!M!Q!Q !U!U !Y!Y JI"JIEC*J"I G2J*Icb@:J/?6IBJ/?>IFInJg85vJ"hFailure count cleared after critical for CTD_SeabirdZJߗ@JJߗ@bJ@RJ@A@A%z@APY~? AA$&"AA=EnNA"AZAbAjArAzAAATjD @A|H54ZrAVEb@Aд;A~AG2A`A /4ĿA*A:?2A#׽:A=gʼBA:?JA#׽RA=gʼYR@2yb;ٓHv؋?`~g?@ֿ`?{?{?`?)R@ I٘i)I9Eb@Y G JC=J7JJJqD&Kx> YDX~?yLOCA2ͪDj7Z7Yge8)2B\E[[g@[yX~?[.[[[[BZYY iAl=) yLIۿH?iCE@< WU))WU@y~=/*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030623.783165 s, next control iter: 1743030624.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030624.183165 s.H~,k X"AAQ@AAk@AY~? AiAH$&"AAnNA"AZAbAjArAzAAA!:c@AO[rA Db@A ;A2Aζ0AsAƿA;*A9?2A׽:ABA9?JA׽RA꼙٘i)I9Db@Y G JCJJJJ|D&K YW~?yg|CAتD77ue8)YE[[qh@[XeX~?[[[[[BZYY iي=) ;;IH?iH@F= ))4@y:=o*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030624.203165 s, next control iter: 1743030624.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030624.603165 s.94 H~,&X"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067798< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743030624.603285F (some fields omitted in printout)J"J*J2J:JBJnJvJZJJJbJRJA= ף@Ai@AY~? AbAov$&"AAHmNA"AZAbAjArAzAAA 0 @AE,\rAbb@A;AYAk/A@MAǿA ;*A9?2Adֽ:ADBA9?JAdֽRAD٘i)I9bb@Y G J;JJJJD&K YLW~?yCAD7777e8)1BVE[[_ j@[QX~?[ [[[[BZYY i) ġ)II?i$K@= ))뿩+'@y$e=ے*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030624.623165 s, next control iter: 1743030625.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4123 , header.stamp.nsec: 0 0 temperature: 13.389414 * salinity: 33.391712 , density: 1025.000000 * values[0]: 0.686804 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030625.023165 s.ZH~,{AX"AII"I*Ibb@6I>IFIA(\@A B@AY~? AA}N$&"AAmNA"AZAbAjArAzAAAFJxSt@Ar]]rAjb@AbغA_wA#.A`КA@ɿAK>3<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9b@Y G J`<JJJJD&K YϲW~?yçCADb77Ye8)/B[[4k@[1=X~?[ [[[[BZYY i) /IiN@C= ON))ON鿩G@y]=*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030625.043165 s, next control iter: 1743030625.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030625.443165 s.9H~,F]\X"AJ"J*J2J:JBJnJvJZJJJbJRJAz@AUh @AY~? AAx#$&"AAmNA"AZAbAjArAzAAAav`E@A7_rAQb@AwڻAއA,A@xA ˿Ah<*A&9?2AAֽ:Al-BA&9?JAAֽRAl-٘i)I9b@Y! G JL<JJJJD&K YRW~?yƧDAD7e8),BSE[[\l@[)X~?[X[[[[BZYY i) 8IiR@= ))濩oP@A*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030625.463165 s, next control iter: 1743030625.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4124, header.stamp.nsec: 00 temperature: 13.389328* salinity: 33.391705, density: 1025.000000* values[0]: 0.687195F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030625.863165 s.+H~,>wX"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067798< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743030625.863298F (some fields omitted in printout)A33333@A!K@A}Y~? A@Aa#&"AA\mNA"AZAbAjArAzAAAP@A'˜H`rA`c@AAߐA +ARA2cͿA <*A9?2Aԗֽ:AqBA9?JAԗֽRAqY#X@p+ywސٓH` v?V%?mܿ@ר@?`?`;?)#X@ I٘i)I9`c@Yb G J|<J滽JJJD&Kw> YW~?yʧbDA+D777e8CB)(BPE[[gm@[X~?[*[[[[BZYY i\l=) IiT@= ))俩@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030625.883165 s, next control iter: 1743030626.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030626.283165 s.3R$H~,X"AJ"J*J2J:J0?BJ0?nJ85vJ@@@@AQ@A= ף@AeY~? AA<#&"AA`mNA"AZAbAjArAzAAAfF@A[KbrAc@AQ̷As]A?*A*A3ϿAY <*A9?2Aֽ:AKnBA9?JAֽRAKn٘i)I9c@Y G J<JJJJD&K YeW~?yΧDADZe8)$BME[[n@[X~?[[[[[BZYY i) 1лIi4W@O = V))V⿩Zz@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030626.303165 s, next control iter: 1743030626.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4125., header.stamp.nsec: 0.0 temperature: 13.389213.* salinity: 33.391701., density: 1025.000000.* values[0]: 0.687992.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030626.703165 s.ֺ*H~,X"AAףp= @AaX5@ALY~? AA#&"AA;mNA"AZAbAjArAzAAAAIa@AۂcrA:_d@AVFALA)(AAпAA<*A9?2Aֽ:AOBA9?JAֽRAO٘i)I9_d@Y G J<B=JJJJD&K YqLW~?y}ҧ%EADe8) BKE[[o@[W~?[[[[[BZYY i) =IiZ@5 = ))࿩g@S*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030626.723165 s, next control iter: 1743030627.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030627.123165 s.51H~,TX"AJ"J*J2J:JA0?BJA0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743030627.123272F (some fields omitted in printout)A)\u@AIC[@AL4Y~? AAX#&"AAmNA"AZAbAjArAzAAA}}F4@A+erAd@A;A A.'AAvhѿAM<*A9?2AA,׽:A BA9?JAA,׽RA ٘i)I9d@YS G J<C=JJJJǫD&K Y+3W~?yh֧EA#D{7j7e8)B[[ p@[zW~?[* [[[[BZYY i) 钻Iia]@* = gݿ))gݿ@y^l=_*YFF]~:Waiting for Gazebo time sync: latest Gz time: 1743030627.143165 s, next control iter: 1743030627.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030627.543165 s.I8H~,X"AA{G@An-@A3Y~? A A#&"AAlNA"AZAbAjArAzAAAz ly@ApgrA~e@A<A)AC&AA LҿAB<*A79?2Ai7׽:ABA79?JAi7׽RA٘i)I9~e@Y G J<JJJJҫD&K YW~?yTڧEA.DS7S7Ye8BB)BHE[[#r@[FW~?[T$[[[[BZYY i) UhIi a@= #pۿ))#pۿ3@*YFF]s:Waiting for Gazebo time sync: latest Gz time: 1743030627.563165 s, next control iter: 1743030627.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4126, header.stamp.nsec: 00 temperature: 13.388971* salinity: 33.391685, density: 1025.000000* values[0]: 0.689041F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030627.963165 s.u>H~,X"AJ"J*J2J:JBJnJvJAL@AK\Ǹ2@AOY~? A A:"&"AAlNA"AZAbAjArAzAAARW@AAirAf@A];A!'A$AHuA -ӿA<*A9?2A׽:ABA9?JA׽RAY`_@3%yH&^;ٓH?*? T /g?!@?z?@?)`_@ I٘i)I9f@Y G Jc<B=J0JJJݫD&Ksx> YW~?yߧOFA%9D77e8)BEE[[Js@['W~?[([[[[BZYY i) ;,Iib@J9= !ٿ))!ٿnǒ@'*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030628.003165 s, next control iter: 1743030628.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030628.383165 s.EH~,'Y"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743030628.383284F (some fields omitted in printout)AQ@Al<@AX~? A.A"&"AAlNA"AZAbAjArAzAAA!J8@AŰ@krAf@A}:A9Ai#ABA ԿAJ<*A:?2Aֽ:AIBA:?JAֽRAI٘i)I9f@Ya G J<C=JJJJD&K  f8Y$V~? f8yFACD7f8) BBE[[pt@[[W~?[-[[[[BZYY i=) ߺIi*e@ª= ֿ))ֿsZ@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030628.403165 s, next control iter: 1743030628.783174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4127", header.stamp.nsec: 0"0 temperature: 13.388762"* salinity: 33.391674", density: 1025.000000"* values[0]: 0.690178"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030628.803165 s.uALH~I,sg3Y"AIDC"Ia G*If@6I>IFIJ"J*J2J:J0?BJ0?nJD95vJZJ@JJ@bJ@RJ@Aq= #@A,D @A-X~? AA]"&"AAƅlNA"AZAbAjArAzAAAED3@AHmmrA elevatorAngleAction: 0.066741< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743030629.643317F (some fields omitted in printout)AG@AM@AX~? A-A!&"AA]?lNA"AZAbAjArAzAAA @Aq]rrA7Xh@AnA8AAAA3ֿA` <*A8 :?2Aֽ:A( BA8 :?JAֽRA( ٘i)I9Xh@Yh G J-<B=JJJJD&K YV~?yGAcD77770f8)B=E[[Kw@[sW~?[:[[[[BZYY i) :Ii6n@t= п))п@tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4128, header.stamp.nsec: 0y+=0 temperature: 13.388508* salinity: 33.391651, density: 1025.000000* values[0]: 0.691301F (some fields omitted in printout)ؽ*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030629.663165 s, next control iter: 1743030630.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030630.063165 s.`H~,V Y"AAfffff @Ae5]OL @ABX~? A"AG!&"AAlNA"AZAbAjArAzAAAD˰ @AXctrARh@A݉2A)A4}A``Ap׿A<*AE :?2A׽:ABAE :?JA׽RAYWe@;zy)2ٓH@@9?`L? =a- g??9Qf?)We@ I٘i)I9h@Y G JQ<C=J[<JJJD&Kx> YOV~?yFHHAznDb7b7[>f8@B)B:E[[x@[PcW~?[`?[[[[BZYY i) `$;Iio@;{= OͿ))OͿǡ@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030630.083165 s, next control iter: 1743030630.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030630.483165 s.u_gH~,Y"AJ"J*J2J:J1?BJ1?nJ95vJA @A ۷ @AyX~? A;#A4!&"AAwkNA"AZAbAjArAzAAA @A2JHwrAoYi@AASO;AąA(An"ADؿAخ<*A:?2A0׽:ABA:?JA0׽RA񼙘٘i)I9Yi@YG J<B=JJJJD&K YvV~?yHAyD7ŧ7Lf8)B[[0#z@[RW~?[2D[[[[BZYY i) cA;Iiq@"= q˿))q˿3@L*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030630.503165 s, next control iter: 1743030630.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4129, header.stamp.nsec: 00 temperature: 13.388325* salinity: 33.391651, density: 1025.000000* values[0]: 0.692360F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030630.903165 s.mH~,͹Y"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066741< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201602 time: 1743030630.903457F (some fields omitted in printout)A ףp=!@A3FY#!@AcX~? Ay'Ae &"AAkNA"AZAbAjArAzAAA؅v@AJ)yrAsi@A8;AEArAA@ٿA^<*A>:?2A9F׽:A)BA>:?JA9F׽RA)９٘i)I9i@YMG J<C=JJJJ(D&K Y_V~?y&HAD77[f8)B7E[[E{@[BW~?[I[[[[BZYY i) ];Ii(t@B= k,ɿ))k,ɿĖ@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030630.923165 s, next control iter: 1743030631.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030631.323165 s.stH~,Y"AJ"J*J2J:JBJnJvJA\!@Aٵݎ!@AMX~? A+AM &"AA4kNA"AZAbAjArAzAAA/c@A~:O|rAACj@Ank;AAQAAEٿA<*AM:?2AC9׽:A#BAM:?JAC9׽RA#９٘i)I9Cj@YG J<JJJJ3D&K YIV~?yZIADZ7Z7[if8?B)B4E[[f|@[U3W~?[ N[[[[BZYY iΜ=) ;Iiv@= ƿ))ƿYU@c*YFF]l:Waiting for Gazebo time sync: latest Gz time: 1743030631.343165 s, next control iter: 1743030631.723176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4130., header.stamp.nsec: 0.0 temperature: 13.388146.* salinity: 33.391632., density: 1025.000000.* values[0]: 0.693313.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030631.743165 s.W{H~,~Y"AAGz"@AMf!@A8X~? A`0A8 &"AA8kNA"AZAbAjArAzAAApW@A]2(NrAj@A;AIYA~>A ZA ڿA*<*A4:?2A׽:AuBA4:?JA׽RAu񼙘٘i)I9j@YG JU<JJJJ=D&K Yg3V~?y IADb77wf8)B[[}@[$W~?[S[[[[BZYY i) *;Iiz@ = /Ŀ))/ĿO@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030631.763165 s, next control iter: 1743030632.143180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030632.163165 s.}H~,q Z"AJ"J*J2J:J1?BJ1?nJ9:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075494< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743030632.163317F (some fields omitted in printout)A"@Ae"@A"X~? A5A &"AAukNA"AZAbAjArAzAAAHKOR@A'{%rA#k@A7eAsAAA vۿA롄<*A(:?2Acֽ:AKBA(:?JAcֽRAKY$l@ysٓH 5? Y? +@U ?K?l]_?)$l@ I٘i)I9#k@YG J<B=Jq;JJJHD&KUx> YV~?y% JA CD77f8)B1E[[~@[W~?[4X[[[[BZYY i) t;IiS{@M = Cf¿))Cf¿Jv@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030632.183165 s, next control iter: 1743030632.563188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743030632.583165 s. 或H~,&S%Z"AAR"@Aj2m"@A X~? A9A&"AAUkNA"AZAbAjArAzAAAZ3?A5gۃrA?k@AvۻA!A%AA p:ܿAR<*AW9?2A(ֽ:ABAW9?JA(ֽRA٘i)I9k@Y`G J<C=JJJJSD&K Y V~?yBeJADb7\f8>B)B.E[[@["W~?[i][[[[BZYY i) g;Ii}@!= 3$))3$@yԄ=*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743030632.603165 s, next control iter: 1743030632.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4131, header.stamp.nsec: 00 temperature: 13.387959* salinity: 33.391605, density: 1025.000000* values[0]: 0.694198F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030633.003165 s.z H~,U4@Z"AJ"J*J2J:JBJnJvJAp= W#@AU<#@A$W~? A>A\$&"AA6kNA"AZAbAjArAzAAA-V6?A rA[l@A(AAaA`ҀAܿA<*Av9?2Aֽ:ABAv9?JAֽRA٘i)I9l@YG Jt<JJJJ^D&K YdU~?y_JAD777f8)ޯB[[t@[V~?[b[[[[BZYY i) # elevatorAngleAction: 0.075494< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743030633.423272F (some fields omitted in printout)A(\#@AE|#@AW~? ACA-&"AAkNA"AZAbAjArAzAAA#?A>&rA tl@A٫A?(AA3A3ݿAy<*A9?2Aֽ:AWBA9?JAֽRAW٘i)I9tl@YG J#<JJJJhD&K Y U~?y}%KAīD)7ŧ7f8)گB+E[[@[V~?[h[[[[BZYY i)  YyU~?yU2KAoګDb77f8/B)įB)E[[]#@[[V~?[r[[[[BZYY i) = elevatorAngleAction: 0.075494< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743030634.683261F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ%@A# $@AϩW~? ASA&"AAjNA"AZAbAjArAzAAA n?AR>۔rAXm@A!<AK쎽ARA`Q@A߿A=<*A9?2A#8׽:AmBA9?JA#8׽RAm٘i)I9m@YG J<C=JJJJD&K Y>U~?y9(LAD7f8.B)B&E[[ݲ@[1V~?[px[[[[BZYY i) uL elevatorAngleAction: 0.084524< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743030635.943313F (some fields omitted in printout)AzG&@AX4-&@ArW~? AdAH&"AAMgjNA"AZAbAjArAzAAAz\D~?AZ9rA?o@A3AkgA> A>AAO<*A(9?2AŨֽ:ASt BA(9?JAŨֽRASt ٘i)I9?o@YG J<JJJJD&K  g8YrU~? g8y=MBMAD777g8)B[[^@[͛V~?[h[[[[BZYY i) az["AJ"J*J2J]"xFailed to acquire real or simulated CTD data within timeout.:J1BJ-"(Communications FaultnJvJ! ! ! ! ! A3333&@A&@AC`W~? AjA&"AAKjNA"AZAbAjArAzAAAgeA?SҢrAo@AIA㘘A At߿A@JA&<*A 9?2Acֽ:ABA 9?JAcֽRAYm.y@& yCٓHhg?? IW `&?`p?=Q?)m.y@ I٘i)I9o@YG J<J!mJJJD&KFx> YbU~?yTMA Dj7j7]g8)B!E[[@[V~?[3[[[[BZYY i)  elevatorAngleAction: 0.084524< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743030637.203280F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp='@AH'p'@A=W~? AvA&"AAjNA"AZAbAjArAzAAADAGP6rAp@AEAACRA Y޿AAY6<*A[9?2Aֽ:A&yBA[9?JAֽRA&y٘i)I9p@YG J<JJJJɬD&K YBU~?y cvNA%D77{72g8-B)BE[[ @[TyV~?[[[[[BZYY i) AbrATeq@A`;AAA ݿA 2:A_<*Ab9?2A[׽:ABAb9?JA[׽RA٘i)I9eq@YG JD<JJJJԬD&K Y2U~?yNjNA/D777^@g8)B[[z@[nV~?[䠨[[[[BZYY i)  elevatorAngleAction: 0.084524< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743030638.463311F (some fields omitted in printout)A(@AM(@A/ W~? AA}&"AAhiNA"AZAbAjArAzAAA]oAnȵrAFr@Au;AA_\A}ܿAA3<*A9?2A ׽:AUBA9?JA ׽RAUY @rfymH;ٓH@zw޿`^?`툠?9n޿~@?ݴ?~?`?) @ I٘i)I9r@YG J<JJJJD&KMx> Y`U~?yMyOAfED ]g8)B[[곇@[ZV~?[[[[[BZYY i)  elevatorAngleAction: 0.084524< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743030639.723281F (some fields omitted in printout)A(\*@AajK)@AgV~? AuA&"AAxiNA"AZAbAjArAzAAAbX߹rA_g!rAZct@AAAχAٿAA<*Af9?2Ajֽ:AmBAf9?JAjֽRAm٘i)I9ct@YG J]<JJJJ D&K YT~?y~QAeD777 g8.B)BE[[\@[=V~?[][[[[BZYY i)  YT~?yVQAzD77g8)B[[v@[,V~?[˨[[[[BZYY i) 9\"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084524< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743030640.983312F (some fields omitted in printout)AQ+@A=~o7+@AV~? AAdm&"AAHiNA"AZAbAjArAzAAA6AP(|rAhv@AGcF:A._A'A I׿A{^A~h<*AȠ9?2A6ֽ:ABAȠ9?JA6ֽRA٘i)I9hv@YG J:<JJJJ*D&K YT~?ysaRAD g8-B)zBE[[0@[$V~?[-Ҩ[[[[BZYY i) r))>.@@p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030641.843165 s, next control iter: 1743030642.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030642.243165 s.#H~,q\"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.093557< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743030642.243306F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz,@Aaz,@AV~? AwǩA&"AAiNA"AZAbAjArAzAAA;xAwwrAnwx@A΀;A4ڴAHA[ԿA A <*A9?2Aֽ:AnBA9?JAֽRAn٘i)I9wx@Y9G J9<JJJJJD&K Y T~?ySADb77 g8)jBE[[Ǫ@[V~?[S[[[[ZZZZ¸>BZYY i¸> ֨) G YڠT~?y5ɨ@TAD`g8)dB[[7@[1V~?[[[[[ZZZZBZYY i) H~,\"AJ"J*J2J:JBJnJvJA(\B.@AMy(.@AhV~? AAՑ&"AARhNA"AZAbAjArAzAAA4q׎AєrA0{@AEEλA)vAA BѿA A/<*AM9?2Alֽ:ApBAM9?JAlֽRAp٘i)I9{@Y,G J=JJJJuD&K YNT~?ysUAЬD777`h8.B)QBE[[ݎ@[U~?[W[[[[ZZZZBZYY i) JJJJD&Kw> YzT~?yMVADŧ7b7 4h80B)HBE[[@[U~?[ [[[[ZZZZBZYY i`) N5vJA= ף/@A/@AjFV~? AcAA&"AAhNA"AZAbAjArAzAAAt AsA}@A<A;A ܿA eY˿A`pA &<*A,9?2A/aֽ:A8,y<BA,9?JA/aֽRA8,y<٘i)I9}@YG J/X<B=JJJJD&K YoT~?yVAD7Ph8/B)@BE[[@[+U~?[[[[[ZZZZBZYY iƠ) 7J{B[[@[zU~?[ [[[[ZZZZBZYY i) ۡf]]"AJ"J*J2J:J5?BJ5?nJ>5vJAz0@An-0@A@8V~? AAR&"AAQhNA"AZAbAjArAzAAA1' AD sA9~@AY&A=AU׿A`ǿAA7:*A9?2A`ֽ:Aa<BA9?JA`ֽRAa<٘i)I99~@YG J{;JJJJD&K YdT~?y*VADamh81B)?BE[[+@[)U~?[<'[[[[BZYY i) NQ]"AA333331@Av1@A1V~? AAz&"AASxhNA"AZAbAjArAzAAA00R A?^sA8~@AA۫-=AKԿAſAxA*A9?2AJֽ:A<BA9?JAJֽRAJJJD&Kw> YfbT~?yVAԿD77{7{h8)[[@[7U~?[-[[[[BZYY iRBh) A5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056704< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743030647.283294F (some fields omitted in printout)AQ1@Af1@A#,V~? A"A &"AAohNA"AZAbAjArAzAAA<23MA\,sAC~@AAZU=AcҿAÿA~AE˻*Aў9?2Aֽ:A<BAў9?JAֽRA<٘i)I9~@YG J냻JJJJ˭D&K Y_T~?y'iVA&D7ŧ7 h8,B);B[[E@[U~?[4[[[[BZYY i) `305vJAL3@Atys23@AV~? AiBAv &"AARhNA"AZAbAjArAzAAAzk'A!&sAn|@A>O <AWJ=AgǿAA~AAK(*A9?2A7ֽ:A==BA9?JA7ֽRA==Y@žǿyH=+ <ٓH ?@Q?@U `ǃ?(ʲ IJى??)@ I٘i)I9|@YG JĐJ =JJJD&Kw> Y_XT~?yJUUAǿQDb77ch8)FB[[y@[U~?[O[[[[BZYY i) w;Ii*@)@7= S))Sƛ@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030649.003165 s, next control iter: 1743030649.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030649.383165 s.ؕH~,#X^"AAQ3@A!<83@AV~? AlJA &"AALhNA"AZAbAjArAzAAAOgG&(ASx+sA)|@AN+;Al=A1ſA$APA*Aפ9?2AWfֽ:A^=BAפ9?JAWfֽRA^=٘i)I9)|@YyG JߞJJJJD&K YXT~?ySTA\D7h8)KBE[[@[YU~?[V[[[[BZYY i) h;Ii@J6= 9O))9O(@fԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030649.403165 s, next control iter: 1743030649.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4148", header.stamp.nsec: 0"0 temperature: 13.567809"* salinity: 33.375000", density: 1025.000000"* values[0]: 0.580385"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030649.803165 s.vAH~,wgs^"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743030649.803285F (some fields omitted in printout)Aq= #4@A1~ 4@A;V~? AtRA4= &"AAMHhNA"AZAbAjArAzAAA U4~HA-_0sA[{@AAiĜ=AŇ¿ARA]A**A9?2ATֽ:Ar=BA9?JATֽRAr=٘i)I9{@Y#G JkJJJJ D&K YXT~?y~\TAfD77 h8)OB[[@[U~?[L][[[[BZYY i)  ;Iim@N6= EJ))EJ@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030649.823165 s, next control iter: 1743030650.203175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030650.223165 s.gH~,H^"AA(\4@Ai9Cu4@AV~? AZA@ &"AADhNA"AZAbAjArAzAAAdmbAPFH5sA {@A˿A =A#޿A<AgAO*Ao9?2APֽ:A =BAo9?JAPֽRA =٘i)I9 {@YG J4JJJJD&K Y>YT~?yLe&TAqDb77bh8)SB[[ǿ[ U~?[d[[[[BZYY i) ;IiV@06= [hF))[hF[hF٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030650.243165 s, next control iter: 1743030650.623190 s, wait time: 0.380025 s rAdjusting time to match Gazebo time: 1743030650.643165 s.}ЩH~,$*^"AJ"J*J2J:Jg?BJg?nJ5vJAG4@AN 4@AwV~? AbA &"AAAhNA"AZAbAjArAzAAAbH+vA$d3:sAxz@A A利=A|<ANA`oA1*A~9?2A<ֽ:Aa =BA~9?JA<ֽRAa =٘i)I9xz@YrG J̮JJJJ!D&K YYT~?ynSA|D7{7h8)XB[[ſ[vU~?[j[[[[BZYY i) F;Iin@^O6= 'A))'A'A٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030650.663165 s, next control iter: 1743030651.043180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4149, header.stamp.nsec: 00 temperature: 13.568100* salinity: 33.374996, density: 1025.000000* values[0]: 0.579711F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030651.063165 s.H~,J ^"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743030651.063281F (some fields omitted in printout)Afffff5@AT~OL5@AaV~? AjAe&"AA?hNA"AZAbAjArAzAAAFAe?sAcy@ArۻA=AJAGZAtA*A9?2Aֽ:A=BA9?JAֽRA=Y_@#yǹ=bܻٓH?`?3?Ŵbü?zA Tw{?)_@ I4I٘i)I9y@YG JȰJ\;JJJ,D&K.x>  i8Y\T~? i8yvXSADŧ77 i8)]BE[[[Tÿ[?U~?[q[[[[BZYY i) d ;Ii@E5= ۘ=))ۘ=ۘ=תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030651.083165 s, next control iter: 1743030651.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030651.483165 s.y_H~,^"AJ"J*J2J:JR?BJR?nJ5vJA5@Aַ5@AV~? ArA&"AA^>hNA"AZAbAjArAzAAAJ6l AE DsAlNy@ALmA=AA NA wA4*A9?2Aֽ:A)=BA9?JAֽRA)=٘i)I9Ny@YG JJJJJ7D&K Y_T~?yRAD{7{7ci8)aB[[[iU~?[lx[[[[BZYY i) JR:Ii@v4= /9))/9/9ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030651.503165 s, next control iter: 1743030651.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4150, header.stamp.nsec: 00 temperature: 13.568388* salinity: 33.374996, density: 1025.000000* values[0]: 0.579022F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030651.903165 s."ȽH~,^"AA ףp=6@AGW#6@AV~? AzA[*&"AA=hNA"AZAbAjArAzAAAgmADHsAx@AA;A=AA`|?A@5xAz*A9?2Akֽ:AD=BA9?JAkֽRAD=٘i)I9x@Y`G JJJJJBD&K YcT~?yWRA CDŧ7b7'i8)fB[[꾿[U~?[4[[[[BZYY i) $M9Ii@k3= ;4));4;4ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030651.923165 s, next control iter: 1743030652.303182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743030652.323165 s.vėH~,%_"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743030652.323282F (some fields omitted in printout)A\6@Am6@AHV~? AׂA&"AA1>hNA"AZAbAjArAzAAA6kqAMsAW!x@Ȧ<A;=AA@8?A;vAx*A9?2AR`ֽ:A=BA9?JAR`ֽRA=٘i)I9!x@YG JڲJJJJLD&K Y*fT~?yRAD776i8)kBE[[i[U~?[[[[[BZYY i) \x%IiH@x3= X0))X0X0ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030652.343165 s, next control iter: 1743030652.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4151*, header.stamp.nsec: 0*0 temperature: 13.568650** salinity: 33.374989*, density: 1025.000000** values[0]: 0.578312*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030652.743165 s.W˗H~,/_"AAGz7@A}i6@AMV~? A銪A&"AAM?hNA"AZAbAjArAzAAA.!xAiVzRsAƍw@A;AU=A\A_?A@qAoЬ*A9?2A[|ֽ:A:=BA9?JA[|ֽRA:=٘i)I9w@YG JJJJfEJWD&K YSiT~?y֙QAD777dDi8)pB[[~[)U~?[Œ[[[[BZYY i) ʺIi5@;x3= ++))++++ ˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030652.763165 s, next control iter: 1743030653.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030653.163165 s.t}җH~,qJ_"AJ"J*J2J:JBJnJvJA7@Ae7@AV~? AAQ&"AA7AhNA"AZAbAjArAzAAARV@eA_#7WsAv@A2;Aso=AAh?AjA%*AN9?2Aֽ̱:A<BAN9?JAֽ̱RA YQoT~?ypRQADRi8)tB[[UI[U~?[[[[[BZYY i) "Ii;@`72= ς'))ς'ς'ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030653.183165 s, next control iter: 1743030653.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030653.583165 s.ؗH~, Se_"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743030653.583306F (some fields omitted in printout)AR7@A'jin7@AV~? AA3&"AAChNA"AZAbAjArAzAAA>vUKA=\sAvv@An,bAÍ=A A ?AbaA,*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9vv@YG JJJJJmD&K YPuT~?y PAǭD77ai8-B)yBE[[[U~?[?[[[[BZYY i)  `Iio@21= #))##dêYFFF]Waiting for Gazebo time sync: latest Gz time: 1743030653.603165 s, next control iter: 1743030653.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4152, header.stamp.nsec: 00 temperature: 13.568937* salinity: 33.374992, density: 1025.000000* values[0]: 0.577645F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030654.003165 s.| H~,]4_"AJ"J*J2J:JBJnJvJAp= W8@AU<8@AV~? AA&"AAvGhNA"AZAbAjArAzAAAmM,A"΋asAu@A<Aw=AgAߴ?AJUAeΘ*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9u@YG JJJJJwD&K YN{T~?yPAҭDb7doi8)~BE[[M۳[IU~?[[[[[BZYY i) IiӉ@+k0= ))7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030654.023165 s, next control iter: 1743030654.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030654.423165 s.uH~,_"AA(\8@A<08@AV~? AAUz&"AAKhNA"AZAbAjArAzAAA1AWwfsAJtu@AhAՎ=ḀA?AFAIϔ*A9?2Aֽ:A <BA9?JAֽRA <٘i)I9tu@YdG JJJJJD&K YMT~?yB/PAܭD{7Z7}i8)B[[[U~?[[[[[BZYY ir) \Iig@>/= K5))K5K5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030654.443165 s, next control iter: 1743030654.823180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4153, header.stamp.nsec: 00 temperature: 13.569180* salinity: 33.374992, density: 1025.000000* values[0]: 0.577038F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030654.843165 s.H~,_"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743030654.843329F (some fields omitted in printout)AHz.9@AΩd9@AZV~? AA&"AAPhNA"AZAbAjArAzAAAB4ukA;YksA0t@AA\=A:As?A5A*AT9?2Aֽ:AՅ<BAT9?JAֽRAՅ<٘i)I9t@YG JēJJJJD&K YLT~?yĩOADŧ7b7i8)B[[ui[FU~?[r[[[[BZYY i) ̻Ii*@]/= ))fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030654.863165 s, next control iter: 1743030655.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030655.263165 s.H~,#_"AA9@An9@A!V~? A AA&"AAVhNA"AZAbAjArAzAAAؖ&MA`s7psA(~t@A;A =AAy?A!A|*A9?2Aֽ:A<BA9?JAֽRA YT~?y<ͩtOAD{7j7ei8.B)BE[[2[U~?[[[[[BZYY i) 1Ii@F.= 7U))7U7UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030655.283165 s, next control iter: 1743030655.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 41542, header.stamp.nsec: 020 temperature: 13.5693892* salinity: 33.3750002, density: 1025.0000002* values[0]: 0.5764542F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030655.683165 s.lH~,^_"AJ"J*J2J:JBJnJvJAQ:@AC9@A?&V~? AªA&"AA]hNA"AZAbAjArAzAAA,IAp usAt@Aq;Ah =AAp?A A7*A9?2A`{ֽ:A:+<BA9?JA`{ֽRA:+<٘i)I9t@YG J_JJJJD&K Y֘T~?yթOADŧ77i8/B)BE[[[U~?[Ȼ[[[[BZYY i) .Ii@,=  ))  yM]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030655.683165 s, next control iter: 1743030656.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743030656.103165 s.H~,`"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743030656.103297F (some fields omitted in printout)A= ףp:@A^V:@Ax+V~? AʪA &"AAehNA"AZAbAjArAzAAAe\A3!&eysAs@A( <AV=ApA %?AAJF*A9?2Aֽ:Ar=BA9?JAֽRAr=٘i)I9s@Y<G JJJJJD&K YT~?yݩNAD77{7i8)B[[G[ U~?[p©[[[[BZYY i)  IiK@M+= n))nnϺYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030656.123165 s, next control iter: 1743030656.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030656.523165 s.H~,|!`"AJ"J*J2J:JBJnJvJA(:@A<:@A61V~? AҪAuq&"AAKmhNA"AZAbAjArAzAAA~e A5[|~sAs@Aۯ;Aƈ=AR☿A??AA猼*Ax9?2Aֽ:A=BAx9?JAֽRA=٘i)I9s@YG JJJJJD&K YaT~?y[dNADŧ7b7ei8)B[[[U~?[ɩ[[[[BZYY i) W]$Ii@&+= '))''OYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030656.563165 s, next control iter: 1743030656.923179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4155, header.stamp.nsec: 00 temperature: 13.569588* salinity: 33.375000, density: 1025.000000* values[0]: 0.575906F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030656.943165 s.bdH~,l]<`"AAzG;@AAJ-;@Ax7V~? AڪA%"AA[vhNA"AZAbAjArAzAAA99 A7Ι}sA@r@AAR=A:A@ ?A@A*A9?2Auֽ:A==BA9?JAuֽRA==٘i)I9r@YG J1JJJJîD&K Y&T~?y NAD77{7i80B)BE[[F[V~?[ϩ[[[[BZYY i) 3IiP@Τ*= ))gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030656.963165 s, next control iter: 1743030657.343186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743030657.363165 s.H~,y>W`"AJ"J*J2J:J\?BJ\?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743030657.363305F (some fields omitted in printout)A3333;@Aod;@A>>V~? AlA9?%"AA3hNA"AZAbAjArAzAAASɘp A]"f4@sA-,r@ARǻAD@=AYAl?A`A*A9?2AQ׽:ANM=BA9?JAQ׽RANM=Y$@ y?=n*ȻٓH`?>?J?@.`? `q @x?)$@ I٘i)I9,r@YdG J`J|;JJJͮD&KBx> YT~?yMA'Dj7j7i8)B E[[[ [; V~?[A֩[[[[BZYY i) cCIi@ (= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030657.383165 s, next control iter: 1743030657.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4156&, header.stamp.nsec: 0&0 temperature: 13.569800&* salinity: 33.374996&, density: 1025.000000&* values[0]: 0.575365&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030657.783165 s.WH~,r`"AAQ<@A^ؚ<@AEV~? A-AW%"AAҊhNA"AZAbAjArAzAAAH<{P AsAiq@AT Ar=AA`3D?A wAA*A89?2A׽:Ao=BA89?JA׽RAo=٘i)I9q@YG J#B=JJJJخD&K YT~?yMMA2D77gi8)B[[Yџ[ V~?[ܩ[[[[BZYY i) RIi@'= %))%%ĪYFFF]: Waiting for Gazebo time sync: latest Gz time: 1743030657.823165 s, next control iter: 1743030658.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743030658.203165 s.J "J *J 2J :J :?BJ :?nJ `5vJ #H~,.`"AAףp=<@A6Φ#p<@ASMV~? AA]%"AA8hNA"AZAbAjArAzAAA$k' ApدsA>q@A%ϻA=A<\A&?A "RA*A9?2Aֽ:Ax=BA9?JAֽRAx=٘i)I9>q@YG JgC=JJJJD&K YT~?yLA=Dj7SI7i81B)B#E[[[8V~?[R[[[[BZYY i) LGbIi@^&= 0))0侩0%ǪYFFF]m:Waiting for Gazebo time sync: latest Gz time: 1743030658.223165 s, next control iter: 1743030658.603185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743030658.623165 s.e)H~,`"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083957< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743030658.623297F (some fields omitted in printout)A)\<@A<@AUV~? AAXz%"AA`hNA"AZAbAjArAzAAA^ A$[sATp@A[fA=Ah΋A ?A +Aח*AL9?2Aֽ:A =BAL9?JAֽRA =٘i)I9p@YG JpJJJJD&K  j8YT~? j8yLAHD777 j8)B[[T[V~?[[[[[BZYY i) -qIi<@Jl%= f3۾))f3۾f3۾&ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030658.643165 s, next control iter: 1743030659.023184 s, wait time: 0.380019 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4157 , header.stamp.nsec: 0 0 temperature: 13.569972 * salinity: 33.374996 , density: 1025.000000 * values[0]: 0.574824 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030659.043165 s.0H~,`"AJ"J*J2J:JBJnJvJA{Ga=@Ar/0G=@Ai^V~? A#AZ%"AAJhNA"AZAbAjArAzAAAE'C AgNsA@p@A;AF=AAA @U?AwAĎ*AR9?2Auֽ:A' =BAR9?JAuֽRA' =٘i)I9@p@Y9G JEJJJJD&K YjT~?y2LARD77fj82B)B$E[[K['V~?[L[[[[BZYY i) ՖIi@$= v1Ҿ))v1Ҿv1ҾJͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030659.083165 s, next control iter: 1743030659.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030659.463165 s.Y7H~,`"AA=@AR=@AgV~? AArQ%"AAhNA"AZAbAjArAzAAA0A+AsAPo@A4? <A=AܮA@7?AAH*A9?2A[dֽ:At_=BA9?JA[dֽRAt_=Y,f@py=M <ٓH`8?`? :?@˴ y?Y`'?"?),f@ I٘i)I9o@YG JvJea<JJJD&Kx> YlT~?yKA]D)77)j8)B'E[[ז[0V~?[[[[[BZYY i) &Iix~@"= .?ɾ)).?ɾ.?ɾy׫ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030659.503165 s, next control iter: 1743030659.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4158, header.stamp.nsec: 00 temperature: 13.570176* salinity: 33.375008, density: 1025.000000* values[0]: 0.574274F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030659.883165 s.J y=H~"J*J2J,I`"A:J?BJ?nJ'5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083957< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743030659.883286F (some fields omitted in printout)AQ8>@Ai>>@AwqV~? A*A%"AA[hNA"AZAbAjArAzAAA L2qAZm!u+sA4o@A;A* =AA ?A@A *A9?2A}ֽ:Ak=BA9?JA}ֽRAk=٘i)I94o@YG JJJJJD&K YpU~?yE&fKAhD7{78j8)B[[i[8V~?[ [[[[BZYY i) Ii{@>!= A))AA+ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030659.903165 s, next control iter: 1743030660.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030660.303165 s.VDH~,wga"AAq= ף>@A{ >@A{V~? AA&-%"AAhNA"AZAbAjArAzAAA A&ʼsAn@AH;AC=AiAs?AvAb*A9?2Ajֽ:A\=BA9?JAjֽRA\=٘i)I9n@YAG JꤼJJJJD&K YqU~?y-KArD77fFj83B)B*E[[#W[AV~?[e[[[[BZYY i) GIiy@$= <))<<W٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030660.323165 s, next control iter: 1743030660.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4159*, header.stamp.nsec: 0*0 temperature: 13.570393** salinity: 33.375008*, density: 1025.000000** values[0]: 0.573681*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030660.723165 s.KH~,H.a"AJ"J*J2J:JBJnJvJA(\?@A5E>@AzV~? AA%"AAfhNA"AZAbAjArAzAAA ![A$N/sA4n@ArAS7=A>}}As?ABAv5*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9n@YG JJJJJ#D&K Yt$U~?y5JA}DTj84B)ïB+E[[[0KV~?[ [[[[BZYY i)  ؞Iix@X= /))//ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030660.743165 s, next control iter: 1743030661.123178 s, wait time: 0.380013 s t$U~?) 5 rAdjusting time to match Gazebo time: 1743030661.143165 s.c/RH~,=*Ia"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083957< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200562 time: 1743030661.143337F (some fields omitted in printout)AGz?@AG`?@AV~? A6&A %"AAhNA"AZAbAjArAzAAAͮABsAm@A2~AY=A1xA?A A?*A9?2Aֽ:AQ=BA9?JAֽRAQ=٘i)I9m@YG JJJJJ.D&K Yw2U~?y2=4JAD{7j7cj85B)ɯB.E[[ύ[UV~?[[[[[BZYY i) #iIiv@= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030661.163165 s, next control iter: 1743030661.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030661.563165 s.XH~,N da"AJ"J*J2J:JBJnJvJAffff?@Aoh?@AjV~? Ak-A{%"AA` iNA"AZAbAjArAzAAAXALsAl@AuA|d=ATrA?AEA#*Aɘ9?2Aֽ:A*=BAɘ9?JAֽRA*=Y@k&sy*c=8ٓH ?M?@?@T ?`֦ o洿f?)@ I٘i)I9l@Y:G JB=J<JJJ9D&Kw> YBU~?y\DIA&sD77jqj8)ͯB[[5[ _V~?[*[[[[BZYY i) ƭIins@= )) YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030661.583165 s, next control iter: 1743030661.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4160, header.stamp.nsec: 00 temperature: 13.570601* salinity: 33.375031, density: 1025.000000* values[0]: 0.573047F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030661.983165 s._H~,~a"AAQ@@Ar7@@AV~? A4An%"AAqiNA"AZAbAjArAzAAAiAϣTasA`l@AqAy/=AmAai?AA}*AE9?2A˪ֽ:A =BAE9?JA˪ֽRA =٘i)I9`l@YG JC=JJJJDD&K YNSU~?yKSIA CD77j86B)ӯB1E[[eK[iV~?[O[[[[BZYY i)  Iip@8=  ))  YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030662.023165 s, next control iter: 1743030662.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030662.403165 s.&fH~,͙a"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083957< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743030662.403284F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@@Abb@@A:V~? A;Ai%"AA61iNA"AZAbAjArAzAAAi7AQsA&k@A;A{=AhA3˼Iisj@D = ao))aoaoYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030663.263165 s, next control iter: 1743030663.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030663.663165 s.zH~,qa"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083957< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743030663.663306F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4162, header.stamp.nsec: 00 temperature: 13.571115* salinity: 33.375027, density: 1025.000000* values[0]: 0.571633F (some fields omitted in printout)AB@A A@AV~? ACPA%"AAmiNA"AZAbAjArAzAAAL4JĝARKsAi@A;AJ=A+7YA@?AAμ*A.9?2ABxֽ:A!=BA.9?JABxֽRA!=Ys@Yy=;ٓH F?H?@J?`'?l`+ڏt?@T?)s@ I٘i)I9i@YFG J-μJ6<JJJoD&K x> Y8U~?ygGAYȮD{7{7j88B)B8E[[-/[bV~?[t4[[[[BZYY i) !nҼIif@9= 9]))9]9]GYFFF]Waiting for Gazebo time sync: latest Gz time: 1743030663.683165 s, next control iter: 1743030664.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030664.083165 s.DH~,Sb"AJ"J*J2J:JBJnJvJARkB@A\vQB@AHV~? AVAO%"AA)iNA"AZAbAjArAzAAAoAcsA~i@ApAα=ASA@Ww?A@ \A4ϼ*A[9?2Ajֽ:A=BA[9?JAjֽRA=٘i)I9i@Y G J2ϼB=JJJJyD&K YU~?y+nGAӮD77ij8)B[[{[V~?[V:[[[[BZYY i) >ټIic@=  J)) J JkYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030664.103165 s, next control iter: 1743030664.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030664.503165 s.H~,v4 b"AAp= B@AB@A'V~? A]A%"AAXiNA"AZAbAjArAzAAA5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.093115< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743030664.923323F (some fields omitted in printout)A(\BC@A&8(C@Av W~? AdASM%"AA/iNA"AZAbAjArAzAAAVߖiGAV$hsAg@A A9<=AIIA?A Agм*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9g@Y G JϼB=JJJJD&K Y3U~?y]{'FADj8)B[[+r[V~?[E[[[[ZZ¸BZYY i¸|=) ԼIi^@= @5&))@5&@5&]YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030664.943165 s, next control iter: 1743030665.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030665.343165 s.<BA9?JA3vֽRA#>ٓH`h? ? a?`~?E9@`B?)*@ I٘i)I9Df@Y% G JzJvJJJD&Kx>  k8YU~? k8y;EA?D7k8) BBE[[ii[V~?[SQ[[[[ZZBZYY i) :Ii8Y@M = f))ffy=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030665.783165 s, next control iter: 1743030666.163184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030666.183165 s.ˢH~,Nb"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082881< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743030666.183260F (some fields omitted in printout)AQD@AkD@A;W~? AwA%"AAiNA"AZAbAjArAzAAA`b6A!sAie@Ao;A=A#9A ;?A`A%*A~9?2ASֽ:A<BA~9?JASֽRA<٘i)I9ie@Y G J`JJJJD&K YH V~?y獪DAD7)7k8)B[[d[V~?[V[[[[ZZBZYY i) IiU@W= `ݽ))`ݽ`ݽy'=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030666.203165 s, next control iter: 1743030666.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030666.603165 s.84H~,b"AJ"J*J2J:J?BJ?nJ5vJA= ףD@AM~D@ALW~? A*}A_%"AAjNA"AZAbAjArAzAAAZ֟׿AV}.sAFd@A\<A*t=AS4A?AA*Aw9?2A>Rֽ:Ajp<BAw9?JA>RֽRAjp<٘i)I9d@Y G JjJJJJD&K YV~?yߓRDAD777hk8=B)BFE[[+`[FV~?[j\[[[[ZZBZYY i) IiR@0=  ݸ)) ݸ ݸ YFFF]q:Waiting for Gazebo time sync: latest Gz time: 1743030666.623165 s, next control iter: 1743030667.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4165 , header.stamp.nsec: 0 0 temperature: 13.571922 * salinity: 33.375061 , density: 1025.000000 * values[0]: 0.569215 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030667.023165 s.ZH~,{b"AA(\E@ABE@A&^W~? A+AB%"AA+jNA"AZAbAjArAzAAAHUĿAC]sAc@A3a;Al/=AO/A@N?AGA9%м*A89?2Au^ֽ:AKb;BA89?JAu^ֽRAKb;3I٘i)I9c@Y G JGB=JJJJůD&K Y4V~?yؙCADŧ7b7+k8>B)BIE[[G[[)W~?[a[[[[ZZBZYY i) &Ii[P@X= `))``]b"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082881< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743030667.443306F (some fields omitted in printout)AzE@A,E@AoW~? AAu%"AA]FjNA"AZAbAjArAzAAA@ۉ?A3sA1c@Ab:A<A^T*A/?AA˧*Ar9?2A_ֽ:AdJBAr9?JA_ֽRAdJ⺙٘i)I91c@YF G JC=JJJJϯD&K YkIV~?yџiCA)D{7{7:k8)$B[[V[lW~?[Fg[[[[ZZBZYY i) 6Ii,N@= @l\))@l\@l\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030667.463165 s, next control iter: 1743030667.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4166, header.stamp.nsec: 00 temperature: 13.572234* salinity: 33.375031, density: 1025.000000* values[0]: 0.568355F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030667.863165 s.+H~,>b"AA33333F@ASF@AW~? A׎A%"AAajNA"AZAbAjArAzAAAȘ ?A z}sAb@AA<Ac%A ?AڠAqNz*A[9?2ANֽ:ABA[9?JANֽRAYyh@v"%y}<kٓH?@=?@?1=?ڜSVnuu ?)yh@ I٘i)I9b@Y G JxJ8JJJگD&Kv> Y `V~?y ]CA"%3Dŧ77jHk8))BLE[[0R["W~?[l[[[[ZZBZYY i=) [Ii7J@k= @ ))@ @ aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030667.903165 s, next control iter: 1743030668.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030668.283165 s.@RĘH~,c"AJ"J*J2J:JBJnJvJAQF@AfF@A}W~? AA%"AA:}jNA"AZAbAjArAzAAAhA?AN!sA Yb@AA޻AA*?AJAx&*Aã9?2A;ֽ:AjBAã9?JA;ֽRAj٘i)I9Yb@Y G JWJJJJD&K YvV~?ynQCA>D77Vk8?B),BOE[[wM[2W~?[q[[[[ZZBZYY i=) sIiF@.D< s))ss)YFFF]o:Waiting for Gazebo time sync: latest Gz time: 1743030668.303165 s, next control iter: 1743030668.683176 s, wait time: 0.380011 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 41676, header.stamp.nsec: 060 temperature: 13.5723646* salinity: 33.3750696, density: 1025.0000006* values[0]: 0.5678076F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030668.703165 s.ԺʘH~,-c"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743030668.703266F (some fields omitted in printout)Aףp= G@AJ ,F@AZW~? AAs%%"AAjNA"AZAbAjArAzAAAY?AAVsA"b@A4AAA 1?A@߿A}*A[9?2A>ֽ:A`GBA[9?JA>ֽRA`G٘i)I9"b@Y G JB=JJJgEJD&K YKV~?yDCAIDb77ek8).B[[H[CW~?[v[[[[ZZBZYY i) K_IivC@0< :))::)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030668.723165 s, next control iter: 1743030669.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030669.123165 s.7јH~,]Gc"AJ"J*J2J:JBJnJvJA)\uG@Aޒ[G@AW~? A|A$%"AA[jNA"AZAbAjArAzAAAw?AsAb@A]A+iA\A?A01߿A{A*A 9?2A_ֽ:A˼BA 9?JA_ֽRA˼٘i)I9b@Y G JGC=JJJJD&K YV~?y 8CATD777jsk8AB)1BSE[[D[SW~?[ |[[[[BZYY i) 9KIi@@ٞ< <))<<yoB=2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030669.143165 s, next control iter: 1743030669.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030669.543165 s.IؘH~,bc"AA{GG@A1G@A)W~? AˤA4Q%"AAjNA"AZAbAjArAzAAAc0EM͝?A>vsAb@Af\A;A2A)DA?A@x޿A'3N;*AЕ9?2Aֽ:AZBAЕ9?JAֽRAZ弙٘i)I9b@Y G JB:JJJJD&K YV~?y[,CA^Dj7Z7k8BB)VE[[S?[dW~?[[[[[BZYY i) 7IiG>@B< =))== o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030669.563165 s, next control iter: 1743030669.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4168, header.stamp.nsec: 00 temperature: 13.572360* salinity: 33.375069, density: 1025.000000* values[0]: 0.567679F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030669.963165 s.|ޘH~,}c"AJ"J*J2J:JS?BJS?nJb5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743030669.963321F (some fields omitted in printout)ALH@AZ2H@AW~? AA%"AAjNA"AZAbAjArAzAAAzȁd?A tA5b@A;AWA) A`m$?AoݿA;;*A9?2AOֽ:ABA9?JAOֽRAY@1 yW;ٓH@cZ?@? e?*G?P?~?e?)@ I٘i)I95b@Y G J2;JIJJJD&Kw> YV~?y꾪tCA iD)7b7k8)0BZE[[:[uW~?[텪[[[[BZYY ig=) ێ'Ii:@;< f=))vf=f=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030669.983165 s, next control iter: 1743030670.363182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743030670.383165 s.H~,'c"AAQH@AfF?H@AZW~? AA%"AAkNA"AZAbAjArAzAAAh!ۅ;?A$i#tAob@A<A0xA;A p?AܿA^(<*A29?2Aֽ:A݁BA29?JAֽRA݁٘i)I9ob@Y G J<JJJJD&K YV~?yxêCAtD7)7kk8)/B[[#5[W~?[[[[[BZYY i)  ?IiY6@h< M=)) M=M=ާ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030670.403165 s, next control iter: 1743030670.783175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4169&, header.stamp.nsec: 0&0 temperature: 13.572216&* salinity: 33.375088&, density: 1025.000000&* values[0]: 0.567873&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030670.803165 s.zAH~,gc"AJ"J*J2J:JBJnJvJAq= #I@AOC I@A X~? AA%%"AA /kNA"AZAbAjArAzAAAj"?A$tABb@A^;AA-A ]?A:ܿAg<*A9?2Aս:AF BA9?JAսRAF ٘i)I9b@Y G JE<JJJJ%D&K Y&W~?yȪDADb77k8CB),B]E[[#1[W~?[t[[[[BZYY i߆=) Ii2@8<  b=)) b= b=0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030670.843165 s, next control iter: 1743030671.203179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030671.223165 s.gH~,Hc"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065856< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743030671.223296F (some fields omitted in printout)A(\I@A.EDuI@AX~? AA%"AAzNkNA"AZAbAjArAzAAA @AC8 tA{-c@ALJAAmA@?A5|ۿA,<*A9?2A]ս:Af BA9?JA]սRAf ٘i)I9-c@YC G J[<JJJJ0D&K YXW~?y̪NDAD7{7k8)*B`E[[Z,[֫W~?[[[[[BZYY i) ?=Ii/@E< =))==yg=*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030671.243165 s, next control iter: 1743030671.623174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743030671.643165 s.vH~,*c"AJ"J*J2J:JBJnJvJAGI@AI@A5X~? AjAi%"AA`nkNA"AZAbAjArAzAAAQy<@AprP tAc@A]A흖AaNA NI?A5ڿAz<*A9?2Aq_ս:AkBA9?JAq_սRAk٘i)I9c@Y G J<JJJJ;D&K Y3W~?y%ѪDA CD77kk8EB)(BdE[[W'[W~?[[[[[BZYY i) ̻Iii-@< >))>>yQU=*YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4170, header.stamp.nsec: 00 temperature: 13.571964* salinity: 33.375088, density: 1025.000000* values[0]: 0.568366F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743030671.663165 s, next control iter: 1743030672.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030672.063165 s.H~,V d"AAfffffJ@ANLJ@AJX~? AA%"AAkNA"AZAbAjArAzAAACp n@AY3tA1d@A AAAA@6?AٿAr!<*A_9?2Aս:ABA_9?JAսRAYB@Zy ٓH ]?s?-rVۿ?Ow?>??)B@ I٘i)I91d@Y G J<J[JJJFD&Kqu> YMW~?yԪDADZ7Z7k8)#B[[_"[LW~?[[[[[BZYY i) hvIi)@r< >))}>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030672.083165 s, next control iter: 1743030672.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030672.483165 s.u_H~,d"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.248026> elevatorAngleAction: 0.065856< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743030672.483281F (some fields omitted in printout)J"J*J2J:JBJnJvJAJ@A8ԷJ@Af`X~? AYƫA9%"AAkNA"AZAbAjArAzAAA)@Ag^tAd@A>봻AXݛALvؾA?A`%ٿA<*A9?2A%ս:A(BA9?JA%սRA(٘i)I9d@Y9 G Jx<JJJJPD&K YfW~?yتeEAD)7b7k8)BgE[[[rW~?[c[[[[BZYY i) OIi-%@ n< <,>)) <,><,><*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030672.523165 s, next control iter: 1743030672.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4171, header.stamp.nsec: 00 temperature: 13.571630* salinity: 33.375122, density: 1025.000000* values[0]: 0.569052F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030672.903165 s. H~,9d"AA ףp=K@ApW#K@AvX~? AʫAc%"AAkNA"AZAbAjArAzAAA͍A @A/UTtASe@AF9APA;A?AkRؿA<*A9?2A ս:A$P BA9?JA սRA$P ٘i)I9Se@Y G J<JJJJ[D&K YW~?yuܪEADŧ7kk8FB)BjE[[.[W~?[[[[[BZYY i) QdIi!@B< @?>))@?>@?>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030672.943165 s, next control iter: 1743030673.303182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743030673.323165 s.wH~,)Td"AJ"J*J2J:JBJnJvJA\K@A~7ݎK@AߌX~? AΫA%"AA{kNA"AZAbAjArAzAAA~A` @AB{tAe@A;A.כAFþA,Q?Aτ׿A<*A9?2Ahս:APABA9?JAhսRAPA٘i)I9e@Y G Jf<JJJJfD&K  l8YW~? l8y:4FAD{7{7l8)BmE[[U[ X~?[ũ[[[[BZYY i) 4 (Ii@< R>))R>R>\*Y9 YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030673.343165 s, next control iter: 1743030673.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4172*, header.stamp.nsec: 0*0 temperature: 13.571245** salinity: 33.375126*, density: 1025.000000** values[0]: 0.569813*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030673.743165 s.WH~,uod"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065856< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743030673.743294F (some fields omitted in printout)AGzL@A3bK@AX~? AҫAv%"AAlNA"AZAbAjArAzAAAͅ @AtAyf@A) <AAAg+A?AJֿA)h<*A9?2Aѫս:ABA9?JAѫսRA٘i)I9yf@YE G J<JJJJqD&K YW~?yFAʯD777l8)BpE[[u[& X~?[ѭ[[[[BZYY i) }׺Ii@o< 0hf>))0hf>0hf>*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030673.763165 s, next control iter: 1743030674.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030674.163165 s.|}"H~,qd"AJ"J*J2J:JBJnJvJAL@AAweL@AhX~? A֫Av%"AA7lNA"AZAbAjArAzAAA\@A%;AtAP g@A|;AA⮾A?A:տA6R<*A%9?2Aս:A!kBA%9?JAսRA!kY@p#yJ;ٓH?p?lhտ&? F? S?z??)@ I٘i)I9 g@Y G J`<B=J:JJJ{D&K6u> YW~?yGA#ԯD)7ŧ7ml8)B[[ [s4X~?[[[[[BZYY i) 9=Ii\@< y>))t{y>y>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030674.183165 s, next control iter: 1743030674.563182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743030674.583165 s.(H~,Sd"AARL@A؀qL@AX~? A<ګAP,%"AAYlNA"AZAbAjArAzAAA_*#+@A|utAٞg@Aȯ:AAA?A@ տA!l<*AE9?2A8ս:A^BAE9?JA8սRA^٘i)I9g@Y G J<C=JJJJD&K YOW~?yiGA߯Dŧ7b7-l8GB) BsE[[[IX~?[[[[[BZYY i) Q9IiO@E< >)) >>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030674.623165 s, next control iter: 1743030674.983177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4173, header.stamp.nsec: 00 temperature: 13.570832* salinity: 33.375111, density: 1025.000000* values[0]: 0.570550F (some fields omitted in printout)*OW~?)* rAdjusting time to match Gazebo time: 1743030675.003165 s.} 0H~,a4d"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065856< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743030675.003301F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= WM@A1\=M@AX~? AݫA|%"AA+}lNA"AZAbAjArAzAAA @Aϓ!tAH1h@AA#A[A6?A@k+ԿAAح<*A'9?2AdeԽ:A[BA'9?JAdeԽRA[٘i)I91h@YQ G JB<B=JJJJD&K YX~?yGAD777))8\>8\>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030675.043165 s, next control iter: 1743030675.403183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743030675.423165 s.u6H~,d"AA(\M@A%}M@AY~? A/Ay%"AAĠlNA"AZAbAjArAzAAA*P6+@A0KrJ#tA}h@A A!AXA{h?AVӿA2<*A9?2AԽ:A`BA9?JAԽRA`٘i)I9h@Y G J<C=JJJJD&K YX~?y7HAD77mJl8)ByE[[[sX~?[˼[[[[BZYY i) m;Iik @G< 5>))5>5>=*Y&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030675.463165 s, next control iter: 1743030675.823178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4174, header.stamp.nsec: 00 temperature: 13.570466* salinity: 33.375145, density: 1025.000000* values[0]: 0.571302F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030675.843165 s.))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030675.883165 s, next control iter: 1743030676.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030676.263165 s.DH~,e"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065856< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743030676.263288F (some fields omitted in printout)AN@A^N@Af0Y~? AA!%"AAlNA"AZAbAjArAzAAAM o@Am'tAi@A#!At㌽AwA ?AѿA]<*A9?2Aս:ABA9?JAսRAYQ@2]wyX㌽Մ!ٓHS? A?hﰿXο?@I?ܘ?_$d@?)Q@ I٘i)I9i@YSG J<Jwh<JJJD&Ku> YSX~?yHA]w D7777gl8)BE[[u7[ X~?[ê[[[[BZYY i=) ;Ii @;J< A>)) yA>A>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030676.283165 s, next control iter: 1743030676.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 41752, header.stamp.nsec: 020 temperature: 13.5700942* salinity: 33.3751752, density: 1025.0000002* values[0]: 0.5720642F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030676.683165 s.lJH~,R+e"AJ"J*J2J:JBJnJvJAQO@A4 N@AHY~? AA%"AA mNA"AZAbAjArAzAAA)`@A8,>q)tA]j@ABu;A㟊ADbA?AпAט<*A9?2A! ֽ:AbBA9?JA! ֽRAb٘i)I9]j@YG J<JJJJD&K YnX~?y[IAD7mul8)B[[uVھ[)X~?[ƪ[[[[BZYY i) ܞ;Ii@@< Aɷ>)) Aɷ>Aɷ>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030676.683165 s, next control iter: 1743030677.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743030677.103165 s.#QH~,Fe"AA= ףpO@ATVO@AaY~? AOAC%"AA`2mNA"AZAbAjArAzAAA@=Ϧ@A&+tAj@AZ<A4A"MA "?A`]ϿAlg<*A8 :?2A&Խ:ABA8 :?JA&ԽRA٘i)I9j@YG J)<JJJJǰD&K YcX~?yIAD{7{7ƒl8JB)BE[[Ucо[X~?[ɪ[[[[BZYY i) ;IiN?02< a>))a>a>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030677.123165 s, next control iter: 1743030677.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030677.523165 s.WH~,|ae"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074684< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743030677.523331F (some fields omitted in printout)J"J*J2J:JBJnJvJA(O@A#O@AyY~? AAx%"AAWmNA"AZAbAjArAzAAA:!"@Aj,tAGSk@AF<AA0R9AkI?A ͿA 7<*A3:?2AԽ:A[BA3:?JAԽRA[٘i)I9Sk@Y9G Jk<JJJJѰD&K YѥX~?y1JA*D7777l8)BE[[ _ƾ[lX~?[̪[[[[BZYY i) D;Ii?$< >))>>y.=*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030677.543165 s, next control iter: 1743030677.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4176, header.stamp.nsec: 00 temperature: 13.569720* salinity: 33.375168, density: 1025.000000* values[0]: 0.573081F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030677.943165 s.\d^H~,S]|e"AAzGP@AM/1-P@ArY~? AtAF%"AA|mNA"AZAbAjArAzAAA<@A$}J.tAkk@A ~;AA%Am?A`6̿Au<*A:?2Af)ս:AsBA:?JAf)սRAs٘i)I9k@YG Jݍ<JJJJܰD&K Y=X~?yLvJA5D77ml8)BE[[L[X~?[Ϫ[[[[BZYY i) m;Ii?6< >))>>b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030677.963165 s, next control iter: 1743030678.343181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030678.363165 s.J "J *J eH~2J:J?,>e"ABJ?nJ5vJA3333P@A P@A`Y~? AA%"AAmNA"AZAbAjArAzAAAB@A= /tABl@AAAA]?A ONʿAk<*A9?2AmNս:ANBA9?JAmNսRANY@~y뻊Z(ٓHۛ? ??@?@W?`T?yc0?)@ I٘i)I9Bl@YG J-<B=J$;JJJD&Kt> Y7X~?yJA@DĮl8)BE[[EU[Y~?[nҪ[[[[BZYY i) 4 ))pxq>q>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030678.383165 s, next control iter: 1743030678.763180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4177&, header.stamp.nsec: 0&0 temperature: 13.569386&* salinity: 33.375195&, density: 1025.000000&* values[0]: 0.573406&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030678.783165 s.[kH~,e"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242618> elevatorAngleAction: 0.074684< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743030678.783291F (some fields omitted in printout)AQQ@A.Q@AsY~? AA%"AAxmNA"AZAbAjArAzAAAr@AKxF1tAal@AAA\A?A~ȿAr<*A9?2Anս:A BA9?JAnսRA ٘i)I9l@YG J<C=JJJJD&K Y.X~?y1KAJD)7ŧ7l8)BE[[iI['Y~?[ժ[[[[BZYY i) :)) M>M>¾*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030678.803165 s, next control iter: 1743030679.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030679.203165 s.sH~,e"AJ"J*J2J:J?BJ?nJ5vJAףp=Q@A8'pQ@AY~? AAX%"AAmNA"AZAbAjArAzAAA!̤@AfK2tA::m@A AkAϽA?AƿA<*A:?2A4Խ:A!BA:?JA4ԽRA!٘i)I9:m@YaG J<JJJJD&K Y$Y~?yKAUD7{7nl8)BE[[*[?Y~?[qת[[[[BZYY i) -,))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030679.223165 s, next control iter: 1743030679.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030679.623165 s.UyH~,Te"AA)\Q@A)Q@AY~? AA%"AAnNA"AZAbAjArAzAAA~A[1@Ad p3tA=m@A~A'A A@<*A:?2AԽ:A=SBA:?JAԽRA=S٘i)I9m@YG J<JJJJD&K Y1Y~?yAKA`D77l8)ܯBE[[5[WY~?[٪[[[[BZYY i) ;))%>%>*Y#YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743030679.643165 s, next control iter: 1743030680.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4178 , header.stamp.nsec: 0 0 temperature: 13.569035 * salinity: 33.375214 , density: 1025.000000 * values[0]: 0.574061 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030680.043165 s.H~,f"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074684< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743030680.043321F (some fields omitted in printout)A{GaR@Ap]1GR@AyZ~? AAw%"AA_;nNA"AZAbAjArAzAAAn{ @A"-x"|4tAj6n@Ad:AʐAyA@?AJ¿A$<*A- :?2A5ս:A)+BA- :?JA5սRA)+٘i)I96n@YG J5<JJJJD&K YMY~?y~HLAkDZ7Z7l8)دB[[[pY~?[۪[[[[BZYY i) %K YOiY~?yLA"'uD{7{7pl8)ԯBE[[s+[EY~?[ݪ[[[[BZYY i) &oZ elevatorAngleAction: 0.083644< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743030681.303266F (some fields omitted in printout)Aq= ףS@A*ŎƉS@At]Z~? AA !%"AA̯nNA"AZAbAjArAzAAA-:B!@A`| 7tAo@A<;AAA KG?A⛺AF<*A:?2AnԽ:Af BA:?JAnԽRAf ٘i)I9o@YG J<JJJJ2D&K YY~?yoMADj7j7m8)̯BE[[ V[Y~?[[[[[BZYY i) 1x elevatorAngleAction: 0.083644< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743030682.563278F (some fields omitted in printout)J"J*J2J:JBJnJvJAffffT@AЛTT@AZ~? AAW%"AAT%oNA"AZAbAjArAzAAAV&#@A 7ŵ8tAPq@A׋ A/ASU<*A:?2A*ս:A>BA:?JA*սRA>Y@o t=yC. ٓH^?%e?{? wp?@?l?)@ I٘i)I9Pq@YG J<B=JnLJJJRD&Kt> Y[Y~?yNA t=Db77>m8)BE[[#[6Z~?[[[[[BZYY i) COADpLm8)BE[[;[Z~?[[[[[BZYY i) š elevatorAngleAction: 0.083644< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4202402 time: 1743030683.823498F (some fields omitted in printout)A\(V@A:V@A&Z~? AA %"AAoNA"AZAbAjArAzAAA:W%@ABl2~9tAs@A|;A5.A=A`?A`AIJ<*A :?2AԽ:A-BA :?JAԽRA-٘i)I9s@YG J{<JJJJsD&K YJZ~?y2OA˰D{7Z7im8)BE[[V[RRZ~?[[[[[BZYY i) [A?A>YA0<*A:?2Ahս:AԆBA:?JAhսRAԆ٘i)I9s@YGG J@<JJJJ}D&K YgZ~?yDPAְD{7owm8HB)BE[[6n[ylZ~?[<[[[[BZYY i) v=A`E?A?A&j<*AP9?2Aս:ABAP9?JAսRAY+@(#>yV|<ٓHf{?yĿUR???@D?@!? m?)+@ I٘i)I9;t@YG JW<B=JxJJhEJD&Kt> YZ~?yDPA#>Dƅm8)BE[[ :[cZ~?[[[[[BZYY i) 珸 elevatorAngleAction: 0.083644< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419980J2 time: 1743030685.083279"JF (some fields omitted in printout)*J2J:JBJnJvJARkW@AbmQW@AIG[~? AAJ%"AApNA"AZAbAjArAzAAAvJ$c'@A9d4b9tAt@A\Hb;AZAz8>A+|?Ar?A<*A9?2Aս:ABA9?JAսRA٘i)I9t@YG Jg<C=JJJJD&K YȞZ~?y)QAD777m8)BE[[˼[Z~?[[[[[BZYY i) A%"AAb9pNA"AZAbAjArAzAAA) A(@AU%9tAǀu@A5AȏAL>Aw?A ?AcD<*A :?2A-Խ:ABA :?JA-ԽRA٘i)I9u@YkG Je<JJJJD&K YZ~?ywQAD77pm8GB)BE[[^*[Z~?[[[[[BZYY i) H2A o?A yP?Ap<*A:?2AdԽ:ABA:?JAdԽRA٘i)I9,v@YG J<JJJJD&K Y~Z~?y RADưm8)BE[[<[uZ~?[ [[[[BZYY i)  elevatorAngleAction: 0.083644< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743030686.343283F (some fields omitted in printout)AHzX@AXmX@A>[~? AA%"AA)pNA"AZAbAjArAzAAAY*;)@Ax2a8tAsv@Aq AA8u>A(d?A:\?ApL<*AW9?2AԽ:A-BAW9?JAԽRA-٘i)I9v@Y>G J<JJJJD&K YZZ~?yRA D77m8FB)BE[[#=[,Z~?[[[[[BZYY i=) &AV?A ?AT<*A9?2Afս:A BA9?JAfսRA Yu)=_>y!Ա+ٓH ?#uпŵ`k?j? @^3?s ?)u)= I٘i)I9w@YG J<B=JJJJD&Kt> Y [~?yeRA_>Dj7j7rm8)B[[q=[ [~?[i[[[[BZYY i) /A FF?A?A6<*A9?2Aս:A~/BA9?JAսRA~/٘i)I9=x@YG J(<C=JJJJɱD&K Y([~?y!nSA!D)7b7m8)B¹E[[=[/%[~?[[[[[ZZZZ¸>BZYY i¸>ꪽ) A4?Adν?A'<*A39?2AԽ:AwBA39?JAԽRAw٘i)I9x@YG J<JJJJӱD&K YD[~?ySA+D77j7m8KB)ŹE[[=[?[~?[[[[[ZZZZBZYY i) Fb; c?))c?c?y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030687.623165 s, next control iter: 1743030688.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4186 , header.stamp.nsec: 0 0 temperature: 13.565819 * salinity: 33.375336 , density: 1025.000000 * values[0]: 0.580368 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030688.023165 s.ZH~,|h"AA(\Z@ABZ@Af[~? AA0%"AA$qNA"AZAbAjArAzAAA?Z\+@A^F5tAy@A: <AzAM>A|?A`?A<*A:?2A5ս:AaBA:?JA5սRAa٘i)I9y@YG J'<JJJJޱD&K Y__[~?y]TA6Db7b7qm8)}BȹE[[ =[Z[~?[![[[[ZZZZBZYY i) bt*; h?))h?h?yC-½*Y= YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030688.063165 s, next control iter: 1743030688.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030688.443165 s.8H~,B]h"AJ"J*J2J:JBJnJvJAzZ@AI Z@A\~? A AL%"AAKqNA"AZAbAjArAzAAAnfH,@A 4tAz@A);A@Aˮ>A?AP?Ax<*A:?2Akս:A<渼BA:?JAkսRA<渼٘i)I9z@Y{G JA=JJJJD&K  n8Yz[~? n8yVTAADj7{7n8JB)vB˹E[[>[u[~?[[[[[ZZZZBZYY i) G; n?))n?n?y@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030688.463165 s, next control iter: 1743030688.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4187, header.stamp.nsec: 00 temperature: 13.565332* salinity: 33.375347, density: 1025.000000* values[0]: 0.581335F (some fields omitted in printout).z[~?).V rAdjusting time to match Gazebo time: 1743030688.863165 s.+ H~,>7h"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083454< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743030688.863269F (some fields omitted in printout)A33333[@AS[@Ao/\~? A^Ak%"AA;rqNA"AZAbAjArAzAAAp,@A/3tAU]{@A8:AwAu>A`?A`?A<*A:?2Aս:A#mBA:?JAսRA#mY)>>ywOO9:ٓH I٘i)I9]{@YG J<J=JJJD&Ku> Y[~?y8(UA>LDb77n8GB)lB͹E[[)>[[~?[[[[[ZZZZBZYY i) FʡW; {s?))Z}{s?{s?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030688.903165 s, next control iter: 1743030689.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030689.283165 s.4RH~,Rh"AJ"J*J2J:JBJnJvJAQ[@AM[@AH\~? AA%"AAqNA"AZAbAjArAzAAAr|-@ALq2tAb|@ARA[3AD>A ?A8?A<*A:?2Axս:AYֻBA:?JAxսRAYֻ٘i)I9|@YsG J<JJJJD&K Y[~?y{UAVD7{7q#n8)fB[[m?>[O[~?[5[[[[ZZZZBZYY i) a)/; x?)) x?x?sy*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030689.303165 s, next control iter: 1743030689.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4188., header.stamp.nsec: 0.0 temperature: 13.564824.* salinity: 33.375332., density: 1025.000000.* values[0]: 0.582438.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030689.703165 s.ҺH~,mh"AAףp= \@A -[@Ab\~? AADz%"AAqNA"AZAbAjArAzAAAm.@A]e1tA|@A)A2ڼAO|>Aʵ?A5?AŮ<*AA*:?2ApԽ:A:BAA*:?JApԽRA:٘i)I9|@YG J<B=JJJJ D&K Y[~?yUAaDb771n8FB)`BйE[[U>[;[~?[[[[[ZZZZBZYY i) Y?ir ; R~?))R~?R~?9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030689.723165 s, next control iter: 1743030690.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030690.123165 s.J "J *J 2J 7!H~:J7?BJ7?,]h"AnJw5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083454< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743030690.123273F (some fields omitted in printout)A)\u\@A%[\@A {\~? AgA%"AAAqNA"AZAbAjArAzAAAĭ.@Aim0tARJ}@AA*A>A.?A`.?A1<*A$:?2Aս:Al <BA$:?JAսRAl <٘i)I9J}@Y)G J$<C=JJJJD&K Yb[~?y!VAlD@n8)[BӹE[[_l>[1[~?[ߪ[[[[ZZZZBZYY i) : ?))??d)Yn#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030690.143165 s, next control iter: 1743030690.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030690.543165 s.I(H~,âh"AA{G\@AmY.\@A\~? AAL%"AA6 rNA"AZAbAjArAzAAA]XZ)E/@Aoh+.tA(}@A_UAl;A>A`u?A``?A3<*AY:?2AXս:A!i~<BAY:?JAXսRA!i~<٘i)I9}@YdG Jf<JJJJD&K Y[~?ytVAwD7777rNn8EB)XBֹE[[7q>[,[~?[ݪ[[[[ZZZZBZYY i) jiҗ: ;?));?;?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030690.563165 s, next control iter: 1743030690.943182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4189, header.stamp.nsec: 00 temperature: 13.564404* salinity: 33.375381, density: 1025.000000* values[0]: 0.583228F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030690.963165 s.z.H~,h"AJ"J*J2J:JN?BJN?nJ5vJAL]@Aǘ2]@A\~? AA4%"AA0rNA"AZAbAjArAzAAA/@A6].-tAg}@A0;AƬ<AP>AQ?A~?A;*A`:?2Aս:Ai<BA`:?JAսRAi^>y}Ŭ<9;ٓHɤ?@_ܿ?^?? Rt?FFt??)Zx> I٘i)I9}@YG Jf<B=JF>JJJ)D&Kt> Y+\~?yܪWVA^>D7\n8DB)UBٹE[[{>[\~?[S۪[[[[ZZZZBZYY i Cr) Y[WA`o*?A|H?A<5e:*A9:?2A!ս:A{:<BA9:?JA!սRA{:<٘i)I9~@YG J(n;C=JJJJ4D&K Y1\~?yت:VA CDkn8CB)SBܹE[[>[1\~?[ت[[[[BZYY iB) AMEYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030691.403165 s, next control iter: 1743030691.783184 s, wait time: 0.380019 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4190", header.stamp.nsec: 0"0 temperature: 13.564147"* salinity: 33.375385", density: 1025.000000"* values[0]: 0.583646"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030691.803165 s.yA[2L\~?[=֪[[[[BZYY i) ?3[f\~?[cӪ[[[[BZYY i) 2!&tAc}@ADBAz=AP ?AR?A O?Aw4*A9?2AWս:A =BA9?JAWսRA =٘i)I9}@YRG JJJJJTD&K Y}\~?yͪUAD77n8?B)RBE[[#>[{\~?[VЪ[[[[BZYY i) $?y_=ٓH ?? ?@Z?`{?,u}@S?)> I٘i)I98}@YG JIJ=JJJ_D&Kwv> Yo\~?yhȪUA?D777sn8>B)TBE[[>[\~?[#ͪ[[[[BZYY iUj) r>;I] I?iF5 g?))g?g?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030693.083165 s, next control iter: 1743030693.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030693.483165 s.y_WH~,^i"AJ"J*J2J:JBJnJvJA_@A}^Է_@A>]~? AޫAx%"AA sNA"AZAbAjArAzAAA(Zɥ1@AhH8"tA|@AnA# =Aj?A`3C?A ?Au*A9?2A0gֽ:A=BA9?JA0gֽRA=٘i)I9|@YG J uJJJJjD&K YS\~?yê*UA±D{7{7ɲn8)WB[[>[\~?[ɪ[[[[BZYY i) {4;II?i# n?))n?n?ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030693.503165 s, next control iter: 1743030693.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4192, header.stamp.nsec: 00 temperature: 13.564088* salinity: 33.375427, density: 1025.000000* values[0]: 0.583395F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030693.903165 s.]H~,yi"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057210< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743030693.903291F (some fields omitted in printout)A ףp=`@A xa#`@A{U]~? A+۫A%"AA1sNA"AZAbAjArAzAAAa /1@AB tAX|@AÂA=A?A )?A ?AZ*Ah9?2Aiֽ:A>=BAh9?JAiֽRA>=٘i)I9X|@YG J׏B=JJJJuD&K Y:\~?yTA̱D777n8=B)ZBE[[#>[\~?[ƪ[[[[BZYY i) (;II?iWB s??))s??s??DӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030693.923165 s, next control iter: 1743030694.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030694.323165 s.xdH~,-i"AJ"J*J2J:JM?BJM?nJ5vJA\`@A;܎`@Al]~? A׫A%"AATsNA"AZAbAjArAzAAAkM32@A`KtA{@A\:Av=Av?A*?A@y?A*A9?2AYֽ:A=BA9?JAYֽRA=٘i)I9{@YCG JC=JJJJD&K Y\~?yOrTAױD77sn8[\~?[Kª[[[[BZYY i)  ;I/H?iu] e?))e?e?y(jתYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743030694.343165 s, next control iter: 1743030694.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4193*, header.stamp.nsec: 0*0 temperature: 13.564189** salinity: 33.375423*, density: 1025.000000** values[0]: 0.582915*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030694.743165 s.WkH~,qi"AAGza@Ae`@A]~? AӫAh[%"AAwsNA"AZAbAjArAzAAAѥ'x2@A3tA<<{@A;A·=A$?A`?A@?A *A:?2A[Wֽ:AY =BA:?JA[WֽRAY =٘i)I9<{@YG JJJJJD&K Y\~?yTADb7n8;B)aBE[[>[T]~?[D[[[[BZYY i') ;IH?iҽr ?))??٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030694.763165 s, next control iter: 1743030695.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030695.163165 s.z}rH~,qi"AJ"J*J2J:J'?BJ'?nJf5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066481< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743030695.163285F (some fields omitted in printout)Aa@Arnea@Ai]~? AϫA%"AAsNA"AZAbAjArAzAAA)2@AtArz@Ag<AM=A*?Ab?A@cj?AT3*A:?2A?vֽ:A =BA:?JA?vֽRA =Yo'>\,*?yDL=L<ٓH?@"?@?2?@4Ӥ?@A}??)o'> I٘i)I9z@YG J J<JJJD&Kx> Y< ]~?y.SA,*?D777n8)fB[[U>[]~?[[[[[BZYY i) J;I*H?iܾی ?))??GתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030695.183165 s, next control iter: 1743030695.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030695.583165 s.xH~,Si"AARa@AHN&na@A]~? A˫A%"AAsNA"AZAbAjArAzAAA\æ3@A=ctAz@AX¦;Aƙ=A#M/?At$?A(>?Ai/*A:?2Aֽ:A=BA:?JAֽRA=٘i)I9z@Y-G JJJJJD&K Yr!]~?yCSAD{7tn87B)E[[}?[5]~?[[[[[BZYY i) h ;IH?iÝ ?))??ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030695.603165 s, next control iter: 1743030695.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4194, header.stamp.nsec: 00 temperature: 13.564354* salinity: 33.375443, density: 1025.000000* values[0]: 0.582316F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030696.003165 s.J H~"J*J2J,4j"A:J?BJ?nJP5vJAp= Wb@Au: Yux]~?yZQAJD?"D77773o83B)uBE[[=?[ȗ]~?[8[[[[BZYY i) &$ǺIH?iD%ӻ ?))??ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030697.283165 s, next control iter: 1743030697.663180 s, wait time: 0.380015 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 41962, header.stamp.nsec: 020 temperature: 13.5646652* salinity: 33.3754462, density: 1025.0000002* values[0]: 0.5811122F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030697.683165 s.lH~,Zkj"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066481< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743030697.683258F (some fields omitted in printout)J"J*J2J:JBJnJvJAQd@AWc@A^~? AA%"AAatNA"AZAbAjArAzAAA@m^I4@ALtAIw@AxptA=AHI?A?At9?A*A :?2Aֽ:AR/<BA :?JAֽRAR/<٘i)I9Iw@YG JJJJJֲD&K Yʌ]~?y>HQA-Dj7j7Bo80B)vBE[["?[]~?[ᜪ[[[[BZYY i)  IH?i`1 ?))??ªYFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743030697.683165 s, next control iter: 1743030698.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743030698.103165 s.H~,j"AA= ףpd@A'Vd@A1^~? A)A%"AAotNA"AZAbAjArAzAAAF64@AjtAgv@A!;Au=AN?A\?A?A-*A :?2Aֽ:A<BA :?JAֽRA<٘i)I9v@Y0G JԝJJJJD&K Y"]~?y"PA8D77{7uPo8/B)xBE[[(?[]~?[V[[[[BZYY i) Jg^IH?i; l?))l?l?>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030698.123165 s, next control iter: 1743030698.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030698.523165 s.H~,{j"AJ"J*J2J:J?BJ?nJ5vJA(d@Ad@AE^~? AAf%"AAtNA"AZAbAjArAzAAAw4@A tAAv@Ak<A1=A6S?A +7?A@?A@P*A :?2Akֽ:A<BA :?JAkֽRA<٘i)I9Av@YG JכJJJJD&K Yy]~?yPABD^o8-B){BE[[N.?[$]~?[[[[[BZYY i) 鍻IlH?iCr պ?))պ?պ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030698.563165 s, next control iter: 1743030698.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4197, header.stamp.nsec: 00 temperature: 13.564824* salinity: 33.375469, density: 1025.000000* values[0]: 0.580555F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030698.943165 s.^dH~,[]j"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066481< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743030698.943290F (some fields omitted in printout)AzGe@A["-e@AY^~? AAq%"AA0tNA"AZAbAjArAzAAAҖ5@AZܮsAdu@A\;Aԇ=A Y?A?A`v?A*A: :?2Axֽ:Ag<BA: :?JAxֽRAg<1I٘i)I9u@YG J}JJJJD&K Y]~?y{'PAMDZ7SI7!mo8)B[[4?[]~?[[[[[BZYY i) ɟIH?iI' ʽ?))ʽ?ʽ?4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030698.963165 s, next control iter: 1743030699.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030699.363165 s.H~,>j"AJ"J*J2J:J?BJ?nJ5vJA3333e@A*A*e@Am^~? AA0%"AAMtNA"AZAbAjArAzAAA 1U>5@A$XsALEu@Aż;A:R=AzZ^?A?A0?AI*A :?2A. ׽:AB<BA :?JA. ׽RAB Y]~?y/uOAd^?XDb7b7x{o8,B)BE[[:?[4 ^~?[[[[[BZYY i) F˻IH?iV_ ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030699.403165 s, next control iter: 1743030699.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4198&, header.stamp.nsec: 0&0 temperature: 13.564964&* salinity: 33.375469&, density: 1025.000000&* values[0]: 0.580027&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030699.783165 s.ZH~,j"AAQf@A0f@A^~? A8A3%"AAtNA"AZAbAjArAzAAA(x5@A6V sAt@ABoAV,=Ac?A 0E?A3?A1~*A :?2A8׽:Aŷ<BA :?JA8׽RAŷ<٘i)I9t@YG JdC=JJJJ D&K YN]~?yvnrOAcDŧ7ˉo8)B)E[[@?[!^~?[V[[[[BZYY i)  IH?i|aO /?))/?/?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030699.803165 s, next control iter: 1743030700.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030700.203165 s.ÚH~,  k"AJ"J*J2J:Jm?BJm?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077631< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199382 time: 1743030700.203270F (some fields omitted in printout)Aףp=f@A(pf@A^~? AA4%"AAuNA"AZAbAjArAzAAA!n5@A&ˇsA`[t@AA=Ash?AG?A@M?AP*A(:?2AJ׽:A<BA(:?JAJ׽RA<٘i)I9[t@YG J)JJJJD&K Y^~?ygOAmD77!o8'B)BE[[xG?[6^~?[x[[[[BZYY i) J!IQ~H?iQj v?))v?v?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030700.223165 s, next control iter: 1743030700.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030700.623165 s.[ɚH~,m'k"AA)\f@Af@A^~? AAq%"AAi4uNA"AZAbAjArAzAAA9Zk5@A0Kn1sAs@AyA!-=AZ+n?A ܙ?AE?A'у*Az9?2A8׽:A<BAz9?JA8׽RA<٘i)I9s@YuG JꃼJJJiEJ!D&K Y^~?yaNAxD7777vo8&B)BE[[M?[K^~?[;r[[[[BZYY i) ܻI[qH?i qfR ?))??y垽YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030700.643165 s, next control iter: 1743030701.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4199 , header.stamp.nsec: 0 0 temperature: 13.565082 * salinity: 33.375504 , density: 1025.000000 * values[0]: 0.579549 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030701.043165 s.J "J *J 2J :J ]?КH~BJ]?nJ5vJ,Bk"AA{Gag@A52Gg@Aĸ^~? A;A/%"AATPuNA"AZAbAjArAzAAA "6@Af! Y5^~?ySNAwx? CD7777!o8"B)B E[[,FY?[t^~?[yd[[[[BZYY i) 3IKVH?ix$ ք?))ք?ք?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030701.503165 s, next control iter: 1743030701.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4200, header.stamp.nsec: 00 temperature: 13.565190* salinity: 33.375507, density: 1025.000000* values[0]: 0.579120F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030701.883165 s.yݚH~,Ixk"AJ"J*J2J:JA?BJA?nJt5vJAQ8h@A㖼*A9?2Aֽ:A9( =BA9?JAֽRA9( =٘i)I9q@Y G JhJJJJWD&K Yd^~?y7=LAD)7ŧ7"o8)B[[k?[^~?[N[[[[BZYY i) IbI0*H?i52 V?))V?V?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030702.743165 s, next control iter: 1743030703.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030703.143165 s.`/H~,0*k"AAGzi@Ac`i@A _~? AkA/%"AAuNA"AZAbAjArAzAAAY$7@Ay?sAPq@AkAz{=A˭?A?A`g?A*A9?2A׽:Aod =BA9?JA׽RAod =٘i)I9q@YG JܗJJJJaD&K Yt^~?y5LAD7777wo8B)BE[[q?[:^~?[F[[[[BZYY i) qIH?iZ4 "?))"?"?ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030703.163165 s, next control iter: 1743030703.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030703.563165 s.H~,V k"AJ"J*J2J:JBJnJvJAffffi@AYvQi@A_~? ADeA7%"AAeuNA"AZAbAjArAzAAAcET7@AsAp@Ai$ʻA=A:V?A`?A?ANn*A9?2A2׽:AW =BA9?JA2׽RAW =YuZ?1G?y=MʻٓH` ?o??ݏ? n? (Dy I?)uZ? I٘i)I9p@YpG JJ>|<JJJlD&Kmx>  p8YR^~? p8y6.,LAG?òDb77 p8B)B E[[4w?[^~?[9?[[[[BZYY i) sIB H?iOG; ?))??ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030703.583165 s, next control iter: 1743030703.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4202, header.stamp.nsec: 00 temperature: 13.565471* salinity: 33.375523, density: 1025.000000* values[0]: 0.578093F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030703.983165 s.H~,k"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077631< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743030703.983290F (some fields omitted in printout)AQj@A97j@A(-_~? A^A*%"AA vNA"AZAbAjArAzAAA7@Af sAp@AAx=A?AW?A ?A]U*A39?2A/׽:AG =BA39?JA/׽RAG =٘i)I9p@Y G JJJJJwD&K YЏ^~?yz&KAβD777#p8)B[[%~?[^~?[T7[[[[BZYY i)  IG?i>O@ t?))t?t?mԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030704.023165 s, next control iter: 1743030704.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030704.403165 s.&H~,l"AJ"J*J2J:JBJnJvJA ףpj@AWj@A<_~? A XA%"AAvNA"AZAbAjArAzAAA)ͪ37@A0sA(o@A꿻AI=A?AҎ?A_?A٤*A9?2A׽:A=BA9?JA׽RA=٘i)I9o@YG JJJJJD&K YN^~?y_KAٲDw'p8B)BE[[U+?[^~?[H/[[[[BZYY i) #IG?i$D ?))??תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030704.423165 s, next control iter: 1743030704.803179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4203, header.stamp.nsec: 0"0 temperature: 13.565643"* salinity: 33.375530", density: 1025.000000"* values[0]: 0.577521"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030704.823165 s. H~,24l"AA\(k@AS%k@AJ_~? AkQA,%"AAg0vNA"AZAbAjArAzAAA]K/7@A[TsAPo@A#zA=A[?A#?A>?A>5*A9?2A\ֽ:A=BA9?JA\ֽRA=٘i)I9o@YxG JJJJJD&K YΪ^~?yJADb775p8)B[[F?[_~?['[[[[BZYY iƀ)  %IG?igF ?))??1ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030704.863165 s, next control iter: 1743030705.223179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030705.243165 s.H~,mOl"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743030705.243287F (some fields omitted in printout)AGzk@Ajezk@AX_~? AJA%"AAFvNA"AZAbAjArAzAAA Y8@A sA7qn@Ae;A}(=A?A+?A~?Ap *Ad9?2A?ֽ:AGl=BAd9?JA?ֽRAGl=٘i)I9qn@YG JꭼJJJJD&K YM^~?yHJAD77#Dp8B)E[[b?[_~?[[[[[BZYY i) ٵI9G?iқKtG ?))??GܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030705.263165 s, next control iter: 1743030705.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030705.663165 s.H~,qjl"AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4204, header.stamp.nsec: 00 temperature: 13.565829* salinity: 33.375546, density: 1025.000000* values[0]: 0.576903F (some fields omitted in printout)Al@Ak@ALf_~? ACA6%"AA[vNA"AZAbAjArAzAAAd^ 08@ALHsAm@A<Ak=A:?A&?A#?A:ʲ*AW9?2Aֽ:A{=BAW9?JAֽRA{=Yt?%O?y =<ٓH?#rt?l??Lб?a0 j?`6?)t? I٘i)I9m@YG J˱J7<JJJD&K1x> Y4^~?y)'JAO?D7777yRp8)B[[|?[ _~?[[[[[[BZYY i) %IG?idL ?))??HުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030705.683165 s, next control iter: 1743030706.063174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743030706.083165 s.D!H~, Sl"AJ"J*J2J:JBJnJvJARkl@AvSkQl@Aws_~? A<A4%"AAmovNA"AZAbAjArAzAAA\j X8@AK=wasAEm@Ac;As=A*٘?A` S?A`?A2*A9?2AQֽ:Ai=BA9?JAQֽRAi=٘i)I9Em@YhG JJJJJD&K Y^~?y IAD7{7`p8)B[[)?[r._~?[ [[[[BZYY i) 铭IG?i\P ?))??yfYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743030706.103165 s, next control iter: 1743030706.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030706.503165 s.'H~,D4l"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743030706.503280F (some fields omitted in printout)Ap= l@AUl@A+_~? A5AE%"AAvNA"AZAbAjArAzAAAxD~8@AsA߬l@A]:A=Aҁ?A{?AH?Aҵ*AN9?2Aֽ:Ag=BAN9?JAֽRAg=٘i)I9l@Y G JJJJJD&K Y^~?yNIAD#op8B)BE[[m?[;_~?[![[[[BZYY i) IG?i4[S ?))??&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030706.523165 s, next control iter: 1743030706.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4205, header.stamp.nsec: 00 temperature: 13.566030* salinity: 33.375546, density: 1025.000000* values[0]: 0.576242F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030706.923165 s.:.H~,l"AJ"J*J2J:J?BJ?nJ5vJA(\Bm@Ax(m@Ag_~? A.AW%"AAvNA"AZAbAjArAzAAAQ>N8@Ad-sAl@A򕁻A =A+-?A!?A?Ae*A9?2A׽:AoM=BA9?JA׽RAoM=٘i)I9l@YG JJJJJ³D&K Y^~?yHADb77y}p8B)BE[[ٔ?[MH_~?[W[[[[BZYY i) sIG?i"=T 6?))6?6?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030706.943165 s, next control iter: 1743030707.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030707.343165 s.<5H~,l"AAHzm@AyTm@A)_~? Ac'A3\%"AA1vNA"AZAbAjArAzAAA+K8@AJ)TsA>xk@Ab0A=N=AҠ?A`?A ?AMֺ*A'9?2AP׽:A=BA'9?JAP׽RA=٘i)I9xk@YOG J縼JJJJͳD&K Y^~?yuHA$D77j7΋p8)B[[ ?[6T_~?[s[[[[BZYY i) 7üIqG?iT V ?))V ?V ?bYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743030707.363165 s, next control iter: 1743030707.743178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4206*, header.stamp.nsec: 0*0 temperature: 13.566259** salinity: 33.375553*, density: 1025.000000** values[0]: 0.575556*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030707.763165 s.8;H~,#l"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743030707.763283F (some fields omitted in printout)An@AdUm@Aq_~? A A%"AAvNA"AZAbAjArAzAAAe~8@A-GqsAkj@AaA=Al?AJ?A@?A2*A9?2Aֽ:A=BA9?JAֽRA=YK?'X?y=ٓH?2@??@?Z?9\~1?)K? I٘i)I9j@YG J Jl<JJJسD&K?x> Y^~?yFީHAX?.D77$p8B)BE[[4?[e__~?[~[[[[BZYY i) 6'˼I^G?iaX ?))??6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030707.783165 s, next control iter: 1743030708.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030708.183165 s.BH~,s m"AAQn@A-(kn@A>_~? AA.x%"AAqvNA"AZAbAjArAzAAAȍ< 9@AA|BhsAj5j@AKPA%ǰ=A?A % ?Ar?A1:Ǽ*A[9?2A8ֽ:A=BA[9?JA8ֽRA=٘i)I95j@YG JEüJJJJD&K Y0^~?yթGA9D{7{7yp8)B[[:?[i_~?[n[[[[BZYY i) kҼI[LG?i{[ @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030708.203165 s, next control iter: 1743030708.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030708.603165 s.74IH~,&m"AJ"J*J2J:J*?BJ*?nJP5vJA= ףn@AWn@A_~? A\A*%"AAzvNA"AZAbAjArAzAAA0)9@A&j;sA=i@A/4;A(=A?A`)?A@?A^μ*A9?2A ֽ:A=BA9?JA ֽRA=٘i)I9i@Y#G JʼB=JJJJD&K Yb_~?yqͩGADDb77жp8 B)BE[[^?[s_~?[Dة[[[[BZYY i) ̰ټI9G?iͬ0] C@))C@C@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030708.623165 s, next control iter: 1743030709.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4207 , header.stamp.nsec: 0 0 temperature: 13.566501 * salinity: 33.375557 , density: 1025.000000 * values[0]: 0.574867 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030709.023165 s.ZPH~,|Am"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743030709.023290F (some fields omitted in printout)A(\o@AU+Bo@Ae_~? A Af%"AAvNA"AZAbAjArAzAAA:;UG9@ARsAh@Aɝ;A$=A?AH?A`T?Aռ*A@9?2AbZֽ:A =BA@9?JAbZֽRA =٘i)I9h@Y G JѼC=JJJJD&K Y_~?yũFAOD77$p8)įB[[?[|_~?[ϩ[[[[BZYY i) I.'G?i𬿉X]] <-@))<-@<-@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030709.043165 s, next control iter: 1743030709.423183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743030709.443165 s.3VH~,-]\m"AJ"J*J2J:JBJnJvJAzo@A񝘭o@A_~? A[A+%"AAYvNA"AZAbAjArAzAAAc9@AҹsAD&h@Az<A=A?Ad?A?ATټ*AR9?2Aaֽ:A=BAR9?JAaֽRA=٘i)I9&h@YJ G JB׼JJJJD&K Y_~?y,FAYD77{7zp8 B)ȯBE[[?[/_~?[ũ[[[[ZZ¸BZYY i¸=) HռIG?i1\ y@))y@y@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030709.463165 s, next control iter: 1743030709.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4208, header.stamp.nsec: 00 temperature: 13.566768* salinity: 33.375565, density: 1025.000000* values[0]: 0.574075F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030709.863165 s.+]H~,>wm"AA33333p@A`p@A_~? AAe%"AA+wNA"AZAbAjArAzAAASwz~9@AMsAng@AT;A]=AOR?A?A#?AGcۼ*A9?2A֐ֽ:AX<=BA9?JA֐ֽRAX<=YLS?_?y=mW;ٓHo?@_g2(?G? ?`P?`wr??)LS? I٘i)I9ng@Y G JgڼB=J;<JJJ D&Kx> Y._~?yEA_?dDp8)ίB[[Ǫ?[ό_~?[][[[[ZZBZYY i) ȼIG?il C_ E@))E@E@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030709.903165 s, next control iter: 1743030710.263181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743030710.283165 s.4RdH~,m"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082517< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743030710.283282F (some fields omitted in printout)J"J*J2J:JBJnJvJAQp@A^p@A_~? A!AT%"AA9wNA"AZAbAjArAzAAA.Ɨ9@A.g1nsAf@A⃭A ɰ=A?A &?AH?Ac*A9?2A:ֽ:A <BA9?JA:ֽRA <٘i)I9f@Y_ G JC=JJJJD&K Y"_~?yZ5EAoD77$p8B)үBE[[(?[_~?[[[[[ZZBZYY i) !ټIF?iį` Z@))Z@Z@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030710.303165 s, next control iter: 1743030710.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 42092, header.stamp.nsec: 020 temperature: 13.5670802* salinity: 33.3755802, density: 1025.0000002* values[0]: 0.5732222F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030710.703165 s.պjH~, m"AAףp= q@A5-p@A_~? ApA%"AAwNA"AZAbAjArAzAAAG9@ACsAne@AػAP=A?A Q?A`l?A9*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9e@Y G JB=JJJJ#D&K Y'_~?yDAyD)7ŧ7{p8)ٯB[[0?[ޙ_~?[u[[[[ZZBZYY i) .İIF?i\a ] @))] @] @yZ=֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030710.723165 s, next control iter: 1743030711.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743030711.123165 s.3qH~,Lm"AJ"J*J2J:J?BJ?nJ5vJA)\uq@Aϟ6[q@A_~? AA2%"AA +wNA"AZAbAjArAzAAAS+19@A'sAd@A+ASz=AD?A|?A ?A*Al9?2Atֽ:Ahg<BAl9?JAtֽRAhg<٘i)I9d@YV G J+C=JJJJ.D&K  q8Yd-_~? q8y?DA CD7777 q8)߯B[[~4?[F_~?[[[[[ZZBZYY i) IAF?iNe` * @))* @* @QYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743030711.143165 s, next control iter: 1743030711.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030711.543165 s.IxH~,m"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082517< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743030711.543296F (some fields omitted in printout)A{Gq@Aiq0q@A_~? A۪A%"AA5wNA"AZAbAjArAzAAA?& }GU? ?>?2?3S?)^? I٘i)I9c@Y| G J"ļB=JJJJCD&KXx> Y^5_~?yCAk?D{7{7|)q8B)BE[[~?[ا_~?[[[[[ZZBZYY i=)  elevatorAngleAction: 0.069379< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743030712.803277F (some fields omitted in printout)Aq= #s@Az s@AK`~? ATĪA,&"AAeQwNA"AZAbAjArAzAAAˠh:@AmAusAbb@A>;A?A?A Z?A`@?A:*Aһ9?2APֽ:A$4hBAһ9?JAPֽRA$4h٘i)I9b@Y G JlJJJJYD&K Y:_~?ywQCAD&Fq8)B[[,?[c_~?[jy[[[[ZZBZYY ir=) sI~F?iۮ_ K&@))K&@K&@8(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030712.823165 s, next control iter: 1743030713.203181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030713.223165 s.gH~,HNn"AA(\s@ACus@A `~? AeA}&"AA YwNA"AZAbAjArAzAAAy:@A~GqsAcb@A);AujAn7?A A1?A?Aλ*AE9?2A.ֽ:ABAE9?JA.ֽRA٘i)I9cb@Y G JJJJJcD&K Y=_~?yPn+CAD{7j7{Tq8B)E[[o?[_~?[o[[[[ZZBZYY i) H^I}kF?i1@] @))@@y=d)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030713.263165 s, next control iter: 1743030713.623183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743030713.643165 s.yЙH~,*in"AJ"J*J2J:JBJnJvJAGs@A}zls@AJ `~? AnA&"AA_wNA"AZAbAjArAzAAAh˔^*:@A0N(lsA1Eb@A::AaA?Ac?A@0?Ax*Au9?2Axֽ:AXǼBAu9?JAxֽRAXǼ٘i)I9Eb@Y G JJJJJnD&K Y?_~?yeCAųDZ7Z7bq8)B[[?[ޯ_~?[f[[[[BZYY i) II(YF?iy4Z G@))G@G@ys=**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030713.663165 s, next control iter: 1743030714.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4212, header.stamp.nsec: 00 temperature: 13.567868* salinity: 33.375576, density: 1025.000000* values[0]: 0.571028F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030714.063165 s.H~,g n"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.079320< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743030714.063284F (some fields omitted in printout)Affffft@A{2QLt@A`~? ApAǴ&"AAewNA"AZAbAjArAzAAAᡥ5:@AC@HgsAFb@AߊA.A^?A ?A B?A06;*A 9?2AQNֽ:A@rBA 9?JAQNֽRA@rY Y[?_~?y\@CAd?ϳD77{7&qq8)[[_~?yKCADb77эq8B)BE[[?[߭_~?[ I[[[[BZYY i) I<"F?i aX @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030714.943165 s, next control iter: 1743030715.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030715.323165 s.rH~,n"AJ"J*J2J:J3?BJ3?nJM5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743030715.323282F (some fields omitted in printout)A\u@A!u@A `~? AZA&"AAkswNA"AZAbAjArAzAAA1qMM:@AFXsAb@A0]A~A}.?A?ADg?A?a<*A9?2A`vֽ:A1 BA9?JA`vֽRA1 ٘i)I9b@Y# G JK<JJJJD&K Yz>_~?y?BCAD7'q8)B[[?[_~?[l?[[[[BZYY i)  IYF?iwU ܂@))܂@܂@`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030715.343165 s, next control iter: 1743030715.723176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4214., header.stamp.nsec: 0.0 temperature: 13.567747.* salinity: 33.375580., density: 1025.000000.* values[0]: 0.571277.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030715.743165 s.WH~,un"AAGzv@Acu@A`~? ALA'&"AAOvwNA"AZAbAjArAzAAAp}R:@ASsA:_c@As!;AAa?A>T?An?AP%<*AW9?2Aֽ:A BAW9?JAֽRA ٘i)I9_c@Ya G Js<JJJJD&K Y.>_~?ym9*DADj7Z7|q8)B[[?[Ũ_~?[5[[[[BZYY i) WIE?i֢nP @))@@yq%=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030715.763165 s, next control iter: 1743030716.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030716.163165 s.}›H~,q o"AJ"J*J2J:JBJnJvJAv@Aev@A`~? A;A)&"AAdxwNA"AZAbAjArAzAAAEa*V:@A-1:NsAcc@A(;ACA{?AAM?A`t?A`ʑ<*Ad9?2A4ֽ:A;BAd9?JA4ֽRA;٘i)I9c@Y G JD<JJJJD&K Y=_~?y0dDAD777Ҹq8)B[[?[_~?[Z,[[[[BZYY i) ȻIE?i*/tJ C@))C@C@>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030716.183165 s, next control iter: 1743030716.563187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743030716.583165 s.țH~,S%o"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743030716.583262F (some fields omitted in printout)ARv@Alv@AL`~? A)|Ab&"AAywNA"AZAbAjArAzAAAW:@A)IsARd@AS;ApA?A?Av?A]<*A&9?2Aֽ:AgBA&9?JAֽRAg٘i)I9Rd@Y G J<JJJjEJD&K Y=_~?y'DAD'q8B)ܯBE[[;?[_~?["[[[[BZYY i) >զIrE?iw'C 0@))0@0@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030716.623165 s, next control iter: 1743030716.983179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4215, header.stamp.nsec: 00 temperature: 13.567541* salinity: 33.375587, density: 1025.000000* values[0]: 0.571786F (some fields omitted in printout)=_~?)' rAdjusting time to match Gazebo time: 1743030717.003165 s.J "J *J 2J :J `?BJ `?nJ |5vJ z ЛH~,U4@o"AAp= Ww@A( elevatorAngleAction: 0.066399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419970J2 time: 1743030717.843293"JF (some fields omitted in printout)*J2J:JBJnJvJAHz.x@A;x@A`~? AcA;&"AAxwNA"AZAbAjArAzAAA\KS:@A;sAf@Az̻AA?A@+ȢAo?Ar><*A`9?2ANRֽ:A BA`9?JANRֽRA ٘i)I9f@Y G J<JJJJڴD&K Y<_~?yT NEA0D7(q8B)ͯBE[[I?[_~?[][[[[BZYY i) %I E?iDv% p#@))p#@p#@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030717.863165 s, next control iter: 1743030718.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030718.263165 s.H~,ؐo"AAx@Asۄx@A?`~? A[A&"AAvwNA"AZAbAjArAzAAAj2N:@A36sAf@AA/۝A\?AaA@h?AFϸ<*A9?2AfXֽ:A3 BA9?JAfXֽRA3 Yvd?p?yٝxٓH˿!F ?-?˿ݱ =?@Bk?)vd? I٘i)I9f@Y] G Jx<JJJJD&K >  r8Y6_~? r8yEAp?;D7)7~r8)ȯB[[)?[z_~?[2[[[[BZYY i) QIAE?i3$ Y%@))Y%@Y%@&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030718.283165 s, next control iter: 1743030718.663174 s, wait time: 0.380009 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 42172, header.stamp.nsec: 020 temperature: 13.5670012* salinity: 33.3755802, density: 1025.0000002* values[0]: 0.5731092F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030718.683165 s.J "J *J 2J :J ?lH~BJ?nJ5,so"AvJAQy@AH x@A+`~? ASALv &"AAtwNA"AZAbAjArAzAAA}IH:@A۸31sA;g@AڝAڛAe?AA@g_?A <*A׷9?2Aֽ:A~N BA׷9?JAֽRA~N ٘i)I9;g@Y G J\<JJJJD&K Y0_~?y "FAEDj7SI7r8)įB[[O8?[_~?[[[[[BZYY i) p5IE?i6|j! *&@))*&@*&@w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030718.683165 s, next control iter: 1743030719.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743030719.103165 s.H~,o"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743030719.103303F (some fields omitted in printout)A= ףpy@AKVy@A`~? AKAV &"AApwNA"AZAbAjArAzAAA a@:@A lL,sAg@Ap"AJ"J*J2J:J?BJ?nJ!5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743030720.363296F (some fields omitted in printout)A3333z@AD z@A `~? A3AU &"AA1awNA"AZAbAjArAzAAA :@AC`2sA i@A8;A֑A?A@As ?AZo<*A9?2AZֽ:AϜBA9?JAZֽRAϜY7l?x?yTՑD;ٓHӿi?mW?ӿ@ḛ 6?Zwz??)7l? I٘i)I9i@YG J<Jd<JJJD&K"x> Y_~?y٨GAx?pDj7j7*Hr8)B[[]?[Z_~?[Ѩ[[[[BZYY i) e;IocE?i_B ,@)),@,@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030720.383165 s, next control iter: 1743030720.763178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4219*, header.stamp.nsec: 0*0 temperature: 13.387052** salinity: 33.391628*, density: 1025.000000** values[0]: 0.694394*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030720.783165 s.X H~,2p"AAQ{@A~{@A`~? A+A &"AA{ZwNA"AZAbAjArAzAAArFJ:@A_H sAd j@Al:AqA?AA@ ?Ab<*Ap9?2Aֽ:AU9BAp9?JAֽRAU9٘i)I9 j@YqG Jr<JJJJ%D&K Y6 _~?yѨ$HA{D77~Vr8B)BE[[d?[O_~?[ɨ[[[[BZYY i) W;IWE?i7Zs M|.@))M|.@M|.@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030720.803165 s, next control iter: 1743030721.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030721.203165 s.H~,2Mp"AJ"J*J2J:J1?BJ1?nJ:5vJAףp={@A&p{@A_~? A#A &"AARwNA"AZAbAjArAzAAA:b:@A%sAj@A7kAOA?A EÿA@`?AΆ<*A9?2Aֽ:AgBA9?JAֽRAg٘i)I9j@YG J<JJJJ0D&K Yq_~?y6ɨHA CDb77dr8)B E[[oh?[C_~?[w[[[[BZYY i) C;IcLE?iR 0@))0@0@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030721.223165 s, next control iter: 1743030721.603180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030721.623165 s.TH~,Pgp"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066399< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743030721.623317F (some fields omitted in printout)A)\{@A"ĕ{@A_~? AAɸ &"AAJwNA"AZAbAjArAzAAAM{9@AX,sAk@A4A*A}8?A [ſA?A:<*A9?2Awֽ:A)BA9?JAwֽRA)٘i)I9k@YG JF<JJJJ:D&K Y^~?yHAD)7b7*sr8)B[[@[7_~?[[[[[BZYY i+=) ߇;IAE?iH x1@))x1@x1@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030721.643165 s, next control iter: 1743030722.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4220 , header.stamp.nsec: 0 0 temperature: 13.386848 * salinity: 33.391659 , density: 1025.000000 * values[0]: 0.695295 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030722.043165 s. H~,Âp"AJ"J*J2J:J1?BJ1?nJ:5vJA{Ga|@A1G|@A_~? AAALR&"AAAwNA"AZAbAjArAzAAA[ł9@Asgc sAʛk@AA&A4?A`-ǿA?AZN<*A9?2A;ֽ:A@=BA9?JA;ֽRA@=٘i)I9k@YeG Jݛ<JJJJED&K Y^~?yyJIADŧ7r8)B[[2@[*_~?[ʯ[[[[BZYY i) ;Ii7E?iA=? b3@))b3@b3@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030722.063165 s, next control iter: 1743030722.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030722.463165 s.\'H~,p"AA|@Aצ|@A_~? At A &"AA7wNA"AZAbAjArAzAAAY9@AkrϠsA{l@AH7A؇Az?A7iɿA?A<*A[9?2AƼֽ:AĈBA[9?JAƼֽRAĈYs?/?yׇ8ٓHٿ@3?/?_ٿ@?f ?)s? I٘i)I9l@YG J<B=J=><JJJPD&K!x> Yr^~?ykIA?D7Տr8B)B E[[ @[_~?[[[[[BZYY i)   elevatorAngleAction: 0.075767< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743030722.883295F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8}@AV9}@A_~? AA&"AA0-wNA"AZAbAjArAzAAAن9@A& sAZl@AŃC;AVA@AA˿A`w?A' <*A9?2AMֽ:ABA9?JAMֽRA٘i)I9l@YG J<C=JJJJ[D&K Y^~?y_JAD77)r8)B E[[1@[_~?[{[[[[BZYY i) i elevatorAngleAction: 0.075767< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743030724.143295F (some fields omitted in printout)AGz~@A=`~@A_~? AAD&"AAwNA"AZAbAjArAzAAA]lf9@A1GrABm@A #;AEABz@A YпA?A<*A9?2Aֽ:AqBA9?JAֽRAq٘i)I9m@YG J܊<JJJJ{D&K Y^~?y7KAѴDb77*r8)B[[~ @[p^~?[[[[[BZYY i) `aD Y^~?yrKA@ܴD77{7r8B)BE[[ @[!^~?[[[[[BZYY i) %SE?i]  <@))<@<@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030724.583165 s, next control iter: 1743030724.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4223, header.stamp.nsec: 00 temperature: 13.386329* salinity: 33.391682, density: 1025.000000* values[0]: 0.697728F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030724.983165 s.OH~,>q"AAQ@A7@A_~? AީAk&"AAvNA"AZAbAjArAzAAA)՗,9@ArA n@A =׻AA@AҿAE?AJ<*A9?2Arֽ:A[ BA9?JArֽRA[ ٘i)I9n@YcG JL<JJJJD&K Y^~?y쀨KAD7)7r8)B[[S @[U^~?[y[[[[BZYY i) (c elevatorAngleAction: 0.075767vJ< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743030725.403330F (some fields omitted in printout)A ףp@Ak^@AX_~? AJשAF&"AAvvNA"AZAbAjArAzAAA*Kv 9@A#-rAkbo@A|A"AT@AҿAw?Aɚ<*A9?2A!uֽ:A' BA9?JA!uֽRA' ٘i)I9bo@YG JϘ<JJJJD&K Y^~?yFy1LAD77+r8B)BE[[2@[^~?[q[[[[BZYY igj=) r elevatorAngleAction: 0.084676< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199362 time: 1743030726.663287F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4225, header.stamp.nsec: 00 temperature: 13.385960* salinity: 33.391682, density: 1025.000000* values[0]: 0.699420F (some fields omitted in printout)A@AF倰@A_~? AqA &"AAvNA"AZAbAjArAzAAAQ8@AW49rA[p@A';A7AM @A kտA?Aʜ<*Ar9?2Aֽ:ABAr9?JAֽRAY?G @y˫;ٓHh6??Y,?v??)? I٘i)I9p@YG Jɛ<B=JRJJJD&K!x> Yc^~?ybWMAG @D77-s8 B)BE[[On@[x^~?[\[[[[BZYY i) x4 elevatorAngleAction: 0.084676< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743030727.923301F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\B@A?(@Ag_~? AHAI&"AAAsvNA"AZAbAjArAzAAA=YmQ48@AٹξrAr@Ar:A&أA/@AؿA#?AǮ<*Aڜ9?2Aֽ:ABAڜ9?JAֽRA٘i)I9r@YG J2<C=JJJJܵD&K Y1^~?yXMNA1D)7)7-Js8B){BE[[b@[B>^~?[yI[[[[BZYY i) ֦ Y^~?y?fOA@GDj7SI7fs8B)uBE[[[@[x^~?[L=[[[[BZYY i)  elevatorAngleAction: 0.084676< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743030729.183288F (some fields omitted in printout)AQ@Aq k@A=_~? AᗩA&"AA4vNA"AZAbAjArAzAAA/7@AUxrA[t@A A$At @AtwڿA]?AK<*A49?2Adֽ:A BA49?JAdֽRA ٘i)I9[t@YG J:<JJJJD&K Y]~?y8OAQD77,us8)pB[[ @[t^~?[o7[[[[BZYY i) i<*A`9?2A ֽ:A-$BA`9?JA ֽRA-$٘i)I9u@YG Jc<B=JJJJD&K Y]~?y+PAgDb77ؑs8B)hBE[[@[]~?[?,[[[[BZYY i)  elevatorAngleAction: 0.084676< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743030730.443284F (some fields omitted in printout)J"J*J2J:JBJnJvJAzDŽ@A x@A_~? AQA\&"AA9uNA"AZAbAjArAzAAA)7@AhMrAOv@Ag^;A͐A @A`ܿA h?A<*A݈9?2Aֽ:AZBA݈9?JAֽRAZ٘i)I9Ov@YG J<C=JJJJD&K Y]~?y3%-QArD77-s8B)eBE[[G@[п]~?[&[[[[BZYY i) r"AA33333@AP@A^~? A}A&"AAuNA"AZAbAjArAzAAAg=6@A rAv@A;A>AW@AEݿA 6?A <*A9?2Aֽ:A,BA9?JAֽRA,YF @L@y;ٓH`g?j?5$@Y?`]~?@}?)F @ I٘i)I9v@YQG J<J/JJJ'D&Kx> Y`]~?y:QAL@ C|Ds8B)aBE[[ @[~]~?[![[[[BZYY i) @6RH~,r"AJ"J*J2J:J=4?BJ=4?nJ<5vJAQ@A@A ^~? AwAS&"AAUuNA"AZAbAjArAzAAAZ(6@AR 3rAIw@AXq;AqDA@@AD޿A ?A<*A9?2Aֽ:AIBA9?JAֽRAI/I٘i)I9w@YG J<JJJJ2D&K Y]~?yARAD77ؼs8)\B[[m"@[]~?[[[[[BZYY i) Ijy:  >)) >iS@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030731.303165 s, next control iter: 1743030731.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4230., header.stamp.nsec: 0.0 temperature: 13.384840.* salinity: 33.391720., density: 1025.000000.* values[0]: 0.704647.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030731.703165 s.غH~,r"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084676< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743030731.703281F (some fields omitted in printout)Aףp= @A6@A+^~? AqA&"AAuNA"AZAbAjArAzAAAhX=6@A+zC&rA)\x@A1:A0A@A޿A@?AT<*A9?2A*\ֽ:ABA9?JA*\ֽRA٘i)I9\x@Y)G J<B=JJJJBZYY i¸>/!) @e ; G=))G=T@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030731.723165 s, next control iter: 1743030732.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030732.123165 s.6H~,Xs"AJ"J*J2J:J4?BJ4?nJQ=5vJA)\u@A[@A^~? AkAA&"AAuNA"AZAbAjArAzAAA`Rʠ^6@AJ.|rA y@AQZݻAA*@A ߿A`^H?A<*A*9?2A6ֽ:AhBA*9?JA6ֽRAh٘i)I9y@YG J<C=JJJJGD&K Y@q]~?yQ SAD{7j7s8B)SBE[[1$@[6e]~?[<[[[[ZZZZBZYY i) 8d.; A;))A;tDV@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030732.143165 s, next control iter: 1743030732.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030732.543165 s.IȜH~,"s"AA{Gᆰ@A0dž@A^~? AeA&"AAoquNA"AZAbAjArAzAAA4[R(6@A|rAy@AAԭAv@A.A?A =*A9?2A=ֽ:ABA9?JA=ֽRA٘i)I9y@YG J6<JJJkEJRD&K Y\]~?yYSAD77s8B)OBE[[@&@["N]~?[[[[[ZZZZBZYY i) `=X; o:))o:W@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030732.563165 s, next control iter: 1743030732.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4231, header.stamp.nsec: 00 temperature: 13.384571* salinity: 33.391705, density: 1025.000000* values[0]: 0.705902F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030732.963165 s.tΜH~,ߤ=s"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083071< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743030732.963280F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@AZe2@A^~? A_A(&"AAMVuNA"AZAbAjArAzAAA5@A M\rAټz@AOA>A@A`)A?A==*Aٚ9?2Aaֽ:AABAٚ9?JAaֽRAAYb@@y= ٓH@ =M?u-?@ 韨P?`E4s ?)b@ I٘i)I9z@YG JV=JN=JJJ]D&Kw> YE]~?ySA@DZ7Z7-s8B)IBݹE[['@[6]~?[n [[[[ZZZZBZYY i) \q; 9))9Y@yl*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030732.983165 s, next control iter: 1743030733.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030733.383165 s.՜H~,8Xs"AAQ@AX9@A|^~? AVZA&"AA:uNA"AZAbAjArAzAAA}x5@AhVrA{@AfK:AqA!@A8AF?A<*AΤ9?2A7}ֽ:A8KaBAΤ9?JA7}ֽRA8Ka٘i)I9{@YG J;<JJJJgD&K  t8Yg/]~? t8yQTAD7777t8!B)DBڹE[[)@[]~?[E[[[[ZZZZBZYY i) ; 7))7Z@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030733.403165 s, next control iter: 1743030733.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4232", header.stamp.nsec: 0"0 temperature: 13.384244"* salinity: 33.391720", density: 1025.000000"* values[0]: 0.707401"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030733.803165 s.xAܜH~,gss"AJ"J*J2J:JBJnJvJAq= #@A?e @A^~? ATAh&"AARuNA"AZAbAjArAzAAA[5@ArAqN|@A۰;AU-Ak"@A@0A?A"<*AL9?2A~ֽ:ABAL9?JA~ֽRA٘i)I9N|@YG J<B=JJJJrD&K Y]~?yyTAǵD77t8)>B[[d*@[]~?[J[[[[ZZZZBZYY i) t; "16))"16[@ q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030733.823165 s, next control iter: 1743030734.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030734.223165 s.gH~,Hs"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083071< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743030734.223280F (some fields omitted in printout)A(\@AqrCu@Aip^~? A^OAp&"AA}uNA"AZAbAjArAzAAApwF5@A y6rAj|@Aƞ<AϼAʷ#@A A*?A"<*A9?2Apֽ:A'/;BA9?JApֽRA'/;٘i)I9|@YG J<C=JJJJ}D&K YC]~?y/UAҵD.!t8"B);B׹E[[^+@[\~?[[[[[ZZZZBZYY i) Ў*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030734.243165 s, next control iter: 1743030734.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030734.643165 s.}H~,$*s"AJ"J*J2J:JBJnJvJAG@A)@@A\^~? AJAy&"AAtNA"AZAbAjArAzAAA.9>F 5@A |rAi}@A0;AA%@A@-A@s?A|<*A}9?2ABiֽ:A<BA}9?JABiֽRA<٘i)I9i}@Y<G J<JJJJD&K Y\~?yUAݵD/t8%B):BӹE[[-@[\~?[[[[[ZZZZBZYY i) ,JJJD&Kw> Ys\~?yUxUAO&@D{7Z7=t8)7B[[y.@[\~?[k[[[[ZZZZBZYY i!z) Ps5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.061067< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743030735.483274F (some fields omitted in printout)Aщ@Ac#շ@A4^~? A?A&"AAƧtNA"AZAbAjArAzAAAI4@A8'"rA~@A“Aڮ<Aϝ'@ApAp?A4;*Aݛ9?2Avֽ:A<BAݛ9?JAvֽRA<٘i)I9~@YG J<JJJJD&K Y5\~?yoUADb7b7/Lt8'B)йE[[;/@[g\~?[[[[[ZZZZBZYY id) :`5vJA@A"e@Aj]~? A,A &"AA")tNA"AZAbAjArAzAAASߑ3@A^w1}rA}@A q;Aky=A,@AlA?A6*A9?2A-ֽ:A =BA9?JA-ֽRA =Y@,@yy=;ٓHs@]ۿ@#QL? J`?*0np??)@ I٘i)I9}@YjG JJ>JJJȶD&K YX\~?yRҧTA,@Dj7Z7t8,B)>BǹE[[45@[A\~?[[[[[BZYY i_f) L)))>)wyh@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030737.603165 s, next control iter: 1743030737.983181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4236, header.stamp.nsec: 00 temperature: 13.383953* salinity: 33.391716, density: 1025.000000* values[0]: 0.709133F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030738.003165 s.{ H~,Y4t"AJ"J*J2J:J5?BJ5?nJ[>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056298< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743030738.003302F (some fields omitted in printout)Ap= W@A@<@A]~? AI$Ah &"AAsNA"AZAbAjArAzAAAL 3@AfF;wrA|@A<AF=A^/@AA`K?AP9*A9?2A|+ֽ:A5=BA9?JA|+ֽRA5=٘i)I9|@YG JJJJJ޶D&K Y%\~?yʧWTA3D0t80B)HBE[[7@[\~?[ [[[[BZYY i) (;I`E?i+?N#< VF())VF(_i@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030738.023165 s, next control iter: 1743030738.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030738.423165 s.u&H~,t"AA(\Œ@Ax@A%]~? A, A5!&"AAgsNA"AZAbAjArAzAAAj2@A?hurAt|@AOv;A=A۰0@A }OAVy?AJ*A9?2Atdֽ:A=BA9?JAtdֽRA=٘i)I9t|@YG JJJJJD&K YH \~?yǧTA=D77t81B)NBE[[.9@[e[~?[[[[[BZYY il) o;ISoE?ig?Q-< &))&&8k@yfϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030738.443165 s, next control iter: 1743030738.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4237, header.stamp.nsec: 00 temperature: 13.384153* salinity: 33.391720, density: 1025.000000* values[0]: 0.708307F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030738.843165 s.,H~,t"AJ"J*J2J:JS5?BJS5?nJ">5vJAHz.@Ar@A]~? A4A>g!&"AAQsNA"AZAbAjArAzAAAѡT2@A4srrAA{@A5ABs=A2@A~A?AѤ*A29?2A?ֽ:AF =BA29?JA?ֽRAF =٘i)I9{@YTG JJJJJD&K Y[~?yBçSAHD{7{7ھt8)RB[[b}:@[R[~?[[[[[BZYY i) ˷;I~E?i?o8< 0%))0%l@y<g9ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030738.863165 s, next control iter: 1743030739.243181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030739.263165 s.4H~,t"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065637< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743030739.263281F (some fields omitted in printout)A@A6T@Ap]~? AaAy!&"AAԀsNA"AZAbAjArAzAAAtåU>2@A9#-prAwa{@AA#=A Y[~?ySHSAP3@SD772t83B)WBE[[;@[[~?[Rާ[[[[BZYY i) z;IE?iT?)$?< -$))-$m@yƇ)ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030739.283165 s, next control iter: 1743030739.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 42382, header.stamp.nsec: 020 temperature: 13.3844122* salinity: 33.3917542, density: 1025.0000002* values[0]: 0.7072462F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030739.683165 s.l:H~,kt"AJ"J*J2J:J5?BJ5?nJ=5vJAQ@Atx데@AyY]~? AA!&"AA]sNA"AZAbAjArAzAAA 1@AaJ?gnrAz@A @A=Aݧ4@A@A E?A*A|9?2Aֽ:A0=BA|9?JAֽRA0=٘i)I9z@YG JC=JJJJ D&K Y[~?ydRA^D7t84B)]BE[[d=@[[~?[ܧ[[[[BZYY i) Fj;IE?io?F< w"))w">Mo@ ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030739.683165 s, next control iter: 1743030740.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743030740.103165 s.AH~,u"AA= ףp@AQ3V@AB]~? A*AkC"&"AA:sNA"AZAbAjArAzAAA'Vޱ1@AB?lrA{Dz@A㣻A =A5@A`4AE?Aʫ*A9?2Aֽ:A>=BA9?JAֽRA>=٘i)I9Dz@YRG JJJJJD&K Y[~?yuyRAhD)7ŧ7t85B)cBE[[k>@[/[~?[Uۧ[[[[BZYY i) @.;I E?ii?}O< w!))w! p@ҪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743030740.123165 s, next control iter: 1743030740.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030740.523165 s.GH~,{!u"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065637< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743030740.523282F (some fields omitted in printout)J"J*J2J:JBJnJvJA(܎@AŽ@A}*]~? A A"&"AA!sNA"AZAbAjArAzAAAIcKj1@A S.jrAgy@As:A=A/77@AgA :?ANo*A9?2Asֽ:A=BA9?JAsֽRA=٘i)I9y@YG JJJJJD&K YB[~?yRAsDb770t86B)iBE[[ ?@[w[~?[ڧ[[[[BZYY i) ":IYE?i??pY< $ ))$ q@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030740.543165 s, next control iter: 1743030740.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4239, header.stamp.nsec: 00 temperature: 13.384687* salinity: 33.391731, density: 1025.000000* values[0]: 0.706144F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030740.943165 s.VdNH~,:]Wu"AJ"J*J2J:JBJnJvJA3333@A@A\~? AuA#&"AArNA"AZAbAjArAzAAAGI40@A9SRfrAx@A <A> =AX9@A`A+{?AH*A9?2AWֽ:A=BA9?JAWֽRA=Y+@C9@y =E <ٓH m Bο>V?@|`?@r]`/=?@?)+@ I٘i)I9x@YHG JJ JJJ4D&Kx> Y1R[~?yGQA9@DZ7SI7u87B)sB[[KB@[fE[~?[ا[[[[BZYY i) IcE?i(?k< 9))9|t@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030741.403165 s, next control iter: 1743030741.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4240&, header.stamp.nsec: 0&0 temperature: 13.384953&* salinity: 33.391743&, density: 1025.000000&* values[0]: 0.705000&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030741.783165 s.W[H~,ru"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065637< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743030741.783297F (some fields omitted in printout)AQ@AsHj@Ag\~? AA@#&"AAdrNA"AZAbAjArAzAAAk0ý0@A8ɇdrAx@A];Af=A;@AAm?A를*A9?2A]ֽ:AN=BA9?JA]ֽRAN=٘i)I9x@YG JJJJJ>D&K Y6[~?yoPADj7j71#u88B)xBE[[C@[ ,[~?[Xק[[[[BZYY i) QIE?i>?s< F))Fu@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030741.803165 s, next control iter: 1743030742.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030742.203165 s.cH~,u"AJ"J*J2J:JBJnJvJAףp=@A=-p@A\~? AAx#&"AArNA"AZAbAjArAzAAACZ;޳E0@A NbrAyw@Ai9Aύ=Am<@A=Aa?AV*A9?2A̸ֽ:A<BA9?JA̸ֽRA<٘i)I9yw@YG JB=JJJJID&K YL[~?y\PADb771u8;B)BE[[D@[[~?[֧[[[[BZYY i) H8IF?i0?f|< ))!w@uêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030742.223165 s, next control iter: 1743030742.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030742.623165 s.SiH~,Lu"AA)\@Aې@Ab\~? AA#&"AAf`rNA"AZAbAjArAzAAAX >I*F?i?.< ))gx@>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030742.663165 s, next control iter: 1743030743.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4241 , header.stamp.nsec: 0 0 temperature: 13.385220 * salinity: 33.391750 , density: 1025.000000 * values[0]: 0.703913 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030743.043165 s.pH~,u"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065637J< massPositionAction: 0.000000"J*J4 buoyancyAction: 0.0005002J dt: 0.420024:JBJnJ2 time: 1743030743.043328vJF (some fields omitted in printout)A{Ga@Aa0G@A\~? AAe#&"AA:rNA"AZAbAjArAzAAApy `/@A9Z_rAwv@A A=A?@AomA@q?AMē*A9?2Aֽ:AY<BA9?JAֽRAY<٘i)I9wv@YG JdJJJJ_D&K YjZ~?y5OADŧ7ŧ71Nu8=B)BE[[gG@[Z~?[֧[[[[BZYY i) P{I AF?i?< t))ty@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030743.083165 s, next control iter: 1743030743.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030743.463165 s.awH~,u"AȂ@Ah@A\~? AVA/$&"AAXrNA"AZAbAjArAzAAA.@AFGsP^rAu@AJA܇=Am^@@A A?A*A9?2Aֽ:A<BA9?JAֽRA YjZ~?yaOAV@@Dj7Z7\u8)BE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #14q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY iV㛽) j˜)AYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030743.503165 s, next control iter: 1743030743.863189 s, wait time: 0.360024 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4242, header.stamp.nsec: 00 temperature: 13.385482* salinity: 33.391747, density: 1025.000000* values[0]: 0.702914F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030743.883165 s.y}H~,@Af\~? A/A9$&"AAvqNA"AZAbAjArAzAAA-0.@A]rA̓u@AGKA4y=ACA@ABA`|?A揼*A9?2AKֽ:A<BA9?JAKֽRA<٘i)I9u@YmG JRC=JJJJtD&K YoZ~?yЧOAɶD77{7ju8>B)BE[[I@[|Z~?[է[[[[BZYY i) l黻I5YF?i?Տ< )) 6|@YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030743.903165 s, next control iter: 1743030744.283179 s, wait time: 0.380014 soZ~?)Ч rAdjusting time to match Gazebo time: 1743030744.303165 s.aH~,gv"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198342 time: 1743030744.303278F (some fields omitted in printout)Aq= ף@AIL@AVM\~? A:Aa$&"AAFqNA"AZAbAjArAzAAA dZ -@AS0[rA u@Aw;AKɅ=AmB@AA@i?A*A:?2A½:AW+<BA:?JA½RAW+<٘i)I9 u@Y$G JێJJJJD&K YsZ~?yNAԶD71yu8)B[[5K@[Z~?[֧[[[[BZYY i) h ۻIrF?i?5<  ))Хy}@/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030744.343165 s, next control iter: 1743030744.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4243., header.stamp.nsec: 0.0 temperature: 13.385709.* salinity: 33.391750., density: 1025.000000.* values[0]: 0.701997.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030744.723165 s.H~,H.v"AJ"J*J2J:J3?BJ3?nJp<5vJA(\@AmtO@A3\~? AkA݆$&"AAעqNA"AZAbAjArAzAAApj,@AqZrAKt@A;AG=AgVC@AAx?A1ˌ*A:?2Aý:Ai=BA:?JAýRAi=٘i)I9t@YG J B=JJJJD&K YrtZ~?ykONA޶Dŧ7b7u8)BE[[ wL@[|Z~?[u֧[[[[BZYY i) f.I؋F?i@?< d))d~@yțYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030744.743165 s, next control iter: 1743030745.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030745.143165 s.S/H~,)Iv"AAGz@A`@Ag\~? AA$&"AAG|qNA"AZAbAjArAzAAAzq5b,@A`YrAt@A=,;A=A{YD@AA`(?Ah*A:?2AGfŽ:AǙ=BA:?JAGfŽRAǙ=٘i)I9t@YG JBC=JJJJD&K YxXZ~?y9MADb77ݕu8?B)BE[[vM@[MdZ~?[֧[[[[BZYY i)  IvF?i?t< H&))H&m@YYZYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743030745.163165 s, next control iter: 1743030745.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030745.563165 s.H~,R dv"AJ"J*J2J:J3?BJ3?nJP<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743030745.563283F (some fields omitted in printout)Affff擰@A9U̓@A\~? AA$&"AAUqNA"AZAbAjArAzAAA+@AĨ//XrA?s@Axh;AF=A/E@A%#A?APz*A:?2AYXȽ:A=BA:?JAYXȽRA=Y7@E@yyF=|i;ٓH3Q7"?h`}?@%m?`?)7@ I٘i)I9s@YMG JB=J:JJJD&KE> Y@@lFyk=j_]:ٓH`0*?``븧,@d K??)&>@ I٘i)I9Kq@YG J<B=Jt<JJJշD&Kw> Y7Y~?y5KAF)D7)7u8CB)BE[[z U@[Y~?[ܧ[[[[BZYY i)  viI4VG?i@A< E ))E 8@`ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030747.683165 s, next control iter: 1743030748.063196 s, wait time: 0.380031 s rAdjusting time to match Gazebo time: 1743030748.083165 s.DH~,Sw"AJ"J*J2J:J3?BJ3?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743030748.083287F (some fields omitted in printout)ARk@Al;mQ@Ae[~? AAS%&"AAjpNA"AZAbAjArAzAAAQ(@AV ܿTrAYp@A ۻ;A@=ADA"}A?AF*A(i:?2A Խ:Ae=BA(i:?JA ԽRAe=٘i)I9p@YG JПC=JJJJD&K YY~?y^KA4D773u8)B[[&ZV@[eY~?[^ާ[[[[BZYY i) xI/vG?i@7f<  )) O@]ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030748.103165 s, next control iter: 1743030748.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030748.503165 s.ǝH~,@4 w"AAp= ז@Ay򼖰@AK[~? A$A_%&"AAWCpNA"AZAbAjArAzAAA'|'@AFnTrA:p@A>;A=AwCANA]?AQw*A`:?2AԽ:A=BA`:?JAԽRA=٘i)I9:p@Y5G J8JJJlEJD&K  v8YvY~? v8yJA?D7v8)BE[[W@[Y~?[ߧ[[[[BZYY i4-) 5郼IG?id@< I))I@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030748.523165 s, next control iter: 1743030748.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4247, header.stamp.nsec: 00 temperature: 13.386651* salinity: 33.391731, density: 1025.000000* values[0]: 0.698261F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030748.923165 s.J "J *J 2J =ΝH~:J2?BJ2?,;w"AnJp;5vJA(\B@A+z(@A1[~? AAg%&"AApNA"AZAbAjArAzAAA,&@A{e5TrAլo@AH;Ax_=A!BAA@v?An*AX:?2Aս:A=BAX:?JAսRA=٘i)I9o@YG JB=JJJJD&K YZY~?yoJAJDv8)ƯB|E[[X@[Y~?[[[[[BZYY i)  IG?ip@=<  )) օ@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030748.963165 s, next control iter: 1743030749.323181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743030749.343165 s.<՝H~,Uw"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085047< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743030749.343273F (some fields omitted in printout)AHz@A)@An[~? AApm%&"AAToNA"AZAbAjArAzAAA3 l@&@A`KLTrAo@A :A-=Aq@AA8)?AW*ANM:?2AJֽ:A=BANM:?JAJֽRA=٘i)I9o@YG J%C=JJJJD&K Ye>Y~?yף/JATD7773%v8DB)˯ByE[[Y@[uY~?[[[[[BZYY i) rI0G?i @< ))l@תYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743030749.363165 s, next control iter: 1743030749.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4248*, header.stamp.nsec: 0*0 temperature: 13.386918** salinity: 33.391731*, density: 1025.000000** values[0]: 0.697223*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030749.763165 s.7۝H~,pw"AJ"J*J2J:JBJnJvJA@Af@AWZ~? AAo%&"AAoNA"AZAbAjArAzAAA0ZP7%@AB뛰TrA^n@A暻A.=Acq?AdASnuA娼*AZB:?2Aֽ:A#[=BAZB:?JAֽRA#[=Y'D@kw?y-=1^ٓH@ \*?yÿ=೿\s@-?)'D@ I٘i)I9n@Y2G J\J-<JJJ D&K0|> Yz"Y~?y(IAw?_D773v8)ϯBvE[[1[@[^Y~?[[[[[BZYY i) I[G?i#@O< 3))3@yLڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030749.783165 s, next control iter: 1743030750.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030750.183165 s.H~,cw"AAQ@A@-k@ABZ~? AAn%&"AABoNA"AZAbAjArAzAAA4%@A(TrAn@AA>֡=A:>A %AŔA*A7:?2AC׽:A=BA7:?JAC׽RA=٘i)I9n@YG JөJJJJD&K YY~?yxZIAjDAv8)ԯBsE[[f\@[GY~?[[[[[BZYY i) I-"H?i&@7< -u))-uDU@hުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030750.203165 s, next control iter: 1743030750.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030750.603165 s.74H~,w"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085047< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743030750.603277F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@AE֘@A2Z~? AAj%&"AA}oNA"AZAbAjArAzAAAFuf$@A1WTrApm@A$]ͻA=A<A YAe Ah*A-:?2A׽:A=BA-:?JA׽RA=٘i)I9pm@YG JJJJJ D&K YX~?yɧHA CtDŧ7b74Pv8)ٯBpE[[ϙ]@[G1Y~?[[[[[BZYY i) IFH?i*@=< A))A@VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030750.623165 s, next control iter: 1743030751.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4249 , header.stamp.nsec: 0 0 temperature: 13.387178 * salinity: 33.391735 , density: 1025.000000 * values[0]: 0.696167 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030751.023165 s.ZH~,|w"AA(\@ApB@A)Z~? AvA\c%&"AAEVoNA"AZAbAjArAzAAA)#@A TrAl@AoeA=Am;AyA A*A.$:?2Ajֽ:Ai=BA.$:?JAjֽRAi=٘i)I9l@Y'G JJJJJ+D&K YX~?yHADb77^v8EB)ޯBmE[['^@[Y~?[g[[[[BZYY i) I!lH?i-@n< ))@FYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030751.043165 s, next control iter: 1743030751.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030751.443165 s.7H~,>]w"AJ"J*J2J:JBJnJvJAzǙ@A@,@A+Z~? AAX%&"AA.oNA"AZAbAjArAzAAA!*#@AD/vUrA =l@Axs;AP==A=:AgnA@cA%;*AT:?2ATֽ:AG=BAT:?JATֽRAG=٘i)I9=l@YG JúJJJJ6D&K YӲX~?yjHAD7777lv8)B[[L_@[Y~?[[[[[BZYY i) oIoH?i2@< ))!@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030751.463165 s, next control iter: 1743030751.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4250, header.stamp.nsec: 00 temperature: 13.387464* salinity: 33.391731, density: 1025.000000* values[0]: 0.695041F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030751.863165 s.+H~,>w"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085047< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743030751.863306F (some fields omitted in printout)A33333@A@A:{Z~? AAK%&"AAoNA"AZAbAjArAzAAA^vglA"@AۄVZ~UrAhk@A;A=A8A SaAglAļ*A:?2Aֽ:Ag=BA:?JAֽRAg=Y0K@8y`=;ٓHnq?SϿd,}??)0K@ I٘i)I9k@YdG JJ~<JJJAD&Ky> YX~?yGA8Dŧ7b75{v8)BjE[[W,a@[X~?[[[[[BZYY i) ICH?i4@ < ^))^'@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030751.883165 s, next control iter: 1743030752.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030752.283165 s.3RH~,x"AJ"J*J2J:J1?BJ1?nJk:5vJAQ@A熦@AYaZ~? AA&:%&"AA:nNA"AZAbAjArAzAAA.h/T!@AVrA#j@A.+;A3=Ad7AQA9A>ɼ*A| :?2Aֽ:AR=BA| :?JAֽRAR=٘i)I9j@YG JǼB=JJJJKD&K Y/|X~?yϮ1GAD77v8)BgE[[]b@[2X~?[L[[[[BZYY i) ǼIH?il7@< K))KP@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030752.303165 s, next control iter: 1743030752.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4251., header.stamp.nsec: 0.0 temperature: 13.387756.* salinity: 33.391701., density: 1025.000000.* values[0]: 0.693849.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030752.703165 s.ں H~,!-x"AAףp= @AB:@AGZ~? AA&%&"AAnNA"AZAbAjArAzAAA9S!@AVrAHj@AI;A06=A$P6A?As A%˼*AT:?2A׽:A=BAT:?JA׽RA=٘i)I9Hj@YG JwʼJJJJVD&K Y`X~?yFAD77j7v8DB)BeE[[Jc@[X~?[+[[[[BZYY i) NμII?i:@Y< )) @'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030752.723165 s, next control iter: 1743030753.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030753.123165 s.9H~,eGx"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085047< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743030753.123271F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@A[@A-Z~? A=A%&"AAnNA"AZAbAjArAzAAAInoܷ @ATWrAAi@ARAr=A4A>+A,ٿAͼ*A9?2AO׽:A=BA9?JAO׽RA=٘i)I9i@Y.G J̼C=JJJJaD&K YEX~?y3JFAD{75v8)BbE[[Sd@[X~?[$[[[[BZYY i) ռII?iP>@S< D))D~@6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030753.163165 s, next control iter: 1743030753.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030753.543165 s.IH~,bx"AA{Gᛰ@Ar0Ǜ@A0Z~? AA%$&"AAknNA"AZAbAjArAzAAAI s @A7mXrA:h@AڻA=AT3A 6AHAHμ*A69?2Ai׽:A!=BA69?JAi׽RA!=٘i)I9h@Y G JͼJJJJlD&K Y;*X~?yeEAD77v8)B_E[[e@[X~?[7[[[[BZYY i) ܼIiWB@< g))gA@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030753.583165 s, next control iter: 1743030753.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4252, header.stamp.nsec: 00 temperature: 13.388067* salinity: 33.391712, density: 1025.000000* values[0]: 0.692568F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030753.963165 s.zH~,}x"AJ"J*J2J:JL1?BJL1?nJ95vJAL@A^2@AY~? ALAl$&"AARDnNA"AZAbAjArAzAAAFYX@AriYrABAh@A`Af=A'V2A`AϳÿAҼ*A,9?2AY׽:Ai"=BA,9?JAY׽RAi"=YøQ@`2y=e=-QٓH @?v- ֿ@`.`1,~?)øQ@ I٘i)I9Ah@YZ G JGмJ<<JJJvD&Kx> YX~?ys]EA`2ʷDŧ7ŧ7v8)B\E[[g@[„X~?[q[[[[BZYY i) IiD@;< 7))7M@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030754.003165 s, next control iter: 1743030754.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030754.383165 s.%H~,+x"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085047< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743030754.383273F (some fields omitted in printout)AQ@AVdt@@A@Y~? AA$&"AAnNA"AZAbAjArAzAAAx/@Ah}ZrA=g@AA=A 1AA`PſA\ּ*Aw9?2Aa&׽:A/=BAw9?JAa&׽RA/=٘i)I9g@Y G JӼJJJJD&K YSW~?yDAշD7776v8)B[[u?h@['pX~?[[[[[ZZ¸BZYY i¸ϩ=) ؼIi\rA f@AXH;A2=Aq.A+A9ɿA^*AA9?2Aֽ:As<BAA9?JAֽRAs<٘i)I9 f@Y G JtJJJJD&K YmW~?yCAD77v8)BVE[[Zj@[GX~?[ [[[[ZZBZYY i) mIiM@= ˎ))ˎ꿩(l@>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030755.243165 s, next control iter: 1743030755.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030755.643165 s.x9H~,*x"AJ"J*J2J:J0?BJ0?nJ195vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082916< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743030755.643325F (some fields omitted in printout)AG@AN @AӕY~? ATAW@$&"AAmNA"AZAbAjArAzAAA]R1y<@AoP^rAH-e@Am;A C=AS3-A6{A ˿AJ*A39?2Aֽ:A˺<BA39?JAֽRA˺<٘i)I9-e@Y{ G JJJJJD&K YW~?yħyCAD77776v8)BSE[[4k@[44X~?[V[[[[ZZBZYY i) EIi{Q@= ?))?迩@y~1=ӪYFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4254, header.stamp.nsec: 00 temperature: 13.388729* salinity: 33.391693, density: 1025.000000* values[0]: 0.689905]:F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743030755.663165 s, next control iter: 1743030756.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030756.063165 s.@H~,_ y"AAfffff@AoNL@A|Y~? AA$&"AAOmNA"AZAbAjArAzAAAሣ=@An_rA Ud@A2;As=A+AVA̿A*A-:?2Aֽ:Ah<BA-:?JAֽRAh  w8YW~? w8yȧ'CA+D7)7 w8CB)!BPE[[Sl@[ X~?[[[[[ZZBZYY i) 尨IiS@6^= ))忩@֩YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030756.103165 s, next control iter: 1743030756.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030756.483165 s.|_GH~,y"AJ"J*J2J:Ji0?BJi0?nJ85vJAў@Agӷ@ANdY~? AJA#&"AA_mNA"AZAbAjArAzAAA\;@AwWarA=c@Az2EA/=AO*A 0AzοAXϼ*A:?2Aֽ:Aٹ;BA:?JAֽRAٹ;٘i)I9c@Y G JJJJJD&K Y:sW~?yķBA D7777w8)'B[[Ln@[- X~?[[[[[ZZBZYY i) /rIiU@= ))㿩*@ vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030756.523165 s, next control iter: 1743030756.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4255, header.stamp.nsec: 00 temperature: 13.389091* salinity: 33.391689, density: 1025.000000* values[0]: 0.688340F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030756.903165 s.MH~,9y"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082916< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743030756.903301F (some fields omitted in printout)A ףp=@AV]#@AKY~? AAy#&"AA|:mNA"AZAbAjArAzAAA͸@ATbrA[b@AIʻA$a<A-B)AlAa@пA*A:?2Aֽ:A^!BA:?JAֽRA^!٘i)I9b@Y G JJJJJ¸D&K YYW~?yMЧBADb77'w8)+BNE[[:o@[W~?[[[[[ZZBZYY i) 2IiX@ = {C)){CῩ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030756.923165 s, next control iter: 1743030757.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030757.323165 s.tTH~,Ty"AJ"J*J2J:J 0?BJ 0?nJ85vJA\@A7֎@Aw3Y~? AAy#&"AAvmNA"AZAbAjArAzAAA8 @A9_0drAub@AgSA&<A'A A@%ѿA |*A9?2Aֽ:A5!BA9?JAֽRA5!٘i)I9ub@Y G J_JJJJ̸D&K Y}@W~?y.ԧ1BA DE775w8)/BKE[[ ap@[gW~?[[[[[ZZBZYY i) Ii[@ = c޿))c޿R@6_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030757.343165 s, next control iter: 1743030757.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4256*, header.stamp.nsec: 0*0 temperature: 13.389407** salinity: 33.391693*, density: 1025.000000** values[0]: 0.687153*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030757.743165 s.W[H~,yoy"AAGz@ArMd@ASY~? AA?#&"AAlNA"AZAbAjArAzAAA82n@A}8frAb@AF<ABV߻AQ&AIA i ҿAg -*A9?2A@ֽ:A BA9?JA@ֽRA ٘i)I9b@Y G J[B=JJJJ׸D&K Y'W~?yاAA+Db77Cw8BB)2BHE[[q@[W~?["[[[[ZZBZYY i) jwIi_@? = Kܿ))KܿH@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030757.763165 s, next control iter: 1743030758.143178 s, wait time: 0.380013 s"'W~?)"ا rAdjusting time to match Gazebo time: 1743030758.163165 s.u}bH~,qy"AJ"J*J2J:J/?BJ/?nJ[85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082916< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198662 time: 1743030758.163305F (some fields omitted in printout)A@A\e@AcY~? A AO#&"AADlNA"AZAbAjArAzAAAL@A$e\hrAa@ATA򻭼A%[%A +AҿA)û*A 9?2Aֽ:ABA 9?JAֽRAY^@Z%y߻[bٓH$?{i?7 %҃?@?@]$?)^@ I٘i)I9a@Yw G J& C=JDJJJD&K#x> YW~?yܧAAZ%5D77j77Rw8)3BEE[[r@[W~?[X&[[[[ZZBZYY io=) l^eIiJa@/= Yڿ))Yڿ{y@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030758.183165 s, next control iter: 1743030758.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030758.583165 s.hH~,Ry"AAR렰@ALnѠ@AX~? AeA"&"AA#lNA"AZAbAjArAzAAAe,x,@Aݵ(jrAa@A;A$ A $AfMAӿA4κ*A9?2Aֽ:AkռBA9?JAֽRAkռ٘i)I9a@Yf G JͅJJJJD&K YV~?yiBA@D777`w8)4B[[]s@[W~?[*[[[[BZYY ir=) 7RSIiwc@$=  ؿ)) ؿ* @:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030758.603165 s, next control iter: 1743030758.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4257, header.stamp.nsec: 00 temperature: 13.389581* salinity: 33.391697, density: 1025.000000* values[0]: 0.686565F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030759.003165 s. pH~,4y"AJ"J*J2J:J/?BJ/?nJL85vJAp= W@AL<@A*X~? AA"&"AAVlNA"AZAbAjArAzAAAp@AclrAya@Av;A;9Aݺ"A`A@ԿAa;*A9?2Aֽ:AxBA9?JAֽRAx꼙٘i)I9a@Yh G J5:B=JJJJD&K YV~?y7BAKD77nw8)3BBE[[t@[W~?["/[[[[BZYY i) DAIif@7= /տ))/տO@x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030759.023165 s, next control iter: 1743030759.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030759.423165 s.!uvH~,y"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069067< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743030759.423335F (some fields omitted in printout)A(\¡@AƉv@AX~? AAr<"&"AA`lNA"AZAbAjArAzAAA'T{@AmnrAa@A@;A{]Am!AzAտA(;*A*9?2Aֽ:ABA*9?JAֽRA٘i)I9a@Y~ G J;C=JJJJD&K Y V~?yTBAVD778}w8AB)2B?E[[i!v@[W~?[3[[[[BZYY i) n9/Iih@= tӿ))tӿ2@y ={*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030759.443165 s, next control iter: 1743030759.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4258, header.stamp.nsec: 00 temperature: 13.389604* salinity: 33.391663, density: 1025.000000* values[0]: 0.686561F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030759.843165 s.|H~,y"AJ"J*J2J:JBJnJvJAHz.@AW"P@AߥX~? ADAa!&"AA=lNA"AZAbAjArAzAAAq1 @A2qrA )b@A@;Adj{A$ A@xA8[ֿAC5<*A9?2Abֽ:A:BA9?JAbֽRA:٘i)I9)b@Y G J<JJJJ D&K YV~?ymqBA`D7w8)/B YV~?yBAkD7w8)-B=E[[ix@[kW~?[<[[[[BZYY if=)  Iim@4= ο))οV@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030760.283165 s, next control iter: 1743030760.663182 s, wait time: 0.380017 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 42592, header.stamp.nsec: 020 temperature: 13.3894952* salinity: 33.3916702, density: 1025.0000002* values[0]: 0.6870722F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030760.683165 s.lH~,s+z"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743030760.683301F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A5 뢰@AxX~? Ahc@AA~AGA`ASؿA1<*A9?2A~ֽ:ABA9?JA~ֽRA٘i)I9hc@Yg G Jؔ<JJJJ-D&K YlV~?yCAD7w8)$B7E[[z@[$KW~?[F[[[[BZYY i) >ݻIir@= Uʿ))Uʿ\z@[*YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743030761.123165 s, next control iter: 1743030761.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030761.523165 s.H~,|az"AJ"J*J2J:J/?BJ/?nJ85vJA(ܣ@AHz£@A`LX~? A)A- &"AAGkNA"AZAbAjArAzAAAvpB@AgRIE{rAc@AYA+AA`֮AٿAS<*AF9?2Aֽ:ABAF9?JAֽRA٘i)I9c@Y G J <JJJJ8D&K YUV~?yCADb77w8) B[[{@[O;W~?[K[[[[BZYY i) c3Iit@= /ȿ))/ȿO @y"g=7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030761.543165 s, next control iter: 1743030761.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4260, header.stamp.nsec: 00 temperature: 13.389329* salinity: 33.391655, density: 1025.000000* values[0]: 0.687964F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030761.943165 s.XdH~,B]|z"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743030761.943298F (some fields omitted in printout)AzG@A($-@A6X~? A>.A@b &"AA1kNA"AZAbAjArAzAAA~4@A|J~rAod@AmC:A|wAAjA@oڿA<*A9?2A)ֽ:AZ BA9?JA)ֽRAZ ٘i)I9d@Y G J۫<JJJJCD&K Yg?V~?yj ?DAD7779w8?B)B4E[[(|@[+W~?[{P[[[[BZYY ib=) t)Iiw@= /ſ))/ſ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030761.963165 s, next control iter: 1743030762.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030762.363165 s.H~,>z"AJ"J*J2J:JBJnJvJA3333@A7S!@AS!X~? A2A &"AAskNA"AZAbAjArAzAAA0H.@AрrA,e@A;A~A8LA$A@:ۿA <*A9?2A׽:ABA9?JA׽RAYk@Ty};ٓH ?~u?1& ?o:?{{??)k@ I٘i)I9e@Yl G J<J?JJJMD&Kex> Y*V~?y}DATD77w8)B1E[[j~@[W~?[U[[[[BZYY i) Iix@8Z= ÿ))ÿ,@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030762.383165 s, next control iter: 1743030762.763180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4261&, header.stamp.nsec: 0&0 temperature: 13.389093&* salinity: 33.391632&, density: 1025.000000&* values[0]: 0.689090&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030762.783165 s.aH~,z"AAQ@Ae@AB X~? A7AT&"AA^SkNA"AZAbAjArAzAAA]/}^?A|rA̦e@A:<AbAAA ܿAle<*AH9?2Ag׽:A'<BAH9?JAg׽RA'<-I٘i)I9e@Y G J\<JJJJXD&K YV~?yEADb7b7w8)B[[6@[ W~?[Z[[[[BZYY i) ƳEIiz@d = I))Ix@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030762.803165 s, next control iter: 1743030763.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030763.203165 s.H~, z"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743030763.203293F (some fields omitted in printout)Aףp=@A*p@AW~? A{<AnP&"AA3kNA"AZAbAjArAzAAA&/9o?A ,rA"6f@AE;A6AA`AܿAy<*A9?2A}ֽ:ABA9?JA}ֽRA٘i)I96f@Y G J<JJJJcD&K YV~?yuEAD{7j7:w8>B) B.E[[+@[V~?[`[[[[BZYY i) f Ii|@!= ))M@n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030763.223165 s, next control iter: 1743030763.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030763.623165 s.XH~,az"AA)\@AĬۥ@AW~? A~AA&"AAmkNA"AZAbAjArAzAAA4{?AhrAf@ABѹAAkA`GAݿA<*A9?2Aֽ:AkABA9?JAֽRAkA٘i)I9f@Yr G J<JJJJnD&K  x8YU~? x8y"EADb77 x8)B+E[[@[V~?[Le[[[[BZYY i) -Ii~@"2#= ȼ))ȼݙ@y[=*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030763.643165 s, next control iter: 1743030764.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4262 , header.stamp.nsec: 0 0 temperature: 13.388868 * salinity: 33.391617 , density: 1025.000000 * values[0]: 0.690227 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030764.043165 s.H~,{"AJ"J*J2J:JBJnJvJA{Ga@A23/G@AW~? AFA&"AAjNA"AZAbAjArAzAAAԩ`:?A rAPg@AʻA?A#ACA ,@޿A_<*A9?2Aˡֽ:AzBA9?JAˡֽRAz٘i)I9Pg@Y G J<<JJJJxD&K Y9U~?y(DFA̸D7777x8)B[[J@[V~?[j[[[[BZYY i) 4Ii߀@$= ))l@E*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030764.083165 s, next control iter: 1743030764.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030764.463165 s.XǞH~,{"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743030764.463302F (some fields omitted in printout)A̦@A!o@A7W~? AKA'&"AAujNA"AZAbAjArAzAAAdB?A!VrAg@AnACAA A޿A<*A9?2AYֽ:AtBA9?JAYֽRAtYJr@yBٓHN??C@)$?ཤ?mA?)Jr@ I٘i)I9g@Y G JU<Jr<JJJD&KQx> YU~?yz/FAָDZ7Z7:)x8=B)B(E[[ہ@[V~?[p[[[[BZYY i) B3:IiX@k%= gK))gK@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030764.483165 s, next control iter: 1743030764.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4263, header.stamp.nsec: 00 temperature: 13.388641* salinity: 33.391594, density: 1025.000000* values[0]: 0.691340F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030764.883165 s.y͞H~,<8{"AJ"J*J2J:JBJnJvJAQ8@AQ<@AͧW~? AGQA&"AAjNA"AZAbAjArAzAAAV:-?A.drA`h@AvƻA橊AaA_YA߿Ay<*A%9?2Aֽ:A~BA%9?JAֽRA~٘i)I9`h@Yn G J<JJJmEJD&K YU~?y+6GADj77x8)B)E[[j@[V~?[u[[[[BZYY i) ":Ii@i&=  )) ،@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030764.903165 s, next control iter: 1743030765.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030765.303165 s.UԞH~,sgS{"AAq= ף@AB]‰@AW~? AVAfU&"AAjNA"AZAbAjArAzAAA.ف?ArAh@AlASA4A A2AǕ<*AG9?2Aֽ:AUTBAG9?JAֽRAUT٘i)I9h@Y G J<JJJJD&K Y%U~?y<aGAD777Ex8)B&E[[^@[V~?[;{[[[[BZYY i) @(;Ii܂@'= γ))γY@˹*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030765.323165 s, next control iter: 1743030765.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4264*, header.stamp.nsec: 0*0 temperature: 13.388430** salinity: 33.391579*, density: 1025.000000** values[0]: 0.692408*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030765.723165 s.J "J ۞H~*J2J,Hn{"A:JA1?BJA1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743030765.723274F (some fields omitted in printout)A(\@AE>@AW~? Ak\A&"AAjNA"AZAbAjArAzAAA?AA40rA]i@A;A_eA A ƯA'A9l<*A9?2A"׽:A}2BA9?JA"׽RA}2󼙘٘i)I9]i@YG J<JJJJD&K YʏU~?yCGAD7ŧ7:Tx8 YWmU~?y}QwHAJ  DZ7SI7px8)B!E[[5@[ÕV~?[U[[[[BZYY i) %;Iiq@*= ))0ɝ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030766.603165 s, next control iter: 1743030766.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4265, header.stamp.nsec: 00 temperature: 13.388251* salinity: 33.391560, density: 1025.000000* values[0]: 0.693384F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030766.983165 s.H~,{"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074472< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743030766.983306F (some fields omitted in printout)AQ@A7@ADLW~? AnA&"AA}-jNA"AZAbAjArAzAAA7 ؿAIgTrAej@AZ;A}Ax A I߿A $A<*A-9?2Adֽ:ATBA-9?JAdֽRAT٘i)I9j@YG Jچ<JJJJĹD&K YB]U~?yXHADŧ7b7;x8)B[[G6@[V~?[,[[[[BZYY i) ;Ii@\u+= cު))cުBX@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030767.003165 s, next control iter: 1743030767.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030767.403165 s.&H~,{"AJ"J*J2J:J1?BJ1?nJA:5vJA ףp@A6X@A;W~? AtAc&"AA,jNA"AZAbAjArAzAAAT23ไA/ݢrA(k@AgAAA`D޿AAw<*A9?2Aڹֽ:A5BA9?JAڹֽRA5٘i)I9(k@YG JɅ<JJJJιD&K Y-MU~?y_(IA"D777x8;B)BE[[ Ņ@[~V~?[[[[[BZYY i) ;Ii@Y,= W))W@yq=Գ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030767.423165 s, next control iter: 1743030767.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4266", header.stamp.nsec: 0"0 temperature: 13.388047"* salinity: 33.391552", density: 1025.000000"* values[0]: 0.694321"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030767.823165 s.H~,){"AA\(@A@A^*W~? AFzA&"AAuiNA"AZAbAjArAzAAA,e AirAk@A%AEAiAKݿA&AZ<*A9?2Aֽ:ABA9?JAֽRA٘i)I9k@YdG J<JJJJٹD&K Y=U~?y8gIA,Dx8)ޯB[[zS@[sV~?[[[[[BZYY i)  elevatorAngleAction: 0.074472< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743030768.243291F (some fields omitted in printout)AGz@Abodz@AW~? AA-&"AA\iNA"AZAbAjArAzAAA5kAcUArA l@A^A ҆AAwݿA`rAe<*AJ9?2AGֽ:AmBAJ9?JAGֽRAm٘i)I9 l@YG J<JJJJD&K Y-U~?yvnIA7Dŧ7b7;x8-B)ͯBE[[q@[!iV~?[[[[[BZYY i) C<*A9?2Aֽ:ABA9?JAֽRAYS@yV pٓH ^޿`O?@?@\j޿?@?`4m`?)S@ I٘i)I9~l@YG J\<B=J,JJJD&KBx> Y\U~?y-v5JABD77x8.B)ʯBE[[o@[^V~?[[[[[BZYY i) 7& elevatorAngleAction: 0.074472< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743030769.503291F (some fields omitted in printout)Ap= ׫@An@AV~? A A&"AAݘiNA"AZAbAjArAzAAAnFFVA$]%rAdm@A;AAa"AڿAMA6<*A9?2A)&׽:ABA9?JA)&׽RA٘i)I9dm@Y{G J=<JJJJD&K YU~?yJAWD elevatorAngleAction: 0.083613< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743030770.763296F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Aя@AV~? A^A*&"AAKWiNA"AZAbAjArAzAAA43A OrAJn@A6YhA,AAN]ؿA AԖ<*AV9?2Aֽ:A< BAV9?JAֽRA< Y@y,;hٓH2ؿr?`-̝?N_ ٿ ?r?& M?)@ I٘i)I9n@YXG JO<B=Jw[JJJ$D&Kx>  y8YT~? y8y"LAwD77=y8)B[[5@[0V~?[Ȩ[[[[BZYY i) 7t elevatorAngleAction: 0.083613< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743030775.803278F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #@Ao @A@V~? AzAz&"AA~hNA"AZAbAjArAzAAȀT Ac{6UrA>u@AWA߰AFݿA@˿AgA<*Ao9?2AKֽ:AлBAo9?JAKֽRAл٘i)I9u@YG J<C=JJJJD&K Y,wT~?ysQADŧ7b7@y8)B[[Ր@[U~?[[[[[BZYY i) g elevatorAngleAction: 0.092596< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743030777.063324F (some fields omitted in printout)Afffff@A PL@A,V~? AAݴ&"AAohNA"AZAbAjArAzAAA|s#NA: sA`w@Ag<AT AVտAHƿAkAR<*Aِ9?2Adֽ:A1BAِ9?JAdֽRA1Y@lտy  <ٓHz ?C?`p?Y? b?w?)@ I٘i)I9w@YG J|<JݙJJJƺD&K&x> YViT~?yr}RAlտD)7ŧ7?y8)rB[[|@[mU~?[+[[[[BZYY i) eBZYY i¸>4) AsAz@AͻAAiͿAnA]A=*A9?2A:Fֽ:A3BA9?JA:FֽRA3٘i)I9z@Y5G JL<JJJJD&K  z8Y-aT~? z8y5SA8Dŧ7b7?z83B)bBE[[ $@[UU~?[T?[[[[ZZZZBZYY i) *^TACD77z8)[B[[0@[U~?[F[[[[ZZZZBZYY i)  Y^T~?yEGTAnȿND7777z8)TB[[h>@[xU~?[L[[[[ZZZZBZYY i) ĭhNA"AZAbAjArAzAAAL]AI.sA5}@A;AA8ÿAVATAҪ<*A9?2Akֽ:A:BA9?JAkֽRA:٘i)I95}@YG J9<JJJJD&K Y^T~?yXZUAcD77{7;z8)KB[[Y@[U~?[Z[[[[ZZZZBZYY i) l.JJJ1D&Kw> Y*bT~?yJsUAlD777fz87B)E[[w4Ŀ[U~?[n[[[[ZZZZBZYY iԤn) oA_(W=AהA`>?A`ZsAݻ*A9?2Aֽ:At<BA9?JAֽRAt<٘i)I9U~@YG JuJJJJQD&K Y2kT~?yUAD77{7z8)9B[[É[U~?[n[[[[BZYY i) 98"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.068963< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743030783.363308F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@AL@A V~? AޏA&"AAS5hNA"AZAbAjArAzAAAA&aUsA}@Ad;A?!=AvA@C?AhAb*A9?2A8ֽ:A =BA9?JA8ֽRA =Y q@ny !=;d;ٓH@a?O?u?=@ih?@ిl? ?) q@ I٘i)I9}@YuG JEJ=JJJgD&K[w> Y tT~?y#UAnD{7{7Bz8-B)?BE[[[U~?[[[[[BZYY ihe) V7=A]AS?A 6A誼*A*9?2AWֽ:A =BA*9?JAWֽRA =٘i)I9{@YCG J&JJJJD&K YbT~?y|SADŧ7b7z8)OB[[/[U~?[[[[[BZYY i) V;Iiֆ@,= O))OO\ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030785.063165 s, next control iter: 1743030785.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030785.463165 s.QH~,Ӥ]"AA̻@A0H@AV~? AA@&"AAIhNA"AZAbAjArAzAAA}1AQnsA?{@A_CA=AVA `!?A`A$AB$*A9?2A^ֽ:A[=BA9?JA^ֽRA[=YIJ@hy=ٓH *u?{x?'1?@Ad2?䢱- \|?)IJ@ I٘i)I9?{@YG J$J~<JJJD&Kx> YT~?yɩRSAhD77z8.B)TBE[[[3U~?[β[[[[BZYY i) iŒ;Ii@!+= ))ҪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743030785.483165 s, next control iter: 1743030785.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4284, header.stamp.nsec: 00 temperature: 13.567956* salinity: 33.375004, density: 1025.000000* values[0]: 0.579960F (some fields omitted in printout).T~?).ɩ rAdjusting time to match Gazebo time: 1743030785.883165 s.yH~,8x"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065370< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743030785.883283F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8@Av1<@A\V~? A㿪A&"AA;PhNA"AZAbAjArAzAAA#e@Aߗ+ssADz@A Aǖ=AAs?AAI*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9z@YG JB=JJJJD&K  {8YT~? {8yBҩRAD7D{8/B)YBE[[񻫿[U~?[[[[[BZYY i) i;Ii@-)= h))hhϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030785.923165 s, next control iter: 1743030786.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030786.303165 s.^$H~,g"AAq= ף@AZI+@Aq"V~? AǪAH&"AAWhNA"AZAbAjArAzAAA2G7AL "xsA"z@A4A=A %AR?A`A᧼*A̹9?2A6ֽ:AgP=BA̹9?JA6ֽRAgP=٘i)I9"z@Y=G JͨC=JJJJD&K Y5T~?yکRADb7b7{8)^B[[[6U~?[1[[[[BZYY i) E,;Ii@(= 3 ))3 3 ̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030786.323165 s, next control iter: 1743030786.703182 s, wait time: 0.380017 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4285., header.stamp.nsec: 0.0 temperature: 13.568238.* salinity: 33.374992., density: 1025.000000.* values[0]: 0.579328.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030786.723165 s.+H~,H"AJ"J*J2J:JBJnJvJA(\@A`C@A (V~? AϪAs&"AA_hNA"AZAbAjArAzAAA:)A#I|sAy@A9A =AA-?A Ac*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9y@YG JaJJJJD&K YѭT~?yRAD77 {8)bB[[}B[U~?[Ʃ[[[[BZYY i) 6:Iia@g+(= u))uuy؅CɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030786.743165 s, next control iter: 1743030787.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030787.143165 s.Z/2H~,*ɀ"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065370< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743030787.143287F (some fields omitted in printout)AGz@AmR`@A&.V~? AתA&"AAfhhNA"AZAbAjArAzAAA=FAśsA y@AF;Au=A* A I?AkAݤ*A 9?2A1dֽ:Az=BA 9?JA1dֽRAz=٘i)I9 y@YG J良B=JJJJȻD&K YmT~?yiQADZ7Z7C/{80B)gBE[[[V~?[ͩ[[[[BZYY i) ccO:Ii@'= ))ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030787.163165 s, next control iter: 1743030787.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030787.563165 s.8H~,_ "AJ"J*J2J:JBJnJvJAffff潰@AnnLO̽@A4V~? AZߪA{%"AArhNA"AZAbAjArAzAAAN{ Ad`sAFx@AE <A͌=AktA?AĢAA*AD9?2Adֽ:A<BAD9?JAdֽRA YT~?yzYQAa$D777={8)lB E[[SȢ[V~?[ԩ[[[[BZYY i) Ii@&= ))ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030787.583165 s, next control iter: 1743030787.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4286, header.stamp.nsec: 00 temperature: 13.568458* salinity: 33.374992, density: 1025.000000* values[0]: 0.578696F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030787.983165 s.?H~,"AAQ@A5E7@A;V~? AA%"AAf|hNA"AZAbAjArAzAAA_R A`sAw@A };A7=AiԑA@Ҵ?A`A(*A.9?2Aֽ:A_<BA.9?JAֽRA_<٘i)I9w@YG J잼JJJJݻD&K YT~?yPA/Db7b7K{8)pB[[g[V~?[ک[[[[BZYY i) .Ii@p$=  ))  YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743030788.003165 s, next control iter: 1743030788.383181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030788.403165 s.&FH~,"AJ"J*J2J:J?BJ?nJA5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065370< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743030788.403316F (some fields omitted in printout)A ףp@A2SZ@ACV~? AAvL%"AAhNA"AZAbAjArAzAAA5{! A7C ԏsA{w@A:A=A-AT?A]A攼*A9?2A0ֽ:A<BA9?JA0ֽRA<٘i)I9{w@YG JJJJJD&K YST~?yPA:Dŧ7CZ{81B)uB#E[[J[V~?[?[[[[BZYY i) TIiN@e#= N ))N 義N RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030788.443165 s, next control iter: 1743030788.803177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4287", header.stamp.nsec: 0"0 temperature: 13.568699"* salinity: 33.375015", density: 1025.000000"* values[0]: 0.578086"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030788.823165 s.LH~,G4"AA\(@Al@AKV~? AA#%"AAhNA"AZAbAjArAzAAAܮLO Ar‚sAw@AAz=AA`_?A 7A&j*A9?2Aֽ:A[<BA9?JAֽRA[<٘i)I9w@YUG J㑼B=JJJJD&K YT~?y =PAED)7h{8)yB[[[cV~?[[[[[BZYY i) BCIi}@t"= ޾))޾޾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030788.863165 s, next control iter: 1743030789.223181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743030789.243165 s.SH~,iO"AJ"J*J2J:JBJnJvJAGz@A2dz@AXTV~? A A %"AA3hNA"AZAbAjArAzAAAA(`} AL)sAAv@ADg A5p=A≿A?AAϧ*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9v@Y G JC=JJJJD&K YT~?yOAODb77v{82B)}B$E[[mƙ[B%V~?[M[[[[BZYY i) cIi|@!= Ծ))ԾԾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030789.263165 s, next control iter: 1743030789.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030789.663165 s.ZH~,qj"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065370< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743030789.663298F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4288, header.stamp.nsec: 00 temperature: 13.568885* salinity: 33.374992, density: 1025.000000* values[0]: 0.577536F (some fields omitted in printout)A@A忰@A]V~? AA%"AAhNA"AZAbAjArAzAAA=T A4IƝsAv@AXAX=AIJA@?A`A(P*A`9?2Aֽ:A<BA`9?JAֽRA YT~?ypOAYZD7D{8)B'E[[![t-V~?[[[[[BZYY i") ŸIiy@= ˾))˾˾ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030789.683165 s, next control iter: 1743030790.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030790.083165 s.DaH~,S"AJ"J*J2J:JBJnJvJARk@A½2oQ@A&gV~? A1 Aj%"AAhNA"AZAbAjArAzAAA!xQAs [sAbu@Af`%Au=AйA?AǶA*A9?2Aֽ:A <BA9?JAֽRA <٘i)I9u@YG JJJJJD&K Y U~?y#.OA CeD7)7{8)B[[YE[ 6V~?[$[[[[BZYY i) a"IiUw@ZK= ¾))¾¾쳪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030790.103165 s, next control iter: 1743030790.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030790.503165 s.gH~,74"AAp= @A@@AHqV~? AAtg%"AAhNA"AZAbAjArAzAAA1~A sA(7u@Ap;Ael=A+A 4?A@7A4΄*A9?2Amֽ:A ;<BA9?JAmֽRA ;<٘i)I97u@Y>G JJJJJD&K YU~?y*NAoDZ7SI7{83B)B*E[[a[ ?V~?[[[[[BZYY i) s޻Ii1u@= 幾))幾幾YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743030790.523165 s, next control iter: 1743030790.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4289, header.stamp.nsec: 00 temperature: 13.569037* salinity: 33.375011, density: 1025.000000* values[0]: 0.576788F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030790.923165 s.>nH~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076659< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743030790.923283F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\B@AB=}(@A{V~? AA%"AAhNA"AZAbAjArAzAAAf9A[+ fsAt@A <Ace=A~3A ?A \UATф*A9?2Awֽ:AZ<BA9?JAwֽRAZ<٘i)I9t@YG JgB=JJJJ(D&K Yp&U~?yv2~NAzDŧ7b7E{84B)B+E[[/[lHV~?[[[[[BZYY i) Iins@= Ͱ))ͰͰyy✽ﴪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030790.963165 s, next control iter: 1743030791.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030791.343165 s.D&K,x> YDU~?yTAMAtDb77{8)B[[0[>\V~?[n[[[[BZYY i) 4Iin@= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030791.783165 s, next control iter: 1743030792.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030792.183165 s.˂H~,g "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076659< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743030792.183293F (some fields omitted in printout)AQ°@Agk°@AV~? A1A,%"AA iNA"AZAbAjArAzAAAʠ|tA褸sAys@A=AЉ=A{coAc/?AA+*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9ys@Y/G JɄJJJJID&K YTU~?yHpMAD777E{86B)B1E[[ꉿ[fV~?[[[[[BZYY i) 7-Iil@= V))VVYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030792.203165 s, next control iter: 1743030792.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030792.603165 s.;4H~,&"AJ"J*J2J:Jy?BJy?nJ5vJA= ף°@A2;°@A V~? A8A%"AA iNA"AZAbAjArAzAAAȾpDAHVsA s@A@A=A)jA?AXuA**A9?2A3׽:AH=BA9?JA3׽RAH=٘i)I9 s@YG JمJJJJSD&K Y9eU~?yOMADb77{8)B[[ס[qV~?[ [[[[BZYY i) ]=Iii@r= g))ggYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030792.623165 s, next control iter: 1743030793.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4291 , header.stamp.nsec: 0 0 temperature: 13.569382 * salinity: 33.375019 , density: 1025.000000 * values[0]: 0.576068 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030793.023165 s.ZH~,|A"AA(\ð@ABð@AV~? A?A%"AA3iNA"AZAbAjArAzAAA A =sA+r@AbAя=A?dA`E?A7Ax*A9?2Aֽ:A_=BA9?JAֽRA_=٘i)I9r@YG JӈJJJJ^D&K YuU~?yVLAD)7ŧ7{87B)B5E[[V[|V~?[&[[[[BZYY i) QLIig@== ;));;ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030793.063165 s, next control iter: 1743030793.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030793.443165 s.6ÖH~,:]\"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076659< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743030793.443358F (some fields omitted in printout)Azð@Að@AV~? AFA!%"AAGiNA"AZAbAjArAzAAAďItAusAr@A0&Aے=A8_A`?AwA瑼*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9r@Y\G JB=JJJJiD&K  |8YׅU~? |8y^_LADj7j7G|8)B[[ [sV~?[,[[[[BZYY i) \Iie@.= <t))<t<tʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030793.463165 s, next control iter: 1743030793.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4292, header.stamp.nsec: 00 temperature: 13.569537* salinity: 33.375031, density: 1025.000000* values[0]: 0.575566F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030793.863165 s.+H~,>w"AA33333İ@Aİ@AkV~? AMA %"AAz\iNA"AZAbAjArAzAAA7'Aݽl͠sAzq@Ae:A'=AnZAx?A@UAY*A9?2A4ֽ:A =BA9?JA4ֽRA =Y@:Zy#=[f:ٓH@,??`N8?`  #?yaL?`#?)@ I٘i)I9q@YG J4C=Jz<JJJtD&Kx> YcU~?ydKAZŻD77|88B)B8E[[a€[UV~?[2[[[[BZYY i) +kIib@= a))aaͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030793.903165 s, next control iter: 1743030794.263181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743030794.283165 s.0RH~,"AJ"J*J2J:JBJnJvJAQİ@A İ@AV~? AETAG%"AAqiNA"AZAbAjArAzAAA42J/AesAq@AA;A=AUAB?A[[[[BZYY i) hIi\@FP = P =))P =P =ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030794.723165 s, next control iter: 1743030795.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030795.123165 s.:ᱠH~,iǂ"AJ"J*J2J:J"?BJ"?nJG5vJA)\uŰ@AO9[Ű@AV~? AyaAw%"AA}iNA"AZAbAjArAzAAAςs{AC2sA p@A&;Aq=AKA`?A`CA*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9 p@YG JC=JJJJD&K Y U~?yxJADj7Z7?|8;B)B?E[[Ss[gV~?[D[[[[BZYY iWy) wIiZ@ = *))**ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030795.143165 s, next control iter: 1743030795.523181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030795.543165 s.IH~,"AA{GŰ@Av/Ű@ANW~? AgAY%"AAεiNA"AZAbAjArAzAAA AsA7|o@A@/:AL=AEA@?A;Ao*A9?2Aֽ:Aq=BA9?JAֽRAq=٘i)I9|o@YG JDJJJJD&K YU~?yJiJADŧ77M|8)B[[ o[V~?[fJ[[[[BZYY i) @IiX@ = ))תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030795.583165 s, next control iter: 1743030795.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4294, header.stamp.nsec: 00 temperature: 13.569926* salinity: 33.375057, density: 1025.000000* values[0]: 0.574425F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030795.963165 s.yH~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086169< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J*J dt: 0.4200082J2 time: 1743030795.963302F (some fields omitted in printout):JBJnJvJALư@AU2ư@AXW~? AInA-%"AAiNA"AZAbAjArAzAAAchA!.sAn@A뫻A4=An@AsW?A`PAI*AJ9?2Aֽ:A =BAJ9?JAֽRA =Y@@y\4=)oٓH kL? ??r`?` j}u u?)@ I٘i)I9n@YlG JhB=J"<JJJD&Kx> Y8U~?yMIA@Db7G\|8)įBBE[[sj[V~?[P[[[[BZYY i) ;IiT@D= ))٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030796.003165 s, next control iter: 1743030796.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030796.383165 s.ŠH~,M"AAQư@A7:ư@A/W~? AtA %"AA]iNA"AZAbAjArAzAAAS2AδpsAVcn@AR\ A/=AD);A@ ?A A*A 9?2A ֽ:A\=BA 9?JA ֽRA\=٘i)I9cn@YG JC=JJJJD&K Y V~?yPIAD{7j7j|8)ȯB[[e[V~?[U[[[[BZYY i) 6IiQ@'= `))`潩`yeܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030796.403165 s, next control iter: 1743030796.783181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4295", header.stamp.nsec: 0"0 temperature: 13.570092"* salinity: 33.375046", density: 1025.000000"* values[0]: 0.573849"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030796.803165 s.{A̠H~J"J*J2J,g3"A:J?BJ?nJ 5vJAq= #ǰ@AB ǰ@A@W~? AzA%"AAiNA"AZAbAjArAzAAA`eAFKK0sAm@AITA,B=A5A:?A̲A4*AƝ9?2Aeֽ:A=BAƝ9?JAeֽRA=٘i)I9m@YG JJJJoEJD&K Yr V~?yT*IAD777x|8=B)ϯBFE[[c*a[!V~?[<[[[[[BZYY i) #IiN@I= @))@@dYFFF]Waiting for Gazebo time sync: latest Gz time: 1743030796.823165 s, next control iter: 1743030797.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030797.223165 s.gӠH~,HN"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086169< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743030797.223321F (some fields omitted in printout)A(\ǰ@AEuǰ@AQW~? AA%"AAhjNA"AZAbAjArAzAAAN7ӿACsAAm@AjA%=A0A?AaA2*A˘9?2Aֽ:A=BA˘9?JAֽRA=٘i)I9Am@YfG JFJJJJʼD&K Y5V~?yWHADj7j7F|8>B)ԯBIE[[;}\[W~?[`[[[[BZYY i) u-Ii*L@ت= k))kkYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030797.263165 s, next control iter: 1743030797.623182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743030797.643165 s.}٠H~,$*i"AJ"J*J2J:J?BJ?nJ5vJAGǰ@ASǰ@AcW~? AA%"AA3jNA"AZAbAjArAzAAAyd'ZAE}sAFl@Ak;Ah=A+A ?AA#*A+9?2AQ]ֽ:A=BA+9?JAQ]ֽRA=٘i)I9l@YG JrJJJJԼD&K YIV~?yZVHA&DSI7SI7|8)ٯB[['W[GW~?[.f[[[[BZYY i) ٨IiJ@L= k))kk0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030797.663165 s, next control iter: 1743030798.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4296, header.stamp.nsec: 00 temperature: 13.570294* salinity: 33.375057, density: 1025.000000* values[0]: 0.573205F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030798.063165 s.H~,| "AAfffffȰ@AqVDMLȰ@AuW~? AwA-2%"AANjNA"AZAbAjArAzAAAzmIK?ArZXw sAl@A<A|=AC&Ap?A\A1*A9?2AFAֽ:A=BA9?JAFAֽRA=Y<@&ys{=x<ٓH`?d?:?Ns??i?`?)<@ I٘i)I9l@YG JJ|<JJJ߼D&Kw> Y!`V~?yGA&0Dj7Z7|8)ޯBLE[[$S[W~?[{k[[[[BZYY i) .IiF@"< Q!))Q!Q!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030798.083165 s, next control iter: 1743030798.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030798.483165 s.t_H~,잃"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086169< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743030798.483275F (some fields omitted in printout)J"J*J2J:JBJnJvJAȰ@Ag!Ȱ@AW~? A*A%"AAejjNA"AZAbAjArAzAAA%ϸD?Ak@!sAdk@A)M<A=Av!A@?A`cA+ż*A9?2ATֽ:A=BA9?JATֽRA=٘i)I9dk@YDG JFüB=JJJJD&K YvV~?ypGA;D777H|8?B)BOE[[{vN[/W~?[p[[[[BZYY i) DȼIiB@< Ԭ))ԬԬYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030798.503165 s, next control iter: 1743030798.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4297, header.stamp.nsec: 00 temperature: 13.570484* salinity: 33.375065, density: 1025.000000* values[0]: 0.572531F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030798.903165 s.H~,͹"AA ףp=ɰ@AK[#ɰ@AW~? AAdS%"AAjNA"AZAbAjArAzAAA#?A\sAj@A&h;A=AN'A D?A AAȼ*A9?2Atֽ:A&R=BA9?JAtֽRA&R=٘i)I9j@YG JǼC=JJJJD&K Y V~?yUFAFD77|8)B[[I[?W~?[u[[[[BZYY i) ϼIit?@< 1))11vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030798.923165 s, next control iter: 1743030799.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030799.323165 s.vH~,%ԃ"AJ"J*J2J:JBJnJvJA\ɰ@A`ݎɰ@AW~? A5Az%"AA9jNA"AZAbAjArAzAAA!.=?AݢIBsAj@A}-A=AA Kn?Aj_߿Aɼ*Af9?2Aֽ:An=BAf9?JAֽRAn=٘i)I9j@YwG J<ɼJJJJD&K Y~V~?yFAQD777|8AB)BSE[[#E[fPW~?[{[[[[BZYY i) ּIi<@n< <))<<YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743030799.343165 s, next control iter: 1743030799.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4298*, header.stamp.nsec: 0*0 temperature: 13.570721** salinity: 33.375061*, density: 1025.000000** values[0]: 0.571823*F (some fields omitted in printout):~V~?): rAdjusting time to match Gazebo time: 1743030799.743165 s.WH~,i"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086169< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743030799.743271F (some fields omitted in printout)AGzʰ@Abɰ@A\W~? AA}%"AAvjNA"AZAbAjArAzAAA%a0?AńsA/ji@ATAD=A}A]?A (޿A-̼*Ap9?2Ayֽ:A>=BAp9?JAyֽRA>=٘i)I9ji@YG JʼJJJJ D&K YV~?yFA[D7G|8BB)BVE[[F@[faW~?[[[[[BZYY i) ,޼Ii[:@̉< @ =))@ =@ =WYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743030799.763165 s, next control iter: 1743030800.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030800.163165 s.v}H~,q "AJ"J*J2J:JBJnJvJAʰ@AٙBeʰ@A0W~? A§A%"AA;jNA"AZAbAjArAzAAA [?Av>?tAWh@AAm=AC A?A{ݿA9ϼ*A9?2Aֽ:A=BA9?JAֽRA=Ya~@/s y=OٓH`z2??"a?P?룿 t@?)a~@ I٘i)I9h@Y G JͼJ~3<JJJD&Kx> YV~?yEAs CfD|8)BZE[[;[rW~?[[[[[BZYY i) ZIi>6@E< W=))ǀW=W=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030800.183165 s, next control iter: 1743030800.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030800.583165 s.H~, S%"AARʰ@A~mʰ@A[W~? AجA/%"AAjNA"AZAbAjArAzAAAǗW?ACFtA h@AAn`=A"A gZ?A,ݿAiԼ*A9}9?2Aֽ:A2=BA9}9?JAֽRA2=٘i)I9 h@Y: G JҼJJJJ D&K YV~?y($EAqD|8)B[[w6[ W~?[ȉ[[[[ZZ¸BZYY i¸=) PټIi2@<  ˑ=))  ˑ= ˑ=YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030800.603165 s, next control iter: 1743030800.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4299, header.stamp.nsec: 00 temperature: 13.570963* salinity: 33.375088, density: 1025.000000* values[0]: 0.571084F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030801.003165 s.~ H~,e4@"AJ"J*J2J:J2?BJ2?nJL5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082822< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743030801.003327F (some fields omitted in printout)Ap= W˰@A<˰@AW~? AͱAP%"AAPkNA"AZAbAjArAzAAA=7=x?AQ~ftAWg@Ap:A=Au"A?AjܿAڼ*A܈9?2Asս:Av=BA܈9?JAsսRAv=٘i)I9Wg@Y G J׼JJJJ+D&K  }8Y$W~? }8yŪDA{D7H}8CB)B]E[[2[W~?[[[[[ZZBZYY i) EͼIi//@0<<  =)) = =aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030801.023165 s, next control iter: 1743030801.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030801.423165 s.uH~,["AA(\˰@A }˰@AX~? AAb%"AA:kNA"AZAbAjArAzAAAx ?A}C tA f@AB;A.=AdEA.?A GۿAy *Au9?2A]ս:A}<BAu9?JA]սRA}<٘i)I9f@YP G JrJJJJ5D&K Y6W~?yUʪ1DAD77}8)B`E[[G-[DW~?[6[[[[ZZBZYY i) :Ii>,@+y< @@=))@@=@@=8YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030801.443165 s, next control iter: 1743030801.823178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4300", header.stamp.nsec: 0"0 temperature: 13.571214"* salinity: 33.375084", density: 1025.000000"* values[0]: 0.570299"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030801.843165 s.H~,u"AJ"J*J2J:J?BJ?nJ5vJAHz.̰@AO̰@A'X~? ARAG%"AASZkNA"AZAbAjArAzAAA@Aѽa tAe@ATx<A~ޙ=A0A 0?A|ڿAY*A(9?2Aս:A3<BA(9?JAսRA3<٘i)I9e@Y G JJJJJ@D&K YF2W~?yΪCAD{7{7$}8)BcE[[gw([W~?[̗[[[[ZZBZYY i) 0Ii)@8< a>))a>a>y=FժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030801.863165 s, next control iter: 1743030802.243186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743030802.263165 s.$H~,ؐ"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082822< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743030802.263294F (some fields omitted in printout)A̰@A YKW~?yҪdCAbD777I3}8EB)BdE[[#[W~?[=[[[[ZZBZYY i) 쩼Iil%@< P{>))#~P{>P{>!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030802.283165 s, next control iter: 1743030802.663174 s, wait time: 0.380009 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 43012, header.stamp.nsec: 020 temperature: 13.5715142* salinity: 33.3751072, density: 1025.0000002* values[0]: 0.5693432F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030802.683165 s.l*H~,V"AJ"J*J2J:JBJnJvJAQͰ@A̰@ARX~? APīA%"AA+kNA"AZAbAjArAzAAA/m,@A`/Ay!tAbd@AAi2=A۾A@?ABUٿAм*Ac9?2Auս:A;BAc9?JAuսRA;٘i)I9d@Y G JJJJJVD&K Y6eW~?y֪CAD{7j7A}8)%BgE[[[W~?[[[[[ZZBZYY i) Ii!@< @(>)) @(>@(>zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030802.683165 s, next control iter: 1743030803.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743030803.103165 s.1H~,Ƅ"AA= ףpͰ@A%!VͰ@AhX~? AȫA%"AAGkNA"AZAbAjArAzAAAK >@AUtADmc@AۻAC<A оA?A`ؿAi*A 9?2AԽ:Aw BA 9?JAԽRAw ٘i)I9mc@Yj G JB=JJJJ`D&K Y~W~?y^ڪBAD7777O}8FB)*BjE[[ [~W~?[ᤪ[[[[ZZBZYY i) cIi @N< <>))<><>\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030803.123165 s, next control iter: 1743030803.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030803.523165 s.7H~,|"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082822< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743030803.523311F (some fields omitted in printout)A(Ͱ@AͰ@A+X~? A̫A8%"AAkNA"AZAbAjArAzAAA/Mc> @AP ItAb@AX AMT<AݒƾA;?A r׿A~*AK9?2AԽ:ABAK9?JAԽRA٘i)I9b@Y G JC=JJJJkD&K Y*W~?y/ުlBADb77I^}8)/BmE[['+[rX~?[[[[[ZZBZYY i) Ii@O\< ВO>))ВO>ВO>oY:$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030803.543165 s, next control iter: 1743030803.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4302, header.stamp.nsec: 00 temperature: 13.571751* salinity: 33.375118, density: 1025.000000* values[0]: 0.568574F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030803.943165 s.]d>H~,W]"AAzGΰ@Aؖ-ΰ@AX~? AЫA%"AAkNA"AZAbAjArAzAAAɴ]'7 @AztAb@AA-ȻAPA Sx?AֿA/*A'9?2AI6ս:APւBA'9?JAI6սRAPւ٘i)I9b@Y G J]JJJJvD&K YW~?yBAǼDŧ7b7l}8)2BpE[[E[X~?['[[[[ZZBZYY i) ͳyIiJ@< 'c>))'c>'c>,(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030803.963165 s, next control iter: 1743030804.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030804.363165 s.EH~,>"AJ"J*J2J:J?BJ?nJ5vJA3333ΰ@Aqΰ@AX~? AԫAʛ%"AA"lNA"AZAbAjArAzAAA8vU`@AfA@GtA0Tb@A A GAA`?AֿA2qʻ*AN9?2A$ս:AᇮBAN9?JA$սRAᇮY9@豾yG6 ٓH@??`O տA? h??_a@?)9@ I٘i)I9Tb@Y G JJEJJJD&Ku> YAW~?y5BA豾ѼD{7j7z}8)4B[[k [!1X~?[[[[[ZZBZYY io=) gIi@.I< pv>))$p|pv>pv>P)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030804.403165 s, next control iter: 1743030804.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4303&, header.stamp.nsec: 0&0 temperature: 13.571837&* salinity: 33.375130&, density: 1025.000000&* values[0]: 0.568210&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030804.783165 s.[KH~,2"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.246522> elevatorAngleAction: 0.058369< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743030804.783285F (some fields omitted in printout)AQϰ@A ϰ@AX~? AbثA`Q%"AADlNA"AZAbAjArAzAAAG@A?iatA6b@AN;AS AWqA`?A(@տA*A9?2Aս:AҼBA9?JAսRAҼ٘i)I96b@Y G JƌB=JJJJD&K YW~?yQBAܼD777K}8GB)5BsE[[k[EX~?[촪[[[[BZYY ix=) ̆UIi@'< >)) >>57*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030804.803165 s, next control iter: 1743030805.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030805.203165 s.SH~,M"AJ"J*J2J:Jp?BJp?nJ5vJAףp=ϰ@A%pϰ@AX~? A۫A %"AAglNA"AZAbAjArAzAAA%mb@A` tA :b@A<Am6A'A@A%?A@=aԿAnS;*A9?2AԽ:ABA9?JAԽRA缙٘i)I9:b@Y G Jf:C=JJJJD&K Y|X~?ymBAD7}8)vE[[k[ [X~?[[[[[BZYY i) rCIiD @< >))>>u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030805.223165 s, next control iter: 1743030805.603180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030805.623165 s.sYH~,g"AA)\ϰ@A⪲ϰ@AlX~? Ah߫A!%"AAxlNA"AZAbAjArAzAAAo@A=("tA|\b@A;A/+[AA W?AӿA;*A9?2AԽ:A/BA9?JAԽRA/٘i)I9\b@Y G J;B=JJJJD&K YX~?yBADŧ7b7}8)4ByE[[L[pX~?[K[[[[BZYY i) yY1Ii @=s< Ҙ>))Ҙ>Ҙ>y-=*Y$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030805.663165 s, next control iter: 1743030806.023187 s, wait time: 0.360022 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4304 , header.stamp.nsec: 0 0 temperature: 13.571761 * salinity: 33.375145 , density: 1025.000000 * values[0]: 0.568146 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030806.043165 s.`H~,Â"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069098< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743030806.043325F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gaа@A3Gа@A- Y~? AA;%"AAJlNA"AZAbAjArAzAAAM@Aj!$tApb@A;;A]yAሾAU?AҿAk2<*Aɺ9?2AԽ:A:BAɺ9?JAԽRA:٘i)I9b@Y G J&<C=JJJJD&K Y6X~?yBAD77J}8IB)}E[[W[fX~?[п[[[[BZYY i)  FIiJ@W<  Ȣ>)) Ȣ> Ȣ>¨*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030806.063165 s, next control iter: 1743030806.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030806.463165 s.egH~,'"AAа@Aа@A#"Y~? AA/D%"AAmlNA"AZAbAjArAzAAAي@Ao̘&tAb@AسkAA}}AͶ?AѿAR>h<*Aq9?2Aս:A BAq9?JAսRA ٘i)I9b@Y G JkK<B=JJJJD&K YXQX~?y BAD77}8)2BE[[T[X~?[8ê[[[[BZYY i) . Ii@9ݨ< ˬ>))ˬ>ˬ>^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030806.503165 s, next control iter: 1743030806.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4305, header.stamp.nsec: 00 temperature: 13.571546* salinity: 33.375149, density: 1025.000000* values[0]: 0.568484F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030806.883165 s.ymH~,<"AJ"J*J2J:J?BJ?nJ5vJAQ8Ѱ@A pAѰ@AK:Y~? AA%"AAlNA"AZAbAjArAzAAA6V@A?H;m(tAGYc@AAّAiAM?A пA<*A9?2A<ս:AGBA9?JA<սRAG٘i)I9Yc@Y^ G JS}<C=JJJJD&K YkX~?y BADS77}8)/B[[H۾[ X~?[ƪ[[[[BZYY i) 2Ii@_< !׶>))!׶>!׶>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030806.903165 s, next control iter: 1743030807.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030807.303165 s.StH~,jgӅ"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069098< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743030807.303273F (some fields omitted in printout)Aq= ףѰ@A6uĉѰ@ARY~? AA%"AAmNA"AZAbAjArAzAAA@Ae+**tAc@AA(A7TA ?A@FпAPX<*A;9?2Aoս:ABA;9?JAoսRA٘i)I9c@Y G J+<JJJJ̽D&K YX~?y BAD{7{7K}8JB)+BE[[4Ѿ[X~?[ɪ[[[[BZYY i) һIit@9l< >))>>Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030807.323165 s, next control iter: 1743030807.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4306., header.stamp.nsec: 0.0 temperature: 13.571237.* salinity: 33.375179., density: 1025.000000.* values[0]: 0.569053.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030807.723165 s.{H~,H"AJ"J*J2J:JBJnJvJA(\Ұ@AnJѰ@A*kY~? AbA%"AAAmNA"AZAbAjArAzAAA-d/8@AI4+tAfZd@AA畻A A?A6?A]οA<*A/9?2AAս:A4yBA/9?JAAսRA4y٘i)I9Zd@Y G J<JJJJ׽D&K Y/X~?y CA'D)7ŧ7}8)'BE[[Ǿ[X~?[̪[[[[BZYY i) ۭIi?@< >))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030807.743165 s, next control iter: 1743030808.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030808.143165 s.W/H~, * "AAGzҰ@Ax)u`Ұ@A݃Y~? AA]e%"AAfmNA"AZAbAjArAzAAAV$c@Ad[-tA"d@A9:AH韽A)A9]?A̿Aƫ<*A9?2A`ֽ:ABA9?JA`ֽRA٘i)I9d@YP G J<JJJJD&K Y̻X~?y3CA2D77{7}8)#BE[[e[X~?[Ϫ[[[[BZYY i;=) rIiZ?f%< Q%>))Q%>Q%>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030808.163165 s, next control iter: 1743030808.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030808.563165 s.H~,V $"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077929< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743030808.563278F (some fields omitted in printout)J"J*J2J:JBJnJvJAffffҰ@A7/NҰ@AY~? AMA95%"AAwmNA"AZAbAjArAzAAAંq2@AF.tAyze@A{Z;A~A(EAy?A ʿA5<*A9?2Ayֽ:A1JBA9?JAyֽRA1JYe@yd}E;ٓHg?w?9@ |¿?p?R*?= ~?S?)e@ I٘i)I9ze@Y G J6<J*JJJD&K_>  ~8YX~? ~8yUCA=D77K ~8SB)'BE[[Y[Y~?[<Ҫ[[[[BZYY ij=) UWIi>? Q< ] >))m] >] >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030808.603165 s, next control iter: 1743030808.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4307, header.stamp.nsec: 00 temperature: 13.570879* salinity: 33.375172, density: 1025.000000* values[0]: 0.569775F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030808.983165 s.H~,>"AAQӰ@A1]7Ӱ@AY~? AA*%"AA?mNA"AZAbAjArAzAAAX@ARh*0tA+f@Ax <A#}AAA@?AȿAޱ<*Ax9?2Aֽ:A6BAx9?JAֽRA6٘i)I9f@Y G J<JJJJD&K YX~?y DAGD7{7~8RB)"BE[[[ &Y~?[Ԫ[[[[BZYY i) [Ii?< >)) >>X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030809.023165 s, next control iter: 1743030809.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030809.403165 s.&H~,Y"AJ"J*J2J:JBJnJvJA ףpӰ@AnRXӰ@AY~? AAK%"AAEmNA"AZAbAjArAzAAAUx@A5k1tAdf@A;A2cA3ֽA@{?AzƿA<*A9?2Aӽ:Aw! BA9?JAӽRAw! ٘i)I9f@Ya G Jk<JJJJD&K YY~?yyDARD&~8)B[[[=Y~?[:ת[[[[BZYY iPR=) SIiz?7:<  >)) > >y elevatorAngleAction: 0.066075< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743030809.823278F (some fields omitted in printout)A\(԰@A~7԰@A3Y~? A|Aw%"AAmNA"AZAbAjArAzAAA$ȍߎ$@A'.2tAcGg@AAm{A'A2A@7?AZ1ſAi;<*AJ9?2A>ӽ:Aُ BAJ9?JA>ӽRAُ ٘i)I9Gg@Y G JK<JJJJ D&K Y+Y~?y(DA C]D77K5~8)BE[[[gUY~?[٪[[[[BZYY i) eIi?< (>))(>(>y k=g*Y-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030809.863165 s, next control iter: 1743030810.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030810.243165 s.H~,m"AJ"J*J2J:JBJnJvJAGz԰@A+nbz԰@AZ~? A<A%"AA$nNA"AZAbAjArAzAAAX *X@A}b3tAkg@A˻A朽Ab~A?ASiÿAJ/<*A.9?2A3Խ:A0BA.9?JA3ԽRA0٘i)I9g@Y$ G J<JJJJD&K YpGY~?ynQEAhDb7C~8)BE[[Uˊ[mY~?[۪[[[[BZYY i) 9Ii ?D< 0?))0?0?y2=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030810.283165 s, next control iter: 1743030810.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030810.663165 s.H~,q"AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4309, header.stamp.nsec: 00 temperature: 13.570063* salinity: 33.375195, density: 1025.000000* values[0]: 0.571369F (some fields omitted in printout)Aհ@A԰@A%Z~? AAr%"AAKnNA"AZAbAjArAzAAAqZ_1G @Aĸߟ4tA5h@A<At[AU?A?A@Ap<*A)9?2AԽ:ABA)9?JAԽRAY@w YcY~?yEA<rDŧ7b7Q~8)BE[[[Y~?[ݪ[[[[BZYY i) :Ii?Fg< ?))PLy??0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030810.683165 s, next control iter: 1743030811.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030811.083165 s.DH~,Sņ"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243455> elevatorAngleAction: 0.066075< massPositionAction: 0.0000004 buoyancyAction: 0.000500J dt: 0.420027"J*J2J2 time: 1743030811.083310F (some fields omitted in printout):JBJnJvJARkհ@AxQհ@A4Z~? AEAT%"AAIrnNA"AZAbAjArAzAAA0 @A{ ݌5tAi@A}AAy׼A*?A|A<*A79?2A.ս:A&BA79?JA.սRA&*I٘i)I9i@Y G Jʶ<C=JJJJ-D&K YY~?y>FA}D77M`~8) BE[['m[ݝY~?[ߪ[[[[BZYY i) ;Ii?%~<  ?))  ? ?'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030811.103165 s, next control iter: 1743030811.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030811.503165 s.H~,@4"AAp= հ@Aհ@A~NZ~? AAO:%"AA2nNA"AZAbAjArAzAAA6UD~!@AG6tAi@A A!A[»A`"A?A AǪ<*A:?2AԽ:AuBA:?JAԽRAu٘i)I9i@Y;G Jk<JJJJ7D&K YY~?yFADSI787n~8)BE[[;X[}Y~?[N[[[[BZYY i) DK;Ii?2t< ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030811.543165 s, next control iter: 1743030811.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4310, header.stamp.nsec: 00 temperature: 13.569648* salinity: 33.375221, density: 1025.000000* values[0]: 0.572226F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030811.923165 s.9H~,"AJ"J*J2J:JBJnJvJA(\Bְ@A3w(ְ@AMhZ~? AA"%"AA>nNA"AZAbAjArAzAAAV "@A㯈6tAn>j@A;AA\j<AQ?AAu<*A:?2AͶԽ:A+BA:?JAͶԽRA+٘i)I9>j@YG J<JJJJBD&K YCY~?y FAD7)7|~8QB)BE[[s!D[`Y~?[[[[[BZYY i) Ѓ;Iij? l< ~?))~?~?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030811.963165 s, next control iter: 1743030812.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030812.343165 s.<šH~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066075< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743030812.343287F (some fields omitted in printout)AHzְ@A9ְ@A-Z~? AAz%"AAgnNA"AZAbAjArAzAAA 0"@Aw=7tA%"AAoNA"AZAbAjArAzAAAJ&.U#@A6v8tAIEk@A'<AG"A`=A]l?AT{A<*Ap:?2Aս:A}BAp:?JAսRA}Y@z^=y/!S%<ٓH R?@" @?m? @?:??)@ I٘i)I9Ek@Y0G J<J<JJpEJXD&Kt> YY~?yGAz^=D~8)BE[[[|Z~?[[[[[BZYY ih=) ;Iir?X< bT"?))DybT"?bT"?G*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743030812.783165 s, next control iter: 1743030813.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030813.183165 s.ҡH~,|K"AAQװ@AWkװ@AZ~? A A(%"AA5oNA"AZAbAjArAzAAA8?#@AxOi8tAk@A%U5;ATAN=A u?AsA<*A:?2Aս:A+BA:?JAսRA+٘i)I9k@Y}G Jm<JJJJbD&K Y Z~?yHADj7j7~8)B[[B[Z~?[[[[[BZYY i) [;Ii?8N< T'?)) T'?T'?ʹ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030813.203165 s, next control iter: 1743030813.583184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030813.603165 s.84١H~,f"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077180< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200482 time: 1743030813.603327F (some fields omitted in printout)A= ףװ@Aװ@AZ~? AAL%"AAe]oNA"AZAbAjArAzAAAN_%p{$@A/<8tA?l@AuA@UAB@=A~?A@A<*A.:?2A,Խ:A!BA.:?JA,ԽRA!٘i)I9?l@YG J<JJJJmD&K Y)Z~?yjHAD{7M~8PB)BE[[[E4Z~?[[[[[BZYY i) ;Ii?D< ^,?))^,?^,?%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030813.623165 s, next control iter: 1743030814.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4312 , header.stamp.nsec: 0 0 temperature: 13.568871 * salinity: 33.375248 , density: 1025.000000 * values[0]: 0.573660 F (some fields omitted in printout))Z~?) rAdjusting time to match Gazebo time: 1743030814.023165 s.ZH~,{"AA(\ذ@AuBذ@A'Z~? AA%"AAڄoNA"AZAbAjArAzAAAn.%@ADu8tA`l@AˆAA7=A ?A`㹔Aԋ<*A*:?2AvԽ:AA}BA*:?JAvԽRAA}٘i)I9l@YG J<JJJJxD&K YKEZ~?yHAȽDj7Z7~8)BE[[븽[NZ~?[~[[[[BZYY i) dA܄?ARwA5<*A#:?2AԽ:ABA#:?JAԽRA٘i)I92m@Y\G J<B=JJJJD&K YaZ~?y$IAӽDZ7SI7~8OB)BE[[[gZ~?[$[[[[BZYY i) L"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077180< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743030814.863322F (some fields omitted in printout)A33333ٰ@AhW!ٰ@AG[~? AA}%"AAoNA"AZAbAjArAzAAA`j&@A S8tAm@A A AG>A@??A?A؍<*Ag:?2Agս:ABAg:?JAgսRAY]@>y ^ٓH?´ÿ@6?B?]y`@?aqM?)]@ I٘i)I9m@YG Jr<C=J36JJJD&K'u> Yl}Z~?yIA>޽D7777N~8)BE[[lI[Z~?[[[[[BZYY i) .A?A ь?AU<*A:?2Anֽ:AƝBA:?JAnֽRAƝ٘i)I9 n@YG J^<JJJJD&K YTZ~?yYIAD~8NB)ݯBE[[u[Z~?[[[[[BZYY i) <=A>}?A0?AhV<*A ):?2ATԽ:A'BA ):?JATԽRA'٘i)I9n@Y6G J`<B=JJJJD&K Y>Z~?y:JAD77~8)ٯBE[[/h[ܵZ~?[[[[[BZYY i) LM*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030815.723165 s, next control iter: 1743030816.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743030816.123165 s.9H~,e"AJ"J*J2J:JF?BJF?nJm5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077180< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743030816.123305F (some fields omitted in printout)A)\uڰ@A[ڰ@Ael[~? AAi%"AADJpNA"AZAbAjArAzAAA )D(@A 9U8tAo@A`<ANA\>Aau?A?Aܑ<*A2$:?2A(ս:AmBA2$:?JA(սRAm٘i)I9o@YG J<C=JJJJD&K  8Y'Z~? 8yJAD7777N 8MB)կBE[[QVR<[:Z~?[[[[[BZYY i) \A%"AAqpNA"AZAbAjArAzAAA뼭(@A~7tAlo@AW;AA$q>Aj?A?AGЗ<*A:?2AXս:AQ BA:?JAXսRAQ ٘i)I9o@YG JJ<JJJJD&K YZ~?yFJA Db778)ѯB[[ =[Z~?[[[[[BZYY i) BlOAfA>A!^?Ax7?A<*A:?2Aqwս:A BA:?JAqwսRA Yb=>yfOٓH ?t)п X`?|?ZQV? I?)b= I٘i)I9p@YG J<J|JJJþD&Ku> Yb[~?y YKA>D(8)̯BE[[_=[[~?[[[[[BZYY i) ~-{?;  W?))+{ W? W?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030816.983165 s, next control iter: 1743030817.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030817.383165 s.H~,4X"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245283> elevatorAngleAction: 0.077180< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743030817.383316F (some fields omitted in printout)AQ۰@A@۰@A*[~? AmA%"AA@pNA"AZAbAjArAzAAA{v*@A6tAp@A GڻA.řA>A@N?A@?Aȥ<*Aq:?2Aս:ABAq:?JAսRA٘i)I9p@YmG J<JJJJξD&K Y#[~?yKADZ7Z7O78LB)ǯB¹E[[=[`[~?[[[[[BZYY i) )J; e\?)) e\?e\?b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030817.403165 s, next control iter: 1743030817.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4316", header.stamp.nsec: 0"0 temperature: 13.567461"* salinity: 33.375317", density: 1025.000000"* values[0]: 0.576349"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030817.803165 s.yAH~,gs"AJ"J*J2J:JBJnJvJAq= #ܰ@A_" ܰ@A[~? AFA%%"AAhpNA"AZAbAjArAzAAAfY**@Ay6tA $q@AA|A$>An>?Aϼ?Aɪ<*A$:?2AdԽ:ABA$:?JAdԽRA٘i)I9$q@YG JA<JJJJپD&K Y?[~?y%LA)Db77E8KB)¯BŹE[[=[9[~?[B[[[[BZYY iv=) мA@*?A`D;?A;;<*A :?2AԽ:ABA :?JAԽRA٘i)I9q@YG J$<JJJJD&K YXZ[~?yaLA3Dŧ7b7S8)BȹE[[e=[T[~?[][[[[BZYY i) O elevatorAngleAction: 0.085965< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743030818.643290F (some fields omitted in printout)J"J*J2J:JBJnJvJAGܰ@AVEܰ@AP\~? A}AlX%"AA_5qNA"AZAbAjArAzAAA!#++@A"A+mi4tAEr@AyVAAE>A<?A#?Aԫ<*A:?2Azս:ABA:?JAzսRA٘i)I9Er@YtG J<JJJJD&K Yu[~?y'LA>DZ7Z7Ob8JB)B˹E[[ݕ>[po[~?[H[[[[BZYY i) A?A ?AN<*A6:?2Aֽ:AWBA6:?JAֽRAWY> >P>yldȱ;ٓHG? Vֿ@g=??5'?a'v?t?)> > I٘i)I9r@YG Jȫ<B=JH>JJJD&Ku> Y"[~?y\MAP>ID{7j7p8IB)BιE[[@$>[[~?[ [[[[BZYY i) S6;  r?))F} r? r?yF=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030819.083165 s, next control iter: 1743030819.463187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743030819.483165 s.{_7H~,ވ"AJ"J*J2J:J?BJ?nJ5vJAݰ@A_b,ӷݰ@A@:\~? AA՗%"AAqNA"AZAbAjArAzAAAde$-@A}R2tA~gs@A<A\4A>A?AS?A~ <*Ay:?2A-Yֽ:ABAy:?JA-YֽRA٘i)I9gs@Y$G JW<C=JJJJD&K Y[~?yMATD77{7~8GB)B͹E[[ :>[p[~?[[[[[BZYY i) Iª4; ^w?)) ^w?^w?*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743030819.503165 s, next control iter: 1743030819.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4318, header.stamp.nsec: 00 temperature: 13.566681* salinity: 33.375340, density: 1025.000000* values[0]: 0.577857F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030819.903165 s.=H~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085965< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743030819.903323F (some fields omitted in printout)A ףp=ް@AZ#ް@AS\~? AAH%"AA,qNA"AZAbAjArAzAAAeg;-@AMgC!1tArs@Ay;A9A9N>At?Ar?Aα<*A:?2Ax)ս:ABA:?JAx)սRA٘i)I9s@YG JK<JJJJD&K Y [~?y5NA C^D)7ŧ7P8FB)BйE[[P>[[~?[[[[[BZYY i) 3GLd; T}?))T}?T}?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030819.923165 s, next control iter: 1743030820.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030820.323165 s.sDH~,"AJ"J*J2J:JBJnJvJA\ް@ACݎް@Al\~? AA%"AAgqNA"AZAbAjArAzAAA?@V.@A{&Z/tAܖt@A;A7AKI>Aѡ?AQz?AB<*A :?2A2ս:ABA :?JA2սRA٘i)I9t@YG Jڷ<JJJJD&K Y}[~?yNAiD7778EB)BӹE[[5Af>[[~?[-[[[[BZYY i) L]9E; P?))P?P?*YVYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030820.363165 s, next control iter: 1743030820.723175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4319*, header.stamp.nsec: 0*0 temperature: 13.566264** salinity: 33.375362*, density: 1025.000000** values[0]: 0.578653*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030820.743165 s.WKH~,q/"AAGz߰@A3bް@A\~? AAX%"AAnqNA"AZAbAjArAzAAA .@A1u.tA7u@A҈A6A'U>A?AB?AV<*A:?2ADս:A oBA:?JADսRA o٘i)I97u@Y?G J<JJJJ$D&K Y[~?yOAtD{7{78)BֹE[[͉|>[[~?[,ު[[[[BZYY i) x*; '?))'?'?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030820.763165 s, next control iter: 1743030821.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030821.163165 s.u}RH~,qJ"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085965< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743030821.163292F (some fields omitted in printout)J"J*J2J:JBJnJvJA߰@Ae߰@A\~? ARA;%"AA;rNA"AZAbAjArAzAAA}[/@A\,tA u@A A:\A>A Z?A ?A?<*A~9?2Auս:A^BA~9?JAuսRA^Ytqs>>yZw ٓH? 0ܿ`@!?2?aΞy? ^?)tqs> I٘i)I9u@YG J<JJJJ/D&Ku> YD\~?yOA>~D77P8DB)BٹE[[M>[\~?[ܪ[[[[BZYY i) T: kۆ?))Dkۆ?kۆ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030821.203165 s, next control iter: 1743030821.563177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030821.583165 s.XH~,Se"AAR߰@Au߰@AB\~? AAkl%"AA@rNA"AZAbAjArAzAAA\2 0@A=0j+tAv@AgAAWAo>A3?A`?A<*AI9?2Aս:ABAI9?JAսRA٘i)I9v@Y G J<JJJJ9D&K Y,\~?yݪOAD778)B[[Gn>[U)\~?[٪[[[[BZYY i) A": ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030821.603165 s, next control iter: 1743030821.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4320, header.stamp.nsec: 00 temperature: 13.565833* salinity: 33.375381, density: 1025.000000* values[0]: 0.579503F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030822.003165 s.{ `H~,Y4"AJ"J*J2J:JZ?BJZ?nJ5vJAp= W@Ay"<@A\~? AA %"AAfrNA"AZAbAjArAzAAAzFW0@A)tA%:w@A|AA>A ?AV?Aa<*AW9?2AZ9ս:AsTBAW9?JAZ9սRAsT٘i)I9:w@YxG Jn<JJJJDD&K YE\~?y-٪oPAD{78>B)BܹE[[C>[C\~?[ת[[[[BZYY i)  elevatorAngleAction: 0.085965< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743030822.423291F (some fields omitted in printout)A(\@APv@A\~? A$A%"AA!rNA"AZAbAjArAzAAA6\Q0@AY'tAw@A/;AA?AW?A@7?A<*A9?2Aս:A BA9?JAսRA ٘i)I9w@YG J<JJJJOD&K Y6_\~?yLժPAD{7j7P8=B)~B߹E[[o>[&^\~?[XԪ[[[[ZZZZ¸>BZYY i¸>Lث) r[x\~?[dѪ[[[[ZZZZBZYY i) I?yy9<ٓH ?V? !? i׵? K??)> I٘i)I9ay@YG J<J9JJJdD&Kv> Yv\~?y̪QA?D{789B)mBE[[~>[h\~?[IΪ[[[[ZZZZBZYY i) [K\~?[ʪ[[[[ZZZZBZYY i) [\~?[xǪ[[[[ZZZZBZYY i) 9tA{@AŻAN2Au?A;?AG?A#<*AA :?2Ayֽ:A_λBAA :?JAyֽRA_λ٘i)I9{@YEG J<B=JJJJD&K YB\~?yɾ0SAԾDb77~87B)XBE[[>[\~?[ê[[[[ZZZZBZYY i) ]<"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083909< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743030824.943296F (some fields omitted in printout)AzG@Ag-@Au]~? AӫA[%"AAbsNA"AZAbAjArAzAAA"FnN2@AJtAz|@AAռA#?A?A`^?A 1<*Ax :?2AEֽ:AF:BAx :?JAEֽRAF:٘i)I9z|@YG J<C=JJJJD&K Y/\~?y!SA߾D786B)RBE[[CD>[n\~?[׿[[[[ZZZZBZYY i) W"AJ"J*J2J:JBJnJvJA3333@A@Ak]~? AϫAצ%"AAnsNA"AZAbAjArAzAAAϲu2@A3S"tA|@AAQA(?Afl?A@S4?A<*Ax:?2Awֽ:A<<<BAx:?JAwֽRA<<(?y^Q^ٓH@AH?*`H? H? W ?Bu?)> I٘i)I9|@YG J9<J2:>JJJD&K1x> Y]~?ySA(?D{7{7#8)NB[[>[]~?[Ż[[[[ZZZZBZYY il) J~rξF v?))v?v?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030826.223165 s, next control iter: 1743030826.603181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030826.623165 s.RH~,H⧊"AA)\@A-X@A$]~? A4ëAa%"AA8sNA"AZAbAjArAzAAAeż]3@AArqtA}@A5<A? =A#v8?A`?A`s?A9*A9?2Awֽ:A<BA9?JAwֽRA<٘i)I9}@YdG JC;JJJJD&K YI]~?y|SA DSI787S98)DB[[?[U]]~?[O[[[[BZYY i) Z7JJJпD&KZx> Yt]~?ySAB?DZ7SI7G8/B)E[[?[]~?[f[[[[BZYY isk) [? %k? ?)$? I٘i)I9{@YG J#J(_=JJJD&K$x> Y]~?yy RA ]? CUD7k8)B)MBE[[i=8?[-^~?[][[[[BZYY i) x;IH?i:Y ?))??֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030829.583165 s, next control iter: 1743030829.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4328, header.stamp.nsec: 00 temperature: 13.563704* salinity: 33.375496, density: 1025.000000* values[0]: 0.583298F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030829.983165 s.ߢH~,~"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066907< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743030829.983314F (some fields omitted in printout)AQ@A7@As^~? AA%"AAtNA"AZAbAjArAzAAAzP5@A2LGQsA3z@A];AK=Abb?AHW?A ?A*A|9?2A}ֽ:A=BA|9?JA}ֽRA=٘i)I9z@YG JJJJJD&K Y ]~?yFsQA`Db77r8)QB[[4>?[^~?[;[[[[BZYY i) P;IH?iEQg?A?A+1?A*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9\z@Y`G JJJJJD&K Ya]~?yl:QAjD77j7y8$B)E[[4D?[,^~?[{[[[[BZYY i) ;I՟H?i1O a?))a?a?ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030830.443165 s, next control iter: 1743030830.803179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4329", header.stamp.nsec: 0"0 temperature: 13.563888"* salinity: 33.375492", density: 1025.000000"* values[0]: 0.582716"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030830.823165 s.H~,G"AA\(@Ax@Ai^~? AAg%"AAx uNA"AZAbAjArAzAAAှ5@A"HsA>y@A;A16=A l?Aq?Al?A< *A/9?2A.ֽ:A =BA/9?JA.ֽRA =٘i)I9y@YG JRJJJJ&D&K Y^~?yePAuDb778)VB[[* Y$2^~?yWPA!w?D777U8"B)]B E[[LV?[j^~?[g[[[[BZYY i)  I|H?igR ;?));?;?tժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030831.683165 s, next control iter: 1743030832.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030832.083165 s.DH~,R"AJ"J*J2J:JBJnJvJARk@A~mQ@A-^~? A~A%"AAruNA"AZAbAjArAzAAA]e6@ARRsAx@A A=AD|?A0E?A.?Aԭ*A'9?2Ab ׽:A=BA'9?JAb ׽RA=٘i)I9x@YG JdJJJJFD&K Y4B^~?yPOAD778)bB[[Y\?[~^~?[`[[[[BZYY i) eI oH?iqӲ /?))/?/?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030832.103165 s, next control iter: 1743030832.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030832.503165 s.H~,P4 "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066907< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743030832.503291F (some fields omitted in printout)Ap= @A%/@AQ^~? AxA91%"AA2uNA"AZAbAjArAzAAA|E6@A^sA*pw@A8׳AiÖ=AՀ?A`%?A?AW7*A9?2Aֽ:AS=BA9?JAֽRAS=٘i)I9pw@YG JJJJJQD&K YFR^~?y}I0OAD778B) E[[^ob?[ڑ^~?[Y[[[[BZYY i) IaH?iyF (?))(?(?ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030832.543165 s, next control iter: 1743030832.903182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4331, header.stamp.nsec: 00 temperature: 13.564237* salinity: 33.375504, density: 1025.000000* values[0]: 0.581418F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030832.923165 s.EH~,;"AJ"J*J2J:J?BJ?nJ5vJA(\B@Alw(@A^~? ArA%"AAuNA"AZAbAjArAzAAAbUs6@Aˤ.fLsAv@Av9Aw=Ahb?A ?A '?A!&*A9?2Aֽ:A]=BA9?JAֽRA]=٘i)I9v@YAG JJJJJ\D&K YWb^~?yABNAD77դ8)fB[[rh?[^~?[bR[[[[BZYY i) TISH?i#  (?)) (? (?̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030832.943165 s, next control iter: 1743030833.323191 s, wait time: 0.380026 s rAdjusting time to match Gazebo time: 1743030833.343165 s.<H~,U"AAHz@As@Ac_~? AglA"%"AAuNA"AZAbAjArAzAAAGbX26@A]tsAPv@AL;Aj=A?AK?Ajs?Axw*Ah9?2AZֽ:A&=BAh9?JAZֽRA&=٘i)I9Pv@YG JhB=JJJJfD&K Yjr^~?y;_NAD778B)jBE[[zn?[^~?[J[[[[BZYY i) (IEH?i& ",?))",?",?DɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030833.363165 s, next control iter: 1743030833.743182 s, wait time: 0.380017 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4332&, header.stamp.nsec: 0&0 temperature: 13.564426&* salinity: 33.375519&, density: 1025.000000&* values[0]: 0.580805&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030833.763165 s.8H~,#p"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066907< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743030833.763291F (some fields omitted in printout)A@AZ @AN_~? AfA%"AAsuNA"AZAbAjArAzAAAWPt.7@A,unsA}u@Aœ <A=A놈?A@dT?A?A!*A9?2Aֽ:AV=BA9?JAֽRAV=Y%Y?d?y=2 <ٓH?l?d?@?@T?q kR?`?)%Y? I٘i)I9u@YG J&C=JXJJJqD&Kbx> Y ^~?yM3MA?Db7+8)nB[[t?[^~?[GC[[[[BZYY i) ݦIi7H?i, #?))#?#?ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030833.783165 s, next control iter: 1743030834.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030834.183165 s."H~,Z"AAQ@AH k@A _~? A_A^%"AAIuNA"AZAbAjArAzAAA)}o]7@AsA9u@A>;AG=A'?A?A -?A࠼*A9?2Azֽ:A[<BA9?JAzֽRA[<٘i)I99u@Y@G JJJJJ|D&K Y^~?y+MA˿D77U8B)oB E[[z?[^~?[;[[[[BZYY i)) gŻIp(H?i9M52 "?))"?"?ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030834.223165 s, next control iter: 1743030834.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743030834.603165 s.<4)H~,Ú"AJ"J*J2J:JBJnJvJA= ף@Aٕ@A/_~? AXA%"AAyvNA"AZAbAjArAzAAA }7@A=zcsAt@A>:A)=Aύ?A?AN?ADy*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9t@YG J JJJJD&K YN^~?y#>MAֿD77j78B)rBE[[M?[m^~?[3[[[[BZYY i) JIH?irT6 3&?))3&?3&?ʿYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030834.623165 s, next control iter: 1743030835.003180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4333, header.stamp.nsec: 00 temperature: 13.564596* salinity: 33.375538, density: 1025.000000* values[0]: 0.580208F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030835.023165 s.Z0H~,|"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075763< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200622 time: 1743030835.023339F (some fields omitted in printout)A(\@A:B@A>_~? A;RA%"AAvNA"AZAbAjArAzAAAy- v7@Ak@{sA6t@ADA=Aex?A~?A?A;*A49?2AH׽:Af<BA49?JAH׽RAf<٘i)I96t@YG JtJJJJD&K Y^~?y*LAD777Ȁ8)vB[[b?[y^~?[~+[[[[BZYY i) ?I H?i"9 .?)).?.?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030835.043165 s, next control iter: 1743030835.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030835.443165 s.76H~,>]܌"AJ"J*J2J:JBJnJvJAz@A@AL_~? AtKA %"AA3vNA"AZAbAjArAzAAAϬu7@AEZuUXsA̽s@A8pA=A)?A +?A~?A*A9?2AT+׽:A<BA9?JAT+׽RA<٘i)I9s@YYG JޏJJJJD&K Y^~?ys}LAD77π8B)xBE[[\?[ _~?[G#[[[[BZYY i) IG?iʑ: "AA33333@AJD@AjZ_~? ADA3&%"AA IvNA"AZAbAjArAzAAA44 8@Ah`'sAGs@A|A=A?AZ?A?A*A9?2A[׽:Av<BA9?JA[׽RAv Y^~?yX  LA?Dj7Z7׀8B)yBE[[Vɉ?[_~?[[[[[BZYY i) Y IG?iEX@ =?))=?=?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030835.903165 s, next control iter: 1743030836.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743030836.283165 s.4RDH~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075763< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743030836.283282F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@ARd@Ag_~? A=A %"AA]vNA"AZAbAjArAzAAAZ48@A)sAr@A Ag1=A)D?A߈?A T?A*Aq9?2AIֽ:A=BAq9?JAIֽRA=٘i)I9r@YG J8JJJJD&K Y^~?y=KADj7+ހ8)}B[[?[&_~?[[[[[BZYY i) /I7G?iD 'E?))'E?'E?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030836.303165 s, next control iter: 1743030836.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 43352, header.stamp.nsec: 020 temperature: 13.5649202* salinity: 33.3755462, density: 1025.0000002* values[0]: 0.5791682F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030836.703165 s.ٺJH~,-"AAףp= @AǼ8@At_~? A6A5%"AAZqvNA"AZAbAjArAzAAA|c;[8@A|4sA^Ur@As;A=AJњ?A?A ?A*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9Ur@Y}G JpB=JJJJD&K Y^~?y fKA D7777W8B)BE[[?[s4_~?[ [[[[BZYY i) S?IjG?i# Y"^~?yIJA?+D778 B)BE[[T?[$Y_~?[[[[[BZYY i) mI(G?i|N E?))E?E?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030838.003165 s, next control iter: 1743030838.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030838.383165 s.eH~,4"AAQ@Ae?@A"_~? AA|f%"AAvNA"AZAbAjArAzAAA'Ὅ8@AK-sA Sp@AAB=AM?ApG?AEj?AfX*A'9?2A|׽:A =BA'9?JA|׽RA =٘i)I9Sp@YDG J(JJJJD&K  8Yz^~? 8y۩IA6Dŧ78B)B[[r?[d_~?[[[[[BZYY ie) |IG?iF R [?))[?[?̪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030838.403165 s, next control iter: 1743030838.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4337", header.stamp.nsec: 0"0 temperature: 13.565260"* salinity: 33.375565", density: 1025.000000"* values[0]: 0.578037"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030838.803165 s.xAlH~,g"AJ"J*J2J:J?BJ?nJ*5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084731< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743030838.803310F (some fields omitted in printout)Aq= #@Ar @A_~? APAC%"AAvNA"AZAbAjArAzAAAz<9@AFgwsAEo@AhA=A?AQe?Ax?At*A9?2A_׽:Az =BA9?JA_׽RAz =٘i)I9o@YG JśJJJJD&K Y_~?yҩIAAD{7{7, 8)B[[?[4n_~?[ݩ[[[[BZYY i) IqG?il T @))@@7ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030838.823165 s, next control iter: 1743030839.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030839.223165 s.gsH~,H΍"AA(\@AHu@A_~? A AT%"AAIvNA"AZAbAjArAzAAA}yn&9@AsALo@AAs˘=A?A?A ?A%*A9?2A׽:A =BA9?JA׽RA =٘i)I9Lo@YG JlJJJJD&K Y*_~?yEʩ IALDj7j7V8 B)BE[[G?[w_~?[Vԩ[[[[BZYY i) I_G?i+ T f]@))f]@f]@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030839.243165 s, next control iter: 1743030839.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030839.643165 s.yyH~,*"AJ"J*J2J:J?BJ?nJ5vJAG@Ag@A_~? ASA%"AA vNA"AZAbAjArAzAAA|!C9@A]QsAyn@A Aާ=A%?A?A~?A֡*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9n@YSG J۞JJJJD&K Y_~?yHA CVD778 B)BE[[}ե?[s_~?[˩[[[[BZYY i) JING?iT <@))<@<@ysժYtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4338, header.stamp.nsec: 00 temperature: 13.565463* salinity: 33.375561F, density: 1025.000000* values[0]: 0.577460F (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743030839.663165 s, next control iter: 1743030840.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030840.063165 s.H~,p "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084731< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743030840.063299F (some fields omitted in printout)Afffff@AZL@A_~? AA %"AA vNA"AZAbAjArAzAAA9U^9@AaJsA>=n@ABm:Až=Ah?A`$s?A?A*A9?2Aֽ:A=BA9?JAֽRA=Yf??yž=wn:ٓH@a?`_?G?4?;d?AӳM?e?)f? I٘i)I9=n@YG J|B=J\<JJJD&Kx> Y_~?y:SHA?aD77{78)B[[?[y_~?[[[[[BZYY i) (ŜI;G?ikW Dr@))Dr@Dr@;ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030840.083165 s, next control iter: 1743030840.463181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030840.483165 s.t_H~,"AJ"J*J2J:J?BJ?nJ5vJA@Aaӷ@Av_~? AAA%"AANwNA"AZAbAjArAzAAA|\x9@AXsAm@A(;Aס=A>?A@^?AzE?A<*A@9?2Atֽ:A=BA@9?JAtֽRA=٘i)I9m@YG JC=JJJJD&K Y"_~?yGAlD77%8)B[[8?[Ǐ_~?[p[[[[BZYY i) =I)G?i&YY 9@))9@9@tުYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743030840.503165 s, next control iter: 1743030840.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4339, header.stamp.nsec: 00 temperature: 13.565670* salinity: 33.375584, density: 1025.000000* values[0]: 0.576862F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030840.903165 s.ȍH~,9"AA ףp=@AGW#@Aq_~? AlA%"AAwNA"AZAbAjArAzAAANR89@Ag"VsAHm@A <A=AӴ?A` ?A+j?Av*A 9?2Alֽ:A'=BA 9?JAlֽRA'=٘i)I9m@YLG JRJJJJ(D&K Y,(_~?y~GAwD{7-8B)BE[[=:?[\_~?[[[[[BZYY i) IBG?i֪Z D@))D@D@jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030840.923165 s, next control iter: 1743030841.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030841.323165 s.wH~,)T"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084731< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.420000J"J2 time: 1743030841.323284*JF (some fields omitted in printout)2J:JBJnJvJA\@ALU@A_~? AAm%"AAwNA"AZAbAjArAzAAAlߦ9@AKVEsA0}l@A;A`=A(u?A@?A`Č?A|*AF9?2Aֽ:A=BAF9?JAֽRA=٘i)I9}l@YG JfB=JJJJ3D&K Y-_~?yWGADj7j7,48)B[[]?[3_~?[[[[[BZYY i) 0IG?ixw3Z  @)) @ @ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030841.343165 s, next control iter: 1743030841.723179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4340*, header.stamp.nsec: 0*0 temperature: 13.565894** salinity: 33.375576*, density: 1025.000000** values[0]: 0.576201*F (some fields omitted in printout):-_~?):W rAdjusting time to match Gazebo time: 1743030841.743165 s. WH~,o"AAGz@Aʩa@A_~? AܪA%"AA&wNA"AZAbAjArAzAAA49@AބsA>k@A|3:A֩=A?A&?A)?A)&*Aߥ9?2Aֽ:A=BAߥ9?JAֽRA=٘i)I9k@YG J⺼C=JJJJ=D&K YI3_~?yFADŧ7b7V;8B)BE[[?[I_~?[[[[[BZYY i) թIF?i 9cX 5 @))5 @5 @lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030841.763165 s, next control iter: 1743030842.143182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743030842.163165 s.v}H~,q"AJ"J*J2J:JBJnJvJA@A9^e@AR_~? AժAL%"AA0wNA"AZAbAjArAzAAA{߰9@AksA2Ak@A[A,=AN˼?AG?A)?A *AС9?2A#ֽ:AZ=BAС9?JA#ֽRAZ=Y?ռ?y+=0\ٓH` ?J Y6_~?y5FA?D77{7B8B)BE[[?[_~?[s[[[[BZYY i) II_F?i󪿉oZ . @)). @. @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030842.183165 s, next control iter: 1743030842.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030842.583165 s.樣H~,S"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084731< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743030842.583299F (some fields omitted in printout)AR@AKTo@A?_~? A;ͪA^6&"AA:wNA"AZAbAjArAzAAAB2z9@Ag8E@L{sAj@A| Af=Ao?Ag?A?A0?¼*A9?2AW׽:Aj=BA9?JAW׽RAj=٘i)I9j@YG J:JJJJSD&K Y8_~?y3EADI8)B[[Ļ?[5_~?[ۈ[[[[BZYY i) @ɼIF?iͫ[ ӹ@))ӹ@ӹ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030842.603165 s, next control iter: 1743030842.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4341, header.stamp.nsec: 00 temperature: 13.566145* salinity: 33.375576, density: 1025.000000* values[0]: 0.575482F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030843.003165 s.| H~,]4"AJ"J*J2J:JBJnJvJAp= W@A%Z<@A_~? AVŪA)&"AABwNA"AZAbAjArAzAAAMh:9@A:zvsAi@AAr=A.?A?A@e?AnǼ*A9?2ABֽ:A\U=BA9?JABֽRA\U=(I٘i)I9i@YgG JļJJJJ^D&K Ym;_~?yr|NEAD777P8)B[[?[ _~?[=[[[[BZYY i) ċмIsF?i9[ G@))G@G@{YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743030843.023165 s, next control iter: 1743030843.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030843.423165 s.uH~,ێ"AA(\@A{Fw@A_~? AiAj&"AAJwNA"AZAbAjArAzAAAʱ:@A^qsAPi@AWA5=Ar?A@N?A?Aͼ*A9?2AXֽ:A=BA9?JAXֽRA=٘i)I9Pi@YG J<ʼJJJJhD&K Y#>_~?ysDADX8)B[[O ?[_~?[u[[[[BZYY i) ׼I"F?iY} Z d@))d@d@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030843.443165 s, next control iter: 1743030843.823174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4342, header.stamp.nsec: 00 temperature: 13.566412* salinity: 33.375595, density: 1025.000000* values[0]: 0.574712F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030843.843165 s.J "J *J 2J ݼH~:J ?BJ ?nJE5,"AvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084731< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743030843.843310F (some fields omitted in printout)AHz.@Aŧ@A`~? AtA&"AAQwNA"AZAbAjArAzAAAD  :@AD@lsAh@A;A=A?A?Aj)?AӼ*AԔ9?2Agaֽ:At=BAԔ9?JAgaֽRAt=٘i)I9h@Y G JмJJJJsD&K Y@_~?yjgDAD7E7-_8B)BE[[j+?[o_~?[k[[[[BZYY i}v) "߼IF?i >W ^d@))^d@^d@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030843.863165 s, next control iter: 1743030844.243182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743030844.263165 s.ģH~,"AA@A@A`~? AyA1&"AAWwNA"AZAbAjArAzAAA-S\:@A~0gsAg@AU<A=Aݪ?A ٹ?A:?Aaؼ*Af9?2AEֽ:A5E=BAf9?JAEֽRA5E=Y?A?y=<ٓH6v`??? `s?W? ?)? I٘i)I9g@Y' G JּJ<JJJ~D&Kx> Y@_~?y#bCA?Db77Wf8)¯B[[L?[_~?[Xb[[[[ZZ¸BZYY i¸`=) |ӼIF?ifX +@))+@+@!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030844.283165 s, next control iter: 1743030844.663176 s, wait time: 0.380011 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 43436, header.stamp.nsec: 060 temperature: 13.5667306* salinity: 33.3755846, density: 1025.0000006* values[0]: 0.5739126F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030844.683165 s.lʣH~,c+"AJ"J*J2J:J?BJ?nJ5vJAQ@A @A `~? AyA6=&"AAb]wNA"AZAbAjArAzAAAbV#:@AΒcsA7g@A<A=AF?A?AI?AEuؼ*A9?2AXֽ:A@=BA9?JAXֽRA@=٘i)I97g@Y G JؼJJJrEJD&K Y@_~?yYYtCADj7Z7m8)ǯB[[en?[ͯ_~?[X[[[[ZZBZYY i) WǼIrF?i2[X {@)){@{@kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030844.683165 s, next control iter: 1743030845.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743030845.103165 s.ѣH~,F"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084019< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743030845.103292F (some fields omitted in printout)A= ףp@A/OV@A `~? AtA&"AAbwNA"AZAbAjArAzAAA :'>,:@AmI"^sAcof@Ae;A+=As?A`GA?A S?AN*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9of@Y? G JJJJJD&K Yc@_~?yPBADj7t8)ίB[[?[ڮ_~?[O[[[[ZZBZYY i) { I`F?i񧿉8V @))@@y=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030845.123165 s, next control iter: 1743030845.503175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030845.523165 s.ףH~,|a"AJ"J*J2J:J?BJ?nJ5vJA(@Aù@A0`~? AlAFv&"AAewNA"AZAbAjArAzAAA%3:@Agx;YsAe@A9Aظ=A+?A߬?A@]?A*A29?2Aֽ:A<BA29?JAֽRA<٘i)I9e@Y G JB=JJJJD&K Y<@_~?yGBAD777{8B)ӯBE[[?[&_~?[wE[[[[ZZBZYY i) INF?iХ8>T A@))A@A@y7z=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030845.543165 s, next control iter: 1743030845.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4344, header.stamp.nsec: 00 temperature: 13.567059* salinity: 33.375584, density: 1025.000000* values[0]: 0.573026F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030845.943165 s.YdޣH~,F]|"AAzG@A-@A`~? AaA:&"AA iwNA"AZAbAjArAzAAAzZBr8:@AZsRTsAd@A45Au=A BAD{78)گB[[?[_~?[;[[[[ZZBZYY i) IV=F?i*/P %@))%@%@EYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030845.963165 s, next control iter: 1743030846.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030846.363165 s.H~,>"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084019< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743030846.363320F (some fields omitted in printout)A3333@A-@A(`~? ASAk&"AASkwNA"AZAbAjArAzAAAW{$<:@AbgOsA=d@A6A72=A?A3?Al?A8ͼ*Ak9?2Aֽ:A;BAk9?JAֽRA;YG??y62=ٓHa_@ RA@=??Dς?)G? I٘i)I9d@Y G JXJٽJJJD&K x> Y=_~?y26AA?Dj7j7-8)߯B[[#?[_~?[S2[[[[ZZBZYY i=) 3)I+F?iɢ]P @))@@CzYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030846.383165 s, next control iter: 1743030846.763178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4345*, header.stamp.nsec: 0*0 temperature: 13.567447** salinity: 33.375595*, density: 1025.000000** values[0]: 0.572053*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030846.783165 s.YH~,"AAQ@AM@A`~? AC}AM&"AAlwNA"AZAbAjArAzAAA#<>:@AX |JsA~bc@A^A<A!k?A`և?Aq?A,k*A9?2A#ֽ:A BA9?JA#ֽRA ٘i)I9bc@Yc G JiJJJJD&K Y:_~?yn-AA D777W8B)BE[[?[_~?[([[[[ZZBZYY i) [InF?iࡿ4O >@))>@>@YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743030846.803165 s, next control iter: 1743030847.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030847.203165 s.H~,͏"AJ"J*J2J:JU?BJU?nJq5vJAףp=@A&p@A`~? A2uAJ&"AA|mwNA"AZAbAjArAzAAAc>:@AE݊EsAb@Af9A"<A?AD)kA`qs?A壁*A9?2Aֽ:Ar BA9?JAֽRAr ٘i)I9b@Y G J JJJJD&K Y7_~?y$UAAD{7j78)B[[m.?[ڞ_~?[E[[[[ZZBZYY i) I< F?i럿L @))@@vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030847.223165 s, next control iter: 1743030847.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030847.623165 s.YH~,e"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074256< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743030847.623289F (some fields omitted in printout)A)\@AIC@A`~? A mAو&"AA\mwNA"AZAbAjArAzAAARG=:@A2s+բ@sAb@A);A~A?AZA`r?At|5*Ab9?2ADֽ:ADlBAb9?JADֽRADl٘i)I9b@Y G JbJJJJD&K Y3_~?yAA"DZ7Z78)B[[K?[n_~?[[[[[ZZBZYY i=) 6|oI\E?iꜿH ([!@))([!@([!@y6ė=\(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030847.643165 s, next control iter: 1743030848.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4346 , header.stamp.nsec: 0 0 temperature: 13.567724 * salinity: 33.375576 , density: 1025.000000 * values[0]: 0.571300 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030848.043165 s.H~,"AJ"J*J2J:J@?BJ@?nJ[5vJA{Ga@AV6G@A`~? AeAd&&"AAolwNA"AZAbAjArAzAAA::@A,;sA[Db@Af<ARA6?AsA@yo?A|λ*A9?2Aֽ:A?BA9?JAֽRA?٘i)I9Db@Y G J<JJJJD&K Y0_~?y@A-D777ئ8)B[[f?[M_~?[x [[[[ZZBZYY i) =YIE?iߘC \"@))\"@\"@y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030848.063165 s, next control iter: 1743030848.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030848.463165 s.\H~,"AA@A Y+_~?y}  AA?8Dŧ7b78B)BE[[?[l_~?[![[[[BZYY izm=) lHIE?i%ƾB t$@))t$@t$@y7)=Q/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030848.503165 s, next control iter: 1743030848.863183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4347, header.stamp.nsec: 00 temperature: 13.567863* salinity: 33.375553, density: 1025.000000* values[0]: 0.570961F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030848.883165 s.y H~,<8"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057978< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743030848.883311F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8@A5?@A\`~? ATAa &"AA.hwNA"AZAbAjArAzAAAXp0:@A1sA'b@Af9A2A7a?AA_?A2;*Aߚ9?2A_ֽ:A BAߚ9?JA_ֽRA ٘i)I9'b@Y J9JJJJD&K Y6%_~?y6AABD777.8)[[֞?[ӄ_~?[[[[[BZYY i_=) /6IdE?i^y@ &@))&@&@y=6p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030848.923165 s, next control iter: 1743030849.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030849.303165 s.VH~,wgS"AAq= ף@Ag@A `~? ALA( &"AAdwNA"AZAbAjArAzAAA ):@A:,sAIb@Al"AYA[?AسAS?Ao;*Aؗ9?2A0ֽ:ABAؗ9?JA0ֽRA٘i)I9Ib@Y G Jp;JJJJD&K YY_~?y:bAA CMD7X8)B[[ ?[|_~?[[[[[BZYY i) %IE?i< '@))'@'@yzuf=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030849.343165 s, next control iter: 1743030849.703177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4348*, header.stamp.nsec: 0*0 temperature: 13.567894** salinity: 33.375591*, density: 1025.000000** values[0]: 0.570955*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030849.723165 s.J "J *J 2J :J *?BJ *?nJ C5vJ H~,Hn"AA(\@ADmF@A `~? ADA &"AA`wNA"AZAbAjArAzAAAٺ :@A`x(sAb@AAwAj?A)A@E?A9<*As9?2A!ֽ:A BAs9?JA!ֽRA ٘i)I9b@Y G J<JJJJ D&K Y|_~?yAAXD)7b7Á8)B[[?[s_~?[[[[[BZYY i) IE?i7 ~)@))~)@~)@yތ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030849.763165 s, next control iter: 1743030850.123183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743030850.143165 s.Z/"H~,*"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068053< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743030850.143295F (some fields omitted in printout)AGz@A 2`@A^`~? A<AF7 &"AA[wNA"AZAbAjArAzAAAtX:@AW3#sAb@ArAA?A`_fAn5?Ai<*A9?2A>ֽ:Am BA9?JA>ֽRAm ٘i)I9b@Y G JP<JJJJD&K Y_~?yAAcDŧ7ʁ8)BE[[?[i_~?[ި[[[[BZYY i) I'E?iԊF1 ]*@))]*@]*@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030850.163165 s, next control iter: 1743030850.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030850.563165 s.(H~,R "AJ"J*J2J:JBJnJvJAffff@AG9M@AS`~? A4A9 &"AA'VwNA"AZAbAjArAzAAA :@AbVsA#Lc@AAᾐA ?A0A`S"?A<*A9?2Azֽ:A'BA9?JAzֽRA'Y ?Z?yȾ^ٓHӿx`ٓ?e?ӿd ?տb?) ? I٘i)I9Lc@YV G J-{<JJJJD&Kw> Y _~?yߨBA?mD7)7с8B)BE[[?[__~?[ը[[[[BZYY iwm=)  IcE?iG=/ -,@))-,@-,@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030850.603165 s, next control iter: 1743030850.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4349, header.stamp.nsec: 00 temperature: 13.388186* salinity: 33.391632, density: 1025.000000* values[0]: 0.689305F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030850.983165 s./H~,쾐"AAQ@A, 7@A_~? A,An &"AAOwNA"AZAbAjArAzAAA`Q89@An}|sAc@A4>;AwAo?A&}A ?A y<*A[9?2Aֽ:A6BA[9?JAֽRA6٘i)I9c@Y G J<JJJJ*D&K Y^_~?y2ר}BAxD7{7ف8)B[[r?[T_~?[̨[[[[BZYY i) ȻI{E?ii, ʶ-@))ʶ-@ʶ-@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030851.003165 s, next control iter: 1743030851.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030851.403165 s.&6H~J"J,ِ"A*J2J:J0?BJ0?nJ 95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057976< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743030851.403317F (some fields omitted in printout)A ףp@A_@A_~? A%A &"AA]HwNA"AZAbAjArAzAAAï9@A:+sAEd@AP<AśA?A_ÿA@?A6<*A9?2Aֽ:AI BA9?JAֽRAI ٘i)I9Ed@Y G JG<B=JJJJ5D&K Y^~?yΨBAD77.8)ޯB E[[?[I_~?[+Ĩ[[[[BZYY i) WImE?i' ?/@))?/@?/@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030851.423165 s, next control iter: 1743030851.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4350", header.stamp.nsec: 0"0 temperature: 13.388030"* salinity: 33.391663", density: 1025.000000"* values[0]: 0.690042"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030851.823165 s. elevatorAngleAction: 0.057976< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743030852.663290F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4351, header.stamp.nsec: 00 temperature: 13.387801* salinity: 33.391666, density: 1025.000000* values[0]: 0.691013F (some fields omitted in printout)A@A@AG_~? A AI&"AA-wNA"AZAbAjArAzAAAx9@Ag%3~JsA{e@A,AO>Ai?A@oȿA@?A<*A9?2Aiֽ:A;BA9?JAiֽRA;Y??y,>Ò,ٓH@&ٿ R@?@| Y-^~?y DA?D{78)үB[[@[x"_~?[ɪ[[[[BZYY i) 4IzFE?i m 3@))3@3@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030852.683165 s, next control iter: 1743030853.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030853.083165 s.DQH~,SE"AJ"J*J2J:J0?BJ0?nJ~95vJARk@A5lQ@A"_~? AAYn&"AA^#wNA"AZAbAjArAzAAA;]9@AUhsA]f@AȆA 헽A,@AKʿA0?A<*A09?2ASֽ:A‡BA09?JASֽRA‡٘i)I9f@YW G J:<JJJJ`D&K Y^~?y譨qDAD)7b78)ͯB E[[l@[__~?[[[[[BZYY i=) I:E?iifv {[5@)){[5@{[5@.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030853.103165 s, next control iter: 1743030853.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030853.503165 s.WH~,L4`"AAp= @A@@A{_~? AA&"AA0wNA"AZAbAjArAzAAAȢ%(9@A@ItrA/g@AA.Ay@A i̿A[?AP<*A9?2Adֽ:ABA9?JAdֽRA٘i)I9/g@Y G J:<JJJJkD&K  8Y^~? 8yإDADŧ7ŧ78B)ʯBE[[D#@[_~?[o[[[[BZYY i) WI+.E?i] 6@))6@6@m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030853.523165 s, next control iter: 1743030853.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4352, header.stamp.nsec: 00 temperature: 13.387581* salinity: 33.391663, density: 1025.000000* values[0]: 0.692029F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030853.923165 s.9^H~,{"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066855< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743030853.923281F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\B@A5w(@AR_~? AdA֛&"AA= wNA"AZAbAjArAzAAA@A_~? AA1&"AAvNA"AZAbAjArAzAAAx)T9@AIrAKh@ACn:AċA @A пA@c ?Ad͞<*AJ9?2ALֽ:ABAJ9?JALֽRA٘i)I9Kh@Ya G J<JJJJD&K Y^~?yEAD7{7Y8B)ïBE[[s" @[^~?[[[[[BZYY i) :I'E?ikF 9@))9@9@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030854.363165 s, next control iter: 1743030854.743178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4353&, header.stamp.nsec: 0&0 temperature: 13.387372&* salinity: 33.391685&, density: 1025.000000&* values[0]: 0.693026&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030854.763165 s.9kH~,'ذ"AJ"J*J2J:Jj1?BJj1?nJ:5vJA@A@A_~? A7AX&"AA vNA"AZAbAjArAzAAA!L`89@AirAh@A;AD㈽As@AlѿAK?AV<*AN9?2Aֽ:ACBAN9?JAֽRACY,?=l@yy∽o';ٓH@d߿ѣ?`?|߿)` ?{??),? I٘i)I9h@Y G JϚ<J֮<JJJD&K.x> Y ^~?y FAl@D8B)BE[[S @[^~?[[[[[BZYY i) ;I E?ip@S k;@))k;@k;@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030854.783165 s, next control iter: 1743030855.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030855.183165 s.rH~,^ˑ"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066855< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743030855.183264F (some fields omitted in printout)AQ@A nk k@Aֳ_~? AߩApX&"AAvNA"AZAbAjArAzAAA~9@AQrAIi@A^T <AiA@AѿA@?As<*A9?2Aֽ:ABA9?JAֽRA９٘i)I9Ii@Y G J`<JJJJD&K Y)^~?y_bFAD77 8)B[[" @[^~?[d{[[[[BZYY i)  Q;IE?is8 <@))<@<@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030855.203165 s, next control iter: 1743030855.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030855.603165 s.44yH~,"AJ"J*J2J:JBJnJvJA= ף@AZՒ@A_~? AGةAY&"AAvNA"AZAbAjArAzAAAϝ6O8@AJ@rAsi@A;A,A @A@ҿA`P?Af<*A9?2A\ֽ:ADTBA9?JA\ֽRADT𼙘٘i)I9i@YDG J<JJJJD&K YF^~?y~FAD7S7'8B)BE[[J @[D^~?[s[[[[BZYY i)  ;ID?iy.S߻ Ao>@))Ao>@Ao>@k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030855.623165 s, next control iter: 1743030856.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4354 , header.stamp.nsec: 0 0 temperature: 13.387190 * salinity: 33.391689 , density: 1025.000000 * values[0]: 0.693899 F (some fields omitted in printout)&F^~?)&~ rAdjusting time to match Gazebo time: 1743030856.023165 s.ZH~,{"AA(\@AUkaB@A _~? AЩA{&"AAvNA"AZAbAjArAzAAA8@AzdGrA7j@A+n9AAT @AӿAS?A{d<*A9?2Aֽ:ABA9?JAֽRA󼙘٘i)I97j@YG J<JJJJD&K Ybx^~?ywGAD7777/8)B[[@[y^~?[l[[[[BZYY i=) O;ID?i"fл  ?@)) ?@ ?@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030856.043165 s, next control iter: 1743030856.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030856.443165 s.7ÆH~,>]"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075643< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743030856.443273F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@A`s@A_~? AɩAc &"AAvNA"AZAbAjArAzAAAX.]8@AK/|>rAEj@A7A9A, @AŁԿA?A<<*A9?2A6ֽ:A[ BA9?JA6ֽRA[ ٘i)I9j@YG J <JJJJD&K Y~j^~?y\ovGAD/68 B)BE[[:@[F^~?[e[[[[BZYY i) A;ID?i 6 oA@))oA@oA@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030856.463165 s, next control iter: 1743030856.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4355, header.stamp.nsec: 00 temperature: 13.387008* salinity: 33.391689, density: 1025.000000* values[0]: 0.694676F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030856.863165 s.+H~,>7"AA33333@A=#@AY_~? A^©Ae&"AAvNA"AZAbAjArAzAAA'mq ;8@AgrAi!k@AC! ApA @A [տA t?A<*A~9?2A{ֽ:A?BA~9?JA{ֽRA?Y0? @y6j ٓH`q@!5?`?^w@F@ +]?`@?)0? I٘i)I9!k@YG J@<J ;JJJD&Kx> Y,Z^~?y+hGA @Dj7j7Z=8)B[[@[m}^~?[^[[[[BZYY i) E%;I/D?ic k B@))B@B@^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030856.883165 s, next control iter: 1743030857.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030857.283165 s.5RH~,R"AJ"J*J2J:J1?BJ1?nJ:5vJAQ@AIӠ@AK|_~? A5A$&"AAvNA"AZAbAjArAzAAAAQ r8@A~Ih rAk@AAƒA+6 @A F4ֿA@?A9<*Ae9?2Aֽ͘:ABAe9?JAֽ͘RA٘i)I9k@Y`G Je<JJJJD&K YI^~?y`%HAD7{7D8 B)BE[[@[)j^~?[W[[[[BZYY i) B elevatorAngleAction: 0.075643< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743030857.703280F (some fields omitted in printout)Aףp= @A=-@Ao_~? A!A&"AAvNA"AZAbAjArAzAAA\\L8@A krAl@AA5>At@A ׿A7u?A <*A9?2Aֽ:AI=BA9?JAֽRAI=٘i)I9l@YG J<B=JJJJD&K Y9^~?yY}HA$Dŧ7b7K8)B[[@[~V^~?[?Q[[[[BZYY i) Z elevatorAngleAction: 0.075643< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743030858.963322F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@A2@AnG_~? AcAG&"AACvNA"AZAbAjArAzAAAd7@Am rAyPm@AC+;AsˌA|@AցٿA ܵ?Aڈ<*A׾9?2A ֽ:ABA׾9?JA ֽRAYWm@~s@yeʌ;ٓH@ @i? ?^ `맿`?TE?@i?)Wm@ I'I٘i)I9Pm@YoG J5<Jp:JJJD&K!x> YS^~?yDIAs@DD{7{70a8B)BE[[ ]@[;^~?[`>[[[[BZYY i) @IA CODb77Zh8)B[[Q@[^~?[e8[[[[BZYY i) 6P NF))NFK@}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030859.403165 s, next control iter: 1743030859.783180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4358", header.stamp.nsec: 0"0 temperature: 13.386547"* salinity: 33.391731", density: 1025.000000"* values[0]: 0.696898"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030859.803165 s.vAH~,wg"AJ"J*J2J:Jg2?BJg2?nJ;5vJAq= #@Aƽ @AO*_~? AAO&"AAvNA"AZAbAjArAzAAAz7@A>^xrAm@n@AfPAzSA< @A`ۿA`,-?A&<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9@n@YG J=<JJJJ D&K Y0]~?y7IJAYDo8B)BE[[HA@[h]~?[2[[[[BZYY i) 3_ elevatorAngleAction: 0.075643< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743030860.223335F (some fields omitted in printout)A(\@AUEu@A_~? AsA &"AAvNA"AZAbAjArAzAAA9K7@A OrAn@AA2A?R@AۿA?A.<*A9?2Afֽ:Ab BA9?JAfֽRAb ٘i)I9n@YOG J<JJJJD&K Y]~?y0JAdD7v8B)BE[[կ@[]~?[,[[[[BZYY ih=) jo Yh]~?y6$lKA@yDŧ778B)BE[[ @[]~?[K"[[[[BZYY i) І elevatorAngleAction: 0.084672J< massPositionAction: 0.000000"J4 buoyancyAction: 0.000500*J dt: 0.4200212J:J2 time: 1743030861.483318BJF (some fields omitted in printout)nJvJA@AH]۷@A^~? AcxApG&"AAuNA"AZAbAjArAzAAAw6@A=B@rARp@A:A:,AF@A޿A ?A$<*Af9?2Aֽ:AGBAf9?JAֽRAG٘i)I9Rp@YDG J<JJJJ7D&K Yƒ]~?y3KAD77708)B[[!@[]~?[/[[[[BZYY i) ^rA&"AAuNA"AZAbAjArAzAAA\B݆6@AcO.rAp@A;A<0AŚ@A ޿A@?A̢<*A9?2ALֽ:AEBA9?JALֽRAE٘i)I9p@YG J_<JJJJBD&K Y%~]~?y19LAD)7ŧ7[8B)BE[[`#@[}]~?[C[[[[BZYY i)  elevatorAngleAction: 0.084672< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743030862.743285F (some fields omitted in printout)AGz @Ah8e@A'^~? AIfAe&"AAskuNA"AZAbAjArAzAAAI6@A/z3rAyq@A;AA3@AA @ ?Aa<*A9?2Aֽ:ABA9?JAֽRA٘i)I9q@YBG JV<JJJJWD&K YT]~?y+ MADŧ7ŧ78B)BE[[c-&@[^O]~?[[[[[BZYY i)  X: :)):pW@>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030862.783165 s, next control iter: 1743030863.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030863.163165 s.x}H~,qʓ"AJ"J*J2J:J53?BJ53?nJ;5vJA @A}e @A^~? Ay`A&"AAlPuNA"AZAbAjArAzAAA,G<5@A_orAr@ACAǧAy@AquA?A<*AI9?2A[ֽ:A_BAI9?JA[ֽRA_YMs@sy@yǧ5УٓH d\ ?K?[zz?qh4`?)Ms@ I٘i)I9r@YG J<JJJJbD&Kw> Yk>]~?ywMAy@Db77ۨ8B)BݹE[[9'@[y7]~?[ [[[[BZYY i) eaG: Q@9))Q@9dX@t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030863.203165 s, next control iter: 1743030863.563178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030863.583165 s.H~,S"AAR @Al @A^~? AZA&"AA4uNA"AZAbAjArAzAAAa5=f5@ASR-rAM%s@AŻAyA @AASa?A1X<*A9?2AOֽ:ABA9?JAOֽRA٘i)I9%s@YG J%<JJJJmD&K Y']~?yMAD7778!B)BڹE[[(@[i]~?[b[[[[BZYY i) > ; F7))F7oMZ@)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030863.603165 s, next control iter: 1743030863.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4362, header.stamp.nsec: 00 temperature: 13.385805* salinity: 33.391747, density: 1025.000000* values[0]: 0.700539F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030864.003165 s.w H~,H4"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084672< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743030864.003310F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W @A1 < @A^~? A3UA&"AAuNA"AZAbAjArAzAAA~uu5@AA}ŕrAs@Az AAo"@A` A$ ?AU<*A69?2ADֽ:A,BA69?JADֽRA,٘i)I9s@Y_G J><JJJJwD&K Y{]~?y3XNAD{7j708)B[[^*@[7]~?[[[[[[BZYY i) s+-; e6))e6[@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030864.043165 s, next control iter: 1743030864.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030864.423165 s.uH~,"AA(\ @A|z @Al^~? AOAi&"AAtNA"AZAbAjArAzAAAm;5@AԥXlprA*nt@AzڻǍAX#@A`pA ]?A<*AF9?2Ahֽ:A0BAF9?JAhֽRA0٘i)I9nt@YG J:<JJJJD&K Y\~?yNADŧ7b7[8#B)B׹E[[y+@[\~?[[[[[BZYY i) yu3T; 44))44&]@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030864.463165 s, next control iter: 1743030864.823175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4363, header.stamp.nsec: 00 temperature: 13.385571* salinity: 33.391724, density: 1025.000000* values[0]: 0.701640F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030864.843165 s. H~,5"AJ"J*J2J:JBJnJvJAHz. @A6> @AGY^~? AgJA"&"AAtNA"AZAbAjArAzAAA2S5@A1.rAu@AgAA$@A@A ?A%<*A9?2Aֽ:A4BA9?JAֽRA4٘i)I9u@Y+G J<JJJJD&K Y\~?y9OADb77ł8$B){BԹE[[h-@[\~?[[[[[BZYY i) .\; 3))3ѐ^@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030864.863165 s, next control iter: 1743030865.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030865.263165 s.H~,P"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084672< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743030865.263279F (some fields omitted in printout)A @AA @ApE^~? A1EA7:&"AAtNA"AZAbAjArAzAAA`~+4@A[=rAu@A1;AtA&@A@A?A<*A>9?2Aֽ:ABA>9?JAֽRAY@'%@y"tqɝ;ٓH 6>?@?Ri'?8s?@,?)@ I٘i)I9u@YG JO<J<8JJJD&Kx> Yw\~?yOA%@D7̂8'B)yBйE[[~.@[Ľ\~?[_[[[[BZYY i) 4; s%2))s%2B_@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030865.283165 s, next control iter: 1743030865.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 43642, header.stamp.nsec: 020 temperature: 13.3853182* salinity: 33.3917472, density: 1025.0000002* values[0]: 0.7028152F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030865.683165 s.J "J *J 2J :J 3?BJ 3?nJ <5vJ lH~,k"AAQ @AC @AA1^~? A@AԞ&"AAtNA"AZAbAjArAzAAA.cF4@A8~rA lv@A7[<AA`V'@A]A@o(?As<*A 9?2Aֽ:AxJBA 9?JAֽRAxJ٘i)I9lv@YG J<JJJJD&K Ye\~?yd'PAD777ӂ8)tB[[/@[ݤ\~?[ [[[[BZYY i) _Axl; ܼ0))ܼ0ba@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030865.683165 s, next control iter: 1743030866.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743030866.103165 s.!H~,"AA= ףp @A?V @A^~? A';A&"AÃtNA"AZAbAjArAzAAAB H4@A̴߅rAw@Aќ;A೽A](@A`Af?Ah<*A9?2A}ֽ:ABA9?JA}ֽRA٘i)I9w@YdG Jo<JJJJD&K YR\~?yPAD{7{7ۂ8(B)pB͹E[[:1@[\~?[[[[[BZYY i) y elevatorAngleAction: 0.084672< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743030866.523305F (some fields omitted in printout)J"J*J2J:JBJnJvJA( @A'f @A^~? AT6A`&"AAdtNA"AZAbAjArAzAAAßZ 4@A ("rATw@Av/;AjӴA)@AA?A%<*A-9?2Aֽ:AȜBA-9?JAֽRAȜ٘i)I9w@YG Jj<B=JJJJD&K Y;\~?y:ߧQAD7718*B)lBʹE[[2@[r\~?[[[[[ZZZZ¸>BZYY i¸>37) \zG Jn<C=JJJJD&K Y*l\~?yڧQADŧ77[8,B)hBǹE[[/3@[Y\~?[4[[[[ZZZZBZYY i) E}ה"AJ"J*J2J:JBJnJvJA3333 @AY. @AZ]~? A-A &"AA~$tNA"AZAbAjArAzAAA?3@APH}rAIy@AAAs,@AxA?A5=*A9?2A1ֽ:AVBA9?JA1ֽRAVYx@~,@yc.ٓH,ۿ??`[ ?`Q?)x@ I٘i)I9Iy@YG J<J;JJJD&Kw> YR\~?y֧RA~,@D7778)aB[[G5@[@\~?[[[[[ZZZZBZYY i) @[[~?[Fۧ[[[[ZZZZBZYY i) O}@A  AgC=AP78@AjA?A-*A|x9?2Aֽ:A}<BA|x9?JAֽRA}<٘i)I9Y JٸJJJJ.D&K Ym[~?yVA{D77188B)KBE[[@@[^[~?[٧[[[[BZYY i) z" JJJ9D&Km> Y>R[~?yUA|9@DZ7SI7288)LB[[JB@[uE[~?[ا[[[[BZYY ij3?) d'@AYA`'8?AV*A&j9?2A ֽ:AO>=BA&j9?JA ֽRAO>=٘i)I9{@Y4G JRJJJJdD&K YZ~?yTAD777T8=B)`BE[[eG@[Z~?[֧[[[[BZYY i) y;IE?iT?+< u))uy@yWYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743030873.263165 s, next control iter: 1743030873.643185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743030873.663165 s.H~,qj"AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4372, header.stamp.nsec: 00 temperature: 13.384493* salinity: 33.391716, density: 1025.000000* values[0]: 0.707308F (some fields omitted in printout)A@A@A}\~? AA$&"AArNA"AZAbAjArAzAAA7.@A [^rA({@A<;Aܪ=Av?@A#~Ac?A=*Aq9?2ATֽ:A=BAq9?JATֽRA=Y_1@?@yܪ=;ٓH`(¿@ ? 즌?`9U?b?|?)_1@ I٘i)I9{@YG JJPp=JJJoD&Kw> YZ~?yШTA?@D7\8>B)fBE[[H@[Z~?[է[[[[BZYY i) 9;IE?i?< /))/z@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030873.683165 s, next control iter: 1743030874.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030874.083165 s.DH~, S"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.064747< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743030874.083290F (some fields omitted in printout)ARk@ApQ@Ad\~? AAB$&"AAqNA"AZAbAjArAzAAA釣 (&.@A붆\rAyz@ApAa'=AOA@A@ A?A¼*Ay9?2Aֽ:A=BAy9?JAֽRA=٘i)I9yz@YrG J2JJJJyD&K YZ~?ySAD772c8@B)lBE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #15q/^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) K;)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030874.103165 s, next control iter: 1743030874.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030874.503165 s.H~,@4"AAp= @A',@AK\~? AAk$&"AAqNA"AZAbAjArAzAAASI-@A'[rAy@A A٩=AӢB@A`A?Agļ*Aa9?2Aֽ:Aq=BAa9?JAֽRAq=٘i)I9y@YG J/ļJJJJD&K YZ~?yS.SAD{7{7]j8)qB[[c2K@[וZ~?[֧[[[[BZYY i) x;IF?i?< [)) [Zv}@YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743030874.523165 s, next control iter: 1743030874.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4373, header.stamp.nsec: 00 temperature: 13.384779* salinity: 33.391743, density: 1025.000000* values[0]: 0.706095F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030874.923165 s.7H~,"AJ"J*J2J:J4?BJ4?nJ=5vJA(\B@Ahx(@Aa2\~? AA$&"AAqNA"AZAbAjArAzAAARa!,@AdbZrA.y@ABAwJ=AWC@AA <?AƼ*A.S:?2A[½:A =BA.S:?JA[½RA =&I٘i)I9.y@YG J ƼJJJJD&K YtZ~?yRADb7b7q8AB)wBE[[vrL@[,}Z~?[s֧[[[[BZYY i) ~:I2F?i?d&< ))Him~@?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030874.943165 s, next control iter: 1743030875.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030875.343165 s.ý:A7f =BAn:?JA1>ýRA7f =٘i)I9x@YCG JvƼJJJJD&K YXZ~?yףIRAD{7j7x8BB)}BE[[M@[dZ~?[֧[[[[BZYY i) 9IMF?i?< +))+@YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030875.363165 s, next control iter: 1743030875.743177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4374&, header.stamp.nsec: 0&0 temperature: 13.385090** salinity: 33.391735*, density: 1025.000000** values[0]: 0.704843*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030875.763165 s.>H~,<"AJ"J*J2J:JBJnJvJA@A@AW[~? AAu$&"AAaSqNA"AZAbAjArAzAAAݝ+@A'[bXrAw@AZ;Aa =AVQE@AQA?ATü*AP|:?2A;Ž:Ag|=BAP|:?JA;ŽRAg|=Y&N7@KTE@yE =;ٓHﭿ 곿?|?2b? ?)&N7@ I٘i)I9w@YG JļJ NJJJD&KK> YM)@AbOUrAZvu@AtA=AGA@#bAL?A-&*A:?2AWϽ:AV(<BA:?JAWϽRAV(<٘i)I9vu@YeG JJJJJD&K YY~?yF/PAD{78CB)BE[[S@[Y~?[ۧ[[[[BZYY i) X膻IF?i@G&<  )) @ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030877.463165 s, next control iter: 1743030877.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4376, header.stamp.nsec: 00 temperature: 13.385689* salinity: 33.391735, density: 1025.000000* values[0]: 0.702412F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030877.863165 s.+ݥH~,>w"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.064747< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743030877.863288F (some fields omitted in printout)A33333@A@AW~[~? AAP%&"AA7pNA"AZAbAjArAzAAABm(@A6]TrAt@AvAm=ApFA oA?Aٝ*A |:?2Aѽ:A<<BA |:?JAѽRA< YY~?yOAxF&Dŧ7b78)BE[[U@[Y~?[ܧ[[[[BZYY iv) ڥIF?i@u<  )) q@#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030877.903165 s, next control iter: 1743030878.263181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743030878.283165 s.1RH~,"AJ"J*J2J:JBJnJvJAQ@A@AXd[~? AA`%&"AAhpNA"AZAbAjArAzAAAm (@AxnTTrAkt@AP"A=AjEAzA@­?A>˖*Aw:?2Ahӽ:Az<BAw:?JAhӽRAz<٘i)I9kt@YG JwJJJJD&K YY~?ytOA1Dj7Z7ު8)B[[PV@[(Y~?[Qާ[[[[BZYY i) ĻIG?i+@7<  )) J@-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030878.303165 s, next control iter: 1743030878.683175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 43772, header.stamp.nsec: 020 temperature: 13.3859632* salinity: 33.3917312, density: 1025.0000002* values[0]: 0.7013822F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030878.703165 s.׺H~,"AAףp= @A\4@AOJ[~? AjA`m%&"AAoApNA"AZAbAjArAzAAA+5t'@A%lSrAHs@AiAԆ=ACA`A =?AH͏*Am:?2ABgԽ:A<BAm:?JABgԽRA<٘i)I9s@YwG JB=JJJJD&K YDwY~?yXOAY~?y[NAQD77^8DB)ByE[[Y@[vY~?[[[[[BZYY i) ~I G?i"@,< ))l@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030879.583165 s, next control iter: 1743030879.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4378, header.stamp.nsec: 00 temperature: 13.386179* salinity: 33.391731, density: 1025.000000* values[0]: 0.700475F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030879.963165 s.xH~,"AJ"J*J2J:JBJnJvJAL@AS2@AZ~? AA%&"AAoNA"AZAbAjArAzAAAhiw%@A3SrAr@A9<A=A?ATAmNA*A'R:?2Aս:A[=BA'R:?JAսRA[=Y8BD@Z?y=<ٓH@{K?]?8V¿@ ?Ճ?c?)8BD@ I٘i)I9r@YG JҎJSJJJD&K|> Y"Y~?yRMA?\Db77ǃ8)BvE[[%[@[_Y~?[[[[[BZYY i) mV IG?ie%@< ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030879.983165 s, next control iter: 1743030880.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030880.383165 s.H~,Q"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076507< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743030880.383276F (some fields omitted in printout)AQ@A;@AZ~? AA%&"AA\oNA"AZAbAjArAzAAA\ E$@AvVeSrAr@Ab7 <Al=Ac>A`JA^AA*AI:?2AJֽ:A9=BAI:?JAJֽRA9=٘i)I9r@YSG JˏJJJJD&K YY~?yMAgD77΃8)BsE[[Y\@[HY~?[[[[[BZYY i) 1/IG?i(@< +))+N@yYFFF]Waiting for Gazebo time sync: latest Gz time: 1743030880.403165 s, next control iter: 1743030880.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4379", header.stamp.nsec: 0"0 temperature: 13.386413"* salinity: 33.391747", density: 1025.000000"* values[0]: 0.699572"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030880.803165 s.vA H~,wg3"AJ"J*J2J:JBJnJvJAq= #@A\* @AZ~? A Aq}%&"AA{oNA"AZAbAjArAzAAA(^$@AFSrAq@A5A;AT=Ai8=AഄA`۪Aۏ*AA:?2A|ֽ:A=BAA:?JA|ֽRA=٘i)I9q@Y G J揼JJJJ%D&K YX~?y٦HMAqDՃ8)BpE[[U]@[C2Y~?[[[[[BZYY i) l?IG?i,@0P< iO))iO&@ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030880.823165 s, next control iter: 1743030881.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030881.223165 s.gH~,HN"AA(\@ARAEu@A٭Z~? AuAw%&"AAVToNA"AZAbAjArAzAAA;3#@Aq qTrAq@A?A=A+;A@}AA(*A9:?2Af'׽:AS=BA9:?JAf'׽RAS=٘i)I9q@YG J؏JJJJ0D&K YX~?yLA|Db77 ݃8EB)BmE[[^@[Y~?[J[[[[BZYY i)  NIH?i0@_< ))t@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030881.243165 s, next control iter: 1743030881.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030881.643165 s.zH~,*i"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076507< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743030881.643280F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@A"p$@A֓Z~? A AQm%&"AA,oNA"AZAbAjArAzAAAQi%v"#@ALr_TrAp@A4A_=A:AsA@EA*A2:?2A^׽:A=BA2:?JA^׽RA=٘i)I9p@YvG JJJJJ;D&K Y X~?yaLAD7748)B[[s_@[Y~?[[[[[BZYY i) ^I>H?ij4@'< ))@DȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030881.663165 s, next control iter: 1743030882.043182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4380, header.stamp.nsec: 00 temperature: 13.386657* salinity: 33.391735, density: 1025.000000* values[0]: 0.698643F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030882.063165 s. H~,[ "AAfffff@AF#WL@AyZ~? AAg`%&"AA~oNA"AZAbAjArAzAAAz8"@AgTrA)p@AkA\=A;9A~gA vAa*A+:?2A\׽:A_=BA+:?JA\׽RA_=YJ@F9yZ= ٓH`:U?c+Ͽc@?6|Ԃ@+?)J@ I٘i)I9)p@Y+G JJ^<JJJFD&Kz> YX~?y-LAF9D777_8)ïBjE[[a@[X~?[g[[[[BZYY i) mIeH?i6@r7< S}))S}@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030882.083165 s, next control iter: 1743030882.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030882.483165 s.v_'H~,잘"AJ"J*J2J:J2?BJ2?nJm;5vJA@A=~oӷ@A_Z~? AAGP%&"AA/nNA"AZAbAjArAzAAAt!@AdQd_cUrAo@AULAs=A7A`XA7BA뜼*A%:?2AE.׽:A{e =BA%:?JAE.׽RA{e =٘i)I9o@YG J0JJJJPD&K YF|X~?yKAD778)ȯBgE[[Mb@[WX~?[&[[[[BZYY i) |IڍH?i9@< _))_H@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030882.503165 s, next control iter: 1743030882.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4381, header.stamp.nsec: 00 temperature: 13.386875* salinity: 33.391716, density: 1025.000000* values[0]: 0.697745F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030882.903165 s.!-H~, ι"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076507< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743030882.903323F (some fields omitted in printout)A ףp=@AA^#@AFZ~? AA<%&"AAnNA"AZAbAjArAzAAAag6;K!@A  VrAk"o@A֐/;AP=A׬6AGAA!(*A:?2A8ֽ:A3=BA:?JA8ֽRA3=٘i)I9"o@YG JB=JJJJ[D&K Y`X~?yԯfKAD{7j78)̯BdE[[{c@[X~?[[[[[BZYY il() IH?iK=@K< 7))7ߊ@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030882.923165 s, next control iter: 1743030883.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030883.323165 s.v4H~,%Ԙ"AJ"J*J2J:J2?BJ2?nJ,;5vJA\@AM@A\,Z~? AA&%&"AAݏnNA"AZAbAjArAzAAAMRv @AdVrAn@A& <A2=Aqe5A^4A ȾA]H*A:?2Aֽ:AN=BA:?JAֽRAN=٘i)I9n@Y5G J C=JJJJfD&K  8Y~EX~? 8yKAD77778DB)ЯBbE[[-d@[X~?[[[[[BZYY i) nIH?iA@< #g))#gv@sժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030883.343165 s, next control iter: 1743030883.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4382*, header.stamp.nsec: 0*0 temperature: 13.387114** salinity: 33.391720*, density: 1025.000000** values[0]: 0.696782*F (some fields omitted in printout).~EX~?). rAdjusting time to match Gazebo time: 1743030883.743165 s.W;H~,q"AAGz@A+nb@AZ~? AmA %&"AAhnNA"AZAbAjArAzAAAnG\ @A YX~?y#3JA2Dj758)ٯB\E[[(g@[X~?[=[[[[BZYY i) ʜII?iG@`< /))/@y-۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030884.183165 s, next control iter: 1743030884.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030884.583165 s.HH~,R%"AAR@Aj2m@AY~? AA!$&"AAanNA"AZAbAjArAzAAA@Ax'YrAl@AoA=An1A)A ſAS*A9?2AI׽:AH=BA9?JAI׽RAH=٘i)I9l@Y-G JC=JJJJD&K YW~?y$IAD{7_8)ݯB[[,h@[yqX~?[[[[[BZYY i) AAIi@J@p= ?_))?_￩ 8@ުYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743030884.603165 s, next control iter: 1743030884.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4383, header.stamp.nsec: 00 temperature: 13.387389* salinity: 33.391701, density: 1025.000000* values[0]: 0.695736F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030885.003165 s.w PH~,H4@"AJ"J*J2J:JBJnJvJAp= W@Ay<@ASY~? AA$&"AAmNA"AZAbAjArAzAAA-<@A ZrAQl@A$_A'=Ab0AMAƿA 7*A9?2Au׽:Ak=BA9?JAu׽RAk=٘i)I9Ql@YG J쮼JJJJD&K YW~?y&]IADŧ7b78)BYE[[Vi@[4]X~?[[[[[BZYY i) θIiaM@pq=  )) V͍@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030885.023165 s, next control iter: 1743030885.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030885.423165 s.uVH~,["AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085526< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743030885.423273F (some fields omitted in printout)A(\@A|~@A Y~? AA$&"AAmNA"AZAbAjArAzAAA{e W@A\rAk@AA A=A.A@AȿA*A 9?2Aor׽:A$=BA 9?JAor׽RA$=٘i)I9k@YxG J䱼B=JJJJD&K YW~?y)HAD77$8)BVE[[j@[?IX~?[y [[[[BZYY i) $0IiP@M= ))꿩a@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030885.443165 s, next control iter: 1743030885.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4384, header.stamp.nsec: 00 temperature: 13.387663* salinity: 33.391693, density: 1025.000000* values[0]: 0.694647F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030885.843165 s.\H~,u"AJ"J*J2J:JBJnJvJAHz. @A @AY~? AAM]$&"AAmNA"AZAbAjArAzAAA%J=0'@Ax4i]rA!k@A+MA=A{-AAʿA@*A9?2A#=׽:A=BA9?JA#=׽RA=٘i)I9!k@YG JjC=JJJJD&K YyW~?y*çHAD{7{7+8)BSE[[k@[5X~?[[[[[BZYY i) IiT@C/= Cj))Cj迩J@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030885.863165 s, next control iter: 1743030886.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030886.263165 s.dH~,#ؐ"AA @Ar3܀ @A+{Y~? A7A0$&"AAmNA"AZAbAjArAzAAA5'0@A^rA=j@A?5Aǭ=A6,A`eAm̿A>eü*A9?2Aֽ:A=BA9?JAֽRA=YW@7,yǭ=5ٓH|@v?s@ۿ8SF?)W@ I٘i)I9j@YG JžB=J<JJJD&Knx> YW~?yƧHA7,Dj7SI7 38CB)BPE[[Jl@[ "X~?[[[[[BZYY i) IiV@ω = ))濩 @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030886.303165 s, next control iter: 1743030886.663176 s, wait time: 0.360011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 43852, header.stamp.nsec: 020 temperature: 13.3879422* salinity: 33.3916932, density: 1025.0000002* values[0]: 0.6935192F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030886.683165 s.ljH~,N"AJ"J*J2J:J1?BJ1?nJ*:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085526< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743030886.683273F (some fields omitted in printout)AQ!@AW @AmbY~? AAN$&"AA]mNA"AZAbAjArAzAAA49*@Ad`rAi@A;Ax$=A*AP>A`9οA=˼*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9i@YSG J ǼC=JJJJD&K YrW~?yʧGADZ7Z74:8)B[[m@[X~?[[[[[BZYY i) 1ɼIigY@q# = 3))3㿩N@YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743030886.683165 s, next control iter: 1743030887.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743030887.103165 s.qH~,ƙ"AA= ףp!@AwhXV!@AIY~? AhA#&"AA7mNA"AZAbAjArAzAAAG;@A?G4brA,i@A:<A=A̩)A@:A пA#Ѽ*A9?2Aֽ:AV=BA9?JAֽRAV=٘i)I9,i@Y G JμJJJJD&K YIYW~?yΧ)GAD{7j7`A8)BME[[o@[W~?[[[[[BZYY i) wмIiI\@! = w))wῩ౐@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030887.123165 s, next control iter: 1743030887.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030887.523165 s.wH~,{"AJ"J*J2J:JBJnJvJA(!@A\;Q!@Az1Y~? A<A6#&"AAmNA"AZAbAjArAzAAA{l,{@AZcrA{h@AO<A8v=AY(AA`пAgOԼ*A9?2A3ֽ:A.=BA9?JA3ֽRA.=٘i)I9{h@Y~ G JҼJJJJD&K Y?W~?y~ҧFADŧ7b7H8)BKE[[REp@['W~?[[[[[BZYY i) ý׼Ii_@$= ,߿)),߿D@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030887.543165 s, next control iter: 1743030887.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4386, header.stamp.nsec: 00 temperature: 13.388230* salinity: 33.391678, density: 1025.000000* values[0]: 0.692277F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030887.943165 s.Zd~H~,J]"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085526< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743030887.943303F (some fields omitted in printout)AzG"@A-"@AIY~? A7A`#&"AAlNA"AZAbAjArAzAAA 'V@A.JGerAg@AH ;A=A'A@AѿA{9ռ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9g@Y G JԼJJJJD&K Y&W~?yS֧@FA'D77O8BB)BHE[[-iq@[W~?[![[[[ZZ¸BZYY i¸7=)  ˼Ii2c@h= #ܿ))#֑ܿ@3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030887.963165 s, next control iter: 1743030888.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030888.363165 s.H~,>"AJ"J*J2J:JBJnJvJA3333"@AL"@ALY~? AY A%#&"AA2lNA"AZAbAjArAzAAAWiF3@A%Xg{grAg@AA֟=AѪ%A@A0ҿAUռ*AQ9?2A1׽:A6=BAQ9?JA1׽RA6=Yh^@%yV=+ٓH@1! ?`O: ө@MNr@?)h^@ I٘i)I9g@Y G J`ռJR<JJJD&K~x> Y|W~?yڧEA%2Dj7Z7V8) BEE[[r@[W~?[%[[[[ZZBZYY i) ﾿Iie@g= ڿ))ڿi@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030888.403165 s, next control iter: 1743030888.763178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4387", header.stamp.nsec: 0"0 temperature: 13.388569"* salinity: 33.391674", density: 1025.000000"* values[0]: 0.690976"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030888.783165 s.[H~,2"AAQ#@Af#@AX~? A A"&"AAlNA"AZAbAjArAzAAA+T$@A|irAOf@A&AZ=ATV$A@UA zӿA*A9?2A=E׽:Ay<BA9?JA=E׽RAy<٘i)I9Of@Y, G JQJJJJD&K Y|V~?yߧLEA C=Dŧ77 ^8)B[[s@[W~?[2*[[[[ZZBZYY i) ͲIiKg@7= Nؿ))NؿS@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030888.823165 s, next control iter: 1743030889.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030889.203165 s.H~,&M"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083602< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J*J2J dt: 0.419986:J2 time: 1743030889.203283BJF (some fields omitted in printout)nJvJAףp=#@A&p#@AX~? AA"&"AA'lNA"AZAbAjArAzAAAH?@Ay0o;krAve@AQ Ao=A #A AOiԿAxa*AS9?2A(׽:A-q<BAS9?JA(׽RA-q<٘i)I9ve@Y G JQJJJJD&K Y{V~?y+DAHD775e80B)BBE[[t@["W~?[.[[[[ZZBZYY i) SIii@m= ֿ))ֿ\@yQ=EӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030889.223165 s, next control iter: 1743030889.603181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030889.623165 s.VH~,Xg"AA)\#@A#ڎ#@AX~? AA`"&"AA]lNA"AZAbAjArAzAAAuQ@AmrAd@A7A?u=A!ABAIDտA*A9?2Aֽ:AoPc<BA9?JAֽRAoPc<٘i)I9d@Y' G JuJJJJD&K Y{V~?yXDARD77`l8) B?E[[cu@[W~?[ 3[[[[ZZBZYY i) Iil@]= ӿ))ӿ@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030889.663165 s, next control iter: 1743030890.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4388 , header.stamp.nsec: 0 0 temperature: 13.388916 * salinity: 33.391655 , density: 1025.000000 * values[0]: 0.689546 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030890.043165 s.J "J *J 2J :J 0?BJ 0?nJ 95H~vJ,Â"AA{Ga$@A 3G$@AX~? A`Au"&"AA:lNA"AZAbAjArAzAAAR啳 @A{V\ prAZc@AV;AkF1=Ax ACAֿAѼ*A9?2Aֽ:A*;BA9?JAֽRA*;٘i)I9c@Y G JB=JJJJD&K YxV~?ygCA]D77{7s8)B elevatorAngleAction: 0.083602< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743030890.463279F (some fields omitted in printout)A$@A!?$@AЌX~? A?A[!&"AAlNA"AZAbAjArAzAAANjF] @Af hrrA>c@A;A><A-A`@xAֿAI*A=9?2Aֽ:ARKǺBA=9?JAֽRARKǺYd@*y=<δ;ٓHe``Jz?:̙zccRۦ~??)d@ I٘i)I9>c@YM G JļC=JJJJD&Kx> YV~?yCA*hD777z8)B=E[[Ax@[#nW~?[F<[[[[ZZBZYY iw=) g9Iiq@= _5Ͽ))_5ϿB@SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030890.503165 s, next control iter: 1743030890.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4389, header.stamp.nsec: 00 temperature: 13.389275* salinity: 33.391663, density: 1025.000000* values[0]: 0.688092F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030890.883165 s.yH~,<"AJ"J*J2J:JBJnJvJAQ8%@A'>%@A@vX~? ADAm!&"AAMkNA"AZAbAjArAzAAA'  : @A4ttrAbb@At <A<A{A<A{׿Al*A9?2A~ֽ:ABA9?JA~ֽRA%I٘i)I9b@Y G JsJJJJ'D&K YV~?y&CAsDb77၄8)B:E[[dy@[]W~?[ A[[[[ZZBZYY i) 4uIis@G= +̿))+̿Pԕ@*dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030890.923165 s, next control iter: 1743030891.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030891.303165 s.VH~,wgӚ"AAq= ף%@Al$ ‰%@A_X~? Am#A2!&"AAIkNA"AZAbAjArAzAAA1,5@AfwrA[b@AĘ;AMڻAYAaAؿAf-*A9?2A1ֽ:AGtBA9?JA1ֽRAGt٘i)I9[b@Y G JcJJJJ2D&K YkV~?ysCA}D77 8/B)B7E[[+z@[pMW~?[E[[[[ZZBZYY i=) &aIi/v@= 'ʿ))'ʿe@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030891.323165 s, next control iter: 1743030891.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4390., header.stamp.nsec: 0.0 temperature: 13.389500.* salinity: 33.391663., density: 1025.000000.* values[0]: 0.687140.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030891.723165 s.H~,H"AJ"J*J2J:J/?BJ/?nJs85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.080032< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743030891.723326F (some fields omitted in printout)A(\&@Ak K%@AIX~? A'A5 &"AAkNA"AZAbAjArAzAAA@A!zrA "b@A3AqAlHATA`lٿAn;*A9?2AGֽ:A3BA9?JAGֽRA3٘i)I9"b@Y G JJJJJ=D&K YTV~?yOCAD77{768)B[[{@[=W~?[J[[[[ZZBZYY i) LIix@M= ofȿ))ofȿ?@yV=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030891.743165 s, next control iter: 1743030892.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030892.143165 s.W/¦H~, * "AAGz&@A5a`&@A.4X~? A*,A &"AA|kNA"AZAbAjArAzAAAz`z@A0c |rA b@A>AAA{A@ 7ڿAE**AB9?2Anֽ:A/ϼBAB9?JAnֽRA/ϼ٘i)I9 b@Y G J(UJJJJHD&K Y5>V~?yD+CAD77`8)B4E[[\|@[.W~?[O[[[[BZYY i) 7Ii|@kI!= &ƿ))&ƿ)@y1=3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030892.163165 s, next control iter: 1743030892.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030892.563165 s.ȦH~,F $"AJ"J*J2J:J/?BJ/?nJd85vJAffff&@AN&@AX~? A0A$3 &"AAokNA"AZAbAjArAzAAAJMQ@An5ĆrAb@AdA3AγAg6AڿAk;*A9?2Aedֽ:ABA9?JAedֽRAYlk@ڬyo3ٓHiB`O?1??Ji? r?̃ ?)lk@ I٘i)I9b@Y G J۠:Jc*JJuEJRD&KJw> Y)V~?yQhCAD8)B0E[[}@[W~?[T[[[[BZYY ibl=) 'IiQ}@"= Oÿ))Oÿ@Cq*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030892.583165 s, next control iter: 1743030892.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4391, header.stamp.nsec: 00 temperature: 13.389582* salinity: 33.391644, density: 1025.000000* values[0]: 0.686877F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030892.983165 s.ϦH~,>"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057785< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743030892.983294F (some fields omitted in printout)AQ'@AИI7'@A X~? Ar5A&"AAoOkNA"AZAbAjArAzAAA"IH?AwfrA[8b@AݻAZAdAAۿAN;*A9?2ATֽ:ABA9?JATֽRA٘i)I98b@Y G J;JJJJ]D&K Y V~?y^CADb778)1E[[ @[W~?[Y[[[[BZYY i{=) JAIi@.4#= K))K@|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030893.023165 s, next control iter: 1743030893.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030893.403165 s.&֦H~,Y"AJ"J*J2J:JBJnJvJA ףp'@A,V]'@AW~? AI:A{&"AA/kNA"AZAbAjArAzAAAuqBu?AZrA:wb@A"AzAKAAܿAb<7<*Az9?2Aֽ:ABAz9?JAֽRA٘i)I9wb@Y G J<JJJJhD&K YvV~?ykCAD77{7ᬄ8)B.E[[@[5W~?[0_[[[[BZYY i) psIi@`$= `))`7@2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030893.423165 s, next control iter: 1743030893.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4392", header.stamp.nsec: 0"0 temperature: 13.389551"* salinity: 33.391628", density: 1025.000000"* values[0]: 0.687120"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030893.823165 s.ܦH~,)t"AA\((@Ar(@A@W~? AB?A&"AACkNA"AZAbAjArAzAAA#%4?A/ېcrAb@A2;A|̈AܼA@XAMݿAQb<*Ar9?2A_ֽ:A BAr9?JA_ֽRA ٘i)I9b@Y G JK<JJJJsD&K YU~?yx DAD777 8.B)B+E[[*@[V~?[wd[[[[BZYY i) LIi@&= "))"%Ǚ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030893.843165 s, next control iter: 1743030894.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030894.243165 s.H~J"J,"A*J2J:J/?BJ/?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743030894.243285F (some fields omitted in printout)AGz(@Agz(@AW~? A\DA&"AAkjNA"AZAbAjArAzAAAp$B5?A<1rA3c@A$<AAkA A ޿AsȄ<*A9?2A^׽:AM BA9?JA^׽RAM ٘i)I93c@YG G Ju<JJJJ}D&K YMU~?y&YDADZ7Z768)B[[4@[V~?[i[[[[BZYY i) NǻIi)@'= ?线))?线 V@y&=K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030894.263165 s, next control iter: 1743030894.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030894.663165 s.H~,q"AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4393, header.stamp.nsec: 00 temperature: 13.389438* salinity: 33.391621, density: 1025.000000* values[0]: 0.687819F (some fields omitted in printout)A)@A#(@A?W~? AIAT&"AAjNA"AZAbAjArAzAAA`y?AL2rAEc@A;AژAAkA޿A 9<*A9?2Afֽ:ABA9?JAfֽRAY}q@)y٘;ٓHG v7??h#``v^? ?`c~??)}q@ I٘i)I9c@Y G J<JJJJD&Kx> YU~?y/-DA)D{7{7b„8)B(E[[Á@[PV~?[:o[[[[BZYY i) ]wIi@(= 㨸))㨸@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030894.683165 s, next control iter: 1743030895.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030895.083165 s.DH~,Rś"AJ"J*J2J:JBJnJvJARk)@A{mQ)@A¤W~? ANA&"AADjNA"AZAbAjArAzAAAh?ArA.d@A}:AɄAAjA {߿Aau<*Az9?2A%ֽ:AGBAz9?JA%ֽRAG٘i)I9.d@Y G J<JJJJD&K Y]U~?y3&EADj7Z7Ʉ8/B) B)E[[R@[V~?[t[[[[BZYY i) EIiZ@i)= Sl))Slt@P*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030895.103165 s, next control iter: 1743030895.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030895.503165 s.H~,D4"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743030895.503283F (some fields omitted in printout)Ap= )@A)')@AW~? AiTA&"AAjNA"AZAbAjArAzAAA{?A@lGMrAd@A$A:AA`zAA(f<*A9?2Alֽ:ABA9?JAlֽRA٘i)I9d@Y7 G Jf<JJJJD&K YU~?y:EAD{7j7Є8.B)B&E[[@[V~?[Cz[[[[BZYY i) ZIi;@*= 1))1@$*YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743030895.523165 s, next control iter: 1743030895.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4394, header.stamp.nsec: 00 temperature: 13.389239* salinity: 33.391594, density: 1025.000000* values[0]: 0.688833F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030895.923165 s.;H~,"AJ"J*J2J:JW0?BJW0?nJ85vJA(\B*@A{Fw(*@A~W~? AZA&"AA9{jNA"AZAbAjArAzAAAlф?AٰmrAVe@A A::A%LA@UA nA9<*A9?2AEZֽ:A֋BA9?JAEZֽRA֋٘i)I9Ve@Y G Jo<JJJJD&K YoU~?y'AEADŧ77ׄ8)B#E[[p@[QV~?[[[[[BZYY i) IiK@w+= c))c@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030895.943165 s, next control iter: 1743030896.323182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743030896.343165 s.<H~,"AAHz*@AW"P*@ArlW~? A_A٩&"AA_jNA"AZAbAjArAzAAA&Ybv?A[Ce3rAe@ARAؠA A nA *Ar<*AM9?2Awֽ:AhBAM9?JAwֽRAh٘i)I9e@Y G Jź<JJJJD&K YzU~?yGZFAD7777 ߄8)B[[@[V~?[[[[[BZYY i) XºIi@r~-= ߿))߿@/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030896.363165 s, next control iter: 1743030896.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4395*, header.stamp.nsec: 0*0 temperature: 13.388997** salinity: 33.391594*, density: 1025.000000** values[0]: 0.690024*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030896.763165 s.7 H~,0"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067131< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J*J2J dt: 0.419998:JBJ2 time: 1743030896.763279F (some fields omitted in printout)nJvJA+@AJ/*@AkZW~? AeAV9&"AAdCjNA"AZAbAjArAzAAA ʿArAgf@AR[AwAK AAA(<*A9?2Aֽ:A BA9?JAֽRA Ytx@ ywt[ٓHhN@3? B?@ `^ ? ?Vjk!?)tx@ I٘i)I9f@YS G J|<J JJJD&K0x> YjU~?yOFA  DZ7Z778-B)B E[[z@[V~?[@[[[[BZYY i) !Ii@-= ))u@_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030896.783165 s, next control iter: 1743030897.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030897.183165 s.H~,sK"AAQ+@AIIk+@AHW~? AykA&"AAW(jNA"AZAbAjArAzAAAw7ڿAYarA,g@A^;A.AR Au߿A XnAS<*A9?2Aֽ:Ah+BA9?JAֽRAh+٘i)I9,g@Y G Jʸ<JJJJD&K YZU~?y;V0GAD777b8.B)B!E[[@[JV~?[ [[[[BZYY i) 9Iik@.= 'L))'L<@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030897.203165 s, next control iter: 1743030897.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030897.603165 s.74H~,f"AJ"J*J2J:J0?BJ0?nJ95vJA= ף+@AW+@A7W~? AqAQ&"AA jNA"AZAbAjArAzAAAnAFrAXg@AB <AAAA@޿A8A<*A9?2A׽:ABA9?JA׽RA٘i)I9g@Y G J<JJJJD&K Y^JU~?yp]GAD77{78-B)BE[[娅@[V~?[喨[[[[BZYY i) ԣ:Ii"@ʈ/= ))ʞ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030897.623165 s, next control iter: 1743030898.003179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4396, header.stamp.nsec: 00 temperature: 13.388721* salinity: 33.391560, density: 1025.000000* values[0]: 0.691280F (some fields omitted in printout)^JU~?)p] rAdjusting time to match Gazebo time: 1743030898.023165 s.Z H~, |"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743030898.023295F (some fields omitted in printout)A(\,@A]B,@A&W~? AwA&"AAiNA"AZAbAjArAzAAA]aBA_,ժrAXh@A<A瘽AA޿A`A<*A9?2A׽:ABA9?JA׽RA٘i)I9Xh@Yi G Jİ<JJJJD&K Y-:U~?ydHA)D7778)B[[6@[uV~?[ɜ[[[[BZYY i)  ;Ii @[0= cݦ))cݦX@u*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743030898.043165 s, next control iter: 1743030898.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030898.443165 s.8&H~,B]"AJ"J*J2J:JBJnJvJAz,@ADg,@ABW~? A}AMa&"AAiNA"AZAbAjArAzAAA}ul>Af燐rAh@AF;AAihA EݿA\Af.<*A@9?2A'ֽ:ABA@9?JA'ֽRA٘i)I9h@Y G J<B=JJJJD&K  8Y)U~? 8ykrHA4Dŧ7b78)BE[[Æ@[QkV~?[[[[[BZYY i) 3]I;Ii @2= S))S@3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030898.483165 s, next control iter: 1743030898.843178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4397, header.stamp.nsec: 00 temperature: 13.388475* salinity: 33.391537, density: 1025.000000* values[0]: 0.692464F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030898.863165 s.+-H~,>"AA33333-@A-@A;W~? AOA&"AA(iNA"AZAbAjArAzAAA~h8GA APrA|i@A}LA?A"A$ܿAA<*A|9?2Aաֽ:AfBA|9?JAաֽRAfY~@ y0ٓH@߿?RӢ?q6߿`ٯ?`e~?\@?)~@ I٘i)I9|i@YG J<C=JX<JJJD&KJx> Y4U~?ysHA  C>Db77 8.B)BE[[Q@[`V~?[[[[[BZYY i) $;IiN@7P2= p))ps@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030898.883165 s, next control iter: 1743030899.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030899.283165 s.6R4H~,Ҝ"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067131< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743030899.283312F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ-@A0-@AV~? ANJAh&"AA(iNA"AZAbAjArAzAAA?<A-|rA j@At*AYAAۿAA<*A~9?2Aֽ:ABA~9?JAֽRA٘i)I9 j@YqG J<JJJJD&K YpU~?y:{8IAID{7j778-B)ݯBE[[[߇@[VV~?[ˮ[[[[BZYY i) ;Ii@2= :)):V@|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030899.303165 s, next control iter: 1743030899.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4398., header.stamp.nsec: 0.0 temperature: 13.388238.* salinity: 33.391548., density: 1025.000000.* values[0]: 0.693617.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030899.703165 s.׺:H~,"AAףp= .@AJ ,-@AqV~? AVA&"AA̒iNA"AZAbAjArAzAAA@1Aa~rAj@AA AAڿA68A<*AD9?2A ֽ:ABAD9?JA ֽRA٘i)I9j@YG JB<B=JJJJ D&K YU~?y남IATDb77b8)ٯB[[l@[RMV~?[紨[[[[BZYY i) o;Ii:@~3= ))厡@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030899.723165 s, next control iter: 1743030900.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030900.123165 s.J "J *J 2J @AH~:J1?BJ1?,"AnJX:5vJA)\u.@Aq[.@AV~? AAh&"AA|iNA"AZAbAjArAzAAAVmA^ꞎrAz"k@A LǻAʌAq>A@!4ڿA}A.<*A9?2Aֽ:A.BA9?JAֽRA.٘i)I9"k@YG J<C=JJJJD&K YT~?yIA_D7{78)ԯB[[@[DV~?[ [[[[BZYY i=) 0;Ii@o4= +ϛ))+ϛ@*YFFF]q:Waiting for Gazebo time sync: latest Gz time: 1743030900.143165 s, next control iter: 1743030900.523185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743030900.543165 s.IHH~,""AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075982< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743030900.543297F (some fields omitted in printout)A{G.@AX0.@AbV~? AA&"AA fiNA"AZAbAjArAzAAA*=̞A$QrAk@Ag59AÊAAfٿAA}l<*A9?2Aֽ:AƜBA9?JAֽRAƜ٘i)I9k@YlG J/<JJJJD&K Y!T~?yJcJAiD7777&8.B)ѯBE[[@[;V~?[9[[[[BZYY i) ;Ii@5= ))쨢@*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743030900.563165 s, next control iter: 1743030900.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4399, header.stamp.nsec: 00 temperature: 13.388016* salinity: 33.391518, density: 1025.000000* values[0]: 0.694755F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030900.963165 s.vNH~,="AJ"J*J2J:JBJnJvJAL/@A52/@AV~? AAWa&"AAPiNA"AZAbAjArAzAAA__ A< rA $l@A;AA)AؿA[AKC<*A9?2A׽:A BA9?JA׽RA Y@>8ypO;ٓHPNٿ@b?@'?`GPIVٿp?/0?@zz?W?)@ I٘i)I9$l@YG JF<B=J6G<JJJ)D&K x> YT~?ybJA8tD{7{7-8)ͯB[[h@[|2V~?[yǨ[[[[BZYY i)   elevatorAngleAction: 0.075982< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743030901.803316F (some fields omitted in printout)Aq= #0@A 0@A+V~? AAS&"AA'iNA"AZAbAjArAzAAA+JA$[rAm@A0K;AAwAֿA A<*A9?2A7ֽ:A_BA9?JA7ֽRA_٘i)I9m@YIG J<B=JJJJ?D&K YT~?yxKAD77778<8)ůB[[.@[R"V~?[Ԩ[[[[BZYY i) p-&"AAiNA"AZAbAjArAzAAAtqAʜrAn@A|?A*AA<@տA`A-Ҕ<*A9?2Aˉֽ:AHBA9?JAˉֽRAH٘i)I9n@YG J><JJJJTD&K Y&T~?y1LADZ7Z7J8)B)BE[[0H@[V~?[[[[[BZYY i) L elevatorAngleAction: 0.075982< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743030903.063299F (some fields omitted in printout)Afffff1@A .VL1@A~V~? AɩAı&"AA,hNA"AZAbAjArAzAAAM`@A"zrAyn@AA~AuFAeԿAu&Aڀ<*A9?2A~vֽ:ABA9?JA~vֽRAYl@u1y ~ٓH 6ӿ@?x?pLӿ`q?3?ߣ`m?)l@ I٘i)I9n@Y*G Jh<J2JJJ_D&Kx> YT~?yèLA1D)7b7Q8)B[[Ռ@[ V~?[B[[[[BZYY i) u[ elevatorAngleAction: 0.084960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743030904.323268F (some fields omitted in printout)J"J*J2J:JBJnJvJA\2@A[^ގ2@AV^V~? A$ߩA&"AAԾhNA"AZAbAjArAzAAA$׋ A6k|rA p@ATw;A[AUA`ѿAAx<*A9?2Aֽ:AG BA9?JAֽRAG ٘i)I9 p@YG Jb<C=JJJJD&K Y&T~?yPܨMADj7j78g8(B)BE[[n{@[hU~?[[[[[BZYY i) H Y|T~?yV|NA)D7u8)B[[|@[U~?[[[[[BZYY i)  elevatorAngleAction: 0.084960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743030905.583282F (some fields omitted in printout)AR3@ABs3@ACV~? AAJ&"AA/hNA"AZAbAjArAzAAAJv" A2O0rAq@AԎ;A%AA#οA`:AȤ<*A9?2Atֽ:AS\BA9?JAtֽRAS\٘i)I9q@YG J٠<C=JJJJD&K Y6wT~?yNAD77j7|8)BE[[!@[QU~?[{[[[[BZYY i) y elevatorAngleAction: 0.084960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743030906.843298F (some fields omitted in printout)AHz.5@AXm5@A,,V~? A A&"AAUphNA"AZAbAjArAzAAAZV~LAQsAPs@A0AAؿA@˰ȿA@A<*A9?2AXֽ:AGBA9?JAXֽRAG$I٘i)I9Ps@YG J<JJJJD&K YfT~?yPA Dŧ7b798)B[[Ƒ@[U~?[m"[[[[BZYY i) O Y/cT~?yPA"ֿD{7j7c8)BE[[S@[NU~?[)[[[[BZYY i) ` elevatorAngleAction: 0.084960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743030908.103317F (some fields omitted in printout)A= ףp6@AGV6@AV~? A$A &"AAlShNA"AZAbAjArAzAAAe$6gAoVsA}3u@Ae;AծAпAÿAAS<*A9?2Aֽ:Aw)BA9?JAֽRAw)٘i)I93u@Y<G J<JJJJD&K Yn]T~?y*rQA*D{7{78)}B[[*l@[U~?[6[[[[BZYY i) ;AwAB˿AA@#Anq<*A9?2A;ֽ:A+BA9?JA;ֽRA+٘i)I9v@YG Jg<C=JJJJD&K YWT~?y;WRA@Db778)sB[[]@[-U~?[C[[[[BZYY i) W"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743030909.363269F (some fields omitted in printout)A33337@Auq7@Ab V~? A]<A &"AA=hNA"AZAbAjArAzAAAᇼAL"sA:0w@A>p:AEA*ɿA຿A5A<*Ag9?2Azֽ:ABAg9?JAzֽRAYŏ@ɿyEq:ٓH 9 ?LH`4@P?J?`gN?G?)ŏ@ I٘i)I90w@YrG JT<J=JJJD&Kx> YWT~?y]DRAɿJD777798)nB[[@[U~?[J[[[[BZYY i) BZYY i¸>V) 09,A1sAagy@AA=A>cA@A`ZA+=*A9?2A+Pֽ:ABA9?JA+PֽRA٘i)I9gy@YG J<JJJJ!D&K YWT~?y^;TAkDb77҅8)\B[[ȷ@[U~?[_[[[[ZZZZBZYY i) F YzZT~?yNpUADj78)OBE[[Ŀ[U~?[l[[[[ZZZZBZYY i) yBE[["[lU~?[[[[[ZZZZBZYY i) kJJJlD&K x>  8YkT~? 8y.VAD7ŧ78)BE[[C[CU~?[ɢ[[[[BZYY i) E"uAH ΖgsA7A}@A<(;A}=A!äAtL?Ak9A@*A9?2Aֽ:An( =BA9?JAֽRAn( =٘i)I9A}@Y#G JJJJJD&K YnT~?yUADb77!8)@B[[ [-U~?[[[[[BZYY i) @Ah$=@AV~? A䴪Aa&"AA;hNA"AZAbAjArAzAAAFAxulsA|@A <A~=A.A ?A 7'A=q*Aa9?2Aֽ:A=BAa9?JAֽRA=Y@!y}=mI!<ٓHx#?ࡈ?=?@u$?`A@LL??)@ I٘i)I9|@YG JWJz=JJJD&K@w> YT~?yǩ\UAD{7j7(8)CB[[AӮ[qU~?[7[[[[BZYY i&Qi) sV@AEf.pQ>@AV~? AؼA&"AA"BhNA"AZAbAjArAzAAAӹqpKA|BCPqsATy|@A;AZ=AA?AmA**A'9?2A=ֽ:AV=BA'9?JA=ֽRAV=٘i)I9y|@YG JJJJJD&K Y^T~?ygϩTAD{7/8.B)JBE[[ۚ[U~?[嶩[[[[BZYY i) ;Ii`@+H-= %))%%tʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030916.103165 s, next control iter: 1743030916.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030916.503165 s.GH~,Y4 "AAp= >@A*9'>@AV~? AĪAÄ&"AA.IhNA"AZAbAjArAzAAATAR1Z&vsA{@A^:A@=A䜿A`=?AXAk*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9{@Y^G JJJJJD&K Y֛T~?yשTAD78/B)OBE[[`[ U~?[[[[[BZYY i) ;Ii@kF,=  ))  ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030916.543165 s, next control iter: 1743030916.903180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4415, header.stamp.nsec: 00 temperature: 13.567837* salinity: 33.374996, density: 1025.000000* values[0]: 0.580357F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030916.923165 s.;NH~,;"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056962< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743030916.923301F (some fields omitted in printout)A(\B?@AnQf(?@AVV~? A̪AR&"AAQhNA"AZAbAjArAzAAAg3Ahi]zsAu{@AA!=A8A?A`A*A9?2A{ֽ:A: =BA9?JA{ֽRA: =٘i)I9u{@Y G JBB=JJJJD&K YNT~?y6ETA D7777;>8)SB[[O%[U~?[;ĩ[[[[BZYY i) ;Ii@+= :))::yi֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030916.943165 s, next control iter: 1743030917.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030917.343165 s.y =BA9?JAֽRA>y =٘i)I9z@YG JEC=JJJJD&K YŬT~?ySADb77fE8)WB[[!饿[XU~?[ʩ[[[[BZYY i) ;Ii@e*= g))ggתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030917.383165 s, next control iter: 1743030917.743177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4416*, header.stamp.nsec: 0*0 temperature: 13.568054** salinity: 33.375008*, density: 1025.000000** values[0]: 0.579742*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030917.763165 s.:[H~,,p"AJ"J*J2J:Ji?BJi?nJ5vJA@@Aٱ?@A*V~? AUܪA~%"AAchNA"AZAbAjArAzAAA냹0 mAM+sATz@AQA=AAg?A A*AW9?2A5ֽ:AU=BAW9?JA5ֽRAU=Y<Ȝ@1y=ٓH@6?8c?0?OsR?l@/?)<Ȝ@ I٘i)I9Tz@Y\G JFJ<JJJD&Kx> YT~?ySA!D77L80B)]B E[[/[{V~?[pѩ[[[[BZYY i) KQ;IiC@K)= ))D֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030917.803165 s, next control iter: 1743030918.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030918.183165 s.bH~,V"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066250< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743030918.183252F (some fields omitted in printout)AQ@@AOk@@A1V~? AA8%"AADmhNA"AZAbAjArAzAAA<, AQBFsAy@A$AU^=A2qA??BJ>?nJq5vJA= ף@@AL@@AQ9V~? AȦ%"AA9xhNA"AZAbAjArAzAAA~^e AsA -y@A;A=A)珿A ?AdA{Я*A9?2AZֽ:A=BA9?JAZֽRA=٘i)I9-y@YG JJJJJD&K Y;T~?yRA C7Dj7Z7Z8)gB[[78[V~?[ީ[[[[BZYY i) :Ii0@&= &))&꾩&ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030918.623165 s, next control iter: 1743030919.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4417 , header.stamp.nsec: 0 0 temperature: 13.568322 * salinity: 33.375004 , density: 1025.000000 * values[0]: 0.579077 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030919.023165 s.ZpH~, |"AA(\A@A-ͭBA@ASAV~? AAG%"AAhNA"AZAbAjArAzAAAءvJ AI3CsAx@AQr<A=AVAq?A?A*A9?2A0Iֽ:A=BA9?JA0IֽRA=٘i)I9x@YNG JJJJJD&K YcT~?yFRAAD)7ŧ7b81B)lB#E[[[8V~?[[[[[BZYY i) L<9Iio@%= N))NᾩNy̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030919.063165 s, next control iter: 1743030919.423180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743030919.443165 s.:vH~,J]ܡ"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066250< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743030919.443282F (some fields omitted in printout)J"J*J2J:JBJnJvJAzA@A,A@AIV~? A%A[%"AAnhNA"AZAbAjArAzAAAThZ| A@WsA x@Ayp<A&=A㺊AI?AWA\*A29?2Acֽ:A+,=BA29?JAcֽRA+,=٘i)I9 x@YG JJJJJD&K YT~?y QALD77{7;i82B)qB$E[[[!V~?[[[[[BZYY i) Iiހ@$= ؾ))ؾؾ ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030919.463165 s, next control iter: 1743030919.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4418, header.stamp.nsec: 00 temperature: 13.568561* salinity: 33.374996, density: 1025.000000* values[0]: 0.578403F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030919.863165 s.+}H~,>"AA33333B@AhB@ARV~? AA8%"AAhNA"AZAbAjArAzAAAӡ AP YHT~?y~QA WDj7fp8)wB'E[[|[)V~?[[[[[BZYY i) TIi~@#= .Ͼ)).Ͼ.Ͼ#ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030919.883165 s, next control iter: 1743030920.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030920.283165 s.J "J *J 2J :J ?BJ ?nJ /5vJ =RH~,"AAQB@A,'B@AY\V~? A= A3%"AAhNA"AZAbAjArAzAAAqL "6 A7|sA[v@ACAG=A[iA ?AA>J*A=9?2Aֽ:A<BA=9?JAֽRA<٘i)I9v@YQG JC=JJJJD&K YU~?yn QAaD77w8){B[[=[N2V~?[d[[[[BZYY i) ]Ii=|@n!= ƾ))ƾƾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030920.303165 s, next control iter: 1743030920.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4419., header.stamp.nsec: 0.0 temperature: 13.568778.* salinity: 33.375023., density: 1025.000000.* values[0]: 0.577790.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030920.703165 s.ӺH~,-"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066250< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743030920.703274F (some fields omitted in printout)Aףp= C@AVj-B@AZfV~? AA%"AAnhNA"AZAbAjArAzAAAi”A@FksADzv@Ac A+=A‚A?AjA@铼*A9?2ASֽ:A<BA9?JASֽRA<٘i)I9zv@YG JCJJJJ#D&K Y U~?y (PAlD777~8)B[[m[;V~?[[[[[BZYY i) WIi z@ = ѽ))ѽѽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030920.723165 s, next control iter: 1743030921.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743030921.123165 s.8ᑨH~,aG"AJ"J*J2J:J?BJ?nJ5vJA)\uC@AIC[C@ApV~? AA%"AAhNA"AZAbAjArAzAAAAw;sAu@A A=A%AXe?A aA\*A9?2A_ֽ:A<BA9?JA_ֽRA<٘i)I9u@YG J둼JJJJ.D&K Y~U~?y/_PAwD77{7慆83B)B*E[[O[HDV~?[[[[[BZYY i) Ii>x@8= Ŵ))ŴŴlYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743030921.143165 s, next control iter: 1743030921.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030921.543165 s.IH~,b"AA{GC@A&2C@A{V~? Ah Aـ%"AA+hNA"AZAbAjArAzAAAտAA|sAu@AjA=AQ'{AB?A-A*Ah9?2Avֽ:Ax<BAh9?JAvֽRAx<٘i)I9u@YoG JJJJJ8D&K Y<)U~?y7PAD84B)B+E[[gt[MV~?[p [[[[BZYY iA) DIiv@= 汫))汫汫YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030921.563165 s, next control iter: 1743030921.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4420, header.stamp.nsec: 00 temperature: 13.568954* salinity: 33.375004, density: 1025.000000* values[0]: 0.577227F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030921.963165 s.wH~,}"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743030921.963276F (some fields omitted in printout)J"J*J2J:JBJnJvJALD@A2D@AFV~? A'Ax%"AA!hNA"AZAbAjArAzAAAnOxA>sAu@A:At=A!vA?AhA`*A9?2Aֽ:A&<BA9?JAֽRA& Yj9U~?y>OA vDb77<85B)B.E[[{3[WV~?[[[[[BZYY i) FȻIis@9= 6))66.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030921.983165 s, next control iter: 1743030922.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030922.383165 s.إH~,@"AAQD@ARy;D@A1V~? A.A}e%"AAhNA"AZAbAjArAzAAAF[AdsATt@A;A=A,pA`?A@A`*A9?2Alֽ:A1<BA9?JAlֽRA1<٘i)I9t@YG JUJJJJND&K YIU~?yELOAD{7j7f8)B[[[aV~?[[[[[BZYY i) `Iip@b= ))[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030922.403165 s, next control iter: 1743030922.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4421&, header.stamp.nsec: 0&0 temperature: 13.569164&* salinity: 33.375011&, density: 1025.000000&* values[0]: 0.576713&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030922.803165 s.{AH~,g"AJ"J*J2J:J?BJ?nJ5vJAq= #E@A E@AV~? A5A%"AA2iNA"AZAbAjArAzAAAu\Az:sA$t@AU<Ao=AkA?A@A&*A)9?2Amֽ:Aj=BA)9?JAmֽRAj=٘i)I9$t@YG JJJJJYD&K YYU~?y.MNAD7786B)B1E[[y[lV~?[[[[[BZYY i) IiCn@-}= .))..y&ƷYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030922.823165 s, next control iter: 1743030923.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030923.223165 s.gH~,H΢"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743030923.223285F (some fields omitted in printout)A(\E@AvöEuE@AmV~? A<AO%"AAI"iNA"AZAbAjArAzAAAe$A샿sA8s@A>;A_=AfAy?AIAH*A9?2AOֽ:Au=BA9?JAOֽRAu=#I٘i)I9s@YPG JJJJJcD&K YiU~?yfTNADZ7Z787B)B2E[[a[wV~?[%$[[[[BZYY i) 3BIi,l@i&= d))ddYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743030923.243165 s, next control iter: 1743030923.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030923.643165 s.uйH~,*"AJ"J*J2J:JBJnJvJAGE@AN E@AV~? ACA%"AA6iNA"AZAbAjArAzAAAH A(csA=s@AQ9A ۇ=A0aA`r?A A*A9?2Aֽ:As=BA9?JAֽRAs=٘i)I9=s@Y G JJJJJnD&K Y zU~?y[?NAD77氆8)B5E[[[V~?[;*[[[[BZYY i) R"Iivj@= lv|))lv|lv|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030923.663165 s, next control iter: 1743030924.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4422, header.stamp.nsec: 00 temperature: 13.569295* salinity: 33.375046, density: 1025.000000* values[0]: 0.576221F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030924.063165 s.H~,[ "AAfffffF@AMLF@AV~? AJA@%"AAJiNA"AZAbAjArAzAAAiOl(ANN\sAr@A ˻A]ԉ=A[AC?AgAd*A9?2Ar׽:AI=BA9?JAr׽RAI=Y@[yӉ=˻ٓH@6?@9? ?`G.?@!7Way`L?)@ I٘i)I9r@YG JJ;JJJyD&K9x> YU~?yKbMA[D78)B[[с[ǎV~?[40[[[[BZYY i)  e2Iif@= Ij))IjIjYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030924.083165 s, next control iter: 1743030924.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030924.483165 s.z_ǨH~,"AJ"J*J2J:Jr?BJr?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743030924.483330F (some fields omitted in printout)AF@AշF@AV~? AQAǻ%"AA_iNA"AZAbAjArAzAAAivAlVbsA[r@A5A+=A$VA?A Ao*A39?2A[ ׽:A'h=BA39?JA[ ׽RA'h=٘i)I9[r@YG J߆JJJJD&K YU~?yhMAD77j7<88B)B8E[[[ޚV~?[$6[[[[BZYY i) SAIic@X= X))XXYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030924.503165 s, next control iter: 1743030924.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4423, header.stamp.nsec: 00 temperature: 13.569463* salinity: 33.375034, density: 1025.000000* values[0]: 0.575727F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030924.903165 s.ͨH~,9"AA ףp=G@AX#G@A]V~? A2XA8%"AAuiNA"AZAbAjArAzAAA]F%AmK-#sAq@AAc=AkQA^?A@A*A9?2Aֽ:A3=BA9?JAֽRA3=٘i)I9q@Y;G JԉJJJwEJD&K YxU~?yo)MAD77gƆ89B)B;E[[Cyz[ZV~?[ <[[[[BZYY i)  YU~?y LAADj7j7ۆ8)B[[l[V~?[^M[[[[BZYY i) SIiY@ = V))VVͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030926.183165 s, next control iter: 1743030926.563181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030926.583165 s.H~,S"AARH@ArH@A9#W~? AqA=%"AAsiNA"AZAbAjArAzAAA6=,A2sAo@A<AK=Ag<A?A@AQ*As9?2Alֽ:A=BAs9?JAlֽRA=٘i)I9o@YG JܝC=JJJJD&K YfU~?yKAD77{78)BBE[[h[V~?[R[[[[BZYY i) kIiU@n= ))yFjѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030926.603165 s, next control iter: 1743030926.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4425, header.stamp.nsec: 00 temperature: 13.569787* salinity: 33.375034, density: 1025.000000* values[0]: 0.574674F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030927.003165 s.w H~,H4"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084171< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743030927.003311F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= WI@A뫫=I@A3W~? AxA5%"AA~iNA"AZAbAjArAzAAA b4A ._sAYdo@ALk;Ah9=A̒7A ?A 2Az*AI9?2Aֽ:A#=BAI9?JAֽRA#=٘i)I9do@YG JPB=JJJJD&K YV~?y!CKA D)7ŧ7>8B)˯BIE[[Z[W~?[c[[[[BZYY i) P5IiM@#= ))%ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030927.863165 s, next control iter: 1743030928.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030928.263165 s.H~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084171< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743030928.263284F (some fields omitted in printout)AJ@AJ@AhW~? AAc%"AAH;jNA"AZAbAjArAzAAA>E #AhޯsAm@ACAU=A]'A`\?AAꬼ*A9?2Aֽ:Aq=BA9?JAֽRAq=Y@'y=+ٓHG? @~?ſ?`s 4`? c`׵ ?)@ I٘i)I9m@YG JJ‘<JJJD&Kx> YQSV~?y JA' C-D7778)ЯBLE[[GlU[W~?[h[[[[BZYY i) /IiI@,0= E))EEYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030928.283165 s, next control iter: 1743030928.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 44272, header.stamp.nsec: 020 temperature: 13.5701252* salinity: 33.3750462, density: 1025.0000002* values[0]: 0.5735102F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030928.683165 s.l H~,+"AJ"J*J2J:JBJnJvJAQK@A J@AzW~? AA%"AAVjNA"AZAbAjArAzAAAAP?Axp=sA.m@AǡA=A"A ?AyAϬ*Aۓ9?2Aֽ:ATW=BAۓ9?JAֽRATW=٘i)I9.m@YZG JHJJJJD&K  8YiV~? 8yIA8D{78)կB[[P['W~?[)n[[[[BZYY i) 0IiAF@< ^))^^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030928.683165 s, next control iter: 1743030929.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743030929.103165 s.H~,F"AA= ףpK@AEVK@AW~? AOAу%"AArjNA"AZAbAjArAzAAA-7 ?AW:psAߓl@A:A=A=A l?A L"A&*A9?2Ahֽ:AH=BA9?JAhֽRAH=٘i)I9l@YG JzJJJJD&K Y V~?yR.IACD78?B)گBOE[[L[7W~?[`s[[[[BZYY i) bIi C@"< @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030929.123165 s, next control iter: 1743030929.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030929.523165 s.H~,|a"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084171< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743030929.523305F (some fields omitted in printout)A(K@ApK@AW~? AΚAD%"AAFjNA"AZAbAjArAzAAA?A]asAk@A2y;A?=AwmAkX?A`߿A[ļ*A9?2A7ֽ:A=BA9?JA7ֽRA=٘i)I9k@YG JJJJJD&K YkV~?yHAMDb77=8AB)BSE[[ZG[.HW~?[x[[[[BZYY i) ƻIi7@@f < z;))z;z;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030929.543165 s, next control iter: 1743030929.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4428, header.stamp.nsec: 00 temperature: 13.570336* salinity: 33.375084, density: 1025.000000* values[0]: 0.572869F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030929.943165 s.WdH~,>]|"AAzGL@AS-L@AW~? A-A %"AA^jNA"AZAbAjArAzAAAčAhR?Ai.sAJk@AEA<A&=AAA@ ?A@޿Aɼ*A9?2A8ֽ:A=BA9?JA8ֽRA=٘i)I9Jk@Y4G J$ǼJJJJD&K YʬV~?yQHAXD{7{7h8)B[[B[XW~?[}[[[[BZYY i) b,üIi=@G< 9<))9<9<(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030929.963165 s, next control iter: 1743030930.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030930.363165 s.%H~,y>"AJ"J*J2J:J?BJ?nJ5vJA3333L@AhW!L@AW~? AmA9E%"AAjNA"AZAbAjArAzAAAɐf?AAGsA j@Ao;A=A A`m?A"޿A̼*A9?2A iֽ:AK=BA9?JA iֽRAK=YR@ y=;ٓH??@ӱ?% 4?`!驿 z?`?)R@ I٘i)I9j@YG J˼J T<JJJD&Kx> YV~?yGA cDj7Z7#8BB)BVE[[G=[iW~?[[[[[BZYY i) iʼIi9@< @2=))@2=@2=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030930.403165 s, next control iter: 1743030930.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4429&, header.stamp.nsec: 0&0 temperature: 13.570567&* salinity: 33.375072&, density: 1025.000000&* values[0]: 0.572159&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030930.783165 s.W+H~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.250004@ elevatorAngleAction: -0.084171< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743030930.783305F (some fields omitted in printout)AQM@A)M@AW~? AA%"AA#jNA"AZAbAjArAzAAAn㢛4?A`[gtAMi@AyA,=AA]F?A@kcݿA̼*A9?2Aֽ:Ah=BA9?JAֽRAh=٘i)I9i@YcG J̼JJJJ%D&K YV~?yOdGAmDb77*8)BZE[[69[8{W~?[`[[[[BZYY i) SѼIi5@3< @}=)) @}=@}=mYFFF]Waiting for Gazebo time sync: latest Gz time: 1743030930.823165 s, next control iter: 1743030931.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030931.203165 s.3H~,ͤ"AJ"J*J2J:JBJnJvJAףp=M@Au(%pM@A>W~? AA|%"AAkNA"AZAbAjArAzAAA?AKstA*Hi@AF+׻A=AWA?AОܿAqͼ*A9?2Apս:A =BA9?JApսRA =٘i)I9Hi@Y G J̼JJJJ0D&K YV~?yêFAxD77718CB)B]E[[v4[W~?[*[[[[BZYY i) LؼIi]2@N< `ɤ=))`ɤ=`ɤ=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030931.243165 s, next control iter: 1743030931.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030931.623165 s.[9H~,m"AA)\M@A~OM@AX~? AhA%"AA%kNA"AZAbAjArAzAAAoI?AXktAbh@AwA/=AUA[?A@ۿAμ*A9?2A:ս:AO=BA9?JA:սRAO=٘i)I9h@Y G JͼJJJJ:D&K Y W~?yȪxFAD7798)B[[/[ W~?[[[[[BZYY i) N#IiW/@Rp<  =)) = =Yt&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030931.643165 s, next control iter: 1743030932.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4430 , header.stamp.nsec: 0 0 temperature: 13.570779 * salinity: 33.375080 , density: 1025.000000 * values[0]: 0.571432 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030932.043165 s.@H~,"AJ"J*J2J:JI?BJI?nJd5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.093139< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743030932.043291F (some fields omitted in printout)A{GaN@A0K;5GN@A X~? A#Aݾ%"AAEkNA"AZAbAjArAzAAAœA@AWN tAg@AA³=A)A#?AJۿAvѼ*AV9?2A ս:A=BAV9?JA սRA=٘i)I9g@Y' G JϼJJJJED&K Y$W~?y0ͪFAD{7{7>@8)B`E[[*[W~?[[[[[ZZ¸BZYY i¸L=) ~)ԼIi,@< `g=))`g=`g=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030932.063165 s, next control iter: 1743030932.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030932.463165 s.jGH~,<"AAN@A캷N@Ac/X~? AAc%"AAekNA"AZAbAjArAzAAA%"@A tA;g@AĺAٴ=AAg?A@5UڿA$VԼ*A9?2Aս:A=BA9?JAսRA=YE@(yٴ=ĺٓH@?L? w?Lۿ? k` X@?)E@ I٘i)I9;g@Y G JҼJ;JJJPD&Ku> Y>W~?y ѪEAD77iG8EB) BdE[[+#&[W~?[[[[[ZZBZYY i) ȼIi[(@;<  >))| > >zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030932.503165 s, next control iter: 1743030932.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4431, header.stamp.nsec: 00 temperature: 13.571042* salinity: 33.375114, density: 1025.000000* values[0]: 0.570672F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030932.883165 s.yMH~,/8"AJ"J*J2J:JBJnJvJAQ8O@A)u8O@AEX~? A4«A %"AAFkNA"AZAbAjArAzAAA\>@A5etA7uf@Ay;A=ATݾA`%?AٿAd*A9?2Aս:A<BA9?JAսRA<٘i)I9uf@YB G J[JJJJ[D&K YpWW~?yԪEAD77N8)BgE[[Z![W~?[_[[[[ZZBZYY i) Iic$@Gk< `>)) `>`>y=5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030932.903165 s, next control iter: 1743030933.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030933.303165 s.VTH~,wgS"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082856< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743030933.303295F (some fields omitted in printout)Aq= ףO@Ad‰O@AZX~? AƫA %"AABkNA"AZAbAjArAzAAAGm@A ]{tAe@A<A=AӾA ?AؿA*A9?2AxԽ:A^<BA9?JAxԽRA^<٘i)I9e@Y G JJJJJeD&K YpW~?yتDADŧ7b7U8FB)BjE[[[[W~?[[[[[ZZBZYY i)  Ii @W< 2>))2>2>y=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030933.323165 s, next control iter: 1743030933.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4432*, header.stamp.nsec: 0*0 temperature: 13.571300** salinity: 33.375114*, density: 1025.000000** values[0]: 0.569840*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030933.723165 s.[H~,Hn"AJ"J*J2J:J?BJ?nJ5vJA(\P@AkCO@A$qX~? AʫAa%"AAkNA"AZAbAjArAzAAA\@AB tA-d@Aʾ<A3t=AɾA`O(?A@#׿A+*A9?2AHԽ:A p<BA9?JAHԽRA p<٘i)I9d@Y9 G JJJJJpD&K Y'W~?yܪDAD)7ŧ7\8) B[[;[W~?[馪[[[[ZZBZYY i) jIi@n< zE>))zE>zE>#Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030933.743165 s, next control iter: 1743030934.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030934.143165 s.W/bH~, *"AAGzP@A`P@AX~? AΫA %"AAkNA"AZAbAjArAzAAA⹉ @Ap#tAd@AK;A/=A.?A`ge?A"׿A;μ*AG9?2Aս:A;BAG9?JAսRA;٘i)I9d@Y G JJJJJ{D&K YW~?yrCAD{7{7d8)&BmE[[[(X~?[ [[[[ZZBZYY i) Ii@G<< PX>))PX>PX> wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030934.163165 s, next control iter: 1743030934.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030934.563165 s.hH~,V "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082856< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743030934.563299F (some fields omitted in printout)J"J*J2J:JBJnJvJAffffP@A[}uUP@AUX~? AҫA0%"AA lNA"AZAbAjArAzAAA\ Q  @A8,tA`c@A1A<AдA@?A@QֿA-ѥ*A9?2A]Rս:ABA9?JA]RսRAY@;ᴾyF<?ٓH@? y"?`}?"ֿY?}tq\6Ft /?)@ I٘i)I9`c@Yb G JJJJJD&Ks> YW~?yCAᴾD77?k8)+BpE[[ [W&X~?[[[[[ZZBZYY i==) ⦍Ii_@$z< Pl>))zPl>Pl>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030934.583165 s, next control iter: 1743030934.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4433, header.stamp.nsec: 00 temperature: 13.571582* salinity: 33.375141, density: 1025.000000* values[0]: 0.568945F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030934.983165 s.oH~,쾥"AAQQ@Aܹ07Q@APX~? At֫Ax%"AAX/lNA"AZAbAjArAzAAAJ5@Aj3tAb@A!A+<AWpAZ?A@U}տAx*A9?2A}ս:AfBA9?JA}սRAf٘i)I9b@Y G JʔJJJJD&K YW~?y\CADŧ7b7ir8GB)0BsE[[ [:X~?[鲪[[[[ZZBZYY i) UIiF@';< 0>)) 0>0>gcYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030935.023165 s, next control iter: 1743030935.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030935.403165 s.&vH~,٥"AJ"J*J2J:J?BJ?nJ5vJA ףpQ@A;5YQ@AX~? AګA/%"AA[RlNA"AZAbAjArAzAAAU -Y@Ai~jtA:b@AI"AwλACKA?A`ԿA,g!*A9?2A~.Խ:AVA}BA9?JA~.ԽRAVA}٘i)I9b@Y G JSJJJJD&K Y-W~?y9CADj7j7y8)3BvE[[3[OX~?[[[[[ZZBZYY i!=)  rIi@ံ< >))>>"(YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743030935.423165 s, next control iter: 1743030935.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4434", header.stamp.nsec: 0"0 temperature: 13.571721"* salinity: 33.375137", density: 1025.000000"* values[0]: 0.568382"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030935.823165 s.|H~,2"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.078930< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743030935.823319F (some fields omitted in printout)A\(R@A4 R@AX~? AݫA%"AAulNA"AZAbAjArAzAAA6@A)h!tANUb@AmbAEAU&A I?A"ӿA䷫*A*9?2AԽ:A`>BA*9?JAԽRA`>٘i)I9Ub@Y G JVB=JJJJD&K Y X~?yCADb778)4B[[݄[5eX~?[f[[[[ZZBZYY i) f]IiJ @K< ٚ>))ٚ>ٚ>y=)YCYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030935.843165 s, next control iter: 1743030936.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030936.243165 s.H~,i"AJ"J*J2J:JBJnJvJAGzR@AJ#fzR@AX~? AA_%"AAxlNA"AZAbAjArAzAAA?@A:G#tA))ɉ>ɉ>y'=Y.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030936.263165 s, next control iter: 1743030936.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030936.663165 s.H~,q*"AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4435, header.stamp.nsec: 00 temperature: 13.571704* salinity: 33.375141, density: 1025.000000* values[0]: 0.568225F (some fields omitted in printout)AS@A|&R@AY~? AAg%"AAlNA"AZAbAjArAzAAAjb@AYօ%tA?b@A<A/AKAd?A HҿA^%;*A9?2Aս:ABA9?JAսRAY9@xy@/0<ٓH(??RϿ?g??`?-?)9@ I٘i)I9?b@Y G J 9J'JJJD&Kt> YCX~?y-CAxD7778IB)7B}E[[[X~?[c[[[[BZYY ii=) p7Ii@+< [>))x[>[>$l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030936.683165 s, next control iter: 1743030937.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030937.083165 s.J "J *J 2J :J w?BJ w?nJ 5EH~vJ,&SE"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243153> elevatorAngleAction: 0.057125< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743030937.083292F (some fields omitted in printout)ARkS@AQnQS@A+Y~? A A*%"AAlNA"AZAbAjArAzAAA'C6@A}`'tA\b@A<AWAOmA`?A@2ѿA);*A9?2Aս:AXBA9?JAսRAX٘i)I9\b@Y G J$;JJJJD&K Y_X~?yhCAD{7{7>8)6BE[[e[X~?[Ī[[[[BZYY i#ه=) 'IiK?Rc< QB>)) QB>QB>m*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743030937.103165 s, next control iter: 1743030937.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030937.503165 s.H~,j4`"AAp= S@AYS@A DY~? AA%"AAmNA"AZAbAjArAzAAA]@A3\ #)tA5b@A;ADwAYA??AJпAm1<*A9?2A1Խ:AvABA9?JA1ԽRAvA٘i)I9b@Y G JU <JJJJD&K YuzX~?yTCAD77j8JB)5BE[[־[X~?[Ǫ[[[[BZYY i) 7Ii?`< <>))<><>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030937.523165 s, next control iter: 1743030937.903183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4436, header.stamp.nsec: 00 temperature: 13.571560* salinity: 33.375156, density: 1025.000000* values[0]: 0.568396F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030937.923165 s.J "J *J 2J :J ?BJ ?nJ 5vJ >H~,{"AA(\BT@Ajhw(T@A\Y~? AA%"AA+mNA"AZAbAjArAzAAA @AjCw*tAb@A˟AAEA`.?AbοA2h<*A9?2AYԽ:A+ BA9?JAYԽRA+ ٘i)I9b@Y G JEK<JJJJD&K YוX~?yCA$D7778)2BE[[̾[X~?[ʪ[[[[BZYY i) ^Ii?A< E>))E>E>*Y!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030937.943165 s, next control iter: 1743030938.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030938.343165 s. elevatorAngleAction: 0.066332< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743030938.343332F (some fields omitted in printout)AHzT@AT@A2uY~? ASA%"AAPmNA"AZAbAjArAzAAA=ձ@A$a,tAwVc@AӱA2Aĩ1A``T?AͿA^<*AE9?2AԈԽ:ABAE9?JAԈԽRA٘i)I9Vc@Y\ G J{~<JJJJD&K Y))y_>y_>y =3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030938.363165 s, next control iter: 1743030938.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4437&, header.stamp.nsec: 0&0 temperature: 13.571279&* salinity: 33.375187&, density: 1025.000000&* values[0]: 0.568847&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030938.763165 s.QH~,ذ"AJ"J*J2J:J?BJ?nJ5vJAU@A·T@AY~? AA_T%"AACvmNA"AZAbAjArAzAAAiL@A-tAc@A$A AAgx?AW˿A^<*A 9?2AԽ:A}dBA 9?JAԽRA}dY)@Zy)'%ٓH?ʏ?\QAjÿZ??w?e'?))@ I"I٘i)I9c@Y G J˓<JzJJJD&K9t> Y&X~?yDAZ9D77{7겇8)+B[[}Ǹ[Y~?[Ъ[[[[BZYY i) AʻIi?< 9X>))vx9X>9X>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030938.803165 s, next control iter: 1743030939.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030939.183165 s.˲H~,k˦"AAQU@Ak`kU@AY~? A A9&%"AAmNA"AZAbAjArAzAAA @A]A/tAZd@AAA5A?AɿA:<*AV9?2Ajս:ABAV9?JAjսRA٘i)I9Zd@Y G J$<JJJJD&K Y X~?ylDADD{78)'BE[[![Y~?[^Ӫ[[[[BZYY i) xIii?%< d>)) d>d>*YFFF]m:Waiting for Gazebo time sync: latest Gz time: 1743030939.203165 s, next control iter: 1743030939.583179 s, wait time: 0.380014 s. X~?).l rAdjusting time to match Gazebo time: 1743030939.603165 s.64H~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066332< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743030939.603283F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףU@AU@AY~? A'A4%"AAmNA"AZAbAjArAzAAAl>@Au0tA'd@An6AAQA ?AמǿAH<*A9?2A9Խ:AiBA9?JA9ԽRAi٘i)I9d@YR G J<JJJJD&K YY~?yKEAOD?8)#BE[[[0Y~?[ժ[[[[BZYY i) N.Ii?C< >))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030939.623165 s, next control iter: 1743030940.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4438 , header.stamp.nsec: 0 0 temperature: 13.570952 * salinity: 33.375175 , density: 1025.000000 * values[0]: 0.569528 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030940.023165 s.ZH~,{"AA(\V@AڒUBV@AaY~? AAD%"AA mNA"AZAbAjArAzAAA6p@A21tA8}e@A;AA,A*?AſA.<*A$9?2AԽ:Ap BA$9?JAԽRAp ٘i)I9}e@Y G J<JJJJD&K Y Y~?yEAZD777jȇ8)BE[[mg[HY~?[Pت[[[[BZYY i) ]_Ii?M< I>))I>I>*YjYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030940.043165 s, next control iter: 1743030940.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030940.443165 s.?ƩH~,_]"AJ"J*J2J:JBJnJvJAzV@AV@AY~? AA]%"AAnNA"AZAbAjArAzAAA*k@A8@2tAf@A? "<A!잽A7A?AlÿA<*A9?2A?ս:A BA9?JA?սRA ٘i)I9f@Y G JA<JJJJD&K Y7"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066332< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743030940.863293F (some fields omitted in printout)A33333W@AW@AD Z~? AA%"AA 5nNA"AZAbAjArAzAAA;>W@AþD3tAxf@A><AAOSA`?A(¿A<*A9?2Aս:A YXY~?yFAdVoD77{7և8)BE[[[xY~?[ܪ[[[[BZYY i) kκIi?/Np< ?))w??n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030940.883165 s, next control iter: 1743030941.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030941.283165 s.=RԩH~,R"AJ"J*J2J:JBJnJvJAQW@A@W@A%Z~? A Am%"AA[nNA"AZAbAjArAzAAA/ @AAȱ4tAk@g@A;AAVA$?AOA7̵<*A@9?2ARս:ABA@9?JARսRA٘i)I9@g@Y G J<JJJJ2D&K Y'uY~?y\FAzD)7ŧ7݇8)BE[[w[gY~?[ު[[[[BZYY i)  -Ii>?Joe< ,- ?)),- ?,- ?\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030941.303165 s, next control iter: 1743030941.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4440., header.stamp.nsec: 0.0 temperature: 13.570129.* salinity: 33.375202., density: 1025.000000.* values[0]: 0.571069.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030941.703165 s.պکH~, m"AAףp= X@A5W@A?Z~? A^A9R%"AAnNA"AZAbAjArAzAAA.$!@A%N5tAg@AA[AoLA;?AmȼAMԶ<*A:?2AHӽ:A74BA:?JAHӽRA74٘i)I9g@Y G J^<B=JJJJ elevatorAngleAction: 0.066332< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743030942.123287F (some fields omitted in printout)A)\uX@A[X@AXYZ~? AA9%"AAnNA"AZAbAjArAzAAAj[!@A\DMF6tArh@AsALAj;AL?A.AG<*AP:?2ApHԽ:A &BAP:?JApHԽRA &٘i)I9rh@Yy G J<C=JJJJGD&K YY~?yHGADb7b7@8)B[[(N[ YY~?yQHAD=Dj78QB)BE[[$[Y~?[[[[[BZYY i) PE;Ii?;l?< ?))w?? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030943.003165 s, next control iter: 1743030943.363181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743030943.383165 s.H~,8ا"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242023> elevatorAngleAction: 0.066332< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743030943.383288F (some fields omitted in printout)AQY@A[kBY@AZ~? AA%"AANoNA"AZAbAjArAzAAA5#@A1E7tA'j@A)T;A7GA=A{s?A`۫A[<*A:?2Aֽ:ABA:?JAֽRA٘i)I9'j@YG J<C=JJJJgD&K  8Y'Z~? 8yHAD7778)BE[[[[&Z~?[8[[[[BZYY i) CA;Ii?4<  %?))  %? %?Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030943.423165 s, next control iter: 1743030943.783177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4442&, header.stamp.nsec: 0&0 temperature: 13.569333&* salinity: 33.375259&, density: 1025.000000&* values[0]: 0.572680&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030943.803165 s.xAH~,g"AJ"J*J2J:J?BJ?nJ5vJAq= #Z@A Z@AZ~? AA%"AAFoNA"AZAbAjArAzAAA`t5$@A$8tAj@A<AAF=A@&~?A)AQ<*A9:?2AOԽ:AWBA9:?JAOԽRAW٘i)I9j@YG J|<JJJJrD&K YZZ~?yyOIAD778PB)BE[[v[(Z~?[E[[[[BZYY i) Pџ;Ii{?*< `*?))`*?`*?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030943.823165 s, next control iter: 1743030944.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030944.223165 s.gH~,H"AA(\Z@A]EuZ@A$Z~? AAl%"AA&noNA"AZAbAjArAzAAAdf$@ASB[8tA"/k@Ag<A?A=A?A6(AH<*A*::?2A(Խ:A BA*::?JA(ԽRA ٘i)I9/k@Y#G Jԙ<JJJJ}D&K Y:Z~?y IADŧ7ŧ78)BE[[!˽[BZ~?[)[[[[BZYY i!=) h;Ii}?t="< /?))/?/?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030944.243165 s, next control iter: 1743030944.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030944.643165 s.y H~,*)"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075260< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743030944.643304F (some fields omitted in printout)J"J*J2J:JBJnJvJAGZ@AԜZ@A5Z~? A$A%"AAoNA"AZAbAjArAzAAAAtq%@Ay8tAk@A;AYA܎>Ah?A ܛA<*A89:?2A ս:ABA89:?JA սRA٘i)I9k@YpG J<JJJJD&K YVZ~?yJAD777@8OB)BE[[V[]Z~?[[[[[BZYY i) ;Iiq?Ͽ< 04?))04?04?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030944.663165 s, next control iter: 1743030945.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4443, header.stamp.nsec: 00 temperature: 13.568943* salinity: 33.375267, density: 1025.000000* values[0]: 0.573390F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030945.063165 s.H~,k D"AAfffff[@A]mOL[@AH[~? A-Ar%"AA%oNA"AZAbAjArAzAAAފ&@A߾ 8tA*l@A4ɺA׾A>A@?A |r?A<*A3:?2ANս:ABA3:?JANսRAY@v>y̾yʺٓH@? ¿ ?`"?`?3Y`?)@ I٘i)I9*l@YG J<J/<JJJD&Kt> YrZ~?ySnJA>D7k8)BE[[l[vZ~?[p[[[[BZYY i) ;Ii\_?< C:?))xC:?C:?P*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030945.103165 s, next control iter: 1743030945.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030945.483165 s.t_H~,^"AJ"J*J2J:J?BJ?nJ5vJA[@A_b,ӷ[@AY)[~? A A)%"AAoNA"AZAbAjArAzAAA>̞&@A {Lk8tA.l@Az7AV͈A :,>A K?A@>?Asa<*A-:?2Aս:ADBA-:?JAսRAD٘i)I9l@YG J5<JJJJD&K YZ~?yJAD77{7%8)B[[[-Z~?[[[[[BZYY i)  elevatorAngleAction: 0.075260< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743030945.903288F (some fields omitted in printout)A ףp=\@AtZ#\@AhC[~? AA%"AA) pNA"AZAbAjArAzAAA:TSK'@AVB=8tA!m@Am#AnA@>A`?Ḁ?A<*AA:?2A#*Խ:A^BAA:?JA#*ԽRA^٘i)I9!m@YRG J<JJJJD&K YZ~?y&KADŧ7b7,8)BE[[[Z~?[ [[[[BZYY i)  Az?A ?A؍<*A:<:?2ApԽ:ABA:<:?JApԽRA٘i)I9m@YG J3<B=JJJJD&K YZ~?ykKADb7738NB)BE[[@;[BZ~?[[[[[BZYY i) ,A,q?AA?Ax<*Aq6:?2A\ս:A&BAq6:?JA\սRA&٘i)I9n@YG J<C=JJJJD&K Y{Z~?yKAD{7Z7;8MB)ݯBE[[0<[ Z~?[[[[[BZYY i) 2< elevatorAngleAction: 0.075260< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743030947.163318F (some fields omitted in printout)A]@Ae]@Ag[~? AA %"AAspNA"AZAbAjArAzAAA(Dz$)@A'߫U7tAn@A;AA^>A e?Ak ?AV<*Au0:?2Aս:A)BAu0:?JAսRA)YP(<~>yP󍽙4T;ٓH@n?>Ͽİ u?g?@ Ǻ?@z?`'?)P(< I٘i)I9n@Y1G Jz<JKƻJJJD&K8u> YZ~?y=LA~>D{7AB8)دBE[[TA=[Z~?[[[[[BZYY i) VKA@YV?Aӷ?A<*A*:?2AKֽ:A1BA*:?JAKֽRA1٘i)I9o@YzG J<JJJJD&K Y:[~?yLADb77kI8LB)ԯB¹E[[ ً=[?[~?[.[[[[BZYY i) ZA`F?A`?A(<*A;:?2AkԽ:ABA;:?JAkԽRA٘i)I9o@YG JҒ<JJJJD&K Y4[~?yLA C%D7777P8)ϯBŹE[[ڈ=[ 1[~?[[[[[BZYY i=) %fjKi; `?))`?`?.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030948.023165 s, next control iter: 1743030948.403184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743030948.423165 s.uFH~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084245< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743030948.423290F (some fields omitted in printout)A(\^@A4^@A[~? AAUE%"AA pNA"AZAbAjArAzAAAjh*@AO̠5tAp@AR:A"AT>A`3?A W?A<*Ax7:?2AԽ:A BAx7:?JAԽRA ٘i)I9p@YG J$<JJJJD&K YO[~?yp[MA0D{7W8)˯B[[=[#L[~?[[[[[BZYY i) y%; e?))e?e?u*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030948.443165 s, next control iter: 1743030948.823176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4447", header.stamp.nsec: 0"0 temperature: 13.567525"* salinity: 33.375336", density: 1025.000000"* values[0]: 0.576084"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030948.843165 s.J "J *J 2J LH~:Jz?,5"ABJz?nJ5vJAHz._@Ay _@A[~? A/Aa_%"AAqNA"AZAbAjArAzAAAw+@A94tA؆p@A0lAA_>A ?A\~?Av<*A-:?2A !ս:A-BA-:?JA !սRA-٘i)I9p@YdG Jr<JJJJD&K Y[k[~?yDMA;D^8KB)ǯBȹE[[5>[;g[~?[[[[[BZYY i) Sxr; k?))k?k?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030948.863165 s, next control iter: 1743030949.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030949.263165 s.TH~,8P"AA_@A/_@A!\~? AA|%"AAEqNA"AZAbAjArAzAAAq1,@AʯB3tAq@ATyA♽At>A ?AS?A<*A{$:?2Adս:ABA{$:?JAdսRAY>J>yᙽeٓH`?տ 沿I?F? 7??)> I٘i)I9q@YG J <J4cJJJD&KNu> Y[~?yA"NA>EDj7j7f8HB)BʹE[[>[[~?[m[[[[BZYY i) #E; p?))f}p?p?y=n=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030949.303165 s, next control iter: 1743030949.663179 s, wait time: 0.360014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 44482, header.stamp.nsec: 020 temperature: 13.5671312* salinity: 33.3753402, density: 1025.0000002* values[0]: 0.5767702F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030949.683165 s.lZH~,Rk"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.247463> elevatorAngleAction: 0.084245< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743030949.683258F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ`@A_@A+\~? AA%"AAlqNA"AZAbAjArAzAAA>~,@AjV32tAq@A A8МA>A?A,?Aݟ<*A:?2Aս:A/BA:?JAսRA/٘i)I9q@Y G J<B=JJJJ D&K Yj[~?y=NAPD77Bm8GB)B͹E[[ 3>[[~?[[[[[BZYY i) -; ^v?)) ^v?^v?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030949.683165 s, next control iter: 1743030950.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743030950.103165 s.aH~,"AA= ףp`@A+.V`@AD\~? AA%"AA qNA"AZAbAjArAzAAA$e-@AZ+ b 1tA)r@A|mAϟAw>A7?A?AbF<*A&:?2AԽ:AlBA&:?JAԽRAl٘i)I9)r@YcG J<C=JJJJD&K Y[~?y9NA[Dlt8FB)BйE[[J>[߷[~?[r[[[[BZYY i) 8': F{?))F{?F{?m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030950.123165 s, next control iter: 1743030950.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030950.523165 s.gH~,{"AJ"J*J2J:JBJnJvJA(`@AkD0`@A$^\~? AA%"AA[qNA"AZAbAjArAzAAAi-@A8:/tAZr@A[l;A(㢽A >A?A Q?A-<*A!:?2Aս:A&BA!:?JAսRA&٘i)I9r@YG JW<JJJJD&K Yu[~?y5XOAfD7{7{8)BӹE[[`>[[~?[[[[[BZYY i) ¢G: l?))l?l?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030950.543165 s, next control iter: 1743030950.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4449, header.stamp.nsec: 00 temperature: 13.566771* salinity: 33.375332, density: 1025.000000* values[0]: 0.577545F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030950.943165 s.^dnH~,[]"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084245< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200802 time: 1743030950.943337F (some fields omitted in printout)AzGa@A-a@A5w\~? AA;%"AAwqNA"AZAbAjArAzAAA~.@Ajn>n.tAlMs@A<AAř>A?A?A%<*AF:?2AWս:AE2BAF:?JAWսRAE2٘i)I9Ms@YG J <B=JJJJ)D&K Y[~?y1OApDb7b78)B[[ w>[[~?[ު[[[[BZYY i) Lש"AJ"J*J2J:J?BJ?nJ"5vJA3333a@A?a@A \~? AQA<%"AA[rNA"AZAbAjArAzAAAQ-/@A,tA;s@A5<AA>A@h?A@?AӶ<*A:?2AQ/ֽ:ABA:?JAQ/ֽRAYl>>yȂ<ٓH`յ? ۿt? ??S_?@?)l> I٘i)I9s@YpG J<C=JJJJ4D&Ku> Ye \~?y]ݪ0PA>{D777쉈8EB)BֹE[[>[\~?[ܪ[[[[BZYY i) AA?AP?Ai<*A :?2A4ֽ:A̹BA :?JA4ֽRA̹٘i)I9t@YG J!<JJJJ>D&K Y"\~?y٪PAD78DB)BٹE[[>[k#\~?[2ڪ[[[[BZYY i)  elevatorAngleAction: 0.084245< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743030952.203313F (some fields omitted in printout)Aףp=b@An,(pb@Aw\~? AAF%"AAgPrNA"AZAbAjArAzAAA(>$,0@A))tA#u@AnAWAi?>A@?A`?A<*A :?2A$ս:A/BA :?JA$սRA/٘i)I9#u@Y3G J)<JJJJID&K Y3<\~?yժQAD77A8CB)BܹE[[SD>[.>\~?[ת[[[[BZYY i) N[X\~?[Ԫ[[[[BZYY i) [[s\~?[Ѫ[[[[BZYY i)  elevatorAngleAction: 0.084245< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743030953.463295F (some fields omitted in printout)Ac@AHc@A ]~? A)A.I%"AArNA"AZAbAjArAzAAAjU\1@AKņV$tA-w@AUջAA? ?A1?A`֬?A<*A9?2A`ս:AkBA9?JA`սRAkY5>3 ?y"`ֻٓH &? ೿x?tC?K@VO?@ޱz`?)5> I٘i)I9-w@YpG Ja<B=J7JJJiD&Kv> Y \~?yoɪnRA3 ?D­8>B)BE[['>[ڍ\~?[Ϊ[[[[BZYY i) D0[\~?[˪[[[[ZZZZ¸>BZYY i¸>%ڬ) 1/[5\~?[Ȫ[[[[ZZZZBZYY i) (-[C\~?[IĪ[[[[ZZZZBZYY i) K)['\~?[[[[[[ZZZZBZYY i) &_'?y7pPC;ٓH`[?2w GE`m?f?K? C!`? ?)> I٘i)I9{@YG J <J=JJJD&K=y> Y\~?yTA_'?Db77ш8:B)bBE[[a>[]~?[D[[[[ZZZZBZYY i) D ?\A?y<4;ٓHJ?$=?W?@L?)h?q`Ār??)>D ? I٘i)I9y}@YFG J<J3G>JJJD&Kw> Yk]~?y'UA\A?D77m8)DB[[/?[]~?[[[[[ZZZZBZYY is) JAN%"AAXtNA"AZAbAjArAzAAA@i74@ApztA>}@A=<A?=AMK?A?A@+?A*A:9?2Aֽ:A<BA:9?JAֽRA<٘i)I9}@YJG J C=JJJJD&K  8Y!]~? 8y UA1D8+B)?BE[[ &?[]~?[[[[[BZYY i) ,&c=AP?AG^?AH?A *A9?2Ajֽ:AQ=BA9?JAjֽRAQ=٘i)I9R}@Y.G J׻B=JJJJD&K Y]~?ydUA?[^~?[[[[[BZYY i) T;IEH?iw"AA33333l@AWl@Al^~? AA24%"AAmEuNA"AZAbAjArAzAAA> 6@A\ksAnz@A<Ap=ANNu?A@?A!?A*A9?2Amֽ:Am=BA9?JAmֽRAm=Yg=?vu?yo=lc<ٓH Q?@,.ij?@5?@e??!#\??)g=? I٘i)I9z@Y8G JJ >JJJAD&KL> Y5^~?yX8TAu?D)7ŧ7=8"B)QB E[[>V?[k^~?[g[[[[BZYY itp) о:I$VH?ix\ S?))S?S?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030961.883165 s, next control iter: 1743030962.263181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030962.283165 s.J 5R$H~"J*J,"A2J:J&?BJ&?nJe5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058611< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743030962.283257F (some fields omitted in printout)AQl@A@1l@A^~? AA%"AA`uNA"AZAbAjArAzAAAcMA6@AB vsADyy@An|;A=Az?A~~?A`k?A*A9?2Aֽ:Ah=BA9?JAֽRAh=٘i)I9yy@YG JB=JJJJKD&K YE^~?yJQSAD{7{7ED8)VB[[\?[;^~?[`[[[[BZYY i) -.:IIH?ieg G?))G?G?1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030962.303165 s, next control iter: 1743030962.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 44612, header.stamp.nsec: 020 temperature: 13.5639432* salinity: 33.3755002, density: 1025.0000002* values[0]: 0.5822832F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030962.703165 s.ֺ*H~,"AAףp= m@A*4l@AX^~? AzA%"AAzuNA"AZAbAjArAzAAA9Z/u6@AsAx@AQ^B:A})=A5?Ar?A ,?A<¼*A{9?2Aֽ:A)=BA{9?JAֽRA)=٘i)I9x@YsG JYC=JJJJVD&K YV^~?yJZSAD77oK8B)WB E[[b?[t^~?[Y[[[[BZYY i) uI=H?i&m P??))P??P??yHmeYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030962.723165 s, next control iter: 1743030963.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030963.123165 s.:1H~,iǬ"AJ"J*J2J:J?BJ?nJ65vJA)\um@Ab[m@A5^~? AsA˒%"AAuNA"AZAbAjArAzAAAw[.f¨6@A>:sA3x@A $Ai=A?A ?A ?A̯*AX9?2A6׽:A L =BAX9?JA6׽RA L =٘i)I93x@YG J¼JJJJaD&K Y9f^~?yBRADb77R8)\B[[eh?[/^~?[.R[[[[BZYY iٯ) :I0H?irr* ]?))0>?0>?ڪYFFF]p:Waiting for Gazebo time sync: latest Gz time: 1743030963.563165 s, next control iter: 1743030963.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4462, header.stamp.nsec: 00 temperature: 13.564139* salinity: 33.375507, density: 1025.000000* values[0]: 0.581595F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030963.963165 s.|>H~,"AJ"J*J2J:JBJnJvJALn@A 2n@A_~? A?gA%%"AAuNA"AZAbAjArAzAAA͔A 7@Aq@OsAv@AoA[К=A߇?A@|?A~?A*A9?2A2 ׽:A =BA9?JA2 ׽RA =Y}W?(ˇ?yϚ="ٓH(&??@x?@ 4?? +U mW?)}W? I٘i)I9v@YNG JaJYJJJJvD&Kcx> Y7^~?y4RAˇ?D777`8)dB[[jt?[^~?[ C[[[[BZYY i) >AI H?ix# ~4?))~4?~4?GժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030963.983165 s, next control iter: 1743030964.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030964.383165 s.EH~,4"AAQn@AcZBn@AP_~? A`AT%"AAuNA"AZAbAjArAzAAA4d:7@A]sA]v@AD#AR?=Al?A`?A?A*A9?2Aֽ:A68=BA9?JAֽRA68=٘i)I9]v@YG JJJJJD&K Y^~?yR,QAD77h8B)eBE[[z?[^~?[`;[[[[BZYY i) *}IH?iȃ3( 1?))1?1?eЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030964.403165 s, next control iter: 1743030964.783178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4463&, header.stamp.nsec: 0&0 temperature: 13.564383&* salinity: 33.375515&, density: 1025.000000&* values[0]: 0.580902&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030964.803165 s.yALH~,g3"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.068206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743030964.803308F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #o@A o@A$_~? A8ZAo%"AA/uNA"AZAbAjArAzAAAe8h7@A[sAu@Ap;A =A?Ab?A`7?A΅*AR9?2ASֽ:A=BAR9?JASֽRA=٘i)I9u@YG JZJJJJD&K Yȟ^~?y$DQAD)7ŧ7Eo8)iB[[Ϗ?[^~?[y3[[[[BZYY i) IcG?ip, 3?))3?3?y˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030964.843165 s, next control iter: 1743030965.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030965.223165 s.gSH~,HN"AA(\o@AbEuo@AE3_~? ASAi%"AA vNA"AZAbAjArAzAAAX!l7@AKsA 7u@Ax<Aݐ=A(?A ;?A|?Am<*A9?2A_ֽ:A=BA9?JA_ֽRA=٘i)I97u@Y>G JJJJJD&K Y^~?yPAD777ov8)nB[[O?[^~?[n+[[[[BZYY i) (IG?i. f9?))f9?f9?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030965.243165 s, next control iter: 1743030965.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030965.643165 s.wYH~, *i"AJ"J*J2J:J?BJ?nJ5vJAGo@Aoo@AA_~? ALA4%"AA"vNA"AZAbAjArAzAAA>7@AP!-sAZt@A <A=A%?Ao?A@J?AyY*Am9?2ALֽ:AQ<BAm9?JALֽRAQ<٘i)I9t@YG JJJJJD&K YV^~?yFtPAD77j7}8B)qBE[[N?[ _~?[B#[[[[BZYY i) uFٻIG?i0 C?))C?C?tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4464, header.stamp.nsec: 00 temperature: 13.564544* salinity: 33.375538, density: 1025.000000* values[0]: 0.580262F (some fields omitted in printout)êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030965.663165 s, next control iter: 1743030966.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030966.063165 s.`H~,[ "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.068206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743030966.063282F (some fields omitted in printout)Afffffp@ASLp@AzO_~? AEA %"AAe8vNA"AZAbAjArAzAAA/{7@AxLdsA !t@A<;A=A5̔?A0?A?A$+*A9?2Aֽ:A<<BA9?JAֽRA< Y^~?y0 PAԔ?DZ7SI7Ą8B)rBE[[mȉ?[_~?[[[[[BZYY i) 12IG?if5 xC?))xC?xC?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030966.083165 s, next control iter: 1743030966.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030966.483165 s.w_gH~,잭"AJ"J*J2J:JBJnJvJAp@A (Էp@A\_~? A?A%"AAMvNA"AZAbAjArAzAAA6RD8@A1sAs@A>AӉ=Aw?A ?A A?A*A+9?2As׽:A=$<BA+9?JAs׽RA=$<٘i)I9s@YFG J暼C=JJJJD&K Y^~?yOADb778B)uBE[[݌?[&_~?[[[[[BZYY i)  IG?i搿wy9 H?))H?H?ｪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030966.503165 s, next control iter: 1743030966.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4465, header.stamp.nsec: 00 temperature: 13.564739* salinity: 33.375534, density: 1025.000000* values[0]: 0.579641F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030966.903165 s.mH~,͹"AA ףp=q@AcZ#q@Ai_~? A 8A%"AA$avNA"AZAbAjArAzAAA8ٵ:8@A@fsA#s@A|A'=A?A?A~?A펼*Au9?2A&-׽:Aub<BAu9?JA&-׽RAub<٘i)I9#s@YG JⒼJJJJD&K Y^~?y[OAD78)yB[[?[M4_~?[ [[[[BZYY i) IJG?i :< R?))R?R?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030966.923165 s, next control iter: 1743030967.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030967.323165 s.|tH~,>ԭ"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078668< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743030967.323268F (some fields omitted in printout)J"J*J2J:JBJnJvJA\q@Aߎq@A_v_~? A0A%"AAxtvNA"AZAbAjArAzAAA`8@AE+sA&r@AA͉=AY?A@?A@o?A;*A9?2A!׽:AS<BA9?JA!׽RAS<٘i)I9r@YG JJJJJD&K Y,^~?yNADj7j7D8)|B[[?[*A_~?[d[[[[BZYY i) z*I\G?i+Χ= `?))`?`?ygYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030967.343165 s, next control iter: 1743030967.723176 s, wait time: 0.380011 s&,^~?)&.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4466., header.stamp.nsec: 0.0 temperature: 13.564926.* salinity: 33.375568., density: 1025.000000.* values[0]: 0.579136.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030967.743165 s.W{H~,~"AAGzr@A@gq@Ag_~? A)A.%"AAvNA"AZAbAjArAzAAAĞOS8@AjT̳sAN7r@A߮AY=AM?A`D?A b?A*A9?2Aֽ:Aّ=BA9?JAֽRAّ=٘i)I97r@YkG JDJJJJD&K Yb^~?yNA CD7ŧ7p8 B)E[['?[]M_~?[[[[[BZYY i) 9IkG?i>= r?))r?r?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030967.763165 s, next control iter: 1743030968.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030968.163165 s.s}H~,q "AJ"J*J2J:J0?BJ0?nJc5vJAr@Aer@A_~? A"AU%"AAvNA"AZAbAjArAzAAA-@`8@A{^`sAq@A~ϰ:AӍ=A١?A j?A&?A*A9?2ARֽ:Aѡ=BA9?JARֽRAѡ=YEЅ?ܡ?yӍ=?<:ٓH?? Ȯ? p?M?"ɰ?ݶ@V?`[?)EЅ? I٘i)I9q@Y"G J;J#;JJJD&K8x> Y^~?yt@NAܡ?(D77{78)B[[t??[X_~?[[[[[BZYY i) XII|G?idB Ly?))Ly?Ly?!êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030968.183165 s, next control iter: 1743030968.563174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743030968.583165 s.戫H~,R%"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078668< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743030968.583281F (some fields omitted in printout)ARr@Aeor@A _~? A>ARI%"AA2vNA"AZAbAjArAzAAAU8Z8@A,usABq@A;Ad=Af?A`\?A@Z?Al*A"9?2A(ֽ:A@^ =BA"9?JA(ֽRA@^ =٘i)I9Bq@YG JJJJJD&K Yj_~?yܩMA3Dů8)B[[Y?[c_~?[[[[[BZYY i) SXIkG?i"E d?))d?d?ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030968.603165 s, next control iter: 1743030968.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4467, header.stamp.nsec: 00 temperature: 13.565085* salinity: 33.375561, density: 1025.000000* values[0]: 0.578606F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030969.003165 s.| H~,]4@"AJ"J*J2J:J?BJ?nJQ5vJAp= Ws@A| D77ﶉ8)B[[u?[m_~?[ݩ[[[[BZYY i) v'hIZG?iV8F @))@@/ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030969.023165 s, next control iter: 1743030969.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030969.423165 s.uH~,["AA(\s@A3ws@Aȭ_~? Al AMi%"AAhvNA"AZAbAjArAzAAA__9@A㲥ޡsA>p@A0F;A=AX?A2?A?A杼*A9?2Afֽ:A! =BA9?JAfֽRA! =٘i)I9>p@Y8G JJJJJD&K Yr_~?yD˩"MAHD7{78 B)E[[?[Mw_~?[ԩ[[[[BZYY i) ~wI JG?i2G T@))T@T@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030969.443165 s, next control iter: 1743030969.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4468, header.stamp.nsec: 00 temperature: 13.565254* salinity: 33.375576, density: 1025.000000* values[0]: 0.578071F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030969.843165 s.ݜH~,u"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078668< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743030969.843299F (some fields omitted in printout)AHz.t@At@Ai_~? AA1%"AAhvNA"AZAbAjArAzAAAŅ&9@AȋIsALo@Ai9A=A1J?A?A?Al*A9?2Aֽ:ArF =BA9?JAֽRArF =٘i)I9o@YG JJJJJ D&K Y_~?y©LASD{7j7Eʼn8)B[[.?[ _~?[˩[[[[BZYY i) {Iy9G?iܚ9F @))@@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030969.863165 s, next control iter: 1743030970.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030970.263165 s.H~,0ؐ"AAt@At@A_~? AZAF%"AAvNA"AZAbAjArAzAAAe=tA9@AsA2o@AǻA,=A?AW?A`?A01*A9?2A׽:AF5 =BA9?JA׽RAF5 =Y&ڒ?x?yo=oFȻٓH?V<?>?`?@@6?@K@x?)&ڒ? I٘i)I92o@YG J)Jq<JJJD&KRx> Y#_~?y?\LA?^Dp̉8)B[[ʨ?[_~?[N©[[[[BZYY i) JI(G?im I e@))e@e@~ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030970.303165 s, next control iter: 1743030970.663180 s, wait time: 0.360015 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 44692, header.stamp.nsec: 020 temperature: 13.5654202* salinity: 33.3755572, density: 1025.0000002* values[0]: 0.5774752F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030970.683165 s.lH~,R"AJ"J*J2J:JBJnJvJAQu@A\pt@A+_~? AA|"%"AA#vNA"AZAbAjArAzAAA4U[9@A:sA3n@A\A]=A֘?A/?A ;?ARz*A9?2A׽:AŹ =BA9?JA׽RAŹ =٘i)I9n@YAG JJJJJ"D&K Yl)_~?yKAiDӉ8)B[[?[]_~?[[[[[BZYY i) ׊IuG?i󞿉uK *@))*@*@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030970.683165 s, next control iter: 1743030971.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743030971.103165 s.H~,Ʈ"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078668< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743030971.103288F (some fields omitted in printout)A= ףpu@AEVu@AK_~? AA%"AAwNA"AZAbAjArAzAAAf5}t9@AWFVsA.n@AkAM=Am/?A $^?A``?A*A9?2Aֽ:A/=BA9?JAֽRA/= I٘i)I9n@YG JJJJJ-D&K Y'/_~?yKAsDb77ډ8B)BE[[?[_~?[[[[[BZYY i) IOG?ioiL ]x@))]x@]x@ ۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030971.143165 s, next control iter: 1743030971.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743030971.523165 s.H~,|"AJ"J*J2J:JBJnJvJA(u@A>u@A_~? AWAN%"AA wNA"AZAbAjArAzAAA109@A𨟊sA.m@AeAV=Aj?A ?A`?AR*A+9?2Aֽ:AqO=BA+9?JAֽRAqO=٘i)I9m@YG JB=JJJJ8D&K Y4_~?yb$KA~Dŧ7b78B)BE[[$$?[Λ_~?[1[[[[BZYY i~) cI8F?iޞZK  @)) @ @ݪYFFF]: Waiting for Gazebo time sync: latest Gz time: 1743030971.563165 s, next control iter: 1743030971.923179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4470, header.stamp.nsec: 00 temperature: 13.565667* salinity: 33.375572, density: 1025.000000* values[0]: 0.576817F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030971.943165 s.ZdH~,J]"AAzGv@A-v@A_~? AުA4%"AAwNA"AZAbAjArAzAAA)9@AzsAl@AW;AX=AD?Aй?A?AY*A 9?2A_wֽ:A[=BA 9?JA_wֽRA[=٘i)I9l@Y8G JZC=JJJJCD&K Y:_~?yŗJAD)7ŧ78)B[[@?[_~?[[[[[BZYY i) v#IRF?iCsLI ) @))) @) @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030971.963165 s, next control iter: 1743030972.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030972.363165 s.ūH~,p>"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.088132< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743030972.363271F (some fields omitted in printout)A3333v@AhW!v@A_~? A֪A@}%"AAw#wNA"AZAbAjArAzAAA,\w29@A xsA9\l@A<A=AԻ?A`y?A?A#*An9?2A]ֽ:AI=BAn9?JA]ֽRAI=YJ??y=0 <ٓH%?@??j?3?@@?@:?)J? I٘i)I9\l@YG JJs?<JJJMD&Kx> Y=_~?yNJA?Dj7j7F8B)BE[[]?[H_~?[B[[[[BZYY i) I:F?i}K  @)) @ @:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030972.403165 s, next control iter: 1743030972.763175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4471&, header.stamp.nsec: 0&0 temperature: 13.565897&* salinity: 33.375576&, density: 1025.000000&* values[0]: 0.576160&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030972.783165 s.[˫H~,2"AAQw@Aw@A_~? AΪA&"AA!-wNA"AZAbAjArAzAAAg9@A8S|sAk@A. <Ag=Arq?A?A`?AY*AV9?2Asֽ:A=BAV9?JAsֽRA=٘i)I9k@Y{G J-JJJzEJXD&K Yf@_~?yDIADb77p8)B[[{?[_~?[[[[[BZYY i) IF?iXYL @))@@ydYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030972.803165 s, next control iter: 1743030973.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743030973.203165 s.J "J *J 2J :J h?BJ h?nJ 5vJ ӫH~,*M"AAףp=w@ACX%pw@AQ_~? AǪA&"AA6wNA"AZAbAjArAzAAAn9@A`wsA"k@A j;A=Aa?AY'?A?A*AH9?2Aֽ:A&=BAH9?JAֽRA&=٘i)I9"k@YG J综JJJJcD&K YJC_~?y}qIAD{7j78)B[[ ?[̫_~?[.[[[[BZYY i) SIF?iFK ,@)),@,@,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030973.223165 s, next control iter: 1743030973.603180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030973.623165 s.]٫H~,vg"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.088132< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743030973.623295F (some fields omitted in printout)A)\w@Aw@A`_~? AAI&"AA>wNA"AZAbAjArAzAAA"E 9@ArsA+j@AUAC|=As?A B?A`?A彼*A9?2Aֽ:A%=BA9?JAֽRA%=٘i)I9j@YG JJJJJnD&K  8Y.F_~? 8ytIADŧ778)B[[?[_~?[v[[[[BZYY i) ƼIF?i۝J @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030973.643165 s, next control iter: 1743030974.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4472 , header.stamp.nsec: 0 0 temperature: 13.566160 * salinity: 33.375580 , density: 1025.000000 * values[0]: 0.575475 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030974.043165 s.H~,Â"AJ"J*J2J:JR?BJR?nJz5vJA{Gax@Ad .Gx@A_~? A)A&"AAgEwNA"AZAbAjArAzAAA)Kwl9@A[msAi@AOA==Aq?A`?A$?A!*A9?2A ׽:A =BA9?JA ׽RA =٘i)I9i@YXG JJJJJxD&K YI_~?ylHAD77 8B)BE[[o?[S_~?[m[[[[BZYY i) nμIBF?ifF E@))E@E@dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030974.063165 s, next control iter: 1743030974.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030974.463165 s.WH~,줝"AAx@A컲x@A_~? A0AC&"AAKwNA"AZAbAjArAzAAA=:@A=hsA+?i@AbA=AZ?A@?A@6?Aż*AВ9?2A>ֽ:A A=BAВ9?JA>ֽRA A=Yf??y=ZyٓH K?if??(?[}?)f? I٘i)I9?i@Y G J¼B=Jm<JJJD&K%x> YI_~?y5cHA?D77{78)B[[h?[_~?[~c[[[[BZYY i) 1YռIt~F?iCH L@))L@L@AYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030974.483165 s, next control iter: 1743030974.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4473, header.stamp.nsec: 00 temperature: 13.566419* salinity: 33.375572, density: 1025.000000* values[0]: 0.574715F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030974.883165 s.yH~,D"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.088132< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743030974.883311F (some fields omitted in printout)AQ8y@A@y@Af`~? A1A+&"AAQwNA"AZAbAjArAzAAA1lk` :@Ap'dsAh@AA˳=A!?A)?AFF?A¸̼*A9?2Aֽ:Al=BA9?JAֽRAl=٘i)I9h@Y G JȼC=JJJJD&K YI_~?yjZGADb77F8)B[[a ?[ޯ_~?[Y[[[[BZYY i) ܼImF?iSG PX@))PX@PX@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030974.903165 s, next control iter: 1743030975.283181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743030975.303165 s.YH~,gӯ"AAq= ףy@AÉy@A\`~? A-A}&"AAVwNA"AZAbAjArAzAAA;Z:@Aꛓ/_sAg@A}:A<=A$?A@2g?A@HS?AԼ*A9?2Ajֽ:Ay=BA9?JAjֽRAy=٘i)I9g@Y$ G JBмJJJJD&K Y%I_~?yQ0GAD{7j7q"8)¯B[[$?[_~?[[P[[[[ZZ¸BZYY i¸ת=) мI]F?iߚ?[p_~?[F[[[[ZZBZYY i) rļILF?iZC o@))o@o@'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030975.743165 s, next control iter: 1743030976.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030976.143165 s.\/H~, * "AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083418< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743030976.143285F (some fields omitted in printout)AGzz@AI`z@A `~? AA&"AA^wNA"AZAbAjArAzAAAqTJ":@A=_UsAef@Az<A=A\C?A@{?Ac?Aކ*A9?2A8ֽ:AW=BA9?JA8ֽRAW=٘i)I9ef@Y9 G JcB=JJJJD&K Y1I_~?y@BFAD7708)̯B[[V?[_~?[U=[[[[ZZBZYY i) I YZF_~?yE7EA?D7778)ӯB[[o?[_~?[3[[[[ZZBZYY i) c鬼I~,F?iZ7,? @))@@y6=תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030976.603165 s, next control iter: 1743030976.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4475, header.stamp.nsec: 00 temperature: 13.567045* salinity: 33.375587, density: 1025.000000* values[0]: 0.573028F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030976.983165 s.H~,>"AAQ{@Al7{@A `~? A~Ao,&"AAJbwNA"AZAbAjArAzAAApa):@A-1KsAGd@Ay! AFa{=A?A{ې?Am?Ad*Ar9?2AÃֽ:Aolq<BAr9?JAÃֽRAolq<٘i)I9d@Y+ G JJJJJD&K YC_~?y.qEA D777?8B)ٯBE[[?[C_~?[_*[[[[ZZBZYY i) 6IF?iWF=  @)) @ @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030977.003165 s, next control iter: 1743030977.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030977.403165 s.&H~,Y"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083418< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743030977.403292F (some fields omitted in printout)A ףp{@AJ[\{@AN `~? AvA&"AA:cwNA"AZAbAjArAzAAA:0c*:@AbFsAc@AuAQ"7=A1?ArKY?AWp?AׂѼ*AM9?2Aֽ:AG;BAM9?JAֽRAG;٘i)I9c@Y G JEJJJJD&K Y@_~?y%EADŧ7b7GF8)߯B[[?[_~?[ [[[[ZZBZYY i) OI F?iJ@; @@))@@@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030977.423165 s, next control iter: 1743030977.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4476", header.stamp.nsec: 0"0 temperature: 13.567461"* salinity: 33.375591", density: 1025.000000"* values[0]: 0.572010"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030977.823165 s.H~,\t"AA\(|@AP|@A `~? AnANg&"AA^cwNA"AZAbAjArAzAAAW):@A ɲAsADc@A,A<A ?A@k`Ap?Aު*Aa9?2Axֽ:AkBAa9?JAxֽRAk٘i)I9Dc@YQ G Js¼JJJJD&K Y=_~?yDA CD777qM8)B[[?[_~?[[[[[ZZBZYY i) ωIlE?i5N7 "!@))"!@"!@ YFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743030977.843165 s, next control iter: 1743030978.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030978.243165 s.#H~,y"AJ"J*J2J:JS?BJS?nJn5vJAGz|@AIaz|@Ab `~? AfA&"AAbwNA"AZAbAjArAzAAAh':@A&n?A*A9?2Aoֽ:ABA9?JAoֽRA٘i)I9b@Y G J#JJJJD&K Y:_~?y>7DA)D77{7T8)B[[;?[_~?[S[[[[ZZBZYY i) 8|IwE?i 2 "@))"@"@oYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743030978.263165 s, next control iter: 1743030978.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743030978.663165 s.*H~,q"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083418< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743030978.663289F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4477, header.stamp.nsec: 00 temperature: 13.567761* salinity: 33.375595, density: 1025.000000* values[0]: 0.571264F (some fields omitted in printout)A}@A|@A! `~? A^A6&"AA=awNA"AZAbAjArAzAAA#:@A7sA`b@AA A5?A `"Ai?Aږ<*A9?2A~ֽ:Aq|BA9?JA~ֽRAq|YH??y hٓH`jɿXTX?ɿ Q!v Lt?\c?)H? I٘i)I9`b@Y G JhJEJJJD&Kw> YL5_~?y >DA?4Dj7j7[8B)BE[[[?[_~?[ [[[[ZZBZYY io~=) GiIE?iOP 1 6$@))6$@6$@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030978.683165 s, next control iter: 1743030979.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030979.083165 s.D1H~,SŰ"AJ"J*J2J:JBJnJvJARk}@AtwQ}@AX `~? AVA? &"AA^wNA"AZAbAjArAzAAA^:@A{2sAb@AŜ;A8Az?A`ɭA@&a?A7`*A 9?2Aiֽ:A7멼BA 9?JAiֽRA7멼٘i)I9b@Y G J?B=JJJJD&K Y/_~?yEDA?D77b8B)BE[[t?[_~?[[[[[ZZBZYY iY=)  UVIE?i{. B%@))B%@B%@})YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030979.103165 s, next control iter: 1743030979.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030979.503165 s.7H~,a4"AAp= }@A"8}@A`~? ANA &"AA[wNA"AZAbAjArAzAAAUKY:@A2w .sAa@AY"<AA(6?A`AV?A*A9?2Aֽ:AzǼBA9?JAֽRAzǼ٘i)I9a@Y G JWC=JJJJD&K Y)_~?yLLDAJD7j8)B[[ ?[m~_~?[[[[[BZYY i) fCIE?i + "J'@))"J'@"J'@0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030979.523165 s, next control iter: 1743030979.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4478, header.stamp.nsec: 00 temperature: 13.567929* salinity: 33.375584, density: 1025.000000* values[0]: 0.570859F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030979.923165 s.8>H~,"AJ"J*J2J:J#?BJ#?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072925< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743030979.923315F (some fields omitted in printout)A(\B~@Amlv(~@A0`~? AFAjy &"AAXwNA"AZAbAjArAzAAA 딻:@A$)sAma@A <A1A?A 5AI?A%;*A|9?2Aֽ:A} BA|9?JAֽRA} 弙٘i)I9a@Y JN 9JJJJD&K Y7$_~?ySDATDŧ7b7Gq8)[[?[u_~?[[[[[BZYY i) v0IE?i& (@))(@(@y\=m*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743030979.943165 s, next control iter: 1743030980.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030980.343165 s.~@A`~? A>A &"AAZSwNA"AZAbAjArAzAAA6=0[:@A B$sAb@A I;A3WA a?A@BA4:?A;*Ay9?2Ajֽ:AGBAy9?JAjֽRAG٘i)I9b@Y G J;JJJJD&K Y_~?yZDA_Db7rx8)BE[[&?[Kl_~?[[[[[BZYY i) ͅI.E?iy/ n]*@))n]*@n]*@!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030980.363165 s, next control iter: 1743030980.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4479*, header.stamp.nsec: 0*0 temperature: 13.567943** salinity: 33.375576*, density: 1025.000000** values[0]: 0.570841*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030980.763165 s.8KH~,#0"AJ"J*J2J:JBJnJvJA@A3~@A_~? A6A &"AAMwNA"AZAbAjArAzAAAz-9@AcsAXb@A:AvA?ARA`(?AbL.<*A#9?2A).ֽ:AEG BA#9?JA).ֽRAEG Y? ?yv `خ?@Qp ?)? I٘i)I9Xb@Y G J <JJJJ$D&K.w> Y_~?yDA?jD778)B[[5?[4b_~?[ר[[[[BZYY is_i=) l IE?izv +@))+@+@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030980.803165 s, next control iter: 1743030981.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743030981.183165 s.RH~,cK"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056976< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743030981.183299F (some fields omitted in printout)AQ@A-(k@A_~? A.AM &"AAGwNA"AZAbAjArAzAAAg9@AiX'=sAnb@AAKA{?AA@a?A6Pd<*A9?2Al ֽ:AYBA9?JAl ֽRAY٘i)I9b@Y G JG<JJJJ/D&K Y _~?y0بEAuD{7{7dž8B)BE[[|B?[vW_~?[Ϩ[[[[BZYY i) vIE?iCqh j-@))j-@j-@¸*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030981.203165 s, next control iter: 1743030981.583177 s, wait time: 0.380012 s. _~?).0ب rAdjusting time to match Gazebo time: 1743030981.603165 s.84YH~,f"AJ"J*J2J:Jc0?BJc0?nJ85vJA= ף@Au@A_~? A&A &"AA@wNA"AZAbAjArAzAAAQ.~9@Aߤ#sAc@AA䕑A?Aૻ¿A`N?AE*<*AL9?2Aֽ:ABAL9?JAֽRA٘i)I9c@Y5 G J|<JJJJ:D&K Y'_~?yϨSEAD)7ŧ78)B E[[L?[L_~?[lƨ[[[[BZYY i) ާۻI`E?ij .@)).@.@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030981.643165 s, next control iter: 1743030982.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4480 , header.stamp.nsec: 0 0 temperature: 13.388255 * salinity: 33.391647 , density: 1025.000000 * values[0]: 0.689012 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030982.023165 s.Z`H~,{"AA(\@A@B@A/_~? AA &"AA8wNA"AZAbAjArAzAAA9@AaЊsAec@A elevatorAngleAction: 0.066463< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743030982.443293F (some fields omitted in printout)J"J*J2J:JBJnJvJAzǀ@A g@A:_~? AA&"AA80wNA"AZAbAjArAzAAAQ/9@A]O  sAd@A~ ;A7ҙA^f?A`|ƿA`H?Ac<*A 9?2Aֽ:A BA 9?JAֽRA ٘i)I9d@Y G J<JJJJOD&K Y=^~?yEADŧ7ŧ7G8)߯B[[*@[3_~?[|[[[[BZYY i) dIhE?isU v1@))v1@v1@y2i=\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030982.483165 s, next control iter: 1743030982.843180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4481, header.stamp.nsec: 00 temperature: 13.388084* salinity: 33.391647, density: 1025.000000* values[0]: 0.689804F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030982.863165 s.+mH~,>"AA33333@A֎@A_~? A6A&"AA&wNA"AZAbAjArAzAAA @yO9@AE>{OsAud@A<AI֚A?AYȿAɨ?A47<*A9?2A(ֽ:AL% BA9?JA(ֽRAL% Y??yԚ2r<ٓH`.ٿ dY?Q? SJٿn`U??`T?)? I٘i)I9d@Y' G JU<JcJJJZD&Kx> Y^~?yඨ`FA?D)7r8B)ݯB E[[@[[&_~?[&[[[[BZYY i) {I]E?iP S3@))S3@S3@y:|=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030982.903165 s, next control iter: 1743030983.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030983.283165 s.7RtH~,ұ"AJ"J*J2J:J0?BJ0?nJJ95vJAQ@AAΡ@A_~? AoABN&"AAwNA"AZAbAjArAzAAAǞB9@A,sAW0e@AG!<A A?A_2ʿA?A<*A9?2Aֽ:A[OBA9?JAֽRA[O٘i)I90e@Y| G J<JJJJeD&K Y^~?yʮFAD77778B)گB E[[ /@[_~?[[[[[BZYY i) ]?IRE?i=JUo L5@))L5@L5@2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030983.303165 s, next control iter: 1743030983.683179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4482*, header.stamp.nsec: 0*0 temperature: 13.387884** salinity: 33.391663*, density: 1025.000000** values[0]: 0.690741*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030983.703165 s.ٺzH~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066463< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199492 time: 1743030983.703272F (some fields omitted in printout)Aףp= @AfO7@AD_~? AA&"AAwNA"AZAbAjArAzAAAaz9@A}GrAe@A~;A_uA @A̿Ad?A<*Am9?2AѰֽ:A^BAm9?JAѰֽRA^٘i)I9e@Y G J_<B=JJJJpD&K Y^~?y0GADj7ɱ8)֯B[[/@[. _~?[ۜ[[[[BZYY i) `mILHE?iA X6@))X6@X6@v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030983.723165 s, next control iter: 1743030984.103180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743030984.123165 s.6ၬH~,X"AJ"J*J2J:JBJnJvJA)\u@AfG[@AC_~? AA4|&"AAwNA"AZAbAjArAzAAAb9@A}||(rAQf@A|PֹA 2Aye@AtͿA??Ay<*A\9?2A]uֽ:A`QBA\9?JA]uֽRA`Q٘i)I9Qf@Y, G J`<C=JJJJzD&K Y^~?yGAD{78B)ӯBE[[,@[N^~?[[[[[BZYY i) TIx>E?i7A I8@))I8@I8@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030984.163165 s, next control iter: 1743030984.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030984.543165 s.IH~,""AA{GႱ@Aq0ǂ@A_~? AeA&"AAvNA"AZAbAjArAzAAAFa YH9@Auk@rAFf@AjAUA@AϿA~?AV<*A>9?2AJֽ:ABA>9?JAJֽRA٘i)I9f@Y G J:<JJJJD&K Y^~?yHAD8)ίB[[G@[^~?[+[[[[BZYY i) 0IN5E?im*%ڻ 9@))9@9@H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030984.563165 s, next control iter: 1743030984.943181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4483, header.stamp.nsec: 00 temperature: 13.387665* salinity: 33.391685, density: 1025.000000* values[0]: 0.691683F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030984.963165 s.~H~, ="AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066463< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743030984.963303F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@A:2@AŹ_~? AAF&"AAPvNA"AZAbAjArAzAAA"~B-9@AEDrARwg@A}!AA(@ArпA?A­<*A9?2AyJֽ:AζBA9?JAyJֽRAζY?@y7"ٓH߿vKQ??@4߿~~? Z2`?)? I٘i)I9wg@Y G J<B=J;JJJD&Kw> Yή^~?yӎdHA@Db77HNJ8B)̯BE[[>& @[^~?[v[[[[BZYY i) DG:Iu,E?i$һ ;@));@;@!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030984.983165 s, next control iter: 1743030985.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030985.383165 s.ؕH~,X"AAQ@A9@AH_~? AMA9&"AAVvNA"AZAbAjArAzAAAtW] N9@AIrAh@AAqAE@AѿA{?A <*A9?2Avֽ:AZBA9?JAvֽRAZ٘i)I9h@Y7 G J<C=JJJJD&K Y^~?y"HAD77sΊ8)ȯB[[ @[T^~?[}[[[[BZYY i) B:I $E?i΃Ȼ B<@))B<@B<@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030985.423165 s, next control iter: 1743030985.783175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4484&, header.stamp.nsec: 0&0 temperature: 13.387462&* salinity: 33.391678&, density: 1025.000000&* values[0]: 0.692676&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030985.803165 s.wAH~,{gs"AJ"J*J2J:JBJnJvJAq= #@A{ @AL_~? A٩A&"AAvNA"AZAbAjArAzAAA 8@A&?}rAnh@ACA㏽A@A{ҿA?A_<*A9?2Aֽ:AHBA9?JAֽRAH٘i)I9h@Y G J?<JJJJD&K Y^^~?yp,IAD{7Պ8)ïB[[ @[L^~?[v[[[[BZYY i) z+;I&E?i)廻 />@))/>@/>@$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030985.823165 s, next control iter: 1743030986.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030986.223165 s.gH~,H"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066463< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743030986.223300F (some fields omitted in printout)A(\@A~Eu@Aӛ_~? AtҩA]&"AA$vNA"AZAbAjArAzAAA5AaH8@A.9rADi@A;AA3@A']ӿAIb?A<*A9?2A0ֽ:ABA9?JA0ֽRA٘i)I9i@Y G JT<JJJJD&K Y^~?ywIADj7Z7܊8 B)BE[[u@[Ө^~?[Ho[[[[BZYY i) Qh;IE?iĬ L?@))L?@L?@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030986.263165 s, next control iter: 1743030986.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743030986.643165 s.xЩH~,*"AJ"J*J2J:JBJnJvJAG@Ay@Aݐ_~? A!˩A&"AAvNA"AZAbAjArAzAAA(T 8@AL>rAЙi@A|I<AA B @A<ԿA.?AJ<*A9?2Aֽ:ABA9?JAֽRA٘i)I9i@Y,G J <JJJJD&K Yw^~?y pIADb7b78)B[[* @[^~?[:h[[[[BZYY i) |;IaE?imk' .A@)).A@.A@G*YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4485, header.stamp.nsec: 00 temperature: 13.387251]:* salinity: 33.391682, density: 1025.000000* values[0]: 0.693612F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743030986.663165 s, next control iter: 1743030987.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030987.063165 s.H~,V IJ"AAfffff@AQL@Am_~? AéA%{&"AAvNA"AZAbAjArAzAAA`]8@AD]jSrAj@Av <AX A @A տA?A)<*A9?2Aֽ:AGBA9?JAֽRAGY? @y  <ٓHD|;,Y?2/? S ©)>???)? II٘i)I9j@YxG JƔ<JP<JJJD&Kx> Yg^~?yhQJA @ D)7ŧ78 B)BE[[@[o^~?[@a[[[[BZYY iE=) ;I=E?iT侉q! |B@))|B@|B@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030987.083165 s, next control iter: 1743030987.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743030987.483165 s._H~,޲"AJ"J*J2J:JBJnJvPublished command to Gazebo (printed only once in a while):vJ( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076472< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743030987.483312F (some fields omitted in printout)Aх@Aַ@Ay_~? AA$&"AARvNA"AZAbAjArAzAAA(>j8@AxrAOj@AoA;AiA% @A3տA@]?A<*A9?2A<ֽ:ABA9?JA<ֽRA٘i)I9j@YG J<JJJJD&K YW^~?yaJADŧ7b7H8)B[[@[~q^~?[pZ[[[[BZYY i) n;IE?iQҾE C@))C@C@?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030987.503165 s, next control iter: 1743030987.883193 s, wait time: 0.380028 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4486, header.stamp.nsec: 00 temperature: 13.387069* salinity: 33.391697, density: 1025.000000* values[0]: 0.694457F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030987.903165 s.ȽH~,"AA ףp=@A(\#@A"m_~? AA&"AAzvNA"AZAbAjArAzAAA񘣶D8@ArA k@A]BAA@A@bֿAy?A <*A9?2A{ֽ:ABA9?JA{ֽRA٘i)I9 k@YG J<JJJJD&K YoG^~?y`Z KA C D77s8B)BE[[to@['^^~?[S[[[[BZYY i) +;ID?ih*q rE@))rE@rE@<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030987.923165 s, next control iter: 1743030988.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030988.323165 s.wĬH~,)"AJ"J*J2J:J1?BJ1?nJ:5vJA\@ABގ@AL`_~? AA&"AAgvNA"AZAbAjArAzAAAix8@AvQrAk@AXAx=Ab@A n׿A`bK?A<*Aq9?2Abֽ:ABAq9?JAbֽRA٘i)I9k@YXG J<JJJJD&K  8YE7^~? 8y'SgKA+D78)B[[@[wJ^~?[VM[[[[BZYY i) P elevatorAngleAction: 0.076472< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743030988.743342F (some fields omitted in printout)AGz@A؜g@AS_~? AA(&"AATvNA"AZAbAjArAzAAA}7@A%#rAk@AAPA`@AkؿA ?A<*A9?2Auֽ:ABA9?JAuֽRA٘i)I9k@YG Jl<JJJ{EJD&K Y'^~?yKKA6D7)78B)BE[[Q@[v6^~?[G[[[[BZYY i) <JJJJD&K7x> Y^~?yAE!LA@@Dj7Z78)B[[M@[!^~?[@[[[[BZYY i) QO&~LAKD77778B)BE[[ 5@[ ^~?[:[[[[BZYY i) 5 elevatorAngleAction: 0.076472< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743030990.003300F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@A`w<@An(_~? ASAe5&"AAvNA"AZAbAjArAzAAA>wft7@A'rAam@Anc<AA@A@AڿAB?AÌ<*A$9?2A ׽:A#BA$9?JA ׽RA#٘i)I9am@YyG J@<JJJJD&K Y]~?y7LAVD77I8B)BE[[գ@[]~?[5[[[[BZYY i) -LE elevatorAngleAction: 0.076472< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743030991.263279F (some fields omitted in printout)A@A@A^~? AAK&"AADuNA"AZAbAjArAzAAAk6@AѯrAn@AA'A@AݿAg?A4<*AF9?2A8ֽ:Ai! BAF9?JA8ֽRAi! YDŽ @@y'QٓH`,?L?`<& ? YO?)DŽ @ I٘i)I9n@Y[G J<B=J&^JJJ1D&Kw> Ym]~?y$MA@vD7728)B[[@[]~?[$[[[[BZYY i) ws))>/T@}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030992.123165 s, next control iter: 1743030992.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030992.523165 s.H~,{!"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085650< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743030992.523254F (some fields omitted in printout)J"J*J2J:JBJnJvJA(܊@AŠ@A^~? AVmA!&"AA0uNA"AZAbAjArAzAAA2O6@A@rA(rp@AA Aj@AM߿A@K|?A3<*A?9?2A|ֽ:ABA?9?JA|ֽRA٘i)I9rp@YWG Jw<JJJJQD&K Yx]~?yY(OADj7j7IH8)B[[I$@[q]~?[[[[[BZYY i) D: <))<sU@?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030992.543165 s, next control iter: 1743030992.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4491, header.stamp.nsec: 00 temperature: 13.386201* salinity: 33.391735, density: 1025.000000* values[0]: 0.698598F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030992.943165 s.adH~,h]<"AAzG@A -@A1^~? A`gA6&"AAiuNA"AZAbAjArAzAAA|[ 6@AoݠrAlp@AsQAAO@AjA(?A<*Aʦ9?2Aֽ:A9BAʦ9?JAֽRA9٘i)I9p@YG J-<JJJJ\D&K Yhd]~?yK OADŧ7b7tO8B)BE[[2%@[Z]~?[-[[[[BZYY i) N; =;))=;V@L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030992.963165 s, next control iter: 1743030993.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030993.363165 s.H~,}>W"AJ"J*J2J:J2?BJ2?nJ;5vJA3333@Ah@AF^~? AaA &"AAOuNA"AZAbAjArAzAAA?5@A.KrAiq@AO~;AA@AsZA?A5Ŧ<*A9?2Aֽ:AğBA9?JAֽRAğY@@yߞ;ٓHF?@w?@S\:ֳ?x?@6?)@ I٘i)I9q@YG J<J&JJJgD&K8x> Y N]~?yOA@DZ7SI7V8 B)BݹE[[&@[C]~?[ [[[[BZYY i) '; 9))9NX@yWR=U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030993.383165 s, next control iter: 1743030993.763176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4492*, header.stamp.nsec: 0*0 temperature: 13.385999** salinity: 33.391720*, density: 1025.000000** values[0]: 0.699573*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030993.783165 s.XH~,r"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085650< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743030993.783318F (some fields omitted in printout)AQ@An@A^~? A[A{&"AA3uNA"AZAbAjArAzAAAT>b65@ADI˙rAr@A<AAh @A dA|?A<*A9?2A ׽:ABA9?JA ׽RA٘i)I9r@YXG J~<JJJJrD&K Y7]~?ybPAD77]8)B[[1K(@[F+]~?[p[[[[BZYY i) + ~D; |d8))|d89Y@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030993.803165 s, next control iter: 1743030994.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743030994.203165 s.#H~,"AJ"J*J2J:J53?BJ53?nJ;5vJAףp=@AZb+p@AK^~? A-VA&"AAuNA"AZAbAjArAzAAAq`җs5@AƁ^rAr@A9<AA!@AA I$?A.<*A9?2AFֽ:A)BA9?JAFֽRA)٘i)I9r@YG J9<JJJJ|D&K YP!]~?y.PAD77d8"B)BڹE[[)@[U]~?[Y[[[[BZYY i) 炮Xf; 6))6&[@,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030994.223165 s, next control iter: 1743030994.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743030994.623165 s.X)H~,a⧴"AA)\@A9dی@ABl^~? APAOW&"AA!tNA"AZAbAjArAzAAAu95@AE=rA@=s@AK;AAQ"@A XA`?A3$<*A+9?2A@ֽ:A@BA+9?JA@ֽRA@٘i)I9=s@Y G Jű<JJJJD&K Y ]~?y8QAD77l8$B)B׹E[[; +@[L\~?[s[[[[BZYY i) ; 5))5\@T*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030994.643165 s, next control iter: 1743030995.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4493 , header.stamp.nsec: 0 0 temperature: 13.385815 * salinity: 33.391750 , density: 1025.000000 * values[0]: 0.700535 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743030995.043165 s.0H~,´"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085650< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743030995.043309F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@AQ0G@AX^~? AMKA&"AA tNA"AZAbAjArAzAAA*}4@AZ_DrAKs@AEA~A<$@A@A?AhH<*A9?2AGMֽ:AJBA9?JAGMֽRAJ٘i)I9s@YiG JĹ<JJJJD&K Y\~?yqQAD{7j7Js8)B[[h,@[0\~?[[[[[BZYY i) tTS; %4))%4]@.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743030995.083165 s, next control iter: 1743030995.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743030995.463165 s.Y7H~,ݴ"AA̍@A@A%E^~? A FAv)&"AAmtNA"AZAbAjArAzAAAcWH4@AB>A|rA{t@AhAAÃ%@AA'?A<*AT9?2AF-ֽ:A{cBAT9?JAF-ֽRA{c٘i)I9{t@YG J<JJJJD&K Y9\~?y RAD)7)7uz8'B)BӹE[[-@[ \~?[9[[[[BZYY i) Z elevatorAngleAction: 0.085650< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743030996.303296F (some fields omitted in printout)Aq= ף@A&@A^~? A;A&"AAtNA"AZAbAjArAzAAA&H4@Aי'XrAu@AA䮰AJ&(@AZAʩ?A<*A 9?2Aֽ:A>SBA 9?JAֽRA>S٘i)I9u@YG J<JJJJD&K Y\~?yTRADb77ʈ8)zB[[Tj0@[՚\~?[[[[[BZYY i) /A~)@ApA?A<*AW9?2Aֽ:A>BAW9?JAֽRA>٘i)I9yv@YG J<B=JJJJD&K Y \~?yۧMSADŧ7b78)uB͹E[[1@[Ђ\~?[[[[[BZYY i.=) Y elevatorAngleAction: 0.094649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743030997.563292F (some fields omitted in printout)Affff揱@ASrN̏@A]~? A-Ao &"AA$tNA"AZAbAjArAzAAAǾF3@AO}rAw@ANP<A%A ",@A@fAKR?A<*Ax9?2Aֽ:ABAx9?JAֽRAY @,@y%<ٓH@Fۿv?? @Y̞`c??`p?) @ I٘i)I9w@YG J3<JaؼJJJD&K> Yhk\~?yҧ1TA,@ CDb77J8,B)mBǹE[[$Y4@[Q\~?[\[[[[BZYY i) /BZYY i¸>ˢ) BAx9?JAֽRA>٘i)I9z@Y+G J<JJJJD&K YS\~?y3ǧUA7Dŧ77˳80B)`BE[[N8@[&\~?[T[[[[ZZZZBZYY i) (I}2@AәzIsrAz@AA矽AB:1@A 1aA?AV=*A9?2ANֽ:A%\ɼBA9?JANֽRA%\ɼ٘i)I9z@YG J=JJJJD&K Y\~?yZçVABDZ7Z781B)ZBE[[K9@[I[~?[V[[[[ZZZZBZYY i) ˹ Yp[~?yQpVA2@LD777 ‹82B)TBE[[&:@[[~?[zߧ[[[[ZZZZBZYY i) o"&"AAK8sNA"AZAbAjArAzAAA]ox 1@A$BsglrA>}@Aҟ;A{5A-5@A@qA ?A<*A9?2APֽ:A:BA9?JAPֽRA:٘i)I9>}@Y"G Jc<JJJJD&K Y`[~?yAWAbDŧ7b7vЋ84B)JBE[[ =@[[~?[Gܧ[[[[ZZZZBZYY i) ޸5vJA(\B@AF}(@A)]~? A Ã"&"AAsNA"AZAbAjArAzAAAkbe1@AA~IjrA$}@A4<AsPA1y6@A DA`?Ax<*A69?2A@ֽ:A <BA69?JA@ֽRA <٘i)I9}@YtG J<JJJJ(D&K Yٛ[~?y8vWAmD77{7׋85B)GBE[[>@[][~?[ڧ[[[[ZZZZBZYY i) +^JJJ>D&Kw> Ye[~?yWA9@D7788B)DBE[[fA@[V[~?[ا[[[[ZZZZBZYY i0o) o*A9?2Aֽ:Ä́<BA9?JAֽRÄ́<I٘i)I9~@YG J?:B=JJJJSD&K Y/[~?yWADL8;B)FBE[[C@[j$[~?[%ק[[[[BZYY i) MKE@[W [~?[֧[[[[BZYY i) 95,F]ܶ"AvJAzǕ@Aӿ$@A\~? APA#&"AA:rNA"AZAbAjArAzAAA=3\/@A`ք_rA6J~@AZAr=AF>@AQA~?AG4"*A9?2A]Yֽ:A!=BA9?JA]YֽRA!=٘i)I9J~@YG J,JJJJiD&K  8Y+Z~? 8yGTWAD78"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069308< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743031003.863315F (some fields omitted in printout)A33333@AT@A+\~? AA$&"AArNA"AZAbAjArAzAAA .@Aâ ^rA!}@A͆;A܅=Aы?@AuA@(?AwZ*A9?2AXֽ:AQ =BA9?JAXֽRAQ =Y1@:?@y܅=;ٓH ¿|a?``c!?p?p?)1@ I٘i)I9}@YG JC<J(=JJJtD&K7w> Y9Z~?yVA?@D{7{7 8=B)NBE[[9G@[FZ~?[է[[[[BZYY iz~e) 6B)RBE[[ I@[@Z~?[է[[[[BZYY i) ѭH~,zG"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056029< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743031005.123320F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@A$y[@A3\~? AA$&"AAТqNA"AZAbAjArAzAAA$,@ADZ:ZrAM|@A" ;A:=ArC@A@:A x?AL@[.vZ~?[֧[[[[BZYY i)) z;IF?i?$ѡ< )) 5@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031005.563165 s, next control iter: 1743031005.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4504, header.stamp.nsec: 00 temperature: 13.384436* salinity: 33.391712, density: 1025.000000* values[0]: 0.707830F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031005.963165 s.ޭH~,Y}"AJ"J*J2J:J45?BJ45?nJ>5vJAL@A!o2@A\~? ANA$&"AAUqNA"AZAbAjArAzAAA+@Ap0XrA.~{@ABA⇘=AgE@A6!A?AL*Ao:?2A½:A5=BAo:?JA½RA5=٘i)I9~{@YG JgB=JJJJD&K YPZ~?yv8UAD77-8)fB[[N@[]Z~?[ק[[[[BZYY i) :;IF?i@<  ))W&@ ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031005.983165 s, next control iter: 1743031006.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031006.383165 s.H~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065510< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743031006.383288F (some fields omitted in printout)AQ@A3<@AN[~? AA$&"AA /qNA"AZAbAjArAzAAAF,+@A%! SWrAez@A5A|=AF@A`0A "Ϳ?A*Ao:?2Aý:Aw!=BAo:?JAýRAw!=٘i)I9z@YG JC=JJJJD&K Y4Z~?y(TADZ7j748)kBE[[KAO@[EZ~?[ק[[[[BZYY i) &f;IF?i @k!< s))s€@ϪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031006.403165 s, next control iter: 1743031006.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4505&, header.stamp.nsec: 0&0 temperature: 13.384672&* salinity: 33.391724&, density: 1025.000000&* values[0]: 0.706742&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031006.803165 s.vAH~,wg"AJ"J*J2J:JBJnJvJAq= #@A @A[~? AAp%&"AA qNA"AZAbAjArAzAAAFcsHݐ*@AVrAbz@AAu=A#G@A@%AA'?AAꦼ*A:?2A#Ž:A.;=BA:?JA#ŽRA.;=٘i)I9bz@YdG JkJJJJD&K YZ~?y۞TADZ7;8CB)pBE[[vP@[.Z~?[ا[[[[BZYY i) ';Is G?iq @ < d))dw]@U̪Y eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031006.823165 s, next control iter: 1743031007.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031007.223165 s.gH~,Hη"AA(\@ADu@Aij[~? A`A,%&"AApNA"AZAbAjArAzAAAgtyd)@AUrAy@A|:AH=AQH@A!QA,?A*A:?2A*Ƚ:AAG=BA:?JA*ȽRAAG=٘i)I9y@YG JʦJJJJD&K YY~?y+TAD{7j7"C8DB)vBE[[}Q@[Z~?[t٧[[[[BZYY i)  :I,G?i=@w< A2))A2@y"dɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031007.243165 s, next control iter: 1743031007.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031007.643165 s.yH~,*"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065510< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743031007.643290F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@A N@A[~? APAB%&"AApNA"AZAbAjArAzAAA^W)@AQ %UrAJy@A^<A=A@HA@`AI?ACܥ*A:?2Aʽ:AR=BA:?JAʽRAR=٘i)I9Jy@YG JcJJJJD&K YY~?y@SA CD77{7MJ8EB){BE[[R@[Y~?[ڧ[[[[BZYY i) \*:IMG?ik@e`<  )) ]@3ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031007.663165 s, next control iter: 1743031008.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4506, header.stamp.nsec: 00 temperature: 13.384958* salinity: 33.391712, density: 1025.000000* values[0]: 0.705681F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031008.063165 s.H~,g "AAfffff@A?ML@A[~? AeAV%&"AApNA"AZAbAjArAzAAAA&iB(@A{TrA|x@AƠ;<ACl=A*FAmA`?A梼*A:?2ASͽ:A=BA:?JASͽRA=Yb,=@0Fyi=<<ٓH{?쿱  PȂ?ࣩ s??)b,=@ I٘i)I9x@YfG JȤJ<JJJD&K> YY~?yrSAF#DZ7Z7wQ8FB)BE[[ZT@[Y~?[ۧ[[[[BZYY i) oInG?i-@< e ))e *@ªYFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743031008.083165 s, next control iter: 1743031008.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031008.483165 s.t_H~,"AJ"J*J2J:JBJnJvJAњ@A>n׷@Ae[~? AAWg%&"AAYkpNA"AZAbAjArAzAAA](@A, TrA9x@A{><A=AMEA@yA`U߯?AU*A:?2A/Ͻ:A<BA:?JA/ϽRA<٘i)I99x@YG JJJJJD&K YFY~?y֜SA.D77X8GB)BE[[nHU@[Y~?[ݧ[[[[BZYY i) zIG?iX@y< Q ))Q 2ƃ@]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031008.503165 s, next control iter: 1743031008.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4507, header.stamp.nsec: 00 temperature: 13.385210* salinity: 33.391731, density: 1025.000000* values[0]: 0.704625F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031008.903165 s. H~,9"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065510< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743031008.903274F (some fields omitted in printout)A ףp=@AX#@AK[~? AAu%&"AACpNA"AZAbAjArAzAAA ~'@A)$jSrAw@Aֺ:A8=AJDAqA|?A*A:?2Aѽ:A<<BA:?JAѽRA<<٘i)I9w@YG J9JJJJD&K Y Y~?y"RA9Db77_8HB)BE[[}V@[Y~?[ާ[[[[BZYY i) 9fIG?i"@< 1^ ))1^ `@9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031008.943165 s, next control iter: 1743031009.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031009.323165 s.tH~,T"AJ"J*J2J:JBJnJvJA\@A|ݎ@A1[~? AA%&"AAspNA"AZAbAjArAzAAAp'J&@A xSrA7SrASv@A "AZY=AA@A`A@l?AS*A7y:?2Abս:AX<BA7y:?JAbսRAX Y7Y~?y잧QAL@YDSI7SI7Mu8DB)yE[[Z@[sY~?[[[[[BZYY i)  ,I"H?i-@/u<  )) ,@UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031010.183165 s, next control iter: 1743031010.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031010.583165 s.(H~,S"AAR뜱@A½2oќ@AZ~? A2A%&"AAͥoNA"AZAbAjArAzAAA(r%@A >SrAu@A)_Aa=A >A&AvUA*At:?2Aս:AJ5<BAt:?JAսRAJ5<٘i)I9u@YG JJJJJ D&K YY~?y DQAdD777x|8)BvE[[jH[@[\Y~?[[[[[BZYY i) ZûIHH?i0@\?< U))U0Ɔ@[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031010.623165 s, next control iter: 1743031010.983182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4509, header.stamp.nsec: 00 temperature: 13.385695* salinity: 33.391727, density: 1025.000000* values[0]: 0.702769F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031011.003165 s.u 0H~,@4"AJ"J*J2J:JBJnJvJAp= W@A =b<@AwZ~? AfAډ%&"AA>~oNA"AZAbAjArAzAAA:۩g$@A~u]SrAou@A;Ab=AĬ=AQAҚAk*A6j:?2Aֽ:A:<BA6j:?JAֽRA:<٘i)I9ou@YaG JJJJJ+D&K YX~?yTPAnDb7b78EB)BsE[[wy\@[rFY~?[[[[[BZYY i) InH?i4@|< Gb))Gb^@$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031011.043165 s, next control iter: 1743031011.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743031011.423165 s.#u6H~,۸"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743031011.423284F (some fields omitted in printout)A(\@Ax@AdZ~? AAu%&"AAVoNA"AZAbAjArAzAAA>#@Ao" SrAt@A:.<A"~=Aja<A`A@ Ar*A`:?2A:ֽ:AӔ=BA`:?JA:ֽRAӔ=٘i)I9t@YG JfJJJJ5D&K YX~?yPAyD7͊8)BpE[[]@[20Y~?["[[[[BZYY i) IYH?i7@)X< -3))-3D@yݜbYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031011.463165 s, next control iter: 1743031011.823191 s, wait time: 0.360026 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4510, header.stamp.nsec: 00 temperature: 13.385900* salinity: 33.391716, density: 1025.000000* values[0]: 0.701913F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031011.843165 s. Y0X~?yӥOA9Dŧ7b7#8)BjE[[`@[0Y~?[[[[[BZYY i) H IH?iY>@[< ))$@9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031012.303165 s, next control iter: 1743031012.663179 s, wait time: 0.360014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 45112, header.stamp.nsec: 020 temperature: 13.3861092* salinity: 33.3917082, density: 1025.0000002* values[0]: 0.7010702F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031012.683165 s.lJH~,Z+"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743031012.683263F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A`?랱@AfaZ~? AAa%&"AAinNA"AZAbAjArAzAAA|!@A{1иTrAs@AfCAȊ=Aga8AaAA*AF:?2AW׽:A,=BAF:?JAW׽RA,=٘i)I9s@YLG JІJJJJVD&K YX~?y맧OAD77M8)B[[s4a@[fX~?[[[[[BZYY i) /II?iA@+'< N))N5@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031012.683165 s, next control iter: 1743031013.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743031013.103165 s.QH~,F"AA= ףp@ALV@AGZ~? AAN%&"AA#nNA"AZAbAjArAzAAA_S!@A) |UrA=7s@AAg=A 7A`?QA@ܹA݇*A?:?2AT׽:A!=BA?:?JAT׽RA!=٘i)I97s@YG JJJJJ`D&K YNuX~?y(OADj7SI7x8)BgE[[ab@[X~?[W[[[[BZYY i) je?Ii8D@k)< 3))3R@|ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031013.123165 s, next control iter: 1743031013.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031013.523165 s.WH~,|a"AJ"J*J2J:J]3?BJ]3?nJ<5vJA(ܟ@AZXŸ@A-Z~? AA69%&"AAnNA"AZAbAjArAzAAA(ZA @A 7VrAr@A7Az=Aǹ5A.>A६AD*A7:?2A]׽:AQ=BA7:?JA]׽RAQ=٘i)I9r@YG JcB=JJJJkD&K YYX~?yNAD7)78)BdE[[7c@[X~?[.[[[[BZYY i) NIiG@j< ))@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031013.543165 s, next control iter: 1743031013.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4512, header.stamp.nsec: 00 temperature: 13.386338* salinity: 33.391708, density: 1025.000000* values[0]: 0.700249F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031013.943165 s.Wd^H~,>]|"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743031013.943295F (some fields omitted in printout)AzG@A-@AZ~? AjA %&"AAjnNA"AZAbAjArAzAAAXWLS @A5JՂ WrAKr@A,Aȉ=AKp4A (A๸A*A0:?2A]׽:AW =BA0:?JA]׽RAW =٘i)I9Kr@YwG J鎼C=JJJJvD&K Yk>X~?y3qNAD77{7ε8)BaE[[d@[X~?[[[[[BZYY i) d^IiK@uU= J))JU}@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031013.963165 s, next control iter: 1743031014.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031014.363165 s.ÊeH~,>"AJ"J*J2J:J&3?BJ&3?nJ;5vJA3333@A!K@AbY~? AA%&"AADnNA"AZAbAjArAzAAAZ@A"7WrAGq@A}:A?U=Ar+3A`Ab¿AWM*A *:?2AD׽:A =BA *:?JAD׽RA =YP@*3y9U=U:ٓH_w?`ȱ>jտa% UƲR? ?)P@ I٘i)I9q@Y*G JJ<JJJD&K/y> Y#X~?y' NA*3D7778DB)B_E[[e@[™X~?[3[[[[BZYY i) mIiM@= ))p@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031014.403165 s, next control iter: 1743031014.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4513&, header.stamp.nsec: 0&0 temperature: 13.386565&* salinity: 33.391701&, density: 1025.000000&* values[0]: 0.699372&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031014.783165 s.gkH~, "AAQ@A@AY~? AA$&"AAGnNA"AZAbAjArAzAAAcjz@AXrAGq@A: <A୘=A1AA@qĿA䢼*AH$:?2Aֽ:Ar=BAH$:?JAֽRAr=٘i)I9Gq@YG JŞJJJJD&K Y6 X~?yMADŧ7ŧ7#Č8)B\E[[ g@[X~?[d[[[[BZYY i) |IiGP@L= ))@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031014.803165 s, next control iter: 1743031015.183194 s, wait time: 0.380029 s rAdjusting time to match Gazebo time: 1743031015.203165 s.sH~,͹"AJ"J*J2J:J2?BJ2?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743031015.203324F (some fields omitted in printout)Aףp=@A*%p@A{Y~? ApA$&"AAmNA"AZAbAjArAzAAA@A@~ZrAp@A:<<A=A?0AA LƿA*A:?2A3ֽ:A#=BA:?JA3ֽRA#=٘i)I9p@YG J{JJJJD&K YW~?yBMAD777Nˌ8)BYE[[7h@[pX~?[[[[[BZYY i) Ii-S@Y'= cH))cH￩=@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031015.223165 s, next control iter: 1743031015.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031015.623165 s._yH~,~"AA)\@A+~ۡ@A7Y~? AoAR$&"AANmNA"AZAbAjArAzAAARڮ?d@A/{)S[rA.p@Ar <A=AH/A`»A)ȿA*A:?2Ag׽:Arr=BA:?JAg׽RArr=٘i)I9.p@Y.G J8JJJJD&K YW~?yLADŧ77xҌ8)ïB[[_i@[\X~?[[[[[BZYY iH) NIiuV@EA = ?))?쿩э@k֪YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743031015.643165 s, next control iter: 1743031016.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4514 , header.stamp.nsec: 0 0 temperature: 13.386822 * salinity: 33.391682 , density: 1025.000000 * values[0]: 0.698388 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031016.043165 s.H~,"AJ"J*J2J:JBJnJvJA{Ga@A\.G@AY~? AAu$&"AAmNA"AZAbAjArAzAAAIsn3@Aކɣ\rAПo@ALn:A=A-A5A@ʿAҩ*A:?2A/M׽:A{=BA:?JA/M׽RA{=٘i)I9o@YG J0JJJJD&K YkW~?yxLADb77ٌ8)ǯBVE[[j@[HX~?[ [[[[BZYY i) 1Ii Z@ = ))꿩d@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031016.063165 s, next control iter: 1743031016.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031016.463165 s.ZH~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086201< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743031016.463329F (some fields omitted in printout)A̢@A^@A|Y~? AAqJ$&"AA$mNA"AZAbAjArAzAAA@Ag ^rAYo@A;zA|=A,A@uA}˿A>*A| :?2A׽:A$=BA| :?JA׽RA$=YwW@,y{=V+ٓH#?,lۿE cʳ7|H?)wW@ I٘i)I9o@YG J`J4<JJJD&Kx> YW~?yLA,D778)˯BSE[[Ʈk@[5X~?[+[[[[BZYY i) kIi\@: = Y))Y迩^@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031016.483165 s, next control iter: 1743031016.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4515, header.stamp.nsec: 00 temperature: 13.387071* salinity: 33.391682, density: 1025.000000* values[0]: 0.697348F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031016.883165 s.yH~,D8"AJ"J*J2J:JBJnJvJAQ8@AF;@AMcY~? A`A$&"AAh^mNA"AZAbAjArAzAAA@ASsI֏_rAn@Al8AԠ=AE+A`OA@:ͿAf*A:?2A׽:AR=BA:?JA׽RAR=٘i)I9n@Y+G J JJJJD&K YoW~?yħKAD78CB)ϯBPE[[}l@[!X~?[[[[[BZYY i) &IiC^@?=  )) 濩:@yNw ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031016.903165 s, next control iter: 1743031017.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031017.303165 s.YH~,gS"AAq= ף@AA]@AJY~? AA!#&"AA8mNA"AZAbAjArAzAAAc@A*arA\m@AEA=Ap)A@&AϿAì*AU9?2Ad׽:AU{=BAU9?JAd׽RAU{=٘i)I9m@YG J˩JJJJD&K YlW~?yPȧ9KA CDb77#8)ӯBME[[m@[}X~?[[[[[BZYY i) ޠIi`@= ))㿩y @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031017.323165 s, next control iter: 1743031017.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4516*, header.stamp.nsec: 0*0 temperature: 13.387352** salinity: 33.391685*, density: 1025.000000** values[0]: 0.696327*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031017.723165 s.H~,Hn"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086201< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743031017.723330F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AkC@A42Y~? AAj#&"AAmNA"AZAbAjArAzAAAK3#V@A4brAcm@A?6A=A(AA@5пAJ*A29?2A׽:A@=BA29?JA׽RA@=٘i)I9cm@Y{G JۯJJJJD&K YvSW~?y̧JAD77N8)دB[["o@[W~?[[[[[BZYY i) pIic@= Ws))WsῩ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031017.743165 s, next control iter: 1743031018.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031018.143165 s.S/H~,)"AAGz@Ac`@AY~? AA}#&"AAlNA"AZAbAjArAzAAA`]^@AOdrAl@AR;Amu=Aq'A@A@HѿA*A9?2Aֽ:AWg=BA9?JAֽRAWg=٘i)I9l@YG JJJJJD&K Y9W~?yϧdJA%D7y8)ܯBJE[[Ep@["W~?[[[[[BZYY i) ÕIiXg@= G,߿))G,߿D@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031018.163165 s, next control iter: 1743031018.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031018.563165 s.H~,V "AJ"J*J2J:JBJnJvJAffff椱@A=S̤@AY~? AAC#&"AA#lNA"AZAbAjArAzAAA%:@Ac_frA'l@A"1<AF=Ac+&AA@gҿA`ü*Ad9?2ACֽ:A=BAd9?JACֽRA=Y+]@h&y==2<ٓH??@̳ [􈡿y=??)+]@ I٘i)I9'l@YG J꿼J<JJJD&KTx>  8Y!W~? 8ysԧIA&/Dj7Z78BB)BHE[[Tkq@[W~?[![[[[BZYY i) Iih@= ܿ))ܿב@WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031018.583165 s, next control iter: 1743031018.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4517, header.stamp.nsec: 00 temperature: 13.387613* salinity: 33.391670, density: 1025.000000* values[0]: 0.695230F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031018.983165 s.H~,쾺"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086201< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743031018.983334F (some fields omitted in printout)AQ@AV{7@AX~? A Au#&"AAϥlNA"AZAbAjArAzAAAqm@A.lτhrAk@AC-<A0,=A$AlA zFӿA/%ȼ*A9?2A¨ֽ:Aƣ=BA9?JA¨ֽRAƣ=I٘i)I9k@YUG JżJJJJD&K Y W~?y٧}IA:D)7ŧ7 8)BEE[[r@[W~?[%[[[[BZYY i) .ɼIij@`= Kڿ))Kڿj@VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031019.003165 s, next control iter: 1743031019.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031019.403165 s.J "J *J 2J :J 1?BJ 1?nJ w:5vJ &H~,ٺ"AA ףp@AV@A^X~? AoA"&"AA΁lNA"AZAbAjArAzAAA%@AzjrAyj@Amܛ;A=A#A8A@%ԿAʼ*A9?2Aֽ:Ah=BA9?JAֽRAh=٘i)I9j@YG JYɼJJJJD&K YV~?yݧ IAEDj7j78)B[[s@[ȲW~?[.*[[[[BZYY i) yмIiVm@= Pؿ))Pؿ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031019.423165 s, next control iter: 1743031019.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4518", header.stamp.nsec: 0"0 temperature: 13.387892"* salinity: 33.391670", density: 1025.000000"* values[0]: 0.694060"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031019.823165 s.H~,!"AA\(@A?@AX~? AAm"&"AA%^lNA"AZAbAjArAzAAA>7V皼@AjHlrAO.j@AgAܱ=A,"A`A@տA!ʼ*A9?2A<׽:A=BA9?JA<׽RA=٘i)I9.j@YG JʼJJJJ D&K YV~?y'HAOD{7$8)BBE[[3t@[IW~?[.[[[[BZYY i) ׼Iip@v=  ֿ)) ֿ@gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031019.843165 s, next control iter: 1743031020.223175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031020.243165 s.îH~,m"AJ"J*J2J:J1?BJ1?nJ%:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086201< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743031020.243280F (some fields omitted in printout)AGz@A܄{ez@AͣX~? AA;"&"AA:lNA"AZAbAjArAzAAAM͊ @AnrATi@A#A=A~ A`eAտAf̼*A99?2A'd׽:A=BA99?JA'd׽RA=٘i)I9i@YG J˼JJJJD&K YjV~?y#HAZD77{7O!8AB)B?E[[?u@[!W~?[2[[[[BZYY i) ߼Ii:s@= ӿ))ӿ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031020.263165 s, next control iter: 1743031020.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031020.663165 s.ʮH~,q*"AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4519, header.stamp.nsec: 00 temperature: 13.388210* salinity: 33.391659, density: 1025.000000* values[0]: 0.692825F (some fields omitted in printout)A@A妱@AX~? A|A!&"AAlNA"AZAbAjArAzAAAA\_ @AGvjUqrA[h@A86A?W=AA`KA`JֿA м*A9?2AN׽:Al=BA9?JAN׽RAl=YPd@Cy^T=d6ٓHiW?@"R@=}a⯿@Ɔg?)Pd@ I٘i)I9h@Y G JͼJ1<JJ}EJ"D&K|x> YV~?yGAeDŧ7b7z(8)BIit@ʅ= ѿ))ѿ@%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031020.683165 s, next control iter: 1743031021.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031021.083165 s.DѮH~, SE"AJ"J*J2J:J]1?BJ]1?nJ95vJARk@A½2oQ@A=vX~? AvA!&"AA`kNA"AZAbAjArAzAAAR9 @AWsrA%h@AһA=A^?A`PA`׿A|ռ*A9?2A׽:A$=BA9?JA׽RA$=٘i)I9%h@YI G JҼJJJJ-D&K YrV~?yW0GApDb77/8)B=E[[bϿ))>Ͽ,@@KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031021.103165 s, next control iter: 1743031021.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031021.503165 s.׮H~,L4`"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082765< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743031021.503302F (some fields omitted in printout)Ap= ק@Aj򼧱@A_X~? A!AV!&"AA;kNA"AZAbAjArAzAAA2WI@A\EvrAkog@AG:A$=AA A@2ZؿARuܼ*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9og@Y G JؼJJJJ7D&K Y}V~?yFAzD77768@B)B:E[[]y@[^W~?[@[[[[ZZBZYY i) o(μIi`x@= +̿))+̿Е@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031021.523165 s, next control iter: 1743031021.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4520, header.stamp.nsec: 00 temperature: 13.388500* salinity: 33.391663, density: 1025.000000* values[0]: 0.691583F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031021.923165 s.:ޮH~,{"AJ"J*J2J:JBJnJvJA(\B@Ax(@AIX~? A%A3!&"AAkNA"AZAbAjArAzAAApC@A:ĆxrAf@A-<AŰ=A|AUA#ٿAK*A9?2Alֽ:A7=BA9?JAlֽRA7=٘i)I9f@Y^ G JJJJJBD&K YygV~?yW~?[J[[[[ZZBZYY i) MIi}@["= }ȿ))}ȿ]@yA=ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031022.363165 s, next control iter: 1743031022.743174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4521&, header.stamp.nsec: 0&0 temperature: 13.388875&* salinity: 33.391624&, density: 1025.000000&* values[0]: 0.690105&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031022.763165 s.8H~,#ذ"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812J"J< rudderAngleAction: -0.261799*J2J> elevatorAngleAction: 0.082765:J< massPositionAction: 0.000000BJ4 buoyancyAction: 0.000500nJvJ dt: 0.4200452 time: 1743031022.763325F (some fields omitted in printout)A@A/kb@AhX~? A.A Z &"AAXokNA"AZAbAjArAzAAA85h@AMO~rA9d@AM;A^w=AAGA@iڿA^*A9?2Aֽ:Aq<BA9?JAֽRAq YMB)B0E[[}@[hW~?[T[[[[ZZBZYY i) JIi@#= ÿ))ÿ]@D{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031023.203165 s, next control iter: 1743031023.583187 s, wait time: 0.380022 s.'V~?).E  rAdjusting time to match Gazebo time: 1743031023.603165 s.?4H~,К"AJ"J*J2J:JG0?BJG0?nJ85vJA= ף@AMK֩@ACW~? A48A8&"AA.kNA"AZAbAjArAzAAATz?A?`rAP}c@AwD A<AzAAHܿAZ*A9?2Aֽ:AoBA9?JAֽRAo٘i)I9}c@Yt G JuJJJJmD&K YV~?yFDAD77Z8/B)B1E[[~@[zW~?[Y[[[[ZZBZYY i) >Ii@3%= ))W@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031023.643165 s, next control iter: 1743031024.003181 s, wait time: 0.360016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4522 , header.stamp.nsec: 0 0 temperature: 13.389230 * salinity: 33.391628 , density: 1025.000000 * values[0]: 0.688589 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031024.023165 s.ZH~,{"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082765< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743031024.023282F (some fields omitted in printout)A(\@A<B@AW~? A!=AeE&"AA{kNA"AZAbAjArAzAAA.W?At(SrAb@ALAf <A\.ApA@ ݿA}*A9?2Arֽ:AeBA9?JArֽRAe٘i)I9b@Y& G JkJJJJxD&K Y=U~?yGvDADŧ7b7a8)B.E[[@[W~?[^[[[[ZZBZYY i) Ii@&= |))|0@mrYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031024.063165 s, next control iter: 1743031024.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031024.443165 s.9H~,F]"AJ"J*J2J:JBJnJvJAzǪ@AUh @A`W~? A0BA&"AAyjNA"AZAbAjArAzAAA54?A7-rA3b@A%AUûAA$A~ݿA/*A9?2Aֽ:A BA9?JAֽRA ٘i)I9b@Y G J?]JJJJD&K YU~?yH"DAD7777h8.B)B+E[[ǝ@[V~?[1d[[[[ZZBZYY i) f{Ii[@#(= c@))c@¿@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031024.463165 s, next control iter: 1743031024.843180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4523, header.stamp.nsec: 00 temperature: 13.389474* salinity: 33.391602, density: 1025.000000* values[0]: 0.687609F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031024.863165 s.+ H~,>7"AA33333@Apy@AnW~? A_GA&"AAjNA"AZAbAjArAzAAAd\?ApWrA^db@A/AA<AAo޿AEͻ*A9?2Aֽ:AծBA9?JAֽRAծY YU~?y%>DAD77%p8)B[[-@[V~?[i[[[[ZZBZYY in=) MiIi@E(= ))O@<)YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031024.903165 s, next control iter: 1743031025.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743031025.283165 s.8RH~,R"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743031025.283276F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AM@AԣW~? ALA&"AAjNA"AZAbAjArAzAAAt)?A󖿕rAEb@Aa;AABA`ɄA"A߿AX*A9?2Aֽ:AҼBA9?JAֽRAҼ٘i)I9Eb@Y G JёJJJJD&K Y?U~?y,ZDADb77Pw8)B(E[[a@[V~?[n[[[[BZYY if=) H5WIiM@X)= ))\ߚ@6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031025.303165 s, next control iter: 1743031025.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 4524., header.stamp.nsec: 0.0 temperature: 13.389577.* salinity: 33.391602., density: 1025.000000.* values[0]: 0.687212.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031025.703165 s.ֺH~,m"AAףp= @A8@AW~? ARA&"AAjNA"AZAbAjArAzAAA g?AzWorA7Gb@A5<A:6AA%2A6߿AA@;*Aս9?2Aֽ:AbBAս9?JAֽRAb缙٘i)I9Gb@Y G J_9B=JJJJD&K YU~?y33wDADŧ7|~8/B)B)E[[L@[V~?[|t[[[[BZYY i) /EIi@O*= ))n@t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031025.723165 s, next control iter: 1743031026.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031026.123165 s.;!H~,m⇼"AJ"J*J2J:JBJnJvJA)\u@A[@A}W~? AWAE&"AAyjNA"AZAbAjArAzAAA۰-[?A )KrAgb@A&(<A5[AAA@TA";*A9?2Aֽ:A-BA9?JAֽRA-٘i)I9gb@Y G JŚ;C=JJJJD&K YU~?y9DADb78.B)B&E[[ۂ@[V~?[z[[[[BZYY i) 3Ii@+= H))H@yH=Γ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031026.163165 s, next control iter: 1743031026.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031026.543165 s.I(H~,~â"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069042< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743031026.543266F (some fields omitted in printout)A{Gᬱ@A:Ǭ@A.kW~? AX]A&&"AA<]jNA"AZAbAjArAzAAA(|A)irA^b@A'G~;AyAM] A AA0<*A 9?2Aֽ:AicBA 9?JAֽRAic٘i)I9b@Y G J<B=JJJJD&K YGU~?yz@DAD77ь8)B#E[[Pj@[ѰV~?[[[[[BZYY i)  Ii@,= ?))?K@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031026.563165 s, next control iter: 1743031026.943173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4525, header.stamp.nsec: 00 temperature: 13.389582* salinity: 33.391602, density: 1025.000000* values[0]: 0.687404F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031026.963165 s.J "J *J 2J :J /?BJ /?.H~nJ85vJ,"AAL@A 2@A YW~? A"cA[h&"AAmAjNA"AZAbAjArAzAAA:cIh̿A&%!JrAwb@AA∽AW A 1A@Aۢh<*A9?2ARֽ:ABA9?JARֽRAY[x@8 yሽ]ٓH{?å?/`{?@?@ s?)[x@ I٘i)I9b@Y# G JJ<C=JJJJD&Kzw> Y{U~?yG EA Db78)B[[#@[nV~?[R[[[[BZYY ie=) `IiY@?-= ү))ү@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031026.983165 s, next control iter: 1743031027.363185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743031027.383165 s.5H~,/ؼ"AAQ@AW;@AEGW~? AiAY&"AA/&jNA"AZAbAjArAzAAAyVۿA&arAScc@A1Ab AY A ߿A >QA <*AM9?2A*ֽ:A}6BAM9?JA*ֽRA}6٘i)I9cc@Yd G J~<JJJJD&K YkU~?yNfEA CD7{7%8-B)B E[[@[aV~?[[[[[BZYY i) IiÇ@}-= ))@U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031027.403165 s, next control iter: 1743031027.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4526&, header.stamp.nsec: 0&0 temperature: 13.389456&* salinity: 33.391579&, density: 1025.000000&* values[0]: 0.688048&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031027.803165 s.xA elevatorAngleAction: 0.056151< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743031027.803293F (some fields omitted in printout)Aq= #@AN(D @A5W~? A oA*&"AA jNA"AZAbAjArAzAAAkaA07rA\c@A;ADA A޿AƢAS<*A[9?2AM@ֽ:A$sBA[9?JAM@ֽRA$s٘i)I9c@Y G Jڔ<JJJJD&K Y.[U~?yVEADb77P8.B)B!E[[.@[V~?[ې[[[[BZYY i)  Ii\@.= ^))^)8@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031027.823165 s, next control iter: 1743031028.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031028.223165 s.gCH~,H"AA(\@AkFu@A$W~? A)uA &"AAviNA"AZAbAjArAzAAA8iAQdKrAjd@AĻA-AX2A`@C޿A UA&;<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9jd@Y G J<JJJJD&K YJU~?y1]FA&D77{8-B) BE[[L@[MV~?[[[[[BZYY i) FŻIi%@/= O&))O&Gƞ@yHf=y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031028.243165 s, next control iter: 1743031028.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031028.643165 s.zIH~,*)"AJ"J*J2J:Je0?BJe0?nJ85vJAG@Aற@AUW~? Ac{A]&"AAiNA"AZAbAjArAzAAA A/YrAd@A &;A皽AAUݿAoBAJ<*A49?2Aֽ:A BA49?JAֽRA ٘i)I9d@Y[ G J<JJJJD&K Ys:U~?y^dzFA1D77{78)B[[1@[LvV~?[[[[[BZYY i=) zIi@O0= 樂))樂S@*YFFF]q:Waiting for Gazebo time sync: latest Gz time: 1743031028.663165 s, next control iter: 1743031029.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4527, header.stamp.nsec: 00 temperature: 13.389239* salinity: 33.391556, density: 1025.000000* values[0]: 0.689054F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031029.063165 s.PH~,c D"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065477< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743031029.063290F (some fields omitted in printout)Afffff@AoNL@A,W~? AA&"AA-iNA"AZAbAjArAzAAAœA#úrAe@A2<ALrAmA2ܿAA^<*A9?2AH׽:A6BA9?JAH׽RA6Y)~@jymp:+ <ٓHn~߿??L߿?v)???))~@ I٘i)I9e@Y G J<JJJJD&KJx> Y,U~?ylFA;Dj7SI7з8)BE[[@[kV~?[[[[[BZYY i) JIi-@J0= ))@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031029.083165 s, next control iter: 1743031029.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031029.483165 s.}_WH~,^"AJ"J*J2J:JBJnJvJAѯ@A:wշ@AoV~? A'AA&"AAiNA"AZAbAjArAzAAA/AjrA.f@A9B<A4A^3AܿA`#A ˨<*A9?2A׽:A5*BA9?JA׽RA5*٘i)I9f@Y G JĪ<JJJJD&K YU~?ysHGAFD77778.B)BE[[N@[:aV~?[[[[[BZYY i) [7TIim@201= ))p@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031029.503165 s, next control iter: 1743031029.883181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4528, header.stamp.nsec: 00 temperature: 13.389010* salinity: 33.391544, density: 1025.000000* values[0]: 0.690212F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031029.903165 s.]H~,y"AA ףp=@AmY#@AV~? AA&"AAkiNA"AZAbAjArAzAAA֪A`߸rAf@A/;A唽AA G;ۿA"Aŧ<*A9?2Aֽ:AmBA9?JAֽRAm٘i)I9f@Ya G JJ<JJJJD&K YU~?yW{GAQD{7&ƍ8)B[[ۇ@[5WV~?[[[[[BZYY i) Ii݊@1= G))G@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031029.923165 s, next control iter: 1743031030.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031030.323165 s.wdH~,)"AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065477< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743031030.323297F (some fields omitted in printout)A\@A `㎰@A YiT~?yHAqDۍ8.B)BE[[@[@;V~?[[[[[BZYY i) *9Ii0@|q3= '))'@;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031031.183165 s, next control iter: 1743031031.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031031.583165 s.xH~,R"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065477< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743031031.583278F (some fields omitted in printout)AR뱱@Al;mѱ@A4V~? AAY&"AA7iNA"AZAbAjArAzAAAe+A1brA9h@AACNAA H ؿA@,Ap<*A9?2Aֽ:ABA9?JAֽRA٘i)I9h@Y G J<C=JJJJ9D&K Y T~?yǚ;IA|D7778)B[[:@[2V~?[aǨ[[[[BZYY i) :IiF@k3= n))n54@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031031.603165 s, next control iter: 1743031031.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4530, header.stamp.nsec: 00 temperature: 13.388535* salinity: 33.391510, density: 1025.000000* values[0]: 0.692476F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031032.003165 s.v H~,D4"AJ"J*J2J:JBJnJvJAp= W@Aξ<@AV~? AA&"AAv#iNA"AZAbAjArAzAAAσG[iAiArA-Si@An˺AڇAyA8׿AHkA,<*A9?2Aֽ:A9BA9?JAֽRA9٘i)I9Si@YG J<JJJJDD&K YT~?yעIAD778)B[[ӟ@[T*V~?[ͨ[[[[BZYY i) ;Ii@"3= 38))38@&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031032.043165 s, next control iter: 1743031032.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031032.423165 s.uH~,"AA(\²@AwNy@ArV~? AȷA&"AAiNA"AZAbAjArAzAAA/ qA7#rA~i@Ag;A܅A4A`ֿAAX<*A9?2A!׽:AtBA9?JA!׽RAt񼙘٘i)I9i@YLG J<JJJJOD&K YMT~?y窨IAD77'8-B)߯BE[[B-@[f"V~?[Ԩ[[[[BZYY i) ߴW;Ii@{4= w))w=O@c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031032.443165 s, next control iter: 1743031032.823179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4531", header.stamp.nsec: 0"0 temperature: 13.388315"* salinity: 33.391502", density: 1025.000000"* values[0]: 0.693541"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031032.843165 s.݌H~,5"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065477< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743031032.843297F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.@AZ@AEV~? A쾩A.v&"AAhNA"AZAbAjArAzAAA[:^ABy-QrA+Bj@Aj><A%hAAտA@QA;<*A 9?2A4׽:ABA 9?JA4׽RA٘i)I9Bj@YG J<JJJJZD&K YT~?yWJAD77Q8.B)ܯBE[[m@[V~?[cڨ[[[[BZYY i\#=) ´;Ii@uM5= ͐))͐hܤ@Z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031032.883165 s, next control iter: 1743031033.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031033.263165 s.H~,P"AA@A^@AzV~? A%ƩA&"AAhNA"AZAbAjArAzAAA[3A4ssrAj@A,)<AiAAԿA`rA@+<*A9?2A׽:ABA9?JA׽RAYvɅ@K y;g)<ٓH}ӿt?`1?fc=ӿn?j?}%??)vɅ@ I٘i)I9j@YG J<J7<JJJdD&KIx> Y?T~?yXJA Dŧ7b7|8)ٯB[[G@[V~?[[[[[BZYY i) ;Ii`@'4= ;));i@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031033.283165 s, next control iter: 1743031033.663180 s, wait time: 0.380015 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 45322, header.stamp.nsec: 020 temperature: 13.3881222* salinity: 33.3914792, density: 1025.0000002* values[0]: 0.6945072F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031033.683165 s.lH~,kk"AJ"J*J2J:J1?BJ1?nJn:5vJAQ@A 볱@AWoV~? AoͩAd\&"AAhNA"AZAbAjArAzAAA`OA U-rAB#k@A"k;AD%AjAӿALAŴ<*A9?2A6ֽ:AWBA9?JA6ֽRAW٘i)I9#k@YG J<JJJJoD&K  8YT~? 8yèKADj7j78)կBE[[IՌ@[ V~?[D[[[[BZYY i) }p;IiK@4= [b))[bD@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031033.683165 s, next control iter: 1743031034.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743031034.103165 s.H~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074286< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743031034.103294F (some fields omitted in printout)A= ףp@AqhV@AdV~? AԩAg&"AAhNA"AZAbAjArAzAAAPMe@AejrAk@ASÃAAҿA`r~Aq<*A9?2Aֽ:ABA9?JAֽRA٘i)I9k@Y`G J<JJJJzD&K YT~?y̨_KAD7777 8)ѯB[[b@[?V~?[[[[[BZYY i) z;Iif@4= c,))c,„@y=j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031034.123165 s, next control iter: 1743031034.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031034.523165 s.J "J *J 2J :J 1?BJ 1?nJ :5vJ H~,|"AA(ܴ@Az7´@AQZV~? A8ܩA=&"AAhNA"AZAbAjArAzAAAU A6κ3rAl@A6a4AAmSA GҿAA^<*AM9?2A rֽ:ABAM9?JA rֽRA٘i)I9l@YG J"<JJJJD&K Y1T~?yԨKAD778/B)ϯBE[[@[V~?[J[[[[BZYY i) ׾"AJ"J*J2J:J'2?BJ'2?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074286< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743031035.363315F (some fields omitted in printout)A3333@A8G@A>GV~? AAA&"AA.hNA"AZAbAjArAzAAAqu A~/XarA#l@A$wAA8AJпAkAA<*AR9?2Aֽ:ABAR9?JAֽRA٘i)I9l@Y1G J<JJJJD&K Y҇T~?yChLADb77R#8.B)ǯBE[[F @[U~?[h[[[[BZYY i) u#V~? AA&"AAshNA"AZAbAjArAzAAAdF AJ rA)\m@AtF;A@AaAοA0A8<*A9?2AL׽:ABA9?JAL׽RA٘i)I9\m@YvG J<JJJJD&K Y#T~?yLAD{7{7}*8)įB[[@[U~?[[[[[BZYY i) U$3 elevatorAngleAction: 0.083117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743031036.623291F (some fields omitted in printout)A)\@AIC۶@Ae.V~? A;AY&"AAIthNA"AZAbAjArAzAAA餇A2_grA@n@A#><AAܿA`˿AX|A<*A_9?2A3,׽:AnBA_9?JA3,׽RAn٘i)I9@n@YG J݈<JJJ~EJD&K YmT~?yiqMAD88/B)BE[[@[U~?[([[[[BZYY i) ǁR YbT~?y-NAֿD{7j7'G8)B[[ő@[U~?[`"[[[[BZYY i) Liq elevatorAngleAction: 0.083117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743031037.883285F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8@A9@AV~? AAO&"AALThNA"AZAbAjArAzAAAr|"AG sAo@AFAeAxԿA ſA@A_2<*A)9?2A6[ֽ:AiBA)9?JA6[ֽRAi٘i)I9o@YG J<JJJJD&K Y^T~?yLNAD77{7RN8)BE[[Q@[UU~?[ )[[[[BZYY i) N elevatorAngleAction: 0.083117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743031039.143273F (some fields omitted in printout)AGz@ARx`@At V~? A\1A &"AAG;hNA"AZAbAjArAzAAACiA1H,sATq@AAAl̿A@￿A@ A<*A9?2Aֽ:AYBA9?JAֽRAY٘i)I9Tq@YG J<JJJJD&K YUT~?y2OA=Dŧ7c8)BE[[@[U~?[)=[[[[BZYY i) ! YUT~?y[;+PAɿHD77j7j8)B[[@[4U~?[C[[[[BZYY i) 䆞<A-8A:ǿALADAg <*A¤9?2A(׽:A+BA¤9?JA(׽RA+٘i)I9wr@YG J<JJJJD&K YZUT~?y'DPARDj7(r8)B[[@[U~?[J[[[[BZYY i)  elevatorAngleAction: 0.083117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743031040.403299F (some fields omitted in printout)A ףp@A\@AU~? AWIA &"AAj)hNA"AZAbAjArAzAAACAӡ*sAs@AB#<AЩAsĿA`JARAg<*AY9?2AUֽ:ABAY9?JAUֽRA٘i)I9s@YG JƳ<JJJJD&K Y(UT~?yLQA]D77{7Sy8)B[[p@[U~?[[Q[[[[BZYY i) Q elevatorAngleAction: 0.083117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743031041.663270F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4540, header.stamp.nsec: 00 temperature: 13.569530* salinity: 33.374969, density: 1025.000000* values[0]: 0.576197F (some fields omitted in printout)A@ACp廱@APU~? AyaA &"AAhNA"AZAbAjArAzAAAͫ8A~79sA5t@A5/7AA/A@`AnA<*Au9?2A4(ֽ:AdBAu9?JA4(ֽRAdYВ@＿yL#7ٓH8 ?`?Yi?{?u?Vܵ?`冿@?)В@ I٘i)I9t@YG J<B=JJJJJ;D&Kw> YoWT~?yOg[RA＿}Db77ӎ8)B[[;ǿ[U~?[e[[[[BZYY i) %_sAϦu@AK3AگAFsAZArA<*A9?2ACֽ:ABA9?JACֽRA٘i)I9u@YG J<C=JJJJFD&K YZT~?ypRADZ7Z78)BE[[a ſ[U~?[dl[[[[BZYY i)  elevatorAngleAction: 0.083117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200662 time: 1743031042.923338F (some fields omitted in printout)A(\B@A5A}(@AU~? AyACA&"AA)hNA"AZAbAjArAzAAAƠAuPHsA%w@A>6j;AjAUA䓂?AtA<*A&9?2Axֽ:AkBA&9?JAxֽRAk٘i)I9w@YVG J<B=JJJJ\D&K Yp_T~?ySAD77{7T8)tB[[A[U~?[y[[[[BZYY i,;=) "<ٓH?)`?x@D4?<3?@5?P??)@ I٘i)I9Zx@Y(G J<JUJJJqD&K(x> YgT~?yTA诿Dj78)iBE[[9[UU~?[t[[[[ZZZZ¸>BZYY i¸> o) cA:A?A bA=<*AV9?2Aֽ:ABAV9?JAֽRA٘i)I9y@YG J<JJJJ|D&K YmT~?yUADj7Թ8)dB[[Y[U~?[4[[[[ZZZZBZYY i) cw"AA33333@A/h!@AV~? A䱪A&"AA.hNA"AZAbAjArAzAAAQAF VjsAZ;|@A JA/AA`ּ?A(A<*A9?2AYֽ:A%ջBA9?JAYֽRA%ջYQ@y/ٓH?˗? v X?`&?@;?@.~>?)Q@ I٘i)I9;|@YG J<J=JJJD&Kw> YT~?y佩VADb77֎8)KB[[g)[U~?[([[[[ZZZZBZYY i) }@AA%<A1<A Ao?A`AL;*A:9?2AEֽ:A䣧<BA:9?JAEֽRA䣧<٘i)I9}@YG JW;JJJJD&K Y'T~?yߩWAD77)8)@B[[<[RU~?[é[[[[ZZZZBZYY i) 0\aSA z,sA}@A0";Aְ=AA?A@AС:*A9?2A+yֽ:AM<BA9?JA+yֽRAMJJJD&Kw> Y*T~?yWA앿D)7ŧ7T80B)E[[[U~?[ʩ[[[[BZYY i1m) tKI4sA}@Aآ:AX=AA9w?A znA*A9?2Aֽ:AW<BA9?JAֽRAW<٘i)I9}@YG J픻JJJJD&K Y.T~?y(WA4D7778)AB E[[;[ V~?[ש[[[[BZYY i) k(D781B)DB#E[[E[V~?[dީ[[[[BZYY i)  YT~?ynVATD77*8)JB[[_ƚ[!V~?[m[[[[BZYY i2!l) ?;Ii{@!= ؾ))ؾؾǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031050.103165 s, next control iter: 1743031050.463183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743031050.483165 s.r_H~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743031050.483251F (some fields omitted in printout)J"J*J2J:JBJnJvJAı@A_2ı@AQV~? A\Al%"AAhNA"AZAbAjArAzAAAn ALL˞sA;e|@A5<AO=AnA wN?A@Am*AC9?2Aֽ:AY>=BAC9?JAֽRAY>=٘i)I9e|@YG JVB=JJJJD&K YUT~?y VA^D777U%82B)OB'E[[_[)V~?[[[[[BZYY i) ;Iix@K= Ͼ))ϾϾZѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031050.503165 s, next control iter: 1743031050.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4549, header.stamp.nsec: 00 temperature: 13.567661* salinity: 33.375015, density: 1025.000000* values[0]: 0.580599F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031050.903165 s.ȭH~,͹"AA ףp=ű@A4,F]#ű@A[V~? AA"%"AAhhNA"AZAbAjArAzAAA_oZ AJ [sA{@AL<<A6=A)ՃAm0?AEA* *A9?2Aֽ:A=BA9?JAֽRA=I٘i)I9{@YIG J C=JJJJ(D&K YU~?ymUAiD,8)TB[[?D[62V~?[R[[[[BZYY i) };Ii{v@= Fƾ))FƾFƾ֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031050.943165 s, next control iter: 1743031051.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031051.323165 s.vH~,%"AJ"J*J2J:J?BJ?nJ5vJA\ű@A|ݎű@AeV~? A>AH%"AAhNA"AZAbAjArAzAAADBeA`E\sAF{@AD;AnU=A+A`Z?A pAmW*Aڦ9?2Akֽ:A =BAڦ9?JAkֽRA =٘i)I9F{@YG JJJJJ3D&K YuU~?y&'HUAtD77{7383B)YB*E[[[ ;V~?[[[[[BZYY i) ;Iipt@ q= ߽))߽߽y5lتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031051.363165 s, next control iter: 1743031051.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4550*, header.stamp.nsec: 0*0 temperature: 13.567884** salinity: 33.375019*, density: 1025.000000** values[0]: 0.580005*F (some fields omitted in printout).uU~?).&' rAdjusting time to match Gazebo time: 1743031051.743165 s.WH~,d"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743031051.743287F (some fields omitted in printout)AGzƱ@A"5bű@ApV~? AA%"AAhNA"AZAbAjArAzAAAiA^ qA.N\sAz@Aa5A|=A|A`?AQ=A*A9?2Aֽ:Aqq=BA9?JAֽRAqq=٘i)I9z@YG JJJJJ=D&K Y"U~?y.TAD7:8)^B[[[FDV~?[[[[[BZYY i) )d;Iir@`= Ǵ))ǴǴתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031051.783165 s, next control iter: 1743031052.143175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743031052.163165 s.x}°H~,q "AJ"J*J2J:Je?BJe?nJ5vJAƱ@A9eƱ@A|V~? A$A)%"AAOhNA"AZAbAjArAzAAA!AjhͰsAz@AI$AAD=AwA ?A@IA0*A9?2Aֽ:A,=BA9?JAֽRA,=Y@MwyDB=E$ٓHn?9X? ? H`x)?ѬC  \?)@ I٘i)I9z@Y8G JJ&<JJJHD&K,x> Y2U~?y 6TAwDj7Z7B85B)dB.E[[;x[MV~?[e [[[[BZYY i) O(;IiSo@*= 6))66ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031052.183165 s, next control iter: 1743031052.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031052.583165 s.ȰH~, S%"AARƱ@ACoƱ@AևV~? A,Ay%"AAhNA"AZAbAjArAzAAA%YA:2sAy@ACEA=A\rA B?A@8A_\*A9?2Aֽ:A{&<BA9?JAֽRA{&<٘i)I9y@YG JJJJEJSD&K Y BU~?y`=TAD{7*I8)iB[[3[WV~?[[[[[BZYY iLj) 4:Ii?l@2= &))&&CЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031052.603165 s, next control iter: 1743031052.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4551, header.stamp.nsec: 00 temperature: 13.568089* salinity: 33.375015, density: 1025.000000* values[0]: 0.579342F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031053.003165 s.x аH~,L4@"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066788< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743031053.003289F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= WDZ@AO<DZ@AV~? A/3A%"AAhNA"AZAbAjArAzAAADsAsA#x@A%ApS=A :Iii@Bx= n))nn˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031053.043165 s, next control iter: 1743031053.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031053.423165 s.:uְH~,#["AA(\DZ@AzDZ@AƠV~? A<:A %"AAiNA"AZAbAjArAzAAAr?A.PoٽsA5ex@A:A=A-hA!Z?A`V]Abҧ*A9?2Aֽ:Aޅ<BA9?JAֽRAޅ<٘i)I9ex@Y.G J+JJJJhD&K Y bU~?yKHSAD77W8)sB[[[lV~?[[[[[BZYY i) jHIi9g@= Vj))VjVjŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031053.443165 s, next control iter: 1743031053.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4552, header.stamp.nsec: 00 temperature: 13.568317* salinity: 33.375053, density: 1025.000000* values[0]: 0.578679F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031053.843165 s.J "J *J 2J :J $?BJ $?nJ V5vJ ܰH~,u"AAHz.ȱ@Aȱ@AV~? A3AA%"AAU$iNA"AZAbAjArAzAAAc YBgAͲ+sAw@AK< <A,=AcA t+?AS A4*A9?2AVֽ:AQ<BA9?JAVֽRAQ<٘i)I9w@YG JJJJJsD&K YrU~?y!SRAD7ŧ7^87B)yB5E[[V[wV~?[A$[[[[BZYY i) IiIe@= v:))v:v:y很?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031053.883165 s, next control iter: 1743031054.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031054.263165 s.H~, ؐ"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066788< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743031054.263278F (some fields omitted in printout)Aȱ@Am4ȱ@AV~? AHAu%"AA8iNA"AZAbAjArAzAAAU$]AhMsAQw@AD<A)=A]A?AA*A9?2AUֽ:A߽<BA9?JAUֽRA߽ Y[U~?yYRA]D77e8)}B[[["A:J?BJ?nJ5vJA3333ʱ@A(ʱ@A5W~? A$iA^%"AAiNA"AZAbAjArAzAAAa+FANzsAt@AF)A =ArCA?A`׀Aݠ*A9?2A]ֽ:Axd<BA9?JA]ֽRAxd YU~?yzPACDj7j78;B)B?E[[ q[ V~?[G[[[[BZYY i) "$߻IiR@t= ))CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031056.383165 s, next control iter: 1743031056.763181 s, wait time: 0.380016 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4555*, header.stamp.nsec: 0*0 temperature: 13.568836** salinity: 33.375046*, density: 1025.000000** values[0]: 0.577053*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031056.783165 s.[ H~,2"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076374< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743031056.783307F (some fields omitted in printout)AQ˱@A<ן˱@AmW~? AuoAn%"AA1iNA"AZAbAjArAzAAAve]3AVsAt@AcA=A"k>AJ?A 4A;'*A9?2A[ֽ:At<BA9?JA[ֽRAt<٘i)I9t@YG J遼C=JJJJD&K YXU~?yfPA CDb77֐8)BBE[[Ojl[V~?[M[[[[BZYY i) HIiN@Il= i ))i i ﳪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743031056.803165 s, next control iter: 1743031057.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743031057.203165 s.H~,.M"AJ"J*J2J:J?BJ?nJ5vJAףp=˱@AV*p˱@A 'W~? AuAy%"AA iNA"AZAbAjArAzAAACpAC) !sA"t@A9;Ao4=AZ9A-b?A #A$*Aq9?2Ayֽ:An<BAq9?JAyֽRAn<٘i)I9"t@YG JJJJJD&K Y V~?yPA D78)B[[g[V~?[WS[[[[BZYY i) hIiK@^= `))``yQYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031057.223165 s, next control iter: 1743031057.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031057.623165 s.]H~,vg"AA)\˱@A[ ˱@A8W~? A{A |%"AAiNA"AZAbAjArAzAAA,eMA&3sAs@AL8<A9=A>4A`/?AA;e*A9?2AXֽ:A;=BA9?JAXֽRA;=٘i)I9s@YQG J\JJJJD&K Y%V~?yOAD7,8s@A9<A=A/A@?AEAsf*AO9?2Anֽ:A=BAO9?JAnֽRA=٘i)I9>s@Y G JKJJJJD&K Y3V~?y+`OA DZ7Z7V8>B)BIE[[/\^[V~?[^[[[[BZYY i) p.IitF@< b))bbݻYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031058.063165 s, next control iter: 1743031058.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031058.463165 s.T'H~,ߤ"AA̱@A ̱@AM[W~? AA%"AAB'jNA"AZAbAjArAzAAAA0ɿApVsA9r@AKv;A=A)A`@?AIAo슼*A 9?2Aֽ:A=BA 9?JAֽRA=Yج@)yI=F;ٓH +?@?H?@8?S[nv??)ج@ I٘i)I9r@YG JJB)<JJJD&K0x> YIV~?yOA)*D778)B[[Y[ W~?[c[[[[BZYY i) =IiAB@< ))k>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031058.483165 s, next control iter: 1743031058.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4557, header.stamp.nsec: 00 temperature: 13.569122* salinity: 33.375072, density: 1025.000000* values[0]: 0.576123F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031058.883165 s.y-H~,/"AJ"J*J2J:JBJnJvJAQ8ͱ@A-=ͱ@AmW~? AqA%"AABjNA"AZAbAjArAzAAA eS?A~ƌsA{Ur@A&SA=AX$A?A`A&*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9Ur@Y}G JJJJJD&K Y`V~?yNA5D7778)BLE[[U[yW~?[]i[[[[BZYY i) UhMIiq>@x< ,?)) ,?,?ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031058.903165 s, next control iter: 1743031059.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031059.303165 s.V4H~,wg"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076374< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743031059.303300F (some fields omitted in printout)Aq= ףͱ@Aͱ@AW~? AA%"AA]^jNA"AZAbAjArAzAAA YʺV~?y&MA`Dŧ7b7Wя8BB)BVE[[kB[ZW~?[0~[[[[BZYY i) zIi0@< .<))|.<.<ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031060.583165 s, next control iter: 1743031060.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4559, header.stamp.nsec: 00 temperature: 13.569423* salinity: 33.375080, density: 1025.000000* values[0]: 0.575126F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031060.983165 s.OH~,>"AAQϱ@Ap7ϱ@AW~? AA]%"AA6jNA"AZAbAjArAzAAAM9?AH*tAo@A<A(=A A@/?A@ݿA啥*A9?2Aս:Adq=BA9?JAսRAdq=٘i)I9o@YG JJJJJ*D&K YV~?yLAkDj7SI7؏8)ïBZE[[M=[/lW~?[+[[[[BZYY i)  Ii,@m< @"<=)) @"<=@"<=QժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031061.003165 s, next control iter: 1743031061.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031061.403165 s.&VH~,Y"AJ"J*J2J:JBJnJvJA ףpϱ@Aϝ`ϱ@ABW~? AAy%"AAjNA"AZAbAjArAzAAAQ|l?A1"o?tA0So@ADOF<A=AsA}?A@ܿAs*An9?2AԽ:A*P=BAn9?JAԽRA*P=٘i)I9So@YG JçJJJJ5D&K YV~?yTYLAuD777ߏ8)ǯB[[8[}W~?[[[[[BZYY i) UIif)@~< Y=))Y=Y=yZ<٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031061.423165 s, next control iter: 1743031061.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4560", header.stamp.nsec: 0"0 temperature: 13.569553"* salinity: 33.375076", density: 1025.000000"* values[0]: 0.574557"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031061.823165 s.\H~,%t"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743031061.823326F (some fields omitted in printout)A\(б@A:zб@AW~? A}A C%"AAkNA"AZAbAjArAzAAA V?A-?tAn@A2<AⲠ=A[A?A3ܿAP>*A9?2AԽ:A=BA9?JAԽRA=٘i)I9n@YPG JګJJJJ@D&K YyW~?yKADŧ78CB)̯B]E[[3[ɏW~?[댪[[[[BZYY i) $Ii4&@׽< ת=))ת=ת=ܪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031061.843165 s, next control iter: 1743031062.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031062.243165 s.cH~,"AJ"J*J2J:JBJnJvJAGzб@A \kzб@A X~? AGA %"AA:0kNA"AZAbAjArAzAAAcaN?A# a, tA0n@Avh:A=A~A ?A`pۿA+ۮ*A9?2Aq{ս:A=BA9?JAq{սRA=٘i)I90n@YG JB=JJJJJD&K Y`W~?yŪKAD77{78)үB`E[[.[-W~?[[[[[BZYY i) Iih#@)< =))==YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031062.263165 s, next control iter: 1743031062.643186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743031062.663165 s.jH~,q"AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4561, header.stamp.nsec: 00 temperature: 13.569750* salinity: 33.375084, density: 1025.000000* values[0]: 0.573940F (some fields omitted in printout)Aѱ@A.=б@A!X~? AﻫAƇ%"AA0PkNA"AZAbAjArAzAAAh?*@A\ tAm@A8SA=AxAR?A}ڿA㰼*AY9?2Aֽ:A]=BAY9?JAֽRA]=Y J@+y՛=!ٓH?:s?@1z?1dܿթ?>4ʹTj~@?) J@ I٘i)I9m@YG JƯC=J;<JJJUD&K=u> Y3W~?yɪKA+Dj7Z7,8)ׯBcE[[g*[W~?[E[[[[BZYY i) Ii@.a< =))y==YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031062.683165 s, next control iter: 1743031063.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031063.083165 s.DqH~,S"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.244087@ elevatorAngleAction: -0.085673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743031063.083294F (some fields omitted in printout)J"J*J2J:JBJnJvJARkѱ@AA~6rQѱ@A6X~? AtA .%"AApkNA"AZAbAjArAzAAAjIc5@A_j|rtAm@AFAA=A=EAՖ?AXٿA.*A9?2AOֽ:AS=BA9?JAOֽRAS=٘i)I9m@YBG JJJJJ`D&K YLW~?yͪJADb77W8)ۯB[[B%[W~?[ʚ[[[[BZYY i) pIi@< 3>)) 3>3>,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031063.103165 s, next control iter: 1743031063.483181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031063.503165 s.wH~,;4"AAp= ѱ@AUѱ@ALX~? AīA%"AA~kNA"AZAbAjArAzAAAdG@AstAll@Ah#Aw=A'׾A?A ٿA*A\9?2AuԽ:AX=BA\9?JAuԽRAX=٘i)I9ll@YG JJJJJkD&K  8Y.fW~? 8ytѪ=JAD{7{78EB)BgE[[;h [W~?[;[[[[BZYY i) SιIi @S< ">))">">YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031063.523165 s, next control iter: 1743031063.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4562, header.stamp.nsec: 00 temperature: 13.569910* salinity: 33.375122, density: 1025.000000* values[0]: 0.573334F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031063.923165 s.6~H~,"AJ"J*J2J:JBJnJvJA(\Bұ@A$w(ұ@AbX~? AɫA%"AAβkNA"AZAbAjArAzAAAt`@Aq tAk@AS=A,v=AmV;A ?ADؿARļ*A9?2A3Խ:Ad=BA9?JA3ԽRAd=٘i)I9k@YG JJJJJuD&K YtW~?y_ժIAD)7ŧ7 8FB)BjE[[_[yW~?[[[[[BZYY i) -Ii@< )6>)))6>)6>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031063.943165 s, next control iter: 1743031064.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031064.343165 s.t;A±=AqþA`\T?A5y׿A=ͼ*A29?2AԽ:Ap=BA29?JAԽRAp=٘i)I9#k@YG JȼJJJJD&K YW~?yI٪]IAD7778)BmE[[c[X~?[ק[[[[BZYY i) ȼIi@;U< I>))I>I>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031064.383165 s, next control iter: 1743031064.743174 s, wait time: 0.360009 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4563*, header.stamp.nsec: 0*0 temperature: 13.570127** salinity: 33.375126*, density: 1025.000000** values[0]: 0.572668*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031064.763165 s.9H~,'0"AJ"J*J2J:JBJnJvJAӱ@AMg'ұ@AX~? A*ѫA%"AAkNA"AZAbAjArAzAAAS+ @AAtAsj@Aw:<A=AUAu?A EֿA!Ӽ*A9?2A Խ:A=BA9?JA ԽRA=Y@bҸy=ȏ;<ٓH?઩? ?yֿ ?`O@hZ?@?)@ I٘i)I9sj@YG JмJu<JJJD&Kt> YW~?yeܪHAҸD)7ŧ78)BpE[[[X~?[[[[[BZYY i) ϼIi) @%h< >]>))w>]>>]>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031064.803165 s, next control iter: 1743031065.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031065.183165 s.˒H~,VK"AAQӱ@Aykӱ@AX~? AԫA%"AAlNA"AZAbAjArAzAAAF @A OtABi@A5<A=A@设A`I?AaտAf׼*A9?2A4Cս:A=BA9?JA4CսRA=٘i)I9i@YDG JռJJJJD&K YW~?yߪlHAD77{7- 8)B[[ [+X~?[[[[[BZYY i) kּIi@< p>))p>p>aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031065.203165 s, next control iter: 1743031065.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743031065.603165 s.44H~,f"AJ"J*J2J:Jg?BJg?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261666@ elevatorAngleAction: -0.085673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743031065.603295F (some fields omitted in printout)A= ףӱ@Auӱ@AX~? AثAL%"AA)) 8G>8G>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031065.623165 s, next control iter: 1743031066.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4564 , header.stamp.nsec: 0 0 temperature: 13.570354 * salinity: 33.375126 , density: 1025.000000 * values[0]: 0.571892 F (some fields omitted in printout)W~?) rAdjusting time to match Gazebo time: 1743031066.023165 s.ZH~,|"AA(\Ա@AڒUBԱ@A#X~? A7ܫAd%"AAC_lNA"AZAbAjArAzAAArn@A75 tA_Uh@AzANn=AA6?AԿA*:׼*A_9?2A̺Խ:A=BA_9?JA̺ԽRA=٘i)I9Uh@Yg G J׼JJJJD&K YEX~?y{GADj7j7.8)BvE[[W[8UX~?[[[[[ZZ¸BZYY i¸=) ҼIi@< 5>))5>5>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031066.043165 s, next control iter: 1743031066.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031066.443165 s.3æH~,-]"AJ"J*J2J:JBJnJvJAzԱ@A|ԗԱ@AX~? A߫A%"AA݂lNA"AZAbAjArAzAAA,;@A"tAg@Ap,AV;=A\Ah?A cDӿAN׼*A9?2AKս:A/=BA9?JAKսRA/=I٘i)I9g@Y G J"׼JJJJD&K YX~?yGADb7758) ByE[[[jX~?[X[[[[ZZBZYY i) ƼIi[?Hޠ< 2>))2>2>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031066.483165 s, next control iter: 1743031066.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4565, header.stamp.nsec: 00 temperature: 13.570584* salinity: 33.375134, density: 1025.000000* values[0]: 0.571143F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031066.863165 s.+H~,>"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083530< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743031066.863311F (some fields omitted in printout)A33333ձ@AI.!ձ@AY~? AA%"AAɦlNA"AZAbAjArAzAAA [@A씍$tA7f@Aۦ?Akȯ=AAɕ?AfҿA*A9?2Aս:A<BA9?JAսRA Y7X~?yFAw CDb7<8HB)B|E[[ [sX~?[߾[[[[ZZBZYY i) Ii?֚< >))dv>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031066.903165 s, next control iter: 1743031067.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031067.283165 s.))M > >yf=ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031067.303165 s, next control iter: 1743031067.683183 s, wait time: 0.380018 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 45662, header.stamp.nsec: 020 temperature: 13.5708322* salinity: 33.3751642, density: 1025.0000002* values[0]: 0.5702752F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031067.703165 s.պH~, "AAףp= ֱ@AϢw*ձ@A4Y~? AA%"AAlNA"AZAbAjArAzAAAj@Au_Ss(tA%e@A:A7'w=A&aA`?A`.пA<*A:?2Aӽ:Azh<BA:?JAӽRAzh<٘i)I9%e@Yv G J&JJJJD&K YonX~?yEADŧ7b7.K8)B[[ ޾[ԬX~?[Ū[[[[ZZBZYY i) -Ii?V< >)) >>kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031067.723165 s, next control iter: 1743031068.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743031068.123165 s.7H~,]"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083530< massPositionAction: 0.0000004 buoyancyAction: 0.000500J dt: 0.420005"J*J2J2 time: 1743031068.123274:JF (some fields omitted in printout)BJnJvJA)\uֱ@AfG[ֱ@A6MY~? AAy%"AAcmNA"AZAbAjArAzAAAlb@A<'*tAad@Aj <Aǀ2=AEMA@?A ϿABּ*Ad:?2AU Խ:Aƃ;BAd:?JAU ԽRAƃ;٘i)I9ad@Y G JJJJJD&K YX~?y+EA!D77XR8JB)'BE[[Ӿ[X~?[Ȫ[[[[ZZBZYY i) 6Ii?< ->))->->zYeTYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031068.143165 s, next control iter: 1743031068.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031068.543165 s.IȱH~,""AA{Gֱ@A={.ֱ@AeY~? AQA@%"AA9mNA"AZAbAjArAzAAA u @Ax?W+tAc@AG2<AX<At9AlD?AͿA*A5:?2AԽ:AڹBA5:?JAԽRAڹ٘i)I9c@Y G JȼJJJEJD&K YX~?y'DA,D7{7Y8),BE[[ ɾ[X~?[˪[[[[ZZBZYY i) =Iis?< X>))X>X>YYFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743031068.563165 s, next control iter: 1743031068.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4567, header.stamp.nsec: 00 temperature: 13.571095* salinity: 33.375175, density: 1025.000000* values[0]: 0.569404F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031068.963165 s.{αH~,="AJ"J*J2J:J?BJ?nJ5vJALױ@A+N2ױ@A~Y~? AAg%"AA^mNA"AZAbAjArAzAAAGY#@AyuI-tA!3c@A1;A<A[$A >j?A`̿A*A :?2AԽ:AUBA :?JAԽRAUY@5$y<;ٓH ?@m?>?:Ŀ?z@5~}?s?)@ I٘i)I93c@YF G JRJ;JJJD&KVs> YX~?yDA$6D)7b7`8)0BE[[A[X~?[Ϊ[[[[ZZBZYY i=) aIi?ށ< up>))Duup>up>dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031068.983165 s, next control iter: 1743031069.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031069.383165 s.ձH~,8X"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240140> elevatorAngleAction: 0.064732< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743031069.383321F (some fields omitted in printout)AQױ@A,Aױ@AxY~? A%A8%"AAmNA"AZAbAjArAzAAAgQ@Ah.tAyb@AAvAA@?A ;ʿAҺ1*AJ9?2Ab3ս:ABAJ9?JAb3սRA٘i)I9b@Y G JfJJJJD&K YX~?yDAADZ7Z7g8)3BE[[Y[< Y~?[Ѫ[[[[ZZBZYY iZ=) x mIi9?x< ]>))t]>]>)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031069.403165 s, next control iter: 1743031069.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 4568", header.stamp.nsec: 0"0 temperature: 13.571254"* salinity: 33.375172", density: 1025.000000"* values[0]: 0.568819"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031069.803165 s.tAܱH~,ogs"AJ"J*J2J:JBJnJvJAq= #ر@A( ر@AY~? ASAl %"AAdmNA"AZAbAjArAzAAAyޒ@AcE' 0tAb@A%A>AA`ϲ?A@L]ȿA㢻*A:?2Amoӽ:A(BA:?JAmoӽRA(٘i)I9b@Y G JJJJJ D&K YX~?ydDALDb77o8)5BE[[U?[!Y~?[BԪ[[[[ZZBZYY i) 4UYIi_?n< a>)) a>a>)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031069.823165 s, next control iter: 1743031070.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031070.223165 s.gH~,H"AA(\ر@AJCuر@AY~? AYA5%"AAmNA"AZAbAjArAzAAA!f@A#hG1tAlb@ACAAV%нA?A ƿA^i*A^ :?2A ӽ:AӼBA^ :?JA ӽRAӼ٘i)I9b@Y G Jb?JJJJD&K YY~?yDAWD{7j7.v8)6BE[[꠾[=9Y~?[֪[[[[BZYY i) EIi_?e<  5>)) 5> 5>y=6*YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743031070.243165 s, next control iter: 1743031070.623173 s, wait time: 0.380008 s rAdjusting time to match Gazebo time: 1743031070.643165 s.tH~,)"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743031070.643278F (some fields omitted in printout)J"J*J2J:JBJnJvJAGر@Ae6ر@AY~? A8A%"AAmNA"AZAbAjArAzAAAR"@Ak2tAb@AՐA34Ab*AL?A ĿAs;*Al:?2A2Խ:ANBAl:?JA2ԽRAN９٘i)I9b@Y G J1:JJJJ!D&K Y0Y~?y8vDAaDX}8)5BE[[9[QY~?[0٪[[[[BZYY i) 1Ii;?]< }>))}>}>q*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031070.663165 s, next control iter: 1743031071.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4569, header.stamp.nsec: 00 temperature: 13.571229* salinity: 33.375179, density: 1025.000000* values[0]: 0.568661F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031071.063165 s.H~,R "AAfffffٱ@A1"QLٱ@AY~? AAʙ%"AAInNA"AZAbAjArAzAAALRw@Aw3tAb@A(Ay"YA1zA`?A¿AR;*A9?2AԽ:AKeBA9?JAԽRAKeY]@дyyU"Y ٓHK?0A?@2`o&?ev? !?[bx?)]@ I٘i)I9b@Y G J;J^JJJ,D&Ks> YLY~?yDAylDSI7SI78)4B[[@[jY~?[g۪[[[[BZYY i:|h=) 2!Ii?Q< ?))@*v??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031071.083165 s, next control iter: 1743031071.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031071.483165 s.y_H~,"AJ"J*J2J:JBJnJvJAٱ@Acҷٱ@AZ~? A}Ay%"AACnNA"AZAbAjArAzAAAռ( @A˙j4tA#b@Am;AxA$A`?A "A'<*A 9?2Aս:AbNBA 9?JAսRAbN٘i)I9b@Y G J <JJJJ7D&K YiY~?yKEAwD778)2BE[[䁾[Y~?[{ݪ[[[[BZYY i) +NIi?F< ?))R??R*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031071.503165 s, next control iter: 1743031071.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4570, header.stamp.nsec: 00 temperature: 13.571071* salinity: 33.375206, density: 1025.000000* values[0]: 0.568877F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031071.903165 s.H~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260399> elevatorAngleAction: 0.056759< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743031071.903291F (some fields omitted in printout)A ףp=ڱ@A_`#ڱ@A/Z~? AA\%"AAjnNA"AZAbAjArAzAAAO] @AnC5tA@c@AM4<AH͈AuA4?A KA `<*Ae:?2A)Խ:AV BAe:?JA)ԽRAV ٘i)I9@c@YO G JXB<B=JJJJBD&K Y[Y~?yQEADb77ْ8)0BE[[n[śY~?[kߪ[[[[BZYY idt=) IiG?<< \V ?)) \V ?\V ?A*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031071.923165 s, next control iter: 1743031072.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031072.323165 s.xH~,-"AJ"J*J2J:JBJnJvJA\ڱ@A ݎڱ@AIZ~? AAC%"AAnNA"AZAbAjArAzAAA`!@A89$6tA c@A6d%<ALALܹA F?A 0A<*A$:?2AWoԽ:A BA$:?JAWoԽRA ٘i)I9c@Y G Ju<C=JJJJLD&K YY~?y^EAD8),BE[[Y[Y~?[6[[[[BZYY i) tkIiZ?3< ڗ?))ڗ?ڗ?yvh=\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031072.343165 s, next control iter: 1743031072.723179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4571*, header.stamp.nsec: 0*0 temperature: 13.570780** salinity: 33.375221*, density: 1025.000000** values[0]: 0.569330*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031072.743165 s.'W H~,/"AAGz۱@Aaڱ@A_cZ~? A.Aq,%"AA͸nNA"AZAbAjArAzAAAH)!@A#۵h6tAd@Any;AAל<A TV?A@ Ap<*A:?2AzԽ:AvBA:?JAzԽRAv٘i)I9d@Y G J<JJJJWD&K YɽY~?yEAD77{7.8))BE[[D[Y~?[[[[[BZYY i) IiK?P+< 8?))8?8?yp=w*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031072.763165 s, next control iter: 1743031073.143180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031073.163165 s.z}H~,qJ"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066140< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743031073.163303F (some fields omitted in printout)J"J*J2J:JBJnJvJA۱@Ae,e۱@AD}Z~? AA%"AAnNA"AZAbAjArAzAAA("@AUe:7tA d@AAᚽAl=Ac?AXA<*A|:?2AGԽ:A OBA|:?JAGԽRA OYM@ =yᚽٓH X?գJ_)??YZ?yW?r ?)M@ I٘i)I9d@Y( G Jr<J~\JJJbD&Ks> YY~?yKFA =Dj7Z7Y8IB)$BE[[/[ Y~?[M[[[[BZYY i) Iiy?T< j?))wj?j?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031073.183165 s, next control iter: 1743031073.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743031073.583165 s.H~,Re"AAR۱@A1 {۱@A5Z~? AAT%"AACoNA"AZAbAjArAzAAAm^y7#@ArI7tA4e@A^,AUҜA9p=A n?A =Akׯ<*A:?2Aս:A;BA:?JAսRA;٘i)I94e@Y G J<B=JJJJmD&K Y:Y~?y8FAD778) BE[[[Z~?[[[[[BZYY i) ޗIih?< b"?))ޅb"?b"?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031073.603165 s, next control iter: 1743031073.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4572, header.stamp.nsec: 00 temperature: 13.570429* salinity: 33.375233, density: 1025.000000* values[0]: 0.569992F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031074.003165 s.y H~,P4"AJ"J*J2J:J?BJ?nJ5vJAp= Wܱ@AG<ܱ@A4Z~? ArA %"AA.oNA"AZAbAjArAzAAAMϨ#@Ae 8tAe@A 3AL7AJ=AMz?AdhA?<*A"0:?2A{ӽ:A:BA"0:?JA{ӽRA:٘i)I9e@Y G JƲ<C=JJJJwD&K YmZ~?yGADb78)BE[[t[Z~?[[[[[BZYY i) LIi]Y?d < '?)) '?'?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031074.043165 s, next control iter: 1743031074.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031074.423165 s.u&H~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066140< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743031074.423279F (some fields omitted in printout)A(\ܱ@APvܱ@AAĆ?A^AE׬<*A3:?2Aս:AlBA3:?JAսRAlY@H>yy <ٓH`ٙ? ?T?S~?? ?)@ I٘i)I9g@Y G J><J;JJJD&Kt> YfZ~?yRHA>Dŧ7b7/̐8HB) BE[[\[jZ~?[2[[[[BZYY i) jIi|-?A; F7?))xF7?F7?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031075.303165 s, next control iter: 1743031075.663178 s, wait time: 0.360013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 45742, header.stamp.nsec: 020 temperature: 13.5696222* salinity: 33.3752562, density: 1025.0000002* values[0]: 0.5715852F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031075.683165 s.l:H~,g"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242831> elevatorAngleAction: 0.066140< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743031075.683285F (some fields omitted in printout)J"J*J2J:JBJnJvJAQޱ@A|ݱ@Ao[~? A1Av%"AAoNA"AZAbAjArAzAAAmd M&@A{oz8tAh@A:<AA{$>A?A?Al<*AO3:?2Aֽ:ABAO3:?JAֽRA٘i)I9h@YD G J<JJJJD&K YĂZ~?yHADZ787YӐ8)BE[[̳>[+Z~?[[[[[BZYY i) :Ii?; $=?)) $=?$=?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031075.683165 s, next control iter: 1743031076.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743031076.103165 s.AH~,"AA= ףpޱ@AM~Vޱ@A3[~? AA%"AA oNA"AZAbAjArAzAAAMF1&@A;Xq^8tA5h@Av;AA8>A?A?A<*AL:?2AB~Խ:A"XBAL:?JAB~ԽRA"X٘i)I9h@Y G J<JJJJD&K YZ~?yIADŧ7b7ڐ8)BE[[Wϼ[Z~?[[[[[BZYY i) A:Ii ?x; 8B?))8B?8B?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031076.123165 s, next control iter: 1743031076.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031076.523165 s.GH~,{!"AJ"J*J2J:JBJnJvJA(ޱ@Ao.ޱ@AM[~? AA%"AApNA"AZAbAjArAzAAA+'@Ax"8tA 9i@A AŒA\CL>A ?Asǥ?Aۨ<*AM:?2AԽ:ABAM:?JAԽRA٘i)I99i@Y G J<B=JJJJD&K YZ~?yKIA CDZ7SI78GB)BE[[^脻[ߺZ~?[[[[[BZYY i) ;Ii?;  H?)) H? H?"*YT$YFFF]Waiting for Gazebo time sync: latest Gz time: 1743031076.543165 s, next control iter: 1743031076.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4575, header.stamp.nsec: 00 temperature: 13.569218* salinity: 33.375309, density: 1025.000000* values[0]: 0.572335F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031076.943165 s.UdNH~,5]<"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066140< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743031076.943281F (some fields omitted in printout)AzG߱@Ax-߱@Ag[~? A A%"AACpNA"AZAbAjArAzAAA6&(@Ah*7tAi@AA\iAQ`>A`.w?A'?A <*A'L:?2AԽ:ABA'L:?JAԽRA٘i)I9i@YGG J<C=JJJJD&K YZ~?yIAD77778)BE[[)w<[Z~?[ [[[[BZYY i) rjY;Ii>; M?))M?M?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031076.963165 s, next control iter: 1743031077.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031077.363165 s.UH~,>W"AJ"J*J2J:J?BJ?nJ5vJA3333߱@A|$%߱@A[~? AVA%"AAnjpNA"AZAbAjArAzAAA; (@A M_7tARj@A;AAt>Al?AEO?AFۤ<*AJ:?2A-Cս:A03BAJ:?JA-CսRA03Y}<Iu>y񍽙fP<ٓH7?6Qο>뱿 ^X?X?u@? s{?)}< I٘i)I9Rj@YG J<B=JT<JJJD&Kt> YZ~?yLJAu> D778MB)BE[[Q=[Z~?[[[[[BZYY i) ;Iia>+}; R?)){R?R?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031077.403165 s, next control iter: 1743031077.763183 s, wait time: 0.360018 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 4576&, header.stamp.nsec: 0&0 temperature: 13.568829&* salinity: 33.375298&, density: 1025.000000&* values[0]: 0.573094&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031077.783165 s.Z[H~,r"AAQ@AFCƣ@A[~? AyA%"AAǑpNA"AZAbAjArAzAAA.Aa)@A:6tAHj@AAAm>A@_?A]?A-<*AH:?2Apս:AϭBAH:?JApսRAϭ٘i)I9j@YG J<C=JJJJD&K Y [~?yJAD)7b708)B[[v=[ [~?[c[[[[BZYY i=) W;Ii> RT; fqX?)) fqX?fqX?7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031077.823165 s, next control iter: 1743031078.183179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743031078.203165 s.cH~,"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075138< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743031078.203317F (some fields omitted in printout)Aףp=@A?p'p@A`[~? AqA=$%"AA pNA"AZAbAjArAzAAAb?)@AsN&76tAe^k@AJA\A+>AQ?A}?A<*A*]:?2A Խ:A5^BA*]:?JA ԽRA5^٘i)I9^k@Y@G J <JJJJD&K Y([~?y KA"Db77Z8JB)BE[[F=[ '[~?[[[[[BZYY i) ;Ii>&^/; ]?))]?]?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031078.243165 s, next control iter: 1743031078.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743031078.623165 s.WiH~,]"AA)\@AGɫ@A/[~? A?A9%"AA8pNA"AZAbAjArAzAAAE-/*@Aj}0|5tAfk@A';A&A>A@??A?A]<*AW:?2Auս:A#BAW:?JAuսRA#٘i)I9k@YG J<JJJJD&K  8YfD[~? 8yjKA-D78IB)BĹE[[j=[B[~?[[[[[BZYY i) z;Ii_>; (c?))(c?(c?n*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031078.663165 s, next control iter: 1743031079.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4577 , header.stamp.nsec: 0 0 temperature: 13.568461 * salinity: 33.375298 , density: 1025.000000 * values[0]: 0.573814 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031079.043165 s.J "J *J pH~2J:J?,"ABJ?nJ5vJA{Ga@AH.G@A[~? AAR%"AAFqNA"AZAbAjArAzAAA*7+@AD4tA9Pl@A 9<AAo>A`!+?AW?A@<*AQ:?2Aս:ABAQ:?JAսRA٘i)I9Pl@YG JG<JJJJD&K Y_[~?yKA8D77 8)BǹE[[P>[][~?[[[[[BZYY i) [1: $i?))$i?$i?yϙ=e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031079.083165 s, next control iter: 1743031079.443185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743031079.463165 s.]wH~,"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075138< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743031079.463280F (some fields omitted in printout)A@A)嵲@A\~? AaA\n%"AA2.qNA"AZAbAjArAzAAAF5!+@Azu3tAl@A&!<A@AƮ>A ?A I?Ao<*AK:?2Aֽ:ABAK:?JAֽRAY=o>y"<ٓH?lտ@ܕ_V?`&? 7? /8?@?)= I٘i)I9l@YG J<J;JJJD&Ku> Ywz[~?y&LAo>CDb778HB)BʹE[[>[!y[~?[[[[[BZYY i) A`T?A >j?A^<*AD:?2A'$ֽ:A2BAD:?JA'$ֽRA2٘i)I98m@Y`G J<JJJJD&K Y[~?yLAMD77{78GB)ݯB͹E[[,>[k[~?[~[[[[BZYY i) k"A-?A@dM?ANz<*AO:?2AzԽ:ABAO:?JAzԽRA٘i)I9m@YG Jm<JJJJD&K Y[~?yLAXD77/"8)گB[[vC>[ѯ[~?[[[[[BZYY i) 41 elevatorAngleAction: 0.075138< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743031080.723281F (some fields omitted in printout)A(\@AeQE@AN\~? AA%"AAqNA"AZAbAjArAzAAA -@Ap0Ra0tA-n@A60A^A>A?A@?Aז<*AI:?2A~ս:ABAI:?JA~սRA٘i)I9-n@YG Ja<JJJJ#D&K YX[~?yߪ:MAcD7Z)8)կBйE[[-Z>[H[~?[/[[[[BZYY i) {AAC?A`?A/<*AC:?2Aս:A BAC:?JAսRA ٘i)I9n@YCG J <JJJJ.D&K Y[~?yܪMAmD777708FB)ѯBӹE[[mq>[[~?[;ߪ[[[[BZYY i) QA~?A`?Av<*A~=:?2Aֽ:A BA~=:?JAֽRA Y/c>(>yaʑ0BٓH?@{Vۿ w`OJ? ?[S[5?@s:u`$?)/c> I٘i)I9.o@YG Ji<B=J%JJJ9D&K6v> Y[~?y ٪MA(>xDb7778EB)̯BֹE[[#ԃ>[\~?[ݪ[[[[BZYY i) {P` elevatorAngleAction: 0.075138< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743031081.983293F (some fields omitted in printout)AQ@AX7@Ař\~? AAhV%"AA rNA"AZAbAjArAzAAA :Ng/@AN*,tAo@A M;A ~A>A2X?A`?A<*A7:?2A"ֽ:ASBA7:?JA"ֽRAS٘i)I9o@YG JJ<C=JJJJDD&K Y \~?y\ժZNAD>8DB)ǯBٹE[[<>[\~?[ڪ[[[[BZYY i9=) *oA 0?A`i?A<*AB@:?2Acֽ:AfBAB@:?JAcֽRAf٘i)I9/p@Y/G J.<JJJJND&K Y1\~?yѪNAD77F8CB)¯BܹE[[w>[48\~?[=ت[[[[BZYY i) ~[_S\~?[~ժ[[[[BZYY i)  elevatorAngleAction: 0.084094< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743031083.243286F (some fields omitted in printout)AGz@AGQgz@AF\~? AA%"AArNA"AZAbAjArAzAAAr0@A_oJ'tA3q@Ag;A_A?A?Av?Ak<*A-:?2A0ֽ:Aa<BA-:?JA0ֽRAa<٘i)I93q@YG J!<JJJJdD&K Yd\~?yʪOADSI7SI7[T8@B)B޹E[[>[yn\~?[Ҫ[[[[BZYY i)  ?y ]ٓH`aQ?\`{?`f?`Dʣ?T`?)å> I٘i)I9q@Y G J<JEcJJJoD&Kv> Y|\~?yŪOA ?D777[8?B)BE[[Wt>[\~?[lϪ[[[[BZYY i) <#tAKr@AANנA?A@y?A0?A5<*A:?2A ֽ:AX5BA:?JA ֽRAX5٘i)I9Kr@YwG Jƪ<JJJJyD&K Y\~?ySPADj7j7b8>B)BE[[7>[\~?[̪[[[[BZYY i) ๝ elevatorAngleAction: 0.084094< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743031084.503299F (some fields omitted in printout)Ap= @A@A+]~? AܫAޫ%"AArNA"AZAbAjArAzAAAЂl1@AE;C/!tAr@An>AA0?AhF?A` ?A&V<*A):?2Ax1ֽ:ABA):?JAx1ֽRA٘i)I9r@YG J<JJJJD&K Y&\~?ymPADb77i8)B[[7>[P\~?[Ȫ[[[[BZYY i) g7[\~?[Ī[[[[BZYY i) %8sNA"AZAbAjArAzAAA<]Rn1@AlbtAt@A^AA?Av?A?A<*A:?2Aֽ:A![BA:?JAֽRA![٘i)I9t@YG J<JJJJD&K Y{\~?yUQADj7j71x8[ \~?[[[[[BZYY i) 0 elevatorAngleAction: 0.084094< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743031085.763284F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AJ!@Ap]~? AѫA}%"AAD[sNA"AZAbAjArAzAAA-M!jV?2@AdVlxtAt@A;AAaH%?A@7?A?A<<*A9?2AG׽:AjBA9?JAG׽RAjY>!!%?yt諾Wg;ٓHA{?@ AO寿,??@W? R}?E?)> I٘i)I9t@YG JM<B=J{JJJD&Kx> Y \~?y RA!%?D{7{7\88B)BE[[>[ ]~?[[[[[BZYY i) l elevatorAngleAction: 0.084094< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743031087.023300F (some fields omitted in printout)A(\@AvB@A]~? AūAi%"AAsNA"AZAbAjArAzAAAgzy 3@ActAv@AU:5;AA#4?A@8?A`?AM<*A9?2Aֽ:A/RBA9?JAֽRA/R٘i)I9v@YG J<JJJJD&K Y7]~?y-\SAD777ܔ85B)BE[[ ?[CY]~?[[[[[BZYY i)  o"AA33333@A3k) @A}]~? A̼Al%"AAWtNA"AZAbAjArAzAAArՑM3@A8k tAkx@AO3A;lA>?ATX?A?A<*A9?2A}ֽ:AxBA9?JA}ֽRAxY"?;??yyi:4ٓHc?X?? Ne? i?)"? I٘i)I9x@YG J<B=Jk!JJJD&Kx> Yb]~?y钪GTA;??DS77284B)tBE[[?[Ɗ]~?[ [[[[ZZZZ¸>BZYY i¸>Gg) x/AyY?A?Ap?A3<*A9?2A׽:ABA9?JA׽RAY6?!?WY?yn;/F<ٓH?jTo? +!??̈?@?)6?!? I٘i)I9{@YOG JQ<J=JJJD&Kx> Yc]~?ydtcVAWY?OD777Ǒ8)NB[["8?[^~?[x[[[[ZZZZBZYY i;) ۑ?[?^~?[0[[[[ZZZZBZYY i) T5@A>^sA.}@AE(AA:c?A`+=?A?A :<*A9?2A~ֽ:A<BA9?JA~ֽRA<٘i)I9}@YG J&<B=JJJJ%D&K Y]~?y&gVAdD{7j7]Ց8&B)=B[[dD?[W-^~?[{[[[[ZZZZBZYY i) "xH?i82 ,?)),?,?iX)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031090.823165 s, next control iter: 1743031091.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031091.223165 s.g3H~,H"AA(\@AoDu@A^~? AAx&%"AAtNA"AZAbAjArAzAAA^tw5@A0sA~_}@A#Aق;A|i?A g?AdK?A3<*AX9?2Aֽ:Ao<BAX9?JAֽRAo<٘i)I9_}@Y6G J`<C=JJJJ0D&K Yt^~?y`WAoD77ܑ8$B)9BE[[qJ?[B^~?[ u[[[[ZZZZBZYY i@) bJ?);F;? I٘i)I9}@YmG Jb;J8>JJJFD&Kw> Y#^~?yR!WA^s?DSI7SI78)5B[[HV?[l^~?[5g[[[[BZYY io) <=A?A^?A@Z9?A=p*A9?2Acjֽ:Al=BA9?JAcjֽRAl=٘i)I9|@YG JUXJJJJqD&K Y_e^~?y6lVADj7j78)6B[[uo?[M^~?[{I[[[[BZYY i) L;IG?i!BL 1?))1?1?uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031093.763165 s, next control iter: 1743031094.143175 s, wait time: 0.380010 s&_e^~?)&6 rAdjusting time to match Gazebo time: 1743031094.163165 s.w}bH~,q"AJ"J*J2J:JBJnJvJA@At e@Aq^~? AjAQ%"AAuNA"AZAbAjArAzAAAtU#6@A2DsA|@A7;A'=A?A`??A?AK*A 9?2Aֽ:A=BA 9?JAֽRA=YRU??y'=E8;ٓH !?`V??@??`Af??)RU? I٘i)I9|@YG JJ;=JJJ{D&Kx> Y^s^~?y\. VA?D{7{78B)5B E[[nv?[.^~?[A[[[[BZYY i>o) I;IUG?iܤR 9?))9?9?ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031094.183165 s, next control iter: 1743031094.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743031094.583165 s.hH~,S"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058559< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743031094.583274F (some fields omitted in printout)AR@Aݰm@A< _~? AcA;%"AAuNA"AZAbAjArAzAAA ^7@A_sA.|@AbAИ=A^?A@Y?A?A*A#9?2A׽:A=BA#9?JA׽RA=٘i)I9|@YiG JJJJJD&K Y\^~?y&UAD778)9B[[@|?[^~?[9[[[[BZYY i) ;IEG?iV F?))F?F?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031094.603165 s, next control iter: 1743031094.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4593, header.stamp.nsec: 00 temperature: 13.563200* salinity: 33.375553, density: 1025.000000* values[0]: 0.583845F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031095.003165 s.~ pH~,e4"AJ"J*J2J:JBJnJvJAp= W@Al<@A_~? A]AL%"AAuNA"AZAbAjArAzAAA9L\G7@A] sA{@A(4A =A?A@EQ?A`?AE9*A9?2A7(׽:A =BA9?JA7(׽RA =٘i)I9{@YG JJJJJD&K YZ^~?yFUAD{7j78)=B[[A?[K^~?[1[[[[BZYY i) #;IG?iP4Z X?))X?X?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031095.023165 s, next control iter: 1743031095.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743031095.423165 s.uvH~,"AA(\@AsV{@A(_~? AtVA%"AA|uNA"AZAbAjArAzAAA] t7@A Yö^~?yTA? CDS728B)EBE[[4?[_~?[[[[[BZYY i) :I+^G?il` 4?))4?4?תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031096.283165 s, next control iter: 1743031096.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 45952, header.stamp.nsec: 020 temperature: 13.5635862* salinity: 33.3755342, density: 1025.0000002* values[0]: 0.5826472F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031096.683165 s.lH~,I+"AJ"J*J2J:JBJnJvJAQ@A@AR_~? ABA%X%"AA{=vNA"AZAbAjArAzAAA$7@AOћsA72y@Ap&<Ap=AJ@?AW$?A%?AS*A9?2Agֽ:A-=BA9?JAgֽRA-=٘i)I92y@YG JJJJJD&K Y/^~?ySADSI78798)JB[[ύ?[*_~?[[[[[BZYY i) 3?:I KG?iﱿc ?))??uӪYFFF]i:Waiting for Gazebo time sync: latest Gz time: 1743031096.683165 s, next control iter: 1743031097.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743031097.103165 s.H~,F"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067398< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743031097.103286F (some fields omitted in printout)A= ףp@AmV@A__~? A;Ac%"AAQvNA"AZAbAjArAzAAA1 8@A3+jZsAɖx@Aw6<A =Aژ?ALR?A d?A *A9?2A|ֽ:AC=BA9?JA|ֽRAC=٘i)I9x@YLG JJJJJD&K Y^~?yFSADZ7SI7@8)OB[[G?[8_~?[?[[[[BZYY i) L@I7G?ide ?))??ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031097.123165 s, next control iter: 1743031097.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743031097.523165 s.H~,{a"AJ"J*J2J:J?BJ?nJO5vJA(@A@Al_~? A4ADh%"AApevNA"AZAbAjArAzAAA\C8@AL & sAx@A;AI=Aˁ?A,|?AO?Az*A9?2Aֽ:AO<BA9?JAֽRAO<٘i)I9x@YG JB=JJJJD&K Y ^~?yRADb77 H8B)E[[?[kE_~?[g[[[[BZYY i) )Ii$G?i̳#f ?))??ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031097.543165 s, next control iter: 1743031097.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4596, header.stamp.nsec: 00 temperature: 13.563805* salinity: 33.375538, density: 1025.000000* values[0]: 0.581957F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031097.943165 s.\dH~,S]|"AAzG@A^-@Ax_~? A,A%"AA]xvNA"AZAbAjArAzAAAL5h8@AvlsAuw@A?A=At0?Ad?A?Aᠼ*Ac9?2A׽:A<BAc9?JA׽RA<٘i)I9uw@YG JɦC=JJJJD&K Yt^~?ysRAD3O8)SB[[D?[Q_~?[x[[[[BZYY i) I(G?i$Me ?))??y}ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031097.963165 s, next control iter: 1743031098.343182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031098.363165 s.H~,y>"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067398< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743031098.363272F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@An@A_~? A%A~%"AAvNA"AZAbAjArAzAAA)K[݋8@Ac'JsA v@AA4=A۠?A@?A?A*A@9?2AN5׽:A<BA@9?JAN5׽RA Y3^~?y%ߩRAǠ?%D77{7^V8)WB[[k?[]_~?[q[[[[BZYY i) BIF?i͵h J?))J?J?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031098.383165 s, next control iter: 1743031098.763175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 4597*, header.stamp.nsec: 0*0 temperature: 13.563992** salinity: 33.375572*, density: 1025.000000** values[0]: 0.581346*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031098.783165 s._H~,"AAQ@Aǂ @A؏_~? AgA7 %"AAvNA"AZAbAjArAzAAA_8@Ax kجsA-uv@A>Aw=AA|?A?A H?A*A9?2A3׽:A<BA9?JA3׽RA<I٘i)I9uv@YG JJJJJD&K Y^~?y֩QA0Db77]8 B)ZBE[[?[g_~?[P[[[[BZYY i)  IF?igj 3?))3?3?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031098.803165 s, next control iter: 1743031099.183188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743031099.203165 s.H~,!"AJ"J*J2J:JBJnJvJAףp=@AޫV&p@A_~? A A%"AA֬vNA"AZAbAjArAzAAA8@A8[sA u@AћAG=A1?A ?Az?AB*A9?2A׽:A=T<BA9?JA׽RA=T<٘i)I9u@YG J7JJJJD&K Y^~?yeΩ]QA;D77d8 B)[BE[[H?[q_~?[ک[[[[BZYY i)  IF?i򷿉sk 8)@))8)@8)@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031099.223165 s, next control iter: 1743031099.603182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743031099.623165 s.[H~,m"AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067398< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743031099.623284F (some fields omitted in printout)A)\@ARH2@A_~? AAK+%"AAvNA"AZAbAjArAzAAA 8@A7ӣsAu@A喜AȜ=Aj?AK*?A`Ϫ?A:*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9u@YmG JJJJJD&K Yn_~?yƩQAED)7ŧ7k8)_B[[?[#{_~?[Щ[[[[BZYY i ) e IcF?imj ׹@))׹@׹@!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031099.643165 s, next control iter: 1743031100.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 4598 , header.stamp.nsec: 0 0 temperature: 13.564168 * salinity: 33.375576 , density: 1025.000000 * values[0]: 0.580811 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031100.043165 s.H~,"AJ"J*J2J:J?BJ?nJ5vJA{Ga@A-G@Aͮ_~? A%Aü%"AA/vNA"AZAbAjArAzAAA 9@A/BsA u@AB;A'΄=A$?AI?A?Ap*AW9?2AHֽ:A <BAW9?JAHֽRA <٘i)I9 u@Y$G JPJJJJD&K Y,_~?yPAPD77 s8 B)aBE[[?[_~?[qǩ[[[[BZYY i)  ݻIծF?iٵh RK@))RK@RK@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031100.083165 s, next control iter: 1743031100.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743031100.463165 s.XdzH~,"AA@A$A@A%_~? AAoO%"AAvNA"AZAbAjArAzAAAqGA(9@A][sA2t@A:=<AՍ=A?A`*f?A?A*A9?2Aʄֽ:AW<BA9?JAʄֽRAW Y%_~?yJPAЭ?[Db774z8)eB[[9?[_~?[[[[[BZYY i) ]IF?ij @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031100.483165 s, next control iter: 1743031100.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4599, header.stamp.nsec: 00 temperature: 13.564361* salinity: 33.375561, density: 1025.000000* values[0]: 0.580265F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031100.883165 s.yͳH~,88"AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076196< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743031100.883291F (some fields omitted in printout)AQ8@A=@A_~? AAA%"AAvNA"AZAbAjArAzAAA"yFC9@A\sA@t@AS<AO<=AX?A ?A]-?AAщ*A9?2AGֽ:A=BA9?JAGֽRA=٘i)I9t@YG J8C=JJJEJ'D&K Y_~?ylOAfD77_8B)fBE[[c?[_~?[[[[[BZYY i)  IHF?iA)k g@))g@g@yvYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031100.903165 s, next control iter: 1743031101.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743031101.303165 s.VԳH~,wgS"AAq= ף@AӾ@AX_~? AXA*x%"AAvNA"AZAbAjArAzAAA~Ne\9@A`@A_~? AA%"AAu wNA"AZAbAjArAzAAA\Z_9@A==sAr@A16A^=AW?A+y?A˛?A*A9?2A^A׽:A=BA9?JA^A׽RA=٘i)I9r@YG J&JJJJHD&K Y._~?yNADb77ߖ8)pB[[{޶?[F_~?[ӗ[[[[BZYY i)  Y'1_~?y׉NAٺ?D77 8B)E[[?[N_~?[0[[[[BZYY i) b/LI9F?iQg 6 @))6 @6 @êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743031102.603165 s, next control iter: 1743031102.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 4601, header.stamp.nsec: 00 temperature: 13.564684* salinity: 33.375587, density: 1025.000000* values[0]: 0.579257F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743031102.983165 s.H~,"AAQ@A{7@A_~? A?ҪA%"AA."wNA"AZAbAjArAzAAAkk׶"9@A/[~sAq@AYAA=A|?A ?AZ?AӺ*AV9?2Aֽ:A{=BAV9?JAֽRA{=٘i)I9q@Y8G JiB=JJJJ]D&K YH4_~?y'NADŧ7